Elmo WorldwideHead OfficeElmo Motion Control Ltd.60 Amal St.,P.O.Box 3078,Petach Tikva 49516IsraelTel:+972(3)929-2300·Fax:+972(3)929-2322·info-il@elmomc..North AmericaElmo Motion Control Inc.42 Technology Way,Nashua,NH 03060USATel:+1(603)821-9979·Fax:+1(603)821-9943·info-us@elmomc.EuropeElmo Motion Control GmbHHermann-Schwer-Strasse 3,78048 VS-VillingenGermanyTel+49(0)7721-9447120·Fax:+49(0)7721-9447130·info-de@elmomc.ChinaElmo Motion Control Technology(Shanghai)Co.Ltd.Room 1414,Huawen Plaza,No.999 Zhongshan West Road,Shanghai (200051)ChinaTe:+86-21-32516651·Fax:+86-21-32516652·info-asia@elmomc.Asia PacificElmo Motion Control APAC Ltd.B-601 Pangyo Innovalley,621 Sampyeong-dong,Bundang-gu,Seongnam-si,Gyeonggi-do,South Korea (463-400)Te:+82-31-698-2010·Fax:+82-31-801-8078·info-asia@elmomc.Gold Trombone Installation Guide (EtherCAT and CAN)Table of ContentsMAN-G-TRO IG-EC (ver.1.604)Table of Contentschapter 1:Safety Information...81.2.1.3.Directives and Standards.101.4.CE Marking Conformance.............Chapter 2:Product Description ...............112.1.Drive Description12.2.Product Features.22.2.2.2.2.3.Motion Control...132.2.5.Feedback Ports Options..142.2.6.Feedback Sensor Specifications..152.28.Safety..........162.2.10.Differential Outputs....72.2.11.Digital Inputs.2.2.12.Differential Inputs..................2.2.13.Analog Input....172.2.14.Built-In Protection..........2.2.15.Status Indication..........182.2.16.Automatic Procedures2.3.System Architecture.............192.4.How to Use this Guide......20Chapter 3:Technical Information...........3.1.Technical Data.….213.1.1.Auxiliary Supply.22chapter4:Installation...234.1.Site Requirements.....................4.2.Unpacking the Drive Components.....234.3.1.connector Types........................254.3.2.4.3.2.1.Motor Power.264.3.2.2.Main Power.........26Gold Trombone Installation Guide (EtherCAT and CAN)Table of ContentsMAN-G-TROIG-EC (ver.1.604)64.3.2.3.Auxiliary Power Connector (3)............274.3.2.4.Connector4.4.Mounting the Gold Trombone.......334.5.Integrating the Gold Trombone on a PcB.344.5.2.Grounds and4.6.4.7.Main Power,Motor Power and Auxiliary Power..........................414.7.1.Motor Power.4.7.2.1.Direct-to-Mains Power Source (Non-lsolated Rectifier)..............434.7.2.2.Battery Power Supply.474.8.STO (Safe Torque Off)Inputs (J1)........494.9.Feedback.51.514.9.1.1.Incremental Encoder Connection Diagram.....534.9.1.2.Absolute Serial Encoder Connection Diagram..........................544.9.13.Hall Sensor Connection Diagram.554.9.2.1.Incremental Encoder Connection Diagram .......574.9.2.2.Interpolated Analog Encoder Connection Diagram.......584.9.23.Resolver Connection Diagram..594.9.3.Port C-Emulated Encoder Output (J2)..594.10.1.Digital Inputs (1).614.11.4.11.1.CAN Communication (2)...684.11.2.USB 2.0 Communication (J2).704.11.3.EtherCAT Communication (2).714.11.4.Ether munication (2).......734.11.5.EtherCAT/Ether Line Interface ..754.12.Powering Up.…4.12.1.Initializing the System....754.13.1.Gold Trombone Thermal Data .............764.13.2.Heat Dissipation Data..4.13.3.Howto Use the charts......7chapter 5:Technical Specifications..785.1.Gold Trombone Dimensions............785.2.Environmental Conditions........79Gold Trombone Installation Guide (EtherCAT and CAN)Table of ContentsMAN-G-TRO IG-EC (ver.1.604)5.3.1.Current L00p….795.4.1.Feedback Supply Voltage.................815.4.2.5.4.2.1.Incremental Encoder Input...85.4.2.2.Digital HallS........825.4.2.3.Interpolated Analog (Sine/Cosine)Encoder.5.4.25.Absolute Serial Encoder.5.5.1.Digital Input Interfaces-TTL Mode...5.5.2.Digital Input Interfaces-PLC Mode...............865.5.3.Digital Output Interface-PLC Mode..............875.5.4.Digital Output Interface-TTL Mode....885.5.5.Analog Input.