Copley Controls AccelnetPlus AEV-090-14 User manual

   
AEZ-090-50-C 50 50 9~90
   
AEV-090-14 7 14 9~90
AEV-090-30 15 30 9~90
AEV-090-50 25 50 9~90
AEV-090-50-C 50 50 9~90
AEV-180-10 5 10 20~180
AEV-180-20 10 20 20~180
   
AEZ-090-50 25 50 9~90
AEV
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
P/N 16-01681 Rev 15 Page 1 of 52
Accelnet
Plus Micro Module EtherCAT
Control Modes
• Cyclic Synchronous Position-Velocity-Torque (CSP, CSV, CST)
• Cyclic Synchronous Torque with Commutation Angle (CSTCA)
• ProlePosition-Velocity-Torque,InterpolatedPosition(PT,PVT),Homing
• Indexer,Point-to-Point,CPL
• Camming, Gearing
• Position, Velocity, Torque
CommandInterface
• CANopen application protocol over EtherCAT (CoE)
• ASCII,SerialBinary,anddiscreteI/O
• StepperorQuadA/Bpositioncommands
• PWM Velocity/Torque command
• Master encoder (Gearing/Camming)
Communications
• EtherCAT, Ethernet
• RS-232
Feedback
• Dual Absolute Encoder Ports
SSI
EnDat 2.1, 2.2
Absolute A
Tamagawa Absolute A
Panasonic , Sanyo Denki Absolute A Format
 BiSS
• Incremental
 DigitalquadA/B/Xencoder
Analog Sin/Cos encoder
• Other
 DigitalHalls
I/O
• 7High-speeddigitalinputs
• 6High-speeddigitaloutputs
• 1Dierentialanaloginput
SafeTorqueO(STO)
• SIL3,Category3,PLe
Dimensions: in [mm]
• 2.5 x 1.6 x .69 [64 x 41 x 17.6] AEV
• 4.4 x 2.1 x 1.85 [112 x 53.3 x 47] AEZ-090-50
• 5.08 x 3.6 x 2.18 [129 x 91.4 x 55.2] AEZ-090-50-C
DESCRIPTION
AEV sets new levels of performance, connectivity, and
exibility.CANopen application protocol over EtherCAT
(CoE)communicationprovidesawidelyusedcost-eective
industrial bus. A wide range of absolute encoders are
supported.
SafeTorqueO(STO)eliminatesexternalcontactorsand
wiring, reducing system cost and complexity. For safety
criticalapplications,redundantSTOdisableinputscanbe
employed.
DIGITAL SERVO DRIVE FOR BRUSH & BRUSHLESS MOTORS
AEV
AEZ -50-C
AEZ-50

AEV
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
P/N 16-01681 Rev 15 Page 2 of 52
Accelnet
Plus Micro Module EtherCAT
Testconditions:Load=Wyeconnectedload:1mH+1Ωline-line.Ambienttemperature=25°C.+HV=HVmax
MODEL AEV-090-14 AEV-090-30 AEV-090-50 AEV-090-50-C AEZ-090-50 AEZ-090-50-C AEV-180-10 AEV-180-20
OUTPUTPOWER
Peak Current 14 (9.9) 30 (21.2) *50 (35.4) *50 (35.4) 50 (35.4) 50 (35.4) 10 (7.1) 20 (14.2) Adc (Arms)
Peak time 1 1 1 n/a 1 n/a 1 1 Sec
Continuous current 7 (5.0) 15 (10.6) *25 (17.7) *50 (35.4) 25 (17.7) 50 (35.4) 5 (3.5) 10 (7.1) Adc (Arms)
 PeakOutputPower 1.26 2.7 4.5 4.5 4.5 4.5 1.8 3.6 kW
 ContinuousOutputPower 0.63 1.35 2.25 4.5 2.25 4.5 0.9 1.8 kW
* AEV-090-50 & AEV-090-50-C must be soldered to a mounting board for these ratings.
INPUTPOWER
 HVmintoHVmax +9~90 +9~90 +9~90 +9~90 +9~90 +9~90 +20~180 +20~180 Vdc
 Ipeak  14 30 50 50 50 50 10 20 Adc
 Icont  7 15 25 50 25 50 5 10 Adc
 VLOGIC +9~60 +9~60 +9~60 +9~60 +9~60 +9~60 +9~60 +9~60 Vdc
 VLOGICPower  VLOGIC@9Vdc3.4W,@24Vdc3.5W,@60Vdc4.2Wwith2encoders@+5V,500mAtotal
PWMOUTPUTS
 Type MOSFET3-phaseinverter,16kHzcenter-weightedPWMcarrier,space-vectormodulation
 PWMripplefrequency 32kHz
BANDWIDTH
 Currentloop,smallsignal 2.5kHztypical,bandwidthwillvarywithtuning&loadinductance
 HVCompensation ChangesinHVdonotaectbandwidth
 Currentloopupdaterate 16kHz(62.5µs)
 Position&Velocityloopupdaterate 4kHz(250µs)
COMMANDINPUTS
EtherCAT: CANopen application protocol over EtherCAT (CoE): Cyclic Synchronous Position/Velocity/Torque
  ProlePosition/Velocity/Torque,InterpolatedPosition(PVT),Homing
Cyclic Synchronous Torque with Commutation Angle (CSTCA)
Stand-alone mode
 Digitalpositionreference Pulse/Direction,CW/CCWSteppercommands(2MHzmaximumrate)
  QuadA/BEncoder  2Mline/sec,8Mcount/sec(afterquadrature)
 Digitaltorque&velocityreference PWM,Polarity  PWM=0%-100%,Polarity=1/0
  PWM50%  PWM=50%±50%,nopolaritysignalrequired
  PWMfrequencyrange  1kHzminimum,100kHzmaximum
PWM minimum pulse width 220 ns
 Indexing Upto32sequencescanbelaunchedfrominputsorASCIIcommands
 Camming Upto10CAMtablescanbestoredinashmemory
 ASCII RS-232,9600~230,400Baud,3-wire
DIGITALINPUTS
Number 7
 Allinputs High-speedSchmitttriggerwith100nsRClter,10kΩpull-upto+5Vdc,maxinputvoltage=+6Vdc
RC time-constants assume active drive on inputs and do not include 10 kΩpull-ups
 IN1~IN6 VT+=1.42~2.38Vdc,VT-=0.68~1.6Vdc,VH=0.44~1.26
 IN7 VT+=1.30~2.00Vdc,VT-=0.55~1.30Vdc,VH=0.40~0.79
ANALOGINPUT
Number 1
 Type Dierential,±10Vdcrange,16bits,14kHzinputlterbandwidth,sample-rate16kHz
 Function Torque,velocity,orpositioncommand.Or,asgeneralpurposeanaloginput
DIGITALOUTPUTS
Number 6
 OUT1~3 CMOSHCTinverters,functionsprogrammable,+5Vcc
  Source-8mA@VOH=2.4Vdc,Sink6mA@VOL=0.5Vdc
 OUT4~6 CMOSLVCinverters,functionsprogrammable,forSLIport,+3.3Vcc
  Source-24mA@VOH=2.3Vdc,Sink24mA@VOL=0.55Vdc
RS-232COMMUNICATIONPORT
Signals RxD, TxD, SGND
 Mode Full-duplex,DTEserialcommunicationportfordrivesetupandcontrol,9,600to230,400Baud
 Protocol ASCIIorBinaryformat
 Isolation Non-isolated.ReferencedtoSignalGround
NETWORKPORT
 Isolation Externalmagneticsrequired.Maxvoltagewithrespecttogrounds:32Vdc
Format 100BASE-TX
 ETHERCAT
Protocol EtherCAT, CANopen Application Protocol over EtherCAT (CoE)
 ETHERNET
  Protocol TCP-IP,UDP,Modbus-TCP
GENERAL SPECIFICATIONS

