Page 1
Gold Tiger
Digital Servo Drive
Installation Guide
EtherCAT and CAN
March 2014 (Ver. 1.000) www.elmomc.com
Page 2
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
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Table of Contents
Revision History
Version Date Details
Ver. 1.000 March 2014 Initial release
|Warnings|www.elmomc.com
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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)
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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
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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)
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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
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Chapter 6: Wiring
MAN-G-TIGIG (Ver . 1.000)
Once the product 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 drive.
The following table legend describes the wiring symbols detailed in all installation guides.
Wiring Symbol Description
Earth connection (PE)
Motor Protection Earth Connection
Metal chassis connection
21
Common at the Controller
Shielded cable with drain wire.
The drain wire is a non-insulated wire that is in
direct contact with the braid (shielding).
Shielded cable with drain wire significantly
simplifies the wiring and earthing.
Shielded cable braid only, without drain wire.
Twisted-pair wires
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Wiring Symbol Description
Shielding of the cable is earthed via the braid.
For Encoders using D-Type connections, the
following should be noted:
For D-TYPE with no PE terminal
The Braid should be connected to the D-TYPE
metal housing.
The Earth connection is maintained via the
metal housing of the mating D-Type, which is
itself Earthed via the housing.
Note:
This wiring does not apply to Molex connections
Encoder Earthing.
The drawing displays two earth connections.
Only one of the Earth connections described
below is mandatory.
22
Earthing Type 1 is for encoders where the earth
connection consists of the braid of the shielded
cable being connected to Earth via the earthed
chassis earthing.
Earthing Type 2 is for encoders where the earth
connection consists of earthing the Drain Wire
to a device with a terminal internally connected
to earth (PE) in the connector.
Earthing the Encoder and connecting the Earth
(PE) to the drive COMRET is mandatory to insure
reliable operation, high noise immunity and
rejection of voltage common mode
interferences.
||Connection Diagrams|www.elmomc.com
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6.1 Basic Recommendations
6.1.1 General
1. Use shielded cables. For best results, the cable should have an aluminum foil shield covered
by copper braid, and should contain a drain wire.
2. Use 24, 26 or 28 AWG twisted-pair shielded cables. For best results, the shield should have
aluminum foil covered by copper braid.
3. Keep the cable as short as possible.
4. Keep the motor and power input wires as far away as possible from the feedback and logic
signal cables.
5. 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.
23
6. After completing the wiring, carefully inspect all wires to ensure tightness, good solder of
joints and general safety.
Figure 7: D-Type Cable Assemblies
7. Use only a D-Sub connector with a metal housing (Figure 7).
8. Make sure the braid shield is in tight contact with the metal housing of the D-type
connector (Figure 7).
||Basic Recommendations|www.elmomc.com
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6.1.2 Feedback Cable Port A and Port B Connector
1. On the motor side connections, ground the shield to the motor chassis.
2. At least One COMRET (Common Return) must be connected to the PE.
Implement the following steps to connect the COMRET to the PE:
a. At the drive, connect the feedback drain wire to one of the COMRET terminals in the
D-Type feedback connector (Figure 8).
b. At the motor, connect the feedback cable drain wire to the GND motor chassis
terminal of the feedback connector.
The drawings below display two earth connections. Only one of the Earth connections
described below is mandatory.
Earthing Type 1 is for encoders where the earth connection consists of the braid of the
shielded cable being connected to Earth via the earthed chassis earthing.
Earthing Type 2 is for encoders where the earth connection consists of earthing the Drain
Wire to a device with a terminal internally connected to earth (PE) in the connector.
24
Figure 8: Feedback Port A and B Cable Assemblies
||Basic Recommendations|www.elmomc.com
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MAN-G-TIGIG (Ver . 1.000)
6.1.3 Feedback Cable Port C Connector
At the controller side connections, follow the controller manufacturer’s recommendations
concerning the shield.
The connection of the Drain wire to the Port C is not mandatory.
25
Figure 9: Feedback Port C Cable Assemblies
6.1.4 IO Cable Connector
It is recommended to use shielded cable, but is not mandatory.
