APM. Accelnet Plus Module CANopen. Control Modes Profile Position-Velocity-Torque, Interpolated Position, Homing Camming, Gearing Indexer

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1 Control Modes Profile Position-Velocity-Torque, Interpolated Position, Homing Camming, Gearing Indexer DIGITAL SERVO DRIVE FOR BRUSHLESS/BRUSH MOTORS Command Interface CANopen ASCII and discrete I/O Stepper commands ±0V position/velocity/torque command PWM velocity/torque command Master encoder (Gearing/Camming) Communications CANopen RS-232 Feedback Digital quad A/B encoder Analog sin/cos incremental Panasonic Incremental A Format SSI, EnDat, Absolute A Tamagawa & Panasonic Absolute A Sanyo Denki Absolute A, BiSS,BiSS Aux. encoder Digital Halls I/O Digital: inputs, 6 outputs Analog:, 2-bit input Dimensions: mm [in] 76.3 x 58.2 x 20.5 [3.0 x 2.29 x 0.8] Model Ic Ip Vdc DEVELOPMENT KIT DESCRIPTION Accelnet is a high-performance, DC powered servo drive for position, velocity, and torque control of brushless and brush motors via CANopen. Using advanced FPGA technology, the provides a significant reduction in the cost per node in multi-axis CANopen systems. The operates as an CANopen node using the CANopen over CANopen (CoE) protocol of DSP-402 for motion control devices. Supported modes include: Profile Position-Velocity-Torque, Interpolated Position Mode (PVT), and Homing. Command sources also include ±0V analog torque/velocity/ position, PWM torque/velocity, and stepper command pulses. Feedback from a number of incremental and absolute encoders is supported. 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. Web: Page of 26

2 GENERAL SPECIFICATIONS Test conditions: Load = Wye connected load: 2 mh + 2 Ω line-line. Ambient temperature = 25 C, +HV = HV max MODEL Units OUTPUT POWER Peak Current A DC, sinusoidal A RMS, sinusoidal Peak time s Sec Continuous current A DC, sinusoidal A RMS, sinusoidal Maximum Output Voltage V Vout = HV RoutIout INPUT POWER HVmin~HVmax +4 to to to +90 V DC, transformer-isolated Ipeak A For sec Icont A Continuous Aux HV +4 to +HV 500 madc maximum, 2.5 W PWM OUTPUTS Type PWM ripple frequency 3-phase MOSFET inverter, 6 khz center-weighted PWM, space-vector modulation 32 khz CONTROL MODES CANopen: Profile Position/Velocity/Torque, Interpolated Position (PVT), Homing Analog ±0 Vdc velocity/torque Digital PWM velocity/torque and stepper commands Discrete I/O: camming, internal indexer and function generator COMMAND INPUTS Type Signals Data protocol Node-ID Selection Analog Digital Camming DIGITAL CONTROL Digital Control Loops Sampling rate (time) Commutation Modulation Bandwidth HV Compensation Minimum load inductance DIGITAL INPUTS Number, type [IN~9] [IN0] [IN] Functions CANopen, galvanically isolated from drive circuits CAN_H, CAN_L, CAN_GND CANopen Device Profile DSP-402 over CANopen (CoE) Programmable, or via digital inputs ±0 Vdc, torque/velocity/position control High speed inputs for PWM/Polarity, Step/Direction, or Quad A/B master encoder Quad A/B digital encoder Current, velocity, position. 00% digital loop control Current loop: 6 khz (62.5 µs), Velocity & position loops: 4 khz (250 µs) Sinusoidal, field-oriented control for brushless motors Center-weighted PWM with space-vector modulation Current loop: 2.5 khz typical, bandwidth will vary with tuning & load inductance Changes in bus voltage do not affect bandwidth 200 µh line-line, 74LVC4 Schmitt trigger, V T + =.~2.2 Vdc, V T - = 0.8~.5 Vdc, V H + = 0.3~0.45 Vdc High-speed (HS) digital, 00 ns RC filter, 0 kw pull-up to +5 Vdc, +7 Vdc tolerant SLI port MISO input, 47 ns RC filter, 0 kw pull-up to +5 Vdc Motor temperature switch, 330 µs RC filter, 4.99 kw pull-up to +5 Vdc Default functions are shown above, programmable to other functions ANALOG INPUT Number Type Differential, ±0 Vdc, 2-bit resolution, 5 kw input impedance DIGITAL OUTPUTS Number 6, function programmable (defaults shown below) Number 6 [OUT~2] Open-drain MOSFET with kw pull-up with series diode to +5 Vdc 300 madc max, +30 Vdc max. Functions programmable [OUT3~6 ] SLI port MOSI, SCLK, SS, & SS2 signals, 74AHCT25 line drivers; +5 Vdc tolerant Output current:-8 ma V OH = 2.4V, 6 ma sink at V OL = 0.5V Functions Default functions are shown above, programmable to other functions Web: Page 2 of 26

