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Elmo Gold Solo Whistle Installation Manual

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Gold Solo Whistle
Digital Servo Drive
Installation Guide
EtherCAT and CAN
July 2018 (Ver. 1.509)
www.elmomc.com

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Summary of Contents for Elmo Gold Solo Whistle

  • Page 1 Gold Solo Whistle Digital Servo Drive Installation Guide EtherCAT and CAN July 2018 (Ver. 1.509) www.elmomc.com...
  • Page 2 • This guide contains proprietary information belonging to Elmo Motion Control Ltd. Such information is supplied solely for the purpose of assisting users of the Gold Solo Whistle servo drive in its installation. The text and graphics included in this manual are for the purpose of illustration and •...
  • Page 3 The part number of the Gold Solo Whistle (EtherCAT version) has an E, for example, G- SOLWHI1/100E whereas the CAN version has an S, for example G-SOLWHI1/100S. There are two models of the Gold Solo Whistle: connectors only for currents of 10 A or less, •...
  • Page 4 Connector Types ......................15 5.2.1. Connector Types .................... 15 5.3. Mounting the Gold Solo Whistle .................. 17 5.4. The Gold Solo Whistle Connection Diagrams ............... 18 Chapter 6: Wiring ......................20 6.1. Basic Recommendations ....................22 6.1.1. General ......................22 6.1.2.
  • Page 5 Table of Contents MAN-G-SOLWHIIG-EC (Ver. 1.509) 6.5. STO (Safe Torque Off) (J26) ..................35 6.5.1. Source Mode – PLC Voltage Level ..............36 6.5.2. TTL Mode – TTL Voltage Level ............... 36 6.6. Port A Connector (J4) ....................37 6.6.1. Incremental Encoder ..................
  • Page 6 MAN-G-Panel Mounted Drives Hardware manual which describes Panel Mounted products. Chapter 2: Safety I nform ation In order to achieve the optimum, safe operation of the Gold Solo Whistle, it is imperative that you implement the safety procedures included in this installation guide. This information is provided to protect you and to keep your work area safe when operating the Gold Solo Whistle and accompanying equipment.
  • Page 7 2.3. CE Marking Conformance The Gold Solo Whistle is intended for incorporation in a machine or end product. The actual end product must comply with all safety aspects of the relevant requirements of the European Safety of Machinery Directive 2006/42/EC as amended, and with those of the most recent versions of...
  • Page 8 Chapter 3: Product Description The Gold Solo Whistle is an integrated solution delivering up to 1.6 kW of continuous power or 3.2 kW of peak power in a compact package (73.4 x 46.5 x 36.22 mm or 2.89" x 1.83" x 1.425"), and designed to simply and efficiently connect Elmo’s Gold Whistle servo drive directly to the...
  • Page 9 Table 1: Power Rating Note on current ratings: The current ratings of the Gold Solo Whistle are given in units of DC amperes (ratings that are used for trapezoidal commutation or DC motors). The RMS (sinusoidal commutation) value is the DC value divided by 1.41.
  • Page 10 Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.509) Elmo now offers a 200 VDC maximum output rating selection of Gold Solo Whistle, according to the following technical data: Feature Units 3/200 6/200 9/200 Minimum supply voltage Nominal supply voltage Maximum supply voltage...
  • Page 11 Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.509) 4.2.2. Product Features Main Feature Details Presence and No. TTL, or √ PLC Source √ Digital Input , or PLC Source Digital Output , or PLC Source Analog Input Differential ±10V Feedback Standard Port A, B, &...
  • Page 12 Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.509) 4.3. Environmental Conditions You can guarantee the safe operation of the Gold Solo Whistle by ensuring that it is installed in an appropriate environment. 4.3.1. Gold Line Feature Details Operating ambient temperature 0 °C to 40 °C (32 °F to 104 °F)
  • Page 13 Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.509) 4.4. Gold Line Standards The following table describes the Main Standards of the Gold Solo Whistle servo drive. For further details refer to the MAN-G-Panel Mounted Drives Hardware manual. Main Standards Item The related standards below apply to the performance of the servo drives as stated in the environmental conditions in section 4.3.1 Gold Line above.
  • Page 14 SOLWHI10/100E whereas the CAN version has an S, for example G- SOLWHI10/100S. There are two models of the Gold Solo Whistle: connectors only (for currents of 10 A or less) and wires only (for currents of 15 A or more). On request, the wires model may be ordered for currents of 10 A or less.
