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Copley Controls: Stepnet Plus 2-Axis Panel EtherCAT Stepper Drive (TE2 Series)
Copley Controls: EtherCAT Servo Drive (TE2 Series)
 

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Order #: TE2


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Description Specifications and Drawings
 

Copley Controls: Stepnet Plus 2-Axis Panel EtherCAT Stepper Drive (TE2 Series)

14-90V VDC EtherCAT Drive for Stepper Motors


Description

The TE2 models are high-performance, DC powered drives for pStepnet Plus TE2 is a 2-axis, high-performance DC powered microstepping drive for control of hybrid stepping motors via EtherCAT using the Can application layer for EtherCAT (CoE). microstepping modes are Profile Position, Interpolated Position mode (PVT), and Homing. With encoder feedback, the TE2 can operate a stepper as a brushless servo motor, enabling Cyclic Sync Position/ Velocity/Torque operation, too.

As well as operating on EtherCAT networks, the TE2 also operates in the following traditional control modes: step/direction, RS-232 aSCII, master encoder for gearing and camming, digital input commands to initiate predetermined motion sequences.

There are sixteen non-isolated inputs and eight opto-isolated digital inputs that are bipolar types, sourcing or sinking current
into a common connection that can be tied to ground or +24V. [IN1&10] default to the drive enable function for axes a & B, and are programmable to other functions. The other inputs are programmable. all inputs have programmable active levels. five opto-isolated outputs [OUT1~5] have individual collector/emitter connections. Two MOSFET outputs [OUT6~7] are programmable to drive motor brakes or other functions and have internal flyback diodes for driving inductive loads.

Drive power is transformer-isolated DC from regulated or unregulated power supplies. an AuxHV input is provided for “keep-alive” operation permitting the drive power stage to be completely powered down without losing position information, or communications with the control system.

Control Modes

  • Stepper mode: Cyclic Synchronous Position (CSP)

  • Servo mode: Cyclic Synchronous Position/Velocity/Torque (CSP, CSV, CST)

  • Profile Position-Velocity-Torque, Interpolated Position, Homing

  • Camming, Gearing

  • Indexer

Command Interface

  • CANopen application protocol over EtherCAT (CoE)

  • ASCII and discrete I/O

  • Master encoder (Gearing/Camming)

Stepper mode position commands:

  • Digital: Pulse/dir, CW/CCW, Quad a/B

  • Analog: Âą10V position

Servo mode commands:

  • Digital: Pulse/Dir, CW/CCW, Quad A/B, PWM velocity/torque command

  • Analog: Âą10V position/velocity/torque

Communications

  • EtherCAT

  • RS-232

Feedback

Incremental Encoders

  • Digital quad A/B

  • Panasonic Incremental A format

  • Aux. quad A/B encoder / encoder out

Absolute Encoders

  • SSI, EnDat, Absolute A, Tamagawa & Panasonic Absolute A, Sanyo Denki Absolute A, BiSS (B & C)

I/O Digital

  • 24 non-isolated, 8 isolated inputs

  • 5 isolated outputs, 2 non-isolated outputs

Analog

  • 2 reference Inputs, 12-bit

Safe Torque off (STO)

  • SIL 3, Category 3, PL d

Dimensions: in [mm]

  • 6.78 x 4.70 x 1.99 [172.1 x 119.3 x 50.4] no heatsink

  • 6.78 x 4.70 x 3.14 [172.1 x 119.3 x 79.9] with heatsink


Model No.: TE2-090-07, TE2-090-10


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