argus plus module ethercat gem - actronic-solutions · 2020. 10. 29. · copley controls, 20 dan...

Model Ic Ip Vdc

GEM-055-60 30 60 9~55

GEM-055-60-R 30 60 9~55

GEM-090-60 30 60 14~90

GEM-090-60-R 30 60 14~90

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01558 Rev 07 of 40

Argus PLUS Module EtherCAT GEM

DIGITAL SERVO DRIVE FOR BRUSH & BRUSHLESS MOTORS

CONTROL MODES• Cyclic Synchronous Position-Velocity-Torque (CSP, CSV, CST)• ProfilePosition-Velocity-Torque,InterpolatedPosition,Homing• Indexer, Point-to-Point, PVT• Camming,Gearing• Position, Velocity, TorqueCOMMAND INTERFACE• CANopen application protocol over EtherCAT (CoE) • ASCII and discrete I/O • Steppercommands • ±10V Position/Velocity/Torque • PWMVelocity/Torquecommand • Masterencoder(Camming,Gearing)COMMUNICATIONS• EtherCAT• RS-232• RS-422FEEDBACK• Dual Absolute Encoder Ports• Absolute SSI EnDat 2.1 & 2.2 Absolute A Tamagawa Panasonic Sanyo Denki BiSS (B&C)• Incremental Digital quad A/B encoder Analog Sin/Cos encoder Aux. encoder / encoder out • Other

Digital Halls Resolver(-Rmodels)

I/O DIGITAL• 6 High-speed inputs• 4 Opto-isolated inputs• 1Motorover-tempinput• 4 High-speed outputs• 4 Opto-isolated outputs• 1Opto-isolatedmotorbrakeoutputI/O ANALOG• 1 Reference input, 16-bitSAFE TORQUE OFF (STO)

• SIL 3, Category 3, PL dDIMENSIONS: IN [MM]• 3.10 x 2.40 x 0.92 [78.7 x 60.1 x 23.4]

DESCRIPTIONGEM sets new levels of performance, connectivity, andflexibility.CANopenapplicationprotocoloverEtherCAT(CoE)communicationprovidesawidelyusedcost-effectiveindustrialbus.Awiderangeofabsoluteencoders are supported.

Both isolated and high-speed non-isolated I/O are provided.Forsafetycriticalapplications,redundantpowerstageenableinputscanbeemployed.



Testconditions:Wyeconnectedload:2mHline-line.Ambienttemperature=25°C.Powerinput=55Vdc MODEL GEM-055-60(-R) GEM-090-60(-R)OUTPUT CURRENT

PeakCurrent 60(42.4) 60(42.4) Adc(Arms) Peaktime 2 2 Sec Continuouscurrent 30(21.2) 30(21.2) Adc(Arms) PeakOutputPower 5.4 5.4 kW ContinuousOutputPower 2.7 2.7 kW

INPUT POWER HVmintoHVmax +9to+55 +14to+90 Vdc Ipeak 60 60 Adc Icont 30 30 Adc AuxHV +9to+55 +14to+90 Vdc(2.5Wmax)

PWM OUTPUTS Type MOSFET3-phaseinverter,16kHzcenter-weightedPWMcarrier,space-vectormodulation PWM ripple frequency 32 kHz

DIGITAL CONTROL Digital Control Loops Current, Velocity, Position. 100% digital loop control Samplingrate(time) Currentloop:16kHz(62.5µs),Velocity&Positionloops:4kHz(250µs) PWM frequency 16 kHz Busvoltagecompensation Changesinbusormainsvoltagedonotaffectbandwidth Minimumloadinductance 500µHline-line Resolution 16-bit capture of U & V phase currents

COMMAND INPUTS

EtherCAT: CAN application protocol over EtherCAT (CoE): Cyclic Synchronous Position/Velocity/Torque, ProfilePosition/Velocity/Torque,InterpolatedPosition(PVT),Homing InternallyisolatedfromSignalGround,32Vmaxworkingvoltagevs.SignalGround Stand-alonemode: Analog Torque, Velocity, Positionreference ±10Vdc,16bitresolution Dedicateddifferentialanaloginput Digital Positionreference Pulse/Direction,CW/CCW Steppercommands(2MHzmaximumrate) Quad A/B Encoder 2 M line/sec, 8 Mcount/sec (after quadrature) Digital Torque & Velocityreference PWM,Polarity PWM=0%-100%,Polarity=1/0 PWM50% PWM=50%±50%,nopolaritysignalrequired PWMfrequencyrange 1kHzminimum,100kHzmaximum PWMminimumpulsewidth 220ns Indexing Upto32sequencescanbelaunchedfrominputsorASCIIcommands. Camming Upto10CAMtablescanbestoredinflashmemory ASCII RS-232,9600~115,200Baud,3-wire,RJ-11connector,referencedtoSignalGround

DIGITAL INPUTS Number 11 [IN1,2,3,4,5,6] Digital,non-isolated,Schmitttrigger,0.1µsRCfilter,7Vdccompatible,10kpull-upto+5Vdc Vt+=2.5~3.5Vdcmax,Vt-=1.3~2.2Vdcmin,Vh=0.7~1.5Vdcmin,SLIportMISOsignal [IN7,8,9,10] Digital,opto-isolated,single-ended,±15~30Vdccompatible,bi-polar,withcommonreturn Ratedimpulse≥800V,Vin-LO≤6.0Vdc,Vin-HI≥10.0Vdc,Inputcurrent±3.6mA@±24Vdc,typical [IN11] Defaultsasmotorovertempinputonfeedbackconnector,24Vdcmax,programmabletootherfunctions OtherdigitalinputsarealsoprogrammablefortheMotempfunction 330µsRCfilter,4.99kpull-upto+5Vdc,Vt+=2.5~3.5Vdc,VT-=1.3~2.2Vdc,VH=0.7~1.5Vdc Functions Allinputsareprogrammable,[IN1]defaultstotheEnablefunctionandisprogrammablefor other functions.analog input

ANALOG INPUT [AIN±] Differential,-10to+15Vdc,5.36kΩinputimpedance,16-bitresolution,16kHzacquisitionrate Bandwidth(-3dB)ofanalogsignalpath:≥14kHz,common-moderange-10to+15Vdc

DIGITAL OUTPUTS Number 9 [OUT1~4] Isolated,two-terminalSSRwith1W series resistor and 36 V Zener diode for driving inductive loads Ton=5msmax,@300mA,Toff=2msmax@300mA Maximumworkingvoltagewithrespecttoground:32Vdc,ratedimpulsevoltage≥800Vdc [OUT5~8] Highspeed,SLIportMOSI,SCLK,&EN1signals,74AHCT125linedrivers;+5Vdctolerant Outputcurrent:±25mAmax@±5Vdc [OUT9BRAKE] Isolated,MOSFET,1Amax,externalflybackdioderequired,Turn-ON&Turn-OFFdelay250µsmax GATE output can drive an external MOSFET for brakes requiring higher current Maximumworkingvoltagewithrespecttoground:32Vdc,ratedimpulsevoltage≥800Vdc Functions Defaultfunctionsareshownabove,programmabletootherfunctions

RS-232 PORT Signals RxD,TxD,Gndin6-position,4-contactRJ-11stylemodularconnector,non-isolated Mode Full-duplex,DTEserialcommunicationportfordrivesetupandcontrol,9,600to115,200baud Protocol BinaryandASCIIformats,EIA/TIA-232Evoltagelevels,±5.0minimumoutput,±30Vinputvoltagerange

RS-422 PORT Signals A/Y(+),B/X(-),GndfromISL32455tranceiver,opticallyisolated Mode Half-duplex, RS-422 slave, 9,600 bps to 230.4 kbps Protocol BinaryandASCIIformats

NOTES:1.Brakeoutput[OUT9]isprogrammableasmotorbrake,orasgeneralpurposedigitaloutput.2.WhenSTOfeatureisused,the24VpowersupplymustbeaSELVorPELVtypewiththemaximumoutputvoltagelimitedto60Vdcorlower.

GENERAL SPECIFICATIONS

DANGER

Refer to the 16-01599 Argus Plus GEM & GPM Modules User Guide

Theinformationprovidedinthemanual mustbeconsideredforanyapplicationusing the GEM drive STO feature.Failure to heed this warning can cause equipment damage, injury, or death.



DC OUTPUTS Number 1 Ratings +5Vdc@500mAthermalandoverloadprotected

SAFE TORQUE OFF (STO) Function PWMoutputsareinactiveandcurrenttothemotorwillnotbepossiblewhentheSTOfunctionisasserted Standard Designed to IEC-61508-1, IEC-61508-2, IEC-61800-5-2, ISO-13849-1 SafetyIntegrityLevel SIL3,Category3,Performanceleveld Inputs 2two-terminal:STO-IN1+,STO-IN1-,STO-IN2+,STO-IN2- Type Opto-isolators,24Vcompatible,Vin-LO≤6.0Vdcoropen,Vin-HI≥15.0Vdc, Inputcurrent(typical) STO-IN1:11.2mA,STO-IN2:11.2mA Responsetime 2msfromVin≤6.0Vdctointerruptionofenergysuppliedtomotor Disabling Wiringashortingplugwithjumpers(seepage6)willdisabletheSTOfunction

PROTECTIONS HVOvervoltage-055models +HV>55Vdc Driveoutputsturnoffuntil+HV≤55Vdc HVUndervoltage-055models +HV<9Vdc Driveoutputsturnoffuntil+HV≥9Vdc HVOvervoltage-090models +HV>90Vdc Driveoutputsturnoffuntil+HV≤90Vdc HVUndervoltage-090models +HV<14Vdc Driveoutputsturnoffuntil+HV≥14Vdc Driveovertemperature Heatplate>80°C. Driveoutputsturnoff Short circuits Output to output, output to ground, internal PWM bridge faults I2TCurrentlimiting Programmable:continuouscurrent,peakcurrent,peaktime Motorovertemperature Digitalinputsprogrammabletodetectmotortemperatureswitch FeedbackLoss Inadequateanalogencoderamplitudeormissingincrementalencodersignals

MECHANICAL & ENVIRONMENTAL Sizemm[in] 3.10x2.40x0.92[78.7x60.1x23.4] Weight 4.2oz(120g)withoutheatsink Ambienttemperature 0to+45°Coperating,-40to+85°Cstorage Humidity 0to95%,non-condensing Vibration 2 g peak, 10~500 Hz (Sine), IEC60068-2-6 Shock 10 g,10ms,half-Sinepulse,IEC60068-2-27 Contaminants Pollutiondegree2 Environment IEC60068-2 Cooling Heatsinkand/orforcedaircoolingrequiredforcontinuouspoweroutput Altitude ≤2000m(6560ft)perIEC60068-2-13

AGENCY STANDARDS CONFORMANCE Standards and Directives Functional Safety IEC 61508-1, IEC 61508-2, EN (ISO) 13849-1, IEC 61800-5-2 Electrical Safety Directive2014/35/EU–LowVoltage,UL61800-5-1:2016

EMC Directive 2014/30/EU, IEC 61800-3:2017, Category C3

Restriction of the Use of Certain Hazardous Substances (RoHS) Directive 2011/65/EU (RoHS II)

Approvals ULandcULrecognizedcomponenttoUL61800-5-1 UL Functional Safety to IEC 61800-5-2 EMC to IEC 61800-3


ISO 13849-1 Up to PL d (Cat 3) IEC 61800-5-2 Up to SIL 3

16-01558DocumentRevisionHistoryRevision Date Remarks

00 March 27, 2017 Preliminaryversion

01 April 4, 2017 Initial released version

02 December6,2017 Added90Vmodels,change90Vmodelminvoltageto14Vdc,correctedDevKitmodelnumber, addedthermaldata,removelargeheatsink,addHSkittoaccessories.

