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Elmo Gold Solo Double Twitter Series, Installation Manual

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Gold Solo Double Twitter Installation Guide

 

 

MAN-G-SOLTWIB_160 (Ver. 1.005) 

 

|

CAN Communications Version|

www.elmomc.com

 

74 

Table of Contents

 

8.6.3.2.

 

CAN Layout 

 

Figure 48: CAN Network Diagram – Drop Off Topology 

 

Caution:

 When installing CAN communication, ensure that each servo drive is 

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

Note: Daisy chain topology can also be accomplished using J18. 

Note:  Always use CAT5e cables. 

 

Summary of Contents for Gold Solo Double Twitter Series

Page 1: ...Gold Solo Double Twitter Digital Servo Drive Installation Guide CAN and EtherCAT May 2019 Ver 1 005 www elmomc com ...

Page 2: ... users of the Gold Solo Double Twitter servo drive in its installation The text and graphics included in this manual are for the purpose of illustration and reference only The specifications on which they are based are subject to change without notice Information in this document is subject to change without notice Document no MAN G SOLTWIB_160 Ver 1 005 Copyright 2019 Elmo Motion Control Ltd All ...

Page 3: ...Revision History Version Date Ver 1 000 Mar 2018 Ver 1 001 Mar 2018 Ver 1 002 Jul 2018 Ver 1 003 Sep 2018 Ver 1 004 Dec 2018 Ver 1 005 May 2019 ...

Page 4: ...EMC 14 5 4 EtherCAT Conformance 14 5 5 Other Compliant Standards 15 Chapter 6 Installation 16 6 1 Unpacking the Servo Drive Components 16 6 2 Mounting the Gold Solo Double Twitter to a Heat Sink 17 6 3 The Gold Solo Double Twitter Connection Diagrams 18 6 3 1 CAN Connection Diagram 18 6 3 2 EtherCAT Connection Diagram 19 Chapter 7 Wiring 20 7 1 Wiring Legend 20 7 2 Connectors Types 22 7 2 1 Recomm...

Page 5: ...nnector 36 8 3 1 Port A 39 8 3 1 1 Incremental Encoder 39 8 3 1 2 Absolute Serial Encoder 40 8 3 1 3 Hiperface 41 8 3 1 4 Hall Sensors 42 8 3 2 Port B 43 8 3 2 1 Incremental Encoder 43 8 3 2 2 Interpolated Analog Encoder 44 8 3 2 3 Resolver 45 8 3 3 Port C Emulated Encoder Output J10 46 8 4 J11 I O and Communication Connector 47 8 4 1 Digital Inputs 50 8 4 1 1 Source PLC Voltage Level Digital Inpu...

Page 6: ...CAT Communication 68 8 5 3 2 EtherCAT Status Indicator D2 69 8 5 3 3 EtherCAT Link Indicators D3 D4 70 8 6 CAN Communications Version 71 8 6 1 CAN IN Connector J17 71 8 6 2 CAN OUT Connector J18 72 8 6 3 CAN Option 73 8 6 3 1 Interface 73 8 6 3 2 CAN Layout 74 Chapter 9 Powering Up 75 9 1 Initializing the System 75 9 2 Heat Dissipation 76 9 2 1 Heat Dissipation Data 76 9 2 2 How to Use the Chart 8...

Page 7: ...on 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 Solo Double Twitter contains electrostatic sensitive components that can be damaged if handled incorrectly To prevent any electrostatic damage avoid contact w...

Page 8: ...points with a meter before touching the equipment is recommended 2 2 Cautions The maximum DC power supply connected to the instrument must comply with the parameters outlined in this guide When connecting the Gold Solo Double 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 approv...

Page 9: ...n operate with single or dual power supplies If separation between the main DC power source and a control supply is required then a control supply isolated from the Mains is required according to the Part Number The drive can operate as a stand alone device or as part of a multi axis system in a distributed configuration on a real time network The Gold Solo Double Twitter drive is easily set up an...

Page 10: ...unting method Panel Based Mounting 4 2 D Type Technical Data Feature Units D160 80 D140 100 D40 200 Minimum supply voltage VDC 11 20 Nominal supply voltage VDC 65 85 170 Maximum supply voltage VDC 75 95 195 Maximum continuous Electrical power output kW 10 11 7 Efficiency at rated power at nominal conditions 99 Maximum output voltage Up to 96 of DC bus voltage Amplitude sinusoidal DC continuous cur...

