Post on 20-Oct-2020
Model Ic Ip Vdc
GPM-055-60 30 60 9~55
GPM-055-60-R 30 60 9~55
GPM-090-60 30 60 14~90
GPM-090-60-R 30 60 14~90
R
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01598 Rev 05 Page 1 of 38
Argus PLUS Module CANopen GPM
CONTROL MODES• ProfilePosition-Velocity-Torque,InterpolatedPosition,Homing• Indexer,Point-to-Point,PVT• Camming,GearingCOMMANDINTERFACE• CANopen • ASCIIanddiscreteI/O • Steppercommands • ±10Vposition/velocity/torquecommand • PWMvelocity/torquecommandf • Masterencoder(Gearing/Camming)COMMUNICATIONS• CANopen• RS-232 • RS-422FEEDBACK• Dual Absolute Enocder Ports• Absolute SSI EnDat 2.1 & 2.2 AbsoluteA Tamagawa PanasonicSanyoDenki BiSS(B&C)• IncrementalDigitalquadA/BencoderAnalogsin/cosencoderAux.encoder/encoderout• Other
DigitalHalls Resolver(-Rmodel)
I/ODIGITAL• 6High-speedinputs • 4Opto-isolatedinputs• 1Motorover-tempinput• 4High-speedoutputs• 4Opto-isolatedoutputs• 1Opto-isolatedmotorbrakeoutputI/OANALOG• 1Referenceinput,12-bit SAFETORQUEOFF(STO)• SIL3,Category3,PLd
DIMENSIONS:IN[MM]• 3.10x2.40x0.92[78.7x60.1x23.4]
DESCRIPTIONGPM sets new levels of performance, connectivity, andflexibility.TheGPM operates as an CANnodeusingtheCANopenprotocolofDSP-402 formotioncontroldevices.Supportedmodesinclude:ProfilePosition-Velocity-Torque,InterpolatedPositionMode(PVT), andHoming.Awide range of absolute encoders aresupported.
Both isolated and high-speed non-isolated I/O areprovided.Forsafetycriticalapplications,redundantpowerstageenableinputscanbeemployed.
DIGITAL SERVO DRIVE FOR BRUSH & BRUSHLESS MOTORS
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01598 Rev 05 Page 2 of 38
Argus PLUS Module CANopen GPM Testconditions:Wyeconnectedload:2mHline-line.Ambienttemperature=25°C.Powerinput=55Vdc MODEL GPM-055-60(-R) GPM-090-60(-R)OUTPUT CURRENT
PeakCurrent 60(42.4) 60(42.4) Adc(Arms) Peaktime 1 1 Sec Continuouscurrent 30(21.2) 30(21.2) Adc(Arms) PeakOutputPower 5.4 5.4 kW ContinuousOutputPower 2.7 2.7 kW
INPUTPOWER HVmintoHVmax +9to+55 +14to+90 Vdc Ipeak 60 60 Adc Icont 30 30 Adc AuxHV +9to+55Vdc 2.5Wmax Optionalkeep-alivepowerinputwhen+HVisremovedPWM OUTPUTS Type MOSFET3-phaseinverter,16kHzcenter-weightedPWMcarrier,space-vectormodulation PWMripplefrequency 32kHzDIGITALCONTROL
DigitalControlLoops Current,velocity,position.100%digitalloopcontrol Samplingrate(time) Currentloop:16kHz(62.5µs),Velocity&positionloops:4kHz(250µs) PWMfrequency 16kHz Busvoltagecompensation Changesinbusormainsvoltagedonotaffectbandwidth Minimumloadinductance 250µHline-line Resolution 12-bitcaptureofU&Vphasecurrents
COMMANDINPUTSCANopen Galvanicallyisolatedfromdrivecircuits Stand-alone mode Analogtorque,velocity,positionreference ±10Vdc,12bitresolution Dedicateddifferentialanaloginput Digitalpositionreference Pulse/Direction,CW/CCW Steppercommands(4MHzmaximumrate) QuadA/BEncoder 2Mline/sec,8Mcount/sec(afterquadrature) Digitaltorque&velocityreference PWM,Polarity PWM=0%-100%,Polarity=1/0 PWM50% PWM=50%±50%,nopolaritysignalrequired PWMfrequencyrange 1kHzminimum,100kHzmaximum PWMminimumpulsewidth 220ns Indexing Upto32sequencescanbelaunchedfrominputsorASCIIcommands. Camming Upto10CAMtablescanbestoredinflashmemory ASCII RS-232,9600~115,200Baud,3-wire,RJ-11connector
DIGITALINPUTS Number 11 [IN1,2,3,4,5,6] Digital,non-isolated,Schmitttrigger,0.1µsRCfilter,12Vdccompatible,10kpull-upto+5Vdc Vt+=2.5~3.5Vdcmax,Vt-=1.3~2.2Vdcmin,Vh=0.7~1.5Vdc,SLIportMISOsignal [IN7,8,9,10] Digital,opto-isolated,single-ended,±15~30Vdccompatible,bi-polar,withcommonreturn Ratedimpulse≥800V,Vin-LO≤6.0Vdc,Vin-HI≥10.0Vdc,Inputcurrent±3.6mA@±24Vdc,typical Maximumworkingvoltagewithrespecttoground:32Vdc [IN11] Defaultsasmotorovertempinputonfeedbackconnector,24Vdcmax,programmabletootherfunctions OtherdigitalinputsarealsoprogrammablefortheMotempfunction 330µsRCfilter,4.99kpull-upto+5Vdc,Vt+=2.5~3.5Vdc,VT-=1.3~2.2Vdc,VH=0.7~1.5Vdc Functions Allinputsareprogrammable,[IN1]defaultstotheEnablefunctionandisprogrammablefor otherfunctions.
ANALOGINPUT [AIN±] Differential,±10Vdc,5kΩinputimpedance,12-bitresolution Bandwidth(-3dB)ofanalogsignalpath:14kHz,common-moderange-10to+15Vdc
DIGITALOUTPUTS Number 9 [OUT1~4] Isolated,two-terminalSSRwith1Wseriesresistorand36VZenerdiodefordrivinginductiveloads Ton=5msmax,@300mA,Toff=2msmax@300mA Maximumworkingvoltagewithrespecttoground:32Vdc,ratedimpulsevoltage≥800Vdc [OUT5~8] Highspeed,SLIportMOSI,SCLK,&EN1signals,74AHCT125linedrivers;+5Vdctolerant Outputcurrent:±25mAmax@±5Vdc [OUT9BRAKE] Isolated,MOSFET,1Amax,externalflybackdioderequired,Turn-ON&Turn-OFFdelay250µsmax GATEoutputcandriveanexternalMOSFETforbrakesrequiringhighercurrent Maximumworkingvoltagewithrespecttoground:32Vdc,ratedimpulsevoltage≥800Vdc Functions Defaultfunctionsareshownabove,programmabletootherfunctions
RS-232 PORT Signals RxD,TxD,Gndin6-position,4-contactRJ-11stylemodularconnector,non-isolated Mode Full-duplex,DTEserialcommunicationportfordrivesetupandcontrol,9,600to115,200baud Protocol BinaryandASCIIformats
RS-422 PORT Signals A/Y(+),B/X(-),GndfromISL32455tranceiver,opticallyisolated Mode Half-duplex,RS-422slave,9,600to230.4kbps Protocol BinaryandASCIIformats
CAN PORT Signals CAN_H,CAN_L,CAN_GND,opticallyisolated,maxworkingvoltagewithrespecttosignalground:32Vdc Protocol CANopenDeviceProfileDSP-402overCANopen(CoE)
NOTES:1.Brakeoutput[BRAKE]isprogrammableasmotorbrake,orasgeneralpurposedigitaloutput.2.WhenSTOfeatureisused,the24VpowersupplymustbeaSELVorPELVtypewiththemaximumoutputvoltagelimitedto60Vdcorlower.
GENERAL SPECIFICATIONS
DANGER
Refer to the 16-01600 Argus GEM & GPM STO Manual
Theinformationprovidedinthe16-01600 Argus GEM & GPM STO Manual mustbeconsideredforanyapplicationusingtheGPMdriveSTOfeature.Failure to heed this warning can cause equipment damage, injury, or death.
