Copley Controls Accelnet Plus AEV-090-14 User manual

Copley Controls Page 1 of 139
Accelnet Plus
Micro Modules AEV/APV
User Guide
16-01687 Rev 03
AEV/APV
AEZ/APZ-50-C
AEZ/APZ-50

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Table of Contents
1About This Manual ............................................................................................................................... 4
Title, Number, Revision.................................................................................................................. 4
Revision History ............................................................................................................................ 4
Overview and Scope ...................................................................................................................... 4
Original Instructions ...................................................................................................................... 4
Related Documentation .................................................................................................................. 4
EC Declaration of Conformity .......................................................................................................... 5
Abbreviations and acronyms ........................................................................................................... 6
Comments.................................................................................................................................... 7
Copyrights.................................................................................................................................... 7
Document Validity...................................................................................................................... 7
Product Warnings....................................................................................................................... 8
2Introduction ........................................................................................................................................ 9
Accelnet Plus Micro Modules Overview.............................................................................................. 9
Accelnet Plus Micro Module Models ................................................................................................ 10
3Specifications .................................................................................................................................... 11
Agency Approvals........................................................................................................................ 11
Input Power................................................................................................................................ 11
Output Power.............................................................................................................................. 12
Control Loops ............................................................................................................................. 13
Digital Command Inputs............................................................................................................... 13
Analog Inputs ............................................................................................................................. 14
Digital Inputs.............................................................................................................................. 14
Safe Torque Off (STO) ................................................................................................................. 15
Digital Outputs............................................................................................................................ 15
Encoders................................................................................................................................. 15
Multi-Port Input / Output .......................................................................................................... 17
Serial Interface........................................................................................................................ 18
Network Interfaces................................................................................................................... 19
EtherCAT Interface: AEV models................................................................................................ 20
CAN Architecture: APV models................................................................................................... 21
Status Indicators ..................................................................................................................... 21
Fault Levels............................................................................................................................. 22
Dimensions ............................................................................................................................. 23
Mechanical and Environmental................................................................................................... 25
Thermals ................................................................................................................................ 26
Operating Temperature and Cooling Configurations...................................................................... 29
EZ Board Pins Heatsink Mounting............................................................................................... 30
4Connections and Wiring - Modules ..................................................................................................... 31
AEV PC Board Connectors and Pinout............................................................................................. 32
APV PC Board Connectors and Pinout............................................................................................. 33
Mounting Configurations............................................................................................................... 34
Integration Guidelines for AEV & APV Modules................................................................................. 37
Grounding Considerations............................................................................................................. 39
EtherCAT Communications ........................................................................................................... 42
RS-232 Communications .............................................................................................................. 42
Digital Command Inputs: Position.................................................................................................. 43
Digital Command Inputs: Velocity, Torque...................................................................................... 43
Multi-Mode Port as an Input ...................................................................................................... 44
Multi-Mode Port as an Output .................................................................................................... 45
CME Defaults........................................................................................................................... 46
High Speed Inputs: IN1, IN2, IN3, IN4, IN5, 1N6 ........................................................................ 47
Analog Input: AIN1 .................................................................................................................. 48
Digital Outputs: Out1~Out6 ...................................................................................................... 48
SLI (Switch & LED Interface) PORT ............................................................................................ 49
Encoder 1 (Primary Feedback)................................................................................................... 49
Analog Encoder ....................................................................................................................... 52
Other Motor Connections .......................................................................................................... 52
VLOGIC .................................................................................................................................. 53
Typical Connections ................................................................................................................. 54
5Connections and Wiring EZ Boards.................................................................................................. 55
Safe Torque Off........................................................................................................................... 64
RS-232 Serial Communications ..................................................................................................... 67
Network Ports ............................................................................................................................. 68
Control I/O ................................................................................................................................. 70
EZ Board Indicators..................................................................................................................... 79
EZ Development Board Indicators ................................................................................................. 81

