MP3 - Copley Controls

M3 3-Axis Module CANopen
MP3
RoHS
3-axis DIGITAL DRIVE for servo & stepper MOTORS
Servo Control Modes
• Profile Position-Velocity, Interpolated Position, Homing
• Indexer, Point-to-Point, PVT
• Camming, Gearing
• Position/Velocity/Torque
R
Stepper Control Modes
• Cyclic Synchronous Position (CSP)
• Profile Position-Velocity-Torque, Interpolated Position, Homing
• Position (Microstepping)
• Position/Velocity/Torque (Servo Mode)
• Indexer, Point-to-Point, PVT
• Camming, Gearing
Command Interface
• CANopen
• ASCII and discrete I/O
• Stepper commands
• ±10V or PWM velocity/torque (servo mode)
• Master encoder (Gearing/Camming)
Communications
• CANopen
• RS-232
Feedback
• Digital quad A/B/X encoder
• Absolute encoders
• Sin/Cos encoders
• Digital Halls
I/O Digital
• 19 HS inputs
• 3 MOSFET outputs
• 6 CMOS HS outputs
Model
Ic
Ip
Vdc
MP3-090-10
5
10
14~90
I/O Analog
• 3 ±10V inputs
I/O SPI
• 1 HS input
• 3 CMOS HS outputs
Dimensions: mm [in]
• 101.6 x 85.1 x 21 [4.0 x 3.35 x 0.80]
Nineteen high-speed digital inputs with programmable functions are provided.
description
There are six CMOS high-speed outputs. Three mosfet outputs that are 24V
compatible can power motor brakes.
Multinet MP3 is a 3-axis, high-performance, DC powered drive for position,
An SPI port is provided with one high-speed input and three high-speed
velocity, and torque control of stepper and motors via CANopen. Using
digital outputs. If not used for SPI, the input and outputs are programmable
advanced FPGA technology, the MP3 provides a significant reduction in the
for other functions.
cost per node in multi-axis CANopen systems.
An RS-232 serial port provides a connection to Copley’s CME2 software
Each of the three axes in the MP3 operate as CANopen nodes under CiA-402
for commissioning, firmware upgrading, and saving configurations to flash
for motion control devices. Supported modes include: Profile Position-Velocity,
memory. The CANopen port is optically isolated.
Interpolated Position Mode (PVT), and Homing.
Drive power is transformer-isolated DC from regulated or unregulated power
Servo mode of steppers allows CANopen or digital PWM control of position/
supplies. An AuxHV input is provided for “keep-alive” operation permitting
velocity/torque. In microstepping mode stepper command pulses and master
the drive power stage to be completely powered down without losing position
encoder for camming or gearing is supported.
information, or communications with the control system.
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tel: 781-828-8090
P/N 16-01568 Rev 00
Fax: 781-828-6547
Page 1 of 38
M3 3-Axis Module CANopen
MP3
RoHS
general specifications
Test conditions: Load = Bipolar stepper: 2 mH + 2 Ω per phase. Ambient temperature = 25°C, +HV = HVmax
MODEL
Output Power (each axis)
Peak Current
Peak time
Continuous current
Maximum Output Voltage
MP3-090-10
10 (7.07)
1
5 (3.53)
Vout = HV*0.97 - Rout*Iout
Adc (Arms-sine), ±5%
Sec
Adc (Arms-sine) per phase (Note 1)
INPUT POWER (module)
HVmin~HVmax
+14 to +90
Vdc Transformer-isolated
Ipeak
30
Adc (1 sec) peak
Icont
15
Adc continuous (Note 1)
Aux HV24 Vdc typ , 12.3 W max with all encoders @ 500 mA, 2.6 W max with no encoders
PWM OUTPUTS
Type
PWM ripple frequency
Dual H-bridge MOSFET , 12.5 kHz center-weighted PWM, space-vector modulation
25 kHz
control modes servo
CANopen: Profile Position/Velocity/Torque, Interpolated Position (PVT), Homing
Analog ±10 Vdc velocity/torque, 12-bit resolution
Digital PWM velocity/torque
Digital position: CW/CCW, Pulse/Direction, Quadrature A/B
Discrete I/O: Camming, internal indexer and function generator
control modes stepper
CANopen: Profile Position/Velocity (/Torque in servo mode), Interpolated Position (PVT), Homing
Analog ±10 Vdc velocity (/Torque in servo mode), 12-bit resolution
Digital PWM velocity (/Torque in servo mode)
Digital stepper position commands, CW/CCW, Pulse/Direction, Quadrature A/B
Discrete I/O: Camming, internal indexer and function generator
Command inputS
Type
Signals & format
Device ID Selection
Analog
Digital
Camming
CANopen, galvanically isolated from drive circuits
CAN_H, CAN_L, CAN_GND
Programmable, or via digital inputs
±10 Vdc, torque/velocity control, 12-bit resolution
High speed inputs for PWM velocity/torque and stepper/encoder position commands
Quad A/B digital encoder
DIGITAL
Current, velocity, position. 100% digital loop control
Current loop: 12.5 kHz (80 µs), Velocity & position loops: 2.5 kHz (400 µs) See note 2.
Sinusoidal, field-oriented control for stepper motors
Center-weighted PWM with space-vector modulation
Current loop: 2.5 kHz typical, bandwidth will vary with tuning & load inductance
Changes in bus voltage do not affect bandwidth
200 µH line-line
Control
Digital Control Loops
Sampling rate (time)
Commutation
Modulation
Bandwidths
HV Compensation
Minimum load inductance
analog inputs
Number
Type
3
±10 Vdc, 12-bit resolution, differential
digital inputs
Number, type
[IN1~18]
[IN19]
Halls
Functions
19, 74LVC14 Schmitt trigger, Vcc = 3.3 Vdc, + = 1.1~2 Vdc, VT- = 0.8~1.5 Vdc, VH+ = 0.3~1.2 Vdc
High-speed (HS) digital, 100 ns RC filter, 10 kW pull-up to +3.3 Vdc, 7V tolerant
SPI port MISO input, 47 ns RC filter, 10 kW pull-up to +3.3 Vdc, 7V tolerant
9, 74HC14 Schmitt trigger, VT+ = 2.5~3.5 Vdc, VT- = 1.3~2.2 Vdc, VH+ = ±0.7~1.5 Vdc
High-speed (HS) digital, 100 ns RC filter, 10 kW pull-up to +5 Vdc, 24V tolerant
Default functions are shown above, programmable to other functions
digital outputs
Number
[OUT1~3]
[OUT4~9]
Functions
9
Open-drain MOSFET with 1 kW pull-up with series diode to +5 Vdc
300 mAdc max, +30 Vdc max. Functions programmable
External flyback diodes required for driving inductive loads
SPI port MOSI, SCLK, SS1 signals, 74AHCT240 line drivers; +5 Vdc tolerant;
Output current:-8 mA source @ Voh = 2.4V, 6 mA sink at Vol = 0.5V
Default functions are shown above, programmable to other functions
dC power output
Number3
Ratings
+5 Vdc, 500 mA max each output, thermal and short-circuit protected
RS-232 PORT
Signals
Mode
Protocol
RxD, TxD, Gnd for operation as a DTE device
Full-duplex, DTE serial port for drive setup and control, 9,600 to 115,200 Baud
Baud rate defaults to 9,600 after power-on or reset. Programmable to 19,200, 57,600, 115,200
ASCII or Binary format
Notes:
1) Forced-air cooling may be required for operation at full output power on all axes.
2) Default settings for current and position loop frequencies. User programmable for other frequencies.
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tel: 781-828-8090
P/N 16-01568 Rev 00
Fax: 781-828-6547
Page 2 of 38
M3 3-Axis Module CANopen
MP3
RoHS
general specifications
feedback (each axis)
Incremental:
Digital Incremental Encoder Analog Incremental Encoder
Absolute:
SSI
EnDat
Absolute A BiSS (B&C)
Secondary:
Halls
Quadrature signals, (A, /A, B, /B, X, /X), differential (X, /X Index signals not required)
5 MHz maximum line frequency (20 M counts/sec)
MAX14891 differential line receiver with fault detection for A, B, X inputs
Sin/cos format (sin+, sin-, cos+, cos-), differential, 1 Vpeak-peak,
ServoTube motor compatible, BW > 300 kHz
Digital Index (X, /X) input
Clock (X, /X), Data (A, /A) signals
Clock (X, /X), Data (A, /A) signals
Tamagawa Absolute A, Panasonic Absolute A Format, Sanyo Denki Absolute A
SD+, SD- (A, /A) signals, 2.5 or 4 MHz, 2-wire half-duplex communication
Status data for encoder operating conditions and errors
MA+, MA- (X, /X), SL+, SL- (A, /A) signals, 4-wire, clock output from MP3, data returned from encoder
3 MAX3362 differential line receiver/transmitters, programmable as incremental encoder A/B/X,
or absolute full-duplex X (clock) and A (data), or half-duplex A (clock/data)
9 74HC14 Schmitt trigger, Vcc = 5.0V, VT+ = 1.8~3.5 Vdc, VT- = 1.0~2.2 Vdc, VH+ = 0.47~1.47 Vdc
motor connections (each axis)
Phase U, V, W
Phase A, /A, B, /B
Encoders
Hall & encoder power
PWM outputs to 3-phase ungrounded Wye or delta connected brushless motors, or DC brush motors
Dual PWM H-bridge outputs for each axis to drive stepper motors with bipolar windings
Output functions are individually programmable to drive servo or stepper motors
See Feedback section above
See DC POWER OUTPUTS section
protections
HV Overvoltage
HV Undervoltage
Drive over temperature
Short circuits
I2T Current limiting
Motor over temperature
Feedback Loss
+HV > 90 Vdc
Drive outputs turn off until +HV < HVmax (See Input Power for HVmax)
+HV < +14 Vdc
Drive outputs turn off until +HV > +14 Vdc
Heat plate > 70°C.
