Gold Cello Digital Servo Drive Installation Guide EtherCAT and CAN August 2014 (Ver. 1.201) www.elmomc.
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 Cello servo drive in its installation. • The text and graphics included in this manual are for the purpose of illustration and reference only. The specifications on which they are based are subject to change without notice.
Revision History Version Date Details Ver. 1.200 June 2014 Initial release in new format Ver. 1.201 Aug 2014 Slight correction to section 4.
Table of Contents MAN-G-CELIG (Ver. 1.201) Chapter 1: This Installation Guide ..................................................................................... 6 Chapter 2: Safety Information .......................................................................................... 6 2.1. 2.2. 2.3. 2.4. Warnings ........................................................................................................................ 7 Cautions ........................................................
Table of Contents MAN-G-CELIG (Ver. 1.201) 6.8. 6.9. 6.10. 6.11. 6.12. 6.13. 6.14. 6.7.2. Interpolated Analog Encoder ........................................................................ 36 6.7.3. Resolver ......................................................................................................... 37 Port C, Analog Input, and STO (P3)............................................................................... 38 6.8.1. Port C .........................................................
Gold Cello Installation Guide MAN-G-CELIG (Ver. 1.201) 6 Chapter 1: This I nstallation Guide This installation Guide details the technical data, pinouts, and power connectivity of the Gold Cello. For a comprehensive detailed description of the functions refer to the MAN-G-Panel Mounted Drives Hardware manual which describes Panel Mounted products.
Gold Cello Installation Guide MAN-G-CELIG (Ver. 1.201) 2.1. 7 Warnings • To avoid electric arcing and hazards to personnel and electrical contacts, never connect/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. Disconnect the Gold Cello from all voltage sources before servicing. • The high voltage products within the Gold Line range contain grounding conduits for electric current protection.
Gold Cello Installation Guide MAN-G-CELIG (Ver. 1.201) 8 Chapter 3: Product Description The Gold Cello is an advanced high power density servo drive which delivers up to 3.3 kW of continuous power or 6.6 kW of peak power in a 469.35 cc (28.3 in³) package (150 x 105 x 29.8 mm or 5.9" x 4.1" x 1.17"). This advanced, high power density servo drive provides top performance, advanced networking and built-in safety, as well as a fully featured motion controller and local intelligence.
Gold Cello Installation Guide 9 MAN-G-CELIG (Ver. 1.201) Chapter 4: Technical I nform ation Physical Specifications Feature Weight Dimensions Units All Types g (oz) 484 g (17.07 oz) mm (in) 150 x 105 x 29.8 mm (5.9" x 4.1" x 1.
Gold Cello Installation Guide 10 MAN-G-CELIG (Ver. 1.201) 4.2.1. Auxiliary Supply Feature Details Auxiliary power supply Isolated DC source only Auxiliary supply input voltage 14 to 96 V (100 V models) 23 to 195 VDC (200 V models) Auxiliary supply input power ≤ 5 VA without external loading ≤ 8 VA with full external loading 4.2.2. Product Features Main Feature Details Presence and No.
Gold Cello Installation Guide MAN-G-CELIG (Ver. 1.201) 11 Chapter 5: I nstallation The Gold Cello must be installed in a suitable environment and properly connected to its voltage supplies and the motor. 5.1.
Gold Cello Installation Guide 12 MAN-G-CELIG (Ver. 1.201) 5.2. Connectors and Indicators The Gold Cello has 10 connectors. 5.2.1. EtherCAT Connector Types The EtherCAT Gold Cello has the following connectors: No. Pins Type Function Bottom Connectors 4 Phoenix 7.62 mm Pitch Motor phases 3 Phoenix 7.62 mm Pitch Main Power 2 Phoenix 3.
