Gold DC Bell Digital Servo Drive Installation Guide EtherCAT and CAN July 2014 (Ver. 1.200) 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 DC Bell 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.
Cable Kit Catalog number: CBL-GDCWHIKIT02 (can be ordered separately) For further details, see the documentation for this cable kit (MAN-G-DCWHI-CBLKIT.pdf). Revision History Version Date Details Ver. 1.
Table of Contents MAN-G-DCBELIG-EC (Ver. 1.200) Chapter 1: This Installation Guide .....................................................................................6 Chapter 2: Safety Information ..........................................................................................6 2.1. 2.2. 2.3. 2.4. Warnings ........................................................................................................................ 7 Cautions......................................................
6.6.1. 6.6.2. 6.6.3. 6.7. 6.8. 6.9. 6.10. 6.11. 6.12. 6.13. Incremental Encoder ..................................................................................... 36 Halls Sensor ................................................................................................... 36 Absolute Serial Encoder ................................................................................ 37 6.6.3.1. Hiperface ......................................................................................
Gold DC Bell Installation Guide MAN-G-DCBELIG-EC (Ver. 1.200) Chapter 1: This I nstallation Guide This installation Guide details the technical data, pinouts, and power connectivity of the Gold DC Bell. For a comprehensive detailed description of the functions refer to the MAN-G-Panel Mounted Drives Hardware manual which describes Panel Mounted products.
Gold DC Bell Installation Guide MAN-G-DCBELIG-EC (Ver. 1.200) 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 DC Bell from all voltage sources before servicing. • The high voltage products within the Gold Line range contain grounding conduits for electric current protection.
Gold DC Bell Installation Guide MAN-G-DCBELIG-EC (Ver. 1.200) 8 Chapter 3: Product Description The Gold DC Bell is an advanced high power density servo drive delivering up to 1.2 kW of continuous power or 2.4 kW of peak power in a 230.075 cc (14.04 in³) package (115 x 75 x 26.4 mm or 4.5" x 3.0" x 1.04"). This advanced, high power density servo drive provides top performance, advanced networking and built-in safety, as well as a fully featured motion controller and local intelligence.
Gold DC Bell Installation Guide 9 MAN-G-DCBELIG-EC (Ver. 1.200) Chapter 4: Technical I nform ation 4.1. Physical Specifications Feature Units Weight Dimensions All Types g (oz) 267 g (9.42 oz) mm (in) 115 x 75 x 26.4 mm (4.5" x 3.0" x 1.04") Mounting method 4.2. Wall Mount / Book Shelf Technical Data Feature Units 1/100 2.
Gold DC Bell Installation Guide 10 MAN-G-DCBELIG-EC (Ver. 1.
Gold DC Bell Installation Guide 11 MAN-G-DCBELIG-EC (Ver. 1.200) 4.2.2. Product Features Main Feature Details Presence and No.
Gold DC Bell Installation Guide MAN-G-DCBELIG-EC (Ver. 1.200) Chapter 5: I nstallation The Gold DC Bell must be installed in a suitable environment and properly connected to its voltage supplies and the motor. 5.1.
Gold DC Bell Installation Guide 13 MAN-G-DCBELIG-EC (Ver. 1.200) 5.2. Connector Types The Gold DC Bell has ten connectors. No. Pins Type Function Bottom Connectors 5 Phoenix 3.81 mm Pitch Motor phases+PE 3 Phoenix 3.81 mm Pitch Main Power 2 Phoenix 3.81 mm Pitch Auxiliary supply input Table of Contents ||Connector Types|www.elmomc.
Gold DC Bell Installation Guide 14 MAN-G-DCBELIG-EC (Ver. 1.200) Front Connectors Front Connectors - EtherCAT Front Connectors - CAN 3 2.54 mm Pitch Molex STO 24 2.54 mm Pitch Molex Feedback port C and I/O 8 2.54 mm Pitch Molex Feedback port B 12 2.54 mm Pitch Molex Feedback port A Table of Contents ||Connector Types|www.elmomc.
