ElmoMC Gold Line Digital Servo Drives-Gold Drum HV - Manual (Page 6)

Gold Drum HV Installation Guide (EtherCAT and CAN) Table of Contents
MAN-G-DRUMHVIG-EC (Ver. 1.202)
6
4.3.2.1. Motor Power Connector ............................................................... 28
4.3.2.2. Main Power Connector ................................................................. 29
4.3.2.3. Auxiliary Power Connector ........................................................... 30
4.3.2.4. Port A Connector .......................................................................... 31
4.3.2.5. Port B Connector .......................................................................... 32
4.3.2.6. Port C Connector .......................................................................... 33
4.3.2.7. I/O Connector ............................................................................... 34
4.3.2.8. USB ................................................................................................ 36
4.3.3. EtherCAT Communications Version ............................................................... 37
4.3.3.1. EtherCAT IN/Ethernet ................................................................... 37
4.3.3.2. EtherCAT OUT ............................................................................... 38
4.3.3.3. EtherCAT Link Indicators ............................................................... 38
4.3.3.4. EtherCAT Status Indicator ............................................................. 39
4.3.3.5. EtherCAT Rotary Switches ............................................................ 39
4.3.4. CAN Communications Version ....................................................................... 41
4.3.5. Indicators ....................................................................................................... 41
4.4. Mounting the Gold Drum HV (High Voltage) ................................................................ 42
4.5. Wiring the Gold Drum HV (High Voltage) ..................................................................... 43
4.6. Connection Diagrams ................................................................................................... 43
4.6.1. Connection Diagrams for EtherCAT Version .................................................. 44
4.6.2. Connection Diagrams for CAN Version .......................................................... 46
4.7. Main Power, Auxiliary Power and Motor Power .......................................................... 48
4.7.1. Motor Power.................................................................................................. 48
4.7.2. Main Power.................................................................................................... 51
4.7.2.1. Direct-to-Mains Power Source (Non-Isolated Rectifier) ............... 52
4.7.2.2. Battery Power Supply ................................................................... 55
4.7.3. Control and Backup Supply ............................................................................ 55
4.7.3.1. Optional Backup Supply ................................................................ 56
4.8. STO (Safe Torque Off) Inputs ........................................................................................ 57
4.9. Feedback ....................................................................................................................... 61
4.9.1. Feedback Port A ............................................................................................. 62
4.9.1.1. Incremental Encoder .................................................................... 63
4.9.1.2. Absolute Serial Encoder ................................................................ 63
4.9.1.3. Hall Sensors................................................................................... 64
4.9.2. Feedback Port B ............................................................................................. 65
4.9.2.1. Incremental Encoder .................................................................... 66
4.9.2.2. Interpolated Analog Encoder ........................................................ 66
4.9.2.3. Resolver ........................................................................................ 67
4.9.3. Port C – Emulated Encoder Output ............................................................... 68
4.10. Inputs/Outputs ............................................................................................................. 70
4.10.1. I/O Connector Pinout ..................................................................................... 70
4.10.1.1. Digital Input .................................................................................. 72
4.10.1.2. Digital Output ............................................................................... 75
4.10.2. Analog Input .................................................................................................. 78
4.11. Communications ........................................................................................................... 79