Figure 10: Feedback IO Cable Assemblies
||Basic Recommendations|www.elmomc.com
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MAN-G-TIGIG (Ver . 1.000)
6.1.5 STO (Port C) Cable Connector
It is recommended to use shielded cable, but is not mandatory.
Figure 11: STO Cable Assemblies
26
||Basic Recommendations|www.elmomc.com
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MAN-G-TIGIG (Ver . 1.000)
6.2 Motor Power Connector Pinouts
See Chapter 8 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details.
Pin Signal Function Cable
Brushless Motor Brushed DC Motor
B M3 Motor phase Motor Motor
A M2 Motor phase Motor Motor
C M1 Motor phase Motor N/C
D PE Protective Earth Motor Motor
27
6-Pin Amphenol Female Connector
(D38999/20WE6SN)
Table 2: Connectors for Motor
6-Pin Amphenol Male Connector
(D38999/26WE6PN)
Figure 12: Brushless Motor Power Connection Diagram
||Motor Power Connector Pinouts|www.elmomc.com
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Figure 13: Brushed Motor Power Connection Diagram
28
||Motor Power Connector Pinouts|www.elmomc.com
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(D38999/20WE6PA)
MAN-G-TIGIG (Ver . 1.000)
6.3 Main Power, Auxiliary Power
The Gold Tiger receives power from main and auxiliary supplies and delivers power to the motor.
Pin Signal Function Cable
C PE Protective Earth DC Power
B VN- DC Negative Power input DC Power
A VP+ DC Positive Power input DC Power
6-Pin Amphenol Female
6-Pin Amphenol Male Connector
Connector
(D38999/26WE6SA)
29
Table 3: Connectors for Main Power
Optional Backup Supply in A, H, S, or T option drives.
Pin Signal Function Cable
A, H, S, or T option type
14 VL+ +24 V Auxiliary Supply
DC Power
Input Positive
6 VL- 24 V RET Auxiliary Supply
DC Power
Input Return
15-Pin D-Type Male Connector
15-Pin D-Type Female
Connector
Table 4: Auxiliary Power Connector
||Main Power, Auxiliary Power|www.elmomc.com
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6.3.1 Main Power
The DC power for the Gold Tiger is delivered from a separated rectifying unit (supplied by the user).
Elmo recommends using the Elephant rectifier specifically designed for use with Elmo drives which
offers a range of versatile options.
The following sections contain topology recommendations for implementing three-phase and a
single-phase supply chains.
The power stage of the Gold Tiger is fully isolated from the other sections of the Gold Tiger, 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 Tiger.
In addition, this isolation simplifies the requirements of the DC power supply that is used to power
the DC bus of the Gold Tiger, 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 Tiger
can also operate from an isolated power supply or batteries.
30
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.
||Main Power, Auxiliary Power|www.elmomc.com
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6.3.1.1 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.
To connect the non-isolated DC power supply:
1. 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.
2. Connect both ends of the cable shield to the closest PE connections.
3. 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.
6.3.1.1.a Three-Phase Direct-to-Mains Connection Topology
31
Figure 14: 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.
||Main Power, Auxiliary Power|www.elmomc.com
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6.3.1.1.b Single-Phase Direct-to-Mains Connection Topology
Figure 15: Non-Isolated Single-Phase Connection Topology
32
The Power Supply is connected directly to the mains AC line.
Warnings:
• 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.
||Main Power, Auxiliary Power|www.elmomc.com
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6.3.1.1.c Multiple Connections Topology
In a multi-axis application it is likely that a single power supply can feed several drives in parallel.
The power supply is connected directly to the mains AC line and it feeds more than one drive.
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.
33
Figure 16: Non-Isolated Three-Phase Multiple Connection Topology
||Main Power, Auxiliary Power|www.elmomc.com
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6.3.1.2 Battery Power Supply
Figure 17: Battery Connection Topology
34
Caution: When using batteries, it is recommended to connect the negative pole to
the PE.
When doing so, the charger of the battery must be isolated from the mains by an
isolation transformer.
||Main Power, Auxiliary Power|www.elmomc.com
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6.3.2 Control and Backup Supply
In drives that have a 0 or 1 Option (only for 400 V model) in the catalog number, a smart controlsupply algorithm enables the Gold Tiger 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 a 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 A, H, S, or T options Gold Tiger should be used, with an external 24 VDC isolated
supply connected to it.
