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Gold Twitter Installation Guide

MAN-G-TWI (Ver. 2.000)

|EtherCAT Module|

www.elmomc.com

Table of Contents

10.5.2.

EtherCAT Communication

This section only describes the EtherCAT communication, and the pinout drawing of the
connector.

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

connection must be disconnected.

Summary of Contents for 1/100

Page 1: ...Gold Twitter Digital Servo Drive Installation Guide CAN and EtherCAT November 2018 Ver 2 000 www elmomc com ...

Page 2: ...he text and graphics included in this manual are for the purpose of illustration and reference only The specifications on which they are based are subject to change without notice Information in this document is subject to change without notice Document no MAN G TWI Ver 2 000 Copyright 2018 Elmo Motion Control Ltd All rights reserved Catalog Number NOTE The option G TWIXXX YYYZZ Blank VL 40V is no...

Page 3: ...5 Ver 1 009 Jan 2015 Ver 1 010 Feb 2015 Ver 1 011 Mar 2015 Ver 1 012 Mar 2015 Ver 1 013 May 2015 Ver 1 014 June 2015 Ver 1 015 Dec 2015 Ver 1 016 Mar 2016 Ver 1 017 Sep 2016 Ver 1 018 Oct 2016 Ver 1 019 Jan 2017 Ver 1 020 Apr 2017 Ver 1 021 Apr 2017 Ver 1 022 Aug 2017 Ver 1 023 Aug 2017 Ver 1 024 Oct 2018 Ver 2 000 Nov 2018 ...

Page 4: ...er 5 Standards 15 5 1 CE Declaration 15 Chapter 6 Unpacking the Drive Components 15 Chapter 7 Mounting the Gold Twitter 16 7 1 Mounting the Optional Acessories Heat Sinks 19 7 2 Mounting Gold Twitter to an External Heatsink 21 Chapter 8 Integrating the Gold Twitter on a PCB 22 8 1 Power Returns PR 22 8 2 COMRET 22 8 3 Earth Connection PE 22 8 4 Power Return PR Common Return COMRET and Earth Connec...

Page 5: ...10 2 4 1 Dual Power Supply Topology 42 10 2 4 2 Single Power Supply Topology VP 95VDC 44 10 3 Feedback Connector FDB 47 10 3 1 Port A 49 10 3 1 1 Incremental Encoder 49 10 3 1 2 Absolute Serial Encoder 50 10 3 1 3 Hall Sensors 52 10 3 2 Port B 53 10 3 2 1 Incremental Encoder 53 10 3 2 2 Interpolated Analog Encoder 54 10 3 2 3 Resolver 55 10 3 3 Port C Emulated Encoder Output FDB 56 10 4 Main Conne...

Page 6: ...for EtherCAT model only 75 Chapter 11 Powering Up 76 11 1 Initializing the System 76 11 2 Heat Dissipation 77 11 2 1 Heat Dissipation Data 77 11 2 2 How to Use the Chart 80 Chapter 12 Dimensions 81 12 1 EtherCAT without Heatsink 81 12 2 EtherCAT with Heatsink 82 12 3 CAN without Heatsink 83 12 4 CAN with Heatsink 84 Chapter 13 Accessories 85 13 1 Accessories Heat Sink Dimensions 86 ...

Page 7: ...nnel 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 Twitter contains electrostatic sensitive components that can be damaged if handled incorrectly To prevent any electrostatic damage avoid contact with highly insulating materials suc...

Page 8: ...ts with a meter before touching the equipment is recommended 2 2 Cautions The maximum DC power supply connected to the instrument must comply with the parameters outlined in this guide When connecting the Gold Twitter to an approved control supply connect it through a line that is separated from hazardous live voltages using reinforced or double insulation in accordance with approved safety standa...

Page 9: ...one device or as part of a multi axis system in a distributed configuration on a real time network The Gold Twitter drive is easily set up and tuned using the Elmo Application Studio EASII software tools As part of the Gold product line it is fully programmable with the Elmo motion control language For more information about software tools refer to the Elmo Application Studio EASII User Guide The ...

