Gold Maestro Network Motion Controller Installation Guide January 2013 (Ver. 1.301) 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 Maestro 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.
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 Maestro Installation Guide MAN-GOLD-MAESTRO-IG (Ver. 1.301) Table of Contents Chapter 1: 1.1. 1.2. 1.3. Cautions ......................................................................................................................6 Directives and Standards ............................................................................................7 Warranty Information ................................................................................................7 Chapter 2: 2.1. 2.2. 2.3. 2.4.
Gold Maestro Installation Guide Table of Contents MAN-GOLD-MAESTRO-IG (Ver. 1.301) 4.1. 4.2. 4.3. 4.4. 4.5. 4.6. Gold Maestro Dimensions ....................................................................................... 29 General Specifications ............................................................................................. 29 Environmental Conditions ....................................................................................... 29 Power Supply ...............................
Gold Maestro Installation Guide 6 MAN-GOLD-MAESTRO-IG (Ver. 1.301) Chapter 1: Safety I nform ation In order to achieve the optimum, safe operation of the Gold Maestro Multi-Axis Controller, 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 Maestro and accompanying equipment. Please read this chapter carefully before you begin the installation process.
Gold Maestro Installation Guide Safety Information MAN-GOLD-MAESTRO-IG (Ver. 1.301) 1.2.
Gold Maestro Installation Guide 8 MAN-GOLD-MAESTRO-IG (Ver. 1.301) Chapter 2: Product Description This installation guide describes the Gold Maestro Network Motion Controller and the steps for its wiring, installation and power up. Following these guidelines ensures maximum functionality of the system to which it is connected. 2.1. Description The Gold Maestro is Elmo’s network motion controller.
Gold Maestro Installation Guide Product Description MAN-GOLD-MAESTRO-IG (Ver. 1.301) 2.2. Specifications 2.2.1. Gold Maestro Hardware • Hardware: Standalone • Power Supply: Single DC supply, with two product options available: 13 VDC to 96 VDC 20 VDC to 196 VDC • Processor: PowerPC, 333 MHz, with double precision floating point support by hardware.
Gold Maestro Installation Guide Product Description MAN-GOLD-MAESTRO-IG (Ver. 1.301) 2.2.2. Gold Maestro Software • Operating System: Linux Operating System, with Elmo’s RT extension for real-time motion control support • Motion Programming and Debugging Native C Programming, running on the target CPU. Compiling and debugging via the Eclipse IDE using GCC under Cygwin IEC 61131-3 with PLCopen Motion Library extension, using Elmo IDE.
Gold Maestro Installation Guide Product Description MAN-GOLD-MAESTRO-IG (Ver. 1.301) • • • Telnet communication for setup and configuration USB: Using binary protocol (maintenance) Application level: Ethernet-IP/Modbus Device Network • • EtherCAT: CoE/EoE/FoE, supports distributed clock master CAN: CANopen device profiles, e.g., DS 301, DS 305, DS 402, DS 401 (I/O device profile) Host and Internal Software Interface • TCP/IP interface from Host Computer.
Gold Maestro Installation Guide Product Description MAN-GOLD-MAESTRO-IG (Ver. 1.301) 2.3. Communication Options The Gold Maestro can communicate with a host PC through either a standard Ethernet port or through USB using a binary protocol for maintenance. The Gold Maestro communicates with its network devices using either EtherCAT or CAN networks. Figure 1: The Gold Maestro Network Connections 2.4.
Gold Maestro Installation Guide 13 MAN-GOLD-MAESTRO-IG (Ver. 1.301) Chapter 3: I nstallation 3.1. Before You Begin 3.1.1. Site Requirements For safe operation of the Gold Maestro make sure it is installed in an appropriate environment. Feature Value Ambient operating temperature 0 °C to 40 °C (32 °F to 104 °F) Maximum non-condensing humidity 90% Operating area atmosphere No flammable gases or vapors permitted in area 3.1.2.
