Gold Maestro Network Motion Controller Installation Guide
Yüklə 1,92 Mb. Pdf görüntüsü
|
| Gold Maestro Network Motion Controller Installation Guide
Notice This guide is delivered subject to the following conditions and restrictions: •
Such information is supplied solely for the purpose of assisting users of the Gold Maestro servo drive in its installation. •
reference only. The specifications on which they are based are subject to change without notice. •
Elmo Motion Control and the Elmo Motion Control logo are registered trademarks of Elmo Motion Control Ltd.
EtherCAT Conformance Tested. EtherCAT ® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.
Document no. MAN-GOLD-MAESTRO-IG (Ver. 1.300) Copyright 2012 Elmo Motion Control Ltd. All rights reserved.
GOLD-MAESTRO01 13 to 96 VDC power supply GOLD-MAESTRO02 20 to 196 VDC power supply
Version Date Details Ver. 1.0 6 th May 2010 Initial Release Ver. 1.1 13 th May 2010 Minor updates Ver. 1.2 July 2010 Updates to Chapter 3 and Chapter 4 (Appendix)
Updates to Chapter 3 and minor updates in other chapters.
Elmo Worldwide Head Office Elmo Motion Control Ltd. 60 Amal St., P.O. Box 3078, Petach Tikva 49516 Israel Tel: +972 (3) 929-2300 • Fax: +972 (3) 929-2322 • info-il@elmomc.com
Elmo Motion Control Inc. 42 Technology Way, Nashua, NH 03060 USA Tel: +1 (603) 821-9979 • Fax: +1 (603) 821-9943 • info-us@elmomc.com
Elmo Motion Control GmbH Hermann-Schwer-Strasse 3, 78048 VS-Villingen Germany Tel: +49 (0) 7721-944 7120 • Fax: +49 (0) 7721-944 7130 • info-de@elmomc.com
Elmo Motion Control Technology (Shanghai) Co. Ltd. Room 1414, Huawen Plaza, No. 999 Zhongshan West Road, Shanghai (200051) China Tel: +86-21-32516651 • Fax: +86-21-32516652 • info-asia@elmomc.com
Elmo Motion Control #807, Kofomo Tower, 16-3, Sunae-dong, Bundang-gu, Seongnam-si, Gyeonggi-do, South Korea Tel: +82-31-698-2010 • Fax: +82-31-698-2013 • info-asia@elmomc.com
Gold Maestro Installation Guide MAN-GOLD-MAESTRO-IG (Ver. 1.300) 4 Table of Contents Chapter 1:
1.1. Cautions ......................................................................................................................6 1.2. Directives and Standards ............................................................................................7 1.3. Warranty Information ................................................................................................7 Chapter 2:
2.1. Description .................................................................................................................8 2.2. Specifications ..............................................................................................................9 2.2.1. Gold Maestro Hardware ..............................................................................9 2.2.2. Gold Maestro Software ............................................................................ 10 2.3. Communication Options .......................................................................................... 12 2.4. How to Use this Guide ............................................................................................. 12
3.1. Before You Begin ..................................................................................................... 13 3.1.1. Site Requirements .................................................................................... 13 3.1.2. Working Environment ............................................................................... 13 3.2. Unpacking the Components .................................................................................... 13 3.3. Connectors............................................................................................................... 14 3.3.1. Connector Types ....................................................................................... 14 3.3.2. Pinouts ...................................................................................................... 15 3.3.2.1. Power Connector ..................................................................... 15 3.3.2.2. EtherCAT In Connector ............................................................ 16 3.3.2.3. EtherCAT Out Connector ......................................................... 16 3.3.2.4. CANopen Connectors............................................................... 17 3.3.2.5. Ethernet Connector ................................................................. 17 3.3.2.6. USB 2.0 Connector ................................................................... 18 3.4. Mounting the Gold Maestro .................................................................................... 18 3.4.1. Wall Mount ............................................................................................... 18 3.4.2. Surface Mount .......................................................................................... 20 3.4.3. Installation on a DIN Rail .......................................................................... 20 3.5. Connecting the Cables ............................................................................................. 21 3.5.1. Wiring the Gold Maestro .......................................................................... 21 3.5.2. Connecting the DC Power Supply ............................................................. 22 3.5.3. Ethernet .................................................................................................... 23 3.5.4. USB 2.0 Communication ........................................................................... 24 3.5.5. CANopen Communication ........................................................................ 25 3.5.6. EtherCAT Communication ........................................................................ 27 3.6. Powering Up ............................................................................................................ 28 3.7. Initializing the System .............................................................................................. 28
Gold Maestro Installation Guide Table of Contents MAN-GOLD-MAESTRO-IG (Ver. 1.300) 5 4.1. Gold Maestro Dimensions ....................................................................................... 29 4.2. General Specifications ............................................................................................. 29 4.3. Environmental Conditions ....................................................................................... 29 4.4. Power Supply ........................................................................................................... 30 4.5. Communications ...................................................................................................... 30 4.6. Compliance with Standards ..................................................................................... 31
Gold Maestro Installation Guide MAN-GOLD-MAESTRO-IG (Ver. 1.300) www.elmomc.com
6 Chapter 1: Safety Information In order to achieve the optimum, safe operation of the Gold Maestro Multi-Axis Controller, 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 Maestro 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. 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 manual:
This information is needed to avoid a safety hazard, which might cause bodily injury.
