Table of ContentsMAN-G-TWI (Ver.1.022)4chapter 1:This Installation Guide.........6Chapter 2:Safety Information ................62.1.Warnings...................2.2.cautions....…2.3.CE Marking Conformance..2.4.Warranty Information.....Chapter 3:Product Description.........8Chapter 4:Technical Information............94.1.Physical Specifications......4.2.Up to 100V Models Technical Data...94.3.200V Models Technical Data.............104.4.R Type Technical Data........4.5.Control Supply Input Voltage (VL)......114.6.。Pr0 duct Features.l1chapter 5:Unpacking the Drive Components..13Chapter 6:Mounting the Gold Twitter.146.1.Integrating the Gold Twitter on a PCB.....166.2.The Gold Twitter Connection Diagram.............17Chapter 7 Wiring..97.1.Wiring Legend…8.1.Main,Control,and Motor Power.238.1.2.Main Power and Control Connector..........28.1.2.2.Control Supply.............8.1.2.3.Dual Power SupplyTopology......78.1.2.4.Single Power Supply Topology (VP+<40 VDC).......................9348.2.1.1.Incremental Encoder...348.2.1.2.Absolute Serial Encoder.......35Table of ContentsMAN-G-TWI (Ver.1.022)58.2.2.8.2.2.1.Incremental Encoder.378.2.2.2.Interpolated Analog Encoder....388.2.3.Port C-Emulated Encoder Output (FDB)...408.3.Main Connector (MAIN)..418.3.2.Digital Outputs.............468.3.3.STO(Safe Torque Off).….498.3.4.508.3.5.CAN Option…518.3.5.1.Interface.…8.3.5.2.CAN Layout.….528.3.6.RS232538.4.EtherCAT Module…558.4.1.EtherCAT Module Connectors...8.4.1.1.ECT2 connector.......84.1.2.ECT1 connector..568.4.1.3.ECT3 Connector...........8.4.1.4.3.3VConnector.......568.4.2.EtherCAT Communication...chapter 9:Powering Up........609.1.Initializing the System609.2.Heat Dissipation...619.2.1.Heat Dissipation Data.......619.2.2.How to Use the Chart..............Chapter 10:Dimensions ...........Gold Twitter Installation GuideMAN-G-TWI (Ver.1.022Chapter 1:This Installation GuideThis installation Guide details the technical data,pinouts,and power connectivity of the GoldTwitter.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 Twitter,it is imperative that youimplement 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 Twitter 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 qualifiedperson has the knowledge and authorization to perform tasks such as transporting,assembling,installing,missioning and operating motors.The Gold Twitter contains electrostatic-sensitive ponents that can be damaged if handledincorrectly.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.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 ContentsWarnings www.elmomc.Gold Twitter Installation Guide>MAN-G-TWI (Ver.1.022)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 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 3 minutes 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.CautionsThe maximum DC power supply connected to the instrument must ply with theparameters outlined in this guide.When connecting the Gold Twitter to an approved control supply,connect it through aline that is separated from hazardous live voltages using reinforced or doubleinsulation in accordance with approved safety standards.Before switching on the Gold 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 operational2.3.CE Marking ConformanceThe Gold Twitter 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 EuropeanSafety of Machinery Directive 2006/42/EC as amended,and with those of the most recentversions of standards EN 60204-1 and EN ISO 12100 at the least,and in accordance with2006/95/ECConcerning electrical equipment designed for use within certain voltage limits,the GoldTwitter meets the provisions outlined in 2006/95/EC.The party responsible for ensuring thatthe equipment meets the limits required by EMC regulations is the manufacturer of the endproduct.