Table of ContentsMAN-G-EAGIG-EC (Ver.1.000)49.9..3199.1.Incremental Encoder(p1)....339.9.2.Hall Sensor(P1…9.9.3.Absolute Serial Type Encoder(p1)..349.9.4.Interpolated Analog Encoder(p1).........369.10.Port c Connector -Port C,Analog,and STO(P3)............389.10.2 Analog Input(P3)...409.10.3.1.Source Mode PLC Voltage Level Input..................419.10.3.2.TTL Mode TTL Voltage Level Input..........419.10.3.3.SINK Mode -PLC Voltage Level Input.49.10.3.4.ST00 utput(P2）439.11.Digital Inputs and Outputs (P2).................449.11.1.Digital Input and Output TTL Mode(P2)........469.11.2.Digital Input and Output PLC Source Mode(P2)...9.11.3.Digital Input and Output Sink Mode(P2)........509.12.1.USB2.0(P4）…559.12.2.EtherCAT Communications Version...........569.12.2.1.EtherCAT Wiring(P4).......569.12.2.2.EthercAT Status Indicator.579.12.2.3.EtherCAT Address Switches..589.12.3.CAN Communications version..........599.12.3.1.CAN Wiring(P4).9.12.5.RS-422(Differential RS-232)Communication(P4)..Chapter 10:Powering Up.......................................6310.1.Initializing the System .......63Chapter 11:Heat Dissipation.............11.1.Gold Eagle Thermal Data.......6411.2.Heat Dissipation Data......6511.3.How to Use the charts....66chapter 12:Gold Eagle Dimensions......................67Table of Contents Warnings www.elmomc.Gold Eagle Installation Guide5MAN-G-EAGIG-EC (Ver.1.000)Chapter 1:This Installation GuideThis installation Guide details the technical data,pinouts,and power connectivity of the Gold Eagle.For a prehensive detailed description of the functions refer to the MAN-G-Panel MountedDrives Hardware manual which describes Panel Mounted products.Chapter 2:Safety InformationIn order to achieve the optimum,safe operation of the Gold Eagle,it is imperative that youimplement the safety procedures included in this installation guide.This information is provided toprotect you and to keep your work area safe when operating the Gold Eagle and acpanyingPlease read this chapter carefully before you begin the installation process.Before you start,ensure that all system ponents are connected to earth ground.Electricalsafety is provided through a low-resistance earth connection.Only qualified personnel may install,adjust,maintain and repair the servo drive.A qualified personhas the knowledge and authorization to perform tasks such as transporting,assembling,installing,missioning and operating motors.The Gold Eagle contains electrostatic-sensitive ponents that can be damaged if handledincorrectly.To prevent any electrostatic damage,avoid contact with highly insulating materials,such as plastic film and synthetic fabrics.Place the product on a conductive surface and groundyourself in order to discharge any possible static electricity build-up.To avoid any potential hazards that may cause severe personal injury or damage to the productduring operation,keep all covers and cabi doors shut.The following safety symbols are used in this and all Elmo Motion Control manuals:Warning:This information is needed to avoid a safety hazard,which might cause bodily injuryor death as a result of incorrect operation.Caution:This information is necessary to prevent bodily injury,damage to the product or toother equipment.Important:Identifies information that is critical for successful application and understanding ofthe product.Table of Contents |Warnings|www.elmomc.Gold Eagle Installation GuideMAN-G-EAGIG-EC (Ver.1.000)62.1.WarningsTo avoid electric arcing and hazards to personnel and electrical contacts,neverconnect/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.Disconnectthe Gold Eagle from all voltage sources before servicing.The high voltage products within the Gold Line range contain grounding conduits for electriccurrent protection.Any disruption to these conduits may cause the instrument to beehot (live)and dangerous.After shutting off the power and removing the power source from your equipment,wait atleast 1 minute before touching or disconnecting parts of the equipment that are normallyloaded with electrical charges(such as capacitors or contacts).Measuring the electricalcontact points with a meter,before touching the equipment,is remended.2.2.CautionsThe maximum DC power supply connected to the instrument must ply with theparameters outlined in this guide.