Document Outline

• Chapter 1: Safety Information
  • 1.1. Warnings
  • 1.2. Cautions
  • 1.3. Directives and Standards
  • 1.4. Warranty Information
  • 1.5. CE Marking Conformance
• Chapter 2: Product Description
  • 2.1. Drive Description
  • 2.2. Product Features
    • 2.2.1. Servo Control
    • 2.2.2. Motion Control
    • 2.2.3. Communications
    • 2.2.4. Safe Torque Input (STO)
    • 2.2.5. Outputs
    • 2.2.6. Inputs
    • 2.2.7. Feedback Options
    • 2.2.8. Feedback Sensor Specifications
    • 2.2.9. Protection
  • 2.3. System Architecture
  • 2.4. How to Use this Guide
• Chapter 3: Technical Information
  • 3.1. Technical Data
    • 3.1.1. 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. Main Power and Motor Power Connector
      • 4.3.2.2. Auxiliary Power Connector
      • 4.3.2.3. STO Connector – Safety
      • 4.3.2.4. Port A Connector
      • 4.3.2.5. Port B Connector
      • 4.3.2.6. Port C and I/O Connector
      • 4.3.2.7. CANopen In/Out Connectors
      • 4.3.2.8. USB 2.0 Connector
      • 4.3.2.9. EtherCAT IN/Ethernet Connector
      • 4.3.2.10. EtherCAT OUT Connector
    • 4.3.3. Indicators
      • 4.3.3.1. Drive Status Indicator
      • 4.3.3.2. EtherCAT Link Indicators
      • 4.3.3.3. EtherCAT Status Indicator
  • 4.4. Mounting the Gold Solo Trombone
  • 4.5. Wiring the Gold Solo Trombone
  • 4.6. Connection Diagrams
  • 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 Single-Phase Direct-to-Mains Connection Topology
        • 4.7.2.1.c Multiple Connections Topology
      • 4.7.2.2. Battery Power Supply
    • 4.7.3. Control and Backup Supply
  • 4.8. STO (Safe Torque Off) Inputs
  • 4.9. Feedback and Analog Input
    • 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. User I/Os
    • 4.10.1. Digital Inputs
    • 4.10.2. Digital Output
    • 4.10.3. Analog Input
  • 4.11. Communications
    • 4.11.1. CANopen Communication
    • 4.11.2. USB 2.0 Communication
    • 4.11.3. EtherCAT Communication
    • 4.11.4. Ethernet Communication
  • 4.12. Power Up
    • 4.12.1. Initializing the System
  • 4.13. Heat Dissipation
    • 4.13.1. Gold Solo Trombone Thermal Data
    • 4.13.2. Heat Dissipation Data
    • 4.13.3. How to Use the Charts
• Chapter 5: Technical Specifications
  • 5.1. Features
    • 5.1.1. Motion Control Modes
    • 5.1.2. Advanced Positioning Control Modes
    • 5.1.3. Advanced Filters and Gain Scheduling
    • 5.1.4. Fully Programmable
    • 5.1.5. Feedback Options
    • 5.1.6. Input/Output
    • 5.1.7. STO (Safe Torque Off) Inputs
    • 5.1.8. Built-In Protection
    • 5.1.9. Status Indication
    • 5.1.10. Automatic Procedures
    • 5.1.11. Accessories
  • 5.2. Gold Solo Trombone Dimensions
  • 5.3. Environmental Conditions
  • 5.4. Control Specifications
    • 5.4.1. Current Loop
    • 5.4.2. Velocity Loop
    • 5.4.3. Position Loop
  • 5.5. Feedbacks
    • 5.5.1. Feedback Supply Voltage
    • 5.5.2. Feedback Options
      • 5.5.2.1. Incremental Encoder Input
      • 5.5.2.2. Digital Halls
      • 5.5.2.3. Interpolated Analog (Sine/Cosine) Encoder
      • 5.5.2.4. Resolver
      • 5.5.2.5. Absolute Serial Encoder
    • 5.5.3. Port C Feedback Output
  • 5.6. I/Os
    • 5.6.1. Digital Input Interfaces – TTL Mode
    • 5.6.2. Digital Input Interfaces – PLC Mode
    • 5.6.3. Digital Output Interface – PLC Mode
    • 5.6.4. Digital Output Interface – TTL Mode
    • 5.6.5. Digital Output Interface – AP Mode
    • 5.6.6. Analog Input
  • 5.7. Safe Torque Off (STO)
    • 5.7.1. STO Input Interfaces – PLC and AP Modes
    • 5.7.2. STO Input Interfaces – TTL Mode
  • 5.8. Communications
  • 5.9. Pulse-Width Modulation (PWM)
  • 5.10. Compliance with Standards