DANGER
Refer to the 16-01687 Accelnet Plus Micro Modules AEV/APV User Guide
The information provided in the 16-01687 Accelnet Plus Micro Modules AEV & APV User
Guide mustbeconsideredforanyapplicationusingtheAEVdriveSTOfeature.
Failure to heed this warning can cause equipment damage, injury, or death.
AEV
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
P/N 16-01681 Rev 15 Page 3 of 52
Accelnet
Plus Micro Module EtherCAT
DCPOWEROUTPUT
 +5Vdc 500mAmaximum.Protectedforoverloadorshorts.Sharedbydualencoders
SAFETORQUEOFF(STO)
 Function PWMoutputsareinactiveandcurrenttothemotorwillnotbepossiblewhentheSTOfunctionisenabled
 Standard DesignedtoIEC-61508-1,IEC-61508-2,IEC-61800-5-2,ISO-13849-1
 SafetyIntegrityLevel SIL3,Category3,Performancelevele
 Inputs 2two-terminal:STO-IN1+,STO-IN1-,STO-IN2+,STO-IN2-
 Type Opto-isolators,5Vcompatible,Vin-LO≤2.0Vdcoropen,Vin-HI≥3.3Vdc
 Inputcurrent(typical) STO-IN1,STO-IN2:11mAeach
 Responsetime 2msfromVin≤2.0Vdctointerruptionofenergysuppliedtomotor
 Muting Wiringashortingplugwithjumpers(seepage7)willmute(bypass)theSTOfunction
PROTECTIONS
 HVOvervoltage +HV>+95±1Vdc Driveoutputsturnountil+HVis<+95±1Vdc(90Vmodels)
  +HV>+185±1Vdc Driveoutputsturnountil+HVis<+185±1Vdc(180Vmodels)
 HVUndervoltage +HV<+8.5±0.5Vdc Driveoutputsturnountil+HV>+8.5Vdc±0.5Vdc(90Vmodels)
  +HV<+19.5±0.5Vdc Driveoutputsturnountil+HV>+19.5Vdc±0.5Vdc(180Vmodels)
 Driveovertemperature PCBoard>90°C+3/-0ºC Programmableaslatchingortemporaryfault
 Shortcircuits Outputtooutput,outputtoground,internalPWMbridgefaults
I
2T Current limiting Programmable: continuous current, peak current, peak time for drive and motor
 Latching/Non-Latching Programmableresponsetoerrors
MECHANICAL&ENVIRONMENTAL
 Size AEV:2.5x1.6x0.69in[64x41x17.6mm]
AEZ-090-50: 4.4 x 2.1 x 1.85 in [112 x 53.3 x 47 mm]
AEZ-090-50-C: 5.08 x 3.6 x 2.18 in [129 x 91.4 x 55.2 mm]
 Weight AEV:≤0.16lb(0.073kg),add0.106lb(0.048kg)forpinsheatsink
AEZ-090-50: 0.40 lb (0.18 kg)
AEZ-090-50-C: 0.72 lb (0.33 kg)
 Ambienttemperature 0to+45°Coperating,-40to+85°Cstorage
 Humidity 0to95%,non-condensing
 Altitude ≤2000m(6,500ft)
Vibration 2 gpeak,10~500Hz(sine)
Shock 10 g, 10 ms, half-sine pulse
Contaminants Pollution degree 2
Cooling Forced air cooling required for continuous power output
AGENCYSTANDARDSCONFORMANCE
Standards and Directives
Functional Safety
  IEC61508-1,IEC61508-2,IEC61508-3,IEC61508-4(SIL3)
Directive 2006/42/EC (Machinery)
   ISO13849-1(Cat3,PLe)
 IEC61800-5-2(SIL3)
Product Safety
  Directive2014/35/EU(LowVoltage)
   IEC61800-5-1
EMC
Directive 2014/30/EU (EMC)
   IEC61800-3
   IEC61800-5-2
Approvals
UL and cUL recognized component to:
  UL61800-5-1,UL61800-5-2(E168959-20200424A)
  IEC61800-5-1,IEC61800-5-2
GENERAL SPECIFICATIONS
RoHS
ISO 13849-1
Up to PL e (Cat 3)
IEC 61800-5-2
Up to SIL 3

16-01681DocumentRevisionHistory
Revision Date Remarks
00~09 n/a Developmental revisions
10 February 26, 2020 NewEZboardandEZDevelopmentBoarddesigns
11 May 1, 2020 AllmodelsareCEcertied,“Alloftheagencystandardsarependingatthistime”notewasremoved.
A page with information on panel-mounting has been added
12 August 31, 2020 Correctionofpartnumbersonpp.18~19,clariedAEZ-090-50-Cheatsinkfeature
13 September 25, 2020 CorrectionofVLOGICpinsonpp.16~17,addedEZboardsignalstodatatables
14 October21,2020 Datatablesnowhave“Signals”columnsthatcontainthelabelsshownintheReferenceDesignschematics.Other
columns show the labels that have been used in the datasheets and manuals
15 November 16, 2020 AddULlenumbertoApprovalsinAgencyStandardsConformance,ECATcorrectionscorrected
AEV
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
P/N 16-01681 Rev 15 Page 4 of 52
Accelnet
Plus Micro Module EtherCAT
GENERAL SPECIFICATIONS
MOTORCONNECTIONS
Motor U,V,W Drive outputs to 3-phase brushless motor, Wye or delta connected
For DC brush motor use outputs U & V
  Minimuminductance:200µHline-line
 Encoder Digitalencoders,incrementalandabsolute(seeFEEDBACKbelow)
Analog Sin/Cos incremental
 Halls seeCommutation (below)
 Motemp InputsareprogrammabletodisablethedriveifmotorsensordrivesinputHIorLO
FEEDBACK
Incremental encoders
  DigitalIncrementalEncoder Quadraturesignals,(A,/A,B,/B,X,/X),dierential(X,/XIndexsignalsnotrequired)
    RS-422linereceivers,5MHzmaximumlinefrequency(20Mcounts/sec)
  AnalogIncrementalEncoder Sin/Cosformat(Sin+,Sin-,Cos+,Cos-),dierential,1Vpeak-peak±20%
    BW>300kHz,16-bitresolution,withzero-crossingdetection
Absolute encoders
  EnDat2.1,2.2,SSI SerialClock(X,/X),andData(A,/A)signals
Absolute A Format
    SD+,SD-(A,/A)signals,2.5or4MHz,half-duplex
Position feedback: 13-bit resolution per rev, 16 bit revolution counter (29 bit absolute position data)
Status data for encoder operating conditions and errors
  BiSS(B&C) MA+,MA-(X,/X),SL+,SL-(A,/A)signals,clockoutputfromdrive,datareturnedfromencoder
Terminators Allencoderdatainputsandclockoutputsaredierentialandrequireexternalterminators
Commutation Hallsignals(U,V,W),15kΩpull-upto+5V,15kΩ/100pFRCto74LVC3G14Schmitttriggerat+5Vcc
Encoder power +5Vdc±2%@500mAdcmax,sharedbydualencoders
HALLS
Digital
   U,V,W:Single-ended,120°electricalphasedierencebetweenU-V-Wsignals
   Schmitttrigger,1.5µsRClterfromactiveHI/LOsources,24Vdccompatible,15kΩpull-upto+5Vdc
   Vt+=2.5~3.5Vdc,VT-=1.3~2.2Vdc,VH=0.7~1.5Vdc
Analog
U & V: Sin/Cosformat(Sin+,Sin-,Cos+,Cos-),dierential,1Vpeak-peak±20%
   BW>300kHz,121ΩterminatingresistorsbetweenSin+&Sin-,Cos+&Cos-inputs
   16-bitresolution,BW>300kHz,withzero-crossingdetection
MULTI-MODEENCODERPORT
As Input SeeDigitalIncrementalEncoderaboveforelectricaldataonA,B,&Xchannels,or
  AbsoluteencodersusingXorAchannels.Externalterminatorsrequiredasshownabove
As Emulated Output QuadratureA/Bencoderemulationwithprogrammableresolutionto4096lines(65,536counts)
per rev from analog Sin/Cos encoders or resolvers
  A,/A,B,/B,outputsfromMAX3032dierentiallinedriver,X,/X,A,/AfromMAX3362linedrivers
 DigitalA/B/Xencodersignalsfromprimarydigitalencoderarebueredasshownabove
  5MHzmax,20megacount/sec
5VOUTPUT
Number 1
 Ratings +5Vdc@500mAthermalandoverloadprotected
NOTE:
Inputs and outputs may have more than one function. Data tables now have a
Signals column that has the signal names used in the Reference Kits.
Other columns show the signal names that have been used in the datasheets.

