DIGITAL SERVO DRIVE FOR BRUSH & BRUSHLESS …APV Copley Controls, 20 Dan Road, Canton, MA 02021, USA...

Model Ic Ip VdcAPV-090-14 7 14 9~90APV-090-30 15 30 9~90APV-090-50 25 50 9~90

APV-090-50-C 50 50 9~90APV-180-10 5 10 20~180APV-180-20 10 20 20~180

Model Ic Ip VdcAPZ-090-50 25 50 9~90

Model Ic Ip VdcAPZ-090-50-C 50 50 9~90

APV

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 P/N 16-01682 Rev 05 of 52

Accelnet Plus Micro Module CANopen

Control Modes• ProfilePosition-Velocity-Torque,InterpolatedPosition(PT,PVT),Homing• Indexer,Point-to-Point,CPL• Camming,Gearing• Position,Velocity,Torque

CommandInterface• CANopen• ASCII,SerialBinary,anddiscreteI/O• StepperorQuadA/Bpositioncommands• PWMVelocity/Torquecommand• Masterencoder(Gearing/Camming)

Communications• CANopen• RS-232

Feedback• DualAbsoluteEncoderPorts SSI

EnDat2.1,2.2 AbsoluteA TamagawaAbsoluteA Panasonic,SanyoDenkiAbsoluteAFormat BiSS• Incremental DigitalquadA/B/Xencoder AnalogSin/Cosencoder• Other DigitalHalls

I/O• 7High-speeddigitalinputs• 6High-speeddigitaloutputs• 1Differentialanaloginput

SafeTorqueOff(STO)• SIL3,Category3,PLe

Dimensions:in[mm]• 2.5x1.6x.69[64x41x17.6]APV• 4.4x2.1x1.85[112x53.3x47]APZ-090-50• 5.08x3.6x2.18[129x91.4x55.2]APZ-090-50-C

DESCRIPTIONAPV setsnewlevelsofperformance,connectivity,andflexibility.CANopen communicationprovidesawidelyusedcost-effectiveindustrialbus.Awiderangeofabsoluteencodersaresupported.SafeTorqueOff(STO)eliminatesexternalcontactorsandwiring,reducingsystemcostandcomplexity.Forsafetycriticalapplications,redundantSTOdisableinputscanbeemployed.

DIGITAL SERVO DRIVE FOR BRUSH & BRUSHLESS MOTORS

APV

APZ-50

APZ -50-C

APV



Testconditions:Load=Wyeconnectedload:1mH+1Ωline-line.Ambienttemperature=25°C.+HV=HVmaxMODEL APV-090-14 APV-090-30 APV-090-50 APV-090-50-C APZ-090-50 APZ-090-50-C APV-180-10 APV-180-20 OUTPUTPOWER PeakCurrent 14(9.9) 30(21.2) *50(35.4) *50(35.4) 50(35.4) 50(35.4) 10(7.1) 20(14.2) Adc(Arms) Peaktime 1 1 1 n/a 1 n/a 1 1 Sec Continuouscurrent 7(5.0) 15(10.6) *25(17.7) *50(35.4) 25(17.7) 50(35.4) 5(3.5) 10(7.1) Adc(Arms) PeakOutputPower 1.26 2.7 4.5 4.5 4.5 4.5 1.8 3.6 kW ContinuousOutputPower 0.63 1.35 2.25 4.5 2.25 4.5 0.9 1.8 kW *APV-090-50&APV-090-50-Cmustbesolderedtoamountingboardfortheseratings.INPUTPOWER HVmintoHVmax +9~90 +9~90 +9~90 +9~90 +9~90 +9~90 +20~180 +20~180 Vdc Ipeak 14 30 50 50 50 50 10 20 Adc Icont 7 15 25 50 25 50 5 10 Adc Vlogic +9~60 +9~60 +9~60 +9~60 +9~60 +9~60 +9~60 +9~60 Vdc VlogicPower [email protected],@24Vdc3.5W,@60Vdc4.2Wwith2encoders@+5V,500mAtotalPWMOUTPUTS Type MOSFET3-phaseinverter,16kHzcenter-weightedPWMcarrier,space-vectormodulation PWMripplefrequency 32kHzBANDWIDTH Currentloop,smallsignal 2.5kHztypical,bandwidthwillvarywithtuning&loadinductance HVCompensation ChangesinHVdonotaffectbandwidth Currentloopupdaterate 16kHz(62.5µs) Position&Velocityloopupdaterate 4kHz(250µs)COMMANDINPUTSCANopen: ProfilePosition/Velocity/Torque,InterpolatedPosition(PVT),Homing Stand-alone mode 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-232,9600~230,400Baud,3-wireDIGITALINPUTS Number 7 Allinputs High-speedSchmitttriggerwith100nsRCfilter,10kΩpull-upto+5Vdc,maxinputvoltage=+6Vdc RCtime-constantsassumeactivedriveoninputsanddonotinclude10kΩpull-ups IN1~IN6 VT+=1.42~2.38Vdc,VT-=0.68~1.6Vdc,VH=0.44~1.26 IN7 VT+=1.30~2.00Vdc,VT-=0.55~1.30Vdc,VH=0.40~0.79ANALOGINPUT Number 1 Type Differential,±10Vdcrange,16bits,14kHzinputfilterbandwidth,sample-rate16kHz Function Torque,velocity,orpositioncommand.Or,asgeneralpurposeanaloginputDIGITALOUTPUTS Number 6 OUT1~3 CMOSHCTinverters,functionsprogrammable,+5Vcc Source-8mA@VOH=2.4Vdc,Sink6mA@VOL=0.5Vdc OUT4~6 CMOSLVCinverters,functionsprogrammable,forSLIport,+3.3Vcc Source-24mA@VOH=2.3Vdc,Sink24mA@VOL=0.55VdcRS-232COMMUNICATIONPORT Signals RxD,TxD,Sgnd Mode Full-duplex,DTEserialcommunicationportfordrivesetupandcontrol,9,600to230,400Baud Protocol ASCIIorBinaryformat Isolation Non-isolated.ReferencedtoSignalGroundCANOPENPORT Format Galvanicallyisolatedfromdrivecircuits:CAN_H,CAN_L,CAN_GND,1mBit/secmaximum Protocol CANopen,CiA402

GENERAL SPECIFICATIONS

DANGER

Refer to the 16-01687 Accelnet Plus Micro Modules AEV/APV User Guide

Theinformationprovidedinthe16-01687 Accelnet Plus Micro Modules AEV & APV User Guide mustbeconsideredforanyapplicationusingtheAPVdriveSTOfeature.Failure to heed this warning can cause equipment damage, injury, or death.

APV



DCPOWEROUTPUT +5Vdc 500mAmaximum.Protectedforoverloadorshorts.Sharedbydualencoders.SAFETORQUEOFF(STO) Function PWMoutputsareinactiveandcurrenttothemotorwillnotbepossiblewhentheSTOfunctionisasserted Standard DesignedtoIEC-61508-1,IEC-61508-2,IEC-61800-5-2,ISO-13849-1 SafetyIntegrityLevel SIL3,Category3,Performancelevele Inputs 2two-terminal:STO-IN1+,STO-IN1-,STO-IN2+,STO-IN2- Type Opto-isolators,5Vcompatible,Vin-LO≤2.0Vdcoropen,Vin-HI≥3.3Vdc Inputcurrent(typical) STO-IN1,STO-IN2:11mAeach Responsetime 2msfromVin≤2.0Vdctointerruptionofenergysuppliedtomotor Muting Wiringashortingplugwithjumpers(seepage7)willmute(bypass)theSTOfunctionPROTECTIONS HVOvervoltage +HV>+95±1Vdc Driveoutputsturnoffuntil+HVis<+95±1Vdc(90Vmodels) +HV>+185±1Vdc Driveoutputsturnoffuntil+HVis<+185±1Vdc(180Vmodels) HVUndervoltage +HV<+8.5±0.5Vdc Driveoutputsturnoffuntil+HV>+8.5Vdc±0.5Vdc(90Vmodels) +HV<+19.5±0.5Vdc Driveoutputsturnoffuntil+HV>+19.5Vdc±0.5Vdc(180Vmodels) Driveovertemperature PCBoard>90°C+3/-0ºC Programmableaslatchingortemporaryfault Shortcircuits Outputtooutput,outputtoground,internalPWMbridgefaults I2TCurrentlimiting Programmable:continuouscurrent,peakcurrent,peaktimefordriveandmotor Latching/Non-Latching ProgrammableresponsetoerrorsMECHANICAL&ENVIRONMENTAL Size APV:2.5x1.6x0.69in[64x41x17.6mm] APZ-090-50:4.4x2.1x1.85in[112x53.3x47mm] APZ-090-50-C:5.08x3.6x2.18in[129x91.4x55.2mm] Weight APV:≤0.16lb(0.073kg),add0.106lb(0.048kg)forpinsheatsink APZ-090-50:0.40lb(0.18kg) APZ-090-50-C:0.72lb(0.33kg) Ambienttemperature 0to+45°Coperating,-40to+85°Cstorage Humidity 0to95%,non-condensing Altitude ≤2000m(6,500ft) Vibration 2gpeak,10~500Hz(sine) Shock 10g,10ms,half-sinepulse Contaminants Pollutiondegree2 Cooling ForcedaircoolingrequiredforcontinuouspoweroutputAGENCYSTANDARDSCONFORMANCE

Standards and Directives Functional Safety IEC61508-1,IEC61508-2,IEC61508-3,IEC61508-4(SIL3) Directive2006/42/EC(Machinery) ISO13849-1(Cat3,PLe) IEC61800-5-2(SIL3)

Product Safety Directive2014/35/EU(LowVoltage) IEC61800-5-1

EMC Directive2014/30/EU(EMC) IEC61800-3 IEC61800-5-2

Approvals UL and cUL recognized component to: UL61800-5-1,UL61800-5-2 IEC61800-5-1,IEC61800-5-2


RoHS

ISO 13849-1 Up to PL e (Cat 3) IEC 61800-5-2 Up to SIL 3

16-01682DocumentRevisionHistory

Revision Date Remarks

00~04 n/a Developmentalrevisions

05 May 1, 2020 AllmodelsareCEcertified,“Alloftheagencystandardsarependingatthistime”notewasremoved.Apagewithinformationonpanel-mountinghasbeenadded.

APV




MOTORCONNECTIONS MotorU,V,W Driveoutputsto3-phasebrushlessmotor,Wyeordeltaconnected ForDCbrushmotoruseoutputsU&V Minimuminductance:200µHline-line Encoder Digitalencoders,incrementalandabsolute(seeFEEDBACKbelow) AnalogSin/Cosincremental Halls seeCommutation(below) Motemp InputsareprogrammabletodisablethedriveifmotorsensordrivesinputHIorLOFEEDBACK Incremental encoders DigitalIncrementalEncoder Quadraturesignals,(A,/A,B,/B,X,/X),differential(X,/XIndexsignalsnotrequired) RS-422linereceivers,5MHzmaximumlinefrequency(20Mcounts/sec) AnalogIncrementalEncoder Sin/Cosformat(Sin+,Sin-,Cos+,Cos-),differential,1Vpeak-peak±20% BW>300kHz,16-bitresolution,withzero-crossingdetection Absolute encoders EnDat2.1,2.2,SSI SerialClock(X,/X),andData(A,/A)signals AbsoluteAFormat SD+,SD-(A,/A)signals,2.5or4MHz,half-duplex Positionfeedback:13-bitresolutionperrev,16bitrevolutioncounter(29bitabsolutepositiondata) Statusdataforencoderoperatingconditionsanderrors BiSS(B&C) MA+,MA-(X,/X),SL+,SL-(A,/A)signals,clockoutputfromdrive,datareturnedfromencoder Terminators Allencoderdatainputsandclockoutputsaredifferentialandrequireexternalterminators Commutation Hallsignals(U,V,W),15kΩpull-upto+5V,15kΩ/100pFRCto74LVC3G14Schmitttriggerat+5Vcc Encoder power +5Vdc±2%@500mAdcmax,sharedbydualencoders

HALLS Digital U,V,W:Single-ended,120°electricalphasedifferencebetweenU-V-Wsignals, Schmitttrigger,1.5µsRCfilterfromactiveHI/LOsources,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% BW>300kHz,121ΩterminatingresistorsbetweenSin+&Sin-,Cos+&Cos-inputs 16-bitresolution,BW>300kHz,withzero-crossingdetection

MULTI-MODEENCODERPORT As Input SeeDigitalIncrementalEncoderaboveforelectricaldataonA,B,&Xchannels,or AbsoluteencodersusingXorAchannels.Externalterminatorsrequiredasshownabove As Emulated Output QuadratureA/Bencoderemulationwithprogrammableresolutionto4096lines(65,536counts) perrevfromanalogSin/Cosencodersorresolvers A,/A,B,/B,outputsfromMAX3032differentiallinedriver,X,/X,A,/AfromMAX3362linedrivers As Buffered Output DigitalA/B/Xencodersignalsfromprimarydigitalencoderarebufferedasshownabove 5MHzmax,20megacount/sec

5VOUTPUT Number 1 Ratings +5Vdc@500mAthermalandoverloadprotected

CANopen Settings: (p. 26) CME>Amplifier>NetworkConfigurationCANConfiguration>AddressConfiguration>UseSwitch [Input/Output]>DigitalInputs> [x]UseSwitch&LEDInterface(SLI)

Serial RS-232 Setup (p. 6) CME>Tools>CommunicationWizardSelectDevice=SerialPorts SelectPorts>AvailablePorts ConfigurePorts>Select>Baud

Multi-Mode Port as Pos/Vel/Curr Command Input (p. 9) CME>Settings>OperatingModeOptionsFeedbackOptions MotorFeedback>Primary LoadFeedback>NoneOperatingModeOptions OperatingMode=Position,Velocity,Current CommandSource=DigitalInput DigitalInputSource=Multi-modePort

Multi-Mode Port as Secondary Encoder Input (p. 9) CME>Settings>FeedbackOptions MotorFeedback=Selections>Primary LoadFeedback=Selections>Secondary OperatingModeOptions: OperatingMode=Position,Velocity,Current CommandSource=DigitalInput,PWMCommand DigitalInputSource=HighSpeedInputs

Pos/Vel/Curr Mode from Analog Input (p. 13) CME>Settings>OperatingModeOptionsOperatingMode=Position,Velocity,CurrentCommandSource=AnalogInput

Position Mode from CANopen (p. 6) CME>Settings>OperatingModeOptionsOperatingMode=PositionCommandSource=CAN

Digital Command Inputs: Position (p. 8) CME>Settings>OperatingModeOptionsOperatingMode=PositionCommandSource=DigitalInputDigitalInputSource=HighSpeedInputs

Digital Command Inputs: Velocity / Current (p. 8) CME>Settings>OperatingModeOptionsOperatingMode=Velocity,CurrentCommandSource=PWMCommand DigitalInputSource=HighSpeedInputs[PWMCommand] InputType=50%DutyCycle,100%DutyCycle

Multi-Mode Port as an Output )p. 10) CME>Settings>OperatingModeOptionsFeedbackOptions=MotorFeedback>Primary LoadFeedback>None OperatingModeOptions OperatingMode=Position CommandSource=CANopen MiscellaneousOptions Multi-ModePort=EmulatedMotorFeedback

CANopen Communications: (p. 6) CME>Settings>OperatingModeOptionsOperatingMode=Position CommandSource=CAN

These are some common topics with the key topics that are configured in CME with page numbers shown for quick access.