Drive outputs turn off
Output to output, output to ground, internal PWM bridge faults
Programmable: continuous current, peak current, peak time
Digital inputs programmable to detect motor temperature switch
Inadequate analog encoder amplitude or missing incremental encoder signals
MECHANICAL & ENVIRONMENTAL
Size mm [in]
Weight
Ambient temperature
Humidity
Vibration
Shock
Contaminants
Environment
Cooling
101.6 x 85.1 x 21 [4.0 x 3.35 x 0.80]
MP3: 0.09 kg [ 0.20 lb], MP3 + DevKit: 0.38 kg [0.84 lb]
0 to +45°C operating, -40 to +85°C storage
0 to 95%, non-condensing
2 g peak, 10~500 Hz (sine), IEC60068-2-6
10 g, 10 ms, half-sine pulse, IEC60068-2-27
Pollution degree 2
IEC68-2: 1990
Forced air cooling may be required for continuous power output
agency standards conformance (pending)
In accordance with EC Directive 2004/108/EC (EMC Directive)
EN 55011: 2009/A1:2010
CISPR 11:2009/A1:2010
Industrial, Scientific, and Medical (ISM) Radio Frequency Equipment –
Electromagnetic Disturbance Characteristics – Limits and Methods of Measurement
Group 1, Class A
EN 61000-6-1: 2007
Electromagnetic Compatibility (EMC) – Part 6-1: Generic Standards –
Immunity for residential, Commercial and Light-industrial Environments
In accordance with EC Directive 2006/95/EC (Low Voltage Directive)
IEC 61010-1:2001
Safety Requirements for Electrical Equipment for Measurement, Control and Laboratory Use
Underwriters Laboratory Standards
UL 61010-1, 2nd Ed.: 2008Electrical Equipment for Measurement, Control and Laboratory Use;
Part 1: General Requirements
UL File Number E249894
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tel: 781-828-8090
P/N 16-01568 Rev 00
Fax: 781-828-6547
Page 3 of 38
M3 3-Axis Module CANopen
MP3
RoHS
CME2 Software
Drive setup is fast and easy using CME 2 software. All of the operations needed to configure the drive are accessible through this powerful and
intuitive program. Auto-phasing of brushless motor Hall sensors and phase wires eliminates “wire and try”. Connections are made once and
CME 2 does the rest thereafter. Encoder wire swapping to establish the direction of positive motion is eliminated.
Motor data can be saved as .CCM files. Drive data is saved as .CCX files that contain all drive settings plus motor data. This eases system
management as files can be cross-referenced to drives. Once a drive configuration has been completed systems can be replicated easily
with the same setup and performance.
RS-232 communications
The MP3 is configured via a three-wire, full-duplex RS-232 port that operates as a DTE from 9,600 to 115,200 Baud. CME 2 software
communicates with the drive over this link for commissioning and adjustments.
When operating as a stand-alone drive that takes command inputs from an external controller, CME 2 is used for configuration.
When operated as a CAN node, CME 2 is used for programming before and after installation in a CAN network. The MP3
can also be controlled via CME 2 while it is in place as a CAN node. During this process, drive operation as a CAN node is
suspended. When adjustments are complete, CME 2 relinquishes control of the drive and returns it to the CAN node state.
Multiple drives can communicate over a single RS-232 port by daisy-chaining the master drive to other drives using CAN cables. The
master drive does the RS-232 communication with the system and echoes the commands to the other drives over the CAN bus.
rs232 port
CME2 -> Tools -> Communications Wizard
TxD
1
RxD
9
TxD
5
TD
P2/56
RxD
Gnd
RD
6
P2/55
D-Sub 9M
(DTE)
Signal Ground
P2/54
canopen communiCations
Based on the CAN V2.0b physical layer, a robust, two-wire communication bus originally designed for automotive use where low-cost
and noise-immunity are essential, CANopen adds support for motion-control devices and command synchronization. The result is a
highly effective combination of data-rate and low cost for multi-axis motion control systems. Device synchronization enables multiple
axes to coordinate moves as if they were driven from a single control card.
The MP3 uses the CAN physical layer signals CANH, CANL, and GND for connection, and CANopen protocol for communication.
Before installing the drive in a CAN system, it must be assigned a CAN Node-ID (address). A maximum of 127 CAN nodes are allowed
on a single CAN bus. Up to seven digital inputs can be used to produce CAN Node-IDs from 1~127, or the Node-ID can be saved to
flash memory in the module. Node-ID 0 is reserved for the CANopen master on the network.
canopen connections
The graphic below shows connections between the MP3 and
a Dsub 9M connector on a CAN card. If the MP3 is the last
node on a CAN bus, the internal terminator resistor can be
used by adding a connection on the PC board as shown.
The node Node-ID of the MP3 may be set by using digital inputs,
or programmed into flash memory in the drive.
CANH
P1/9
1
9
CANL
CAN_L
5
CAN
Dsub 9M
CAN_GND
*
TD
CME2 -> Basic Setup -> Operating Mode Options
Isolators
RD
P1/7
6
CAN_H
CAN
Transceiver
121
TERM
C
P1/8
CAN_GND
P1/1~6, 10~14
C
* Add connection to use
internal terminator
resistor
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tel: 781-828-8090
P/N 16-01568 Rev 00
Fax: 781-828-6547
Page 4 of 38
M3 3-Axis Module CANopen
MP3
RoHS
canopen device id switches
The Node-ID of the MP3 can be set in flash memory, or read from 16-position switches via an SPI port.
An SPI port circuit and switches is included in the MP3 Development Kit. Users can add this circuit to their own mounting
boards. The Node ID can be set in flash memory using Copley CME2 software.
On a CAN network, the MP3 will appear as three consequtive nodes. When the “base” Node-ID is configured either via SPI or
flash programming, it will address Axis A. Then, Axes B, and C will be automatically assigned Node-ID’s based on the base ID.
The Axis-B ID will be Axis-A ID +1. Axis-C will be Axis-A +2.
W h a t e ve r N o d e -I D i s a s s i g n e d t o t h e M P 3 , a t o t a l o f t h r e e I D s w i t h c o n s e c u t i ve va l u e s w i l l r e s u l t .
In the graphic below, the base ID of the MP3 is set to 5 resulting in IDs of 5,6, and 7 for the three axes.
N o d e - I D 0 i s r e s e r v e d f o r t h e C A N o p e n M a s t e r, a n d t h e m a x i m u m N o d e - I D a l l o w e d i s 1 2 7 .
This leaves ID 1~4, and 8~127 available for use by other devices on the network.
CANopen
Master
Node ID = 0
CAN Nodes 1~4
MP3 Drive: Node ID = 5
CAN
Node ID
Axis A: Node 5
Node ID +1
Axis B: Node 6
Node ID +2
Axis C: Node 7
CAN Nodes 8~127
canopen connections for multiple modules
The graphic below shows two MP3 wired to a CAN network. The lowest Node-ID allowable on a CAN
network is 1 which will allocate IDs 1,2, and 3 for MP3 #1. MP3 #2 must have a minimum Node-ID equal to
Node-ID#1+3 which equals 4 as shown.
Node-ID = 1
1
IN
CAN_H
P1/9
P2
8
CAN_L
P1/7
Node-ID = 4
CAN_H P1/9
P2
CAN_L
P1/7
120Ω
1
OUT
CAN_GND
(Isolated)
P1/1~6, 10~14
CAN_GND
(Isolated)
P1/1~6,
10~14
When the MP3 is the last node
on the CAN bus, the internal
terminator can be used by
connecting it as shown.
TERM P1/8
8
MP3 #1
MP3 #2
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tel: 781-828-8090
P/N 16-01568 Rev 00
Fax: 781-828-6547
Page 5 of 38
M3 3-Axis Module CANopen
MP3
RoHS
digital command inputs
Digital commands are single-ended format and should be sourced from devices with active pull-up and pull-down to take advantage of the high-speed
inputs. The active edge (rising or falling) is programmable for the Pulse/Dir and CU/CD formats.
how it looks in cme2
CME2 -> Basic Setup -> Operating Mode Options
DIGITAL POSITION
pulse & Direction
Axis A,B,C
Axis Controller
Pulse
Pls
Dir
Direction
Sgnd
how it looks in cme2
CME2 -> Basic Setup -> Operating Mode Options
CU/CD (PUlse up / pulse down)
Axis A,B,C
Axis Controller
CU (Count-Up)
CU (CW)
CD (CCW)
CD (Count-Down)
Sgnd
This screen shows the configuration screen for Pulse & Direction.
CU/CD and Quad A/B encoder are selectable on this screen, too.
QUAD a/b ENCODER
Axis Controller
Axis A,B,C
Encoder ph. A
Enc A
Enc B
Encoder ph. B
Sgnd
signals & pins
The pins in the chart are on connector P2. The functions shown are the defaults.
These can be programmed for other functions.
Axis A
Functions
Axis B
Axis C
P3 Pins
Signal
P3 Pins
Signal
P3 Pins
Signal
Enc A
Pulse
CW
27
[IN5]
33
[IN11]
39
[IN17]
Enc B
Dir
CCW
28
[IN6]
34
[IN12]
40
[IN18]
Note:
1) The functions shown for [IN5~6], [IN11~12], and [IN17~18] apply when they are used as digital command inputs for
position control. These inputs are programmable if not used for these functions.
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tel: 781-828-8090
P/N 16-01568 Rev 00
Fax: 781-828-6547
Page 6 of 38
M3 3-Axis Module CANopen
MP3
RoHS
digital command inputs (cont’d)
how it looks in cme2
CME2 -> Basic Setup -> Operating Mode Options
DIGITAL TORQUE, VELOCITY
PWM command (100% Duty cycle)
Axis Controller
Axis A,B,C
PWM
Duty = 0~100
CME2 -> Main Page-> PWM Command
PWM
Direction
Direction
Sgnd
pwm command (50% duty cycle)
Axis Controller
Axis A,B,C
Duty = 50% ±50%
PWM 50%
PWM
<not used>
<no connection>
Sgnd
This screen shows the 50% Duty Cycle selection.
Other modes are selectable via radio buttons
and pull-down menus for Operating Mode
and Command Source.
signals & pins
The pins in the chart are on connector P2
Axis A
Function
Axis B
Axis C
P3 Pins
Signal
P3 Pins
Signal
P3 Pins
Signal
PWM
PWM 50%
27
[IN5]
33
[IN11]
39
[IN17]
Polarity
n/a
28
[IN6]
34
[IN12]
40
[IN18]
Note:
1) The functions shown for [IN5~6], [IN11~12], and [IN17~18] apply when they are used as digital command inputs for
position control. These inputs are programmable if not used for these functions.
digital command inputs
High speed inputs [IN1~18]
5V tolerant
HI/LO definitions: inputs
Input
State
HI
Vin >= 1.1~2.2 Vdc
IN1~19
LO
Vin <= 0.8~1.5 Vdc
+5.0 V
5V
10k
[IN1~18]
3.3V
1k
100 pF
Vhys
Condition
0.3~1.2 Vdc
74LVC14
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tel: 781-828-8090
P/N 16-01568 Rev 00
Fax: 781-828-6547
Page 7 of 38
M3 3-Axis Module CANopen
MP3
RoHS
inputs
digital INPUTS
MP3 has 19 high-speed digital inputs, all of which have programmable functions.
They are compatible with 5V logic and have 100 ns R/C filters when driven by devices with active pull-up/pull-down outputs.