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01598 Rev 05 Page 3 of 38
Argus PLUS Module CANopen GPMDC OUTPUTS
Number 1 Ratings +5Vdc@500mAthermalandoverloadprotected
SAFETORQUEOFF(STO)Function PWMoutputsareinactiveandcurrenttothemotorwillnotbepossiblewhentheSTOfunctionisactivated Standard DesignedtoIEC-61508-1,IEC-61508-2,IEC-61800-5-2,ISO-13849-1 SafetyIntegrityLevel SIL3,Category3,Performanceleveld Inputs 2two-terminal:STO-IN1+,STO-IN1-,STO-IN2+,STO-IN2- Type Opto-isolators,24Vcompatible,Vin-LO≤6.0Vdcoropen,Vin-HI≥15.0Vdc, Inputcurrent(typical) STO-IN1:11.2mA,STO-IN2:11.2mA Responsetime 2msfromVin≤6.0Vdctointerruptionofenergysuppliedtomotor Muting AninternalcurrentsourcewiredtoSTOinputswillmute(bypass)theSTOfunction
PROTECTIONS HVOvervoltage-055models +HV>=55Vdc Driveoutputsturnoffuntil+HV<55Vdc HVUndervoltage-055models +HV8Vdc HVOvervoltage-090models +HV>90Vdc Driveoutputsturnoffuntil+HV≤90Vdc HVUndervoltage-090models +HV<14Vdc Driveoutputsturnoffuntil+HV≥14Vdc Driveovertemperature Heatplate>70°C. Driveoutputsturnoff Shortcircuits Outputtooutput,outputtoground,internalPWMbridgefaults I2TCurrentlimiting Programmable:continuouscurrent,peakcurrent,peaktime Motorovertemperature Digitalinputsprogrammabletodetectmotortemperatureswitch FeedbackLoss Inadequateanalogencoderamplitudeormissingincrementalencodersignals
MECHANICAL&ENVIRONMENTAL Sizemm[in] 3.10x2.40x0.92[78.7x60.1x23.4] Weight 4.2oz(120g)withoutheatsink Ambienttemperature 0to+45°Coperating,-40to+85°Cstorage Humidity 0to95%,non-condensing Vibration 2gpeak,10~500Hz(sine),IEC60068-2-6 Shock 10g,10ms,half-sinepulse,IEC60068-2-27 Contaminants Pollutiondegree2 Environment IEC60068-2 Cooling Heatsinkand/orforcedaircoolingrequiredforcontinuouspoweroutput Altitude ≤2000m(6560ft)perIEC60068-2-13
AGENCYSTANDARDSCONFORMANCEStandards and Directives Functional Safety(PENDING) IEC61508-1,IEC61508-2 Directive2006/42/EC(Machinery) ISO13849-1(Cat3,PLd) IEC61800-5-2(SIL3)
Electrical Safety Directive2014/35/EU(LowVoltage) UL61800-5-1,IEC61800-5-1
EMC Directive2014/30/EU IEC61800-3 IEC61800-5-2
Restriction of the Use of Certain Hazardous Substances (RoHS) Directive2011/65/EU(RoHSII)
Approvals UL and cUL recognized component to: UL61800-5-1,IEC61800-5-1 UL Functional Safety Certification to: (PENDING) IEC61508-1,ISO13849-1,IEC61508-5-2(SIL3) IEC61800-5-2,UL61800-5-2(Cat3,PLd)
GENERAL SPECIFICATIONS
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01598 Rev 05 Page 4 of 38
Argus PLUS Module CANopen GPMGENERAL SPECIFICATIONS
FEEDBACK Incremental encoders: DigitalIncrementalEncoder Quadraturesignals,(A,/A,B,/B,X,/X),differential(X,/XIndexsignalsnotrequired) MAX3097differentiallinereceiversforA,BandX,5MHzmaximumlinefrequency(20Mcounts/sec) Faultdetectionforopen/shortedinputs,orlowsignalamplitude,selectableforA||B||XorA||B Externalterminatorsrequiredforfaultdetection,121WforA&Bchannels,130WforX AnalogIncrementalEncoder Sin/Cos,differential,internal121Wterminatorsbetween±inputs,1.0Vp-ptypical,1.45Vp-pmaximum, Common-modevoltage0.25to3.75Vdc,,±0.25V,centeredabout2.5Vdc Signals:Sin(+),Sin(-),Cos(+),Cos(-), Frequency:230kHzmaximumline(cycle)frequency,interpolation12bits/cycle(4096counts/cycle) Absolute encoders: MAX3362differentiallinetransceiversforS,/S,5MHzmaximumlinefrequency(20Mcounts/sec) HeidenhainEnDat2.2,SSI SerialClock(X,/X),Data(S,/S)signals,differential4-wire, External 121WterminatorrequiredforClock,221W for Data HeidenhainEnDat2.1 Clock(X,/X),Data(S,/S),Sin/Cos(Sin+,Sin-,Cos+,Cos-)signals Internal121WterminatorsbetweenSin/Cosinputs, External 121WterminatorrequiredforClock,221W for Data AbsoluteA,TamagawaAbsoluteA,PanasonicAbsoluteAFormat SD+,SD-(S,/S)signals,2.5or4MHz,2-wirehalf-duplex,external221Wterminatorrequired Positionfeedback:13-bitresolutionperrev,16bitrevolutioncounter(29bitabsolutepositiondata) Statusdataforencoderoperatingconditionsanderrors BiSS(B&C) MA+,MA-(X,/X),SL+,SL-(S,/S)signals,4-wire,clockoutputfromdrive, datareturnedfromencoder External 121WterminatorrequiredforMA,221W for SL Resolver: Type Brushless,single-speed,1:1to2:1programmabletransformationratio Resolution 14bits(equivalenttoa4096linequadratureencoder) Referencefrequency 8.0kHz Referencevoltage 2.8Vrms,auto-adjustablebythedrivetomaximizefeedback Referencemaximumcurrent 100mA MaximumRPM 10,000+
HALLS Digital: U,V,W:Single-ended,120°electricalphasedifferencebetweenU-V-Wsignals, Schmitttrigger,1.5µsRCfilter,24Vdccompatible,15kΩpull-upto+5Vdc Vt+=2.5~3.5Vdc,VT-=1.3~2.2Vdc,VH=0.7~1.5Vdc
Analog: U&V: Sin/Cosformat(Sin+,Sin-,Cos+,Cos-),differential,1Vpeak-peak±20%,ServoTubemotorcompatible, BW>300kHz,121ΩterminatingresistorsbetweenSin+&Sin-,Cos+&Cos-inputs 12-bitresolution,BW>300kHz,withzero-crossingdetection
MULTI-MODEENCODERPORT As Input: SeeDigitalIncrementalEncoderaboveforelectricaldataonA,B,&Xchannels,or AbsoluteencodersusingXorSchannels.Externalterminatorsrequiredasshownabove As Emulated Output: QuadratureA/Bencoderemulationwithprogrammableresolutionto4096lines(65,536counts) perrevfromanalogSin/Cosencodersorresolvers. A,/A,B,/B,outputsfromMAX3032differentiallinedriver,X,/X,S,/SfromMAX3362linedrivers As Buffered Output: DigitalA/B/Xencodersignalsfromprimarydigitalencoderarebufferedasshownabove,5MHzmax
5VOUTPUTNumber 1 Ratings +5Vdc@500mAthermalandoverloadprotected
J4/59
J4/61
RD
121
TDCANH
J4/60
TERM
CANTrans-ceiverCANL
Isolators
6
9 1
5
CAN_GND
* Add connection to useinternal terminatorresistor
CAN_H
CANDsub 9M
CAN_L
CAN_GND
J4/51~58, 62~66C
C*
Signal Ground
J4/3,4,15, 16,23,50
J4/43
J4/44
RDRxD
TDTxD
6
9 1
5
TxD
RxD
Gnd
D-Sub 9M(DTE)
ISL32455
RS422(+)
RS422GND
RS422(-)TxD
RxDJ4/42
DevKitP9 Drive
J4J4/49
J4/411
2
3
4
5
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01598 Rev 05 Page 5 of 38
Argus PLUS Module CANopen GPMCANOPEN COMMUNICATIONS
CME2->Tools->CommunicationsWizard
CME2->BasicSetup->OperatingModeOptions
RS-232COMMUNICATIONSGPMisconfiguredviaathree-wire,full-duplexDTERS-232portthatoperatesfrom9600to115,200Baud,8bits,noparity,andonestopbit.Signalformatisfull-duplex,3-wire,DTEusingRxD,TxD,andGnd.ConnectionstotheGPM RS-232portarethroughP4ThegraphicbelowshowstheconnectionsbetweenanGPMandacomputerCOMportwhichisaDTEdevice.
RS-422COMMUNICATIONSRS-422isatwo-wiredifferentialhalf-duplexportthatoperatesfrom9600to230.4kbps.ConnectionstotheGPM RS-232portarethroughP4ThegraphicbelowshowstheconnectionsbetweenaGPMandacomputerRS-422port.
DIGITALCOMMANDINPUTSThe graphic below shows connections between theGPM andaDsub 9M connector on a CAN card. If theGPM is the lastnode on a CAN bus, the internal terminator resistor can beused by adding a connection on the PC board as shown. ThenodeNode-IDoftheGPMmaybesetbyusingdigitalinputs,orprogrammedintoflashmemoryinthedrive.
CANOPENCOMMUNICATIONArgususestheCANphysicallayersignalsCANH,CANL,andGNDforconnection,andCANopenprotocolforcommunication.BeforeinstallingthedriveinaCANsystem,itmustbeassignedaCANNode-ID(address).Amaximumof127CANnodesareallowedonasingleCANbus.UptosevendigitalinputscanbeusedtoproduceCANNode-IDsfrom1~127,ortheNode-IDcanbesavedtoflashmemoryinthemodule.Node-ID0isreservedfortheCANopenmasteronthenetwork.FormoreinformationonCANopencommunications,downloadtheCANopen Programmer’s Manualfrom theCopleyControlsweb-site:http://www.copleycontrols.com/Motion/pdf/CANopenProgrammersManual.pdf
BasedontheCANV2.0bphysicallayer,arobust,two-wirecommunicationbusoriginallydesignedforautomotiveusewherelow-costandnoise-immunityareessential,CANopenaddssupportformotion-controldevicesandcommandsynchronization.Theresultisahighlyeffectivecombinationofdata-rateandlowcostformulti-axismotioncontrolsystems.Devicesynchronizationenablesmultipleaxestocoordinatemovesasiftheyweredrivenfromasinglecontrolcard.
SIGNAL PIN PIN SIGNAL
STO-IN2(-) 1 2 STO-GND
STO-IN2(+) 3 4 STO-BYPASS
STO-IN1(-) 5 6 STO-IN1(-)
STO-IN1(+) 7 8 STO-IN1(+)
DANGER
Refer to the 16-01600 Argus GEM & GPM STO Manual
Theinformationprovidedinthe16-01600 Argus GEM & GPM STO Manual mustbeconsideredforanyapplicationusingtheGPMdriveSTOfeature.Failure to heed this warning can cause equipment damage, injury, or death.
STO MutingConnections
Channel 1
STO-Bypass (6.5 mA)
STO-Gnd (Sgnd)
J3
STO-IN2+
STO-IN1+
Channel 2
FPGA
PWM HI
PWM LO
Channel 3
STO-IN1-
STO-IN2-
STO-IN1+
STO-IN1-
3
1
7
5
8
6
4
2
EN
HI
LO
GateDrivers
PWMOutputs
+HV
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01598 Rev 05 Page 6 of 38
Argus PLUS Module CANopen GPM
J3SIGNALS
SAFE TORQUE OFF (STO)DESCRIPTIONTheGPMprovidestheSafeTorqueOff(STO)functionasdefinedinIEC61800-5-2.Threeopto-couplersareprovidedwhich,whende-energized,preventtheupperandlowerdevicesinthePWMoutputsfrombeingoperatedbythedigitalcontrolcore.ThisprovidesapositiveOFFcapabilitythatcannotbeoverriddenbythecontrolfirmware,orassociatedhardwarecomponents.Whentheopto-couplersareactivated(currentisflowingintheinputdiodes),thecontrolcorewillbeabletocontroltheon/offstateofthePWMoutputs.
Current must flow through all of the
opto-couplers before the drive can be
enabled
STOBYPASS(MUTING)InorderforthePWMoutputsofthedrivetobeactivated,currentmustbeflowingthroughalloftheopto-couplersthatareconnectedtothe STO-1andSTO-2terminalsofJ3,andthedrivemustbeinanENABLEDstate.Whentheopto-couplersareOFF,thedriveisinaSafeTorqueOff(STO)stateandthePWMoutputscannotbeactivatedbythecontrolcoretodriveamotor.Thisdiagramshowsconnectionsthatwillenergizealloftheopto-couplersfromaninternalcurrent-source.WhenthisisdonetheSTOfeatureisoverriddenandcontroloftheoutputPWMstageisundercontrolofthedigitalcontrolcore. If not using the STO feature, these connections must be made in order for the drive to be enabled.