APV



CME QUICK STARTS

12

34

56

J2

User Mounting Board

APV

Sgnd

RxD

74LVC2G14

10k

10k

3.3V

3.3V

3.3V

TxDTD

RD

ASYNC_TXD

ASYNC_RXD

0.1UF

0.1UF

ADM3101E

2

TIN

GND

6

TOUT

RIN

PADDLE

13

T

R ROUT

3

+6.6V TO -6.6V

V-

C2-10

C2+11

+3.3V TO +6.6V

C1+ 1V+

VCC

C1-12

RS232 TRANSCEIVER

+3.3V

5

8

9

RS232TX

RS232RX

4

7

0.1UF

0.1UF

0.1UF

C

RD

121

TD

APV J2User Mounting Board

CANH

CANLIsolators

6

9 1

5

CAN_GND

CAN_H

CANDsub 9M

CAN_L

CAN_GND

CANTranceiver

Signal J2 Pins

RxD 28

TxD 30

Sgnd 32

Signal J2 Pins

CANH 29

CANL 27

CAN_GND 25,26

APV



Theserialportisafull-duplex,three-wire(RxD,TxD,Sgnd)typethatoperatesfrom9,600to230,400Baud. ItcanbeusedbyCMEfordriveconfigurationandsetuporbyexternalequipmentsendingASCIIcommands.

ThecircuitshownhereisusedontheEZboardandisrecommendedforuser'sPCboards.Itconvertsthesingle-endedTTLsignalslevelsintheAPVintotheANSIRS-232levelswhicharethestandardforserialcommunicationsandcomputerCOMMports.

RS-232PORT

CANOPEN COMMUNICATIONS

APV RS-232 COMMUNICATIONS

CANOPEN COMMAND INPUTSThegraphicshowsconnectionsbetweentheAPVandaDsub9MconnectoronaCANcard.IftheAPVisthelastnodeonaCANbus,theinternalterminatorresistorcanbeusedbyaddingaconnectiononthePCboardasshown.IftherearemultipleAPVonthemountingPCBthentheterminatingresistorshouldbeneartheAPVthatisfarthestfromtheCANnetworkconnectiontothePCB.ThenodeNode-IDoftheAPVmaybesetbyusingdigitalinputs,orprogrammedintoflashmemoryinthedrive.

CANOPEN COMMUNICATIONAPVusestheCANphysicallayersignalsCANH,CANL,andCAN_GNDforconnection,andCANopenprotocolforcommunication.BeforeinstallingthedriveinaCANsystem,itmustbeassignedaCANNode-ID(address).Amaximumof127CANnodesareallowedonasingleCANbus.UptosevendigitalinputscanbeusedtoproduceCANNode-IDsfrom1~127,ortheNode-IDcanbesavedtoflashmemoryinthemodule.Node-ID0isreservedfortheCANopenmasteronthenetwork.

CANOPENBasedontheCANV2.0bphysicallayer,arobust,two-wirecommunicationbusoriginallydesignedforautomotiveusewherelow-costandnoise-immunityareessential,CANopenaddssupportformotion-controldevicesandcommandsynchronization.Theresultisahighlyeffectivecombinationofdata-rateandlowcostformulti-axismotioncontrolsystems.Devicesynchronizationenablesmultipleaxestocoordinatemovesasiftheyweredrivenfromasinglecontrolcard.

Channel 2

2k

2k

3

4

1

2

2k

2k

STO-IN2

STO-IN1

APV J3

Channel 1

PWMSignals

STODiagnostic

Functional Safety Circuit Boundary

CPU

STO-COM1

STO-COM2

/ENVcc

HI

LO

/ENVcc

HI

LO

GateDrivers

PowerSupply

PWMOutputs

+HV

+HVaux+13 Vdc

5 Vdc

-

+

STO DisablingConnections

STOOPERATION

STO Input Voltage STO State

STO-IN1ANDSTO-IN2≥3.3Vdc STOInactive.Drivecanbeenabledtoproducetorque

STO-IN1ORSTO-IN2≤2.0VdcSTOActive.Drivecannotbeenabledtoproducetorque

STO-IN1ORSTO-IN2Open

J3 STO

Signal Pin Signal

STO-IN1+ 1 3 STO-IN2+

STO-IN1- 2 4 STO-IN2-

DANGER

Refer to the 16-01687 Accelnet Plus Micro Modules AEV/APV User Guide

Theinformationprovidedinthe16-01687 Accelnet Plus Micro Modules AEV & APV User Guide mustbeconsideredforanyapplicationusingtheAPVdriveSTOfeature.FAILURE TO HEED THIS WARNING CAN CAUSE EQUIPMENT DAMAGE, INJURY, OR DEATH.

APV



INSTALLATION

FUNCTIONAL DIAGRAM

Current must flow through all of the

opto-couplers before the drive can be enabled

SAFE TORQUE OFF (STO)TheSafeTorqueOff(STO)functionisdefinedinIEC61800-5-2.Twochannelsareprovidedwhich,whende-energized,preventtheupperandlowerdevicesinthePWMoutputsfromproducingtorqueinthemotor.

ThisprovidesapositiveOFFcapabilitythatcannotbeoverriddenbythecontrolfirmware,orassociatedhardwarecomponents.Whentheopto-couplersareenergized(currentisflowingintheinputdiodes),thecontrolcorewillbeabletocontroltheon/offstateofthePWMoutputstoproducetorqueinthemotor.

STO DISABLEInorderforthePWMoutputsoftheAPVtobeactivated,currentmustbeflowingthroughtheopto-couplersthatareconnectedtotheSTO-IN1andSTO-IN2terminalsandthedrivemustbeinanENABLEDstate.Wheneitheroftheopto-couplersareOFF,thedriveisinaSafeTorqueOff(STO)stateandthePWMoutputscannotbeactivatedbythecontrolcoretodriveamotor.

Thisdiagramshowsconnectionsthatwillenergizealloftheopto-couplersfroma+5Vsource.WhenthisisdonetheSTOfeatureisdisabledandcontroloftheoutputPWMstageisundercontrolofthedigitalcontrolcore. If not using the STO feature, these connections must be made in order for the drive to be enabled.

STO DISABLE CONNECTIONS

Note:VoltagesinthetableabovearereferencedbetweenanSTO-INx+andanSTO-INx-. E.g.V(STO-IN1)=V(STO-IN1+)-V(STO-IN1-)

STO STATUSAdigitaloutputcanbeprogrammedtobeactivewhenthedriveisdisabledbytheSTOfunction.TheactiveleveloftheoutputisprogrammabletobeHIorLO. Note: STO Status is not part of the STO Safety Function.

Step

Dir

[IN3]

[IN4]

Count Up

Count Down

[IN3]

[IN4]

Enc A

Enc B

[IN3]

[IN4]

J2

[IN3] Current orVelocity

Polarity[IN4]

Sgnd

Duty = 0~100

Controller

[IN3] Current orVelocity

No Function[IN4]

Sgnd

<no connection>

Duty = 50% ±50%

Controller J2

J2 Sgnd Pins

3,4,18,19,20,21,22,23,24, 31,32,33,34,42,49,50,59,60

Signal J2 Pins

IN3 7

IN4 8

APV



STAND-ALONE MODE DIGITAL POSITION-CONTROL INPUTSAPVworkswithmotioncontrollersthatoutputpulsestocommandposition. Theseformatsaresupported: Step/Direction Count-Up/Count-Down(CU/CD) A/BQuadratureEncoderInStep/Directionmode,apulse-traincontrolsmotorposition,andthedirectioniscontrolledbyaDClevelattheDirectioninput. CU/CD(Count-Up/Count-Down)signalscommandthemotortomoveCWorCCWdependingonwhichinputthepulse-trainisdirectedto.Themotorcanalsobeoperatedinanelectronicgearingmodebyconnectingtheinputstoaquadratureencoderonanothermotor.Inallcasestheratiobetweeninputpulsesandmotorrevolutionsisprogrammable.

STEP/DIRECTIONINPUTS COUNT-UP/COUNT-DOWNINPUTS QUADA/BENCODERINPUTS

DIGITAL COMMAND INPUTS: POSITION

DIGITAL COMMAND INPUTS: VELOCITY, TORQUE

PWM&DIRECTION 50%PWM

STAND-ALONE MODE DIGITAL VELOCITY/TORQUE CONTROL INPUTSAPVworkswithmotioncontrollersthatoutputpulsestocommandvelocityandtorque(current). Theseformatsaresupported:

PWM/Direction 50%PWM

InPWM/Directionmode,apulse-trainwithvariableduty-cyclecontrolsmotorVel/Trq,andthepolarityordirection iscontrolledbyHI/LOlevelsattheDirectioninput.With50%PWMoperationthereisasinglesignal. A50%dutycyleproduceszerooutput.Increasingthedutycycleto100%producesafull-scaleoutputinonedirection and0%dutycycleproducesafull-scaleoutputintheoppositedirection.

Enc. X

+5V output @ 500 mA

Sgnd

J2Frame Ground

ENC2 A

ENC2 /A

ENC2 B

ENC2 /B

ENC2 X

ENC2 /X

Enc. A

MAX3362

MAX3362

MAX3362

Enc. B

Input/OutputSelectPulse/Dir or CU/CD

differential commands

MAX3362

MAX3362 for A/BMAX3362 for X

Input/OutputSelectVel/Pol, Curr/Pol or 50%

differential commands

MAX3362


Input/OutputSelect

MAX3362


A/B/X signals fromdigital encoder

Input/OutputSelect

A

A

2-Wire digital absolute encoder signals

MAX3362

MAX3362

InputSelect

OutputSelect

X

A

4-Wire digital absolute encoder signals

MAX3362

MAX3362

Command Signals J2 Pins

Pulse,CW,QuadEncoderA,Vel-Curr-Magnitude,Vel-Curr-50% 51

/Pulse,/CW,QuadEncoder/A,/Vel-Curr-Magnitude,/Vel-Curr-50% 52

Direction,CCW,QuadEncoderB,Vel-Curr-Direction 53

/Direction,/CCW,QuadEncoder/B,/Vel-Curr-Direction 54

Feedback Signals J2 Pins

QuadEncoderA,Half-DuplexCLK-DATA,Full-DuplexDATA 51

QuadEncoder/A,Half-Duplex/CLK-DATA,Full-Duplex/DATA 52

QuadEncoderB 53

QuadEncoder/B 54

QuadEncoderX,Full-DuplexCLOCK 55

QuadEncoder/X,Full-Duplex/CLOCK 56

J2 Sgnd Pins

3,4,18,19,20,21,22,23,24, 31,32,33,34,42,49,50,59,60

APV



MULTI-MODE PORT AS AN INPUT

POSITIONCOMMANDS:DIFFERENTIAL• Pulse&Direction• CW&CCW(Clockwise&Counter-Clockwise)• EncoderQuadA&B• CammingEncoderA&Binput

CURRENTorVELOCITYCOMMANDS:DIFFERENTIAL• Current/VelocityMagnitude&Direction• Current/Velocity50%

SECONDARYFEEDBACK:INCREMENTAL• QuadA/B/Xincrementalencoder

SECONDARYFEEDBACK:ABSOLUTE• Half-Duplex:AbsoluteAencoders(2-wire) TheAchannelfirsttransmitsaClocksignalandthenswitchestoareceivertoreceivedatafromtheencoder.

• Full-Duplex:SSI,BiSS,EnDatencoders(4-wire) TheXchannelsendstheClocksignaltotheencoder,whichinitiatesdatatransmissiontotheA-channel.

COMMAND INPUT

FEEDBACK INPUT: ENCODER 2

SecondaryEncoder Input

Input/OutputSelect

MAX3362

MAX3362

Emulated Quad A/Bsignals from analog Sin/Cos encoder

Emulated A/B signals

SecondaryEncoder Input

Input/OutputSelect

MAX3097

Buffered Quad A/Bsignals from MAX3362 Buffered Quad Xsignal from MAX3362

Buffered A/B/X signals

+5V output @ 500 mA

Sgnd

J2

FGENC2 A

ENC2 /A

ENC2 B

ENC2 /B

ENC2 X

ENC2 /X

Enc. A

Enc. B

Enc. X

MAX3362

MAX3362

MAX3362

Signal J2 Pins

Enc2A 51

Enc2/A 52

Enc2B 53

Enc2/B 54

Enc2X 55

Enc2/X 56

J2 Sgnd PinsJ2 Sgnd Pins

3,4,18,19,20,21,22,23,24, 31,32,33,34,42,49,50,59,60

APV



MULTI-MODE PORT AS AN OUTPUT

OUTPUT TYPES

BUFFEREDQUADA/B/XOUTPUTS EMULATEDQUADA/BOUTPUTS

BUFFEREDFEEDBACKOUTPUTS:DIFFERENTIALAnincrementalencoderconnectedasprimaryfeedbackfromthemotor isinternallyconnectedtothemulti-portconfiguredasanoutput. Thiscanthenbewiredtoamotioncontrollerthatneedspositiondatawithouttheneedforsplit-wiringcablesfromtheencoderalone.