Page 10: ... Heatsink g oz EtherCAT Version 22 2 g 0 78 oz CAN Version 18 6 g 0 66 oz Weight with Heatsink g oz EtherCAT Version 232 2 g 8 19 oz CAN Version 228 6 g 8 06 oz EtherCAT Version Dimension without Heatsink mm in 35 x 30 x 14 4 mm 1 38 x 1 18 x 0 57 CAN Version Dimension without Heatsink 35 x 30 x 11 5 mm 1 38 x 1 18 x 0 45 EtherCAT Version Dimension with Heatsink 47 x 41 3 x 18 4 mm 1 85 x 1 63 x 0...

Page 11: ...c Amplitude sinusoidal DC continuous current A 30 1 3 6 10 15 25 Sinusoidal continuous RMS current limit Ic A 21 0 7 2 1 4 2 7 1 10 17 7 Peak current limit A 2 x Ic Table 1 60V and 100V Models Technical Data 4 3 200V Models Technical Data Feature Units 3 200 6 200 10 200 Minimum supply voltage VDC 20 Nominal supply voltage VDC 170 Maximum supply voltage VDC 195 Maximum continuous power output W 48...

Page 12: ... 20 Nominal supply voltage VDC 48 65 85 85 115 170 Maximum supply voltage VDC 55 75 95 95 135 195 Maximum continuous Electrical power output kW 2 3 5 4 0 5 6 5 2 5 Efficiency at rated power at nominal conditions 99 Maximum output voltage Up to 96 of DC bus voltage Amplitude sinusoidal DC continuous current A 50 80 50 70 45 15 Sinusoidal continuous RMS current limit Ic A 35 3 56 5 35 3 49 5 32 10 6...

Page 13: ...RCAT Input range for G TWIXXX YYYEZ Blank V 14V 40V Input range for G TWIXXX YYYEZS or H V 11V 95V Power consumption including 5 V 200 mA for encoder W 4W 4 6 Product Features Main Feature Details Presence No STO 5V Logic Level Opto isolated from the Control section Digital Input Option 5V Logic Level Internally connected to COMRET 6 Digital Output Option 5V logic Internally connected to COMRET 2 ...

Page 14: ...ximum ambient operating temperature of 50 C 122 F must not be exceeded Feature Details Operating ambient temperature in compliance with STO standards 0 C to 40 C 32 F to 104 F Operating ambient temperature according to IEC60068 2 2 0 C to 50 C 32 F to 122 F in compliance with UL standards Storage temperature 20 C to 85 C 4 F to 185 F Maximum non condensing humidity according to IEC60068 2 78 95 Ma...

Page 15: ...lication Studio EASII software and software manual The Gold Twitter is shipped in a cardboard box with Styrofoam protection To unpack the Gold Twitter 1 Carefully remove the servo drive from the box and the Styrofoam 2 Check the drive to ensure that there is no visible damage to the instrument If any damage has occurred report it immediately to the carrier that delivered your drive 3 To ensure tha...

Page 16: ...nd pins When integrating the Gold Twitter into a device be sure to leave about 1 cm 0 4 outward from the heat sink to enable free air convection around the drive We recommend that the Gold Twitter be soldered directly to the board If the PCB is enclosed in a metal chassis we recommend that the Gold Twitter be screw mounted to it as well to help with heat dissipation The Gold Twitter has screw moun...

Page 17: ...Gold Twitter Installation Guide MAN G TWI Ver 2 000 CE Declaration www elmomc com 17 Table of Contents Figure 3 Gold Twitter CAN Version Dimensions2 Figure 4 Gold Twitter CAN Version Dimensions3 ...

Page 18: ...Gold Twitter Installation Guide MAN G TWI Ver 2 000 CE Declaration www elmomc com 18 Table of Contents Figure 5 Gold Twitter EtherCAT Version Dimensions ...

Page 19: ...ks www elmomc com 19 Table of Contents 7 1 Mounting the Optional Acessories Heat Sinks There are two optional heat sinks available as accessory kits The model G TWIXXX YYYZZH is integrated with the Flat Heatsink P N G TWIHSFLAT01 Flat Heat Sink P N G TWIHSFLAT01 Fins Heat Sink P N G TWIHSFINS01 ...

