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Elmo Gold Twitter 30/60 Installation Manual
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Elmo Gold Twitter 30/60 Installation Manual

Digital servo drive, can and ethercat
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Gold Twitter
Digital Servo Drive
Installation Guide
CAN and EtherCAT
November 2018 (Ver. 2.000)
www.elmomc.com

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  • Page 1 Gold Twitter Digital Servo Drive Installation Guide CAN and EtherCAT November 2018 (Ver. 2.000) www.elmomc.com...
  • Page 2 Notice This guide is delivered subject to the following conditions and restrictions: 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 Twitter servo drive in its installation.
  • Page 3 Revision History Version Date Ver. 1.004 Oct 2014 Ver. 1.005 Nov 2014 Ver. 1.006 Nov 2014 Ver. 1.007 Dec 2014 Ver. 1.008 Jan 2015 Ver. 1.009 Jan 2015 Ver. 1.010 Feb 2015 Ver. 1.011 Mar 2015 Ver. 1.012 Mar 2015 Ver.
  • Page 4 Table of Contents MAN-G-TWI (Ver. 2.000) Chapter 1: This Installation Guide ................7 Chapter 2: Safety Information ..................7 2.1. Warnings ........................8 2.2. Cautions ........................8 2.3. Warranty Information ....................8 Chapter 3: Product Description ..................9 Chapter 4: Technical Information ................
  • Page 5 Table of Contents MAN-G-TWI (Ver. 2.000) 9.1. Wiring Legend ......................26 9.2. The Gold Twitter Connection Diagram ..............28 Chapter 10: Connections ....................30 10.1. Motor Power ......................33 10.1.1. Motor Power Connections ................ 34 10.2. Main Power and Control Connector ................ 35 10.2.1.
  • Page 6 Table of Contents MAN-G-TWI (Ver. 2.000) 10.5.1.2. ECT1 connector................. 72 10.5.1.3. ECT3 Connector ................ 72 10.5.1.4. 3.3V Connector ................. 72 10.5.2. EtherCAT Communication ................. 73 10.5.3. USB 2.0 Communication (for EtherCAT model only) ......... 75 Chapter 11: Powering Up ....................76 11.1.
  • Page 7 To avoid any potential hazards that may cause severe personal injury or damage to the product during operation, keep all covers and cabinet 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 bodily injury or death as a result of incorrect operation.
  • Page 8 All Elmo drives are warranted for a period of 12 months from the date of shipment. No other warranties, expressed or implied — and including a warranty of merchantability and fitness for a particular purpose —...
  • Page 9 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 motion control language. For more information about software tools refer to the Elmo Application Studio (EASII) User Guide.
  • Page 10 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) Chapter 4: Technical I nform ation Note: It should be noted that for all models, the Max Output current is guaranteed for T <85°C Heat-Sink 4.1. Physical Specifications Feature Units All Types Weight without Heatsink g (oz) EtherCAT Version: 22.2 g (0.78 oz) CAN Version: 18.6 g (0.66 oz)
  • Page 11 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) 4.2. 60V and 100V Models Technical Data Feature Units 30/60 1/100 3/100 6/100 10/100 15/100 25/100 Minimum supply voltage Nominal supply voltage Maximum supply voltage Maximum continuous power 1370 1125 2000 output Efficiency at rated power (at >...
  • Page 12 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) 4.4. R Type Technical Data Feature Units R50/60 R80/80 R50/100 R70/100 R45/150 R15/200 Minimum supply voltage Nominal supply voltage Maximum supply voltage Maximum continuous Electrical power output Efficiency at rated power (at > 99 nominal conditions) Maximum output voltage Up to 96% of DC bus voltage...
  • Page 13 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) 4.5. Control Supply Input Voltage (VL) The Control Supply input voltage (VL) must be either SELV or PELV rated. Feature Unit Details Standard CAN Input range for G-TWIXXX/YYYSZ(Blank) 12V – 40V Input range for G-TWIXXX/YYYSZS 11V –...
  • Page 14 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) 4.7. Environmental Conditions You can guarantee the safe operation of the Gold Twitter by ensuring that it is installed in an appropriate environment. Warning: During operation the Gold Twitter becomes hot to the touch (the heatsink and wires may heat up to 92 °C).
