digital servo drive for brush & brushless motors · 2020. 12. 17. · iec 61800-5-1 emc...
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Model Ip Ic VdcBE2-090-06 6 3 90BE2-090-14 14 7 90BE2-090-20 20 10 90
BE2Accelnet Plus 2-Axis Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01440 Rev 02 Page 1 of 36
Current ratings are for each axis Add -R for resolver feedback option
DIGITAL SERVO DRIVE FOR BRUSH & BRUSHLESS MOTORS
CONTROL MODES• Cyclic Synchronous Position-Velocity-Torque (CSP, CSV, CST) • ProfilePosition-Velocity-Torque,InterpolatedPosition,Homing • Camming,Gearing • Indexer
COMMANDINTERFACE• CANopen application protocol over EtherCAT (CoE) • ASCIIanddiscreteI/O • Steppercommands • ±10V position/velocity/torque • PWMvelocity/torquecommand • Masterencoder(Gearing/Camming)
COMMUNICATIONS• EtherCAT • RS-232
FEEDBACKIncremental Encoders • Digital quad A/B Analog Sin/Cos PanasonicIncrementalAFormat • Aux. quad A/B encoder / encoder out Absolute Encoders • SSI,EnDat,AbsoluteA, Tamagawa&PanasonicAbsoluteA SanyoDenkiAbsoluteA,BiSS(B&C) Other • DigitalHalls
I/ODIGITAL• 8High-speedinputs• 2Motorover-tempinputs• 8Opto-Isolatedinputs• 5Opto-Isolatedoutputs• 2Opto-Isolatedbrakeoutputs
ANALOG• 2ReferenceInputs,12-bit
SAFE TORQUE OFF (STO)• SIL3,Category3,PLd
DIMENSIONS:IN[MM]• 6.78x4.70x1.74[172.1x119.3x44.1]noheatsink• 6.78x4.70x3.14[172.1x119.3x79.8]withheatsink
DESCRIPTIONThe BELmodels are high-performance, DC powered drives forposition,velocity,andtorquecontrolofbrushlessandbrushmotorsvia EtherCAT, an Ethernet-based fieldbus. These drives operateas EtherCAT slaves using the CANopen application protocol over EtherCAT(CoE)protocolofDSP-402formotioncontroldevices.Supportedmodes include:CyclicSynchronousPosition-Velocity-Torque,ProfilePosition-Velocity-Torque,InterpolatedPositionMode(PVT),andHoming.Feedback from both incremental and absolute encoders issupported.Amulti-modeencoderport functionsasan inputoroutput depending on the drive’s basic setup.
There are ten non-isolated inputs and eight isolated inputs. All inputs have programmable active levels. Five opto-isolatedoutputs[OUT1~5]haveindividual+/-connections.TwoisolatedMOSFET brake outputs [OUT6~7] are programmable for otherfunctionsandhaveflybackdiodestotheBrake24Vinputfordrivinginductive loads. Drive power is transformer-isolated DC from regulated orunregulated power supplies. An AuxHV input is provided for“keep-alive” operation permitting the drive power stage to becompletelypowereddownwithoutlosingpositioninformation,orcommunicationswiththecontrolsystem.
BE2Accelnet Plus 2-Axis Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01440 Rev 02 Page 2 of 36
Testconditions:Load=Wyeconnectedload:2mH+2Ωline-line.Ambienttemperature=25°C,+HV=HVmaxMODEL BE2-090-06 BE2-090-14 BE2-090-20
OUTPUTPOWER(EACHAXIS)PeakCurrent 6(4.2) 14(9.9) 20(14.4) Adc(Arms-sine),±5% Peaktime 1 Sec Continuouscurrent(Note1) 3(2.1) 7(4.9) 10(7.1) Adc(Arms-sine)perphase
INPUTPOWERHVmin~HVmax +14to+90 +14to+90 +14to+90 VdcTransformer-isolated Ipeak 12 28 40 Adc(1sec)peak Icont 6 14 20 Adccontinuous AuxHV +14to+90Vdc, Optional,notrequiredforoperation 4W(Typ,noloadonencoder+5Voutputs),11W,(Max,bothencoder+5V@500mA)
DIGITALCONTROLDigitalControlLoops Current,velocity,position.100%digitalloopcontrol Samplingrate(time) Currentloop:16kHz(62.5µs),Velocity&positionloops:4kHz(250µs) Busvoltagecompensation Changesinbusormainsvoltagedonotaffectbandwidth Minimumloadinductance 200µHline-line
COMMANDINPUTS(NOTE:DIGITALINPUTFUNCTIONSAREPROGRAMMABLE) Distributed Control Modes CANopenapplicationprotocoloverEtherCAT(CoE) CyclicSynchronousPosition-Velocity-Torque,ProfilePosition-Velocity-Torque, InterpolatedPosition,Homing Stand-alone mode Analogtorque,velocity,positionreference ±10Vdc,12-bitresolution Dedicateddifferentialanaloginput Digitalpositionreference Pulse/Direction,CW/CCW Steppercommands(2MHzmaximumrate) Quad A/B Encoder 2 M line/sec, 8 Mcount/sec (after quadrature) Digitaltorque&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,DTE,9600~115,200Baud,3-wire,RJ-11connector
DIGITALINPUTSNumber18 [IN1,2,10,11] Digital,non-isolated,Schmitttrigger,1.5µsRCfilter,24Vdccompatible,programmablepull-up/downto+5Vdc/ground, 74HC2G14,Vcc=5Vdc,Vt+=2.5~3.5Vdc,VT-=1.3~2.2Vdc,VH=0.7~1.5Vdc [IN3,4,12,13] Digital,non-isolated,programmableassingle-endedordifferentialpairs,100nsRCfilter,12Vdcmax, programmablepull-up/downperinputto+5Vdc/ground,MAX3096,Vcc=3.3Vdc SE:Vin-LO≤2.3Vdc,Vin-HI≥2.7Vdc,VH=45mVtyp,DIFF:Vin-LO≤200mVdc,Vin-HI≥200mVdc,VH=45mVtyp [IN5~8,14~17] Digital,opto-isolated,single-ended,±15~30Vdccompatible,bi-polar,2groupsof4,eachwithacommonterminal Ratedimpulse≥800V,Vin-LO≤6.0Vdc,Vin-HI≥10.0Vdc,Inputcurrent±3.6mA@±24Vdc,typical [IN9,18] Defaultasmotorovertempinputsonfeedbackconnectors,12Vdcmax,74HC2G14,Vcc=5Vdc, 330µsRCfilter,4.99kpullupto+5Vdc,Vt+=2.5~3.5Vdc,VT-=1.3~2.2Vdc,VH=0.7~1.5Vdc Functions Allinputsareprogrammable,[IN1&IN10]defaulttodriveaxesA&BEnablefunctionandareprogrammable
ANALOGINPUTSNumber 2 [AIN1~2] Differential,±10Vdc,5kWinputimpedance,12-bitresolution
SAFE TORQUE OFF (STO)Function PWMoutputsareinactiveandcurrenttothemotorwillnotbepossiblewhentheSTOfunctionisasserted Standard DesignedtoIEC-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-IN1:9.0mA,STO-IN2:4.5mA Responsetime 2msfromVin≤6.0Vdctointerruptionofenergysuppliedtomotor Reference Completeinformationandspecificationsareinthe16-01338Accelnet&StepnetPlusPanelsSTOManual
DIGITALOUTPUTSNumber 7 [OUT1~5] Opto-isolatedSSR,two-terminal,300mAmax,24Vtolerant,Ratedimpulse≥800V,series1Ωresistor [OUT6~7] Opto-isolatedMOSFET,defaultasmotorbrakecontrol,current-sinking, 1Adcmax,flybackdiodesto+24Vexternalpowersupplyfordrivinginductiveloads Programmableforotherfunctionsifnotusedforbrake
RS-232 PORTSignals RxD,TxD,Gndin6-position,4-contactRJ-11stylemodularconnector,non-isolated,commontoSignalGround Mode Full-duplex,DTEserialcommunicationportfordrivesetupandcontrol,9,600to115,200Baud Protocol BinaryandASCIIformats
ETHERCATPORTSFormat DualRJ-45receptacles,100BASE-TX Protocol EtherCAT, CANopen application protocol overEtherCAT(CoE),CiA-402formotioncontroldevices
NOTES:1)Heatsinkorforced-airrequiredforcontinuouscurrentrating
GENERAL SPECIFICATIONS
DANGER
Refertothe16-01338Accelnet&StepnetPlusPanelsSTOManual
Theinformationprovidedinthe16-01338 Accelnet & Stepnet Plus Panels STO Manual mustbeconsidered for any application using the drive’s STO feature.FAILURETOHEEDTHISWARNINGCANCAUSEEQUIPMENTDAMAGE,INJURY,ORDEATH.
