ElmoMC Gold Trombone User Manual
Gold Trombone
Digital Servo Drive
Installation Guide
EtherCAT and CAN
July 2014 (Ver. 1.604)
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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: +972 (3) 929-2300 • Fax: +972 (3) 929-2322 • info-il@elmomc.com
North America
Elmo Motion Control Inc.
42 Technology Way, Nashua, NH 03060
USA
Tel: +1 (603) 821-9979 • Fax: +1 (603) 821-9943 • info-us@elmomc.com
Europe
Elmo Motion Control GmbH
Hermann-Schwer-Strasse 3, 78048 VS-Villingen
Germany
Tel: +49 (0) 7721-944 7120 • Fax: +49 (0) 7721-944 7130 • info-de@elmomc.com
China
Elmo Motion Control Technology (Shanghai) Co. Ltd.
Room 1414, Huawen Plaza, No. 999 Zhongshan West Road, Shanghai (200051)
China
Tel: +86-21-32516651 • Fax: +86-21-32516652 • info-asia@elmomc.com
Asia Pacific
Elmo Motion Control APAC Ltd.
B-601 Pangyo Innovalley, 621 Sampyeong-dong, Bundang-gu, Seongnam-si, Gyeonggi-do,
South Korea (463-400)
Tel: +82-31-698-2010 • Fax: +82-31-801-8078 • info-asia@elmomc.com
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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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,
Gold Trombone Installation Guide (EtherCAT and CAN) Installation
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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