ElmoMC Gold Trombone User Manual

Gold Trombone

Digital Servo Drive

Installation Guide

EtherCAT and CAN

July 2014 (Ver. 1.604)

www.elmomc.com

Elmo Motion Control and the Elmo Motion Control logo are

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 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.

registered trademarks of Elmo Motion Control Ltd.

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

Catalog Number

Document no. MAN-G-TROIG-EC (Ver. 1.604)

Copyright  2014

Elmo Motion Control Ltd.

All rights reserved.

Revision History

Version Details

1.0 Initial release

1.1 Major updates to Chapter 3

1.2 Several updates throughout the manual

1.3 Sections 4.3 and 4.3.1: Auxiliary Supply Voltage range: 18 V to 30 V

1.4 Wide ranging changes throughout document to include new pinouts.

Removal of the RS-232 option.

Added update P/N details on Feedbacks Absolute - included as standard.

1.5 Change the overvoltage in 800 V mode

1.6 Neutral option removed. Change the overvoltage in 800 V mode, Pin layout,

UL recognition, and further optional versions added

1.601 General document updates

1.602 Organized how the Gold Trombone features are presented in the document.

1.603 Added a caution and recommendation on the type of cleaning solution to

use for the Elmo unit.

Updated the supply output (VDD) voltage range value of the Digital Output
Interface for PLC and TTL modes.

1.604 General format updates

Elmo Worldwide

Head Office

Elmo Motion Control Ltd.

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

Tel: [phone] • Fax: [phone] • [e-mail]

North America

Elmo Motion Control Inc.

42 Technology Way, Nashua, NH 03060
USA

Tel: [phone] • Fax: [phone] • [e-mail]

Europe

Elmo Motion Control GmbH

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

Tel: [phone] • Fax: [phone] • [e-mail]

China

Elmo Motion Control Technology (Shanghai) Co. Ltd.

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

Tel: [phone] • Fax: [phone] • [e-mail]

Asia Pacific

Elmo Motion Control APAC Ltd.

B-601 Pangyo Innovalley, 621 Sampyeong-dong, Bundang-gu, Seongnam-si, Gyeonggi-do,
South Korea (463-400)

Tel: [phone] • Fax: [phone] • [e-mail]

MAN-G-TROIG -EC (Ver. 1.604)

Table of Contents

Gold Trombone Installation Guide (EtherCAT and CAN) Table of Contents

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

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

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

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

1.4. CE Marking Conformance ............................................................................................. 10

1.5. Warranty Information .................................................................................................. 10

Chapter 2: Product Description ...................................................................................... 11

2.1. Drive Description .......................................................................................................... 11

2.2. Product Features .......................................................................................................... 12

2.2.1. Servo Control ................................................................................................. 12

2.2.2. Advanced Filters and Gain Scheduling........................................................... 13

2.2.3. Motion Control .............................................................................................. 13

2.2.4. Fully Programmable ....................................................................................... 13

2.2.5. Feedback Ports Options ................................................................................. 14

2.2.6. Feedback Sensor Specifications ..................................................................... 15

2.2.7. Communications ............................................................................................ 16

2.2.8. Safety ............................................................................................................. 16

2.2.9. Digital Outputs ............................................................................................... 16

2.2.10. Differential Outputs ....................................................................................... 17

2.2.11. Digital Inputs .................................................................................................. 17

2.2.12. Differential Inputs .......................................................................................... 17

2.2.13. Analog Input .................................................................................................. 17

2.2.14. Built-In Protection ......................................................................................... 18

2.2.15. Status Indication ............................................................................................ 18

2.2.16. Automatic Procedures ................................................................................... 18

2.3. System Architecture ..................................................................................................... 19

2.4. How to Use this Guide .................................................................................................. 20

5

Chapter 3: Technical Information ................................................................................... 21

3.1. Technical Data .............................................................................................................. 21

3.1.1. Auxiliary Supply ............................................................................................. 22

Chapter 4: Installation ................................................................................................... 23

4.1. Site Requirements ........................................................................................................ 23

4.2. Unpacking the Drive Components ................................................................................ 23

4.3. Connectors.................................................................................................................... 25

4.3.1. Connector Types ............................................................................................ 25

4.3.2. Pinouts ........................................................................................................... 26

4.3.2.1. Motor Power ................................................................................. 26

4.3.2.2. Main Power

................................................................................... 26

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4.3.2.3. Auxiliary Power Connector (J3)..................................................... 27

4.3.2.4. Connector J2 ................................................................................. 28

4.3.2.5. Connector J1 ................................................................................. 31

4.4. Mounting the Gold Trombone ..................................................................................... 33

4.5. Integrating the Gold Trombone on a PCB .................................................................... 34

4.5.1. Traces ............................................................................................................. 34

4.5.2. Grounds and Returns ..................................................................................... 35

4.6. Connection Diagrams ................................................................................................... 36

4.7. Main Power, Motor Power and Auxiliary Power .......................................................... 41

4.7.1. Motor Power.................................................................................................. 41

4.7.2. Main Power.................................................................................................... 42

4.7.2.1. Direct-to-Mains Power Source (Non-Isolated Rectifier) ............... 43

4.7.2.2. Battery Power Supply ................................................................... 47

4.7.3. +24 V Auxiliary Supply (J3) ............................................................................. 47

4.8. STO (Safe Torque Off) Inputs (J1) ................................................................................. 49

4.9. Feedback ....................................................................................................................... 51

4.9.1. Port A (J2, J1) ................................................................................................. 51

4.9.1.1. Incremental Encoder Connection Diagram .................................. 53

4.9.1.2. Absolute Serial Encoder Connection Diagram .............................. 54

4.9.1.3. Hall Sensor Connection Diagram .................................................. 55

4.9.2. Port B (J2, J1) ................................................................................................. 56

4.9.2.1. Incremental Encoder Connection Diagram .................................. 57

4.9.2.2. Interpolated Analog Encoder Connection Diagram ...................... 58

4.9.2.3. Resolver Connection Diagram ...................................................... 59

4.9.3. Port C – Emulated Encoder Output (J2) ......................................................... 59

4.10. User I/Os ....................................................................................................................... 61

4.10.1. Digital Inputs (J1) ........................................................................................... 61

4.10.2. Digital Outputs (J1) ........................................................................................ 64

4.10.3. Input (J2) ........................................................................................................ 67

4.11. Communications ........................................................................................................... 68

4.11.1. CAN Communication (J2) ............................................................................... 68

4.11.2. USB 2.0 Communication (J2) ......................................................................... 70

4.11.3. EtherCAT Communication (J2) ....................................................................... 71

4.11.4. Ethernet Communication (J2) ........................................................................ 73

4.11.5. EtherCAT/Ethernet Line Interface ................................................................. 75

4.12. Powering Up ................................................................................................................. 75

4.12.1. Initializing the System .................................................................................... 75

4.13. Heat Dissipation............................................................................................................ 76

4.13.1. Gold Trombone Thermal Data .......................................................................

4.13.2. Heat Dissipation Data .................................................................................... 76

4.13.3. How to Use the Charts ................................................................................... 77

6

76

Chapter 5: Technical Specifications ................................................................................ 78

