Gold Tiger Digital Servo Drive Installation Guide EtherCAT and CAN March 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 Tiger 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 March 2014 Initial release Table of Contents |Warnings|www.elmomc.
Table of Contents MAN-G-TIGIG (Ver. 1.000) Chapter 1: This Installation Guide .................................................................................6 Chapter 2: Safety Information ......................................................................................6 2.1 2.2 2.3 2.4 Warnings .................................................................................................................... 7 Cautions ..........................................................................
Table of Contents MAN-G-TIGIG (Ver. 1.000) 6.6 6.7 6.8 6.9 6.10 6.11 6.12 6.13 6.5.1 Incremental Encoder .................................................................................41 6.5.2 Interpolated Analog Encoder ....................................................................42 6.5.3 Resolver .....................................................................................................43 Port C, Analog Input, and STO ................................................................
Gold Tiger Installation Guide MAN-G-TIGIG (Ver. 1.000) Chapter 1: 6 This I nstallation Guide This installation Guide details the technical data, pinouts, wiring, and power connectivity of the Gold Tiger. For a comprehensive detailed description of the functions refer to the MAN-G-Panel Mounted Drives Hardware manual which describe Panel Mounted products.
Gold Tiger Installation Guide MAN-G-TIGIG (Ver. 1.000) 2.1 7 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 Tiger from all voltage sources before servicing. • The high voltage products within the Gold Line range contain grounding conduits for electric current protection.
Gold Tiger Installation Guide MAN-G-TIGIG (Ver. 1.000) Chapter 3: 8 Product Description The Gold Tiger series of digital servo drives are highly resilient and designed to deliver the highest density of power and intelligence. The Gold Tiger delivers up to 10 kW of continuous power or 16 kW of peak power in a compact package. The digital drives are part of Elmo’s advanced Gold Line.
Gold Tiger Installation Guide 9 MAN-G-TIGIG (Ver. 1.000) Chapter 4: 4.1 Technical I nform ation 9 Physical Specifications Feature Units All Types Weight g (oz) 750 g (26.46 oz) for standard L shape Dimensions mm (in) 105 x 160 x 47 (4.13" x 6.29" x 1.85") Mounting method 4.
Gold Tiger Installation Guide 10 MAN-G-TIGIG (Ver. 1.000) 4.3 Technical Data for the 800 V Type Feature Units 8/800 12/800 R11/800 R16/800 Minimum supply voltage VDC A, H, S, or T Option in P/N*: 95+ Nominal supply voltage VDC 560 for 400 VAC 680 for 480 VAC Maximum supply voltage VDC Maximum continuous power output kW Efficiency at rated power (at nominal conditions) % Auxiliary supply voltage option VDC 780 5 7.
Gold Tiger Installation Guide 11 MAN-G-TIGIG (Ver. 1.000) 4.4 Auxiliary Supply Feature Details Auxiliary power supply Isolated DC source only Auxiliary supply input voltage 18 VDC to 30 VDC Auxiliary supply input power 7 4.5 Product Features Main Feature Details Presence and No.
Gold Tiger Installation Guide MAN-G-TIGIG (Ver. 1.000) Chapter 5: 12 I nstallation The Gold Tiger must be installed in a suitable environment and properly connected to its voltage supplies and the motor. 5.
Gold Tiger Installation Guide 13 MAN-G-TIGIG (Ver. 1.000) 5.2 Connector Types The Gold Tiger has the following connectors.
Gold Tiger Installation Guide 14 MAN-G-TIGIG (Ver. 1.000) Pins Type Function EtherCAT Version 9 Pin D-Type Ethernet/EtherCAT_IN/OUT communication CAN Version 9 Pin D-Type CAN in/CAN out Table 1: Connector Types The pinouts in the next sections describe the function of each pin in the Gold Tiger connectors that are listed in Table 1. Table of Contents ||Connector Types|www.elmomc.
Gold Tiger Installation Guide MAN-G-TIGIG (Ver. 1.000) 5.3 Mounting the Gold Tiger The Gold Tiger has been designed for two standard mounting options: • Wall Mount along the back (can also be mounted horizontally on a metal surface) • Book Shelf along the side M5 (or 10/32) round head screws for wall mounting or M5 (or 10/32) hexagon head screws for bookshelf mounting, one through each opening in the heat sink, are used to mount the Gold Tiger (see the diagram below).
