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ACOPOSmicro
User's Manual
Version: 1.00 (March 2013)
Model no.: MAACPMICRO1-ENG
All information contained in this manual is current as of its creation/publication. We reserve the right to change
the contents of this manual without warning. The information contained herein is believed to be accurate as
of the date of publication; however, Bernecker + Rainer Industrie-Elektronik Ges.m.b.H. makes no warranty,
expressed or implied, with regard to the products or documentation contained within this manual. In addition,
Bernecker + Rainer Industrie-Elektronik Ges.m.b.H. shall not be liable for any incidental or consequential damages
in connection with or arising from the furnishing, performance or use of this documentation. Software names, hard-
ware names and trademarks are registered by their respective companies.
2 ACOPOSmicro User's Manual 1.00
2013/04/08:1.00:1.00.23

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Chapter 1: General information
Chapter 2: System features
Chapter 3: Technical data
Chapter 4: Installation
Chapter 5: Dimensioning
Chapter 6: Wiring
Chapter 7: Operation - Stepper motor modules
Chapter 8: Operation - Inverter modules

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Chapter 9: Operation - Power supply
Chapter 10: Safety technology
Chapter 11: Standards and certifications
Appendix A: Abbreviations
Appendix B: Variable mapping in Automation Studio
Appendix C: CE declaration of conformity
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Chapter 1 General information................................................................................. 15
1 Manual history..................................................................................................................................................15
2 Safety notices...................................................................................................................................................15
2.1 Organization of safety notices....................................................................................................................15
2.2 General information.................................................................................................................................... 15
2.3 Intended use............................................................................................................................................... 16
2.4 Protection against electrostatic discharge..................................................................................................16
2.5 Transport and storage................................................................................................................................ 16
2.6 Handling and installation............................................................................................................................ 17
2.7 Operation.................................................................................................................................................... 17
2.7.1 Protection against touching electrical parts.......................................................................................... 17
2.7.2 Protection against hazardous movements............................................................................................18
2.7.3 Protection against burns....................................................................................................................... 18
2.8 Specifications for functional safety.............................................................................................................18
3 Terminology......................................................................................................................................................19
Chapter 2 System features........................................................................................21
1 The ACOPOSmicro drive system.................................................................................................................... 21
1.1 One solution for all applications.................................................................................................................21
1.2 Flexibility..................................................................................................................................................... 21
1.3 Integrated I/O..............................................................................................................................................21
1.4 Compact dimensions.................................................................................................................................. 22
1.5 Keying and identification............................................................................................................................ 22
1.6 Variable nominal voltage ranges................................................................................................................22
1.7 ACOPOSmicro stepper motor modules..................................................................................................... 22
1.8 ACOPOSmicro inverter modules................................................................................................................22
1.9 Modular cooling design.............................................................................................................................. 23
1.10 Control and connection elements.............................................................................................................23
1.11 Dimensions................................................................................................................................................24
1.12 Software.................................................................................................................................................... 24
1.12.1 PLCopen motion control function blocks............................................................................................ 24
1.12.2 Higher productivity with Smart Process Technology.......................................................................... 25
1.12.3 ACOPOSmicro Perfect for CNC applications as well......................................................................25
1.12.4 Quick and easy commissioning.......................................................................................................... 25
1.12.5 Tools for straightforward and efficient diagnostics..............................................................................25
2 Topologies........................................................................................................................................................ 26
2.1 Compact solution for small and mid-sized machines.................................................................................26
2.2 Customized system combinations.............................................................................................................. 27
2.3 APC620 embedded for centralized control, visualization and operation....................................................28
Chapter 3 Technical data.......................................................................................... 29
2 Stepper motor modules................................................................................................................................... 31
2.1 Overview..................................................................................................................................................... 31
2.2 80SD100XD.C044-01................................................................................................................................. 32
2.2.1 Order data............................................................................................................................................. 32
2.2.2 Technical data.......................................................................................................................................32
2.3 80SD100XD.C04X-13................................................................................................................................. 35
2.3.1 Order data............................................................................................................................................. 35
2.3.2 Technical data.......................................................................................................................................35
2.4 80SD100XD.C0XX-01................................................................................................................................ 39
2.4.1 Order data............................................................................................................................................. 39
2.4.2 Technical data.......................................................................................................................................39
2.5 80SD100XD.C0XX-21................................................................................................................................ 42
2.5.1 Order data............................................................................................................................................. 42
2.5.2 Technical data.......................................................................................................................................42
2.6 80SD100XS.C04X-01................................................................................................................................. 45
2.6.1 Order data............................................................................................................................................. 45
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2.6.2 Technical data.......................................................................................................................................45
2.7 80SD100XS.C0XX-01.................................................................................................................................48
2.7.1 Order data............................................................................................................................................. 48
2.7.2 Technical data.......................................................................................................................................48
2.8 Status LEDs................................................................................................................................................51
2.9 Monitoring the 24 VDC power supply........................................................................................................ 51
2.10 Monitoring the power supply.................................................................................................................... 51
2.11 Overtemperature cutoff............................................................................................................................. 51
2.12 Switching inductive loads......................................................................................................................... 52
2.13 Power consumption.................................................................................................................................. 52
2.13.1 CPU power supply.............................................................................................................................. 52
2.13.2 Motor power supply............................................................................................................................ 52
3 Inverter modules.............................................................................................................................................. 54
3.1 Overview..................................................................................................................................................... 54
3.2 System requirements..................................................................................................................................54
3.3 80VD100PD.C000-01................................................................................................................................. 55
3.3.1 Order data............................................................................................................................................. 55
3.3.2 Technical data.......................................................................................................................................55
3.4 80VD100PD.C022-01................................................................................................................................. 58
3.4.1 Order data............................................................................................................................................. 58
3.4.2 Technical data.......................................................................................................................................58
3.5 80VD100PS.C00X-01................................................................................................................................. 61
3.5.1 Order data............................................................................................................................................. 61
3.5.2 Technical data.......................................................................................................................................61
3.6 80VD100PS.C02X-01................................................................................................................................. 64
3.6.1 Order data............................................................................................................................................. 64
3.6.2 Technical data.......................................................................................................................................64
3.7 Status LEDs................................................................................................................................................67
3.7.1 Status changes when booting the operating system loader.................................................................67
3.7.2 LED status R/R, ERR........................................................................................................................... 67
3.7.3 LED status indicators - POWERLINK...................................................................................................68
3.8 POWERLINK node number switches.........................................................................................................68
3.9 Power consumption.................................................................................................................................... 68
3.9.1 CPU power supply................................................................................................................................ 68
3.9.2 Motor power supply.............................................................................................................................. 68
3.10 Backup battery for ACOPOSmicro with EnDat encoder inputs............................................................... 69
3.10.1 Service life...........................................................................................................................................69
3.10.2 Battery-backed (EBI) encoder.............................................................................................................69
3.10.3 Changing the battery.......................................................................................................................... 69
4 Power supply module...................................................................................................................................... 71
4.1 Order data.................................................................................................................................................. 71
4.2 Technical data............................................................................................................................................ 71
4.3 Status LEDs................................................................................................................................................73
4.4 Block diagram............................................................................................................................................. 73
4.5 Parallel operation........................................................................................................................................73
4.6 Error monitoring.......................................................................................................................................... 74
Cutoff characteristic - Power output.............................................................................................................. 75
Output current during overload...................................................................................................................... 75
5 Accessories...................................................................................................................................................... 77
5.2 Terminal blocks.......................................................................................................................................... 78
5.2.1 Terminal block for connecting additional inputs/outputs.......................................................................79
5.2.2 Terminal blocks for connecting the I/O and CPU power supplies........................................................ 80
5.2.3 Terminal blocks for connecting motors.................................................................................................81
5.2.4 Terminal blocks for the connection of power supply units................................................................... 83
5.2.5 Terminal block sets............................................................................................................................... 84
5.3 POWERLINK cables...................................................................................................................................85
5.3.1 Order data............................................................................................................................................. 85
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5.3.2 Technical data.......................................................................................................................................85
5.3.3 Dimensions and pinout......................................................................................................................... 86
5.4 X2X Link cables......................................................................................................................................... 87
5.4.1 X2X Link device attachment cable....................................................................................................... 87
5.4.2 X2X Link device connection cable........................................................................................................88
5.5 Braking resistors......................................................................................................................................... 89
5.5.1 80XBR0025.010-11............................................................................................................................... 89
5.5.2 80XBR0055.010-11............................................................................................................................... 90
5.6 Hose clamps............................................................................................................................................... 91
5.7 Backup battery............................................................................................................................................91
5.8 Accessories included in delivery................................................................................................................ 92
5.8.1 ACOPOSmicro multilingual warning stickers........................................................................................ 92
Chapter 4 Installation.................................................................................................93
1 General information..........................................................................................................................................93
2 ACOPOSmicro with cold plate.........................................................................................................................93
2.1 Dimension diagram for ACOPOSmicro with cold plate..............................................................................93
2.2 Cold plate mounting................................................................................................................................... 94
2.3 Unmounting from the cold plate.................................................................................................................94
3 Power supply module...................................................................................................................................... 95
3.1 Dimension diagram for the power supply module..................................................................................... 95
Chapter 5 Dimensioning............................................................................................ 97
1 Fuse protection................................................................................................................................................ 97
2 Power consumption - Stepper motor modules................................................................................................ 98
Chapter 6 Wiring...................................................................................................... 101
1 EMC-compatible installation...........................................................................................................................101
1.1 General information.................................................................................................................................. 101
1.2 Installation notes.......................................................................................................................................101
2 Stepper motor modules................................................................................................................................. 102
2.1 Pinout overview........................................................................................................................................ 102
2.1.1 80SD100XD.C044-01..........................................................................................................................102
2.1.2 80SD100XD.C04X-13......................................................................................................................... 103
2.1.3 80SD100XD.C0XX-01......................................................................................................................... 104
2.1.4 80SD100XD.C0XX-21......................................................................................................................... 105
2.1.5 80SD100XS.C04X-01..........................................................................................................................106
2.1.6 80SD100XS.C0XX-01......................................................................................................................... 107
2.2 X1 - Power unit supply.............................................................................................................................108
2.2.1 X1 diagram - Power supply................................................................................................................ 108
2.3 X2 - Power supply for the CPU and digital inputs/outputs.......................................................................108
2.3.1 X2 connection - Input/Output circuit diagram..................................................................................... 109
2.4 X3A/X3B - X2X Link connections............................................................................................................ 110
2.5 X4/X5 - Stepper motor connection...........................................................................................................111
2.5.1 X4/X5 - Output diagram - Stepper motor connection......................................................................... 111
2.6 X6 - Encoder inputs................................................................................................................................. 112
2.6.1 Incremental encoders..........................................................................................................................112
2.7 X7 - Additional inputs/outputs.................................................................................................................. 113
2.7.1 Input circuit diagram for additional digital inputs................................................................................ 113
2.7.2 Output circuit diagram for additional digital outputs........................................................................... 113
2.7.3 Input circuit diagram for additional analog inputs............................................................................... 114
2.8 Protective ground connection PE.............................................................................................................114
3 Inverter modules............................................................................................................................................ 115
3.1 Pinout overview........................................................................................................................................ 115
3.1.1 80VD100PD.C000-01, 80VD100PD.C022-01.....................................................................................115
3.1.2 80VD100PS.C00X-01, 80VD100PS.C02X-01.................................................................................... 116
3.2 X1 - Power unit supply.............................................................................................................................117
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3.2.1 X1 diagram - Power supply................................................................................................................ 117
3.3 X2 - Power supply for the CPU and digital inputs/outputs.......................................................................117
3.3.1 X2 connection - Input/Output circuit diagram..................................................................................... 118
3.4 X3 - POWERLINK connections................................................................................................................119
3.5 X4/X5 - Servo motor connection.............................................................................................................. 119
3.5.1 X4/X5 - Input/Output circuit diagram - Temperature sensor / Stepper motor connection................... 120
3.6 X6 - Encoder inputs................................................................................................................................. 120
3.6.1 EnDat 2.2 interface............................................................................................................................. 120
3.6.2 Resolver.............................................................................................................................................. 121
3.7 Protective ground connection PE.............................................................................................................122
4 Power supply module.................................................................................................................................... 124
4.1 X1 - Mains input....................................................................................................................................... 124
4.2 X2 - Power output 24 to 80 VDC.............................................................................................................124
4.3 X3 connection - Chopper output.............................................................................................................. 125
4.4 X4 connection - Voltage output 24 VDC / 2 A.........................................................................................125
4.5 X5 - X2X Link interface............................................................................................................................ 126
Chapter 7 Operation - Stepper motor modules.....................................................127
1 Function models.............................................................................................................................................127
1.1 Minimum cycle time..................................................................................................................................127
1.2 Minimum I/O update time......................................................................................................................... 127
1.3 Operation with bus controller................................................................................................................... 127
2 Standard function model................................................................................................................................ 128
2.2 Registers for stepper motor control......................................................................................................... 128
2.2.1 Position................................................................................................................................................128
2.2.2 Error/Status......................................................................................................................................... 129
2.2.3 Motor ID.............................................................................................................................................. 130
2.2.4 Motor configuration............................................................................................................................. 130
2.2.5 Holding current, nominal current, maximum current...........................................................................131
2.2.6 Module configuration...........................................................................................................................131
2.2.7 Error acknowledgment / Digital output of motor brake....................................................................... 131
2.2.8 Position latch.......................................................................................................................................132
2.2.9 usSinceTrigger.................................................................................................................................... 132
2.2.10 Latch trigger status........................................................................................................................... 132
2.2.11 Life cycle counter.............................................................................................................................. 132
2.2.12 Latch configuration............................................................................................................................132
2.2.13 Trigger configuration......................................................................................................................... 132
2.2.14 Temperature...................................................................................................................................... 133
2.2.15 Motor ID trigger.................................................................................................................................133
2.2.16 Full step threshold............................................................................................................................ 133
2.2.17 Heat sink temperature...................................................................................................................... 133
2.2.18 DC link voltage..................................................................................................................................134
