Gold Hornet Digital Servo Drive Installation Guide EtherCAT and CAN August 2014 (Ver. 1.007) www.elmomc.
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 Hornet 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.
Revision History Version Date Details Ver. 1.000 Initial release Ver. 1.001 General document updates Ver. 1.002 General document updates Ver. 1.003 January 2013 Added a caution and recommendation on the type of cleaning solution to use for the Elmo unit. Ver. 1.004 March 2013 Added Section 3.1: Physical Specifications Section 3.2: Technical Data- updated the Power Ratings table for the 200 VDC option. Ver. 1.005 May 2014 Correction to main drawing Ver. 1.
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.
Gold Hornet Installation Guide (EtherCAT and CAN) MAN-G-HORIG-E (Ver. 1.007) Table of Contents Chapter 1: 1.1. 1.2. 1.3. 1.4. 1.5. Warnings.....................................................................................................................9 Cautions ......................................................................................................................9 Directives and Standards .........................................................................................
Gold Hornet Installation Guide (EtherCAT and CAN) Table of Contents MAN-G-HORIG-E (Ver. 1.007) 4.4. 4.5. 4.6. 4.7. 4.8. 4.9. 4.10. 4.11. 4.12. 4.13. 4.14. 4.3.2.3. Auxiliary Power Connector ...................................................... 26 4.3.2.4. Connector J2 ............................................................................ 27 4.3.2.5. Connector J1 ............................................................................ 30 Mounting the Gold Hornet ...........................
Gold Hornet Installation Guide (EtherCAT and CAN) Table of Contents MAN-G-HORIG-E (Ver. 1.007) 5.1. 5.2. 5.3. 5.4. 5.5. 5.6. 5.7. 5.8. 5.9. Dimensions .............................................................................................................. 74 Environmental Conditions ....................................................................................... 75 Control Specifications .............................................................................................. 76 5.
Gold Hornet Installation Guide (EtherCAT and CAN) Safety Information MAN-G-HORIG-E (Ver. 1.007) Chapter 1: Safety I nform ation In order to achieve the optimum, safe operation of the Gold Hornet 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 Hornet and accompanying equipment.
Gold Hornet Installation Guide (EtherCAT and CAN) Safety Information MAN-G-HORIG-E (Ver. 1.007) 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 Hornet from all voltage sources before it is opened for servicing.
Gold Hornet Installation Guide (EtherCAT and CAN) Safety Information MAN-G-HORIG-E (Ver. 1.007) 1.3.
Gold Hornet Installation Guide (EtherCAT and CAN) Product Description MAN-G-HORIG-E (Ver. 1.007) Chapter 2: Product Description 2.1. Functional Description The Gold Hornet is an advanced high power density servo drive. It provides top servo performance, advanced networking and built in safety, all in a small PCB mountable package. The Gold Hornet has a fully featured motion controller and local intelligence. The Gold Hornet drive is designed for OEMs.
Gold Hornet Installation Guide (EtherCAT and CAN) Product Description MAN-G-HORIG-E (Ver. 1.007) Feature Operation Conditions Range Mechanical Shock Non-operating conditions ±40g; Half sine, 11 msec Operating conditions ±20g; Half sine, 11 msec The Gold Hornet has been tested using methods and procedures specified in a variety of extended environmental conditions (EEC) standards. www.elmomc.
Gold Hornet Installation Guide (EtherCAT and CAN) Product Description MAN-G-HORIG-E (Ver. 1.007) 2.2. Product Features Note: The features described in this chapter relate to the range of Gold Hornet models. Depending on the model you have purchased, not all features are available.
Gold Hornet Installation Guide (EtherCAT and CAN) Product Description MAN-G-HORIG-E (Ver. 1.007) • Current closed loop bandwidth exceeds 4 kHz • Position/Velocity/Acceleration command range – full 32 bit • Position over velocity, with full dual loop support • S-curve Profile Smoothing • Cogging, BEMF and ωxL compensation • Dual Loop Operation supported by Auto Tuning • Fast, easy and efficient advanced Auto Tuning • Motion profiler numeric range: 2.2.4.
Gold Hornet Installation Guide (EtherCAT and CAN) Product Description MAN-G-HORIG-E (Ver. 1.007) 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 2.2.6.
