Document Outline

• Chapter 1: Safety Information
  • 1.1. Warnings
  • 1.2. Cautions
  • 1.3. Directives and Standards
  • 1.4. CE Marking Conformance
  • 1.5. Warranty Information
• Chapter 2: Product Description
  • 2.1. Drive Description
  • 2.2. Product Features
    • 2.2.1. Servo Control
    • 2.2.2. Advanced Filters and Gain Scheduling
    • 2.2.3. Motion Control
    • 2.2.4. Fully Programmable
    • 2.2.5. Feedback Ports Options
    • 2.2.6. Feedback Sensor Specifications
    • 2.2.7. Communications
    • 2.2.8. Safe Torque Off (STO)
    • 2.2.9. Digital Outputs
    • 2.2.10. Differential Outputs
    • 2.2.11. Digital Inputs
    • 2.2.12. Differential Inputs
    • 2.2.13. Analog Input
    • 2.2.14. Built-In Protection
    • 2.2.15. Status Indication
    • 2.2.16. Automatic Procedures
    • 2.2.17. Approved Safety and EMC Standards
  • 2.3. System Architecture
  • 2.4. How to Use this Guide
• Chapter 3: Technical Information
  • 3.1. Technical Data for 400 V Drive
  • 3.2. Technical Data for 800 V Drive
    • 3.2.1. Auxiliary Supply
• Chapter 4: Installation
  • 4.1. Site Requirements
  • 4.2. Unpacking the Drive Components
  • 4.3. Connectors and Indicators
    • 4.3.1. Connector Types
    • 4.3.2. Pinouts
      • 4.3.2.1. Motor Power Connector
      • 4.3.2.2. Main Power Connector
      • 4.3.2.3. Auxiliary Power Connector
      • 4.3.2.4. Port A Connector
      • 4.3.2.5. Port B Connector
      • 4.3.2.6. Port C Connector
      • 4.3.2.7. I/O Connector
      • 4.3.2.8. USB
    • 4.3.3. EtherCAT Communications Version
      • 4.3.3.1. EtherCAT IN/Ethernet
      • 4.3.3.2. EtherCAT OUT
      • 4.3.3.3. EtherCAT Link Indicators
      • 4.3.3.4. EtherCAT Status Indicator
      • 4.3.3.5. EtherCAT Rotary Switches
    • 4.3.4. CAN Communications Version
    • 4.3.5. Indicators
  • 4.4. Mounting the Gold Drum HV (High Voltage)
  • 4.5. Wiring the Gold Drum HV (High Voltage)
  • 4.6. Connection Diagrams
    • 4.6.1. Connection Diagrams for EtherCAT Version
    • 4.6.2. Connection Diagrams for CAN Version
  • 4.7. Main Power, Auxiliary Power and Motor Power
    • 4.7.1. Motor Power
    • 4.7.2. Main Power
      • 4.7.2.1. Direct-to-Mains Power Source (Non-Isolated Rectifier)
        • 4.7.2.1.a Three-Phase Direct-to-Mains Connection Topology
        • 4.7.2.1.b Multiple Connections Topology
      • 4.7.2.2. Battery Power Supply
    • 4.7.3. Control and Backup Supply
      • 4.7.3.1. Optional Backup Supply
  • 4.8. STO (Safe Torque Off) Inputs
  • 4.9. Feedback
    • 4.9.1. Feedback Port A
      • 4.9.1.1. Incremental Encoder
      • 4.9.1.2. Absolute Serial Encoder
      • 4.9.1.3. Hall Sensors
    • 4.9.2. Feedback Port B
      • 4.9.2.1. Incremental Encoder
      • 4.9.2.2. Interpolated Analog Encoder
      • 4.9.2.3. Resolver
    • 4.9.3. Port C – Emulated Encoder Output
  • 4.10. Inputs/Outputs
    • 4.10.1. I/O Connector Pinout
      • 4.10.1.1. Digital Input
      • 4.10.1.2. Digital Output
    • 4.10.2. Analog Input
  • 4.11. Communications
    • 4.11.1. USB 2.0 Communication
    • 4.11.2. EtherCAT Communication
      • 4.11.2.1. Ethernet Communication
    • 4.11.3. CAN Communication Version
  • 4.12. Powering Up
  • 4.13. Heat Dissipation
    • 4.13.1. Gold Drum HV (High Voltage) Thermal Data
    • 4.13.2. Heat Dissipation Data
    • 4.13.3. How to Use the Charts
  • 4.14. Initializing the System
• Chapter 5: Technical Specifications
  • 5.1. Gold Drum HV (High Voltage) Dimensions
  • 5.2. Environmental Conditions
  • 5.3. Control Specifications
    • 5.3.1. Current Loop
    • 5.3.2. Velocity Loop
    • 5.3.3. Position Loop
  • 5.4. Feedbacks
    • 5.4.1. Feedback Supply Voltage
    • 5.4.2. Feedback Options
      • 5.4.2.1. Incremental Encoder Input
      • 5.4.2.2. Digital Halls
      • 5.4.2.3. Interpolated Analog (Sine/Cosine) Encoder
      • 5.4.2.4. Resolver
      • 5.4.2.5. Absolute Serial Encoder
    • 5.4.3. Port C Feedback Output
  • 5.5. I/Os
    • 5.5.1. Digital Input Interfaces – TTL Mode
    • 5.5.2. Digital Input Interfaces – PLC Mode
    • 5.5.3. Digital Output Interface – PLC Mode
    • 5.5.4. Digital Output Interface – TTL Mode
    • 5.5.5. Digital Output Interface – A Mode
    • 5.5.6. Analog Input
  • 5.6. Safe Torque Off (STO)
    • 5.6.1. STO Input Interfaces – PLC and A Modes
    • 5.6.2. STO Input Interfaces – TTL Mode
  • 5.7. EtherCAT Communications Version
  • 5.8. CAN Communications Version
  • 5.9. Pulse-Width Modulation (PWM)
  • 5.10. Compliance with Standards