• EncoderQuadA,B,Xchannels• DirectinternalconnectionbetweenquadA/B/X encoderfeedbackanddifferentiallinedriversforA/B/Xoutputs

EMULATEDFEEDBACKOUTPUTS:DIFFERENTIALFirmwareproducesemulatedquadA/Bsignalsfromfeedback datafromthefollowingdevices:

• Absoluteencoders• AnalogSin/CosincrementalencodersTheXchannelisnotusedinthismode

Configure Filters > Filter Settings

Name Notes

AnalogReference Disabled

VLoopInput Disabled

VLoopOutput1LowPass,Butterworth, 2poles,200Hz

VLoopOutput2 Disabled

VLoopOutput3 Disabled

ILoopInput1 Disabled

ILoopInput2 Disabled

InputShaping Disabled,0.1Poles

Home

SoftwareLimits Positive,Negative,Deceleration

Method SetCurrentPositionasHome

FastVelocity RPM

SlowVelocity RPM

Accel/Decel RPS

Offset Counts

HomingAdjustment Counts

Input / Output > Digital Outputs

Name Notes

OUT1 Fault-ActiveLO

OUT2 NotConfigured

OUT3 Brake-ActiveLow

OUT4* SLIMOSI(MasterOutputSlaveInput)

OUT5* SLICLK(Clock)

OUT6* SLISS(SlaveSelect)

Configure Faults > Latched Faults

Active Notes

√ ShortCircuit

√ AmpOverTemperature

√ MotorOverTemp

OverVoltage

Under Voltage

√ FeedbackError

MotorPhasingError

√ FollowingError

CommandInputFault

MotorWiringDisconnected

STOActive

Configure Faults > Optional Faults

OverCurrent(Latched)

Input / Output > Digital Inputs

Name Configuration

IN1 AmpEnable-LOEnableswithClearFaults

IN2 NotConfigured

IN3 NotConfigured

IN4 NotConfigured

IN5 MotorTemp-HiDisables

IN6 EncoderFault-ActiveHI

IN7* SLIMISO(MasterInputSlaveOutput)

APV



CME DEFAULTS

ThesetablesshowtheCMEdefaultsettings.Theyareuser-programmableand thesettingscanbesavedtonon-volatileflashmemory.

√ThesearethedefaultsettingsforLatchedFaults.UsingCME,thesecanbecheckedorunchecked.

*IfnotusedforanSLIport,theseoutputscanbeprogrammedforotherfunctions.

*IfnotusedforanSLIport,thisinputcanbeprogrammedforotherfunctions.

+3.3V

100p74LVC3G14

+5V +5V

1K

10k

[IN1~6]

Sgnd

APV J2

+5V

100p74HCT2G14

+5V +5V

1K

10k

[IN7]

Sgnd

APV J2

SPECIFICATIONSInput Data Notes

InputVoltages

HI VT+=1.42~2.38Vdc

LO VT+=0.68~1.6Vdc

Hys VH=0.44~1.26

Max +6Vdc

Min 0Vdc

Pull-up R1 10kΩ

Lowpassfilter

R2 1kΩ

C1 100 pF

RC1 0.1µs

CONNECTIONS

Signal J2 Pins

IN1 5

IN2 6

IN3 7

IN4 8

IN5 9

IN6 10

SPECIFICATIONSInput Data Notes

InputVoltages

HI VT+≥1.3~2.0Vdc

LO VT-≤0.55~1.3Vdc

Hys VH0.40~0.79Vdc

Max +6Vdc

Min 0Vdc

Pull-up R1 10kΩ

Lowpassfilter

R2 1kΩ

C1 100 nF

RC1 0.1µs

CONNECTIONSSignal J2 Pins

IN7 11

J2 Sgnd Pins

3,4,18,19,20,21,22,23,24, 31,32,33,34,42,49,50,59,60

APV



HIGH SPEED INPUTS: IN1, IN2, IN3, IN4, IN5, IN6

• Digital,non-isolated• Programmablefunctions• MISOInputwhenSLIportisinuse.

*RCtimeconstantapplieswheninputisdrivenbyactivehigh/lowdevice

HIGH SPEED INPUT: IN7

ThesixdigitalinputstotheAPVareprogrammabletoaselectionoffunctions.Allhave100nsRCfilterswhendrivenbyactivesources(CMOS,TTL,etc)andallhave10kΩpull-upresistorsto+5Vdc. Inadditiontotheselectionoffunctions,theactivelevelforeachinputisindividuallyprogrammable.InputlevelfunctionshaveprogrammableHIorLOtoactivatethefunction. InputtransitionfunctionsareprogrammabletoactivateonLO->HI,orHI->LOtransitions.

INPUT LEVEL FUNCTIONS INPUT TRANSITION FUNCTIONS •DriveEnable,EnablewithClearFaults,EnablewithReset •ClearFaultsandEventLatch •PWMSync •DriveReset •PositiveLimitSwitch •PWMSyncInput •NegativeLimitSwitch •TrajectoryUpdate •HomeSwitch •CountInputEdges,SavetoRegister •EncoderFault •High-SpeedPositionCapture •MotorTemperatureSensorInput •SimulatedAbsoluteEncoderBurst •MotionAbort •AbortMoveif>NCountsFromDestinationinRegister •High-ResolutionAnalogDivide

+5 Vdc

[OUT1~3]

74HCT2G14

+3.3 Vdc

[OUT4~6]±24 mA

RSgnd

74LVC3G14

±4 mA

RSgnd

APV J2 APV J2

+3.3 Vdc

[OUT4]SPI-MOSI

SPI-MISO

SPI-CLK

SPI-EN1

SPI-GND

[OUT5]

[OUT6]

[IN7]

USER BOARD SPI DEVICES

74HCT3G14

74LVC3G14

Sgnd

APV J2

+

1.5V

Ref(+)

Ref(-)Vref

Sgnd

-

D/A

F.G.

±10V

APV J2

User Mounting Board

Signal J2 Pins

OUT1 13

OUT2 12

OUT3 15

OUT4 14

OUT5 17

OUT6 16

SPECIFICATIONS

Spec Data Notes

InputVoltage Vref ±10Vdc

InputResistance Rin 5.09kΩ

Signal J2 Pins

AIN(+) 2

AIN(-) 1

Signal J2 Pins

SLI-MOSI 14

SLI-CLK 17

SLI-EN1 16

SLI-GND 18

SLI-MISO 11


3,4,18,19,20,21,22,23,24, 31,32,33,34,42,49,50,59,60

APV



Digitaloutputs[OUT1~3]areHCTCMOSinverters.Theyoperatefrom+5Vandcansource/sink4mAdc. [OUT4~6]areLVCCMOSinverters.Theyoperatefrom3.3Vandcansource/sink24mA. TheoutputfunctionsshownbelowareprogrammabletoturntheoutputON(HI)orOFF(LO)whenactive.

DIGITAL OUTPUTS: OUT1~OUT4

OUTPUT FUNCTIONS•Fault•Brake•Customevent•PWMSync•CustomTrajectorystatus•Customposition-triggeredoutput•Programcontrol

ThesethreeoutputsandoneinputoperateasanSLI(SwitchandLEDInterface)portforcontrollingLEDsandreadingthesettingsthenetworkaddressswitches.ThegraphicbelowshowstheminSLImode.IfnotusedforSLItheyareprogrammableforotherfunctionstoturntheoutputON(HI)orOFF(LO)whenactive.[IN7]isshownhereforcompletenessaspartoftheSLIfunction.

SLI (Switch & LED Interface) PORT

OUTPUT FUNCTIONS•Fault•Brake•Customevent•PWMSync•CustomTrajectorystatus•Customposition-triggeredoutput•Programcontrol

ANALOG INPUT: AIN1

AsareferenceinputittakesPosition/Velocity/Torquecommandsfromacontroller. Ifnotusedasacommandinput,itcanbeusedasgeneral-purposeanaloginput.

EncoderAPV 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

Sgnd

MAX3362

Encoder

Clk

/Clk

Data

/Data

FG

APV J2

Clk

DataData

Clk

+5V

0V

+5V Out @ 500 mA

Sgnd

MAX3362

MAX3362

BiSSEncoder

MA+

MA-

SL+

SL-

FG

APV J2

Clk

Data

Master

Slave

V+

V-

+5V Out @ 500 mA

Sgnd

Clk

FG

/Clk

Data

/Data

Signal J2 Pins

EncA 43

Enc/A 44

EncB 45

Enc/B 46

EncX 47

Enc/X 48

+5V 57,58

SSI BiSS J2 Pins

Clk MA+ 47

/Clk MA- 48

Data SL+ 43

/Data SL- 44

+5V 57,58

J2 Sgnd Pins

3,4,18,19,20,21,22,23,24, 31,32,33,34,42,49,50,59,60

APV



ENCODER 1 (PRIMARY FEEDBACK)

QUAD ENCODER WITH INDEXA/B/X SIGNALS

SSI ABSOLUTE ENCODERTheSSI(SynchronousSerialInterface)isaninterfaceusedtoconnectanabsolutepositionencodertoamotioncontrollerorcontrolsystem.TheAPVdriveprovidesatrainofclocksignalsindifferentialformattotheencoderwhichinitiatesthetransmissionofthepositiondataonthesubsequentclockpulses.Thenumberofencoderdatabitsandcountspermotorrevolutionareprogrammable. Thehardwarebusconsistsoftwosignals:SCLKandSDATA.TheSCLKsignalisonlyactiveduringtransfers.Dataisclockedinonthefallingedgeoftheclocksignal.

BiSS ABSOLUTE ENCODERBiSS is an Open Source digital interface for sensors andactuators. BiSS refers to principles ofwell known industrialstandards for Serial Synchronous Interfaces like SSI, AS-Interface®andInterbus®withadditionaloptions. SerialSynchronousDataCommunication Cyclicathighspeed 2unidirectionallinesClockandData Linedelaycompensationforhighspeeddatatransfer Requestfordatagenerationatslaves Safetycapable:CRC,Errors,Warnings Buscapabilityincl.actuators Bidirectional BiSSB-protocol:Modechoiceateachcyclestart BiSSC-protocol:Continuousmode

SSI,BiSS SIGNALS

Note: Single (outer) shields should be connected at the drive end. Inner shields are optional for digital encoders and should only be connected to Signal Ground on the drive.

-

+

-

+

A

B

A

B

1k+5V

1k 1k+5V

1k

Encoder

Sin(+)

Sin(-)

Cos(+)

Cos(-)

Sin(+)

Sin(-)

Cos(+)

Cos(-)

Dat

/Dat

Clk

/Clk

APV J2

Clk

Enc X

Enc /X

Enc A

Enc /ADataData

Clk

+5V

0V

+5V Out @ 500 mA

Sgnd

7.65k

7.65k

121 Sin

Cos

7.65k

7.65k

121

sin

cos

USER MOUNTING PC BOARD

Absolute-A Encoder

1.2k

1.2k

220

5V

SD+

SD-

APV J2

Data

/DataCmd

D-R

SDCmd

D-R

SD

MAX3362B0V

+5VV+

V-

+5V Out@ 500 mA

Sgnd

Batt+

Batt-

+

-

* 1k

1k

5V

Signal J2 Pins

Clk 47

/Clk 48

Data 43

/Data 44

Sin(+)* 36

Sin(-)* 35

Cos(+)* 38

Cos(-)* 37

+5V 57,58

Signal J2 Pins

Data 43

/Data 44

+5V 57,58

J2 Sgnd Pins

3,4,18,19,20,21,22,23,24, 31,32,33,34,42,49,50,59,60

APV



ENCODER 1 (PRIMARY FEEDBACK)

ENDAT ABSOLUTE ENCODERTheEnDatinterfaceisaHeidenhaininterfacethatissimilartoSSIintheuseofclockanddatasignals,butwhichalsosupportsanalogSin/Coschannelsfromthesameencoder.ThenumberofpositiondatabitsisprogrammableasistheuseofSin/Coschannels.UseofSin/CosincrementalsignalsisoptionalintheEnDatspecification.

ABSOLUTE-A ENCODERTheAbsoluteAinterfaceisaserial,half-duplextypethatiselectricallythesameasRS-485. Notethebatterywhichmustbeconnected.Withoutit,theencoderwillproduceafaultcondition.

ENDAT SIGNALS

ABSOLUTE-A SIGNALS

• AbsoluteA• TamagawaAbsoluteA• PanasonicAbsoluteAFormat• SanyoDenkiAbsoluteA

* Sin/CosoptionalwithEnDat2.2 orany1MbitorfasterEndat Sin/CosrequiredifEnDat2.1<1Mbit

*Batteryoptional

Note: Single (outer) shields should be connected at the drive end. The inner shield is optional for digital encoders and should only be connected to Signal Ground on the drive.

+3.3V

100p

+5V

1kMotemp

Sgnd

10k

+5V

74LVC3G14

APV J2

10k

1k

OUT1~OUT3

24V

+5V

Brake

+0

APV J2


Sgnd

HALL U, V, W

100 pF

74LVC3G17

+5V

+3.3V15 k

UV

W

15 k

APV J2

+9~60 Vdc

DC/DCHVCOM

VLOGIC

+5VENC

InternalPower

APV J1+

0


+5V Out @ 500 mA

Sgnd

Sin(+)

Sin(-)

Cos(+)

Cos(-)

-

+

-

+

120

APV J2

120

Encoder

sin

cos

+5V

0V

Sin

Cos


Input J2 Pins

SIN(+) 36

SIN(-) 35

COS(+) 38

COS(-) 37

+5V 57,58

Input J2 Pins

HallU 39

HallV 40

HallW 41

Output J2 Pins

OUT1 13

OUT2 12

OUT3* 15

Signal J1 Pins

Vlogic 7

HVcom9,10,11, 12,13,14

Input J2 Pins

MotempIN5 9

Sgnd 3


3,4,18,19,20,21,22,23,24, 31,32,33,34,42,49,50,59,60

APV



OTHER MOTOR CONNECTIONS

ANALOG ENCODER

MOTOR TEMPERATURE SENSORAnydigitalinputisprogrammableforusewithamotorovertemperatureswitch.EitheraHIorLOinputlevelisprogrammabletosignalanover-tempcondition.

MOTOR BRAKEOUT1~OUT3have+5VoutputsthatcancontrolaMOSFET.WhenprogrammedforbrakecontrolwithanactiveHIlevel,theoutputwillturnontheMOSFET,releasingthebrakeandallowingthemotortomove.

HALLSHallsensorsinabrushlessmotorareproducedfromthemagneticfieldinthemotorandprovidecommutationfeedbackwithoutanencoder.Whenusedwithincrementalencoders,theyenablethemotortooperatewithoutaphase-findingcycle.

SIN/COS ENCODERSSin/Cossensorsinlinearbrushlessmotorsareproducedfromthemagneticfieldintherodandprovidecommutationfeedbackaswellashigherresolutionpositionfeedbackbyinterpolatingofthesignals.IncrementalrotaryencodersarealsoavailablewithSin/Cosoutputs.Programmableinterpolationenablesthenumberofcountsperrevolutionorlinearmovementtobeprogrammable.

VLOGIC

DESCRIPTIONPowerstheinternallogicandcontrolcircuitsinthedrive. WhenusingtheSTOfeature,itmustbeproducedbypowersupplieswithtransformerisolationfromthemainsandPELVorSELVratingsandamaximumoutputvoltageof60Vdc.Ifthemotorcanoperatefromvoltagesof60Vdcorless,the+HVandVlogiccanbedrivenfromasinglepowersupply.

