Gold Bell

Digital Servo Drive

Installation Guide

April 2018 (Ver. 1.200) 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 Bell 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-BELIG (Ver. 1.200)

Copyright  2018
Elmo Motion Control Ltd.
All rights reserved.

Catalog Number

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Chapter 1: This Installation Guide .....................................................................................5

Chapter 2: Safety Information ..........................................................................................5

2.1 Warnings ......................................................................................................................... 6
2.2 Cautions .......................................................................................................................... 6
2.3 CE Marking Conformance ............................................................................................... 6
2.4 Warranty Information..................................................................................................... 6

Chapter 3: Product Description .........................................................................................7

3.1.1 Accessories ...................................................................................................... 7

Chapter 4: Technical Information ......................................................................................8

4.1 Physical Specifications .................................................................................................... 8
4.2 Technical Data................................................................................................................. 8
4.2.1 Control Supply ................................................................................................. 9
4.2.2 Product Features ........................................................................................... 10
4.2.3 Environmental Conditions ............................................................................. 11
4.2.4 Gold Line Standards....................................................................................... 12

Chapter 5: Installation ....................................................................................................13

5.1 Unpacking the Drive Components ................................................................................ 13

Chapter 6: Mounting the Gold Bell ..................................................................................14

Chapter 7: Integrating the Gold Bell on a PCB .................................................................. 15

7.1 Power Returns (PR) ....................................................................................................... 15
7.2 COMRET ........................................................................................................................ 15
7.3 Earth Connection (PE) ................................................................................................... 15
7.4 Power Return (PR), Common Return (COMRET) and Earth Connections (PE) ............. 16
7.5 Power Conductors PCB layout ...................................................................................... 17

Chapter 8: The Gold Bell Connection Diagram ................................................................. 18

Chapter 9: PCB Connections............................................................................................19

9.1 Wiring legend................................................................................................................ 19
9.2 Connector Types ........................................................................................................... 21
9.2.1 Connector Types ............................................................................................ 21
9.3 Drive Status Indicator ................................................................................................... 22
9.4 Motor Power Connector Pinouts .................................................................................. 22
9.5 Main Power and Control Connector ............................................................................. 25
9.5.1 Main Power ................................................................................................... 25
9.5.2 Control Supply ............................................................................................... 26
9.5.3 Power Supply for the Power Rating 200 V .................................................... 27
9.5.4 Power Supply for power rating 100 V ........................................................... 28

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9.5.4.1 Single Power Supply ..................................................................... 28

9.5.4.2 Shared Supply ............................................................................... 30
9.6 Connector J2 - Feedback, Analog Inputs, RS-232, USB, EtherCAT, Ethernet, and CAN 31
9.6.1 Feedback Port A ............................................................................................ 34
9.6.1.1 Incremental Encoder .................................................................... 34
9.6.1.2 Hall Sensors .................................................................................. 35
9.6.1.3 Absolute Serial Encoder ............................................................... 36
9.6.1.4 Hiperface ...................................................................................... 38
9.6.2 Feedback Port B............................................................................................. 39
9.6.2.1 Incremental Encoder .................................................................... 39
9.6.2.2 Interpolated Analog (Sine/Cosine) Encoder ................................. 40
9.6.2.3 Resolver ........................................................................................ 41
9.6.3 Port C – Emulated Encoder Output ............................................................... 42
9.6.4 Analog Inputs................................................................................................. 42
9.6.4.1 Analog Input 1 .............................................................................. 43
9.6.4.2 Analog Input 2 .............................................................................. 44
9.6.5 RS232 TTL Logic Level .................................................................................... 44
9.6.6 USB 2.0 .......................................................................................................... 46
9.6.7 EtherCAT/Ethernet ........................................................................................ 47
9.6.8 CAN ................................................................................................................ 48
9.7 Connector J1 - Digital I/O, Analog Inputs, LEDs, and STO ............................................. 49
9.7.1 Digital Inputs ................................................................................................. 51
9.7.1.1 TTL voltage level ........................................................................... 51
9.7.2 Digital Outputs............................................................................................... 52
9.7.2.1 Isolated Open Collector and Open Emitter .................................. 52
9.7.3 Analog Inputs................................................................................................. 52
9.7.4 STO Input Interfaces - TTL Mode ................................................................... 53
9.7.5 EtherCAT Status Indicator ............................................................................. 53

