TP2. Stepnet Plus 2-Axis Panel CANopen. Model Ip Ic Vdc TP TP DESCRIPTION

Transcription

1 CoNTroL MoDeS Profile Position-Velocity-Torque, Interpolated Position, Homing Camming, Gearing Indexer COMMAND INTERFACE CANopen ASCII and discrete I/o Stepper commands ±0V position/velocity/torque PWM velocity/torque command Master encoder (Gearing/Camming) COMMUNICATIONS CANopen DS-40 rs- FEEDbACk Incremental Encoders Digital quad A/B Panasonic Incremental A Format Aux. quad A/B encoder / encoder out Absolute Encoders SSI, endat, Absolute A, Tamagawa & Panasonic Absolute A Sanyo Denki Absolute A, biss (b & C) I/o DIGITAL 6 non-isolated, 8 isolated inputs, 5 isolated outputs, non-isolated outputs ANALoG, -bit inputs SAFE TORqUE OFF (STO) SIL, Category, PL d DIMENSIONS: MM [IN] 67 x 5. x 40.6 [6.58 x 4.54 x.60] DIGITAL STePPer DrIVe Model Ip Ic Vdc Current ratings are for each axis DESCRIPTION Stepnet Plus is a -axis, high-performance DC powered microstepping drive for control of hybrid stepping motors via CANopen. As well as operating on CANopen networks, the also operates in the following traditional control modes: step/direction, RS- ASCII, master encoder for gearing and camming, digital input commands to initiate predetermined motion sequences. Operation in servo mode using a stepper with encoder feedback as a brushless motor adds analog ±0V control of position/velocity/ torque to the list of command inputs in this mode. Indexing mode simplifies operation with PLC s using outpts to select and launch indexes and inputs to read back drive status. A single serial port on the PLC can send ASCII data to multiple drives to change motion profiles as machine requirement change. Drive commissioning is fast and simple using CME software operating under Windows and communicating with the via RS- or using the CAN network. CANopen operation supports Profile Position, Interpolated Position Mode (PVT), and Homing. Servo mode enables profile velocity and torque. Up to 7 drives can operate on a single CAN bus and pairs of drives can be linked via the CAN so that they execute motion profiles together. Feedback from both incremental and absolute encoders is supported. A multi-mode encoder port functions as an input or output depending on the drive s basic setup. As an input it takes feedback from a secondary encoder to create a dual-loop position control system or as a master encoder for driving a cam table. As an output, it buffers the digital encoder signals from the motor s digital encoder and eliminates split cables that would be needed to send the signals to both drive and control system. There are sixteen non-isolated inputs and eight opto-isolated digital inputs that are bipolar types, sourcing or sinking current into a common connection that can be tied to ground or 4V. [IN&0] default to the drive Enable function for axes A & b, and are programmable to other functions. The other inputs are programmable. All inputs have programmable active levels. Five opto-isolated outputs [OUT~5] have individual collector/emitter connections. Two MOSFET outputs [OUT6~7] are programmable to drive motor brakes or other functions and have internal flyback diodes for driving inductive loads. The S-channels of the multimode encoder ports are programmable as differential high-speed outputs [OUT8,9]. 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. Web: Page of 6

2 GeNerAL SPeCIFICATIoNS Test conditions: Load = Wye connected load: mh Ω line-line. Ambient temperature = 5 C, HV = HV max MoDeL OUTPUT POWER (EACH AxIS) Peak Current 7 (5) 0 (7.) Adc (Arms-sine), ±5% Peak time Sec Continuous current (Note ) 5 (.5) 0 (7.) Adc (Arms-sine) per phase INPUT POWER HVmin~HVmax 4 to 90 4 to 90 Vdc Transformer-isolated Ipeak 4 0 Adc ( sec) peak Icont 0 0 Adc continuous Aux HV 4 to HV 500 madc maximum,.5 W Optional, not required for operation DIGITAL CoNTroL Digital Control Loops Sampling rate (time) bus voltage compensation Minimum load inductance Current, velocity, position. 00% digital loop control Current loop: 6 khz (6.5 µs), Velocity & position loops: 4 khz (50 µs) Changes in bus or mains voltage do not affect bandwidth 00 µh line-line CoMMAND INPuTS (NoTe: DIGITAL INPuT FuNCTIoNS Are ProGrAMMABLe) Distributed Control Modes CANopen Profile Position-Velocity-Torque, Interpolated Position, Homing Stand-alone mode * Analog position, velocity, torque reference ±0 Vdc, -bit resolution Dedicated differential analog input Digital position reference Pulse/Direction, CW/CCW Stepper commands ( MHz maximum rate) quad A/b Encoder M line/sec, 8 Mcount/sec (after quadrature) Digital torque & velocity reference PWM, Polarity PWM = 0% - 00%, Polarity = /0 PWM 50% PWM = 50% ±50%, no polarity signal required PWM frequency range khz minimum, 00 khz maximum PWM minimum pulse width 0 ns Indexing Up to sequences can be launched from inputs or ASCII commands. Camming up to 0 CAM tables can be stored in flash memory ASCII RS-, DTE, 9600~5,00 baud, -wire, RJ- connector * Servo mode operation is required DIGITAL INPuTS Number 4 [IN,,0,,9~4] Digital, non-isolated, Schmitt trigger, µs rc filter, 4 Vdc compatible, programmable pull-up/down to 5 Vdc/ground, Vt =.5~.5 Vdc, VT- =.~. Vdc, VH = 0.7~.5 Vdc [IN,4,,] Digital, non-isolated, programmable as single-ended or differential pairs, 00 ns rc filter, Vdc max, 0 kω programmable pull-up/down per input to 5 Vdc/ground, Se: Vin-Lo. Vdc, Vin-HI.7 Vdc, VH = 45 mv typ, DIFF: Vin-Lo 00 mvdc, Vin-HI 00 mvdc, VH = 45 mv typ, [IN5~8,4~7] Digital, opto-isolated, single-ended, ±5~0 Vdc compatible, bi-polar, groups of 4 with common return for each group rated impulse 800 V, Vin-Lo 6.0 Vdc, Vin-HI 0.0 Vdc, Input current ±.6 ±4 Vdc, typical [IN9,8] Default as motor overtemp inputs on feedback connectors, Vdc max, programmable to other functions Other digital inputs are also programmable for the Motemp function 0 µs rc filter, 4.99k pullup to 5 Vdc, Vt =.5~.5 Vdc, VT- =.~. Vdc, VH = 0.7~.5 Vdc [IN9~4] Functions Fixed pull-up to 5V, electrical specs the same as [IN,etc] above [IN,IN0] default to drive axss A & b Enable function and are programmable for other functions, All other inputs are programmable. SAFE TORqUE OFF (STO) Function PWM outputs active and current to the motor will not be possible when the STO function is asserted Standard Designed to IEC-6508-, IEC-6508-, IEC , ISO-849- Safety Integrity Level SIL, Category, Performance level d Inputs two-terminal: STO_IN,STO_IN-, STO_IN, STO_IN- Type opto-isolators, 4V compatible, Vin-Lo 6.0 Vdc or open, Vin-HI 5.0 Vdc, Input current (typical) STO_IN: 9.0 ma, STO_IN: 4.5 ma response time ms (IN, IN) from Vin 6.0 Vdc to interruption of energy supplied to motor Reference Complete information and specifications are in the Accelnet & Stepnet Plus Panels STO Manual ANALoG INPuTS Number [AIN~] Differential, ±0 Vdc, 5 kω input impedance, -bit resolution DIGITAL outputs Number 7 [out~5] opto-isolated Darlingtons, 0 ma max, 4 V tolerant, rated impulse 800 V, series 0 ohm resistor collector & emitter connections on each output, Vce =. 0 madc, typical, output on, Vce-max Vdc, output off, Td-oN = 500 µs 0 ma, Td-oFF = 500 µs 0 ma, times include rise/fall times [out6~7] Default as motor brake control: current-sinking, Adc max, external flyback diode required when driving inductive loads Programmable for other functions if not used for brake RS- PORT Signals RxD, TxD, Gnd in 6-position, 4-contact RJ- style modular connector, non-isolated, common to Signal Ground Mode Full-duplex, DTE serial communication port for drive setup and control, 9,600 to 5,00 baud Protocol binary and ASCII formats CANOPEN PORTS Format Dual RJ-45 receptacles Protocol CANopen, DS-40 NOTES: ) Heatsink or forced-air required for continuous current rating Web: Page of 6

