Model Ip Ic VdcBP2-090-06 6 3 90BP2-090-14 14 7 90BP2-090-20 20 10 90
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BP2Accelnet Plus 2-Axis Panel CANopen
Current ratings are for each axis Add -R for resolver feedback option
dIgItal serVo drIVe for brush & brushless Motors
ConTRol MoDeS• ProfilePosition-Velocity-Torque,InterpolatedPosition,Homing • Camming,Gearing • Indexer
CommandInTerfaCe• Canopen • aSCIIanddiscreteI/o • Steppercommands • ±10Vposition/velocity/torque • PWmvelocity/torquecommand • masterencoder(Gearing/Camming)
CommunICaTIonS• CanopendS-402 • rS-232
FeeDBACkIncremental Encoders • digitalquada/B analogSin/Cos PanasonicIncrementalaformat • aux.quada/Bencoder/encoderout Absolute Encoders • SSI,endat,absolutea, Tamagawa & Panasonic Absolute A Sanyodenkiabsolutea,BiSS(B&C) Other • digitalHalls
I/odIGITal• 8High-speedinputs• 2motorover-tempinputs• 8opto-Isolatedinputs• 5opto-Isolatedoutputs• 2opto-Isolatedbrakeoutputs
analoG• 2referenceInputs,12-bit
SafeTorqueoff(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 BP2 is a high-performance, DC powered drive for position, velocity, and torque control of brushless and brushmotors viaCAnopen. Drive commissioning is fast and simple using CMe 2™ software operating under Windows® and communicating with the BP2 via RS-232.The BP2 operates as a CAnopen DS-402 node. Supported modes include:ProfilePosition-Velocity-Torque,InterpolatedPositionmode(PVT),andHoming.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. As an input it takes feedback from a secondary encoder to create a dual-loop position control system or as a master encoder for driving a cam table. As an output, it buffers the digital encoder signals from the motor’s digital encoder and eliminates split cables that would be needed to send the signals to both drive and control system.
There are ten non-isolated inputs. eight opto-isolated digital inputs are bipolar types that source or sink current into a common connectionthatcanbetiedtogroundor+24V.[In1&10]defaultto the drive enable function for axes A & B, and are programmable to other functions. The other inputs are programmable. All inputs have programmable active levels. Five opto-isolated outputs [ouT1~5] have individual collector/emitter connections. TwomoSfeT outputs [ouT6~7] are programmable to drivemotorbrakes or other functions. 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.
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BP2Accelnet Plus 2-Axis Panel CANopen
Testconditions:load=Wyeconnectedload:2mH+2Ωline-line.ambienttemperature=25°C,+HV=HVmax
MoDel BP2-090-06 BP2-090-14 BP2-090-20
ouTPuTPoWer(eaCHaxIS)PeakCurrent 6(4.2) 14(9.9) 20(14.4) adc(arms-sine),±5% Peak time 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) Bus voltage compensation Changes in bus or mains voltage do not affect bandwidth minimumloadinductance 200µHline-line
CommandInPuTS(noTe:dIGITalInPuTfunCTIonSareProGrammaBle) Distributed Control Modes Canopen InterpolatedPosition,Homing 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 PWM minimum pulse width 220 ns Indexing upto32sequencescanbelaunchedfrominputsoraSCIIcommands. Camming upto10Camtablescanbestoredinflashmemory aSCII rS-232,dTe,9600~115,200Baud,3-wire,rJ-11connector
dIGITalInPuTSnumber 18 [In1,2,10,11] digital,non-isolated,Schmitttrigger,1.5µsrCfilter,24Vdccompatible,programmablepull-up/downto+5Vdc/ground, 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, 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,programmabletootherfunctions other digital inputs are also programmable for the Motemp function 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,5kW input impedance, 12-bit resolution
SafeTorqueoff(STo)Function PWM outputs are inactive and current to the motor will not be possible when the STo function is asserted 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 CompleteinformationandspecificationsareintheAccelnet&StepnetPlusPanelsSTOManual
dIGITalouTPuTSnumber 7 [ouT1~5] opto-isolatedSSr,two-terminal,300mamax,24Vtolerant,ratedimpulse≥800V,series1Ωresistor [ouT6~7] opto-isolatedmoSfeT,defaultasmotorbrakecontrol,current-sinking, 1adcmax,flybackdiodesto+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, DTe serial communication port for drive setup and control, 9,600 to 115,200 Baud Protocol BinaryandaSCIIformats
CAnoPen PoRTS Signals CanH,Canl,Can_Gndin8-positiondualrJ-45stylemodularconnector,wiredasperCanCiadr-303-1,V1.1 format CanV2.0bphysicallayerforhigh-speedconnectionscompliant data CanopendeviceProfiledSP-402 node-Idselection 16positionrotaryswitchesonfrontpanelwith3additionalnode-Idbitsavailableas digitalinputsorprogrammabletoflashmemory(7-bitaddressing,127nodesperCannetwork)noTeS:
1)Heatsinkorforced-airrequiredforcontinuouscurrentrating
general specIfIcatIons
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BP2Accelnet Plus 2-Axis Panel CANopen
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 status indicated by color, and blinking or non-blinking condition l/a,run,err Yellow&greenledona&Bports,statusof CAnopen bus indicated by color and blink codes basedonCanopenIndicatorSpecificationV0.91 Greenled:on=Goodlink,Blinking=activity,off=nolink Yellowled:onforfull-duplex,offforHalf-duplex
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 I2T Current limiting Programmable: continuous current, peak current, peak time Motor over temperature Digital inputs programmable to detect motor temperature switch 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 Ambient temperature 0 to +45C operating, -40 to +85C storage Humidity 0to95%,non-condensing Vibration 2gpeak,10~500Hz(sine),IeC60068-2-6 Shock 10 g,10ms,half-sinepulse,IeC60068-2-27 Contaminants Pollution degree 2 environment IeC68-2:1990 Cooling Heatsinkand/orforcedaircoolingrequiredforcontinuouspoweroutput
aGenCYSTandardSConformanCe(PendInG)Approvals
ulandculrecognizedcomponenttoul61800-5-1(fileno.e168959) TÜVSÜdfunctionalSafetytoIeC61508andISo13849<pending>
Functional SafetyIeC61508-1,IeC61508-2,en(ISo)13849-1,en(ISo)13849-2,IeC61800-5-2 (seeTheAccelnet&StepnetPlusPanelsSTOManualforfurtherdetail)
