Copley Controls Accelnet Plus Dual-Axis Panel EtherCAT User manual
Model Ip Ic Vdc
BE2-090-06 6 3 90
BE2-090-14 14 7 90
BE2-090-20 20 10 90
RoHS
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Web: www.copleycontrols.com Page 1 of 33
BE2
AccelnetPlus 2-Axis Panel EtherCAT
Current ratings are for each axis
Add -R for resolver feedback option
DIGITAL SERVO DRIVE FOR BRUSH & BRUSHLESS MOTORS
CONTROL MODES
FEEDBACK
Incremental Encoders
Absolute Encoders
Tamagawa & Panasonic Absolute A
Other
The BEL models are high-performance, DC powered drives for
as EtherCAT slaves using the CANopen application protocol over
Feedback from both incremental and absolute encoders is
supported. A multi-mode encoder port functions as an input or
output depending on the drive’s basic setup.
There are ten non-isolated inputs and eight isolated inputs.
All inputs have programmable active levels. Five opto-isolated
inductive loads.
Drive power is transformer-isolated DC from regulated or
“keep-alive” operation permitting the drive power stage to be
completely powered down without losing position information, or
communications with the control system.
RoHS
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BE2
AccelnetPlus 2-Axis Panel EtherCAT
max
MODEL BE2-090-06 BE2-090-14 BE2-090-20
Peak time 1 Sec
Bus voltage compensation Changes in bus or mains voltage do not affect bandwidth
Distributed Control Modes
Stand-alone mode
PWM minimum pulse width 220 ns
Number 18
Other digital inputs are also programmable for the Motemp function
Number 2
Winput impedance, 12-bit resolution
Function PWM outputs are inactive and current to the motor will not be possible when the STO function is asserted
Number 7
Programmable for other functions if not used for brake
RS-232 PORT
Mode Full-duplex, DTE serial communication port for drive setup and control, 9,600 to 115,200 Baud
Protocol EtherCAT, CANopen application protocol
NOTES:
GENERAL SPECIFICATIONS
RoHS
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BE2
AccelnetPlus 2-Axis Panel EtherCAT
DC POWER OUTPUTS
AMP Bicolor LED, drive state indicated by color, and blinking or non-blinking condition
ERR Red LED, shows errors due to time-outs, unsolicited state changes, or local errors
max
Short circuits Output to output, output to ground, internal PWM bridge faults
2T Current limiting Programmable: continuous current, peak current, peak time
Motor over temperature Digital inputs programmable to detect motor temperature switch
g
Shock 10 g
Contaminants Pollution degree 2
Approvals
Functional Safety
Electrical Safety
UL 61800-5-1-2012
EMC
Hazardous Substances
GENERAL SPECIFICATIONS
RoHS
RoHS
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BE2
AccelnetPlus 2-Axis Panel EtherCAT
FEEDBACK
Incremental:
ServoTube
Absolute:
Absolute A Tamagawa Absolute A, Panasonic Absolute A Format, Sanyo Denki Absolute A
Status data for encoder operating conditions and errors
W
WW
Type Brushless, single-speed, 1:1 to 2:1 programmable transformation ratio
Reference maximum current 100 mA
Maximum RPM 10,000 typical
W
GENERAL SPECIFICATIONS
6
3
2
1
Set x10 x1 Set x10 x1
Dec 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
RunErr
OUT
AMP
X1X10
S2S1
DEV ID
IN OUT J5 J6
J1
J2 J3
SIGNAL
SAFETY
BRAKE
I/O
NETWORK
RUNERR L/A L/A
AccelnetPlus
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BE2
AccelnetPlus 2-Axis Panel EtherCAT
therCAT PORTS
8 position, 4 signals
EtherCAT is the open, real-time Ethernet network developed by
EtherCAT enables high-speed control of multiple axes while
Data protocol is CANopen application protocol
based on DSP-402 for motion control devices.
More information on EtherCAT can be found on this web-site:
port connects to a master, or to the OUT port of a device that is
‘upstream’, between the Accelnet and the master.