Gold DC Bell Installation Guide 15 MAN-G-DCBELIG-EC (Ver. 1.200) Top Connectors Top Connectors - EtherCAT Top Connectors - CAN 5 USB Device Mini-B USB EtherCAT Version 8 RJ-45 EtherCAT In 8 RJ-45 EtherCAT Out CAN Version 8 RJ-45 CAN 8 RJ-45 CAN Table 2: Connector Types The pinouts in Chapter 6: Wiring describe the function of each pin in the Gold DC Bell connectors that are listed in Table 2. Table of Contents ||Connector Types|www.elmomc.
Gold DC Bell Installation Guide MAN-G-DCBELIG-EC (Ver. 1.200) 5.3. Mounting the Gold DC Bell The Gold DC Bell 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 M4 round head screws, one through each opening in the heat sink, are used to mount the Gold DC Bell (see the diagram below). Figure 1: Mounting the Gold DC Bell Table of Contents ||Mounting the Gold DC Bell|www.elmomc.
Gold DC Bell Installation Guide MAN-G-DCBELIG-EC (Ver. 1.200) 5.4. The Gold DC Bell Connection Diagram Figure 2: The Gold DC Bell Connection Diagram - EtherCAT Table of Contents ||The Gold DC Bell Connection Diagram|www.elmomc.
Gold DC Bell Installation Guide MAN-G-DCBELIG-EC (Ver. 1.200) Figure 3: The Gold DC Bell Connection Diagram – CAN Table of Contents ||The Gold DC Bell Connection Diagram|www.elmomc.
Gold DC Bell Installation Guide 19 MAN-G-DCBELIG-EC (Ver. 1.200) 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. Wiring Symbol Description Earth connection (PE) Protective Earth Connection Common at the Controller Shielded cable with drain wire.
Gold DC Bell Installation Guide MAN-G-DCBELIG-EC (Ver. 1.200) 6.1. 6.1.1. 20 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. Use 24, 26 or 28 AWG twisted-pair shielded with drain wire cables. 2. Keep the cable as short as possible. Do not mount the power cables of the motor and power bus in the proximity of the control and feedback cables. 3.
Gold DC Bell Installation Guide MAN-G-DCBELIG-EC (Ver. 1.200) 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 Molex feedback connector (Figure 5. b.
Gold DC Bell Installation Guide MAN-G-DCBELIG-EC (Ver. 1.200) 6.1.3. Feedback Cable Port C Connector 1. At the controller side connections, follow the controller manufacturer’s recommendations concerning the shield. 2. The connection of the Drain wire to the Port C is not mandatory. Figure 7: Feedback Port C Cable Assemblies 6.1.4. IO Cable Connector It is recommended to use shielded cable, but is not mandatory.
Gold DC Bell Installation Guide MAN-G-DCBELIG-EC (Ver. 1.200) 6.1.5. STO (Port C) Cable Connector It is recommended to use shielded cable, but is not mandatory. Figure 9: STO Cable Assemblies Table of Contents ||Basic Recommendations|www.elmomc.
Gold DC Bell Installation Guide 24 MAN-G-DCBELIG-EC (Ver. 1.200) 6.2. Motor Power Connector Pinouts(J14) See Chapter 8 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details.
Gold DC Bell Installation Guide MAN-G-DCBELIG-EC (Ver. 1.200) Figure 11: DC Brushed Motor Power Connection Diagram Figure 12: Stepper Motor Power Connection Diagram Table of Contents ||Motor Power Connector Pinouts(J14)|www.elmomc.
Gold DC Bell Installation Guide MAN-G-DCBELIG-EC (Ver. 1.200) 6.3. 26 Main and Auxiliary Power The Gold DC Bell receives power from main and auxiliary supplies and delivers power to the motor. 6.3.1. Description This section describes the Main and Auxiliary Power for power ratings 200V and 100V, and provides details for the optional Backup (Auxiliary) Supply.