Page 11: ... W 4 4 Product Features Main Feature Details Presence No STO 5V Logic Opto isolated from the Control section or PLC Source Opto isolated from the Control section Digital Input 5V Logic Opto isolated from the Control section or 6 PLC Source Opto isolated from the Control section or 6 PLC Sink Opto isolated from the Control section 6 Digital Output 5V Logic Opto isolated from the Control section or ...

Page 12: ...tion or by conduction The maximum 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 acco...

Page 13: ...systems In Compliance with EN 61508 1 2010 SIL 3 Functional safety of electrical electronic programmable electronic safety related systems In Compliance with EN 61508 2 2010 SIL 3 Functional safety of electrical electronic programmable electronic safety related systems In Compliance with EN 61508 3 2010 SIL 3 Functional safety of electrical electronic programmable electronic safety related systems...

Page 14: ...ting Dry heat In compliance with IEC60068 2 27 Basic environmental testing procedures Shock 5 3 EMC Specification Details In compliance with IEC EN 61800 3 Adjustable speed electrical power drive systems In compliance with EN 55011 Class A with 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 crit...

Page 15: ...ility prediction of electronic equipment rating de rating stress etc Workmanship IPC A 610 level 3 Acceptability of electronic assemblies PCB IPC A 600 level 3 Acceptability of printed circuit boards Packing EN 100015 Protection of electrostatic sensitive devices Environmental WEEE Directive 2012 19 EC Waste Electrical and Electronic Equipment regulations WEEE Note Out of service Elmo drives shoul...

Page 16: ...itter 1 Carefully remove the servo drive from the box and the Styrofoam 2 Check the drive to ensure that there is no visible damage to the instrument If any damage has occurred report it immediately to the carrier that delivered your drive 3 To ensure that the Gold Solo Double Twitter you have unpacked is the appropriate type for your requirements locate the part number sticker on the top of the G...

Page 17: ... Twitter To mount the heat sink 1 Mount the heat sink under the base of the Gold Solo Double Twitter 2 Place the Thermal foil PN IMT DTWIALHFLAT purchased from Elmo between the lower surface of the servo drive and the upper surface of the heat sink 3 Use four M3 head cup Allen screws to secure the heat sink under the servo drive 4 Tighten the screws to the relevant torque force applicable to an M3...

Page 18: ... SOLTWIB_160 Ver 1 005 The Gold Solo Double Twitter Connection Diagrams www elmomc com 18 Table of Contents 6 3 The Gold Solo Double Twitter Connection Diagrams 6 3 1 CAN Connection Diagram Figure 3 The Gold Solo Double Twitter CAN Connection Diagram ...

Page 19: ...stallation Guide MAN G SOLTWIB_160 Ver 1 005 The Gold Solo Double Twitter Connection Diagrams www elmomc com 19 Table of Contents 6 3 2 EtherCAT Connection Diagram Figure 4 The Gold Solo Double Twitter EtherCAT Connection Diagram ...

Page 20: ...llation guides 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 w...

Page 21: ...ble of Contents 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 22: ...es The Gold Solo Double Twitter has the following types of connectors Type Function Port Connector Location Terminal Lug M4 Flat Washer M4 Spring Washer M4 Nut Power VP PR Motor M1 M2 M3 Terminal Lug M3 Flat Washer M3 Spring Washer M3 screw Earth Connection PE PE Recommended for M4 screw Terminal Lug FLEX Stud hall size M4 Connectors Location ...

Page 23: ...able lugs depending on the cable to be installed Refer to the specification drawings for the UL listed lug and cable application Copper Lug One Hole Standard Flex Barrel 6 8 10 12 14 Gauge Current A Up to Wire Type Stud Size 160 6 AWG M4 8 100 8 AWG M4 8 90 10 AWG M4 8 40 12 AWG M4 8 20 14 AWG M4 8 For best noise immunity twist the DC power wires Do not twist or bundle the motor phase wires 7 3 Ma...