The OUT port connects to ‘downstream’ nodes.
EtherCAT D
based on their position on the network. But when the device must have a positive
is provided by two 16-position rotary switches with hexadecimal encoding. These
shows the decimal values of the hex settings of each switch.
set x10 to the hex value in the same row:
Decimal values
AMP LEDS &
ETHERCAT COMMUNICATIONS
INDICATORS: DRIVE STATE
Two bi-color LEDs give the state of the BE2 drive. Colors do not alternate, and can be solid ON or
blinking. When multiple conditions occur, only the top-most condition will be displayed.
When that condition is cleared the next one below will shown.
the condition causing the fault is removed.
Drive will only move in direction not inhibited by limit switch.
reference inputs or EtherCAT commands.
Latching Faults
RUN
Blinking = Pre-operational
On = Operational
ERR Red: Shows errors such as watchdog timeouts and unsolicited state changes in the BEL due to local errors.
Off = EtherCAT communications are working correctly
Single Flash = Local error, slave has changed EtherCAT state autonomously
Double Flash = PDO or EtherCAT watchdog timeout,or an application watchdog timeout has occurred
A green LED indicates the state of the EtherCAT network:
LED Link Activity Condition
2 RxD
3,4
5Txd
RoHS
6
9
1
5
32
TxD RxD
RJ-11
on
Servo
Drive
RJ-11 cable
6P6C
Straight-wired
53
Gnd Gnd
RxD TxD
25
D-Sub 9F
Dsub-9F
to RJ11
Adapter
1
6
1
6
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BE2
AccelnetPlus 2-Axis Panel EtherCAT
BE2
that operates from 9600 to 115,200 Baud, 8 bits, no parity,
and one stop bit. Signal format is full-duplex, 3-wire, DTE using
BE2 RS-232 port are
BE2
and compatibles.
After power-on, reset, or transmission of a Break character,
the Baud rate will be 9,600. Once communication has been
established at this speed, the Baud rate can be changed to a
6 position, 4 contact
of a PC and uses common modular cable to connect to the BE2. The connections are
shown in the diagram below.
USB TO RS-232 ADAPTERS
These may or may not have the speed to work at the
115,200 Baud rate which gives the best results with
CME2. Users have reported that adapters using the
Don’t forget to order a Serial Cable Kit SER-CK
when placing your order for a BE2!
The Baud rate defaults to 9,600 after power-on or reset and is programmable up to 115,200 thereafter.
After power-on, reset, or transmission of a Break character, the Baud rate will be 9,600. Once communication has been
s r0x90 115200 <enter>
COMMUNICATIONS: RS-232 SERIAL
1 6
2 7
3 8 STO-Bypass
4 9
5
The information provided in the Accelnet & Stepnet Plus Panels STO Manual must be considered for
any application using the BE2 drive’s STO feature.
RoHS
1695
Frame Ground
STO-Bypass (6.5 mA)
*
STO-Gnd (Sgnd)
J6
Accelnet Plus Panel Dual-Axis
Bypass Plug Connections
Jumper pins:
2-4, 3-5, 6-8, 7-9 *
STO-IN1+
STO-IN2+
STO-IN2-
STO-IN1-
STO-IN1+
STO-IN1-
2
3
1
4
5
6
7
8
9
Upper IGBT Gate Drive
PWM Signals
Buffer
Voltage
Regulator
EN
+HV
PWM
Outputs
+VI
+VI
V_in
+VI Lower IGBT Gate Drive
1695
SAFETY
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BE2
AccelnetPlus 2-Axis Panel EtherCAT
drive must be in an ENABLED state. When the opto-couplers are
outputs cannot be activated by the control core to drive a motor.
couplers from an internal current-source. When this is done the
STO feature is overridden and control of the output PWM stage is
under control of the digital control core.
SAFE TORQUE OFF (STO)
* STO bypass connections on the BE2 and
drives are installed in the same cabinet, the
diode should be wired as shown to prevent
damage that could occur if the STO bypass
connectors are installed on the wrong drive.
on the BE2 and can be replaced by a wire
between pins 7 and 9.
