ElmoMC Gold Solo Trombone User Manual

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Gold Solo Trombone

Digital Servo Drive

Installation Guide

September 2012 (Ver. 1.3)

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EtherCAT Conformance Tested. EtherCAT® is a registered

Notice

This guide is delivered subject to the following conditions and restrictions:

• This guide contains proprietary information belonging to Elmo Motion Control Ltd. Such

information is supplied solely for the purpose of assisting users of the Gold Solo Trombone servo drive in its installation.

• The text and graphics included in this manual are for the purpose of illustration and

reference only. The specifications on which they are based are subject to change without notice.

• Information in this document is subject to change without notice.

Elmo Motion Control and the Elmo Motion Control logo are registered trademarks of Elmo Motion Control Ltd.

trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.

Catalog Number

Document no. MAN-G-SOLTROIG (Ver. 1.3)

Elmo Motion Control Ltd.

Cable Kit

Catalog number: CBL-GDCWHIKIT02 (can be ordered separately)

For further details, see the documentation for this cable kit (MAN-CBLKIT-GOLD.pdf).

Revision History

Version Date Details

Ver. 1.0 Feb 2011 Initial Release

Ver. 1.1 Nov 2011 Inserted references to the applicable cable kit, an

addition to the site requirements in Section 4.1, changes in Sections 4.3 and 4.3.1 (Auxiliary Supply Voltage range: 18 V to 30 V), and information about LED indicators in Section 3.3.3

Ver. 1.2 Jan 2012 Added update P/N details on Feedbacks Absolute

- included as standard.

Ver. 1.3 Sep 2012 Removal of 800 V without the S option

Approved UL standards

Pinouts were changed.

Mini USB was added

Elmo Worldwide

Head Office

Elmo Motion Control Ltd.

60 Amal St., P.O. Box 3078, Petach Tikva 49516 Israel

Tel: +972 (3) 929-2300 • Fax: +972 (3) 929-2322 • info-il@elmomc.com

North America

Elmo Motion Control Inc.

42 Technology Way, Nashua, NH 03060 USA

Tel: +1 (603) 821-9979 • Fax: +1 (603) 821-9943 • info-us@elmomc.com

Europe

Elmo Motion Control GmbH

Hermann-Schwer-Strasse 3, 78048 VS-Villingen Germany

Tel: +49 (0) 7721-944 7120 • Fax: +49 (0) 7721-944 7130 • info-de@elmomc.com

China

Elmo Motion Control Technology (Shanghai) Co. Ltd.

Room 1414, Huawen Plaza, No. 999 Zhongshan West Road, Shanghai (200051) China

Tel: +86-21-32516651 • Fax: +86-21-32516652 • info-asia@elmomc.com

Asia Pacific

Elmo Motion Control

#807, Kofomo Tower, 16-3, Sunae-dong, Bundang-gu, Seongnam-si, Gyeonggi-do, South Korea

Tel: +82-31-698-2010 • Fax: +82-31-698-2013 • info-asia@elmomc.com

MAN-G-SOLTROIG (Ver. 1.3)

Table of Contents

Gold Solo Trombone Installation G uide

Chapter 1: Safety Information .......................................................................................... 8

1.1. Warnings ......................................................................................................................... 9

1.2. Cautions .......................................................................................................................... 9

1.3. Directives and Standards .............................................................................................. 10

1.4. Warranty Information .................................................................................................. 10

1.5. CE Marking Conformance ............................................................................................. 11

Chapter 2: Product Description ...................................................................................... 12

2.1. Drive Description .......................................................................................................... 12

2.2. Product Features .......................................................................................................... 13

2.2.1. Servo Control ................................................................................................. 13

2.2.2. Motion Control .............................................................................................. 14

2.2.3. Communications ............................................................................................ 14

2.2.4. Safe Torque Input (STO) ................................................................................ 14

2.2.5. Outputs .......................................................................................................... 15

2.2.6. Inputs ............................................................................................................. 15

2.2.7. Feedback Options .......................................................................................... 16

2.2.8. Feedback Sensor Specifications ..................................................................... 16

2.2.9. Protection ...................................................................................................... 17

2.3. System Architecture ..................................................................................................... 18

2.4. How to Use this Guide .................................................................................................. 19

Chapter 3: Technical Information ................................................................................... 20

3.1. Technical Data .............................................................................................................. 20

3.1.1. Auxiliary Supply ............................................................................................. 21

Chapter 4: Installation ................................................................................................... 22

4.1. Site Requirements ........................................................................................................ 22

4.2. Unpacking the Drive Components ................................................................................ 22

4.3. Connectors and Indicators ............................................................................................ 24

4.3.1. Connector Types ............................................................................................ 24

4.3.2. Pinouts ........................................................................................................... 25

4.3.2.1. Main Power and Motor Power Connector ................................... 25

4.3.2.2. Auxiliary Power Connector ........................................................... 26

4.3.2.3. STO Connector – Safety ................................................................ 27

4.3.2.4. Port A Connector .......................................................................... 28

4.3.2.5. Port B Connector .......................................................................... 30

4.3.2.6. Port C and I/O Connector ............................................................. 32

4.3.2.7. CANopen In/Out Connectors ........................................................ 34

4.3.2.8. USB 2.0 Connector ........................................................................ 35

4.3.2.9. EtherCAT IN/Ethernet Connector ................................................. 36

MAN-G-SOLTROIG (Ver. 1.3)

Gold Solo Trombone Installation Guide Table of Contents

4.3.2.10. EtherCAT OUT Connector ............................................................. 37

4.3.3. Indicators ....................................................................................................... 38

4.3.3.1. Drive Status Indicator ................................................................... 38

4.3.3.2. EtherCAT Link Indicators ............................................................... 38

4.3.3.3. EtherCAT Status Indicator ............................................................. 38

4.4. Mounting the Gold Solo Trombone .............................................................................. 39

4.5. Wiring the Gold Solo Trombone ................................................................................... 39

4.6. Connection Diagrams ................................................................................................... 40

4.7. Main Power, Auxiliary Power and Motor Power .......................................................... 45

4.7.1. Motor Power.................................................................................................. 45

4.7.2. Main Power.................................................................................................... 47

4.7.2.1. Direct-to-Mains Power Source (Non-Isolated Rectifier) ............... 48

4.7.2.2. Battery Power Supply ................................................................... 51

4.7.3. Control and Backup Supply ............................................................................ 51

4.8. STO (Safe Torque Off) Inputs ........................................................................................ 53

4.9. Feedback and Analog Input .......................................................................................... 57

4.9.1. Feedback Port A ............................................................................................. 57

4.9.1.1. Incremental Encoder .................................................................... 58

4.9.1.2. Absolute Serial Encoder ................................................................ 59

4.9.1.3. Hall Sensors................................................................................... 60

4.9.2. Feedback Port B ............................................................................................. 61

4.9.2.1. Incremental Encoder .................................................................... 63

4.9.2.2. Interpolated Analog Encoder ........................................................ 64

4.9.2.3. Resolver ........................................................................................ 65

4.9.3. Port C – Emulated Encoder Output ............................................................... 65

4.10. User I/Os ....................................................................................................................... 68

4.10.1. Digital Inputs .................................................................................................. 68

4.10.2. Digital Output ................................................................................................ 72

4.10.3. Analog Input .................................................................................................. 76

4.11. Communications ........................................................................................................... 77

4.11.1. CANopen Communication ............................................................................. 78

4.11.2. USB 2.0 Communication ................................................................................ 81

4.11.3. EtherCAT Communication ............................................................................. 82

4.11.4. Ethernet Communication .............................................................................. 86

4.12. Power Up ...................................................................................................................... 87

4.12.1. Initializing the System .................................................................................... 87

4.13. Heat Dissipation............................................................................................................ 87

4.13.1. Gold Solo Trombone Thermal Data ............................................................... 87

4.13.2. Heat Dissipation Data .................................................................................... 88

4.13.3. How to Use the Charts ................................................................................... 89

Chapter 5: Technical Specifications ................................................................................ 90

5.1. Features ........................................................................................................................ 90

5.1.1. Motion Control Modes .................................................................................. 90

5.1.2. Advanced Positioning Control Modes ........................................................... 90

MAN-G-SOLTROIG (Ver. 1.3)

Gold Solo Trombone Installation Guide Table of Contents

5.1.3. Advanced Filters and Gain Scheduling........................................................... 90

5.1.4. Fully Programmable ....................................................................................... 91

5.1.5. Feedback Options .......................................................................................... 91

5.1.6. Input/Output ................................................................................................. 92

5.1.7. STO (Safe Torque Off) Inputs ......................................................................... 92

5.1.8. Built-In Protection ......................................................................................... 93

5.1.9. Status Indication ............................................................................................ 93

5.1.10. Automatic Procedures ................................................................................... 93

5.1.11. Accessories .................................................................................................... 93

5.2. Gold Solo Trombone Dimensions ................................................................................. 94

5.3. Environmental Conditions ............................................................................................ 95

5.4. Control Specifications ................................................................................................... 95

5.4.1. Current Loop .................................................................................................. 95

5.4.2. Velocity Loop ................................................................................................. 96

5.4.3. Position Loop ................................................................................................. 96

5.5. Feedbacks ..................................................................................................................... 97

5.5.1. Feedback Supply Voltage ............................................................................... 97

5.5.2. Feedback Options .......................................................................................... 97

5.5.2.1. Incremental Encoder Input ........................................................... 97

5.5.2.2. Digital Halls ................................................................................... 98

5.5.2.3. Interpolated Analog (Sine/Cosine) Encoder ................................. 98

5.5.2.4. Resolver ........................................................................................ 99

5.5.2.5. Absolute Serial Encoder ................................................................ 99

5.5.3. Port C Feedback Output .............................................................................. 100

5.6. I/Os ............................................................................................................................. 101

5.6.1. Digital Input Interfaces – TTL Mode ............................................................ 101

5.6.2. Digital Input Interfaces – PLC Mode ............................................................ 102

5.6.3. Digital Output Interface – PLC Mode ........................................................... 103

5.6.4. Digital Output Interface – TTL Mode ........................................................... 104

5.6.5. Digital Output Interface – AP Mode ............................................................ 105

5.6.6. Analog Input ................................................................................................ 105

5.7. Safe Torque Off (STO) ................................................................................................. 106

5.7.1. STO Input Interfaces – PLC and AP Modes .................................................. 106

5.7.2. STO Input Interfaces – TTL Mode ................................................................ 107

5.8. Communications ......................................................................................................... 108

5.9. Pulse-Width Modulation (PWM) ................................................................................ 108

5.10. Compliance with Standards ........................................................................................ 109

MAN-G-SOLTROIG (Ver. 1.3)

Chapter 1: Safety Information

Warning:

Caution:

Gold Solo Trombone Installation G uide

In order to achieve the optimum, safe operation of the Gold Solo Trombone servo drive, it is imperative that you implement the safety procedures included in this installation guide. This information is provided to protect you and to keep your work area safe when operating the Gold Solo Trombone and accompanying equipment.

