Elmo Gold Solo Double Twitter Series User manual

Gold Solo Double Twitter
Digital Servo Drive
Installation Guide
CAN and EtherCAT
May 2019 (Ver. 1.005) www.elmomc.com

Notice
This guide is delivered subject to the following conditions and restrictions:
•This guide contains proprietary information belonging to Elmo Motion Control Ltd. Such
information is supplied solely for the purpose of assisting users of the Gold Solo Double
Twitter servo drive in its installation.
•The text and graphics included in this manual are for the purpose of illustration and
reference only. The specifications on which they are based are subject to change without
notice.
•Information in this document is subject to change without notice.
Document no. MAN-G-SOLTWIB_160 (Ver. 1.005)
Copyright 2019
Elmo Motion Control Ltd.
All rights reserved.
Catalog Number

Revision History
Version Date
Ver. 1.000 Mar 2018
Ver. 1.001 Mar 2018
Ver. 1.002 Jul 2018
Ver. 1.003 Sep 2018
Ver. 1.004 Dec 2018
Ver. 1.005 May 2019

Table of Contents
MAN-G-SOLTWIB_160 (Ver. 1.005)4
Chapter 1: This Installation Guide.................................................................................7
Chapter 2: Safety Information ......................................................................................7
2.1. Warnings ....................................................................................................................8
2.2. Cautions......................................................................................................................8
2.3. Warranty Information ................................................................................................8
Chapter 3: Product Description.....................................................................................9
Chapter 4: Technical Information................................................................................10
4.1. Physical Specifications..............................................................................................10
4.2. D Type Technical Data ..............................................................................................10
4.3. Control Supply Input Voltage (VL) ............................................................................11
4.4. Product Features ......................................................................................................11
4.5. Environmental Conditions........................................................................................12
Chapter 5: Standards..................................................................................................13
5.1. CE Declaration ..........................................................................................................14
5.2. Environmental ..........................................................................................................14
5.3. EMC ..........................................................................................................................14
5.4. EtherCAT Conformance............................................................................................14
5.5. Other Compliant Standards......................................................................................15
Chapter 6: Installation................................................................................................16
6.1. Unpacking the Servo Drive Components..................................................................16
6.2. Mounting the Gold Solo Double Twitter to a Heat Sink...........................................17
6.3. The Gold Solo Double Twitter Connection Diagrams...............................................18
6.3.1. CAN Connection Diagram ..........................................................................18
6.3.2. EtherCAT Connection Diagram..................................................................19
Chapter 7: Wiring.......................................................................................................20
7.1. Wiring Legend...........................................................................................................20
7.2. Connectors Types .....................................................................................................22
7.2.1. Recommended Cable Lugs and Cabling.....................................................23
7.3. Mating Connectors, Wires, and Cables ....................................................................23
7.4. Logic and Control Cabling and Wiring ......................................................................24
7.4.1. J10 and J11 (Feedback ports, VL, RS232, USB, Analog Input)....................24
7.4.2. J11 (Digital Inputs/Outputs, STO)..............................................................24
7.4.3. J17, J18 EtherCAT or CAN Communication................................................24

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7.4.4. COMRET to PE Connection ........................................................................24
7.5. Wiring the Female Connectors.................................................................................25
Chapter 8: Connections ..............................................................................................26
8.1. Main, Control, and Motor Power .............................................................................26
8.1.1. Connecting the DC Power and the Motor Power Wires............................26
8.1.2. Motor Power Connections ........................................................................27
8.1.3. Motor Power .............................................................................................28
8.1.4. Main Power and Control Supply................................................................30
8.1.4.1. Main Power ..............................................................................30
8.1.4.2. Control Supply (J10)..................................................................31
8.1.4.3. Dual Power Supply (PN G-SOLTWIDXXX/YYYEESD) ..................32
8.1.4.4. Single Power Supply (PN G-SOLTWIDXXX/YYYEESV) ................34
8.2. Drive Status Indicator...............................................................................................35
8.3. J10 VL and Feedback Connector...............................................................................36
8.3.1. Port A.........................................................................................................39
8.3.1.1. Incremental Encoder ................................................................39
8.3.1.2. Absolute Serial Encoder............................................................40
8.3.1.3. Hiperface ..................................................................................41
8.3.1.4. Hall Sensors ..............................................................................42
8.3.2. Port B .........................................................................................................43
8.3.2.1. Incremental Encoder ................................................................43
8.3.2.2. Interpolated Analog Encoder ...................................................44
8.3.2.3. Resolver ....................................................................................45
8.3.3. Port C – Emulated Encoder Output (J10)...................................................46
8.4. J11 I/O and Communication Connector ...................................................................47
8.4.1. Digital Inputs..............................................................................................50
8.4.1.1. Source PLC Voltage Level Digital Input.....................................50
8.4.1.2. Sink PLC Voltage Level Digital Input .........................................52
8.4.1.3. Source 5V Logic Level Digital Input...........................................54
8.4.2. Digital Outputs...........................................................................................56
8.4.2.1. Source PLC Voltage Level Digital Output..................................56
8.4.2.2. Sink PLC Voltage Level Digital Output ......................................58
8.4.2.3. Digital Outputs Source 5V Logic Mode.....................................60
8.4.3. STO (Safe Torque Off)................................................................................62
8.4.4. Analog Input ..............................................................................................63
8.4.5. Standard RS-232 ........................................................................................64

