accelnetplus panel ethercat rohs · err red led, shows errors due to time-outs, unsolicited state...

Model Ip Ic Vdc800-1843 6 3 90800-1844 14 7 90800-1845 30 15 90

dIgItal serVo drIVe for brush & brushless Motors

Customer Applied Materials

Customer Product Name or Part Number 1080-<tbd>

Customization Accelnet Plus EtherCAT

bootloader Version 2.52

RoHS

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547P/N 16-01434 Rev A of 31

Accelnet Plus Panel EtherCAT800-1843 800-1844 800-1845

DIGITAL SERVO DRIVE FOR BRUSHLESS/BRUSH MOTORS

CONTROL MODES• CyclicSynchronousPosition-Velocity-Torque(CSP,CSV,CST) • ProfilePosition-Velocity-Torque,InterpolatedPosition,Homing • Camming,Gearing • Indexer

COMMAND INTERFACE• CANopenapplicationprotocoloverEtherCAT(CoE) • ASCIIanddiscreteI/O • Steppercommands • ±10Vposition/velocity/torque • PWMvelocity/torquecommand • Masterencoder(Gearing/Camming)

COMMUNICATIONS• EtherCAT • RS-232

FEEDBACkIncremental Encoders • DigitalquadA/B Analog Sin/Cos PanasonicIncrementalAFormat • Aux.quadA/Bencoder/encoderout Absolute Encoders • SSI,EnDat,AbsoluteA, Tamagawa&PanasonicAbsoluteA SanyoDenkiAbsoluteA,BiSS(B&C) Other • DigitalHalls

I/O DIGITAL• 6High-speedinputs• 1Motorover-tempinput• 4Opto-Isolatedinputs• 3Opto-Isolatedoutputs• 1Opto-Isolatedbrakeoutput

I/O ANALOG• 1ReferenceInput,12-bit

SAFETORquEOFF(STO)• SIL3,Category3,PLdDIMENSIONS: IN [MM]• 800-1843~44:5.08x3.41x1.99 [129 x 86.6 x 50.4]• 800-1845:5.08x3.41x3.39 [129 x 86.6 x 86.1]

DESCRIPTIONThe800-1843~1845modelsarehigh-performance,DCpowereddrivesforposition,velocity,andtorquecontrolofbrushlessandbrushmotors via EtherCAT, an Ethernet-based fieldbus. Thesedrives operate as EtherCAT slave using the CANopen application protocoloverEtherCAT (CoE).Supportedmodes include:CyclicSynchronous Position-Velocity-Torque, Profile Position-Velocity-Torque,InterpolatedPositionMode(PVT),andHoming.Feedback from both incremental and absolute encoders issupported.Amulti-modeencoderport functionsasan inputoroutput depending on the drive’s basic setup.

Therearesevennon-isolatedinputs.Allinputshaveprogrammableactivelevels.Threeopto-isolatedoutputs[OuT1~3]haveindividual+/- connections. An isolated MOSFET brake output [OUT4] is programmabletodrivemotorbrakesorotherfunctionsandhasaflybackdiodetotheBrake24Vinputfordrivinginductiveloads.Drive power is transformer-isolated DC from regulated orunregulated power supplies. An AuxHV input is provided for“keep-alive” operation permitting the drive power stage to becompletelypowereddownwithoutlosingpositioninformation,orcommunicationswiththecontrolsystem.

800-1845

800-1843

800-1844

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Testconditions:Load=Wyeconnectedload:2mH+2Ωline-line.Ambienttemperature=25°C,+HV=HVmaxMODEL 800-1843 800-1844 800-1845

OuTPuTPOWERPeakCurrent 6(4.24) 14(9.9) 30(21.2) Adc(Arms-sine),±5% Peaktime 1 1 1 Sec Continuouscurrent(Note1) 3(2.1) 7(5) 15(10.6) Adc(Arms-sine)perphase

INPuTPOWERHVmin~HVmax +14to+90 +14to+90 +14to+90 VdcTransformer-isolated Ipeak 6 14 30 Adc(1sec)peak Icont 3 7 15 Adc continuous AuxHV +14to+90Vdc, Optional,notrequiredforoperation 3W(Typ,noloadonencoder+5Voutput),6W,(Max,encoder+5V@500mA)

DIGITAL CONTROL DigitalControlLoops Current,velocity,position.100%digitalloopcontrol Samplingrate(time) Currentloop:16kHz(62.5µs),Velocity&positionloops:4kHz(250µs) Busvoltagecompensation Changesinbusormainsvoltagedonotaffectbandwidth Minimumloadinductance 200µHline-line

COMMANDINPuTS(NOTE:DIGITALINPuTFuNCTIONSAREPROGRAMMABLE) Distributed Control Modes

CANopen application protocol overEtherCAT(CoE) CyclicSynchronousPosition-Velocity-Torque,ProfilePosition-Velocity-Torque, InterpolatedPosition,Homing Stand-alone mode Analogtorque,velocity,positionreference ±10Vdc,12-bitresolution Dedicateddifferentialanaloginput Digitalpositionreference Pulse/Direction,CW/CCW Steppercommands(2MHzmaximumrate) quadA/BEncoder 2Mline/sec,8Mcount/sec(afterquadrature) Digitaltorque&velocityreference PWM,Polarity PWM=0%-100%,Polarity=1/0 PWM50% PWM=50%±50%,nopolaritysignalrequired PWMfrequencyrange 1kHzminimum,100kHzmaximum PWMminimumpulsewidth 220ns Indexing upto32sequencescanbelaunchedfrominputsorASCIIcommands. Camming upto10CAMtablescanbestoredinflashmemory ASCII RS-232,DTE,9600~115,200Baud,3-wire,RJ-11connector

DIGITAL INPUTSNumber11 [IN1,2] Digital,non-isolated,Schmitttrigger,1µsRCfilter,24Vdccompatible,15kΩprogrammablepull-up/downto+5Vdc/ground, Vt+=2.5~3.5Vdc,VT-=1.3~2.2Vdc,VH=0.7~1.5Vdc [IN3,4,5,6] Digital,non-isolated,programmableassingle-endedordifferentialpairs,100nsRCfilter,12Vdcmax, 10 kΩprogrammablepull-up/downperinputto+5Vdc/ground, SE:Vin-LO≤2.3Vdc,Vin-HI≥2.7Vdc,VH=45mVtyp,DIFF:Vin-LO≤200mVdc,Vin-HI≥200mVdc,VH=45mVtyp, [IN7,8,9,10] Digital,opto-isolated,single-ended,±15~30Vdccompatible,bi-polar,withcommonreturn Ratedimpulse≥800V,Vin-LO≤6.0Vdc,Vin-HI≥10.0Vdc,Inputcurrent±3.6mA@±24Vdc,typical [IN11] Defaultsasmotorovertempinputonfeedbackconnector,12Vdcmax,programmabletootherfunctions OtherdigitalinputsarealsoprogrammablefortheMotempfunction 330µsRCfilter,4.99kΩpullupto+5Vdc,Vt+=2.5~3.5Vdc,VT-=1.3~2.2Vdc,VH=0.7~1.5Vdc Functions Allinputsareprogrammable,[IN1]defaultstotheEnablefunctionandisprogrammableforotherfunctions.

ANALOG INPUTSNumber 1 [AIN1] Differential,±10Vdc,5kΩinputimpedance,12-bitresolution

SAFETORquEOFF(STO)Function PWMoutputsareinactiveandcurrenttothemotorwillnotbepossiblewhentheSTOfunctionisasserted Standard Designed to IEC-61508-1, IEC-61508-2, IEC-61800-5-2, ISO-13849-1 SafetyIntegrityLevel SIL3,Category3,Performanceleveld Inputs 2two-terminal:STO-IN1+,STO-IN1-,STO-IN2+,STO-IN2- Type Opto-isolators,24Vcompatible,Vin-LO≤6.0Vdcoropen,Vin-HI≥15.0Vdc, Inputcurrent(typical) STO-IN1:9.0mA,STO-IN2:4.5mA Responsetime 2ms(IN1,IN2)fromVin≤6.0Vdctointerruptionofenergysuppliedtomotor Reference CompleteinformationandspecificationsareintheAccelnet&StepnetPlusPanelsSTOManual

DIGITAL OUTPUTSNumber 4 [OuT1~3] Opto-isolatedSSR,two-terminal,300mAmax,24Vtolerant,Ratedimpulse≥800V,series1Ωresistor [OuT4] Opto-isolatedMOSFET,defaultasmotorbrakecontrol,current-sinking, 1Adcmax,flybackdiodesto+24Vexternalpowersupplyfordrivinginductiveloads Programmableforotherfunctionsifnotusedforbrake

RS-232 PORTSignals RxD,TxD,Gndin6-position,4-contactRJ-11stylemodularconnector,non-isolated,commontoSignalGround Mode Full-duplex,DTEserialcommunicationportfordrivesetupandcontrol,9,600to115,200Baud Protocol BinaryandASCIIformats

ETHERCAT PORTS Format DualRJ-45receptacles,100BASE-TX Protocol EtherCAT, CANopen application protocol overEtherCAT(CoE),CiA-402formotioncontroldevices

NOTES:1)Heatsinkorforced-airisrequiredforcontinuouscurrentrating.

geNeral sPeCIfICatIoNs

16-01434DocumentRevisionHistoryRevision Date RemarksA October 19, 2015 Initial released version

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DCPOWEROuTPuT Number 1 Ratings +5Vdc,500mAmax,thermalandshort-circuitprotected Connections ThecombinedcurrentfromFeedbackJ6-6,17andControlJ1-17,32cannotexceed500mAINDICATORS

AMP Bicolor LED, drive state indicated by color, and blinking or non-blinking condition RuN GreenLED,statusofEtherCATstate-machine(ESM) ERR RedLED,showserrorsduetotime-outs,unsolicitedstatechanges,orlocalerrors L/A GreenLED,Link/Act,showsthestateoftheEtherCATphysicallinkandactivityonthelink RuN,ERR,andL/ALEDcolorsandblinkcodesconformtoETG.1300S(R)V1.1.0