Gold DC Bell Installation Guide 27 MAN-G-DCBELIG-EC (Ver. 1.200) 6.3.2. Main Power (J13) Pin(J13) Signal Function Cable 3 VP+ Positive Power input DC Power 2 PR Power return DC Power 1 PE Protective earth DC Power 3-Pin Phoenix Plug-in Connector 3-Pin Phoenix 3.81 mm Pitch Table 4: Connectors for Main Power Connect the DC power cable to the VP+ and PR terminals on the Main Power Connector. To connect the DC power supply: 1.
Gold DC Bell Installation Guide 28 MAN-G-DCBELIG-EC (Ver. 1.200) 6.3.3. Auxiliary Power Supply(J12) Pin(J12) Signal Function Cable 1 VL+ Auxiliary Supply Input DC Power 2 PR Auxiliary Supply Return DC Power 2-Pin Phoenix Plug-in Connector 2-Pin Phoenix 3.81 mm Pitch Table 5: Aux. Power Connector – Pin Assignments Caution: Power from the Gold DC Bell to the motor must come from the Main Supply and not from the Auxiliary Supply.
Gold DC Bell Installation Guide MAN-G-DCBELIG-EC (Ver. 1.200) 6.3.3.1. 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 13: 200 VDC Power Source Connection Diagram Table of Contents ||Main and Auxiliary Power|www.elmomc.
Gold DC Bell Installation Guide MAN-G-DCBELIG-EC (Ver. 1.200) 6.3.3.2. Power Rating 100 V 6.3.3.2.a Single Power Supply For power rating 100 V , a single Power Supply is required which contains a “smart” control-supply algorithm, enabling the Gold DC Bell to operate with only one power supply with no need for an auxiliary power supply for the logic. Figure 14: Main Power Supply Connection Diagram (no Auxiliary Supply) 6.3.3.2.
Gold DC Bell Installation Guide MAN-G-DCBELIG-EC (Ver. 1.200) 6.4. Drive Status Indicator Figure 16 shows the position of the red/green dual LED, which is used for immediate indication of the Initiation and Working states. For details refer to Chapter 7 Drive Status Indicator, in the MAN-G-Panel Mounted Drives Hardware manual.
Gold DC Bell Installation Guide 32 MAN-G-DCBELIG-EC (Ver. 1.200) 6.5. STO (Safe Torque Off)(J11) See Chapter 9 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details. Pin(J11) Signal Function 1 STO1 STO1 input (default 24 V) 2 STO2 STO2 input (default 24 V) 3 STO_RET STO signal return 3-Pin Molex Plug This cable is included in the cable kit described in Section 3.1.1. 3-Pin 2.
Gold DC Bell Installation Guide MAN-G-DCBELIG-EC (Ver. 1.200) 6.5.1. Source Mode – PLC Voltage Level Refer to the diagrams below for the PLC Source option connection. Figure 18: STO Molex Type Input Connection – PLC Source Option 6.5.2. TTL Mode – TTL Voltage Level Refer to the diagrams below for TTL option connection. Figure 19: STO Input Connection – TTL Option Table of Contents ||STO (Safe Torque Off)(J11)|www.elmomc.
Gold DC Bell Installation Guide MAN-G-DCBELIG-EC (Ver. 1.200) 6.5.3. 34 Sink Mode – PLC Voltage Level Refer to the diagrams below for the PLC Sink option connections which is not fully certified for STO. This option is not recommended for new designs. Figure 20: STO Input Connection – Sink Option Table of Contents ||STO (Safe Torque Off)(J11)|www.elmomc.
Gold DC Bell Installation Guide 35 MAN-G-DCBELIG-EC (Ver. 1.200) 6.6. Port A(J1) See Section 10.3 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details.
Gold DC Bell Installation Guide MAN-G-DCBELIG-EC (Ver. 1.200) 6.6.1. Incremental Encoder Figure 21: Port A Molex Type Incremental Encoder Input – Recommended Connection Diagram 6.6.2. Halls Sensor Figure 22: Molex Type Hall Sensors Connection Diagram Table of Contents ||Port A(J1)|www.elmomc.