3 FEEDBACK Incremental encoders: Digital Incremental Encoder Analog Incremental Encoder Absolute encoders: Heidenhain EnDat 2.2, SSI Heidenhain EnDat 2.2 Quadrature signals, (A, /A, B, /B, X, /X), differential (X, /X Index signals not required) RS-422 differential line receivers, 5 MHz maximum line frequency (20 M counts/sec) Fault detection for open/shorted inputs, or low signal amplitude, external 2W terminators required Sin/Cos, differential, internal 2W terminators between ± inputs,.0 Vp-p typical,.45 Vp-p maximum, Common-mode voltage 0.25 to 3.75 Vdc,, ±0.25 V, centered about 2.5 Vdc Signals: Sin(+), Sin(-), Cos(+), Cos(-), Frequency: 230 khz maximum line (cycle) frequency, interpolation 2 bits/cycle (4096 counts/cycle) Serial Clock (X, /X), Data (S, /S) signals, differential 4-wire, external 2W terminator required for Data Clock (X, /X), Data (S, /S), sin/cos (sin+, sin-, cos+, cos-) signals Internal 2W terminators between sin/cos inputs, external 2W terminator required for Data Absolute A, Tamagawa Absolute A, Panasonic Absolute A Format SD+, SD- (S, /S) signals, 2.5 or 4 MHz, 2-wire half-duplex, external 2W terminator required Position feedback: 3-bit resolution per rev, 6 bit revolution counter (29 bit absolute position data) Status data for encoder operating conditions and errors BiSS (B&C) Commutation: Encoder power RS-232 PORT Signals Mode Protocol MOTOR CONNECTIONS Phase U, V, W Encoders Hall & encoder power Motemp [IN] Voltage range MA+, MA- (X, /X), SL+, SL- (S, /S) signals, 4-wire, clock output from drive, data returned from encoder External 2W terminator required for SL Digital Hall signals, single-ended,.5 µs RC filter, 5 kw pull-up to +5 Vdc, 74LVC4 Schmitt trigger +5 Vdc 400 madc max, current limited to Vdc if output overloaded RxD, TxD, Gnd for operation as a DTE device Full-duplex, DTE serial port for drive setup and control, 9,600 to 5,200 Baud ASCII or Binary format PWM outputs to 3-phase ungrounded Wye or delta connected brushless motors, or DC brush motors See FEEDBACK section above +5 Vdc 400 madc max, current limited to Vdc if output overloaded Motor overtemperature switch input. Active level programmable, 4.99 kw pull-up to +5 Vdc Programmable to disable drive when motor over-temperature condition occurs All inputs shown above are +5 Vdc tolerant PROTECTIONS HV Overvoltage +HV > HV max Drive outputs turn off until +HV < HV max (See Input Power for HV max ) HV Undervoltage +HV < +4 Vdc Drive outputs turn off until +HV > +4 Vdc Drive over temperature Heat plate > 70 C. Drive outputs turn off Short circuits Output to output, output to ground, internal PWM bridge faults I 2 T Current limiting Programmable: continuous current, peak current, peak time Motor over temperature Digital inputs programmable to detect motor temperature switch Feedback Loss Inadequate analog encoder amplitude or missing incremental encoder signals MECHANICAL & ENVIRONMENTAL Size 76.3 x 58.2 x 20.5 [3.0 x 2.29 x 0.8] Weight 0.27 lb (0.2 kg) without heatsink Ambient temperature 0 to +45 C operating, -40 to +85 C storage Humidity 0 to 95%, non-condensing Vibration 2 g peak, 0~500 Hz (sine), IEC Shock 0 g, 0 ms, half-sine pulse, IEC Contaminants Pollution degree 2 Environment IEC68-2: 990 Cooling Heat sink and/or forced air cooling required for continuous power output AGENCY STANDARDS CONFORMANCE In accordance with EC Directive 2004/08/EC (EMC Directive) EN 550: 2009/A:200 CISPR :2009/A:200 Industrial, Scientific, and Medical (ISM) Radio Frequency Equipment Electromagnetic Disturbance Characteristics Limits and Methods of Measurement Group, Class A EN : 2007 Electromagnetic Compatibility (EMC) Part 6-: Generic Standards Immunity for residential, Commercial and Light-industrial Environments In accordance with EC Directive 2006/95/EC (Low Voltage Directive) IEC 600-:200 Underwriters Laboratory Standards UL 600-, 2nd Ed.: 2008 UL File Number E Safety Requirements for Electrical Equipment for Measurement, Control and Laboratory Use Electrical Equipment for Measurement, Control and Laboratory Use; Part : General Requirements Web: Page 3 of 26

4 CANOPEN Based on the CAN V2.0b physical layer, a robust, two-wire communication bus originally designed for automotive use where low-cost and noise-immunity are essential, CANopen adds support for motion-control devices and command synchronization. The result is a highly effective combination of data-rate and low cost for multi-axis motion control systems. Device synchronization enables multiple axes to coordinate moves as if they were driven from a single control card. CANOPEN COMMUNICATION Accelnet uses the CAN physical layer signals CANH, CANL, and GND for connection, and CANopen protocol for communication. Before installing the drive in a CAN system, it must be assigned a CAN Node-ID (address). A maximum of 27 CAN nodes are allowed on a single CAN bus. Up to seven digital inputs can be used to produce CAN Node-IDs from ~27, or the Node-ID can be saved to flash memory in the module. Node-ID 0 is reserved for the CANopen master on the network. For more information on CANopen communications, download the CANopen Manual from the Copley web-site: CANopen Manual DIGITAL COMMAND INPUTS The graphic below shows connections between the and a Dsub 9M connector on a CAN card. If the is the last node on a CAN bus, the internal terminator resistor can be used by adding a connection on the PC board as shown. The node Node-ID of the may be set by using digital inputs, or programmed into flash memory in the drive. CME2 -> Basic Setup -> Operating Mode Options CAN_H 9 CAN_L CANH P3/9 CANL P3/7 CAN Transceiver Isolators TD RD 6 5 TERM 2 C CAN Dsub 9M CAN_GND Add connection to use internal terminator resistor P3/8 CAN_GND P3/~6, 0~6 C RS-232 COMMUNICATIONS is configured via a three-wire, full-duplex DTE RS-232 port that operates from 9600 to 5,200 Baud, 8 bits, no parity, and one stop bit. Signal format is full-duplex, 3-wire, DTE using RxD, TxD, and Gnd. Connections to the RS-232 port are through P2 The graphic below shows the connections between an and a computer COM port which is a DTE device. RS232 PORT CME2 -> Tools -> Communications Wizard 9 RxD TxD P2/2 TD 6 5 TxD Gnd RxD P2/ RD D-Sub 9M (DTE) Signal Ground P2/6 Web: Page 4 of 26

5 COMMAND INPUTS ANALOG COMMAND INPUT The analog input has a ±0 Vdc range. As a reference input it can take position/velocity/torque commands from a controller. D/A ±0V [AIN+] P2/35 5k [AIN-] P2/ Vref CME2 -> Basic Setup -> Operating Mode Options P2/34.25V DIGITAL COMMAND INPUTS Digital commands are single-ended format and should be sourced from devices with active pull-up and pull-down to take advantage of the high-speed inputs. The active edge (rising or falling) is programmable for the Pulse/Dir and CU/CD formats. DIGITAL POSITION PULSE & DIRECTION CU/CD QUAD A/B ENCODER Controller Module Controller Module Master Encoder Module Pulse [IN7] P2/2 Current or Velocity CU (Count-Up) [IN7] P2/2 Current or Velocity Encoder ph. B [IN7] P2/2 Current or Velocity Direction [IN8] No Function P2/24 P2/6, 33,34 CD (Count-Down) [IN8] No Function P2/24 P2/6, 33,34 Encoder ph. A [IN8] No Function P2/24 P2/6, 33,34 CME2 -> Basic Setup -> Operating Mode Options CME2 -> Basic Setup -> Operating Mode Options DIGITAL TORQUE, VELOCITY PWM & DIRECTION 50% PWM Duty = 0~00 Controller Copley [IN7] P2/2 Current or Velocity Controller Duty = 50% ±50% Copley [IN7] P2/2 Current or Velocity CME2 -> Main Page-> PWM Command [IN8] P2/24 No Function <no connection> [IN8] P2/24 No Function P2/6, 33,34 P2/6, 33,34 CME2 -> Basic Setup -> Operating Mode Options Web: Page 5 of 26

