Copley Controls Accelnet Plus AEV-090-14 User Manual Download Page 24

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Accelnet Plus Micro Modules User Guide

16-01687 Rev 03

Copley Controls

Page 24 of 139

EZ Boards

AEZ-090-50

OARD

IMENSIONS

EZ Development Boards

AEZ-090-50-C

EVELOPMENT

OARD

IMENSIONS

Summary of Contents for Accelnet Plus AEV-090-14

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

Page 2: ...ors 21 Fault Levels 22 Dimensions 23 Mechanical and Environmental 25 Thermals 26 Operating Temperature and Cooling Configurations 29 EZ Board Pins Heatsink Mounting 30 4 Connections and Wiring Modules...

Page 3: ...tions 97 Limitations and Necessary Risk Reductions 98 PC Board Design for STO 101 Installation Overview 102 STO Installation for AEV APV Modules 104 STO Installation for AEZ APZ Models 110 7 Operation...

Page 4: ...et Plus Micro Module drives manufactured by Copley Controls All Accelnet Plus Micro Module products have serial numbers that incorporate the week and year of production into the first 4 digits WWYY of...

Page 5: ...Accelnet Plus Micro Modules User Guide 16 01687 Rev 03 Copley Controls Page 5 of 139 EC DECLARATION OF CONFORMITY...

Page 6: ...Protective Earth PELV Protected Extra Low Voltage power supply PFD Probability of Dangerous Failure upon Demand PFH Probability of Failure per Hour PL Performance Level PWM Pulse Width Modulation S S1...

Page 7: ...and APZ are registered trademarks of Copley Controls CME is a registered trademark of Copley Controls Windows XP Windows 7 Visual Basic and NET are trademarks or registered trademarks of the Microsof...

Page 8: ...ULTS 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...

Page 9: ...es models can operate in several basic ways AEV AEZ models operate as slave devices on an EtherCAT network Servo drives can perform the CoE CANopen protocol over EtherCAT operating modes with the addi...

Page 10: ...0 50 APV 090 50 C 50 50 APZ 090 50 C APV 180 10 5 10 20 180 APV 180 20 10 20 Ic Continuous Output Current Adc peak of sine Ip Peak Output Current Adc peak of sine HV Power supply voltage for PWM outpu...

Page 11: ...use it enables the network master to maintain communication with the drives when the HV has been removed most commonly for safety or EMO Emergency Off conditions Specification AEV 090 14 APV 090 14 AE...

Page 12: ...nuous Current Adc 7 15 25 50 25 50 5 10 Continuous Current Arms 4 95 10 6 17 7 35 4 17 7 35 4 3 54 7 07 Peak Output Power kW 1 26 2 7 4 5 4 5 4 5 4 5 1 8 3 6 Cont Output Power kW 0 63 1 35 2 25 4 5 2...

Page 13: ...HV voltage do not affect tuning DIGITAL COMMAND INPUTS Digital Position Command Pulse and direction Count up Count down Maximum rate 2 MHz with active driver Pulse count minimum width 220 ns Quadratu...

Page 14: ...10 000 ms The default functions of these inputs are programmable to other functions SLI is Switch LED Interface where outputs and an input work together to read network address switches and control LE...

Page 15: ...dicated Brake circuit and its function ENCODERS ENCODER 5V POWER OUTPUT Specification Data Number 1 Voltage Output 5 Vdc 2 Maximum Current Output 500 mA Short Circuit Protection Thermal and short circ...

Page 16: ...2 2 Vdc High Level Input Voltage 2 5 3 5 Vdc Hysteresis Voltage 0 7 1 5 Vdc Timing Edge detection RC Filter Time Constant 1 5 Sec when driven by active sources Function Commutation of brushless motor...

Page 17: ...eiver Signals A A B B X X for incremental Clk Clk Data Data for absolute Input Voltage Range 7 to 12 V common mode Input Voltage Hysteresis 25 mV Differential Input Threshold 200 mVdc Termination Resi...

Page 18: ...mediately at the higher Baud rate so the sender should wait some time 10 ms or more before resuming communications with the drive at the newly programmed higher rate AEV APV RxD TxD signal levels are...

Page 19: ...CST Cyclic Synchronous Torque with Commutation Angle CSTCA Profile Current Velocity and Position PVT and Homing Profile Current Velocity and Position PVT and Homing Node Address Selection AEV Slaves a...

