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Copley Controls AccelnetPlus AEV-090-14 Manual
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Copley Controls AccelnetPlus AEV-090-14 Manual

Micro module ethercat
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Accelnet
DIGITAL SERVO DRIVE FOR BRUSH & BRUSHLESS MOTORS
Control Modes
• Cyclic Synchronous Position-Velocity-Torque (CSP, CSV, CST)
• Cyclic Synchronous Torque with Commutation Angle (CSTCA)
• Profile Position-Velocity-Torque, Interpolated Position (PT,PVT), Homing
• Indexer, Point-to-Point, CPL
• Camming, Gearing
• Position, Velocity, Torque
Command Interface
• CANopen application protocol over EtherCAT (CoE)
• ASCII, Serial Binary, and discrete I/O
• Stepper or Quad A/B position commands
• PWM Velocity/Torque command
• Master encoder (Gearing/Camming)
Communications
• EtherCAT, Ethernet
• RS-232
Feedback
• Dual Absolute Encoder Ports
SSI
EnDat 2.1, 2.2
Absolute A
Tamagawa Absolute A
Panasonic , Sanyo Denki Absolute A Format
BiSS
• Incremental
Digital quad A/B/X encoder
Analog Sin/Cos encoder
• Other
Digital Halls
I/O
• 7 High-speed digital inputs
• 6 High-speed digital outputs
• 1 Differential analog input
Safe Torque Off (STO)
• SIL 3, Category 3, PL e
Dimensions: in [mm]
• 2.5 x 1.6 x .69 [64 x 41 x 17.6] AEV
• 4.4 x 2.1 x 1.85 [112 x 53.3 x 47] AEZ-090-50
• 5.08 x 3.6 x 2.18 [129 x 91.4 x 55.2] AEZ-090-50-C
DESCRIPTION
AEV sets new levels of performance, connectivity, and
flexibility. CANopen application protocol over EtherCAT
(CoE) communication provides a widely used cost-effective
industrial bus. A wide range of absolute encoders are
supported.
Safe Torque Off (STO) eliminates external contactors and
wiring, reducing system cost and complexity. For safety
critical applications, redundant STO disable inputs can be
employed.
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
P/N 16-01681 Rev 15
Plus
Micro
Module EtherCAT
AEV
AEZ-50
AEZ-090-50
AEZ -50-C
AEZ-090-50-C
Model
Ic
AEV-090-14
7
AEV-090-30
15
AEV-090-50
25
AEV-090-50-C
50
AEV-180-10
5
AEV-180-20
10
Model
Ic
25
Model
Ic
50
Tel: 781-828-8090
AEV
Ip
Vdc
14
9~90
30
9~90
50
9~90
50
9~90
10
20~180
20
20~180
Ip
Vdc
50
9~90
Ip
Vdc
50
9~90
Fax: 781-828-6547
Page 1 of 52

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Summary of Contents for Copley Controls AccelnetPlus AEV-090-14

  • Page 1 A wide range of absolute encoders are supported. Safe Torque Off (STO) eliminates external contactors and wiring, reducing system cost and complexity. For safety critical applications, redundant STO disable inputs can be employed. AEZ -50-C Model AEZ-090-50-C 9~90 Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15 Page 1 of 52...
  • Page 2 Isolation Non-isolated. Referenced to Signal Ground NETWORK PORT Isolation External magnetics required. Max voltage with respect to grounds: 32 Vdc Format 100BASE-TX ETHERCAT Protocol EtherCAT, CANopen Application Protocol over EtherCAT (CoE) ETHERNET Protocol TCP-IP, UDP, Modbus-TCP Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15 Page 2 of 52...
  • Page 3 The information provided in the 16-01687 Accelnet Plus Micro Modules AEV & APV User RoHS Guide must be considered for any application using the AEV drive STO feature. DANGER Failure to heed this warning can cause equipment damage, injury, or death. Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15 Page 3 of 52...
  • Page 4 Data tables now have “Signals” columns that contain the labels shown in the Reference Design schematics. Other October 21, 2020 columns show the labels that have been used in the datasheets and manuals November 16, 2020 Add UL file number to Approvals in Agency Standards Conformance, ECAT corrections corrected Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15 Page 4 of 52...
