ElmoMC Gold Tiger User Manual
Gold Tiger
Digital Servo Drive
Installation Guide
EtherCAT and CAN
March 2014 (Ver. 1.000) www.elmomc.com
Table of Contents
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 Tiger 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.
Document no. MAN-G-TIGIG (Ver. 1.000)
Copyright 2014
Elmo Motion Control Ltd.
All rights reserved.
Catalog Number
|Warnings|www.elmomc.com
Table of Contents
Revision History
Version Date Details
Ver. 1.000 March 2014 Initial release
|Warnings|www.elmomc.com
Table of Contents
Table of Contents
MAN-G-TIGIG (Ver . 1.000)
Chapter 1: This Installation Guide ................................................................................. 6
Chapter 2: Safety Information ...................................................................................... 6
2.1 Warnings .................................................................................................................... 7
2.2 Cautions ...................................................................................................................... 7
2.3 CE Marking Conformance ........................................................................................... 7
2.4 Warranty Information ................................................................................................ 7
Chapter 3: Product Description ..................................................................................... 8
Chapter 4: Technical Information .................................................................................. 9
4.1 Physical Specifications ................................................................................................ 9
4.2 Technical Data for the 400 V Type ............................................................................. 9
4.3 Technical Data for the 800 V Type ........................................................................... 10
4.4 Auxiliary Supply ........................................................................................................ 11
4.5 Product Features ...................................................................................................... 11
4
Chapter 5: Installation ................................................................................................ 12
5.1 Unpacking the Drive Components ........................................................................... 12
5.2 Connector Types ....................................................................................................... 13
5.3 Mounting the Gold Tiger .......................................................................................... 15
5.4 Connection Diagrams ............................................................................................... 16
5.4.1 Connection Diagrams for EtherCAT Version.............................................. 17
5.4.2 Connection Diagrams for CAN Version ...................................................... 19
Chapter 6: Wiring ....................................................................................................... 21
6.1 Basic Recommendations .......................................................................................... 23
6.1.1 General ...................................................................................................... 23
6.1.2 Feedback Cable Port A and Port B Connector ........................................... 24
6.1.3 Feedback Cable Port C Connector ............................................................. 25
6.1.4 IO Cable Connector .................................................................................... 25
6.1.5 STO (Port C) Cable Connector .................................................................... 26
6.2 Motor Power Connector Pinouts ............................................................................. 27
6.3 Main Power, Auxiliary Power ................................................................................... 29
6.3.1 Main Power ............................................................................................... 30
6.3.1.1 Direct-to-Mains Power Source (Non-Isolated Rectifier) ........... 31
6.3.1.2 Battery Power Supply ............................................................... 34
6.3.2 Control and Backup Supply........................................................................ 35
6.4 Port A ........................................................................................................................ 36
6.4.1 Incremental Encoder ................................................................................. 37
6.4.2 Hall Sensor ................................................................................................. 37
6.4.3 Absolute Serial Type Encoder .................................................................... 38
6.5 Port B ........................................................................................................................