03 June7,2018 CorrectionstoSTOgraphicandsignalnamings

04 February 15, 2019 UpdatedphotoonfirstpageandeditedtheFeedbacksection

05 March 13, 2019 Corrected SSI encoder description

06 September17,2020 Update to latest data in Argus Plus GEM & GPM Modules User Guide

07 October 22, 2020 Add Functional Safety logo and ISO, IEC text




FEEDBACK All Channels MAX3097differentiallinereceiversforA,B,5MHzmaximumlinefrequency(20Mcounts/sec) MAX3362differentiallinetransceiversforS,X,5MHzmaximumlinefrequency(20Mcounts/sec) Faultdetectionforopen/shortedinputs,orlowsignalamplitude,selectableforA/B/XorA/B Externalterminatorsrequiredforfaultdetection,121W for A & B channels, 130WforX Internal1Kbiasingpull-upsto+5V:X&S,internal1kbiasingpull-downstoSgnd:/X&/S

Incremental encoders: DigitalIncrementalEncoder Quadraturesignals,(A,/A,B,/B,X,/X),differential(X,/XIndexsignalsnotrequired) AnalogIncrementalEncoder Sin/Cos,differential,internal121Wterminatorsbetween±inputs,1.0Vp-ptypical,1.45Vp-pmaximum, Common-modevoltage0.25to3.75Vdc,,±0.25V,centeredabout2.5Vdc Signals:Sin(+),Sin(-),Cos(+),Cos(-), Frequency:300kHzmaximumline(cycle)frequency,interpolation16bits/cycle(4096counts/cycle)

Absolute encoders: HeidenhainEnDat2.2,SSI SerialClock(X,/X),Data(S,/S)signals,differential4-wire, External 121WterminatorrequiredforClock,221W for Data HeidenhainEnDat2.1 Clock(X,/X),Data(S,/S),Sin/Cos(Sin+,Sin-,Cos+,Cos-)signals Internal 121WterminatorsbetweenSin/Cosinputs, External 121WterminatorrequiredforClock,221W for Data AbsoluteA,TamagawaAbsoluteA,PanasonicAbsoluteAFormat SD+,SD-(S,/S)signals,2.5or4MHz,2-wirehalf-duplex,external221Wterminatorrequired Position feedback: 13-bit resolution per rev, 16 bit revolution counter (29 bit absolute position data) Status data for encoder operating conditions and errors BiSS(B&C) MA+,MA-(X,/X),SL+,SL-(S,/S)signals,4-wire,clockoutputfromdrive, datareturnedfromencoder External 121WterminatorrequiredforMA,221W for SL Resolver: Type Brushless,single-speed,1:1to2:1programmabletransformationratio Resolution 14 bits (equivalent to a 4096 line quadrature encoder) Reference frequency 8.0 kHz Referencevoltage 2.8Vrms,auto-adjustablebythedrivetomaximizefeedback Referencemaximumcurrent 100mA MaximumRPM 10,000+

HALLS Digital: U,V,W:Single-ended,120°electricalphasedifferencebetweenU-V-Wsignals, Schmitttrigger,1.5µsRCfilter,24Vdccompatible,15kΩpull-upto+5Vdc Vt+=2.5~3.5Vdc,VT-=1.3~2.2Vdc,VH=0.7~1.5Vdc

Analog: U & V: Sin/Cosformat(Sin+,Sin-,Cos+,Cos-),differential,1Vpeak-peak±20%, BW>300kHz,121ΩterminatingresistorsbetweenSin+&Sin-,Cos+&Cos-inputs 16-bitresolution,BW≥300kHz,withzero-crossingdetection

MULTI-MODE ENCODER PORT As Input: SeeDigitalIncrementalEncoderaboveforelectricaldataonA,B,&Xchannels,or AbsoluteencodersusingXorSchannels.Externalterminatorsrequiredasshownabove As Emulated Output: QuadratureA/Bencoderemulationwithprogrammableresolutionto4096lines(65,536counts) perrevfromanalogSin/Cosencodersorresolvers. A,/A,B,/B,outputsfromMAX3032differentiallinedriver,X,/X,S,/SfromMAX3362linedrivers As Buffered Output: DigitalA/B/Xencodersignalsfromprimarydigitalencoderarebufferedasshownabove,5MHzmax

5V OUTPUTNumber 1 Ratings +5Vdc@500mAthermalandoverloadprotected

Signal Ground

J4/3,4,15, 16,23,50

J4/43

J4/44

RDRxD

TDTxD

6

9 1

5

TxD

RxD

Gnd

D-Sub 9M(DTE)

ISL32455

RS422(+)

RS422-GND

RS422(-)TxD

RxD42

DevKitP9

J4

49A

411

2

3

4

5RS

B

C

18

18

TX2+

TX2-

RX2-

ECAT Shield

Drive Signal Ground

J4/58

J4/66

J4/61

J4/59

J4/55,60,63

J4 Drive EtherCAT port

Network port

IN

OUT

TX1+

TX1 Term

RX1+

RX1 Term

TX2 Term

RX2 Term

TX1-

RX1-

J4/56

J4/53

J4/51

J4/54

J4/57

J4/62

J4/65

1M

75

75

10n

1M

75

75

RX2+

J4/64

10n

1M

CABLE SHIELD

Zo = 100 Ω

Zo = 100 Ω

Zo = 100 Ω

Zo = 100 Ω

75

75

10n75

75

10n



EtherCATistheopen,real-timeEthernetnetworkdevelopedbyBeckhoffbasedonthewidelyused100BASE-TXcablingsystem.EtherCATenableshigh-speedcontrolofmultipleaxeswhilemaintainingtightsynchronizationofclocksinthenodes.DataprotocolisCANapplicationprotocoloverEtherCAT(CoE)basedonDSP-402formotioncontroldevices.MoreinformationonEtherCATcanbefound on the EtherCAT Technology Groupweb-site:https://www.ethercat.org/default.htm

ETHERCAT COMMUNICATIONS

ETHERCAT CONNECTIONSPage23showsguidelinesforPCboardlayoutanddesigning for EtherCAT signals.Page31showsthedualEtherCATcableconnectionsontheDevelopmentKit.Magneticsareintheservodrive.ExternalRJ-45connectorsdonotrequireintegratedmagnetics.

RS-232 COMMUNICATIONSGEMisconfiguredviaathree-wire,full-duplexDTERS-232portthatoperatesfrom9600to115,200Baud,8bits,noparity,andonestopbit.Signalformatisfull-duplex,3-wire,DTEusingRxD,TxD, and Gnd. Connections to the GEM RS-232 port are through P4ThegraphicbelowshowstheconnectionsbetweenanGEM andacomputerCOMportwhichisaDTEdevice.

RS-422 COMMUNICATIONSRS-422 is a two-wire differential half-duplex port thatoperates from 9600 to 230.4 kbps. The graphic showsthe connections between aGEM and theDevelopment KitRS-422 port P9. The RS ground is RS422GND and is only in the isolated RS422 circuit. It should connect to Signal Ground on the user’s PC board or other 0V electrical circuit. A,B,andCarethesignallabelsintheRS422specification.

DANGER

Refer to the 16-01599 Argus Plus GEM & GPM Modules User Guide

Theinformationprovidedinthemanual mustbeconsideredforanyapplicationusing the GEM drive STO feature.Failure to heed this warning can cause equipment damage, injury, or death.

SIGNAL PIN PIN SIGNAL

STO-IN1(-) 1 2 STO-GND

STO-IN1(+) 3 4 STO-BYPASS

STO-IN2(-) 5 6 STO-IN2(-)

STO-IN2(+) 7 8 STO-IN2(+)

STO DisableConnections

Channel 2

STO-Bypass (6.5 mA)

STO-Gnd (Sgnd)

J3

STO-IN1+

STO-IN2+

2.42k

1.2k

2k

2k

2k

1.2k

1.2k

5.1V

5.1V

5.1V

5.1V

5.1V

5.1V

2.42k

2.42k

Channel 1

FPGA

PWM HI

PWM LO

Channel 3

STO-IN2-

STO-IN1-

STO-IN2+

STO-IN2-

3

1

8

6

7

5

4

2

EN

HI

LO

GateDrivers

PWMOutputs

+HV



J3SIGNALS

SAFE TORQUE OFF (STO)

DESCRIPTIONTheGEMprovidestheSafeTorqueOff(STO)functionasdefinedinIEC61800-5-2.Threeopto-couplersareprovidedwhich,whende-energized,preventtheupperandlowerdevicesinthePWMoutputsfrombeingoperatedbythedigitalcontrolcore.ThisprovidesapositiveOFFcapabilitythatcannotbeoverriddenbythecontrolfirmware,orassociatedhardwarecomponents.Whentheopto-couplersareactivated(currentisflowingintheinputdiodes),thecontrolcorewillbeabletocontroltheon/offstateofthePWMoutputs.

Current must flow through all of the

opto-couplers before the drive can be

enabled

STO BYPASS (DISABLING)InorderforthePWMoutputsofthedrivetobeactivated,currentmustbeflowingthroughalloftheopto-couplersthatareconnectedtothe STO-1andSTO-2terminalsofJ4,andthedrivemustbeinanENABLEDstate.Whentheopto-couplersareOFF,thedriveisinaSafeTorqueOff(STO)stateandthePWMoutputscannotbeactivatedbythecontrolcoretodriveamotor.Thisdiagramshowsconnectionsthatwillenergizealloftheopto-couplersfromaninternalcurrent-source.WhenthisisdonetheSTOfeatureisdisabledandcontroloftheoutputPWMstageisundercontrol of the digital control core. If not using the STO feature, these connections must be made in order for the drive to be enabled.

STO DISABLING CONNECTIONS

INSTALLATION

CONNECTIONS

Input J4Pins

IN4 19

IN5 22

Sgnd 3,4,15,16,23,50,52

[IN4] Position CU

Position CD[IN5]

SgndCD (Count-Down)

CU (Count-Up)

Controller J4

[IN4] Encoder A

Encoder B[IN5]

Sgnd

Master Encoder J4

Encoder ph. B

Encoder ph. A

J4Controller

[IN4] Position

Direction[IN5]

SgndDirection

Pulse

J4

[IN4] Current orVelocity

Polarity[IN5]

Sgnd

Duty = 0~100

Controller

[IN4] Current orVelocity

No Function[IN5]

Sgnd

<no connection>

Duty = 50% ±50%

Controller J4



DIGITAL COMMAND INPUTS: POSITION

DIGITAL COMMAND INPUTS: VELOCITY, TORQUE

CU/CD QUAD A/B ENCODERPULSE & DIRECTION

PWM & DIRECTION 50% PWM

PulsesonIN4willincrementthetargetposition. The active edge of pulses is programmableasRisingorFallingandthe direction of the position change is programmable.AlsoprogrammableistheSteppingResolution.Twoparameters,InputPulsesandOutputPulsesdeterminetheratioofOutput Pulses to Input Pulses.IfInputPulses=10andOutputPulses=2then5InputPulseswillproduce1OutputPulse.

PulsesonIN4willincrementthetargetpositionandpulsesonIN5willdecrementthe position.The active edge, direction of the position change, and Stepping Resolution are programmableasinPulse/Dir.

TheQuadA/Bencoderistworisingandfalling pulse trains 90 degrees out of phase. The Ratio of Input Counts to Output Countsisprogrammable.Thedirectionproduced by the counts can be inverted.

Apulse-trainonIN4withaconstantfrequencyandvariableduty-cyclewillincrement/decrementthetargetVelocityor Current. Stepping Resolution is not used. MinimumandmaximumPulseWidthsareprogrammable.AlsoprogrammableistheSteppingResolution.Twoparameters,InputPulsesandOutputPulsesdeterminetheratioofOutput Pulses to Input Pulses.IfInputPulses=10andOutputPulses=2then5InputPulseswillproduce1Output Pulse.

