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Summary of Contents for Elmo Gold Lion 100
- Page 1 Gold Lion 100 Network Motion Controller Installation Guide For Harsh Environments (-40°C to +70°C, Vibrations up to 14GRMS) May 2018 (Ver. 1.004) www.elmomc.com...
- Page 2 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 Lion 100 servo drive in its installation. •...
- Page 3 Communications ......................8 Power Supply ......................8 Physical Specifications ....................9 General ........................9 Chapter 4: Gold Lion 100 Software Specifications ............10 Operating System ..................... 10 Axes .......................... 10 Motion Modes and Interfaces .................. 10 Drive Communication Bridge Support..............11 Network Encoders ....................
- Page 4 USB 2.0 Communication ................23 7.2.5 CAN Communication ................. 24 7.2.6 EtherCAT Communication ................. 25 Powering Up ......................27 Initializing the System ....................27 Chapter 8: Gold Lion 100 Dimensions ................28 Chapter 9: Other Compliant Standards ............... 29 |Cautions|www.elmomc.com Table of Contents...
- Page 5 Chapter 1: Safety I nform ation In order to achieve the optimum, safe operation of the Gold Lion 100 Multi-Axis Controller, 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 Lion 100 and accompanying equipment.
- Page 6 The Gold Lion 100 is 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 7 Elmo’s intelligent servo drives to provide a total multi-axis motion control system solution in extreme environmental conditions. The Gold Lion 100 is designed to support both the existing SimplIQ drives, based on standard CAN network architecture, as well as the new Gold Line, adding EtherCAT networking.
- Page 8 Network Motion Controller Installation Guide MAN-G-LION 100 PrelIG (Ver. 1.004) Chapter 3: Technical Specifications 3.1 Processor module Feature Details Processor PowerPC, 333 MHz, with double precision floating point support by hardware. Memory Flash Flash: 32 MB Memory 64 MB (DDR2, 333 MHz) 3.2 Communications Specification Details...
- Page 9 Details I/O System All I/O interfaces are handled via the device network Internal System BIT The Gold Lion 100 supports internal hardware BIT (Built-in- tests) procedures to check the system integrity level on each power up. Diagnostic LEDs EtherCAT and Ethernet activity |Physical Specifications|www.elmomc.com...
- Page 10 Gold Lion 100 Softw are Specifications 4.1 Operating System • Linux Operating System, with Elmo’s RT extension for real-time motion control support • Motion Programming and Debugging Native C Programming, running on the target CPU. Compiling and debugging via the ...
- Page 11 4.4 Drive Communication Bridge Support • The Gold Lion 100 supports full communication with any specific drive (EtherCAT and CAN), for the purpose of simple tuning or configuration at the drive level, i.e. there is no need for direct communication with the drive.
- Page 12 Gold Lion 100 up and running. Please read the safety instructions in the first chapter before starting. After you have successfully mounted and installed the Gold Lion 100 we suggest that you read the Gold Maestro Software Manual. If you have not already done so, follow the instructions in the Installation Guide that arrived with your servo drive, and install a drive.
- Page 13 Chapter 6: I nstallation Environmental Conditions You can guarantee the safe operation of the Gold Lion 100 by ensuring that it is installed in an appropriate environment. Warning: During operation the Gold Lion 100 becomes hot to the touch (the case can heat up to 50 °C). Care should be taken when handling it.
- Page 14 Network Motion Controller Installation Guide MAN-G-LION 100 PrelIG (Ver. 1.004) 6.2 Unpacking the Components Before you begin working with the Gold Lion 100 system, verify that you have all of its components, as follows: • The Gold Lion 100 multi-axis controller •...
- Page 15 Network Motion Controller Installation Guide MAN-G-LION 100 PrelIG (Ver. 1.004) 6.3 Connectors 6.3.1 Connector Types The Gold Lion 100 has the following connectors: Pins Type Function Front Connectors EtherCAT1 D-Type Male EtherCAT2 D-Type Male Ethernet D-Type Female Bottom Connectors GPIO (not in use)
- Page 16 Drain wire cable 1, 2, 3, 4, 5, 6, 7, 9, 10, 11, 12, 13 Reserved Pin Positions 15-Pin High Density D-Type Male Connector 15-Socket High Density D-Type Connector Table 2: Gold Lion 100 General Connector |Connector Pinouts|www.elmomc.com Table of Contents...
