R22. Accelnet R22 CONTROL MODES COMMAND INTERFACE COMMUNICATIONS FEEDBACK I/O - DIGITAL. DIMENSIONS: mm [in]

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1 ccelnet CONTROL MODES Indexer, Point-to-Point, PVT Camming, Gearing, Position, Velocity, Torque COMMND INTERFCE CNopen SCII and discrete I/O Stepper commands PWM velocity/torque command Master encoder (Gearing/Camming) ±0 Vdc analog position/velocity/torque COMMUNICTIONS CNopen RS- FEEDBCK Digital quad /B encoder Secondary encoder Brushless resolver (-R option) Digital Halls I/O - DIGITL 0 inputs, outputs DIMENSIONS: mm [in] 0 x 69 x [4.0 x.7 x.0] Model * Vdc Ic Ip dd -R to part number for resolver option DESCRIPTION ccelnet is a ruggedized, PC board-mounting digital servo drive that combines CNopen networking with 00% digital control of brush or brushless motors. It operates as a Motion Control Device using the DSP-40 protocol under the CNopen DS-0 V4.0 (EN 0-4) application layer. DSP-40 modes supported include Interpolated Position (PVT), Profile Position, Profile Velocity, Profile Torque, and Homing. ±0 Vdc analog input has been added for position/velocity/torque control. Ten logic inputs are configurable as CN address bits, enables, limit & home switches, motor temperature switch, stepper/encoder pulses, and reset. Two logic outputs are programmable to report drive status, or to drive a motor brake. s a stand-alone drive ccelnet can operate using incremental position commands from step-motor controllers in Pls/Dir or CW/CCW format, as well as /B quadrature commands from a master-encoder. Drive commissioning is facilitated by CME software operating under Windows communicating with ccelnet via an RS- link. uto-tuning algorithms in CME slash set up times for fast system commissioning by automating motor phasing, and current-loop tuning. powerful oscilloscope and waveform generator display drive performance for fine tuning. Drive configurations are saved in non-volatile flash memory. OEM s can inventory one part, and configure drives on-site to each axis in a machine. ll drive circuits are DC coupled and operate from unregulated transformer-isolated linear DC power supplies, or regulated switching power supplies. The PC-board mounting package is suitable for high-density, multi-axis installations in equipment where space is at a premium, and wiring must be minimized. RUGGEDIZED STNDRDS CONFORMNCE mbient Temperature Non-Operating -0ºC to 8ºC Operating -40ºC to 70ºC Thermal Shock Operating -40ºC to 70ºC in minute Relative Humidity Non-Operating 9% non-condensing at 60ºC Operating 9% non-condensing at 60ºC Vibration Operating Hz to 00 Hz, up to.8 grms ltitude Non-Operating -400 m to,00 m Operating -400 m to,000 m Shock Crash Safety 7 g peak acceleration Operating 40 g peak acceleration MIL-STD specifications MIL-STD- 46, 704, 80, 7, 99 IEC specifications IEC , Tech Support: sales@copleycontrols.com, Internet: Page of

2 ccelnet GENERL SPECIFICTIONS Test conditions: Load = Wye connected load: mh Ω line-line. mbient temperature = C. HV = HV max MODEL OUTPUT POWER Peak Current 8 (.7) 9 (6.4) 4 (7.0) 60 (4.4) 9 (6.4) 8 (.7) 0 (4.4) dc (rms) Peak time Sec Continuous current 6 (4.4) (.) (8.) 0 (.) (.) 6 (4.4) 0 (7.) dc (rms) Peak Output Power kw Continuous Output Power kw INPUT POWER HVmin to HVmax 0 to 0 to 90 0 to 90 0 to 90 0 to 80 0 to 80 0 to 80 Vdc Ipeak dc Icont dc ux HV 0 to HVmax. W max Optional keep-alive power input when HV is removed PWM OUTPUTS Type PWM ripple frequency BNDWIDTH Current loop, small signal HV Compensation Current loop update rate Position & Velocity loop update rate MOSFET -phase inverter, khz center-weighted PWM carrier, space-vector modulation 0 khz. khz typical, bandwidth will vary with tuning & load inductance Changes in HV do not affect bandwidth khz (66.7 µs) khz ( µs) REFERENCE INPUTS CNopen bus Operating Modes Profile Position, Profile Velocity, Profile Torque Interpolated Position (PVT), Homing Digital position reference Pls/Dir, CW/CCW Stepper commands ( MHz maximum rate) Quad /B Mline/sec, (8 Mcount/sec after quadrature) Digital torque & velocity reference (Note ) PWM, Polarity PWM = 0~00%, Polarity = /0 PWM PWM = 0% /-0%, no polarity signal required PWM frequency range khz minimum, 00 khz maximum PWM minimum pulse width 0 ns nalog torque/velocity/position ±0 Vdc, kω differential input impedance DIGITL INPUTS (NOTE ) Number 0 ll inputs 74HC4 Schmitt trigger operating from Vdc with RC filter on input, 0 kω pull-up to Vdc RC time-constants assume active drive on inputs and do not include 0 kω pull-ups. Logic levels Vin-LO <. Vdc, Vin-HI >.6 Vdc, Maximum input voltage = 0 Vdc Enable [IN] dedicated input for drive enable, active level programmable, 0 µs RC filter GP [IN,,4] General Purpose inputs, 0 kω pull-ups, 0 µs RC filter ( µs for [IN4]), 4 Vdc max Motemp [IN] General Purpose input with, 4.99 kω pull-up, 0 µs RC filter, 4 Vdc max HS [IN6,7,8,9,0] High-Speed Inputs inputs with 00 ns RC filter, Vdc max DIGITL OUTPUTS (NOTE ) Number Type Current-sinking MOSFET open-drain output with kω pullup to Vdc through diode dc sink max, 0 Vdc max Functions Programmable with CME ctive Level Programmable to either HI (off, pull-up to Vdc) or LO (on, current-sinking) when output is active RS- COMMUNICTION PORT s RxD, TxD, Full-duplex, serial communication port for drive setup and control, 9,600 to,00 Baud CNOPEN COMMUNICTION PORT s CNH, CNL,. Mbit/sec maximum. Protocol CNopen pplication Layer DS-0 V4.0 Device DSP-40 Device Profile for Drives and Motion Control MOTOR CONNECTIONS U,V,W Drive outputs to -phase brushless motor, Wye or delta connected (DC brush motor use outputs U & V) Quadrature encoder, differential outputs (,/,B,/B,X,/X), Mlines/sec (0 Mcount/sec after quadrature) Halls Hall signals (U,V,W) Motemp temperature sensor or switch RESOLVER Type Brushless, single-speed, : to : programmable transformation ratio Resolution 4 bits (equivalent to a 4096 line quadrature encoder) Reference frequency 7. khz Reference voltage.8 Vrms, auto-adjustable by the drive to maximize feedback Reference maximum current 00 m Maximum RPM 0,000 PROTECTIONS HV Overvoltage 8, 9, 6 Vdc Drive outputs turn off until HV is < overvoltage (for 80, 90, Vdc models) HV Undervoltage HV < 0 Vdc Drive outputs turn off until HV >= 0 Vdc Drive over temperature PC Board > 80 C. Drive latches OFF until drive is reset, or powered off-on Short circuits Output to output, output to ground, internal PWM bridge faults I T Current limiting Programmable: continuous current, peak current, peak time Latching / Non-Latching Programmable NOTES. [IN] is not programmable and always works as drive Enable. Other digital inputs are programmable. Tech Support: sales@copleycontrols.com, Internet: Page of