Gold Hornet Installation Guide (EtherCAT and CAN) Product Description MAN-G-HORIG-E (Ver. 1.
Gold Hornet Installation Guide (EtherCAT and CAN) Product Description MAN-G-HORIG-E (Ver. 1.007) • CAN (DS-301, DS-305, DS-402) • Ethernet TCP/IP UDP Telnet • USB 2.0 • RS-232 (TTL logic level) 2.2.10. • Safety IEC 61800-5-2, Safe Torque Off (STO) Two STO (Safe Torque Off) inputs Optically isolated TTL Level (5 V logic) Open collector and open emitter • UL 508C recognition • UL 60950 compliance • CE EMC compliance 2.2.11.
Gold Hornet Installation Guide (EtherCAT and CAN) Product Description MAN-G-HORIG-E (Ver. 1.007) 2.2.13. Built-In Protection • 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 Overheating Continuous temperature measurement.
Gold Hornet Installation Guide (EtherCAT and CAN) Product Description MAN-G-HORIG-E (Ver. 1.007) 2.3. System Architecture Figure 1: Gold Hornet System Block Diagram www.elmomc.
Gold Hornet Installation Guide (EtherCAT and CAN) Product Description MAN-G-HORIG-E (Ver. 1.007) 2.4. How to Use this Guide In order to install and operate your Elmo Gold Hornet servo drive, you will use this manual in conjunction with a set of Elmo documentation.
Technical Information Gold Hornet Installation Guide (EtherCAT and CAN) MAN-G-HORIG-E (Ver. 1.007) Chapter 3: Technical I nform ation 3.1. Physical Specifications Feature Units All Types Weight g (oz) 55 g (1.94 oz) mm (in) 55 x 46 x 15 mm (2.2" x 1.8" x 0.6") Dimension Mounting method 3.2. PCB mount Technical Data Feature Units 1/100 2.
Gold Hornet Installation Guide (EtherCAT and CAN) Technical Information MAN-G-HORIG-E (Ver. 1.
Gold Hornet Installation Guide (EtherCAT and CAN) Installation 23 MAN-G-HORIG-E (Ver. 1.007) Chapter 4: I nstallation The Gold Hornet 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 Hornet by ensuring that it is installed in an appropriate environment.
Gold Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-HORIG-E (Ver. 1.007) 3. To ensure that the Gold Hornet you have unpacked is the appropriate type for your requirements, locate the part number sticker on the side of the Gold Hornet. It looks like this: 4. Verify that the Gold Hornet 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: www.elmomc.
Installation Gold Hornet Installation Guide (EtherCAT and CAN) MAN-G-HORIG-E (Ver. 1.007) 4.3. Connectors The Gold Hornet has nine connectors. 4.3.1. Connector Types Port Pins Type J2 2x24 J1 2x12 M3 1x2 Motor power output 3 M2 1x2 Motor power output 2 M1 1x2 Motor power output 1 PE 1x2 PR 1x2 Power input return VP+ 1x2 Positive power input VL+ 1x1 Auxiliary power input 1.27 mm pitch 0.41 mm sq 2 mm pitch 0.
Installation Gold Hornet Installation Guide (EtherCAT and CAN) MAN-G-HORIG-E (Ver. 1.007) 4.3.2.2. Main Power For full details see Section 4.7.2. Pin Function Cable VP+ Pos. Power input Power PR Power return Power PE Protective earth Power Pin Positions Connector Type: 2 mm pitch 0.51 mm sq Table 4: Connector for Main Power 4.3.2.3. Auxiliary Power Connector For full details see Section 4.7.2.2.
Gold Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-HORIG-E (Ver. 1.007) 4.3.2.4. Connector J2 Feedback A/B/C, Digital Halls – see Section 4.7. Analog Inputs – see Section 4.9.4. RS-232, EtherCAT, USB – see Section 4.11. Connector Type: 1.27 mm pitch 0.41 mm sq Note regarding the EtherCAT and CAN communication options: The J2 Connector exports all supported communication links.
Installation Gold Hornet Installation Guide (EtherCAT and CAN) MAN-G-HORIG-E (Ver. 1.
Gold Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-HORIG-E (Ver. 1.