Electrical Safetydirective2006/95/eC–lowVoltage:IeC61800-5-1:2007 Ul 61800-5-1-2012
EMCdirective2004/108/eC–emC: IeC61800-3:2004+a1:2011
Hazardous Substancesdirective2011/65/eu(roHSdirective)
general specIfIcatIons
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BP2Accelnet Plus 2-Axis Panel CANopen
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,clockoutputfromBP2,datareturnedfromencoder endat Serialdataandclocksignals(daTa,/daTa,ClK,/ClK),differential,121Ωinputs Sin/cossignals(Sin+,Sin-,Cos+,Cos-) 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,clockoutputfromBP2,datareturnedfromencoder
dIGITalHallSType digital,single-ended,120°electricalphasedifferencebetweenu-V-Wsignals, Schmitttrigger,1.5µsrCfilter,24Vdccompatible,programmablepull-up/downto+5Vdc/ground, Vt+=2.5~3.5Vdc,VT-=1.3~2.2Vdc,VH=0.7~1.5Vdc Inputs 15kWpullupsto+5Vdc,1.5µsrCfiltertoSchmitttriggerinverters
mulTI-modeenCoderPorTasInput digitalquadratureencoder(a,/a,B,/B,x,/x),5mHzmaximumlinefrequency(20mcounts/sec), max3097linereceiver,1.5kWpull-upsto+5Vonx&Sinputs,1.5kWpull-downstoSgndon/x&/Sinputs digitalabsoluteencoder(Clk,/Clk,dat,/dat)halforfull-duplexoperation, S&xinputsareusedforabsoluteencoderinterface asemulatedoutput quadratureencoderemulationwithprogrammableresolutionto4096lines(65,536counts)perrev fromanalogsin/cosencoders,resolvers,orabsoluteencoders a,/a,B,/B,frommax3032differentiallinedriver,x,/x,S,/Sfrommax3362differentiallinedriver asBufferedoutput digitala/B/xencoderfeedbacksignalsfromprimaryquadencoderarebuffered(seelinedrivesabove)
reSolVer(-roPTIon)Type Brushless, single-speed, 1:1 to 2:1 programmable transformation ratio resolution 14bits(equivalenttoa4096linequadratureencoder) referencefrequency 8.0kHz referencevoltage 2.8Vrmsmax,auto-adjustablebythedrivetoadjustsin/cossignalsto2.0Vrms Reference maximum current 100 mA Maximum RPM 10,000 typical Sin/Cosinputs differential,54kW±1%differentialimpedance,2.0Vrms,BW≥300kHz
general specIfIcatIons
Set S1 S2 Set S1 S2
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
PIn SIGnal
8 Can_V+
7 Gnd
6 Can_SHld
5 THru
4 THru
3 Can_Gnd
2 Can_l
1 Can_H
RoHS
AMP
X1X10
S2S1
DEV ID
IN OUT J5 J6J1 J2 J3SIGNAL
SAFETY
BRAKEI/O
NETWORKRUNERR L/A L/AA
ccel
netP
lus
1 8 1 8
l/a l/aRunerr
oUTIn
S2
S1
X1X10DEVICE ID
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BP2Accelnet Plus 2-Axis Panel CANopen
CanopendeviceIdSwitch Decimal values
AMP leDS & deVICeIdSWITCHeS
IndIcators: drIVe stateTwo bi-color leDs give the state of the BP2 drive. Colors do not alternate, and can be solid on or blinking. When multiple conditions occur, only the top-most condition will be displayed. When that condition is cleared the next one below will shown. 1)red/Blinking = latchingfault.operationwillnotresumeuntildriveisreset. 2)red/Solid = Transientfaultcondition.drivewillresumeoperationwhen the condition causing the fault is removed. 3)Green/double-Blinking = STocircuitactive,driveoutputsareSafe-Torque-off 4)Green/Slow-Blinking = driveoKbutnoT-enabled.Willrunwhenenabled. 5)Green/fast-Blinking = Positiveornegativelimitswitchactive. Drive will only move in direction not inhibited by limit switch. 7)Green/Solid = driveoKandenabled.Willruninresponseto reference inputs or CAnopen commands. latching Faultsdefaults optional(programmable) • Shortcircuit(Internalorexternal) • over-voltage • driveover-temperature • under-voltage • motorover-temperature • motorPhasingerror • feedbackerror • CommandInputfault • followingerror
CanoPenledS(onrJ-45ConneCTorS)l/a Green:Showsthestateofthephysicallinkandactivityonthelink.
off = no link on = Port open, no activity on & Flickering = Port open and activity
RUn Green:ShowsthestateoftheCanstatemachine off=Init Blinking = Pre-operational Single-flash=Stopped on = operational
eRR Red: Shows errors such as watchdog timeouts and unsolicited state changes in the BP2 due to local errors. off = no errors, communications are working correctly Blinking=Invalidconfiguration,generalconfigurationerror Singleflash=Warninglimitreached;anerrorcounteroftheCan controller has reached or exceeded the warning level. Double Flash = A guard event or heartbeat event has occurred on = Bus off. The CAn controller is bus off.
accelnetusestheCanphysicallayersignalsCanH,Canl,andGndforconnection,andCanopenprotocolforcommunication. Before installing the drive in a CAn system, it must be assigned a CAn address. The maximum allowed nodes on a CAn network is 127, and node 0 is reserved for the Canmaster.ThedeviceIdswitchescansettheBP2axisA address from 1 to 126. The Axis B address is then +1 greater than the Axis A address set by the switches.
canopen coMMunIcatIons
For more information on CAnopen communications, download the CAnopen Manual from the Copley web-site: http://www.copleycontrols.com/motion/downloads/pdf/CAnopenProgrammersManual.pdf
CAnopen ADDReSSIntheBP2,thenodeaddressprovidedbytwo16-positionrotaryswitcheswithhexadecimalencoding.Thesecansettheaddressofthedrivefrom0x01~0xff(1~255decimal).Thechartshowsthedecimalvaluesofthehexsettingsofeach switch.example 1: Find the switch settings for decimal address 107:1)findthehighestnumberunderS1thatislessthan107andsetS1tothe
hex value in the same row: 96<107and112>107,soS1=96=Hex6
2)Subtract96fromthedesiredaddresstogetthedecimalvalueofswitchS2andsetS2totheHexvalueinthesamerow: S2=(107-96)=11=HexB
J3:CAnopen PoRTSrJ-45receptacles, 8 position, 4 contact
PIn SIGnal
2 RxD
3,4 Gnd
5 Txd
RoHS
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
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BP2Accelnet Plus 2-Axis Panel CANopen
BP2isconfiguredviaathree-wire,full-duplexdTerS-232portthat operates from 9600 to 115,200 Baud, 8 bits, no parity, and one stop bit. Signal format is full-duplex, 3-wire, DTe using rxd,Txd,andGnd.ConnectionstotheBP2 RS-232 port are throughJ4,anrJ-11connector.TheBP2 SerialCableKit(Ser-CK)containsamodularcable,andanadapterthatconnectstoa9-pin,Sub-dserialportconnector(Com1,Com2,etc.)onPC’sand 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).
