Model Ip Ic Vdc TEL-090-07 7 5 90 TEL-090-10 10 10 90 DIGITAL SERVO DRIVE FOR STEPPER MOTORS RoHS TEL Stepnet Plus Panel EtherCAT Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01442 Rev 00 Page 1 of 30 DIGITAL SERVO DRIVE FOR STEPPER MOTORS CONTROL MODES • Microstepping Mode: Profile Position/Velocity, Interpolated Position, Homing • Servo Mode: Cyclic Synchronous Position/Velocity/Torque (CSP/CSV/CST) • Camming, Gearing • Indexer COMMAND INTERFACE • CANopen application protocol over EtherCAT (CoE) • ASCII and discrete I/O • Stepper commands • ±10V position/velocity/torque • PWM velocity/torque command • Master encoder (Gearing/Camming) COMMUNICATIONS • EtherCAT • RS-232 FEEDBACK Incremental Encoders • Digital quad A/B/X • Aux. quad A/B/X encoder Absolute Encoders • EnDat, Sanyo Denki Absolute A I/O DIGITAL • 6 High-speed inputs • 1 Motor over-temp input • 4 Opto-Isolated inputs • 3 Opto-Isolated outputs • 1 Opto-Isolated brake output I/O ANALOG • 1 Reference Input, 12-bit SAFE TORQUE OFF (STO) • SIL 3, Category 3, PL d DIMENSIONS: IN [MM] • 5.08 x 3.41 x 1.99 [129 x 86.6 x 50.4] • 5.08 x 3.41 x 3.39 [129 x 86.6 x 86.1] with heatsink DESCRIPTION Stepnet Plus TEL is a high-performance DC powered microstepping drive for control of hybrid stepping motors via EtherCAT using the CAN Application protocol for EtherCAT (CoE). Microstepping modes are Profile Position, Interpolated Position Mode (PVT), and Homing. With encoder feedback, the TEL can operate a stepper as a brushless servo motor, enabling Cyclic Sync Position/Velocity/ Torque operation. As well as operating on EtherCAT networks, the TEL also supports the following traditional control modes: step/direction, RS-232 ASCII, master encoder for gearing and camming, digital input commands to initiate predetermined motion sequences. Drive commissioning is fast and simple using CME 2™ software operating under Windows ® and communicating with the TEL via RS-232 or an EtherCAT network. Feedback from 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 seven non-isolated inputs and four opto-isolated digital inputs that are bipolar types, sourcing or sinking current into a common connection that can be tied to ground or +24V. [IN1] defaults to the drive Enable function and is programmable to other functions. The other inputs are programmable. All inputs have programmable active levels. Three opto-isolated outputs [OUT1~3] have individual collector/emitter connections. An isolated MOSFET output [OUT4] is programmable to drive a motor brake or other functions and has an internal flyback diode for driving inductive loads. 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.
30
Embed
dIgItal serVo drIVe for stepper Motors · 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
This document is posted to help you gain knowledge. Please leave a comment to let me know what you think about it! Share it to your friends and learn new things together.
Transcript
Model Ip Ic VdcTEL-090-07 7 5 90TEL-090-10 10 10 90
dIgItal serVo drIVe for stepper Motors
RoHSTELStepnet Plus Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01442 Rev 00 Page 1 of 30
DESCRIPTIONStepnetPlusTELisahigh-performanceDCpoweredmicrosteppingdrive for control of hybrid steppingmotors via EtherCAT usingtheCANApplicationprotocol forEtherCAT (CoE).MicrosteppingmodesareProfilePosition,InterpolatedPositionMode(PVT),andHoming.Withencoderfeedback,theTELcanoperateastepperasabrushlessservomotor,enablingCyclicSyncPosition/Velocity/Torqueoperation.
AswellasoperatingonEtherCATnetworks,theTELalsosupportsthe following traditional controlmodes: step/direction, RS-232ASCII,master encoder for gearing and camming, digital inputcommandstoinitiatepredeterminedmotionsequences.