*OUT3isbrakedefault

+

-+

-

Sgnd

SPIDevices

SPI-MOSI

SPI-CLK

SPI-EN1

SPI-MISO

SPI-GND

Controller

PosLim

NegLim

Fault

Drive Enable

IN3

IN2

Sgnd

IN1

OUT2

MotempIN5

Hall W

Hall V

Sgnd

Hall U

Enc2 /X

Enc2 X

Enc2 /B

Enc2 B

Enc2 A

Enc2 /A

Enc1 /X

Enc1 X

Enc1 /B

Enc1 B

Enc1 A 43

44

45

46

47

48

60

Enc1 /A

+5 VdcOutput

IN3

IN6 EncFault

IN4

RxD

Sgnd

TxD

W

V

U

+HV Com

Fuse

Earth

Minimum

Vlogic330 µF

per drive

DCPower<= 12 in (30 cm) from drive

Mount external capacitor

Brake[OUT3]

HALLS

U

V

W

+HV

J1

J2

J3

RxD

TxD

Gnd

ControllerRS-232DTE

EncoderMotor

A

/A

B

/B

X

/X

EncoderLoad

SGND = Signal Ground

A

/A

B

/B

X

/X

0V

+5V

FLT

0V

+5VTo Encoderand Halls

BRAKE

+24V+0

MotorOvertemp

Switch

39

40

41

STO-IN2(+)

STO-IN1(-)

STO-IN1(+) 1

2

3

STO-IN2(-) 4

57

5

51

52

53

54

55

56

59

6

7

12

IN7

OUT6

OUT5

Sgnd

17

OUT414

16

11

18

8

9

3

15

30

17

25 26 27

33 34 35

36

1 2 3

4

9 10 11

12 13 14

5 6

37 38

28 29 30

18 19

20 21 22

32

7

28

7

10

+5 VdcOutput 58

CU Step ENC Ch. A

CD Dir ENC Ch. B

+5V+0

VLOGICRequired for

drive control and communications

MOTOR

W

V

U

VoiceCoil

+

-

APV



Notes1.[IN1]isshownasDriveEnableand[IN2]and[IN7]areshownwithsometypicalfunctions. [IN3]and[IN4]areshownasdigitalcommandinputs.[IN3]isshowntwice. IfSLIfunctionisused,itwillnotbeavailableforotherfunctions.Allinputsareprogrammable.

2.[OUT2]isshownasaFaultsignaltothecontrollerand[OUT3]isshownascontrolforamotorbrake. Alloutputsareprogrammable.

3.Encoderconnectionsareshownforincrementaltypes,butabsoluteencodersaresupportedonbothprimary andloadencoderinputs.

TYPICAL CONNECTIONS

This graphic shows the functional connections between APV connectors and various devices. User mounting board connections are not shown.

1.600 40.64

2.500 63.50

00

.650

16.5

1

.526

13.3

5

.800

20.3

2

0 0.090 2.29

1.751 44.461.818 46.19

2.080 52.83

2.320 58.931 3

2 4

6463

21 21

3837

J2 J1

J3

38X Ø 0.035 [0.89]

2X Ø 0.105 [2.67] 4X Ø 0.035 [0.89]

64X Ø 0.028 [0.71]

21

3837

APV



PC BOARD MOUNTING & DRILLING DIMENSIONS

Top view looking down on mounting PC board.

Notes1.J1signalsmustbeconnectedforcurrent-sharing.

2.TodeterminecopperwidthandthicknessforJ1signalsrefertospecificationIPC-2221. (AssociationConnectingElectronicIndustries,http://www.ipc.org)

3.Standoffsshouldbeconnectedtoetchesonpcboardthatconnecttoframegroundformaximumnoisesuppressionandimmunity. TheyalsoprovidethePE(ProtectiveEarth)connectionbetweentheheatplateandground.

For Sockets on User PC Board: Qty Description Mfgr PartNumber RefDes Remarks 1 SocketStrip Samtec SQT-119-01-G-D J1 0.0787in(2.00mm)pitch 1 SocketStrip Samtec SFMC-132-01-L-D J2 0.050in(1.27mm)pitch 1 SocketStrip Samtec SQT-102-01-G-D J3 0.0787in(2.00mm)pitch 2 Standoff hex,20.5mmlong,M2,5mmthread

J1 Signal Grouping for current-sharing

For Soldering to User PC Board: Qty Description Mfgr PartNumber RefDes Remarks 1 ForJ1,refertothisdocument:http://suddendocs.samtec.com/processing/through-hole-printing.pdf 1 SocketStrip Samtec CLP-132-02-L-D-BE-A-K-TR J2 0.050in(1.27mm)pitch 1 SocketStrip Samtec CLT-102-2-G-D-BE J3 0.0787in(2.00mm)pitch 2 Standoff hex,15mmlong,M2.5mmthread

Dimensions are in inches [ mm ].

J3

J2 J1

1 3

4263

1 21 2

37 3864

Signal P3Pin Signal

Reserved 63 64 Reserved

Reserved 61 62 Reserved

Sgnd 59 60 Sgnd

Enc+5V 57 58 Enc+5V

Enc2X 55 56 Enc2/X

Enc2B 53 54 Enc2/B

Enc2A 51 52 Enc2/A

Sgnd 49 50 Sgnd

Enc1X 47 48 Enc1/X

Enc1B 45 46 Enc1/B

Enc1A 43 44 Enc1/A

HallW 41 42 Sgnd

HallU 39 40 HallV

Cos(-) 37 38 Cos(+)

Sin(-) 35 36 Sin(+)

Sgnd 33 34 Sgnd

Sgnd 31 32 Sgnd

CAN-H 29 30 SerialTxD

CAN-L 27 28 SerialRxD

CAN-Gnd 25 26 CAN-Gnd

Sgnd 23 24 Sgnd

Sgnd 21 22 Sgnd

Sgnd 19 20 Sgnd

SLI-CLKOUT5 17 18 Sgnd

BrakeOUT3 15 16 OUT6SLI-EN1

OUT1 13 14 OUT4SLI-MOSI

SLI-MISOIN7 11 12 OUT2

IN5 9 10 IN6

IN3 7 8 IN4

EnableIN1 5 6 IN2

Sgnd 3 4 Sgnd

Refin(-) 1 2 Refin(+)

Signal J1Pin Signal

MOTU

37 38

MOTU35 36

33 34

31 32

MOTV

29 30

MOTV27 28

25 26

23 24

MOTW

21 22

MOTW19 20

17 18

15 16

HVCOM

13 14

HVCOM11 12

9 10

7 8 VLOGIC

+HV

5 6

+HV3 4

1 2

SIGNAL PIN PIN SIGNAL

STO-IN1(+) 1 3 STO-IN2(+)

STO-IN1(-) 2 4 STO-IN2(-)

APV



PC BOARD SIGNALS

J1 POWER & MOTOR

J3 SAFETY

TOP VIEWViewedfromabovelookingdownontheconnectorsorPCboardfootprintto

whichthemoduleismountedJ2 FEEDBACK

J1:HV&Motor Dualrow,2mmcenters 38positionfemaleheader SAMTECSQT-119-01-G-D

J2:Feedback Dualrow,0.050inchcenters 64positionfemaleheader SAMTECFLE-132-01-G-DV-K-TR

J3:Safety Dualrow,2mmcenters 4positionfemaleheader SAMTECTLE-102-01-G-DV-TR

2.500 63.5

.090 2.29

.948 24.09

.897 22.79

.860 21.85

.105 2.67

2.320 58.93

.185 4.7

.800 20.32

.692 17.58

2.500 63.5

.948 24.09

.897 22.79

1.044 26.51

.105 2.67

.090 2.29

2.320 58.93

4.7.185

.800 20.32

.692 17.58

1.60 40.6

APV



DIMENSIONS

Dimensionsareininches[mm].

APV-090-50, APV-090-50-C

APV-090-14, APV-090-30, APV-180-10, APV-180-20

*ThesepinsarelongerforsolderingtotheuserPCboard.

*

Screw M2.540mm

(2)

Nut (2)

2.7 [68.5]in [mm]

Generic spacer(2)

Power Pins Signal & STO Pins

in [mm]0.59 [15]

Screw M2.535mm

(2)

Nut (2)

Generic spacer(2)

Power Pins Signal & STO Pins

1.73 [44]

0.807 [20.5]in [mm]

Copley spacer(2)

Nut (2) Signal & STO SocketsPower Socket

2.92 [74]in [mm]

Screw M2.5 40 mm

(2)

0.807 [20.5]in [mm]

Copley spacer(2)

Nut (2) Signal & STO SocketsPower Socket

PINS HEATSINK KIT: APV-HK

Part Part Number Qty

Screw M2.5-0.45x35mmslottedcheesehead 2

Nut M2.5-0.45DINnylonlocknut 2

Thermalmaterial Copley 1

Spacer Copleynon-threadedspacer20.5mm, 2

Heatsink PinsHeatsink,1inchtall 1

CONNECTORS FOR SOCKETING

Part Mfgr Part Number Qty

SignalSocket Samtec FLE-132-01-G-DV-K-TR 1

PowerSocket Samtec SQT-119-01-G-D 1

STOSocket Samtec TLE-102-01-G-DV-TR 1

TALL PINS HEATSINK KIT: APV-TPK





Spacer Copleynon-threadedspacer20.5mm, 2

Heatsink TallPinsHeatsink,2inchtall 1

APV



MOUNTING: SOCKETED INTO USER PC BOARD

MOUNTING: SOLDERED INTO USER PC BOARDAPV-090-50, APV-090-50-C Kitsarenotavailableforthisconfiguration.Herearethepartsrequired: Standoffs: 15mm,diameter4.5mm,hollow,aluminum,RAFM0514-25,qty2 Thermalpad: CopleyCC6-83985-01,qty1 PinsHeatsink: CopleyCC21-126260-01,qty1 Screws: M2.5,Lengthdependentonassembly,qty2 Nuts: M2.5,Dependentonassembly,qty2

Tall Pins Heatsink

Pins Heatsink

APV-090-14, APV-090-30, APV-180-10, APV-180-20 Allconnectionsshownsocketed.Withthepinsheatsinkthe30mmscrewsareused.Withthelongpinsheatsinkthe40mmscrewsareused.

Tall Pins Heatsink

Pins Heatsink

Forthehalf-solderedconfigurationthedimensions,spacers,screws,andnutsarethesame.

Nut M2.5(2)

Screw M2.5, 30mm

(2)

Standoff, 20.5 mm Thru-hole

(2)

Flat & SplitWashers(2 ea.)

0.94 [23.8]

184 [46.9]

PANEL MOUNTING PARTS





Spacer Copleynon-threadedspacer20.5mm 2

FlatWasher Metric,M2.5,flat 2

SplitLockWasher Metric,M2.5,lock 2

APV



APV-090-14, APV-090-30, APV-180-10, APV-180-20 ThesemodelsareshownbelowsocketedintoanEZBoard. ScrewspassthroughtheEZBoardandstandoffstonutsthatholdthedrivetothepanel.TappingaholeinthepaneltoaccepttheM2.5-0.45screwallowsthedrivetobemountedandremovedfromonesideofthepanel.User-designedmountingboardsshouldhavethesameconductiveetchringsaround thescrewholestoprovidePEgroundingfortheircircuits.

IMPORTANTStandoffsmustbemetal,preferablybrass.TheEZBoardhasconductiveetchringsoneachsideofthescrewholeswhichconnectviaetchthroughtheholes.ThescrewsthenprovideapathfromthePEcircuitsonthedrivethroughthestandoffsanddriveheatplatetothemountingpanelwhichshouldbeearthed.Theetchonthebottomoftheholesconnectstothestandoffsanddriveheatplate,providingaPEgroundfortheheatplate.Thethermalmaterialbetweenthemountingboardandheatplateofthedriveisnon-conductivesoeffectivegroundingoftheheatplateisprovidedbythroughthestandoffs.

IMPORTANTThe example shown here using the EZ Board to mount to a panel does not apply to panel mounting of the APV-090-50 and APV-090-50-C models. These models are incompatible with the EZ Board.

PANEL MOUNTINGAPZ-090-50Thismodelhasthemotor,+HV,andgroundingpinssolderedtotheEZboard.ThesignalandSTOpinsaresocketed.ThedimensionsandmountingtoapanelarethesameastheAPVmodels.

0

4

8

12

0 5 10 15

PW

M L

osse

s (W

atts

)

Continuous Current (Adc)

85V

48V

24V

12V

9V

0

1

2

3

4

5

0 1 2 3 4 5 6 7

Loss

(W)


85V48V24V14V12V9V

0

5

10

15

20

25

30

0 5 10 15 20 25

Loss

(W)


85V48V24V14V12V9V

0

1

2

3

4

5

6

7

8

9

10

0 1 2 3 4 5

Pow

er S

tage

Dis

sipa

tion

(wat

ts)


180V140V100V48V24V

0

5

10

15

20

0 1 2 3 4 5 6 7 8 9 10

Pow

er S

tage

Dis

sipa

tion

(wat

ts)

Continuous Current ( Adc)

180V140V100V48V24V

0

10

20

30

40

50

60

70

0 10 20 30 40 50Continuous Current (Adc)

85V48V24V12V9V

APV



THERMALS: PWM OUTPUTS DISSIPATION

APV-090-30

APV-090-14

APV-090-50

APV-180-20

APV-180-10

APV-090-50-C

ThesechartsshowpowerdissipationinthedrivewhenthePWMoutputsaredrivingamotor.ThefollowingpageshowsthedissipationintheVlogiccircuitsthatpowerthedrivescontrolcircuitsandexternalencoders.AddingthePWMdissipationtotheVlogicdissipationwillyieldthetotaldissipationinWattsforthedrive.ThedottedlinesintheAPV-090-30chartshowadissipationof9.5W.atacontinuouscurrentof13Adcand+HV=85Vdc.

2

3

4

0 10 20 30 40 50 60

Vlog

ic In

pu P

ower

Vlogic (Vdc)

+5VENC 500ma, Enabled

+5VENC 250ma, Enabled

+5VENC 0A, Enabled

+5ENC 0A, Disabled

A

A

B

No HeatsinkLFM 0 100 200 300Rth 8.5 6.5 5.5 4.0

Pins Heatsink A-AirflowLFM 0 100 200 300Rth - 2.9 1.8 1.4

Pins Heatsink B-AirflowLFM 0 100 200 300Rth - 4.2 2.6 1.9

Tall Pins Heatsink A-AirflowLFM 0 100 200 300Rth - 1.3 0.9 0.7

Tall Pins Heatsink B-AirflowLFM 0 100 200 300Rth - 2.2 1.4 1.1

APV



APV All Models

THERMALS: VLOGIC & ENCODER +5V OUTPUT DISSIPATION

ThesechartsshowpowerdissipationintheVlogiccircuitsthatpowerthedrivescontrolcircuitsandexternalencoders.AddingthePWMdissipationtotheVlogicdissipationwillyieldthetotaldissipationinWattsforthedrive.Thedottedlinesinthechartshowadissipationof3.2W.atVlogic=24VdcwhenthedriveisinanEnabledstateandoutputting250mAforanencoder.