123456
J2
EZ Boards
AEV
Sgnd
RxD
74LVC2G14
10k
10k
3.3V
3.3V
3.3V
TxD TD
RD
ASYNC_TXD
ASYNC_RXD
0.1UF
0.1UF
ADM3101E
2
TIN
GND
6
TOUT
RIN
PADDLE
13
T
R ROUT
3
+6.6V TO -6.6V
V-
C2- 10
C2+ 11
+3.3V TO +6.6V
C1+ 1 V+
VCC
C1- 12
RS232 TRANSCEIVER
+3.3V
5
8
9
RS232TX
RS232RX
4
7
0.1UF
0.1UF
0.1UF
J9
1 8 1 8
EtherCAT
User Mounting board
Magnetics
IN
OUT
TX1+
AEV J2
J11
J12
RX1+
TX1-
RX1-
TxRx1
3.3V
TxRx2
3.3V
TX2+
RX2+
TX2-
RX2-
FRAME GND
ECAT AEV J2 Pins
TX1+ 27
TX1- 29
RX1+ 24
RX1- 26
TX2+ 23
TX2- 25
RX2+ 20
RX2- 22
RS-232 Signal J2 Pins
RxD ASYNC_RXD 28
TxD ASYNC_TXD 30
SGND SGND 32
AEV
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
P/N 16-01681 Rev 15 Page 5 of 52
Accelnet
Plus Micro Module EtherCAT
The serial port is a full-duplex, three-wire (RxD,
TxD, SGND) type that operates from 9,600 to
230,400Baud.
ItcanbeusedbyCMEfordriveconguration
and setup or by external equipment sending
ASCIIcommands.
The circuit shown here is used on the EZ board
andisrecommendedforuser'sPCboards.It
convertsthesingle-endedTTLsignalslevels
intheAEVintotheANSIRS-232levelswhich
are the standard for serial communications and
computerCOMMports.
EtherCATistheopen,real-timeEthernetnetworkdevelopedbyBeckhobasedonthewidelyused100BASE-TXcablingsystem.
EtherCATenableshigh-speedcontrolofmultipleaxeswhilemaintainingtightsynchronizationofclocksinthenodes.Dataprotocolis
CANopen application protocol over EtherCAT (CoE) based on CiA 402 for motion control devices.
More information on EtherCAT can be found on this web-site: http://ethercat.org/default.htm
RS-232PORT
ETHERCAT COMMUNICATIONS
RS-232 COMMUNICATIONS

Channel 2
2k
2k 2k
2k
STO_2
STO_1
AEV J3
Channel 1
PWM
Signals
STO
Diagnostic
Functional Safety Circuit
Boundary
CPU
STO1_RTN
STO2_RTN
/SD
Vcc
HI
LO
/SD
Vcc
HI
LO
Gate
Drivers
Power
Supply
PWM
Outputs
+HV
+HVaux
+14 Vdc
5 Vdc
-
+
STO Disabling
Connections
STO OPERATION
STO Input Voltage STO State
STO_1ANDSTO_2≥3.3Vdc STOInactive.Drivecanbeenabledtoproducetorque
STO_1 ORSTO_2≤2.0Vdc STOActive.Drivecannotbeenabledtoproducetorque
STO_1ORSTO_2Open
J3 STO
Signal Pin Signal
STO_1 1 3 STO_2
STO1_RTN 2 4 STO2_RTN
DANGER
Refer to the 16-01687 Accelnet Plus Micro Modules AEV & APV User Guide
The information provided in the 16-01687 Accelnet Plus Micro Modules AEV & APV User Guide must be considered for
anyapplicationusingtheAEVdriveSTOfeature.
FAILURE TO HEED THIS WARNING CAN CAUSE EQUIPMENT DAMAGE, INJURY, OR DEATH.
AEV
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
P/N 16-01681 Rev 15 Page 6 of 52
Accelnet
Plus Micro Module EtherCAT
INSTALLATION
FUNCTIONAL DIAGRAM
Current must ow
through all of the
opto-couplers
before the drive
can be enabled
TheSafeTorqueO(STO)functionisdenedinIEC61800-5-2.
Twochannelsareprovidedwhich,whende-energized,prevent
the upper and lower devices in the PWM outputs from producing
torque in the motor.
ThisprovidesapositiveOFFcapabilitythatcannotbeoverridden
bythecontrolrmware,orassociatedhardwarecomponents.
Whentheopto-couplersareenergized(currentisowinginthe
inputdiodes),thecontrolcorewillbeabletocontroltheon/o
state of the PWM outputs to produce torque in the motor.
STO DISABLE
InorderforthePWMoutputsoftheAEVtobeactivated,current
mustbeowingthroughtheopto-couplersthatareconnectedto
theSTO-IN1andSTO-IN2terminalsandthedrivemustbeinan
ENABLEDstate.Wheneitheroftheopto-couplersareOFF,the
driveisinaSafeTorqueO(STO)stateandthePWMoutputs
cannot be activated by the control core to drive a motor.
Thisdiagramshowsconnectionsthatwillenergizealloftheopto-
couplersfroma+5Vsource.WhenthisisdonetheSTOfeatureis
disabled and control of the output PWM stage is under control of
the digital control core.
If not using the STO feature, these connections must be
made in order for the drive to be enabled.
STO DISABLE CONNECTIONS
Note:VoltagesinthetableabovearereferencedbetweenanSTO-INx+andanSTO-INx-.
E.g.V(STO-IN1)=V(STO-IN1+)-V(STO-IN1-)
SAFE TORQUE OFF (STO)
STO STATUS
AdigitaloutputcanbeprogrammedtobeactivewhenthedriveisdisabledbytheSTOfunction.
TheactiveleveloftheoutputisprogrammabletobeHIorLO.
Note: STO Status is not part of the STO Safety Function.

