Model Ip Ic VdcTP2-090-07 7 5 90TP2-090-10 10 10 90
TP2Stepnet Plus 2-Axis Panel CANopen
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01444 Rev 03 Page 1 of 30
Current ratings are for each axis
DIGITAL STEPPER DRIVE FOR STEPPER MOTORS
CONTROL MODES• ProfilePosition-Velocity-Torque,InterpolatedPosition,Homing • Camming,Gearing • Indexer
COMMANDINTERFACE• CANopen • ASCIIanddiscreteI/O • Masterencoder(Gearing/Camming) • Steppermodepositioncommands: Digital:Pulse/Dir,CW/CCW,QuadA/B Analog:±10Vposition • Servomodecommands: Digital: Pulse/Dir,CW/CCW,QuadA/B PWMVelocity/Torquecommand Analog:±10VPosition/Velocity/Torque
COMMUNICATIONS• CANopen • RS-232
FEEDBACKIncremental Encoders • DigitalquadA/B• PanasonicIncrementalAFormat • Aux.quadA/Bencoder/encoderout Absolute Encoders • EnDat, Absolute A
I/ODIGITAL• 16 non-isolated, 8 isolated inputs, • 5 isolated outputs, 2 non-isolated outputs
ANALOG• 2ReferenceInputs,12-bit
SAFETORQUEOFF(STO)• SIL3,Category3,PLd
DIMENSIONS:IN[MM]• 6.78x4.70x1.99[172.1x119.3x50.4]noheatsink• 6.78x4.70x3.14[172.1x119.3x79.9]withheatsink
R
Therearesixteenhigh-speeddigitalinputs,twolow-speedinputsformotortemperatureswitches,andeightopticallyisolatedinputs.Outputs include five opto-isolated SSR and two isolated brakeoutputs.Allinputsandoutputshaveprogrammablefunctions.An RS-232 serial port provides a connection to Copley’s CME2 software for commissioning, firmware upgrading, and savingconfigurationstoflashmemory.Drive power is transformer-isolated DC from regulated orunregulated power supplies. An AuxHV input is provided for“keep-alive” operation enabling the drive PWM outputs to becompletelypowereddownwithoutlosingpositioninformation,orcommunicationswiththecontrolsystem.
DESCRIPTIONStepnet TP2isadual-axis,high-performance,DCpowereddriveforpositionandvelocitycontrolofsteppermotorsviaCANopen.UsingadvancedFPGAtechnology,theTP2providesasignificantreductioninthecostpernodeinmulti-axisCANopensystems.EachofthetwoaxesintheTP2 operate as CANopen nodes under DSP-402 formotion control devices. Supportedmodes include:Profile Position/Velocity, Interpolated PositionMode (PVT), andHoming.Inmicrosteppingmode stepper command pulses andmasterencoderforcammingorgearingaresupported.Servomodeallows±10VanalogPosition/Velocity/Torque,andPWMVelocity/Torquecontrol.
TP2Stepnet Plus 2-Axis Panel CANopen
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01444 Rev 03 Page 2 of 30
Testconditions:Load=Wyeconnectedload:2mH+2Ωline-line.Ambienttemperature=25°C,+HV=HVmaxMODEL TP2-090-06 TP2-090-14 OUTPUTPOWER(EACHAXIS)
PeakCurrent 7(5) 10(7.1) Adc(Arms-sine),±5% Peaktime 1 1 Sec Continuouscurrent(Note1) 5(3.5) 10(7.1) Adc(Arms-sine)perphase
INPUTPOWERHVmin~HVmax +14to+90 +14to+90 VdcTransformer-isolated Ipeak 14 20 Adc(1sec)peak Icont 10 20 Adccontinuous AuxHV +14to+90Vdc, Optional,notrequiredforoperation 4W(Typ,noloadonencoder+5Voutputs),11W,(Max,bothencoder+5V@500mA)
DIGITALCONTROLDigitalControlLoops Current,velocity,position.100%digitalloopcontrol Samplingrate(time) Currentloop:16kHz(62.5µs),Velocity&positionloops:4kHz(250µs) Busvoltagecompensation Changesinbusormainsvoltagedonotaffectbandwidth Minimumloadinductance 200µHline-line
COMMANDINPUTS(NOTE:DIGITALINPUTFUNCTIONSAREPROGRAMMABLE)Distributed Control Modes CANopen ProfilePosition,ProfileVelocity-torque(servomode),InterpolatedPosition,Homing Stand-alone mode Analogposition,velocity/torque(servomode) ±10Vdc,12-bitresolution Dedicateddifferentialanaloginput Digitalpositionreference Pulse/Direction,CW/CCW Steppercommands(2MHzmaximumrate) QuadA/BEncoder 2Mline/sec,8Mcount/sec(afterquadrature) Digitaltorque&velocityreference(servomode) PWM,Polarity PWM=0%-100%,Polarity=1/0 PWM50% PWM=50%±50%,nopolaritysignalrequired PWMfrequencyrange 1kHzminimum,100kHzmaximum PWMminimumpulsewidth 220ns Indexing Upto32sequencescanbelaunchedfrominputsorASCIIcommands. Camming Upto10CAMtablescanbestoredinflashmemory ASCII RS-232,DTE,9600~115,200Baud,3-wire,RJ-11connector
DIGITALINPUTSNumber24 [IN1,2,10,11] Digital,non-isolated,Schmitttrigger,1.5µsRCfilter,24Vdccompatible,programmable15kpull-up/down to+5Vdc/ground,Vt+=2.5~3.5Vdc,VT-=1.3~2.2Vdc,VH=0.7~1.5Vdc [IN19~21,22~24] Digital,non-isolated,Schmitttrigger,1.5µsRCfilter,24Vdccompatible,15kpull-upto+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 OtherdigitalinputsarealsoprogrammablefortheMotempfunction 330µsRCfilter,4.99kpullupto+5Vdc,Vt+=2.5~3.5Vdc,VT-=1.3~2.2Vdc,VH=0.7~1.5Vdc Functions Allinputsareprogrammable,[IN1&IN10]defaulttodriveaxesA&BEnablefunctionandareprogrammable
ANALOGINPUTSNumber 2 [AIN1~2] Differential,±10Vdc,5kWinputimpedance,12-bitresolution
SAFETORQUEOFF(STO)Function PWMoutputsactiveandcurrenttothemotorwillnotbepossiblewhentheSTOfunctionisasserted 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 2ms(IN1,IN2)fromVin≤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 Programmableforotherfunctionsifnotusedforbrake
RS-232 PORTSignals RxD,TxD,Gndin6-position,4-contactRJ-11stylemodularconnector,non-isolated,commontoSignalGround Mode Full-duplex,DTEserialcommunicationportfordrivesetupandcontrol,9,600to115,200Baud Protocol BinaryandASCIIformats
CAN PORTSignals 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
TP2Stepnet Plus 2-Axis Panel CANopen
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01444 Rev 03 Page 3 of 30
DCPOWEROUTPUTS 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 BicolorLED,drivestateindicatedbycolor,andblinkingornon-blinkingcondition RUN GreenLED,statusofCANopenfinite-state-automaton(FSA) ERR RedLED,showserrorsduetotime-outs,unsolicitedstatechanges,orlocalerrors L/A GreenLED,Link/Act,showsthestateofthephysicallinkandactivityonthelink(CANopenconnection) RUN,ERR,andL/ALEDcolorsandblinkcodesconformtoETG.1300S(R)V1.1.0
PROTECTIONS HVOvervoltage +HV>90Vdc Driveoutputsturnoffuntil+HV<90Vdc(SeeInputPowerforHVmax) HVUndervoltage +HV<+14Vdc Driveoutputsturnoffuntil+HV>+14Vdc Driveovertemperature Heatplate>70°C. Driveoutputsturnoff Shortcircuits Outputtooutput,outputtoground,internalPWMbridgefaults I2TCurrentlimiting Programmable:continuouscurrent,peakcurrent,peaktime Motorovertemperature Digitalinputsprogrammabletodetectmotortemperatureswitch
MECHANICAL&ENVIRONMENTAL SizeIN[MM] 6.78x4.70x1.99[172.1x119.3x50.4]withoutheatsink 6.78x4.70x3.14[172.1x119.3x79.9]withheatsink WeightLB[KG] 1.5[0.68]withoutheatsink,2.75[1.25]withheatsink Ambienttemperature 0to+45Coperating,-40to+85Cstorage Humidity 0to95%,non-condensing Vibration 2gpeak,10~500Hz(sine),IEC60068-2-6 Shock 10g,10ms,half-sinepulse,IEC60068-2-27 Contaminants Pollutiondegree2 Environment IEC68-2:1990 Cooling Heatsinkand/orforcedaircoolingrequiredforcontinuouspoweroutput
