digital servo drive for stepper motors · system or as a master encoder for driving a cam table. as...
TRANSCRIPT
Model Ip Ic VdcTEL-090-07 7 5 90TEL-090-10 10 10 90
dIgItal serVo drIVe for stepper Motors
RoHSTELStepnet Plus Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01442 Rev 00 Page 1 of 30
DIGITAL SERVO DRIVE fOR STEPPER MOTORS
CONTROL MODES• MicrosteppingMode:ProfilePosition/Velocity, InterpolatedPosition,Homing • ServoMode:CyclicSynchronousPosition/Velocity/Torque (CSP/CSV/CST) • 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/X • Aux.quadA/B/Xencoder Absolute Encoders • EnDat,SanyoDenkiAbsoluteA
I/O DIGITAL• 6High-speedinputs• 1Motorover-tempinput• 4Opto-Isolatedinputs• 3Opto-Isolatedoutputs• 1Opto-Isolatedbrakeoutput
I/O ANALOG• 1ReferenceInput,12-bit
SAfE TORqUE Off (STO)• SIL3,Category3,PLd
DIMENSIONS:IN[MM]• 5.08x3.41x1.99[129x86.6x50.4]• 5.08x3.41x3.39[129x86.6x86.1]withheatsink
DESCRIPTIONStepnetPlusTELisahigh-performanceDCpoweredmicrosteppingdrive for control of hybrid steppingmotors via EtherCAT usingtheCANApplicationprotocol forEtherCAT (CoE).MicrosteppingmodesareProfilePosition,InterpolatedPositionMode(PVT),andHoming.Withencoderfeedback,theTELcanoperateastepperasabrushlessservomotor,enablingCyclicSyncPosition/Velocity/Torqueoperation.
AswellasoperatingonEtherCATnetworks,theTELalsosupportsthe following traditional controlmodes: step/direction, RS-232ASCII,master encoder for gearing and camming, digital inputcommandstoinitiatepredeterminedmotionsequences.
Drivecommissioning is fastandsimpleusingCME2™softwareoperatingunderWindows®andcommunicatingwiththeTELviaRS-232oranEtherCATnetwork.
Feedbackfromincrementalandabsoluteencodersissupported. Amulti-mode encoder port functions as an input or outputdependingonthedrive’sbasicsetup.Asaninputittakesfeedbackfromasecondaryencodertocreateadual-looppositioncontrolsystemorasamasterencoderfordrivingacamtable.
Asanoutput,itbuffersthedigitalencodersignalsfromthemotor’sdigitalencoderandeliminatessplitcablesthatwouldbeneededtosendthesignalstobothdriveandcontrolsystem.
There are seven non-isolated inputs and four opto-isolateddigital inputsthatarebipolartypes,sourcingorsinkingcurrentintoacommonconnection thatcanbe tied togroundor+24V. [IN1]defaultstothedriveEnablefunctionandisprogrammabletootherfunctions.Theotherinputsareprogrammable.Allinputshave programmable active levels. Three opto-isolated outputs[OUT1~3]haveindividualcollector/emitterconnections.AnisolatedMOSFEToutput[OUT4]isprogrammabletodriveamotorbrakeorother functionsandhasan internalflybackdiode fordrivinginductiveloads.
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.
RoHSTELStepnet Plus Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01442 Rev 00 Page 2 of 30
Testconditions:Load=Twocoils:2mH,2Ω.Ambienttemperature=25°C,+HV=HVmaxMODEL TEL-090-07 TEL-090-10
OUTPUTPOWERPeakCurrent 7(4.95) 10(7.07) Adc(Arms-sine),±5% Peaktime 1 1 Sec Continuouscurrent(Note1) 5(3.54) 10(7.07) Adc(Arms-sine)perphase
INPUTPOWERHVmin~HVmax +14to+90 +14to+90 VdcTransformer-isolated Ipeak 7 10 Adc(1sec)peak Icont 5 10 Adccontinuous 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 200µH
COMMANDINPUTS(NOTE:DIGITALINPUTFUNCTIONSAREPROGRAMMABLE) Distributed Control Modes
CANopen applicationprotocoloverEtherCAT(CoE) Servomode:CyclicSynchronousPosition/Velocity/Torque(CSP/CSV/CST), Microsteppingmode:ProfilePosition/Velocity,InterpolatedPosition,Homing Stand-alone mode Analogposition/velocity/torquereference ±10Vdc,12-bitresolution Dedicateddifferentialanaloginput Digitalpositionreference Pulse/Direction,CW/CCW Steppercommands(2MHzmaximumrate) QuadA/BEncoder 2Mline/sec,8Mcount/sec(afterquadrature) Digitalvelocity/torquereference 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,programmablepull-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, 10kΩprogrammablepull-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,4.99kpull-upto+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
SAfE TORqUE Off (STO)Function PWMoutputsareinactiveandcurrenttothemotorwillnotbepossiblewhentheSTOfunctionisasserted Standard DesignedtoIEC-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
ETHERCATPORTS Format DualRJ-45receptacles,100BASE-TX Protocol EtherCAT,CANopen applicationprotocoloverEtherCAT(CoE),CiA-402formotioncontroldevices
NOTES:1)Heatsinkorforced-airisrequiredforcontinuouscurrentrating
general specIfIcatIons
RoHSTELStepnet Plus Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01442 Rev 00 Page 3 of 30
DCPOWEROUTPUT Number 1 Ratings +5Vdc,500mAmax,thermalandshort-circuitprotected Connections ThecombinedcurrentfromFeedbackJ6-6,17andControlJ1-17,32cannotexceed500mAINDICATORS
AMP BicolorLED,drivestateindicatedbycolor,andblinkingornon-blinkingcondition RUN GreenLED,statusofEtherCATstate-machine(ESM) ERR RedLED,showserrorsduetotime-outs,unsolicitedstatechanges,orlocalerrors L/A GreenLED,Link/Act,showsthestateofthephysicallinkandactivityonthelink(EtherCATconnection) RUN,ERR,andL/ALEDcolorsandblinkcodesconformtoETG.1300S(R)V1.1.0