6 INPUT-OUTPUT HIGH SPEED DIGITAL INPUTS 7V tolerant R [IN~9] R2 P2/5,7~26 C P2/6,33,34 74LVC4 Input P2 Pin R R2 C IN 5 IN2 8 IN3 7 IN4 20 IN5 9 0k k 00p IN6 22 IN7 2 IN8 24 IN9 23 DIGITAL OUTPUTS IN p 30V max 5V max IN k 0k 33n Module k k [OUT] P2/3 [OUT2] P2/32 P2/33 R-L 300mA R-L + 300mA +30V max [OUT3] MOSI [OUT4] SCLK [OUT5] EN [OUT6] EN2 P2/29 P2/30 P2/27 P2/28 Output P2 Pin OUT 3 OUT2 32 OUT3 29 OUT4 30 OUT5 27 OUT6 28 CAN NODE-ID (ADDRESS) SWITCHES The SLI (Switch & LED Interface) port takes in the 8 signals from the two BCD encoded switches that set the CAN Node-ID and controls the LEDs on the CAN bus connectors on the Development Kit. The graphic below shows the circuit for reading the CANopen Node-ID switches. The 74HC65 works as a parallel-in/serial-out device. The 0k pull-down resistors pull the shift register inputs to ground when the is initializing. In the graphics below, switch SW3 is S and SW2 is S2. The values of S are 6~255 and of S2 are 0~5. Together they provide Node-ID range of 0~255. CME2 -> Input/Output -> Digital Outputs SLI Signals External circuit for CANopen Node-ID (address) switches 74HC65 0k Vcc SW3 74LVC2G4 0k k P5/26 [IN8] MISO 47p P5/29,30 Q7 Gnd D0 8 D D2 D AHCT25 P5/34 [OUT4] MOSI k 47p SDI D4 SW2 8 P5/35 [OUT5] SCLK P5/36 [OUT6] SS 0k k 0k k 47p 47p PL CLK D5 D6 D k CKE Switches 0k Web: Page 6 of 26

7 MOTOR CONNECTIONS Motor connections consist of: phases, Halls, encoder, thermal sensor, and brake. The phase connections carry the drive output currents that drive the motor to produce motion. The Hall signals are three digital signals that give absolute position feedback within an electrical commutation cycle. The encoder signals give incremental position feedback and are used for velocity and position modes, as well as sinusoidal commutation. A thermal sensor that indicates motor overtemperature is used to shut down the drive to protect the motor. A brake can provide a fail-safe way to prevent movement of the motor when the drive is shut-down or disabled. QUAD A/B INCREMENTAL ENCODER WITH FAULT PROTECTION Encoders with differential line-driver outputs provide incremental position feedback via the A/B signals and the optional index signal (X) gives a once per revolution position mark. The MAX3097 receiver has differential inputs with fault protections for the following conditions: Short-circuits line-line: This produces a near-zero voltage between A & /A which is below the differential fault threshold. Open-circuit condition: The 2W terminator resistor will pull the inputs together if either side (or both) is open. This will produce the same fault condition as a short-circuit across the inputs. Low differential voltage detection: This is possible with very long cable runs and a fault will occur if the differential input voltage is < 200mV. ±5kV ESD protection: The 3097E has protection against high-voltage discharges using the Human Body Model. Extended common-mode range: A fault occurs if the input common-mode voltage is outside of the range of -0V to +3.2V If encoder fault detection is selected (CME2 main page, Configure Faults block, Feedback Error) and an encoder with no index is used, then the X and /X inputs must be wired as shown below to prevent the unused index input from generating an error for low differential voltage detection. DIGITAL QUADRATURE ENCODER INPUT 5V Encoder 2Ω terminating resistors on user s PC board Module A/B CONNECTIONS (NO INDEX) Encoder 2Ω terminating resistors on user s PC board Module A P2/6 A P2/5 /A MAX3097 A P2/6 A P2/5 /A MAX3097 P2/8 P2/8 B B P2/7 /B MAX3097 B B P2/7 /B MAX3097 Z P2/0 X P2/9 /X P2/4 ENC MAX3097 P2/0 X P2/9 /X P2/4 ENC MAX3097 0V P2/6 0V P2/6 CME2 -> Motor/Feedback -> Feedback Web: Page 7 of 26

8 MOTOR CONNECTIONS (CONT D) SECONDARY QUAD A/B/X INCREMENTAL ENCODER Digital inputs [IN4,5,6] can be programmed as secondary encoder inputs. The graphic shows a differential line receiver on the user mounting board to convert typical encoder signals into single-ended ones for the secondary inputs. Single-ended encoders would connect directly to the inputs of the. CME2 -> Basic Setup -> Feedback Options Encoder A AM26C32 A Y B Module [IN4] P2/20 0k k 74LVC4 B 2A 2B 2Y [IN5] P2/9 0k k 74LVC4 X 3A 3Y [IN6] P2/22 0k k 74LVC4 /G These components are on user mounting board The CME2 screen above shows a Primary Incremental encoder for the motor input. Other types of encoders can be selected for this function. The secondary encoder input can be used for either motor or position feedback. Encoder Accelnet Plus Module ANALOG SIN/COS INCREMENTAL ENCODER The sin/cos inputs are differential with 2 Ω terminating resistors and accept Vp-p signals in the format used by incremental encoders with analog outputs, or with ServoTube motors. sin P2/39 Sin+ P2/40 Sin Sin CME2 -> Motor/Feedback -> Feedback cos P2/37 Cos+ P2/38 Cos Cos P2/4 ENC 0V P2/6 Web: Page 8 of 26