AGENCYSTANDARDSCONFORMANCEStandards and Directives Functional Safety IEC61508-1,IEC61508-2,IEC61508-3,IEC61508-4(SIL3) Directive2006/42/EC(Machinery) ISO13849-1/Cor.1:2009(Cat3,PLd) IEC61800-5-2(SIL3)
Product Safety Directive2014/35/EU(LowVoltage) IEC61800-5-1
EMC Directive2014/30/EU(EMC) IEC61800-3
Restriction of the Use of Certain Hazardous Substances (RoHS) Directive2011/65/EU(RoHSII)
Approvals UL and cUL recognized component to: UL 61800-5-1, 1st Ed. TÜV SÜD Functional Safety to: IEC61508-1,IEC61508-2,IEC61508-3,IEC61508-4(SIL3) ISO13849-1/Cor.1:2009(Cat3,PLd)
GENERAL SPECIFICATIONS
RoHS
TP2Stepnet Plus 2-Axis Panel CANopen
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01444 Rev 03 Page 4 of 30
FEEDBACKIncremental: DigitalIncrementalEncoder Quadraturesignals,(A,/A,B,/B,X,/X),differential(X,/XIndexsignalsnotrequired) 5MHzmaximumlinefrequency(20Mcounts/sec) MAX3094differentiallinereceiverwith121ΩterminatingresistorbetweenA&/A,B&/Binputs X&/Xinputshave130Ωterminatingresistor,S&/Sinputshave221Ωterminatingresistor X&Sinputshave1kΩpull-upsto+5V,/X&/Sinputshave1kΩpull-downtoground Absolute: EnDat Serialdataandclocksignals(DATA,/DATA,CLK,/CLK),differential,121Ωinputs AbsoluteA TamagawaAbsoluteA,PanasonicAbsoluteAFormat,SanyoDenkiAbsoluteA SD+,SD-(S,/S)signals,2.5or4MHz,2-wirehalf-duplexcommunication Status data for encoder operating conditions and errors
MULTI-MODEENCODERPORTAsInput Digitalquadratureencoder(A,/A,B,/B,X,/X),5MHzmaximumlinefrequency(20Mcounts/sec), MAX3094linereceiver,1.5kWpull-upsto+5VonX&Sinputs,1.5kWpull-downstoSgndon/X&/Sinputs Digitalabsoluteencoder(Clk,/Clk,Dat,/Dat)halforfull-duplexoperation, S&Xinputsareusedforabsoluteencoderinterface AsEmulatedOutput Quadratureencoderemulationwithprogrammableresolutionto4096lines(65,536counts)perrev fromabsoluteencoders A,/A,B,/B,fromMAX3032differentiallinedriver,X,/X,S,/SfromMAX3362differentiallinedriver AsBufferedOutput DigitalA/B/Xencoderfeedbacksignalsfromprimaryquadencoderarebuffered(seelinedrivesabove)
GENERAL SPECIFICATIONS
Set x10 x1 Set x10 x1
Hex Dec Hex Dec
0 0 0 8 128 8
1 16 1 9 144 9
2 32 2 A 160 10
3 48 3 B 176 11
4 64 4 C 192 12
5 80 5 D 208 13
6 96 6 E 224 14
7 112 7 F 240 15
PIN SIGNAL
8 CAN_V+
7 GND
6 CAN_SHLD
5 THRU
4 THRU
3 CAN_GND
2 CAN_L
1 CAN_H
1 8 1 8
L/A L/ARunErr
AMP
X1X10
S2S1
DEV ID
IN OUT J5 J6J1 J2 J3SIGNAL
SAFETY
BRAKEI/O
NETWORKRUNERR L/A L/AS
tepn
etP
lus
Plu
sS
2
S1
X1X10DEVICE ID
TP2Stepnet Plus 2-Axis Panel CANopen
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01444 Rev 03 Page 5 of 30
CANopenDeviceIDSwitch Decimalvalues
AMPLEDS& DEVICEIDSWITCHES
CANOPEN COMMUNICATIONS
INDICATORS: DRIVE STATETwobi-colorLEDsgivethestateoftheTP2drive.Colorsdonotalternate,andcanbesolidONorblinking.Whenmultipleconditionsoccur,onlythetop-mostconditionwillbedisplayed. Whenthatconditionisclearedthenextonebelowwillshown.1)Red/Blinking = Latchingfault.OperationwillnotresumeuntildriveisReset. 2)Red/Solid = Transientfaultcondition.Drivewillresumeoperationwhen theconditioncausingthefaultisremoved. 3)Green/Double-Blinking = STOcircuitactive,driveoutputsareSafe-Torque-Off 4)Green/Slow-Blinking = DriveOKbutNOT-enabled.Willrunwhenenabled. 5)Green/Fast-Blinking = PositiveorNegativelimitswitchactive. Drivewillonlymoveindirectionnotinhibitedbylimitswitch. 7)Green/Solid = DriveOKandenabled.Willruninresponseto referenceinputsorCANopencommands. LatchingFaultsDefaults Optional(programmable) • Shortcircuit(Internalorexternal) • Over-voltage • Driveover-temperature • Under-voltage • Motorover-temperature • MotorPhasingError • FeedbackError • CommandInputFault • FollowingError
BasedontheCANV2.0bphysicallayer,arobust,two-wirecommunicationbusoriginallydesignedforautomotiveusewherelow-costandnoise-immunityareessential,CANopenadds support formotion-control devices and commandsynchronization.Theresultisahighlyeffectivecombination
of data-rate and low cost formulti-axismotion controlsystems. Device synchronization enablesmultiple axestocoordinatemovesas if theyweredriven fromasinglecontrol card.
Stepnet PlususestheCANphysical layersignalsCAN_H,CAN_L,andCAN_GNDforconnection,andCANopenprotocolfor communication. Before installing the drive in a CAN
network,itmustbeassignedaCANNode-ID(address).Amaximumof127CANnodesareallowedonasingleCANbus.
CANOPENCONNECTIONS
CANOPENLEDS(ONRJ-45CONNECTORS)RUN Green:ShowsthestateoftheFSA(FiniteStateAutomaton)
Off = Init Blinking = Pre-operational Single-flash = Safe-operational On = Operational
ERR Red:ShowserrorssuchaswatchdogtimeoutsandunsolicitedstatechangesintheTP2duetolocalerrors. Off = CANopencommunicationsareworkingcorrectly Blinking = Invalidconfiguration,generalconfigurationerror SingleFlash = Localerror,slavehaschangedCANopenstateautonomously DoubleFlash = PDOorCANopenwatchdogtimeout,oranapplicationwatchdogtimeouthasoccurred
L/A Green:Showsthestateofthephysicallinkandactivityonthelink. AgreenLEDindicatesthestateoftheCANopennetwork: LED Link Activity Condition ON Yes No PortOpen Flickering Yes Yes PortOpenwithactivity Off No (N/A) PortClosed
J3:CANopen PORTSRJ-45receptacles, 8 position, 4 contact
CANopen DEVICEID(NETWORKADDRESS)InaCANopennetwork,nodesareassignedNode-IDs1~127.Node-ID0isreservedfortheCANbusmaster.IntheTP2,thenodeaddressisprovidedbytwo16-positionrotaryswitcheswithhexadecimalencoding.ThesecansettheaddressofthedriveA-axisfrom0x01~0x7E(1~126decimal).TheB-axiswillhaveanaddressoftheA-axis+1.Thechartshowsthedecimalvaluesofthehexsettingsofeachswitch.IntheTP2,thisisprovidedbytwo16-positionrotaryswitcheswithhexadecimalencoding.ThesecansettheDeviceIDofthedrivefrom0x00~0xFF(0~255decimal).Thechartshowsthedecimalvaluesofthehexsettingsofeachswitch.Example1:FindtheswitchsettingsfordecimalDeviceID107:1)Findthehighestnumberinthex10columnthatislessthan107and
setx10tothehexvalueinthesamerow: 96<107and112>107,sox10=96=Hex6
2)Subtract96fromthedesiredDeviceIDtogetthedecimalvalueforthe switchx1andsetittotheHexvalueinthesamerow: x1=(107-96)=11=HexB
3)Result:X10=6,X1=B,Alias=0x6B(107)
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
TP2Stepnet Plus 2-Axis Panel CANopen
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01444 Rev 03 Page 6 of 30
TP2isconfiguredviaathree-wire,full-duplexDTERS-232portthatoperatesfrom9600to115,200Baud,8bits,noparity,andonestopbit.Signalformatisfull-duplex,3-wire,DTEusingRxD,TxD,andGnd.ConnectionstotheTP2 RS-232 port are throughJ4,anRJ-11connector.TheTP2 SerialCableKit(SER-CK)containsamodularcable,andanadapterthatconnectstoa9-pin,Sub-Dserialportconnector(COM1,COM2,etc.)onPC’sandcompatibles.