  • Page 15 Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.509) 5.2. Connector Types The Gold Solo Whistle has twelve connectors (connectors' version). 5.2.1. Connector Types Port No. Pins Type Function M1, M2, M3, 5.08 mm pitch Motor phases (Connectors version) VP+, PR, PE 5.08 mm pitch...
  • Page 16 Figure 1: Connector Locations – EtherCAT Figure 2: Connector Locations – CAN Table 2: Connector Types The pinouts in Chapter 6: Wiring describe the function of each pin in the Gold Solo Whistle connectors that are listed in Table 2. |Connector Types|www.elmomc.com...
  • Page 17 Whistle into a device, be sure to leave about 1 cm (0.4") outward from the heat-sink to enable free air convection around the drive. If the Gold Solo Whistle is enclosed in a metal chassis, we recommend that the Gold Solo Whistle be screw-mounted to it to help with heat dissipation. The Gold Solo Whistle has screw-mount holes on each corner of the heat-sink for this purpose –...
  • Page 18 Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.509) 5.4. The Gold Solo Whistle Connection Diagrams Figure 5: The Gold Solo Whistle Connection Diagram - EtherCAT |The Gold Solo Whistle Connection Diagrams|www.elmomc.com Table of Contents...
  • Page 19 Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.509) Figure 6: The Gold Solo Whistle Connection Diagram – CAN |The Gold Solo Whistle Connection Diagrams|www.elmomc.com Table of Contents...
  • Page 20 Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.509) Chapter 6: W iring Once the product is mounted, you are ready to wire the device. Proper wiring, grounding and shielding are essential for ensuring safe, immune and optimal servo performance of the drive.
  • Page 21 Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.509) Wiring Symbol Description Encoder Earthing. The cable`s shield is connected to the chassis (PE) in the connector. Earthing the Encoder and connecting the Earth (PE) to the drive COMRET is mandatory to insure reliable...
  • Page 22 Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.509) 6.1. Basic Recommendations 6.1.1. General Use shielded cables. For best results, the cable should have an aluminum foil shield covered by copper braid, and should contain a drain wire. Use 24, 26 or 28 AWG twisted-pair shielded with drain wire cables.
  • Page 23 Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.509) 6.1.2. Feedback Cable Port A and Port B Connector On the motor side connections, ground the shield to the motor chassis. At least One COMRET (Common Return) must be connected to the PE.
  • Page 24 Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.509) 6.1.3. Feedback Cable Port C Connector At the controller side connections, follow the controller manufacturer’s recommendations concerning the shield. The connection of the Drain wire to the Port C is not mandatory.
  • Page 25 Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.509) 6.1.5. STO (Port C) Cable Connector It is recommended to use shielded cable, but is not mandatory. Figure 11: STO Cable Assemblies |Basic Recommendations|www.elmomc.com Table of Contents...
  • Page 26 Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.509) 6.2. Motor Power Connector Pinouts (J28) See Chapter 8 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details. Pin (J28) Signal Function Cable – Wires Brushless Motor Brushed DC Motor...
  • Page 27 Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.509) Figure 12: Brushless Motor Power Connection Diagram Figure 13: Brushed Motor Power Connection Diagram |Motor Power Connector Pinouts (J28)|www.elmomc.com Table of Contents...
  • Page 28 12-95V for the logic. For power rating of 100V Single DC Power Supply - Power to the Gold Solo Whistle is provided by a 12–95 VDC single isolated DC power source (not included with the Gold Solo Whistle). A “smart” control-supply algorithm enables the Gold Solo Whistle to operate with only one power supply with no need for an auxiliary power supply for the logic.
  • Page 29 Pin Positions Table 4: Main Power and Motor Connections Power to the Gold Solo Whistle is provided by a 12 to 195 VDC source. Connect the DC power cable to the VP+ and PR terminals on the Main Power Connector.
  • Page 30 3.1.1. Table 5: Auxiliary Supply Pins Caution: Power from the Gold Solo Whistle to the motor must come from the Main Supply and NOT from the Auxiliary Supply. The backup functionality can be used for storing control parameters in case of power-outs, providing maximum flexibility and backup capability when needed.
  • Page 31 Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.509) 6.3.4. Connectivity 6.3.4.1. Power Rating 200 V For Power Rating 200 V, two power isolated DC power sources are required, main power 12 - 195V and auxiliary Power 12-95V for the logic.