9 PANASONIC INCREMENTAL A ENCODER This is a wire-saving incremental encoder that sends serial data on a two-wire interface in the same fashion as an absolute encoder. CME2 -> Basic setup -> Feedback Incremental-A Encoder 5V 2Ω terminating resistor on user s PC board Accelnet Plus Module.2k SD D-R 220.2k SD+ SD- P2/4 S P2/3 /S Cmd D-R Cmd V+ P2/4 ENC SD MAX3362B V- 0V P2/6 ABSOLUTE A ENCODER, TAMAGAWA, AND PANASONIC CME2 -> Motor/Feedback -> Feedback Nikon-A Encoder 5V 2Ω terminating resistor on user s PC board Accelnet Plus Module.2k SD D-R 220.2k SD+ SD- P2/4 S P2/3 /S Cmd D-R Cmd V+ P2/4 ENC SD MAX3362B V- 0V P2/6 SSI ABSOLUTE ENCODER The SSI (Synchronous Serial Interface) is an interface used to connect an absolute position encoder to a motion controller or control system. The Accelnet drive provides a train of clock signals in differential format (Clk, /Clk) to the encoder which initiates the transmission of the position data on the subsequent clock pulses. The polling of the encoder data occurs at the current loop frequency (6 khz). The number of encoder data bits and counts per motor revolution are programmable. Data from the encoder in differential format (Dat, /Dat) MSB first. Binary or Gray encoding is selectable. When the LSB goes high and a dwell time has elapsed, data is ready to be read again. CME2 -> Motor/Feedback -> Feedback Encoder Clk Data Clk /Clk Dat /Dat 2Ω terminating resistor on user s PC board Accelnet Plus Module P2 P2/0 Enc X P2/9 Enc /X P2/4 Enc S P2/3 Enc /S Clk MAX3362B Data MAX3362B 0V P2/4 P2/33 ENC Web: Page 9 of 26

10 MOTOR CONNECTIONS (CONT D) Accelnet Plus Module CANopen ENDAT ABSOLUTE ENCODER The EnDat interface is a Heidenhain interface that is similar to SSI in the use of clock and data signals for synchronous digital, bidirectional data transfer. It also supports analog sin/cos channels from the same encoder. The number of position data bits is programmable Use of sin/cos incremental signals is optional in the EnDat specification. Encoder Clk 2Ω terminating resistor on user s PC board Accelnet Plus Module P2/0 CME2 -> Motor/Feedback -> Feedback Clk Data /Clk Dat /Dat 2 X P2/9 /X P2/4 S P2/3 MAX3362B Clk Data Out /S D-R Data In MAX3362B sin P2/39 Sin(+) P2/40 Sin(-) - 2 Sin + cos P2/37 Cos(+) P2/38 Cos(-) Cos P2/4 ENC 0V P2/6 BISS (B & C) ABSOLUTE ENCODER CME2 -> Motor/Feedback -> Feedback BiSS Encoder 2Ω terminating resistor on user s PC board Accelnet Plus Module Master MA+ MA- P2/0 X P2/9 /X Clk Slave SL+ SL- P2/4 S P2/3 /S Data V+ V- P2/4 P2/6 ENC Web: Page 0 of 26

11 MOTOR CONNECTIONS (CONT D) DIGITAL HALL SIGNALS Hall 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 they may be sourced by magnetic 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 commutationinitialization after startup, and for checking the motor phasing after the servo drive has switched to sinusoidal commutation. HALL INPUTS 5V Halls Hall A 5K P2/ 5K 00p 74LVC4 Hall A CME2 -> Basic Setup -> Feedback Options Hall B 5K P2/3 5K 00p Hall B Hall C P2/2 5K 5K Hall C 00p 0V P2/4 P2/6 ENC PHASE CONNECTIONS The drive output is a three-phase PWM inverter that converts the DC bus voltage (+HV) into three sinusoidal voltage waveforms that drive the motor phase-coils. Cable should be sized for the continuous current rating of the drive. Motor cabling should use twisted, shielded conductors for CE compliance, and to minimize PWM noise coupling into other circuits. The motor cable shield should connect to motor frame and the drive HV ground terminal (J2-) for best results. When driving a DC motor, the W output is unused and the motor connects between the U & V outputs. CME2 -> Basic Setup -> Motor Options +HV 0V PWM Mot P/37,38,39 P/40,4,42 Mot P/27,28,29 + P/30,3,32 V Motor 3 ph. Mot P/7,8,9 P/20,2,22 U W MOTOR OVER TEMP INPUT The 4.99k pull-up resistor works with PTC (positive temperature coefficient) thermistors that conform to BS 4999:Part :987 (table below), or switches that open/close indicating a motor over-temperature condition. The active level is programmable. Property Resistance in the temperature range 20 C to +70 C Ohms 60~750 Module P2/ k Motemp [IN] P2/6,33,34 0k 33n 74LVC2G4 Resistance at 85 C 650 Resistance at 95 C 3990 Resistance at 05 C 2000 CME2 -> Input / Output Web: Page of 26

12 CONNECTIONS FOR ABSOLUTE ENCODER WITH DUPLEX CLOCK/DATA P Drive P/,2,3,4,5,6 CAN_GND P/9 CAN_H Enc A Enc /A P2/6 P2/5 P/7 CAN_L P/8 TERM Enc B Enc /B P2/8 P2/7 2Ω terminating resistor on user s PC board P/0,,2, 3,4,5,6 CAN_GND Enc X Enc /X Enc S Enc /S P2/0 P2/9 P2/4 P2/3 Clk /Clk Dat /Dat ABSOLUTE ENCODER Enc Sin(+) P2/39 Motion Controller DAC ±0V Enable Enc Sin(-) P2/40 Enc Cos(+) P2/37 Enable Input P2/5 [IN] HSIn Enc Cos(-) P2/38 P2/3 GP [OUT] P2 P2/35 ±0V Ref(+) Hall U P2/ P2/36 ±0V Ref(-) Hall V P2/3 P2/8 [IN2] HS Hall W P2/2 Position Commands P2/7 [IN3] HS P2/20 [IN4] HS P2/4 P2/33 CU Step ENC Ch. B P2/22 [IN6] HS P2/2 [IN7] HS Motemp P2/9 GPin [IN5] CD Dir Velocity, Torque commands PWM Dir Controller RS-232 I/O ENC Ch. A 50% n.c. RxD TxD Gnd P2/24 [IN8] HS P2/23 [IN9] HS [IN0] P2/26 SPI-MISO [IN] P2/25 Motemp P2/32 [OUT2] GP [OUT3] P2/29 SLI-MOSI [OUT4] P2/30 SLI-SCLK [OUT5] P2/27 SLI-SS [OUT6] P2/28 SLI-SS2 P2/34 P2/2 TxD P2/ RxD P2/6 Mot W Mot V Mot U Aux HV Input +HV Input P/7,8,9 P/2,2,22 P/27,28,29 P/30,3,32 P/37,38,39 P/40,4,42 J P/8 P/,2,3 P/4,5,6 +HV P/9,0, Com P/2,3,4 Fuse Fuse W V U Fuse 330 µf Minimum per drive BRUSHLESS MOTOR +24 V Optional DC Power DC Power Note: Brush motors connect to U & V outputs Mount external capacitor <= 2" (30 cm) from drive Notes:. Encoders with this type of connection include BiSS and SSI. Web: Page 2 of 26