PROTECTIONS HV Overvoltage +HV > 90 Vdc Drive outputs turn off until +HV < 90 Vdc HV Undervoltage +HV < +14 Vdc Drive outputs turn off until +HV > +14 Vdc Driveovertemperature Heatplate>70°C. Driveoutputsturnoff Shortcircuits Outputtooutput,outputtoground,internalPWMbridgefaults I2TCurrentlimiting Programmable:continuouscurrent,peakcurrent,peaktime Motorovertemperature Digitalinputprogrammabletodetectmotortemperatureswitch FeedbackLoss Inadequateanalogencodersignalamplitudeormissingincrementalencodersignals

MECHANICAL&ENVIRONMENTAL Size 800-1843~44: 5.08x3.41x1.99[129x86.6x50.4]in[mm] 800-1845: 5.08x3.41x3.39[129x86.6x86.1]in[mm] Weight 800-1843~44:0.75[0.34]lb[kg],800-1845:1.70[0.77]lb[kg] Ambienttemperature 0to+45Coperating,-40to+85Cstorage,asperIEC60068-2-1:2007andIEC60068-2-2:2007 Humidity 0to95%,non-condensing,asperIEC60068-2-78:2001 Altitude ≤2000m(6560ft),asperIEC60068-2-13:1983 Vibration 2 gpeak,10~500Hz(sine),asperIEC60068-2-6:2007 Shock 10 g,10ms,half-sinepulse,asperIEC60068-2-27:2008 Contaminants Pollutiondegree2,asperIEC60664-1:2007 Environment IEC68-2:1990

AGENCySTANDARDSCONFORMANCE(PENDING)Standards and Directives Functional Safety IEC61508-1:2010,IEC61508-2:2010,IEC61508-3:2010,IEC61508-4:2010(SIL3) Directive2006/42/EC(Machinery) ISO13849-1/Cor.1:2009(Cat3,PLd) IEC61800-5-2:2007(SIL3) (seetheXenusPlusDualAxisSTOManualforfurtherdetails)

Product Safety Directive2006/95/EC(LowVoltage) IEC 61800-5-1:2007

EMC Directive2004/108/EC(EMC) IEC 61800-3:2004/A1:2011

Restriction of the Use of Certain Hazardous Substances (RoHS) Directive2011/65/Eu(RoHSII)

Approvals UL and cUL recognized component to: UL 61800-5-1, 1st Ed. TÜV SÜD Functional Safety to: IEC61508-1:2010,IEC61508-2:2010,IEC61508-3:2010,IEC61508-4:2010(SIL3) ISO13849-1/Cor.1:2009(Cat3,PLd)

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FEEDBACkIncremental: DigitalIncrementalEncoder quadraturesignals,(A,/A,B,/B,X,/X),differential(X,/XIndexsignalsnotrequired) 5MHzmaximumlinefrequency(20Mcounts/sec) MAX3097differentiallinereceiverwith121ΩterminatingresistorbetweenA&/A,B&/Binputs X&/Xinputshave130Ωterminatingresistor,S&/Sinputshave221Ωterminatingresistor X&Sinputshave1kΩpull-upsto+5V,/X&/Xinputshave1kΩpull-downtoground AnalogIncrementalEncoder Sin/cosformat(sin+,sin-,cos+,cos-),differential,1Vpeak-peak, ServoTubemotorcompatible,BW>300kHz,121Ωterminatingresistorbetweencomplementaryinputs DigitalIndex(X,/X)input Absolute: SSI Clock(X,/X),Data(S,/S)signals,4-wire,clockoutputfromBEL,datareturnedfromencoder EnDat Clock(X,/X),Data(S,/S),sin/cos(sin+,sin-,cos+,cos-)signals AbsoluteA TamagawaAbsoluteA,PanasonicAbsoluteAFormat,SanyoDenkiAbsoluteA SD+,SD-(S,/S)signals,2.5or4MHz,2-wirehalf-duplexcommunication Status data for encoder operating conditions and errors BiSS(B&C) MA+,MA-(X,/X),SL+,SL-(S,/S)signals,4-wire,clockoutputfromBEL,datareturnedfromencoder

DIGITAL HALLSType Digital,single-ended,120°electricalphasedifferencebetweenu-V-Wsignals, Schmitttrigger,1.5µsRCfilter,24Vdccompatible,15kpull-upto+5Vdc, Vt+=2.5~3.5Vdc,VT-=1.3~2.2Vdc,VH=0.7~1.5Vdc Inputs 15 kΩpull-upsto+5Vdc,1.5µsRCfiltertoSchmitttriggerinverters

MULTI-MODE ENCODER PORTAsInput Digitalquadratureencoder(A,/A,B,/B,X,/X),5MHzmaximumlinefrequency(20Mcounts/sec), MAX3097linereceiver,1.5kΩpull-upsto+5VonX&Sinputs,1.5kΩpull-downstoSgndon/X&/Sinputs Digitalabsoluteencoder(Clk,/Clk,Dat,/Dat)halforfull-duplexoperation, S&Xinputsareusedforabsoluteencoderinterface AsEmulatedOutput quadratureencoderemulationwithprogrammableresolutionto4096lines(65,536counts)perrev fromanalogsin/cosencodersorresolvers,orabsoluteencoders A,/A,B,/B,fromMAX3032differentiallinedriver,X,/X,S,/SfromMAX3362differentiallinedriver AsBufferedOutput DigitalA/B/Xencoderfeedbacksignalsfromprimaryquadencoderarebuffered(seelinedriversabove)

RESOLVER(-ROPTION)Type Brushless,single-speed,1:1to2:1programmabletransformationratio Resolution 14bits(equivalenttoa4096linequadratureencoder) Referencefrequency 8.0kHz Referencevoltage 2.8Vrmsmax,auto-adjustablebythedrivetoadjustsin/cossignalsto2.0Vrms Referencemaximumcurrent 100mA MaximumRPM 10,000typical Sin/Cos inputs Differential, 54 kΩ±1%differentialimpedance,2.0Vrms,BW≥300kHz

Set x10 x1 Set x10 x1

Hex Dec Hex Dec

0 0 0 8 128 8

1 16 1 9 144 9

2 32 2 A 160 10

3 48 3 B 176 11

4 64 4 C 192 12

5 80 5 D 208 13

6 96 6 E 224 14

7 112 7 F 240 15

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1 8 1 8

L/A L/ARunErr

OUTIN

AMP

Acc

elne

tPlu

s

RS-232SIGNAL

SAFETY

x10 x1

S1

S2

DEVICE ID

J1

J3

J4J2

NETWORKRUNERR L/A L/A

IN OUT

S2

S1

X1X10DEVICE ID

S2S1



J3:EtherCAT PORTSRJ-45receptacles, 8 position, 4 contact

EtherCAT DEVICEID(STATIONALIAS)InanEtherCATnetwork,slavesareautomaticallyassignedconsecutiveaddressesbasedontheirpositiononthenetwork.Butwhenthedevicemusthaveapositiveidentificationthatisindependentofcabling,aDeviceIDisused.Thisisprovidedbytwo16-positionrotaryswitcheswithhexadecimalencoding.ThesecansettheDeviceIDofthedrivefrom0x00~0xFF(0~255decimal).Thechartshowsthedecimalvaluesofthehexsettingsofeachswitch.Example1:FindtheswitchsettingsfordecimalDeviceID107:1)Findthehighestnumberinthex10columnthatislessthan107and

setx10tothehexvalueinthesamerow: 96 < 107 and 112 > 107, so x10 = 96 = Hex 6

2)Subtract96fromthedesiredDeviceIDtogetthedecimalvalueforthe switchx1andsetittotheHexvalueinthesamerow: x1=(107-96)=11=HexB

3)Result:X10=6,X1=B,Alias=0x6B(107)

EtherCATDeviceIDSwitch Decimalvalues

etherCat CoMMuNICatIoNsEtherCATistheopen,real-timeEthernetnetworkdevelopedbyBeckhoffbasedonthewidelyused100BASE-TXcablingsystem.EtherCATenableshigh-speedcontrolofmultipleaxeswhilemaintainingtightsynchronizationofclocksinthenodes.

Data protocol is CANopen application protocoloverEtherCAT(CoE)basedonDSP-402formotioncontroldevices. MoreinformationonEtherCATcanbefoundonthisweb-site:http://ethercat.org/default.htm

DualRJ-45socketsacceptstandardEthernetcables.TheINportconnectstoamaster,ortotheOuTportofadevicethatis‘upstream’,betweentheAccelnetandthemaster.

TheOuTportconnectsto‘downstream’nodes. IfAccelnetisthelastnodeonanetwork,onlytheINportisused.NoterminatorisrequiredontheOuTport.

ETHERCAT CONNECTIONS

A bi-color LED gives the state of the drive. Colors do not alternate, and can be solid ON or blink-ing.Whenmultipleconditionsoccur,onlythetop-mostconditionwillbedisplayed. Whenthatconditionisclearedthenextonebelowwillshown.1)Red/Blinking = Latchingfault.OperationwillnotresumeuntildriveisReset. 2)Red/Solid = Transientfaultcondition.Drivewillresumeoperationwhen theconditioncausingthefaultisremoved. 3)Green/Double-Blinking = STOcircuitactive,driveoutputsareSafe-Torque-Off 4)Green/Slow-Blinking = DriveOKbutNOT-enabled.Willrunwhenenabled. 5)Green/Fast-Blinking = PositiveorNegativelimitswitchactive. Drivewillonlymoveindirectionnotinhibitedbylimitswitch. 7)Green/Solid = DriveOKandenabled.Willruninresponseto referenceinputsorEtherCATcommands. Latching FaultsDefaults Optional(programmable) • Shortcircuit(Internalorexternal) • Over-voltage • Driveover-temperature • under-voltage • Motorover-temperature • MotorPhasingError • FeedbackError • CommandInputFaultv • FollowingError

INdICators: drIVe state

AMPLED& DEVICE ID SWITCHES

ETHERCATLEDS(ONRJ-45CONNECTORS)RUN Green:ShowsthestateoftheESM(EtherCATStateMachine)

Off = Init Blinking = Pre-operational Single-flash = Safe-operational On = Operational