…885.6.Safe Torque Off(STO)….895.6.1.STO Input Interfaces-TTL Mode........895.6.2.STO Input Interfaces-PLC Mode........895.8.Pulse-Width Modulation (PWM)...905.9.Compliance with Standards...............Gold Trombone Installation Guide (EtherCAT and CAN)Safety InformationMAN-G-TRO IG-EC (ver.1.604)8Chapter 1:Safety InformationIn order to achieve the optimum,safe operation of the Gold Trombone servo drive,it isimperative that you implement the safety procedures included in this installation guide.Thisinformation is provided to protect you and to keep your work area safe when operating theGold Trombone and 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 Trombone servo drive contains electrostatic-sensitive ponents that can bedamaged if handled incorrectly.To prevent any electrostatic damage,avoid contact with highlyinsulating materials,such as plastic film and synthetic fabrics.Place the product on aconductive surface and ground yourself in order to discharge any possible static electricitybuild-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 manual:Warning:This infommation is needed to avoid a safety hazard,which might cause bodilyinjury.Caution:This infommation is necessary for preventing damage to the product or to otherequipment.www.elmomc.Gold Trombone Installation Guide (EtherCAT and CAN)Safety InformationMAN-G-TROIG-EC (ver.1.604)91.1.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 Trombone from all voltage sources before it is opened for servicing.The Gold Trombone servo drive contains grounding conduits for electric current protection.Any disruption to these conduits may cause the instrument to bee hot (live)anddangerous.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.1.2.CautionsThe Gold Trombone servo drive contains hot surfaces and electrically charged ponentsduring operation.The maximum DC power supply connected to the instrument must ply with theparameters outlined in this guide.When connecting the Gold Trombone to an approved isolated 18 to 30 VDC auxiliary powersupply,connect it through a line that is separated from hazardous live voltages usingreinforced or double insulation in accordance with approved safety standards.Before switching on the Gold Trombone,verify that all safety precautions have beenobserved and that the installation procedures in this manual have been followed..Do not clean any of the Gold Trombone drive's soldering with solvent cleaning fluids of pHgreater than 7(8 to 14).The solvent corrodes the plastic cover causing cracks and eventualdamage to the drive's PCBs.Elmo remends using the cleaning fluid Vigon-EFM which is pH Neutral(7).For further technical information on this remended cleaning fluid,select the link:://www.zestron./fileadmin/zestron.-usa/daten/electronics/Product_TI1s/TI1-VIGON EFM-US.pdfwww.elmomc.Gold Trombone Installation Guide (EtherCAT and CAN)Safety InformationMAN-G-TRO IG-EC (ver.1.604)101.3.Directives and StandardsThe Gold Trombone conforms to the following industry safety standards:Safety StandardItemApproved IEC/EN 61800-5-1,SafetyAdjustable speed electrical power drive systemsRecognized UL 508CPower Conversion EquipmentIn pliance with UL 840Insulation Coordination Including Clearances andCreepage Distances for Electrical EquipmentIn pliance with UL 60950-1(formerly UL 1950)Including Electrical Business EquipmentIn pliance with EN 60204-1Low Voltage Directive 73/23/EECThe Gold Trombone servo drive has been developed,produced,tested and documented inaccordance with the relevant standards.Elmo Motion Control is not responsible for anydeviation from the configuration and installation described in this documentation.Furthermore,Elmo is not responsible for the performance of new measurements or ensuringthat regulatory requirements are met.1.4.CE Marking ConformanceThe Gold Trombone servo drive is intended for incorporation in a machine or end product.Theactual end product must ply with all safety aspects of the relevant requirements of theEuropean Safety of Machinery Directive 98/37/EC as amended,and with those of the mostrecent versions of standards EN 60204-1 and EN 292-2 at the least.According to Annex lll of Article 13 of Council Directive 93/68/EEC,amending Council Directive73/23/EEC concerning electrical equipment designed for use within certain voltage limits,theGold Trombone meets the provisions outlined in Council Directive 73/23/EEC.The partyresponsible for ensuring that the equipment meets the limits required by EMC regulations isthe manufacturer of the end product.1.5.