This information is necessary for preventing damage to the product or to other equipment. 1.1. Cautions •
The Gold Maestro must be connected to an approved 24 VDC power supply through a line that is separated from hazardous line voltages using reinforced or double insulation in accordance with approved safety standards. •
Before switching on the Gold Maestro, verify that all safety precautions have been observed and that the installation procedures in this manual have been followed. Gold Maestro Installation Guide Safety Information MAN-GOLD-MAESTRO-IG (Ver. 1.300) www.elmomc.com
7 1.2. Directives and Standards The Gold Maestro conforms to the following industry safety standards: Safety Standard Item Approved IEC/EN 61800-5-1, Safety Adjustable speed electrical power drive systems Recognized UL 508C Power Conversion Equipment In compliance with UL 840 Insulation Coordination Including Clearances and Creepage Distances for Electrical Equipment In compliance with UL 60950-1
(formerly UL 1950) Safety of Information Technology Equipment Including Electrical Business Equipment In compliance with EN 60204-1 Low Voltage Directive 73/23/EEC
The Gold Maestro has been developed, produced, tested and documented in accordance with the relevant standards. Elmo Motion Control is not responsible for any deviation from the configuration and installation described in this documentation. Furthermore, Elmo is not responsible for the performance of new measurements or ensuring that regulatory requirements are met. 1.3. 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. The Gold Maestro is warranted for a period of 12 months from the time of installation, or 18 months from time of shipment, whichever comes first. No other warranties, expressed or implied – and including a warranty of merchantability and fitness for a particular purpose – extend beyond this warranty.
Gold Maestro Installation Guide MAN-GOLD-MAESTRO-IG (Ver. 1.300) www.elmomc.com
8 Chapter 2: Product Description This installation guide describes the Gold Maestro Network Motion Controller and the steps for its wiring, installation and power up. Following these guidelines ensures maximum functionality of the system to which it is connected.
The Gold Maestro is Elmo’s network motion controller. It works in a network based system in conjunction with Elmo’s intelligent servo drives to provide a total multi-axis motion control system solution. The Gold Maestro is designed to support both the existing SimplIQ drives, based on standard CANopen network architecture, as well as the new Gold Line, adding EtherCAT networking. While being a true network controller, the Gold Maestro shares the motion processing workload with Elmo’s SimplIQ and Gold Line drives, forming a distributed motion control system. The best servo and system performance is achieved combining the Gold Family drives, and the new real-time motion control capabilities of the Gold Maestro controller. The Gold Maestro provides: •
Full, real-time, multi-axis motion synchronization •
Advanced user programming capabilities based on the leading standards •
Time deterministic control over motion, I/Os and processes in the system The Gold Maestro offers real-time motion control support for full multi-axis system synchronization, using the well known industry interface PLCopen for Motion Control standard. Various programming capabilities, such as the IEC-61131-3 standard languages, as well as native C programming support, dramatically accelerate user level program execution. Standard solutions were selected for ease of use. Low level communication with drives and I/O devices over the device network uses the CANopen industry standard (DS 301, DS 401 for I/O devices, and DS 402 for drives and motion device profiles). These are used over standard CAN networks, as well as with the new EtherCAT CoE (CANopen over EtherCAT) protocols. Host interfaces are implemented using industry standard communications protocols, such as Ethernet TCP/IP and higher level protocols such as Ethernet/IP and Modbus. Standardization in protocols, definitions and APIs allows users rapid system level integration and opens the system to third party devices on the device network. Gold Maestro Installation Guide Product Description MAN-GOLD-MAESTRO-IG (Ver. 1.300) www.elmomc.com