Gold DC Bell Installation Guide MAN-G-DCBELIG-EC (Ver. 1.200) 6.6.3. 37 Absolute Serial Encoder The following figures describe the connections at Port A for the Absolute Serial type encoders. Figure 23: Absolute Serial Encoder – Recommended Connection Diagram for EnDAT, Biss, SSI Figure 24: Absolute Serial Encoder – Recommended Connection Diagram for Sensors Supporting Data Line Only (NRZ types, e.g., Panasonic / Mitutoyo / Sanyo Danki / Tamagawa) Table of Contents ||Port A(J1)|www.elmomc.
Gold DC Bell Installation Guide MAN-G-DCBELIG-EC (Ver. 1.200) 6.6.3.1. Hiperface The following figure describes the connection diagram. Figure 25: Absolute Serial Encoder – Recommended Molex Type Connection Diagram for Stegmann Hiperface Table of Contents ||Port A(J1)|www.elmomc.
Gold DC Bell Installation Guide 39 MAN-G-DCBELIG-EC (Ver. 1.200) 6.7. Port B(J3) See Section 10.4 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details.
Gold DC Bell Installation Guide MAN-G-DCBELIG-EC (Ver. 1.200) 6.7.1. Incremental Encoder The following figure describes the connections at Port B for the Incremental encoder. Figure 26: Port B Incremental Encoder Input – Recommended Connection Diagram Table of Contents ||Port B(J3)|www.elmomc.
Gold DC Bell Installation Guide MAN-G-DCBELIG-EC (Ver. 1.200) 6.7.2. Interpolated Analog Encoder The following figure describes the connections at Port B for the Interpolated Analog encoder. Figure 27: Port B - Interpolated Analog Encoder Molex Type Connection Diagram Table of Contents ||Port B(J3)|www.elmomc.
Gold DC Bell Installation Guide MAN-G-DCBELIG-EC (Ver. 1.200) 6.7.3. Resolver Figure 28: Port B – Resolver Molex Type Connection Diagram Table of Contents ||Port B(J3)|www.elmomc.
Gold DC Bell Installation Guide 43 MAN-G-DCBELIG-EC (Ver. 1.200) 6.8. Port C, Digital I/Os, and Analog Inputs(J2) 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 • I/O: Refer to Chapter 11 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details. • Analog input: See Section 11.2 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details.
Gold DC Bell Installation Guide 44 MAN-G-DCBELIG-EC (Ver. 1.200) Pin Positions Cable Connector 24-Pin Molex Plug This cable is included in the cable kit described in Section 3.1.1. 24-Pin 2.54 mm Pitch Molex Table 9: Port C Feedback Out and I/O Table of Contents ||Port C, Digital I/Os, and Analog Inputs(J2)|www.elmomc.
Gold DC Bell Installation Guide MAN-G-DCBELIG-EC (Ver. 1.200) 6.8.1. Port C – Emulated Encoder Output The following figure describes the connections at Port C for the Emulated Encoder Differential. Figure 29: Emulated Encoder Differential Output – Recommended Connection Diagram Note that the user is required to connect a 120 Ω termination at the end of each differential line. Table of Contents ||Port C, Digital I/Os, and Analog Inputs(J2)|www.elmomc.
Gold DC Bell Installation Guide MAN-G-DCBELIG-EC (Ver. 1.200) 6.8.2. Analog Input The following circuit describes the internal interface of the Analog input. Figure 30: Differential Analog Input Table of Contents ||Port C, Digital I/Os, and Analog Inputs(J2)|www.elmomc.
Gold DC Bell Installation Guide MAN-G-DCBELIG-EC (Ver. 1.200) 6.8.3. 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 31: Digital Input TTL Mode Connection Diagram Table of Contents ||Port C, Digital I/Os, and Analog Inputs(J2)|www.elmomc.
Gold DC Bell Installation Guide MAN-G-DCBELIG-EC (Ver. 1.200) Figure 32: Digital Output Connection Diagram – TTL Option Table of Contents ||Port C, Digital I/Os, and Analog Inputs(J2)|www.elmomc.
Gold DC Bell Installation Guide MAN-G-DCBELIG-EC (Ver. 1.200) 6.8.4. 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 33: Digital Input Connection Diagram – Source PLC Option Table of Contents ||Port C, Digital I/Os, and Analog Inputs(J2)|www.elmomc.
