Argus PLUS Module EterCAT GEM RoH S · 2020. 12. 17. · DANGER Refer to the 16-01600 Argus GEM & GPM STO Manual The information provided in the 16-01600 Argus GEM & GPM STO Manual

Model Ic Ip Vdc

GEM-055-60 30 60 9~55

GEM-055-60-R 30 60 9~55

GEM-090-60 30 60 14~90

GEM-090-60-R 30 60 14~90

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01558 Rev 03 Page 1 of 38

RoHSArgus PLUS Module EtherCAT GEM

DIGITAL SERVO DRIVE FOR BRUSH & BRUSHLESS MOTORS

CONTROL MODES• Cyclic Synchronous Position-Velocity-Torque (CSP, CSV, CST)• ProfilePosition-Velocity-Torque,InterpolatedPosition,Homing• Indexer,Point-to-Point,PVT• Camming,Gearing• Position, Velocity, TorqueCOMMANDINTERFACE• CANopen application protocol over EtherCAT (CoE) • ASCIIanddiscreteI/O • Steppercommands • ±10V position/velocity/torque • PWMvelocity/torquecommandf • Masterencoder(Gearing/Camming)COMMUNICATIONS• EtherCAT• RS-232• RS-422FEEDBACKIncremental• Digital quad A/B encoder• Analog sin/cos encoder• PanasonicIncrementalA• Aux. encoder / encoder out Absolute• SSI• EnDat 2.1 & 2.2• Absolute A• TamagawaAbsoluteA• PanasonicAbsoluteAFormat• Sanyo Denki Absolute A• BiSS (B&C)Other • DigitalHalls • Resolver(-Rmodel)I/ODIGITAL• 6High-speedinputs • 1Motorover-tempinput• 4 Opto-isolated inputs• 4High-speedoutput• 4 Opto-isolated outputs• 1Opto-isolatedmotorbrakeoutputI/OANALOG• 1 Reference input, 12-bit SAFE TORQUE OFF (STO)• SIL3,Category3,PLd

DIMENSIONS:IN[MM]• 3.10x2.40x0.92[78.7x60.1x23.4]

DESCRIPTIONGEM sets new levels of performance, connectivity, andflexibility.CANopen application protocol over EtherCAT (CoE) communicationprovidesawidelyusedcost-effectiveindustrialbus.Awiderangeofabsoluteencodersaresupported.

Both isolated and high-speed non-isolated I/O areprovided.Forsafetycriticalapplications,redundantpowerstageenableinputscanbeemployed.



MODEL GEM-055-60(-R) GEM-090-60(-R)OUTPUT CURRENT

PeakCurrent 60(42.4) 60(42.4) Adc(Arms) Peaktime 1 1 Sec Continuouscurrent 30(21.2) 30(21.2) Adc(Arms) PeakOutputPower 5.4 5.4 kW ContinuousOutputPower 2.7 2.7 kW

INPUTPOWER HVmintoHVmax +9to+55 +14to+90 Vdc Ipeak 60 60 Adc Icont 30 30 Adc AuxHV +20toHVmax 2.5Wmax Optionalkeep-alivepowerinputwhen+HVisremoved

PWM OUTPUTS Type MOSFET3-phaseinverter,16kHzcenter-weightedPWMcarrier,space-vectormodulation PWMripplefrequency 32kHz

DIGITALCONTROL Digital Control Loops Current, velocity, position. 100% digital loop control Samplingrate(time) Currentloop:16kHz(62.5µs),Velocity&positionloops:4kHz(250µs) PWMfrequency 16kHz Busvoltagecompensation Changesinbusormainsvoltagedonotaffectbandwidth Minimumloadinductance 500µHline-line Resolution 12-bit capture of U & V phase currents

COMMANDINPUTS

EtherCAT: CAN application protocol over EtherCAT (CoE): Cyclic Synchronous Position/Velocity/Torque, ProfilePosition/Velocity/Torque,InterpolatedPosition(PVT),Homing Stand-alone mode: Analog torque, velocity, position reference ±10 Vdc, 12 bit resolution Dedicated differential analog input Digitalpositionreference Pulse/Direction,CW/CCW Steppercommands(4MHzmaximumrate) Quad A/B Encoder 2 M line/sec, 8 Mcount/sec (after quadrature) Digital torque & velocity reference PWM , Polarity PWM = 0% - 100%, Polarity = 1/0 PWM 50% PWM = 50% ±50%, no polarity signal required PWMfrequencyrange 1kHzminimum,100kHzmaximum PWMminimumpulsewidth 220ns Indexing Upto32sequencescanbelaunchedfrominputsorASCIIcommands. Camming Upto10CAMtablescanbestoredinflashmemory ASCII RS-232,9600~115,200Baud,3-wire,RJ-11connector

DIGITALINPUTS Number 11 [IN1,2,3,4,5,6] Digital,non-isolated,Schmitttrigger,1µsRCfilter,7Vdccompatible,10kpull-upto+5Vdc Vt+=3.5Vdcmax,Vt-=1.5Vdcmin,Vh=0.45Vdcmin,SLIportMISOsignal [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,24Vdcmax,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]defaultstotheEnablefunctionandisprogrammablefor other functions.analog input

ANALOGINPUT [AIN±] Differential,±10Vdc,5kΩinputimpedance,12-bitresolution Bandwidth(-3dB)ofanalogsignalpath:≥60kHz,common-moderange-10to+20Vdc

DIGITALOUTPUTS Number 9 [OUT1~4] Isolated,two-terminalSSRwith1W series resistor and 36 V Zener diode for driving inductive loads Ton=5msmax,@300mA,Toff=2msmax@300mA Maximumworkingvoltagewithrespecttoground:32Vdc,ratedimpulsevoltage≥800Vdc [OUT5~8] Highspeed,SLIportMOSI,SCLK,&EN1signals,74AHCT125linedrivers;+5Vdctolerant Outputcurrent:±25mAmax@±5Vdc [OUT9BRAKE] Isolated,MOSFET,1Amax,externalflybackdioderequired,Turn-ON&Turn-OFFdelay250µsmax GATE output can drive an external MOSFET for brakes requiring higher current Maximumworkingvoltagewithrespecttoground:32Vdc,ratedimpulsevoltage≥800Vdc Functions Defaultfunctionsareshownabove,programmabletootherfunctions

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

RS-422 PORT Signals A/Y(+),B/X(-),GndfromISL32455tranceiver,opticallyisolated Mode Half-duplex,RS-422slave,9,600to230.4kbps Protocol BinaryandASCIIformats

NOTES:1.Brakeoutput[OUT9]isprogrammableasmotorbrake,orasgeneralpurposedigitaloutput.2.WhenSTOfeatureisused,the24VpowersupplymustbeaSELVorPELVtypewiththemaximumoutputvoltagelimitedto60Vdcorlower.

GENERAL SPECIFICATIONS

DANGER

Refer to the 16-01600 Argus GEM & GPM STO Manual

Theinformationprovidedinthe16-01600 Argus GEM & GPM STO Manual mustbeconsidered for any application using the GEM drive STO feature.Failure to heed this warning can cause equipment damage, injury, or death.



DC OUTPUTS Number 1 Ratings +5Vdc@500mAthermalandoverloadprotected

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-IN1:11.2mA,STO-IN2:11.2mA Responsetime 2msfromVin≤6.0Vdctointerruptionofenergysuppliedtomotor Muting Wiringashortingplugwithjumpers(seepage7)willmute(bypass)theSTOfunction

PROTECTIONS HVOvervoltage-055models +HV>55Vdc Driveoutputsturnoffuntil+HV≤55Vdc HVUndervoltage-055models +HV<9Vdc Driveoutputsturnoffuntil+HV≥9Vdc HVOvervoltage-090models +HV>90Vdc Driveoutputsturnoffuntil+HV≤90Vdc HVUndervoltage-090models +HV<14Vdc Driveoutputsturnoffuntil+HV≥14Vdc Driveovertemperature Heatplate>70°C. Driveoutputsturnoff Short circuits Output to output, output to ground, internal PWM bridge faults I2TCurrentlimiting Programmable:continuouscurrent,peakcurrent,peaktime Motorovertemperature Digitalinputsprogrammabletodetectmotortemperatureswitch FeedbackLoss Inadequateanalogencoderamplitudeormissingincrementalencodersignals

MECHANICAL&ENVIRONMENTAL Sizemm[in] 3.10x2.40x0.92[78.7x60.1x23.4] Weight 4.2oz(120g)withoutheatsink Ambienttemperature 0to+45°Coperating,-40to+85°Cstorage Humidity 0to95%,non-condensing Vibration 2 gpeak,10~500Hz(sine),IEC60068-2-6 Shock 10 g,10ms,half-sinepulse,IEC60068-2-27 Contaminants Pollutiondegree2 Environment IEC68-2 Cooling Heatsinkand/orforcedaircoolingrequiredforcontinuouspoweroutput Altitude ≤2000m(6560ft)perIEC60068-2-13

AGENCY STANDARDS CONFORMANCE Standards and Directives Functional Safety (PENDING) IEC61508-1,IEC61508-2, EN(ISO)13849-1,EN(ISO)13849-2,IEC61800-5-2

Electrical Safety Directive2014/35/EU(LowVoltage) UL61800-5-1,IEC61800-5-1

EMC Directive 2014/30/EU IEC61800-3 EMCandFunctionalSafetyofPDS(IFApublication)

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

Approvals UL and cUL recognized component to: UL 61800-5-1 UL Functional Safety Certification to: (PENDING) IEC61508-1,ISO13849-1/:2015,IEC61508-5-2