Page 20: ...YYZZH 1 Mount the heat sink under the base of the Gold Twitter 2 Place the Thermal foil enclosed in the heat sink accessories kit between the lower surface of the servo drive and the upper surface of the heat sink 3 Use four M2 screws enclosed in the heat sink accessories kit to secure the heat sink under the servo drive 4 Tighten the screws to the relevent torque force applicable to an M2 stainle...

Page 21: ...tter To mount the Gold Twitter to an external heat sink 1 Mount the heat sink under the base of the Gold Twitter 2 Place the Thermal foil PN IMT GTWIALHFLAT purchased from Elmo between the lower surface of the servo drive and the upper surface of the heat sink 3 Use four M2 5 head cup Allen screws to secure the heat sink under the servo drive 4 Tighten the screws to the relevent torque force appli...

Page 22: ...w as possible to reduce the impedance between the Grounds This effectively reduces the levels of common mode differences interferences EMI etc 8 2 COMRET For details of the COMRET refer to the section 5 4 in the MAN G Board Level Modules Hardware Manual 8 3 Earth Connection PE The PE Earth connection terminal is connected internally in the drive to the Gold Twitter s chassis heat sink which serves...

Page 23: ...servo drive as a stand alone must withstand breakdown voltages of 2KV for the 200V models and 1 7KV for the 100V models between PE to PR However the connections between PE to PR and the COMRET are essential for the safe operation of the servo drive Therefore the following topology must be used Figure 8 Gold Twitter Earth Connections The connections to PE are essential but must be done externally t...

Page 24: ...nment shielded and twisted wires should be used Drain wires should be connected to Elmo COMRET 8 5 2 Digital Inputs Outputs STO Wires can be always used no need for twisting no need for shielding 8 5 3 EtherCAT or CAN Communication Always use CAT5e cables 8 5 4 COMRET to PE Connection Figure 9 COMRET Connection to the PE At least one COMRET pin Figure 9 must be connected to the Protective Earth PE...

Page 25: ...ol Communication Zone Power Zone This area is dedicated to Power conductors only VP PR PE VL VL and motor leads Control and Communication Zone This area of the PCB is dedicated to Control low level signals Figure 10 Gold Twitter EtherCAT Power Conductors PCB layout Figure 11 Gold Twitter CAN Power Conductors PCB layout For more details refer to the section 5 4 in the MAN G Board Level Modules Hard...

Page 26: ...ides All the wiring diagrams show wiring for D TYPE connectors Wiring Symbol Description Earth connection PE Protective Earth Connection Common at the Controller Shielded cable with drain wire The drain wire is a non insulated wire that is in direct contact with the braid shielding Shielded cable with drain wire significantly simplifies the wiring and earthing Shielded cable braid only without dra...

Page 27: ...tents Wiring Symbol Description Encoder Earthing The cable s shield is connected to the chassis PE in the connector Earthing the Encoder and connecting the Earth PE to the drive COMRET is mandatory to insure reliable operation high noise immunity and rejection of voltage common mode interferences ...

Page 28: ...witter Installation Guide MAN G TWI Ver 2 000 The Gold Twitter Connection Diagram www elmomc com 28 Table of Contents 9 2 The Gold Twitter Connection Diagram Figure 12 The Gold Twitter CAN Connection Diagram ...

Page 29: ...Gold Twitter Installation Guide MAN G TWI Ver 2 000 The Gold Twitter Connection Diagram www elmomc com 29 Table of Contents Figure 13 The Gold Twitter EtherCAT Connection Diagram ...

Page 30: ...put 3 M2 1x1 Motor power output 2 M1 1x1 Motor power output 1 PE 1x1 Protective earth PR 1x1 Power output return VP 1x1 DC Positive power input VL 1x2 2 mm pitch 0 51 mm sq VL VL VL MAIN 2x14 1 27 mm pitch 0 40 mmsq I O LEDs STO CAN or EtherCAT ECT1 2x4 1 27 mm pitch 0 40 mmsq Available only for EtherCAT Version ECT2 2x4 1 27 mm pitch 0 40 mmsq Available only for EtherCAT Version ECT3 1x2 1 27 mm ...