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8.4.6. USB 2.0 Communication (Only for EtherCAT version)...............................65
8.5. EtherCAT Communications Version .........................................................................66
8.5.1. EtherCAT IN/Ethernet Connector (J17) .....................................................66
8.5.2. EtherCAT OUT Connector (J18) .................................................................67
8.5.3. EtherCAT Option........................................................................................68
8.5.3.1. EtherCAT Communication ........................................................68
8.5.3.2. EtherCAT Status Indicator (D2).................................................69
8.5.3.3. EtherCAT Link Indicators (D3, D4) ............................................70
8.6. CAN Communications Version .................................................................................71
8.6.1. CAN IN Connector (J17) .............................................................................71
8.6.2. CAN OUT Connector (J18)..........................................................................72
8.6.3. CAN Option................................................................................................73
8.6.3.1. Interface ...................................................................................73
8.6.3.2. CAN Layout ...............................................................................74
Chapter 9: Powering Up .............................................................................................75
9.1. Initializing the System ..............................................................................................75
9.2. Heat Dissipation .......................................................................................................76
9.2.1. Heat Dissipation Data ................................................................................76
9.2.2. How to Use the Chart ................................................................................80
Chapter 10: Dimensions ...............................................................................................81
Chapter 11: Cables and Accessories ..............................................................................83

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Chapter 1: This Installation Guide
This installation Guide details the technical data, pinouts, and power connectivity of the Gold Solo
Double Twitter. For a comprehensive detailed description of the functions and connections of the
drive, refer to the Gold Panel Mounted Drives Hardware Manual.
Chapter 2: Safety Information
In order to achieve the optimum, safe operation of the Gold Solo Double Twitter, it is imperative
that you implement the safety procedures included in this installation guide. This information is
provided to protect you and to keep your work area safe when operating the Gold Solo Double
Twitter and accompanying equipment.
Please read this chapter carefully before you begin the installation process.
Before you start, ensure that all system components are connected to earth ground. Electrical
safety is provided through a low-resistance earth connection.
Only qualified personnel may install, adjust, maintain and repair the servo drive. A qualified person
has the knowledge and authorization to perform tasks such as transporting, assembling, installing,
commissioning and operating motors.
The Gold Solo Double Twitter contains electrostatic-sensitive components that can be damaged if
handled incorrectly. To prevent any electrostatic damage, avoid contact with highly insulating
materials, such as plastic film and synthetic fabrics. Place the product on a conductive surface and
ground yourself in order to discharge any possible static electricity build-up.
To avoid any potential hazards that may cause severe personal injury or damage to the product
during operation, keep all covers and cabinet doors shut.
The following safety symbols are used in this and all Elmo Motion Control manuals:
Warning:
This information is needed to avoid a safety hazard, which might cause bodily
injury or death as a result of incorrect operation.
Caution:
This information is necessary to prevent bodily injury, damage to the product or to
other equipment.
Important:
Identifies information that is critical for successful application and understanding
of the product.