  • Page 15 • The Gold Twitter servo drive • The Elmo Application Studio (EASII) software and software manual The Gold Twitter is shipped in a cardboard box with Styrofoam protection. To unpack the Gold Twitter: Carefully remove the servo drive from the box and the Styrofoam.
  • Page 16 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) Chapter 7: M ounting the Gold Tw itter The Gold Twitter was designed for mounting on a printed circuit board (PCB) via 1.27 mm pitch 0.40 mm square pins, 2 mm pitch 0.51 mm square pins and 3.65 mm pitch 1.02 mm round pins. When integrating the Gold Twitter 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.
  • Page 17 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) Figure 3: Gold Twitter CAN Version Dimensions2 Figure 4: Gold Twitter CAN Version Dimensions3 Declaration|www.elmomc.com Table of Contents...
  • Page 18 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) Figure 5: Gold Twitter EtherCAT Version Dimensions Declaration|www.elmomc.com Table of Contents...
  • Page 19 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) 7.1. Mounting the Optional Acessories Heat Sinks There are two optional heat sinks, available as accessory kits ( The model G-TWIXXX/YYYZZH integrated with the Flat Heatsink P/N G-TWIHSFLAT01): Flat Heat Sink (P/N G-TWIHSFLAT01) Fins Heat Sink (P/N G-TWIHSFINS01) |Mounting the Optional Acessories Heat Sinks|www.elmomc.com...
  • Page 20 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) The optional heat sink must be screwed to the lower surface of the Gold Twitter. To mount the accessory heatsink (Not avalible for the option G-TWIXXX/YYYZZH): Mount the heat sink under the base of the Gold Twitter. Place the Thermal foil (enclosed in the heat sink accessories kit) between the lower surface of the servo drive, and the upper surface of the heat sink.
  • Page 21 To mount the Gold Twitter to an external heat sink: Mount the heat sink under the base of the Gold Twitter. Place the Thermal foil (PN IMT-GTWIALHFLAT purchased from Elmo) between the lower surface of the servo drive, and the upper surface of the heat sink.
  • Page 22 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) Chapter 8: I ntegrating the Gold Tw itter on a PCB The Gold Twitter is designed to be mounted on a PCB by soldering its pins directly to the PCB. Refer to Chapter 5 in the MAN-G-Board Level Modules Hardware Manual for further information. 8.1.
  • Page 23 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) 8.4. Power Return (PR), Common Return (COMRET) and Earth Connections (PE) Safety regulations (UL61800-5-1, IEC61800-5-1, and UL508C) require that the servo drive, as a “stand alone”, must withstand breakdown voltages of 2KV for the 200V models, and 1.7KV for the 100V models, between PE to PR.
  • Page 24 For short distances between the drive and control, 0.5 to 1.0 m wires can be used and shielding is not required. For longer distances than 1.0 m and/or high EMI environment, shielded and twisted wires should be used. Drain wires should be connected to Elmo COMRET. 8.5.2.
  • Page 25 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) 8.6. Power Conductors PCB layout The PCB virtually divided into two zones; Power Zone, and Control & Communication Zone. • Power Zone This area is dedicated to Power conductors only: VP+, PR, PE, VL+, VL-, and motor leads. •...
  • Page 26 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) Chapter 9: W iring 9.1. Wiring Legend The following table legend describes the wiring symbols detailed in all installation guides. All the wiring diagrams show wiring for D-TYPE connectors. Wiring Symbol Description Earth connection (PE) Protective Earth Connection Common at the Controller Shielded cable with drain wire.
  • Page 27 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) 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 operation, high noise immunity and rejection of voltage common mode interferences.
  • Page 28 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) 9.2. The Gold Twitter Connection Diagram Figure 12: The Gold Twitter CAN Connection Diagram |The Gold Twitter Connection Diagram|www.elmomc.com Table of Contents...
  • Page 29 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) Figure 13: The Gold Twitter EtherCAT Connection Diagram |The Gold Twitter Connection Diagram|www.elmomc.com Table of Contents...
  • Page 30 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) Chapter 10: Connections The Gold Twitter has nine connectors. Port Pins Type Function 2x12 1.27 mm pitch 0.40 mm sq. Feedbacks, Digital Halls, Analog Inputs, Communications Motor power output 3 Motor power output 2 Motor power output 1 3.65 mm pitch 1.02 mm round pins...