[IN3] Current or
Velocity
No Function
[IN4]
Sgnd
<no connection>
Duty = 50% ±50%
Controller J2
J2
[IN3] Current or
Velocity
Polarity
[IN4]
Sgnd
Duty = 0~100
Controller
Position
Positive
Position
Negative
[IN3]
[IN4]
Sgnd
Controller
CU
CD
Drive
J2
Encoder A
Encoder B
[IN3]
[IN4]
Sgnd
Controller
A
B
Drive
J2
Position
Step
Position
Direction
[IN3]
[IN4]
Sgnd
Controller
STP
DIR
Drive
J2
J2 SGND Pins
3,4,18,31,32,33,34,42,49,50,59,60
Command Options Signal J2 Pins
Step, Position Positive, Encoder A IN3 7
Direction,PositioniNegative,EncoderB IN4 8
Command Options Signal J2 Pins
PWM/Dir Current or Velocity IN3 7
PWM/Dir Polarity IN4 8
AEV
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
P/N 16-01681 Rev 15 Page 7 of 52
Accelnet
Plus Micro Module EtherCAT
STAND-ALONE MODE DIGITAL POSITION-CONTROL INPUTS
AEV works with motion controllers that output pulses to command position.
These formats are supported:
Step/Direction
Count-Up/Count-Down (CU/CD)
A/BQuadratureEncoder
InStep/Directionmode,apulse-traincontrolsmotorposition,andthedirectioniscontrolledbyaDClevelattheDirectioninput.
CU/CD (Count-Up/Count-Down) signals command the motor to move CW or CCW depending on which input the pulse-train is
directed to. The motor can also be operated in an electronic gearing mode by connecting the inputs to a quadrature encoder on
anothermotor.Inallcasestheratiobetweeninputpulsesandmotorrevolutionsisprogrammable.
STEP/DIRECTIONINPUTS
PWM/DIRECTION
COUNT-UP/COUNT-DOWNINPUTS QUADA/BENCODERINPUTS
DIGITAL COMMAND INPUTS: POSITION
DIGITAL COMMAND INPUTS: VELOCITY, TORQUE
50%PWM
STAND-ALONE MODE DIGITAL VELOCITY/TORQUE CONTROL INPUTS
AEV works with motion controllers that output pulses to command velocity and torque (current).
These formats are supported:
PWM/Direction
50%PWM
InPWM/Directionmode,apulse-trainwithvariableduty-cyclecontrolsmotorVel/Trq,andthepolarityordirection
iscontrolledbyHI/LOlevelsattheDirectioninput.With50%PWMoperationthereisasinglesignal.
A50%dutycyleproduceszerooutput.Increasingthedutycycleto100%producesafull-scaleoutputinonedirection
and0%dutycycleproducesafull-scaleoutputintheoppositedirection.

Enc. X
+5V output @ 500 mA
SGND
J2
Frame Ground
ENCA2
/ENCA2
ENCB2
/ENCB2
ENCX2
/ENCX2
Enc. A
MAX3362
MAX3362
MAX3362
Enc. B
Input/Output
Select
MAX3362
MAX3362 for A/B
MAX3362 for X
A/B/X signals from
digital encoder
Input/Output
Select
A
A
2-Wire digital absolute
encoder signals
MAX3362
MAX3362
Input
Select
Output
Select
X
A
4-Wire digital absolute
encoder signals
MAX3362
MAX3362
Input/Output
Select
Pulse/Dir or CU/CD
differential commands
MAX3362
MAX3362 for A/B
MAX3362 for X
Input/Output
Select
Vel/Pol, Curr/Pol or 50%
differential commands
MAX3362
MAX3362 for A/B
MAX3362 for X
J2 SGND Pins
3,4,18,31,32,33,34,42,49,50,59,60
Feedback Options J2 Pins
QuadEncoderA,Half-DuplexCLK-DATA,Full-DuplexDATA 51
QuadEncoder/A,Half-Duplex/CLK-DATA,Full-Duplex/DATA 52
QuadEncoderB 53
QuadEncoder/B 54
QuadEncoderX,Full-DuplexCLOCK 55
QuadEncoder/X,Full-Duplex/CLOCK 56
J2 SIGNALS
Signal Pin
ENCA2 51
/ENCA2 52
ENCB2 53
/ENCB2 54
ENCX2 55
/ENCX2 56
Command Options J2 Pins
Pulse,CW,QuadEncoderA,Vel-Curr-Magnitude,Vel-Curr-50% 51
/Pulse,/CW,QuadEncoder/A,/Vel-Curr-Magnitude,/Vel-Curr-50% 52
Direction,CCW,QuadEncoderB,Vel-Curr-Direction 53
/Direction,/CCW,QuadEncoder/B,/Vel-Curr-Direction 54
AEV
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
P/N 16-01681 Rev 15 Page 8 of 52
Accelnet
Plus Micro Module EtherCAT
MULTI-MODE PORT AS AN INPUT
SECONDARYFEEDBACK:INCREMENTAL
• QuadA/B/Xincrementalencoder
FEEDBACK INPUT: ENCODER 2
SECONDARYFEEDBACK:ABSOLUTE
• Half-Duplex:AbsoluteAencoders(2-wire)
TheAchannelrsttransmitsaClocksignaland
then switches to a receiver to receive data from
the encoder
• Full-Duplex:SSI,BiSS,EnDatencoders(4-wire)
TheXchannelsendstheClocksignaltothe
encoder, which initiates data transmission to the
A-channel
POSITIONCOMMANDS:DIFFERENTIAL
• Pulse & Direction
• CW & CCW (Clockwise & Counter-Clockwise)
• EncoderQuadA&B
• CammingEncoderA&Binput
COMMAND INPUT
CURRENT orVELOCITYCOMMANDS:DIFFERENTIAL
• Current/Velocity Magnitude & Direction
• Current/Velocity50%