Gold Cello Installation Guide 13 MAN-G-CELIG (Ver. 1.201) No. Pins Type Function Top Connectors Top Connectors - EtherCAT 15 Pin High Density D-Type I/O 5 USB Device Mini-B USB EtherCAT Version 8 RJ-45 Ethernet/EtherCAT_IN communication 8 RJ-45 EtherCAT OUT communication Table 2: EtherCAT Connector Types 5.2.2. CAN Connector Types The CAN Gold Cello has the following connectors: No. Pins Type Function Bottom Connectors 4 Phoenix 7.62 mm Pitch Motor phases 3 Phoenix 7.
Gold Cello Installation Guide 14 MAN-G-CELIG (Ver. 1.201) No. Pins 2 Type Function Phoenix 3.
Gold Cello Installation Guide MAN-G-CELIG (Ver. 1.201) 5.3. Mounting the Gold Cello The Gold Cello has been designed for two standard mounting options: • Wall Mount along the back (can also be mounted horizontally on a metal surface) • Book Shelf along the side M4 round head screws, one through each opening in the heat sink, are used to mount the Gold Cello (see the diagram below). Figure 1: Mounting the Gold Cello Table of Contents ||Mounting the Gold Cello|www.elmomc.
Gold Cello Installation Guide MAN-G-CELIG (Ver. 1.201) 5.4. Gold Cello Connection Diagrams Figure 2: Gold Cello Connection Diagram – EtherCAT Table of Contents ||Gold Cello Connection Diagrams|www.elmomc.
Gold Cello Installation Guide MAN-G-CELIG (Ver. 1.201) Figure 3: Gold Cello Connection Diagram – CAN Table of Contents ||Gold Cello Connection Diagrams|www.elmomc.
Gold Cello Installation Guide 18 MAN-G-CELIG (Ver. 1.201) 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. The following table legend describes the wiring symbols detailed in all installation guides. Wiring Symbol Description Earth connection (PE) Protective Earth Connection Common at the Controller Shielded cable with drain wire.
Gold Cello Installation Guide 19 MAN-G-CELIG (Ver. 1.201) Wiring Symbol Description D-type Connector: The cable`s braid (Shield) must be connected to the D-sub shell (metal housing) 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.
Gold Cello Installation Guide MAN-G-CELIG (Ver. 1.201) 6.1. 6.1.1. 20 Basic Recommendations General 1. 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. 2. Keep the cable as short as possible. Do not mount the power cables of the motor and power bus in the proximity of the control and feedback cables. 3.
Gold Cello Installation Guide MAN-G-CELIG (Ver. 1.201) 6.1.2. 21 Feedback Cable Port A and Port B Connector 1. On the motor side connections, ground the shield to the motor chassis. 2. At least One COMRET (Common Return) must be connected to the PE. Implement the following steps to connect the COMRET to the PE: a. At the drive, connect the feedback drain wire to one of the COMRET terminals in the D-Type feedback connector (Figure 5). b.
Gold Cello Installation Guide MAN-G-CELIG (Ver. 1.201) 6.1.3. 22 Feedback Cable Port C Connector 1. At the controller side connections, follow the controller manufacturer’s recommendations concerning the shield. 2. The connection of the Drain wire to the Port C is not mandatory. Figure 6: Feedback Port C Cable Assemblies 6.1.4. IO Cable Connector It is recommended to use shielded cable, but is not mandatory. Figure 7: Feedback IO Cable Assemblies Table of Contents ||Basic Recommendations|www.
Gold Cello Installation Guide MAN-G-CELIG (Ver. 1.201) 6.1.5. STO (Port C) Cable Connector It is recommended to use shielded cable, but is not mandatory. Figure 8: STO Cable Assemblies Table of Contents ||Basic Recommendations|www.elmomc.
Gold Cello Installation Guide 24 MAN-G-CELIG (Ver. 1.201) 6.2. Motor Power Connector Pinouts (J9) See Chapter 8 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details. Signal (J9) Function Cable Brushless Motor Brushed DC Motor M3 Motor phase Motor Motor M2 Motor phase Motor Motor M1 Motor phase Motor N/C PE Protective Earth Motor Motor Motor Chassis Pin Positions 4-Pin Phoenix 7.