Programmable functions of the digital inputs include:
• Drive Enable
• Positive Limit switch
• Negative Limit switch
• Digital Command Inputs
• Home switch
high-speed digital INPUTs
+5 VDC max
• Drive Reset
• Motion abort
+5V
+5V
10k
+3.3V
1k
[IN1~18]
100 pF
74LVC14
+5V
+5V
10k
high-speed digital INPUT
SPI port miso signal
+5 VDC max
+3.3V
1k
[IN19]
47 pF
74LVC14
signals & pins
The pins in the chart are on connector P2. The functions shown are the defaults.
All of these inputs can be programmed for other functions.
P2 Signal Ground pins are: 1, 2, 21, 22, 41, 42, 53, 54.
Axis A
Functions
Axis B
Axis C
P3 Pins
Signal
P3 Pins
Signal
P3 Pins
Signal
Enable
23
[IN1]
29
[IN7]
35
[IN13]
Pos Limit
24
[IN2]
30
[IN8]
36
[IN14]
Neg Limit
25
[IN3]
31
[IN9]
37
[IN15]
26
[IN4]
32
[IN10]
38
[IN16]
Enc A
Pulse
CW
PWM
PWM 50%
27
[IN5]
33
[IN11]
39
[IN17]
Enc B
Dir
CCW
Polarity
n/a
28
[IN6]
34
[IN12]
40
[IN18]
52
[IN19]
SPI Port MISO input
analog Inputs
The analog inputs have a ±10 Vdc range. As reference inputs they
can take position/velocity/torque commands from a controller.
D/A
±10V
Axis A
Axis B
Axis C
P3 Pins
P3 Pins
P3 Pins
Ref(+)
3
5
7
Ref(-)
4
6
8
Functions
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tel: 781-828-8090
P/N 16-01568 Rev 00
Axis A,B,C
Ref(+)
Ref(-)
Sgnd
-
Vref
5k
+
1.25V
Fax: 781-828-6547
Page 8 of 38
M3 3-Axis Module CANopen
MP3
RoHS
digital input details
how it looks in cme2
CME2 -> Main Page-> Input/Output -> Digital Inputs 1-12
Notes:
The functions for all of the inputs are programmable. The functions shown above are defaults for the combinations listed below:
• [IN1] and [IN7] are the defaults for the Axis-A and Axis-B Enable functions.
• [IN2~4] and [IN8~10] are typically used for pos/neg limit switches, and Home switch.
• [IN5~6] and [IN11~12] are the digital command input defaults for position, velocity, or torque control.
digital input pins and functions
Axis A
Functions
Axis B
P3 Pins
Signal
P3 Pins
Signal
Enable
23
[IN1]
29
[IN7]
Positive Limit Switch
24
[IN2]
30
[IN8]
Negative Limit Switch
25
[IN3]
31
[IN9]
Home Switch
26
[IN4]
32
[IN10]
Enc A
Pulse
CW
PWM
PWM 50%
27
[IN5]
33
[IN11]
Enc B
Dir
CCW
Polarity
n/a
28
[IN6]
34
[IN12]
High speed digital inputs [IN1~IN12]
5V tolerant
High speed digital inputs [IN1~IN12]
5V tolerant
+5V
+3.3V
10k
[Input]
Vin +
-
1k
Input
State
HI
Vin >= 1.1~2.2 Vdc
IN1~12
LO
Vin <= 0.8~1.5 Vdc
Pin
Sgnd
Pin
100p
Vhys
Condition
0.3~1.2 Vdc
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tel: 781-828-8090
P/N 16-01568 Rev 00
Fax: 781-828-6547
Page 9 of 38
M3 3-Axis Module CANopen
MP3
RoHS
digital input details
how it looks in cme2
CME2 -> Main Page-> Input/Output -> Digital Inputs 13-19
Notes:
The functions for all of the inputs are programmable. The functions shown above are defaults for the combinations listed below:
• [IN13] is the default for the Axis-C Enable function.
• [IN14~16] are typically used for pos/neg limit switches, and Home switch.
• [IN17~18] are the digital command input defaults for position, velocity, or torque control.
• [IN19] is the MISO input when SPI is used.
digital input pins and functions
Axis C
Functions
P3 Pins
Signal
Enable
35
[IN13]
Positive Limit Switch
36
[IN14]
Negative Limit Switch
37
[IN15]
Home Switch
38
[IN16]
Enc A
Pulse
Enc B
Dir
CW
PWM
PWM 50%
39
[IN17]
CCW
Polarity
n/a
40
[IN18]
52
[IN19]
SPI MISO
High speed digital inputs [IN13~IN18]
5V tolerant
+5V
Vin +
-
[IN19]
1k
Pin
Sgnd
State
HI
Vin >= 1.1~2.2 Vdc
IN13~19
LO
Vin <= 0.8~1.5 Vdc
Vhys
+5V
10k
10k
[Input]
Input
Condition
0.3~1.2 Vdc
High speed input [IN19] SPI MISO
5V tolerant
+5V
+3.3V
HI/LO definitions: inputs
+3.3V
1k
47 pF
74LVC14
100p
Pin
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tel: 781-828-8090
P/N 16-01568 Rev 00
Fax: 781-828-6547
Page 10 of 38
M3 3-Axis Module CANopen
MP3
RoHS
digital output details
how it looks in cme2
CME2 -> Main Page-> Input/Output -> Digital Outputs 1-6
mosfet outputs & pins
HIGH SPEED OUTPUTS & pins
Function
P3 Pin
Output
P3 Pin
[OUT1]
43
[OUT4]
46
[OUT2]
44
[OUT5]
47
[OUT3]
45
HI/LO definitions: out4~5
Output
HI/LO definitions: outputs 1~3
Output
State
OUT1~3
SPI Signals
Condition
OUT4~5
HI
MOSFET OFF
LO
MOSFET ON
mosfet digital outputs: inductive loads
Flyback
Diode
+5V
[OUT1~3]
Inductive
Load
Condition
HI
Vout >= 2.2 Vdc
LO
Vout <= 0.8 Vdc
high speed digital outputs [OUT4~5]
74HCT125
5V max
[OUT4~9]
+
1k
State
+24
Vdc
Note: All outputs are
programmable for
other functions than
the ones shown here.
Sgnd
SGND
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tel: 781-828-8090
P/N 16-01568 Rev 00
Fax: 781-828-6547
Page 11 of 38
M3 3-Axis Module CANopen
MP3
RoHS
digital output details
how it looks in cme2
CME2 -> Main Page-> Input/Output -> Digital Outputs 4-9
high speed digital outputs [OUT6~9]
74HCT125
5V max
[OUT4~9]
Sgnd
high speed digital outputs [OUT6~9]
Output
P3 Pin
[OUT6]
48
SPI Signals
[OUT7]
49
SPI EN1
[OUT8]
50
SPI Clock
[OUT9]
51
SPI MOSI
Note: All outputs are
programmable for
other functions than
the ones shown here.
HI/LO definitions: outputs
Output
OUT6~9
State
Condition
HI
Vout >= 2.2 Vdc
LO
Vout <= 0.8 Vdc
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tel: 781-828-8090
P/N 16-01568 Rev 00
Fax: 781-828-6547
Page 12 of 38
M3 3-Axis Module CANopen
MP3
RoHS
spi port
This graphic shows all of the SPI port outputs and input together. The connections shown are
those used on the MP3 Development Kit as an example of the port’s usage for inputs and outputs.
+5VKIT
TPS3823-50DBV
74HC595
Vcc
+5VKIT
/MR
WDI
/RST
16
10
Gnd
Vcc
QA
CLR
QB
+5V
10k
SPI-MOSI
[OUT9]
1k
P3-51
P3-51
JP8G
14
JP2A
100p
JP8H
J7-43
SPI-CLK
[OUT8]
12
13
JP2B
100p
9
JP8F
SPI-EN1
[OUT7]
QD
RCLK
QF
G
SDO
QH
1
Axis C
14
QB
RCLK
Axis A DS15
13
7
9
D0
D1
D2
D3
1
SDO
QH
CKE
D5
J7-25
D6
JP9C
SPI-MISO P3-52
[IN19]
Q7
JP2D
P3-52
9
11
Input
[OUT7~9]
State
HI
LO
Axis-A
7
4
13
D7
Axis-B
DS15
8
12
8
DS16
1
8
1
Axis-C
DS13
DS14
8
1
2
14
J5
1
3
J6
Switches
8
4
4
5
2
6
1
Q7
Gnd
HI/LO definitions: outputs
Axis C DS12
STATUS LEDs
SW7
D4
15
5
+5VKIT
PL
74HC165
QF
8
SW8
CLK
Axis B DS11
4
DS16
Vcc
2
3
STATUS LEDs *
Note that the STATUS LED axis
pin assignments to this IC are
different than the ones for the
AMP LEDs.
10k
SDI
QD
G
16
10
Axis A DS10
QC
QG
“X” shown here are for
LEDs not used
+5VKIT
MP3
Module
1
2
QE
12
6
1k
SRCLK
4
5
15
SDI
11
100p
J7-28
CLR
3
DS14
AMP LEDs
QA
2
JP2C
JP8D
Vcc
DS13
Axis B
1k
P3-49
JP8C
QG
8
10k
P3-49
10
+5V
J7-13
+5VKIT
1k
SRCLK
1k
JP8E
15
16
SDI
QE
+5V
10k
P3-50
P3-50
11
QC
74HC595
STATUS LEDs *
10k
+5VKIT
signals & pins
Condition
Output
P2 Pin
Vout >= 2.2 Vdc
[OUT7]
49
SPI EN1
Vout <= 0.8 Vdc
[OUT8]
50
SPI Clock
[OUT9]
51
SPI MOSI
[IN19]
52
SPI MISO
SPI Signals
If these signals are not used
for the SPI port , they are
programmable for other functions.
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tel: 781-828-8090
P/N 16-01568 Rev 00
Fax: 781-828-6547
Page 13 of 38
M3 3-Axis Module CANopen
MP3
RoHS
feedback connections
Motor connections consist of: phases, Halls, encoder, thermal sensor, and brake. The phase connections carry the drive output currents that drive
the motor to produce motion. The Hall signals are three digital signals that give absolute position feedback within an electrical commutation cycle of
brushless motors. Encoder signals give position feedback and are used for velocity and position modes, as well as sinusoidal commutation. A thermal
sensor that indicates motor overtemperature is used to shut down the drive to protect the motor. A brake can provide a fail-safe way to prevent
movement of the motor when the drive is shut-down or disabled.
quad a/b incremental ENCODER with fault protection (primary feedback only)
Encoders with differential line-driver outputs provide incremental position feedback via the A/B signals and the optional index signal (X) gives a once per
revolution position mark. The MAX14891 receiver has differential inputs with fault protections for the following conditions:
Short-circuits line-line: This produces a near-zero voltage between A & /A, B & /B, and X & /X which is below the differential fault threshold.
Open-circuit condition: A 121W terminator resistor will pull the inputs together if either side (or both) is open.
This will produce the same fault condition as a short-circuit across the inputs.
