SEM. Stepnet Plus Module EtherCAT

Transcription

1 Control Modes Indexer, Point-to-Point, PVT Camming, Gearing Position, Velocity, Torque (Servo Mode) Position (Microstepping) DIGITAL DRIVE for stepper MOTORS Command Interface CAN application layer over EtherCAT (CoE) ASCII and discrete I/O Stepper commands ±0V Velocity/torque command (servo mode) PWM Velocity/torque command (servo mode) Master encoder (Gearing/Camming) Communications EtherCAT RS-232 Feedback Incremental Digital quad A/B encoder I/O Digital: 4 inputs, 6 outputs Analog: input Dimensions: mm [in] 76.3 x 58.2 x 20.5 [3.0 x 2.29 x 0.8] Model Ic Ip Vdc development kit description Stepnet is a high-performance, DC powered drive for control of stepper motors via EtherCAT, an Ethernet-based fieldbus. The operates as an EtherCAT slave using the CAN application layer over EtherCAT (CoE). Supported modes include: Profile Position-Velocity, Cyclic Synchronous Position-Velocity (CSP, CSV), Interpolated Position Mode (PVT), and Homing. With encoder feedback a stepper can be operated as a brushless servo motor enabling ±0V analog or digital PWM velocity or torque control in addition to EtherCAT. Direct position control from pulses in CW/CCW, Pulse/Dir, or Quad A/B encoder format works in either microstepping or servo modes. Twelve high-speed digital inputs with programmable functions are provided, and a lower-speed input for a motor temperature switch. An SLI (Switch & LED Interface) function is supported by another high-speed input and four high-speed digital outputs. If not used for SLI, the input and outputs are programmable for other functions. Two open-drain MOSFET outputs can drive loads powered up to 24 Vdc. An RS-232 serial port provides a connection to Copley s CME2 software for commissioning, firmware upgrading, and saving configurations to flash memory. Drive power is transformer-isolated DC from regulated or unregulated power supplies. An AuxHV input is provided for keep-alive operation permitting the drive power stage to be completely powered down without losing position information, or communications with the control system. P/N Rev 00 Page of 26

2 GENERAL SPECIFICATIONS Stepnet Plus Module EtherCAT Test conditions: Load = Bipolar stepper: 2 mh + 2 Ω per phase. Ambient temperature = 25 C, +HV = HV max MODEL Output Power Peak Current 7 (5) 0 (7.) Adc (Arms-sine), ±5% Peak time Sec Continuous current 5 (3.5) 0 (7.) Adc (Arms-sine) per phase Maximum Output Voltage Vout = HV* Rout*Iout INPUT POWER HVmin~HVmax +4 to to +90 Vdc Transformer-isolated Ipeak 7.7 Adc ( sec) peak Icont 5.5 Adc continuous Aux HV +4 to +HV 500 madc maximum, 2.5 W PWM OUTPUTS Type PWM ripple frequency Dual H-bridge MOSFET, 6 khz center-weighted PWM, space-vector modulation 32 khz control modes CAN application layer over EtherCAT (CoE): Microstepping:Profile Position-Velocity, Cyclic Synchronous Position-Velocity, Interpolated Position (PVT), Homing Servo mode: all of the microstepping modes, plus Cyclic Synchronout Torque (CST) mode Analog ±0 Vdc current/velocity (servo mode), camming, internal indexer and function generator Digital PWM/Polarity current/velocity (servo mode), CW/CCW, Step/Direction, and quad A/B encoder position commands Command inputs Type Signals & format Data protocol Device ID Selection Analog Digital Camming DIGITAL Control Digital Control Loops Sampling rate (time) Commutation Modulation Bandwidths HV Compensation Minimum load inductance digital inputs [IN~9] [IN0] [IN] [IN2~4] digital outputs [OUT~2] [OUT3~6 ] analog input Type EtherCAT, galvanically isolated from drive circuits TX+, TX, RX+, RX ; 00BaseTX CANopen Device Profile DSP-402 over EtherCAT (CoE) Programmable, or via digital inputs ±0 Vdc High speed inputs for CW/CCW, Step/Direction, and quad A/B encoder Quad A/B digital encoder Current, velocity, position. 00% digital loop control Current loop: 6 khz (62.5 µs), Velocity & position loops: 4 khz (250 µs) Sinusoidal, field-oriented control for brushless motors Center-weighted PWM with space-vector modulation Current loop: 2.5 khz typical, bandwidth will vary with tuning & load inductance Changes in bus voltage do not affect bandwidth 200 µh line-line High-speed digital, 00 ns RC filter, 0 kw pull-up to +5 Vdc, +7 Vdc tolerant 74AHC4 Schmitt trigger, V T + = 3.5 Vdc max, V T - =.5 Vdc min, V H + = 0.45~.50 Vdc SLI port MISO input, 47 ns RC filter, 0 kw pull-up to +5 Vdc, +7 Vdc tolerant 74LVC2G4 Schmitt trigger, V T + = 2.05~3.35 Vdc, V T - =.~2.5 Vdc, V H + = 0.65~.6 Vdc Motor temperature switch, 330 µs RC filter, 4.99 kw pull-up to +5 Vdc, +24V tolerant 74LVC2G4 Schmitt trigger, V T + = 2.05~3.35 Vdc, V T - =.~2.5 Vdc, V H + = 0.65~.6 Vdc GP inputs,.5 µs RC filter, 5 kw pull-up to +5 Vdc, +24 Vdc tolerant 74AHC4 Schmitt trigger, V T + = 3.5 Vdc max, V T - =.5 Vdc min, V H + = 0.45~.50 Vdc Open-drain MOSFET with kw pull-up with series diode to +5 Vdc 300 madc max, +30 Vdc max, external flyback diodes required if driving inductive loads SLI port MOSI, SCLK, EN, & EN2 signals, 74AHCT25 line drivers; +5 Vdc tolerant ±0 Vdc, 2-bit resolution, differential feedback Incremental: Digital Incremental Encoder Quadrature signals, (A, /A, B, /B, X, /X), differential (X, /X Index signals not required) 5 MHz maximum line frequency (20 M counts/sec) Encoder power +5 Vdc 400 madc max, protected against shorts and overtemperature P/N Rev 00 Page 2 of 26