Chapter 10: Powering Up..................................................................................................54

10.1 Initializing the System ................................................................................................... 54

Chapter 11: Heat Dissipation ............................................................................................55

11.1 Thermal Data ................................................................................................................ 55
11.2 Heat Dissipation Data ................................................................................................... 55
11.3 How to Use the Charts .................................................................................................. 56

Chapter 12: Dimensions ...................................................................................................57

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Chapter 1: This I nstallation Guide

This installation Guide details the technical data, pinouts, and power connectivity of the Gold Bell.
For a comprehensive detailed description of the functions and connections of the Board Level
Module (BLM) drive, refer to the MAN-G-Board Level Modules Hardware Manual.

Chapter 2: Safety I nform ation

In order to achieve the optimum, safe operation of the Gold Bell, 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 Bell 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 Bell 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 Bell 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
1 minute 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 Bell to an approved isolated control power 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 Bell, 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 CE Marking Conformance

The Gold Bell is intended for incorporation in a machine or end product. The actual end product
must comply with all safety aspects of the relevant requirements of the European Safety of
Machinery Directive 2006/42/EC as amended, and with those of the most recent versions of
standards 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 Bell meets
the provisions outlined in 2006/95/EC. The party responsible for ensuring that the equipment
meets the limits required by EMC regulations is the manufacturer of the end product.

2.4 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 Bell is an advanced high power density servo drive delivering up to 1.6 kW of continuous
power or 3.2 kW of peak power in a 49.4 cc (3.02 in3) package (55 x 59 x 15 mm or 2.17” x 2.32” x
0.6”). The Gold Bell 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
Bell is provided by a DC power source which is isolated from the Mains. The Gold Bell 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 Bell 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 Software
Manual.
The Gold Bell is available in a variety of models. There are multiple power rating options, two
different communications options, a number of feedback options and different I/O configuration
possibilities.

3.1.1 Accessories
• Cable Kit (TBD)

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Chapter 4: Technical I nform ation

4.1 Physical Specifications
Feature Units All Types
Weight g (oz) 55 g (1.94 oz)

Dimension mm (in) 48.5 cc (2.96 in3) package

(55±0.2 x 58.5±0.2 x 14.9±0.5 mm or 2.17” x 2.30” x 0.59”)

Mounting method PCB mount

4.2 Technical Data

Feature Units 1/100 2.5/100 5/100 10/100 15/100 20/100
Minimum supply voltage VDC 12

Nominal supply voltage VDC 85

Maximum supply voltage VDC 95

Maximum continuous power W 80 200 400 800 1200 1600

output

Efficiency at rated power (at % > 99

nominal conditions)

Maximum output voltage > 95% of DC bus voltage at f = 22 kHz

Control supply VDC 12 to 95 VDC

(up to 6 VA inc. 5 V/2 x 200 mA for encoder)

Amplitude sinusoidal/DC A 1.0 2.5 5 10 15 20

continuous current

Sinusoidal continuous RMS A 0.7 1.8 3.5 7 10.6 14.1

current limit (Ic)

Peak current limit A 2 x Ic

Table 1: Technical Data

Note on current ratings: The current ratings of the Gold Bell are given in units of DC
amperes (ratings that are used for trapezoidal commutation or DC motors). The RMS (sinusoidal
commutation) value is the DC value divided by 1.41.

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Elmo offers a 200 VDC maximum output rating selection of Gold Bell, according to the following
technical data:

Feature Units 3/200 6/200 9/200

Minimum supply voltage VDC 12

Nominal supply voltage VDC 170

Maximum supply voltage VDC 195

Maximum continuous power output W 480 960 1450

Efficiency at rated power (at % > 99

nominal conditions)

Maximum output voltage > 95% of DC bus voltage at f = 22 kHz

Control supply VDC 12 to 95 VDC

(up to 6 VA inc. 5 V/2 x 200 mA for
encoder)

Amplitude sinusoidal/DC A 3 6 9
continuous current

Sinusoidal continuous RMS current A 2.1 4.2 6.3

limit (Ic)

Peak current limit A 2 x Ic

4.2.1 Control Supply

Feature Details
Control supply Isolated DC source only

Control supply input voltage 12 V to 95 V

Control supply input power ≤4 VA without external loading

≤6 VA with full external loading

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4.2.2 Product Features

Main Feature Details Presence / No.