2.3 Registers for ACOPOSmicro with an encoder......................................................................................... 134
2.3.1 ABR counter........................................................................................................................................134
2.3.2 ABR counter latch............................................................................................................................... 134
2.3.3 ABR control register............................................................................................................................134
2.3.4 ABR configuration............................................................................................................................... 134
2.3.5 ABR advanced configuration.............................................................................................................. 135
2.4 Registers for ACOPOSmicro variants with additional digital inputs/outputs............................................ 135
2.4.1 Status of digital inputs and outputs.................................................................................................... 135
2.4.2 Counter configuration..........................................................................................................................135
2.4.3 Set digital outputs / Counter control register...................................................................................... 136
2.4.4 Counter................................................................................................................................................136
2.4.5 Counter latch.......................................................................................................................................136
2.4.6 Counter configuration..........................................................................................................................136
2.5 Registers for ACOPOSmicro variants with additional analog inputs........................................................137
2.5.1 Status of the analog inputs.................................................................................................................137
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2.5.2 Analog input 1 / Analog input 2..........................................................................................................137
2.6 Trace functionality for ACOPOSmicro variants with analog inputs.......................................................... 137
2.6.1 Trace registers.................................................................................................................................... 137
2.6.2 Trace runtime configuration................................................................................................................ 138
2.6.3 Trace library........................................................................................................................................ 139
3 Ramp function model..................................................................................................................................... 140
3.2 Register description.................................................................................................................................. 141
3.2.1 Set position/speed...............................................................................................................................141
3.2.2 Current position (cyclic)...................................................................................................................... 141
3.2.3 Current position (acyclic).................................................................................................................... 141
3.2.4 Input status..........................................................................................................................................141
3.2.5 Control word........................................................................................................................................141
3.2.6 Status.................................................................................................................................................. 142
3.2.7 Mode....................................................................................................................................................142
3.2.8 Motor brake......................................................................................................................................... 143
3.2.9 UDCL DC link voltage.........................................................................................................................143
3.2.10 Temperature of output stage............................................................................................................ 143
3.2.11 Temperature...................................................................................................................................... 143
3.2.12 Maximum speed................................................................................................................................143
3.2.13 Maximum acceleration...................................................................................................................... 143
3.2.14 Maximum deceleration...................................................................................................................... 144
3.2.15 Position setpoint 1............................................................................................................................ 144
3.2.16 Position setpoint 2............................................................................................................................ 144
3.2.17 Referencing speed............................................................................................................................ 144
3.2.18 Referencing configuration................................................................................................................. 144
3.2.19 Full step threshold............................................................................................................................ 144
3.2.20 Jolt time limitation............................................................................................................................. 144
3.2.21 Read back control word....................................................................................................................144
3.2.22 Read back mode...............................................................................................................................144
3.2.23 Referenced zero position for cyclic counter..................................................................................... 145
3.2.24 Referenced zero position for acyclic counter................................................................................... 145
3.2.25 Reversing loop.................................................................................................................................. 145
3.2.26 Error code......................................................................................................................................... 145
3.2.27 Holding current, nominal current, maximum current.........................................................................145
3.2.28 Motor ID............................................................................................................................................ 146
3.3 Registers for ACOPOSmicro variants with additional digital inputs/outputs............................................ 147
3.4 Registers for ACOPOSmicro variants with additional analog inputs........................................................149
3.5 Trace functionality for ACOPOSmicro variants with analog inputs.......................................................... 150
3.5.1 Trace registers.................................................................................................................................... 150
3.5.2 Trace runtime configuration................................................................................................................ 151
3.5.3 Trace library........................................................................................................................................ 151
3.6 Ramp function model operation............................................................................................................... 153
3.6.1 Control word........................................................................................................................................153
3.6.2 Status register..................................................................................................................................... 154
3.6.3 State machine..................................................................................................................................... 155
Chapter 8 Operation - Inverter modules................................................................ 157
1 ACP10 software............................................................................................................................................. 157
1.1 Adding parameter groups manually......................................................................................................... 157
2 EnDat 2.2 interface........................................................................................................................................ 158
2.1 Parameter IDs.......................................................................................................................................... 158
2.2 Functions.................................................................................................................................................. 158
2.2.1 Serial data transfer............................................................................................................................. 158
2.2.2 Monitoring and error handling.............................................................................................................158
2.2.3 Encoder errors and warnings............................................................................................................. 159
2.2.4 Initialization active............................................................................................................................... 160
2.2.5 Position value not synchronous with absolute value.......................................................................... 160
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2.2.6 Error in the multi-turn position............................................................................................................ 160
2.3 Encoder card functions.............................................................................................................................160
2.3.1 Parameter IDs..................................................................................................................................... 160
2.3.2 Position measurement........................................................................................................................ 160
2.3.3 Diagnostic values................................................................................................................................ 161
2.3.4 Encoder temperature.......................................................................................................................... 161
2.3.5 Example: Reading additional information........................................................................................... 161
2.3.6 Encoder status ENCOD_STATUS...................................................................................................... 161
Chapter 9 Operation - Power supply..................................................................... 163
1 Function models.............................................................................................................................................163
1.1 Minimum cycle time..................................................................................................................................163
2 Standard function model................................................................................................................................ 163
2.2 StatusPacked01........................................................................................................................................ 164
2.3 ControlPacked01...................................................................................................................................... 164
2.4 Voltage01.................................................................................................................................................. 164
2.5 Current01.................................................................................................................................................. 164
2.6 Temperature01-03.................................................................................................................................... 165
2.7 ConfigPacked01........................................................................................................................................165
2.8 ChopperOffset01.......................................................................................................................................165
2.9 VoltageSet01............................................................................................................................................ 165
2.10 CurrentSet01...........................................................................................................................................165
2.11 TempLimitBleeder01............................................................................................................................... 165
2.12 TempAmbBleeder01............................................................................................................................... 166
2.13 TempInitBleeder01..................................................................................................................................166
2.14 RBleeder01............................................................................................................................................. 166
2.15 RthBleeder01.......................................................................................................................................... 166
2.16 CthBleeder01.......................................................................................................................................... 166
2.17 TempBleeder01...................................................................................................................................... 166
3 Function model: CANIOBusController........................................................................................................... 167
Chapter 10 Safety technology................................................................................ 169
1 Standard safety technology ("Wired safety technology")...............................................................................169
1.1 General information.................................................................................................................................. 169
1.2 Principle - Implementing the safety function............................................................................................ 169
1.2.1 Additional function...............................................................................................................................172
1.3 Enable input connected in accordance with Safety Category 3 / SIL 2 / PL d.........................................173
1.3.1 STO, Category 3 / SIL 2 / PL d (Variant A)....................................................................................... 173
1.3.2 STO, Category 3 / SIL 2 / PL d (Variant B)....................................................................................... 174
1.4 Enable input circuits in accordance with Safety Category 3 / SIL 2 / PL d and functionality (STO, SS1, SS2,
SLS, SOS)...................................................................................................................................................... 174
1.4.1 STO, SLS, SOS - Safety Category 3 / SIL 2 / PL d...........................................................................175
1.4.2 SS1, SLS, SS2 - Safety Category 3 / SIL 2 / PL d (Variant A).......................................................... 177
1.4.3 SS1, SLS, SS2 - Safety Category 3 / SIL 2 / PL d (Variant B).......................................................... 179
Chapter 11 Standards and certifications............................................................... 183
1 Applicable European directives......................................................................................................................183
2 Applicable standards......................................................................................................................................183
3 Environmental limits....................................................................................................................................... 183
3.1 Mechanical conditions in accordance with IEC 61800-2......................................................................... 183
3.1.1 Operation.............................................................................................................................................183
3.1.2 Transport............................................................................................................................................. 183
3.2 Climate conditions in accordance with IEC 61800-2............................................................................... 184
3.2.1 Operation.............................................................................................................................................184
3.2.2 Storage................................................................................................................................................ 184
3.2.3 Transport............................................................................................................................................. 184
4 Requirements for immunity to disturbances (EMC).......................................................................................184
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4.1 Evaluation criteria (performance criteria)................................................................................................. 184
4.2 High-frequency disturbances in accordance with IEC 61800-3............................................................... 184
4.2.1 Electrostatic discharge........................................................................................................................ 184
4.2.2 Electromagnetic fields......................................................................................................................... 184
4.2.3 Burst.................................................................................................................................................... 185
4.2.4 Surge................................................................................................................................................... 185
4.2.5 High-frequency conducted disturbances.............................................................................................185
5 Requirements for emissions (EMC)...............................................................................................................185
5.1 High-frequency emissions in accordance with IEC 61800-3....................................................................185
5.1.1 Limit values for disturbance voltage on the power mains connections in the frequency band from 150
kHz to 30 MHz............................................................................................................................................. 185
5.1.2 Electromagnetic emissions................................................................................................................. 185
6 Other environmental limit values in accordance with IEC 61800-2............................................................... 186
7 International certifications.............................................................................................................................. 186
Appendix A Abbreviations...................................................................................... 187
1 General information........................................................................................................................................187
2 Overview.........................................................................................................................................................187
Appendix B Variable mapping in Automation Studio...........................................189
1 Overview.........................................................................................................................................................189
2 80SD100XD.C044-01 - Standard function model..........................................................................................190
2.1 Overview of registers................................................................................................................................190
2.2 Error: Error/Status.....................................................................................................................................190
2.3 StatusOutput14: Error acknowledgment / Digital output of motor brake.................................................. 191
2.4 StepperLatchStatus: Latch trigger status................................................................................................. 191
2.5 StepperLatchConfig: Latch configuration................................................................................................. 191
2.6 TriggerConfig: Trigger configuration.........................................................................................................191
2.7 StatusOutput15: ABR control register...................................................................................................... 192
3 80SD100XD.C044-01 - Ramp function model...............................................................................................193
3.1 Overview of registers................................................................................................................................193
3.2 Motor brake.............................................................................................................................................. 193
4 80SD100XD.C04X-13 - Standard function model......................................................................................... 194
4.1 Overview of registers................................................................................................................................194
4.2 Error: Error/Status.....................................................................................................................................194
4.3 StatusOutput14: Error acknowledgment / Digital output of motor brake.................................................. 195
4.4 StepperLatchStatus: Latch trigger status................................................................................................. 195
4.5 StepperLatchConfig: Latch configuration................................................................................................. 195
4.6 TriggerConfig: Trigger configuration.........................................................................................................195
4.7 StatusOutput15: ABR control register...................................................................................................... 196
4.8 Digital_in_do_rb: Status of digital inputs and outputs..............................................................................196
4.9 StatusOutput16: Set digital outputs / Counter control register.................................................................196
5 80SD100XD.C04X-13 - Ramp function model.............................................................................................. 197
5.1 Overview of registers................................................................................................................................197
5.2 Motor brake.............................................................................................................................................. 197
6 80SD100XD.C0XX-01 - Standard function model......................................................................................... 198
6.1 Overview of registers................................................................................................................................198
6.2 Error: Error/Status.....................................................................................................................................198
6.3 StatusOutput14: Error acknowledgment / Digital output of motor brake.................................................. 199
6.4 StepperLatchStatus: Latch trigger status................................................................................................. 199
6.5 StepperLatchConfig: Latch configuration................................................................................................. 199
6.6 TriggerConfig: Trigger configuration.........................................................................................................199
7 80SD100XD.C0XX-01 - Ramp function model..............................................................................................200
7.1 Overview of registers................................................................................................................................200
7.2 Motor brake.............................................................................................................................................. 201
8 80SD100XD.C0XX-21 - Standard function model......................................................................................... 202
8.1 Overview of registers................................................................................................................................202
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8.2 Error: Error/Status.....................................................................................................................................202
8.3 StatusOutput14: Error acknowledgment / Digital output of motor brake.................................................. 203
8.4 StepperLatchStatus: Latch trigger status................................................................................................. 203
8.5 StepperLatchConfig: Latch configuration................................................................................................. 203
8.6 TriggerConfig: Trigger configuration.........................................................................................................203
8.7 Status of the analog inputs...................................................................................................................... 203
8.8 Trace control word....................................................................................................................................204
8.9 Trace status.............................................................................................................................................. 204
8.10 Trace trigger........................................................................................................................................... 204
9 80SD100XD.C0XX-21 - Ramp function model..............................................................................................205
9.1 Overview of registers................................................................................................................................205
9.2 Motor brake.............................................................................................................................................. 205
9.3 Status of the analog inputs...................................................................................................................... 205
9.4 Trace control word....................................................................................................................................205
9.5 Trace status.............................................................................................................................................. 206
9.6 Trace trigger............................................................................................................................................. 206
10 80SD100XS.C04X-01 - Standard function model....................................................................................... 207
10.1 Overview of registers..............................................................................................................................207
10.2 Error: Error/Status...................................................................................................................................207
10.3 StatusOutput14: Error acknowledgment / Digital output of motor brake................................................ 208
10.4 StepperLatchStatus: Latch trigger status............................................................................................... 208
10.5 StepperLatchConfig: Latch configuration............................................................................................... 208
10.6 TriggerConfig: Trigger configuration.......................................................................................................208
10.7 StatusOutput15: ABR control register.................................................................................................... 208
11 80SD100XS.C04X-01 - Ramp function model.............................................................................................209
11.1 Overview of registers.............................................................................................................................. 209
11.2 Motor brake.............................................................................................................................................209
12 80SD100XS.C0XX-01 - Standard function model....................................................................................... 210
12.1 Overview of registers..............................................................................................................................210
12.2 Error: Error/Status...................................................................................................................................210
12.3 StatusOutput14: Error acknowledgment / Digital output of motor brake................................................ 210
12.4 StepperLatchStatus: Latch trigger status............................................................................................... 211
12.5 StepperLatchConfig: Latch configuration............................................................................................... 211
12.6 TriggerConfig: Trigger configuration.......................................................................................................211
13 80SD100XS.C0XX-01 - Ramp function model............................................................................................ 212
13.1 Overview of registers..............................................................................................................................212
13.2 Motor brake............................................................................................................................................ 212
Appendix C CE declaration of conformity.............................................................213
General information Safety notices
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Chapter 1 General information
1 Manual history
Information:
B&R keeps the printed version of user's manuals as current as possible. If there is a newer version
available, it can be downloaded as a PDF file from the B&R website at www.br-automation.com.
