Accelnet & Stepnet Plus Panels User Guide
16-01339 Rev 07
2 I
NTRODUCTION
2.1 A
CCELNET
&
S
TEPNET
P
LUS
P
ANELS
O
VERVIEW
This table shows the model families and characteristics:
Axes
EtherCAT
CANopen
MACRO
Motor
Accelnet
1
BEL
BPL
BML
Servo
2
BE2
BP2
-
Stepnet
1
TEL
-
-
Stepper
2
TE2
TP2
-
All of these drives provide 100% digital control of brushless, brush, or stepper motors in DC powered panel
packages. Accelnet Plus models drive servo motors and Stepnet Plus drives are for stepper motors.
All of these Plus Panel models provide a Safe Torque Off (STO) function. Two opto-couplers are provided
which, when de-energized, prevent the upper and lower devices in the PWM outputs from being operated by
the digital control core. This provides a positive OFF capability that cannot be overridden by the control
firmware, or associated hardware components. When the opto-couplers are energized (current is flowing
through the input diodes), the control core will be able to control the on/off state of the PWM outputs. For more
information on STO for the
Accelnet & Stepnet
Plus Dual Axis models, see the
Accelnet & Stepnet
Plus Panel
STO Manual
.
Accelnet
Plus models support a wide range of feedback devices. The standard versions support digital
quadrature encoders, analog sin/cos encoders, and EnDat, BiSS, SSI, and Absolute A encoders. The -R
versions support brushless resolvers. The standard and -R versions can emulate a digital quadrature encoder
output from the analog encoder or resolver respectively.
Accelnet & Stepnet
Plus
Panels
models can operate in several basic ways:
•
Accelnet Plus
Panel
drives accept current, velocity or position commands from an external controller.
In current and velocity modes they can accept ±10 Vdc analog, digital 50% PWM or PWM/polarity
inputs. In position mode, inputs can be incremental position commands from step-motor controllers in
Pulse and Direction or Count Up/Count Down format, as well as A/B quadrature commands from a
master-encoder. Pulse-to-position ratio is programmable for electronic gearing.
•
Stepnet Plus
Panel
drives typically accept position commands from an external controller as Pulse
and Direction or Count Up/Count Down format, as well as A/B quadrature commands from a master-
encoder. Pulse-to-position ratio is programmable for electronic gearing. Stepper motors with encoders
can be operated in
servo mode
providing position, velocity, or torque control.
•
CANopen models can be nodes on a CANopen network. CANopen compliance allows the drive to
take instruction from a master application to perform torque, velocity, and position profiling,
interpolated position, and homing operations. Multiple drives can be tightly synchronized for high
performance coordinated motion.
•
EtherCAT models operate as slave devices on the network. Servo drives can perform the CANopen
operating modes with the additional cyclic-synchronous position, velocity, and torque modes.
•
MACRO models can be nodes on a MACRO network.
•
All models can work as stand-alone controllers running CVM control programs such as the Indexer 2
Program. Or they can be controlled directly over an RS-232 serial link with simple ASCII format
commands.