Gold Tiger Installation Guide MAN-G-TIGIG (Ver. 1.000) 5.4 Connection Diagrams There are two connection diagrams for EtherCAT and two for CAN that show the two different ways of connecting the power supply: • 400 V and 800 V A, H, S, or T options (the catalog number has an A, H, S, or T option) that feature backup functionality and require an auxiliary 24 V backup supply. The drive will not be operative without the external 24 VDC supply. • 400 V model without backup functionality with a 0 or 1 option.
Gold Tiger Installation Guide MAN-G-TIGIG (Ver. 1.000) 5.4.1 Connection Diagrams for EtherCAT Version The following describes the connection diagrams for the EtherCAT version. Figure 3: Gold Tiger EtherCAT Connection Diagram – with Backup Functionality (A, H, S, or T Options) Table of Contents ||Connection Diagrams|www.elmomc.
Gold Tiger Installation Guide MAN-G-TIGIG (Ver. 1.000) Figure 4: Gold Tiger EtherCAT Connection Diagram – 400 V without Backup Functionality for Model Drives with 0 or 1 Options Table of Contents ||Connection Diagrams|www.elmomc.
Gold Tiger Installation Guide MAN-G-TIGIG (Ver. 1.000) 5.4.2 Connection Diagrams for CAN Version The following describes the connection diagrams for the CAN version. Figure 5: Gold Tiger CAN Connection Diagram – with Backup Functionality (A, H, S, or T Options) Table of Contents ||Connection Diagrams|www.elmomc.
Gold Tiger Installation Guide MAN-G-TIGIG (Ver. 1.000) Figure 6: Gold Tiger CAN Connection Diagram – 400 V without Backup Functionality for Model Drives with 0 or 1 Options Table of Contents ||Connection Diagrams|www.elmomc.
Gold Tiger Installation Guide 21 MAN-G-TIGIG (Ver. 1.000) Chapter 6: 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 Tiger Installation Guide 22 MAN-G-TIGIG (Ver. 1.000) Wiring Symbol Description Shielding of the cable is earthed via the braid. For Encoders using D-Type connections, the following should be noted: For D-TYPE with no PE terminal The Braid should be connected to the D-TYPE metal housing. The Earth connection is maintained via the metal housing of the mating D-Type, which is itself Earthed via the housing. Note: This wiring does not apply to Molex connections Encoder Earthing.
Gold Tiger Installation Guide MAN-G-TIGIG (Ver. 1.000) 6.1 6.1.1 Basic Recommendations General 1. Use shielded cables. For best results, the cable should have an aluminum foil shield covered by copper braid, and should contain a drain wire. 2. Use 24, 26 or 28 AWG twisted-pair shielded cables. For best results, the shield should have aluminum foil covered by copper braid. 3. Keep the cable as short as possible. 4.
Gold Tiger Installation Guide MAN-G-TIGIG (Ver. 1.000) 6.1.2 Feedback Cable Port A and Port B Connector 1. On the motor side connections, ground the shield to the motor chassis. 2. At least One COMRET (Common Return) must be connected to the PE. Implement the following steps to connect the COMRET to the PE: a. At the drive, connect the feedback drain wire to one of the COMRET terminals in the D-Type feedback connector (Figure 8). b.
Gold Tiger Installation Guide MAN-G-TIGIG (Ver. 1.000) 6.1.3 Feedback Cable Port C Connector At the controller side connections, follow the controller manufacturer’s recommendations concerning the shield. The connection of the Drain wire to the Port C is not mandatory. Figure 9: Feedback Port C Cable Assemblies 6.1.4 IO Cable Connector It is recommended to use shielded cable, but is not mandatory. Figure 10: Feedback IO Cable Assemblies Table of Contents ||Basic Recommendations|www.elmomc.
Gold Tiger Installation Guide MAN-G-TIGIG (Ver. 1.000) 6.1.5 STO (Port C) Cable Connector It is recommended to use shielded cable, but is not mandatory. Figure 11: STO Cable Assemblies Table of Contents ||Basic Recommendations|www.elmomc.
