Elmo WorldwideHead OfficeElmo Motion Control Ltd.60 Amal St.,P.O.Box 3078,Petach Tikva 49516IsraelTel+972(3)929-2300·Fax:+972(3)929-2322·info-il@elmomc..North AmericaElmo Motion Control Inc.42 Technology Way,Nashua,NH 03060USATel:+1(603)821-9979·Fax:+1(603)821-9943·info-us@elmomc.EuropeElmo Motion Control GmbHHermann-Schwer-Strasse 3,78048 VS-VillingenGermanyTel:+49(0)7721-9447120·Fax:+49(0)7721-9447130·info-de@elmomc.ChinaElmo Motion Control Technology(Shanghai)Co.Ltd.Room 1414,Huawen Plaza,No.999 Zhongshan West Road,Shanghai (200051)ChinaTel:+86-21-32516651·Fax:+86-21-32516652·info-asia@elmomc.Asia PacificElmo Motion Control APAC Ltd.B-601 Pangyo Innovalley,621 Sampyeong-dong,Bundang-gu,Seongnam-si,Gyeonggi-do,South Korea(463-400)Tel:+82-31-698-2010·Fax:+82-31-801-8078·info-asia@elmomc..Gold Bell Installation GuideMAN-G-BELIG (Ver.1004)Table of Contentschapter 1:Safety Information.....81.1.Warnings.…91.2.1.3.Directives and Standards..........1.4.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 Scheduling132.2.5.Motion Control.........132.2.6.Fully Programmable..142.2.7.2.28.Feedback Sensor Specifications.......2.2.10.Safety.162.2.13.Digital Inputs.172.2.14.Differential Inputs...............2.2.15.Analog Input..............2.2.16.Built-In Protection ...........2.2.17.Status Indication...........2.2.18.Automatic Procedures...2.2.19.Accessories..2.3.System Architecture....................192.4.How to Use this Guide.....3.1.Technical Data......3.1.1.Auxiliary Supply.....224.1.Site Requirements..................4.2.Unpacking the Drive Components...4.3.Connectors..4.3.1.Connector Types....25Gold Bell Installa tion GuideSafety InformationMAN-G-BELIG (Ver.1004)4.3.2.4.3.2.1.Motor Power.….264.3.2.2.4.3.2.3.Auxiliary Power Connector.274.3.2.5.Connector J1.....................4.4.Mounting the Gold Bell...........4.5.Integrating the Gold Bell on a pCB...344.5.2.Grounds and Returns...............344.6.The Gold Bell Connection Diagram....................4.7.Main Power,Auxiliary Power and Motor Power....4.7.2.Main Power.…394.7.3.Auxiliary Power Supply (Optional)....404.74.Single Supply..4.7.5.Separate Auxiliary (Backup)Supply.....414.7.6.4.8.STO (Safe Torque Off)Inputs...................4.9.Feedback..................464.9.1.1.Incremental Encoder ....484.9.1.2.Absolute Serial Encoder.......494.9.13.504.9.2..514.9.2.1.Incremental Encoder ................524.9.2.2.Interpolated Analog Encoder.........534.9.3.Port C-Emulated Encoder Output (J2)..................5.44.9.4.Analog4.10.1.Digital Inputs (1).564.10.3.Analog Input….614.11.1.RS-232 Communication (J2).................614.11.2.CAN Communication (J2)...634.11.4.EtherCAT Communication (J2)...........664.11.5.Ether Communication (J2).......684.11.6.EtherCAT/Ether Line Interface704.12.Powering Up......704.13.Initializing the System...............704.14.Heat Dissipation......................704.14.1.Thermal Data .................70Gold Bell Installa tion GuideSafety InformationMAN-G-BELIG (Ver.1004)4.142.Heat Dissipation Data........714.14.3.How to Use the Charts.........71Chapter 5:5.1.5.2.Environmental Conditions..5.3.Control Specifications....................735.3.3.745.4.5.4.1.Feedback Supply Voltage...755.4.2.5.4.2.1.Incremental Encoder Input...755.4.2.2.Digital Halls…765.4.23.Interpolated Analog (Sine/Cosine)Encoder.....................765.4.2.4.Resolver.…5.4.2.5.Absolute Serial Encoder5.4.3.Port c Feedback Output...785.5.795.5.1.Digital Input Interfaces-TTL Mode.......795.5.2.Digital Output Interface-TTLMode...................85.53.Analog Input....805.6.Safe Torque Off (STO)....815.6.1.STO Input Interfaces-TTL Mode.815.8.Pulse-Width Modulation (PWM)...........5.9.Compliance with Standards....83Gold Bell Installa tion GuideMAN-G-BELIG (Ver.1004)Chapter 1:Safety InformationIn order to achieve the optimum,safe operation of the Gold Bell 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 Bell 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 Bell 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 cause bodilyinjury.Caution:This information is necessary for preventing damage to the product or toother equipment.www.elmomc.Gold Bell Installation GuideSafety InformationMAN-G-BELIG (Ver.1004)91.1.