5.1. Gold Trombone Dimensions ......................................................................................... 78

5.2. Environmental Conditions ............................................................................................ 79

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5.3. Control Specifications ................................................................................................... 79

5.3.1. Current Loop .................................................................................................. 79

5.3.2. Velocity Loop ................................................................................................. 80

5.3.3. Position Loop ................................................................................................. 80

5.4. Feedback ....................................................................................................................... 81

5.4.1. Feedback Supply Voltage ............................................................................... 81

5.4.2. Feedback Options .......................................................................................... 81

5.4.2.1. Incremental Encoder Input ........................................................... 81

5.4.2.2. Digital Halls ................................................................................... 82

5.4.2.3. Interpolated Analog (Sine/Cosine) Encoder ................................. 82

5.4.2.4. Resolver ........................................................................................ 83

5.4.2.5. Absolute Serial Encoder ................................................................ 83

5.4.3. Port C Feedback Output ................................................................................ 84

5.5. I/Os ............................................................................................................................... 85

5.5.1. Digital Input Interfaces – TTL Mode .............................................................. 85

5.5.2. Digital Input Interfaces – PLC Mode .............................................................. 86

5.5.3. Digital Output Interface – PLC Mode ............................................................. 87

5.5.4. Digital Output Interface – TTL Mode ............................................................. 88

5.5.5. Analog Input .................................................................................................. 88

5.6. Safe Torque Off (STO) ................................................................................................... 89

5.6.1. STO Input Interfaces – TTL Mode .................................................................. 89

5.6.2. STO Input Interfaces – PLC Mode .................................................................. 89

5.7. Communications ........................................................................................................... 90

5.8. Pulse-Width Modulation (PWM) .................................................................................. 90

5.9. Compliance with Standards .......................................................................................... 91

7

MAN-G-TROIG -EC (Ver. 1.604)

Chapter 1: Safety Information

Warning:

Caution:

Gold Trombone Installation Guide (EtherCAT and CAN) Safety Information

In order to achieve the optimum, safe operation of the Gold 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 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 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.

8

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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Gold Trombone Installation Guide (EtherCAT and CAN) Safety Information

1.1. 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 Trombone from all voltage sources before it is opened for servicing.

• The Gold 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

9

• The Gold 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 Trombone to an approved isolated 18 to 30 VDC 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 Trombone, verify that all safety precautions have been

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

• Do not clean any of the Gold Trombone drive's soldering with solvent cleaning fluids of pH

greater than 7 (8 to 14). The solvent corrodes the plastic cover causing cracks and eventual
damage to the drive's PCBs.

Elmo recommends using the cleaning fluid Vigon-EFM which is pH Neutral (7).

For further technical information on this recommended cleaning fluid, select the link:

http://www.zestron.com/fileadmin/zestron.com-usa/daten/electronics/Product_TI1s/TI1­VIGON_EFM-US.pdf

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MAN-G-TROIG -EC (Ver. 1.604)

Gold Trombone Installation Guide (EtherCAT and CAN) Safety Information

1.3. Directives and Standards

The Gold 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

10

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 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. CE Marking Conformance

The Gold 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 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.

1.5. 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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Chapter 2: Product Description

Gold Trombone Installation Guide (EtherCAT and CAN) Product Description

This installation guide describes the Gold 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 Trombone series of digital servo drives are highly resilient and designed to deliver the
highest density of power and intelligence. The Gold 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 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.

11

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 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 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 or T-model Gold 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 to 30 VDC.

Whenever backup functionality is not required, Gold Trombone models that have 0 or 1 suffix
(only for 400V models) 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
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 Trombone is a PCB-mounted device which enables efficient and cost-effective
implementation. However, stand-alone integrated products (the Gold DC Trombone and Gold
Solo Trombone) are also available, using pluggable connections.

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Gold Trombone Installation Guide (EtherCAT and CAN) Product Description

2.2. Product Features

Note: The features described in this chapter relate to the range of Gold 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 Trombone and use
the product catalog number schematic that appears at the beginning of this manual and on
page 24 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

12

• 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

9

counts

9

counts/sec

9

counts/sec2

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Gold Trombone Installation Guide (EtherCAT and CAN) Product Description

2.2.2. 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

13

2.2.3. Motion Control

• Motion control programming environment

• Motion modes: PTP, PT, PVT, ECAM, Follower, Dual Loop, Current Follower, Fast event

capturing inputs

• Full DS-402 motion mode support in the CAN and CAN 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 current and velocity, Pulse-Width Modulation (PWM) current

and velocity, digital (software), Pulse and Direction

• Distributed Motion Control

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

2.2.4. Fully Programmable

• Third generation programming structure

• Event capturing interrupts

• Event triggered programming

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Gold Trombone Installation Guide (EtherCAT and CAN) Product Description

2.2.5. Feedback Ports 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

14

• Analog encoder

• Analog Hall

• Resolver

Port C is a flexible and configurable feedback output port. It supports:

• Encoder emulation outputs of Port A or Port B or internal variables.

Analog input (± 10 V ptp) support:

• Velocity feedback (tachometer)

• Position feedback (potentiometer)

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Gold Trombone Installation Guide (EtherCAT and CAN) Product Description

2.2.6. Feedback Sensor Specifications

• 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

15

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

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Gold Trombone Installation Guide (EtherCAT and CAN) Product Description

2.2.7. Communications

• Fast and efficient EtherCAT and CAN networking

• EtherCAT Slave per part number:

 CoE (CAN 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

• CAN (DS-301, DS-305, DS-402) per part number. Refer to the section 4.11 for further details

• Ethernet TCP/IP

 UDP
 Telnet

• USB 2.0

16

2.2.8. Safety

• Approved IEC /EN 61800-5-1, Safety

• Approved IEC/EN 61800-3, EMC

• IEC 61800-5-2, Safe Torque Off (STO) with two STO inputs PLC level which can be

configured to 5 V logic (available on request)

• UL 508C recognition

• UL 60950 compliance

• CE EMC compliance

2.2.9. Digital Outputs

• Four separate programmable high voltage digital outputs related to VDD and VDDRET:

 TTL level: optically isolated sink and source
 PLC: optically isolated source
 Conforms to IEC 61131-2
 Up to 30 VDC
 High side logic (Source)
 For S, 0 suffix, Digital Outputs 2,3,4 up to 250 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 T, 1 suffix, Digital Output 1: 7 mA
 Short circuit protection
 Thermal protection
 Reverse polarity protection

• The four outputs can be configured to 5 V Logic (available on request)

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Gold Trombone Installation Guide (EtherCAT and CAN) Product Description

• Optional functions:

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

• PWM current command output for torque and velocity

2.2.10. Differential Outputs

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

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

2.2.11. Digital Inputs

• Six digital inputs – optically isolated, sharing a single common INRET

17

• Six separate programmable digital inputs, optically isolated, PLC compatible, can be

configured to TTL Level depending on the part number definition.