40
|Warnings|www.elmomc.com
Table of Contents
Table of Contents
MAN-G-TIGIG (Ver . 1.000)
6.5.1 Incremental Encoder ................................................................................. 41
6.5.2 Interpolated Analog Encoder .................................................................... 42
6.5.3 Resolver ..................................................................................................... 43
6.6 Port C, Analog Input, and STO .................................................................................. 44
6.6.1 Port C ......................................................................................................... 45
6.6.2 Analog Input .............................................................................................. 45
6.6.3 STO ............................................................................................................. 46
6.6.3.1 Source Mode PLC Voltage Level ............................................... 46
6.6.3.2 TTL Mode TTL Voltage Level ..................................................... 46
6.6.3.3 SINK Mode – PLC Voltage Level ................................................ 47
6.7 Digital Inputs and Outputs ....................................................................................... 48
6.7.1 Digital Input and Output TTL Mode ........................................................... 49
6.7.2 Digital Input and Output PLC Source Mode .............................................. 51
6.7.3 Digital Input and Output Sink Mode .......................................................... 53
6.8 USB ........................................................................................................................... 55
6.8.1 VL/Communication Connector .................................................................. 56
6.9 Drive Status Indicator ............................................................................................... 57
6.10 EtherCAT Communications Version ......................................................................... 58
6.10.1 EtherCAT/Ethernet Pinouts ....................................................................... 58
6.10.2 EtherCAT Wiring ........................................................................................ 59
6.10.3 EtherCAT Link Indicators ........................................................................... 59
6.11 CAN Communications Version ................................................................................. 60
6.11.1 CAN Wiring ................................................................................................ 61
6.12 Powering Up ............................................................................................................. 62
6.13 Initializing the System .............................................................................................. 62
5
Chapter 7: Gold Tiger Dimensions ............................................................................... 63
|Warnings|www.elmomc.com
Gold Tiger Installation Guide
Table of Contents
Chapter 1:
This Installation Guide
Chapter 2:
Safety Information
Warning:
Caution:
Important:
MAN-G-TIGIG (Ver . 1.000)
6
This installation Guide details the technical data, pinouts, wiring, and power connectivity of the
Gold Tiger. For a comprehensive detailed description of the functions refer to the
MAN-G-Panel Mounted Drives Hardware manual which describe Panel Mounted products.
In order to achieve the optimum, safe operation of the Gold Tiger, 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 Tiger 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 Tiger 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 and all Elmo Motion Control manuals:
This information is needed to avoid a safety hazard, which might cause bodily injury
or death as a result of incorrect operation.
This information is necessary to prevent bodily injury, damage to the product or to
other equipment.
Identifies information that is critical for successful application and understanding of
the product.
|Warnings|www.elmomc.com
Gold Tiger Installation Guide
Table of Contents
MAN-G-TIGIG (Ver . 1.000)
7
2.1 Warnings
• To avoid electric arcing and hazards to personnel and electrical contacts, never
connect/disconnect the servo drive while the power source is on.
• Power cables can carry a high voltage, even when the motor is not in motion. Disconnect
the Gold Tiger from all voltage sources before servicing.
• The high voltage products within the Gold Line range contain 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.
2.2 Cautions
• The maximum DC power supply connected to the instrument must comply with the
parameters outlined in this guide.
• When connecting the Gold Tiger 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 Tiger, verify that all safety precautions have been observed
and that the installation procedures in this manual have been followed.
• Make sure that the Safe Torque Off is operational
2.3 CE Marking Conformance
The Gold Tiger 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 2006/42/EC as amended, and with those of the most recent versions of
standards EN 60204-1 and
Concerning electrical equipment designed for use within certain voltage limits, the Gold Tiger meets
the provisions outlined in 2006/95/EC. The party responsible for ensuring that the equipment
meets the limits required by EMC regulations is the manufacturer of the end product.
EN ISO 12100 at the least, and in accordance with 2006/95/EC.
2.4 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.
||Warnings|www.elmomc.com
Gold Tiger Installation Guide
Table of Contents
Chapter 3:
Product Description
MAN-G-TIGIG (Ver . 1.000)
8
The Gold Tiger series of digital servo drives are highly resilient and designed to deliver the highest
density of power and intelligence. The Gold Tiger 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 permanent-magnet
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 Tiger can
operate as a stand-alone device or as part of a multi-axis system in a distributed configuration on a
real-time network.
based application enables users to quickly and simply configure the servo drive for optimal use with
their motor. The Gold Tiger, 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 Tiger).
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 A, H, S, or T optional Gold Tiger 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 to 30 VDC.
