control modes for stepper motors

PRELIM

INARY

PRELIM

INARY

PRELIM

INARY

Control Modes • Indexer,Point-to-Point,PVT • Camming,Gearing • Position,Velocity,Torque(ServoMode) • Position(Microstepping)

CommandInterface • CANopen • ASCIIanddiscreteI/O • Steppercommands • ±10Vposition/velocity/torquecommand • PWMvelocity/torquecommand • Masterencoder(Gearing/Camming)

Communications • CANopen • RS-232

Feedback Incremental • DigitalquadA/Bencoder • DigitalHalls

I/O • Digital:11inputs,6outputs • Analog:one16-bitinput

Dimensions:mm[in] • 77x59x20.6[3.0x2.3x0.8]

R

Model Ic Ip Vdc

SPM-090-07 5 7 90

SPM-090-10 10 10 90

CopleyControls,20DanRoad,Canton,MA02021,USA Tel:781-828-8090 Fax:781-828-6547Web:www.copleycontrols.com Page1of24

Stepnet Plus Module CANopenRoHSSPM

AnSPI(SerialPeripheralInterface)functionissupportedbyanotherhigh-speedinputandfourhigh-speeddigitaloutputs.IfnotusedforSPI,theinputandoutputsareprogrammableforotherfunctions.Threeopen-drainMOSFETcandriveloadspoweredupto24Vdc.

An RS-232 serial port provides a connection to Copley’s CME2software for commissioning, firmware upgrading, and savingconfigurationstoflashmemory.

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.

DESCRIPTIONStepnet SPM is a high-performance, DC powered servo drivefor position, velocity, and torque control of steppermotors viaCANopen.UsingadvancedFPGAtechnology,theSPMprovidesasignificantreductioninthecostpernodeinmulti-axisCANopensystems.

TheSPM operatesasanCANopennodeusingDSP-402formotioncontroldevices.Supportedmodesinclude:ProfilePosition-Velocity-Torque,InterpolatedPositionMode(PVT),andHoming.

Othercommandsourcesalsoinclude±10Vanalogtorque/velocity/position,PWM/Polaritytorque/velocity,andStep/Directionpositionpulses.

Seventeenhigh-speeddigitalinputswithprogrammablefunctionsare provided, and two low-speed inputs formotor temperatureswitches.

DEVELOPMENTKIT

DIGITALDRIVEFORSTEPPERMOTORS

PRELIM

INARY

PRELIM

INARY




GENERALSPECIFICATIONS Testconditions:Load=Bipolarstepper:2mH+2Ωperphase.Ambienttemperature=25°C,+HV=HVmaxMODEL SPM-090-07 SPM-090-10

OUTPUTPOWER PeakCurrent 7(5) 10(7.1) Adc(Arms-sine),±5% Peaktime 1 1 Sec Continuouscurrent 5(3.5) 10(7.1) Adc(Arms-sine)perphase MaximumOutputVoltage Vout=HV*0.97-Rout*Iout

INPUTPOWER HVmin~HVmax +14to+90 +14to+90 VdcTransformer-isolated Ipeak 7.7 11 Adc(1sec)peak Icont 5.5 11 Adccontinuous AuxHV +14to+HVVdc@500mAdcmaximum,2.5W

PWMOUTPUTS Type DualH-bridgeMOSFET,16kHzcenter-weightedPWM,space-vectormodulation PWMripplefrequency 32kHz

CONTROLMODES CANopen:ProfilePosition,ProfileVelocity,&ProfileTorque,InterpolatedPosition(PVT),Homing Analog±10Vdc,camming,internalindexerandfunctiongenerator DigitalPWM/Polaritycurrent/velocityandStep/Directionpositioncommands

COMMANDINPUTS Type CANopen,galvanicallyisolatedfromdrivecircuits Signals CAN_H,CAN_L,CAN_GND Dataprotocol CANopenDeviceProfileDSP-402 AddressSelection Programmable,orviadigitalinputs Analog ±10Vdc,torque/velocity/positioncontrol Digital HighspeedinputsforPWM/PolarityandStep/Direction Camming QuadA/Bdigitalencoder

DIGITALCONTROL DigitalControlLoops Current,velocity,position.100%digitalloopcontrol Samplingrate(time) Currentloop:16kHz(62.5µs),Velocity&positionloops:4kHz(250µs) Commutation Sinusoidal,field-orientedcontrol Modulation Center-weightedPWMwithspace-vectormodulation Bandwidths Currentloop:2.5kHztypical,bandwidthwillvarywithtuning&loadinductance HVCompensation Changesinbusvoltagedonotaffectbandwidth Minimumloadinductance 200µHline-line

DIGITALINPUTS Number,type 11,74LVC14Schmitttrigger,VT+=1.1~2.2Vdc,VT-=0.8~1.5Vdc,VH+=0.3~0.45Vdc [IN1~9] High-speeddigital,1µsRCfilter,10kWpull-upto+5Vdc,+24Vdctolerant [IN10] SPIportMISOinput,47nsRCfilter,10kWpull-upto+5Vdc [IN11] Motortemperatureswitch,330µsRCfilter,4.99kWpull-upto+5Vdc

DIGITALOUTPUTS Number 6 [OUT1~2] Open-drainMOSFETwith1kWpull-upwithseriesdiodeto+5Vdc 300mAdcmax,+30Vdcmax.Functionsprogrammable [OUT3~6] SPIportMOSI,SCLK,SS1,&SS2signals,74AHCT125linedrivers;+5Vdctolerant

FEEDBACKIncremental:

DigitalIncrementalEncoder Quadraturesignals,(A,/A,B,/B,X,/X),differential(X,/XIndexsignalsnotrequired) 5MHzmaximumlinefrequency(20Mcounts/sec) 26LS32differentiallinereceiverwith121Ωterminatingresistorbetweencomplementaryinputs Encoderpower Twooutputs:+5Vdc±2%@400mAdcmaxeachoutput

PRELIM

INARY



RS-232PORT Signals RxD,TxD,GndforoperationasaDTEdevice Mode Full-duplex,DTEserialportfordrivesetupandcontrol,9,600to115,200Baud Protocol ASCIIorBinaryformat