Page 24: ...es should be used Drain wires should be connected to Elmo COMRET 7 4 2 J11 Digital Inputs Outputs STO Wires can always be used no need for twisting no need for shielding 7 4 3 J17 J18 EtherCAT or CAN Communication Always use CAT5e cables see Elmo s Gold Solo Double Twitter Cable Kit MAN G SOLO_DOUBLE_TWITTER_CBLKIT 7 4 4 COMRET to PE Connection Figure 5 COMRET Connection to the PE At least one COM...

Page 25: ...e connector 2 Use the appropriate Molex crimping plier Molex P N 63819 1500 to fasten a pin connector to the end of the wire 3 Place the connector on a flat surface in the orientation as shown in Figure 6 Notice that the rectangular slot has a niche at the bottom of the slot 4 Insert the wire connector to the slot as shown in Figure 6 Make sure that the connector protrusion is inserted to the bott...

Page 26: ...bling 8 1 1 Connecting the DC Power and the Motor Power Wires This section describes the installation of the wire terminal lugs for both the Main Power wires to VP PR and PE terminals on the Gold Solo Double Twitter and the Motor Power wires to the M1 M2 M3 and PE terminals on the Gold Solo Double Twitter Note When connecting several identical motors all the motor phases must be connected in an id...

Page 27: ... this case the motor phase order must be the same as on the first drive a Install the motor cable to the drive using the recommended Terminal Lug FLEX M4 flat washer M4 spring washer and secure with an M4 nut to the drive The required M4 nut torque is typically 1 2 Nm b Install the recommended PE wire to the drive using a barrel connector M3 flat washer M3 spring washer and secure with an M3 head ...

Page 28: ...s 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 2 Motor Terminals Figure 7 Brushless Motor Power Connection Diagram Figure 8 Brushed Motor Power Connection Diagram ...

Page 29: ...SOLTWIB_160 Ver 1 005 Main Control and Motor Power www elmomc com 29 Table of Contents Connect the motor power wires as shown in Figure 9 The Yellow wire is the Grounding wire Make sure not to bundle the wires Figure 9 Connecting the Motor Power Wires ...

Page 30: ... power cable to the VP and PR terminals on the main power connector To connect the Gold Solo Double 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 as shown in Figure 10 It is highly recommended to twist the tw...

Page 31: ...trol 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 Connect the VL and VL wires to the terminals on the servo drive as shown in F...

Page 32: ...ecification A control supply for the logic VL VL The following figure describes an ordinary power supply for Servo drives with sufficient internal capacitance and shunt regulator to manage power flow in both directions to and from the motor Note The PR COMRET and VL are connected internally in the Gold Solo Double Twitter Figure 12 Separate VP and VL Power Supplies Connection Diagram Highly Recomm...

Page 33: ...TWIB_160 Ver 1 005 Main Control and Motor Power www elmomc com 33 Table of Contents Figure 13 Separate VP and VL Power Supplies Connection Diagram Alternative The of the control power supply is connected to the VL of the Gold Solo Double Twitter Figure 13 ...

Page 34: ...o the VP The single power supply is selected by its part number VL connected to VP which describes the absolute maximum VP and VL voltage which must be 95VDC under all conditions to prevent VL supply failure A single power supply can be used for the main and control power in the range of 11VDC to 95VDC The following figure describes a single connection of main power and control Figure 14 Single Po...

Page 35: ...o Chapter 7 Drive Status Indicator in the MAN G Panel Mounted Drives Hardware manual Drive Status Indicator EtherCAT Figure 15 Drive Status Indicator CAN The red green dual LED is used for immediate indication of the following states Initiation state In this state the LED indicates whether the drive is in the boot state blinking red or in the operational state steady red Working state In this stat...

Page 36: ...e following table describes the J10 VL and Feedback connections to the 2 x 15 pins female connector Pin J10 Signal Function 1 PortA_ENC_A ABS_CLK Channel A Abs encoder clock 2 PortB_ENC_A Port B Channel A 3 PortA_ENC_A ABS_CLK Channel A Abs encoder clock 4 PortB_ENC_A Port B Channel A 5 PortA_ENC_B ABS_DATA Channel B Abs encoder data 6 PortB_ENC_B Port B Channel B 7 PortA_ENC_B ABS_DATA Channel B ...