9 2.2. Specifications 2.2.1. Gold Maestro Hardware •
Hardware: Stand-alone •
Power Supply: Single DC supply, with two product options available:
13 VDC to 96 VDC
20 VDC to 196 VDC •
Processor: PowerPC, 333 MHz, with double precision floating point support by hardware. •
Flash: 32 MB
RAM: 64 MB (DDR2, 333 MHz) •
•
Ethernet: 1 port, Standard Ethernet, 10/100 Mbps, automatically detected •
USB: 1 port, USB2.0, 12 Mbps
•
•
CAN: CANopen master port •
•
procedures to check the system integrity level on each power up. •
Diagnostic LEDs: EtherCAT and Ethernet activity •
Dimensions: 115 mm x 75 mm x 25.4 mm (4.53" x 2.95" x 1") •
Weight: 250 g ( 8.75 oz) •
Operational Temperature: 0 °C to 40 °C Gold Maestro Installation Guide Product Description MAN-GOLD-MAESTRO-IG (Ver. 1.300) www.elmomc.com
10 2.2.2. Gold Maestro Software •
Operating System: Linux Operating System, with Elmo’s RT extension for real-time motion control support •
Native C Programming, running on the target CPU. Compiling and debugging via the Eclipse IDE using GCC under Cygwin
IEC 61131-3 with PLCopen Motion Library extension, using Elmo IDE. The following languages are supported: •
•
Function block diagram (FBD), graphical •
Ladder diagram (LD), graphical •
Sequential function chart (SFC), has elements to organize programs for sequential and parallel control processing. •
Number of Axes: Up to 96 axes, allowing mixed single axis, multiple axis and coordinated axes motions •
Intelligent Servo Drives (Elmo), supporting both the SimplIQ and Gold lines
Operation in Numeric Control – NC - (real-time master synchronization) as well as non-NC modes
DS 402 CoE for EtherCAT and standard DS 402 drives for CANopen •
Control System Update Rate
EtherCAT •
Cycle Update Rate: ≥ 500 µs (up to 16 axes can be updated simultaneously at a rate of 500 µs) •
network
CAN •
Cycle Update Rate ≥ 1 ms (CAN physical network limitations only) •
Cycle Jitter: < 100 µs for CAN Sync message initiation (actual jitter dependant on the CAN network’s physical limitations) •
Standard.
64 bit, real-time, double precision profile calculations, allowing full on-the-fly control over speed, acceleration, deceleration and jerk
calculations, for complex vector motions
Cyclic buffer for 1,000 function blocks (a buffer for 1,000 motion segments). The cyclical buffer removes any practical limit on the number of function blocks. •
•
Gold Maestro Installation Guide Product Description MAN-GOLD-MAESTRO-IG (Ver. 1.300) www.elmomc.com
11 •
Telnet communication for setup and configuration •
USB: Using binary protocol (maintenance) •
Application level: Ethernet-IP/Modbus
•
•
CAN: CANopen device profiles, e.g. DS 301, DS 305, DS 402, DS 401 (I/O device profile) •
Host and Internal Software Interface
TCP/IP interface from Host Computer. Software Library is provided for easy TCP/IP communication interface.
Internal Software libraries, for "C" user programs are provided, to write user code running on the Gold Maestro target processor (native mode). •
Data Recording
4 MB data recording
Up to 32 vectors can be recorded simultaneously.
Supports more than 10 advanced triggering options and real-time scope capabilities
Very fast data upload using Ethernet •
Upload/Download Support
Firmware update support (Gold Maestro and drives)
System resource files
Axis parameter files •
Drive Communication Bridge Support: The Gold Maestro supports full communication with any specific drive (EtherCAT and CAN), for the purpose of simple tuning or configuration at the drive level, i.e. there is no need for direct communication with the drive.
•
This is a unique feature, required for the generation of position-based events in 3D scanning systems.
axis and spatial enhanced position-based compare functions, resulting in trigger output signals accurate to 1 encoder count along the trajectory path. •
•
compensation •
System Boot up Time: < 30 sec Gold Maestro Installation Guide Product Description MAN-GOLD-MAESTRO-IG (Ver. 1.300) www.elmomc.com
12 2.3. Communication Options The Gold Maestro can communicate with a host PC through either a standard Ethernet port or through USB using a binary protocol for maintenance. The Gold Maestro communicates with its network devices using either EtherCAT or CANopen networks.