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 thetime of installation,or 18 months from time of shipment,whichever es first.No otherwarranties,expressed or implied-and including a warranty of merchantability and fitness fora particular purpose -extend beyond this warranty.www.elmomc.Gold Trombone Installation Guide (EtherCAT and CAN)Product DescriptionMAN-G-TRO IG-EC (ver.1.604)11Chapter 2:Product DescriptionThis installation guide describes the Gold Trombone servo drive and the steps for its wiring,installation and power-up.Following these guidelines ensures optimal perfommance of the driveand the system to which it is connected.2.1.Drive DescriptionThe Gold Trombone series of digital servo drives are highly resilient and designed to deliver thehighest density of power and intelligence.The Gold Trombone delivers up to 10 kW ofcontinuous power or 16 kW of peak power in a pact package.The digital drives are part of Elmo's advanced Gold Line.They operate from a DC power sourcein current,velocity,position and advanced position modes,in conjunction with a permanent-mag synchronous brushless motor,DC brush motor,linear motor or voice coil.They aredesigned for use with any type of sinusoidal and trapezoidal mutation,with vector control.The Gold Trombone can operate as a stand-alone device or as part of a multi-axis system in adistributed configuration on a real-time work.The drives are easily set up and tuned using Elmo Application Studio software tools.ThisWindows-based application enables users to quickly and simply configure the servo drive foroptimal use with their motor.The Gold 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 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 S or T-model Gold Trombone should be used,with an external 24 VDC isolatedsupply connected to it.NoThe backup functionality can operate from an isolated voltage source within therange of 18 to 30 VDC.Whenever backup functionality is not required,Gold Trombone models that have 0 or 1 suffix(only for 400V models)in the catalog number (see page 23)can be used,i.e.,they do not havea 24 V control supply.In these models,a smart control-supply algorithm enables the GoldTrombone 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 Trombone is a PCB-mounted device which enables efficient and cost-effectiveimplementation.However,stand-alone integrated products(the Gold DC Trombone and GoldSolo Trombone)are also available,using pluggable connections.www.elmomc.Gold Trombone Installation Guide (EtherCAT and CAN)Product DescriptionMAN-G-TRO IG-EC (ver.1.604)122.2.Product FeaturesNote The features described in this chapter relate to the range of Gold Trombone models.Depending on the model you have purchased,not all features are available.To see the features for your model,look at the product label on the Gold Trombone and usethe product catalog number schematic that appears at the beginning of this manual and onpage 24 to determine which specific features are available to you.2.2.1.Servo Control.Advanced and extremely fast vector control algorithm(current loop bandwidth:4 kHz).Current/Torque sampling rate:up to 20 kHz(50 us)·Velocity sampling rate:upto10kHz(100μs).Position sampling rate:up to 10 kHz(100 us)Electrical mutation frequency:up to 4 kHzCurrent closed loop bandwidth exceeds 4 kHzPosition/Velocity/Acceleration mand range-full 32 bitPosition over velocity,with full dual loop supportCurrent gain scheduling to pensate for the motor's non-linear characteristicsAdvanced filtering:Low pass,Notch,General BiquadCurrent loop gain scheduling to pensate for bus voltage variationsVelocity gain scheduling for ultimate velocity loop performanceGains and filter scheduling vs.position for mechanical coupling optimization,speed andposition tracking errorsHigh order filters gain scheduling vs.speed and positionS-curve Profile Smoothing.Cogging,BEMF and wxL pensationDual Loop Operation supported by Auto TuningFast,easy and efficient advanced Auto TuningIncremental encoder frequency of up to 75 Megacounts/secMotion profiler numeric range:Position up to +2 x 10 counts·Velocity up to2x10°counts/,secAcceleration up to 2 x 10 counts/sec?www.elmomc.