J4:rS-232PorTrJ-11receptacle, 6 position, 4 contact
Ser-CKSerIalCaBleKITTheSer-CKprovidesconnectivitybetweenad-Sub9maleconnectorandtherJ-11connectorontheBP2.ItincludesanadapterthatplugsintotheCom1(orother)portof a PC and uses common modular cable to connect to the BP2. 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 fTdIchipsetworkwellwithCme2
Don’t forget to order a Serial Cable kit SeR-Ck when placing your order for a BP2!
aSCIICommunICaTIonS
TheCopleyaSCIIInterfaceisasetofaSCIIformatcommandsthatcanbeusedtooperateandmonitorCopleyControlsaccelnet, Stepnet, and BP2 series amplifiers over an rS-232 serial connection. for instance, after basic amplifierconfigurationvalueshavebeenprogrammedusingCme2,acontrolprogramcanusetheaSCIIInterfaceto:•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 establishedatthisspeed,theBaudratecanbechangedtoahigherrate(19,200,57,600,115,200).aSCIIparameter0x90holdstheBaudratedata.Tosettherateto115,200enterthislinefromaterminal: s r0x90 115200 <enter>Then,changetheBaudrateinthecomputer/controllertothenewnumberandcommunicateatthatrate.
additionalinformationcanbefoundintheaSCIIProgrammersGuideontheCopleywebsite:http://www.copleycontrols.com/motion/pdf/aSCII_ProgrammersGuide.pdf
coMMunIcatIons: rs-232 serIal
ConneCTIonS
PIn SIGnal PIn SIGnal
1 frameGnd 6 STo-In1+
2 STo-In1+ 7 STo-In1-
3 STo-In1- 8 STo-Bypass
4 STo-In2+ 9 STo-Gnd
5 STo-In2-
DANGER
RefertotheAccelnet&StepnetPlusPanelsSTOManual
The information provided in the Accelnet & Stepnet Plus Panels STO Manual must be considered for any application using the BP2 drive’s STo feature.FAiluRETOhEEDThiSwARNiNGCANCAuSEEquiPMENTDAMAGE,iNjuRy,ORDEATh.
RoHS
16
95
Frame Ground
STO-Bypass (6.5 mA)*
STO-Gnd (Sgnd)
J6
Accelnet Plus Panel Dual-Axis
Bypass Plug ConnectionsJumper pins:2-4, 3-5, 6-8, 7-9 *
STO-IN1+
STO-IN2+
STO-IN2-
STO-IN1-
STO-IN1+
STO-IN1-
2
3
1
4
5
6
7
8
9
Upper IGBT Gate Drive
PWM Signals
BufferVoltage
RegulatorEN
+HV
PWMOutputs
+VI
+VI
V_in
+VI Lower IGBT Gate Drive
16
95
SAFETY
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BP2Accelnet Plus 2-Axis Panel CANopen
InSTallaTIon
SToBYPaSS(muTInG)InorderforthePWmoutputsoftheBP2tobeactivated,currentmustbeflowingthroughalloftheopto-couplersthatareconnectedtotheSTo-In1andSTo-In2terminalsofJ6,andthedrive must be in an enABleD state. When the opto-couplers are off,thedriveisinaSafeTorqueoff(STo)stateandthePWmoutputs cannot be activated by the control core to drive a motor.
Thisdiagramshowsconnectionsthatwillenergizealloftheopto-couplers from an internal current-source. When this is done the STo feature is overridden and control of the output PWM stage is under control of the digital control core. ifnotusingtheSTOfeature,theseconnectionsmustbemadeinorderfortheBP2tobeenabled.
Currentmustflowthroughallofthe
opto-couplersbeforethedrive canbeenabled
SToBYPaSSConneCTIonS
safe torque off (sto)
funCTIonaldIaGram
* STo bypass connections on the BP2 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. ThediodeisnotrequiredforSTobypasson the BP2 and can be replaced by a wire between pins 7 and 9.
SafeTYConneCTorJ6
TheSafeTorqueoff(STo)functionisdefinedinIeC61800-5-2.Twochannelsareprovidedwhich,whende-energized,preventthe upper and lower devices in the PWM outputs from being operated 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
RoHS
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
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BP2Accelnet Plus 2-Axis Panel CANopen
PoSITIonCommandInPuTSSingle-ended digital position commands must be sourced from devices with active pull-up and pull-down to take advantage of the high-speed inputs.
For differential commands, the A & B channels of the multi-mode encoder 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-endeddigitaltorqueorvelocitycommandsmustbesourced from devices with active pull-up and pull-down to take advantage of the high-speed inputs.
For differential commands, the A & B channels of the multi-mode encoder 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
encS,absolute(Clock)data 33 39
enc/S,/absolute(Clock)data 18 24
SignalGround 6, 16, 22, 31, 37, 44
frameGround 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
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
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BP2Accelnet Plus 2-Axis Panel CANopen
MultI-Mode port as an Input
PoSITIonCommandInPuTS:dIfferenTIal
•Pulse & Direction•CW&CCW(Clockwise&Counter-Clockwise)•encoder Quad A & B•Camming encoder A & B input
CURRenT orVeloCITYCommandInPuTS:dIfferenTIal
•CurrentorVelocity&direction•CurrentorVelocity(+)&CurrentorVelocity(-)
SeCondarYfeedBaCK:InCremenTal•quada/B/xincrementalencoder
SeCondarYfeedBaCK:aBSoluTe•Schannel:absoluteaencoders(2-wire) TheSchannelfirstsendsaClocksignalandthen receives Data from the encoder in half-duplex mode.
