Inspiring MotionSince 1988业自动化手册下载：到“实操最全的工业自动化手册下载至Gold OboeDigital Servo DriveInstallation GuideEtherCAT and CAN实操派文库一最全的工业自动化手册下载到”实操派实操派文库一最全的工业自动化手册下载就是快ElmoOctober 2015 (Ver.1.001)www.elmomc.com实操派文库NoticeThis guide is delivered subject to the following conditions and restrictions:.This guide contains proprietary information belonging to Elmo Motion Control Ltd.Such实操派文库一最全的工业自动化手册下载：至information is supplied solely for the purpose of assisting users of the Gold Oboe servo drive inits installation.The text and graphics included in this manual are for the purpose of illustration and referenceonly.The specifications on which they are based are subject to change without notice.Information in this document is subject to change without notice.就是快Document no.MAN-G-OBOEIG-EC (Ver.1.001)Copyright©2015Elmo Motion Control Ltd.All rights reserved.Catalog Number and ConfigurationsBM-OBO-H20RC-S-E-S-N-1-M驱动器型号实操派文库一M=:-40度--+70度通讯接口S=标准受EE=EtherCATCAN和USB、Et her CAT/Et her netUSB接口N=:无STO化手册下载：到反馈类型E=S=:24VSTOA端口：24V输入输出电平最全的工业自动化手册下载绝对值编码器T=:5VTTL STO增量编码器+霍尔5VTL输入输出电平B端口：增量编码器模拟增量编码器+模拟霍尔R=绝对值编码器增量编码器+霍尔B端口：旋变Table of Contents |Warnings |www.elmomc.com实操派文库The Gold Oboe is presented in two standard heat-sink configurations:的工业自动化手册实操派文库一最全的工业自动化手册下载至Fins and FanFins only实操派文库Make sure that the configuration ordered defines your requirements.Revision HistoryVersionDateVer.1.000Aug 2015Ver.1.001Oct 2015实操派文库一最全的工业自动化手册下载至载：到"实操派”，学PLC就是快Table of ContentsWarnings www.elmomc.com实操派文Table of Contents实操派文库Chapter 1:This Installation Guide........................62.1 Warnings最全的工业自动化手册下2.22.3CE Marking Conformance..........2.4Warranty Information ............Chapter 3:Product Description...8Chapter 4:94.1Physical Specifications..4.2Technical Data.…4.3Auxiliary Supply……4.4Environmental Conditions.........4.5.1Gold Line.....4.6Gold Line Standards...................12Chapter 5:5.1Hardware Requirements......................AC Input Requirements .....13Recommended Wire Cross-Sections (All Models)..135.2Unpacking the Drive components.14实操派文5.35.3.1 Mating Connector Types................175.4Mounting the old oboe.....185.Connection Diagrams ............全的5.5.1Connection Diagrams for EtherCAT Version.....195.5.2Connection Diagrams for CAN Version.......20chapter 6 Wiring....216.1Basic Recommendations...2323自动化手册下6.1.2Feedback Cable Port A and Port B Connector..246.1.3Feedback Cable Port CConnector..256.1.410 Cable connector.256.1.5STO Cable Connector..............266.2Motor Power Connector Pinouts...............276.2.16.36.3.1 Direct-to-Mains Power Source (Non-lsolated)............................306.3.1.1 Three-Phase Direct-to-Mains Connection Topology..306.3.1.2Single-Phase Direct-to-Mains Connection Topology...................316.3.2Shunt Regulator.….316.3.3.31Table of Contents |Warnings |www.elmomc.com实操派文Table of ContentsMAN-G-OBOEIG-EC (Vor.1001)实操派文库56.4 Auxiliary Power.…最全的工业.346.5.3Absolute Serial Type Encoder.36动化手册下载6.6386.6.1Incremental Encoder ...........6.6.2Interpolated Analog Encoder406.6.3416.7Port C Analog Input,and ST.426.7.1446.7.2446.7.36.73.1Source Mode pLc voltage Level............45.6.7.3.2 TTL Mode TTL Voltage Level..............456.7.3.3 SINK Mode -PLC Voltage Level.....466.73.4476.8Digital Inputs and0 utputs.……486.8.1Digital Input and Output TTL Mode.506.8.2Digital Input and Output PLC Source Mode526.8.3Digital Input and Output Sink Mode.........54USB 2.0...............................56实操派文库6.10Drive Status Indicator......576.11EtherCAT Communications Version....6.11.1 EtherCAT IN/Ethernet pinouts..58最全的6.11.2 EtherCAT OUT Pinouts..596.11.3EtherCAT Wiring…6.11.4EtherCAT Link Indicators..........60616.11.6 EtherCAT Switches..........616.12CAN Communications Version...62CAN Wiring.自动化手册下6.12.163Chapter 7:Gold Oboe Heat Dissipation....7.1Power Dissipation..