Table of ContentsMAN-G-SOL TWIB_160 (Ver.1009)4Chapter 1:Chapter 2:Safety Information.…72.1.Warnings…82.2.2.3.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 Certification .......135.1.CE Declaration…5.2.Environmental…145.3.145.4.EtherCAT Conformance.............145.5.Dual Use…5.6.Other Compliant Standards..................15Chapter 6:Installation.…6.1.Unpacking the Servo Drive Components...166.2.Mounting the Gold Solo Double Twitter to a Heat Sink....................176.3.The Gold Solo Double Twitter Connection Diagrams..................86.3.1.CAN Connection Diagram...186.3.2.EtherCATConnection Diagram...1.9Chapter 7:7.1.Wiring Legend..07.2.7.2.1.Remended Cable Lugs and Cabling.....237.3.Mating Connectors,Wires,and Cables...37.4.Logic and Control Cabling and Wiring....247.4.1.J10 and J11 (Feedback ports,VL,RS232,USB,Analog Input)...................474.2.J11 (Digital Inputs/Outputs,STO)......4Table of ContentsMAN-G-SOL TWIB_160 (Ver.1008)57.4.3.J17,J18 EtherCAT or CAN Communication.......247.4.4.COMRET to pE Connection.247.5.Wiring the Female Connectors...58.1.Main,Control,and Motor Power...268.1.1.Connecting the DC Power and the Motor Power Wires..........................68.1.2.Motor Power Connections ............8.1.3.Motor8.1.4.Main Power and Control Supply......308.14.1 Main Power..308.1.4.2.Control Supply(J10）.…318.1.4.3.Dual Power Supply (PN G-SOLTWIDXXX/YYYEESD)..................328.1.4.4.Single Power Supply (PN G-SOLTWIDXXX/YYYEESV)..............348.2.8.3.J10VL and Feedback Connector...............368.3.1.1.Incremental Encoder...............8.3.1.2.Absolute Serial Encoder.............408.3.13.Hiperface…418.3.1.4.Hall Sensors.4283.2.P0tB…438.3.2.1.Incremental Encoder................8.3.2.2.Interpolated Analog Encoder...438.3.3.Port C-Emulated Encoder Output (J10).........................................448.4.J11/and Communication Connector...8.4.1.Digital Inputs..…8.4.1.1.Source PLC Voltage Level Digital Input .................488.4.1.2.Sink PLC Voltage Level Digital Input.........508.4.1.3.Source 5V Logic Level Digital Input.........................528.4.2.Digital Outputs....548.4.2.1.Source PLC Voltage Level Digital Output.......................5.48.4.2.2.Sink PLC Voltage Level Digital Output.................568.4.2.3.Digital Outputs Source 5V Logic Mode.......................588.4.3.STO(Safe Torque Off)60Table of ContentsMAN-G-SOL TWIB_160 (Ver.1008)68.4.5.Standard RS-232..............618.4.6.USB 2.0Communication (Only for EtherCAT version).......628.5.EtherCAT Communications version..6385.1.EthercAT IN/Ether Connector (J17)......638.5.2.EtherCATOUT Connector (J18)....................85.3.EthercATOption..658.5.3.1.EtherCAT Communication..658.5.3.2.EtherCAT Status Indicator (D2)............................668.5.3.3.EtherCAT Link Indicators (D3,D4)..................................668.6.CAN Communications Version..678.6.1.CAN IN Connector (17)...678.6.2.CAN OUT Connector (J18)...................688.6.3.CAN Option….698.6.3.2.CAN Layout…Chapter 9:Powering Up.71719.2.Heat Dissipation.....719.2.1.Heat Dissipation Data ...719.2.2.How to Use the Chart ............Chapter 10:Dimensions......75Chapter 11:Cables and Accessories.................77Gold Solo Double Twitter Installation GuideMAN-G-SOLTWTB_160 (Ver.1.008Chapter 1:This Installation GuideThis installation Guide details the technical data,pinouts,and power connectivity of the Gold SoloDouble Twitter.For a prehensive detailed description of the functions and connections of thedrive,refer to the Gold Panel Mounted Drives Hardware Manual.Chapter 2:Safety InformationIn order to achieve the optimum,safe operation of the Gold Solo Double Twitter,it is imperativethat you 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 DoubleTwitter 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 qualified personhas the knowledge and authorization to perform tasks such as transporting,assembling,installing,missioning and operating motors.The Gold Solo 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 Solo Double Twitter Installation Guide8MAN-G-SOLTWTB_160 (Ver.1.008)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 Solo 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.2.2.CautionsThe maximum DC power supply connected to the instrument must ply with theparameters outlined in this guide.When connecting the Gold Solo 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 Solo Double Twitter,verify that all safety precautions havebeen observed and that the installation procedures in this manual have been followed.Make sure that the Safe Torque Off is operational2.3.