Table of ContentsMAN-G-SOLGUTIG-EC (Vor.1.105)46.5.3.Absolute Serial Type Encoder.......346.5.3.1.Hiperface.356.6.6.6.1.Incremental Encoder.376.6.3.6.7.Port C,Digital Ios,and Analog Inputs (6)406.7.1.Port C-Encoder Output......46.7.2.6.7.3.Digital Input and Output TTL Mode...436.7.4.Digital Input and Output PLC Source Mode........456.7.5.Digital Input and Output Sink Mode.....476.8.1.1.Source Mode PLC Voltage Level.......496.8.1.2.TTL Mode TTL Voltage Level.....506.8.13.ST00 utput(U6).516.9.RS-232/RS-422C0 nnector (J21)...5269.1.RS-232.536.9.2.Differential RS-232(RS-422)........6.11.EtherCAT Communications Version...................6.11.1.EtherCAT IN/Ether Pin Assignments(J7).566.11.2.EtherCAT OUT Connector (J8)................576.11.3.EtherCAT Wiring...............576.11.4.EtherCATAddress Switches..58596.12.CAN Communications Version ............606.12.1.CAN Wiring..6.13.Heat Dissipation..................636.13.1.Gold Solo Guitar Thermal Data.636.13.2.Heat Dissipation Data..................6.13.3.How to Use the Charts....646.14.Powering Up..656.15.Initializing the System .....Chapter 7:Dimensions................Table of Contents Warnings www.elmomc.Gold Solo Guitar Installation GuideMAN-G-SOLGUTIG-EC (Ver.1.106)5Chapter 1:This Installation GuideThis installation Guide details the technical data,pinouts,and power connectivity of the Gold SoloGuitar.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 Solo Guitar,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 Solo Guitar 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 Solo Guitar 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 Solo Guitar Installation GuideMAN-G-SOLGUTIG-EC (Ver.1.105)62.1.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 Solo Guitar 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 Solo Guitar 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 Solo Guitar,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 Solo Guitar 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 Solo Guitarmeets 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 Contents |Warnings|www.elmomc.Gold Solo Guitar Installation GuideMAN-G-SOLGUTIG-EC [Ver.1.106)7Chapter 3:Product DescriptionThe Gold Solo Guitar is an integrated solution delivering up to 3.3 kW of continuous power or6.6 kW of peak power in a pact package(51.8 (H)x 80 (L)x 61 (W)mm(2.039"x 3.15"x2.402"),and designed to be simply and efficiently connected directly to the application.Thesolution consists of the Gold Solo Guitar together with a convenient connection interface whicheither eliminates or reduces development time and resources when designing an application's PCBboard.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 SoloGuitar is powered 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 foran auxiliary power supply for the logic.The drive 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 Solo Guitar drive is easily set up and tuned using Elmo Application Studio (EAS)softwaretools.As part of the Gold product line,it is fully programmable with the Elmo motion controllanguage.For more about software tools refer to the Elmo Application Studio Software Manual.The Gold Solo Guitar is available in a variety of options.There are multiple power rating options,four different munications options:OptionSuffix in the part numberStandardCANopen RS-422EtherCATEEtherCAT with switchesand a variety of feedback selections and l/O configuration possibilities.3.1.1.AccessoriesCable Kit,catalog number:CBL-GSOLGUIKITO1 (can be ordered separately)For further details,see the MAN-G-SOLOGUT-CBLKIT documentation for this cable kit.Table of Contents |Warranty Information|www.elmomc.Gold Solo Guitar Installation GuideMAN-G-SOLGUTIG-EC (Ver.1.105)8Chapter 4:Technical Information4.1.Physical SpecificationFeatureUnitsAll