Gold Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-HORIG-E (Ver. 1.007) 4.3.2.5. Connector J1 I/O, LEDs, STO (safety) For full details on user I/Os, see Section 4.10. For full details on STO, see Section 4.8. Connector Type: 1.27 mm pitch 0.
Gold Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-HORIG-E (Ver. 1.007) Pin (J1) Signal Function 18 OUTRET1 OUT 1 return 19 LED2 Bi-color indication output 2 (Cathode) 20 LED1 Bi-color indication output 1 (Anode) 21 OUT4 Programmable output 4 not isolated (3.3V TTL level) 22 OUT3 Programmable output 3 not isolated (3.3V TTL level) 23 COMRET Common return 24 Reserved Reserved Table 7: Connector J1 – I/O, LEDs www.elmomc.
Gold Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-HORIG-E (Ver. 1.007) 4.4. Mounting the Gold Hornet The Gold Hornet was designed for mounting on a printed circuit board (PCB) via 1.27 mm pitch 0.41 mm square pins and 2 mm pitch 0.51 mm square pins. When integrating the Gold Hornet 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 Hornet be soldered directly to the board.
Gold Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-HORIG-E (Ver. 1.007) When the Gold Hornet is not connected to a metal chassis, the application’s thermal profile may require a solution for heat dissipation due to insufficient air convection. In this case, we recommend that you connect an external heat sink. Elmo has an external heat sink (Catalog number: WHI-HEATSINK-2) that can be ordered for this purpose, see Figure 3 below. Figure 3: Gold Hornet External Heat Sink 4.5.
Gold Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-HORIG-E (Ver. 1.007) NOT USE A COMMON GROUND PLANE. Shorting the commons on the Integration Board may cause performance degradation (ground loops, etc). 2. Digital Inputs: The six digital inputs are optically isolated from the other parts of the Gold Hornet. All six inputs share one return line, INRET. To retain isolation, the Input Return pin and all other conductors on the input circuit must be laid out separately. 3.
Gold Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-HORIG-E (Ver. 1.007) 4.6. The Gold Hornet Connection Diagram Figure 4: The Gold Hornet Connection Diagram www.elmomc.
Installation Gold Hornet Installation Guide (EtherCAT and CAN) MAN-G-HORIG-E (Ver. 1.007) 4.7. Main Power, Auxiliary Power and Motor Power The Gold Hornet receives power from main and auxiliary supplies and delivers power to the motor. 4.7.1. Motor Power Note: When connecting several drives to several similar motors, all should be wired in an identical manner. This will enable the same settings to run on all drives.
Installation Gold Hornet Installation Guide (EtherCAT and CAN) MAN-G-HORIG-E (Ver. 1.007) Figure 6: DC Brushed Motor Power Connection Diagram 4.7.2. Main and Auxiliary Power This section describes the Main and Auxiliary Power for power ratings 200V and 100V, and provides details for the optional Backup (Auxiliary) Supply. 4.7.2.1. Pin Main Power Function Cable VP+ Pos.
Gold Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-HORIG-E (Ver. 1.007) • Connect the PE to the closest ground connection near the power supply. • Connect the PR to the closest ground connection near the power supply. • Before applying power, first verify the polarity of the connection. 4.7.2.2. Auxiliary Power Supply (Optional) Note: The source of the Auxiliary Supply must be isolated. Connect the VL+ and PR pins on the Gold Hornet in the manner described in Section 4.3.2.1.
Gold Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-HORIG-E (Ver. 1.007) 4.7.2.3. Power Rating 200 V For Power Rating 200 V, two power isolated DC power sources are required, main power 12 - 195V and auxiliary Power 12-95V for the logic. Figure 7: 200 VDC Power Source Connection Diagram www.elmomc.
Installation Gold Hornet Installation Guide (EtherCAT and CAN) MAN-G-HORIG-E (Ver. 1.007) 4.7.2.4. Power Rating 100 V 4.7.2.4.a Single Power Supply For power rating 100 V , a single Power Supply is required which contains a “smart” controlsupply algorithm, enabling the Gold Hornet to operate with only one power supply with no need for an auxiliary power supply for the logic. Figure 8: Main Power Supply Connection Diagram (no Auxiliary Supply) 4.7.2.4.
