dIgItal serVo drIVe for stepper Motors · system or as a master encoder for driving a cam table. As an output, it buffers the digital encoder signals from the motor’s digital encoder

Model Ip Ic VdcTEL-090-07 7 5 90TEL-090-10 10 10 90

dIgItal serVo drIVe for stepper Motors

RoHSTELStepnet Plus Panel EtherCAT

Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01442 Rev 00 Page 1 of 30

DIGITAL SERVO DRIVE fOR STEPPER MOTORS

CONTROL MODES• MicrosteppingMode:ProfilePosition/Velocity, InterpolatedPosition,Homing • ServoMode:CyclicSynchronousPosition/Velocity/Torque (CSP/CSV/CST) • Camming,Gearing • Indexer

COMMAND INTERfACE• CANopenapplicationprotocoloverEtherCAT(CoE) • ASCIIanddiscreteI/O • Steppercommands • ±10Vposition/velocity/torque • PWMvelocity/torquecommand • Masterencoder(Gearing/Camming)

COMMUNICATIONS• EtherCAT • RS-232

fEEDbACkIncremental Encoders • DigitalquadA/B/X • Aux.quadA/B/Xencoder Absolute Encoders • EnDat,SanyoDenkiAbsoluteA

I/O DIGITAL• 6High-speedinputs• 1Motorover-tempinput• 4Opto-Isolatedinputs• 3Opto-Isolatedoutputs• 1Opto-Isolatedbrakeoutput

I/O ANALOG• 1ReferenceInput,12-bit

SAfE TORqUE Off (STO)• SIL3,Category3,PLd

DIMENSIONS:IN[MM]• 5.08x3.41x1.99[129x86.6x50.4]• 5.08x3.41x3.39[129x86.6x86.1]withheatsink

DESCRIPTIONStepnetPlusTELisahigh-performanceDCpoweredmicrosteppingdrive for control of hybrid steppingmotors via EtherCAT usingtheCANApplicationprotocol forEtherCAT (CoE).MicrosteppingmodesareProfilePosition,InterpolatedPositionMode(PVT),andHoming.Withencoderfeedback,theTELcanoperateastepperasabrushlessservomotor,enablingCyclicSyncPosition/Velocity/Torqueoperation.

AswellasoperatingonEtherCATnetworks,theTELalsosupportsthe following traditional controlmodes: step/direction, RS-232ASCII,master encoder for gearing and camming, digital inputcommandstoinitiatepredeterminedmotionsequences.

Drivecommissioning is fastandsimpleusingCME2™softwareoperatingunderWindows®andcommunicatingwiththeTELviaRS-232oranEtherCATnetwork.

Feedbackfromincrementalandabsoluteencodersissupported. Amulti-mode encoder port functions as an input or outputdependingonthedrive’sbasicsetup.Asaninputittakesfeedbackfromasecondaryencodertocreateadual-looppositioncontrolsystemorasamasterencoderfordrivingacamtable.

Asanoutput,itbuffersthedigitalencodersignalsfromthemotor’sdigitalencoderandeliminatessplitcablesthatwouldbeneededtosendthesignalstobothdriveandcontrolsystem.

There are seven non-isolated inputs and four opto-isolateddigital inputsthatarebipolartypes,sourcingorsinkingcurrentintoacommonconnection thatcanbe tied togroundor+24V. [IN1]defaultstothedriveEnablefunctionandisprogrammabletootherfunctions.Theotherinputsareprogrammable.Allinputshave programmable active levels. Three opto-isolated outputs[OUT1~3]haveindividualcollector/emitterconnections.AnisolatedMOSFEToutput[OUT4]isprogrammabletodriveamotorbrakeorother functionsandhasan internalflybackdiode fordrivinginductiveloads.

Drive power is transformer-isolated DC from regulated orunregulated power supplies. An AuxHV input is provided for“keep-alive” operation permitting the drive power stage to becompletelypowereddownwithoutlosingpositioninformation,orcommunicationswiththecontrolsystem.



Testconditions:Load=Twocoils:2mH,2Ω.Ambienttemperature=25°C,+HV=HVmaxMODEL TEL-090-07 TEL-090-10

OUTPUTPOWERPeakCurrent 7(4.95) 10(7.07) Adc(Arms-sine),±5% Peaktime 1 1 Sec Continuouscurrent(Note1) 5(3.54) 10(7.07) Adc(Arms-sine)perphase

INPUTPOWERHVmin~HVmax +14to+90 +14to+90 VdcTransformer-isolated Ipeak 7 10 Adc(1sec)peak Icont 5 10 Adccontinuous AuxHV +14to+90Vdc Optional,notrequiredforoperation 3W(Typ,noloadonencoder+5Voutput),6W,(Max,encoder+5V@500mA)

DIGITAL CONTROL DigitalControlLoops Current,velocity,position.100%digitalloopcontrol Samplingrate(time) Currentloop:16kHz(62.5µs),Velocity&positionloops:4kHz(250µs) Busvoltagecompensation Changesinbusormainsvoltagedonotaffectbandwidth Minimumloadinductance 200µH

COMMANDINPUTS(NOTE:DIGITALINPUTFUNCTIONSAREPROGRAMMABLE) Distributed Control Modes

CANopen applicationprotocoloverEtherCAT(CoE) Servomode:CyclicSynchronousPosition/Velocity/Torque(CSP/CSV/CST), Microsteppingmode:ProfilePosition/Velocity,InterpolatedPosition,Homing Stand-alone mode Analogposition/velocity/torquereference ±10Vdc,12-bitresolution Dedicateddifferentialanaloginput Digitalpositionreference Pulse/Direction,CW/CCW Steppercommands(2MHzmaximumrate) QuadA/BEncoder 2Mline/sec,8Mcount/sec(afterquadrature) Digitalvelocity/torquereference PWM,Polarity PWM=0%-100%,Polarity=1/0 PWM50% PWM=50%±50%,nopolaritysignalrequired PWMfrequencyrange 1kHzminimum,100kHzmaximum PWMminimumpulsewidth 220ns Indexing Upto32sequencescanbelaunchedfrominputsorASCIIcommands. Camming Upto10CAMtablescanbestoredinflashmemory ASCII RS-232,DTE,9600~115,200Baud,3-wire,RJ-11connector

DIGITAL INPUTSNumber11 [IN1,2] Digital,non-isolated,Schmitttrigger,1µsRCfilter,24Vdccompatible,programmablepull-up/downto+5Vdc/ground, Vt+=2.5~3.5Vdc,VT-=1.3~2.2Vdc,VH=0.7~1.5Vdc [IN3,4,5,6] Digital,non-isolated,programmableassingle-endedordifferentialpairs,100nsRCfilter,12Vdcmax, 10kΩprogrammablepull-up/downperinputto+5Vdc/ground, SE:Vin-LO≤2.3Vdc,Vin-HI≥2.7Vdc,VH=45mVtyp,DIFF:Vin-LO≤200mVdc,Vin-HI≥200mVdc,VH=45mVtyp, [IN7,8,9,10] Digital,opto-isolated,single-ended,±15~30Vdccompatible,bi-polar,withcommonreturn Ratedimpulse≥800V,Vin-LO≤6.0Vdc,Vin-HI≥10.0Vdc,Inputcurrent±3.6mA@±24Vdc,typical [IN11] Defaultsasmotorovertempinputonfeedbackconnector,12Vdcmax,programmabletootherfunctions OtherdigitalinputsarealsoprogrammablefortheMotempfunction 330µsRCfilter,4.99kpull-upto+5Vdc,Vt+=2.5~3.5Vdc,VT-=1.3~2.2Vdc,VH=0.7~1.5Vdc Functions Allinputsareprogrammable,[IN1]defaultstotheEnablefunctionandisprogrammableforotherfunctions.

ANALOG INPUTSNumber 1 [AIN1] Differential,±10Vdc,5kΩinputimpedance,12-bitresolution

SAfE TORqUE Off (STO)Function PWMoutputsareinactiveandcurrenttothemotorwillnotbepossiblewhentheSTOfunctionisasserted Standard DesignedtoIEC-61508-1,IEC-61508-2,IEC-61800-5-2,ISO-13849-1 SafetyIntegrityLevel SIL3,Category3,Performanceleveld Inputs 2two-terminal:STO-IN1+,STO-IN1-,STO-IN2+,STO-IN2- Type Opto-isolators,24Vcompatible,Vin-LO≤6.0Vdcoropen,Vin-HI≥15.0Vdc, Inputcurrent(typical) STO-IN1:9.0mA,STO-IN2:4.5mA Responsetime 2ms(IN1,IN2)fromVin≤6.0Vdctointerruptionofenergysuppliedtomotor Reference CompleteinformationandspecificationsareintheAccelnet&StepnetPlusPanelsSTOManual

DIGITAL OUTPUTSNumber 4 [OUT1~3] Opto-isolatedSSR,two-terminal,300mAmax,24Vtolerant,Ratedimpulse≥800V,series1Ωresistor [OUT4] Opto-isolatedMOSFET,defaultasmotorbrakecontrol,current-sinking, 1Adcmax,flybackdiodesto+24Vexternalpowersupplyfordrivinginductiveloads Programmableforotherfunctionsifnotusedforbrake

RS-232 PORTSignals RxD,TxD,Gndin6-position,4-contactRJ-11stylemodularconnector,non-isolated,commontoSignalGround Mode Full-duplex,DTEserialcommunicationportfordrivesetupandcontrol,9,600to115,200Baud Protocol BinaryandASCIIformats