STO TTL √

Digital Input TTL 6

Option

Digital Output Open Collector-emitter (isolated) 2

Option
TTL 3.3V(Non Isolation) 2

Analog Input Differential ±10V 1

Single Ended 1

Feedback Standard Port A, B, & C √

Communication USB √
Option
EtherCAT √

CAN √

RS-232 TTL level √

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4.2.3 Environmental Conditions

You can guarantee the safe operation of the Gold Bell by ensuring that it is installed in an
appropriate environment.

Feature Details
Operating ambient temperature 0 °C to 40 °C (32 °F to 104 °F)
according to IEC60068-2-2
Storage temperature -20 °C to +85 °C ( -4 °F to +185 °F)

Maximum non-condensing humidity 95%

according to IEC60068-2-78
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 15g / 11ms Half Sine

according to IEC60068-2-27
Vibration 5 Hz ≤ f ≤ 10 Hz: ±10mm
according to IEC60068-2-6 10 Hz ≤ f ≤ 57 Hz: 4G
57 Hz ≤ f ≤ 500 Hz:5G

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4.2.4 Gold Line Standards

The following table describes the Main Standards of the Gold Bell servo drive. For further details
refer to Chapter 17 in the MAN-G-Board Level Modules Hardware Manual.

Main Standards Item

The related standards below apply to the performance of the servo drives as stated in the
environmental conditions in section 4.2.3 Environmental Conditions above.

STO IEC 61800-5-2:2007 SIL 3 Adjustable speed electrical power drive systems –
Safety requirements – Functional

EN ISO 13849-1:2008 PL e, Cat 3 Safety of machinery — Safety-related parts of control

systems.

Approved IEC/EN 61800-5-1 Adjustable speed electrical power drive systems

Safety requirements – Electrical, thermal and energy

Recognized UL61800-5-1 Adjustable speed electrical power drive systems

Safety requirements – Electrical, thermal and energy

Recognized UL 508C Power Conversion Equipment

In compliance with UL 840 Insulation Coordination Including Clearances and

Creepage Distances for Electrical Equipment

Conformity with CE 2006/95/EC Low-voltage directive 2006/95/EC

Recognized CSA C22.2 NO. 14-13 Industrial Control Equipment

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Chapter 5: I nstallation
The Gold Bell must be installed in a suitable environment and properly connected to its voltage
supplies and the motor.

5.1 Unpacking the Drive Components

Before you begin working with the Gold Bell, verify that you have all of its components, as follows:

• The Gold Bell servo drive

• The Elmo Application Studio (EAS) software and software manual
The Gold Bell is shipped in a cardboard box with Styrofoam protection.
To unpack the Gold Bell:
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 Bell you have unpacked is the appropriate type for your
requirements, locate the part number sticker on the side of the Gold Bell. It looks like this:

4. Verify that the Gold Bell 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 6: M ounting the Gold Bell

The Gold Bell was designed for mounting on a printed circuit board (PCB) via 1.27 mm pitch 0.41
mm square pins and 2 mm pitch 0.51 mm square pins. When integrating the Gold Bell 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 Bell be soldered directly to the board. Alternatively, though
this is not recommended, the Gold Bell can be attached to socket connectors mounted on the PCB.
If the PCB is enclosed in a metal chassis, we recommend that the Gold Bell be screw-mounted to it
as well to help with heat dissipation. The Gold Bell has screw-mount holes on each corner of the
heat sink for this purpose – see below.

All measurements are in mm.

Figure 1: Gold Bell Dimensions
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Chapter 7: I ntegrating the Gold Bell on a PCB

The Gold Bell is designed to be mounted on a PCB by soldering its pins directly to the PCB. Refer to
Chapter 5 in the MAN-G-Board Level Modules Hardware Manual and the drawings in the Gold Line
Whistle Design Guide MAN-G-WHIIDG for further information.

7.1 Power Returns (PR)

In the Gold Bell, the power stage and control stage are internally connected, and the negative node
of the DC power bus is designates as PR
The maximum realistic Power Return is achieved using a plane, which connects between the Gold
Drive and the power source. The impedance on this plane must be as low as possible to reduce the
impedance between the “Grounds”. This effectively reduces the levels of common mode
differences, interferences, EMI etc.