Version Date Comment
1.00 March 2013 Entire manual revised
Inverter modules added
Safety technology for inverter modules added
Note regarding "IFA EMC and functional safety" in safety technology chapter added
Power supply module:
Technical data, parallel operation, block diagram and installation notes updated or added
Revision notes removed: Documentation applies beginning with hardware revision B7
Description of phase failure updated
0.10 November 2009 First edition of the user's manual with stepper motor modules
Table 1: Manual history
2 Safety notices
Information:
The safety notices, connection descriptions (type plate and documentation) and limit values listed in
the technical data are to be read carefully before installation and commissioning and must be observed.
These safety notices must be kept and included with the device if it is passed on to anyone else (e.g. sold,
rented, etc.).
The user is responsible for observing all applicable international and national electrical standards.
2.1 Organization of safety notices
Safety notices in this manual are organized as follows:
Safety notice Description
Danger! Disregarding these safety guidelines and notices can be life-threatening.
Warning! Disregarding these safety guidelines and notices can result in severe injury or substantial damage to equipment.
Caution! Disregarding these safety guidelines and notices can result in injury or damage to equipment.
Information: This information is important for preventing errors.
Table 2: Description of the safety notices used in this documentation
2.2 General information
B&R drive systems and motors have been designed, developed and manufactured for conventional use in indus-
trial environments. They were not designed, developed and manufactured for any use involving serious risks or
hazards that could lead to death, injury, serious physical damage or loss of any kind without the implementation
of exceptionally stringent safety precautions.
In particular, such risks and hazards include the use of these devices to monitor nuclear reactions in nuclear power
plants, their use in flight control or flight safety systems as well as in the control of mass transportation systems,
medical life support systems or weapons systems.
General information Safety notices
16 ACOPOSmicro User's Manual 1.00
Danger!
Drive systems and motors can have exposed parts that carry voltage (e.g. terminals) as well as hot
surfaces. Additional hazards include moving machine parts. Improperly removing required covers,
inappropriate use of the devices or their improper installation or operation can result in severe personal
injury or damage to property.
All tasks such as the transport, installation, commissioning and servicing of devices are only permitted to be car-
ried out by qualified personnel. Qualified personnel are those familiar with the transport, mounting, installation,
commissioning and operation of devices who also have the appropriate qualifications (e.g. IEC 60364). National
accident prevention regulations must be observed.
The safety notices, connection descriptions (type plate and documentation) and limit values listed in the technical
data are to be read carefully before installation and commissioning and must be observed.
Danger!
The improper handling of drive systems and motors can cause severe personal injury or damage to
property!
2.3 Intended use
Motor drives and motors are components designed to be installed in electrical systems or machines. They are
not permitted to be used unless the machine meets directive 2006/42/EC (machine directive) as well as directive
2004/108/EC (EMC directive).
Danger!
Before applying power, it is necessary to check if the B&R drive system being used is suitable for
the respective mains. The specifications and restrictions in the user documentation for the respective
device series must be observed completely!
When used in residential areas, shops or small businesses, additional measures must be implemented by the user.
Technical data as well as connection and environmental specifications can be found on the type plate and in this
user's manual. These specifications regarding connection and environmental conditions must be observed!
Danger!
Electronic devices are never completely failsafe.
If the drive systems fails, the user is responsible for ensuring that any connected motors are brought
to a secure state.
2.4 Protection against electrostatic discharge
Electrical components that can be damaged by electrostatic discharge (ESD) must be handled accordingly.
2.4.1 Packaging
Electrical components with a housing do not require any special ESD packaging, but they must still be handled
properly.
2.4.2 Guidelines for proper ESD handling
Do not touch the connector contacts on connected cables.
Do not touch the contact tips on circuit boards.
2.5 Transport and storage
During transport and storage, devices must be protected against undue stress (mechanical loads, temperature,
humidity, aggressive atmospheres, etc.).
Drive systems contain components sensitive to electrostatic charges that can be damaged by inappropriate han-
dling. It is therefore necessary to provide the required protective measures against electrostatic discharge when
installing or removing these drive systems.
General information Safety notices
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ACOPOSmicro User's Manual 1.00 17
2.6 Handling and installation
Warning!
B&R drive systems and motors may be very heavy.
During handling and installation of B&R drive systems or motors, there exists the danger of personal
injury or damage to equipment (through shearing, impacts, cutting or crushing). Suitable protective
equipment (e.g. safety glasses, protective gloves, safety shoes, etc.) should be used when necessary!
Installation must be performed according to this documentation using suitable equipment and tools.
Devices may only be installed by qualified personnel without voltage applied. Before installation, voltage to the
control cabinet must be switched off and prevented from being switched on again.
General safety guidelines and national accident prevention regulations (e.g. VBG 4) for working with high voltage
systems must be observed.
Electrical installation must be carried out according to applicable guidelines (e.g. line cross section, fuses, protective
ground connections, see also "Dimensioning" on page 97).
2.7 Operation
2.7.1 Protection against touching electrical parts
Danger!
To operate drive systems, it is necessary for certain parts to carry dangerous voltages over 42 VDC.
Touching one of these parts can result in a life-threatening electric shock. This could lead to death,
severe injury or damage to equipment.
Before turning on a drive system, it is important to ensure that the housing is properly connected to ground (PE rail).
The ground connection must be established even when testing the drive system or operating it for a short time!
Before turning the device on, all parts that carry voltage must be securely covered. During operation, all covers
and control cabinet doors must remain closed.
Control and power connections can still carry voltage even if the motor is not turning. Touching these connections
when the device is switched on is prohibited.
Before performing any work on drive systems, they must first be disconnected from the power mains and prevented
from being switched on again.
Danger!
Risk of electric shock!
Remove the supply voltage, wait 5 minutes and make sure that the voltage on terminal X1 has dropped
to below 42 VDC before beginning maintenance work.
Drive systems are labeled with the following warning:
Figure 1: Warning on the drive system
ACOPOSmicro units are provided with these warning stickers in different languages (see page 92).
The connections for drive system signal voltages ranging from 5 to 30 V are safely isolated circuits. The signal
voltage connections and interfaces are therefore only permitted to be connected to devices or electrical components
that have sufficient isolation in accordance with IEC 60364-4-41 or EN 61800-5-1 and that correspond to SELV /
PELV.
Never remove the electrical connections from the drive system with voltage applied. In some cases, electric arcs
may occur that can cause personal injury and/or damage to contacts.
General information Safety notices
18 ACOPOSmicro User's Manual 1.00
2.7.2 Protection against hazardous movements
Danger!
Improper control of motors can result in unintended hazardous movements! Such incorrect behavior
can have various causes:
Incorrect installation or a mistake when handling components
Improper or incomplete wiring
Defective devices (drive system, motor, position encoder, cables, brake)
Incorrect control (e.g. caused by software error)
Some of the errors listed above can be detected and prevented by the drive system's internal monitoring. Never-
theless, it is still possible for the motor shaft to move any time the device is switched on! For this reason, higher-level
safety precautions need to be put in place to ensure that personnel and machines are protected.
The moving parts on machines must be shielded in such a way as to prevent unintentional access by personnel.
This type of protection can be achieved by using stable mechanical protective equipment such as protective covers,
protective fences, protective gates or light barriers.
Removing, bypassing or circumventing these protective measures and entering the area where movement takes
place is prohibited.
A sufficient number of emergency stop switches must be installed in direct proximity to the machine and be easily
accessible at all times. This emergency stop equipment must be checked before the machine is commissioned.
On free running motors, the shaft key (if present) must be removed or measures taken to prevent its ejection.
The holding brake built into motors cannot prevent hoisting equipment from dropping hanging loads.
2.7.3 Protection against burns
The surfaces of drive systems and motors can reach very high temperatures during operation.
As a result, the included stickers must be affixed to drive systems and motors to indicate this danger (see page
92):
Figure 2: Sticker for "Hot surface" (3 pcs. are included with the delivery of the ACOPOSmicro)
2.8 Specifications for functional safety
Specifications for functional safety are listed in the section "Safety technology" on page 169.
Specifications are calculated based on a proof test interval of up to 20 years. Since a proof test cannot be carried
out for B&R drive systems, the proof test interval is the same as the system's mission time.
In accordance with the EN ISO 13849, EN 62061 and IEC 61508 standards, the safety functions described in the
section "Safety technology" cannot be used beyond the specified mission time.
Danger!
The user must ensure that all B&R drive systems that fulfill a safety function are replaced by new B&R
drive systems or removed from operation before their mission time expires.
General information Terminology
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ACOPOSmicro User's Manual 1.00 19
3 Terminology
Term Explanation
SG3 System Generation 3 (SG3) - CPUs with Motorola processors
The following CPUs belong to this series:
IF161, IP161
XP152
CP100, CP104, CP152, CP153, CP200, CP210, CP260, CP430, CP470, CP474, CP476, CP770, CP774
PP15, PP21, PP35, PP41
SG4 System Generation 4 (SG4) - CPUs with Intel processors
The following CPUs belong to this series:
CP1583, CP1584, CP1585, CP1586, CP3583, CP3584, CP3585, CP3586
CP1483, CP1483-1, CP1484, CP1484-1, CP1485, CP1485-1, CP1486, CP3484, CP3484-1, CP3485, CP3485-1, CP3486
CP340, CP360, CP380, CP382, CP570
PP45, PP65
PP100/200, PP300/400
MP100/200
EC20, EC21
AC140, AC141
ARsim, ARwin, ARemb
APC620, APC700, APC810
SGC System Generation Compact CPUs (SGC) - CPUs with Motorola processors (Embedded P)
The following CPUs belong to this series:
CP0201, CP0291, CP0292
XC0201, XC0202, XC0292
Table 3: Terminology
20
System features The ACOPOSmicro drive system
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ACOPOSmicro User's Manual 1.00 21
Chapter 2 System features
1 The ACOPOSmicro drive system
Compact design
Flexible application
Low heat dissipation
Uniform design for inverter and stepper motor modules
Optional expansions
ACOPOSmicro with encoder interface and heat spreader ACOPOSmicro with heat spreader
1.1 One solution for all applications
The main goal when developing the ACOPOSmicro was to provide cost-effective drive solutions that also included
the lower power ranges. Nevertheless, the technical capabilities of the ACOPOSmicro still allow it to compete with
larger devices. The ACOPOSmicro is designed to control both stepper motors and servo motors. Despite its small
dimensions, it can support up to two axes on one module.
1.2 Flexibility
Ever-changing fields of application and the necessity to integrate different types of drives in one machine often
create large challenges for the developers of an application. Creating projects with B&R Automation Studio makes it
possible to handle a wide range of drive concepts using the same tools. This means that flexible drive architectures
can be implemented by either combining these concepts together or maintaining their independence from one
another.
It is possible to plan for various machine variants during project development and to account for different configu-
rations that use various drive types. This makes it easy to switch from a stepper motor to a servo motor variant
(and vice versa) without problems. As a result, machine manufacturers are able to enjoy unprecedented flexibility.
