ElmoMC Gold Line Digital Servo Drives-Gold Drum HV - Manual (Page 7)

Gold Drum HV Installation Guide (EtherCAT and CAN) Table of Contents
MAN-G-DRUMHVIG-EC (Ver. 1.202)
7
4.11.1. USB 2.0 Communication ................................................................................ 79
4.11.2. EtherCAT Communication ............................................................................. 80
4.11.2.1. Ethernet Communication ............................................................. 82
4.11.3. CAN Communication Version ........................................................................ 83
4.12. Powering Up ................................................................................................................. 84
4.13. Heat Dissipation............................................................................................................ 84
4.13.1. Gold Drum HV (High Voltage) Thermal Data ................................................. 84
4.13.2. Heat Dissipation Data .................................................................................... 85
4.13.3. How to Use the Charts ................................................................................... 86
4.14. Initializing the System ................................................................................................... 86
Chapter 5: Technical Specifications ................................................................................ 87
5.1. Gold Drum HV (High Voltage) Dimensions ................................................................... 87
5.2. Environmental Conditions ............................................................................................ 88
5.3. Control Specifications ................................................................................................... 88
5.3.1. Current Loop .................................................................................................. 88
5.3.2. Velocity Loop ................................................................................................. 89
5.3.3. Position Loop ................................................................................................. 89
5.4. Feedbacks ..................................................................................................................... 90
5.4.1. Feedback Supply Voltage ............................................................................... 90
5.4.2. Feedback Options .......................................................................................... 90
5.4.2.1. Incremental Encoder Input ........................................................... 90
5.4.2.2. Digital Halls ................................................................................... 91
5.4.2.3. Interpolated Analog (Sine/Cosine) Encoder ................................. 91
5.4.2.4. Resolver ........................................................................................ 92
5.4.2.5. Absolute Serial Encoder ................................................................ 92
5.4.3. Port C Feedback Output ................................................................................ 93
5.5. I/Os ............................................................................................................................... 94
5.5.1. Digital Input Interfaces – TTL Mode .............................................................. 94
5.5.2. Digital Input Interfaces – PLC Mode .............................................................. 95
5.5.3. Digital Output Interface – PLC Mode ............................................................. 96
5.5.4. Digital Output Interface – TTL Mode ............................................................. 97
5.5.5. Digital Output Interface – A Mode ................................................................ 98
5.5.6. Analog Input .................................................................................................. 98
5.6. Safe Torque Off (STO) ................................................................................................... 99
5.6.1. STO Input Interfaces – PLC and A Modes ...................................................... 99
5.6.2. STO Input Interfaces – TTL Mode ................................................................ 100
5.7. EtherCAT Communications Version ........................................................................... 100
5.8. CAN Communications Version .................................................................................... 101
5.9. Pulse-Width Modulation (PWM) ................................................................................ 101
5.10. Compliance with Standards ........................................................................................ 101