StepNet CNopen STEPPER MOTOR DRIVER DESCRIPTION The Development Kit is a companion product to Copley Controls new StepNet step-motor driver. It provides mechanical mounting and electrical connections for the driver so users can quickly connect StepNet and begin to develop applications. Euro style screw-terminal connector blocks simplify connections for power and motor phase-windings. Sub-D connectors have compatible pinouts with ccelus and ccelnet panel amplifiers for command, I/O and optional motor encoder signals. -position rotary switch connects to StepNet I/O pins for selection of the CN bus device address. Individual toggle switches are wired to other I/O pins to simulate limit, motor temperature, and home switch functions. Jumpers permit these switches to be disconnected so that the I/O pins can connect to user equipment through the Sub-D connectors. nother W resistor can be jumpered in or out as a terminator for the CN bus signals if the development kit is the last device on a CNopen network. Provides Mounting & Connections for StepNet CNopen Stepper Driver FETURES Works with all StepNet Models Develop & Debug StepNet projects then transfer design to oem pc board. MODEL DRIVER Four LED s can be jumpered in or out to the StepNet logic outputs. These give an easy read-out of the output status for debugging. encoder signals are connected through from the motor connector to the signal connector eliminating split cables in cases where the StepNet is operating in stand-alone mode as a torque amplifier. In these cases, the controller uses the encoder for position feedback, and StepNet operates as a torque or force amplifier. cross-the-line encoder termination resistors can be switched in or out via another set of jumpers giving a W terminating impedance when high speed encoder signals could be susceptible to noise if wires were left open-circuit and subject to ringing. PRELIMINRY Ic Ip VDC TDK-07-0 STM-07-07 7 7 Copley Controls Corp.,0 Dan Road, Canton, M 00, US Tel: 7--00 Fax: 7--7 Tech Support: E-mail: sales@copleycontrols.com, Internet: http://www.copleycontrols.com Page of
StepNet CNopen STEPPER MOTOR DRIVER RS- CONNECTION The RS- port is used to configure StepNet for stand-alone applications, or for configuration before it is installed into a CNopen network. CME software communicates with StepNet over this link and is then used for complete amplifier setup. The CN address that is set by the rotary switch can be monitored, and an address offset programmed as well. This will add to the switch address to produce a working CN address that can be from to 7. The RS- connector, J, is a modular type that uses a -position plug, four wires of which are used for RS-. connector kit is available (SER-CK) that includes the modular cable, and an adaptor to interface this cable with a -pin RS- port on a computer. CN CONNECTORS Connectors J & J7 are Sub-D male and female -position types that conform to the CN DS-0 Physical Layer specification. The male-female configuration supports a single cable type with male and female connectors that can be daisy-chained from device to device along a CNopen network. StepNet uses only the CN_H, CN_L, and CN_GND signals. The CN_GND is connected to the circuit ground on the development kit. This ground is also shared by the amplifier power supply, accessory +V (for encoders), and the RS- link. Other DS-0 signals are wired-through for use by products that might support them. The table below lists the signals and pins on J & J7. s in ( ) are those that have no connection on the development kit and which are connected pin-to-pin between J & J7. CN us Connector s SIGNL (Reserved) CN_ L CN_GND (Reserved) (CN_SHLD) CN_GND 7 CN_ H (Reserved) (Reserved) CN DDRESS SELECTION J Rotary switch SW7, labeled CN DDR connects to IN7, IN, IN, and IN0 of the amplifier. These are programmable inputs which default to CN address bits. The switch will select CN addresses 0x0~0x0F (dec ~). ddress 0 is reserved for network management devices. The CN standard permits up to 7 devices, so if the amplifier must have a address beyond 0x0F(dec ), this is done by programming an address offset into the amplifier before it is installed into a CN environment. When this is done, the switch setting is added to the CN offset in the amplifier to produce the actual CN address. CN ddress Switch PRELIMINRY C SW7 D E F 7 J SIGNL C D E J7 JP CNL CNH Important! Install JP ONLY if development kit is the LST node on a CN bus JP JP-D JP-E JP-E JP7-C [IN7] [IN] [IN] Step [IN0] Direction StepNet Logic Inputs Note: To use inputs 7,,, or 0 as logic inputs remove jumpers on JP and insert jumpers on JP & JP as shown at left. Inputs [IN,0] are digital reference inputs for use when amplifier is used in stand-alone mode. Copley Controls Corp.,0 Dan Road, Canton, M 00, US Tel: 7--00 Fax: 7--7 Tech Support: E-mail: sales@copleycontrols.com, Internet: http://www.copleycontrols.com Page of
