digital servo drive for brush & brushless motors - maccon · accelnet bml rohs plus panel macro...

Model Ip Ic VdcBML-090-06 6 3 90BML-090-14 14 7 90BML-090-30 30 15 90

dIgItal serVo drIVe for brush & brushless Motors

RoHSBMLAccelnet Plus Panel MACRO

Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01493 of 32

DESCRIPTIONThe BML is a high-performance, DC powered drive for position, velocity, and torque control of brushless and brush motors via MACRO. Feedback from both incremental and absolute encoders is supported. A multi-mode encoder port functions as an input or output depending on the drive’s basic setup.

DIGITAL SERVO DRIVE FOR BRUSHLESS/BRUSH MOTORS

CONTROL MODES• Indexer,Point-to-Point,PVT • Camming,Gearing• Position,Velocity,Torque

COMMAND INTERFACE• MACRO • ASCIIanddiscreteI/O • Steppercommands • ±10Vposition/velocity/torque • PWMvelocity/torquecommand • Masterencoder(Gearing/Camming)

COMMUNICATIONS• MACRO • RS-232

FEEDBACkIncremental Encoders • DigitalquadA/B Analog Sin/Cos Panasonic Incremental A Format SanyoDenkiWire-SavingIncremental • Aux.quadA/Bencoder/encoderout Absolute Encoders • SSI,EnDat,BiSS(B&C) Tamagawa, Panasonic, Sanyo Denki Absolute A• DigitalHalls

I/O DIGITAL• 6High-speedinputs• 1Motorover-tempinput• 4Opto-Isolatedinputs• 3Opto-Isolatedoutputs• 1Opto-Isolatedbrakeoutput

I/O ANALOG• 1ReferenceInput,12-bit

SAfETORquEOff(STO)• SIL3,Category3,PLd

DIMENSIONS: IN [MM]• 5.08x3.41x1.99[129x86.6x50.4]• 5.08x3.41x3.39[129x86.6x86.1]withheatsink

There are seven non-isolated inputs. All inputs have programmable active levels. Three opto-isolated outputs [OUT1~3] have individual +/- connections. An isolated MOSFET brake output [OUT4] is programmable to drive motor brakes or other functions and has aflybackdiodetotheBrake24Vinputfordrivinginductiveloads.Drive power is transformer-isolated DC from regulated or unregulated power supplies. An AuxHV input is provided for“keep-alive” operation permitting the drive power stage to be completely powered down without losing position information, or communications with the control system.



Testconditions:Load=Wyeconnectedload:2mH+2Ωline-line.Ambienttemperature=25°C,+HV=HVmaxMODEL BML-090-06 BML-090-14 BML-090-30

OuTPuTPOWERPeakCurrent 6(4.24) 14(9.9) 30(21.2) Adc(Arms-sine),±5% Peak time 1 1 1 Sec Continuouscurrent(Note1) 3(2.1) 7(5) 15(10.6) Adc(Arms-sine)perphase

INPuTPOWERHVmin~HVmax +14to+90 +14to+90 +14to+90 VdcTransformer-isolated Ipeak 6 14 30 Adc(1sec)peak Icont 3 7 15 Adc continuous AuxHV +14to+90Vdc, Optional,notrequiredforoperation 3W(Typ,noloadonencoder+5Voutput),6W,(Max,encoder+5V@500mA)

DIGITAL CONTROL DigitalControlLoops Current,velocity,position.100%digitalloopcontrol Samplingrate(time) Currentloop:16kHz(62.5µs),Velocity&positionloops:4kHz(250µs) Bus voltage compensation Changes in bus or mains voltage do not affect bandwidth Minimumloadinductance 200µHline-line

COMMANDINPuTS(NOTE:DIGITALINPuTfuNCTIONSAREPROGRAMMABLE) Distributed Control Modes MACRO interface Torque, velocity control Stand-alone mode Analogtorque,velocity,positionreference ±10Vdc,12-bitresolution Dedicateddifferentialanaloginput Digitalpositionreference Pulse/Direction,CW/CCW Steppercommands(2MHzmaximumrate) quadA/BEncoder 2Mline/sec,8Mcount/sec(afterquadrature) Digitaltorque&velocityreference PWM,Polarity PWM=0%-100%,Polarity=1/0 PWM50% PWM=50%±50%,nopolaritysignalrequired PWMfrequencyrange 1kHzminimum,100kHzmaximum PWMminimumpulsewidth 220ns Indexing upto32sequencescanbelaunchedfrominputsorASCIIcommands. Camming upto10CAMtablescanbestoredinflashmemory ASCII RS-232, DTE, 9600~115,200 Baud, 3-wire, RJ-11 connector

DIGITAL INPUTSNumber 11 [IN1,2] Digital,non-isolated,Schmitttrigger,1µsRCfilter,24Vdccompatible,programmablepull-up/downto+5Vdc/ground, Vt+ = 2.5~3.5 Vdc, VT- = 1.3~2.2 Vdc, VH = 0.7~1.5 Vdc [IN3,4,5,6] Digital,non-isolated,programmableassingle-endedordifferentialpairs,100nsRCfilter,12Vdcmax, 10 kΩ programmable pull-up/down per input to +5 Vdc/ground, SE:Vin-LO≤2.3Vdc,Vin-HI≥2.7Vdc,VH=45mVtyp,DIff:Vin-LO≤200mVdc,Vin-HI≥200mVdc,VH=45mVtyp, [IN7,8,9,10] Digital,opto-isolated,single-ended,±15~30Vdccompatible,bi-polar,withcommonreturn Ratedimpulse≥800V,Vin-LO≤6.0Vdc,Vin-HI≥10.0Vdc,Inputcurrent±3.6mA@±24Vdc,typical [IN11] Defaultsasmotorovertempinputonfeedbackconnector,12Vdcmax,programmabletootherfunctions Other digital inputs are also programmable for the Motemp function 330µsRCfilter,4.99kpull-upto+5Vdc,Vt+=2.5~3.5Vdc,VT-=1.3~2.2Vdc,VH=0.7~1.5Vdc Functions All inputs are programmable, [IN1] defaults to the Enable function and is programmable for other functions.

ANALOG INPUTSNumber 1 [AIN1] Differential,±10Vdc,5kΩ input impedance, 12-bit resolution

SAfETORquEOff(STO)function PWMoutputsareinactiveandcurrenttothemotorwillnotbepossiblewhentheSTOfunctionisasserted Standard DesignedtoIEC-61508-1,IEC-61508-2,IEC-61800-5-2,ISO-13849-1 Safety Integrity Level SIL 3, Category 3, Performance level d Inputs 2 two-terminal: STO-IN1+,STO-IN1-, STO-IN2+, STO-IN2- Type Opto-isolators,24Vcompatible,Vin-LO≤6.0Vdcoropen,Vin-HI≥15.0Vdc, Inputcurrent(typical) STO-IN1:9.0mA,STO-IN2:4.5mA Responsetime 2ms(IN1,IN2)fromVin≤6.0Vdctointerruptionofenergysuppliedtomotor Reference CompleteinformationandspecificationsareintheAccelnet&StepnetPlusPanelsSTOManual

DIGITAL OUTPUTSNumber 4 [OuT1~3] Opto-isolatedSSR,two-terminal,300mAmax,24Vtolerant,Ratedimpulse≥800V,series1Ωresistor [OUT4] Opto-isolated MOSFET, default as motor brake control, current-sinking, 1Adcmax,flybackdiodeto+24Vexternalpowersupplyfordrivinginductiveloads Programmable for other functions if not used for brake

RS-232 PORTSignals RxD,TxD,Gndin6-position,4-contactRJ-11stylemodularconnector,non-isolated,commontoSignalGround Mode full-duplex,DTEserialcommunicationportfordrivesetupandcontrol,9,600to115,200Baud Protocol Binary and ASCII formats

MACRO PORTConnectors DuplexSCopticalfiberreceptacle fibermedium 62.5micronMulti-ModeGlassfiberperISO/IEC9314-3&ANSIX3.166-1990 Commonlyreferredtoas“62.5/125multi-mode”glassfibercable,1300nmwavelength Data Format MACRO AddressSelection Dual16-positionrotaryswitchesforMasterandNodeaddresses,0x0to0xfhex(0~15decimal)

NOTES:1)Heatsinkorforced-airisrequiredforcontinuouscurrentrating

general specIfIcatIons



DCPOWEROuTPuT Number 1 Ratings +5Vdc,500mAmax,thermalandshort-circuitprotected Connections ThecombinedcurrentfromfeedbackJ6-6,17andControlJ1-17,32cannotexceed500mASTATUS INDICATORS

Drive Status Bicolor LED, drive status indicated by color, and blinking or non-blinking condition MACROStatus BicolorLED,statusofMACRObusindicatedbycolorandblinkcodestoMACROIndicatorSpecificationV0.91

PROTECTIONS HV Overvoltage +HV > 90 Vdc Drive outputs turn off until +HV < 90 Vdc HV Undervoltage +HV < +14 Vdc Drive outputs turn off until +HV > +14 Vdc Driveovertemperature Heatplate>70°C. Driveoutputsturnoff Shortcircuits Outputtooutput,outputtoground,internalPWMbridgefaults I2T Current limiting Programmable: continuous current, peak current, peak time Motor over temperature Digital input programmable to detect motor temperature switch Feedback Loss Inadequate analog encoder signal amplitude or missing incremental encoder signals