Apulse-trainonIN4withaconstantfrequencyandvariableduty-cyclewillincrement/decrementthetargetVelocityorCurrent.Asshown,50%dutycyclecommands0output,100%dutycycleismaximumpositiveoutput,0%dutycycleismaximumnegitiveoutput.The PWM input can be inverted to reverse the Pos/Neg output direction.Scalingoftheoutputcurrentatmin/maxdutycyclesisprogrammable.

SIGNALS & PINS

Signal J4Pins

Pulse, CW, Encoder A, Vel-Curr-Mag, Vel-Curr-50% 8

/Pulse, /CW, Encoder /A, /Vel-Curr-Mag, /Vel-Curr-50% 7

Direction, CCW, Encoder B, Vel-Curr-Pol 10

/Direction, /CCW, Encoder /B, /Vel-Curr-Pol 9

QuadEncX,AbsoluteClock 14

QuadEnc/X,/AbsoluteClock 13

Enc S, Absolute (Clock) Data 12

Enc /S, / Absolute (Clock) Data 11

Signal Ground 3,4,15,16, 23,50,52

Input/OutputSelect

MAX3097

MAX3032 for A/BMAX3362 for X

A/B/X signals fromdigital encoder

Input/OutputSelectPulse/Dir or CU/CD

differential commands

MAX3097


InputSelect

OutputSelect

X

S

4-Wire digital absolute encoder signals

MAX3362

MAX3362

Input/OutputSelectVel/Pol, Curr/Pol or 50%

differential commands

MAX3097


Input/OutputSelect

S

S

2-Wire digital absolute encoder signals

MAX3362

MAX3362

+5V output @ 500 mA

Signal Ground

Enc. B

Enc. X

Enc. X

Enc. X

Enc. S

Enc. S

Enc. A

Incremental Encoder

Absolute Encoder

J4

Frame Ground

Multi Enc A

Multi Enc /A

Multi Enc B

Multi Enc /B

Multi Enc X

Multi Enc /X

Multi Enc S

Multi Enc S



MULTI-MODE ENCODER PORT AS AN INPUT

POSITION COMMAND INPUTS: DIFFERENTIAL• Pulse & Direction• CW&CCW(Clockwise&Counter-Clockwise)• Encoder Quad A & B• CammingEncoderA&Binput

CURRENT or VELOCITY COMMAND INPUTS: DIFFERENTIAL• Current/Velocity Magnitude & Direction• Current/Velocity 50%

SECONDARY FEEDBACK: INCREMENTAL• QuadA/B/Xincrementalencoder

SECONDARY FEEDBACK: ABSOLUTE• Schannel:AbsoluteAencoders(2-wire) TheSchannelfirstsendsaClocksignalandthen receivesDatafromtheencoderinhalf-duplexmode.

• S&Xchannels:SSI,BiSS,EnDatencoders(4-wire) TheXchannelsendstheClocksignaltotheencoder, whichinitiatesdatatransmissionfromtheencoder ontheS-channelinfull-duplexmode

SIGNALS & PINS

Signal J4Pins

Encoder A 8

Encoder /A 7

Encoder B 10

Encoder /B 9

EncoderX 14

Encoder/X 13

Signal Ground 3,4,15, 16,23,50,52

SecondaryEncoder Input

Input/OutputSelect

MAX3032

MAX3097

Emulated Quad A/Bsignals from analog Sin/Cos encoder

Emulated A/B signals

SecondaryEncoder Input

Input/OutputSelect

MAX3097

Buffered Quad A/Bsignals from MAX3032 Buffered Quad Xsignal from MAX3362

Buffered A/B/X signals

Enc. B

Enc. X

Enc. A

Incremental Encoder

J4

Frame Ground

Multi Enc A

Multi Enc /A

Multi Enc B

Multi Enc /B

Multi Enc X

Multi Enc /X



MULTI-MODE PORT AS AN OUTPUT

OUTPUT TYPES

BUFFEREDQUADA/B/XOUTPUTS EMULATED QUAD A/B OUTPUTS

BUFFERED FEEDBACK OUTPUTS: DIFFERENTIAL• EncoderQuadA,B,Xchannels• DirecthardwareconnectionbetweenquadA/B/X encoderfeedbackanddifferentiallinedriversforA/B/Xoutputs

EMULATED FEEDBACK OUTPUTS: DIFFERENTIALFirmwareproducesemulatedquadA/Bsignalsfromfeedback datafromthefollowingdevices:• Absolute encoders • AnalogSin/Cosincrementalencoders

SPECIFICATIONS

Input Data Notes

Input Voltages

HI VT+≥2.5~3.5Vdc

LO VT-≤1.3~2.2Vdc

Hys VH 0.7~1.5 Vdc

Max +12Vdc

Min 0 Vdc

Pull-up/down R1 10 kW

Lowpassfilter

R2 1 kW

C1 100 pF

RC1 0.1µs

CONNECTIONS

Input J4Pins

IN1 18

IN2 17

IN3 20

IN4 19

IN5 22

IN6 21

Sgnd 3,4,15,16, 23,50,52

SPECIFICATIONS

Input Data Notes

Input Voltages

HI VT+≥2.5~3.5Vdc

LO VT-≤1.3~2.2Vdc

Hys VH 0.7~1.5 Vdc

Max +12Vdc

Min 0 Vdc

Pull-up R1 4.99 kW

Lowpassfilter

R2 10 kW

C1 33 nF

RC1 330µsBS 4999:Part 111:1987

Property ohms

Resistanceinthetemperaturerange20°Cto+80°C 60~750

Resistanceat85°C ≤1650

Resistanceat95°C ≥3990

Resistanceat105°C ≥12000

CONNECTIONS

Input J2Pins

IN11 17

Sgnd 8,18,21,22

C1

R2R1

74AHC14BQ

[IN1~6]

+5V

J4

+5V

[IN11]

Thermistor,Posistor,

or switch Signal Gnd

R1

R2

C1

J2



HIGH SPEED INPUTS: IN1, IN2, IN3, IN4, IN5, IN6

• Digital, non-isolated, high-speed• Progammablepull-up/pull-down• 12VCompatible• Programmablefunctions

Notes:1)TheR2*C2timeconstantapplieswheninputisdrivenbyactive HI/LO devices

• Digital, non-isolated• Motorovertempinput• 24VCompatible• Programmablefunctions

MOTOR OVER TEMP INPUTThe4.99kpull-upresistorworkswithPTC(positivetemperaturecoefficient)thermistorsthatconformtoBS4999:Part111:1987,orswitchesthatopen/closeindicatingamotorover-temperaturecondition.Theactivelevelisprogrammable.

* RC time constant applieswhen input is driven byactivehigh/lowdevice

MOTOR OVERTEMP INPUT: IN11

CONNECTIONS

Signal J4Pins

IN7 27

IN8 25

IN9 26

IN10 24

ICOM 28

SPECIFICATIONS

Input Data Notes

Input Voltages

HI Vin≥±10.0Vdc*

LO Vin≤±6.0Vdc*

Max ±30 Vdc *

Input Current±24V ±3.6mAdc

0V 0mAdc

4.99k 4.7V

[IN7] 4.7k

4.7k

4.7k

4.7k

[ICOM]

4.99k 4.7V

[IN8]

4.99k 4.7V

[IN9]

4.99k 4.7V

[IN10]

+24V

24V GND

+

24V

J4



OPTO-ISOLATED INPUTS: IN7, IN8, IN9, IN10

• Digital, opto-isolated• Agroupoffour,withacommonterminal• Workswithcurrentsourcingorsinkingdrivers• 24VCompatible• Programmablefunctions

*VdcReferencedtoICOMterminals.

SPECIFICATIONS

Spec Data Notes

Input Voltage Vref ±10 Vdc

Input Resistance Rin 5.05 kW

CONNECTIONS

Signal J4Pins

AIN(+) 2

AIN(-) 1

Sgnd 3,4,15,16,23,50,52

HI/LO DEFINITIONS: OUTPUTS

Input State Condition

OUT1~4HI OutputSSRisON,currentflows

LO OutputSSRisOFF,nocurrentflows

CONNECTIONS:J4PINS

Signal (+) (-)

OUT1 30 29

OUT2 32 31

OUT3 34 33

OUT4 36 35

SPECIFICATIONS

Output Data Notes

ON Voltage OUT(+)-OUT(-) Vdc 0.5V@300mAdc

Output Current Iout 300mAdcmax

Turn-onTime Ton 5msmax@300mA

Turn-offTime Toff 2msmax@300mA

Working Voltage Vmax+32Vdcmaxreferencedtoground,≥800Vdcratedimpulsevoltage

+

1.5V

Shield (Frame Gnd)

Ref(+)

Ref(-)Vref

J4D/A

F.G.

±10V

Sgnd

-

[OUTn-]

300mAmax

* at 24 Vdc

Vdc

J4

[OUTn+]

1

80Ωmin*

36V

SSR

+



ANALOG INPUT: AIN1

OPTO-ISOLATED OUTPUTS: OUT1, OUT2, OUT3, OUT4

Asareferenceinputittakesposition/velocity/torquecommandsfromacontroller.Ifnotusedasacommandinput,itcanbeusedasgeneral-purpose analog input.

• ±10Vdc,differential• 16-bit resolution• Programmablefunctions

• Digital, opto-isolated• MOSFEToutputSSR,2-terminal• Flyback diode for inductive loads• 24VCompatible• Programmablefunctions

SPECIFICATIONS

Output HI Data Notes

Vout HI Voh 3.8 Vdc

Iout HI Ioh -8.0mAdc

Vout LO Vol 0.44 Vdc

Iout LO Iol 8.0mAdc

Vout Max Vom +5Vdc

CONNECTIONS

Signal J4Pins

OUT 5 38

OUT 6 37

OUT 7 40

OUT 8 39

Sgnd 3,4,15,16,23,50,52

HI/LO DEFINITIONS: OUTPUTS

Input State Condition

BRAKE [OUT9]

HI

Output transistor is OFF Brakeisun-poweredandlocksmotor Motorcannotmove Brake state is Active

LO

Output transistor is ON Brakeispowered,releasingmotor Motorisfreetomove Brake state is NOT-Active

SPECIFICATIONS

Output Data Notes

Voltage Range

Vbrk +24Vdccompatible +32Vdcmaxreferencedtoground,≤800Vdcratedimpulsevoltage

Output Current Ids 1.0 Adc

On-Time Ton 250µsmax@200mA

J4CONNECTIONS

Pin Signal

45 Brake-24V

48 Brake-Gate

47 Brake-Out

46 Brake Gnd

+5 Vdc[OUT5~8]

±8 mA

RSgnd

J4

+0

J4

Brake-Gate

10k

20k

Brake-24V

24V

Brk

Brake-Out

Brake-Gnd

ii

Argus brake circuit is isolated

User mounting board

User common ground



HIGH-SPEED OUTPUT: OUT5, OUT6, OUT7, OUT8

• CMOSbuffer• 74AHCT1G125• Programmablefunctions

• Brake output [OUT9]• Opto-isolated• 24VCompatible• Programmablefunctions• Gate output to drive external MOSFET

CME Default Setting for Brake Output [OUT9] is “Brake - Active HI” Active =Brakeisholdingmotorshaft(i.e.theBrake is Active) Motorcannotmove Nocurrentflowsincoilofbrake CMEI/OLineStatesshows[OUT9]asHI BRK Output voltage is HI (24V), MOSFET is OFF Servo drive output current is zero Servodriveisdisabled,PWMoutputsareoff Inactive=Brakeisnotholdingmotorshaft(i.e.theBrake is Inactive) Motorcanmove Currentflowsincoilofbrake CMEI/OLineStatesshows[OUT9]asLO BRK output voltage is LO (~0V), MOSFET is ON Servo drive is enabled, PWM outputs are on Servodriveoutputcurrentisflowing

The brake circuits are optically isolated from all drive circuits and frame ground. For a flyback diode across the brake to be effective, the Brake-24V and Brake-Gnd must be connected as shown and the 24V power supply must be referenced to the user’s common ground.