13 CONNECTIONS FOR INCREMENTAL DIGITAL OR ANALOG ENCODERS P Drive 2Ω terminating resistors on user s PC board P/,2,3,4,5,6 CAN_GND P/9 CAN_H P/7 CAN_L P/8 TERM Enc A Enc /A Enc B Enc /B P2/6 P2/5 P2/8 P2/7 2 2 A /A B /B DIGITAL ENCODER P/0,,2, 3,4,5,6 CAN_GND Enc X Enc /X P2/0 P2/9 2 X /X Enc S P2/4 Enc /S P2/3 Enc Sin(+) P2/39 Sin+ Motion Controller DAC ±0V Enable Enc Sin(-) P2/40 Enc Cos(+) P2/37 Enable Input P2/5 [IN] HSIn Enc Cos(-) P2/38 P2/3 GP [OUT] P2/35 ±0V Ref(+) P2 Hall U P2/ Cos+ Sin- Cos- U ANALOG ENCODER P2/36 ±0V Ref(-) Hall V P2/3 V HALLS P2/8 [IN2] HS Hall W P2/2 W Position Commands P2/7 [IN3] HS P2/20 [IN4] HS P2/4 P2/33 CU Step ENC Ch. B P2/22 [IN6] HS P2/2 [IN7] HS Motemp P2/9 GPin [IN5] CD Dir Velocity, Torque commands PWM Dir Controller RS-232 I/O ENC Ch. A 50% n.c. RxD TxD Gnd P2/24 [IN8] HS P2/23 [IN9] HS [IN0] P2/26 SPI-MISO [IN] P2/25 Motemp P2/32 [OUT2] GP [OUT3] P2/29 SLI-MOSI [OUT4] P2/30 SLI-SCLK [OUT5] P2/27 SLI-SS [OUT6] P2/28 SLI-SS2 P2/34 P2/2 TxD P2/ RxD P2/6 Mot W Mot V Mot U Aux HV Input +HV Input P/7,8,9 P/2,2,22 P/27,28,29 P/30,3,32 P/37,38,39 P/40,4,42 J P/8 P/,2,3 P/4,5,6 +HV P/9,0, Com P/2,3,4 Fuse Fuse W V U Fuse 330 µf Minimum per drive BRUSHLESS MOTOR +24 V Optional DC Power DC Power Note: Brush motors connect to U & V outputs Mount external capacitor <= 2" (30 cm) from drive Web: Page 3 of 26

14 PRINTED CIRCUIT BOARD CONNECTORS & SIGNALS P3 CANOPEN P POWER & MOTOR Signal Pin Signal +HV 2 +HV +HV 4 3 +HV +HV 6 5 +HV Aux HV 8 7 HVGnd 0 9 HVGnd HVGnd 2 HVGnd HVGnd 4 3 HVGnd 6 5 Mot W 8 7 Mot W Mot W 20 9 Mot W Mot W 22 2 Mot W Mot V Mot V Mot V Mot V Mot V 32 3 Mot V Mot U Mot U Mot U Mot U Mot U 42 4 Mot U P: Power & Motor Dual row, 2 mm- centers 42 position female header SAMTEC SQW-2-0-L-D TOP VIEW Viewed from above looking down on the connectors or PC board footprint to which the module is mounted Pin Pin 42 P Pin 6 Pin 40 Notes:. P connections use multiple pins to share current. All signals of the same name must be connected on the PC board to which the is mounted. 2. Cells in table above that are filled in grey are connector contacts that have no circuit connections. P3 P2 Pin Pin Signal Pin Signal CAN_GND 2 CAN_GND CAN_GND 4 3 CAN_GND CAN_GND 6 5 CAN_GND P2 CONTROL Term 8 7 CAN_L CAN_GND 0 9 CAN_H CAN_GND 2 CAN_GND CAN_GND 4 3 CAN_GND CAN_GND 6 5 CAN_GND P2: Control Dual row, 2 mm- centers 6 position female header SAMTEC SQW-08-0-L-D Signal Pin Signal RS-232 TxD 2 RS-232 RxD Enc S 4 3 Enc /S Enc A 6 5 Enc /A Enc B 8 7 Enc /B Enc X 0 9 Enc /X Hall W 2 Hall U ENC 4 3 Hall V 6 5 [IN] HS HS [IN2] 8 7 [IN3] HS HS [IN4] 20 9 [IN5] HS HS [IN6] 22 2 [IN7] HS HS [IN8] [IN9] HS MISO [IN0] [IN] Motemp [OUT6] [OUT5] SLI-SS SLI-SCLK [OUT4] [OUT3] SLI-MOSI MOSFET [OUT2] 32 3 [OUT] MOSFET Ref(-) Ref(+) Enc Cos(-) Enc Cos(+) Enc Sin (-) Enc Sin(+) P2: Control Dual row, 2 mm- centers 40 position female header SAMTEC SQW-20-0-L-D Web: Page 4 of 26

15 PRINTED CIRCUIT BOARD FOOTPRINT Dimensions are in[mm] TOP VIEW Viewed from above looking down on the connectors or PC board footprint to which the module is mounted J Signal Grouping for current-sharing See Note TYP X X TYP PCB Hardware: Qty Description Mfgr Part Number Remarks Socket Strip Samtec SQW-2-0-L-D J HV & Motor Socket Strip Samtec SQW-20-0-L-D J2 Control Socket Strip Samtec SQW-08-0-L-D J3 CANopen 2 Standoff PEM KFE-4/40-8ET #4/40 X /4 Additional Hardware (not shown above) 2 Screw, #4-40 x.25 Phillips Pan Head External Tooth Lockwasher SEMS, Stainless, or steel with nickel plating, Torque to 3~5 lb-in (0.34~0.57 N m) Notes. J signals of the same name must be connected for current-sharing (see graphic above). 2. To determine copper width and thickness for J3 signals refer to specification IPC-222. (Association Connecting Electronic Industries, 3. Standoffs or mounting screws should connect to etch on pc board that connect to frame ground for maximum noise suppression and immunity. Web: Page 5 of 26

