DIGITAL SERVO DRIVE FOR BRUSH & BRUSHLESS MOTORS · 2020. 12. 17. · IEC 61800-5-1 EMC Directive 2014/30/EU (EMC) IEC 61800-3 Restriction of the Use of Certain Hazardous Substances

Model Ip Ic VdcBE2-090-06 6 3 90BE2-090-14 14 7 90BE2-090-20 20 10 90

BE2Accelnet Plus 2-Axis Panel EtherCAT

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01440 Rev 02 Page 1 of 36

Current ratings are for each axis Add -R for resolver feedback option

DIGITAL SERVO DRIVE FOR BRUSH & BRUSHLESS MOTORS

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

COMMANDINTERFACE• CANopen application protocol over EtherCAT (CoE) • ASCIIanddiscreteI/O • Steppercommands • ±10V position/velocity/torque • PWMvelocity/torquecommand • Masterencoder(Gearing/Camming)

COMMUNICATIONS• EtherCAT • RS-232

FEEDBACKIncremental Encoders • Digital quad A/B Analog Sin/Cos PanasonicIncrementalAFormat • Aux. quad A/B encoder / encoder out Absolute Encoders • SSI,EnDat,AbsoluteA, Tamagawa&PanasonicAbsoluteA SanyoDenkiAbsoluteA,BiSS(B&C) Other • DigitalHalls

I/ODIGITAL• 8High-speedinputs• 2Motorover-tempinputs• 8Opto-Isolatedinputs• 5Opto-Isolatedoutputs• 2Opto-Isolatedbrakeoutputs

ANALOG• 2ReferenceInputs,12-bit

SAFE TORQUE OFF (STO)• SIL3,Category3,PLd

DIMENSIONS:IN[MM]• 6.78x4.70x1.74[172.1x119.3x44.1]noheatsink• 6.78x4.70x3.14[172.1x119.3x79.8]withheatsink

DESCRIPTIONThe BELmodels are high-performance, DC powered drives forposition,velocity,andtorquecontrolofbrushlessandbrushmotorsvia EtherCAT, an Ethernet-based fieldbus. These drives operateas EtherCAT slaves using the CANopen application protocol over EtherCAT(CoE)protocolofDSP-402formotioncontroldevices.Supportedmodes include:CyclicSynchronousPosition-Velocity-Torque,ProfilePosition-Velocity-Torque,InterpolatedPositionMode(PVT),andHoming.Feedback from both incremental and absolute encoders issupported.Amulti-modeencoderport functionsasan inputoroutput depending on the drive’s basic setup.

There are ten non-isolated inputs and eight isolated inputs. All inputs have programmable active levels. Five opto-isolatedoutputs[OUT1~5]haveindividual+/-connections.TwoisolatedMOSFET brake outputs [OUT6~7] are programmable for otherfunctionsandhaveflybackdiodestotheBrake24Vinputfordrivinginductive loads. 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.



Testconditions:Load=Wyeconnectedload:2mH+2Ωline-line.Ambienttemperature=25°C,+HV=HVmaxMODEL BE2-090-06 BE2-090-14 BE2-090-20

OUTPUTPOWER(EACHAXIS)PeakCurrent 6(4.2) 14(9.9) 20(14.4) Adc(Arms-sine),±5% Peaktime 1 Sec Continuouscurrent(Note1) 3(2.1) 7(4.9) 10(7.1) Adc(Arms-sine)perphase

INPUTPOWERHVmin~HVmax +14to+90 +14to+90 +14to+90 VdcTransformer-isolated Ipeak 12 28 40 Adc(1sec)peak Icont 6 14 20 Adccontinuous AuxHV +14to+90Vdc, Optional,notrequiredforoperation 4W(Typ,noloadonencoder+5Voutputs),11W,(Max,bothencoder+5V@500mA)

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

COMMANDINPUTS(NOTE:DIGITALINPUTFUNCTIONSAREPROGRAMMABLE) Distributed Control Modes CANopenapplicationprotocoloverEtherCAT(CoE) CyclicSynchronousPosition-Velocity-Torque,ProfilePosition-Velocity-Torque, InterpolatedPosition,Homing Stand-alone mode Analogtorque,velocity,positionreference ±10Vdc,12-bitresolution Dedicateddifferentialanaloginput Digitalpositionreference Pulse/Direction,CW/CCW Steppercommands(2MHzmaximumrate) Quad A/B Encoder 2 M line/sec, 8 Mcount/sec (after quadrature) Digitaltorque&velocityreference PWM,Polarity PWM=0%-100%,Polarity=1/0 PWM50% PWM=50%±50%,nopolaritysignalrequired PWMfrequencyrange 1kHzminimum,100kHzmaximum PWMminimumpulsewidth 220ns Indexing Upto32sequencescanbelaunchedfrominputsorASCIIcommands. Camming Upto10CAMtablescanbestoredinflashmemory ASCII RS-232,DTE,9600~115,200Baud,3-wire,RJ-11connector

DIGITALINPUTSNumber18 [IN1,2,10,11] Digital,non-isolated,Schmitttrigger,1.5µsRCfilter,24Vdccompatible,programmablepull-up/downto+5Vdc/ground, 74HC2G14,Vcc=5Vdc,Vt+=2.5~3.5Vdc,VT-=1.3~2.2Vdc,VH=0.7~1.5Vdc [IN3,4,12,13] Digital,non-isolated,programmableassingle-endedordifferentialpairs,100nsRCfilter,12Vdcmax, programmablepull-up/downperinputto+5Vdc/ground,MAX3096,Vcc=3.3Vdc SE:Vin-LO≤2.3Vdc,Vin-HI≥2.7Vdc,VH=45mVtyp,DIFF:Vin-LO≤200mVdc,Vin-HI≥200mVdc,VH=45mVtyp [IN5~8,14~17] Digital,opto-isolated,single-ended,±15~30Vdccompatible,bi-polar,2groupsof4,eachwithacommonterminal Ratedimpulse≥800V,Vin-LO≤6.0Vdc,Vin-HI≥10.0Vdc,Inputcurrent±3.6mA@±24Vdc,typical [IN9,18] Defaultasmotorovertempinputsonfeedbackconnectors,12Vdcmax,74HC2G14,Vcc=5Vdc, 330µsRCfilter,4.99kpullupto+5Vdc,Vt+=2.5~3.5Vdc,VT-=1.3~2.2Vdc,VH=0.7~1.5Vdc Functions Allinputsareprogrammable,[IN1&IN10]defaulttodriveaxesA&BEnablefunctionandareprogrammable

ANALOGINPUTSNumber 2 [AIN1~2] Differential,±10Vdc,5kWinputimpedance,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 2msfromVin≤6.0Vdctointerruptionofenergysuppliedtomotor Reference Completeinformationandspecificationsareinthe16-01338Accelnet&StepnetPlusPanelsSTOManual

DIGITALOUTPUTSNumber 7 [OUT1~5] Opto-isolatedSSR,two-terminal,300mAmax,24Vtolerant,Ratedimpulse≥800V,series1Ωresistor [OUT6~7] 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

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

NOTES:1)Heatsinkorforced-airrequiredforcontinuouscurrentrating

GENERAL SPECIFICATIONS

DANGER

Refertothe16-01338Accelnet&StepnetPlusPanelsSTOManual

Theinformationprovidedinthe16-01338 Accelnet & Stepnet Plus Panels STO Manual mustbeconsidered for any application using the drive’s STO feature.FAILURETOHEEDTHISWARNINGCANCAUSEEQUIPMENTDAMAGE,INJURY,ORDEATH.



DC POWER OUTPUTS Number:Ratings 2:+5Vdc,500mAmaxeachoutput,thermalandshort-circuitprotected Connections AxisA:J1-17,J1-32,J7-6,J7-17;combinedcurrentfromthesepinscannotexceed500mA AxisB:J1-23,J1-38,J8-6,J8-17;combinedcurrentfromthesepinscannotexceed500mAINDICATORS

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

PROTECTIONS HVOvervoltage +HV>90Vdc Driveoutputsturnoffuntil+HV<90Vdc(SeeInputPowerforHVmax) HVUndervoltage +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 SizeIN[MM] 6.78x4.70x1.74[172.1x119.3x44.1]withoutheatsink 6.78x4.70x3.14[172.1x119.3x79.8]withheatsink WeightLB[KG] 1.5[0.68]withoutheatsink,2.75[1.25]withheatsink Ambienttemperature 0to+45Coperating,-40to+85Cstorage 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

AGENCYSTANDARDSCONFORMANCEStandards and Directives Functional Safety IEC61508-1,IEC61508-2,IEC61508-3,IEC61508-4(SIL3) Directive 2006/42/EC (Machinery) ISO13849-1(Cat3,PLd) IEC61800-5-2(SIL3)

Product Safety Directive2014/35/EU(LowVoltage) IEC61800-5-1

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

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

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

GENERAL SPECIFICATIONS

BE2 Models BE2-R Models

BE2-090-06 BE2-090-06-R

BE2-090-14 BE2-090-14-R

BE2-090-20 BE2-090-20-R



FEEDBACK Incremental: DigitalIncrementalEncoder Quadraturesignals,(A,/A,B,/B,X,/X),differential(X,/XIndexsignalsnotrequired) 5MHzmaximumlinefrequency(20Mcounts/sec) AnalogIncrementalEncoder Sin/cosformat(sin+,sin-,cos+,cos-),differential,1Vpeak-peak, ServoTubemotorcompatible,BW>300kHz,121Ωterminatingresistorbetweencomplementaryinputs DigitalIndex(X,/X)input