7.2 COMRET
For details of the COMRET, refer to the section 5.4 in the MAN-G-Board Level Modules Hardware
Manual.

7.3 Earth Connection (PE)

The PE (Earth connection) terminal is connected internally in the drive to the Gold Bell’s chassis
(heat-sink + metal cover) which serves as an EMI common plane. Any other assembly metallic parts
(such as the chassis) should also be connected to the PE.
Under normal operating conditions, the PE trace carries no current. The only time these traces carry
current is under unusual conditions (such as when the device has become a potential shock or fire
hazard while conducting external EMI interferences directly to ground). When connected properly
the PE trace prevents these hazards from affecting the drive.

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7.4 Power Return (PR), Common Return (COMRET) and Earth

Connections (PE)
Safety regulations (UL61800-5-1, IEC61800-5-1, and UL508C) require that the servo drive, as a
“stand alone”, must withstand breakdown voltages of 2KV for the 200V models, and 1.7KV for the
100V models, between PE to PR. However, the connections between PE to PR and the COMRET are
essential for the safe operation of the servo drive. Therefore the following topology must be used:

Figure 2: Gold Bell Earth Connections

The connections to PE are essential, but must be done externally to the integration board.

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7.5 Power Conductors PCB layout

The PCB virtually divided into two zones; Power Zone, and Control & Communication Zone.

• Power Zone
This area is dedicated to Power conductors only: VP+, PR, PE, VL+, VL-, VN- and motor leads.
• Control and Communication Zone
This area of the PCB is dedicated to Control low level signals

Figure 3: Gold Bell Power Conductors PCB layout

For more details, refer to the section 5.4 in the MAN-G-Board Level Modules Hardware Manual.

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Chapter 8: The Gold Bell Connection Diagram

Figure 4: The Gold Bell Connection Diagram

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Chapter 9: PCB Connections

9.1 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)

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

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Wiring Symbol Description

Encoder Earthing.
The cable`s shield is connected to the
chassis (PE) in the connector.
Earthing the Encoder and connecting
the Earth (PE) to the drive COMRET is
mandatory to insure reliable
operation, high noise immunity and
rejection of voltage common mode
interferences.

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9.2 Connector Types

The Gold Bell has nine connectors.

9.2.1 Connector Types

Port Pins Type Function
J2 2x24 1.27 mm pitch, Feedbacks, Digital Halls, Analog Inputs, Communications
0.41 mm sq
J1 2x12 I/O, LEDs, STO

M4 1x2 2 mm pitch, Motor power output 4

0.51 mm sq
M3 1x2 Motor power output 3

M2 1x2 Motor power output 2

M1 1x2 Motor power output 1

PE 1x2 Protective earth

PR 1x2 Power input return

VP+ 1x2 Positive power input

VL+ 1x1 Control power input

Connector Location

Table 2: Connector Types

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9.3 Drive Status Indicator

For details of the Drive Status Indicator wiring, refer to the Chapter 7 in the MAN-G-Board Level
Modules Hardware Manual.

9.4 Motor Power Connector Pinouts

For full details see Chapter 8 in the MAN-G-Board Level Modules Hardware Manual.

Pin Function Cable

Brushless Motor Brushed DC Motor Stepper Motor
PE Protective Earth Motor Motor Motor

M1 Motor phase Motor No Connection Motor

M2 Motor phase Motor Motor Motor

M3 Motor phase Motor Motor Motor

M4 Motor phase No Connection No Connection Motor

Pin Positions

Table 3: Motor Connector

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Figure 5: Brushless Motor Power Connection Diagram

Figure 6: DC Brushed Motor Power Connection Diagram

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Figure 7: Stepper Motor Power Connection Diagram

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9.5 Main Power and Control Connector

There are two power ratings for the Gold Bell:

• 100V for is 12 to 95 VDC

• 200V for the 12 to 195 VDC
For power rating 200V
Two DC power sources are required, a DC power source of 12 to 195V isolated from the Mains, and
a control supply 12 to 95V (isolated from the Mains) for the logic.
For power rating of 100V
Only a single DC Power source of 12 to 95 VDC isolated from the Mains, is required for the main
power and also for the control power. However, a control power supply can be added for the logic.

9.5.1 Main Power

Pin Function Cable Pin Positions
VP+ Pos. Power input Power

PR Power return Power

PE Protective earth Power

Connector Type: 2 mm pitch 0.51 mm sq

Table 4: Connector for Main Power

Note: The 12V to 195V DC power source must be from the Mains.