MOTORCONNECTIONS PhasesA,/A,B,/B PWMoutputsto2-phase,4-wirebipolarsteppermotors HallU,V,W DigitalHallsignals,single-ended,1µsRCfilter,10kWpull-upto+5Vdc,74HC14Schmitttrigger DigitalIncrementalEncoder Quadraturesignals,(A,/A,B,/B,X,/X),differential(X,/XIndexsignalsnotrequired) 5MHzmaximumlinefrequency(20Mcounts/sec) Hall&encoderpower +5Vdc±2%@400mAdcmax,currentlimitedto750mAdc@+1Vdcifoutputoverloaded Motemp[IN19~20] Motorovertemperatureswitchinput.Activelevelprogrammable,4.99kWpull-upto+3.3Vdc Programmabletodisabledrivewhenmotorover-temperatureconditionoccurs

PROTECTIONS HVOvervoltage +HV>HVmax Driveoutputsturnoffuntil+HV<HVmax(SeeInputPowerforHVmax) HVUndervoltage +HV<+14Vdc Driveoutputsturnoffuntil+HV>+14Vdc Driveovertemperature Heatplate>70°C. Driveoutputsturnoff Shortcircuits Outputtooutput,outputtoground,internalPWMbridgefaults I2TCurrentlimiting Programmable:continuouscurrent,peakcurrent,peaktime Motorovertemperature Digitalinputsprogrammabletodetectmotortemperatureswitch FeedbackLoss Inadequateanalogencoderamplitudeormissingincrementalencodersignals

MECHANICAL&ENVIRONMENTAL Sizemm[in] 77x59x20.6[3.0x2.3x0.8] Weight <tbd> Ambienttemperature 0to+45°Coperating,-40to+85°Cstorage Humidity 0to95%,non-condensing Vibration 2gpeak,10~500Hz(sine),IEC60068-2-6 Shock 10g,10ms,half-sinepulse,IEC60068-2-27 Contaminants Pollutiondegree2 Environment IEC68-2:1990 Cooling Heatsinkand/orforcedaircoolingrequiredforcontinuouspoweroutput

AGENCYSTANDARDSCONFORMANCEIn accordance with EC Directive 2004/108/EC (EMC Directive) EN55011:2007 CISPR11:2003/A2:2006

Industrial,Scientific,andMedical(ISM)RadioFrequencyEquipment– ElectromagneticDisturbanceCharacteristics–LimitsandMethodsofMeasurement Group1,ClassA

EN61000-6-1:2007 ElectromagneticCompatibility(EMC)–Part6-1:GenericStandards– Immunityforresidential,CommercialandLight-industrialEnvironments

In accordance with EC Directive 2006/95/EC (Low Voltage Directive) IEC61010-1:2001 SafetyRequirementsforElectricalEquipmentforMeasurement,ControlandLaboratoryUseUnderwriters Laboratory Standards UL61010-1,2ndEd.:2004 SafetyRequirementsforElectricalEquipmentforMeasurement,ControlandLaboratoryUse

UL File Number E249894

PRELIM

INARY

P1/7

P1/9

RD

121

TDCANH

P1/8

TERM

CANTrans-ceiverCANL

Isolators

6

9

1

5

CAN_GND

* Add connection to useinternal terminatorresistor

CAN_H

CANDsub 9M

CAN_L

Signal Ground

P2/16

*

Signal Ground

P2/16

P2/1

P2/2

RDRxD

TDTxD

6

9

1

5

TxD

RxD

Gnd

D-Sub 9M(DTE)



COMMANDINPUTS

CME2->Tools->CommunicationsWizard

RS232PORT

RS-232COMMUNICATIONSAPMisconfiguredviaathree-wire,full-duplexDTERS-232portthatoperatesfrom9600to115,200Baud,8bits,noparity,andonestopbit.Signalformatisfull-duplex,3-wire,DTEusingRxD,TxD,andGnd.ConnectionstotheAPM RS-232portarethroughP2ThegraphicbelowshowstheconnectionsbetweenanAPMandacomputerCOMportwhichisaDTEdevice.

DIGITALCOMMANDINPUTSThe graphic below shows connections between the APM andaDsub 9M connector on a CAN card. If the APM is the lastnode on a CAN bus, the internal terminator resistor can beused by adding a connection on the PC board as shown.ThenodeaddressoftheAPMmaybesetbyusingdigitalinputs,orprogrammedintoflashmemoryinthedrive.

CANOPENCOMMUNICATIONAccelnetusestheCANphysicallayersignalsCANH,CANL,andGNDforconnection,andCANopenprotocolforcommunication.BeforeinstallingthedriveinaCANsystem,itmustbeassignedaCANaddress.Amaximumof127CANnodesareallowedonasingleCANbus.UptosevendigitalinputscanbeusedtoproduceCANaddressesfrom1~127,ortheaddresscanbesavedtoflashmemoryinthemodule.Address0isreservedfortheCANopenmasteronthenetwork.For more information on CANopen communications, download the CANopen Manual from the Copley web-site:CANopenManual

CANOPENBasedontheCANV2.0bphysicallayer,arobust,two-wirecommunicationbusoriginallydesignedforautomotiveusewherelow-costandnoise-immunityareessential,CANopenaddssupportformotion-controldevicesandcommandsynchronization.Theresultisahighlyeffectivecombinationofdata-rateandlowcostformulti-axismotioncontrolsystems.Devicesynchronizationenablesmultipleaxestocoordinatemovesasiftheyweredrivenfromasinglecontrolcard.

CME2->BasicSetup->OperatingModeOptions

PRELIM

INARY

P2/21[IN7] Current or

Velocity

P2/24No Function[IN8]

SgndP2/16,33,34

CD (Count-Down)

CU (Count-Up)

Controller Module


Velocity


SgndP2/16,33,34

Master Encoder

Encoder ph. B

Encoder ph. A

Module


Velocity


SgndP2/16,33,34

Direction

Pulse

Controller Module



COMMANDINPUTS

CU/CD

QUADA/BENCODER

PULSE&DIRECTION



DIGITALPOSITIONDigitalpositioncommandscanbeineithersingle-endedordifferentialformat.Single-endedsignalsshouldbesourcedfromdeviceswithactivepull-upandpull-downtotakeadvantageofthehigh-speedinputs.Differentialinputshave121Wline-terminators.