Gold Maestro Installation Guide Installation MAN-GOLD-MAESTRO-IG (Ver. 1.301) 4. The part number at the top gives the type designation as follows: GOLD-MAESTRO01: 13 to 96 VDC power supply GOLD-MAESTRO02: 20 to 196 VDC power supply 5. Verify that the Gold Maestro type is the one that you ordered. 6. Verify that you have CAN termination resistors (dongles), illustrated below. 3.3. 3.3.1.
Gold Maestro Installation Guide Installation MAN-GOLD-MAESTRO-IG (Ver. 1.301) Pins Type Function Bottom Connectors 8 RJ-45 Ethernet 4 USB USB Table 1: Connector Types 3.3.2. Pinouts 3.3.2.1. Power Connector See Section 3.5.2 for full details. Pin Function PE Protective Earth PR Power Return VL+ Positive Power Input Connector Location 3-Pin 3.81 mm Pitch Phoenix Header (MC 1.5/3-G-3.81) Cable Connector 3-Pin Phoenix Plug (MC 1.5/3-ST-3.
Gold Maestro Installation Guide Installation MAN-GOLD-MAESTRO-IG (Ver. 1.301) 3.3.2.2. EtherCAT In Connector See Section 3.5.6 for full details.
Gold Maestro Installation Guide Installation MAN-GOLD-MAESTRO-IG (Ver. 1.301) 3.3.2.4. CAN Connectors See Section 3.5.5 for full details.
Gold Maestro Installation Guide Installation MAN-GOLD-MAESTRO-IG (Ver. 1.301) 3.3.2.6. USB 2.0 Connector See Section 3.5.4 for full details. Pin Signal Function 1 USB VBUS USB VBUS from host 2 USBD- USB _N line 3 USBD+ USB _P line 4 USB COMRET USB communication return Connector Location Cable Connector USB Device Type B Plug USB 2.0 Connector Table 7: USB Pin Assignments 3.4. Mounting the Gold Maestro The Gold Maestro has three mounting options: 1. Wall mount 2. Surface mount 3.
Gold Maestro Installation Guide Installation MAN-GOLD-MAESTRO-IG (Ver. 1.301) Figure 2: Wall Mounting the Gold Maestro www.elmomc.
Gold Maestro Installation Guide Installation MAN-GOLD-MAESTRO-IG (Ver. 1.301) 3.4.2. Surface Mount Use four M4 round head screws, one through each opening in the heat sink to connect the Gold Maestro to a surface. Figure 3: Surface Mounting the Gold Maestro 3.4.3. Installation on a DIN Rail Use one M3x5 round head screw to connect the DIN rail mounting clip to the back of the Gold Maestro. Figure 4: Mounting the Gold Maestro on a DIN Rail www.elmomc.
Gold Maestro Installation Guide Installation MAN-GOLD-MAESTRO-IG (Ver. 1.301) 3.5. 3.5.1. Connecting the Cables Wiring the Gold Maestro Once the Gold Maestro is mounted, you are ready to wire the device. Proper wiring, grounding and shielding are essential for ensuring safe, immune and optimal performance of the Gold Maestro. Caution: Follow these instructions to ensure safe and proper wiring. • Use twisted pair shielded cables for communication connections.
Gold Maestro Installation Guide Installation MAN-GOLD-MAESTRO-IG (Ver. 1.301) Type Port Connector Location RJ-45 EtherCAT In/ EtherCAT Out RJ-45 CAN x 2 Table 9: Connectors on the Front of the Gold Maestro Type Port Connector Location USB USB RJ-45 Ethernet Table 10: Connectors on the Top of the Gold Maestro 3.5.2. Connecting the DC Power Supply The Gold Maestro requires 4.5 W when turned on. Any isolated power supply that can supply that power is acceptable.