Low differential voltage detection: This is possible with very long cable runs and a fault will occur if the differential input voltage is < 200mV.
±25kV ESD protection: The MAX14891 has protection against high-voltage discharges using the Human Body Model.
Extended common-mode range: A fault occurs if a single input voltage is outside of the range of -18.5V to +18.5V
If encoder fault detection is selected (CME2 main page, Configure Faults block, Feedback Error) and an encoder with no index is used, then the X and /X
inputs must be wired as shown below to prevent the unused index input from generating an error for low differential voltage detection.
digital quadrature encoder input
5V
a/b connections (no index)
5V
* 121Ω terminating resistors
on user’s PC board
Encoder
* 121Ω terminating resistors
on user’s PC board
Encoder
Module
Module
A
A
*
A
A
/A
*
/A
MAX14891
B
B
*
B
/B
MAX14891
B
*
/B
X
Z
*
MAX14891
MAX14891
X
/X
/X
MAX14891
+5V
+5V ENC
MAX14891
+5V ENC
+5V
Sgnd
0V
Sgnd
0V
CME2 -> Motor/Feedback -> Feedback
primary feedback connections
The pins in the chart are on connector P4
Functions
Axis A
Axis B
Axis C
secondary feedback connections
The pins in the chart are on connector P4
Functions
Axis A
Axis B
Axis C
Pins
Pins
Pins
6
20
34
Pins
Pins
Pins
Enc A
5
19
33
Sec Enc A
Enc /A
7
21
35
Sec Enc /A
8
22
36
Enc B
9
23
37
Sec Enc B
10
24
38
Enc /B
11
25
39
Sec Enc /B
12
26
40
Enc X
13
27
41
Enc /X
15
29
43
Sec Enc X
14
28
42
+5V Out
17
31
45
Sec Enc /X
16
30
44
Signal Gnd
18
32
46
+5 ENC
17
31
45
Signal Gnd
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tel: 781-828-8090
P/N 16-01568 Rev 00
1~4,18,32,46,56
Fax: 781-828-6547
Page 14 of 38
M3 3-Axis Module CANopen
MP3
RoHS
feedback connections
panasonic incremental a encoder
This is a “wire-saving” incremental encoder that sends serial data on a
two-wire interface in the same fashion as an absolute encoder.
CME2 -> Basic setup -> Feedback
* 121Ω terminating resistor
on user’s PC board
Incremental-A
Encoder
Accelnet Plus Module
5V
1.2k
absolute A encoder,
tamagawa, and panasonic
CME2 -> Motor/Feedback -> Feedback
220
D-R
1.2k
Cmd
V+
MAX3362B
Ssi absolute Encoder
The SSI (Synchronous Serial Interface) is an interface used to connect
an absolute position encoder to a motion controller or control system.
The Accelnet drive provides a train of clock signals in differential
format (Clk, /Clk) to the encoder which initiates the transmission of the
position data on the subsequent clock pulses. The polling of the encoder
data occurs at the current loop frequency (16 kHz). The number of
encoder data bits and counts per motor revolution are programmable.
Data from the encoder in differential format (Dat, /Dat) MSB first. Binary or
Gray encoding is selectable. When the LSB goes high and a dwell time has
elapsed, data is ready to be read again.
A
*
SD+
SD
Cmd
/A
SD-
D-R
SD
+5V
V-
+5V ENC
0V
MAX3362
Sgnd
CME2 -> Motor/Feedback -> Feedback
primary feedback connections
The pins in the chart are on connector P4
Axis A
Axis B
Axis C
Pins
Pins
Pins
5
19
33
Encoder
Drive
Enc S
Enc A
Enc /S
Enc /A
7
21
35
Enc X
Enc X
13
27
41
Enc /X
Enc /X
15
29
43
17
31
45
+5V Out
Signal Gnd
* 121Ω terminating resistor
on user’s PC board
Encoder
Clk
Clk
X
/Clk
/X
Clk
MAX3362
1~4,18,32,46,56
secondary feedback connections
Dat
The pins in the chart are on connector P4
Functions
Accelnet Plus Module
Drive
Data
Axis A
Axis B
Axis C
Pins
Pins
Pins
Sec Enc S
Sec Enc A
6
20
34
Sec Enc /S
Sec Enc /A
8
22
36
Sec Enc X
Sec Enc X
14
28
42
Sec Enc /X
Sec Enc /X
16
30
44
17
31
45
+5 ENC
Signal Gnd
*
/Dat
+5V
0V
A
Data
/A
MAX3362
+5V ENC
Sgnd
1~4,18,32,46,56
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tel: 781-828-8090
P/N 16-01568 Rev 00
Fax: 781-828-6547
Page 15 of 38
M3 3-Axis Module CANopen
MP3
RoHS
feedback connections
endat absolute Encoder
The EnDat interface is a Heidenhain interface that is similar to SSI in the use of clock
and data signals for synchronous digital, bidirectional data transfer. It also supports
analog sin/cos channels from the same encoder. The number of position data bits is
programmable Use of sin/cos incremental signals is optional in the EnDat specification.
* 121Ω terminating resistor
on user’s PC board
Accelnet Plus Module
Encoder
CME2 -> Motor/Feedback -> Feedback
Clk
Clk
X
/Clk
/X
Clk
MAX3362B
Dat
Data
/Dat
A
121
*
Data
Out
/A
D-R
biss (b & c) absolute Encoder
Data
In
CME2 -> Motor/Feedback -> Feedback
MAX3362B
Sin(+)
sin
-
Sin
121
Sin(-)
+
Cos(+)
BiSS
Encoder
Master
Slave
cos
* 121Ω terminating resistor
on user’s PC board
-
Cos
121
Cos(-)
+
Accelnet Plus Module
MA+
X
MA-
/X
SL+
+5V
Data
+5V ENC
V+
Sgnd
V-
Sgnd
sin/cos feedback connections
/A
SL-
0V
Clk
A
*
+5V ENC
The Sin/Cos pins in this chart are on connector P3
Axis A
Axis B
Axis C
Pins
Pins
Pins
Enc Sin(+)
9
13
17
Functions
Drive
Enc Sin(+)
Enc Sin(-)
Enc Sin(-)
10
14
18
Enc Cos(+)
Enc Cos(+)
11
15
19
Enc Cos(-)
Enc Cos(-)
12
16
20
17
31
45
+5 ENC (on P4)
Signal Gnd (on P4)
secondary feedback connections
primary feedback connections
The pins in the chart are on connector P4
The pins in the chart are on connector P4
Axis A
Axis B
Axis C
Pins
Pins
Pins
5
19
33
Encoder
Drive
Enc S
Enc A
Enc /S
Enc /A
7
21
Enc X
Enc X
13
27
Enc /X
Enc /X
15
29
43
17
31
45
+5V Out
Signal Gnd
1~4,18,32,46,56
Functions
Drive
Axis A
Axis B
Axis C
Pins
Pins
Pins
6
20
34
Sec Enc S
Sec Enc A
35
Sec Enc /S
Sec Enc /A
8
22
36
41
Sec Enc X
Sec Enc X
14
28
42
Sec Enc /X
Sec Enc /X
16
30
44
17
31
45
1~4,18,32,46,56
+5 ENC
Signal Gnd
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tel: 781-828-8090
P/N 16-01568 Rev 00
1~4,18,32,46,56
Fax: 781-828-6547
Page 16 of 38
M3 3-Axis Module CANopen
MP3
RoHS
motor connections
stepper motors
how it looks in cme2
CME2 -> Basic Setup -> Motor Options
The drive outputs are two H-bridge PWM inverters that convert the DC
bus voltage (+HV) into sinusoidal voltage waveforms that drive the motor
phase-coils. Cable should be sized for the continuous current rating of
the drive. Motor cabling should use twisted, shielded conductors for CE
compliance, and to minimize PWM noise coupling into other circuits.
The motor cable shield should connect to motor frame and the drive HV
ground terminal for best results.
Axis A,B,C
PWM
MOT A
signals & pins
The pins in the chart are on connector P1
MOT /A
+HV
PWM
Step
Motor
2 ph.
MOT /B
+
MOT B
0V
Axis A
Axis B
Axis C
Output
Motor
Pins
Pins
Pins
Mot A
A
21,22
37,38
53,54
Mot /A
/A
23,24
39,40
55,56
Mot B
B
29,30
45,46
61,62
Mot /B
/B
31,32
47,48
63,64
+HV
1,2,3,4,5,6
HV COM
11,12,13,14,15,16
+AuxHV
7
how it looks in cme2
CME2 -> Basic Setup -> Motor Options
brush motors
The drive outputs are an H-bridge PWM inverter that convert the DC
bus voltage (+HV) into DC voltage waveforms that drive the motor (+)
& (-) terminals. Cable should be sized for the continuous current rating
of the drive. Motor cabling should use twisted, shielded conductors for
CE compliance, and to minimize PWM noise coupling into other circuits.
The motor cable shield should connect to motor frame and the drive HV
ground terminal for best results.
Axis A,B,C
PWM
+HV
0V
MOT /A
(+)
signals & pins
Brush
Motor
+
MOT /B
(-)
The pins in the chart are on connector P1
Output
Motor
Mot A
Axis A
Axis B
Axis C
Pins
Pins
Pins
n/c
Mot /A
(+)
23,24
39,40
55,56
Mot /B
(-)
31,32
47,48
63,64
+HV
1,2,3,4,5,6
0V
11,12,13,14,15,16
+AuxHV
7
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tel: 781-828-8090
P/N 16-01568 Rev 00
Fax: 781-828-6547
Page 17 of 38
M3 3-Axis Module CANopen
MP3
RoHS
motor connections
brushless motors
The drive outputs are a 3-phase PWM inverter that converts the DC bus
voltage (+HV) into sinusoidal voltage waveforms that drive the motor
U-V-W terminals. Cable should be sized for the continuous current rating
of the drive. Motor cabling should use twisted, shielded conductors for
CE compliance, and to minimize PWM noise coupling into other circuits.