•S&xchannels:SSI,BiSS,endatencoders(4-wire) ThexchannelsendstheClocksignaltotheencoder, which initiates data transmission from the encoder on the S-channel in full-duplex mode
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
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
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BP2Accelnet Plus 2-Axis Panel CANopen
MultI-Mode port as an output
output typesBufferedfeedBaCKouTPuTS:dIfferenTIal
•encoderquada,B,xchannels•directhardwareconnectionbetweenquada/B/x encoderfeedbackanddifferentiallinedriversfora/B/xoutputs
emulaTedfeedBaCKouTPuTS:dIfferenTIalfirmwareproducesemulatedquada/B/xsignalsfromfeedback data from the following devices:•Absolute encoders •resolvers(-roption)•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
√ √ Amp over Temp
√ √ Motor over Temp
overVoltage
underVoltage
Motor Wiring Disconnected
oPTIonalfaulTS
overCurrent(latched)
Axes A, B notes
Analog: Reference Filter Disabled
Vloop:Inputfilter Disabled
Vloop:outputfilter1 low Pass, Butterworth, 2-pole,200Hz
Vloop:outputfilter2 Disabled
Vloop:outputfilter3 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
RoHS
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BP2Accelnet Plus 2-Axis Panel CANopen
cMe2 defaults
These tables show the CMe2 default settings. They are user-programmable and thesettingscanbesavedtonon-volatileflashmemory.
SPeCIfICaTIonSInput Data notes
InputVoltages
HI VT+=2.5~3.5Vdc
lo VT-=1.3~2.2Vdc
VH1 VH=±0.7~1.5Vdc
Max +30Vdc
Min 0Vdc
Pull-up/down R1 15 kW
lowpassfilterR2 15 kW
C1 100 pF
InputCurrent24V 1.3 mAdc
0V -0.33 mAdc
Time constant 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
Common mode Vcm 0to+12Vdc
Pull-up/down R1 10 kW
lowpassfilterR2 1 kW
C1 100 pF
Time constant 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
ConneCTIonSInput Pin
In1 J1-7
In2 J1-8
In10 J1-12
In11 J1-13
Sgnd J1-6,16,22,31,37,44
RoHS
C1
R2R1
74HC14
PullUp = +5VPullDown = 0V
[INx]
+5V
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+
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BP2Accelnet Plus 2-Axis Panel CANopen
• Digital, non-isolated, high-speed• Progammablepull-up/pull-down• 24VCompatible• Programmable functions
• Digital, non-isolated, high-speed• Progammablepull-up/pull-down• 12VCompatible• Single-ended or Differential• Programmable functions
SInGle-ended
dIfferenTIal
notes:1)VHishysteresisvoltage In2-In3orIn12-In13
2)Ther2*C2timeconstantapplies when input is driven by activeHI/lodevices)
3)Vdiff=aInn(+)-aInn(-) n = 1 for Axis A, 2 for Axis B
notes:1)VHishysteresisvoltage (VT+)-(VT-)
2)Ther2*C2timeconstantapplies when input is driven by activeHI/lodevices
hIgh speed Inputs: In1, In2, In10, In11
sIngle-ended/dIfferentIal Inputs: In3, In4, In12, In13
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 0Vdc
Pull-up/down R1 4.99 kW
InputCurrent12V 1.4 mAdc
0V -1.0 mAdc
lowpassfilterR2 10 kW
C1 33 nF
Time constant Te 330µs*BS 4999:PART 111:1987
Property ohms
Resistance in the temperature range20°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 ±30Vdc*
InputCurrent±24V ±3.6madc
0V 0 mAdc
RoHS
+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
+
+
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BP2Accelnet Plus 2-Axis Panel CANopen
• Digital, non-isolated• Motor overtemp inputs• 12VCompatible• Programmable functions
• Digital, opto-isolated• 2Groupsoffour,eachwithownCommonterminal• Works with current sourcing or sinking drivers• 24VCompatible• Programmable functions
moToroVerTemPInPuTThe 4.99k pull-up resistor works with PTC (positivetemperaturecoefficient)thermistorsthat conform to BS 4999:Part 111:1987, or switchesthatopen/closeindicatingamotorover-temperature condition. The active level is programmable.
*VdcreferencedtoIComterminals.
* RC time constant applies when inputs are driven by activehigh/lowdevices
Motor oVerteMp Inputs: In9, In18
opto-Isolated Inputs: In5, In6, In7, In8, In14, In15, In16, In17
SPeCIfICaTIonS
Spec Data notes
InputVoltage Vref ±10Vdc
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
onVoltage ouT(+)-ouT(-) Vdc 0.85V@300madc
output Current Iout 300 mAdc max
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
+
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BP2Accelnet Plus 2-Axis Panel CANopen
• Digital, opto-isolated• MoSFeT output SSR, 2-terminal• Flyback diodes for inductive loads• 24VCompatible• Programmable functions
• ±10Vdc,differential• 12-bit resolution• Programmable functions
Theanaloginputshavea±10Vdcrangeat12-bitresolution asreferenceinputstheycantakeposition/velocity/torquecommandsfromacontroller.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 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
Voltagerange Max +30Vdc
output Current Ids 1.0 Adc
ConneCTIonS
Pin Signal
5 Brk24VInput
4 Brk24Voutput
3 Brakea[ouT6]
2 BrakeB[ouT7]
1 24Vreturn
RoHS
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
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BP2Accelnet Plus 2-Axis Panel CANopen
• Brake outputs• opto-isolated• Flyback diodes for inductive loads• 24VCompatible• Connectionforexternal24Vpowersupply• Programmable functions
Cme2defaultSettingforBrakeoutputs[ouT6,7]is“Brake-activeHI” active =Brakeisholdingmotorshaft(i.e.theBrake is Active) Motor cannot move nocurrentflowsincoilofbrake Cme2I/olineStatesshowsoutput6or7asHI BrKoutputvoltageisHI(24V),moSfeTisoff Servodriveoutputcurrentiszero Servo drive is disabled, PWM outputs are off Inactive = Brakeisnotholdingmotorshaft(i.e.theBrake is Inactive) Motor can move Currentflowsincoilofbrake Cme2I/olineStatesshowsoutput6or7aslo BrKoutputvoltageislo(~0V),moSfeTison Servo drive is enabled, PWM outputs are on Servodriveoutputcurrentisflowing
The brake circuits are optically isolated from all drive circuits and frame ground.
opto-Isolated Motor brake outputs: out6, out7
This diagram shows theconnectionstothedrivethatshare a commonground inthedriver.ifthebrake24Vpower supply is separatefromtheDCsupplypoweringthe drive, it is importantthat itconnects toanearthorcommongroundingpointwiththehVpowersupply.
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 9
ref(-)r2 8
f.G. 12
RoHS
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
Enc. A
Enc. B
Enc. Index
A
/A
B
/B
X
/X
1k+5V
1k
Encoder
121
121
130
FG Frame Ground
A
B
+5V
0V
+5V Out @ 500 mA
Signal Ground
J7,J8
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
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BP2Accelnet Plus 2-Axis Panel CANopen
feedback connectIons
quad a/b encoder wIth fault protectIonencoderswithdifferentialline-driveroutputsarerequired(single-endedencodersarenotsupported)andprovideincrementalpositionfeedbackviathea/Bsignalsandtheoptionalindexsignal(x)givesaonceperrevolutionpositionmark.Themax3097receiver has differential inputs with fault protections for the following conditions:Short-circuits line-line: Thisproducesanear-zerovoltagebetweena&/awhichisbelowthe
differential fault threshold.Open-circuit condition: The 121Wterminatorresistorwillpulltheinputstogetherifeitherside(orboth)isopen.
