Model Ip Ic VdcBML-090-06 6 3 90BML-090-14 14 7 90BML-090-30 30 15 90
dIgItal serVo drIVe for brush & brushless Motors
RoHSBMLAccelnet Plus Panel MACRO
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01493 Page 1 of 32
DESCRIPTIONThe BML is a high-performance, DC powered drive for position, velocity, and torque control of brushless and brush motors via MACRO. Feedback from both incremental and absolute encoders is supported. A multi-mode encoder port functions as an input or output depending on the drive’s basic setup.
DIGITAL SERVO DRIVE FOR BRUSHLESS/BRUSH MOTORS
CONTROL MODES• Indexer,Point-to-Point,PVT • Camming,Gearing• Position,Velocity,Torque
COMMAND INTERFACE• MACRO • ASCIIanddiscreteI/O • Steppercommands • ±10Vposition/velocity/torque • PWMvelocity/torquecommand • Masterencoder(Gearing/Camming)
COMMUNICATIONS• MACRO • RS-232
FEEDBACkIncremental Encoders • DigitalquadA/B Analog Sin/Cos Panasonic Incremental A Format SanyoDenkiWire-SavingIncremental • Aux.quadA/Bencoder/encoderout Absolute Encoders • SSI,EnDat,BiSS(B&C) Tamagawa, Panasonic, Sanyo Denki Absolute A• DigitalHalls
I/O DIGITAL• 6High-speedinputs• 1Motorover-tempinput• 4Opto-Isolatedinputs• 3Opto-Isolatedoutputs• 1Opto-Isolatedbrakeoutput
I/O ANALOG• 1ReferenceInput,12-bit
SAfETORquEOff(STO)• SIL3,Category3,PLd
DIMENSIONS: IN [MM]• 5.08x3.41x1.99[129x86.6x50.4]• 5.08x3.41x3.39[129x86.6x86.1]withheatsink
There are seven non-isolated inputs. All inputs have programmable active levels. Three opto-isolated outputs [OUT1~3] have individual +/- connections. An isolated MOSFET brake output [OUT4] is programmable to drive motor brakes or other functions and has aflybackdiodetotheBrake24Vinputfordrivinginductiveloads.Drive power is transformer-isolated DC from regulated or unregulated power supplies. An AuxHV input is provided for“keep-alive” operation permitting the drive power stage to be completely powered down without losing position information, or communications with the control system.
RoHSBMLAccelnet Plus Panel MACRO
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01493 Page 2 of 32
Testconditions:Load=Wyeconnectedload:2mH+2Ωline-line.Ambienttemperature=25°C,+HV=HVmaxMODEL BML-090-06 BML-090-14 BML-090-30
OuTPuTPOWERPeakCurrent 6(4.24) 14(9.9) 30(21.2) Adc(Arms-sine),±5% Peak time 1 1 1 Sec Continuouscurrent(Note1) 3(2.1) 7(5) 15(10.6) Adc(Arms-sine)perphase
INPuTPOWERHVmin~HVmax +14to+90 +14to+90 +14to+90 VdcTransformer-isolated Ipeak 6 14 30 Adc(1sec)peak Icont 3 7 15 Adc continuous AuxHV +14to+90Vdc, Optional,notrequiredforoperation 3W(Typ,noloadonencoder+5Voutput),6W,(Max,encoder+5V@500mA)
DIGITAL CONTROL DigitalControlLoops Current,velocity,position.100%digitalloopcontrol Samplingrate(time) Currentloop:16kHz(62.5µs),Velocity&positionloops:4kHz(250µs) Bus voltage compensation Changes in bus or mains voltage do not affect bandwidth Minimumloadinductance 200µHline-line
COMMANDINPuTS(NOTE:DIGITALINPuTfuNCTIONSAREPROGRAMMABLE) Distributed Control Modes MACRO interface Torque, velocity control Stand-alone mode Analogtorque,velocity,positionreference ±10Vdc,12-bitresolution Dedicateddifferentialanaloginput Digitalpositionreference Pulse/Direction,CW/CCW Steppercommands(2MHzmaximumrate) quadA/BEncoder 2Mline/sec,8Mcount/sec(afterquadrature) 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, 9600~115,200 Baud, 3-wire, RJ-11 connector
DIGITAL INPUTSNumber 11 [IN1,2] Digital,non-isolated,Schmitttrigger,1µsRCfilter,24Vdccompatible,programmablepull-up/downto+5Vdc/ground, Vt+ = 2.5~3.5 Vdc, VT- = 1.3~2.2 Vdc, VH = 0.7~1.5 Vdc [IN3,4,5,6] Digital,non-isolated,programmableassingle-endedordifferentialpairs,100nsRCfilter,12Vdcmax, 10 kΩ programmable pull-up/down per input to +5 Vdc/ground, SE:Vin-LO≤2.3Vdc,Vin-HI≥2.7Vdc,VH=45mVtyp,DIff:Vin-LO≤200mVdc,Vin-HI≥200mVdc,VH=45mVtyp, [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,12Vdcmax,programmabletootherfunctions Other digital inputs are also programmable for the Motemp function 330µsRCfilter,4.99kpull-upto+5Vdc,Vt+=2.5~3.5Vdc,VT-=1.3~2.2Vdc,VH=0.7~1.5Vdc Functions All inputs are programmable, [IN1] defaults to the Enable function and is programmable for other functions.
ANALOG INPUTSNumber 1 [AIN1] Differential,±10Vdc,5kΩ input impedance, 12-bit resolution
SAfETORquEOff(STO)function PWMoutputsareinactiveandcurrenttothemotorwillnotbepossiblewhentheSTOfunctionisasserted Standard DesignedtoIEC-61508-1,IEC-61508-2,IEC-61800-5-2,ISO-13849-1 Safety Integrity Level SIL 3, Category 3, Performance level d Inputs 2 two-terminal: STO-IN1+,STO-IN1-, STO-IN2+, STO-IN2- Type Opto-isolators,24Vcompatible,Vin-LO≤6.0Vdcoropen,Vin-HI≥15.0Vdc, Inputcurrent(typical) STO-IN1:9.0mA,STO-IN2:4.5mA Responsetime 2ms(IN1,IN2)fromVin≤6.0Vdctointerruptionofenergysuppliedtomotor Reference CompleteinformationandspecificationsareintheAccelnet&StepnetPlusPanelsSTOManual
DIGITAL OUTPUTSNumber 4 [OuT1~3] Opto-isolatedSSR,two-terminal,300mAmax,24Vtolerant,Ratedimpulse≥800V,series1Ωresistor [OUT4] Opto-isolated MOSFET, default as motor brake control, current-sinking, 1Adcmax,flybackdiodeto+24Vexternalpowersupplyfordrivinginductiveloads Programmable for other functions if not used for brake
RS-232 PORTSignals RxD,TxD,Gndin6-position,4-contactRJ-11stylemodularconnector,non-isolated,commontoSignalGround Mode full-duplex,DTEserialcommunicationportfordrivesetupandcontrol,9,600to115,200Baud Protocol Binary and ASCII formats
MACRO PORTConnectors DuplexSCopticalfiberreceptacle fibermedium 62.5micronMulti-ModeGlassfiberperISO/IEC9314-3&ANSIX3.166-1990 Commonlyreferredtoas“62.5/125multi-mode”glassfibercable,1300nmwavelength Data Format MACRO AddressSelection Dual16-positionrotaryswitchesforMasterandNodeaddresses,0x0to0xfhex(0~15decimal)
NOTES:1)Heatsinkorforced-airisrequiredforcontinuouscurrentrating
general specIfIcatIons
RoHSBMLAccelnet Plus Panel MACRO
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01493 Page 3 of 32
DCPOWEROuTPuT Number 1 Ratings +5Vdc,500mAmax,thermalandshort-circuitprotected Connections ThecombinedcurrentfromfeedbackJ6-6,17andControlJ1-17,32cannotexceed500mASTATUS INDICATORS
Drive Status Bicolor LED, drive status indicated by color, and blinking or non-blinking condition MACROStatus BicolorLED,statusofMACRObusindicatedbycolorandblinkcodestoMACROIndicatorSpecificationV0.91
PROTECTIONS HV Overvoltage +HV > 90 Vdc Drive outputs turn off until +HV < 90 Vdc HV Undervoltage +HV < +14 Vdc Drive outputs turn off until +HV > +14 Vdc Driveovertemperature Heatplate>70°C. Driveoutputsturnoff Shortcircuits Outputtooutput,outputtoground,internalPWMbridgefaults I2T Current limiting Programmable: continuous current, peak current, peak time Motor over temperature Digital input programmable to detect motor temperature switch Feedback Loss Inadequate analog encoder signal amplitude or missing incremental encoder signals