Secondary
Encoder Input
Input/Output
Select
MAX3362
MAX3362
Emulated Quad A/B
signals from
analog Sin/Cos encoder
Emulated A/B signals
Secondary
Encoder Input
Input/Output
Select
MAX3097
Buffered Quad A/B
signals from MAX3362
Buffered Quad X
signal from MAX3362
Buffered A/B/X signals
+5V output @ 500 mA
J2
ENCA2
/ENCA2
ENCB2
/ENCB2
ENCX2
/ENCX2
ENCA2
ENCB2
ENCX2
MAX3362
MAX3362
MAX3362
SGND
J2 SGND Pins
3,4,18,31,32,33,34,42,49,50,59,60
J2 SIGNALS
 Emulated A/B Signal Pin
BueredA Quad A ENCA2 51
Buered/A Quad /A /ENCA2 52
BueredB QuadB ENCB2 53
Buered/B Quad/B /ENCB2 54
BueredX ENCX2 55
Buered/X /ENCX2 56
AEV
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
P/N 16-01681 Rev 15 Page 9 of 52
Accelnet
Plus Micro Module EtherCAT
MULTI-MODE PORT AS AN OUTPUT
OUTPUT TYPES
BUFFEREDQUADA/B/XOUTPUTS EMULATEDQUADA/BOUTPUTS
BUFFEREDFEEDBACKOUTPUTS:DIFFERENTIAL
An incremental encoder connected as primary feedback from the motor
isinternallyconnectedtothemulti-portconguredasanoutput.
This can then be wired to a motion controller that needs position data
without the need for split-wiring cables from the encoder alone.
• EncoderQuadA,B,Xchannels
• DirectinternalconnectionbetweenquadA/B/X
encoderfeedbackanddierentiallinedriversforA/B/Xoutputs
EMULATEDFEEDBACKOUTPUTS:DIFFERENTIAL
FirmwareproducesemulatedquadA/Bsignalsfromfeedback
data from the following devices:
• Absolute encoders
• Analog Sin/Cos incremental encoders
TheXchannelisnotusedinthismode


Name Notes
Analog Reference Disabled
VLoopInput Disabled
VLoopOutput1 LowPass,Butterworth,
2poles,200Hz
VLoopOutput2 Disabled
VLoopOutput3 Disabled
ILoopInput1 Disabled
ILoopInput2 Disabled
InputShaping Disabled, 0.1 Poles
Home
SoftwareLimits Positive, Negative, Deceleration
Method SetCurrentPositionasHome
Fast Velocity RPM
Slow Velocity RPM
Accel / Decel RPS
Oset Counts
HomingAdjustment Counts

Name Notes
OUT1 Fault-ActiveLO
OUT2 NotCongured
OUT3 Brake-ActiveLow
OUT4* SLIMOSI(MasterOutputSlaveInput)
OUT5* SLICLK(Clock)
OUT6* SLISS(SlaveSelect)

Active Notes
√Short Circuit
√ AmpOverTemperature
√ MotorOverTemp
OverVoltage
Under Voltage
√Feedback Error
Motor Phasing Error
√Following Error
CommandInputLost
Motor Wiring Disconnected
STOActive

OverCurrent(Latched)

Name Conguration
IN1 AmpEnable-LOEnableswithClearFaults
IN2 NotCongured
IN3 NotCongured
IN4 NotCongured
IN5 MotorTemp-HiDisables
IN6 EncoderFault-ActiveHI
IN7* SLIMISO(MasterInputSlaveOutput)
AEV
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
P/N 16-01681 Rev 15 Page 10 of 52
Accelnet
Plus Micro Module EtherCAT
CME DEFAULTS
These tables show the CME default settings. They are user-programmable and
thesettingscanbesavedtonon-volatileashmemoryasCCXorCCDles.
*IfnotusedforanSLIport,theseoutputs
can be programmed for other functions.
*IfnotusedforanSLIport,thisinputcan
be programmed for other functions.
√ThesearethedefaultsettingsforLatched
Faults. Using CME, these can be checked
or unchecked.

+3.3V
100p
74LVC3G14
+5V +5V
1K
10k
[IN1~6]
SGND
AEV J2
+5V
100p
74HCT2G14
+5V +5V
1K
10k
[IN7]
SGND
J2 AEV, APV
SPECIFICATIONS
Input Data Notes
InputVoltages
HI VT+=1.42~2.38Vdc
LO VT+=0.68~1.6Vdc
Hys VH=0.44~1.26
Max +6Vdc
Min 0 Vdc
Pull-up R1 10 kΩ
Lowpasslter
R2 1 kΩ
C1 100 pF
RC10.1µs
CONNECTIONS
Signal J2 Pins
IN1 5
IN2 6
IN3 7
IN4 8
IN5 9
IN6 10
SPECIFICATIONS
Input Data Notes
InputVoltages
HI VT+≥1.3~2.0Vdc
LO VT-≤0.55~1.3Vdc
Hys VH0.40~0.79Vdc
Max +6Vdc
Min 0 Vdc
Pull-up R1 10 kΩ
Lowpasslter
R2 1 kΩ
C1 100 nF
RC10.1µs
CONNECTIONS
Signal J2 Pins
IN7 11
J2 SGND PINS
3,4,18,31,32,33,34,42,49,50,59,60
AEV
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
P/N 16-01681 Rev 15 Page 11 of 52
Accelnet
Plus Micro Module EtherCAT
HIGH SPEED INPUTS: IN1, IN2, IN3, IN4, IN5, IN6
• Digital, non-isolated
• Programmable functions
• MISOInputwhenSLIportisinuse.
* RC time constant applies when input
is driven by active high/low device
HIGH SPEED INPUT: IN7
The six digital inputs to the AEV are programmable to a selection of functions.
Allhave100nsRClterswhendrivenbyactivesources(CMOS,TTL,etc)andallhave10kΩpull-upresistorsto+5Vdc.
Inadditiontotheselectionoffunctions,theactivelevelforeachinputisindividuallyprogrammable.
InputlevelfunctionshaveprogrammableHIorLOtoactivatethefunction.
InputtransitionfunctionsareprogrammabletoactivateonLO->HI,orHI->LOtransitions.
INPUT LEVEL FUNCTIONS INPUT TRANSITION FUNCTIONS
 •DriveEnable,EnablewithClearFaults,EnablewithReset •ClearFaultsandEventLatch
• PWM Sync • Drive Reset
 •PositiveLimitSwitch •PWMSyncInput
 •NegativeLimitSwitch •TrajectoryUpdate
 •HomeSwitch •CountInputEdges,SavetoRegister
 •EncoderFault •High-SpeedPositionCapture
 •MotorTemperatureSensorInput •SimulatedAbsoluteEncoderBurst
 •MotionAbort •AbortMoveif>NCountsFromDestinationinRegister
 •High-ResolutionAnalogDivide