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2.1. Warnings
•To avoid electric arcing and hazards to personnel and electrical contacts, never
connect/disconnect the servo drive while the power source is on.
•Power cables can carry a high voltage, even when the motor is not in motion. Disconnect
the Gold Solo Double Twitter from all voltage sources before servicing.
•The high voltage products within the Gold Line range contain grounding conduits for electric
current protection. Any disruption to these conduits may cause the instrument to become
hot (live) and dangerous.
•After shutting off the power and removing the power source from your equipment, wait at
least 3 minutes before touching or disconnecting parts of the equipment that are normally
loaded with electrical charges (such as capacitors or contacts). Measuring the electrical
contact points with a meter, before touching the equipment, is recommended.
2.2. Cautions
•The maximum DC power supply connected to the instrument must comply with the
parameters outlined in this guide.
•When connecting the Gold Solo Double Twitter to an approved control supply, connect it
through a line that is separated from hazardous live voltages using reinforced or double
insulation in accordance with approved safety standards.
•Before switching on the Gold Solo Double Twitter, verify that all safety precautions have
been observed and that the installation procedures in this manual have been followed.
•Make sure that the Safe Torque Off is operational
2.3. Warranty Information
The products covered in this manual are warranted to be free of defects in material and
workmanship and conform to the specifications stated either within this document or in the
product catalog description. All Elmo drives are warranted for a period of 12 months from the time
of shipment. No other warranties, expressed or implied — and including a warranty of
merchantability and fitness for a particular purpose — extend beyond this warranty.

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Chapter 3: Product Description
The Ultra High Current Gold Solo Double Twitter which can deliver up to 160A @ up to 75VDC, 140A
@ up to 95VDC, and 40A @ up to 195VDC, are advanced high power density servo drives, delivering
up to 11 kW power in a 97.02 cm3(5.92 Inch3) compact package
47 x 69.5 x 29.7 mm (1.85" x 2.74" x 1.17").
This advanced, high power density servo drive provides top performance, advanced networking and
built-in safety, as well as a fully featured motion controller and local intelligence. Power to the Gold
Solo Double Twitter is provided by a DC power source which is isolated from the Mains. The Gold
Solo Double Twitter can operate with single or dual power supplies. If separation between the main
DC power source and a control supply is required, then a control supply (isolated from the Mains) is
required according to the Part Number.
The drive can operate as a stand-alone device or as part of a multi-axis system in a distributed
configuration on a real-time network.
The Gold Solo Double Twitter drive is easily set up and tuned using the Elmo Application Studio
(EASII) software tools. As part of the Gold product line, it is fully programmable with the Elmo
motion control language. For more information about software tools refer to the Elmo Application
Studio (EASII) User Guide.
The Gold Solo Double Twitter is available in a variety of models. There are multiple power rating
options, different communications options, a number of feedback options and different I/O
configuration possibilities.
EtherCAT CANopen
Figure 1: Difference between 4-Tier EtherCAT and 3-Tier CANopen modules

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Chapter 4: Technical Information
4.1. Physical Specifications
Feature Units All Types
Weight g (oz) ~120.0 g (4.23 oz)
EtherCAT Version Dimension mm (in) 47 x 69.5 x 29.7 mm (1.85" x 2.74" x 1.17")
CAN Version Dimension mm (in) 47 x 69.5 x 26.9 mm (1.85" x 2.74" x 1.06")
Mounting method Panel Based Mounting
4.2. D Type Technical Data
Feature Units D160/80 D140/100 D40/200
Minimum supply voltage VDC 11 20
Nominal supply voltage VDC 65 85 170
Maximum supply voltage VDC 75 95 195
Maximum continuous Electrical
power output
kW 10 11 7
Efficiency at rated power (at nominal
conditions)
% > 99
Maximum output voltage Up to 96% of DC bus voltage
Amplitude sinusoidal/DC continuous
current
A 160 140 40
3-Phase Sinusoidal continuous RMS
current limit (Ic)
A 113 99 28
DC Motor (any two phase motor) A 100 40
Current limit A Max Output current is guaranteed for THeat-Sink <85°C