ERR Red:ShowserrorssuchaswatchdogtimeoutsandunsolicitedstatechangesintheBELduetolocalerrors. Off = EtherCATcommunicationsareworkingcorrectly Blinking = Invalidconfiguration,generalconfigurationerror SingleFlash = Localerror,slavehaschangedEtherCATstateautonomously DoubleFlash = PDOorEtherCATwatchdogtimeout,oranapplicationwatchdogtimeouthasoccurred

L/A Green:Showsthestateofthephysicallinkandactivityonthelink. AgreenLEDindicatesthestateoftheEtherCATnetwork: LED Link Activity Condition ON Yes No Port Open Flickering yes yes PortOpenwithactivity Off No (N/A) PortClosed

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PIN SIGNAL

2 RxD

3,4 Gnd

5 Txd

6

9

1

5

3 2TxD RxD

RJ-11on

ServoDrive

RJ-11 cable6P6CStraight-wired

5 3Gnd Gnd

RxD TxD2 5

D-Sub 9F

Dsub-9Fto RJ11Adapter

16

16



Thedriveisconfiguredviaathree-wire,full-duplexDTERS-232portthatoperatesfrom9600to115,200Baud,8bits,noparity,andonestopbit.Signalformatisfull-duplex,3-wire,DTEusingRxD, TxD, and Gnd. Connections to the drive RS-232 port are throughJ2,anRJ-11connector.TheBEL SerialCableKit(SER-CK)containsamodularcable,andanadapterthatconnectstoa9-pin,Sub-Dserialportconnector(COM1,COM2,etc.)onPC’sandcompatibles.

Afterpower-on,reset,ortransmissionofaBreakcharacter,theBaudratewillbe9,600.Oncecommunicationhasbeenestablished at this speed, the Baud rate can be changed to a higherrate(19,200,57,600,115,200).

SER-Ck SERIAL CABLE kITTheSER-CKprovidesconnectivitybetweenaD-Sub9maleconnectorandtheRJ-11connectoronthedrive.ItincludesanadapterthatplugsintotheCOM1(orother)portofaPCandusescommonmodularcabletoconnecttothedrive.Theconnectionsareshowninthediagrambelow.

USB TO RS-232 ADAPTERSThesemayormaynothavethespeedtoworkatthe115,200BaudratewhichgivesthebestresultswithCME2. Users have reported that adapters using the FTDIchipsetworkwellwithCME2

Don’t forget to order a Serial Cable kit SER-Ck whenplacingyourorderforaBEL!

ASCII COMMUNICATIONSTheCopleyASCIIInterfaceisasetofASCIIformatcommandsthatcanbeusedtooperatethesedrivesoveranRS-232serialconnection.For instance,afterbasicamplifierconfigurationvalueshavebeenprogrammedusingCME2,acontrolprogramcanusetheASCIIInterface to:

•EnabletheamplifierinProgrammedPositionmode.•Hometheaxis.•Issueaseriesofmovecommandswhilemonitoringposition,velocity,andotherrun-timevariables.

TheBaudratedefaultsto9,600afterpower-onorresetandisprogrammableupto115,200thereafter.Afterpower-on,reset,ortransmissionofaBreakcharacter,theBaudratewillbe9,600.Oncecommunicationhasbeenestablishedatthisspeed,theBaudratecanbechangedtoahigherrate(19,200,57,600,115,200).ASCIIparameter0x90holdstheBaudratedata.Tosettherateto115,200enterthislinefromaterminal: s r0x90 115200 <enter>Then,changetheBaudrateinthecomputer/controllertothenewnumberandcommunicateatthatrate.

AdditionalinformationcanbefoundintheASCIIProgrammersGuideontheCopleywebsite:http://www.copleycontrols.com/Motion/pdf/ASCII_ProgrammersGuide.pdf

J2:RS-232PORTRJ-11receptacle, 6 position, 4 contact

CoMMuNICatIoNs: rs-232 serIal

CONNECTIONS

PIN SIGNAL PIN SIGNAL

1 FrameGnd 6 STO-1(+)

2 STO-1(+) 7 STO-1(-)

3 STO-1(-) 8 STO-24V

4 STO-2(+) 9 STO-GND

5 STO-2(-)

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1

5

6

9

16

95

SAFETY

16

95

Frame Ground

STO-24V

STO-GND

Plus Panel Safety Connector1-Axis: J42-Axis: J6

Bypass Plug ConnectionsJumper pins:2-4, 3-5, 6-8, 7-9

STO-1(+)

STO-2(+)

STO-2(-)

STO-1(-)

STO-1(+)

STO-1(-)

2

3

1

4

5

6

7

8

9

Upper MOSFET Gate Drivers

PWM ENABLE

PWM ENABLE

EN

+HV

PWMOutputs

UVWPWM

UVWPWM

Lower MOSFET Gate Drivers

Channel 1

Channel 2

Channel 3

*



INSTALLATION

FUNCTIONAL DIAGRAM

Currentmustflowthroughallofthe

opto-couplersbeforethedrive can be enabled

SAFETyCONNECTORJ4

safe torque off (sto)

TheSafeTorqueOff(STO)functionisdefinedinIEC61800-5-2.Twochannelsareprovidedwhich,whende-energized,preventtheupperandlowerdevicesinthePWMoutputsfrombeingoperated by the digital control core.

This provides a positive OFF capability that cannot be overridden bythecontrolfirmware,orassociatedhardwarecomponents.Whentheopto-couplersareenergized(currentisflowingintheinputdiodes),thecontrolcorewillbeabletocontroltheon/offstateofthePWMoutputs.

STOByPASS(MuTING)InorderforthePWMoutputstobeactivated,currentmustbeflowingthroughalloftheopto-couplersthatareconnectedtotheSTO-IN1andSTO-IN2terminalsofJ4,andthedrivemustbeinanENABLEDstate.Whentheopto-couplersareOFF,thedriveisinaSafeTorqueOff(STO)stateandthePWMoutputscannotbeactivatedbythecontrolcoretodriveamotor.

Thisdiagramshowsconnectionsthatwillenergizealloftheopto-couplersfromaninternalcurrent-source.WhenthisisdonetheSTOfeatureisoverriddenandcontroloftheoutputPWMstageisunder control of the digital control core. IfnotusingtheSTOfeature,theseconnectionsmustbemadeinorderfortheBELtobeenabled.

STOByPASS(MuTING)CONNECTIONS

DANGER

RefertotheAccelnet&StepnetPlusPanelsSTOManual

TheinformationprovidedintheAccelnet & Stepnet Plus Panels STO Manual mustbeconsideredforanyapplicationusingthe800-1843~1816drivesSTOfeature.FAILuRETOhEEDThISwARNINGCANCAuSEEquIPMENTDAMAGE,INjuRy,ORDEATh.

DIFFERENTIAL: IN3,4,5,6

Signal J1Pins

[IN3] Pls, CU, Enc A 9

[IN4] /Pls, /CU, Enc /A 10

[IN5] Dir, CD, Enc B 11

[IN6] /Dir, /CD, Enc /B 12

Signal Ground 6,16,22,31, 37,44

FrameGround 1

DIFFERENTIAL: IN3,4,5,6

Signal J1Pins

[IN3]Curr-Vel± 9

[IN4]/Curr-Vel± 10

[IN5] Pol-Dir 11

[IN6] /Pol-Dir 12

Signal Ground 6,16,22,31, 37,44

FrameGround 1

SINGLE-ENDED: IN5,6

Signal J1Pins

[IN5] Pls, CU, Enc A 11

[IN6] Dir, CD, Enc B 12

Signal Ground 6,16,22,31, 37,44

FrameGround 1

SINGLE-ENDED: IN5,6

Signal J1Pins

[IN5]Curr-Vel± 11

[IN6] Pol-Dir 12

Sgnd 6,16,22,31, 37,44

FrameGround 1

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Curr-Vel

Pol-Dir

[IN5]

[IN6]

Duty = 50% ±50%

<no connection>

Curr-Vel±

<not used>

[IN5]

[IN6]

Duty = 0 - 100% Curr-Vel

Pol-Dir

/Curr-Vel

/Pol-Dir

[IN5]

[IN6]

[IN3]

[IN4]

[IN5]

[IN6]

[IN3]

[IN4]/Curr-Vel

Curr-Vel

NoFunction

Duty = 50% ±50%

<no connection>

PULSE

/PULSE

DIRECTION

/DIRECTION

[IN3]

[IN4]

[IN5]

[IN6]

CD (Count-Down)

CU (Count-Up)[IN3]

[IN4]

[IN5]

[IN6]

CU (CW)

/CU (CW)

CD (CCW)

/CD (CCW)

Enc. A

Enc B

/Enc. A

/Enc B

Encoder ph. B

Encoder ph. A [IN3]

[IN4]

[IN5]

[IN6]

CU (CW)

CD (CCW)

[IN5]

[IN6]

Enc. A

Enc. B

Enc. Ph. A

Enc. Ph. B

[IN5]

[IN6]

Pulse

Direction

[IN5]

[IN6]



POSITION COMMAND INPUTSSingle-endeddigitalpositioncommandsmustbesourcedfromdeviceswithactivepull-upandpull-downtotakeadvantageofthe high-speed inputs.

Fordifferentialcommands,inputs[IN3~6]ortheA&Bchannelsofthemulti-modeencoderportscanbeused.

SINGLE-ENDEDPWM&DIRECTION

SINGLE-ENDED50%PWM

SINGLE-ENDEDPuLSE&DIRECTION

SINGLE-ENDED CU/CD

QUAD A/B ENCODER SINGLE-ENDED

DIFFERENTIAL CU/CD

DIFFERENTIALPuLSE&DIRECTION

QUAD A/B ENCODER DIFFERENTIAL

DIFFERENTIAL50%PWM

DIFFERENTIALPWM&DIRECTION

dIgItal CoMMaNd INPuts: PosItIoN

dIgItal CoMMaNd INPuts: VeloCIty, torqueSingle-endeddigitaltorqueorvelocitycommandsmustbesourcedfromdeviceswithactivepull-upandpull-downtotakeadvantage of the high-speed inputs.

Fordifferentialcommands,inputs[IN3~6]ortheA&Bchannelsofthemulti-modeencoderportscanbeused.