MECHANICAL&ENVIRONMENTAL Size 5.08x3.41x1.99[129x86.6x50.4]in[mm]withoutheatsink 5.08x3.41x3.39[129x86.6x86.1]in[mm]withheatsink Weight 0.75[0.34]lb[kg]withoutheatsink 1.70 [0.77] lb[kg] with heatsink Ambienttemperature 0to+45Coperating,-40to+85Cstorage,asperIEC60068-2-1:2007andIEC60068-2-2:2007 Humidity 0to95%,non-condensing,asperIEC60068-2-78:2001 Altitude ≤2000m(6560ft),asperIEC60068-2-13:1983 Vibration 2 gpeak,10~500Hz(sine),asperIEC60068-2-6:2007 Shock 110 g,10ms,half-sinepulse,asperIEC60068-2-27:2008 Contaminants Pollution degree 2, as per IEC 60664-1:2007 Environment IEC68-2:1990 Cooling Heat sink and/or forced air cooling required for continuous power output

AGENCy STANDARDS CONFORMANCEStandards and Directives Functional Safety IEC61508-1:2010,IEC61508-2:2010,IEC61508-3:2010,IEC61508-4:2010(SIL3) Directive2006/42/EC(Machinery) ISO13849-1/Cor.1:2009(Cat3,PLd) IEC61800-5-2:2007(SIL3) (seetheXenusPlusDualAxisSTOManualforfurtherdetails)

Product Safety Directive2006/95/EC(LowVoltage) IEC61800-5-1:2007

EMC Directive2004/108/EC(EMC) IEC61800-3:2004/A1:2011

Restriction of the Use of Certain Hazardous Substances (RoHS) Directive2011/65/Eu(RoHSII)

Approvals UL and cUL recognized component to: uL61800-5-1,1stEd. TÜV SÜD Functional Safety to: IEC61508-1:2010,IEC61508-2:2010,IEC61508-3:2010,IEC61508-4:2010(SIL3) ISO13849-1/Cor.1:2009(Cat3,PLd)


RoHS




FEEDBACkIncremental: DigitalIncrementalEncoder quadraturesignals,(A,/A,B,/B,X,/X),differential(X,/XIndexsignalsnotrequired) 5MHzmaximumlinefrequency(20Mcounts/sec) MAX3097differentiallinereceiverwith121ΩterminatingresistorbetweenA&/A,B&/Binputs X&/Xinputshave130Ωterminatingresistor,S&/Sinputshave221Ωterminatingresistor X&Sinputshave1kΩpull-upsto+5V,/X&/Xinputshave1kΩpull-downtoground AnalogIncrementalEncoder Sin/cosformat(sin+,sin-,cos+,cos-),differential,1Vpeak-peak, ServoTubemotorcompatible,BW>300kHz,121Ωterminatingresistorbetweencomplementaryinputs DigitalIndex(X,/X)input Absolute: SSI Clock(X,/X),Data(S,/S)signals,4-wire,clockoutputfromBML,datareturnedfromencoder EnDat Clock(X,/X),Data(S,/S),sin/cos(sin+,sin-,cos+,cos-)signals Absolute A Tamagawa Absolute A, Panasonic Absolute A Format, Sanyo Denki Absolute A SD+,SD-(S,/S)signals,2.5or4MHz,2-wirehalf-duplexcommunication Status data for encoder operating conditions and errors BiSS(B&C) MA+,MA-(X,/X),SL+,SL-(S,/S)signals,4-wire,clockoutputfromBML,datareturnedfromencoder

DIGITAL HALLSType Digital,single-ended,120°electricalphasedifferencebetweenu-V-Wsignals, Schmitttrigger,1.5µsRCfilter,24Vdccompatible,15kpull-upto+5Vdc, Vt+ = 2.5~3.5 Vdc, VT- = 1.3~2.2 Vdc, VH = 0.7~1.5 Vdc Inputs 15 kΩpull-upsto+5Vdc,1.5µsRCfiltertoSchmitttriggerinverters

MULTI-MODE ENCODER PORTAsInput Digitalquadratureencoder(A,/A,B,/B,X,/X),5MHzmaximumlinefrequency(20Mcounts/sec), MAX3097linereceiver,1.5kΩpull-upsto+5VonX&Sinputs,1.5kΩpull-downstoSgndon/X&/Sinputs Digitalabsoluteencoder(Clk,/Clk,Dat,/Dat)halforfull-duplexoperation, S&Xinputsareusedforabsoluteencoderinterface AsEmulatedOutput quadratureencoderemulationwithprogrammableresolutionto4096lines(65,536counts)perrev from analog sin/cos encoders or absolute encoders A,/A,B,/B,fromMAX3032differentiallinedriver,X,/X,S,/SfromMAX3362differentiallinedriver AsBufferedOutput DigitalA/B/Xencoderfeedbacksignalsfromprimaryquadencoderarebuffered(seelinedriversabove)

Switch S2

Address SLAVE

HEX DEC

0 0

1 1

2

3

4 4

5 5

6

7

8 8

9 9

A

B

C 12

D 13

E

F

MACRO Node Address Switch

RoHS

AMP

NET

INOUT

16

BMLAccelnet Plus Panel MACRO


J7: MACRO PORTDuplextypeSC

opticalfiberconnector

MACRO COMMUNICATIONSMACRO(MotionAndControlRingOptical)isanon-proprietarycommunicationsnetworkthatusesopticalfibreorcoppercablingandsupportsbit-ratesupto125Mb/sec.TheAccelnetPlusMACRO(BML)usestheopticalfibreinterfaceandoperatestypicallyasatorque drive. Velocity drive mode is also supported. MoreinformationonMACROcanbefoundontheorganizationweb-site:http://www.macro.org/index.html

MACRO CONNECTIONSDualSCsocketsacceptstandardopticalfiber.TheINportconnectstoamaster,ortotheOuTportofadevicethatis‘upstream’,betweentheBMLandthemaster.TheOuTportconnectsto‘downstream’nodes.IfBMListhelastnodeonanetwork,onlytheINport is used. No terminator is required on the OUT port.

MACRO ADDRESSA PMAC card can hold up to four MACRO IC’s each of which is a master on a MACRO ring. EachmasterICcanaddress16stations(nodes,slaves)enablingtheaddressingofupto64devicesonaring.Ofthese,32canbemotiondevicessuchasBML.Anodeaddressisan8-bitvaluewithbits7~4ad-dressing the master IC and bits 3~0 addressing the slave. SwitchS1issettoselectthemasterICtowhichtheXenuswillbelinked.Thefourpossiblevaluesforthissetting are 0,1,2, and 3.As a MACRO station or node the BML has eight available addresses as a motion control device. These are0,1,4,5,8,9,12,&13.Addresses2,3,6,7,10,&11areforI/Ostationsandaddresses14&15arere-served.ThetableshowstheavailableselectionsforS2.Boxesgreyed-outareinvalidselectionsandhavenofunction.Theswitchpositionsarenumberedinhexadecimal.Thechartshowsthesepositionswiththeslave address shown in decimal.

Example:ConfiguretheBML asnode36(0x24)The BML will be node 4 controlled by master IC 2 on the PMAC

S1=2(MasterIC2) S2=4(Saveaddress)TheS1settingsareinmultiplesof16(24),so2X16=32. The S2 settings are read directly equal 4. Thisproducesthenodeaddressof2x16+4=36.

S2 S1

MasterSlave

MACROSTATuSLED(NET)A bi-color LED gives the state of the MACRO interface by changing color, and either blinking or remaining solid. The possible color and blink combinations are:Off = MACRO network has not been detected Green/Blinking = MACRO network detected and has disabled drive Green = MACRO network detected and is trying to enable drive This condition can occur while the AMP LED shows any of its’ possible color combinations. This LED must be green in order for the AMP LED to become green Red/Solid = MACRO network errors have been detected

DRIVESTATuSLED(STAT)A bi-color LED gives the state of the BML drive. Colors do not alternate, and can be solid ON or blinking:Green/Slow-Blinking = DriveOKbutNOT-enabled.Willrunwhenenabled. If drive is hardware-enabled but disabled by MACRO then both NET and AMP LED’s will be blinking Green/Fast-Blinking = Positive or Negative limit switch active. Drive will only move in direction not inhibited by limit switch. NET LED can be Green in this state Green = Drive Ok, hardware-enabled, and MACRO-enabled. WilldrivemotorinresponsetocommandinputsorMACROcommands. Red/Solid = Transient fault condition. Drive will resume operation when fault is removed. Red/Blinking = Latching fault. Operation will not resume until drive is Reset.

J6: RS-232 PORTRJ-12 receptacle, 6 position, 4 contact

STAT

NET

coMMunIcatIons: Macro

RoHS

PIN SIGNAL

2 RxD

3,4 Gnd

5 Txd

6

9

1

5

3 2TxD RxD

RJ-11on

ServoDrive

RJ-11 cable6P6CStraight-wired

5 3Gnd Gnd

RxD TxD2 5

D-Sub 9F

Dsub-9Fto RJ11Adapter

16

16



BMLisconfiguredviaathree-wire,full-duplexDTERS-232portthatoperatesfrom9600to115,200Baud,8bits,noparity,andonestopbit.Signalformatisfull-duplex,3-wire,DTEusingRxD,TxD,andGnd.ConnectionstotheBML RS-232 port are through J2, an RJ-11 connector. The BML SerialCableKit(SER-CK)containsamodularcable,andanadapterthatconnectstoa9-pin,Sub-Dserialportconnector(COM1,COM2,etc.)onPCsand compatibles.

After power-on, reset, or transmission of a Break character, the Baud rate will be 9,600. Once communication has been established at this speed, the Baud rate can be changed to a higherrate(19,200,57,600,115,200).