Absolute: Two absolute encoders, one per axis are supported. Dual absolute encoders on one axis are not supported. SSI Clock(X,/X),Data(S,/S)signals,4-wire,clockoutputfromBE2,datareturnedfromencoder EnDAT Clock(X,/X),Data(S,/S),sin/cos(sin+,sin-,cos+,cos-)signals AbsoluteA TamagawaAbsoluteA,PanasonicAbsoluteAFormat,SanyoDenkiAbsoluteA SD+,SD-(S,/S)signals,2.5or4MHz,2-wirehalf-duplexcommunication 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,clockoutputfromBE2,datareturnedfromencoder

Terminators,DigitalEncoders A~/A,B~/Binputs:121Ω X~/Xinputs:130Ω S~/Sinputs:221Ω X,Sinputs:1kΩpull-upto+5V /X,/Sinputs:1kΩpull-downtoground

DIGITALHALLS Type Digital,single-ended,120°electricalphasedifferencebetweenU-V-Wsignals, Schmitttrigger,1µsRCfilter,24Vdccompatible,programmablepull-up/downto+5Vdc/ground, Vt+=2.5~3.5Vdc,VT-=1.3~2.2Vdc,VH=0.7~1.5Vdc Inputs 10kWpullupsto+5Vdc,1µsRCfiltertoSchmitttriggerinverters

MULTI-MODEENCODERPORTAsInput Digitalquadratureencoder(A,/A,B,/B,X,/X),5MHzmaximumlinefrequency(20Mcounts/sec), MAX3097linereceiver,1.5kWpull-upsto+5VonX&Sinputs,1.5kWpull-downstoSgndon/X&/Sinputs Digital absolute encoder (Clk, /Clk, Dat, /Dat) half or full-duplex operation, S&Xinputsareusedforabsoluteencoderinterface AsEmulatedOutput Quadratureencoderemulationwithprogrammableresolutionto4096lines(16,384counts)perrev fromanalogsin/cosencodersorabsoluteencoders A,/A,B,/B,fromMAX3032differentiallinedriver,X,/X,S,/SfromMAX3362differentiallinedriver AsBufferedOutput DigitalA/B/Xencoderfeedbacksignalsfromprimaryquadencoderarebuffered(seelinedrivesabove)Number:Ratings 2:+5Vdc,500mAmaxeachoutput,thermalandshort-circuitprotected Connections AxisA:J1-17,J1-32,J7-6,J7-17;combinedcurrentfromthesepinscannotexceed500mA AxisB:J1-23,J1-38,J8-6,J8-17;combinedcurrentfromthesepinscannotexceed500mA

FEEDBACK: BE2-R MODELS

FEEDBACK: BE2 MODELS

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+ Sin/Cosinputs Differential,54k±1%differentialimpedance,2.0Vrms,BW≥300kHz

DIGITALHALLS Type Digital,single-ended,120°electricalphasedifferencebetweenU-V-Wsignals, Schmitttrigger,1µsRCfilter,24Vdccompatible,programmablepull-up/downto+5Vdc/ground, Vt+=2.5~3.5Vdc,VT-=1.3~2.2Vdc,VH=0.7~1.5Vdc Inputs 10kWpullupsto+5Vdc,1µsRCfiltertoSchmitttriggerinverters

MULTI-MODEENCODERPORT AsInput Digitalquadratureencoder(A,/A,B,/B,X,/X),121WterminatingresistorsbetweenA&/A,B&/Binputs 18 M-counts/sec, post-quadrature (4.5 M-lines/sec). Digital absolute encoder (Clk, /Clk, Dat, /Dat) half or full-duplex operation, 121 Wterminatingresistors (See above for listing of absolute encoder types. EnDat Sin/Cos signals are not supported) AsEmulatedOutput Quadratureencoderemulationwithprogrammableresolutionto4096lines(65,536counts)perrevfrom resolver,A,/A,B,/B,outputsfromMAX3032differentiallinedriver,X,/X,S,/SoutputsfromMAC3362drivers

ENCODERPOWERSUPPLIES Number:Ratings 2:+5Vdc,500mAmaxeachoutput,thermalandshort-circuitprotected Connections AxisA:J1-17,J1-32,J7-6,J7-17;combinedcurrentfromthesepinscannotexceed500mA AxisB:J1-23,J1-38,J8-6,J8-17;combinedcurrentfromthesepinscannotexceed500mA

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

1 8 1 8

L/A L/ARunErr

OUTIN

S2

S1

X1X10DEVICE ID

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



J4:EtherCAT PORTSRJ-45receptacles, 8 position, 4 signals

EtherCATistheopen,real-timeEthernetnetworkdevelopedbyBeckhoffbasedonthewidelyused100BASE-TXcablingsystem.EtherCATenableshigh-speedcontrolofmultipleaxeswhilemaintainingtightsynchronizationofclocksinthenodes.

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

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

TheOUTportconnectsto‘downstream’nodes. IfAccelnetisthelastnodeonanetwork,onlytheINportisused.NoterminatorisrequiredontheOUTport.

EtherCAT DEVICEID(STATIONALIAS)InanEtherCATnetwork,slavesareautomaticallyassignedconsecutiveaddressesbasedontheirpositiononthenetwork.Butwhenthedevicemusthaveapositiveidentificationthatisindependentofcabling,aDeviceIDisused.IntheBE2,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

AMPLEDS& DEVICEIDSWITCHES

ETHERCAT COMMUNICATIONS

INDICATORS: DRIVE STATE

ETHERCATCONNECTIONS

Twobi-colorLEDsgivethestateoftheBE2drive.Colorsdonotalternate,andcanbesolidONorblinking.Whenmultipleconditionsoccur,onlythetop-mostconditionwillbedisplayed. Whenthatconditionisclearedthenextonebelowwillshown.1)Red/Blinking = Latchingfault.OperationwillnotresumeuntildriveisReset. 2)Red/Solid = Transientfaultcondition.Drivewillresumeoperationwhen theconditioncausingthefaultisremoved. 3)Green/Double-Blinking = STOcircuitactive,driveoutputsareSafe-Torque-Off 4)Green/Slow-Blinking = DriveOKbutNOT-enabled.Willrunwhenenabled. 5)Green/Fast-Blinking = PositiveorNegativelimitswitchactive. Drivewillonlymoveindirectionnotinhibitedbylimitswitch. 7)Green/Solid = DriveOKandenabled.Willruninresponseto referenceinputsorEtherCATcommands. Latching FaultsDefaults Optional(programmable) • Shortcircuit(Internalorexternal) • Over-voltage • Driveover-temperature • Under-voltage • Motorover-temperature • MotorPhasingError • FeedbackError • CommandInputFault • FollowingError

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

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

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

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

PIN SIGNAL

2 RxD

3,4 *Gnd

5 Txd

6

9

1

5

3 2TxD RxD

RJ-11on

ServoDrive

RJ-11 cable6P6CStraight-wired7 ft (2.13 m)

5 3Gnd Gnd

RxD TxD2 5

D-Sub 9F

Dsub-9Fto RJ11Adapter

16

16



BE2isconfiguredviaathree-wire,full-duplexDTERS-232portthatoperatesfrom9600to115,200Baud,8bits,noparity,andonestopbit.Signalformatisfull-duplex,3-wire,DTEusingRxD,TxD,andGnd.ConnectionstotheBE2 RS-232 port are throughJ4,anRJ-11connector.TheBE2 Serial Cable Kit (SER-CK)containsamodularcable,andanadapterthatconnectstoa9-pin, Sub-D serial port connector (COM1, COM2, etc.) on PC’s andcompatibles.

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

J5:RS-232PORTRJ-11receptacle, 6 position, 4 contact

SER-CKSERIALCABLEKITTheSER-CKprovidesconnectivitybetweenaD-Sub9maleconnectorandtheRJ-11connectorontheBE2.ItincludesanadapterthatplugsintotheCOM1(orother)portofaPCandusescommonmodularcabletoconnecttotheBE2.Theconnectionsareshowninthediagrambelow.

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

Don’t forget to order a Serial Cable Kit SER-CK whenplacingyourorderforaBE2!

ASCIICOMMUNICATIONS

TheCopleyASCIIInterfaceisasetofASCIIformatcommandsthatcanbeusedtooperateandmonitorthesedrivesoveranRS-232serialconnection.Forinstance,afterbasicdriveconfigurationvalueshavebeenprogrammedusingCME,acontrolprogramcanusetheASCIIInterfaceto:•EnablethedriveinProgrammedPositionmode.•Hometheaxis.•Issueaseriesofmovecommandswhilemonitoringposition,velocity,andotherrun-timevariables.

TheBaudratedefaultsto9,600afterpower-onorresetandisprogrammableupto115,200thereafter.Afterpower-on,reset,ortransmissionofaBreakcharacter,theBaudratewillbe9,600.Oncecommunicationhasbeenestablished at this speed, the Baud rate can be changed to a higher rate (19,200, 57,600, 115,200).ASCIIparameter0x90holdstheBaudratedata.Tosettherateto115,200enterthislinefromaterminal: s r0x90 115200 <enter>Then,changetheBaudrateinthecomputer/controllertothenewnumberandcommunicateatthatrate.

