Table of ContentsMAN-G-DRUG360IG-EC (Ver.1.001)41.This Installation Guide.......2.2.1Warnings...........72.2Cautions...............72.3CE Marking Conformance...72.4Warranty Information.Product Description............84.Technical Information..........94.194.2Technical Data...........................94.2.1Control Backup Supply.....104.2.2Product Features .................104.2.3Environmental Conditions.....114.2.4Gold Line Standards.…124.2.5Environmental...................124.2.64.2.7EtherCAT Conformance........124.2.8Other Compliant Standards....135.5.1Unpacking the Drive Components.1.45.2.1Remended Cable Lugs and Cabling..............175.3Mounting the Gold Drum 360/430..1.75.45.4.1 Connection Diagrams for EtherCAT Version....85.4.2Connection Diagrams for CAN Version..1.96.1 Basic Remendations........226.1.16.1.2 Feedback Cable Port A and Port BConnector............36.1.3 Feedback cable Port c Connector................246.1.46.1.5STO (Port c)cable connector......256.2 Main Power and Control Supply.....266.2.1 Main Power with Control Backup(VCB)Topology.........................6.2.3Control Backup Supply(VCB)296.3Motor Power Connector Pinouts...316.4Connecting the DC Power and the Motor Power Cables...................................33Table of ContentsMAN-G-DRUG360IG-EC (Ver.1.001)56.4.1Motor Power .............346.5..356.5.1Incremental Encoder .............366.5.2Hall Sensor........366.5.3Absolute serial Type Encoder376.66.6.2 Interpolated Analog Encoder....416.6.3426.7.16.7.2An阳l0 g Input456.7.36.7.3.1Source Mode PLc Voltage Level....466.7.3.2 TTLMode TTL Voltage Level.....466.8Digital Inputs and Outputs.476.8.1 Digital Input and Output TTL Source Mode.496.8.2Digital Input and Output PLC Source Mode..516.8.3Digital Input and Output PLc Sink Mode.536.9USB2.00pti0n1556.10 VCB/Communication Connector............566.10.1UsB2.00 ption2.…576.10.2RS-232.…586.10.3RS-422(Differential RS-232）…586.11 EthercAT Communications Version.....596.11.1 EtherCAT/Ether Pinouts.....596.11.2 EtherCAT Wiring......606.113 EtherCAT and Drive Status Indicator LEDs......616.114 EtherCAT Rotary Switches.626.12 CAN Communications Version.....636.12.1CAN Wiring..…646.12.2 CAN Indicator..........7.Heat Dissipation.....7.1Gold Drum 360/430 Thermal Data....7.2Heat Dissipation Data...................677.3How to Use the Charts........7.4Thermal Operating Envelope........6988.19.Gold Drum 360/430 Dimensions...............72Gold Drum 360 Installation Guide61.This Installation GuideThis installation Guide details the technical data,pinouts,and power connectivity of the Gold Drum360/430.For a prehensive detailed description of the functions,refer to theMAN-G-Panel Mounted Drives Hardware manual,which describes Panel Mounted products.2.Safety InformationIn order to achieve the optimum,safe operation of the Gold Drum 360/430,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 Drum 360/430 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 Drum 360/430 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 surface andground 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 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 www.elmomc.Gold Drum 360 Installation Guide7MAN-G-DRUB 60rG-EC (Ver.1.001)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.Disconnect theGold Drum 360/430 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 bee hot(live)and dangerous.After shutting off the power and removing the power source from your equipment,wait at least1 minute before touching or disconnecting parts of the equipment that are normally loadedwith electrical charges(such as capacitors or contacts).Measuring the electrical contact pointswith a meter,before touching the equipment,is remended.2.2CautionsThe maximum DC power supply connected to the instrument must ply with the parametersoutlined in this guide..When connecting the Gold Drum 360/430 to an approved isolated control backup (VCB),routethe cables separately from other power cables,in accordance with approved safety standards..Before switching on the Gold Drum 360/430,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 operational2.3 CE Marking ConformanceThe Gold Drum 360/430 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 Drum360/430 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 dateof shipment.No other warranties,expressed or implied and including a warranty ofmerchantability and fitness for a particular purpose extend beyond this warranty.Table of Contentswww.elmomc.Gold Drum 360 Installation Guide83.Product DescriptionThe Gold Drum 360/430 is a series of super pact digital servo drives,highly resilient andoperating from a DC Power Voltage Input source.They are designed to deliver the highest density ofpower and intelligence.The Gold Drum 360A/100V delivers up to 360 A operating from a DC bus of11VDC-95VDC,while the Gold Drum430A/80V delivers up to 430 A operating from a powervoltage bus of 11VDC-75VDC.The logic/control supply input is a DC voltage in the range of 11VDC-95VDC.Both drives naturally withstand the surges(40V 100V)and spikes(250V)that might occurin battery operated systems.