Drivecommissioning is fastandsimpleusingCME2™softwareoperatingunderWindows®andcommunicatingwiththeTELviaRS-232oranEtherCATnetwork.
Feedbackfromincrementalandabsoluteencodersissupported. Amulti-mode encoder port functions as an input or outputdependingonthedrive’sbasicsetup.Asaninputittakesfeedbackfromasecondaryencodertocreateadual-looppositioncontrolsystemorasamasterencoderfordrivingacamtable.
There are seven non-isolated inputs and four opto-isolateddigital inputsthatarebipolartypes,sourcingorsinkingcurrentintoacommonconnection thatcanbe tied togroundor+24V. [IN1]defaultstothedriveEnablefunctionandisprogrammabletootherfunctions.Theotherinputsareprogrammable.Allinputshave programmable active levels. Three opto-isolated outputs[OUT1~3]haveindividualcollector/emitterconnections.AnisolatedMOSFEToutput[OUT4]isprogrammabletodriveamotorbrakeorother functionsandhasan internalflybackdiode fordrivinginductiveloads.
Drive power is transformer-isolated DC from regulated orunregulated power supplies. An AuxHV input is provided for“keep-alive” operation permitting the drive power stage to becompletelypowereddownwithoutlosingpositioninformation,orcommunicationswiththecontrolsystem.
RoHSTELStepnet Plus Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01442 Rev 00 Page 2 of 30
DIGITAL CONTROL DigitalControlLoops Current,velocity,position.100%digitalloopcontrol Samplingrate(time) Currentloop:16kHz(62.5µs),Velocity&positionloops:4kHz(250µs) Busvoltagecompensation Changesinbusormainsvoltagedonotaffectbandwidth Minimumloadinductance 200µH
COMMANDINPUTS(NOTE:DIGITALINPUTFUNCTIONSAREPROGRAMMABLE) Distributed Control Modes
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) ISO13849-1:2015(Cat3,PLd)
general specIfIcatIons
RoHS
RoHSTELStepnet Plus Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01442 Rev 00 Page 4 of 30
EtherCATDEVICE ID (STATION ALIAS)InanEtherCATnetwork,slavesareautomaticallyassignedconsecutiveaddressesbasedontheirpositiononthenetwork.Butwhenthedevicemusthaveapositiveidentificationthatisindependentofcabling,aDeviceIDisused.IntheTEL,thisisprovidedbytwo16-positionrotaryswitcheswithhexadecimalencoding.ThesecansettheDeviceIDofthedrivefrom0x00~0xFF(0~255decimal).Thechartshowsthedecimalvaluesofthehexsettingsofeachswitch.Example1:FindtheswitchsettingsfordecimalDeviceID107:1)Findthehighestnumberinthex10columnthatislessthan107and
L/A Green:Showsthestateofthephysicallinkandactivityonthelink. AgreenLEDindicatesthestateoftheEtherCATnetwork: LED Link Activity Condition ON yes No Port Open Flickering Yes Yes PortOpenwithactivity Off No (N/A) Port Closed
AMPLED& DEVICE ID SWITCHES
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
TELStepnet Plus Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01442 Rev 00 Page 6 of 30
TELisconfiguredviaathree-wire,full-duplexDTERS-232portthatoperatesfrom9600to115,200Baud,8bits,noparity,andonestopbit.Signalformatisfull-duplex,3-wire,DTEusingRxD,TxD,andGnd.ConnectionstotheTEL RS-232 port are throughJ2,anRJ-11connector.TheTEL SerialCableKit(SER-CK)containsamodularcable,andanadapterthatconnectstoa9-pin,Sub-Dserialportconnector(COM1,COM2,etc.)onPC’sandcompatibles.
SER-Ck SERIAL CAbLE kITTheSER-CKprovidesconnectivitybetweenaD-Sub9maleconnectorandtheRJ-11connectorontheTEL.ItincludesanadapterthatplugsintotheCOM1(orother)portofaPCandusescommonmodularcabletoconnecttotheTEL.TheconnectionsareshowninthediagramTELow.