1.3 Integrated I/O
In addition to trigger inputs, this device also includes a 24 VDC output. It can be used, for example, to control
external brakes in addition to being available for other tasks.
If required, additional functionality can be added via optional modules at a minimum cost and without taking up
extra space.
This makes it possible to meet even extraordinary customer-specific requirements. The optional support of many
different encoder systems, even with the stepper motor variant, illustrates this product line's high degree of flexibility.
System features The ACOPOSmicro drive system
22 ACOPOSmicro User's Manual 1.00
1.4 Compact dimensions
The two-channel variant clearly highlights this module's extremely compact design. The ACOPOSmicro requires
an area of less than 50 cm per axis.
This not only saves space in the control cabinet for applications with multiple axes, but also provides advantages
in wiring since the bus and supply voltage connection is only needed for every second motor.
Such high power density in such a small space is indeed extraordinary.
1.5 Keying and identification
The possibility of using keyed connection terminals is extremely useful, especially for the two-channel variant. In
particular, this prevents serious errors that can occur by connecting the wrong drive axis during commissioning.
Being able to easily label the ACOPOSmicro also helps to avoid errors.
1.6 Variable nominal voltage ranges
To achieve higher torque values at high speeds, the first voltage variant was designed for a nominal voltage of
80 VDC. The ability to withstand overvoltage up to 95 VDC also allows for increases in the DC link voltage such as
those that occur during braking procedures. Nevertheless, the drive can also be utilized in the low voltage range
with nearly no limitations. This means that the ACOPOSmicro product line can be operated down to a voltage of
18 VDC.
1.7 ACOPOSmicro stepper motor modules
Whereas earlier stepper motors were mainly reserved for simpler tasks, today they are used to meet even complex
CNC demands. The particular advantage offered by these motors is their high level of torque in the low to middle
speed range that can be implemented with even very small motor designs. The use of this technology is a truly
economical solution within its torque limits.
Ease of handling
It goes without saying with this device that no switches are needed to select the motor current. All module settings
are software-based. The default values of all parameters can be quickly and easily adapted to the project and
overwritten at runtime. Current resolution down to approximately one percent of the nominal current meets every
need in regard to selecting a current value. The module's main feature is that holding current, nominal current and
maximum current (boost current) can each be defined separately. This keeps thermal loss in the stepper motor to
a minimum, and the maximum torque is available exactly when it is needed. All of this leads to noticeable savings
in energy and reduces power loss in the motor, which further extends the service life of all of the components.
Maximum resolution
Depending on the stepper motor being used, the ACOPOSmicro can break a motor revolution down into 102,400
partial steps. This is possible due to the 256 microsteps supported by the system. The basic step angle is auto-
matically divided into the maximum possible microsteps based on the speed. In addition to the possibility for in-
creased positioning accuracy, this also enables much smoother operation. The common problem of accumulating
resonance frequencies is significantly minimized by the fine grading of current changes. The current controller's
high frequency also plays a role in this. Optional encoder feedback can help stepper motors achieve highly accu-
rate positioning under a wide range of load torques.
1.8 ACOPOSmicro inverter modules
Powerful solutions across the board
Reduced energy, service and maintenance costs thanks to a longer lifespan and fewer components per axis all
of this is made possible through the use of ACOPOSmicro inverter modules instead of pneumatic cylinders.
In particular, the large amount of energy required to generate compressed air due to significant energy loss (e.g.
motor and compressor loss, pressure loss through reduction valves and leaks) has a negative impact on the total
cost of ownership of a machine and increases the demand for electric linear axes.
Linear motors provide more precise positioning, thus improving the accuracy of repeated machine movements.
Higher clock speeds, by up to a factor of 2, increase the production capacity of the plant and reduce production
costs. Packaging machines, handling devices pick-and-place applications are just a few examples where pneu-
matic cylinders, linear axes driven by servo motors, cam gears or multi-jointed applications can be replaced by
linear motors.
System features The ACOPOSmicro drive system
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ACOPOSmicro User's Manual 1.00 23
In short, the integration of electrically driven linear axes into B&R's automation technology catalog opens up a new
world of innovative and flexible machine designs.
1.9 Modular cooling design
The majority of the heat generated in the device is emitted to the heat spreader integrated in the ACOPOSmicro.
This excessive heat can then be dissipated in various ways, such as through a conventional heat sink on the
cooling medium of an external (water or oil-cooled) cold plate or passed on to the machine parts.
1.10 Control and connection elements
ACOPOSmicro stepper motor modules
View from front View from below
Power unit supply
PE (ground connection)
Insert for labeling
Status indicators
Incremental encoders
(only one/two channel encoder types)
24 V connection and digital I/O
Optional I/O
X2X Link
Motor connections
Figure 3: ACOPOSmicro stepper motor modules - Operating and connection elements
ACOPOSmicro inverter modules
View from front View from below
Power unit supply
PE (ground connection)
Insert for labeling
Status indicators
Encoder inputs
(only one/two channel encoder types)
24 V connection and digital I/O
Optional I/O
POWERLINK
Motor connections
Figure 4: ACOPOSmicro inverter modules - Operating and connection elements
System features The ACOPOSmicro drive system
24 ACOPOSmicro User's Manual 1.00
1.11 Dimensions
65
56 8 95
1
4
9
1
5
8
1
3
4
4.5
Figure 5: Dimensions
1.12 Software
1.12.1 PLCopen motion control function blocks
Motion control is one of the central topics in automation technology. This is due in part to the fact that this area
bears a relatively high share of the costs of an entire automation solution. As a result, the potential for savings
are high as well.
PLCopen motion control function blocks comply with the IEC 61131-3 standard and support users in this endeavor
by offering vendor-independence and reducing overall development times. They provide additional support in that
they can be used with a wide variety of programming languages, including Ladder Diagram (LD), Structured Text
(ST) and the high-level language C.
System features The ACOPOSmicro drive system
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ACOPOSmicro User's Manual 1.00 25
The range of functions offered by these blocks are grouped according to single and multi-axis movements. In
addition to conventional relative and absolute movements, the first of these two groups also includes the possibility
of overlapping movements. With multi-axis movements, functions such as gears, cam profile functions, up/down
synchronization and differential gears (changing the phase angle) are also supported.
1.12.2 Higher productivity with Smart Process Technology
Smart Process Technology meets customer needs for cost-effective solutions and high production speeds. This
freely configurable technology library is uniformly integrated into existing motion control products.
The use of indirect process parameters makes it possible to eliminate sensors, which are often not fast enough
to keep up with high production speeds. Synchronous processing and short response times make it possible to
achieve excellent productivity and precision. In addition, powerful and intelligent decentralized units allow seamless
quality control. In the field, this significantly reduces cycle times while improving component quality.
As a result, the demands placed on advanced motion control components high product quality, machine produc-
tivity, short maintenance and down times and, increasingly important, seamless quality control during production
are met completely.
1.12.3 ACOPOSmicro Perfect for CNC applications as well
The integrated SoftCNC system from B&R combines all of the software components necessary for machine au-
tomation on a 64-bit processing platform and provides more than enough computing power to handle complex pro-
cessing machines. Its integrated system architecture, used together with ACOPOSmicro inverter modules, opens
up many opportunities with regard to response speed, data throughput and precision, all while providing a way
to reduce overall costs.
Uniformly integrated ACOPOSmicro technology for controlling servo motors
Powerful, with fast response times
Ultimate freedom for automation concepts with unlimited PLC and CNC system flexibility
8 independent CNC channels
Up to a total of 100 axes for positioning, CNC and electronic gears
Customized graphical interface
Nearly unlimited system memory for programs, diagnostics and process data
Internet or intranet connection for inspections or remote maintenance
Leading manufacturers of water jet, laser and flame cutting machines are already utilizing these technological
advantages.
1.12.4 Quick and easy commissioning
All B&R products are programmed in the same way using the Windows-based tool B&R Automation Studio. This
software allows complex drive solutions to be created after just a short orientation period. Hardware components
and program sections can be added and configured in dialog boxes, considerably reducing project development
time.
Axis movements can be checked without programming using the NC Test feature. All types of motions, ranging
from point-to-point movements to gear functions, can be carried out interactively. The response of an axis can
even be monitored while the system is online. In addition, Trace functionality records relevant drive data for clear
evaluation at any time.
1.12.5 Tools for straightforward and efficient diagnostics
Drives are monitored in real time using an oscilloscope function, with a wide variety of trigger options able to
generate informative data for analyzing movements during operation. A graphic display allows the user to make
fine adjustments and optimize movements in the microsecond range. The integration of powerful tools such as
the cam editor reduces programming for complex coupled movements to simple drag-and-drop procedures. The
results and effects on speed, acceleration and jolt can be immediately analyzed in graphic form.
System features Topologies
26 ACOPOSmicro User's Manual 1.00
2 Topologies
2.1 Compact solution for small and mid-sized machines
In this topology, the ACOPOSmicro is connected directly to a B&R controller system. This is the most compact
solution for remote distributed I/O systems. ACOPOSmicro devices, X67 systems, compact I/O systems, X20
systems and simple operating panels can all be operated on the same line.
Sensors
Actuators
X20 system X67
Remote I/O systems
Remote I/O systems
Motion control
X67 X67 X67
Sensors
Actuators
X20 system
Remote I/O systems
Power Panel
Control system, visualization and operation
Compact
I/O system
ACOPOSmicro
stepper motor module Compact
I/O system
ACOPOSmicro
stepper motor module
Figure 6: Topology - Compact solution for small and mid-sized machines
Components and technologies
Control system Power Panel: Integrated control, operation and visualization
Visualization & Operation Power Panel: Integrated control, operation and visualization
Motion control ACOPOSmicro: Stepper motor modules
Stepper motors
Remote I/O systems X20 system: Slice-based I/O and control system
X67 system: Remote I/O with IP67 protection
Compact I/O system and valve connections: Economical use of peripheral space
Table 4: Topology - Compact solution for small and mid-sized machines
System features Topologies
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ACOPOSmicro User's Manual 1.00 27
2.2 Customized system combinations
Optimized machine designs require the customized implementation of fieldbus systems. With the flexibility of the
X67 system and the openness of B&R's system components, an automation solution can be adapted perfectly to
the cost and performance demands of the application.
Motion control
Motion control
X20 system
Remote I/O systems
X67 X67 X67 X67 X67 X67
Remote I/O systems
P
O
W
E
R
L
I
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K
Control system, visualization and operation
APC620
Motion control
ACOPOSmicro
stepper motor module
Bus
controller
ACOPOSmicro
stepper motor module
ACOPOSmicro
stepper motor module
ACOPOSmicro
inverter module
ACOPOSmicro
inverter module
ACOPOSmicro
inverter module
Bus
controller
Figure 7: Topology - Customized system combinations
Components and technologies
Control system APC620: Automation PC
Panel PC: Operation and PC integration
Visualization and operation Panel PC: Operation and PC integration
Automation Panel: A new dimension in machine visualization
Motion control ACOPOSmicro: Stepper motor modules
Stepper motors
ACOPOSmicro: Inverter modules
Servo motors
Remote I/O systems X20 system: Slice-based I/O and control system
X67 system: Remote I/O with IP67 protection
Compact I/O system and valve connections: Economical use of peripheral space
Network and fieldbus modules Various fieldbus modules
System features Topologies
28 ACOPOSmicro User's Manual 1.00
2.3 APC620 embedded for centralized control, visualization and operation
In this topology, the control program runs on the APC620 embedded. Visual Components is used to integrates all
of aspects relating to visualization. A display unit is connected to the PC. The PC is networked over Ethernet TCP/
IP, with additional Power Panel-based operator terminals connected via Ethernet. Fieldbus systems (CAN bus,
X2X Link) handle the communication to I/O systems used to control axes.
X67 X67
Remote I/O systems
X20 system
Remote I/O systems
X67
Motion control
Automation Panel
SDL
Power Panel Power Panel Power Panel
X2X Link
CAN
Ethernet TCP/IP
APC620
ACOPOSmicro
stepper motor module
ACOPOSmicro
stepper motor module
Figure 8: Topology - APC620 embedded for central control, visualization and operation
Components and technologies
Control system APC620: Automation PC
Visualization and operation Power Panel: Integrated control, operation and visualization
Automation Panel 800: Modular operation and visualization
Automation Panel 900: Compact operation and visualization
Motion control ACOPOSmicro: Stepper motor modules
Stepper motors
Remote I/O systems X20 system: Slice-based I/O and control system
X67 system: Remote I/O with IP67 protection
Table 5: Topology - APC620 embedded for central control, visualization and operation
Technical data Overview
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ACOPOSmicro User's Manual 1.00 29
Chapter 3 Technical data
1 Overview
Stepper motor modules
Product ID Short description on page
80SD100XD.C044-01 ACOPOSmicro stepper motor module, X2X Link interface, 2x 24 V incremental encoder, 24-64 VDC 25%
module supply, 2 motor connections, 10 A continuous current, 2 digital inputs 24 VDC, sink, can be used as
trigger inputs, 1 digital output 24 VDC, 1 A, order terminal blocks separately.