ETHERCATPORTS Format DualRJ-45receptacles,100BASE-TX Protocol EtherCAT,CANopen applicationprotocoloverEtherCAT(CoE),CiA-402formotioncontroldevices

NOTES:1)Heatsinkorforced-airisrequiredforcontinuouscurrentrating

general specIfIcatIons



DCPOWEROUTPUT Number 1 Ratings +5Vdc,500mAmax,thermalandshort-circuitprotected Connections ThecombinedcurrentfromFeedbackJ6-6,17andControlJ1-17,32cannotexceed500mAINDICATORS

AMP BicolorLED,drivestateindicatedbycolor,andblinkingornon-blinkingcondition RUN GreenLED,statusofEtherCATstate-machine(ESM) ERR RedLED,showserrorsduetotime-outs,unsolicitedstatechanges,orlocalerrors L/A GreenLED,Link/Act,showsthestateofthephysicallinkandactivityonthelink(EtherCATconnection) RUN,ERR,andL/ALEDcolorsandblinkcodesconformtoETG.1300S(R)V1.1.0

PROTECTIONS HVOvervoltage +HV>90Vdc Driveoutputsturnoffuntil+HV<90Vdc HVUndervoltage +HV<+14Vdc Driveoutputsturnoffuntil+HV>+14Vdc Driveovertemperature Heatplate>70°C. Driveoutputsturnoff Shortcircuits Outputtooutput,outputtoground,internalPWMbridgefaults I2TCurrentlimiting Programmable:continuouscurrent,peakcurrent,peaktime Motorovertemperature Digitalinputprogrammabletodetectmotortemperatureswitch

MECHANICAL&ENVIRONMENTAL Size 5.08x3.41x1.99[129x86.6x50.4]in[mm]withoutheatsink 5.08x3.41x3.39[129x86.6x86.1]in[mm]withheatsink Weight 0.75[0.34]lb[kg]withoutheatsink 1.70[0.77]lb[kg]withheatsink Ambienttemperature 0to+45Coperating,-40to+85Cstorage,asperIEC60068-2-1:2007andIEC60068-2-2:2007 Humidity 0to95%,non-condensing,asperIEC60068-2-78:2001 Altitude ≤2000m(6560ft),asperIEC60068-2-13:1983 Vibration 2gpeak,10~500Hz(sine),asperIEC60068-2-6:2007 Shock 110g,10ms,half-sinepulse,asperIEC60068-2-27:2008 Contaminants Pollutiondegree2,asperIEC60664-1:2007 Environment IEC68-2:1990 Cooling Heatsinkand/orforcedaircoolingrequiredforcontinuouspoweroutput

AGENCy STANDARDS CONfORMANCEStandards and Directives Functional Safety IEC61508-1:2010,IEC61508-2:2010,IEC61508-3:2010,IEC61508-4:2010(SIL3) Directive2006/42/EC(Machinery) ISO13849-1:2015(Cat3,PLd) IEC61800-5-2:2007(SIL3) seeTheAccelnet&StepnetPlusPanelsSTOManual(16-01338)forfurtherdetails

Product Safety Directive2014/35/EU(LowVoltage) IEC61800-5-1:2007

EMC Directive2014/30/EU(EMC) IEC61800-3:2004/A1:2011

Restriction of the Use of Certain Hazardous Substances (RoHS) Directive2011/65/EU(RoHSII)

Approvals UL and cUL recognized component to: UL61800-5-1,1stEd. TÜV SÜD Functional Safety to: IEC61508-1:2010,IEC61508-2:2010,IEC61508-3:2010,IEC61508-4:2010(SIL3) ISO13849-1:2015(Cat3,PLd)


RoHS




fEEDbACkIncremental: DigitalIncrementalEncoder Quadraturesignals,(A,/A,B,/B,X,/X),differential(X,/XIndexsignalsnotrequired) 5MHzmaximumlinefrequency(20Mcounts/sec) MAX3096differentiallinereceiverwith121ΩterminatingresistorbetweenA&/A,B&/Binputs X&/Xinputshave130Ωterminatingresistor,S&/Sinputshave221Ωterminatingresistor X&Sinputshave1kΩpull-upsto+5V,/X&/Xinputshave1kΩpull-downtoground Absolute: EnDat Clock(X,/X),Data(S,/S) AbsoluteA SanyoDenkiAbsoluteA SD+,SD-(S,/S)signals,2.5or4MHz,2-wirehalf-duplexcommunication Statusdataforencoderoperatingconditionsanderrors

DIGITALHALLSType Digital,single-ended,120°electricalphasedifferencebetweenU-V-Wsignals, Schmitttrigger,1.5µsRCfilter,24Vdccompatible,15kpull-upto+5Vdc, Vt+=2.5~3.5Vdc,VT-=1.3~2.2Vdc,VH=0.7~1.5Vdc Inputs 15kΩpull-upsto+5Vdc,1.5µsRCfiltertoSchmitttriggerinverters

MULTI-MODE ENCODER PORTAsInput Digitalquadratureencoder(A,/A,B,/B,X,/X),5MHzmaximumlinefrequency(20Mcounts/sec), MAX3096linereceiver,1kΩpull-upsto+5VonX&Sinputs,1kΩpull-downstoSgndon/X&/Sinputs Digitalabsoluteencoder(Clk,/Clk,Dat,/Dat)halforfull-duplexoperation, S&Xinputsareusedforabsoluteencoderinterface AsEmulatedOutput QuadratureA/Bencoderemulationwithprogrammableresolutionto4096lines(65,536counts)per revfromabsoluteencoders A,/A,B,/B,fromMAX3032differentiallinedriver,X,/X,S,/SfromMAX3362differentiallinedriver AsBufferedOutput DigitalA/B/Xencoderfeedbacksignalsfromprimaryquadencoderarebuffered(seelinedriversabove)

Set x10 x1 Set x10 x1

Hex Dec Hex Dec

0 0 0 8 128 8

1 16 1 9 144 9

2 32 2 A 160 10

3 48 3 b 176 11

4 64 4 C 192 12

5 80 5 D 208 13

6 96 6 E 224 14

7 112 7 f 240 15

RoHS

1 8 1 8

L/A L/ARunErr

OUTIN

S2

S1

X1X10DEVICE ID

S2S1

AMP

RUNERR L/A L/A

Acc

elne

tPlu

sJ3 BRAKEJ2 ISOLATED I/OJ1 SIG

x10 x1

S1

S2

DEVICE ID

J4

NETWORK

A B

J5RS-232

J6 SAFETY

IN OUT

TELStepnet Plus Panel EtherCAT


J3:EtherCAT PORTSRJ-45receptacles, 8position,4contact

EtherCATDEVICE ID (STATION ALIAS)InanEtherCATnetwork,slavesareautomaticallyassignedconsecutiveaddressesbasedontheirpositiononthenetwork.Butwhenthedevicemusthaveapositiveidentificationthatisindependentofcabling,aDeviceIDisused.IntheTEL,thisisprovidedbytwo16-positionrotaryswitcheswithhexadecimalencoding.ThesecansettheDeviceIDofthedrivefrom0x00~0xFF(0~255decimal).Thechartshowsthedecimalvaluesofthehexsettingsofeachswitch.Example1:FindtheswitchsettingsfordecimalDeviceID107:1)Findthehighestnumberinthex10columnthatislessthan107and

setx10tothehexvalueinthesamerow: 96<107and112>107,sox10=96=Hex6

2)Subtract96fromthedesiredDeviceIDtogetthedecimalvalueforthe switchx1andsetittotheHexvalueinthesamerow: x1=(107-96)=11=HexB

3)Result:X10=6,X1=B,Alias=0x6B(107)

EtherCATDeviceIDSwitch Decimalvalues

ethercat coMMunIcatIons

EtherCATistheopen,real-timeEthernetnetworkdevelopedbyBeckhoffbasedonthewidelyused100BASE-TXcablingsystem.EtherCATenableshigh-speedcontrolofmultipleaxeswhilemaintainingtightsynchronizationofclocksinthenodes.

DataprotocolisCANopenapplicationprotocoloverEtherCAT(CoE)basedonDSP-402formotioncontroldevices. MoreinformationonEtherCATcanbefoundonthisweb-site:http://ethercat.org/default.htm

DualRJ-45socketsacceptstandardEthernetcables.TheINportconnectstoamaster,ortotheOUTportofadevicethatis‘upstream’,betweentheStepnetandthemaster.

TheOUTportconnectsto‘downstream’nodes. IfStepnetisthelastnodeonanetwork,onlytheINportisused.NoterminatorisrequiredontheOUTport.