Gold DC Bell Installation Guide MAN-G-DCBELIG-EC (Ver. 1.200) Figure 34: Digital Output Connection Diagram – Source PLC Option Table of Contents ||Port C, Digital I/Os, and Analog Inputs(J2)|www.elmomc.
Gold DC Bell Installation Guide MAN-G-DCBELIG-EC (Ver. 1.200) 6.8.5. 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 35: Digital Input Sink Mode – PLC voltage level Molex Type Connection Diagram Table of Contents ||Port C, Digital I/Os, and Analog Inputs(J2)|www.elmomc.
Gold DC Bell Installation Guide MAN-G-DCBELIG-EC (Ver. 1.200) Figure 36: Digital Output as Sink Configuration Molex Type Connection Diagram Table of Contents ||Port C, Digital I/Os, and Analog Inputs(J2)|www.elmomc.
Gold DC Bell Installation Guide 53 MAN-G-DCBELIG-EC (Ver. 1.200) 6.9. USB 2.0(J9) The USB Network consists of Host controller and multiple devices. The Gold DC Bell is a USB Device. See Section 12.1 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details. Pin(J9) Signal Function 1 USB VBUS USB VBUS 5 V 2 USBD- USB _N line 3 USBD+ USB _P line 5 USB COMRET USB communication return Pin Positions Cable Connector USB Device Mini-B Plug USB Device Mini-B Table 10: USB 2.
Gold DC Bell Installation Guide 54 MAN-G-DCBELIG-EC (Ver. 1.200) 6.10. EtherCAT Communication Version Fieldbus communications are industrial network protocols for real-time distributed control that allows connection of servo drives. The Gold DC Bell supports the following EtherCAT fieldbus type industrial network protocol: Fieldbus Type Product Number EtherCAT G-DCBELXX/YYYEXX 6.10.1. EtherCAT IN/Ethernet Pin Assignments(J7) Refer to section 12.
Gold DC Bell Installation Guide 55 MAN-G-DCBELIG-EC (Ver. 1.200) 6.10.2. EtherCAT OUT(J8) See Section 12.2 in the MAN-G-Panel Mounted Drives Hardware manual for the electrical diagram.
Gold DC Bell Installation Guide MAN-G-DCBELIG-EC (Ver. 1.200) 6.10.4. EtherCAT Status Indicator Figure 39: EtherCAT Status LED The EtherCAT status indicator is a red/green dual LED. It combines run indication (when it is green) and error indication (when it is red) of the EtherCAT device. For further details, see the EtherCAT Manual. Note: There is no Gold DC Bell ECAT Status indicator equivalent in the CAN version, refer to the figure below.
Gold DC Bell Installation Guide 57 MAN-G-DCBELIG-EC (Ver. 1.200) 6.11. CAN Communication Version Fieldbus communications are industrial network protocols for real-time distributed control that allows connection of servo drives. The Gold DC Bell supports the following CAN fieldbus type industrial network protocol: Fieldbus Type Product Number CAN G-DCBEL XX/YYYSXX See Section 12.4 in the MAN-G-Panel Mounted Drives Hardware manual for the electrical diagram.
Gold DC Bell Installation Guide 58 MAN-G-DCBELIG-EC (Ver. 1.200) 6.11.1. CAN Wiring Caution When installing the CAN communications, ensure that each servo drive is allocated a unique ID. Otherwise, the CAN network may hang. Figure 41: Gold DC Bell Connection Diagram – CAN Table of Contents ||CAN Communication Version|www.elmomc.
Gold DC Bell Installation Guide MAN-G-DCBELIG-EC (Ver. 1.200) 59 6.12. Powering Up After the Gold DC Bell 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 DC Bell has been connected and mounted, the system must be set up and initialized.
Gold DC Bell Installation Guide MAN-G-DCBELIG-EC (Ver. 1.200) Chapter 7: Dim ensions This chapter provides detailed technical information regarding the Gold DC Bell. Table of Contents ||www.elmomc.
Table of Contents ||www.elmomc.
