Gold Solo Hornet Digital Servo Drive Installation Guide EtherCAT and CAN July 2014 (Ver. 1.009) 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 Solo 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.
Notes • The part number of the Gold Solo Hornet (EtherCAT version) has an E, for example, G-SOLHOR1/100E whereas the CAN version has an S, for example G-SOLHOR1/100S. • There are two models of the Gold Solo Hornet: connectors only (for currents of 10 A or less) and wires only (for currents of 15 A or more). On request, the wires model may be ordered for currents of 10 A or less.
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 Solo Hornet Installation Guide (EtherCAT and CAN) MAN-G-SOLHORIG-EC (Ver. 1.009) Table of Contents Chapter 1: 1.1. 1.2. 1.3. 1.4. 1.5. Warnings......................................................................................................................... 9 Cautions .......................................................................................................................... 9 Directives and Standards ...............................................................................
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Table of Contents MAN-G-SOLHORIG-EC (Ver. 1.009) 4.3.1. 4.3.2. 4.4. 4.5. 4.6. 4.7. 4.8. 4.9. 4.10. 4.11. 4.12. 4.13. 4.14. Connector Types ............................................................................................ 24 Pinouts ........................................................................................................... 25 4.3.2.1. Power, Motor, Control and Port B Connector (J1) ....................... 25 4.3.2.2.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Table of Contents MAN-G-SOLHORIG-EC (Ver. 1.009) 4.14.1. Thermal Data ................................................................................................. 72 4.14.2. Heat Dissipation Data .................................................................................... 73 4.14.3. How to Use the Charts ................................................................................... 74 Chapter 5: 5.1. 5.2. 5.3.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) 8 MAN-G-SOLHORIG-EC (Ver. 1.009) Chapter 1: Safety I nform ation In order to achieve the optimum, safe operation of the Gold Solo 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 Solo Hornet and accompanying equipment.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Safety Information MAN-G-SOLHORIG-EC (Ver. 1.009) 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 Solo Hornet from all voltage sources before it is opened for servicing.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Safety Information MAN-G-SOLHORIG-EC (Ver. 1.009) 1.3.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) 11 MAN-G-SOLHORIG-EC (Ver. 1.009) Chapter 2: Product Description 2.1. Functional Description The Gold Solo Hornet is an integrated solution designed to simply and efficiently connect Elmo’s Gold Hornet servo drive directly to the application. The solution consists of the Gold Hornet together with a convenient connection interface which either eliminates or reduces development time and resources when designing an application’s PCB board.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Product Description MAN-G-SOLHORIG-EC (Ver. 1.009) 2.2.3. For power rating of 100V Single DC Power Supply - Power to the Gold Solo Hornet is provided by a 12–95 VDC single isolated DC power source (not included with the Gold Solo Hornet). A “smart” control-supply algorithm enables the Gold Solo Hornet to operate with only one power supply with no need for an auxiliary power supply for the logic.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Product Description MAN-G-SOLHORIG-EC (Ver. 1.009) • Motion profiler numeric range: Position up to ±2 x 109 counts Velocity up to 2 x 109 counts/sec Acceleration up to 2 x 109 counts/sec2 2.2.4.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Product Description MAN-G-SOLHORIG-EC (Ver. 1.009) 2.2.7. • There are Port A and Port B feedback input ports that are flexible and configurable.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Product Description MAN-G-SOLHORIG-EC (Ver. 1.009) • 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.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Product Description MAN-G-SOLHORIG-EC (Ver. 1.009) 2.2.10. Safety • IEC 61800-5-2, Safe Torque Off (STO) • Two STO (Safe Torque Off) inputs PLC level which can be configured to 5 V logic (available on request) Optically isolated TTL Level (5 V logic) Open collector and open emitter • UL 508C recognition • UL 60950 compliance • CE EMC compliance 2.2.11. • Outputs Two digital isolated output 2.2.12.