BE2Accelnet Plus 2-Axis Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01440 Rev 02 Page 3 of 36
DC POWER OUTPUTS Number:Ratings 2:+5Vdc,500mAmaxeachoutput,thermalandshort-circuitprotected Connections AxisA:J1-17,J1-32,J7-6,J7-17;combinedcurrentfromthesepinscannotexceed500mA AxisB:J1-23,J1-38,J8-6,J8-17;combinedcurrentfromthesepinscannotexceed500mAINDICATORS
AMP Bicolor LED, drive state indicated by color, and blinking or non-blinking condition RUN GreenLED,statusofEtherCATstate-machine(ESM) ERR RedLED,showserrorsduetotime-outs,unsolicitedstatechanges,orlocalerrors L/A GreenLED,Link/Act,showsthestateofthephysicallinkandactivityonthelink(EtherCATconnection) RUN,ERR,andL/ALEDcolorsandblinkcodesconformtoETG.1300S(R)V1.1.0
PROTECTIONS HVOvervoltage +HV>90Vdc Driveoutputsturnoffuntil+HV<90Vdc(SeeInputPowerforHVmax) HVUndervoltage +HV<+14Vdc Driveoutputsturnoffuntil+HV>+14Vdc Driveovertemperature Heatplate>70°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 SizeIN[MM] 6.78x4.70x1.74[172.1x119.3x44.1]withoutheatsink 6.78x4.70x3.14[172.1x119.3x79.8]withheatsink WeightLB[KG] 1.5[0.68]withoutheatsink,2.75[1.25]withheatsink Ambienttemperature 0to+45Coperating,-40to+85Cstorage Humidity 0to95%,non-condensing Vibration 2 gpeak,10~500Hz(sine),IEC60068-2-6 Shock 10 g,10ms,half-sinepulse,IEC60068-2-27 Contaminants Pollutiondegree2 Environment IEC68-2 Cooling Heatsinkand/orforcedaircoolingrequiredforcontinuouspoweroutput
AGENCYSTANDARDSCONFORMANCEStandards and Directives Functional Safety IEC61508-1,IEC61508-2,IEC61508-3,IEC61508-4(SIL3) Directive 2006/42/EC (Machinery) ISO13849-1(Cat3,PLd) IEC61800-5-2(SIL3)
Product Safety Directive2014/35/EU(LowVoltage) IEC61800-5-1
EMC Directive 2014/30/EU (EMC) IEC61800-3
Restriction of the Use of Certain Hazardous Substances (RoHS) Directive2011/65/EU(RoHSII)
Approvals UL and cUL recognized component to: UL 61800-5-1, 1st Ed. TÜV SÜD Functional Safety to: IEC61508-1,IEC61508-2,IEC61508-3,IEC61508-4(SIL3) ISO13849-1(Cat3,PLd)
GENERAL SPECIFICATIONS
BE2 Models BE2-R Models
BE2-090-06 BE2-090-06-R
BE2-090-14 BE2-090-14-R
BE2-090-20 BE2-090-20-R
BE2Accelnet Plus 2-Axis Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01440 Rev 02 Page 4 of 36
FEEDBACK Incremental: DigitalIncrementalEncoder Quadraturesignals,(A,/A,B,/B,X,/X),differential(X,/XIndexsignalsnotrequired) 5MHzmaximumlinefrequency(20Mcounts/sec) AnalogIncrementalEncoder Sin/cosformat(sin+,sin-,cos+,cos-),differential,1Vpeak-peak, ServoTubemotorcompatible,BW>300kHz,121Ωterminatingresistorbetweencomplementaryinputs DigitalIndex(X,/X)input
Absolute: Two absolute encoders, one per axis are supported. Dual absolute encoders on one axis are not supported. SSI Clock(X,/X),Data(S,/S)signals,4-wire,clockoutputfromBE2,datareturnedfromencoder EnDAT Clock(X,/X),Data(S,/S),sin/cos(sin+,sin-,cos+,cos-)signals AbsoluteA TamagawaAbsoluteA,PanasonicAbsoluteAFormat,SanyoDenkiAbsoluteA SD+,SD-(S,/S)signals,2.5or4MHz,2-wirehalf-duplexcommunication 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,clockoutputfromBE2,datareturnedfromencoder
Terminators,DigitalEncoders A~/A,B~/Binputs:121Ω X~/Xinputs:130Ω S~/Sinputs:221Ω X,Sinputs:1kΩpull-upto+5V /X,/Sinputs:1kΩpull-downtoground
DIGITALHALLS Type Digital,single-ended,120°electricalphasedifferencebetweenU-V-Wsignals, Schmitttrigger,1µsRCfilter,24Vdccompatible,programmablepull-up/downto+5Vdc/ground, Vt+=2.5~3.5Vdc,VT-=1.3~2.2Vdc,VH=0.7~1.5Vdc Inputs 10kWpullupsto+5Vdc,1µsRCfiltertoSchmitttriggerinverters
MULTI-MODEENCODERPORTAsInput Digitalquadratureencoder(A,/A,B,/B,X,/X),5MHzmaximumlinefrequency(20Mcounts/sec), MAX3097linereceiver,1.5kWpull-upsto+5VonX&Sinputs,1.5kWpull-downstoSgndon/X&/Sinputs Digital absolute encoder (Clk, /Clk, Dat, /Dat) half or full-duplex operation, S&Xinputsareusedforabsoluteencoderinterface AsEmulatedOutput Quadratureencoderemulationwithprogrammableresolutionto4096lines(16,384counts)perrev fromanalogsin/cosencodersorabsoluteencoders A,/A,B,/B,fromMAX3032differentiallinedriver,X,/X,S,/SfromMAX3362differentiallinedriver AsBufferedOutput DigitalA/B/Xencoderfeedbacksignalsfromprimaryquadencoderarebuffered(seelinedrivesabove)Number:Ratings 2:+5Vdc,500mAmaxeachoutput,thermalandshort-circuitprotected Connections AxisA:J1-17,J1-32,J7-6,J7-17;combinedcurrentfromthesepinscannotexceed500mA AxisB:J1-23,J1-38,J8-6,J8-17;combinedcurrentfromthesepinscannotexceed500mA
FEEDBACK: BE2-R MODELS
FEEDBACK: BE2 MODELS
RESOLVER Type Brushless,single-speed,1:1to2:1programmabletransformationratio Resolution 14 bits (equivalent to a 4096 line quadrature encoder) Referencefrequency 8.0kHz Referencevoltage 2.8Vrms,auto-adjustablebythedrivetomaximizefeedback Referencemaximumcurrent 100mA MaximumRPM 10,000+ Sin/Cosinputs Differential,54k±1%differentialimpedance,2.0Vrms,BW≥300kHz
DIGITALHALLS Type Digital,single-ended,120°electricalphasedifferencebetweenU-V-Wsignals, Schmitttrigger,1µsRCfilter,24Vdccompatible,programmablepull-up/downto+5Vdc/ground, Vt+=2.5~3.5Vdc,VT-=1.3~2.2Vdc,VH=0.7~1.5Vdc Inputs 10kWpullupsto+5Vdc,1µsRCfiltertoSchmitttriggerinverters
MULTI-MODEENCODERPORT AsInput Digitalquadratureencoder(A,/A,B,/B,X,/X),121WterminatingresistorsbetweenA&/A,B&/Binputs 18 M-counts/sec, post-quadrature (4.5 M-lines/sec). Digital absolute encoder (Clk, /Clk, Dat, /Dat) half or full-duplex operation, 121 Wterminatingresistors (See above for listing of absolute encoder types. EnDat Sin/Cos signals are not supported) AsEmulatedOutput Quadratureencoderemulationwithprogrammableresolutionto4096lines(65,536counts)perrevfrom resolver,A,/A,B,/B,outputsfromMAX3032differentiallinedriver,X,/X,S,/SoutputsfromMAC3362drivers
ENCODERPOWERSUPPLIES Number:Ratings 2:+5Vdc,500mAmaxeachoutput,thermalandshort-circuitprotected Connections AxisA:J1-17,J1-32,J7-6,J7-17;combinedcurrentfromthesepinscannotexceed500mA AxisB:J1-23,J1-38,J8-6,J8-17;combinedcurrentfromthesepinscannotexceed500mA
Set x10 x1 Set x10 x1
Hex Dec Hex Dec
0 0 0 8 128 8
1 16 1 9 144 9
2 32 2 A 160 10
3 48 3 B 176 11
4 64 4 C 192 12
5 80 5 D 208 13
6 96 6 E 224 14
7 112 7 F 240 15
1 8 1 8
L/A L/ARunErr
OUTIN
S2
S1
X1X10DEVICE ID
AMP
RUNERR L/A L/A
Acc
elne
tPlu
sJ3 BRAKEJ2 ISOLATED I/OJ1 SIG
x10 x1
S1
S2
DEVICE ID
J4
NETWORK
A B
J5RS-232
J6 SAFETY
IN OUT
BE2Accelnet Plus 2-Axis Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01440 Rev 02 Page 5 of 36
J4:EtherCAT PORTSRJ-45receptacles, 8 position, 4 signals
EtherCATistheopen,real-timeEthernetnetworkdevelopedbyBeckhoffbasedonthewidelyused100BASE-TXcablingsystem.EtherCATenableshigh-speedcontrolofmultipleaxeswhilemaintainingtightsynchronizationofclocksinthenodes.
Data protocol is CANopen application protocol over EtherCAT (CoE) basedonDSP-402formotioncontroldevices. MoreinformationonEtherCATcanbefoundonthisweb-site:http://ethercat.org/default.htm
DualRJ-45socketsacceptstandardEthernetcables.TheINportconnectstoamaster,ortotheOUTportofadevicethatis‘upstream’,betweentheAccelnetandthemaster.
TheOUTportconnectsto‘downstream’nodes. IfAccelnetisthelastnodeonanetwork,onlytheINportisused.NoterminatorisrequiredontheOUTport.
EtherCAT DEVICEID(STATIONALIAS)InanEtherCATnetwork,slavesareautomaticallyassignedconsecutiveaddressesbasedontheirpositiononthenetwork.Butwhenthedevicemusthaveapositiveidentificationthatisindependentofcabling,aDeviceIDisused.IntheBE2,thisisprovidedbytwo16-positionrotaryswitcheswithhexadecimalencoding.ThesecansettheDeviceIDofthedrivefrom0x00~0xFF(0~255decimal).Thechartshowsthedecimalvaluesofthehexsettingsofeachswitch.Example1:FindtheswitchsettingsfordecimalDeviceID107:1)Findthehighestnumberinthex10columnthatislessthan107and
setx10tothehexvalueinthesamerow: 96<107and112>107,sox10=96=Hex6
2)Subtract96fromthedesiredDeviceIDtogetthedecimalvalueforthe switchx1andsetittotheHexvalueinthesamerow: x1=(107-96)=11=HexB
3)Result:X10=6,X1=B,Alias=0x6B(107)
EtherCATDeviceIDSwitch Decimalvalues
AMPLEDS& DEVICEIDSWITCHES
ETHERCAT COMMUNICATIONS
INDICATORS: DRIVE STATE
ETHERCATCONNECTIONS
Twobi-colorLEDsgivethestateoftheBE2drive.Colorsdonotalternate,andcanbesolidONorblinking.Whenmultipleconditionsoccur,onlythetop-mostconditionwillbedisplayed. Whenthatconditionisclearedthenextonebelowwillshown.1)Red/Blinking = Latchingfault.OperationwillnotresumeuntildriveisReset. 2)Red/Solid = Transientfaultcondition.Drivewillresumeoperationwhen theconditioncausingthefaultisremoved. 3)Green/Double-Blinking = STOcircuitactive,driveoutputsareSafe-Torque-Off 4)Green/Slow-Blinking = DriveOKbutNOT-enabled.Willrunwhenenabled. 5)Green/Fast-Blinking = PositiveorNegativelimitswitchactive. Drivewillonlymoveindirectionnotinhibitedbylimitswitch. 7)Green/Solid = DriveOKandenabled.Willruninresponseto referenceinputsorEtherCATcommands. Latching FaultsDefaults Optional(programmable) • Shortcircuit(Internalorexternal) • Over-voltage • Driveover-temperature • Under-voltage • Motorover-temperature • MotorPhasingError • FeedbackError • CommandInputFault • FollowingError
ETHERCATLEDS(ONRJ-45CONNECTORS)RUN Green:ShowsthestateoftheESM(EtherCATStateMachine
Off = Init Blinking = Pre-operational Single-flash = Safe-operational On = Operational
ERR Red:ShowserrorssuchaswatchdogtimeoutsandunsolicitedstatechangesintheBELduetolocalerrors. Off = EtherCATcommunicationsareworkingcorrectly Blinking = Invalidconfiguration,generalconfigurationerror SingleFlash = Localerror,slavehaschangedEtherCATstateautonomously DoubleFlash = PDOorEtherCATwatchdogtimeout,oranapplicationwatchdogtimeouthasoccurred
L/A Green:Showsthestateofthephysicallinkandactivityonthelink. AgreenLEDindicatesthestateoftheEtherCATnetwork: LED Link Activity Condition ON Yes No PortOpen Flickering Yes Yes PortOpenwithactivity Off No (N/A) PortClosed
PIN SIGNAL
2 RxD
3,4 *Gnd
5 Txd
6
9
1
5
3 2TxD RxD
RJ-11on
ServoDrive
RJ-11 cable6P6CStraight-wired7 ft (2.13 m)
5 3Gnd Gnd
RxD TxD2 5
D-Sub 9F
Dsub-9Fto RJ11Adapter
16
16
BE2Accelnet Plus 2-Axis Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01440 Rev 02 Page 6 of 36
BE2isconfiguredviaathree-wire,full-duplexDTERS-232portthatoperatesfrom9600to115,200Baud,8bits,noparity,andonestopbit.Signalformatisfull-duplex,3-wire,DTEusingRxD,TxD,andGnd.ConnectionstotheBE2 RS-232 port are throughJ4,anRJ-11connector.TheBE2 Serial Cable Kit (SER-CK)containsamodularcable,andanadapterthatconnectstoa9-pin, Sub-D serial port connector (COM1, COM2, etc.) on PC’s andcompatibles.
Afterpower-on,reset,ortransmissionofaBreakcharacter,theBaudratewillbe9,600.Oncecommunicationhasbeenestablished at this speed, the Baud rate can be changed to a higher rate (19,200, 57,600, 115,200).
J5:RS-232PORTRJ-11receptacle, 6 position, 4 contact
SER-CKSERIALCABLEKITTheSER-CKprovidesconnectivitybetweenaD-Sub9maleconnectorandtheRJ-11connectorontheBE2.ItincludesanadapterthatplugsintotheCOM1(orother)portofaPCandusescommonmodularcabletoconnecttotheBE2.Theconnectionsareshowninthediagrambelow.
USB TO RS-232 ADAPTERSThesemayormaynothavethespeedtoworkatthe115,200BaudratewhichgivesthebestresultswithCME. Users have reported that adapters using the FTDIchipsetworkwellwithCME
Don’t forget to order a Serial Cable Kit SER-CK whenplacingyourorderforaBE2!
ASCIICOMMUNICATIONS
TheCopleyASCIIInterfaceisasetofASCIIformatcommandsthatcanbeusedtooperateandmonitorthesedrivesoveranRS-232serialconnection.Forinstance,afterbasicdriveconfigurationvalueshavebeenprogrammedusingCME,acontrolprogramcanusetheASCIIInterfaceto:•EnablethedriveinProgrammedPositionmode.•Hometheaxis.•Issueaseriesofmovecommandswhilemonitoringposition,velocity,andotherrun-timevariables.
TheBaudratedefaultsto9,600afterpower-onorresetandisprogrammableupto115,200thereafter.Afterpower-on,reset,ortransmissionofaBreakcharacter,theBaudratewillbe9,600.Oncecommunicationhasbeenestablished at this speed, the Baud rate can be changed to a higher rate (19,200, 57,600, 115,200).ASCIIparameter0x90holdstheBaudratedata.Tosettherateto115,200enterthislinefromaterminal: s r0x90 115200 <enter>Then,changetheBaudrateinthecomputer/controllertothenewnumberandcommunicateatthatrate.
