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Copley Controls: Accelnet Plus Panel, 2-Axis (BE2 Series)
14-90V VDC EtherCAT Drives for Brushless Motors
Description
The BEl models are high-performance, DC powered drives for position, velocity, and torque control of brushless and brush motors via EtherCAT, an ethernet-based fieldbus. These drives operate as EtherCAT slaves using the CANopen application protocol over EtherCAT (CoE) protocol of DSP-402 for motion control devices. Supported modes include: Cyclic Synchronous Position-Velocity-Torque, Profile Position-Velocity-Torque, Interpolated Position mode (PVT), and Homing.
Feedback from both incremental and absolute encoders is supported. A multi-mode encoder port functions as an input or output depending on the drive’s basic setup.
There are ten non-isolated inputs and eight isolated inputs. All inputs have programmable active levels. Five opto-isolated outputs [OUT1~5] have individual +/- connections. Two isolated MOSFET brake outputs [OUT6~7] are programmable for other functions and have flyback diodes to the Brake 24V input 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
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
Stepper commands
±10V position/velocity/torque
PWM velocity/torque command
Master encoder (Gearing/Camming)
Communications
EtherCAT
RS-232
Feedback
Incremental Encoders
Digital quad A/B, Analog Sin/Cos, 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)
Other
Digital Halls
I/O Digital
8 High-speed inputs
2 Motor over-temp inputs
8 Opto-Isolated inputs
5 Opto-Isolated outputs
2 Opto-Isolated brake 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 1.74 [172.1 x 119.3 x 44.1] no heatsink
6.78 x 4.70 x 3.14 [172.1 x 119.3 x 79.8] with heatsink
Model No.: BE2-090-14, BE2-090-14-H