+
1.5V
REFIN(+)
REFIN(-) Vref
SGND
-
D/A
F.G.
±10V
AEV J2
User Mounting Board
+5 Vdc
[DOUT1~3]
74HCT2G14
+3.3 Vdc
[DOUT4~6] ±24 mA
R
SGND
74LVC3G14
±4 mA
R
SGND
AEV J2 AEV J2
+3.3 Vdc
[DOUT4]
SLI-MOSI
SLI-MISO
SLI-CLK
SLI-EN1
SLI-GND
[DOUT5]
[DOUT6]
[IN7]
USER BOARD SLI DEVICES
74HCT3G14
74LVC3G14
SGND
AEV J2
Signal J2 Pins
DOUT1 13
DOUT2 12
DOUT3 15
DOUT4 14
DOUT5 17
DOUT6 16
J2 SGND Pins
3,4,18,31,32,33,
34,42,49,50,59,60
SPECIFICATIONS
Spec Data Notes
InputVoltage Vref ±10Vdc
InputResistance Rin 5.09 kΩ
Signal J2 Pins
REFIN(+) 2
REFIN(-) 1
SLI PORT Signal J2 Pins
SLI-MOSI DOUT4 14
SLI-CLK DOUT5 17
SLI-EN1 DOUT6 16
SLI-GND SGND 18
SLI-MISO IN7 11
AEV
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
P/N 16-01681 Rev 15 Page 12 of 52
Accelnet
Plus Micro Module EtherCAT
Digitaloutputs[OUT1~3]areHCTCMOSinverters.Theyoperatefrom+5Vandcansource/sink4mAdc.
[OUT4~6]areLVCCMOSinverters.Theyoperatefrom3.3Vandcansource/sink24mA.
TheoutputfunctionsshownbelowareprogrammabletoturntheoutputON(HI)orOFF(LO)whenactive.
DIGITAL OUTPUTS: OUT1~OUT6
OUTPUT FUNCTIONS
• Fault
•Brake
• Custom event
• PWM Sync
• Custom Trajectory status
• Custom position-triggered output
• Program control
ThesethreeoutputsandoneinputoperateasanSLI(SwitchandLEDInterface)portforcontrollingLEDsandreadingthesettings
thenetworkaddressswitches.ThegraphicbelowshowstheminSLImode.IfnotusedforSLItheyareprogrammableforother
functionstoturntheoutputON(HI)orOFF(LO)whenactive.[IN7]isshownhereforcompletenessaspartoftheSLIfunction.
SLI (S & LED I) PORT
OUTPUT FUNCTIONS
• Fault
•Brake
• Custom event
• PWM Sync
• Custom Trajectory status
• Custom position-triggered output
• Program control
ANALOG INPUT: AIN1
As a reference input it takes Position/Velocity/Torque commands from a controller.
Ifnotusedasacommandinput,itcanbeusedasgeneral-purposeanaloginput.

ENCB
/ENCB
ENCX
/ENCX
User PC Board
Quad
Encoder
A
B
X
+5V
0V SGND
ENCA
/ENCA A
B
+5V ENC1(2)
AEV J2
MAX3362
FG
MAX3281
121
121
+5
130
MAX3362
X
1k
1k
FG
User PC Board
SSI
Encoder
A
X
+5V
0V SGND
SDATA
A
/SDATA
/SCLK
SCLK
+5V ENC1(2)
AEV J2
MAX3362
121
+5
130
MAX3362
X
1k
1k
BiSS
Encoder
MA+
MA-
SL+
SL-
FG
AEV J2
Clk
Data
Master
Slave
V+
V-
+5V Out @ 500 mA
MA+
MA-
SL+
SL-
User PC Board
130
+5
121
1k
1k
FG
SGND
Signal J2 Pins
ENCA1 43
/ENCA1 44
ENCB1 45
/ENCB1 46
ENCX1 47
/ENCX1 48
+5VENC 57,58
SSI BiSS Signal J2 Pins
SCLK MA+ ENCX1 47
/SCLK MA- /ENCX1 48
SDATA SL+ ENCA1 43
/SDATA SL- /ENCA1 44
+5V +5VENC 57,58
J2 SGND Pins
3,4,18,31,32,33,34,42,49,50,59,60
AEV
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
P/N 16-01681 Rev 15 Page 13 of 52
Accelnet
Plus Micro Module EtherCAT
ENCODER 1 (PRIMARY FEEDBACK)


SSI ABSOLUTE ENCODER
TheSSI(SynchronousSerialInterface)isaninterface
used to connect an absolute position encoder to a
motion controller or control system. The AEV drive
providesatrainofclocksignalsindierentialformat
to the encoder which initiates the transmission of the
position data on the subsequent clock pulses. The
number of encoder data bits and counts per motor
revolution are programmable. The hardware bus
consistsoftwosignals:SCLKandSDATA.TheSCLK
signal is only active during transfers. Data is clocked
in on the falling edge of the clock signal.
BiSS ABSOLUTE ENCODER
BiSSisanOpenSourcedigitalinterfaceforsensorsand
actuators.BiSSreferstoprinciplesofwellknownindustrial
standardsforSerialSynchronousInterfaceslikeSSI,AS-
Interface®andInterbus®with additional options.
Serial Synchronous Data Communication
Cyclic at high speed
2 unidirectional lines Clock and Data
  Linedelaycompensationforhighspeeddatatransfer
Request for data generation at slaves
Safety capable: CRC, Errors, Warnings
  Buscapabilityincl.actuators
 Bidirectional
  BiSSB-protocol:Modechoiceateachcyclestart
  BiSSC-protocol:Continuousmode
Note: Signal (outer) shields should be connected at the drive end.
Inner shields are optional for digital encoders and should only
be connected to Signal Ground on the drive.
SSI,BiSS SIGNALS

-
+
-
+
A
B
A
B
130
1k
+5V
1k
121
EnDAT
Encoder
Sin(+)
Sin(-)
Cos(+)
Cos(-)
Sin(+)
Sin(-)
Cos(+)
Cos(-)
Dat
/Dat
Clk
/Clk
AEV J2
Clk
Clk
FG
/Clk
Data
/Data Data
Data
Clk
+5V
0V
+5V Out @ 500 mA
SGND
121 Sin
Cos
121
sin
cos
USER PC BOARD
/Data
+
-
*
Batt+
Absolute-A Encoder
1.2k
1.2k
220
5V
SD+
SD-
AEV J2
Data
Cmd
D-R
SD
Cmd
D-R
SD
MAX3362B
0V
+5V
V+
V-
FG
Batt-
USER PC BOARD
121
+5V
SGND
EnDAT Signal J2 Pins
Clk ENCX1 47
/Clk /ENCX1 48
Data ENCA1 43
/Data /ENCA1 44
Sin(+)* SIN1+ 36
Sin(-) * SIN1- 35
Cos(+)* COS1+ 38
Cos(-) * COS1- 37
+5V +5ENC 57,58
ABS-A Signal J2 Pins
Data ENCA1 43
/Data /ENCA1 44
+5V +5ENC 57,58

3,4,18,31,32,33,34,42,49,50,59,60
AEV
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
P/N 16-01681 Rev 15 Page 14 of 52
Accelnet
Plus Micro Module EtherCAT
ENCODER 1 (PRIMARY FEEDBACK)
ENDAT ABSOLUTE ENCODER
TheEnDatinterfaceisaHeidenhain
interfacethatissimilartoSSIintheuse
of clock and data signals, but which also
supports analog Sin/Cos channels from
the same encoder. The number of position
data bits is programmable as is the use
of Sin/Cos channels. Use of Sin/Cos
incremental signals is optional in the EnDat
specication.
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.
ENDAT SIGNALS
ABSOLUTE-A SIGNALS
• Absolute A
• Tamagawa Absolute A
• Panasonic Absolute A Format
• Sanyo Denki Absolute A
* Sin/Cos optional with EnDat 2.2
or any 1 Mbit or faster Endat
Sin/CosrequiredifEnDat2.1<1Mbit
*Batteryoptional
Note: Signal (outer) shields should be connected at the drive end. The inner shield is optional
for digital encoders and should only be connected to Signal Ground on the drive.
*

