Table of Contents6.5.26.5.3Absolute Serial Type Encoder.386.66.6.1.416.6.36.7Port C,Analog Input,and STO...446.7.16.7.2Analog6.7.3.1 Source Mode PLC Voltage Level....................................476.7.3.26.7.3.3 SINK Mode-PLC Voltage Level..........486.8496.8.1 Digital Input and Output TTL Mode.........5.16.8.2Digital Input and Output PLC Source Mode................536.8.3Digital Input and Output Sink Mode....556.9USB2.0576.10 Drive Status Indicator..............586.11EtherCATCommunications Version.......5.96.11.1 EtherCAT IN/Ether Pinouts.........596.11.2 EtherCAT OUT Pinouts......6.11.3 EtherCATWiring..........616.11.5 EtherCAT Status Indicator.616.12CAN Communications Version .........626.12.1 CAN Wiring...63Chapter 7:Powering Up.....647.1 Initializing the System.64Chapter 8:Gold DC Trombone Dimensions....65Table of Contents |Warnings|www.elmomc.Gold DC Trombone Installation GuideMAN-G-DCTROG EC (Ver.1.901)5Chapter 1:This Installation GuideThis installation Guide details the technical data,pinouts,wiring,and power connectivity of theGold DC Trombone.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 DC Trombone,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 DC Trombone 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 qualified personhas the knowledge and authorization to perform tasks such as transporting,assembling,installing,missioning and operating motors.The Gold DC Trombone 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 bodilyinjury or 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 DC Trombone Installation Guide6MAN-G-DCTROG EC (Ver.1.901)2.1WarningsTo 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 DC Trombone 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.22CautionsThe maximum DC power supply connected to the instrument must ply with theparameters outlined in this guide.When connecting the Gold DC Trombone to an approved isolated 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 DC Trombone,verify that all safety precautions have beenobserved and that the installation procedures in this manual have been followed.Make sure that the Safe Torque Off is operational2.3CE Marking ConformanceThe Gold DC Trombone is intended for incorporation in a machine or end product.The actual endproduct must 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 DCTrombone meets 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 DC Trombone Installation GuideMAN-G-DCTRO GEC (Ver.1.901)Chapter 3:Product DescriptionThe Gold DC Trombone series of digital servo drives are highly resilient and operate from a DCPower Voltage Input source.They are designed to deliver the highest density of power andintelligence.The Gold DC Trombone delivers up to 10 kW of continuous power or 16 kW of peakpower in a pact package.The digital drives are part of Elmo's advanced Gold Line.They operate from a DC power source incurrent,velocity,position and advanced position modes,in conjunction with a permanent-magsynchronous brushless motor,DC brush motor,linear motor or voice coil.They are designed for usewith any type of sinusoidal and trapezoidal mutation,with vector control.The Gold DCTrombone can operate as a stand-alone device or as part of a multi-axis system in a distributedconfiguration on a real-time work.The drive is easily set up and tuned using Elmo Application Studio (EASII)software tools.TheWindows based application enables users to quickly and simply configure the servo drive foroptimal use with their motor.The Gold DC Trombone,as part of the Gold Line,is fullyprogrammable with Elmo's motion control language.Power to the drives is provided by a DC power source (not included with the Gold DC Trombone).