Please read this chapter carefully before you begin the installation process.

Before you start, ensure that all system components are connected to earth ground. Electrical safety is provided through a low-resistance earth connection.

Only qualified personnel may install, adjust, maintain and repair the servo drive. A qualified person has the knowledge and authorization to perform tasks such as transporting, assembling, installing, commissioning and operating motors.

The Gold Solo Trombone servo drive contains electrostatic-sensitive components that can be damaged if handled incorrectly. To prevent any electrostatic damage, avoid contact with highly insulating materials, such as plastic film and synthetic fabrics. Place the product on a conductive surface and ground yourself in order to discharge any possible static electricity build-up.

To avoid any potential hazards that may cause severe personal injury or damage to the product during operation, keep all covers and cabinet doors shut.

The following safety symbols are used in this manual:

This information is needed to avoid a safety hazard, which might cause bodily injury.

This information is necessary for preventing damage to the product or to other equipment.

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MAN-G-SOLTROIG (Ver. 1.3)

Gold Solo Trombone Installation G uide Safety Information

1.1. Warnings

• Cleaning after soldering. To avoid damage to the product’s acrylic coating, the Gold Solo

Trombone must not be cleaned after soldering with soluble solvents or water-based cleaners. For further details, see www.elmomc.com/applications/article/Soldering-and-

Cleaning_Application-Note.pdf

• Power cables can carry a high voltage, even when the motor is not in motion. Disconnect

the Gold Solo Trombone from all voltage sources before it is opened for servicing.

• The Gold Solo Trombone servo drive contains grounding conduits for electric current

protection. Any disruption to these conduits may cause the instrument to become hot (live) and dangerous.

• After shutting off the power and removing the power source from your equipment, wait at

least 1 minute before touching or disconnecting parts of the equipment that are normally loaded with electrical charges (such as capacitors or contacts). Measuring the electrical contact points with a meter, before touching the equipment, is recommended.

1.2. Cautions

• The Gold Solo Trombone servo drive contains hot surfaces and electrically-charged

components during operation.

• The maximum DC power supply connected to the instrument must comply with the

parameters outlined in this guide.

• When connecting the Gold Solo Trombone to an approved isolated auxiliary power supply,

connect it through a line that is separated from hazardous live voltages using reinforced or double insulation in accordance with approved safety standards.

• Before switching on the Gold Solo Trombone, verify that all safety precautions have been

observed and that the installation procedures in this manual have been followed.

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MAN-G-SOLTROIG (Ver. 1.3)

Gold Solo Trombone Installation G uide Safety Information

1.3. Directives and Standards

The Gold Solo Trombone conforms to the following industry safety standards:

Safety Standard Item

Approved IEC/EN 61800-5-1, Safety Adjustable speed electrical power drive systems

Recognized UL 508C Power Conversion Equipment

In compliance with UL 840 Insulation Coordination Including Clearances and

Creepage Distances for Electrical Equipment

In compliance with UL 60950-1 (formerly UL 1950)

Safety of Information Technology Equipment Including Electrical Business Equipment

In compliance with EN 60204-1 Low Voltage Directive 73/23/EEC

The Gold Solo Trombone servo drive has been developed, produced, tested and documented in accordance with the relevant standards. Elmo Motion Control is not responsible for any deviation from the configuration and installation described in this documentation. Furthermore, Elmo is not responsible for the performance of new measurements or ensuring that regulatory requirements are met.

1.4. Warranty Information

The products covered in this manual are warranted to be free of defects in material and workmanship and conform to the specifications stated either within this document or in the product catalog description. All Elmo drives are warranted for a period of 12 months from the time of installation, or 18 months from time of shipment, whichever comes first. No other warranties, expressed or implied — and including a warranty of merchantability and fitness for a particular purpose — extend beyond this warranty.

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MAN-G-SOLTROIG (Ver. 1.3)

Gold Solo Trombone Installation G uide

1.5. CE Marking Conformance

The Gold Solo Trombone servo drive is intended for incorporation in a machine or end product. The actual end product must comply with all safety aspects of the relevant requirements of the European Safety of Machinery Directive 98/37/EC as amended, and with those of the most recent versions of standards EN 60204-1 and EN 292-2 at the least.

According to Annex III of Article 13 of Council Directive 93/68/EEC, amending Council Directive 73/23/EEC concerning electrical equipment designed for use within certain voltage limits, the Gold Solo Trombone meets the provisions outlined in Council Directive 73/23/EEC. The party responsible for ensuring that the equipment meets the limits required by EMC regulations is the manufacturer of the end product.

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MAN-G-SOLTROIG (Ver. 1.3)

Chapter 2: Product Description

Gold Solo Trombone Installation G uide Product Description

This installation guide describes the Gold Solo Trombone servo drive and the steps for its wiring, installation and power-up. Following these guidelines ensures optimal performance of the drive and the system to which it is connected.

2.1. Drive Description

The Gold Solo Trombone series of digital servo drives are highly resilient and designed to deliver the highest density of power and intelligence. The Gold Solo Trombone delivers up to 10 kW of continuous power or 16 kW of peak power in a compact package.

The digital drives are part of Elmo’s advanced Gold Line. They operate from a DC power source in current, velocity, position and advanced position modes, in conjunction with a permanentmagnet synchronous brushless motor, DC brush motor, linear motor or voice coil. They are designed for use with any type of sinusoidal and trapezoidal commutation, with vector control. The Gold Solo Trombone can operate as a stand-alone device or as part of a multi-axis system in a distributed configuration on a real-time network.

The drives are easily set up and tuned using Elmo Application Studio software tools. This Windows-based application enables users to quickly and simply configure the servo drive for optimal use with their motor. The Gold Solo Trombone, as part of the Gold Line, is fully programmable with Elmo’s motion control language.

Power to the drives is provided by a DC power source (not included with the Gold Solo Trombone).

Since the power stage is fully isolated from the control stage, the DC rectifier can be fed directly from the mains, without the need for a bulky and expensive transformer.

If backup functionality is required to store control parameters in the event of a mains power outage, then an S, T or AP-model Gold Solo Trombone should be used, with an external 24 VDC isolated supply connected to it.

Note: The backup functionality can operate from an isolated voltage source within the range

of 18–30 VDC.

Whenever backup functionality is not required, Gold Solo Trombone models that have the 0 or 1 suffix in the catalog number (see page 23) can be used, i.e., they do not have a 24 V control supply. In these models, a smart control-supply algorithm enables the Gold Solo Trombone to operate with only the main power supply VP+ and VN-, with no need for a 24 VDC auxiliary power supply for the logic.

The Gold Solo Trombone is a stand-alone version of the Gold Trombone module (PCBmounted). Another pluggable version, the Gold DC Trombone is also available.

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MAN-G-SOLTROIG (Ver. 1.3)

Gold Solo Trombone Installation G uide Product Description

2.2. Product Features

Note: The features described in this chapter relate to the range of Gold Solo Trombone

models. Depending on the model you have purchased, not all features are available.

To see the features for your model, look at the product label on the Gold Solo Trombone and use the product catalog number schematic that appears at the beginning of this manual and on page 23 to determine which specific features are available to you.

2.2.1. Servo Control

• Advanced and extremely fast vector control algorithm (current loop bandwidth: 4 kHz)

• Current/Torque sampling rate: up to 20 kHz (50 μs)

• Velocity sampling rate: up to 10 kHz (100 μs)

• Position sampling rate: up to 10 kHz (100 μs)

• Electrical commutation frequency: up to 4 kHz

• Current closed loop bandwidth exceeds 4 kHz

• Position/Velocity/Acceleration command range – full 32 bit

• Position over velocity, with full dual loop support

• Current gain scheduling to compensate for the motor’s non-linear characteristics

• Advanced filtering: Low pass, Notch, General Biquad

• Current loop gain scheduling to compensate for bus voltage variations

• Velocity gain scheduling for ultimate velocity loop performance

• Gains and filter scheduling vs. position for mechanical coupling optimization, speed and

position tracking errors

• High order filters gain scheduling vs. speed and position

• S-curve Profile Smoothing

• Cogging, BEMF and ωxL compensation

• Dual Loop Operation supported by Auto Tuning

• Fast, easy and efficient advanced Auto Tuning

• Incremental encoder frequency of up to 75 Megacounts/sec

• Motion profiler numeric range:

 Position up to ±2 x 10  Velocity up to 2 x 10  Acceleration up to 2 x 10

counts

counts/sec

counts/sec2

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MAN-G-SOLTROIG (Ver. 1.3)

Gold Solo Trombone Installation G uide Product Description

2.2.2. Motion Control

• Motion control programming environment

• Motion modes: PTP, PT, PVT, ECAM, Follower

• Full DS-402 motion mode support, in both the CANopen and CANopen over EtherCAT (CoE)

protocols, including Cyclic Position/Velocity modes. Fast (Hardware) event capturing inputs, supporting < 1 μs latch latency

• Fast (hardware) Output Compare, with < 1 μs latency

• Output compare repetition rate:

 Fixed Gap: Unlimited  Table based: 4 kHz

• Motion Commands: Analog, Pulse-Width Modulation (PWM), Software, Pulse and Direction

• Distributed Motion Control

• EAS (Elmo Application Studio) software: an efficient and user friendly auto tuner

2.2.3. Communications

• Fast and efficient EtherCAT networking

• EtherCAT Slave:

 CoE (CANopen over EtherCAT)  EoE (Ethernet over EtherCAT)  FoE (File over EtherCAT) for firmware download  Supports Distributed Clock  EtherCAT cyclic modes supported down to a cycle time of 250 μs