OPTO-ISOLATED MOTOR BRAKE OUTPUT: OUT9

Signal J2Pins

Enc A 10

Enc /A 9

Enc B 12

Enc /B 11

EncX 16

Enc/X 15

+5V 19,20

Sgnd 8,18,21,22

Signal J2Pins

Sin(+) 2

Sin(-) 1

Cos(+) 4

Cos(-) 3

X 16

/X 15

+5V 19,20

Sgnd 8,18,21,22

Signal J2Pins

Sin(+) 2

Sin(-) 1

Cos(+) 4

Cos(-) 3

Ref(+) 24

Ref(-) 23

Sgnd 8,18,21,22

1k+5V

1k

Encoder J2

FG

Enc. AA

Enc. BB

Enc. IndexX

Enc A

Enc /A

Enc B

Enc /B

Enc X

Enc /X

+5V

0V

+5V Out @ 500 mA

Signal Ground

130

121

121

Resolver J2

Sin(+)

Sin(-)

Cos(-)

Cos(+)

Ref(+)

Ref(-)

Signal Gnd

R/DConversionSinS3 S1

S2

S4R1R2

Cos

Ref

FG

1k+5V

1k

+5V Out @ 500 mA

Signal Ground

Sin(+)

Sin(-)

Cos(+)

Cos(-)

Enc X

Enc /X

-

+

-

+

10k

121

J2

10k

121

Encoder

sin

cos

+5V

0V

indx

10k

Sin

Cos

10k

Enc. Index

FG



FEEDBACK CONNECTIONS

QUAD A/B ENCODER WITH FAULT PROTECTIONEncoderswithdifferentialline-driveroutputsarerequired(single-endedencodersarenotsupported)andprovideincrementalpositionfeedbackviatheA/Bsignalsandtheoptionalindexsignal(X)givesaonceperrevolutionpositionmark.TheMAX3097receiverhasdifferentialinputswithfaultprotectionsforthefollowingconditions:Short-circuits line-line: Thisproducesanear-zerovoltagebetweenachannelpairwhichisbelowthedifferentialfaultthreshold.Open-circuit condition: Aterminatorresistorwillpullachannelpairtogetherifeitherside(orboth)isopen.

Thiswillproducethesamefaultconditionasashort-circuitacrosstheinputs.Low differential voltage detection: Thisispossiblewithverylongcablerunsandafaultwilloccurifthedifferentialinputvoltageis<200mV.±15kV ESD protection: The3097Ehasprotectionagainsthigh-voltagedischargesusingtheHumanBodyModel.Extended common-mode range: Afaultoccursiftheinputcommon-modevoltageisoutsideoftherangeof-10Vto+13.2V

ANALOG SIN/COS INCREMENTAL ENCODERTheSin/Cosinputsareanalogdifferentialwith121Ωterminatingresistorsandaccept1Vp-psignalsintheformatusedbyincrementalencoderswithanalogoutputs. Theindexinputisdigital,differential.

QUAD ENCODER WITH INDEX

SIN/COS SIGNALS

A/B/X SIGNALS

Sgnd=SignalGround

Sgnd=SignalGround F.G.=FrameGnd

RESOLVERConnections to the resolver should be made with shielded cable that usesthree twisted-pairs. Once connected,resolversetup,motorphasing,andothercommissioning adjustments aremadewithCMEsoftware.Therearenohardwareadjustments.

RESOLVER SIGNALS

Signal J2Pins

Clk 16

/Clk 15

Data 14

/Data 13

Sin(+) 2

Sin(-) 1

Cos(+) 4

Cos(-) 3

+5V 19,20

Sgnd 8,18,21,22

Signal J2Pins

Data 14

/Data 13

+5V 19,20

Sgnd 8,18,21,22

SSI BiSS J2Pins

Clk MA+ 16

/Clk MA- 15

Data SL+ 14

/Data SL- 13

+5V 19,20

Sgnd 8,18,21,22

750+5V

1k 1k+5V

1k

Encoder

Enc X

Enc /S

Enc S

Enc /S

J2

Clk

DataData

Clk

+5V

0V

+5V Out @ 500 mA

A

A

B

B

Signal Ground

FG

1k+5V

1k 1k+5V

1k

BiSSEncoder

MA+

MA-

SL+

SL-

J2

Clk

Data

Master

Slave

V+

V-

+5V Out @ 500 mA

Signal Ground

Enc X

Enc /X

Enc S

Enc /S

FG

Absolute-AEncoder

1.2k

1.2k

220

5V

SD+

SD-

J2

Enc S

Enc /SCmd

D-R

SDCmd

D-R

SD

MAX3362B0V

+5VV+

V-

+5V Out@ 500 mA

Signal Ground

Batt+

Batt-

+

-

FG

1k

1k5V

-

+

-

+

A

B

A

B

1k+5V

1k 1k+5V

1k

Encoder

Sin(+)

Sin(-)

Cos(+)

Cos(-)

Sin(+)

Sin(-)

Cos(+)

Cos(-)

Dat

/Dat

Clk

/Clk

J2

Clk

Enc X

Enc /X

Enc S

Enc /SDataData

Clk

+5V

0V

+5V Out @ 500 mA

Signal Ground

10k

10k

121 Sin

Cos

10k

10k

121

sin

cos

FG



FEEDBACK CONNECTIONS

SSI ABSOLUTE ENCODERThe SSI (Synchronous Serial Interface) is an interface used to connect anabsolutepositionencodertoamotioncontrollerorcontrolsystem.TheGEMdriveprovidesatrainofclocksignalsindifferentialformattotheencoderwhichinitiatesthetransmissionofthepositiondataonthesubsequentclockpulses.Thenumberofencoderdatabitsandcountspermotorrevolutionareprogrammable. Thehardwarebusconsistsoftwosignals:SCLKandSDATA.TheSCLKsignal is only active during transfers. Data is clocked in on the falling edge of the clock signal.

BiSS ABSOLUTE ENCODERBiSS is an - Open Source - digital interface for sensors and actuators. BiSSreferstoprinciplesofwellknownindustrialstandardsforSerialSynchronousInterfaceslikeSSI,AS-Interface®andInterbus®withadditional options. SerialSynchronousDataCommunication Cyclic at high speed 2 unidirectional lines Clock and Data Linedelaycompensationforhighspeeddatatransfer Request for data generation at slaves Safety capable: CRC, Errors, Warnings Bus capability incl. actuators Bidirectional BiSS B-protocol: Mode choice at each cycle start BiSSC-protocol:Continuousmode

ENDAT ABSOLUTE ENCODERTheEnDatinterfaceisaHeidenhaininterfacethatissimilartoSSIintheuseofclockanddatasignals,butwhichalsosupportsanalogSin/Coschannelsfromthesameencoder.ThenumberofpositiondatabitsisprogrammableasistheuseofSin/Coschannels.UseofSin/CosincrementalsignalsisoptionalintheEnDatspecification.

ABSOLUTE-A ENCODERThe Absolute A interface is a serial, half-duplex type that is electricallythesameasRS-485.Notethebatterywhichmustbeconnected.Withoutit,theencoderwillproduceafaultcondition.

ENDAT SIGNALS

ABSOLUTE-A SIGNALS

Note: Single (outer) shields should be connected at the controller end. Inner shields should only be connected to Signal Ground on the drive.

SSI,BiSS SIGNALS

Sgnd=SignalGround

Sgnd=SignalGround

• Absolute A• TamagawaAbsoluteA• PanasonicAbsoluteAFormat• Sanyo Denki Absolute A

Signal J1Pin

Mot U 41~46

Mot V 31~36

Mot W 21~26

Signal J2Pins

Hall U 5

Hall V 6

Hall W 7

+5V 19,20

Sgnd 8,18,21,22

Signal J1Pin

Mot U 41~46

Mot V 31~36

Halls

+5V Out @ 500 mA

Signal Ground

+5V

0V

15K

100p

15KHall U+5V

J2

100p

15K

15KHall V+5V

100p

15K

15KHall W+5V

Hall A

Hall B

Hall C

+

J1PWM

+HV

0V

U

V

W

Motor3 ph.

FG

J1PWM

+HV

0V

+

U

V

DCMotor

FG



MOTOR CONNECTIONS

BRUSHLESS MOTOR CONNECTIONSThe drive output is a three-phase PWM inverter that converts the DC buss voltage (+HV) intothree sinusoidal voltage waveforms that drivethemotorphase-coils.Cableshouldbesizedforthecontinuouscurrentratingofthemotor.Motorcabling should use twisted, shielded conductorsfor CE compliance, and tominimize PWMnoisecouplingintoothercircuits.Themotorcableshieldshould connect tomotor frameground for bestresults.

DIGITAL HALL SIGNALSHall signals are single-ended signals that provideabsolutefeedbackwithinoneelectricalcycleofthemotor.Therearethreeofthem(U,V,&W)andtheymaybesourcedbymagneticsensorsinthemotor,orbyencodersthathaveHall tracks as part of the encoder disc. They typicallyoperateatmuchlowerfrequenciesthanthemotorencodersignals,andareusedfor commutation-initialization after startup,andforcheckingthemotorphasingafterthedrivehasswitchedtosinusoidalcommutation.

HALL SIGNALS

MOTOR SIGNALS

BRUSH MOTOR CONNECTIONSDCmotorshavetwoterminalsandarecommutatedbyinternalbrushes.Onlytwoterminalsareusedandthepolaritydeterminsthedirectionofmotion.Cable should be sized for the continuous current rating of themotor. Motor cabling should usetwisted, shielded conductors for CE compliance,and tominimize PWMnoise coupling into othercircuits.Themotorcableshieldshouldconnecttomotorframegroundforbestresults.

MOTOR SIGNALS

+

-

+~

~

~

~

+

- -

+~

~

~

~

+

- -

+

+HV

HV Aux

HV GND

Heatplate

FG

Earth Ground

Standoff

H

N

Gnd

Gnd FGJ1

-

PELV / SELV

-

H

N

FG

FG

Heatplate

+HVMotor

U

V

W

Encoder

ProtectiveEarth ground

Enc A

Enc B

Enc X

+5V

Standoff

J1

FG

J2

PWM

HV GND



POWER SUPPLY GROUNDING

ThisshowsthedriveHVGNDconnectingtoFrameGround(FG)andEarthGround.Thiskeeps0Vinthedriveat 0VGround.Voltagedropsacrossthepower-supplywiringwillappearatthe(-)terminalsofthepowersuppliesduetothecablelengthandcurrentbutthishasnoeffectonthevoltagesofcircuitsanddevices.TheheatplatehasnoconnectiontodrivecircuitsandstandoffsprovideaPE(ProtectiveEarth)pathtoearth.

ThisshowstheshieldingonthefeedbackandPWMconnectionstothemotor. CapacitivecouplingbetweenthemotorwindingsandcasepluscouplingbetweentheUVWcableandshieldfindsareturnpathviaFGandHVGND.GroundingthemotorfeedbackshieldonlytotheFGavoidsthePWMcouplinginthemotorshield.