  • Page 32 For power rating 100 V , a single Power Supply is required which contains a “smart” control-supply algorithm, enabling the Gold Solo Whistle to operate with only one power supply with no need for an auxiliary power supply for the logic.
  • Page 33 Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.509) 6.3.4.2.b Optional Backup Supply Figure 16: Auxiliary Supply Connection Diagram |Main and Auxiliary Power|www.elmomc.com Table of Contents...
  • Page 34 Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.509) 6.4. Drive Status Indicator Figure 17 shows the position of the red/green dual LED, which is used for immediate indication of the Initiation and Working states. For details refer to Chapter 7 Drive Status Indicator, in the MAN-G-Panel Mounted Drives Hardware manual.
  • Page 35 Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.509) 6.5. STO (Safe Torque Off) (J26) See Chapter 9 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details. Pin (J26) Signal Function STO1 STO 1 input (default 24 V)
  • Page 36 Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.509) 6.5.1. Source Mode – PLC Voltage Level Refer to the diagrams below for the PLC Source option connection. Figure 18: STO Shrouded Type Input Connection – PLC Source Option 6.5.2. TTL Mode – TTL Voltage Level Refer to the diagrams below for TTL option connection.
  • Page 37 Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.509) 6.6. Port A Connector (J4) See Section 10.3 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details. Incremental Encoder Absolute Serial Encoder Pin (J4) Signal Function Signal Function Encoder +5V...
  • Page 38 Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.509) 6.6.1. Incremental Encoder Figure 20: Port A Shrouded Type Incremental Encoder Input – Recommended Connection Diagram 6.6.2. Halls Sensor Figure 21: Shrouded Type Hall Sensors Connection Diagram |Port A Connector (J4)|www.elmomc.com Table of Contents...
  • Page 39 Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.509) 6.6.3. Absolute Serial Encoder The following figures describe the connections at Port A for the Absolute Serial type encoders. Figure 22: Absolute Serial Encoder – Recommended Connection Diagram for EnDAT, Biss, SSI Figure 23: Absolute Serial Encoder –...
  • Page 40 Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.509) 6.6.3.1. Hiperface The following figure describes the connection diagram. Figure 24: Absolute Serial Encoder – Recommended Shrouded Type Connection Diagram for Stegmann Hiperface Note: When the Hiperface protocol is used, the RS-232 connection is not available |Port A Connector (J4)|www.elmomc.com...
  • Page 41 Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.509) 6.7. Port B Connector (J5) See Section 10.4 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details. Incremental or Resolver Interpolated Analog Encoder G-SOLWHIXXX/YYYYEX G-SOLWHIXXX/YYYYRX Pin (J5) Signal Function...
  • Page 42 Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.509) 6.7.1. Incremental Encoder The following figure describes the connections at Port B for the Incremental encoder. Figure 25: Port B Incremental Encoder Input – Recommended Connection Diagram |Port B Connector (J5)|www.elmomc.com Table of Contents...
  • Page 43 Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.509) 6.7.2. Interpolated Analog Encoder The following figure describes the connections at Port B for the Interpolated Analog encoder. Figure 26: Port B - Interpolated Analog Encoder Shrouded Type Connection Diagram |Port B Connector (J5)|www.elmomc.com...
  • Page 44 Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.509) 6.7.3. Resolver Figure 27: Port B – Resolver Shrouded Type Connection Diagram |Port B Connector (J5)|www.elmomc.com Table of Contents...
  • Page 45 Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.509) 6.8. Port C, Digital I/Os, and Analog Inputs (J6) The Port C connector includes the following functions: Port C: Refer to Sections 10.5 in the in the MAN-G-Panel Mounted Drives Hardware manual •...
  • Page 46 Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.509) Pin Positions Cable Connector 24-Pin Tyco Plug This cable is included in the cable kit described in Section 3.1.1. Table 9: Port C Feedback Out and I/O |Port C, Digital I/Os, and Analog Inputs (J6)|www.elmomc.com...
  • Page 47 Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.509) 6.8.1. Port C – Emulated Encoder Output The following figure describes the connections at Port C for the Emulated Encoder Differential. Figure 28: Emulated Encoder Differential Output – Recommended Connection Diagram Note that the user is required to connect a 120 Ω termination at the end of each differential line.
  • Page 48 Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.509) 6.8.2. Analog Input The following circuit describes the internal interface of the Analog input. Figure 29: Differential Analog Input |Port C, Digital I/Os, and Analog Inputs (J6)|www.elmomc.com Table of Contents...