3 RS-232 PORT Signals Mode Protocol motor connections Phases A, /A, B, /B Digital Incremental Encoder Encoder power Motemp [IN] RxD, TxD, Gnd for operation as a DTE device Full-duplex, DTE serial port for drive setup and control, 9,600 to 5,200 Baud ASCII or Binary format PWM outputs to 2-phase, 4-wire bipolar stepper motors Quadrature signals, (A, /A, B, /B, X, /X), differential (X, /X Index signals not required) 5 MHz maximum line frequency (20 M counts/sec) +5 Vdc 400 madc max Motor overtemperature switch input. Active level programmable Programmable to disable drive when motor over-temperature condition occurs protections HV Overvoltage +HV > HV max Drive outputs turn off until +HV < HV max (See Input Power for HV max ) HV Undervoltage +HV < +4 Vdc Drive outputs turn off until +HV > +4 Vdc Drive over temperature Heat plate > 70 C. Drive outputs turn off Short circuits Output to output, output to ground, internal PWM bridge faults I 2 T Current limiting Programmable: continuous current, peak current, peak time Motor over temperature Digital inputs programmable to detect motor temperature switch MECHANICAL & ENVIRONMENTAL Size mm [in] 76.3 x 58.2 x 20.5 [3.0 x 2.29 x 0.8] Weight 0.27 lb (0.2 kg) without heatsink Ambient temperature 0 to +45 C operating, -40 to +85 C storage Humidity 0 to 95%, non-condensing Vibration 2 g peak, 0~500 Hz (sine), IEC Shock 0 g, 0 ms, half-sine pulse, IEC Contaminants Pollution degree 2 Environment IEC68-2: 990 Cooling Heat sink and/or forced air cooling required for continuous power output agency standards conformance In accordance with EC Directive 204/30/EU (EMC Directive) EN 550: 2009/A:200 CISPR :2009/A:200 Industrial, Scientific, and Medical (ISM) Radio Frequency Equipment Electromagnetic Disturbance Characteristics Limits and Methods of Measurement Group, Class A EN : 2007 Electromagnetic Compatibility (EMC) Part 6-: Generic Standards Immunity for residential, Commercial and Light-industrial Environments In accordance with EC Directive 204/35/EU (Low Voltage Directive) IEC 600-:200 Safety Requirements for Electrical Equipment for Measurement, Control and Laboratory Use Underwriters Laboratory Standards UL 600-, 3rd Ed.: 202 Electrical Equipment for Measurement, Control and Laboratory Use; Part : General Requirements UL File Number E P/N Rev 00 Page 3 of 26

4 command Inputs Ethercat communications EtherCAT is the open, real-time Ethernet network developed by Beckhoff based on the widely used 00BASE-TX cabling system. EtherCAT enables high-speed control of multiple axes while maintaining tight synchronization of clocks in the nodes. Data protocol is CANopen over EtherCAT (CoE) based on DSP-402 for motion control devices. More information on EtherCAT can be found on this web-site: Drive EtherCAT port TX+ P3/8 75 TX- Zo = 00 Ω P3/6 M 0n Network port IN OUT 8 8 Zo = 00 Ω RX+ P3/3 RX- P3/ RX Term P3/4 TX Term P3/7 RX2 Term P3/2 TX2 Term P3/5 TX M 0n ethercat connections Page shows guidelines for PC board layout and designing for EtherCAT signals. Page 3 shows the dual EtherCAT cable connections on the Development Kit. CME2 -> Basic Setup -> Operating Mode Options P3/6 75 TX2- Zo = 00 Ω P3/4 M 0n Zo = 00 Ω RX2+ P3/ 75 RX2- P3/9 CABLE SHIELD Network ground 0n P3/2,5,0,3 Drive Signal Ground RS-232 communications is configured via a three-wire, full-duplex DTE RS-232 port that operates from 9600 to 5,200 Baud, 8 bits, no parity, and one stop bit. Signal format is full-duplex, 3-wire, DTE using RxD, TxD, and Gnd. Connections to the RS-232 port are through P2 The graphic below shows the connections between an and a computer COM port which is a DTE device. rs232 port CME2 -> Tools -> Communications Wizard 9 RxD TxD P2/2 TD 6 5 TxD Gnd RxD P2/ RD D-Sub 9M (DTE) Signal Ground P2/6 P/N Rev 00 Page 4 of 26