• All six inputs are fast capture data <5 μs

• 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

• Pulse and Direction inputs (single-ended)

2.2.12. Differential Inputs

• 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

2.2.13. Analog Input

• One analog input – up to 14-bit resolution

• One Analog Input: ±10 V

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Gold Trombone Installation Guide (EtherCAT and CAN) Product Description

2.2.14. Built-In Protection

Built-in Protection & Diagnostics:

• Software error handling

• Abort (hard stops and soft stops)

• Extensive 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
 Over temperature
 Motor current

2

 i

t motor current

• STO

18

• 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 errors
 Current limits

2.2.15. Status Indication

• 2 outputs for a bi-color LEDs

2.2.16. 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

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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

Or

Analog Encoder

(Option E)

Resolver

(Option R)

Encoder

Emulation,

PWM

Digital
Inputs

Digital

Outputs

Analog

Input

CANopen, USB,

(Network

Communication

Option S)

EtherCAT, USB,

(Network

Communication

Option E)

Main DC Power

Supply

Optional DC

Auxiliary Supply

for S and T

models

Motor

PWM

Current

Feedback,

VBus

Protection

Or

Or

Or

STO2

Isolation

Boundary

Isolation

Boundary

STO1,

STO2

Gold Trombone Installation Guide (EtherCAT and CAN) Product Description

2.3. System Architecture

19

Figure 1: Gold Trombone System Block Diagram

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2.4. How to Use this Guide

In order to install and operate your Elmo Gold 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 Trombone.

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

Upon completing the instructions in this guide, your Gold 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 Trombone

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

software command used to manipulate the Gold Trombone motion controller

20

• 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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Chapter 3: Technical Information

Gold Trombone Installation Guide (EtherCAT and CAN) Technical Information

21

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

VDC 325 560 for 400 VAC

VDC 400 780

W Up to 10 kW of continuous qualitative power

% > 98

VDC 18 to 30 VDC (only in S or T type)

VA ≤5 VA without external loading

A 12 16 17 22 8 12 11 16

*For S or T type = 50

For 0 or 1 suffix type = 100

≤8 VA with full external loading

*For S or T type = 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 (oz) 300 g (10.6 oz)

Dimensions mm

Digital in/Digital out/
Analog in

Mounting method PCB Mounted

A 8.5 11.3 12 15.5 5.7 8.5 7.8 11.3

111 x 76 x 34 (4.37" x 3" x 1.34")

(in)

6/4/1

*See page 23 for details on the part number. The S or T suffix appears in models where there is a
24 V control supply. If there is an 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 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)

22

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Chapter 4: Installation

Gold Trombone Installation Guide (EtherCAT and CAN) Installation

The Gold Trombone must be installed in a suitable environment and properly connected to its
voltage supplies and the motor.

4.1. Site Requirements

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

Feature Value

23

Ambient operating temperature

Maximum non-condensing humidity 90%

Maximum altitude 2,000 m (6562 feet)

Operating area atmosphere No flammable gases or vapors permitted in area

Models for extended environmental conditions are available.

Caution: The Gold Trombone dissipates its heat by convection. The maximum

ambient operating temperature of 40 °C (104 °F) must not be exceeded.

0 °C to 40 °C (32 °F to 104 °F)

4.2. Unpacking the Drive Components

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

• The Gold Trombone servo drive

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

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

To unpack the Gold 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.

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

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

4. Verify that the Gold 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:

24

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4.3. Connectors

The Gold Trombone has 9 connectors.

4.3.1. Connector Types

Port Pins Type Function

25

J1 2x13 1.27 mm

J2 2x24 Communications

pitch 0.41

Analog Input, Feedback

mm sq

J3/1 1 2 mm pitch

0.51 mm sq

24 VDC Auxiliary power input positive (Only in Trombones
with the S or T suffix)

J3/2 1 24 VDC Auxiliary supply input return (Only in Trombones

with the S or T suffix)

VP+ 2 2.54 mm

VN- 2 Negative DC power input

pitch

Positive DC power input

0.64 mm sq

PE 2 Protective earth

M1 2 Motor power output 1

M2 2 Motor power output 2

M3 2 Motor power output 3

Connector Location

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 Trombone connectors
that are listed in Table 1.

4.3.2.1. Motor Power

For full details about connecting motor power see Section 4.7.1.

Pin Function Cable Pin Positions

26

Brushless

Motor

Brushed DC
Motor

M3 Motor phase Motor Motor

M2 Motor phase Motor Motor

M1 Motor phase Motor N/C

PE Protective

Power and Motor

Earth

Connector Type: 2.54 mm pitch 0.64 mm sq

Table 2: Connector for Motor

4.3.2.2. Main Power

For full details about connecting main power see Section 4.7.2.

Pin Function Cable Pin Positions

PE Protective Earth Power and Motor

VN- DC Negative Power

Power

input

VP+ DC Positive Power

Power

input

Connector Type: 2.54 mm pitch 0.64 mm sq

Table 3: Connector for Main Power

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4.3.2.3. Auxiliary Power Connector (J3)

For full details about connecting auxiliary power, see Section 4.7.3.

Pin (J3) Function Pin Positions

1 +24 V Auxiliary Supply Input Positive

2 24 V RET Auxiliary Supply Input Return

Connector Type: 2 mm pitch 0.51 mm sq

27

Table 4: Auxiliary 24 VDC Backup Supply Pins and Polarity

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Feedback, Analog input,

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4.3.2.4. Connector J2

communications

Connector Type: 1.27 mm pitch

0.41 mm sq

For full details about connecting
feedback port A see Section

4.9.1.

For full details about connecting
feedback port B see Section

4.9.2.

For full details about connecting
feedback port C see Section

4.9.3.

28

Note regarding the EtherCAT and CAN communication options:

The J2 Connector exports all supported communication links. However, note that CAN and
EtherCAT are not available in the same version of the Gold Trombone and are thus not
operational simultaneously. See the part number diagram in Section 4.2 above for the
different Gold Trombone configurations.

Pin (J2) Signal Function

For full details about connecting
analog input see Section 4.10.3.

For full details about connecting
communication see
Section 4.11.