2.4. How to Use this Guide This manual is part of a documentation set that can be used to set up and program the motion of any machine whose motors are controlled by Elmo’s SimplIQ or Gold Line servo drives. When used in conjunction with the Gold Maestro Software Manual it describes everything needed to get the Gold Maestro up and running. Please read the safety instructions in the first chapter before starting. After you have successfully mounted and installed the Gold Maestro we suggest that you read the Gold Maestro Software Manual. If you have not already done so, follow the instructions in the Installation Guide that arrived with your servo drive, and install a drive. At least one drive needs to be connected to the Gold Maestro in order for it to function as a motion controller.
Gold Maestro Installation Guide MAN-GOLD-MAESTRO-IG (Ver. 1.300) www.elmomc.com
13 Chapter 3: Installation 3.1. Before You Begin 3.1.1. Site Requirements For safe operation of the Gold Maestro make sure it is installed in an appropriate environment. Feature Value Ambient operating temperature 0 °C to 40 °C (32 °F to 104 °F) Maximum non-condensing humidity 90% Operating area atmosphere No flammable gases or vapors permitted in area 3.1.2. Working Environment
can heat up to 50 °C). Care should be taken when handling it.
ambient operating temperature must not be exceeded.
Before you begin working with the Gold Maestro system, verify that you have all of its components, as follows: •
The Gold Maestro multi-axis controller •
Gold Maestro software which may be downloaded from www.elmomc.com The Gold Maestro is shipped in a cardboard box with Styrofoam protection. To unpack the Gold Maestro: 1.
Carefully remove the Gold Maestro from the box. 2.
Check the Gold Maestro 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 controller. Gold Maestro Installation Guide Installation MAN-GOLD-MAESTRO-IG (Ver. 1.300) www.elmomc.com
14 3.
To ensure that the Gold Maestro you have unpacked is the appropriate type for your requirements, locate the part number sticker on the side of the Gold Maestro as shown below.
4.
The part number at the top gives the type designation as follows: GOLD-MAESTRO01: 13 to 96 VDC power supply GOLD-MAESTRO02: 20 to 196 VDC power supply 5.
Verify that the Gold Maestro type is the one that you ordered. 6.
Verify that you have CAN termination resistors (dongles), illustrated below.
3.3. Connectors 3.3.1. Connector Types The Gold Maestro has the following connectors: Pins Type Function Bottom Connector
3 Phoenix 3.81 mm Pitch Header Power and ground Front Connectors
8 RJ-45 EtherCAT In Gold Maestro Installation Guide Installation MAN-GOLD-MAESTRO-IG (Ver. 1.300) www.elmomc.com
15 Pins Type Function 8 RJ-45 EtherCAT Out 8 RJ-45 CAN1 8 RJ-45 CAN2 Bottom Connectors
8 RJ-45 Ethernet 4 USB
USB Table 1: Connector Types 3.3.2. Pinouts 3.3.2.1. Power Connector See Section 3.5.2 for full details. Pin Function PE
Protective Earth PR
Power Return VL+
Positive Power Input Connector Location Cable Connector
(MC 1.5/3-G-3.81)
(MC 1.5/3-ST-3.81) Table 2: Gold Maestro Power and Ground Connectors Gold Maestro Installation Guide Installation MAN-GOLD-MAESTRO-IG (Ver. 1.300) www.elmomc.com
16 3.3.2.2. EtherCAT In Connector See Section 3.5.6 for full details. Pin Signal Function 1 EtherCAT_IN/Ethernet_TX+ EtherCAT in/Ethernet transmit + 2 EtherCAT_IN/Ethernet_TX- EtherCAT in/Ethernet transmit - 3 EtherCAT_IN/Ethernet_RX+ EtherCAT in/Ethernet receive + 4,5
N/A
6 EtherCAT_IN/Ethernet_RX- EtherCAT in/Ethernet receive - 7, 8 N/A
Connector Location Cable Connector
See Section 3.5.6 for full details. Pin Signal Function 1 EtherCAT_OUT_TX+ EtherCAT in transmit + 2 EtherCAT_OUT_TX- EtherCAT in transmit - 3 EtherCAT_OUT_RX+ EtherCAT in receive + 4,5
N/A
6 EtherCAT_OUT_RX- EtherCAT in receive - 7, 8 N/A
Connector Location Cable Connector
Gold Maestro Installation Guide Installation MAN-GOLD-MAESTRO-IG (Ver. 1.300) www.elmomc.com