5 command Inputs DIGITAL position Digital position commands can be in three formats: Pulse & Direction, Count-Up/Count-Down (CU/CD), and quad A/B encoder. The active edge of the waveforms is programmable and the ratio of input pulses to motor microsteps is programmable, too. The Invert Command selection will reverse the direction of motion commanded by the inputs without changing the wiring. pulse & Direction CU/CD QUAD a/b ENCODER Controller Module Controller Module Master Encoder Module Pulse [IN7] P2/2 Pulse CU (Count-Up) [IN7] P2/2 Count-Up Encoder ph. B [IN7] P2/2 Encoder B Direction [IN8] P2/24 Direction P2/6, 33,34 CD (Count-Down) [IN8] No Function P2/24 P2/6, 33,34 Encoder ph. A [IN8] P2/24 Encoder A P2/6, 33,34 CME2 -> Basic Setup -> Operating Mode Options CME2 -> Basic Setup -> Operating Mode Options DIGITAL velocity Digital velocity commands are PWM signals in two formats: PWM 50% is a single signal that commands 0 at 50% duty cycle, with increasing or decreasing duty cycle to command positive or negative values. PWM & Direction format uses a PWM signal that goes from 0% to 00% to command magnitude while a 0/ at the Dir input commands direction. Pwm 50% Pwm & direction Controller Copley Controller Copley Duty = 50% ±50% <no connection> [IN7] PWM 50% P2/2 [IN8] No Function P2/24 P2/6, 33,34 Duty = 0~00 [IN7] PWM 0~00% P2/2 [IN8] P2/24 Direction P2/6, 33,34 CME2 -> PWM Command block CME2 -> PWM Command block DIGITAL command fail-safe In the position and velocity modes above, the 0% and 00% conditions can be programmed to command zero output. This is to protect against conditions that can occur with broken or disconnected cables which might produce uncontrolled motion. P/N Rev 00 Page 5 of 26

6 servo mode Servo mode operates a stepper like a brushless servo motor taking position feedback from an encoder and controlling position, velocity, or torque. Command inputs include all of the digital inputs and modes as well as the ±0V analog input which can control position, velocity, and current. analog command input In addition to the digital position and velocity inputs on the preceding page, the analog input can be used to control position, velocity, and torque. CME2 -> Basic Setup -> Feedback Options CME2 -> Main Page -> Analog Command block CME2 -> Basic Setup -> Operating Mode Options ±0V D/A CME2 -> Basic Setup -> Operating Mode Options ±0V [AIN+] P2/35 5k [AIN-] P2/ Vref P2/34.25V P/N Rev 00 Page 6 of 26

7 input-output Input P2 Pin R R2 C Vin High speed digital inputs Vin tolerance see chart IN 5 IN2 8 +5V +5V IN3 7 +5V R [IN~4] R2 P2/~3,5,7~26 C P2/6,33,34 74LVC4 IN4 20 IN5 9 00p 0k k IN6 22 IN7 2 IN8 24 IN9 23 IN p 7V IN k 0k 33n digital outputs Vout max (see chart) 5V max IN2 IN3 3 IN4 2 5k 5k 00p 24 Module +5V k [OUT] P2/3 R-L 300mA [OUT3] MOSI [OUT4] SCLK P2/29 P2/30 Output P2 Pin Vout OUT 3 OUT2 32 OUT V k [OUT2] P2/32 P2/33 R-L + 300mA +30V max [OUT5] EN [OUT6] EN2 P2/27 P2/28 74HCT25 Diodes shown on outputs must be supplied when driving inductive loads. OUT4 30 OUT5 27 OUT ethercat Device ID (station alias) switches The SLI (Switch & LED Interface) port takes in the 8 signals from the two BCD encoded switches that set the Ether- CAT Device ID and controls the LEDs on the EtherCAT port connectors. The graphic below shows the circuit for reading the EtherCAT Device ID switches. The 74HC65 works as a parallel-in/serial-out device. The 0k pull-down resistors pull the shift register inputs to ground when the is initializing. In the graphics below, switch SW3 is S2 and SW2 is S. The values of S are 6~255 and of S2 are 0~5. Together they provide Device ID range of 0~255. CME2 -> Amplifier -> Network Configuration 74LVC2G4 Drive (SLI Master) +5V k +5V 0k P2/26 [IN0] MISO 47p P2/33 External circuit for EtherCAT alias switches +5V 74HC65 Vcc Q7 Gnd 0k D0 8 D D2 D3 +5V 4 2 SW3 74AHCT25 P2/29 [OUT3] MOSI k 47p SDI D4 SW2 8 CME2 -> Input/Output -> Digital Outputs P2/30 [OUT4] SCLK P2/27 [OUT5] SS 0k k 0k k 47p 47p PL CLK D5 D6 D k CKE Switches 0k +5V P/N Rev 00 Page 7 of 26

8 MOTOR CONNECTIONS Motor connections consist of: phases, encoder, thermal sensor, and brake. The phase connections carry the drive output currents that drive the motor to produce motion. The Hall signals are three digital signals that give absolute position feedback within an electrical commutation cycle. The encoder signals give incremental position feedback and are used for velocity and position modes, as well as sinusoidal commutation. A thermal sensor that indicates motor overtemperature is used to shut down the drive to protect the motor. A brake can provide a fail-safe way to prevent movement of the motor when the drive is shut-down or disabled. quad a/b incremental ENCODER Encoders with differential line-driver outputs provide incremental position feedback via the A/B signals and the optional index signal (X) gives a once per revolution position mark. digital quadrature encoder input 5V Encoder * 2Ω terminating resistors on mounting board Module P2/6 A * A P2/5 /A MAX3094 P2/8 B * B P2/7 /B MAX3094 P2/0 Z * X P2/9 /X MAX V P2/4 +5V ENC 0V P2/6 CME2 -> Motor/Feedback -> Feedback P/N Rev 00 Page 8 of 26