AdditionalinformationcanbefoundintheASCIIProgrammersGuideontheCopleywebsite:http://www.copleycontrols.com>Support>Manuals>ASCIIProgrammer’sGuide
COMMUNICATIONS: RS-232 SERIAL
*SignalGround
CONNECTIONS
PIN SIGNAL PIN SIGNAL
1 FrameGnd 6 STO-1(+)
2 STO-1(+) 7 STO-1(-)
3 STO-1(-) 8 STO-24V
4 STO-2(+) 9 STO-GND
5 STO-2(-)
DANGER
Refertothe16-01338Accelnet&StepnetPlusPanelsSTOManual
Theinformationprovidedinthe16-01338 Accelnet & Stepnet Plus Panels STO Manual mustbeconsidered for any application using the drive’s STO feature.FAILURETOHEEDTHISWARNINGCANCAUSEEQUIPMENTDAMAGE,INJURY,ORDEATH.
Frame Ground
STO-24V
STO-GND
Safety Connector
STO-1(+)
STO-2(+)
STO-2(-)
STO-1(-)
STO-1(+)
STO-1(-)
2
3
1
4
5
6
7
8
9
Upper MOSFET Gate Drivers
PWM ENABLE
PWM ENABLE
EN
+HV
PWMOutputs
UVWPWM
UVWPWM
Lower MOSFET Gate Drivers
Channel 1
Channel 2
Channel 3
*
16
95
SAFE
TY
BE2Accelnet Plus 2-Axis Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01440 Rev 02 Page 7 of 36
INSTALLATION
STOBYPASS(MUTING)InorderforthePWMoutputsoftheBE2tobeactivated,currentmustbeflowingthroughalloftheopto-couplersthatareconnectedtotheSTO-IN1andSTO-IN2terminalsofJ6,andthedrivemustbeinanENABLEDstate.Whentheopto-couplersareOFF,thedriveisinaSafeTorqueOff(STO)stateandthePWMoutputscannotbeactivatedbythecontrolcoretodriveamotor.
Thisdiagramshowsconnectionsthatwillenergizealloftheopto-couplersfromaninternalcurrent-source.WhenthisisdonetheSTO feature is overridden and control of the output PWM stage is under control of the digital control core. IfnotusingtheSTOfeature,theseconnectionsmustbemadeinorderfortheBE2tobeenabled.
Currentmustflowthroughallofthe
opto-couplersbeforethedrive canbeenabled
STOBYPASSCONNECTIONS
SAFE TORQUE OFF (STO)
FUNCTIONALDIAGRAM
* STO bypass connections on the BE2 and XenusXEL-XPLmodelsaredifferent.Ifbothdrivesareinstalledinthesamecabinet,thediodeshouldbewiredasshowntopreventdamagethatcouldoccuriftheSTObypassconnectorsareinstalledonthewrongdrive.The diode is not required for STO bypass ontheBE2andcanbereplacedbyawirebetweenpins7and9.
SAFETYCONNECTORJ6
TheSafeTorqueOff(STO)functionisdefinedinIEC61800-5-2.Twochannelsareprovidedwhich,whende-energized,preventtheupperandlowerdevicesinthePWMoutputsfrombeingoperated by the digital control core.
This provides a positive OFF capability that cannot be overridden bythecontrolfirmware,orassociatedhardwarecomponents.Whentheopto-couplersareenergized(currentisflowingintheinputdiodes),thecontrolcorewillbeabletocontroltheon/offstate of the PWM outputs.
DIFFERENTIAL:MULTI-PORTA,/A,B,/B
Signal Axis A Axis B
[EncA]Pls,CU,EncA J1-36 J1-42
[Enc/A]/Pls,/CU,Enc/A J1-21 J1-27
[EncB]Dir,CD,EncB J1-35 J1-41
[Enc/B]/Dir,/CD,Enc/B J1-20 J1-26
SignalGround J1-6,16,22,31,37,44
FrameGround J1-1
DIFFERENTIAL:MULTI-PORTA,/A,B,/B
Signal Axis A Axis B
[EncA]Curr-Vel± J1-36 J1-42
[Enc/A]/Curr-Vel± J1-21 J1-27
[EncB]Pol-Dir J1-35 J1-41
[Enc/B]/Pol-Dir J1-20 J1-26
SignalGround J1-6,16,22,31,37,44
FrameGround J1-1
SINGLE-ENDED:IN3,4,12,13
Signal Axis A Axis B
[IN3(12)]Pls,CU,EncA J1-9 J1-14
[IN4(13)]Dir,CD,EncB J1-10 J1-15
SignalGround J1-6,16,22,31,37,44
FrameGround J1-1
SINGLE-ENDED:IN3,4,12,13
Signal Axis A Axis B
[IN3(12)]Curr-Vel± J1-9 J1-14
[IN4(13)]/Curr-Vel± J1-10 J1-15
SignalGround J1-6,16,22,31,37,44
FrameGround J1-1
InputsAxis A(B)
CU (CW)
CD (CCW)
[IN3(12)]
[IN4(13)]
InputsAxis A(B)
Enc. A
Enc. B
[IN3(12)]
[IN4(13)]
InputsAxis A(B)
Pulse
Direction
[IN3(12)]
[IN4(13)]
A
/A
B
/B
Multi-port
PULSE
DIRECTION
PULSE
/PULSE
DIRECTION
/DIRECTION
A
/A
B
/B
CD (Count-Down)
CU (Count-Up)CU (CW)
/CU (CW)
CD (CCW)
/CD (CCW)Multi-port
A
/A
B
/B
Multi-port
Enc B
Enc /B
Encoder ph. B
Enc A
Enc /A
Encoder ph. A
Axis A(B)[IN3(12)]
Curr-Vel±
Pol-Dir[IN4(13)]
Axis A(B)Duty = 50% ±50%
<no connection>
Curr-Vel±
<not used>
[IN3(12)]
[IN4(13)]
Duty = 0 - 100% Curr-Vel
Pol-Dir
/Curr-Vel
/Pol-Dir
A
/A
B
/B
Multi-port
Duty = 50% ±50%
<no connection>
Curr-Vel±
/Curr-Vel±
A
/A
Multi-port
BE2Accelnet Plus 2-Axis Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01440 Rev 02 Page 8 of 36
POSITIONCOMMANDINPUTSSingle-endeddigitalpositioncommandsmustbesourcedfromdeviceswithactivepull-upandpull-downtotakeadvantageofthe high-speed inputs.
Fordifferentialcommands,theA&Bchannelsofthemulti-modeencoder ports are used.
SINGLE-ENDEDPWM&DIRECTION
SINGLE-ENDED50%PWM
SINGLE-ENDEDPULSE&DIRECTION
SINGLE-ENDEDCU/CD
QUADA/BENCODERSINGLE-ENDED
DIFFERENTIALCU/CD
DIFFERENTIALPULSE&DIRECTION
QUADA/BENCODERDIFFERENTIAL
DIFFERENTIAL50%PWM
DIFFERENTIALPWM&DIRECTION
DIGITAL COMMAND INPUTS: POSITION
DIGITAL COMMAND INPUTS: VELOCITY, TORQUESingle-endeddigitaltorqueorvelocitycommandsmustbesourcedfromdeviceswithactivepull-upandpull-downtotakeadvantage of the high-speed inputs.
Fordifferentialcommands,theA&Bchannelsofthemulti-modeencoder ports are used.
SIGNALS&PINS
Signal Axis A J1
Axis B J1
Pulse, CW, Encoder A 36 42
/Pulse, /CW, Encoder /A 21 27
Direction, CCW, Encoder B 35 41
/Direction, /CCW, Encoder /B 20 26
QuadEncX,AbsoluteClock 34 40
QuadEnc/X,/AbsoluteClock 19 25
Enc S, Absolute (Clock) Data 33 39
Enc /S, / Absolute (Clock) Data 18 24
SignalGround 6, 16, 22, 31, 37, 44
FrameGround 1
+5V output @ 500 mA
Signal Ground
Enc. B
Enc. X
Enc. X
Enc. X
Enc. S
Enc. S
B
X
/X
/S
Enc. A
Incremental Encoder
Absolute Encoder
J1 Multi-Port
Frame Ground
A
S
/B
/A
Input/OutputSelect
MAX3097
MAX3032
Pulse/Dir or CU/CD differential commands
Input/OutputSelect
MAX3097
MAX3032
A/B/X signals fromdigital encoder
Input/OutputSelect
MAX3097
MAX3032
A/B/X signals fromdigital encoder
InputSelect
OutputSelect
MAX3362
MAX3362
X
S
4-Wire digital absolute encoder signals
Input/OutputSelect
MAX3362
S
S
2-Wire digital absolute encoder signals
BE2Accelnet Plus 2-Axis Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01440 Rev 02 Page 9 of 36
MULTI-MODE PORT AS AN INPUT
POSITIONCOMMANDINPUTS:DIFFERENTIAL
• Pulse&Direction• CW&CCW(Clockwise&Counter-Clockwise)• EncoderQuadA&B• CammingEncoderA&Binput
CURRENT orVELOCITYCOMMANDINPUTS:DIFFERENTIAL
• CurrentorVelocity&Direction• CurrentorVelocity(+)&CurrentorVelocity(-)
SECONDARYFEEDBACK:INCREMENTAL• QuadA/B/Xincrementalencoder
SECONDARYFEEDBACK:ABSOLUTE• Schannel:AbsoluteAencoders(2-wire) TheSchannelfirstsendsaClocksignalandthen receivesDatafromtheencoderinhalf-duplexmode.
• S&Xchannels:SSI,BiSS,EnDatencoders(4-wire) TheXchannelsendstheClocksignaltotheencoder, whichinitiatesdatatransmissionfromtheencoder ontheS-channelinfull-duplexmode
INPUT TYPES
SIGNALS&PINS
Signal Axis A J1
Axis B J1
Encoder A 36 42
Encoder /A 21 27
Encoder B 35 41
Encoder /B 20 26
EncoderX 34 40
Encoder/X 19 25
Encoder S 33 39
Encoder /S 18 24
SignalGround 6, 16, 22, 31, 37, 44
FrameGround 1
SecondaryEncoder Input
Input/OutputSelect
Quad A/B/X primaryencoder
MAX3032
MAX3097
Buffered A/B/X signalsfrom primary encoder
SecondaryEncoder Input
Input/OutputSelect
MAX3362
MAX3097
Emulated Quad A/Bsignals from analog Sin/Cos encoder
Emulated A/B signals
Enc. B
Enc. X
B
/B
X
/X
Enc. A
Incremental Encoder
J1 Multi-Port
Frame Ground
A
/A
BE2Accelnet Plus 2-Axis Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01440 Rev 02 Page 10 of 36
MULTI-MODE PORT AS AN OUTPUT
OUTPUT TYPESBUFFEREDFEEDBACKOUTPUTS:DIFFERENTIAL
• EncoderQuadA,B,Xchannels• DirecthardwareconnectionbetweenquadA/B/X encoderfeedbackanddifferentiallinedriversforA/B/Xoutputs
EMULATEDFEEDBACKOUTPUTS:DIFFERENTIALFirmwareproducesemulatedquadA/Bsignalsfromfeedback datafromthefollowingdevices:• Absolute encoders • Resolvers (-R option)• AnalogSin/Cosincrementalencoders
Axis A Axis B Notes
OUT1 OUT2 Fault Active-OFF
OUT3
NotConfiguredOUT4
OUT5
OUT6 OUT7 BrakeActive-HI
Axis A Axis B Notes
√ √ Short Circuit
√ √ AmpOverTemp
√ √ MotorOverTemp
Over Voltage
Under Voltage
Motor Wiring Disconnected
STO Active
OPTIONALFAULTS
Over Current (Latched)
Axes A, B Notes
Analog: Reference Filter Disabled
Vloop:InputFilter Disabled
Vloop: Output Filter 1 LowPass,Butterworth, 2-pole,200Hz
Vloop: Output Filter 2 Disabled
Vloop: Output Filter 3 Disabled
Iloop:InputFilter1 Disabled
Iloop:InputFilter2 Disabled
InputShaping Disabled
Axes A, B Notes
Method SetCurrentPositionasHome
Axis A Config PU/PD Axis B Config PU/PD
IN1 Enable-LO+5V or
Sgnd
*IN10 Enable-LO+5V or
Sgnd
IN2Not
Configured
*IN11Not
ConfiguredIN3 *IN12
IN4 *IN13
IN5
Opto NotConfigured
IN14
Opto NotConfigured
IN6 IN15
IN7 IN16
IN8 IN17
IN9 Motemp +5V IN18 Motemp +5V
BE2Accelnet Plus 2-Axis Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01440 Rev 02 Page 11 of 36
CME DEFAULTS
ThesetablesshowtheCMEdefaultsettings.Theyareuser-programmableand thesettingscanbesavedtonon-volatileflashmemory.