The motor cable shield should connect to motor frame and the drive HV
ground terminal for best results.
how it looks in cme2
CME2 -> Basic Setup -> Motor Options
Axis A,B,C
PWM
+HV
+
0V
MOT A
W
MOT /A
U
MOT /B
V
Brushless
Motor
signals & pins
The pins in the chart are on connector P1
Axis A
Axis B
Pins
Pins
Pins
W
21,22
37,38
53,54
U
23,24
39,40
55,56
Output
Motor
Mot A
Mot /A
Mot B
Mot /B
Axis C
No Connection
V
31,32
47,48
+HV
1,2,3,4,5,6
HV COM
11,12,13,14,15,16
+AuxHV
7
63,64
digitAl HALL SIGNALS
Hall signals are single-ended signals that provide absolute feedback within one
electrical cycle of the motor. There are three of them (U, V, & W) and they
may be sourced by magnetic sensors in the motor, or by encoders that have
Hall tracks as part of the encoder disc. They typically operate at much lower
frequencies than the motor encoder signals, and are used for commutationinitialization after startup, and for checking the motor phasing after the servo
drive has switched to sinusoidal commutation.
how it looks in cme2
CME2 -> Basic Setup -> Feedback Options
Hall inputs
5V
Halls
Hall A
Note: Hall phase correction is optional
Axis A,B,C
10K
+5V
+5V
Hall U
15K
10K
Hall B
100p
+5V
74HC14
+5V
signals & pins
The pins in the chart are on connector P4
Hall V
15K
10K
Hall C
100p
+5V
74HC14
+5V
Hall W
15K
+5V
0V
100p
74HC14
Functions
Axis A
Axis B
Axis C
Pins
Pins
Pins
Hall U
47
50
53
Hall V
48
51
54
Hall W
49
52
55
+5V ENC
Sgnd
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tel: 781-828-8090
P/N 16-01568 Rev 00
Fax: 781-828-6547
Page 18 of 38
M3 3-Axis Module CANopen
MP3
RoHS
common connections for all axes
1
P2/9 CAN_H
8
P2/7 CAN_L
P3
P2
SPI Device
[IN19] SPI-MISO
[OUT9] SPI -MOSI
[OUT8] SPI-CLK
1
P2/1~6
P2/10~14
CAN_GND
[OUT7] SPI-EN1
8
Control
P1
+24 V
Aux HV P1/7
DC
Power
+
-
P2/7
Controller
RS-232, DTE
+HV P1/1~6
RxD
P2/56
TxD
TxD
P2/55
RxD
Gnd
P2/53,54
Sgnd
+
+HV COMM P1/11~16
330 µF
Minimum
per drive
Power
DC
Power
Mount external
capacitor
<= 12" (30 cm)
from drive
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tel: 781-828-8090
P/N 16-01568 Rev 00
Fax: 781-828-6547
Page 19 of 38
M3 3-Axis Module CANopen
MP3
RoHS
typical connections
Here is an example using a stepper motor with encoder feedback, driving a linear stage with positive and
negative limit switches, and a home switch. Position commands are shown as digital inputs.
For CANopen operation, these would not be used.
Axis A
CU
ENC
Step Ch. B
CD
ENC
Ch. A
Dir
A
Enc A
Position Commands
/A
Enc /A
[IN5] Pulse
P4
[IN6] Dir
B
Enc B
/B
Enc /B
Velocity, Torque commands
/X
Enc /X
PWM 50%
Dir
+5V
+5V Enc
Gnd
Sgnd
n.c.
[IN1] Enable
P1
[IN2] Pos Limit
[IN3] Neg Limit
DIGITAL
ENCODER
X
Enc X
Mot A
A
Mot /A
/A
Mot B
/B
STEPPER
MOTOR
B
Mot /B
[IN4] Home Switch
+
Signal Ground
BRAKE
24V
-
Out 1
Sgnd
P3
Axis A is shown as an example. The tables below show the pins for the same-named signals for axes B, C, and D.
P3: input signals & pins
Axis A
Functions
Axis B
Axis C
Pins
Signal
Pins
Signal
Pins
Signal
Enable
23
[IN1]
29
[IN7]
35
[IN13]
Positive Limit Switch
24
[IN2]
30
[IN8]
36
[IN14]
Negative Limit Switch
24
[IN3]
31
[IN9]
37
[IN15]
Home Switch
26
[IN4]
32
[IN10]
38
[IN16]
Enc A
Pulse
CW
PWM
PWM 50%
27
[IN5]
33
[IN11]
39
[IN17]
Enc B
Dir
CCW
Polarity
n/a
28
[IN6]
34
[IN12]
40
[IN18]
Notes:
1) Inputs functions shown for [IN1], [IN7], [IN13] are the default functions. These inputs are programmable if not
used for these functions.
2) The functions shown for [IN5~6], [IN11~12], [IN17~18] apply when they are used as digital command inputs for
position control. These inputs are programmable if not used for these functions.
3) The functions shown for [IN2~4], [IN8~10], [IN14~16] are typical inputs. These inputs are programmable if not
used for these functions.
P3: mosfet outputs & pins
P4: encoder signals & pins
Axis A
Axis B
Axis C
Output
P3 Pin
Pins
Pins
Pins
[OUT1]
43
Enc A
5
19
33
Enc /A
7
21
35
[OUT2]
44
Enc B
9
23
37
[OUT3]
45
Enc /B
11
25
39
Enc X
13
27
41
Enc /X
15
29
43
+5 Vout
17
31
45
Sgnd
18
32
46
Functions
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tel: 781-828-8090
P/N 16-01568 Rev 00
Fax: 781-828-6547
Page 20 of 38
M3 3-Axis Module CANopen
MP3
RoHS
outputs
driving inductive loadS
1k
[OUT1]
R-L
+5V
digital OUTPUTS 1~3
These are open-drain MOSFETs with 1 kΩ pull-up resistors in series
with a diode to +5 Vdc. They can sink up to 300 mAdc from external
loads operating from power supplies to +30 Vdc. The outputs are
typically configured as drive fault and motor brake. Additional
functions are programmable. As a drive fault output, the active level is
programmable to be HI or LO when a fault occurs. As a brake output,
it is programmable to be either HI or LO to release a motor brake
when the drive is enabled. When driving inductive loads such as a
relay, an external fly-back diode is required. A diode in the output is
for driving PLC inputs that are opto-isolated and connected to +24
Vdc. The diode prevents conduction from +24 Vdc through the 1 kΩ
resistor to +5 Vdc in the drive. This could turn the PLC input on, giving
a false indication of the drive output state.
300mA
1k
Output
[OUT3]
43
[OUT2]
44
[OUT3]
45
R-L
+5V
P3 Pin
[OUT1]
R-L
300mA
1k
P3: mosfet outputs & pins
[OUT2]
+5V
Sgnd
300mA
+
+30V max
high speed OUTPUTS
Digital outputs [OUT4~6] are HI-speed CMOS drivers.
[OUT4]
74AHCT240
P3: SPI port outputs & pins
Output
P3 Pin
[OUT4]
46
[OUT5]
47
[OUT6]
48
[OUT5]
74AHCT240
[OUT6]
74AHCT240
Sgnd
+
- Vout
SPI port OUTPUTS
Digital outputs [OUT7~9] are CMOS drivers used for the SPI port.
Programmable for other functions if not used for SPI port.
P3: SPI port outputs & pins
Output
P3 Pin
[OUT7]
49
[OUT8]
50
[OUT9]
51
[OUT7]
EN1
74AHCT240
[OUT8]
SCLK
74AHCT240
[OUT9]
MOSI
74AHCT240
Sgnd
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tel: 781-828-8090
P/N 16-01568 Rev 00
+
- Vout
Fax: 781-828-6547
Page 21 of 38
M3 3-Axis Module CANopen
MP3
RoHS
motor connections
how it looks in cme2
CME2 -> Basic Setup -> Motor Options
stepper motors
The drive outputs are two H-bridge PWM inverters that convert the DC
bus voltage (+HV) into sinusoidal voltage waveforms that drive the motor
phase-coils. Cable should be sized for the continuous current rating of
the drive. Motor cabling should use twisted, shielded conductors for CE
compliance, and to minimize PWM noise coupling into other circuits.
The motor cable shield should connect to motor frame and the drive HV
ground terminal for best results.
Axis A,B,C
PWM
MOT A
MOT /A
+HV
PWM
Step
Motor
2 ph.
MOT /B
+
MOT B
0V
P1: stepper outputs & pins
Axis A
Axis B
Pins
Pins
Pins
Mot A
21,22
37,38
53,54
Mot /A
23,24
39,40
55,56
Mot B
29,30
45,46
61,62
Mot /B
31,32
47,48
63,64
Output
Axis C
how it looks in cme2
CME2 -> Basic Setup -> Motor Options
brush motors
The drive outputs are an H-bridge PWM inverter that convert the DC
bus voltage (+HV) into DC voltage waveforms that drive the motor (+)
& (-) terminals. Cable should be sized for the continuous current rating
of the drive. Motor cabling should use twisted, shielded conductors for
CE compliance, and to minimize PWM noise coupling into other circuits.
The motor cable shield should connect to motor frame and the drive HV
ground terminal for best results.
Axis A,B,C
PWM
+HV
0V
MOT /A
(+)
Brush
Motor
+
MOT /B
(-)
P1: brush outputs & pins
Axis A
Axis B
Pins
Pins
Pins
Mot /A
23,24
39,40
55,56
Mot /B
31,32
47,48
63,64
Output
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tel: 781-828-8090
P/N 16-01568 Rev 00
Axis C
Fax: 781-828-6547
Page 22 of 38
M3 3-Axis Module CANopen
MP3
RoHS
motor connections
brushless motors
The drive outputs are a 3-phase PWM inverter that converts the DC bus
voltage (+HV) into sinusoidal voltage waveforms that drive the motor
U-V-W terminals. Cable should be sized for the continuous current rating
of the drive. Motor cabling should use twisted, shielded conductors for
CE compliance, and to minimize PWM noise coupling into other circuits.
The motor cable shield should connect to motor frame and the drive HV
ground terminal for best results.
how it looks in cme2
CME2 -> Basic Setup -> Motor Options
Axis A,B,C
PWM
+HV
W
MOT A
P1: brushless outputs & pins
+
0V
MOT /A
U
MOT /B
V
Brushless
Motor
Axis A
Axis B
Axis C
Output
Motor
Pins
Pins
Pins
Mot A
W
21,22
37,38
53,54
Mot /A
U
23,24
39,40
55,56
V
31,32
Mot B
Mot /B
Not used
47,48
63,64
digitAl HALL SIGNALS
Hall signals are single-ended signals that provide absolute feedback within one
electrical cycle of the motor. There are three of them (U, V, & W) and they
may be sourced by magnetic sensors in the motor, or by encoders that have
Hall tracks as part of the encoder disc. They typically operate at much lower
frequencies than the motor encoder signals, and are used for commutationinitialization after startup, and for checking the motor phasing after the servo
drive has switched to sinusoidal commutation.
how it looks in cme2
CME2 -> Basic Setup -> Feedback Options
Hall inputs
5V
Halls
Hall A
Note: Hall phase correction is optional
Axis A,B,C
10K
+5V
P4: hall inputs & pins
+5V
Hall U
15K
10K
Hall B
100p
+5V
74HC14
+5V
Hall V
15K
10K
Hall C
Axis A
Axis B
Axis C
Pins
Pins
Pins
Hall U
47
50
53
Hall V
48
51
54
Hall W
49
52
55
Input
100p
+5V
74HC14
+5V
Hall W
15K
+5V
0V
100p
74HC14
+5V ENC
Sgnd
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tel: 781-828-8090
P/N 16-01568 Rev 00
Fax: 781-828-6547
Page 23 of 38
M3 3-Axis Module CANopen
MP3
RoHS
typical connections
Here is an example using a stepper motor with encoder feedback, driving a linear stage with positive and
negative limit switches, and a home switch. Position commands are shown as digital inputs.