USb TO RS-232 ADAPTERSThesemayormaynothavethespeedtoworkatthe115,200BaudratewhichgivesthebestresultswithCME2.UsershavereportedthatadaptersusingtheFTDIchipsetworkwellwithCME2
Afterpower-on,reset,ortransmissionofaBreakcharacter,theBaudratewillbe9,600.Oncecommunicationhasbeenestablishedatthisspeed,theBaudratecanbechangedtoahigherrate(19,200,57,600,115,200).ASCIIparameter0x90holdstheBaudratedata.Tosettherateto115,200enterthislinefromaterminal: s r0x90 115200 <enter>Then,changetheBaudrateinthecomputer/controllertothenewnumberandcommunicateatthatrate.
STO byPASS (MUTING)InorderforthePWMoutputsoftheTELtobeactivated,currentmustbeflowingthroughalloftheopto-couplersthatareconnectedtotheSTO-IN1andSTO-IN2terminalsofJ4,andthedrivemustbeinanENABLEDstate.Whentheopto-couplersareOFF,thedriveisinaSafeTorqueOff(STO)stateandthePWMoutputscannotbeactivatedbythecontrolcoretodriveamotor.
TheinformationprovidedintheAccelnet & Stepnet Plus Panels STO Manual mustbeconsideredforanyapplicationusingthedrive’sSTOfeature.FAIluRETOhEEDThISwARNINGCANCAuSEEquIPMENTDAMAGE,INjuRy,ORDEATh.
DIFFERENTIAL:IN3,4,5,6
Signal J1Pins
[IN3]Pls,CU,EncA 9
[IN4]/Pls,/CU,Enc/A 10
[IN5]Dir,CD,EncB 11
[IN6]/Dir,/CD,Enc/B 12
SignalGround 6,16,22,31, 37,44
FrameGround 1
DIFFERENTIAL:IN3,4,5,6
Signal J1Pins
[IN3]Curr-Vel± 9
[IN4]/Curr-Vel± 10
[IN5]Pol-Dir 11
[IN6]/Pol-Dir 12
SignalGround 6,16,22,31, 37,44
FrameGround 1
SINGLE-ENDED:IN5,6
Signal J1Pins
[IN5]Pls,CU,EncA 11
[IN6]Dir,CD,EncB 12
SignalGround 6,16,22,31, 37,44
FrameGround 1
SINGLE-ENDED:IN5,6
Signal J1Pins
[IN5]Curr-Vel± 11
[IN6]Pol-Dir 12
Sgnd 6,16,22,31, 37,44
FrameGround 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]
TELStepnet Plus Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N16-01442 Rev00 Page8of30
POSITION COMMAND INPUTSSingle-endeddigitalpositioncommandsmustbesourcedfromdeviceswithactivepull-upandpull-downtotakeadvantageofthehigh-speedinputs.
dIgItal coMMand Inputs: VelocIty, torqueSingle-endeddigitaltorqueorvelocitycommandsmustbesourcedfromdeviceswithactivepull-upandpull-downtotakeadvantageofthehigh-speedinputs.
MOTOR OVER TEMP INPUTThe4.99kpull-upresistorworkswithPTC(positivetemperaturecoefficient)thermistorsthatconformtoBS4999:Part111:1987,orswitchesthatopen/closeindicatingamotorover-temperaturecondition.Theactivelevelisprogrammable.
*VdcReferencedtoICOMterminal.
* RC time constant applieswhen input is driven byactivehigh/lowdevice
Motor oVerteMp Input: In11
opto-Isolated Inputs: In7, In8, In9, In10
SPECIfICATIONS
Spec Data Notes
InputVoltage Vref ±10Vdc
InputResistance Rin 5.05kΩ
HI/LODEFINITIONS: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
OutputCurrent 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
+
TELStepnet Plus Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01442 Rev 00 Page 14 of 30
This diagram shows theconnectionstothedrivethatshare a commonground inthedriver.Ifthebrake24Vpower supply is separatefromtheDCsupplypoweringthe drive, it is importantthat itconnects toanearthorcommongroundingpointwiththehVpowersupply.