9 MOTOR CONNECTIONS (cont d) secondary quad a/b/x incremental ENCODER Digital inputs [IN4,5,6] can be programmed as secondary encoder inputs. The graphic shows a differential line receiver on the user mounting board to convert typical encoder signals into single-ended ones for the secondary inputs. Single-ended encoders would connect directly to the inputs of the AEM. CME2 -> Basic Setup -> Feedback Options Encoder A * AM26C32 A Y B Module [IN4] P2/20 +5V +5V 0k k 74AHC4 +5V +5V B * 2A 2B 2Y [IN5] P2/9 0k k 74AHC4 +5V +5V X * 3A 3Y [IN6] P2/22 0k k 74AHC4 /G These components are on user mounting board The CME2 screen above shows a Primary Incremental encoder for the motor input. Other types of encoders can be selected for this function. The secondary encoder input can be used for either motor or position feedback. P/N Rev 00 Page 9 of 26

10 MOTOR CONNECTIONS (cont d) Stepnet Plus Module EtherCAT phase connections The drive output is a three-phase PWM inverter that converts the DC bus voltage (+HV) into three sinusoidal voltage waveforms that drive the motor phase-coils. Cable should be sized for the continuous current rating of the drive. Motor cabling should use twisted, shielded conductors for CE compliance, and to minimize PWM noise coupling into other circuits. The motor cable shield should connect to motor frame and the drive HV ground terminal (J2-) for best results. When driving a DC motor, the W output is unused and the motor connects between the U & V outputs. CME2 -> Basic Setup -> Motor Options +HV 0V PWM Mot P/37,38,39 P/40,4,42 Mot P/27,28,29 + P/30,3,32 V Motor 3 ph. Mot P/7,8,9 P/20,2,22 U W motor over temp input The 4.99k pull-up resistor works with PTC (positive temperature coefficient) thermistors that conform to BS 4999:Part :987 (table below), or switches that open/close indicating a motor over-temperature condition. The active level is programmable. Property Resistance in the temperature range 20 C to +70 C Ohms 60~750 Module 4.99k P2/25 Motemp [IN] +5V P2/6,33,34 0k 33n +5V 74LVC2G4 Resistance at 85 C 650 Resistance at 95 C 3990 Resistance at 05 C 2000 CME2 -> Input / Output P/N Rev 00 Page 0 of 26

11 connections for INCREMENTAL DIGITAL ENCODER Port IN OUT 8 8 P3 P3/8 P3/6 P3/3 P3/ P3/6 P3/4 P3/ P3/9 TX+ TX- RX+ RX- TX2+ TX2- RX2+ RX2- Enc A Enc /A Enc B Enc /B Enc X Enc /X Enc S Enc /S P2/6 P2/5 P2/8 P2/7 P2/0 P2/9 P2/4 P2/3 A /A B /B X /X DIGITAL ENCODER Network Ground P3/2,4,5,7 P3/0,2,3,5 P2/37 P2/38 Motion Controller DAC ±0V Enable Enable Input P2/5 [IN] HS P2/3 [OUT] GP P2/35 [AIN+] P2/36 [AIN-] P2/39 P2/40 P2 HS [IN2] P2/ P2/8 [IN2] HS HS [IN3] P2/3 P2/7 [IN3] HS HS [IN4] P2/2 CU CD Position Commands Step Dir Velocity, Torque commands PWM Dir Controller RS-232 I/O ENC Ch. B ENC Ch. A 50% n.c. RxD TxD Gnd P2/20 [IN4] HS P2/22 [IN6] HS P2/2 [IN7] HS P2/24 [IN8] HS P2/23 [IN9] HS P2/26 P2/25 P2/32 [OUT2] GP P2/29 P2/30 P2/27 P2/28 P2/33 P2/34 P2/2 TxD [IN] Motemp P2/ RxD P2/6 [IN0] SLI_MISO [OUT3] SLI_MOSI [OUT4] SLI_SCLK [OUT5] SLI_EN [OUT6] SLI_EN2 +5V P2/4 P2/6 HS [IN5] P2/9 Mot A Mot /A Mot B Mot /B Aux HV Input +HV Input +HV Gnd P P/5,6 P/7,8 P/23,24 P/25,26 P/3,2 P/33,34 P/39,40 P/4,42 P/ P/2,3,4 P/5,6 P/7,8,9 P/0,2 A /A B /B Fuse 330 µf Minimum per drive STEPPER MOTOR +24 V DC Power DC Power Mount external capacitor <= 2" (30 cm) from drive Notes:. P3 connections use multiple pins to share current. All signals of the same name must be connected on the PC board to which the is mounted. 2. The EtherCAT connector is shown to illustrate connections between the and external cabling. The connector is not part of the and non-signal connections are not shown. P/N Rev 00 Page of 26