Page 20: ...when it scans the network to identify all of the nodes and are independent of the physical position on the network Fixed addresses begin with 1001 0x3E9 and increment thereafter as nodes are found As...

Page 21: ...hen the drive is serving as a CME serial port multi drop gateway There are several basic methods for setting the CAN address as described below These methods can be used in any combination producing a...

Page 22: ...HV 8 5 0 5 Vdc PWM outputs turn off until HV 8 5 Vdc 0 5 Vdc 90 V models HV 19 5 0 5 Vdc PWM outputs turn off until HV 19 5 Vdc 0 5 Vdc 180 V models DC Bus Overvoltage HV 95 1 Vdc PWM outputs turn off...

Page 23: ...ley Controls Page 23 of 139 DIMENSIONS Modules AEV 090 14 090 30 180 10 180 20 APV 090 14 090 30 180 10 180 20 DIMENSIONS AEV 090 50 AEV 090 50 C APV 090 50 APV 090 50 C DIMENSIONS These pins are long...

Page 24: ...Accelnet Plus Micro Modules User Guide 16 01687 Rev 03 Copley Controls Page 24 of 139 EZ Boards AEZ 090 50 EZ BOARD DIMENSIONS EZ Development Boards AEZ 090 50 C EZ DEVELOPMENT BOARD DIMENSIONS...

Page 25: ...35 lb 0 157 kg add 1 73 oz 0 049 kg for pins heatsink AEZ 50 C APZ 50 C Specification Data Size 3 6 x 5 08 x 1 95 91 4 x 129 0 x 49 4 mm Weight 0 72 lb 0 33 kg ALL MODELS Specification Data Ambient Te...

Page 26: ...curve closest to the HV from the power supply Draw a horizontal line from there to the left which will show the losses in Watts On the following page find the VLOGIC power dissipation Add these togeth...

Page 27: ...DISSIPATION VS OUTPUT CURRENT AND HV AEV 180 10 AEV 180 20 VLOGIC DISSIPATION VS 5V OUTPUT CURRENT AND HV AEV 090 14 Adding the dissipations of VLOGIC and HV 20 5 3 5 24 Watts Example VLOGIC 48 Vdc Du...

Page 28: ...h to operate the drive NHSNF No Heatsink No Fan NHSF100 No Heatsink Fan at 100 CFM NHSF300 No Heatsink Fan at 300 CFM HSNF With heatsink No Fan HSF100 With heatsink Fan at 100 CFM HSF300 With heatsink...

Page 29: ...area of the surface of the drive and the movement of air over the surfaces Conduction through solid materials is another path for heat flow Forced air over the drive or heatsink surfaces will increase...

Page 30: ...ective sheet from one side of the pad 2 Place the interface pad on the drive taking care to center the pad holes over the heatplate mounting holes 3 Remove the clear protective sheet from the pad 4 Mo...

Page 31: ...suppression and immunity They also provide the PE Protective Earth connection between the heatplate and ground Dimensions are in inches mm For Sockets on User PC Board Qty Description Mfgr Part Number...

Page 32: ...SLI CLK DOUT5 1 7 1 8 SGND BRAKE DOUT3 1 5 1 6 DOUT6 SLI EN1 DOUT1 1 3 1 4 DOUT4 SLI MOSI SLI MISO IN7 1 1 1 2 DOUT2 IN5 9 1 0 IN6 IN3 7 8 IN4 Enable IN1 5 6 IN2 SGND 3 4 SGND REFIN 1 2 REFIN J2 SIGNA...

Page 33: ...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...

Page 34: ...d 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 SOCKETED INTO THE USER PC BOARD AEV 090 14...

Page 35: ...Copley 1 Spacer Copley non threaded spacer 20 5 mm 2 Flat Washer Metric M2 5 flat 2 Split Lock Washer Metric M2 5 lock 2 Nut 2 Signal S TO Sockets 0 07 20 5 in mm Copley spacer 2 Nut 2 Signal S TO So...

Page 36: ...20 5 mm 2 Heatsink Pins Heatsink 1 inch tall 1 MOUNTING BOARD CONNECTORS FOR SOCKETING Part Manufacturer Part Number Qty Power Socket J1 Samtec SQT 119 01 G D 1 Signal Socket J2 Samtec FLE 132 01 G DV...

Page 37: ...Creepage Clearance is the straight line distance between two traces Primarily affected by air pressure altitude and voltage between the traces Creepage is the distance between traces over the surface...