AdditionalinformationcanbefoundintheASCIIProgrammersGuideontheCopleywebsite:http://www.copleycontrols.com>Support>Manuals>ASCIIProgrammer’sGuide

COMMUNICATIONS: RS-232 SERIAL

*SignalGround

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(-)

DANGER

Refertothe16-01338Accelnet&StepnetPlusPanelsSTOManual

Theinformationprovidedinthe16-01338 Accelnet & Stepnet Plus Panels STO Manual mustbeconsidered for any application using the drive’s STO feature.FAILURETOHEEDTHISWARNINGCANCAUSEEQUIPMENTDAMAGE,INJURY,ORDEATH.

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

*

16

95

SAFE

TY



INSTALLATION

STOBYPASS(MUTING)InorderforthePWMoutputsoftheBE2tobeactivated,currentmustbeflowingthroughalloftheopto-couplersthatareconnectedtotheSTO-IN1andSTO-IN2terminalsofJ6,andthedrivemustbeinanENABLEDstate.Whentheopto-couplersareOFF,thedriveisinaSafeTorqueOff(STO)stateandthePWMoutputscannotbeactivatedbythecontrolcoretodriveamotor.

Thisdiagramshowsconnectionsthatwillenergizealloftheopto-couplersfromaninternalcurrent-source.WhenthisisdonetheSTO feature is overridden and control of the output PWM stage is under control of the digital control core. IfnotusingtheSTOfeature,theseconnectionsmustbemadeinorderfortheBE2tobeenabled.

Currentmustflowthroughallofthe

opto-couplersbeforethedrive canbeenabled

STOBYPASSCONNECTIONS

SAFE TORQUE OFF (STO)

FUNCTIONALDIAGRAM

* STO bypass connections on the BE2 and XenusXEL-XPLmodelsaredifferent.Ifbothdrivesareinstalledinthesamecabinet,thediodeshouldbewiredasshowntopreventdamagethatcouldoccuriftheSTObypassconnectorsareinstalledonthewrongdrive.The diode is not required for STO bypass ontheBE2andcanbereplacedbyawirebetweenpins7and9.

SAFETYCONNECTORJ6

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

This provides a positive OFF capability that cannot be overridden bythecontrolfirmware,orassociatedhardwarecomponents.Whentheopto-couplersareenergized(currentisflowingintheinputdiodes),thecontrolcorewillbeabletocontroltheon/offstate of the PWM outputs.

DIFFERENTIAL:MULTI-PORTA,/A,B,/B

Signal Axis A Axis B

[EncA]Pls,CU,EncA J1-36 J1-42

[Enc/A]/Pls,/CU,Enc/A J1-21 J1-27

[EncB]Dir,CD,EncB J1-35 J1-41

[Enc/B]/Dir,/CD,Enc/B J1-20 J1-26

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

FrameGround J1-1

DIFFERENTIAL:MULTI-PORTA,/A,B,/B


[EncA]Curr-Vel± J1-36 J1-42

[Enc/A]/Curr-Vel± J1-21 J1-27

[EncB]Pol-Dir J1-35 J1-41

[Enc/B]/Pol-Dir J1-20 J1-26


FrameGround J1-1

SINGLE-ENDED:IN3,4,12,13


[IN3(12)]Pls,CU,EncA J1-9 J1-14

[IN4(13)]Dir,CD,EncB J1-10 J1-15


FrameGround J1-1

SINGLE-ENDED:IN3,4,12,13


[IN3(12)]Curr-Vel± J1-9 J1-14

[IN4(13)]/Curr-Vel± J1-10 J1-15


FrameGround J1-1

InputsAxis A(B)

CU (CW)

CD (CCW)

[IN3(12)]

[IN4(13)]

InputsAxis A(B)

Enc. A

Enc. B

[IN3(12)]

[IN4(13)]

InputsAxis A(B)

Pulse

Direction

[IN3(12)]

[IN4(13)]

A

/A

B

/B

Multi-port

PULSE

DIRECTION

PULSE

/PULSE

DIRECTION

/DIRECTION

A

/A

B

/B

CD (Count-Down)

CU (Count-Up)CU (CW)

/CU (CW)

CD (CCW)

/CD (CCW)Multi-port

A

/A

B

/B

Multi-port

Enc B

Enc /B

Encoder ph. B

Enc A

Enc /A

Encoder ph. A

Axis A(B)[IN3(12)]

Curr-Vel±

Pol-Dir[IN4(13)]

Axis A(B)Duty = 50% ±50%

<no connection>

Curr-Vel±

<not used>

[IN3(12)]

[IN4(13)]

Duty = 0 - 100% Curr-Vel

Pol-Dir

/Curr-Vel

/Pol-Dir

A

/A

B

/B

Multi-port

Duty = 50% ±50%

<no connection>

Curr-Vel±

/Curr-Vel±

A

/A

Multi-port



POSITIONCOMMANDINPUTSSingle-endeddigitalpositioncommandsmustbesourcedfromdeviceswithactivepull-upandpull-downtotakeadvantageofthe high-speed inputs.

Fordifferentialcommands,theA&Bchannelsofthemulti-modeencoder ports are used.

SINGLE-ENDEDPWM&DIRECTION

SINGLE-ENDED50%PWM

SINGLE-ENDEDPULSE&DIRECTION

SINGLE-ENDEDCU/CD

QUADA/BENCODERSINGLE-ENDED

DIFFERENTIALCU/CD

DIFFERENTIALPULSE&DIRECTION

QUADA/BENCODERDIFFERENTIAL

DIFFERENTIAL50%PWM

DIFFERENTIALPWM&DIRECTION

DIGITAL COMMAND INPUTS: POSITION

DIGITAL COMMAND INPUTS: VELOCITY, TORQUESingle-endeddigitaltorqueorvelocitycommandsmustbesourcedfromdeviceswithactivepull-upandpull-downtotakeadvantage of the high-speed inputs.

Fordifferentialcommands,theA&Bchannelsofthemulti-modeencoder ports are used.

SIGNALS&PINS

Signal Axis A J1

Axis B J1

Pulse, CW, Encoder A 36 42

/Pulse, /CW, Encoder /A 21 27

Direction, CCW, Encoder B 35 41

/Direction, /CCW, Encoder /B 20 26

QuadEncX,AbsoluteClock 34 40

QuadEnc/X,/AbsoluteClock 19 25

Enc S, Absolute (Clock) Data 33 39

Enc /S, / Absolute (Clock) Data 18 24

SignalGround 6, 16, 22, 31, 37, 44

FrameGround 1

+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

Pulse/Dir or CU/CD differential commands

Input/OutputSelect

MAX3097

MAX3032

A/B/X signals fromdigital encoder

Input/OutputSelect

MAX3097

MAX3032

A/B/X signals fromdigital encoder

InputSelect

OutputSelect

MAX3362

MAX3362

X

S

4-Wire digital absolute encoder signals

Input/OutputSelect

MAX3362

S

S

2-Wire digital absolute encoder signals



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

SIGNALS&PINS

Signal Axis A J1

Axis B J1

Encoder A 36 42

Encoder /A 21 27

Encoder B 35 41

Encoder /B 20 26

EncoderX 34 40

Encoder/X 19 25

Encoder S 33 39

Encoder /S 18 24

SignalGround 6, 16, 22, 31, 37, 44

FrameGround 1

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 analog Sin/Cos encoder

Emulated A/B signals

Enc. B

Enc. X

B

/B

X

/X

Enc. A

Incremental Encoder

J1 Multi-Port

Frame Ground

A

/A



MULTI-MODE PORT AS AN OUTPUT

OUTPUT TYPESBUFFEREDFEEDBACKOUTPUTS:DIFFERENTIAL

• EncoderQuadA,B,Xchannels• DirecthardwareconnectionbetweenquadA/B/X encoderfeedbackanddifferentiallinedriversforA/B/Xoutputs

EMULATEDFEEDBACKOUTPUTS:DIFFERENTIALFirmwareproducesemulatedquadA/Bsignalsfromfeedback datafromthefollowingdevices:• Absolute encoders • Resolvers (-R option)• AnalogSin/Cosincrementalencoders

Axis A Axis B Notes

OUT1 OUT2 Fault Active-OFF

OUT3

NotConfiguredOUT4

OUT5

OUT6 OUT7 BrakeActive-HI

Axis A Axis B Notes

√ √ Short Circuit

√ √ AmpOverTemp

√ √ MotorOverTemp

Over Voltage

Under Voltage

Motor Wiring Disconnected

STO Active

OPTIONALFAULTS

Over Current (Latched)

Axes A, B 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

Axes A, B Notes

Method SetCurrentPositionasHome

Axis A Config PU/PD Axis B Config PU/PD

IN1 Enable-LO+5V or

Sgnd

*IN10 Enable-LO+5V or

Sgnd

IN2Not

Configured

*IN11Not

ConfiguredIN3 *IN12

IN4 *IN13

IN5

Opto NotConfigured

IN14

Opto NotConfigured

IN6 IN15

IN7 IN16

IN8 IN17

IN9 Motemp +5V IN18 Motemp +5V



CME DEFAULTS

ThesetablesshowtheCMEdefaultsettings.Theyareuser-programmableand thesettingscanbesavedtonon-volatileflashmemory.

