Gold Panther Digital Servo Drive Installation Guide EtherCAT and CAN February 2014 (Ver. 1.000) 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 Panther 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 February 2014 Initial release Table of Contents |Physical Specifications|www.elmomc.
Table of Contents MAN-G-PANIG-EC (Ver. 1.000) Chapter 1: This Installation Guide ..................................................................................... 6 Chapter 2: Product Description ......................................................................................... 6 Chapter 3: Technical Information...................................................................................... 7 3.1. 3.2. Physical Specifications .........................................................
Table of Contents MAN-G-PANIG-EC (Ver. 1.000) 5.5. 5.4.1. Digital Inputs (J1) ........................................................................................... 45 5.4.2. Digital Outputs (J1) ........................................................................................ 48 5.4.3. Input (J2) ........................................................................................................ 51 Communications.............................................................................
Gold Panther Installation Guide MAN-G-PANIG-EC (Ver. 1.000) 6 Chapter 1: This I nstallation Guide This installation Guide details the technical data, pinouts, and power connectivity of the Gold Panther. For a comprehensive detailed description of the functions and connections of the drive, refer to the MAN-G-Drive Hardware manual, and especially the sections in Chapter 7 which describe PCB Mounted products.
Gold Panther Installation Guide 7 MAN-G-PANIG-EC (Ver. 1.000) Chapter 3: Technical I nform ation 3.1. Physical Specifications Feature Units Weight Dimension All Types g (oz) 300 g (10.6 oz) mm (in) 111 x 76 x 34 (4.37" x 3" x 1.34") Mounting method 3.2.
Gold Panther Installation Guide 8 MAN-G-PANIG-EC (Ver. 1.000) Note on current ratings: The current ratings of the Gold Panther are given in units of DC amperes (ratings that are used for trapezoidal commutation or DC motors). The RMS (sinusoidal commutation) value is the DC value divided by 1.41. 3.2.1.
Gold Panther Installation Guide MAN-G-PANIG-EC (Ver. 1.000) 9 Chapter 4: I nstallation The Gold Panther must be installed in a suitable environment and properly connected to its voltage supplies and the motor. 4.1.
Gold Panther Installation Guide MAN-G-PANIG-EC (Ver. 1.000) 4.2. Connectors The Gold Panther has 9 connectors. 4.2.1. Port Connector Types Pins Type Function 1.27 mm pitch 0.41 mm sq Analog Input, Feedback 2 mm pitch 0.
Gold Panther Installation Guide 11 MAN-G-PANIG-EC (Ver. 1.000) 4.2.2. Pinouts The pinouts in this section describe the function of each pin in the Gold Panther connectors that are listed in Table 1. 4.2.2.1. Motor Power For full details see Section 7.3 in the manual: MAN-G-Drive Hardware.
Gold Panther Installation Guide 12 MAN-G-PANIG-EC (Ver. 1.000) 4.2.2.3. Auxiliary Power Connector (J3) For full details about connecting auxiliary power, see Section 5.1.3. Pin (J3) Function 1 +24 V Auxiliary Supply Input Positive 2 24 V RET Auxiliary Supply Input Return Pin Positions Connector Type: 2 mm pitch 0.51 mm sq Table 4: Auxiliary 24 VDC Backup Supply Pins and Polarity Table of Contents |Connectors|www.elmomc.
Gold Panther Installation Guide 13 MAN-G-PANIG-EC (Ver. 1.000) 4.2.2.4. Connector J2 Feedback, Analog input, communications– see Section 7.5 in the manual: MAN-G-Drive Hardware. Connector Type: 1.27 mm pitch 0.41 mm sq For full details about connecting feedback port A see Section 7.6.1 in the MAN-G-Drive Hardware manual for full details. For full details about connecting feedback port B see Section 7.6.2 in the MAN-G-Drive Hardware manual for full details.
Gold Panther Installation Guide 14 MAN-G-PANIG-EC (Ver. 1.