- Page 17 Network Motion Controller Installation Guide MAN-G-LION 100 PrelIG (Ver. 1.004) 6.4.2 EtherCAT Connector Signal Function Ethernet1_TX+ Ethernet1 transmit+ Ethernet1_RX+ Ethernet1 receive+ Ethernet2_TX+ Ethernet2 transmit+ Ethernet2_RX+ Ethernet2 receive+ Shield Drain wire cable Ethernet1_TX- Ethernet1 transmit- Ethernet1_RX- Ethernet1 receive- Ethernet2_TX- Ethernet2 transmit- Ethernet2_RX- Ethernet2 receive- Pin Positions...
- Page 18 Network Motion Controller Installation Guide MAN-G-LION 100 PrelIG (Ver. 1.004) 6.4.3 Ethernet Host Signal Function Ethernet_Host_TX+ Ethernet Host transmit+ Ethernet_Host_RX+ Ethernet Host receive+ Not used Not used Shield Drain wire cable Ethernet_Host_TX- Ethernet Host transmit- Ethernet_Host_RX- Ethernet Host receive- Not used Not used Pin Positions 9-Pin Female D-Type...
- Page 19 Network Motion Controller Installation Guide MAN-G-LION 100 PrelIG (Ver. 1.004) 6.4.4 CAN Connector Signal Function 1, 3 CAN_H CAN_H bus line (dominant high) 6, 8 CAN_L CAN_L bus line (dominant low) 7, 9 CAN_RET CAN Return CAN_Shield Drain wire cable Pin Positions 9-Pin D-Type Male Connector...
- Page 20 Network Motion Controller Installation Guide MAN-G-LION 100 PrelIG (Ver. 1.004) Chapter 7: M ounting the Gold Lion 100 The Gold Lion 100 has three mounting options: • Wall mount Surface mount • 7.1.1 Wall Mount Two M4 round head screws, one through each opening in the heat sink, are used to mount the Gold Maestro (see the diagram below) on a wall.
- Page 21 7.2.1 Wiring the Gold Lion 100 Once the Gold Lion 100 is mounted, you are ready to wire the device. Proper wiring, grounding, and shielding are essential for ensuring safe, immune and optimal performance of the Gold Lion 100. 7.2.2 Connecting the DC Power Supply Connect the DC output from the power supply to the GPIO&VL Connector on the Gold Lion 100...
- Page 22 Ethernet When connecting the Ethernet communication cable use a shielded CAT5e Ethernet cable. The Gold Lion 100 connects to a PC either directly or through a hub, switch or router. Figure 4: Gold Lion 100 Connected to a PC |Connecting the Cables|www.elmomc.com...
- Page 23 Network Motion Controller Installation Guide MAN-G-LION 100 PrelIG (Ver. 1.004) 7.2.4 USB 2.0 Communication Signal Function USB VBUS USB VBUS From Host USBD- USB _N line USBD+ USB _P line USB COMRET USB Communication Return Table 8: USB 2.0 Pin Assignments Figure 5: USB Network Diagram To connect the USB communication cable: •...
- Page 24 The drain wire can be used to facilitate the connection. • Connect a 120 Ω termination resistor to each end of the network cable. (The Gold Lion 100 does not have an internal terminal.) • Use the CAN termination dongle supplied as a second “device end”. Simply insert the termination resistor into the CAN connector of the second end device on the bus.
- Page 25 7.2.6 EtherCAT Communication The Gold Lion 100 is the master of the EtherCAT network and must always be the first device in the line. The Ethernet1 port of the Gold Lion 100 should be connected to the EtherCAT In port of the next device down the line.
- Page 26 Network Motion Controller Installation Guide MAN-G-LION 100 PrelIG (Ver. 1.004) Figure 8: EtherCAT Network with Redundancy – For Future use |Connecting the Cables|www.elmomc.com Table of Contents...
- Page 27 Network Motion Controller Installation Guide MAN-G-LION 100 PrelIG (Ver. 1.004) 7.3 Powering Up After the Gold Lion 100 has been mounted, check that the cables are intact. The Gold Lion 100 is then ready to be powered up. 7.4 Initializing the System After the Gold Lion 100 has been connected and mounted, the system must be set up and initialized.
- Page 28 Network Motion Controller Installation Guide MAN-G-LION 100 PrelIG (Ver. 1.004) Chapter 8: Gold Lion 100 Dim ensions Figure 9: Gold Lion 100 Dimensions |Initializing the System|www.elmomc.com Table of Contents...
- Page 29 Environmental In compliance with 2002/96/EC Waste Electrical and Electronic Equipment regulations (WEEE) Note: Out-of-service Elmo drives should be sent to the nearest Elmo sales office. In compliance with 2002/95/EC Restrictions on Application of Hazardous (effective July 2006) Substances in Electric and Electronic Equipment...
- Page 30 |Initializing the System|www.elmomc.com Table of Contents...
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