SPECIFICATIONSInput Data Notes

InputVoltages

HI VT+≥3.5Vdc

LO VT-≤1.0Vdc

VH1 VH≤±1.5Vdc

Max +30Vdc

Min 0 Vdc

Pull-up/down R1 15 kW

LowpassfilterR2 15 kW

C1 100 pF

InputCurrent24V 1.3mAdc

0V -0.33mAdc

Timeconstant RC2 1.5µs


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 10 kW


C1 100 pF

Timeconstant RC2 100 ns

CONNECTIONSS.E. DIFF Pin

IN3 IN3+ J1-9

IN4 IN3- J1-10

IN12 IN12+ J1-14

IN13 IN12- J1-15

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

CONNECTIONS

Input Pin

IN1 J1-7

IN2 J1-8

IN10 J1-12

IN11 J1-13

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

C1

C1

2.5V

MAX3096

MAX3096

[IN3,12]

J1 Control

[IN4,13]

R1

R1

+5V

R2

R2

++5V

+12V

[IN3,12]

J1 Control

[IN4,13]

+5V

+5V

C1

R1R2

C1

R1R2

MAX3096

12V+

C1

R2R1

74HC2G14

PullUp = +5VPullDown = 0V

[IN1,2]

+5V

FEEDBACK CONNECTOR



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

• Digital, non-isolated, high-speed• Progammablepull-up/pull-down• 12VCompatible• Single-endedorDifferential• Programmablefunctions

SINGLE-ENDED

DIFFERENTIAL

Notes:1)VHishysteresisvoltage IN2-IN3orIN12-IN13

2)TheR2*C2timeconstantapplieswheninputisdrivenbyactiveHI/LOdevices)

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

HIGH SPEED INPUTS: IN1, IN2, IN10, IN11

SINGLE-ENDED/DIFFERENTIAL INPUTS: IN3, IN4, IN12, IN13

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

2)TheR2*C2timeconstantapplieswheninputisdrivenbyactiveHI/LOdevices

CONNECTIONSInput Pin

IN9 J7-7

IN18 J8-7

Sgnd J7,8-5,16,25,26


InputVoltages

HI Vin≥3.5Vdc

LO Vin≤0.7Vdc

Max +12Vdc

Min 0 Vdc

Pull-up/down R1 4.99 kW

InputCurrent12V 1.4mAdc

0V -1.0mAdc


C1 33 nF

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

Property Ohms

Resistanceinthetemperaturerange20°Cto+70°C 60~750

Resistanceat85°C ≤1650

Resistanceat95°C ≥3990


CONNECTIONSSignal Pins Signal Pins

IN5 J2-2 IN14 J2-7

IN6 J2-3 IN15 J2-8

IN7 J2-4 IN16 J2-9

IN8 J2-5 IN17 J2-18

ICOM1 J2-6 ICOM2 J2-17


InputVoltages

HI Vin≥±10.0Vdc*

LO Vin≤±6Vdc*

Max ±30 Vdc *

InputCurrent±24V ±3.6mAdc

0V 0mAdc

+5V

[IN9(18)]

Thermistor,Posistor,

or switch Signal Gnd

R1

R2

C1

J7,J8

5.1V

4.7k

5.1V

24V

24V GND

24V

[ICOM1(2)]

[IN5(14)]

4.7k

4.99k

[IN6(15)]

4.7k

4.7k

4.99k 5.1V

4.99k 5.1V

[IN7(16)]

[IN8(17)]

4.99k

J2

+

+



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

• Digital, opto-isolated• 2Groupsoffour,eachwithownCommonterminal• Workswithcurrentsourcingorsinkingdrivers• 24VCompatible• Programmablefunctions

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

*VdcReferencedtoICOMterminals.

* RC time constant applieswheninputsaredrivenbyactivehigh/lowdevices

MOTOR OVERTEMP INPUTS: IN9, IN18

OPTO-ISOLATED INPUTS: IN5, IN6, IN7, IN8, IN14, IN15, IN16, IN17

SPECIFICATIONS

Spec Data Notes

InputVoltage Vref ±10 Vdc

InputResistance Rin 5.05 kW

CONNECTIONS

SignalPins

Axis A Axis B

AIN(+) J1-3 J1-5

AIN(-) J1-2 J1-4

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

HI/LODEFINITIONS:OUTPUTS

Input State Condition

OUT1~5HI OutputSSRisON,currentflows

LO OutputSSRisOFF,nocurrentflowsCONNECTIONSSignal (+) (-)

OUT1 J2-19 J2-10

OUT2 J2-20 J2-11

OUT3 J2-21 J2-12

OUT4 J2-22 J2-13

OUT5 J2-23 J2-14

SPECIFICATIONS

Output Data Notes

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

Output Current Iout 300mAdcmax

+

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

+



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

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

The analog inputs have a ±10 Vdc range at 12-bit resolution As reference inputs they can take position/velocity/torque commandsfromacontroller.Ifnotusedascommandinputs,they can be used as general-purpose analog inputs.

ANALOG INPUTS: AIN1, AIN2

OPTO-ISOLATED OUTPUTS: OUT1, OUT2, OUT3, OUT4, OUT5

HI/LODEFINITIONS:OUTPUTS

Input State Condition

BRK-A,B OUT6,7

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

CONNECTIONS

Pin Signal

5 Brk24VInput

4 Brk 24V Output

3 BrakeA[OUT6]

2 BrakeB[OUT7]

1 24V Return

*

J3

Brake B

Brake A

5

4

24V

Brk 24V Input

Brk 24V Output

24V Return

2

3

1

i

+0

i

+0

*HV Com

Earth Ground

Heatplate/chassis

Frame Gnd

Frame Gnd

J1Control

J8Mot AJ10

Power

1

2

3

Signal Gnd

Signal Gnd

Signal Gnd

Signal Gnd

Signal GndSignal Gnd

Signal Gnd

Signal GndJ5Serial

3

4

1

1

37

44

31

16

6

22

J9Mot B

1

J2I/O J3

Brake1

+HV

0V

+Aux

0V

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

Brk 24V Input

Brk 24V Output

5

4

2

3

1

Brake B

Brake A

24V Return

24V



• Brake outputs• Opto-isolated• Flyback diodes for inductive loads• 24VCompatible• Connectionforexternal24Vpowersupply• Programmablefunctions

CMEDefaultSettingforBrakeOutputs[OUT6,7]is“Brake-ActiveHI” Active =Brakeisholdingmotorshaft(i.e.theBrake is Active) Motorcannotmove Nocurrentflowsincoilofbrake CMEI/OLineStatesshowsOutput6or7asHI BRKOutputvoltageisHI(24V),MOSFETisOFF Servodriveoutputcurrentiszero Servodriveisdisabled,PWMoutputsareoff Inactive = Brakeisnotholdingmotorshaft(i.e.theBrake is Inactive) Motorcanmove Currentflowsincoilofbrake CMEI/OLineStatesshowsOutput6or7asLO BRKoutputvoltageisLO(~0V),MOSFETisON Servo drive is enabled, PWM outputs are on Servodriveoutputcurrentisflowing

Thebrakecircuitsareopticallyisolatedfromalldrivecircuitsandframeground.

OPTO-ISOLATED MOTOR BRAKE OUTPUTS: OUT6, OUT7

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

*There should be only one conductor in each position of the J3 connector. If brakes are to be wired directly to J3 for their 24V power, use a double wire ferrule for J3-4. Information for ferrules can be found on page 27.

Signal J7,J8Pin

Enc A 13

Enc /A 12

Enc B 11

Enc /B 10

EncX 9

Enc/X 8

+5V 6, 17

Sgnd 5, 16, 25, 26

F.G. 1

Signal J7,J8Pin

Sin(+) 19

Sin(-) 18

Cos(+) 21

Cos(-) 20

X 9

/X 8

+5V 6, 17

Sgnd 5, 16, 25, 26

F.G. 1

Signal J7,J8Pin

Sin(+)S3 19

Sin(-) S1 18

Cos(+)S2 21

Cos(-) S4 20

Ref(+)R1 23

Ref(-) R2 22

Sgnd 5,16 25, 26

F.G. 1

1k+5V

1k

Encoder J7,J8

FG Frame Ground

Enc. A121A

Enc. B121B

Enc. Index130Z/X

X

/B

B

/A

A

+5V

0V

+5V Out @ 500 mA

Signal Ground

A

/A

B

/B

X

/X

+ -+-

+ -+-

+ -+-

AFault Encoder-Loss

Encoder Loss Detection Logic

BFault

XFault

Va

Vb

VxIndex-Loss

Resolver

FG Frame Ground

J7,J8

SinS3 S1

S2

S4R1R2

Cos

Ref

Signal Ground

Sin(+) S3

Sin(-) S1

Cos(-) S4

Cos(+) S2

Ref(+) R1

Ref(-) R2

R/D Conversion

1k+5V

1k

+5V Out @ 500 mA

Signal Ground

Sin(+)

Sin(-)

Cos(+)

Cos(-)

X

/X

-

+

-

+

10k

121

J7,J8

10k

121

Encoder

FG

sin

cos

+5V

0V

indx

Frame Ground

10k

Sin

Cos

10k

Enc. Index130



FEEDBACK CONNECTIONS

Encoderswithdifferentialline-driveroutputs are required (single-ended encoders are not supported) and provide incrementalpositionfeedbackviatheA/Bsignalsandtheoptionalindexsignal(X)givesaonceperrevolutionpositionmark.TheMAX3097receiverhasdifferentialinputswithfaultprotectionsforthefollowingconditions:

QUAD A/B/X ENCODER WITH SIGNAL LOSS DETECTIONCondition ExampleLine-line shorts A shorted to /AOpen-circuits: Adisconnected,/Aconnected.Terminatorresistorpulls A&/Atogetherforashort-circuitfaultLow-voltage Va-Vb≤200mV,or≥-200mV Encoderpowerloss,cabling,etc.

ANALOG SIN/COS INCREMENTAL ENCODERThesin/cosinputsareanalogdifferentialwith121Ωterminatingresistorsandaccept1Vp-psignalsintheformatusedbyincrementalencoderswithanalogoutputs,orwithServoTubemotors.Theindexinputisdigital,differential.

