Elmo 30/60 User manual

Gold Twitter
Digital Servo Drive
Installation Guide
CAN and EtherCAT
November 2018 (Ver. 2.000) 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 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-TWI (Ver. 2.000)
Copyright 2018
Elmo Motion Control Ltd.
All rights reserved.
Catalog Number
NOTE: The option G-TWIXXX/YYYZZ(Blank, VL<40V) is not recommended for new projects.
To order the accessories refer to the Chapter 13: Accessories.

Revision History
Version Date
Ver. 1.004 Oct 2014
Ver. 1.005 Nov 2014
Ver. 1.006 Nov 2014
Ver. 1.007 Dec 2014
Ver. 1.008 Jan 2015
Ver. 1.009 Jan 2015
Ver. 1.010 Feb 2015
Ver. 1.011 Mar 2015
Ver. 1.012 Mar 2015
Ver. 1.013 May 2015
Ver. 1.014 June 2015
Ver. 1.015 Dec 2015
Ver. 1.016 Mar 2016
Ver. 1.017 Sep 2016
Ver. 1.018 Oct 2016
Ver. 1.019 Jan 2017
Ver. 1.020 Apr 2017
Ver. 1.021 Apr 2017
Ver. 1.022 Aug 2017
Ver. 1.023 Aug 2017
Ver. 1.024 Oct 2018
Ver. 2.000 Nov 2018

Table of Contents
MAN-G-TWI (Ver. 2.000)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. 60V and 100V Models Technical Data......................................................................11
4.3. 200V Models Technical Data....................................................................................11
4.4. R Type Technical Data ..............................................................................................12
4.5. Control Supply Input Voltage (VL)............................................................................13
4.6. Product Features......................................................................................................13
4.7. Environmental Conditions........................................................................................14
Chapter 5: Standards..................................................................................................15
5.1. CE Declaration ..........................................................................................................15
Chapter 6: Unpacking the Drive Components ..............................................................15
Chapter 7: Mounting the Gold Twitter ........................................................................16
7.1. Mounting the Optional Acessories Heat Sinks.........................................................19
7.2. Mounting Gold Twitter to an External Heatsink ......................................................21
Chapter 8: Integrating the Gold Twitter on a PCB ........................................................22
8.1. Power Returns (PR) ..................................................................................................22
8.2. COMRET....................................................................................................................22
8.3. Earth Connection (PE) ..............................................................................................22
8.4. Power Return (PR), Common Return (COMRET) and Earth Connections (PE).........23
8.5. Logic and Control Cabling and Wiring ......................................................................24
8.5.1. Feedback ports, VL, RS232, USB, Analog Input .........................................24
8.5.2. Digital Inputs/Outputs, STO ......................................................................24
8.5.3. EtherCAT or CAN Communication.............................................................24
8.5.4. COMRET to PE Connection........................................................................24
8.6. Power Conductors PCB layout..................................................................................25
Chapter 9: Wiring .......................................................................................................26

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9.1. Wiring Legend ..........................................................................................................26
9.2. The Gold Twitter Connection Diagram.....................................................................28
Chapter 10: Connections ..............................................................................................30
10.1. Motor Power ............................................................................................................33
10.1.1. Motor Power Connections ........................................................................34
10.2. Main Power and Control Connector ........................................................................35
10.2.1. Main Power ...............................................................................................35
10.2.2. Control Supply ...........................................................................................36
10.2.3. Control Supply Connections for G-TWIXXX/YYYZZ(Blank).........................37
10.2.3.1. Dual Power Supply Topology....................................................37
10.2.3.2. Single Power Supply Topology (VP+ < 40VDC) .........................39
10.2.4. Control Supply Connections for G-TWIXXX/YYYZZS or H ..........................42
10.2.4.1. Dual Power Supply Topology....................................................42
10.2.4.2. Single Power Supply Topology (VP+ < 95VDC) .........................44
10.3. Feedback Connector FDB .........................................................................................47
10.3.1. Port A.........................................................................................................49
10.3.1.1. Incremental Encoder ................................................................49
10.3.1.2. Absolute Serial Encoder ...........................................................50
10.3.1.3. Hall Sensors ..............................................................................52
10.3.2. Port B.........................................................................................................53
10.3.2.1. Incremental Encoder ................................................................53
10.3.2.2. Interpolated Analog Encoder ...................................................54
10.3.2.3. Resolver....................................................................................55
10.3.3. Port C – Emulated Encoder Output (FDB) .................................................56
10.4. Main Connector (MAIN) ...........................................................................................57
10.4.1. Digital Inputs .............................................................................................60
10.4.2. Digital Outputs...........................................................................................62
10.4.3. STO (Safe Torque Off)................................................................................65
10.4.4. Analog Input ..............................................................................................66
10.4.5. CAN Option................................................................................................67
10.4.5.1. Interface ...................................................................................67
10.4.5.2. CAN Layout ...............................................................................68
10.4.6. RS232.........................................................................................................69
10.5. EtherCAT Module .....................................................................................................71
10.5.1. EtherCAT Module Connectors...................................................................71
10.5.1.1. ECT2 connector.........................................................................71