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 Drum360/430 can operate as a stand-alone device or as part of a multi-axis system in a distributedconfiguration on a real-time work.The drives are easily set up and tuned using Elmo Application Studio(EASII)software tools.ThisWindows-based application enables users to quickly and simply configure the servo drive foroptimal use with their motor.The Gold Drum 360/430,as part of the Gold Line,is fullyprogrammable with Elmo's motion control language.The Gold Drum 360/430 can operate with the main power supply only (VP+and VN-),then thecontrol voltage is created by an internal SMPS powered directly from the VP+supply.If it is requiredto leave the control section under power,while the power supply (VP+-VN-)is removed,a controlbackup supply(VCB)with a range of 11 to 95 VDC can be connected,providing maximum flexibilityand optional backup functionality when needed.Table of Contentswww.elmomc.Gold Drum 360 Installa tion Guide9MAN-G-DRLB60rG-EC (Ver.1.001)4.Technical Information4.1 Physical SpecificationsFeatureUnitsAllTypesWeightg (oz)2.4Kg(84.7o2Dimensionmm(in)160×180×90(6.30"×7.09"×3.54"）Mounting methodPanel Wall Mounted4.2Technical DataFeatureUnitsR360/100R430/80Minimum supply voltageVDC11Nominal supply voltageVDC8568Maximum supply voltageVDC9475Maximum continuous power outputkW25(at 85VDC)Efficiency at rated power%>99(at360A@85VDC,430A@70VDC)VCB supply voltage optionVDC11to95VCB power supplyVA7Continuous current limit(Ic)AmplitudeA360430sinusoidal/DC trapezoidal mutationContinuous RMS sinusoidal mutationA254304current limit(Ic)Peak CurrentANo PeakTable of Contents |www.elmomc.Gold Drum 360 Installation Guide10MAN-G-DRLB60rG-EC (Ver.1.001)4.2.1 Control Backup SupplyFeatureDetailsVCB supplyIsolated from the mains DC source onlyVCB supply input voltage11 VDC to 95 VDCVCB supply input power7VA4.2.2 Product FeaturesMain FeatureDetailsPresence No.TTL,orSTOPLC Source,orSTO Output Status(instead of OUT4 IN6)TTL Source or6Digital InputPLC Source or6OptionPLC Sink6TTL Source or4Digital OutputPLC Source or4OptionPLC Sink4Analog InputDifferential 10V analog input1FeedbackStandard Port A,B,and CUSBEtherCAT without switches orCommunicationCAN orOptionEtherCAT with switchesRS-232 orRS-422Table of Contentswww.elmomc.Gold Drum 360 Installation Guide11MAN-G-DRLB60rG-EC (Ver.1.001)4.2.3 Environmental ConditionsYou can guarantee the safe operation of the Gold Drum 360/430 by ensuring that it is installed in anappropriate environment.The Gold series of drives support the following extended environmental conditions.FeatureDetailsOperating ambient temperatureaccording to IEC60068-2-2Storage temperatureMaximum non-condensing humidity95%according to IEC60068-2-78Maximum Operating Altitude2,000m(6562feet)It should be noted that servo drives capable ofhigher operating altitudes are available onrequest.Mechanical Shock15g/11ms Half Sineaccording to IEC60068-2-27Vibration5Hz≤f≤10Hz:10mmaccording to IEC60068-2-610Hz≤f≤57Hz:4G57Hz≤f≤500Hz:5GTable of Contents www.elmomc.12MAN-G-DRLB60rG-EC (Ver.1.001)4.2.4 Gold Line StandardsThe following table describes the Main Standards of the Gold Drum 360/430 servo drive.For furtherdetails refer to the MAN-G-Board Level Modules Hardware Manual.Main StandardsItemThe related standards below apply to the perfommance of the servo drives as stated in theenvironmental conditions in section 4.2.3 Environmental Conditions above.Conformity with IEC/EN 61800-5-1Adjustable speed electrical power drive systemsSafety requirements-Electrical,thermal and energyConformity with UL61800-5-1Adjustable speed electrical power drive systemsSafety requirements-Electrical,thermal and energyConformity with CE 2006/95/ECLow-voltage directive 2006/95/ECConformity with CSA C22.2 NO.14-134.2.5 EnvironmentalSpecificationDetailsConformity with IEC60068-2-78Environmental testing-Damp heat,steady stateConformity with IEC60068-2-6Environmental testing-Vibration(sinusoidal)Conformity with IEC60068-2-2Environmental testing-Dry heatConformity with IEC60068-2-27Basic environmental testing procedures-Shock4.2.6EMCSpecificationDetailsConformity with IEC/EN 61800-3Adjustable speed electrical power drive systems4.2.7 EtherCAT ConformanceEtherCAT Conformance Test CertifiedApproved and certified EtherCAT conformanceTable of Contents www.elmomc.