MECHANICAL&ENVIRONMENTAL Size 5.08x3.41x1.99[129x86.6x50.4]in[mm]withoutheatsink 5.08x3.41x3.39[129x86.6x86.1]in[mm]withheatsink Weight 0.75[0.34]lb[kg]withoutheatsink 1.70 [0.77] lb[kg] with heatsink Ambienttemperature 0to+45Coperating,-40to+85Cstorage,asperIEC60068-2-1:2007andIEC60068-2-2:2007 Humidity 0to95%,non-condensing,asperIEC60068-2-78:2001 Altitude ≤2000m(6560ft),asperIEC60068-2-13:1983 Vibration 2 gpeak,10~500Hz(sine),asperIEC60068-2-6:2007 Shock 110 g,10ms,half-sinepulse,asperIEC60068-2-27:2008 Contaminants Pollution degree 2, as per IEC 60664-1:2007 Environment IEC68-2:1990 Cooling Heat sink and/or forced air cooling required for continuous power output
AGENCy STANDARDS CONFORMANCEStandards and Directives Functional Safety IEC61508-1:2010,IEC61508-2:2010,IEC61508-3:2010,IEC61508-4:2010(SIL3) Directive2006/42/EC(Machinery) ISO13849-1/Cor.1:2009(Cat3,PLd) IEC61800-5-2:2007(SIL3) (seetheXenusPlusDualAxisSTOManualforfurtherdetails)
Product Safety Directive2006/95/EC(LowVoltage) IEC61800-5-1:2007
EMC Directive2004/108/EC(EMC) IEC61800-3:2004/A1:2011
Restriction of the Use of Certain Hazardous Substances (RoHS) Directive2011/65/Eu(RoHSII)
Approvals UL and cUL recognized component to: uL61800-5-1,1stEd. TÜV SÜD Functional Safety to: IEC61508-1:2010,IEC61508-2:2010,IEC61508-3:2010,IEC61508-4:2010(SIL3) ISO13849-1/Cor.1:2009(Cat3,PLd)
general specIfIcatIons
RoHS
RoHSBMLAccelnet Plus Panel MACRO
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01493 Page 4 of 32
general specIfIcatIons
FEEDBACkIncremental: DigitalIncrementalEncoder quadraturesignals,(A,/A,B,/B,X,/X),differential(X,/XIndexsignalsnotrequired) 5MHzmaximumlinefrequency(20Mcounts/sec) MAX3097differentiallinereceiverwith121ΩterminatingresistorbetweenA&/A,B&/Binputs X&/Xinputshave130Ωterminatingresistor,S&/Sinputshave221Ωterminatingresistor X&Sinputshave1kΩpull-upsto+5V,/X&/Xinputshave1kΩpull-downtoground AnalogIncrementalEncoder Sin/cosformat(sin+,sin-,cos+,cos-),differential,1Vpeak-peak, ServoTubemotorcompatible,BW>300kHz,121Ωterminatingresistorbetweencomplementaryinputs DigitalIndex(X,/X)input Absolute: SSI Clock(X,/X),Data(S,/S)signals,4-wire,clockoutputfromBML,datareturnedfromencoder EnDat Clock(X,/X),Data(S,/S),sin/cos(sin+,sin-,cos+,cos-)signals Absolute A Tamagawa Absolute A, Panasonic Absolute A Format, Sanyo Denki Absolute A SD+,SD-(S,/S)signals,2.5or4MHz,2-wirehalf-duplexcommunication Status data for encoder operating conditions and errors BiSS(B&C) MA+,MA-(X,/X),SL+,SL-(S,/S)signals,4-wire,clockoutputfromBML,datareturnedfromencoder
DIGITAL HALLSType Digital,single-ended,120°electricalphasedifferencebetweenu-V-Wsignals, Schmitttrigger,1.5µsRCfilter,24Vdccompatible,15kpull-upto+5Vdc, Vt+ = 2.5~3.5 Vdc, VT- = 1.3~2.2 Vdc, VH = 0.7~1.5 Vdc Inputs 15 kΩpull-upsto+5Vdc,1.5µsRCfiltertoSchmitttriggerinverters
MULTI-MODE ENCODER PORTAsInput Digitalquadratureencoder(A,/A,B,/B,X,/X),5MHzmaximumlinefrequency(20Mcounts/sec), MAX3097linereceiver,1.5kΩpull-upsto+5VonX&Sinputs,1.5kΩpull-downstoSgndon/X&/Sinputs Digitalabsoluteencoder(Clk,/Clk,Dat,/Dat)halforfull-duplexoperation, S&Xinputsareusedforabsoluteencoderinterface AsEmulatedOutput quadratureencoderemulationwithprogrammableresolutionto4096lines(65,536counts)perrev from analog sin/cos encoders or absolute encoders A,/A,B,/B,fromMAX3032differentiallinedriver,X,/X,S,/SfromMAX3362differentiallinedriver AsBufferedOutput DigitalA/B/Xencoderfeedbacksignalsfromprimaryquadencoderarebuffered(seelinedriversabove)
Switch S2
Address SLAVE
HEX DEC
0 0
1 1
2
3
4 4
5 5
6
7
8 8
9 9
A
B
C 12
D 13
E
F
MACRO Node Address Switch
RoHS
AMP
NET
INOUT
16
BMLAccelnet Plus Panel MACRO
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01493 Page 5 of 32
J7: MACRO PORTDuplextypeSC
opticalfiberconnector
MACRO COMMUNICATIONSMACRO(MotionAndControlRingOptical)isanon-proprietarycommunicationsnetworkthatusesopticalfibreorcoppercablingandsupportsbit-ratesupto125Mb/sec.TheAccelnetPlusMACRO(BML)usestheopticalfibreinterfaceandoperatestypicallyasatorque drive. Velocity drive mode is also supported. MoreinformationonMACROcanbefoundontheorganizationweb-site:http://www.macro.org/index.html
MACRO CONNECTIONSDualSCsocketsacceptstandardopticalfiber.TheINportconnectstoamaster,ortotheOuTportofadevicethatis‘upstream’,betweentheBMLandthemaster.TheOuTportconnectsto‘downstream’nodes.IfBMListhelastnodeonanetwork,onlytheINport is used. No terminator is required on the OUT port.
MACRO ADDRESSA PMAC card can hold up to four MACRO IC’s each of which is a master on a MACRO ring. EachmasterICcanaddress16stations(nodes,slaves)enablingtheaddressingofupto64devicesonaring.Ofthese,32canbemotiondevicessuchasBML.Anodeaddressisan8-bitvaluewithbits7~4ad-dressing the master IC and bits 3~0 addressing the slave. SwitchS1issettoselectthemasterICtowhichtheXenuswillbelinked.Thefourpossiblevaluesforthissetting are 0,1,2, and 3.As a MACRO station or node the BML has eight available addresses as a motion control device. These are0,1,4,5,8,9,12,&13.Addresses2,3,6,7,10,&11areforI/Ostationsandaddresses14&15arere-served.ThetableshowstheavailableselectionsforS2.Boxesgreyed-outareinvalidselectionsandhavenofunction.Theswitchpositionsarenumberedinhexadecimal.Thechartshowsthesepositionswiththeslave address shown in decimal.
Example:ConfiguretheBML asnode36(0x24)The BML will be node 4 controlled by master IC 2 on the PMAC
S1=2(MasterIC2) S2=4(Saveaddress)TheS1settingsareinmultiplesof16(24),so2X16=32. The S2 settings are read directly equal 4. Thisproducesthenodeaddressof2x16+4=36.
S2 S1
MasterSlave
MACROSTATuSLED(NET)A bi-color LED gives the state of the MACRO interface by changing color, and either blinking or remaining solid. The possible color and blink combinations are:Off = MACRO network has not been detected Green/Blinking = MACRO network detected and has disabled drive Green = MACRO network detected and is trying to enable drive This condition can occur while the AMP LED shows any of its’ possible color combinations. This LED must be green in order for the AMP LED to become green Red/Solid = MACRO network errors have been detected
DRIVESTATuSLED(STAT)A bi-color LED gives the state of the BML drive. Colors do not alternate, and can be solid ON or blinking:Green/Slow-Blinking = DriveOKbutNOT-enabled.Willrunwhenenabled. If drive is hardware-enabled but disabled by MACRO then both NET and AMP LED’s will be blinking Green/Fast-Blinking = Positive or Negative limit switch active. Drive will only move in direction not inhibited by limit switch. NET LED can be Green in this state Green = Drive Ok, hardware-enabled, and MACRO-enabled. WilldrivemotorinresponsetocommandinputsorMACROcommands. Red/Solid = Transient fault condition. Drive will resume operation when fault is removed. Red/Blinking = Latching fault. Operation will not resume until drive is Reset.
J6: RS-232 PORTRJ-12 receptacle, 6 position, 4 contact
STAT
NET
coMMunIcatIons: Macro
RoHS
PIN SIGNAL
2 RxD
3,4 Gnd
5 Txd
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
16
BMLAccelnet Plus Panel MACRO
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01493 Page 6 of 32
BMLisconfiguredviaathree-wire,full-duplexDTERS-232portthatoperatesfrom9600to115,200Baud,8bits,noparity,andonestopbit.Signalformatisfull-duplex,3-wire,DTEusingRxD,TxD,andGnd.ConnectionstotheBML RS-232 port are through J2, an RJ-11 connector. The BML SerialCableKit(SER-CK)containsamodularcable,andanadapterthatconnectstoa9-pin,Sub-Dserialportconnector(COM1,COM2,etc.)onPCsand compatibles.