3 FEEDbACk Incremental: Digital Incremental Encoder Absolute: Absolute A MuLTI-MoDe encoder PorT As Input As buffered Output quadrature signals, (A, /A, b, /b, x, /x), differential (x, /x Index signals not required) 5 MHz maximum line frequency (0 M counts/sec) MAX094 differential line receivers with Ω terminating resistor between complementary inputs Sanyo Denki Absolute A SD, SD- (S, /S) signals,.5 or 4 MHz, -wire half-duplex communication Status data for encoder operating conditions and errors Digital quadrature encoder (A, /A, b, /b, x, /x), Ω terminating resistor on S inputs only 5 MHz maximum line frequency (0 M counts/sec), MAx094 line receivers Digital encoder feedback signals from primary digital encoder are buffered by MAx6 line drivers DC POWER OUTPUTS Number Ratings 5 Vdc, 500 ma max each output, thermal and short-circuit protected Connections Axis A 5V Output: J-5, J6-7, J6-; combined current from these pins cannot exceed 500 ma Axis b 5V Output: J-0, J7-7, J7-; combined current from these pins cannot exceed 500 ma RS- PORT Signals Mode Protocol MOTOR CONNECTIONS Phase A, /A, b, /b Digital Incremental Encoder Absolute A Hall & encoder power brake INDICATORS AMP L/A, run, err RxD, TxD, Gnd in 6-position, 4-contact RJ- style modular connector, referenced to Signal Ground Full-duplex, DTE serial port for drive setup and control, 9,600 to 5,00 baud baud rate defaults to 9,600 after power-on or reset and is programmable up to 5,00 thereafter ASCII or binary format PWM outputs to -phase stepper motors quadrature signals, (A, /A, b, /b, x, /x), differential (x, /x Index signals not required) 5 MHz maximum line frequency (0 M counts/sec) MAx094 differential line receiver, ohm inputs Sanyo Denki Absolute A, SD, SD- (S, /S) signals, ohm input (See DC POWER OUTPUTS section) [OUT6~7] Default to brake function, programmable for other functions. Bicolor LeD, drive status indicated by color, and blinking or non-blinking condition Yellow & green LeD on A & B ports, status of CANopen bus indicated by color and blink codes based on CANopen Indicator Specification V0.9 Green LeD: on = Good Link, Blinking = Activity, off = No Link Yellow LeD: on for Full-Duplex, off for Half-Duplex Web: Page of 6

4 SPeCIFICATIoNS (CoNT D) PROTECTIONS HV Overvoltage HV > HVmax Drive outputs turn off until HV < HVmax (See Input Power for HVmax) 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 IT Current limiting Programmable: continuous current, peak current, peak time Motor over temperature Digital inputs programmable to detect motor temperature switch MeCHANICAL & environmental Size 67 x 5. x 40.6 [6.58 x 4.54 x.60] Weight <tbd> Ambient temperature 0 to 45 C operating, -40 to 85 C storage Humidity 0 to 95%, non-condensing Vibration g peak, 0~500 Hz (sine), IEC Shock 0 g, 0 ms, half-sine pulse, IEC Contaminants Pollution degree Environment IEC68-: 990 Cooling Heat sink and/or forced air cooling required for continuous power output AGeNCY STANDArDS CoNForMANCe Approvals underwriters Laboratory (ul) recognized component to ul 600-, nd ed.: 004 Safety requirements for electrical equipment for Measurement, Control and Laboratory use UL File Number E49894 TUV Functional Safety to IEC 6508 Functional Safety IEC 6508-, IEC 6508-, EN(ISO) 849-, EN(ISO) 849- (See the Accelnet & Stepnet Plus Panels STO Manual for further details) Electrical Safety In accordance with ec Directive 006/95/eC (Low Voltage Directive) IeC/uL/CSA 600- Safety requirements for electrical equipment for Measurement, Control and Laboratory use IEC :007 EMC IEC 66-:005 (Industrial locations) IEC 66--:008 IEC 550:009/A:00,Group, Class A IEC 6800-:004 Hazardous Substances Lead-free and rohs compliant Web: Page 4 of 6