PROTECTIONS HVOvervoltage +HV>90Vdc Driveoutputsturnoffuntil+HV<90Vdc HVUndervoltage +HV<+14Vdc Driveoutputsturnoffuntil+HV>+14Vdc Driveovertemperature Heatplate>70°C. Driveoutputsturnoff Shortcircuits Outputtooutput,outputtoground,internalPWMbridgefaults I2TCurrentlimiting Programmable:continuouscurrent,peakcurrent,peaktime Motorovertemperature Digitalinputprogrammabletodetectmotortemperatureswitch
MECHANICAL&ENVIRONMENTAL Size 5.08x3.41x1.99[129x86.6x50.4]in[mm]withoutheatsink 5.08x3.41x3.39[129x86.6x86.1]in[mm]withheatsink Weight 0.75[0.34]lb[kg]withoutheatsink 1.70[0.77]lb[kg]withheatsink 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 2gpeak,10~500Hz(sine),asperIEC60068-2-6:2007 Shock 110g,10ms,half-sinepulse,asperIEC60068-2-27:2008 Contaminants Pollutiondegree2,asperIEC60664-1:2007 Environment IEC68-2:1990 Cooling Heatsinkand/orforcedaircoolingrequiredforcontinuouspoweroutput
AGENCy STANDARDS CONfORMANCEStandards and Directives Functional Safety IEC61508-1:2010,IEC61508-2:2010,IEC61508-3:2010,IEC61508-4:2010(SIL3) Directive2006/42/EC(Machinery) ISO13849-1:2015(Cat3,PLd) IEC61800-5-2:2007(SIL3) seeTheAccelnet&StepnetPlusPanelsSTOManual(16-01338)forfurtherdetails
Product Safety Directive2014/35/EU(LowVoltage) IEC61800-5-1:2007
EMC Directive2014/30/EU(EMC) IEC61800-3:2004/A1:2011
Restriction of the Use of Certain Hazardous Substances (RoHS) Directive2011/65/EU(RoHSII)
Approvals UL and cUL recognized component to: UL61800-5-1,1stEd. TÜV SÜD Functional Safety to: IEC61508-1:2010,IEC61508-2:2010,IEC61508-3:2010,IEC61508-4:2010(SIL3) ISO13849-1:2015(Cat3,PLd)
general specIfIcatIons
RoHS
RoHSTELStepnet Plus Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01442 Rev 00 Page 4 of 30
general specIfIcatIons
fEEDbACkIncremental: DigitalIncrementalEncoder Quadraturesignals,(A,/A,B,/B,X,/X),differential(X,/XIndexsignalsnotrequired) 5MHzmaximumlinefrequency(20Mcounts/sec) MAX3096differentiallinereceiverwith121ΩterminatingresistorbetweenA&/A,B&/Binputs X&/Xinputshave130Ωterminatingresistor,S&/Sinputshave221Ωterminatingresistor X&Sinputshave1kΩpull-upsto+5V,/X&/Xinputshave1kΩpull-downtoground Absolute: EnDat Clock(X,/X),Data(S,/S) AbsoluteA SanyoDenkiAbsoluteA SD+,SD-(S,/S)signals,2.5or4MHz,2-wirehalf-duplexcommunication Statusdataforencoderoperatingconditionsanderrors
DIGITALHALLSType 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 15kΩpull-upsto+5Vdc,1.5µsRCfiltertoSchmitttriggerinverters
MULTI-MODE ENCODER PORTAsInput Digitalquadratureencoder(A,/A,B,/B,X,/X),5MHzmaximumlinefrequency(20Mcounts/sec), MAX3096linereceiver,1kΩpull-upsto+5VonX&Sinputs,1kΩpull-downstoSgndon/X&/Sinputs Digitalabsoluteencoder(Clk,/Clk,Dat,/Dat)halforfull-duplexoperation, S&Xinputsareusedforabsoluteencoderinterface AsEmulatedOutput QuadratureA/Bencoderemulationwithprogrammableresolutionto4096lines(65,536counts)per revfromabsoluteencoders A,/A,B,/B,fromMAX3032differentiallinedriver,X,/X,S,/SfromMAX3362differentiallinedriver AsBufferedOutput DigitalA/B/Xencoderfeedbacksignalsfromprimaryquadencoderarebuffered(seelinedriversabove)
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
RoHS
1 8 1 8
L/A L/ARunErr
OUTIN
S2
S1
X1X10DEVICE ID
S2S1
AMP
RUNERR L/A L/A
Acc
elne
tPlu
sJ3 BRAKEJ2 ISOLATED I/OJ1 SIG
x10 x1
S1
S2
DEVICE ID
J4
NETWORK
A B
J5RS-232
J6 SAFETY
IN OUT
TELStepnet Plus Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01442 Rev 00 Page 5 of 30
J3:EtherCAT PORTSRJ-45receptacles, 8position,4contact
EtherCATDEVICE ID (STATION ALIAS)InanEtherCATnetwork,slavesareautomaticallyassignedconsecutiveaddressesbasedontheirpositiononthenetwork.Butwhenthedevicemusthaveapositiveidentificationthatisindependentofcabling,aDeviceIDisused.IntheTEL,thisisprovidedbytwo16-positionrotaryswitcheswithhexadecimalencoding.ThesecansettheDeviceIDofthedrivefrom0x00~0xFF(0~255decimal).Thechartshowsthedecimalvaluesofthehexsettingsofeachswitch.Example1:FindtheswitchsettingsfordecimalDeviceID107:1)Findthehighestnumberinthex10columnthatislessthan107and
setx10tothehexvalueinthesamerow: 96<107and112>107,sox10=96=Hex6
2)Subtract96fromthedesiredDeviceIDtogetthedecimalvalueforthe switchx1andsetittotheHexvalueinthesamerow: x1=(107-96)=11=HexB
3)Result:X10=6,X1=B,Alias=0x6B(107)
EtherCATDeviceIDSwitch Decimalvalues
ethercat coMMunIcatIons
EtherCATistheopen,real-timeEthernetnetworkdevelopedbyBeckhoffbasedonthewidelyused100BASE-TXcablingsystem.EtherCATenableshigh-speedcontrolofmultipleaxeswhilemaintainingtightsynchronizationofclocksinthenodes.
DataprotocolisCANopenapplicationprotocoloverEtherCAT(CoE)basedonDSP-402formotioncontroldevices. MoreinformationonEtherCATcanbefoundonthisweb-site:http://ethercat.org/default.htm
DualRJ-45socketsacceptstandardEthernetcables.TheINportconnectstoamaster,ortotheOUTportofadevicethatis‘upstream’,betweentheStepnetandthemaster.
TheOUTportconnectsto‘downstream’nodes. IfStepnetisthelastnodeonanetwork,onlytheINportisused.NoterminatorisrequiredontheOUTport.
