Table Of Contents - Copley Controls Accelnet Plus AEV-090-14 User Manual

Accelnet Plus Micro Modules User Guide

Table of Contents

1 About This Manual ............................................................................................................................... 4
Title, Number, Revision .................................................................................................................. 4
Revision History ............................................................................................................................ 4
Overview and Scope ...................................................................................................................... 4
Original Instructions ...................................................................................................................... 4
Related Documentation .................................................................................................................. 4
EC Declaration of Conformity .......................................................................................................... 5
Abbreviations and acronyms ........................................................................................................... 6
Comments .................................................................................................................................... 7
Copyrights .................................................................................................................................... 7
Document Validity ...................................................................................................................... 7
Product Warnings ....................................................................................................................... 8
2 Introduction ........................................................................................................................................ 9
Accelnet Plus Micro Modules Overview .............................................................................................. 9
Accelnet Plus Micro Module Models ................................................................................................ 10
3 Specifications .................................................................................................................................... 11
Agency Approvals ........................................................................................................................ 11
Input Power ................................................................................................................................ 11
Output Power .............................................................................................................................. 12
Control Loops ............................................................................................................................. 13
Digital Command Inputs ............................................................................................................... 13
Analog Inputs ............................................................................................................................. 14
Digital Inputs .............................................................................................................................. 14
Safe Torque Off (STO) ................................................................................................................. 15
Digital Outputs ............................................................................................................................ 15
Encoders................................................................................................................................. 15
Multi-Port Input / Output .......................................................................................................... 17
Serial Interface ........................................................................................................................ 18
Network Interfaces................................................................................................................... 19
EtherCAT Interface: AEV models ................................................................................................ 20
CAN Architecture: APV models ................................................................................................... 21
Status Indicators ..................................................................................................................... 21
Fault Levels ............................................................................................................................. 22
Dimensions ............................................................................................................................. 23
Mechanical and Environmental ................................................................................................... 25
Thermals ................................................................................................................................ 26
Operating Temperature and Cooling Configurations ...................................................................... 29
EZ Board Pins Heatsink Mounting ............................................................................................... 30
4 Connections and Wiring - Modules ..................................................................................................... 31
AEV PC Board Connectors and Pinout ............................................................................................. 32
APV PC Board Connectors and Pinout ............................................................................................. 33
Mounting Configurations ............................................................................................................... 34
Integration Guidelines for AEV & APV Modules................................................................................. 37
Grounding Considerations ............................................................................................................. 39
EtherCAT Communications ........................................................................................................... 42
RS-232 Communications .............................................................................................................. 42
Digital Command Inputs: Position.................................................................................................. 43
Digital Command Inputs: Velocity, Torque ...................................................................................... 43
Multi-Mode Port as an Input ...................................................................................................... 44
Multi-Mode Port as an Output .................................................................................................... 45
CME Defaults ........................................................................................................................... 46
High Speed Inputs: IN1, IN2, IN3, IN4, IN5, 1N6 ........................................................................ 47
Analog Input: AIN1 .................................................................................................................. 48
Digital Outputs: Out1~Out6 ...................................................................................................... 48
SLI (Switch & LED Interface) PORT ............................................................................................ 49
Encoder 1 (Primary Feedback) ................................................................................................... 49
Analog Encoder ....................................................................................................................... 52
Other Motor Connections .......................................................................................................... 52
VLOGIC .................................................................................................................................. 53
Typical Connections ................................................................................................................. 54
5 Connections and Wiring - EZ Boards .................................................................................................. 55
Safe Torque Off ........................................................................................................................... 64
RS-232 Serial Communications ..................................................................................................... 67
Network Ports ............................................................................................................................. 68
Control I/O ................................................................................................................................. 70
EZ Board Indicators ..................................................................................................................... 79
EZ Development Board Indicators ................................................................................................. 81
Copley Controls
16-01687 Rev 03
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