THERMAL RESISTANCE

APV + APV-HK

APV

ThermalresistanceRthisameasureofthewaythedriveresiststheflowofheatproducedinternallytotheenvironment.Thelowertheresistancethemorefreelytheheatcanbedissipated.ThermalresistanceRthisinunitsofdegrees-CentigradeperWatt(C/W).LoweringRthcanbedonewithheatsinksthatincreasetheareathatisexposedtotheenvironmentandbymovingairoverthesurfaceswithfans.TheflowoffanforcedairismeasuredinLinear-Feet-per-Minute(LFM).

Note:TheTallPinsHeatsinkisnotshownhere.

APV



THERMAL CALCULATIONS EXAMPLE: APV-090-30, +HV = 85 V, IOUT = 13 A, AMBIENT TEMP 32 °C

BEST PRACTICES FOR THERMAL MANAGEMENT•Allofthevariablesinaninstallationareusuallynotknown.•Calculationslikethoseabovearedonewithvaluesthatmaybeestimates,notexactvalues.•Movementofairisveryimportant.Evenwhenenclosureshavenoopenings,internalfans circulatetheairtomoveheatfromdrivestotheenclosurewallsandtopreventhot-spotting.

•AheatsinkcutstheAPVthermalresistancesignificantlywithforcedair. Overheatingcanshutdowndrivebutover-coolingisnotpossible. MeasurementofthedrivetemperaturewithCMEiseasyandisthebestindicatorofthe needforaheatsink.Itshowsthecombinedeffectofallthevariables: Thermaldissipation,ambienttemperature,coolingmeans,theenvironment,etc.

THERMAL CALCULATIONS

FIND THE COOLING MEANS REQUIRED WHEN DISSIPATION AND AMBIENT TEMP ARE KNOWNGiven: Tamb=32ºC(89.6ºF),+HVdissipation=9.5W.,Vlogicdissipation=3.2W

Tmax=90ºC(driveshut-downtemperature)Find: ThermalresistanceRth:

Delta-T=Tmax-Tamb=90-32=58ºC Totaldissipation=9.5+3.2=12.7W Rth=Delta-T/dissipation=ºC/Watt=58/12.7=4.57ºC/W

Fromthetablesabove,therearethreeconfiguationsthatprovideRthlessthan4.57ºC/W: Noheatsink,forcedairat300LFM Withshortpinsheatsink,forcedairatAorBdirection,100LFMorgreater Withlongpinsheatsink,convectionwithforcedairnotrequired

FIND THE MAX AMBIENT TEMP WHEN DRIVE CONFIGURATION IS KNOWNGiven: APV-090-30withpinsheatsink,forced-airat200LFM,Adirection,dissipationis12.7W

Rth=1.8ºC/W Tmax=90ºC(driveshut-downtemperature)

Find: Maxambientoperatingtemperature Delta-T=12.7Wx1.8ºC/W=22.9ºC

MaxTamb=Tmax-Delta-T=90-22.9=67.1ºC Maxambientoperatingtemperatureis45°Csoitcanoperateuptothistemperature

3 12456 RS-232J9

TxD RxD

6

9

1

5

3 2TxD RxD

RJ-11on

ServoDrive

RJ-11 cable6P6CStraight-wired

5 3Gnd Gnd

RxD TxD2 5

D-Sub 9F

Dsub-9Fto RJ11Adapter

16

5

Sgnd

3

4

2

5

EZ J9

RDRxD

TDTxD

6

9 1

TxD

RxD

Gnd

D-Sub 9M(DTE)

APV



EZ BOARD

RS-232 CONNECTIONTheRS-232portisusedtoconfigurethedriveforstand-aloneapplications,orforconfigurationbeforeitisinstalledintoanCANopennetwork.CMEsoftwarecommunicateswiththedriveoverthislinkandisthenusedforcompletedrivesetup.TheCANopenDeviceIDthatissetbytherotaryswitchescanbemonitored,andaDeviceIDprogrammedaswell.TheRS-232connector,J9,isamodularRJ-11typethatusesa6-positionplug,fourwiresofwhichareusedforRS-232.Aconnectorkitisavailable(SER-CK)thatincludesthemodularcable,andanadaptortointerfacethiscablewitha9-pinRS-232portonacomputer.

SER-CK SERIAL CABLE KITTheSER-CKprovidesconnectivitybetweenaD-Sub9maleconnectorandtheRJ-11connectorJ9ontheEZboard.ItincludesanadapterthatplugsintotheCOM1(orother)portofaPCandusesastraight-throughmodularcabletoconnecttotheAPV.Theconnectionsareshowninthediagrambelow.

Don’tforgettoorderaSerialCableKitSER-CKorSER-USB-RJ11whenplacingyourorderforanAPZdrive,oranEZboard.

DESCRIPTIONTheEZBoardsprovideconnectivitytotheseAPVmodelssotheycanbemounteddirectlytoequipmentsurfaces.

TheAPV-EZ-090EZBoardacceptsthesemodelsasplug-ins: APV-090-14 APV-090-30TheAPV-EZ-180EZBoardacceptsthesemodels asplug-ins: APV-180-10 APV-180-20

Important: The APV-EZ-090 EZ Board is not compatible with the APV-090-50 and APV-090-50-C models.

Forhighercurrent,theAPZ-090-50isanAPV-090-50 solderedtotheEZBoardatthefactoryasasingleassembly.

4

C B

32

A

9

10 8

7

F

65

E D

4

C B

32

A

9

10 8

7

F

65

E D

SW1 SW2

HEX DEC

0 0 0

1 16 1

2 32 2

3 48 3

4 64 4

5 80 5

6 96 6

7 112 7

8 128 8

9 144 9

A 160 10

B 176 11

C 192 12

D 208 13

E 224 14

F 240 15

APV



CANopen DeviceIDSwitch Decimalvalues

SW1 SW2

x10 x1

CANopen DEVICE IDInanCANopennetwork,slavesareautomaticallyassignedfixedaddressesbasedontheirpositiononthebus.Whenadevicemusthaveapositiveidentificationthatisindependentofcabling,aDeviceIDisneeded.IntheEZboardthisisprovidedbytwo16-positionrotaryswitcheswithhexadecimalencoding.ThesecansettheDeviceIDofthedrivefrom0x01~0xFF(1~255decimal).Thechartshowsthedecimalvaluesofthehexsettingsofeachswitch.Example1:FindtheswitchsettingsfordecimalDeviceID107:1)FindthehighestnumberunderSW1thatislessthan107andsetSW1tothehexvalueinthesamerow:96<107and112>107,soSW1=96=Hex6

2)Subtract96fromthedesiredDeviceIDtogetthedecimalvalueofswitchSW2and setSW2totheHexvalueinthesamerow:SW2=(107-96)=11=HexB

DualRJ-45socketsacceptstandardEthernetcables.TheINportconnectstoamaster,ortotheOUTportofadevicethatis‘upstream’ betweentheAPVandthemaster.TheOUTportconnectsto‘downstream’nodes.IftheAPVisthelastnodeonanetwork,onlytheINportisused. A121ΩterminatorisrequiredontheOUTport.

CANOPEN LEDSRUN Green:ShowsthestateoftheFSA(FiniteStateAutomaton): Off = INIT Blinking = Pre-operational SingleFlash = Safe-operational On = Operational

ERR Red:ShowserrorssuchaswatchdogtimeoutsandunsolicitedAPVstatechangesduetolocalerrors: Off = CANopencommunicationsareworkingcorrectly Blinking = Invalidconfiguration,generalconfigurationerror SingleFlash = Localerror,slavehaschangedCANopenstateautonomously DoubleFlash= PDOorCANopenwatchdogtimeout,oranapplicationwatchdogtimeouthasoccurred

AMP STATUS LEDAbi-colorLEDgivesthestateofthedrive.Colorsdonotalternate,andcanbesolidONorblinking. Ifmultipleconditionsoccur,onlythetop-mostconditionwillbedisplayed.Whenthatconditionisclearedthenextonebelowwillshown.Red/Blinking = Latchingfault.OperationcannotresumeuntildriveisReset. Red/Solid = Transientfaultcondition.Drivecanresumeoperationwhentheconditioncausingthefaultisremoved. Green/Slow-Blinking = DriveOKbutNOT-enabled.Canrunwhenenabled. Green/Fast-Blinking = PositiveorNegativelimitswitchactive.Drivecanonlymoveindirectionnotinhibitedbylimitswitch. Green/Solid = DriveOKandenabled.CanruninresponsetoreferenceinputsorCANopencommands.

LATCHING FAULTSDefault Optional(programmable) Shortcircuit(Internalorexternal) Over-voltage Driveover-temperature Under-voltage Motorover-temperature MotorPhasingError FeedbackError CommandInputLost FollowingError MotorWiringDisconnected OverCurrent(latched)

CANopen LEDs

AMP STATUS LED

EZ BOARD CANOPEN INDICATORS & ADDRESS SWITCHES

CANL

CANH

CANGND

J11

J121

81

8

APV J3APV EZ J11~J12


Channel 1

2k

2k6.2V

5.1V

12.4k

2.2k 2k

2k

STO-IN1(+)

STO-IN2

J3

J3

J1

Channel 2

SafetyRelatedCircuits

STO control usinginternal +5V

STO control usingexternal +24V

STO-RTN2

SGND

SGND

IN1 ENABLE

FRAME GND

+5V ENC

STO-IN1(-)

STO-IN1(+)

FGND

FGND

STO-IN1(+) 24V

SGND

SGND

FGND

IN1

FGND

+5V ENC

STO-IN1(-)

APVAPV EZ J6

6.2V

5.1V

12.4k

2.2k

STO-IN2(+)

STO-IN2(+) 24V

STO-IN2(-)

+24V-

+

J11 CAN

Pin Signal

1 CANH

2 CANL

3 CANGND

4 *

5 *

6 *

7 CANGND

8 *

J12 CAN

Pin Signal

1 CANH

2 CANL

3 CANGND

4 *

5 *

6 *

7 CANGND

8 *

J6 STO

Signal Pin Signal

STO-IN1(-) 1 2 STO-IN1(+)24V

STO-IN1(-) 3 4 STO-IN1(+)5V

n.c. 5 6 n.c.

STO-IN2(-) 7 8 STO-IN2(+)24V

STO-IN2(-) 9 10 STO-IN2(+)5V

n.c. 11 12 n.c.

Sgnd 13 14 FGND

IN1 15 16 +5VENC

APV



DESCRIPTIONThisshowstheuseoftheinternal+5Vorexternal24VtoenergizetheSTOinputs.BothSTOinputsmustbeenergizedinordertoenablethedrive.IN1,thehardwareEnableinputisforusewithanimmediatecontactrelaytobringthemotortoastopbeforeadelayedcontactrelayde-energizestheSTOinputsandpreventstorqueproductioninthemotor.

CANOPEN CONNECTORSDualRJ-45connectorsthatacceptstandardEthernetCAT-5cablesareprovidedforCANopenconnectivity.

*Thesepinsarepass-throughandhavenoconnectionstothedrivecircuits.

n.c.=Noconnection

EZ BOARD CANOPEN CONNECTORS

EZ BOARD SAFE TORQUE OFF (STO)

[IN7] SPI_MISO

[OUT4] SPI MOSI

[OUT5] SPI CLK

[OUT6] SPI-EN1

10k

1k

1k

1k

10k

Switches

74HCT165U5

Q7

D0 8

4

2

1

8

4

2

1

D1

D2

D3

D4

D5

D6

D7

Vcc

+5V ENC

+5V SEL

+5V ENC

Gnd

SW2 x1

SW1 x10

CKE

SDI

SDO

PL

+5V SEL

CLK

74HCT595

QAAMP RED

AMP GREEN

LED Drive Outputs

AMP States

QB470

CAN ERR470

CAN RUN470

QC

QD

QE

QF

QG

QH

Vcc

RST

SDI

CLR

G

RCLK

SRCLK

U8

Gnd

R40

0

0

0

0

R43

R41

R42

Network

APV



CANOPEN DEVICE ID (STATION ALIAS) SWITCH CONNECTIONSThegraphicbelowshowstheconnectionstotheCANopenDeviceIDswitchesandstatusLEDs.Theswitchesarereadafterthedriveisreset,orpowered-on.Whenchangingthesettingsoftheswitches,besuretoeitherresetthedrive,ortopoweritoff-on. Outputs[OUT4,5,6,]andinput[IN7]operateasanSLIportwhichreadsthesettingsontheCANopenDeviceIDswitches,andcontrolstheAmpandCANopenstatusLEDs.

NOTE:R40,R41,R42,R43mayberemovedbytheuserifIN7,OUT4,OUT5,OUT6areneededforotherfunctions.ThiswilldisabletheaddressswitchesandLEDS.

EZ BOARD SLI PORT SWITCHES & LEDS

Ground power supplyclose to drive.

J15+HV

&PWM

OUTPUTS

+HV

HVCOM

MOT W

MOT V

MOT U

Motor

FGND

PE

J16

J14

+HV

+

-APV J2

APV HeatplateAPV EZ J14~16

FRAME GND

* For Voice Coil or DC motors:U = Mot(+)V = Mot(-)W = no connection

*

*

+9~60 Vdc

DC/DCSgnd

Vlogic

+5VENC

InternalPower

APV J2+

0

APV EZ J8

J# Pins Signal

J152 +HV

1 HVCOM

J16

3 MOTW

2 MOTV*

1 MOTU*

J142 FGND

1 PE

J8 Vlogic

Pin Signal

1 VLOGIC

2 Sgnd

APV



EZ BOARD +HV & MOTOR CONNECTIONS

DESCRIPTIONPowerstheinternallogicandcontrolcircuitsinthedrive.WhenusingtheSTOfeature,itmustbeproducedbypowersupplieswithtransformerisolationfromthemainsandPELVorSELVratingsandamaximumoutputvoltageof60Vdc.Ifthemotorcanoperatefromvoltagesof60Vdcorless,the+HVandVlogiccanbedrivenfromasinglepowersupply.

DESCRIPTIONJ15providesconnectiontotheDCpowersupply. J16carriesthreeconductorsforbrushlessmotors. J14-1providesaconnectionforashieldedcableconnectingthemotorhousingtochassisground. ThePE(ProtectiveEarth)terminalprovidesasingleconnectiontoearthforbondingoftheAPVtoanearth-groundpoint.