Page 31: ...Gold Twitter Installation Guide MAN G TWI Ver 2 000 The Gold Twitter Connection Diagram www elmomc com 31 Table of Contents Connectors Location EtherCAT Version CAN Version ...

Page 32: ...Gold Twitter Installation Guide MAN G TWI Ver 2 000 The Gold Twitter Connection Diagram www elmomc com 32 Table of Contents Table 4 Connector Types ...

Page 33: ...or Power For full details see Section 7 3 in the manual MAN G Board Level Modules Hardware manual Pin Function Cable Pin Positions Brushless Motor Brushed DC Motor PE Connection earth Motor Motor M1 Motor phase Motor N C M2 Motor phase Motor Motor M3 Motor phase Motor Motor Table 5 Motor Connector Figure 14 Brushless Motor Power Connection Diagram ...

Page 34: ...EAS II 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 3 For high EMI environment it is highly recommended to use a 4 wire shielded not twisted cable for the motor connection The gauge i...

Page 35: ...Connector for Main Power Connect the DC power cable to the VP and PR terminals on the main power connector To connect the Gold Twitter to the DC power source 1 The source of the VDC power supply must be isolated from the Mains 2 Verify that the rectified VDC is indeed within the range of the drive 3 Connect the VP and PR wires to the terminals on the servo drive It is highly recommended to twist t...

Page 36: ... 95VDC Power consumption 4W including 5 V 200 mA for encoder Table 7 Control Supply Pins Connect the VL and VL terminals to the power supply Control Connector To connect the VL and VL to the control supply 1 The source of the control supply must be isolated from the Mains 2 Connect the return common of the control supply source to the closest earth connection near the control supply source 3 Conne...

Page 37: ...upply for the logic 10 2 3 1 1 Ordinary Option This option describes an Ordinary power supply for Servo drives with sufficient internal capacitance and shunt regulator to handle power flow in both directions to and from the motor The following figure describes this connection of main power and control power Note The PR and the VL are connected internally in the Gold Twitter Figure 16 Ordinary Opti...

Page 38: ...citance The Cexternal can be mounted on the Integration Board if there are no space limitations Minimum capacitance of the Power supply Cexternal Drive s Rated Current 20uF Figure 17 SMPS Option Separate VP and VL Power Supplies Connection Diagram The of the control power supply is connected to the VL terminal while the of the control power supply is connected directly to the of the DC bus power s...

Page 39: ...the motor In this configuration the Gold Twitter max operating voltage depends on the model and is 55VDC 75VDC or 95VDC However the DC bus must be limited to VP 40VDC to prevent failure of the VL supply The following figure describes this connection of main power and control Figure 18 Recommended Single Power Supply VP 40V Connection Diagram with VL Connected Internally Note This option is availab...

Page 40: ...be limited to VP 40VDC to prevent failure of the VL supply Figure 19 SMPS Single Power Supply VP 40V Connection Diagram with VL Connected Internally Note This option is available for power supply up to 40VDC For applications where a SMPS single power supply is used the following conditions must apply External capacitance must be added on the DC bus The Over Voltage of the Gold Twitter must be prog...

Page 41: ... Connector www elmomc com 41 Table of Contents 10 2 3 2 3 Forbidden Option Do NOT use the following wiring topology Only connect the VL to PR internally on the Integration Board Figure 20 Forbidden Single Power Supply 40V Connection Diagram with VL Cable Connected Externally ...

Page 42: ...upply for the logic 10 2 4 1 1 Ordinary Option This option describes an Ordinary power supply for Servo drives with sufficient internal capacitance and shunt regulator to handle power flow in both directions to and from the motor The following figure describes this connection of main power and control power Note The PR and the VL are connected internally in the Gold Twitter Figure 21 Ordinary Opti...

Page 43: ...citance The Cexternal can be mounted on the Integration Board if there are no space limitations Minimum capacitance of the Power supply Cexternal Drive s Rated Current 20uF Figure 22 SMPS Option Separate VP and VL Power Supplies Connection Diagram The of the control power supply is connected to the VL terminal while the of the control power supply is connected directly to the of the DC bus power s...