1 PortA_ENC_A+ /ABS_CLK+ Port A- channel A/ Absolute encoder clock+

2 PortC_ENCO_A- Port C- channel A complement output

3 PortA_ENC_A-/ABS_CLK- Port A- channel A complement / Absolute

encoder clock-

4 PortC_ENCO_A+ Port C- channel A output

5 PortA_ENC_B+/ABS_DATA+ Port A - channel B/ Absolute encoder Data+

6 PortC_ENCO_B- Port C - channel B complement output

7 PortA_ENC_B-/ABS_DATA- Port A - channel B complement / Absolute

encoder Data-

8 PortCENCO_B+ Port C - channel B output

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Pin (J2) Signal Function

9 PortA_ENC_INDEX+ Port A – index

10 PortC_ENCO_INDEX- Port C - index complement output

11 PortA_ENC_INDEX- Port A - index complement

12 PortC_ENCO_INDEX+ Port C - index output

13 PortB_ENC_A+/SIN+ Port B - channel A

14 HC Hall sensor C input

15 PortB_ENC_A-/SIN- Port B - channel A complement

16 HB Hall sensor B input

17 PortB_ENC_B+/COS+ Port B - channel B

18 HA Hall sensor A input

19 PortB_ENC_B-/COS- Port B - channel B complement

29

20 ANLRET Analog return

21 PortB_ENC_INDEX+/ANALOG_

Port B – index

I+

RESOLVER_OUT+ Vref complement

f= 1/TS, 50 mA Maximum

22 ANALOG1+ Analog input 2

23 PortB_ENC_INDEX-

Port B – index complement

/ANALOG_I-

RESOLVER_OUT- Vref complement

f= 1/TS, 50 mA Maximum

24 ANALOG1- Analog input 1 complement

25 SUPRET Supply return

26 +3.3V 3.3 V supply voltage for EtherCAT LEDs

27 PHY_IN_RX+ EtherCAT In receive

28 EtherCAT: PHY_OUT_RX+ EtherCAT Out receive

29 PHY_IN_RX- EtherCAT In receive complement

30 EtherCAT: PHY_OUT_RX- EtherCAT Out receive complement

31 PHY_IN_COMRET EtherCAT In Communication return

CAN: CAN_COMRET CAN Communication Return

32 EtherCAT: PHY_OUT_COMRET EtherCAT Out Communication

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Pin (J2) Signal Function

CAN: CAN_COMRET CAN Communication Return

33 PHY_IN_TX+ EtherCAT In transmit

34 EtherCAT: PHY_OUT_TX+ EtherCAT Out transmit complement

35 PHY_IN_TX- EtherCAT In transmit complement

36 EtherCAT: PHY_OUT_TX- EtherCAT Out transmit complement

37 PHY_IN_LINK_ACT EtherCAT In active LED

30

38 EtherCAT:

EtherCAT Out active LED

PHY_OUT_LINK_ACT

CAN: CAN_L CAN_L bus line (dominant low)

39 PHY_IN_SPEED EtherCAT In LED2

40 EtherCAT: PHY_OUT_SPEED EtherCAT Out LED2

CAN: CAN_H CAN_H bus line (dominant high)

41 USBD- USB data complement

42 USBD+ USB data

43 USB_COMRET USB_COMRET

44 USB_VBUS USB VBUS 5V

45 N/A N/A – Not in use, keep unconnected

46 COMRET Common return

47 N/A N/A – Not in use, keep unconnected

48 N/A N/A – Not in use, keep unconnected

Table 5: Connector J2 – Feedback and Analog Input

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4.3.2.5. Connector J1

31

Amplifier and Communication LEDs, Encoder
Supply

Connector Type: 1.27 mm pitch 0.41 mm sq

For full details about connecting digital input
see Section 4.10.3.

For full details about connecting digital
output see Section 4.10.2.

Pin (J1) Signal Function

1 SUPRET Supply Return

2 +5VE Encoder +5V supply

3 N/A N/A

4 N/A N/A

5

6

7

8

9

10

11

12

INRET1_6 Programmable digital inputs 1–6 return

IN1 Programmable digital input 1

IN2 Programmable digital input 2

IN3 Programmable digital input 3

IN4 Programmable digital input 4

IN5 Programmable digital input 5

IN6 Programmable digital input 6

STO_RET Safety signal return

13

14

STO2 Safety 2 input (default 24 V)

STO1 Safety 1 input (default 24 V)

15 LED_ET_ERR Communication error LED output (Cathode)

16 LED_ET_RUN Communication OK LED output (Cathode)

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Pin (J1) Signal Function

32

17

18

19

LED2 Bi-color amplifier OK LED output (Cathode)

LED1 Bi-color amplifier error LED output (Cathode)

COMRET Common return

20 N/A N/A

21

22

23

24

OUT2 Programmable output 2

OUT1 Programmable output 1

OUT4 Programmable output 4

OUT3 Programmable output 3

25 VDDRET VDD Supply Return

26 VDD VDD Supply (5V up to 30V)

Table 6: Connector J1 – Communication

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4.4. Mounting the Gold Trombone

The Gold Trombone is designed for mounting on a printed circuit board (PCB). It is connected
by 1.27 mm pitch 0.41 mm square pins and 2.54 mm pitch 0.64 mm square pins. When
integrating the Gold Trombone into a PCB, be sure to leave about 1 cm (0.4") outward from the
heatsink to enable free convection of the air around the Gold Trombone. We recommend that
the Gold Trombone be soldered directly to the board. Alternatively, though this is not
recommended, the Gold Trombone can be attached to socket connectors mounted on the PCB.
However, if the PCB is enclosed in a metal chassis, we recommend that the Gold Trombone be
screw-mounted to it as well to help with heat dissipation. The Gold Trombone has
screw-mount holes on each corner of the heatsink for this purpose.

33

Figure 2: Gold Trombone Footprint

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4.5. Integrating the Gold Trombone on a PCB

The Gold Trombone is designed to be mounted on a PCB, either by soldering its pins directly to
the PCB or by using suitable socket connectors. In both cases the following rules apply:

4.5.1. Traces

1. The size of the traces on the PCB (thickness and width) is determined by the current

carrying capacity required by the application.

 The rated continuous current limit (Ic) of the Gold Trombone is the current used for

sizing the motor traces (M1, M2, M3 and PE) and power traces (VP+, VN- and PE).

 For control, feedbacks and I/O conductors the actual current is very small, but

“generous” thickness and width of the conductors will contribute to better
performance and lower interference.

2. The traces should be as short as possible to minimize EMI and to minimize the heat

generated by the conductors.

3. The spacing between the high voltage conductors (VP+, VN-, M1, M2, M3) must be at least:

34

400 V Drives 800 V Drives

Surface

layer

Non-coated 2.4 mm 4.2 mm

Coated 1.0 mm 2.4 mm

Internal layer 0.5 mm 1.0 mm

4. The spacing between the high voltage conductors (VP+, VN-, M1, M2, M3) and the logic

part of the drive must be at least:

400 V Drives 800 V Drives

Surface

layer

Non-coated 4.8 mm 8.4 mm

Coated 2.0 mm 3.8 mm

Internal layer 0.5 mm 1.0 mm

5. The spacing between any voltage conductors and the PE part of the drive, must be at least:

400 V Drives 800 V Drives

Surface

layer

Non-coated 2.4 mm 4.2 mm

Coated 1.0 mm 1.8 mm

Internal layer 0.5 mm 1.0 mm

Complying with the rules above will help satisfy UL safety standards, MIL-STD-275 and the IPC­D-275 standard for non-coated conductors, operating at voltages lower than 800 VDC.

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4.5.2. Grounds and Returns

The “Returns” of the Gold Trombone are structured internally in a star configuration. The
returns in each functional block are listed below:

Functional Block Return Pin

CAN Communications CAN_COMRET (J2/31, 32)

USB Communications USB_COMRET (J2/43)

PHY_IN communication return PHY_IN_COMRET (J2/31)

PHY OUT communication return PHY_OUT_COMRET (J2/32)

Analog input return ANLRET (J2/20)

Common return COMRET (J1/19, J2/46)

Supply return SUPRET (J1/1, J2/25)

Table 7: Grounds and Returns

35

The returns above are all shorted within the control section of the Gold Trombone in a
topology that results in optimum performance.