Installation Gold Hornet Installation Guide (EtherCAT and CAN) MAN-G-HORIG-E (Ver. 1.007) 4.7.2.4.c Shared Optional Backup Supply A Main DC Power Supply can be designed to supply power to the drive’s logic as well as to the Main Power (see Figure 8 and the upper portion of Figure 10). If backup functionality is required for continuous operation of the drive’s logic in the event of a main power-out, a backup supply can be connected by implementing “diode coupling” (see the Aux.
Installation Gold Hornet Installation Guide (EtherCAT and CAN) MAN-G-HORIG-E (Ver. 1.007) 4.8. STO (Safe Torque Off) Inputs Activation of Safe Torque Off causes the drive to stop providing power that can cause rotation (or motion in the case of a linear motor) to the motor. This function may be used to prevent unexpected motor rotation (of brushless DC motors) without disconnecting the drive from the power supply. The motor is active only as long as 5 V is provided to both STO1 and STO2.
Gold Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-HORIG-E (Ver. 1.007) Figure 11: STO Input Functionality – Schematic Drawing The figure below is for the TTL level. Figure 12: STO Input Connection – TTL Level www.elmomc.
Gold Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-HORIG-E (Ver. 1.007) The figure below is for PLC. Figure 13: STO Input Connection – PLC www.elmomc.
Gold Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-HORIG-E (Ver. 1.007) 4.9. Feedback Figure 14: Feedback Ports on J2 The Gold Hornet has two configurable motion sensor input ports, namely, Port A and Port B, together with the emulated buffered output Port C. Motion sensors from the motor are controlled from other sources and can be connected to any of the available inputs on Port A or Port B. The software configuration designates a role to each input, e.g.
Installation Gold Hornet Installation Guide (EtherCAT and CAN) MAN-G-HORIG-E (Ver. 1.007) 4.9.1. Port A (J2) Port A supports the following sensor inputs: • Digital Hall sensors • Incremental encoder or absolute serial encoder, depending on the specific model Differential pulse-width modulation (PWM) signal input can be connected to port A in the models that support input from an incremental encoder.
Gold Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-HORIG-E (Ver. 1.007) 4.9.1.1. Incremental Encoder Figure 15: Port A Incremental Encoder Input – Recommended Connection Diagram www.elmomc.
Gold Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-HORIG-E (Ver. 1.007) 4.9.1.2. Absolute Serial Encoder Figure 16: Absolute Serial Encoder – Recommended Connection Diagram for Sensors Supporting Data/Clock (e.g., Biss/SSI/EnDAT/ etc.) www.elmomc.
Gold Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-HORIG-E (Ver. 1.007) Figure 17: Absolute Serial Encoder – Recommended Connection Diagram for Sensors Supporting Data Line Only (NRZ types, e.g., Panasonic / Mitutoyo / etc.) 4.9.1.3. Hall Sensors Figure 18: Hall Sensors Connection Diagram www.elmomc.
Installation Gold Hornet Installation Guide (EtherCAT and CAN) MAN-G-HORIG-E (Ver. 1.007) 4.9.2. 50 Port B (J2) Port B supports any of the following sensors: • Incremental encoder, interpolated analog encoder or analog Hall sensors Or: • Resolver (separate hardware option) Differential PWM signal input can be connected to port B in the models that support input from an incremental encoder.
Gold Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-HORIG-E (Ver. 1.007) 4.9.2.1. Incremental Encoder Figure 19: Port B Incremental Encoder Input – Recommended Connection Diagram www.elmomc.
Gold Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-HORIG-E (Ver. 1.007) 4.9.2.2. Interpolated Analog Encoder Figure 20: Port B - Interpolated Analog Encoder Connection Diagram www.elmomc.
Gold Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-HORIG-E (Ver. 1.007) 4.9.2.3. Resolver Figure 21: Port B – Resolver Connection Diagram 4.9.3. Port C – Emulated Encoder Output (J2) Port C provides emulated encoder output derived from port A or port B feedback inputs, or from internal variables.
Installation Gold Hornet Installation Guide (EtherCAT and CAN) MAN-G-HORIG-E (Ver. 1.