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
state of the PWM outputs.
Signal Axis A Axis B
37,44
Signal Axis A Axis B
37,44
Signal Axis A Axis B
37,44
Signal Axis A Axis B
37,44
RoHS
Inputs
Axis A(B)
CU (CW)
CD (CCW)
[IN3(12)]
[IN4(13)]
Inputs
Axis A(B)
Enc. A
Enc. B
[IN3(12)]
[IN4(13)]
Inputs
Axis A(B)
Pulse
Direction
[IN3(12)]
[IN4(13)]
A
/A
B
/B
Multi-port
PULSE
DIRECTION
PULSE
/PULSE
DIRECTION
/DIRECTION
A
/A
B
/B
CD (Count-Down)
CU (Count-Up) CU (CW)
/CU (CW)
CD (CCW)
/CD (CCW)
Multi-port
A
/A
B
/B
Multi-port
Enc B
Enc /B
Encoder ph. B
Enc A
Enc /A
Encoder ph. A
Axis A(B)
[IN3(12)] Curr-Vel±
Pol-Dir
[IN4(13)]
Axis A(B)
Duty = 50% ±50%
<no connection>
Curr-Vel±
<not used>
[IN3(12)]
[IN4(13)]
Duty = 0 - 100% Curr-Vel
Pol-Dir
/Curr-Vel
/Pol-Dir
A
/A
B
/B
Multi-port
Duty = 50% ±50%
<no connection>
Curr-Vel±
/Curr-Vel±
A
/A
Multi-port
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BE2
AccelnetPlus 2-Axis Panel EtherCAT
Single-ended digital position commands must be sourced from
devices with active pull-up and pull-down to take advantage of
the high-speed inputs.
For differential commands, the A & B channels of the multi-mode
encoder ports are used.
DIGITAL COMMAND INPUTS: POSITION
DIGITAL COMMAND INPUTS: VELOCITY, TORQUE
sourced from devices with active pull-up and pull-down to take
advantage of the high-speed inputs.
For differential commands, the A & B channels of the multi-mode
encoder ports are used.
Signal Axis A
Axis B
Pulse, CW, Encoder A 36 42
21 27
Direction, CCW, Encoder B 35 41
20 26
34 40
19 25
33 39
18 24
6, 16, 22, 31, 37,
44
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/Output
Select
MAX3097
MAX3032
Pulse/Dir or CU/CD
differential commands
Input/Output
Select
MAX3097
MAX3032
A/B/X signals from
digital encoder
Input/Output
Select
MAX3097
MAX3032
A/B/X signals from
digital encoder
Input
Select
Output
Select
MAX3362
MAX3362
X
S
4-Wire digital absolute
encoder signals
Input/Output
Select
MAX3362
S
S
2-Wire digital absolute
encoder signals
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BE2
AccelnetPlus 2-Axis Panel EtherCAT
MULTI-MODE PORT AS AN INPUT
Pulse & Direction
Encoder Quad A & B
Camming Encoder A & B input
CURRENT or
receives Data from the encoder in half-duplex mode.