FEEDBACK Incremental encoders: DigitalIncrementalEncoder Quadraturesignals,(A,/A,B,/B,X,/X),differential(X,/XIndexsignalsnotrequired) MAX3097differentiallinereceiversforA,BandX,5MHzmaximumlinefrequency(20Mcounts/sec) Faultdetectionforopen/shortedinputs,orlowsignalamplitude,selectableforA||B||XorA||B Externalterminatorsrequiredforfaultdetection,121W for A & B channels, 130WforX AnalogIncrementalEncoder Sin/Cos,differential,internal121Wterminatorsbetween±inputs,1.0Vp-ptypical,1.45Vp-pmaximum, Common-modevoltage0.25to3.75Vdc,,±0.25V,centeredabout2.5Vdc Signals:Sin(+),Sin(-),Cos(+),Cos(-), Frequency:230kHzmaximumline(cycle)frequency,interpolation12bits/cycle(4096counts/cycle) Absolute encoders: HeidenhainEnDat2.2,SSI SerialClock(X,/X),Data(S,/S)signals,differential4-wire, External 121WterminatorrequiredforClock,221W for Data HeidenhainEnDat2.1 Clock(X,/X),Data(S,/S),Sin/Cos(Sin+,Sin-,Cos+,Cos-)signals Internal121WterminatorsbetweenSin/Cosinputs, External 121WterminatorrequiredforClock,221W for Data AbsoluteA,TamagawaAbsoluteA,PanasonicAbsoluteAFormat SD+,SD-(S,/S)signals,2.5or4MHz,2-wirehalf-duplex,external221Wterminatorrequired Position feedback: 13-bit resolution per rev, 16 bit revolution counter (29 bit absolute position data) Status data for encoder operating conditions and errors BiSS(B&C) MA+,MA-(X,/X),SL+,SL-(S,/S)signals,4-wire,clockoutputfromdrive, datareturnedfromencoder External 121WterminatorrequiredforMA,221W for SL Resolver: Type Brushless,single-speed,1:1to2:1programmabletransformationratio Resolution 14 bits (equivalent to a 4096 line quadrature encoder) Referencefrequency 8.0kHz Referencevoltage 2.8Vrms,auto-adjustablebythedrivetomaximizefeedback Referencemaximumcurrent 100mA MaximumRPM 10,000+

HALLS Digital: U,V,W:Single-ended,120°electricalphasedifferencebetweenU-V-Wsignals, Schmitttrigger,1.5µsRCfilter,24Vdccompatible,15kΩpull-upto+5Vdc Vt+=2.5~3.5Vdc,VT-=1.3~2.2Vdc,VH=0.7~1.5Vdc

Analog: U & V: Sin/Cosformat(Sin+,Sin-,Cos+,Cos-),differential,1Vpeak-peak±20%,ServoTubemotorcompatible, BW>300kHz,121ΩterminatingresistorsbetweenSin+&Sin-,Cos+&Cos-inputs 12-bitresolution,BW>300kHz,withzero-crossingdetection

MULTI-MODEENCODERPORT As Input: SeeDigitalIncrementalEncoderaboveforelectricaldataonA,B,&Xchannels,or AbsoluteencodersusingXorSchannels.Externalterminatorsrequiredasshownabove As Emulated Output: QuadratureA/Bencoderemulationwithprogrammableresolutionto4096lines(65,536counts) perrevfromanalogSin/Cosencodersorresolvers. A,/A,B,/B,outputsfromMAX3032differentiallinedriver,X,/X,S,/SfromMAX3362linedrivers As Buffered Output: DigitalA/B/Xencodersignalsfromprimarydigitalencoderarebufferedasshownabove,5MHzmax

5V OUTPUTNumber 1 Ratings +5Vdc@500mAthermalandoverloadprotected

18

18

TX2+

TX2-

RX2-

Network ground

DriveSignalGround

P3/8

P3/16

P3/11

P3/9

P3/2,5,10,13

Drive EtherCAT port

Network port

IN

OUT

TX1+

TX1 Term

RX1+

RX1 Term

TX2 Term

RX2 Term

TX1-

RX1-

P3/6

P3/3

P3/1

P3/4

P3/7

P3/12

P3/15

1M

75

75

10n

1M

75

75

RX2+

P3/14

10n

1M

CABLE SHIELD

Zo = 100 Ω

Zo = 100 Ω

Zo = 100 Ω

Zo = 100 Ω

75

75

10n75

75

10n

Signal Ground

J4/3,4,15, 16,23,50

J4/43

J4/44

RDRxD

TDTxD

6

9 1

5

TxD

RxD

Gnd

D-Sub 9M(DTE)

ISL32455

RS422(+)

RS422GND

RS422(-)TxD

RxDJ4/42

DevKitP9 Drive

J4J4/49

J4/411

2

3

4

5



EtherCATistheopen,real-timeEthernetnetworkdevelopedbyBeckhoffbasedonthewidelyused100BASE-TXcablingsystem.EtherCATenableshigh-speedcontrolofmultipleaxeswhilemaintainingtightsynchronizationofclocksinthenodes.DataprotocolisCANapplicationprotocoloverEtherCAT(CoE)basedonDSP-402formotioncontroldevices.MoreinformationonEtherCATcanbefound on the EtherCAT Technology Groupweb-site:https://www.ethercat.org/default.htm

ETHERCAT COMMUNICATIONS

ETHERCATCONNECTIONSPage22showsguidelinesforPCboardlayoutanddesigning for EtherCAT signals.Page25showsthedualEtherCATcableconnectionsontheDevelopmentKit.Magneticsareintheservodrive.ExternalRJ-45connectorsdonotrequireintegratedmagnetics.

CME2->BasicSetup->OperatingModeOptions

CME2->Tools->CommunicationsWizard

RS-232COMMUNICATIONSGEMisconfiguredviaathree-wire,full-duplexDTERS-232portthatoperatesfrom9600to115,200Baud,8bits,noparity,andonestopbit.Signalformatisfull-duplex,3-wire,DTEusingRxD,TxD,andGnd.ConnectionstotheGEM RS-232portarethroughP4ThegraphicbelowshowstheconnectionsbetweenanGEMandacomputerCOMportwhichisaDTEdevice.

RS-422COMMUNICATIONSRS-422isatwo-wiredifferentialhalf-duplexportthatoperatesfrom9600to230.4kbps.ConnectionstotheGEM RS-232 port are through P4 The graphicbelowshowstheconnectionsbetweenaGEMandacomputerRS-422port.

the Copley Controls

DANGER

Refer to the 16-01600 Argus GEM & GPM STO Manual

Theinformationprovidedinthe16-01600 Argus GEM & GPM STO Manual mustbeconsidered for any application using the GEM drive STO feature.Failure to heed this warning can cause equipment damage, injury, or death.

SIGNAL PIN PIN SIGNAL

STO-IN2(-) 1 2 STO-GND

STO-IN2(+) 3 4 STO-BYPASS

STO-IN1(-) 5 6 STO-IN1(-)

STO-IN1(+) 7 8 STO-IN1(+)

STO MutingConnections

Channel 1

STO-Bypass (6.5 mA)

STO-Gnd (Sgnd)

J3

STO-IN2+

STO-IN1+

Channel 2

FPGA

PWM HI

PWM LO

Channel 3

STO-IN1-

STO-IN2-

STO-IN1+

STO-IN1-

3

1

7

5

8

6

4

2

EN

HI

LO

GateDrivers

PWMOutputs

+HV



J3SIGNALS

SAFE TORQUE OFF (STO)DESCRIPTIONTheGEMprovidestheSafeTorqueOff(STO)functionasdefinedinIEC61800-5-2.Threeopto-couplersareprovidedwhich,whende-energized,preventtheupperandlowerdevicesinthePWMoutputsfrombeingoperatedbythedigitalcontrolcore.ThisprovidesapositiveOFFcapabilitythatcannotbeoverriddenbythecontrolfirmware,orassociatedhardwarecomponents.Whentheopto-couplersareactivated(currentisflowingintheinputdiodes),thecontrolcorewillbeabletocontroltheon/offstateofthePWMoutputs.

Current must flow through all of the

opto-couplers before the drive can be

enabled

STOBYPASS(MUTING)InorderforthePWMoutputsofthedrivetobeactivated,currentmustbeflowingthroughalloftheopto-couplersthatareconnectedtothe STO-1andSTO-2terminalsofJ4,andthedrivemustbeinanENABLEDstate.Whentheopto-couplersareOFF,thedriveisinaSafeTorqueOff(STO)stateandthePWMoutputscannotbeactivatedbythecontrolcoretodriveamotor.Thisdiagramshowsconnectionsthatwillenergizealloftheopto-couplersfromaninternalcurrent-source.WhenthisisdonetheSTOfeatureisoverriddenandcontroloftheoutputPWMstageisundercontrol of the digital control core. If not using the STO feature, these connections must be made in order for the drive to be enabled.