5 CANOPEN COMMUNICATION Stepnet uses the CAN physical layer signals CANH, CANL, and GND for connection, and CANopen protocol for communication. before installing the drive in a CAN system, it must be assigned a CAN address. A maximum of 7 CAN nodes are allowed on a single CAN bus. The rotary switch on the front panel controls the four lower bits of the seven-bit CAN address. When the number of nodes on a bus is less than sixteen, the CAN address can be set using only the switch. For installations with sixteen or more CAN nodes on a network CMe can be used to configure Stepnet to use the rotary switch, or combinations of digital inputs and programmed offset in flash memory to configure the drive with a higher CAN node address. For more information on CANopen communications, download the CANopen Manual from the Copley web-site: CANoPeN LeDS (on rj-45 CoNNeCTorS) L/A RUN ERR Green: Shows the state of the physical link and activity on the link. off = No Link on = Port open, no activity on & Flickering = Port open and activity Green: Shows the state of the CAN state machine off = Init Blinking = Pre-operational Single-flash = Stopped on = operational Red: Shows errors such as watchdog timeouts and unsolicited state changes in the bp due to local errors. off = No errors, communications are working correctly Blinking = Invalid configuration, general configuration error Single Flash =Warning limit reached; an error counter of the CAN controller has reached or exceeded the warning level. Double Flash = A guard event or heartbeat event has occurred on = Bus off. The CAN controller is bus off. CANopen ADDRESS In the, the node address provided by two 6-position rotary switches with hexadecimal encoding. These can set the address of the drive from 0x0~0xFF (~55 decimal). The chart shows the decimal values of the hex settings of each switch. Example : Find the switch settings for decimal address 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 > 07, so S = 96 = Hex 6 ) Subtract 96 from the desired address to get the decimal value of switch S and set S to the Hex value in the same row: S = (07-96) = = Hex B 8 8 L/A (green) Run (green) L/A (green) Err (red) J: CANopen PORTS RJ-45 receptacles, 8 position PIN SIGNAL CAN_GND CAN_L CAN_H CANopen Address Switch Decimal values Set S S Set S S Hex Dec Hex Dec A b C D E F 40 5 AMP LeDS & ADDreSS SWITCHeS AMP A B AMP LeDS Two bi-color LeDs give the state of each axis of the drive. Colors do not alternate, and can be solid ON or blinking: Green/Solid = Drive ok and enabled. Will run in response to reference inputs, or CANopen commands. Green/Slow-Blinking = Drive ok but NoT-enabled. Will run when enabled. Green/Fast-Blinking = Positive or Negative limit switch active. Drive will only move in direction not inhibited by limit switch. red/solid = Transient fault condition. Drive will resume operation when fault is removed. red/blinking = Latching fault. operation will not resume until drive is reset. The Fault Configuration graphic shows the faults that can be configured as Latching Faults and that would produce a blinking red AMP led condition. Faults are programmable to be either transient or latching FAuLTS S S DEV ID Web: Page 5 of 6

6 COMMUNICATIONS RS- COMMUNICATIONS is configured via a three-wire, full-duplex DTe rs- port that operates from 9600 to 5,00 Baud, 8 bits, no parity, and one stop bit. Signal format is full-duplex, -wire, DTE using RxD, TxD, and Gnd. Connections to the RS- port are through J4, an RJ- connector. The Serial Cable Kit (Ser-CK) contains a modular cable, and an adapter that connects to a 9-pin, Sub-D serial port connector (CoM, CoM, etc.) on PC s and compatibles. After power-on, reset, or transmission of a break character, the baud rate will be 9,600. Once communication has been established at this speed, the baud rate can be changed to a higher rate (9,00, 57,600, 5,00). Ser-CK SerIAL CABLe KIT The SER-Ck provides connectivity between a D-Sub 9 male connector and the RJ- connector on the. It includes an adapter that plugs into the COM (or other) port of a PC and uses common modular cable to connect to the. The connections are shown in the diagram ow. J4: RS- PORT RJ- receptacle, 6 position, 4 contact 6 PIN SIGNAL RxD,4 Gnd 5 Txd D-Sub 9F RxD Dsub-9F to RJ Adapter 5 RJ- cable 6P6C Straight-wired TxD 6 RJ- on Servo Drive TxD Gnd 5 RxD Gnd Don t forget to order a Serial Cable Kit Ser-CK when placing your order for an! ASCII COMMUNICATIONS The Copley ASCII Interface is a set of ASCII format commands that can be used to operate and monitor Copley Controls amplifiers over an rs- serial connection. For instance, after basic amplifier configuration values have been programmed using CMe, a control program can use the ASCII Interface to: enable the amplifier in Programmed Position mode. Home the axis. Issue a series of move commands while monitoring position, velocity, and other run-time variables. The baud rate defaults to 9,600 after power-on or reset and is programmable up to 5,00 thereafter. After power-on, reset, or transmission of a break character, the baud rate will be 9,600. Once communication has been established at this speed, the baud rate can be changed to a higher rate (9,00, 57,600, 5,00). ASCII parameter 0x90 holds the baud rate data. To set the rate to 5,00 enter this line from a terminal: s r0x <enter> Then, change the baud rate in the computer/controller to the new number and communicate at that rate. Additional information can be found in the ASCII Programmers Guide on the Copley website: Web: Page 6 of 6

7 SAFE TORqUE OFF (STO) Stepnet Plus -Axis Panel CANopen DESCRIPTION The provides the Safe Torque off (STo) function as defined in IeC Three opto-couplers are provided which, when de-energized, prevent the upper and lower devices in the PWM outputs from being operated by the digital control core. This provides a positive OFF capability that cannot be overridden by the control firmware, or associated hardware components. When the opto-couplers are activated (current is flowing in the input diodes), the control core will be able to control the on/off state of the PWM outputs. INSTALLATIoN Refer to the Accelnet & Stepnet Plus Panels STO Manual DANGER The information provided in the Accelnet & Stepnet Plus Panels STO Manual must be considered for any application using the drive s STo feature. Failure to heed this warning can cause equipment damage, injury, or death. STo BYPASS (MuTING) In order for the PWM outputs of the to be activated, current must be flowing through all of the opto-couplers that are connected to the STo- and STo- terminals of J4, and the drive must be in an enabled state. When the opto-couplers are off, the drive is in a Safe Torque off (STo) state and the PWM outputs cannot be activated by the control core to drive a motor. This diagram shows connections that will energize all of the opto-couplers from an internal current-source. When this is done the STO feature is overridden and control of the output PWM stage is under control of the digital control core. If not using the STO feature, these connections must be made in order for the to be enabled. FuNCTIoNAL DIAGrAM Bypass Plug Connections Jumper pins: -7, -6, 8-4, 0- Plus Panel Drive 8 Safety EN 4 7 Current must flow through all of the opto-couplers before the drive can be enabled Bypass Plug 8 STO-IN STO-IN- VI HI Enable PWM Outputs HV 0 STO-IN VI Gate Drivers STO-IN- LO STO-Bypass (6.5 ma) J4 SIGNALS SIGNAL PIN SIGNAL STO_IN 8 STO_IN STO-Gnd (Sgnd) Buffer PWM Signals n.c. 9 n.c. STO_IN 0 STO_IN- 4 8 n.c. 4 n.c. n.c. 5 n.c. 6 Sgnd STo_BYP 4 7 Sgnd 7 SAFETY Web: Page 7 of 6