Caution: Follow these instructions to ensure safe and proper implementation.
Failure to meet any of the below-mentioned requirements can result in
drive/controller/host failure.

1. When wiring the traces of the above functions, on the Integration Board, the Returns of

each function must be wired separately to its designated terminal on the Gold Trombone.
DO NOT USE A COMMON GROUND PLANE. Shorting the commons on the Integration
Board may cause performance degradation (ground loops, etc).

2. Inputs: The 6 digital inputs are optically isolated from the other parts of the Gold

Trombone. All six inputs share one return line, INRET1_6. To retain isolation, the Input
Return pin and all other conductors on the input circuit, must be laid out separately.

3. Outputs: The 4 digital outputs are optically isolated from the other parts of the Gold

Trombone. Each output is related to VDDRET that is also optically isolated. To retain
isolation, all the output circuit conductors must be laid out separately.

4. Return Traces: The return traces should be as large as possible, but without shorting each

other, and with minimal cross-overs.

5. Main Power Supply and Motor Traces: The power traces must be kept as far away as

possible from the feedback, control and communication traces.

6. PE Terminal: The PE (Protective Earth) terminal is connected directly to the Gold

Trombone’s heat-sink. The heat-sink serves as an EMI common plane. The PE terminal
should be connected to the system's Protective Earth. Any other metallic parts (such as the
chassis) of the assembly should be connected to the Protective Earth as well.

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7. Under normal operating conditions, the PE trace carries no current. The only time these

traces carry current is under abnormal conditions (such as when the device has become a
potential shock or fire hazard while conducting external EMI interferences directly to
ground). When connected properly the PE trace prevents these hazards from affecting the
drive.

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 or T -models (the catalog number has an S or T 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 (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.

36

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37

Figure 3: Gold Trombone Connection Diagram for EtherCAT – with Backup Functionality

(S or T Model Drive)

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38

Figure 4: Gold Trombone Connection Diagram for EtherCAT – 400 V without Backup Functions

(0 or 1 Suffix)

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39

Figure 5: Gold Trombone Connection Diagram for CAN – with Backup Functionality

(S or T Model Drive)

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40

Figure 6: Gold Trombone Connection Diagram for CAN – 400 V without Backup Functions

(0 or 1 Suffix)

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4.7. Main Power, Motor Power and Auxiliary Power

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

Note: There are multiple voltage ratings of the Gold Trombone (80 V to 780 V), so you must

use the correct power supply according to the maximum operating voltage of the Gold
Trombone. See Section Chapter 3: Technical Information

4.7.1. Motor Power

Pin Function Cable Pin Positions

Brushless Motor Brushed DC Motor

M3 Motor phase Motor Motor

M2 Motor phase Motor Motor

M1 Motor phase Motor N/C

41

PE Protective

Power and Motor

Earth

Table 8: Connector for Motor

Connect the M1, M2, M3 and PE pins on the Gold Trombone in the manner described in
Section 4.5 (Integrating the Gold Trombone on a PCB). 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.

Figure 7: Brushless Motor Power Connection Diagram

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Figure 8: DC Brushed Motor Power Connection Diagram

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.

42

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

• Ensure that the motor chassis is properly grounded.

4.7.2. Main Power

Pin Function Cable Pin Positions

PE Protective Earth Power and Motor

VN- DC Negative Power input Power

VP+ DC Positive Power input Power

Table 9: Connector for Main Power

The DC power for the Gold Trombone is delivered from a separated rectifying unit (supplied by
the user). Elmo recommends using the Tambourine rectifier specifically designed for use with
Elmo drives which offers a range of versatile options.

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The following sections contain topology recommendations for implementing three-phase and
single-phase supply chains.

The power stage of the Gold Trombone is fully isolated from the other sections of the Gold
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 Trombone.

In addition, this isolation simplifies the requirements of the DC power supply that is used to
power the DC bus of the Gold 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
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.

43

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.

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.

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

Figure 9: Non-Isolated Three-Phase Connection Topology

44

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 10: Non-Isolated Single-Phase Connection Topology

45

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.

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

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Figure 11: Non-Isolated Three-Phase Multiple Connection Topology

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4.7.2.2. Battery Power Supply

Figure 12: 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
an isolation transformer.

47

must be isolated from the mains by

4.7.3. +24 V Auxiliary Supply (J3)

Pin (J3) Function Pin Positions

1 +24 V Auxiliary Supply Input Positive

2 24 V RET Auxiliary Supply Input Return

Table 10: Auxiliary 24 VDC Backup Supply Pins and Polarity

In drives that have an 0 or 1 suffix (only for 400V models), a smart control-supply algorithm
enables the Gold Trombone to operate with the main power supply only, with no need for an
auxiliary supply voltage to supply the drive’s logic section. However, it should be noted that in
such model there is no backup ability at all.

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

Note that the S or T-model Gold 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.

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 24 VDC backup supply must be isolated with an isolation transformer.

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.

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Figure 13: Auxiliary 24 VDC Backup Supply Connection Diagram

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4.8. STO (Safe Torque Off) Inputs (J1)

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.

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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 11: Motor Behavior According to Safety Inputs

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

Pin (J1) Signal Function

14 STO1 Safety 1 input (default 24 V)

13 STO2 Safety 2 input (default 24 V)

12 STO_RET Safety signal return

Table 12: Safety Inputs Pin Assignments

See Figure 14 for the PLC option connection and Figure 15 for the TTL option connection.

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Figure 14: STO Input Connection – PLC Option for S or 0 Suffixes

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Figure 15: Safety Input Connection – TTL Option for T or 1 Suffixes

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Port A

Port B

Port C

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4.9. Feedback

Figure 16: Feedback Ports on J2

The Gold Trombone has two configurable motion sensor input ports, namely, Port A and Port B,
and the emulated buffered output Port C. Motion sensors from the motor being controlled and
from other sources can be connected to any of the available inputs on Port A or Port 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.

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

4.9.1. Port A (J2, J1)

Port A supports the following sensor inputs:

• Digital Hall sensors

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

Differential 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 and 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.

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Port A - Incremental Encoder Port A - Absolute Serial Encoder

Pin Signal Function Signal Function

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J1/2 +5V Encoder +5V

+5V Encoder +5V supply

supply

J1/1 SUPRET Supply return SUPRET Supply return

J2/1 PortA_ENC_A+ Channel A+ ABS_CLK+ Abs encoder clock +

J2/3 PortA_ENC_A- Channel A- ABS_CLK- Abs encoder clock -

J2/5 PortA_ENC_B+ Channel B+ ABS_DATA+ Abs encoder data +

J2/7 PortA_ENC_B- Channel B- ABS_DATA- Abs encoder data -

J2/9 PortA_ENC_Index+ Index+ Reserved Reserved

J2/11 PortA_ENC_Index- Index- Reserved Reserved

J2/18 HA Hall sensor A HA Hall sensor A

J2/16 HB Hall sensor B HB Hall sensor B

J2/14 HC Hall sensor C HC Hall sensor C

Table 13: Port A Pin Assignments

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4.9.1.1. Incremental Encoder Connection Diagram

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Figure 17: Port A Incremental Encoder Input – Recommended Connection Diagram

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4.9.1.2. Absolute Serial Encoder Connection Diagram

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Figure 18: Absolute Serial Encoder – Recommended Connection Diagram for Sensors

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

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

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

4.9.1.3. Hall Sensor Connection Diagram

Figure 20: Hall Sensors Connection Diagram

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4.9.2. Port B (J2, J1)

Port B supports the following sensors:

• Incremental encoder, interpolated analog encoder or as 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 and direction 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.