ETHERCATCONNECTIONS
Twobi-colorLEDsgivethestateoftheTELdrive.Colorsdonotalternate,andcanbesolidONorblinking.Whenmultipleconditionsoccur,onlythetop-mostconditionwillbedisplayed. WhenthatconditionisclearedthenextoneTELowwillshown.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. LatchingFaultsDefaults Optional(programmable) • Shortcircuit(Internalorexternal) • Over-voltage • Driveover-temperature • Under-voltage • Motorover-temperature • MotorPhasingError • FeedbackError • CommandInputFault • FollowingError
IndIcators: drIVe state
ETHERCATLEDS(ONRJ-45CONNECTORS)RUN Green:ShowsthestateoftheESM(EtherCATStateMachine)
Off = Init Blinking = Pre-operational Single-flash = Safe-operational On = Operational
ERR Red:ShowserrorssuchaswatchdogtimeoutsandunsolicitedstatechangesintheTELduetolocalerrors. 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) Port Closed
AMPLED& DEVICE ID SWITCHES
RoHS
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
TELStepnet Plus Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01442 Rev 00 Page 6 of 30
TELisconfiguredviaathree-wire,full-duplexDTERS-232portthatoperatesfrom9600to115,200Baud,8bits,noparity,andonestopbit.Signalformatisfull-duplex,3-wire,DTEusingRxD,TxD,andGnd.ConnectionstotheTEL RS-232 port are throughJ2,anRJ-11connector.TheTEL SerialCableKit(SER-CK)containsamodularcable,andanadapterthatconnectstoa9-pin,Sub-Dserialportconnector(COM1,COM2,etc.)onPC’sandcompatibles.
Afterpower-on,reset,ortransmissionofaBreakcharacter,theBaudratewillbe9,600.Oncecommunicationhasbeenestablishedatthisspeed,theBaudratecanbechangedtoahigherrate(19,200,57,600,115,200).
SER-Ck SERIAL CAbLE kITTheSER-CKprovidesconnectivitybetweenaD-Sub9maleconnectorandtheRJ-11connectorontheTEL.ItincludesanadapterthatplugsintotheCOM1(orother)portofaPCandusescommonmodularcabletoconnecttotheTEL.TheconnectionsareshowninthediagramTELow.
USb TO RS-232 ADAPTERSThesemayormaynothavethespeedtoworkatthe115,200BaudratewhichgivesthebestresultswithCME2.UsershavereportedthatadaptersusingtheFTDIchipsetworkwellwithCME2
Don’tforgettoorderaSerialCableKitSER-CKwhenplacingyourorderforaTEL!
ASCII COMMUNICATIONSTheCopleyASCIIInterfaceisasetofASCIIformatcommandsthatcanbeusedtooperateandmonitorCopleyControlsTELseriesdrivesoveranRS-232serialconnection.Forinstance,afterbasicamplifierconfigurationvalueshavebeenprogrammedusingCME2,acontrolprogramcanusetheASCIIInterfaceto:
•EnabletheamplifierinProgrammedPositionmode.•Hometheaxis.•Issueaseriesofmovecommandswhilemonitoringposition,velocity,andotherrun-timevariables.
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, 6position,4contact
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(-)
RoHS
1
5
6
9
16
95
SAFE
TY
Frame Ground
STO-24V
STO-GND
Safety Connector
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
*
TELStepnet Plus Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01442 Rev 00 Page 7 of 30
INSTALLATION
fUNCTIONAL DIAGRAM
Currentmustflowthroughallofthe
opto-couplersbeforethedrive can be enabled
SAFETYCONNECTORJ4
safe torque off (sto)
TheSafeTorqueOff(STO)functionisdefinedinIEC61800-5-2.Twochannelsareprovidedwhich,whende-energized,preventtheupperandlowerdevicesinthePWMoutputsfrombeingoperatedbythedigitalcontrolcore.
ThisprovidesapositiveOFFcapabilitythatcannotbeoverriddenbythecontrolfirmware,orassociatedhardwarecomponents.Whentheopto-couplersareenergized(currentisflowingintheinputdiodes),thecontrolcorewillbeabletocontroltheon/offstateofthePWMoutputs.
*STObypassconnectionsontheTELandXenusXEL-XPLmodelsaredifferent.Ifbothdrivesareinstalledinthesamecabinet,thediodeshouldbewiredasshowntopreventdamagethatcouldoccuriftheSTObypassconnectorsareinstalledonthewrongdrive.ThediodeisnotrequiredforSTObypassontheTELandcanbereplacedbyawirebetweenpins7and9.
STO byPASS (MUTING)InorderforthePWMoutputsoftheTELtobeactivated,currentmustbeflowingthroughalloftheopto-couplersthatareconnectedtotheSTO-IN1andSTO-IN2terminalsofJ4,andthedrivemustbeinanENABLEDstate.Whentheopto-couplersareOFF,thedriveisinaSafeTorqueOff(STO)stateandthePWMoutputscannotbeactivatedbythecontrolcoretodriveamotor.
Thisdiagramshowsconnectionsthatwillenergizealloftheopto-couplersfromaninternalcurrent-source.WhenthisisdonetheSTOfeatureisoverriddenandcontroloftheoutputPWMstageisundercontrolofthedigitalcontrolcore. IfnotusingtheSTOfeature,theseconnectionsmustbemadeinorderforthedrivetobeenabled.
STO byPASS CONNECTIONS
DANGER
RefertotheAccelnet&StepnetPlusPanelsSTOManual
TheinformationprovidedintheAccelnet & Stepnet Plus Panels STO Manual mustbeconsideredforanyapplicationusingthedrive’sSTOfeature.FAIluRETOhEEDThISwARNINGCANCAuSEEquIPMENTDAMAGE,INjuRy,ORDEATh.
DIFFERENTIAL:IN3,4,5,6
Signal J1Pins
[IN3]Pls,CU,EncA 9
[IN4]/Pls,/CU,Enc/A 10
[IN5]Dir,CD,EncB 11
[IN6]/Dir,/CD,Enc/B 12
SignalGround 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
SignalGround 6,16,22,31, 37,44
FrameGround 1
SINGLE-ENDED:IN5,6
Signal J1Pins
[IN5]Pls,CU,EncA 11
[IN6]Dir,CD,EncB 12
SignalGround 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
RoHS
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]
TELStepnet Plus Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N16-01442 Rev00 Page8of30
POSITION COMMAND INPUTSSingle-endeddigitalpositioncommandsmustbesourcedfromdeviceswithactivepull-upandpull-downtotakeadvantageofthehigh-speedinputs.