8 COMMAND INPUTS DIGITAL PoSITIoN Single-ended digital position commands should be sourced from devices with active pull-up and pull-down to take advantage of the high-speed inputs. For differential commands, the A & b channels of the multi-mode encoder ports are used. SINGLe-eNDeD PuLSe & DIreCTIoN DIFFereNTIAL PuLSe & DIreCTIoN Enc A Axis A(B) [IN()] Pulse [IN4()] Direction Enc /A Enc B Enc /B PULSE DIRECTION SINGLe-eNDeD Signal Axis A J Axis b J Pls, Enc A 4 Dir, Enc b 5 6 SINGLe-eNDeD Cu/CD DIFFereNTIAL Cu/CD Sgnd 7,,0 Shld 7 Axis A(B) [IN()] CU (CW) [IN4()] CD (CCW) CU (Count-Up) CD (Count-Down) Enc A Enc /A Enc B Enc /B PULSE DIRECTION DIFFereNTIAL Signal Axis A J Axis b J Pls, Enc A 6 /Pls, Enc /A 8 Dir, Enc b 7 QuAD A/B encoder SINGLe-eNDeD Enc. Ph. A Axis A(B) [IN()] Enc. A [IN4()] Enc. B Enc. Ph. B QuAD A/B encoder DIFFereNTIAL Encoder ph. A Enc A Enc /A Encoder ph. B Enc B Enc /B Enc. A Enc B /Dir, Enc /b 9 4 Sgnd 7,,0 Shld 7 DIGITAL TorQue, VeLoCITY (SerVo MoDe) Digital torque or velocity commands are in single-ended format and must be sourced from devices with active pull-up and pull-down to take advantage of the high-speed inputs. SINGLe-eNDeD PWM & DIreCTIoN Axis A(B) [IN()] Current or Velocity [IN4()] Polarity or Direction DIFFereNTIAL PWM & DIreCTIoN Duty = 0-00% Enc A Enc /A Enc B Enc /B PWM Direction SINGLe-eNDeD Signal Axis A J Axis b J PWM 4 Dir 5 6 Sgnd 7,,0 Shld 7 DIFFereNTIAL DIFFereNTIAL 50% PWM Signal Axis A J Axis b J SINGLe-eNDeD 50% PWM PWM 6 Duty = 50% ±50% <no connection> [IN()] [IN4()] Axis A(B) Current or Velocity <not used> Duty = 50% ±50% Enc A Enc /A Current or Velocity /PWM 8 Dir 7 /Dir 9 4 Sgnd 7,,0 <no connection> Enc B Enc /B No Function Shld 7 Web: Page 8 of 6

9 MuLTI-MoDe encoder PorT This port consists of three differential input/output channels that take their functions from the basic Setup of the drive. With quad A/b encoder feedback, the port works as an output, buffering the signals from the encoder. These signals can then be fed back to an external motion controller that closes the position or velocity loops. As an input, the port can take quad A/b signals to produce a dual-loop position control system or use the signals as master-encoder commands in camming mode. In addition, the port can take stepper command signals (CU/CD or Pulse/Direction) in differential format. AS COMMAND INPUTS AS DIGITAL CoMMAND INPuTS IN PuLSe/DIreC- TIoN, PuLSe-uP/PuLSe-DoWN, or DIGITAL QuADrATure encoder ForMAT The multi-mode port can also be used when digital command signals are in a differential format. These are the signals that typically go to single-ended inputs. but, at higher frequencies these are likely to be differential signals in which case the multi-mode port can be used. Pulse/Dir or CU/CD differential commands MAX094 MAX6 Input/Output Select COMMAND INPUT MuLTI-PorT Signal Axis A J Axis b J Pls, Enc A 6 /Pls, Enc /A 8 AS A MASTER OR CAMMING ENCODER INPUT FroM A DIGITAL QuADrATure encoder When operating in position mode the multi-mode port can accept digital command signals from external encoders. These can be used to drive cam tables, or as master-encoder signals when operating in a master/slave configuration. A/B/X signals from digital encoder MAX094 MAX6 Input/Output Select Dir, Enc b 7 /Dir, Enc /b 9 4 Enc x 8 Enc /x 0 5 Sgnd 7,,0 Frame Gnd 7 AS AN output For FeeDBACK SIGNALS To AN external CoNTroLLer AS BuFFereD outputs FroM A DIGITAL QuADrATure PrIMArY encoder When using a digital quadrature feedback encoder, the A/b/x signals drive the multi-mode port output buffers directly. This is useful in systems that use external controllers that also need the motor feedback encoder signals because these now come from J8, the Control connector. In addition to eliminating Y cabling where the motor feedback cable has to split to connect to both controller and motor, the buffered outputs reduce loading on the feedback cable that could occur if the motor encoder had to drive two differential inputs in parallel, each with it s own ohm terminating resistor. Buffered A/B/X signals from primary encoder Secondary Encoder Input MAX094 MAX6 Input/Output Select Quad A/B/X primary encoder emulated QuAD A/B/X MuLTI-PorT Signal Axis A J Axis b J Enc A 6 Enc /A 8 Enc b 7 Enc /b 9 4 Enc x 8 Enc /x 0 5 Sgnd 7,,0 Frame Gnd 7 Web: Page 9 of 6

10 ProGrAMMABLe DIGITAL INPuTS Use this chart shows as a quick reference to the inputs and their characteristic R/C combinations. HI/Lo DeFINITIoNS: INPuTS Input State Condition IN,,0, HI Vin >=.5 Vdc IN9,8 Lo Vin <= 0.7 Vdc IN,4,, HI Vin >=.7 Vdc Lo Vin <=. Vdc IN5,6,7,8 HI Vin >= 0.0 Vdc IN4,5,6,7 Lo Vin <= 6.0 Vdc Vmax 4V V [IN~4] SIGNALS Input Pin R R C Input Pin R R C *IN J- *IN0 J- 5k 5k *IN J- *IN J-4 00p *IN J- *IN J-4 0k k *IN4 J-5 *IN J-6 IN5 J- IN4 J- IN6 J- Opto IN5 J- IN7 J- ±Common is J-0 IN6 J-4 IN8 J- IN7 J-4 5k 0k 5k k 00p Opto ±Common is J-0 IN9 J k 0k n IN8 J k 0k n IN9 J6-8 IN J7-8 IN0 J6-6 5k 5k 00p IN J7-6 IN J6-9 IN4 J7-9 5k 5k 00p * ProGrAMMABLe PuLL up/down The input resistor of these inputs is programmable to pull-up to 5V or pull-down to 0V. Pull-up is the default and works with current-sinking outputs from a controller. Pull-down works with current-sourcing outputs, typically PLC s that drive grounded loads. Six of the inputs have individually settable PU/PD. The other four have PU/PD control for pairs of inputs. INPuTS WITH ProGrAMMABLe PuLL up/down Input Pin PU/PD Input Pin PU/PD IN J- IN0 J- IN J- IN J-4 4 IN J- 5 IN J-4 7 5V PullUp = 5V PullDown = 0V IN4 J-5 6 IN J-6 8 R 74HCG4 [INx] R C INPuT CoNFIGurATIoN: NoN-ISoLATeD, No PuLL up/down CoNTroL 5 INPuTS WITH PuLL-uPS To 5V [INx] R R 74HCG4 Vmax 4V Input Pin Input Pin IN9 J6-8 IN J7-8 IN0 J6-6 IN J7-6 C IN J6-9 IN4 J7-9 Web: Page 0 of 6