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Port B - Incremental or

Port B - Resolver

Interpolated Analog Encoder

G-TROXXX/YYYYEXS G-TROXXX/YYYYRXS

Pin Signal Function Signal Function

J1/2 +5V Encoder +5V supply NC

J1/1 SUPRET Supply return SUPRET Supply return

J2/13 PortB_ENC_A+/SIN+ Channel A+ / Sine+ SIN+ Sine+

J2/15 PortB_ENC_A-/SIN- Channel A- / Sine- SIN- Sine-

J2/17 PortB_ENC_B+/COS+ Channel B+ / Cosine+ COS+ Cosine+

J2/19 PortB_ENC_B-/ COS- Channel B - / Cosine - COS- Cosine-

J2/21 PortB_ENC_INDEX+/

Analog_Index+

J2/23 PortB_ENC_INDEX-/

Analog_Index-

Index +/
Analog_Index+

Index -/
Analog_Index-

RESOLVER_OUT+ Vref f=1/TS,

50 mA max.

RESOLVER_OUT- Vref

complement
f= 1/TS, 50 mA
max.

Table 14: Port B Pin Assignments

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4.9.2.1. Incremental Encoder Connection Diagram

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Figure 21: Port B Incremental Encoder Input – Recommended Connection Diagram

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4.9.2.2. Interpolated Analog Encoder Connection Diagram

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Figure 22: Port B - Interpolated Analog Encoder Connection Diagram

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4.9.2.3. Resolver Connection Diagram

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Figure 23: Port B – Resolver Connection Diagram

4.9.3. Port C – Emulated Encoder Output (J2)

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 Trombone is used as a current amplifier to provide position data to the position

controller.

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

controller.

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

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Pin (J2) Signal Function

4 PortC_ENCO_A+ Buffered Channel A+ output/Pulse+/PWM+

2 PortC_ENCO_A- Buffered Channel A- output / Pulse- / PWM-

8 PortC_ENCO_B+ Buffered Channel B+ output / Dir+

6 PortC_ENCO_B- Buffered Channel B- output / Dir-

12 PortC_ENCO_INDEX+ Buffered Channel INDEX+ output

10 PortC_ENCO_INDEX- Buffered Channel INDEX- output

Table 15: Port C Pin Assignment

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Figure 24: Emulated Encoder Differential Output – Recommended Connection Diagram

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4.10. User I/Os

The Gold Trombone has six programmable digital inputs (J1), four digital outputs (J1) and one
analog input (J2).

4.10.1. Digital Inputs (J1)

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

Pin (J1) Signal Function

6 IN1 High speed programmable input 1

(event capture, home, general purpose, RLS, FLS, INH, PWM & dir
input, pulse & dir input)

7 IN2 High speed programmable input 2

(event capture, home, general purpose, RLS, FLS, INH, PWM & dir
input, pulse & dir input)

8 IN3 High speed programmable input 3

(event capture, home, general purpose, RLS, FLS, INH, PWM & dir
input, pulse & dir input)

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9 IN4 High speed programmable input 4

(event capture, home, general purpose, RLS, FLS, INH, PWM & dir
input, pulse & dir input)

10 IN5 High speed programmable input 5

(event capture, home, general purpose, RLS, FLS, INH, PWM & dir
input, pulse & dir input)

11 IN6 High speed programmable input 6

(event capture, home, general purpose, RLS, FLS, INH, PWM & dir
input, pulse & dir input)

5 INRET1-6 Programmable inputs 1 - 6 return

Table 16: Digital Input Pin Assignments

See Figure 25 for the PLC option connection and Figure 26 for the TTL option connection.

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Figure 25: Digital Input PLC Mode Connection Diagram for S or 0 Suffixes

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Figure 26: Digital Input TTL Mode Connection Diagram for T or 1 Suffixes

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4.10.2. Digital Outputs (J1)

The outputs conform to the PLC standard. TTL configuration is available upon request.

Pin (J1) Signal Function

High speed programmable digital output 1:

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22 OUT1

• 500 mA for PLC models

• 7 mA for TTL models

Programmable digital output 2:

21 OUT2

• 250 mA for PLC models

• 7 mA for TTL models

Programmable digital output 3:

24 OUT3

• 250 mA for PLC models

• 7 mA for TTL models

Programmable digital output 4:

23 OUT4

• 250 mA for PLC models

• 7 mA for TTL models

26 VDD Supply for outputs 1 to 4

25 VDDRET Supply return for outputs 1 to 4

Table 17: Digital Output Pin Assignment

See Figure 27 for the PLC option connection and Figure 28 for the TTL option connection.

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Figure 27: Digital Output Connection Diagram – PLC Option for S or 0 Suffixes

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Figure 28: Digital Output Connection Diagram – TTL Option for T or 1 Suffixes

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4.10.3. Input (J2)

An analog user input can be configured by software to be used as either tachometer velocity
sensor input or potentiometer position feedback.

Pin (J2) Signal Function

22 ANALOG1+ Analog input 1+

24 ANALOG1- Analog input 1-

20 ANLRET Analog ground

Table 18: Analog Input Pin Assignment

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Figure 29: 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 Trombone
can communicate using the following options:

Standard EtherCAT

G-TROXXX/YYYSXX G-TROXXX/YYYEXX

CAN EtherCAT

USB 2.0 USB 2.0

Table 19: Gold Trombone Communication Options

For ease of setup and diagnostics of CAN communication, and CAN can be used simultaneously.

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

must be disconnected.

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4.11.1. CAN Communication (J2)

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

To connect the CAN communication cable:

1. 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.

2. 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.

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

cable.

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

Pin (J2) Signal Function

31, 32 CAN_COMRET CAN Communication Return

38 CAN_L CAN_L bus line (dominant low)

40 CAN_H CAN_H bus line (dominant high)

Table 20: CAN Pin Assignments

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Figure 30: CAN Network Diagram

Caution: When installing CAN communication, ensure that each servo drive is

allocated a unique ID. Otherwise, the CAN network may “hang”.

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4.11.2. USB 2.0 Communication (J2)

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

To connect the USB communication cable:

1. 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.

2. 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.

Pin (J2) Signal Function

44 USB VBUS USB VBUS 5 V

43 USB COMRET USB Communication return

41 USBD- USB _N line

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42 USBD+ USB _P line

Table 21: USB 2.0 Pin Assignments

Figure 31: USB Network Diagram

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4.11.3. EtherCAT Communication (J2)

To use EtherCAT and Ethernet communication with the Gold Trombone, it is required to use an
isolation transformer. The most common solution is to use RJ-45 connectors that include
transformer isolation.

