Application NotesTechnical Documentation & Guides
I²T Motor Overload Protection
Technical guide for protecting electric motors against overload conditions using the I²T (amperes-squared seconds) algorithm implemented in Copley servo drives.
Overview
The I²T (I-squared-T) overload protection algorithm is a critical safety feature implemented in Copley Controls servo drives. This method provides intelligent motor thermal protection by calculating cumulative thermal energy based on current flow over time, protecting motors from damage due to sustained overcurrent conditions while still allowing brief peak currents needed for dynamic motion profiles.
Motor Heating Fundamentals
Electric motors generate heat proportional to the square of the current flowing through their windings (P = I²R). When current exceeds the motor's continuous rating for extended periods, excessive heat buildup can damage winding insulation, demagnetize permanent magnets, and cause mechanical failures. The I²T algorithm models this thermal behavior to predict when dangerous conditions are approaching.
The I²T Algorithm
The I²T value represents the thermal energy accumulation in the motor, calculated as the integral of current squared over time. The algorithm continuously monitors motor current and compares the accumulated I²T value against the motor's thermal capacity rating. When the motor operates below its continuous current rating, the I²T value decreases (simulating cooling). When operating above the continuous rating, the value increases.
I²T = ∫(I²)dt where I is the instantaneous motor current. The algorithm compares this against the motor's rated I²T capacity to determine fault conditions.User-Programmable Parameters
Copley drives allow configuration of key protection parameters through CME 2 software:
- Continuous Current Rating (Ic) - The motor's rated continuous current
- Peak Current Limit (Ip) - Maximum allowable instantaneous current
- I²T Limit - The motor's thermal capacity rating
- Fault Action - Response when limit is reached (disable, fold-back, warning)
In-Limit Effect
When the I²T limit is approached, the drive can be configured to either disable the motor (hard fault) or implement current fold-back, which gradually reduces the current limit to allow the motor to cool while maintaining some level of operation. This fold-back mode is particularly useful in applications where a complete shutdown would be problematic.
Typical Applications
- High-duty-cycle servo applications
- Applications with frequent acceleration/deceleration
- Systems where motor thermal protection is critical
- Multi-axis systems with varying load profiles
Related Products
Xenus Plus • Accelnet • Stepnet • Nano Series
CANopen Network Programming Guide
Comprehensive guide for programming and configuring Copley servo drives using CANopen protocol, including PDO mapping, SDO access, and profile modes.
Overview
Copley Controls servo drives support CANopen DS402 (CiA 402) device profile for drives and motion control. This application note covers the implementation of CANopen communications including object dictionary access, PDO configuration, and various operating modes for position, velocity, and torque control.
CANopen Overview
CANopen is a high-level communication protocol built on the CAN (Controller Area Network) physical layer. It provides standardized communication objects for device configuration, process data exchange, and network management. Copley drives comply with the DS402 profile, ensuring interoperability with other CANopen-compliant motion controllers.
Object Dictionary
The Object Dictionary is the heart of CANopen communication, containing all device parameters organized by index and sub-index. Copley drives implement both standard DS402 objects and manufacturer-specific objects for advanced features:
- Communication objects (0x1000-0x1FFF)
- Manufacturer-specific objects (0x2000-0x5FFF)
- Device profile objects (0x6000-0x9FFF)
Operating Modes
Copley CANopen drives support multiple operating modes as defined in the DS402 profile:
- Profile Position Mode - Point-to-point positioning with trapezoidal profiles
- Profile Velocity Mode - Velocity control with acceleration limits
- Profile Torque Mode - Direct torque/current control
- Homing Mode - Reference point detection and setting
- Interpolated Position Mode - Synchronized multi-axis motion
- Cyclic Synchronous Position/Velocity/Torque (CSP, CSV, CST)
State Machine
The DS402 state machine defines the operational states of the drive: Not Ready to Switch On, Switch On Disabled, Ready to Switch On, Switched On, Operation Enabled, Quick Stop Active, and Fault. Transitions between states are controlled via the Controlword object (0x6040).
Typical Applications
- Multi-axis coordinated motion
- PLC-based machine control
- Industrial automation systems
- Robotics applications
Related Products
Xenus Plus • Accelnet • Stepnet • Nano Series
CME 2 Drive Setup and Tuning
Step-by-step guide for using CME 2 software to configure, tune, and optimize Copley servo drives for your specific motor and application requirements.