After power-on, reset, or transmission of a Break character, the Baud rate will be 9,600. Once communication has been established at this speed, the Baud rate can be changed to a higherrate(19,200,57,600,115,200).
SER-Ck SERIAL CABLE kITThe SER-Ck provides connectivity between a D-Sub 9 male connector and the RJ-11 connector on the BML.ItincludesanadapterthatplugsintotheCOM1(orother)portof a PC and uses common modular cable to connect to the BML. The connections are shown in the diagram Below.
USB TO RS-232 ADAPTERSThese may or may not have the speed to work at the 115,200 Baud rate which gives the best results with CME2. Users have reported that adapters using the FTDI chipset work well with CME2
Don’t forget to order a Serial Cable kit SER-Ck when placing your order for a BML!
ASCII COMMUNICATIONSThe Copley ASCII Interface is a set of ASCII format commands that can be used to operate and monitor Copley Controls Accelnet, Stepnet, and BMLseriesamplifiersoveranRS-232serialconnection.forinstance,afterbasicamplifierconfigurationvalueshavebeenprogrammed using CME 2, a control program can use the ASCII Interface to:
•EnabletheamplifierinProgrammedPositionmode.•Hometheaxis.•Issueaseriesofmovecommandswhilemonitoringposition,velocity,andotherrun-timevariables.
The Baud rate defaults to 9,600 after power-on or reset and is programmable up to 115,200 thereafter.After power-on, reset, or transmission of a Break character, the Baud rate will be 9,600. Once communication has been established at thisspeed,theBaudratecanbechangedtoahigherrate(19,200,57,600,115,200).ASCIIparameter0x90holdstheBaudratedata.Tosettherateto115,200enterthislinefromaterminal: s r0x90 115200 <enter>Then, change the Baud rate in the computer/controller to the new number and communicate at that rate.
Additional information can be found in the ASCII Programmers Guide on the Copley website:http://www.copleycontrols.com/Motion/pdf/ASCII_ProgrammersGuide.pdf
J2: RS-232 PORTRJ-11 receptacle, 6 position, 4 contact
coMMunIcatIons: rs-232 serIal
CONNECTIONS
PIN SIGNAL PIN SIGNAL
1 Frame Gnd 6 STO-1(+)
2 STO-1(+) 7 STO-1(-)
3 STO-1(-) 8 STO-24V
4 STO-2(+) 9 STO-GND
5 STO-2(-)
RoHS
1
5
6
9
16
95
SAFE
TY
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
*
BMLAccelnet Plus Panel MACRO
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01493 Page 7 of 32
INSTALLATION
FUNCTIONAL DIAGRAM
Currentmustflowthroughallofthe
opto-couplersbeforethedrive can be enabled
SAFETy CONNECTOR J4
safe torque off (sto)
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/offstateofthePWMoutputs.
* STO bypass connections on the BML and XenusXEL-XPLmodelsaredifferent.Ifbothdrives are installed in the same cabinet, the diode should be wired as shown to prevent damage that could occur if the STO bypass connectors are installed on the wrong drive. The diode is not required for STO bypass on the BML and can be replaced by a wire between pins 7 and 9.
STOByPASS(MuTING)InorderforthePWMoutputsoftheBML to be activated, current mustbeflowingthroughalloftheopto-couplersthatareconnected to the STO-IN1 and STO-IN2 terminals of J4, and the drivemustbeinanENABLEDstate.Whentheopto-couplersareOff,thedriveisinaSafeTorqueOff(STO)stateandthePWMoutputs cannot be activated by the control core to drive a motor.
Thisdiagramshowsconnectionsthatwillenergizealloftheopto-couplersfromaninternalcurrent-source.WhenthisisdonetheSTOfeatureisoverriddenandcontroloftheoutputPWMstageisunder control of the digital control core. IfnotusingtheSTOfeature,theseconnectionsmustbemadeinorderforthedrivetobeenabled.
STO ByPASS CONNECTIONS
DANGER
RefertotheAccelnet&StepnetPlusPanelsSTOManual
The information provided in the Accelnet & Stepnet Plus Panels STO Manual must be considered for any application using the drive’s STO feature.FAIluRETOhEEDThISwARNINGCANCAuSEEquIPMENTDAMAGE,INjuRy,ORDEATh.
DIFFERENTIAL: IN3,4,5,6
Signal J1 Pins
[IN3] Pls, CU, Enc A 9
[IN4] /Pls, /CU, Enc /A 10
[IN5] Dir, CD, Enc B 11
[IN6] /Dir, /CD, Enc /B 12
Signal Ground 6,16,22,31, 37,44
Frame Ground 1
DIFFERENTIAL: IN3,4,5,6
Signal J1 Pins
[IN3]Curr-Vel± 9
[IN4]/Curr-Vel± 10
[IN5] Pol-Dir 11
[IN6] /Pol-Dir 12
Signal Ground 6,16,22,31, 37,44
Frame Ground 1
SINGLE-ENDED: IN5, 6
Signal J1 Pins
[IN5] Pls, CU, Enc A 11
[IN6] Dir, CD, Enc B 12
Signal Ground 6,16,22,31, 37,44
Frame Ground 1
SINGLE-ENDED: IN5,6
Signal J1 Pins
[IN5]Curr-Vel± 11
[IN6] Pol-Dir 12
Sgnd 6,16,22,31, 37,44
Frame Ground 1
RoHS
Curr-Vel
Pol-Dir
[IN5]
[IN6]
Duty = 50% ±50%
<no connection>
Curr-Vel±
<not used>
[IN5]
[IN6]
Duty = 0 - 100% Curr-Vel
Pol-Dir
/Curr-Vel
/Pol-Dir
[IN5]
[IN6]
[IN3]
[IN4]
[IN5]
[IN6]
[IN3]
[IN4]/Curr-Vel
Curr-Vel
NoFunction
Duty = 50% ±50%
<no connection>
PULSE
/PULSE
DIRECTION
/DIRECTION
[IN3]
[IN4]
[IN5]
[IN6]
CD (Count-Down)
CU (Count-Up)[IN3]
[IN4]
[IN5]
[IN6]
CU (CW)
/CU (CW)
CD (CCW)
/CD (CCW)
Enc. A
Enc B
/Enc. A
/Enc B
Encoder ph. B
Encoder ph. A [IN3]
[IN4]
[IN5]
[IN6]
CU (CW)
CD (CCW)
[IN5]
[IN6]
Enc. A
Enc. B
Enc. Ph. A
Enc. Ph. B
[IN5]
[IN6]
Pulse
Direction
[IN5]
[IN6]
BMLAccelnet Plus Panel MACRO
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N16-01493 Page8of32
POSITION COMMAND INPUTSSingle-ended digital position commands must be sourced from devices with active pull-up and pull-down to take advantage of the high-speed inputs.
fordifferentialcommands,theA&Bchannelsofthemulti-modeencoder ports are used.
SINGLE-ENDEDPWM&DIRECTION
SINGLE-ENDED50%PWM
SINGLE-ENDEDPuLSE&DIRECTION
SINGLE-ENDED CU/CD
QUAD A/B ENCODER SINGLE-ENDED
DIFFERENTIAL CU/CD
DIffERENTIALPuLSE&DIRECTION
QUAD A/B ENCODER DIFFERENTIAL
DIffERENTIAL50%PWM
DIffERENTIALPWM&DIRECTION
dIgItal coMMand Inputs: posItIon
dIgItal coMMand Inputs: VelocIty, torqueSingle-ended digital torque or velocity commands must be sourced from devices with active pull-up and pull-down to take advantage of the high-speed inputs.
fordifferentialcommands,theA&Bchannelsofthemulti-modeencoder ports are used.
SIGNALS&PINS
Signal J1
Pulse,CW,EncoderA 36
/Pulse,/CW,Encoder/A 21
Direction,CCW,EncoderB 35
/Direction,/CCW,Encoder/B 20
quadEncX,AbsoluteClock 34
quadEnc/X,/AbsoluteClock 19
EncS,Absolute(Clock)Data 33
Enc/S,/Absolute(Clock)Data 18
Signal Ground6, 16, 22, 31, 37, 44
Frame Ground 1
RoHS
+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
A/B/X signals fromdigital encoder
Input/OutputSelect
MAX3097
MAX3032
A/B/X signals fromdigital encoder
Input/OutputSelect
MAX3097
MAX3032
Pulse/Dir or CU/CD differential commands
InputSelect
OutputSelect
MAX3362
MAX3362
X
S
4-Wire digital absolute encoder signals
Input/OutputSelect
MAX3362
S
S
2-Wire digital absolute encoder signals
BMLAccelnet Plus Panel MACRO
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01493 Page 9 of 32
MultI-Mode port as an Input
POSITION COMMAND INPUTS: DIFFERENTIAL•Pulse&Direction•CW&CCW(Clockwise&Counter-Clockwise)•EncoderquadA&B•CammingEncoderA&Binput
CURRENT or VELOCITy COMMAND INPUTS: DIFFERENTIAL•CurrentorVelocity&Direction•CurrentorVelocity(+)&CurrentorVelocity(-)
SECONDARy FEEDBACk: INCREMENTAL•quadA/B/Xincrementalencoder
SECONDARy FEEDBACk: ABSOLUTE•Schannel:AbsoluteAencoders(2-wire) TheSchannelfirstsendsaClocksignalandthen receivesDatafromtheencoderinhalf-duplexmode.