●When connecting the Gold Eagle to an approved isolated auxiliary power supply,connect itthrough a line that is separated from hazardous live voltages using reinforced or doubleinsulation in accordance with approved safety standards.Before switching on the Gold Eagle,verify that all safety precautions have been observedand that the installation procedures in this manual have been followed.Make sure that the Safe Torque Off is operational2.3.CE Marking ConformanceThe Gold Eagle is intended for incorporation in a machine or end product.The actual end productmust ply with all safety aspects of the relevant requirements of the European Safety ofMachinery Directive 2006/42/EC as amended,and with those of the most recent versions ofstandards EN 60204-1 and EN ISO 12100 at the least,and in accordance with 2006/95/EC.Concerning electrical equipment designed for use within certain voltage limits,the Gold Eaglemeets the provisions outlined in 2006/95/EC.The party responsible for ensuring that theequipment meets the limits required by EMC regulations is the manufacturer of the end product.2.4.Warranty InformationThe products covered in this manual are warranted to be free of defects in material andworkmanship and conform to the specifications stated either within this document or in theproduct catalog description.All Elmo drives are warranted for a period of 12 months from the timeof installation,or 18 months from time of shipment,whichever es first.No other warranties,expressed or implied-and including a warranty of merchantability and fitness for a particularpurpose-extend beyond this warranty.Table of Contents |Warnings|www.elmomc.Gold Eagle Installation GuideMAN-G-EAGIG-EC (Ver.1.000)Chapter 3:Product DescriptionThe Gold Eagle series is a standard "off-the-shelf"series of durable servo drives designed,verified,manufactured and tested for applications operating under extreme environmental conditions.TheGold Eagle delivers up to 8.0 kW of continuous /16.0 kW peak power,and 9.6 kW of continuouspower with R type drives,in a pact package.This advanced,high power density servo drive operates from a DC power source in current,velocity,position and advanced position modes,in conjunction with a permanent-mag synchronousbrushless motor,DC brush motor,linear motor or voice coil.They are designed for use with anytype of sinusoidal and trapezoidal mutation,with vector control.The Gold Eagle can operate asa stand-alone device or as part of a multi-axis system in a distributed configuration on a real-timework.The drives are easily set up and tuned using Elmo Application Studio software tools.This Windows-based application enables users to quickly and simply configure the servo drive for optimal use withtheir motor.The Gold Eagle,as part of the Gold Line,is fully programmable with EImo's motioncontrol language.Since the power stage is fully isolated from the control stage,the DC rectifier can be fed directlyfrom the mains,without the need for a bulky and expensive transformer.The Gold Eagle is available in a variety of options.There are multiple power rating options,twodifferent munications options,a variety of feedback selections and 1/O configurationpossibilities.Table of Contents |Warranty Information|www.elmomc.Gold Eagle Installation Guide8MAN-G-EAGIG-EC (ver.1000)Chapter 4:Technical InformationThis chapter describes the relevant technical data applicable to the Gold Eagle servo drive.Forfurther details of the Gold ExtrlQ Line EMC and Safety standards,refer to the MAN-G-PanelMounted Drives Hardware Manual Chapter 15:Gold Line Standards.4.1.Environment ConditionsThe ExtrlQ products are designed,manufactured and tested to meet extreme environmentalconditions.The ExtrIQ durability is qualified,verified and tested according to the most severeenvironmental,EMC and safety standards exceeding the traditional and senior militaryStandards.The ExtrlQ series of drives support the following extended environmental conditions.FeatureOperation ConditionsRangeAmbientNon-operating conditions-50℃to+100℃(-58℉to212℉)TemperatureRangeOperating conditions-40℃to+70℃(-40℉to160℉)TemperatureNon-operating conditions-40℃to+70℃(-40℉to160℉)Shockwithin 3 minAltitudeNon-operating conditionsUnlimitedOperating conditions-400mto12,000m(-1312to39370feet)MaximumNon-operating conditionsUp