Accelnet Plus Micro Modules User Guide 16-01687 Rev 03
Copley Controls Page 2 of 139
Table of Contents
1About This Manual ............................................................................................................................... 4
Title, Number, Revision.................................................................................................................. 4
Revision History ............................................................................................................................ 4
Overview and Scope ...................................................................................................................... 4
Original Instructions ...................................................................................................................... 4
Related Documentation .................................................................................................................. 4
EC Declaration of Conformity .......................................................................................................... 5
Abbreviations and acronyms ........................................................................................................... 6
Comments.................................................................................................................................... 7
Copyrights.................................................................................................................................... 7
Document Validity...................................................................................................................... 7
Product Warnings....................................................................................................................... 8
2Introduction ........................................................................................................................................ 9
Accelnet Plus Micro Modules Overview.............................................................................................. 9
Accelnet Plus Micro Module Models ................................................................................................ 10
3Specifications .................................................................................................................................... 11
Agency Approvals........................................................................................................................ 11
Input Power................................................................................................................................ 11
Output Power.............................................................................................................................. 12
Control Loops ............................................................................................................................. 13
Digital Command Inputs............................................................................................................... 13
Analog Inputs ............................................................................................................................. 14
Digital Inputs.............................................................................................................................. 14
Safe Torque Off (STO) ................................................................................................................. 15
Digital Outputs............................................................................................................................ 15
Encoders................................................................................................................................. 15
Multi-Port Input / Output .......................................................................................................... 17
Serial Interface........................................................................................................................ 18
Network Interfaces................................................................................................................... 19
EtherCAT Interface: AEV models................................................................................................ 20
CAN Architecture: APV models................................................................................................... 21
Status Indicators ..................................................................................................................... 21
Fault Levels............................................................................................................................. 22
Dimensions ............................................................................................................................. 23
Mechanical and Environmental................................................................................................... 25
Thermals ................................................................................................................................ 26
Operating Temperature and Cooling Configurations...................................................................... 29
EZ Board Pins Heatsink Mounting............................................................................................... 30
4Connections and Wiring - Modules ..................................................................................................... 31
AEV PC Board Connectors and Pinout............................................................................................. 32
APV PC Board Connectors and Pinout............................................................................................. 33
Mounting Configurations............................................................................................................... 34
Integration Guidelines for AEV & APV Modules................................................................................. 37
Grounding Considerations............................................................................................................. 39
EtherCAT Communications ........................................................................................................... 42
RS-232 Communications .............................................................................................................. 42
Digital Command Inputs: Position.................................................................................................. 43
Digital Command Inputs: Velocity, Torque...................................................................................... 43
Multi-Mode Port as an Input ...................................................................................................... 44
Multi-Mode Port as an Output .................................................................................................... 45
CME Defaults........................................................................................................................... 46
High Speed Inputs: IN1, IN2, IN3, IN4, IN5, 1N6 ........................................................................ 47
Analog Input: AIN1 .................................................................................................................. 48
Digital Outputs: Out1~Out6 ...................................................................................................... 48
SLI (Switch & LED Interface) PORT ............................................................................................ 49
Encoder 1 (Primary Feedback)................................................................................................... 49
Analog Encoder ....................................................................................................................... 52
Other Motor Connections .......................................................................................................... 52
VLOGIC .................................................................................................................................. 53
Typical Connections ................................................................................................................. 54
5Connections and Wiring EZ Boards.................................................................................................. 55
Safe Torque Off........................................................................................................................... 64
RS-232 Serial Communications ..................................................................................................... 67
Network Ports ............................................................................................................................. 68
Control I/O ................................................................................................................................. 70
EZ Board Indicators..................................................................................................................... 79
EZ Development Board Indicators ................................................................................................. 81
