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Copley Controls Accelnet Plus BE2 Series User Manual Download Page 93

Accelnet & Stepnet Plus Panels User Guide 

16-01339 Rev 07

 

U

SE AS 

C

OMMAND 

I

NPUTS

:

 

BE2,

 

BP2,

 

TE2,

 

TP2 

D

IGITAL 

P

OSITION 

 

Command Input 

S.E. 

Multi-Port 

Axis A 

Axis B 

Axis A 

Axis B 

Pulse 

CU 

A 

IN3 

IN12 

Enc A 

/Pulse 

/CU 

/A 

 

 

Enc /A 

Dir 

CD 

B 

IN4 

IN13 

Enc B 

/Dir 

/CD 

/B 

 

 

Enc /B 

 

P

ULSE

-D

IRECTION

 

 

Single-Ended  

Differential 

 

 

 

C

OUNT

-U

P

/C

OUNT

-D

OWN 

(CU/CD) 

 

Single-Ended  

Differential 

 

 

 

Q

UAD 

A/B

 

E

NCODER

 

 

Single-Ended  

Differential 

 

 

 

 

 

 

This shows the inputs used with 
different command input signal 
formats. 
S.E. = Single-Ended 

Summary of Contents for Accelnet Plus BE2 Series

Page 1: ...Accelnet Stepnet Plus Panels User Guide 16 01339 Revision 07 September 16 2021...

Page 2: ...y 14 3 1 Drive Input Power 14 3 2 Commutation Modes 15 3 3 Feedback 15 3 4 Operating Modes 16 Current Loop Inputs 18 Velocity Mode and Velocity Loop 19 Position Mode and Position Loop 22 3 5 Input Com...

Page 3: ...18 Mechanical and Environmental 63 4 19 Agency Standards Conformance 65 4 20 Dimensions 66 5 Wiring Connections 68 5 1 Electrical Codes and Warnings 68 5 2 Grounding Considerations 69 5 3 Connector Lo...

Page 4: ...s the operation and installation of the Accelnet BEL BE2 BPL BP2 BML and Stepnet TEL TE2 and TP2 drives manufactured by Copley Controls All Accelnet and Stepnet Plus Panel products have serial numbers...

Page 5: ...r Guide CPL User Guide License required Accelnet Stepnet Plus Panels STO Manual Links to these publications along with other documents data sheets and software releases can be found at www copleycontr...

Page 6: ...Accelnet Stepnet Plus Panels User Guide 16 01339 Rev 07 1 6 2 EC DECLARATION OF CONFORMITY FOR ACCELNET PLUS BEL BPL...

Page 7: ...Accelnet Stepnet Plus Panels User Guide 16 01339 Rev 07 1 6 3 EC DECLARATION OF CONFORMITY FOR STEPNET PLUS TE2 TP2...

Page 8: ...Accelnet Stepnet Plus Panels User Guide 16 01339 Rev 07 1 6 4 EC DECLARATION OF CONFORMITY FOR STEPNET PLUS TEL TPL...

Page 9: ...drives Removal of the cover or tampering with internal components will void the warranty DANGER DANGER HAZARDOUS VOLTAGES Exercise caution when installing and adjusting Persons responsible for instal...

Page 10: ...DANGER USE EQUIPMENT AS DESCRIBED Operate drives within the specifications provided in this manual FAILURE TO HEED THIS WARNING CAN CAUSE EQUIPMENT DAMAGE INJURY OR DEATH DANGER REFER TO THE ACCELNET...

Page 11: ...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 ve...

Page 12: ...models listed above are available with the following options added to the part number R Resolver feedback Example BEL 090 14 R Resolver feedback not available on BML models H Factory installed heatsi...

Page 13: ...rams CCT Cam tables CCG Gain scheduling tables CCD Drive settings 2 5 CVM COPLEY VIRTUAL MACHINE INDEXER 2 CVM is an embedded virtual programmable controller used to download Copley s Indexer 2 progra...

Page 14: ...d HV POWER The HV input drives the high voltage PWM outputs When this is used without the Aux power all of the drive control and PWM output power is derived from the HV power AUX POWER The Aux input o...