Gold Panther Installation Guide 15 MAN-G-PANIG-EC (Ver. 1.
Gold Panther Installation Guide 16 MAN-G-PANIG-EC (Ver. 1.000) 4.2.2.5. Connector J1 Digital Inputs, Digital Outputs, STO, Amplifier and Communication LEDs, Encoder Supply Connector Type: 1.27 mm pitch 0.41 mm sq For full details about connecting digital input see Section 7.7.1 in the MAN-G-Drive Hardware manual For full details about connecting digital output see Section 7.7.2 in the MAN-G-Drive Hardware manual.
Gold Panther Installation Guide 17 MAN-G-PANIG-EC (Ver. 1.
Gold Panther Installation Guide MAN-G-PANIG-EC (Ver. 1.000) 4.3. 18 Mounting the Gold Panther The Gold Panther is designed for mounting on a printed circuit board (PCB). It is connected by 1.27 mm pitch 0.41 mm square pins and 2.54 mm pitch 0.64 mm square pins. When integrating the Gold Panther into a PCB, be sure to leave about 1 cm (0.4") outward from the heat-sink to enable free convection of the air around the Gold Panther. We recommend that the Gold Panther be soldered directly to the board.
Gold Panther Installation Guide MAN-G-PANIG-EC (Ver. 1.000) 4.4. 19 Integrating the Gold Panther on a PCB The Gold Panther is designed to be mounted on a PCB, either by soldering its pins directly to the PCB. Refer to the Gold Line Trombone Design Guide MAN-G-TROIDG for further information. 4.5.
Gold Panther Installation Guide MAN-G-PANIG-EC (Ver. 1.000) Figure 2: Gold Panther Connection Diagram for EtherCAT – with Backup Functionality (S or T Model Drive) Table of Contents |Connection Diagrams|www.elmomc.
Gold Panther Installation Guide MAN-G-PANIG-EC (Ver. 1.000) Figure 3: Gold Panther Connection Diagram for EtherCAT – 400 V without Backup Functions (0 or 1 Suffix) Table of Contents |Connection Diagrams|www.elmomc.
Gold Panther Installation Guide MAN-G-PANIG-EC (Ver. 1.000) Figure 4: Gold Panther Connection Diagram for CAN – with Backup Functionality (S or T Model Drive) Table of Contents |Connection Diagrams|www.elmomc.
Gold Panther Installation Guide MAN-G-PANIG-EC (Ver. 1.000) Figure 5: Gold Panther Connection Diagram for CAN – 400 V without Backup Functions (0 or 1 Suffix) Table of Contents |Connection Diagrams|www.elmomc.
Gold Panther Installation Guide 24 MAN-G-PANIG-EC (Ver. 1.000) Chapter 5: W iring Once the product is mounted, you are ready to wire the device. Proper wiring, grounding and shielding are essential for ensuring safe, immune and optimal servo performance of the drive. The following table legend describes the wiring symbols detailed in all installation guides.
Gold Panther Installation Guide 25 MAN-G-PANIG-EC (Ver. 1.000) Wiring Symbol Description Encoder Earthing. The drawing displays two earth connections. Only one of the Earth connections described below is mandatory. Earthing Type 1 is for encoders where the earth connection consists of the braid of the shielded cable being connected to Earth via the earthed chassis earthing.
Gold Panther Installation Guide 26 MAN-G-PANIG-EC (Ver. 1.000) 5.1. Main Power, Motor Power and Auxiliary Power The Gold Panther receives power from main and auxiliary supplies and delivers power to the motor. Note: There are multiple voltage ratings of the Gold Panther (80 V to 780 V), so you must use the correct power supply according to the maximum operating voltage of the Gold Panther. See Section Chapter 3: Technical Information 5.1.1.
