Revision HistoryVersionDateVer.1.000Apr 2016Ver.1.001Sep 2016Ver.1.0020ct2016Ver.2.000Dec2016Ver.2.001Feb 2017Ver.2.002Feb 2017Ver.2.003Mar 2017Ver.2.004Apr 2017Ver.2.005Apr 2017Ver.2.0060ct2017Ver.2.007May 2018Ver.2.0080ct2018Ver.3.000May 2018Ver.4.000Nov 2018Ver.4.001Dec 2018Ver.4.002April 2019Table of ContentsMAN-G-SOLTWI (Ver.4.002)5chapter 1:This Installation Guide............8Chapter 2:Safety Information .................2.1.Warnings..................92.2.Caution5…Warranty Information.........9Chapter 3:Product Description.............10Chapter 4:Technical information....................................................................114.1.4.2.200V Models Technical Data.........124.3.R Type Technical Data.......124.4.Control Supply Input Voltage (VL)....134.5.Product Features.......4.6.Environmental Conditions.....15Chapter 5:Standards............5.1.CE Declaration.…Chapter 6:Installation...176.1.Unpacking the Drive Components .................6.2.Mounting the Optional Accessories Heat Sinks......186.3.Mounting Gold Solo Twitter to an External Heatsink........................206.4.The Gold Solo Twitter Connection Diagrams....6.4.1.EtherCAT Connection Diagram....2164.2.CAN Connection Diagram.....22Chapter 7:Wiring237.1.Wiring Legend.237.2.Connectors Types…257.3.Mating Connectors.257.4.Logic and Control cabling and Wiring....267.4.1.J10 and J11 (Feedback ports,VL,RS232,USB,Analog Input)..................2674.2.J11(Digital Inputs/Outputs,STO)........267.4.3.J17,J18 EthercAT or CAN Communication..2674.4.COMRET to PE Connection....267.5.Wiring the Female Connectors............27Chapter 8:Connections.28Table of ContentsMAN-G-SOLTWI (Ver.4.002)68.1.Main,Control,and Motor Power...288.1.1.Motor Power............................................288.1.1.1.Motor Power Connections.298.1.2.Main Power Wires Connector........318.1.2.1.Main Power.8.1.2.2.Wiring Technical Details..328.1.3.Control Supply (10).....338.1.4.Control Supply Connections for Power Supply Heatsink Option:(Blank)358.1.4.1.Dual Power Supply....358.1.4.2.Single Power Supply (VP+<40VDC)..378.1.5.Control Supply Connections for Power Supply Heatsink Option:S or H388.1.5.1.Dual Power Supply...388.1.5.2.Single Power Supply (VP+<95VDC)...............................408.2.Drive Status Indicator.418.3.J10 VL and Feedback Connector....428.3.1.P0tA458.3.1.1.Incremental Encoder...............458.3.1.2.Absolute serial Encoder..468.3.1.4.Hall Sensors.............8.3.2..498.3.2.1.Incremental Encoder..498.3.2.2.Interpolated Analog Encoder.5.08.3.3.Port C-Emulated Encoder Output (J10)........528.4.J11 o and Communication Connector......5.38.4.1.1.Source PLC Voltage Level Digital Input.................................568.4.1.2.Sink PLC Voltage Level Digital Input ............................588.4.1.3.Source 5V Logic Level Digital Input..............608.4.2.Digital Outputs....628.4.2.1.Source PLC Voltage Level Digital Output................................628.4.2.2.Sink PLC Voltage Level Digital Output648.4.2.3.Digital Outputs Source 5V Logic Mode........668.4.3.STO(Safe Torque Off)....688.4.4.Analog Input….698.4.5.Standard RS-232......70Table of ContentsMAN-G-SOLTWI (Ver.4.002)8.4.6.USB 2.0 Communication (Only for EtherCAT version)......................718.5.EtherCAT Communications Version.7.8.5.1.EtherCAT IN/Ether connector (17).7..8.5.2.EtherCATOUT Connector (J18).......7.38.5.3.EtherCAT Schematic Connections.............8.5.3.1.EtherCAT Communication.8.5.3.2.EtherCAT Status Indicator (D2).58.5.3.3.EtherCAT Link Indicators (D3,D4).........7.68.6.CAN Communications version....78.6.1.8.6.2.CANOUT Connector (18)...788.6.3.CAN Schematic Connections ...............798.6.3.1.Interface…798.6.3.2.CAN Network Topology........80Chapter 9:Powering Up............81819.2.Heat Dissipation...829.2.1.Heat Dissipation Data...........829.2.2.How to Use the Chart......85Chapter 10:Dimensions,Physical Specifications......................8610.1.EtherCAT without Heatsink.......10.2.EtherCAT with Heatsink........8910.3.CAN without Heatsink ............10.4.CAN with Heatsink..............Chapter 11:Accessories....9811.1.Accessories Heat Sink Dimensions.......100Gold Solo Twitter Installation GuideChapter 1:This Installation GuideThis installation Guide details the technical data,pinouts,and power connectivity of the GoldSolo Twitter.For a prehensive detailed description of the functions and connections of thedrive,refer to the Gold Board Level Module Hardware Manual.Chapter 2:Safety InformationIn order to achieve the optimum,safe operation of the Gold Solo Twitter,it is imperative thatyou implement the safety procedures included in this installation guide.This information isprovided to protect you and to keep your work area safe when operating the Gold Solo Twitterand acpanying 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 qualifiedperson has the knowledge and authorization to perform tasks such as transporting,assembling,installing,missioning and operating motors.The Gold Solo Twitter 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 surfaceand ground 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 theproduct during 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.Hot Surface Warning:To alert against surfaces that may reach high temperatures.The heatsink andwires may reach high temperatures.Caution:This information is necessary to prevent bodily injury,damage to the productor to other equipment.Identifies information that is critical for successful application andunderstanding of the product.Table of Contents |Warningslwww.elmomc.Gold Solo Twitter Installation Guide9MAN-G-SOLTWI (Ver.4.002)2.1.