SPECIFICATIONSInput Data Notes
InputVoltages
HI VT+≥3.5Vdc
LO VT-≤1.0Vdc
VH1 VH≤±1.5Vdc
Max +30Vdc
Min 0 Vdc
Pull-up/down R1 15 kW
LowpassfilterR2 15 kW
C1 100 pF
InputCurrent24V 1.3mAdc
0V -0.33mAdc
Timeconstant RC2 1.5µs
SPECIFICATIONSInput Data Notes
InputVoltages Single-ended
HI Vin≥2.7Vdc
LO Vin≤2.3Vdc
VH1 45mVdctyp
InputVoltages Differential3
HI Vdiff≥+200mVdc
LO Vdiff≤-200mVdc
VH ±45mVdctyp
Commonmode Vcm 0to+12Vdc
Pull-up/down R1 10 kW
LowpassfilterR2 1 kW
C1 100 pF
Timeconstant RC2 100 ns
CONNECTIONSS.E. DIFF Pin
IN3 IN3+ J1-9
IN4 IN3- J1-10
IN12 IN12+ J1-14
IN13 IN12- J1-15
Sgnd J1-6,16,22,31,37,44
CONNECTIONS
Input Pin
IN1 J1-7
IN2 J1-8
IN10 J1-12
IN11 J1-13
Sgnd J1-6,16,22,31, 37, 44
C1
C1
2.5V
MAX3096
MAX3096
[IN3,12]
J1 Control
[IN4,13]
R1
R1
+5V
R2
R2
++5V
+12V
[IN3,12]
J1 Control
[IN4,13]
+5V
+5V
C1
R1R2
C1
R1R2
MAX3096
12V+
C1
R2R1
74HC2G14
PullUp = +5VPullDown = 0V
[IN1,2]
+5V
FEEDBACK CONNECTOR
BE2Accelnet Plus 2-Axis Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01440 Rev 02 Page 12 of 36
• Digital, non-isolated, high-speed• Progammablepull-up/pull-down• 24VCompatible• Programmablefunctions
• Digital, non-isolated, high-speed• Progammablepull-up/pull-down• 12VCompatible• Single-endedorDifferential• Programmablefunctions
SINGLE-ENDED
DIFFERENTIAL
Notes:1)VHishysteresisvoltage IN2-IN3orIN12-IN13
2)TheR2*C2timeconstantapplieswheninputisdrivenbyactiveHI/LOdevices)
3)Vdiff=AINn(+)-AINn(-) n = 1 for Axis A, 2 for Axis B
HIGH SPEED INPUTS: IN1, IN2, IN10, IN11
SINGLE-ENDED/DIFFERENTIAL INPUTS: IN3, IN4, IN12, IN13
Notes:1)VHishysteresisvoltage (VT+)-(VT-)
2)TheR2*C2timeconstantapplieswheninputisdrivenbyactiveHI/LOdevices
CONNECTIONSInput Pin
IN9 J7-7
IN18 J8-7
Sgnd J7,8-5,16,25,26
SPECIFICATIONSInput Data Notes
InputVoltages
HI Vin≥3.5Vdc
LO Vin≤0.7Vdc
Max +12Vdc
Min 0 Vdc
Pull-up/down R1 4.99 kW
InputCurrent12V 1.4mAdc
0V -1.0mAdc
LowpassfilterR2 10 kW
C1 33 nF
Timeconstant Te 330µs*BS 4999:PART 111:1987
Property Ohms
Resistanceinthetemperaturerange20°Cto+70°C 60~750
Resistanceat85°C ≤1650
Resistanceat95°C ≥3990
Resistanceat105°C ≥12000
CONNECTIONSSignal Pins Signal Pins
IN5 J2-2 IN14 J2-7
IN6 J2-3 IN15 J2-8
IN7 J2-4 IN16 J2-9
IN8 J2-5 IN17 J2-18
ICOM1 J2-6 ICOM2 J2-17
SPECIFICATIONSInput Data Notes
InputVoltages
HI Vin≥±10.0Vdc*
LO Vin≤±6Vdc*
Max ±30 Vdc *
InputCurrent±24V ±3.6mAdc
0V 0mAdc
+5V
[IN9(18)]
Thermistor,Posistor,
or switch Signal Gnd
R1
R2
C1
J7,J8
5.1V
4.7k
5.1V
24V
24V GND
24V
[ICOM1(2)]
[IN5(14)]
4.7k
4.99k
[IN6(15)]
4.7k
4.7k
4.99k 5.1V
4.99k 5.1V
[IN7(16)]
[IN8(17)]
4.99k
J2
+
+
BE2Accelnet Plus 2-Axis Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01440 Rev 02 Page 13 of 36
• Digital, non-isolated• Motorovertempinputs• 12VCompatible• Programmablefunctions
• Digital, opto-isolated• 2Groupsoffour,eachwithownCommonterminal• Workswithcurrentsourcingorsinkingdrivers• 24VCompatible• Programmablefunctions
MOTOROVERTEMPINPUTThe4.99kpull-upresistorworkswithPTC(positivetemperaturecoefficient)thermistorsthatconformtoBS4999:Part111:1987,orswitchesthatopen/closeindicatingamotorover-temperaturecondition.Theactivelevelisprogrammable.
*VdcReferencedtoICOMterminals.
* RC time constant applieswheninputsaredrivenbyactivehigh/lowdevices
MOTOR OVERTEMP INPUTS: IN9, IN18
OPTO-ISOLATED INPUTS: IN5, IN6, IN7, IN8, IN14, IN15, IN16, IN17
SPECIFICATIONS
Spec Data Notes
InputVoltage Vref ±10 Vdc
InputResistance Rin 5.05 kW
CONNECTIONS
SignalPins
Axis A Axis B
AIN(+) J1-3 J1-5
AIN(-) J1-2 J1-4
Sgnd J1-6,16,22,31,37,44
HI/LODEFINITIONS:OUTPUTS
Input State Condition
OUT1~5HI OutputSSRisON,currentflows
LO OutputSSRisOFF,nocurrentflowsCONNECTIONSSignal (+) (-)
OUT1 J2-19 J2-10
OUT2 J2-20 J2-11
OUT3 J2-21 J2-12
OUT4 J2-22 J2-13
OUT5 J2-23 J2-14
SPECIFICATIONS
Output Data Notes
ON Voltage OUT(+)-OUT(-) Vdc 0.85V@300mAdc
Output Current Iout 300mAdcmax
+
1.5V
Shield (Frame Gnd)
AINn(+)
AINn(-)Vref
J1D/A
F.G.
±10V
Sgnd
-
[OUTn-]
300mAmax
* at 24 Vdc
Vdc
J2
[OUTn+]
1
80Ωmin*
36V
SSR
+
BE2Accelnet Plus 2-Axis Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01440 Rev 02 Page 14 of 36
• Digital, opto-isolated• MOSFEToutputSSR,2-terminal• Flyback diodes for inductive loads• 24VCompatible• Programmablefunctions
• ±10Vdc,differential• 12-bit resolution• Programmablefunctions
The analog inputs have a ±10 Vdc range at 12-bit resolution As reference inputs they can take position/velocity/torque commandsfromacontroller.Ifnotusedascommandinputs,they can be used as general-purpose analog inputs.
ANALOG INPUTS: AIN1, AIN2
OPTO-ISOLATED OUTPUTS: OUT1, OUT2, OUT3, OUT4, OUT5
HI/LODEFINITIONS:OUTPUTS
Input State Condition
BRK-A,B OUT6,7
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 Max +30Vdc
Output Current Ids 1.0 Adc
CONNECTIONS
Pin Signal
5 Brk24VInput
4 Brk 24V Output
3 BrakeA[OUT6]
2 BrakeB[OUT7]
1 24V Return
*
J3
Brake B
Brake A
5
4
24V
Brk 24V Input
Brk 24V Output
24V Return
2
3
1
i
+0
i
+0
*HV Com
Earth Ground
Heatplate/chassis
Frame Gnd
Frame Gnd
J1Control
J8Mot AJ10
Power
1
2
3
Signal Gnd
Signal Gnd
Signal Gnd
Signal Gnd
Signal GndSignal Gnd
Signal Gnd
Signal GndJ5Serial
3
4
1
1
37
44
31
16
6
22
J9Mot B
1
J2I/O J3
Brake1
+HV
0V
+Aux
0V
Earthing connections for power supplies should be as close as possible to elimimate potential differences between power supply 0V terminals.
Brk 24V Input
Brk 24V Output
5
4
2
3
1
Brake B
Brake A
24V Return
24V
BE2Accelnet Plus 2-Axis Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01440 Rev 02 Page 15 of 36
• Brake outputs• Opto-isolated• Flyback diodes for inductive loads• 24VCompatible• Connectionforexternal24Vpowersupply• Programmablefunctions
CMEDefaultSettingforBrakeOutputs[OUT6,7]is“Brake-ActiveHI” Active =Brakeisholdingmotorshaft(i.e.theBrake is Active) Motorcannotmove Nocurrentflowsincoilofbrake CMEI/OLineStatesshowsOutput6or7asHI BRKOutputvoltageisHI(24V),MOSFETisOFF Servodriveoutputcurrentiszero Servodriveisdisabled,PWMoutputsareoff Inactive = Brakeisnotholdingmotorshaft(i.e.theBrake is Inactive) Motorcanmove Currentflowsincoilofbrake CMEI/OLineStatesshowsOutput6or7asLO BRKoutputvoltageisLO(~0V),MOSFETisON Servo drive is enabled, PWM outputs are on Servodriveoutputcurrentisflowing
Thebrakecircuitsareopticallyisolatedfromalldrivecircuitsandframeground.
OPTO-ISOLATED MOTOR BRAKE OUTPUTS: OUT6, OUT7
This diagram shows theconnectionstothedrivethatshare a commonground inthedriver.Ifthebrake24Vpower supply is separatefromtheDCsupplypoweringthe drive, it is importantthat itconnects toanearthorcommongroundingpointwiththeHVpowersupply.
*There should be only one conductor in each position of the J3 connector. If brakes are to be wired directly to J3 for their 24V power, use a double wire ferrule for J3-4. Information for ferrules can be found on page 27.
Signal J7,J8Pin
Enc A 13
Enc /A 12
Enc B 11
Enc /B 10
EncX 9
Enc/X 8
+5V 6, 17
Sgnd 5, 16, 25, 26
F.G. 1
Signal J7,J8Pin
Sin(+) 19
Sin(-) 18
Cos(+) 21
Cos(-) 20
X 9
/X 8
+5V 6, 17
Sgnd 5, 16, 25, 26
F.G. 1
Signal J7,J8Pin
Sin(+)S3 19
Sin(-) S1 18
Cos(+)S2 21
Cos(-) S4 20
Ref(+)R1 23
Ref(-) R2 22
Sgnd 5,16 25, 26
F.G. 1
1k+5V
1k
Encoder J7,J8
FG Frame Ground
Enc. A121A
Enc. B121B
Enc. Index130Z/X
X
/B
B
/A
A
+5V
0V
+5V Out @ 500 mA
Signal Ground
A
/A
B
/B
X
/X
+ -+-
+ -+-
+ -+-
AFault Encoder-Loss
Encoder Loss Detection Logic
BFault
XFault
Va
Vb
VxIndex-Loss
Resolver
FG Frame Ground
J7,J8
SinS3 S1
S2
S4R1R2
Cos
Ref
Signal Ground
Sin(+) S3
Sin(-) S1
Cos(-) S4
Cos(+) S2
Ref(+) R1
Ref(-) R2
R/D Conversion
1k+5V
1k
+5V Out @ 500 mA
Signal Ground
Sin(+)
Sin(-)
Cos(+)
Cos(-)
X
/X
-
+
-
+
10k
121
J7,J8
10k
121
Encoder
FG
sin
cos
+5V
0V
indx
Frame Ground
10k
Sin
Cos
10k
Enc. Index130
BE2Accelnet Plus 2-Axis Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01440 Rev 02 Page 16 of 36
FEEDBACK CONNECTIONS
Encoderswithdifferentialline-driveroutputs are required (single-ended encoders are not supported) and provide incrementalpositionfeedbackviatheA/Bsignalsandtheoptionalindexsignal(X)givesaonceperrevolutionpositionmark.TheMAX3097receiverhasdifferentialinputswithfaultprotectionsforthefollowingconditions:
QUAD A/B/X ENCODER WITH SIGNAL LOSS DETECTIONCondition ExampleLine-line shorts A shorted to /AOpen-circuits: Adisconnected,/Aconnected.Terminatorresistorpulls A&/Atogetherforashort-circuitfaultLow-voltage Va-Vb≤200mV,or≥-200mV Encoderpowerloss,cabling,etc.