• Ethernet TCP/IP

 UDP  Telnet

• USB 2.0

2.2.4. Safe Torque Input (STO)

• IEC 61800-5-2, Safe Torque Off (STO)

 Two STO inputs PLC level which can be configured to 5 V logic

• UL 508C recognition

• UL 60950 compliance

• CE EMC compliance

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MAN-G-SOLTROIG (Ver. 1.3)

Gold Solo Trombone Installation G uide Product Description

2.2.5. Outputs

• Four high voltage outputs related to VDD and VDDRET:

 Conforms to IEC 61131-2  Up to 30 VDC  High side logic (Source)  Low side logic (Sink) - AP  Opto-isolated  For S, 0 suffix, Digital Outputs 2,3,4 up to 250 mA  For AP suffix, Digital Outputs 2,3,4 up to 150 mA  For T, 1 suffix, Digital Outputs 2,3,4 up to 7 mA  For S, 0 suffix, Digital Output 1 brake output: 500 mA  For AP suffix, Digital Output 1 brake output: 300 mA  For T, 1 suffix, Digital Output 1: 7 mA  Short circuit protection  Thermal protection  Reverse polarity protection

• Three additional differential outputs can be configured through Port C:

 EIA-422 differential output line transmitters  Response time < 1μs  Output current: ± 15 mA

2.2.6. Inputs

• Six Digital Inputs – optically isolated, sharing a single common INRET

• Six Digital Inputs - optically isolated sharing a single common positive supply - AP

• The six digital inputs can be configured to PLC or TTL, depending on the part number

definition

• All six inputs are fast capture data <5 μs

• One Analog Input: ±10 V

• Six additional fast differential event capture inputs 5 V logic cab be configured through

Ports A and B:

 Via Port A or B (three on each port, depending on model)  EIA-422 Differential input line receiver  Response time < 1 μs

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MAN-G-SOLTROIG (Ver. 1.3)

Gold Solo Trombone Installation G uide Product Description

2.2.7. Feedback Options

There are Port A and Port B feedback input ports that are flexible and configurable. Each port can be programmed to serve as:

 Commutation feedback and/or  Velocity feedback and/or  Position feedback

Port A supports the following sensors, depending on the specific model:

 Incremental encoder  Incremental encoder and digital Hall  Absolute serial encoder  Absolute serial encoder and digital Hall (for dual loop)

Port B supports the following sensors, depending on the specific model:

 Incremental encoder  Analog encoder  Analog Hall  Resolver

Port C is a flexible and configurable feedback output port. It supports the encoder emulation outputs of Port A or Port B or internal variables.

Analog input (±10 V ptp) support:

 Velocity feedback (tachometer)  Position feedback (potentiometer).

2.2.8. Feedback Sensor Specifications

• Incremental Quadrature Encoder (with or without commutation Halls) up to

75 Megacounts per second (18 MHz PPS(Pulses per second))

• Digital Hall

 Up to 4 kHz commutation frequency  5 V logic  Input voltage up to 15 VDC

• Incremental encoder and digital Halls

• Analog encoders

 Supports 1 V PTP Sin/Cos  Sin-Cos Frequency: up to 500 kHz  Internal Interpolation: up to ×8192  Automatic correction of amplitude mismatch, phase mismatch, signal offset

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MAN-G-SOLTROIG (Ver. 1.3)

Gold Solo Trombone Installation G uide Product Description

• Analog Halls (commutation & position)

 One feedback electrical cycle = one motor's electrical cycle  Supports 1 V PTP Sin/Cos  Sin/Cos Frequency: up to 500 kHz  Internal Interpolation: up to ×8192  Automatic correction of amplitude mismatch, phase mismatch, signal offset

• Absolute serial encoders:

 NRZ (Panasonic, Tamagawa, Mitutoyo, etc.)  EnDAT 2.2  BiSS/SSI

• Resolver up to 512 rps with 14-bit resolution

• Tachometer (available on request)

• Potentiometer (available on request)

• The Gold Solo Trombone provides 5 V supply voltage (5 V, 400 mA max) for the encoders

supplies

2.2.9. Protection

Built-in Protection & Diagnostics:

• Software error handling

• Abort

• Extensive status reporting

• Protection against:

 Shorts between motor power outputs and power return  Over temperature  Over/under voltage  Loss of feedback  Motor current  Current limits  Following errors

 i

t motor current

• STO

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MAN-G-SOLTROIG (Ver. 1.3)

Isolated Power Stage

Feedback Port A

Feedback Port B

Feedback Out

Port C

Communication

User I/O Interface

Motion

Control

Logic

Incremental

Encoder, Hall

Sensors

(Options E, R)

Serial Encoder,

Hall Sensors

(Options E, R)

Incremental

Encoder

Analog Encoder

(Options E)

Resolver

(Options R)

Encoder

Emulation,

PWM

Digital Inputs

Digital

Outputs

Analog

Input

CANopen, USB,

(Option S)

EtherCAT, USB,

(Option E)

Main DC Power

Supply

Optional DC

Auxiliary Supply

Motor

PWM

Current

Feedback,

Protection

STO1,

STO2

Isolation

Boundary

Isolation

Boundary

Gold Solo Trombone Installation G uide Product Description

2.3. System Architecture

Figure 1: Gold Solo Trombone System Block Diagram

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MAN-G-SOLTROIG (Ver. 1.3)

Gold Solo Trombone Installation G uide Product Description

2.4. How to Use this Guide

In order to install and operate your Elmo Gold Solo Trombone servo drive, you will use this manual in conjunction with a set of Elmo documentation. Installation is your first step; after carefully reading the safety instructions in the first chapter, the following chapters provide you with installation instructions as follows:

• Chapter 3 - Installation, provides step-by-step instructions for unpacking, mounting,

connecting and powering up the Gold Solo Trombone.

• Chapter 4 - Technical Specifications, lists all the drive ratings and specifications.

Upon completing the instructions in this guide, your Gold Solo Trombone servo drive should be successfully mounted and installed. From this stage, you need to consult higher-level Elmo documentation in order to set up and fine-tune the system for optimal operation.

• The Gold Product Line Software Manual, which describes the comprehensive software used

with the Gold Solo Trombone

• The Gold Product Line Command Reference Manual, which describes, in detail, each

software command used to manipulate the Gold Solo Trombone motion controller

• The Elmo Application Studio Software Manual, which includes explanations of all the

software tools that are part of the Elmo Application Studio software environment

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MAN-G-SOLTROIG (Ver. 1.3)

Chapter 3: Technical Information

Gold Solo Trombone Installation G uide

3.1. Technical Data

Feature Units 12/400 16/400 R17/400 R22/400 8/800 12/800 R11/800 R16/800

Minimum supply voltage

Nominal supply voltage

Maximum supply voltage

Maximum continuous power output

Efficiency at rated power (at nominal conditions)

Auxiliary supply voltage option

Auxiliary power supply

Continuous current limit (Ic) Amplitude sinusoidal/DC trapezoidal commutation

VDC S, T, or AP suffix in P/N*: 50

0 or 1 suffix in P/N: 100

VDC 325 560 for 400 VAC

VDC 400 780

W Up to 10 kW of continuous qualitative power

% > 98

VDC 18 V to 30 V

Only for Control Supply S suffix Model

VA ≤5 VA without external loading

≤8 VA with full external loading

A 12 16 17 22 8 12 11 16

S, T, or AP suffix in P/N*: 95+

680 for 480 VAC

Sinusoidal continuous RMS current limit (Ic)

Peak current limit A 2 x Ic No peak 2 x Ic No peak

Weight g

Dimensions mm

Digital in/Digital out/ Analog in

Mounting method Panel / Wall Mounted

A 8.5 11.3 12 15.5 5.7 8.5 7.8 11.3

362 g (12.8 oz)

(oz)

111 x 76 x 60 (4.37" x 3" x 2.36")

(in)

6/4/1

*See page 23 for details on the part number. The S, T, or AP suffix appears in models where there is a 24 V control supply. If there is a 0 or 1 suffix, the control power supply operates from the main power.

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Note on current ratings: The current ratings of the Gold Solo Trombone are given in

units of DC amperes (ratings that are used for trapezoidal commutation or DC motors). The RMS (sinusoidal commutation) value is the DC value divided by 1.41.

3.1.1. Auxiliary Supply

Feature Details

Auxiliary power supply Isolated DC source only

Auxiliary supply input voltage 18 VDC to 30 VDC

Auxiliary supply input power < 4 VA (this includes the 5 V/200 mA load for the

main encoder only)

< 5.5 VA (this includes the 5 V/400 mA load on the main encoder and feedback B)

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Chapter 4: Installation

Gold Solo Trombone Installation G uide Installation

Warning: The Gold Solo Trombone must be:

• installed in a suitable environment and properly connected to its voltage supplies

and the motor.

• mounted and confined within a metal enclosure.

4.1. Site Requirements

You can guarantee the safe operation of the Gold Solo Trombone by ensuring that it is installed in an appropriate environment.

Feature Value

Ambient operating temperature 0 °C to 40 °C (32 °F to 104 °F)

Maximum non-condensing humidity 90%

Maximum Altitude 10,000 m

Operating area atmosphere No flammable gases or vapors permitted in area

Models for extended environmental conditions are available.

Caution: The Gold Solo Trombone dissipates its heat by convection. The maximum ambient operating temperature of 40 °C (104 °F) must not be exceeded.

4.2. Unpacking the Drive Components

Before you begin working with the Gold Solo Trombone, verify that you have all of its components, as follows:

• The Gold Solo Trombone servo drive

• The Elmo Application Studio (EAS) software and software manual

The Gold Solo Trombone is shipped in a cardboard box with Styrofoam protection.

To unpack the Gold Solo Trombone:

1. Carefully remove the servo drive from the box and the Styrofoam.

2. Check the drive to ensure that there is no visible damage to the instrument. If any damage

has occurred, report it immediately to the carrier that delivered your drive.

3. To ensure that the Gold Solo Trombone you have unpacked is the appropriate type for your

requirements, locate the part number sticker on the side of the Gold Solo Trombone. It looks like this:

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4. Verify that the Gold Solo Trombone type is the one that you ordered, and ensure that the

voltage meets your specific requirements.