32
80SD100XD.C04X-13 ACOPOSmicro stepper motor module, X2X Link interface, 1x 24 V incremental encoder, 24-64 VDC 25%
module supply, 2 motor connections, 10 A continuous current, 2 digital inputs 24 VDC, sink, can be used as
trigger inputs, 1 digital output 24 VDC, 1 A, 4 digital inputs 24 VDC, sink, can be configured as incremental
encoders, 2 digital outputs 24 VDC, 0.5 A, order terminal blocks separately.
35
80SD100XD.C0XX-01 ACOPOSmicro stepper motor module, X2X Link interface, 24-64 VDC 25% module supply, 2 motor connec-
tions, 10 A continuous current, 2 digital inputs 24 VDC, sink, can be used as trigger inputs, 1 digital output 24
VDC, 1 A, order terminal blocks separately.
39
80SD100XD.C0XX-21 ACOPOSmicro stepper motor module, X2X Link interface, 24-64 VDC 25% module supply, 2 motor connec-
tions, 10 A continuous current, 2 digital inputs 24 VDC, sink, can be used as trigger inputs, 1 digital output 24
VDC, 1 A, 2 analog inputs 10 V, 13-bit, order terminal blocks separately.
42
80SD100XS.C04X-01 ACOPOSmicro stepper motor module, X2X Link interface, 1x 24 V incremental encoder, 24-64 VDC 25%
module supply, 1 motor connection, 10 A continuous current, 2 digital inputs 24 VDC, sink, can be used as
trigger inputs, 1 digital output 24 VDC, 1 A, order terminal blocks separately.
45
80SD100XS.C0XX-01 ACOPOSmicro stepper motor module, X2X Link interface, 24-64 VDC 25% module supply, 1 motor connection,
10 A continuous current, 2 digital inputs 24 VDC, sink, can be used as trigger inputs, 1 digital output 24 VDC,
1 A, order terminal blocks separately.
48
Inverter modules
Product ID Short description on page
80VD100PD.C000-01 ACOPOSmicro servo inverter unit, POWERLINK interface, 2x EnDat 2.2, 24-64 VDC 25% module supply, 2
motor connections, 8 A continuous current, 2 digital inputs 24 VDC, sink, can be used as trigger inputs, 1 digital
output 24 VDC, 1 A, order terminal blocks and encoder buffering battery 80XB120A2.36-00 separately.
55
80VD100PD.C022-01 ACOPOSmicro servo inverter unit, POWERLINK interface, 2x resolver, 24-64 VDC 25% module supply, 2
motor connections, 8 A continuous current, 2 digital inputs 24 VDC, sink, can be used as trigger inputs, 1 digital
output 24 VDC, 1 A, order terminal blocks separately.
58
80VD100PS.C00X-01 ACOPOSmicro servo inverter unit, POWERLINK interface, 1x EnDat 2.2, 24-64 VDC 25% module supply, 1
motor connection, 8 A continuous current, 2 digital inputs 24 VDC, sink, can be used as trigger inputs, 1 digital
output 24 VDC, 1 A, order terminal blocks and encoder buffering battery 80XB120A2.36-00 separately.
61
80VD100PS.C02X-01 ACOPOSmicro servo inverter unit, POWERLINK interface, 1x resolver, 24-64 VDC 25% module supply, 1
motor connection, 8 A continuous current, 2 digital inputs 24 VDC, sink, can be used as trigger inputs, 1 digital
output 24 VDC, 1 A, order terminal blocks separately.
64
Power supply module
Product ID Short description on page
80PS080X3.10-01 Power supply module, input 3x 380-480 VAC 10%, output 13.5 A, 24-80 VDC, output 2 A, 24 VDC, X2X Link
interface, integrated braking chopper, wall mounting, order terminal blocks separately.
71
Technical data Overview
30 ACOPOSmicro User's Manual 1.00
Accessories
Product ID Short description on page
Batteries
80XB120A2.36-00 1x lithium battery 1/2 AA 3.6 V 91
Braking resistor
80XBR0025.010-11 Braking resistor for power supply module 80PS080X3.10-01 2.5 Ohm 100 W 89
80XBR0055.010-11 Braking resistor for ACOPOSmicro 5.5 Ohm 100 W 90
Hoe clamps
80XSC0000.00-01 Accessory for ACOPOSmicro: 1x hose clamp, W 9 mm, D 8-12 mm 91
80XSC0000.00-10 Accessory for ACOPOSmicro: 10x hose clamp, W 9 mm, D 8-12 mm 91
POWERLINK cable
X20CA0E61.0002 POWERLINK connection cable, RJ45 to RJ45, 0.2 m 85
X20CA0E61.0010 POWERLINK connection cable, RJ45 to RJ45, 1.0 m 85
X20CA0E61.0020 POWERLINK connection cable, RJ45 to RJ45, 2.0 m 85
X20CA0E61.0050 POWERLINK connection cable, RJ45 to RJ45, 5.0 m 85
X20CA0E61.0100 POWERLINK connection cable, RJ45 to RJ45, 10.0 m 85
X20CA0E61.0150 POWERLINK connection cable, RJ45 to RJ45, 15.0 m 85
X20CA0E61.0500 POWERLINK connection cable, RJ45 to RJ45, 50.0 m 85
Terminal blocks
0TB1106.8010 Accessory terminal block, 6-pin, screw clamps 1.5 mm, protected against vibration by the screw flange 79
0TB1106.8110 Accessory terminal block, 6-pin, cage clamps 1.5 mm, protected against vibration by the screw flange 79
0TB1110.8010 Accessory terminal block, 10-pin, screw clamps 1.5 mm, protected against vibration by the screw flange 80
0TB1110.8110 Accessory terminal block, 10-pin, cage clamps 1.5 mm, protected against vibration by the screw flange 80
0TB1310.3100 Accessory terminal block, 3x 10-pin, cage clamps 1.5 mm, protected against vibration by the screw flange 80
0TB1310.8110 Accessory terminal block, 3x 10-pin, cage clamps 1.5 mm, protected against vibration by the screw flange,
with labeling and LED
80
0TB2102.4021 Accessory terminal block, 2-pin, AX1, screw clamps 2.5 mm 81
0TB2102.4022 Accessory terminal block, 2-pin, AX2, screw clamps 2.5 mm 81
0TB2102.4121 Accessory terminal block, 2-pin, AX1, cage clamps 2.5 mm 81
0TB2102.4122 Accessory terminal block, 2-pin, AX2, cage clamps 2.5 mm 81
0TB2104.4021 Accessory terminal block, 4-pin, AX1, screw clamps 2.5 mm 81
0TB2104.4022 Accessory terminal block, 4-pin, AX2, screw clamps 2.5 mm 81
0TB2104.4121 Accessory terminal block, 4-pin, AX1, cage clamps 2.5 mm 81
0TB2104.4122 Accessory terminal block, 4-pin, AX2, cage clamps 2.5 mm 81
0TB2105.4021 Accessory terminal block, 5-pin, AX1, screw clamps 2.5 mm 81
0TB2105.4022 Accessory terminal block, 5-pin, AX2, screw clamps 2.5 mm 81
0TB2105.4121 Accessory terminal block, 5-pin, AX1, cage clamps 2.5 mm 81
0TB2105.4122 Accessory terminal block, 5-pin, AX2, cage clamps 2.5 mm 81
0TB2105.9021 Accessory terminal block, 5-pin, DC, screw clamps 2.5 mm 83
0TB2105.9121 Accessory terminal block, 5-pin, DC, cage clamps 2.5 mm 83
X2X Link cables
X20CA0X48.0010 X2X Link device connection cable, one open end, 1.0 m 87
X20CA0X48.0020 X2X Link device connection cable, one open end, 2.0 m 87
X20CA0X48.0050 X2X Link device connection cable, one open end, 5.0 m 87
X20CA0X48.0100 X2X Link device connection cable, one open end, 10.0 m 87
X20CA0X48.0200 X2X Link device connection cable, one open end, 20.0 m 87
X20CA0X68.0003 X2X Link device connection cable, 0.3 m 88
X20CA0X68.0010 X2X Link device connection cable, 1.0 m 88
X20CA0X68.0020 X2X Link device connection cable, 2.0 m 88
X20CA0X68.0050 X2X Link device connection cable, 5.0 m 88
X20CA0X68.0100 X2X Link device connection cable, 10.0 m 88
Technical data Stepper motor modules
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ACOPOSmicro User's Manual 1.00 31
2 Stepper motor modules
Stepper motor modules from the ACOPOSmicro product family are used to control up to two stepper motors. A wide
range of stepper motors can be connected, from 24 to 64 VDC 25% nominal voltage and up to 10 A (15 A peak)
motor current.
By individually adjusting the coil currents, the motor is only operated with the current it actually needs. This makes
it easier to select an appropriate motor and prevents unnecessary heating. Because the latter reduces energy
consumption and thermal load, the effects are positive on the lifespan of the entire system. Individually adjustable
values for holding, nominal and maximum current (boost current) ensure maximum flexibility. The current for the
microsteps is automatically adjusted to the configured current values.
The automatic motor identification system is an enormous help during standstills. Stepper motor modules use
the coil characteristics to identify connected motors, making it possible to detect not only wiring errors, but also
incorrect motor types being used by mistake.
Motor connector: 24 to 64 VDC 25%, 10 A (15 A peak)
Holding, nominal and maximum current (boost current) configured independently of each other
38.5 kHz PWM frequency
Integrated motor detection
256 microsteps
Complete integration in Automation Studio and CNC applications
Ramp function model based on the CANopen communication profile DS402
2.1 Overview
Variants of the ACOPOSmicro stepper motor modules cover a wide range of applications. The following variants
are available:
Model number Motor connections Encoders Additional inputs/outputs
80SD100XD.C044-01 2 2x incremental encoder -
80SD100XD.C04X-13 2 1x incremental encoder 4x digital input 24 V
2x digital output 24 V, 0.5 A
80SD100XD.C0XX-01 2 - -
80SD100XD.C0XX-21 2 - 2x analog input, 10 V, 13-bit
80SD100XS.C04X-01 1 1x incremental encoder -
80SD100XS.C0XX-01 1 - -
Table 6: Overview of available ACOPOSmicro stepper motor module variants
Technical data Stepper motor modules
32 ACOPOSmicro User's Manual 1.00
2.2 80SD100XD.C044-01
2.2.1 Order data
Model number Short description Figure
Stepper motor modules
80SD100XD.C044-01 ACOPOSmicro stepper motor module, X2X Link interface, 2x
24 V incremental encoder, 24-64 VDC 25% module supply, 2
motor connections, 10 A continuous current, 2 digital inputs 24
VDC, sink, can be used as trigger inputs, 1 digital output 24 VDC,
1 A, order terminal blocks separately.
Required accessories
Terminal block sets
80XSD100XD.C0-01A Screw clamp terminal block set for ACOPOSmicro modules
80SD100XD.xxxx-01: 1x 0TB1110.8010, 1x 0TB2105.4021, 1x
0TB2105.4022, 1x 0TB2105.9021
80XSD100XD.C0-01B Cage clamp terminal block set for ACOPOSmicro modules
80SD100XD.xxxx-01: 1x 0TB1110.8110, 1x 0TB2105.4121, 1x
0TB2105.4122, 1x 0TB2105.9121
X2X Link cables
X20CA0X48.0010 X2X Link device connection cable, one open end, 1.0 m
X20CA0X48.0020 X2X Link device connection cable, one open end, 2.0 m
X20CA0X48.0050 X2X Link device connection cable, one open end, 5.0 m
X20CA0X48.0100 X2X Link device connection cable, one open end, 10.0 m
X20CA0X48.0200 X2X Link device connection cable, one open end, 20.0 m
X20CA0X68.0003 X2X Link device connection cable, 0.3 m
X20CA0X68.0010 X2X Link device connection cable, 1.0 m
X20CA0X68.0020 X2X Link device connection cable, 2.0 m
X20CA0X68.0050 X2X Link device connection cable, 5.0 m
X20CA0X68.0100 X2X Link device connection cable, 10.0 m
Optional accessories
Terminal blocks
0TB1310.3100 Accessory terminal block, 3x 10-pin, cage clamps 1.5 mm, pro-
tected against vibration by the screw flange
0TB1310.8110 Accessory terminal block, 3x 10-pin, cage clamps 1.5 mm, pro-
tected against vibration by the screw flange, with labeling and
LED
Table 7: 80SD100XD.C044-01 - Order data
2.2.2 Technical data
Product ID 80SD100XD.C044-01
Short description
Stepper motor module Connection for two stepper motors (each 2-phase bipolar, full bridge)
General information
B&R ID code 0xA781
Status indicators X2X Link, operating state, module status, motor information
Diagnostics
Module run/error Yes, using status LED and software status
Module temperature / Cooling unit temperature Yes, with software status
Motor status Yes, using status LED and software status
X2X Link Yes, with status LED
Electrical isolation
CPU - 24 VDC supply No
CPU - Power supply Yes
CPU - Motor connection Yes
CPU - Digital inputs Yes
CPU - Enable inputs Yes
CPU encoders No
CPU - Motor holding brake No
CPU - X2X Link Yes
Certification
CE Yes
c-UL-us Yes
GOST-R Yes
24 VDC supply
Input voltage 24 VDC 25%
Voltage monitoring Yes
Power consumption
CPU 8.0 W
X2X Link supply 0.0 W (generated internally from the CPU supply)
Reverse polarity protection Yes
Power supply
Input voltage 24 to 64 VDC 25%
Table 8: 80SD100XD.C044-01 - Technical data
Technical data Stepper motor modules
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ACOPOSmicro User's Manual 1.00 33
Product ID 80SD100XD.C044-01
Starting current Max. 10 A
Power consumption
Idle (no motor powered) Max. 0.5 W
Full load See diagram "Dissipated power per axis with current"
Starting current limitation Yes, PTC (min. 9 ), bridged during operation using relay contact
Undervoltage cut-off <18 VDC
Overvoltage cut-off >95 VDC
Voltage measurement Yes
Line protection Must take place externally
Reverse polarity protection Yes
Motor connection
Quantity 2
Nominal voltage 24 to 64 VDC 25%
Nominal current 10 A
Peak
Max. current / motor 15 A
Peak
(2 s)
Max. current / module 30 A
Peak
Max. motor line length 25 m
Controller frequency 38.5 kHz
Step resolution 256 micro-steps per full-step
DC bus capacitance 940 F
Motor holding brake connection
Quantity 1
Nominal voltage 24 VDC
Input voltage 24 VDC 25%
Continuous current 1 A
Max. internal resistance 0.32
Max. switching frequency 100 Hz
Protective measures
Overload and short circuit protection Yes
Cable breakage monitoring No
Undervoltage monitoring Yes
Max. overcurrent limitation 8 A
Response threshold for undervoltage monitoring 18 VDC +0% / -10%
Reference potential GND for module supply (terminal X2, pin 10)
Incremental Encoders
Quantity 2
Encoder inputs 24 V, asymmetrical
Counter size 16-bit
Input frequency Max. 100 kHz
Evaluation 4x
Encoder supply Module-internal, max. 2 x 40 mA
Signal form Square wave pulse
Counter frequency 200 kHz
Input current at nominal voltage Typ. 4 mA
Encoder supply output 24 VDC (from the 24 V CPU supply)
Protection of the encoder supply output Short-circuit and overload protection via PTC
Important: 1 PTC for both encoder channels
(see "X6 - Input circuit diagram for incremental encoder")
Switching threshold
Low <5 V
High >15 V
Enable inputs
Quantity 1
Nominal voltage 24 VDC
Input voltage 24 VDC 25%
Input current at rated voltage Typ. 60 mA
Input circuit Sink
Switching threshold
Low <5 V
High >15 V
Isolation voltage between input and bus 500 V
eff
Digital inputs / trigger inputs
Quantity 2
Can be used as trigger input 2
Nominal voltage 24 VDC
Input voltage 24 VDC 25%
Input current at nominal voltage Typ. 10 mA
Input filter
Hardware <10 s
Input circuit Sink
Input resistance Typ. 2.2 k
Table 8: 80SD100XD.C044-01 - Technical data
Technical data Stepper motor modules
34 ACOPOSmicro User's Manual 1.00
Product ID 80SD100XD.C044-01
Switching threshold
Low <5 V
High >15 V
Isolation voltage between input and bus 500 V
eff
Interfaces
X2X
Design 4-pin plug
Min. X2X Link cycle time 250 s
Operating conditions
Mounting orientation
Vertical Yes
Installation at altitudes above sea level
0 to 2000 m No derating
>2000 m Reduction of ambient temperature by 0,5C per 100 m
Degree of pollution in accordance with EN 60664-1 2 (non-conductive pollution)
Protection in accordance with EN 60529 IP20
Environmental conditions
Temperature
Operation 0 to 45C
Storage -25 to 55C
Transport -25 to 55C
Relative humidity
Operation 5 to 85%, non-condensing
Storage 5 to 95%, non-condensing
Transport 5 to 95%, non-condensing
Mechanical characteristics
Note Please order terminal block and X2X Link cable separately.
Mounting / cooling Screw mounting with heat spreader on mounting plate or cold plate
Dimensions
1)
Width 65 mm
Height 134 mm
Depth 95 mm
Weight 650 g
Backplane Always mount on conductive and grounded backplane
Table 8: 80SD100XD.C044-01 - Technical data
1) No heat spreader
Technical data Stepper motor modules
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ACOPOSmicro User's Manual 1.00 35
2.3 80SD100XD.C04X-13
2.3.1 Order data
Model number Short description Figure
Stepper motor modules
80SD100XD.C04X-13 ACOPOSmicro stepper motor module, X2X Link interface, 1x
24 V incremental encoder, 24-64 VDC 25% module supply, 2
motor connections, 10 A continuous current, 2 digital inputs 24
VDC, sink, can be used as trigger inputs, 1 digital output 24 VDC,
1 A, 4 digital inputs 24 VDC, sink, can be configured as incre-
mental encoders, 2 digital outputs 24 VDC, 0.5 A, order terminal
blocks separately.
Required accessories
Terminal block sets
80XSD100XD.C0-13A Screw clamp terminal block set for ACOPOSmicro modules
80SD100XD.xxxx-13: 1x 0TB1110.8010, 1x 0TB1106.8010, 1x
0TB2105.4021, 1x 0TB2105.4022, 1x 0TB2105.9021
80XSD100XD.C0-13B Cage clamp terminal block set for ACOPOSmicro modules
80SD100XD.xxxx-13: 1x 0TB1110.8110, 1x 0TB1106.8110, 1x
0TB2105.4121, 1x 0TB2105.4122, 1x 0TB2105.9121
X2X Link cables
X20CA0X48.0010 X2X Link device connection cable, one open end, 1.0 m
X20CA0X48.0020 X2X Link device connection cable, one open end, 2.0 m
X20CA0X48.0050 X2X Link device connection cable, one open end, 5.0 m
X20CA0X48.0100 X2X Link device connection cable, one open end, 10.0 m
X20CA0X48.0200 X2X Link device connection cable, one open end, 20.0 m
X20CA0X68.0003 X2X Link device connection cable, 0.3 m
X20CA0X68.0010 X2X Link device connection cable, 1.0 m
X20CA0X68.0020 X2X Link device connection cable, 2.0 m
X20CA0X68.0050 X2X Link device connection cable, 5.0 m
X20CA0X68.0100 X2X Link device connection cable, 10.0 m
Optional accessories
Terminal blocks
0TB1310.3100 Accessory terminal block, 3x 10-pin, cage clamps 1.5 mm, pro-
tected against vibration by the screw flange
0TB1310.8110 Accessory terminal block, 3x 10-pin, cage clamps 1.5 mm, pro-
tected against vibration by the screw flange, with labeling and
LED
Table 9: 80SD100XD.C04X-13 - Order data
2.3.2 Technical data
Product ID 80SD100XD.C04X-13
Short description
Stepper motor module Connection for two stepper motors (each 2-phase bipolar, full bridge)
General information
B&R ID code 0xA78D
Status indicators X2X Link, operating state, module status, motor information
Diagnostics
Module run/error Yes, using status LED and software status
Module temperature / Cooling unit temperature Yes, with software status
Motor status Yes, using status LED and software status
X2X Link Yes, with status LED
Electrical isolation
CPU - 24 VDC supply No
CPU - Power supply Yes
CPU - Motor connection Yes
CPU - Digital inputs Yes
CPU - Enable inputs Yes
CPU - Optional inputs/outputs No
CPU encoders No
CPU - Motor holding brake No
CPU - X2X Link Yes
Certification
CE Yes
c-UL-us Yes
GOST-R Yes
24 VDC supply
Input voltage 24 VDC 25%
Voltage monitoring Yes
Power consumption
CPU 7.0 W
X2X Link supply 0.0 W (generated internally from the CPU supply)
Reverse polarity protection Yes
Table 10: 80SD100XD.C04X-13 - Technical data
Technical data Stepper motor modules
36 ACOPOSmicro User's Manual 1.00
Product ID 80SD100XD.C04X-13
Power supply
Input voltage 24 to 64 VDC 25%
Starting current Max. 10 A
Power consumption
Idle (no motor powered) Max. 0.5 W
Full load See diagram "Dissipated power per axis with current"
Starting current limitation Yes, PTC (min. 9 ), bridged during operation using relay contact
Undervoltage cut-off <18 VDC
Overvoltage cut-off >95 VDC
Voltage measurement Yes
Line protection Must take place externally
Reverse polarity protection Yes
Motor connection
Quantity 2
Nominal voltage 24 to 64 VDC 25%
Nominal current 10 A
Peak
Max. current / motor 15 A
Peak
(2 s)
Max. current / module 30 A
Peak
Max. motor line length 25 m
Controller frequency 38.5 kHz
Step resolution 256 micro-steps per full-step
DC bus capacitance 940 F
Motor holding brake connection
Quantity 1
Nominal voltage 24 VDC
Input voltage 24 VDC 25%
Continuous current 1 A
Max. internal resistance 0.32
Max. switching frequency 100 Hz
Protective measures
Overload and short circuit protection Yes
Cable breakage monitoring No
Undervoltage monitoring Yes
Max. overcurrent limitation 8 A
Response threshold for undervoltage monitoring 18 VDC +0% / -10%
Reference potential GND for module supply (terminal X2, pin 10)
Incremental Encoders
Quantity 1
Encoder inputs 24 V, asymmetrical
Counter size 16-bit
Input frequency Max. 100 kHz
Evaluation 4x
Encoder supply Module-internal, max. 40 mA
Signal form Square wave pulse
Counter frequency 200 kHz
Input current at nominal voltage Typ. 4 mA
Encoder supply output 24 VDC (from the 24 V CPU supply)
Protection of the encoder supply output Short-circuit and overload protection via PTC
Important: 1 PTC for both encoder channels
(see "X6 - Input circuit diagram for incremental encoder")
Switching threshold
Low <5 V
High >15 V
Enable inputs
Quantity 1
Nominal voltage 24 VDC
Input voltage 24 VDC 25%
Input current at rated voltage Typ. 60 mA
Input circuit Sink
Switching threshold
Low <5 V
High >15 V
Isolation voltage between input and bus 500 V
eff
Digital inputs / trigger inputs
Quantity 2
Can be used as trigger input 2
Nominal voltage 24 VDC
Input voltage 24 VDC 25%
Input current at nominal voltage Typ. 10 mA
Input filter
Hardware <10 s
Input circuit Sink
Input resistance Typ. 2.2 k
Table 10: 80SD100XD.C04X-13 - Technical data
Technical data Stepper motor modules
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ACOPOSmicro User's Manual 1.00 37
Product ID 80SD100XD.C04X-13
Switching threshold
Low <5 V
High >15 V
Isolation voltage between input and bus 500 V
eff
Digital inputs (option board)
Quantity 4
Nominal voltage 24 VDC
Input voltage 24 VDC 25%
Input current at rated voltage Typ. 3.1 mA
Input filter
Hardware <5 s
Software -
Input circuit Sink
Additional functions Incremental encoder, event counter, period length or gate measurement
Input resistance Typ. 7.8 k
Switching threshold
Low <5 V
High >15 V
Isolation voltage between input and bus 500 V
eff
Incremental encoder (option board)
Counter size 16-bit
Input frequency Max. 25 kHz
Evaluation 4x
Event counter (option board)
Quantity 1
Signal form Square wave pulse
Input frequency Max. 50 kHz
Counter size 16-bit
Evaluation Configurable
Gate measurement (option board)
Quantity 1
Signal form Square wave pulse
Evaluation Configurable
Pulse length 10 s
Length of pauses between pulses 10 s
Counter frequency Configurable
Counter size 16-bit
Digital outputs on (option board)
Quantity 2
Nominal voltage 24 VDC
Switching voltage 24 VDC 25%
Nominal output current 0.5 A
Total rated current 1 A
Connection type 1-wire connections
Output wiring Source
Output protection Thermal cutoff for overcurrent or short circuit
Design High-side FET positive switching
Switching delay
0 -> 1 Max. 250 s
1 -> 0 Max. 270 s
Switching frequency
Resistive load 100 Hz
Inductive load See section "Switching inductive loads".
Braking voltage when switching off inductive loads 47 V
Supply voltage From the 24 VDC module supply
Continuous current per output 0.5 A
Continuous current of all outputs 1.0 A
Switching on after overload cutoff Typ. 10 ms (depends on the module temperature)
Interfaces
X2X
Design 4-pin plug
Min. X2X Link cycle time 250 s
Operating conditions
Mounting orientation
Vertical Yes
Installation at altitudes above sea level
0 to 2000 m No derating
>2000 m Reduction of ambient temperature by 0,5C per 100 m
Degree of pollution in accordance with EN 60664-1 2 (non-conductive pollution)
Protection in accordance with EN 60529 IP20
Table 10: 80SD100XD.C04X-13 - Technical data
Technical data Stepper motor modules
38 ACOPOSmicro User's Manual 1.00
Product ID 80SD100XD.C04X-13
Environmental conditions
Temperature
Operation 0 to 45C
Storage -25 to 55C
Transport -25 to 55C
Relative humidity
Operation 5 to 85%, non-condensing
Storage 5 to 95%, non-condensing
Transport 5 to 95%, non-condensing
Mechanical characteristics
Note Please order terminal block and X2X Link cable separately.