Afterpower-on,reset,ortransmissionofaBreakcharacter,theBaudratewillbe9,600.Oncecommunicationhasbeenestablishedatthisspeed,theBaudratecanbechangedtoahigherrate(19,200,57,600,115,200).
J4:RS-232PORTRJ-11receptacle, 6 position, 4 contact
SER-CKSERIALCABLEKITTheSER-CKprovidesconnectivitybetweenaD-Sub9maleconnectorandtheRJ-11connectorontheTP2.ItincludesanadapterthatplugsintotheCOM1(orother)portofaPCandusescommonmodularcabletoconnecttotheTP2.TheconnectionsareshowninthediagramTP2ow.
USBTORS-232ADAPTERSThesemayormaynothavethespeedtoworkatthe115,200BaudratewhichgivesthebestresultswithCME2. Users have reported that adapters using the FTDIchipsetworkwellwithCME2
Don’tforgettoorderaSerialCableKitSER-CKwhenplacingyourorderforaTP2!
ASCIICOMMUNICATIONS
TheCopleyASCIIInterfaceisasetofASCIIformatcommandsthatcanbeusedtooperateandmonitorCopleyControlsStepnet,Stepnet,andTP2seriesamplifiersoveranRS-232serialconnection.Forinstance,afterbasicamplifierconfigurationvalueshavebeenprogrammedusingCME2,acontrolprogramcanusetheASCIIInterfaceto:•EnabletheamplifierinProgrammedPositionmode.•Hometheaxis.•Issueaseriesofmovecommandswhilemonitoringposition,velocity,andotherrun-timevariables.
TheBaudratedefaultsto9,600afterpower-onorresetandisprogrammableupto115,200thereafter.Afterpower-on,reset,ortransmissionofaBreakcharacter,theBaudratewillbe9,600.Oncecommunicationhasbeenestablishedatthisspeed,theBaudratecanbechangedtoahigherrate(19,200,57,600,115,200).ASCIIparameter0x90holdstheBaudratedata.Tosettherateto115,200enterthislinefromaterminal: s r0x90 115200 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
TheinformationprovidedintheAccelnet & Stepnet Plus Panels STO Manual mustbeconsideredforany application using the TP2 drive’s STO feature.FAILURETOHEEDTHISWARNINGCANCAUSEEQUIPMENTDAMAGE,INJURY,ORDEATH.
16
95
Frame Ground
STO-24V*
STO-GND
J6
Accelnet Plus Panel Dual-Axis
Bypass Plug ConnectionsJumper pins:2-4, 3-5, 6-8, 7-9 *
STO-1(+)
STO-2(+)
STO-2(-)
STO-1(-)
STO-1(+)
STO-1(-)
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
SAFE
TY
TP2Stepnet Plus 2-Axis Panel CANopen
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01444 Rev 03 Page 7 of 30
INSTALLATION
STOBYPASS(MUTING)InorderforthePWMoutputsoftheTP2tobeactivated,currentmustbeflowingthroughalloftheopto-couplersthatareconnectedtotheSTO-IN1andSTO-IN2terminalsofJ6,andthedrivemustbeinanENABLEDstate.Whentheopto-couplersareOFF,thedriveisinaSafeTorqueOff(STO)stateandthePWMoutputscannotbeactivatedbythecontrolcoretodriveamotor.
Thisdiagramshowsconnectionsthatwillenergizealloftheopto-couplersfromaninternalcurrent-source.WhenthisisdonetheSTOfeatureisoverriddenandcontroloftheoutputPWMstageisunder control of the digital control core. IfnotusingtheSTOfeature,theseconnectionsmustbemadeinorderfortheTP2tobeenabled.
Currentmustflowthroughallofthe
opto-couplersbeforethedrive canbeenabled
STOBYPASSCONNECTIONS
SAFE TORQUE OFF (STO)
FUNCTIONALDIAGRAM
* STO bypass connections on the TP2 and XenusXEL-XPLmodelsaredifferent.Ifbothdrivesareinstalledinthesamecabinet,thediodeshouldbewiredasshowntopreventdamagethatcouldoccuriftheSTObypassconnectorsareinstalledonthewrongdrive.ThediodeisnotrequiredforSTObypassontheTP2andcanbereplacedbyawirebetweenpins7and9.
SAFETYCONNECTORJ6
TheSafeTorqueOff(STO)functionisdefinedinIEC61800-5-2.Twochannelsareprovidedwhich,whende-energized,preventtheupperandlowerdevicesinthePWMoutputsfrombeingoperated by the digital control core.
ThisprovidesapositiveOFFcapabilitythatcannotbeoverriddenbythecontrolfirmware,orassociatedhardwarecomponents.Whentheopto-couplersareenergized(currentisflowingintheinputdiodes),thecontrolcorewillbeabletocontroltheon/offstateofthePWMoutputs.
DIFFERENTIAL:MULTI-PORTA,/A,B,/B
Signal Axis A AxisB
[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 AxisB
[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 AxisB
[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 AxisB
[IN3(12)]Curr-Vel± J1-9 J1-14
[IN4(13)]/Curr-Vel± J1-10 J1-15
SignalGround J1-6,16,22,31,37,44
FrameGround J1-1
InputsAxis A(B)
CU (CW)
CD (CCW)
[IN3(12)]
[IN4(13)]
InputsAxis A(B)
Enc. A
Enc. B
[IN3(12)]
[IN4(13)]
InputsAxis A(B)
Pulse
Direction
[IN3(12)]
[IN4(13)]
A
/A
B
/B
Multi-port
PULSE
DIRECTION
PULSE
/PULSE
DIRECTION
/DIRECTION
A
/A
B
/B
CD (Count-Down)
CU (Count-Up)CU (CW)
/CU (CW)
CD (CCW)
/CD (CCW)Multi-port
A
/A
B
/B
Multi-port
Enc B
Enc /B
Encoder ph. B
Enc A
Enc /A
Encoder ph. A
Axis A(B)[IN3(12)]
Curr-Vel±
Pol-Dir[IN4(13)]
Axis A(B)Duty = 50% ±50%
Curr-Vel±
[IN3(12)]
[IN4(13)]
Duty = 0 - 100% Curr-Vel
Pol-Dir
/Curr-Vel
/Pol-Dir
A
/A
B
/B
Multi-port
Duty = 50% ±50%
Curr-Vel±
/Curr-Vel±
A
/A
Multi-port
TP2Stepnet Plus 2-Axis Panel CANopen
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01444 Rev 03 Page 8 of 30
POSITIONCOMMANDINPUTSSingle-endeddigitalpositioncommandsmustbesourcedfromdeviceswithactivepull-upandpull-downtotakeadvantageofthe high-speed inputs.
Fordifferentialcommands,theA&Bchannelsofthemulti-modeencoder ports are used.
SINGLE-ENDEDPWM&DIRECTION
SINGLE-ENDED50%PWM
SINGLE-ENDEDPULSE&DIRECTION
SINGLE-ENDEDCU/CD
QUADA/BENCODERSINGLE-ENDED
DIFFERENTIALCU/CD
DIFFERENTIALPULSE&DIRECTION
QUADA/BENCODERDIFFERENTIAL
DIFFERENTIAL50%PWM
DIFFERENTIALPWM&DIRECTION
DIGITAL COMMAND INPUTS: POSITION
DIGITAL COMMAND INPUTS: VELOCITY, TORQUESingle-endeddigitaltorqueorvelocitycommandsmustbesourcedfromdeviceswithactivepull-upandpull-downtotakeadvantage of the high-speed inputs.
Fordifferentialcommands,theA&Bchannelsofthemulti-modeencoder ports are used.
SIGNALS&PINS
Signal Axis A J1AxisB J1
Pulse,CW,EncoderA 36 42
/Pulse,/CW,Encoder/A 21 27
Direction,CCW,EncoderB 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
+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
TP2Stepnet Plus 2-Axis Panel CANopen
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01444 Rev 03 Page 9 of 30
MULTI-MODE PORT AS AN INPUT
POSITIONCOMMANDINPUTS:DIFFERENTIAL
• Pulse&Direction• CW&CCW(Clockwise&Counter-Clockwise)• EncoderQuadA&B• CammingEncoderA&Binput
CURRENT orVELOCITYCOMMANDINPUTS:DIFFERENTIAL
• CurrentorVelocity&Direction• CurrentorVelocity(+)&CurrentorVelocity(-)
SECONDARYFEEDBACK:INCREMENTAL• QuadA/B/Xincrementalencoder
SECONDARYFEEDBACK:ABSOLUTE• Schannel:AbsoluteAencoders(2-wire) TheSchannelfirstsendsaClocksignalandthen receivesDatafromtheencoderinhalf-duplexmode.