Gold Panther Installation Guide MAN-G-PANIG-EC (Ver. 1.000) 27 The DC power for the Gold Panther is delivered from a separated rectifying unit (supplied by the user). Elmo recommends using the Tambourine rectifier specifically designed for use with Elmo drives which offers a range of versatile options. The following sections contain topology recommendations for implementing three-phase and single-phase supply chains.
Gold Panther Installation Guide MAN-G-PANIG-EC (Ver. 1.000) 5.1.2.1.a Three-Phase Direct-to-Mains Connection Topology Figure 6: Non-Isolated Three-Phase Connection Topology Caution: • Do not connect VN- to PE. In a direct-to-mains connection the VN- must not be connected to the PE, as this will cause irreparable damage to the system. • Take care and note that in a direct-to-mains connection the Neutral point is not the most negative voltage level. It is the mid-point level of the rectified DC bus.
Gold Panther Installation Guide MAN-G-PANIG-EC (Ver. 1.000) 5.1.2.1.b Single-Phase Direct-to-Mains Connection Topology Figure 7: Non-Isolated Single-Phase Connection Topology The Power Supply is connected directly to the mains AC line. Warning: • Do not connect VN- to PE. In a direct-to-mains connection the VN- must not be connected to the PE, as this will cause irreparable damage to the system.
Gold Panther Installation Guide MAN-G-PANIG-EC (Ver. 1.000) 5.1.2.1.c 30 Multiple Connections Topology In a multi-axis application it is likely that a single power supply can feed several drives in parallel. This topology is efficient and cost saving, by reducing the number of power supplies and the amount of wiring. Most importantly it utilizes an energy sharing environment among all the drives that share the same DC bus network.
Gold Panther Installation Guide 31 MAN-G-PANIG-EC (Ver. 1.000) 5.1.2.2. Battery Power Supply Figure 9: Battery Connection Topology Caution: When using batteries, it is recommended to connect the negative pole to the PE. When doing so, the charger of the battery must be isolated from the mains by an isolation transformer. 5.1.3.
Gold Panther Installation Guide MAN-G-PANIG-EC (Ver. 1.000) 32 In drives that have an 0 or 1 suffix (only for 400V models), a smart control-supply algorithm enables the Gold Panther to operate with the main power supply only, with no need for an auxiliary supply voltage to supply the drive’s logic section. However, it should be noted that in such model there is no backup ability at all.
Gold Panther Installation Guide 33 MAN-G-PANIG-EC (Ver. 1.000) 5.2. STO (Safe Torque Off) Inputs (J1) 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 24 VDC (or 5 V for the TTL option) is provided to both STO1 and STO2.
Gold Panther Installation Guide MAN-G-PANIG-EC (Ver. 1.000) Figure 11: STO Input Connection – PLC Option for S or 0 Suffixes Figure 12: Safety Input Connection – TTL Option for T or 1 Suffixes Table of Contents |STO (Safe Torque Off) Inputs (J1)|www.elmomc.
Gold Panther Installation Guide 35 MAN-G-PANIG-EC (Ver. 1.000) 5.3. Feedback Port B Port A Port C Figure 13: Feedback Ports on J2 The Gold Panther has two configurable motion sensor input ports, namely, Port A and Port B, and the emulated buffered output Port C. Motion sensors from the motor being controlled and from other sources can be connected to any of the available inputs on Port A or Port B. Software configuration designates each input a role, e.g.
Gold Panther Installation Guide 36 MAN-G-PANIG-EC (Ver. 1.
Gold Panther Installation Guide MAN-G-PANIG-EC (Ver. 1.000) 5.3.1.1. Incremental Encoder Connection Diagram Figure 14: Port A Incremental Encoder Input – Recommended Connection Diagram Table of Contents |Feedback|www.elmomc.
Gold Panther Installation Guide MAN-G-PANIG-EC (Ver. 1.000) 5.3.1.2. 38 Absolute Serial Encoder Connection Diagram Figure 15: Absolute Serial Encoder – Recommended Connection Diagram for Sensors Supporting Data/Clock (e.g., Biss/SSI/EnDAT/etc.) Table of Contents |Feedback|www.elmomc.