3 ccelnet MECHNICL & ENVIRONMENTL Size 4.0 in (0.7 mm) X.6 in (66. mm) X 0.9 in (4.9 mm) Weight.7 oz (0.6 kg) Contaminants Pollution degree Environment IEC68-: 990 Cooling Heatsink required for continuous power output GENCY STNDRDS CONFORMNCE EN 0 : 007 CISPR : 00/ : 006 Limits and Methods of Measurement of Radio Disturbance Characteristics of Industrial, Scientific, and Medical (ISM) Radio Frequency Equipment EN : 00 Electromagnetic Compatibility Generic Immunity Requirements Following the provisions of EC Directive 89/6/EEC: EN 600- : 00 Safety Requirements for Electrical Equipment for Measurement, Control, and Laboratory use Following the provisions of EC Directive 006/9/EC (Low Voltage Directive) UL 600- nd Ed.: 004 Safety Requirements for Electrical Equipment for Measurement, Control and Laboratory Use CCELNET FETURES CNOPEN NETWORKING Based on the CN physical layer, a robust, two-wire communication bus originally designed for automotive use where low-cost and noise-immunity are essential, CNopen adds support for motion-control devices and command synchronization. The result is a highly effective combination of data-rate and low-cost for multi-axis motion control systems. Device synchronization enables multiple axes to coordinate moves as if they were driven from a single control card. FIELD-ORIENTED CONTROL Unlike conventional sinusoidal commutation which controls only the amplitude of the motor phase currents, Field-Oriented Control (FOC) controls the electrical phase in order to maintain the optimum ±90 between the motor magnetic axis and the field produced by the phase currents. The effect is to maximize the efficiency of the motor, and minimize the heating produced by the drive currents. Torque is maintained over a wider range of speeds than with conventional sinusoidal commutation, and space-vector modulation gives higher motor speeds from the same power supply. PC BORD MOUNTING The small size, and cooling options enable ccelnet to be integrated into machinery with fewer cables and connections, and closer to the motor when required. Optional convection heatsinks provide two choices of cooling capacity. The ccelnet case has tabs molded-in that accept Socket- compatible chip-coolers which have integral fans to provide even greater cooling capacity. RS- COMMUNICTION ccelnet is configured via a three-wire, full-duplex RS- port that operates from 9,600 to,00 Baud. CME software provides a graphic user interface (GUI) to set up all of ccelnet features via a computer serial port. The RS- port is used for drive set up and configuration. Once configured, ccelnet can be used in stand-alone mode taking digital position, velocity, or torque commands from a controller, or as a networked drive on a CNopen bus. REFERENCE INPUTS s a network drive, the primary command input is the CNopen bus. But, ccelnet can also operate in stand-alone mode, taking position, velocity, or current (torque, force) commands in digital format from a motion controller. CNOPEN COMMUNICTION ccelnet uses the CN physical layer signals CNH, CNL, and GND for connection, and CNopen protocol for communication. Before connecting ccelnet to the CN network, it must be assigned a CN address. This is done via the RS- port, which is also used for general drive setup. The CN address is a combination of an internal address stored in flash memory, and digital inputs which have been configured to act as CN address bits. maximum of 7 CN devices are allowed on a CN bus network, so this limits the input pins used for this purpose to a maximum of seven, leaving three inputs available for other purposes. Most installations will use less than the maximum number of CN devices, in which case the number of inputs used for a CN address can be less than seven, leaving more inputs available for other functions. When inputs are used for the CN address bits, the internal address is added to the binary value that results from the inputs. If all the inputs are used as logic inputs, then the CN address in flash memory is the drive CN address. DIGITL REFERENCE INPUTS Two logic inputs are used as digital reference inputs in the stand-alone mode. These will be assigned automatically to inputs that have the HS filters. Current (torque, force) mode commands can be in one or two-wire format. In the one-wire format (0% PWM), a single input takes a square waveform that has a 0% duty cycle when the drive output should be zero. Thereafter, increasing the duty cycle to 00% will command an output current that will produce a maximum force or torque in a positive direction of motion, and decreasing the duty cycle to 0% will produce a maximum negative torque or force output. In two-wire format (PWM/Dir), one input takes a PWM waveform of fixed frequency and variable duty cycle, and the other input takes a DC level that controls the polarity of the output current. The active level of the PWM signal for 0 current output is programmable. The direction of the force or torque produced will depend on the polarity of the DC signal on the direction input. Duty = 0% ±0% [IN9] [IN0] <no connection> Current Not used Tech Support: sales@copleycontrols.com, Internet: Page of