Connect the DC power source cable to the VP+ and PR terminals on the main power connector.
To connect your integration board to the DC power source:
1. The DC power supply source must be isolated from the Mains.
2. For best immunity, it is highly recommended to use twisted and shielded cables for the DC
power source. A 3-wire shielded cable should be used. The gauge is determined by the actual
current consumption of the motor.
3. Connect the cable shield to the closest earth connection near the power supply.
4. Connect the PE to the closest earth connection near the power supply.
5. Connect the PR to the closest earth connection near the power supply.
6. Before applying power, first verify the polarity of the connection.
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9.5.2 Control Supply

The Control supply is required for the 200V power rating, and can be added for the 100V power
rating.

Note: The source of the Control Supply must be from the Mains.

Pin Function Pin Positions

VL+ Control Supply Input

PR Control Supply Return

Connector Type: 2 mm pitch 0.51 mm sq

Table 5: Control Supply Pins

Connect the VL+ and PR terminal to the Control Connector.

To connect your integration board to the control supply:
1. The source of the control supply must be isolated from the Mains.
2. For safety reasons, connect the return (common) of the control supply source to the closest
earth connection near the control supply source
3. Connect the cable shield to the closest earth connection near the control supply source
4. Before applying power, first verify the polarity of the connection.

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9.5.3 Power Supply for the Power Rating 200 V

For Power Rating 200 V, two DC power sources are required, a main power 12 to 195V DC power
source isolated from the Mains, and a control power supply 12 to 95V (isolated from the Mains) for
the logic. The following figure describes the connection of main power and control.

Figure 8: Power Supply Connection Diagram for Power Rating 200V

Note: Make sure to connect the PR to the closest earth connection near the power supply.

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9.5.4 Power Supply for power rating 100 V

9.5.4.1 Single Power Supply

Only one power supply is required for the main and control power.

* It is strongly recommended to add a filter on the VL+ Input Pin at the Gold Bell, in order to avoid
interference from the power stage e.g. noises. The following figure describes the filter
recommended.

Figure 9: Single Power Supply Connection Diagram with VL+ Connected Internally to
Recommended Filter

Note: Make sure to connect the PR to the closest earth connection near the power supply.

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Figure 10: Single Power Supply Connection Diagram with VL+ connected externally

Note: Make sure to connect the PR to the closest earth connection near the power supply.

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9.5.4.2 Shared Supply

A single DC Power Supply can supply the power for logic as well as the main power. If separation
between the main DC power source and a control supply is required, then a control supply (isolated
from the Mains) can be connected by implementing “diode coupling" (Figure 11).

Figure 11: Shared Optional Power Supply Connection Diagram

Note: Make sure to connect the PR to the closest earth connection near the power supply.

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9.6 Connector J2 - Feedback, Analog Inputs, RS-232, USB,

EtherCAT, Ethernet, and CAN
Feedback A/B/C, Digital Halls – see Chapter 10:
Feedbacks in the MAN-G-Board Level Modules
Hardware Manual.

Analog Inputs - For full details on Analog Inputs,

see Chapter 12 in the MAN-G-Board Level
Modules Hardware Manual.
RS-232 – For full details on RS-232 see section
14.4 in the MAN-G-Board Level Modules
Hardware Manual.
USB 2.0 – For full details on USB see section 14.1
in the MAN-G-Board Level Modules Hardware
Manual.
EtherCAT/Ethernet – For full details on
EtherCAT/Ethernet see section 14.2. in the MAN-
G-Board Level Modules Hardware Manual.
CAN – For full details on CAN see section 14.3 in
the MAN-G-Board Level Modules Hardware
Manual.
Connector Type: 1.27 mm pitch 0.41 mm sq

Note regarding the EtherCAT and CAN communication options:

The J2 Connector exports all supported communication links. However, note that CAN and EtherCAT
are not available in the same version of the Gold Bell and are thus not operational simultaneously.
See the part number diagram in Section 5.1 above for the different Gold Bell configurations.