MOTOR CONNECTION GROUNDING

Protective Earth (PE)Connections

PE



PROTECTIVE EARTH GROUNDING

ThisshowshowaProtectiveEarth(PE)connectioncanbemadewiththeGEMdrive.Thestandoffsshownaresolidwithtappedholesoneachend.InpreperationformountingtheGEMthestandoffsshouldberetainedwithfourscrews(notshown)insertedfromthebottomofthePCboard.TheseretainthespacersandmakeohmiccontactwithconductivetracesonthePCboard.Asshownallfourstandoffsareconnectedbyatracewhichhasanextensiontooneofthemountingholes.Thisshouldbeaplated-throughholetoconnecttoeartheitherbystandofftotheequipmentbondedenclosureorbycabletoearthground.Whenthedriveisplacedonthestandoffsthenextstepistoplacethethermalpadtakingcaretoalignthetwocornerholeswiththedriveheatplate.Followingthattheheatsinkcanbeplaced,againwithcaretoalignwiththedriveheatplateholes.Finallyinstallthescrewstoretaintheheatsink.Thiswillpresstwooftheheatsinkcornerswithnotchesinthethermalpadtomakecontactwiththedriveheatplate,providingaconductivepath.Fromtheheatplate,contactismadewiththespacersandfinallytothemountingboardetchandtoearth.

+

-

4

Controller

I/O

I/O

+

-

[IN4] HS

[IN5] HS

[IN6] MISO

DCPower

EarthCircuit Gnd

+HVFuse *

* Optional

J1

Aux HV

Drive Enable

DAC Out

DAC Ground

[IN1] HS

[IN7] ISO

[IN8] ISO

[AIN-]

Sgnd

[AIN+]

J2

Enable

PosLim+24V

NegLim

Signal Ground

J4

J4

BRK-GATE

[OUT6] MOSI

[OUT1-]

[OUT5] CLK

1~6

11~16

48

BRK-24V 45

BRK-GND 46

BRK-OUT 47

BLDCMOTOR DC

MOTOR

BRAKE

W

V

U

Motor W

Motor V

Motor U

21~26

31~36

41~46

Enc B

Enc /B

Enc X

Enc /X

Enc /A

Enc A

15

16

11`

12

9

10

Enc /S 13

Enc Sin(+) 2

Enc Sin(-) 1

Enc Cos(+) 4

Enc Cos(-) 3

Enc S 14

7

+5V ENC 20

Sgnd

Sgnd

Sgnd

RS422(+)

HV-GND

+5V ENC 19

1

18

27

[INCOM] ISO28

25

[IN9] ISO

[IN10] ISO

26

Enc A8

Enc /A7

Enc B10

Enc /B9

Enc X14

Enc /X13

Enc S12

Enc /S11

+5V Enc5

+5V Enc6

Sgnd3

Sgnd4

24

3

Sgnd 8

2

29

[OUT1+]30

[OUT2-]31

[OUT2+]32

[OUT3-]33

[OUT3+]34

[OUT4-]35

[OUT4+]36

21

22

19

[IN2] HS

[IN3] HS20

17

37

38

[OUT8] EN139

42

RS422-GND49

RS422(-)41

44

43

50

RxD

TxDGnd

Hall U

Hall V

Hall W

5

6

7

Motemp[IN11]

+5V ENC @ 500 mATotal, both outputs

17

21

22

18Position Commands

Velocity, Torque commands

Step Enc. Ch. A

Enc. Ch. B

CW

CCW Dir

50%PWM

Dir n.c.

RS-422

RS422(+)

RS422(-)

Gnd

RS-232

RxD

TxD

Gnd

±10VDAC

+24 VController

SLI Devices

These signals are the Multi-Port which is programmable to be either inputs or outputs

+24V

* 121Ω resistor on user mounting board

*

V

U

AbsoluteEncoder

(Full duplex)

X

/X

S

/S



CONNECTORS & SIGNALS

CONNECTIONSFORABSOLUTEENCODERWITHDUPLEXCLOCK/DATA

+

-

4

Controller

I/O

I/O

+

-

BLDCMOTOR DC

MOTOR

W

V

U

V

U

[IN4] HS

[IN5] HS

[IN6] MISO

DCPower

EarthCircuit Gnd

+HVFuse *

* Optional

J1

Aux HV

Drive Enable

DAC Out

DAC Ground

[IN1] HS

[IN7] ISO

[IN8] ISO

[AIN-]

Sgnd

[AIN+]

J2

PosLim+24V

NegLim

Signal Ground

J4

J4

BRK-GATE

[OUT6] MOSI

[OUT1-]

[OUT5] CLK

1~6

11~16

48

BRK-24V 45

BRK-GND 46

BRK-OUT 47

BRAKE

Motor W

Motor V

Motor U

21~26

31~36

41~46

Enc B

Enc /B

Enc X

Enc /X

Enc /A

Enc A

15

16

11`

12

9

10

Enc /S 13

Enc Sin(+) 2

Enc Sin(-) 1

Enc Cos(+) 4

Enc Cos(-) 3

Enc S 14

7

+5V ENC 20

Sgnd

Sgnd

Sgnd

RS422(+)

HV-GND

+5V ENC 19

1

18

27

[INCOM] ISO28

25

[IN9] ISO

[IN10] ISO

26

Enc A8

Enc /A7

Enc B10

Enc /B9

Enc X14

Enc /X13

Enc S12

Enc /S11

+5V Enc5

+5V Enc6

Sgnd3

Sgnd4

24

3

Sgnd 8

2

29

[OUT1+]30

[OUT2-]31

[OUT2+]32

[OUT3-]33

[OUT3+]34

[OUT4-]35

[OUT4+]36

21

22

19

[IN2] HS

[IN3] HS20

17

37

38

[OUT8] EN139

42

RS422-GND49

RS422(-)41

44

43

50

RxD

TxDGnd

Hall U

Hall V

Hall W

5

6

7

Motemp[IN11]


17

21

22

18Position Commands


Step Enc. Ch. A

Enc. Ch. B

CW

CCW Dir

50%PWM

Dir n.c.

RS-422

RS422(+)

RS422(-)

Gnd

RS-232

RxD

TxD

Gnd

±10VDAC

+24 VController

SLI Devices


+24V

A

/A

B

/B

X

/X

QUADA/B/X

DIGITALENCODER

Sin(+)

Cos(+)

Cos(-)

Sin(-) AnalogSin/CosEncoder

HALLS

U

V

W

* 121Ω resistors on user mounting board

*

*

*




CONNECTIONS FOR INCREMENTAL DIGITAL OR ANALOG ENCODERS

+

-

4

Controller

I/O

I/O

+

-

BLDCMOTOR DC

MOTOR

W

V

U

V

U

[IN4] HS

[IN5] HS

[IN6] MISO

DCPower

EarthCircuit Gnd

+HVFuse *

* Optional

J1

Aux HV

Drive Enable

DAC Out

DAC Ground

[IN1] HS

[IN7] ISO

[IN8] ISO

[AIN-]

Sgnd

[AIN+]

J2

Enable

PosLim+24V

NegLim

Signal Ground

J4

J4

BRK-GATE

[OUT6] MOSI

[OUT1-]

[OUT5] CLK

1~6

11~16

48

BRK-24V 45

BRK-GND 46

BRK-OUT 47

BRAKE

Motor W

Motor V

Motor U

21~26

31~36

41~46

Enc B

Enc /B

Enc X

Enc /X

Enc /A

Enc A

15

16

11`

12

9

10

24

Rslvr Sin(+) 2

Rslvr Sin(-) 1

Rslvr Cos(+) 4

Rslvr Cos(-) 3

Enc S 14

7

+5V ENC 20

Rslvr Ref(+)

Rslvr Ref(-)

Sgnd

Sgnd

RS422(+)

HV-GND

+5V ENC 19

1

18

27

[INCOM] ISO28

25

[IN9] ISO

[IN10] ISO

26

Enc A8

Enc /A7

Enc B10

Enc /B9

Enc X14

Enc /X13

Enc S12

Enc /S11

+5V Enc5

+5V Enc6

Sgnd3

Sgnd4

24

3

Sgnd 8

2

29

[OUT1+]30

[OUT2-]31

[OUT2+]32

[OUT3-]33

[OUT3+]34

[OUT4-]35

[OUT4+]36

21

22

19

[IN2] HS

[IN3] HS20

17

37

38

[OUT8] EN139

42

RS422-GND49

RS422(-)41

44

43

50

RxD

TxDGnd

Hall U

Hall V

Hall W

5

6

7

Motemp[IN11]


17

21

22

23Position Commands


Step Enc. Ch. A

Enc. Ch. B

CW

CCW Dir

50%PWM

Dir n.c.

RS-422

RS422(+)

RS422(-)

Gnd

RS-232

RxD

TxD

Gnd

±10VDAC

+24 VController

SLI Devices


+24V

R1

R2

S3

S1

S2

S4

RESOLVER




CONNECTIONS FOR RESOLVERS (-R OPTION)

Signal P1 Pin Signal

TX2TERM 65 66 TX2+

ECAT-SHLD 63 64 TX2-

RX2+ 61 62 RX2TERM

RX2- 59 60 ECAT-SHLD

TX1TERM 57 58 TX1+

ECAT-SHLD 55 56 TX1-

RX1+ 53 54 RX1TERM

RX1- 51 52 ECAT-SHLD

RS422-GND 49 50 Sgnd

Brake-Out 47 48 Brk-Gate

Brake-24V 45 46 Brake-Gnd

RS232 RxD 43 44 RS232 TxD

RS422(-) 41 42 RS422(+)

HS [OUT8] SLI-EN1

39 40 [OUT7] HS

HS [OUT6] SLI-MOSI

37 38[OUT5] HS SLI-CLK

[OUT4-] ISO 35 36 ISO[OUT4+]




[IN7] ISO 27 28 ISO [INCOM]

[IN8] ISO 25 26 ISO [IN9]

Sgnd 23 24 ISO [IN10]

[IN6] HS SLI-MISO

21 22 HS [IN5]

[IN4] HS 19 20 HS [IN3]

[IN2] HS 17 18 HS [IN1]

Sgnd 15 16 Sgnd

Enc/X 13 14 EncX

Enc /S 11 12 Enc S

Enc /B 9 10 Enc B

Enc /A 7 8 Enc A

+5VENC 5 6 +5VENC

Sgnd 3 4 Sgnd

[AREF-] 1 2 [AREF+]

Signal P3 Pin Signal

RES-REF- 23 24 RES-REF+

Sgnd 21 22 Sgnd

+5VENC 19 20 +5VENC

[IN11] 17 18 Sgnd

ENC/X 15 16 ENCX

ENC /S 13 14 ENC S

ENC /B 11 12 ENC B

ENC /A 9 10 ENC A

HALL W 7 8 Sgnd

HALL U 5 6 HALL V

COS- 3 4 COS+

SIN- 1 2 SIN+

Signal J1 Pin Signal

+HV

2 1

+HV4 3

6 5

N/C8 7 HV Aux

10 9 N/C

HV Gnd

12 11

HV Gnd14 13

16 15

N/C18 17

N/C20 19

Mot W

22 21

Mot W24 23

26 25

N/C28 27

N/C30 29

Mot V

32 31

Mot V34 33

36 35

N/C38 37

N/C40 39

Mot U

42 41

Mot U44 43

46 45

SIGNAL PIN PIN SIGNAL

STO-IN1(-) 1 2 STO-GND

STO-IN1(+) 3 4 STO-BYPASS

STO-IN2(-) 5 6 STO-IN2(-)

STO-IN2(+) 7 8 STO-IN2(+)



DIMENSIONS IN[MM]

J4CONTROL

J3SAFETY

J1POWER&MOTOR

TOP VIEWViewedfromabovelookingdownonthe connectors or PC board footprint towhichthemoduleismounted

J1:HV&Motor Dualrow,2mm-centers 46positionfemaleheader SAMTEC SSQ-123-01-L-D

J2:Feedback Dualrow,2mm-centers 24positionfemaleheader SAMTEC SQT-112-01-L-D

J3:Safety Dualrow,2mm-centers 8positionfemaleheader SAMTEC SQT-104-01-L-D

J4:Control Dualrow,2mm-centers 66positionfemaleheader SAMTEC SQT-133-01-L-D

J2FEEDBACK

J4

J3

J2

J1

12

4546

Dual RJ-45 Connectorfor EtherCAT port

J3 EtherCAT

Ground plane

Ground plane

2 oz. copper traces

Dielectric layer

.007[0.178]

.0085[0.216]

.007 [0.178].007 [0.178]

PIN 1



PRINTED CIRCUIT BOARD DESIGN FOR ETHERCAT SIGNALS

EtherCATsignalroutingmustproduceacontrolledimpedancetomaintainsignalquality.ThisgraphicshowssomeprinciplesofPCboarddesignthatshouldbefollowed.Tracesfordifferentialsignalsmusthave controlled spacing trace-trace, trace thickness, and spacing above a ground plane. All these things and the properties of the dielectric betweengroundplaneandsignalsaffecttheimpedanceofthetraces. Thedimensionsshownherearetypical. Thegraphiconp.5detailingtheEtherCATconnectionsshowsresistorsandacapacitorinthedriveforterminatingtheunusedconductors.AsanalternativetoaddingtracesbacktothedriveconnectorJ4forthesesignals,thesamepartscanbeplacedontheboardattheRJ-45connector,leavingonlythedifferentialEtherCATsignalstoberoutedwithcontrolledimpedance.