4 ccelnet NLOG COMMND INPUT n analog input is provided for position/velocity/ torque control. When using this input, Ref() and Ref(-) must both be connected to the controller. This differential connection is important for two reasons. First, for rejection of noise between controller and drive grounds. Second, because if one Ref input is left open, grounding of the other input will produce a ±% of peak-current command, not a 0% command. Ref() Ref(-) 7.4k.6k 7.4k Vdc - k k -.V DIGITL OUTPUTS The digital outputs [OUT], and [OUT] are opendrain MOSFETs with kω pull-up resistors in series with a diode to Vdc. They can sink up to dc from external loads operating from power supplies to 0 Vdc. The outputs are typically configured as drive fault and motor brake. dditional functions are programmable. s a drive fault output, the active level is programmable to be HI or LO when a drive fault occurs. s a brake output, it is programmable to be either HI or LO to release a motor brake when the drive is enabled. When driving inductive loads such as a relay, an external fly-back diode is required. diode in the output is for driving PLC inputs that are optoisolated and connected to 4 Vdc. The diode prevents conduction from 4 Vdc through the kω resistor to Vdc in the drive. This could turn the PLC input on, giving a false indication of the drive output state. DIGITL INPUTS There are ten digital inputs to ccelnet, nine of which can be programmed to a selection of functions. The Enable input which controls the on/ off state of the PWM outputs is fixed to [IN] as a safety measure so that cannot be programmed in such a way that, once installed, it could not be shut down by the controller. The other nine inputs can be set to a selection of functions. Two types of RC filters are used: GP (General Purpose), and HS (High-Speed). Input functions such as Pulse/Direction, CW/CCW, Quad /B typically are wired to inputs having the HS filters, and inputs with the GP filters are used for general purpose logic functions, limit switches, and the motor temperature sensor. Input [IN4] has a µs RC filter. Programmable functions of the I/O inputs are: Positive Limit switch Negative Limit switch Home switch Drive Reset PWM current or velocity control CN address Pls/Dir, or CW/CCW step motor control pulses Quad /B master encoder position commands temperature sensor or switch input Motion Profile bort In addition to the selection of functions, the active level for each input is individually programmable. Drive reset takes place on transitions of the input and is programmable to /0 or 0/. The motor temp sensor function will disable the drive if a switch in the motor opens or closes when the motor overheats. GENERL-PURPOSE INPUTS [IN] * [IN] [IN] [IN4] ** [IN] *** Vdc 0k *** 4.99k 0k GP Inputs * Not programmable HIGH-SPEED INPUTS 74HC4 nf ** (. nf) CM MSTER When operating in Camming mode an incremental encoder may be the Master input and connects to [IN9] and [IN0]. Other types of digital signals can used, too. Pulse & Direction or Pulse-Up/Pulse- Down formats are supported. QUD /B ENCODER Camming Master (Optional) Camming Master s (Optional) B J PULSE-UP, PULSE-DOWN J PULSE-DIRECTION Camming Master s (Optional) 4 [IN9] HSIn [IN0] HSIn Pls-Up 4 [IN9] HSIn Pls-Dwn [IN0] HSIn Pulse Direction J 4 [IN9] HSIn [IN0] HSIn MOTOR CONNECTIONS connections are of three types: phase, Halls, and encoder. 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. k [OUT] [OUT] [IN6] [IN7] [IN8] [IN9] [IN0] Vdc 0k k HS Inputs 74HC4 00 pf Tech Support: sales@copleycontrols.com, Internet: Page 4 of