Pin (J2) Signal Function

1 PortA_ENC_A+ /ABS_CLK+ Port A- channel A/ Absolute encoder clock+

2 PortC_ENCO_A- Port C- channel A complement output

3 PortA_ENC_A-/ABS_CLK- Port A- channel A complement / Absolute encoder

clock-

4 PortC_ENCO_A+ Port C- channel A output

5 PortA_ENC_B+/ABS_DATA+ Port A - channel B/ Absolute encoder Data+

6 PortC_ENCO_B- Port C - channel B complement output

7 PortA_ENC_B-/ABS_DATA- Port A - channel B complement / Absolute encoder

Data-

8 PortCENCO_B+ Port C - channel B output

9 PortA_ENC_INDEX+ Port A – index

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Pin (J2) Signal Function

10 PortC_ENCO_INDEX- Port C - index complement output

11 PortA_ENC_INDEX- Port A - index complement

12 PortC_ENCO_INDEX+ Port C - index output

13 PortB_ENC_A+/SIN+ Port B - channel A/SIN+

14 HC Hall sensor C input

15 PortB_ENC_A-/SIN- Port B - channel A complement/SIN-

16 HB Hall sensor B input

17 PortB_ENC_B+/COS+ Port B - channel B/COS+

18 HA Hall sensor A input

19 PortB_ENC_B-/COS- Port B - channel B complement/COS-

20 ANARET Analog return

21 PortB_ENC_INDEX+/ANALOG_I+ Port B - Channel_Index+

/RESOLVER_OUT+ /Analog_Index+/Resolver_Out+

22 ANALOG1+ Analog input 1

23 PortB_ENC_INDEX-/ANALOG_I- Port B – Channel_Index /Analog _Index /Resolver_Out

/RESOLVER_OUT- Compliments

24 ANALOG1- Analog input 1 complement

25 COMRET Common return

26 +3.3V 3.3 V supply voltage for EtherCAT LEDs

27 PHY_IN_RX+ EtherCAT In receive

28 EtherCAT: PHY_OUT_RX+ EtherCAT Out receive

CAN: Reserved Reserved

29 PHY_IN_RX- EtherCAT In receive complement

30 PHY_OUT_RX- EtherCAT Out receive complement

31 COMRET Common return

32 COMRET Common return

33 PHY_IN_TX+ EtherCAT In transmit

34 EtherCAT: PHY_OUT_TX+ EtherCAT Out transmit complement

CAN: Reserved Reserved

35 PHY_IN_TX- EtherCAT In transmit complement

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Pin (J2) Signal Function

36 EtherCAT: PHY_OUT_TX- EtherCAT Out transmit complement

CAN: Reserved Reserved

37 PHY_IN_LINK_ACT EtherCAT In active LED

38 EtherCAT: PHY_OUT_LINK_ACT EtherCAT Out active LED

CAN: CAN_L CAN_L BUS Line(dominant low)

39 PHY_IN_SPEED EtherCAT In Speed LED

40 EtherCAT: PHY_OUT_SPEED EtherCAT Out Speed LED

CAN: CAN_H CAN_H BUS Line(dominant high)

41 USBD- USB data complement

42 USBD+ USB data

43 COMRET Common return

44 USB_VBUS USB VBUS 5V

45 RS232_RX /SB_OUT There are two options for this pin:

Option 1: RS232 receive (default)
Option 2: Serial Bus output for extended I/O
(refer to Chapter 13 of the MAN-G-Board Level
Modules Hardware Manual.)
46 COMRET Common return

47 +5VE Encoder +5 V supply

48 RS232_TX /SB_IN There are two options for this pin:

Option 1: RS232 transmit (Default)
Option 2: Serial Bus IN for extended I/O (refer
to Chapter 13 of the MAN-G-Board Level Modules
Hardware Manual.)

Table 6: Connector J2 – Feedback and Analog Input

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9.6.1 Feedback Port A

Port A supports the following sensor inputs:

• Digital Hall sensors

• Incremental encoder or absolute serial encoder, depending on the specific model

• Differential pulse-width modulation (PWM) signal input can be connected to port A

• Differential Pulse & Direction signal inputs can be connected to port A

9.6.1.1 Incremental Encoder

Figure 12: Port A Incremental Encoder Input – Recommended Connection Diagram

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9.6.1.2 Hall Sensors

Figure 13: Hall Sensors Connection Diagram

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9.6.1.3 Absolute Serial Encoder

The following Absolute Encoder are supported:

• Endat 2.2
• Biss C and Biss B
• Pansonic
• Tamagawa
• SSI
• Sanyo Danki
• Hiperface
The following is the diagram connection of the Endat, Biss, SSI:

Figure 14: Absolute Serial Encoder – Recommended Connection Diagram for Endat, Biss, SSI

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The following is the diagram connection of the Pansonic, Tamgawai, Sanyo-Danki:

Figure 15: Absolute Serial Encoder – Recommended Connection Diagram for Pansonic, Tamgawai,
Sanyo-Danki

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9.6.1.4 Hiperface
The following figure describes the connection diagram.