Whenever backup functionality is not required, Gold Tiger models with the 0 or 1 Option (only for
400 V models) in the catalog number (section Catalog Number) 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 Tiger 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 Tiger is a stand-alone version of the Gold Panther module (PCB-mounted).
||Warranty Information|www.elmomc.com
Gold Tiger Installation Guide
9
Table of Contents
Chapter 4:
Technical Information
VDC
A, H, S, or T in P/N*: 50
VDC
325
VDC
400
kW 2 4 5 5.5
7
%
> 98
VDC
18 V to 30 V
VA
7
A 6 12
16
17
22
A
4.2
8.5
11.3
12
15.5
A
2 x Ic
No peak
MAN-G-TIGIG (Ver . 1.000)
9
4.1 Physical Specifications
Feature Units All Types
Weight g (oz) 750 g (26.46 oz) for standard L shape
Dimensions mm (in) 105 x 160 x 47 (4.13" x 6.29" x 1.85")
Mounting method Panel / Wall Mounted
4.2 Technical Data for the 400 V Type
Feature Units 6/400 12/400 16/400 R17/400 R22/400
Minimum supply voltage
0 or 1 Option in P/N: 100
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
Sinusoidal continuous RMS
current limit (Ic)
Peak current limit
Only for Control Supply A/H/S/T Option Models
|Physical Specifications|www.elmomc.com
Gold Tiger Installation Guide
Table of Contents
VDC
A, H, S, or T Option in P/N*: 95+
VDC
560 for 400 VAC
VDC
780
kW 5 7.5 7 10
%
> 98
VDC
18 V to 30 V
VA
7
A 8 12
11
16
A
5.7
8.5
7.8
11.3
A
2 x Ic
No peak
MAN-G-TIGIG (Ver . 1.000)
4.3 Technical Data for the 800 V Type
Feature Units 8/800 12/800 R11/800 R16/800
Minimum supply voltage
Nominal supply voltage
680 for 480 VAC
Maximum supply voltage
Maximum continuous power
output
Efficiency at rated power (at
nominal conditions)
Auxiliary supply voltage option
Only for Control Supply A/H/S/T Option
Models
10
Auxiliary power supply
Continuous current limit (Ic)
Amplitude sinusoidal/DC
trapezoidal commutation
Sinusoidal continuous RMS
current limit (Ic)
Peak current limit
*See the Catalog Number section for details on the part number. The A, H, S, or T Option appears in
models where there is a 24 V control supply. If there is a 0 or 1 Option, the control power supply
operates from the main power.
Note on current ratings: The current ratings of the Gold Tiger 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.
||Technical Data for the 800 V Type|www.elmomc.com
Gold Tiger Installation Guide
Table of Contents
Auxiliary power supply
Isolated DC source only
Auxiliary supply input voltage
18 VDC to 30 VDC
Auxiliary supply input power
7
MAN-G-TIGIG (Ver . 1.000)
4.4 Auxiliary Supply
Feature Details
4.5 Product Features
Main Feature Details Presence and No.
11
STO
Digital Input
Option
Digital Output
Option
Analog Input
Feedback
Communication
Option
TTL, or
PLC Source, or
PLC Sink (is not fully certified, and not
recommended for new designs)
TTL, or
PLC Source, or
PLC Sink
TTL, or
PLC Source, or
PLC Sink
Differential ±10V
Standard Port A, B, & C
USB
EtherCAT without switches or
√
√
√
6
6
6
4
4
4
1
√
√
√
Other STO output functionality through Digital Out 4
||Auxiliary Supply|www.elmomc.com
CAN
EtherCAT with switches or
RS-232 or
RS-422
√
√
√
√
1
Gold Tiger Installation Guide
Table of Contents
Chapter 5:
Installation
MAN-G-TIGIG (Ver . 1.000)
12
The Gold Tiger must be installed in a suitable environment and properly connected to its voltage
supplies and the motor.
5.1 Unpacking the Drive Components
Before you begin working with the Gold Tiger, verify that you have all of its components, as follows:
• The Gold Tiger servo drive
• The Elmo Application Studio (EAS) software and software manual
The Gold Tiger is shipped in a cardboard box with Styrofoam protection.