to 95%relative humidityHumiditynon-condensing at 35 'C(95F)Operating conditionsUp to 95%relative humidity non-condensing at 25 'C(77 F),up to 90%relative humidity non-condensing at 42 C(108F)VibrationOperating conditions20Hzto2,000Hz,14.6gMechanicalNon-operating conditionst40g;Half sine,11 msec,3 per directionShock(overall 18)Operating conditions+20g;Half sine,11 msec,3 per direction(overall 18)Table of Contents Environment Conditions|www.elmomc.Gold Eagle Installation GuideMAN-G-EAGIG-EC (ver.1.000)94.2.Physical SpecificationsFeatureUnitsAll TypesWeightg(oz)700g(24.7o2Dimensionsmm(in)134×95×72(5.3"×3.7"×2.84)Mounting methodWall/Panel Mount4.3.Technical DataFeature00/00Minimum supply voltageVDC144692Nominal supply voltageVDC5085170340Maximum supply voltageVDC5995195390Maximum continuousW3400400080001200056009600560011500power output%>99(at nominal conditions)Max output voltage97%of DC bus voltage at f=22 kHzVL Logic supply inputVDC14to72voltageVL Logic supply inputVAs 4 VA without external loading of 5V (Encoders)powers 6 VA with full external loading of 5V(2 encoders)Amplitude sinusoidal/DCA705010015035601826continuous currentSinusoidal continuous503570106254212.718.4RMS current limit(Ic)Peak current limitANo PeakNo PeakNo PeakTable 1:Power RatingsNotes:The current ratings of the Gold Eagle are given in units of DC amperes(ratingsthat are used for trapezoidal mutation or DC motors).The RMS(sinusoidal mutation)value is the DC value divided by 1.41.The "Minimum supply voltage"of the XXX/100 is 14 VDC,to allow operation at 24 VDC withthe 100 VDC products.The VL of the XXX/100 is 14-72 VDC,to improve the ruggedness of the products and to allowmore flexibility with the VL.Table of Contents Physical Specifications|www.elmomc.Gold Eagle Installation GuideMAN-G-EAGIG-EC (ver.1.000)104.3.1.VL Logic SupplyFeatureDetailsLogic power supplyIsolated DC source onlyLogic supply input voltage14 to 72 VDCLogic supply input powers4 VA without external loading of 5V (Encoders)s6 VA with full external loading of 5V(2 Encoders)The Gold Eagle is available in a variety of options.There are multiple power rating options,twodifferent munications options,a variety of feedback selections and I/O configurationpossibilities.4.3.2.Product FeaturesMain FeatureDetailsPresence and No.STOTTLorPLC SourceDigital InputTTLor6OptionPLC Source or6PLC Sink6Digital OutputTTLor4OptionPLC Source orPLC SinkAnalog InputDifferential±1oW1FeedbackStandard Port A,B,&CCommunicationUSBOptionEtherCATCANRS-232Differential RS-232(RS-422)Table of Contents |Technical Data|www.elmomc.Gold Eagle Installation GuideMAN-G-EAGIG-EC (Ver.1.000)11Chapter 5:Unpacking the Drive ComponentsBefore you begin working with the Gold Eagle,verify that you have all of its ponents,as follows:.The Gold Eagle servo drive.The Elmo Application Studio (EASII)software and software manualThe Gold Eagle is shipped in a cardboard box with Styrofoam protection.To unpack the Gold Eagle:1.Carefully remove the servo drive from the box and the Styrofoam.2.Check the drive to ensure that there is no visible damage to the instrument.If any damagehas occurred,report it immediately to the carrier that delivered your drive.3.To ensure that the Gold Eagle you have unpacked is the appropriate type for yourrequirements,locate the part number sticker on the side of the Gold Eagle.It looks like this:P/N:G-EAG18/400EEElmoMotion ControlG-D110277504www.elmomc.GEAG001A4.Verify that the Gold Eagle type is the one that you ordered,and ensure that the voltagemeets your specific requirements.The part number at the top provides the type designation.Refer to the appropriate partnumber in the section Catalog Number at the beginning of the installation guide.Table of Contents |Technical Data|www.elmomc.Gold Eagle Installation GuideMAN-G-EAGIG-EC (Ver.1.000)12Chapter 6:Gold Eagle Connectors and Indicators6.1.Connector TypesThe Gold Eagle has four connector types as follows:TypeFunctionPortConnector LocationBarrel ConnectorPowerVP+,VN-VN-VP+M6 SpringoWasher+M6 NutMotorM1.M2.M3Barrel ConnectorEarthPE,PE,PE,PEM5 Flat WasherConnectionHM5 SpringWasher+M5PEPEscrewM1M2PinsNameTypeFunctionRear ConnectorsVP+VN-15P3D-Type High Density,femalePort C,Analog and STO26P1D-Type High Density,femalePort A and Port BTable of ContentsConnector Types www.elmomc.