This will produce the same fault condition as a short-circuit across the inputs.Low differential voltage detection: This is possible with very long cable runs and a fault will occur if the
differentialinputvoltageis<200mV.±15kV ESD protection: The3097ehasprotectionagainsthigh-voltagedischargesusingtheHumanBodymodel.Extended common-mode range: afaultoccursiftheinputcommon-modevoltageisoutsideoftherangeof-10Vto+13.2V
analog sIn/cos IncreMental encoderThesin/cosinputsareanalogdifferentialwith121Ωterminatingresistorsandaccept1Vp-psignalsintheformat used by incremental encoders with analog outputs, or with ServoTube motors. The index input is digital, differential.
resolVer (-r optIon)
Connections to the resolver should be made with double-shielded cable that uses three twisted-pairs plus an outer shield. once connected, resolver set up, motor phasing, andothercommissioningadjustmentsaremadewithCme2software.Therearenohardwareadjustments.
quad encoder wIth Index quad encoder wIth no Index
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
RoHS
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
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BP2Accelnet Plus 2-Axis Panel CANopen
feedback connectIons
ssI absolute encoderTheSSI(SynchronousSerialInterface)isaninterfaceusedtoconnect an absolute position encoder to a motion controller or controlsystem.Thexeldriveprovidesatrainofclocksignalsindifferential format to the encoder which initiates the transmission ofthepositiondataonthesubsequentclockpulses.Thepollingoftheencoderdataoccursatthecurrentloopfrequency(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 standardsforSerialSynchronousInterfaceslikeSSI,aS-Interface®andInterbus®withadditionaloptions. Serial Synchronous Data Communication Cyclic at high speed 2 unidirectional lines Clock and Data line delay compensation for high speed data transfer requestfordatagenerationatslaves Safety capable: CRC, errors, Warnings Bus capability incl. actuators Bidirectional BiSS B-protocol: Mode choice at each cycle start BiSS C-protocol: Continuous mode
endat absolute encoderTheendatinterfaceisaHeidenhaininterfacethatissimilartoSSIintheuseofclockanddatasignals,butwhichalsosupportsanalogsin/coschannelsfromthesameencoder.Thenumberofpositiondatabitsisprogrammableasistheuseofsin/coschannels.useofsin/cosincrementalsignalsisoptionalintheendatspecification.
absolute-a encoderThe Absolute A interface is a serial, half-duplex type that is electrically the same as RS-485. note the battery which must be connected. Without it, the encoder will produce 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
Resistance in the temperature range 20°Cto+70°C
60~750
resistanceat85°C ≤1650
resistanceat95°C ≥3990
resistanceat105°C ≥12000
Signal J9,J10Pin
Mot U 4
motV 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
Motemp A J7-7
Motemp B J8-7
J7,J8 SignalGround 5,10
frameGnd 12
RoHS
J9,J10
F.G.PWM
+HV
0V
+
W
V
U
Motor3 ph.
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
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BP2Accelnet Plus 2-Axis Panel CANopen
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 outputs are three-phase PWM inverters that convert 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 groundterminal(J9,J10-1)forbestresults.
dIgItal hall sIgnalsHall signals are single-ended signals thatprovide absolute feedback within one electrical cycleofthemotor.Therearethreeofthem(u,V,&W)andtheymaybesourcedbymagneticsensors in the motor, or by encoders that have Halltracksaspartoftheencoderdisc.Theytypically operate atmuch lower frequenciesthan the motor encoder signals, and are used for commutation-initialization afterstartup, and for checking the motor phasing aftertheamplifierhasswitchedtosinusoidalcommutation.
MoteMp sIgnals bs 4999 sensor
hall sIgnals
Motor sIgnals
RoHS
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
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BP2Accelnet Plus 2-Axis Panel CANopen
The connections shown may not be used in all installations
noTeS:1) The+5Vout1onJ1-17,32andJ7-6,17isratedfor500ma The+5Vout2onJ1-23,38andJ8-6,17isratedfor500ma These are two independent power supplies, each with a 500 mA max output from all pins 2) CesymbolsindicateconnectionsrequiredforCecompliance.
Motor connectIons: dIgItal quad a/b encoder
RoHS
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
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BP2Accelnet Plus 2-Axis Panel CANopen
Motor connectIons: analog sIn/cos encoder
The connections shown may not be used in all installations
noTeS:1) The+5Vout1onJ1-17,32andJ7-6,17isratedfor500ma The+5Vout2onJ1-23,38andJ8-6,17isratedfor500ma These are two independent power supplies, each with a 500 mA max output from all pins 2) CesymbolsindicateconnectionsrequiredforCecompliance.
RoHS
Groundingtab
BRUSHLESSMOTOR
U
V
U(+)
V(-)
W
BRUSHMOTOR
Shield
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
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BP2Accelnet Plus 2-Axis Panel CANopen
Motor connectIons: resolVers (-r optIon)
The connections shown may not be used in all installations.Hallsignalsarenotgenerallyusedwithresolverfeedbackbutareshownherebecausetheyfunction if needed for resolver operation.
noTeS:1) The+5Vout1onJ1-17,32andJ7-6,17isratedfor500ma The+5Vout2onJ1-23,38andJ8-6,17isratedfor500ma These are two independent power supplies, each with a 500 mA max output from all pins 2) CesymbolsindicateconnectionsrequiredforCecompliance.
RoHS
+ PWMInverter
J8 Axis A
Axis AMotor
PWMInverter
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
Heatplate
J10 HV & Aux
J4 Serial
J3 CANPorts are Identical
IsolatedCAN Port
CAN networkConnections are
isolated fromdrive circuits
TxD
RxD
CAN_L
Sgnd
2
1
3
2
1
3
4
Axis BMotor2
1
3
4
1360 µF
5432
J1 Control
EarthGround
HEATPLATE
DRIVE CIRCUITS
CAN_GND
CAN_H
Sgnd
Sgnd
Sgnd
Vcc
Vcc
[IN1~4, 10~13][IN9,18]
[IN5~8,14~17]
[AIN+/-]
Isolated
Sgnd
Vcc
Sgnd
J2 I/O
Vcc[OUT1~5+]
[OUT1~5-]
+HV
+
-
+
Sgnd
-
Drive Control Core
[IN9,18]
J6,J7 Axes A,B
J3 Brake
Motor temp switch
Vcc Vcc
+24V
Brk 24V Input
Brk 24V Output
Brake A
Brake B
24V Return
+
-
R-L
R-L
Isolated
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BP2Accelnet Plus 2-Axis Panel CANopen
deVIce structure & IsolatIon
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.