+9~60
Vdc
DC/DC
HVCOM
VLOGIC
+5VENC
Internal
Power
AEV J1
+
0
USER MOUNTING PC BOARD
HALL U, V, W
100 pF
74LVC3G17
+5V
+3.3V
15 k
U
V
W
15 k
AEV J2
10k
1k
DOUT1~DOUT3
24V
+5V
Brake
+
0
AEV J2
USER MOUNTING PC BOARD
SGND
+24V
BRK
SGND
+5V Out @ 500 mA
SGND
Sin(+)
Sin(-)
Cos(+)
Cos(-)
-
+
-
+
120
AEV J2
120
Encoder
Sin
Cos
+5V
0V
Sin
Cos
USER MOUNTING PC BOARD
FG
+3.3V
100p
+5V
1k
Motemp
SGND
10k
+5V
74LVC3G14
AEV J2
Input Signal J2 Pins
Motemp IN5 9
SGND SGND 3
 Signal J2 Pins
Sin(+) SIN1+ 36
Sin(-) SIN1- 35
Cos(+) COS1+ 38
Cos(-) C0S1- 37
+5V +5VENC 57,58
Input Signal J2 Pins
HallU HALLU 39
HallV HALLV 40
HallW HALLW 41
 Signal J2 Pins
OUT1 DOUT1 13
OUT2 DOUT2 12
OUT3* DOUT3 15

3,4,18,31,32,33,34,42,49,50,59,60
Signal J1 Pins
VLOGIC 8
HVCOM 9,10,11,
12,13,14
AEV
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
P/N 16-01681 Rev 15 Page 15 of 52
Accelnet
Plus Micro Module EtherCAT
OTHER MOTOR CONNECTIONS
ANALOG ENCODER
MOTOR TEMPERATURE SENSOR
Any digital input is programmable for use
with a motor overtemperature switch. Either
aHIorLOinputlevelisprogrammableto
signal an over-temp condition.
MOTOR BRAKE
OUT1~OUT3have+5Voutputsthatcan
controlaMOSFET.Whenprogrammedfor
brakecontrolwithanactiveHIlevel,the
outputwillturnontheMOSFET,releasing
the brake and allowing the motor to
move.
HALLS
Hallsensorsinabrushlessmotorare
producedfromthemagneticeldinthe
motor and provide commutation feedback
without an encoder. When used with
incremental encoders, they enable the
motortooperatewithoutaphase-nding
cycle.
SIN/COS ENCODERS
Sin/Cos sensors in linear brushless
motors are produced from the magnetic
eldintherodandprovidecommutation
feedback as well as higher resolution
position feedback by interpolating of the
signals.
Incrementalrotaryencodersarealso
available with Sin/Cos outputs.
Programmable interpolation enables the
number of counts per revolution or linear
movement to be programmed.
VLOGIC
DESCRIPTION
Powers the internal logic and control
circuits in the drive.
WhenusingtheSTOfeature,itmust
be produced by power supplies with
transformer isolation from the mains and
PELVorSELVratingsandamaximum
output voltage of 60 Vdc.
Ifthemotorcanoperatefromvoltagesof
60Vdcorless,the+HVandVLOGICcan
be driven from a single power supply.
*OUT3isbrakedefault

+
-
+
-
Sgnd
SPI
Devices
SPI-MOSI
SPI-CLK
SPI-EN1
SPI-MISO
SPI-GND
Controller
PosLim
NegLim
Fault
Drive Enable
IN3
IN2
Sgnd
IN1
OUT2
Motemp
IN5
Hall W
Hall V
Sgnd
Hall U
Enc2 /X
Enc2 X
Enc2 /B
Enc2 B
Enc2 A
Enc2 /A
Enc1 /X
Enc1 X
Enc1 /B
Enc1 B
Enc1 A 43
44
45
46
47
48
60
Enc1 /A
+5 Vdc
Output
IN3
IN6 Enc
Fault
IN4
RxD
Sgnd
TxD
W
V
U
+HV Com
Fuse
Earth
Minimum
Vlogic 330 µF
per drive
DC
Power
<= 12 in (30 cm) from drive
Mount external capacitor
Brake
[OUT3]
HALLS
U
V
W
+HV
J1
J2
J3
RxD
TxD
Gnd
Controller
RS-232
DTE
Encoder
Motor
A
/A
B
/B
X
/X
Encoder
Load
SGND = Signal Ground
A
/A
B
/B
X
/X
0V
+5V
FLT
0V
+5V
To Encoder
and Halls
BRAKE
+24V +
0
Motor
Overtemp
Switch
39
40
41
STO-IN2(+)
STO-IN1(-)
STO-IN1(+)
1
2
3
STO-IN2(-) 4
57
5
51
52
53
54
55
56
59
6
7
12
IN7
OUT6
OUT5
Sgnd
17
OUT414
16
11
18
8
9
3
15
30
17
25 26 27
33 34 35
36
1 2 3
4
9 10 11
12
13
14
5 6
37 38
28 29 30
18 19
20 21 22
32
8
28
7
10
+5 Vdc
Output 58
CU Step ENC Ch. A
CD Dir ENC Ch. B
+5V
+
0
VLOGIC
Required for
drive control and
communications
MOTOR
W
V
U
Voice
Coil
+
-
AEV
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
P/N 16-01681 Rev 15 Page 16 of 52
Accelnet
Plus Micro Module EtherCAT
NOTES
1.[IN1]isshownasDriveEnableand[IN2]and[IN3]areshownwithsometypicalfunctions.
[IN3]and[IN4]areshownasdigitalcommandinputs.[IN3]isshowntwice.
IfSLIfunctionisused,itwillnotbeavailableforotherfunctions.Allinputsareprogrammable.
2.[OUT2]isshownasaFaultsignaltothecontrollerand[OUT3]isshownascontrolforamotorbrake.
All outputs are programmable.
3. Encoder connections are shown for incremental types, but absolute encoders are supported on both primary
and load encoder inputs.
TYPICAL CONNECTIONS



1.600 40.64
2.500 63.50
0 0
.650 16.51 .526 13.35 .800 20.32
0 0
.090 2.29
1.751 44.46
1.818 46.19
2.080 52.83
2.320 58.93
1 3
2 4
6463
21 21
3837
J2 J1
J3
38X Ø 0.035 [0.89]
2X Ø 0.105 [2.67]
4X Ø 0.035 [0.89]
64X Ø 0.028 [0.71]
21
3837
AEV
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
P/N 16-01681 Rev 15 Page 17 of 52
Accelnet
Plus Micro Module EtherCAT
PC BOARD MOUNTING & DRILLING DIMENSIONS