SER-Ck SERIAL CABLE kITThe SER-Ck provides connectivity between a D-Sub 9 male connector and the RJ-11 connector on the BML.ItincludesanadapterthatplugsintotheCOM1(orother)portof a PC and uses common modular cable to connect to the BML. The connections are shown in the diagram Below.

USB TO RS-232 ADAPTERSThese may or may not have the speed to work at the 115,200 Baud rate which gives the best results with CME2. Users have reported that adapters using the FTDI chipset work well with CME2

Don’t forget to order a Serial Cable kit SER-Ck when placing your order for a BML!

ASCII COMMUNICATIONSThe Copley ASCII Interface is a set of ASCII format commands that can be used to operate and monitor Copley Controls Accelnet, Stepnet, and BMLseriesamplifiersoveranRS-232serialconnection.forinstance,afterbasicamplifierconfigurationvalueshavebeenprogrammed using CME 2, a control program can use the ASCII Interface to:

•EnabletheamplifierinProgrammedPositionmode.•Hometheaxis.•Issueaseriesofmovecommandswhilemonitoringposition,velocity,andotherrun-timevariables.

The Baud rate defaults to 9,600 after power-on or reset and is programmable up to 115,200 thereafter.After power-on, reset, or transmission of a Break character, the Baud rate will be 9,600. Once communication has been established at thisspeed,theBaudratecanbechangedtoahigherrate(19,200,57,600,115,200).ASCIIparameter0x90holdstheBaudratedata.Tosettherateto115,200enterthislinefromaterminal: s r0x90 115200 <enter>Then, change the Baud rate in the computer/controller to the new number and communicate at that rate.

Additional information can be found in the ASCII Programmers Guide on the Copley website:http://www.copleycontrols.com/Motion/pdf/ASCII_ProgrammersGuide.pdf

J2: RS-232 PORTRJ-11 receptacle, 6 position, 4 contact

coMMunIcatIons: rs-232 serIal

CONNECTIONS

PIN SIGNAL PIN SIGNAL

1 Frame Gnd 6 STO-1(+)

2 STO-1(+) 7 STO-1(-)

3 STO-1(-) 8 STO-24V

4 STO-2(+) 9 STO-GND

5 STO-2(-)

RoHS

1

5

6

9

16

95

SAFE

TY

Frame Ground

STO-24V

STO-GND

Safety Connector

STO-1(+)

STO-2(+)

STO-2(-)

STO-1(-)

STO-1(+)

STO-1(-)

2

3

1

4

5

6

7

8

9

Upper MOSFET Gate Drivers

PWM ENABLE

PWM ENABLE

EN

+HV

PWMOutputs

UVWPWM

UVWPWM

Lower MOSFET Gate Drivers

Channel 1

Channel 2

Channel 3

*



INSTALLATION

FUNCTIONAL DIAGRAM

Currentmustflowthroughallofthe

opto-couplersbeforethedrive can be enabled

SAFETy CONNECTOR J4

safe torque off (sto)

TheSafeTorqueOff(STO)functionisdefinedinIEC61800-5-2.Twochannelsareprovidedwhich,whende-energized,preventtheupperandlowerdevicesinthePWMoutputsfrombeingoperated by the digital control core.

This provides a positive OFF capability that cannot be overridden bythecontrolfirmware,orassociatedhardwarecomponents.Whentheopto-couplersareenergized(currentisflowingintheinputdiodes),thecontrolcorewillbeabletocontroltheon/offstateofthePWMoutputs.

* STO bypass connections on the BML and XenusXEL-XPLmodelsaredifferent.Ifbothdrives are installed in the same cabinet, the diode should be wired as shown to prevent damage that could occur if the STO bypass connectors are installed on the wrong drive. The diode is not required for STO bypass on the BML and can be replaced by a wire between pins 7 and 9.

STOByPASS(MuTING)InorderforthePWMoutputsoftheBML to be activated, current mustbeflowingthroughalloftheopto-couplersthatareconnected to the STO-IN1 and STO-IN2 terminals of J4, and the drivemustbeinanENABLEDstate.Whentheopto-couplersareOff,thedriveisinaSafeTorqueOff(STO)stateandthePWMoutputs cannot be activated by the control core to drive a motor.

Thisdiagramshowsconnectionsthatwillenergizealloftheopto-couplersfromaninternalcurrent-source.WhenthisisdonetheSTOfeatureisoverriddenandcontroloftheoutputPWMstageisunder control of the digital control core. IfnotusingtheSTOfeature,theseconnectionsmustbemadeinorderforthedrivetobeenabled.

STO ByPASS CONNECTIONS

DANGER

RefertotheAccelnet&StepnetPlusPanelsSTOManual

The information provided in the Accelnet & Stepnet Plus Panels STO Manual must be considered for any application using the drive’s STO feature.FAIluRETOhEEDThISwARNINGCANCAuSEEquIPMENTDAMAGE,INjuRy,ORDEATh.

DIFFERENTIAL: IN3,4,5,6

Signal J1 Pins

[IN3] Pls, CU, Enc A 9

[IN4] /Pls, /CU, Enc /A 10

[IN5] Dir, CD, Enc B 11

[IN6] /Dir, /CD, Enc /B 12

Signal Ground 6,16,22,31, 37,44

Frame Ground 1

DIFFERENTIAL: IN3,4,5,6

Signal J1 Pins

[IN3]Curr-Vel± 9

[IN4]/Curr-Vel± 10

[IN5] Pol-Dir 11

[IN6] /Pol-Dir 12

Signal Ground 6,16,22,31, 37,44

Frame Ground 1

SINGLE-ENDED: IN5, 6

Signal J1 Pins

[IN5] Pls, CU, Enc A 11

[IN6] Dir, CD, Enc B 12

Signal Ground 6,16,22,31, 37,44

Frame Ground 1

SINGLE-ENDED: IN5,6

Signal J1 Pins

[IN5]Curr-Vel± 11

[IN6] Pol-Dir 12

Sgnd 6,16,22,31, 37,44

Frame Ground 1

RoHS

Curr-Vel

Pol-Dir

[IN5]

[IN6]

Duty = 50% ±50%

<no connection>

Curr-Vel±

<not used>

[IN5]

[IN6]

Duty = 0 - 100% Curr-Vel

Pol-Dir

/Curr-Vel

/Pol-Dir

[IN5]

[IN6]

[IN3]

[IN4]

[IN5]

[IN6]

[IN3]

[IN4]/Curr-Vel

Curr-Vel

NoFunction

Duty = 50% ±50%

<no connection>

PULSE

/PULSE

DIRECTION

/DIRECTION

[IN3]

[IN4]

[IN5]

[IN6]

CD (Count-Down)

CU (Count-Up)[IN3]

[IN4]

[IN5]

[IN6]

CU (CW)

/CU (CW)

CD (CCW)

/CD (CCW)

Enc. A

Enc B

/Enc. A

/Enc B

Encoder ph. B

Encoder ph. A [IN3]

[IN4]

[IN5]

[IN6]

CU (CW)

CD (CCW)

[IN5]

[IN6]

Enc. A

Enc. B

Enc. Ph. A

Enc. Ph. B

[IN5]

[IN6]

Pulse

Direction

[IN5]

[IN6]


Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N16-01493 Page8of32

POSITION COMMAND INPUTSSingle-ended digital position commands must be sourced from devices with active pull-up and pull-down to take advantage of the high-speed inputs.

fordifferentialcommands,theA&Bchannelsofthemulti-modeencoder ports are used.

SINGLE-ENDEDPWM&DIRECTION

SINGLE-ENDED50%PWM

SINGLE-ENDEDPuLSE&DIRECTION

SINGLE-ENDED CU/CD

QUAD A/B ENCODER SINGLE-ENDED

DIFFERENTIAL CU/CD

DIffERENTIALPuLSE&DIRECTION

QUAD A/B ENCODER DIFFERENTIAL

DIffERENTIAL50%PWM

DIffERENTIALPWM&DIRECTION

dIgItal coMMand Inputs: posItIon

dIgItal coMMand Inputs: VelocIty, torqueSingle-ended digital torque or velocity commands must be sourced from devices with active pull-up and pull-down to take advantage of the high-speed inputs.

fordifferentialcommands,theA&Bchannelsofthemulti-modeencoder ports are used.

SIGNALS&PINS

Signal J1

Pulse,CW,EncoderA 36

/Pulse,/CW,Encoder/A 21

Direction,CCW,EncoderB 35

/Direction,/CCW,Encoder/B 20

quadEncX,AbsoluteClock 34

quadEnc/X,/AbsoluteClock 19

EncS,Absolute(Clock)Data 33

Enc/S,/Absolute(Clock)Data 18

Signal Ground6, 16, 22, 31, 37, 44

Frame Ground 1

RoHS

+5V output @ 500 mA

Signal Ground

Enc. B

Enc. X

Enc. X

Enc. X

Enc. S

Enc. S

B

X

/X

/S

Enc. A

Incremental Encoder

Absolute Encoder

J1 Multi-Port

Frame Ground

A

S

/B

/A

Input/OutputSelect

MAX3097

MAX3032

A/B/X signals fromdigital encoder

Input/OutputSelect

MAX3097

MAX3032

A/B/X signals fromdigital encoder

Input/OutputSelect

MAX3097

MAX3032

Pulse/Dir or CU/CD differential commands

InputSelect

OutputSelect

MAX3362

MAX3362

X

S

4-Wire digital absolute encoder signals

Input/OutputSelect

MAX3362

S

S

2-Wire digital absolute encoder signals



MultI-Mode port as an Input

POSITION COMMAND INPUTS: DIFFERENTIAL•Pulse&Direction•CW&CCW(Clockwise&Counter-Clockwise)•EncoderquadA&B•CammingEncoderA&Binput

CURRENT or VELOCITy COMMAND INPUTS: DIFFERENTIAL•CurrentorVelocity&Direction•CurrentorVelocity(+)&CurrentorVelocity(-)

SECONDARy FEEDBACk: INCREMENTAL•quadA/B/Xincrementalencoder

SECONDARy FEEDBACk: ABSOLUTE•Schannel:AbsoluteAencoders(2-wire) TheSchannelfirstsendsaClocksignalandthen receivesDatafromtheencoderinhalf-duplexmode.