Gold Cello Installation Guide MAN-G-CELIG (Ver. 1.201) 25 Figure 9: Brushless Motor Power Connection Diagram Figure 10: DC Brushed Motor Power Connection Diagram To power the drive, connect the M1, M2, M3, and PE pins on the Gold Cello. The phase connection is arbitrary as Elmo Application Studio (EASII) 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.
Gold Cello Installation Guide 26 MAN-G-CELIG (Ver. 1.201) 6.3. Main Power (J11) The Gold Cello receives power from main and auxiliary supplies and delivers power to the motor. Note: There are multiple voltage ratings of the Gold Cello (14 V to 195 V), so you must use the correct power supply according to the maximum operating voltage of the Gold Cello. Refer to section 4.2 Technical Data.
Gold Cello Installation Guide 27 MAN-G-CELIG (Ver. 1.201) Figure 11: Main Power Supply Connection Diagram (no Auxiliary Supply) 6.4. Auxiliary Power (J10)(optional) Signal (J10) Function Cable VL+ Auxiliary Supply Input DC Power PR Auxiliary Supply Return DC Power 2-Pin Phoenix 3.81 mm Pitch 2-Pin Phoenix Plug-in Connector Table 6: Aux. Power Connector – Pin Assignments Caution: Power from the Gold Cello to the motor must come from the Main Supply and not from the Auxiliary Supply.
Gold Cello Installation Guide MAN-G-CELIG (Ver. 1.201) To connect the auxiliary supply: • The source of the auxiliary supply must be isolated. • For safety reasons, connect the return (common) of the auxiliary supply source to the closest ground near the auxiliary supply source. • Connect the cable shield to the closest ground near the auxiliary supply source. • Before applying power, first verify the polarity of the connection.
Gold Cello Installation Guide MAN-G-CELIG (Ver. 1.201) 6.5. 29 Drive Status Indicator The Gold Cello is equipped with several light-emitting diode (LED) indicators. Figure 13: Drive Status LED The red/green dual LED is used for immediate indication of the following states: • Initiation state: In this state the LED indicates whether the drive is in the boot state (blinking red) or in the operational state (steady red).
Gold Cello Installation Guide 30 MAN-G-CELIG (Ver. 1.201) 6.6. Port A (P1) See Section 10.3 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details.
Gold Cello Installation Guide MAN-G-CELIG (Ver. 1.201) 6.6.1. 31 Incremental Encoder The following figure describes the connections at Port A for the Incremental encoder. Figure 14: Port A D-Type Incremental Encoder Input – Recommended Connection Diagram 6.6.2. Hall Sensor The following figure describes the connections at Port A for the Hall Sensor. Figure 15: Hall Sensor Connection Diagram Table of Contents ||Port A (P1)|www.elmomc.
Gold Cello Installation Guide MAN-G-CELIG (Ver. 1.201) 6.6.3. 32 Absolute Serial Type Encoder The following figures describe the connections at Port A for the Absolute Serial type encoders. Figure 16: Absolute Serial Encoder – Recommended D-Type Connection Diagram for EnDAT, Biss, and SSI Figure 17: Absolute Serial Encoder – Recommended D-Type Connection Diagram for Sensors Supporting Data Line Only (NRZ types, e.g., Panasonic / Mitutoyo / Sanyo Danki / Tamagawa) Table of Contents ||Port A (P1)|www.
Gold Cello Installation Guide MAN-G-CELIG (Ver. 1.201) 33 Figure 18: Absolute Serial Encoder – Recommended D-Type Connection Diagram for Stegmann Hiperface Table of Contents ||Port A (P1)|www.elmomc.
Gold Cello Installation Guide 34 MAN-G-CELIG (Ver. 1.201) 6.7. Port B (P2) See Section 10.4 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details.