which initiates data transmission from the encoder
on the S-channel in full-duplex mode
INPUT TYPES
Signal Axis A
Axis B
Encoder A 36 42
21 27
Encoder B 35 41
20 26
34 40
19 25
Encoder S 33 39
18 24
6, 16, 22, 31, 37, 44
1
RoHS
Secondary
Encoder Input
Input/Output
Select
Quad A/B/X primary
encoder
MAX3032
MAX3097
Buffered A/B/X signals
from primary encoder
Secondary
Encoder Input
Input/Output
Select
MAX3362
MAX3097
Emulated Quad A/B
signals from
analog Sin/Cos encoder
Emulated A/B signals
Enc. B
Enc. X
B
/B
X
/X
Enc. A
Incremental
Encoder
J1 Multi-Port
Frame Ground
A
/A
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BE2
AccelnetPlus 2-Axis Panel EtherCAT
MULTI-MODE PORT AS AN OUTPUT
OUTPUT TYPES
data from the following devices:
Absolute encoders
Axis A Axis B Notes
OUT1 OUT2 Fault Active-OFF
OUT3
OUT4
OUT5
OUT6 OUT7
Axis A Axis B Notes
Short Circuit
Amp Over Temp
Motor Over Temp
Motor Wiring
Disconnected
STO Active
Axes A, B Notes
Analog: Reference Filter Disabled
Disabled
Low Pass, Butterworth,
Disabled
Disabled
Disabled
Disabled
Disabled
Axes A, B Notes
Method
Axis A Axis B
Enable-LO
or
Sgnd
Enable-LO
or
Sgnd
Not
Not
Opto
Opto
Motemp Motemp
RoHS
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BE2
AccelnetPlus 2-Axis Panel EtherCAT
CME2 DEFAULTS
These tables show the CME2 default settings. They are user-programmable and
Data Notes
LO
1
Max
Min
R1 15 kW
R2 15 kW
C1 100 pF
1.3 mAdc
-0.33 mAdc
Time constant RC2
Data Notes
Single-ended
LO
1
Differential3
LO
Common mode
R1 10 kW
R2 1 kW
C1 100 pF
Time constant RC2100 ns
S.E. Pin
Sgnd
Pin
Sgnd
RoHS
C1
R2
R1 74HC14
PullUp = +5V
PullDown = 0V
[INx]
+5V
C1
C1
2.5V
MAX3096
MAX3096
[IN3,12]
J1 Control
[IN4,13]
R1
R1
+5V
R2
R2
+
+5V
+
12V
[IN3,12]
J1 Control
[IN4,13]
+5V
+5V
C1
R1 R2
C1
R1 R2
MAX3096
12V
+
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BE2
AccelnetPlus 2-Axis Panel EtherCAT
Digital, non-isolated, high-speed
Programmable functions
Digital, non-isolated, high-speed
Single-ended or Differential
Programmable functions
Notes:
applies when input is driven by
n = 1 for Axis A, 2 for Axis B
Notes:
applies when input is driven by
HIGH SPEED INPUTS: IN1, IN2, IN10, IN11
SINGLE-ENDED/DIFFERENTIAL INPUTS: IN3, IN4, IN12, IN13
Pin
Sgnd
Data Notes
LO
Max
Min
R1 4.99 kW
1.4 mAdc
-1.0 mAdc
R2 10 kW
C1 33 nF
Time constant Te BS 4999:PART 111:1987
Property Ohms
Resistance in the temperature
Signal Pins Signal Pins
Data Notes
LO
Max
0 mAdc
RoHS
+5V
[IN9(18)]
Thermistor,
Posistor,
or switch Signal Gnd
R1
R2
C1
J7,J8
5.1V
4.7k
5.1V
24V
24V GND
24V
[ICOM1(2)]
[IN5(14)]
4.7k
4.99k
[IN6(15)]
4.7k
4.7k
4.99k 5.1V
4.99k 5.1V
[IN7(16)]
[IN8(17)]
4.99k
J2
+
+
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BE2
AccelnetPlus 2-Axis Panel EtherCAT
Digital, non-isolated
Motor overtemp inputs
Programmable functions
Digital, opto-isolated
Works with current sourcing or sinking drivers
Programmable functions
The 4.99k pull-up resistor works with PTC
that conform to BS 4999:Part 111:1987, or
over-temperature condition. The active level is
programmable.
* RC time constant applies
when inputs are driven by
MOTOR OVERTEMP INPUTS: IN9, IN18
OPTO-ISOLATED INPUTS: IN5, IN6, IN7, IN8, IN14, IN15, IN16, IN17
Spec Data Notes
Rin 5.05 kW
Signal Pins
Axis A Axis B
Sgnd
State Condition
LO
Signal
OUT1
OUT2
OUT3
OUT4
OUT5
Output Data Notes
Output Current 300 mAdc max
RoHS
+
1.5V
Shield (Frame Gnd)
AINn(+)
AINn(-) Vref
J1
D/A
F.G.