12 printed circuit board connectors & signals P power & motor Signal Pin Signal +HV 2 +HV 4 3 +HV +HV 6 5 +HV HVGnd 8 7 HVGnd HVGnd 0 9 HVGnd HVGnd 2 HVAux 4 3 Mot A+ 6 5 Mot A+ Mot A+ 8 7 Mot A Mot A Mot A- Mot A Mot A Mot B Mot B+ Mot B Mot B Mot B Mot B- Mot B Mot B- P: Power & Motor Dual row, 2 mm- centers 48 position female header SAMTEC SQW-2-0-L-D Pin 2 Pin 48 P Notes:. P connections use multiple pins to share current. All signals of the same name must be connected on the PC board to which the is mounted. 2. Cells in table above that are filled in grey are connector contacts that have no circuit connections. These pins are shown in grey outline in the Top View above. top view Viewed from above looking down on the connectors or PC board footprint to which the module is mounted Pin 6 Pin 40 P3 P2 Pin Pin P3 ethercat Signal Pin Signal NetGnd 2 RX- RX Term 4 3 RX+ TX- 6 5 NetGnd TX+ 8 7 TX Term NetGnd 0 9 RX2- RX2 Term 2 RX2+ p2 control TX NetGnd TX TX2 Term P3: EtherCAT Dual row, 2 mm- centers 6 position female header SAMTEC SQW-08-0-L-D Signal Pin Signal RS-232 TxD 2 RS-232 RxD Enc S 4 3 Enc /S Enc A 6 5 Enc /A Enc B 8 7 Enc /B Enc X 0 9 Enc /X HS [IN4] 2 [IN2] HS Enc +5V Out 4 3 [IN3] HS 6 5 [IN] Enable HS HS [IN2] 8 7 [IN3] HS HS [IN4] 20 9 [IN5] HS HS [IN6] 22 2 [IN7] HS HS [IN8] [IN9] HS MISO [IN0] [IN] Motemp EN2 [OUT6] [OUT5] EN SCLK [OUT4] [OUT3] MOSI GP [OUT2] 32 3 [OUT] GP [AIN-] [AIN+] N.C N.C. N.C N.C. P2: Control Dual row, 2 mm- centers 40 position female header SAMTEC SQW-20-0-L-D P/N Rev 00 Page 2 of 26

13 printed circuit board footprint Dimensions are in[mm] top view Viewed from above looking down on the connectors or PC board footprint to which the module is mounted P Signal Grouping for current-sharing See Note TYP TYP X PCB Hardware: Qty Description Mfgr Part Number Remarks Socket Strip Samtec SQW-2-0-L-D J HV & Motor Socket Strip Samtec SQW-20-0-L-D J2 Control Socket Strip Samtec SQW-08-0-L-D J3 CANopen 2 Standoff PEM KFE-4/40-8ET #4/40 X /4 Additional Hardware (not shown above) 2 Screw, #4-40 x.25 Phillips Pan Head External Tooth Lockwasher S, Stainless, or steel with nickel plating, Torque to 3~5 lb-in (0.34~0.57 N m) Notes. J signals of the same name must be connected for current-sharing (see graphic above). 2. To determine copper width and thickness for J3 signals refer to specification IPC-222. (Association Connecting Electronic Industries, 3. Standoffs or mounting screws should connect to etch on pc board that connect to frame ground for maximum noise suppression and immunity. printed circuit board design for ethercat signals PIN EtherCAT signal routing must produce a controlled impedance to maintain signal quality. This graphic shows some principles of PC board design that should be followed. Traces for differential signals must have controlled spacing trace-trace, trace thickness, and spacing above a ground plane. All these things and the properties of the dielectric between ground plane and signals affect the impedance of the traces. The dimensions shown here are typical. The graphic on p. 4 detailing the EtherCAT connections shows resistors and a capacitor in the drive for terminating the unused conductors. As an alternative to adding traces back to the drive connector J3 for these signals, the same parts can be placed on the board at the RJ-45 connector, leaving only the differential EtherCAT signals to be routed with controlled impedance. J3 EtherCAT.007 [0.78] 2 oz. copper traces Ground plane.007 [0.78] Ground plane.007 [0.78] Dielectric layer.0085 [0.26] Dual RJ-45 Connector for EtherCAT port P/N Rev 00 Page 3 of 26

14 dimensions 58.2 [2.29] 76.3 [3.0] 6.35 [0.25] 43.7 [.72] 26.8 ±0.25 [.06 ±.00] 20.5 ±0.25 [0.8 ±.00] 6.9 [0.67] Dimensions: mm [in] P/N Rev 00 Page 4 of 26

15 DESCRIPTION The Development Kit provides mounting and connectivity for one drive. Solderless jumpers ease configuration of inputs and outputs to support their programmable functions. Switches can be jumpered to connect to digital inputs ~ so that these can be toggled to simulate equipment operation. Six LED s provide status indication for the digital outputs. Dual EtherCAT connectors make daisy-chain connections possible so that other EtherCAT devices such as Copley s Stepnet Plus or Xenus Plus Ethercat drives can easily be connected. ACTIVITY (yellow) LINK (green) RS-232 CONNECTION The RS-232 port is used to configure the drive for stand-alone applications, or for configuration before it is installed into an EtherCAT network. CME 2 software communicates with the drive over this link and is then used for complete drive setup. The EtherCAT Slave Device ID that is set by the rotary switch can be monitored, and a Device ID offset programmed as well. The RS-232 connector, J9, is a modular RJ- type that uses a 6-position plug, four wires of which are used for RS-232. A connector kit is available (SER-CK) that includes the modular cable, and an adaptor to interface this cable with a 9-pin RS-232 port on a computer. TxD P RS-232 RxD SER-CK serial cable kit The SER-CK provides connectivity between a D-Sub 9 male connector and the RJ- connector J9 on the Development Kit. It includes an adapter that plugs into the COM (or other) port of a PC and uses common modular cable to connect to the XEL. The connections are shown in the diagram below D-Sub 9F RxD TxD Dsub-9F to RJ Adapter RJ- cable 6P6C Straight-wired TxD RxD 6 RJ- on Servo Drive Don t forget to order a Serial Cable Kit SER-CK when placing your order for an Development Kit! Gnd 5 3 Gnd P/N Rev 00 Page 5 of 26