STOBYPASSCONNECTIONS

INSTALLATION

CONNECTIONS

Input J4Pins

IN4 19

IN5 22

Sgnd 3,4,15,16,23,50

[IN4] Position CU

Position CD[IN5]

SgndCD (Count-Down)

CU (Count-Up)

Controller J4

[IN4] Encoder A

Encoder B[IN5]

Sgnd

Master Encoder J4

Encoder ph. B

Encoder ph. A

J4Controller

[IN4] Position

Direction[IN5]

SgndDirection

Pulse

J4

[IN4] Current orVelocity

Polarity[IN5]

Sgnd

Duty = 0~100

Controller

[IN4] Current orVelocity

No Function[IN5]

Sgnd

<no connection>

Duty = 50% ±50%

Controller J4



DIGITAL COMMAND INPUTS: POSITION

DIGITAL COMMAND INPUTS: VELOCITY, TORQUE

CME2->BasicSetup->OperatingModeOptions CME2->BasicSetup->OperatingModeOptions

CU/CD QUAD A/B ENCODERPULSE&DIRECTION

PWM&DIRECTION 50% PWM

CME2->BasicSetup->OperatingModeOptions CME2->MainPage->PWMCommand

SIGNALS&PINS

Signal J4Pins

Pulse, CW, Encoder A, Vel-Curr-Mag, Vel-Curr-50% 8

/Pulse, /CW, Encoder /A, /Vel-Curr-Mag, /Vel-Curr-50% 7

Direction, CCW, Encoder B, Vel-Curr-Pol 10

/Direction, /CCW, Encoder /B, /Vel-Curr-Pol 9

QuadEncX,AbsoluteClock 14

QuadEnc/X,/AbsoluteClock 13

Enc S, Absolute (Clock) Data 12

Enc /S, / Absolute (Clock) Data 11

Signal Ground 3,4,15,16, 23,50

Input/OutputSelect

MAX3097

MAX3032 for A/BMAX3362 for X

A/B/X signals fromdigital encoder

Input/OutputSelectPulse/Dir or CU/CD

differential commands

MAX3097


InputSelect

OutputSelect

X

S

4-Wire digital absolute encoder signals

MAX3362

MAX3362

Input/OutputSelectVel/Pol, Curr/Pol or 50%

differential commands

MAX3097


Input/OutputSelect

S

S

2-Wire digital absolute encoder signals

MAX3362

MAX3362

+5V output @ 500 mA

Signal Ground

Enc. B

Enc. X

Enc. X

Enc. X

Enc. S

Enc. S

Enc. A

Incremental Encoder

Absolute Encoder

J4

Frame Ground

Multi Enc A

Multi Enc /A

Multi Enc B

Multi Enc /B

Multi Enc X

Multi Enc /X

Multi Enc S

Multi Enc S



MULTI-MODE ENCODER PORT AS AN INPUT

POSITIONCOMMANDINPUTS:DIFFERENTIAL• Pulse & Direction• CW&CCW(Clockwise&Counter-Clockwise)• Encoder Quad A & B• CammingEncoderA&Binput

CURRENT orVELOCITYCOMMANDINPUTS:DIFFERENTIAL• Current/Velocity Magnitude & Direction• Current/Velocity 50%

SECONDARYFEEDBACK: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

SIGNALS&PINS

Signal J4Pins

Encoder A 8

Encoder /A 7

Encoder B 10

Encoder /B 9

EncoderX 14

Encoder/X 13

Signal Ground 3,4,15,16,23,50

SecondaryEncoder Input

Input/OutputSelect

MAX3032

MAX3097

Emulated Quad A/Bsignals from analog Sin/Cos encoder

Emulated A/B signals

SecondaryEncoder Input

Input/OutputSelect

MAX3097

Buffered Quad A/Bsignals from MAX3032 Buffered Quad Xsignal from MAX3362

Buffered A/B/X signals

Enc. B

Enc. X

Enc. A

Incremental Encoder

J4

Frame Ground

Multi Enc A

Multi Enc /A

Multi Enc B

Multi Enc /B

Multi Enc X

Multi Enc /X



MULTI-MODE PORT AS AN OUTPUT

OUTPUT TYPES

BUFFEREDQUADA/B/XOUTPUTS EMULATED QUAD A/B OUTPUTS

BUFFEREDFEEDBACKOUTPUTS:DIFFERENTIAL• EncoderQuadA,B,Xchannels• DirecthardwareconnectionbetweenquadA/B/X encoderfeedbackanddifferentiallinedriversforA/B/Xoutputs

EMULATEDFEEDBACKOUTPUTS:DIFFERENTIALFirmwareproducesemulatedquadA/Bsignalsfromfeedback datafromthefollowingdevices:• Absolute encoders • AnalogSin/Cosincrementalencoders

Name Notes

Analog: Reference Filter Disabled

Vloop:InputFilter Disabled

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

Vloop: Output Filter 2 Disabled

Vloop: Output Filter 3 Disabled

Iloop:InputFilter1 Disabled

Iloop:InputFilter2 Disabled

InputShaping Disabled

Option Notes

Method SetCurrentPositionasHome

Name Notes

OUT1 Isolated Fault Active Off

OUT2Isolated NotConfiguredOUT3

OUT4

OUT5 HSNotConfigured

OUT 6 HSSPI_MOSI

OUT 7 HSSPI_CLK

OUT 8 HSSPI_EN1

OUT 9 BrakeActive-HI

Active Notes

√ Short Circuit

√ AmpOverTemperature

√ MotorOverTemp

Over Voltage

Under Voltage

√ Feedback Error

Motor Phasing Error

√ FollowingError

CommandInputFault

Motor Wiring Disconnected

STO Active

OPTIONALFAULTS

Over Current (Latched)

Name Configuration PU/PD

IN1 Enable-LO, Clear Faults +5VPU

IN2

NotConfigured +5V/Gnd

IN3

IN4

IN5

IN6

IN7

Opto NotConfigured

IN8

IN9

IN10

IN11 Motemp +5VPU



CME2 DEFAULTS

ThesetablesshowtheCME2defaultsettings.Theyareuser-programmableand thesettingscanbesavedtonon-volatileflashmemory.

SPECIFICATIONS

Input Data Notes

InputVoltages

HI VT+≥2.5~3.5Vdc

LO VT-≤1.3~2.2Vdc

Hys VH0.7~1.5Vdc

Max +30Vdc

Min 0 Vdc

Pull-up/down R1 10 kW

Lowpassfilter

R2 1 kW

C1 100 pF

RC1 0.1µs

CONNECTIONS

Input J4Pins

IN1 18

IN2 17

IN3 20

IN4 19

IN5 22

IN6 21

Sgnd 3,4,15,16, 23,50

SPECIFICATIONS

Input Data Notes

InputVoltages

HI VT+≥2.5~3.5Vdc

LO VT-≤1.3~2.2Vdc

Hys VH0.7~1.5Vdc

Max +30Vdc

Min 0 Vdc

Pull-up R1 4.99 kW

Lowpassfilter

R2 10 kW

C1 33 nF

RC1 330µsBS 4999:Part 111:1987

Property ohms

Resistanceinthetemperaturerange20°Cto+70°C 60~750

Resistanceat85°C ≤1650

Resistanceat95°C ≥3990

Resistanceat105°C ≥12000

CONNECTIONS

Input J2Pins

IN11 17

Sgnd 8,18,21,22

C1

R2R1

74AHC14BQ

[IN1~6]

+5V

J4

+5V

[IN11]

Thermistor,Posistor,

or switch Signal Gnd

R1

R2

C1

J2



HIGH SPEED INPUTS: IN1, IN2, IN3, IN4, IN5, IN6

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

Notes:1)TheR2*C2timeconstantap-plieswheninputisdrivenbyactiveHI/LOdevices

• Digital, non-isolated• Motorovertempinput• 24VCompatible• Programmablefunctions

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

* RC time constant applieswhen input is driven byactivehigh/lowdevice

MOTOR OVERTEMP INPUT: IN11

CONNECTIONS

Signal J4Pins

IN7 27

IN8 25

IN9 26

IN10 24

ICOM 28

SPECIFICATIONS

Input Data Notes

InputVoltages

HI Vin≥±10.0Vdc*

LO Vin≤±6.0Vdc*

Max ±30 Vdc *

InputCurrent±24V ±3.6mAdc

0V 0mAdc

4.99k 4.7V

[IN7] 4.7k

4.7k

4.7k

4.7k

[ICOM]

4.99k 4.7V

[IN8]

4.99k 4.7V

[IN9]

4.99k 4.7V

[IN10]

+24V

24V GND

+

24V

J4



OPTO-ISOLATED INPUTS: IN7, IN8, IN9, IN10

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

*VdcReferencedtoICOMterminals.

SPECIFICATIONS

Spec Data Notes

InputVoltage Vref ±10 Vdc

InputResistance Rin 5 kW

CONNECTIONS

Signal J4Pins

AIN(+) 2

AIN(-) 1

Sgnd 3,4,15,16,23,50

HI/LODEFINITIONS:OUTPUTS

Input State Condition

OUT1~4HI OutputSSRisON,currentflows

LO OutputSSRisOFF,nocurrentflows

CONNECTIONS:J4PINS

Signal (+) (-)

OUT1 30 29

OUT2 32 31

OUT3 34 33

OUT4 36 35

SPECIFICATIONS

Output Data Notes

ON Voltage OUT(+)-OUT(-) Vdc 0.5V@300mAdc

Output Current Iout 300mAdcmax

+

1.5V

Shield (Frame Gnd)

Ref(+)

Ref(-)Vref

J4D/A

F.G.

±10V

Sgnd

-

[OUTn-]

300mAmax

* at 24 Vdc

Vdc

J4

[OUTn+]

1

80Ωmin*

36V

SSR

+



ANALOG INPUT: AIN1

OPTO-ISOLATED OUTPUTS: OUT1, OUT2, OUT3, OUT4

Asareferenceinputittakesposition/velocity/torquecommandsfromacontroller.Ifnotusedasacommandinput,itcanbeusedasgeneral-purpose analog input.

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

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

SPECIFICATIONS

OutputHI Data Notes

VoutHI Voh 4.4 Vdc

IoutHI Ioh -8.0mAdc

Vout LO Vol 0.40 Vdc

IoutLO Iol 8.0mAdc

CONNECTIONS

Signal J4Pins

OUT 5 38

OUT 6 37

OUT 7 40

OUT 8 39

Sgnd 3,4,15,16,23,50

HI/LODEFINITIONS:OUTPUTS

Input State Condition

BRAKE [OUT9]

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 +30Vdc

Output Current Ids 1.0 Adc

J4CONNECTIONS

Pin Signal

45 Brake-24V

48 Brake-Gate

47 Brake-Out

46 Brake Gnd

+5 Vdc[OUT5~8]

±8 mA

RSgnd

J4

J4

Brake-Gate

10k

20k

Brake-24V

24V

BrkBrake-Out

Brake-Gnd

ii

+0



HIGH-SPEED OUTPUT: OUT5, OUT6, OUT7, OUT8

• CMOS buffer• 74AHCT1G125• Programmablefunctions

• Brakeoutput[OUT9]• Opto-isolated• 24VCompatible• Programmablefunctions• Gate output to drive external MOSFET

CME2DefaultSettingforBrakeOutput[OUT9]is“Brake-ActiveHI” Active =Brakeisholdingmotorshaft(i.e.theBrake is Active) Motorcannotmove Nocurrentflowsincoilofbrake CME2I/OLineStatesshows[OUT9]asHI BRKOutputvoltageisHI(24V),MOSFETisOFF Servodriveoutputcurrentiszero Servo drive is disabled, PWM outputs are off Inactive=Brakeisnotholdingmotorshaft(i.e.theBrake is Inactive) Motorcanmove Currentflowsincoilofbrake CME2I/OLineStatesshows[OUT9]asLO BRK output voltage is LO (~0V), MOSFET is ON Servo drive is enabled, PWM outputs are on Servodriveoutputcurrentisflowing

Thebrakecircuitsareopticallyisolatedfromalldrivecircuitsandframeground.