•S&Xchannels:SSI,BiSS,EnDatencoders(4-wire) TheXchannelsendstheClocksignaltotheencoder, which initiates data transmission from the encoder ontheS-channelinfull-duplexmode
Input types
MultI-Mode port as an output
SIGNALS&PINS
Signal J1
Encoder A 36
Encoder /A 21
Encoder B 35
Encoder /B 20
EncoderX 34
Encoder/X 19
Encoder S 33
Encoder /S 18
Signal Ground 6, 16, 22, 31, 37, 44
Frame Ground 1
RoHS
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
BMLAccelnet Plus Panel MACRO
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01493 Page 10 of 32
output types
BUFFERED FEEDBACk OUTPUTS: DIFFERENTIAL•EncoderquadA,B,Xchannels•DirecthardwareconnectionbetweenquadA/B/X encoderfeedbackanddifferentiallinedriversforA/B/Xoutputs
EMULATED FEEDBACk OUTPUTS: DIFFERENTIALFirmware produces emulated quad A/B signals from feedback data from the following devices:•Absolute encoders •Analog Sin/Cos incremental encoders
Name Notes
Analog: Reference Filter Disabled
Vloop: Input Filter Disabled
Vloop: Output Filter 1 Low Pass, Butterworth, 2-pole,200Hz
Vloop: Output Filter 2 Disabled
Vloop: Output Filter 3 Disabled
Iloop: Input Filter 1 Disabled
Iloop: Input Filter 2 Disabled
Input Shaping Disabled
Option Notes
Method Set Current Position as Home
Name Notes
OUT1 Fault Active-OFF
OUT2NotConfigured
OUT3
OUT4 Brake Active-HI
Active Notes
√ Short Circuit
√ Amp Over Temperature
√ Motor Over Temp
Over Voltage
Under Voltage
√ Feedback Error
Motor Phasing Error
√ Following Error
Command Input Fault
MotorWiringDisconnected
OPTIONAL FAULTS
OverCurrent(Latched)
Name Configuration PU/PD
IN1 Enable-LO, Clear Faults
+5V
IN2
NotConfigured
IN3
IN4
IN5
IN6
IN7
Opto NotConfigured
IN8
IN9
IN10
IN11 Motemp +5V PU
RoHSBMLAccelnet Plus Panel MACRO
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01493 Page 11 of 32
cMe2 defaults
These tables show the CME2 default settings. They are user-programmable and thesettingscanbesavedtonon-volatileflashmemory.
SPECIFICATIONS
Input Data Notes
Input Voltages
HI VT+ = 2.5~3.5 Vdc
LO VT- = 1.3~2.2 Vdc
VH1 VH=±0.7~1.5Vdc
Max +30 Vdc
Min 0 Vdc
Pull-up/down R1 15 kΩ
LowpassfilterR2 15 kΩ
C1 100 pF
Input Current24V 1.3 mAdc
0V -0.33 mAdc
Time constant RC2 1.5µs
CONNECTIONS
Input Pin
IN1 J1-7
IN2 J1-8
Sgnd J1-6, 16, 22, 31, 37, 44
SPECIFICATIONS
Input Data Notes
Input Voltages Single-ended
HI Vin≥2.7Vdc
LO Vin≤2.3Vdc
VH1 45 mVdc typ
Input Voltages Differential3
HI Vdiff≥+200mVdc
LO Vdiff≤-200mVdc
VH ±45mVdctyp
Common mode Vcm 0 to +12 Vdc
Pull-up/down R1 10 kΩ
LowpassfilterR2 1 kΩ
C1 100 pF
Time constant RC2 100 ns
CONNECTIONS
S.E. DIFF Pin
IN3 IN3+ J1-9
IN4 IN4- J1-10
IN5 IN5+ J1-11
IN6 IN6- J1-12
Sgnd J1-6, 16, 22, 31, 37 , 44
RoHS
C1
R2R1
74HC2G14
PullUp = +5VPullDown = 0V
[IN1,2]
+5V
FEEDBACK CONNECTOR
12V+
100 pF
2.5V
MAX3096
MAX3096
[IN3,5]
J1 Control
100 pF
1k
[IN4,6]
10k
+5V
1k
+
10k
+5V
[IN3,5]
J1 Control
[IN4,6]
+5V
+5V
C1
R1R2
C1
R1R2
MAX3096
12V+
sIngle-ended/dIfferentIal Inputs: In3, In4, In5, In6
BMLAccelnet Plus Panel MACRO
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01493 Page 12 of 32
hIgh speed Inputs: In1, In2
• Digital, non-isolated, high-speed• Progammable pull-up/pull-down• 24V Compatible• Programmable functions
Notes:1)VHishysteresisvoltage (VT+)-(VT-)
2)TheR2*C2timeconstantapplies when input is driven by active HI/LO devices
• Digital, non-isolated, high-speed• Progammable pull-up/pull-down• 12V Compatible• Single-ended or Differential• Programmable functions
Notes:1)VHishysteresisvoltage
IN2 - IN3 or IN12 - IN132)TheR2*C2timeconstant
applies when input is driven by activeHI/LOdevices)
3)Vdiff=AINn(+)-AINn(-) n=1forAxisA,2forAxisB
SINGLE-ENDED
DIFFERENTIAL
SPECIFICATIONS
Input Data Notes
Input Voltages
HI Vin≥3.5Vdc
LO Vin≤0.7Vdc
Max +12 Vdc
Min 0 Vdc
Pull-up/down R1 4.99 kΩ
Input Current12V 1.4 mAdc
0V -1.0 mAdc
LowpassfilterR2 10 kΩ
C1 33 nF
Time constant Te 330µs*BS4999:Part111:1987
Property Ohms
Resistance in the temperature range20°Cto+70°C 60~750
Resistanceat85°C ≤1650
Resistanceat95°C ≥3990
Resistanceat105°C ≥12000
CONNECTIONS
Input Pin
IN11 J6-7
Sgnd J6-5, 16, 25, 26
CONNECTIONS
Signal J1 Pin
IN7 13
IN8 14
IN9 15
IN10 30
ICOM 28
SPECIFICATIONS
Input Data Notes
Input Voltages
HI Vin≥±10.0Vdc*
LO Vin≤±6Vdc*
Max ±30Vdc*
Input Current±24V ±3.6mAdc
0V 0 mAdc
RoHS
+5V
[IN11]
Thermistor,Posistor,
or switch Signal Gnd
R1
R2
C1
J5
J1
4.99k 5.1V
[IN7] 4.7k
4.7k
4.7k
4.7k
[ICOM]
4.99k 5.1V
[IN8]
4.99k 5.1V
[IN9]
4.99k 5.1V
[IN10]
+24V
24V GND
+
24V
BMLAccelnet Plus Panel MACRO
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01493 Page 13 of 32
• Digital, non-isolated• Motor overtemp input• 12V Compatible• Programmable functions
• Digital, opto-isolated• A group of four, with a common terminal• Workswithcurrentsourcingorsinkingdrivers• 24V Compatible• Programmable functions
MOTOR OVER TEMP INPUTThe 4.99k pull-up resistor works with PTC (positivetemperaturecoefficient)thermistorsthatconformtoBS4999:Part111:1987,orswitches that open/close indicating a motor over-temperature condition. The active level is programmable.
* Vdc Referenced to ICOM terminals.
* RC time constant applies when input is driven by active high/low device
Motor oVerteMp Input: In11
opto-Isolated Inputs: In7, In8, In9, In10
SPECIFICATIONS
Spec Data Notes
Input Voltage Vref ±10Vdc
Input Resistance Rin 5.05 kΩ
HI/LO DEFINITIONS: OUTPUTS
Input State Condition
OUT1~3HI OutputSSRisON,currentflows
LO OutputSSRisOff,nocurrentflows
CONNECTIONS
Signal (+) (-)
OUT1 J1-42 J1-27
OUT2 J1-41 J1-26
OUT3 J1-40 J1-25
SPECIFICATIONS
Output Data Notes
ON Voltage OuT(+)-OuT(-) Vdc 0.85V@300mAdc
Output Current Iout 300mAdcmax
CONNECTIONS
Signal Pins
AIN(+) J1-3
AIN(-) J1-2
Sgnd J1-6, 16, 22, 31, 37, 44
RoHS
+
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
+
BMLAccelnet Plus Panel MACRO
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01493 Page 14 of 32
analog Input: aIn1
Theanaloginputhasa±10Vdcrangeat12-bitresolution As a reference input it take position/velocity/torque commands from a controller. If not used as a command input, it can be used as general-purpose analog input.