Page 38: ...een Low Voltage circuits and chassis 0 200 mm Between High Voltage circuits and chassis 0 630 mm CREEPAGE CLEARANCE FOR INNER LAYERS OF PC BOARDS Creepage and clearance based on standard IEC 60664 1 D...

Page 39: ...e low current circuits Circuits highlighted in green in the graphic below are isolated from Signal Gnd to avoid ground loops with external equipment User equipment connecting to the drive s non isolat...

Page 40: ...to the drive Aside from the electrical safety aspects of grounding attention must also be paid to the wiring and grounding practices required to reduce susceptibility to external EMI Electro Magnetic...

Page 41: ...any other applicable standards It is strongly recommended that motor also be connected to protective earth connection points located as close to the motor as possible In many applications the machine...

Page 42: ...y CME for drive configuration 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 en...

Page 43: ...E Stand Alone Mode Digital VELOCITY TORQUE CONTROL Inputs AEV APV work with motion controllers that output pulses to command velocity and torque current These formats are supported PWM Direction 50 PW...

Page 44: ...es data transmission to the A channel Input Output Select Pulse Dir or CU CD differential commands MA 3362 Input Output Select Pulse Dir or CU CD differential commands MA 3362 Input Output Select MA 3...

Page 45: ...Direct internal connection between quad A B X encoder feedback and differential line drivers for A B X outputs EMULATED FEEDBACK OUTPUTS DIFFERENTIAL Firmware produces emulated quad A B signals from f...

Page 46: ...isabled 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...

Page 47: ...ync Positive imit Switch Negative imit Switch ome Switch Encoder ault Motor Temperature Sensor Input Motion Abort igh Resolution Analog Divide INPUT TRANSITION FUNCTIONS Clear aults and Event atch Dri...

Page 48: ...om position triggered output Program control SPECIFICATIONS Input Data Notes Input Voltages HI VT 1 3 2 0 dc LO VT 0 55 1 3 Vdc Hys VH 0 40 0 79 Vdc Max 6 Vdc Min 0 Vdc Pull up R1 10 k Low Pass Filter...

Page 49: ...event P M Sync Custom Trajectory status Custom position triggered output Program control ENCODER 1 PRIMARY FEEDBACK QUAD A B X ENCODER CONNECTIONS SLI Port Signal J2 Pins SLI MOSI DOUT4 14 SLI CLK DO...

Page 50: ...5V O ut 500 mA M A MA S S User PC oard 130 5 121 1k 1k G SGND BiSS ABSOLUTE ENCODER BiSS is an Open Source digital interface for sensors and actuators BiSS refers to principles of well known industri...

Page 51: ...48 Data ENCA1 43 Data ENCA1 44 Sin SIN1 36 Sin SIN1 35 Cos COS1 38 Cos COS1 37 5V 5VENC 57 58 Sin Cos optional with EnDat 2 2 or any 1 Mbit or faster Endat Sin Cos required if EnDat 2 1 1 Mbit A A 130...

Page 52: ...5VENC 57 58 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 allowin...

Page 53: ...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 CAUTION If HV and VLOGIC are driven from the same...

Page 54: ...n 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 fu...

Page 55: ...090 50 and APZ 090 50 C instead Failure to heed this warning may cause equipment damage or injury POWER CONNECTOR LOCATIONS EZ BOARD MODELS PROTECTIVE EARTH EZ BOARD EZ DEVELOPMENT BOARD PROTECTIVE EA...

Page 56: ...me Ground 1 PE Protective Earth 1 PE Protective Earth 2 FGND Frame Ground CHGND on PC board MOTOR CONNECTIONS EZ Board J16 EZ Development Board J17 Pin Signal Function Pin Signal Function 3 MOTW Motor...

Page 57: ...mounting screws connect the drive to the panel Power supplies should have the negative terminals grounded to the panel near to the drives NO AC Line Filter WITH AC Line Filter AC Line Filter Manufact...

Page 58: ...bles Data EZ Board J15 EZ Development Board J17 Wire size 24 10 AWG 18 4 AWG Recommended Wire 24 10 AWG 600 V Shielded cable required for CE compliance 18 4 AWG 600 V Shielded cable required for CE co...