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.If backup functionality is required to store control parameters in the event of a mains poweroutage,then an A,H,S,or T optional Gold DC Trombone should be used,with an external 24 VDCisolated supply connected to it.Note:The backup functionality can operate from an isolated voltage source within the range of18 to 30VDC.Whenever backup functionality is not required,Gold DC Trombone models with the 0 or 1 Option(only for 400 V models)in the catalog number (section Catalog Number)can be used,i.e.,they donot have a 24 V control supply.In these models,a smart control-supply algorithm enables the GoldDC Trombone to operate with only the main power supply VP+and VN-,with no need for a 24 VDCauxiliary power supply for the logic.The Gold DC Trombone is a stand-alone version of the Gold Trombone module (PCB-mounted).Another pluggable version,the Gold Solo Trombone is also available.Table of Contents Warranty Information www.elmomc.Gold DC Trombone Installation GuideMAN-G-DCTROG-EC (Ver.1.901)8Chapter 4:Technical Information4.1 Physical SpecificationsFeatureUnitsAll TypesWeightg(oz)650 g(22.9 oz)for standard L shape1100 g(38.8 oz)for L shape fins and fanDimensionsmm(in)105×140×47(4.13"×5.51"×1.85"）Mounting methodPanel Wall Mounted4.2Technical Data for the 400 V TypeFeatureUnits6/40012/40016/400R17/400R22/400Minimum supply voltageVDCA,H,S,or Tin P/N*:500 or 1 Option in P/N:100Nominal supply voltageVDC325Maximum supply voltageVDC400Maximum continuous powerkW2455.57outputEfficiency at rated power(at>98nominal conditions)Auxiliary supply voltage optionVDC18V to 30VOnly for Control Supply A/H/S/T Option ModelsAuxiliary power supplyVA7Continuous current limit(Ic)A612161722Amplitude sinusoidal/DCtrapezoidal mutationSinusoidal continuous RMSA4.28.511.31215.5current limit(lc)Peak current limitNo peakTable of Contents |Physical Specifications|www.elmomc.Gold DC Trombone Installation GuideMAN-G-DCTROIGEC (Wer.1.901)94.3Technical Data for the 800 V TypeFeatureUnits8/80012/800R11/800R16/800Minimum supply voltageVDCA,H,S,or T Option in P/N*:95+Nominal supply voltageVDC560 for 400VAC680 for 480 VACMaximum supply voltageVDC780Maximum continuous powerkW57.5710outputEfficiency at rated power(at%>98nominal conditions)Auxiliary supply voltage optionVDC18 Vto 30VOnly for Control Supply A/H/S/T OptionModelsAuxiliary power supplyVA7Continuous current limit(lc)A121116Amplitude sinusoidal/DCtrapezoidal mutationSinusoidal continuous RMS5.78.57.811.3current limit(Ic)Peak current limitNo peak*See section Catalog Number for details on the part number.The A,H,S,or T Option appears inmodels where there is a 24 V control supply.If there is a 0 or 1 Option,the control power supplyoperates from the main power.Note on current ratings:The current ratings of the Gold DC Trombone are given in units of DCamperes(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 |Technical Data for the 800 V Typel www.elmomc.Gold DC Trombone Installation GuideMAN-G-DCTROG EC (Wer.1.901)104.4Auxiliary SupplyFeatureDetailsAuxiliary power supplyIsolated DC source onlyAuxiliary supply input voltage18 VDC to 30 VDCAuxiliary supply input power74.5Product FeaturesMain FeatureDetailsPresence and No.STOTTL,orPLC Source,orPLC Sink(is not fully certified,andnot remended for new designs)TTL,or6OptionPLC Source,or6PLC Sink6Digital OutputTTL,or4OptionPLC Source,or4PLC Sink4Analog InputDifferential +10V1FeedbackStandard Port A,B,&CCommunicationUSBOptionEtherCAT,orCANTable of Contents |Auxiliary Supply|www.elmomc.Gold DC Trombone Installation GuideMAN-G-DCTROIGEC (Ver.1.901)11Chapter 5:InstallationThe Gold DC Trombone must be installed in a suitable environment and properly connected to itsvoltage supplies and the motor.5.1 Unpacking the Drive ComponentsBefore you begin working with the Gold DC Trombone,verify that you have all of its ponents,asfollows:.The Gold DC Trombone servo driveThe Elmo Application Studio (EAS)software and software manualThe Gold DC Trombone is shipped in a cardboard box with Styrofoam protection.To unpack the Gold DC Trombone: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 DC Trombone you have unpacked is the appropriate type for yourrequirements,locate the part number sticker on the side of the Gold DC Trombone.It lookslike this:P/N:G-DCTRO12/400EESElmoMotion ControlG-D9370001www.elmomc.Figure 1:Gold DC Trombone Part Number StickerA.Verify that the Gold DC Trombone type is the one that you ordered,and ensure that thevoltage meets 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 DC Trombone Installation GuideMAN-G-DCTROG EC (Wer.1.901)125.2Connector TypesThe Gold DC Trombone has the following ten connectors.PinsTypeFunctionBottom ConnectorsPE VN-VPM3 M2 M1 PEGTRODC073A25.08 mm Phoenix high current47.62 mm Phoenix high currentMotor Connector37.62 mm Phoenix high currentPower ConnectorTable of Contents Connector Types www.elmomc.