RoHS
0
1
2
3
4
5
6
25 30 40 50 60 70 80 90
+
-
+
-
Controller
Power24 Vdc
Supply
Frame Gnd
AXIS AMOTOR
A Mot W
A Mot V
A Mot U
Aux HV
HVGND
HVPowerHV
Supply
Keep as shortas possible
"Star" ground to a common point is bestKeep connections as close as possible.
EarthEquipment frame
Heatplate ground
Signal Gnd
Control
J9
1
2
3
4
Frame Gnd
AXIS BMOTOR
B Mot W
B Mot V
B Mot UJ10
J11
1
3
2
1
2
3
4
I/O
AccelnetAmplifier
SwitchingPowerSupply
+HV
Gnd
(+)
(-)
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BP2Accelnet Plus 2-Axis Panel CANopen
power & groundIng connectIons
reGeneraTIonThe chart Below shows the energy absorption in W·s for a BP2 drive operating at some typical DC voltages. When the load mechanical energy is greater than these values an external regenerative energy dissipater is required. The internal capacitor bank is 1360 uF and the energy absorption is shared with both axes.
Joules(W·s)
Accelnet BP2 operates typically from transformer-isolated, unregulated DC powersupplies.Theseshouldbesizedsuchthat the maximum output voltage under high-line and no-load conditions does not exceed the drives maximum voltage rating. Power supply rating depends on the power deliveredtotheloadbythedrive.Inmanycases, the continuous power output of the
drive is considerably higher than the actual powerrequiredbyanincrementalmotionapplication. operation from regulated switching power supplies is possible if a diode is placed between the power supply and drive to prevent regenerative energy from reaching the output of the supply. Ifthisisdone,theremustbeexternalcapacitance between the diode and drive.
Accelnet BP2hasaninputforauxHV.Thisisavoltagethatcan keep the drive communications and feedback circuits active when the PWM output stage has been disabled by removing the main+HVsupply.Thiscanoccurduringemo(emergencyoff)conditionswherethe+HVsupplymustberemovedfromthedrive and powered-down to ensure operator safety.
Theaux–HVinputoperatesfromanydCvoltagethatiswithintheoperatingvoltagerangeofthedriveandpowersthedC/dCconverter that supplies operating voltages to the drive DSP and controlcircuits.Whenthedrive+HVvoltageisgreaterthantheauxHVvoltageitwillpowerthedC/dCconverter.undertheseconditionstheauxHVinputwilldrawnocurrent.
Power and control circuits in Accelnet BP2 share a common circuit-ground(HVGroundonJ11-3,andSignalGroundon J1-6,16,22,31,37,44andJ7~8-5,16,25,26).CircuitsthatarereferencedtoSignalGroundaretheanalogreferenceinput,non-isolated digital inputs, buffered encoder outputs, motor encoderandHallsignals,PWmoutputsandtherS-232port.forthisreason,driveSignalGndterminalsshouldconnecttotheusers’ control ground system so that signals between drive and controllerareatthesamecommonpotential,andtominimizenoise. The system ground should, in turn, connect to an earthing conductor at some point so that the whole system is referenced to “earth”. The CAnopen ports are transformer-isolated from the drive circuits.Becausecurrentflowthroughconductorsproducesvoltage-dropsacrossthem,itisbesttoconnectthedriveHVreturntosystemearth, or circuit-common through the shortest path, and to leave thepower-supplyfloating.Inthisway,thepowersupply(-)terminalconnectstogroundatthedriveHVreturnterminals,but the voltage drops across the cables will not appear at the drive ground, but at the power supply negative terminal where they will have less effect.motorphasecurrentsarebalanced,butcurrentscanflowbetween the PWM outputs, and the motor cable shield. To minimizetheeffectsofthesecurrentsonnearbycircuits,thecableshieldsshouldconnecttoframeGnd(J8~9-1).
Thedriveheatplate(frameGnd)doesnotconnecttoanydrivecircuits. Connections to the heatplate are provided on connectors J1-1,J2-1,andJ7~8-1.Cablestotheseconnectorsmustbeshielded for Ce compliance, and the shields should connect to these terminals. When installed, the drive heatplate should connect to the system chassis. This provides a path to ground for noise currents that may occur in the cable shields.Signalsfromcontrollertodrivearereferencedto+5Vdc,andotherpowersuppliesinuserequipment.Thesepowersuppliesshould also connect to system ground and earth at some point so that they are at same potential as the drive circuits.Thefinalconfigurationshouldembodythreecurrent-carryingloops.first,thepowersupplycurrentsflowingintoandoutofthedriveatthe+HVandHVGroundpinsonJ11.Secondthedrive outputs driving currents into and out of the motor phases onJ9~10,andmotorshieldcurrentscirculatingbetweentheu,V,andWoutputsandGnd.and,lastly,logicandsignalcurrentsconnected to the drive control inputs and outputs.For Ce compliance and operator safety, the drive heatplate should be earthed by using external tooth lock washers under the mounting screws. These will make contact with the aluminum chassisthroughtheanodizedfinishtoconnectthechassistotheequipmentframeground.