Page 59: ...d cable required for CE compliance Connectors and contacts are included in Connector Kits AEV EZ CK APV EZ CK VLOGIC Pin Descriptions EZ Board J8 EZ Development Board J8 Pin Signal Function Pin Signal...

Page 60: ...e 22 10 AWG 600 V Shielded cable required for CE compliance 18 4 AWG 600 V Shielded cable required for CE compliance Wire Insertion Extraction Tool Slotted screwdriver Finger actuated spring clamps Pi...

Page 61: ...the motor connector There should be a connection between the PE Protective Earth terminal to an earthed grounding point PE and Ground are connected in the drive This wiring ensures that the motor fram...

Page 62: ...le required for CE compliance Connectors and contacts are included in Connector Kits AEV EZ CK APV EZ CK Connector Tools Note This part is shown here for convenience It is not included in connector ki...

Page 63: ...tor Motor cannot move Brake state is Active HI Output MOSFET Q3 is ON Brake is powered releasing motor Motor is free to move Brake state is NOT Active 10k 3 5V 7 2 V IN O UT3 SGND 2 V rake A E V CO M...

Page 64: ...er PN Hirose Electric DF11 16DP 2DSA 01 STO Connector Description Locking 2 0 mm 2 row 16 position pluggable female receptacle Manufacturer PN Hirose Electric DF11 16DS 2C Wire Size 28 22 AWG Recommen...

Page 65: ...ound 6 N C No Connection 14 FGND Chassis 7 STO2_RTN Low Side of IN1 15 IN1 Input 1 8 STO2_24V_IN 24V Compatible High Side of IN1 16 5VENC 5V Encoder Power STO1 TN IN1 STO2 TN Channel 1 2k 2k 6 2V 5 1V...

Page 66: ...not used these connections must be made in order for the Accelnet Plus Micro Module to be enabled by software or hardware means STO DISABLING ACCESSORY This is a small PCB that plugs into J6 It makes...

Page 67: ...D SGND Signal Ground 5 RS232TX TxD Transmit data output to computer 6 N C N C No connection RS 232 SERIAL CABLE KIT This table shows the Serial Cable Kit part numbers for different drive families Part...

Page 68: ...downstream nodes If a Accelnet Plus Micro Module drive is the last node on a network only the IN port is used No terminator is required on the OUT port Pin Description IN OUT P1 17 10 2 1 12 IN A E UN...

Page 69: ...cables for CAN bus communications Ports are wired pin to pin making the IN and OUT ports electrically identical The last drive on a single string network should have a 121 CAN terminator in the unuse...

Page 70: ...required for CE compliance Connectors and contacts are included in Connector Kits AEV EZ CK APV EZ CK J5 PIN DESCRIPTIONS Pin EZ BOARDS Pin EZ BOARDS Pin EZ BOARDS 1 Aref 7 IN6 Enc Fault 13 OUT6 SLI...

Page 71: ...e receptacle Manufacturer PN Hirose Electric DF11 8DS 2C Wire Size 28 22 AWG Recommended Wire 28 22 AWG 600 V Shielded cable required for CE compliance Connectors and contacts are included in Connecto...

Page 72: ...ins IN1 In1 Enable IN1 4 IN2 IN2 3 IN3 IN3 6 IN4 IN4 5 IN5 Motemp IN5 8 IN6 Encoder Fault IN6 7 IN7 SLI MISO IN7 10 Signal Ground SGND 15 17 18 100p 7 VC3G1 5V 5V 1 xx 0 10k IN1 7 IN1 7 SGND SGND 2 AE...

Page 73: ...le Ended DIGITAL INPUTS FOR VELOCITY TORQUE COMMAND AEZ APZ Single Ended PWM DIRECTION Single Ended PWM 50 IN3 IN SGND STP DI 5 AEV APV EZ 5 AEV APV EZ Encoder A Encoder IN3 IN SGND A 5 AEV APV EZ IN3...

Page 74: ...UTS AS DIFFERENTIAL COMMAND AEZ APZ PWM DIRECTION PWM 50 5 AEZ APZ SGND IN3 P M IN P M P M DI I N5 DI I N6 DI 5 AEZ APZ SGND IN3 P M IN P M Duty 50 50 P M This shows the inputs used with differential...

Page 75: ...position control system or use the signals as master encoder commands in camming mode In addition the port can take stepper command signals CU CD or Pulse Direction in differential format Absolute en...

