Gold Hawk Installa tion GuideMAN-G-HAKIG (Ver.1.001)4Table of Contentschapter 1:Safety Information....1.1.Warnings.…81.2.81.3.Directives and Standards..........91.4.CE Marking Conformance.......10Chapter 2:Product Description…112.1.Functional Description..12.2.Product Features.2.2.1.High Power Density.112.2.3.Servo Control...............122.2.4.Advanced Filters and Gain Scheduling132.2.6.Fully Programmable..132.2.7.2.28.Feedback Sensor Specifications........142.2.9.2.2.10.Safety162.2.11.0 utputs…2.2.13.Built-In Protection ..........2.2.14.Status Indication....2.2.15.Automatic Procedures......2.3.System Architecture..............182.4.How to Use this Guide..............203.1.Technical Data................3.1.1.Auxiliary Supply ....213.2.Environmental Conditions............Chapter 4:Installation.224.1.Site Requirements.................224.2.Unpacking the Drive Components....4.3.1.Connector Types.…4.3.2.4.3.2.1.Motor Power.................244.3.2.2.Main Power......25Table of Contents4.3.2.3.Auxiliary Power Connector.....254.3.2.4..264.3.2.5.Connector J1...294.4.Mounting the Gold Hawk......314.5.Integrating the Gold Hawk on a PCB...324.5.1.Grounds and Returns..324.6.The Gold Hawk connection Diagram.344.7.Main Power,Auxiliary Power and Motor Power......354.7.2.Main Power,Motor Power and Auxiliary Power........................364.7.2.1.Motor Power..364.7.2.2.Main Power.......4.7.3.Auxiliary Power Supply (Optional)...384.74.Single Supply.…394.7.5.Separate Auxiliary (Backup)Supply ....4.7.6.Shared Supply.....404.8.STO (Safe Torque Off)Inputs..414.9..454.9.1.1.Incremental Encoder....464.9.1.2.Absolute Serial Encoder..474.9.1.3.Hall Sensors..............484.9.2.1.Incremental Encoder ............4.9.2.2.Interpolated Analog Encoder.......514.9.23.4.9.3.Port C-Emulated Encoder Output (J2)..........524.9.4.4.10.1 Digital Inputs (1)...5.44.10.2.Digital0 utputs (J1)……574.10.3.Analog Input…4.11.2.CAN Communication (J2)....................614.11.3.USB 2.0 Communication (J2)...............634.11.4.EtherCAT Communication (J2)........644.11.5.Ether Communication (J2)......664.11.6.EtherCAT/Ether Line Interface.............684.12.Powering Up...684.13.Initializing the System.........684.14.Heat Dissipation....684.14.1.Thermal Data….684.14.2.Heat Dissipation Data ...........694.14.3.How to Use the Charts...................Gold Hawk Installa tion GuideTable of Contents6Chapter 5:5.1.DimensionS.5.2.Control Specifications....735.2.1.Current Loop.…5.3.Feedbacks........................5.3.1.Feedback Supply Voltage.55.3.2.1.Incremental Encoder Input............5.3.2.2.5.3.2.3.Interpolated Analog (Sine/Cosine)Encoder...................765.3.2.5.Absolute Serial Encoder75.4.1.Digital Input Interfaces -TTL Mode.........795.4.2.Digital Output Interface-TTL Mode.....85.4.2.1.5.4.2.2.5..Safe Torque Off (STO).........................5.5.1.STO Input Interfaces-TTL Mode ..825.6.Communications..............5.7.Pulse-Width Modulation (PWM)......83Chapter 6:Gold Line Standards.......6.1.Functional Safety...............846.3.876.4.EtherCAT Conformance ..................886.5.Other Compliant Standards..........6.6.Gold Hawk Installa tion Guide7Chapter 1:Safety InformationIn order to achieve the optimum,safe operation of the Gold Hawk servo drive,it is imperativethat you implement the safety procedures included in this installation guide.This information isprovided to protect you and to keep your work area safe when operating the Gold Hawk andacpanying equipment.Please 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 qualifiedperson has the knowledge and authorization to perform tasks such as transporting,assembling,installing,missioning and operating motors.The Gold Hawk servo drive contains electrostatic-sensitive ponents that can be damaged ifhandled incorrectly.To prevent any electrostatic damage,avoid contact with highly insulatingmaterials,such as plastic film and synthetic fabrics.Place the product on a conductive surfaceand ground yourself 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 manual:Warning:This information is needed to avoid a safety hazard,which might causebodily injury.Caution:This information is necessary for preventing damage to the product or toother equipment.www.elmomc.Gold Hawk Installa tion GuideSafety Information81.1.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 Hawk from all voltage sources before it is opened for servicing.The Gold Hawk servo drive contains grounding conduits for electric current protection.Anydisruption to these conduits may cause the instrument to bee hot(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.1.2.CautionsThe Gold Hawk servo drive contains hot surfaces and electrically-charged ponentsduring operation.The maximum DC power supply connected to the instrument must ply with theparameters outlined in this guide.When connecting the Gold Hawk to an approved isolated 12-95 VDC auxiliary powersupply,connect it through a line that is separated from hazardous live voltages usingreinforced or double insulation in accordance with approved safety standards.Before switching on the Gold Hawk,verify that all safety precautions have been observedand that the installation procedures in this manual have been followed.Do not clean any of the Gold Hawk drive's soldering with solvent cleaning fluids of pHgreater than 7(8 to 14).The solvent corrodes the plastic cover causing cracks and eventualdamage to the drive's PCBs.Elmo remends using the cleaning fluid Vigon-EFM which is pH Neutral (7).For further technical information on this remended cleaning fluid,select the link:://www.zestron./fileadmin/zestron.