The part number at the top gives the type designation as follows:

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4.3. Connectors and Indicators

The Gold Solo Trombone has 11 connectors (connectors version).

4.3.1. Connector Types

No. Pins Type Function

7 8 mm Phoenix high current Main Power and Motor Connector

2 5.08 mm Phoenix high current 24 V Auxiliary Supply

12 2.54 mm Pitch Feedback port A

8 2.54 mm Pitch Feedback port B

24 2.54 mm Pitch Port C and I/O

3 2.54 mm Pitch STO (Safety Torque Off)

8 RJ-45 EtherCAT in

8 RJ-45 EtherCAT out

4 USB Device Type Mini B USB Communication

4 2.54 mm Pitch CAN

Table 1: Connector Types

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4.3.2. Pinouts

The pinouts in this section describe the function of each pin in the Gold Solo Trombone connectors that are listed in Table 1.

4.3.2.1. Main Power and Motor Power Connector

See Section 4.7.2 for full details on Main Power.

See Section 4.7.1 for full details on Motor Power.

Pin Function Cable

Brushless Motor Brushed DC Motor

M3 Motor phase Motor Motor

M2 Motor phase Motor Motor

M1 Motor phase Motor N/C

PE Protective Earth Motor Motor

PE Protective Earth DC Power

VN- DC Negative Power input DC Power

VP+ DC Positive Power input DC Power

Pin Positions

Connector Type

7-Pin Pluggable 8 mm Phoenix High Current

Table 2: Connectors for Main Power and Motor Power

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4.3.2.2. Auxiliary Power Connector

See Section 4.7.3 for full details.

Optional Back-up Supply in S, T, or AP type drives.

Pin Function Cable

In S, T or AP type:

VL+ +24 V Auxiliary Supply Input Positive DC Power

VL- 24 V RET Auxiliary Supply Return DC Power

Pin Positions

Cable Connector

2-Pin Pluggable 5.08 mm Phoenix High Current

Table 3: Connectors for Auxiliary Power

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4.3.2.3. STO Connector – Safety

For full details about connecting STO inputs, see Section 4.8.

Pin Signal Function

1 STO1 STO 1 input

2 STO2 STO 2 input

3 STO_RET STO signal return

Pin Positions

Cable Connector

3-Pin Molex Plug

This cable is included in the cable kit described in Section 5.1.11.

Table 4: STO Connector

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4.3.2.4. Port A Connector

For full details about connecting feedback Port A, see Section 4.9.1.

Incremental Encoder Absolute Serial Encoder

Pin Signal Function Signal Function

1 +5V Encoder +5V supply +5V Encoder +5V supply

2 SUPRET Supply return SUPRET Supply return

3 PortA_ENC_A+ Channel A + ABS_CLK+ Absolute encoder clock+

4 PortA_ENC_A- Channel A - ABS_CLK- Absolute encoder clock-

5 PortA_ENC_B+ Channel B+ ABS_DATA+ Absolute encoder data+

6 PortA_ENC_B- Channel B - ABS_DATA- Absolute encoder data -

7 PortA_ENC_INDEX+ Index+ Reserved Reserved

8 PortA_ENC_INDEX- Index - Reserved Reserved

9 HA Hall sensor A HA Hall sensor A

10 HB Hall sensor B HB Hall sensor B

11 HC Hall sensor C HC Hall sensor C

12 COMRET Common Return COMRET Common Return

Pin Positions

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Cable Connector

12-Pin Molex Plug

This cable is included in the cable kit described in Section 5.1.11.

Table 5: Port A Connector

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4.3.2.5. Port B Connector

For full details about connecting feedback Port B, see Section 4.9.2.

Incremental or

Resolver

Interpolated Analog Encoder

G-SOLTROXX/YYYYEX G-SOLTRO XX/YYYYRX

Pin Signal Function Signal Function

1 +5V Encoder +5V supply NC

2 SUPRET Supply return SUPRET Supply return

3 PortB_ENC_A+/SIN+ Channel A+/Sine+ SIN+ Sine+

4 PortB_ENC_A-/SIN- Channel A -/Sine- SIN- Sine-

5 PortB_ENC_B+/COS+ Channel B+/Cosine+ COS+ Cosine+

6 PortB_ENC_B-/COS- Channel B-/Cosine- COS- Cosine-

7 PortB_ENC_INDEX+/

Analog_Index+

8 PortB_ENC_INDEX-/

Analog_Index-

Channel _Index+/ Analog_Index+

Channel_Index- / Analog_Index-

RESOLVER_OUT+ Vref f=1/TS, 50 mA Max.

RESOLVER_OUT- Vref complement

f= 1/TS, 50 mA Maximum

Pin Positions

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Cable Connector

8-Pin Molex Plug

This cable is included in the cable kit described in Section 5.1.11.

Table 6: Port B Connector

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4.3.2.6. Port C and I/O Connector

For full details about connecting feedback Port C, see Section 4.9.3.

For full details about connecting digital inputs, see Section 4.10.1.

For full details about connecting digital outputs, see Section 4.10.2.

For full details about connecting analog input, see Section 4.10.3.

Pin Signal Function

1 PortC_ENCO_A+ Buffered Channel A output

2 PortC_ENCO _A- Buffered Channel A complement output

3 PortC_ENCO _B+ Buffered Channel B output

4 PortC_ENCO _B- Buffered Channel B complement output

5 PortC_ENCO _ Index+ Buffered INDEX output

6 PortC_ENCO _ Index- Buffered INDEX complement output

7 COMRET Common return

8 COMRET Common return

9 ANALOG1- Analog input complement

10 ANALOG1+ Analog input

11 ANLRET Analog return

12 INRET1_6 Programmable input 1 – 6 return

13 IN1 Programmable input 1

14 IN2 Programmable input 2

15 IN3 Programmable input 3

16 IN4 Programmable input 4

17 IN5 Programmable input 5

18 IN6 Programmable input 6

19 OUT4 Programmable output 4

20 OUT3 Programmable output 3

21 OUT2 Programmable output 2

22 OUT1 Programmable output 1

23 VDD Supply for out 1-4

24 VDDRET Supply return for out 1-4

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Pin Positions

Cable Connector

24-Pin Molex Plug

This cable is included in the cable kit described in Section 5.1.11.

Table 7: Port C and I/O Connector

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4.3.2.7. CANopen In/Out Connectors

For full details about connecting CANopen communication, see Section 4.11.1.

Pin Signal Function

1 PE Protective Earth

2 CAN_COMRET CAN communication return

3 CAN_L CAN_L busline (dominant low)

4 CAN_H CAN_H busline (dominant high)

Pin Positions

Cable Connector

4-Pin Molex Plug

Table 8: CANopen In/Out Connectors

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4.3.2.8. USB 2.0 Connector

For full details about connecting USB 2.0 communication, see Section 4.11.2.

Pin Signal Function

1 USB VBUS USB VBUS 5 V

2 USBD- USB _N line

3 USBD+ USB _P line

5 USB COMRET USB communication return

Pin Positions

Cable Connector

USB Device Type Mini B Plug

Table 9: USB 2.0 Connector

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4.3.2.9. EtherCAT IN/Ethernet Connector

For full details about connecting EtherCAT communication, see Section 4.11.3.

Pin Signal Function

1 EtherCAT_IN_TX+ / Ethernet_TX+ EtherCAT in transmit +/ Ethernet in transmit +

2 EtherCAT_IN_TX- / Ethernet_TX- EtherCAT in transmit - / Ethernet in transmit -

3 EtherCAT_IN_RX+ / Ethernet_RX+ EtherCAT in receive + / Ethernet in receive +

4, 5 N/A

6 EtherCAT_IN_RX-/Ethernet_RX- EtherCAT in receive - / Ethernet in receive -

7, 8 N/A

Pin Positions

Cable Connector

EtherCAT In / EtherCAT Out – RJ-45

Table 10: EtherCAT IN/Ethernet Connector

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4.3.2.10. EtherCAT OUT Connector

For full details about connecting EtherCAT communication, see Section 4.11.3.

Pin Signal Function

1 EtherCAT_OUT_TX+ EtherCAT out transmit +

2 EtherCAT_OUT_TX- EtherCAT out transmit -

3 EtherCAT_OUT_RX+ EtherCAT out receive +

4/5 N/A

6 EtherCAT_OUT_RX- EtherCAT out receive -

7/8 N/A

Cable Connector

EtherCAT In / EtherCAT Out – RJ-45

Table 11: EtherCAT OUT Connector

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4.3.3. Indicators

The Gold Solo Trombone is equipped with several light-emitting diode (LED) indicators.

4.3.3.1. Drive Status Indicator

This red/green dual LED is used for immediate indication of the following states:

• Initiation state: In this state the LED indicates whether the drive is in the boot state

(blinking red) or in the operational state (steady red).

• Working state: In this state the LED indicates whether the drive is in an amplifier failure

state (red) or is ready to enable the motor (green).

4.3.3.2. EtherCAT Link Indicators

The Gold Solo Trombone can serve as an EtherCAT slave device. For this purpose it has two RJ45 connectors, which are designated as EtherCAT In and EtherCAT Out. Each of these RJ-45 connectors has two status LEDs, which are shown in Figure 2.

Figure 2: Ethernet Connector LEDs

The green LED is the link/activity indicator. It shows the state of the applicable physical link and the activity on that link.

The amber LED is the speed indicator. It shows the speed of the connection on the Ethernet line.

The possible states of these LEDs are summarized in Table 12.

LED State Meaning

Link /Activity Off No link is established.

On A link is established.

Blinking There is data transmission activity.

Speed On The connection speed is 100 Mbps.

The speed of the EtherCAT line must be 100 Mbps. Otherwise, there is no EtherCAT data transmission.

Off The connection speed is 10 Mbps.

Table 12: LED States

4.3.3.3. EtherCAT Status Indicator

The EtherCAT status indicator is a red/green dual LED. It combines run indication (when it is green) and error indication (when it is red) of the EtherCAT device.

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4.4. Mounting the Gold Solo Trombone

The Gold Solo Trombone was designed for mounting on a surface. When integrating the Gold Solo Trombone into a device, be sure to leave about 1 cm (0.4") outward from the heatsink to enable free air convection around the drive. If the Gold Solo Trombone is enclosed in a metal chassis, we recommend that the Gold Solo Trombone be screw-mounted to it to help with heat dissipation. The Gold Solo Trombone has screw-mount holes on each corner of the heatsink for this purpose – see below.