  • Page 31 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) Connectors Location EtherCAT Version CAN Version |The Gold Twitter Connection Diagram|www.elmomc.com Table of Contents...
  • Page 32 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) Table 4: Connector Types |The Gold Twitter Connection Diagram|www.elmomc.com Table of Contents...
  • Page 33 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) 10.1. Motor Power This section describes the Motor Power. For full details see Section 7.3 in the manual: MAN-G-Board Level Modules Hardware manual. Function Cable Pin Positions Brushless Brushed DC Motor Motor Connection Motor Motor earth...
  • Page 34 Gold Twitter. Make sure not to bundle the wires. The phase connection is arbitrary as Elmo Application Studio (EAS II) will establish the proper commutation automatically during setup. When tuning a number of drives, you can copy the setup file to the other drives and thus avoid tuning each drive separately. In this case the motor-phase order must be the same as on the first drive.
  • Page 35 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) 10.2. Main Power and Control Connector This section describes the Main Power and the Control supply connector. 10.2.1. Main Power The VDC isolated from the Mains DC power source is not included with the Gold Twitter. Function Cable Pin Positions...
  • Page 36 For short distances between the drive and control, 0.5 to 1.0 m wires can be used and shielding is not required. For longer distances than 1.0 m and/or high EMI environment, shielded and twisted wires should be used. Drain wires should be connected to Elmo COMRET. Before applying power, first verify the polarity of the connection.
  • Page 37 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) 10.2.3. Control Supply Connections for G-TWIXXX/YYYZZ(Blank) Note: This section is for VL 12VDC to 40VDC (G-TWIXXX/YYYZZ(Blank)). For VL 11VDC to 95VDC (G-TWIXXX/YYYZZS or H) refer to section 10.2.4. 10.2.3.1. Dual Power Supply Topology Two DC power sources isolated-from-the-mains are required: A main DC power source derived from the Mains, according to specification •...
  • Page 38 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) 10.2.3.1.2 SMPS Option This option describes a topology with a main power without regeneration, but with limited Braking capabilities dependent on additional capacitance. The C can be mounted on the Integration Board if there are no space limitations. external Minimum capacitance of the Power supply: C >...
  • Page 39 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) 10.2.3.2. Single Power Supply Topology (VP+ < 40VDC) A single power supply can be used to power both the main and control. For the CAN version power rating of minimum 12VDC to 40VDC, or minimum 14VDC to 40VDC for the EtherCAT version.
  • Page 40 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) 10.2.3.2.2 SMPS Option This option describes a main power and control topology without regeneration, but with limited Braking capabilities dependent on additional capacitance. The C can be mounted on the Integration Board if there are no space limitations. external In this configuration the Gold Twitter max operating voltage depends on the model, and is 55VDC, 75VDC, or 95VDC.
  • Page 41 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) 10.2.3.2.3 Forbidden Option Do NOT use the following wiring topology. Only connect the VL- to PR internally on the Integration Board. Figure 20: Forbidden Single Power Supply (<40V) Connection Diagram with VL+ Cable Connected Externally |Main Power and Control Connector|www.elmomc.com...
  • Page 42 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) 10.2.4. Control Supply Connections for G-TWIXXX/YYYZZS Note: This section is for VL 11VDC to 95VDC (G-TWIXXX/YYYZZS or H). For VL 12VDC to 40VDC (G-TWIXXX/YYYZZ(Blank)) refer to section 10.2.3. 10.2.4.1. Dual Power Supply Topology Two DC power sources isolated-from-the-mains are required: A main DC power source derived from the Mains, according to specification •...
  • Page 43 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) 10.2.4.1.2 SMPS Option This option describes a topology with a main power without regeneration, but with limited Braking capabilities dependent on additional capacitance. The C can be mounted on the Integration Board if there are no space limitations. external Minimum capacitance of the Power supply: C >...
  • Page 44 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) 10.2.4.2. Single Power Supply Topology (VP+ < 95VDC) A single power supply can be used to power both the main and control within the range of 11VDC to 95VDC. 10.2.4.2.1 Recommended Option This option describes an Ordinary power supply for Servo drives with sufficient internal capacitance and shunt regulator to handle power flow in both directions to-and-from the motor.