Gold Tiger Installation Guide 27 MAN-G-TIGIG (Ver. 1.000) 6.2 Motor Power Connector Pinouts See Chapter 8 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details.
Gold Tiger Installation Guide MAN-G-TIGIG (Ver. 1.000) Figure 13: Brushed Motor Power Connection Diagram Table of Contents ||Motor Power Connector Pinouts|www.elmomc.
Gold Tiger Installation Guide 29 MAN-G-TIGIG (Ver. 1.000) 6.3 Main Power, Auxiliary Power The Gold Tiger receives power from main and auxiliary supplies and delivers power to the motor.
Gold Tiger Installation Guide MAN-G-TIGIG (Ver. 1.000) 6.3.1 Main Power The DC power for the Gold Tiger is delivered from a separated rectifying unit (supplied by the user). Elmo recommends using the Elephant 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 a single-phase supply chains.
Gold Tiger Installation Guide MAN-G-TIGIG (Ver. 1.000) 6.3.1.1 Direct-to-Mains Power Source (Non-Isolated Rectifier) This section relates to the configuration of the power supply and drive, which are connected directly to the mains. To connect the non-isolated DC power supply: 1. For best immunity, it is highly recommended to use twisted cables for the DC power supply cable. A 3-wire shielded cable should be used. The gauge is determined by the actual current consumption of the motor. 2.
Gold Tiger Installation Guide MAN-G-TIGIG (Ver. 1.000) 6.3.1.1.b Single-Phase Direct-to-Mains Connection Topology Figure 15: Non-Isolated Single-Phase Connection Topology The Power Supply is connected directly to the mains AC line. Warnings: • 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 Tiger Installation Guide MAN-G-TIGIG (Ver. 1.000) 6.3.1.1.c Multiple Connections Topology In a multi-axis application it is likely that a single power supply can feed several drives in parallel. The power supply is connected directly to the mains AC line and it feeds more than one drive. This topology is efficient and cost saving, by reducing the number of power supplies and the amount of wiring.
Gold Tiger Installation Guide MAN-G-TIGIG (Ver. 1.000) 6.3.1.2 Battery Power Supply Figure 17: 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. Table of Contents ||Main Power, Auxiliary Power|www.elmomc.
Gold Tiger Installation Guide MAN-G-TIGIG (Ver. 1.000) 6.3.2 Control and Backup Supply In drives that have a 0 or 1 Option (only for 400 V model) in the catalog number, a smart controlsupply algorithm enables the Gold Tiger to operate with the main power supply only, with no need for an auxiliary supply voltage to supply the drive’s logic section. Note that in such a model there is no backup ability at all.
Gold Tiger Installation Guide 36 MAN-G-TIGIG (Ver. 1.000) 6.4 Port A See Section 10.3 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details.
Gold Tiger Installation Guide MAN-G-TIGIG (Ver. 1.000) 6.4.1 Incremental Encoder The following figure describes the connections at Port A for the Incremental encoder. Figure 19: Port A D-Type Incremental Encoder Input – Recommended Connection Diagram 6.4.2 Hall Sensor The following figure describes the connections at Port A for the Hall Sensor. Figure 20: Hall Sensor Connection Diagram Table of Contents ||Port A|www.elmomc.
Gold Tiger Installation Guide MAN-G-TIGIG (Ver. 1.000) 6.4.3 Absolute Serial Type Encoder The following figures describe the connections at Port A for the Absolute Serial type encoders. Figure 21: Absolute Serial Encoder – Recommended D-Type Connection Diagram for EnDAT, Biss, and SSI Figure 22: Absolute Serial Encoder – Recommended D-Type Connection Diagram for Sensors Supporting Data Line Only (NRZ types, e.g., Panasonic / Mitutoyo / Sanyo Danki / Tamagawa) Table of Contents ||Port A|www.elmomc.
Gold Tiger Installation Guide MAN-G-TIGIG (Ver. 1.000) Figure 23: Absolute Serial Encoder – Recommended D-Type Connection Diagram for Stegmann Hiperface Note: When the Hiperface protocol is used, the RS-232 connection is not available. Table of Contents ||Port A|www.elmomc.