ANALOG SIN/COS INCREMENTAL ENCODERThesin/cosinputsareanalogdifferentialwith121Ωterminatingresistorsandaccept1Vp-psignalsintheformatusedbyincrementalencoderswithanalogoutputs,orwithServoTubemotors.Theindexinputisdigital,differential.
RESOLVER (-R OPTION)
Connectionstotheresolvershouldbemadewithdouble-shieldedcablethatusesthreetwisted-pairsplusanoutershield.Onceconnected,resolversetup,motorphasing,andothercommissioningadjustmentsaremadewithCMEsoftware.Therearenohardwareadjustments.
QUAD ENCODER WITH INDEX
SIGNAL LOSS DETECTION LOGIC
CME FEEDBACK OPTIONS
SIN/COS SIGNALSRESOLVER SIGNALS
A/B/X SIGNALS
Sgnd=SignalGround F.G.=FrameGnd
Sgnd=SignalGround F.G.=FrameGnd
Sgnd=SignalGround F.G.=FrameGnd
Signal J7,J8Pin
Clk 9
/Clk 8
Data 15
/Data 14
Sin(+) 19
Sin(-) 18
Cos(+) 21
Cos(-) 20
+5V 6, 17
Sgnd 5, 16, 25, 26
F.G. 1
Signal J7,J8Pin
Data 15
/Data 14
+5V 6, 17
Sgnd 5, 16, 25, 26
F.G. 1
SSI BiSS J7,J8Pin
Clk MA+ 9
/Clk MA- 8
Data SL+ 15
/Data SL- 14
+5V 6, 17
SignalGround 5, 16, 25, 26
FrameGnd 1
1k+5V
1k 1k+5V
1k
BiSSEncoder
221
130
MA+
MA-
SL+
SL-
FG Frame Ground
J7,J8
Clk
Data
Master
Slave
V+
V-
+5V Out @ 500 mA
Signal Ground
1k+5V
1k 1k+5V
1k
Encoder
221
130
Clk
/Clk
Dat
/Dat
FGFrame Ground
J7,J8
Clk
DataData
Clk
+5V
0V
+5V Out @ 500 mA
A
A
B
B
Signal Ground
-
+
-
+
A
B
A
B
1k+5V
1k 1k+5V
1k
Encoder
221
Sin(+)
Sin(-)
Cos(+)
Cos(-)
Dat
/Dat
Clk
/Clk130
FGFrame Ground
J7,J8
Clk
DataData
Clk
+5V
0V
+5V Out @ 500 mA
Signal Ground
10k
10k
121 Sin
Cos
10k
10k
121
sin
cos
Absolute-AEncoder
221
1.2k
1.2k
220
5V
SD+
SD-
J7,J8
Battery
Dat
/DatCmd
D-R
SDCmd
D-R
SD
MAX3362B0V
+5VV+
V-
+5V Out@ 500 mA
Signal Ground
Batt+
Batt-
+
-
1k
1k
5V
BE2Accelnet Plus 2-Axis Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01440 Rev 02 Page 17 of 36
FEEDBACK CONNECTIONS
SSI ABSOLUTE ENCODERTheSSI(SynchronousSerialInterface)isaninterfaceusedtoconnectanabsolutepositionencodertoamotioncontrollerorcontrolsystem.TheXELdriveprovidesatrainofclocksignalsindifferentialformattotheencoderwhichinitiatesthetransmissionof the position data on the subsequent clock pulses. The polling of the encoder data occurs at the current loop frequency (16 kHz).Thenumberofencoderdatabitsandcountspermotorrevolutionareprogrammable. Thehardwarebusconsistsoftwosignals:SCLKandSDATA.Dataissentin8bitbytes,LSBfirst.TheSCLKsignalisonlyactive during transfers. Data is clocked out on the falling edge and clock in on the rising edge of the Master.
BiSS ABSOLUTE ENCODERBiSS is an - Open Source - digital interface for sensors and actuators.BiSSreferstoprinciplesofwellknownindustrialstandardsforSerialSynchronousInterfaceslikeSSI,AS-Interface®andInterbus®withadditionaloptions. 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 thatiselectricallythesameasRS-485.Notethebatterywhichmustbeconnected.Withoutit,theencoderwillproduce a fault condition.
SSI,BiSS SIGNALS
ENDAT SIGNALS
ABSOLUTE-A SIGNALS
Note: Single (outer) shields should be connected at both ends (motor and drive frame grounds). Inner shields should only be connected to Signal Ground on the drive.
Sgnd=SignalGround F.G.=FrameGnd
Sgnd=SignalGround F.G.=FrameGnd
Property Ohms
Resistanceinthetemperaturerange 20°Cto+70°C
60~750
Resistanceat85°C ≤1650
Resistanceat95°C ≥3990
Resistanceat105°C ≥12000
Signal J9,J10Pin
Mot U 4
Mot V 3
Mot W 2
FrameGnd 1
Signal J7,J8Pin
HallU 2
HallV 3
HallW 4
+5V 6, 17
Sgnd 5, 16, 25, 26
FrameGnd 1
Signal Pin
MotempA J7-7
MotempB J8-7
J7,J8 SignalGround 5,10
FrameGnd 12
PWM
+HV
0V
ServoMotor
MOT W
Gn/YFrame Gnd
MOT V
MOT U
J9, J10
+
*
Halls
+5V Out @ 500 mA
Signal Ground
+5V
0V
15K
100p
15KHall U+5V
J7,J8
100p
15K
15KHall V+5V
100p
15K
15KHall W
+5V
Hall A
Hall B
Hall C
+5V
[IN9(18)]
Thermistor,Posistor,
or switch Signal Gnd
R1
R2
C1
J7,J8
BE2Accelnet Plus 2-Axis Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01440 Rev 02 Page 18 of 36
MOTOR CONNECTIONS
MOTOR OVER TEMP INPUTThe4.99kpull-upresistorworkswithPTC(positivetemperaturecoefficient)thermistorsthatconformtoBS4999:Part111:1987(tablebelow),orswitchesthatopen/closeindicatingamotorover-temperaturecondition.Theactivelevelisprogrammable. TheseinputsareprogrammableforotherfunctionsifnotusedasMotempinputs.And,otherinputsareprogrammablefortheMotempfunction.
MOTOR PHASE CONNECTIONSThe drive outputs are three-phase PWM inverters that convert the DC buss voltage (+HV)intothreesinusoidalvoltagewaveformsthatdrivethemotorphase-coils.Cableshouldbesizedforthecontinuouscurrentratingofthemotor.Motorcablingshouldusetwisted,shieldedconductorsforCEcompliance,andtominimize PWMnoise coupling into othercircuits.Furtherdetailsonmotorconnectionscan be found on page 24.
DIGITAL HALL SIGNALSHall signals are single-ended signals thatprovideabsolutefeedbackwithinoneelectricalcycleofthemotor.Therearethreeofthem(U,V,&W)andtheymaybesourcedbymagneticsensorsinthemotor,orbyencodersthathaveHalltracksaspartoftheencoderdisc.Theytypically operate atmuch lower frequenciesthanthemotorencodersignals,andareusedfor commutation-initialization after startup,andforcheckingthemotorphasingafterthedrivehasswitchedtosinusoidalcommutation.
MOTEMP SIGNALS BS 4999 SENSOR
HALL SIGNALS
MOTOR SIGNALS
* MOT W not used for DC brush motors
BRUSHLESSMOTOR
U
V
U(+)
V(-)
W
BRUSHMOTOR
Groundingtab
Frame Gnd
5 25
26
17
8
9
10
11
12
1
13
Hall W 4
Hall V 3
Hall U 2
DIGITALENCODER
DIGITALHALLS
/A
A
/B
B
/X
Vcc
0V
X
J7J8
6
Enc /A
Enc A
Enc /B
Enc B
Enc /X
Enc X
+5V Out
7
Signal Gnd
Signal Gnd
Brake A
Motemp
4
3
2
1
Mot U
Mot V
Mot W
Frame Gnd
J9J10
J3
TEMPSENSOR
Brake B
24V Return
4Brk 24V Output
Brk 24V Input +
0V
24 Vdc
Accelnet Plus Panel 2-Axis
Brk
Brk
16
5
3
2
1
BE2Accelnet Plus 2-Axis Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01440 Rev 02 Page 19 of 36
Theconnectionsshownmaynotbeusedinallinstallations
NOTES:1) The+5VOut1onJ1-17,32andJ7-6,17isratedfor500mA The+5VOut2onJ1-23,38andJ8-6,17isratedfor500mA Thesearetwoindependentpowersupplies,eachwitha500mAmaxoutputfromallpins 2) CEsymbolsindicateconnectionsrequiredforCEcompliance.
MOTOR CONNECTIONS: DIGITAL QUAD A/B ENCODER
Groundingtab
Frame Gnd
5 25
26
17
8
9
20
21
18
1
19
Hall W 4
Hall V 3
Hall U 2
J7J8
6+5V Out
7
Signal Gnd
Signal Gnd
Motemp
4
3
2
1
Mot U
Mot V
Mot W
Frame Gnd
J9J10
Accelnet Plus Panel 2-Axis
ENCODER
DIGITALHALLS
Vcc
0V
TEMPSENSOR
ANALOG
Sin-
Sin+
Cos-
Cos+
Ndx-
Ndx+
Enc Sin(-)
Enc Sin(+)
Enc Cos(-)
Enc Cos(+)
Enc Index(-)
Enc Index(+)
J32
3
1
Brk 24V Output
Brake B
4
5Brk 24V Input
Brake A
24V Return
+
24 Vdc
-
MOTOR
U
V
U(+)
W
BRUSH
16
Brk
Brk
V(-) MOTORBRUSHLESS
BE2Accelnet Plus 2-Axis Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01440 Rev 02 Page 20 of 36
MOTOR CONNECTIONS: ANALOG SIN/COS ENCODER
Theconnectionsshownmaynotbeusedinallinstallations
NOTES:1) The+5VOut1onJ1-17,32andJ7-6,17isratedfor500mA The+5VOut2onJ1-23,38andJ8-6,17isratedfor500mA Thesearetwoindependentpowersupplies,eachwitha500mAmaxoutputfromallpins 2) CEsymbolsindicateconnectionsrequiredforCEcompliance.
Groundingtab
BRUSHLESSMOTOR
U
V
U(+)
V(-)
W
BRUSHMOTOR
Frame Gnd
25
24
6
22
23
20
21
18
1
19
Hall W 4
Hall V 3
Hall U 2
RESOLVER
Sin- S1
Sin+ S3
Cos- S4
Cos+ S2
Ref- R2
Ref+ R1
J7J8
[IN21,22]
Sgnd
Rlvr Sin(-)
Rlvr Sin(+)
Rlvr Cos(-)
Rlvr Cos(+)
Rlvr Ref(-)
Rlvr Ref(+)
+5V Out
5 TEMPSENSOR
7
Signal Gnd
Motemp
4
3
2
1
Mot U
Mot V
Mot W
Shield
J9J10
J32
3
1
Brk 24V Output
Brake B
4
5Brk 24V Input
Brake A
24V Return
+
-
24 VdcAxis A Brake
Axis BBrake
Accelnet Plus 2-Axis
BE2Accelnet Plus 2-Axis Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01440 Rev 02 Page 21 of 36
MOTOR CONNECTIONS: RESOLVERS (-R OPTION)
Theconnectionsshownmaynotbeusedinallinstallations.Hallsignalsarenotgenerallyusedwithresolverfeedbackbutareshownherebecausetheyfunction if needed for resolver operation.
NOTES:1) The+5VOut1onJ1-17,32andJ7-6,17isratedfor500mA The+5VOut2onJ1-23,38andJ8-6,17isratedfor500mA Thesearetwoindependentpowersupplies,eachwitha500mAmaxoutputfromallpins 2) CEsymbolsindicateconnectionsrequiredforCEcompliance.