Overview
CME 2 (Copley Motion Explorer 2) is the primary software tool for configuring and tuning Copley servo drives. This application note covers the essential steps for drive setup including motor configuration, feedback setup, current loop tuning, velocity loop tuning, and position loop tuning.
Initial Connection
CME 2 can connect to Copley drives via RS-232, CANopen, or EtherCAT interfaces. The software automatically detects connected drives and displays their current configuration. Before making changes, it's recommended to read the current drive configuration and save a backup.
Motor Configuration
Proper motor configuration is essential for optimal performance. Key parameters include:
- Motor type (brushless, brush, stepper)
- Pole count for brushless motors
- Continuous and peak current ratings
- Winding resistance and inductance
- Back-EMF constant (Ke)
- Torque constant (Kt)
Servo Loop Tuning
Copley drives use cascaded control loops: current (innermost), velocity (middle), and position (outermost). Each loop must be tuned in order from innermost to outermost:
- Current Loop - Typically auto-tuned based on motor parameters
- Velocity Loop - Adjust Kp and Ki for desired bandwidth and stability
- Position Loop - Configure Kp, Kd, and Kff for accurate positioning
The velocity loop transfer function is: G(s) = Kp + Ki/s. Position loop uses: G(s) = Kp + Kd*s + Kff (feedforward).Auto-Tuning
CME 2 includes auto-tuning features that can automatically determine optimal gain values. The auto-tune process injects test signals and analyzes the system response to calculate appropriate gains. Fine-tuning may still be required for demanding applications.
Typical Applications
- Initial drive commissioning
- Motor replacement and reconfiguration
- Performance optimization
- Troubleshooting and diagnostics
Related Products
All Copley servo drives
What is a Servo Drive?
An introductory guide explaining what servo drives are, how they work, and why they are essential for precision motion control applications.
Overview
A servo drive (also called a servo amplifier) is an electronic device that converts low-power command signals into high-power voltage and current to drive a servo motor with precise control of position, velocity, and torque. Servo drives are the critical link between a motion controller and the motor, amplifying control signals while implementing closed-loop feedback to maintain accurate performance.
Basic Architecture
A servo drive consists of a power stage (amplifier), a control stage (DSP or FPGA-based), and communication interfaces. The power stage converts DC bus voltage into controlled PWM output to the motor windings. The control stage runs cascaded feedback loops at high update rates to ensure precision.
- Power stage: H-bridge or 3-phase inverter topology
- Control stage: DSP/FPGA running at 10-20 kHz loop rates
- Feedback interface: encoder, resolver, or absolute position sensor
- Communication: EtherCAT, CANopen, analog, or step/direction inputs
How Servo Drives Differ from VFDs
While both servo drives and variable frequency drives (VFDs) control motors, servo drives provide closed-loop control with position feedback, enabling precise positioning and dynamic response. VFDs typically provide open-loop speed control for induction motors, whereas servo drives deliver tight bandwidth control of permanent magnet synchronous motors (PMSM) or brushless DC motors.
Choosing the Right Servo Drive
Key selection criteria include:
- Motor type compatibility (brushless, brush, stepper, linear)
- Voltage and current ratings matching the motor
- Communication protocol requirements (EtherCAT, CANopen, etc.)
- Form factor (panel mount, PCB module, chip-level)
- Safety features (STO, SBC) if required
Typical Applications
- Industrial automation and robotics
- Semiconductor manufacturing
- Medical device positioning
- Packaging and printing machinery
Related Products
Xenus Plus • Accelnet Plus • Nano Series • Accelus
Building Better Servo Systems Part I: Grounding
Best practices for grounding servo drive systems to minimize noise, prevent ground loops, and ensure reliable operation in industrial environments.
Overview
Proper grounding is one of the most critical—and most commonly overlooked—aspects of servo system design. Poor grounding practices lead to noise susceptibility, ground loops, intermittent faults, and unreliable motion performance. This application note establishes best practices for grounding servo drive installations.
Ground Loop Prevention
Ground loops occur when multiple ground paths create a closed circuit that can carry unwanted currents. In servo systems, ground loops between the drive, controller, and motor can inject noise into feedback signals, causing position errors or faults.
- Use a single-point (star) ground topology
- Connect all ground references to one common point
- Avoid daisy-chaining grounds between multiple drives
- Keep power ground and signal ground separated until the star point
Chassis Grounding
All metallic enclosures, DIN rails, and motor housings should be bonded to protective earth (PE) with low-impedance connections. Use flat braided straps rather than round wire for chassis bonds, as braided straps provide lower high-frequency impedance. Ensure paint or anodizing is removed at connection points for metal-to-metal contact.