ETHERCATCONNECTIONS

Twobi-colorLEDsgivethestateoftheTELdrive.Colorsdonotalternate,andcanbesolidONorblinking.Whenmultipleconditionsoccur,onlythetop-mostconditionwillbedisplayed. WhenthatconditionisclearedthenextoneTELowwillshown.1)Red/Blinking = Latchingfault.OperationwillnotresumeuntildriveisReset. 2)Red/Solid = Transientfaultcondition.Drivewillresumeoperationwhen theconditioncausingthefaultisremoved. 3)Green/Double-Blinking = STOcircuitactive,driveoutputsareSafe-Torque-Off 4)Green/Slow-Blinking = DriveOKbutNOT-enabled.Willrunwhenenabled. 5)Green/Fast-Blinking = PositiveorNegativelimitswitchactive. Drivewillonlymoveindirectionnotinhibitedbylimitswitch. 7)Green/Solid = DriveOKandenabled.Willruninresponseto referenceinputsorEtherCATcommands. LatchingFaultsDefaults Optional(programmable) • Shortcircuit(Internalorexternal) • Over-voltage • Driveover-temperature • Under-voltage • Motorover-temperature • MotorPhasingError • FeedbackError • CommandInputFault • FollowingError

IndIcators: drIVe state

ETHERCATLEDS(ONRJ-45CONNECTORS)RUN Green:ShowsthestateoftheESM(EtherCATStateMachine)

Off = Init Blinking = Pre-operational Single-flash = Safe-operational On = Operational

ERR Red:ShowserrorssuchaswatchdogtimeoutsandunsolicitedstatechangesintheTELduetolocalerrors. Off = EtherCATcommunicationsareworkingcorrectly Blinking = Invalidconfiguration,generalconfigurationerror SingleFlash = Localerror,slavehaschangedEtherCATstateautonomously DoubleFlash = PDOorEtherCATwatchdogtimeout,oranapplicationwatchdogtimeouthasoccurred

L/A Green:Showsthestateofthephysicallinkandactivityonthelink. AgreenLEDindicatesthestateoftheEtherCATnetwork: LED Link Activity Condition ON yes No Port Open Flickering Yes Yes PortOpenwithactivity Off No (N/A) Port Closed

AMPLED& DEVICE ID SWITCHES

RoHS

PIN SIGNAL

2 RxD

3,4 Gnd

5 Txd

6

9

1

5

3 2TxD RxD

RJ-11on

ServoDrive

RJ-11 cable6P6CStraight-wired

5 3Gnd Gnd

RxD TxD2 5

D-Sub 9F

Dsub-9Fto RJ11Adapter

16

16



TELisconfiguredviaathree-wire,full-duplexDTERS-232portthatoperatesfrom9600to115,200Baud,8bits,noparity,andonestopbit.Signalformatisfull-duplex,3-wire,DTEusingRxD,TxD,andGnd.ConnectionstotheTEL RS-232 port are throughJ2,anRJ-11connector.TheTEL SerialCableKit(SER-CK)containsamodularcable,andanadapterthatconnectstoa9-pin,Sub-Dserialportconnector(COM1,COM2,etc.)onPC’sandcompatibles.

Afterpower-on,reset,ortransmissionofaBreakcharacter,theBaudratewillbe9,600.Oncecommunicationhasbeenestablishedatthisspeed,theBaudratecanbechangedtoahigherrate(19,200,57,600,115,200).

SER-Ck SERIAL CAbLE kITTheSER-CKprovidesconnectivitybetweenaD-Sub9maleconnectorandtheRJ-11connectorontheTEL.ItincludesanadapterthatplugsintotheCOM1(orother)portofaPCandusescommonmodularcabletoconnecttotheTEL.TheconnectionsareshowninthediagramTELow.

USb TO RS-232 ADAPTERSThesemayormaynothavethespeedtoworkatthe115,200BaudratewhichgivesthebestresultswithCME2.UsershavereportedthatadaptersusingtheFTDIchipsetworkwellwithCME2

Don’tforgettoorderaSerialCableKitSER-CKwhenplacingyourorderforaTEL!

ASCII COMMUNICATIONSTheCopleyASCIIInterfaceisasetofASCIIformatcommandsthatcanbeusedtooperateandmonitorCopleyControlsTELseriesdrivesoveranRS-232serialconnection.Forinstance,afterbasicamplifierconfigurationvalueshavebeenprogrammedusingCME2,acontrolprogramcanusetheASCIIInterfaceto:

•EnabletheamplifierinProgrammedPositionmode.•Hometheaxis.•Issueaseriesofmovecommandswhilemonitoringposition,velocity,andotherrun-timevariables.

Afterpower-on,reset,ortransmissionofaBreakcharacter,theBaudratewillbe9,600.Oncecommunicationhasbeenestablishedatthisspeed,theBaudratecanbechangedtoahigherrate(19,200,57,600,115,200).ASCIIparameter0x90holdstheBaudratedata.Tosettherateto115,200enterthislinefromaterminal: s r0x90 115200 <enter>Then,changetheBaudrateinthecomputer/controllertothenewnumberandcommunicateatthatrate.

AdditionalinformationcanbefoundintheASCIIProgrammersGuideontheCopleywebsite:http://www.copleycontrols.com/Motion/pdf/ASCII_ProgrammersGuide.pdf

J2:RS-232PORTRJ-11receptacle, 6position,4contact

coMMunIcatIons: rs-232 serIal

CONNECTIONS

PIN SIGNAL PIN SIGNAL

1 FrameGnd 6 STO-1(+)

2 STO-1(+) 7 STO-1(-)

3 STO-1(-) 8 STO-24V

4 STO-2(+) 9 STO-GND

5 STO-2(-)

RoHS

1

5

6

9

16

95

SAFE

TY

Frame Ground

STO-24V

STO-GND

Safety Connector

STO-1(+)

STO-2(+)

STO-2(-)

STO-1(-)

STO-1(+)

STO-1(-)

2

3

1

4

5

6

7

8

9

Upper MOSFET Gate Drivers

PWM ENABLE

PWM ENABLE

EN

+HV

PWMOutputs

UVWPWM

UVWPWM

Lower MOSFET Gate Drivers

Channel 1

Channel 2

Channel 3

*



INSTALLATION

fUNCTIONAL DIAGRAM

Currentmustflowthroughallofthe

opto-couplersbeforethedrive can be enabled

SAFETYCONNECTORJ4

safe torque off (sto)

TheSafeTorqueOff(STO)functionisdefinedinIEC61800-5-2.Twochannelsareprovidedwhich,whende-energized,preventtheupperandlowerdevicesinthePWMoutputsfrombeingoperatedbythedigitalcontrolcore.

ThisprovidesapositiveOFFcapabilitythatcannotbeoverriddenbythecontrolfirmware,orassociatedhardwarecomponents.Whentheopto-couplersareenergized(currentisflowingintheinputdiodes),thecontrolcorewillbeabletocontroltheon/offstateofthePWMoutputs.

*STObypassconnectionsontheTELandXenusXEL-XPLmodelsaredifferent.Ifbothdrivesareinstalledinthesamecabinet,thediodeshouldbewiredasshowntopreventdamagethatcouldoccuriftheSTObypassconnectorsareinstalledonthewrongdrive.ThediodeisnotrequiredforSTObypassontheTELandcanbereplacedbyawirebetweenpins7and9.

STO byPASS (MUTING)InorderforthePWMoutputsoftheTELtobeactivated,currentmustbeflowingthroughalloftheopto-couplersthatareconnectedtotheSTO-IN1andSTO-IN2terminalsofJ4,andthedrivemustbeinanENABLEDstate.Whentheopto-couplersareOFF,thedriveisinaSafeTorqueOff(STO)stateandthePWMoutputscannotbeactivatedbythecontrolcoretodriveamotor.

Thisdiagramshowsconnectionsthatwillenergizealloftheopto-couplersfromaninternalcurrent-source.WhenthisisdonetheSTOfeatureisoverriddenandcontroloftheoutputPWMstageisundercontrolofthedigitalcontrolcore. IfnotusingtheSTOfeature,theseconnectionsmustbemadeinorderforthedrivetobeenabled.

STO byPASS CONNECTIONS

DANGER

RefertotheAccelnet&StepnetPlusPanelsSTOManual

TheinformationprovidedintheAccelnet & Stepnet Plus Panels STO Manual mustbeconsideredforanyapplicationusingthedrive’sSTOfeature.FAIluRETOhEEDThISwARNINGCANCAuSEEquIPMENTDAMAGE,INjuRy,ORDEATh.

DIFFERENTIAL:IN3,4,5,6

Signal J1Pins

[IN3]Pls,CU,EncA 9

[IN4]/Pls,/CU,Enc/A 10

[IN5]Dir,CD,EncB 11

[IN6]/Dir,/CD,Enc/B 12

SignalGround 6,16,22,31, 37,44

FrameGround 1

DIFFERENTIAL:IN3,4,5,6

Signal J1Pins

[IN3]Curr-Vel± 9

[IN4]/Curr-Vel± 10

[IN5]Pol-Dir 11

[IN6]/Pol-Dir 12


FrameGround 1

SINGLE-ENDED:IN5,6

Signal J1Pins

[IN5]Pls,CU,EncA 11

[IN6]Dir,CD,EncB 12


FrameGround 1

SINGLE-ENDED:IN5,6

Signal J1Pins

[IN5]Curr-Vel± 11

[IN6]Pol-Dir 12

Sgnd 6,16,22,31, 37,44

FrameGround 1

RoHS

Curr-Vel

Pol-Dir

[IN5]

[IN6]

Duty = 50% ±50%

<no connection>

Curr-Vel±

<not used>

[IN5]

[IN6]

Duty = 0 - 100% Curr-Vel

Pol-Dir

/Curr-Vel

/Pol-Dir

[IN5]

[IN6]

[IN3]

[IN4]

[IN5]

[IN6]

[IN3]

[IN4]/Curr-Vel

Curr-Vel

NoFunction

Duty = 50% ±50%

<no connection>

PULSE

/PULSE

DIRECTION

/DIRECTION

[IN3]

[IN4]

[IN5]

[IN6]

CD (Count-Down)

CU (Count-Up)[IN3]

[IN4]

[IN5]

[IN6]

CU (CW)

/CU (CW)

CD (CCW)

/CD (CCW)

Enc. A

Enc B

/Enc. A

/Enc B

Encoder ph. B

Encoder ph. A [IN3]

[IN4]

[IN5]

[IN6]

CU (CW)

CD (CCW)

[IN5]

[IN6]

Enc. A

Enc. B

Enc. Ph. A

Enc. Ph. B

[IN5]

[IN6]

Pulse

Direction

[IN5]

[IN6]


Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N16-01442 Rev00 Page8of30

POSITION COMMAND INPUTSSingle-endeddigitalpositioncommandsmustbesourcedfromdeviceswithactivepull-upandpull-downtotakeadvantageofthehigh-speedinputs.