Note that the A, H, S, or T options Gold Tiger 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.
To connect the 24 VDC backup supply:
1. Use a 24 AWG twisted pair shielded cable. The shield should have copper braid.
2. The source of the 24VDC backup supply must be isolated with an isolation transformer.
35
3. For safety and EMI reasons, connect the return of the 24 VDC backup supply to the closest
ground (PE).
4. Connect the cable shield to the closest ground (PE) near the power source.
5. Before applying power, first verify that the polarity of the connection is correct.
Figure 18: Auxiliary 24 VDC Backup Supply Connection Diagram
||Main Power, Auxiliary Power|www.elmomc.com
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6.4 Port A
See Section 10.3 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details.
Incremental Encoder Absolute Serial Encoder
36
Pin on
Signal Function Signal Function
Port A
12,4 +5V Encoder +5V supply +5V Encoder +5V supply
3,9,11,13 COMRET Common return COMRET Common Return
6 PortA_ENC_A+ Channel A+ ABS_CLK+ Abs encoder clock +
5 PortA_ENC_A- Channel A- ABS_CLK- Abs encoder clock -
15 PortA_ENC_B+ Channel B+ ABS_DATA+ Abs encoder data +
14 PortA_ENC_B- Channel B- ABS_DATA- Abs encoder data -
8 PortA_ENC_INDEX+ Index+ Reserved Reserved
7 PortA_ENC_INDEX- Index- Reserved Reserved
2 HA Hall sensor A HA Hall sensor A
10 HB Hall sensor B HB Hall sensor B
1 HC Hall sensor C HC Hall sensor C
Pin Positions
15-Pin D-Type Female Connector
Table 5: Port A Pin Assignments
15-Pin D-Type Male
Connector
||Port A|www.elmomc.com
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6.4.1 Incremental Encoder
The following figure describes the connections at Port A for the Incremental encoder.
37
Figure 19: Port A D-Type Incremental Encoder Input – Recommended Connection Diagram
6.4.2 Hall Sensor
The following figure describes the connections at Port A for the Hall Sensor.
Figure 20: Hall Sensor Connection Diagram
||Port A|www.elmomc.com
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6.4.3 Absolute Serial Type Encoder
The following figures describe the connections at Port A for the Absolute Serial type encoders.
38
Figure 21: Absolute Serial Encoder – Recommended D-Type Connection Diagram for EnDAT, Biss,
and SSI
Figure 22: Absolute Serial Encoder – Recommended D-Type Connection Diagram for Sensors
Supporting Data Line Only (NRZ types, e.g., Panasonic / Mitutoyo / Sanyo Danki / Tamagawa)
||Port A|www.elmomc.com
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39
Figure 23: Absolute Serial Encoder – Recommended D-Type Connection Diagram for Stegmann
Hiperface
Note: When the Hiperface protocol is used, the RS-232 connection is not available.
||Port A|www.elmomc.com
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6.5 Port B
See Section 10.4 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details.
40
Incremental or
Resolver
Interpolated Analog Encoder
G-TIGXXX/YYYYXEXX G-TIGXXX/YYYYXRXX
Pin on
Signal Function Signal Function
Port B
4 +5V Encoder +5V supply NC
5,9 COMRET Common Return COMRET Common Return
1 PortB_ENC_A+/SIN+ Incremental Encoder
A+ / Sine+
6 PortB_ENC_A-/SIN- Channel A- / Sine- SIN- Sine-
2 PortB_ENC_B+/COS+ Channel B+ / Cosine+ COS+ Cosine+
7 PortB_ENC_B-/COS- Channel B- / Cosine- COS- Cosine-
3 PortB_ENC_INDEX+ Index+ RESOLVER_OUT+ Vref f=1/TS, 50 mA
8 PortB_ENC_INDEX- Index - RESOLVER_OUT- Vref complement
SIN+ Sine+
Max.
f= 1/TS, 50 mA Max.