Motor Cable Grounding
Motor cables should use shielded cable with the shield terminated at both ends using 360-degree clamp connections (not pigtails). The shield should be connected to the drive's PE terminal and the motor frame. For long cable runs over 25 meters, consider adding ferrite cores at the drive end.
Typical Applications
- New servo system installations
- Troubleshooting noise-related faults
- Multi-axis cabinet design
- EMC compliance preparation
Related Products
All Copley servo drives
Building Better Servo Systems Part II: Signaling
Guidelines for proper signal routing, cable selection, and noise immunity in servo drive systems to achieve reliable communication and feedback.
Overview
Signal integrity is paramount in servo systems where encoder feedback, command signals, and network communications must remain accurate despite the electrically noisy environment created by PWM switching. This guide covers cable selection, routing practices, and termination techniques.
Signal Cable Routing
The fundamental rule is to separate power and signal cables. Signal cables carrying encoder, communication, or analog command signals should be routed at least 200mm from motor power cables. When crossings are unavoidable, cross at 90-degree angles to minimize coupling.
- Maintain minimum 200mm separation between power and signal cables
- Route signal cables in separate cable trays or conduits
- Cross power cables at right angles only
- Keep signal cables as short as practical
Differential vs Single-Ended Signals
Differential signaling (RS-422, RS-485, differential encoders) provides superior noise immunity compared to single-ended signals. Copley drives support differential encoder inputs and differential analog commands. Always prefer differential connections when available, especially in long cable runs or noisy environments.
Encoder Cable Best Practices
Encoder cables are particularly sensitive to noise because small signal distortions can cause position errors. Use shielded, twisted-pair encoder cables with individual pair shields. Keep encoder cables under 30 meters for incremental encoders, and verify signal quality using CME 2's oscilloscope at the drive's actual encoder inputs.
Typical Applications
- Encoder signal troubleshooting
- Cabinet wiring design
- Long cable run installations
- EMI-sensitive environments
Related Products
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Building Better Servo Systems Part III: Shielding
Comprehensive shielding techniques for servo drive installations including cable shielding, cabinet shielding, and EMI filter selection.
Overview
Electromagnetic shielding protects sensitive servo system components from external interference and prevents the system from radiating emissions that could affect nearby equipment. This final installment covers cable shield termination, cabinet design for EMC, and EMI filter selection.
Cable Shield Termination
Proper shield termination is often the difference between a system that works and one plagued by noise. The gold standard is 360-degree circumferential clamping using EMC cable glands or shield clamps:
- Use EMC cable glands with 360° shield contact
- Never use pigtail shield connections—they act as antennas above 1 MHz
- Terminate shields at both cable ends for motor and encoder cables
- For communication cables (RS-232), ground shield at one end only to prevent ground loops
Cabinet EMC Design
The control cabinet itself should act as a Faraday cage. All panel joints should have continuous electrical contact, and cable entry points should use EMC glands. Mount EMI filters directly at the cabinet entry point with short, direct connections to minimize the unfiltered cable length inside the cabinet.
EMI Filter Selection
Line filters should be installed on the AC input of servo drives to meet conducted emissions requirements. Select filters rated for the total current draw of all drives in the cabinet, and ensure the filter is rated for the PWM switching frequency of the drives (typically 16-20 kHz).
Typical Applications
- CE marking compliance
- Machine EMC certification
- Sensitive measurement environments
- Co-located equipment installations
Related Products
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Prevent Motor Overheating With Analog Temperature Readings
How to use Copley drive analog inputs to monitor motor temperature sensors (thermistors and RTDs) for proactive thermal protection.
Overview
While I²T algorithms provide calculated thermal protection, direct temperature measurement using motor-embedded sensors provides the most accurate thermal monitoring. Copley drives feature analog inputs that can be configured to read thermistor or RTD temperature sensors, enabling proactive thermal management before damage occurs.
Supported Temperature Sensors
Most servo motors include embedded temperature sensors in the windings. Copley drives support:
- PTC Thermistors - Resistance increases sharply at trip temperature
- NTC Thermistors - Resistance decreases with temperature (10K NTC common)
- KTY84 Sensors - Linear silicon temperature sensors
- PT100/PT1000 RTDs - Precision platinum resistance sensors
Configuration in CME 2
The analog input can be configured for temperature monitoring through CME 2. Set the input mode to "temperature sensor," select the sensor type, and configure the warning and fault temperature thresholds. The drive will generate a warning when the first threshold is exceeded and a fault when the second threshold is reached.