~
~+
-
+
Frame Gnd
Frame Gnd
PWMInverter
J9 Axis A
Axis AMotor
PWMInverter
Control Core circuits arereferenced to Signal Ground (Sgnd)and HV Com ground
DC-DCConverter
SgndSignal Gnd
Internal DCPower for
All Circuits
+HV
HV Com
Aux
EarthGround
J10 Axis B
Axis BMotor
J11 HV & Aux
J5 Serial
J4 EtherCATX2 In and Out
Ports are Identical
EtherCATConnections are
isolated fromdrive circuits
TxD
RxD
Tx1+
Rx1+
Rx1-
Tx1-
Sgnd
2
1
3
1
2
3
4
1
2
3
4
1360 µF
5432
1M
75
75
10n
J1 Control
DRIVE HEATPLATE
Sgnd
Sgnd
Sgnd
HV ComGnd
ProtectiveEarth ground
DRIVE CIRCUITS
Vcc
Vcc
[IN1~4, 10~13][IN9,18]
[IN5~8,14~17]
[AIN1~2+/-]
Isolated
Sgnd
Sgnd
Isolated
+
Sgnd
- J2 I/O
Vcc[OUT1~5+]
[OUT1~5-]
Drive Control Core
[IN9,18]
J7,J8 Axes A,B
J3 Brake
Motor temp switch
Vcc
+24V
Brk 24V Input
Brk 24V Output
Brake A
Brake B
24V Return
+
-
R-L
Isolated
R-L
24V Return
BE2Accelnet Plus 2-Axis Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01440 Rev 02 Page 22 of 36
DEVICE STRUCTURE & ISOLATION
Thisgraphicshowstheelectricalstructureofthedrive,detailingtheelementsthatshareacommoncircuitcommon(SignalGround,HVCom)andcircuitsthatareisolatedandhavenoconnectiontointernalcircuits. Notethatthereisnoconnectionbetweentheheatplate(Chassis,FrameGround)andanydrivecircuits.
+
-
+~
~
~
~
+
- -
+HV
HVGround
Aux
2
1
3
UnregulatedPower Supply
LineFilter
ACMains
Equipment Ground
Earth Ground
Green/Yellow
P-Clip
H
N
Gnd
Plus PanelsDrive
PowerConnector1-Axis = J82-Axis = J11
HV+
-Aux
Frame Ground
BE2Accelnet Plus 2-Axis Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01440 Rev 02 Page 23 of 36
POWER & GROUNDING CONNECTIONS
DCPOWERCONNECTIONS• DCpowermustbeprovidedbytransformersthataregalvanicallyisolatedandprovidereinforcedinsulationfromthemains.
Auto-transformers cannot be used.• The(-)terminalofthepowersupplyisnotgroundedatthepowersupply.Itisgroundedneareachdrive.• Cablingtomultipledrivesforthe+HVand0Visbestdoneina“star”configuration,andnota“daisy-chain”.• The0V,orreturnterminaloftheDCpowershouldbeconnectedtoframegroundnearthedrivepowerconnector. Fromthatpoint,ashortwirecanconnecttothedriveHVGround.
• Cablingtothedrive+HVand0Vterminalsmustbesizedtocarrytheexpectedcontinuouscurrentofthedriveintheuser’sinstallation.
• DCpowercablingshouldbeshielded,twisted-pairforbestEMIreduction.Theshieldshouldconnecttothepowersupplyframegroundononeend,andtothedriveframegroundontheother.Addingapigtailandring-lug,asshortaspossiblewillprovideagood connection of the shield at the drive.
• Motorcablingtypicallyincludesagreen/yellowconductorforprotectivebondingofthemotorframe. ConnectasshownintheMotorConnectionsdiagramonthefollowingpage.
• MotorcableconductorsshouldbetwistedandshieldedforbestEMIsuppression.• Ifagreen/yellowgroundingwireconnectsthemotortothedrive’sPEterminal,theshieldpigtailandring-lugmayconnecttooneofthescrewsthatmountthedrivetothepanel.AP-cliptogroundtheshieldasnearaspossibletothedrivewillincreasetheEMIsuppressionoftheshield.Onthemotor-end,theshieldfrequentlyconnectstotheconnectorshell.Ifthemotorcableisaflying-leadfromthemotor,theshieldmaybeconnectedtothemotorframeinternally.
• BraidedcableshieldsaremoreeffectiveforEMIreductionthanfoilshields.Double-shieldedcablestypicallyhaveabraidedoutershieldandfoilshieldsfortheinternaltwistedpairs.ThiscombinationiseffectiveforbothEMIreductionandsignalqualityofthefeedbacksignalsfromanalogencodersorresolvers.
• Motorcableshieldingisnotintendedtobeaprotectivebondingconductorunlessotherwisespecifiedbythemotormanufacturer.• Forfeedbackcables,double-shieldedcablewithasingleoutershieldandindividualshieldedtwistedpairinternalshieldsgivesthebestresultswithresolvers,oranalogsin/cosencoders.
• Indouble-shieldedcables,theinternalshieldingshouldconnecttothedrive’sSignalGroundononeend,andshouldbeunconnectedonthemotorend.
• Single-shieldfeedbackcablesconnecttothedriveframeononeend,andtothemotorframeontheother. Dependingontheconstructionofthemotor,leavingthefeedbackcableshielddisconnectedonthemotorbutconnectedonthedriveendmaygivebetterresults.
• Thedriveshouldbesecuredtotheequipmentframeorpanelsusingthemountingslots.ThisensuresagoodelectricalconnectionforoptimalEMIperformance.Thedrivechassisiselectricallyconductive.
DCPOWERWIRINGP-clips secure cables to a panel and provide full contact to the cable shields after the insulation has been stripped.ThisshouldbedoneasclosetothedriveaspossibleforbestEMIattenuation.
(+)
(-)
+ +Cint
RegulatedPower
Supply Cext
Cext: ExternalCapacitor
Cint: InternalCapacitor
Drive
(+)
(-)
+ +Cint
UnregulatedPower
Supply Cps
Cps: Power SupplyCapacitor
Cint: InternalCapacitor
Drive
Outer Shield
Inner Shields
Motor
Motor
U
V
W
P-clip
F.G.
Feedback
Encoder
F.G.
Enc A
Enc B
Enc X
Sgnd
Earth Ground
Frame Ground
0.0
1.0
2.0
3.0
4.0
5.0
6.0
25 30 40 50 60 70 80 90
BE2Accelnet Plus 2-Axis Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01440 Rev 02 Page 24 of 36
REGENERATIONThis chart shows the energy absorption inW·s for thedriveoperatingat some typicalDCvoltages.Itisbasedontheinternal1360uFcapacitanceandwouldbeincreasedbythecapacitanceoftheexternalDCpowersupply.Whentheloadmechanicalenergyisgreaterthan these values an external regenerative energydissipaterisrequired,ortheDCpowersupply capacitance can be increased to absorb the regen energy.
Joules(W·s)
ENERGYABSORPTION
MOTORCONNECTIONS• Motorcableshieldconnectstomotorframe,isgroundedwithaP-clipnearthedriveandterminatesinaring-lugthatisscrewedtothedrivechassisbyamountingscrewtothepanel
• Ifprovided,agreen/yellowgroundingwirefromthemotorconnectstotheF.G.terminalofthemotorconnector.
FEEDBACKCONNECTIONS• CableshieldconnectstomotorframeandtotheF.G.terminalofthefeedbackconnector.
• When double-shielding is used, the inner shieldsconnecttotheSignalGroundatthedrive,andisnotconnectedatthemotorend.
• Ifnotprovidedbythemotormanufacturer,feedback cables rated for RS-422 communicationsarerecommendedfordigitalencoders.
+HVPOWERSUPPLYREQUIREMENTSRegulatedPowerSupplies
• Mustbeover-voltageprotectedto100VdcmaxwhentheSTO(SafeTorqueOff)feature of the drive is used.
• Require a diode and external capacitor to absorb regenerative energy.• TheVAratingshouldbegreaterthantheactualcontinuousoutputpowerofthedrivesconnectedtothepowersupply,andadequateforthetransientoutputpowerduetoaccelerationofmotorloads.
• Must handle the internal capacitance of the drives on startup.UnregulatedPowerSupplies
• No-load,high-lineoutputvoltagemustnotexceed90Vdc.• Powersupplyinternalcapacitanceaddstothedrive’sinternalcapacitance
for absorption of regenerative energy.• TheVA(Volts&Amps)ratingatthepowersupply’sACinputistypically30~40%greaterthanthetotaloutputpowerofthedrives.
AUXILIARYHVPOWER• AuxHVispowerthatcankeepthedrivecommunicationsandfeedbackcircuitsactivewhenthePWMoutputstagehasbeendisabledbyremovingthemain+HVsupply.
• UsefulduringEMO(EmergencyOff)conditionswherethe+HVsupplymustberemovedfromthedriveandpowered-downtoensureoperatorsafety.
• Voltagerangeisthesameas+HV.• PowerstheDC/DCconverterthatsuppliesoperatingvoltagestothedriveDSPand
control circuits.• AuxHVdrawsnocurrentwhenthe+HVvoltageisgreaterthantheAuxHVvoltage.