17 3.3.2.4. CANopen Connectors See Section 3.5.5 for full details. Pin Signal Function 1 CAN_H CAN_H bus line (dominant high) 2 CAN_L CAN_L bus line (dominant low) 3 CAN_COMRET CAN Communication Return 4,5
N/A — 6 CAN_SHLD Shield, connected to the RJ-45 plug cover 7 CAN_COMRET CAN Communication Return 8 N/A — Connector Location Cable Connector
See Section 3.5.3 for full details. Pin Signal Function 1 TX+ Ethernet transmit + 2 TX- Ethernet transmit - 3 RX+ Ethernet receive + 4,5
N/A
6 RX- Ethernet receive - 7, 8 N/A
Connector Location Cable Connector
Gold Maestro Installation Guide Installation MAN-GOLD-MAESTRO-IG (Ver. 1.300) www.elmomc.com
18 Table 6: Ethernet Pin Assignments 3.3.2.6. USB 2.0 Connector See Section 3.5.4 for full details. Pin Signal Function 1 USB VBUS USB VBUS from host 2 USBD- USB _N line 3 USBD+ USB _P line 4 USB COMRET USB communication return Connector Location Cable Connector
The Gold Maestro has three mounting options: 1.
2.
Surface mount 3.
Mounting on a DIN rail 3.4.1. Wall Mount Two M4 round head screws, one through each opening in the heat sink, are used to mount the Gold Maestro (see the diagram below) on a wall.
Gold Maestro Installation Guide Installation MAN-GOLD-MAESTRO-IG (Ver. 1.300) www.elmomc.com
19 Figure 2: Wall Mounting the Gold Maestro Gold Maestro Installation Guide Installation MAN-GOLD-MAESTRO-IG (Ver. 1.300) www.elmomc.com
20 3.4.2. Surface Mount Use four M4 round head screws, one through each opening in the heat sink to connect the Gold Maestro to a surface.
3.4.3. Installation on a DIN Rail Use one M3x5 round head screw to connect the DIN rail mounting clip to the back of the Gold Maestro.
Gold Maestro Installation Guide Installation MAN-GOLD-MAESTRO-IG (Ver. 1.300) www.elmomc.com
21 3.5. Connecting the Cables 3.5.1. Wiring the Gold Maestro Once the Gold Maestro is mounted, you are ready to wire the device. Proper wiring, grounding and shielding are essential for ensuring safe, immune and optimal performance of the Gold Maestro.
•
cable should have an aluminum foil shield covered by copper braid, and should contain a drain wire. The drain wire is a non-insulated wire that is in contact with parts of the cable, usually the shield. It is used to terminate the shield and act as a grounding connection. •
•
Keep all wires and cables as short as possible. •
Ensure that in normal operating conditions, the shielded wires and drain carry no current. The only time these conductors carry current is under abnormal conditions, when electrical equipment has become a potential shock or fire hazard while conducting external EMI interferences directly to ground. This is in order to prevent them from affecting the controller. Failing to meet this requirement can result in drive, controller or host failure. •
After completing the wiring, carefully inspect all wires to ensure tightness, good solder joints and general safety.
connection must be disconnected. The following connectors are used for wiring the Gold Maestro: Type Manufacturer & Part No. Mating Connector Port 3.81 mm pitch Header and Plug Phoenix Header MC 1.5/3-G-3.81 Phoenix Plug (supplied) MC 1.5/3-ST-3.81 Power PE, PR, VL+ Table 8: Gold Maestro Power and Ground Connectors Gold Maestro Installation Guide Installation MAN-GOLD-MAESTRO-IG (Ver. 1.300) www.elmomc.com
22 Type Port Connector Location RJ-45
EtherCAT In/ EtherCAT Out
RJ-45
CAN x 2 Table 9: Connectors on the Front of the Gold Maestro Type Port Connector Location USB
USB
RJ-45 Ethernet Table 10: Connectors on the Top of the Gold Maestro 3.5.2. Connecting the DC Power Supply The Gold Maestro requires 4.5 W when turned on. Any isolated power supply that can supply that power is acceptable. The supplied power must be within the rated voltage range according to the model: 13 V to 96 V or 20 V to 196 V. Connect the DC output from the power supply to the power input port on the Gold Maestro using the 3-pin power plug provided. Notes for power supply connections: Use a 24 AWG twisted pair shielded cable. The shield should have copper braid. Before applying power, first verify the polarity of the connection (protected).