• S&Xchannels:SSI,BiSS,EnDatencoders(4-wire) TheXchannelsendstheClocksignaltotheencoder, whichinitiatesdatatransmissionfromtheencoder ontheS-channelinfull-duplexmode
INPUT TYPES
SIGNALS&PINS
Signal Axis A J1AxisB J1
Encoder A 36 42
Encoder /A 21 27
EncoderB 35 41
Encoder/B 20 26
EncoderX 34 40
Encoder/X 19 25
Encoder S 33 39
Encoder /S 18 24
SignalGround 6, 16, 22, 31, 37, 44
FrameGround 1
SecondaryEncoder Input
Input/OutputSelect
Quad A/B/X primaryencoder
MAX3032
MAX3097
Buffered A/B/X signalsfrom primary encoder
SecondaryEncoder Input
Input/OutputSelect
MAX3362
MAX3097
Emulated Quad A/Bsignals from analog Sin/Cos encoder
Emulated A/B signals
Enc. B
Enc. X
B
/B
X
/X
Enc. A
Incremental Encoder
J1 Multi-Port
Frame Ground
A
/A
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Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01444 Rev 03 Page 10 of 30
MULTI-MODE PORT AS AN OUTPUT
OUTPUT TYPESBUFFEREDFEEDBACKOUTPUTS:DIFFERENTIAL
• EncoderQuadA,B,Xchannels• DirecthardwareconnectionbetweenquadA/B/X encoderfeedbackanddifferentiallinedriversforA/B/Xoutputs
EMULATEDFEEDBACKOUTPUTS:DIFFERENTIALFirmwareproducesemulatedquadA/Bsignalsfromfeedback datafromthefollowingdevices:• Absolute encoders
Axis A AxisB Notes
OUT1 OUT2 FaultActive-OFF
OUT3
NotConfiguredOUT4
OUT5
OUT6 OUT7 BrakeActive-HI
Axis A AxisB Notes
√ √ Short Circuit
√ √ AmpOverTemp
√ √ MotorOverTemp
OverVoltage
UnderVoltage
MotorWiring Disconnected
OPTIONALFAULTS
OverCurrent(Latched)
AxesA,B Notes
Analog:ReferenceFilter Disabled
Vloop:InputFilter Disabled
Vloop:OutputFilter1 LowPass,Butterworth, 2-pole,200Hz
Vloop:OutputFilter2 Disabled
Vloop:OutputFilter3 Disabled
Iloop:InputFilter1 Disabled
Iloop:InputFilter2 Disabled
InputShaping Disabled
AxesA,B Notes
Method SetCurrentPositionasHome
Axis A Config PU/PD AxisB 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
+5VIN19 J7-2 IN22 J8-2
IN20 J7-3 IN23 J8-3
IN21 J7-4 IN24 J8-4
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Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01444 Rev 03 Page 11 of 30
CME2 DEFAULTS
ThesetablesshowtheCME2defaultsettings.Theyareuser-programmableand thesettingscanbesavedtonon-volatileflashmemory.
SPECIFICATIONSInput Data Notes
InputVoltages Single-ended
HI Vin≥2.7Vdc
LO Vin≤2.3Vdc
VH1 45mVdctyp
InputVoltages Differential3
HI Vdiff≥+200mVdc
LO Vdiff≤-200mVdc
VH ±45mVdctyp
Commonmode Vcm 0to+12Vdc
Pull-up/down R1 10kW
LowpassfilterR2 1kW
C1 100pF
Timeconstant RC2 100 ns
CONNECTIONSS.E. DIFF Pin
IN3 IN3+ J1-9
IN4 IN3- J1-10
IN12 IN12+ J1-14
IN13 IN12- J1-15
Sgnd J1-6,16,22,31,37,44
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 15kW
LowpassfilterR2 15kW
C1 100pF
InputCurrent24V 1.3mAdc
0V -0.33mAdc
Timeconstant RC2 1.5µs
CONNECTIONSInput Pin Input Pin
IN1 J1-7 IN19 J7-2
IN2 J1-8 IN20 J7-3
IN10 J1-12 IN21 J7-4
IN11 J1-13 IN22 J8-2
Sgnd
J1: 6, 16, 22, 31, 37, 44
IN23 J8-3
IN24 J8-4
Sgnd J7,J8: 5, 16, 25, 26
• Digital, non-isolated, high-speed• Programmablepull-up/pull-down:IN1,IN2,IN10,IN11 Fixedpull-upto+5V:IN19,IN20,IN21,IN22,IN23,IN24
• 24VCompatible• Programmablefunctions
Notes:1)VHishysteresisvoltage (VT+)-(VT-)
2)TheR2*C2timeconstantapplieswheninputisdrivenbyactiveHI/LOdevices
HIGH SPEED INPUTS: IN1, IN2, IN10, IN11, IN19, IN20, IN21, IN22, IN23, IN24
C1
C1
2.5V
MAX3096
MAX3096
[IN3,12]
J1 Control
[IN4,13]
R1
R1
+5V
R2
R2
++5V
+12V
[IN3,12]
J1 Control
[IN4,13]
+5V
+5V
C1
R1R2
C1
R1R2
MAX3096
12V+
C1
R2R1
74HC2G14
PullUp = +5VPullDown = 0V
[IN1,2]
+5V
FEEDBACK CONNECTOR
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Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01444 Rev 03 Page 12 of 30
• Digital, non-isolated, high-speed• Progammablepull-up/pull-down• 12VCompatible• Single-ended or Differential• Programmablefunctions
SINGLE-ENDED
DIFFERENTIAL
Notes:1)VHishysteresisvoltage IN2-IN3orIN12-IN13
2)TheR2*C2timeconstantapplieswheninputisdrivenbyactiveHI/LOdevices)
3)Vdiff=AINn(+)-AINn(-) n=1forAxisA,2forAxisB
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 4.99kW
InputCurrent12V 1.4mAdc
0V -1.0mAdc
LowpassfilterR2 10kW
C1 33nF
Timeconstant Te 330µs*BS4999:PART111:1987
Property Ohms
Resistanceinthetemperaturerange20°Cto+70°C 60~750
Resistanceat85°C ≤1650
Resistanceat95°C ≥3990
Resistanceat105°C ≥12000
CONNECTIONSSignal Pins Signal Pins
IN5 J2-2 IN14 J2-7
IN6 J2-3 IN15 J2-8
IN7 J2-4 IN16 J2-9
IN8 J2-5 IN17 J2-18
ICOM1 J2-6 ICOM2 J2-17
SPECIFICATIONSInput Data Notes
InputVoltages
HI Vin≥±10.0Vdc*
LO Vin≤±6Vdc*
Max ±30Vdc*
InputCurrent±24V ±3.6mAdc
0V 0mAdc
+5V
[IN9(18)]
Thermistor,Posistor,
or switch Signal Gnd
R1
R2
C1
J7,J8
5.1V
4.7k
5.1V
24V
24V GND
24V
[ICOM1(2)]
[IN5(14)]
4.7k
4.99k
[IN6(15)]
4.7k
4.7k
4.99k 5.1V
4.99k 5.1V
[IN7(16)]
[IN8(17)]
4.99k
J2
+
+
TP2Stepnet Plus 2-Axis Panel CANopen
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01444 Rev 03 Page 13 of 30
• Digital, non-isolated• Motorovertempinputs• 12VCompatible• Programmablefunctions
• Digital, opto-isolated• 2Groupsoffour,eachwithownCommonterminal• Workswithcurrentsourcingorsinkingdrivers• 24VCompatible• Programmablefunctions
MOTOROVERTEMPINPUTThe4.99kpull-upresistorworkswithPTC(positivetemperaturecoefficient)thermistorsthatconformtoBS4999:Part111:1987,orswitchesthatopen/closeindicatingamotorover-temperaturecondition.Theactivelevelisprogrammable.
*VdcReferencedtoICOMterminals.
* RC time constant applieswheninputsaredrivenbyactivehigh/lowdevices
MOTOR OVERTEMP INPUTS: IN9, IN18
OPTO-ISOLATED INPUTS: IN5, IN6, IN7, IN8, IN14, IN15, IN16, IN17
SPECIFICATIONS
Spec Data Notes
InputVoltage Vref ±10Vdc
InputResistance Rin 5.05kW
CONNECTIONS
SignalPins
Axis A AxisB
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 300mAdcmax
+
1.5V
Shield (Frame Gnd)
AINn(+)
AINn(-)Vref
J1D/A
F.G.