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Motor Feedback........................................................................................................................... 84
EZ Development Board Pins Heatsink Mounting............................................................................... 90
6Safe Torque Off (STO) Use, Connections and Wiring ....................................................................... 91
STO Reference Standards............................................................................................................. 93
STO Architecture and Function ...................................................................................................... 94
STO Channel Operation................................................................................................................ 95
STO Function Specifications .......................................................................................................... 96
Environmental Specifications ........................................................................................................ 97
Safety Related Parameters ........................................................................................................... 97
Regulatory Specifications ............................................................................................................. 97
Limitations and Necessary Risk Reductions ..................................................................................... 98
PC Board Design for STO.............................................................................................................101
Installation Overview...............................................................................................................102
STO: Installation for AEV & APV Modules ...................................................................................104
STO: Installation for AEZ & APZ Models .....................................................................................110
7Operational Theory .......................................................................................................................... 113
Drive Input Power ......................................................................................................................113
Commutation Modes ...................................................................................................................114
Feedback...................................................................................................................................114
Synchronization .........................................................................................................................114
Input Command Types................................................................................................................115
Communications ........................................................................................................................120
Brake Operation.........................................................................................................................124
Protection..................................................................................................................................126
Position and Velocity Errors .........................................................................................................128
Digital Inputs .........................................................................................................................130
Analog Inputs.........................................................................................................................131
Outputs .................................................................................................................................131
Appendix ............................................................................................................................................132
A: Connecting AEZ/APZ for Serial Control............................................................................................134
B: Ordering Guide and Accessories .....................................................................................................135

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1ABOUT THIS MANUAL
TITLE,NUMBER,REVISION
Title
Accelnet Plus Micro Modules User Guide
Document Number
16-01687
Current Revision
03
REVISION HISTORY
Revision
Date
Comments
00
March 10, 2020
Initial Release
01
March 27, 2020
Beta Release
02
April 22, 2020
Official Release
03
October 21, 2020

contain the labels shown in the Reference Design
schematics. Other columns show the labels that
have been used in the datasheets and manuals.
OVERVIEW AND SCOPE
This manual describes the operation and installation of the AEV and APV Accelnet Plus
Micro Module drives manufactured by Copley Controls. All Accelnet Plus Micro Module
products have serial numbers that incorporate the week and year of production into the
first 4 digits (WWYY) of the serial number.
ORIGINAL INSTRUCTIONS
         ined in EC Directive
2006/42/EC and the contents have been verified by Copley Controls.
RELATED DOCUMENTATION
The following documents can be found on the Copley Controls web-site:
https://www.copleycontrols.com/en/support/
•
•
•Indexer 2 User Guide (describes use of Indexer Program to create motion control
sequences)
•   (describes how to send ASCII format commands over a

•Parameter Dictionary
•Encoder Guide

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EC DECLARATION OF CONFORMITY

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ABBREVIATIONS AND ACRONYMS
Acronym
Description
Safety-Related
a,b,c,d,e
Denotation of performance level (PL)
Cat
Category
CCF
Common Cause Failure
DC
Diagnostic Coverage
EMC
Electro Magnetic Compatibility
HFT
Hardware Fault Tolerance
MTTF
Mean Time to Failure
MTTFd
Mean Time to Dangerous Failure
PDS(SR)
Power Drive Systems (Safety Related)
PE
Protective Earth
PELV
Protected Extra Low Voltage (power supply)
PFD
Probability of Dangerous Failure upon Demand
PFH
Probability of Failure per Hour
PL
Performance Level
PWM
Pulse Width Modulation
S, S1, S2
Severity of Injury
SELV
Safety Extra Low Voltage (power supply)
SFF
Safety Failure Fraction
SIL
Safety Integrity Level
SIL CL
Safety Integrity Level Claim Limit, SIL Capability
STO
Safe Torque Off
Vdc
Volts DC (Direct Current)
Copley Controls Related
AEV
Accelnet Plus Micro Module EtherCAT
AEZ
Accelnet Plus Micro Module EtherCAT + EZ board
APV
Accelnet Plus Micro Module CANopen
APZ
Accelnet Plus Micro Module CANopen + EZ board