Page 37: ...rtC_ENCO_B Buffered Channel B output Dir 19 5V Encoder 5V supply with a total allowable maximum consumption of 200mA using Pins 19 or 26 20 PortC_ENCO_B Buffered Channel B output Dir 21 COMRET Common return 22 PortC_ENCO_Index Buffered Channel INDEX output 23 COMRET Common return 24 PortC_ENCO_Index Buffered Channel INDEX output 25 COMRET Common return 26 5V Encoder 5V supply with a total allowabl...

Page 38: ...8 Table of Contents Figure 16 Connecting the Feedback 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 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 39: ... Manual for further details of the Port A connections 8 3 1 1 Incremental Encoder Figure 17 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...

Page 40: ...d 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 Figure 19 Absolute Serial Encoder Recommended 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 an...

Page 41: ...ecommended Connection Diagram for Stegmann Hiperface Note When the Hiperface protocol is used the RS 232 connection is not available 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 42: ...Contents 8 3 1 4 Hall Sensors Figure 21 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 43: ... Manual for further details of the Port B connections 8 3 2 1 Incremental Encoder Figure 22 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...

Page 44: ...terpolated Analog Encoder Figure 23 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 45: ...Contents 8 3 2 3 Resolver Figure 24 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 46: ... MAN G Board Level Modules Hardware Manual for further details of Port C Figure 25 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 E...

Page 47: ...l input 1 opto isolated from control COMRET 2 IN2 High speed programmable digital input 2 opto isolated from control COMRET 3 IN3 High speed programmable digital input 3 opto isolated from control COMRET 4 IN4 High speed programmable digital input 4 opto isolated from control COMRET 5 IN5 High speed programmable digital input 5 opto isolated from control COMRET 6 IN6 High speed programmable digita...

Page 48: ...digital STO inputs are optically isolated from the other parts of the drive and share one return line 18 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 19 COMRET Common return 20 GPIO5 ANALOG IN GPIO5 Analog input 21 ANALOG1 Analog input 1 22 ANALOG1 Analog input 1 complement 23 COMRET Common return 24 COMRET ...

Page 49: ...res For USB 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 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 For Digital Inputs Outputs STO Wires can be always used no need for twisting no need for shielding ...

Page 50: ...e 0 V Vin 7 V 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 Notes Home mode is high speed mode and can be used for fast capture and precise homing Highest speed is achiev...

Page 51: ...on Guide MAN G SOLTWIB_160 Ver 1 005 J11 I O and Communication Connector www elmomc com 51 Table of Contents The following are the connection diagram of Digital inputs Figure 28 Digital Input Connection Diagram Example Source PLC Option ...

Page 52: ...ulse 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 Notes Home mode is high speed mode and can be used for fast capture and precise homing Highest speed is achieved when turning on opto...

Page 53: ...Double Twitter Installation Guide MAN G SOLTWIB_160 Ver 1 005 J11 I O and Communication Connector www elmomc com 53 Table of Contents Figure 30 Digital Input Sink Mode Example PLC voltage level Connection Diagram ...

Page 54: ...in 10 V 5 V typical Low level input voltage 0 V Vin 0 8 V 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 Notes Home mode is high speed mode and can be used for fast captur...

Page 55: ...d Solo Double Twitter Installation Guide MAN G SOLTWIB_160 Ver 1 005 J11 I O and Communication Connector www elmomc com 55 Table of Contents Figure 32 Digital Input Source 5V Logic Mode Connection Diagram ...

Page 56: ...y isolated PLC source Supply output VDD 12 V to 30 V typically 24 V Max output current Iout max Vout High Iout max 30 mA Collector Emitter saturation voltage 1 V Ton Time from low to high If Vdd 24V 15 µsec Toff Time from high to Low 250 µsec RL The external RL must be selected to limit output current to no more than 30 mA 𝑅𝑅 𝐿𝐿 𝑉𝑉𝑉𝑉𝑉𝑉 1 𝐼𝐼𝑜𝑜𝑜𝑜𝑜𝑜 max Executable time 0 T 250 µsec Figure 33 Digital ...

Page 57: ...olo Double Twitter Installation Guide MAN G SOLTWIB_160 Ver 1 005 J11 I O and Communication Connector www elmomc com 57 Table of Contents Figure 34 Digital Output Connection Diagram Example Source PLC Option ...