Figure 16: Absolute Serial Encoder – Recommended Connection Diagram for Stegmann
Hiperface

Note: When the Hiperface protocol is used the RS232 in not available

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9.6.2 Feedback Port B

Port B supports any of the following sensors:

• Incremental encoder, interpolated analog encoder or analog Hall sensors

Or
• Resolver (separate hardware option)
Differential PWM signal input can be connected to port B
Differential Pulse & Direction signal inputs can be connected to port B

9.6.2.1 Incremental Encoder

Figure 17: Port B Incremental Encoder Input – Recommended Connection Diagram

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9.6.2.2 Interpolated Analog (Sine/Cosine) Encoder

Figure 18: Port B - Interpolated Analog Encoder Connection Diagram

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9.6.2.3 Resolver

Figure 19: Port B – Resolver Connection Diagram

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9.6.3 Port C – Emulated Encoder Output

Port C provides emulated encoder output derived from port A or port B feedback inputs, or from
internal variables.

Figure 20: Emulated Encoder Differential Output – Recommended Connection Diagram

9.6.4 Analog Inputs

There are two possible types of Analog Inputs in the Gold Bell:
• Analog Input 1 – Differential ±10 V using Connector J2 in the Gold Bell

• Analog Input 2 – Single ended using Connector J1 in the Gold Bell

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9.6.4.1 Analog Input 1

The following circuit (Figure 21) describes the internal interface of the Analog input.

Figure 21: Analog Input with Differential ±10 V

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9.6.4.2 Analog Input 2

The Gold Bell allows an additional single ended Analog input. Figure 22 describes the input interface
of the Analog_input2 in the Gold Bell. It also describes implementation examples for a differential
analog input of 10V:

Figure 22: Analog Input 2 Example

9.6.5 RS232 TTL Logic Level

Figure 23 describes the standard RS232 connection diagram.

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Figure 23: Standard RS232 Voltage Level incorporating RS232 TX/RX Transceiver Connection
Diagram

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9.6.6 USB 2.0

Figure 24: USB Network Diagram

Note ①: In the Gold Bell the shield of the USB connector should be connected to the COMRET
and not the PE.

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9.6.7 EtherCAT/Ethernet
The Gold Bell serves as an EtherCAT slave device, therefor it includes EtherCAT_IN and
EtherCAT_OUT ports. It also includes LED indicators. The EtherCAT_IN port can be configured to an
Ethernet port.
The following figure describes EtherCAT connection with a standard RJ-45 connector that includes
transformer isolation.

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Figure 25: EtherCAT Connection Schematic with Diagram Sign of 3.3V

9.6.8 CAN
Figure 26 displays the CAN connectivity.

Figure 26: CANbus Connections

Important: A 120 Ω termination resistor should be connected at each end of the network
cable.

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9.7 Connector J1 - Digital I/O, Analog Inputs, LEDs,

and STO
For full details on Digital and Analog I/Os, see
Chapter 11 and 12 in the MAN-G-Board Level
Modules Hardware Manual.
For full details on the LEDs, see Chapter 7 Drive
Status Indicator, and section 14.2.6 EtherCAT
Status Indicator in the in the MAN-G-Board Level
Modules Hardware manual for full details.
For full details on STO, see Chapter 9 in the in the
MAN-G-Board Level Modules Hardware manual
for full details.
Connector Type: 1.27 mm pitch 0.41 mm sq

Pin (J1) Signal Function

1 SB_Load Serial Bus Load for extended IO (refer to Chapter
13 of the MAN-G-Board Level Modules Hardware
manual)

2 SB_Clock Serial Bus_Clock (9.375Mhz) for extended IO (refer

to Chapter 13 of the MAN-G-Board Level Modules
Hardware manual)