Page 44: ...V Gold Twitter model the max operating voltage is 195VDC but the DC bus must be limited to VP 95VDC to prevent failure of the VL supply The following figure describes a single connection of main power and control Figure 23 Recommended Single Power Supply VP 95V Connection Diagram with VL Connected Internally Note This option is available for power supply up to 95VDC For applications where the reco...

Page 45: ...operating voltage is 195VDC but the DC bus must be limited to VP 95VDC to prevent failure of the VL supply Figure 24 SMPS Single Power Supply VP 95V Connection Diagram with VL Connected Internally Note This option is available for power supply up to 95VDC For applications where a SMPS single power supply is used the following conditions must apply External capacitance must be added on the DC bus T...

Page 46: ... Connector www elmomc com 46 Table of Contents 10 2 4 2 3 Forbidden Option Do NOT use the following wiring topology Only connect the VL to PR internally on the Integration Board Figure 25 Forbidden Single Power Supply 95V Connection Diagram with VL Cable Connected Externally ...

Page 47: ...rtA_ENC_A ABS_CLK Port A channel A Absolute encoder clock 2 PortB_ENC_A SIN Port B channel A complement 3 PortA_ENC_A ABS_CLK Port A channel A complement Absolute encoder clock 4 PortB_ENC_A SIN Port B channel A 5 PortA_ENC_B ABS_DATA Port A channel B Absolute encoder Data 6 PortB_ENC_B COS Port B channel B complement 7 PortA_ENC_B ABS_DATA Port A channel B complement Absolute encoder Data 8 PortB...

Page 48: ... HC Hall sensor C input 18 PortC_ENCO_B Port C channel B complement output 19 5VE Encoder 5 V supply Limit 250 mA 20 PortC_ENCO_B Port C channel B output 21 COMRET Common return 22 PortC_ENCO_INDEX Port C index complement output 23 COMRET Common return 24 PortC_ENCO_INDEX Port C index output Table 8 Connector FDB Feedback For short distances between the drive and control 0 5 to 1 0 m wires can be ...

Page 49: ...urther details of the Port A connections 10 3 1 1 Incremental Encoder Figure 26 Port A Incremental Encoder Input Recommended Connection Diagram For short distances between the drive and control 0 5 to 1 0 m wires can be used and shielding is not required For longer distances than 1 0 m and or high EMI environment shielded and twisted wires should be used Drain wires should be connected to Elmo COM...

Page 50: ... Serial Encoder Recommended Connection Diagram for Sensors Supporting Data Clock e g Biss SSI EnDAT etc For short distances between the drive and control 0 5 to 1 0 m wires can be used and shielding is not required For longer distances than 1 0 m and or high EMI environment shielded and twisted wires should be used Drain wires should be connected to Elmo COMRET ...

Page 51: ...ed Connection Diagram for Sensors Supporting Data Line Only NRZ types e g Panasonic Mitutoyo etc For short distances between the drive and control 0 5 to 1 0 m wires can be used and shielding is not required For longer distances than 1 0 m and or high EMI environment shielded and twisted wires should be used Drain wires should be connected to Elmo COMRET ...

Page 52: ...1 3 Hall Sensors Figure 29 Hall Sensors Connection Diagram For short distances between the drive and control 0 5 to 1 0 m wires can be used and shielding is not required For longer distances than 1 0 m and or high EMI environment shielded and twisted wires should be used Drain wires should be connected to Elmo COMRET ...

Page 53: ...urther details of the Port B connections 10 3 2 1 Incremental Encoder Figure 30 Port B Incremental Encoder Input Recommended Connection Diagram For short distances between the drive and control 0 5 to 1 0 m wires can be used and shielding is not required For longer distances than 1 0 m and or high EMI environment shielded and twisted wires should be used Drain wires should be connected to Elmo COM...

Page 54: ...alog Encoder Figure 31 Port B Interpolated Analog Encoder Connection Diagram For short distances between the drive and control 0 5 to 1 0 m wires can be used and shielding is not required For longer distances than 1 0 m and or high EMI environment shielded and twisted wires should be used Drain wires should be connected to Elmo COMRET ...

