General Specifications - Copley Controls Accelnet Plus Dual-Axis Panel EtherCAT Manual

Accelnet

general specIfIcatIons

Test conditions: load = Wye connected load: 2 mH + 2 Ω line-line. ambient temperature = 25°C, +HV = HV
MoDEl
ouTPuT PoWer (eaCH axIS)
Peak Current
Peak time
Continuous current (note 1)
InPuT PoWer
H Vmin~HVmax
I peak
I cont
aux HV
dIGITal ConTrol
digital Control loops
Sampling rate (time)
Bus voltage compensation
minimum load inductance
Command InPuTS (noTe: dIGITal InPuT funCTIonS are ProGrammaBle)
Distributed Control Modes
Canopen application protocol over etherCaT (Coe)
Stand-alone mode
analog torque, velocity, position reference
digital position reference
digital torque & velocity reference
Indexing
Camming
aSCII
dIGITal InPuTS
number 18
[In1,2,10,11] digital, non-isolated, Schmitt trigger, 1.5 µs rC filter, 24 Vdc compatible, programmable pull-up/down to +5 Vdc/ground,
Vt+ = 2.5~3.5 Vdc, VT- = 1.3~2.2 Vdc, VH = 0.7~1.5 Vdc
[In3,4,12,13] digital, non-isolated, programmable as single-ended or differential pairs, 100 ns rC filter, 12 Vdc max,
programmable pull-up/down per input to +5 Vdc/ground,
Se: Vin-lo ≤ 2.3 Vdc, Vin-HI ≥ 2.7 Vdc, VH = 45 mV typ, dIff: Vin-lo ≤ 200 mVdc, Vin-HI ≥ 200 mVdc, VH = 45 mV typ
[In5~8,14~17] digital, opto-isolated, single-ended, ±15~30 Vdc compatible, bi-polar, 2 groups of 4, each with a common terminal
rated impulse ≥ 800 V, Vin-lo ≤ 6.0 Vdc, Vin-HI ≥ 10.0 Vdc, Input current ±3.6 ma @ ±24 Vdc, typical
[In9,18] default as motor overtemp inputs on feedback connectors, 12 Vdc max, programmable to other functions
other digital inputs are also programmable for the Motemp function
330 µs rC filter, 4.99k pullup to +5 Vdc, Vt+ = 2.5~3.5 Vdc, VT- = 1.3~2.2 Vdc, VH = 0.7~1.5 Vdc
functions all inputs are programmable, [In1 & In10] default to drive axes a & B enable function and are programmable
analoG InPuTS
number 2
[aIn1~2] differential, ±10 Vdc, 5 kW input impedance, 12-bit resolution
Safe Torque off (STo)
Function PWM outputs are inactive and current to the motor will not be possible when the STo function is asserted
Standard designed to IeC-61508-1, IeC-61508-2, IeC-61800-5-2, ISo-13849-1
Safety Integrity level SIl 3, Category 3, Performance level d
Inputs 2 two-terminal: STo-In1+,STo-In1-, STo-In2+, STo-In2-
Type opto-isolators, 24V compatible, Vin-lo ≤ 6.0 Vdc or open, Vin-HI ≥ 15.0 Vdc,
Input current (typical) STo-In1: 9.0 ma, STo-In2: 4.5 ma
response time 2 ms 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
dIGITal ouTPuTS
number 7
[ouT1~5] opto-isolated SSr, two-terminal, 300 ma max, 24 V tolerant, rated impulse ≥ 800 V, series 1 Ω resistor
[ouT6~7] opto-isolated moSfeT, default as motor brake control, current-sinking,
1 adc max, flyback diodes to +24 V external power supply for driving inductive loads
Programmable for other functions if not used for brake
RS-232 PoRT
Signals rxd, Txd, Gnd in 6-position, 4-contact rJ-11 style modular connector, non-isolated, common to Signal Ground
Mode Full-duplex, DTE serial communication port for drive setup and control, 9,600 to 115,200 Baud
Protocol Binary and aSCII formats
eTHerCaT PorTS
format dual rJ-45 receptacles, 100BaSe-Tx
Protocol EtherCAT, CAnopen application protocol over etherCaT (Coe), Cia-402 for motion control devices
noTES:
1) Heatsink or forced-air required for continuous current rating
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Web: www.copleycontrols.com
Plus
2-Axis Panel EtherCAT
BE2-090-06 BE2-090-14
6 (4.2) 14 (9.9)
1
3 (2.1) 7 (4.9)
+14 to +90 +14 to +90
12 28
6 14
+14 to +90 Vdc,
4 W (Typ, no load on encoder +5V outputs), 11 W, (max, both encoder +5V @ 500 ma)
Current, velocity, position. 100% digital loop control
Current loop: 16 kHz (62.5 µs), Velocity & position loops: 4 kHz (250 µs)
Changes in bus or mains voltage do not affect bandwidth
200 µH line-line
Cyclic Synchronous Position-Velocity-Torque, Profile Position-Velocity-Torque,
Interpolated Position, Homing
±10 Vdc, 12-bit resolution
Pulse/direction, CW/CCW
quad a/B encoder
PWm , Polarity
PWm 50%
PWm frequency range
PWM minimum pulse width
up to 32 sequences can be launched from inputs or aSCII commands.
up to 10 Cam tables can be stored in flash memory
rS-232, dTe, 9600~115,200 Baud, 3-wire, rJ-11 connector
BE2-090-20
20 (14.4) adc (arms-sine), ±5%
Sec
10 (7.1) adc (arms-sine) per phase
+14 to +90 Vdc Transformer-isolated
40 adc (1 sec) peak
20 adc continuous
optional, not required for operation
dedicated differential analog input
Stepper commands (2 mHz maximum rate)
2 m line/sec, 8 mcount/sec (after quadrature)
PWm = 0% - 100%, Polarity = 1/0
PWm = 50% ±50%, no polarity signal required
1 kHz minimum, 100 kHz maximum
220 ns
Tel: 781-828-8090
BE2
RoHS
max
Fax: 781-828-6547
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