Page 76: ...ERENTIAL CURRENT TORQUE OR VELOCITY COMMAND INPUT CONNECTIONS PWM Direction PWM 50 PWM DIRECTION PWM 50 AEZ APZ Input Type J4 EZ Signals J4 Pins PWM Enc2 A ENCA2 2 PWM Enc2 A ENCA2 1 Dir Enc2 B ENCB2...

Page 77: ...SI BiSS EnDat J4 EZ Signals J4 Pins Data Data Enc2 A ENCA2 2 Data Data Enc2 A ENCA2 1 Clk Enc2 X ENCX2 6 Clk Enc2 X ENCX2 5 Signal Ground 8 Input Output Select A A 2 ire digital absolute encoder signa...

Page 78: ...Input Type J4 EZ Signals J4 Pins Quad A Enc A ENCA2 2 Quad A Enc A ENCA2 1 Quad B Enc B ENCB2 4 Quad B Enc B ENCB1 3 Quad X Enc X ENCX2 6 Quad X Enc X ENCX2 5 Signal Ground 8 Input Output Select MA 3...

Page 79: ...ation when the condition causing the fault is removed Green Double Blinking STO circuit active drive outputs are Safe Torque Off Green Slow Blinking Drive OK but NOT enabled Will run when enabled Gree...

Page 80: ...red L A Green Indicates the state of the physical EtherCAT network and activity on the network LED Link Activity Condition ON Yes No Port Open Flickering Yes Yes Port Open with activity Off No N A Por...

Page 81: ...e operation when the condition causing the fault is removed Green Double Blinking STO circuit active drive outputs are Safe Torque Off Green Slow Blinking Drive OK but NOT enabled Will run when enable...

Page 82: ...red L A Green Indicates the state of the physical EtherCAT network and activity on the network LED Link Activity Condition ON Yes No Port Open Flickering Yes Yes Port Open with activity Off No N A Por...

Page 83: ...ECTOR LOCATIONS AEV EZ DEVELOPMENT BOARD CONNECTOR LOCATIONS APV models have the same connector numbers as the AEV models shown here When using the STO feature VLOGIC must be produced by power supplie...

Page 84: ...CONNECTOR Description Manufacturer PN Connector HDsub DA 26M male 26 position plug solder cup Norcomp 180 026 103L001 Backshell HDsub 26 pin RoHS metallized Norcomp 979 015 020R121 PIN DESCRIPTIONS EN...

Page 85: ...ifferential inputs with fault protections for the following conditions Quad Encoder with Index Signal Loss Detection Logic ENC ENC ENC ENC P1 AEZ APZ A 5V 0V SGND ENCA ENCA A 5V ENC 1 2 2 AEV APV M A...

Page 86: ...differential format to the encoder which initiates the transmission of the position data on the subsequent clock pulses The polling of the encoder data occurs at the current loop frequency 16 kHz The...

Page 87: ...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 Bidire...

Page 88: ...le as is the use of Sin Cos channels Use of Sin Cos incremental signals is optional in the EnDat specification Absolute A Encoder The Absolute A interface is a serial half duplex type that is electric...

Page 89: ...al commutation MOTEMP MOTOR OVER TEMPERATURE INPUT IN5 defaults to the Motemp function but any input may be programmed for that function The digital input I threshold voltage is 1 3 2 0 Vdc A sensor r...

Page 90: ...be removed when the interface pad is installed 1 Remove the blue protective sheet from one side of the pad 2 Place the interface pad on the drive taking care to center the pad holes over the heatplat...

Page 91: ...nce level PL stated in this manual and operates in accordance with the characteristics and limitations described herein But it must be noted that the drive STO function is intended to be used only as...

Page 92: ...ximum rated de energize threshold voltage De Activate This term is used to refer to action taken that results in the safe state being exited In the case of the STO feature the STO function is de activ...

Page 93: ...elated systems Part 2 Requirements for electrical electronic programmable electronic safety related systems IEC 61508 3 Functional safety of electrical electronic programmable electronic safety relate...

Page 94: ...tive rail of the DC bus HV and a second subset of low side output devices that switch motor terminals to negative rail of the DC bus HVCOM The STO circuit architecture is derived from the fact that cu...

Page 95: ...function is active both inputs de energized 1 0 STO function is active one input de energized 0 1 1 1 STO function is inactive both inputs energized The table above shows the operation of the STO chan...