Page 55: ...2 3 Resolver Figure 32 Port B Resolver Connection Diagram For short distances between the drive and control 0 5 to 1 0 m wires can be used and shielding is not required For longer distances than 1 0 m and or high EMI environment shielded and twisted wires should be used Drain wires should be connected to Elmo COMRET ...

Page 56: ...Level Modules Hardware Manual for further details of Port C Figure 33 Emulated Encoder Differential Output Recommended Connection Diagram For short distances between the drive and control 0 5 to 1 0 m wires can be used and shielding is not required For longer distances than 1 0 m and or high EMI environment shielded and twisted wires should be used Drain wires should be connected to Elmo COMRET ...

Page 57: ...t high ECAT Version LED_ET_ERR ECT Version EtherCAT status LED Error 2 CAN Version CANL CAN Version CAN_L BUS Line dominant low ECAT Version LED_ET_RUN ECT Version EtherCAT status LED Run 3 RS232_TX_S Standard RS232 transmit 4 RS232_RX_S Standard RS232 receive 5 RS232_TX SB_IN There are two options for this pin Option 1 TTL RS232 transmit Default Option 2 Serial Bus IN for extended I O refer to MA...

Page 58: ...opto isolated from control COMRET 13 STO_RET STO signal return The two digital STO inputs are optically isolated from the other parts of the drive and share one return line 14 STO2 STO 2 input 15 LED1 Bi color indication output 1 Cathode Internal Resistor 1K Ω 16 LED2 Bi color indication output 2 Cathode Internal Resistor 1K Ω 17 OUT4 Programmable output 4 connected to COMRET 3 3V logic level 18 O...

Page 59: ...s on the LEDs see Chapter 7 and section 12 2 1 in the in the MAN G Board Level Modules Hardware manual for full details STO safety For full details on STO see Chapter 9 in the in the MAN G Board Level Modules Hardware manual for full details For RS232 and Analog Input Wires For short distances between the drive and control 0 5 to 1 0 m wires can be used and shielding is not required For longer dis...

Page 60: ...If VT 5V R1 10KΩ Minimum pulse width 250 µsec Execution time all inputs the time from application of voltage on input until execution is complete 0 T 250 µsec High speed inputs 1 6 minimum pulse width in high speed mode T 5 µsec if the input functionality is set to latch capture index strobe Note Home mode is high speed mode and can be used for fast capture and precise homing Capture with differen...

Page 61: ...Gold Twitter Installation Guide MAN G TWI Ver 2 000 Main Connector MAIN www elmomc com 61 Table of Contents Figure 34 Digital Input 5V Logic level Mode Connection Diagram ...

Page 62: ...ation of the outputs OUT1 and OUT2 Feature Details Type of output 5V Logic Output Configuration VOL max of TTL Buffer low level Vout Low 0 44V 8mA VOH min of TTL Buffer High level Vout High 4 4V 8mA Output current 𝐼𝐼𝑜𝑜𝑜𝑜𝑜𝑜 max 5𝑉𝑉 500𝛺𝛺 𝑅𝑅𝐿𝐿 external Where 𝑉𝑉𝑅𝑅𝐿𝐿 𝐻𝐻𝐻𝐻𝐻𝐻ℎ 5𝑉𝑉 500 𝐼𝐼𝑜𝑜𝑜𝑜𝑜𝑜 max Example of connection to the opto couplers Where 𝐼𝐼𝑜𝑜𝑜𝑜𝑜𝑜 max 5𝑉𝑉 2 0𝑉𝑉 500𝛺𝛺 6 0𝑚𝑚𝑚𝑚 Ton time from low to ...