Gold Cello Installation Guide MAN-G-CELIG (Ver. 1.201) 6.7.1. Incremental Encoder The following figure describes the connections at Port B for the Incremental encoder. Figure 19: Port B Incremental Encoder Input – Recommended D-Type Connection Diagram Table of Contents ||Port B (P2)|www.elmomc.
Gold Cello Installation Guide MAN-G-CELIG (Ver. 1.201) 6.7.2. Interpolated Analog Encoder The following figure describes the connections at Port B for the Interpolated Analog encoder. Figure 20: Port B - Interpolated Analog Encoder D-Type Connection Diagram Table of Contents ||Port B (P2)|www.elmomc.
Gold Cello Installation Guide MAN-G-CELIG (Ver. 1.201) 6.7.3. Resolver The following figure describes the connections at Port B for the Resolver encoder. Figure 21: Port B – Resolver D-Type Connection Diagram Table of Contents ||Port B (P2)|www.elmomc.
Gold Cello Installation Guide 38 MAN-G-CELIG (Ver. 1.201) 6.8. Port C, Analog Input, and STO (P3) 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 for full details • STO: See Chapter 9 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details. • Analog input: See Section 11.2 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details.
Gold Cello Installation Guide MAN-G-CELIG (Ver. 1.201) 39 Pin Positions 15-Pin High Density DType Male Connector 15-Socket High Density D-Type Connector Table 9: Port C Pin Assignments Table of Contents ||Port C, Analog Input, and STO (P3)|www.elmomc.
Gold Cello Installation Guide MAN-G-CELIG (Ver. 1.201) 6.8.1. 40 Port C The following figure describes the connections at Port C for the Emulated Encoder Differential. Figure 22: Emulated Encoder Differential Output – Recommended D-Type Connection Diagram 6.8.2. Analog Input The following circuit describes the internal interface of the Analog input. Figure 23: Differential Analog D-Type Input Table of Contents ||Port C, Analog Input, and STO (P3)|www.elmomc.
Gold Cello Installation Guide MAN-G-CELIG (Ver. 1.201) 6.8.3. STO The following circuits describe the STO wiring options. 6.8.3.1. Source Mode PLC Voltage Level Figure 24: STO D-Type Input Connection – PLC Source Option 6.8.3.2. TTL Mode TTL Voltage Level Figure 25: STO Input Connection – TTL Option Table of Contents ||Port C, Analog Input, and STO (P3)|www.elmomc.
Gold Cello Installation Guide MAN-G-CELIG (Ver. 1.201) 6.8.3.3. 42 SINK Mode – PLC Voltage Level Refer to the diagrams below for the PLC Sink option connections which is not fully certified for STO. This option is not recommended for new designs. Figure 26: STO D-Type Input Connection – Sink Option Table of Contents ||Port C, Analog Input, and STO (P3)|www.elmomc.
Gold Cello Installation Guide MAN-G-CELIG (Ver. 1.201) 6.9. 43 Digital Inputs and Outputs (P4) Refer to Chapter 11 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details.
Gold Cello Installation Guide MAN-G-CELIG (Ver. 1.201) I/O Pins (P4) Signal 44 Function Pin Positions 15-Pin High Density D-Type Female Connector 15-Pin High Density D-Type Male Connector Table 10: I/O Port Pin Assignments Table of Contents ||Digital Inputs and Outputs (P4)|www.elmomc.
Gold Cello Installation Guide MAN-G-CELIG (Ver. 1.201) 6.9.1. 45 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 27: Digital Input TTL Mode D-Type Connection Diagram Table of Contents ||Digital Inputs and Outputs (P4)|www.elmomc.
Gold Cello Installation Guide MAN-G-CELIG (Ver. 1.201) Figure 28: Digital Output D-Type Connection Diagram – TTL Option Table of Contents ||Digital Inputs and Outputs (P4)|www.elmomc.
Gold Cello Installation Guide MAN-G-CELIG (Ver. 1.201) 6.9.2. 47 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 29: Digital Input D-Type Connection Diagram – Source PLC Option Table of Contents ||Digital Inputs and Outputs (P4)|www.elmomc.