  • Page 45 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) 10.2.4.2.2 SMPS Option This option describes a main power and control topology without regeneration, but with limited Braking capabilities dependent on additional capacitance. The C can be mounted on the Integration Board if there are no space limitations. external In the configuration of the 200V Gold Twitter model, the max operating voltage is 195VDC, but the DC bus must be limited to VP+ <95VDC to prevent failure of the VL supply.
  • Page 46 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) 10.2.4.2.3 Forbidden Option Do NOT use the following wiring topology. Only connect the VL- to PR internally on the Integration Board. Figure 25: Forbidden Single Power Supply (<95V) Connection Diagram with VL+ Cable Connected Externally |Main Power and Control Connector|www.elmomc.com...
  • Page 47 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) 10.3. Feedback Connector FDB FDB Connector in the CAN option FDB Connector in the EtherCAT option Feedback A/B/C, Digital Halls – see Section 9.2 in the manual: MAN-G-Board Level Modules Hardware Manual. Signal Function PortA_ENC_A+ /ABS_CLK+ Port A- channel A/ Absolute encoder clock+...
  • Page 48 For short distances between the drive and control, 0.5 to 1.0 m wires can be used and shielding is not required. For longer distances than 1.0 m and/or high EMI environment, shielded and twisted wires should be used. Drain wires should be connected to Elmo COMRET. |Feedback Connector FDB|www.elmomc.com...
  • Page 49 For short distances between the drive and control, 0.5 to 1.0 m wires can be used and shielding is not required. For longer distances than 1.0 m and/or high EMI environment, shielded and twisted wires should be used. Drain wires should be connected to Elmo COMRET. |Feedback Connector FDB|www.elmomc.com...
  • Page 50 For short distances between the drive and control, 0.5 to 1.0 m wires can be used and shielding is not required. For longer distances than 1.0 m and/or high EMI environment, shielded and twisted wires should be used. Drain wires should be connected to Elmo COMRET. |Feedback Connector FDB|www.elmomc.com...
  • Page 51 For short distances between the drive and control, 0.5 to 1.0 m wires can be used and shielding is not required. For longer distances than 1.0 m and/or high EMI environment, shielded and twisted wires should be used. Drain wires should be connected to Elmo COMRET. |Feedback Connector FDB|www.elmomc.com...
  • Page 52 For short distances between the drive and control, 0.5 to 1.0 m wires can be used and shielding is not required. For longer distances than 1.0 m and/or high EMI environment, shielded and twisted wires should be used. Drain wires should be connected to Elmo COMRET. |Feedback Connector FDB|www.elmomc.com...
  • Page 53 For short distances between the drive and control, 0.5 to 1.0 m wires can be used and shielding is not required. For longer distances than 1.0 m and/or high EMI environment, shielded and twisted wires should be used. Drain wires should be connected to Elmo COMRET. |Feedback Connector FDB|www.elmomc.com...
  • Page 54 For short distances between the drive and control, 0.5 to 1.0 m wires can be used and shielding is not required. For longer distances than 1.0 m and/or high EMI environment, shielded and twisted wires should be used. Drain wires should be connected to Elmo COMRET. |Feedback Connector FDB|www.elmomc.com...
  • Page 55 For short distances between the drive and control, 0.5 to 1.0 m wires can be used and shielding is not required. For longer distances than 1.0 m and/or high EMI environment, shielded and twisted wires should be used. Drain wires should be connected to Elmo COMRET. |Feedback Connector FDB|www.elmomc.com...
  • Page 56 For short distances between the drive and control, 0.5 to 1.0 m wires can be used and shielding is not required. For longer distances than 1.0 m and/or high EMI environment, shielded and twisted wires should be used. Drain wires should be connected to Elmo COMRET. |Feedback Connector FDB|www.elmomc.com...
  • Page 57 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) 10.4. Main Connector (MAIN) FDB Connector in the CAN option FDB Connector in the EtherCAT option Pin (MAIN) Signal Function CAN Version: CANH CAN Version: CAN_H BUS Line(dominant high) ECAT Version: ECT Version: EtherCAT status LED Error LED_ET_ERR CAN Version: CANL CAN Version: CAN_L BUS Line(dominant low)
  • Page 58 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) Pin (MAIN) Signal Function RS232_RX /SB_OUT There are two options for this pin: Option 1: TTL RS232 receive (default) Option 2: Serial Bus output for extended I/O (refer to MAN-G-Board Level Modules Hardware manual) This option is only available for EtherCAT COMRET...