+HV(VDC)
PIN SIGNAL PIN SIGNAL
1 FrameGnd 6 STO-1(+)
2 STO-1(+) 7 STO-1(-)
3 STO-1(-) 8 STO-24V
4 STO-2(+) 9 STO-GND
5 STO-2(-)
PIN SIGNAL 1PIN SIGNAL PIN SIGNAL19 [OUT1+]GPI 10 [OUT1-]GPI 1 FrameGround20 [OUT2+]GPI 11 [OUT2-]GPI 2 [IN5]GPI21 [OUT3+]GPI 12 [OUT3-]GPI 3 [IN6]GPI22 [OUT4+]GPI 13 [OUT4-]GPI 4 [IN7]GPI23 [OUT5+]GPI 14 [OUT5-]GPI 5 [IN8]GPI24 N/C 15 N/C 6 COM1[IN5~8]25 N/C 16 N/C 7 [IN14]GPI26 N/C 17 COM2[IN14~17] 8 [IN15]GPI
18 [IN17]GPI 9 [IN16]GPI
PIN SIGNAL PIN SIGNAL
PIN SIGNAL 30 N/C 15 [IN13]Diff2(-)
44 SignalGnd 29 N/C 14 [IN12]Diff2(+)
43 N/C 28 N/C 13 [IN11]
42 B-MultiEnc A 27 B-MultiEnc /A 12 [IN10]
41 B-MultiEnc B 26 B-MultiEnc /B 11 N/C
40 B-MultiEncX 25 B-MultiEnc/X 10 [IN4]Diff1(-)
39 B-MultiEnc S 24 B-MultiEnc /S 9 [IN3]Diff1(+)
38 B+5VdcOut2 23 B+5VdcOut2 8 [IN2]
37 SignalGnd 22 SignalGnd 7 [IN1]
36 A-MultiEnc A 21 A-MultiEnc /A 6 SignalGnd
35 A-MultiEnc B 20 A-MultiEnc /B 5 [AIN2+]
34 A-MultiEncX 19 A-MultiEnc/X 4 [AIN2-]
33 A-MultiEnc S 18 A-MultiEnc /S 3 [AIN1+]
32 A+5VdcOut1 17 A+5VdcOut1 2 [AIN1-]
31 SignalGnd 16 SignalGnd 1 FrameGnd
1
5
6
9
110
19
91826
11631
304415
AM
P
RU
NE
RR
L/AL/A
AccelnetPlus
J3
BR
AK
E
J2IS
OLA
TE
D I/O
J1
SIG
x10x1
S1
S2
DE
VIC
E ID
J4
NE
TW
OR
K
AB
J5
RS
-232
J6S
AF
ET
Y
INO
UT
J1:CONTROLSIGNAL
J2:ISOLATEDI/O
54321
BE2Accelnet Plus 2-Axis Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01440 Rev 02 Page 25 of 36
J6SAFETY(SAFETORQUEOFF)
CONNECTORS & SIGNALS: FRONT PANEL
J6BE2CONNECTOR:DsubDB-09F,9positionfemalereceptacle
J6CABLECONNECTOR:Dsub DB-09M, 9 position
Details on the cable connectors shown here can be found in the BE2-CK listing under the Accessories section of the last page
J1:DRIVECONNECTORHigh-DensityDsubDB-44F,femalereceptacle,44Position
J2:CABLECONNECTORHigh-DensityDsubDB-44M,maleplug,44Position
J2:DRIVECONNECTORHigh-DensityDsubDB-26M,maleplug,26Position
J2:CABLECONNECTORHigh-DensityDsubDB-26F,femalereceptacle,26Position
J3:BRAKE
PIN SIGNAL PIN SIGNAL PIN SIGNAL1 FrameGnd 10 A(B) Enc /B 19 A(B)Sin(+)2 A(B)HallU 11 A(B) Enc B 20 A(B) Cos(-)3 A(B)HallV 12 A(B) Enc /A 21 A(B)Cos(+)4 A(B)HallW 13 A(B) Enc A 22 N/C5 SignalGnd 14 A(B) Enc /S 23 N/C6 A(B)+5VOut1(2) 15 A(B) Enc S 24 N/C7 [IN9(18)]A(B)Motemp 16 SignalGnd 25 SignalGnd8 A(B)Enc/X 17 A(B)+5VOut1(2) 26 SignalGnd9 A(B)EncX 18 A(B) Sin(-)
Pin Signal
1 24V Return
2 BrakeB[OUT7]
3 BrakeA[OUT6]
4 Brk 24V Output
5 Brk24VInput
Signal Pin
HVGround 1
HV 2
AuxHV 3
Signal Pin
FrameGround 1
Motor Phase W 2
Motor Phase V 3
Motor Phase U 4
1 2 3
0V +HV Aux
1 2 3 4
54321
1 10 19
9 18 26
J7
J11
0V +HV AUXW V U
POWERJ10 MOTOR B
W V U
J9 MOTOR A
FEEDBACK A J8 FEEDBACK B
J1 SIG
J2 I/OJ3 B
RA
KE
J4 NE
TWO
RK
DE
IVIC
E ID
x10x1
J5 RS
-232J6 S
AFE
TY
BE2Accelnet Plus 2-Axis Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01440 Rev 02 Page 26 of 36
J7,J8:AXISA,BFEEDBACK
J11:DRIVECONNECTOREuro-style5.08mmmalereceptacle,3-position Wago:MCS-MIDI,231-563/108-000J9,J10:DRIVECONNECTORS
Euro-style5.08mmmalereceptacle,4-position Wago:MCS-MIDI,231-564/108-000
J9,J10CABLECONNECTORSWagoMCS-MIDIClassic231-304/107-000
J11:CABLECONNECTORWagoMCS-MIDI,231-303/107-000
WAGOCONNECTORTOOLContact opener: 231-159 operating tool
WAGOCONNECTORTOOLContact opener: 231-159 operating tool
J9,J10:MOTOROUTPUTS J11:+HV&AUXPOWER
J3:DRIVECONNECTOREuro-style3.5mmmalereceptacle,5-position Wago:MCS-MINI,734-165/108-000
J3:CABLECONNECTORWagoMCS-MINI734-105/107-000 or 734-105/107-000
WAGOCONNECTORTOOLContact opener: 734-231 operating tool
J3:BRAKE
CONNECTORS & SIGNALS: FRONT PANEL
CONNECTORS & SIGNALS: END PANEL
J7,J8:BE2CONNECTORHigh-DensityDsubDB-26F, femalereceptacle,26Position
J7,J8:CABLECONNECTORHigh-DensityDsubDB-26M, maleplug,26Position
J7,J8:FEEDBACK
J9, J10
J7, J8
J11
PIN SIGNAL PIN SIGNAL PIN SIGNAL1 FrameGnd 10 N.C. 19 A(B)Sin(+)S32 A(B)HallU 11 N.C. 20 A(B) Cos(-) S43 A(B)HallV 12 N.C. 21 A(B)Cos(+)S24 A(B)HallW 13 N.C. 22 A(B) Ref(-) R25 SignalGnd 14 N.C. 23 A(B)Ref(+)R16 A(B)+5VOut1(2) 15 N.C. 24 N/C7 [IN9(18)]A(B)Motemp 16 SignalGnd 25 SignalGnd8 N.C. 17 A(B)+5VOut1(2) 26 SignalGnd9 N.C. 18 A(B) Sin(-) S1
Signal Pin
HVGround 1
HV 2
AuxHV 3
Signal Pin
FrameGround 1
Motor Phase W 2
Motor Phase V 3
Motor Phase U 4
1 10 19
9 18 26
1 2 3
0V +HV Aux
J7
J11
0V +HV AUXW V U
POWERJ10 MOTOR B
W V U
J9 MOTOR A
FEEDBACK A J8 FEEDBACK B
1 2 3 4
BE2Accelnet Plus 2-Axis Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01440 Rev 02 Page 27 of 36
J7,J8:AXISA,BFEEDBACK
J11:DRIVECONNECTOREuro-style5.08mmmalereceptacle,3-position Wago:MCS-MIDI,231-563/108-000J9,J10:DRIVECONNECTORS
Euro-style5.08mmmalereceptacle,4-position Wago:MCS-MIDI,231-564/108-000
J9,J10CABLECONNECTORSWagoMCS-MIDIClassic231-304/107-000
J11:CABLECONNECTORWagoMCS-MIDI,231-303/107-000
WAGOCONNECTORTOOLContact opener: 231-159 operating tool
WAGOCONNECTORTOOLContact opener: 231-159 operating tool
J9,J10:MOTOROUTPUTS J11:+HV&AUXPOWER
CONNECTORS & SIGNALS: END PANEL (-R MODELS WITH RESOLVER FEEDBACK)
J7,J8:BE2CONNECTORHigh-DensityDsubDB-26F, femalereceptacle,26Position
J7,J8:CABLECONNECTORHigh-DensityDsubDB-26M, maleplug,26Position
J7,J8:FEEDBACK
J9, J10
J7, J8
J11
AWG mm2 Color Mfgr PNUM A B C D E SL
14 2.5 Blue Wago 216-206 15.0 (0.59) 8.0 (0.31) 2.05 (.08) 4.2 (0.17) 4.8 (0.19) 10 (0.39)
16 1.5 Black Wago 216-204 14.0 (0.59 8.0 (0.31) 1.7 (.07) 3.5 (0.14) 4.0 (0.16) 10 (0.39)
18 1.0 Red Wago 216-223 12.0 (.47) 6.0 (.24) 1.4 (.055) 3.0 (.12) 3.5 (.14) 8 (.31)
20 0.75 Gray Wago 216-222 12.0 (.47) 6.0 (.24) 1.2 (.047) 2.8 (.11) 3.3 (.13) 8 (.31)
22 0.5 White Wago 216-221 12.0 (.47) 6.0 (.24) 1.0 (.039) 2.6 (.10) 3.1 (.12) 7.5 (.30)
AWG mm2 Color Mfgr PNUM A B C D E SL
18 1.0 Red Wago 216-223 12.0 (.47) 6.0 (.24) 1.4 (.06) 3.0 (.12) 3.5 (.14) 8 (.31)
20 0.75 Gray Wago 216-222 12.0 (.47) 6.0 (.24) 1.2 (.05) 2.8 (.11) 3.3 (.13) 8 (.31)
22 0.5 White Wago 216-221 12.0 (.47) 6.0 (.24) 1.0 (.04) 2.6 (.10) 3.1 (.12) 7.5 (.30)
AWG mm2 Color Mfgr PNUM A B C D E SL
2 x 18 2 x 1.0 Red Altech 2776.0 15.4 (.61) 8.2[.32] 2.4 (.09) 3.2 (.13) 5.8 (.23) 11.0 (.43)
2 x 18 2 x 1.0 Gray Altech 2775.0 14.6 (.57) 8.2 (.32) 2.0 (.08) 3.0 (.12) 5.5 (.22) 11.0 (.43)
2 x 20 2 x 0.75 White Altech 2794.0 14.6 (.57) 8.2 (.32) 1.7 (.07) 3.0 (.12) 5.0 (.20) 11.0 (.43)
2 x 20 2 x 0.75 Gray TE 966144-2 15.0 (.59) 8.0 (.31) 1.70 (.07) 2.8 (.11) 5.0 (.20) 10 (.39)
2 x 22 2 x 0.50 White TE 966144-1 15.0 (.59) 8.0 (.31) 1.40 (.06) 2.5 (.10) 4.7 (.19) 10 (.39)
A
B
C D E
A
B
C D E
A
B
C D
E
BE2Accelnet Plus 2-Axis Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01440 Rev 02 Page 28 of 36
WIRING
J3
FERRULEPARTNUMBERS:DOUBLEWIREINSULATED
FERRULEPARTNUMBERS:SINGLEWIREINSULATED
24V&BRAKE:J3
MOTOROUTPUTSANDHV/AUXPOWER:J9,J10,J11ToolJ11J9,J10WagoMCS-MIDIClassic:231-304/107-000(J9,J10),231-303/107-000(J11),
femaleconnector;withscrewflange;3-pole;pinspacing5.08mm/0.2inConductor capacity Barestranded: AWG28~14[0.08~2.5mm2] Insulatedferrule: AWG24~16[0.25~1.5mm2] Strippinglength: 8~9mm OperatingTool: WagoMCS-MIDIClassic:231-159
FERRULEPARTNUMBERS:SINGLEWIREINSULATED
NOTESPNUM=PartNumberSL = Stripping lengthDimensions:mm(in)
Tool
SINGLEWIRE DOUBLEWIRE
WagoMCS-MINI:735-105/107-000,femaleconnector;withscrewflange, 5-pole;pinspacing3.5mm/0.138inConductor capacity Barestranded: AWG28~16[0.08~1.5mm2] Insulatedferrule: AWG24~16[0.25~1.5mm2] Strippinglength: 0.24~0.28in[6~7mm] Operatingtool: WagoMCS-MINI:734-231
0 W
5 W
10 W
15 W
20 W
25 W
30 W
disabled 0A 5.0A 10A 15A 20A
80V
65V
50V
35V
20V
0C
5C
10C
15C
20C
25C
30C
35C
40C
45C
50C
2W 4W 6W 8W 10W 12W 14W 16W 18W 20W 22W 24W 26W
HSF
HSNF
NHSF
NHSNF
Quiescentpower
BE2-090-20
BE2-090-14
16.5 A
19 W
BE2-090-06
BE2Accelnet Plus 2-Axis Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01440 Rev 02 Page 29 of 36
TOTALPOWERDISSIPATION
Usethischarttofindthetotalpowerdissipation for both axes. Example:PowersupplyHV=65Vdc Axis 1 current = 7.5 A, axis 2 = 9.0 A Total current = 16.5 A Total dissipation = 19 Watts
ThetopchartonthispageshowstheinternalpowerdissipationforoneaxisoftheBE2underdifferingpowersupplyandoutputcurrentconditions.The+HVvaluesarefortheaverageDCvoltageofthedrivepowersupply.Thelowerchartshowsthetemperaturerisevs.powerdissipationunderdifferingmountingand cooling conditions.
Usethischarttofindthemaximumoperatingtemperatureofthedriveunderdifferingmountingandcoolingconditions.Example:Usingthe19Wvaluefromthecalculationsabove,drawaverticalline.Thisshowsthat24CisthemaximumoperatingtemperatureforNHSNF,andthatanyoftheothermounting/coolingoptionswillbesufficientforoperationuptothemaximumambienttemperatureof45C.