To unpack the Gold Tiger:
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 Tiger you have unpacked is the appropriate type for your
requirements, locate the part number sticker on the side of the Gold Tiger. It looks like this:
Figure 1: Gold Tiger Part Number Sticker
4. Verify that the Gold Tiger type is the one that you ordered, and ensure that the voltage
meets your specific requirements.
The part number at the top provides the type designation. Refer to the appropriate part
number in the section Catalog Number at the beginning of the installation guide.
|Unpacking the Drive Components|www.elmomc.com
Gold Tiger Installation Guide
Table of Contents
MAN-G-TIGIG (Ver . 1.000)
5.2 Connector Types
The Gold Tiger has the following connectors.
Pins Type Function
Bottom Connectors
6 Amphenol (Female) Motor Connector
13
6 Amphenol (Male) DC Input
Front and Side Connectors
Front and Side Connectors - EtherCAT
Front Connectors - CAN
15 Plug D-Type VL / Communication
15 Socket D-Type Port A
9 Socket D-Type Port B
15 Socket High Density D-Type Port C and STO
15 Pin High Density D-Type I/O
4 USB Device Type Mini B USB communication
||Connector Types|www.elmomc.com
Gold Tiger Installation Guide
Table of Contents
MAN-G-TIGIG (Ver . 1.000)
Pins Type Function
EtherCAT Version
9 Pin D-Type Ethernet/EtherCAT_IN/OUT communication
CAN Version
9 Pin D-Type CAN in/CAN out
Table 1: Connector Types
The pinouts in the next sections describe the function of each pin in the Gold Tiger connectors that
are listed in Table 1.
14
||Connector Types|www.elmomc.com
Gold Tiger Installation Guide
Table of Contents
MAN-G-TIGIG (Ver . 1.000)
5.3 Mounting the Gold Tiger
The Gold Tiger has been designed for two standard mounting options:
• Wall Mount along the back (can also be mounted horizontally on a metal surface)
• Book Shelf along the side
M5 (or 10/32) round head screws for wall mounting or M5 (or 10/32) hexagon head screws for
bookshelf mounting, one through each opening in the heat sink, are used to mount the Gold Tiger
(see the diagram below).
15
Figure 2: Mounting the Gold Tiger with Standard L-Shape Heat-Sink
||Mounting the Gold Tiger|www.elmomc.com
Gold Tiger Installation Guide
Table of Contents
MAN-G-TIGIG (Ver . 1.000)
5.4 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 A, H, S, or T options (the catalog number has an A, H, S, or T option) 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 a 0 or 1 option. The drive’s internal DC/DC
converter is fed from the VP+ and VN- of the internal drive’s bus line.
16
||Connection Diagrams|www.elmomc.com
Gold Tiger Installation Guide
Table of Contents
MAN-G-TIGIG (Ver . 1.000)
5.4.1 Connection Diagrams for EtherCAT Version
The following describes the connection diagrams for the EtherCAT version.
17
Figure 3: Gold Tiger EtherCAT Connection Diagram – with Backup Functionality
(A, H, S, or T Options)
||Connection Diagrams|www.elmomc.com
Gold Tiger Installation Guide
Table of Contents
MAN-G-TIGIG (Ver . 1.000)
18
Figure 4: Gold Tiger EtherCAT Connection Diagram – 400 V without Backup Functionality for
Model Drives with 0 or 1 Options
||Connection Diagrams|www.elmomc.com
Gold Tiger Installation Guide
Table of Contents
MAN-G-TIGIG (Ver . 1.000)
5.4.2 Connection Diagrams for CAN Version
The following describes the connection diagrams for the CAN version.
19
Figure 5: Gold Tiger CAN Connection Diagram – with Backup Functionality
(A, H, S, or T Options)
||Connection Diagrams|www.elmomc.com
Gold Tiger Installation Guide
Table of Contents
MAN-G-TIGIG (Ver . 1.000)
20
Figure 6: Gold Tiger CAN Connection Diagram – 400 V without Backup Functionality
for Model Drives with 0 or 1 Options
||Connection Diagrams|www.elmomc.com
Loading...