Fordifferentialcommands,theA&Bchannelsofthemulti-modeencoderportsareused.

SINGLE-ENDEDPWM&DIRECTION

SINGLE-ENDED50%PWM

SINGLE-ENDEDPULSE&DIRECTION

SINGLE-ENDED CU/CD

qUAD A/b ENCODER SINGLE-ENDED

DIffERENTIAL CU/CD

DIFFERENTIALPULSE&DIRECTION

qUAD A/b ENCODER DIffERENTIAL

DIFFERENTIAL50%PWM

DIFFERENTIALPWM&DIRECTION

dIgItal coMMand Inputs: posItIon

dIgItal coMMand Inputs: VelocIty, torqueSingle-endeddigitaltorqueorvelocitycommandsmustbesourcedfromdeviceswithactivepull-upandpull-downtotakeadvantageofthehigh-speedinputs.

Fordifferentialcommands,theA&Bchannelsofthemulti-modeencoderportsareused.

SIGNALS&PINS

Signal J1

Pulse,CW,EncoderA 36

/Pulse,/CW,Encoder/A 21

Direction,CCW,EncoderB 35

/Direction,/CCW,Encoder/B 20

QuadEncX,AbsoluteClock 34

QuadEnc/X,/AbsoluteClock 19

EncS,Absolute(Clock)Data 33

Enc/S,/Absolute(Clock)Data 18

SignalGround6, 16, 22, 31, 37, 44

FrameGround 1

RoHS

+5V output @ 500 mA

Signal Ground

Enc. B

Enc. X

Enc. X

Enc. X

Enc. S

Enc. S

B

X

/X

/S

Enc. A

Incremental Encoder

Absolute Encoder

J1 Multi-Port

Frame Ground

A

S

/B

/A

Input/OutputSelect

MAX3097

MAX3032

A/B/X signals fromdigital encoder

Input/OutputSelect

MAX3097

MAX3032

A/B/X signals fromdigital encoder

Input/OutputSelect

MAX3097

MAX3032

Pulse/Dir or CU/CD differential commands

InputSelect

OutputSelect

MAX3362

MAX3362

X

S

4-Wire digital absolute encoder signals

Input/OutputSelect

MAX3362

S

S

2-Wire digital absolute encoder signals



MultI-Mode port as an Input

POSITIONCOMMANDINPUTS:DIFFERENTIAL•Pulse&Direction•CW&CCW(Clockwise&Counter-Clockwise)•EncoderQuadA&B•CammingEncoderA&Binput

CURRENT orVELOCITYCOMMANDINPUTS:DIFFERENTIAL•CurrentorVelocity&Direction•CurrentorVelocity(+)&CurrentorVelocity(-)

SECONDARYFEEDBACK:INCREMENTAL•QuadA/B/Xincrementalencoder

SECONDARYFEEDBACK:ABSOLUTE•Schannel:AbsoluteAencoders(2-wire) TheSchannelfirstsendsaClocksignalandthen receivesDatafromtheencoderinhalf-duplexmode.

•S&Xchannels:SSI,BiSS,EnDatencoders(4-wire) TheXchannelsendstheClocksignaltotheencoder, whichinitiatesdatatransmissionfromtheencoder ontheS-channelinfull-duplexmode

Input types

MultI-Mode port as an output

SIGNALS&PINS

Signal J1

EncoderA 36

Encoder/A 21

EncoderB 35

Encoder/B 20

EncoderX 34

Encoder/X 19

EncoderS 33

Encoder/S 18

SignalGround 6, 16, 22, 31, 37, 44

FrameGround 1

RoHS

SecondaryEncoder Input

Input/OutputSelect

Quad A/B/X primaryencoder

MAX3032

MAX3097

Buffered A/B/X signalsfrom primary encoder

SecondaryEncoder Input

Input/OutputSelect

MAX3362

MAX3097

Emulated Quad A/Bsignals from absolute encoder

Emulated A/B signals

Enc. B

Enc. X

B

/B

X

/X

Enc. A

Incremental Encoder

J1 Multi-Port

Frame Ground

A

/A



output types

BUFFEREDFEEDBACKOUTPUTS:DIFFERENTIAL•EncoderQuadA,B,Xchannels•DirecthardwareconnectionbetweenquadA/B/X encoderfeedbackanddifferentiallinedriversforA/B/Xoutputs

EMULATEDFEEDBACKOUTPUTS:DIFFERENTIALFirmwareproducesemulatedquadA/Bsignalsfromfeedback datafromthefollowingdevice:•Absoluteencoders

Name Notes

Analog:ReferenceFilter Disabled

Vloop:InputFilter Disabled

Vloop:OutputFilter1 LowPass,Butterworth, 2-pole,200Hz

Vloop:OutputFilter2 Disabled

Vloop:OutputFilter3 Disabled

Iloop:InputFilter1 Disabled

Iloop:InputFilter2 Disabled

InputShaping Disabled

Option Notes

Method SetCurrentPositionasHome

Name Notes

OUT1 FaultActive-OFF

OUT2NotConfigured

OUT3

OUT4 BrakeActive-Off

Active Notes

√ ShortCircuit

√ AmpOverTemperature

√ MotorOverTemp

Over Voltage

Under Voltage

MotorWiringDisconnected

STOActive

OPTIONAL fAULTS

OverCurrent(Latched)

Name Configuration PU/PD

IN1 Enable-LO,ClearFaults

+5V

IN2

NotConfigured

IN3

IN4

IN5

IN6

IN7

Opto NotConfigured

IN8

IN9

IN10

IN11 NotConfigured +5VPU



cMe2 defaults

ThesetablesshowtheCME2defaultsettings.Theyareuser-programmableand thesettingscanbesavedtonon-volatileflashmemory.

SPECIfICATIONS

Input Data Notes

InputVoltages

HI VT+=2.5~3.5Vdc

LO VT-=1.3~2.2Vdc

VH1 VH=±0.7~1.5Vdc

Max +30Vdc

Min 0Vdc

Pull-up/down R1 15kΩ

LowpassfilterR2 15kΩ

C1 100 pf

InputCurrent24V 1.3mAdc

0V -0.33mAdc

Timeconstant RC2 1.5µs

CONNECTIONS

Input Pin

IN1 J1-7

IN2 J1-8

Sgnd J1-6,16,22,31,37,44

SPECIfICATIONS

Input Data Notes

InputVoltages Single-ended

HI Vin≥2.7Vdc

LO Vin≤2.3Vdc

VH1 45mVdctyp

InputVoltages Differential3

HI Vdiff≥+200mVdc

LO Vdiff≤-200mVdc

VH ±45mVdctyp

Commonmode Vcm 0to+12Vdc

Pull-up/down R1 10kΩ


C1 100 pf

Timeconstant RC2 100 ns

CONNECTIONS

S.E. DIff Pin

IN3 IN3+ J1-9

IN4 IN4- J1-10

IN5 IN5+ J1-11

IN6 IN6- J1-12

Sgnd J1-6,16,22,31,37,44

RoHS

C1

R2R1

74HC2G14

PullUp = +5VPullDown = 0V

[IN1,2]

+5V

FEEDBACK CONNECTOR

12V+

100 pF

2.5V

MAX3096

MAX3096

[IN3,5]

J1 Control

100 pF

1k

[IN4,6]

10k

+5V

1k

+

10k

+5V

[IN3,5]

J1 Control

[IN4,6]

+5V

+5V

C1

R1R2

C1

R1R2

MAX3096

12V+

sIngle-ended/dIfferentIal Inputs: In3, In4, In5, In6



hIgh speed Inputs: In1, In2

• Digital,non-isolated,high-speed• Programmablepull-up/pull-down• 24VCompatible• Programmablefunctions

Notes:1)VHishysteresisvoltage (VT+)-(VT-)

2)TheR2*C2timeconstantapplieswheninputisdrivenbyactiveHI/LOdevices

• Digital,non-isolated,high-speed• Progammablepull-up/pull-down• 12VCompatible• Single-endedorDifferential• Programmablefunctions

Notes:1)VHishysteresisvoltage

IN2 - IN3 or IN12 - IN132)TheR2*C2timeconstantapplieswheninputisdrivenbyactiveHI/LOdevices)