StepNet CNopen STEPPER MOTOR DRIVER LOGIC INPUTS StepNet has twelve logic inputs. [IN] is dedicated to the amplifier enable function, the other inputs are programmable. The chart below shows the placement of jumpers to connect logic inputs to switches on the development kit, or to external signals via signal connector J: 7 J SWITCH POLRITY LO HI JP JP JP7-E JP- JP7-D JP- JP-C JP D E C DOUT DOUT DOUT DOUT C D E + + + + JP [IN] [IN] [IN] [IN] [IN] SW SW SW SW SW IN IN IN IN IN D [OUT] [OUT] [OUT] [OUT] JP [IN] SW IN Logic Input LOGIC OUTPUTS StepNet has four 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. s delivered, these outputs drive four LED s. Jumpers JP-,C,D, & E connect these LED s to logic outputs. These are N-channel MOSFET s which sink current from loads connected to positive voltages. When the outputs are ON, they ground the cathode of the led s which then turn on as they are connected to the +V supply via current-limiting resistors. The logic outputs also connect to signal connector J. If they are used to drive external loads >+V, the LED jumpers must be removed. Default Function On-oard Connection External Connection PRELIMINRY IN0 IN0 IN0 IN0 IN0 IN0 IN Enable SW Fwd Enable SW Rev Enable SW Home SW Motemp SW SW ENC X IN0 IN0 IN IN IN IN ENC ENC JP- J- JP7-E JP- J-7 JP- JP-C J- JP7-D JP-D J- JP- JP- JP-E JP-E J- J- J- JP-C JP- IN07 IN7 SW7- JP- J- JP-D IN0 IN SW7- JP-C J- JP-E Step SW7- JP-D J- JP-E Direction SW7- JP-E J- JP7-C JP- J-7 JP-C J-0 JP-D JP7- JP7- Copley Controls Corp.,0 Dan Road, Canton, M 00, US Tel: 7--00 Fax: 7--7 Tech Support: E-mail: sales@copleycontrols.com, Internet: http://www.copleycontrols.com Page of
StepNet CNopen STEPPER MOTOR DRIVER ENCODER CONNECTIONS The development kit has a C differential line receiver for the motor encoder inputs. Differential-output encoders are preferred for best signal quality and noise rejection. Wiring should be twisted-pairs, preferably with a shield for each pair. To eliminate noise on the encoder signals caused by reflections on the cables, it is good practice to terminate signal-pairs with a resistor that matches the characteristic impedance of the cable. On the development kit, W resistors are provided for this purpose. Jumpers at JP-,, and C connect these termination resistors across the differential signals when installed. If single-ended encoders are used, they should be connected to the,, and X pins leaving the /, /, and /X pins open and jumpers at JP-,, and C should be removed. pf k /X / / JP C Differential Line Reciever INPUTS C POWER SUPPLIES mplifier main power, +HV, is typically supplied by unregulated DC power supplies. These must be isolated from the mains, and all circuits should be grounded to earth at some point. The +HV supply connects to J. Pin J- is the +HV positive terminal, and pin J- is the power supply negative terminal that connects to circuit ground. For good wiring practice, the HV wires should be twisted together for noise suppression, and the power supply should not be grounded. Doing this ensures that the higher currents flowing in these conductors will not flow through any circuit grounds where they might induce noise. During deceleration, mechanical energy in the motor and load is converted back into electrical energy that must be dissipated as the motor comes to a stop. While some of this is converted to heat in the motor windings, the rest of it will flow through the amplifier into the power supply. n external storage capacitor should be used if the load has appreciable inertia, and this should be sized such that adding the undissipated energy from the motor will not raise the voltage beyond the point at which the amplifier shuts down. When this is not possible, an external dumper, or regenerative energy dissipater must be used which acts as a shunt regulator across the HV terminals. Switching