…641.1.1.Gold Oboe Thermal Data...............64Chapter 8:Powering Up...658.1Initializing the System .......................65Chapter 9:Gold oboe Dimensions..................9.1EtherCAT Version....................669.2CAN Version.........67Table of ContentsWarnings|www.elmomc.com实操派文Gold Oboe Installation Guide实操派6全的Chapter 1:This Installation GuideThis installation Guide details the technical data,pinouts,and power connectivity of the Gold Oboe.For a comprehensive detailed description of the functions refer to the最全的工业自动化手册下载MAN-G-Panel Mounted Drives Hardware manual which describes Panel Mounted products.Chapter 2:Safety InformationIn order to achieve the optimum,safe operation of the Gold Oboe,it is imperative that youimplement the safety procedures included in this installation guide.This information is provided toprotect you and to keep your work area safe when operating the Gold Oboe and accompanyingequipment.Please read this chapter carefully before you begin the installation process.Before you start,ensure that all system components are connected to earth ground.Electricalsafety is provided through a low-resistance earth connection.Only qualified personnel may install,adjust,maintain and repair the servo drive.A qualified personhas the knowledge and authorization to perform tasks such as transporting,assembling,installing,commissioning and operating motors.The Gold Oboe contains electrostatic-sensitive components that can be damaged if handledincorrectly.To prevent any electrostatic damage,avoid contact with highly insulating materials,实操派文such as plastic film and synthetic fabrics.Place the product on a conductive surface and groundyourself 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 productduring 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 bodilyinjury or death as a result of incorrect operation.全的工业自动化手册下载Caution:This information is necessary to prevent bodily injury,damage to the product or toother equipment.Im portant:Identifies information that is critical for successful application and understanding ofthe product.是快Table of ContentsWarnings|www.elmomc.com派文Gold Oboe Installation Guide实操派7To avoid electric arcing and hazards to personnel and electrical contacts,neverconnect/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.Disconnectthe Gold Oboe from all voltage sources before servicing.最全的工业自动化手册下The high voltage products within the Gold Line range contain grounding conduits for electriccurrent protection.Any disruption to these conduits may cause the instrument to becomehot(live)and dangerous.After shutting off the power and removing the power source from your equipment,wait atleast 1 minute before touching or disconnecting parts of the equipment that are normallyloaded with electrical charges(such as capacitors or contacts).Measuring the electricalcontact points with a meter,before touching the equipment,is recommended.CautionsThe maximum AC power supply connected to the instrument must comply with theparameters outlined in this guide.When connecting the Gold Oboe to an approved isolated 24V auxiliary power supply,connect it through a line that is separated from hazardous live voltages using reinforced ordouble insulation in accordance with approved safety standards.Before switching on the Gold Oboe,verify that all safety precautions have been observedand that the installation procedures in this manual have been followed.实操Make sure that the Safe Torque Off is operational实操文2.3CE Marking ConformanceThe Gold Oboe is intended for incorporation in a machine or end product.The actual end productmust comply with all safety aspects of the relevant requirements of the European Safety ofMachinery Directive 2006/42/EC as amended,and with those of the most recent versions ofstandards EN 60204-1 and EN ISO 12100 at the least,and in accordance with 2006/95/EC.Concerning electrical equipment designed for use within certain voltage limits,the Gold Oboemeets the provisions outlined in 2006/95/EC.The party responsible for ensuring that the全的工业自动化手册下equipment meets the limits required by EMC regulations is the manufacturer of the end product.2.4 Warranty InformationThe products covered in this manual are warranted to be free of defects in material andworkmanship and conform to the specifications stated either within this document or in theproduct catalog