STOBYPASSCONNECTIONS
INSTALLATION
CONNECTIONS
Input J4Pins
IN4 19
IN5 22
Sgnd 3,4,15,16,23,50
J4
[IN4] Current orVelocity
Polarity[IN5]
Sgnd
Duty = 0~100
Controller
[IN4] Current orVelocity
No Function[IN5]
Sgnd
Duty = 50% ±50%
Controller J4
[IN4] Position CU
Position CD[IN5]
SgndCD (Count-Down)
CU (Count-Up)
Controller J4
[IN4] Encoder A
Encoder B[IN5]
Sgnd
Master Encoder J4
Encoder ph. B
Encoder ph. A
J4Controller
[IN4] Position
Direction[IN5]
SgndDirection
Pulse
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01598 Rev 05 Page 7 of 38
Argus PLUS Module CANopen GPMDIGITAL COMMAND INPUTS: POSITION
DIGITAL COMMAND INPUTS: VELOCITY, TORQUE
PWM&DIRECTION 50%PWM
CME2->BasicSetup->OperatingModeOptions
CME2->BasicSetup->OperatingModeOptions CME2->MainPage->PWMCommand
CME2->BasicSetup->OperatingModeOptions
CU/CD QUAD A/B ENCODERPULSE&DIRECTION
SIGNALS&PINS
Signal J4Pins
Pulse,CW,EncoderA,Vel-Curr-Mag,Vel-Curr-50% 8
/Pulse,/CW,Encoder/A,/Vel-Curr-Mag,/Vel-Curr-50% 7
Direction,CCW,EncoderB,Vel-Curr-Pol 10
/Direction,/CCW,Encoder/B,/Vel-Curr-Pol 9
QuadEncX,AbsoluteClock 14
QuadEnc/X,/AbsoluteClock 13
EncS,Absolute(Clock)Data 12
Enc/S,/Absolute(Clock)Data 11
SignalGround 3,4,15,16, 23,50
+5V output @ 500 mA
Signal Ground
Enc. B
Enc. X
Enc. X
Enc. X
Enc. S
Enc. S
Enc. A
Incremental Encoder
Absolute Encoder
J4
Frame Ground
Multi Enc A
Multi Enc /A
Multi Enc B
Multi Enc /B
Multi Enc X
Multi Enc /X
Multi Enc S
Multi Enc S
Input/OutputSelect
MAX3097
MAX3032 for A/BMAX3362 for X
A/B/X signals fromdigital encoder
Input/OutputSelectPulse/Dir or CU/CD differential commands
MAX3097
MAX3032 for A/BMAX3362 for X
InputSelect
OutputSelect
X
S
4-Wire digital absolute encoder signals
MAX3362
MAX3362
Input/OutputSelectVel/Pol, Curr/Pol or 50% differential commands
MAX3097
MAX3032 for A/BMAX3362 for X
Input/OutputSelect
S
S
2-Wire digital absolute encoder signals
MAX3362
MAX3362
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01598 Rev 05 Page 8 of 38
Argus PLUS Module CANopen GPMMULTI-MODE ENCODER PORT AS AN INPUT
POSITIONCOMMANDINPUTS:DIFFERENTIAL• Pulse&Direction• CW&CCW(Clockwise&Counter-Clockwise)• EncoderQuadA&B• CammingEncoderA&Binput
CURRENT orVELOCITYCOMMANDINPUTS:DIFFEREN-TIAL
• Current/VelocityMagnitude&Direction• Current/Velocity50%
SECONDARYFEEDBACK:INCREMENTAL• QuadA/B/Xincrementalencoder
SECONDARYFEEDBACK:ABSOLUTE• Schannel:AbsoluteAencoders(2-wire) TheSchannelfirstsendsaClocksignalandthen receivesDatafromtheencoderinhalf-duplexmode.
• S&Xchannels:SSI,BiSS,EnDatencoders(4-wire) TheXchannelsendstheClocksignaltotheencoder, whichinitiatesdatatransmissionfromtheencoder ontheS-channelinfull-duplexmode
SIGNALS&PINS
Signal J4Pins
EncoderA 8
Encoder/A 7
EncoderB 10
Encoder/B 9
EncoderX 14
Encoder/X 13
SignalGround 3,4,15,16,23,50
SecondaryEncoder Input
Input/OutputSelect
MAX3032
MAX3097
Emulated Quad A/Bsignals from analog Sin/Cos encoder
Emulated A/B signals
SecondaryEncoder Input
Input/OutputSelect
MAX3097
Buffered Quad A/Bsignals from MAX3032 Buffered Quad Xsignal from MAX3362
Buffered A/B/X signals
Enc. B
Enc. X
Enc. A
Incremental Encoder
J4
Frame Ground
Multi Enc A
Multi Enc /A
Multi Enc B
Multi Enc /B
Multi Enc X
Multi Enc /X
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01598 Rev 05 Page 9 of 38
Argus PLUS Module CANopen GPMMULTI-MODE PORT AS AN OUTPUT
OUTPUT TYPES
BUFFEREDQUADA/B/XOUTPUTS EMULATED QUAD A/B OUTPUTS
BUFFEREDFEEDBACKOUTPUTS:DIFFERENTIAL• EncoderQuadA,B,Xchannels• DirecthardwareconnectionbetweenquadA/B/X encoderfeedbackanddifferentiallinedriversforA/B/Xoutputs
EMULATEDFEEDBACKOUTPUTS:DIFFERENTIALFirmwareproducesemulatedquadA/Bsignalsfromfeedback datafromthefollowingdevices:• Absoluteencoders• AnalogSin/Cosincrementalencoders
Name Notes
Analog:ReferenceFilter Disabled
Vloop:InputFilter Disabled
Vloop:OutputFilter1 LowPass,Butterworth, 2-pole,200Hz
Vloop:OutputFilter2 Disabled
Vloop:OutputFilter3 Disabled
Iloop:InputFilter1 Disabled
Iloop:InputFilter2 Disabled
InputShaping Disabled
Option Notes
Method SetCurrentPositionasHome
Name Notes
OUT1 Isolated FaultActiveOff
OUT2Isolated NotConfiguredOUT3
OUT4
OUT5 HSNotConfigured
OUT 6 HSSPI_MOSI
OUT 7 HSSPI_CLK
OUT 8 HSSPI_EN1
OUT 9 BrakeActive-HI
Active Notes
√ ShortCircuit
√ AmpOverTemperature
√ MotorOverTemp
OverVoltage
UnderVoltage
√ FeedbackError
MotorPhasingError
√ FollowingError
CommandInputFault
MotorWiringDisconnected
STOActive
OPTIONALFAULTS
OverCurrent(Latched)
Name Configuration PU/PD
IN1 Enable-LO,ClearFaults +5VPU
IN2
NotConfigured +5V/Gnd
IN3
IN4
IN5
IN6
IN7
Opto NotConfigured
IN8
IN9
IN10
IN11 Motemp +5VPU
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01598 Rev 05 Page 10 of 38
Argus PLUS Module CANopen GPMCME2 DEFAULTS
ThesetablesshowtheCME2defaultsettings.Theyareuser-programmableand thesettingscanbesavedtonon-volatileflashmemory.
SPECIFICATIONS
Input Data Notes
InputVoltages
HI VT+≥2.5~3.5Vdc
LO VT-≤1.3~2.2Vdc
Hys VH0.7~1.5Vdc
Max +30Vdc
Min 0Vdc
Pull-up R1 10 kW
Lowpassfilter
R2 1 kW
C1 100 pF
RC1 0.1µs
SPECIFICATIONS
Input Data Notes
InputVoltages
HI VT+≥2.5~3.5Vdc
LO VT-≤1.3~2.2Vdc
Hys VH0.7~1.5Vdc
Max +30Vdc
Min 0Vdc
Pull-up R1 4.99 kW
Lowpassfilter
R2 10 kW
C1 33 nF
RC1 330µs
CONNECTIONS
Input J4Pins
IN1 18
IN2 17
IN3 20
IN4 19
IN5 22
IN6 21
Sgnd 3,4,15,16, 23,50
BS 4999:Part 111:1987
Property ohms
Resistanceinthetemperaturerange20°Cto+70°C 60~750
Resistanceat85°C ≤1650
Resistanceat95°C ≥3990
Resistanceat105°C ≥12000
CONNECTIONS
Input J2Pins
IN11 17
Sgnd 8,18,21,22
C1
R2R1
74AHC14BQ
[IN1~6]
+5V
J4
+5V
[IN11]
Thermistor,Posistor,
or switch Signal Gnd
R1
R2
C1
J2
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01598 Rev 05 Page 11 of 38
Argus PLUS Module CANopen GPMHIGH SPEED INPUTS: IN1, IN2, IN3, IN4, IN5, IN6
• Digital,non-isolated,high-speed• 12VCompatible• Programmablefunctions
Notes:1)TheR2*C1timeconstantap-plieswheninputisdrivenbyactiveHI/LOdevices
• Digital,non-isolated• Motorovertempinput• 24VCompatible• Programmablefunctions
MOTOROVERTEMPINPUTThe4.99kpull-upresistorworkswithPTC(positivetemperaturecoefficient)thermistorsthatconformtoBS4999:Part111:1987,orswitchesthatopen/closeindicatingamotorover-temperaturecondition.Theactivelevelisprogrammable.
* RC time constant applieswhen input is driven byactivehigh/lowdevice
MOTOR OVERTEMP INPUT: IN11
CONNECTIONS
Signal J4Pins
IN7 27
IN8 25
IN9 26
IN10 24
ICOM 28
SPECIFICATIONS
Input Data Notes
InputVoltages
HI Vin≥±10.0Vdc*
LO Vin≤±6.0Vdc*
Max ±30Vdc*
InputCurrent±24V ±3.6mAdc
0V 0mAdc
4.99k 4.7V
[IN7] 4.7k
4.7k
4.7k
4.7k
[ICOM]
4.99k 4.7V
[IN8]
4.99k 4.7V
[IN9]
4.99k 4.7V
[IN10]
+24V
24V GND
+
24V
J4
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01598 Rev 05 Page 12 of 38
Argus PLUS Module CANopen GPM
• Digital,opto-isolated• Agroupoffour,withacommonterminal• Workswithcurrentsourcingorsinkingdrivers• 24VCompatible• Programmablefunctions
*VdcReferencedtoICOMterminals.
OPTO-ISOLATED INPUTS: IN7, IN8, IN9, IN10
SPECIFICATIONS
Spec Data Notes
InputVoltage Vref ±10Vdc
InputResistance Rin 5 kW
HI/LODEFINITIONS:OUTPUTS
Input State Condition
OUT1~4HI OutputSSRisON,currentflows
LO OutputSSRisOFF,nocurrentflows
CONNECTIONS:J4PINS
Signal (+) (-)
OUT1 30 29
OUT2 32 31
OUT3 34 33
OUT4 36 35
SPECIFICATIONS
Output Data Notes
ONVoltage OUT(+)-OUT(-) Vdc 0.5V@300mAdc
OutputCurrent Iout 300mAdcmax
CONNECTIONS
Signal J4Pins
AIN(+) 2
AIN(-) 1
Sgnd 3,4,15,16,23,50
+
1.5V
Shield (Frame Gnd)
Ref(+)
Ref(-)Vref
J4D/A
F.G.
±10V
Sgnd
-
[OUTn-]
300mAmax
* at 24 Vdc
Vdc
J4
[OUTn+]
1
80Ωmin*
36V
SSR
+
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01598 Rev 05 Page 13 of 38
Argus PLUS Module CANopen GPMANALOG INPUT: AIN1
Asareferenceinputittakesposition/velocity/torquecommandsfromacontroller.Ifnotusedasacommandinput,itcanbeusedasgeneral-purposeanaloginput.