3)Vdiff=AINn(+)-AINn(-) n=1forAxisA,2forAxisB

SINGLE-ENDED

DIffERENTIAL

SPECIfICATIONS

Input Data Notes

InputVoltages

HI Vin≥3.5Vdc

LO Vin≤0.7Vdc

Max +12Vdc

Min 0Vdc

Pull-up/down R1 4.99kΩ

InputCurrent12V 1.4mAdc

0V -1.0mAdc


C1 33 nf

Timeconstant Te 330µs*BS4999:Part111:1987

Property Ohms

Resistanceinthetemperaturerange20°Cto+70°C 60~750

Resistanceat85°C ≤1650

Resistanceat95°C ≥3990


CONNECTIONS

Input Pin

IN11 J6-7

Sgnd J6-5,16,25,26

CONNECTIONS

Signal J1Pin

IN7 13

IN8 14

IN9 15

IN10 30

ICOM 28

SPECIfICATIONS

Input Data Notes

InputVoltages

HI Vin≥±10.0Vdc*

LO Vin≤±6Vdc*

Max ±30Vdc*

InputCurrent±24V ±3.6mAdc

0V 0mAdc

RoHS

+5V

[IN11]

Thermistor,Posistor,

or switch Signal Gnd

R1

R2

C1

J5

J1

4.99k 5.1V

[IN7] 4.7k

4.7k

4.7k

4.7k

[ICOM]

4.99k 5.1V

[IN8]

4.99k 5.1V

[IN9]

4.99k 5.1V

[IN10]

+24V

24V GND

+

24V



• Digital,non-isolated• Motorovertempinput• 12VCompatible• Programmablefunctions

• Digital,opto-isolated• Agroupoffour,withacommonterminal• Workswithcurrentsourcingorsinkingdrivers• 24VCompatible• Programmablefunctions

MOTOR OVER TEMP INPUTThe4.99kpull-upresistorworkswithPTC(positivetemperaturecoefficient)thermistorsthatconformtoBS4999:Part111:1987,orswitchesthatopen/closeindicatingamotorover-temperaturecondition.Theactivelevelisprogrammable.

*VdcReferencedtoICOMterminal.

* RC time constant applieswhen input is driven byactivehigh/lowdevice

Motor oVerteMp Input: In11

opto-Isolated Inputs: In7, In8, In9, In10

SPECIfICATIONS

Spec Data Notes

InputVoltage Vref ±10Vdc

InputResistance Rin 5.05kΩ

HI/LODEFINITIONS:OUTPUTS

Input State Condition

OUT1~3HI OutputSSRisON,currentflows

LO OutputSSRisOFF,nocurrentflows

CONNECTIONS

Signal (+) (-)

OUT1 J1-42 J1-27

OUT2 J1-41 J1-26

OUT3 J1-40 J1-25

SPECIfICATIONS

Output Data Notes

ON Voltage OUT(+)-OUT(-) Vdc 0.85V@300mAdc

OutputCurrent Iout 300mAdcmax

CONNECTIONS

Signal Pins

AIN(+) J1-3

AIN(-) J1-2

Sgnd J1-6,16,22,31,37,44

RoHS

+

1.5V

Shield (Frame Gnd)

AINn(+)

AINn(-)Vref

J1D/A

F.G.

±10V

Sgnd

-

[OUTn-]

300mAmax

* at 24 Vdc

Vdc

J2

[OUTn+]

1

80Ωmin*

36V

SSR

+



analog Input: aIn1

Theanaloginputhasa±10Vdcrangeat12-bitresolution Asareferenceinputittakeposition/velocity/torquecommandsfromacontroller.Ifnotusedasacommandinput,itcanbeusedasgeneral-purposeanaloginput.

• ±10Vdc,differential• 12-bitresolution• Programmablefunctions

opto-Isolated outputs: out1, out2, out3

• Digital,opto-isolated• MOSFEToutputSSR,2-terminal• Flybackdiodeforinductiveloads• 24VCompatible• Programmablefunctions

HI/LODEFINITIONS:OUTPUTS

Input State Condition

bRAkE [OUT4]

HI

OutputtransistorisOFF Brakeisun-poweredandlocksmotor Motorcannotmove BrakestateisActive

LO

OutputtransistorisON Brakeispowered,releasingmotor Motorisfreetomove BrakestateisNOT-Active

SPECIfICATIONS

Output Data Notes

Voltage Range Max +30Vdc

OutputCurrent Ids 1.0Adc

J5CONNECTIONS

Pin Signal

4 Brk24VInput

3 Brk24VOutput

2 Brake[OUT4]

1 24VReturn

RoHS

J5

Brake [OUT4]

4

3

24V

Brk 24V Input

Brk 24V Output

24V Return

2

1

i

+0

Brake

24V Input

HV Com

24V Return

Earth Ground

Heatplate/chassis

IsolatedBrakeOutput

Frame Gnd

Frame Gnd 4

3

2

J1Control

J7Mot

J5Brake

J8Power

Brake

1

1

2

3

Signal Gnd

Signal Gnd

Signal Gnd

Signal Gnd

Signal GndSignal Gnd

Signal Gnd

Signal GndJ2Serial

3

4

1

1

37

44

31

16

6

22

+24V

0V

+HV

0V

+Aux

0V

Earthing connections for power supplies should be as close as possible to elimimate potential differences between power supply 0V terminals.



• Brakeoutput• Opto-isolated• Flybackdiodeforinductiveload• 24VCompatible• Connectionforexternal24Vpowersupply• Programmablefunctions

CME2DefaultSettingforBrakeOutput[OUT4]is“Brake-ActiveHI” Active =Brakeisholdingmotorshaft(i.e.theBrake is Active) Motorcannotmove Nocurrentflowsincoilofbrake CME2I/OLineStatesshowsOutput4asHI BRKOutputvoltageisHI(24V),MOSFETisOFF Servodriveoutputcurrentiszero Servodriveisdisabled,PWMoutputsareoff Inactive=Brakeisnotholdingmotorshaft(i.e.theBrake is Inactive) Motorcanmove Currentflowsincoilofbrake CME2I/OLineStatesshowsOutput4asLO BRKoutputvoltageisLO(~0V),MOSFETisON Servodriveisenabled,PWMoutputsareon Servodriveoutputcurrentisflowing

Thebrakecircuitsareopticallyisolatedfromalldrivecircuitsandframeground.

opto-Isolated Motor brake output: out4

This diagram shows theconnectionstothedrivethatshare a commonground inthedriver.Ifthebrake24Vpower supply is separatefromtheDCsupplypoweringthe drive, it is importantthat itconnects toanearthorcommongroundingpointwiththehVpowersupply.

Signal J6Pins

EncA 13

Enc/A 12

EncB 11

Enc/B 10

EncX 9

Enc/X 8

+5V 6, 17

Sgnd 5, 16, 25, 26

F.G. 1

Signal J6Pins

Clk 9

/Clk 8

Data 15

/Data 14

+5V 6, 17

Sgnd 5, 16, 25, 26

F.G. 1

Signal J6Pins

Data 15

/Data 14

+5V 6, 17

Sgnd 5, 16, 25, 26

F.G. 1

RoHS

1k+5V

1k

Encoder J6

FG Frame Ground

Enc. A121A

Enc. B121B

Enc. Index130Z/X

X

/B

B

/A

A

+5V

0V

+5V Out @ 500 mA

Signal Ground

A

B

A

B

1k+5V

1k 1k+5V

1k

Encoder

221

Dat

/Dat

Clk

/Clk130

FGFrame Ground

J6

Clk

DataData

Clk

+5V

0V

+5V Out @ 500 mA

Signal Ground

Absolute-AEncoder

221

1.2k

1.2k

220

5V

SD+

SD-

J5

Battery

Dat

/DatCmd

D-R

SDCmd

D-R

SD

MAX3362B0V

+5VV+

V-

+5V Out@ 500 mA

Signal Ground

Batt+

Batt-

+

-

1k

1k

5V

Sgnd=SignalGround F.G.=FrameGnd



feedback connectIons

quad a/b encoderEncoderswithdifferentialline-driveroutputsarerequired(single-endedencodersarenotsupported)andprovideincrementalpositionfeedbackviatheA/Bsignalsandtheoptionalindexsignal(X)givesaonceperrevolutionpositionmark.

a/b/X sIgnals


endat absolute encoderTheEnDatinterfaceisaHeidenhaininterfacewhichissupportedforthedigitalclockanddatachannels.

sanyo denkI absolute-a encoderTheAbsoluteAinterfaceisaserial,half-duplextypethatiselectricallythesameasRS-485.Notethebatterywhichmustbeconnected.Withoutit,theencoderwillproduceafaultcondition.

endat sIgnals

absolute-a sIgnals


Signal J7Pin

Motor A 5

Motor /A 4

Motor b 3

Motor /b 2

FrameGnd 1

Property Ohms

Resistanceinthetemperaturerange 20°Cto+70°C

60~750

Resistanceat85°C ≤1650



Signal J6Pins

Motemp 7

J6SignalGround 5,16,25,26

FrameGnd 1

RoHS

PWM

+HV

0V

StepperMotor2 ph.

MOT /B

Gn/YFrame Gnd

MOT B

MOT /A

MOT A

J7

+

+5V

[IN11]

Thermistor,Posistor,

or switch Signal Gnd

R1

R2

C1

J5



Motor connectIons

Motor oVer teMp InputThe4.99kpull-upresistorworkswithPTC(positivetemperaturecoefficient)thermistorsthatconformtoBS4999:Part111:1987(tableTELow),orswitchesthatopen/closeindicatingamotorover-temperaturecondition.Theactivelevelisprogrammable. TheseinputsareprogrammableforotherfunctionsifnotusedasMotempinputs.And,otherinputsareprogrammablefortheMotempfunction.