Page 15: ...crostepping mode have no need for commutation because the motor rotor is always following the current vector created by the master If operating in servo mode Stepnet drives use the encoder feedback to...

Page 16: ...epping mode which is a form of open loop position and velocity control When stepper motors are equipped with encoders they can operate stepper motors as brushless servo motors that use the same nested...

Page 17: ...ct the motor and or mechanical system Feedback The nature of servo control loops is that they receive feedback from the device they are controlling For example the position loop uses the actual motor...

Page 18: ...d for use in applications where there is a constant force applied to or required of the servomotor and the system must control this force Typical applications would be a vertical axis holding against...

Page 19: ...UNE CME provides a current loop Auto Tune feature which automatically determines optimal Cp and Ci values for the motor For more information see the CME User Guide VELOCITY MODE AND VELOCITY LOOP VELO...

Page 20: ...in velocity mode only Deceleration Limit Limits the maximum deceleration rate of the commanded velocity input to the velocity loop This limit is used in velocity mode only Fast Stop Ramp Specifies the...

Page 21: ...e Low Gains Shift option is available to increase the gains adjustment resolution Such low values are likely to be called for when tuning a linear motor with an encoder resolution finer than a microme...

Page 22: ...r updates the calculated profile in real time as position commands are received The output of the generator is an instantaneous position command limited position In addition values for the instantaneo...

Page 23: ...d by the position loop to calculate the velocity command Gain Description Pp Position loop proportional The loop calculates the position error as the difference between the actual and limited position...

Page 24: ...ator ANALOG COMMAND INPUT OVERVIEW The drive can be driven by an analog voltage signal through the analog command input The drive converts the signal to a current velocity or position command as appro...

Page 25: ...c 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 rpm CW rotation MONITORING THE ANALOG COMMAND VO...

Page 26: ...s 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 controls the polarit...

Page 27: ...eleration 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 CAN bus serial bus...

Page 28: ...ow 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 quadrature format A...

Page 29: ...hen the drive is being controlled over the CAN interface or by the digital inputs CAN interface BPL BP2 TP2 When operating as a CAN node the drive takes command inputs over a CANopen network CAN commu...

Page 30: ...tance 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 acceleration and dec...

Page 31: ...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 contains other CAN...

Page 32: ...dent 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 on the EtherC...

Page 33: ...rk or ring for the BML can have up to sixteen master controllers with hex addresses from 0x00 to 0x0F Each master can control up to eight servo drives This works out to a maximum of 128 servo drives o...

Page 34: ...Control Panel limit indicator turns red Velocity Position Drive stops responding to position commands until the drive is disabled and re enabled or the fault is cleared over the CANopen interface Dri...

Page 35: ...al fly back diodes if they are used for brake control BRAKE STOP SEQUENCES Disabling the drive by a hardware or software command starts the following sequence of events The motor begins to decelerate...

Page 36: ...d 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 activation of the bra...

Page 37: ...ether the fault is configured as non latched or latched The fault clearing descriptions below apply to all faults except for the following error fault which is described in Following Error Fault Detai...

Page 38: ...supply used to power the feedback Resolver or analog encoder not connected or levels out of tolerance Encoder power returns to specified voltage range Feedback signals stay within specified levels Mot...

Page 39: ...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 POSITI...

Page 40: ...s 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 or serial bus TRAC...

Page 41: ...ull down resistors Pull up resistors work devices having current sinking outputs such as NPN transistors grounded relay contacts or N channel MOSFETs Pull down resistors work well with PLC that have c...

Page 42: ...take position velocity torque commands from a controller If not used as command inputs they can be used as general purpose analog inputs 3 13 OUTPUTS BEL BPL BML TEL These drives have 4 programmable d...

Page 43: ...ng from the maximum input voltage and is producing the rated continuous output current at the maximum output voltage AuxHV supply current depends on the number of encoders connected to the drive The m...