[+]
VL+ DC power supply
[-]
PR Power Return
PE
Protective Earth Table 11: Power Plug Gold Maestro Installation Guide Installation MAN-GOLD-MAESTRO-IG (Ver. 1.300) www.elmomc.com
23 Figure 5: Power Supply Connection Diagram 3.5.3. Ethernet Note: When connecting the Ethernet communication cable use a shielded CAT5e Ethernet cable. The Gold Maestro connects to a PC either directly or through a hub, switch or router. Use a standard or cross CAT5e Ethernet cable.
Gold Maestro Installation Guide Installation MAN-GOLD-MAESTRO-IG (Ver. 1.300) www.elmomc.com
24 3.5.4. USB 2.0 Communication The USB Network consists of Host controller and multiple devices. The GMAS is a USB Device. Notes for connecting the USB communication cable: Connect the shield to the ground of the host (PC). Usually, this connection is soldered internally inside the connector at the PC end. You can use the drain wire to facilitate connection. Ensure that the shield of the cable is connected to the shield of the connector used for communications. The drain wire can be used to facilitate the connection.
Signal Function 1 USB VBUS USB VBUS From Host 2 USBD- USB _N line 3 USBD+ USB _P line 4 USB COMRET USB Communication Return Table 12: USB 2.0 Pin Assignments
Figure 8: USB Network Diagram Gold Maestro Installation Guide Installation MAN-GOLD-MAESTRO-IG (Ver. 1.300) www.elmomc.com
25 3.5.5. CANopen Communication Notes for connecting the CANopen communication cable: Use 26 or 28 AWG twisted pair shielded cables. For best results, the shield should have aluminum foil and be covered by copper braid with a drain wire (CAT5e FTP applicable). Connect the shield to the ground of the host (PC). Usually, this connection is soldered internally inside the connector at the PC end. You can use the drain wire to facilitate connection. The male RJ plug must have a shield cover. Ensure that the shield of the cable is connected to the shield of the RJ plug. The drain wire can be used to facilitate the connection. Connect a 120 Ω termination resistor to each end of the network cable. (The Gold Maestro does not have an internal terminal.) Termination resistors should be installed in all the unused CAN ports on the Gold Maestro. Use the CAN termination dongle supplied as a second “device end”. Simply insert the termination resistor into the CAN connector of the second end device on the bus. This is only possible if there are two CAN connectors.
Gold Maestro Installation Guide Installation MAN-GOLD-MAESTRO-IG (Ver. 1.300) www.elmomc.com
26 Pin Signal Function Pin Position 1 CAN_H CAN_H bus line (dominant high)
2 CAN_L
CAN_L bus line (dominant low) 3 CAN_COMRET CAN Communication Return 4, 5 N/A — 6
Shield, connected to the RJ plug cover
7 CAN_COMRET CAN Communication Return 8 N/A — Table 13: CANopen Cable Pin Assignments Gold Maestro Installation Guide Installation MAN-GOLD-MAESTRO-IG (Ver. 1.300) www.elmomc.com
27 3.5.6. EtherCAT Communication The Gold Maestro is the master of the EtherCAT network and must always be the first device in the line. The EtherCAT Out port of the Gold Maestro should be connected to the EtherCAT In port of the next device down the line. The Out port of the last device in line can be left open. If redundancy is required, the Out port of the last device should be connected to the In port of the Gold Maestro.
When connecting the EtherCAT communication cable it is recommended to use CAT5e cable.
Figure 11: EtherCAT Network with no Redundancy Gold Maestro Installation Guide Installation MAN-GOLD-MAESTRO-IG (Ver. 1.300) www.elmomc.com
28 Figure 12: EtherCAT Network with Redundancy
EtherCAT with redundancy is an optional method of connection. 3.6. Powering Up After the Gold Maestro has been mounted, check that the cables are intact. The Gold Maestro is then ready to be powered up.