•S&Xchannels:SSI,BiSS,EnDatencoders(4-wire) TheXchannelsendstheClocksignaltotheencoder, which initiates data transmission from the encoder ontheS-channelinfull-duplexmode

Input types

MultI-Mode port as an output

SIGNALS&PINS

Signal J1

Encoder A 36

Encoder /A 21

Encoder B 35

Encoder /B 20

EncoderX 34

Encoder/X 19

Encoder S 33

Encoder /S 18

Signal Ground 6, 16, 22, 31, 37, 44

Frame Ground 1

RoHS

SecondaryEncoder Input

Input/OutputSelect

Quad A/B/X primaryencoder

MAX3032

MAX3097

Buffered A/B/X signalsfrom primary encoder

SecondaryEncoder Input

Input/OutputSelect

MAX3362

MAX3097

Emulated Quad A/Bsignals from analog Sin/Cos encoder

Emulated A/B signals

Enc. B

Enc. X

B

/B

X

/X

Enc. A

Incremental Encoder

J1 Multi-Port

Frame Ground

A

/A



output types

BUFFERED FEEDBACk OUTPUTS: DIFFERENTIAL•EncoderquadA,B,Xchannels•DirecthardwareconnectionbetweenquadA/B/X encoderfeedbackanddifferentiallinedriversforA/B/Xoutputs

EMULATED FEEDBACk OUTPUTS: DIFFERENTIALFirmware produces emulated quad A/B signals from feedback data from the following devices:•Absolute encoders •Analog Sin/Cos incremental encoders

Name Notes

Analog: Reference Filter Disabled

Vloop: Input Filter Disabled

Vloop: Output Filter 1 Low Pass, Butterworth, 2-pole,200Hz

Vloop: Output Filter 2 Disabled

Vloop: Output Filter 3 Disabled

Iloop: Input Filter 1 Disabled

Iloop: Input Filter 2 Disabled

Input Shaping Disabled

Option Notes

Method Set Current Position as Home

Name Notes

OUT1 Fault Active-OFF

OUT2NotConfigured

OUT3

OUT4 Brake Active-HI

Active Notes

√ Short Circuit

√ Amp Over Temperature

√ Motor Over Temp

Over Voltage

Under Voltage

√ Feedback Error

Motor Phasing Error

√ Following Error

Command Input Fault

MotorWiringDisconnected

OPTIONAL FAULTS

OverCurrent(Latched)

Name Configuration PU/PD

IN1 Enable-LO, Clear Faults

+5V

IN2

NotConfigured

IN3

IN4

IN5

IN6

IN7

Opto NotConfigured

IN8

IN9

IN10

IN11 Motemp +5V PU



cMe2 defaults

These tables show the CME2 default settings. They are user-programmable and thesettingscanbesavedtonon-volatileflashmemory.

SPECIFICATIONS

Input Data Notes

Input Voltages

HI VT+ = 2.5~3.5 Vdc

LO VT- = 1.3~2.2 Vdc

VH1 VH=±0.7~1.5Vdc

Max +30 Vdc

Min 0 Vdc

Pull-up/down R1 15 kΩ

LowpassfilterR2 15 kΩ

C1 100 pF

Input Current24V 1.3 mAdc

0V -0.33 mAdc

Time constant RC2 1.5µs

CONNECTIONS

Input Pin

IN1 J1-7

IN2 J1-8

Sgnd J1-6, 16, 22, 31, 37, 44

SPECIFICATIONS

Input Data Notes

Input Voltages Single-ended

HI Vin≥2.7Vdc

LO Vin≤2.3Vdc

VH1 45 mVdc typ

Input Voltages Differential3

HI Vdiff≥+200mVdc

LO Vdiff≤-200mVdc

VH ±45mVdctyp

Common mode Vcm 0 to +12 Vdc

Pull-up/down R1 10 kΩ


C1 100 pF

Time constant RC2 100 ns

CONNECTIONS

S.E. DIFF Pin

IN3 IN3+ J1-9

IN4 IN4- J1-10

IN5 IN5+ J1-11

IN6 IN6- J1-12

Sgnd J1-6, 16, 22, 31, 37 , 44

RoHS

C1

R2R1

74HC2G14

PullUp = +5VPullDown = 0V

[IN1,2]

+5V

FEEDBACK CONNECTOR

12V+

100 pF

2.5V

MAX3096

MAX3096

[IN3,5]

J1 Control

100 pF

1k

[IN4,6]

10k

+5V

1k

+

10k

+5V

[IN3,5]

J1 Control

[IN4,6]

+5V

+5V

C1

R1R2

C1

R1R2

MAX3096

12V+

sIngle-ended/dIfferentIal Inputs: In3, In4, In5, In6



hIgh speed Inputs: In1, In2

• Digital, non-isolated, high-speed• Progammable pull-up/pull-down• 24V Compatible• Programmable functions

Notes:1)VHishysteresisvoltage (VT+)-(VT-)

2)TheR2*C2timeconstantapplies when input is driven by active HI/LO devices

• Digital, non-isolated, high-speed• Progammable pull-up/pull-down• 12V Compatible• Single-ended or Differential• Programmable functions

Notes:1)VHishysteresisvoltage

IN2 - IN3 or IN12 - IN132)TheR2*C2timeconstant

applies when input is driven by activeHI/LOdevices)

3)Vdiff=AINn(+)-AINn(-) n=1forAxisA,2forAxisB

SINGLE-ENDED

DIFFERENTIAL

SPECIFICATIONS

Input Data Notes

Input Voltages

HI Vin≥3.5Vdc

LO Vin≤0.7Vdc

Max +12 Vdc

Min 0 Vdc

Pull-up/down R1 4.99 kΩ

Input Current12V 1.4 mAdc

0V -1.0 mAdc


C1 33 nF

Time constant Te 330µs*BS4999:Part111:1987

Property Ohms

Resistance in the temperature range20°Cto+70°C 60~750

Resistanceat85°C ≤1650

Resistanceat95°C ≥3990


CONNECTIONS

Input Pin

IN11 J6-7

Sgnd J6-5, 16, 25, 26

CONNECTIONS

Signal J1 Pin

IN7 13

IN8 14

IN9 15

IN10 30

ICOM 28

SPECIFICATIONS

Input Data Notes

Input Voltages

HI Vin≥±10.0Vdc*

LO Vin≤±6Vdc*

Max ±30Vdc*

Input Current±24V ±3.6mAdc

0V 0 mAdc

RoHS

+5V

[IN11]

Thermistor,Posistor,

or switch Signal Gnd

R1

R2

C1

J5

J1

4.99k 5.1V

[IN7] 4.7k

4.7k

4.7k

4.7k

[ICOM]

4.99k 5.1V

[IN8]

4.99k 5.1V

[IN9]

4.99k 5.1V

[IN10]

+24V

24V GND

+

24V



• Digital, non-isolated• Motor overtemp input• 12V Compatible• Programmable functions

• Digital, opto-isolated• A group of four, with a common terminal• Workswithcurrentsourcingorsinkingdrivers• 24V Compatible• Programmable functions

MOTOR OVER TEMP INPUTThe 4.99k pull-up resistor works with PTC (positivetemperaturecoefficient)thermistorsthatconformtoBS4999:Part111:1987,orswitches that open/close indicating a motor over-temperature condition. The active level is programmable.

* Vdc Referenced to ICOM terminals.

* RC time constant applies when input is driven by active high/low device

Motor oVerteMp Input: In11

opto-Isolated Inputs: In7, In8, In9, In10

SPECIFICATIONS

Spec Data Notes

Input Voltage Vref ±10Vdc

Input Resistance Rin 5.05 kΩ

HI/LO DEFINITIONS: OUTPUTS

Input State Condition

OUT1~3HI OutputSSRisON,currentflows

LO OutputSSRisOff,nocurrentflows

CONNECTIONS

Signal (+) (-)

OUT1 J1-42 J1-27

OUT2 J1-41 J1-26

OUT3 J1-40 J1-25

SPECIFICATIONS

Output Data Notes

ON Voltage OuT(+)-OuT(-) Vdc 0.85V@300mAdc

Output Current Iout 300mAdcmax

CONNECTIONS

Signal Pins

AIN(+) J1-3

AIN(-) J1-2

Sgnd J1-6, 16, 22, 31, 37, 44

RoHS

+

1.5V

Shield (Frame Gnd)

AINn(+)

AINn(-)Vref

J1D/A

F.G.

±10V

Sgnd

-

[OUTn-]

300mAmax

* at 24 Vdc

Vdc

J2

[OUTn+]

1

80Ωmin*

36V

SSR

+



analog Input: aIn1

Theanaloginputhasa±10Vdcrangeat12-bitresolution As a reference input it take position/velocity/torque commands from a controller. If not used as a command input, it can be used as general-purpose analog input.