• ±10Vdc,differential• 12-bitresolution• Programmablefunctions
OPTO-ISOLATED OUTPUTS: OUT1, OUT2, OUT3, OUT4
• Digital,opto-isolated• MOSFEToutputSSR,2-terminal• Flybackdiodeforinductiveloads• 24VCompatible• Programmablefunctions
HI/LODEFINITIONS:OUTPUTS
Input State Condition
BRAKE [OUT9]
HI
OutputtransistorisOFF Brakeisun-poweredandlocksmotor Motorcannotmove BrakestateisActive
LO
OutputtransistorisON Brakeispowered,releasingmotor Motorisfreetomove BrakestateisNOT-Active
SPECIFICATIONS
Output Data Notes
VoltageRange Max +30Vdc
OutputCurrent Ids 1.0Adc
SPECIFICATIONS
OutputHI Data Notes
VoutHI Voh 4.4Vdc
IoutHI Ioh -8.0mAdc
VoutLO Vol 0.40Vdc
IoutLO Iol 8.0mAdc
J4CONNECTIONS
Pin Signal
45 Brake-24V
48 Brake-Gate
47 Brake-Out
46 Brake Gnd
CONNECTIONS
Signal J4Pins
OUT 5 38
OUT 6 37
OUT 7 40
OUT 8 39
Sgnd 3,4,15,16,23,50
J4
Brake-Gate
10k
20k
Brake-24V
24V
BrkBrake-Out
Brake-Gnd
ii
+0
+5 Vdc[OUT5~8]
±8 mA
RSgnd
J4
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01598 Rev 05 Page 14 of 38
Argus PLUS Module CANopen GPM
• Brakeoutput[OUT9]• Opto-isolated• 24VCompatible• Programmablefunctions• GateoutputtodriveexternalMOSFET
• CMOSbuffer• 74AHCT1G125• Programmablefunctions
CME2DefaultSettingforBrakeOutput[OUT9]is“Brake-ActiveHI” Active =Brakeisholdingmotorshaft(i.e.theBrake is Active) Motorcannotmove Nocurrentflowsincoilofbrake CME2I/OLineStatesshows[OUT9]asHI BRKOutputvoltageisHI(24V),MOSFETisOFF Servodriveoutputcurrentiszero Servodriveisdisabled,PWMoutputsareoff Inactive=Brakeisnotholdingmotorshaft(i.e.theBrake is Inactive) Motorcanmove Currentflowsincoilofbrake CME2I/OLineStatesshows[OUT9]asLO BRKoutputvoltageisLO(~0V),MOSFETisON Servodriveisenabled,PWMoutputsareon Servodriveoutputcurrentisflowing
Thebrakecircuitsareopticallyisolatedfromalldrivecircuitsandframeground.
OPTO-ISOLATED MOTOR BRAKE OUTPUT: OUT9
HIGH-SPEED OUTPUT: OUT5, OUT6, OUT7, OUT8
Signal J2Pins
EncA 10
Enc/A 9
EncB 12
Enc/B 11
EncX 16
Enc/X 15
+5V 19,20
Sgnd 8,18,21,22
Signal J2Pins
Sin(+) 2
Sin(-) 1
Cos(+) 4
Cos(-) 3
X 16
/X 15
+5V 19,20
Sgnd 8,18,21,22
Signal J2Pins
Sin(+) 2
Sin(-) 1
Cos(+) 4
Cos(-) 3
Ref(+) 24
Ref(-) 23
Sgnd 8,18,21,22
1k+5V
1k
+5V Out @ 500 mA
Signal Ground
Sin(+)
Sin(-)
Cos(+)
Cos(-)
Enc X
Enc /X
-
+
-
+
10k
121
J2
10k
121
Encoder
FG
sin
cos
+5V
0V
indx
10k
Sin
Cos
10k
Enc. Index
Resolver
FG
J2
Sin(+)
Sin(-)
Cos(-)
Cos(+)
Ref(+)
Ref(-)
Signal Gnd
R/DConversionSinS3 S1
S2
S4R1R2
Cos
Ref
1k+5V
1k
Encoder J2
FG
Enc. AA
Enc. BB
Enc. IndexX
Enc A
Enc /A
Enc B
Enc /B
Enc X
Enc /X
+5V
0V
+5V Out @ 500 mA
Signal Ground
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01598 Rev 05 Page 15 of 38
Argus PLUS Module CANopen GPMFEEDBACK CONNECTIONS
QUAD A/B ENCODER WITH FAULT PROTECTIONEncoderswithdifferentialline-driveroutputsarerequired(single-endedencodersarenotsupported)andprovideincrementalpositionfeedbackviatheA/Bsignalsandtheoptionalindexsignal(X)givesaonceperrevolutionpositionmark.TheMAX3097receiverhasdifferentialinputswithfaultprotectionsforthefollowingconditions:Short-circuits line-line: Thisproducesanear-zerovoltagebetweenA&/Awhichisbelowthe
differentialfaultthreshold.Open-circuit condition: Terminatorresistorsinstalledonuserpcboardswillpulltheinputstogetherifeitherside
(orboth)isopen.Thiswillproducethesamefaultconditionasashort-circuitacrosstheinputs.Low differential voltage detection: Thisispossiblewithverylongcablerunsandafaultwilloccurifthe
differentialinputvoltageis<200mV.±15kV ESD protection: The3097Ehasprotectionagainsthigh-voltagedischargesusingtheHumanBodyModel.Extended common-mode range: Afaultoccursiftheinputcommon-modevoltageisoutsideoftherangeof-10Vto+13.2V
ANALOG SIN/COS INCREMENTAL ENCODERTheSin/Cosinputsareanalogdifferentialwith121Ωterminatingresistorsandaccept1Vp-psignalsintheformatusedbyincrementalencoderswithanalogoutputs,orwithServoTube motors.Theindexinputisdigital,differential.
QUAD ENCODER WITH INDEX
SIN/COS SIGNALS
A/B/X SIGNALS
Sgnd=SignalGround
Sgnd=SignalGround F.G.=FrameGnd
RESOLVERConnections to the resolver should bemadewithshielded cable that uses three twisted-pairs.Onceconnected,resolversetup,motorphasing,andothercommissioning adjustments aremadewith CME2software.Therearenohardwareadjustments.
RESOLVER SIGNALS
Signal J2Pins
Clk 16
/Clk 15
Data 14
/Data 13
Sin(+) 2
Sin(-) 1
Cos(+) 4
Cos(-) 3
+5V 19,20
Sgnd 8,18,21,22
Signal J2Pins
Data 14
/Data 13
+5V 19,20
Sgnd 8,18,21,22
SSI BiSS J2Pins
Clk MA+ 14
/Clk MA- 13
Data SL+ 12
/Data SL- 11
+5V 19,20
Sgnd 8,18,21,22
1k+5V
1k 1k+5V
1k
BiSSEncoder
MA+
MA-
SL+
SL-
FG
J2
Clk
Data
Master
Slave
V+
V-
+5V Out @ 500 mA
Signal Ground
Enc X
Enc /X
Enc S
Enc /S
750+5V
1k 1k+5V
1k
Encoder
Enc X
Enc /S
Enc S
Enc /S
FG
J2
Clk
DataData
Clk
+5V
0V
+5V Out @ 500 mA
A
A
B
B
Signal Ground
-
+
-
+
A
B
A
B
1k+5V
1k 1k+5V
1k
Encoder
Sin(+)
Sin(-)
Cos(+)
Cos(-)
Sin(+)
Sin(-)
Cos(+)
Cos(-)
Dat
/Dat
Clk
/Clk
FG
J2
Clk
Enc X
Enc /X
Enc S
Enc /SDataData
Clk
+5V
0V
+5V Out @ 500 mA
Signal Ground
10k
10k
121 Sin
Cos
10k
10k
121
sin
cos
Absolute-AEncoder
1.2k
1.2k
220
5V
SD+
SD-
J2
Battery
Enc S
Enc /SCmd
D-R
SDCmd
D-R
SD
MAX3362B0V
+5VV+
V-
+5V Out@ 500 mA
Signal Ground
Batt+
Batt-
+
-
1k
1k
5V
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01598 Rev 05 Page 16 of 38
Argus PLUS Module CANopen GPMFEEDBACK CONNECTIONS
SSI ABSOLUTE ENCODERTheSSI(SynchronousSerialInterface)isaninterfaceusedtoconnectanabsolutepositionencodertoamotioncontrollerorcontrolsystem.TheGEMdriveprovidesatrainofclocksignalsindifferentialformattotheencoderwhichinitiatesthetransmissionofthepositiondataonthesubsequentclockpulses.Thenumberofencoderdatabitsandcountspermotorrevolutionareprogrammable. Thehardwarebusconsistsoftwosignals:SCLKandSDATA.TheSCLKsignalisonlyactiveduringtransfers.Dataisclockedinonthefallingedgeoftheclocksignal.
BiSS ABSOLUTE ENCODERBiSSisan-OpenSource-digitalinterfaceforsensorsandactuators.BiSSreferstoprinciplesofwellknownindustrialstandardsforSerialSynchronousInterfaceslikeSSI,AS-Interface®andInterbus®withadditionaloptions. SerialSynchronousDataCommunication Cyclicathighspeed 2unidirectionallinesClockandData Linedelaycompensationforhighspeeddatatransfer Requestfordatagenerationatslaves Safetycapable:CRC,Errors,Warnings Buscapabilityincl.actuators Bidirectional BiSSB-protocol:Modechoiceateachcyclestart BiSSC-protocol:Continuousmode
ENDAT ABSOLUTE ENCODERTheEnDatinterfaceisaHeidenhaininterfacethatissimilartoSSIintheuseofclockanddatasignals,butwhichalsosupportsanalogSin/Coschannelsfromthesameencoder.ThenumberofpositiondatabitsisprogrammableasistheuseofSin/Coschannels.UseofSin/CosincrementalsignalsisoptionalintheEnDatspecification.
ABSOLUTE-A ENCODERTheAbsoluteAinterfaceisaserial,half-duplextypethatiselectricallythesameasRS-485.Notethebatterywhichmustbeconnected.Withoutit,theencoderwillproduceafaultcondition.
ENDAT SIGNALS
ABSOLUTE-A SIGNALS
Note: Single (outer) shields should be connected at the controller end. Inner shields should only be connected to Signal Ground on the drive.
SSI,BiSS SIGNALS
Sgnd=SignalGround
Sgnd=SignalGround
• AbsoluteA• TamagawaAbsoluteA• PanasonicAbsoluteAFormat• SanyoDenkiAbsoluteA
Signal J1Pin
Mot U 41~46
MotV 31~36
Mot W 21~26
Signal J2Pins
HallU 5
HallV 6
HallW 7
+5V 19,20
Sgnd 8,18,21,22
J1
PWM
+HV
0V
+
U
V
W
Motor3 ph.
Halls
+5V Out @ 500 mA
Signal Ground
+5V
0V
15K
100p
15KHall U+5V
J2
100p
15K
15KHall V+5V
100p
15K
15KHall W+5V
Hall A
Hall B
Hall C
HALL SIGNALS
MOTOR SIGNALS
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01598 Rev 05 Page 17 of 38
Argus PLUS Module CANopen GPMMOTOR CONNECTIONS
MOTOR PHASE CONNECTIONSThe drive output is a three-phase PWMinverter that converts theDC buss voltage(+HV)intothreesinusoidalvoltagewaveformsthatdrivethemotorphase-coils.Cableshouldbesizedforthecontinuouscurrentratingofthemotor.Motorcablingshouldusetwisted,shieldedconductorsforCEcompliance,andtominimize PWMnoise coupling into othercircuits.Themotorcableshieldshouldconnecttomotorframegroundforbestresults.
