Installation Instructions for Elmo Gold Tuba (G-TUB) Servo Drive

Installation Instructions for Elmo Gold Tuba (G-TUB) Servo Drive

Man-G-TUBIG-EC is a hardware installation guide for EtherCAT/CAN bus high-power cabinet mounted servo drives, focusing on mechanical, electrical, wiring, installation, heat dissipation, and safety. For functional software details, please refer to another panel driver hardware manual. The driver belongs to the Elmo Gold series and can drive permanent magnet synchronous brushless motors, brushed DC motors, linear motors, and voice coil motors. It supports vector control and has a maximum continuous output power of 25kW per machine. It supports single machine independent operation or multi axis distributed real-time network systems.

Product model coding rules

Model format: G-TUB XX/YYY E R S S O

Meaning of encoding segments

XX continuous output current (A)

YYY rated AC input voltage

E/R feedback hardware selection: E=PortA supports multiple encoders; R=PortB supports a rotary transformer solver

The first S communication network: S=standard (CANopen, USB); E=EtherCAT； F=EtherCAT with dip address switch

The second S network I/O option: S=standard I/O; E=Expand Network - I/O

O STO output options: O=with STO output; N=No STO output

I/O logic selection:

S：24V I/O， Source type output;

T: 5V I/O and STO;

H: 24V leakage input, source output, with STO.

Key hardware technical parameters

1. Mechanical specifications

Dimensions: 241   mm × 86.1   mm × 180.1   mm; total weight 3.25   kg; wall mounted vertically, fixed with M6 screws.

Installation requirements: Reserve heat dissipation gaps around the drive, attach the heat sink to the cabinet chassis, and come with an intelligent temperature control fan.

2. Power and Electrical

Project parameter description

AC main power supply 230V (single-phase/three-phase), 480V three-phase; The model is divided into two main current levels: 30A/40A

Continuous current of 30A/40A (DC amplitude); Sinusoidal mode RMS current 21A/28A

Peak current 60A/80A

The maximum output power is 9.5kW~25kW, and the overall efficiency is greater than 98%

Built in brake chopper with maximum peak power of 5.9kW~11kW, equipped with duty cycle limit protection

The auxiliary control power supply must be externally isolated at 24VDC ± 10%; 30A model 20VA; 40A model 35VA, power off can be used for parameter backup

DC Link DC bus outputs VP+and VN terminal, supports parallel connection of multiple driver DC buses, and achieves multi axis energy sharing

3. Environmental conditions

Working temperature: 0~40 ℃; Storage -20~+85 ℃; Humidity of 95% without condensation; The highest altitude is 2000m;

Anti vibration and impact meet the IEC60068 standard.

4. Security authentication

STO safety torque shutdown: SIL3, PL e Cat.3; Meet CE, UL61800-5-1, UL508C, CSA and other standards; Compliant with the Machinery Directive 2006/42/EC.

Description of all interfaces on the panel

communication interface

EtherCAT version (RJ45 × 2: IN/OUT): standard CAT5e Ethernet cable, supporting daisy chain topology; Equipped with status LED; The F version supports H/L two digit rotation dialing to set the slave station address.

CANopen version (RJ45 × 2): CAN-H/CAN-L, the bus must be configured with terminal resistors.

Mini USB 2.0: Connect to a PC to run Elmo Application Studio (EAS) software for parameter configuration, debugging, and firmware upgrades.

Feedback encoder port (D-Sub)

Port A (15 pin D-Sub): Supports incremental encoders, digital Hall, SSI/BiSS/EnDat and other serial absolute value encoders.

Port B (9-pin D-Sub): Incremental encoder, sine cosine analog encoder; The R version supports the Transformer Resolver.

Port C (15 pin high-density D-Sub): encoder differential analog output (analog encoder); 1-channel differential ± 10V analog input.

IO port

I/O (15 pin high-density D-Sub): 6 high-speed digital inputs, 4 digital outputs; Supports three hardware level modes: TTL/PLC source/PLC drain.

Network I/O (26 pin high-density D-Sub, only available in E expansion version): 12 DI, 6 DO, 2nd differential analog input.

Power terminal (3.81mm spacing Phoenix terminal)

AC1/AC2/AC3: AC main input; PE protected area;

VP+/VN -: DC bus output, can be connected in parallel with other servos;

M1/M2/M3: Motor three-phase power output;

VL+/VL ---: 24V auxiliary power input;

STO1/STO2/STORET: Dual STO safety torque shutdown input, supporting TTL and PLC levels.

status indicator light

Drive status: Dual color LED for drive status, distinguishing between startup, ready, and faulty;

ECAT status: EtherCAT communication status LED.

Safety and static warning

Only certified and qualified personnel are allowed to install and maintain; Belonging to electrostatic sensitive devices, the human body releases static electricity before operation and places it on a conductive table.

It is strictly prohibited to plug and unplug all cables while they are live; After a power outage, the capacitor needs to discharge for at least 1 minute before touching the terminal.

Electrical isolation between the power and control parts; It is strictly prohibited to connect VN DC negative to PE protective ground in direct mains mode, as it may cause permanent damage.

STO is a hardware secure channel. Before debugging, it is necessary to confirm that the STO function is normal.

Warranty: 12 months from shipment or installation (whichever comes first).

Installation and wiring specifications (emphasis)

Cable selection

Power cable: shielded cable, PE reliably grounded;

Encoder feedback: A twisted pair shielded cable with a shielding layer and drain wire must be used; The D-Sub metal shell must be tightly pressed against the shielding woven mesh; The encoder end is shielded and connected to the motor casing, and the driver end discharge wire is connected to COMRET.

Power cables and encoder/signal cables should be routed separately to avoid parallel installation and reduce EMI interference.

Power supply topology

Main power supply: Supports single-phase (230V models only), three-phase isolation transformer, and direct non isolated mains input.

Multi axis solution: Use the local VP+/VN-DC-Link output to other isolated servos to achieve multi axis bus energy sharing. The local built-in braking resistor processes the feedback energy.

STO wiring: dual channel independent input, supporting TTL level or PLC 24V level; Selecting the STO-OUT version will occupy some IO channels as STO status outputs.

Fan intelligent start stop: When the radiator temperature exceeds 60 ℃, the fan starts.

IO hardware three level modes

The hardware version of the driver determines the IO electrical mode and cannot be modified by software

TTL mode: 5V level;

PLC Source mode: Input external output high level;

PLC Sink leakage mode: Input external pull low signal.

Power on initialization process

Complete mechanical installation, connect all wires, verify power polarity, and confirm PE grounding;

First, connect the 24V auxiliary power supply, and then connect the main AC power supply;

Connect the PC to the driver via USB, run EAS II software, perform driver initialization, motor identification, and parameter debugging;

The complete register and motion function details need to refer to the "MAN-G-Panel Mounted Drives Hardware" manual.