5 ccelnet MOTOR ENCODER The motor encoder interface is a differential linereceiver with R-C filtering on the inputs. s with differential outputs are preferred because they are less susceptible to noise that can be picked on single-ended outputs. PC board layouts should route the encoder signal-pairs as close to each other as possible for best transmission-line characteristics. If single-ended encoders are used, a pull-up resistor should be installed on the PC board, and the unused input can be left open. If this is done, it is recommended that the inverting input be left open as its open-circuit voltage of.0 Vdc (typical) is closer to TTL and CMOS levels than the non-inverting input which has an opencircuit voltage of.9 Vdc (typical). The encoder input circuit is shown below. ENC, B, X /, /B, /X k k pf pf - 6LS SECONDRY ENCODER secondary incremental encoder can be connected to [IN7] and [IN8] for dual-loop position control. typical use for this would be a gear-motor driving a leadscrew. n encoder on the leadscrew would give the position of the load while the motor encoder and Halls would be used for velocity control and commutation. Secondary (Optional) B J 6 [IN7] HSIn [IN8] HSIn MOTOR HLL SIGNLS Hall signals are single-ended signals that provide absolute feedback within one electrical cycle of the motor. There are three of them (U, V, & W) and they may be sourced by magnetic sensors in the motor, or by encoders that have Hall tracks as part of the encoder disc. They typically operate at much lower frequencies than the motor encoder signals, and in ccelnet they are used for commutationinitialization after startup, and for checking the motor phasing after the drive has switched to sinusoidal commutation. U V W HLL U, V, W V 0 k 0 k. nf 74HC4 MOTOR PHSE CONNECTIONS The drive output is a three-phase PWM inverter that converts the DC buss voltage (HV) into three sinusoidal voltage waveforms that drive the motor phase-coils. The peak voltage between adjacent etches on the PC board is equal to the HV power, and peak and continuous currents will not be greater than the ratings of the particular drive model. trace width of 0.7 in, plating thickness of oz copper, and spacing of 0. in is adequate for all models of ccelnet. POWER SUPPLIES ccelnet 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. The minimum value required is 0 µf per drive. Drive HV () Switching Power Supply UX HV INPUT ccelnet can continue to communicate on a CNopen network under EMO (EMergency Off) conditions if auxiliary DC power is connected to the ux HV input. This powers the internal DC/DC converter so that motor position and drive communications are preserved while HV is removed from the PWM inverter stage. The minimum voltage is 0 Vdc, and the maximum is the same as the drive maximum HV rating. The current requirements will vary with voltage and can be calculated based on an average power consumption of. W. (-) U U RESOLVER (-R MODELS) Connections to the resolver should be made with shielded cable that uses three twistedpairs. Once connected, resolver set up, motor phasing, and other commissioning adjustments are made with CME software. There are no hardware adjustments. Outputs V W U V W Shld () BRUSHLESS MOTOR MOUNTING ND COOLING BRUSHLESS RESOLVER R R S S S S4 J-7 J-8 J- J- - J-9 J-0 - Ref Sin Cos (-) V Shld No Connect to W BRUSH MOTOR ccelnet mounts on PC boards using two, dualrow, 0. in female headers. These permit easy installation and removal of the drive without soldering. Threaded standoffs swaged into the PC board provide positive retention of the drive and permit mounting in any orientation. Cooling options are: no heatsink and convection heatsinks. Convection heatsinks are available from Copley in standard, or low-profile forms. J-,4,, Tech Support: sales@copleycontrols.com, Internet: Page of

6 ccelnet TYPICL DRIVE CONNECTIONS Quad /B Motion Controller Enable PosLim NegLim Enable Input [IN] GPIn Fwd Enable [IN] GPIn Rev Enable [IN] GPIn / B /B 9 0 / B /B ENCODER X 7 X /X 8 /X 0 Fault Output [OUT] Hall U Hall V U V HLLS DC ±0V 8 ±0V Ref() Hall W 6 W 7 ±0V Ref(-) 7 [IN4] GPIn J Secondary Optional B [IN6] HSIn 6 [IN7] HSIn [IN8] HSIn Motemp GPin [IN] 4 4V Camming Master (Optional) B 4 [IN9] HSIn [IN0] HSIn Brake [OUT] 9 BRKE W 4 6 W * Optional CNopen Bus Controller I/O Controller RS- I/O CNH CNL RxD TxD 6 CNH CNL 4 TxD RxD V U ux HV Input J HV 4 Input Fuse * Fuse * V U Fuse BRUSHLESS MOTOR 4 V - DC Power DC Power Note: Brush motors connect to U & V outputs HV Com µf Minimum per drive - Mount external capacitor <= " (0 cm) from drive Notes. [IN] always functions as Drive Enable and is not programmable. [IN]~[IN0] are programmable.. HS inputs [IN6,7,8,9,0] are for high-speed signals and have 00 ns RC filters. GP inputs [IN,,,] have 0 µs filters, [IN4] has a µs filter. RC filter time constants apply when inputs are driven by active sources and do not include the 0 kω pull-up resistors. Tech Support: sales@copleycontrols.com, Internet: Page 6 of

7 ccelnet DRIVE PC BORD CONNECTORS Quad /B J: Dual row, 0. centers position female header SMTEC SSW-6-0-S-D Pin Drive viewed from above looking down on the pc board on which it is mounted. Pins and housing shapes are shown in phantom view. J: HV, ux HV,, & Outputs Dual row, 0. centers Female header SMTEC SSW--0-S-D J Pin U 4 U J Pin RS- TxD RS- RxD V 4 V Ground 4 Ground 6 CNH 6 CNL ±0V Ref() 8 7 ±0V Ref(-) Fault [OUT] 0 9 [OUT] Brake Ground [IN0] HSInput W 4 W HSInput [IN9] 4 [IN8] HSInput 6 HSInput [IN7] 6 [IN6] HSInput GPInput [IN] 8 7 [IN4] GPInput GPInput [IN] 0 9 [IN] GPInput Ground Ground GPInput [IN] 4 Hall V Hall W 6 Hall U /X 8 7 X /B 0 9 B / Notes. s are grouped for current-sharing on the power connector. When laying out pc board artworks, all pins in groups having the same signal name must be connected. HV COM (Ground) HV COM (Ground) No Connection 40 9 HV HV No Connection ux HV ux H V Tech Support: sales@copleycontrols.com, Internet: Page 7 of