Figure 3: Mounting the Gold Solo Trombone

4.5. Wiring the Gold Solo Trombone

Once the Gold Solo Trombone is mounted, you are ready to wire the device. Proper wiring, grounding and shielding are essential for ensuring safe, immune and optimal servo performance of the Gold Solo Trombone.

Caution: Follow these instructions to ensure safe and proper wiring:

• Use twisted pair shielded cables for control, feedback and communication connections. For

best results, the cable should have an aluminum foil shield covered by copper braid, and should contain a drain wire.

The drain wire is a non-insulated wire that is in contact with parts of the cable, usually

the shield. It is used to terminate the shield and as a grounding connection.

• The impedance of the wire must be as low as possible. The size of the wire must be thicker

than actually required by the carrying current. A 24, 26 or 28 AWG wire for control and feedback cables is satisfactory although 24 AWG is recommended.

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• Use shielded wires for motor connections as well. If the wires are long, ensure that the

capacitance between the wires is not too high: C < 30 nF is satisfactory for most applications.

• Keep all wires and cables as short as possible.

• Keep the motor wires as far away as possible from the feedback, control and

communication cables.

• Ensure that in normal operating conditions, the shielded wires and drain carry no current.

The only time these conductors carry current is under abnormal conditions, when electrical equipment has become a potential shock or fire hazard while conducting external EMI interferences directly to ground, in order to prevent them from affecting the drive. Failing to meet this requirement can result in drive/controller/host failure.

• After completing the wiring, carefully inspect all wires to ensure tightness, good solder

joints and general safety.

4.6. Connection Diagrams

There are two connection diagrams for EtherCAT and two for CAN that show the two different ways of connecting the power supply:

• 400 V and 800 V S, T, or AP-models (the catalog number has an S, T, or AP suffix) that

feature backup functionality and require an auxiliary 24 V backup supply. The drive will not be operative without the external 24 VDC supply.

• 400 V model without backup functionality with 0 or 1 suffix. The drive’s internal DC/DC

converter is fed from the VP+ and VN- of the internal drive’s bus line.

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Figure 4: Gold Solo Trombone EtherCAT Connection Diagram – with Backup Functionality

(S, T, or AP Model Drive)

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Figure 5: Gold Solo Trombone EtherCAT Connection Diagram – 400 V without Backup

Functionality (0 or 1 Model Drive)

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Figure 6: Gold Solo Trombone CAN Connection Diagram – with Backup Functionality

(S, T, or AP Model Drive)

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Figure 7: Gold Solo Trombone CAN Connection Diagram – 400 V without Backup Functionality

(0 or 1 Model Drive)

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4.7. Main Power, Auxiliary Power and Motor Power

The Gold Solo Trombone receives power from main and auxiliary supplies and delivers power to the motor.

4.7.1. Motor Power

Pin Function Cable

Brushless Motor Brushed DC Motor

M3 Motor phase Motor Motor

M2 Motor phase Motor Motor

M1 Motor phase Motor N/C

PE Protective Earth Motor Motor

Table 13: Motor Connector

Connect the M1, M2, M3 and PE pins on the Gold Solo Trombone. The phase connection is arbitrary as Elmo Application Studio (EAS) will establish the proper commutation automatically during setup. When tuning a number of drives, you can copy the setup file to the other drives and thus avoid tuning each drive separately. In this case the motor-phase order must be the same as on the first drive.

Notes:

• For best immunity, it is highly recommended to use a 4-wire shielded (not twisted) cable

for the motor connection. The gauge is determined by the actual current consumption of the motor.

• Connect the cable shield to the closest ground connection at the motor end.

• Connect the cable shield to the closest PE terminal of the Gold Solo Trombone.

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• Ensure that the motor chassis is properly grounded.

Figure 8: Brushless Motor Power Connection Diagram

Figure 9: DC Brushed Motor Power Connection Diagram

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4.7.2. Main Power

Pin Function Cable

PE Protective Earth DC Power

VN- DC Negative Power input DC Power

VP+ DC Positive Power input DC Power

Table 14: Connectors for Main Power

The DC power for the Gold Solo Trombone is delivered from a separated rectifying unit (supplied by the user). The following sections contain topology recommendations for implementing three-phase and a single-phase supply chains.

The power stage of the Gold Solo Trombone is fully isolated from the other sections of the Gold Solo Trombone, such as the control-stage and the heat sink. This isolation allows the user to connect the common of the control section to the PE, a connection which significantly contributes to proper functionality, safety and EMI immunity, leading to better performance of the Gold Solo Trombone.

In addition, this isolation simplifies the requirements of the DC power supply that is used to power the DC bus of the Gold Solo Trombone, by allowing it to operate with a non-isolated DC power source (a direct-to-mains connection) which eliminates the need for a bulky and expensive isolation transformer.

However, as well as operating from a non-isolated/direct-to-mains DC power supply, the Gold Solo Trombone can also operate from an isolated power supply or batteries.

When rectifying an AC voltage source, the AC voltage level must be limited to 270 VAC so as not to exceed the maximum 390 VDC in the case of a 400 VDC drive, or 528 VAC so as not to exceed the maximum 747 VDC in the case of an 800 VDC drive.

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4.7.2.1. Direct-to-Mains Power Source (Non-Isolated Rectifier)

This section relates to the configuration of the power supply and drive, which are connected directly to the mains.

Notes for connecting the non-isolated DC power supply:

• For best immunity, it is highly recommended to use twisted cables for the DC power supply

cable. A 3-wire shielded cable should be used. The gauge is determined by the actual current consumption of the motor.

• Connect both ends of the cable shield to the closest PE connections.

• Tie one end to the power supply’s PE terminal, and tie the other end either to the PE pins

of the module/PE terminal of the integration board, or attach it to one of the four mounting screws of the drive’s heat sink.

4.7.2.1.a Three Phase Direct-to-Mains Connection Topology

Figure 10: Non-Isolated Three-Phase Connection Topology

Caution

• Do not connect VN- to PE. In a direct-to-mains connection the VN- must not be

connected to the PE, as this will cause irreparable damage to the system.

• Take care and note that in a direct-to-mains connection the Neutral point is not the most

negative voltage level. It is the mid-point level of the rectified DC bus.

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4.7.2.1.b Single-Phase Direct-to-Mains Connection Topology

Figure 11: Non-Isolated Single-Phase Connection Topology

The Power Supply is connected directly to the mains AC line.

Warning

• Do not connect VN- to PE. In a direct-to-mains connection the VN- must not be

connected to the PE, as this will cause irreparable damage to the system.

• Take care and note that in a direct-to-mains connection the Neutral point is not the most

negative voltage level. It is the mid-point level of the rectified DC bus.

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4.7.2.1.c Multiple Connections Topology

In a multi-axis application it is likely that a single power supply can feed several drives in parallel.

This topology is efficient and cost saving, by reducing the number of power supplies and the amount of wiring. Most importantly it utilizes an energy sharing environment among all the drives that share the same DC bus network.

Figure 12: Non-Isolated Three-Phase Multiple Connection Topology

The power supply is connected directly to the mains AC line, and it feeds more than one drive.

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4.7.2.2. Battery Power Supply

Figure 13: Battery Connection Topology

Caution: When using batteries, it is recommended to connect the negative pole to the PE.

When doing so, the charger of the battery transformer.

must be isolated from the mains by an isolation

4.7.3. Control and Backup Supply

In drives that have 0 or 1 suffix in the catalog number, a smart control-supply algorithm enables the Gold Solo Trombone to operate with the main power supply only, with no need for an auxiliary supply voltage to supply the drive’s logic section.

Note that in such model there is no backup ability at all.

If backup functionality is required to store control parameters in the event of a mains power outage, then an S, T, or AP model Gold Solo Trombone should be used, with an external 24 VDC isolated supply connected to it.

Note that the S, T, or AP model Gold Solo Trombone always requires an external 24 VDC power supply, regardless of whether or not backup functionality is required.

Connect the auxiliary 24 VDC power supply as described below.

Notes for 24 VDC backup supply connections:

• Use a 24 AWG twisted pair shielded cable. The shield should have copper braid.

• The source of the 24 VDC backup supply must be isolated with an isolation transformer.

• For safety and EMI reasons, connect the return of the 24 VDC backup supply to the closest

ground (PE).

• Connect the cable shield to the closest ground (PE) near the power source.

• Before applying power, first verify that the polarity of the connection is correct.

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Figure 14: Auxiliary 24 VDC Backup Supply Connection Diagram

Pin Function Cable

In S, T, or AP type:

VL+ +24 V Auxiliary Supply Input Positive DC Power

VL- 24 V RET Auxiliary Supply Return DC Power

Table 15: Auxiliary 24 VDC Backup Supply Pins and Polarity

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4.8. STO (Safe Torque Off) Inputs

Activation of Safe Torque Off causes the drive to stop providing power that can cause rotation (or motion in the case of a linear motor) to the motor.

This function may be used to prevent unexpected motor rotation (of brushless DC motors) without disconnecting the drive from the power supply.

The motor is active only as long as 24 VDC (or 5 V for the TTL option) is provided to both STO1 and STO2. Whenever any input voltage is no longer present, power is not provided to the motor and the motor shaft continues to rotate to an uncontrolled stop.

In circumstances where external influences (for example, falling of suspended loads) are present, additional measures such as mechanical brakes are necessary to prevent any hazard.

This function corresponds to an uncontrolled stop in accordance with Stop Category 0 of IEC 60204-1.

Note: This function does not protect against electrical shock, and additional measures to turn

the power off are necessary.

The following table defines the behavior of the motor as a function of the state of the STO inputs:

Signal – STO1 Signal – STO2 Function

Not Active Not Active Motor is disabled

Not Active Active Motor is disabled

Active Not Active Motor is disabled

Active Active Motor can be enabled

Table 16: Motor Behavior according to Safety Inputs

Note: In the Gold Solo Trombone, STO1 also latches a software disable condition.