Gold Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-HORIG-E (Ver. 1.007) 4.10. User I/Os The Gold Hornet has six programmable digital inputs (J1), four digital outputs (J1) and one analog input (J2). 4.10.1. Digital Inputs (J1) Each of the pins below can function as an independent input. The inputs conform to the TTL level.
Gold Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-HORIG-E (Ver. 1.007) See Figure 23 for the TTL connection. Figure 23: Digital Input Connection Diagram – TTL Level www.elmomc.
Gold Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-HORIG-E (Ver. 1.007) See the figure below for the PLC connection. Figure 24: Digital Input Connection Diagram – PLC www.elmomc.
Installation Gold Hornet Installation Guide (EtherCAT and CAN) MAN-G-HORIG-E (Ver. 1.007) 4.10.2. Digital Outputs (J1) The outputs conform to the TTL level. Pin (J1) Signal Function 16 OUT1 High speed programmable digital output 1, output compare 15 OUT2 High speed programmable digital output 2, output compare 18 OUTRET1 OUT 1 Return 17 OUTRET2 OUT 2 Return Table 18: Digital Output Pin Assignment Figure 25: Digital Output Connection Diagram – TTL Connection www.elmomc.
Gold Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-HORIG-E (Ver. 1.007) 4.10.3. Pin (J2) Analog Input Signal Function 22 ANALOG1+ Analog input 1+ 24 ANALOG1- Analog input 1- 20 ANARET Analog return Table 19: Analog Input Pin Assignment Figure 26: Analog Input with Single-Ended Source www.elmomc.
Installation Gold Hornet Installation Guide (EtherCAT and CAN) MAN-G-HORIG-E (Ver. 1.007) 4.11. Communications The communication interface may differ according to the user’s hardware. The Gold Hornet can communicate using the CAN open option: Standard EtherCAT G-HORXXX/YYYSX G-HORXXX/YYYEX CAN EtherCAT USB 2.0 USB 2.
Gold Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-HORIG-E (Ver. 1.007) Figure 27 describes the RS-232 connection diagram: Figure 27: RS-232 Connection Diagram Note that Elmo does not recommend a specific manufacturer. The following is an example of an RS-232 Line Driver/Receiver. The RS-232 Line Driver/Receiver operates with 3.3 V to 5 V VCC Supply.
Installation Gold Hornet Installation Guide (EtherCAT and CAN) MAN-G-HORIG-E (Ver. 1.007) 4.11.2. CAN Communication (J2) Note that CAN functionality is not available if you have the EtherCAT version. In order to benefit from CAN communication, the user must have an understanding of the basic programming and timing issues of a CAN network. Notes for connecting the CAN communication cable: • Connect the shield to the ground of the host (PC).
Gold Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-HORIG-E (Ver. 1.007) Figure 29: CAN Network Diagram Caution: When installing CAN communication, ensure that each servo drive is allocated a unique ID. Otherwise, the CAN network may “hang”. www.elmomc.
Installation Gold Hornet Installation Guide (EtherCAT and CAN) MAN-G-HORIG-E (Ver. 1.007) 4.11.3. USB 2.0 Communication (J2) The USB network consists of a Host controller and multiple devices. The Gold Hornet is a USB device. Notes for connecting the USB communication cable: • Connect the shield to the ground of the host (PC). Usually, this connection is soldered internally inside the connector at the PC end. You can use the drain wire to facilitate connection.
Gold Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-HORIG-E (Ver. 1.007) 4.11.4. EtherCAT Communication (J2) To use EtherCAT and Ethernet communication with the Gold Hornet, it is required to use an isolation transformer. The most common solution is to use RJ-45 connectors that include transformer isolation. This section describes how to connect the Gold Hornet’s EtherCAT interface using the above mentioned connectors. For other available options, please see Section 4.11.6.
Gold Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-HORIG-E (Ver. 1.007) Figure 31: EtherCAT Connection Schematic Diagram www.elmomc.
Gold Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-HORIG-E (Ver. 1.007) The diagram above ignores line interface for simplicity. When connecting several EtherCAT devices in a network, the EtherCAT master must always be the first device in the network. The output of each device is connected to the input of the next device. The output of the last device may remain disconnected.
Installation Gold Hornet Installation Guide (EtherCAT and CAN) MAN-G-HORIG-E (Ver. 1.007) Pin (J2) Signal Function 26 +3.3V 3.
