Table of ContentsMAN-G-CELIG (Ver.1.201)4Chapter 1:This Installation Guide......Chapter 2:2.1.Warnings..............72.2.Cautions............2.3.CE Marking Conformance....................72.4.Warranty Information...Chapter 3:Product Description...................8Chapter 4:Technical Information..........94.1.Physical Specifications...................94.2.Technical Data…4.2.1.Auxiliary Supply.......4.2.2.Product Features .........Chapter 5:115.1.Unpacking the Drive Components .......5.2.Connectors and Indicators....125.2.1.EtherCAT Connector Types......5.2.2.CAN Connector Types.......135.3.Mounting the Gold Cello..........5.4.Gold Cello Connection Diagrams.......16Chapter 6:Wiring............186.1.Basic Remendations .......206.1.2.Feedback Cable Port A and Port B Connector.............................216.1.3.Feedback Cable Port CConnector....6.1.5.STO (Port C)Cable Connector.......236.2.Motor Power Connector Pinouts (9)..246.4.Auxiliary Power (J10)(optional).................276.5.Drive Status Indicator.........6.6.306.6.1.Incremental Encoder.316.6.3.Absolute Serial Type Encoder.....326.7.1.Incremental Encoder ........35Table of ContentsMAN-G-CELIG (Ver.1.201)6.7.3.6.8.Port C,Analog Input,and STO (P3).....38.406.8.2.Analog Input.406.8.3.6.8.3.1.Source Mode PLc Voltage Level......416.8.3.3.SINK Mode-pLc Voltage Level..46.9.1.Digital Input and Output TTL Mode.......456.9.2.Digital Input and Output PLc Source Mode......46.9.3.Digital Input and Output Sink Mode...49.516.11.EtherCAT Communications Version.....5.26.11.1.EtherCAT IN/Ether Pinouts.......526.11.2 EtherCAT OUT..536.11.3.EtherCAT Wiring............6.11.4.EtherCAT Link Indicators ....546.11.5.EtherCATStatus Indicator.................546.12.CAN Communication Version.............556.12.1.CAN Wiring….566.13.Powering Up….576.14.Initializing the System ..57Chapter 7:Dimensions................Gold Cello Installation GuideMAN-G-CELIG (Ver.1.201)6Chapter 1:This Installation GuideThis installation Guide details the technical data,pinouts,and power connectivity of the Gold Cello.For a prehensive detailed description of the functions refer to theMAN-G-Panel Mounted Drives Hardware manual which describes Panel Mounted products.Chapter 2:Safety InformationIn order to achieve the optimum,safe operation of the Gold Cello,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 Cello and acpanyingequi pment.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 qualified personhas the knowledge and authorization to perform tasks such as transporting,assembling,installing,missioning and operating motors.The Gold Cello 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 Cello Installation Guide72.1.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 Cello 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 Cello 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 Cello,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 Cello 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 Cello meetsthe provisions outlined in 2006/95/EC.The party responsible for ensuring that the equipmentmeets 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 Cello Installation Guide8Chapter 3:Product DescriptionThe Gold Cello is an advanced high power density servo drive which delivers up to 3.3 kW ofcontinuous power or 6.6 kW of peak power in a 469.35 cc(28.3 in3)package(150 x 105 x 29.8 mmThis advanced,high power density servo drive provides top performance,advanced working andbuilt-in safety,as well as a fully featured motion controller and local intelligence.The Gold Cello ispowered by a single 14 V-195 V isolated DC power source(not included)and a "smart"control-supply algorithm enables the drive to operate with only one power supply with no need for anauxiliary power supply for the logic.The Gold Cello