digital servo drive for brush & brushless motors

Model Ip Ic VdcBP2-090-06 6 3 90BP2-090-14 14 7 90BP2-090-20 20 10 90

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Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547Web: www.copleycontrols.com of 32

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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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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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)


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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


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

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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



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

http://www.copleycontrols.com/motion/downloads/pdf/CANopenProgrammersManual.pdf

http://www.copleycontrols.com/motion/downloads/pdf/CANopenProgrammersManual.pdf

PIn SIGnal

2 RxD

3,4 Gnd

5 Txd

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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



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.

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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



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


[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


frameGround J1-1

SInGle-ended:In3,4,12,13


[In3(12)]Pls,Cu,enca J1-9 J1-14

[In4(13)]dir,Cd,encB J1-10 J1-15


frameGround J1-1

SInGle-ended:In3,4,12,13


[In3(12)]Curr-Vel± J1-9 J1-14

[In4(13)]/Curr-Vel± J1-10 J1-15


frameGround J1-1

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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



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



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



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



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


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


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+



• 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


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


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


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


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

+

+



• 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

+



• 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



• 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



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



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



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.



Property ohms

Resistance in the temperature range 20°Cto+70°C

60~750

resistanceat85°C ≤1650



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



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



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



Motor connectIons: analog sIn/cos encoder

The connections shown may not be used in all installations


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



Motor connectIons: resolVers (-r optIon)

The connections shown may not be used in all installations.Hallsignalsarenotgenerallyusedwithresolverfeedbackbutareshownherebecausetheyfunction if needed for resolver operation.


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



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

(+)

(-)



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



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



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


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


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)


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)


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


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



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



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



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]


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]



dIMensIons: In (MM)

units:In[mm]

Mounting screws: #6-32,or3.5mm

BP2-090-06 accelnetPlus2-axisPanelCanopenservodrive,3/6a,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



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

digital servo drive for brush & brushless motors

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