description.All Elmo drives are warranted for a period of 12 months from the timeof installation,or 12 months from time of shipment,whichever comes first.No other warranties,expressed or implied -and including a warranty of merchantability and fitness for a particularpurpose-extend beyond this warranty.Table of Contents |Warnings |www.elmomc.com实操派文Gold Oboe Installation Guide8Chapter 3:Product DescriptionThe Gold Oboe series of digital servo drives are highly resilient and designed to deliver the highestdensity of power and intelligence.The Gold Oboe delivers up to 5.7 kW of nominal power in acompact packageThe Gold Oboe series are part of Elmo's advanced Gold Line.They operate from an AC power sourcein current,velocity,position and advanced position modes,in conjunction with a permanent-工业自动化手册下载至magnet synchronous brushless motor,DC brush motor,linear motor or voice coil.They aredesigned for use with any type of sinusoidal and trapezoidal commutation,with vector control.TheGold Oboe can operate as a stand-alone device or as part of a multi-axis system in a distributedconfiguration on a real-time network.The drives are easily set up and tuned using Elmo Application Studio software tools.This Windows-based application enables users to quickly and simply configure the servo drive for optimal use withtheir motor.The Gold Oboe,as part of the Gold Line,is fully programmable with Elmo's motioncontrol language.Power to the drives is provided by an AC power source,either directly from the mains or via atransformer.An auxiliary 24 VDC power supply is required as the Gold Oboe does not operate without one.Inaddition,the Auxiliary 24 VDC also powers the heat cooling fan.This smart fan is activated only"when required",significantly prolonging the fan's life-time.The auxiliary 24 VDC power supply alsoserves as a backup functionality,for preserving programs and parameters and maintainingcommunication when either the AC Mains supply is turned off or due to a Mains fault.实操派文库一最全的工业自动化手册下载：到"实操派”，学PLC就是快实操派文库一最全的工业自动化手册下载Table of ContentsWarranty Information |www.elmomc.com实操派文Gold Oboe Installation Guide实操派之9全Chapter 4:Technical Information4.1Physical Specifications最全的工业自动化手册下载FeatureUnitsAll TypesWeightKg (oz)Fins Heat-Sink+Fan1.10Kg(36.70oz)Dimensionsmm (in)Fins Heat-Sink72.3×140×109(2.82"×5.52"×4.29")Mounting methodPanel /Wall Mounted4.2Technical DataFeatureUnitsG6RCG12RCG20RCG26RCH6RCH12RCH2ORCMinimum supply voltageVAC1X50or3X50DC-500 HzNominal supply voltageVAC1X230or3X2303X480DC-500 HzMaximum supply voltageVAC1X270or3X2703X528DC-500 HzMaximum continuouskW0.81.62.73.61.73.55.7power outputEfficiency at rated power%>98(at nominal conditions)Auxiliary supply voltageVDCWithout Fan:18 to 30 VDC全的With Fan:24VDC±10%最全的Auxiliary supply powerVAWithout Fan:6动With Fan:6(Control)+10(for fan)=16Continuous current limitA31013310(Ic)Amplitude自动化手册下sinusoidal/DC trapezoidalcommutationContinuous RMS sinusoidalA2.14.27.19.22.14.27.1commutation current limitPeak CurrentA612202661220Built In Shunt(peak Power)30002800Note on current ratings:The current ratings of the Gold Oboe are given in units of DCamperes(ratings that are used for trapezoidal commutation or DC motors).The RMS(sinusoidalcommutation)value is the DC value divided by 1.41.Table of ContentsPhysical Specifications www.elmomc.com实操派文Gold Oboe Installation Guide104.3Auxiliary SupplyFeatureDetailsAuxiliary power supplyIsolated DC source onlyAuxiliary supply input voltageWithout Fan:18 to 30 VDCWith Fan:24VDC±10%的工业自动化手册下载Auxiliary supply input powerWithout Fan:6 VAWith Fan:16 VA4.4Product FeaturesMain FeatureDetailsPresence and No.STOTTLor快PLC Source orPLC Sink(is not fully certified,andnot recommended for new designs)6(5 with STO output model)Digital Input OptionPLC Source or6(5 with STO output model)PLC Sink6(5 with STO output model)TTL or4(3 with STO output model)实操派文库Digital Output OptionPLC Source or4(3 with STO output model)PLC Sink4(3 with STO output model)Analog InputDifferential Input1FeedbackStandard Port A,B,C动USBCommunication OptionEtherCAT with switches orCAN自动化手册下载至OtherSTO Output