11 Stepnet Plus -Axis Panel CANopen SINGLe-eNDeD/DIFFereNTIAL DIGITAL INPuTS [IN~,~] These inputs have all the programmable functions of the GP inputs plus these additional functions which can be configured as single-ended (Se) or differential (DIFF): PWM 50%, PWM & Direction for Velocity or Current modes Pulse/Direction, Cu/CD, or A/B Quad encoder inputs for Position or Camming modes [IN~,~] SIGNALS S.E. Input Diff Input Pin S.E. Input Diff Input Pin IN IN J- IN IN J-4 IN IN- J-5 IN IN- J-6 Vdc max Vdc max SINGLe-eNDeD V DIFFereNTIAL V V J Control 5V V J Control 0k [IN,] k 00 pf MAX096 0k [IN,] 5V k MAX096.5V 00 pf 5V 0k [IN,] k 0k 5V k 00 pf MAX096 [IN,] 00 pf PLC outputs are frequently current-sourcing from 4V for driving grounded loads. PC based digital controllers commonly use NPN or current-sinking outputs. Set the Stepnet inputs to pull-down to ground for currentsourcing connections, and to pull-up to 5V for current-sinking connections. Web: Page of 6

12 Stepnet Plus -Axis Panel CANopen opto-isolated DIGITAL INPuTS These inputs have all the programmable functions of the GP inputs plus opto-isolation. There are two groups of four inputs, each with its own common terminal. Grounding the common terminal configures the inputs to work with current-sourcing outputs from controllers like PLC s. When the common terminal is connected to 4V, then the inputs will be activated by current-sinking devices such as NPN transistors or N-channel MOSFETs. The minimum ON threshold of the inputs is ±5 Vdc. IN ThE GRAPhICS Ow, 4V IS FOR CONNECTIONS TO CuRRENT-SOuRCING OuTPuTS AND GND IS FOR CuRRENT-SINkING OuTPuTS ON ThE CONTROl SySTEM [IN5,7,,6] ±0 Vdc max 4V GND 4V 4V J [COMM] 0 [IN5] 4.99k 5.V 4.7k [IN6,8,5,7] ±0 Vdc max 4V GND 4V 4V J [COMM] 0 [IN6] 4.99k 5.V 4.7k 4.7k [IN7] 4.99k 5.V 4.7k [IN8] 4.99k 5.V 4.7k [IN4] 4.99k 5.V 4.7k [IN5] 4.99k 5.V 4V 4.7k [IN6] k 5.V 4V 4.7k [IN7] k 5.V ANALoG INPuTS The analog inputs have a ±0 Vdc range at -bit resolution As reference inputs they can take position/velocity/torque commands from a controller. If not used as command inputs, they can be used as general-purpose analog inputs. [AIN A,B] SIGNALS Signal Axis A J Pins Axis b AIN() 8 9 AIN(-) Sgnd 7,,0 F.G. 7 F.G. = Frame Gnd These inputs work with current-sourcing OR current-sinking connections. Connect the COMM to controller ground/common for current-sourcing connections and to 5~4V from the controller for current-sinking connections. D/A ±0V F.G. J Shield (Frame Gnd) AIN AIN- Sgnd - Vref.5V [IN5~8,4~7] SIGNALS Signal Pins Signal Pins Vmax IN5 J- IN6 J- 4V IN7 J- IN8 J- IN4 J- IN5 J- IN6 J-4 IN7 J-4 COMM J-0 F.G. J-0 F.G. = Frame Gnd CME -> basic Setup -> Operating Mode Options J Frame Ground [OUT8] S HIGH-SPEED OUTPUT The S-channels of the Multi-Mode encoder ports on the Control connector J are programmable as high-speed outputs [OUT8,9]. The outputs are differential from RS485/RS4 line drivers. J Pins Signal Axis A Axis b HSOUT() 9 4 HSOUT(-) 6 Sgnd 7,,0 Frame Gnd 7 MAX6 [OUT9] MAX6 /S S /S Web: Page of 6

13 OUTPUTS opto-isolated outputs [out~5] 0 Vdc max Zener clamping diodes across outputs allow driving of resistiveinductive (r-l) loads without external flyback diodes. [out~5] SIGNALS [OUT~5] J [OUTn].k min* 0mA max Signal Pins Signal Pins 0 [OUT] J-5 [OUT-] J-5 6V Vdc [OUT] J-6 [OUT-] J-6 [OUT] J-7 [OUT-] J-7 [OUTn-] * at 4 Vdc [OUT4] J-8 [OUT4-] J-8 [OUT5] J-9 [OUT5-] J-9 [COMM] J-0 brake OUTPUTS [OUT6,7] These outputs are open-drain MoSFeTs with internal flyback diodes for driving inductive loads. each can sink up to A from a motor brake connected to the 4 Vdc supply. The operation of the brake is programmable with CME. They can also be programmed as a general-purpose digital outputs. Input State Condition OUT~5 brk-a,b OUT6,7 Aux 0V HV 0V J Control J4 Serial J0 Power Earth Ground HI Lo HI Lo Frame Gnd HV Com Signal Gnd Signal Gnd Signal Gnd Frame Gnd Signal Gnd Signal Gnd J8 Mot A J9 Mot B Frame Gnd J I/O output transistor is on, current flows output transistor is off, no current flows Output transistor is OFF brake is un-powered and locks motor shaft Motor cannot move brake state is Active Output transistor is ON brake is powered, releasing motor shaft Motor is free to move brake state is NOT-Active 0 5V Frame Brk4V Gnd k Heatplate/chassis Brk-A,B Signal Gnd Signal Gnd Signal Gnd Frame Gnd J6,7 Feedback A,B Brake Earthing connections for power supplies should be as close as possible to elimimate potential differences between power supply 0V terminals. HI/Lo DeFINITIoNS: outputs 4V 0V This diagram shows the connections to the drive that share a common ground in the driver. If the brake 4V power supply is separate from the DC supply powering the drive, it is important that it connects to an earth or common grounding point with the hv power supply. BrAKe SIGNALS Signal Axis A Axis b brk4v J6- J7- brk-a,b J6-4 J7-4 brkgnd J6- J7- CME Default Setting for brake Outputs [OUT6,7] is brake - Active HI Active = Brake is holding motor shaft (i.e. the Brake is Active) Motor cannot move No current flows in coil of brake CMe I/o Line States shows output 6 or 7 as HI brk Output voltage is HI (4V), MOSFET is OFF Stepper drive output current is zero Stepper drive is disabled, PWM outputs are off Inactive = Brake is not holding motor shaft (i.e. the Brake is Inactive) Motor can move Current flows in coil of brake CMe I/o Line States shows output 6 or 7 as Lo BrK output voltage is Lo (~0V), MoSFeT is on Stepper drive is enabled, PWM outputs are on Stepper drive output current is flowing Web: Page of 6