  • Page 5 ROUT RS232RX 74LVC2G14 computer COMM ports. ASYNC_TXD RS232TX TOUT RS-232 Signal J2 Pins PADDLE ASYNC_RXD Sgnd 3.3V ASYNC_TXD SGND SGND Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15 Page 5 of 52...
  • Page 6 STO Active. Drive cannot be enabled to produce torque STO_1 OR STO_2 Open Note: Voltages in the table above are referenced between an STO-INx+ and an STO-INx-. E.g. V(STO-IN1) = V(STO-IN1+) - V(STO-IN1-) STO STATUS A digital output can be programmed to be active when the drive is disabled by the STO function. The active level of the output is programmable to be HI or LO. Note: STO Status is not part of the STO Safety Function. Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15 Page 6 of 52...
  • Page 7 No Function [IN4] Polarity <no connection> Sgnd Sgnd Command Options Signal J2 Pins PWM/Dir Current or Velocity PWM/Dir Polarity Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15 Page 7 of 52...
  • Page 8 J2 SGND Pins Select Input/Output 4-Wire digital absolute Select encoder signals 2-Wire digital absolute Output 3,4,18,31,32,33,34,42,49,50,59,60 encoder signals Select MAX3362 MAX3362 Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15 Page 8 of 52...
  • Page 9 Buffered Quad A/B signals from MAX3362 Emulated Quad A/B Buffered Quad X signals from signal from MAX3362 analog Sin/Cos encoder Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15 Page 9 of 52...
  • Page 10 Faults. Using CME, these can be checked Fast Velocity or unchecked. Slow Velocity Accel / Decel Offset Counts Homing Adjustment Counts Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15 Page 10 of 52...
  • Page 11 10 kΩ 1 kΩ RC time constant applies when input Low pass filter 100 nF is driven by active high/low device 0.1 µs Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15 Page 11 of 52...
  • Page 12 • Custom position-triggered output • Program control J2 SGND Pins [DOUT6] SLI-EN1 3,4,18,31,32,33, 34,42,49,50,59,60 SGND SLI-GND 74HCT3G14 [IN7] SLI-MISO Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15 Page 12 of 52...
  • Page 13 Inner shields are optional for digital encoders and should only be connected to Signal Ground on the drive. +5VENC 57,58 Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15 Page 13 of 52...
  • Page 14 Note: Signal (outer) shields should be connected at the drive end. The inner shield is optional for digital encoders and should only be connected to Signal Ground on the drive. Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090...
  • Page 15 DC/DC PELV or SELV ratings and a maximum 12,13,14 output voltage of 60 Vdc. HVCOM +5VENC If the motor can operate from voltages of 60 Vdc or less, the +HV and VLOGIC can be driven from a single power supply. Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15 Page 15 of 52...
  • Page 16 All outputs are programmable. 3. Encoder connections are shown for incremental types, but absolute encoders are supported on both primary and load encoder inputs. Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15...
  • Page 17 Soldering to User PC Board: Qty Description Mfgr Part Number Ref Des Remarks For J1, refer to this document: http://suddendocs.samtec.com/processing/through-hole-printing.pdf Standoff hex, 15 mm long, M 2.5 mm thread Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15 Page 17 of 52...
  • Page 18 Dual row, 2 mm centers 4 position female header Samtec: TLE-102-01-G-DV-TR (Enable) IN1 SGND SGND REFIN(-) REFIN(+) * Do not connect to these pins Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15 Page 18 of 52...
  • Page 19 2.500 63.5 .692 17.58 .948 24.09 .897 22.79 .090 2.29 .185 4.7 .105 2.67 .800 20.32 2.320 58.93 .860 21.85 Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15 Page 19 of 52...
  • Page 20 CONNECTORS FOR SOCKETING Part Mfgr Part Number Signal Socket Samtec FLE-132-01-G-DV-K-TR Power Socket Samtec SQT-119-01-G-D STO Socket Samtec TLE-102-01-G-DV-TR For the half-soldered configuration the dimensions, spacers, screws, and nuts are the same. Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15 Page 20 of 52...
  • Page 21 Flat Washer Metric, M2.5, flat heatplate of the drive is non-conductive so effective grounding of the heatplate is provided Split Lock Washer Metric, M2.5, lock by through the standoffs. Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15 Page 21 of 52...