RESOLVER (-R OPTION)

Connectionstotheresolvershouldbemadewithdouble-shieldedcablethatusesthreetwisted-pairsplusanoutershield.Onceconnected,resolversetup,motorphasing,andothercommissioningadjustmentsaremadewithCMEsoftware.Therearenohardwareadjustments.

QUAD ENCODER WITH INDEX

SIGNAL LOSS DETECTION LOGIC

CME FEEDBACK OPTIONS

SIN/COS SIGNALSRESOLVER SIGNALS

A/B/X SIGNALS

Sgnd=SignalGround F.G.=FrameGnd



Signal J7,J8Pin

Clk 9

/Clk 8

Data 15

/Data 14

Sin(+) 19

Sin(-) 18

Cos(+) 21

Cos(-) 20

+5V 6, 17

Sgnd 5, 16, 25, 26

F.G. 1

Signal J7,J8Pin

Data 15

/Data 14

+5V 6, 17

Sgnd 5, 16, 25, 26

F.G. 1

SSI BiSS J7,J8Pin

Clk MA+ 9

/Clk MA- 8

Data SL+ 15

/Data SL- 14

+5V 6, 17

SignalGround 5, 16, 25, 26

FrameGnd 1

1k+5V

1k 1k+5V

1k

BiSSEncoder

221

130

MA+

MA-

SL+

SL-

FG Frame Ground

J7,J8

Clk

Data

Master

Slave

V+

V-

+5V Out @ 500 mA

Signal Ground

1k+5V

1k 1k+5V

1k

Encoder

221

130

Clk

/Clk

Dat

/Dat

FGFrame Ground

J7,J8

Clk

DataData

Clk

+5V

0V

+5V Out @ 500 mA

A

A

B

B

Signal Ground

-

+

-

+

A

B

A

B

1k+5V

1k 1k+5V

1k

Encoder

221

Sin(+)

Sin(-)

Cos(+)

Cos(-)

Dat

/Dat

Clk

/Clk130

FGFrame Ground

J7,J8

Clk

DataData

Clk

+5V

0V

+5V Out @ 500 mA

Signal Ground

10k

10k

121 Sin

Cos

10k

10k

121

sin

cos

Absolute-AEncoder

221

1.2k

1.2k

220

5V

SD+

SD-

J7,J8

Battery

Dat

/DatCmd

D-R

SDCmd

D-R

SD

MAX3362B0V

+5VV+

V-

+5V Out@ 500 mA

Signal Ground

Batt+

Batt-

+

-

1k

1k

5V



FEEDBACK CONNECTIONS

SSI ABSOLUTE ENCODERTheSSI(SynchronousSerialInterface)isaninterfaceusedtoconnectanabsolutepositionencodertoamotioncontrollerorcontrolsystem.TheXELdriveprovidesatrainofclocksignalsindifferentialformattotheencoderwhichinitiatesthetransmissionof the position data on the subsequent clock pulses. The polling of the encoder data occurs at the current loop frequency (16 kHz).Thenumberofencoderdatabitsandcountspermotorrevolutionareprogrammable. Thehardwarebusconsistsoftwosignals:SCLKandSDATA.Dataissentin8bitbytes,LSBfirst.TheSCLKsignalisonlyactive during transfers. Data is clocked out on the falling edge and clock in on the rising edge of the Master.

BiSS ABSOLUTE ENCODERBiSS is an - Open Source - digital interface for sensors and actuators.BiSSreferstoprinciplesofwellknownindustrialstandardsforSerialSynchronousInterfaceslikeSSI,AS-Interface®andInterbus®withadditionaloptions. 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 thatiselectricallythesameasRS-485.Notethebatterywhichmustbeconnected.Withoutit,theencoderwillproduce a fault condition.

SSI,BiSS SIGNALS

ENDAT SIGNALS

ABSOLUTE-A SIGNALS

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



Property Ohms

Resistanceinthetemperaturerange 20°Cto+70°C

60~750

Resistanceat85°C ≤1650



Signal J9,J10Pin

Mot U 4

Mot V 3

Mot W 2

FrameGnd 1

Signal J7,J8Pin

HallU 2

HallV 3

HallW 4

+5V 6, 17

Sgnd 5, 16, 25, 26

FrameGnd 1

Signal Pin

MotempA J7-7

MotempB J8-7

J7,J8 SignalGround 5,10

FrameGnd 12

PWM

+HV

0V

ServoMotor

MOT W

Gn/YFrame Gnd

MOT V

MOT U

J9, J10

+

*

Halls

+5V Out @ 500 mA

Signal Ground

+5V

0V

15K

100p

15KHall U+5V

J7,J8

100p

15K

15KHall V+5V

100p

15K

15KHall W

+5V

Hall A

Hall B

Hall C

+5V

[IN9(18)]

Thermistor,Posistor,

or switch Signal Gnd

R1

R2

C1

J7,J8



MOTOR CONNECTIONS

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

MOTOR PHASE CONNECTIONSThe drive outputs are three-phase PWM inverters that convert the DC buss voltage (+HV)intothreesinusoidalvoltagewaveformsthatdrivethemotorphase-coils.Cableshouldbesizedforthecontinuouscurrentratingofthemotor.Motorcablingshouldusetwisted,shieldedconductorsforCEcompliance,andtominimize PWMnoise coupling into othercircuits.Furtherdetailsonmotorconnectionscan be found on page 24.

DIGITAL HALL SIGNALSHall signals are single-ended signals thatprovideabsolutefeedbackwithinoneelectricalcycleofthemotor.Therearethreeofthem(U,V,&W)andtheymaybesourcedbymagneticsensorsinthemotor,orbyencodersthathaveHalltracksaspartoftheencoderdisc.Theytypically operate atmuch lower frequenciesthanthemotorencodersignals,andareusedfor commutation-initialization after startup,andforcheckingthemotorphasingafterthedrivehasswitchedtosinusoidalcommutation.

MOTEMP SIGNALS BS 4999 SENSOR

HALL SIGNALS

MOTOR SIGNALS

* MOT W not used for DC brush motors

BRUSHLESSMOTOR

U

V

U(+)

V(-)

W

BRUSHMOTOR

Groundingtab

Frame Gnd

5 25

26

17

8

9

10

11

12

1

13

Hall W 4

Hall V 3

Hall U 2

DIGITALENCODER

DIGITALHALLS

/A

A

/B

B

/X

Vcc

0V

X

J7J8

6

Enc /A

Enc A

Enc /B

Enc B

Enc /X

Enc X

+5V Out

7

Signal Gnd

Signal Gnd

Brake A

Motemp

4

3

2

1

Mot U

Mot V

Mot W

Frame Gnd

J9J10

J3

TEMPSENSOR

Brake B

24V Return

4Brk 24V Output

Brk 24V Input +

0V

24 Vdc

Accelnet Plus Panel 2-Axis

Brk

Brk

16

5

3

2

1



Theconnectionsshownmaynotbeusedinallinstallations

NOTES:1) The+5VOut1onJ1-17,32andJ7-6,17isratedfor500mA The+5VOut2onJ1-23,38andJ8-6,17isratedfor500mA Thesearetwoindependentpowersupplies,eachwitha500mAmaxoutputfromallpins 2) CEsymbolsindicateconnectionsrequiredforCEcompliance.

MOTOR CONNECTIONS: DIGITAL QUAD A/B ENCODER

Groundingtab

Frame Gnd

5 25

26

17

8

9

20

21

18

1

19

Hall W 4

Hall V 3

Hall U 2

J7J8

6+5V Out

7

Signal Gnd

Signal Gnd

Motemp

4

3

2

1

Mot U

Mot V

Mot W

Frame Gnd

J9J10

Accelnet Plus Panel 2-Axis

ENCODER

DIGITALHALLS

Vcc

0V

TEMPSENSOR

ANALOG

Sin-

Sin+

Cos-

Cos+

Ndx-

Ndx+

Enc Sin(-)

Enc Sin(+)

Enc Cos(-)

Enc Cos(+)

Enc Index(-)

Enc Index(+)

J32

3

1

Brk 24V Output

Brake B

4

5Brk 24V Input

Brake A

24V Return

+

24 Vdc

-

MOTOR

U

V

U(+)

W

BRUSH

16

Brk

Brk

V(-) MOTORBRUSHLESS



MOTOR CONNECTIONS: ANALOG SIN/COS ENCODER

Theconnectionsshownmaynotbeusedinallinstallations


Groundingtab

BRUSHLESSMOTOR

U

V

U(+)

V(-)

W

BRUSHMOTOR

Frame Gnd

25

24

6

22

23

20

21

18

1

19

Hall W 4

Hall V 3

Hall U 2

RESOLVER

Sin- S1

Sin+ S3

Cos- S4

Cos+ S2

Ref- R2

Ref+ R1

J7J8

[IN21,22]

Sgnd

Rlvr Sin(-)

Rlvr Sin(+)

Rlvr Cos(-)

Rlvr Cos(+)

Rlvr Ref(-)

Rlvr Ref(+)

+5V Out

5 TEMPSENSOR

7

Signal Gnd

Motemp

4

3

2

1

Mot U

Mot V

Mot W

Shield

J9J10

J32

3

1

Brk 24V Output

Brake B

4

5Brk 24V Input

Brake A

24V Return

+

-

24 VdcAxis A Brake

Axis BBrake

Accelnet Plus 2-Axis



MOTOR CONNECTIONS: RESOLVERS (-R OPTION)

Theconnectionsshownmaynotbeusedinallinstallations.Hallsignalsarenotgenerallyusedwithresolverfeedbackbutareshownherebecausetheyfunction if needed for resolver operation.


