Copley Controls Accelnet Plus BEL Series User manual

Accelnet & Stepnet
Plus Panels
User Guide
16-01339
Revision 07
September 16, 2021

Accelnet & Stepnet Plus Panels User Guide 16-01339 Rev 07
Contents
1About This Manual...........................................................................................................................................................................4
1.1 Title, Number, Revision............................................................................................................................................................4
1.2 Revision History.......................................................................................................................................................................4
1.3 Overview and Scope................................................................................................................................................................4
1.4 Original Instructions.................................................................................................................................................................4
1.5 Related Documentation ...........................................................................................................................................................4
1.6 EC Declaration of Conformity –Contents................................................................................................................................5
1.6.1 EC Declaration of Conformity for Accelnet Plus BE2 BP2.......................................................................................5
1.6.2 EC Declaration of Conformity for Accelnet Plus BEL BPL.......................................................................................6
1.6.3 EC Declaration of Conformity for Stepnet Plus TE2 TP2.........................................................................................7
1.6.4 EC Declaration of Conformity for Stepnet Plus TEL TPL.........................................................................................8
1.7 Comments................................................................................................................................................................................9
1.8 Copyrights................................................................................................................................................................................9
1.9 Document Validity....................................................................................................................................................................9
1.10 Product Warnings..................................................................................................................................................................9
2Introduction....................................................................................................................................................................................11
2.1 Accelnet & Stepnet Plus Panels Overview ............................................................................................................................11
2.2 Accelnet Plus Panel Models ..................................................................................................................................................12
2.3Stepnet Plus Panel Models....................................................................................................................................................12
2.4 CME.......................................................................................................................................................................................13
2.5 CVM (Copley Virtual Machine, Indexer 2)..............................................................................................................................13
2.6 CMO (Copley Motion Objects)...............................................................................................................................................13
2.7 CML (Copley Motion Libraries) ..............................................................................................................................................13
2.8 CPL (Copley Programming Language)..................................................................................................................................13
3Operational Theory........................................................................................................................................................................14
3.1 Drive Input Power ..................................................................................................................................................................14
3.2 Commutation Modes..............................................................................................................................................................15
3.3 Feedback...............................................................................................................................................................................15
3.4 Operating Modes ...................................................................................................................................................................16
Current Loop Inputs...............................................................................................................................................................18
Velocity Mode and Velocity Loop...........................................................................................................................................19
Position Mode and Position Loop ..........................................................................................................................................22
3.5 Input Command Types...........................................................................................................................................................24
3.6 Communications....................................................................................................................................................................29
3.7 Limit Switches........................................................................................................................................................................34
3.8 Brake Operation.....................................................................................................................................................................35
3.9 Protection...............................................................................................................................................................................37
3.10 Position and Velocity Errors.................................................................................................................................................39
3.11 Digital Inputs BEL,BPL, BML,TEL ......................................................................................................................................41
Digital Inputs..........................................................................................................................................................................41
Analog Inputs.........................................................................................................................................................................41
3.12 Inputs: BE2, BP2, TE2, TP2................................................................................................................................................41
Analog Inputs.........................................................................................................................................................................42
3.13 Outputs: BEL, BPL, BML, TEL.............................................................................................................................................42
3.14 Outputs: BE2, BP2, TE2 and TP2 .......................................................................................................................................42
4Specifications.................................................................................................................................................................................43
4.1 DC Input Power......................................................................................................................................................................43
Single-Axis Servo Models: BEL, BPL, BML...........................................................................................................................43
Dual-Axis Servo Models: BE2, BP2.......................................................................................................................................43
Single-Axis Stepper Model: TEL............................................................................................................................................44
Dual-Axis Stepper Models: TE2, TP2 ....................................................................................................................................44
4.2 Power Output.........................................................................................................................................................................45
Single-Axis Servo Models: BEL, BPL, BML...........................................................................................................................45
Dual-Axis Servo Models: BE2, BP2.......................................................................................................................................45
Single-Axis Stepper Model: TEL............................................................................................................................................46
Dual-Axis Stepper Models: TE2, TP2 ....................................................................................................................................46
4.3 Control Loops.........................................................................................................................................................................47
4.4 Digital Command Input ..........................................................................................................................................................47
4.5 Analog Inputs.........................................................................................................................................................................48
BEL, BPL, BML, TEL .............................................................................................................................................................48
BE2, BP2, TE2, TP2..............................................................................................................................................................48
4.6 Digital Inputs..........................................................................................................................................................................49
BEL, BPL, BML, TEL .............................................................................................................................................................49
BE2, BP2, TE2, TP2..............................................................................................................................................................49
4.7 Digital Outputs .......................................................................................................................................................................50
BEL, BPL, BML, TEL .............................................................................................................................................................50
BE2, BP2, TE2, TP2..............................................................................................................................................................50

