Table of ContentsMAN-G-DTWIIG (ver.1.007)4Chapter 1:Chapter 2:Safety Information .............72.1.Warnings..82.2.82.3.Warranty Information.....Chapter 3:Product Description....9Chapter 4:4.1.Physical Specifications.4.2.D Type Technical Data..............104.3.Control Supply Input Voltage (VL).114.4.Product Features.........114.5.Environmental Conditions.....Chapter 5:Standards and Certifications........5.1.Functional Safety...5.2.Electrical Safety.….135.3.Electromagic Compatibility..............135.4.Environmental.145.5.Other Compliant Standards....5.6.chapter 6:Unpacking the Drive Components.....15Chapter 7:Mounting the Gold Double Twitter...167.1.Mounting the Gold Double Twitter to a Heat Sink.....................187.1.1.Mounting the Gold Double Twitter (PN G-TWIDXXX/YYYZZD)..................187.1.2.Mounting the Gold Double Twitter(PN G-TWIDXXX/YYYZZH)..................19Chapter 8:Integrating the Gold Double Twitter on a PCB..............................208.1.Power Returns (PR)...208.3.Earth Connection (PE).....208.4.Power Return(PR),Common Return (COMRET)and Earth Connections(PE).........218.5.Logic and Control Cabling and Wiring.....................85.1.Feedback Ports,VL,RS232,USB,Analog Input....8.5.2.Digital Inputs/Outputs,STO.........22Table of Contents58.5.3.EtherCATor CAN Communication.......228.5.4.COMRET to PE Connection.228.6.Power Conductors PCB layout..23Chapter 9:9.1.9.2.The Gold Double Twitter Connection Diagram..................2510.1.Main,Control,and Motor Power..............3010.1.1.Motor Power10.1.2.Motor Power Connections...3110.1.3.Main Power and Control Connector...3210.1.3.2.Control Supply ......3310.1.3.3.Dual Power Supply Topology...3410.1.3.4.Single Power Supply Topology (VP+<95VDC)......................3610.2.Feedback Connector FDB........................38..40.4010.2.1.2.Absolute Serial Encoder...........4142.4310.2.2.2.Interpolated Analog Encoder ...........4410.2.23.Resolver.…10.2.3.Port C-Emulated Encoder Output (FDB)10.3.Main Connector (MAIN)..4710.3.1.Digital Inputs..5010.3.2.Digital Outputs..............5210.3.3.STO (Safe Torque off)...................5510.34.Analog Input.................5610.3.5.CAN Option..5710.3.5.1.Interface ....5710.3.5.2.CAN Layout…5810.3.6.RS232…5910.4.EtherCAT Module...6010.4.1.EtherCAT Module Connectors....60Table of ContentsMAN-G-DTWIIG (ver.1.007)610.4.1.1.ECT2 connector.......6010.4.1.3.ECT3 Connector....6110.4.1.4.3.3VC0 nnector..6110.4.2.EtherCAT Communication...................6210.4.3.USB 2.0 Communication (for EtherCAT model only)..........63chapter 11:Powering Up........6411.2.1.Heat Dissipation Data.............6511.2.2.How to Use the chart ...................12.1.Gold Double Twitter EtherCAT Version without Heatsink.....6912.2.Gold Double Twitter CAN Version without Heatsink.7012.3.Gold Double Twitter EtherCAT Version with Heatsink..................7.112.4.Gold Double Twitter CAN Version with Heatsink................................72Gold Double Twitter Installation GuideMAN-G-DTWIIG (Ver.1.007Chapter 1:This Installation GuideThis installation Guide details the technical data,pinouts,and power connectivity of the GoldDouble 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 Double 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 Double 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 qualified personhas the knowledge and authorization to perform tasks such as transporting,assembling,installing,missioning and operating motors.The Gold Double 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 surface andground 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 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 bodilyinjury or death as a result of incorrect operation.Caution:This information is necessary to prevent bodily injury,damage to the product or toother equipment.Identifies information that is critical for successful application and understandingof the product.Table of Contents |Warnings|www.elmomc.Gold Double Twitter Installation Guide8MAN-G-DTWIG (Ver.1.007)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.Disconnectthe Gold Double Twitter 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 3 minutes 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.Control and munication circuits are separated from power circuits by only functionalinsulation.These circuits should be insulated according to the working voltage of the powercircuit and the control or munication circuits based on the requirements of the end userapplication.2.2.CautionsThe