~

~+

-

+

Frame Gnd

Frame Gnd

PWMInverter

J9 Axis A

Axis AMotor

PWMInverter

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

DC-DCConverter

SgndSignal Gnd

Internal DCPower for

All Circuits

+HV

HV Com

Aux

EarthGround

J10 Axis B

Axis BMotor

J11 HV & Aux

J5 Serial

J4 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

1

2

3

4

1360 µF

5432

1M

75

75

10n

J1 Control

DRIVE HEATPLATE

Sgnd

Sgnd

Sgnd

HV ComGnd

ProtectiveEarth ground

DRIVE CIRCUITS

Vcc

Vcc

[IN1~4, 10~13][IN9,18]

[IN5~8,14~17]

[AIN1~2+/-]

Isolated

Sgnd

Sgnd

Isolated

+

Sgnd

- J2 I/O

Vcc[OUT1~5+]

[OUT1~5-]

Drive Control Core

[IN9,18]

J7,J8 Axes A,B

J3 Brake

Motor temp switch

Vcc

+24V

Brk 24V Input

Brk 24V Output

Brake A

Brake B

24V Return

+

-

R-L

Isolated

R-L

24V Return



DEVICE STRUCTURE & ISOLATION

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

+

-

+~

~

~

~

+

- -

+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 = J82-Axis = J11

HV+

-Aux

Frame Ground



POWER & GROUNDING CONNECTIONS

DCPOWERCONNECTIONS• DCpowermustbeprovidedbytransformersthataregalvanicallyisolatedandprovidereinforcedinsulationfromthemains.

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

• Cablingtothedrive+HVand0Vterminalsmustbesizedtocarrytheexpectedcontinuouscurrentofthedriveintheuser’sinstallation.

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

• Motorcablingtypicallyincludesagreen/yellowconductorforprotectivebondingofthemotorframe. ConnectasshownintheMotorConnectionsdiagramonthefollowingpage.

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

• BraidedcableshieldsaremoreeffectiveforEMIreductionthanfoilshields.Double-shieldedcablestypicallyhaveabraidedoutershieldandfoilshieldsfortheinternaltwistedpairs.ThiscombinationiseffectiveforbothEMIreductionandsignalqualityofthefeedbacksignalsfromanalogencodersorresolvers.

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

• Indouble-shieldedcables,theinternalshieldingshouldconnecttothedrive’sSignalGroundononeend,andshouldbeunconnectedonthemotorend.

• Single-shieldfeedbackcablesconnecttothedriveframeononeend,andtothemotorframeontheother. Dependingontheconstructionofthemotor,leavingthefeedbackcableshielddisconnectedonthemotorbutconnectedonthedriveendmaygivebetterresults.

• Thedriveshouldbesecuredtotheequipmentframeorpanelsusingthemountingslots.ThisensuresagoodelectricalconnectionforoptimalEMIperformance.Thedrivechassisiselectricallyconductive.

DCPOWERWIRINGP-clips secure cables to a panel and provide full contact to the cable shields after the insulation has been stripped.ThisshouldbedoneasclosetothedriveaspossibleforbestEMIattenuation.

(+)

(-)

+ +Cint

RegulatedPower

Supply Cext

Cext: ExternalCapacitor

Cint: InternalCapacitor

Drive

(+)

(-)

+ +Cint

UnregulatedPower

Supply Cps

Cps: Power SupplyCapacitor

Cint: InternalCapacitor

Drive

Outer Shield

Inner Shields

Motor

Motor

U

V

W

P-clip

F.G.

Feedback

Encoder

F.G.

Enc A

Enc B

Enc X

Sgnd

Earth Ground

Frame Ground

0.0

1.0

2.0

3.0

4.0

5.0

6.0

25 30 40 50 60 70 80 90



REGENERATIONThis chart shows the energy absorption inW·s for thedriveoperatingat some typicalDCvoltages.Itisbasedontheinternal1360uFcapacitanceandwouldbeincreasedbythecapacitanceoftheexternalDCpowersupply.Whentheloadmechanicalenergyisgreaterthan these values an external regenerative energydissipaterisrequired,ortheDCpowersupply capacitance can be increased to absorb the regen energy.

Joules(W·s)

ENERGYABSORPTION

MOTORCONNECTIONS• Motorcableshieldconnectstomotorframe,isgroundedwithaP-clipnearthedriveandterminatesinaring-lugthatisscrewedtothedrivechassisbyamountingscrewtothepanel

• Ifprovided,agreen/yellowgroundingwirefromthemotorconnectstotheF.G.terminalofthemotorconnector.

FEEDBACKCONNECTIONS• CableshieldconnectstomotorframeandtotheF.G.terminalofthefeedbackconnector.

• When double-shielding is used, the inner shieldsconnecttotheSignalGroundatthedrive,andisnotconnectedatthemotorend.

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

+HVPOWERSUPPLYREQUIREMENTSRegulatedPowerSupplies

• Mustbeover-voltageprotectedto100VdcmaxwhentheSTO(SafeTorqueOff)feature of the drive is used.

• Require a diode and external capacitor to absorb regenerative energy.• TheVAratingshouldbegreaterthantheactualcontinuousoutputpowerofthedrivesconnectedtothepowersupply,andadequateforthetransientoutputpowerduetoaccelerationofmotorloads.

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

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

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

AUXILIARYHVPOWER• AuxHVispowerthatcankeepthedrivecommunicationsandfeedbackcircuitsactivewhenthePWMoutputstagehasbeendisabledbyremovingthemain+HVsupply.

• UsefulduringEMO(EmergencyOff)conditionswherethe+HVsupplymustberemovedfromthedriveandpowered-downtoensureoperatorsafety.

• Voltagerangeisthesameas+HV.• PowerstheDC/DCconverterthatsuppliesoperatingvoltagestothedriveDSPand

control circuits.• AuxHVdrawsnocurrentwhenthe+HVvoltageisgreaterthantheAuxHVvoltage.

+HV(VDC)


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 1PIN SIGNAL PIN SIGNAL19 [OUT1+]GPI 10 [OUT1-]GPI 1 FrameGround20 [OUT2+]GPI 11 [OUT2-]GPI 2 [IN5]GPI21 [OUT3+]GPI 12 [OUT3-]GPI 3 [IN6]GPI22 [OUT4+]GPI 13 [OUT4-]GPI 4 [IN7]GPI23 [OUT5+]GPI 14 [OUT5-]GPI 5 [IN8]GPI24 N/C 15 N/C 6 COM1[IN5~8]25 N/C 16 N/C 7 [IN14]GPI26 N/C 17 COM2[IN14~17] 8 [IN15]GPI

18 [IN17]GPI 9 [IN16]GPI


PIN SIGNAL 30 N/C 15 [IN13]Diff2(-)

44 SignalGnd 29 N/C 14 [IN12]Diff2(+)

43 N/C 28 N/C 13 [IN11]

42 B-MultiEnc A 27 B-MultiEnc /A 12 [IN10]

41 B-MultiEnc B 26 B-MultiEnc /B 11 N/C

40 B-MultiEncX 25 B-MultiEnc/X 10 [IN4]Diff1(-)

39 B-MultiEnc S 24 B-MultiEnc /S 9 [IN3]Diff1(+)

38 B+5VdcOut2 23 B+5VdcOut2 8 [IN2]

37 SignalGnd 22 SignalGnd 7 [IN1]

36 A-MultiEnc A 21 A-MultiEnc /A 6 SignalGnd

35 A-MultiEnc B 20 A-MultiEnc /B 5 [AIN2+]

34 A-MultiEncX 19 A-MultiEnc/X 4 [AIN2-]

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

32 A+5VdcOut1 17 A+5VdcOut1 2 [AIN1-]

31 SignalGnd 16 SignalGnd 1 FrameGnd

1

5

6

9

110

19

91826

11631

304415

AM

P

RU

NE

RR

L/AL/A

AccelnetPlus

J3

BR

AK

E

J2IS

OLA

TE

D I/O

J1

SIG

x10x1

S1

S2

DE

VIC

E ID

J4

NE

TW

OR

K

AB

J5

RS

-232

J6S

AF

ET

Y

INO

UT

J1:CONTROLSIGNAL

J2:ISOLATEDI/O

54321



J6SAFETY(SAFETORQUEOFF)

CONNECTORS & SIGNALS: FRONT PANEL

J6BE2CONNECTOR:DsubDB-09F,9positionfemalereceptacle

J6CABLECONNECTOR:Dsub DB-09M, 9 position

Details on the cable connectors shown here can be found in the BE2-CK listing under the Accessories section of the last page

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

J2:CABLECONNECTORHigh-DensityDsubDB-44M,maleplug,44Position

J2:DRIVECONNECTORHigh-DensityDsubDB-26M,maleplug,26Position

J2:CABLECONNECTORHigh-DensityDsubDB-26F,femalereceptacle,26Position

J3:BRAKE

PIN SIGNAL PIN SIGNAL PIN SIGNAL1 FrameGnd 10 A(B) Enc /B 19 A(B)Sin(+)2 A(B)HallU 11 A(B) Enc B 20 A(B) Cos(-)3 A(B)HallV 12 A(B) Enc /A 21 A(B)Cos(+)4 A(B)HallW 13 A(B) Enc A 22 N/C5 SignalGnd 14 A(B) Enc /S 23 N/C6 A(B)+5VOut1(2) 15 A(B) Enc S 24 N/C7 [IN9(18)]A(B)Motemp 16 SignalGnd 25 SignalGnd8 A(B)Enc/X 17 A(B)+5VOut1(2) 26 SignalGnd9 A(B)EncX 18 A(B) Sin(-)