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COMMENTS
Copley Controls welcomes your comments on this manual. For contact information, see
www.copleycontrols.com.
COPYRIGHTS
No part of this document may be reproduced in any form or by any means, electronic or
mechanical, including photocopying, without express written permission of Copley
Controls.
AEV, APV, AEZ and APZ are registered trademarks of Copley Controls.
CME is a registered trademark of Copley Controls.
Windows XP, Windows 7, Visual Basic, and .NET are trademarks or registered trademarks
of the Microsoft Corporation.
EtherCAT is a registered trademark and patented technology, licensed by
Beckhoff Automation GmbH, Germany.
DOCUMENT VALIDITY
We reserve the right to modify our products. The information in this document is subject
to change without notice and does not represent a commitment by Copley Controls. Copley
Controls assumes no responsibility for any errors that may appear in this document.

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PRODUCT WARNINGS
DANGER
DANGER: HAZARDOUS VOLTAGES.
Exercise caution when installing and adjusting. Persons responsible for installing and commissioning
Accelnet Plus Micro Module servo drives must be experienced in all aspects of electrical equipment
installations.
FAILURE TO HEED THIS WARNING CAN CAUSE EQUIPMENT DAMAGE, INJURY, OR DEATH.
DANGER
RISK OF ELECTRIC SHOCK.
DC Supplies used to power Accelnet Plus Micro Module drives must be transformer-isolated and
provide reinforced insulation from AC mains power.
FAILURE TO HEED THIS WARNING CAN CAUSE EQUIPMENT DAMAGE, INJURY, OR DEATH.
DANGER
RISK OF UNEXPECTED MOTION WITH NON-LATCHED FAULTS.
After the cause of a non-latched fault is corrected, the drive re-enables the PWM output stage
without operator intervention. In this case, motion may re-start unexpectedly. Configure faults as
latched unless a specific situation calls for non-latched behavior. When using non-latched faults, be
sure to safeguard against unexpected motion.
FAILURE TO HEED THIS WARNING CAN CAUSE EQUIPMENT DAMAGE, INJURY, OR DEATH.
DANGER
USING CME OR SERIAL COMMANDS MAY AFFECT OR SUSPEND CAN OR ETHERCAT
OPERATIONS.
When operating the drive as a CAN or EtherCAT node over a network, the use of CME or ASCII
serial commands may affect network operations in progress. Using such commands to initiate
motion may cause network operations to suspend. Network operations may restart unexpectedly
when the commanded motion is stopped.
FAILURE TO HEED THIS WARNING CAN CAUSE EQUIPMENT DAMAGE, INJURY, OR DEATH.
DANGER
LATCHING AN OUTPUT DOES NOT ELIMINATE THE RISK OF UNEXPECTED MOTION
WITH NON-LATCHED FAULTS.
Associating a fault with a latched, custom-configured output does not latch the fault itself. After the
cause of a non-latched fault is corrected, the drive re-enables without operator intervention. In this
case, motion may re-start unexpectedly.
FAILURE TO HEED THIS WARNING CAN CAUSE EQUIPMENT DAMAGE, INJURY, OR DEATH.
DANGER
USE EQUIPMENT AS DESCRIBED.
Operate drives within the specifications provided in this manual.
FAILURE TO HEED THIS WARNING CAN CAUSE EQUIPMENT DAMAGE, INJURY, OR DEATH.
DANGER
REFER TO SECTIONS 5, 6, & 7 OF THIS DOCUMENT
The information provided in these sections of this document must be considered
for any application using the STO feature.
FAILURE TO HEED THIS WARNING CAN CAUSE EQUIPMENT DAMAGE, INJURY, OR DEATH.
WARNING
DO NOT PLUG OR UNPLUG CONNECTORS WITH POWER APPLIED.
The connecting or disconnecting of cables while the drive has VLOGIC and/or +HV power applied is
not recommended.
FAILURE TO HEED THIS WARNING MAY CAUSE EQUIPMENT DAMAGE.
DANGER
REFER TO THE INFORMATION IN SECTION 6 OF THIS USER MANUAL REGARDING STO
AND FUNCTIONAL SAFETY.
The information provided within must be considered for any application using the STO feature
FAILURE TO HEED THIS WARNING MAY CAUSE EQUIPMENT DAMAGE, INJURY OR DEATH
WARNING
Models AEV-EZ-090, AEV-EZ-180, APV-EZ-090 and the APV-EZ-180 EZ boards are not compatible
with and must not be used with the AEV-090-50, AEV-090-50-C, APV-090-50 or APV-090-50-C
Accelnet Micro Modules.
Refer to models AEZ-090-50, AEZ-090-50-C, APZ-090-50 and APZ-090-50-C instead.
Failure to heed this warning may cause equipment damage or injury.
Observe all relevant state, regional and local safety regulations when installing and using this product. Be
sure that all wiring complies with the National Electrical Code (NEC) or its national equivalent, and all
prevailing local codes. There are no user serviceable parts in the Accelnet Plus Micro Module servo drives.
!
!
!
!
!
!
!
!
!
!