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Pin Signal Function

1 STO1 STO 1 input

2 STO2 STO 2 input

3 STO_RET STO signal return

Pin Positions

Table 17: STO Inputs Pin Assignments for S, T, 0 or 1 (Non AP Version)

A cable kit containing a cable that connects to the STO connector is available. See Section 5.1.11.

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Figure 15: STO Input Connection – PLC Option for S or 0 Suffix

Figure 16: STO Input Connection – TTL Option for T or 1 Suffix

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Pin on Port C Signal Function

1 STO1 STO 1 input return

2 STO2 STO 2 input return

3 STO_RET STO input

Pin Positions

Table 18: STO Input Pin Assignments for the AP Version

Figure 17: STO Input Connection – AP Option

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4.9. Feedback and Analog Input

The Gold Solo Trombone has two configurable motion sensor input ports: Port A and Port B, and one emulated buffered output port: Port C. Motion sensors from the controlled motor and from other sources can be connected to any of the available inputs on either port A or B. Software configuration designates each input a role, e.g., the incremental encoder on port B is the controlled motor position feedback, the Hall sensors on port A are commutation feedback, and the incremental encoder on port A is follower input.

For more information about sensors and their use refer to the Gold Line Software Manual.

4.9.1. Feedback Port A

Port A supports the following sensor inputs:

• Digital Hall sensors

• Incremental encoder or absolute serial encoder, depending on the specific model

Differential pulse-width modulation (PWM) signal input can be connected to port A in the models that support input from an incremental encoder. The PWM signal can be connected to the applicable pair of matching + and – encoder channels and is configurable by software.

Differential Pulse & Direction signal inputs can be connected to port A in the models that support input from an incremental encoder. The signals can be connected to the applicable pair of matching + and – encoder channels and are configurable by software.

A cable kit containing a cable that connects to port A is available. See Section 5.1.11.

Incremental Encoder Absolute Serial Encoder

Pin Signal Function Signal Function

1 +5V Encoder +5V supply +5V Encoder +5V supply

2 SUPRET Supply return SUPRET Supply return

3 PortA_ENC_A+ Channel A + ABS_CLK+ Absolute encoder clock+

4 PortA_ENC_A- Channel A - ABS_CLK- Absolute encoder clock-

5 PortA_ENC_B+ Channel B+ ABS_DATA+ Absolute encoder data +

6 PortA_ENC_B- Channel B - ABS_DATA- Absolute encoder data -

7 PortA_ENC_INDEX+ Index+ Reserved Reserved

8 PortA_ENC_INDEX- Index - Reserved Reserved

9 HA Hall sensor A HA Hall sensor A

10 HB Hall sensor B HB Hall sensor B

11 HC Hall sensor C HC Hall sensor C

12 COMRET Common Return COMRET Common Return

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Pin Positions

Table 19: Port A Pin Assignments

4.9.1.1. Incremental Encoder

Figure 18: Port A Incremental Encoder Input – Recommended Connection Diagram

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4.9.1.2. Absolute Serial Encoder

Figure 19: Absolute Serial Encoder – Recommended Connection Diagram for Sensors

Supporting Data/Clock (e.g., Biss / SSI / EnDAT etc.)

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Figure 20: Absolute Serial Encoder – Recommended Connection Diagram for Sensors

Supporting Data Line Only (NRZ types, e.g., Panasonic / Mitutoyo / etc.

4.9.1.3. Hall Sensors

Figure 21: Hall Sensors Connection Diagram

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4.9.2. Feedback Port B

Port B supports the following sensors:

• Incremental encoder, interpolated analog encoder or analog Hall sensors

Or:

• Resolver (separate hardware option)

Differential PWM signal input can be connected to port B in the models that support input from an incremental encoder. The PWM signal can be connected to the applicable pair of matching + and – encoder channels and is configurable by software.

Differential Pulse & Dir signal inputs can be connected to port B in the models that support input from an incremental encoder. The signals can be connected to the applicable pair of matching + and – encoder channels and are configurable by software.

A cable kit containing a cable that connects to port B is available, see Section 5.1.11.

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Incremental or

Resolver

Interpolated Analog Encoder

G-SOLTROXX/YYYYEX G-SOLTROXXX/YYYYRX

Pin Signal Function Signal Function

1 +5V Encoder +5V supply NC

2 SUPRET Supply return SUPRET Supply return

3 PortB_ENC_A+/SIN+ Channel A+/Sine+ SIN+ Sine+

4 PortB_ENC_A-/SIN- Channel A -/Sine- SIN- Sine-

5 PortB_ENC_B+/COS+ Channel B+/Cosine+ COS+ Cosine+

6 PortB_ENC_B-/COS- Channel B-/Cosine- COS- Cosine-

7 PortB_ENC_INDEX+/

Analog_Index+

8 PortB_ENC_INDEX-/

Analog_Index-

Channel _Index+/ Analog_Index+

Channel_Index- / Analog_Index-

RESOLVER_OUT+ Vref f=1/TS, 50 mA

Max.

RESOLVER_OUT- Vref complement

f= 1/TS, 50 mA Maximum

Pin Positions

Table 20: Port B Pin Assignments

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4.9.2.1. Incremental Encoder

Figure 22: Port B Incremental Encoder Input – Recommended Connection Diagram

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4.9.2.2. Interpolated Analog Encoder

Figure 23: Port B – Interpolated Analog Encoder Connection Diagram

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4.9.2.3. Resolver

Figure 24: Port B – Resolver Connection Diagram

4.9.3. Port C – Emulated Encoder Output

Port C provides emulated encoder output derived from port A or port B feedback inputs, or from internal variables. The output options are:

• Port A/B daisy chain (1:1) for incremental encoder

• Encoder emulation: Emulate any input sensor, digital or analog, or use to emulate an

internal variable such as virtual profiler.

• PWM output: Any pair of outputs that is used as an encoder channel (e.g. channel A+ and

channel A-) can be configured by software to become PWM output.

• Pulse & Direction output: The output pins that are assigned as channel A and channel B

when used as encoder out, can be configured by software to become pulse and direction outputs respectively.

This port is used when:

• The Gold Solo Trombone is used as a current amplifier to provide position data to the

position controller.

• The Gold Solo Trombone is used in velocity mode, to provide position data to the position

controller.

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• The Gold Solo Trombone is used as a master in follower or ECAM mode.

A cable kit containing a cable that connects to port C connector is available. See Section 5.1.11.

Pin Signal Function

1 PortC_ENCO_A+ Buffered Channel A output

2 PortC_ENCO _A- Buffered Channel A complement output

3 PortC_ENCO _B+ Buffered Channel B output

4 PortC_ENCO _B- Buffered Channel B complement output

5 PortC_ENCO _ Index+ Buffered INDEX output

6 PortC_ENCO _ Index- Buffered INDEX complement output

7 COMRET Common return

8 COMRET Common return

Pin Positions

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Figure 25: Emulated Encoder Differential Output – Recommended Connection Diagram

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4.10. User I/Os

The Gold Solo Trombone has six programmable digital inputs, four digital outputs and one analog input.

4.10.1. Digital Inputs

Each of the pins below can function as an independent input.

A cable kit containing a cable that connects to the Port C & IO connector is available. See Sec

5.1.11.

Pin Signal Function

12 INRET1_6 Programmable inputs 1 - 6 return for standard version

Programmable positive inputs 1 - 6 for AP version

13 IN1 High speed programmable input 1 (event capture, home, general

purpose, RLS, FLS, INH, PWM & dir input, pulse & dir input)

14 IN2 High speed programmable input 2 (event capture, home, general

purpose, RLS, FLS, INH, PWM & dir input, pulse & dir input)

15 IN3 High speed programmable input 3 (event capture, home, general

purpose, RLS, FLS, INH, PWM & dir input, pulse & dir input)

16 IN4 High speed programmable input 4 (event capture, home, general

purpose, RLS, FLS, INH, PWM & dir input, pulse & dir input)

17 IN5 High speed programmable input 5 (event capture, home, general

purpose, RLS, FLS, INH, PWM & dir input, pulse & dir input)

18 IN6 High speed programmable input 6 (event capture, home, general

purpose, RLS, FLS, INH, PWM & dir input, pulse & dir input)

Pin Positions

Table 21: Port C & I/O – Digital Inputs

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Figure 26: Digital Input PLC Mode Connection Diagram for S or 0 Suffix

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Figure 27: Digital Input TTL Mode Connection Diagram for T or 1 Suffix

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Figure 28: Digital Input AP Mode Connection Diagram

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4.10.2. Digital Output

Pin Signal Function

19 OUT4 Programmable output 4

20 OUT3 Programmable output 3

21 OUT2 Programmable output 2

22 OUT1 Programmable output 1

23 VDD VDD supply for output 1-4

24 VDDRET VDD supply return for output 1-4

Pin Positions

Table 22: Connector Port C & I/O – Digital Output

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Figure 29: Digital Output Connection Diagram – PLC Option for S or 0 Suffix

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Figure 30: Digital Output Connection Diagram – TTL Option for T or 1 Suffix

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Figure 31: Digital Output Connection Diagram – AP Option

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4.10.3. Analog Input

Note: The Analog Input pins are located on the Port C connector, see Section 4.9.3.

Pin Signal Function

9 ANALOG1- Analog input 1-

10 ANALOG1+ Analog input 1+

11 ANLRET Analog ground

Pin Positions

Figure 32: Analog Input with Single-Ended Source

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4.11. Communications

The communication interface may differ according to the user’s hardware. The Gold Solo Trombone can communicate using the following options:

Standard EtherCAT

G-SOLTROXX/YYYSXX G-SOLTROXX/YYYEXX

CANopen EtherCAT or Ethernet

USB 2.0 USB 2.0

Table 23: Gold Solo Trombone Communication Options

NOTE: When the EtherCAT is connected, and FoE in operation, the USB cable connection

must be disconnected.

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4.11.1. CANopen Communication

Notes regarding EtherCAT and CAN communication options:

• Note that CAN and EtherCAT are available in different hardware versions and not

operational simultaneously.

• Please see Section 4.2 above for P/N definitions.

In order to benefit from CANopen communication, the user must have an understanding of the basic programming and timing issues of a CANopen network.

Notes for connecting the CANopen communication cable:

• Connect the shield to the ground of the host (PC). Usually, this connection is soldered

internally inside the connector at the PC end. You can use the drain wire to facilitate connection.