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10.5.1.2. ECT1 connector.........................................................................72
10.5.1.3. ECT3 Connector ........................................................................72
10.5.1.4. 3.3V Connector.........................................................................72
10.5.2. EtherCAT Communication .........................................................................73
10.5.3. USB 2.0 Communication (for EtherCAT model only).................................75
Chapter 11: Powering Up..............................................................................................76
11.1. Initializing the System ..............................................................................................76
11.2. Heat Dissipation .......................................................................................................77
11.2.1. Heat Dissipation Data................................................................................77
11.2.2. How to Use the Chart................................................................................80
Chapter 12: Dimensions ...............................................................................................81
12.1. EtherCAT without Heatsink......................................................................................81
12.2. EtherCAT with Heatsink............................................................................................82
12.3. CAN without Heatsink ..............................................................................................83
12.4. CAN with Heatsink....................................................................................................84
Chapter 13: Accessories................................................................................................85
13.1. Accessories Heat Sink Dimensions ...........................................................................86

Gold Twitter Installation Guide
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Table of Contents
Chapter 1: This Installation Guide
This installation Guide details the technical data, pinouts, and power connectivity of the Gold
Twitter. For a comprehensive detailed description of the functions and connections of the
drive, refer to the Gold Board Level Module Hardware Manual.
Chapter 2: Safety Information
In order to achieve the optimum, safe operation of the Gold 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 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 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 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 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 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
date 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 Gold Twitter is an advanced high power density servo drive, delivering up to 5.6 kW power
in a 12.6 cm3(0.769 in³) compact package (35 x 30 x 11.5 mm or 1.38" x 1.18" x 0.45"). The
Gold Twitter is designed to be mounted on a PCB by soldering its pins directly to the PCB.
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 Twitter is provided by a DC power source which is isolated
from the Mains. The Gold 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.
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 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 Twitter is available in a variety of models. There are a number of possible options;
multiple power rating, various communications, and feedback.
ETHERCAT MODULE CAN MODULE
Figure 1: Difference between 3-Tier CAN and 4-Tier EtherCAT modules with/without Heatsink
Within the variety of models offered, the CAN and EtherCAT versions are physically different in
that the CAN version has three tiers, whereas the EtherCAT version has four tiers, as shown in
Figure 1.
Optionally, where necessary, Elmo offers two external heat sinks (Catalog number:
G-TWIHSFINS01, and G-TWIHSFLAT01) which should be ordered separately. Refer to the
section 7.1 Mounting the Optional Acessories Heat Sinks for details of installing the heat sinks.

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Chapter 4: Technical Information
Note: It should be noted that for all models, the Max Output current
is guaranteed for THeat-Sink <85°C
4.1. Physical Specifications
Feature Units All Types
Weight without Heatsink g (oz) EtherCAT Version: 22.2 g (0.78 oz)
CAN Version: 18.6 g (0.66 oz)
Weight with Heatsink g (oz) EtherCAT Version: 232.2 g (8.19 oz)
CAN Version: 228.6 g (8.06 oz)
EtherCAT Version Dimension
without Heatsink
mm (in)
35 x 30 x 14.4 mm (1.38" x 1.18" x 0.57")
CAN Version Dimension
without Heatsink
35 x 30 x 11.5 mm (1.38" x 1.18" x 0.45")
EtherCAT Version Dimension
with Heatsink
47 x 41.3 x 18.4 mm (1.85" x 1.63" x 0.72")
CAN Version Dimension with
Heatsink
47 x 41.3 x 15.5 mm (1.85" x 1.63" x 0.61")
Mounting method PCB mount
IP IP00

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4.2. 60V and 100V Models Technical Data
Feature Units 30/60 1/100 3/100 6/100 10/100 15/100 25/100
Minimum supply voltage VDC 8 10
Nominal supply voltage VDC 48 85
Maximum supply voltage VDC 55 95
Maximum continuous power
output
W 1370 80 235 470 800 1125 2000
Efficiency at rated power (at
nominal conditions)
% > 99
Maximum output voltage Up to 96% of DC bus voltage
Ic, Amplitude sinusoidal/DC
continuous current
A 30 1 3 6 10 15 25
Sinusoidal continuous RMS
current limit (Ic)
A 21 0.7 2.1 4.2 7.1 10 17.7
Peak current limit A 2 x Ic
Table 1: 60V and 100V Models Technical Data
4.3. 200V Models Technical Data
Feature Units 3/200 6/200 10/200
Minimum supply voltage VDC 20
Nominal supply voltage VDC 170
Maximum supply voltage VDC 195
Maximum continuous power
output
W 485 975 1650
Efficiency at rated power (at
nominal conditions)
% > 99
Maximum output voltage Up to 96% of DC bus voltage
Ic, Amplitude sinusoidal/DC
continuous current
A 3 6 10
Sinusoidal continuous RMS current
limit (Ic)
A 2.1 4.2 7.1
Peak current limit A 2 x Ic
Table 2: 200V Models Technical Data