14 MOTOR CONNECTIONS Motor connections are of three types: phase, feedback, and thermal sensor. The phase connections carry the drive output currents that drive the motor to produce motion. A thermal sensor that indicates motor overtemperature is used to shut down the drive to protect the motor. Feedback can be digital quad A/b encoder, or absolute encoders, depending on the version of the drive. QuAD A/B/X DIGITAL INCreMeNTAL encoders The quad A/B/X encoder interface is a differential line-receiver with r-c filtering on the inputs. encoders with differential outputs are required because they are less susceptible to noise that can degrade single-ended outputs. Encoder cables should use twisted-pairs for each signal pair: A & /A, b & /b, x & /x. An overall shield should be used, and for longer cables, shields for individual pairs may be necessary to guarantee signal integrity. CONNECTIONS WITH A/b/x ENCODER Encoder J6,J7 FG Frame Ground A A B Z Enc. A /A B Enc. B /B X Enc. Index /X A/B/X SIGNALS Signal J6,J7 Pin Enc A Enc /A Enc b 4 Enc /b Enc x 5 Enc /x 5V 7, Sgnd 5,0 Frame Gnd 5V 0V 5V 400 ma Signal Ground ABSoLuTe encoder The Absolute A interface is a serial, half-duplex type that is electrically the same as RS-485 SANYo DeNKI ABSoLuTe-A ABSoLuTe-A SIGNALS SD Absolute-A Encoder 5V.k 0 SD SD- J5 Dat /Dat Cmd Signal J5 Pins Data 6 /Data 4 5V 7, Sgnd 5,0 F.G. D-R.k D-R F.G. = Frame Gnd Cmd V 5V 5V 400 ma SD MAX6B V- 0V Signal Ground Web: Page 4 of 6

15 MuLTI-MoDe encoder PorT The multi-mode port can operate as primary or secondary feedback from digital quad A/b/x or absolute encoders. FeeDBACK FroM DIGITAL QuADrATure encoder When operating in position mode the multi-mode port can accept digital command signals from external encoders. These can be used to drive cam tables, or as master-encoder signals when operating in a master/ slave configuration. A/B/X signals from digital encoder MAX094 Input/Output Select QuAD A/B/X SIGNALS Signal J Axis A Axis b Enc A 6 Enc /A 8 MAX6 Enc b 7 Enc /b 9 4 Enc x 8 Enc /x 0 5 5V Output 5 0 Sgnd 7,,0 Frame Gnd 7 AS BuFFereD outputs FroM A DIGITAL QuADrATure PrIMArY encoder When using a digital quadrature feedback encoder, the A/b/x signals drive the multi-mode port output buffers directly. This is useful in systems that use external controllers that also need the motor feedback encoder signals because these now come from J8, the Control connector. In addition to eliminating Y cabling where the motor feedback cable has to split to connect to both controller and motor, the buffered outputs reduce loading on the feedback cable that could occur if the motor encoder had to drive two differential inputs in parallel, each with it s own ohm terminating resistor. Buffered A/B/X signals from primary encoder Secondary Encoder Input MAX097 MAX0 Input/Output Select Quad A/B/X primary encoder Web: Page 5 of 6

16 MoTor CoNNeCTIoNS (CoNT D) MOTOR PHASE CONNECTIONS The drive outputs are two H-bridge PWM inverters that convert the DC bus voltage (HV) into 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 for best results. CME -> basic Setup -> Motor Options Axis A,B SIGNALS & PINS Signal J8,J9 Pin Phase A 5 HV PWM MOT A MOT /A Phase /A 4 Phase b Phase /b Frame Gnd 0V MOT B MOT /B Stepper Motor ph. Shld 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 ow), or switches that open/close indicating a motor over-temperature condition. The active level is programmable. These inputs are programmable for other functions if not used as Motemp inputs. And, other inputs are programmable for the Motemp function. J6,J7 5V 4.99k Motemp 0k Thermistor, Posistor, or switch Signal Gnd n MoTeMP SIGNALS Signal Pin Motemp A J6-7 Motemp b J7-7 J6,J7 Sgnd 5,0 Frame Gnd bs 4999 SENSOR Property Resistance in the temperature range 0 C to 70 C resistance at 85 C resistance at 95 C resistance at 05 C Ohms 60~ Web: Page 6 of 6

17 THIS PAGe LeFT BLANK INTeNTIoNALLY Web: Page 7 of 6

18 MoTor CoNNeCTIoNS For INCreMeNTAL DIGITAL encoders The connections shown may not be used in all installations Stepnet Plus Panel -Axis Frame Gnd J6 J7 5V Out A,B Enc A Enc /A Enc B Enc /B Enc X Enc /X Sgnd A /A B /B X /X Vcc 0V DIGITAL ENCODER [IN9,] 8 [IN0,] 6 [IN,4] 9 Note: [IN9~] are on J6 [IN~4] are on J7 Signal Gnd Motemp A,B 0 7 TEMP SENSOR Brk4V Brake A,B BrkGnd 4 BRAKE 4 Vdc - J8 J9 Mot A Mot /A Mot B Mot /B 5 4 A /A B /B STEPPER MOTOR Frame Gnd Web: Page 8 of 6

19 CoNNeCTorS & SIGNALS Signal Pin Signal ISO Input [IN5] ISO Input [IN6] ISO Input [IN7] ISO Input [IN8] ISO Input [IN4] ISO Input [IN5] ISO Input [IN6] 4 4 ISO Input [IN7] J: I/O J5 Safety Connector: 4-position shrouded cable header, keyed polarization Samtec IPL-07-0-L-D-rA-K J5 Cable Connector: Samtec IPD-07-D-k Contacts: CC79L-04-L (AWG 0~4) J5: SAFeTY ISO Output [OUT] 5 5 ISO Output [OUT-] Signal Pin Signal ISO Output [OUT] 6 6 ISO Output [OUT-] STO_IN 8 STO_IN- ISO Output [OUT] 7 7 ISO Output [OUT-] n.c. 9 n.c. ISO Output [OUT4] 8 8 ISO Output [OUT4-] STO_IN 0 STO_IN- ISO Output [OUT5] 9 9 ISO Output [OUT5-] J I/O n.c. 4 n.c. ISO COMM [ICOM] 0 0 Frame Ground J I/O Connector: 0-position shrouded cable header, keyed polarization Samtec IPL-0-0-L-D-rA-K J5 SAFETY n.c. 5 n.c. 6 Sgnd STo_BYP 4 7 Sgnd J Cable Connector: Samtec IPD-0-D-k Contacts: CC79L-04-L (AWG 0~4) Signal Pin Signal Axis A Analog Ref() 8 Axis A Analog Ref(-) Axis b Analog Ref() 9 Axis b Analog Ref(-) Signal Ground 0 GP Input [IN] GP Enable Input [IN] 4 GP Input [IN] GP Input [IN0] 5 HS Input [IN4] J: CoNTroL J SIG J4 RS- ERR L/A RUN L/A OUT IN J NETWORK J4: SerIAL Pin Signal 6 n.c. 5 TxD 4 Sgnd Sgnd RxD n.c. J4 RS- Connector: RJ- modular receptacle 6-position, 4 used HS Input [IN] 6 HS Input [IN] HS Input [IN] 4 7 Signal Ground Axis A 5 Vdc Output 5 8 Axis A Multi-Mode Enc /A Axis A Multi-Mode Enc A 6 9 Axis A Multi-Mode Enc /b A B S S DEV ID J: CANOPEN Pin Signal 8 Tx Term Axis A Multi-Mode Enc b 7 0 Axis A Multi-Mode Enc /x Axis A Multi-Mode Enc x 8 Axis A Multi-Mode Enc /S Axis A Multi-Mode Enc S 9 Signal Ground Axis b 5 Vdc Output 0 Axis b Multi-Mode Enc /A Axis b Multi-Mode Enc A 4 Axis b Multi-Mode Enc /b Axis b Multi-Mode Enc b 5 Axis b Multi-Mode Enc /x AMP 7 Tx Term 6 Rx- 5 Rx Term 4 Rx Term Rx Tx- Tx Axis b Multi-Mode Enc x 6 Axis b Multi-Mode Enc /S Axis b Multi-Mode Enc S 4 7 Frame Ground J CANopen Connector: RJ-45 dual receptacle J Control Connector: 4-position shrouded cable header, keyed polarization Samtec: IPL-7-0-L-D-rA-K J Cable Connector: 4-position connector housing, keyed polarization Samtec IPD-7-D-k Contacts: CC79L-04-L (AWG 0~4) Samtec Connector Tools: Crimping tool: CAT-HT Contact Extractor: CAT-Ex-79-0 Contact lance reset tool: CAT-RE-69-0 Notes on Tools: Connector tools are available from manufacturers and are not sold by Copley Controls. Web: Page 9 of 6