For CANopen operation, these would not be used.
Axis A
CU
ENC
Step Ch. B
CD
ENC
Ch. A
Dir
A
Enc A
Position Commands
/A
Enc /A
[IN5] Pulse
P4
[IN6] Dir
B
Enc B
/B
Enc /B
X
Enc X
Velocity, Torque commands
/X
Enc /X
PWM 50%
Dir
+5V
+5V Enc
Gnd
Sgnd
n.c.
[IN1] Enable
P1
[IN2] Pos Limit
[IN3] Neg Limit
DIGITAL
ENCODER
Mot A
A
Mot /A
/A
Mot B
/B
STEPPER
MOTOR
B
Mot /B
[IN4] Home Switch
+
Signal Ground
24V
BRAKE
-
Out 1
Sgnd
P3
Axis A is shown as an example. The tables below show the pins for the same-named signals for axes B, C, and D.
P3: input signals & pins
Axis A
Functions
Axis B
Axis C
Pins
Signal
Pins
Signal
Pins
Signal
Enable
23
[IN1]
23
[IN7]
35
[IN13]
Positive Limit Switch
24
[IN2]
24
[IN8]
36
[IN14]
Negative Limit Switch
24
[IN3]
24
[IN9]
37
[IN15]
Home Switch
26
[IN4]
26
[IN10]
38
[IN16]
Enc A
Pulse
CW
PWM
PWM 50%
27
[IN5]
27
[IN11]
39
[IN17]
Enc B
Dir
CCW
Polarity
n/a
28
[IN6]
28
[IN12]
40
[IN18]
Notes:
1) Inputs functions shown for [IN1], [IN7], [IN13], and [IN19] are the default functions. These inputs are
programmable if not used for these functions.
2) The functions shown for [IN5~6], [IN11~12], [IN17~18] and [IN23~24] apply when they are used as digital
command inputs for position control. These inputs are programmable if not used for these functions.
3) The functions shown for [IN2~4] are typical inputs. These inputs are programmable if not used for these functions.
P4: encoder signals & pins
Functions
Axis A
Axis B
Axis C
P3: mosfet outputs & pins
Pins
Pins
Pins
Output
P3 Pin
Enc A
5
19
33
[OUT1]
43
Enc /A
7
21
35
[OUT2]
44
Enc B
9
23
37
[OUT3]
45
Enc /B
11
25
39
Enc X
13
27
41
Enc /X
15
29
43
+5 Vout
17
31
45
Sgnd
18
32
46
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tel: 781-828-8090
P/N 16-01568 Rev 00
Fax: 781-828-6547
Page 24 of 38
M3 3-Axis Module CANopen
MP3
RoHS
module dimensions
Units in inch (mm)
.375 9.53
.814 20.67
3.000(76.2)
4.000 (101.6)
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tel: 781-828-8090
P/N 16-01568 Rev 00
Fax: 781-828-6547
Page 25 of 38
M3 3-Axis Module CANopen
MP3
RoHS
printed circuit board footprint
top view
Dimensions are inch (mm)
Viewed from above looking down on the connectors or
PC board footprint to which the module is mounted
PC Board Pad Grouping
for P1 current-sharing
See Note 1
1
63
2
64
2.916 [74.066]
0.2375 [6.03]
0.0013 [0.033]
0.0787 TYP [2.00]
1
63
P1
2
0.01135
[0.288]
64
55
56
Ø0.125 4X
[3.175]
2.4916
[63.287]
Dimensions
inch [mm]
P4
3.566
[90.576]
13
14
P2
1
2
0.01135 [0.288]
56
2
55
1
0.3950 [10.033]
0.0013 [0.033]
Mounting
Qty
1
1
1
1
2
1
P3
Hardware:
Description
Socket Strip
Socket Strip
Socket Strip
Socket Strip
Standoff 6-32 X 1/4”
Mfgr
Samtec
Samtec
Samtec
Samtec
PEM
2
0.6413
[16.289]
0.0787 TYP
[2.00]
Ø0.028 TYP
[0.711]
Part Number
SQW-132-01-L-D
SQW-107-01-L-D
SQW-128-01-L-D
SQW-128-01-L-D
KFE-632-8ET
Remarks
P1: HV, Aux, & Motor
P2: CANopen port
P3: Input/Output
P4: Feedback
Notes
1. P1 signals of the same name must be connected for current-sharing (see graphic above).
2. To determine copper width and thickness for P1 signals refer to specification IPC-2221.
(Association Connecting Electronic Industries, http://www.ipc.org)
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tel: 781-828-8090
P/N 16-01568 Rev 00
Fax: 781-828-6547
Page 26 of 38
M3 3-Axis Module CANopen
MP3
RoHS
mounting pc board connectors & signals
P1 power
Mounting board connector:
Samtec SQW-132-01-L-D
Axis
Signal
Axis-C
63
64
Mot /B
Mot B
61
62
Mot B
59
60
57
58
Mot /A
55
56
Mot /A
Mot A
53
54
Mot A
51
52
49
50
Mot /B
47
48
Mot /B
Mot B
45
46
Mot B
43
44
41
42
Mot /A
39
40
Mot /A
Mot A
37
38
Mot A
35
36
33
34
Mot /B
31
32
Mot /B
Mot B
29
30
Mot B
27
28
25
26
Mot /A
23
24
Mot /A
Mot A
21
22
Mot A
19
20
17
18
15
16
13
14
No connections
Axis-B
No connections
Axis-B
No connections
Axis-A
No connections
Axis-A
Signal
Mot /B
No connections
Axis-C
Pin
No connections
HV COM
Viewed from above looking down
on the connectors or PC board footprint
to which the module is mounted
Axis-C
No connections
56
Axis-C
No connections
63
55
64
P4
Axis-B
No connections
Axis-B
No connections
P1
Axis-A
No connections
Axis-A
No connections
HV COM
11
12
N.C.
9
10
N.C.
HVaux
7
8
N.C.
5
6
3
4
1
2
+HV
top view
Axis
+HV
1
2
connector naming
(P1, P2, etc) applies
to the MP3 module
and not to pc board
mounted sockets
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tel: 781-828-8090
P/N 16-01568 Rev 00
Fax: 781-828-6547
Page 27 of 38
M3 3-Axis Module CANopen
MP3
RoHS
mounting pc board connectors & signals
P3 INPUT/OUTPUT
Mounting board connector:
Samtec SQW-128-01-L-D
Signal
top view
Viewed from above looking down
on the connectors or PC board footprint
to which the module is mounted
2
1
P4
2
1
14
13
P2
1
Signal Gnd
Axis-A Ref(-)
4
3
Axis-A Ref(+)
Axis-B Ref(-)
6
5
Axis-B Ref(+)
Axis-C Ref(-)
8
7
Axis-C Ref(+)
Axis-A Sin(-)
10
9
Axis-A Sin(+)
Axis-A Cos(-)
12
11
Axis-A Cos(+)
Axis-B Sin(-)
14
13
Axis-B Sin(+)
Axis-B Cos(-)
16
15
Axis-B Cos(+)
Axis-C Sin(-)
18
17
Axis-C Sin(+)
Axis-C Cos(-)
20
19
Axis-C Cos(+)
Signal Gnd
22
21
Signal Gnd
HS [IN2]
24
23
[IN1] HS Axis-A Enable
HS [IN4]
26
25
[IN3] HS
Axis-A Dir HS [IN6]
28
27
[IN5] HS Axis-A Pulse
HS [IN8]
30
29
[IN7] HS Axis-B Enable
HS [IN10]
32
31
[IN9] HS
Axis-B Dir HS [IN12]
34
33
[IN11] HS Axis-B Pulse
HS [IN14]
36
35
[IN13] HS Axis-C Enable
HS [IN16]
38
37
[IN15] HS
Axis-C Dir HS [IN18]
40
39
[IN17] HS Axis-C Pulse
Signal Gnd
42
41
Signal Gnd
MOSFET [OUT2]
44
43
[OUT1] MOSFET
HS [OUT4]
46
45
[OUT3] MOSFET
HS [OUT6]
48
47
[OUT5] HS
SPI-CLK HS [OUT8]
50
49
[OUT7] HS SPI-EN1
SPI-MISO [IN19]
52
51
[OUT9] HS SPI-MOSI
Signal Gnd
54
53
Signal Gnd
RS-232 TxD
56
55
RS-232 RxD
55
2
1
Signal
2
P3
56
Pin
Signal Gnd
Signal names in this chart are default settings for brushless motors
with Halls, position mode, and command source from digital inputs.
Digital inputs [IN1~IN19] are programmable for other functions.
Outputs [OUT1~OUT9] are programmable for other functions.
P2 CAN port
Signal
connector naming
(P1, P2, etc) applies
to the MP3 module
and not to pc board
mounted sockets
Mounting board connector:
Samtec SQW-107-01-L-D
Pin
Signal
CAN_GND
2
1
CAN_GND
CAN_GND
4
3
CAN_GND
CAN_GND
6
5
CAN_GND
CAN_GND
8
7
CAN_L
CAN_GND
10
9
CAN_GND
12
11
CAN_GND
CAN_H
CAN_GND
14
13
CAN_GND
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tel: 781-828-8090
P/N 16-01568 Rev 00
Fax: 781-828-6547
Page 28 of 38
M3 3-Axis Module CANopen
MP3
RoHS
mounting pc board connectors & signals
2
56
63
55
64
1
P4
2
1
56
55
p4 feedback
Mounting board connector:
Samtec SQW-128-01-L-D
P1
1
Signal
Pin
2
1
Signal Gnd
Signal Gnd
4
3
Signal Gnd
Axis-A Sec Enc A
6
5
Axis-A Enc A
Axis-A Sec Enc /A
8
7
Axis-A Enc /A
Axis-A Sec Enc B
10
9
Axis-A Enc B
Axis-A Sec Enc /B
12
11
Axis-A Enc /B
Axis-A Sec Enc X
14
13
Axis-A Enc X
Axis-A Sec Enc /X
16
15
Axis-A Enc /X
Signal Gnd
18
17
Axis-A +5V Output
Axis-B Sec Enc A
20
19
Axis-B Enc A
Axis-B Sec Enc /A
22
21
Axis-B Enc /A
Axis-B Sec Enc B
24
23
Axis-B Enc B
Axis-B Sec Enc /B
26
25
Axis-B Enc /B
2
P3
Signal
Signal Gnd
Axis-B Sec Enc X
28
27
Axis-B Enc X
Axis-B Sec Enc /X
30
29
Axis-B Enc /X
Signal Gnd
32
31
Axis-B +5V Output
Axis-C Sec Enc A
34
33
Axis-C Enc A
Axis-C Sec Enc /A
36
35
Axis-C Enc /A
Axis-C Sec Enc B
38
37
Axis-C Enc B
Axis-C Sec Enc /B
40
39
Axis-C Enc /B
Axis-C Sec Enc X
42
41
Axis-C Enc X
Axis-C Sec Enc /X
44
43
Axis-C Enc /X
Signal Gnd
46
45
Axis-C +5V Output
Axis-A Hall-V
48
47
Axis-A Hall-U
Axis-B Hall-U
50
49
Axis-A Hall-W
Axis-B Hall-W
52
51
Axis-B Hall-V
Axis-C Hall-V
54
53
Axis-C Hall-U
Signal Gnd
56
55
Axis-C Hall-W
14
13
P2
2
1
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tel: 781-828-8090
P/N 16-01568 Rev 00
Fax: 781-828-6547
Page 29 of 38
M3 3-Axis Module CANopen
MP3
RoHS
development kit
DESCRIPTION
The Development Kit provides mounting and connectivity for one
MP3 drive. Solderless jumpers ease configuration of inputs and
outputs to support their programmable functions. Switches can
be jumpered to connect to digital inputs 1~19 so that these can
be toggled to simulate equipment operation. LED’s provide status
indication for the digital outputs, encoder A/B/X/S signals, and Hall
signals. Test points are provided for these signals, too, making it
easy to monitor these with an oscilloscope.