8 TYPICL DRIVE CONNECTIONS ccelnet Resolver Motion Controller Enable PosLim NegLim Enable Input [IN] GPIn Fwd Enable [IN] GPIn Rev Enable [IN] GPIn Rslvr Sin() Rslvr Sin(-) Rslvr Cos() Rslvr Cos(-) 9 0 S S S S4 BRUSHLESS RESOLVER Rslvr Ref() 7 R Rslvr Ref(-) 8 R 0 Fault Output [OUT] Hall U Hall V U V HLLS DC ±0V 8 ±0V Ref() Hall W 6 W 7 ±0V Ref(-) 7 [IN4] GPIn J Secondary Optional B [IN6] HSIn 6 [IN7] HSIn [IN8] HSIn Motemp GPin [IN] 4 4V Camming Master (Optional) B 4 [IN9] HSIn [IN0] HSIn Brake [OUT] 9 BRKE W 4 6 W * Optional CNopen Bus Controller I/O Controller RS- I/O CNH CNL RxD TxD 6 CNH CNL 4 TxD RxD V U ux HV Input J HV 4 Input Fuse * Fuse * V U Fuse BRUSHLESS MOTOR 4 V - DC Power DC Power Note: Brush motors connect to U & V outputs HV Com µf Minimum per drive - Mount external capacitor <= " (0 cm) from drive Notes. [IN] always functions as Drive Enable and is not programmable. [IN]~[IN0] are programmable.. HS inputs [IN6,7,8,9,0] are for high-speed signals and have 00 ns RC filters. GP inputs [IN,,,] have 0 µs filters, [IN4] has a µs filter. RC filter time constants apply when inputs are driven by active sources and do not include the 0 kω pull-up resistors. Tech Support: sales@copleycontrols.com, Internet: Page 8 of

9 ccelnet DRIVE PC BORD CONNECTORS Resolver Pin Drive viewed from above looking down on the pc board on which it is mounted. Pins and housing shapes are shown in phantom view. J: Dual row, 0. centers position female header SMTEC SSW-6-0-S-D J: HV, ux HV,, & Outputs Dual row, 0. centers Female header SMTEC SSW--0-S-D J Pin U 4 U J SIGNL RS- TxD RS- RxD V 4 V Ground 4 Ground 6 CN_H 6 CN_L ±0V Ref() 8 7 ±0V Ref(-) Fault [OUT] 0 9 [OUT] Brake Ground [IN0] HSInput HSInput [IN9] 4 [IN8] HSInput HSInput [IN7] 6 [IN6] HSInput GPInput [IN] 8 7 [IN4] HSInput GPInput [IN] 0 9 [IN] HSInput Ground Ground W W GPInput [IN] 4 Hall V Hall W 6 Hall U HV COM (Ground) 4 6 HV COM (Ground) Ref(-) Output R 8 7 Ref() Output R 8 7 Cos(-) Input S4 0 9 Cos() Input S Sin(-) Input S Sin() Input S Notes. s are grouped for current-sharing on the power connector. When laying out pc board artworks, all pins in groups having the same signal name must be connected. No Connection 40 9 HV HV No Connection ux HV ux H V Tech Support: sales@copleycontrols.com, Internet: Page 9 of

10 ccelnet PC BORD DESIGN Printed circuit board layouts for ccelnet drives should follow some simple rules:. Install a low-esr electrolytic capacitor not more than inches from the drive. PWM drives produce ripple currents in their DC supply conductors. ccelnet drives do not use internal electrolytic capacitors as these can be easily supplied by the printed circuit board. In order to provide a good, low-impedance path for these currents a low-esr capacitor should be mounted as close to the drive as possible. 0 µf is a minimum value, with a voltage rating appropriate to the drive model and power supply.. Connect J signals (U,V,W outputs, HV, and HV Common) in pin-groups for current-sharing. The signals on J are all high-current types (with the exception of the 4 Vdc ux HV supply). To carry these high currents (up to 0 dc peak) the pins of J must be used in multiples to divide the current and keep the current carrying capacity of the connectors within specification. The diagram on page 8 shows the pin groups that must be inter-connected to act as a single connection point for pc board traces.. Follow IPC- rules for conductor thickness and minimum trace width of J signals. The width and plating should depend on the model of drive used, the maximum voltage, and maximum current expected to be used for that model. Power supply traces (HV, HV Common) should be routed close to each other to minimize the area of the loop enclosed by the drive DC power. Noise emission or effects on nearby circuitry are proportional to the area of this loop, so minimizing it is good layout practice. signals (U,V,W) should also be routed close together. ll the motor currents sum to zero, and while the instantaneous value in a given phase will change, the sum of currents will be zero. So, keeping these traces as closely placed as possible will again minimize noise radiation due to motor phase currents. ccelnet circuit grounds are electrically common, and connect internally. However, the J signals carry high currents while the grounds on J (signal ground) carry low currents. So, J signals should be routed away from, and never parallel to the signals on J. signal pairs (, /, B, /B, and X, /X) should be routed close together for good transmission-line effect to reduce reflections and noise. The drive heatplate is electrically isolated from all drive circuits. For best noiseimmunity it is recommended to connect the standoffs to frame ground and to use metal mounting screws to maintain continuity between heatplate and standoffs. DIMENSIONS 0.8 [7.].48 [88.4] X Ø.69 [Ø4.9] HOLE FOR NO. 6- [M.] SCREW. [.].6 [66.].79 [70.9] 4.0 [0.7] 0.0 [0.6] SQ [4.9] Notes. Dimensions shown in inches [mm]. Tech Support: sales@copleycontrols.com, Internet: Page 0 of