  • Page 22 AEV-180-20 180V 140V 100V Continuous Current ( Adc) Continuous Current (Adc) AEV-090-50 AEV-090-50-C Continuous Current (Adc) Continuous Current (Adc) Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15 Page 22 of 52...
  • Page 23 Pins Heatsink A-Airflow Pins Heatsink B-Airflow AEV + AEV-HK Tall Pins Heatsink A-Airflow Tall Pins Heatsink B-Airflow Note: The Tall Pins Heatsink is not shown here. Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15 Page 23 of 52...
  • Page 24 Measurement of the drive temperature with CME is easy and is the best indicator of the need for a heatsink. It shows the combined effect of all the variables: Thermal dissipation, ambient temperature, cooling means, the environment, etc Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15...
  • Page 25 Adapter Don’t forget to order a Serial Cable Kit SER-CK RJ-11 cable or SER-USB-RJ11 when placing your order for 6P6C RJ-11 an AEZ drive, or an EZ board. Straight-wired D-Sub 9F Servo Drive Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15 Page 25 of 52...
  • Page 26 1) Find the highest number under SW1 that is less than 107 and set SW1 to the hex value in the same row: 96 < 107 and 112 > 107, so SW1 = 96 = Hex 6 2) Subtract 96 from the desired Device ID to get the decimal value of switch SW2 and set SW2 to the Hex value in the same row: SW2 = (107 - 96) = 11 = Hex B Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15...
  • Page 27 +5VENC +5VENC n.c. n.c. STO2_RTN STO2_24V_IN STO2_RTN STO2_IN SGND SGND n.c. n.c. FGND SGND FGND FRAME GND +5VENC n.c. = No connection Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15 Page 27 of 52...
  • Page 28 SLI-Port Signal SLI-MISO (IN7) SLI-EN1 (OUT6) DOUT6 OUT L/A GREEN SLI-MOSI (OUT4) DOUT4 SLI-CLK (OUT5) DOUT5 Note: The SLI-xxxx naming appears as SPI-xxxx in the Reference Design schematic. The SPI interface is not supported in the AEV. Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15 Page 28 of 52...
  • Page 29 * For or Voice Coil or DC PE GND MOT U * MOTU motors: W = no connection FGND CHASSIS V = Mot(-) FRAME U = Mot(+) Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15 Page 29 of 52...
  • Page 30 [DOUT4~6] Rxx as follows: OUT4: R41 OUT5: R42 74LVC3G14 OUT6: R43 SGND SGND Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15 Page 30 of 52...
  • Page 31 Signal Pins NOTE: NOTE: R44 connects IN6 to the encoder fault IN5 on the feedback connector SGND 15, 17, 18 detection by default. If this feature is is connected to the drive IN5. not used, then removing R44 allows IN6 to be programmed for user's function. Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15 Page 31 of 52...
  • Page 32 Frame Ground on the drive end and the motor casing on the other there is a return path for currents produced by the capacitance between the UVW output wires and the motor cable shield. Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547...
  • Page 33 Note: Single (outer) shields should be connected at the +5VENC drive end. Inner shields should only be connected to Signal Ground on the drive. SGND Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15 Page 33 of 52...
  • Page 34 • Panasonic Absolute A Format +5V Out • Sanyo Denki Absolute A @ 500 mA MAX3362B * Battery optional SGND Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15 Page 34 of 52...
  • Page 35 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 [OUT3] as HI BRK output voltage is LO (~0V), MOSFET Q3 is ON Servo drive is enabled, PWM outputs are on Servo drive output current is flowing Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15 Page 35 of 52...
  • Page 36 RX1- RX2- detection circuit. STO-IN2(-) STO-IN2(+) 24V n.c. n.c. n.c. n.c. *** No connections FGND FGND STO-IN1(-) STO-IN1(+) STO-IN1(-) STO-IN1(+) 24V Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15 Page 36 of 52...
  • Page 37 2.10 [53.3] R.06 [1.5] R.12 [3] 1.03 [26.2] 1.05 [26.7] 1.60 [40.6] .80 [20.3] 2.32 [58.9] 0.9 [2.3] 2.50 [63.5] Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15 Page 37 of 52...
