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Copley Controls: Stepnet Plus Module EtherCAT (SEM Series)
Copley Controls: Stepnet Plus Module EtherCAT, 1-Axis (SEM Series)
 


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Description Specifications and Drawings
 

Copley Controls: Stepnet Plus Module EtherCAT, 1-Axis (SEM Series)

14-90V VDC EtherCAT Drive for Stepper Motors


Description

Stepnet SEM is a high-performance, DC powered drive for control of stepper motors via EtherCAT, an Ethernet-based fieldbus. The SEM operates as an EtherCAT slave using the CAN application layer over EtherCAT (CoE). Supported modes include: Profile Position-Velocity, Cyclic Synchronous Position-Velocity (CSP, CSV), Interpolated Position Mode (PVT), and Homing.

With encoder feedback a stepper can be operated as a brushless servo motor enabling ±10V analog or digital PWM velocity or torque control in addition to EtherCAT. Direct position control from pulses in CW/CCW, Pulse/Dir, or Quad A/B encoder format works in either microstepping or servo modes.

Twelve high-speed digital inputs with programmable functions are provided, and a lower-speed input for a motor temperature switch.

An SLI (Switch & LED Interface) function is supported by another high-speed input and four high-speed digital outputs. If not used for SLI, the input and outputs are programmable for other functions. Two open-drain MOSFET outputs can drive loads powered up to 24 Vdc.

An RS-232 serial port provides a connection to Copley’s CME2 software for commissioning, firmware upgrading, and saving configurations to flash memory.

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

Control Modes

  • Indexer, Point-to-Point, PVT

  • Camming, Gearing

  • Position, Velocity, Torque (Servo Mode)

  • Position (Microstepping)

Command Interface

  • CAN application layer over EtherCAT (CoE)

  • ASCII and discrete I/O

  • Stepper commands

  • ±10V Velocity/torque command (servo mode)

  • PWM Velocity/torque command (servo mode)

  • Master encoder (Gearing/Camming)

Communications

  • EtherCAT

  • RS-232

Feedback

Incremental

  • Digital quad A/B encoder

I/O

  • Digital: 14 inputs, 6 outputs

  • Analog: 1 input

Dimensions: mm [in]

  • 76.3 x 58.2 x 20.5 [3.01 x 2.29 x 0.81]


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


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