Pin Signal

1 24V Return

2 BrakeB[OUT7]

3 BrakeA[OUT6]

4 Brk 24V Output

5 Brk24VInput

Signal Pin

HVGround 1

HV 2

AuxHV 3

Signal Pin

FrameGround 1

Motor Phase W 2

Motor Phase V 3

Motor Phase U 4

1 2 3

0V +HV Aux

1 2 3 4

54321

1 10 19

9 18 26

J7

J11

0V +HV AUXW V U

POWERJ10 MOTOR B

W V U

J9 MOTOR A

FEEDBACK A J8 FEEDBACK B

J1 SIG

J2 I/OJ3 B

RA

KE

J4 NE

TWO

RK

DE

IVIC

E ID

x10x1

J5 RS

-232J6 S

AFE

TY



J7,J8:AXISA,BFEEDBACK

J11:DRIVECONNECTOREuro-style5.08mmmalereceptacle,3-position Wago:MCS-MIDI,231-563/108-000J9,J10:DRIVECONNECTORS

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

J9,J10CABLECONNECTORSWagoMCS-MIDIClassic231-304/107-000

J11:CABLECONNECTORWagoMCS-MIDI,231-303/107-000

WAGOCONNECTORTOOLContact opener: 231-159 operating tool


J9,J10:MOTOROUTPUTS J11:+HV&AUXPOWER

J3:DRIVECONNECTOREuro-style3.5mmmalereceptacle,5-position Wago:MCS-MINI,734-165/108-000

J3:CABLECONNECTORWagoMCS-MINI734-105/107-000 or 734-105/107-000


J3:BRAKE

CONNECTORS & SIGNALS: FRONT PANEL

CONNECTORS & SIGNALS: END PANEL

J7,J8:BE2CONNECTORHigh-DensityDsubDB-26F, femalereceptacle,26Position

J7,J8:CABLECONNECTORHigh-DensityDsubDB-26M, maleplug,26Position

J7,J8:FEEDBACK

J9, J10

J7, J8

J11

PIN SIGNAL PIN SIGNAL PIN SIGNAL1 FrameGnd 10 N.C. 19 A(B)Sin(+)S32 A(B)HallU 11 N.C. 20 A(B) Cos(-) S43 A(B)HallV 12 N.C. 21 A(B)Cos(+)S24 A(B)HallW 13 N.C. 22 A(B) Ref(-) R25 SignalGnd 14 N.C. 23 A(B)Ref(+)R16 A(B)+5VOut1(2) 15 N.C. 24 N/C7 [IN9(18)]A(B)Motemp 16 SignalGnd 25 SignalGnd8 N.C. 17 A(B)+5VOut1(2) 26 SignalGnd9 N.C. 18 A(B) Sin(-) S1

Signal Pin

HVGround 1

HV 2

AuxHV 3

Signal Pin

FrameGround 1

Motor Phase W 2

Motor Phase V 3

Motor Phase U 4

1 10 19

9 18 26

1 2 3

0V +HV Aux

J7

J11

0V +HV AUXW V U

POWERJ10 MOTOR B

W V U

J9 MOTOR A

FEEDBACK A J8 FEEDBACK B

1 2 3 4



J7,J8:AXISA,BFEEDBACK

J11:DRIVECONNECTOREuro-style5.08mmmalereceptacle,3-position Wago:MCS-MIDI,231-563/108-000J9,J10:DRIVECONNECTORS

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

J9,J10CABLECONNECTORSWagoMCS-MIDIClassic231-304/107-000

J11:CABLECONNECTORWagoMCS-MIDI,231-303/107-000



J9,J10:MOTOROUTPUTS J11:+HV&AUXPOWER

CONNECTORS & SIGNALS: END PANEL (-R MODELS WITH RESOLVER FEEDBACK)

J7,J8:BE2CONNECTORHigh-DensityDsubDB-26F, femalereceptacle,26Position

J7,J8:CABLECONNECTORHigh-DensityDsubDB-26M, maleplug,26Position

J7,J8:FEEDBACK

J9, J10

J7, J8

J11

AWG mm2 Color Mfgr PNUM A B C D E SL

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

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

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

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

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


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

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

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


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

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

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

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

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

A

B

C D E

A

B

C D E

A

B

C D

E



WIRING

J3

FERRULEPARTNUMBERS:DOUBLEWIREINSULATED

FERRULEPARTNUMBERS:SINGLEWIREINSULATED

24V&BRAKE:J3

MOTOROUTPUTSANDHV/AUXPOWER:J9,J10,J11ToolJ11J9,J10WagoMCS-MIDIClassic:231-304/107-000(J9,J10),231-303/107-000(J11),

femaleconnector;withscrewflange;3-pole;pinspacing5.08mm/0.2inConductor capacity Barestranded: AWG28~14[0.08~2.5mm2] Insulatedferrule: AWG24~16[0.25~1.5mm2] Strippinglength: 8~9mm OperatingTool: WagoMCS-MIDIClassic:231-159

FERRULEPARTNUMBERS:SINGLEWIREINSULATED

NOTESPNUM=PartNumberSL = Stripping lengthDimensions:mm(in)

Tool

SINGLEWIRE DOUBLEWIRE

WagoMCS-MINI:735-105/107-000,femaleconnector;withscrewflange, 5-pole;pinspacing3.5mm/0.138inConductor capacity Barestranded: AWG28~16[0.08~1.5mm2] Insulatedferrule: AWG24~16[0.25~1.5mm2] Strippinglength: 0.24~0.28in[6~7mm] Operatingtool: WagoMCS-MINI:734-231

0 W

5 W

10 W

15 W

20 W

25 W

30 W

disabled 0A 5.0A 10A 15A 20A

80V

65V

50V

35V

20V

0C

5C

10C

15C

20C

25C

30C

35C

40C

45C

50C

2W 4W 6W 8W 10W 12W 14W 16W 18W 20W 22W 24W 26W

HSF

HSNF

NHSF

NHSNF

Quiescentpower

BE2-090-20

BE2-090-14

16.5 A

19 W

BE2-090-06



TOTALPOWERDISSIPATION

Usethischarttofindthetotalpowerdissipation for both axes. Example:PowersupplyHV=65Vdc Axis 1 current = 7.5 A, axis 2 = 9.0 A Total current = 16.5 A Total dissipation = 19 Watts

ThetopchartonthispageshowstheinternalpowerdissipationforoneaxisoftheBE2underdifferingpowersupplyandoutputcurrentconditions.The+HVvaluesarefortheaverageDCvoltageofthedrivepowersupply.Thelowerchartshowsthetemperaturerisevs.powerdissipationunderdifferingmountingand cooling conditions.

Usethischarttofindthemaximumoperatingtemperatureofthedriveunderdifferingmountingandcoolingconditions.Example:Usingthe19Wvaluefromthecalculationsabove,drawaverticalline.Thisshowsthat24CisthemaximumoperatingtemperatureforNHSNF,andthatanyoftheothermounting/coolingoptionswillbesufficientforoperationuptothemaximumambienttemperatureof45C.

HSF = HeatSink(with)Fan NHSF = NoHeatSink(with)Fan HSNF = HeatSinkNoFan NHSNF= NoHeatSinkNoFan

THERMALS: POWER DISSIPATION

THERMALS: MAXIMUM OPERATING TEMPERATURE VS. DISSIPATION

Internal power dissipation (Watts)

HSForNHSF

HSNFNHSNF

19 W

24 C

Total continuous output current of both axes

HEATSINK + FAN °C/W

FORCED-AIR, 300 LFM 0.61

HEATSINK, NO FAN °C/W

CONVECTION 1.28

NO HEATSINK + FAN °C/W

FORCED-AIR, 300 LFM 0.98

NO HEATSINK, NO FAN °C/W

CONVECTION 2.32

J7

J11 0V+H

VA

UX

W V

U

PO

WE

RJ10

MO

TOR

B

W V

U

J9 M

OTO

R A

FEE

DB

AC

K A

J8 FE

ED

BA

CK

BJ7

J11 0V+H

VA

UX

W V

U

PO

WE

RJ10

MO

TOR

B

W V

U

J9 M

OTO

R A

FEE

DB

AC

K A

J8 FE

ED

BA

CK

B

J6J7

J10

+HV

J9 MO

T B

FDB

KA

B

J8 MO

T A

0V

AUX

UV

W

U

V

W

J7 FDB

K A

J8 FDB

K B

J9 MO

T AJ10 M

OT B

J11 PO

WE

R

J7

J11 0V+H

VA

UX

W V

U

PO

WE

RJ10

MO

TOR

B

W V

U

J9 M

OTO

R A

FEE

DB

AC

K A

J8 FE

ED

BA

CK

BJ7

J11 0V+H

VA

UX

W V

U

PO

WE

RJ10

MO

TOR

B

W V

U

J9 M

OTO

R A

FEE

DB

AC

K A

J8 FE

ED

BA

CK

B

J6J7

J10

+HV

J9 MO

T B

FDB

KA

B

J8 MO

T A

0V

AUX

UV

W

U

V

W

J7 FDB

K A

J8 FDB

K B

J9 MO

T AJ10 M

OT B

J11 PO

WE

R

MOUNTINGThermaldataforconvection-coolingwithaheatsinkassumesaverticalmountingofthedriveonathermallynon-conductingsurface.Heatsinkfinsrun parallel to the long axis of the drive. When fan-cooling is used vertical mountingisnotnecessarytoguaranteethermalperformanceoftheheatsink.