SIGNALS&PINS

Signal J1

Pulse,CW,EncoderA 36

/Pulse,/CW,Encoder/A 21

Direction,CCW,EncoderB 35

/Direction,/CCW,Encoder/B 20

quadEncX,AbsoluteClock 34

quadEnc/X,/AbsoluteClock 19

EncS,Absolute(Clock)Data 33

Enc/S,/Absolute(Clock)Data 18

Signal Ground6, 16, 22, 31, 37, 44

FrameGround 1

RoHS

+5V output @ 500 mA

Signal Ground

Enc. B

Enc. X

Enc. X

Enc. X

Enc. S

Enc. S

B

X

/X

/S

Enc. A

Incremental Encoder

Absolute Encoder

J1 Multi-Port

Frame Ground

A

S

/B

/A

Input/OutputSelect

MAX3097

MAX3032

A/B/X signals fromdigital encoder

Input/OutputSelect

MAX3097

MAX3032

A/B/X signals fromdigital encoder

Input/OutputSelect

MAX3097

MAX3032

Pulse/Dir or CU/CD differential commands

Input/OutputSelect

MAX3032

S

S

2-Wire digital absolute encoder signals

InputSelect

OutputSelect

MAX3362

MAX3362

X

S

4-Wire digital absolute encoder signals



POSITION COMMAND INPUTS: DIFFERENTIAL•Pulse&Direction•CW&CCW(Clockwise&Counter-Clockwise)•EncoderquadA&B•CammingEncoderA&Binput

CURRENT or VELOCITY COMMAND INPUTS: DIFFERENTIAL•CurrentorVelocity&Direction•CurrentorVelocity(+)&CurrentorVelocity(-)

SECONDARY FEEDBACk: INCREMENTAL•quadA/B/Xincrementalencoder

SECONDARY FEEDBACk: ABSOLUTE•Schannel:AbsoluteAencoders(2-wire) TheSchannelfirstsendsaClocksignalandthen receivesDatafromtheencoderinhalf-duplexmode.

•S&Xchannels:SSI,BiSS,EnDatencoders(4-wire) TheXchannelsendstheClocksignaltotheencoder, whichinitiatesdatatransmissionfromtheencoder ontheS-channelinfull-duplexmode

INPut tyPes

MultI-Mode Port as aN INPut

MultI-Mode Port as aN outPut

SIGNALS&PINS

Signal J1

Encoder A 36

Encoder /A 21

Encoder B 35

Encoder /B 20

EncoderX 34

Encoder/X 19

Encoder S 33

Encoder /S 18

Signal Ground 6, 16, 22, 31, 37, 44

FrameGround 1

RoHS

SecondaryEncoder Input

Input/OutputSelect

Quad A/B/X primaryencoder

MAX3362

MAX3097

Buffered A/B/X signalsfrom primary encoder

SecondaryEncoder Input

Input/OutputSelect

MAX3362

MAX3097

Emulated Quad A/Bsignals from analog Sin/Cos encoder

Emulated A/B signals

Enc. B

Enc. X

B

/B

X

/X

Enc. A

Incremental Encoder

J1 Multi-Port

Frame Ground

A

/A



outPut tyPes

BUFFERED FEEDBACk OUTPUTS: DIFFERENTIAL•EncoderquadA,B,Xchannels•DirecthardwareconnectionbetweenquadA/B/X encoderfeedbackanddifferentiallinedriversforA/B/Xoutputs

EMULATED FEEDBACk OUTPUTS: DIFFERENTIALFirmwareproducesemulatedquadA/Bsignalsfromfeedback datafromthefollowingdevices:•Absolute encoders •AnalogSin/Cosincrementalencoders

Name Notes

OUT1 Fault Active-OFF

OUT2NotConfigured

OUT3

OUT4 Brake Active-HI

Active Notes

√ Short Circuit

√ AmpOverTemperature

√ MotorOverTemp

Over Voltage

Under Voltage

√ Feedback Error

Motor Phasing Error

√ FollowingError

CommandInputFault

MotorWiringDisconnected

OPTIONAL FAULTS

OverCurrent(Latched)

Name Notes

Analog: Reference Filter Disabled

Vloop: Input Filter Disabled

Vloop: Output Filter 1 LowPass,Butterworth, 2-pole,200Hz

Vloop: Output Filter 2 Disabled

Vloop: Output Filter 3 Disabled

Iloop: Input Filter 1 Disabled

Iloop: Input Filter 2 Disabled

Input Shaping Disabled

Option Notes

Method SetCurrentPositionasHome

Name Configuration PU/PD

IN1 Enable-LO, Clear Faults

+5V

IN2

NotConfigured

IN3

IN4

IN5

IN6

IN7

Opto NotConfigured

IN8

IN9

IN10

IN11 Motemp +5V PU

RoHS



CMe2 defaults

ThesetablesshowtheCME2defaultsettings.Theyareuser-programmableand thesettingscanbesavedtonon-volatileflashmemory.

SPECIFICATIONS

Input Data Notes

Input Voltages

HI VT+=2.5~3.5Vdc

LO VT-=1.3~2.2Vdc

VH1 VH=±0.7~1.5Vdc

Max +30 Vdc

Min 0 Vdc

Pull-up/down R1 15 kΩ

LowpassfilterR2 15 kΩ

C1 100 pF

Input Current24V 1.3mAdc

0V -0.33mAdc

Timeconstant RC2 1.5µs

CONNECTIONS

Input Pin

IN1 J1-7

IN2 J1-8

Sgnd J1-6,16,22,31,37,44

SPECIFICATIONS

Input Data Notes

Input Voltages Single-ended

HI Vin≥2.7Vdc

LO Vin≤2.3Vdc

VH1 45mVdctyp

Input Voltages Differential3

HI Vdiff≥+200mVdc

LO Vdiff≤-200mVdc

VH ±45mVdctyp

Commonmode Vcm 0 to +12 Vdc

Pull-up/down R1 10 kΩ


C1 100 pF

Timeconstant RC2 100 ns

CONNECTIONS

S.E. DIFF Pin

IN3 IN3+ J1-9

IN4 IN4- J1-10

IN5 IN5+ J1-11

IN6 IN6- J1-12

Sgnd J1-6,16,22,31,37,44

RoHS

C1

R2R1

74HC14

PullUp = +5VPullDown = 0V

[INx]

+5V

12V+

100 pF

2.5V

MAX3096

MAX3096

[IN3,5]

J1 Control

100 pF

1k

[IN4,6]

10k

+5V

1k

+

10k

+5V

[IN3,5]

J1 Control

[IN4,6]

+5V

+5V

C1

R1R2

C1

R1R2

MAX3096

12V+

sINgle-eNded/dIffereNtIal INPuts: IN3, IN4, IN5, IN6



hIgh sPeed INPuts: IN1, IN2

• Digital, non-isolated, high-speed• Programmablepull-up/pull-down• 24VCompatible• Programmablefunctions

Notes:1)VHishysteresisvoltage (VT+)-(VT-)

2)TheR2*C2timeconstantapplieswheninputisdrivenbyactive HI/LO devices

• Digital, non-isolated, high-speed• Programmablepull-up/pull-down• 12VCompatible• Single-ended or Differential• Programmablefunctions

Notes:1)VHishysteresisvoltage

IN2 - IN3 or IN12 - IN132)TheR2*C2timeconstantapplieswheninputisdrivenbyactiveHI/LOdevices)

3)Vdiff=AINn(+)-AINn(-) n = 1 for Axis A, 2 for Axis B

SINGLE-ENDED

DIFFERENTIAL

SPECIFICATIONS

Input Data Notes

Input Voltages

HI Vin≥3.5Vdc

LO Vin≤0.7Vdc

Max +12 Vdc

Min 0 Vdc

Pull-up/down R1 4.99 kΩ

Input Current12V 1.4mAdc

0V -1.0mAdc


C1 33 nF

Timeconstant Te 330µs*BS 4999:Part 111:1987

Property Ohms

Resistanceinthetemperaturerange20°Cto+70°C 60~750

Resistanceat85°C ≤1650

Resistanceat95°C ≥3990


CONNECTIONS

Input Pin

IN11 J6-7

Sgnd J6-5,16,25,26

CONNECTIONS

Signal J1Pin

IN7 13

IN8 14

IN9 15

IN10 30

ICOM 28

SPECIFICATIONS

Input Data Notes

Input Voltages

HI Vin≥±10.0Vdc*

LO Vin≤±6Vdc*

Max ±30Vdc*

Input Current±24V ±3.6mAdc

0V 0mAdc

RoHS

+5V

[IN11]

Thermistor,Posistor,

or switch Signal Gnd

R1

R2

C1

J5

J1

4.99k 5.1V

[IN7] 4.7k

4.7k

4.7k

4.7k

[ICOM]

4.99k 5.1V

[IN8]

4.99k 5.1V

[IN9]

4.99k 5.1V

[IN10]

+24V

24V GND

+

24V



• Digital, non-isolated• Motorovertempinput• 12VCompatible• Programmablefunctions

• Digital, opto-isolated• Agroupoffour,withacommonterminal• Workswithcurrentsourcingorsinkingdrivers• 24VCompatible• Programmablefunctions

MOTOR OVER TEMP INPUTThe4.99kpull-upresistorworkswithPTC(positivetemperaturecoefficient)thermistorsthatconformtoBS4999:Part111:1987,orswitchesthatopen/closeindicatingamotorover-temperaturecondition.Theactivelevelisprogrammable.

*VdcReferencedtoICOMterminals.

* RC time constant applieswhen input is driven byactivehigh/lowdevice

Motor oVerteMP INPut: IN11

oPto-Isolated INPuts: IN7, IN8, IN9, IN10

SPECIFICATIONS

Spec Data Notes

Input Voltage Vref ±10Vdc

Input Resistance Rin 5.05 kΩ

CONNECTIONS

Signal Pins

AIN(+) J1-3

AIN(-) J1-2

Sgnd J1-6,16,22,31,37,44

SPECIFICATIONS

Output Data Notes

ON Voltage OuT(+)-OuT(-) Vdc 0.85V@300mAdc

Output Current Iout 300mAdcmax

HI/LO DEFINITIONS: OUTPUTS

Input State Condition

OuT1~3HI OutputSSRisON,currentflows

LO OutputSSRisOFF,nocurrentflows

CONNECTIONS

Signal (+) (-)

OUT1 J1-42 J1-27

OUT2 J1-41 J1-26

OUT3 J1-40 J1-25

RoHS

+

1.5V

Shield (Frame Gnd)

AINn(+)

AINn(-)Vref

J1D/A

F.G.