16 Ethercat connections Dual RJ-45 sockets accept standard Ethernet cables. The IN port connects to a master, or to the OUT port of a device that is upstream, between the Stepnet and the master. The OUT port connects to downstream nodes. If Stepnet is the last node on a network, only the IN port is used. No terminator is required on the OUT port. ethercat stat LED The bi-color STAT LED combines the functions of the RUN and ERR LEDs. Green and red colors alternate, and each color has a separate meaning: Green is the RUN or EtherCAT State Machine: Red is the ERR indicator: Off = INIT state Blinking = Invalid configuration Blinking = PRE-OPERATIONAL Single Flash = Unsolicited state change Single Flash = SAFE-OPERATIONAL Double Flash = Application watchdog timeout On = OPERATIONAL AMP 6 STAT J9 L/A (Link/Act) LED A green LED indicates the state of the EtherCAT network: LED Link Activity Condition ON yes No Port Open Flickering Yes Yes Port Open with activity Off No (N/A) Port Closed L/A L/A 8 8 J0 AMP LED A bi-color LED gives the state of the drive. Colors do not alternate, and can be solid ON or blinking. When multiple conditions occur, only the top-most condition will be displayed. When that condition is cleared the next one below will shown. ) Red/Blinking = Latching fault. Operation will not resume until drive is Reset. 2) Red/Solid = Transient fault condition. Drive will resume operation when the condition causing the fault is removed. 3) Green/Slow-Blinking = Drive OK but NOT-enabled. Will run when enabled. 4) Green/Fast-Blinking = Positive or Negative limit switch active. Drive will only move in direction not inhibited by limit switch. 5) Green/Solid = Drive OK and enabled. Will run in response to reference inputs or EtherCAT commands. Latching Faults Defaults Optional (programmable) Short circuit (Internal or external) Over-voltage Drive over-temperature Under-voltage Motor over-temperature Motor Phasing Error Feedback Error Command Input Fault Following Error IN OUT EtherCAT Device ID In an EtherCAT network, slaves are automatically assigned fixed addresses based on their position on the bus. When a device must have a positive identification that is independent of cabling, a Device ID is needed. In the DevKit, this is provided by two 6-position rotary switches with hexadecimal encoding. These can set the Device ID of the drive from 0x0~0xFF (~255 decimal). The chart shows the decimal values of the hex settings of each switch. Example : Find the switch settings for decimal Device ID 07: ) Find the highest number under S that is less than 07 and set S to the hex value in the same row: 96 < 07 and 2 > 07, so S = 96 = Hex 6 2) Subtract 96 from the desired Device ID to get the decimal value of switch S2 and set S2 to the Hex value in the same row: S2 = (07-96) = = Hex B CME2 -> Amplifier -> Network Configuration CME2 -> Input/Output -> Digital Outputs SW2 SW3 EtherCAT Device ID Switch Decimal values Hex S Dec S A 60 0 B 76 C 92 2 D E F P/N Rev 00 Page 6 of 26

17 Development Kit EtherCAT Device ID (station alias) switch connections The graphic below shows the connections to the EtherCAT Device ID switches. These are read after the drive is reset, or powered-on. When changing the settings of the switches, be sure to either reset the drive, or to power it off-on. Outputs [OUT3,4,5] and input [IN0] operate as an SLI (Switch & LED Interface) port which reads the settings on the EtherCAT Device ID switches, and controls the LEDs on the serial and EtherCAT port connectors. The jumpers marked with red X should be removed so that SW0, or external connections to the signals do not interfere with the operation of the SLI port. The X on [OUT3] shows that no connections should be made to this by the user when the SLI port is active. CME2 -> Input/Output -> Digital Outputs +5V SEL +5V SEL 0k 74HC65 SW3 Vcc D0 8 [IN0] SLI_MISO JP3B SW0 JP4E Q7 Gnd D D2 D3 4 2 [OUT3] SLI_MOSI [OUT3] Red/Green LED [OUT4] SLI_CLK [OUT4] Red/Green LED [OUT5] SLI_EN [OUT5] Red/Green LED JP3F JP3G JP3H JP6F JP6G JP4D J8/8 [OUT3] JP4C J8/23 [OUT4] JP4B J8/22 [OUT5] SDI CLK PL CKE D4 D5 D6 D7 SW Switches 0k +5V SEL 5v power sources The feedback connector J7 has connections for two power supplies: Pin 6 has +5V supplied by the module Pin 7 connects to jumper J4 for the selection of the 5V power source: On J4, when the jumper connects pins 2 & 3, the power source is the internal supply (the default setting) When the jumper is on pins & 2, the power source comes from an external power supply connecting to J5-. 5V power on the Development Kit that comes from the selectable 5V power source on J4 is labeled 5V SEL. Circuits powered by 5V supplied only by the are labeled 5V 2 J4 External +5V From J5- +5V EXT J5/ J4 2 5V SEL 3 +5V output +5V ENC from module J2/4 3 P/N Web: Rev 00 Page 7 of 26

