User Manual

Gold Hornet Installation Guide (EtherCAT and CAN) Product Description
MAN-G-HORIG-E (Ver. 1.007)
www.elmomc.com
16
• Incremental encoder and digital Halls
• Digital Hall
 Up to 4 kHz commutation frequency
 5 V logic
 Input voltage up to 15 VDC
• Interpolated Analog (Sine/Cosine) Encoder :
 Supports 1 V PTP Sine/Cosine
 Sin-Cos Frequency: up to 500 kHz
 Internal Interpolation: up to ×8192
 Automatic Correction of amplitude mismatch, phase mismatch, signal offset
 Emulated encoder output of the Analog encoder
• Analog Halls (commutation & position)
 One feedback electrical cycle = one motor's electrical cycle
 Supports 1 V PTP Sin/Cos
 Sin/Cos Frequency: up to 500 kHz
 Internal Interpolation: up to ×8192
 Automatic correction of amplitude mismatch, phase mismatch, signal offset
• Absolute serial encoders:
 NRZ (Panasonic, Tamagawa, Mitutoyo, etc.)
 EnDAT 2.2
 BiSS/SSI
 Stegmann Hiperface
• Resolver
 14 bit resolution
 Up to 512 revolutions per second (RPS)
 Emulated encoder outputs of the Resolver
• Auxiliary Encoder inputs (ECAM, follower, etc.) single-ended, unbuffered
• Tachometer (available on request)
• Potentiometer (available on request)
• The Gold Hornet provides 5 V supply voltage (5 V, 2 x 200 mA max) for the encoders,
Resolver or Hall supplies
2.2.9. Communications
• Fast and efficient EtherCAT and CAN networking
• EtherCAT Slave:
 CoE (CAN over EtherCAT)
 EoE (Ethernet over EtherCAT)
 FoE (File over EtherCAT) for firmware download
 Supports Distributed Clock
 EtherCAT cyclic modes supported down to a cycle time of 250 μs