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

Gold Solo Hornet Installation Guide (EtherCAT and CAN) Table of Contents
MAN-G-SOLHORIG-EC (Ver. 1.009)
6
4.3.1. Connector Types ............................................................................................ 24
4.3.2. Pinouts ........................................................................................................... 25
4.3.2.1. Power, Motor, Control and Port B Connector (J1) ....................... 25
4.3.2.2. Auxiliary Feedback and IO (J2) ...................................................... 27
4.3.2.3. Communication Connector (J3) .................................................... 29
4.3.3. EtherCAT Indicators ....................................................................................... 30
4.3.3.1. EtherCAT Link Indicators ............................................................... 30
4.3.3.2. EtherCAT Status Indicator ............................................................. 30
4.3.4. Drive Status Indicator .................................................................................... 31
4.4. Mounting the Gold Solo Hornet ................................................................................... 32
4.5. Wiring the Gold Solo Hornet ........................................................................................ 33
4.6. The Gold Solo Hornet Connection Diagrams ................................................................ 34
4.7. Main, Auxiliary and Motor Power ................................................................................ 36
4.7.1. Motor Power (J1) ........................................................................................... 36
4.7.2. Main and Auxiliary Power .............................................................................. 38
4.7.2.1. Main Power (J1) ............................................................................ 38
4.7.2.2. Auxiliary Power Supply (J2) (Optional) ......................................... 39
4.7.2.3. Power Rating 200 V ...................................................................... 40
4.7.2.4. Power Rating 100 V ...................................................................... 41
4.8. STO (Safe Torque Off) Inputs (J2) ................................................................................. 43
4.9. Feedback and Analog Input .......................................................................................... 46
4.9.1. Feedback Port A (J2) ...................................................................................... 46
4.9.1.1. Incremental Encoder .................................................................... 49
4.9.1.2. Absolute Serial Encoder ................................................................ 49
4.9.1.3. Hall Sensors................................................................................... 50
4.9.2. Feedback Port B (J1) ...................................................................................... 51
4.9.2.1. Incremental Encoder .................................................................... 52
4.9.2.2. Interpolated Analog Encoder ........................................................ 53
4.9.2.3. Resolver Connection ..................................................................... 53
4.9.3. Port C – Emulated Encoder Output (J2) ......................................................... 54
4.10. User I/Os (J2) ................................................................................................................ 57
4.10.1. Digital Inputs (J2) ........................................................................................... 57
4.10.2. Digital Output (J2) .......................................................................................... 60
4.10.3. Analog Input (J2) ............................................................................................ 62
4.11. Communications ........................................................................................................... 63
4.11.1. RS-232 (J3) ..................................................................................................... 63
4.11.2. Differential RS-232 Communication (RS-422) – J3 ........................................ 65
4.11.3. USB 2.0 Communication (J3) ......................................................................... 66
4.11.4. EtherCAT Communications Version ............................................................... 67
4.11.4.1. EtherCAT Communication (J3) ...................................................... 67
4.11.4.2. Ethernet Communication (J3) ....................................................... 69
4.11.5. CAN Communications Version ....................................................................... 70
4.12. Powering Up ................................................................................................................. 72
4.13. Initializing the System ................................................................................................... 72
4.14. Heat Dissipation............................................................................................................ 72