Fordifferentialcommands,theA&Bchannelsofthemulti-modeencoderportsareused.
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-downtotakeadvantageofthehigh-speedinputs.
Fordifferentialcommands,theA&Bchannelsofthemulti-modeencoderportsareused.
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
SignalGround6, 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
InputSelect
OutputSelect
MAX3362
MAX3362
X
S
4-Wire digital absolute encoder signals
Input/OutputSelect
MAX3362
S
S
2-Wire digital absolute encoder signals
TELStepnet Plus Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01442 Rev 00 Page 9 of 30
MultI-Mode port as an Input
POSITIONCOMMANDINPUTS:DIFFERENTIAL•Pulse&Direction•CW&CCW(Clockwise&Counter-Clockwise)•EncoderQuadA&B•CammingEncoderA&Binput
CURRENT orVELOCITYCOMMANDINPUTS:DIFFERENTIAL•CurrentorVelocity&Direction•CurrentorVelocity(+)&CurrentorVelocity(-)
SECONDARYFEEDBACK:INCREMENTAL•QuadA/B/Xincrementalencoder
SECONDARYFEEDBACK: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 output
SIGNALS&PINS
Signal J1
EncoderA 36
Encoder/A 21
EncoderB 35
Encoder/B 20
EncoderX 34
Encoder/X 19
EncoderS 33
Encoder/S 18
SignalGround 6, 16, 22, 31, 37, 44
FrameGround 1
RoHS
SecondaryEncoder Input
Input/OutputSelect
Quad A/B/X primaryencoder
MAX3032
MAX3097
Buffered A/B/X signalsfrom primary encoder
SecondaryEncoder Input
Input/OutputSelect
MAX3362
MAX3097
Emulated Quad A/Bsignals from absolute encoder
Emulated A/B signals
Enc. B
Enc. X
B
/B
X
/X
Enc. A
Incremental Encoder
J1 Multi-Port
Frame Ground
A
/A
TELStepnet Plus Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01442 Rev 00 Page 10 of 30
output types
BUFFEREDFEEDBACKOUTPUTS:DIFFERENTIAL•EncoderQuadA,B,Xchannels•DirecthardwareconnectionbetweenquadA/B/X encoderfeedbackanddifferentiallinedriversforA/B/Xoutputs
EMULATEDFEEDBACKOUTPUTS:DIFFERENTIALFirmwareproducesemulatedquadA/Bsignalsfromfeedback datafromthefollowingdevice:•Absoluteencoders
Name Notes
Analog:ReferenceFilter Disabled
Vloop:InputFilter Disabled
Vloop:OutputFilter1 LowPass,Butterworth, 2-pole,200Hz
Vloop:OutputFilter2 Disabled
Vloop:OutputFilter3 Disabled
Iloop:InputFilter1 Disabled
Iloop:InputFilter2 Disabled
InputShaping Disabled
Option Notes
Method SetCurrentPositionasHome
Name Notes
OUT1 FaultActive-OFF
OUT2NotConfigured
OUT3
OUT4 BrakeActive-Off
Active Notes
√ ShortCircuit
√ AmpOverTemperature
√ MotorOverTemp
Over Voltage
Under Voltage
MotorWiringDisconnected
STOActive
OPTIONAL fAULTS
OverCurrent(Latched)
Name Configuration PU/PD
IN1 Enable-LO,ClearFaults
+5V
IN2
NotConfigured
IN3
IN4
IN5
IN6
IN7
Opto NotConfigured
IN8
IN9
IN10
IN11 NotConfigured +5VPU
RoHSTELStepnet Plus Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01442 Rev 00 Page 11 of 30
cMe2 defaults
ThesetablesshowtheCME2defaultsettings.Theyareuser-programmableand thesettingscanbesavedtonon-volatileflashmemory.
SPECIfICATIONS
Input Data Notes
InputVoltages
HI VT+=2.5~3.5Vdc
LO VT-=1.3~2.2Vdc
VH1 VH=±0.7~1.5Vdc
Max +30Vdc
Min 0Vdc
Pull-up/down R1 15kΩ
LowpassfilterR2 15kΩ
C1 100 pf
InputCurrent24V 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
InputVoltages Single-ended
HI Vin≥2.7Vdc
LO Vin≤2.3Vdc
VH1 45mVdctyp
InputVoltages Differential3
HI Vdiff≥+200mVdc
LO Vdiff≤-200mVdc
VH ±45mVdctyp
Commonmode Vcm 0to+12Vdc
Pull-up/down R1 10kΩ
LowpassfilterR2 1kΩ
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
74HC2G14
PullUp = +5VPullDown = 0V
[IN1,2]
+5V
FEEDBACK CONNECTOR
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
TELStepnet Plus Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01442 Rev 00 Page 12 of 30
hIgh speed Inputs: In1, In2
• Digital,non-isolated,high-speed• Programmablepull-up/pull-down• 24VCompatible• Programmablefunctions
Notes:1)VHishysteresisvoltage (VT+)-(VT-)
2)TheR2*C2timeconstantapplieswheninputisdrivenbyactiveHI/LOdevices
• Digital,non-isolated,high-speed• Progammablepull-up/pull-down• 12VCompatible• Single-endedorDifferential• Programmablefunctions
Notes:1)VHishysteresisvoltage
IN2 - IN3 or IN12 - IN132)TheR2*C2timeconstantapplieswheninputisdrivenbyactiveHI/LOdevices)
3)Vdiff=AINn(+)-AINn(-) n=1forAxisA,2forAxisB
SINGLE-ENDED
DIffERENTIAL
SPECIfICATIONS
Input Data Notes
InputVoltages
HI Vin≥3.5Vdc
LO Vin≤0.7Vdc
Max +12Vdc
Min 0Vdc
Pull-up/down R1 4.99kΩ
InputCurrent12V 1.4mAdc
0V -1.0mAdc
LowpassfilterR2 10kΩ
C1 33 nf
Timeconstant Te 330µs*BS4999:Part111:1987
Property Ohms
Resistanceinthetemperaturerange20°Cto+70°C 60~750
Resistanceat85°C ≤1650
Resistanceat95°C ≥3990
Resistanceat105°C ≥12000
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
InputVoltages
HI Vin≥±10.0Vdc*
LO Vin≤±6Vdc*
Max ±30Vdc*
InputCurrent±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
TELStepnet Plus Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01442 Rev 00 Page 13 of 30
• 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.
*VdcReferencedtoICOMterminal.