Motor phase connectIonsThedriveoutputistwoH-bridgePWMinvertersthatconverttheDCbussvoltage(+HV)intotwosinusoidalvoltagewaveformsthatdrivethemotorA&Bphase coils. Cable shouldbesizedforthecontinuouscurrentratingofthemotor.Motorcablingshouldusetwisted,shieldedconductorsforCEcompliance,andtominimize PWMnoise coupling into othercircuits.Themotorcableshieldshouldconnecttomotorframeandthedriveframegroundterminal(J7-1)forbestresults.

MoteMp sIgnals bs 4999 sensor

Motor sIgnals

RoHS

Frame Gnd

5 25

26

17

8

9

10

11

12

1

13

4

3

2

DIGITALENCODER

/A

A

/B

B

/X

Vcc

0V

X

J6 6

Enc /A

Enc A

Enc /B

Enc B

Enc /X

Enc X

+5V Out

7

Signal Gnd

Signal Gnd

Motemp

J5

TEMPSENSOR

Brake [OUT4]

24V Return

4

Brk 24V Output

Brk 24V Input +

0V

24 Vdc

Stepnet Plus Panel

Brake

16

3

2

1

STEPPERMOTOR

/A

A

B

/B

4

3

2

1

Mot /A

5Mot A

Mot B

Mot /B

Frame Gnd

J7

[IN14]

[IN13]

[IN12]

Groundingtab



Theconnectionsshownmaynotbeusedinallinstallations

Motor connectIons: dIgItal quad a/b encoders

NOTES:1) +5VOutonJ1&J6connecttothesamepowersupply.Thesumofoutputcurrentsislimitedto500mA2) CEsymbolsindicateconnectionsrequiredforCEcompliance.

RoHS

+

ProtectiveEarth ground

Vcc

Vcc[IN7~10]

[AIN+]

[AIN-]

Isolated

Sgnd

Sgnd

Sgnd

Isolated

J1 Control

Vcc[OUT1~3+]

[OUT1~3-]

+HV

+

-

+

Sgnd

-

Vcc

DriveControlCore

[IN11]

J6 Feedback

J5 Brake

Motor temp switch

Vcc

BRAKE[OUT4]

+24VBrake

Brk 24V Output

Brk 24V Input

24V Return

+

-24V

Return

R-L

PWMInverter

J7 Motor

Control Core circuits arereferenced to Signal Ground (Sgnd)and HV Com ground

DC-DCConverter

SgndSignal GndInternal DC

Power forAll Circuits

+HV

HV Com

Aux

EarthGround

Frame Gnd

Frame Gnd

J8 HV & Aux

J2 Serial

J3 EtherCATX2 In and Out

Ports are Identical

EtherCATConnections are

isolated fromdrive circuits

TxD

RxD

Tx1+

Rx1+

Rx1-

Tx1-

Sgnd

2

1

3

1

2

3

4

5

680 µF

5432

1M

75

75

10n

J1 Control

HEATPLATE

DRIVE CIRCUITS

Isolated

[IN1~6,11]

Motor

Frame Gnd



Thisgraphicshowstheelectricalstructureofthedrive,detailingtheelementsthatshareacommoncircuitcommon(SignalGround,HVCom)andcircuitsthatareisolatedandhavenoconnectiontointernalcircuits. Notethatthereisnoconnectionbetweentheheatplate(Chassis,FrameGround)andanydrivecircuits.

deVIce structure & IsolatIon

RoHS

+

-

+~

~

~

~

+

- -

+HV

HVGround

Aux

2

1

3

UnregulatedPower Supply

LineFilter

ACMains

Equipment Ground

Earth Ground

Green/Yellow

P-Clip

H

N

Gnd

Plus PanelsDrive

PowerConnector1-Axis = J72-Axis = J10

HV+

-Aux

Frame Ground



power & groundIng connectIons

DCPOWERCONNECTIONS• DCpowermustbeprovidedbytransformersthataregalvanicallyisolatedandprovidereinforcedinsulationfromthemains.

Auto-transformers cannot be used.• The(-)terminalofthepowersupplyisnotgroundedatthepowersupply.Itisgroundedneareachdrive.• Cablingtomultipledrivesforthe+HVand0Visbestdoneina“star”configuration,andnota“daisy-chain”.• The0V,orreturnterminaloftheDCpowershouldbeconnectedtoframegroundnearthedrivepowerconnector. Fromthatpoint,ashortwirecanconnecttothedriveHVGround.

• Cablingtothedrive+HVand0Vterminalsmustbesizedtocarrytheexpectedcontinuouscurrentofthedriveintheuser’sinstallation.

• DCpowercablingshouldbeshielded,twisted-pairforbestEMIreduction.Theshieldshouldconnecttothepowersupplyframegroundononeend,andtothedriveframegroundontheother.Addingapigtailandring-lug,asshortaspossiblewillprovideagoodconnectionoftheshieldatthedrive.

• Motorcablingtypicallyincludesagreen/yellowconductorforprotectivebondingofthemotorframe. ConnectasshownintheMotorConnectionsdiagramonthefollowingpage.

• MotorcableconductorsshouldbetwistedandshieldedforbestEMIsuppression.• Ifagreen/yellowgroundingwireconnectsthemotortothedrive’sPEterminal,theshieldpigtailandring-lugmayconnecttooneofthescrewsthatmountthedrivetothepanel.AP-cliptogroundtheshieldasnearaspossibletothedrivewillincreasetheEMIsuppressionoftheshield.Onthemotor-end,theshieldfrequentlyconnectstotheconnectorshell.Ifthemotorcableisaflying-leadfromthemotor,theshieldmaybeconnectedtothemotorframeinternally.

• BraidedcableshieldsaremoreeffectiveforEMIreductionthanfoilshields.Double-shieldedcablestypicallyhaveabraidedoutershieldandfoilshieldsfortheinternaltwistedpairs.ThiscombinationiseffectiveforbothEMIreductionandsignalqualityofthefeedbacksignalsfromanalogencodersorresolvers.

• Motorcableshieldingisnotintendedtobeaprotectivebondingconductorunlessotherwisespecifiedbythemotormanufacturer.• Forfeedbackcables,double-shieldedcablewithasingleoutershieldandindividualshieldedtwistedpairinternalshieldsgivesthebestresultswithresolvers,oranalogsin/cosencoders.

• Indouble-shieldedcables,theinternalshieldingshouldconnecttothedrive’sSignalGroundononeend,andshouldbeunconnectedonthemotorend.

• Single-shieldfeedbackcablesconnecttothedriveframeononeend,andtothemotorframeontheother. Dependingontheconstructionofthemotor,leavingthefeedbackcableshielddisconnectedonthemotorbutconnectedonthedriveendmaygivebetterresults.

• Thedriveshouldbesecuredtotheequipmentframeorpanelsusingthemountingslots.ThisensuresagoodelectricalconnectionforoptimalEMIperformance.Thedrivechassisiselectricallyconductive.

DCPOWERWIRINGP-clipssecurecablestoapanelandprovidefullcontacttothecableshieldsaftertheinsulationhasbeenstripped.ThisshouldbedoneasclosetothedriveaspossibleforbestEMIattenuation.

RoHS

(+)

(-)

+ +Cint

RegulatedPower

Supply Cext

Cext: ExternalCapacitor

Cint: InternalCapacitor

Drive

(+)

(-)

+ +Cint

UnregulatedPower

Supply Cps

Cps: Power SupplyCapacitor

Cint: InternalCapacitor

Drive

Motor

/A

A

B

/B

P-clip

F.G.

Feedback

F.G.

Enc A

Enc B

Enc X

Sgnd

Earth Ground

Frame Ground

Motor

Encoder

Outer Shield

Outer Shield

Inner Shields

0.0

0.5

1.0

1.5

2.0

2.5

3.0

15 20 25 30 40 50 60 70 80 90



REGENERATIONThis chart shows the energy absorption inW·s forthedriveoperatingatsometypicalDCvoltages.Itisbasedontheinternal680uFcapacitorandwouldbeincreasedbythecapacitanceoftheexternalDCpowersupply.Whenthe loadmechanicalenergy isgreater than thesevaluesanexternal regenerativeenergydissipaterisrequired,ortheDCpowersupplycapacitance can be increased to absorb the regenenergy.

Joules(W·s)

+HV(Vdc)

MOTOR CONNECTIONS• Motorcableshieldconnectstomotorframe,isgroundedwithaP-clipnearthedriveandterminatesinaring-lugthatisscrewedtothedrivechassisbyamountingscrewtothepanel

• Ifprovided,agreen/yellowgroundingwirefromthemotorconnectstotheF.G.terminalofthemotorconnector.

fEEDbACk CONNECTIONS• CableshieldconnectstomotorframeandtotheF.G.terminalofthefeedbackconnector.

• Whendouble-shieldingisused,theinnershieldsconnecttotheSignalGroundatthedrive,andisnotconnectedatthemotorend.

• Ifnotprovidedbythemotormanufacturer,feedbackcablesratedforRS-422communicationsarerecommendedfordigitalencoders.

+HVPOWERSUPPLYREQUIREMENTSRegulatedPowerSupplies• Mustbeover-voltageprotectedto100VdcmaxwhentheSTO(SafeTorqueOff)featureofthedriveisused.

• Requireadiodeandexternalcapacitortoabsorbregenerativeenergy.• TheVAratingshouldbegreaterthantheactualcontinuousoutputpowerofthedrivesconnectedtothepowersupply,andadequateforthetransientoutputpowerduetoaccelerationofmotorloads.

• Musthandletheinternalcapacitanceofthedrivesonstartup.