11 ccelnet PC BORD MOUNTING FOOTPRINT Top View Dimensions in inches J Grouping for current-sharing (Note ) 8X Ø.040 ±.00 THRU FTER PLTING 0.00 (TYP) (TYP) 0.00 (TYP) X Ø..00/-.000 THRU FTER PLTING ccelnet Mounting Hardware: Qty Description Mfgr Part Number Remarks Socket Strip Samtec SSW-6-0-S-D J Socket Strip Samtec SSW--0-S-D J Standoff 6- X /8 PEM KFE-6--ET Notes. J signals must be connected for current-sharing.. To determine copper width and thickness for J signals refer to specification IPC-. (ssociation Connecting Electronic Industries, Standoffs should be connected to etches on pc board that connect to frame ground for maximum noise suppression and immunity. Tech Support: sales@copleycontrols.com, Internet: Page of

12 DESCRIPTION ccelnet There two types of Development Kits: MDK-80-0 for models with current ratings of 9, 8, 0, & 4 dc. RDK for models with current ratings of 60 dc. The Development Kits provide 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. LED s provide status indication for the digital outputs. Dual CNopen connectors make daisy-chain connections possible so that other CNopen devices can easily be connected. Development Kit RS- CONNECTION The RS- port is used to configure the drive for stand-alone applications, or for configuration before it is installed into an CNopen network. CME software communicates with the drive over this link and is used for complete drive setup. The CNopen node address that is set by the rotary switch can be monitored, and an address offset programmed as well. The RS- connector, J9, is a modular RJ- type that uses a 6-position plug, four wires of which are used for RS-. connector kit is available (SER-CK) that includes the modular cable, and an adaptor to interface this cable with a 9-pin RS- port on a computer. TxD J9 6 4 RS- RxD SER-CK SERIL CBLE 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. The connections are shown in the diagram below RJ- D-Sub 9F RxD TxD TxD RxD Don t forget to order a Serial Cable Kit SER-CK when placing your order for an EM Development Kit! Tech Support: sales@copleycontrols.com, Internet: Page of

13 ccelnet Development Kit CN CONNECTORS Connectors J6 & J7 are Sub-D male and female 9-position types that conform to the CN DS-0 Physical Layer specification. The male-female configuration supports a single cable type with male and female connectors that can be daisy-chained from device to device along a CNopen network. ccelnet uses only the CN_H, CN_L, and CN_GND signals. The CN_GND is connected to the circuit ground on the development kit. This ground is also shared by the amplifier power supply, accessory Vdc (for encoders), and the RS- link. Other DS-0 signals are wired-through for use by products that might support them. The table below lists the signals and pins on J6 & J7. s in ( ) are those that have no connection on the development kit and which are connected pin-to-pin between J6 & J7. CN Bus Connector s SIGNL (Reserved) CN_ L CN_GND 4 (Reserved) (CN_SHLD) 6 No connection 7 CN_ H 8 (Reserved) 9 (Reserved) J6 Dsub 9M J7 Dsub 9F Important! Install JP4 ONLY if development kit is the LST node on a CN bus JP4 CN_L CN_GND CN_H JP4 Connects termination resistor for last node on CN bus CN DDRESS SELECTION Rotary switch SW6, labeled CN DDR connects to logic inputs 7, 8, 9, and 0 of the. These are programmable inputs which default to CN address bits. The switch will select CN addresses 0x00 through 0x0F (0~ decimal). ddress 0x00 is reserved for network management devices so amplifiers should use addresses 0x0~0x0F. The CN standard permits up to 7 devices, so if the amplifier must have a address of 0x0 (decimal 6) or higher, this is done by programming an address offset into the amplifier before it is installed into the CN bus. When this is done, the switch setting is added to the CN offset in the amplifier to produce the actual CN address. CN ddress Switch B C D E F JP6 B C D E [IN7] [IN8] [IN9] PWM [IN0] Direction Logic Inputs Note: To use inputs 7,8,9, or 0 as logic inputs remove jumpers on JP6. Connections can then be made via the pins on JP6. Inputs [IN9,0] are digital reference inputs for use when amplifier is used in stand-alone mode. Tech Support: sales@copleycontrols.com, Internet: Page of

