Gold DC Trombone Digital Servo Drive Installation Guide EtherCAT and CAN September 2014 (Ver. 1.900) 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 Trombone 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 Ver. 1.900 Date Sep 2014 Table of Contents Details Initial release in new format |Warnings|www.elmomc.
Table of Contents MAN-G-DCTROIG-EC (Ver. 1.900) 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-DCTROIG-EC (Ver. 1.900) 6.6 6.7 6.8 6.9 6.10 6.11 6.12 6.5.2 Hall Sensor .................................................................................................39 6.5.3 Absolute Serial Type Encoder ....................................................................40 Port B ........................................................................................................................42 6.6.1 Incremental Encoder ...............................................
Gold DC Trombone Installation Guide MAN-G-DCTROIG-EC (Ver. 1.900) Chapter 1: 6 This I nstallation Guide This installation Guide details the technical data, pinouts, wiring, and power connectivity of the Gold DC Trombone. 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 Trombone Installation Guide MAN-G-DCTROIG-EC (Ver. 1.900) 2.1 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 DC Trombone from all voltage sources before servicing. • The high voltage products within the Gold Line range contain grounding conduits for electric current protection.
Gold DC Trombone Installation Guide MAN-G-DCTROIG-EC (Ver. 1.900) Chapter 3: Product Description The Gold DC Trombone series of digital servo drives are highly resilient and designed to deliver the highest density of power and intelligence. The Gold DC Trombone 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 DC Trombone Installation Guide 9 MAN-G-DCTROIG-EC (Ver. 1.900) Chapter 4: 4.1 Technical I nform ation 9 Physical Specifications Feature Units All Types Weight g (oz) 650 g (22.9 oz) for standard L shape 1100 g (38.8 oz) for L shape fins and fan Dimensions mm (in) 105 x 140 x 47 (4.13" x 5.51" x 1.85") Mounting method 4.
Gold DC Trombone Installation Guide 10 MAN-G-DCTROIG-EC (Ver. 1.900) 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 DC Trombone Installation Guide 11 MAN-G-DCTROIG-EC (Ver. 1.900) 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 DC Trombone Installation Guide MAN-G-DCTROIG-EC (Ver. 1.900) Chapter 5: 12 I nstallation The Gold DC Trombone must be installed in a suitable environment and properly connected to its voltage supplies and the motor. 5.
Gold DC Trombone Installation Guide 13 MAN-G-DCTROIG-EC (Ver. 1.900) 5.2 Connector Types The Gold DC Trombone has the following ten connectors. Pins Type Function Bottom Connectors 2 5.08 mm Phoenix high current 24 V 4 7.62 mm Phoenix high current Motor Connector 3 7.62 mm Phoenix high current Power Connector Table of Contents ||Connector Types|www.elmomc.
Gold DC Trombone Installation Guide 14 MAN-G-DCTROIG-EC (Ver. 1.900) Pins Type Function Front Connectors Front Connectors - EtherCAT Front Connectors - CAN 15 Socket D-Type Port A Table of Contents ||Connector Types|www.elmomc.
Gold DC Trombone Installation Guide 15 MAN-G-DCTROIG-EC (Ver. 1.
Gold DC Trombone Installation Guide MAN-G-DCTROIG-EC (Ver. 1.900) 5.3 Mounting the Gold DC Trombone The Gold DC Trombone 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 Trombone (see the diagram below).
Gold DC Trombone Installation Guide MAN-G-DCTROIG-EC (Ver. 1.900) 5.4 17 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.
Gold DC Trombone Installation Guide MAN-G-DCTROIG-EC (Ver. 1.900) 5.4.1 Connection Diagrams for EtherCAT Version The following describes the connection diagrams for the EtherCAT version. Figure 4: Gold DC Trombone EtherCAT Connection Diagram – with Backup Functionality (A, H, S, or T options) Table of Contents ||Connection Diagrams|www.elmomc.
Gold DC Trombone Installation Guide MAN-G-DCTROIG-EC (Ver. 1.900) 19 Figure 5: Gold DC Trombone EtherCAT Connection Diagram – 400 V without Backup Functionality for Model Drives with 0 or 1 Options Table of Contents ||Connection Diagrams|www.elmomc.
Gold DC Trombone Installation Guide MAN-G-DCTROIG-EC (Ver. 1.900) 5.4.2 Connection Diagrams for CAN Version The following describes the connection diagrams for the CAN version. Figure 6: Gold DC Trombone CAN Connection Diagram – with Backup Functionality (A, H, S, or T options) Table of Contents ||Connection Diagrams|www.elmomc.
Gold DC Trombone Installation Guide MAN-G-DCTROIG-EC (Ver. 1.900) Figure 7: Gold DC Trombone CAN Connection Diagram – 400 V without Backup Functionality for Model Drives with 0 or 1 Options Table of Contents ||Connection Diagrams|www.elmomc.