* RC time constant applieswhen input is driven byactivehigh/lowdevice
Motor oVerteMp Input: In11
opto-Isolated Inputs: In7, In8, In9, In10
SPECIfICATIONS
Spec Data Notes
InputVoltage Vref ±10Vdc
InputResistance Rin 5.05kΩ
HI/LODEFINITIONS: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
SPECIfICATIONS
Output Data Notes
ON Voltage OUT(+)-OUT(-) Vdc 0.85V@300mAdc
OutputCurrent Iout 300mAdcmax
CONNECTIONS
Signal Pins
AIN(+) J1-3
AIN(-) J1-2
Sgnd J1-6,16,22,31,37,44
RoHS
+
1.5V
Shield (Frame Gnd)
AINn(+)
AINn(-)Vref
J1D/A
F.G.
±10V
Sgnd
-
[OUTn-]
300mAmax
* at 24 Vdc
Vdc
J2
[OUTn+]
1
80Ωmin*
36V
SSR
+
TELStepnet Plus Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01442 Rev 00 Page 14 of 30
analog Input: aIn1
Theanaloginputhasa±10Vdcrangeat12-bitresolution Asareferenceinputittakeposition/velocity/torquecommandsfromacontroller.Ifnotusedasacommandinput,itcanbeusedasgeneral-purposeanaloginput.
• ±10Vdc,differential• 12-bitresolution• Programmablefunctions
opto-Isolated outputs: out1, out2, out3
• Digital,opto-isolated• MOSFEToutputSSR,2-terminal• Flybackdiodeforinductiveloads• 24VCompatible• Programmablefunctions
HI/LODEFINITIONS:OUTPUTS
Input State Condition
bRAkE [OUT4]
HI
OutputtransistorisOFF Brakeisun-poweredandlocksmotor Motorcannotmove BrakestateisActive
LO
OutputtransistorisON Brakeispowered,releasingmotor Motorisfreetomove BrakestateisNOT-Active
SPECIfICATIONS
Output Data Notes
Voltage Range Max +30Vdc
OutputCurrent Ids 1.0Adc
J5CONNECTIONS
Pin Signal
4 Brk24VInput
3 Brk24VOutput
2 Brake[OUT4]
1 24VReturn
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.
TELStepnet Plus Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01442 Rev 00 Page 15 of 30
• Brakeoutput• Opto-isolated• Flybackdiodeforinductiveload• 24VCompatible• Connectionforexternal24Vpowersupply• Programmablefunctions
CME2DefaultSettingforBrakeOutput[OUT4]is“Brake-ActiveHI” 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
EncA 13
Enc/A 12
EncB 11
Enc/B 10
EncX 9
Enc/X 8
+5V 6, 17
Sgnd 5, 16, 25, 26
F.G. 1
Signal J6Pins
Clk 9
/Clk 8
Data 15
/Data 14
+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
RoHS
1k+5V
1k
Encoder J6
FG Frame Ground
Enc. A121A
Enc. B121B
Enc. Index130Z/X
X
/B
B
/A
A
+5V
0V
+5V Out @ 500 mA
Signal Ground
A
B
A
B
1k+5V
1k 1k+5V
1k
Encoder
221
Dat
/Dat
Clk
/Clk130
FGFrame Ground
J6
Clk
DataData
Clk
+5V
0V
+5V Out @ 500 mA
Signal Ground
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
Sgnd=SignalGround F.G.=FrameGnd
TELStepnet Plus Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01442 Rev 00 Page 16 of 30
feedback connectIons
quad a/b encoderEncoderswithdifferentialline-driveroutputsarerequired(single-endedencodersarenotsupported)andprovideincrementalpositionfeedbackviatheA/Bsignalsandtheoptionalindexsignal(X)givesaonceperrevolutionpositionmark.
a/b/X sIgnals
Sgnd=SignalGround F.G.=FrameGnd
endat absolute encoderTheEnDatinterfaceisaHeidenhaininterfacewhichissupportedforthedigitalclockanddatachannels.
sanyo denkI absolute-a encoderTheAbsoluteAinterfaceisaserial,half-duplextypethatiselectricallythesameasRS-485.Notethebatterywhichmustbeconnected.Withoutit,theencoderwillproduceafaultcondition.
endat sIgnals
absolute-a sIgnals
Sgnd=SignalGround F.G.=FrameGnd
Signal J7Pin
Motor A 5
Motor /A 4
Motor b 3
Motor /b 2
FrameGnd 1
Property Ohms
Resistanceinthetemperaturerange 20°Cto+70°C
60~750
Resistanceat85°C ≤1650
Resistanceat95°C ≥3990
Resistanceat105°C ≥12000
Signal J6Pins
Motemp 7
J6SignalGround 5,16,25,26
FrameGnd 1
RoHS
PWM
+HV
0V
StepperMotor2 ph.
MOT /B
Gn/YFrame Gnd
MOT B
MOT /A
MOT A
J7
+
+5V
[IN11]
Thermistor,Posistor,
or switch Signal Gnd
R1
R2
C1
J5
TELStepnet Plus Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01442 Rev 00 Page 17 of 30
Motor connectIons
Motor oVer teMp InputThe4.99kpull-upresistorworkswithPTC(positivetemperaturecoefficient)thermistorsthatconformtoBS4999:Part111:1987(tableTELow),orswitchesthatopen/closeindicatingamotorover-temperaturecondition.Theactivelevelisprogrammable. TheseinputsareprogrammableforotherfunctionsifnotusedasMotempinputs.And,otherinputsareprogrammablefortheMotempfunction.
Motor phase connectIonsThedriveoutputistwoH-bridgePWMinvertersthatconverttheDCbussvoltage(+HV)intotwosinusoidalvoltagewaveformsthatdrivethemotorA&Bphase coils. Cable shouldbesizedforthecontinuouscurrentratingofthemotor.Motorcablingshouldusetwisted,shieldedconductorsforCEcompliance,andtominimize PWMnoise coupling into othercircuits.Themotorcableshieldshouldconnecttomotorframeandthedriveframegroundterminal(J7-1)forbestresults.