EZ BOARD VLOGIC

+5 Vdc

[OUT1~3]

[OUT1~3]

74HCT2G14

+3.3 Vdc

[OUT4~6]

[OUT4~6]

Sgnd Sgnd

74LVC3G14

Sgnd Sgnd

APV J2

APV EZ J5

APV J2

±24 mA

R

±4 mA

R

+3.3V

100p74LVC3G14

+5V +5V

1K

Rxx

*

0 10k

[IN1~7][IN1~7]

SgndSgnd

APV J1

APV EZ J5Signal J5 Pins

IN1Enable 4

IN2 3

IN3 6

IN4 5

IN5Motemp 8

IN6EncoderFault 7

IN7SLIMISO 10

Sgnd 5, 17, 18

Signal J5 Pins

OUT1 12

OUT2 9

OUT3Brake 14

OUT4SLI-MOSI 11

OUT5SLI-CLK 16

OUT6SLI-EN1 13

Sgnd 5, 17, 18

APV



LOGIC OUTPUTS

LOGIC INPUTS

EZ BOARD I/O CONNECTORS

OUT3isconnectedbydefaulttotheMOSFETthatistheBrakeoutputonJ10.OUT1~2areavailableislogicoutputs.OUT4~6connecttotheSLIcircuitthatdrivesthedisplaysandreadstheaddressswitches.IftheSLIfunctionisnotneededthentheseoutputscanbeusedaslogicoutputsbyremovingtheRxxasfollows:OUT4:R41 OUT5:R42 OUT6:R43

Logicinputsmaxinputvoltageis+6Vdc.IN5isconnectedtoP1,theprimaryencoderMotempinput.IfitisnotusedforthatfunctionthenIN5isavailableasalogicinput.*Rxxshowsthelocationsof0ΩresistorsthatareinplacebydefaultasR44andR40. R44connectstheEncoderFaultsignaltoIN6. R40connectstheSLI-MISOsignaltoIN7whichisusedbytheSLIportthatcontrolstheLEDsandreadstheaddressswitches. IfneitherofthesefunctionsareneededthenR40and/orR44canberemovedmaking IN6&IN7availableaslogicinputs

121

R440

121

130

1k

1k

+5V

MAX3362

MAX3281

MAX3362

MAX3097

EncoderFault

IN6

Sgnd

APV

X

/X

X

/X

B

/B

A

/A

+5V

0V

B

X

A

APV EZ P1 Feedback

Encoder

+5V ENC+5V

Sgnd

FRAME GROUND

Thermal fuseSgnd

IN5

MotempIN5IN5

EZ J5 I/O

Signal Pins

EncA 13

Enc/A 12

EncB 11

Enc/B 10

EncX 9

Enc/X 8

+5V 6

IN5 7

Sgnd5,16, 25,26

Signal Pins

IN5 8

IN6 7

Sgnd15, 17, 18

Connector Signal Pins

EZP1IN5 7

Sgnd 5, 16, 25, 26

EZJ5IN5 8

Sgnd 15, 17, 18

APV



FAULT DETECTION P1 ENCODER 1 SIGNALS

QUAD A/B ENCODER WITH FAULT PROTECTIONEncoderswithdifferentialline-driveroutputsarerequired(single-endedencodersarenotsupported)andprovideincrementalpositionfeedbackviatheA/Bsignals.TheMAX3097receiverhasdifferentialinputswithfaultprotectionsforthefollowingconditions:Short-circuits line-line: Thisproducesanear-zerovoltagebetweenA&/AorB&/Bwhichisbelowthe differentialfaultthreshold.Open-circuit condition: The121Ωterminatorresistorwillpulltheinputstogetherifeitherside(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

Sgnd=SignalGround

NOTE:R44connectsIN6totheencoderfaultdetectionbydefault.Ifthisfeatureisnotused,thenremovingR44allowsIN6tobeprogrammedforuser'sfunction.

J5 I/O SIGNALS

EZ BOARD PRIMARY FEEDBACK CONNECTOR P1

NOTE:IN5onthefeedbackconnectorisconnectedtothedriveIN5.

R44 LOCATION

IN5 MOTEMP SIGNALS

+5V Out @ 500 mA

Sgnd

Sin(+)

Sin(-)

Cos(+)

Cos(-)

-

+

-

+

120

APV J2

120

Encoder

Sin

Cos

+5V

0V

Frame Ground

Sin

Cos

APV EZ P1

HALLU, V, W

100 pF

74LVC3G17

+5V

+3.3V15 k

UV

W

15 k

APV J2

APV EZ P1 Signal Pins

HallU 2

HallV 3

HallW 4

Signal Pins

Sin(+) 19

Sin(-) 18

Cos(+) 21

Cos(-) 20

Signal Pins

+5V 6, 17

Sgnd5, 16, 25, 26

APV



P1 HALL SIGNALSHALLS

P1 SIN/COS SIGNALSSIN/COS ENCODERS


Notethatdouble-shieldedcableisusedfortheSin/Cossignalsthatareanalogandmoresusceptibletonoise.Twoinnershieldsareusedprovidingoneforeachtwisted-pairandtheseconnecttoSgnd.TheoutershieldconnectstoFrameGroundonthedriveendisitnotconnectedtothemotorframeontheother.WiththecableforthePWMoutputstothemotorconnectedtoFrameGroundonthedriveendandthemotorcasingontheotherthereisareturnpathforcurrentsproducedbythecapacitancebetweentheUVWoutputwiresandthemotorcableshield.

P1 +5V & SGND

AEV EZ P1

Encoder

A

X

+5V

0V Sgnd

SDATA

A/SDATA

/SCLK

SCLK

+5V ENC1(2)

AEV J2

MAX3362

Frame Ground

121

+5

130

MAX3362

X

AEV EZ P1

Encoder

A

B

X

+5V

0V Sgnd

A

A

B

/A

B

/B

/X

X

+5V ENC1(2)

AEV J2

MAX3362

Frame Ground

MAX3281

121

121

+5

130

MAX3362

X

Signal J1 Pins

Enc1A 13

Enc1/A 12

Enc1B 11

Enc1/B 10

Enc1X 9

Enc1/X 8

+5V 6

Sgnd 5

SSI BiSS P1 Pins

Clk MA+ 9

/Clk MA- 8

Data SL+ 13

/Data SL- 12

+5V 6

Sgnd 5

P1 Sgnd Pins

5,16,25,26

APV



QUAD ENCODER WITH INDEXA/B/X SIGNALS

SSI ABSOLUTE ENCODERTheSSI(SynchronousSerialInterface)isaninterfaceusedtoconnectanabsolutepositionencodertoamotioncontrollerorcontrolsystem.TheAPVdriveprovidesatrainofclocksignalsindifferentialformattotheencoderwhichinitiatesthetransmissionofthepositiondataonthesubsequentclockpulses.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

Note: Single (outer) shields should be connected at the drive end. Inner shields should only be connected to Signal Ground on the drive.

SSI,BiSS SIGNALS


-

+

-

+

A

B

A

B

1k+5V

1k 1k+5V

1k

Encoder

Sin(+)

Sin(-)

Cos(+)

Cos(-)

Sin(+)

Sin(-)

Cos(+)

Cos(-)

Dat

/Dat

Clk

/Clk

APV J2

Clk

Clk

/Clk

Data

/DataDataData

Clk

+5V

0V

+5V Out @ 500 mA

Sgnd

7.65k

7.65k

121 Sin

Cos

7.65k

7.65k

121

sin

cos

APV EZ J2

Absolute-A Encoder

1.2k

1.2k

220

5V

SD+

SD-

APV EZ J2

Data

/DataCmd

D-R

SDCmd

D-R

SD

MAX3362B0V

+5VV+

V-

+5V Out@ 500 mA

Sgnd

Batt+

Batt-

+

-

* 1k

1k

5V

Signal P1 Pins

Clk 9

/Clk 8

Data 13

/Data 12

Sin(+)* 19

Sin(-)* 18

Cos(+)* 21

Cos(-)* 20

+5V 6,17

Signal J2 Pins

Data 13

/Data 12

+5V 6,17

P1 P1 SgndSgnd Pins Pins

5,16,25,26

APV



ENDAT ABSOLUTE ENCODERTheEnDatinterfaceisaHeidenhaininterfacethatissimilartoSSIintheuseofclockanddatasignals,butwhichalsosupportsanalogSin/Coschannelsfromthesameencoder.ThenumberofpositiondatabitsisprogrammableasistheuseofSin/Coschannels.UseofSin/CosincrementalsignalsisoptionalintheEnDatspecification.

ABSOLUTE-A ENCODERTheAbsoluteAinterfaceisaserial,half-duplextypethatiselectricallythesameasRS-485. Notethebatterywhichmustbeconnected.Withoutit,theencoderwillproduceafaultcondition.

ENDAT SIGNALS

ABSOLUTE-A SIGNALS

• AbsoluteA• TamagawaAbsoluteA• PanasonicAbsoluteAFormat• SanyoDenkiAbsoluteA

* Sin/CosoptionalwithEnDat2.2 orany1MbitorfasterEndat Sin/CosrequiredifEnDat2.1<1Mbit

* Battery optional


10k

Q3

+5V

4.7µ

Brake-24V

OUT3

Sgnd

24V

BrakeBrake-Out

Brake-Gnd

+0

APV EZ J10

APV

HI/LO definitions: outputsInput State Condition

BRAKE [OUT3]

LO

OutputMOSFETQ3isOFF Brakeisun-poweredandlocksmotor Motorcannotmove BrakestateisActive

HI

OutputMOSFETQ3isON Brakeispowered,releasingmotor Motorisfreetomove BrakestateisNOT-Active

SpecificationsOutput Data Notes

Voltage Range Max +30Vdc

OutputCurrent Ids 1.0Adc

Pin Signal

1 Brake-24V

2 Brake-Out

3 Brake-Gnd

APV



EZ BOARD BRAKE OUTPUT

ThebrakecircuitontheEZboardisaMOSFETdrivenbyOUT3oftheAPV.

• Brakeoutput[OUT3]

• 24VCompatible

• Programmablefunctions

CMEDefaultSettingforBrakeOutput[OUT3]is“Brake-ActiveLow” Active =Brakeisholdingmotorshaft(i.e.theBrake is Active) Motorcannotmove Nocurrentflowsincoilofbrake CMEI/OLineStatesshows[OUT3]asLO BRKOutputvoltageisHI(24V),MOSFETQ3isOFF Servodriveoutputcurrentiszero Servodriveisdisabled,PWMoutputsareoff Inactive=Brakeisnotholdingmotorshaft(i.e.theBrake is Inactive) Motorcanmove Currentflowsincoilofbrake CMEI/OLineStatesshows[OUT3]asHI BRKoutputvoltageisLO(~0V),MOSFETQ3isON Servodriveisenabled,PWMoutputsareon Servodriveoutputcurrentisflowing

The EZ brake circuit is referenced to SgndintheAPV.

J10 BRAKE SIGNALS

J5 I/O

Signal Pin Signal

Aref(-) 2 1 Aref(+)

EnableIN1 4 3 IN2

IN3 6 5 IN4

MotempIN5 8 7 IN6Enc-Fault**

*SLI-MISOIN7 10 9 OUT2

OUT1 12 11 OUT4SLI-MOSI*

*BrakeOUT3 14 13 OUT6SLI-EN1*

*SLI-CLKOUT5 16 15 Sgnd

Sgnd 18 17 Sgnd

J6 STO

Signal Pin Signal

IN1 15 16 +5VENC

Sgnd 13 14 FGND

n.c. 11 12 n.c.

STO-IN2(-) 9 10 STO-IN2(+)

STO-IN2(-) 7 8 STO-IN2(+)24V

n.c. 5 6 n.c.

STO-IN1(-) 3 4 STO-IN1(+)

STO-IN1(-) 1 2 STO-IN1(+)24V

J4 ENCODER 2

Signal Pin Signal

Enc2A 2 1 Enc2/A

Enc2B 4 3 Enc2/B

Enc2X 6 5 Enc2/X

Sgnd 8 7 +5VENC

J10 BRAKE

Pin Signal

3 HVCOM

2 Brakeoutput

1 +24VInputJ8 V-LOGIC

Pin Signal

1 VLOGIC

2 Sgnd

J15 DC-POWER

Pin Signal

2 +HV

1 HVCOM

J16 MOTOR

Pin Signal

3 Mot W

2 Mot V

1 Mot U

J14 GROUNDS

Pin Signal

2 FGND

1 PE

J9 RS-232

Pin Signal

1 N.C.

2 RxD

3 Sgnd

4 Sgnd

5 TxD

6 N.C.

P1 ENCODER 1Pin Signal Pin Signal Pin Signal26 Sgnd 18 Sin(-) 9 Enc1X25 Sgnd 17 +5VENC 8 Enc1/X24 N.C. 16 Sgnd 7 [IN5]Motemp23 Enc1X 15 Enc1S 6 +5VENC22 Enc1/X 14 Enc1/S 5 Sgnd21 Cos(+) 13 Enc1A 4 HallW20 Cos(-) 12 Enc1/A 3 HallV19 Sin(+) 11 Enc1B 2 HallU

10 Enc1/B 1 FGND

J11 CAN-IN

Pin Signal

1 CANH

2 CANL

3 CANGND

4 Pass-thru

5 Pass-thru

6 Pass-thru

7 CANGND

8 Pass-thru

J12 CAN-OUT

Pin Signal

1 CANH

2 CANL

3 CANGND

4 Pass-thru

5 Pass-thru

6 Pass-thru

7 CANGND

8 Pass-thru

J13

Signal Pin Signal

*** 2 1 ***

*** 4 3 ***

APV



EZ BOARD CONNECTORS

J5

J10

P1

J8

J15

J16

J14

J9

J11 J12

J4

J13

J6

*Thesesignalsarewiredforthefunctionsshown. Theycanbeprogrammedforotherfunctionsbutthedefaultfunctionswillnolongerfunction.

**ThisinputcanbeprogrammedforotherfunctionsbyremovingtheresistorR44thatconnectstheinputtotheencoder1fault-detectioncircuit.

***Noconnections

4.40 [111.8]

1.03 [26.2]

1.05 [26.7]

0.9 [2.3] 2.32 [58.9]2.50 [63.5]

.80 [20.3]

1.60 [40.6]

R.06 [1.5] R.12 [3]

2.10 [53.3]

.94 [23.8]

1.84 [46.9]

APV



EZ BOARD DIMENSIONS

3 12456 RS-232J9

TxD RxD

6

9

1

5

3 2TxD RxD

RJ-11on

ServoDrive

RJ-11 cable6P6CStraight-wired

5 3Gnd Gnd

RxD TxD2 5

D-Sub 9F

Dsub-9Fto RJ11Adapter

16

31

24

56

Sgnd

TxD

RxD

APV EZ DEV J9

RD

TDTxD

RxD

Gnd

RJ-11(DTE)

APV J2

APV



DESCRIPTIONTheEZDevelopmentBoardmountsanAPV-090-50-Cdrivewhichhasthemotorand+HVpinssolderedtosupportthe50Adcpeakandcontinuouscurrentrating.