Pin Positions
9-Pin D-Type Female Connector
Table 6: Port B Pin Assignments
9-Pin D-Type Male
Connector
||Port B|www.elmomc.com
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6.5.1 Incremental Encoder
The following figure describes the connections at Port B for the Incremental encoder.
41
Figure 24: Port B Incremental Encoder Input – Recommended D-Type Connection Diagram
||Port B|www.elmomc.com
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6.5.2 Interpolated Analog Encoder
The following figure describes the connections at Port B for the Interpolated Analog encoder.
42
Figure 25: Port B - Interpolated Analog Encoder D-Type Connection Diagram
||Port B|www.elmomc.com
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6.5.3 Resolver
The following figure describes the connections at Port B for the Resolver encoder.
43
Figure 26: Port B – Resolver D-Type Connection Diagram
||Port B|www.elmomc.com
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6.6 Port C, Analog Input, and STO
The Port C connector includes the following functions:
• Port C: Refer to Sections 10.5 in the in the MAN-G-Panel Mounted Drives Hardware manual
for full details
• STO: See Chapter 9 in the in the MAN-G-Panel Mounted Drives Hardware manual for full
details.
• Analog input: See Section 11.4 in the in the MAN-G-Panel Mounted Drives Hardware manual
for full details.
44
Pin on
Signal Function
Port C
1 PortC_ENCO_A+ Buffered Channel A+ output/Pulse+/PWM+
2 PortC_ENCO_A- Buffered Channel A- output / Pulse- / PWM-
3 PortC_ENCO_B+ Buffered Channel B+ output / Dir+
4 PortC_ENCO_B- Buffered Channel B- output / Dir-
5 PortC_ENCO_ Index+ Buffered Channel INDEX+ output
6 STO1 STO 1 input (default 24 V)
7, 12 STO_RET STO signal return
8 Reserved Reserved
9 COMRET Common return
10 PortC_ENCO _ Index- Buffered Channel INDEX- output
11 STO2 STO 2 input (default 24 V)
13 ANLRET Analog ground
14 ANALOG1- Analog input 1-
15 ANALOG1+ Analog input 1+
Pin Positions
15-Pin High Density D-Type Female Connector
Table 7: Port C Feedback Out and STO Analog In
||Port C, Analog Input, and STO|www.elmomc.com
15-Pin High Density
D-Type Male
Connector
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6.6.1 Port C
The following figure describes the connections at Port C for the Emulated Encoder Differential.
45
Figure 27: Emulated Encoder Differential Output – Recommended D-Type Connection Diagram
6.6.2 Analog Input
The following circuit describes the internal interface of the Analog input.
Figure 28: Differential Analog D-Type Input
||Port C, Analog Input, and STO|www.elmomc.com
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6.6.3 STO
The following circuits describe the STO wiring options.
6.6.3.1 Source Mode PLC Voltage Level
Figure 29: STO D-Type Input Connection – PLC Source Option
46
6.6.3.2 TTL Mode TTL Voltage Level
Figure 30: STO Input Connection – TTL Option
||Port C, Analog Input, and STO|www.elmomc.com
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6.6.3.3 SINK Mode – PLC Voltage Level
Refer to the diagrams below for the PLC Sink option connections which are not fully certified for
STO.
This option is not recommended for new designs.
47
Figure 31: STO D-Type Input Connection – Sink Option
||Port C, Analog Input, and STO|www.elmomc.com
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6.7 Digital Inputs and Outputs
Refer to Chapter 11 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details.