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 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 Contents |Warnings|www.elmomc.Gold Twitter Installation Guide8MAN-G-TWI (Ver.1.022)Chapter 3:Product DescriptionThe Gold Twitter is an advanced high power density servo drive,delivering up to 5 kW powerin a 12.6 cc (0.769 in3)pact package(35 x 30 x 12 mm or 1.38"x 1.18"x 0.47").The GoldTwitter is designed to be mounted on a PCB by soldering its pins directly to the PCB.This advanced,high power density servo drive provides top performance,advancedworking and built-in safety,as well as a fully featured motion controller and localintelligence.Power to the Gold Twitter is provided by a DC power source which is isolatedfrom the Mains.The Gold 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(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 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 language.For more information about software tools refer to the Elmo ApplicationStudio (EASII)User Guide.The Gold Twitter is available in a variety of models.There are multiple power rating options,different munications options,a number of feedback options and different l/Oconfiguration possibilities.3-TIER CAN MODULE4-TIER ETHERCAT MODULEFigure 1:Difference between 3-Tier CAN and 4-Tier EtherCAT modulesWithin the variety of models offered,the CAN and EtherCAT versions are physically different inthat the CAN version has three tiers,whereas the EtherCAT version has four tiers,as shown inFigure 1.Optionally,where necessary,Elmo offers an external heat sink(Catalog number:ALH-GTWI02)which must be ordered separately.Table of ContentsWarranty Information www.elmomc.Gold Twitter Installation Guide9MAN-G-TWI (Ver.1.022)Chapter 4:Technical Information4.1.Physical SpecificationsFeatureUnitsAll TypesWeightg(oz)EtherCAT Version:22.2 g(0.78 oz)CAN Version:18.6 g(0.66 oz)EtherCAT Version Dimensionmm(in)35×30×14.4mm(1.38"×1.18"×0.57)CAN Version Dimensionmm(in)35×30×11.5mm(138"×1.18"x0.45")Mounting methodPCB mount4.2.Up to 100V Models Technical DataFeatureUnits30/601/1003/1006/10010/10015/10025/100Minimum supply voltageVDC810Nominal supply voltageVDC4885Maximum supply voltageVDC5595Maximum continuousW14408024048080512102015power outputEfficiency at rated power%>99(at nominal conditions)Maximum output voltageUp to 96%of DC bus voltageIc,Amplitude sinusoidal/DCA30136101525continuous currentSinusoidal continuous RMSA210.72.14.247.11017.6current limit(lc)Peak current limitATable 1:100V Models Technical DataTable of Contents Physical Specifications|www.elmomc.Gold Twitter Installation Guide10MAN-G-TWI (Ver.1.022)4.3.200V Models Technical DataFeatureUnits3/2006/20010/200Minimum supply voltageVDC20Nominal supply voltageVDC170Maximum supply voltageVDC194Maximum continuous4959901650power outputEfficiency at rated power%>99(at nominal conditions)Maximum output voltageUp to 96%of DC bus voltageIc,AmplitudeA610sinusoidal/DC continuouscurrentSinusoidal continuousA2.124.247.07RMS current limit(Ic)Peak current limitATable 2:Technical Data4.4.R Type Technical DataFeatureUnitsR50/60R80/80R45/100R50/100R15/200Minimum supply voltageVDC810101020Nominal supply voltageVDC48658585170Maximum supply voltageVDC55759595195Maximum continuouskW2.23.642.4Electrical power outputEfficiency at rated power%>99(at nominal conditions)Maximum output voltageUp to 96%of DC bus voltageAmplitude sinusoidal/DC5080455015continuous currentSinusoidal continuous RMS35.556.5323610.6current limit(Ic)Current limitMax Output current is guaranteed for THeat-sink <85CTable of Contents200V Models Technical Data|www.elmomc.Gold Twitter Installation Guide11MAN-G-TWI (Ver.1.022)4.5.Control Supply Input Voltage(VL)The Control Supply input voltage (VL)must be either SELV or PELV rated.FeatureUnitDetailsStandard CAN(S option)Input range12V-40Power consumption<2.5W(including 5 V/200 mA for encoder)ETHERCAT (E option)Input rangeV14V-40Power consumption(including 5 V/200 mA for encoder)4.6.Product FeaturesMain FeatureDetailsPresence No.STO5V Logic Level,Opto isolated from the ControlsectionDigital Input5V Logic Level (Internally connected to6OptionCOMRET)Digital Output5V logic (Internally connected to COMRET)2Option2Analog InputDifferential±1oV1Single Ended1FeedbackStandard Port A,B,CCommunicationUSBOptionEtherCATCANRS232 TTL levelStandard RS232Table of Contents|Control Supply Input Voltage (VL)|www.elmomc.Gold Twitter Installation Guide12MAN-G-TWI (Ver.1.022)4.7.Environmental ConditionsYou can guarantee the safe operation of the Gold Twitter by ensuring that it is installed in anappropriate environment.FeatureDetailsOperating ambient temperatureaccording to IEC60068-2-2Storage temperature-20℃to+85℃(-4℉to+185F)Maximum 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 ContentsEnvironmental Conditions www.elmomc.