• ±10Vdc,differential• 12-bit resolution• Programmable functions
opto-Isolated outputs: out1, out2, out3
• Digital, opto-isolated• MOSFET output SSR, 2-terminal• Flyback diode for inductive loads• 24V Compatible• Programmable functions
HI/LO DEFINITIONS: OUTPUTS
Input State Condition
BRAkE [OUT4]
HI
Output transistor is OFF Brake is un-powered and locks motor Motor cannot move Brake state is Active
LO
Output transistor is ON Brake is powered, releasing motor Motor is free to move Brake state is NOT-Active
SPECIFICATIONS
Output Data Notes
Voltage Range Max +30 Vdc
Output Current Ids 1.0 Adc
J5 CONNECTIONS
Pin Signal
4 Brk 24V Input
3 Brk 24V Output
2 Brake [OUT4]
1 24V Return
RoHS
J5
Brake [OUT4]
4
3
24V
Brk 24V Input
Brk 24V Output
24V Return
2
1
i
+0
Brake
24V Input
HV Com
24V Return
Earth Ground
Heatplate/chassis
IsolatedBrakeOutput
Frame Gnd
Frame Gnd 4
3
2
J1Control
J7Mot
J5Brake
J8Power
Brake
1
1
2
3
Signal Gnd
Signal Gnd
Signal Gnd
Signal Gnd
Signal GndSignal Gnd
Signal Gnd
Signal GndJ2Serial
3
4
1
1
37
44
31
16
6
22
+24V
0V
+HV
0V
+Aux
0V
Earthing connections for power supplies should be as close as possible to elimimate potential differences between power supply 0V terminals.
BMLAccelnet Plus Panel MACRO
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01493 Page 15 of 32
• Brake output• Opto-isolated• Flyback diode for inductive load• 24V Compatible• Connectionforexternal24Vpowersupply• Programmable functions
CME2 Default Setting for Brake Output [OUT4] is “Brake - Active HI” Active =Brakeisholdingmotorshaft(i.e.theBrake is Active) Motor cannot move Nocurrentflowsincoilofbrake CME2 I/O Line States shows Output 4 as HI BRKOutputvoltageisHI(24V),MOSfETisOff Servodriveoutputcurrentiszero Servodriveisdisabled,PWMoutputsareoff Inactive=Brakeisnotholdingmotorshaft(i.e.theBrake is Inactive) Motor can move Currentflowsincoilofbrake CME2 I/O Line States shows Output 4 as LO BRKoutputvoltageisLO(~0V),MOSfETisON Servodriveisenabled,PWMoutputsareon Servodriveoutputcurrentisflowing
The brake circuits are optically isolated from all drive circuits and frame ground.
opto-Isolated Motor brake output: out4
This diagram shows theconnectionstothedrivethatshare a commonground inthedriver.Ifthebrake24Vpower supply is separatefromtheDCsupplypoweringthe drive, it is importantthat itconnects toanearthorcommongroundingpointwiththehVpowersupply.
Signal J6 Pins
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 J6 Pins
Sin(+) 19
Sin(-) 18
Cos(+) 21
Cos(-) 20
X 9
/X 8
+5V 6, 17
Sgnd 5, 16, 25, 26
F.G. 1
RoHS
1k+5V
1k
Encoder J5
FG Frame Ground
Enc. A121A
Enc. B121B
Enc. Index130X/X
X
/B
B
/A
A
+5V
0V
+5V Out @ 500 mA
Signal Ground
1k+5V
1k
+5V Out @ 500 mA
Signal Ground
Sin(+)
Sin(-)
Cos(+)
Cos(-)
X
/X
-
+
-
+
10k
121
J5
10k
121
Encoder
FG
sin
cos
+5V
0V
indx
Frame Ground
10k
Sin
Cos
10k
Enc. Index130
A
/A
B
/B
X
/X
+ -+-
+ -+-
+ -+-
AFault Encoder-Loss
Encoder Loss Detection Logic
BFault
XFault
Va
Vb
VxIndex-Loss
BMLAccelnet Plus Panel MACRO
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01493 Page 16 of 32
feedback connectIons
analog sIn/cos IncreMental encoderThesin/cosinputsareanalogdifferentialwith121Ωterminating resistors and accept 1 Vp-p signals in the format used by incremental encoders with analog outputs, or with ServoTubemotors.Theindexinputisdigital,differential.
quad encoder wIth Index
sIn/cos sIgnals
a/b/x sIgnals
Sgnd = Signal Ground F.G. = Frame Gnd
Sgnd = Signal Ground F.G. = Frame Gnd
Encoders with differential line-driver outputsarerequired(single-endedencodersarenotsupported)andprovideincremental position feedback via the A/B signalsandtheoptionalindexsignal(X)gives a once per revolution position mark. TheMAX3097receiverhasdifferentialinputs with fault protections for the following conditions:
quad a/b/x encoder wIth sIgnal loss detectIoncondition exampleLine-line shorts A shorted to /AOpen-circuits: A disconnected, /A connected. Terminator resistor pulls A&/Atogetherforashort-circuitfaultLow-voltage Va-Vb≤200mV,or≥-200mV Encoder power loss, cabling, etc.
sIgnal loss detectIon logIc
cMe2 feedback optIons
Signal J6 Pins
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 J6 Pins
Data 15
/Data 14
+5V 6, 17
Sgnd 5, 16, 25, 26
F.G. 1
SSI BiSS J6 Pins
Clk MA+ 9
/Clk MA- 8
Data SL+ 15
/Data SL- 14
+5V 6, 17
Signal Ground 5, 16, 25, 26
Frame Gnd 1
RoHS
1k+5V
1k 1k+5V
1k
BiSSEncoder
221
130
MA+
MA-
SL+
SL-
FGFrame Ground
J5
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
J5
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
J5
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-
J5
Battery
Dat
/DatCmd
D-R
SDCmd
D-R
SD
MAX3362B0V
+5VV+
V-
+5V Out@ 500 mA
Signal Ground
Batt+
Batt-
+
-
1k
1k
5V
BMLAccelnet Plus Panel MACRO
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01493 Page 17 of 32
feedback connectIons
ssI absolute encoderTheSSI(SynchronousSerialInterface)isaninterfaceusedtoconnect an absolute position encoder to a motion controller or control system. The BML drive provides a train of clock signals in differential format to the encoder which initiates the transmission of the position data on the subsequent clock pulses. The polling oftheencoderdataoccursatthecurrentloopfrequency(16kHz).Thenumberofencoderdatabitsandcountspermotorrevolution are programmable. The hardware bus consists of two signals: SCLk and SDATA. 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. BiSS refers to principles of well known industrial standards for Serial Synchronous Interfaces like SSI, AS-Interface® and Interbus® with additional options. Serial Synchronous Data Communication Cyclic at high speed 2 unidirectional lines Clock and Data Line delay compensation for high speed data transfer Request for data generation at slaves Safetycapable:CRC,Errors,Warnings Bus capability incl. actuators Bidirectional BiSS B-protocol: Mode choice at each cycle start BiSS C-protocol: Continuous mode
endat absolute encoderThe EnDat interface is a Heidenhain interface that is similar to SSI in the use of clock and data signals, but which also supports analog sin/cos channels from the same encoder. The number of position data bits is programmable as is the use of sin/cos channels. Use of sin/cos incremental signals is optional in the EnDatspecification.
absolute-a encoderTheAbsoluteAinterfaceisaserial,half-duplextypethatiselectricallythesameasRS-485.Notethebatterywhichmustbeconnected.Withoutit,theencoderwillproduce a fault condition.
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.
ssI,biss sIgnals
Sgnd = Signal Ground F.G. = Frame Gnd
Sgnd = Signal Ground F.G. = Frame Gnd
Signal J7 Pin
Mot U 4
Mot V 3
MotW* 2
Frame Gnd 1
Signal J6 Pins
Hall U 2
Hall V 3
HallW 4
+5V 6, 17
Sgnd 5, 16, 25, 26
Frame Gnd 1
Property Ohms
Resistance in the temperature range 20°Cto+70°C
60~750
Resistanceat85°C ≤1650
Resistanceat95°C ≥3990
Resistanceat105°C ≥12000
Signal J6 Pins
Motemp 7
J6 Signal Ground 5,16,25,26
Frame Gnd 1
RoHS
PWM
+HV
0V
ServoMotor
MOT W
Gn/YFrame Gnd
MOT V
MOT U
J7
+
*
Halls
+5V Out @ 500 mA
Signal Ground
+5V
0V
15K
100p
15KHall U+5V
J5
100p
15K
15KHall V+5V
100p
15K
15KHall W
+5V
Hall A
Hall B
Hall C
+5V
[IN11]
Thermistor,Posistor,
or switch Signal Gnd
R1
R2
C1
J5
BMLAccelnet Plus Panel MACRO
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N16-01493 Page18of32
Motor connectIons
Motor oVer teMp InputThe4.99kpull-upresistorworkswithPTC(positivetemperaturecoefficient)thermistorsthatconformtoBS4999:Part111:1987(tableBelow),orswitchesthatopen/closeindicatingamotorover-temperature condition. The active level is programmable. These inputs are programmable for other functions if not used as Motemp inputs. And, other inputs are programmable for the Motemp function.