Gold Panther Installation Guide MAN-G-PANIG-EC (Ver. 1.000) 39 Figure 16: Absolute Serial Encoder – Recommended Connection Diagram for Sensors Supporting Data Line Only (NRZ types, e.g., Panasonic / Mitutoyo / etc.) 5.3.1.3. Hall Sensor Connection Diagram Figure 17: Hall Sensors Connection Diagram Table of Contents |Feedback|www.elmomc.
Gold Panther Installation Guide 40 MAN-G-PANIG-EC (Ver. 1.000) 5.3.2. Port B (J2, J1) Port B supports the following sensors: • Incremental encoder, interpolated analog encoder or as 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. The PWM signal can be connected to the applicable pair of matching + and – encoder channels and is configurable by software.
Gold Panther Installation Guide MAN-G-PANIG-EC (Ver. 1.000) 5.3.2.1. Incremental Encoder Connection Diagram Figure 18: Port B Incremental Encoder Input – Recommended Connection Diagram Table of Contents |Feedback|www.elmomc.
Gold Panther Installation Guide MAN-G-PANIG-EC (Ver. 1.000) 5.3.2.2. Interpolated Analog Encoder Connection Diagram Figure 19: Port B - Interpolated Analog Encoder Connection Diagram Table of Contents |Feedback|www.elmomc.
Gold Panther Installation Guide MAN-G-PANIG-EC (Ver. 1.000) 5.3.2.3. Resolver Connection Diagram Figure 20: Port B – Resolver Connection Diagram 5.3.3. 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.
Gold Panther Installation Guide 44 MAN-G-PANIG-EC (Ver. 1.
Gold Panther Installation Guide MAN-G-PANIG-EC (Ver. 1.000) 5.4. 45 User I/Os The Gold Panther has six programmable digital inputs (J1), four digital outputs (J1) and one analog input (J2). 5.4.1. Digital Inputs (J1) Each of the pins below can function as an independent input.
Gold Panther Installation Guide MAN-G-PANIG-EC (Ver. 1.000) Figure 22: Digital Input PLC Mode Connection Diagram for S or 0 Suffixes Table of Contents |User I/Os|www.elmomc.
Gold Panther Installation Guide MAN-G-PANIG-EC (Ver. 1.000) Figure 23: Digital Input TTL Mode Connection Diagram for T or 1 Suffixes Table of Contents |User I/Os|www.elmomc.
Gold Panther Installation Guide MAN-G-PANIG-EC (Ver. 1.000) 5.4.2. Digital Outputs (J1) The outputs conform to the PLC standard. TTL configuration is available upon request.
Gold Panther Installation Guide MAN-G-PANIG-EC (Ver. 1.000) Figure 24: Digital Output Connection Diagram – PLC Option for S or 0 Suffixes Table of Contents |User I/Os|www.elmomc.
Gold Panther Installation Guide MAN-G-PANIG-EC (Ver. 1.000) Figure 25: Digital Output Connection Diagram – TTL Option for T or 1 Suffixes Table of Contents |User I/Os|www.elmomc.
Gold Panther Installation Guide 51 MAN-G-PANIG-EC (Ver. 1.000) 5.4.3. Input (J2) An analog user input can be configured by software to be used as either tachometer velocity sensor input or potentiometer position feedback. Pin (J2) Signal Function 22 ANALOG1+ Analog input 1+ 24 ANALOG1- Analog input 1- 20 ANLRET Analog ground Table 17: Analog Input Pin Assignment Figure 26: Analog Input with Single-Ended Source Table of Contents |User I/Os|www.elmomc.