Page 44: ...assumes that the encoder 5V output is loaded to 500mA Supply Short Circuit Current Rating SCCR must be 5k Arms maximum DUAL AXIS STEPPER MODELS TE2 TP2 Model TE2 090 07 TP2 090 07 TE2 090 10 TP2 090...

Page 45: ...at sinking and or forced air cooling may be required for continuous output power rating Consult factory for operation with inductance lower than 400 H DUAL AXIS SERVO MODELS BE2 BP2 Model BE2 090 06 B...

Page 46: ...or forced air cooling is required for continuous output power rating Consult factory for operation with inductance lower than 400 H DUAL AXIS STEPPER MODELS TE2 TP2 Model TE2 090 07 TP2 090 07 TE2 090...

Page 47: ...put Velocity Loop Output1 Velocity Loop Output2 Velocity Loop Output3 Current Loop Input1 Current Loop Input2 Input Shaping Velocity loop output filter1 default is 200 Hz low pass Bus Voltage Compensa...

Page 48: ...ance 5 k Resolution 12 Bit Anti aliasing filter 14 5 kHz Scan Time 62 5 s Function Programmable current velocity or position command BE2 BP2 TE2 TP2 Channels 2 Names AIN1 AIN2 Type Differential non is...

Page 49: ...3 5 Vdc 2 9 typ Input Hysteresis 0 7 1 5 Vdc 45 mVdc 100 mV 0 7 1 5 Vdc Default Function IN1 Enable IN2 Not Configured Not Configured Not Configured Motor Temp BE2 BP2 TE2 TP2 IN1 IN2 IN10 IN11 J1 IN...

Page 50: ...rent 300 mA 1 Adc Output Data 600 us turn on 25 us turn off 0 90 On resistance 0 14 Function Programmable Brake Programmable BE2 BP2 TE2 TP2 Specification Data Channels 7 OUT1 OUT7 OUT1 OUT5 J2 OUT6 O...

Page 51: ...rcuit protected Function Provides power for motor encoders and or Hall switches Output Pins Axis A J1 17 J2 32 J7 6 J7 17 Axis B J1 23 J1 38 J8 6 J8 17 4 9 PRIMARY ENCODER INPUTS The Primary encoder c...

Page 52: ...dth 230 kHz Interpolation 1 to 1024 programmable 4 10 DIGITAL HALL SENSOR INPUTS BEL BPL BML BE2 BP2 Channels 3 U V and W for each axis Type 74HC14 Schmitt trigger w RC Filter 10 k pull up resistor to...

Page 53: ...e functions Input for digital incremental or absolute encoders Output of buffered primary digital incremental encoder A B and X signals Output of emulated A B X digital incremental encoder signals fro...

Page 54: ...Baud rate 9600 19200 57600 and 115 200 maximum are common settings used After sending 0x90 the drive will reply immediately at the higher Baud rate so the sender should wait some time 10 ms or more b...

Page 55: ...and Homing Current Velocity Node Address Selection Slaves are automatically assigned addresses based on their position on the bus Two 16 position hexadecimal rotary switches can be used to define a c...

Page 56: ...ion 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 Green...

Page 57: ...therCAT State Machine Off Init Blinking Pre operational Single flash Safe operational On Operational ERR Red Shows errors such as watchdog timeouts and unsolicited state changes in the BEL due to loca...

Page 58: ...resistance is the temperature rise in degrees C per Watt of dissipation in the drive The mounting surface is not thermally conducting and does not contribute to the Rth data THERMAL RESISTANCE VS MOU...

Page 59: ...BPL models Example A BEL 090 30 is operating at 65 Vdc Power dissipation is 13 4 W MAXIMUM OPERATING TEMPERATURE VS POWER DISSIPATION Using the power dissipation from the chart above draw a vertical...

Page 60: ...ING TEMPERATURE VS POWER DISSIPATION Using the power dissipation from the chart above draw a vertical line from that number on the X axis upwards in the chart below The intersection of this line and t...

Page 61: ...URE VS POWER DISSIPATION Using the power dissipation from the chart above draw a vertical line from that number on the X axis upwards in the chart below The intersection of this line and the curves no...