18 Development Kit LOGIC INPUTS & switches The Development Kit has jumpers that can connect the digital inputs to switches on the kit, or to the Signal connector J8. As delivered, all of these jumpers are installed as shown. If connecting to external devices that actively control the level of an input, it is desirable to disconnect the switch which could short the input to ground. For example, if [IN] is connected to an external device for the Enable function, then jumper JP2A should be removed to take the switch SW out of the circuit. The figure below shows these connections. 9 J male J7 [IN] [IN2] [IN3] [IN4] [IN5] [IN6] [IN7] [IN8] [IN9] [IN0] [IN] J8/4 J8/5 J8/6 J8/7 J8/8 J8/0 J8/26 J8/25 J7/24 J8/24 J7/7 JP5A JP5B JP5C JP5D JP5E JP5F JP5G JP5H JP4H JP4G JP4F IN IN2 IN3 IN4 IN5 To IN6 module Inputs IN7 IN8 IN9 IN0 SLI_MISO IN JP2A JP2B JP2C 0 9 JP2D JP2E JP2F JP2G JP2H JP3A JP3B JP3C female SW SW2 SW3 SW4 SW5 SW6 SW7 SW8 SW9 SW0 SW LOGIC OUTPUTS There are six logic outputs that can drive controller logic inputs or relays. If relays are driven, then flyback diodes must be connected across their terminals to clamp overvoltages that occur when the inductance of the relay coil is suddenly turned off. Outputs 3,4,5 & 6 are CMOS types that pull up to 5V or down to ground. When these outputs go high it turns on the green LED. When they are low, the red LED is turned on. Outputs & 2 are MOSFET types that sink current when ON, and appear as open-circuit when OFF. When these outputs are ON a red LED is turned on. When the outputs are OFF, the red LED is off. The green LED is not used on these outputs. J V SEL red k 0 9 k male green JP3D JP3E JP3F JP3G JP3H JP4A [OUT] [OUT2] [OUT3] [OUT4] [OUT5] [OUT6] J8/6 J8/7 J8/8 J8/23 J8/22 J8/2 JP6F JP6G JP6H OUT To module OUT2 outputs OUT3 SLI_MOSI OUT4 SLI_SCLK OUT5 SLI_EN OUT6 P/N Web: Rev 00 Page 8 of 26

19 motor feedback connector j7 Stepnet Plus Module EtherCAT Development Kit For motors with differential encoders: install jumpers JPB, JPD, JPF, and JPH to connect 2 ohm terminators across inputs Jumpers JPA, JPC, JPE, and JPG do not affect this setting and may remain in place or be removed. For motors with single-ended encoders: remove jumpers JPB, JPD, JPF, and JPH to disconnect 2 ohm terminators Install jumpers JPA, JPC, JPE, and JPG A motor temperature sensor that connects to [IN] must have jumper JP4F installed and JP3C removed to prevent switch SW from grounding the Motemp[IN] signal. If the encoder has a fault output, then jumper JP4H must be in place and jumper JP3A must be removed to prevent switch SW9 from grounding the Enc Fault [IN9] signal. Absolute encoders such as the Nikon A type that use 2-wire bidirectional signals require biasing the lines when they are in a quiescent state. Jumpers JPG, JPH, and JP6A must be in place to provide line termination and biasing. LED s are provided to show the status of the encoder and Hall signals. 5V SEL 0k 0k 0k.5k Enc A Enc /A Enc B Enc /B Enc X Enc /X Enc S Enc /S N.C. N.C. N.C. N.C. J7/3 J7/2 J7/ J7/0 J7/9 J7/8 J7/5 J7/4 J7/9 J7/8 J7/2 J7/20 JPA JPC JPE JPG To module JPB JPD JPF JPH JP6A.5k DS2 DS3 DS DS0 To module 5V SEL [IN2] [IN3] [IN4] Motemp [IN] [IN9] Enc +5V AEM Enc +5V SEL Signal Gnd Signal Gnd Signal Gnd Signal Gnd J7/2 J7/3 J7/4 J7/7 J7/24 J7/6 J7/7 J7/5 J7/6 J7/25 J7/26 JP4F JP4H Motemp [IN] To module [IN9] To module DS7 DS8 DS9 To module 5V SEL P/N Web: Rev 00 Page 9 of 26

20 DEVELOPMENT KIT CONNECTIONS Stepnet Plus Module EtherCAT Development Kit DAC Out DAC Ground Drive Enable PosLim NegLim [AIN+] [AIN-] [IN] Enable [IN2] [IN3] Enc A Enc /A Enc B Enc /B Enc X Enc /X A /A B /B X /X Signal Ground [IN4] [IN5] [IN6] J7 Enc S 5 Enc /S 4 [IN9] 24 N.C. 2 9 N.C [IN7] [IN2] 2 25 [IN8] [IN3] 3 24 [IN0] MISO [IN4] 4 +5V out 7 6 [OUT] +5V out 6 8 [OUT3] MOSI 5 23 [OUT4] SCLK 22 [OUT5] EN 2 [OUT6] EN Motemp 7 [IN] 20 9 J8 +5V out /Brake [OUT2] +5V Input J5 Aux HV V V + BRAKE (Optional) for encoder and LED's (Optional) RS-232 DTE 6 9 PC Serial Port D-Sub 9-pos Male RxD TxD Gnd D-Sub 9-pos Female Modular Jack RJ- 6P4C 5 3 Red 3 2 Black Sub-D to RJ- Adapter Serial Cable Kit 5 Yellow Modular Cable TxD Gnd RxD RJ- J9 Mot A 3 Mot /A 4 Mot B 5 Mot /B 5 +HV Input J6 2 Circuit Gnd A /A B /B Fuse Earth MOTOR + - DC Power Notes:. EtherCAT connectors J0 are not shown here. For details see pp 4 & 3. P/N Web: Rev 00 Page 20 of 26