Dual CANopen connectors make daisy-chain connections possible so
that other CANopen devices such as Copley’s Accelnet Plus or Xenus
Plus CANopen drives can easily be connected. Rotary switches are
provided to set the CANopen slave Node-ID (address).
RS-232 CONNECTION
The RS-232 port is used to configure the drive for stand-alone applications, or for configuration
before it is installed into an CANopen network. CME 2™ software communicates with the drive over
this link and is then used for complete drive setup. The CANopen Node-ID that is set by the rotary
switch can be monitored, and a Node-ID offset programmed as well.
The RS-232 connector, J6, is a modular RJ-11 type that uses a 6-position plug, four wires of which
are used for RS-232. A connector kit is available (SER-CK) that includes the modular cable, and an
adaptor to interface this cable with a 9-pin RS-232 port on a computer.
The LED on J6 is for the CANopen network status of Axis C and is not associated with the RS-232
port function.
J6 signals
RJ-11
(DTE)
J6
6
1
6 5 4 3 2 1
TxD
RxD
SER-CK serial cable kit
The SER-CK provides connectivity between a D-Sub 9 male connector and the RJ-11 connector
J8 on the Development Kit. It includes an adapter that plugs into the COM1 (or other) port of a
PC and uses common modular cable to connect to the DevKit. The connections are shown in the
diagram below.
1
5
Dsub-9F
to RJ11
Adapter
6
9
6
RJ-11 cable
6P6C
Straight-wired
D-Sub 9F
RxD
TxD
Gnd
2
5
3
2
5
3
TxD
RxD
1
RJ-11
on
Servo
Drive
Don’t forget to order a Serial Cable Kit SER-CK when
placing your order for an MP3 Development Kit!
Gnd
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tel: 781-828-8090
P/N 16-01568 Rev 00
Fax: 781-828-6547
Page 30 of 38
M3 3-Axis Module CANopen
MP3
RoHS
development kit indicators (leds)
The AMP status LEDs DS10~12 at switches SW1, 7, and 13 show the operational state of each axis of the MP3.
The STATUS LEDs on J5~J6 show the state of the CANopen NMT (Network Management) state-machines of each axis in the drive.
Details on the NMT state-machine can be found in the CANopen Programmers Manual, §3.1: http://www.copleycontrols.com/Motion/
pdf/CANopenProgrammersManual.pdf
AMP LEDS
Three bi-color LEDs show the states of each axis of the MP3 by changing color, and either blinking or remaining solid.
The possible color and blink combinations are:
• Green/Solid:
Drive OK and enabled. Will run in response to reference inputs or CANopen commands.
• Green/Slow-Blinking: Drive OK but NOT-enabled. Will change to Green/Solid when enabled.
• Green/Fast-Blinking: Positive or Negative limit switch active. Drive will only move in direction not inhibited by limit switch.
• Red/Solid:
Transient fault condition. Drive will resume operation when fault is removed.
• Red/Blinking:
Latching fault. Operation will not resume until drive is Reset.
Drive Fault conditions. Faults are programmable to be either transient or latching:
• Over or under-voltage
• Drive over-temperature
• Motor over-temperature
• Internal short circuits
• Encoder +5 Vdc fault
• Short-circuits from output to output
• Short-circuits from output to ground
2
0
2
3
4
5
6
status LEDs
Three bi-color LEDs on J9 & J4 give the state of the NMT state-machine of each axis by changing color, and either
blinking or remaining solid. The possible color and blink combinations are:
RUN (GREEN)
NETWORK STATUS LEDs
• Off
Init
AXIS B
AXIS C
AXIS
A
• Blinking
Pre-operational
• Single-flash
Stopped
J5
J6
• On
Operational
ERRor (RED)
• Off
• Blinking
• Single Flash
• Double Flash
• Triple Flash
• On
No error
Invalid configuration, general configuration error
Warning limit reached
Error Control Event (guard or heartbeat event) has occurred
Sync message not received within the configured period
Bus Off, the CAN master is bus off
8
1
8
1
6
1
Note: Red & green led on-times
do not overlap.
LED color may be red, green, off,
or flashing of either color.
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tel: 781-828-8090
P/N 16-01568 Rev 00
Fax: 781-828-6547
Page 31 of 38
M3 3-Axis Module CANopen
MP3
RoHS
development kit CANopen node id (address)
On a CANopen network, each device must have unique, non-zero Node-ID. In the MP3 DevKit,
this is provided by two 16-position rotary switches with hexadecimal encoding. These can
set the Node-ID of the drive’s Axis A from 0x01~0xFF (1~255 decimal). The chart shows the
decimal values of the hex settings of each switch.
Example 1: Find the switch settings for decimal Node-ID 107 (0x6B):
1) Find the highest number under SW21 that is less than 107 and set SW21 to the hex value
in the same row: 96 < 107 and 112 > 107, so SW21 = 96 = Hex 6
2) Subtract 96 from the desired Node-ID to get the decimal value of switch SW22 and set
SW22 to the Hex value in the same row: SW22 = (107 - 96) = 11 = Hex B
3) This example will produce the following CAN addresses for the MP3:
Axis A = 107 (0x6B), Axis B = 108 (0x6C), Axis C = 109 (0x6D), Axis D = 110 (0x6E)
SW7
SW8
CME2 -> Input/Output -> Digital Outputs
CANopen
Node-ID Switch
Decimal values
SW2
Hex
+5VKIT
SW3
WDI
/RST
0
0
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
240
16
10
Gnd
Vcc
QA
CLR
QB
+5V
16
224
74HC595
+5VKIT
Dec
1
F
TPS3823-50DBV
Vcc
/MR
0
E
CME2 -> Amplifier -> Network Configuration
14
10k
SPI-MOSI
[OUT9]
P3-51
1k
P3-51
JP8G
14
JP2A
100p
JP8H
J7-43
SPI-CLK
[OUT8]
P3-50
+5V
12
13
100p
9
JP8F
RCLK
QF
G
QG
SDO
QH
DS14
QB
12
13
9
7
RCLK
SDO
QH
D1
D2
D3
1
15
CKE
D5
D6
JP9C
SPI-MISO P3-52
[IN19]
P3-52
Q7
JP2D
9
11
D7
Axis-A
12
4
13
Axis-B
DS15
8
8
DS16
1
8
1
Axis-C
DS13
DS14
8
1
2
14
J5
1
SW7
D4
J7-25
7
STATUS LEDs
PL
74HC165
Axis C DS12
8
SW8
D0
CLK
5
+5VKIT
Vcc
2
Axis B DS11
4
STATUS LEDs *
Note that the STATUS LED axis
pin assignments to this IC are
different than the ones for the
AMP LEDs.
10k
SDI
QF
QG
16
10
3
G
“X” shown here are for
LEDs not used
+5VKIT
15
QD
DS16
100p
MP3
Module
Axis A DS10
2
SRCLK
Axis A DS15
6
1k
1
QC
QE
5
15
SDI
11
JP2C
J7-28
AMP LEDs
QA
CLR
4
Axis B
JP8D
Vcc
DS13
14
SRCLK
1k
P3-49
JP8C
Axis C
SDI
8
10k
P3-49
10
+5V
J7-13
SPI-EN1
[OUT7]
QD
3
16
+5VKIT
1k
1
2
1k
JP2B
15
QC
QE
10k
P3-50
JP8E
11
74HC595
STATUS LEDs *
3
J6
Switches
8
4
4
5
2
6
1
Q7
Gnd
10k
+5VKIT
CANopen Node-ID (address) switch connections
This graphic shows the connections to the CANopen Node-ID switches and to the status LEDs for the MP3 and CANopen.
The switches are read once after the drive is reset, or powered-on. When changing the settings of the switches, be sure to
either reset the drive, or to power it off-on. Outputs [OUT7,8,9] and input [IN19] operate as an SPI (Switch & LED Interface)
port which reads the settings on the CANopen Node-ID switches, and controls the LEDs on the serial and CANopen port connectors. The jumpers marked with red “X” should be removed so that SW18, or external connections to the signals do not
interfere with the operation of the SPI port.
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tel: 781-828-8090
P/N 16-01568 Rev 00
Fax: 781-828-6547
Page 32 of 38
M3 3-Axis Module CANopen
MP3
RoHS
development kit+5v power
The encoder +5VENC power on the feedback connectors J5~J7 is connected directly to the Ax-A, Ax-B, and Ax-C power outputs from the MP3.
The SPI port components on the DevKit that drive the LEDs and read the Node-ID (address) switches connects to the signal +5VKIT.
And the +5VKIT connects to a jumper on JP1 that selects a source of the +5V power.
This can be powered from either the Ax-A, Ax-B, and Ax-C +5V power from the MP3, or from an external +5V power supply that connects to P5-3.
The default “A” position (on JP1 pins 1~2) selects the external +5V power source for +5VKIT.
Moving the jumper to the B, C, or D positions (pins 3~4, 5~6, 7~8) selects the axis +5V from the MP3 as the power source for the +5VKIT.
As noted below, only one jumper should be used to select the source of power for +5VKIT.