TOP VIEWS VERTICAL MOUNTING

THERMALRESISTANCEThermalresistanceisameasureofthetemperatureriseofthedriveheatplateduetopowerdissipationinthedrive.Itisexpressedinunitsof°C/Wwherethedegreesarethetemperatureriseaboveambient.E.g.,andrivedissipating16Wmountedwithnoheatsinkorfanwouldseeatemperatureriseof38.2Caboveambientbasedonthethermalresistanceof2.39C/W.Usingthedrivemaximumheatplatetemperatureof70Candsubtracting38.2Cfromthatwouldgive31.7Casthemaximumambienttemperaturethedriveinwhichthedrivecouldoperatebeforegoingintothermalshutdown.Tooperateathigherambienttemperaturesaheatsinkorforced-airwouldberequired.

THERMALS: MOUNTING & THERMAL RESISTANCE



Qty Description

1 Heatsink,standard,BE2-HS

1 Thermalmaterial,4x4in.

1

Kit,HeatsinkHardware,BE2

4 Washer,flat,#8

4 Screw,PAN,SEMS,#8-32x1/2in

HEATSINK KIT INSTALLATION



INSTALLATION

1)Placetheheatsinkfins-downonaworksurface.Orienttheheatsinksothattheedgewithpartnumberisawayfromyou.TheholefortheBE2groundinglugshouldbetoyourleft.

2)Removetheclearprotectivefilmfromthethermalmaterialanddiscardit.Placethethermalmaterialontotheheatsinkintheplacementareawhichismarkedwithfourwhite“L”. Applylightpressuretoensurethatthethermalmaterialisflat.

3)Peelthewhiteprotectivelayerawayfromthethermalmaterial.Dothisslowlyfromonecornersoasnottoliftthethermalmaterialfromtheheatsink.

4)AligntheBE2asshownandlowerontotheheatsink.Ifneededtoadjusttheposition,liftitawayfromthethermalmaterialandlowerontotheheatsinkagain.

5)Installthefourmountingscrewswithflatwashersandtightenevenly.Torqueto17.8lb-in(2.0Nm)maximum.

DESCRIPTION

TheBE2-HKisakitcontainingaheatsinkandmountinghardwareforfieldinstallationofastandardheatsinkontoaBE2modelservodrive.

• Standard heatsink for Accelnet Plus Panel BE2 • Completekitforuserinstallationoftheheatsink

BE2-HKHEATSINKKITPARTLIST

Heatsink

Mounting Screws(4)

BE2 Drive

Thermalmaterial

1.74 [44.1]

0.85 [21.5]

0.89 [22.6]

4.70 [119.3]

6.78 [172.1]

6.40 [162.4] 0.19 [4.8]

0.16 [4.1]

0.16 [4.1]

0.19 [4.8]

0.94 [23.8]

2.00 [50.8]

4.89 [124.3]

1.74 [44.1]

0.85 [21.5]

0.89 [22.6]

4.70 [119.3]

6.78 [172.1]

6.40 [162.4] 0.19 [4.8]

0.16 [4.1]

0.16 [4.1]

0.19 [4.8]

0.94 [23.8]

2.00 [50.8]

4.89 [124.3]



DIMENSIONS: IN (MM)

Mountingscrews: #6-32,or3.5mm

Motor Cable Shield Groundingnut:#6-32


3.14 [79.98]

0.85 [21.5]

2.29 [58.1]

6.78 [172.1]

6.40 [162.4] 0.19 [4.8]

0.16 [4.1]

0.19 [4.8]4.70 [119.3]

4.89 [124.3]

3.14 [79.98]

0.85 [21.5]

2.29 [58.1]

6.78 [172.1]

6.40 [162.4] 0.19 [4.8]

0.16 [4.1]

0.19 [4.8]4.70 [119.3]

4.89 [124.3]

3.14 [79.98]

0.85 [21.5]

2.29 [58.1]

6.78 [172.1]

6.40 [162.4] 0.19 [4.8]

0.16 [4.1]

0.19 [4.8]4.70 [119.3]

4.89 [124.3]



DIMENSIONS: IN (MM)

Units:IN[MM]

Mountingscrews: #6-32,or3.5mm




J2

AM

P

RU

NE

RR

L/AL/A

AccelnetPlus

J3

BR

AK

E

J2

ISO

LAT

ED

I/O

J1

SIG

x10x1

S1

S2

DE

VIC

E ID

J4

NE

TW

OR

K

AB

J5

RS

-232

J6

SA

FE

TY

INO

UT

AM

P

RU

NE

RR

L/AL/A

AccelnetPlus

J3

BR

AK

E

J2

ISO

LAT

ED

I/O

J1

SIG

x10x1

S1

S2

DE

VIC

E ID

J4

NE

TW

OR

K

AB

J5R

S-232

J6

SA

FE

TY

INO

UT

AM

P

RU

NE

RR

L/AL/A

AccelnetPlus

J3

BR

AK

E

J2

ISO

LAT

ED

I/O

J1

SIG

x10x1

S1

S2

DE

VIC

E ID

J4

NE

TW

OR

K

AB

J5

RS

-232

J6

SA

FE

TY

INO

UT

AM

P

RU

NE

RR

L/AL/A

AccelnetPlus

J3

BR

AK

E

J2

ISO

LAT

ED

I/O

J1

SIG

x10x1

S1

S2

DE

VIC

E ID

J4

NE

TW

OR

K

AB

J5

RS

-232

J6

SA

FE

TY

INO

UT

0.75 [19]Minimum Clearance

in[mm]


in[mm]

Minimum Spacingin[mm]

0.75 [19]

0.75 [19]

0.75 [19]

AM

P

RU

NE

RR

L/AL/A

AccelnetPlus

J3

BR

AK

E

J2

ISO

LAT

ED

I/O

J1

SIG

x10x1

S1

S2

DE

VIC

E ID

J4

NE

TW

OR

K

AB

J5

RS

-232

J6

SA

FE

TY

INO

UT

AM

P

RU

NE

RR

L/AL/A

AccelnetPlus

J3

BR

AK

E

J2

ISO

LAT

ED

I/O

J1

SIG

x10x1

S1

S2

DE

VIC

E ID

J4

NE

TW

OR

K

AB

J5

RS

-232

J6

SA

FE

TY

INO

UT

AM

P

RU

NE

RR

L/AL/A

AccelnetPlus

J3

BR

AK

E

J2

ISO

LAT

ED

I/O

J1

SIG

x10x1

S1

S2

DE

VIC

E ID

J4

NE

TW

OR

K

AB

J5

RS

-232

J6

SA

FE

TY

INO

UT


in[mm]


in[mm]

Minimum Spacingin[mm]

0.75 [19]

0.75 [19]

0.75 [19]



INSTALLATION

Thegraphicbelowshowstherecommendedmountingformultipledrives. Theclearancesshowsareminimums.



THIS PAGE LEFT BLANK

INTENTIONALLY

BE2-090-06 Accelnet Plus 2-Axis Panel EtherCAT servo drive, 3/6 A, 90 Vdc



Qty Ref Name Description Manufacturer P/N

BE2-CKConnector Kit

1J11 DCHV

Plug,3position,5.08mm,female Wago: 231-303/107-000 (Note 1)

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

2J9,J10 Motor


2 Strainrelief,snap-on,5.08mm,4position,orange Wabo: 232-634

1 J9~J11 Tool Tool,wireinsertion&extraction,231series Wago: 231-159

1

J3Brake


1 Strainrelief,snap-on,3.5mm,5position,grey Wago: 734-605

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

1

J6 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

1 J2 I/O Connector,high-densityDB-26F,26position,female,soldercup Norcomp: 180-026-203L001

2 J7,J8 Feed-back

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

3 J2,J7,J8 MetalBackshell,DB-15,RoHS 3M: 3357-9215

SER-CK 1 J5 RS-232 Serial Cable Kit

BE2-NC-10 1J8 Network

EtherCAT®networkcable,10ft(3m)

BE2-NC-01 1 EtherCAT®networkcable,1ft(0.3m)

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

Note2:Insertion/extractiontoolforJ6contactsisAMP/Tyco91067-2(notincludedinBE2-CK)

16-01440DocumentRevisionHistoryRevision Date Remarks00 March 27, 2017 Initialreleasedversion01 July3,2018 CorrectionstoJ-numbering,updatedagencystandards02 June30,2020 Corrections to resolver signals on p. 16, updated agency standards



Note: Specifications subject to change without notice

EtherCATisaregisteredtrademarkandpatentedtechnology,licensedbyBeckhoffAutomationGmbH,Germany.

Add-Rtomodelnumberforresolverfeedbackoption(Example:BE2-090-14-R)

Example:OrderoneAccelnet Plus BE2drive,7/14A,resolveroption,withconnectorkit,serialcablekit: Qty Item Remarks 1 BE2-090-14-R Accelnet Plus BE2 2-axis servo drive, resolver option 1 BE2-CK BE2 Connector Kit 1 SER-CK Serial Cable Kit

ORDERING GUIDE

ACCESSORIES

Documents

DIGITAL SERVO DRIVE FOR BRUSH & BRUSHLESS MOTORS · 2020. 12. 17. · IEC 61800-5-1 EMC Directive 2014/30/EU (EMC) IEC 61800-3 Restriction of the Use of Certain Hazardous Substances