PRINTED CIRCUIT BOARD FOOTPRINT

TOP VIEWViewedfromabovelookingdownonthe connectors or PC board footprint towhichthemoduleismounted

J1SignalGrouping for current-sharing

See Note 1

PCBHardware: Qty Description Mfgr PartNumber Remarks 1 SocketStrip Samtec SSQ-123-01-L-D J1HV&Motor

1 SocketStrip Samtec SQT-112-01-L-D J2Feedback 1 SocketStrip Samtec SQT-104-01-L-D J3Safety 1 SocketStrip Samtec SQT-133-01-L-D J4Control 2 Standoff PEM KFE-4/40-8ET #4/40X1/4”

AdditionalHardware(notshownabove) 2 Screw,#4-40x1.25”PhillipsPanHeadExternalToothLockwasherSEMS,Stainless,orsteelwithnickelplating,

Torqueto3~5lb-in(0.34~0.57N·m)

J4

J3

J2

J1

Notes1.J1signalsofthesamenamemustbeconnectedforcurrent-sharing(seegraphicabove).2.TodeterminecopperwidthandthicknessforJ1signalsrefertospecificationIPC-2221.

(AssociationConnectingElectronicIndustries,http://www.ipc.org)3.Standoffsormountingscrewsshouldconnecttoetchonpcboardthatconnecttoframegroundformaximumnoisesuppressionandimmunity.

4XØ0.125

46X Ø0.040 98X

Ø0.036

0.07870.0787

0.07870.1000

0.1000

0.3000

0.0170

0.07870.0902

0.277

0.733

0.373

2.1000

2.8000

2.711



PRINTED CIRCUIT DRILLING DIMENSIONS

Notes:1.ThisshowsthedrillingdimensionslookingdownonthemountingsurfaceofthePCboard.

Dimensionsareininches

J1

J2

J3

J4

2.10 53.3

.13 3.2

.30 7.6

.30 7.6R.13 3.2

4.8

.01 0.3

2.80 71.1

.12 3

2.40 61

1.37 34.7

1.731.82 46.3

.30 7.6

3.10 78.7

1.58 40.2

.67

23.3



DIMENSIONS

Dimensionsareininches[mm]

26.5

1.84 46.7

McMaster Carr screw#4-40 X 7/16 in. w/ spring lockPart no. 91241A418Qty: 4

RAF STANDOFF #4-401/4 in OD, 1.043 in. longPart no. 1678-440ALMOD-1.043Qty: 4

PEM broaching stud#4-40 X 1/4 in. longPart no. KFH-440-4ETQty: 4

1.61

McMaster Carr screw#4-40 X 7/16 in. w/ spring lock

Part no. 91241A418Qty: 4

RAF STANDOFF #4-401/4 In. OD, 13/16 in. long

Part no. 1689-440-ALQty: 4

PEM broaching stud#4-40 X 1/4 in. long

Part no. KFH-440-4ETQty: 4

.80 [20.3]

.81 [20.6]



MOUNTING WITH USER HARDWARE

ALL ABOUT STANDOFFSInallconfigurations,thestandoffsmustbemetalbecausetheyconnectthedriveheatplatetoa trace on the PC board that connects to earth, providing a PE (Protective Earth) connection.StandoffspassthroughnotchesinthecornersofthedrivePCboards.Thenotchwidthis0.3in[7.62mm]andcanaccept0.25in[6.35mm]standoffs.

TheGEMdrivescanbemountedintheseconfigurations:Soldered Alldrivepinsaresoldered.Thisisrecommendedtousethe rated continuous current of the drive.Socketed All drive pins connect to sockets. The drive can be inserted and

extractedfromthemountingboard.

MOUNTING METHODS: SOLDERED

MOUNTING METHODS: SOCKETED

THE COMPONENTS SHOWN HERE ARE SUPPLIED BY THE USER.

Thermal pad

Transparent Carriers (2)(Discard)

2.990 75.95

1.144X R.045

2.41.095

4X R.068 1.73

.150 3.812.100 53.34

60.962.400

2.990 75.95REF.

17.17.676REF.

71.122.800



Athermalpadisusedinplaceofheatsinkgrease.Thepadisdie-cuttoshapeandhasholesfortheheatsinkmountingscrews.Therearetwoprotectivesheets,blueononesideandclearontheother.Bothmustberemovedwhentheinterfacepadisinstalled.1: Removetheblueprotectivesheetfromonesideofthepad. 2: Place the interface pad on the drive, taking care to center the padholesovertheheatplatemountingholes. 3 Removetheclearprotectivesheetfromthepad. 4 Mount the heatsink onto the drive taking care to see that the holes in the heatsink, interface pad, and drive all line up. 5 Torquethe4-40mountingscrewsto5in-lb,80in-oz,0.56Nm.

DEVELOPMENT KIT HEATSINK MOUNTING

GEM-HK HEATSINK KITItem Part Qty

1 HeatsinkHardwareKit,contains2screws,4-40,1.25in,Philipswithlockingwashers 2

2 Heatsink, GEM 1

3 Thermalpad,GEM 1

4 SpacerHardwareKit,contains4spacers,round,6mmdiam,3mmID,20mmlong,AL 1

0.00 W

5.00 W

10.00 W

15.00 W

20.00 W

25.00 W

disabled 0 A 5 A 10 A 15 A 20 A 25 A 30 A

Dissipation vs. Output Current & +HV

50

24

12

9

0 W

5 W

10 W

15 W

20 W

25 W

30 W

35 W

disabled 0 A 5 A 10 A 15 A 20 A 25 A 30 A

Dissipation vs. Output Current & +HV

85

48

24

14



POWER DISSIPATION

Thechartsonthispageshowtheinternalpowerdissipationfordifferentmodelsunderdifferingpowersupplyandoutputcurrentconditions.Thevaluesonthechartrepresentthecontinuouscurrentthatthedrivewouldprovideduringoperation.The+HVvaluesarefortheaverageDCvoltageofthedrivepowersupply.Toseeifaheatsinkisrequiredornot,thenextstepistodeterminethetemperaturerisethedrivewillexperiencewhenit’sinstalled.Forexample,iftheambienttemperatureinthedriveenclosureis40°C,andtheheatplatetemperatureistobelimitedto80°Corlesstoavoidshutdown,themaximumrisewouldbe80C-40C.or40°C. Dividingthisdissipationbythethermalresistanceof3.5ºC/Wwithnoheatsinkgivesadissipationof11.4W.Thislineisshowninthecharts.Forpowerdissipationbelowthisline,noheatsinkisrequired.Theverticaldashedlineshowsthataheatsinkisrequiredforoperationattheratedcontinuouscurrent.

GEM-055-60, GEM-055-60-R

GEM-090-60, GEM-090-60-R

Output current Adc

Output current Adc

+HVvoltageVdc

+HVvoltageVdc

22 A

22 W

15 A

11.4 W

LFM 0 300Rth 3.5 1.3

LFM 0 300Rth 2.0 0.9

Airflow



THERMAL RESISTANCE VS. MOUNTING & COOLING

These tables show the thermal resistance Rth in degrees-C perWatt (C/W) for typicalmounting and coolingconfigurations.LFMisLinearFeetperMinute,thevelocityofairflowproducedbyafandirectedinlinewiththeheatsinkfins.

NO HEATSINK

HEATSINK

FIND COOLING MEANS WITH DISSIPATION AND AMBIENT TEMPERATURE KNOWN

Given: Tamb=32ºC(89.6ºF),+HVdissipation=20.5W,Aux-HVdissipation=6W Tmax=80ºC(driveshut-downtemperature)

Find: ThermalresistanceRth: Delta-T=Tmax-Tamb=80-32=48ºC Totaldissipation=20.5+6=26.5W Rth=Delta-T/dissipation=ºC/Watt=48/26.5=1.8ºC/W

Fromthetablesabove,therearetwoconfigurationsthatprovideRthlessthan1.8ºC/W: No heat sink, forced air at 300 LFM With heat sink, forced air at 300 LFM

FINDMAXAMBIENTTEMPWHENDRIVECONFIGURATIONISKNOWN

Given: Heatsink, forced-air at 300 LFV, dissipation is 26.5 W Rth=0.9ºC/W Tmax=80ºC(driveshut-downtemperature)

Find: Maxambientoperatingtemperature Delta-T=26.5Wx0.9ºC/W=23.9ºC

MaxTamb=Tmax-Delta-T=90–23.9=66ºC Maxambientoperatingtemperatureis45°Csoitcanoperateuptothistemperature

6

9

1

5

3 2TxD RxD

RJ-11on

ServoDrive

RJ-11 cable6P6CStraight-wired

5 3Gnd Gnd

RxD TxD2 5

D-Sub 9F

Dsub-9Fto RJ11Adapter

16

ISL32455

RS422(+)

RS422GND

RS422(-)TxD

RxDJ4/42

DevKitP9 Drive

J4J4/49

J4/411

2

3

4

5

3 12456 RS-232P7

TxD RxD



DESCRIPTIONTheDevelopmentKitprovidesmountingandconnectivityforoneGEMdrive.Solderlessjumperseaseconfigurationofinputsandoutputstosupporttheirprogrammablefunctions.Switchescanbejumperedtoconnecttodigitalinputs1~10sothatthesecanbetoggledtosimulateequipmentoperation.DualEtherCATconnectorsmakedaisy-chain connections possible so that other EtherCAT devicessuchasCopley’sArgusPlusorXenusPlusEthercat drives can easily be connected.

SER-CK SERIAL CABLE KITTheSER-CKprovidesconnectivitybetweenaD-Sub9maleconnectorandtheRJ-11connectorP8ontheDevelopmentKit.ItincludesanadapterthatplugsintotheCOM1(orother)portofaPCandusescommonmodularcabletoconnecttotheXEL.Theconnectionsareshowninthediagrambelow.

Don’tforgettoorderaSerialCableKitSER-CKwhenplacingyourorderforanGEMDevelopmentKit!

P7: RS-232 CONNECTIONTheRS-232portisusedtoconfigurethedriveforstand-aloneapplications,orforconfigurationbeforeitisinstalledintoanEtherCATnetwork.CME™softwarecommunicateswiththedriveoverthislinkandisthenusedforcompletedrivesetup.TheEtherCATDeviceIDthatissetbytherotaryswitchcanbemonitored,andaDeviceIDoffsetprogrammedaswell.TheRS-232connector,P7,isamodularRJ-11typethatusesa6-positionplug,fourwiresofwhichareusedforRS-232.Aconnectorkitisavailable(SER-CK)thatincludesthemodularcable,andanadaptortointerfacethiscablewitha9-pinRS-232portonacomputer.