DIGITAL HALL SIGNALSHall signals are single-ended signals thatprovideabsolutefeedbackwithinoneelectricalcycleofthemotor.Therearethreeofthem(U, V, &W) and theymay be sourced bymagneticsensorsinthemotor,orbyencodersthathaveHalltracksaspartoftheencoderdisc. They typically operate atmuch lowerfrequenciesthanthemotorencodersignals,and are used for commutation-initializationafter startup, and for checking themotorphasing after the amplifier has switched tosinusoidalcommutation.
+
-
4
Controller
I/O
I/O
+
-
[IN4] HS
[IN5] HS
[IN6] MISO
DCPower
EarthCircuit Gnd
+HVFuse *
* Optional
J1
Aux HV
Drive Enable
DAC Out
DAC Ground
[IN1] HS
[IN7] ISO
[IN8] ISO
[AIN-]
Sgnd
[AIN+]
J2
Enable
PosLim+24V
NegLim
Signal Ground
J4
J4
BRK-GATE
[OUT6] MOSI
[OUT1-]
[OUT5] CLK
1~6
11~16
48
BRK-24V 45
BRK-GND 46
BRK-OUT 47
MOTOR
BRAKE
W
V
U
Motor W
Motor V
Motor U
21~26
31~36
41~46
Enc B
Enc /B
Enc X
Enc /X
Enc /A
Enc A
15
16
11`
12
9
10
Enc /S 13
Enc Sin(+) 2
Enc Sin(-) 1
Enc Cos(+) 4
Enc Cos(-) 3
Enc S 14
7
+5V ENC 20
Sgnd
Sgnd
Sgnd
RS422(+)
HV-GND
+5V ENC 19
1
18
27
[INCOM] ISO28
25
[IN9] ISO
[IN10] ISO
26
Enc A8
Enc /A7
Enc B10
Enc /B9
Enc X14
Enc /X13
Enc S12
Enc /S11
+5V Enc5
+5V Enc6
Sgnd3
Sgnd4
24
3
Sgnd 8
2
29
[OUT1+]30
[OUT2-]31
[OUT2+]32
[OUT3-]33
[OUT3+]34
[OUT4-]35
[OUT4+]36
21
22
19
[IN2] HS
[IN3] HS20
17
37
38
[OUT8] EN139
42
RS422-GND49
RS422(-)41
44
43
50
RxD
TxDGnd
Hall U
Hall V
Hall W
5
6
7
Motemp[IN11]
+5V ENC @ 500 mATotal, both outputs
17
21
22
18Position Commands
Velocity, Torque commands
Step Enc. Ch. A
Enc. Ch. B
CW
CCW Dir
50%PWM
Dir n.c.
RS-422
RS422(+)
RS422(-)
Gnd
RS-232
RxD
TxD
Gnd
±10VDAC
+24 VController
SPI Devices
These signals are the Multi-Port which is programmable to be either inputs or outputs
+24V
* 121Ω resistor on user mounting board
*
AbsoluteEncoder
(Full duplex)
X
/X
S
/S
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01598 Rev 05 Page 18 of 38
Argus PLUS Module CANopen GPMCONNECTORS & SIGNALS
CONNECTIONSFORABSOLUTEENCODERWITHDUPLEXCLOCK/DATA
+
-
4
Controller
I/O
I/O
+
-
[IN4] HS
[IN5] HS
[IN6] MISO
DCPower
EarthCircuit Gnd
+HVFuse *
* Optional
J1
Aux HV
Drive Enable
DAC Out
DAC Ground
[IN1] HS
[IN7] ISO
[IN8] ISO
[AIN-]
Sgnd
[AIN+]
J2
PosLim+24V
NegLim
Signal Ground
J4
J4
BRK-GATE
[OUT6] MOSI
[OUT1-]
[OUT5] CLK
1~6
11~16
48
BRK-24V 45
BRK-GND 46
BRK-OUT 47
MOTOR
BRAKE
W
V
U
Motor W
Motor V
Motor U
21~26
31~36
41~46
Enc B
Enc /B
Enc X
Enc /X
Enc /A
Enc A
15
16
11`
12
9
10
Enc /S 13
Enc Sin(+) 2
Enc Sin(-) 1
Enc Cos(+) 4
Enc Cos(-) 3
Enc S 14
7
+5V ENC 20
Sgnd
Sgnd
Sgnd
RS422(+)
HV-GND
+5V ENC 19
1
18
27
[INCOM] ISO28
25
[IN9] ISO
[IN10] ISO
26
Enc A8
Enc /A7
Enc B10
Enc /B9
Enc X14
Enc /X13
Enc S12
Enc /S11
+5V Enc5
+5V Enc6
Sgnd3
Sgnd4
24
3
Sgnd 8
2
29
[OUT1+]30
[OUT2-]31
[OUT2+]32
[OUT3-]33
[OUT3+]34
[OUT4-]35
[OUT4+]36
21
22
19
[IN2] HS
[IN3] HS20
17
37
38
[OUT8] EN139
42
RS422-GND49
RS422(-)41
44
43
50
RxD
TxDGnd
Hall U
Hall V
Hall W
5
6
7
Motemp[IN11]
+5V ENC @ 500 mATotal, both outputs
17
21
22
18Position Commands
Velocity, Torque commands
Step Enc. Ch. A
Enc. Ch. B
CW
CCW Dir
50%PWM
Dir n.c.
RS-422
RS422(+)
RS422(-)
Gnd
RS-232
RxD
TxD
Gnd
±10VDAC
+24 VController
SPI Devices
These signals are the Multi-Port which is programmable to be either inputs or outputs
+24V
A
/A
B
/B
X
/X
QUADA/B/X
DIGITALENCODER
Sin(+)
Cos(+)
Cos(-)
Sin(-) AnalogSin/CosEncoder
HALLS
U
V
W
* 121Ω resistors on user mounting board
*
*
*
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01598 Rev 05 Page 19 of 38
Argus PLUS Module CANopen GPMCONNECTORS & SIGNALS
CONNECTIONSFORINCREMENTALDIGITALORANALOGENCODERS
+
-
4
Controller
I/O
I/O
+
-
[IN4] HS
[IN5] HS
[IN6] MISO
DCPower
EarthCircuit Gnd
+HVFuse *
* Optional
J1
Aux HV
Drive Enable
DAC Out
DAC Ground
[IN1] HS
[IN7] ISO
[IN8] ISO
[AIN-]
Sgnd
[AIN+]
J2
Enable
PosLim+24V
NegLim
Signal Ground
J4
J4
BRK-GATE
[OUT6] MOSI
[OUT1-]
[OUT5] CLK
1~6
11~16
48
BRK-24V 45
BRK-GND 46
BRK-OUT 47
MOTOR
BRAKE
W
V
U
Motor W
Motor V
Motor U
21~26
31~36
41~46
Enc B
Enc /B
Enc X
Enc /X
Enc /A
Enc A
15
16
11`
12
9
10
24
Rslvr Sin(+) 2
Rslvr Sin(-) 1
Rslvr Cos(+) 4
Rslvr Cos(-) 3
Enc S 14
7
+5V ENC 20
Rslvr Ref(+)
Rslvr Ref(-)
Sgnd
Sgnd
RS422(+)
HV-GND
+5V ENC 19
1
18
27
[INCOM] ISO28
25
[IN9] ISO
[IN10] ISO
26
Enc A8
Enc /A7
Enc B10
Enc /B9
Enc X14
Enc /X13
Enc S12
Enc /S11
+5V Enc5
+5V Enc6
Sgnd3
Sgnd4
24
3
Sgnd 8
2
29
[OUT1+]30
[OUT2-]31
[OUT2+]32
[OUT3-]33
[OUT3+]34
[OUT4-]35
[OUT4+]36
21
22
19
[IN2] HS
[IN3] HS20
17
37
38
[OUT8] EN139
42
RS422-GND49
RS422(-)41
44
43
50
RxD
TxDGnd
Hall U
Hall V
Hall W
5
6
7
Motemp[IN11]
+5V ENC @ 500 mATotal, both outputs
17
21
22
23Position Commands
Velocity, Torque commands
Step Enc. Ch. A
Enc. Ch. B
CW
CCW Dir
50%PWM
Dir n.c.
RS-422
RS422(+)
RS422(-)
Gnd
RS-232
RxD
TxD
Gnd
±10VDAC
+24 VController
SPI Devices
These signals are the Multi-Port which is programmable to be either inputs or outputs
+24V
R1
R2
S3
S1
S2
S4
RESOLVER
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01598 Rev 05 Page 20 of 38
Argus PLUS Module CANopen GPMCONNECTORS & SIGNALS
CONNECTIONSFORRESOLVERS(-ROPTION)
Signal Pin Signal
CAN_GND 65 66 CAN_GND
CAN_GND 63 64 CAN_GND
CAN_H 61 62 CAN_GND
CAN_L 59 60 N.C.
CAN_GND 57 58 CAN_GND
CAN_GND 55 56 CAN_GND
CAN_GND 53 54 CAN_GND
CAN_GND 51 52 CAN_GND
RS422-GND 49 50 Sgnd
Brake-Out 47 48 Brk-Gate
Brake-24V 45 46 Brake-Gnd
RS232 RxD 43 44 RS232 TxD
RS422(-) 41 42 RS422(+)
HS[OUT8] SPI-EN1
39 40[OUT7]HS SPI-CLK
HS[OUT6] SPI-MOSI
37 38 [OUT5]HS
[OUT4-]ISO 35 36 ISO[OUT4+]
[OUT3-]ISO 33 34 ISO[OUT3+]
[OUT2-]ISO 31 32 ISO[OUT2+]
[OUT1-]ISO 29 30 ISO[OUT1+]
[IN7]ISO 27 28 ISO[INCOM]
[IN8]ISO 25 26 ISO[IN9]
Sgnd 23 24 ISO[IN10]
[IN6]HS SPI-MISO
21 22 HS[IN5]
[IN4]HS 19 20 HS[IN3]
[IN2]HS 17 18 HS[IN1]
Sgnd 15 16 Sgnd
Enc/X 13 14 EncX
Enc/S 11 12 EncS
Enc/B 9 10 EncB
Enc/A 7 8 EncA
+5VENC 5 6 +5VENC
Sgnd 3 4 Sgnd
[AREF-] 1 2 [AREF+]
Signal Pin Signal
RES-REF- 23 24 RES-REF+Sgnd 21 22 Sgnd
+5VENC 19 20 +5VENC
[IN11] 17 18 Sgnd
ENC/X 15 16 ENCX
ENC /S 13 14 ENC S
ENC /B 11 12 ENC B
ENC /A 9 10 ENC A
HALLW 7 8 Sgnd
HALLU 5 6 HALLV
COS- 3 4 COS+
SIN- 1 2 SIN+
Signal Pin Signal
+HV
2 1
+HV4 3
6 5
N/C8 7 HVAux
10 9 N/C
HVGnd
12 11
HVGnd14 13
16 15
N/C18 17
N/C20 19
Mot W
22 21
Mot W24 23
26 25
N/C28 27
N/C30 29
MotV
32 31
MotV34 33
36 35
N/C38 37
N/C40 39
Mot U
42 41
Mot U44 43
46 45
SIGNAL PIN PIN SIGNAL
STO-IN2(-) 1 2 STO-GND
STO-IN2(+) 3 4 STO-BYPASS
STO-IN1(-) 5 6 STO-IN1(-)
STO-IN1(+) 7 8 STO-IN1(+)
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01598 Rev 05 Page 21 of 38
Argus PLUS Module CANopen GPMCONNECTORS & SIGNALS
J4CONTROL
J3SAFETY
J1POWER&MOTOR
TOPVIEWViewedfromabovelookingdownontheconnectorsorPCboardfootprinttowhichthemoduleismounted
J1:HV&Motor Dualrow,2mm-centers 46positionfemaleheader SAMTEC SSQ-123-01-L-D
J2:Feedback Dualrow,2mm-centers 24positionfemaleheader SAMTEC SQT-112-01-L-D
J3:Safety Dualrow,2mm-centers 8positionfemaleheader SAMTEC SQT-104-01-L-D
J4:Control Dualrow,2mm-centers 66positionfemaleheader SAMTEC SQT-133-01-L-D
J2FEEDBACK
J4
J3
J2
J1
12
4546
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01598 Rev 05 Page 22 of 38
Argus PLUS Module CANopen GPM
TOPVIEWViewedfromabovelookingdownontheconnectorsorPCboardfootprinttowhichthemoduleismounted
J1SignalGrouping forcurrent-sharing
See Note 1
Notes1.J1signalsofthesamenamemustbeconnectedforcurrent-sharing(seegraphicabove).2.TodeterminecopperwidthandthicknessforJ1signalsrefertospecificationIPC-2221.