Pin on I/O Signal Function
48
1 IN1
2 IN2
7 IN3
8 IN4
11 IN5
12 IN6
6 INRET1-6 Programmable inputs 1 - 6 return for standard version
3 OUT1 Programmable output 1
Programmable digital input 1 (event capture, home, general purpose,
RLS, FLS, INH, PWM & direction input, pulse & direction input)
Programmable digital input 2 (event capture, home, general purpose,
RLS, FLS, INH, PWM & direction input, pulse & direction input)
Programmable digital input 3 (event capture, home, general purpose,
RLS, FLS, INH, PWM & direction input, pulse & direction input)
Programmable digital input 4 (event capture, home, general purpose,
RLS, FLS, INH, PWM & direction input, pulse & direction input)
Programmable digital input 5 (event capture, home, general purpose,
RLS, FLS, INH, PWM & direction input, pulse & direction input)
Programmable digital input 6 (event capture, home, general purpose,
RLS, FLS, INH, PWM & direction input, pulse & direction input)
Programmable positive inputs 1 - 6 for A option
4 OUT2 Programmable output 2
5 OUT3 Programmable output 3
13 OUT4/STO_OUT Programmable output 4
10, 15 VDD
9, 14 VDDRET
Supply for out 1-4
Supply return for out 1-4
Pin Positions
15-Pin High Density D-Type Male Connector
Table 8: I/O Connector Pin Assignments
15-Pin High Density
D-Type Female
Connector
||Digital Inputs and Outputs|www.elmomc.com
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6.7.1 Digital Input and Output TTL Mode
The following figure describes the connections at the I/O Port for the Digital Input and Output TTL
Mode.
49
Figure 32: Digital Input TTL Mode D-Type Connection Diagram
||Digital Inputs and Outputs|www.elmomc.com
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50
Figure 33: Digital Output D-Type Connection Diagram – TTL Option
||Digital Inputs and Outputs|www.elmomc.com
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6.7.2 Digital Input and Output PLC Source Mode
The following figure describes the connections at the I/O Port for the Digital Input and Output PLC
Mode.
51
Figure 34: Digital Input D-Type Connection Diagram – Source PLC Option
||Digital Inputs and Outputs|www.elmomc.com
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52
Figure 35: Digital Output D-Type Connection Diagram – Source PLC Option
||Digital Inputs and Outputs|www.elmomc.com
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6.7.3 Digital Input and Output Sink Mode
The following figure describes the connections at the I/O Port for the Digital Input and Output Sink
Mode.
53
Figure 36: Digital Input Sink Mode – PLC Voltage Level D-Type Connection Diagram
||Digital Inputs and Outputs|www.elmomc.com
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54
Figure 37: Digital Output as Sink Configuration D-Type Connection Diagram
||Digital Inputs and Outputs|www.elmomc.com
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6.8 USB
See Section 12.1 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details.
Pin on USB Signal Function
1 USB VBUS USB VBUS 5V
2 USBD- USB _N line
3 USBD+ USB _P line
5 USB COMRET USB communication return
Pin Positions
USB Device Mini B Plug
55
Table 9: USB 2.0 Pin Assignments
Figure 38: USB Network Diagram
||USB|www.elmomc.com
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6.8.1 VL/Communication Connector
See Section 6.3.2 for full details.
Note: The USB connection can be either from the mini USB connector or from the
VL/Communication D-Type connector.
Note: DO NOT connect the USB communication from the mini USB and the VL/Communication
D-Type connector simultaneously.
Optional Backup Supply in S, T, or H option drives.
Pin Signal Function
2 USB_VBUS USB VBUS 5V
1 USB D- USB _N line
9 USB D+ USB _P line
10 USB COMRET USB Common Return
3 COMRET Common Return (connected to the
drain wire of cable)
56
11 COMRET Common Return
4 RS-232_RX/RS-422_RX+ RS-232 Receive/RS-422 Receive+
5 RS-422_TX- RS-422 Transmit-
13 RS-422_TX+ RS-422 Transmit+
12 RS-232_TX/RS-422_RX- RS-232 Transmit/RS-422 Receive-
15 Not in use
7 Not in use
S, T, or H option type(optional backup supply)
14 +24 V Auxiliary Supply Input Positive DC Power
6 24 V Auxiliary Supply Input Return DC Power
8 VL Shield Drain wire cable
Pin Signal Function
15-Pin D-Type Male Connector
||USB|www.elmomc.com
15-pin D-Type Female
Connector
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6.9 Drive Status Indicator
The Gold Tiger is equipped with several light-emitting diode (LED) indicators.
The 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).
Figure 39: Gold Tiger Drive Status Indicator
57
||Drive Status Indicator|www.elmomc.com
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6.10 EtherCAT Communications Version
Fieldbus communications are industrial network protocols for real-time distributed control that
allows connection of servo drives. The Gold Tiger supports the following EtherCAT fieldbus type
industrial network protocol:
Fieldbus Type Product Number
EtherCAT G-TIG XX/YYYEXXX
6.10.1 EtherCAT/Ethernet Pinouts
Refer to section 12.2 in the MAN-G-Panel Mounted Drives Hardware manual for more details.