PRELIM

INARY



P2/36

P2/35

+

1.25V

5k

[AIN+]

[AIN-]Vref

D/A

±10V

Sgnd

-

P2/34

ANALOGCOMMANDINPUT±10V


PRELIM

INARY

C1 74LVC14

+5V

+5V

R2

R1

P2/11~13,15,17~26

[IN1~14]

P2/16,33,34

Sgnd

+5V

300mA

300mA

+30V max

+

R-L

R-L

+5V

+5V

[OUT1]

Sgnd

1k

1k

[OUT2]

P2/31

P2/32

P2/33

[OUT3]MOSI

[OUT4]SCLK

[OUT5]EN1

[OUT6]EN2

P2/29

P2/30

P2/27

P2/28

Module

+5V+5V

[OUT3] MOSI

[OUT4] SCLK

[OUT5] SS

P2/29

P2/30

P2/27

47p

74LVC2G14

74AHCT125

1k

1k

1k

47p

47p

47p

1k

[IN10] MISO

Sgnd

10k

10k

10k

10k

10k

10k

P2/26

P2/33

Drive (SLI Master)

External circuit for EtherCAT alias switches

Switches

74HC165

Q7

D0 8

4

2

1

8

4

2

1

D1

D2

D3

D4

D5

D6

D7

Vcc+5V

+5V

Gnd

SW13

SW12

CKE

SDI

PL

CLK

+5V

Input P2 Pin R1 R2 C1 Vin

IN1 15

10k 1k100p

7V

IN2 18

IN3 17

IN4 20

IN5 19

IN6 22

IN7 21

IN8 24

IN9 23

IN10 26 47p

IN11 25 4.99k 10k 33n

24IN12 11

15k 15k 100pIN13 13

IN14 12

Output P2 Pin Vout

OUT1 3130

OUT2 32

OUT3 29

5OUT4 30

OUT5 27

OUT6 28



74HCT125

VintoleranceseechartHIGHSPEEDDIGITALINPUTS

DIGITALOUTPUTS

Voutmax(seechart) 5Vmax

TheSLI(Switch&LEDInterface)porttakesinthe8signalsfromthetwoBCDencodedswitchesthatsettheEther-CATaliasaddressandcontrolstheLEDsontheEtherCATportconnectors.

ThegraphicbelowshowsthecircuitforreadingtheEtherCATaddressswitches.The74HC165worksasaparallel-in/serial-outdevice.The10kpull-downresistorspulltheshiftregisterinputstogroundwhentheSEMisinitializing. Inthegraphicsbelow,switchSW13is“S2”andSW12is“S1”.ThevaluesofS1are16~255andofS2are0~15. Togethertheyprovideaddressingrangeof0~255.

ETHERCATALIAS(SLAVEADDRESS)SWITCHES

CME2->Amplifier->NetworkConfiguration

Diodesshownonoutputsmustbesuppliedwhendrivinginductiveloads.

INPUT-OUTPUT

PRELIM

INARY

MAX3097

MAX3097

MAX3097

Encoder

* 121Ω terminating resistorson mounting board

A

B

Z

+5V

0V Sgnd

*

*

*

Module

+5V ENC

A

/A

B

/B

X

/X

P2/6

P2/5

P2/8

P2/7

P2/10

P2/9

P2/14

P2/16

MAX3097

MAX3097

MAX3097

Encoder

* 121Ω terminating resistorson mounting board

A

B

+5V

0V Sgnd

*

*

Module

+5V ENC

A

/A

B

/B

X

/X

P2/6

P2/5

P2/8

P2/7

P2/10

P2/9

P2/14

P2/16



DIGITALQUADRATUREENCODERINPUT 5V

MOTORCONNECTIONSMotorconnectionsconsistof:phases,Halls,encoder,thermalsensor,andbrake.Thephaseconnectionscarrythedriveoutputcurrentsthatdrivethemotortoproducemotion.TheHallsignalsarethreedigitalsignalsthatgiveabsolutepositionfeedbackwithinanelectricalcommutationcycle.Theencodersignalsgiveincrementalpositionfeedbackandareusedforvelocityandpositionmodes,aswellassinusoidalcommutation.Athermalsensorthatindicatesmotorovertemperatureisusedtoshutdownthedrivetoprotectthemotor.Abrakecanprovideafail-safewaytopreventmovementofthemotorwhenthedriveisshut-downordisabled.

QUADA/BINCREMENTALENCODERWITHFAULTPROTECTIONEncoderswithdifferentialline-driveroutputsprovideincrementalpositionfeedbackviatheA/Bsignalsandtheoptionalindexsignal(X)givesaonceperrevolutionpositionmark.TheMAX3097receiverhasdifferentialinputswithfaultprotectionsforthefollowingconditions:Short-circuits line-line: Thisproducesanear-zerovoltagebetweenA&/Awhichisbelowthedifferentialfaultthreshold.Open-circuit condition: The121Wterminatorresistorwillpulltheinputstogetherifeitherside(orboth)isopen.Thiswillproducethesamefaultconditionasashort-circuitacrosstheinputs.

Low differential voltage detection: Thisispossiblewithverylongcablerunsandafaultwilloccurifthedifferentialinputvoltageis<200mV.

±15kV ESD protection: The3097Ehasprotectionagainsthigh-voltagedischargesusingtheHumanBodyModel.Extended common-mode range: Afaultoccursiftheinputcommon-modevoltageisoutsideoftherangeof-10Vto+13.2VIfencoderfaultdetectionisselected(CME2mainpage,ConfigureFaultsblock,FeedbackError)andanencoderwithnoindexisused,thentheXand/Xinputsmustbewiredasshownbelowtopreventtheunusedindexinputfromgeneratinganerrorforlow differential voltage detection.

A/BCONNECTIONS(NOINDEX)

CME2->Motor/Feedback->Feedback

PRELIM

INARY

*

*

*

1A

1B

1Y

2A

2B

2Y

3A

/G

3Y

P2/20

[IN4]

74LVC14

10k

+5V +5V

1k

P2/19

[IN5]

74LVC14

10k

+5V +5V

1k

P2/22

[IN6]

74LVC14

10k

+5V +5V

1k

AM26C32

Module

Encoder

These components are on usermounting board

A

B

X

cos

-

+

-

+

Sgnd

121

121

Encoder

sin

+5V

0V

+5V ENC

Sin

Cos

Sin+

Sin-

Cos+

Cos-

P2/39

P2/40

P2/37

P2/38

P2/14

P2/16

Accelnet Plus Module



ANALOGSIN/COSINCREMENTALENCODERThesin/cosinputsaredifferentialwith121Ωterminatingresis-torsandaccept1Vp-psignalsintheformatusedbyincrementalencoderswithanalogoutputs,orwithServoTubemotors.