±10V

Sgnd

-

[OUTn-]

300mAmax

* at 24 Vdc

Vdc

J1

[OUTn+]

1

80Ωmin*

36V

SSR

+



aNalog INPut: aIN1

Theanaloginputhasa±10Vdcrangeat12-bitresolution It can be used as general-purpose analog input.

• ±10Vdc,differential• 12-bit resolution• Programmablefunctions

• Digital, opto-isolated• MOSFEToutputSSR,2-terminal• Flyback diode for inductive loads• 24VCompatible• Programmablefunctions

oPto-Isolated outPuts: out1, out2, out3

HI/LO DEFINITIONS: OUTPUTS

Input State Condition

BRAkE [OUT4]

HI

Output transistor is OFF Brakeisun-poweredandlocksmotor Motorcannotmove Brake state is Active

LO

Output transistor is ON Brakeispowered,releasingmotor Motorisfreetomove Brake state is NOT-Active

SPECIFICATIONS

Output Data Notes

Voltage Range Max +30 Vdc

Output Current Ids 1.0 Adc

J5CONNECTIONS

Pin Signal

4 Brk 24V Input

3 Brk 24V Output

2 Brake [OUT4]

1 24V Return

RoHS

J5

Brake [OUT4]

4

3

24V

Brk 24V Input

Brk 24V Output

24V Return

2

1

i

+0

Brake

24V Input

HV Com

24V Return

Earth Ground

Heatplate/chassis

IsolatedBrakeOutput

Frame Gnd

Frame Gnd 4

3

2

J1Control

J7Mot

J5Brake

J8Power

Brake

1

1

2

3

Signal Gnd

Signal Gnd

Signal Gnd

Signal Gnd

Signal GndSignal Gnd

Signal Gnd

Signal GndJ2Serial

3

4

1

1

37

44

31

16

6

22

+24V

0V

+HV

0V

+Aux

0V

Earthing connections for power supplies should be as close as possible to elimimate potential differences between power supply 0V terminals.



• Brake output• Opto-isolated• Flyback diode for inductive load• 24VCompatible• Connectionforexternal24Vpowersupply• Programmablefunctions

CME2 Default Setting for Brake Output [OUT4] is “Brake - Active HI” Active =Brakeisholdingmotorshaft(i.e.theBrake is Active) Motorcannotmove Nocurrentflowsincoilofbrake CME2I/OLineStatesshowsOutput4asHI BRKOutputvoltageisHI(24V),MOSFETisOFF Servodriveoutputcurrentiszero Servodriveisdisabled,PWMoutputsareoff Inactive=Brakeisnotholdingmotorshaft(i.e.theBrake is Inactive) Motorcanmove Currentflowsincoilofbrake CME2I/OLineStatesshowsOutput4asLO BRKoutputvoltageisLO(~0V),MOSFETisON Servodriveisenabled,PWMoutputsareon Servodriveoutputcurrentisflowing

Thebrakecircuitsareopticallyisolatedfromalldrivecircuitsandframeground.

oPto-Isolated Motor brake outPut: out4

This diagram shows theconnectionstothedrivethatshare a commonground inthedriver.Ifthebrake24Vpower supply is separatefromtheDCsupplypoweringthe drive, it is importantthat itconnects toanearthorcommongroundingpointwiththehVpowersupply.

Signal J6Pins

Enc A 13

Enc /A 12

Enc B 11

Enc /B 10

EncX 9

Enc/X 8

+5V 6, 17

Sgnd 5, 16, 25, 26

F.G. 1

Signal J6Pins

Sin(+) 19

Sin(-) 18

Cos(+) 21

Cos(-) 20

X 9

/X 8

+5V 6, 17

Sgnd 5, 16, 25, 26

F.G. 1

RoHS

1k+5V

1k

Encoder J5

FG Frame Ground

Enc. A121A

Enc. B121B

Enc. Index130X/X

X

/B

B

/A

A

+5V

0V

+5V Out @ 500 mA

Signal Ground

1k+5V

1k

+5V Out @ 500 mA

Signal Ground

Sin(+)

Sin(-)

Cos(+)

Cos(-)

X

/X

-

+

-

+

10k

121

J5

10k

121

Encoder

FG

sin

cos

+5V

0V

indx

Frame Ground

10k

Sin

Cos

10k

Enc. Index130

Enc. A

Enc. B

Enc. Index

A

/A

B

/B

X

/X

Encoder

121

121

121

FG Frame Ground

A

B

+5V

0V

+5V Out @ 500 mA

Signal Ground

J5



feedbaCk CoNNeCtIoNs

quad a/b eNCoder wIth fault ProteCtIoNEncoderswithdifferentialline-driveroutputsarerequired(single-endedencodersarenotsupported)andprovideincrementalpositionfeedbackviatheA/Bsignalsandtheoptionalindexsignal(X)givesaonceperrevolutionpositionmark.TheMAX3097receiverhasdifferentialinputswithfaultprotectionsforthefollowingconditions:Short-circuits line-line: Thisproducesanear-zerovoltagebetweenA&/Awhichisbelowthe

differential fault threshold.Open-circuit condition: The 121Ωterminatorresistorwillpulltheinputstogetherifeitherside(orboth)isopen.

Thiswillproducethesamefaultconditionasashort-circuitacrosstheinputs.Low differential voltage detection: Thisispossiblewithverylongcablerunsandafaultwilloccurifthe

differentialinputvoltageis<200mV.±15kV ESD protection: The3097Ehasprotectionagainsthigh-voltagedischargesusingtheHumanBodyModel.Extended common-mode range: Afaultoccursiftheinputcommon-modevoltageisoutsideoftherangeof-10Vto+13.2V

aNalog sIN/Cos INCreMeNtal eNCoderThesin/cosinputsareanalogdifferentialwith121Ωterminatingresistorsandaccept1Vp-psignalsintheformatusedbyincrementalencoderswithanalogoutputs,orwithServoTubemotors.Theindexinputisdigital,differential.

quad eNCoder wIth INdex quad eNCoder wIth No INdex

sIN/Cos sIgNals

a/b/x sIgNals

Sgnd = Signal Ground F.G.=FrameGnd


Signal J6Pins

Clk 9

/Clk 8

Data 15

/Data 14

Sin(+) 19

Sin(-) 18

Cos(+) 21

Cos(-) 20

+5V 6, 17

Sgnd 5, 16, 25, 26

F.G. 1

Signal J6Pins

Data 15

/Data 14

+5V 6, 17

Sgnd 5, 16, 25, 26

F.G. 1

SSI BiSS J6Pins

Clk MA+ 9

/Clk MA- 8

Data SL+ 15

/Data SL- 14

+5V 6, 17

Signal Ground 5, 16, 25, 26

FrameGnd 1

RoHS

1k+5V

1k 1k+5V

1k

BiSSEncoder

221

130

MA+

MA-

SL+

SL-

FGFrame Ground

J5

Clk

Data

Master

Slave

V+

V-

+5V Out @ 500 mA

Signal Ground

1k+5V

1k 1k+5V

1k

Encoder

221

130

Clk

/Clk

Dat

/Dat

FGFrame Ground

J5

Clk

DataData

Clk

+5V

0V

+5V Out @ 500 mA

A

A

B

B

Signal Ground

-

+

-

+

A

B

A

B

1k+5V

1k 1k+5V

1k

Encoder

221

Sin(+)

Sin(-)

Cos(+)

Cos(-)

Dat

/Dat

Clk

/Clk130

FGFrame Ground

J5

Clk

DataData

Clk

+5V

0V

+5V Out @ 500 mA

Signal Ground

10k

10k

121 Sin

Cos

10k

10k

121

sin

cos

Absolute-AEncoder

221

1.2k

1.2k

220

5V

SD+

SD-

J5

Battery

Dat

/DatCmd

D-R

SDCmd

D-R

SD

MAX3362B0V

+5VV+

V-

+5V Out@ 500 mA

Signal Ground

Batt+

Batt-

+

-

1k

1k

5V



feedbaCk CoNNeCtIoNs

ssI absolute eNCoderTheSSI(SynchronousSerialInterface)isaninterfaceusedtoconnectanabsolutepositionencodertoamotioncontrollerorcontrolsystem.Thedriveprovidesatrainofclocksignalsindifferentialformattotheencoderwhichinitiatesthetransmissionofthepositiondataonthesubsequentclockpulses.Thepollingoftheencoderdataoccursatthecurrentloopfrequency(16kHz).Thenumberofencoderdatabitsandcountspermotorrevolutionareprogrammable. Thehardwarebusconsistsoftwosignals:SCLKandSDATA.Dataissentin8bitbytes,LSBfirst.TheSCLKsignalisonlyactive during transfers. Data is clocked out on the falling edge and clock in on the rising edge of the Master.

biss absolute eNCoderBiSS is an - Open Source - digital interface for sensors and actuators.BiSSreferstoprinciplesofwellknownindustrialstandards for Serial Synchronous Interfaces like SSI, AS-Interface®andInterbus®withadditionaloptions. SerialSynchronousDataCommunication Cyclic at high speed 2 unidirectional lines Clock and Data Linedelaycompensationforhighspeeddatatransfer Requestfordatagenerationatslaves Safetycapable:CRC,Errors,Warnings Bus capability incl. actuators Bidirectional BiSS B-protocol: Mode choice at each cycle start BiSSC-protocol:Continuousmode

eNdat absolute eNCoderTheEnDatinterfaceisaHeidenhaininterfacethatissimilartoSSIintheuseofclockanddatasignals,butwhichalsosupportsanalogsin/coschannelsfromthesameencoder.Thenumberofpositiondatabitsisprogrammableasistheuseofsin/coschannels.useofsin/cosincrementalsignalsisoptionalintheEnDatspecification.