(AssociationConnectingElectronicIndustries,http://www.ipc.org)3.Standoffsormountingscrewsshouldconnecttoetchonpcboardthatconnecttoframegroundformaximumnoisesuppressionandimmunity.
PCBHardware: Qty Description Mfgr PartNumber Remarks 1 SocketStrip Samtec SSQ-123-01-L-D J1HV&Motor
1 SocketStrip Samtec SQT-112-01-L-D J2Feedback 1 SocketStrip Samtec SQT-104-01-L-D J3Safety 1 SocketStrip Samtec SQT-133-01-L-D J4Control 2 Standoff PEM KFE-4/40-8ET #4/40X1/4”
AdditionalHardware(notshownabove) 2 Screw,#4-40x1.25”PhillipsPanHeadExternalToothLockwasherSEMS,Stainless,orsteelwithnickelplating,
Torqueto3~5lb-in(0.34~0.57N·m)
J4
J3
J2
J1
PRINTED CIRCUIT BOARD FOOTPRINT
4X Ø0.12546X Ø0.040
98X Ø0.036
0.0787
0.0787
0.0787
0.10000.1000
0.30000.0170
0.0787
0.0902
0.27670.7327
0.3729
2.1000
2.8000
2.7106
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01598 Rev 05 Page 23 of 38
Argus PLUS Module CANopen GPMPRINTED CIRCUIT DRILLING DIMENSIONS
Notes:1.ThisshowsthedrillingdimensionslookingdownonthemountingsurfaceofthePCboard.
Dimensionsareininches
J1
J2
J3
J4
2.10 53.3
.13 3.2
.30 7.6
.30 7.6R.13 3.2
4.8
.01 0.3
2.80 71.1
.12 3
2.40 61
1.37 34.7
1.731.82 46.3
.30 7.6
3.10 78.7
1.58 40.2
.67
23.3
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01598 Rev 05 Page 24 of 38
Argus PLUS Module CANopen GPMDIMENSIONS
Dimensionsareininches[mm]
PEM broaching stud#4/40 X 1/4 in. longPart no. KFH-440-4ET
1/4 in. OD, 1.043 in. longPart no. 1678-440ALMOD-1.043
McMaster Carr screw#4-40 X 7/16 in. w/ spring lock
RAF spacer 4/40 thd
Part no. 91241A418
1.043 26.5± .005 in (0.12 mm)
0.67 16.9
17.3.68
1.63 41.4
McMaster Carr screw#4-40 X 5/8 in. w/ spring lockPart no. 91241A422
RAF spacer 4/40 thd1/4 in. OD, 13/16 in. longPart no. 1689-440-AL
.0240.62
PEM broaching stud#4/40 X 1/4 in. longPart no. KFH-440-4ET
.812 20.62
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01598 Rev 05 Page 25 of 38
Argus PLUS Module CANopen GPMMOUNTING
MOUNTINGWITHCONNECTORSONPCBOARDSeepage22forpartnumbersofconnectors.
MOUNTINGSOLDEREDTOPCBOARD
#4-40 Mounting Screws (4)
Thermal padHeatsink
Transparent Carriers (2)(Discard)
Argus Drive Heatplate
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01598 Rev 05 Page 26 of 38
Argus PLUS Module CANopen GPM
1.Insertthedriveintothesocketsandpresssmoothlyuntiltheheatplateisrestingonthestandoffs.
2.Removeoneoftheclearplasticcarriersfromthethermalpad.
3.PlacethesideofthethermalpadwithoutthecarrierontotheArgusaluminumheatplatetakingcaretocenterthethermalpadholesovertheholesinthedriveheatplate.
4.Removethesecondclearplasticcarrierfromthethermalpad.5.Placetheheatsinkontothethermalpad.Takecaretoensurethattheholesintheheatsink,
thermalpad,anddrivealllineup.6.Insertthefour#4-40screwsthroughtheheatsinkandtorquethemto3~5lb-in(0.34~0.57N·m).
Applyasmallertorquetoeachscrewinrotationuntilthefinaltorqueisreached. Thiswillensureanevencontactbetweenthedriveandheatplateforbestthermaltransfer.
AnAOSMicroFazethermalpadisusedinplaceofthermalgrease.Thismaterialcomesinsheetformandchangesfromsolidtoliquidformasthedrivewarmsup.Thisformsanexcellentthermalpathfromdriveheatplatetoheatsinkforoptimumheattransfer.
STEPSTOINSTALL
HEATSINKINSTALLATIONUSINGTHEGPM-HKHEATSINKKIT
HEATSINK MOUNTING
0.00 W
5.00 W
10.00 W
15.00 W
20.00 W
25.00 W
disabled 0 A 5 A 10 A 15 A 20 A 25 A 30 A
Dissipation vs. Output Current & +HV
50
24
12
9
0 W
5 W
10 W
15 W
20 W
25 W
30 W
35 W
disabled 0 A 5 A 10 A 15 A 20 A 25 A 30 A
Dissipation vs. Output Current & +HV
85
48
24
14
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01598 Rev 05 Page 27 of 38
Argus PLUS Module CANopen GPMPOWER DISSIPATION
Thechartsonthispageshowtheinternalpowerdissipationfordifferentmodelsunderdifferingpowersupplyandoutputcurrentconditions.Thevaluesonthechartrepresentthecontinuouscurrentthatthedrivewouldprovideduringoperation.The+HVvaluesarefortheaverageDCvoltageofthedrivepowersupply.Toseeifaheatsinkisrequiredornot,thenextstepistodeterminethetemperaturerisethedrivewillexperiencewhenit’sinstalled.Forexample,iftheambienttemperatureinthedriveenclosureis40°C,andtheheatplatetemperatureistobelimitedto70°Corlesstoavoidshutdown,themaximumrisewouldbe70C-40C.or30°C.Dividingthisdissipationbythethermalresistanceof9ºC/Wwithnoheatsinkgivesadissipationof3.33W.Thislineisshowninthecharts.Forpowerdissipationbelowthisline,noheatsinkisrequired.Theverticaldashedlineshowsthecontinuouscurrentratingforthedrivemodel.
GPM-055-60
GPM-090-60
OutputcurrentAdc
OutputcurrentAdc
+HVvoltageVdc
+HVvoltageVdc
22 A
22 W
22 A
15 W
6
9
1
5
3 2TxD RxD
DevelopmentKit P7
RJ-11 cable6P6CStraight-wired
5 3Gnd Gnd
RxD TxD2 5
D-Sub 9F
Dsub-9Fto RJ11Adapter
16
ISL32455
RS422(+)
RS422GND
RS422(-)TxD
RxDJ4/42
DevKitP9 Drive
J4J4/49
J4/411
2
3
4
5
3 12456 RS-232P7
TxD RxD
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01598 Rev 05 Page 28 of 38
Argus PLUS Module CANopen GPM
DESCRIPTIONTheDevelopmentKitprovidesmountingandconnectivityforoneGPMdrive.Solderlessjumperseaseconfigurationofinputsandoutputstosupporttheirprogrammablefunctions.Switchescanbejumperedtoconnecttodigitalinputs1~10sothatthesecanbetoggledtosimulateequipmentoperation.DualCANopenconnectorsmakedaisy-chainconnectionspossiblesothatotherCANopendevicessuchasCopley’sArgusPlusorXenusPlusCANopendrivescaneasilybeconnected.
RS-232CONNECTIONTheRS-232portisusedtoconfigurethedriveforstand-aloneapplications,orforconfigurationbeforeitisinstalledintoanCANopennetwork.CME2™softwarecommunicateswiththedriveoverthislinkandisthenusedforcompletedrivesetup.TheCANopenDeviceIDthatissetbytherotaryswitchcanbemonitored,andaDeviceIDoffsetprogrammedaswell.TheRS-232connector,P7,isamodularRJ-11typethatusesa6-positionplug,fourwiresofwhichareusedforRS-232.Aconnectorkitisavailable(SER-CK)thatincludesthemodularcable,andanadaptortointerfacethiscablewitha9-pinRS-232portonacomputer.
SER-CKSERIALCABLEKITTheSER-CKprovidesconnectivitybetweenaD-Sub9maleconnectorandtheRJ-11connectorP7ontheDevelopmentKit.ItincludesanadapterthatplugsintotheCOM1(orother)portofaPCandusescommonmodularcabletoconnecttotheGPM. `Theconnectionsareshowninthediagrambelow.
Don’tforgettoorderaSerialCableKitSER-CKwhenplacingyourorderforanGPMDevelopmentKit!
RS-422COMMUNICATIONSRS-422isatwo-wiredifferentialhalf-duplexportthatoperatesfrom9600to230.4kbps.ConnectionstotheRS-422portarethroughP9. ThegraphicbelowshowstheconnectionsbetweenaGPMandacomputerRS-422port.
DEVELOPMENT KIT
6
9
1
5
D-Sub 9F
3 3
2 2
18
CAN_L
CAN_GND
CAN_H
CAN_L
RJ-45
CAN_GND
CAN_H7 1
18 18
ACTIVITY
16
STATAMP
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01598 Rev 05 Page 29 of 38
Argus PLUS Module CANopen GPM
P8CANCONNECTIONSP7RS-32SERIAL
CANOPEN CONNECTORSDualRJ-45connectorsthatacceptstandardEthernetcablesareprovidedforCANbusconnectivity.Pinsarewired-throughsothatdrivescanbedaisy-chainedandcontrolledwithasingleconnectiontotheuser’sCANinterface.ACANterminatorshouldbeplacedinthelastdriveinthechain. TheGPM-CVconnectorkitprovidesaD-SubadapterthatplugsintoaCANcontrollerandhasanRJ-45socketthatacceptstheEthernetcable.