Gold Maestro Installation Guide Installation MAN-GOLD-MAESTRO-IG (Ver. 1.301) Figure 5: Power Supply Connection Diagram 3.5.3. Ethernet Note: When connecting the Ethernet communication cable use a shielded CAT5e Ethernet cable. The Gold Maestro connects to a PC either directly or through a hub, switch or router. Use a standard or cross CAT5e Ethernet cable. Figure 6: Gold Maestro Connected to a Network Figure 7: Gold Maestro Connected Peer-to-Peer to a PC www.elmomc.
Gold Maestro Installation Guide Installation MAN-GOLD-MAESTRO-IG (Ver. 1.301) 3.5.4. USB 2.0 Communication The USB Network consists of Host controller and multiple devices. The GMAS is a USB Device. Notes for connecting the USB communication cable: Connect the shield to the ground of the host (PC). Usually, this connection is soldered internally inside the connector at the PC end. You can use the drain wire to facilitate connection.
Gold Maestro Installation Guide Installation MAN-GOLD-MAESTRO-IG (Ver. 1.301) 3.5.5. CAN Communication 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 be covered by copper braid with a drain wire (CAT5e FTP applicable). Connect the shield to the ground of the host (PC). Usually, this connection is soldered internally inside the connector at the PC end.
Gold Maestro Installation Guide Installation MAN-GOLD-MAESTRO-IG (Ver. 1.301) Pin Signal Function 1 CAN_H CAN_H bus line (dominant high) 2 CAN_L CAN_L bus line (dominant low) 3 CAN_COMRET CAN Communication Return N/A — 6 CAN_SHLD Shield, connected to the RJ plug cover 7 CAN_COMRET CAN Communication Return 8 N/A — 4, 5 Pin Position Table 13: CAN Cable Pin Assignments www.elmomc.
Gold Maestro Installation Guide Installation MAN-GOLD-MAESTRO-IG (Ver. 1.301) 3.5.6. EtherCAT Communication The Gold Maestro is the master of the EtherCAT network and must always be the first device in the line. The EtherCAT Out port of the Gold Maestro should be connected to the EtherCAT In port of the next device down the line. The Out port of the last device in line can be left open. If redundancy is required, the Out port of the last device should be connected to the In port of the Gold Maestro.
Gold Maestro Installation Guide Installation MAN-GOLD-MAESTRO-IG (Ver. 1.301) Figure 12: EtherCAT Network with Redundancy EtherCAT with redundancy is an optional method of connection. 3.6. Powering Up After the Gold Maestro has been mounted, check that the cables are intact. The Gold Maestro is then ready to be powered up. 3.7. Initializing the System After the Gold Maestro has been connected and mounted, the system must be set up and initialized.
Gold Maestro Installation Guide 29 MAN-GOLD-MAESTRO-IG (Ver. 1.301) Chapter 4: Technical Specifications 4.1. Gold Maestro Dimensions All measurements are in mm. 4.2. General Specifications Feature Details Weight 250 g (8.75 ounces) Dimensions 115 mm x 75 mm x 25.4 mm (4.53" x 2.95" x 1") Mounting Method (with adapter) Wall Mount (“Bookshelf”) 4.3.
Gold Maestro Installation Guide Technical Specifications MAN-GOLD-MAESTRO-IG (Ver. 1.301) 4.4. Power Supply Feature Details Auxiliary power supply DC source only Auxiliary supply input voltage 13 V to 96 V or 20 V to 196 V depending on the model Auxiliary supply input power 4.5. 4.5 W Communications Specification Details Ethernet 100 base-T Baud Rate: 10/100 Mbit/sec, automatically detected CAT5e Cable UDP, Telnet, TCP USB One port, USB 2.
Gold Maestro Installation Guide Technical Specifications MAN-GOLD-MAESTRO-IG (Ver. 1.301) 4.6. 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 Maestro Installation Guide Technical Specifications MAN-GOLD-MAESTRO-IG (Ver. 1.