power supplies can also be used to power StepNet. Unlike unregulated supplies, these cannot accept reverse energy flow, so an isolating diode must be placed between the power supply and J- to block current flow back into the power supply. When this is done, an external storage capacitor must be used across J- & J- because the capacitor on the Development Kit board is only for ripple-current control, and can t store enough energy to handle regeneration. n earthing ground connection can be made via a second conductor to J- that connects to the equipment frame ground. Encoder power is supplied from an external +V supply with sufficient current to drive the motor encoder. Typically these will be 0m or less. In cases where an encoder uses a separate interpolater module to process the data, current demand may be higher. Consult the motor encoder literature to be sure that the +V supply can handle the encoder power requirements. PRELIMINRY 7 X OUTPUTS JP7- X JP- 0 JP-C 7 JP- JP-C JP7- [IN] [IN] [IN] ENCODER J J SIGNL Copley Controls Corp.,0 Dan Road, Canton, M 00, US Tel: 7--00 Fax: 7--7 Tech Support: E-mail: sales@copleycontrols.com, Internet: http://www.copleycontrols.com Page of
StepNet CNopen STEPPER MOTOR DRIVER CONNECTIONS RS- signals connect to both J & J. Only one external connection can be active at a time RS- DTE RxD TxD PRELIMINRY PC Serial Port D-Sub -pos Male Controller Digital I/O ENC Ch. ENC Ch. CU CD Inputs [IN] through [IN] have programmable functions in addition to those shown here Controller RS- I/O D-Sub -pos Female mpenable Pulse Dir TxD RxD Modular Jack RJ- PC Sub-D to RJ- dapter Serial Cable Kit PosLim NegLim +V Output Yellow Red lack Modular Cable [IN] Enable Input 7 [IN] Fwd Enable [IN] Rev Enable Ground [IN] Home [IN] Motemp [IN] HS Input 7 0 0 [IN7] HS Input [IN] HS Input [IN] HS Input [IN0] HS Input [IN] HS Input [IN] HS Input Fault [OUT] [OUT] [OUT] RxD TxD TxD RxD RJ- J J /Motemp [IN] J J Enc Enc / Enc Enc / Enc X Enc /X /rake [OUT] +V Input + - + +HV Input 7 No Connect + Vdc Output 0 J - ENCODER / NOT SUPPORTED ENCODER / IN ET X /X Circuit DRIVERS To encoder +V + - + V Earth RKE / / Fuse Required for encoder MOTOR + - DC Power Notes:. CN connectors J7 & J are not shown here. For details see pp.,7, &. Copley Controls Corp.,0 Dan Road, Canton, M 00, US Tel: 7--00 Fax: 7--7 Tech Support: E-mail: sales@copleycontrols.com, Internet: http://www.copleycontrols.com Page of
StepNet CNopen STEPPER MOTOR DRIVER CONNECTOR LYOUT J SIGNL J SIGNL J SIGNL + HV Input GND + Output - Output + Output - Output Encoder / Input Encoder / Input + V Input J SIGNL Encoder Input 7 Encoder Input Encoder X Input Ground N.C. N.C. N.C. Chassis Ground PRELIMINRY Encoder /X Input Ground + V Output Ground 0 Temp Sensor [IN] J J J CNopen Pin ( Reserved) CN_L CN_GND ( Reserved) ( CN_SHLD) J7 Copley Controls Corp.,0 Dan Road, Canton, M 00, US Tel: 7--00 Fax: 7--7 Tech Support: E-mail: sales@copleycontrols.com, Internet: http://www.copleycontrols.com Page of
StepNet CNopen STEPPER MOTOR DRIVER Pin CNopen CN_GND 7 CN_ H (Reserved) (CN_V+) J J J J CNopen Notes:. Connector pinouts for J & J7 follow CN standard DS-0.. s in ( ) are wired-through from J7 to J and have no other connections on the pc board.. CN_GND is connected to on pc board (StepNet signal and power ground) J SIGNL J SIGNL - + F Chassis Ground Motemp [IN] GP Input [IN] GP Input [IN] Enable Input [IN] Output [OUT] PRELIMINRY HS Input [IN] 7 HS Input [IN] HS Input [IN7] Ground 0 Output [OUT] Ground Ground J SIGNL No Connection TxD Output Ground Ground RxD Input No Connection J SIGNL [IN] HS Input Ground Ground 7 [IN] Foward Enable Input [IN] Reverse Enable Input [IN0] HS Input 0 [IN] HS Input [OUT] Output [OUT] Output + Vdc Output RS- TxD Output RS- RxD Input Copley Controls Corp.,0 Dan Road, Canton, M 00, US Tel: 7--00 Fax: 7--7 Tech Support: E-mail: sales@copleycontrols.com, Internet: http://www.copleycontrols.com Page 7 of
StepNet CNopen STEPPER MOTOR DRIVER ORDERING GUIDE PRT NUMER DESCRIPTION TDK-07-0 TDK-CK SER-CK StepNet Development Kit StepNet Development Kit Connector Kit Serial Cable Kit CME CME Drive Configuration Software CD-ROM PRELIMINRY Note: Specifications subject to change without notice Version.0_mo //00 Copley Controls Corp.,0 Dan Road, Canton, M 00, US Tel: 7--00 Fax: 7--7 Tech Support: E-mail: sales@copleycontrols.com, Internet: http://www.copleycontrols.com Page of