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 Bell from all voltage sources before it is opened for servicing.The Gold Bell 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 Bell servo drive contains hot surfaces and electrically-charged ponents duringoperation.The maximum DC power supply connected to the instrument must ply with theparameters outlined in this guide..When connecting the Gold Bell to an approved isolated 12-95 VDC auxiliary power supply,connect it through a line that is separated from hazardous live voltages using reinforced ordouble insulation in accordance with approved safety standards.Before switching on the Gold Bell,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 Bell drive's soldering with solvent cleaning fluids of pH greaterthan 7(8 to 14).The solvent corrodes the plastic cover causing cracks and eventual damageto 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 Bell Installation GuideSafety InformationMAN-G-BELIG (Ver.1004)101.3.Directives and StandardsThe Gold Bell conforms to the following industry safety standards:Safety StandardItemIn pliance withAdjustable speed electrical power drive systemsIEC/EN 61800-5-1,SafetyRecognized 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 Bell 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.1.4.CE Marking ConformanceThe Gold Bell servo drive is intended for incorporation in a machine or end product.The actualend product must ply with all safety aspects of the relevant requirements of the EuropeanSafety of Machinery Directive 98/37/EC as amended,and with those of the most recentversions 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 Bell 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 Bell Installation GuideMAN-G-BELIG (Ver.1004)11Chapter 2:Product Description2.1.Functional DescriptionThe Gold Bell 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 Bell has a fully featured motion controller and local intelligence.The Gold Bell operates from a DC power source.The drive can operate as a stand-alone deviceor as part of a multi-axis system in a distributed configuration on a real-time work.The Gold Bell drive is easily set up and tuned using the Elmo Application Studio(EAS)softwaretools.As part of the Gold product line,it is fully programmable with the Elmo motion controllanguage.For more information about software tools refer to the Elmo Application StudioSoftware Manual.The Gold Bell 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 FeaturesNote The features described in this chapter relate to the range of Gold Bell 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 Bell and use theproduct catalog number schematic that appears at the beginning of this manual and onpage 24 to determine which specific features are available to you.2.2.1.High Power DensityThe Gold Bell delivers up to 1.6 kW of continuous power or 3.2 kW of peak power in a 49.4 cc(3.02in3)package(55x59x15mmor2.17"x2.32"x0.6")www.elmomc.Gold Bell Installation GuideProduct DescriptionMAN-G-BELIG (Ver.1004)122.2.2.Supply Input.Single DC Power Supply:Power to the Gold Bell is provided by a single 12 Vto 95 V isolatedDC power source(not included with the Gold Bell).A "smart"control-supply algorithmenables the Gold Bell to operate with only one power supply with no need for an auxiliarypower supply for the logic..Optional Backup Supply:If backup functionality is required in case of power loss,e.g.,tokeep the original position,an external 12 V to 95 V isolated supply should be connected.This is more flexible than the requirement for 24 VDC supply.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 Bell(12 V to 95 V),so you must use the correctpower supply according to the maximum operating voltage of the Gold Bell.See SectionChapter 3:Technical Information.2.2.3.Servo Control.Advanced 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 supportCurrent gain scheduling to pensate for the motor's non-linear characteristics.Advanced filtering:Low pass,Notch,General BiquadCurrent loop gain scheduling to pensate for bus voltage variationsVelocity gain scheduling for ultimate velocity loop performanceGains and filter scheduling vs.position for mechanical coupling optimization,speed andposition tracking errorsHigh order filters gain scheduling vs.speed and positionS-curve Profile Smoothing.Cogging,BEMF and xL pensationDual Loop Operation supported by Auto TuningFast,easy and efficient advanced Auto TuningIncremental encoder frequency of up to 75 Megacounts/secwww.elmomc.