Accelnet & Stepnet Plus Panels User Guide 16-01339 Rev 07
4.8 Encoder +5V Power Output...................................................................................................................................................51
BEL, BPL, BML, TEL .............................................................................................................................................................51
BE2, BP2, TE2, TP2..............................................................................................................................................................51
4.9 Primary Encoder Inputs .........................................................................................................................................................51
Digital Encoders.....................................................................................................................................................................51
Analog (Sin/Cos) Incremental Encoders................................................................................................................................52
4.10 Digital Hall Sensor Inputs ....................................................................................................................................................52
BEL, BPL, BML, BE2, BP2 ....................................................................................................................................................52
4.11 Resolver Feedback..............................................................................................................................................................53
BEL, BPL, BE2, BP2..............................................................................................................................................................53
4.12 Multi-Mode Port ...................................................................................................................................................................53
4.13 Serial Interface.....................................................................................................................................................................54
4.14 Network Interfaces...............................................................................................................................................................55
4.15 Status Indicators..................................................................................................................................................................56
Drive Status Indicator.............................................................................................................................................................56
Network Status Indicators......................................................................................................................................................57
4.16 Fault Levels .........................................................................................................................................................................58
4.17 Operating Temperature and Cooling Configurations...........................................................................................................58
4.18 Mechanical and Environmental............................................................................................................................................63
4.19 Agency Standards & Conformance .....................................................................................................................................65
4.20 Dimensions..........................................................................................................................................................................66
5Wiring & Connections....................................................................................................................................................................68
5.1 Electrical Codes and Warnings..............................................................................................................................................68
5.2 Grounding Considerations .....................................................................................................................................................69
5.3 Connector Locations..............................................................................................................................................................73
5.4 Power Connector Locations –Accelnet Models ....................................................................................................................75
BEL, BPL, BE2, BP2 - Motor Connectors..............................................................................................................................76
5.5 Power Connector Locations –Stepnet Models......................................................................................................................77
5.6 TEL, TE2, TP2 Motor Connectors..........................................................................................................................................78
5.7 Motor Brake Connector..........................................................................................................................................................79
BEL, BPL, BML,TEL BE2, BP2, TE2, TP2.........................................................................................................................80
5.8 Safe Torque Off .....................................................................................................................................................................81
5.9 RS-232 Serial Communications.............................................................................................................................................83
5.10 Network Ports......................................................................................................................................................................84
EtherCAT: BEL, BE2, TEL, TE2 ...........................................................................................................................................84
5.11 Control I/O ...........................................................................................................................................................................86
5.11.1 Multi-Mode Port......................................................................................................................................................97
5.12 Motor Feedback.................................................................................................................................................................102
6Appendix.......................................................................................................................................................................................108
A: I2T Time Limit Algorithm.......................................................................................................................................................108
B: Connecting BPL/BP2/TP2 for Serial Control........................................................................................................................110
C: Ordering Guide and Accessories.........................................................................................................................................111