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Product Description MAN-G-SOLHORIG-EC (Ver. 1.009) 2.2.16. Built-In Protection Built-in Protection & Diagnostics: • Software error handling • Abort (hard stops and soft stops) • Extensive status reporting • Protection against: • Shorts between motor power outputs and power return Failure of internal power supplies Over-heating Overtemperature Continuous temperature measurement.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Product Description MAN-G-SOLHORIG-EC (Ver. 1.009) 2.3.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Product Description MAN-G-SOLHORIG-EC (Ver. 1.009) 2.4. How to Use this Guide In order to install and operate your Elmo Gold Solo Hornet servo drive, you will use this manual in conjunction with a set of Elmo documentation.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Technical Information MAN-G-SOLHORIG-EC (Ver. 1.009) Chapter 3: Technical I nform ation 3.1. Physical Specifications Feature Units All Types Weight g (oz) 106 g (3.74 oz) mm (in) 73.4 x 46.5 x 35.8 mm (2.89" x 1.8" x 1.4") Dimensions Mounting method 3.2. PCB mount Technical Data Feature Units 2.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Technical Information MAN-G-SOLHORIG-EC (Ver. 1.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) 22 MAN-G-SOLHORIG-EC (Ver. 1.009) Chapter 4: I nstallation The Gold Solo 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 Solo Hornet by ensuring that it is installed in an appropriate environment.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLHORIG-EC (Ver. 1.009) 4. Verify that the Gold Solo 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: Notes: • This manual is the EtherCAT version – for CAN functionality see the CAN version of this manual.
Installation Gold Solo Hornet Installation Guide (EtherCAT and CAN) MAN-G-SOLHORIG-EC (Ver. 1.009) 4.3. Connectors and Indicators The Gold Solo Hornet has 3 connectors (connectors version). 4.3.1. Connector Types Port No.
Installation Gold Solo Hornet Installation Guide (EtherCAT and CAN) MAN-G-SOLHORIG-EC (Ver. 1.009) 4.3.2. Pinouts The pinouts in this section describe the function of each pin in the Gold Solo Hornet connectors that are listed in Table 2. 4.3.2.1. Power, Motor, Control and Port B Connector (J1) J1 consists of a Power, Motor and Control connector (6 pins) and Port B connector (12 pins), see Section 4.7 for more details. 4.3.2.1.a Power, Motor, and Control Connector (J1) See Section 4.7.
Installation Gold Solo Hornet Installation Guide (EtherCAT and CAN) MAN-G-SOLHORIG-EC (Ver. 1.009) 4.3.2.1.b Port B Connector (J1) See Section 4.7.1 for for more details.
Installation Gold Solo Hornet Installation Guide (EtherCAT and CAN) MAN-G-SOLHORIG-EC (Ver. 1.009) 4.3.2.2. Auxiliary Feedback and IO (J2) See Section 4.9.1 for more details.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLHORIG-EC (Ver. 1.
Installation Gold Solo Hornet Installation Guide (EtherCAT and CAN) MAN-G-SOLHORIG-EC (Ver. 1.009) 4.3.2.3. Communication Connector (J3) See Section 4.9.1 for more details.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLHORIG-EC (Ver. 1.009) Pin (J3) Signal Function Pin Positions Table 6: Communications Pin Assignments 4.3.3. EtherCAT Indicators 4.3.3.1. EtherCAT Link Indicators The Gold Solo Hornet can serve as an EtherCAT slave device. The green LED is the link/activity indicator. It shows the state of the applicable physical link and the activity on that link. The possible states of these LEDs are summarized in Table 7.
Installation Gold Solo Hornet Installation Guide (EtherCAT and CAN) MAN-G-SOLHORIG-EC (Ver. 1.009) 4.3.4. Drive Status Indicator This 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 state the LED indicates whether the drive is in an amplifier failure state (red) or is ready to enable the motor (green).
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLHORIG-EC (Ver. 1.009) 4.4. Mounting the Gold Solo Hornet The Gold Solo Hornet was designed for mounting on a surface. When integrating the Gold Solo Hornet into a device, be sure to leave about 1 cm (0.4") outward from the heatsink to enable free air convection around the drive. If the Gold Solo Hornet is enclosed in a metal chassis, we recommend that the Gold Solo Hornet be screw-mounted to it to help with heat dissipation.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLHORIG-EC (Ver. 1.009) 4.5. Wiring the Gold Solo Hornet Once the Gold Solo Hornet 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 Gold Solo Hornet. Caution: Perform the following instructions to ensure safe and proper wiring. To ensure safe and proper wiring: 1.