maximum DC power supply connected to the instrument must ply with theparameters outlined in this guide.When connecting the Gold Double Twitter to an approved control 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 Double 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 the timeof 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 Double Twitter Installation Guide9MAN-G-DTWIG (Ver.1.007)Chapter 3:Product DescriptionThe Ultra High Current Gold Double Twitter which can deliver 180A@up to 55VDC,160A@up to75VDC,140A up to 95VDC,and 70A@up to 195VDC,are advanced high power density servodrives,delivering up to 11 kW power in a 32 cm3(2 Inch3)pact package 47 x 36.2 x 18.8 mm(1.85"x 1.425"x0.74").The Gold Double Twitter is designed to be mounted on a PCB by solderingits pins directly to the PCB.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.Power to the GoldDouble Twitter is provided by a DC power source which is isolated from the Mains.The Gold DoubleTwitter can operate with single or dual power supplies.If separation between the main DC powersource 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 Double 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 Application StudioThe Gold Double Twitter is available in a variety of models.There are a number of possible options;multiple power rating,various munications,and feedback.G-TW_ADW-010CG-TWLADV-0090G-TWLADV-010C-8G-TWLADV-0090-DETHERCAT MODULECAN MODULEFigure 1:Difference between 3-Tier CAN and 4-Tier EtherCAT modules with/without HeatsinkWithin the variety of models offered,the CAN and EtherCAT versions are physically different in thatthe CAN version has three tiers,whereas the EtherCAT version has four tiers,as shown in Figure 1.Table of Contents |Warranty Information|www.elmomc.Gold Double Twitter Installation Guide10MAN-G-DTWIG (Ver.1.007)Chapter 4:Technical Information4.1.Physical SpecificationsFeatureUnitsAll TypesWeight without Heatsinkg(oz)EtherCAT Version:=36 g(1.27 oz)CAN Version:=33 g(1.16 oz)Weight with Heatsinkg(oz)EtherCAT Version:=67 g(2.36 oz)CAN Version:=64 g(2.29 oz)EtherCAT/CAN Versionmm (in)47×36.2×19mm(1.85"×1.425"x0.75)Dimension without HeatsinkEtherCAT/CAN Versionmm (in)61×47×23mm(2.4"×1.85"×0.91")Dimension with HeatsinkMounting methodPCB mountIP4.2.D Type Technical DataFeatureUnitsD180/60D160/80D140/100D40/200D70/200Minimum supply voltageVDC1111112020Nominal supply voltageVDC456585170170Maximum supply voltageVDC557595195195Maximum continuouskW8.610116.411Electrical power outputEfficiency at rated power>99(at nominal conditions)Maximum output voltageUp to 96%of DC bus voltageAmplitude sinusoidalA1801601404070continuous currentSinusoidal continuous RMS127113992849current limit(lc)Current limitMax Output current is guaranteed for THeat-sink <85CTable of Contents |Physical Specifications|www.elmomc.Gold Double Twitter Installation Guide11MAN-G-DTWIG (Ver.1.007)4.3.Control Supply Input Voltage (VL)The Control Supply input voltage (VL)must be either SELV or PELV rated.FeatureUnitDetailsStandard CAN(S option)Input range11V-95VPower consumption<2.5W(including 5 V/200 mA for encoder)ETHERCAT (E option)Input range11V-95VPower consumption<4W(including 5 V/200 mA for encoder)4.4.Product FeaturesMain FeatureDetailsPresence /No.STO5V Logic Level,Opto isolated from the ControlsectionDigital Input5V Logic Level(Internally connected toOptionCOMRET)Digital Output5V logic(Internally connected to COMRET)2Option3.3V logic(Internally connected to COMRET)Analog InputDifferential±ioWSingle Ended1FeedbackStandard Port A,B,CCommunicationUSB (only for EtherCAT version)OptionEtherCAT orCANRS232 TTL levelStandard RS232Table of Contents |Control Supply Input Voltage (VL)|www.elmomc.Gold Double Twitter Installation Guide12MAN-G-DTWIG (Ver.1.007)4.5.Environmental ConditionsYou can guarantee the safe operation of the Gold Double Twitter by ensuring that it is installed inan appropriate environment.The following table describes the certified environmental conditionsfor STO of the Gold series servo drives.Warning:During operation the Gold Double Twitter bees hot to thetouch (the heatsink and wires may heat up to 92'C).Care should be takenwhen handling it.Caution:The Gold Double Twitter dissipates its heat by convection or by conduction.The maximum ambient operating temperature of 50C(122F)must not beexceeded.FeatureDetailsOperating ambient temperatureStorage 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≤f≤500Hz:5GTable of Contents Environmental Conditions|www.elmomc.