UnregulatedPowerSupplies• No-load,high-lineoutputvoltagemustnotexceed90Vdc.• Powersupplyinternalcapacitanceaddstothedrive’sinternalcapacitance forabsorptionofregenerativeenergy.

• TheVA(Volts&Amps)ratingatthepowersupply’sACinputistypically30~40%greaterthanthetotaloutputpowerofthedrives.

AUXILIARYHVPOWER• AuxHVispowerthatcankeepthedrivecommunicationsandfeedbackcircuitsactivewhenthePWMoutputstagehasbeendisabledbyremovingthemain+HVsupply.

• UsefulduringEMO(EmergencyOff)conditionswherethe+HVsupplymustberemovedfromthedriveandpowered-downtoensureoperatorsafety.

• Voltagerangeisthesameas+HV.• PowerstheDC/DCconverterthatsuppliesoperatingvoltagestothedriveDSPandcontrolcircuits.

• AuxHVdrawsnocurrentwhenthe+HVvoltageisgreaterthantheAuxHVvoltage.

RoHS

1

5

6

9

CONNECTIONS

PIN SIGNAL PIN SIGNAL

1 FrameGnd 6 STO-1(+)

2 STO-1(+) 7 STO-1(-)

3 STO-1(-) 8 STO-24V

4 STO-2(+) 9 STO-GND

5 STO-2(-)

PIN SIGNAL PIN SIGNAL PIN SIGNAL

1 FrameGnd 16 SignalGnd 31 SignalGnd

2 [AIN1-] 17 +5Vout 32 +5Vout

3 [AIN1+] 18 MultiEnc/S 33 MultiEncS

4 N/C 19 MultiEnc/X 34 MultiEncX

5 N/C 20 MultiEnc/B 35 MultiEncB

6 SignalGnd 21 MultiEnc/A 36 MultiEncA

7 [IN1] 22 SignalGnd 37 SignalGnd

8 [IN2] 23 N/C 38 N/C

9 [IN3]Diff1(+) 24 N/C 39 N/C

10 [IN4]Diff1(-) 25 [OUT3-] 40 [OUT3+]

11 [IN5]Diff2(+) 26 [OUT2-] 41 [OUT2+]

12 [IN6]Diff2(-) 27 [OUT1-] 42 [OUT1+]

13 [IN7] 28 [ICOM] 43 N/C

14 [IN8] 29 N/C 44 SignalGnd

15 [IN9] 30 [IN10]

1 16 31

30 4415

AM

P

AccelnetPlus

RS

-232S

IGN

AL

SA

FETY

x10x1

S1

S2

DE

VIC

E ID

J1

J3

J4J2

NE

TW

OR

KR

UN

ER

RL/A

L/A

INO

UT

J1:CONTROLSIGNALS

PlusStepnet



J4SAFETY(SAFETORQUEOFF)

J4TELCONNECTOR:DsubDB-09F,9positionfemalereceptacle

J4CABLECONNECTOR:PokeandcrimpDsubDB-09M,9position

J1:TELCONNECTORHigh-DensityHDsubDB-44F,femalereceptacle,44Position

J1:CABLECONNECTORHigh-DensityHDsubDB-44M,maleplug,44Position

connectors & sIgnals: control & sto

Details on J1, J4, & J6 cable connectors can be found in the TEL-CK listing under the Accessories section of the last page

PIN SIGNAL PIN SIGNALPIN SIGNAL 18 Sin(-) 9 EncX26 SignalGnd 17 +5VOut 8 Enc/X25 SignalGnd 16 SignalGnd 7 [IN11]Motemp24 N/C 15 EncS 6 +5VOut23 N/C 14 Enc/S 5 SignalGnd22 N/C 13 EncA 4 [IN14]21 Cos(+) 12 Enc/A 3 [IN13]20 Cos(-) 11 EncB 2 [IN12]19 Sin(+) 10 Enc/B 1 FrameGnd

Pin Signal

4 Brk24VInput

3 Brk24VOutput

2 BrakeA[OUT4]

1 24VReturn

signal pin

AuxHV 3

HV 2

HVGround 1

Signal Pin

Motor A 5

Motor /A 4

Motor b 3

Motor /b 2

FrameGround 1

RoHS

1 2 3

0V +HV Aux

11019

91826

1 2 3 4 5

A/AB/B

1234

J5 FEEDBACK

POWERMOTOR

BRAKE J6

J7 J8



J6:FEEDBACK

J8:DRIVECONNECTOREuro-style5.08mmmalereceptacle,3-position Wago:MCS-MIDI,231-563/108-000

J7:DRIVECONNECTORSEuro-style5.08mmmalereceptacle,4-position Wago:MCS-MIDI,231-565/108-000

J6:TELCONNECTORHigh-DensityHDsubDB-26F, femalereceptacle,26Position

J7CABLECONNECTORSWagoMCS-MIDIClassic231-305/107-000

J6:CABLECONNECTORHigh-DensityHDsubDB-26M, maleplug,26Position

J8:CABLECONNECTORWagoMCS-MIDI,231-303/107-000

WAGOCONNECTORTOOLContactopener:231-159operatingtool


J7:MOTOROUTPUT

J6:MOTORFEEDBACK

J8:+HV&AUXPOWER

J5:TELCONNECTOREuro-style3.5mmmalereceptacle,4-position Wago:MCS-MINI,734-164/108-000

J5:CABLECONNECTORWagoMCS-MINI734-104/107-000 or 734-105/107-000


J5:BRAKE

connectors & sIgnals: brake, feedback, Motor, & power

J5

J8J7

J6

AWG mm2 Color Mfgr PNUM A b C D E SL

14 2.5 Blue Wago 216-206 15.0(0.59) 8.0(0.31) 2.05(.08) 4.2(0.17) 4.8(0.19) 10(0.39)

16 1.5 Black Wago 216-204 14.0(0.59 8.0(0.31) 1.7(.07) 3.5(0.14) 4.0(0.16) 10(0.39)

18 1.0 Red Wago 216-223 12.0(.47) 6.0(.24) 1.4(.055) 3.0(.12) 3.5(.14) 8(.31)

20 0.75 Gray Wago 216-222 12.0(.47) 6.0(.24) 1.2(.047) 2.8(.11) 3.3(.13) 8(.31)

22 0.5 White Wago 216-221 12.0(.47) 6.0(.24) 1.0(.039) 2.6(.10) 3.1(.12) 7.5(.30)


18 1.0 Red Wago 216-223 12.0(.47) 6.0(.24) 1.4(.06) 3.0(.12) 3.5(.14) 8(.31)

20 0.75 Gray Wago 216-222 12.0(.47) 6.0(.24) 1.2(.05) 2.8(.11) 3.3(.13) 8(.31)

22 0.5 White Wago 216-221 12.0(.47) 6.0(.24) 1.0(.04) 2.6(.10) 3.1(.12) 7.5(.30)


2x18 2x1.0 Red Altech 2776.0 15.4(.61) 8.2[.32] 2.4(.09) 3.2(.13) 5.8(.23) 11.0(.43)

2x18 2x1.0 Gray Altech 2775.0 14.6(.57) 8.2(.32) 2.0(.08) 3.0(.12) 5.5(.22) 11.0(.43)

2x20 2x0.75 White Altech 2794.0 14.6(.57) 8.2(.32) 1.7(.07) 3.0(.12) 5.0(.20) 11.0(.43)

2x20 2x0.75 Gray TE 966144-2 15.0(.59) 8.0(.31) 1.70(.07) 2.8(.11) 5.0(.20) 10(.39)

2x22 2x0.50 White TE 966144-1 15.0(.59) 8.0(.31) 1.40(.06) 2.5(.10) 4.7(.19) 10(.39)

RoHS

A

B

C D E

A

B

C D

E



wIrIng

J8J7

WagoMCS-MIDIClassic:231-305/107-000(J7),231-303/107-000(J8); withscrewflange;3-pole;pinspacing5.08mm/0.2in

Conductorcapacity Barestranded: AWG28~14[0.08~2.5mm2]Insulatedferrule: AWG24~16]0.25~1.5mm2]Strippinglength: 8~9mmOperatingTool: WagoMCS-MIDIClassic:231-159

WagoMCS-MINI:734-104/107-000,femaleconnector;withscrewflange;4-pole;pinspacing3.5mm/0.138in

Conductorcapacity Barestranded: AWG28~16[0.08~1.5mm2]Insulatedferrule: AWG24~16[0.25~1.5mm2]Strippinglength: 0.24~0.28in[6~7mm]Operatingtool: WagoMCS-MINI:734-231

24V&Brake

HV&AuxMotor

Tool

Tool

FERRULEPARTNUMBERS:DOUBLEWIREINSULATED

FERRULEPARTNUMBERS:SINGLEWIREINSULATED

NOTESPNUM=PartNumberSL=StrippinglengthDimensions:mm(in)

NOTESPNUM=PartNumberSL=StrippinglengthDimensions:mm(in)

FERRULEPARTNUMBERS:SINGLEWIREINSULATED

HV/AUXPOWERANDMOTOROUTPUTS:J7&J8

24V&BRAKE:J5

J5

qty Description

1 Heatsink,standard,TEL-HS

1 Thermalpad,4x4in.

1

Kit,HeatsinkHardware,TEL

4 Washer,flat,#8

4 Screw,PAN,SEMS,#8-32x1/2in



• STANDARDHEATSINKFORSTEPNETPLUSPANELTEL • COMPLETEKITFORUSERINSTALLATIONOFTHEHEATSINK

DESCRIPTION

TheTEL-HKisakitcontainingaheatsinkandmountinghardwareforfieldinstallationofastandardheatsinkontoaTELmodelservodrive. ToorderanTELdrivewithheatsinkfittedatthefactory,add“-H”tothemodelpartnumber.