20 CoNNeCTorS & SIGNALS Stepnet Plus -Axis Panel CANopen J7: AxIS b FEEDbACk J0: Power Connector: Euro-style 5,0 mm receptacle, -position Wago: 7-46/ Insert/extract lever: Wago: - J0 Cable Connector: Wago 7-0/06-047/RN Insert/extract lever: Wago: - Signal Pin Signal Axis b Enc A Axis b Enc /A Axis b Enc b 4 Axis b Enc /b Axis b Enc x 5 Axis b Enc /x Axis b Enc S 6 4 Axis b Enc /S Axis b 5 Vdc Output 7 5 Signal Ground [IN] 8 6 [IN] [IN4] 9 7 Axis b Motemp [IN8] N.C. 0 8 N.C. N.C. 9 N.C. Axis b 5 Vdc Output 0 Signal Ground Axis b brake 4V brake Ground 0V Axis b brake [OUT7] 4 Frame Ground J6: AxIS A FEEDbACk Signal Pin Signal Axis A Enc A Axis A Enc /A Axis A Enc b 4 Axis A Enc /b Axis A Enc x 5 Axis A Enc /x Axis A Enc S 6 4 Axis A Enc /S Axis A 5 Vdc Output 7 5 Signal Ground [IN9] 8 6 [IN0] [IN] 9 7 Axis A Motemp [IN9] N.C. 0 8 N.C. N.C. 9 N.C. J6 J7 FDBK A B J0 HV 0V AUX /B B /A A J9 MOT B /B B /A A J8 MOT A J0: HV & AUx POWER Pin Signal Aux HV HV Com (Gnd) HV J9: AxIS b MOTOR Pin Signal 5 Axis b Mot A 4 Axis b Mot /A Axis b Mot b Axis b Mot /b Frame Ground J8: AxIS A MOTOR Pin Signal 5 Axis A Mot A 4 Axis A Mot /A Axis A Mot b Axis A Mot /b Frame Ground Axis A 5 Vdc Output 0 Signal Ground Axis A brake 4V brake Ground 0V Axis A brake [OUT6] 4 Frame Ground J6,J7 Feedback Connectors: 4-position shrouded cable headers, keyed polarization Samtec IPL--0-L-D-rA-K J6,J7 Cable Connectors: 4-position connector housing, keyed polarization Samtec IPD--D-k Contacts: CC79L-04-L (AWG 0~4) J8,J9: Motor Connectors: Euro-style 5,0 mm receptacles, 4-position Wago: 7-465/ J8,J9 Cable Connectors: Wago 7-05/06-047/RN Insert/extract lever: Wago: - Samtec Connector Tools: Crimping tool: CAT-HT Contact Extractor: CAT-Ex-79-0 Contact lance reset tool: CAT-RE-69-0 Notes on Tools: Connector tools are available from manufacturers and are not sold by Copley Controls. Wago Connector Tool: Contact opener: - (included in -Ck) Web: Page 0 of 6

21 DEVICE STRUCTURE This graphic shows the electrical structure of the drive, detailing the elements that share a common circuit common (Signal Ground, HV Com) and circuits that are isolated and have no connection to internal circuits. Note that there is no connection between the heatplate (Chassis, Frame Ground) and any drive circuits. HV - J0 HV & Aux HV HV Com 60 µf PWM Inverter 5 4 J8 Axis A Axis A Motor Earth Ground Aux DC-DC Converter Frame Gnd Motor cable shield connects to Frame Ground J4 Serial 5 4 TxD RxD Internal DC Power for All Circuits Sgnd Sgnd Signal Gnd PWM Inverter 5 4 J9 Axis B Axis B Motor J CAN J CANH CANL CAN Transceiver Isolators TD RD Control Core circuits are referenced to Signal Ground (Sgnd) and HV Com ground Frame Gnd Motor cable shield connects to Frame Ground CAN_GND C C [IN~4, 0~] [IN9,8, IN9~4] Vcc Vcc Drive Control Core [OUT6,7] Vcc Sgnd Vcc Vcc Brk4V Brake R-L 4V 00mA - BrkGnd J6,J7 Axes A,B Motor temp switch Sgnd Sgnd [IN9,8] J Control [IN5~8,4~7] Vcc [OUT~5] Vcc Isolated J I/O [OUT~5-] [AIN/-] - Sgnd Sgnd DRIVE CIRCUITS BE Heatplate Earth Ground HEATPLATE Web: Page of 6