Pin Signal Function
1 EtherCAT_IN_TX+/Ethernet_TX+ EtherCAT in transmit+/Ethernet transmit+
2 EtherCAT_IN_RX+/Ethernet_RX+ EtherCAT in receive+/Ethernet receive+
3 EtherCAT_OUT_TX+ EtherCAT out transmit+
58
4 EtherCAT_OUT_RX+ EtherCAT out receive+
5 EtherCAT Shield Drain wire cable
6 EtherCAT_IN_TX-/Ethernet_TX- EtherCAT in transmit-/Ethernet transmit-
7 EtherCAT_IN_RX-/Ethernet_RX- EtherCAT in receive-/Ethernet receive-
8 EtherCAT_OUT_TX- EtherCAT out transmit-
9 EtherCAT_OUT_RX- EtherCAT out receive-
Pin Positions
9-Pin Female D-Type
Ethernet/EtherCAT Cable
Table 10: EtherCAT In/Out Connector Pin Assignments
|EtherCAT Communications Version|www.elmomc.com
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6.10.2 EtherCAT Wiring
Figure 40 describes the wiring diagram for the EtherCAT connections.
Figure 40: EtherCAT Connections
6.10.3 EtherCAT Link Indicators
There are two types of indicator LEDs:
59
• Drive Status
• EtherCAT indicators
For details of the Drive Status, refer to Section 6.2 in the MAN-G-Drive Hardware manual.
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.
The Gold Tiger can serve as an EtherCAT slave device. For this purpose it has a D-Type connector,
which is designated as EtherCAT In and EtherCAT Out.
The green LEDs are the Link/Activity indicators called EtherCAT IN L/A and EtherCAT OUT L/A
respectively. They show the state of the applicable physical link and the activity on that link. For full
details, see Section 6.8.2.2 in the MAN-G-Drive Hardware manual.
Figure 41: Ethernet Connector LEDs
||EtherCAT Communications Version|www.elmomc.com
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6.11 CAN Communications Version
Fieldbus communications are industrial network protocols for real-time distributed control that
allows connection of servo drives. The Gold Tiger supports the following CAN fieldbus type
industrial network protocol:
Fieldbus Type Product Number
CAN G-TIG XX/YYYSXXX
See Section 12.4 in the MAN-G-Panel Mounted Drives Hardware manual for the electrical diagram.
Pin Signal Function
1, 3 CAN_H CAN_H bus line (dominant high)
6, 8 CAN_L CAN_L bus line (dominant low)
7, 9 CAN_RET CAN Return
5 CAN_SHLD Drain wire cable
Pin Positions
60
9-Pin Female D-Type
CAN Cable
Table 11: CAN In/Out Connectors Pin Assignments
||CAN Communications Version|www.elmomc.com
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6.11.1 CAN Wiring
Figure 42 describes the CAN wiring diagram below.
61
When installing the CAN
communications, ensure that each
servo
Otherwise, the CAN network may
hang.
Figure 42: Gold Tiger Connection Diagram – CAN
||CAN Communications Version|www.elmomc.com
Caution
drive is allocated a unique ID.
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6.12 Powering Up
After the Gold Tiger is connected to its device, it is ready to be powered up.
Caution:
Before applying power, ensure that the DC supply is within the specified range
and that the proper plus-minus connections are in order.
6.13 Initializing the System
After the Gold Tiger has been connected and mounted, the system must be set up and initialized.
This is accomplished using the EASII, Elmo’s Windows-based software application. Install the
application and then perform setup and initialization according to the directions in the EASII User
Manual.
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||Powering Up|www.elmomc.com
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Chapter 7:
Gold Tiger Dimensions
MAN-G-TIGIG (Ver . 1.000)
63
This chapter provides detailed technical information regarding the Gold Tiger.
Figure 43: Gold Tiger Dimensions with Standard L-Shape Heat-Sink
||www.elmomc.com
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||www.elmomc.com
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