16 DESCRIPTION The Development Kit provides mounting and connectivity for one drive. Solderless jumpers ease configuration of inputs and outputs to support their programmable functions. Switches can be jumpered to connect to digital inputs ~ so that these can be toggled to simulate equipment operation. Six LED s provide status indication for the digital outputs. Dual CANopen connectors make daisy-chain connections possible so that other CANopen devices such as Copley s Accelnet Plus or Xenus Plus CANopen drives can easily be connected. Development Kit RS-232 CONNECTION The RS-232 port is used to configure the drive for stand-alone applications, or for configuration before it is installed into an CANopen network. CME 2 software communicates with the drive over this link and is then used for complete drive setup. The CANopen Slave Node-ID that is set by the rotary switch can be monitored, and a Node-ID offset programmed as well. The RS-232 connector, J9, is a modular RJ- type that uses a 6-position plug, four wires of which are used for RS-232. A connector kit is available (SER-CK) that includes the modular cable, and an adaptor to interface this cable with a 9-pin RS-232 port on a computer. TxD J RS-232 RxD SER-CK SERIAL CABLE KIT The SER-CK provides connectivity between a D-Sub 9 male connector and the RJ- connector J9 on the Development Kit. It includes an adapter that plugs into the COM (or other) port of a PC and uses common modular cable to connect to the Development Kit. The connections are shown in the diagram below D-Sub 9F RxD TxD Dsub-9F to RJ Adapter RJ- cable 6P6C Straight-wired TxD RxD 6 RJ- on Servo Drive Don t forget to order a Serial Cable Kit SER-CK when placing your order for a Development Kit! Gnd 5 3 Gnd Web: Page 6 of 26

17 CANOPEN CONNECTORS Accelnet Plus Module CANopen Development Kit Dual RJ-45 connectors that accept standard Ethernet cables are provided for CAN bus connectivity. Pins are wired-through so that drives can be daisy-chained and controlled with a single connection to the user s CAN interface. A CAN terminator should be placed in the last drive in the chain. The -NK connector kit provides a D-Sub adapter that plugs into a CAN controller and has an RJ-45 socket that accepts the Ethernet cable. APK-NK CAN CONNECTOR KIT The kit contains the XTL-CV adapter that converts the CAN interface D-Sub 9M connector to an RJ-45 Ethernet cable socket, plus a 0 ft (3 m) cable and terminator. Both connector pin-outs conform to the CiA DR-303- specification D-Sub 9F CAN_L CAN_GND CAN_H RJ-45 CAN_L CAN_GND CAN_H INDICATORS (LEDS) The AMP LED on J9 shows the operational state of the. The STATUS LED on J9 shows the state of the CANopen NMT (Network Management) state-machine in the drive. LEDs on J0 show activity on the CANopen network. Details on the NMT state-machine can be found in the CANopen Programmers Manual, 3.: AMP LED A single bi-color LED gives the state of the by changing color, and either blinking or remaining solid. The possible color and blink combinations are: Green/Solid: Drive OK and enabled. Will run in response to reference inputs or CANopen commands. Green/Slow-Blinking: Drive OK but NOT-enabled. Will change to Green/Solid when enabled. Green/Fast-Blinking: Positive or Negative limit switch active. Drive will only move in direction not inhibited by limit switch. 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. Drive Fault conditions. Faults are programmable to be either transient or latching: Over or under-voltage Drive over-temperature Motor over-temperature Internal short circuits Encoder +5 Vdc fault Short-circuits from output to output Short-circuits from output to ground J9 RS-32 SERIAL AMP STATUS J0 CAN CONNECTIONS Network Activity STATUS LED A single bi-color LED gives the state of the NMT state-machine by changing color, and either blinking or remaining solid. The possible color and blink combinations are: GREEN (RUN) Off Init Blinking Pre-operational Single-flash Stopped On Operational RED (ERROR) Off No error Blinking Invalid configuration, general configuration error Single Flash Warning limit reached Double Flash Error Control Event (guard or heartbeat event) has occurred Triple Flash Sync message not received within the configured period On Bus Off, the CAN master is bus off ACTIVITY LEDS Flashing indicates the is sending/receiving data via the CAN port Note: Red & green led on-times do not overlap. LED color may be red, green, off, or flashing of either color. Green-Green-Red is actually a combination of single-flash Red (Warning Limit reached) and Blinking Green (Pre-Operational) When the green-red combination is seen, it appears as a single red! Web: Page 7 of 26

18 Development Kit CANOPEN NODE-ID (ADDRESS) SWITCH CONNECTIONS The graphic below shows the connections to the CANopen Node-ID switches. These are read after the drive is reset, or powered-on. When changing the settings of the switches, be sure to either reset the drive, or to power it off-on. Outputs [OUT3,4,5] and input [IN0] operate as an SLI (Switch & LED Interface) port which reads the settings on the CANopen Node-ID switches, and controls the LEDs on the serial and CANopen port connectors. The jumpers marked with red X should be removed so that SW0, or external connections to the signals do not interfere with the operation of the SLI port. SEL 0k CME2 -> Input/Output -> Digital Outputs 74HC65 SW3 SEL Vcc D0 8 [IN0] SLI_MISO JP3B SW0 JP4E Q7 Gnd D D2 D3 4 2 [OUT3] SLI_MOSI [OUT3] Red/Green LED [OUT4] SLI_CLK [OUT4] Red/Green LED [OUT5] SLI_EN [OUT5] Red/Green LED JP3F JP3G JP3H JP6F JP6G JP4D J8/8 [OUT3] JP4C J8/23 [OUT4] JP4B J8/22 [OUT5] SDI CLK PL CKE D4 D5 D6 D7 SW Switches 0k SEL The jumpers marked with red X should be removed so that SW8, or external connections to the signals do not interfere with the operation of the SLI port. 5V POWER SOURCES The feedback connector J7 has connections for two power supplies: Pin 6 has supplied by the module Pin 7 connects to jumper J4 for the selection of the 5V power source: On J4, when the jumper connects pins 2 & 3, the power source is the internal supply (the default setting) When the jumper is on pins & 2, the power source comes from an external power supply connecting to J5-. 5V power on the Development Kit that comes from the selectable 5V power source on J4 is labeled 5V SEL. Circuits powered by 5V supplied only by the are labeled 5V 2 J4 External From J5- EXT J5/ J4 2 5V SEL 3 output ENC from module J2/4 3 Web: Page 8 of 26