Motor phase connectIonsThe drive output is a three-phase PWMinverter that converts the DC buss voltage (+HV)intothreesinusoidalvoltagewaveformsthat drive the motor phase-coils. Cable should besizedforthecontinuouscurrentratingofthe motor. Motor cabling should use twisted, shielded conductors for CE compliance, and tominimize PWMnoise coupling into othercircuits. The motor cable shield should connect to motor frame and the drive frame ground terminal(J7-1)forbestresults.
dIgItal hall sIgnalsHall signals are single-ended signals that provide absolute feedback within one electrical cycle of the motor. There are three of them (u, V, &W) and theymay be sourced bymagnetic sensors in the motor, or by encoders that have Hall tracks as part of the encoder disc. They typically operate at much lower frequencies than the motor encoder signals, and are used for commutation-initializationafter startup, and for checking the motor phasing after the amplifier has switched tosinusoidal commutation.
MoteMp sIgnals bs 4999 sensor
hall sIgnals
Motor sIgnals
* MOT W not used for DC brush motors
RoHS
16
3
2
1
Groundingtab
Frame Gnd
5 25
26
17
8
9
10
11
12
1
13
Hall W 4
Hall V 3
Hall U 2
J6 6+5V Out
7
Signal Gnd
Signal Gnd
Motemp
BRUSHLESSMOTOR
U
V
U(+)
V(-)
W
BRUSHMOTOR
4
3
2
1
Mot U
Mot V
Mot W
Frame Gnd
J7
J5Brake
24V Return
4
Brk 24V Output
Brk 24V Input +
0V24 Vdc
Brk
Accelnet Plus Panel
ENCODER
DIGITALHALLS
TEMPSENSOR
DIGITAL
/A
A
/B
B
/X
Vcc
0V
X
/A
A
/B
B
/X
X
BMLAccelnet Plus Panel MACRO
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01493 Page 19 of 32
The connections shown may not be used in all installations
Motor connectIons: dIgItal quad a/b encoders
NOTES:1) +5VOutonJ1&J6connecttothesamepowersupply.Thesumofoutputcurrentsislimitedto500mA2) CEsymbolsindicateconnectionsrequiredforCEcompliance.
RoHS
16
3
2
1
Groundingtab
Frame Gnd
5 25
26
17
8
9
20
21
18
1
19
Hall W 4
Hall V 3
Hall U 2
J6 6+5V Out
7
Signal Gnd
Signal Gnd
Motemp
4
3
2
1
Mot U
Mot V
Mot W
Frame Gnd
J7
J5Brake
24V Return
4
Brk 24V Output
Brk 24V Input +
0V24 Vdc
Brk
Accelnet Plus Panel
ENCODER
DIGITALHALLS
Vcc
0V
TEMPSENSOR
ANALOG
Sin-
Sin+
Cos-
Cos+
Ndx-
Ndx+
Enc Sin(-)
Enc Sin(+)
Enc Cos(-)
Enc Cos(+)
Enc Index(-)
Enc Index(+)
BRUSHLESS
U
V
WMOTOR
U(+)
V(-)BRUSHMOTOR
Motor connectIons: analog sIn/cos IncreMental encoders
BMLAccelnet Plus Panel MACRO
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01493 Page 20 of 32
The connections shown may not be used in all installations
NOTES:1) +5VOutonJ1&J6connecttothesamepowersupply.Thesumofoutputcurrentsislimitedto500mA2) CEsymbolsindicateconnectionsrequiredforCEcompliance.
RoHS
~
~+
-
+
Frame Gnd
Vcc
Vcc[IN7~10]
[AIN+]
[AIN-]
Isolated
Sgnd
Sgnd
Sgnd
J1 Control
Vcc
[OUT1~3+]
[OUT1~3-]
+
Sgnd
-
Vcc
DriveControlCore
[IN11]
J6 Feedback
J5 Brake
Motor temp switch
Vcc
BRAKE[OUT4]
+24VBrake
Brk 24V Output
Brk 24V Input
24V Return
+
-24V
Return
R-L
PWMInverter
J7 Motor
Motor
Control Core circuits arereferenced to Signal Ground
(Sgnd)and HV Com ground
DC-DCConverter
SgndSignal GndInternal DC
Power forAll Circuits
+HV
HV Com
Aux
EarthGround
Frame Gnd
J8 HV & Aux
J2 Serial
J3 MACROX2 In and Out
Ports are Identical
MACROConnections are
isolated fromdrive circuits
TxD
RxD
Sgnd
2
1
3
1
2
3
4
680 µF
5
4
3
2
J1 Control
ProtectiveEarth ground
HEATPLATE
DRIVE CIRCUITS
Isolated
[IN1~6,11]
MACRO Receiver
MACRO Driver
BMLAccelnet Plus Panel MACRO
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01493 Page 21 of 32
This graphic shows the electrical structure of the drive, detailing the elements that share a common circuit common(SignalGround,HVCom)andcircuitsthatareisolatedandhavenoconnectiontointernalcircuits. Notethatthereisnoconnectionbetweentheheatplate(Chassis,frameGround)andanydrivecircuits.
deVIce structure & IsolatIon
RoHS
+
-
+~
~
~
~
+
- -
+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 = J72-Axis = J10
HV+
-Aux
Frame Ground
BMLAccelnet Plus Panel MACRO
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01493 Page 22 of 32
power & groundIng connectIons
DCPOWERCONNECTIONS• DCpowermustbeprovidedbytransformersthataregalvanicallyisolatedandprovidereinforcedinsulationfromthemains.
Auto-transformers cannot be used.• The(-)terminalofthepowersupplyisnotgroundedatthepowersupply.Itisgroundedneareachdrive.• Cablingtomultipledrivesforthe+HVand0Visbestdoneina“star”configuration,andnota“daisy-chain”.• The0V,orreturnterminaloftheDCpowershouldbeconnectedtoframegroundnearthedrivepowerconnector.
From that point, a short wire can connect to the drive HV Ground.• Cablingtothedrive+HVand0Vterminalsmustbesizedtocarrytheexpectedcontinuouscurrentofthedriveintheuser’s
installation.• DCpowercablingshouldbeshielded,twisted-pairforbestEMIreduction.Theshieldshouldconnecttothepowersupplyframe
ground on one end, and to the drive frame ground on the other. Adding a pigtail and ring-lug, as short as possible will provide a good connection of the shield at the drive.
• Motorcablingtypicallyincludesagreen/yellowconductorforprotectivebondingofthemotorframe. Connect as shown in the Motor Connections diagram on the following page.
• MotorcableconductorsshouldbetwistedandshieldedforbestEMIsuppression.• Ifagreen/yellowgroundingwireconnectsthemotortothedrive’sPEterminal,theshieldpigtailandring-lugmayconnecttoone
of the screws that mount the drive to the panel. A P-clip to ground the shield as near as possible to the drive will increase the EMI suppressionoftheshield.Onthemotor-end,theshieldfrequentlyconnectstotheconnectorshell.Ifthemotorcableisaflying-lead from the motor, the shield may be connected to the motor frame internally.
• BraidedcableshieldsaremoreeffectiveforEMIreductionthanfoilshields.Double-shieldedcablestypicallyhaveabraidedoutershield and foil shields for the internal twisted pairs. This combination is effective for both EMI reduction and signal quality of the feedback signals from analog encoders or resolvers.
• Motorcableshieldingisnotintendedtobeaprotectivebondingconductorunlessotherwisespecifiedbythemotormanufacturer.• forfeedbackcables,double-shieldedcablewithasingleoutershieldandindividualshieldedtwistedpairinternalshieldsgivesthe
best results with resolvers, or analog sin/cos encoders.• Indouble-shieldedcables,theinternalshieldingshouldconnecttothedrive’sSignalGroundononeend,andshouldbe
unconnected on the motor end. • Single-shieldfeedbackcablesconnecttothedriveframeononeend,andtothemotorframeontheother.
Depending on the construction of the motor, leaving the feedback cable shield disconnected on the motor but connected on the drive end may give better results.
• Thedriveshouldbesecuredtotheequipmentframeorpanelsusingthemountingslots.Thisensuresagoodelectricalconnectionfor optimal EMI performance. The drive chassis is electrically conductive.
DCPOWERWIRINGP-clips secure cables to a panel and provide full contact to the cable shields after the insulation has been stripped. This should be done as close to the drive as possible for best EMI attenuation.
RoHS
(+)
(-)
+ +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
BMLAccelnet Plus Panel MACRO
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01493 Page 23 of 32
REGENERATIONThischartshowstheenergyabsorptioninW·sforthe drive operating at some typical DC voltages. It isbasedontheinternal680ufcapacitorandwouldbeincreasedbythecapacitanceoftheexternalDCpowersupply.Whentheloadmechanicalenergyisgreaterthanthesevaluesanexternalregenerativeenergy dissipater is required, or the DC power supply capacitance can be increased to absorb the regen energy.
Joules(W·s)
ENERGy ABSORPTION
+HV(VDC)
MOTOR CONNECTIONS•Motor cable shield connects to motor frame,
is grounded with a P-clip near the drive and terminates in a ring-lug that is screwed to the drive chassis by a mounting screw to the panel
• If provided, a green/yellow grounding wire from the motor connects to the F.G. terminal of the motor connector.
FEEDBACk CONNECTIONS• Cable shield connects to motor frame and to
the F.G. terminal of the feedback connector.• Whendouble-shieldingisused,theinner
shields connect to the Signal Ground at the drive, and is not connected at the motor end.
• If not provided by the motor manufacturer, feedback cables rated for RS-422 communications are recommended for digital encoders.