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2INTRODUCTION
ACCELNET PLUS MICRO MODULES OVERVIEW
The Accelnet Plus Micro Module drives provide 100% digital control of brushless or brush servo
motors in DC powered module packages. All of these models provide a Safe Torque Off (STO)
function. Two opto-couplers are provided which, when de-energized, prevent the upper and lower
devices in the PWM outputs from being operated by the digital control core. This provides a positive
OFF capability that cannot be overridden by the control firmware, or associated hardware
components. When the opto-couplers are energized (current is flowing through the input diodes),
the control core will be able to control the on/off state of the PWM outputs. For more information on
STO for these models,
see Section 6.
All models support a wide range of feedback devices. These include digital quadrature encoders,
analog Sin/Cos encoders, EnDat, BiSS, SSI Absolute A encoders and digital Halls.
Accelnet Plus Micro Modules models can operate in several basic ways:
•AEV & AEZ models operate as slave devices on an EtherCAT network. Servo drives can perform the
CoE (CANopen protocol over EtherCAT) operating modes with the additional cyclic-synchronous
position, velocity, and torque modes.
•APV & APZ models can be nodes on a CANopen network. CANopen compliance allows the drive to
take instruction from a master application to perform torque, velocity, and position profiling,
interpolated position, and homing operations. Multiple drives can be tightly synchronized for high
performance coordinated motion.
•All models can receive current, velocity or position commands from an external controller. In
current and velocity modes they can accept ±10 Vdc analog, digital 50% PWM or PWM/polarity
inputs. In position mode, inputs can be incremental position commands from step-motor controllers
in Pulse and Direction or Count Up/Count Down format, as well as A/B quadrature commands from
a master-encoder. Pulse-to-position ratio is programmable for electronic gearing.
•Controlled directly over an RS-232 serial link with simple ASCII format commands.
•All models can work as stand-alone controllers running CVM control programs with Indexer 2.
AEV/APV
AEZ/APZ-50
AEZ/APZ-50-C

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ACCELNET PLUS MICRO MODULE MODELS
Network
Models
Ic
Ip
+HV
VLOGIC
EtherCAT
AEV-090-14
7
14
9~90
9~60
AEV-090-30
15
30
AEV-090-50
25
50
AEZ-090-50 *
AEV-090-50-C
50
50
AEZ-090-50-C **
AEV-180-10
5
10
20~180
AEV-180-20
10
20
CANopen
APV-090-14
7
14
9~90
APV-090-30
15
30
APV-090-50
25
50
APZ-090-50 *
APV-090-50-C
50
50
APZ-090-50-C **
APV-180-10
5
10
20~180
APV-180-20
10
20
Ic = Continuous Output Current, Adc (peak of sine)
Ip = Peak Output Current, Adc (peak of sine)
+HV = Power supply voltage for PWM outputs to motors (DC, line-isolated)
VLOGIC = Power supply for the drives control circuits and external encoder +5 Vdc
* AEZ-090-50 is an AEV-090-50 soldered into an AEV EZ Board
APZ-090-50 is an APV-090-50 soldered into an APV EZ Board
** AEZ-090-50-C is an AEV-090-50-C soldered into an AEV EZ Development Board
APZ-090-50-C is an APV-090-50-C soldered into an APV EZ Development Board