±10V
Sgnd
-
[OUTn-]
300mAmax
* at 24 Vdc
Vdc
J2
[OUTn+]
1
80Ωmin*
36V
SSR
+
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Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01444 Rev 03 Page 14 of 30
• Digital, opto-isolated• MOSFEToutputSSR,2-terminal• Flybackdiodesforinductiveloads• 24VCompatible• Programmablefunctions
• ±10Vdc,differential• 12-bit resolution• Programmablefunctions
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
OutputtransistorisOFF Brakeisun-poweredandlocksmotor Motorcannotmove BrakestateisActive
LO
Output transistor is ON Brakeispowered,releasingmotor Motorisfreetomove BrakestateisNOT-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
*
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
J9Mot AJ11
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
J10Mot 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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Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01444 Rev 03 Page 15 of 30
• Brakeoutputs• Opto-isolated• Flybackdiodesforinductiveloads• 24VCompatible• Connectionforexternal24Vpowersupply• Programmablefunctions
CME2DefaultSettingforBrakeOutputs[OUT6,7]is“Brake-ActiveHI” Active =Brakeisholdingmotorshaft(i.e.theBrake is Active) Motorcannotmove Nocurrentflowsincoilofbrake CME2I/OLineStatesshowsOutput6or7asHI BRKOutputvoltageisHI(24V),MOSFETisOFF Stepperdriveoutputcurrentiszero Stepperdriveisdisabled,PWMoutputsareoff Inactive = Brakeisnotholdingmotorshaft(i.e.theBrake is Inactive) Motorcanmove Currentflowsincoilofbrake CME2I/OLineStatesshowsOutput6or7asLO BRKoutputvoltageisLO(~0V),MOSFETisON Stepperdriveisenabled,PWMoutputsareon Stepperdriveoutputcurrentisflowing
Thebrakecircuitsareopticallyisolatedfromalldrivecircuitsandframeground.
OPTO-ISOLATED MOTOR BRAKE OUTPUTS: OUT6, OUT7
This diagram shows theconnectionstothedrivethatshare a commonground inthedriver.Ifthebrake24Vpower supply is separatefromtheDCsupplypoweringthe drive, it is importantthat itconnects toanearthorcommongroundingpointwiththeHVpowersupply.
*There should be only one conductor in each position of the J3 connector. If brakes are to be wired directly to J3 for their 24V power, use a double wire ferrule for J3-4. Information for ferrules can be found on page 27.
Signal J7,J8Pin
Enc A 13
Enc /A 12
EncB 11
Enc/B 10
EncX 9
Enc/X 8
+5V 6, 17
Sgnd 5, 16, 25, 26
F.G. 1
Signal Axis A AxisB
Enc A 36 42
Enc /A 21 27
EncB 35 41
Enc/B 20 26
EncX 34 40
Enc/X 19 25
Enc S 33 39
Enc /S 18 24
+5V 32 23
Sgnd 31 22
F.G. 1
1k+5V
1k
Encoder J7,J8
FG Frame Ground
Enc. A121A
Enc. B121B
Enc. Index130Z/X
X
/B
B
/A
A
+5V
0V
+5V Out @ 500 mA
Signal Ground
Stepnet Plus Panel 2-Axis
Frame Gnd
Enc /A
Enc A
Enc /B
Enc B
Enc /X
Enc X
Enc S
+5V OutSignal
Gnd
Enc /S
J1
ENDATENCODER
/CLK
CLK
/DAT
DAT
Vcc
0VEncoder+5V
/A
A
/B
B
/X
X
QUADA/B/X
ENCODER
1
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Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01444 Rev 03 Page 16 of 30
FEEDBACK CONNECTIONS
Encoderswithdifferentialline-driveroutputsarerequired(single-endedencodersarenotsupported)andprovideincrementalpositionfeedbackviatheA/Bsignalsandtheoptionalindexsignal(X)givesaonceperrevolutionpositionmark.
Incrementalorabsoluteencoderscan connect to the Multi-port to functionassecondaryfeedbackfordual-loop operation. Typically, the primaryencoder(J7,J8)ismountedonthemotor,andthesecondaryencoder(J1)mountstotheload.Theprimaryencoderisusedforvelocityfeedbackandthesecondaryone us used for the actual load position.Thegraphicshowsbothincrementalandabsoluteconnections. Only one encoder per axiscanconnecttothemulti-portfor dual-loop opertion.
QUAD A/B/X INCREMENTAL ENCODER
DUAL-LOOP FEEDBACK
QUAD ENCODER WITH INDEX
A/B/X SIGNALS
MULTI-PORT J1 SIGNALS
Sgnd=SignalGround F.G.=FrameGnd
MULTI-PORT FEEDBACK CONNECTIONS
Signal J7,J8Pin
Clk 9
/Clk 8
Data 15
/Data 14
+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
A
B
A
B
Encoder
221
Dat
/Dat
Clk
/Clk130
FGFrame Ground
J7,J8
Clk
DataData
Clk
+5V
0V
+5V Out @ 400 mA
Signal Ground
1k
1k
1k +5
1k+5
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
TP2Stepnet Plus 2-Axis Panel CANopen
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01444 Rev 03 Page 17 of 30
FEEDBACK CONNECTIONS
ENDAT ABSOLUTE ENCODERTheEnDatinterfaceisaHeidenhaininterfacethathasClockandDatasignals.Thenumberofpositiondatabitsisprogrammable.
ABSOLUTE-A ENCODERThe Absolute A interface is a serial, half-duplex type thatiselectricallythesameasRS-485.Notethebatterywhichmustbeconnected.Withoutit,theencoderwillproduce a fault condition.
ENDAT SIGNALS
ABSOLUTE-A SIGNALS
Sgnd=SignalGround F.G.=FrameGnd
Sgnd=SignalGround F.G.=FrameGnd
Property Ohms
Resistanceinthetemperaturerange 20°Cto+70°C
60~750
Resistanceat85°C ≤1650
Resistanceat95°C ≥3990
Resistanceat105°C ≥12000
Signal Pin
MotempA J7-7
MotempB J8-7
J7,J8 SignalGround 5,10
FrameGnd 12
Signal J9,J10Pin
Mot A 5
Mot /A 4
MotB 3
Mot/B 2
FrameGnd 1
+5V
[IN9(18)]
Thermistor,Posistor,
or switch Signal Gnd
R1
R2
C1
J7,J8
PWM
+HV
0V
StepperMotor2 ph.
MOT /B
Gn/YFrame Gnd
MOT B
MOT /A
MOT A
J9, J10
+
TP2Stepnet Plus 2-Axis Panel CANopen
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01444 Rev 03 Page 18 of 30
MOTOR CONNECTIONS
MOTOR OVER TEMP INPUTThe4.99kpull-upresistorworkswithPTC(positivetemperaturecoefficient)thermistorsthatconformtoBS4999:Part111:1987(tableTP2ow),orswitchesthatopen/closeindicatingamotorover-temperaturecondition.Theactivelevelisprogrammable. TheseinputsareprogrammableforotherfunctionsifnotusedasMotempinputs.And,otherinputsareprogrammablefortheMotempfunction.
MOTOR PHASE CONNECTIONSThe drive outputs are three-phase PWMinverters that convert the DC buss voltage (+HV)intothreesinusoidalvoltagewaveformsthatdrivethemotorphase-coils.Cableshouldbesizedforthecontinuouscurrentratingofthemotor.Motorcablingshouldusetwisted,shieldedconductorsforCEcompliance,andtominimize PWMnoise coupling into othercircuits. The motor cable shield shouldconnecttomotorframeandthedriveframegroundterminal(J9,J10-1)forbestresults.
MOTEMP SIGNALS BS 4999 SENSOR
MOTOR SIGNALS
Frame Gnd
5 25
26
17
8
9
10
11
12
1
13
4
3
2
QUADA/B/X
ENCODER
ENDATENCODER
/A
A
/B
B
/X
Vcc
0V
X
/CLK
CLK
J7J8 6
Enc /A
Enc A
Enc /B
Enc B
Enc /X
Enc X
14
15/DAT
DATEnc S
+5V Out
7
Signal Gnd
Signal Gnd
Encoder+5V
Connections for incremental and absolute encoders are shown. Only one may be used at a time.
Brake A
Motemp
J3
TEMPSENSOR
Brake B
24V Return
4Brk 24V Output
Brk 24V Input +
0V
24 Vdc
Stepnet Plus Panel 2-Axis
Brk
Brk
16
5
3
2
1
STEPPERMOTOR
/A
A
B
/B
4
3
2
1
Mot /A
5Mot A
Mot B
Mot /B
Frame Gnd
J9J10
Note: [IN19~21] are on J7 [IN22~24] are on J8
[IN21,24]
[IN20,23]
[IN19,22]
Groundingtab
Enc /S
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Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01444 Rev 03 Page 19 of 30
Theconnectionsshownmaynotbeusedinallinstallations
NOTES:1) The+5VOut1onJ1-17,32andJ7-6,17isratedfor500mA The+5VOut2onJ1-23,38andJ8-6,17isratedfor500mA Thesearetwoindependentpowersupplies,eachwitha500mAmaxoutputfromallpins 2) CEsymbolsindicateconnectionsrequiredforCEcompliance.