3 INRET1_6 Programmable digital inputs 1–6 return

4 IN1 Programmable digital input 1

5 IN2 Programmable digital input 2

6 IN3 Programmable digital input 3

7 IN4 Programmable digital input 4

8 IN5 Programmable digital input 5

9 IN6 Programmable digital input 6

10 STO_RET STO signal return

11 STO2 Safety 2 input

12 STO1 Safety 1 input

13 LED_ETHERCAT ERR LED Status EtherCAT ERR

14 LED_ETHERCAT RUN LED Status EtherCAT RUN

15 OUT2 Programmable output 2

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Pin (J1) Signal Function

16 OUT1 Programmable output 1

17 OUTRET2 OUT 2 return

18 OUTRET1 OUT 1 return

19 LED2 Bi-color indication output 2 (Cathode)

20 LED1 Bi-color indication output 1 (Cathode)

21 OUT4 Programmable output 4 not isolated (3.3V TTL

level)
22 OUT3 Programmable output 3 not isolated (3.3V TTL
level)
23 COMRET Common return

24 ANALOG_IN2 Analog input 2

Table 7: Connector J1 – I/O, LEDs

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9.7.1 Digital Inputs

9.7.1.1 TTL voltage level

Figure 27: Digital Input TTL Mode Connection Diagram

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9.7.2 Digital Outputs

9.7.2.1 Isolated Open Collector and Open Emitter

The following diagram describes theOUT1 and OUT2 outputs:

Figure 28: Digital Output Connection Diagram – Isolated Open Collector and Open Emitter
Connection

9.7.3 Analog Inputs

For details of the Analog Input 2 – Single ended using Connector J1 in the Gold Bell, refer to the
section 9.6.4 Analog Inputs for details.

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9.7.4 STO Input Interfaces - TTL Mode

The diagram below describes the TTL option connection for the STO input interfaces.

Figure 29: STO Input Connection – TTL Option

9.7.5 EtherCAT Status Indicator

For details of the EtherCAT Status Indicator, refer to the section 14.2.6 EtherCAT Status Indicator in
the in the MAN G Board Level Modules Hardware manual for full details.

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Chapter 10: Pow ering Up

After the Gold Bell is connected to its device, it is ready to be powered up.

Caution:
Before applying power, ensure that the DC supply is within the specified range
and that the proper plus-minus connections are in order.

10.1 Initializing the System

After the Gold Bell has been connected and mounted, the system must be set up and initialized.
This is accomplished using the EASII, Elmo’s Windows-based software application. Install the
application and then perform setup and initialization according to the directions in the EASII User
Manual.

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Chapter 11: Heat Dissipation

The best way to dissipate heat from the Gold Bell is to mount it so that its heat-sink faces up. For
best results leave approximately 10 mm of space between the Gold Bell's heat-sink and any other
assembly.

11.1 Thermal Data

• Heat dissipation capability (θ): Approximately 10 °C/W.

• Thermal time constant: Approximately 240 seconds (thermal time constant means that the Bell
will reach two-thirds of its final temperature after 4 minutes.)

• Shut-off temperature: 86 °C – 88 °C (measured on the heat-sink).

11.2 Heat Dissipation Data

Heat dissipation is shown graphically below:

Gold Bell100 Series Power Dissipation

Whistle

6.0
Heatsink
Power Dissipation (W)

Required
5.0
Standard 40 °C Ambient Temp.
4.0
Heatsink
3.0 not Required

2.0

1.0

0.0
85VDC
0
5
1
5
2
5
3
5
4
5
5
0.

1.

2.

3.

4.

70VDC
Peak Current (A)
50VDC

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11.3 How to Use the Charts

The charts above are based upon theoretical worst-case conditions. Actual test results show 30% –
50% better power dissipation.
To determine if your application needs a heat-sink:

1. Allow the maximum heat-sink temperature to be 80 °C or less.

2. Determine the ambient operating temperature of the Gold Bell.
3. Calculate the allowable temperature increase as follows:
 For an ambient temperature of 40 °C, ΔT= 80 °C – 40 °C = 40 °C.
4. Use the chart to find the actual dissipation power of the drive. Follow the voltage curve to the
desired output current and then find the dissipated power.
5. If the dissipated power is below 4 W, the Gold Bell will not need additional cooling.
Note: The chart above shows that no heat-sink is needed when the heat-sink temperature is 80°C,
the ambient temperature is 40 °C and the heat dissipated is 4 W.

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Chapter 12: Dim ensions

This chapter provides detailed technical dimensions regarding the Gold Bell.

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