MoteMp sIgnals bs 4999 sensor
Motor sIgnals
RoHS
Frame Gnd
5 25
26
17
8
9
10
11
12
1
13
4
3
2
DIGITALENCODER
/A
A
/B
B
/X
Vcc
0V
X
J6 6
Enc /A
Enc A
Enc /B
Enc B
Enc /X
Enc X
+5V Out
7
Signal Gnd
Signal Gnd
Motemp
J5
TEMPSENSOR
Brake [OUT4]
24V Return
4
Brk 24V Output
Brk 24V Input +
0V
24 Vdc
Stepnet Plus Panel
Brake
16
3
2
1
STEPPERMOTOR
/A
A
B
/B
4
3
2
1
Mot /A
5Mot A
Mot B
Mot /B
Frame Gnd
J7
[IN14]
[IN13]
[IN12]
Groundingtab
TELStepnet Plus Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N16-01442 Rev00 Page18of30
Theconnectionsshownmaynotbeusedinallinstallations
Motor connectIons: dIgItal quad a/b encoders
NOTES:1) +5VOutonJ1&J6connecttothesamepowersupply.Thesumofoutputcurrentsislimitedto500mA2) CEsymbolsindicateconnectionsrequiredforCEcompliance.
RoHS
+
ProtectiveEarth ground
Vcc
Vcc[IN7~10]
[AIN+]
[AIN-]
Isolated
Sgnd
Sgnd
Sgnd
Isolated
J1 Control
Vcc[OUT1~3+]
[OUT1~3-]
+HV
+
-
+
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
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
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
4
5
680 µF
5432
1M
75
75
10n
J1 Control
HEATPLATE
DRIVE CIRCUITS
Isolated
[IN1~6,11]
Motor
Frame Gnd
TELStepnet Plus Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01442 Rev 00 Page 19 of 30
Thisgraphicshowstheelectricalstructureofthedrive,detailingtheelementsthatshareacommoncircuitcommon(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
TELStepnet Plus Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01442 Rev 00 Page 20 of 30
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,asshortaspossiblewillprovideagoodconnectionoftheshieldatthedrive.
• 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-clipssecurecablestoapanelandprovidefullcontacttothecableshieldsaftertheinsulationhasbeenstripped.ThisshouldbedoneasclosetothedriveaspossibleforbestEMIattenuation.
RoHS
(+)
(-)
+ +Cint
RegulatedPower
Supply Cext
Cext: ExternalCapacitor
Cint: InternalCapacitor
Drive
(+)
(-)
+ +Cint
UnregulatedPower
Supply Cps
Cps: Power SupplyCapacitor
Cint: InternalCapacitor
Drive
Motor
/A
A
B
/B
P-clip
F.G.
Feedback
F.G.
Enc A
Enc B
Enc X
Sgnd
Earth Ground
Frame Ground
Motor
Encoder
Outer Shield
Outer Shield
Inner Shields
0.0
0.5
1.0
1.5
2.0
2.5
3.0
15 20 25 30 40 50 60 70 80 90
TELStepnet Plus Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01442 Rev 00 Page 21 of 30
REGENERATIONThis chart shows the energy absorption inW·s forthedriveoperatingatsometypicalDCvoltages.Itisbasedontheinternal680uFcapacitorandwouldbeincreasedbythecapacitanceoftheexternalDCpowersupply.Whenthe loadmechanicalenergy isgreater than thesevaluesanexternal regenerativeenergydissipaterisrequired,ortheDCpowersupplycapacitance can be increased to absorb the regenenergy.
Joules(W·s)
+HV(Vdc)
MOTOR CONNECTIONS• Motorcableshieldconnectstomotorframe,isgroundedwithaP-clipnearthedriveandterminatesinaring-lugthatisscrewedtothedrivechassisbyamountingscrewtothepanel
• Ifprovided,agreen/yellowgroundingwirefromthemotorconnectstotheF.G.terminalofthemotorconnector.
fEEDbACk CONNECTIONS• CableshieldconnectstomotorframeandtotheF.G.terminalofthefeedbackconnector.
• Whendouble-shieldingisused,theinnershieldsconnecttotheSignalGroundatthedrive,andisnotconnectedatthemotorend.
• Ifnotprovidedbythemotormanufacturer,feedbackcablesratedforRS-422communicationsarerecommendedfordigitalencoders.
+HVPOWERSUPPLYREQUIREMENTSRegulatedPowerSupplies• Mustbeover-voltageprotectedto100VdcmaxwhentheSTO(SafeTorqueOff)featureofthedriveisused.
• Requireadiodeandexternalcapacitortoabsorbregenerativeenergy.• TheVAratingshouldbegreaterthantheactualcontinuousoutputpowerofthedrivesconnectedtothepowersupply,andadequateforthetransientoutputpowerduetoaccelerationofmotorloads.
• Musthandletheinternalcapacitanceofthedrivesonstartup.
UnregulatedPowerSupplies• No-load,high-lineoutputvoltagemustnotexceed90Vdc.• Powersupplyinternalcapacitanceaddstothedrive’sinternalcapacitance forabsorptionofregenerativeenergy.
• TheVA(Volts&Amps)ratingatthepowersupply’sACinputistypically30~40%greaterthanthetotaloutputpowerofthedrives.
AUXILIARYHVPOWER• AuxHVispowerthatcankeepthedrivecommunicationsandfeedbackcircuitsactivewhenthePWMoutputstagehasbeendisabledbyremovingthemain+HVsupply.
• UsefulduringEMO(EmergencyOff)conditionswherethe+HVsupplymustberemovedfromthedriveandpowered-downtoensureoperatorsafety.
• Voltagerangeisthesameas+HV.• PowerstheDC/DCconverterthatsuppliesoperatingvoltagestothedriveDSPandcontrolcircuits.
• AuxHVdrawsnocurrentwhenthe+HVvoltageisgreaterthantheAuxHVvoltage.