Gold Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-HORIG-E (Ver. 1.007) 4.11.6. EtherCAT/Ethernet Line Interface Ethernet transceivers require either isolation transformers or capacitor coupling for proper functioning. The Gold Hornet unit does not include such isolation, therefore you must take this into consideration when designing the integration board. In Sections 4.11.4 and 4.11.
Installation Gold Hornet Installation Guide (EtherCAT and CAN) MAN-G-HORIG-E (Ver. 1.007) 4.12. Powering Up After the Gold Hornet is connected to its device, it is ready to be powered up. Caution: Before applying power, ensure that the DC supply is within the specified range and that the proper plus-minus connections are in order. 4.13. Initializing the System After the Gold Hornet has been connected and mounted, the system must be set up and initialized.
Installation Gold Hornet Installation Guide (EtherCAT and CAN) MAN-G-HORIG-E (Ver. 1.007) 4.14. Heat Dissipation The best way to dissipate heat from the Gold Hornet is to mount it so that its heat sink faces up. For best results leave approximately 10 mm of space between the Gold Hornet's heat sink and any other assembly. 4.14.1.
Installation Gold Hornet Installation Guide (EtherCAT and CAN) MAN-G-HORIG-E (Ver. 1.007) Whistle 100 Series Power Dissipation Gold Hornet External Heatsink Required 5.0 Standard 40 °C Ambient Temp. 4.0 Heatsink not Required 3.0 2.0 1.0 Peak Current (A) 5 4. 5 4 3. 5 3 2. 5 2 1. 5 1 0. 5 0.0 0 Power Dissipation (W) 6.0 85VDC 70VDC 50VDC www.elmomc.
Gold Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-HORIG-E (Ver. 1.007) 4.14.3. How to Use the Charts The charts above are based upon theoretical worst-case conditions. Actual test results show 30% to 50% better power dissipation. To determine if your application needs a heat sink: 1. Allow maximum heat sink temperature to be 80 °C or less. 2. Determine the ambient operating temperature of the Gold Hornet. 3.
Gold Hornet Installation Guide (EtherCAT and CAN) Technical Specifications MAN-G-HORIG-E (Ver. 1.007) Chapter 5: Technical Specifications This chapter provides detailed technical information regarding the Gold Hornet. This includes its dimensions, power ratings, the environmental conditions under which it can be used, the standards to which it complies and other specifications. 5.1. Dimensions www.elmomc.
Gold Hornet Installation Guide (EtherCAT and CAN) Technical Specifications MAN-G-HORIG-E (Ver. 1.007) 5.2. Environmental Conditions Feature Operation Conditions Range Ambient Temperature Range Non-operating conditions -50 °C to +100 °C (-58 °F to 212 °F) Operating conditions -40 °C to +70 °C (-40 °F to 160 °F) Temperature Shock Non-operating conditions -40 °C to +70 °C (-40 °F to 160 °F) within 3 min.
Gold Hornet Installation Guide (EtherCAT and CAN) Technical Specifications MAN-G-HORIG-E (Ver. 1.007) 5.3. Control Specifications 5.3.1.
Gold Hornet Installation Guide (EtherCAT and CAN) Technical Specifications MAN-G-HORIG-E (Ver. 1.007) 5.3.2.
Gold Hornet Installation Guide (EtherCAT and CAN) Technical Specifications MAN-G-HORIG-E (Ver. 1.007) 5.4. Feedbacks 5.4.1. Feedback Supply Voltage The Gold Hornet has two feedback ports (Main and Auxiliary). The Gold Hornet supplies voltage only to the main feedback device and to the auxiliary feedback device if needed. Feature Details Main encoder supply voltage 5 V +5% @ 200 mA maximum 5.4.2.
Gold Hornet Installation Guide (EtherCAT and CAN) Technical Specifications MAN-G-HORIG-E (Ver. 1.007) 5.4.2.2. Digital Halls Feature Details Hall inputs • HA, HB, HC • Single ended inputs • Built in hysteresis of 1 V for noise immunity Input voltage Nominal operating range: 0 V < VIn_Hall < 5 V Maximum absolute: -1 V < VIn_Hall < 15 V High level input voltage: V InHigh > 2.