Gold Tiger Installation Guide 40 MAN-G-TIGIG (Ver. 1.000) 6.5 Port B See Section 10.4 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details.
Gold Tiger Installation Guide MAN-G-TIGIG (Ver. 1.000) 6.5.1 Incremental Encoder The following figure describes the connections at Port B for the Incremental encoder. Figure 24: Port B Incremental Encoder Input – Recommended D-Type Connection Diagram Table of Contents ||Port B|www.elmomc.
Gold Tiger Installation Guide MAN-G-TIGIG (Ver. 1.000) 6.5.2 Interpolated Analog Encoder The following figure describes the connections at Port B for the Interpolated Analog encoder. Figure 25: Port B - Interpolated Analog Encoder D-Type Connection Diagram Table of Contents ||Port B|www.elmomc.
Gold Tiger Installation Guide MAN-G-TIGIG (Ver. 1.000) 6.5.3 Resolver The following figure describes the connections at Port B for the Resolver encoder. Figure 26: Port B – Resolver D-Type Connection Diagram Table of Contents ||Port B|www.elmomc.
Gold Tiger Installation Guide 44 MAN-G-TIGIG (Ver. 1.000) 6.6 Port C, Analog Input, and STO The Port C connector includes the following functions: • Port C: Refer to Sections 10.5 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details • STO: See Chapter 9 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details. • Analog input: See Section 11.4 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details.
Gold Tiger Installation Guide MAN-G-TIGIG (Ver. 1.000) 6.6.1 Port C The following figure describes the connections at Port C for the Emulated Encoder Differential. Figure 27: Emulated Encoder Differential Output – Recommended D-Type Connection Diagram 6.6.2 Analog Input The following circuit describes the internal interface of the Analog input. Figure 28: Differential Analog D-Type Input Table of Contents ||Port C, Analog Input, and STO|www.elmomc.
Gold Tiger Installation Guide MAN-G-TIGIG (Ver. 1.000) 6.6.3 STO The following circuits describe the STO wiring options. 6.6.3.1 Source Mode PLC Voltage Level Figure 29: STO D-Type Input Connection – PLC Source Option 6.6.3.2 TTL Mode TTL Voltage Level Figure 30: STO Input Connection – TTL Option Table of Contents ||Port C, Analog Input, and STO|www.elmomc.
Gold Tiger Installation Guide MAN-G-TIGIG (Ver. 1.000) 6.6.3.3 SINK Mode – PLC Voltage Level Refer to the diagrams below for the PLC Sink option connections which are not fully certified for STO. This option is not recommended for new designs. Figure 31: STO D-Type Input Connection – Sink Option Table of Contents ||Port C, Analog Input, and STO|www.elmomc.
Gold Tiger Installation Guide 48 MAN-G-TIGIG (Ver. 1.000) 6.7 Digital Inputs and Outputs Refer to Chapter 11 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details.
Gold Tiger Installation Guide MAN-G-TIGIG (Ver. 1.000) 6.7.1 Digital Input and Output TTL Mode The following figure describes the connections at the I/O Port for the Digital Input and Output TTL Mode. Figure 32: Digital Input TTL Mode D-Type Connection Diagram Table of Contents ||Digital Inputs and Outputs|www.elmomc.
Gold Tiger Installation Guide MAN-G-TIGIG (Ver. 1.000) Figure 33: Digital Output D-Type Connection Diagram – TTL Option Table of Contents ||Digital Inputs and Outputs|www.elmomc.
Gold Tiger Installation Guide MAN-G-TIGIG (Ver. 1.000) 6.7.2 Digital Input and Output PLC Source Mode The following figure describes the connections at the I/O Port for the Digital Input and Output PLC Mode. Figure 34: Digital Input D-Type Connection Diagram – Source PLC Option Table of Contents ||Digital Inputs and Outputs|www.elmomc.
Gold Tiger Installation Guide MAN-G-TIGIG (Ver. 1.000) Figure 35: Digital Output D-Type Connection Diagram – Source PLC Option Table of Contents ||Digital Inputs and Outputs|www.elmomc.