• ±10Vdc,differential• 12-bit resolution• Programmable functions

opto-Isolated outputs: out1, out2, out3

• Digital, opto-isolated• MOSFET output SSR, 2-terminal• Flyback diode for inductive loads• 24V Compatible• Programmable functions

HI/LO DEFINITIONS: OUTPUTS

Input State Condition

BRAkE [OUT4]

HI

Output transistor is OFF Brake is un-powered and locks motor Motor cannot move Brake state is Active

LO

Output transistor is ON Brake is powered, releasing motor Motor is free to move Brake state is NOT-Active

SPECIFICATIONS

Output Data Notes

Voltage Range Max +30 Vdc

Output Current Ids 1.0 Adc

J5 CONNECTIONS

Pin Signal

4 Brk 24V Input

3 Brk 24V Output

2 Brake [OUT4]

1 24V Return

RoHS

J5

Brake [OUT4]

4

3

24V

Brk 24V Input

Brk 24V Output

24V Return

2

1

i

+0

Brake

24V Input

HV Com

24V Return

Earth Ground

Heatplate/chassis

IsolatedBrakeOutput

Frame Gnd

Frame Gnd 4

3

2

J1Control

J7Mot

J5Brake

J8Power

Brake

1

1

2

3

Signal Gnd

Signal Gnd

Signal Gnd

Signal Gnd

Signal GndSignal Gnd

Signal Gnd

Signal GndJ2Serial

3

4

1

1

37

44

31

16

6

22

+24V

0V

+HV

0V

+Aux

0V

Earthing connections for power supplies should be as close as possible to elimimate potential differences between power supply 0V terminals.



• Brake output• Opto-isolated• Flyback diode for inductive load• 24V Compatible• Connectionforexternal24Vpowersupply• Programmable functions

CME2 Default Setting for Brake Output [OUT4] is “Brake - Active HI” Active =Brakeisholdingmotorshaft(i.e.theBrake is Active) Motor cannot move Nocurrentflowsincoilofbrake CME2 I/O Line States shows Output 4 as HI BRKOutputvoltageisHI(24V),MOSfETisOff Servodriveoutputcurrentiszero Servodriveisdisabled,PWMoutputsareoff Inactive=Brakeisnotholdingmotorshaft(i.e.theBrake is Inactive) Motor can move Currentflowsincoilofbrake CME2 I/O Line States shows Output 4 as LO BRKoutputvoltageisLO(~0V),MOSfETisON Servodriveisenabled,PWMoutputsareon Servodriveoutputcurrentisflowing

The brake circuits are optically isolated from all drive circuits and frame ground.

opto-Isolated Motor brake output: out4

This diagram shows theconnectionstothedrivethatshare a commonground inthedriver.Ifthebrake24Vpower supply is separatefromtheDCsupplypoweringthe drive, it is importantthat itconnects toanearthorcommongroundingpointwiththehVpowersupply.

Signal J6 Pins

Enc A 13

Enc /A 12

Enc B 11

Enc /B 10

EncX 9

Enc/X 8

+5V 6, 17

Sgnd 5, 16, 25, 26

F.G. 1

Signal J6 Pins

Sin(+) 19

Sin(-) 18

Cos(+) 21

Cos(-) 20

X 9

/X 8

+5V 6, 17

Sgnd 5, 16, 25, 26

F.G. 1

RoHS

1k+5V

1k

Encoder J5

FG Frame Ground

Enc. A121A

Enc. B121B

Enc. Index130X/X

X

/B

B

/A

A

+5V

0V

+5V Out @ 500 mA

Signal Ground

1k+5V

1k

+5V Out @ 500 mA

Signal Ground

Sin(+)

Sin(-)

Cos(+)

Cos(-)

X

/X

-

+

-

+

10k

121

J5

10k

121

Encoder

FG

sin

cos

+5V

0V

indx

Frame Ground

10k

Sin

Cos

10k

Enc. Index130

A

/A

B

/B

X

/X

+ -+-

+ -+-

+ -+-

AFault Encoder-Loss

Encoder Loss Detection Logic

BFault

XFault

Va

Vb

VxIndex-Loss



feedback connectIons

analog sIn/cos IncreMental encoderThesin/cosinputsareanalogdifferentialwith121Ωterminating resistors and accept 1 Vp-p signals in the format used by incremental encoders with analog outputs, or with ServoTubemotors.Theindexinputisdigital,differential.

quad encoder wIth Index

sIn/cos sIgnals

a/b/x sIgnals

Sgnd = Signal Ground F.G. = Frame Gnd


Encoders with differential line-driver outputsarerequired(single-endedencodersarenotsupported)andprovideincremental position feedback via the A/B signalsandtheoptionalindexsignal(X)gives a once per revolution position mark. TheMAX3097receiverhasdifferentialinputs with fault protections for the following conditions:

quad a/b/x encoder wIth sIgnal loss detectIoncondition exampleLine-line shorts A shorted to /AOpen-circuits: A disconnected, /A connected. Terminator resistor pulls A&/Atogetherforashort-circuitfaultLow-voltage Va-Vb≤200mV,or≥-200mV Encoder power loss, cabling, etc.

sIgnal loss detectIon logIc

cMe2 feedback optIons

Signal J6 Pins

Clk 9

/Clk 8

Data 15

/Data 14

Sin(+) 19

Sin(-) 18

Cos(+) 21

Cos(-) 20

+5V 6, 17

Sgnd 5, 16, 25, 26

F.G. 1

Signal J6 Pins

Data 15

/Data 14

+5V 6, 17

Sgnd 5, 16, 25, 26

F.G. 1

SSI BiSS J6 Pins

Clk MA+ 9

/Clk MA- 8

Data SL+ 15

/Data SL- 14

+5V 6, 17

Signal Ground 5, 16, 25, 26

Frame Gnd 1

RoHS

1k+5V

1k 1k+5V

1k

BiSSEncoder

221

130

MA+

MA-

SL+

SL-

FGFrame Ground

J5

Clk

Data

Master

Slave

V+

V-

+5V Out @ 500 mA

Signal Ground

1k+5V

1k 1k+5V

1k

Encoder

221

130

Clk

/Clk

Dat

/Dat

FGFrame Ground

J5

Clk

DataData

Clk

+5V

0V

+5V Out @ 500 mA

A

A

B

B

Signal Ground

-

+

-

+

A

B

A

B

1k+5V

1k 1k+5V

1k

Encoder

221

Sin(+)

Sin(-)

Cos(+)

Cos(-)

Dat

/Dat

Clk

/Clk130

FGFrame Ground

J5

Clk

DataData

Clk

+5V

0V

+5V Out @ 500 mA

Signal Ground

10k

10k

121 Sin

Cos

10k

10k

121

sin

cos

Absolute-AEncoder

221

1.2k

1.2k

220

5V

SD+

SD-

J5

Battery

Dat

/DatCmd

D-R

SDCmd

D-R

SD

MAX3362B0V

+5VV+

V-

+5V Out@ 500 mA

Signal Ground

Batt+

Batt-

+

-

1k

1k

5V



feedback connectIons

ssI absolute encoderTheSSI(SynchronousSerialInterface)isaninterfaceusedtoconnect an absolute position encoder to a motion controller or control system. The BML drive provides a train of clock signals in differential format to the encoder which initiates the transmission of the position data on the subsequent clock pulses. The polling oftheencoderdataoccursatthecurrentloopfrequency(16kHz).Thenumberofencoderdatabitsandcountspermotorrevolution are programmable. The hardware bus consists of two signals: SCLk and SDATA. Dataissentin8bitbytes,LSBfirst.TheSCLKsignalisonlyactive during transfers. Data is clocked out on the falling edge and clock in on the rising edge of the Master.

biss absolute encoderBiSS is an - Open Source - digital interface for sensors and actuators. BiSS refers to principles of well known industrial standards for Serial Synchronous Interfaces like SSI, AS-Interface® and Interbus® with additional options. Serial Synchronous Data Communication Cyclic at high speed 2 unidirectional lines Clock and Data Line delay compensation for high speed data transfer Request for data generation at slaves Safetycapable:CRC,Errors,Warnings Bus capability incl. actuators Bidirectional BiSS B-protocol: Mode choice at each cycle start BiSS C-protocol: Continuous mode

endat absolute encoderThe EnDat interface is a Heidenhain interface that is similar to SSI in the use of clock and data signals, but which also supports analog sin/cos channels from the same encoder. The number of position data bits is programmable as is the use of sin/cos channels. Use of sin/cos incremental signals is optional in the EnDatspecification.

absolute-a encoderTheAbsoluteAinterfaceisaserial,half-duplextypethatiselectricallythesameasRS-485.Notethebatterywhichmustbeconnected.Withoutit,theencoderwillproduce a fault condition.

endat sIgnals

absolute-a sIgnals

Note: Single (outer) shields should be connected at both ends (motor and drive frame grounds). Inner shields should only be connected to Signal Ground on the drive.

ssI,biss sIgnals



Signal J7 Pin

Mot U 4

Mot V 3

MotW* 2

Frame Gnd 1

Signal J6 Pins

Hall U 2

Hall V 3

HallW 4

+5V 6, 17

Sgnd 5, 16, 25, 26

Frame Gnd 1

Property Ohms

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

60~750

Resistanceat85°C ≤1650



Signal J6 Pins

Motemp 7

J6 Signal Ground 5,16,25,26

Frame Gnd 1

RoHS

PWM

+HV

0V

ServoMotor

MOT W

Gn/YFrame Gnd

MOT V

MOT U

J7

+

*

Halls

+5V Out @ 500 mA

Signal Ground

+5V

0V

15K

100p

15KHall U+5V

J5

100p

15K

15KHall V+5V

100p

15K

15KHall W

+5V

Hall A

Hall B

Hall C

+5V

[IN11]

Thermistor,Posistor,

or switch Signal Gnd

R1

R2

C1

J5



Motor connectIons

Motor oVer teMp InputThe4.99kpull-upresistorworkswithPTC(positivetemperaturecoefficient)thermistorsthatconformtoBS4999:Part111:1987(tableBelow),orswitchesthatopen/closeindicatingamotorover-temperature condition. The active level is programmable. These inputs are programmable for other functions if not used as Motemp inputs. And, other inputs are programmable for the Motemp function.