Page 96: ...6 Vdc maximum STO 24V DC Power AEZ APZ AEZ APZ 50 AEZ APZ 50 C 24 Vdc typical 30 Vdc maximum STO DC Power Source SELV or PELV power supply required STO Input Energize Voltage Vin I 3 3 Vdc between STO...

Page 97: ...13849 1 ISO 13849 2 IEC 61800 5 2 Electrical Safety Directive 2014 35 EU Low Voltage UL 61800 5 1 2016 Machinery Directive 2006 42 EC EMC Directive 2014 30 EU IEC 61800 3 2017 Category C3 Markings Lab...

Page 98: ...e other forces operating on the same load The STO function only removes torque force produced by current flow from the drive to the associated motor Torque force created by gravity influenced loads or...

Page 99: ...responsibility of the designer of the larger system to take this into consideration that the motherboard design must contain level translation and overvoltage protections to interface between 24V nom...

Page 100: ...operator INTERNAL DIAGNOSTICS PULSES The AEV and APV drives have internal diagnostics to verify the function of the STO circuits The diagnostics test sends short 60 microseconds pulses that propagate...

Page 101: ...s Description Creepage Clearance Between adjacent STO circuits 0 200 mm Between STO circuits and control circuits 0 630 mm Between STO circuits and chassis 0 200 mm STO CIRCUITS CREEPAGE CLEARANCE FOR...

Page 102: ...f 139 INSTALLATION OVERVIEW This graphic shows the elements of a complete AEV APV drive installation The STO feature and interface to the machine level functional safety equipment are highlighted in r...

Page 103: ...M 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 J3 STO Signal Pin Signal S...

Page 104: ...stors in the graphic represent the 6 19k resistors in the table STO Power Requirements The 24 Vdc power supply for the STO inputs must be SELV or PELV rated refer to Section 6 4 STO Wiring Requirement...

Page 105: ...s to the drive The drive STO function responds accordingly and the safe state is entered within the specified drive STO response time This type of implementation brings the motor speed to near zero be...

Page 106: ...contacts K1 K2 The instantaneous contacts in the relay A HI level indicates that the contacts are closed supplying power to an Enable input of the drive to place it in an enabled state K3 K4 Relay con...

Page 107: ...ngs etc After any maintenance work related to the safety function At the required periodic test intervals Preliminary checks Before powering the drive and commencing with the functional safety tests c...

Page 108: ...tandstill While keeping STO IN1 energized de energize the STO IN2 circuit and give a start command for the drive Ensure that the motor remains at a standstill Then energize the STO IN2 circuit Restart...

Page 109: ...servo drives can be viewed via data objects accessible over CANopen or EtherCAT connections or by using the configuration software CME Other Copley software products such as CMO Copley Motion Objects...

Page 110: ...ject 0x219D to see if either bit 0 OR bit 1 is set 1 If either of bits 0 or 1 are set or if both are set then the STO function will be activated STO INSTALLATION FOR AEZ APZ MODELS For the AEZ 090 50...

Page 111: ...convenient method for disabling the STO function is shown here for those installations that do not use the STO function An internal power source in the drive is brought out to the Safety connector Co...

Page 112: ...gized in parallel using the encoder 5V from the drive Decommissioning Before decommissioning any safety system from active service Evaluate the impact of decommissioning on adjacent operating units an...

Page 113: ...rvention conditions Network and serial communications remain active so that the drive can be monitored by the control system when the HV is removed The control core feedback devices and network connec...

Page 114: ...of the Accelnet Plus Micro Module drives support digital quadrature encoders analog Sin Cos encoders and a variety of absolute encoder formats They typically use Hall sensors for the commutation of br...

Page 115: ...t signal voltage Scaling controls the input to command ratio allowing the use of an optimal command range for any given input voltage signal range For example in current mode with default scaling 10 V...

Page 116: ...Vdc input and Offset set to 5V After this a 0 Vdc input command would be interpreted as 5 Vdc which would produce 1000 rpm CCW rotation A 10 Vdc command would be interpreted as 5 Vdc and produce 1000...

Page 117: ...y cycle commands negative output and vice versa 100 DUTY CYCLE FORMAT TWO WIRE One input takes a PWM waveform of fixed frequency and variable duty cycle and the other input takes a DC level that contr...

Page 118: ...nnot control acceleration and deceleration rates When using digital or analog command inputs the trajectory generator can be disabled by setting the Max Accel limit to zero Note that when using the CA...