  • Page 49 Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.509) 6.8.3. Digital Input and Output TTL Mode The following figure describes the connections at the I/O Port for the Digital Input and Output TTL Mode. Figure 30: Digital Input TTL Mode Connection Diagram |Port C, Digital I/Os, and Analog Inputs (J6)|www.elmomc.com...
  • Page 50 Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.509) Figure 31: Digital Output Connection Diagram – TTL Option |Port C, Digital I/Os, and Analog Inputs (J6)|www.elmomc.com Table of Contents...
  • Page 51 Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.509) 6.8.4. Digital Input and Output PLC Source Mode The following figure describes the connections at the I/O Port for the Digital Input and Output PLC Mode. Figure 32: Digital Input Connection Diagram – Source PLC Option |Port C, Digital I/Os, and Analog Inputs (J6)|www.elmomc.com...
  • Page 52 Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.509) Figure 33: Digital Output Connection Diagram – Source PLC Option |Port C, Digital I/Os, and Analog Inputs (J6)|www.elmomc.com Table of Contents...
  • Page 53 Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.509) 6.9. USB 2.0 (J9) See Section 12.1 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details. Pin (J9) Signal Function USB VBUS USB VBUS 5 V USBD- USB _N line...
  • Page 54 Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.509) 6.10. RS-232 Connector (J21) See section 12.5 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details. Pin (J21) Signal Function RS232_Rx RS-232 receive RS232_Tx RS-232 transmit RS232_COMRET RS-232 communication return...
  • Page 55 MAN-G-SOLWHIIG-EC (Ver. 1.509) 6.11. EtherCAT Communications Version Fieldbus communications are industrial network protocols for real-time distributed control that allows connection of servo drives. The Gold Solo Whistle supports the following EtherCAT fieldbus type industrial network protocol: Fieldbus Type Product Number...
  • Page 56 Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.509) 6.11.2. EtherCAT OUT Connector (J8) See Section 12.2 in the MAN-G-Panel Mounted Drives Hardware manual for the electrical diagram. Pin (J8) Signal Function EtherCAT_OUT_TX+ EtherCAT out transmit + EtherCAT_OUT_TX- EtherCAT out transmit -...
  • Page 57 RUN indicator and the red ERROR indicator of the EtherCAT state machine. For further details, see the EtherCAT Application Manual. Note: There is no Gold Solo Whistle ECAT Status indicator equivalent in the CAN version, refer to the figure below. Figure 38: Gold Solo Whistle Status Indicator - CAN |EtherCAT Communications Version|www.elmomc.com...
  • Page 58 MAN-G-SOLWHIIG-EC (Ver. 1.509) 6.12. CAN Communications Version Fieldbus communications are industrial network protocols for real-time distributed control that allows connection of servo drives. The Gold Solo Whistle supports the following CAN fieldbus type industrial network protocol: Fieldbus Type Product Number G-SOLWHI XX/YYYSXX See Section 12.4 in the MAN-G-Panel Mounted Drives Hardware manual for the electrical diagram.
  • Page 59 6.12.1. CAN Wiring Caution When installing the CAN communications, ensure that each servo drive is allocated a unique ID. Otherwise, the CAN network may hang. Figure 39: Gold Solo Whistle Connection Diagram – CAN |CAN Communications Version|www.elmomc.com Table of Contents...
  • Page 60 Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.509) 6.13. Powering Up After the Gold Solo Whistle is connected to its device, it is ready to be powered up. Caution: Before applying power, ensure that the DC supply is within the specified range and that the proper plus-minus connections are in order.
  • Page 61 6.15. Heat Dissipation The best way to dissipate heat from the Gold Solo Whistle is to mount it so that its heat sink faces up. For best results leave approximately 10 mm of space between the Gold Solo Whistle’s heat sink and any other assembly.
  • Page 62 Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.509) Gold Solo Whistle 100 Series Power Dissipation External Heatsink Required Standard 40 °C Ambient Temp. Heatsink Required 85VDC 70VDC Peak Current (A) 50VDC 6.15.3. How to Use the Charts The charts above are based upon theoretical worst-case conditions. Actual test results show 30% to 50% better power dissipation.
  • Page 63 Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.509) Chapter 7: Dim ensions This chapter provides detailed technical dimensions regarding the Gold Solo Whistle. ||Heat Dissipation|www.elmomc.com Table of Contents...
  • Page 64 ||www.elmomc.com Table of Contents...

This manual is also suitable for:

G-solwhi10/100eG-solwhi10/100s