ElmoMC ExtrIQ Gold Line Servo Drives-Gold Hornet - Manual (Page 6)

Gold Hornet Installation Guide (EtherCAT and CAN) Table of Contents
MAN-G-HORIG-E (Ver. 1.007)
6
4.3.2.3. Auxiliary Power Connector ...................................................... 26
4.3.2.4. Connector J2 ............................................................................ 27
4.3.2.5. Connector J1 ............................................................................ 30
4.4. Mounting the Gold Hornet ...................................................................................... 32
4.5. Integrating the Gold Hornet on a PCB ..................................................................... 33
4.5.1. Grounds and Returns ................................................................................ 33
4.6. The Gold Hornet Connection Diagram .................................................................... 35
4.7. Main Power, Auxiliary Power and Motor Power ..................................................... 36
4.7.1. Motor Power............................................................................................. 36
4.7.2. Main and Auxiliary Power ......................................................................... 37
4.7.2.1. Main Power .............................................................................. 37
4.7.2.2. Auxiliary Power Supply (Optional) ........................................... 38
4.7.2.3. Power Rating 200 V ................................................................. 39
4.7.2.4. Power Rating 100 V ................................................................. 40
4.8. STO (Safe Torque Off) Inputs ................................................................................... 42
4.9. Feedback .................................................................................................................. 45
4.9.1. Port A (J2) ................................................................................................. 46
4.9.1.1. Incremental Encoder ............................................................... 47
4.9.1.2. Absolute Serial Encoder ........................................................... 48
4.9.1.3. Hall Sensors.............................................................................. 49
4.9.2. Port B (J2) .................................................................................................. 50
4.9.2.1. Incremental Encoder ............................................................... 51
4.9.2.2. Interpolated Analog Encoder ................................................... 52
4.9.2.3. Resolver ................................................................................... 53
4.9.3. Port C – Emulated Encoder Output (J2) .................................................... 53
4.9.4. Analog Input ............................................................................................. 54
4.10. User I/Os .................................................................................................................. 55
4.10.1. Digital Inputs (J1) ...................................................................................... 55
4.10.2. Digital Outputs (J1) ................................................................................... 58
4.10.3. Analog Input ............................................................................................. 59
4.11. Communications ...................................................................................................... 60
4.11.1. RS-232 Communication (J2) ...................................................................... 60
4.11.2. CAN Communication (J2) .......................................................................... 62
4.11.3. USB 2.0 Communication (J2) .................................................................... 64
4.11.4. EtherCAT Communication (J2) .................................................................. 65
4.11.5. Ethernet Communication (J2) ................................................................... 67
4.11.6. EtherCAT/Ethernet Line Interface ............................................................ 69
4.12. Powering Up ............................................................................................................ 70
4.13. Initializing the System .............................................................................................. 70
4.14. Heat Dissipation....................................................................................................... 71
4.14.1. Thermal Data ............................................................................................ 71
4.14.2. Heat Dissipation Data ............................................................................... 71
4.14.3. How to Use the Charts .............................................................................. 73
Chapter 5: Technical Specifications ............................................................................ 74