±10V
Sgnd
-
[OUTn-]
300mA
max
* at 24 Vdc
Vdc
J2
[OUTn+]
1
80Ω
min*
36V
SSR
+
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BE2
AccelnetPlus 2-Axis Panel EtherCAT
Digital, opto-isolated
MOSFET output SSR, 2-terminal
Flyback diodes for inductive loads
Programmable functions
12-bit resolution
Programmable functions
they can be used as general-purpose analog inputs.
ANALOG INPUTS: AIN1, AIN2
OPTO-ISOLATED OUTPUTS: OUT1, OUT2, OUT3, OUT4, OUT5
State Condition
BRK-A,B
OUT6,7
Output transistor is OFF
Brake is un-powered and locks motor
Motor cannot move
Brake state is Active
LO
Output transistor is ON
Brake is powered, releasing motor
Motor is free to move
Brake state is NOT-Active
Output Data Notes
Max
Output Current 1.0 Adc
Pin Signal
5
4
3
2
1
RoHS
J3
Brake B
Brake A
5
4
24V
Brk 24V Input
Brk 24V Output
24V Return
2
3
1
i
+
0
i
+
0
HV Com
Earth Ground
Heatplate/chassis
Frame Gnd
Frame
Gnd
J1
Control
J8
Mot A
J10
Power
1
2
3
Signal Gnd
Signal Gnd
Signal Gnd
Signal Gnd
Signal Gnd
Signal Gnd
Signal Gnd
Signal Gnd
J5
Serial 3
4
1
1
37
44
31
16
6
22
J9
Mot B
1
J2
I/O J3
Brake
1
+HV
0V
+Aux
0V
Earthing connections for power supplies should be as close as possible to elimimate
potential differences between power supply 0V terminals.
Brk 24V Input
Brk 24V Output
5
4
2
3
1
Brake B
Brake A
24V Return
24V
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BE2
AccelnetPlus 2-Axis Panel EtherCAT
Brake outputs
Opto-isolated
Flyback diodes for inductive loads
Programmable functions
Brake is Active
Motor cannot move
Servo drive is disabled, PWM outputs are off
Brake is
Inactive
Motor can move
Servo drive is enabled, PWM outputs are on
The brake circuits are optically isolated from
all drive circuits and frame ground.
OPTO-ISOLATED MOTOR BRAKE OUTPUTS: OUT6, OUT7
Signal
Enc A 13
12
Enc B 11
10
9
8
6, 17
Sgnd 5, 16, 25, 26
1
Signal
19
18
21
20
9
8
6, 17
Sgnd 5, 16, 25, 26
1
Signal
19
18
21
20
9
8
12
RoHS
1k +5V
1k
Encoder J7,J8
FG Frame Ground
Enc. A
121
A
Enc. B
121
B
Enc. Index
130
Z/X
X
/B
B
/A
A
+5V
0V
+5V Out @ 500 mA
Signal Ground
A
/A
B
/B
X
/X
+-
+
-
+-
+
-
+-
+
-
A
Fault Encoder-Loss
Encoder Loss Detection Logic
B
Fault
X
Fault
Va
Vb
Vx
Index-Loss
Resolver
FG Frame Ground
J7,J8
Sin
S3 S1
S2
S4
R1R2
Cos
Ref
Signal Ground
Sin(+) S3
Sin(-) S1
Cos(-) S4
Cos(+) S2
Ref(+) R1
Ref(-) R2
R/D
Conversion
1k +5V
1k
+5V Out @ 500 mA
Signal Ground
Sin(+)
Sin(-)
Cos(+)
Cos(-)
X
/X
-
+
-
+
10k
121
J7,J8
10k
121
Encoder
FG
sin
cos
+5V
0V
indx
Frame Ground
10k
Sin
Cos
10k
Enc. Index130
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BE2
AccelnetPlus 2-Axis Panel EtherCAT
FEEDBACK CONNECTIONS
Encoders with differential line-driver
gives a once per revolution position mark.
inputs with fault protections for the
following conditions:
QUAD A/B/X ENCODER WITH SIGNAL LOSS DETECTION
Condition Example
Encoder power loss, cabling, etc.