INSTALLATION

1) Placetheheatsinkfins-downonaworksurface.Orienttheheatsinksothattheedgewithpartnumberisawayfromyou.TheholefortheTELgroundinglugshouldbetoyourleft.

2) Removetheclearprotectivefilmfromthethermalmaterialanddiscardit.Placethethermalmaterialontotheheatsinkintheplacementareawhichismarkedwithfourwhite“L”.Applylightpressuretoensurethatthethermalmaterialisflat.

3) Peelthewhiteprotectivelayerawayfromthethermalmaterial.Dothisslowlyfromonecornersoasnottoliftthethermalmaterialfromtheheatsink.

4) AligntheTELasshownandlowerontotheheatsink.Ifneededtoadjusttheposition,liftitawayfromthethermalmaterialandlowerontotheheatsinkagain.

5) Installthefourmountingscrewswithflatwashersandtightenevenly.Torqueto17.8lb-in(2.0Nm)maximum.

HEATSINKKITPARTLIST

heatsInk kIt InstallatIon

Heatsink

Mounting Screws(4)

TEL Drive

Thermalmaterial

RoHS

W

2 W

4 W

6 W

8 W

10 W

12 W

14 W

16 W

disabled 0.0 A 2.5 A 5.0 A 7.5 A 10.0 A 12.5 A 15.0 A

80 V65 V50 V35 V20 V

0C

5C

10C

15C

20C

25C

30C

35C

40C

45C

50C

2W 4W 6W 8W 10W 12W 14W 16W

HSF

HSNF

NHSF

NHSNF



Quiescentpower

POWERDISSIPATIONUsethischarttofindtheWattsdissipation. TheverticaldashedlinesshowthecontinuouscurrentsforthethreeTELmodels.ExampleTEL-090-30:PowersupplyHV=65Vdc Current=12.5A Powerdissipation=10.8W

ThetopchartonthispageshowstheinternalpowerdissipationoftheTELunderdifferingpowersupplyandoutputcurrentconditions.The+HVvaluesarefortheaverageDCvoltageofthedrivepowersupply.Thelowerchartshowsthetemperaturerisevs.powerdissipationunderdifferingmountingandcoolingconditions.

therMals: power dIssIpatIon

therMals: MaXIMuM operatIng teMperature Vs. dIssIpatIon

TEL-090-30

TEL-090-14

TEL-090-06

10.8W

33 C

10.8W

HSForNHSF

HSNFNHSNF

Internal power dissipation (Watts)

Usethischarttofindthemaximumoperatingtemperatureofthedriveunderdifferingmountingandcoolingconditions.Example:Usingthe10.8Wvaluefromthecalculationsabove,drawaverticalline.Thisshowsthat33CisthemaximumoperatingtemperatureforNHSNF.ButHSFNF,NHSF,orHSFmountingsallowoperationto45Cmaximumambient.

HSF = HeatSink(with)Fan NHSF = NoHeatSink(with)Fan HSNF = HeatSinkNoFan NHSNF= NoHeatSinkNoFan

heatsink + fan °C/W

ForCED-Air, 300 LFm 0.91

heatsink, no fan °C/W

ConvECTion 2.02

no heatsInk, no fan °c/w

CONVECTION 3.46

no heatsink + fan °C/W

ForCED-Air, 300 LFm 1.32

RoHS

J5FE

ED

BA

CK

PO

WE

RM

OTO

R

BR

AK

EJ6

J7J8

J5FE

ED

BA

CK

PO

WE

RM

OTO

R

BR

AK

EJ6

J7J8

J5FE

ED

BA

CK

PO

WE

RM

OTO

R

BR

AK

EJ6

J7J8

J5FE

ED

BA

CK

PO

WE

RM

OTO

R

BR

AK

EJ6

J7J8



THERMALRESISTANCEThermalresistanceisameasureofthetemperatureriseofthedriveheatplateduetopowerdissipationinthedrive.Itisexpressedinunitsof°C/Wwherethedegreesarethetemperatureriseaboveambient.E.g.,adrivedissipating13Wmountedwithnoheatsinkorfanwouldseeatemperatureriseof45°Caboveambientbasedonthethermalresistanceof3.46°C/W.Usingthedrivemaximumheatplatetemperatureof70°Candsubtracting46°Cfromthatwouldgive24°Casthemaximumambienttemperaturethedriveinwhichthedrivecouldoperatebeforegoingintothermalshutdown.Tooperateathigherambienttemperaturesaheatsinkorforced-airwouldberequired.

MOUNTINGThermaldataforconvection-coolingwithaheatsinkassumesaverticalmountingofthedriveonathermallynon-conductingsurface.Heatsinkfinsrunparalleltothelongaxisofthedrive.Whenfan-coolingisusedverticalmountingisnotnecessarytoguaranteethermalperformanceoftheheatsink.

end vieWs vertiCal mounting

therMals: MountIng & therMal resIstance

RoHS

0.16 [4.1]

0.68 [17.1]

1.70 [43.2]

4.70 [119.4]

1.14 [28.8]

0.85 [21.6]

0.19 [4.8]

5.08 [129]

0.16 [4.1]

1.99 [50.4]

3.41 [86.6]

0.19 [4.8]

0.16 [4.1]

0.68 [17.1]

1.70 [43.2]

4.70 [119.4]

1.14 [28.8]

0.85 [21.6]

0.19 [4.8]

5.08 [129]

0.16 [4.1]

1.99 [50.4]

3.41 [86.6]

0.19 [4.8]


TElstepnet plus panel ethercat

dIMensIons: no heatsInk

Units:IN[MM]

RoHS

0.16 [4.1]1.14 [28.8]

2.25 [57.2]

4.70 [119.4] 0.19 [4.8]0.19 [4.8] 3.41 [86.6]

5.08 [129]

3.14 [79.9]

1.99 [50.4]

0.16 [4.1]1.14 [28.8]

2.25 [57.2]

4.70 [119.4] 0.19 [4.8]0.19 [4.8] 3.41 [86.6]

5.08 [129]

3.14 [79.9]

1.99 [50.4]

0.16 [4.1]1.14 [28.8]

2.25 [57.2]

4.70 [119.4] 0.19 [4.8]0.19 [4.8] 3.41 [86.6]

5.08 [129]

3.14 [79.9]

1.99 [50.4]



Units:IN[MM]

Mountingscrews: #6-32,or3.5mm

dIMensIons: heatsInk Mounted

TEL-090-07 Stepnet Plus Panel EtherCATstepperdrive,5/7A,90Vdc

TEL-090-10 Stepnet Plus Panel EtherCATstepperdrive,10/10A,90Vdc

qty ref name description Manufacturer p/n

tel-ckConnectorKit

1J8 DCHV

Plug,3position,5.08mm,female Wago:231-303/107-000(Note 1)

1 Strainrelief,snap-on,5.08mm,3position,orange Wago:232-633

1J7 Motor


1 Strainrelief,snap-on,5.08mm,4position,orange Wago:232-635

1 J7,J8 Tool Tool,wireinsertion&extraction,231series Wago:231-159

1

J5Brake


1 Strainrelief,snap-on,3.5mm,4position,grey Wago:734-604

1 Tool Tool,wireinsertion&extraction,734series Wago:734-231

1

J4 Note 2 Safety

Connector,DB-9M,9-position,standard,male TE/AMP: 205204-4

9 AMPLIMITEHD-20Crimp-Snapcontacts,24-20AWG,AUflash TE/AMP:66506-9

1 MetalBackshell,DB-9,RoHS 3M:3357-9209

4 Jumper,withpinscrimpedonbothends Copley:10-75177-01

1J1 Control

Connector,high-densityDB-44M,44position,male,soldercup Norcomp:180-044-103L001


1J6 feed-

backConnector,high-densityDB-26M,26position,male,soldercup Norcomp:180-026-103L001


SER-Ck 1 J2 RS-232 SerialCableKit

TEL-NC-10 1J3 Network

EtherCAT®networkcable,10ft(3m)

TEL-NC-01 1 EtherCAT®networkcable,1ft(0.3m)

Note1:ForRoHScompliance,append“/RN01-0000”totheWagopartnumberslistedabove

Note2:Insertion/extractiontoolforJ4contactsisAMP/Tyco91067-2(notincludedinTEL-CK)

16-01442DocumentRevisionHistoryRevision Date Remarks00 February17,2017 Initialreleasedversion



Note: Specifications subject to change without notice

EtherCATisaregisteredtrademarkandpatentedtechnology,licensedbyBeckhoffAutomationGmbH,Germany.

Add-Htomodelnumberforheatsinkinstalledatthefactory(Example:TEL-090-10-H)

Example:OrderoneStepnet Plus TELdrive,10/10A,withconnectorKit,serialcablekitandheatsinkfittedatthefactory:Qty Item Remarks 1 TEL-090-10-R-H Stepnet Plus TELservodrivewithresolver,andheatsink 1 TEL-Ck TEL ConnectorKit 1 TEL-SK SerialCableKit

Master orderIng guIde

accessorIes

Documents

dIgItal serVo drIVe for stepper Motors · system or as a master encoder for driving a cam table. As an output, it buffers the digital encoder signals from the motor’s digital encoder