For NTC thermistors: R(T) = R25 × exp(B × (1/T - 1/298.15)) where R25 is resistance at 25°C, B is the B-constant, and T is temperature in Kelvin.Thermal Derating
When temperature approaches the warning threshold, the drive can be configured to automatically derate the current limit, reducing motor heating while maintaining operation. This graceful degradation is preferable to a hard fault in many applications.
Typical Applications
- High-ambient temperature environments
- Continuous-duty applications
- Motors without adequate cooling
- Safety-critical thermal monitoring
Related Products
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Synchronizing Motion Profiles
Techniques for synchronizing multiple axes using Copley drives, including electronic gearing, camming, and time-base synchronization via EtherCAT.
Overview
Many automation applications require multiple axes to move in precise coordination. Copley drives support several synchronization methods ranging from simple master-follower gearing to complex cam profiles, all achievable through EtherCAT Distributed Clocks or CANopen SYNC messages.
Electronic Gearing
Electronic gearing creates a master-follower relationship where the follower axis tracks the master position multiplied by a programmable gear ratio. Copley drives support both integer and fractional gear ratios with ratio changes possible on-the-fly.
- Gear ratio range: 1:1000 to 1000:1 with fractional support
- Master source: encoder input, another axis, or virtual master
- Smooth ratio transitions with configurable ramp time
- Phase offset adjustment for fine alignment
Electronic Camming
Electronic camming maps follower position as an arbitrary function of master position, replacing mechanical cams. Copley drives support cam tables with up to 3600 points and cubic spline interpolation for smooth motion at any speed.
Cam table interpolation uses cubic splines: f(x) = a + bx + cx² + dx³ for each segment, with continuity constraints ensuring smooth velocity and acceleration at segment boundaries.EtherCAT Distributed Clocks
For the highest synchronization accuracy, EtherCAT Distributed Clocks (DC) provide sub-microsecond synchronization between all axes on the network. Copley EtherCAT drives support DC Sync0 and Sync1 signals for deterministic motion updates across all axes simultaneously.
Typical Applications
- Flying shear and cut-to-length
- Printing and registration
- Coordinated robotic axes
- Conveyor tracking
Related Products
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Functional Safety Part II
Deep dive into implementing Safe Torque Off (STO) and Safe Brake Control (SBC) functions with Copley Accelnet Plus drives per IEC 61800-5-2.
Overview
Functional safety in servo drive systems protects personnel and equipment by ensuring the drive enters a safe state when hazardous conditions are detected. This note covers the implementation of STO (Safe Torque Off) and SBC (Safe Brake Control) functions in Copley Accelnet Plus drives, certified to SIL 3 (IEC 61508) and PLe (ISO 13849).
Safe Torque Off (STO)
STO is the most fundamental safety function, removing the drive's ability to generate torque by disabling the power stage through a redundant hardware path independent of the drive's firmware. Copley Accelnet Plus drives implement STO via dual-channel inputs:
- Dual-channel redundant input architecture
- Response time < 10ms from input activation to torque removal
- Hardware-based implementation independent of firmware
- Diagnostic coverage (DC) > 99% per IEC 61508
- Category 4 / PLe per ISO 13849-1
Safe Brake Control (SBC)
SBC manages the motor holding brake in coordination with STO to prevent unexpected motion on vertical or gravity-loaded axes. When STO is activated, SBC ensures the brake is engaged before torque is removed, preventing the load from falling.
Safety System Integration
Integrating STO into a machine safety system requires connecting the STO inputs to a safety PLC or safety relay that monitors emergency stops, light curtains, and other safety devices. The safety circuit must be designed to achieve the required Performance Level (PL) or Safety Integrity Level (SIL) for the application.
Typical Applications
- Machine safeguarding per ISO 13849
- Vertical axis gravity protection
- Collaborative robot safety
- Emergency stop implementation
Related Products
Accelnet Plus (BEL, BPL, BE2, BP2)
Functional Safety Part III
Advanced safety functions including Safe Limited Speed (SLS), Safe Operating Stop (SOS), and safely-limited position for Copley drives.