Page 62: ...ove the blue protective sheet from one side of the pad Place the interface pad on the drive taking care to center the pad holes over the heatsink mounting holes Remove the clear protective sheet from...

Page 63: ...ight Driver Heat Sink Driver Heatsink 0 75 lb 0 34 kg 0 95 lb 0 43 kg 1 70 lb 0 77 kg Ambient Temperature Storage Operating 40 to 85 C 40 to 185 F 0 to 45 C 32 to 113 F Humidity 0 to 95 non condensing...

Page 64: ...Material Meets U L Spec 94 V 0 Flammability Rating Cooling Heat sink and or forced air cooling required for continuous power output TEL Size 5 08 x 3 41 x 1 99 in 129 x 86 6 x 50 4 mm with no heatsink...

Page 65: ...2 Ingress Protection IP20 Environment IEC68 2 1990 Cover Material Meets U L Spec 94 V 0 Flammability Rating Cooling Heat sink and or forced air cooling required for continuous power output 4 19 AGENCY...

Page 66: ...Accelnet Stepnet Plus Panels User Guide 16 01339 Rev 07 4 20 DIMENSIONS BEL BPL BML DIMENSIONS BE2 BP2 DIMENSIONS...

Page 67: ...Accelnet Stepnet Plus Panels User Guide 16 01339 Rev 07 TEL DIMENSIONS TE2 TP2 DIMENSIONS...

Page 68: ...EED THIS WARNING CAN CAUSE EQUIPMENT DAMAGE INJURY OR DEATH DANGER USE EQUIPMENT AS DESCRIBED Operate drives within the specifications provided in this manual FAILURE TO HEED THIS WARNING CAN CAUSE EQ...

Page 69: ...its and I O are 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 driv...

Page 70: ...Accelnet Stepnet Plus Panels User Guide 16 01339 Rev 07 DUAL AXIS INTERNAL CONNECTIONS GROUNDING BE2 EXAMPLE The isolation sections in the BP2 TE2 and TP2 are the same as the BE2...

Page 71: ...gauge suitable for the input current rating of the drive The shield should connect to the terminal of the power supply on one end and to a screw that holds the heatplate to the mounting plate for bes...

Page 72: ...ypically grounded to equipment frames too FEEDBACK CABLE SHIELDING Shields on feedback cables reduce emissions from the drive and help protect internal circuits from interference due to external sourc...

Page 73: ...Accelnet Stepnet Plus Panels User Guide 16 01339 Rev 07 5 3 CONNECTOR LOCATIONS BEL BPL BML CONNECTOR LOCATIONS BE2 BP2 CONNECTOR LOCATIONS Front View End View Front View End View...

Page 74: ...Accelnet Stepnet Plus Panels User Guide 16 01339 Rev 07 TEL CONNECTOR LOCATIONS TE2 TP2 CONNECTOR LOCATIONS Front View End View Front View End View...

Page 75: ...31 303 107 000 Wire size 22 14 AWG Recommended Wire 22 14 AWG 600 V Shielded cable required for CE compliance Wire Insertion Extraction Tool Wago 231 159 Connectors and tool are included in Connector...

Page 76: ...emale terminal block Manufacturer PN Wago 231 304 107 000 Wire Size 22 14 AWG Recommended Wire 22 14 AWG 600 V Shielded cable required for CE compliance Wire Insertion Extraction Tool Wago 231 131 Con...

Page 77: ...N Wago 231 303 107 000 Wire size 22 14 AWG Recommended Wire 22 14 AWG 600 V Shielded cable required for CE compliance Wire Insertion Extraction Tool Wago 231 159 Connectors and tool are included in Co...

Page 78: ...ro style 5 position 5 08 mm pluggable female terminal block Manufacturer PN Wago 231 305 107 000 Wire Size 22 14 AWG Recommended Wire 22 14 AWG 600 V Shielded cable required for CE compliance Wire Ins...