Notes
1. J1 signals must be connected for current-
sharing.
2. To determine copper width and thickness for J1
signalsrefertospecicationIPC-2221.
(AssociationConnectingElectronicIndustries,
http://www.ipc.org)
3.Standosshouldbeconnectedtoetcheson
pc board that connect to frame ground for
maximum noise suppression and immunity.
They also provide the PE (Protective Earth)
connection between the heatplate and ground.
For Sockets on User PC Board:
Qty Description Mfgr Part Number Ref Des Remarks
1 Socket Strip Samtec SQT-119-01-G-D J1 0.0787 in (2.00 mm) pitch
 1 SocketStrip Samtec FLE-132-01-G-DV-K-TR J2 0.050in(1.27mm)pitch
1 Socket Strip Samtec TLE-102-01-G-DV-TR J3 0.0787 in (2.00 mm) pitch
 2 Stando hex,20.5mmlong,M2.5mmthread
J1 S

For Soldering to User PC Board:
Qty Description Mfgr Part Number Ref Des Remarks
1 For J1, refer to this document: http://suddendocs.samtec.com/processing/through-hole-printing.pdf
 2 Stando hex,15mmlong,M2.5mmthread
D

J3
J2 J1
1 3
42
63
1 2 1 2
37 38
64
Signal P3 Pin Signal
* 63 64 *
* 61 62 *
SGND 59 60 SGND
+5VENC 57 58 +5VENC
ENCX2 55 56 /ENCX2
ENCB2 53 54 /ENCB2
ENCA2 51 52 /ENCA2
SGND 49 50 SGND
ENCX1 47 48 /ENCX1
ENCB1 45 46 /ENCB1
ENCA1 43 44 /ENCA1
HALLW 41 42 SGND
HALLU 39 40 HALLV
COS1- 37 38 COS1+
SIN1- 35 36 SIN1+
SGND 33 34 SGND
SGND 31 32 SGND
ECATTX1- 29 30 ASYNC_TxD
ECATTX1+ 27 28 ASYNC_RxD
ECATTX2- 25 26 ECATRX1-
ECATTX2+ 23 24 ECATRX1+
+3.3V_TXRX2 21 22 ECATRX2-
+3.3V_TXRX1 19 20 ECATRX2+
(SLI-CLK)DOUT5 17 18 SGND
(BRAKE)DOUT3 15 16 DOUT6(SLI-EN1)
DOUT1 13 14 DOUT4(SLI-MOSI)
(SLI-MISO)IN7 11 12 DOUT2
IN5 9 10 IN6
IN3 7 8 IN4
(Enable)IN1 5 6 IN2
SGND 3 4 SGND
REFIN(-) 1 2 REFIN(+)
Signal J1 Pin Signal
MOTU
37 38
MOTU35 36
33 34
* 31 32 *
MOTV
29 30
MOTV27 28
25 26
* 23 24 *
MOTW
21 22
MOTW
19 20
17 18
* 15 16 *
HVCOM
13 14
HVCOM11 12
9 10
* 7 8 VLOGIC
+HV
5 6
+HV3 4
1 2
SIGNAL PIN PIN SIGNAL
STO_1 1 3 STO_2
STO1_RTN 2 4 STO2_RTN
AEV
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
P/N 16-01681 Rev 15 Page 18 of 52
Accelnet
Plus Micro Module EtherCAT
PC BOARD SIGNALS
J1 POWER & MOTOR
TOP VIEW
Viewed from above looking down on
the connectors or PC board footprint to
which the module is mounted
J1:HV&Motor
Dual row, 2 mm centers
38 position female header
Samtec: SQT-119-01-G-D
J2: Feedback
Dual row, 0.050 inch centers
64 position female header
Samtec:FLE-132-01-G-DV-K-TR
J3: Safety
Dual row, 2 mm centers
4 position female header
Samtec:TLE-102-01-G-DV-TR
J3 SAFETY
J2 FEEDBACK
Connector part numbers
for socket mounting.



2.500 63.5
.94824.09
.89722.79
1.04426.51
.105 2.67
.090 2.29
2.32058.93
4.7.185
.80020.32
.69217.58
1.60 40.6
2.500 63.5
.090 2.29
.948 24.09
.897 22.79
.860 21.85
.105 2.67
2.320 58.93
.185 4.7
.800 20.32
.692 17.58
AEV
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
P/N 16-01681 Rev 15 Page 19 of 52
Accelnet
Plus Micro Module EtherCAT
DIMENSIONS
Dimensions are in inches [ mm ].
AEV-090-50, AEV-090-50-C
* These pins are longer
for soldering to the user
PC board.
*
AEV-090-14, AEV-090-30, AEV-180-10, AEV-180-20

Screw M2.5
40mm
(2)
Nut (2)
2.7 [68.5]
in [mm]
Generic spacer
(2)
Power Pins Signal & STO Pins
in
0.59 [15]
Screw M2.5
(2)
Nut (2)
Generic spacer
(2)
Power Pins Signal & STO Pins
1.73 [44]
2.92 [74]
in [mm]
Screw M2.5
40 mm
(2)
0.807 [20.5]
in [mm]
Copley spacer
(2)
Nut (2) Signal & STO SocketsPower Socket
1.945 [44.41]
in [mm]
Screw M2.5
35 mm
(2)
0.807 [20.5]
in [mm]
Copley spacer
(2)
Nut (2) Signal & STO SocketsPower Socket
PINS HEATSINK KIT: AEV-HK
  Qty
Screw M2.5-0.45 x 35 mm slotted
cheese head 2
Nut M2.5-0.45DINnylonlocknut 2
Thermal material Copley 1
Spacer Copley non-threaded spacer
20.5 mm, 2
Heatsink PinsHeatsink,1inchtall 1
CONNECTORS FOR SOCKETING
   Qty
Signal Socket Samtec FLE-132-01-G-DV-K-TR 1
Power Socket Samtec SQT-119-01-G-D 1
STOSocket Samtec TLE-102-01-G-DV-TR 1
TALL PINS HEATSINK KIT: AEV-THK
  Qty
Screw M2.5-0.45 x 40 mm slotted
cheese head 2
Nut M2.5-0.45DINnylonlocknut 2
Thermal material Copley 1
Spacer Copley non-threaded spacer
20.5 mm, 2
Heatsink TallPinsHeatsink,2inchtall 1
AEV
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
P/N 16-01681 Rev 15 Page 20 of 52
Accelnet
Plus Micro Module EtherCAT
MOUNTING: SOLDERED INTO USER PC BOARD
AEV-090-50, AEV-090-50-C
Kitsarenotavailableforthisconguration.Herearethepartsrequired:
 Standos: 15mm,diameter4.5mm,hollow,aluminum,RAFM0514-25,qty2
Thermal pad: Copley CC 6-83985-01, qty 1
 PinsHeatsink: CopleyCC21-126260-01,qty1
 Screws: M2.5,Lengthdependentonassembly,qty2
Nuts: M2.5, Dependent on assembly, qty 2
Tall Pins Heatsink
Pins Heatsink
MOUNTING: SOCKETED INTO USER PC BOARD
AEV-090-14, AEV-090-30, AEV-180-10, AEV-180-20
All connections shown socketed. With the pins heatsink the 30 mm screws are used.
With the long pins heatsink the 40 mm screws are used.
Tall Pins Heatsink
Pins Heatsink
Forthehalf-solderedcongurationthedimensions,spacers,screws,andnutsarethesame.