Gold Tiger Installation Guide MAN-G-TIGIG (Ver. 1.000) 6.7.3 Digital Input and Output Sink Mode The following figure describes the connections at the I/O Port for the Digital Input and Output Sink Mode. Figure 36: Digital Input Sink Mode – PLC Voltage Level D-Type Connection Diagram Table of Contents ||Digital Inputs and Outputs|www.elmomc.
Gold Tiger Installation Guide MAN-G-TIGIG (Ver. 1.000) Figure 37: Digital Output as Sink Configuration D-Type Connection Diagram Table of Contents ||Digital Inputs and Outputs|www.elmomc.
Gold Tiger Installation Guide 55 MAN-G-TIGIG (Ver. 1.000) 6.8 USB See Section 12.1 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details. Pin on USB Signal Function 1 USB VBUS USB VBUS 5V 2 USBD- USB _N line 3 USBD+ USB _P line 5 USB COMRET USB communication return Pin Positions USB Device Mini B Plug Table 9: USB 2.0 Pin Assignments Figure 38: USB Network Diagram Table of Contents ||USB|www.elmomc.
Gold Tiger Installation Guide 56 MAN-G-TIGIG (Ver. 1.000) 6.8.1 VL/Communication Connector See Section 6.3.2 for full details. Note: The USB connection can be either from the mini USB connector or from the VL/Communication D-Type connector. Note: DO NOT connect the USB communication from the mini USB and the VL/Communication D-Type connector simultaneously. Optional Backup Supply in S, T, or H option drives.
Gold Tiger Installation Guide MAN-G-TIGIG (Ver. 1.000) 6.9 Drive Status Indicator The Gold Tiger is equipped with several light-emitting diode (LED) indicators. 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).
Gold Tiger Installation Guide 58 MAN-G-TIGIG (Ver. 1.000) 6.10 EtherCAT Communications Version Fieldbus communications are industrial network protocols for real-time distributed control that allows connection of servo drives. The Gold Tiger supports the following EtherCAT fieldbus type industrial network protocol: Fieldbus Type Product Number EtherCAT G-TIG XX/YYYEXXX 6.10.1 EtherCAT/Ethernet Pinouts Refer to section 12.2 in the MAN-G-Panel Mounted Drives Hardware manual for more details.
Gold Tiger Installation Guide MAN-G-TIGIG (Ver. 1.000) 6.10.2 EtherCAT Wiring Figure 40 describes the wiring diagram for the EtherCAT connections. Figure 40: EtherCAT Connections 6.10.3 EtherCAT Link Indicators There are two types of indicator LEDs: • Drive Status • EtherCAT indicators For details of the Drive Status, refer to Section 6.2 in the MAN-G-Drive Hardware manual. The EtherCAT status indicator is a red/green dual LED.
Gold Tiger Installation Guide 60 MAN-G-TIGIG (Ver. 1.000) 6.11 CAN Communications Version Fieldbus communications are industrial network protocols for real-time distributed control that allows connection of servo drives. The Gold Tiger supports the following CAN fieldbus type industrial network protocol: Fieldbus Type Product Number CAN G-TIG XX/YYYSXXX See Section 12.4 in the MAN-G-Panel Mounted Drives Hardware manual for the electrical diagram.
Gold Tiger Installation Guide 61 MAN-G-TIGIG (Ver. 1.000) 6.11.1 CAN Wiring Figure 42 describes the CAN wiring diagram below. Caution When installing the CAN communications, ensure that each servo drive is allocated a unique ID. Otherwise, the CAN network may hang. Figure 42: Gold Tiger Connection Diagram – CAN Table of Contents ||CAN Communications Version|www.elmomc.
Gold Tiger Installation Guide MAN-G-TIGIG (Ver. 1.000) 6.12 Powering Up After the Gold Tiger 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. 6.13 Initializing the System After the Gold Tiger 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.
Gold Tiger Installation Guide MAN-G-TIGIG (Ver. 1.000) Chapter 7: Gold Tiger Dim ensions This chapter provides detailed technical information regarding the Gold Tiger. Figure 43: Gold Tiger Dimensions with Standard L-Shape Heat-Sink Table of Contents ||www.elmomc.
Table of Contents ||www.elmomc.