Page 63: ...tput 3 3V Logic Output Configuration VOL max of TTL buffer low level Vout On 0 4V 8mA VOH min of TTL buffer High level Vout High 2 9V 8mA Output current 𝐼𝐼𝑜𝑜𝑜𝑜𝑜𝑜 max 3 3𝑉𝑉 220𝛺𝛺 𝑅𝑅𝐿𝐿 external Where 𝑉𝑉𝑅𝑅𝐿𝐿 𝐻𝐻𝐻𝐻𝐻𝐻ℎ 3 3𝑉𝑉 220 𝐼𝐼𝑜𝑜𝑜𝑜𝑜𝑜 max Example of connection to the opto couplers Where 𝐼𝐼𝑜𝑜𝑜𝑜𝑜𝑜 max 3 3𝑉𝑉 2 0𝑉𝑉 220𝛺𝛺 50𝛺𝛺 4 8 𝑚𝑚𝑚𝑚 Ton time from low to high 1usec Toff time from high to low 1usec Execu...

Page 64: ... Installation Guide MAN G TWI Ver 2 000 Main Connector MAIN www elmomc com 64 Table of Contents Figure 35 Digital Output 5V Logic Mode Connection Diagram Figure 36 Digital Output 3 3V Logic Mode Connection Diagram ...

Page 65: ...n Connector MAIN www elmomc com 65 Table of Contents 10 4 3 STO Safe Torque Off For full details on STO see Chapter 9 in the MAN G Board Level Modules Hardware manual Figure 37 STO Input Connection 5V Logic Level Figure 38 STO Input Connection PLC 24V Logic ...

Page 66: ... Inputs see section 11 3 in the MAN G Board Level Modules Hardware manual Figure 39 Analog Input For short distances between the drive and control 0 5 to 1 0 m wires can be used and shielding is not required For longer distances than 1 0 m and or high EMI environment shielded and twisted wires should be used Drain wires should be connected to Elmo COMRET ...

Page 67: ...Mounted Module includes the CAN transceiver and mode choke Therefore it is required to add a CAN Bus Protector for ESD and other harmful transient voltage events The following signals describe how to connect CAN to the external connector Figure 40 CAN Interface The following are examples of the components described in Figure 40 Interface Components Part P N 33PF 50V NPO 10 AVX 06035A330JAT1A DUAL ...

Page 68: ...onnector MAIN www elmomc com 68 Table of Contents 10 4 5 2 CAN Layout Figure 41 CAN Network Diagram Caution When installing CAN communication ensure that each servo drive is allocated a unique ID Otherwise the CAN network may hang Note Always use CAT5e cables ...

Page 69: ...nection diagram Figure 42 RS232 Connection Diagram For full details on RS232 TTL Level communication see section 12 5 1 in the MAN G Board Level Modules Hardware manual For short distances between the drive and control 0 5 to 1 0 m wires can be used and shielding is not required For longer distances than 1 0 m and or high EMI environment shielded and twisted wires should be used Drain wires should...

Page 70: ...lation Guide MAN G TWI Ver 2 000 Main Connector MAIN www elmomc com 70 Table of Contents The RS232 TTL Level will be used in order to connect Differential RS232 RS422 Figure 43 Differential RS232 RS422 Connection Diagram ...

Page 71: ..._P line 3 COMRET USB communication return 4 USBD USB_N line 5 PHY_IN_LINK_ACT Indicates EtherCAT IN Ethernet LINK input 6 PHY_OUT_LINK_ACT Indicates EtherCAT OUT LINK 7 PHY_IN_SPEED Indicates EtherCAT IN Ethernet Speed input 8 PHY_OUT_SPEED Indicates EtherCAT OUT Speed Table 10 Connector ECT2 For USB Wires For short distances between the drive and control 0 5 to 1 0 m wires can be used and shieldi...

Page 72: ...t RX Line 8 PHY_IN_TX EtherCAT IN Ethernet TX Line Table 11 Connector ECT1 Note EtherCAT IN port can be configured to an Ethernet Port Note Always use CAT5e cables 10 5 1 3 ECT3 Connector Pin ECT3 Signal Function 1 SB_Clock Serial Bus_Clock 9 375Mhz for extended IO refer to the MAN G Panel Mounted Drives Hardware Manual 2 SB_Load Serial Bus Load for extended IO refer to the MAN G Panel Mounted Dri...

Page 73: ...e www elmomc com 73 Table of Contents 10 5 2 EtherCAT Communication This section only describes the EtherCAT communication and the pinout drawing of the connector When the EtherCAT is connected and the FoE is in operation the USB cable connection must be disconnected ...