DevKit
8 7
D
+5VKIT
D
C
C
B
B
A
A
P4-45
DevKit +5V
Source
Ax-C +5V
P4-31
Ax-B +5V
P4-17
Ax-A +5V
P5-3
+5V Ext
ME3
J2
2 1
JP1
IMPORTANT: ONLY ONE SHORTING PLUG CAN BE USED ON JP1
USE OF MORE THAN ONE PLUG WILL DAMAGE 5V POWER SUPPLIES IN THE MP3
THE POSITION OF THE JUMPER AT JP1-B IS THE DEFAULT
THIS WILL POWER THE ON-BOARD CIRCUITS FROM AN ENCODER +5V OUTPUT
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tel: 781-828-8090
P/N 16-01568 Rev 00
Fax: 781-828-6547
Page 33 of 38
M3 3-Axis Module CANopen
MP3
RoHS
development kit outputs
MOSFET OUTPUTS
There are three MOSFET outputs that can drive controller logic inputs or relays. If relays are driven, then flyback diodes must be
connected across their terminals to clamp overvoltages that occur when the inductance of the relay coil is suddenly turned off.
LED indicators connected to the outputs will be ON when the output is MOSFET is ON and the output voltage will be near 0V.
Outputs 1,2, & 3 are MOSFET types that sink current when ON, and appear as open-circuit when OFF. When these outputs are ON a red LED is
turned on. When the outputs are OFF, the red LED is off. The green LED is not used on these outputs.
+5VKIT
[OUT1]
[OUT2]
[OUT3]
R5
R6
R7
JP7C
DS3
JP7B
DS2
JP7A
DevKit
J7
DS1
26
[OUT1]
11
[OUT2]
41
[OUT3]
LOGIC OUTPUTS
Outputs 4~9 are CMOS types that pull up to 5V or down to ground. When these outputs go high it turns on the green LED. When they are low, the red
LED is turned on.
+5VKIT
DS4
DS5
DS6
DS7
DS8
DS9
RED
R8
R10
R13
R15
R17
R19
JP7E
JP7G
JP8A
JP8C
JP8E
JP8G
JP7F
JP7H
JP8B
JP8D
JP8F
JP8H
R4
R9
R14
R16
R18
R20
GREEN
DevKit
J7
[OUT4]
[OUT5]
[OUT6]
[OUT7]
[OUT8]
[OUT9]
DS4
DS5
DS6
DS7
27
12
42
28
13
43
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tel: 781-828-8090
P/N 16-01568 Rev 00
DS8
DS9
[OUT4]
[OUT5]
[OUT6]
[OUT7]
[OUT8]
[OUT9]
Fax: 781-828-6547
Page 34 of 38
M3 3-Axis Module CANopen
MP3
RoHS
development kit logic inputs & switches
LOGIC INPUTS & switches
The Development Kit has jumpers that can connect the MP3 digital inputs to switches on the kit, or to the Control connector J7.
As delivered, all of these jumpers are installed as shown. If connecting to external devices that actively control the level of an input, it is desirable to
disconnect the switch which could short the input to ground.
For example, if [IN1] is connected to an external device for the Enable function, then jumper JP5A should be removed to take the switch SW1 out of the
circuit. The figure below shows these connections.
DevKit
J7
IN10
37
IN11
7
1
2
SW1
[IN16]
[IN17]
[IN18]
JP6C
JP6B
JP6A
2
3
4
5
SW4
IN14
8
IN15
24
IN16
39
IN17
9
IN18
25
IN19
JP6E
[IN19]
1
SW3
IN13
1
SW5
JP6H
[IN15]
5
38
JP6G
[IN14]
4
23
JP6F
[IN13]
3
SW2
JP6D
IN12
JP5A
[IN12]
IN9
22
JP5H
[IN11]
IN8
6
JP5G
[IN9]
[IN10]
IN7
36
2
3
4
5
JP9C
[IN8]
IN6
21
JP5F
[IN7]
IN5
5
JP9B
[IN6]
IN4
35
JP5E
[IN5]
IN3
19
JP9A
[IN4]
IN2
4
JP5D
[IN3]
IN1
34
JP5C
[IN2]
19
JP5B
[IN1]
6
SW6
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tel: 781-828-8090
P/N 16-01568 Rev 00
Fax: 781-828-6547
Page 35 of 38
M3 3-Axis Module CANopen
MP3
RoHS
development kit connectors
The Development Kit mounts a single MP3 module and enables the user to test and operate the MP3 before it is mounted onto a PC board in the target system.
J11
J11J10J9 AXIS A AXIS b AXIS cfeedback
Pin
Signal
Pin
Signal
Pin
Signal
26
Signal Gnd
18
Sin(-)
9
Enc X
25
Signal Gnd
17
+5VENC
8
Enc /X
24
N.C.
16
Signal Gnd
7
Motemp *
23
N.C.
15
Enc S (A) **
6
+5VENC
22
N.C.
14
Enc /S (/A) **
5
Signal Gnd
21
Cos(+)
13
Enc A
4
Hall W
20
Cos(-)
12
Enc /A
3
Hall V
19
Sin(+)
11
Enc B
2
Hall U
10
Enc /B
1
Frame Gnd
** Motors with absolute encoders using the S & /S channels already wired
to pins 14 & 15 of the feedback connectors will be connected internally to
the A & /A signals which have the same function for encoder data.
This shows the Motemp signals on the axis feedback connectors
J9~J11,and the MP3 pins they connect to.
Function
Motemp
Jumper
Axis A
Axis B
Axis C
28
34
40
IN6
IN12
IN18
JP4-A
JP4-B
JP4-C
J1: AXIS c motor
J2: AXIS b motor
J2: AXIS A motor
Connector, Euro, 4 Terminal,
5.08 mm
J4: HV, Aux, Gnd
Connector, Euro, 5 Terminal,
5.08 mm
J10
JP1
J1
P4
J2
P1
J3
Conn
P3
J4
Signal
Pin
Motor A
1
Motor /A
2
Motor B
3
Motor /B
4
Signal
JP2
SW7 SW8
J5
Pin
+HV
1
HV Gnd
2
+5V Ext
3
Sgnd
4
HV Gnd
5
HV Aux
6
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tel: 781-828-8090
P/N 16-01568 Rev 00
Fax: 781-828-6547
Page 36 of 38
M3 3-Axis Module CANopen
MP3
RoHS
development kit connectors
SW 1,3,5: Enable inputs
J9
J8
Axis ->
Axis A
Axis B
Axis C
Enable
SW1
SW3
SW5
Input
[IN1]
[IN7]
[IN13]
Jumper
JP5-A
JP5-G
JP6-E
DIP switch input connections
JP7
JP4
SW# /
Axis ->
JP8
p4
SW6
P3
JP5
1
[IN2]
JP5-B
[IN8]
JP5-H
[IN14]
JP6-F
2
[IN3]
JP5-C
[IN9]
JP6-A
[IN15]
JP6-G
3
[IN4]
JP5-D
[IN10]
JP6-B
[IN16]
JP6-H
4
[IN5]
JP5-E
[IN11]
JP6-C
[IN17]
JP3-A
5
[IN6]
JP5-F
[IN12]
JP6-D
[IN18]
JP3-B
SW6 is not on these DIP switches
[IN19]
JP3-C
6
J8 secondary feedback
SW4
26
Ax-C Enc B
18
Ax-C /B
9
Ax-C Enc X
25
Ax-C Enc A
17
Ax-C /A
8
Ax-C Enc /X
24
Signal Gnd
16
Ax-C +5V
7
Signal Gnd
23
Ax-B Enc B
15
Ax-B Enc /B
6
Ax-B Enc /X
22
Ax-B Enc A
14
Ax-B Enc /A
5
Ax-B Enc X
21
Signal Gnd
13
Ax-B +5V
4
Signal Gnd
20
Ax-A Enc B
12
Ax-B Enc /B
3
Ax-A Enc /X
19
Ax-A Enc A
11
Ax-A Enc /A
2
Ax-A Enc X
10
Ax-A +5V
1
Frame Gnd
SW1
JP3
SW6 / C
Pin
SW2
JP6
SW4 / B
SW5
SW3
P2
SW2 / A
Signal
Pin
Signal
Pin
Signal
J7: Control
Pin
J6
J7
Signal
Pin
Signal
15
Signal Gnd
30
Ax-A +5V
Pin
14
N.C.
29
Ax-C +5V
44
Ax-B +5V
13
[OUT8]
28
[OUT7]
43
[OUT9]
12
[OUT5]
27
[OUT4]
42
[OUT6]
11
[OUT2]
26
[OUT1]
41
[OUT3]
10
Signal Gnd
25
[IN19]
40
Signal Gnd
9
[IN18]
24
[IN16]
39
[IN17]
8
[IN15]
23
[IN13]
38
[IN14]
7
[IN12]
22
[IN10]
37
[IN11]
6
[IN9]
21
[IN7]
36
[IN8]
5
[IN6]
20
[IN4]
35
[IN5]
4
[IN3]
19
[IN1]
34
[IN2]
3
Ax-C Ref(-)
18
Ax-B Ref(-)
33
Signal Gnd
2
Ax-C Ref(+)
17
Ax-B Ref(+)
32
Ax-A Ref(-)
1
Frame Gnd
16
Signal Gnd
31
Ax-A Ref(+)
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tel: 781-828-8090
P/N 16-01568 Rev 00
Signal
Fax: 781-828-6547
Page 37 of 38
M3 3-Axis Module CANopen
MP3
RoHS
ordering information
MASTER ORDERING GUIDE
MP3-090-10
Multinet Plus MP3 stepper drive, 5/10A, 14~90 Vdc
MPK-090-03
Development Kit for Multinet Plus MP3
Qty
Connector Kit
for Development
Kit
MPK-CK-03
Ref
Name
1
J4
3
J1~J3
1
J7
Description
R
Manufacturer P/N
+HV & Aux
Connector, Euro, 6 Terminal, 5.08 mm
TE Buchanan: 796635-6
Motor
Connector, Euro, 4 Terminal, 5.08 mm
TE Buchanan: 796635-4
Control
44 Pin Connector, High Density, D-Sub,
Female, Solder Cup
Norcomp: 180-044-203L001
44 Pin Connector Backshell
Norcomp: 979-025-020R121
26 Pin Connector, High Density, D-Sub, Male,
Solder Cup
Norcomp: 180-026-103L001
3
26 Pin Connector Backshell
Norcomp: 979-015-020R121
1
26 Pin Connector, High Density, D-Sub,
Female, Solder Cup
Norcomp: 180-026-203L001
26 Pin Connector Backshell
Norcomp: 979-015-020R121
3
J9~J11
J8
Secondary
Feedback
J4
RS-232
1
SER-CK
1
Feedback
Serial Cable Kit
16-01568 Document Revision History
Revision
00
Date
Remarks
April 26, 2017
Preliminary version
Note: Specifications subject to change without notice
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tel: 781-828-8090
P/N 16-01568 Rev 00
Fax: 781-828-6547
Page 38 of 38
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