Motor phase connectIonsThe drive output is a three-phase PWMinverter that converts the DC buss voltage (+HV)intothreesinusoidalvoltagewaveformsthat drive the motor phase-coils. Cable should besizedforthecontinuouscurrentratingofthe motor. Motor cabling should use twisted, shielded conductors for CE compliance, and tominimize PWMnoise coupling into othercircuits. The motor cable shield should connect to motor frame and the drive frame ground terminal(J7-1)forbestresults.

dIgItal hall sIgnalsHall signals are single-ended signals that provide absolute feedback within one electrical cycle of the motor. There are three of them (u, V, &W) and theymay be sourced bymagnetic sensors in the motor, or by encoders that have Hall tracks as part of the encoder disc. They typically operate at much lower frequencies than the motor encoder signals, and are used for commutation-initializationafter startup, and for checking the motor phasing after the amplifier has switched tosinusoidal commutation.

MoteMp sIgnals bs 4999 sensor

hall sIgnals

Motor sIgnals

* MOT W not used for DC brush motors

RoHS

16

3

2

1

Groundingtab

Frame Gnd

5 25

26

17

8

9

10

11

12

1

13

Hall W 4

Hall V 3

Hall U 2

J6 6+5V Out

7

Signal Gnd

Signal Gnd

Motemp

BRUSHLESSMOTOR

U

V

U(+)

V(-)

W

BRUSHMOTOR

4

3

2

1

Mot U

Mot V

Mot W

Frame Gnd

J7

J5Brake

24V Return

4

Brk 24V Output

Brk 24V Input +

0V24 Vdc

Brk

Accelnet Plus Panel

ENCODER

DIGITALHALLS

TEMPSENSOR

DIGITAL

/A

A

/B

B

/X

Vcc

0V

X

/A

A

/B

B

/X

X



The connections shown may not be used in all installations

Motor connectIons: dIgItal quad a/b encoders

NOTES:1) +5VOutonJ1&J6connecttothesamepowersupply.Thesumofoutputcurrentsislimitedto500mA2) CEsymbolsindicateconnectionsrequiredforCEcompliance.

RoHS

16

3

2

1

Groundingtab

Frame Gnd

5 25

26

17

8

9

20

21

18

1

19

Hall W 4

Hall V 3

Hall U 2

J6 6+5V Out

7

Signal Gnd

Signal Gnd

Motemp

4

3

2

1

Mot U

Mot V

Mot W

Frame Gnd

J7

J5Brake

24V Return

4

Brk 24V Output

Brk 24V Input +

0V24 Vdc

Brk

Accelnet Plus Panel

ENCODER

DIGITALHALLS

Vcc

0V

TEMPSENSOR

ANALOG

Sin-

Sin+

Cos-

Cos+

Ndx-

Ndx+

Enc Sin(-)

Enc Sin(+)

Enc Cos(-)

Enc Cos(+)

Enc Index(-)

Enc Index(+)

BRUSHLESS

U

V

WMOTOR

U(+)

V(-)BRUSHMOTOR

Motor connectIons: analog sIn/cos IncreMental encoders



The connections shown may not be used in all installations

NOTES:1) +5VOutonJ1&J6connecttothesamepowersupply.Thesumofoutputcurrentsislimitedto500mA2) CEsymbolsindicateconnectionsrequiredforCEcompliance.

RoHS

~

~+

-

+

Frame Gnd

Vcc

Vcc[IN7~10]

[AIN+]

[AIN-]

Isolated

Sgnd

Sgnd

Sgnd

J1 Control

Vcc

[OUT1~3+]

[OUT1~3-]

+

Sgnd

-

Vcc

DriveControlCore

[IN11]

J6 Feedback

J5 Brake

Motor temp switch

Vcc

BRAKE[OUT4]

+24VBrake

Brk 24V Output

Brk 24V Input

24V Return

+

-24V

Return

R-L

PWMInverter

J7 Motor

Motor

Control Core circuits arereferenced to Signal Ground

(Sgnd)and HV Com ground

DC-DCConverter

SgndSignal GndInternal DC

Power forAll Circuits

+HV

HV Com

Aux

EarthGround

Frame Gnd

J8 HV & Aux

J2 Serial

J3 MACROX2 In and Out

Ports are Identical

MACROConnections are

isolated fromdrive circuits

TxD

RxD

Sgnd

2

1

3

1

2

3

4

680 µF

5

4

3

2

J1 Control

ProtectiveEarth ground

HEATPLATE

DRIVE CIRCUITS

Isolated

[IN1~6,11]

MACRO Receiver

MACRO Driver



This graphic shows the electrical structure of the drive, detailing the elements that share a common circuit common(SignalGround,HVCom)andcircuitsthatareisolatedandhavenoconnectiontointernalcircuits. Notethatthereisnoconnectionbetweentheheatplate(Chassis,frameGround)andanydrivecircuits.

deVIce structure & IsolatIon

RoHS

+

-

+~

~

~

~

+

- -

+HV

HVGround

Aux

2

1

3

UnregulatedPower Supply

LineFilter

ACMains

Equipment Ground

Earth Ground

Green/Yellow

P-Clip

H

N

Gnd

Plus PanelsDrive

PowerConnector1-Axis = J72-Axis = J10

HV+

-Aux

Frame Ground



power & groundIng connectIons

DCPOWERCONNECTIONS• DCpowermustbeprovidedbytransformersthataregalvanicallyisolatedandprovidereinforcedinsulationfromthemains.

Auto-transformers cannot be used.• The(-)terminalofthepowersupplyisnotgroundedatthepowersupply.Itisgroundedneareachdrive.• Cablingtomultipledrivesforthe+HVand0Visbestdoneina“star”configuration,andnota“daisy-chain”.• The0V,orreturnterminaloftheDCpowershouldbeconnectedtoframegroundnearthedrivepowerconnector.

From that point, a short wire can connect to the drive HV Ground.• Cablingtothedrive+HVand0Vterminalsmustbesizedtocarrytheexpectedcontinuouscurrentofthedriveintheuser’s

installation.• DCpowercablingshouldbeshielded,twisted-pairforbestEMIreduction.Theshieldshouldconnecttothepowersupplyframe

ground on one end, and to the drive frame ground on the other. Adding a pigtail and ring-lug, as short as possible will provide a good connection of the shield at the drive.

• Motorcablingtypicallyincludesagreen/yellowconductorforprotectivebondingofthemotorframe. Connect as shown in the Motor Connections diagram on the following page.

• MotorcableconductorsshouldbetwistedandshieldedforbestEMIsuppression.• Ifagreen/yellowgroundingwireconnectsthemotortothedrive’sPEterminal,theshieldpigtailandring-lugmayconnecttoone

of the screws that mount the drive to the panel. A P-clip to ground the shield as near as possible to the drive will increase the EMI suppressionoftheshield.Onthemotor-end,theshieldfrequentlyconnectstotheconnectorshell.Ifthemotorcableisaflying-lead from the motor, the shield may be connected to the motor frame internally.

• BraidedcableshieldsaremoreeffectiveforEMIreductionthanfoilshields.Double-shieldedcablestypicallyhaveabraidedoutershield and foil shields for the internal twisted pairs. This combination is effective for both EMI reduction and signal quality of the feedback signals from analog encoders or resolvers.

• Motorcableshieldingisnotintendedtobeaprotectivebondingconductorunlessotherwisespecifiedbythemotormanufacturer.• forfeedbackcables,double-shieldedcablewithasingleoutershieldandindividualshieldedtwistedpairinternalshieldsgivesthe

best results with resolvers, or analog sin/cos encoders.• Indouble-shieldedcables,theinternalshieldingshouldconnecttothedrive’sSignalGroundononeend,andshouldbe

unconnected on the motor end. • Single-shieldfeedbackcablesconnecttothedriveframeononeend,andtothemotorframeontheother.

Depending on the construction of the motor, leaving the feedback cable shield disconnected on the motor but connected on the drive end may give better results.

• Thedriveshouldbesecuredtotheequipmentframeorpanelsusingthemountingslots.Thisensuresagoodelectricalconnectionfor optimal EMI performance. The drive chassis is electrically conductive.

DCPOWERWIRINGP-clips secure cables to a panel and provide full contact to the cable shields after the insulation has been stripped. This should be done as close to the drive as possible for best EMI attenuation.

RoHS

(+)

(-)

+ +Cint

RegulatedPower

Supply Cext

Cext: ExternalCapacitor

Cint: InternalCapacitor

Drive

(+)

(-)

+ +Cint

UnregulatedPower

Supply Cps

Cps: Power SupplyCapacitor

Cint: InternalCapacitor

Drive

Outer Shield

Inner Shields

Motor

Motor

U

V

W

P-clip

F.G.

Feedback

Encoder

F.G.

Enc A

Enc B

Enc X

Sgnd

Earth Ground

Frame Ground



REGENERATIONThischartshowstheenergyabsorptioninW·sforthe drive operating at some typical DC voltages. It isbasedontheinternal680ufcapacitorandwouldbeincreasedbythecapacitanceoftheexternalDCpowersupply.Whentheloadmechanicalenergyisgreaterthanthesevaluesanexternalregenerativeenergy dissipater is required, or the DC power supply capacitance can be increased to absorb the regen energy.