absolute-a eNCoderThe Absolute A interface is a serial, half-duplex type thatiselectricallythesameasRS-485.Notethebatterywhichmustbeconnected.Withoutit,theencoderwillproduce a fault condition.

eNdat sIgNals

absolute-a sIgNals

Note: Single (outer) shields should be connected at both ends (motor and drive frame grounds). Inner shields should only be connected to Signal Ground on the drive.

ssI,biss sIgNals



Signal J7Pin

Mot U 4

Mot V 3

MotW 2

FrameGnd 1

Signal J6Pins

Hall U 2

Hall V 3

HallW 4

+5V 6, 17

Sgnd 5, 16, 25, 26

FrameGnd 1

Property Ohms

Resistanceinthetemperaturerange 20°Cto+70°C

60~750

Resistanceat85°C ≤1650



Signal J6Pins

Motemp 7

J6SignalGround 5,16,25,26

FrameGnd 1

RoHS

Halls

+5V Out @ 500 mA

Signal Ground

+5V

0V

15K

100p

15KHall U+5V

J5

100p

15K

15KHall V+5V

100p

15K

15KHall W

+5V

Hall A

Hall B

Hall C

+5V

[IN11]

Thermistor,Posistor,

or switch Signal Gnd

R1

R2

C1

J5

PWM

+HV

0V

ServoMotor

MOT W

Gn/YFrame Gnd

MOT V

MOT U

J7

+

*



Motor CoNNeCtIoNs

Motor oVer teMP INPutThe4.99kpull-upresistorworkswithPTC(positivetemperaturecoefficient) thermistors that conform toBS4999:Part 111:1987(table below), or switches that open/close indicating amotorover-temperature condition. The active level is programmable. These inputs are programmable for other functions if not usedasMotemp inputs. And, other inputs are programmable for theMotempfunction.

Motor Phase CoNNeCtIoNsThe drive output is a three-phase PWMinverter that converts the DC buss voltage (+HV)intothreesinusoidalvoltagewaveformsthatdrivethemotorphase-coils.Cableshouldbesizedforthecontinuouscurrentratingofthemotor.Motorcablingshouldusetwisted,shieldedconductors forCEcompliance,andtominimize PWMnoise coupling into othercircuits.Themotorcableshieldshouldconnecttomotorframeandthedriveframegroundterminal(J7-1)forbestresults.

dIgItal hall sIgNalsHall signals are single-ended signals that provideabsolutefeedbackwithinoneelectricalcycleofthemotor.Therearethreeofthem(u, V, &W) and theymay be sourced bymagneticsensorsinthemotor,orbyencodersthat have Hall tracks as part of the encoder disc. They typically operate atmuch lowerfrequenciesthanthemotorencodersignals,and are used for commutation-initializationafter startup, and for checking themotorphasingafter theamplifierhas switched tosinusoidalcommutation.

MoteMP sIgNals bs 4999 seNsor

hall sIgNals

Motor sIgNals

RoHS

16

3

2

1

Groundingtab

Frame Gnd

5 25

26

17

8

9

10

11

12

1

13

Hall W 4

Hall V 3

Hall U 2

J6 6+5V Out

7

Signal Gnd

Signal Gnd

Motemp

BRUSHLESSMOTOR

U

V

W

4

3

2

1

Mot U

Mot V

Mot W

Frame Gnd

J7

J5Brake [OUT4]

24V Return

4

Brk 24V Output

Brk 24V Input +

0V24 Vdc

Brk

Accelnet Plus Panel

ENCODER

DIGITALHALLS

TEMPSENSOR

DIGITAL

/A

A

/B

B

/X

Vcc

0V

X

/A

A

/B

B

/X

X



Theconnectionsshownmaynotbeusedinallinstallations

Motor CoNNeCtIoNs: dIgItal quad a/b eNCoders

NOTES:1) +5VOutonJ1&J6connecttothesamepowersupply.Thesumofoutputcurrentsislimitedto500mA2) CEsymbolsindicateconnectionsrequiredforCEcompliance.

RoHS

16

3

2

1

Groundingtab

Frame Gnd

5 25

26

17

8

9

20

21

18

1

19

Hall W 4

Hall V 3

Hall U 2

J6 6+5V Out

7

Signal Gnd

Signal Gnd

Motemp

BRUSHLESSMOTOR

U

V

W

4

3

2

1

Mot U

Mot V

Mot W

Frame Gnd

J7

J5Brake [OUT4]

24V Return

4

Brk 24V Output

Brk 24V Input +

0V24 Vdc

Brk

Accelnet Plus Panel

ENCODER

DIGITALHALLS

Vcc

0V

TEMPSENSOR

ANALOG

Sin-

Sin+

Cos-

Cos+

Ndx-

Ndx+

Enc Sin(-)

Enc Sin(+)

Enc Cos(-)

Enc Cos(+)

Enc Index(-)

Enc Index(+)

Motor CoNNeCtIoNs: aNalog sIN/Cos INCreMeNtal eNCoders



Theconnectionsshownmaynotbeusedinallinstallations

NOTES:1) +5VOutonJ1&J6connecttothesamepowersupply.Thesumofoutputcurrentsislimitedto500mA2) CEsymbolsindicateconnectionsrequiredforCEcompliance.

RoHS

~

~+

-

+

Frame Gnd

Vcc

Vcc[IN7~10]

[AIN+]

[AIN-]

Isolated

Sgnd

Sgnd

Sgnd

Isolated

J1 Control

Vcc[OUT1~3+]

[OUT1~3-]

+

Sgnd

-

Vcc

DriveControlCore

[IN11]

J6 Feedback

J5 Brake

Motor temp switch

Vcc

BRAKE[OUT4]

+24VBrake

Brk 24V Output

Brk 24V Input

24V Return

+

-24V

Return

R-L

PWMInverter

J7 Motor

Motor

Control Core circuits arereferenced to Signal Ground (Sgnd)and HV Com ground

DC-DCConverter

SgndSignal GndInternal DC

Power forAll Circuits

+HV

HV Com

Aux

EarthGround

Frame Gnd

J8 HV & Aux

J2 Serial

J3 EtherCATX2 In and Out

Ports are Identical

EtherCATConnections are

isolated fromdrive circuits

TxD

RxD

Tx1+

Rx1+

Rx1-

Tx1-

Sgnd

2

1

3

1

2

3

4680 µF

5432

1M

75

75

10n

J1 Control

ProtectiveEarth ground

HEATPLATE

DRIVE CIRCUITS

Isolated

[IN1~6,11]



Thisgraphicshowstheelectricalstructureofthedrive,detailingtheelementsthatshareacircuitcommon(SignalGround,HVCom)andcircuitsthatareisolatedandhavenoconnectiontointernalcircuits. Notethatthereisnoconnectionbetweentheheatplate(Chassis,FrameGround)andanydrivecircuits.

deVICe struCture & IsolatIoN

RoHS

+

-

+~

~

~

~

+

- -

+HV

HVGround

Aux

2

1

3

UnregulatedPower Supply

LineFilter

ACMains

Equipment Ground

Earth Ground

Green/Yellow

P-Clip

H

N

Gnd

Plus PanelsDrive

PowerConnector1-Axis = J72-Axis = J10

HV+

-Aux

Frame Ground



Power & grouNdINg CoNNeCtIoNs

DCPOWERCONNECTIONS• DCpowermustbeprovidedbytransformersthataregalvanicallyisolatedandprovidereinforcedinsulationfromthemains.

Auto-transformers cannot be used.• The(-)terminalofthepowersupplyisnotgroundedatthepowersupply.Itisgroundedneareachdrive.• Cablingtomultipledrivesforthe+HVand0Visbestdoneina“star”configuration,andnota“daisy-chain”.• The0V,orreturnterminaloftheDCpowershouldbeconnectedtoframegroundnearthedrivepowerconnector. Fromthatpoint,ashortwirecanconnecttothedriveHVGround.

• Cablingtothedrive+HVand0Vterminalsmustbesizedtocarrytheexpectedcontinuouscurrentofthedriveintheuser’sinstallation.

• DCpowercablingshouldbeshielded,twisted-pairforbestEMIreduction.Theshieldshouldconnecttothepowersupplyframegroundononeend,andtothedriveframegroundontheother.Addingapigtailandring-lug,asshortaspossiblewillprovideagood connection of the shield at the drive.

• Motorcablingtypicallyincludesagreen/yellowconductorforprotectivebondingofthemotorframe. ConnectasshownintheMotorConnectionsdiagramonthefollowingpage.

• MotorcableconductorsshouldbetwistedandshieldedforbestEMIsuppression.• Ifagreen/yellowgroundingwireconnectsthemotortothedrive’sPEterminal,theshieldpigtailandring-lugmayconnecttooneofthescrewsthatmountthedrivetothepanel.AP-cliptogroundtheshieldasnearaspossibletothedrivewillincreasetheEMIsuppressionoftheshield.Onthemotor-end,theshieldfrequentlyconnectstotheconnectorshell.Ifthemotorcableisaflying-leadfromthemotor,theshieldmaybeconnectedtothemotorframeinternally.

• BraidedcableshieldsaremoreeffectiveforEMIreductionthanfoilshields.Double-shieldedcablestypicallyhaveabraidedoutershieldandfoilshieldsfortheinternaltwistedpairs.ThiscombinationiseffectiveforbothEMIreductionandsignalqualityofthefeedbacksignalsfromanalogencodersorresolvers.

• Motorcableshieldingisnotintendedtobeaprotectivebondingconductorunlessotherwisespecifiedbythemotormanufacturer.• Forfeedbackcables,double-shieldedcablewithasingleoutershieldandindividualshieldedtwistedpairinternalshieldsgivesthebestresultswithresolvers,oranalogsin/cosencoders.

• Indouble-shieldedcables,theinternalshieldingshouldconnecttothedrive’sSignalGroundononeend,andshouldbeunconnectedonthemotorend.

• Single-shieldfeedbackcablesconnecttothedriveframeononeend,andtothemotorframeontheother. Dependingontheconstructionofthemotor,leavingthefeedbackcableshielddisconnectedonthemotorbutconnectedonthedriveendmaygivebetterresults.