HSF = HeatSink(with)Fan NHSF = NoHeatSink(with)Fan HSNF = HeatSinkNoFan NHSNF= NoHeatSinkNoFan
THERMALS: POWER DISSIPATION
THERMALS: MAXIMUM OPERATING TEMPERATURE VS. DISSIPATION
Internal power dissipation (Watts)
HSForNHSF
HSNFNHSNF
19 W
24 C
Total continuous output current of both axes
HEATSINK + FAN °C/W
FORCED-AIR, 300 LFM 0.61
HEATSINK, NO FAN °C/W
CONVECTION 1.28
NO HEATSINK + FAN °C/W
FORCED-AIR, 300 LFM 0.98
NO HEATSINK, NO FAN °C/W
CONVECTION 2.32
J7
J11 0V+H
VA
UX
W V
U
PO
WE
RJ10
MO
TOR
B
W V
U
J9 M
OTO
R A
FEE
DB
AC
K A
J8 FE
ED
BA
CK
BJ7
J11 0V+H
VA
UX
W V
U
PO
WE
RJ10
MO
TOR
B
W V
U
J9 M
OTO
R A
FEE
DB
AC
K A
J8 FE
ED
BA
CK
B
J6J7
J10
+HV
J9 MO
T B
FDB
KA
B
J8 MO
T A
0V
AUX
UV
W
U
V
W
J7 FDB
K A
J8 FDB
K B
J9 MO
T AJ10 M
OT B
J11 PO
WE
R
J7
J11 0V+H
VA
UX
W V
U
PO
WE
RJ10
MO
TOR
B
W V
U
J9 M
OTO
R A
FEE
DB
AC
K A
J8 FE
ED
BA
CK
BJ7
J11 0V+H
VA
UX
W V
U
PO
WE
RJ10
MO
TOR
B
W V
U
J9 M
OTO
R A
FEE
DB
AC
K A
J8 FE
ED
BA
CK
B
J6J7
J10
+HV
J9 MO
T B
FDB
KA
B
J8 MO
T A
0V
AUX
UV
W
U
V
W
J7 FDB
K A
J8 FDB
K B
J9 MO
T AJ10 M
OT B
J11 PO
WE
R
MOUNTINGThermaldataforconvection-coolingwithaheatsinkassumesaverticalmountingofthedriveonathermallynon-conductingsurface.Heatsinkfinsrun parallel to the long axis of the drive. When fan-cooling is used vertical mountingisnotnecessarytoguaranteethermalperformanceoftheheatsink.
TOP VIEWS VERTICAL MOUNTING
THERMALRESISTANCEThermalresistanceisameasureofthetemperatureriseofthedriveheatplateduetopowerdissipationinthedrive.Itisexpressedinunitsof°C/Wwherethedegreesarethetemperatureriseaboveambient.E.g.,andrivedissipating16Wmountedwithnoheatsinkorfanwouldseeatemperatureriseof38.2Caboveambientbasedonthethermalresistanceof2.39C/W.Usingthedrivemaximumheatplatetemperatureof70Candsubtracting38.2Cfromthatwouldgive31.7Casthemaximumambienttemperaturethedriveinwhichthedrivecouldoperatebeforegoingintothermalshutdown.Tooperateathigherambienttemperaturesaheatsinkorforced-airwouldberequired.
THERMALS: MOUNTING & THERMAL RESISTANCE
BE2Accelnet Plus 2-Axis Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01440 Rev 02 Page 30 of 36
Qty Description
1 Heatsink,standard,BE2-HS
1 Thermalmaterial,4x4in.
1
Kit,HeatsinkHardware,BE2
4 Washer,flat,#8
4 Screw,PAN,SEMS,#8-32x1/2in
HEATSINK KIT INSTALLATION
BE2Accelnet Plus 2-Axis Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01440 Rev 02 Page 31 of 36
INSTALLATION
1)Placetheheatsinkfins-downonaworksurface.Orienttheheatsinksothattheedgewithpartnumberisawayfromyou.TheholefortheBE2groundinglugshouldbetoyourleft.
2)Removetheclearprotectivefilmfromthethermalmaterialanddiscardit.Placethethermalmaterialontotheheatsinkintheplacementareawhichismarkedwithfourwhite“L”. Applylightpressuretoensurethatthethermalmaterialisflat.
3)Peelthewhiteprotectivelayerawayfromthethermalmaterial.Dothisslowlyfromonecornersoasnottoliftthethermalmaterialfromtheheatsink.
4)AligntheBE2asshownandlowerontotheheatsink.Ifneededtoadjusttheposition,liftitawayfromthethermalmaterialandlowerontotheheatsinkagain.
5)Installthefourmountingscrewswithflatwashersandtightenevenly.Torqueto17.8lb-in(2.0Nm)maximum.
DESCRIPTION
TheBE2-HKisakitcontainingaheatsinkandmountinghardwareforfieldinstallationofastandardheatsinkontoaBE2modelservodrive.
• Standard heatsink for Accelnet Plus Panel BE2 • Completekitforuserinstallationoftheheatsink
BE2-HKHEATSINKKITPARTLIST
Heatsink
Mounting Screws(4)
BE2 Drive
Thermalmaterial
1.74 [44.1]
0.85 [21.5]
0.89 [22.6]
4.70 [119.3]
6.78 [172.1]
6.40 [162.4] 0.19 [4.8]
0.16 [4.1]
0.16 [4.1]
0.19 [4.8]
0.94 [23.8]
2.00 [50.8]
4.89 [124.3]
1.74 [44.1]
0.85 [21.5]
0.89 [22.6]
4.70 [119.3]
6.78 [172.1]
6.40 [162.4] 0.19 [4.8]
0.16 [4.1]
0.16 [4.1]
0.19 [4.8]
0.94 [23.8]
2.00 [50.8]
4.89 [124.3]
BE2Accelnet Plus 2-Axis Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01440 Rev 02 Page 32 of 36
DIMENSIONS: IN (MM)
Mountingscrews: #6-32,or3.5mm
Motor Cable Shield Groundingnut:#6-32
Motor Cable Shield Groundingnut:#6-32
3.14 [79.98]
0.85 [21.5]
2.29 [58.1]
6.78 [172.1]
6.40 [162.4] 0.19 [4.8]
0.16 [4.1]
0.19 [4.8]4.70 [119.3]
4.89 [124.3]
3.14 [79.98]
0.85 [21.5]
2.29 [58.1]
6.78 [172.1]
6.40 [162.4] 0.19 [4.8]
0.16 [4.1]
0.19 [4.8]4.70 [119.3]
4.89 [124.3]
3.14 [79.98]
0.85 [21.5]
2.29 [58.1]
6.78 [172.1]
6.40 [162.4] 0.19 [4.8]
0.16 [4.1]
0.19 [4.8]4.70 [119.3]
4.89 [124.3]
BE2Accelnet Plus 2-Axis Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01440 Rev 02 Page 33 of 36
DIMENSIONS: IN (MM)
Units:IN[MM]
Mountingscrews: #6-32,or3.5mm
Motor Cable Shield Groundingnut:#6-32
Motor Cable Shield Groundingnut:#6-32
Motor Cable Shield Groundingnut:#6-32
J2
AM
P
RU
NE
RR
L/AL/A
AccelnetPlus
J3
BR
AK
E
J2
ISO
LAT
ED
I/O
J1
SIG
x10x1
S1
S2
DE
VIC
E ID
J4
NE
TW
OR
K
AB
J5
RS
-232
J6
SA
FE
TY
INO
UT
AM
P
RU
NE
RR
L/AL/A
AccelnetPlus
J3
BR
AK
E
J2
ISO
LAT
ED
I/O
J1
SIG
x10x1
S1
S2
DE
VIC
E ID
J4
NE
TW
OR
K
AB
J5R
S-232
J6
SA
FE
TY
INO
UT
AM
P
RU
NE
RR
L/AL/A
AccelnetPlus
J3
BR
AK
E
J2
ISO
LAT
ED
I/O
J1
SIG
x10x1
S1
S2
DE
VIC
E ID
J4
NE
TW
OR
K
AB
J5
RS
-232
J6
SA
FE
TY
INO
UT
AM
P
RU
NE
RR
L/AL/A
AccelnetPlus
J3
BR
AK
E
J2
ISO
LAT
ED
I/O
J1
SIG
x10x1
S1
S2
DE
VIC
E ID
J4
NE
TW
OR
K
AB
J5
RS
-232
J6
SA
FE
TY
INO
UT
0.75 [19]Minimum Clearance
in[mm]
0.75 [19]Minimum Clearance
in[mm]
Minimum Spacingin[mm]
0.75 [19]
0.75 [19]
0.75 [19]
AM
P
RU
NE
RR
L/AL/A
AccelnetPlus
J3
BR
AK
E
J2
ISO
LAT
ED
I/O
J1
SIG
x10x1
S1
S2
DE
VIC
E ID
J4
NE
TW
OR
K
AB
J5
RS
-232
J6
SA
FE
TY
INO
UT
AM
P
RU
NE
RR
L/AL/A
AccelnetPlus
J3
BR
AK
E
J2
ISO
LAT
ED
I/O
J1
SIG
x10x1
S1
S2
DE
VIC
E ID
J4
NE
TW
OR
K
AB
J5
RS
-232
J6
SA
FE
TY
INO
UT
AM
P
RU
NE
RR
L/AL/A
AccelnetPlus
J3
BR
AK
E
J2
ISO
LAT
ED
I/O
J1
SIG
x10x1
S1
S2
DE
VIC
E ID
J4
NE
TW
OR
K
AB
J5
RS
-232
J6
SA
FE
TY
INO
UT
0.75 [19]Minimum Clearance
in[mm]
0.75 [19]Minimum Clearance
in[mm]
Minimum Spacingin[mm]
0.75 [19]
0.75 [19]
0.75 [19]
BE2Accelnet Plus 2-Axis Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01440 Rev 02 Page 34 of 36
INSTALLATION
Thegraphicbelowshowstherecommendedmountingformultipledrives. Theclearancesshowsareminimums.
BE2Accelnet Plus 2-Axis Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01440 Rev 02 Page 35 of 36
THIS PAGE LEFT BLANK
INTENTIONALLY
BE2-090-06 Accelnet Plus 2-Axis Panel EtherCAT servo drive, 3/6 A, 90 Vdc
BE2-090-14 Accelnet Plus 2-Axis Panel EtherCAT servo drive, 7/14 A, 90 Vdc
BE2-090-20 Accelnet Plus 2-Axis Panel EtherCAT servo drive, 10/20 A, 90 Vdc
Qty Ref Name Description Manufacturer P/N
BE2-CKConnector Kit
1J11 DCHV
Plug,3position,5.08mm,female Wago: 231-303/107-000 (Note 1)
1 Strainrelief,snap-on,5.08mm,3position,orange Wago: 232-633
2J9,J10 Motor
Plug,4position,5.08mm,female Wago: 231-304/107-000 (Note 1)
2 Strainrelief,snap-on,5.08mm,4position,orange Wabo: 232-634
1 J9~J11 Tool Tool,wireinsertion&extraction,231series Wago: 231-159
1
J3Brake
Plug,5position,3.5mm,female Wago: 734-105/107-000 (Note 1)
1 Strainrelief,snap-on,3.5mm,5position,grey Wago: 734-605
1 Tool Tool,wireinsertion&extraction,734series Wago: 734-231
1
J6 Note 2 Safety
Connector,DB-9M,9-position,standard,male TE/AMP: 205204-4
9 AMPLIMITEHD-20Crimp-Snapcontacts,24-20AWG,AUflash TE/AMP: 66506-9
1 MetalBackshell,DB-9,RoHS 3M: 3357-9209
4 Jumper,withpinscrimpedonbothends Copley: 10-75177-01
1J1 Control
Connector,high-densityDB-44M,44position,male,soldercup Norcomp: 180-044-103L001
1 MetalBackshell,DB-25,RoHS 3M: 3357-9225
1 J2 I/O Connector,high-densityDB-26F,26position,female,soldercup Norcomp: 180-026-203L001
2 J7,J8 Feed-back
Connector,high-densityDB-26M,26position,male,soldercup Norcomp: 180-026-103L001
3 J2,J7,J8 MetalBackshell,DB-15,RoHS 3M: 3357-9215
SER-CK 1 J5 RS-232 Serial Cable Kit
BE2-NC-10 1J8 Network
EtherCAT®networkcable,10ft(3m)
BE2-NC-01 1 EtherCAT®networkcable,1ft(0.3m)
Note1:ForRoHScompliance,append“/RN01-0000”totheWagopartnumberslistedabove
Note2:Insertion/extractiontoolforJ6contactsisAMP/Tyco91067-2(notincludedinBE2-CK)
16-01440DocumentRevisionHistoryRevision Date Remarks00 March 27, 2017 Initialreleasedversion01 July3,2018 CorrectionstoJ-numbering,updatedagencystandards02 June30,2020 Corrections to resolver signals on p. 16, updated agency standards
BE2Accelnet Plus 2-Axis Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01440 Rev 02 Page 36 of 36
Note: Specifications subject to change without notice
EtherCATisaregisteredtrademarkandpatentedtechnology,licensedbyBeckhoffAutomationGmbH,Germany.
Add-Rtomodelnumberforresolverfeedbackoption(Example:BE2-090-14-R)
Example:OrderoneAccelnet Plus BE2drive,7/14A,resolveroption,withconnectorkit,serialcablekit: Qty Item Remarks 1 BE2-090-14-R Accelnet Plus BE2 2-axis servo drive, resolver option 1 BE2-CK BE2 Connector Kit 1 SER-CK Serial Cable Kit
ORDERING GUIDE
ACCESSORIES