Page 79: ...MCS MINI 734 164 108 000 BEL BPL BML TEL CABLE PLUG Description Euro style female plug 3 5 mm 4 position screw lock Manufacturer PN Wago MCS MINI 734 104 107 000 BE2 BP2 TE2 TP2 RECEPTACLE Description...

Page 80: ...or brake connected to the 24 Vdc supply The operation of the brake is programmable with CME They can also be programmed as general purpose digital outputs shown in the table below Signal BEL BPL BML T...

Page 81: ...AMP Tyco 205204 4 AMPLIMITE HDP 20 Crimp Snap contacts 24 20 AWG sel AU NI AMP Tyco 66506 9 Backshell D Sub RoHS metallized 4 40 locking screws Norcomp 979 009 020R121 CONNECTOR TOOLS Note Th1s part i...

Page 82: ...done the STO feature is de activated and control of the output PWM stage is under control of the digital control core The connections shown can be made with four jumpers When wired as shown it is not...

Page 83: ...ound Signal Ground 4 Signal ground Signal Ground 5 TxD Transmit data output to computer 6 N C No connection RS 232 SERIAL CABLE KIT This table shows the Serial Cable Kit part numbers for different dri...

Page 84: ...m between the Plus Panels and the master The OUT port connects to downstream nodes If a Plus Panel drive is the last node on a network only the IN port is used No terminator is required on the OUT por...

Page 85: ...dominant high 2 CAN _L CAN_L bus line dominant low 3 CAN_Gnd Ground 0 V V 4 No connection 5 Pass through to second connector no internal connection 6 CAN_SHLD Pass through to second connector no inte...

Page 86: ...PN Connector High density Dsub DB 44M 44 position male solder cup with 4 40 locking screws Norcomp 180 044 103L001 Backshell Dsub RoHS metallize Norcomp 979 025 020R121 J1 PIN DESCRIPTIONS Pin Signal...

Page 87: ...ame Ground 16 Signal Gnd 31 Signal Gnd 2 Ain1 17 A 5Vdc Out1 32 A 5Vdc Out1 3 Ain1 18 A MultiEnc S 33 A MultiEnc S 4 Ain2 19 A MultiEnc X 34 A MultiEnc X 5 Ain2 20 A MultiEnc B 35 A MultiEnc B 6 Signa...

Page 88: ...g screws Norcomp 180 026 203L001 Backshell Dsub RoHS metallize Norcomp 979 015 020R121 PIN DESCRIPTIONS Pin Signal Pin Signal Pin Signal 1 Frame Ground 10 OUT1 GPI 19 OUT1 GPI 2 IN5 GPI 11 OUT2 GPI 20...

Page 89: ...they can take position velocity torque commands from a controller If not used as command inputs they can be used as general purpose analog inputs ANALOG INPUT WIRING DIAGRAM Signal BEL BPL BML TEL BE2...

Page 90: ...rrent sourcing outputs typically PLC s that drive grounded loads BEL BPL BML TEL J1 Pins BE2 BP2 TE2 TP2 J1 Pins IN1 7 IN1 7 IN2 8 IN2 8 Signal Ground 6 16 22 31 37 44 IN10 12 IN11 13 Signal Ground 6...

Page 91: ...nput S E Diff Pulse CU A IN5 IN3 Pulse CU A IN4 Dir CD B IN6 IN5 Dir CD B IN6 PULSE DIRECTION Single Ended Differential COUNT UP COUNT DOWN CU CD Single Ended Differential QUAD A B ENCODER Single Ende...

Page 92: ...ENT TORQUE VELOCITY Command Inputs S E Diff PWM PWM 50 IN5 IN3 PWM IN4 Dir IN6 IN5 Dir IN6 PWM POLARITY Single Ended Differential PWM 50 Single Ended Differential This shows the inputs used with diffe...

Page 93: ...rt Axis A Axis B Axis A Axis B Pulse CU A IN3 IN12 Enc A Pulse CU A Enc A Dir CD B IN4 IN13 Enc B Dir CD B Enc B PULSE DIRECTION Single Ended Differential COUNT UP COUNT DOWN CU CD Single Ended Differ...