Overview
Beyond basic STO, modern safety standards often require more sophisticated safety functions that allow the machine to continue operating in a restricted mode rather than shutting down completely. This note covers advanced safety functions available in Copley drives and their implementation in safety architectures.
Safe Limited Speed (SLS)
SLS monitors the motor speed and triggers STO if the speed exceeds a safely-monitored limit. This allows operators to work near moving machinery at reduced speeds while maintaining safety. Copley implementation uses dual-path speed monitoring with configurable speed limits and response times.
- Configurable speed limit thresholds
- Selectable response: warning, speed reduction, or STO activation
- Monitoring via safety encoder feedback
- Compatible with reduced-speed maintenance modes
Safe Operating Stop (SOS)
SOS maintains the motor in a stopped position using active servo control while monitoring that the position remains within a safe window. Unlike STO (which removes torque), SOS keeps the motor energized and holding position, which is essential for vertical axes where removing torque would cause the load to drop.
Safety Architecture Considerations
When combining multiple safety functions, the overall system architecture must maintain the required SIL/PL level. Consider common cause failures between safety functions, diagnostic test intervals, and the proof test requirements for periodic safety system verification.
Typical Applications
- Maintenance mode operation
- Collaborative workspaces
- Vertical axis holding
- Safety-rated speed monitoring
Related Products
Accelnet Plus • Xenus Plus
Deterministic Robotics via Copley Motion Library
Using Copley Motion Library (CML) to implement deterministic, real-time robotic motion control with C/C++ programming on standard PC hardware.
Overview
The Copley Motion Library (CML) is a C/C++ library that provides a comprehensive API for controlling Copley servo drives from custom applications. For robotics applications, CML enables deterministic multi-axis coordination through EtherCAT Cyclic Synchronous modes, giving developers direct control over trajectory generation and kinematic calculations.
CML Architecture
CML provides an object-oriented interface to Copley drives with classes for amplifiers, trajectories, I/O, and network management. The library handles all low-level communication details, allowing developers to focus on application logic:
- Amp class: Motor configuration, mode control, and status monitoring
- Trajectory classes: PVT, PT, and streaming position profiles
- LinkTrajectory: Coordinated multi-axis motion with blending
- Network class: EtherCAT and CANopen bus management
- Event system: Asynchronous status and fault notification
Real-Time Cyclic Synchronous Control
For robotics applications requiring deterministic performance, CML supports EtherCAT Cyclic Synchronous Position (CSP) mode where the host application calculates and sends new position commands every cycle (typically 1-4 ms). This allows custom inverse kinematics, path planning, and force control algorithms to run on the PC.
EtherCAT CSP cycle: Read actual position → Calculate kinematics → Write target position → Repeat at 250 Hz to 1 kHz. Jitter < 50 µs with appropriate OS configuration.Multi-Axis Coordination
CML's LinkTrajectory class enables synchronized multi-axis moves with automatic velocity profiling across all axes. The library ensures all axes start, move, and stop simultaneously regardless of individual axis travel distances, which is essential for Cartesian robots, SCARA arms, and gantry systems.
Typical Applications
- Custom robotic controllers
- Multi-axis gantry systems
- Pick-and-place machines
- Test and measurement automation
Related Products
Accelnet Plus • Xenus Plus • M-Series
Application Story: MARCH AGV with Copley Drives
How MARCH Robotics implemented autonomous guided vehicle (AGV) navigation and drive control using Copley Accelnet Plus servo drives.
Overview
MARCH Robotics selected Copley Accelnet Plus drives for their next-generation autonomous guided vehicles (AGVs) used in warehouse and manufacturing logistics. The compact form factor, EtherCAT connectivity, and battery-friendly DC voltage range made Accelnet Plus ideal for mobile robotic applications requiring precise velocity control and efficient power usage.
Application Requirements
The MARCH AGV platform required:
- Dual-wheel differential drive with independent velocity control
- 48VDC battery-powered operation with high efficiency
- EtherCAT connectivity to the onboard Linux-based controller
- Compact drive size to fit within the vehicle chassis
- Safe Torque Off (STO) for safety-rated stopping
Solution Implementation
Two Accelnet Plus BEL drives control the left and right wheel motors in velocity mode over EtherCAT. The onboard navigation controller calculates differential wheel velocities based on LIDAR and odometry data, sending velocity commands at 1 kHz via Cyclic Synchronous Velocity (CSV) mode. The drives' built-in current limiting protects the motors during obstacle collisions or wheel stalls.