MOTOR CONNECTIONS: ENCODER
IsolatedCAN Port
CAN_L
CAN_GND
CAN_H
+ PWMInverter
J9 Axis A
Axis AMotor
PWMInverter
Control Core circuits arereferenced to Signal Ground (Sgnd)and HV Com ground
DC-DCConverter
SgndSignal Gnd
HV ComGnd
Internal DCPower for
All Circuits
+HV
HV Com
Aux
EarthGround
J10 Axis B
Frame Gnd
Frame Gnd
Axis BMotor
Heatplate
J11 HV & Aux
J5 Serial
J4 NetworkX2 In and Out
Ports are Identical
CANopenConnections are
isolated fromdrive circuits
TxD
RxD
Sgnd
1
2
3
1
2
3
4
5
1
2
3
45
1360 µF
5432
J1 Control
EarthGround
Motor cable shieldconnects to Frame Ground
Motor cable shieldconnects to Frame Ground
HEATPLATE
DRIVE CIRCUITS
Vcc
Vcc
[IN1~4, 10~13][IN9,18, IN19~24]
[IN5~8,14~17]
[AIN1~2+/-]
Isolated
Sgnd
Sgnd
Vcc
Sgnd
+HV
+
-
+
Sgnd
- J2 I/O
Vcc[OUT1~5+]
[OUT1~5-]
Sgnd[IN9,18]
J7,J8 Axes A,BMotor temp switch
Vcc Vcc
J3 Brake
+24V
Brk 24V Input
Brk 24V Output
Brake A
Brake B
24V Return
+
-R-L
Isolated
R-L
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Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01444 Rev 03 Page 20 of 30
DEVICE STRUCTURE & ISOLATION
Thisgraphicshowstheelectricalstructureofthedrive,detailingtheelementsthatshareacommoncircuitcommon(SignalGround,HVCom)andcircuitsthatareisolatedandhavenoconnectiontointernalcircuits. Notethatthereisnoconnectionbetweentheheatplate(Chassis,FrameGround)andanydrivecircuits.
+
-
+~
~
~
~
+
- -
+HV
HVGround
Aux
2
1
3
UnregulatedPower Supply
LineFilter
ACMains
Equipment Ground
Earth Ground
Green/Yellow
P-Clip
H
N
Gnd
Plus PanelsDrive
PowerConnector1-Axis = J72-Axis = J10
HV+
-Aux
Frame Ground
TP2Stepnet Plus 2-Axis Panel CANopen
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01444 Rev 03 Page 21 of 30
POWER & GROUNDING CONNECTIONS
DCPOWERCONNECTIONS• DCpowermustbeprovidedbytransformersthataregalvanicallyisolatedandprovidereinforcedinsulationfromthemains.
Auto-transformers cannot be used.• The(-)terminalofthepowersupplyisnotgroundedatthepowersupply.Itisgroundedneareachdrive.• Cablingtomultipledrivesforthe+HVand0Visbestdoneina“star”configuration,andnota“daisy-chain”.• The0V,orreturnterminaloftheDCpowershouldbeconnectedtoframegroundnearthedrivepowerconnector. Fromthatpoint,ashortwirecanconnecttothedriveHVGround.
• Cablingtothedrive+HVand0Vterminalsmustbesizedtocarrytheexpectedcontinuouscurrentofthedriveintheuser’sinstallation.
• DCpowercablingshouldbeshielded,twisted-pairforbestEMIreduction.Theshieldshouldconnecttothepowersupplyframegroundononeend,andtothedriveframegroundontheother.Addingapigtailandring-lug,asshortaspossiblewillprovideagood connection of the shield at the drive.
• Motorcablingtypicallyincludesagreen/yellowconductorforprotectivebondingofthemotorframe. ConnectasshownintheMotorConnectionsdiagramonthefollowingpage.
• MotorcableconductorsshouldbetwistedandshieldedforbestEMIsuppression.• Ifagreen/yellowgroundingwireconnectsthemotortothedrive’sPEterminal,theshieldpigtailandring-lugmayconnecttooneofthescrewsthatmountthedrivetothepanel.AP-cliptogroundtheshieldasnearaspossibletothedrivewillincreasetheEMIsuppressionoftheshield.Onthemotor-end,theshieldfrequentlyconnectstotheconnectorshell.Ifthemotorcableisaflying-leadfromthemotor,theshieldmaybeconnectedtothemotorframeinternally.
• BraidedcableshieldsaremoreeffectiveforEMIreductionthanfoilshields.Double-shieldedcablestypicallyhaveabraidedoutershieldandfoilshieldsfortheinternaltwistedpairs.ThiscombinationiseffectiveforbothEMIreductionandsignalqualityofthefeedbacksignalsfromanalogencoders.
• Motorcableshieldingisnotintendedtobeaprotectivebondingconductorunlessotherwisespecifiedbythemotormanufacturer.• Indouble-shieldedcables,theinternalshieldingshouldconnecttothedrive’sSignalGroundononeend,andshouldbeunconnectedonthemotorend.
• Single-shieldfeedbackcablesconnecttothedriveframeononeend,andtothemotorframeontheother. Dependingontheconstructionofthemotor,leavingthefeedbackcableshielddisconnectedonthemotorbutconnectedonthedriveendmaygivebetterresults.
• Thedriveshouldbesecuredtotheequipmentframeorpanelsusingthemountingslots.ThisensuresagoodelectricalconnectionforoptimalEMIperformance.Thedrivechassisiselectricallyconductive.
DCPOWERWIRINGP-clips secure cables to a panel and provide full contact to the cable shields after the insulation has been stripped.ThisshouldbedoneasclosetothedriveaspossibleforbestEMIattenuation.
0.0
0.2
0.4
0.6
0.8
1.0
1.2
1.4
1.6
1.8
2.0
25 30 40 50 60 70 80 90
(+)
(-)
+ +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
A/AB
/B
P-clip
F.G.
Feedback
Encoder
F.G.
{
{
{
Enc A
Enc B
Enc X
Sgnd
Earth Ground
Frame Ground
TP2Stepnet Plus 2-Axis Panel CANopen
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01444 Rev 03 Page 22 of 30
REGENERATIONThis chart shows the energy absorption inW·s for thedriveoperatingat some typicalDCvoltages.Itisbasedontheinternal470uFcapacitorandwouldbeincreasedbythecapacitanceoftheexternalDCpowersupply.Whentheloadmechanicalenergyisgreaterthan these values an external regenerative energydissipaterisrequired,ortheDCpowersupply capacitance can be increased to absorb the regen energy.
Joules(W·s)
ENERGYABSORPTION
MOTORCONNECTIONS• Motorcableshieldconnectstomotorframe,isgroundedwithaP-clipnearthedriveandterminatesinaring-lugthatisscrewedtothedrivechassisbyamountingscrewtothepanel
• Ifprovided,agreen/yellowgroundingwirefromthemotorconnectstotheF.G.terminalofthemotorconnector.
FEEDBACKCONNECTIONS• CableshieldconnectstomotorframeandtotheF.G.terminalofthefeedbackconnector.
• Whendouble-shieldingisused,theinnershieldsconnecttotheSignalGroundatthedrive,andisnotconnectedatthemotorend.
• Ifnotprovidedbythemotormanufacturer,feedbackcablesratedforRS-422communicationsarerecommendedfordigitalencoders.
+HVPOWERSUPPLYREQUIREMENTSRegulatedPowerSupplies
• Mustbeover-voltageprotectedto100VdcmaxwhentheSTO(SafeTorqueOff)feature of the drive is used.
• Requireadiodeandexternalcapacitortoabsorbregenerativeenergy.• TheVAratingshouldbegreaterthantheactualcontinuousoutputpowerofthedrivesconnectedtothepowersupply,andadequateforthetransientoutputpowerduetoaccelerationofmotorloads.
• Must handle the internal capacitance of the drives on startup.UnregulatedPowerSupplies
• No-load,high-lineoutputvoltagemustnotexceed90Vdc.• Powersupplyinternalcapacitanceaddstothedrive’sinternalcapacitance
for absorption of regenerative energy.• TheVA(Volts&Amps)ratingatthepowersupply’sACinputistypically30~40%greaterthanthetotaloutputpowerofthedrives.
AUXILIARYHVPOWER• AuxHVispowerthatcankeepthedrivecommunicationsandfeedbackcircuitsactivewhenthePWMoutputstagehasbeendisabledbyremovingthemain+HVsupply.
• UsefulduringEMO(EmergencyOff)conditionswherethe+HVsupplymustberemovedfromthedriveandpowered-downtoensureoperatorsafety.
• Voltagerangeisthesameas+HV.• PowerstheDC/DCconverterthatsuppliesoperatingvoltagestothedriveDSPand
control circuits.• AuxHVdrawsnocurrentwhenthe+HVvoltageisgreaterthantheAuxHVvoltage.