Gold Panther Installation Guide 52 MAN-G-PANIG-EC (Ver. 1.000) 5.5. Communications The communication interface may differ according to the user’s hardware. The Gold Panther can communicate using the following options: Standard EtherCAT G-PANXXX/YYYSXX G-PANXXX/YYYEXX CAN EtherCAT USB 2.0 USB 2.0 Table 18: Gold Panther Communication Options For ease of setup and diagnostics of CAN communication, and CAN can be used simultaneously.
Gold Panther Installation Guide MAN-G-PANIG-EC (Ver. 1.000) Figure 27: CAN Network Diagram Caution: When installing CAN communication, ensure that each servo drive is allocated a unique ID. Otherwise, the CAN network may “hang”. Table of Contents |Communications|www.elmomc.
Gold Panther Installation Guide 54 MAN-G-PANIG-EC (Ver. 1.000) 5.5.2. USB 2.0 Communication (J2) The USB network consists of a Host controller and multiple devices. The Gold Panther is a USB device. To connect the USB communication cable: 1. 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. 2.
Gold Panther Installation Guide 55 MAN-G-PANIG-EC (Ver. 1.000) 5.5.3. EtherCAT Communication (J2) To use EtherCAT and Ethernet communication with the Gold Panther, 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 Panther’s EtherCAT interface using the above mentioned connectors. Notes for EtherCAT communication: 1.
Gold Panther Installation Guide MAN-G-PANIG-EC (Ver. 1.000) Figure 29: EtherCAT Connection Schematic Diagram Table of Contents |Communications|www.elmomc.
Gold Panther Installation Guide MAN-G-PANIG-EC (Ver. 1.000) 57 Note: 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. If redundancy is required, the output of the last device should be connected to the input of the EtherCAT master.
Gold Panther Installation Guide 58 MAN-G-PANIG-EC (Ver. 1.000) Pin (J2) Signal Function 26 3.3 V 3.
Gold Panther Installation Guide MAN-G-PANIG-EC (Ver. 1.000) 5.5.5. 59 EtherCAT/Ethernet Line Interface Ethernet transceivers require either isolation transformers or capacitor coupling for proper functioning. The Gold Panther unit does not include such isolation, therefore you must take this into consideration when designing the integration board. In Sections 5.5.3 and 5.5.4, a schematic connection with a standard RJ-45 connector that includes transformer isolation is described.
Gold Panther Installation Guide MAN-G-PANIG-EC (Ver. 1.000) 60 Chapter 6: Pow ering Up After the Gold Panther is connected to its peripheral devices, it is ready to be powered up. Caution: Before applying power, ensure that 1. The DC supply is within the specified range. 2. The proper plus-minus connections are in order. 3. The VN- is not connected to the PE nor to the Neutral, when working with a non-isolated power supply. 6.1.
Gold Panther Installation Guide MAN-G-PANIG-EC (Ver. 1.000) 61 Chapter 7: Heat Dissipation The best way to dissipate heat from the Gold Panther is to mount it so that its heat-sink faces up. For best results leave approximately 10 mm of space between the Gold Panther‘s heat-sink and any other assembly. 7.1. Gold Panther Thermal Data • Heat dissipation capability (θ): approximately 5.
Gold Panther Installation Guide 62 MAN-G-PANIG-EC (Ver. 1.000) Figure 34: Dissipation versus Current Graph for 330 VDC 7.3. How to Use the Charts The power dissipation in the chart includes the losses of the rectifying bridge. Regarding Figure 33 and Figure 34, the following should be noted: DC Bus Voltage (VDC) Rectified Voltage (VAC) 560 3X400 680 3X480 330 3X230 The charts above are based upon theoretical worst-case conditions. Actual test results show 30% to 50% better power dissipation.
Gold Panther Installation Guide MAN-G-PANIG-EC (Ver. 1.000) Chapter 8: Dim ensions This chapter provides detailed technical information regarding the Gold Panther. Table of Contents |How to Use the Charts|www.elmomc.
Table of Contents |How to Use the Charts|www.elmomc.