can operate as a stand-alone device or as part of a multi-axis system in a distributedconfiguration on a real-time work.The Gold Cello drive is easily set up and tuned using Elmo Application Studio (EASII)software tools.As part of the Gold product line,it is fully programmable with the Elmo motion control language.For more about software tools,refer to the Elmo Application Studio Software Manual.The Gold Cello 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.3.1.1.AccessoriesGold Cello Cable Kit,catalog number:CBL-GCELKIT (can be ordered separately)For further details,see the MAN-G-CEL-CBLKIT documentation for this cable kit.Table of Contents |Warranty Information|www.elmomc.Gold Cello Installation GuideMAN-G-CELIG (Ver.1.201)9Chapter 4:Technical Information4.1.Physical SpecificationsFeatureUnitsAll TypesWeightg(oz)484g(17.07o2Dimensionsmm(in)150×105×29.8mm(5.9"×4.1"×1.17")Mounting methodPanel mounted(on back or on side)4.2.Technical DataFeatureUnits001/02Minimum supply voltageVDC1423Nominal supply voltageVDC85170VDC96195Maximum continuous power outputW160028004000165028003300Efficiency at rated power(at nominal%>98conditions)VDC14Vto96V23 V to 195 VContinuous current limit(lc)203550101720amplitude of sinusoidal current,orDC trapezoidal mutationSinusoidal continuous RMS currentA14.224.735.47.071217.7limit(Ic)Peak current limitATable 1:Power RatingsNote on currrent ratings:The current ratings of the Gold Cello are given in units of DC amperes(ratings that are used for trapezoidal mutation or DC motors).The RMS(sinusoidalmutation)value is the DC value divided by 1.41.Table of Contents |Physical Specifications|www.elmomc.Gold Cello Installation GuideMAN-G-CELIG (Ver.1.201)104.2.1.Auxiliary SupplyFeatureDetailsAuxiliary power supplyIsolated DC source onlyAuxiliary supply input voltage14 to 96 V(100 V models)23 to 195 VDC(200 V models)Auxiliary supply input powers 5 VA without external loadings 8 VA with full external loading4.2.2.Product FeaturesMain FeatureDetailsPresence and No.STOTTLPLC SourcePLC Sinkis not fully certified,and not remendedfor new designsDigital InputTTLOptionPLC Source6PLC Sink6Digital OutputTTL4OptionPLC Source4PLC Sink4Analog InputDifferential±1oW1FeedbackStandard Port A,B,&CCommunicationUSBOptionEtherCATCANTable of Contents |Technical Data|www.elmomc.Gold Cello Installation GuideMAN-G-CELIG (Ver.1.201)11Chapter 5:InstallationThe Gold Cello must be installed in a suitable environment and properly connected to its voltagesupplies and the motor.5.1.Unpacking the Drive ComponentsBefore you begin working with the Gold Cello,verify that you have all of its ponents,as follows:.The Gold Cello servo drive.The Elmo Application Studio (EAS)software and software manualThe Gold Cello is shipped in a cardboard box with Styrofoam protection.To unpack the Gold Cello: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 Cello you have unpacked is the appropriate type for yourrequirements,locate the part number sticker on the side of the Gold Cello.It looks like this:P/N:G-CEL35/100EEAPElmoMotion ControlG-C12191759www.elmomc.Verify that the Gold Cello 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 Unpacking the Drive Components www.elmomc.Gold Cello Installation GuideMAN-G-CELIG (Ver.1.201)125.2.Connectors and IndicatorsThe Gold Cello has 10 connectors.5.2.1.EtherCAT Connector TypesThe EtherCAT Gold Cello has the following connectors:No.PinsTypeFunctionBottom ConnectorsVL+PRM3 M2 M1 PEPE PR VP+G-CEL036A4Phoenix 7.62 mm PitchMotor phasesPhoenix 7.62 mm PitchMain Power2Phoenix 3.81 mm PitchAuxiliary supply inputFront ConnectorsPORTCPORTAPORT BG-CEL002BFront Connectors-EtherCAT15Socket D-TypePort A9Socket D-TypePort B15Socket High Density D-TypePort C and SafetyTable of Contents|Connectors and Indicators|www.elmomc.