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-MultiEncB
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-MultiEncS
10 [IN4]Diff1(-) 25 B-MultiEnc/X 40 B-MultiEncX
11 N/C 26 B-MultiEnc/B 41 B-MultiEncB
12 [IN10] 27 B-MultiEnc/A 42 B-MultiEncA
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-
110
19
9 18 26
1
5
6
9
1 16 31
30 4415
AM
P
RU
NE
RR
L/A
L/A
AccelnetPlus
J3
BR
AK
E
J2
ISO
LAT
ED
I/O
J1
SIG
x10
x1
S1
S2
DE
VIC
E ID
J4
NE
TW
OR
K
AB
J5
RS
-232
J6 SA
FE
TY
INO
UT
PlusStepnet
TP2Stepnet Plus 2-Axis Panel CANopen
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01444 Rev 03 Page 23 of 30
J1:CONTROLSIGNALS
J2:ISOLATEDCONTROL
J6SAFETY(SAFETORQUEOFF)
Details on J1, J2, J6, J7, and J8 cable connectors can be found in the TP2-CK listing under the Accessories section of the last page
CONNECTORS & SIGNALS: FRONT PANEL
J6TP2CONNECTOR:DsubDE-09F,9positionfemalereceptacle
J6CABLECONNECTOR:Dsub DE-09M, 9 position
J2:TP2CONNECTORHigh-DensityDsubDA-26M,maleplug,26Position
J1:TP2CONNECTORHigh-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 N/C2 [IN19(22)]A(B) 11 A(B)EncB 20 N/C3 [IN20(23)]A(B) 12 A(B)Enc/A 21 N/C4 [IN21(24)]A(B) 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 N/C
Signal Pin
Motor Phase A 5
Motor Phase /A 4
MotorPhaseB 3
MotorPhase/B 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
J7 FDBK A J8 FDBK B
J9 MOT A J10 MOT B J11 POWER
1 2 3
0V +HV Aux
54321
1 10 19
9 1826
1 2 3 4 5
A/AB/B
TP2Stepnet Plus 2-Axis Panel CANopen
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01444 Rev 03 Page 24 of 30
J7,J8:AXISA,BFEEDBACK
J11:DRIVECONNECTOREuro-style5.08mmmalereceptacle,3-position Wago:MCS-MIDI,231-563/108-000
J9,J10:DRIVECONNECTORSEuro-style5.08mmmalereceptacle,5-position Wago:MCS-MIDI,231-565/108-000
J9,J10CABLECONNECTORSWagoMCS-MIDIClassic231-305/107-000
J11:CABLECONNECTORWagoMCS-MIDI,231-303/107-000
WAGOCONNECTORTOOLContactopener:231-291operatingtool
WAGOCONNECTORTOOLContactopener:231-291operatingtool
J9,J10:MOTOROUTPUTS J11:+HV&AUXPOWER
J3:DRIVECONNECTOREuro-style3.5mmmalereceptacle,5-position Wago:MCS-MINI,734-165/108-000
J3:CABLECONNECTORWagoMCS-MINI734-105/107-000 or 734-105/107-000
WAGOCONNECTORTOOLContactopener:734-191operatingtool
J3:BRAKE
CONNECTORS & SIGNALS: FRONT PANEL
CONNECTORS & SIGNALS: END PANEL
J7,J8:TP2CONNECTORHigh-DensityDsubDA-26F, femalereceptacle,26Position
J7,J8:CABLECONNECTORHigh-DensityDsubDA-26M, maleplug,26Position
J7,J8:FEEDBACK
J9, J10
J7, J8
J11
AWG mm2 Color Mfgr PNUM A B C D E SL
14 2.5 Blue Wago 216-206 15.0(0.59) 8.0(0.31) 2.05(.08) 4.2(0.17) 4.8(0.19) 10(0.39)
16 1.5 Black Wago 216-204 14.0 (0.59 8.0(0.31) 1.7(.07) 3.5(0.14) 4.0(0.16) 10(0.39)
18 1.0 Red Wago 216-223 12.0(.47) 6.0(.24) 1.4(.055) 3.0(.12) 3.5(.14) 8(.31)
20 0.75 Gray Wago 216-222 12.0(.47) 6.0(.24) 1.2(.047) 2.8(.11) 3.3(.13) 8(.31)
22 0.5 White Wago 216-221 12.0(.47) 6.0(.24) 1.0(.039) 2.6(.10) 3.1(.12) 7.5(.30)
AWG mm2 Color Mfgr PNUM A B C D E SL
18 1.0 Red Wago 216-223 12.0(.47) 6.0(.24) 1.4(.06) 3.0(.12) 3.5(.14) 8(.31)
20 0.75 Gray Wago 216-222 12.0(.47) 6.0(.24) 1.2(.05) 2.8(.11) 3.3(.13) 8(.31)
22 0.5 White Wago 216-221 12.0(.47) 6.0(.24) 1.0(.04) 2.6(.10) 3.1(.12) 7.5(.30)
AWG mm2 Color Mfgr PNUM A B C D E SL
2 x 18 2 x 1.0 Red Altech 2776.0 15.4(.61) 8.2[.32] 2.4(.09) 3.2(.13) 5.8(.23) 11.0(.43)
2 x 18 2 x 1.0 Gray Altech 2775.0 14.6(.57) 8.2(.32) 2.0(.08) 3.0(.12) 5.5(.22) 11.0(.43)
2 x 20 2 x 0.75 White Altech 2794.0 14.6(.57) 8.2(.32) 1.7(.07) 3.0(.12) 5.0(.20) 11.0(.43)
2 x 20 2 x 0.75 Gray TE 966144-2 15.0(.59) 8.0(.31) 1.70(.07) 2.8(.11) 5.0(.20) 10(.39)
2 x 22 2 x 0.50 White TE 966144-1 15.0(.59) 8.0(.31) 1.40(.06) 2.5(.10) 4.7(.19) 10(.39)
A
B
C D E
A
B
C D E
A
B
C D
E
TP2Stepnet Plus 2-Axis Panel CANopen
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01444 Rev 03 Page 25 of 30
WIRING
J3
FERRULEPARTNUMBERS:DOUBLEWIREINSULATED
FERRULEPARTNUMBERS:SINGLEWIREINSULATED
24V&BRAKE:J3
MOTOROUTPUTSANDHV/AUXPOWER:J9,J10&J11ToolJ11J9,J10WagoMCS-MIDIClassic:231-305/107-000(J9,J10),231-303/107-000(J11),
femaleconnector;withscrewflange;pinspacing5.08mm/0.2inConductor capacity Barestranded: AWG28~14[0.08~2.5mm2] Insulatedferrule: AWG24~16[0.25~1.5mm2] Strippinglength: 8~9mm OperatingTool: WagoMCS-MIDIClassic:231-159
FERRULEPARTNUMBERS:SINGLEWIREINSULATED
NOTESPNUM=PartNumberSL=StrippinglengthDimensions:mm(in)
Tool
SINGLEWIRE DOUBLEWIRE
WagoMCS-MINI:734-105/031-000,femaleconnector;withscrewflange, 5-pole;pinspacing3.5mm/0.138inConductor capacity Barestranded: AWG28~16[0.08~1.5mm2] Insulatedferrule: AWG24~16[0.25~1.5mm2] Strippinglength: 0.24~0.28in[6~7mm] Operatingtool: WagoMCS-MINI:734-231
0 W
5 W
10 W
15 W
20 W
25 W
30 W
disabled 0A 5.0A 10A 15A 20A
80V
65V
50V
35V
20V
0C
5C
10C
15C
20C
25C
30C
35C
40C
45C
50C
2W 4W 6W 8W 10W 12W 14W 16W 18W 20W 22W 24W 26W
HSF
HSNF
NHSF
NHSNF
Quiescentpower
TP2-090-14
16.5 A
19W
TP2-090-06
TP2Stepnet Plus 2-Axis Panel CANopen
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01444 Rev 03 Page 26 of 30
TOTALPOWERDISSIPATION
Usethischarttofindthetotalpowerdissipation for both axes. Example:PowersupplyHV=65Vdc Axis1current=7.5A,axis2=9.0A Totalcurrent=16.5A Totaldissipation=19Watts
ThetopchartonthispageshowstheinternalpowerdissipationforoneaxisoftheTP2underdifferingpowersupplyandoutputcurrentconditions.The+HVvaluesarefortheaverageDCvoltageofthedrivepowersupply.Thelowerchartshowsthetemperaturerisevs.powerdissipationunderdifferingmountingandcooling conditions.
Usethischarttofindthemaximumoperatingtemperatureofthedriveunderdifferingmountingandcoolingconditions.Example:Usingthe19Wvaluefromthecalculationsabove,drawaverticalline.Thisshowsthat24CisthemaximumoperatingtemperatureforNHSNF,andthatanyoftheothermounting/coolingoptionswillbesufficientforoperationuptothemaximumambienttemperatureof45C.