Installation Gold Solo Hornet Installation Guide (EtherCAT and CAN) MAN-G-SOLHORIG-EC (Ver. 1.009) 4.6. The Gold Solo Hornet Connection Diagrams Figure 5: The Gold Solo Hornet Connection Diagram - EtherCAT Table of Contents |www.elmomc.
Installation Gold Solo Hornet Installation Guide (EtherCAT and CAN) MAN-G-SOLHORIG-EC (Ver. 1.009) Figure 6: The Gold Solo Hornet Connection Diagram - CAN Table of Contents |www.elmomc.
Installation Gold Solo Hornet Installation Guide (EtherCAT and CAN) MAN-G-SOLHORIG-EC (Ver. 1.009) 4.7. Main, Auxiliary and Motor Power The Gold Solo Hornet receives power from main and auxiliary supplies and delivers power to the motor. 4.7.1. Motor Power (J1) The Gold Solo Hornet Motor Power is part of the J1 connector, see Section 4.3.2.1 for more details.
Installation Gold Solo Hornet Installation Guide (EtherCAT and CAN) MAN-G-SOLHORIG-EC (Ver. 1.009) Figure 7: Brushless Motor Power Connection Diagram Figure 8: DC Brushed Motor Power Connection Diagram Notes • For best immunity, it is highly recommended to use a 4-wire shielded (not twisted) cable for the motor connection. The gauge is determined by the actual current consumption of the motor. • Connect the cable shield to the closest ground connection at the motor end.
Installation Gold Solo Hornet Installation Guide (EtherCAT and CAN) MAN-G-SOLHORIG-EC (Ver. 1.009) 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. Main Power (J1) The Gold Solo Hornet Main Power is part of the J1 connector, see Section 4.3.2.1 for more details.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLHORIG-EC (Ver. 1.009) 4.7.2.2. Auxiliary Power Supply (J2) (Optional) Note: The source of the Auxiliary Supply must be isolated. Connect the VL+ and PR pins on the Gold Solo Hornet in the manner described in Section 4.3.2.1. The Gold Solo Hornet Auxiliary Power is part of the J2 connector, see Section 4.3.2.2 for more details.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLHORIG-EC (Ver. 1.009) 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 9: 200 VDC Power Source Connection Diagram Table of Contents |www.elmomc.
Installation Gold Solo Hornet Installation Guide (EtherCAT and CAN) MAN-G-SOLHORIG-EC (Ver. 1.009) 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 Solo Hornet to operate with only one power supply with no need for an auxiliary power supply for the logic. Figure 10: Main Power Supply Connection Diagram (no Auxiliary Supply) 4.7.2.4.
Installation Gold Solo Hornet Installation Guide (EtherCAT and CAN) MAN-G-SOLHORIG-EC (Ver. 1.009) 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 10 and the upper portion of Figure 12). 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 Solo Hornet Installation Guide (EtherCAT and CAN) MAN-G-SOLHORIG-EC (Ver. 1.009) 4.8. STO (Safe Torque Off) Inputs (J2) 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.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLHORIG-EC (Ver. 1.009) The Gold Solo Hornet STO inputs are part of the J2 connector, see Section 4.3.2.2 for more details.
Installation Gold Solo Hornet Installation Guide (EtherCAT and CAN) MAN-G-SOLHORIG-EC (Ver. 1.009) Figure 13: STO Input Functionality – Schematic Drawing See Figure 14 for the PLC option connection and Figure 15 for the TTL option connection. Figure 14: STO Input Connection – PLC Option Figure 15: STO Input Connection – TTL Option Table of Contents |www.elmomc.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLHORIG-EC (Ver. 1.009) 4.9. Feedback and Analog Input The Gold Solo Hornet has two configurable motion sensor input ports and one output port: Port A and port B are input ports, port C is the feedback output port. Motion sensors from the controlled motor and from other sources can be connected to any of the available inputs on either port A or B. Software configuration designates each input a role, e.g.