After the Gold Maestro has been connected and mounted, the system must be set up and initialized. The minimum system requirements for a setup are: •
Gold Maestro (and power supply) •
PC with the required Elmo software •
At least one servo drive and motor •
EtherCAT cables or a terminated CAN network •
A servo drive connected through an EtherCAT cable or a CAN cable (the terminated CAN network)
Setting up the drives and motors is described in the Installation Guide for each servo drive and in the Elmo Application Studio User Guide. Advanced features are described in the SimplIQ Software Manual, Interlude API User Guide, SimplIQ Command Reference and CANopen Implementation Guide.
Setting up the drives and motors is described in the Gold Line Servo Drive Installation Guide and Elmo Application Studio Users Guide. Advanced features are described in the Gold Line Software Manual, Gold Line Command Reference and CANopen Implementation Guide.
Gold Maestro Installation Guide MAN-GOLD-MAESTRO-IG (Ver. 1.300) www.elmomc.com
29 Chapter 4: Technical Specifications 4.1. Gold Maestro Dimensions
All measurements are in mm. 4.2. General Specifications Feature Details Weight
250 g (8.75 ounces) Dimensions 115 mm x 75 mm x 25.4 mm (4.53" x 2.95" x 1") Mounting Method (with adapter) Wall Mount (“Bookshelf”)
Ambient operating temperature 0 °C to 40 °C (32 °F – 104 °F) Storage temperature -20 °C to +85 °C ( -4 °F to +185 °F) Maximum non-condensing humidity 90% Protection level IP32 Gold Maestro Installation Guide Technical Specifications MAN-GOLD-MAESTRO-IG (Ver. 1.300) www.elmomc.com
30 4.4. Power Supply Feature Details Auxiliary power supply DC source only Auxiliary supply input voltage 13 V to 96 V or 20 V to 196 V depending on the model Auxiliary supply input power 4.5 W
4.5. Communications Specification Details Ethernet 100 base-T Baud Rate: 10/100 Mbit/sec, automatically detected CAT5e Cable UDP, Telnet, TCP USB One port, USB 2.0, 12 Mbps Used only for setup and determining IP address. EtherCAT 100 base-T Baud Rate: 100 Mbit/sec CAT5e Cable CoE, EoE, FoE CANopen
CAN_H, CAN_L, CAN_GND Maximum Baud Rate of 1 Mbits/sec.
DS 301
Device Profile (drive and motion control): CANopen device profiles, e.g. DS301, DS505, DS402, DS401 (for I/O)
Gold Maestro Installation Guide Technical Specifications MAN-GOLD-MAESTRO-IG (Ver. 1.300) www.elmomc.com
31 4.6. Compliance with Standards Specification Details Quality Assurance ISO 9001:2008 Quality Management Design Approved IEC/EN 61800-5-1, Safety Printed wiring for electronic equipment (clearance, creepage, spacing, conductors sizing, etc.)
Reliability prediction of electronic equipment (rating, de-rating, stress, etc.)
• UL 60950 •
IPC-D-275 •
IPC-SM-782 •
IPC-CM-770 •
UL 508C •
UL 840 Printed wiring for electronic equipment (clearance, creepage, spacing, conductors sizing, etc.) In compliance with VDE0160-7 (IEC 68) Type testing Safety Recognized UL 508C Power Conversion Equipment In compliance with UL 840 Insulation Coordination Including Clearances and Creepage Distances for Electrical Equipment In compliance with UL 60950 Safety of Information Technology Equipment Including Electrical Business Equipment Approved IEC/EN 61800-5-1, Safety Adjustable speed electrical power drive systems In compliance with EN 60204-1 Low Voltage Directive 73/23/EEC
Gold Maestro Installation Guide Technical Specifications MAN-GOLD-MAESTRO-IG (Ver. 1.300) www.elmomc.com
32 Specification Details EMC Approved IEC/EN 61800-3, EMC 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) Workmanship In compliance with IPC-A-610, level 3 Acceptability of electronic assemblies
In compliance with IPC-A-600, level 2 Acceptability of printed circuit boards
In compliance with EN 100015 Protection of electrostatic sensitive devices
In compliance with 2002/96/EC Waste Electrical and Electronic Equipment regulations (WEEE) Note: Out-of-service Elmo drives should be sent to the nearest Elmo sales office. In compliance with 2002/95/EC (effective July 2006) Restrictions on Application of Hazardous Substances in Electric and Electronic Equipment (RoHS) Document Outline
Yüklə 1,92 Mb. Dostları ilə paylaş:
|