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3SPECIFICATIONS
AGENCY APPROVALS
Specification
Requirement
Approvals
UL and cUL recognized component to UL 61800-5-1
UL Functional Safety to IEC 61800-5-2,
EMC to IEC 61800-3
Functional Safety
IEC 61508-1, IEC 61508-2, IEC 61508-3, EN (ISO) 13849-1,
ISO 13849-2, IEC 61800-5-2.
Electrical Safety
Directive 2014/35/EU Low Voltage, UL 61800-5-1:2016
Machinery
Directive 2006/42/EC
EMC
Directive 2014/30/EU
IEC 61800-3:2017, Category C3
Markings
Label is visible on PC board
Hazardous
Substances
Lead free and RoHS compliant
INPUT POWER
+HV is required for operation of the drives. VLOGIC is optional for supply voltages <= 60
Vdc and powers the communications, feedback, and I/O functions but not the PWM outputs.
VLOGIC is recommended for drives operating on a control network because it enables the
network master to maintain communication with the drives when the +HV has been
removed, most commonly for safety or EMO (Emergency Off) conditions.
Specification
AEV-090-14
APV-090-14
AEV-090-30
APV-090-30
AEV-090-50
APV-090-50
AEV-090-50-C
APV-090-50-C
AEZ-090-50
APZ-090-50
AEZ-090-50-C
APZ-090-50-C
AEV-180-10
APV-180-10
AEV-180-20
APV-180-20
+HV Voltage
+9 to +90 Vdc
+20 to +180 Vdc
+HV Current
Peak *
14
30
50
50
50
50
10
20
+HV Time
Peak (sec)
1
+HV Current
Cont.
7
15
25
50
25
50
5
10
VLOGIC Vdc
+9 to +60
VLOGIC
Power **
4 W with no encoders, 6.6 W with two encoders, +5V @ 500 mA
* The actual +HV current is dependent on the input voltage and motor load and operating conditions.
The Maximum +HV currents shown above occur when the drive is operating from the maximum input voltage and is
producing the rated continuous output current at the maximum output voltage. Unit is Adc.
** VLOGIC supply current depends on the number of encoders connected to the drive.
The maximum current draw given assumes that the encoder +5V output is loaded to 500mA Unit is Vdc

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OUTPUT POWER
Specification
AEV-090-14
APV-090-14
AEV-090-30
APV-090-30
AEV-090-50
APV-090-50
AEV-090-50-C
APV-090-50-C
AEZ-090-50
APZ-090-50
AEZ-090-50-C
APZ-090-50-C
AEV-180-10
APV-180-10
AEV-180-20
APV-180-20
Peak Current
Adc *
14
30
50
50
50
50
10
20
Peak Current
Arms *
9.9
21.2
35.4
35.4
35.4
35.4
7.07
14.1
Peak Current
Time (s)
1
Continuous
Current Adc**
7
15
25
50
25
50
5
10
Continuous
Current Arms
**
4.95
10.6
17.7
35.4
17.7
35.4
3.54
7.07
Peak Output
Power (kW)
1.26
2.7
4.5
4.5
4.5
4.5
1.8
3.6
Cont. Output
Power (kW)
0.63
1.35
2.25
4.5
2.25
4.5
0.9
1.8
Efficiency
>97% @ rated max Vdc and rated continuous current
Output Type
3-phase MOSFET inverter, 16 kHz center-weighted PWM space-vector modulation
PWM Ripple
Frequency
32 kHz
Minimum Load
Inductance
400 µH line-to-line ***
* Adc is peak of sine, Arms is RMS of sine
** Heat sinking and/or forced air cooling may be required for continuous output power rating
*** Consult factory for operation with inductance lower than 400 µH