14 ENCODER CONNECTIONS The development kit has 0 kω pull-up resistors on the,b, and X encoder signal inputs (J-8, 7, 6). There are no pull-up resistors on the /, /B, and /X inputs (J-,4,). Jumpers JP-,B,C connect Ω terminating resistors between the -/, B-/B, and X-/X signal pairs for use with differential-output encoders. If single-ended encoders are used, these should be connected to the,b, & X inputs and jumpers JP-,B, C must be removed to take the terminating resistors out of circuit. For motors which use encoders with differential outputs, jumpers JP-,B,C should be installed to eliminate reflections that degrade signal quality. For longer distances between motor and amplifier, and to offset the effects of cable capacitance, wiring should be twisted-pair, preferably with a shield for each pair. power is supplied from an external Vdc supply with sufficient current to drive the motor encoder. Typically these will be 0 m or less. In cases where an encoder uses a separate interpolater module to process the data, current demand may be higher. Consult the motor encoder literature to be sure that the Vdc supply can handle the encoder power requirements. ccelnet POWER SUPPLIES mplifier main power, HV, is typically supplied by unregulated DC power supplies. These must be isolated from the mains, and all circuits should be grounded to earth at some point. The HV supply connects to J. Pin J- is the HV positive terminal, and pin J-4 is the power supply negative terminal that connects to circuit ground. For good wiring practice, the HV wires should be twisted together for noise suppression, and the power supply should not be grounded. Doing this ensures that the higher currents flowing in these conductors will not flow through any circuit grounds where they might induce noise. During deceleration, mechanical energy in the motor and load is converted back into electrical energy that must be dissipated as the motor comes to a stop. While some of this is converted to heat in the motor windings, the rest of it will flow through the amplifier into the power supply. n external storage capacitor should be used if the load has appreciable inertia, and this should be sized such that adding the undissipated energy from the motor will not raise the voltage beyond the point at which the amplifier shuts down. When this is not possible, an external dumper, or regenerative energy dissipater must be used which acts as a shunt regulator across the HV terminals. Switching power supplies can also be used to power ccelnet. Unlike unregulated supplies, these cannot accept reverse energy flow, so an isolating diode must be placed between the power supply and J- to block current flow back into the power Development Kit supply. When this is done, an external storage capacitor must be used across J- & J-4 because the capacitor on the Development Kit board is only for ripple-current control, and can t store enough energy to handle regeneration. n earthing ground connection can be made via a second conductor to J-4 that connects to the equipment frame ground. If desired, an ux HV supply can also be connected via J8- and J8-. This supply must be greater than the amplifier minimum supply voltage of 0 Vdc. Commonly available 4 Vdc supplies work well for this. Using the ux HV input enables the amplifier to have the HV supply turned off for equipment safety or EMO (Emergency Off) conditions. t this time, the ux HV will keep the amplifier alive and able to communicate and monitor position, but not to power the motor. ENCODER SIGNLS /X /B / X B 0k B 0k C 0k JP J SIGNL ENCODER J Tech Support: sales@copleycontrols.com, Internet: Page 4 of

15 CONNECTIONS ccelnet Development Kit s to Control System Enc Enc / Enc B Enc /B Enc X Enc /X / B /B X /X ENCODER Ground These pins connect to the amplifier inputs as shown when shorting blocks are in place on JP and not on JP Enable Input [IN] Fwd Enable [IN] Rev Enable [IN] 4 [IN4] Home [IN6] Capture Fault [OUT] J Hall U Hall V Hall W /Motemp [IN] V Output U V W 4V HLLS & for Hall 6 /Brake [OUT] 6 BRKE RS- signals connect to both J & J4. Only one external connection can be active at a time Controller RS- I/O V Output TxD RxD 4 4 RxD TxD J V Input W 4 J8 ux HV Input - V 4 V Fuse Required for encoder W ( Optional ) RS- DTE 6 RxD TxD 9 PC Serial Port D-Sub 9-pos Male D-Sub 9-pos Female Modular Jack RJ- 6P4C Sub-D to RJ- dapter ccelus Serial Cable Kit Yellow Red Black Modular Cable 6 4 TxD RxD RJ- J4 V U HV Input J 4 Circuit Fuse V U Fuse Earth MOTOR - DC Power Tech Support: sales@copleycontrols.com, Internet: Page of

16 CONNECTOR LYOUT ccelnet Development Kit FOR THE MDK-80-0 DEVELOPMENT KIT Model * Vdc Ic Ip J7 CBLE CONNECTOR Dsub-9F Norcomp: L00 Tyco: CNopen Pin ( Reserved) CN_L CN_GND ( Reserved) 4 ( CN_SHLD) J7 J8 CBLE CONNECTOR mphenol/pcd: ELFP040 Tyco/Buchanan: J8 SIGNL V Input 4 ux HV Input J8 J CBLE CONNECTOR mphenol/pcd: ELFP00 Tyco/Buchanan: J SIGNL HV Input GND 4 W Output V Output U Output J J CBLE CONNECTOR J SIGNL Dsub-M Norcomp: 7-0-0L00 Tyco: / Input /B Input 4 /X Input Ground V Output Ground 0 [ IN] Temp Sensor 9 J SIGNL 8 Input 7 B Input 6 X Input Ground 4 Hall W Input Hall V Input Hall U Input Chassis Ground J Tech Support: sales@copleycontrols.com, Internet: Page 6 of

17 ccelnet Development Kit Pin CNopen 6 CN_GND 7 CN_ H 8 (Reserved) 9 (CN_V) CNopen Notes:. Connector pinouts for J6 & J7 follow CN standard DS-0.. s in ( ) are wired-through from J7 to J6 and have no other connections on the pc board.. CN_GND is connected to on pc board (ccelnet signal and power ground) J6 J6 CBLE CONNECTOR Dsub-9M Norcomp: L00 Tyco: J J SIGNL Fan -V Fan V F J CBLE CONNECTOR mphenol/pcd: ELFP00 Tyco/Buchanan: J4 SIGNL 6 TxD Output 4 Ground Ground RxD Input J4 J CBLE CONNECTOR Dsub-M Norcomp: 7-0-0L00 Tyco: JP6 J J SIGNL Chassis Ground No Connection Capture [IN6] Home [IN4] 4 Enable Input [IN] Brake Output [OUT] 6 X Output 7 B Output 8 Output 9 Ground 0 Fault Output [OUT] Ground Ground J SIGNL 4 Ground 6 Ground 7 [IN] Forward Enable Input 8 [IN] Reverse Enable Input 9 /X Output 0 /B Output / Output Ground V Output 4 RS- TxD Output RS- RxD Input Tech Support: sales@copleycontrols.com, Internet: Page 7 of