+HVPOWERSuPPLyREquIREMENTSRegulated Power Supplies• Mustbeover-voltageprotectedto100VdcmaxwhentheSTO(SafeTorqueOff)
feature of the drive is used.• Requireadiodeandexternalcapacitortoabsorbregenerativeenergy.• The VA rating should be greater than the actual continuous output power of the
drives connected to the power supply, and adequate for the transient output power due to acceleration of motor loads.
•Must handle the internal capacitance of the drives on startup.
Unregulated Power Supplies• No-load,high-lineoutputvoltagemustnotexceed90Vdc.• Power supply internal capacitance adds to the drive’s internal capacitance
for absorption of regenerative energy.• TheVA(Volts&Amps)ratingatthepowersupply’sACinputistypically30~40%
greater than the total output power of the drives.
AuXILIARyHVPOWER• AuxHVispowerthatcankeepthedrivecommunicationsandfeedbackcircuitsactivewhenthePWMoutputstagehasbeendisabledbyremovingthemain+HVsupply.
• usefulduringEMO(EmergencyOff)conditionswherethe+HVsupplymustberemoved from the drive and powered-down to ensure operator safety.
• Voltage range is the same as +HV. • Powers the DC/DC converter that supplies operating voltages to the drive DSP and
control circuits.• AuxHVdrawsnocurrentwhenthe+HVvoltageisgreaterthantheAuxHVvoltage.
0.0
0.5
1.0
1.5
2.0
2.5
3.0
15 20 25 30 40 50 60 70 80 90
PIN SIGNAL PIN SIGNAL
1 Frame Gnd 6 STO-1(+)
2 STO-1(+) 7 STO-1(-)
3 STO-1(-) 8 STO-24V
4 STO-2(+) 9 STO-GND
5 STO-2(-)
RoHS
1
5
6
9
PIN SIGNAL PIN SIGNAL PIN SIGNAL
1 Frame Gnd 16 Signal Gnd 31 Signal Gnd
2 [AIN1-] 17 +5Vout 32 +5Vout
3 [AIN1+] 18 MultiEnc /S 33 MultiEnc S
4 N/C 19 MultiEnc/X 34 MultiEncX
5 N/C 20 MultiEnc /B 35 MultiEnc B
6 Signal Gnd 21 MultiEnc /A 36 MultiEnc A
7 [IN1] 22 Signal Gnd 37 Signal Gnd
8 [IN2] 23 N/C 38 N/C
9 [IN3]Diff1(+) 24 N/C 39 N/C
10 [IN4]Diff1(-) 25 [OUT3-] 40 [OUT3+]
11 [IN5]Diff2(+) 26 [OUT2-] 41 [OUT2+]
12 [IN6]Diff2(-) 27 [OUT1-] 42 [OUT1+]
13 [IN7] 28 [ICOM] 43 N/C
14 [IN8] 29 N/C 44 Signal Gnd
15 [IN9] 30 [IN10]
1 16 31
30 4415
AM
P
AccelnetPlus
RS
-232S
IGN
AL
SA
FETY
x10x1
S1
S2
DE
VIC
E ID
J1
J3
J4J2
NE
TW
OR
KR
UN
ER
RL/A
L/A
INO
UT
J1: CONTROL SIGNALS
J1: DRIVE CONNECTORHigh-Density Dsub DB-44F, female receptacle, 44 Position
J1: CABLE CONNECTORHigh-Density Dsub DB-44M, male plug, 44 Position
BMLAccelnet Plus Panel MACRO
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01493 Page 24 of 32
J4SAfETy(SAfETORquEOff)
J4 BML CONNECTOR:Dsub DB-09F, 9 position female receptacle
J4 CABLE CONNECTOR:Poke and crimp Dsub DB-09M, 9 position
connectors & sIgnals: front panel
Details on J1, J4, & J6 cable connectors can be found in the BML-CK listing under the Accessories section of the last page
PIN SIGNAL PIN SIGNALPIN SIGNAL 18 Sin(-) 9 EncX26 Signal Gnd 17 +5VOut 8 Enc/X25 Signal Gnd 16 Signal Gnd 7 [IN11] Motemp24 N/C 15 Enc S 6 +5VOut23 N/C 14 Enc /S 5 Signal Gnd22 N/C 13 Enc A 4 HallW21 Cos(+) 12 Enc /A 3 Hall V20 Cos(-) 11 Enc B 2 Hall U19 Sin(+) 10 Enc /B 1 Frame Gnd
Pin Signal
4 Brk 24V Input
3 Brk 24V Output
2 Brake A [OUT4]
1 24V Return
signal pin
HV Ground 1
HV 2
AuxHV 3
Signal Pin
Frame Ground 1
MotorPhaseW 2
Motor Phase V 3
Motor Phase U 4
RoHS
1 2 3
0V +HV Aux
11019
91826
1 2 3 4
1234
J8
POWER
J7
MOTOR
BRAKE FEEDBACK J6 J5
0V +HV AUXW V U
BMLAccelnet Plus Panel MACRO
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01493 Page 25 of 32
J6: FEEDBACk
J8:DRIVECONNECTOREuro-style5.08mmmalereceptacle,3-position Wago:MCS-MIDI,231-563/108-000J7: DRIVE CONNECTORS
Euro-style5.08mmmalereceptacle,4-position Wago:MCS-MIDI,231-564/108-000
J6: BML CONNECTORHigh-Density Dsub DB-26F, female receptacle, 26 Position
J7 CABLE CONNECTORSWagoMCS-MIDIClassic231-304/107-000
J6: CABLE CONNECTORHigh-Density Dsub DB-26M, male plug, 26 Position
J8:CABLECONNECTORWagoMCS-MIDI,231-303/107-000
WAGOCONNECTORTOOLContact opener: 231-159 operating tool
WAGOCONNECTORTOOLContact opener: 231-159 operating tool
J7: MOTOR OUTPUT
J6: MOTOR FEEDBACk
J8:+HV&AuXPOWER
J5: BML CONNECTOREuro-style 3.5 mm male receptacle, 4-position Wago:MCS-MINI,734-164/108-000
J5: CABLE CONNECTORWagoMCS-MINI734-104/107-000 or 734-105/107-000
WAGOCONNECTORTOOLContact opener: 734-231 operating tool
J5: BRAkE
connectors & sIgnals: dIgItal and analog encoders
J5
J8J7
J6
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
2x18 2x1.0 Red Altech 2776.0 15.4(.61) 8.2[.32] 2.4(.09) 3.2(.13) 5.8(.23) 11.0(.43)
2x18 2x1.0 Gray Altech 2775.0 14.6(.57) 8.2(.32) 2.0(.08) 3.0(.12) 5.5(.22) 11.0(.43)
2x20 2x0.75 White Altech 2794.0 14.6(.57) 8.2(.32) 1.7(.07) 3.0(.12) 5.0(.20) 11.0(.43)
2x20 2x0.75 Gray TE 966144-2 15.0(.59) 8.0(.31) 1.70(.07) 2.8(.11) 5.0(.20) 10(.39)
2x22 2x0.50 White TE 966144-1 15.0(.59) 8.0(.31) 1.40(.06) 2.5(.10) 4.7(.19) 10(.39)
RoHS
A
B
C D E
A
B
C D
E
BMLAccelnet Plus Panel MACRO
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01493 Page 26 of 32
wIrIng
J8J7
WagoMCS-MIDIClassic:231-304/107-000(J7),231-303/107-000(J8); withscrewflange;3-pole;pinspacing5.08mm/0.2in
Conductor capacity Barestranded: AWG28~14[0.08~2.5mm2]Insulatedferrule: AWG24~16]0.25~1.5mm2]Strippinglength: 8~9mmOperatingTool: WagoMCS-MIDIClassic:231-159
WagoMCS-MINI:734-104/107-000,femaleconnector;withscrewflange;4-pole;pinspacing3.5mm/0.138in
Conductor 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
24V&Brake
HV&AuxMotor
Tool
Tool
fERRuLEPARTNuMBERS:DOuBLEWIREINSuLATED
fERRuLEPARTNuMBERS:SINGLEWIREINSuLATED
NOTESPNUM = Part NumberSL = Stripping lengthDimensions:mm(in)
NOTESPNUM = Part NumberSL = Stripping lengthDimensions:mm(in)
fERRuLEPARTNuMBERS:SINGLEWIREINSuLATED
HV/AuXPOWERANDMOTOROuTPuTS:J7&J8
24V&BRAKE:J5
J5
Qty Description
1 Heatsink, standard, BML-HS
1 Thermalpad,4x4in.
1
kit, Heatsink Hardware, BML
4 Washer,flat,#8
4 Screw,PAN,SEMS,#8-32x1/2in
RoHSBMLAccelnet Plus Panel MACRO
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01493 Page 27 of 32
• STANDARDHEATSINKfORACCELNETPLuSPANELBML • COMPLETEKITfORuSERINSTALLATIONOfTHEHEATSINK
DESCRIPTION
The BML-Hk is a kit containing a heatsink and mounting hardwareforfieldinstallationofastandardheatsinkonto a BML model servo drive. ToorderanBMLdrivewithheatsinkfittedatthefactory,add “-H” to the model part number.