SECONDARYQUADA/B/XINCREMENTALENCODERDigitalinputs[IN4,5,6]canbeprogrammedassecondaryen-coderinputs.Thegraphicshowsadifferentiallinereceiverontheusermountingboardtoconverttypicalencodersignalsintosingle-endedonesforthesecondaryinputs.Single-endedencod-erswouldconnectdirectlytotheinputsoftheAEM.

CME2->Motor/Feedback->Feedback

CME2->BasicSetup->FeedbackOptions

TheCME2screenaboveshowsaPrimaryIncrementalen-coderforthemotorinput.Othertypesofencoderscanbeselectedforthisfunction.Thesecondaryencoderinputcanbeusedforeithermotororpositionfeedback.

MOTORCONNECTIONS(CONT’D)

PRELIM

INARY

PWM

+HV

0V

+ Motor3 ph.

WP1/17,18,19P1/20,21,22

Mot

VMot P1/27,28,29

P1/30,31,32

UMot P1/37,38,39

P1/40,41,42

Halls

+5V ENC

Sgnd

+5V

0V

15K

100p

15KHall A

+5V

100p

15K

15KHall B

+5V

100p

15K

15KHall C

+5V +5V

+5V

+5VHall A

Hall B

Hall C

P2/11

P2/13

P2/12

P2/14

P2/16

74LVC14

33n 74LVC2G14

+5V

10k

Motemp[IN11]

Sgnd

4.99k

P2/25

P2/1,2,7,8,29,30,38

+5V

Module

Property Ohms

Resistanceinthetemperaturerange 20°Cto+70°C

60~750

Resistanceat85°C ≤1650

Resistanceat95°C ≥3990

Resistanceat105°C ≥12000



HALLINPUTS 5V

MOTORCONNECTIONS(CONT’D)

CME2->BasicSetup->FeedbackOptions

DIGITALHALLSIGNALSHallsignalsaresingle-endedsignalsthatprovideabsolutefeedbackwithinoneelectricalcycleofthemotor.Therearethreeofthem(U,V,&W)andtheymaybesourcedbymagneticsensorsinthemotor,orbyencodersthathaveHalltracksaspartoftheencoderdisc.Theytypicallyoperateatmuchlowerfrequenciesthanthemotorencodersignals,andareusedforcommutation-initializationafterstartup,andforcheckingthemotorphasingaftertheservodrivehasswitchedtosinusoidalcommutation.

PHASECONNECTIONSThedriveoutput isathree-phasePWMinverterthatconvertstheDCbusvoltage(+HV)intothreesinusoidalvoltagewaveformsthatdrivethemotorphase-coils.Cableshouldbesizedforthecontinuouscurrentratingofthedrive.Motorcablingshouldusetwisted,shieldedconductorsforCEcompli-ance,andtominimizePWMnoisecouplingintoothercircuits.ThemotorcableshieldshouldconnecttomotorframeandthedriveHVgroundterminal(J2-1)forbestresults.WhendrivingaDCmotor,theWoutputisunusedandthemotorconnectsbetweentheU&Voutputs.

CME2->Input/Output

MOTOROVERTEMPINPUTThe4.99kpull-upresistorworkswithPTC(positivetemperaturecoeffi-cient)thermistorsthatconformtoBS4999:Part111:1987(tablebelow),orswitchesthatopen/closeindicatingamotorover-temperaturecondition.Theactivelevelisprogrammable.

CME2->BasicSetup->MotorOptions

PRELIM

INARY

STEPPERMOTOR

DCPower

DCPower

-330 µFMinimumper drive

+

ENCODERDIGITAL

/A

/B

/X

B

X

A

A

/A

/B

P1

P2

+5V

HS [IN5]

[AIN-]

HS [IN14]

HS [IN13]

HS [IN12]

Enc /X

Enc X

Enc /S

Enc S

Enc /B

Enc B

Enc A

Enc /A

[OUT2] GP

[AIN+]

MotA

Mot

Mot

/A

Mot/B

Enable Input[IN1] HS

[OUT1] GP

MotionController

+HVInput

+HVGnd

ControllerRS-232I/O

RxD

TxD

Gnd

RxD

TxD

Aux HVInput

Enable

Position Commands

Velocity, Torque commands

Fuse

+24 V

<= 12" (30 cm)from drive

capacitorMount external

+

-

DAC ±10V

[OUT3] SLI_MOSI

[OUT4] SLI_SCLK

[OUT5] SLI_EN1

[OUT6] SLI_EN2

[IN3] HS

[IN2] HS

[IN4] HS

[IN6] HS

[IN8] HS

[IN7] HS

[IN9] HS

[IN11] Motemp

[IN10] SLI_MISO

P2/6P3/8

P3/6

P3/3

P3/1

P3/16

P3/14

P3/11

P3/9

P2/15

P2/31

P2/35

P2/36

P2/18

P2/17

P2/20

P2/22

P2/21

P2/24

P2/23

P2/26

P2/25

P2/32

P2/29

P2/30

P2/27

P2/28

P2/34

P2/33

P2/2

P2/1

P2/16

P3/2,4,5,7P3/10,12,13,15

P1/15,16P1/17,18

P1/23,24P1/25,26

BB

P1/31,21P1/33,34

P1/39,40P1/41,42

P1/2,3,4P1/5,6

P1/7,8,9P1/10,12

P2/5

P2/8

P2/7

P2/10

P2/9

P2/4

P2/3

P2/37

P2/38

P2/39

P2/40

P2/11

P2/13

P2/12

P2/14

P2/16

P2/19

P1/11

P3 SEMPort

IN

OUT

TX2+

RX1+

RX1-

TX1+

TX1-

RX2+

RX2-

TX2-

Network Ground

18

18

ENCCh. B

ENCCh. A

Step

Dir

CU

CD

50%

n.c.

PWM

Dir



Notes:1. P3connectionsusemultiplepinstosharecurrent.

All signals of the same name must be connectedonthePCboardtowhichtheSEMismounted.2. TheEtherCATconnectorisshowntoillustrateconnectionsbetweentheSEMandexternalcabling. TheconnectorisnotpartoftheSEMandnon-signalconnectionsarenotshown.