This section describes how to connect the Gold Trombone’s EtherCAT interface using the above
mentioned connectors.

Notes for EtherCAT communication:

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

Manual.

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

integrity cable with four twisted pairs.

Pin (J2) Signal Function

26 3.3 V 3.3 V for EtherCAT LEDs

71

31, 32 PHY_IN_COMRET EtherCAT Communication Return

27 PHY_IN_RX+ EtherCAT IN RX+ Line

29 PHY_IN_RX- EtherCAT IN RX- Line

33 PHY_IN_TX+ EtherCAT IN TX+ Line

35 PHY_IN_TX- EtherCAT IN TX- Line

39 PHY_IN_SPEED Indicates EtherCAT Speed

37 PHY_IN_LINK_ACT Indicates EtherCAT LINK

31, 32 PHY_OUT COMRET EtherCAT Communication return

28 PHY_ OUT _RX+ EtherCAT OUT RX+ Line

30 PHY_ OUT _RX- EtherCAT OUT RX- Line

34 PHY_ OUT _TX+ EtherCAT OUT TX+ Line

36 PHY_ OUT _TX- EtherCAT OUT TX- Line

40 PHY_ OUT _SPEED Indicates EtherCAT Speed

38 PHY_ OUT_LINK_ACT Indicates EtherCAT LINK

Table 22: EtherCAT - Pin Assignments

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Figure 32: EtherCAT Connection Schematic Diagram

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Note: The diagram above ignores line interface for simplicity.

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.

Figure 33: EtherCAT Network with no Redundancy

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Figure 34: EtherCAT Network with Redundancy

4.11.4. Ethernet Communication (J2)

To use EtherCAT and Ethernet communication with the Gold Trombone, it is required to use an
isolation transformer. The most common solution is to use RJ-45 connectors that include
transformer isolation.

This section describes how to connect the Gold Trombone Ethernet interface using the above
mentioned connectors.

For other available options, please see Section 0 4.11.5.

To initiate Ethernet communication:

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

Manual.

2. 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 (J2) Signal Function

26 3.3 V 3.3 V for Ethernet LEDs

27 PHY_IN_RX+ Ethernet RX + Line

29 PHY_IN_RX- Ethernet RX – Line

31, 32 Ethernet COMRET Ethernet Communication return

33 PHY_IN_TX+ Ethernet TX + Line

35 PHY_IN_TX- Ethernet TX – Line

39 PHY_IN_SPEED Indicates Ethernet Speed

37 PHY_IN_LINK_ACT Indicates Ethernet LINK

Table 23: Ethernet - Pin Assignments

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Figure 35: Ethernet Network Schematic Diagram

Note: The diagram above ignores line interface for simplicity.

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4.11.5. EtherCAT/Ethernet Line Interface

Ethernet transceivers require either isolation transformers or capacitor coupling for proper
functioning. The Gold Trombone unit does not include such isolation, therefore you must take
this into consideration when designing the integration board.

In Sections 4.11.3 and 4.11.4, a schematic connection with a standard RJ-45 connector that
includes transformer isolation is described.

Other recommended connection options are:

• Gold Trombone to an RJ-45 connector without an integrated magnetic isolation (e.g., M12

connectors) – an isolation transformer is required.

• Connecting two EtherCAT ports on the same board can be done using capacitive coupling

or transformer coupling.

For more detailed explanations, including layout recommendations and component selection
guidelines contact Elmo’s technical support.

4.12. Powering Up

75

After the Gold 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 nor to the Neutral, when working with a

non-isolated power supply.

4.12.1. Initializing the System

After the Gold 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.

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4.13. Heat Dissipation

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

4.13.1. Gold 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 Trombone will reach 2/3 of its final temperature after 10 minutes)

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

4.13.2. Heat Dissipation Data

Heat Dissipation is shown graphically below:

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Figure 36: Dissipation versus Current Graph for 560 and 680 VDC

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Figure 37: Dissipation versus Current Graph for 330 VDC

4.13.3. How to Use the Charts

The power dissipation in the chart includes the losses of the rectifying bridge.
Regarding Figure 36 and Figure 37, 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 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: Technical Specifications

Gold Trombone Installation Guide (EtherCAT and CAN) Technical Specifications

This chapter provides detailed technical information regarding the Gold 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. Gold Trombone Dimensions

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5.2. 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 2,000 m (6562 feet)

Maximum non-condensing humidity 90%

Protection level IP64

5.3. Control Specifications

5.3.1. Current Loop

Feature Details

Controller type Vector, digital

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Compensation for bus voltage variations “On-the-fly” automatic gain scheduling

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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5.3.2. Velocity Loop

Feature Details

Controller type PI + Four advanced filters + Two advanced gain

scheduling filters

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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.

5.3.3. 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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5.4. Feedback

5.4.1. Feedback Supply Voltage

The Gold Trombone has two feedback ports (Main and Auxiliary). The Gold 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)

5.4.2. Feedback Options

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

5.4.2.1. Incremental Encoder Input

Feature Details

81

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

26 nsec

(PHL)

Minimum quadrature phase period (PPH) 13 nsec

Maximum encoder input voltage range

Common mode: ± 7 V

Differential mode: ± 7 V

Figure 38: Main Feedback - Encoder Phase Diagram

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5.4.2.2. Digital Halls

Feature Details

Hall inputs

• H

• Single ended inputs

• Built in hysteresis of 1 V for noise immunity

, HB, HC

A

82

Input voltage Nominal operating range: 0 V < V

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

InHigh

InLow

In_Hall

> 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

5.4.2.3. Interpolated Analog (Sine/Cosine) Encoder

Feature Details

Analog encoder format Sine and Cosine signals

Analog input signal level

Input resistance

Maximum analog signal frequency f

• Offset voltage: 2.2 V to 2.8 V

• Differential, 1 V peak to peak

Differential: 120 Ω

: 500 kHz

MAX

Interpolation multipliers Programmable: x4 to x8192

Maximum “counts” frequency 2 x 10

Automatic error correction

9

counts/sec

• Signal amplitudes mismatch

• Signal phase shift

• Signal offsets

Encoder outputs See Port C Encoder Outputs Specifications,

Section 5.4.3.

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5.4.2.4. Resolver

Feature Details

83

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 Trombone

Reference current up to ±50 mA

Encoder outputs See Port C Encoder Output Specifications,

Section 5.4.3.

