4.6. Compliance with Standards ..................................................................................... 31
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MAN-GOLD-MAESTRO-IG (Ver . 1.301)
Chapter 1: Safety Information
Warning:
Caution:
Gold Maestro Installation Guide
In order to achieve the optimum, safe operation of the Gold Maestro Multi-Axis Controller, 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 Maestro 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.
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.
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This information is necessary for preventing damage to the product or
to other equipment.
1.1. Cautions
• The Gold Maestro must be connected to an approved 24 VDC power supply through a
line that is separated from hazardous line voltages using reinforced or double
insulation in accordance with approved safety standards.
• Before switching on the Gold Maestro, 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 Maestro 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:
The Gold Maestro 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 508CPower Conversion Equipment
In compliance with UL 840Insulation Coordination Including Clearances and
Creepage Distances for Electrical Equipment
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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 Maestro 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.
1.3. 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. The Gold Maestro is 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.
www.elmomc.com
MAN-GOLD-MAESTRO-IG (Ver . 1.301)
Chapter 2: Product Description
Gold Maestro Installation Guide
This installation guide describes the Gold Maestro Network Motion Controller and the steps for
its wiring, installation and power up. Following these guidelines ensures maximum functionality
of the system to which it is connected.
2.1. Description
The Gold Maestro is Elmo’s network motion controller. It works in a network based system in
conjunction with Elmo’s intelligent servo drives to provide a total multi-axis motion control
system solution.
The Gold Maestro is designed to support both the existing SimplIQ drives, based on standard
CAN network architecture, as well as the new Gold Line, adding EtherCAT networking.
While being a true network controller, the Gold Maestro shares the motion processing
workload with Elmo’s SimplIQ and Gold Line drives, forming a distributed motion control
system. The best servo and system performance is achieved combining the Gold Family drives,
and the new real-time motion control capabilities of the Gold Maestro controller.
• Advanced user programming capabilities based on the leading standards
• Time deterministic control over motion, I/Os and processes in the system
The Gold Maestro offers real-time motion control support for full multi-axis system
synchronization, using the well known industry interface PLCopen for Motion Control standard.
Various programming capabilities, such as the IEC-61131-3 standard languages, as well as
native C programming support, dramatically accelerate user level program execution. Standard
solutions were selected for ease of use.
Low level communication with drives and I/O devices over the device network uses the CAN
industry standard (DS 301, DS 401 for I/O devices, and DS 402 for drives and motion device
profiles). These are used over standard CAN networks, as well as with the new EtherCAT CoE
(CAN over EtherCAT) protocols.
Host interfaces are implemented using industry standard communications protocols, such as
Ethernet TCP/IP and higher level protocols such as Ethernet/IP and Modbus.
Standardization in protocols, definitions and APIs allows users rapid system level integration
and opens the system to third party devices on the device network.
•Operating System: Linux Operating System, with Elmo’s RT extension for real-time
motion control support
• Motion Programming and Debugging
Native C Programming, running on the target CPU. Compiling and debugging via the
Eclipse IDE using GCC under Cygwin
IEC 61131-3 with PLCopen Motion Library extension, using Elmo IDE. The following
languages are supported:
• Structured text (ST), textual
• Function block diagram (FBD), graphical
• Ladder diagram (LD), graphical
• Sequential function chart (SFC), has elements to organize programs for sequential
and parallel control processing.
•Number of Axes: Up to 96 axes, allowing mixed single axis, multiple axis and
coordinated axes motions
• Axis Types
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Intelligent Servo Drives (Elmo), supporting both the SimplIQ and Gold lines
Operation in Numeric Control – NC - (real-time master synchronization) as well as
non-NC modes
DS 402 CoE for EtherCAT and standard DS 402 drives for CANopen
• Control System Update Rate
EtherCAT
• Cycle Update Rate: ≥ 500 µs (up to 16 axes can be updated simultaneously at a rate
of 500 µs)
• Cycle Jitter: < 1 µs, based on Master DC (Distributed Clock) support, for the full