OPTO-ISOLATED MOTOR BRAKE OUTPUT: OUT9

Signal J2Pins

Enc A 10

Enc /A 9

Enc B 12

Enc /B 11

EncX 16

Enc/X 15

+5V 19,20

Sgnd 8,18,21,22

Signal J2Pins

Sin(+) 2

Sin(-) 1

Cos(+) 4

Cos(-) 3

X 16

/X 15

+5V 19,20

Sgnd 8,18,21,22

Signal J2Pins

Sin(+) 2

Sin(-) 1

Cos(+) 4

Cos(-) 3

Ref(+) 24

Ref(-) 23

Sgnd 8,18,21,22

1k+5V

1k

+5V Out @ 500 mA

Signal Ground

Sin(+)

Sin(-)

Cos(+)

Cos(-)

Enc X

Enc /X

-

+

-

+

10k

121

J2

10k

121

Encoder

FG

sin

cos

+5V

0V

indx

10k

Sin

Cos

10k

Enc. Index

Resolver

FG

J2

Sin(+)

Sin(-)

Cos(-)

Cos(+)

Ref(+)

Ref(-)

Signal Gnd

R/DConversionSinS3 S1

S2

S4R1R2

Cos

Ref

1k+5V

1k

Encoder J2

FG

Enc. AA

Enc. BB

Enc. IndexX

Enc A

Enc /A

Enc B

Enc /B

Enc X

Enc /X

+5V

0V

+5V Out @ 500 mA

Signal Ground



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 121Wterminatorresistorwillpulltheinputstogetherifeitherside(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,orwithServoTube motors.Theindexinputisdigital,differential.

QUAD ENCODER WITH INDEX

SIN/COS SIGNALS

A/B/X SIGNALS

Sgnd = Signal Ground

Sgnd = Signal Ground F.G.=FrameGnd

RESOLVERConnections to the resolver should bemadewithshielded cable that uses three twisted-pairs.Onceconnected,resolversetup,motorphasing,andothercommissioning adjustments aremadewith CME2software.Therearenohardwareadjustments.

RESOLVER SIGNALS

Signal J2Pins

Clk 16

/Clk 15

Data 14

/Data 13

Sin(+) 2

Sin(-) 1

Cos(+) 4

Cos(-) 3

+5V 19,20

Sgnd 8,18,21,22

Signal J2Pins

Data 14

/Data 13

+5V 19,20

Sgnd 8,18,21,22

SSI BiSS J2Pins

Clk MA+ 14

/Clk MA- 13

Data SL+ 12

/Data SL- 11

+5V 19,20

Sgnd 8,18,21,22

1k+5V

1k 1k+5V

1k

BiSSEncoder

MA+

MA-

SL+

SL-

FG

J2

Clk

Data

Master

Slave

V+

V-

+5V Out @ 500 mA

Signal Ground

Enc X

Enc /X

Enc S

Enc /S

750+5V

1k 1k+5V

1k

Encoder

Enc X

Enc /S

Enc S

Enc /S

FG

J2

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

Sin(+)

Sin(-)

Cos(+)

Cos(-)

Sin(+)

Sin(-)

Cos(+)

Cos(-)

Dat

/Dat

Clk

/Clk

FG

J2

Clk

Enc X

Enc /X

Enc S

Enc /SDataData

Clk

+5V

0V

+5V Out @ 500 mA

Signal Ground

10k

10k

121 Sin

Cos

10k

10k

121

sin

cos

Absolute-AEncoder

1.2k

1.2k

220

5V

SD+

SD-

J2

Battery

Enc S

Enc /SCmd

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.TheGEMdriveprovidesatrainofclocksignalsindifferentialformattotheencoderwhichinitiatesthetransmissionofthepositiondataonthesubsequent clock pulses. The polling of the encoder data occurs at the currentloopfrequency(16kHz).Thenumberofencoderdatabitsandcountspermotorrevolutionareprogrammable. Thehardwarebusconsistsoftwosignals:SCLKandSDATA.Dataissentin8bitbytes,LSBfirst.TheSCLKsignalisonlyactiveduringtransfers.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. BiSSreferstoprinciplesofwellknownindustrialstandardsforSerialSynchronousInterfaceslikeSSI,AS-Interface®andInterbus®withadditional options. SerialSynchronousDataCommunication Cyclic at high speed 2 unidirectional lines Clock and Data Linedelaycompensationforhighspeeddatatransfer Request for data generation at slaves Safety capable: 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 that is electricallythesameasRS-485.Notethebatterywhichmustbeconnected.Withoutit,theencoderwillproduceafaultcondition.

ENDAT SIGNALS

ABSOLUTE-A SIGNALS

Note: Single (outer) shields should be connected at the controller end. Inner shields should only be connected to Signal Ground on the drive.

SSI,BiSS SIGNALS



• Absolute A• TamagawaAbsoluteA• PanasonicAbsoluteAFormat• Sanyo Denki Absolute A

Signal J1Pin

Mot U 41~46

Mot V 31~36

Mot W 21~26

Signal J2Pins

HallU 5

HallV 6

HallW 7

+5V 19,20

Sgnd 8,18,21,22

J1

PWM

+HV

0V

+

U

V

W

Motor3 ph.

Halls

+5V Out @ 500 mA

Signal Ground

+5V

0V

15K

100p

15KHall U+5V

J2

100p

15K

15KHall V+5V

100p

15K

15KHall W+5V

Hall A

Hall B

Hall C

HALL SIGNALS

MOTOR SIGNALS



MOTOR CONNECTIONS

MOTOR PHASE CONNECTIONSThe drive output is a three-phase PWM inverter that converts the DC buss voltage (+HV)intothreesinusoidalvoltagewaveformsthatdrivethemotorphase-coils.Cableshouldbesizedforthecontinuouscurrentratingofthemotor.Motorcablingshouldusetwisted,shieldedconductorsforCEcompliance,andtominimize PWMnoise coupling into othercircuits.Themotorcableshieldshouldconnecttomotorframegroundforbestresults.

DIGITAL HALL SIGNALSHall signals are single-ended signals thatprovideabsolutefeedbackwithinoneelectricalcycleofthemotor.Therearethreeofthem(U, V, &W) and theymay be sourced bymagneticsensorsinthemotor,orbyencodersthathaveHalltracksaspartoftheencoderdisc. They typically operate atmuch lowerfrequenciesthanthemotorencodersignals,and are used for commutation-initializationafter startup, and for checking themotorphasing after the amplifier has switched tosinusoidalcommutation.

+

-

4

Controller

I/O

I/O

+

-

[IN4] HS

[IN5] HS

[IN6] MISO

DCPower

EarthCircuit Gnd

+HVFuse *

* Optional

J1

Aux HV

Drive Enable

DAC Out

DAC Ground

[IN1] HS

[IN7] ISO

[IN8] ISO

[AIN-]

Sgnd

[AIN+]

J2

Enable

PosLim+24V

NegLim

Signal Ground

J4

J4

BRK-GATE

[OUT6] MOSI

[OUT1-]

[OUT5] CLK

1~6

11~16

48

BRK-24V 45

BRK-GND 46

BRK-OUT 47

MOTOR

BRAKE

W

V

U

Motor W

Motor V

Motor U

21~26

31~36

41~46

Enc B

Enc /B

Enc X

Enc /X

Enc /A

Enc A

15

16

11`

12

9

10

Enc /S 13

Enc Sin(+) 2

Enc Sin(-) 1

Enc Cos(+) 4

Enc Cos(-) 3

Enc S 14

7

+5V ENC 20

Sgnd

Sgnd

Sgnd

RS422(+)

HV-GND

+5V ENC 19

1

18

27

[INCOM] ISO28

25

[IN9] ISO

[IN10] ISO

26

Enc A8

Enc /A7

Enc B10

Enc /B9

Enc X14

Enc /X13

Enc S12

Enc /S11

+5V Enc5

+5V Enc6

Sgnd3

Sgnd4

24

3

Sgnd 8

2

29

[OUT1+]30

[OUT2-]31

[OUT2+]32

[OUT3-]33

[OUT3+]34

[OUT4-]35

[OUT4+]36

21

22

19

[IN2] HS

[IN3] HS20

17

37

38

[OUT8] EN139

42

RS422-GND49

RS422(-)41

44

43

50

RxD

TxDGnd

Hall U

Hall V

Hall W

5

6

7

Motemp[IN11]

+5V ENC @ 500 mATotal, both outputs

17

21

22

18Position Commands

Velocity, Torque commands

Step Enc. Ch. A

Enc. Ch. B

CW

CCW Dir

50%PWM

Dir n.c.