22 PoWer SuPPLIeS Stepnet operates typically from transformer-isolated, unregulated DC power supplies. These should be sized such that the maximum output voltage under high-line and no-load conditions does not exceed the drives maximum voltage rating. Power supply rating depends on the power delivered to the load by the drive. In many cases, the continuous power output of the drive is considerably higher than the actual power required by an incremental motion application. Operation from regulated switching power supplies is possible if a diode is placed between the power supply and drive to prevent regenerative energy from reaching the output of the supply. If this is done, there must be external capacitance between the diode and drive. Accelnet Amplifier HV Gnd () (-) Switching Power Supply AuXILIArY HV PoWer Stepnet has an input for AUx-HV. This is a voltage that can keep the drive communications and feedback circuits active when the PWM output stage has been disabled by removing the main HV supply. This can occur during EMO (Emergency Off) conditions where the HV supply must be removed from the drive and powered-down to ensure operator safety. The AUx HV input operates from any DC voltage that is within the operating voltage range of the drive and powers the DC/DC converter that supplies operating voltages to the drive DSP and control circuits. When the drive HV voltage is greater than the AUx-HV voltage it will power the DC/DC converter. Under these conditions the AUx-HV input will draw no current. GROUNDING CONSIDERATIONS Power and control circuits in Stepnet share a common circuit-ground (See diagram in the brake section of page ). Circuits that are referenced to Signal Ground are the analog Reference input, non-isolated digital inputs, buffered encoder outputs, motor encoder and Hall signals, PWM outputs and the rs- port. For this reason, drive Signal Gnd terminals should connect to the users control ground system so that signals between drive and controller are at the same common potential, and to minimize noise. The system ground should, in turn, connect to an earthing conductor at some point so that the whole system is referenced to earth. The CAN ports are opto-isolated from the drive circuits. Because current flow through conductors produces voltage-drops across them, it is best to connect the drive HV return to system earth, or circuitcommon through the shortest path, and to leave the power-supply floating. In this way, the power supply (-) terminal connects to ground at the drive HV Return terminals, but the voltage drops across the cables will not appear at the drive ground, but at the power supply negative terminal where they will have less effect. Motor phase currents are balanced, but currents can flow between the PWM outputs, and the motor cable shield. To minimize the effects of these currents on nearby circuits, the cable shields should connect to Frame Gnd (J6~7-). The drive heatplate (Frame Gnd) does not connect to any drive circuits. Connections to the heatplate are provided on connectors J-7, J-0, J6~7-, and J8~9-. Cables to these connectors must be shielded for CE compliance, and the shields should connect to these terminals. When installed, the drive heatplate should connect to the system chassis. This provides a path to ground for noise currents that may occur in the cable shields. Signals from controller to drive are referenced to 5 Vdc, and other power supplies in user equipment. These power supplies should also connect to system ground and earth at some point so that they are at same potential as the drive circuits. The final configuration should embody three current-carrying loops. First, the power supply currents flowing into and out of the drive at the HV and HV_COM pins on J0. Second the drive outputs driving currents into and out of the motor phases on J8~9, and motor shield currents circulating between the motor phase outputs and Gnd. And, lastly, logic and signal currents connected to the drive control inputs and outputs. For CE compliance and operator safety, the drive heatplate should be earthed by using external tooth lock washers under the mounting screws. These will make contact with the aluminum chassis through the anodized finish to connect the chassis to the equipment frame ground. REGENERATION The chart ow shows the energy absorption in W s for a drive operating at some typical DC voltages. When the load mechanical energy is greater than these values an external regenerative energy dissipater is required. The internal capacitor bank is 60 uf and the energy absorption is shared with both axes. energy ABSorPTIoN 6 GROUNDING Controller J8 J A Mot A A Mot /A A Mot B A Mot /B Frame Gnd B Mot A B Mot /A B Mot B B Mot /B Frame Gnd AXIS A MOTOR AXIS B MOTOR Joules (W s) 5 4 Control I/O Signal Gnd HV J0 HV Com Aux HV HV_0V Aux Aux_0V - - HV Power Supply Aux Power Supply Heatplate ground Keep as short as possible HV (Vdc) Equipment frame Earth Keep connections as close as possible. "Star" ground to a common point is best Web: Page of 6

23 POWER DISSIPATION Stepnet Plus -Axis Panel CANopen The top chart on this page shows the internal power dissipation of the under differing power supply and output current conditions. The HV values are for the average DC voltage of the drive power supply. The lower chart shows the temperature rise vs. power dissipation under differing mounting and cooling conditions. use this chart to find the total power dissipation for both axes. Example : Power supply HV = 65 Vdc Axis current = 7.5 A, axis = 9.0 A Total current = 6.5 A Total dissipation =.5 Watts POWER DISSIPATION 5 W 0 W 5 W 0 W.5 W A 80 V 65 V 5 W 50 V 5 V 0 W 0 V 5 W quiescent power 0 W disabled 0 A 5 A 0 A 5 A 0 A Total continuous current of both axes Note: These charts are based on the total power dissipation in the drive which includes quiescent operating power and dissipation in the PWM output section. MAXIMuM operating TeMPerATure rise VS. ToTAL DISSIPATIoN use this chart to find the maximum operating temperature of the drive under differing mounting and cooling conditions. Example: Using the.5 W value from the calculations above, draw a vertical line in this chart. This shows that NHSNF does not provide sufficient cooling at 5 C, normal room temperature. And, 40 C is the maximum operating temperature for HSNF. Adding fan cooling will permit operation to 45 C ambient with or without heatsinking at the.5 W dissipation level. 50 C 45 C 40 C 5 C 40 C Max Tamb HSF = Heat Sink (with) Fan NHSF = No Heat Sink (with) Fan HSNF = Heat Sink No Fan NHSNF = No Heat Sink No Fan 0 C 5 C 0 C 5 C NHSNF NHSF HSNF HSF 0 C 5 C.5 W C W 4 W 6 W 8 W 0 W W 4 W 6 W 8 W 0 W W 4 W 6 W 8 W 0 W W 4 W 6 W Web: Page of 6

24 MOUNTING Thermal data for convection-cooling with a heatsink assumes a vertical mounting of the drive on a thermally conducting surface. Heatsink fins run parallel to the long axis of the drive. When fan-cooling is used vertical mounting is not necessary to guarantee thermal performance of the heatsink. THerMAL resistance Thermal resistance is a measure of the temperature rise of the drive heatplate due to power dissipation in the drive. It is expressed in units of C/W where the degrees are the temperature rise above ambient. E.g., an drive dissipating 6 W mounted with no heatsink or fan would see a temperature rise of 46 C above ambient based on the thermal resistance of.9 C/W. using the drive maximum heatplate temperature of 70 C and subtracting 46 C from that would give 4 C as the maximum ambient temperature the drive in which the drive could operate before going into thermal shutdown. To operate at higher ambient temperatures a heatsink or forced-air would be required. /B B /A A /B B /A A J8 MOT A J9 MOT B HV 0V AUX FDBK J6 J7 A B end views vertical mounting /B B /A A /B B /A A J8 MOT A J9 MOT B HV 0V AUX FDBK J6 J7 A B J0 J0 no heatsink, no fan C/W no heatsink fan C/W convection. forced-air, 00 lfm 0.97 /B B /A A /B B /A A J8 MOT A J9 MOT B HV 0V AUX FDBK J6 J7 A B /B B /A A /B B /A A J8 MOT A J9 MOT B HV 0V AUX FDBK J6 J7 A B J0 J0 heatsink, no fan C/W heatsink fan C/W convection.8 forced-air, 00 lfm 0.57 Web: Page 4 of 6