CONNECTIONSFORINCREMENTALDIGITALENCODER

PRELIM

INARY



Signal Pin Signal

RS-232TxD 2 1 RS-232RxD

EncS 4 3 Enc/S

EncA 6 5 Enc/A

EncB 8 7 Enc/B

EncX 10 9 Enc/X

HallW 12 11 HallU

Enc+5V 14 13 HallV

Sgnd 16 15 [IN1]Enable

[IN2] 18 17 [IN3]

[IN4] 20 19 [IN5]

[IN6] 22 21 [IN7]

[IN8] 24 23 [IN9]

MISO[IN10] 26 25 [IN11]Motemp

SS2[OUT6] 28 27 [OUT5]SS1

SCLK[OUT4] 30 29 [OUT3]MOSI

[OUT2] 32 31 [OUT1]

Sgnd 34 33 Sgnd

Ref(-) 36 35 Ref(+)

EncCos(-) 38 37 EncCos(+)

EncSin(-) 40 39 EncSin(+)

Signal Pin Signal

CAN_L 2 1 CAN_GND

CAN_H 4 3 CAN_GND

Signal Pin Signal

+HV 2 1

+HV 4 3 +HV

+HV 6 5 +HV

HVGnd 8 7 HVGnd

HVGnd 10 9 HVGnd

HVGnd 12 11 HVGnd

14 13

MotA 16 15 MotA

MotA 18 17 MotA

20 19

22 21

Mot/A 24 23 Mot/A

Mot/A 26 25 Mot/A

28 27

30 29

MotB 32 31 MotB

MotB 34 33 MotB

36 35

38 37

Mot/B 40 39 Mot/B

Mot/B 42 41 Mot/B

Notes:1.P1connectionsusemultiplepinstosharecurrent.All

signals of the same name must be connectedonthePCboardtowhichtheAPMismounted.

2.Cellsintableabovethatarefilledingreyareconnectorcontactsthathavenocircuitconnections.

PRINTEDCIRCUITBOARDCONNECTORS&SIGNALS

P2CONTROL

P3CANOPEN

P1POWER&MOTOR

TOPVIEWViewedfromabovelookingdownontheconnectorsorPCboardfootprintto

whichthemoduleismounted

Pin 1

Pin 1

Pin 40

Pin 4

P1

P3

P2

Pin 2

Pin 42

P1:Power&Motor Dualrow,2mm-centers 42positionfemaleheader SAMTECSQW-121-01-L-D

P3:CANopen Dualrow,2mm-centers 4positionfemaleheader SAMTECSQW-102-01-L-D

P2:Control Dualrow,2mm-centers 40positionfemaleheader SAMTECSQW-120-01-L-D

PRELIM

INARY



0.25 [6.22]2.60

[66.04]

0.35 [8.89]

0.0787 [2.00]

71X Ø0.040 ±0.003[1.016 ±0.076]

THRU AFTER PLATING 0.0787 [2.00]

[2.00] 0.0787

2X Ø0.213 +0.003/-0.000[5.41 +0.076/-0.000] THRU AFTER PLATING

0.829[21.07].218 [5.52]

.904 [22.97]

1.16 [29.46]

0.751 [19.06]

1.16 [29.46]

.218 [5.52]

PRINTEDCIRCUITBOARDFOOTPRINT TOPVIEWViewedfromabovelookingdownontheconnectorsorPCboardfootprintto

whichthemoduleismounted

P1SignalGrouping forcurrent-sharing

SeeNote1

Notes1.J1signalsofthesamenamemustbeconnectedforcurrent-sharing(seegraphicabove).2.TodeterminecopperwidthandthicknessforJ3signalsrefertospecificationIPC-2221.

(AssociationConnectingElectronicIndustries,http://www.ipc.org)3.Standoffsshouldbeconnectedtoetchesonpcboardthatconnecttoframegroundformaximumnoisesuppressionandimmunity.

MountingHardware: Qty Description Mfgr PartNumber Remarks 1 SocketStrip Samtec SQW-121-01-L-D J1HV&Motor

1 SocketStrip Samtec SQW-120-01-L-D J2Control 1 SocketStrip Samtec SQW-102-01-L-D J3CANopen 2 Standoff6-32X1/4” PEM KFE-632-8ET

Dimensionsarein.[mm]

PRELIM

INARY



Development Kit

3 12456 RS-232

J9

TxD RxD

16

3 2TxD RxD

RJ-11

5 3Gnd Gnd

RxD TxD2 5

6

9

1

5

D-Sub 9F

DESCRIPTIONTheDevelopmentKitprovidesmountingandconnectivityforoneSEMdrive.Solderlessjumperseaseconfigurationofinputsandoutputstosupporttheirprogrammablefunctions.Switchescanbejumperedtoconnecttodigitalinputs1~11sothatthesecanbetoggledtosimulateequipmentoperation.SixLED’sprovidestatusindicationforthedigitaloutputs.DualEtherCATconnectorsmakedaisy-chainconnectionspos-siblesothatotherEtherCATdevicessuchasCopley’sAccelnetPlusorXenusPlusEthercatdrivescaneasilybeconnected.

RS-232CONNECTIONTheRS-232port isused toconfigure thedrive forstand-aloneapplications,or forconfigurationbeforeitisinstalledintoanEtherCATnetwork.CME2™softwarecom-municateswiththedriveoverthislinkandisthenusedforcompletedrivesetup.TheEtherCATSlaveIDaddressthatissetbytherotaryswitchcanbemonitored,andanaddressoffsetprogrammedaswell.

TheRS-232connector,J9,isamodularRJ-11typethatusesa6-positionplug, fourwiresofwhichareusedforRS-232.Aconnectorkitisavailable(SER-CK)thatincludesthemodularcable,andanadaptortointerfacethiscablewitha9-pinRS-232portonacomputer.

SER-CKSERIALCABLEKITTheSER-CKprovidesconnectivitybetweenaD-Sub9maleconnectorandtheRJ-11connectorJ9ontheDevelopmentKit.ItincludesanadapterthatplugsintotheCOM1(orother)portofaPCandusescommonmodularcabletoconnecttotheXEL.Theconnectionsareshowninthediagrambelow.

Don’tforgettoorderaSerialCableKitSER-CKwhenplacingyourorderforanSEMDevelopmentKit!