5.4.2.5. Absolute Serial Encoder

Feature Details

Encoder format

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

• EnDAT 2.2

• BiSS/SSI

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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5.4.3. Port C Feedback Output

Feature Details

84

Emulated output

• A, B, Index

• Differential

Interface RS-422

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

Available as options

High level output voltage: V

Minimum output current: I

Low level output voltage: V

• Emulated encoder output of any sensor on

> 3.0 V

OH

= 2 mA

OL

< 0.4 V

OL

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 (default 2 MHz)

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

an encoder cycle) and synchronized to A&B

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5.5. I/Os

The Gold Trombone has:

• 6 Digital Inputs

• 4 Digital Outputs

• 1 Analog Input

5.5.1. Digital Input Interfaces – TTL Mode

Feature Details

Suffix applicable T or 1

Type of input Optically isolated

Input current for all inputs Iin = 3.8 mA @ Vin = 5 V

High-level input voltage 2.4 V < Vin < 15 V, 5 V typical

Low-level input voltage 0 V < Vin < 0.8 V

85

Minimum pulse width

Execution time (all inputs):
the time from application of
voltage on input until execution is
complete

High-speed inputs – 1 to 6
minimum pulse width, in high­speed mode

Capture with differential input

Port A, Port B Index

>250 µsec for inputs 1-6, >3 msec for STO

0 < T < 250 µsec

T > 5 µsec if the input functionality is set to
latch/capture (index/strobe).

Notes:

• Home mode is high-speed mode and can be used

for fast capture and precise homing.

• Highest speed is achieved when turning on

optocouplers.

T > 0.1 µsec if the differential input functionality is set
to touch probe/capture (index/strobe).

Figure 39: Digital Input Schematic

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5.5.2. Digital Input Interfaces – PLC Mode

Feature Details

Suffix applicable S or 0

Type of input Optically isolated

Input current for all inputs Iin = 2 mA @ Vin = 12 V

High-level input voltage 12 V < Vin < 30 V

Low-level input voltage 0 V < Vin < 7 V

86

Minimum pulse width

Execution time (all inputs):
the time from application of
voltage on input until execution is
complete

High-speed inputs – 1 to 6
minimum pulse width, in high­speed mode

Capture with differential input

Port A, Port B Index

>250 µsec

0 < T < 250 µsec

T > 5 µsec if the input functionality is set to
latch/capture (index/strobe).

Notes:

• Home mode is high-speed mode and can be used

for fast capture and precise homing.

• Highest speed is achieved when turning on

optocouplers.

T > 0.1 µsec if the differential input functionality is set
to touch probe/capture (index/strobe).

Figure 40: Digital Input Schematic

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5.5.3. Digital Output Interface – PLC Mode

Feature Details

Suffix applicable S or 0

Type of output Optically isolated source

Supply output (VDD) 12 V to 30 V

87

Maximum output current
I

(max) (V

out

= Low)

out

VOL at maximum output voltage

(max) ≤ 500 mA for output 1

I

out

I

(max) ≤ 250 mA for outputs 2 to 4

out

V

(on) ≤ 0.3 V

out

(low level)

RL The external resistor RL must be selected to limit the

output current to no more than 500 mA (output 1) or
250 mA (outputs 2 to 4).

Executable time

0 < T < 250 µsec

Figure 41: Digital Output Schematic

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5.5.4. Digital Output Interface – TTL Mode

Feature Details

Suffix applicable T or 1

88

Type of output

• Optically isolated

• Source/Sink

Supply output (VDD) 5 V to 15 V

Max. output current
I

(max) (V

out

= Low)

out

VOL at maximum output voltage

7 mA

V

(on) ≤ 0.4 V

out

(low level)

Executable time

0< T< 250 µsec

Figure 42: Digital Output Schematic

5.5.5. Analog Input

Feature Details

Maximum operating differential voltage ± 10 V

Maximum absolute differential input voltage ± 16 V

Differential input resistance 3.74 kΩ

Analog input command resolution 14-bit

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5.6. Safe Torque Off (STO)

The Gold Trombone has two STO (Safe Torque Off) inputs.

5.6.1. STO Input Interfaces – TTL Mode

Feature Details

Suffix applicable T or 1

Type of input Optically isolated

Input current for all inputs Iin = 3.8 mA @ Vin = 5 V

High-level input voltage 2.4 V < Vin < 15 V, 5 V typical

Low-level input voltage 0 V < Vin < 0.8 V

Minimum pulse width >3 ms

89

Figure 43: STO Input Schematic

5.6.2. STO Input Interfaces – PLC Mode

Feature Details

Suffix applicable S or 0

Type of input Optically isolated

Input current for all inputs Iin = 2 mA @ Vin = 12 V

High-level input voltage 12 V < Vin < 30 V

Low-level input voltage 0 V < Vin < 7 V

Minimum pulse width >3 ms

Figure 44: STO Input Schematic

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5.7. Communications

Specification Details

90

CAN

EtherCAT

Ethernet

CAN bus Signals:

• CAN_H, CAN_L, CAN_COMRET

• Maximum Baud Rate of 1 Mbit/sec.

Version:

• DS 301 v4.01

Layer Setting Service and Protocol Support:

• DS 305

Device Profile (drive and motion control):

• DS 402

• 100base-T

• Baud Rate: 100 Mbit/sec

• CAT5 Cable

• CoE, FoE, EoE

• 100base-T

• Baud Rate: 100 Mbit/sec

• CAT5 Cable

• UDP, Telnet

USB

• USB 2.0 Device mode

5.8. Pulse-Width Modulation (PWM)

Feature Details

PWM resolution 12-bit

PWM switching frequency on the load 1/Ts (factory default 20 kHz on the motor)

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5.9. Compliance with Standards

Specification Details

Quality Assurance

ISO 9001:2008 Quality Management

Design

Approved IEC/EN 61800-5-1, Safety Printed wiring for electronic equipment

(clearance, creepage, spacing, conductors
sizing, etc.)

MIL-HDBK- 217F Reliability prediction of electronic equipment

(rating, de-rating, stress, etc.)

91

• UL 60950

• IPC-D-275

• IPC-SM-782

Printed wiring for electronic equipment
(clearance, creepage, spacing, conductors
sizing, etc.)

• IPC-CM-770

• UL 508C

• UL 840

In compliance with VDE0160-7 (IEC 68) Type testing

Safety

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 Safety of Information Technology Equipment

Including Electrical Business Equipment

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

systems

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

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Specification Details

EMC

Approved IEC/EN 61800-3, EMC Adjustable speed electrical power drive

systems

92

In compliance with EN 55011 Class A with

Electromagnetic compatibility (EMC)

EN 61000-6-2: Immunity for industrial
environment, according to:

IEC 61000-4-2 / criteria B
IEC 61000-4-3 / criteria A
IEC 61000-4-4 / criteria B
IEC 61000-4-5 / criteria B
IEC 61000-4-6 / criteria A
IEC 61000-4-8 / criteria A
IEC 61000-4-11 / criteria B/C

Workmanship

In compliance with IPC-A-610, level 3 Acceptability of electronic assemblies

PCB

In compliance with IPC-A-600, level 2 Acceptability of printed circuit boards

Packing

In compliance with EN 100015 Protection of electrostatic sensitive devices

Environmental

In compliance with 2002/96/EC Waste Electrical and Electronic Equipment

regulations (WEEE)

Note: Out-of-service Elmo drives should be
sent to the nearest Elmo sales office.

In compliance with 2002/95/EC
(effective July 2006)

Restrictions on Application of Hazardous
Substances in Electric and Electronic
Equipment (RoHS)

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