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CONTROL LOOPS
Type
Current
Velocity
Position
100% digital.
Sampling rate (time)
Current
Velocity
Position
16 kHz (62.5 µs)
4 kHz (250 µs)
4 kHz (250 µs)
Current Loop Small Signal
Bandwidth
> 2.5 kHz (Typical, tuning and load impedance dependent)
Digital Filters
Programmable:
Analog Reference Input
Velocity Loop Input
Velocity Loop Output1
Velocity Loop Output2
Velocity Loop Output3
Current Loop Input1
Current Loop Input2
Input Shaping
Velocity loop output filter1 default: is 200 Hz low pass.
Bus Voltage Compensation
Changes in +HV voltage do not affect tuning.
DIGITAL COMMAND INPUTS
Digital Position Command
Pulse and direction,
Count up / Count down
Maximum rate:
2 MHz (with active driver)
Pulse, count minimum
width
220 ns
Quadrature A/B encoder
maximum rate
2 M line/sec (8 M count/sec after
quadrature)
Digital Current & Velocity
Command
PWM and Polarity
PWM = 0~100%, Polarity = 1/0
PWM Frequency: 1~100 kHz
PWM 50%
PWM: 50% ±50%, 1~100 kHz
PWM Minimum pulse width
220 ns
Indexing
Up to 32 sequences can be launched from digital inputs or
ASCII commands
Camming
Up to 10 CAM tables can be stored in flash memory
Serial ASCII
RS-232 *, 9600~230,400 Baud, 3-wire
* Format is RS-232, TxD, RxD, Gnd but voltage levels are TTL.
An external circuit is required if RS-232 voltages are needed.
This circuit is provided in the EZ Boards and EZ Development Boards.

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ANALOG INPUTS
Update rate (scan time) is 16 kHz (62.5 µs)
Specification
Data
Channels
1
Name
AIN1
Type
Differential, non-isolated
Measurement Range
±10 Vdc
Maximum Differential Input Voltage
Maximum Input Voltage to Ground
±10 Vdc
±10 Vdc
Input Impedance
5.09 k
Resolution
16 Bit
Anti-aliasing filter -3 dB frequency
14 kHz
Function
Programmable: current, velocity, or position command
General purpose analog input.
DIGITAL INPUTS
Update rate (scan time) is 4 kHz (250 µs)
Functions programmable
Debounce time: 0~10,000 ms
* The default functions of these inputs are programmable to other functions.
SLI is Switch & LED Interface where outputs and an input work together to read network
address switches and control LEDs that indicate the drive status and operating state.
When not used for the SLI function the outputs and input can be programmed for other
functions.
Specification
IN1~IN6
IN7
Type
Schmitt trigger w/ RC filter,
3.3 V logic
Schmitt trigger w/ RC filter,
5.0 V logic
RC Filter
1k / 100pF (100 ns when driven by active source)
Pull-up to +5V
10k
Input Voltage Range
0~6 Vdc
Logic Low Input
Voltage
0.68~1.6 Vdc
0.55~1.30 Vdc
Logic High Input
Voltage
1.42~2.38 Vdc
1.30~2.0 Vdc
Input Hysteresis
0.44~1.26 Vdc
0.40~0.79 Vdc
Default Function
IN1 Enable *
IN2 Not Configured
MISO input for SLI mode *