ANALOG SIN/COS INCREMENTAL ENCODER
format used by incremental encoders with analog outputs,
or with ServoTube motors. The index input is digital,
differential.
RESOLVER (-R OPTION)
Connections to the resolver should be made with double-
shielded cable that uses three twisted-pairs plus an outer
shield. Once connected, resolver set up, motor phasing,
QUAD ENCODER WITH INDEX
SIGNAL LOSS DETECTION LOGIC
CME2 FEEDBACK OPTIONS
SIN/COS SIGNALS
RESOLVER SIGNALS
A/B/X SIGNALS
Signal
Clk 9
8
Data 15
14
19
18
21
20
6, 17
Sgnd 5, 16, 25, 26
1
Signal
Data 15
14
6, 17
Sgnd 5, 16, 25, 26
1
BiSS
Clk 9
MA- 8
Data 15
SL- 14
6, 17
5, 16, 25, 26
1
RoHS
1k +5V
1k 1k +5V
1k
BiSS
Encoder
221
130
MA+
MA-
SL+
SL-
FG Frame Ground
J7,J8
Clk
Data
Master
Slave
V+
V-
+5V Out @ 500 mA
Signal Ground
1k +5V
1k 1k +5V
1k
Encoder
221
130
Clk
/Clk
Dat
/Dat
FG Frame
Ground
J7,J8
Clk
Data
Data
Clk
+5V
0V
+5V Out @ 500 mA
A
A
B
B
Signal Ground
-
+
-
+
A
B
A
B
1k +5V
1k 1k +5V
1k
Encoder
221
Sin(+)
Sin(-)
Cos(+)
Cos(-)
Dat
/Dat
Clk
/Clk 130
FG Frame
Ground
J7,J8
Clk
Data
Data
Clk
+5V
0V
+5V Out @ 500 mA
Signal Ground
10k
10k
121 Sin
Cos
10k
10k
121
sin
cos
Absolute-A
Encoder
221
1.2k
1.2k
220
5V
SD+
SD-
J7,J8
Battery
Dat
/Dat Cmd
D-R
SD
Cmd
D-R
SD
MAX3362B 0V
+5V
V+
V-
+5V Out
@ 500 mA
Signal Ground
Batt+
Batt-
+
-
1k
1k
5V
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Web: www.copleycontrols.com Page 17 of 33
BE2
AccelnetPlus 2-Axis Panel EtherCAT
FEEDBACK CONNECTIONS
SSI ABSOLUTE ENCODER
connect an absolute position encoder to a motion controller or
differential format to the encoder which initiates the transmission
revolution are programmable.
The hardware bus consists of two signals: SCLK and SDATA.
active during transfers. Data is clocked out on the falling edge
and clock in on the rising edge of the Master.
BiSS ABSOLUTE ENCODER
BiSS is an - Open Source - digital interface for sensors and
actuators. BiSS refers to principles of well known industrial
Serial Synchronous Data Communication
Cyclic at high speed
2 unidirectional lines Clock and Data
Line delay compensation for high speed data transfer
Safety capable: CRC, Errors, Warnings
Bus capability incl. actuators
Bidirectional
BiSS B-protocol: Mode choice at each cycle start
BiSS C-protocol: Continuous mode
ENDAT ABSOLUTE ENCODER
ABSOLUTE-A ENCODER
The Absolute A interface is a serial, half-duplex type
that is electrically the same as RS-485. Note the battery
which must be connected. Without it, the encoder will
produce a fault condition.
SSI,BiSS SIGNALS
ENDAT
SIGNALS
ABSOLUTE-A
SIGNALS
Note: Single (outer) shields should be
connected at both ends (motor and
drive frame grounds). Inner shields
should only be connected to Signal
Ground on the drive.