Joules(W·s)

ENERGy ABSORPTION

+HV(VDC)

MOTOR CONNECTIONS•Motor cable shield connects to motor frame,

is grounded with a P-clip near the drive and terminates in a ring-lug that is screwed to the drive chassis by a mounting screw to the panel

• If provided, a green/yellow grounding wire from the motor connects to the F.G. terminal of the motor connector.

FEEDBACk CONNECTIONS• Cable shield connects to motor frame and to

the F.G. terminal of the feedback connector.• Whendouble-shieldingisused,theinner

shields connect to the Signal Ground at the drive, and is not connected at the motor end.

• If not provided by the motor manufacturer, feedback cables rated for RS-422 communications are recommended for digital encoders.

+HVPOWERSuPPLyREquIREMENTSRegulated Power Supplies• Mustbeover-voltageprotectedto100VdcmaxwhentheSTO(SafeTorqueOff)

feature of the drive is used.• Requireadiodeandexternalcapacitortoabsorbregenerativeenergy.• The VA rating should be greater than the actual continuous output power of the

drives connected to the power supply, and adequate for the transient output power due to acceleration of motor loads.

•Must handle the internal capacitance of the drives on startup.

Unregulated Power Supplies• No-load,high-lineoutputvoltagemustnotexceed90Vdc.• Power supply internal capacitance adds to the drive’s internal capacitance

for absorption of regenerative energy.• TheVA(Volts&Amps)ratingatthepowersupply’sACinputistypically30~40%

greater than the total output power of the drives.

AuXILIARyHVPOWER• AuxHVispowerthatcankeepthedrivecommunicationsandfeedbackcircuitsactivewhenthePWMoutputstagehasbeendisabledbyremovingthemain+HVsupply.

• usefulduringEMO(EmergencyOff)conditionswherethe+HVsupplymustberemoved from the drive and powered-down to ensure operator safety.

• Voltage range is the same as +HV. • Powers the DC/DC converter that supplies operating voltages to the drive DSP and

control circuits.• AuxHVdrawsnocurrentwhenthe+HVvoltageisgreaterthantheAuxHVvoltage.

0.0

0.5

1.0

1.5

2.0

2.5

3.0

15 20 25 30 40 50 60 70 80 90

PIN SIGNAL PIN SIGNAL

1 Frame Gnd 6 STO-1(+)

2 STO-1(+) 7 STO-1(-)

3 STO-1(-) 8 STO-24V

4 STO-2(+) 9 STO-GND

5 STO-2(-)

RoHS

1

5

6

9

PIN SIGNAL PIN SIGNAL PIN SIGNAL

1 Frame Gnd 16 Signal Gnd 31 Signal Gnd

2 [AIN1-] 17 +5Vout 32 +5Vout

3 [AIN1+] 18 MultiEnc /S 33 MultiEnc S

4 N/C 19 MultiEnc/X 34 MultiEncX

5 N/C 20 MultiEnc /B 35 MultiEnc B

6 Signal Gnd 21 MultiEnc /A 36 MultiEnc A

7 [IN1] 22 Signal Gnd 37 Signal Gnd

8 [IN2] 23 N/C 38 N/C

9 [IN3]Diff1(+) 24 N/C 39 N/C

10 [IN4]Diff1(-) 25 [OUT3-] 40 [OUT3+]

11 [IN5]Diff2(+) 26 [OUT2-] 41 [OUT2+]

12 [IN6]Diff2(-) 27 [OUT1-] 42 [OUT1+]

13 [IN7] 28 [ICOM] 43 N/C

14 [IN8] 29 N/C 44 Signal Gnd

15 [IN9] 30 [IN10]

1 16 31

30 4415

AM

P

AccelnetPlus

RS

-232S

IGN

AL

SA

FETY

x10x1

S1

S2

DE

VIC

E ID

J1

J3

J4J2

NE

TW

OR

KR

UN

ER

RL/A

L/A

INO

UT

J1: CONTROL SIGNALS

J1: DRIVE CONNECTORHigh-Density Dsub DB-44F, female receptacle, 44 Position

J1: CABLE CONNECTORHigh-Density Dsub DB-44M, male plug, 44 Position



J4SAfETy(SAfETORquEOff)

J4 BML CONNECTOR:Dsub DB-09F, 9 position female receptacle

J4 CABLE CONNECTOR:Poke and crimp Dsub DB-09M, 9 position

connectors & sIgnals: front panel

Details on J1, J4, & J6 cable connectors can be found in the BML-CK listing under the Accessories section of the last page

PIN SIGNAL PIN SIGNALPIN SIGNAL 18 Sin(-) 9 EncX26 Signal Gnd 17 +5VOut 8 Enc/X25 Signal Gnd 16 Signal Gnd 7 [IN11] Motemp24 N/C 15 Enc S 6 +5VOut23 N/C 14 Enc /S 5 Signal Gnd22 N/C 13 Enc A 4 HallW21 Cos(+) 12 Enc /A 3 Hall V20 Cos(-) 11 Enc B 2 Hall U19 Sin(+) 10 Enc /B 1 Frame Gnd

Pin Signal

4 Brk 24V Input

3 Brk 24V Output

2 Brake A [OUT4]

1 24V Return

signal pin

HV Ground 1

HV 2

AuxHV 3

Signal Pin

Frame Ground 1

MotorPhaseW 2

Motor Phase V 3

Motor Phase U 4

RoHS

1 2 3

0V +HV Aux

11019

91826

1 2 3 4

1234

J8

POWER

J7

MOTOR

BRAKE FEEDBACK J6 J5

0V +HV AUXW V U



J6: FEEDBACk

J8:DRIVECONNECTOREuro-style5.08mmmalereceptacle,3-position Wago:MCS-MIDI,231-563/108-000J7: DRIVE CONNECTORS

Euro-style5.08mmmalereceptacle,4-position Wago:MCS-MIDI,231-564/108-000

J6: BML CONNECTORHigh-Density Dsub DB-26F, female receptacle, 26 Position

J7 CABLE CONNECTORSWagoMCS-MIDIClassic231-304/107-000

J6: CABLE CONNECTORHigh-Density Dsub DB-26M, male plug, 26 Position

J8:CABLECONNECTORWagoMCS-MIDI,231-303/107-000

WAGOCONNECTORTOOLContact opener: 231-159 operating tool


J7: MOTOR OUTPUT

J6: MOTOR FEEDBACk

J8:+HV&AuXPOWER

J5: BML CONNECTOREuro-style 3.5 mm male receptacle, 4-position Wago:MCS-MINI,734-164/108-000

J5: CABLE CONNECTORWagoMCS-MINI734-104/107-000 or 734-105/107-000


J5: BRAkE

connectors & sIgnals: dIgItal and analog encoders

J5

J8J7

J6

AWG mm2 Color Mfgr PNUM A B C D E SL

14 2.5 Blue Wago 216-206 15.0(0.59) 8.0(0.31) 2.05(.08) 4.2(0.17) 4.8(0.19) 10(0.39)

16 1.5 Black Wago 216-204 14.0(0.59 8.0(0.31) 1.7(.07) 3.5(0.14) 4.0(0.16) 10(0.39)

18 1.0 Red Wago 216-223 12.0(.47) 6.0(.24) 1.4(.055) 3.0(.12) 3.5(.14) 8(.31)

20 0.75 Gray Wago 216-222 12.0(.47) 6.0(.24) 1.2(.047) 2.8(.11) 3.3(.13) 8(.31)

22 0.5 White Wago 216-221 12.0(.47) 6.0(.24) 1.0(.039) 2.6(.10) 3.1(.12) 7.5(.30)


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)


2x18 2x1.0 Red Altech 2776.0 15.4(.61) 8.2[.32] 2.4(.09) 3.2(.13) 5.8(.23) 11.0(.43)

2x18 2x1.0 Gray Altech 2775.0 14.6(.57) 8.2(.32) 2.0(.08) 3.0(.12) 5.5(.22) 11.0(.43)

2x20 2x0.75 White Altech 2794.0 14.6(.57) 8.2(.32) 1.7(.07) 3.0(.12) 5.0(.20) 11.0(.43)

2x20 2x0.75 Gray TE 966144-2 15.0(.59) 8.0(.31) 1.70(.07) 2.8(.11) 5.0(.20) 10(.39)

2x22 2x0.50 White TE 966144-1 15.0(.59) 8.0(.31) 1.40(.06) 2.5(.10) 4.7(.19) 10(.39)

RoHS

A

B

C D E

A

B

C D

E



wIrIng

J8J7

WagoMCS-MIDIClassic:231-304/107-000(J7),231-303/107-000(J8); withscrewflange;3-pole;pinspacing5.08mm/0.2in

Conductor capacity Barestranded: AWG28~14[0.08~2.5mm2]Insulatedferrule: AWG24~16]0.25~1.5mm2]Strippinglength: 8~9mmOperatingTool: WagoMCS-MIDIClassic:231-159

WagoMCS-MINI:734-104/107-000,femaleconnector;withscrewflange;4-pole;pinspacing3.5mm/0.138in

Conductor capacity Barestranded: AWG28~16[0.08~1.5mm2]Insulatedferrule: AWG24~16[0.25~1.5mm2]Strippinglength: 0.24~0.28in[6~7mm]Operatingtool: WagoMCS-MINI:734-231

24V&Brake

HV&AuxMotor

Tool

Tool

fERRuLEPARTNuMBERS:DOuBLEWIREINSuLATED

fERRuLEPARTNuMBERS:SINGLEWIREINSuLATED

NOTESPNUM = Part NumberSL = Stripping lengthDimensions:mm(in)

NOTESPNUM = Part NumberSL = Stripping lengthDimensions:mm(in)

fERRuLEPARTNuMBERS:SINGLEWIREINSuLATED

HV/AuXPOWERANDMOTOROuTPuTS:J7&J8

24V&BRAKE:J5

J5

Qty Description

1 Heatsink, standard, BML-HS

1 Thermalpad,4x4in.

1

kit, Heatsink Hardware, BML

4 Washer,flat,#8

4 Screw,PAN,SEMS,#8-32x1/2in



• STANDARDHEATSINKfORACCELNETPLuSPANELBML • COMPLETEKITfORuSERINSTALLATIONOfTHEHEATSINK

DESCRIPTION

The BML-Hk is a kit containing a heatsink and mounting hardwareforfieldinstallationofastandardheatsinkonto a BML model servo drive. ToorderanBMLdrivewithheatsinkfittedatthefactory,add “-H” to the model part number.