Page 94: ...d Input S E Multi Port Axis A Axis B Axis A Axis B PWM PWM 50 IN3 IN12 Enc A PWM PWM 50 Enc A Dir IN4 IN13 Enc B Dir Enc B PWM DIRECTION Single Ended Differential PWM 50 Single Ended Differential 1 Th...

Page 95: ...group to work with current sourcing outputs from controllers like PLC s Connecting the common terminal to 24V configures them to be activated by current sinking devices such as NPN transistors or N c...

Page 96: ...tput is accessible allowing them to act as current sourcing or current sinking devices There is a Zener clamping diode across each output that acts as a flyback diode when driving resistive inductive...

Page 97: ...external motion controller that closes the position or velocity loops As an input the port can take quad A B signals to produce a dual loop position control system or use the signals as master encoder...

Page 98: ...d B Enc B 20 BE2 BP2 TE2 TP2 Input Type J1 Signal Axis A J1 Pins Axis B J1 Pins Pulse Count Up Quad A Enc A 36 42 Pulse Count Up Quad A Enc A 21 27 Dir Count Down Quad B Enc B 35 41 Dir Count Down Qua...

Page 99: ...Wire BiSS SSI EnDat 2 WIRE 4 WIRE BEL BPL BML AND TEL MODELS Abs A SSI BiSS EnDat J1 Signal J1 Pins Axis A J1 Pins Axis B Clk Enc X 34 40 Clk Enc X 19 25 Data Data Enc S 33 39 Data Data Enc S 18 24 Si...

Page 100: ...1 Pins Quad A Enc A 36 Quad A Enc A 21 Quad B Enc B 35 Quad B Enc B 20 Quad X Enc X 34 Quad X Enc X 19 Signal Ground 6 16 22 31 37 44 BE2 BP2 TE2 TP2 Input Type J1 Signal J1 Pins Axis A J1 Pins Axis B...

Page 101: ...FERED A B X EMULATED QUAD A B BEL BPL BML AND TEL Input Type J1 Signal J1 Pins Quad A Enc A 36 Quad A Enc A 21 Quad B Enc B 35 Quad B Enc B 20 Quad X Enc X 34 Quad X Enc X 19 Signal Ground 6 16 22 31...

Page 102: ...ignal Pin Signal 1 Frame Ground 10 Enc B 19 Sin 2 Hall U 11 Enc B 20 Cos 3 Hall V 12 Enc A 21 Cos 4 Hall W 13 Enc A 22 N C 5 Signal Gnd 14 Enc S 23 N C 6 5Vout 15 Enc S 24 N C 7 Motemp 16 Signal Gnd 2...

Page 103: ...Signal Loss Detection Logic Condition Example Line line shorts A shorted to A Open circuits A disconnected A connected Terminator resistor pulls A A together for a cable short circuit fault Low voltag...

Page 104: ...e connected resolver set up motor phasing and other commissioning adjustments are made with CME software There are no hardware adjustments ANALOG SIN COS ENCODER The sin cos inputs are differential wi...

Page 105: ...s SCLK and SDATA Data is sent in 8 bit bytes LSB first The SCLK signal is only active during transfers Data is clocked out on the falling edge and clock in on the rising edge of the Master BISS ABSOLU...

Page 106: ...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 increment...

Page 107: ...commutation MOTEMP MOTOR OVER TEMPERATURE INPUT The 4 99k pull up resistor works with PTC positive temperature coefficient thermistors that conform to BS 4999 Part 111 1987 table below or switches tha...

Page 108: ...e Limit I2 T 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 value of th...

Page 109: ...er 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 seconds the I2...

Page 110: ...the CAN node address is switched to zero after power up the drive must be reset or power cycled to make the new address setting take effect MULTI DROP NETWORK CONNECTIONS A serially connected BPL BP2...

Page 111: ...14 Accelnet Plus EtherCAT Servo drive 7 14 A encoder feedback BEL 090 14 H Accelnet Plus EtherCAT Servo drive 7 14 A encoder feedback with factory fitted heatsink BEL 090 14 R Accelnet Plus EtherCAT...