Accelnet & Stepnet Plus Panels User Guide 16-01339 Rev 07
1 ABOUT THIS MANUAL
1.1 TITLE,NUMBER,REVISION
Title
Accelnet & Stepnet Plus Panels User Guide
Document Number
16-01339
Current Revision
07
1.2 REVISION HISTORY
Revision
Date
ECO
Comments
AA
December 30, 2014
ECO-056909
Originated from 16-01169 Rev 00
00
March 23, 2015
ECO-057405
Updated PE and grounding graphics
01
February 23, 2017
ECO-065615
Add BML models
02
March 21, 2017
ECO-066296
Update to reflect EN 61800-5-2:2007
03
April 18, 2018
ECO-069980
Changed the analog input pin 3 to pin 34
04
June 27, 2019
ECO-073565
Pin out typos for the Power Pins fixed
05
October 22, 2020
ECO-077762
Update to reflect IEC 61800-5-2:2016
06
December 8, 2020
ECO-078133
Update to reflect latest edition of IEC 61800-3
and IEC 61800-5-1
07
September 16, 2021
ECO-080110
Update to relfect changes to front panel brake
signals
1.3 OVERVIEW AND SCOPE
This manual describes the operation and installation of the Accelnet BEL, BE2, BPL, BP2, BML
and Stepnet TEL, TE2 and TP2 drives manufactured by Copley Controls.
All Accelnet and Stepnet Plus Panel products have serial numbers that incorporate the week and year of
production into the first 4 digits (WWYY) of the serial number.
1.4 ORIGINAL INSTRUCTIONS
This manual is considered to be “original instructions” as defined in EC Directive 2006/42/EC and the contents
have been verified by Copley Controls.
1.5 RELATED DOCUMENTATION
For important setup and operation information, see the CME User Guide (www.copleycontrols.com)
Users of the CANopen features should also read these Copley Controls documents:
CANopen Programmer’s Manual
CMO (Copley Motion Objects) Programmer’s Guide
CML Reference Manual (License required)
MACRO Network User Guide
Also of related interest:
Indexer 2 Program User’s Guide (describes use of Indexer Program to create motion control sequences)
ASCII Programmer’s Guide (describes how to send ASCII format commands over a drive’s serial bus to set
up and control one or more drives)
Copley Amplifier Parameter Dictionary

Accelnet & Stepnet Plus Panels User Guide 16-01339 Rev 07
Copley Camming User Guide
Copley Controls Serial Encoder Guide
CPL User Guide (License required)
Accelnet & Stepnet Plus Panels STO Manual
Links to these publications, along with other documents, data sheets and software releases,
can be found at www.copleycontrols.com.
1.6 EC DECLARATION OF CONFORMITY –CONTENTS
1.6.1 EC DECLARATION OF CONFORMITY FOR ACCELNET PLUS BE2 BP2

Accelnet & Stepnet Plus Panels User Guide 16-01339 Rev 07
1.6.2 EC DECLARATION OF CONFORMITY FOR ACCELNET PLUS BEL BPL

Accelnet & Stepnet Plus Panels User Guide 16-01339 Rev 07
1.6.3 EC DECLARATION OF CONFORMITY FOR STEPNET PLUS TE2 TP2

Accelnet & Stepnet Plus Panels User Guide 16-01339 Rev 07
1.6.4 EC DECLARATION OF CONFORMITY FOR STEPNET PLUS TEL TPL

Accelnet & Stepnet Plus Panels User Guide 16-01339 Rev 07
1.7 COMMENTS
Copley Controls welcomes your comments on this manual.
For contact information, see www.copleycontrols.com.
1.8 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.
Accelnet BEL, BE2, BPL, BP2, BML and Stepnet TEL, TE2, and TP2 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 Microsoft Corporation.
LabVIEW is a registered trademark of National Instruments.
EtherCAT is a registered trademark and patented technology, licensed by
Beckhoff Automation GmbH, Germany.
1.9 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.
1.10 PRODUCT WARNINGS
GENERAL
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 or Stepnet Plus Panel servo drives. Removal of the cover
or tampering with internal components will void the warranty.
DANGER
DANGER: HAZARDOUS VOLTAGES.
Exercise caution when installing and adjusting. Persons responsible for installing and commissioning Accelnet Plus
servo drives and Stepnet Plus stepper 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 and Stepnet Plus Panel 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.
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Accelnet & Stepnet Plus Panels User Guide 16-01339 Rev 07
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 THE ACCELNET & STEPNET PLUS PANELS STO MANUAL
The information provided in the Accelnet & Stepnet Plus Panels STO Manual 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 HVAUX and/or HV DC power applied is
not recommended.
FAILURE TO HEED THIS WARNING MAY CAUSE EQUIPMENT DAMAGE.
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