Gold DC Trombone Installation Guide 22 MAN-G-DCTROIG-EC (Ver. 1.900) 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 Trombone Installation Guide 23 MAN-G-DCTROIG-EC (Ver. 1.900) Wiring Symbol Description D-type Connector: The cable`s braid (Shield) must be connected to the D-sub shell (metal housing) Encoder Earthing. T The cable`s shield is connected to the chassis (PE) in the connector. Earthing the Encoder and connecting the Earth (PE) to the drive COMRET is mandatory to insure reliable operation, high noise immunity and rejection of voltage common mode interferences.
Gold DC Trombone Installation Guide MAN-G-DCTROIG-EC (Ver. 1.900) 6.1 6.1.1 24 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 Trombone Installation Guide MAN-G-DCTROIG-EC (Ver. 1.900) 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 9). b.
Gold DC Trombone Installation Guide MAN-G-DCTROIG-EC (Ver. 1.900) 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 10: Feedback Port C Cable Assemblies 6.1.4 IO Cable Connector It is recommended to use shielded cable, but is not mandatory.
Gold DC Trombone Installation Guide MAN-G-DCTROIG-EC (Ver. 1.900) 6.1.5 STO (Port C) Cable Connector It is recommended to use shielded cable, but is not mandatory. Figure 12: STO Cable Assemblies Table of Contents ||Basic Recommendations|www.elmomc.
Gold DC Trombone Installation Guide 28 MAN-G-DCTROIG-EC (Ver. 1.900) 6.2 Motor Power Connector Pinouts See Chapter 8 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details. Pin Function Cable Brushless Motor Brushed DC Motor M3 Motor phase Motor Motor M2 Motor phase Motor Motor M1 Motor phase Motor N/C PE Protective Earth Motor Motor 4-Pin Phoenix Plug-in Connector 4-Pin Pluggable 7.
Gold DC Trombone Installation Guide MAN-G-DCTROIG-EC (Ver. 1.900) 29 To power the drive, connect the M1, M2, M3, and PE pins on the Gold DC Trombone. The phase connection is arbitrary as Elmo Application Studio II (EAS II) will establish the proper commutation automatically during setup. When tuning a number of drives, you can copy the setup file to the other drives and thus avoid tuning each drive separately. In this case the motor-phase order must be the same as on the first drive.
Gold DC Trombone Installation Guide 30 MAN-G-DCTROIG-EC (Ver. 1.900) 6.3 Main Power The Gold DC Trombone receives power from main supply and delivers power to the motor. See Chapter 8 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details. Pin Function Cable PE Protective Earth DC Power VN- DC Negative Power input DC Power VP+ DC Positive Power input DC Power 3-Pin Phoenix Plug-in Connector 3-Pin Pluggable 7.
Gold DC Trombone Installation Guide MAN-G-DCTROIG-EC (Ver. 1.900) 6.3.1 Direct-to-Mains Power Source (Non-Isolated Rectifier) This section relates to the configuration of the drive, which is connected directly to the mains. To connect the non-isolated AC power supply: 1. For best noise immunity, a shielded (not twisted) cable is recommended (not mandatory) for the DC input cable. 2. A 3-wire shielded cable should be used: a.
Gold DC Trombone Installation Guide MAN-G-DCTROIG-EC (Ver. 1.900) 6.3.2 Three-Phase Direct-to-Mains Connection Topology Figure 15: Non-Isolated Three-Phase Connection Topology Table of Contents ||Main Power|www.elmomc.
Gold DC Trombone Installation Guide MAN-G-DCTROIG-EC (Ver. 1.900) 6.3.3 Single-Phase Direct-to-Mains Connection Topology Figure 16: Non-Isolated Single-Phase Connection Topology The Power Supply is connected directly to the mains AC line. Table of Contents ||Main Power|www.elmomc.
Gold DC Trombone Installation Guide MAN-G-DCTROIG-EC (Ver. 1.900) 6.3.4 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 DC Trombone Installation Guide MAN-G-DCTROIG-EC (Ver. 1.900) 6.3.5 Battery Power Supply Figure 18: 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|www.elmomc.
Gold DC Trombone Installation Guide 36 MAN-G-DCTROIG-EC (Ver. 1.900) 6.4 Auxiliary Power Optional Backup Supply in A, H, S, or T option drives. See Chapter 8 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details. Pin Function Cable A, H, S, or T option type VL+ +24 V Auxiliary Supply Input Positive DC Power VL- 24 V RET Auxiliary Supply Input Return DC Power 2-Pin Pluggable 5.
Gold DC Trombone Installation Guide MAN-G-DCTROIG-EC (Ver. 1.900) Figure 19: Auxiliary 24 VDC Backup Supply Connection Diagram Table of Contents ||Auxiliary Power|www.elmomc.