Mounting / cooling Screw mounting with heat spreader on mounting plate or cold plate
Dimensions
1)
Width 65 mm
Height 134 mm
Depth 95 mm
Weight 700 g
Backplane Always mount on conductive and grounded backplane
Table 10: 80SD100XD.C04X-13 - Technical data
1) No heat spreader
Technical data Stepper motor modules
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ACOPOSmicro User's Manual 1.00 39
2.4 80SD100XD.C0XX-01
2.4.1 Order data
Model number Short description Figure
Stepper motor modules
80SD100XD.C0XX-01 ACOPOSmicro stepper motor module, X2X Link interface, 24-64
VDC 25% module supply, 2 motor connections, 10 A continu-
ous current, 2 digital inputs 24 VDC, sink, can be used as trig-
ger inputs, 1 digital output 24 VDC, 1 A, order terminal blocks
separately.
Required accessories
Terminal block sets
80XSD100XD.C0-01A Screw clamp terminal block set for ACOPOSmicro modules
80SD100XD.xxxx-01: 1x 0TB1110.8010, 1x 0TB2105.4021, 1x
0TB2105.4022, 1x 0TB2105.9021
80XSD100XD.C0-01B Cage clamp terminal block set for ACOPOSmicro modules
80SD100XD.xxxx-01: 1x 0TB1110.8110, 1x 0TB2105.4121, 1x
0TB2105.4122, 1x 0TB2105.9121
X2X Link cables
X20CA0X48.0010 X2X Link device connection cable, one open end, 1.0 m
X20CA0X48.0020 X2X Link device connection cable, one open end, 2.0 m
X20CA0X48.0050 X2X Link device connection cable, one open end, 5.0 m
X20CA0X48.0100 X2X Link device connection cable, one open end, 10.0 m
X20CA0X48.0200 X2X Link device connection cable, one open end, 20.0 m
X20CA0X68.0003 X2X Link device connection cable, 0.3 m
X20CA0X68.0010 X2X Link device connection cable, 1.0 m
X20CA0X68.0020 X2X Link device connection cable, 2.0 m
X20CA0X68.0050 X2X Link device connection cable, 5.0 m
X20CA0X68.0100 X2X Link device connection cable, 10.0 m
Optional accessories
Terminal blocks
0TB1310.3100 Accessory terminal block, 3x 10-pin, cage clamps 1.5 mm, pro-
tected against vibration by the screw flange
0TB1310.8110 Accessory terminal block, 3x 10-pin, cage clamps 1.5 mm, pro-
tected against vibration by the screw flange, with labeling and
LED
Table 11: 80SD100XD.C0XX-01 - Order data
2.4.2 Technical data
Product ID 80SD100XD.C0XX-01
Short description
Stepper motor module Connection for two stepper motors (each 2-phase bipolar, full bridge)
General information
B&R ID code 0xA4A4
Status indicators X2X Link, operating state, module status, motor information
Diagnostics
Module run/error Yes, using status LED and software status
Module temperature / Cooling unit temperature Yes, with software status
Motor status Yes, using status LED and software status
X2X Link Yes, with status LED
Electrical isolation
CPU - 24 VDC supply No
CPU - Power supply Yes
CPU - Motor connection Yes
CPU - Digital inputs Yes
CPU - Enable inputs Yes
CPU - Motor holding brake No
CPU - X2X Link Yes
Certification
CE Yes
c-UL-us Yes
GOST-R Yes
24 VDC supply
Input voltage 24 VDC 25%
Voltage monitoring Yes
Power consumption
CPU 6.0 W
X2X Link supply 0.0 W (generated internally from the CPU supply)
Reverse polarity protection Yes
Power supply
Input voltage 24 to 64 VDC 25%
Starting current Max. 10 A
Table 12: 80SD100XD.C0XX-01 - Technical data
Technical data Stepper motor modules
40 ACOPOSmicro User's Manual 1.00
Product ID 80SD100XD.C0XX-01
Power consumption
Idle (no motor powered) Max. 0.5 W
Full load See diagram "Dissipated power per axis with current"
Starting current limitation Yes, PTC (min. 9 ), bridged during operation using relay contact
Undervoltage cut-off <18 VDC
Overvoltage cut-off >95 VDC
Voltage measurement Yes
Line protection Must take place externally
Reverse polarity protection Yes
Motor connection
Quantity 2
Nominal voltage 24 to 64 VDC 25%
Nominal current 10 A
Peak
Max. current / motor 15 A
Peak
(2 s)
Max. current / module 30 A
Peak
Max. motor line length 25 m
Controller frequency 38.5 kHz
Step resolution 256 micro-steps per full-step
DC bus capacitance 940 F
Motor holding brake connection
Quantity 1
Nominal voltage 24 VDC
Input voltage 24 VDC 25%
Continuous current 1 A
Max. internal resistance 0.32
Max. switching frequency 100 Hz
Protective measures
Overload and short circuit protection Yes
Cable breakage monitoring No
Undervoltage monitoring Yes
Max. overcurrent limitation 8 A
Response threshold for undervoltage monitoring 18 VDC +0% / -10%
Reference potential GND for module supply (terminal X2, pin 10)
Enable inputs
Quantity 1
Nominal voltage 24 VDC
Input voltage 24 VDC 25%
Input current at rated voltage Typ. 60 mA
Input circuit Sink
Switching threshold
Low <5 V
High >15 V
Isolation voltage between input and bus 500 V
eff
Digital inputs / trigger inputs
Quantity 2
Can be used as trigger input 2
Nominal voltage 24 VDC
Input voltage 24 VDC 25%
Input current at nominal voltage Typ. 10 mA
Input filter
Hardware <10 s
Input circuit Sink
Input resistance Typ. 2.2 k
Switching threshold
Low <5 V
High >15 V
Isolation voltage between input and bus 500 V
eff
Interfaces
X2X
Design 4-pin plug
Min. X2X Link cycle time 250 s
Operating conditions
Mounting orientation
Vertical Yes
Installation at altitudes above sea level
0 to 2000 m No derating
>2000 m Reduction of ambient temperature by 0,5C per 100 m
Degree of pollution in accordance with EN 60664-1 2 (non-conductive pollution)
Protection in accordance with EN 60529 IP20
Table 12: 80SD100XD.C0XX-01 - Technical data
Technical data Stepper motor modules
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ACOPOSmicro User's Manual 1.00 41
Product ID 80SD100XD.C0XX-01
Environmental conditions
Temperature
Operation 0 to 45C
Storage -25 to 55C
Transport -25 to 55C
Relative humidity
Operation 5 to 85%, non-condensing
Storage 5 to 95%, non-condensing
Transport 5 to 95%, non-condensing
Mechanical characteristics
Note Please order terminal block and X2X Link cable separately.
Mounting / cooling Screw mounting with heat spreader on mounting plate or cold plate
Dimensions
1)
Width 65 mm
Height 134 mm
Depth 95 mm
Weight 655 g
Backplane Always mount on conductive and grounded backplane
Table 12: 80SD100XD.C0XX-01 - Technical data
1) No heat spreader
Technical data Stepper motor modules
42 ACOPOSmicro User's Manual 1.00
2.5 80SD100XD.C0XX-21
2.5.1 Order data
Model number Short description Figure
Stepper motor modules
80SD100XD.C0XX-21 ACOPOSmicro stepper motor module, X2X Link interface, 24-64
VDC 25% module supply, 2 motor connections, 10 A continu-
ous current, 2 digital inputs 24 VDC, sink, can be used as trigger
inputs, 1 digital output 24 VDC, 1 A, 2 analog inputs 10 V, 13-
bit, order terminal blocks separately.
Required accessories
Terminal block sets
80XSD100XD.C0-21A Screw clamp terminal block set for ACOPOSmicro modules
80SD100XD.xxxx-21: 1x 0TB1110.8010, 1x 0TB1106.8010, 1x
0TB2105.4021, 1x 0TB2105.4022, 1x 0TB2105.9021
80XSD100XD.C0-21B Cage clamp terminal block set for ACOPOSmicro modules
80SD100XD.xxxx-21: 1x 0TB1110.8110, 1x 0TB1106.8110, 1x
0TB2105.4121, 1x 0TB2105.4122, 1x 0TB2105.9121
X2X Link cables
X20CA0X48.0010 X2X Link device connection cable, one open end, 1.0 m
X20CA0X48.0020 X2X Link device connection cable, one open end, 2.0 m
X20CA0X48.0050 X2X Link device connection cable, one open end, 5.0 m
X20CA0X48.0100 X2X Link device connection cable, one open end, 10.0 m
X20CA0X48.0200 X2X Link device connection cable, one open end, 20.0 m
X20CA0X68.0003 X2X Link device connection cable, 0.3 m
X20CA0X68.0010 X2X Link device connection cable, 1.0 m
X20CA0X68.0020 X2X Link device connection cable, 2.0 m
X20CA0X68.0050 X2X Link device connection cable, 5.0 m
X20CA0X68.0100 X2X Link device connection cable, 10.0 m
Optional accessories
Terminal blocks
0TB1310.3100 Accessory terminal block, 3x 10-pin, cage clamps 1.5 mm, pro-
tected against vibration by the screw flange
0TB1310.8110 Accessory terminal block, 3x 10-pin, cage clamps 1.5 mm, pro-
tected against vibration by the screw flange, with labeling and
LED
Table 13: 80SD100XD.C0XX-21 - Order data
2.5.2 Technical data
Product ID 80SD100XD.C0XX-21
Short description
Stepper motor module Connection for two stepper motors (each 2-phase bipolar, full bridge)
General information
B&R ID code 0xA78E
Status indicators X2X Link, operating state, module status, motor information
Diagnostics
Module run/error Yes, using status LED and software status
Module temperature / Cooling unit temperature Yes, with software status
Motor status Yes, using status LED and software status
X2X Link Yes, with status LED
Electrical isolation
CPU - 24 VDC supply No
CPU - Power supply Yes
CPU - Motor connection Yes
CPU - Digital inputs Yes
CPU - Enable inputs Yes
CPU - Optional inputs/outputs No
CPU - Motor holding brake No
CPU - X2X Link Yes
Certification
CE Yes
c-UL-us Yes
GOST-R Yes
24 VDC supply
Input voltage 24 VDC 25%
Voltage monitoring Yes
Power consumption
CPU 6.0 W
X2X Link supply 0.0 W (generated internally from the CPU supply)
Reverse polarity protection Yes
Power supply
Input voltage 24 to 64 VDC 25%
Table 14: 80SD100XD.C0XX-21 - Technical data
Technical data Stepper motor modules
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ACOPOSmicro User's Manual 1.00 43
Product ID 80SD100XD.C0XX-21
Starting current Max. 10 A
Power consumption
Idle (no motor powered) Max. 0.5 W
Full load See diagram "Dissipated power per axis with current"
Starting current limitation Yes, PTC (min. 9 ), bridged during operation using relay contact
Undervoltage cut-off <18 VDC
Overvoltage cut-off >95 VDC
Voltage measurement Yes
Line protection Must take place externally
Reverse polarity protection Yes
Motor connection
Quantity 2
Nominal voltage 24 to 64 VDC 25%
Nominal current 10 A
Peak
Max. current / motor 15 A
Peak
(2 s)
Max. current / module 30 A
Peak
Max. motor line length 25 m
Controller frequency 38.5 kHz
Step resolution 256 micro-steps per full-step
DC bus capacitance 940 F
Motor holding brake connection
Quantity 1
Nominal voltage 24 VDC
Input voltage 24 VDC 25%
Continuous current 1 A
Max. internal resistance 0.32
Max. switching frequency 100 Hz
Protective measures
Overload and short circuit protection Yes
Cable breakage monitoring No
Undervoltage monitoring Yes
Max. overcurrent limitation 8 A
Response threshold for undervoltage monitoring 18 VDC +0% / -10%
Reference potential GND for module supply (terminal X2, pin 10)
Enable inputs
Quantity 1
Nominal voltage 24 VDC
Input voltage 24 VDC 25%
Input current at rated voltage Typ. 60 mA
Input circuit Sink
Switching threshold
Low <5 V
High >15 V
Isolation voltage between input and bus 500 V
eff
Digital inputs / trigger inputs
Quantity 2
Can be used as trigger input 2
Nominal voltage 24 VDC
Input voltage 24 VDC 25%
Input current at nominal voltage Typ. 10 mA
Input filter
Hardware <10 s
Input circuit Sink
Input resistance Typ. 2.2 k
Switching threshold
Low <5 V
High >15 V
Isolation voltage between input and bus 500 V
eff
Analog inputs (option board)
Quantity 2
Input signal 10 V
Input type Differential input
Digital converter resolution 13-bit
Conversion time 50 s for all channels
Output format
Data type INT
Voltage 0x8001 - 0x7FFF / 1 LSB = 0x0001 = 305.176 V
Input impedance in signal range 20 M
Input protection Protection against wiring with CPU supply voltage
Permitted input signal Max. 30 V
Output of the digital value during overload
Above upper limit 0x7FFF
Below lower limit 0x8001
Table 14: 80SD100XD.C0XX-21 - Technical data
Technical data Stepper motor modules
44 ACOPOSmicro User's Manual 1.00
Product ID 80SD100XD.C0XX-21
Conversion method SAR
Input filter
Hardware 3rd-order low pass, cut-off frequency 10 kHz
Common-mode rejection
DC 70 dB
50 Hz 70 dB
Common-mode range 12 V
Interfaces
X2X
Design 4-pin plug
Min. X2X Link cycle time 250 s
Operating conditions
Mounting orientation
Vertical Yes
Installation at altitudes above sea level
0 to 2000 m No derating
>2000 m Reduction of ambient temperature by 0,5C per 100 m
Degree of pollution in accordance with EN 60664-1 2 (non-conductive pollution)
Protection in accordance with EN 60529 IP20
Environmental conditions
Temperature
Operation 0 to 45C
Storage -25 to 55C
Transport -25 to 55C
Relative humidity
Operation 5 to 85%, non-condensing
Storage 5 to 95%, non-condensing
Transport 5 to 95%, non-condensing
Mechanical characteristics
Note Please order terminal block and X2X Link cable separately.