RS-232 CONNECTIONTheRS-232portisusedtoconfigurethedriveforstand-aloneapplications,orforconfigurationbeforeitisinstalledintoanCANopennetwork.CMEsoftwarecommunicateswiththedriveoverthislinkandisthenusedforcompletedrivesetup.TheCANopenDeviceIDthatissetbytherotaryswitchescanbemonitored,andaDeviceIDprogrammedaswell.TheRS-232connector,J9,isamodularRJ-11typethatusesa6-positionplug,fourwiresofwhichareusedforRS-232.Aconnectorkitisavailable(SER-CK)thatincludesthemodularcable,andanadaptortointerfacethiscablewitha9-pinRS-232portonacomputer.

SER-CK SERIAL CABLE KITTheSER-CKprovidesconnectivitybetweenaD-Sub9maleconnectorandtheRJ-11connectorJ9ontheEZDevelopmentBoard.ItincludesanadapterthatplugsintotheCOM1(orother)portofaPCandusesastraight-throughmodularcabletoconnecttotheAPV.Theconnectionsareshowninthediagrambelow.

Don’tforgettoorderaSerialCableKitSER-CKoranSER-USB-RJ11whenplacingyourorderforanAPZdrive,oranEZboard.

EZ DEVELOPMENT BOARD

SW2

J17

P1

SW1

J1

J3

J10

J2

1

1

21 2

J13

J6

J4

J5

J12

J3

J6

J11

ERR RUN AMP

J12 J9

1 2

1 2

1

1

2

2

1 2

11

1J8

4

C B

32

A

9

10 8

7

F

65

E D

4

C B

32

A

9

10 8

7

F

65

E D

SW1 SW2

HEX DEC

0 0 0

1 16 1

2 32 2

3 48 3

4 64 4

5 80 5

6 96 6

7 112 7

8 128 8

9 144 9

A 160 10

B 176 11

C 192 12

D 208 13

E 224 14

F 240 15

APV



CANopen DeviceIDSwitch Decimalvalues

CANopen DEVICE IDInanCANopennetwork,slavesareautomaticallyassignedfixedaddressesbasedontheirpositiononthebus.Whenadevicemusthaveapositiveidentificationthatisindependentofcabling,aDeviceIDisneeded.IntheEZDevelopmentBoardthisisprovidedbytwo16-positionrotaryswitcheswithhexadecimalencoding.ThesecansettheDeviceIDofthedrivefrom0x01~0xFF(1~255decimal).Thechartshowsthedecimalvaluesofthehexsettingsofeachswitch.Example1:FindtheswitchsettingsfordecimalDeviceID107:1)FindthehighestnumberunderSW1thatislessthan107andsetSW1tothehexvalueinthesamerow:96<107and112>107,soSW1=96=Hex6

2)Subtract96fromthedesiredDeviceIDtogetthedecimalvalueofswitchSW2and setSW2totheHexvalueinthesamerow:SW2=(107-96)=11=HexB

DualRJ-45socketsacceptstandardCANcables.IftheAPVisthelastnodeonanetwork,onlyoneportisused. A121Ωterminatorisrequiredontheotherport.

CANOPEN LEDSRUN ERR GreenshowstheCANopenStateMachine: Redshowserrorconditions: Off = Initstate Blinking = Invalidconfiguration Blinking = Pre-operational SingleFlash = Unsolicitedstatechange SingleFlash = Safe-operational DoubleFlash = Applicationwatchdogtimeout On = OperationalL/A (LINK/ACT) GreenindicatesthestateoftheCANopennetwork: LED LINK ACTIVITY CONDITION ON Yes No = PortOpen Flickering Yes Yes = PortOpenwithactivity Off No (N/A) = PortClosed

AMP LEDAbi-colorLEDgivesthestateofthedrive.Colorsdonotalternate,andcanbesolidONorblinking. Ifmultipleconditionsoccur,onlythetop-mostconditionwillbedisplayed.Whenthatconditionisclearedthenextonebelowwillshown.Red/Blinking = Latchingfault.OperationcannotresumeuntildriveisReset. Red/Solid = Transientfaultcondition.Drivecanresumeoperationwhentheconditioncausingthefaultisremoved. Green/Slow-Blinking = DriveOKbutNOT-enabled.Canrunwhenenabled. Green/Fast-Blinking = PositiveorNegativelimitswitchactive.Drivecanonlymoveindirectionnotinhibitedbylimitswitch. Green/Solid = DriveOKandenabled.CanruninresponsetoreferenceinputsorCANopencommands.LATCHINGFAULTSDefault Optional(programmable) Shortcircuit(Internalorexternal) Over-voltage Driveover-temperature Under-voltage Motorover-temperature MotorPhasingError FeedbackError CommandInputLost FollowingError MotorWiringDisconnected OverCurrent(latched)

EZ DEVELOPMENT BOARD CANOPEN INDICATERS & ADDRESS SWITCHES

CANopenLEDs AmpLED

SW1 SW2

x10 x1

CAN_L

CAN_H

CAN_GND

J11

J12

18

18

APV J3

APV EZ DEV J11~12


Channel 1

2k

2k6.2V

5.1V

12.4k

2.2k 2k

2k

STO-IN1(+)

STO-IN2

J3

J3

J1

Channel 2

SafetyRelatedCircuits

STO control usinginternal +5V

STO control usingexternal +24V

STO-RTN2

SGND

SGND

IN1 ENABLE

FRAME GND

+5V ENC

STO-IN1(-)

STO-IN1(+)

FGND

FGND

STO-IN1(+) 24V

SGND

SGND

FGND

IN1

FGND

+5V ENC

STO-IN1(-)

APVAPV EZ DEV J6

6.2V

5.1V

12.4k

2.2k

STO-IN2(+)

STO-IN2(+) 24V

STO-IN2(-)

+24V-

+J6 STO

Signal Pin Signal

STO-IN1(-) 1 2 STO-IN1(+)24V


n.c. 5 6 n.c.

STO-IN2(-) 7 8 STO-IN2(+)24V

STO-IN2(-) 9 10 STO-IN2(+)5V

n.c. 11 12 n.c.

Sgnd 13 14 FGND

IN1 15 16 +5VENC

J11 ECAT-IN

Pin Signal

1 CAN_H

2 CAN_L

3 CAN_GND

4 AUX1

5 AUX2

6 AUX3

7 CAN_GND

8 AUX4

J12 ECAT-OUT

Pin Signal

1 CAN_H

2 CAN_L

3 CAN_GND

4 AUX1

5 AUX2

6 AUX3

7 CAN_GND

8 AUX4

APV



EZ DEVELOPMENT BOARD SAFE TORQUE OFF (STO)DESCRIPTIONThisshowstheuseoftheinternal5Vandexternal24VtoenergizetheSTOinputs.BothSTOinputsmustbeenergizedinordertoenablethedrive.IN1,thehardwareEnableinputisforusewithanimmediatecontactrelaytobringthemotortoastopbeforeadelayedcontactrelayde-energizestheSTOinputsandpreventstorqueproductioninthemotor.

EZ DEVELOPMENT BOARD CANOPEN CONNECTORS

CANOPEN CONNECTORSDualRJ-45connectorsthatacceptstandardEthernetCAT-5cablesareprovidedforCANopenconnectivity.

[IN7] SPI_MISO

[OUT4] SPI MOSI

[OUT5] SPI CLK

[OUT6] SPI-EN1

10k

1k

1k

1k

10k

Switches

74HCT165U5

Q7

D0 8

4

2

1

8

4

2

1

D1

D2

D3

D4

D5

D6

D7

Vcc

+5V ENC

+5V SEL

+5V ENC

Gnd

SW2 x1

SW1 x10

CKE

SDI

SDO

PL

+5V SEL

CLK

74HCT595

QAAMP-RED

AMP-GREEN

LED Drive Outputs

QB470

ERR-RED470

RUN-GREEN470

QC

QD

QE

QF

QG

QH

Vcc

RST

SDI

CLR

G

RCLK

SRCLK

U8

Gnd

R40

0

0

0

0

R43

R41

R42

470

APV



EZ DEVELOPMENT BOARD SLI PORT SWITCHES & LEDS

CANOPEN DEVICE ID (STATION ALIAS) SWITCH CONNECTIONSThegraphicbelowshowstheconnectionstotheCANopenDeviceIDswitchesandstatusLEDs.Theswitchesarereadafterthedriveisreset,orpowered-on.Whenchangingthesettingsoftheswitches,besuretoeitherresetthedrive,ortopoweritoff-on. Outputs[OUT4,5,6]andinput[IN7]operateasanSLIportwhichreadsthesettingsontheCANopenDeviceIDswitches,andcontrolstheAmpandCANopenstatusLEDs.

NOTE:R40,R41,R42,R43mayberemovedbytheuserifIN7,OUT4,OUT5,OUT6areneededforotherfunctions.ThiswilldisabletheaddressswitchesandLEDS.

DD2 D1

L1L

+9~60 Vdc

DC/DCSgnd

Vlogic

+5VENC

InternalPower

APV J2+

0

APV EZ DEV J8

Ground power supplyclose to drive.

J17

+HV&

PWMOUTPUTS

+HV

HVCOM

MOT W

MOT V

MOT U

Motor

FGND

PE

+HV

+

-APV J2

APV Heatplate

APV-EZ DEV

FRAME GND

1

2

3

4

5

6

7

J8 Vlogic

Pin Signal

1 Vlogic

2 Sgnd

J17 +HV, MOTOR, GNDS

Pins Signal

1 +HV

2 HVCOM

3 MOTW

4 MOTV

5 MOTU

6 FGND

7 PE

CONDUCTOR TYPE MM2 AWG

Solid 0.75~16 18 ~ 4

Finestranded 0.75~25 18 ~ 4

Finestrandedwithferrulewithplasticcollar 0.75~16

N/AFinestrandedwithferrulewithoutplasticcollar 0.75~16

Finestrandedwithtwinferrule 0.75~6

INSULATION STRIPPING MM INCH

Striplength 18 ~ 20 0.71~0.79`

FERRULES

MM2 AWG WAGO P/N

16 6 216-210

10 8 216-289

6 10 216-288

4 12 216-287

2.5 14 216-286

1.5 16 216-284

APV



EZ DEVELOPMENT BOARD VLOGICDESCRIPTIONPowerstheinternallogicandcontrolcircuitsinthedrive.WhenusingtheSTOfeature,itmustbeproducedbypowersupplieswithtransformerisolationfromthemainsandPELVorSELVratingswithamaximumoutputvoltageof60Vdc.Ifthemotorcanoperatefromvoltagesof60Vdcorless,the+HVandVlogiccanbedrivenfromasinglepowersupply.

EZ DEVELOPMENT BOARD POWER, MOTOR, & GROUNDING CONNECTIONSDESCRIPTIONJ17providesconnectiontotheDCpowersupply,PWMoutputs,andgrounds.Therearethreeconductorsforbrushlessmotorswhatprovideandconnectionforashieldedcableconnectingthemotorhousingtoframeground.ThePE(ProtectiveEarth)terminalprovidesasingleconnectiontoearthforbondingoftheAPVframegroundtoanearth-groundpoint.

Wagoferrulesshownareelectro-tinplated,electrolyticcopper,gastightcrimped,accordingtoDIN46228,Part4/09.90.Wagopartnumbersareshownbutotherferruletypeswithcomparablespecificationsmaybeused.

216-210

216-210DimensionsL=28mm L1=18mm D=9.6mm D1=8.8mm D2=5.8mm

+3.3V

100p74LVC3G14

+5V +5V

1K

Rxx0

10k

[IN1~7][IN1~7]

SgndSgnd

APV J1

APV EZ DEV

Rxx0

+5 Vdc

[OUT1~3]

[OUT1~3]

74HCT2G14

+3.3 Vdc

[OUT4~6]

[OUT4~6]

Sgnd Sgnd

74LVC3G14

Sgnd Sgnd

APV J2

APV J2

APV EZ DEV

±24 mA

R

±4 mA

R

Signal J5 Pins

IN1Enable 4

IN2 3

IN3 6

IN4 5

IN5 8

IN6EncoderFault 7

IN7SLIMISO 10

Sgnd 15, 17, 18

Signal J5 Pins

OUT1 12

OUT2 9

OUT3Brake 14

OUT4SLI-MOSI 11

OUT5SLI-CLK 16

OUT6SLI-EN1 13

Sgnd 5, 17, 18

APV



LOGIC OUTPUTS

LOGIC INPUTS

EZ DEVELOPMENT BOARD I/O CONNECTORS

Logicinputsmaxinputvoltageis+6Vdc.Rxxshowsthelocationof0ΩresistorsthatareinplacebydefaultasR40andR44.R40connectstheSLI-MISOsignaltoIN7whichisusedbytheSLIportthatcontrolstheLEDsandreadstheaddressswitches.R44connectstheEncoderFaultsignaltoIN6.IfneitherofthesefunctionsareneededthenR40and/orR44canberemovedmaking IN6&IN7availableaslogicinputs

OUT3isconnectedbydefaulttotheMOSFETthatistheBrakeoutputonJ10.OUT1~2areavailableislogicoutputs.OUT4~6connecttotheSLIcircuitthatdrivesthedisplaysandreadstheaddressswitches.IftheSLIfunctionisnotneededthentheseoutputscanbeusedaslogicoutputsbyremovingtheRxxasfollows:OUT4:R41 OUT5:R42 OUT6:R43

121

R440

121

130

1k

1k

+5V

MAX3362

MAX3281

MAX3362

MAX3097

EncoderFault

IN6

Sgnd

APV

X

/X

X

/X

B

/B

A

/A

+5V

0V

B

X

A

Encoder

+5V ENC+5V

Sgnd

FRAME GROUND

Motemp

Thermal fuseSgnd

IN5

MotempIN5

APV EZ DEV J5

APV EZ DEV P1Signal Pins

EncA 13

Enc/A 12

EncB 11

Enc/B 10

EncX 9

Enc/X 8

+5V 6

IN5 7

Sgnd 5,16, 25,26

Connector Signal Pins

P1IN5 7

Sgnd5, 16, 25, 26

J5IN5 8

Sgnd15, 17,

18

APV



EZ DEVELOPMENT BOARD PRIMARY FEEDBACK CONNECTOR P1

FAULT DETECTION P1 ENCODER 1 SIGNALS

QUAD A/B ENCODER WITH FAULT PROTECTIONEncoderswithdifferentialline-driveroutputsarerequired(single-endedencodersarenotsupported)andprovideincrementalpositionfeedbackviatheA/Bsignals.TheMAX3097receiverhasdifferentialinputswithfaultprotectionsforthefollowingconditions:Short-circuits line-line: Thisproducesanear-zerovoltagebetweenA&/AorB&/Bwhichisbelowthe differentialfaultthreshold.Open-circuit condition: The121Ωterminatorresistorwillpulltheinputstogetherifeitherside(orboth)isopen. Thiswillproducethesamefaultconditionasashort-circuitacrosstheinputs.Low differential voltage detection:Thisispossiblewithverylongcablerunsandafaultwilloccurifthe differentialinputvoltageis<200mV.±15kV ESD protection: The3097hasprotectionagainsthigh-voltagedischargesusingtheHumanBodyModel.Extended common-mode range: Afaultoccursiftheinputcommon-modevoltageisoutsideoftherangeof-10Vto+13.2V

Sgnd=SignalGround

NOTE:IN5onthefeedbackconnectorisconnectedtothedriveIN5.