INDICATORS(LEDS)TheAMPLEDonP7showstheoperationalstateoftheGPM.TheSTATLEDonP7showsthestateoftheCANopenNMT(NetworkManagement)state-machineinthedrive.TheACT(Activity)LEDsonP8showactivityonthenetwork.DetailsontheNMTstate-machinecanbefoundintheCANopenProgrammersManual, §3.1: http://www.copleycontrols.com/Motion/pdf/CANopenProgrammersManual.pdf
GPM-CVCANCONNECTORKITThe kit contains theGPM-CV adapter that converts theCANinterfaceD-Sub9MconnectortoanRJ-45Ethernetcable socket, plus a 10 ft (3m) cable and terminator.Both connector pin-outs conform to the CiA DR-303-1specification.
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!
AMP LEDAsinglebi-colorLEDgivesthestateoftheGPMbychangingcolor,andeitherblinkingorremainingsolid. Thepossiblecolorandblinkcombinationsare:
• Green/Solid: DriveOKandenabled.WillruninresponsetoreferenceinputsorCANopencommands.• Green/Slow-Blinking: DriveOKbutNOT-enabled.WillchangetoGreen/Solidwhenenabled.• Green/Fast-Blinking: PositiveorNegativelimitswitchactive.Drivewillonlymoveindirectionnotinhibitedbylimitswitch.• Red/Solid: Transientfaultcondition.Drivewillresumeoperationwhenfaultisremoved.• Red/Blinking: Latchingfault.OperationwillnotresumeuntildriveisReset.
DriveFaultconditions.Faultsareprogrammabletobeeithertransientorlatching:• Overorunder-voltage • Driveover-temperature• Motorover-temperature • Internalshortcircuits• Encoder+5Vdcfault • Short-circuitsfromoutputtooutput• Short-circuitsfromoutputtoground
STAT LED Asinglebi-colorLEDgivesthestateoftheNMTstate-machinebychangingcolor,andeitherblinkingorremainingsolid. Thepossiblecolorandblinkcombinationsare:GREEN(RUN)• Off Init• Blinking Pre-operational• Single-flash Stopped• On OperationalRED(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
ACTIVITYLEDS• Flashing RED indicates a network error, the GPM is trying to send data via the CAN port and getting no reply • Flashing GREEN indicates the GPM is sending/receiving data via the CAN port
CANOPEN
PIN SIGNAL1 CAN_H2 CAN_L3 CAN_GND4 *5 *6 *7 CAN_GND8 *
121
CAN_H
CAN_L
18
18
JP5A
OUT = UnterminatedIN = Terminated
Jumper
CAN_GND
STO MutingConnections
FPGA
PWM HI
PWM LO
Channel 1
STO-Bypass (6.5 mA)
STO-Gnd (Sgnd)
P5
STO-IN2+
STO-IN1+
Channel 2
Channel 3
STO-IN1-
STO-IN2-
STO-IN1+
STO-IN1-
4
5
2
1
3
6
7
8
9
EN
HI
LO
GateDrivers
PWMOutputs
+HV
Frame Gnd
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01598 Rev 05 Page 30 of 38
Argus PLUS Module CANopen GPM
JP5A Connects termination resistor for last node on CAN bus
Important! Install JP5A ONLY if development kit is the LAST node on a CAN bus
CAN BusConnector
Signals
* These pins connect both socketsintheCANconnector.
CAN CONNECTORSCANOPEN CONNECTORSDualRJ-45connectorsthatacceptstandardEthernetcablesareprovidedforCANbusconnectivity.Pinsarewired-throughsothatdrivescanbedaisy-chainedandcontrolledwithasingleconnectiontotheuser’sCANinterface.ACANterminatorshouldbeplacedinthelastdriveinthechain. TheGPM-CVconnectorkitprovidesaD-SubadapterthatplugsintoaCANcontrollerandhasanRJ-45socketthatacceptstheEthernetcable.
P8P8
SAFE TORQUE OFF (STO)DESCRIPTIONIftheSTOfeaturewillnotbeused,theSTOfunctioncanbedisabledbyaddingjumperstoaconnectorforP5asshownbelow.
JP6A
JP6B
JP10D
J4/21 [IN6] SPI_MISO
J4/37 [OUT6] SPI_MOSI
[OUT6] Red/Green LED
[OUT7] Red/Green LED
[OUT8] Red/Green LED
J4/40 [OUT7] SPI_SCLK
J4/39 [OUT8] SPI_SS1
10k
10k
Switches
74HC165
Q7
D0 8
4
2
1
8
4
2
1
D1
D2
D3
D4
D5
D6
D7
Vcc
+5V SEL
+5V SEL
+5V SEL
Gnd
SW2 x1
SW1 x10
CKE
SDI
PL
CLK
[OUT6]
[OUT7]
[OUT8]
JP7F
JP6C
SW13
JP6D
JP10BP6/38
P6/5
P6/4
[IN6]P6/12
JP10C
JP141
2
3
1
2
3
+5V SEL
JP14
P2/1+5V EXTExternal +5V
From DevKitP2-1
+5V outputfrom module J2 J2/19,20
+5V INT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01598 Rev 05 Page 31 of 38
Argus PLUS Module CANopen GPM
5VPOWERSOURCESPowerforcircuitsontheDevelopmentKit(+5V)canbesuppliedeitherfromtheservodrive(INT),orfromanexternal
+5Vpowersupply(EXT).JumperJP14selectsthesourceofthe+5Vfromeitherthedriveorfromtheexternalsource.
CANOPENDEVICEIDSWITCHCONNECTIONSThegraphicbelowshowstheconnectionstotheCANopenDeviceIDswitches.Thesearereadafterthedriveisreset,orpowered-on.Whenchang-ingthesettingsoftheswitches,besuretoeitherresetthedrive,ortopoweritoff-on.Outputs[OUT6,7,8]andinput[IN6]operateasanSLI(Switch&LEDInterface)portwhichreadsthesettingsontheCANopenDeviceIDswitches,andcontrolstheLEDsontheserialandCANportcon-nectors.InadditiontotheSLIfunction,theportcanoperateasanSPIinterface.Thejumpersmarkedwithred“X”shouldberemovedsothatSW13,orexternalconnectionstothesignalsdonotinterferewiththeoperationoftheSLIport.The“X”on[OUT6]showsthatnoconnectionsshouldbemadetothisbytheuserwhentheSLIportisactive.
CME2->Input/Output->DigitalOutputs
CANOPEN DEVICE ID SWITCHES
+24V +24V +24V
SW8
P6/7
P6/8
P6/9
P6/10
P6/11
P6/12
P6/13
P6/14
P6/15
P6/30
JP7A
JP7B
JP7C
JP7D
JP7E
JP7F
JP7G
+24V +24V
JP7H
JP8A
JP8B
JP8C
IN7~10COMM
SW9 SW4SW10 SW11 SW12 SW13 SW3 SW5 SW6
IN1
IN1
IN2
IN2
IN3
IN3
IN4
IN4
IN5
IN5
IN6
IN6
IN7
IN7
IN8
IN8
IN9
IN9
IN10
IN10SW7
COMM
TomoduleInputs
[IN1]
[IN2]
[IN3]
[IN4]
[IN5]
[IN6]
[IN7]
[IN8]
[IN9]
[IN10]
P6
1 16
31
15 30 44
5V SEL
JP9C JP9DJP9A
DS3 DS4 DS5 DS6 DS7 DS8 DS9 DS10
JP9B JP10A JP10B JP10C JP10D
OUT1+
OUT1-
OUT6 SPI_MOSI
OUT7 SPI_SCLK
OUT8 SPI_SS1
OUT2+
OUT2-
OUT3+
OUT3-
OUT4+
OUT4-
OUT5
Tomoduleoutputs
[OUT1+]
[OUT1-]
[OUT2+]
[OUT2-]
[OUT3+]
[OUT3-]
[OUT4+]
[OUT4-]
[OUT5]
[OUT6]
[OUT7]
[OUT8]
red
green
1k
1k
P6
1 16
31
15 30 44
JP9G JP9HJP9E JP9F
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01598 Rev 05 Page 32 of 38
Argus PLUS Module CANopen GPM
LOGICOUTPUTSTherearelogicoutputsthatcandrivecontrollerlogicinputsorrelays.Ifrelaysaredriven,thenflybackdiodesmustbeconnectedacrosstheirterminalstoclampovervoltagesthatoccurwhentheinductanceoftherelaycoilissuddenlyturnedoff.Outputs5,6,7&8areCMOStypesthatpullupto5Vordowntoground.WhentheseoutputsgohighitturnsonthegreenLED.Whentheyarelow,theredLEDisturnedon.Outputs1,2,3,&4aretwo-terminalopto-isiolatedtypes.Withthejumpersinplaceasshown,whentheoutputsareONtheywilldrivecurrentthroughtheLEDsDS3~6.
LOGICINPUTS&SWITCHESTheDevelopmentKithasjumpersthatcanconnecttheGPMdigitalinputstoswitchesonthekit,ortotheSignalconnector6.Asdelivered,allofthesejumpersareinstalledasshown.Ifconnectingtoexternaldevicesthatactivelycontrolthelevelofaninput,itisdesirabletodisconnecttheswitchwhichcouldshorttheinputtoground.Forexample,if[IN1]isconnectedtoanexternaldevicefortheEnablefunction,thenjumperJP7AshouldberemovedtotaketheswitchSW1outofthecircuit.Thefigurebelowshowstheseconnections.
CONNECTORS & SIGNALS
P4/13
P4/12
P4/11
P4/10
P4/9
P4/8
JP11
A
1k
221
130
121
121JP1B
JP1C
JP1A
JP1D
DS11 +5V SEL
+5V SEL
+5V INT
DS12
DS13
DS14
DS15
DS16
DS17
JP11
B
Tomodule
Tomodule
Tomodule
Tomodule
Enc A
Enc /A
Enc B
Enc /B
Enc X
Enc /X
P4/15Enc S
P4/14
P4/19
P4/18
P4/21
P4/20
P4/2
P4/3
P4/4
P4/7
P4/6
P4/17
P4/5
P4/16
P4/25
P4/26
Enc /S
Enc Sin(+)
Enc Sin(-)
Enc Cos(+)
Enc Cos(-)
Motemp
[IN11]
JP8D
Hall U
Hall V
Hall W
Signal Gnd
+5V ENC
+5V ENC
Signal Gnd
Signal Gnd
Signal Gnd
1k10k
10k
750
+5V INT
7.5k
2.49k
7.5k
2.49k
3.01k
1.0k
SW14
1
2
3
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01598 Rev 05 Page 33 of 38
Argus PLUS Module CANopen GPM
MOTOR FEEDBACK CONNECTOR P4Formotorswithdifferentialencoders:installjumpersJP1B,JP1C,JP1AtoconnectterminatorsacrossA,B,andXinputs.Formotorswithsingle-endedencoders:removejumpersJP1B,JP1C,JP1Atodisconnecttheterminators.
ThenusetheA,B,andXinputsfortheencoder.The/A,/B,and/Xinputsarethenbiasedbydividerstoworkwith thesingle-endedencodersignals.