21 development kit Stepnet Plus Module EtherCAT Development Kit The Development Kit mounts a single module and enables the user to test and operate the before it is mounted onto a PC board in the target system. J6 aux HV & ext 5v Signal Pin +5V Ext 2 3 Aux HV Input 4 J6 motor Signal Pin +HV Input HV Gnd 2 Motor A 3 Motor /A 4 Motor B 5 Motor /B 6 J5 HV & Aux J6 Motor J7 Feedback JP JP2 JP3 INPUT SWITCHES J7 feedback Pin Signal Pin Signal Pin Signal 26 8 N.C. 9 Enc X Vdc Out 8 Enc /X 24 [IN9]Enc Fault 6 7 [IN] Motemp 23 N.C. 5 Enc S 6 +5 Vdc Out 22 N.C. 4 Enc /S 5 2 N.C. 3 Enc A 4 [IN4] 20 N.C. 2 Enc /A 3 [IN3] 9 N.C. Enc B 2 [IN2] 0 Enc /B Frame Gnd P/N Web: Rev 00 Page 2 of 26

22 Development Kit Device ID- SWITCHES JP7 J0 ethercat JP8 EtherCAT OUT IN L/A L/A J0 EtherCAT L/A L/A 8 8 IN OUT Pin Signal TX+ 2 TX- 3 RX+ 6 RX- J9 RS-232 JP6 RS-232 STAT AMP J9 RS-232 STAT AMP 6 Pin Signal n.c. 2 RxD Txd JP5 J8 Control 6 n.c. JP4 LED S J8 Control Pin Signal Pin Signal 9 N.C. 8 [OUT3] MOSI PIN SIGNAL 8 [IN5] HS 7 [OUT2] GP 26 [IN7] HS 7 [IN4] HS 6 [OUT] GP 25 [IN8] HS 6 [IN3] HS 5 24 [IN0] MISO 5 [IN2] HS 4 N.C. 23 [OUT4] CLK 4 [IN] HS 3 N.C. 22 [OUT5] EN 3 [AIN-] 2 N.C. 2 [OUT6] EN2 2 [AIN+] N.C Vdc Out Frame Gnd 0 [IN6] HS 9 P/N Web: Rev 00 Page 22 of 26

23 power dissipation The charts on this page show the drive s internal power dissipation for different models under differing power supply and output current conditions. Drive output current is calculated from the motion profile, motor, and load conditions. The values on the chart represent the rms (root-mean-square) current that the drive would provide during operation. The +HV values are for the average DC voltage of the drive power supply. To see if a heatsink is required or not, the next step is to determine the temperature rise the drive will experience when it s installed. For example, if the ambient temperature in the drive enclosure is 40 C, and the heatplate temperature is to be limited to 70 C or less to avoid shutdown, the maximum rise would be 70C - 40C. or 30 C. Dividing this dissipation by the thermal resistance of 9º C/W with no heatsink gives a dissipation of 3.33W. This line is shown in the charts. For power dissipation below this line, no heatsink is required. The vertical dashed lines show the continuous current ratings for the drive modelsv. 4 W Power Dissipation (W) 2 W 0 W 8 W 6 W Power Supply (Vdc) 4 W 2 W Quiescent power No heatsink Heatsink required 40C ambient 3.3 W 0 W Heatsink or forced-air 0 A A 2 A 3 A 4 A 5 A 6 A 7 A 8 A 9 Arequired 0 A Continuous Output Current (Adc) HEATSINK INSTALLATION using the -HK heatsink kit An AOS Micro Faze thermal pad is used in place of thermal grease. This material comes in sheet form and changes from solid to liquid form as the drive warms up. This forms an excellent thermal path from drive heatplate to heatsink for optimum heat transfer. STEPS TO INSTALL. Remove the thermal pad from the clear plastic carrier. 2. Place the thermal pad on the Stepnet aluminum heatplate taking care to center the thermal pad holes over the holes in the drive body. 3. Mount the heatsink onto the thermal pad again taking care to see that the holes in the heatsink, thermal pad, and drive all line up. 4. Torque the #4-40 mounting screws to 3~5 lb-in (0.34~0.57 N m). #4-40 Mounting Screws Heatsink Thermal Pad Transparent Carrier (Discard) Drive P/N Rev 00 Page 23 of 26

24 HEATSINK OPTIONS Rth expresses the rise in temperature of the drive per Watt of internal power loss. The units of Rth are C/W, where the C represent the rise above ambient in degrees Celsius. The data below show thermal resistances under convection, or fan-cooled conditions for the no-heatsink, and -HS heatsink. NO HEATSINK NO HEATSINK C/W convection 9. forced air (300 lfm) 3.3 STANDARD HEATSINK (-HK) with HEATSINK C/W convection 5.3 forced air (300 lfm). P/N Rev 00 Page 24 of 26

25 THIS PAGE LEFT BLANK INTENTIONALLY P/N Rev 00 Page 25 of 26

26 MASTER ORDERING GUIDE Stepnet stepper drive, 5/7 A, 20~90 Vdc Stepnet stepper drive, 0/0 A, 20~90 Vdc SEK Development Kit for stepper drive accessories Connector Kit for Development Kit SEK-CK-0 Heatsink Kit -HK SEK-NC-0 SEK-NC-0 CME 2 SER-CK qty DESCRIPTION Connector, Euro, 5 Terminal, 5.08 mm Connector, Euro, 4 Terminal, 5.08 mm 26 Pin Connector, High Density, D-Sub, Male, Solder Cup 26 Pin Connector, High Density, D-Sub, Female, Solder Cup 2 26 Pin Connector Backshell Heatsink for Heatsink Thermal Pad 2 Screws, #4/40 x.25, S Ethernet Network Cable, 0 ft Ethernet network cable, ft CME 2 Drive Configuration Software on CD-ROM Serial Cable Kit for Development Kit Document Revision History Revision Date Remarks 00 March 9, 207 Initial released version EtherCAT is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany. Note: Specifications subject to change without notice P/N Rev 00 Page 26 of 26