INSTALLATION

1) Placetheheatsinkfins-downonaworksurface.Orienttheheatsinksothattheedgewithpartnumberisawayfrom you. The hole for the BML grounding lug should be to your left.

2) Removetheclearprotectivefilmfromthethermalmaterialanddiscardit.Placethethermalmaterialontotheheatsink in the placement area which is marked with four white “L”. Apply light pressure to ensure that the thermal materialisflat.

3) Peelthewhiteprotectivelayerawayfromthethermalmaterial.Dothisslowlyfromonecornersoasnottoliftthethermal material from the heatsink.

4) AligntheBML as shown and lower onto the heatsink. If needed to adjust the position, lift it away from the thermal material and lower onto the heatsink again.

5) Installthefourmountingscrewswithflatwashersandtightenevenly.Torqueto17.8lb-in(2.0Nm)maximum.

HEATSINk kIT PART LIST

heatsInk kIt InstallatIon

Heatsink

Mounting Screws(4)

BML Drive

Thermal material

RoHS

W

2 W

4 W

6 W

8 W

10 W

12 W

14 W

16 W

disabled 0.0 A 2.5 A 5.0 A 7.5 A 10.0 A 12.5 A 15.0 A

80 V65 V50 V35 V20 V

0C

5C

10C

15C

20C

25C

30C

35C

40C

45C

50C

2W 4W 6W 8W 10W 12W 14W 16W

HSF

HSNF

NHSF

NHSNF



Quiescent power

POWERDISSIPATIONusethischarttofindtheWattsdissipation. The vertical dashed lines show the continuous currents for the three BML models.ExampleBML-090-30:Power supply HV = 65 Vdc Current = 12.5A Powerdissipation=10.8W

The top chart on this page shows the internal power dissipation of the BML under differing power supply and output current conditions. The +HV values are for the average DC voltage of the drive power supply. The lower chart shows the temperature rise vs. power dissipation under differing mounting and cooling conditions.

therMals: power dIssIpatIon

therMals: MaxIMuM operatIng teMperature Vs. dIssIpatIon

BML-090-30

BML-090-14

BML-090-06

10.8W

33 C

10.8W

HSF or NHSF

HSNFNHSNF

Internal power dissipation (Watts)

usethischarttofindthemaximumoperating temperature of the drive under differing mounting and cooling conditions.Example:usingthe10.8Wvaluefromthecalculations above, draw a vertical line. This shows that 33 C is the maximumoperatingtemperatureforNHSNF. But HSFNF, NHSF, or HSF mountings allow operation to 45 C maximumambient.

HSf = HeatSink(with)fan NHSf = NoHeatSink(with)fan HSNF = Heat Sink No Fan NHSNF = No Heat Sink No Fan

heatsink + fan °C/W

ForCeD-Air, 300 LFM 0.91

heatsink, no fan °C/W

ConveCtion 2.02

no heatsInk, no fan °c/w

CONVECTION 3.46

no heatsink + fan °C/W

ForCeD-Air, 300 LFM 1.32

RoHS

J8

PO

WE

R

J7

MO

TOR

BR

AK

EFE

ED

BA

CK

J6

J5

0V+H

VA

UX

W V

U

J8

PO

WE

R

J7

MO

TOR

BR

AK

EFE

ED

BA

CK

J6

J5

0V+H

VA

UX

W V

UJ8

PO

WE

R

J7

MO

TOR

BR

AK

EFE

ED

BA

CK

J6

J5

0V+H

VA

UX

W V

U

J8

PO

WE

R

J7

MO

TOR

BR

AK

EFE

ED

BA

CK

J6

J5

0V+H

VA

UX

W V

U



THERMAL RESISTANCEThermal resistance is a measure of the temperature rise of the drive heatplate due to powerdissipationinthedrive.Itisexpressedinunitsof°C/Wwherethedegreesarethe temperature rise above ambient.E.g.,adrivedissipating13Wmountedwithnoheatsinkorfanwouldseeatemperatureriseof45°Caboveambientbasedonthethermalresistanceof3.46°C/W.usingthedrivemaximumheatplatetemperatureof70°Candsubtracting46°Cfromthatwouldgive24°Casthemaximumambienttemperaturethedriveinwhichthedrivecould operate before going into thermal shutdown. To operate at higher ambient temperatures a heatsink or forced-air would be required.

MOUNTINGThermal data for convection-cooling with a heatsink assumes a vertical mounting of the drive on a thermally non-conductingsurface.Heatsinkfinsrunparalleltothelongaxisofthedrive.Whenfan-coolingisusedverticalmounting is not necessary to guarantee thermal performance of the heatsink.

end vieWs vertiCal mounting

therMals: MountIng & therMal resIstance

RoHS

0.16 [4.1]

0.68 [17.1]

1.70 [43.2]

4.70 [119.4]

1.14 [28.8]

0.85 [21.6]

0.19 [4.8]

5.08 [129]

0.16 [4.1]

1.99 [50.4]

3.41 [86.6]

0.19 [4.8] 3.61 [91.6]

0.16 [4.1]

0.68 [17.1]

1.70 [43.2]

4.70 [119.4]

1.14 [28.8]

0.85 [21.6]

0.19 [4.8]

5.08 [129]

0.16 [4.1]

1.99 [50.4]

3.41 [86.6]

0.19 [4.8] 3.61 [91.6]



dIMensIons: no heatsInk

Units: IN[MM]

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

RoHS

0.16 [4.1]1.14 [28.8]

2.25 [57.2]

3.39 [86.1]

4.70 [119.4] 0.19 [4.8]0.19 [4.8] 3.41 [86.6]

3.61 [91.6]5.08 [129]

0.16 [4.1]1.14 [28.8]

2.25 [57.2]

3.39 [86.1]

4.70 [119.4] 0.19 [4.8]0.19 [4.8] 3.41 [86.6]

3.61 [91.6]5.08 [129]

0.16 [4.1]1.14 [28.8]

2.25 [57.2]

3.39 [86.1]

4.70 [119.4] 0.19 [4.8]0.19 [4.8] 3.41 [86.6]

3.61 [91.6]5.08 [129]



Units: IN[MM]

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

dIMensIons: heatsInk Mounted

BML-090-06 Accelnet Plus Panel MACRO servo drive, 3/6 A, 90 Vdc



qty ref name description Manufacturer p/n

bMl-ckConnector kit

1J8 DC HV

Plug,3position,5.08mm,female Wago: 231-303/107-000 (Note1)

1 Strainrelief,snap-on,5.08mm,3position,orange Wago: 232-633

1J7 Motor

Plug,4position,5.08mm,female Wago: 231-304/107-000 (Note1)

1 Strainrelief,snap-on,5.08mm,4position,orange Wago:232-634

1 J7,J8 Tool Tool,wireinsertion&extraction,231series Wago:231-159

1

J5Brake

Plug, 4 position, 3.5 mm, female Wago: 734-104/107-000 (Note1)

1 Strain relief, snap-on, 3.5 mm, 4 position, grey Wago:734-604

1 Tool Tool,wireinsertion&extraction,734series Wago: 734-231

1

J4 Note 2 Safety

Connector, DB-9M, 9-position, standard, male TE/AMP: 205204-4

9 AMPLIMITEHD-20Crimp-Snapcontacts,24-20AWG,Auflash TE/AMP: 66506-9

1 Metal Backshell, DB-9, RoHS 3M: 3357-9209

4 Jumper, with pins crimped on both ends Copley: 10-75177-01

1J1 Control

Connector, high-density DB-44M, 44 position, male, solder cup Norcomp:180-044-103L001


1J6 Feed-

backConnector, high-density DB-26M, 26 position, male, solder cup Norcomp:180-026-103L001


SER-Ck 1 J2 RS-232 Serial Cable kit

Note1:forRoHScompliance,append“/RN01-0000”totheWagopartnumberslistedabove

Note2:Insertion/extractiontoolforJ4contactsisAMP/Tyco91067-2(notincludedinBML-CK)

16-01493 Document Revision HistoryRevision Date Remarks00 October 17, 2016 Initial released version, updated picture on page 1



Note: Specifications subject to change without notice

Add-Htomodelnumberforheatsinkinstalledatthefactory(Example:BML-090-06-H)

Example:OrderoneAccelnet Plus BMLdrive,7/14A,withconnectorKit,serialcablekitandheatsinkfittedatthefactory:Qty Item Remarks 1 BML-090-14-R-H Accelnet Plus BML servo drive with factory-mounted heatsink 1 BML-Ck BML Connector kit 1 BML-Sk Serial Cable kit

Master orderIng guIde

accessorIes

digital servo drive for brush & brushless motors - maccon · accelnet bml rohs plus panel macro...

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