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SAFE TORQUE OFF (STO)
Refer to Section 6 for specifications related to this function.
DIGITAL OUTPUTS
Specification
Data
Channels
6 (OUT1~6)
Outputs
OUT1~OUT3*
OUT4~6
Type
HCT CMOS inverters, 5 V, 74HCT2G14
LVC CMOS inverters, 3.3 V, 74LVC3G14
Sourcing
-8 mA @ VOH = 2.4 Vdc
-24 mA @ VOH = 2.3 Vdc
Sinking
6 mA @ VOL = 0.5 Vdc
24 mA @ VOL = 0.55 Vdc
Function
Brake / Programmable
SLI Port / Programmable
*Note: OUT3 is wired to and controls a dedicated Brake output on the AEZ and APZ models. See Section
5 for specification details for this dedicated Brake circuit and its function.
ENCODERS
ENCODER +5V POWER OUTPUT
Specification
Data
Number
1
Voltage Output
+5 Vdc ±2%
Maximum Current Output
500 mA
Short Circuit Protection
Thermal and short-circuit protected
Function
Provides power for motor encoders and/or Hall switches.
Shared by all encoders & Halls
PRIMARY ENCODER INPUTS
DIGITAL INCREMENTAL ENCODERS
Specification
Data
Channels
3: A, B, X
Type
A, X: MAX3362 Differential RS-422 line driver/receiver. Non-isolated
B: MAX3281 Differential RS-422 line receiver
Signals
A, /A, B, /B, X, /X for incremental, Clk, /Clk, Data, /Data for absolute
Input Voltage Range
-7 to +12 V common-mode
Input Voltage Hysteresis
25 mV
Differential Input Threshold
±200 mVdc
Termination Resistance
-up to +5V from X,
-down to Sgnd from /X

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Maximum Frequency
5 MHz Line (20 Mcount/sec)
Encoder Loss Detection
AEV, APV: None. AEZ, APZ: Loss detection circuity is wired to IN6. See
Section 5 for details.
DIGITAL HALL SENSORS
Specification
Data
Channels
3 (U, V and W)
Type
74LVC3G17 Schmitt trigger 3.3 V
15 kpull up resistor to internal +5 Vdc
Input Voltage Range
0 Vdc ~ +24 Vdc
Low Level Input Voltage
< + 1.3~2.2 Vdc
High Level Input Voltage
> 2.5~3.5 Vdc
Hysteresis Voltage
0.7~1.5 Vdc
Timing
Edge detection.
RC Filter Time Constant
1.5 Sec when driven by active sources.
Function
Commutation of brushless motors in trapezoidal mode.
Commutation initialization and phase error detection in sinusoidal
mode.
ANALOG (SIN/COS)INCREMENTAL ENCODERS
Specification
Data
Channels
2
Type
Differential, non-isolated with zero-crossing detection
Signals
Sin(+), Sin(-), Cos(+), Cos(-)
Nominal Voltage
1 Vpk-pk ±20%
Maximum Voltage
Differential
Input to Ground
±0.6 Vdc
0 to +3.5 Vdc
Termination Resistance

Bandwidth
300 kHz
Interpolation
1 to 1024, programmable
Resolution
16 bit

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MULTI-PORT INPUT /OUTPUT
The Multi-Port consists of three MAX3362 digital differential bi-directional transceivers.
These provide the following modes of operation:
•Position Command Input
•Current / Velocity Command Input
•Secondary Encoder Input
•Buffered or emulated encoder Output
Specification
Data
Channels
3 Differential: A, B, X
Type
A, X: MAX3362 Differential RS-422 line driver/receiver. Non-isolated
B: MAX3281 Differential RS-422 line receiver
Signals
A, /A, B, /B, X, /X for incremental, Clk, /Clk, Data, /Data for absolute
Input Voltage Range
-7 to +12 V common-mode
Input Voltage Hysteresis
25 mV
Differential Input Threshold
±200 mVdc
Termination Resistance
-up to +5V from X,
-down to Sgnd from /X
Maximum Frequency
5 MHz Line (20 Mcount/sec)
Encoder Loss Detection
None
Direction
Mode
Data
Input
Commanded Position
Pulse / Direction, Count-up / Count-down
Commanded Velocity
PWM / Direction, PWM Magnitude 50%
Secondary Encoder Input
Incremental digital A/B/X, Absolute bidirectional or Clock / Data
Output
Buffered Encoder
Digital incremental A/B/X channels
Emulated Encoder
Emulated A/B channels from Sin/Cos or digital absolute encoder