• Thedriveshouldbesecuredtotheequipmentframeorpanelsusingthemountingslots.ThisensuresagoodelectricalconnectionforoptimalEMIperformance.Thedrivechassisiselectricallyconductive.

DCPOWERWIRINGP-clips secure cables to a panel and provide full contact to the cable shields after the insulation has been stripped. This should be done as close to the drive as possible for best EMI attenuation.

RoHS

(+)

(-)

+ +Cint

RegulatedPower

Supply Cext

Cext: ExternalCapacitor

Cint: InternalCapacitor

Drive

(+)

(-)

+ +Cint

UnregulatedPower

Supply Cps

Cps: Power SupplyCapacitor

Cint: InternalCapacitor

Drive

Outer Shield

Inner Shields

Motor

Motor

U

V

W

P-clip

F.G.

Feedback

Encoder

F.G.

Enc A

Enc B

Enc X

Sgnd

Earth Ground

Frame Ground

0.0

0.5

1.0

1.5

2.0

2.5

3.0

15 20 25 30 40 50 60 70 80 90



REGENERATIONThischartshowstheenergyabsorptioninW·sforthedriveoperatingatsometypicalDCvoltages.Itisbasedontheinternal680uFcapacitorandwouldbe increased by the capacitance of the external DC powersupply.Whentheloadmechanicalenergyisgreater than these values an external regenerative energy dissipater is required, or the DC powersupply capacitance can be increased to absorb the regen energy.

Joules(W·s)

ENERGY ABSORPTION

+HVDCPower

MOTOR CONNECTIONS• Motorcableshieldconnectstomotorframe,isgroundedwithaP-clipnearthedriveandterminatesinaring-lugthatisscrewedtothedrivechassisbyamountingscrewtothepanel

• Ifprovided,agreen/yellowgroundingwirefromthemotorconnectstotheF.G.terminalofthemotorconnector.

FEEDBACk CONNECTIONS• CableshieldconnectstomotorframeandtotheF.G.terminalofthefeedbackconnector.

• Whendouble-shieldingisused,theinnershields connect to the Signal Ground at the drive,andisnotconnectedatthemotorend.

• Ifnotprovidedbythemotormanufacturer,feedback cables rated for RS-422 communicationsarerecommendedfordigitalencoders.

+HVPOWERSuPPLyREquIREMENTSRegulatedPowerSupplies• Mustbeover-voltageprotectedto100VdcmaxwhentheSTO(SafeTorqueOff)

feature of the drive is used.• Requireadiodeandexternalcapacitortoabsorbregenerativeenergy.• TheVAratingshouldbegreaterthantheactualcontinuousoutputpowerofthedrivesconnectedtothepowersupply,andadequateforthetransientoutputpowerduetoaccelerationofmotorloads.

•Must handle the internal capacitance of the drives on startup.

unregulatedPowerSupplies• No-load,high-lineoutputvoltagemustnotexceed90Vdc.• Powersupplyinternalcapacitanceaddstothedrive’sinternalcapacitance

for absorption of regenerative energy.• TheVA(Volts&Amps)ratingatthepowersupply’sACinputistypically30~40%greaterthanthetotaloutputpowerofthedrives.

AuXILIARyHVPOWER• AuxHVispowerthatcankeepthedrivecommunicationsandfeedbackcircuitsactivewhenthePWMoutputstagehasbeendisabledbyremovingthemain+HVsupply.

• usefulduringEMO(EmergencyOff)conditionswherethe+HVsupplymustberemovedfromthedriveandpowered-downtoensureoperatorsafety.

• Voltagerangeisthesameas+HV.• PowerstheDC/DCconverterthatsuppliesoperatingvoltagestothedriveDSPand

control circuits.• AuxHVdrawsnocurrentwhenthe+HVvoltageisgreaterthantheAuxHVvoltage.

PIN SIGNAL PIN SIGNAL PIN SIGNAL

1 FrameGnd 16 Signal Gnd 31 Signal Gnd

2 [AIN1-] 17 +5Vout 32 +5Vout

3 [AIN1+] 18 MultiEnc /S 33 MultiEnc S

4 N/C 19 MultiEnc/X 34 MultiEncX

5 N/C 20 MultiEnc /B 35 MultiEnc B

6 Signal Gnd 21 MultiEnc /A 36 MultiEnc A

7 [IN1] 22 Signal Gnd 37 Signal Gnd

8 [IN2] 23 N/C 38 N/C

9 [IN3]Diff1(+) 24 N/C 39 N/C

10 [IN4]Diff1(-) 25 [OUT3-] 40 [OUT3+]

11 [IN5]Diff2(+) 26 [OUT2-] 41 [OUT2+]

12 [IN6]Diff2(-) 27 [OUT1-] 42 [OUT1+]

13 [IN7] 28 [ICOM] 43 N/C

14 [IN8] 29 N/C 44 Signal Gnd

15 [IN9] 30 [IN10]

CONNECTIONS

PIN SIGNAL PIN SIGNAL

1 FrameGnd 6 STO-1(+)

2 STO-1(+) 7 STO-1(-)

3 STO-1(-) 8 STO-24V

4 STO-2(+) 9 STO-GND

5 STO-2(-)

RoHS

1

5

6

9

1 16 31

30 4415

AM

P

AccelnetPlus

RS

-232S

IGN

AL

SA

FETY

x10x1

S1

S2

DE

VIC

E ID

J1

J3

J4J2

NE

TW

OR

KR

UN

ER

RL/A

L/A

INO

UT



J1:CONTROLSIGNALS

J4SAFETy(SAFETORquEOFF)

J4DRIVECONNECTOR:DsubDE-09F,9positionfemalereceptacle

J4CABLECONNECTOR:PokeandcrimpDsubDE-09M,9position

J1:DRIVECONNECTORHigh-DensityDsubDB-44F,femalereceptacle,44Position

J1:CABLECONNECTORHigh-DensityDsubDB-44M,maleplug,44Position

CoNNeCtors & sIgNals: froNt PaNel

Details on the cable connectorsshownherecanbe found in the BE2-Ck listing under the Accessories section of the last page

PIN SIGNAL PIN SIGNALPIN SIGNAL 18 Sin(-) 9 EncX26 Signal Gnd 17 +5VOut 8 Enc/X25 Signal Gnd 16 Signal Gnd 7 [IN11]Motemp24 N/C 15 Enc S 6 +5VOut23 N/C 14 Enc /S 5 Signal Gnd22 N/C 13 Enc A 4 HallW21 Cos(+) 12 Enc /A 3 Hall V20 Cos(-) 11 Enc B 2 Hall U19 Sin(+) 10 Enc /B 1 FrameGnd

Pin Signal

1 24V Return

2 Brake [OUT4]

3 Brk 24V Output

4 Brk 24V Input

Signal Pin

FrameGround 1

MotorPhaseW 2

Motor Phase V 3

Motor Phase U 4

signal Pin

HV Ground 1

HV 2

Aux HV 3

RoHS

1 2 3

HVgnd HV AuxJ8

POWER

J7

MOTOR

BRAKE FEEDBACK J6 J5

0V +HV AUXW V U

11019

91826

1 2 3 4

1234



J6:FEEDBACK

J8:DRIVECONNECTOREuro-style5.08mmmalereceptacle,3-position Wago:MCS-MIDI,231-563/108-000J7:DRIVECONNECTORS

Euro-style5.08mmmalereceptacle,4-position Wago:MCS-MIDI,231-564/108-000

J6:DRIVECONNECTORHigh-Density Dsub DA-26F, femalereceptacle,26Position

J7CABLECONNECTORSWagoMCS-MIDIClassic231-304/107-000

J6:CABLECONNECTORHigh-Density Dsub DA-26M, maleplug,26Position

J8:CABLECONNECTORWagoMCS-MIDI,231-303/107-000

WAGOCONNECTORTOOLContact opener: 231-159 operating tool


J7:MOTOROuTPuT

J6:MOTORFEEDBACK

J8:+HV&AuXPOWER

J5:DRIVECONNECTOREuro-style3.5mmmalereceptacle,4-position Wago:MCS-MINI,734-164/108-000

J5:CABLECONNECTORWagoMCS-MINI734-104/107-000 or 734-105/107-000


J5:BRAKE

CoNNeCtors & sIgNals: eNd PaNel

J5

J8J7

J6

Details on the cable connectors shown here can be found in the BEL-CK listing under the Accessories section of the last page

AWG mm2 Color Mfgr PNUM A B C D E SL

14 2.5 Blue Wago 216-206 15.0(0.59) 8.0(0.31) 2.05(.08) 4.2(0.17) 4.8(0.19) 10(0.39)

16 1.5 Black Wago 216-204 14.0(0.59 8.0(0.31) 1.7(.07) 3.5(0.14) 4.0(0.16) 10(0.39)

18 1.0 Red Wago 216-223 12.0(.47) 6.0(.24) 1.4(.055) 3.0(.12) 3.5(.14) 8(.31)

20 0.75 Gray Wago 216-222 12.0(.47) 6.0(.24) 1.2(.047) 2.8(.11) 3.3(.13) 8(.31)

22 0.5 White Wago 216-221 12.0(.47) 6.0(.24) 1.0(.039) 2.6(.10) 3.1(.12) 7.5(.30)


18 1.0 Red Wago 216-223 12.0(.47) 6.0(.24) 1.4(.06) 3.0(.12) 3.5(.14) 8(.31)

20 0.75 Gray Wago 216-222 12.0(.47) 6.0(.24) 1.2(.05) 2.8(.11) 3.3(.13) 8(.31)

22 0.5 White Wago 216-221 12.0(.47) 6.0(.24) 1.0(.04) 2.6(.10) 3.1(.12) 7.5(.30)


2 x 18 2 x 1.0 Red Altech 2776.0 15.4(.61) 8.2 [.32] 2.4(.09) 3.2(.13) 5.8(.23) 11.0(.43)

2 x 18 2 x 1.0 Gray Altech 2775.0 14.6(.57) 8.2(.32) 2.0(.08) 3.0(.12) 5.5(.22) 11.0(.43)