Page 112: ...BE2 090 14 H Accelnet Plus EtherCAT 2 Axis Servo drive 7 14 A encoder feedback with factory fitted heatsink BE2 090 14 R Accelnet Plus EtherCAT 2 Axis Servo drive 7 14 A resolver feedback BE2 090 14 R...

Page 113: ...feedback BPL 090 14 H Accelnet Plus CANopen Servo drive 7 14 A encoder feedback with factory fitted heatsink BPL 090 14 R Accelnet Plus CANopen Servo drive 7 14 A resolver feedback BPL 090 14 R H Acc...

Page 114: ...0 20 Accelnet Plus CANopen 2 Axis Servo drive 10 20 A encoder feedback BP2 090 20 H Accelnet Plus CANopen 2 Axis Servo drive 10 20 A encoder feedback with factory fitted heatsink BP2 090 20 R Accelnet...

Page 115: ...rive 5 7 A encoder feedback TE2 090 07 H Stepnet Plus EtherCAT 2 Axis Stepper drive 5 7 A encoder feedback with factory fitted heatsink TE2 090 10 Stepnet Plus EtherCAT 2 Axis Stepper drive 10 10 A en...

Page 116: ...r J6 Norcomp 979 009 020R121 1 J5 Brake Plug 3 5 mm screw lock 4 position female Wago 734 104 031 000 1 Tool wire insertion extraction Wago 734 231 1 J6 Feedback Connector high density HD Sub 26 posit...

Page 117: ...r high density HD Sub 26 position male solder cup Norcomp 180 026 103L001 1 Backshell HD Sub 26 Pin RoHS metallized Norcomp 979 015 020R121 1 J7 Motor Plug 4 position 5 08 mm screw lock female Wago 23...

Page 118: ...9 position standard RoHS metallized for J6 Norcomp 979 009 020R121 1 J5 Brake Plug 3 5 mm screw lock 4 position female Wago 734 104 031 000 1 Tool wire insertion extraction Wago 734 231 1 J6 Feedback...

Page 119: ...9 AMPLIMITE HDP 20 Crimp Snap contacts 24 20AWG sel AU NI AMP Tyco 66506 9 1 Backshell D Sub 9 position standard RoHS metallized for J6 Norcomp 979 009 020R121 2 J7 J8 Feedback Connector high density...

Page 120: ...734 231 1 J6 Safety Connector D Sub 9 position standard AMP Tyco 205204 4 9 AMPLIMITE HDP 20 Crimp Snap contacts 24 20AWG sel AU NI AMP Tyco 66506 9 1 Backshell D Sub 9 position standard RoHS metalliz...

Page 121: ...onnector Kit 1 J1 Control Connector high density HD Sub 44 position male solder cup Norcomp 180 044 103L001 1 Backshell HD Sub 44 Pin RoHS metallized Norcomp 979 025 020R121 1 J4 Safety Connector D Su...

Page 122: ...979 025 020R121 1 J2 I O Connector high density HD Sub 26 position female solder cup Norcomp 180 026 203L001 1 J3 Brake Plug 3 5 mm screw lock 5 position female Wago 734 105 031 000 1 Tool wire inser...

Page 123: ...ector high density HD Sub 26 position female solder cup Norcomp 180 026 203L001 1 J3 Brake Plug 3 5 mm screw lock 5 position female Wago 734 105 031 000 1 Tool wire insertion extraction Wago 734 231 1...

Page 124: ...n cable adapter TP2 NC 10 CAN bus Network Cable 10 ft 3 m TP2 NC 01 CAN bus Network Cable 1 ft 0 3 m TP2 NT CAN bus Network Terminator HEATSINK KITS BEL BPL BML Model Qty Description BEL HK BPL HK BML...

Page 125: ...et Stepnet Plus Panels User Guide 16 01339 Rev 07 Accelnet Stepnet Plus Panels User Guide P N 16 01339 Revision 07 September 16 2021 Copley Controls 20 Dan Road Canton MA 02021 USA All rights reserved...

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