• Ensure that the shield of the cable is connected to the shield of the connector used for

communications. The drain wire can be used to facilitate the connection.

• Make sure to have a 120-Ohm resistor termination at each of the two ends of the network

cable. The Gold Solo Trombone’s CAN port is non-isolated.

Pin Signal Function

1 PE Protective Earth

2 CAN_COMRET CAN communication return

3 CAN_L CAN_L busline (dominant low)

4 CAN_H CAN_H busline (dominant high)

Pin Positions

Table 24: CAN in Connector

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Pin Signal Function

1 PE Protective Earth

2 CAN_COMRET CAN communication return

3 CAN_L CAN_L busline (dominant low)

4 CAN_H CAN_H busline (dominant high)

Pin Positions

Table 25: Connector CAN out Connector

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Figure 33: CANopen Network Diagram

Caution: When installing CANopen communication, ensure that each servo drive is allocated a

unique ID. Otherwise, the CANopen network may hang.

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4.11.2. USB 2.0 Communication

The USB network consists of Host controller and multiple devices. The Gold Solo Trombone is a USB Device.

Notes for connecting the USB communication cable:

• Connect a mini USB cable.

• D+ and D- are a twisted pair in the cable.

• The maximum cable length is 5 m.

• The cable shield should only be connected to Ground at the host.

• The shield of the cable is connected to the shield of the connector used for

communications.

Pin Signal Function

1 USB VBUS USB VBUS 5 V

2 USBD- USB _N line

3 USBD+ USB _P line

5 USB COMRET USB communication return

Pin Positions

Table 26: USB 2.0 – Pin Assignments

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Figure 34: USB Network Diagram

4.11.3. EtherCAT Communication

Note regarding EtherCAT and CAN communication options:

• Note that CAN and EtherCAT are available in different hardware versions and not

operational simultaneously.

• Please see Section 4.2 above for P/N definitions.

Notes for EtherCAT communication:

• The EtherCAT IN port can be configured as an Ethernet port for TCP/IP – see the EtherCAT

Manual.

• It is recommended to use CAT5e (or higher) cable. Category 5e cable is a high signal

integrity cable with four twisted pairs.

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Pin Signal Function

1 EtherCAT_IN_TX+ EtherCAT in transmit +

2 EtherCAT_IN_TX- EtherCAT in transmit -

3 EtherCAT_IN_RX+ EtherCAT in receive +

4, 5 N/A

6 EtherCAT_IN_RX- EtherCAT in receive -

7, 8 N/A

Pin Positions

Table 27: EtherCAT In Pin Assignments

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Pin Signal Function

1 EtherCAT_OUT_TX+ EtherCAT out transmit +

2 EtherCAT_OUT_TX- EtherCAT out transmit -

3 EtherCAT_OUT_RX+ EtherCAT out receive +

4, 5 N/A

6 EtherCAT_OUT_RX- EtherCAT out receive -

7, 8 N/A

Pin Positions

Table 28: EtherCAT Out Pin Assignments

When connecting several EtherCAT devices in a network, the EtherCAT master must always be the first device in the network. The output of each device is connected to the input of the next device. The output of the last device may remain disconnected. If redundancy is required, the output of the last device should be connected to the input of the EtherCAT master.

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Figure 35: EtherCAT Network with No Redundancy

Figure 36: EtherCAT Network with Redundancy

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4.11.4. Ethernet Communication

Notes for Ethernet communication:

• The EtherCAT IN port can be configured as an Ethernet port for TCP/IP – see the EtherCAT

Manual.

• It is recommended to use CAT5e (or higher) cable. Category 5e cable is a high signal

integrity cable with four twisted pairs.

Pin Signal Function

1 TX+ Ethernet in transmit

2 TX- Ethernet in transmit Complement

3 RX+ Ethernet in receive

4, 5 N/A

6 RX- Ethernet in receive Complement

7, 8 N/A

Pin Positions

Table 29: Ethernet Pin Assignments

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4.12. Power Up

After the Gold Solo Trombone is connected to its peripheral devices, it is ready to be powered up.

Caution: Before applying power, ensure that

1. The DC supply is within the specified range.

2. The proper plus-minus connections are in order.

3. The VN- is not connected to the PE, when working with a non-isolated power supply.

4.12.1. Initializing the System

After the Gold Solo Trombone has been connected and mounted, the system must be set up and initialized. This is accomplished using the Elmo Application Studio, Elmo’s Windows-based software application. Install the application and then perform setup and initialization according to the directions in the Elmo Application Studio User’s Manual.

4.13. Heat Dissipation

The best way to dissipate heat from the Gold Solo Trombone is to mount it so that its heatsink faces up. For best results leave approximately 10 mm of space between the Gold Solo Trombone‘s heatsink and any other assembly.

4.13.1. Gold Solo Trombone Thermal Data

• Heat dissipation capability (θ): Approximately 5.5 °C/W

• Thermal time constant: Approximately 600 seconds (thermal time constant means that the

Gold Solo Trombone will reach two thirds of its final temperature after 10 minutes)

• Shut-off temperature: 86 °C to 88 °C (measured on the heatsink)

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4.13.2. Heat Dissipation Data

Heat Dissipation is shown graphically below:

Figure 37: Dissipation versus Current Graph for 560 and 680 VDC

Figure 38: Dissipation versus Current Graph for 330 VDC

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4.13.3. How to Use the Charts

The power dissipation in the chart includes the losses of the rectifying bridge. Regarding Figure 37 and Figure 38, the following should be noted:

560 3X400

680 3X480

330 3X230

The charts above are based upon theoretical worst-case conditions. Actual test results show 30% to 50% better power dissipation.

To determine if your application needs a heat sink:

1. Allow maximum heat sink temperature to be 80 °C or less (shunt down is 6 °C to 8 °C

higher).

2. Determine the ambient operating temperature of the Gold Solo Trombone as ≤ 40 °C.

3. Calculate the allowable temperature increase according to the following example: For an

ambient temperature of 40 °C, ΔT = 80 to 40°C = 40°C

4. Use the chart to find the actual dissipation power of the drive. Follow the voltage curve to

the desired output current and then find the dissipated power.

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Chapter 5: T echnical Specifications

Gold Solo Trombone Installation G uide Technical Specifications

This chapter provides detailed technical information regarding the Gold Solo Trombone. This includes its dimensions, power ratings, the environmental conditions under which it can be used, the standards to which it complies and other specifications.

5.1. Features

The Gold Solo Trombone's features determine how it controls motion, as well as how it processes host commands, feedback and other input.

5.1.1. Motion Control Modes

• Current/Torque - up to 20 kHz sampling rate (50 μs)

• Velocity - up to 10 kHz sampling rate (100 μs)

• Position - up to 10 kHz sampling rate (100 μs)

5.1.2. Advanced Positioning Control Modes

• PTP, PT, PVT, ECAM, Follower, Dual Loop, Current Follower, Fast event capturing inputs

• Fast output compare (OC)

• Motion Commands: Analog current and velocity, pulse-width modulation (PWM) current

and velocity, digital (SW) and Pulse and Direction

5.1.3. Advanced Filters and Gain Scheduling

• “On-the-Fly” gain scheduling of current and velocity

• Velocity and position with “1-2-2” PIP controllers

• Automatic commutation alignment

• Automatic motor phase sequencing

• Current gain scheduling to compensate for the motor's non-linear characteristics

• Advanced filtering: Low pass, Notch, General Biquad

• Current loop gain scheduling to compensate for bus voltage variations

• Velocity gain scheduling for reliable velocity loop performance

• Gains & filter scheduling vs. position for mechanical coupling optimization, speed and

position tracking errors

• High order filters gain scheduling vs. speed and position

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5.1.4. Fully Programmable

• Third generation programming structure

• Event capturing interrupts

• Event triggered programming

5.1.5. Feedback Options

• Incremental Encoder – up to 75 Megacounts per second (18 MHz PPS (Pulses Per Second))

• Digital Halls:

 Up to 4 kHz commutation frequency  5 V logic  Input voltage up to 15 VDC

• Incremental encoder with digital Halls for commutation – up to 75 Megacounts per second

for encoder

• Interpolated Analog (Sine/Cosine) Encoder:

 Supports 1 V PTP Sin/Cos  Sin/Cos frequency: up to 500 kHz  Internal interpolation: up to ×8192  Automatic correction of amplitude mismatch, phase mismatch, signal offset  Emulated encoder output of the analog encoder

• Analog Hall Sensor:

 One feedback electrical cycle = one electrical cycle of the motor  Supports 1 V PTP Sin/Cos  Sin/Cos Frequency: up to 500 kHz  Internal Interpolation: up to ×8192  Automatic correction of amplitude mismatch, phase mismatch, signal offset

• Resolver

 14 bit resolution  Up to 512 revolutions per second (RPS)  Emulated encoder outputs of the resolver

• Auxiliary encoder inputs (ECAM, follower, etc.) single-ended, unbuffered

• Tachometer & Potentiometer

• Absolute serial encoders:

 NRZ (Panasonic, Tamagawa, Mitutoyo, etc.)  EnDAT 2.2  BiSS/SSI

The Gold Solo Trombone can provide power (5 V, 2x200 mA max) for encoders, resolver or Halls.

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5.1.6. Input/Output

• One Analog Input – up to 14-bit resolution

• Six separate programmable Digital Inputs, optically isolated, PLC compatible, can be

configured to TTL Level, and AP mode.

• Optional functions:

 Fast event capture  Inhibit/Enable motion  Stop motion under control (hard stop)  Motion reverse and forward limit switches  Begin on input  Abort motion  Homing  General purpose  Four separate programmable Digital Outputs  TTL level: optically isolated sink and source  PLC: optically isolated source

• Optional functions:

 Fast output compare (for one output only)  Brake control  Amplifier fault indication  General purpose  Servo enable indication

• Pulse and Direction inputs (single-ended)

• PWM current command output for torque and velocity

5.1.7. STO (Safe Torque Off) Inputs

• Two STO inputs, optically isolated, PLC compliable, can be configured to TTL Level, and AP

mode.

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5.1.8. Built-In Protection

• Software error handling

• Abort (hard stops and soft stops)

• Status reporting

• Protection against:

 Shorts between motor power outputs  Shorts between motor power outputs and power input/return  Failure of internal power supplies  Over-heating

• Continuous temperature measurement. Temperature can be read on-the-fly; a warning can

be initiated x degrees before temperature disable is activated.