Amotortemperaturesensorthatconnectsto[IN11]musthavejumperJP8DremovedtopreventswitchSW14from groundingtheMotemp[IN11]signal.
AbsoluteencoderssuchastheNikonAtypethatuse2-wirebidirectionalsignalsrequirebiasingthelineswhentheyareinaquiescentstate. JumpersJP11A,JP11B,andJP1Dmustbeinplacetoprovidelineterminationandbiasing.
LED’sareprovidedtoshowthestatusoftheencoderandHallsignals.
FEEDBACK CONNECTOR & SIGNALS
ii
4
4
3
2
1
20k
10k 46
45 BRK-24V
BRK-DRV
BRK-KIT
BRK-GND
47
48
J4Drive P1
P2Development Kit
Brake300 mA max
Brake8 A max
+24V
0V
JP3C JP3D
JP3A
JP3B
+HVAUX
3P2
SGND
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01598 Rev 05 Page 34 of 38
Argus PLUS Module CANopen GPMBRAKE CONNECTOR & SIGNALS
ThebrakecircuitintheGPMisopticallyisolatedfromtheotherdrivecircuits.AndthebrakecircuitintheDevelopmentKitisisolatedfromothercircuitsinthekit.Jumpersareprovidedthatconnectthekitbrakecircuitstothe+24V(HVAUX)powerandSGND(SignalGround). Withthejumpersinplace,supplying+24VtoP2-4andgroundtoP2-3willpowerthebrakecircuit. Whenthisisdonealow-currentbrakecanbeconnectedtoP1-3andP1-4,orahigher-currentbrakecanbeconnectedbetweenP1-4andP1-2.The+24Vpowersupplymustbeabletosupplytherequiredcur-renttoenergizethebrake.
+
-
4
4
[IN4]
[IN5]
DCPower
EarthCircuit Gnd
+HV InputFuse *
* Optional
P3
Brk-Gnd
Drive Enable
DAC OutDAC Ground
[IN1]
[IN2]
[IN3]
[AIN-]
Sgnd
[AIN+]
P4
EnablePosLim
NegLim
Signal Ground
P6
P1 Brk-24V
1
2
MOTOR
BRAKES
V
U
Motor W
Motor V
Motor U
3
4
5
Enc B
Enc /B
Enc X
Enc /X
Enc /A
Enc A
8
9
10
11
12
1
13
Enc /S 14
Enc Sin(+) 19
Enc Sin(-) 18
Enc Cos(+) 21
Enc Cos(-) 20
Enc S 15
4
3
2
1
6
Sgnd
Sgnd
Sgnd
Sgnd
Brk-Drv 400mA8ABrk-Kit
(Optional)for encoder
and LED's
(Optional)
(Optional)
5 V+
+
-
-24 V
Aux HV
P2
+5V Input1
2
3
4
Sgnd
Sgnd
Sgnd
HV Gnd
5
+5V ENC
+5V ENC
17
3
1
7
8
9
6
2
11
[IN6]12
10
[IN7] ISO
[IN8] ISO14
13
[IN9] ISO
[IN10] ISO30
15
[INCOM] ISO28
[OUT1+]
[OUT1-]27
[OUT2+]41
42
[OUT2-] ISO
[OUT3+] ISO40
26
[OUT1-] ISO
[OUT4+] ISO39
25
[OUT4-] ISO24
Hall U
Hall V
Hall W
2
3
4
HALLS
U
V
W
Motemp[IN11]
+5V ENC
7
25
26
16
+5V @ 500 mA total from module
Position Commands Velocity, Torque commands
Step Enc. Ch. A
Enc. Ch. B
CW
CCW Dir
50%PWM
Dir n.c.
Enc B
Enc /B
Enc X
Enc /X
Enc /A
Enc A
Enc /S
Enc S
36
35
34
33
21
20
19
18
17
31
+
-24 V
/A
B
/B
X
/X
+5V
Sgnd
+5V
Sgnd
+5V
Sgnd
+5V
Sgnd
A
B
X
A
X
/X
S
/S
S
/S
Abs-A
Abs-BiSS
Inc-Di�
Inc-S.E.
Single-ended encoders only supported on
Multi-Port
32
/A
B
/B
X
/X
+5V
Sgnd
A
CLK
/CLK
DAT
/DAT
DAT
DAT
Abs-A
Abs-BiSS
Inc-Di�Digital EncoderConnections aresame on Feedbackand Multi-Port
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01598 Rev 05 Page 35 of 38
Argus PLUS Module CANopen GPMDEVELOPMENT KIT CONNECTIONS
PIN SIGNAL PIN SIGNAL PIN SIGNAL
26 SignalGnd 18 Sin(-) 9 EncX
25 SignalGnd 17 +5VEnc 8 Enc/X
24 N.C. 16 SignalGnd 7 [IN11]Motemp*
23 RslvrRef(+) 15 EncS 6 +5VENC
22 RslvrRef(-) 14 Enc/S 5 SignalGnd
21 Cos(+) 13 EncA 4 HallW
20 Cos(-) 12 Enc/A 3 HallV
19 Sin(+) 11 EncB 2 HallU
10 Enc/B 1 FrameGnd
Signal Pin+HV 1
HVGnd 2Motor W 3MotorV 4Motor U 5
Signal Pin+5Ext 1
Gnd 2 Gnd 3
AuxHV 4
Signal PinBRK-GND 1BRK-KIT 2BRK-DRV 3BRK-24V 4
12
34
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01598 Rev 05 Page 36 of 38
Argus PLUS Module CANopen GPM
P4 FEEDBACK
P1 BRAKE
P2
P1
P3
INPUTSWITCHES
JP1
P4
*SignalconnectionsonthePCboardareaffectedbyjumperplacement
P3MOTOR&+HVPOWER
P9(Seetableonpage35)
P2AUXHV&+5V
DEVELOPMENT KIT CONNECTORS
Pin Signal
1 n.c.
2 RxD
3 Sgnd
4 Sgnd
5 Txd
6 n.c.
Pin Signal
1 N.C.
2 N.C.
3 RS422(-)
4 RS422(+)
5 RS422-GND
PIN SIGNAL PIN SIGNAL
1 FrameGnd 16 SignalGnd PIN SIGNAL
2 [AIN-] 17 +5VENC 31 SignalGnd
3 [AIN+] 18 /SMulti-Port 32 +5VENC
4 [OUT8]SPI-EN1 19 /XMulti-Port 33 SMulti-Port
5 [OUT7]SPI-CLK 20 /BMulti-Port 34 XMulti-Port
6 SignalGnd 21 /AMulti-Port 35 BMulti-Port
7 [IN1]HS 22 SignalGnd 36 AMulti-Port
8 [IN2]HS 23 [OUT5] 37 SignalGnd
9 [IN3]HS 24 [OUT4-]ISO 38 [OUT6]SPI-MOSI
10 [IN4]HS 25 [OUT3-]ISO 39 [OUT4+]ISO
11 [IN5]HS 26 [OUT2-]ISO 40 [OUT3+]ISO
12 [IN6]HS 27 [OUT1-]ISO 41 [OUT2+]ISO
13 [IN7]ISO 28 [INCOM]ISO 42 [OUT1+]ISO
14 [IN8]ISO 29 N.C. 43 N.C.
15 [IN9]ISO 30 [IN10]ISO 44 SignalGnd
P6 CONTROL
P5SAFETY
PIN SIGNAL PIN SIGNAL
1 FrameGnd 6 STO-IN1(+)
2 STO-IN1(+) 7 STO-IN1(-)
3 STO-IN1(-) 8 STO-BYPASS
4 STO-IN2(+) 9 STO-GND
5 STO-IN2(-)
Pin Signal
1 CAN_H
2 CAN_L
3 CAN_GND
4 Pass-thru
5 Pass-thru
6 Pass-thru
7 CAN_GND
8 Pass-thru
16
STAT
AM
P
16
95
18
18
AC
TIV
ITY
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01598 Rev 05 Page 37 of 38
Argus PLUS Module CANopen GPM
P7 RS-232
P9 RS-422
P8 CANOPEN
P8
P9(Seetablebelow)
P7
P6
DEVELOPMENT KIT CONNECTORS
P5
GPM-055-60 GPM ServoDrive,30/60Adc,withencoderfeedback
GPM-055-60-R GPM ServoDrive,30/60Adc,withresolverfeedback
Qty Ref Name Description Manufacturer P/N
GPK-090-01 DevelopmentKitforallGPMmodels
GPK-CK ConnectorKitfor DevelopmentKit
1 P3 HV&Motor Plug,5position,7.62mm,female PhoenixContact: PC 5/5-STCL-7,62
1
P1Brake
Plug,4position,3.5mm,female Wago: 734-104/107-000
1 Strainrelief,snap-on,3.5mm,4position,grey Wago: 734-604
1 Tool Tool,wireinsertion&extraction,734series Wago: 734-231
1 P2 AuxHV Plug,4position,5.08mm,female Wago: 231-304/107-000
1
P5 Safety
Connector,DB-9M,9-position,standard,male TE/AMP: 205204-4
9 AMPLIMITEHD-20Crimp-Snapcontacts,24-20AWG,AUflash TE/AMP: 66506-9
1 MetalBackshell,DB-9,RoHS 3M: 3357-9209
4 Jumper,withpinscrimpedonbothends Copley: 10-75177-01
1P4 Feedback
Connector,high-densityDB-26M,26position,male,soldercup Norcomp: 180-026-103L001
1 MetalBackshell,DB-15,RoHS 3M: 3357-9215
1P6 Control
Connector,high-densityDB-44M,44position,male,soldercup Norcomp: 180-044-103L001
1 MetalBackshell,DB-25,RoHS 3M: 3357-9225
1 P9 RS-422 Connector,terminalblock,female,0.20in,5-position TE: 796634-5
SER-CK 1 P7 RS-232 SerialCableKit
GPK-NC-10
P8 Network
CANopennetworkcable,10ft(3m)
GPK-NC-01 CANopennetworkcable,1ft(0.3m)
GPK-NT CANopenNetworkTerminator
GPM-HK HeatsinkKit
16-01598DocumentRevisionHistory
Revision Date Remarks00 March27,2017 Preliminaryversion
01 April4,2017 Initialreleasedversion
02 December6,2017 Added90Vmodels,change90Vmodelminvoltageto14Vdc,correctedDevKitmodelnumber, addedthermaldata,removelargeheatsink,addHSkittoaccessories.03 June13,2018 CorrectionstoSTOgraphicandsignalnamings
04 February15,2019 UpdatedphotoonfirstpageandeditedtheFeedbacksection
05 March13,2019 CorrectedSSIencoderdescription
R
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01598 Rev 05 Page 38 of 38
Argus PLUS Module CANopen GPM
Note:Specificationssubjecttochangewithoutnotice
ORDERINGGUIDE
Example:OrderoneArgusPlusGPMdrive,30/60Adcwithresolverfeedback,DevelopmentKit,connectorkit,andserialcablekit:Qty Item Remarks 1 GPM-055-60-R ArgusPlusGPMservodrivewithresolverfeedback 1 GPK-090-01 DevelopmentKit 1 GPK-CK ConnectorKit 1 SER-CK SerialCableKit
ACCESSORIES
ORDERING INFORMATION