19 Development Kit LOGIC INPUTS & SWITCHES The Development Kit has jumpers that can connect the digital inputs to switches on the kit, or to the Signal connector J8. As delivered, all of these jumpers are installed as shown. If connecting to external devices that actively control the level of an input, it is desirable to disconnect the switch which could short the input to ground. For example, if [IN] is connected to an external device for the Enable function, then jumper JP2A should be removed to take the switch SW out of the circuit. The figure below shows these connections. 9 J male J7 [IN] [IN2] [IN3] [IN4] [IN5] [IN6] [IN7] [IN8] [IN9] [IN0] [IN] J8/4 J8/5 J8/6 J8/7 J8/8 J8/0 J8/26 J8/25 J7/24 J8/24 J7/7 JP5A JP5B JP5C JP5D JP5E JP5F JP5G JP5H JP4H JP4G JP4F IN IN2 IN3 IN4 IN5 IN6 IN7 IN8 IN9 IN0 SLI_MISO IN To module Inputs JP2A JP2B JP2C JP2D JP2E JP2F 0 9 JP2G JP2H JP3A JP3B JP3C female SW SW2 SW3 SW4 SW5 SW6 SW7 SW8 SW9 SW0 SW LOGIC OUTPUTS There are six logic outputs that can drive controller logic inputs or relays. If relays are driven, then flyback diodes must be connected across their terminals to clamp overvoltages that occur when the inductance of the relay coil is suddenly turned off. Outputs 3,4,5 & 6 are CMOS types that pull up to 5V or down to ground. When these outputs go high it turns on the green LED. When they are low, the red LED is turned on. Outputs & 2 are MOSFET types that sink current when ON, and appear as open-circuit when OFF. When these outputs are ON a red LED is turned on. When the outputs are OFF, the red LED is off. The green LED is not used on these outputs. J V SEL red k 0 9 k male green JP3D JP3E JP3F JP3G JP3H JP4A [OUT] [OUT2] [OUT3] [OUT4] [OUT5] [OUT6] J8/6 J8/7 J8/8 J8/23 J8/22 J8/2 JP6F JP6G JP6H OUT To module OUT2 outputs OUT3 SLI_MOSI OUT4 SLI_SCLK OUT5 SLI_EN OUT6 Web: Page 9 of 26

20 MOTOR FEEDBACK CONNECTOR J7 Accelnet Plus Module CANopen Development Kit For motors with differential encoders: install jumpers JPB, JPD, JPF, and JPH to connect 2 ohm terminators across inputs Jumpers JPA, JPC, JPE, and JPG do not affect this setting and may remain in place or be removed. For motors with single-ended encoders: remove jumpers JPB, JPD, JPF, and JPH to disconnect 2 ohm terminators Install jumpers JPA, JPC, JPE, and JPG A motor temperature sensor that connects to [IN] must have jumper JP4F installed and JP3C removed to prevent switch SW from grounding the Motemp[IN] signal. If the encoder has a fault output, then jumper JP4H must be in place and jumper JP3A must be removed to prevent switch SW9 from grounding the Enc Fault [IN9] signal. Absolute encoders such as the Nikon A type that use 2-wire bidirectional signals require biasing the lines when they are in a quiescent state. Jumpers JPG, JPH, and JP6A must be in place to provide line termination and biasing. LED s are provided to show the status of the encoder and Hall signals. 5V SEL 0k 0k 0k.5k Enc A Enc /A Enc B Enc /B Enc X Enc /X Enc S Enc /S Enc Sin(+) Enc Sin(-) Enc Cos(+) Enc Cos(-) Hall U Hall V Hall W Motemp [IN] Enc Fault [IN9] Enc AEM Enc SEL Signal Gnd Signal Gnd Signal Gnd Signal Gnd JPA JPC J7/3 J7/2 J7/ J7/0 J7/9 J7/8 J7/5 J7/4 J7/9 J7/8 J7/2 J7/20 J7/2 J7/3 J7/4 J7/7 JP4F J7/24 JP4H J7/6 J7/7 J7/5 J7/6 J7/25 J7/26 JPE JPG To module To module JPB JPD JPF JPH JP6A Motemp [IN] To Enc Fault [IN9] module.5k DS2 DS3 DS DS0 DS7 DS8 DS9 To module 5V SEL To module 5V SEL Web: Page 20 of 26

21 Development Kit DAC Out DAC Ground Drive Enable PosLim NegLim [AIN+] [AIN-] [IN] Enable [IN2] [IN3] Enc A Enc /A Enc B Enc /B Enc X Enc /X A /A B /B X /X QUAD A/B/X DIGITAL ENCODER Signal Ground 5 J7 Enc S 5 Enc /S 4 CW CCW Secondary Encoder Step Dir Position Commands Enc. Ch. A Enc. Ch. B Digital Quad A/B/X A B X [IN4] [IN5] [IN6] [IN7] [IN8] Enc Sin(+) 9 Enc Sin(-) 8 Enc Cos(+) 2 Enc Cos(-) 20 Hall U Hall V Hall W U V W HALLS Velocity, Torque commands PWM Dir 50% n.c [IN0] MISO [OUT] [OUT3] MOSI SEL 7 ENC with source selectable from 400 ma from module [OUT4] SCLK [OUT5] EN [OUT6] EN2 Motemp [IN] J8 ENC J5 /Brake [OUT2] Input Aux HV V V + BRAKE (Optional) for encoder and LED's (Optional) RS-232 DTE 6 9 PC Serial Port D-Sub 9-pos Male RxD TxD Gnd D-Sub 9-pos Female Modular Jack RJ- 6P4C 5 3 Red 3 2 Black Sub-D to RJ- Adapter Serial Cable Kit 5 Yellow Modular Cable TxD Gnd RxD RJ- J9 Motor W +HV Input J6 Motor V Motor U Circuit Gnd W V U Earth Fuse MOTOR + - DC Power Optional Notes:. CANopen connectors J0 are not shown here. For details see pp 4 & 3. Web: Page 2 of 26

22 DEVELOPMENT KIT DEVELOPMENT KIT Accelnet Plus Module CANopen Development Kit The Development Kit mounts a single module and enables the user to test and operate the before it is mounted onto a PC board in the target system. J5 AUX HV & EXT 5V Signal Pin Ext Gnd 2 Gnd 3 Aux HV Input 4 J6 MOTOR Signal Pin +HV Input HV Gnd 2 Motor W 3 Motor V 4 Motor U 5 J5 HV & Aux J6 Motor J7 Feedback JP JP2 JP3 INPUT SWITCHES J7 FEEDBACK PIN SIGNAL PIN SIGNAL PIN SIGNAL 26 Signal Gnd 8 Sin(-) 9 Enc X 25 Signal Gnd 7 +5 Vdc Out 8 Enc /X 24 [IN9] Enc Fault 6 Signal Gnd 7 [IN] Motemp 23 n.c. 5 Enc S 6 +5 Vdc Out 22 n.c. 4 Enc /S 5 Signal Gnd 2 Cos(+) 3 Enc A 4 Hall W 20 Cos(-) 2 Enc /A 3 Hall V 9 Sin(+) Enc B 2 Hall U 0 Enc /B Frame Gnd Signal connections on the PC board are affected by jumper placement Web: Page 22 of 26