Gold DC Trombone Installation Guide 38 MAN-G-DCTROIG-EC (Ver. 1.900) 6.5 Port A See Section 10.3 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details.
Gold DC Trombone Installation Guide MAN-G-DCTROIG-EC (Ver. 1.900) 6.5.1 Incremental Encoder The following figure describes the connections at Port A for the Incremental encoder. Figure 20: Port A D-Type Incremental Encoder Input – Recommended Connection Diagram 6.5.2 Hall Sensor The following figure describes the connections at Port A for the Hall Sensor. Figure 21: Hall Sensor Connection Diagram Table of Contents ||Port A|www.elmomc.
Gold DC Trombone Installation Guide MAN-G-DCTROIG-EC (Ver. 1.900) 6.5.3 40 Absolute Serial Type Encoder The following figures describe the connections at Port A for the Absolute Serial type encoders. Figure 22: Absolute Serial Encoder – Recommended D-Type Connection Diagram for EnDAT, Biss, and SSI Figure 23: Absolute Serial Encoder – Recommended D-Type Connection Diagram for Sensors Supporting Data Line Only (NRZ types, e.g.
Gold DC Trombone Installation Guide MAN-G-DCTROIG-EC (Ver. 1.900) Figure 24: Absolute Serial Encoder – Recommended D-Type Connection Diagram for Stegmann Hiperface Table of Contents ||Port A|www.elmomc.
Gold DC Trombone Installation Guide 42 MAN-G-DCTROIG-EC (Ver. 1.900) 6.6 Port B See Section 10.4 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details.
Gold DC Trombone Installation Guide MAN-G-DCTROIG-EC (Ver. 1.900) 6.6.1 Incremental Encoder The following figure describes the connections at Port B for the Incremental encoder. Figure 25: Port B Incremental Encoder Input – Recommended D-Type Connection Diagram Table of Contents ||Port B|www.elmomc.
Gold DC Trombone Installation Guide MAN-G-DCTROIG-EC (Ver. 1.900) 6.6.2 Interpolated Analog Encoder The following figure describes the connections at Port B for the Interpolated Analog encoder. Figure 26: Port B - Interpolated Analog Encoder D-Type Connection Diagram Table of Contents ||Port B|www.elmomc.
Gold DC Trombone Installation Guide MAN-G-DCTROIG-EC (Ver. 1.900) 6.6.3 Resolver The following figure describes the connections at Port B for the Resolver encoder. Figure 27: Port B – Resolver D-Type Connection Diagram Table of Contents ||Port B|www.elmomc.
Gold DC Trombone Installation Guide MAN-G-DCTROIG-EC (Ver. 1.900) 6.7 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 11.2 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details.
Gold DC Trombone Installation Guide 47 MAN-G-DCTROIG-EC (Ver. 1.900) Pin Positions 15-Socket High Density D-Type Connector Table 7: Port C Feedback Out and STO Analog In Table of Contents ||Port C, Analog Input, and STO|www.elmomc.
Gold DC Trombone Installation Guide MAN-G-DCTROIG-EC (Ver. 1.900) 6.7.1 48 Port C The following figure describes the connections at Port C for the Emulated Encoder Differential. Figure 28: Emulated Encoder Differential Output – Recommended D-Type Connection Diagram 6.7.2 Analog Input The following circuit describes the internal interface of the Analog input. Figure 29: Differential Analog D-Type Input Table of Contents ||Port C, Analog Input, and STO|www.elmomc.
Gold DC Trombone Installation Guide MAN-G-DCTROIG-EC (Ver. 1.900) 6.7.3 STO The following circuits describe the STO wiring options. 6.7.3.1 Source Mode PLC Voltage Level Figure 30: STO D-Type Input Connection – PLC Source Option 6.7.3.2 TTL Mode TTL Voltage Level Figure 31: STO Input Connection – TTL Option Table of Contents ||Port C, Analog Input, and STO|www.elmomc.
Gold DC Trombone Installation Guide MAN-G-DCTROIG-EC (Ver. 1.900) 6.7.3.3 50 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 32: STO Input Connection – Sink Option Table of Contents ||Port C, Analog Input, and STO|www.elmomc.
Gold DC Trombone Installation Guide MAN-G-DCTROIG-EC (Ver. 1.900) 6.8 51 Digital Inputs and Outputs Refer to Chapter 11 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details.
Gold DC Trombone Installation Guide MAN-G-DCTROIG-EC (Ver. 1.900) Pin on I/O Signal 52 Function Pin Positions 15-Pin High Density D-Type Male Connector Table 8: I/O Connector Pin Assignments Table of Contents ||Digital Inputs and Outputs|www.elmomc.