2 x 20 2 x 0.75 White Altech 2794.0 14.6(.57) 8.2(.32) 1.7(.07) 3.0(.12) 5.0(.20) 11.0(.43)

2 x 20 2 x 0.75 Gray TE 966144-2 15.0(.59) 8.0(.31) 1.70(.07) 2.8(.11) 5.0(.20) 10(.39)

2 x 22 2 x 0.50 White TE 966144-1 15.0(.59) 8.0(.31) 1.40(.06) 2.5(.10) 4.7(.19) 10(.39)

RoHS

A

B

C D E

A

B

C D

E

FERRuLEPARTNuMBERS:DOuBLEWIREINSuLATED

FERRuLEPARTNuMBERS:SINGLEWIREINSuLATED



wIrINg

WagoMCS-MIDIClassic:231-304/107-000(J7),231-303/107-000(J8); withscrewflange;3-pole;pinspacing5.08mm/0.2in

Conductor capacity Barestranded: AWG28~14[0.08~2.5mm2]Insulatedferrule: AWG24~16]0.25~1.5mm2]Strippinglength: 8~9mmOperatingTool: WagoMCS-MIDIClassic:231-159

WagoMCS-MINI:734-104/107-000,femaleconnector;withscrewflange;4-pole;pinspacing3.5mm/0.138in

Conductor capacity Barestranded: AWG28~16[0.08~1.5mm2]Insulatedferrule: AWG24~16[0.25~1.5mm2]Strippinglength: 0.24~0.28in[6~7mm]Operatingtool: WagoMCS-MINI:734-231

NOTESPNuM=PartNumberSL = Stripping lengthDimensions:mm(in)

NOTESPNuM=PartNumberSL = Stripping lengthDimensions:mm(in)

24V&Brake

HV&AuxMotor

Tool

Tool

J5

J7 J8

FERRuLEPARTNuMBERS:SINGLEWIREINSuLATED

HV/AuXPOWERANDMOTOROuTPuTS:J7&J8

24V&BRAKE:J5

heatsink + fan °C/W

ForCED-Air, 300 LFm 0.91

heatsink, no fan °C/W

ConvECtion 2.02

No heatsINk, No faN °C/w

CONVECTION 3.46

no heatsink + fan °C/W

ForCED-Air, 300 LFm 1.32

RoHS

J8

PO

WE

R

J7

MO

TOR

BR

AK

EFE

ED

BA

CK

J6

J5

0V+H

VA

UX

W V

UJ8

PO

WE

R

J7

MO

TOR

BR

AK

EFE

ED

BA

CK

J6

J5

0V+H

VA

UX

W V

U

J8

PO

WE

R

J7

MO

TOR

BR

AK

EFE

ED

BA

CK

J6

J5

0V+H

VA

UX

W V

UJ8

PO

WE

R

J7

MO

TOR

BR

AK

EFE

ED

BA

CK

J6

J5

0V+H

VA

UX

W V

U



THERMAL RESISTANCEThermalresistanceisameasureofthetemperatureriseofthedriveheatplateduetopowerdissipationinthedrive.Itisexpressedinunitsof°C/Wwherethedegreesarethetemperatureriseaboveambient.E.g.,adrivedissipating13Wmountedwithnoheatsinkorfanwouldseeatemperatureriseof45°Caboveambientbasedonthethermalresistanceof3.46°C/W.usingthedrivemaximumheatplatetemperatureof70°Candsubtracting46°Cfromthatwouldgive24°Casthemaximumambienttemperaturethedriveinwhichthedrivecouldoperatebeforegoingintothermalshutdown.Tooperateathigherambienttemperaturesaheatsinkorforced-airwouldberequired.

MOUNTINGThermaldataforconvection-coolingwithaheatsinkassumesaverticalmountingofthedriveonathermallynon-conductingsurface.Heatsinkfinsrun parallel to the long axis of the drive.Whenfan-coolingisusedverticalmountingisnotnecessarytoguaranteethermalperformanceoftheheatsink.

end vieWs vertiCal mounting

therMals: MouNtINg & therMal resIstaNCe

RoHS

W

2 W

4 W

6 W

8 W

10 W

12 W

14 W

16 W

disabled 0.0 A 2.5 A 5.0 A 7.5 A 10.0 A 12.5 A 15.0 A

80 V65 V50 V35 V20 V

0C

5C

10C

15C

20C

25C

30C

35C

40C

45C

50C

2W 4W 6W 8W 10W 12W 14W 16W

HSF

HSNF

NHSF

NHSNF



Quiescent power

POWERDISSIPATIONusethischarttofindtheWattsdissipation. Theverticaldottedlinesshowthecontinuous currents for the three BEL models.Example800-1845:PowersupplyHV=65Vdc Current = 12.5A Powerdissipation=10.8W

usethischarttofindthemaximumoperatingtemperatureofthedriveunderdifferingmountingandcoolingconditions.Example:usingthe10.8Wvaluefromthecalculationsabove,drawaverticalline.Thisshowsthat33CisthemaximumoperatingtemperatureforNHSNF. But HSFNF, NHSF, or HSF mountingsallowoperationto45Cmaximumambient.

Thetopchartonthispageshowstheinternalpowerdissipationofthedriveunderdifferingpowersupply and output current conditions. The +HV values are for the average DC voltage of the drive powersupply.Thelowerchartshowsthetemperaturerisevs.powerdissipationunderdifferingmountingandcoolingconditions.

800-1845

800-1844

800-1843

HSF = HeatSink(with)Fan NHSF = NoHeatSink(with)Fan HSNF = Heat Sink No Fan NHSNF = No Heat Sink No Fan

10.8W

33 C

10.8W

therMals: Power dIssIPatIoN

therMals: MaxIMuM oPeratINg teMPerature Vs. dIssIPatIoN

HSF or NHSF

HSNFNHSNF

Continuous output current

Internal power dissipation (Watts)

RoHS

0.16 [4.1]

0.68 [17.1]

1.70 [43.2]

4.70 [119.4]

1.14 [28.8]

0.85 [21.6]

0.19 [4.8]

5.08 [129]

0.16 [4.1]

1.99 [50.4]

3.41 [86.6]

0.19 [4.8] 3.61 [91.6]

0.16 [4.1]

0.68 [17.1]

1.70 [43.2]

4.70 [119.4]

1.14 [28.8]

0.85 [21.6]

0.19 [4.8]

5.08 [129]

0.16 [4.1]

1.99 [50.4]

3.41 [86.6]

0.19 [4.8] 3.61 [91.6]

800-1843 800-1844 800-1845

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547Web:www.copleycontrols.com Page29of31

accelnet Plus Panel etherCat

dIMeNsIoNs: 800-1843, 800-1844

Units: IN[MM]

Mountingscrews: #6-32,or3.5mm

RoHS

0.16 [4.1]1.14 [28.8]

2.25 [57.2]

3.39 [86.1]

4.70 [119.4] 0.19 [4.8]0.19 [4.8] 3.41 [86.6]

3.61 [91.6]5.08 [129]

0.16 [4.1]1.14 [28.8]

2.25 [57.2]

3.39 [86.1]

4.70 [119.4] 0.19 [4.8]0.19 [4.8] 3.41 [86.6]

3.61 [91.6]5.08 [129]

0.16 [4.1]1.14 [28.8]

2.25 [57.2]

3.39 [86.1]

4.70 [119.4] 0.19 [4.8]0.19 [4.8] 3.41 [86.6]

3.61 [91.6]5.08 [129]



dIMeNsIoNs: 800-1845

Units: IN[MM]

Mountingscrews: #6-32,or3.5mm

800-1843 Accelnet Plus Panel EtherCAT servo drive, 3/6 A, 90 Vdc

800-1844 Accelnet Plus Panel EtherCAT servo drive, 7/14 A, 90 Vdc

800-1845 Accelnet Plus Panel EtherCATservodrive,15/30A,90Vdc,withfactory-installedheatsink

qty ref Name description Manufacturer P/N

bel-CkConnector kit

1J8 DC HV

Plug,3position,5.08mm,female Wago: 231-303/107-000 (Note1)

1 Strainrelief,snap-on,5.08mm,3position,orange Wago: 232-633

1J7 Motor


1 Strainrelief,snap-on,5.08mm,4position,orange Wago:232-634

1 J7,J8 Tool Tool,wireinsertion&extraction,231series Wago:231-159

1

J5Brake


1 Strainrelief,snap-on,3.5mm,4position,grey Wago:734-604

1 Tool Tool,wireinsertion&extraction,734series Wago: 734-231

1

J4 Note 2 Safety

Connector,DB-9M,9-position,standard,male TE/AMP: 205204-4

9 AMPLIMITEHD-20Crimp-Snapcontacts,24-20AWG,Auflash TE/AMP: 66506-9

1 Metal Backshell, DB-9, RoHS 3M: 3357-9209

4 Jumper,withpinscrimpedonbothends Copley: 10-75177-01

1J1 Control

Connector,high-densityDB-44M,44position,male,soldercup Norcomp: 180-044-103L001


1J6 Feed-

backConnector,high-densityDB-26M,26position,male,soldercup Norcomp: 180-026-103L001


SER-Ck 1 J2 RS-232 Serial Cable kit

BEL-NC-10 1J3 Network

EtherCAT®networkcable,10ft(3m)

BEL-NC-01 1 EtherCAT®networkcable,1ft(0.3m)

Note1:ForRoHScompliance,append“/RN01-0000”totheWagopartnumberslistedabove

Note2:Insertion/extractiontoolforJ4contactsisAMP/Tyco91067-2(notincludedinBEL-CK)

RoHS



Note: Specifications subject to change without notice

EtherCATisaregisteredtrademarkandpatentedtechnology,licensedbyBeckhoffAutomationGmbH,Germany.

Example:Orderone800-1844drive,7/14A,withconnectorKit,andserialcablekitqty Item Remarks 1 800-1844 Accelnet Plus 800-1844 servo drive 1 BEL-Ck BEL Connector kit 1 BEL-Sk Serial Cable kit

Master orderINg guIde

aCCessorIes

accelnetplus panel ethercat rohs · err red led, shows errors due to time-outs, unsolicited state...

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