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4.4. R Type Technical Data
Feature Units R50/60 R80/80 R50/100 R70/100 R45/150 R15/200
Minimum supply voltage VDC 8 10 10 10 12 20
Nominal supply voltage VDC 48 65 85 85 115 170
Maximum supply voltage VDC 55 75 95 95 135 195
Maximum continuous
Electrical power output
kW 2.3 5 4.0 5.6 5 2.5
Efficiency at rated power (at
nominal conditions)
% > 99
Maximum output voltage Up to 96% of DC bus voltage
Amplitude sinusoidal/DC
continuous current
A 50 80 50 70 45 15
Sinusoidal continuous RMS
current limit (Ic)
A 35.3 56.5 35.3 49.5 32 10.6
Table 3: R Type Models Technical Data

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4.5. Control Supply Input Voltage (VL)
The Control Supply input voltage (VL) must be either SELV or PELV rated.
Feature Unit Details
Standard CAN
Input range for G-TWIXXX/YYYSZ(Blank) V 12V – 40V
Input range for G-TWIXXX/YYYSZSor HV 11V – 95V
Power consumption
(including 5 V/200 mA for encoder)
W <2.5W
ETHERCAT
Input range for G-TWIXXX/YYYEZ(Blank) V 14V – 40V
Input range for G-TWIXXX/YYYEZS or H V 11V – 95V
Power consumption
(including 5 V/200 mA for encoder)
W <4W
4.6. Product Features
Main Feature Details Presence / No.
STO 5V Logic Level, Opto isolated from the Control
section
√
Digital Input
Option
5V Logic Level (Internally connected to
COMRET)
6
Digital Output
Option
5V logic (Internally connected to COMRET) 2
3.3V logic (Internally connected to COMRET) 2
Analog Input Differential ±10V 1
Single Ended 1
Feedback Standard Port A, B, & C √
Communication
Option
USB (only for EtherCAT version) √
EtherCAT or √
CAN √
RS232 TTL level √
Standard RS232 √

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4.7. Environmental Conditions
You can guarantee the safe operation of the Gold Twitter by ensuring that it is installed in an
appropriate environment.
Warning: During operation the Gold 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 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
Refer to the complete Standards list detailed and available on the internet at:
https://www.elmomc.com/capabilities/standards-compliance/gold-family/
5.1. CE Declaration
Refer to the complete EC Declaration of Conformity available on the internet at:
https://www.elmomc.com/wp-content/uploads/dlm_uploads/2018/05/Gold-Line-CE-Declaration-
of-Conformity.pdf.
Chapter 6: Unpacking the Drive Components
Before you begin working with the Gold Twitter, verify that you have all of its components, as
follows:
•The Gold Twitter servo drive
•The Elmo Application Studio (EASII) software and software manual
The Gold Twitter is shipped in a cardboard box with Styrofoam protection.
To unpack the Gold 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 Twitter you have unpacked is the appropriate type for your
requirements, locate the part number sticker on the side of the Gold Twitter. It looks like
this:
4. Verify that the Gold 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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Chapter 7: Mounting the Gold Twitter
The Gold Twitter was designed for mounting on a printed circuit board (PCB) via 1.27 mm pitch
0.40 mm square pins, 2 mm pitch 0.51 mm square pins and 3.65 mm pitch 1.02 mm round pins.
When integrating the Gold Twitter into a device, be sure to leave about 1 cm (0.4") outward from
the heat-sink to enable free air convection around the drive. We recommend that the Gold
Twitter be soldered directly to the board. If the PCB is enclosed in a metal chassis, we recommend
that the Gold Twitter be screw-mounted to it as well to help with heat dissipation. The Gold
Twitter has screw-mount holes on each corner of the heat-sink for this purpose – see below
Figure 2: Gold Twitter CAN Version Dimensions1

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Figure 3: Gold Twitter CAN Version Dimensions2
Figure 4: Gold Twitter CAN Version Dimensions3

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Figure 5: Gold Twitter EtherCAT Version Dimensions

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7.1. Mounting the Optional Acessories Heat Sinks
There are two optional heat sinks, available as accessory kits ( The model G-TWIXXX/YYYZZHis
integrated with the Flat Heatsink P/N G-TWIHSFLAT01):
Flat Heat Sink (P/N G-TWIHSFLAT01)
Fins Heat Sink (P/N G-TWIHSFINS01)

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The optional heat sink must be screwed to the lower surface of the Gold Twitter.
To mount the accessory heatsink (Not avalible for the option G-TWIXXX/YYYZZH):
1. Mount the heat sink under the base of the Gold Twitter.
2. Place the Thermal foil (enclosed in the heat sink accessories kit) between the lower
surface of the servo drive, and the upper surface of the heat sink.
3. Use four M2 screws (enclosed in the heat sink accessories kit) to secure the heat sink
under the servo drive.
4. Tighten the screws to the relevent torque force applicable to an M2 stainless steel A2
screw.
Figure 6: Mount the Heat Sink and Thermal Foil to the Gold Twitter