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Accelnet Plus Micro Modules User Guide  

16-01687 Rev 03 

 

Copley Controls 

Page 122 of 139 

CAN

 

C

OMMUNICATION 

D

ETAILS 

(APV,

 

APZ) 

CAN

 

N

ETWORK AND 

CAN

OPEN 

P

ROFILES FOR 

M

OTION

 

These drives communicate over a two-wire Controller Area Network (CAN).  
The  CAN  specification  defines  the  data  link  layer  of  a  fast,  reliable  network  and  is  an 
international standard ISO 11898-1. The physical layer is a two-wire, serial-data connection. 
CANopen is the CAN-based higher-layer protocol for embedded control systems. CiA 402 is 
the  CANopen  profile  for  drives  and  motion  controllers,  internationally  standardized  in  IEC 
61800-7-201 and IEC 61800-7-301. It is supported by Copley CANopen servo and stepper 
drives, allowing them to operate in the following modes of operation: Profile Position,  
Profile Velocity, Profile Torque, Interpolated Position, and Homing. 

S

UPPORTED 

CAN

OPEN 

M

ODES

 

•

 

Profile Position

: Mode 1  

The drive is programmed with a velocity, a relative or absolute target position, acceleration 
and deceleration rates. On command, a complete motion profile is executed, traveling the 
programmed  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 acceleration and deceleration 
rates. When the drive is enabled, the motor accelerates to the set velocity and continues 
at that speed. When the drive is halted, the velocity decelerates to zero. 

•

 

Profile Torque

: Mode 4 

The drive is programmed with a torque command. When the drive is enabled, or the torque 
command is changed, the motor torque ramps to the new value at a programmable rate. 
When the drive is halted, the torque ramps down at the same rate. 

•

 

Homing

: Mode 6 

Used to move the axis from an unknown position to a known reference or zero point with 
respect to the mechanical system. The homing mode is configurable to work with a variety 
of combinations of encoder index, home switch, and limit switches.  

•

 

Interpolated Position

 (PVT, or Position, Velocity, Time): Mode 7 

The controller sends the drive a sequence of points, each of which is a segment of a larger, 
more  complex  move,  rather  than  a  single  index  or  profile.  The  drive  then  uses  cubic 
polynomial interpolati

on to “connect the dots” so that the motor reaches each point at the 

specified velocity at the programmed time.  

Содержание Accelnet Plus AEV-090-14

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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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