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 Solo Double Twitter Installation Guide9MAN-G-SOLTWIB_160 (Ver 1.008)Chapter 3:Product DescriptionThe Ultra High Current Gold Solo Double Twitter which can deliver 180A@up to 55VDC,160A@upto 75VDC,140A@up to 95VDC,and 70A up to 195VDC,are advanced high power density servodrives,delivering up to 11 kW power in a 97.02 cm3(5.92 Inch3)pact package47×69.5×29.7mm(1.85"×2.74"×1.17").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 GoldSolo Double Twitter is provided by a DC power source which is isolated from the Mains.The GoldSolo Double Twitter can operate with single or dual power supplies.If separation between the mainDC power source and a control supply is required,then a control supply (isolated from the Mains)isrequired according to the Part Number.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 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 Elmomotion control language.For more information about software tools refer to the Elmo ApplicationStudio (EASII)User Guide.The Gold Solo Double Twitter is available in a variety of models.There are multiple power ratingoptions,different munications options,a number of feedback options and different l/Oconfiguration possibilitiesEtherCATCANopenFigure 1:Difference between 4-Tier EtherCAT and 3-Tier CANopen modulesTable of Contents |Warranty Information|www.elmomc.Gold Solo Double Twitter Installation Guide10MAN-G-SOLTWIB_160 (Ver 1.008)Chapter 4:Technical Information4.1.Physical SpecificationsFeatureUnitsAllTypesWeightg(oz)120.0g(4.23ozEtherCAT Version Dimensionmm(in)47×69.5×29.7mm(1.85"×2.74"×1.17")CAN Version Dimensionmm (in)47×69.5×26.9mm(1.85"×2.74"×1.06)Mounting methodPanel Based Mounting4.2.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 sinusoidal1801601404070continuous currentSinusoidal continuous RMSA127113992849current limit(lc)Current limitAMax Output current is guaranteed for THeat-sink <85CTable of Contents |Physical Specifications|www.elmomc.Gold Solo Double Twitter Installation Guide11MAN-G-SOLTWTB_160 (Ver.1.008)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.STO+5V Logic,Opto isolated from the Control section,orPLC Source,Opto isolated from the Control sectionDigital Input+5V Logic,Opto isolated from the Control section or6PLC Source,Opto isolated from the Control section or6PLC Sink Opto isolated from the Control section6Digital Output+5V Logic,Opto isolated from the Control section orPLC Source,Opto isolated from the Control section or4PLC Sink,Opto isolated from the Control sectionAnalog InputDifferential +10V or Single Ended1FeedbackStandard Port A,B,and CCommunicationUSB(only for EtherCAT version)OptionEtherCAT orCANStandard RS232Table of Contents |Control Supply Input Voltage (VL)|www.elmomc.Gold Solo Double Twitter Installation Guide12MAN-G-SOLTWTB_160 (Ver.1.008)4.5.Environmental ConditionsYou can guarantee the safe operation of the Gold Solo Double Twitter by ensuring that it is installedin an appropriate environment.Warning:During operation the Gold Solo 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 Solo Double Twitter dissipates its heat by convection or byconduction.The maximum ambient operating temperature of 50C(122F)must not be exceeded.FeatureDetailsOperating ambient temperature0℃to40℃(32℉to104℉)in pliance with STO standardsOperating ambient temperature0C to 50C(32 F to 122 F)in plianceaccording to IEC60068-2-2with UL standardsStorage 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 capableof higher 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.