Table of ContentsChapter 1:This Installation Guide..........Chapter 2:Safety Information............2.1.772.3.CE Marking Conformance..............72.4.Warranty Information.....chapter 3:Product Description...................83.1.1.Chapter 4:Technical Information.............994.2.Technical Data Per Axis........94.2.1.Auxiliary Supply..104.2.2.Product Features Per Axis......Chapter 5:125.1.Unpacking the Drive Components .......125.2 ConnectorS Types..135.3.Mounting the Gold Duo................155.4.The Gold Duo Connection Diagram......16Chapter 6:Wiring.......................176.1.Basic Remendations ............6.1.2.Feedback Cable Port A and Port B Connector.................196.1.3.Feedback Cable Port C Connector..2o6.1.4.1o Cable Connector...................206.2.Motor Power Connector Pinouts.226.3.Main and Auxiliary Power ..................63.1.Description...256.3.2.Main Power.…266.3.3.Auxiliary Power Supply.........276.3.3.1.Power Rating 200V...........286.3.3.2.Power Rating 100V...296.4.Drive Status Indicator.....316.5.1.Source Mode-pLcVoltage Level.........336.5.2.TTL Mode-TTL Voltage Level..........336.5.3.Sink Mode -pLc Voltage Level346.6.Feedback Port A Per Axis.56.6.1.6.6.3.Absolute Serial Encoder..376.6.3.1.Hiperface.386.7.1.Incremental Encoder.....406.7.2.Interpolated Analog Encoder.416.8.Feedback port c and 436.8.1.Port C-Emulated Encoder Output..456.8.3.Digital Input and Output TTL Mode..46.8.4.Digital Input and Output PLC Source Mode.........496.8.5.Digital Input and Output Sink Mode.5.6.9.USB 2.0 Communication per Axis...5.36.10.1.EtherCAT IN Pin Assignments....5.46.10.2.EtherCATOUT Pin Assignments.556.10.3.EthercATWiring...556.10.4.EtherCAT Status Indicator..566.11.Ether Pin Assignments............576.12.Powering Up...6.13.Initializing the System...............58Chapter 7:Gold Duo Installation GuideMAN-G-DUOIG-E (Ver.1_502)6Chapter 1:This Installation GuideThis installation Guide details the technical data,pinouts,and power connectivity of the Gold Duo.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 Duo,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 Duo and acpanyingequipmentPlease 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 Duo 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 Duo Installation Guide7MAN-G-DUOTG-E (Ver.1_502)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 Duo 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.CautionsThe maximum DC power supply connected to the instrument must ply with theparameters outlined in this guide.When connecting the Gold Duo 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 Duo,verify that all safety precautions have been observed andthat the installation procedures in this manual have been followed.Make sure that the Safe Torque Off is operational2.3.CE Marking ConformanceThe Gold Duo 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 Duo 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 Duo Installation Guide8MAN-G-DUOTG-E (Ver.1_502)Chapter 3:Product DescriptionThe Gold Duo is an advanced high power density servo drive delivering up to 1.6 kW of continuouspower or 3.2 kW of peak power per axis in a 394 cc (24.0 in3)package(150 x 105x 25.8 mm or 5.9"x 4.1"x 1.0").The Gold Duo is a highly pact integrated solution containing two drives in a singlepackage.The solution operates under a single power supply and is designed for applications with upto two axes.The Gold Duo has a fully featured motion controller and local intelligence.This 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 Duo ispowered by a single 12 V-195 V isolated DC power source(not included)and a "smart"control-supply algorithm enables the drive to operate up to 95V with only one power supply with no needfor an auxiliary power supply for the logic.The Gold Duo 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 Duo drive is easily set up and tuned using Elmo Application Studio(EAS)software tools.Aspart of the Gold product line,it is fully programmable with the Elmo motion control language.Formore about software tools,refer to the Elmo Application Studio Software Manual.The Gold Duo is available in a variety of options.There are multiple power rating options,a varietyof feedback selections and 1/O configuration possibilities.3.1.1.AccessoriesCable Kit,catalog number:CBL-GDUOKITO1(can be ordered separately)For further details,see the MAN-G-DUO-CBLKIT documentation for this cable kit.Table of Contents Warranty Information www.elmomc.Gold Duo Installation GuideMAN-G-DUOIG-E (Ver.1_502)9Chapter 4:Technical Information4.1.Physical SpecificationsFeatureUnitsAll TypesWeightg(oz)479g(16.90z)Dimensionsmm (in)150×105×25.8mm(5.9"×4.13"×98")Mounting methodWall Mount Book Shelf4.2.Technical Data Per AxisFeatureUnits5/10010/10015/10020/100Minimum supply voltageVDC12Nominal supply voltageVDC85Maximum supply voltageVDC95Maximum continuous power output40080012001600Efficiency at rated power (at nominal%>99conditions)Maximum output voltage>95%of DC bus voltage at f 22 kHzAuxiliary power supplyVDC12-95VDC(up to 6 VA inc.5 V/2 x 200 mA forencoder)Amplitude sinusoidal/DC continuousA5101520currentSinusoidal continuous RMS current limitA3.5710.614.1Peak current limitATable 1:Power RatingsNote on currentratings:The current ratings of the Gold Duo 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 Duo Installation GuideMAN-G-DUOIG-E (Ver.1_502)10Elmo now offers a 200 VDC maximum output rating selection of Gold Duo,according to thefollowing technical data:FeatureUnits3/2006/2009/200Minimum supply voltageVDC12Nominal supply voltageVDC170Maximum supply voltageVDC195Maximum continuous power output4809601450Efficiency at rated power(at%>99nominal conditions)Maximum output voltage>95%of DC bus voltage at f=22 kHzAuxiliary power supplyVDC12 to 95 VDC(up to 6 VA inc.5 V/2x 200 mA forencoder)Amplitude sinusoidal/DCA369continuous currentSinusoidal continuous RMS currentA2.14.26.3limit (Ic)Peak current limitA4.2.1.Auxiliary SupplyFeatureDetailsAuxiliary power supplyIsolated DC source onlyAuxiliary supply input voltage12 V to 95 VAuxiliary supply input powers4 VA without external loading per axiss6 VA with full external loading per axisTable of Contents |Technical Data Per Axis|www.elmomc.Gold Duo Installation GuideMAN-G-DUOIG-E (Ver.1502)114.2.2.Product Features Per AxisMain FeatureDetailsPresence and No.STOTTL,orPLC SourceDigital InputTTL,or6PLC Source,or6PLC Sink6Digital OutputTTL,or4PLC Source,or4PLC Sink4Analog InputDifferential±1oV1FeedbackStandard Port A,B,CCommunication OptionUSBEtherCATTable of Contents |Technical Data Per Axis|www.elmomc.Gold Duo Installation GuideMAN-G-DUOIG-E (Ver.1_502)12Chapter 5:InstallationThe Gold Duo 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 Duo,verify that you have all of its ponents,as follows:The Gold Duo servo driveThe Elmo Application Studio software and software manualThe Gold Duo is shipped in a cardboard box with Styrofoam protection.To unpack the Gold Duo:Carefully remove the servo drive from the box and the Styrofoam2.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 Duo you have unpacked is the appropriate type for yourrequirements,locate the part number sticker on the side of the Gold Duo.It looks like this:ElmoMotion ControlG-DU09370001www.elmomc.4.Verify that the Gold Duo 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.