23 Development Kit J CAN NETWORK TERMINATOR Pins Function -2 Terminator ON 2 3 JP7 JP8 ON Node-ID (address) SWITCHES J OFF 2-3 Terminator OFF J0 CANopen J9 RS J0 CANOPEN Pin Signal CAN_H 2 CAN_L 3 CAN_GND 4 Pass-thru 5 Pass-thru 6 Pass-thru 7 CAN_GND 8 Pass-thru J9 RS-232 Pin Signal n.c. 2 RxD 3 JP6 4 5 Txd JP5 J8 Control 6 n.c. JP4 LED S J8 CONTROL PIN SIGNAL PIN SIGNAL 9 n.c. 8 [OUT3] MOSI PIN SIGNAL 8 [IN5] HS 7 [OUT2] 26 [IN7] HS 7 [IN4] HS 6 [OUT] 25 [IN8] HS 6 [IN3] HS 5 Signal Gnd 24 [IN0] MISO 5 [IN2] HS 4 n.c. 23 [OUT4] SCLK 4 [IN] HS 3 n.c. 22 [OUT5] SS 3 [AIN-] 2 n.c. 2 [OUT6] SS2 2 [AIN+] n.c Vdc Out Frame Gnd 0 [IN6] HS 9 Signal Gnd Web: Page 23 of 26

24 POWER DISSIPATION The charts on this page show the drive s internal power dissipation for different models under differing power supply and output current conditions. Drive output current is calculated from the motion profile, motor, and load conditions. The values on the chart represent the rms (root-mean-square) current that the drive would provide during operation. The +HV values are for the average DC voltage of the drive power supply. To see if a heatsink is required or not, the next step is to determine the temperature rise the drive will experience when it s installed. For example, if the ambient temperature in the drive enclosure is 40 C, and the heatplate temperature is to be limited to 70 C or less to avoid shutdown, the maximum rise would be 70C - 40C. or 30 C. Dividing this dissipation by the thermal resistance of 9º C/W with no heatsink gives a dissipation of 3.33W. This line is shown in the charts. For power dissipation below this line, no heatsink is required. The vertical dashed line shows the continuous current rating for the drive model. Watts W W W 5.00 W 0.00 W 5.00 W 0.00 W Heatsink or forced-air required AEM Dissipation No heatsink disabled 0.0 A 2.5 A 5.0 A 7.5 A 0.0 A 2.5 A 5.0 A Current 40C ambient 5 A 80V 65V 50V 35V 20V AEM Dissipation AEM Dissipation 8.00 W 2.00 W 7.00 W 0.00 W Watts 6.00 W 5.00 W 4.00 W 3.00 W 2.00 W.00 W 0.00 W Heatsink or forced-air required 40C ambient No heatsink disabled 0.0 A 2.5 A 5.0 A 80V 65V 50V 35V 20V Watts 8.00 W 6.00 W 4.00 W 2.00 W Heatsink or forced-air required 40C ambient No heatsink 3 A 7 A 0.00 W disabled 0.0 A 2.5 A 5.0 A 7.5 A 80V 65V 50V 35V 20V Current Current HEATSINK INSTALLATION USING THE -HK HEATSINK KIT An AOS Micro Faze thermal pad is used in place of thermal grease. This material comes in sheet form and changes from solid to liquid form as the drive warms up. This forms an excellent thermal path from drive heatplate to heatsink for optimum heat transfer. STEPS TO INSTALL. Remove the thermal pad from the clear plastic carrier. 2. Place the thermal pad on the Accelnet aluminum heatplate taking care to center the thermal pad holes over the holes in the drive body. 3. Mount the heatsink onto the thermal pad again taking care to see that the holes in the heatsink, thermal pad, and drive all line up. 4. Torque the #4-40 mounting screws to 3~5 lb-in (0.34~0.57 N m). #4-40 Mounting Screws Heatsink Drive Thermal Pad Transparent Carrier (Discard) Web: Page 24 of 26

25 HEATSINK OPTIONS Rth expresses the rise in temperature of the drive per Watt of internal power loss. The units of Rth are C/W, where the C represent the rise above ambient in degrees Celsius. The data below show thermal resistances under convection, or fan-cooled conditions for the no-heatsink, and -HS heatsink. NO HEATSINK NO HEATSINK C/W CONVECTION 9. FORCED AIR (300 LFM) 3.3 STANDARD HEATSINK (-HK) WITH HEATSINK C/W CONVECTION 5.3 FORCED AIR (300 LFM). Web: Page 25 of 26

26 MASTER ORDERING GUIDE APK ACCESSORIES Connector Kit for Development Kit APK-CK-0 CANopen Network Kit APK-NK Heatsink Kit -HK APK-CV APK-NC-0 APK-NC-0 APK-NT CME 2 SER-CK Accelnet servo drive, 3/6 A, 90 Vdc Accelnet servo drive, 7/4 A, 90 Vdc Accelnet servo drive, 5/30 A, 90 Vdc Development Kit for servo drive QTY DESCRIPTION Connector, Euro, 5 Terminal, 5.08 mm Connector, Euro, 4 Terminal, 5.08 mm 26 Pin Connector, High Density, D-Sub, Male, Solder Cup 2 26 Pin Connector, High Density, D-Sub, Female, Solder Cup 26 Pin Connector Backshell Adapter Assy, DB9 Female to RJ45 Jack (APK-CV) CANopen Network Cable, 0 ft. (APK-NC-0) CANopen Network Terminator (APK-NT) Heatsink for Heatsink Thermal Pad 2 Screws, #4/40 x.25, SEMS Adapter Assembly, DB9 Female to RJ45 Jack CANopen Network Cable, 0 ft CANopen network cable, ft CANopen Network Terminator CME 2 Drive Configuration Software on CD-ROM Serial Cable Kit DIMENSIONS Dimensions: mm [in] 58.2 [2.29] 76.3 [3.0] 6.35 [0.25] 43.7 [.72] 26.8 ±0.25 [.06 ±.00] 20.5 ±0.25 [0.8 ±.00] 6.9 [0.67] Note: Specifications subject to change without notice Rev.02-tu /26/203 Web: Page 26 of 26