Signal J6Pins
EncA 13
Enc/A 12
EncB 11
Enc/B 10
EncX 9
Enc/X 8
+5V 6, 17
Sgnd 5, 16, 25, 26
F.G. 1
Signal J6Pins
Clk 9
/Clk 8
Data 15
/Data 14
+5V 6, 17
Sgnd 5, 16, 25, 26
F.G. 1
Signal J6Pins
Data 15
/Data 14
+5V 6, 17
Sgnd 5, 16, 25, 26
F.G. 1
RoHS
1k+5V
1k
Encoder J6
FG Frame Ground
Enc. A121A
Enc. B121B
Enc. Index130Z/X
X
/B
B
/A
A
+5V
0V
+5V Out @ 500 mA
Signal Ground
A
B
A
B
1k+5V
1k 1k+5V
1k
Encoder
221
Dat
/Dat
Clk
/Clk130
FGFrame Ground
J6
Clk
DataData
Clk
+5V
0V
+5V Out @ 500 mA
Signal Ground
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
Sgnd=SignalGround F.G.=FrameGnd
TELStepnet Plus Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01442 Rev 00 Page 16 of 30
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01442 Rev 00 Page 17 of 30
Motor connectIons
Motor oVer teMp InputThe4.99kpull-upresistorworkswithPTC(positivetemperaturecoefficient)thermistorsthatconformtoBS4999:Part111:1987(tableTELow),orswitchesthatopen/closeindicatingamotorover-temperaturecondition.Theactivelevelisprogrammable. TheseinputsareprogrammableforotherfunctionsifnotusedasMotempinputs.And,otherinputsareprogrammablefortheMotempfunction.
Motor phase connectIonsThedriveoutputistwoH-bridgePWMinvertersthatconverttheDCbussvoltage(+HV)intotwosinusoidalvoltagewaveformsthatdrivethemotorA&Bphase coils. Cable shouldbesizedforthecontinuouscurrentratingofthemotor.Motorcablingshouldusetwisted,shieldedconductorsforCEcompliance,andtominimize PWMnoise coupling into othercircuits.Themotorcableshieldshouldconnecttomotorframeandthedriveframegroundterminal(J7-1)forbestresults.
MoteMp sIgnals bs 4999 sensor
Motor sIgnals
RoHS
Frame Gnd
5 25
26
17
8
9
10
11
12
1
13
4
3
2
DIGITALENCODER
/A
A
/B
B
/X
Vcc
0V
X
J6 6
Enc /A
Enc A
Enc /B
Enc B
Enc /X
Enc X
+5V Out
7
Signal Gnd
Signal Gnd
Motemp
J5
TEMPSENSOR
Brake [OUT4]
24V Return
4
Brk 24V Output
Brk 24V Input +
0V
24 Vdc
Stepnet Plus Panel
Brake
16
3
2
1
STEPPERMOTOR
/A
A
B
/B
4
3
2
1
Mot /A
5Mot A
Mot B
Mot /B
Frame Gnd
J7
[IN14]
[IN13]
[IN12]
Groundingtab
TELStepnet Plus Panel EtherCAT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N16-01442 Rev00 Page18of30
Copley Controls, 20 Dan Road, Canton, MA 02021, USA P/N 16-01442 Rev 00 Page 21 of 30
REGENERATIONThis chart shows the energy absorption inW·s forthedriveoperatingatsometypicalDCvoltages.Itisbasedontheinternal680uFcapacitorandwouldbeincreasedbythecapacitanceoftheexternalDCpowersupply.Whenthe loadmechanicalenergy isgreater than thesevaluesanexternal regenerativeenergydissipaterisrequired,ortheDCpowersupplycapacitance can be increased to absorb the regenenergy.
Joules(W·s)
+HV(Vdc)
MOTOR CONNECTIONS• Motorcableshieldconnectstomotorframe,isgroundedwithaP-clipnearthedriveandterminatesinaring-lugthatisscrewedtothedrivechassisbyamountingscrewtothepanel