PRELIM

INARY6

9

1

5

D-Sub 9F

3 3

2 2

18

CAN_L

CAN_GND

CAN_H

CAN_L

RJ-45

CAN_GND

CAN_H7 1

18 18

CAN Status LEDDrive Status LED



Development Kit

Note:Red&greenledon-timesdonotoverlap. LEDcolormaybered,green,off,orflashingofeithercolor.

CANSTATUSLED

CANOPENCONNECTORSDualRJ-45connectorsthatacceptstandardEthernetcablesareprovidedforCANbusconnectivity.Pinsarewired-throughsothatdrivescanbedaisy-chainedandcontrolledwithasingleconnectiontotheuser’sCANinterface.ACANterminatorshouldbeplacedinthelastdriveinthechain.TheXTL-NKconnectorkitprovidesaD-SubadapterthatplugsintoaCANcontrollerandhasanRJ-45socketthatacceptstheEthernetcable.

APK-NKCANCONNECTORKITThe kit contains the XTL-CV adapter that converts the CAN interfaceD-Sub9MconnectortoanRJ-45Ethernetcablesocket,plusa10ft(3m)cableandterminator.Bothconnectorpin-outsconformtotheCiADR-303-1specification.

J10CANCONNECTIONS

DRIVESTATUSLEDAsinglebi-colorLEDgivesthestateofthedrivebychangingcolor,andeitherblinkingorremainingsolid. Thepossiblecolorandblinkcombinationsare:•Green/Solid: DriveOKandenabled.WillruninresponsetoreferenceinputsorCANopencommands.•Green/Slow-Blinking: DriveOKbutNOT-enabled.Willrunwhenenabled.•Green/Fast-Blinking: PositiveorNegativelimitswitchactive.Drivewillonlymoveindirectionnotinhibitedbylimitswitch.•Red/Solid: Transientfaultcondition.Drivewillresumeoperationwhenfaultisremoved.•Red/Blinking: Latchingfault.OperationwillnotresumeuntildriveisReset.

DriveFaultconditions:• Overorunder-voltage• Motorover-temperature• Encoder+5Vdcfault• Short-circuitsfromoutputtooutput• Short-circuitsfromoutputtoground• Internalshortcircuits• Driveover-temperature

Faultsareprogrammabletobeeither transientorlatching

PRELIM

INARY

JP4E

JP4D

JP4C

JP4B

JP3B

SW10

J8/18

J8/23

J8/22

JP6F

JP6GJP3H

JP3G

JP3F

[IN10] SLI_MISO

[OUT3] SLI_MOSI

[OUT3] Red/Green LED



[OUT4] SLI_CLK

[OUT5] SLI_EN1

10k

10k

Switches

74HC165

Q7

D0 8

4

2

1

8

4

2

1

D1

D2

D3

D4

D5

D6

D7

Vcc

+5V SEL

+5V SEL

+5V SEL

Gnd

SW13

SW12

CKE

SDI

PL

CLK

[OUT3]

[OUT4]

[OUT5]

J41

2

3

1

2

3

5V SEL

J4

J5/1+5V EXT

External +5V From J5-1

+5V outputfrom module J2/14

+5V ENC



Development Kit

5VPOWERSOURCESThefeedbackconnectorJ7hasconnectionsfortwopowersupplies:

Pin6has+5VsuppliedbytheAPMmodule Pin17connectstojumperJ4fortheselectionofthe5Vpowersource: OnJ4,whenthejumperconnectspins2&3,thepowersourceistheAPMinternalsupply(thedefaultsetting) Whenthejumperisonpins1&2,thepowersourcecomesfromanexternalpowersupplyconnectingtoJ5-1.

5VpowerontheDevelopmentKitthatcomesfromtheselectable5VpowersourceonJ4islabeled“5VSEL”.

Circuitspoweredby5VsuppliedonlybytheAPMarelabeled“5VAPM”

CANOPENNODEADDRESSSWITCHCONNECTIONSThegraphicbelowshowstheconnectionstotheCANopenaddressswitches.Thesearereadafterthedriveisreset,orpowered-on.Whenchangingthesettingsoftheswitches,besuretoeitherresetthedrive,ortopoweritoff-on.Outputs[OUT3,4,5]andinput[IN10]operateasanSLI(Switch&LEDInterface)portwhichreadsthesettingsontheCANopenaddressswitches,andcontrolstheLEDsontheserialandCANopenportconnectors.Thejumpersmarkedwithred“X”shouldberemovedsothatSW10,orexternalconnectionstothesignalsdonotinterferewiththeoperationoftheSLIport.

PRELIM

INARY

5V SEL

J8/16

J8/17

J8/18

J8/23

J8/22

J8/21

918

26

1 10 19

JP6F

JP3D JP3E JP3F JP3G JP3H JP4A

JP6G

JP6H

OUT1

OUT2

OUT3 SLI_MOSI

OUT4 SLI_SCLK

OUT5 SLI_EN1

OUT6

Tomoduleoutputs

[OUT1]

[OUT2]

[OUT3]

[OUT4]

[OUT5]

[OUT6]

male

red

green

1k

1k

J8

SW1

J8/4

J8/5

J8/6

J8/7

J8/8

J8/10

J8/26

J8/25

J7/24

J8/24

J7/7

9 18 26

110

19

918

26

1 10 19

JP2A

JP2B

JP5A

JP5B

JP5C

JP5D

JP5E

JP5F

JP5G

JP5H

JP4H

JP4G

JP4F

JP2C

JP2D

JP2E

JP2F

JP2G

JP2H

JP3A

JP3B

JP3C

SW2 SW8SW3 SW4 SW5 SW6 SW7 SW9 SW10 SW11

IN1

IN2

IN3

IN4

IN5

IN6

IN7

IN8

IN9

IN10 SLI_MISO

IN11

TomoduleInputs

[IN1]

[IN2]

[IN3]

[IN4]

[IN5]

[IN6]

[IN7]

[IN8]

[IN9]male

female

[IN10]

J8

J7[IN11]



Development Kit

LOGICOUTPUTSTherearesixlogicoutputsthatcandrivecontrollerlogicinputsorrelays.Ifrelaysaredriven,thenflybackdiodesmustbeconnectedacrosstheirterminalstoclampovervoltagesthatoccurwhentheinductanceoftherelaycoilissuddenlyturnedoff.Outputs3,4,5&6areCMOStypesthatpullupto5Vordowntoground.WhentheseoutputsgohighitturnsonthegreenLED.Whentheyarelow,theredLEDisturnedon.Outputs1&2areMOSFETtypesthatsinkcurrentwhenON,andappearasopen-circuitwhenOFF.WhentheseoutputsareONaredLEDisturnedon.WhentheoutputsareOFF,theredLEDisoff.ThegreenLEDisnotusedontheseoutputs.