RS-422

RS422(+)

RS422(-)

Gnd

RS-232

RxD

TxD

Gnd

±10VDAC

+24 VController

SPI Devices

These signals are the Multi-Port which is programmable to be either inputs or outputs

+24V

* 121Ω resistor on user mounting board

*

AbsoluteEncoder

(Full duplex)

X

/X

S

/S



CONNECTORS & SIGNALS

CONNECTIONSFORABSOLUTEENCODERWITHDUPLEXCLOCK/DATA

+

-

4

Controller

I/O

I/O

+

-

[IN4] HS

[IN5] HS

[IN6] MISO

DCPower

EarthCircuit Gnd

+HVFuse *

* Optional

J1

Aux HV

Drive Enable

DAC Out

DAC Ground

[IN1] HS

[IN7] ISO

[IN8] ISO

[AIN-]

Sgnd

[AIN+]

J2

PosLim+24V

NegLim

Signal Ground

J4

J4

BRK-GATE

[OUT6] MOSI

[OUT1-]

[OUT5] CLK

1~6

11~16

48

BRK-24V 45

BRK-GND 46

BRK-OUT 47

MOTOR

BRAKE

W

V

U

Motor W

Motor V

Motor U

21~26

31~36

41~46

Enc B

Enc /B

Enc X

Enc /X

Enc /A

Enc A

15

16

11`

12

9

10

Enc /S 13

Enc Sin(+) 2

Enc Sin(-) 1

Enc Cos(+) 4

Enc Cos(-) 3

Enc S 14

7

+5V ENC 20

Sgnd

Sgnd

Sgnd

RS422(+)

HV-GND

+5V ENC 19

1

18

27

[INCOM] ISO28

25

[IN9] ISO

[IN10] ISO

26

Enc A8

Enc /A7

Enc B10

Enc /B9

Enc X14

Enc /X13

Enc S12

Enc /S11

+5V Enc5

+5V Enc6

Sgnd3

Sgnd4

24

3

Sgnd 8

2

29

[OUT1+]30

[OUT2-]31

[OUT2+]32

[OUT3-]33

[OUT3+]34

[OUT4-]35

[OUT4+]36

21

22

19

[IN2] HS

[IN3] HS20

17

37

38

[OUT8] EN139

42

RS422-GND49

RS422(-)41

44

43

50

RxD

TxDGnd

Hall U

Hall V

Hall W

5

6

7

Motemp[IN11]


17

21

22

18Position Commands


Step Enc. Ch. A

Enc. Ch. B

CW

CCW Dir

50%PWM

Dir n.c.

RS-422

RS422(+)

RS422(-)

Gnd

RS-232

RxD

TxD

Gnd

±10VDAC

+24 VController

SPI Devices


+24V

A

/A

B

/B

X

/X

QUADA/B/X

DIGITALENCODER

Sin(+)

Cos(+)

Cos(-)

Sin(-) AnalogSin/CosEncoder

HALLS

U

V

W

* 121Ω resistors on user mounting board

*

*

*




CONNECTIONSFORINCREMENTALDIGITALORANALOGENCODERS

+

-

4

Controller

I/O

I/O

+

-

[IN4] HS

[IN5] HS

[IN6] MISO

DCPower

EarthCircuit Gnd

+HVFuse *

* Optional

J1

Aux HV

Drive Enable

DAC Out

DAC Ground

[IN1] HS

[IN7] ISO

[IN8] ISO

[AIN-]

Sgnd

[AIN+]

J2

Enable

PosLim+24V

NegLim

Signal Ground

J4

J4

BRK-GATE

[OUT6] MOSI

[OUT1-]

[OUT5] CLK

1~6

11~16

48

BRK-24V 45

BRK-GND 46

BRK-OUT 47

MOTOR

BRAKE

W

V

U

Motor W

Motor V

Motor U

21~26

31~36

41~46

Enc B

Enc /B

Enc X

Enc /X

Enc /A

Enc A

15

16

11`

12

9

10

24

Rslvr Sin(+) 2

Rslvr Sin(-) 1

Rslvr Cos(+) 4

Rslvr Cos(-) 3

Enc S 14

7

+5V ENC 20

Rslvr Ref(+)

Rslvr Ref(-)

Sgnd

Sgnd

RS422(+)

HV-GND

+5V ENC 19

1

18

27

[INCOM] ISO28

25

[IN9] ISO

[IN10] ISO

26

Enc A8

Enc /A7

Enc B10

Enc /B9

Enc X14

Enc /X13

Enc S12

Enc /S11

+5V Enc5

+5V Enc6

Sgnd3

Sgnd4

24

3

Sgnd 8

2

29

[OUT1+]30

[OUT2-]31

[OUT2+]32

[OUT3-]33

[OUT3+]34

[OUT4-]35

[OUT4+]36

21

22

19

[IN2] HS

[IN3] HS20

17

37

38

[OUT8] EN139

42

RS422-GND49

RS422(-)41

44

43

50

RxD

TxDGnd

Hall U

Hall V

Hall W

5

6

7

Motemp[IN11]


17

21

22

23Position Commands


Step Enc. Ch. A

Enc. Ch. B

CW

CCW Dir

50%PWM

Dir n.c.

RS-422

RS422(+)

RS422(-)

Gnd

RS-232

RxD

TxD

Gnd

±10VDAC

+24 VController

SPI Devices


+24V

R1

R2

S3

S1

S2

S4

RESOLVER




CONNECTIONSFORRESOLVERS(-ROPTION)

Signal P1 Pin Signal

TX2TERM 65 66 TX2+

ECAT-SHLD 63 64 TX2-

RX2+ 61 62 RX2TERM

RX2- 59 60 ECAT-SHLD

TX1TERM 57 58 TX1+

ECAT-SHLD 55 56 TX1-

RX1+ 53 54 RX1TERM

RX1- 51 52 CAN_GND

RS422-GND 49 50 Sgnd

Brake-Out 47 48 Brk-Gate

Brake-24V 45 46 Brake-Gnd

RS232 RxD 43 44 RS232 TxD

RS422(-) 41 42 RS422(+)

HS[OUT8] SPI-EN1

39 40 [OUT7]HS

HS[OUT6] SPI-MOSI

37 38[OUT5]HS SPI-CLK

[OUT4-]ISO 35 36 ISO[OUT4+]




[IN7]ISO 27 28 ISO[INCOM]

[IN8]ISO 25 26 ISO[IN9]

Sgnd 23 24 ISO[IN10]

[IN6]HS SPI-MISO

21 22 HS[IN5]

[IN4]HS 19 20 HS[IN3]

[IN2]HS 17 18 HS[IN1]

Sgnd 15 16 Sgnd

Enc/X 13 14 EncX

Enc /S 11 12 Enc S

Enc /B 9 10 Enc B

Enc /A 7 8 Enc A

+5VENC 5 6 +5VENC

Sgnd 3 4 Sgnd

[AREF-] 1 2 [AREF+]

Signal P3 Pin Signal

RES-REF- 23 24 RES-REF+

Sgnd 21 22 Sgnd

+5VENC 19 20 +5VENC

[IN11] 17 18 Sgnd

ENC/X 15 16 ENCX

ENC /S 13 14 ENC S

ENC /B 11 12 ENC B

ENC /A 9 10 ENC A

HALLW 7 8 Sgnd

HALLU 5 6 HALLV

COS- 3 4 COS+

SIN- 1 2 SIN+

Signal J1 Pin Signal

+HV

2 1

+HV4 3

6 5

N/C8 7 HVAux

10 9 N/C

HVGnd

12 11

HVGnd14 13

16 15

N/C18 17

N/C20 19

Mot W

22 21

Mot W24 23

26 25

N/C28 27

N/C30 29

Mot V

32 31

Mot V34 33

36 35

N/C38 37

N/C40 39

Mot U

42 41

Mot U44 43

46 45

SIGNAL PIN PIN SIGNAL

STO-IN2(-) 1 2 STO-GND

STO-IN2(+) 3 4 STO-BYPASS

STO-IN1(-) 5 6 STO-IN1(-)

STO-IN1(+) 7 8 STO-IN1(+)



DIMENSIONS IN[MM]

J4CONTROL

J3SAFETY

J1POWER&MOTOR

TOPVIEWViewedfromabovelookingdownonthe connectors or PC board footprint towhichthemoduleismounted

J1:HV&Motor Dualrow,2mm-centers 46positionfemaleheader SAMTEC SSQ-123-01-L-D

J2:Feedback Dualrow,2mm-centers 24positionfemaleheader SAMTEC SQT-112-01-L-D

J3:Safety Dualrow,2mm-centers 8positionfemaleheader SAMTEC SQT-104-01-L-D

J4:Control Dualrow,2mm-centers 66positionfemaleheader SAMTEC SQT-133-01-L-D

J2FEEDBACK

J4

J3

J2

J1

12

4546

Dual RJ-45 Connectorfor EtherCAT port

J3 EtherCAT

Ground plane

Ground plane

2 oz. copper traces

Dielectric layer

.007[0.178]

.0085[0.216]

.007 [0.178].007 [0.178]

PIN 1



PRINTEDCIRCUITBOARDDESIGNFORETHERCATSIGNALS

EtherCATsignalroutingmustproduceacontrolledimpedancetomaintainsignalquality.ThisgraphicshowssomeprinciplesofPCboarddesignthatshouldbefollowed.Tracesfordifferentialsignalsmusthave controlled spacing trace-trace, trace thickness, and spacing above a ground plane. All these things and the properties of the dielectric betweengroundplaneandsignalsaffecttheimpedanceofthetraces. Thedimensionsshownherearetypical. Thegraphiconp.5detailingtheEtherCATconnectionsshowsresistorsandacapacitorinthedriveforterminatingtheunusedconductors.AsanalternativetoaddingtracesbacktothedriveconnectorJ4forthesesignals,thesamepartscanbeplacedontheboardattheRJ-45connector, leaving only the differential EtherCAT signals to be routed withcontrolledimpedance.