Status派学PLC就是快ITable of ContentsAuxiliary Supply|www.elmomc.com实操派文Gold Oboe Installation Guide114.5Environmental ConditionsYou can guarantee the safe operation of the Gold Oboe by ensuring that it is installed in anappropriate environment.4.5.1Gold LineFeatureDetails最全的工业自动化手册下载至Operating ambient temperature0°Ct040C--Aaccording to IEC60068-2-2-40°Cto+70℃-MStorage temperature派Maximum non-condensing humidity95%according to IEC60068-2-78Maximum Operating Altitude8.000mIt should be noted that servo drives capable ofhigher operating altitudes are available onrequest.Mechanical Shock15g/11ms Half Sineaccording to IEC60068-2-27Vibration5Hz≤f≤10Hz:±10mmaccording to IEC60068-2-610Hz≤f≤57Hz:4G57Hz≤f≤500Hz:5G实操派文库一最全的工业自动化手册下载：到实操派”，学PLC就是快实操派文库一最全的工业自动化手册下载Table of Contents实操派文Gold Oboe Installation Guide实操派124.6Gold Line Standardsrefer to the MAN-G-Panel Mounted Drives Hardware manual.Main StandardsItemThe related standards below apply to the performance of the servo drives as stated in theenvironmental conditions in section 4.5.1 Gold Line above.ST0IEC61800-5-2:2007SIL3Adjustable speed electrical power drive systems-Safety requirements-FunctionalENIs013849-1:2008PLe,Cat3Safety of machinery-Safety-related parts of controlsystems.Approved IEC/EN 61800-5-1Adjustable speed electrical power drive systemsSafety requirements-Electrical,thermal and energyRecognized UL61800-5-1Adjustable speed electrical power drive systemsSafety requirements-Electrical,thermal and energyRecognized UL 508CPower Conversion EquipmentIn compliance with UL 840Insulation Coordination Including Clearances andCreepage Distances for Electrical EquipmentConformity with CE 2006/95/ECLow-voltage directive 2006/95/ECRecognized CSA C22.2 NO.14-13ndustrial Control Equipment实操派文库一最全的工业自动化手册下载：到"实操派”，学PLC就是快派文库一最全的工业自动化手册下载Table of ContentsGold Line Standards www.elmomc.com实操派文Gold Oboe Installation Guide实操派13最全Chapter 5:InstallationThe Gold Oboe must be installed in a suitable environment and properly connected to both itsvoltage supplies and the motor.最全的工业自动化手册下载5.1Hardware RequirementsAC Input RequirementsCircuit Breakers ContactorsSupply Voltage (VAC)230480Circuit breaker current ratingSingle Phase operation:Three Phase Operation:For13/230:=16AFor3/480:=3AThree phases operation:For6/480:≈6AFor13/230:≈13AFor10/480:≈10AType BType BCircuit breaker voltage rating240 VAC for 230 type400 VAC for 480 typeContactorCurrent rating similar to the circuit breaker current ratings实操派文Recommended Wire Cross-Sections(All Models)FeatureConnectionDetailsRecommended MaximumMaximum TerminalWire GaugeCapabilityAC inputAC1,AC2,AC316AWG12 AWGEarth ConnectionPE16AWG12AWGNoe The actual size is determined by the drive's current model.自动化手册下载学PLC就是快Table of Contents |Hardware Requirements www.elmomc.com实操派文库Gold Oboe Installation Guide实操派145.2Unpacking the Drive Components.The Gold Oboe servo driveThe Elmo Application Studio (EAS)software and software manualThe Gold Oboe is shipped in a cardboard box with Styrofoam protection.To unpack the Gold Oboe: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 damagehas occurred,report it immediately to the carrier that delivered your drive.3.To ensure that the Gold Oboe you have unpacked is the appropriate type for yourrequirements,locate the part number sticker on the side of the Gold Oboe.It looks like this:Verify that the Gold Oboe type is the one that you ordered,and ensure that the voltagemeets your specific requirements.The part number at the top provides the type designation.Refer to the appropriate part实操派文库一最全的工业自动化手册下载：到"实操派”，学PLC就是快num ber in the section Catalog Number at the beginning of the installation guide.派文库一最全的工业自动化手册下载实操派文库Gold Oboe Installation Guide实操派155.3Connectors TypesThe Gold Oboe has the following connectors:最全的工TypePinsFunctionPortFront Connectors自动化手册下载载到"实操派Front Connectors-EtherCAT实操派文库一全的工业自动化手册下载：到“实操派文库一最全的工V自动化手册下载Front Connectors-CAN8Ethemet/EtherCAT IN communication-458DEtherCAT OUT communication-458CAN communicationRU-458CAN communicationUSB4USB communicationUSB portSocket D-Type15FeedbackPort ATable of Contents