18 CONNECTOR LYOUT ccelnet Development Kit FOR THE RDK DEVELOPMENT KIT Model * Vdc Ic Ip CNopen Pin ( Reserved) CN_L CN_GND ( Reserved) 4 ( CN_SHLD) J7 CBLE CONNECTOR Dsub-9F Norcomp: L00 Tyco: J7 J8 CBLE CONNECTOR mphenol/pcd: ELFP040 Tyco/Buchanan: J8 SIGNL V Input 4 ux HV Input J8 J CBLE CONNECTOR Phoenix PC /-STCL-7,6 J SIGNL HV Input GND 4 W Output V Output U Output J J CBLE CONNECTOR J SIGNL Dsub-M Norcomp: 7-0-0L00 Tyco: / Input /B Input 4 /X Input Ground V Output Ground 0 [ IN] Temp Sensor 9 J SIGNL 8 Input 7 B Input 6 X Input Ground 4 Hall W Input Hall V Input Hall U Input Chassis Ground J Tech Support: sales@copleycontrols.com, Internet: Page 8 of

19 ccelnet Development Kit Pin CNopen 6 CN_GND 7 CN_ H 8 (Reserved) 9 (CN_V) CNopen Notes:. Connector pinouts for J6 & J7 follow CN standard DS-0.. s in ( ) are wired-through from J7 to J6 and have no other connections on the pc board.. CN_GND is connected to on pc board (ccelnet signal and power ground) J6 J6 CBLE CONNECTOR Dsub-9M Norcomp: L00 Tyco: J J SIGNL Fan -V Fan V F J CBLE CONNECTOR mphenol/pcd: ELFP00 Tyco/Buchanan: J4 SIGNL 6 TxD Output 4 Ground Ground RxD Input J4 J CBLE CONNECTOR Dsub-M Norcomp: 7-0-0L00 Tyco: JP6 J J SIGNL Chassis Ground No Connection Capture [IN6] Home [IN4] 4 Enable Input [IN] Brake Output [OUT] 6 X Output 7 B Output 8 Output 9 Ground 0 Fault Output [OUT] Ground Ground J SIGNL 4 Ground 6 Ground 7 [IN] Forward Enable Input 8 [IN] Reverse Enable Input 9 /X Output 0 /B Output / Output Ground V Output 4 RS- TxD Output RS- RxD Input Tech Support: sales@copleycontrols.com, Internet: Page 9 of

20 ccelnet POWER DISSIPTION 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 continuous 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 80 C or less to avoid shutdown, the maximum rise would be 80C - 40C. or 40 C. Dividing this dissipation by the thermal resistance of 6.º C/W with no heatsink gives a dissipation of 6.W. This line is shown in the charts below. For power dissipation below this line, no heatsink is required. Models: -0-8, Models: -80-8, Watts V 6V 4V V Watts 0 0 8V 4V 0V 6V V Continuous Current (dc) Continuous Current (dc) Model: Model: Watts 0 8V 6V 4V V Watts V 48V 0 0 8V Continuous Current (dc) Continuous Current (dc) Tech Support: sales@copleycontrols.com, Internet: Page 0 of

21 ccelnet HETSINK INSTLLTION If a heatsink is used it is mounted using the same type of screws used to mount the drive without a heatsink but slightly longer. Phase change material (PSM) 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 INSTLL. Remove the PSM (Phase Change Material) from the clear plastic carrier.. Place the PSM on the ccelnet aluminum heatplate taking care to center the PSM holes over the holes in the drive body.. Mount the heatsink onto the PSM again taking care to see that the holes in the heatsink, PSM, and drive all line up. 4. Torque the #6- mounting screws to 8~0 lb-in (0.9~. N m). #6- Mounting Screws Phase Change Material Heatsink Transparent Carrier (Discard) ccelnet Drive HETSINK 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, HL, and HS heatsinks. NO HETSINK NO HETSINK C/ W CONVECTION 6. DRIVE. MPLIFIER DRIVE FORCE IR (00 LFM). CONNECTOR LOW-PROFILE HETSINK (-HL) CM-HL HETSINK C/ W HETSINK CONVECTION 4. 0 FORCE IR (00 LFM) 0. 9 DRIVE.04 DRIVE CONNECTOR STNDRD HETSINK (-HS) CM-HS HETSINK C/ W CONVECTION. FORCE IR (00 LFM) 0. STNDRD HETSINK.6 DRIVE MPLIFIER DRIVE CONNECTOR Tech Support: sales@copleycontrols.com, Internet: Page of

22 ccelnet ORDERING GUIDE PRT NUMBER MDK-80-0 RDK MDK-CK RDK-CK -HL -HS CME SER-CK DESCRIPTION servo drive 6/8 Vdc servo drive /9 90 Vdc servo drive /4 90 Vdc servo drive 0/60 90 Vdc servo drive /9 80 Vdc servo drive 6/8 80 Vdc servo drive 0/0 80 Vdc Development Kit for -09, -8-, -0, & -4 models Development Kit for -0 & -60 models Development Kit Connector Kit for MDK-80-0 Development Kit Connector Kit for RDK Heatsink Kit, Low profile Heatsink Kit, Standard CME Drive Configuration Software CD-ROM Serial Cable Kit for Development Kit dd -R to part number for resolver option ORDERING INSTRUCTIONS Example: Order drive with Standard Heatsink, Development Kit, and Development Kit Connector Kit Qty Item Remarks ccelnet servodrive -HS Standard Heatsink MDK-80-0 ccelnet Development Kit MDK-CK Connector Kit for Development Kit CME CME CD SER-CK Serial Cable Kit Notes. Heatsink kits are ordered separately and installed by the customer, not at the factory. Note: Specifications are subject to change without notice Rev 9.0_tu //0 Tech Support: sales@copleycontrols.com, Internet: Page of