 Over/under voltage  Loss of feedback  Following error  Current limits

5.1.9. Status Indication

• Two outputs for bi-color LEDs

5.1.10. Automatic Procedures

• Commutation alignment

• Phase sequencing

• Current loop offset adjustment

• Current loop gain tuning

• Current gain scheduling

• Velocity loop offset adjustment

• Velocity gain tuning

• Velocity gain scheduling

• Position gain tuning

5.1.11. Accessories

Cable Kit, catalog number: CBL-GDCWHIKIT02 (can be ordered separately)

For further details, see the documentation for this cable kit (MAN-CBLKIT-GOLD.pdf ).

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5.2. Gold Solo Trombone Dimensions

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5.3. Environmental Conditions

Feature Details

Ambient operating temperature 0 °C to 40 °C (32 °F to 104 °F)

Storage temperature -20 °C to 85 °C (-4 °F to 185 °F)

Maximum altitude 10,000 m

Maximum non-condensing humidity 90%

Protection level IP32

5.4. Control Specif ications

5.4.1. Current Loop

Feature Details

Controller type Vector, digital

Compensation for bus voltage

“On-the-fly” automatic gain scheduling

variations

Motor types

• AC brushless (sinusoidal)

• DC brushless (trapezoidal)

• DC brush

• Linear motors

• “Voice” coils

Current control

• Fully digital

• Sinusoidal with vector control

• Programmable PI control filter based on a pair of

PI controls of AC current signals and constant power at high speed

Current loop bandwidth > 4 kHz closed loop

Current sampling time

Programmable 40 to 120 µsec

Current sampling rate Up to 20 kHz; default 20 kHz

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5.4.2. Velocity Loop

Feature Details

Controller type PI + Four advanced filters + Two advanced gain

scheduling filters

Velocity control

• Fully digital

• Programmable PI and feed forward control filters

• On-the-fly gain scheduling according to either

speed or position command or feedback.

• Automatic, quick, advanced or expert tuning

Velocity and position feedback options

• Incremental Encoder

• Digital Halls

• Interpolated Analog (sin/cos) Encoder (optional)

• Resolver (optional)

• Absolute Serial encoder

Note: With all feedback options, 1/T with automatic

mode switching is activated (gap, frequency and derivative).

Velocity loop bandwidth < 500 Hz

Velocity sampling time

80 to 240 µsec (2x current loop sample time)

Velocity sampling rate Up to 10 kHz; default 10 kHz

Velocity command options Internally calculated by either jogging or step

Note: All software-calculated profiles support

on-the-fly changes.

5.4.3. Position Loop

Feature Details

Controller type “1-2-2” PIP + three advanced filters + one advanced

gain scheduling filter

Position command options

Position loop bandwidth < 200 Hz

Position sampling time

Position sampling rate Up to 10 kHz; default 10 kHz

• Software

• Pulse and Direction

80 to 240 µsec (2x current loop sample time)

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5.5. Feedbacks

5.5.1. Feedback Supply Voltage

The Gold Solo Trombone has two feedback ports (Main and Auxiliary). The Gold Solo Trombone supplies voltage only to the main feedback device and to the auxiliary feedback device if needed.

Feature Details

Encoder supply voltage 5 V ± 5% @ 2 x 200 mA (maximum)

5.5.2. Feedback Options

The Gold Solo Trombone can receive and process feedback input from diverse types of devices.

5.5.2.1. Incremental Encoder Input

Feature Details

Encoder format

• A, B and Index

• Differential

• Quadrature

Interface RS-422

Input resistance

Differential: 120 Ω

Maximum incremental encoder frequency Maximum absolute: 75 Megacounts per

second (18 MHz on A/B)

Minimum quadrature input period (PIN) 53 nsec

Minimum quadrature input high/low period (PHL) 26 nsec

Minimum quadrature phase period (PPH) 13 nsec

Maximum encoder input voltage range

Common mode: ± 7 V

Differential mode: ± 7 V

Figure 39: Main Feedback - Encoder Phase Diagram

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5.5.2.2. Digital Halls

Feature Details

Hall inputs

• H

, HB, HC

• Single ended inputs

• Built in hysteresis of 1 V for noise immunity

Input voltage Nominal operating range: 0 V < V

Maximum absolute: -1 V < V High level input voltage: V Low level input voltage: V

In_Hall

InHigh

InLow

> 2.5 V

< 1 V

< 5 V

In_Hall

< 15 V

Input current Sink current (when input pulled to the common): 5 mA

Maximum frequency f

MAX

: 4 kHz

5.5.2.3. Interpolated Analog (Sine/Cosine) Encoder

Feature Details

Analog encoder format Sine and Cosine signals

Analog input signal level

• Offset voltage: 2.2 V to 2.8 V

• Differential, 1 V peak to peak

Input resistance

Differential: 120 Ω

Maximum analog signal frequency fMAX : 500 kHz

Interpolation multipliers Programmable: x4 to x8192

Maximum “counts” frequency 2 x 10

Automatic error correction

counts/sec

• Signal amplitudes mismatch

• Signal phase shift

• Signal offsets

Encoder outputs See Port C Encoder Outputs Specifications, Section

5.5.3.

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MAN-G-SOLTROIG (Ver. 1.3)

Gold Solo Tromb on e Installation Guide Technical Specifications

5.5.2.4. Resolver

Feature Details

Resolver format

• Sine/Cosine

• Differential

Input resistance

Differential 2.49 kΩ

Resolution Programmable: 10 to 15 bits

Maximum electrical frequency (RPS) 512 revolutions/sec

Resolver transfer ratio 0.5

Reference frequency 1/Ts (Ts = sample time in seconds)

Reference voltage Supplied by the Gold Solo Trombone

Reference current up to ±50 mA

Encoder outputs See Port C Encoder Output Specifications, Section

5.5.3.

5.5.2.5. Absolute Serial Encoder

Feature Details

Encoder format

• NRZ (Panasonic, Tamagawa, Mitutoyo, etc.)

• EnDAT 2.2

• BiSS/SSI

• Stegmann Hiperface

Interface

• RS-485

• Clock – Differential output line

• Data – Differential bidirectional line

Input Resistance

Differential 120 Ω

Transmission Rate Up to 2.5 MHz

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MAN-G-SOLTROIG (Ver. 1.3)

Gold Solo Tromb on e Installation Guide Technical Specifications

5.5.3. Port C Feedback Output

Feature Details

100

Emulated output

• A, B, Index

• Differential

Interface RS-422

Output current capability Maximum output current: IOH (max) = 2 mA

> 3.0 V

= 2 mA

< 0.4 V

Available as options

High level output voltage: V

Minimum output current: I

Low level output voltage: V

• Emulated encoder output of any sensor on Port

A or Port B

• Daisy chain Port A or Port B

• Emulated encoder output of internal variables

• Emulated encoder outputs of the tachometer

• Emulated encoder outputs of the potentiometer

Maximum frequency f

: 8 MHz pulses/output

MAX

Edge separation between A & B Programmable number of clocks to allow adequate

noise filtering at remote receiver of emulated encoder signals

Index (marker) Length of pulse is one quadrature (one quarter of an

encoder cycle) and synchronized to A&B

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ElmoMC Gold Solo Trombone User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Chapter 1: Safety Information

1.1. Warnings

1.2. Cautions

1.3. Directives and Standards

1.4. Warranty Information

1.5. CE Marking Conformance

Chapter 2: Product Description

2.1. Drive Description

2.2. Product Features

2.2.1. Servo Control

2.2.2. Motion Control

2.2.3. Communications

2.2.4. Safe Torque Input (STO)

2.2.5. Outputs

2.2.6. Inputs

2.2.7. Feedback Options

2.2.8. Feedback Sensor Specifications

2.2.9. Protection

2.3. System Architecture

2.4. How to Use this Guide

Chapter 3: Technical Information

3.1. Technical Data

3.1.1. Auxiliary Supply

Chapter 4: Installation

4.1. Site Requirements

4.2. Unpacking the Drive Components

4.3. Connectors and Indicators

4.3.1. Connector Types

4.3.2. Pinouts

4.3.2.1. Main Power and Motor Power Connector

4.3.2.2. Auxiliary Power Connector

4.3.2.3. STO Connector – Safety

4.3.2.4. Port A Connector

4.3.2.5. Port B Connector

4.3.2.6. Port C and I/O Connector

4.3.2.7. CANopen In/Out Connectors

4.3.2.8. USB 2.0 Connector

4.3.2.9. EtherCAT IN/Ethernet Connector

4.3.2.10. EtherCAT OUT Connector

4.3.3. Indicators

4.3.3.1. Drive Status Indicator

4.3.3.2. EtherCAT Link Indicators

4.3.3.3. EtherCAT Status Indicator

4.4. Mounting the Gold Solo Trombone

4.5. Wiring the Gold Solo Trombone

4.6. Connection Diagrams

4.7. Main Power, Auxiliary Power and Motor Power

4.7.1. Motor Power

4.7.2. Main Power

4.7.2.1. Direct-to-Mains Power Source (Non-Isolated Rectifier)

4.7.2.1.a Three Phase Direct-to-Mains Connection Topology

4.7.2.1.b Single-Phase Direct-to-Mains Connection Topology

4.7.2.1.c Multiple Connections Topology

4.7.2.2. Battery Power Supply

4.7.3. Control and Backup Supply

4.8. STO (Safe Torque Off) Inputs

4.9. Feedback and Analog Input

4.9.1. Feedback Port A

4.9.1.1. Incremental Encoder

4.9.1.2. Absolute Serial Encoder

4.9.1.3. Hall Sensors

4.9.2. Feedback Port B

4.9.2.1. Incremental Encoder

4.9.2.2. Interpolated Analog Encoder

4.9.2.3. Resolver

4.9.3. Port C – Emulated Encoder Output

4.10. User I/Os

4.10.1. Digital Inputs

4.10.2. Digital Output

4.10.3. Analog Input

4.11. Communications

4.11.1. CANopen Communication

4.11.2. USB 2.0 Communication

4.11.3. EtherCAT Communication

4.11.4. Ethernet Communication

4.12. Power Up