Gold Cello Installation Guide MAN-G-CELIG (Ver. 1.201) Figure 30: Digital Output D-Type Connection Diagram – Source PLC Option Table of Contents ||Digital Inputs and Outputs (P4)|www.elmomc.
Gold Cello Installation Guide MAN-G-CELIG (Ver. 1.201) 6.9.3. 49 Digital Input and Output Sink Mode The following figure describes the connections at the I/O Port for the Digital Input and Output Sink Mode. Figure 31: Digital Input Sink Mode – PLC voltage level D-Type Connection Diagram Table of Contents ||Digital Inputs and Outputs (P4)|www.elmomc.
Gold Cello Installation Guide MAN-G-CELIG (Ver. 1.201) Figure 32: Digital Output as Sink Configuration D-Type Connection Diagram Table of Contents ||Digital Inputs and Outputs (P4)|www.elmomc.
Gold Cello Installation Guide 51 MAN-G-CELIG (Ver. 1.201) 6.10. USB 2.0 (J22) See Section 12.1 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details. Pin (J22) Signal Function 1 USB VBUS USB VBUS 5V 2 USBD- USB _N line 3 USBD+ USB _P line 4 N/A N/A 5 USB COMRET USB communication return USB Device Mini-B Plug USB Device Mini-B Table 11: USB 2.0 Pin Assignments Figure 33: USB Network Diagram Table of Contents ||USB 2.0 (J22)|www.elmomc.
Gold Cello Installation Guide 52 MAN-G-CELIG (Ver. 1.201) 6.11. EtherCAT Communications Version Fieldbus communications are industrial network protocols for real-time distributed control that allows connection of servo drives. 6.11.1. EtherCAT IN/Ethernet Pinouts Refer to section 12.2 in the MAN-G-Panel Mounted Drives Hardware manual for more details.
Gold Cello Installation Guide 53 MAN-G-CELIG (Ver. 1.201) 6.11.2. EtherCAT OUT See Section 12.2 in the MAN-G-Panel Mounted Drives Hardware manual for the electrical diagram.
Gold Cello Installation Guide MAN-G-CELIG (Ver. 1.201) 54 6.11.4. EtherCAT Link Indicators The Gold Cello can serve as an EtherCAT slave device. For this purpose it has two RJ-45 connectors, which are designated as EtherCAT In and EtherCAT Out. Each of these RJ-45 connectors has two status LEDs, which are shown in Figure 35. Figure 35: Ethernet Connector LEDs The green LED is the link/activity indicator. It shows the state of the applicable physical link and the activity on that link.
Gold Cello Installation Guide 55 MAN-G-CELIG (Ver. 1.201) 6.12. CAN Communication Version Fieldbus communications are industrial network protocols for real-time distributed control that allows connection of servo drives. The Gold Cello supports the following CAN fieldbus type industrial network protocol: Fieldbus Type Product Number CAN G-CEL XX/YYYSXX See Section 12.4 in the MAN-G-Panel Mounted Drives Hardware manual for the electrical diagram.
Gold Cello Installation Guide 56 MAN-G-CELIG (Ver. 1.201) 6.12.1. CAN Wiring Figure 37 describes the CAN wiring diagram below. Caution When installing the CAN communications, ensure that each servo drive is allocated a unique ID. Otherwise, the CAN network may hang. Figure 37: Gold Cello Connection Diagram – CAN Table of Contents ||CAN Communication Version|www.elmomc.
Gold Cello Installation Guide MAN-G-CELIG (Ver. 1.201) 6.13. Powering Up After the Gold Cello 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. 6.14. Initializing the System After the Gold Cello 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.
Gold Cello Installation Guide MAN-G-CELIG (Ver. 1.201) Chapter 7: Dim ensions This chapter provides detailed technical information regarding the Gold Cello. Table of Contents ||www.elmomc.
Table of Contents ||www.elmomc.
