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Copley Controls
Accelnet Plus EtherCAT 1-Axis Module

Accelnet Plus EtherCAT 1-Axis Module

Product catalog summary

Overview
The document outlines the technical specifications and operational guidelines for the Accelnet Plus Module EtherCAT by Copley Controls, a high-performance DC powered servo drive for controlling brushless and brush motors using EtherCAT.

Specifications
Three models are detailed: AEM-090-06, AEM-090-14, and AEM-090-30, each with different peak and continuous current ratings. The drive operates within a voltage range of +14 to +90 V DC and supports various control modes such as Cyclic Synchronous Position, Velocity, and Torque.

Control and Command Interfaces
The drive supports EtherCAT, RS-232, and analog inputs, and can handle digital and analog feedback from incremental and absolute encoders.

Input/Output
The module includes 11 digital inputs and 6 digital outputs, with additional analog input capabilities. Digital inputs are high-speed and programmable, while outputs can drive loads up to 24 V DC.

Communication
EtherCAT communication uses the CANopen over EtherCAT protocol for high-speed control and synchronization. An RS-232 port is available for setup and configuration.

Protection and Safety
The drive includes protections against overvoltage, undervoltage, overtemperature, and short circuits, complying with safety and EMC standards like EN 55011 and IEC 61010-1.

Mechanical and Environmental
The drive measures 77 x 59 x 20.6 mm, weighs 0.27 lb without a heatsink, operates within 0 to +45°C, and requires cooling for continuous power output.

Development Kit and Additional Features
A development kit is available for designing EtherCAT signals, with guidelines for PC board layout. The module supports advanced features like SLI and programmable digital outputs.

Motor Connections
Connections include phases, Halls, encoder, thermal sensor, and brake. Phase connections carry drive output currents, Hall signals provide absolute position feedback, and encoder signals offer incremental feedback. A thermal sensor indicates motor overtemperature, and a brake prevents movement when the drive is shut down.

Encoder Types
Quad A/B Incremental Encoder with Fault Protection provides incremental feedback with fault protections. Analog Sin/Cos Incremental Encoder inputs are differential with terminating resistors. Multi-Mode Encoder Port supports dual-loop position-mode operation and stand-alone operation with an external controller. Absolute Encoders like SSI, EnDat, and BiSS support synchronous data transfer with programmable position data bits.

Printed Circuit Board Connectors & Signals
Details on connectors for power, control, and EtherCAT signals are provided, including pin configurations and recommendations for current-sharing and noise suppression.

Development Kit Overview
The kit includes socket strips, standoffs, and connectors for mounting and connectivity. EtherCAT signal routing requires controlled impedance, with guidelines for trace spacing and thickness.

EtherCAT and RS-232 Connections
Dual RJ-45 sockets allow daisy-chain configurations for EtherCAT. The RS-232 port is used for configuring the drive, with a Serial Cable Kit for connectivity.

LED Indicators and Addressing
LEDs indicate the status of the EtherCAT bus and the Accelnet drive. Two rotary switches set the EtherCAT Station Alias for identification.

Power Sources and Logic Inputs/Outputs
The kit supports multiple 5V power sources, selectable via jumpers. Logic outputs drive controller inputs or relays, and logic inputs can connect to switches or external devices.

Motor Feedback Connector
Instructions are provided for configuring the feedback connector for different encoders, with guidelines for motor temperature sensors and encoder fault outputs.

Accessories and Ordering
Available accessories include network cables and heatsink kits, with a master ordering guide for the development kit and related components.

Catalog excerpts

CopleyControls Model Ic Ip Vdc AEM-090-06 3 6 90 AEM-090-14 7 14 90 AEM-090-30 15 30 90 Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Web: www.copleycontrols.com Page 1 of 24 Accelnet Plus Module EtherCAT RoHS AEM Nine high-speed digital inputs with programmable functions are provided, and a low-speed input for motor temperature switches. An SLI (Switch & LED Interface) function is supported by another high-speed input and four high-speed digital outputs. If not used for SLI, the input and outputs are programmable for other functions. Two open-drain MOSFET outputs can drive loads powered up to 24 Vdc. An RS-232 serial port provides a connection to Copley’s CME2 software for commissioning, firmware upgrading, and saving configurations to flash memory. 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. descriptiondescription Accelnet AEM is a high-performance, DC powered servo drive for position, velocity, and torque control of brushless and brush motors via EtherCAT, an Ethernet-based fieldbus. Using advanced FPGA technology, the AEM provides a significant reduction in the cost per node in multi-axis EtherCAT systems. The AEM operates as an EtherCAT slave using the CANopen over EtherCAT (CoE) protocol of DSP-402 for motion control devices. Supported modes include: Cyclic Synchronous Position-Velocity-Torque, Profile Position-Velocity-Torque, Interpolated Position Mode (PVT), and Homing. Command sources also include ±10V analog position/torque/velocity, PWM velocity/torque, and stepper command pulses. Feedback from a number of incremental and absolute encoders is supported. Control Modes • Cyclic Synchronous Position, Velocity, Torque • Indexer, Point-to-Point, PVT • Camming, Gearing Command Interface • EtherCAT • ASCII and discrete I/O • Stepper commands • ±10V position/velocity/torque command • PWM velocity/torque command • Master encoder (Gearing/Camming) Communications • EtherCAT (CANopen over EtherCAT) • RS-232 Feedback Incremental • Digital quad A/B encoder • Analog sin/cos encoder • Panasonic Incremental A • Digital Halls • Aux. encoder / encoder out Absolute • SSI • EnDat • Absolute A • Tamagawa Absolute A • Panasonic Absolute A Format • BiSS (B & C) I/O • Digital: 11 inputs, 6 outputs • Analog: 1 input Dimensions: mm [in] • 77 x 59 x 20.6 [3.0 x 2.3 x 0.81] developmentdevelopmentdevelopment kit