RoHS
1
5
6
9
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(-)
PIN SIGNAL PIN SIGNAL PIN SIGNAL
1 FrameGnd 16 SignalGnd 31 SignalGnd
2 [AIN1-] 17 +5Vout 32 +5Vout
3 [AIN1+] 18 MultiEnc/S 33 MultiEncS
4 N/C 19 MultiEnc/X 34 MultiEncX
5 N/C 20 MultiEnc/B 35 MultiEncB
6 SignalGnd 21 MultiEnc/A 36 MultiEncA
7 [IN1] 22 SignalGnd 37 SignalGnd
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 SignalGnd
15 [IN9] 30 [IN10]
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
PlusStepnet
TELStepnet Plus Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01442 Rev 00 Page 22 of 30
J4SAFETY(SAFETORQUEOFF)
J4TELCONNECTOR:DsubDB-09F,9positionfemalereceptacle
J4CABLECONNECTOR:PokeandcrimpDsubDB-09M,9position
J1:TELCONNECTORHigh-DensityHDsubDB-44F,femalereceptacle,44Position
J1:CABLECONNECTORHigh-DensityHDsubDB-44M,maleplug,44Position
connectors & sIgnals: control & sto
Details on J1, J4, & J6 cable connectors can be found in the TEL-CK listing under the Accessories section of the last page
PIN SIGNAL PIN SIGNALPIN SIGNAL 18 Sin(-) 9 EncX26 SignalGnd 17 +5VOut 8 Enc/X25 SignalGnd 16 SignalGnd 7 [IN11]Motemp24 N/C 15 EncS 6 +5VOut23 N/C 14 Enc/S 5 SignalGnd22 N/C 13 EncA 4 [IN14]21 Cos(+) 12 Enc/A 3 [IN13]20 Cos(-) 11 EncB 2 [IN12]19 Sin(+) 10 Enc/B 1 FrameGnd
Pin Signal
4 Brk24VInput
3 Brk24VOutput
2 BrakeA[OUT4]
1 24VReturn
signal pin
AuxHV 3
HV 2
HVGround 1
Signal Pin
Motor A 5
Motor /A 4
Motor b 3
Motor /b 2
FrameGround 1
RoHS
1 2 3
0V +HV Aux
11019
91826
1 2 3 4 5
A/AB/B
1234
J5 FEEDBACK
POWERMOTOR
BRAKE J6
J7 J8
TELStepnet Plus Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01442 Rev 00 Page 23 of 30
J6:FEEDBACK
J8:DRIVECONNECTOREuro-style5.08mmmalereceptacle,3-position Wago:MCS-MIDI,231-563/108-000
J7:DRIVECONNECTORSEuro-style5.08mmmalereceptacle,4-position Wago:MCS-MIDI,231-565/108-000
J6:TELCONNECTORHigh-DensityHDsubDB-26F, femalereceptacle,26Position
J7CABLECONNECTORSWagoMCS-MIDIClassic231-305/107-000
J6:CABLECONNECTORHigh-DensityHDsubDB-26M, maleplug,26Position
J8:CABLECONNECTORWagoMCS-MIDI,231-303/107-000
WAGOCONNECTORTOOLContactopener:231-159operatingtool
WAGOCONNECTORTOOLContactopener:231-159operatingtool
J7:MOTOROUTPUT
J6:MOTORFEEDBACK
J8:+HV&AUXPOWER
J5:TELCONNECTOREuro-style3.5mmmalereceptacle,4-position Wago:MCS-MINI,734-164/108-000
J5:CABLECONNECTORWagoMCS-MINI734-104/107-000 or 734-105/107-000
WAGOCONNECTORTOOLContactopener:734-231operatingtool
J5:BRAKE
connectors & sIgnals: brake, feedback, Motor, & power
J5
J8J7
J6
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)
AWG mm2 Color Mfgr PNUM A b C D E SL
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)
AWG mm2 Color Mfgr PNUM A b C D E SL
2x18 2x1.0 Red Altech 2776.0 15.4(.61) 8.2[.32] 2.4(.09) 3.2(.13) 5.8(.23) 11.0(.43)
2x18 2x1.0 Gray Altech 2775.0 14.6(.57) 8.2(.32) 2.0(.08) 3.0(.12) 5.5(.22) 11.0(.43)
2x20 2x0.75 White Altech 2794.0 14.6(.57) 8.2(.32) 1.7(.07) 3.0(.12) 5.0(.20) 11.0(.43)
2x20 2x0.75 Gray TE 966144-2 15.0(.59) 8.0(.31) 1.70(.07) 2.8(.11) 5.0(.20) 10(.39)
2x22 2x0.50 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
TELStepnet Plus Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01442 Rev 00 Page 24 of 30
wIrIng
J8J7
WagoMCS-MIDIClassic:231-305/107-000(J7),231-303/107-000(J8); withscrewflange;3-pole;pinspacing5.08mm/0.2in
Conductorcapacity 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
Conductorcapacity 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
24V&Brake
HV&AuxMotor
Tool
Tool
FERRULEPARTNUMBERS:DOUBLEWIREINSULATED
FERRULEPARTNUMBERS:SINGLEWIREINSULATED
NOTESPNUM=PartNumberSL=StrippinglengthDimensions:mm(in)
NOTESPNUM=PartNumberSL=StrippinglengthDimensions:mm(in)
FERRULEPARTNUMBERS:SINGLEWIREINSULATED
HV/AUXPOWERANDMOTOROUTPUTS:J7&J8
24V&BRAKE:J5
J5
qty Description
1 Heatsink,standard,TEL-HS
1 Thermalpad,4x4in.
1
Kit,HeatsinkHardware,TEL
4 Washer,flat,#8
4 Screw,PAN,SEMS,#8-32x1/2in
RoHSTELStepnet Plus Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01442 Rev 00 Page 25 of 30
• STANDARDHEATSINKFORSTEPNETPLUSPANELTEL • COMPLETEKITFORUSERINSTALLATIONOFTHEHEATSINK
DESCRIPTION
TheTEL-HKisakitcontainingaheatsinkandmountinghardwareforfieldinstallationofastandardheatsinkontoaTELmodelservodrive. ToorderanTELdrivewithheatsinkfittedatthefactory,add“-H”tothemodelpartnumber.
INSTALLATION
1) Placetheheatsinkfins-downonaworksurface.Orienttheheatsinksothattheedgewithpartnumberisawayfromyou.TheholefortheTELgroundinglugshouldbetoyourleft.
2) Removetheclearprotectivefilmfromthethermalmaterialanddiscardit.Placethethermalmaterialontotheheatsinkintheplacementareawhichismarkedwithfourwhite“L”.Applylightpressuretoensurethatthethermalmaterialisflat.
3) Peelthewhiteprotectivelayerawayfromthethermalmaterial.Dothisslowlyfromonecornersoasnottoliftthethermalmaterialfromtheheatsink.
4) AligntheTELasshownandlowerontotheheatsink.Ifneededtoadjusttheposition,liftitawayfromthethermalmaterialandlowerontotheheatsinkagain.
5) Installthefourmountingscrewswithflatwashersandtightenevenly.Torqueto17.8lb-in(2.0Nm)maximum.