PRINTED CIRCUIT BOARD FOOTPRINT

TOPVIEWViewedfromabovelookingdownonthe connectors or PC board footprint towhichthemoduleismounted

J1SignalGrouping for current-sharing

See Note 1

PCBHardware: Qty Description Mfgr PartNumber Remarks 1 SocketStrip Samtec SSQ-123-01-L-D J1HV&Motor

1 SocketStrip Samtec SQT-112-01-L-D J2Feedback 1 SocketStrip Samtec SQT-104-01-L-D J3Safety 1 SocketStrip Samtec SQT-133-01-L-D J4Control 2 Standoff PEM KFE-4/40-8ET #4/40X1/4”

AdditionalHardware(notshownabove) 2 Screw,#4-40x1.25”PhillipsPanHeadExternalToothLockwasherSEMS,Stainless,orsteelwithnickelplating,

Torqueto3~5lb-in(0.34~0.57N·m)

J4

J3

J2

J1

Notes1.J1signalsofthesamenamemustbeconnectedforcurrent-sharing(seegraphicabove).2.TodeterminecopperwidthandthicknessforJ1signalsrefertospecificationIPC-2221.

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

4X Ø0.12546X Ø0.040

98X Ø0.036

0.0787

0.0787

0.0787

0.10000.1000

0.30000.0170

0.0787

0.0902

0.27670.7327

0.3729

2.1000

2.8000

2.7106



PRINTED CIRCUIT DRILLING DIMENSIONS

Notes:1.ThisshowsthedrillingdimensionslookingdownonthemountingsurfaceofthePCboard.

Dimensionsareininches

J1

J2

J3

J4

2.10 53.3

.13 3.2

.30 7.6

.30 7.6R.13 3.2

4.8

.01 0.3

2.80 71.1

.12 3

2.40 61

1.37 34.7

1.731.82 46.3

.30 7.6

3.10 78.7

1.58 40.2

.68 17.3

23.3



DIMENSIONS

Dimensionsareininches[mm]

PEM broaching stud#4/40 X 1/4 in. longPart no. KFH-440-4ET

1/4 in. OD, 1.043 in. longPart no. 1678-440ALMOD-1.043

McMaster Carr screw#4-40 X 7/16 in. w/ spring lock

RAF spacer 4/40 thd

Part no. 91241A418

1.043 26.5± .005 in (0.12 mm)

0.67 16.9

17.3.68

1.63 41.4

McMaster Carr screw#4-40 X 5/8 in. w/ spring lockPart no. 91241A422

RAF spacer 4/40 thd1/4 in. OD, 13/16 in. longPart no. 1689-440-AL

.0240.62

PEM broaching stud#4/40 X 1/4 in. longPart no. KFH-440-4ET

.812 20.62



MOUNTING

MOUNTINGWITHCONNECTORSONPCBOARDSeepage22forpartnumbersofconnectors.

MOUNTINGSOLDEREDTOPCBOARD

#4-40 Mounting Screws (4)

Thermal padHeatsink

Transparent Carriers (2)(Discard)

Argus Drive Heatplate



1.Insertthedriveintothesocketsandpresssmoothlyuntiltheheatplateisrestingonthestandoffs.

2.Removeoneoftheclearplasticcarriersfromthethermalpad.

3.PlacethesideofthethermalpadwithoutthecarrierontotheArgusaluminumheatplatetakingcaretocenterthethermalpadholesovertheholesinthedriveheatplate.

4.Removethesecondclearplasticcarrierfromthethermalpad.5.Placetheheatsinkontothethermalpad.Takecaretoensurethattheholesintheheatsink,

thermalpad,anddrivealllineup.6.Insertthefour#4-40screwsthroughtheheatsinkandtorquethemto3~5lb-in(0.34~0.57N·m).

Applyasmallertorquetoeachscrewinrotationuntilthefinaltorqueisreached. Thiswillensureanevencontactbetweenthedriveandheatplateforbestthermaltransfer.

AnAOSMicroFazethermalpadisusedinplaceofthermalgrease.Thismaterialcomesinsheetformandchangesfromsolidtoliquidformasthedrivewarmsup.Thisformsanexcellentthermalpathfromdriveheatplatetoheatsinkforoptimumheattransfer.

STEPSTOINSTALL

HEATSINKINSTALLATIONUSINGTHEGEM-HKHEATSINKKIT

HEATSINK MOUNTING

0.00 W

5.00 W

10.00 W

15.00 W

20.00 W

25.00 W

disabled 0 A 5 A 10 A 15 A 20 A 25 A 30 A

Dissipation vs. Output Current & +HV

50

24

12

9

0 W

5 W

10 W

15 W

20 W

25 W

30 W

35 W

disabled 0 A 5 A 10 A 15 A 20 A 25 A 30 A

Dissipation vs. Output Current & +HV

85

48

24

14



POWER DISSIPATION

Thechartsonthispageshowtheinternalpowerdissipationfordifferentmodelsunderdifferingpowersupply and output current conditions. The values on the chart represent the continuous current that the drivewouldprovideduringoperation.The+HVvaluesarefortheaverageDCvoltageofthedrivepowersupply.Toseeifaheatsinkisrequiredornot,thenextstepistodeterminethetemperaturerisethedrivewillexperiencewhenit’sinstalled.Forexample,iftheambienttemperatureinthedriveenclosureis40°C,andtheheatplatetemperatureistobelimitedto70°Corlesstoavoidshutdown,themaximumrisewouldbe70C-40C.or30°C.Dividingthisdissipationbythethermalresistanceof9ºC/Wwithnoheatsinkgivesadissipationof3.33W.Thislineisshowninthecharts.Forpowerdissipationbelowthisline,noheatsinkisrequired.Theverticaldashedlineshowsthecontinuouscurrentratingforthedrivemodel.

GEM-055-60

GPM-090-60

Output current Adc

Output current Adc

+HVvoltageVdc

+HVvoltageVdc

22 A

22 W

22 A

15 W

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

ISL32455

RS422(+)

RS422GND

RS422(-)TxD

RxDJ4/42

DevKitP9 Drive

J4J4/49

J4/411

2

3

4

5

3 12456 RS-232P7

TxD RxD



DESCRIPTIONTheDevelopmentKitprovidesmountingandconnectivityforoneGEMdrive.Solderlessjumperseaseconfigurationofinputsandoutputstosupporttheirprogrammablefunctions.Switchescanbejumperedtoconnecttodigitalinputs1~10sothatthesecanbetoggledtosimulateequipmentoperation.DualEtherCATconnectorsmakedaisy-chain connections possible so that other EtherCAT devicessuchasCopley’sArgusPlusorXenusPlusEthercat drives can easily be connected.

SER-CKSERIALCABLEKITTheSER-CKprovidesconnectivitybetweenaD-Sub9maleconnectorandtheRJ-11connectorP8ontheDevelopmentKit.ItincludesanadapterthatplugsintotheCOM1(orother)portofaPCandusescommonmodularcabletoconnecttotheXEL.Theconnectionsareshowninthediagrambelow.

Don’tforgettoorderaSerialCableKitSER-CKwhenplacingyourorderforanGEMDevelopmentKit!

RS-232CONNECTIONTheRS-232portisusedtoconfigurethedriveforstand-aloneapplications,orforconfigurationbeforeitisinstalledintoanEtherCATnetwork.CME2™softwarecommunicateswiththedriveoverthislinkandisthenusedforcompletedrivesetup.TheEtherCATDeviceIDthatissetbytherotaryswitchcanbemonitored,andaDeviceIDoffsetprogrammedaswell.TheRS-232connector,P7,isamodularRJ-11typethatusesa6-positionplug,fourwiresofwhichareusedforRS-232.Aconnectorkitisavailable(SER-CK)thatincludesthemodularcable,andanadaptortointerfacethiscablewitha9-pinRS-232portonacomputer.

DEVELOPMENT KIT

RS-422COMMUNICATIONSRS-422isatwo-wiredifferentialhalf-duplexportthatoperatesfrom9600to230.4kbps.ConnectionstotheRS-422 port are through P9. ThegraphicbelowshowstheconnectionsbetweenaGEMandacomputerRS-422port.

16

AMP STAT

18 1

IN OUT

L/A L/A

8



S2 S1

HEX DEC

0 0 0

1 16 1

2 32 2

3 48 3

4 64 4

5 80 5

6 96 6

7 112 7

8 128 8

9 144 9

A 160 10

B 176 11

C 192 12

D 208 13

E 224 14

F 240 15

EtherCAT DeviceIDSwitch Decimalvalues

SW1 x1

SW2 x10

EtherCAT DEVICEIDInanEtherCATnetwork,slavesareautomaticallyassignedfixedaddressesbasedontheirposi-tiononthebus.Whenadevicemusthaveapositiveidentificationthatisindependentofcabling,aDeviceIDisneeded.IntheGEMDevKit,thisisprovidedbytwo16-positionrotaryswitcheswithhexadecimalencoding.ThesecansettheDeviceIDofthedrivefrom0x01~0xFF(1~255decimal).Thechartshowsthedecimalvaluesofthehexsettingsofeachswitch.Example1:FindtheswitchsettingsfordecimalDeviceID107:

1)FindthehighestnumberunderS2thatislessthan107andsetS2tothehexvalueinthesamerow:96<107and112>107,soS2=96=Hex6

2)Subtract96fromthedesiredDeviceIDtogetthedecimalvalueofswitchS1andsetS1totheHexvalueinthesamerow:S1=(107-96)=11=HexB

CME2->Amplifier->NetworkConfiguration

CME2->Input/Output->DigitalOutputs

ETHERCATCONNECTIONSDualRJ-45socketsacceptstandardEthernetcables.TheINportconnectstoamaster,ortotheOUTportofadevicethatis‘upstream’,betweentheStepnetandthemaster.TheOUTportconnectsto‘downstream’nodes.IfStepnetisthelastnodeonanetwork,onlytheINportisused.NoterminatorisrequiredontheOUTport.