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CopleyControls Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Web: www.copleycontrols.com Page 2 of 24 Accelnet Plus Module EtherCATRoHS AEM GENERAL SPECIFICATIONS Test conditions: Load = Wye connected load: 2 mH + 2 Ù line-line. Ambient temperature = 25°C, +HV = HVmax MODEL AEM-090-06 AEM-090-14 AEM-090-30 Units Output Power Peak Current 6 14 30 A DC, sinusoidal 4.2 10 21 A RMS, sinusoidal Peak time 1 1 s Sec Continuous current 3 7 15 A DC, sinusoidal 2.1 5 10.6 A RMS, sinusoidal Maximum Output Voltage V Vout = HV*0.97 - Rout*Iout INPUT POWER HVmin~HVmax...

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Copley Controls Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Web: www.copleycontrols.com Page 3 of 24 Accelnet Plus Module EtherCAT AEM RoHS RS-232 PORT Signals RxD, TxD, Gnd for operation as a DTE device Mode Full-duplex, DTE serial port for drive setup and control, 9,600 to 115,200 Baud Protocol ASCII or Binary format motormotormotor connections Phase U, V, W PWM outputs to 3-phase ungrounded Wye or delta connected brushless motors, or DC brush motors Hall U, V, W Digital Hall signals, single-ended, 100 ns RC filter, 10 kW pull-up to +5 Vdc, 74LVC14...

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Copley Controls 1818TX2+TX2-RX2-Network groundDriveSignalGroundP3/8P3/16P3/11P3/9P3/2,5,10,13Drive EtherCAT portNetwork portINOUTTX1+TX1 TermRX1+RX1 TermTX2 TermRX2 TermTX1-RX1-P3/6P3/3P3/1P3/4P3/7P3/12P3/151M757510n1M7575RX2+P3/1410n1MCABLE SHIELDZo = 100 ÙZo = 100 ÙZo = 100 ÙZo = 100 Ù757510n757510nSignal GroundP2/16P2/1P2/2RDRxDTDTxD6915TxDRxDGndD-Sub 9M(DTE) Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Web: www.copleycontrols.com Page 4 of 24 Accelnet Plus Module EtherCAT AEM RoHS command Inputsnputs rs 232 portport ethercatethercat connections Page...

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Copley Controls P2/21[IN7]Current orVelocityP2/24No Function[IN8]SgndP2/16,33,34Duty = 0~100ControllerCopleyP2/21[IN7]Current orVelocityP2/24No Function[IN8]SgndP2/16,33,34Duty = 50% ±50%ControllerCopleyP2/21[IN7]Current orVelocityP2/24No Function[IN8]SgndP2/16,33,34CD (Count-Down)CU (Count-Up)ControllerCopleyP2/21[IN7]Current orVelocityP2/24No Function[IN8]SgndP2/16,33,34Master EncoderEncoder ph. BEncoder ph. ACopleyP2/21[IN7]Current orVelocityP2/24No Function[IN8]SgndP2/16,33,34DirectionPulseControllerCopleyP2/36P2/35+1.25V5kRef+Ref-VrefD/A±10VSgnd-P2/34 Copley Controls, 20 Dan Road, Canton,...

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Copley Controls +5V+5V [OUT3] MOSI [OUT4] SCLK [OUT5] SSP2/29P2/30P2/2747p74LVC2G1474AHCT1251k1k1k47p47p47p1k[IN10] MISOSgnd10k10k10k10k10k10kP2/26P2/33Drive (SLI Master)External circuit for EtherCAT alias switchesSwitches74HC165Q7D084218421D1D2D3D4D5D6D7Vcc+5V+5VGndSW13SW12CKESDIPLCLK+5V300mA300mA+30V max+R-LR-L+5V+5V[OUT1]Sgnd1k1k[OUT2]P2/31P2/32P2/33100p74LVC14+5V10k10kP2/15,17~26[IN1~9]P2/16,33,34Sgnd+5V[OUT3]MOSI[OUT4]SCLK[OUT5]SS1[OUT6]SS2P2/29P2/30P2/27P2/28 Input P2 Pin IN1 15 IN2 18 IN3 17 IN4 20 IN5 19 IN6 22 IN7 21 IN8 24 IN9 23 IN10 26 * IN11 25 Copley Controls, 20 Dan Road, Canton,...

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Copley Controls Signal Ground-+-+10k10k12110k10k121Encodersincos+5V0V+5V output @ 400 mASinCosSin+Sin-Cos+Cos-P2/39P2/40P2/37P2/38P2/14P2/16AEMMAX3097MAX3097MAX3097Encoder* 121Ù terminating resistorson mounting boardABZ+5V0VSignal Ground***+5V output @ 400 mASignal GroundA/AB/BX/XP2/6P2/5P2/8P2/7P2/10P2/9P2/14P2/16AEMMAX3097MAX3097MAX3097Encoder* 121Ù terminating resistorson mounting boardAB+5V0VSignal Ground**+5V output @ 400 mASignal GroundA/AB/BX/XP2/6P2/5P2/8P2/7P2/10P2/9P2/14P2/16AEM Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Web: www.copleycontrols.com...

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