enerGYaBSorPTIon
GroundInG
PoWerSuPPlIeS
auxIlIarYHVPoWer
GroundInGConSIderaTIonS
PIn SIGnal PIn SIGnal PIn SIGnal
1 frameGnd 16 SignalGnd 31 SignalGnd
2 [aIn1-] 17 a+5Vdcout1 32 a+5Vdcout1
3 [aIn1+] 18 a-multienc/S 33 A-Multienc S
4 [aIn2-] 19 a-multienc/x 34 a-multiencx
5 [aIn2+] 20 a-multienc/B 35 A-Multienc B
6 SignalGnd 21 a-multienc/a 36 A-Multienc A
7 [In1] 22 SignalGnd 37 SignalGnd
8 [In2] 23 B+5Vdcout2 38 B+5Vdcout2
9 [In3]diff1(+) 24 B-multienc/S 39 B-Multienc S
10 [In4]diff1(-) 25 B-multienc/x 40 B-multiencx
11 n/C 26 B-multienc/B 41 B-Multienc B
12 [In10] 27 B-multienc/a 42 B-Multienc A
13 [In11] 28 n/C 43 n/C
14 [In12]diff2(+) 29 n/C 44 SignalGnd
15 [In13]diff2(-) 30 n/C
PIn SIGnal PIn SIGnal PIn SIGnal9 [In16]GPI 18 [In17]GPI 26 n.c.8 [In15]GPI 17 Com2[In14~17] 25 n.c.7 [In14]GPI 16 n/C 24 n.c.6 Com1[In5~8] 15 n/C 23 [ouT5+]GPI5 [In8]GPI 14 [ouT5-]GPI 22 [ouT4+]GPI4 [In7]GPI 13 [ouT4-]GPI 21 [ouT3+]GPI3 [In6]GPI 12 [ouT3-]GPI 20 [ouT2+]GPI2 [In5]GPI 11 [ouT2-]GPI 19 [ouT1+]GPI1 frameGround 10 [ouT1-]GPI
PIn SIGnal PIn SIGnal
1 frameGnd 6 STo-In1+
2 STo-In1+ 7 STo-In1-
3 STo-In1- 8 STo-Bypass
4 STo-In2+ 9 STo-Gnd
5 STo-In2-
RoHS
J1 S
IGJ2
I/O
J3 B
RA
KE
J4 N
ETW
OR
KD
EIV
ICE
ID
x10
x1
J5 R
S-2
32J6
SA
FETY1
1019
9 18 26
1
5
6
9
1 16 31
30 4415
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BP2Accelnet Plus 2-Axis Panel CANopen
J1:ConTrolSIGnalS
J2:ISolaTedConTrol
J6SafeTY(SafeTorqueoff)
Details on J1, J2, J6, J7, and J8 cable connectors can be found in the BP2-CK listing under the Accessories section of the last page
connectors & sIgnals: front panel
J6BP2ConneCTor:Dsub De-09F, 9 position female receptacle
J6CaBleConneCTor:Dsub De-09M, 9 position
J2:BP2ConneCTorHigh-densitydsubda-26m,maleplug,26Position
J1:BP2ConneCTorHigh-densitydsubdB-44f,femalereceptacle,44Position
J2:CaBleConneCTorHigh-densitydsubda-26f,femalereceptacle,26Position
J2:CaBleConneCTorHigh-densitydsubdB-44m,maleplug,44Position
PIn SIGnal PIn SIGnal PIn SIGnal1 frameGnd 10 a(B)enc/B 19 a(B)Sin(+)2 a(B)Hallu 11 a(B)encB 20 a(B)Cos(-)3 a(B)HallV 12 a(B)enc/a 21 a(B)Cos(+)4 a(B)HallW 13 a(B)enca 22 n/C5 SignalGnd 14 a(B)enc/S 23 n/C6 a(B)+5Vout1(2) 15 a(B)encS 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(-)
Signal Pin
Motor Phase U 4
motorPhaseV 3
Motor Phase W 2
frameGround 1
signal pin
auxHV 3
HV 2
HVGround 1
Pin Signal
5 Brk24VInput
4 Brk24Voutput
3 Brakea[ouT6]
2 BrakeB[ouT7]
1 24Vreturn
RoHS
J7 FDBK A J8 FDBK B
J9 MOT A J10 MOT B J11 POWER1 2 3
HVgnd HV Aux
1 2 3 4
12345
1 10 19
9 18 26
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BP2Accelnet Plus 2-Axis Panel CANopen
J7,J8:axISa,BfeedBaCK
J11:drIVeConneCToreuro-style 5.08 mm male receptacle, 3-position Wago:mCS-mIdI,231-563/108-000J9,J10:drIVeConneCTorS
euro-style 5.08 mm male receptacle, 4-position Wago:mCS-mIdI,231-564/108-000
J9,J10CaBleConneCTorSWagomCS-mIdIClassic231-304/107-000
J11:CaBleConneCTorWagomCS-mIdI,231-303/107-000
WaGoConneCTorToolContact opener: 231-131 operating tool
WaGoConneCTorToolContact opener: 231-131 operating tool
J9,J10:moTorouTPuTS J11:+HV&auxPoWer
J3:drIVeConneCToreuro-style 3.5 mm male receptacle, 5-position Wago:mCS-mInI,734-165/108-000
J3:CaBleConneCTorWagomCS-mInI734-105/107-000 or734-105/107-000
WaGoConneCTorToolContact opener: 734-190 operating tool
J3:BraKe
connectors & sIgnals: front panel
connectors & sIgnals: end panel
J7,J8:BP2ConneCTorHigh-densitydsubda-26f, female receptacle, 26 Position
J7,J8:CaBleConneCTorHigh-densitydsubda-26m, male plug, 26 Position
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)
RoHS
A
B
C D E
A
B
C D E
A
B
C D
E
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BP2Accelnet Plus 2-Axis Panel CANopenwIrIng
J5
ferruleParTnumBerS:douBleWIreInSulaTed
ferruleParTnumBerS:SInGleWIreInSulaTed
24V&BraKe:J5
HV/auxPoWerandmoTorouTPuTS:J7&J8ToolJ8J7WagomCS-mIdIClassic:231-304/107-000(J7),231-303/107-000(J8),
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:231-291
ferruleParTnumBerS:SInGleWIreInSulaTed
noTeSPnUM = Part numberSl = Stripping lengthdimensions:mm(in)
Tool
SInGleWIre douBleWIre
WagomCS-mInI:734-104/107-000,femaleconnector;withscrewflange, 4-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:734-191
RoHS
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
Quiescent power
BP2-090-20
BP2-090-14
16.5 A
19 W
BP2-090-06
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BP2Accelnet Plus 2-Axis Panel CANopen
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
The top chart on this page shows the internal power dissipation for one axis of the BP2 under differing powersupplyandoutputcurrentconditions.The+HVvaluesarefortheaveragedCvoltageofthedrivepower supply. The lower chart shows the temperature rise vs. power dissipation under differing mounting and cooling conditions.
usethischarttofindthemaximumoperating temperature of the drive under differing mounting and cooling conditions.example:Using the 19 W value from the calculations above, draw a vertical line. This shows that 24 C is the maximum operating temperaturefornHSnf,andthatanyoftheothermounting/coolingoptionswillbesufficientforoperationuptothemaximumambient temperature of 45 C.