  • Page 59 For short distances between the drive and control, 0.5 to 1.0 m wires can be used and shielding is not required. For longer distances than 1.0 m and/or high EMI environment, shielded and twisted wires should be used. Drain wires should be connected to Elmo COMRET. For Digital Inputs/Outputs, STO Wires can be always used, no need for twisting, no need for shielding.
  • Page 60 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) 10.4.1. Digital Inputs The following table describes the electrical specification of the inputs IN1 and IN6: Feature Details Input Voltage (VIN) 0 to 6V 2.2V 0.6V If VT = 3.3V, R1<3.3KΩ Pull-up Resistor If VT = 5V, R1<10KΩ...
  • Page 61 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) Figure 34: Digital Input 5V Logic level Mode Connection Diagram |Main Connector (MAIN)|www.elmomc.com Table of Contents...
  • Page 62 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) 10.4.2. Digital Outputs There are two types of Digital outputs: Out1 and Out2 5V Logic • Out3 and Out4 3.3V Logic • The following table describes the electrical specification of the outputs OUT1 and OUT2: Feature Details Type of output...
  • Page 63 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) The following table describes the electrical specification of the outputs OUT3 and OUT4. Feature Details Type of output 3.3V Logic Output Configuration max of TTL buffer(low level) (On) ≤ 0.4V @ 8mA 3.3���� min of TTL buffer (High level) (High) >2.9V @ 8mA ����...
  • Page 64 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) Figure 35: Digital Output 5V Logic Mode Connection Diagram Figure 36: Digital Output 3.3V Logic Mode Connection Diagram |Main Connector (MAIN)|www.elmomc.com Table of Contents...
  • Page 65 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) 10.4.3. STO (Safe Torque Off) For full details on STO, see Chapter 9 in the MAN-G-Board Level Modules Hardware manual. Figure 37: STO Input Connection – 5V Logic Level Figure 38: STO Input Connection – PLC (24V Logic) |Main Connector (MAIN)|www.elmomc.com Table of Contents...
  • Page 66 For short distances between the drive and control, 0.5 to 1.0 m wires can be used and shielding is not required. For longer distances than 1.0 m and/or high EMI environment, shielded and twisted wires should be used. Drain wires should be connected to Elmo COMRET. |Main Connector (MAIN)|www.elmomc.com...
  • Page 67 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) 10.4.5. CAN Option For full details on CANopen communication, see section 14.3 in the MAN-G-Board Level Modules Hardware manual. 10.4.5.1. Interface The PCB-Mounted Module includes the CAN transceiver and mode choke. Therefore it is required to add a CAN Bus Protector for ESD and other harmful transient voltage events.
  • Page 68 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) 10.4.5.2. CAN Layout Figure 41: CAN Network Diagram Caution: When installing CAN communication, ensure that each servo drive is allocated a unique ID. Otherwise, the CAN network may “hang”. Note: Always use CAT5e cables. |Main Connector (MAIN)|www.elmomc.com Table of Contents...
  • Page 69 For short distances between the drive and control, 0.5 to 1.0 m wires can be used and shielding is not required. For longer distances than 1.0 m and/or high EMI environment, shielded and twisted wires should be used. Drain wires should be connected to Elmo COMRET. |Main Connector (MAIN)|www.elmomc.com...
  • Page 70 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) The RS232 TTL Level will be used in order to connect Differential RS232 (RS422). Figure 43: Differential RS232 (RS422) Connection Diagram |Main Connector (MAIN)|www.elmomc.com Table of Contents...
  • Page 71 For short distances between the drive and control, 0.5 to 1.0 m wires can be used and shielding is not required. For longer distances than 1.0 m and/or high EMI environment, shielded and twisted wires should be used. Drain wires should be connected to Elmo COMRET. |EtherCAT Module|www.elmomc.com...