IN5 MOTEMP SIGNALS

HALLU, V, W

100 pF

74LVC3G17

+5V

+3.3V15 k

UV

W

15 k

APV EZ DEV P1

+5V Out @ 500 mA

Sgnd

Sin(+)

Sin(-)

Cos(+)

Cos(-)

-

+

-

+

120

APV J2

120

Encoder

Sin

Cos

+5V

0V

Frame Ground

Sin

Cos

APV EZ DEV P1

Signal Pins

HallU 2

HallV 3

HallW 4

Signal Pins

Sin(+) 19

Sin(-) 18

Cos(+) 21

Cos(-) 20

Signal Pins

+5V 6, 17

Sgnd5, 16, 25, 26

APV



EZ DEVELOPMENT BOARD PRIMARY FEEDBACK CONNECTOR P1

P1 HALL SIGNALS

HALLS

P1 SIN/COS SIGNALSSIN/COS ENCODERS

P1 +5V & SGND

Notethatdouble-shieldedcableisusedfortheSin/Cossignalsthatareanalogandmoresusceptibletonoise.Twoinnershieldsareusedprovidingoneforeachtwisted-pairandtheseconnecttoSgnd.TheoutershieldconnectstoFrameGroundonthedriveendisitnotconnectedtothemotorframeontheother.WiththecableforthePWMoutputstothemotorconnectedtoFrameGroundonthedriveendandthemotorcasingontheotherthereisareturnpathforcurrentsproducedbythecapacitancebetweentheUVWoutputwiresandthemotorcableshield.

10k

Q3

+5V

4.7µ

Brake-24V

OUT3

Sgnd

24V

BrakeBrake-Out

Brake-Gnd

+0

APV EZ DEV J10

APV

HI/LO definitions: outputsInput State Condition

BRAKE [OUT3]

LO

OutputMOSFETQ3isOFF Brakeisun-poweredandlocksmotor Motorcannotmove BrakestateisActive

HI

OutputMOSFETQ3isON Brakeispowered,releasingmotor Motorisfreetomove BrakestateisNOT-Active

SpecificationsOutput Data Notes

Voltage Range Max +30Vdc

OutputCurrent Ids 1.0Adc

Pin Signal

1 Brake-24V

2 Brake-Out

3 Brake-Gnd

APV



EZ DEVELOPMENT BOARD BRAKE OUTPUT

ThebrakecircuitontheEZDevelopmentBoardisaMOSFETdrivenbyOUT3oftheAPV.

• Brakeoutput[OUT3]

• 24VCompatible

• Programmablefunctions

CMEDefaultSettingforBrakeOutput[OUT3]is“Brake-ActiveLow” Active =Brakeisholdingmotorshaft(i.e.theBrake is Active) Motorcannotmove Nocurrentflowsincoilofbrake CMEI/OLineStatesshows[OUT3]asLO BRKOutputvoltageisHI(24V),MOSFETQ3isOFF Servodriveoutputcurrentiszero Servodriveisdisabled,PWMoutputsareoff Inactive=Brakeisnotholdingmotorshaft(i.e.theBrake is Inactive) Motorcanmove Currentflowsincoilofbrake CMEI/OLineStatesshows[OUT3]asHI BRKoutputvoltageisLO(~0V),MOSFETQ3isON Servodriveisenabled,PWMoutputsareon Servodriveoutputcurrentisflowing

The EZ brake circuit is referenced to SgndintheAPV.

J10 BRAKE SIGNALS

SW2

J17

P1

SW1

J1

J3

J10

J2

1

1

21 2

J13

J6

J4

J5

J12

J3

J6

J11

ERR RUN AMP

J12 J9

1 2

1 2

1

1

2

2

1 2

11

1J8

J5 I/O

Signal Pin Signal

Sgnd 17 18 Sgnd

Sgnd 15 16 OUT5SLI-CLK*

*SLI-EN1OUT6 13 14 OUT3Brake*

*SLI-MOSIOUT4 11 12 OUT1

OUT2 9 10 IN7SLI-MISO*

**Enc-FaultIN6 7 8 IN5Motemp

IN4 5 6 IN3

IN2 3 4 IN1Enable

Aref(+) 1 2 Aref(-)

J4 ENCODER 2

Signal Pin Signal

+5VENC 7 8 Sgnd

Enc2/X 5 6 Enc2X

Enc2/B 3 4 Enc2B

Enc2/A 1 2 Enc2A

J10 BRAKE

Pin Signal

1 +24VInput

2 Brakeoutput

3 HVCOM

J8 V-LOGIC

Pin Signal

1 Vlogic

2 Sgnd

J17 DC-POWER

Pin Signal

6 HVCOM

7 +HV

J17 MOTOR

Pin Signal

3 Mot U

4 Mot V

5 Mot W

J17 GROUNDS

Pin Signal

1 PE

2 FGND

J9 RS-232

Pin Signal

1 N.C.

2 RxD

3 Sgnd

4 Sgnd

5 TxD

6 N.C.

P1 ENCODER 1Pin Signal Pin Signal Pin Signal19 Sin(+) 10 Enc1/B 1 FGND20 Cos(-) 11 Enc1B 2 HallU21 Cos(+) 12 Enc1/A 3 HallV22 Enc1/X 13 Enc1A 4 HallW23 EncX 14 Enc1/S 5 Sgnd24 N.C. 15 Enc1S 6 +5VENC25 Sgnd 16 Sgnd 7 IN5Motemp26 Sgnd 17 +5VENC 8 Enc1/X

18 Sin(-) 9 Enc1X

J11 CAN-IN

Pin Signal

1 CANH

2 CANL

3 CANGND

4 Pass-thru

5 Pass-thru

6 Pass-thru

7 CANGND

8 Pass-thru

J12 CAN-OUT

Pin Signal

1 CANH

2 CANL

3 CANGND

4 Pass-thru

5 Pass-thru

6 Pass-thru

7 CANGND

8 Pass-thru

J13

Signal Pin Signal

*** 3 4 ***

*** 1 2 ***

J6 STO

Signal Pin Signal

IN1 15 16 +5VENC

Sgnd 13 14 FGND

n.c. 11 12 n.c.

STO-IN2(-) 9 10 STO-IN2(+)5V

STO-IN2(-) 7 8 STO-IN2(+)24V

n.c. 5 6 n.c.


STO-IN1(-) 1 2 STO-IN1(+)24V

APV



EZ DEVELOPMENT BOARD CONNECTORS

*Thesesignalsarewiredforthefunctionsshown. Theycanbeprogrammedforotherfunctionsbutthedefaultfunctionswillnolongerfunction.

**ThisinputcanbeprogrammedforotherfunctionsbyremovingtheresistorR44thatconnectstheinputtotheencoder1fault-detectioncircuit.

***Noconnections

3.60 91.43.21 81.5

.16 4

5.08 1294.69 119.1

.23 5.8

1.95 49.4

.94 23.8

.06 1.6

1

3

STO-IN2(-)

STO-IN1(-)

STO-IN2(+)

STO-IN1(+)

+5V ENC

Sgnd

5

7

9

11

13

2

4

6

8

10

12

14

15 16

J6 STO

Signal Pin Signal

IN1 15 16 +5VENC

Sgnd 13 14 FGND

n.c. 11 12 n.c.

STO-IN2(-) 9 10 STO-IN2(+)

STO-IN2(-) 7 8 STO-IN2(+)24V

n.c. 5 6 n.c.

STO-IN1(-) 3 4 STO-IN1(+)

STO-IN1(-) 1 2 STO-IN1(+)24V

APV



EZ DEVELOPMENT BOARD DIMENSIONS

APV-EZ-STO SAFE TORQUE OFF DISABLING ACCESSORY

TheAPV-EZ-STO,wheninsertedintoJ6willdisabletheSTOfunction,allowingnormaloperationoftheAPVdrivewhentheSTOfunctionisnotrequired.Asshownbelow,theSTOinputsareenergizedinparallelusingtheencoder+5Vfromthedrive. TheAPV-EZ-STOworksontheEZBoardandtheEZDevelopmentBoard.

APV-EZ-STO

2.32

[58.

9]

0.8 [20.3]1.60 [40.6]

1.0 [25.4]2.

50 [6

3.5]

APV-HK Pins Heatsink Kit Qty Description1 PinsHeatsink,1inchtall1 Thermalmaterial2 Copleynon-threadedspacer,20.5mm2 Screw,M2.5-0.45x30mmslotteddrivecheesehead2 Nut,M2.5x0.45DINZincPlatedNylonInsertLock

APV



ORDERING CONFIGURATIONS

APV-HK HEATSINK KITTheAPV-HKkitcontainsaheatsink,thermalmaterial,andhardwaretomountittothedriveandPCboard.

Removeprotectivesheetsfromthermalpadbeforeinstalling

2.32

[58

.9]

3.0

0 [

76.1

]

1.970 [50.0] 1.60 [40.6]

APV-THK Pins Heatsink Kit Qty Description1 TallPinsHeatsink,1.97inchtall1 Thermalmaterial2 Copleynon-threadedspacer,20.5mm2 Screw,M2.5-0.45x40mmslotteddrivecheesehead2 Nut,M2.5x0.45DINZincPlatedNylonInsertLock

APV



ORDERING CONFIGURATIONS

APV-THK HEATSINK KITTheAPV-THKkitcontainsaheatsink,thermalmaterial,andhardwaretomountittothedriveandPCboard.

Removeprotectivesheetsfromthermalpadbeforeinstalling

MICRO MODULES

APV-090-14 AccelnetPlusMicroModuleAPVservodrive,7/14A,90Vdc

APV-090-30 AccelnetPlusMicroModuleAPVservodrive,15/30A,90VdcAPV-090-50* AccelnetPlusMicroModuleAPVservodrive,25/50A,90VdcAPV-090-50-C* AccelnetPlusMicroModuleAPVservodrive50/50A,90VdcAPV-180-10 AccelnetPlusMicroModuleAPVservodrive,5/10A,180Vdc

APV-180-20 AccelnetPlusMicroModuleAPVservodrive,10/20A,180Vdc

* Not compatible with APV-EZ-090 board. Use APZ-090-50 or APZ-090-50-C if connectorized version is needed.

MICRO MODULES SOLDERED

APZ-090-50 AccelnetPlusMicroModuleAPVservodrive,25/50A,90Vdc,solderedtoEZBoard

APZ-090-50-C AccelnetPlusMicroModuleAPVservodrive50/50A,90Vdc,solderedtoEZDevelopmentBoard

ACCESSORIES FOR MICRO MODULES

APV-EZ-090 EZBoard(Pluggablefor90VAPVmodules,Not compatible with APV-090-50 or APV-090-50-C)APV-EZ-180 EZBoard(Pluggablefor180VAPVmodules)APV-EZ-CK EZBoardConnectorKit(seebelow)APV-HK Heatsinkkit(Pinsheatsink,thermalpad,andhardware)APV-THK Heatsinkkit(TallPinsheatsink,thermalpad,andhardware)SER-CK SerialCableKit:9-PinDsubreceptacleto6-pinmodularadapter,plusmodularcableforEZboardSER-USB-RJ11 SerialInterfaceCable:USBtoRJ11

CONNECTOR KIT FOR EZ BOARD AND EZ DEVELOPMENT BOARD

APV-EZ-CK Connector Kit

QTY REF NAME DESCRIPTION MFGR/PART NUMBER

1 J4 Encoder2 Connector,socket,doublerow,2.00mm,8pos Hirose:DF11-8DS-2C

1 J5 I/O Connector,socket,doublerow,2.00mm,18pos Hirose:DF11-18DS-2C

1 J6 STO Connector,socket,doublerow,2.00mm,16pos Hirose:DF11-16DS-2C

1 J8 Vlogic Connector,socket,singlerow,2.00mm,2pos Hirose:DF3-2S-2C

1 J10 Brake Connector,socket,singlerow,2.00mm,3pos Hirose:DF3-3S-2C

40 J4,J5,J6 Crimpsocket,24~28AWG,gold Hirose:DF11-2428-SCFA

5 J8,J10 Crimpsocket,24~28AWG,gold Hirose:DF3-2428-SCC

15

J4,J5,J6

White FlyingLeadwithcontactsatbothends,26AWG,gold, 12" Hirose:H3BBG-10112-W6

2 RedFlyingLeadwithsocketatbothends,26AWG,gold, 12" Hirose:H3BBG-10112-R6

3 BlackFlyingLeadwithsocketatbothends,26AWG,gold, 12" Hirose:H3BBG-10112-B6

1

J8,J10

BlueFlyingLeadwithsocketatbothends,26AWG,gold, 12" Hirose:H2BBG-10112-L6

1 RedFlyingLeadwithsocketatbothends,26AWG,gold, 12" Hirose:H2BBG-10112-R6

1 BlackFlyingLeadwithsocketatbothends,26AWG,gold, 12" Hirose:H2BBG-10112-B6

1P1 Encoder1

Connector,high-densityDB-26M,26pos,male,soldercup Norcomp:180-026-103L001

1 MetalBackshell,DB-15,RoHS 3M: 3357-9215

1 J6 APV-EZ-STO EZboardplug-intoJ6fordisablingSTOfunction

APV



ORDERING GUIDE

ORDERING GUIDE: EZ BOARD CONNECTOR KIT WITH SHELLS & CRIMP SOCKETS

DIGITAL SERVO DRIVE FOR BRUSH & BRUSHLESS …APV Copley Controls, 20 Dan Road, Canton, MA 02021, USA...

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Transcript of DIGITAL SERVO DRIVE FOR BRUSH & BRUSHLESS …APV Copley Controls, 20 Dan Road, Canton, MA 02021, USA...