ElmoMC Gold Line Digital Servo Drives-Gold Solo Trombone - Manual (Page 6)

Gold Solo Trombone Installation Guide Table of Contents
MAN-G-SOLTROIG (Ver. 1.3)
6
4.3.2.10. EtherCAT OUT Connector ............................................................. 37
4.3.3. Indicators ....................................................................................................... 38
4.3.3.1. Drive Status Indicator ................................................................... 38
4.3.3.2. EtherCAT Link Indicators ............................................................... 38
4.3.3.3. EtherCAT Status Indicator ............................................................. 38
4.4. Mounting the Gold Solo Trombone .............................................................................. 39
4.5. Wiring the Gold Solo Trombone ................................................................................... 39
4.6. Connection Diagrams ................................................................................................... 40
4.7. Main Power, Auxiliary Power and Motor Power .......................................................... 45
4.7.1. Motor Power.................................................................................................. 45
4.7.2. Main Power.................................................................................................... 47
4.7.2.1. Direct-to-Mains Power Source (Non-Isolated Rectifier) ............... 48
4.7.2.2. Battery Power Supply ................................................................... 51
4.7.3. Control and Backup Supply ............................................................................ 51
4.8. STO (Safe Torque Off) Inputs ........................................................................................ 53
4.9. Feedback and Analog Input .......................................................................................... 57
4.9.1. Feedback Port A ............................................................................................. 57
4.9.1.1. Incremental Encoder .................................................................... 58
4.9.1.2. Absolute Serial Encoder ................................................................ 59
4.9.1.3. Hall Sensors................................................................................... 60
4.9.2. Feedback Port B ............................................................................................. 61
4.9.2.1. Incremental Encoder .................................................................... 63
4.9.2.2. Interpolated Analog Encoder ........................................................ 64
4.9.2.3. Resolver ........................................................................................ 65
4.9.3. Port C – Emulated Encoder Output ............................................................... 65
4.10. User I/Os ....................................................................................................................... 68
4.10.1. Digital Inputs .................................................................................................. 68
4.10.2. Digital Output ................................................................................................ 72
4.10.3. Analog Input .................................................................................................. 76
4.11. Communications ........................................................................................................... 77
4.11.1. CANopen Communication ............................................................................. 78
4.11.2. USB 2.0 Communication ................................................................................ 81
4.11.3. EtherCAT Communication ............................................................................. 82
4.11.4. Ethernet Communication .............................................................................. 86
4.12. Power Up ...................................................................................................................... 87
4.12.1. Initializing the System .................................................................................... 87
4.13. Heat Dissipation............................................................................................................ 87
4.13.1. Gold Solo Trombone Thermal Data ............................................................... 87
4.13.2. Heat Dissipation Data .................................................................................... 88
4.13.3. How to Use the Charts ................................................................................... 89
Chapter 5: Technical Specifications ................................................................................ 90
5.1. Features ........................................................................................................................ 90
5.1.1. Motion Control Modes .................................................................................. 90
5.1.2. Advanced Positioning Control Modes ........................................................... 90