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4.3. Control Supply Input Voltage (VL)
The Control Supply input voltage (VL) must be either SELV or PELV rated.
Feature Unit Details
Standard CAN (S option)
Input range V 11 V – 95 V
Power consumption
(including 5 V/200 mA for encoder)
W < 2.5 W
ETHERCAT (E option)
Input range V 11 V – 95 V
Power consumption
(including 5 V/200 mA for encoder)
W < 4 W
4.4. Product Features
Main Feature Details Presence / No.
STO +5V Logic, Opto isolated from the Control section, or √
PLC Source, Opto isolated from the Control section √
Digital Input +5V Logic, Opto isolated from the Control section or 6
PLC Source, Opto isolated from the Control section or 6
PLC Sink Opto isolated from the Control section 6
Digital Output +5V Logic, Opto isolated from the Control section or 4
PLC Source, Opto isolated from the Control section or 4
PLC Sink, Opto isolated from the Control section 4
Analog Input Differential ±10V or Single Ended 1
Feedback Standard Port A, B, and C √
Communication
Option
USB (only for EtherCAT version) √
EtherCAT or √
CAN √
Standard RS232 √

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4.5. Environmental Conditions
You can guarantee the safe operation of the Gold Solo Double Twitter by ensuring that it is installed
in an appropriate environment.
Warning: During operation the Gold Solo Double Twitter becomes hot to the
touch (the heatsink and wires may heat up to 92 °C). Care should be taken
when handling it.
Caution:
The Gold Solo Double Twitter dissipates its heat by convection or by
conduction. The maximum ambient operating temperature of 50 °C (122°F)
must not be exceeded.
Feature Details
Operating ambient temperature
in compliance with STO standards
0 °C to 40 °C (32 °F to 104 °F)
Operating ambient temperature
according to IEC60068-2-2
0 °C to 50 °C (32 °F to 122 °F) in compliance
with UL standards
Storage temperature -20 °C to +85 °C ( -4 °F to +185 °F)
Maximum non-condensing humidity
according to IEC60068-2-78
95%
Maximum Operating Altitude 2,000 m (6562 feet)
It should be noted that servo drives capable
of higher operating altitudes are available on
request.
Mechanical Shock
according to IEC60068-2-27
15g / 11ms Half Sine
Vibration
according to IEC60068-2-6
5 Hz ≤ f ≤ 10 Hz: ±10mm
10 Hz ≤ f ≤ 57 Hz: 4G
57 Hz ≤ f ≤ 500 Hz:5G

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Chapter 5: Standards
The following table describes the Main Standards of the Gold Solo Double Twitter servo drive. For
further details refer to the MAN-G-Panel Mounted Drives Hardware manual.
Safe Torque Off (STO)
Safety Standard
Item
The related functional safety standards below apply to the performance of the servo drives as
stated in the environmental conditions in the section above.
In Compliance with
STO IEC 61800-5-2:2007 SIL 3
Adjustable speed electrical power drive systems –
Safety requirements – Functional
In Compliance with
EN ISO 13849-1:2008 PL e, Cat 3
Safety of machinery — Safety-related parts of
control systems.
In Compliance with
EN 61508-1:2010 SIL 3
Functional safety of electrical/electronic/
programmable electronic safety-related systems
In Compliance with
EN 61508-2:2010 SIL 3
Functional safety of electrical/electronic/
programmable electronic safety-related systems
In Compliance with
EN 61508-3:2010 SIL 3
Functional safety of electrical/electronic/
programmable electronic safety-related systems
Safety Item
The related safety standards below apply to the performance of the servo drives as stated in the
environmental conditions in section above.
In compliance with IEC/EN 61800-5-1 Adjustable speed electrical power drive systems
Safety requirements – Electrical, thermal and energy
In compliance with UL61800-5-1 Adjustable speed electrical power drive systems
Safety requirements – Electrical, thermal and energy
In compliance with CSA C22.2 NO. 14-13
Or
In compliance with CSA C22.2 NO. 274-13
Industrial Control Equipment
Adjustable drive speeds