Gold DC Trombone Installation Guide MAN-G-DCTROIG-EC (Ver. 1.900) 6.8.1 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 33: Digital Input TTL Mode D-Type Connection Diagram Table of Contents ||Digital Inputs and Outputs|www.elmomc.
Gold DC Trombone Installation Guide MAN-G-DCTROIG-EC (Ver. 1.900) Figure 34: Digital Output D-Type Connection Diagram – TTL Option Table of Contents ||Digital Inputs and Outputs|www.elmomc.
Gold DC Trombone Installation Guide MAN-G-DCTROIG-EC (Ver. 1.900) 6.8.2 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 35: Digital Input D-Type Connection Diagram – Source PLC Option Table of Contents ||Digital Inputs and Outputs|www.elmomc.
Gold DC Trombone Installation Guide MAN-G-DCTROIG-EC (Ver. 1.900) Figure 36: Digital Output D-Type Connection Diagram – Source PLC Option Table of Contents ||Digital Inputs and Outputs|www.elmomc.
Gold DC Trombone Installation Guide MAN-G-DCTROIG-EC (Ver. 1.900) 6.8.3 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 37: Digital Input Sink Mode – PLC voltage level D-Type Connection Diagram Table of Contents ||Digital Inputs and Outputs|www.elmomc.
Gold DC Trombone Installation Guide MAN-G-DCTROIG-EC (Ver. 1.900) Figure 38: Digital Output as Sink Configuration D-Type Connection Diagram Table of Contents ||Digital Inputs and Outputs|www.elmomc.
Gold DC Trombone Installation Guide 59 MAN-G-DCTROIG-EC (Ver. 1.900) 6.9 USB 2.0 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 39: USB Network Diagram Table of Contents ||USB 2.0|www.elmomc.
Gold DC Trombone Installation Guide MAN-G-DCTROIG-EC (Ver. 1.900) 60 6.10 Drive Status Indicator The Gold DC Trombone 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 DC Trombone Installation Guide 61 MAN-G-DCTROIG-EC (Ver. 1.900) 6.11 EtherCAT Communications Version Fieldbus communications are industrial network protocols for real-time distributed control that allows connection of servo drives. The Gold DC Trombone supports the following EtherCAT fieldbus type industrial network protocol: Fieldbus Type Product Number EtherCAT 6.11.1 G-DCTRO XX/YYYEXXX EtherCAT In/Ethernet Pinouts Refer to section 12.
Gold DC Trombone Installation Guide 62 MAN-G-DCTROIG-EC (Ver. 1.900) 6.11.2 EtherCAT Out Pinouts See Section 12.2 in the MAN-G-Panel Mounted Drives Hardware manual for the electrical diagram.
Gold DC Trombone Installation Guide MAN-G-DCTROIG-EC (Ver. 1.900) 6.11.4 63 EtherCAT Link Indicators This section is only relevant for EtherCAT (P/N G-DCTRO XX/YYYEXXX) products only. The Gold DC Trombone can serve as an EtherCAT slave device. For this purpose it has two RJ-45 connectors, which are designated as EtherCAT In and EtherCAT Out. Each of these RJ-45 connectors has two status LEDs, which are shown in Figure 41. Figure 41: Ethernet Connector LEDs The green LED is the link/activity indicator.
Gold DC Trombone Installation Guide 64 MAN-G-DCTROIG-EC (Ver. 1.900) 6.12 CAN Communications Version Fieldbus communications are industrial network protocols for real-time distributed control that allows connection of servo drives. The Gold DC Trombone supports the following CAN fieldbus type industrial network protocol. Fieldbus Type Product Number CAN G-DCTRO XX/YYYSXXX See Section 12.4 in the MAN-G-Panel Mounted Drives Hardware manual for the electrical diagram.
Gold DC Trombone Installation Guide 65 MAN-G-DCTROIG-EC (Ver. 1.900) 6.12.1 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 DC Trombone Connection Diagram – CAN Table of Contents ||CAN Communications Version|www.elmomc.
Gold DC Trombone Installation Guide MAN-G-DCTROIG-EC (Ver. 1.900) Chapter 7: 66 Pow ering Up After the Gold DC Trombone 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. 7.1 Initializing the System After the Gold DC Trombone has been connected and mounted, the system must be set up and initialized.
Gold DC Trombone Installation Guide MAN-G-DCTROIG-EC (Ver. 1.900) Chapter 8: Gold DC Trom bone Dim ensions This chapter provides detailed technical information regarding the Gold DC Trombone. Figure 43: Gold DC Trombone Dimensions with standard L-shape heat-sink Table of Contents ||Initializing the System|www.elmomc.
Gold DC Trombone Installation Guide MAN-G-DCTROIG-EC (Ver. 1.900) Figure 44: Gold DC Trombone Dimensions with L-shape heat-sink fins and fan Table of Contents ||Initializing the System|www.elmomc.
Table of Contents ||www.elmomc.