LOGICINPUTS&SWITCHESTheDevelopmentKithasjumpersthatcanconnecttheSEMdigitalinputstoswitchesonthekit,ortotheSignalconnectorJ8.

Asdelivered,allofthesejumpersareinstalledasshown.Ifconnectingtoexternaldevicesthatactivelycontrolthelevelofaninput,itisdesirabletodisconnecttheswitchwhichcouldshorttheinputtoground.

Forexample,if[IN1]isconnectedtoanexternaldevicefortheEnablefunction,thenjumperJP2AshouldberemovedtotaketheswitchSW1outofthecircuit.Thefigurebelowshowstheseconnections.

PRELIM

INARY

J7/13

J7/12

J7/11

J7/10

J7/9

J7/8

JP1A

JP1C

JP1E

JP1G

1.5k

121

121

121

121JP1B

JP1D

JP1F

JP1H

JP4F

JP4H

DS75V SEL

5V SEL

5V SEL

DS8

DS9

DS12

DS13

DS11

DS10

JP6A

Tomodule

Tomodule

Tomodule

Tomodule

Tomodule

Enc A

Enc /A

Enc B

Enc /B

Enc X

Enc /X

J7/15Enc S

J7/14

J7/19

J7/18

J7/21

J7/20

J7/2

J7/3

J7/4

J7/7

J7/24

J7/6

J7/17

J7/5

J7/16

J7/25

J7/26

Enc /S

Enc Sin(+)

Enc Sin(-)

Enc Cos(+)

Enc Cos(-)

Enc Fault [IN9] Enc Fault [IN9]

Motemp [IN11] Motemp [IN11]

Hall U

Hall V

Hall W

Signal Gnd

Enc +5V AEM

Enc +5V SEL

Signal Gnd

Signal Gnd

Signal Gnd

1.5

k

10k

10k

10k



Development KitMOTORFEEDBACKCONNECTORJ7Formotorswithdifferentialencoders:installjumpersJP1B,JP1D,JP1F,andJP1Htoconnect121ohmterminatorsacrossinputs

JumpersJP1A,JP1C,JP1E,andJP1Gdonotaffectthissettingandmayremaininplaceorberemoved.

Formotorswithsingle-endedencoders:removejumpersJP1B,JP1D,JP1F,andJP1Htodisconnect121ohmterminators InstalljumpersJP1A,JP1C,JP1E,andJP1G

Amotortemperaturesensorthatconnectsto[IN11]musthavejumperJP4FinstalledandJP3CremovedtopreventswitchSW11fromgroundingtheMotemp[IN11]signal.

Iftheencoderhasafaultoutput,thenjumperJP4HmustbeinplaceandjumperJP3AmustberemovedtopreventswitchSW9fromgroundingtheEncFault[IN9]signal.

AbsoluteencoderssuchastheNikonAtypethatuse2-wirebidirectionalsignalsrequirebiasingthelineswhentheyareinaquies-centstate.JumpersJP1G,JP1H,andJP6Amustbeinplacetoprovidelineterminationandbiasing.

LED’sareprovidedtoshowthestatusoftheencoderandHallsignals.

PRELIM

INARY



Development Kit

+

-

4

+

-

+

-

Gnd

DEVELOPMENT KIT

[IN6]

[IN7]

[IN8]

[IN10] MISO

[IN5]

[IN4]

(Optional)for encoderand LED's

(Optional)

+5 V

+24 V

DCPower

Earth

Circuit Gnd

+HV InputFuse

J6

[OUT2]

Aux HV

Drive Enable

DAC Out

DAC Ground

[IN1]

[IN2]

[IN3]

[AIN-]

Sgnd

[AIN+]

J7

EnablePosLim

NegLim

Signal Ground

J8/Brake

[OUT3] MOSI

[OUT1]

[OUT4] SCLK

J5+5V Input

PC SerialPort

D-Sub9-posMale

5

SerialCable Kit

Adapter Cable

Black

Red

Yellow

Sub-D toRJ-11 Modular

J9RJ-11

1

2

17

MOTOR

A

/A

B

Mot A

Mot /A

Mot B

3

4

5

/BMot /B 5

Enc B

Enc /B

Enc X

Enc /X

Enc /A

Enc A

8

9

10

11

12

1

13

Enc /S 14

[IN9] 24

19

18

21

N.C.

N.C.

20

Enc S 15

1

2

3

4

+5V out 6

Sgnd

Sgnd

Sgnd

Sgnd

Sgnd

5

+5V out 17

3

1

4

5

6

15

2

16

24

25

26

7

10

18

23

[OUT5] EN122

[OUT6] EN221

8

19

20

5

2

4

3

RxD

TxD

Gnd

6

1

Modula

r Ja

ckRJ-

11 6

P4C

D-S

ub 9

-pos

Female5

2

3 2

3

5

3

5

2

TxD

RxD

1

RS-232DTE

6

9

[IN12]

[IN13]

[IN14]

2

3

4

Motemp[IN11]

+5V out

7

25

26

16

BRAKE

A

/A

B

/B

X

/X

Sgnd

Sgnd

Sgnd

DEVELOPMENTKITCONNECTIONS

Notes:1.EtherCATconnectorsJ10arenotshownhere.Fordetailsseepp4&13.

PRELIM

INARY

PIN SIGNAL PIN SIGNAL PIN SIGNAL

26 Sgnd 18 N.C. 9 EncX1

25 Sgnd 17 +5VdcOut 8 Enc/X1

24 EncFault 16 Sgnd 7 [IN11]Motemp

23 N.C. 15 EncS1 6 +5VdcOut

22 N.C. 14 Enc/S1 5 Sgnd

21 N.C. 13 EncA1 4 [IN14]

20 N.C. 12 Enc/A1 3 [IN13]

19 N.C. 11 EncB1 2 [IN12]

10 Enc/B1 1 FrameGnd

Signal Pin

+HVInput 1

HVGnd 2

MotorA 3

Motor/A 4

MotorB 5

Motor/B 6

Signal Pin

+5VExt 1

Sgnd 2

Sgnd 3

AuxHVInput 4



Development Kit

J6

JP3JP2

INPUTSWITCHES

JP1

J7

J6AUXHV&EXT5V

TheDevelopmentKitmountsasingleSEMmoduleandenablestheusertotestandoperatetheSEMbeforeitismountedontoaPCboardinthetargetsystem.