  • Page 38 AEZ drive, or an 6P6C RJ-11 EZ board. Straight-wired D-Sub 9F Servo Drive Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15 Page 38 of 52...
  • Page 39 1) Find the highest number under SW1 that is less than 107 and set SW1 to the hex value in the same row: 96 < 107 and 112 > 107, so SW1 = 96 = Hex 6 2) Subtract 96 from the desired Device ID to get the decimal value of switch SW2 and set SW2 to the Hex value in the same row: SW2 = (107 - 96) = 11 = Hex B Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15...
  • Page 40 STO-IN1(+) 24V STO-IN1(-) STO-IN1(+) 5V +5VENC +5VENC n.c. n.c. STO-IN2(-) STO-IN2(+) 24V STO-IN2(-) STO-IN2(+) 5V SGND SGND n.c. n.c. FGND SGND FGND +5V ENC Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15 Page 40 of 52...
  • Page 41 AMP-GREEN [OUT4] SLI MOSI ERR RED [OUT5] SLI CLK SRCLK RUN GREEN RCLK IN L/A GREEN OUT L/A GREEN Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15 Page 41 of 52...
  • Page 42 L1 = 18 mm 4/09.90. Wago part numbers are shown D = 9.6 mm but other ferrule types with comparable D1 = 8.8 mm specifications may be used. D2 = 5.8 mm 216-210 Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15 Page 42 of 52...
  • Page 43 If the SLI function is not needed then these SGND SGND outputs can be used as logic outputs by removing the Rxx as follows: OUT4: R41 OUT5: R42 OUT6: R43 Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15 Page 43 of 52...
  • Page 44 5, 16, 25, 26 SGND Sgnd SGND 15, 17, 18 FGND IN5 Motemp Thermal fuse SGND EZ J5 I/O Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15 Page 44 of 52...
  • Page 45 Frame Ground on the drive end and the motor casing on the other there is a return path for currents produced by the capacitance between the UVW output wires and the motor cable shield. Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547...
  • Page 46 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 [OUT3] as HI BRK output voltage is LO (~0V), MOSFET Q3 is ON Servo drive is enabled, PWM outputs are on Servo drive output current is flowing Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15 Page 46 of 52...
  • Page 47 They can be programmed for other functions but the default functions will no longer function. ** This input can be programmed for other functions by removing the resistor R44 that connects the input to the encoder 1 fault-detection circuit. Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090...
  • Page 48 STO1_RTN Signal Signal +5VENC SGND FGND n.c. n.c. STO2_RTN STO2_IN STO2_RTN STO2_24V_IN AEV-EZ-STO n.c. n.c. STO1_RTN STO1_IN STO1_RTN STO1_24V_IN Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15 Page 48 of 52...
  • Page 49 Description Pins Heatsink, 1 inch tall Thermal material Copley non-threaded spacer, 20.5 mm Screw, M2.5-0.45 x 35 mm slotted drive cheese head Nut, M2.5x0.45 DIN Zinc Plated Nylon Insert Lock Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15 Page 49 of 52...
  • Page 50 Description Tall Pins Heatsink, 1.97 inch tall Thermal material Copley non-threaded spacer, 20.5 mm Screw, M2.5-0.45 x 40 mm slotted drive cheese head Nut, M2.5x0.45 DIN Zinc Plated Nylon Insert Lock Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15 Page 50 of 52...
  • Page 51 Accelnet Plus Micro Module EtherCAT THIS PAGE LEFT BLANK INTENTIONALLY Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15 Page 51 of 52...
  • Page 52 Hirose: H2BBG-10112-L6 J8,J10 Red Flying Lead with socket at both ends, 26 AWG, gold, 12" Hirose: H2BBG-10112-R6 Black Flying Lead with socket at both ends, 26 AWG, gold, 12" Hirose: H2BBG-10112-B6 Connector, high-density DB-26M, 26 pos, male, solder cup Norcomp: 180-026-103L001 Encoder 1 Metal Backshell, DB-15, RoHS 3M: 3357-9215 AEV-EZ-STO EZ board plug-in to J6 for disabling STO function EtherCAT is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany. Note: Specifications subject to change without notice Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01681 Rev 15 Page 52 of 52...

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