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
RoHS
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 FDB
K A
J8 FDB
K B
J9 MO
T AJ10 M
OT B
J11 PO
WE
R
J7 FDB
K A
J8 FDB
K B
J9 MO
T AJ10 M
OT B
J11 PO
WE
R
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
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
mounTInGThermal data for convection-cooling with a heatsink assumes a vertical mounting of the drive on a thermally non-conductingsurface.Heatsinkfinsrun parallel to the long axis of the drive. When fan-cooling is used vertical mounting is not necessary to guarantee thermal performance of the heatsink.
top vieWs vertiCal mounting
THermalreSISTanCeThermal resistance is a measure of the temperature rise of the drive heatplate due to powerdissipationinthedrive.Itisexpressedinunitsof°C/Wwherethedegreesarethe temperature rise above ambient.e.g., an drive dissipating 16 W mounted with no heatsink or fan would see a temperatureriseof38.2Caboveambientbasedonthethermalresistanceof2.39C/W.Using the drive maximum heatplate temperature of 70C and subtracting 38.2C from that would give 31.7C as the maximum ambient temperature the drive in which the drive could operate before going into thermal shutdown. To operate at higher ambient temperaturesaheatsinkorforced-airwouldberequired.
therMals: MountIng & therMal resIstance
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BP2Accelnet Plus 2-Axis Panel CANopen
Qty Description
1 Heatsink,standard,BP2-HS
1 Thermal material, 4x4 in.
1
Kit,HeatsinkHardware,BP2
4 Washer,flat,#8
4 Screw,Pan,SemS,#8-32x1/2in
RoHS
heatsInk kIt InstallatIon
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BP2Accelnet Plus 2-Axis Panel CANopen
InSTallaTIon
1)Placetheheatsinkfins-downonaworksurface.orienttheheatsinksothattheedgewithpartnumberis away from you. The hole for the BP2 grounding lug should be to your left.
2)removetheclearprotectivefilmfromthethermalmaterialanddiscardit.Placethethermalmaterialonto the heatsink in the placement area which is marked with four white “l”. applylightpressuretoensurethatthethermalmaterialisflat.
3)Peelthewhiteprotectivelayerawayfromthethermalmaterial.dothisslowlyfromonecornersoasnot to lift the thermal material from the heatsink.
4)aligntheBP2asshownandlowerontotheheatsink.Ifneededtoadjusttheposition,liftitawayfromthe thermal material and lower onto the heatsink again.
5)Installthefourmountingscrewswithflatwashersandtightenevenly.Torqueto17.8lb-in(2.0nm)maximum.
deSCrIPTIon
TheBP2-HKisakitcontainingaheatsinkandmounting hardwareforfieldinstallationofastandardheatsinkontoaBP2 model servo drive. ToorderanBP2drivewithheatsinkfittedatthefactory,add“-H”tothemodelpartnumber.
• StandardheatsinkforaccelnetPlusPanelBP2 • Completekitforuserinstallationoftheheatsink
BP2-HKHeaTSInKKITParTlIST
Heatsink
Mounting Screws(4)
BP2 Drive
Thermal material
RoHS
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]
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547Web: www.copleycontrols.com Page 30 of 32
BP2Accelnet Plus 2-Axis Panel CANopendIMensIons: In (MM)
Mounting screws: #6-32,or3.5mm
RoHS
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]
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547Web: www.copleycontrols.com Page 31 of 32
BP2Accelnet Plus 2-Axis Panel CANopen
dIMensIons: In (MM)
units:In[mm]
Mounting screws: #6-32,or3.5mm
BP2-090-06 accelnetPlus2-axisPanelCanopenservodrive,3/6a,90Vdc
BP2-090-14 accelnetPlus2-axisPanelCanopenservodrive,7/14a,90Vdc
BP2-090-20 accelnetPlus2-axisPanelCanopenservodrive,10/20a,90Vdc
qty ref name description Manufacturer p/n
bp2-ckConnector kit
1 J11 HV Plug,3position,5.08mm,screw-lock,female(dCHV&aux) Wago:231-303/107-000
2 J9,J10 Motor Plug,4position,5.08mm,screw-lock,female(motora,B) Wago:231-304/107-000
1 J3 Brake Plug,5position,3.5mm,screw-lock,female(Brake) Wago:734-105/031-000
1 J3 Tool Tool, wire insertion & extraction Wago: 734-191
J9,J10,J11 Tool Tool, wire insertion & extraction Wago: 231-291
1J6
note 1 Safety
Connector,d-Sub,9-position,standard(STo) amP/Tyco: 205204-4
9 amPlImITeHdP-20Crimp-Snapcontacts,24-20aWG,selau/nI amP/Tyco:66506-9
1 Backshell,d-Sub,roHS,metallized,forJ6 norcomp: 979-009-020R121
1J1 Control
Connector,high-densityHd-Sub,44position,male,soldercup norcomp: 180-044-103l001
1 Backshell,Hd-Sub,44Pin,roHS,metallized norcomp: 979-025-020R121
1 J2 I/o Connector,high-densityHd-Sub,26position,female,soldercup norcomp: 180-026-203l001
2 J7,J8 Feed-back
Connector,high-densityHd-Sub,26position,male,soldercup norcomp: 180-026-103l001
3 J2,9,10 Backshell,Hd-Sub,26Pin,roHS,metallized norcomp: 979-015-020R121
SeR-Ck 1 J5 RS-232 SerialCableKit:Includesdsub-9mtorJ-11adaptorand2m(79in)rJ-11straight-wiredcable
BP2-nC-10 1J8 network
CAnopen®networkcable,10ft(3m)
BP2-nC-01 1 CAnopen®networkcable,1ft(0.3m)
note1:Insertion/extractiontoolforJ6contactsisamP/Tyco91067-2(notincludedinBP2-CK)
note2:forroHScompliance,append“/rn01-0000”totheWagopartnumberslistedabove
HeaTSInKKITforfIeldInSTallaTIon(oPTIonal)
BP2-HK Heatsinkkit
1 BP2Heatsink
1 Heatsinkthermalmaterial
4 Heatsinkhardware
RoHS
R
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547Web: www.copleycontrols.com Page 32 of 32
BP2Accelnet Plus 2-Axis Panel CANopen
rev 01 v4.04-we 04/15/2015Note: Specifications subject to change without notice
add-rtomodelnumberforresolverfeedbackoption(example:BP2-090-14-r) add-Htomodelnumberforfactory-installedheatsink
example: order one Accelnet Plus BP2drive,7/14a,resolveroption,withconnectorkit,serialcablekit,heatsinkfittedatthefactory: qty Item remarks 1 BP2-090-14-r-H Accelnet Plus BP2 2-axis servo drive, resolver option, and factory-mounted heatsink 1 BP2-Ck BP2 Connector kit 1 SeR-Ck Serial Cable kit
orderIng guIde
accessorIes