Page 119: ...nd as shown below The drive can be set to increment position on the rising or falling edge of the signal Stepping resolution can be programmed for electronic gearing QUADRATURE FORMAT COMMANDS In quad...

Page 120: ...commands can be sent over the RS 232 port using Copley Controls ASCII interface commands In addition CME software communicates with the drive using a binary protocol over this link for drive commissio...

Page 121: ...are independent of the physical position on the network Fixed addresses begin with 1001 0x3E9 and increment thereafter as nodes are found Each dual axis drive is addressed as a single physical node o...

Page 122: ...ogrammed distance or ending at the programmed position The drive supports both trapezoidal and s curve profiles Profile Velocity Mode 3 The drive is programmed with a velocity a direction and accelera...

Page 123: ...ld only be used when the drive is serving as a CME serial port multi drop gateway The graphic above is an example of addressing for two Copley drives as the first two devices on a network that also co...

Page 124: ...wing sequence of events The motor begins to decelerate at Abort Deceleration rate in position mode or Fast Stop Ramp rate in velocity mode At the same time the Brake Stop Delay Time count begins This...

Page 125: ...can be detected the brake will be released after the programmable time expires MOTOR BRAKE ENABLE DELAY TIME The programmable value in the Motor Wiring Detection also sets the time between the activa...

Page 126: ...e can be re enabled after the fault condition is corrected and the drive faults are cleared The process for clearing faults varies depending on whether the fault is configured as non latched or latche...

Page 127: ...fied temperature Motor Over Temperature Motor over temperature switch changes state to indicate an over temperature condition Temperature switch changes back to normal operating state Over Voltage Bus...

Page 128: ...mains within the tracking window for the programmed tracking time A similar method is used to handle velocity errors For detailed information see Tracking Window Details FOLLOWING ERROR FAULT DETAILS...

Page 129: ...nable input that is configured as Enable with Clear Faults or Enable with Reset Open the CME Control Panel and press Clear Faults or Reset buttons Clear the fault over the CANopen or EtherCAT network...

Page 130: ...ion of an active limit switch as described below The response is identical in current and velocity modes and slightly different in position mode Mode Drive Response to Active Positive or Negative Limi...

Page 131: ...ion velocity torque commands from a controller The ratio of drive output current or velocity vs reference input voltage is programmable OUTPUTS These drives have 6 programmable digital outputs OUT1 3...

Page 132: ...mit2 I2 T Time Limit I2T ALGORITHM OPERATION During drive operation the I2 T algorithm periodically updates the I2 T Accumulator Variable at a rate related to the output current Sampling Frequency The...

Page 133: ...up to 12 A over the course of 1 2 seconds During this same period the I2 T Accumulator Variable increases in a non linear fashion because of its dependence on the square of the current At about 1 6 s...

Page 134: ...ntrol of a single axis set the CAN node address of that axis drive to zero 0 Note that if the CAN node address is switched to zero after power up the drive must be reset or power cycled to make the ne...

Page 135: ...atible with AEV EZ 090 board Use AEZ 090 50 or AEZ 090 50 C if connectorized version is needed MICRO MODULES SOLDERED ETHERCAT AEZ 090 50 Accelnet Plus Micro Module EtherCAT servo drive 25 50 A 90 Vdc...

Page 136: ...090 50 or APZ 090 50 C if connectorized version is needed MICRO MODULES SOLDERED CANOPEN APZ 090 50 Accelnet Plus Micro Module CANopen servo drive 25 50 A 90 Vdc soldered to EZ board APZ 090 50 C Acce...

Page 137: ...BG 10112 R6 1 lack lying ead with socket at both ends 26 A G gold 12 Hirose H3BBG 10112 B6 1 J8 J10 lue lying ead with socket at both ends 26 A G gold 12 Hirose H2BBG 10112 L6 1 Red Flying Lead with s...

Page 138: ...odel Ref Description SER SK J2 Serial Cable Kit Dsub 9 receptacle molded cable with RJ 11 plug for 6 pin modular RJ11 socket on EZ boards and EZ Development Boards SER USB RJ11 J3 Serial interface cab...

Page 139: ...Guide 16 01687 Rev 03 Copley Controls Page 139 of 139 Accelnet Plus Micro Modules User Guide P N 16 01687 Revision 03 October 21 2020 Copley Controls Analogic Motion Controls 20 Dan Road Canton MA 02...

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