INSTALLATION
1) Placetheheatsinkfins-downonaworksurface.Orienttheheatsinksothattheedgewithpartnumberisawayfrom you. The hole for the BML grounding lug should be to your left.
2) Removetheclearprotectivefilmfromthethermalmaterialanddiscardit.Placethethermalmaterialontotheheatsink in the placement area which is marked with four white “L”. Apply light pressure to ensure that the thermal materialisflat.
3) Peelthewhiteprotectivelayerawayfromthethermalmaterial.Dothisslowlyfromonecornersoasnottoliftthethermal material from the heatsink.
4) AligntheBML as shown and lower onto the heatsink. If needed to adjust the position, lift it away from the thermal material and lower onto the heatsink again.
5) Installthefourmountingscrewswithflatwashersandtightenevenly.Torqueto17.8lb-in(2.0Nm)maximum.
HEATSINk kIT PART LIST
heatsInk kIt InstallatIon
Heatsink
Mounting Screws(4)
BML Drive
Thermal material
RoHS
W
2 W
4 W
6 W
8 W
10 W
12 W
14 W
16 W
disabled 0.0 A 2.5 A 5.0 A 7.5 A 10.0 A 12.5 A 15.0 A
80 V65 V50 V35 V20 V
0C
5C
10C
15C
20C
25C
30C
35C
40C
45C
50C
2W 4W 6W 8W 10W 12W 14W 16W
HSF
HSNF
NHSF
NHSNF
BMLAccelnet Plus Panel MACRO
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N16-01493 Page28of32
Quiescent power
POWERDISSIPATIONusethischarttofindtheWattsdissipation. The vertical dashed lines show the continuous currents for the three BML models.ExampleBML-090-30:Power supply HV = 65 Vdc Current = 12.5A Powerdissipation=10.8W
The top chart on this page shows the internal power dissipation of the BML under differing power supply and output current conditions. The +HV values are for the average DC voltage of the drive power supply. The lower chart shows the temperature rise vs. power dissipation under differing mounting and cooling conditions.
therMals: power dIssIpatIon
therMals: MaxIMuM operatIng teMperature Vs. dIssIpatIon
BML-090-30
BML-090-14
BML-090-06
10.8W
33 C
10.8W
HSF or NHSF
HSNFNHSNF
Internal power dissipation (Watts)
usethischarttofindthemaximumoperating temperature of the drive under differing mounting and cooling conditions.Example:usingthe10.8Wvaluefromthecalculations above, draw a vertical line. This shows that 33 C is the maximumoperatingtemperatureforNHSNF. But HSFNF, NHSF, or HSF mountings allow operation to 45 C maximumambient.
HSf = HeatSink(with)fan NHSf = NoHeatSink(with)fan HSNF = Heat Sink No Fan NHSNF = No Heat Sink No Fan
heatsink + fan °C/W
ForCeD-Air, 300 LFM 0.91
heatsink, no fan °C/W
ConveCtion 2.02
no heatsInk, no fan °c/w
CONVECTION 3.46
no heatsink + fan °C/W
ForCeD-Air, 300 LFM 1.32
RoHS
J8
PO
WE
R
J7
MO
TOR
BR
AK
EFE
ED
BA
CK
J6
J5
0V+H
VA
UX
W V
U
J8
PO
WE
R
J7
MO
TOR
BR
AK
EFE
ED
BA
CK
J6
J5
0V+H
VA
UX
W V
UJ8
PO
WE
R
J7
MO
TOR
BR
AK
EFE
ED
BA
CK
J6
J5
0V+H
VA
UX
W V
U
J8
PO
WE
R
J7
MO
TOR
BR
AK
EFE
ED
BA
CK
J6
J5
0V+H
VA
UX
W V
U
BMLAccelnet Plus Panel MACRO
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01493 Page 29 of 32
THERMAL RESISTANCEThermal resistance is a measure of the temperature rise of the drive heatplate due to powerdissipationinthedrive.Itisexpressedinunitsof°C/Wwherethedegreesarethe temperature rise above ambient.E.g.,adrivedissipating13Wmountedwithnoheatsinkorfanwouldseeatemperatureriseof45°Caboveambientbasedonthethermalresistanceof3.46°C/W.usingthedrivemaximumheatplatetemperatureof70°Candsubtracting46°Cfromthatwouldgive24°Casthemaximumambienttemperaturethedriveinwhichthedrivecould operate before going into thermal shutdown. To operate at higher ambient temperatures a heatsink or forced-air would be required.
MOUNTINGThermal data for convection-cooling with a heatsink assumes a vertical mounting of the drive on a thermally non-conductingsurface.Heatsinkfinsrunparalleltothelongaxisofthedrive.Whenfan-coolingisusedverticalmounting is not necessary to guarantee thermal performance of the heatsink.
end vieWs vertiCal mounting
therMals: MountIng & therMal resIstance
RoHS
0.16 [4.1]
0.68 [17.1]
1.70 [43.2]
4.70 [119.4]
1.14 [28.8]
0.85 [21.6]
0.19 [4.8]
5.08 [129]
0.16 [4.1]
1.99 [50.4]
3.41 [86.6]
0.19 [4.8] 3.61 [91.6]
0.16 [4.1]
0.68 [17.1]
1.70 [43.2]
4.70 [119.4]
1.14 [28.8]
0.85 [21.6]
0.19 [4.8]
5.08 [129]
0.16 [4.1]
1.99 [50.4]
3.41 [86.6]
0.19 [4.8] 3.61 [91.6]
BMLAccelnet Plus Panel MACRO
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01493 Page 30 of 32
dIMensIons: no heatsInk
Units: IN[MM]
Mounting screws: #6-32,or3.5mm
RoHS
0.16 [4.1]1.14 [28.8]
2.25 [57.2]
3.39 [86.1]
4.70 [119.4] 0.19 [4.8]0.19 [4.8] 3.41 [86.6]
3.61 [91.6]5.08 [129]
0.16 [4.1]1.14 [28.8]
2.25 [57.2]
3.39 [86.1]
4.70 [119.4] 0.19 [4.8]0.19 [4.8] 3.41 [86.6]
3.61 [91.6]5.08 [129]
0.16 [4.1]1.14 [28.8]
2.25 [57.2]
3.39 [86.1]
4.70 [119.4] 0.19 [4.8]0.19 [4.8] 3.41 [86.6]
3.61 [91.6]5.08 [129]
BMLAccelnet Plus Panel MACRO
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01493 Page 31 of 32
Units: IN[MM]
Mounting screws: #6-32,or3.5mm
dIMensIons: heatsInk Mounted
BML-090-06 Accelnet Plus Panel MACRO servo drive, 3/6 A, 90 Vdc
BML-090-14 Accelnet Plus Panel MACRO servo drive, 7/14 A, 90 Vdc
BML-090-30 Accelnet Plus Panel MACRO servo drive, 15/30 A, 90 Vdc
qty ref name description Manufacturer p/n
bMl-ckConnector kit
1J8 DC HV
Plug,3position,5.08mm,female Wago: 231-303/107-000 (Note1)
1 Strainrelief,snap-on,5.08mm,3position,orange Wago: 232-633
1J7 Motor
Plug,4position,5.08mm,female Wago: 231-304/107-000 (Note1)
1 Strainrelief,snap-on,5.08mm,4position,orange Wago:232-634
1 J7,J8 Tool Tool,wireinsertion&extraction,231series Wago:231-159
1
J5Brake
Plug, 4 position, 3.5 mm, female Wago: 734-104/107-000 (Note1)
1 Strain relief, snap-on, 3.5 mm, 4 position, grey Wago:734-604
1 Tool Tool,wireinsertion&extraction,734series Wago: 734-231
1
J4 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 Metal Backshell, DB-9, RoHS 3M: 3357-9209
4 Jumper, with pins crimped on both ends Copley: 10-75177-01
1J1 Control
Connector, high-density DB-44M, 44 position, male, solder cup Norcomp:180-044-103L001
1 Metal Backshell, DB-25, RoHS 3M: 3357-9225
1J6 Feed-
backConnector, high-density DB-26M, 26 position, male, solder cup Norcomp:180-026-103L001
1 Metal Backshell, DB-15, RoHS 3M: 3357-9215
SER-Ck 1 J2 RS-232 Serial Cable kit
Note1:forRoHScompliance,append“/RN01-0000”totheWagopartnumberslistedabove
Note2:Insertion/extractiontoolforJ4contactsisAMP/Tyco91067-2(notincludedinBML-CK)
16-01493 Document Revision HistoryRevision Date Remarks00 December 05, 2016 Initial released version, updated picture on page 1
RoHSBMLAccelnet Plus Panel MACRO
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01493 Page 32 of 32
Note: Specifications subject to change without notice
Add-Htomodelnumberforheatsinkinstalledatthefactory(Example:BML-090-06-H)
Example:OrderoneAccelnet Plus BMLdrive,7/14A,withconnectorKit,serialcablekitandheatsinkfittedatthefactory:Qty Item Remarks 1 BML-090-14-R-H Accelnet Plus BML servo drive with factory-mounted heatsink 1 BML-Ck BML Connector kit 1 BML-Sk Serial Cable kit
Master orderIng guIde
accessorIes