ETHERCATSTATLEDThebi-colorSTATLEDcombinesthefunctionsoftheRUNandERRLEDs. Greenandredcolorsalternate,andeachcolorhasaseparatemeaning:Greenisthe“RUN”orEtherCATStateMachine: Redisthe“ERR”indicator: Off = INITstate Blinking = Invalidconfiguration Blinking = PRE-OPERATIONAL SingleFlash = Unsolicitedstatechange SingleFlash = SAFE-OPERATIONALDoubleFlash =Applicationwatchdogtimeout On = OPERATIONAL

P7

P8

AMP LEDA bi-color LED gives the state of the drive. Colors do not alternate, and can be solid ON or blinking.Whenmultipleconditionsoccur,onlythetop-mostconditionwillbedisplayed. Whenthatconditionisclearedthenextonebelowwillshown.

1)Red/Blinking = Latchingfault.OperationwillnotresumeuntildriveisReset. 2)Red/Solid = Transientfaultcondition.Drivewillresumeoperationwhen theconditioncausingthefaultisremoved. 3)Green/Slow-Blinking = DriveOKbutNOT-enabled.Willrunwhenenabled. 4)Green/Fast-Blinking = PositiveorNegativelimitswitchactive. Drivewillonlymoveindirectionnotinhibitedbylimitswitch. 5) Green/Solid = Drive OK and enabled. Will run in response to referenceinputsorEtherCATcommands. Latching FaultsDefaults Optional(programmable) • Shortcircuit(Internalorexternal) • Over-voltage • Driveover-temperature • Under-voltage • Motorover-temperature • MotorPhasingError • FeedbackError • CommandInputFault • FollowingError

L/A(LINK/ACT)LEDAgreenLEDindicatesthestateoftheEtherCATnetwork:LED Link Activity Condition ON Yes No Port Open Flickering Yes Yes PortOpenwithactivity Off No (N/A) Port Closed

ETHERCAT

STO MutingConnections

FPGA

PWM HI

PWM LO

Channel 1

STO-Bypass (6.5 mA)

STO-Gnd (Sgnd)

P5

STO-IN2+

STO-IN1+

Channel 2

Channel 3

STO-IN1-

STO-IN2-

STO-IN1+

STO-IN1-

4

5

2

1

3

6

7

8

9

EN

HI

LO

GateDrivers

PWMOutputs

+HV

Frame Gnd

SH

LD

AB

B1B2B3B4B5B6B7B8

R3475R3475

44248-0029J10

SH

LD

A1A2A3A4A5A6A7A8

J10

AB

R3375R3375

R3275R3275

R3175R3175

R361MR361MC10

0.01UF200V

C100.01UF200V

R351MR351MC9

0.01UF200V

C90.01UF200V

TX1+TX1-

TX2+TX2-

RX1+RX1-

RX2+RX2-



SAFE TORQUE OFF (STO)DESCRIPTIONIftheSTOfeaturewillnotbeused,theSTOfunctioncanbedisabledbyaddingjumperstoaconnectorforP5asshownbelow.

ETHERCAT CONNECTORSETHERCATCONNECTORSDualRJ-45connectorsthatacceptstandardEthernetcablesareprovidedforEtherCATconnectivity.

JP6A

JP6B

JP10D

J4/21 [IN6] SPI_MISO

J4/37 [OUT6] SPI_MOSI

[OUT6] Red/Green LED



J4/40 [OUT7] SPI_SCLK

J4/39 [OUT8] SPI_SS1

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

SW2 x1

SW1 x10

CKE

SDI

PL

CLK

[OUT6]

[OUT7]

[OUT8]

JP7F

JP6C

SW13

JP6D

JP10BP6/38

P6/5

P6/4

[IN6]P6/12

JP10C

JP141

2

3

1

2

3

+5V SEL

JP14

P2/1+5V EXTExternal +5V

From DevKitP2-1

+5V outputfrom module J2 J2/19,20

+5V INT



5V POWER SOURCESPowerforcircuitsontheDevelopmentKit(+5VSEL)canbesuppliedeitherfromthe5Vfromtheservodrive(+5VENC),orfromanexternal+5V

powersupply(+5EXT).JumperJP14selectsthesourceofthe+5VSELfromeitherthedriveorfromtheexternalsource.

ETHERCATDEVICEID(STATIONALIAS)SWITCHCONNECTIONSThegraphicbelowshowstheconnectionstotheEtherCATDeviceIDswitches.Thesearereadafterthedriveisreset,orpowered-on.Whenchang-ingthesettingsoftheswitches,besuretoeitherresetthedrive,ortopoweritoff-on.Outputs[OUT5,6,8]andinput[IN6]operateasanSLI(Switch&LEDInterface)portwhichreadsthesettingsontheEtherCATDeviceIDswitches,andcontrolstheLEDsontheserialandCANportcon-nectors.InadditiontotheSLIfunction,theportcanoperateasanSPIinterface.Thejumpersmarkedwithred“X”shouldberemovedsothatSW13,orexternalconnectionstothesignalsdonotinterferewiththeoperationoftheSLIport.The“X”on[OUT6]showsthatnoconnectionsshouldbemadetothisbytheuserwhentheSLIportisactive.

CME2->Input/Output->DigitalOutputs

ETHERCAT DEVICE ID SWITCHES

+24V +24V +24V

SW8

P6/7

P6/8

P6/9

P6/10

P6/11

P6/12

P6/13

P6/14

P6/15

P6/30

JP7A

JP7B

JP7C

JP7D

JP7E

JP7F

JP7G

+24V +24V

JP7H

JP8A

JP8B

JP8C

IN7~10COMM

SW9 SW4SW10 SW11 SW12 SW13 SW3 SW5 SW6

IN1

IN1

IN2

IN2

IN3

IN3

IN4

IN4

IN5

IN5

IN6

IN6

IN7

IN7

IN8

IN8

IN9

IN9

IN10

IN10SW7

COMM

TomoduleInputs

[IN1]

[IN2]

[IN3]

[IN4]

[IN5]

[IN6]

[IN7]

[IN8]

[IN9]

[IN10]

P6

1 16 31

15 30 44

5V SEL

JP9C JP9DJP9A

DS3 DS4 DS5 DS6 DS7 DS8 DS9 DS10

JP9B JP10A JP10B JP10C JP10D

OUT1+

OUT1-

OUT6 SPI_MOSI

OUT7 SPI_SCLK

OUT8 SPI_SS1

OUT2+

OUT2-

OUT3+

OUT3-

OUT4+

OUT4-

OUT5

Tomoduleoutputs

[OUT1+]

[OUT1-]

[OUT2+]

[OUT2-]

[OUT3+]

[OUT3-]

[OUT4+]

[OUT4-]

[OUT5]

[OUT6]

[OUT7]

[OUT8]

red

green

1k

1k

P6

1 16 31

15 30 44

JP9G JP9HJP9E JP9F



LOGICOUTPUTSTherearelogicoutputsthatcandrivecontrollerlogicinputsorrelays.Ifrelaysaredriven,thenflybackdiodesmustbeconnectedacrosstheirterminalstoclampovervoltagesthatoccurwhentheinductanceoftherelaycoilissuddenlyturnedoff.Outputs5,6,7&8areCMOStypesthatpullupto5Vordowntoground.WhentheseoutputsgohighitturnsonthegreenLED.Whentheyarelow,theredLEDisturnedon.Outputs1,2,3,&4aretwo-terminalopto-isiolatedtypes.Withthejumpersinplaceasshown,whentheoutputsareONtheywilldrivecurrentthroughtheLEDsDS3~6.

LOGICINPUTS&SWITCHESTheDevelopmentKithasjumpersthatcanconnecttheGEMdigitalinputstoswitchesonthekit,ortotheSignalconnectorP8.Asdelivered,allofthesejumpersareinstalledasshown.Ifconnectingtoexternaldevicesthatactivelycontrolthelevelofaninput,itisdesirabletodisconnecttheswitchwhichcouldshorttheinputtoground.Forexample,if[IN1]isconnectedtoanexternaldevicefortheEnablefunction,thenjumperJP7AshouldberemovedtotaketheswitchSW1outofthecircuit.Thefigurebelowshowstheseconnections.


P4/13

P4/12

P4/11

P4/10

P4/9

P4/8

JP11

A

1k

221

130

121

121JP1B

JP1C

JP1A

JP1D

DS11 +5V SEL

+5V SEL

+5V INT

DS12

DS13

DS14

DS15

DS16

DS17

JP11

B

Tomodule

Tomodule

Tomodule

Tomodule

Enc A

Enc /A

Enc B

Enc /B

Enc X

Enc /X

P4/15Enc S

P4/14

P4/19

P4/18

P4/21

P4/20

P4/2

P4/3

P4/4

P4/7

P4/6

P4/17

P4/5

P4/16

P4/25

P4/26

Enc /S

Enc Sin(+)

Enc Sin(-)

Enc Cos(+)

Enc Cos(-)

Motemp

[IN11]

JP8D

Hall U

Hall V

Hall W

Signal Gnd

+5V ENC

+5V ENC

Signal Gnd

Signal Gnd

Signal Gnd

1k10k

10k

750

+5V INT

7.5k

2.49k

7.5k

2.49k

3.01k

1.0k

SW14

1

2

3



MOTOR FEEDBACK CONNECTOR P4Formotorswithdifferentialencoders:installjumpersJP1B,JP1C,JP1AtoconnectterminatorsacrossA,B,andXinputs.Formotorswithsingle-endedencoders:removejumpersJP1B,JP1C,JP1Atodisconnecttheterminators.

ThenusetheA,B,andXinputsfortheencoder.The/A,/B,and/Xinputsarethenbiasedbydividerstoworkwith the single-ended encoder signals.

Amotortemperaturesensorthatconnectsto[IN11]musthavejumperJP8DremovedtopreventswitchSW14from groundingtheMotemp[IN11]signal.

