Model Ip Ic Vdc AEP-055-18 18 6 55 AEP-090-09 9 3 90 AEP-090-18 18 6 90 AEP-090-36 36 12 90 AEP-180-09 9 3 180 AEP-180-18 18 6 180 Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Web: www.copleycontrols.com Page 1 of 18 AEP Accelnet Plus Panel EtherCAT There are six opto-isolated digital inputs in two groups. All are common-anode types that source current into current-sinking switches in the controller. Inputs [IN1~4] are 24 Vdc compatible and inputs [IN5~6] are 5 Vdc compatible. The active levels are programmable as are the functions. The drive Enable function is dedicated to [IN1]. A non-isolated high-speed input [IN7] and output [OUT3] are provided, as well as two opto-isolated Darlington outputs [OUT1,2]. In addition, a ±10 Vdc analog input is provided for interfacing to sensors. 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 EtherCAT® is a high-performance, DC powered drive for position, velocity, and torque control of brushless and brush motors via EtherCAT®, an Ethernet-based fieldbus. Drive commissioning is fast and simple using CME 2™ software operating under Windows® and communicating with Accelnet EtherCAT® via RS-232. Accelnet operates as an EtherCAT® slave using the CANopen over EtherCAT® (CoE) protocol of DSP-402 for motion control devices. Supported modes include: Profile Position-Velocity-Torque, Cyclic Synchronous Position-Velocity-Torque, Interpolated Position Mode (PVT), and Homing. 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 a 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 eliminate split cables that would be needed to send the signals to both drive and control system. Control Modes • Indexer, Point-to-Point, PVT • Camming, Gearing • Position, Velocity, Torque Command Interface • CANopen over EtherCAT® (CoE) • ±10V position/velocity/torque • Master encoder (Gearing/Camming) • ASCII via RS-232 Communications • 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 I/O Digital • 8 inputs, 3 outputs Dimensions: mm [in] • 196 x 99 x 31 [7.7 x 3.9 x 1.2]RoHSCopleyControls

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Web: www.copleycontrols.com Page 2 of 18 AEP Accelnet Plus Panel EtherCAT GENERAL SPECIFICATIONS Test conditions: Load = Wye connected load: 2 mH + 2 Ù line-line. Ambient temperature = 25°C, +HV = HVmax MODEL AEP-055-18 AEP-090-09 AEP-090-18 AEP-090-36 AEP-180-09 AEP-180-18 Output Power Peak Current 18 (12.7) 9 (6.4) 18 (12.7) 36 (25.5) 9 (6.4) 18 (12.7) Adc (Arms-sine), ±5% Peak time 1 1 1 1 1 1 Sec Continuous current 6 (4.2) 3 (2.1) 6 (4.2) 12 (8.5) 3 (2.1) 6 (4.2) Adc (Arms-sine) per phase Output resistance...

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Web: www.copleycontrols.com Page 3 of 18 Accelnet Plus Panel EtherCAT AEP RS-232 PORT Signals RxD, TxD, Gnd in 6-position, 4-contact RJ-11 style modular connector. 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 Digital Incremental Encoder Quadrature signals,...

S1 S2 Hexex Dec 0 0 0 1 16 1 2 32 2 3 48 3 4 64 4 5 80 5 6 96 6 7 112 7 8 128 8 9 144 9 A 160 10 B 176 11 C 192 12 D 208 13 E 224 14 F 240 15 Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Web: www.copleycontrols.com Page 4 of 18 Accelnet Plus Panel EtherCAT AEP S1 S2 EtherCAT® Addressddressddressddress (stationstationstation aliasalias) In an EtherCAT® network, slaves are automatically assigned addresses based on their position in the bus. But when the device must have a positive identification that is independent of cabling, a Station Alias is needed....

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Web: www.copleycontrols.com Page 5 of 18 Accelnet Plus Panel EtherCAT AEP analoganalog INP U T The differential configuration of the analog input has a ±10 Vdc range and is useful for reading sensors or other voltage sources while rejecting noise on the signal ground that can occur due to power supply currents flowing in the wires to the drive. Shielded, twisted-pair wires are the best choice for connecting the input to the voltage source. One of the input terminals connects to the voltage source and the other...

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Web: www.copleycontrols.com Page 6 of 18 Accelnet Plus Panel EtherCAT AEP DIGITAL OUTPUTS Two of these are Darlington opto-isolators with both terminals accessible. A Zener diode is included as a snubber for driving inductive loads. A third output is a high-speed CMOS buffer. Functions are programmable, as are the active levels (ON or OFF when True). Programmable functions of the outputs include: • Drive fault indicator • Motor brake • PWM sync • Program controlled • Custom trajectory status • Custom position-...