Page 74: ...Gold Twitter Installation Guide MAN G TWI Ver 2 000 EtherCAT Module www elmomc com 74 Table of Contents Figure 44 EtherCAT Connection Schematic Diagram Note Always use CAT5e cables ...

Page 75: ...on USB communication see section 12 1 in the MAN G Board Level Modules Hardware manual Figure 45 USB Network Diagram For short distances between the drive and control 0 5 to 1 0 m wires can be used and shielding is not required For longer distances than 1 0 m and or high EMI environment shielded and twisted wires should be used Drain wires should be connected to Elmo COMRET ...

Page 76: ...power ensure that the DC supply is within the specified range and that the proper plus minus connections are in order 11 1 Initializing the System After the Gold Twitter has been connected and mounted the system must be set up and initialized This is accomplished using the EASII Elmo s Windows based software application Install the application and then perform setup and initialization according to...

Page 77: ...ched to the machine chassis If mounted with its heat sink suspended then for best results mount the servo drive faced upwards and leave approximately 10 mm of space between the Gold Twitter s heat sink and any other assembly 11 2 1 Heat Dissipation Data Heat Dissipation is shown graphically below It should be noted in the graphs below that the Flat Heat Sink and Fins Heat Sink can dissipate up to ...

Page 78: ...Gold Twitter Installation Guide MAN G TWI Ver 2 000 Heat Dissipation www elmomc com 78 Table of Contents ...

Page 79: ...Gold Twitter Installation Guide MAN G TWI Ver 2 000 Heat Dissipation www elmomc com 79 Table of Contents ...

Page 80: ... Sink temperature reaches 85 C the Gold Twitter will shut down Design the system for continuous operation so that the maximum Heat Sink temperature should be no higher than between 80 C to 82 C 4 For model G TWIXXX YYYZZ Blank or S If the average heat dissipation is less than 1 5W Average operating power of 100W to 200W there will be no requirement for an external heat sink If the average Heat dis...

Page 81: ...I Ver 2 000 EtherCAT without Heatsink www elmomc com 81 Table of Contents Chapter 12 Dimensions This chapter provides detailed technical dimensions regarding the Gold Twitter 12 1 EtherCAT without Heatsink Figure 46 G Twitter EtherCAT version ...

Page 82: ...Gold Twitter Installation Guide MAN G TWI Ver 2 000 EtherCAT with Heatsink www elmomc com 82 Table of Contents 12 2 EtherCAT with Heatsink Figure 47 G Twitter EtherCAT version ...

Page 83: ...Gold Twitter Installation Guide MAN G TWI Ver 2 000 CAN without Heatsink www elmomc com 83 Table of Contents 12 3 CAN without Heatsink Figure 48 G Twitter CAN version ...

Page 84: ...Gold Twitter Installation Guide MAN G TWI Ver 2 000 CAN with Heatsink www elmomc com 84 Table of Contents 12 4 CAN with Heatsink Figure 49 G Twitter CAN version ...

Page 85: ... N G TWIHSFLAT01 The following describes the accessory kits available for the Gold Twitter Part Number Description G TWIHSFLAT01 Flat Heat Sink Kit G TWIHSFINS01 FINs Heat Sink Kit Optionally the Gold Twitter has two standard heat sink configurations which are obtainable separately as kit accessories from Elmo Default Heat Sink Flat Heat Sink P N G TWIHSFLAT01 Fins Heat Sink P N G TWIHSFINS01 ...

Page 86: ...er Installation Guide MAN G TWI Ver 2 000 Accessories Heat Sink Dimensions www elmomc com 86 Table of Contents 13 1 Accessories Heat Sink Dimensions Figure 50 G Twitter Flat Heat Sink P N G TWIHSFLAT01 Dimensions ...

Page 87: ...Gold Twitter Installation Guide MAN G TWI Ver 2 000 Accessories Heat Sink Dimensions www elmomc com 87 Table of Contents Figure 51 G Twitter Fins Heat Sink P N G TWIHSFINS01 Dimensions ...

Page 88: ... Accessories Heat Sink Dimensions www elmomc com 88 Table of Contents ...

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