DEVELOPMENT KIT

P9: RS-422 COMMUNICATIONSRS-422isatwo-wiredifferentialhalf-duplexportthatoperatesfrom9600bpsto230.4kbps.ConnectionstotheRS-422 port are through P9. ThegraphicbelowshowstheconnectionsbetweenaGEMandacomputerRS-422port.

16

AMP STAT

18 1

IN OUT

L/A L/A

8



S2 S1

HEX DEC

0 0 0

1 16 1

2 32 2

3 48 3

4 64 4

5 80 5

6 96 6

7 112 7

8 128 8

9 144 9

A 160 10

B 176 11

C 192 12

D 208 13

E 224 14

F 240 15

EtherCAT DeviceIDSwitch Decimalvalues

SW1 x1

SW2 x10

EtherCAT DEVICE IDInanEtherCATnetwork,slavesareautomaticallyassignedfixedaddressesbasedontheirposi-tiononthebus.Whenadevicemusthaveapositiveidentificationthatisindependentofcabling,aDeviceIDisneeded.IntheGEMDevKit,thisisprovidedbytwo16-positionrotaryswitcheswithhexadecimalencoding.ThesecansettheDeviceIDofthedrivefrom0x01~0xFF(1~255decimal).Thechartshowsthedecimalvaluesofthehexsettingsofeachswitch.Example1:FindtheswitchsettingsfordecimalDeviceID107:

1)FindthehighestnumberunderS2thatislessthan107andsetS2tothehexvalueinthesamerow:96<107and112>107,soS2=96=Hex6

2)Subtract96fromthedesiredDeviceIDtogetthedecimalvalueofswitchS1andsetS1totheHexvalueinthesamerow:S1=(107-96)=11=HexB

P8: ETHERCAT CONNECTIONSDualRJ-45socketsacceptstandardEthernetcables.TheINportconnectstoamaster,ortotheOUTportofadevicethatis‘upstream’,betweentheStepnetandthemaster.TheOUTportconnectsto‘downstream’nodes.IfStepnetisthelastnodeonanetwork,onlytheINportisused.NoterminatorisrequiredontheOUTport.

STAT LEDThebi-colorSTATLEDcombinesthefunctionsoftheRUNandERRLEDs. Greenandredcolorsalternate,andeachcolorhasaseparatemeaning:Green is “RUN” or EtherCAT State Machine: Red is “ERR” indicator: Off = INIT Blinking = Invalidconfiguration Blinking = PRE-OPERATIONAL SingleFlash = Unsolicitedstatechange SingleFlash = SAFE-OPERATIONAL DoubleFlash = Applicationwatchdogtimeout On = OPERATIONAL

P7

P8

AMP LEDA bi-color LED gives the state of the drive. Colors do not alternate, and can be solid ON or blinking. Whenmultipleconditionsoccur,onlythetop-mostconditionwillbedisplayed.Whenthatconditionisclearedthenextonebelowwillbeshown.

• Green/Solid = DriveOKandenabled.WillruninresponsetoreferenceinputsorEtherCATcommands.• Green/Slow-Blinking = DriveOKbutNOT-enabled.Will change to Green/Solidwhenenabled.• Green/Fast-Blinking = PositiveorNegativelimitswitchactive.Drivewillonlymoveindirectionnotinhibitedbylimitswitch.• Red/Solid = Transientfaultcondition.Drivewillresumeoperationwhenfaultisremoved.• Red/Blinking = Latchingfault.OperationwillnotresumeuntildriveisReset.

DriveFaultconditions.Faltsareprogrammabletobeeithertransientorlatching:Defaults Optional(programmable) • Short circuit (Internal or external) • Over-voltage • Driveover-temperature • Under-voltage • Motorover-temperature • MotorPhasingError • FeedbackError • CommandInputFault • FollowingError

L/A (LINK/ACT) LEDAgreenLEDindicatesthestateoftheEtherCATnetwork:LED Link Activity Condition ON Yes No Port Open Flickering Yes Yes PortOpenwithactivity Off No (N/A) PortClosed

ETHERCAT

75757575

1M

0.01UF200V0.01UF200V

1M

0.01UF200V0.01UF200V

TX2+

TX2-

TX1+

TX1-

RX2+

RX2-

RX1+

RX1-1

81

8

P8 Development Kit

J4 Drive

IN

OUT

STO DisableConnections

Channel 2

STO-Bypass (13.6 V, 6.5 mA)

STO-Gnd (Sgnd)

J3 Drive

STO-IN1+

STO-IN2+

Channel 1

FPGA

PWM HI

PWM LO

Channel 3

1.2k

1.2k

2k

2k

2k

1.2k

1.2k

5.1V

5.1V

5.1V

5.1V

5.1V

5.1V

1.2k

1.2k

STO-IN2-

STO-IN1-

STO-IN2+

STO-IN2-

3

1

8

6

7

5

4

2

EN

HI

LO

GateDrivers

PWMOutputs

+HV

P5 Development Kit

1

3

2

4

5

6

7

8

9

FG



DESCRIPTIONIftheSTOfeaturewillnotbeused,theSTOfunctioncanbedisabledbyaddingjumperstoaconnectorforP5asshownbelow.

ETHERCAT CONNECTORSDualRJ-45connectorsthatacceptstandardEthernetcablesareprovidedforEtherCATconnectivity.

Pin INSignal OUTSignal

1 TX1+ TX2+

2 TX1- TX2-

3 RX1+ RX2+

4 75Ωto1MΩ|| 10nFR/C

75Ωto1MΩ|| 10nFR/C5

6 RX1- RX2-

7 75Ωto1MΩ|| 10nFR/C

75Ωto1MΩ|| 10nFR/C8

ETHERCAT CONNECTORS

SAFE TORQUE OFF (STO)

JP6A

JP6B

JP10D

J4/21 [IN6] SLI_MISO

J4/37 [OUT6] SLI_MOSI

[OUT6] Red/Green LED



J4/40 [OUT7] SLI_SCLK

J4/39 [OUT8] SLI_SS1

10k

10k

Switches

74HC165

Q7

D0 8

4

2

1

8

4

2

1

D1

D2

D3

D4

D5

D6

D7

Vcc

+5V SEL

+5V SEL

+5V SEL

Gnd

SW2 x1

SW1 x10

CKE

SDI

PL

CLK

[OUT6]

[OUT7]

[OUT8]

JP7F

JP6C

SW13

JP6D

JP10BP6/38

P6/5

P6/4

[IN6]P6/12

JP10C

JP141

2

3

1

2

3

+5V SEL

JP14

P2/1+5V EXTExternal +5V

From DevKitP2-1

+5V outputfrom module J2 J2/19,20

+5V INT



5V POWER SOURCESPowerforcircuitsontheDevelopmentKit(+5VSEL)canbesuppliedeitherfromthe5Vfromtheservodrive(+5VENC),orfromanexternal+5V

powersupply(+5EXT).JumperJP14selectsthesourceofthe+5VSELfromeitherthedriveorfromtheexternalsource.

ETHERCAT DEVICE ID (STATION ALIAS) SWITCH CONNECTIONSThegraphicbelowshowstheconnectionstotheEtherCATDeviceIDswitches.Thesearereadafterthedriveisreset,orpowered-on.Whenchang-ingthesettingsoftheswitches,besuretoeitherresetthedrive,ortopoweritoff-on.Outputs[OUT5,6,8]andinput[IN6]operateasanSLI(Switch&LEDInterface)portwhichreadsthesettingsontheEtherCATDeviceIDswitches,andcontrolstheLEDsontheserialandCANportcon-nectors. In addition to the SLI function, the port can operate as an SLI interface.Thejumpersmarkedwithred“X”shouldberemovedsothatSW13,orexternalconnectionstothesignalsdonotinterferewiththeoperationoftheSLIport.The“X”on[OUT6]showsthatnoconnectionsshouldbemadetothisbytheuserwhentheSLIportisactive.

ETHERCAT DEVICE ID SWITCHES

+24V +24V +24V

SW8

P6/7

P6/8

P6/9

P6/10

P6/11

P6/12

P6/13

P6/14

P6/15

P6/30

JP7A

JP7B

JP7C

JP7D

JP7E

JP7F

JP7G

+24V +24V

JP7H

JP8A

JP8B

JP8C

IN7~10COMM

SW9 SW4SW10 SW11 SW12 SW13 SW3 SW5 SW6

IN1

IN1

IN2

IN2

IN3

IN3

IN4

IN4

IN5

IN5

IN6

IN6

IN7

IN7

IN8

IN8

IN9

IN9

IN10

IN10SW7

COMM

TomoduleInputs

[IN1]

[IN2]

[IN3]

[IN4]

[IN5]

[IN6]

[IN7]

[IN8]

[IN9]

[IN10]

P6

1 16 31

15 30 44

5V SEL

JP9C JP9DJP9A

DS3 DS4 DS5 DS6 DS7 DS8 DS9 DS10

JP9B JP10A JP10B JP10C JP10D

OUT1+

OUT1-

OUT6 SPI_MOSI

OUT7 SPI_SCLK

OUT8 SPI_SS1

OUT2+

OUT2-

OUT3+

OUT3-

OUT4+

OUT4-

OUT5

Tomoduleoutputs

[OUT1+]

[OUT1-]

[OUT2+]

[OUT2-]

[OUT3+]

[OUT3-]

[OUT4+]

[OUT4-]

[OUT5]

[OUT6]

[OUT7]

[OUT8]

red

green

1k

1k

P6

1 16 31

15 30 44

JP9G JP9HJP9E JP9F



LOGIC OUTPUTSTherearelogicoutputsthatcandrivecontrollerlogicinputsorrelays.Ifrelaysaredriven,thenflybackdiodesmustbeconnectedacrosstheirterminalstoclampovervoltagesthatoccurwhentheinductanceoftherelaycoilissuddenlyturnedoff.Outputs5,6,7&8areCMOStypesthatpullupto5Vordowntoground.WhentheseoutputsgohighitturnsonthegreenLED.Whentheyarelow,theredLEDisturnedon.Outputs1,2,3,&4aretwo-terminalopto-isiolatedtypes.Withthejumpersinplaceasshown,whentheoutputsareONtheywilldrivecurrentthroughtheLEDsDS3~6.

LOGIC INPUTS & SWITCHESTheDevelopmentKithasjumpersthatcanconnecttheGEMdigitalinputstoswitchesonthekit,ortotheSignalconnectorP8.Asdelivered,allofthesejumpersareinstalledasshown.Ifconnectingtoexternaldevicesthatactivelycontrolthelevelofaninput,itisdesirabletodisconnecttheswitchwhichcouldshorttheinputtoground.Forexample,if[IN1]isconnectedtoanexternaldevicefortheEnablefunction,thenjumperJP7AshouldberemovedtotaketheswitchSW1outofthecircuit.Thefigurebelowshowstheseconnections.


P4/13

P4/12

P4/11

P4/10

P4/9

P4/8

JP11

A

1k

221

130

121

121JP1B

JP1C

JP1A

JP1D

DS11 +5V SEL

+5V SEL

+5V INT

DS12

DS13

DS14

DS15

DS16

DS17

JP11

B

Tomodule

Tomodule

Tomodule

Tomodule

Enc A

Enc /A

Enc B

Enc /B

Enc X

Enc /X

P4/15Enc S

P4/14

P4/19

P4/18

P4/21

P4/20

P4/2

P4/3

P4/4

P4/7

P4/6

P4/17

P4/5

P4/16

P4/25

P4/26

Enc /S

Enc Sin(+)

Enc Sin(-)

Enc Cos(+)

Enc Cos(-)

Motemp

[IN11]

JP8D

Hall U

Hall V

Hall W

Signal Gnd

+5V ENC

+5V ENC

Signal Gnd

Signal Gnd

Signal Gnd

1k10k

10k

750

+5V INT

7.5k

2.49k

7.5k

2.49k

3.01k

1.0k

SW14

1

2

3



MOTOR FEEDBACK CONNECTOR P4Formotorswithdifferentialencoders:installjumpersJP1B,JP1C,JP1AtoconnectterminatorsacrossA,B,andXinputs.Formotorswithsingle-endedencoders:removejumpersJP1B,JP1C,JP1Atodisconnecttheterminators.