HEATSINKKITPARTLIST
heatsInk kIt InstallatIon
Heatsink
Mounting Screws(4)
TEL Drive
Thermalmaterial
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
TELStepnet Plus Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01442 Rev 00 Page 26 of 30
Quiescentpower
POWERDISSIPATIONUsethischarttofindtheWattsdissipation. TheverticaldashedlinesshowthecontinuouscurrentsforthethreeTELmodels.ExampleTEL-090-30:PowersupplyHV=65Vdc Current=12.5A Powerdissipation=10.8W
ThetopchartonthispageshowstheinternalpowerdissipationoftheTELunderdifferingpowersupplyandoutputcurrentconditions.The+HVvaluesarefortheaverageDCvoltageofthedrivepowersupply.Thelowerchartshowsthetemperaturerisevs.powerdissipationunderdifferingmountingandcoolingconditions.
therMals: power dIssIpatIon
therMals: MaXIMuM operatIng teMperature Vs. dIssIpatIon
TEL-090-30
TEL-090-14
TEL-090-06
10.8W
33 C
10.8W
HSForNHSF
HSNFNHSNF
Internal power dissipation (Watts)
Usethischarttofindthemaximumoperatingtemperatureofthedriveunderdifferingmountingandcoolingconditions.Example:Usingthe10.8Wvaluefromthecalculationsabove,drawaverticalline.Thisshowsthat33CisthemaximumoperatingtemperatureforNHSNF.ButHSFNF,NHSF,orHSFmountingsallowoperationto45Cmaximumambient.
HSF = HeatSink(with)Fan NHSF = NoHeatSink(with)Fan HSNF = HeatSinkNoFan NHSNF= NoHeatSinkNoFan
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
J5FE
ED
BA
CK
PO
WE
RM
OTO
R
BR
AK
EJ6
J7J8
J5FE
ED
BA
CK
PO
WE
RM
OTO
R
BR
AK
EJ6
J7J8
J5FE
ED
BA
CK
PO
WE
RM
OTO
R
BR
AK
EJ6
J7J8
J5FE
ED
BA
CK
PO
WE
RM
OTO
R
BR
AK
EJ6
J7J8
TELStepnet Plus Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01442 Rev 00 Page 27 of 30
THERMALRESISTANCEThermalresistanceisameasureofthetemperatureriseofthedriveheatplateduetopowerdissipationinthedrive.Itisexpressedinunitsof°C/Wwherethedegreesarethetemperatureriseaboveambient.E.g.,adrivedissipating13Wmountedwithnoheatsinkorfanwouldseeatemperatureriseof45°Caboveambientbasedonthethermalresistanceof3.46°C/W.Usingthedrivemaximumheatplatetemperatureof70°Candsubtracting46°Cfromthatwouldgive24°Casthemaximumambienttemperaturethedriveinwhichthedrivecouldoperatebeforegoingintothermalshutdown.Tooperateathigherambienttemperaturesaheatsinkorforced-airwouldberequired.
MOUNTINGThermaldataforconvection-coolingwithaheatsinkassumesaverticalmountingofthedriveonathermallynon-conductingsurface.Heatsinkfinsrunparalleltothelongaxisofthedrive.Whenfan-coolingisusedverticalmountingisnotnecessarytoguaranteethermalperformanceoftheheatsink.
end vieWs vertiCal mounting
therMals: MountIng & therMal resIstance
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]
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]
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N16-01442 Rev00 Page28of30
TElstepnet plus panel ethercat
dIMensIons: no heatsInk
Units:IN[MM]
RoHS
0.16 [4.1]1.14 [28.8]
2.25 [57.2]
4.70 [119.4] 0.19 [4.8]0.19 [4.8] 3.41 [86.6]
5.08 [129]
3.14 [79.9]
1.99 [50.4]
0.16 [4.1]1.14 [28.8]
2.25 [57.2]
4.70 [119.4] 0.19 [4.8]0.19 [4.8] 3.41 [86.6]
5.08 [129]
3.14 [79.9]
1.99 [50.4]
0.16 [4.1]1.14 [28.8]
2.25 [57.2]
4.70 [119.4] 0.19 [4.8]0.19 [4.8] 3.41 [86.6]
5.08 [129]
3.14 [79.9]
1.99 [50.4]
TELStepnet Plus Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01442 Rev 00 Page 29 of 30
Units:IN[MM]
Mountingscrews: #6-32,or3.5mm
dIMensIons: heatsInk Mounted
TEL-090-07 Stepnet Plus Panel EtherCATstepperdrive,5/7A,90Vdc
TEL-090-10 Stepnet Plus Panel EtherCATstepperdrive,10/10A,90Vdc
qty ref name description Manufacturer p/n
tel-ckConnectorKit
1J8 DCHV
Plug,3position,5.08mm,female Wago:231-303/107-000(Note 1)
1 Strainrelief,snap-on,5.08mm,3position,orange Wago:232-633
1J7 Motor
Plug,5position,5.08mm,female Wago:231-305/107-000(Note 1)
1 Strainrelief,snap-on,5.08mm,4position,orange Wago:232-635
1 J7,J8 Tool Tool,wireinsertion&extraction,231series Wago:231-159
1
J5Brake
Plug,4position,3.5mm,female Wago:734-104/107-000(Note 1)
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 MetalBackshell,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
1 MetalBackshell,DB-25,RoHS 3M:3357-9225
1J6 feed-
backConnector,high-densityDB-26M,26position,male,soldercup Norcomp:180-026-103L001
1 MetalBackshell,DB-15,RoHS 3M:3357-9215
SER-Ck 1 J2 RS-232 SerialCableKit
TEL-NC-10 1J3 Network
EtherCAT®networkcable,10ft(3m)
TEL-NC-01 1 EtherCAT®networkcable,1ft(0.3m)
Note1:ForRoHScompliance,append“/RN01-0000”totheWagopartnumberslistedabove
Note2:Insertion/extractiontoolforJ4contactsisAMP/Tyco91067-2(notincludedinTEL-CK)
16-01442DocumentRevisionHistoryRevision Date Remarks00 February17,2017 Initialreleasedversion
RoHSTELStepnet Plus Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01442 Rev 00 Page 30 of 30
Note: Specifications subject to change without notice
EtherCATisaregisteredtrademarkandpatentedtechnology,licensedbyBeckhoffAutomationGmbH,Germany.
Add-Htomodelnumberforheatsinkinstalledatthefactory(Example:TEL-090-10-H)
Example:OrderoneStepnet Plus TELdrive,10/10A,withconnectorKit,serialcablekitandheatsinkfittedatthefactory:Qty Item Remarks 1 TEL-090-10-R-H Stepnet Plus TELservodrivewithresolver,andheatsink 1 TEL-Ck TEL ConnectorKit 1 TEL-SK SerialCableKit
Master orderIng guIde
accessorIes