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.Disconnect the Gold Solo Twitter from all voltage sources before servicing.The high voltage products within the Gold Line range contain grounding conduits forelectric current protection.Any disruption to these conduits may cause the instrumentto bee hot(live)and dangerous.After shutting off the power and removing the power source from your equipment,wait at least 1 minute before touching or disconnecting parts of the equipment thatare normally loaded with electrical charges(such as capacitors or contacts).Measuringthe electrical contact points with a meter,before touching the equipment,isremended.2.2.CautionsThe maximum DC power supply connected to the instrument must ply with theparameters outlined in this guide.When connecting the Gold Solo Twitter to an approved control supply,connect itthrough 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 Twitter,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 operational.2.3.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 thedate of shipment.No other warranties,expressed or implied-and including a warranty ofmerchantability and fitness for a particular purpose extend beyond this warranty.Table of ContentsSafety Information www.elmomc.Gold Solo Twitter Installation Guide10MAN-G-SOLTWI (Ver.4002)Chapter 3:Product DescriptionThe Gold Solo Twitter is a "ready to use Gold Twitter",advanced high power density,highlyintelligent servo drive operational within a few minutes,delivering up to 5.6 kW power in anaverage 30.59 cm3(1.87 in3)pact package(refer to Chapter 10:Dimensions,PhysicalSpecifications for details).A cable kit and optional heat sinks are available for easy and fastoperation of the Gold Solo Twitter.The Gold Solo Twitter which is provided in the optional forms shown in Figure 1,provides topperformance,advanced working and built-in certified safety,as well as a fully featuredmotion controller and local intelligence.Vertical(s 10A)or Horizontal (s 25A)Power Connector for Output CurrentWired Power Connection(remended for >25A Output Current,but optional for s 25A)Figure 1:Gold Solo Twitter with Power Connectors OptionsPower to the Gold Solo Twitter is provided by a DC power source which is isolated from theMains.The Gold Solo Twitter can operate with single or dual power supplies.If separationbetween the main DC power source and a control supply is required,then a control supply(also isolated from the Mains)is required.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 Twitter drive is easily set up and tuned using the Elmo Application Studio(EASII)software tools.As part of the Gold product line,it is fully programmable with the Elmo motioncontrol languages.For more information about software tools refer to the Elmo ApplicationStudio (EASII)User Guide.Optionally,where necessary,Elmo offers two external heat sinks(Catalog number:G-TWIHSFINS01,and G-TWIHSFLATO1)which should be ordered separately.Refer to thesection 6.2 Mounting the Optional Accessories Heat Sinks for details of installing the heatsinksTable of ContentsProduct Description www.elmomc.Gold Solo Twitter Installation Guide11MAN-G-SOLTWI (Ver.4.002)Chapter 4:Technical InformationNote:It should be noted that for all models,the Max Output currentis guaranteed for THeatsink <85CGeneral Mounting methodPanel mount4.1.60V and 100V Models Technical DataFeatureUnits30/601/1003/1006/10010/10015/10025/100Minimum supply voltageVDC810Nominal supply voltageVDC4885Maximum supply voltageVDC5595Maximum continuous powerW13708023547080011252000outputEfficiency at rated power(at%>99nominal conditions)Maximum output voltageUp to 96%of DC bus voltageIc,Amplitude sinusoidal/DCA3036101525continuous currentSinusoidal continuous RMS210.72.14.27.11017.7current limit(Ic)Peak current limit2xlcTable 1:60V and 100V Models Technical DataTable of ContentsTechnical Information|www.elmomc.Gold Solo Twitter Installation Guide12MAN-G-SOLTWI (Ver.4002)4.2.200V Models Technical DataFeatureUnits3/2006/20010/200Minimum supply voltageVDC20Nominal supply voltageVDC170Maximum supply voltageVDC195Maximum continuous power4859751650outputEfficiency at rated power(at%>99nominal conditions)Maximum output voltageUp to 96%of DC bus voltageIc,Amplitude sinusoidal/DC610continuous currentSinusoidal continuous RMS currentA2.14.27.1Peak current limitATable 2:200V Models Technical Data4.3.R Type Technical DataFeatureUnitsR50/60R80/80R50/100R70/100R45/150R15/200Minimum supply voltageVDC81010101220Nominal supply voltageVDC48658585115170Maximum supply voltageVDC55759595135195Maximum continuouskW2.354.05.652.5Electrical power outputEfficiency at rated power(at%>99nominal conditions)Maximum output voltageUp to 96%of DC bus voltageAmplitude sinusoidal/DC508050704515continuous currentSinusoidal continuous RMSA35.356.535.349.53210.6current limit(lc)Table 3:R Type Models Technical DataTable of ContentsTechnical Information|www.elmomc.