  • Page 72 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) 10.5.1.2. ECT1 connector Pin (ECT1) Signal Function PHY_OUT_RX+ EtherCAT OUT RX+ Line EtherCAT OUT TX+ Line PHY_OUT_TX+ EtherCAT OUT RX- Line PHY_OUT_RX- EtherCAT OUT TX- Line PHY_OUT_TX- PHY_IN_RX+ EtherCAT IN/Ethernet RX+ Line EtherCAT IN/Ethernet TX+ Line PHY_IN_TX+ EtherCAT IN/ Ethernet RX- Line PHY_IN_RX-...
  • Page 73 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) 10.5.2. EtherCAT Communication This section only describes the EtherCAT communication, and the pinout drawing of the connector. When the EtherCAT is connected and the FoE is in operation, the USB cable connection must be disconnected. |EtherCAT Module|www.elmomc.com Table of Contents...
  • Page 74 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) Figure 44: EtherCAT Connection Schematic Diagram Note: Always use CAT5e cables. |EtherCAT Module|www.elmomc.com Table of Contents...
  • Page 75 For short distances between the drive and control, 0.5 to 1.0 m wires can be used and shielding is not required. For longer distances than 1.0 m and/or high EMI environment, shielded and twisted wires should be used. Drain wires should be connected to Elmo COMRET. |EtherCAT Module|www.elmomc.com...
  • Page 76 After the Gold Twitter has been connected and mounted, the system must be set up and initialized. This is accomplished using the EASII, Elmo’s Windows-based software application. Install the application and then perform setup and initialization according to the directions in the EASII User Manual.
  • Page 77 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) 11.2. Heat Dissipation The best way to dissipate heat from the Gold Twitter is to mount it so that its heat-sink is attached to the machine chassis. If mounted with its heat-sink suspended, then for best results mount the servo drive faced upwards and leave approximately 10 mm of space between the Gold Twitter's heat-sink and any other assembly.
  • Page 78 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) |Heat Dissipation|www.elmomc.com Table of Contents...
  • Page 79 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) |Heat Dissipation|www.elmomc.com Table of Contents...
  • Page 80 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) 11.2.2. How to Use the Chart The charts above are based upon the theoretical worst-case scenario. The actual test results display a 20% -30% lower power dissipation. The above charts indicate the net power conversion losses and exclude the control losses. To determine if your application heat dissipation requires a heat sink: Determine the power dissipation according to the "continuous current"...
  • Page 81 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) Chapter 12: Dim ensions This chapter provides detailed technical dimensions regarding the Gold Twitter. 12.1. EtherCAT without Heatsink Figure 46: G-Twitter –EtherCAT version |EtherCAT without Heatsink|www.elmomc.com Table of Contents...
  • Page 82 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) 12.2. EtherCAT with Heatsink Figure 47: G-Twitter –EtherCAT version |EtherCAT with Heatsink|www.elmomc.com Table of Contents...
  • Page 83 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) 12.3. CAN without Heatsink Figure 48: G-Twitter –CAN version |CAN without Heatsink|www.elmomc.com Table of Contents...
  • Page 84 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) 12.4. CAN with Heatsink Figure 49: G-Twitter –CAN version |CAN with Heatsink|www.elmomc.com Table of Contents...
  • Page 85 Flat Heat-Sink Kit G-TWIHSFINS01 FINs Heat-Sink Kit Optionally, the Gold Twitter has two standard heat-sink configurations which are obtainable separately as kit accessories from Elmo: Default Heat Sink Flat Heat Sink (P/N G-TWIHSFLAT01) Fins Heat Sink (P/N G-TWIHSFINS01) |CAN with Heatsink|www.elmomc.com...
  • Page 86 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) 13.1. Accessories Heat Sink Dimensions Figure 50: G-Twitter – Flat Heat Sink (P/N G-TWIHSFLAT01) Dimensions |Accessories Heat Sink Dimensions|www.elmomc.com Table of Contents...
  • Page 87 Gold Twitter Installation Guide MAN-G-TWI (Ver. 2.000) Figure 51: G-Twitter – Fins Heat Sink (P/N G-TWIHSFINS01) Dimensions |Accessories Heat Sink Dimensions|www.elmomc.com Table of Contents...
  • Page 88 |Accessories Heat Sink Dimensions|www.elmomc.com Table of Contents...

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