Page 58: ...ed PLC Sink Supply output VDD 12 V to 30 V Typically 24 V Max output current Iout max Vout Low Iout max 30 mA Collector Emitter saturation voltage 1 V Ton Time from low to high If Vdd 24V 15µsec Toff Time from high to Low 300µsec RL The external RL must be selected to limit output current to no more than 30 mA 𝑅𝑅 𝐿𝐿 𝑉𝑉𝑉𝑉𝑉𝑉 1 𝐼𝐼𝑜𝑜𝑜𝑜𝑜𝑜 max Executable time 0 T 250 µsec Figure 35 Digital Photodarlingt...

Page 59: ...Solo Double Twitter Installation Guide MAN G SOLTWIB_160 Ver 1 005 J11 I O and Communication Connector www elmomc com 59 Table of Contents Figure 36 Digital Output Connection Diagram Example Sink PLC Option ...

Page 60: ...5V Logic source Supply output VDD 30 V Typically 5 V Max output current Iout max Vout High Iout max 30 mA Collector Emitter saturation voltage 1 V Ton Time from low to high If Vdd 5V 10µsec Toff Time from high to Low 100µsec RL The external RL must be selected to limit output current to no more than 30 mA 𝑅𝑅 𝐿𝐿 𝑉𝑉𝑉𝑉𝑉𝑉 1 𝐼𝐼𝑜𝑜𝑜𝑜𝑜𝑜 max Executable time 0 T 250 µsec Figure 37 Digital Photodarlington Ou...

Page 61: ...o Double Twitter Installation Guide MAN G SOLTWIB_160 Ver 1 005 J11 I O and Communication Connector www elmomc com 61 Table of Contents Figure 38 Digital Output Connection Diagram Example Source 5V Logic Option ...

Page 62: ...5 J11 I O and Communication Connector www elmomc com 62 Table of Contents 8 4 3 STO Safe Torque Off For full details on STO see Chapter 9 in the MAN G Board Level Modules Hardware manual Figure 39 STO Input Connection 5V Logic Figure 40 STO Input Connection PLC 24V Logic ...

Page 63: ...details on Analog Inputs see section 11 3 in the MAN G Board Level Modules Hardware manual Figure 41 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 64: ...2 Figure 42 describes the Standard RS 232 connection diagram Figure 42 Standard RS 232 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 65: ...on For full details on USB communication see section 12 1 in the MAN G Board Level Modules Hardware manual Figure 43 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 66: ...col Fieldbus Type Product Number EtherCAT G SOLTWIDXXX YYYEESV 8 5 1 EtherCAT IN Ethernet Connector J17 Refer to section 12 2 in the MAN G Panel Mounted Drives Hardware manual for more details Pin J17 Signal Function 1 EtherCAT_IN_TX Ethernet_TX EtherCAT in Ethernet transmit 2 EtherCAT_IN_TX Ethernet_TX EtherCAT in Ethernet transmit 3 EtherCAT_IN_RX Ethernet_RX EtherCAT in Ethernet receive 4 Ether...

Page 67: ...MAN G Panel Mounted Drives Hardware manual for the electrical diagram Pin J18 Signal Function 1 EtherCAT_OUT_TX EtherCAT out transmit 2 EtherCAT_OUT_TX EtherCAT out transmit 3 EtherCAT_OUT_RX EtherCAT out receive 4 EtherCAT_OUT_RX EtherCAT out receive 5 COMRET Shield drain wire Pin Positions Cable Connector Ethernet Cable Connector Table 8 EtherCAT OUT Pin Assignments Note Always use CAT5e cables ...

Page 68: ... the in the MAN G Board Level Modules Hardware manual Note The EtherCAT IN port can be configured to an Ethernet Port 8 5 3 1 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 Figure 44 EtherCAT Connection Schematic Diagram Not...

Page 69: ...om 69 Table of Contents 8 5 3 2 EtherCAT Status Indicator D2 Figure 45 EtherCAT Status LED The EtherCAT status indicator D2 is a single red green dual bi colored LED that combines the green RUN indicator and the red ERROR indicator of the EtherCAT state machine For further details see the EtherCAT Application Manual ...