-usa/daten/electronics/Product_TI1s/T11-VIGON_EFM-US.pdfwww.elmomc.Gold Hawk Installa tion GuideSafety InformationMAN-G-HAKIG (Ver.1.001)91.3.Directives and StandardsThe Gold Hawk conforms to the following industry safety standards:Safety StandardItemApproved IEC/EN 61800-5-1,SafetyAdjustable speed electrical power drive systemsRecognized UL 508CPower Conversion EquipmentIn pliance with UL 840Insulation Coordination Including Clearances andCreepage Distances for Electrical EquipmentIn pliance with UL 60950-1Safety of Information Technology Equipment(formerly UL 1950)Including Electrical Business EquipmentIn pliance with EN 60204-1Low Voltage Directive 73/23/EECThe Gold Hawk also conforms to the following military qualitative standards:Military Qualitative StandardItemIn pliance with MIL-STD-704Aircraft,Electric Power CharacteristicsIn pliance with MIL-STD-810Environmental Engineering Considerations andLaboratory TestsIn pliance with MIL-STD-1275Characteristics of 28 Volt DC Electrical Systems inMilitary VehiclesIn pliance with MIL-STD-461Requirements for the Control of ElectromagicInterference Characteristics of Subsystems andEquipmentIn pliance with MIL-HDBK-217Reliability Prediction of Electronic EquipmentIn pliance with ISO-9001:2008Quality ManagementThe Gold Hawk servo drive has been developed,produced,tested and documented inaccordance with the relevant standards.Elmo Motion Control is not responsible for anydeviation from the configuration and installation described in this documentation.Furthermore,Elmo is not responsible for the performance of new measurements or ensuringthat regulatory requirements are met.www.elmomc.Gold Hawk Installation GuideSafety Information101.4.CE Marking ConformanceThe Gold Hawk servo drive is intended for incorporation in a machine or end product.Theactual end product must ply with all safety aspects of the relevant requirements of theEuropean Safety of Machinery Directive 98/37/EC as amended,and with those of the mostrecent versions of standards EN 60204-1 and EN 292-2 at the least.According to Annex lll of Article 13 of Council Directive 93/68/EEC,amending Council Directive73/23/EEC concerning electrical equipment designed for use within certain voltage limits,theGold Hawk meets the provisions outlined in Council Directive 73/23/EEC.The party responsiblefor ensuring that the equipment meets the limits required by EMC regulations is themanufacturer of the end product.1.5.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 thetime of installation,or 18 months from time of shipment,whichever es first.No otherwarranties,expressed or implied-and including a warranty of merchantability and fitness fora particular purpose -extend beyond this warranty.www.elmomc.Gold Hawk Installation Guide11Chapter 2:Product Description2.1.Functional DescriptionThe Gold Hawk is an advanced high power density servo drive.It provides top servoperformance,advanced working and built in safety,all in a small PCB mountable package.The Gold Hawk has a fully featured motion controller and local intelligence.The Gold Hawk operates from a DC power source.The drive can operate as a stand-alonedevice or as part of a multi-axis system in a distributed configuration on a real-time work.The Gold Hawk drive is easily set up and tuned using the Elmo Application Studio (EAS)software tools.As part of the Gold product line,it is fully programmable with the Elmo motioncontrol language.For more information about software tools refer to the Elmo ApplicationStudio Software Manual.The Gold Hawk is available in a variety of models.There are multiple power rating options,twodifferent munications options,a number of feedback options and different I/Oconfiguration possibilities.2.2.Product FeaturesNoeThe features described in this chapter relate to the range of Gold Hawk models.Depending on the model you have purchased,not all features are available.To see the features for your model,look at the product label on the Gold Hawk and use theproduct catalog number schematic that appears at the beginning of this manual and onpage 23 to determine which specific features are available to you.2.2.1.High Power DensityThe Gold Hawk delivers up to 4.1 kW of continuous power or 8.2 kW of peak power in a38.0cc(2.32in3)pa ckage(55X46X15mmor2.2"X1.8"X0.6").www.elmomc.Gold Hawk Installation GuideProduct Description122.2.2.Supply InputSingle DC Power Supply-Power to the Gold Hawk is provided by a 14 to 195 VDC singleisolated DC power source(not included with the Gold Hawk).A "smart"control-supplyalgorithm enables the Gold Hawk to operate with only one power supply with no need foran auxiliary power supply for the logic.Optional Backup Supply-If backup functionality is required in case of power loss,e.g.,tokeep the original position,a 14 to 195 VDC external isolated supply should be connected(via the Gold Hawk's VL+terminal).This is more flexible than the requirement for 24 VDCsupply.If backup is not needed,a single power supply is used for both the power and logic circuits.There are multiple voltage ratings of the Gold Hawk(14 V to 195 V),so you must usethe correct power supply according to the maximum operating voltage of the GoldHawk.Refer to the section 3.1 Technical Data.2.2.3.Servo ControlAdvanced and extremely fast vector control algorithm(current loop bandwidth:4 kHz).Current/Torque sampling rate:up to 25 kHz(40 us).Velocity sampling rate:up to 12.5 kHz (80 us)·Position sampling rate:up to 12.5kHz(80μs).Electrical mutation frequency:up to 4 kHzCurrent closed loop bandwidth exceeds 4 kHzPosition/Velocity/Acceleration mand range-full 32 bitPosition over velocity,with full dual loop supportS-curve Profile SmoothingCogging,BEMF and xL pensationDual Loop Operation supported by Auto TuningFast,easy and efficient advanced Auto TuningMotion profiler numeric range:Position up to +2 x 10counts·Velocity up to2x10°counts/,secAcceleration up to 2 x 10 counts/sec2www.elmomc.