HSF = HeatSink(with)Fan NHSF = NoHeatSink(with)Fan HSNF = HeatSinkNoFan NHSNF= NoHeatSinkNoFan
THERMALS: POWER DISSIPATION
THERMALS: MAXIMUM OPERATING TEMPERATURE VS. DISSIPATION
Internal power dissipation (Watts)
HSForNHSF
HSNFNHSNF
19W
24 C
Total continuous output current of both axes
HEATSINK + FAN °C/W
FORCED-AIR, 300 LFM 0.61
HEATSINK, NO FAN °C/W
CONVECTION 1.28
NO HEATSINK + FAN °C/W
FORCED-AIR, 300 LFM 0.98
NO HEATSINK, NO FAN °C/W
CONVECTION 2.32
J7
J11 0V+H
VA
UX
W V
U
PO
WE
RJ10
MO
TOR
B
W V
U
J9 M
OTO
R A
FEE
DB
AC
K A
J8 FE
ED
BA
CK
BJ7
J11 0V+H
VA
UX
W V
U
PO
WE
RJ10
MO
TOR
B
W V
U
J9 M
OTO
R A
FEE
DB
AC
K A
J8 FE
ED
BA
CK
B
J6J7
J10
+HV
J9 MO
T B
FDB
KA
B
J8 MO
T A
0V
AUX
UV
W
U
V
W
J7 FDB
K A
J8 FDB
K B
J9 MO
T AJ10 M
OT B
J11 PO
WE
R
J7
J11 0V+H
VA
UX
W V
U
PO
WE
RJ10
MO
TOR
B
W V
U
J9 M
OTO
R A
FEE
DB
AC
K A
J8 FE
ED
BA
CK
BJ7
J11 0V+H
VA
UX
W V
U
PO
WE
RJ10
MO
TOR
B
W V
U
J9 M
OTO
R A
FEE
DB
AC
K A
J8 FE
ED
BA
CK
B
J6J7
J10
+HV
J9 MO
T B
FDB
KA
B
J8 MO
T A
0V
AUX
UV
W
U
V
W
J7 FDB
K A
J8 FDB
K B
J9 MO
T AJ10 M
OT B
J11 PO
WE
R
MOUNTINGThermaldataforconvection-coolingwithaheatsinkassumesaverticalmountingofthedriveonathermallynon-conductingsurface.Heatsinkfinsrun parallel to the long axis of the drive.Whenfan-coolingisusedverticalmountingisnotnecessarytoguaranteethermalperformanceoftheheatsink.
TOP VIEWS VERTICAL MOUNTING
THERMALRESISTANCEThermalresistanceisameasureofthetemperatureriseofthedriveheatplateduetopowerdissipationinthedrive.Itisexpressedinunitsof°C/Wwherethedegreesarethetemperatureriseaboveambient.E.g.,andrivedissipating16Wmountedwithnoheatsinkorfanwouldseeatemperatureriseof38.2Caboveambientbasedonthethermalresistanceof2.39C/W.Usingthedrivemaximumheatplatetemperatureof70Candsubtracting38.2Cfromthatwouldgive31.7Casthemaximumambienttemperaturethedriveinwhichthedrivecouldoperatebeforegoingintothermalshutdown.Tooperateathigherambienttemperaturesaheatsinkorforced-airwouldberequired.
THERMALS: MOUNTING & THERMAL RESISTANCE
TP2Stepnet Plus 2-Axis Panel CANopen
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01444 Rev 03 Page 27 of 30
Qty Description
1 Heatsink,standard,TP2-HS
1 Thermalmaterial,4x4in.
1
Kit,HeatsinkHardware,TP2
4 Washer,flat,#8
4 Screw,PAN,SEMS,#8-32x1/2in
HEATSINK KIT INSTALLATION
TP2Stepnet Plus 2-Axis Panel CANopen
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01444 Rev 03 Page 28 of 30
INSTALLATION
1)Placetheheatsinkfins-downonaworksurface.Orienttheheatsinksothattheedgewithpartnumberisawayfromyou.TheholefortheTP2groundinglugshouldbe to your left.
2)Removetheclearprotectivefilmfromthethermalmaterialanddiscardit.Placethethermalmaterialontotheheatsinkintheplacementareawhichismarkedwithfourwhite“L”. Applylightpressuretoensurethatthethermalmaterialisflat.
3)Peelthewhiteprotectivelayerawayfromthethermalmaterial.Dothisslowlyfromonecornersoasnottoliftthethermalmaterialfromtheheatsink.
4)AligntheTP2asshownandlowerontotheheatsink.Ifneededtoadjusttheposition,liftitawayfromthethermalmaterialandlowerontotheheatsinkagain.
5)Installthefourmountingscrewswithflatwashersandtightenevenly.Torqueto17.8lb-in(2.0Nm)maximum.
DESCRIPTION
TheTP2-HKisakitcontainingaheatsinkandmountinghardwareforfieldinstallationofastandardheatsinkontoaTP2modelstepperdrive. ToorderanTP2drivewithheatsinkfittedatthefactory,add“-H”tothemodelpartnumber.
• StandardheatsinkforStepnetPlusPanelTP2 • Completekitforuserinstallationoftheheatsink
TP2-HKHEATSINKKITPARTLIST
Heatsink
Mounting Screws(4)
TP2 Drive
Thermalmaterial
3.14 [79.9]
1.99 [50.4]
0.85 [21.5]
0.89 [22.6]
4.69 [119.3]
6.78 [172.1]
6.40 [162.4] 0.19 [4.8]
0.16 [4.1]
4.89 [124.3]
0.16 [4.1]
0.19 [4.8]
0.94 [23.8]
2.00 [50.8]
TP2Stepnet Plus 2-Axis Panel CANopen
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01444 Rev 03 Page 29 of 30
DIMENSIONS: IN (MM)
Mountingscrews: #6-32,or3.5mm
TP2-090-06 StepnetPlus2-AxisPanelCANopenstepperdrive,3/6A,90Vdc
TP2-090-14 StepnetPlus2-AxisPanelCANopenstepperdrive,7/14A,90Vdc
Qty Ref Name Description Manufacturer P/N
TP2-CKConnector Kit
1J11 DCHV
Plug,3position,5.08mm,female Wago:231-303/107-000(Note1)
1 Strainrelief,snap-on,5.08mm,3position,orange Wago:232-633
2J9,J10 Motor
Plug,5position,5.08mm,female Wago:231-305/107-000(Note1)
2 Strainrelief,snap-on,5.08mm,4position,orange Wabo:232-635
1 J9~J11 Tool Tool,wireinsertion&extraction,231series Wago:231-159
1
J3Brake
Plug,5position,3.5mm,female Wago:734-105/107-000(Note1)
1 Strainrelief,snap-on,3.5mm,5position,grey Wago:734-605
1 Tool Tool,wireinsertion&extraction,734series Wago:734-231
1
J6 Note 2 Safety
Connector,DB-9M,9-position,standard,male TE/AMP: 205204-4
9 AMPLIMITEHD-20Crimp-Snapcontacts,24-20AWG,AUflash TE/AMP:66506-9
1 MetalBackshell,DB-9,RoHS 3M:3357-9209
4 Jumper,withpinscrimpedonbothends Copley:10-75177-01
1J1 Control
Connector,high-densityDB-44M,44position,male,soldercup Norcomp: 180-044-103L001
1 MetalBackshell,DB-25,RoHS 3M:3357-9225
1 J2 I/O Connector,high-densityDB-26F,26position,female,soldercup Norcomp: 180-026-203L001
2 J7,J8 Feed-back
Connector,high-densityDB-26M,26position,male,soldercup Norcomp: 180-026-103L001
3 J2,J7,J8 MetalBackshell,DB-15,RoHS 3M:3357-9215
SER-CK 1 J5 RS-232 SerialCableKit
TP2-NC-10 1J8 Network
CANnetworkcable,10ft(3m)
TP2-NC-01 1 CANnetworkcable,1ft(0.3m)
Note1:ForRoHScompliance,append“/RN01-0000”totheWagopartnumberslistedabove
Note2:Insertion/extractiontoolforJ6contactsisAMP/Tyco91067-2(notincludedinTP2-CK)
16-01444DocumentRevisionHistoryRevision Date Remarks00 March 27, 2017 Preliminaryversion02 April 19, 2017 Initialreleasedversion03 July10,2019 Removedreferencestoencoderlossprotectionwhichisnotsupported
TP2Stepnet Plus 2-Axis Panel CANopen
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01444 Rev 03 Page 30 of 30
Note: Specifications subject to change without notice
Add-Htomodelnumberforfactory-installedheatsink
Example:OrderoneStepnet Plus TP2drive,7/14A,withconnectorkit,serialcablekit,heatsinkfittedatthefactory: Qty Item Remarks 1 TP2-090-14-H Stepnet Plus TP22-axisservodrive,andfactory-mountedheatsink 1 TP2-CK TP2 ConnectorKit 1 SER-CK SerialCableKit
ORDERING GUIDE
ACCESSORIES
R