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SERIAL INTERFACE
The serial port operates the same in all Accelnet Plus Micro Module models.
After a power-on or drive reset, the Baud rate defaults to 9600.
Thereafter, it can be set to a higher rate by setting ASCII parameter 0x90 to the desired
rate:
Common settings used are: 9600, 19200, 57600, and 115,300 (230,400 maximum) Baud.
After sending 0x90, the drive will reply immediately at the higher Baud rate so the sender
should wait some time (10 ms or more) before resuming communications with the drive
at the newly programmed higher rate.
AEV & APV RxD & TxD signal levels are 3.3 V LVTTL. For actual RS-232 voltage levels
external components are necessary. The AEZ and APZ models have these components on
the EZ boards and can connect directly to RS-232 sources.
Parameter
Data
Channels
1, full-duplex
Type
AEV, APV: LVTTL: 74LVC2G14, 3.3 V.
AEZ, APZ: RS-232 transceiver
Signals
Rxd, Txd, Gnd
Baud Rate
9600, 19200, 57600, 115,200, 230,400
(defaults to 9600 on power up or reset)
Data Format
N, 8, 1
Flow Control
None
Protocol
Binary or ASCII format

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NETWORK INTERFACES
Specification
AEV, AEZ
APV, APZ
Signals
Ethernet 100BASE-TX:
RX1+, RX1-, TX1+, TX1-
RX2+, RX2-, TX2+, TX2-
CAN_H, CAN_L, CAN_Gnd
(CAN +5 Vdc Pass though only)
Isolation
Magnetics
External required for AEV
Integral in EZ board and
EZ Development Board
RJ-45 sockets
2-channel isolated transceiver on
APV feeds through directly to sockets
on APZ and EZ board
Data Format
EtherCAT
CAN V2.0b physical layer for high-
speed connections compliant
Protocol
CANopen Application protocol
over EtherCAT (CoE) based on
CiA 402
CiA 402: CANopen device profile for
drives and motion control
Supported Modes
Cyclic Synchronous Position,
Velocity, Torque (CSP, CSV, CST),
Cyclic Synchronous Torque with
Commutation Angle (CSTCA),
Profile Current, Velocity, and
Position, PVT, and Homing
Profile Current, Velocity, and
Position, PVT, and Homing.
Node Address
Selection
AEV: Slaves are automatically
assigned addresses based on
their position on the bus. Station
Alias address can be saved to
flash memory.
AEZ: Two 16-position
hexadecimal rotary switches
define a cabling-independent
Station Alias.
APV: Node address can be defined by
inputs, or saved to flash memory
APZ: Two 16-position hexadecimal
rotary switches on EZ board.
OR programmable digital inputs
OR stored in flash memory
OR combination of above.
Cable
AEZ: Cat 5 or Cat-5e minimum
100 m maximum length between
nodes
APZ: Cat 5 or Cat-5e minimum with
121 terminator across CAN_H and
CAN_L on last node in the chain.
Bus Termination
No termination required.
A 121 resistor across CAN_H and
CAN_L at the CAN master, and at the
last device on the CAN network.

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ETHERCAT INTERFACE:AEV MODELS
The Accelnet Plus Micro Modules accept CAN application protocol over EtherCAT (CoE)
commands. EtherCAT supports two types of addressing nodes on the network: auto-
increment and fixed. Nodes on an EtherCAT network are automatically addressed by their
physical position on the network. The first drive found on the network is auto-increment
address -1 (0xFFFF). The second is -2 (0xFFFE), and so on. Fixed addresses are assigned
by the master when it scans the network to identify all of the nodes and are independent
of the physical position on the network. Fixed addresses begin with 1001 (0x3E9) and
increment thereafter as nodes are found.
As an alternate to the default addressing, switches S1 and S2 may be used to program a
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alias guarantees that a given drive can be accessed independently of the cabling
configuration.
The fixed address and station alias are always available. If the switch-based station alias is used, it is the responsibility of the
user to ensure that each drive has a unique station alias.
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