DEVELOPMENTKIT

J7FEEDBACK

J6MOTORJ5

HV& Aux

Motor

Feedback

PRELIM

INARY

18

18

16

PIN SIGNAL PIN SIGNAL

9 N.C. 18 [OUT3]MOSI PIN SIGNAL

8 [IN5]HS 17 [OUT2]GP 26 [IN7]HS

7 [IN4]HS 16 [OUT1]GP 25 [IN8]HS

6 [IN3]HS 15 Sgnd 24 [IN10]MISO

5 [IN2]HS 14 N.C. 23 [OUT4]CLK

4 [IN1]HS 13 N.C. 22 [OUT5]EN1

3 [AIN1-] 12 N.C. 21 [OUT6]EN2

2 [AIN1+] 11 N.C. 20 +5VdcOut

1 FrameGnd 10 [IN6]HS 19 Sgnd

Pin Signal

6 RX-

3 RX+

2 TX-

1 TX+

Pin Signal

6 n.c.

5 Txd

4 Sgnd

3 Sgnd

2 RxD

1 n.c.



Development Kit

J9

JP6

JP8

JP7

JP5

JP4

NODEADDRESS SWITCHES

LED’S

J10EtherCAT

RS-232

ControlJ8

J8CONTROL

J10ETHERCAT

J9RS-232

PRELIM

INARY0.00W

1.00W

2.00W

3.00W

4.00W

5.00W

6.00W

7.00W

8.00W

disabled 0.0A 2.5A 5.0A

Watts

Current

AEM-090-06Dissipation

80V65V50V35V20V

Noheatsink

40Cambient

3A

Heatsinkorforced-air required



SEMDrive

POWERDISSIPATION

THERMAL DATA NOT YET FINAL

Thechartsonthispageshowthedrive’sinternalpowerdis-sipationfordifferentmodelsunderdifferingpowersupplyandoutputcurrentconditions.Driveoutputcurrentiscalculatedfromthemotionprofile,motor,andloadconditions.Thevaluesonthechartrepresenttherms(root-mean-square)currentthatthedrivewouldprovideduringoperation.The+HVvaluesarefortheaverageDCvoltageofthedrivepowersupply.

Toseeifaheatsinkisrequiredornot,thenextstepistode-terminethetemperaturerisethedrivewillexperiencewhenit’sinstalled.Forexample,iftheambienttemperatureinthedriveenclosureis40°C,andtheheatplatetemperatureistobelimitedto70°Corlesstoavoidshutdown,themaximumrisewouldbe70C-40C.or30°C.Dividingthisdissipationbythethermalresistanceof9ºC/Wwithnoheatsinkgivesadissipationof3.33W.Thislineisshowninthecharts.Forpower dissipation below this line, no heatsink is required. Theverticaldashedlineshowsthecontinuouscurrentratingforthedrivemodel.

1.RemovethePSM(PhaseChangeMaterial)fromtheclearplasticcarrier.

2. PlacethePSMontheAccelnetaluminumheatplate taking care to center the PSMholesovertheholesinthedrivebody.

3. MounttheheatsinkontothePSMagaintaking care to see that the holes in theheatsink,PSM,anddrivealllineup.

4. Torque the#4-40mounting screws to3~5lb-in(0.34~0.57N·m).

Ifaheatsinkisuseditismountedusingthesametypeofscrewsusedtomountthedrivewithoutaheatsinkbutslightlylonger.Phasechangematerial(PSM)isusedinplaceofthermalgrease.Thismaterialcomesinsheetformandchangesfromsolidtoliquidformasthedrivewarmsup.Thisformsanexcellentthermalpathfromdriveheatplatetoheatsinkforoptimumheattransfer.

STEPSTOINSTALL

HEATSINKINSTALLATION

Heatsink

#4-40MountingScrews

PhaseChangeMaterial

TransparentCarrier (Discard)

PRELIM

INARYNO HEATSINK C/W

CONVECTION 9.1

FORCEDAIR(300LFM) 3.3

WITH HEATSINK C/W

CONVECTION 5.3

FORCEDAIR(300LFM) 1.1



HEATSINKOPTIONS

NOHEATSINK

RthexpressestheriseintemperatureofthedriveperWattofinternalpowerloss.TheunitsofRthare°C/W,wherethe°CrepresenttheriseaboveambientindegreesCelsius.Thedatabelowshow thermal resistancesunder convection, or fan-cooled conditions for theno-heatsink, andSEM-HSheatsink.

STANDARDHEATSINK(SEM-HK)

PRELIM

INARY

SPM-090-07 Stepnet SPMstepperdrive,5/7A,20~90Vdc

SPM-090-10 Stepnet SPMstepperdrive,10/10A,20~90Vdc

SPK-090-01 DevelopmentKitforSPMstepperdrive



MASTERORDERINGGUIDE

Rev5.01_tu11/29/2011Note:Specificationssubjecttochangewithoutnotice

DIMENSIONSDimensionsaremm[in]

6.35[0.25]

16.9[0.67]

43.7[1.72]

76.3[3.01]

58.2[2.29]

20.5 ±0.25[0.81 ±.010]

26.8 ±0.25[1.06 ±.010]

QTY DESCRIPTION

ConnectorKit forDevelop-mentKit SPK-CK-01

1 Connector,Euro,5Terminal,5.08mm

1 Connector,Euro,4Terminal,5.08mm

1 26PinConnector,HighDensity,D-Sub,Male,SolderCup

2 26PinConnector,HighDensity,D-Sub,Female,SolderCup

1 26PinConnectorBackshell

HeatsinkKit SPM-HK

1 HeatsinkforSEM

1 HeatsinkThermalMaterial

4 HeatsinkHardware

SPK-NC-10 EthernetNetworkCable,10ft

SPK-NC-01 Ethernetnetworkcable,1ft

CME2 CME2DriveConfigurationSoftwareonCD-ROM

SER-CK SerialCableKitforDevelopmentKit

ACCESSORIES

control modes for stepper motors

Documents