AbsoluteencoderssuchastheNikonAtypethatuse2-wirebidirectionalsignalsrequirebiasingthelineswhentheyareinaquiescentstate. JumpersJP11A,JP11B,andJP1Dmustbeinplacetoprovidelineterminationandbiasing.

LED’sareprovidedtoshowthestatusoftheencoderandHallsignals.

FEEDBACK CONNECTOR & SIGNALS

ii

4

4

3

2

1

20k

10k 46

45 BRK-24V

BRK-DRV

BRK-KIT

BRK-GND

47

48

J4Drive P1

P2Development Kit

Brake300 mA max

Brake8 A max

+24V

0V

JP3C JP3D

JP3A

JP3B

+HVAUX

3P2

SGND



BRAKE CONNECTOR & SIGNALS

ThebrakecircuitintheGEMisopticallyisolatedfromtheotherdrivecircuits.AndthebrakecircuitintheDevelopmentKitisisolatedfromothercircuitsinthekit.Jumpersareprovidedthatconnectthekitbrakecircuitstothe+24V(HVAUX)powerand+HVCOM(HVpowergroundandSignalGround). Withthejumpersinplace,supplying+24VtoP2-4andgroundtoP2-3willpowerthebrakecircuit. Whenthisisdonealow-currentbrakecanbeconnectedtoP1-3andP1-4,orahigher-currentbrakecanbeconnectedbetweenP1-4andP1-2.The+24Vpowersupplymustbeabletosupplytherequiredcur-renttoenergizethebrake.

+

-

4

4

[IN4]

[IN5]

DCPower

EarthCircuit Gnd

+HV InputFuse *

* Optional

P3

Brk-Gnd

Drive Enable

DAC OutDAC Ground

[IN1]

[IN2]

[IN3]

[AIN-]

Sgnd

[AIN+]

P4

EnablePosLim

NegLim

Signal Ground

P6

P1 Brk-24V

1

2

MOTOR

BRAKES

V

U

Motor W

Motor V

Motor U

3

4

5

Enc B

Enc /B

Enc X

Enc /X

Enc /A

Enc A

8

9

10

11

12

1

13

Enc /S 14

Enc Sin(+) 19

Enc Sin(-) 18

Enc Cos(+) 21

Enc Cos(-) 20

Enc S 15

4

3

2

1

6

Sgnd

Sgnd

Sgnd

Sgnd

Brk-Drv 400mA

8ABrk-Kit

(Optional)for encoder

and LED's

(Optional)

(Optional)

5 V+

+

-

-24 V

Aux HV

P2

+5V Input1

2

3

4

Sgnd

Sgnd

Sgnd

HV Gnd

5

+5V ENC

+5V ENC

17

3

1

7

8

9

6

2

11

[IN6]12

10

[IN7] ISO

[IN8] ISO14

13

[IN9] ISO

[IN10] ISO30

15

[INCOM] ISO28

[OUT1+]

[OUT1-]27

[OUT2+]41

42

[OUT2-] ISO

[OUT3+] ISO40

26

[OUT1-] ISO

[OUT4+] ISO39

25

[OUT4-] ISO24

Hall U

Hall V

Hall W

2

3

4

HALLS

U

V

W

Motemp[IN11]

+5V ENC

7

25

26

16

+5V @ 500 mA total from module

Position Commands Velocity, Torque commands

Step Enc. Ch. A

Enc. Ch. B

CW

CCW Dir

50%PWM

Dir n.c.

Enc B

Enc /B

Enc X

Enc /X

Enc /A

Enc A

Enc /S

Enc S

36

35

34

33

21

20

19

18

17

31

+

-24 V

/A

B

/B

X

/X

+5V

Sgnd

+5V

Sgnd

+5V

Sgnd

+5V

Sgnd

A

B

X

A

X

/X

S

/S

S

/S

Abs-A

Abs-BiSS

Inc-Di

Inc-S.E.

Single-ended encoders only supported on

Multi-Port

32

/A

B

/B

X

/X

+5V

Sgnd

A

CLK

/CLK

DAT

/DAT

DAT

DAT

Abs-A

Abs-BiSS

Inc-DiDigital EncoderConnections aresame on Feedbackand Multi-Port



Note 2

DEVELOPMENT KIT CONNECTIONS

PIN SIGNAL PIN SIGNAL PIN SIGNAL

26 Signal Gnd 18 Sin(-) 9 EncX

25 Signal Gnd 17 +5VEnc 8 Enc/X

24 N.C. 16 Signal Gnd 7 [IN11]Motemp*

23 RslvrRef(+) 15 Enc S 6 +5VENC

22 Rslvr Ref(-) 14 Enc /S 5 Signal Gnd

21 Cos(+) 13 Enc A 4 HallW

20 Cos(-) 12 Enc /A 3 HallV

19 Sin(+) 11 Enc B 2 HallU

10 Enc /B 1 FrameGnd

Signal Pin+HV 1

HVGnd 2Motor W 3Motor V 4Motor U 5

Signal Pin+5Ext 1

Gnd 2 Gnd 3

AuxHV 4

Signal PinBRK-GND 1BRK-KIT 2

BRK-DRV 3BRK-24V 4

12

34



P4 FEEDBACK

P1 BRAKE

P2

P1

P3

INPUTSWITCHES

JP1

P4

*SignalconnectionsonthePCboardareaffectedbyjumperplacement

P3MOTOR&+HVPOWER

P9 (See table on page 33)

P2AUXHV&+5V

DEVELOPMENT KIT CONNECTORS

Pin Signal

1 n.c.

2 RxD

3 Sgnd

4 Sgnd

5 Txd

6 n.c.

Pin Signal

1 N.C.

2 N.C.

3 RS422(-)

4 RS422(+)

5 RS422-GND

PIN SIGNAL PIN SIGNAL

1 FrameGnd 16 Signal Gnd PIN SIGNAL

2 [AIN-] 17 +5VENC 31 Signal Gnd

3 [AIN+] 18 /S Multi-Port 32 +5VENC

4 [OUT8]SPI-EN1 19 /XMulti-Port 33 S Multi-Port

5 [OUT7]SPI-CLK 20 /B Multi-Port 34 XMulti-Port

6 Signal Gnd 21 /A Multi-Port 35 B Multi-Port

7 [IN1]HS 22 Signal Gnd 36 A Multi-Port

8 [IN2]HS 23 [OUT5]SPI-CLK 37 Signal Gnd

9 [IN3]HS 24 [OUT4-]ISO 38 [OUT6]SPI-MOSI

10 [IN4]HS 25 [OUT3-]ISO 39 [OUT4+]ISO



13 [IN7]ISO 28 [INCOM]ISO 42 [OUT1+]ISO

14 [IN8]ISO 29 N.C. 43 N.C.

15 [IN9]ISO 30 [IN10]ISO 44 Signal Gnd

P6 CONTROL

P5 SAFETY

PIN SIGNAL PIN SIGNAL

1 FrameGnd 6 STO-1(+)

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

3 STO-1(-) 8 STO-BYPASS

4 STO-2(+) 9 STO-GND

5 STO-2(-)

16

95

16

AM

PST

AT

18

1

INO

UT

L/A

L/A

8



P7 RS-232

P9 RS-422

P8ETHERCAT

P8

P9(Seetablebelow)

P7

P6

DEVELOPMENT KIT CONNECTORS

P5

See pinouts on page 28

GEM-055-60 GEM ServoDrive,30/60Adc,withencoderfeedback

GEM-055-60-R GEM ServoDrive,30/60Adc,withresolverfeedback

GEM-090-60 GEM ServoDrive,30/60Adc,withencoderfeedback

GEM-090-60-R GEM ServoDrive,30/60Adc,withresolverfeedback

16-01558DocumentRevisionHistoryRevision Date Remarks

00 March 27, 2017 Preliminaryversion

01 April 4, 2017 Initialreleasedversion

02 December6,2017 Added90Vmodels,change90Vmodelminvoltageto14Vdc,correctedDevKitmodelnumber, addedthermaldata,removelargeheatsink,addHSkittoaccessories.

03 June7,2018 CorrectionstoSTOgraphicandsignalnamings

Qty Ref Name Description Manufacturer P/N

GEK-090-01 DevelopmentKitforallGEMmodels

GEK-CK Connector Kit for DevelopmentKit

1 P3 HV&Motor Plug,5position,7.62mm,female Phoenix Contact: PC 5/5-STCL-7,62

1

P1Brake

Plug,4position,3.5mm,female Wago: 734-104/107-000

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

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

1 P2 AuxHV Plug,4position,5.08mm,female Wago: 231-304/107-000

1

P5 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

1P4 Feedback

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


1P6 Control

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


1 P9 RS-422 Connector,terminalblock,female,0.20in,5-position TE: 796634-5

SER-CK 1 P7 RS-232 Serial Cable Kit

GEK-NC-10P8 Network

EtherCATnetworkcable,10ft(3m)

GEK-NC-01 EtherCATnetworkcable,1ft(0.3m)

GEM-HK Heatsinkkit



Note:Specificationssubjecttochangewithoutnotice

ORDERINGGUIDE

Example:OrderoneArgus Plus GEM drive,30/60Adcwithresolverfeedback,DevelopmentKit,ConnectorKit,SerialCableKit,andHeatsinkKitQty Item Remarks 1 GEM-055-60-R Argus Plus GEM servodrivewithresolverfeedback 1 GEK-090-01 DevelopmentKit 1 GEK-CK ConnectorKitforDevelopmentKit 1 SER-CK Serial Cable Kit 1 GEM-HK HeatsinkKit

ACCESSORIES

EtherCATisaregisteredtrademarkandpatentedtechnology,licensedbyBeckhoffAutomationGmbH,Germany.

ORDERING INFORMATION

Documents

Argus PLUS Module EterCAT GEM RoH S · 2020. 12. 17. · DANGER Refer to the 16-01600 Argus GEM & GPM STO Manual The information provided in the 16-01600 Argus GEM & GPM STO Manual