Page 70: ...ice For this purpose it has two Ports J17 and J18 which are designated as EtherCAT In and EtherCAT Out Each of these Ports has a status LED D3 EtherCAT In and D4 EtherCAT Out which are shown in Figure 46 Figure 46 Ethernet Connector LEDs The green LEDs D3 and D4 are the link activity indicators They show the state of the applicable physical link and the activity on that link blinking green D3 for ...

Page 71: ...tter supports the following CAN fieldbus type industrial network protocol Fieldbus Type Product Number CAN G SOLTWIDXXX YYYSESV See Section 12 4 in the MAN G Panel Mounted Drives Hardware manual for the electrical diagram 8 6 1 CAN IN Connector J17 Pin J17 Signal Function 1 NC NC 4 CAN_L CAN_L bus line dominant low 3 CAN_H CAN_H bus line dominant high 2 CAN_RET CAN Return 5 COMRET Shield drain wir...

Page 72: ...able of Contents 8 6 2 CAN OUT Connector J18 Pin J18 Signal Function 1 NC NC 4 CAN_L CAN_L bus line dominant low 3 CAN_H CAN_H bus line dominant high 2 CAN_RET CAN Return 5 COMRET Shield drain wire Pin Positions Cable Connector CAN Cable Connector Table 10 CAN OUT Connectors Pin Assignments Note Always use CAT5e cables ...

Page 73: ...ils on CANopen communication see section 14 3 in the MAN G Board Level Modules Hardware manual 8 6 3 1 Interface The Gold Solo Double Twitter includes the CAN transceiver common mode choke and a CAN Bus Protector against ESD and other harmful transient voltage events The following signals describe how to connect CAN to the external connector Figure 47 CAN Interface ...

Page 74: ...com 74 Table of Contents 8 6 3 2 CAN Layout Figure 48 CAN Network Diagram Drop Off Topology Caution When installing CAN communication ensure that each servo drive is allocated a unique ID Otherwise the CAN network may hang Note Daisy chain topology can also be accomplished using J18 Note Always use CAT5e cables ...

Page 75: ... applying power ensure that the DC supply is within the specified range and that the proper plus minus connections are in order 9 1 Initializing the System After the Gold Solo Double 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 initia...

Page 76: ...hed 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 Solo Double Twitter s heat sink and any other assembly 9 2 1 Heat Dissipation Data Heat Dissipation is shown graphically below The graphs below describe the Gold Solo Double Twitter It should also be noted that the Gold...

Page 77: ...Gold Solo Double Twitter Installation Guide MAN G SOLTWIB_160 Ver 1 005 Heat Dissipation www elmomc com 77 Table of Contents ...

Page 78: ...Gold Solo Double Twitter Installation Guide MAN G SOLTWIB_160 Ver 1 005 Heat Dissipation www elmomc com 78 Table of Contents ...

Page 79: ...Gold Solo Double Twitter Installation Guide MAN G SOLTWIB_160 Ver 1 005 Heat Dissipation www elmomc com 79 Table of Contents ...

Page 80: ...al 2 The chart is calculated for continuous current operation if the actual operation is pulsed current add 25 to 30 to the power dissipation of the average RMS current 3 When the Heat Sink temperature reaches 85 C the Gold Solo Double 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 If the a...

Page 81: ...e MAN G SOLTWIB_160 Ver 1 005 Heat Dissipation www elmomc com 81 Table of Contents Chapter 10 Dimensions This chapter provides detailed technical dimensions regarding the Gold Solo Double Twitter Figure 49 G Solo Double Twitter EtherCAT version ...

Page 82: ...Gold Solo Double Twitter Installation Guide MAN G SOLTWIB_160 Ver 1 005 Heat Dissipation www elmomc com 82 Table of Contents Figure 50 G Solo Double Twitter CAN version ...

Page 83: ...ory kits available for the Gold Solo Double Twitter Part Number Description CBL GSOLTWIKIT03 Kit cable for EtherCAT model CBL GSOLTWIKIT04 Kit cable for CAN model CBL GSOLTWIKIT05 CONNECTORS AND PINS KIT A specific Crimping Tool available for purchase from Elmo is required to mount extra connecting pins on the wires A number of wires are provided in the kit as pre crimped for convenience Crimping ...

Page 84: ... Heat Dissipation www elmomc com 84 Table of Contents ...

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