Installation Gold Solo Hornet Installation Guide (EtherCAT and CAN) MAN-G-SOLHORIG-EC (Ver. 1.009) The Gold Solo Hornet Feedback Port A is part of the J2 connector, see Section 4.3.2.2 for more details.
Installation Gold Solo Hornet Installation Guide (EtherCAT and CAN) MAN-G-SOLHORIG-EC (Ver. 1.009) The following are Hall Sensors pin assignments for the Gold Solo Hornet. The Hall Sensor is part of the J1 connector, see Section 4.3.2.1 for more details.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLHORIG-EC (Ver. 1.009) 4.9.1.1. Incremental Encoder Figure 16: Port A Incremental Encoder Input – Recommended Connection Diagram 4.9.1.2. Absolute Serial Encoder Figure 17: Absolute Serial Encoder – Recommended Connection Diagram for Sensors Supporting Data/Clock (e.g., BiSS / SSI / EnDAT, etc.) Table of Contents |www.elmomc.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLHORIG-EC (Ver. 1.009) Figure 18: 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 19: Hall Sensors Connection Diagram Table of Contents |www.elmomc.
Installation Gold Solo Hornet Installation Guide (EtherCAT and CAN) MAN-G-SOLHORIG-EC (Ver. 1.009) 4.9.2. Feedback Port B (J1) 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 Solo Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLHORIG-EC (Ver. 1.009) Incremental Encoder Absolute Serial Encoder Pin Positions Table 15: Port B Pin Assignments 4.9.2.1. Incremental Encoder Figure 20: Port B Incremental Encoder Input – Recommended Connection Diagram Table of Contents |www.elmomc.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLHORIG-EC (Ver. 1.009) 4.9.2.2. Interpolated Analog Encoder Figure 21: Port B - Interpolated Analog Encoder Connection Diagram 4.9.2.3. Resolver Connection Figure 22: Port B – Resolver Connection Diagram Table of Contents |www.elmomc.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLHORIG-EC (Ver. 1.009) 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. The output options are: • Port A/B daisy chain (1:1) for incremental encoder • Encoder emulation: Emulate any input sensor, digital or analog, or use to emulate an internal variable such as virtual profiler.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLHORIG-EC (Ver. 1.009) The Gold Solo Hornet Port C – Emulated Encoder Output are part of the J2 connector, see Section 4.3.2.2 for more details.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLHORIG-EC (Ver. 1.009) Figure 23: Emulated Encoder Differential Output – Recommended Connection Diagram Table of Contents |www.elmomc.
Installation Gold Solo Hornet Installation Guide (EtherCAT and CAN) MAN-G-SOLHORIG-EC (Ver. 1.009) 4.10. User I/Os (J2) The Gold Solo Hornet has six programmable digital inputs, two digital outputs and one analog input. 4.10.1. Digital Inputs (J2) Each of the pins below can function as an independent input. The inputs conform to the PLC standard. TTL configuration is available upon request. The Gold Solo Hornet Digital Inputs are part of the J2 connector, see Section 4.3.2.2 for more details.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLHORIG-EC (Ver. 1.009) Figure 24: Digital Input PLC Mode Connection Diagram Table of Contents |www.elmomc.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLHORIG-EC (Ver. 1.009) Figure 25: Digital Input TTL Mode Connection Diagram Table of Contents |www.elmomc.
Installation Gold Solo Hornet Installation Guide (EtherCAT and CAN) MAN-G-SOLHORIG-EC (Ver. 1.009) 4.10.2. Digital Output (J2) There are two isolated outputs. The Gold Solo Hornet Digital Outputs are part of the J2 connector, see Section 4.3.2.2 for more details.