ThenusetheA,B,andXinputsfortheencoder.The/A,/B,and/Xinputsarethenbiasedbydividerstoworkwith the single-ended encoder signals.

Amotortemperaturesensorthatconnectsto[IN11]musthavejumperJP8DremovedtopreventswitchSW14from groundingtheMotemp[IN11]signal.

AbsoluteencoderssuchastheNikonAtypethatuse2-wirebidirectionalsignalsrequirebiasingthelineswhentheyareinaquiescentstate. JumpersJP11A,JP11B,andJP1Dmustbeinplacetoprovidelineterminationandbiasing.

LED’sareprovidedtoshowthestatusoftheencoderandHallsignals.

FEEDBACK CONNECTORS & SIGNALS

ii

4

4

3

2

1

20k

10k 46

45 BRK-24V

BRK-DRV

BRK-KIT

BRK-GND

47

48

J4Drive P1

P2Development Kit

Brake1 A max

Brake8 A max

+24V

0V

JP3C JP3D

JP3A

JP3B

+HVAUX

3P2

SGND



ThebrakecircuitintheGEMisopticallyisolatedfromtheotherdrivecircuits.AndthebrakecircuitintheDevelopmentKitisisolatedfromothercircuitsinthekit.Jumpersareprovidedthatconnectthekitbrakecircuitstothe+24V(HVAUX)powerand+HVCOM(HVpowergroundandSignalGround). Withthejumpersinplace,supplying+24VtoP2-4andgroundtoP2-3willpowerthebrakecircuit. Whenthisisdonealow-currentbrakecanbeconnectedtoP1-3andP1-4,orahigher-currentbrakecanbeconnectedbetweenP1-4andP1-2.The+24Vpowersupplymustbeabletosupplytherequiredcur-rent to energize the brake.

IMPORTANT:To use the internal flyback diodes in the Development Kit the 24V power supply must be connected between P1 pins 4 and 1 as shown.

BRAKE CONNECTOR & SIGNALS

+

-

4

4

[IN4]

[IN5]

DCPower

EarthCircuit Gnd

+HV InputFuse *

* Optional

P3

Brk-Gnd

Drive Enable

DAC OutDAC Ground

[IN1]

[IN2]

[IN3]

[AIN-]

Sgnd

[AIN+]

P4

EnablePosLim

NegLim

Signal Ground

P6

P1 Brk-24V

1

2

BRAKES

Motor W

Motor V

Motor U

3

4

5

Enc B

Enc /B

Enc X

Enc /X

Enc /A

Enc A

8

9

10

11

12

1

13

Enc /S 14

Enc Sin(+) 19

Enc Sin(-) 18

Enc Cos(+) 21

Enc Cos(-) 20

Enc S 15

4

3

2

1

6

Sgnd

Sgnd

Sgnd

Sgnd

Brk-Drv 1A

8ABrk-Kit

(Optional)for encoder

and LED's

(Optional)

(Optional)

5 V+

+

-

-24 V

Aux HV

P2

+5V Input1

2

3

4

Sgnd

Sgnd

Sgnd

HV Gnd

5

+5V ENC

+5V ENC

17

3

1

7

8

9

6

2

11

[IN6]12

10

[IN7] ISO

[IN8] ISO14

13

[IN9] ISO

[IN10] ISO30

15

[INCOM] ISO28

[OUT1+]

[OUT1-]27

[OUT2+]41

42

[OUT2-] ISO

[OUT3+] ISO40

26

[OUT1-] ISO

[OUT4+] ISO39

25

[OUT4-] ISO24

Hall U

Hall V

Hall W

2

3

4

HALLS

U

V

W

Motemp[IN11]

+5V ENC

7

25

26

16

+5V @ 500 mA total from module

Position Commands Velocity, Torque commands

Step Enc. Ch. A

Enc. Ch. B

CW

CCW Dir

50%PWM

Dir n.c.

Enc B

Enc /B

Enc X

Enc /X

Enc /A

Enc A

Enc /S

Enc S

36

35

34

33

21

20

19

18

17

31

+

-24 V

/A

B

/B

X

/X

+5V

Sgnd

+5V

Sgnd

+5V

Sgnd

+5V

Sgnd

A

B

X

A

X

/X

S

/S

S

/S

Abs-A

Abs-BiSS

Inc-Di

Inc-S.E.

Single-ended encoders only supported on

Multi-Port

32

/A

B

/B

X

/X

+5V

Sgnd

A

CLK

/CLK

DAT

/DAT

DAT

DAT

Abs-A

Abs-BiSS

Inc-DiDigital EncoderConnections aresame on Feedbackand Multi-Port

BLDCMOTOR DC

MOTOR

W

V

U

V

U



DEVELOPMENT KIT CONNECTIONS

PIN SIGNAL PIN SIGNAL PIN SIGNAL

26 Signal Gnd 18 Sin(-) 9 EncX

25 Signal Gnd 17 +5VEnc 8 Enc/X

24 N.C. 16 Signal Gnd 7 [IN11]Motemp*

23 RslvrRef(+) 15 Enc S 6 +5VENC

22 Rslvr Ref(-) 14 Enc /S 5 Signal Gnd

21 Cos(+) 13 Enc A 4 Hall W

20 Cos(-) 12 Enc /A 3 Hall V

19 Sin(+) 11 Enc B 2 Hall U

10 Enc /B 1 FrameGnd

Signal Pin+HV 1

HV Gnd 2Motor W 3Motor V 4Motor U 5

Signal Pin+5Ext 1

Gnd 2 Gnd 3

Aux HV 4

Signal PinBRK-GND 1BRK-KIT 2

BRK-DRV 3BRK-24V 4

12

34



P4 FEEDBACK

P1 BRAKE

P2

P1

P3

INPUT SWITCHES

JP1

P4

*SignalconnectionsonthePCboardareaffectedbyjumperplacement

P3MOTOR&+HVPOWER

P9 (See table on page 39)

P2AUXHV&+5V

DEVELOPMENT KIT CONNECT0RS

Pin Signal

1 n.c.

2 RxD

3 Sgnd

4 Sgnd

5 Txd

6 n.c.

Pin Signal

1 N.C.

2 N.C.

3 RS422(-)

4 RS422(+)

5 RS422-GND

PIN SIGNAL PIN SIGNAL

1 FrameGnd 16 Signal Gnd PIN SIGNAL

2 [AIN-] 17 +5VENC 31 Signal Gnd

3 [AIN+] 18 /S Multi-Port 32 +5VENC

4 [OUT8] SLI-EN1 19 /XMulti-Port 33 S Multi-Port

5 [OUT7] SLI-CLK 20 /B Multi-Port 34 XMulti-Port

6 Signal Gnd 21 /A Multi-Port 35 B Multi-Port

7 [IN1] HS 22 Signal Gnd 36 A Multi-Port

8 [IN2] HS 23 [OUT5] SLI-CLK 37 Signal Gnd

9 [IN3] HS 24 [OUT4-] ISO 38 [OUT6] SLI-MOSI

10 [IN4] HS 25 [OUT3-] ISO 39 [OUT4+]ISO



13 [IN7] ISO 28 [INCOM] ISO 42 [OUT1+]ISO

14 [IN8] ISO 29 N.C. 43 N.C.

15 [IN9] ISO 30 [IN10] ISO 44 Signal Gnd

P6 CONTROL

P5 SAFETY

PIN SIGNAL PIN SIGNAL

1 FrameGnd 6 STO-2(+)

2 STO-2(+) 7 STO-2(-)

3 STO-2(-) 8 STO-BYPASS

4 STO-1(+) 9 STO-GND

5 STO-1(-)

16

95

16

AMP

STAT

18

1

INO

UT

L/A

L/A

8



P7 RS-232

P9 RS-422

P8 ETHERCAT

P8

P9(Seetablebelow)

P7

P6

P5

See pinouts on page 28

DEVELOPMENT KIT CONNECT0RS

GEM-055-60 GEM ServoDrive,30/60Adc,9~55Vdc,withencoderfeedback

GEM-055-60-R GEM ServoDrive,30/60Adc,9~55Vdc,withresolverfeedback

GEM-090-60 GEM ServoDrive,30/60Adc,14~90Vdc,withencoderfeedback

GEM-090-60-R GEM ServoDrive,30/60Adc,14~90Vdc,withresolverfeedback

AccessoriesGEK-090-01 DevelopmentKitforallGEMmodels

GEK-CK ConnectorKitforDevelopmentKit(seedetailsbelow)

GEM-HK HeatsinkKit(Heatsink,thermalpad,andhardware)

SER-CK SerialCableKit:9-pinDsubreceptacleto6-pinmodularadapter,plusmodularcableforDevKit

SER-USB-RJ11 SerialInterfaceCable:USBtoRJ11forDevKitP7,5.9ft(1.8m)

GEK-CK Connector Kit for Development KitRef Name Qty Description Manufacturer P/N

P1 Brake1 Plug,4position,3.5mm,female Wago: 734-104/107-000

1 Tool,wireinsertion&extraction,734series Wago: 734-231

P2 Aux HV1 Plug,4position,5.08mm,female Wago: 231-304/107-000

1 Tool,wireinsertion&extraction,231series Wago: 231-159

P3 HV & Motor 1 Plug,5position,7.62mm,female Phoenix Contact: 1778094

P4 Feedback1 Connector,high-densityDB-26M,26position,male,soldercup Norcomp: 180-026-103L001

1 Metal Backshell, DB-15, RoHS Norcomp:979-015-020R121

P5 Safety1 Connector,DB-9M,9-position,standard,male Norcomp:1710009-103L001

1 Metal Backshell, DB-9, RoHS Norcomp:979-009-020R-121

P6 Control1 Connector,high-densityDB-44M,44position,male,soldercup Norcomp: 180-044-103L001

1 Metal Backshell, DB-25, RoHS Norcomp:979-025-020R121

P9 RS-422 1 Connector,terminalblock,female,0.20in,5-position TE/AMP: 796635-5

Other Connectors P7 RS-232 Serial Cable Kit Copley: SER-CK

P8 NetworkEthernetNetworkcable,10ft(3m) Copley: GEK-NC-10

EthernetNetworkcable,1ft(0.3m) Copley: GEK-NC-01



Note:Specificationssubjecttochangewithoutnotice

ORDERING GUIDE

Example:OrderoneArgus Plus GEM drive,30/60Adc,14~90Vdcwithresolverfeedback,DevelopmentKit,ConnectorKit,SerialCableKit,andHeatsinkKitQty Item Remarks 1 GEM-090-60-R Argus Plus GEM servodrivewithresolverfeedback 1 GEK-090-01 DevelopmentKit 1 GEK-CK ConnectorKitforDevelopmentKit 1 SER-USB-RJ11 USBtoSerialCableKit 1 GEM-HK HeatsinkKit(Seepage27forinstructionstomountdriveandheatsinktotheDevelopmentKit)

EtherCATisaregisteredtrademarkandpatentedtechnology,licensedbyBeckhoffAutomationGmbH,Germany.

ORDERING INFORMATION

argus plus module ethercat gem - actronic-solutions · 2020. 10. 29. · copley controls, 20 dan...

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