Gold Hornet Installation Guide (EtherCAT and CAN) Technical Specifications MAN-G-HORIG-E (Ver. 1.007) 5.4.2.4. Resolver Feature Details Resolver format • Sine/Cosine • Differential Input resistance Differential 2.49 kΩ Resolution Programmable: 10 to 15 bits Maximum electrical frequency (RPS) 512 revolutions/sec Resolver transfer ratio 0.
Gold Hornet Installation Guide (EtherCAT and CAN) Technical Specifications MAN-G-HORIG-E (Ver. 1.007) 5.4.3. Port C Feedback Output Feature Details Emulated output • A, B, Index • Differential Interface • RS-422 Output current capability Maximum output current: IOH (max) = 2 mA High level output voltage: VOH > 3.0 V Minimum output current: IOL = 2 mA Low level output voltage: VOL < 0.
Gold Hornet Installation Guide (EtherCAT and CAN) Technical Specifications MAN-G-HORIG-E (Ver. 1.007) 5.5. I/Os The Gold Hornet has: • 6 Digital Inputs • 2 Digital Outputs • 1 Analog Input 5.5.1. Digital Input Interfaces – TTL Mode Feature Details Type of input Optically isolated Input current for all inputs Iin = 3.8 mA @ Vin = 5 V High-level input voltage 2.4 V < Vin < 15 V, 5 V typical Low-level input voltage 0 V < Vin < 0.
Gold Hornet Installation Guide (EtherCAT and CAN) Technical Specifications MAN-G-HORIG-E (Ver. 1.007) 5.5.2. Digital Output Interface – TTL Mode There are 2 types of outputs: • OUT1 and OUT2 are optically isolated outputs • OUT3 and OUT4 are TTL 3.3V non isolated outputs 5.5.2.1. OUT1 and OUT2 The following table describes the electrical specification of theOUT1 and OUT2 outputs: Feature Details Type of output • Optically isolated • Source/Sink Supply output (VCC) 5 V to 30 V Max.
Gold Hornet Installation Guide (EtherCAT and CAN) Technical Specifications MAN-G-HORIG-E (Ver. 1.007) 5.5.2.2. OUT3 and OUT4 These outputs are 3.3V TTL outputs. The following table describes the electrical specification of the outputs: Feature Details Type of output 3.3V TTL VOL max (low level) Vout (on) ≤ 0.4 V VOH min (High level) 2.5V Max. output current IoutH (max) 8 mA 5.5.3.
Gold Hornet Installation Guide (EtherCAT and CAN) Technical Specifications MAN-G-HORIG-E (Ver. 1.007) 5.6. Safe Torque Off (STO) The Gold Whistle has two STO (Safe Torque Off) inputs. 5.6.1. STO Input Interfaces – TTL Mode Feature Details Type of input Optically isolated Input current for all inputs Iin = 3.8 mA @ Vin = 5 V High-level input voltage 2.4 V < Vin < 15 V, 5 V typical Low-level input voltage 0 V < Vin < 0.8 V Minimum pulse width >3 ms Figure 38: STO Input Schematic www.
Technical Specifications Gold Hornet Installation Guide (EtherCAT and CAN) MAN-G-HORIG-E (Ver. 1.007) 5.7. Communications Specification Details RS-232 Signals: • RS232_Rx, RS232_Tx COMRET • Full duplex, serial communication for setup and control • Baud Rate of 9,600 to 57,600 bit/sec Electrical Characteristic Min VIH High-level input voltage VIL Low-level input voltage VOH High-level output voltage VOL Low-level output voltage Type 2 Max Unit 3.3 V 0.8 V 2.4 V 0.
Gold Hornet Installation Guide (EtherCAT and CAN) Technical Specifications MAN-G-HORIG-E (Ver. 1.007) 5.9. Compliance with Standards Specification Details Quality Assurance ISO 9001:2008 Quality Management Design Approved IEC/EN 61800-5-1, Safety Printed wiring for electronic equipment (clearance, creepage, spacing, conductors sizing, etc.) MIL-HDBK- 217F Reliability prediction of electronic equipment (rating, de-rating, stress, etc.
Gold Hornet Installation Guide (EtherCAT and CAN) Technical Specifications MAN-G-HORIG-E (Ver. 1.
