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.