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5.1. CE Declaration
Refer to the complete EC Declaration of Conformity available on the internet at:
https://www.elmomc.com/download/4443/Gold-Line-CE-Declaration-of-Conformity-1.pdf
5.2. Environmental
Specification Details
In compliance with IEC60068-2-78 Environmental testing – Damp heat, steady state
In compliance with IEC60068-2-6 Environmental testing –Vibration (sinusoidal)
In compliance with IEC60068-2-2 Environmental testing – Dry heat
In compliance with IEC60068-2-27 Basic environmental testing procedures - Shock
5.3. EMC
Specification Details
In compliance with IEC/EN 61800-3 Adjustable speed electrical power drive systems
In compliance with EN 55011 Class A with
EN 61000-6-2: Immunity for industrial
environment, according to:
IEC 61000-4-2 / criteria B
IEC 61000-4-3 / criteria A
IEC 61000-4-4 / criteria B
IEC 61000-4-5 / criteria B
IEC 61000-4-6 / criteria A
IEC 61000-4-8 / criteria A
IEC 61000-4-11 / criteria B/C
Electromagnetic compatibility (EMC)
In compliance with IEC 61326-3-1 Electrical equipment for measurement, control and
laboratory use. Standard required for STO.
5.4. EtherCAT Conformance
EtherCAT Conformance Test Certified
Approved and certified EtherCAT conformance

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5.5. Other Compliant Standards
Quality Assurance
ISO 9001:2015 Quality Management
Design
•IPC-D-275
•IPC-SM-782
•IPC-CM-770
Printed wiring for electronic equipment
(clearance, creepage, spacing, conductors sizing,
etc.)
Reliability
MIL-HDBK- 217F Reliability prediction of electronic equipment
(rating, de-rating, stress, etc.)
Workmanship
IPC-A-610, level 3 Acceptability of electronic assemblies
PCB
IPC-A-600, level 3 Acceptability of printed circuit boards
Packing
EN 100015 Protection of electrostatic sensitive devices
Environmental
WEEE Directive 2012/19/EC Waste Electrical and Electronic Equipment
regulations (WEEE)
Note: Out-of-service Elmo drives should be sent
to the nearest Elmo sales office.
ROHS Directives 2011/65/EU and
2015/863
Restrictions on Application of Hazardous
Substances in Electric and Electronic Equipment
(RoHS)

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Chapter 6: Installation
6.1. Unpacking the Servo Drive Components
Before you begin working with the Gold Solo Double Twitter, verify that you have all of its
components, as follows:
•The Gold Solo Double Twitter servo drive
•The Elmo Application Studio (EASII) software and software manual
The Gold Solo Double Twitter is shipped in a cardboard box with Styrofoam protection.
To unpack the Gold Solo Double Twitter:
1. Carefully remove the servo drive from the box and the Styrofoam.
2. Check the drive to ensure that there is no visible damage to the instrument. If any damage
has occurred, report it immediately to the carrier that delivered your drive.
3. To ensure that the Gold Solo Double Twitter you have unpacked is the appropriate type for
your requirements, locate the part number sticker on the top of the Gold Solo Double
Twitter. It looks like this:
4. Verify that the Gold Solo Double Twitter type is the one that you ordered, and ensure that
the voltage meets your specific requirements.
The part number at the top provides the type designation. Refer to the appropriate part
number in the section Catalog Number at the beginning of the installation guide.

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6.2. Mounting the Gold Solo Double Twitter to a Heat Sink
The selected heat sink must be screwed to the lower surface of the Gold Solo Double Twitter.
To mount the heat sink:
1. Mount the heat sink under the base of the Gold Solo Double Twitter.
2. Place the Thermal foil (PN IMT-DTWIALHFLAT purchased from Elmo) between the lower
surface of the servo drive, and the upper surface of the heat sink
3. Use four M3 head cup Allen screws to secure the heat sink under the servo drive.
4. Tighten the screws to the relevant torque force applicable to an M3 stainless steel A2
screw.
Figure 2: Mount the Heat Sink and Thermal Foil to the Gold Solo Double Twitter

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6.3. The Gold Solo Double Twitter Connection Diagrams
6.3.1. CAN Connection Diagram
Figure 3: The Gold Solo Double Twitter CAN Connection Diagram

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6.3.2. EtherCAT Connection Diagram
Figure 4: The Gold Solo Double Twitter EtherCAT Connection Diagram

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Chapter 7: Wiring
7.1. Wiring Legend
The following table legend describes the wiring symbols detailed in all installation guides. All the
wiring diagrams show wiring for D-TYPE connectors.
Wiring Symbol Description
Earth connection (PE)
Protective Earth Connection
Common at the Controller
Shielded cable with drain wire.
The drain wire is a non-insulated wire that
is in direct contact with the braid
(shielding).
Shielded cable with drain wire significantly
simplifies the wiring and earthing.
Shielded cable braid only, without drain
wire.
Twisted-pair wires