Installation Gold Solo Hornet Installation Guide (EtherCAT and CAN) MAN-G-SOLHORIG-EC (Ver. 1.009) Figure 26: Digital Output Connection Diagram – TTL Option Table of Contents |www.elmomc.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLHORIG-EC (Ver. 1.009) 4.10.3. Analog Input (J2) Analog user inputs can be configured by software to be used as either tachometer velocity sensor input or potentiometer position feedback. The Gold Solo Hornet Analog Inputs are part of the J2 connector, see Section 4.3.2.2 for more details.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLHORIG-EC (Ver. 1.009) 4.11. Communications The communication interface may differ according to the user’s hardware. The Gold Solo Hornet can communicate using the following options: • EtherCAT or Ethernet • CAN • USB 2.0 • RS-232 • RS-422 Note: 4.11.1. When the EtherCAT is connected, and FoE in operation, the USB cable connection must be disconnected.
Installation Gold Solo Hornet Installation Guide (EtherCAT and CAN) MAN-G-SOLHORIG-EC (Ver. 1.009) The Gold Solo Hornet RS-232 pins are part of the J3 connector, see Section 4.3.2.3 for more details. Pin (J3) Signal Function 2 RS-232_RX RS-232 Receive 1 RS-232_TX RS-232 Transmit 7 COMRET RS-232 Communication Return Pin Positions Table 18: RS-232 Pin Assignments Figure 28: RS-232 Connection Diagram Table of Contents |www.elmomc.
Installation Gold Solo Hornet Installation Guide (EtherCAT and CAN) MAN-G-SOLHORIG-EC (Ver. 1.009) 4.11.2. Differential RS-232 Communication (RS-422) – J3 Note for connecting the RS-232 communication cable: • This is Differential RS-232 Communication based on RS-422. Connect the shield to the ground of the Controller. Usually, this connection is soldered internally inside the connector at the PC end. You can use the drain wire to facilitate connection.
Installation Gold Solo Hornet Installation Guide (EtherCAT and CAN) MAN-G-SOLHORIG-EC (Ver. 1.009) 4.11.3. USB 2.0 Communication (J3) The USB Network consists of Host controller and multiple devices. The Gold Solo Hornet is a USB Device. To connect the USB communication cable: 1. Connect a standard USB cable. 2. D+ and D- comprise a twisted pair in the cable. 3. The maximum cable length is 5 m. 4. The cable shield should only be connected to Ground at the host. 5.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLHORIG-EC (Ver. 1.009) Figure 30: USB Network Diagram 4.11.4. EtherCAT Communications Version 4.11.4.1. EtherCAT Communication (J3) Notes: • The EtherCAT IN port can be configured as an Ethernet port for TCP/IP – see the EtherCAT Manual. • It is recommended to use shielded CAT5e (or higher) cable. Category 5e cable is a high signal integrity cable with four twisted pairs. The Gold Solo Hornet USB 2.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLHORIG-EC (Ver. 1.009) Pin (J3) Signal Function Pin Positions Table 20: EtherCAT - Pin Assignments 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.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLHORIG-EC (Ver. 1.009) 4.11.4.2. Ethernet Communication (J3) Notes: • The EtherCAT IN port can be configured as an Ethernet port for TCP/IP – see the EtherCAT Manual. • It is recommended to use shielded CAT5e (or higher) cable. Category 5e cable is a high signal integrity cable with four twisted pairs. The Gold Solo Hornet Ethernet communication pins are part of the J3 connector, see Section 4.3.2.3 for more details.
Installation Gold Solo Hornet Installation Guide (EtherCAT and CAN) MAN-G-SOLHORIG-EC (Ver. 1.009) 4.11.5. CAN Communications Version Notes for connecting the CAN communication cable: • Use 26 or 28 AWG twisted pair shielded cables. For best results, the shield should have aluminum foil and covered by copper braid with a drain wire • Connect the shield to the ground of the host (PC). Usually, this connection is soldered internally inside the connector at the PC end.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLHORIG-EC (Ver. 1.009) Figure 33: CAN - Connection Diagram Table of Contents |www.elmomc.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLHORIG-EC (Ver. 1.009) 4.12. Powering Up After the Gold Solo 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 Solo Hornet has been connected and mounted, the system must be set up and initialized.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLHORIG-EC (Ver. 1.009) 4.14.2. Heat Dissipation Data Heat dissipation is shown in graphically below: Table of Contents |www.elmomc.