Results
The Copley-based drive system achieved smooth, precise navigation with velocity accuracy better than 0.1% of commanded speed. Battery life improved 15% compared to the previous drive solution due to the Accelnet Plus's high-efficiency power stage. The STO function enabled safety-rated Category 1 stops when triggered by the vehicle's safety scanner.
Typical Applications
- Autonomous guided vehicles (AGVs)
- Mobile robots
- Battery-powered systems
- Warehouse automation
Related Products
Accelnet Plus (BEL, BPL)
Packaging Made Easy: Copley Motion Objects
Using Copley Motion Objects function blocks in TwinCAT and CODESYS to simplify packaging machine motion programming with PLCopen-compliant commands.
Overview
Packaging machines often require complex multi-axis motion including registration, synchronization, and cam-based converting. Copley Motion Objects (CMO) provide PLCopen-compliant function blocks that run in TwinCAT 3 or CODESYS environments, giving packaging machine builders a standardized programming interface for all Copley EtherCAT drives.
PLCopen Motion Function Blocks
CMO implements the PLCopen motion control standard function blocks:
- MC_Power - Enable/disable the drive
- MC_MoveAbsolute / MC_MoveRelative - Point-to-point positioning
- MC_MoveVelocity - Continuous velocity control
- MC_GearIn / MC_GearOut - Electronic gearing
- MC_CamIn / MC_CamOut - Electronic camming
- MC_Home - Homing with configurable methods
Packaging-Specific Features
Beyond standard PLCopen blocks, CMO includes packaging-specific capabilities such as registration correction (adjusting position based on sensor feedback), flying shear profiles, and seal-bar synchronization. These pre-built functions reduce development time from weeks to hours.
Integration with TwinCAT 3
CMO integrates into TwinCAT 3 as a standard library. After adding the Copley EtherCAT device description (ESI file) and linking the CMO library, drives appear as standard TwinCAT motion axes. Existing TwinCAT NC programs can control Copley drives without modification.
Typical Applications
- Form-fill-seal machines
- Cartoning and case packing
- Label application
- Conveyor synchronization
Related Products
Xenus Plus • Accelnet Plus • Stepnet
EtherCAT Network Configuration Guide
Step-by-step guide for configuring Copley drives on an EtherCAT network including topology, ESI files, PDO mapping, and Distributed Clocks setup.
Overview
EtherCAT (Ethernet for Control Automation Technology) is the highest-performance industrial Ethernet protocol for motion control, offering sub-microsecond synchronization and cycle times under 1ms for multiple axes. This guide covers the complete process of configuring Copley drives on an EtherCAT network from hardware setup through commissioning.
Network Topology
EtherCAT uses a daisy-chain (line) topology where each slave processes data on-the-fly as frames pass through. Copley drives have two RJ-45 ports for daisy-chaining:
- Connect master to first drive Port In, first drive Port Out to second drive Port In, etc.
- Maximum 65,535 slaves per segment (typically limited by cycle time requirements)
- Cable length up to 100m between devices (standard Ethernet Cat5e/Cat6)
- Ring topology supported for redundancy when master supports it
ESI File Installation
The EtherCAT Slave Information (ESI) file describes the drive's capabilities to the EtherCAT master. Download the latest Copley ESI file from copleycontrols.com and install it in your master configuration tool (TwinCAT, CODESYS, Acontis, etc.). The ESI file defines available PDO mappings, supported operating modes, and drive parameters.
PDO Mapping Configuration
Process Data Objects (PDOs) define the real-time data exchanged every cycle. Copley drives support configurable RxPDO (master→drive) and TxPDO (drive→master) mappings. Standard DS402 PDO mappings are pre-configured, but custom mappings can be created for specific applications:
- Standard mapping: Controlword, Target Position, Statusword, Actual Position
- Add velocity, torque, or I/O data as needed
- Maximum PDO size depends on drive model
- Configure via SDO during Pre-Operational state
Distributed Clocks
EtherCAT Distributed Clocks (DC) synchronize all drives to a common time base with sub-microsecond accuracy. Enable DC Sync0 for synchronized cyclic modes (CSP, CSV, CST). The master automatically measures propagation delays and adjusts each slave's clock during network initialization.
Typical Applications
- Multi-axis EtherCAT systems
- High-speed synchronized motion
- TwinCAT and CODESYS integration
- New EtherCAT network commissioning
Related Products
Xenus Plus • Accelnet Plus • M-Series • Stepnet (STX)