TypesWeightg(oz)239.3(8.44)Dimensionmm (in)51.8(H)×80(L)×61(W)mm(2.039"×3.15"×2.402")Mounting methodPanel Mounted4.2.Technical DataFeatureUnitsMinimum supply voltageVDC1423Nominal supply voltageVDC85170Maximum supply voltageVDC96195Maximum continuous power outputW160028004000165028003300Efficiency at rated power (at nominal%>98conditions)Maximum output voltageVDC14Vto96V23 Vto 195 VContinuous current limit(Ic)203550101720amplitude of sinusoidal current,or DOtrapezoidal mutationSinusoidal continuous RMS currentA14.224.735.47.071214.3Peak current limitADigital out4 digital outputs or3 digital outputs+STO chainingTable 1:Power RatingNote on currrent ratings:The current ratings of the Gold Solo Guitar 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 Physical Specification|www.elmomc.Gold Solo Guitar Installation GuideMAN-G-SOLGUTIG-EC (Ver.1.105)94.2.1.Auxiliary SupplyFeatureDetailsAuxiliary power supplyIsolated DC source onlyAuxiliary supply input voltage14 to 96 VDC (100 V models)23 to 195(200 V models)Auxiliary supply input powers5 VA without external loadings8 VA with full external loading4.2.2.Product FeaturesMain FeatureDetailsPresence /No.STOTTLorPLC SourceDigital Input OptionTTLor6PLC Source or6PLC Sink6Digital Output OptionTTLor4PLC Source or4PLC Sink4Analog Input1FeedbackStandard Port A,B,&CCommunication OptionUSBEtherCAT orEtherCAT with SwitchesCANEIA RS-232 orDifferential RS-232(RS-422)Table of Contents |Technical Data|www.elmomc.Gold Solo Guitar Installation GuideMAN-G-SOLGUTIG-EC (Ver.1.105)104.3.Environmental ConditionsYou can guarantee the safe operation of the Gold Solo Guitar by ensuring that it is installed in anappropriate environment.4.3.1.Gold LineFeatureDetailsOperating 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≤fs500Hz:5GTable of Contents Environmental Conditions|www.elmomc.Gold Solo Guitar Installation GuideMAN-G-SOLGUTIG-EC (Ver.1.105)114.4.Gold Line StandardsThe following table describes the Main Standards of the Gold Solo Guitar servo drive.For furtherdetails refer to the MAN-G-Panel Mounted Drives Hardware manual.Main StandardsItemThe related standards below apply to the performance of the servo drives as stated in theenvironmental conditions in section 4.3.1 Gold Line above.ST01EC61800-5-2:2007SIL3Adjustable speed electrical power drive systems-Safety requirements-FunctionalENIs013849-1:2008PLe,Cat3Safety of machinery-Safety-related parts of controlsystems.Approved IEC/EN 61800-5-1Adjustable speed electrical power drive systemsSafety requirements-Electrical,thermal and energyRecognized UL61800-5-1Adjustable speed electrical power drive systemsSafety requirements-Electrical,thermal and energyRecognized UL 508CPower Conversion EquipmentIn pliance with UL840Insulation Coordination Including Clearances andCreepage Distances for Electrical EquipmentConformity with CE 2006/95/ECLow-voltage directive 2006/95/ECRecognized CSA C22.2 NO.14-13Industrial Control EquipmentTable of Contents |Gold Line Standards|www.elmomc.Gold Solo Guitar Installation GuideMAN-G-SOLGUTIG-EC (Ver.1.105)12Chapter 5:InstallationThe Gold Solo Guitar 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 Solo Guitar,verify that you have all of its ponents,asfollows:.The Gold Solo Guitar servo driveThe Elmo Application Studio software and software manualThe Gold Solo Guitar is shipped in a cardboard box with Styrofoam protection.To unpack the Gold Solo Guitar: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 drive3.To ensure that the Gold Solo Guitar you have unpacked is the appropriate type for yourrequirements,locate the part number sticker on the side of the Gold Solo Guitar.It looks likethis:P/N:G-SOLGUT10/200SEElmoS/N:GSOLGU13040589Motion Controlwww.elmomc.G-SOLGUTC01A4.Verify that the Gold Solo Guitar 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.