Installation Gold Solo Hornet Installation Guide (EtherCAT and CAN) MAN-G-SOLHORIG-EC (Ver. 1.009) 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 Solo Hornet. 3.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) 75 MAN-G-SOLHORIG-EC (Ver. 1.009) Chapter 5: Technical Specifications This chapter provides detailed technical information regarding the Gold Solo 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. Dimension Table of Contents |www.elmomc.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Technical Specifications MAN-G-SOLHORIG-EC (Ver. 1.009) 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 Solo Hornet Installation Guide (EtherCAT and CAN) Technical Specifications MAN-G-SOLHORIG-EC (Ver. 1.009) 5.3. Control Specifications 5.3.1.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Technical Specifications MAN-G-SOLHORIG-EC (Ver. 1.009) 5.3.2. Velocity Loop Feature Details Controller type PI + Four advanced filters + Two advanced gain scheduling filters Velocity control • Fully digital • Programmable PI and feed forward control filters • On-the-fly gain scheduling according to either speed or position command or feedback.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Technical Specifications MAN-G-SOLHORIG-EC (Ver. 1.009) 5.4. Feedbacks 5.4.1. Feedback Supply Voltage The Gold Solo Hornet has two feedback ports (Main and Auxiliary). The Gold Solo Hornet supplies voltage only to the main feedback device and to the auxiliary feedback device if needed. Feature Details Encoder supply voltage 5.4.2.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Technical Specifications MAN-G-SOLHORIG-EC (Ver. 1.009) 5.4.2.2. Digital Halls Feature Details Halls 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 Solo Hornet Installation Guide (EtherCAT and CAN) Technical Specifications MAN-G-SOLHORIG-EC (Ver. 1.009) 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 Solo Hornet Installation Guide (EtherCAT and CAN) Technical Specifications MAN-G-SOLHORIG-EC (Ver. 1.009) 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 Solo Hornet Installation Guide (EtherCAT and CAN) Technical Specifications MAN-G-SOLHORIG-EC (Ver. 1.009) 5.5. I/Os The Gold Solo 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 Solo Hornet Installation Guide (EtherCAT and CAN) Technical Specifications MAN-G-SOLHORIG-EC (Ver. 1.009) 5.5.2.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Technical Specifications MAN-G-SOLHORIG-EC (Ver. 1.009) 5.5.3. Digital Output Interface Feature Details Type of output • Optically isolated • Source/Sink Maximum supply output (Vcc) 30 V Max. output current Iout (max) (Vout = Low) 7 mA VOL at maximum output voltage (low level) Vout (on) ≤ 0.4 V RL The external resistor RL must be selected to limit the output current to no more than 7 mA.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Technical Specifications MAN-G-SOLHORIG-EC (Ver. 1.009) 5.6. Safe Torque Off (STO) The Gold Solo Hornet 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.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Technical Specifications MAN-G-SOLHORIG-EC (Ver. 1.009) 5.7. EtherCAT Communications Version Specification Details EtherCAT • 100base-T • Baud Rate: 100 Mbit/sec • CAT5 Cable • CoE, FoE, EoE • 100base-T • Baud Rate: 100 Mbit/sec • CAT5 Cable • UDP, Telnet Ethernet USB USB 2.0 Device mode RS-232 Signals: • RxD , TxD , GND • Full duplex, serial communication for setup and control. • Baud Rate of 9,600 to 57,600 bit/sec.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Technical Specifications MAN-G-SOLHORIG-EC (Ver. 1.009) 5.8. CAN Communications Version Specification Details CAN CAN-bus Signals: • CAN_H, CAN_L, CAN_RET • Maximum Baud Rate of 1 Mbit/sec. Version: • DS 301 v4.01 Layer Setting Service and Protocol Support: • DS 305 Device. Profile (drive and motion control): • DS 402 USB • USB 2.0 Device mode Signals: RS-232 • RxD , TxD , GND • Full duplex, serial communication for setup and control.
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Technical Specifications MAN-G-SOLHORIG-EC (Ver. 1.009) 5.10. 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 Solo Hornet Installation Guide (EtherCAT and CAN) Technical Specifications MAN-G-SOLHORIG-EC (Ver. 1.