Property Ohms
Resistance in the temperature range
Signal
Mot U 4
3
Mot W 2
1
Signal
2
3
4
6, 17
Sgnd 5, 16, 25, 26
1
Signal Pin
Motemp A
Motemp B
5,10
12
RoHS
PWM
+HV
0V
Servo
Motor
MOT W
Gn/Y
Frame Gnd
MOT V
MOT U
J9, J10
+
Halls
+5V Out @ 500 mA
Signal Ground
+5V
0V
15K
100p
15K
Hall U +5V
J7,J8
100p
15K
15K
Hall V +5V
100p
15K
15K
Hall W
+5V
Hall A
Hall B
Hall C
+5V
[IN9(18)]
Thermistor,
Posistor,
or switch Signal Gnd
R1
R2
C1
J7,J8
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Web: www.copleycontrols.com Page 18 of 33
BE2
AccelnetPlus 2-Axis Panel EtherCAT
MOTOR CONNECTIONS
MOTOR OVER TEMP INPUT
over-temperature condition. The active level is programmable.
These inputs are programmable for other functions if not used
as Motemp inputs. And, other inputs are programmable for the
Motemp function.
MOTOR PHASE CONNECTIONS
The drive outputs are three-phase PWM
inverters that convert the DC buss voltage
that drive the motor phase-coils. Cable should
the motor. Motor cabling should use twisted,
shielded conductors for CE compliance, and
circuits. Further details on motor connections
can be found on page 24.
DIGITAL HALL SIGNALS
provide absolute feedback within one electrical
sensors in the motor, or by encoders that have
than the motor encoder signals, and are
startup, and for checking the motor phasing
commutation.
MOTEMP SIGNALS BS 4999 SENSOR
HALL SIGNALS
MOTOR SIGNALS
RoHS
BRUSHLESS
MOTOR
U
V
U(+)
V(-)
W
BRUSH
MOTOR
Grounding
tab
Frame Gnd
525
26
17
8
9
10
11
12
1
13
Hall W 4
Hall V 3
Hall U 2
DIGITAL
ENCODER
DIGITAL
HALLS
/A
A
/B
B
/X
Vcc
0V
X
J7
J8 6
Enc /A
Enc A
Enc /B
Enc B
Enc /X
Enc X
+5V Out
7
Signal Gnd
Signal
Gnd
Brake A
Motemp
4
3
2
1
Mot U
Mot V
Mot W
Frame Gnd
J9
J10
J3
TEMP
SENSOR
Brake B
24V Return
4
Brk 24V Output
Brk 24V Input +
0V
24 Vdc
Accelnet Plus Panel 2-Axis
Brk
Brk
16
5
3
2
1
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Web: www.copleycontrols.com Page 19 of 33
BE2
AccelnetPlus 2-Axis Panel EtherCAT
The connections shown may not be used in all installations
NOTES:
These are two independent power supplies, each with a 500 mA max output from all pins
MOTOR CONNECTIONS: DIGITAL QUAD A/B ENCODER
RoHS
Grounding
tab
Frame Gnd
525
26
17
8
9
20
21
18
1
19
Hall W 4
Hall V 3
Hall U 2
J7
J8 6
+5V Out
7
Signal Gnd
Signal
Gnd
Motemp
4
3
2
1
Mot U
Mot V
Mot W
Frame Gnd
J9
J10
Accelnet Plus Panel 2-Axis
ENCODER
DIGITAL
HALLS
Vcc
0V
TEMP
SENSOR
ANALOG
Sin-
Sin+
Cos-
Cos+
Ndx-
Ndx+
Enc Sin(-)
Enc Sin(+)
Enc Cos(-)
Enc Cos(+)
Enc Index(-)
Enc Index(+)
J3 2
3
1
Brk 24V Output
Brake B
4
5
Brk 24V Input
Brake A
24V Return
+
24 Vdc
-
MOTOR
U
V
U(+)
W
BRUSH
16
Brk
Brk
V(-) MOTOR
BRUSHLESS
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Web: www.copleycontrols.com Page 20 of 33
BE2
AccelnetPlus 2-Axis Panel EtherCAT
MOTOR CONNECTIONS: ANALOG SIN/COS ENCODER
The connections shown may not be used in all installations
NOTES:
These are two independent power supplies, each with a 500 mA max output from all pins
This manual suits for next models
3
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