Mounting / cooling Screw mounting with heat spreader on mounting plate or cold plate
Dimensions
1)
Width 65 mm
Height 134 mm
Depth 95 mm
Weight 650 g
Backplane Always mount on conductive and grounded backplane
Table 14: 80SD100XD.C0XX-21 - Technical data
1) No heat spreader
Technical data Stepper motor modules
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ACOPOSmicro User's Manual 1.00 45
2.6 80SD100XS.C04X-01
2.6.1 Order data
Model number Short description Figure
Stepper motor modules
80SD100XS.C04X-01 ACOPOSmicro stepper motor module, X2X Link interface, 1x
24 V incremental encoder, 24-64 VDC 25% module supply, 1
motor connection, 10 A continuous current, 2 digital inputs 24
VDC, sink, can be used as trigger inputs, 1 digital output 24 VDC,
1 A, order terminal blocks separately.
Required accessories
Terminal block sets
80XSD100XS.C0-01A Screw clamp terminal block set for ACOPOSmicro modules
80SD100XS.xxxx-01: 1x 0TB1110.8010, 1x 0TB2105.4021, 1x
0TB2105.9021
80XSD100XS.C0-01B Cage clamp terminal block set for ACOPOSmicro modules
80SD100XS.xxxx-01: 1x 0TB1110.8110, 1x 0TB2105.4121, 1x
0TB2105.9121
X2X Link cables
X20CA0X48.0010 X2X Link device connection cable, one open end, 1.0 m
X20CA0X48.0020 X2X Link device connection cable, one open end, 2.0 m
X20CA0X48.0050 X2X Link device connection cable, one open end, 5.0 m
X20CA0X48.0100 X2X Link device connection cable, one open end, 10.0 m
X20CA0X48.0200 X2X Link device connection cable, one open end, 20.0 m
X20CA0X68.0003 X2X Link device connection cable, 0.3 m
X20CA0X68.0010 X2X Link device connection cable, 1.0 m
X20CA0X68.0020 X2X Link device connection cable, 2.0 m
X20CA0X68.0050 X2X Link device connection cable, 5.0 m
X20CA0X68.0100 X2X Link device connection cable, 10.0 m
Optional accessories
Terminal blocks
0TB1310.3100 Accessory terminal block, 3x 10-pin, cage clamps 1.5 mm, pro-
tected against vibration by the screw flange
0TB1310.8110 Accessory terminal block, 3x 10-pin, cage clamps 1.5 mm, pro-
tected against vibration by the screw flange, with labeling and
LED
Table 15: 80SD100XS.C04X-01 - Order data
2.6.2 Technical data
Product ID 80SD100XS.C04X-01
Short description
Stepper motor module Connection for one stepper motor (2-phase bipolar, full bridge)
General information
B&R ID code 0xA780
Status indicators X2X Link, operating state, module status, motor information
Diagnostics
Module run/error Yes, using status LED and software status
Module temperature / Cooling unit temperature Yes, with software status
Motor status Yes, using status LED and software status
X2X Link Yes, with status LED
Electrical isolation
CPU - 24 VDC supply No
CPU - Power supply Yes
CPU - Motor connection Yes
CPU - Digital inputs Yes
CPU - Enable inputs Yes
CPU encoders No
CPU - Motor holding brake No
CPU - X2X Link Yes
Certification
CE Yes
c-UL-us Yes
GOST-R Yes
24 VDC supply
Input voltage 24 VDC 25%
Voltage monitoring Yes
Power consumption
CPU 7.0 W
X2X Link supply 0.0 W (generated internally from the CPU supply)
Reverse polarity protection Yes
Power supply
Input voltage 24 to 64 VDC 25%
Table 16: 80SD100XS.C04X-01 - Technical data
Technical data Stepper motor modules
46 ACOPOSmicro User's Manual 1.00
Product ID 80SD100XS.C04X-01
Starting current Max. 10 A
Power consumption
Idle (no motor powered) Max. 0.5 W
Full load See diagram "Dissipated power per axis with current"
Starting current limitation Yes, PTC (min. 9 ), bridged during operation using relay contact
Undervoltage cut-off <18 VDC
Overvoltage cut-off >95 VDC
Voltage measurement Yes
Line protection Must take place externally
Reverse polarity protection Yes
Motor connection
Quantity 1
Nominal voltage 24 to 64 VDC 25%
Nominal current 10 A
Peak
Max. current / motor 15 A
Peak
(2 s)
Max. current / module 15 A
Peak
Max. motor line length 25 m
Controller frequency 38.5 kHz
Step resolution 256 micro-steps per full-step
DC bus capacitance 940 F
Motor holding brake connection
Quantity 1
Nominal voltage 24 VDC
Input voltage 24 VDC 25%
Continuous current 1 A
Max. internal resistance 0.32
Max. switching frequency 100 Hz
Protective measures
Overload and short circuit protection Yes
Cable breakage monitoring No
Undervoltage monitoring Yes
Max. overcurrent limitation 8 A
Response threshold for undervoltage monitoring 18 VDC +0% / -10%
Reference potential GND for module supply (terminal X2, pin 10)
Incremental Encoders
Quantity 1
Encoder inputs 24 V, asymmetrical
Counter size 16-bit
Input frequency Max. 100 kHz
Evaluation 4x
Encoder supply Module-internal, max. 40 mA
Signal form Square wave pulse
Counter frequency 200 kHz
Input current at nominal voltage Typ. 4 mA
Encoder supply output 24 VDC (from the 24 V CPU supply)
Protection of the encoder supply output Short-circuit and overload protection via PTC
Important: 1 PTC for both encoder channels
(see "X6 - Input circuit diagram for incremental encoder")
Switching threshold
Low <5 V
High >15 V
Enable inputs
Quantity 1
Nominal voltage 24 VDC
Input voltage 24 VDC 25%
Input current at rated voltage Typ. 60 mA
Input circuit Sink
Switching threshold
Low <5 V
High >15 V
Isolation voltage between input and bus 500 V
eff
Digital inputs / trigger inputs
Quantity 2
Can be used as trigger input 1
Nominal voltage 24 VDC
Input voltage 24 VDC 25%
Input current at nominal voltage Typ. 10 mA
Input filter
Hardware <10 s
Input circuit Sink
Input resistance Typ. 2.2 k
Table 16: 80SD100XS.C04X-01 - Technical data
Technical data Stepper motor modules
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ACOPOSmicro User's Manual 1.00 47
Product ID 80SD100XS.C04X-01
Switching threshold
Low <5 V
High >15 V
Isolation voltage between input and bus 500 V
eff
Interfaces
X2X
Design 4-pin plug
Min. X2X Link cycle time 250 s
Operating conditions
Mounting orientation
Vertical Yes
Installation at altitudes above sea level
0 to 2000 m No derating
>2000 m Reduction of ambient temperature by 0,5C per 100 m
Degree of pollution in accordance with EN 60664-1 2 (non-conductive pollution)
Protection in accordance with EN 60529 IP20
Environmental conditions
Temperature
Operation 0 to 45C
Storage -25 to 55C
Transport -25 to 55C
Relative humidity
Operation 5 to 85%, non-condensing
Storage 5 to 95%, non-condensing
Transport 5 to 95%, non-condensing
Mechanical characteristics
Note Please order terminal block and X2X Link cable separately.
Mounting / cooling Screw mounting with heat spreader on mounting plate or cold plate
Dimensions
1)
Width 65 mm
Height 134 mm
Depth 95 mm
Weight 700 g
Backplane Always mount on conductive and grounded backplane
Table 16: 80SD100XS.C04X-01 - Technical data
1) No heat spreader
Technical data Stepper motor modules
48 ACOPOSmicro User's Manual 1.00
2.7 80SD100XS.C0XX-01
2.7.1 Order data
Model number Short description Figure
Stepper motor modules
80SD100XS.C0XX-01 ACOPOSmicro stepper motor module, X2X Link interface, 24-64
VDC 25% module supply, 1 motor connection, 10 A continu-
ous current, 2 digital inputs 24 VDC, sink, can be used as trig-
ger inputs, 1 digital output 24 VDC, 1 A, order terminal blocks
separately.
Required accessories
Terminal block sets
80XSD100XS.C0-01A Screw clamp terminal block set for ACOPOSmicro modules
80SD100XS.xxxx-01: 1x 0TB1110.8010, 1x 0TB2105.4021, 1x
0TB2105.9021
80XSD100XS.C0-01B Cage clamp terminal block set for ACOPOSmicro modules
80SD100XS.xxxx-01: 1x 0TB1110.8110, 1x 0TB2105.4121, 1x
0TB2105.9121
X2X Link cables
X20CA0X48.0010 X2X Link device connection cable, one open end, 1.0 m
X20CA0X48.0020 X2X Link device connection cable, one open end, 2.0 m
X20CA0X48.0050 X2X Link device connection cable, one open end, 5.0 m
X20CA0X48.0100 X2X Link device connection cable, one open end, 10.0 m
X20CA0X48.0200 X2X Link device connection cable, one open end, 20.0 m
X20CA0X68.0003 X2X Link device connection cable, 0.3 m
X20CA0X68.0010 X2X Link device connection cable, 1.0 m
X20CA0X68.0020 X2X Link device connection cable, 2.0 m
X20CA0X68.0050 X2X Link device connection cable, 5.0 m
X20CA0X68.0100 X2X Link device connection cable, 10.0 m
Optional accessories
Terminal blocks
0TB1310.3100 Accessory terminal block, 3x 10-pin, cage clamps 1.5 mm, pro-
tected against vibration by the screw flange
0TB1310.8110 Accessory terminal block, 3x 10-pin, cage clamps 1.5 mm, pro-
tected against vibration by the screw flange, with labeling and
LED
Table 17: 80SD100XS.C0XX-01 - Order data
2.7.2 Technical data
Product ID 80SD100XS.C0XX-01
Short description
Stepper motor module Connection for one stepper motor (2-phase bipolar, full bridge)
General information
B&R ID code 0xA5AE
Status indicators X2X Link, operating state, module status, motor information
Diagnostics
Module run/error Yes, using status LED and software status
Module temperature / Cooling unit temperature Yes, with software status
Motor status Yes, using status LED and software status
X2X Link Yes, with status LED
Electrical isolation
CPU - 24 VDC supply No
CPU - Power supply Yes
CPU - Motor connection Yes
CPU - Digital inputs Yes
CPU - Enable inputs Yes
CPU - Motor holding brake No
CPU - X2X Link Yes
Certification
CE Yes
c-UL-us Yes
GOST-R Yes
24 VDC supply
Input voltage 24 VDC 25%
Voltage monitoring Yes
Power consumption
CPU 6.0 W
X2X Link supply 0.0 W (generated internally from the CPU supply)
Reverse polarity protection Yes
Power supply
Input voltage 24 to 64 VDC 25%
Starting current Max. 10 A
Table 18: 80SD100XS.C0XX-01 - Technical data
Technical data Stepper motor modules
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ACOPOSmicro User's Manual 1.00 49
Product ID 80SD100XS.C0XX-01
Power consumption
Idle (no motor powered) Max. 0.5 W
Full load See diagram "Dissipated power per axis with current"
Starting current limitation Yes, PTC (min. 9 ), bridged during operation using relay contact
Undervoltage cut-off <18 VDC
Overvoltage cut-off >95 VDC
Voltage measurement Yes
Line protection Must take place externally
Reverse polarity protection Yes
Motor connection
Quantity 1
Nominal voltage 24 to 64 VDC 25%
Nominal current 10 A
Peak
Max. current / motor 15 A
Peak
(2 s)
Max. current / module 15 A
Peak
Max. motor line length 25 m
Controller frequency 38.5 kHz
Step resolution 256 micro-steps per full-step
DC bus capacitance 940 F
Motor holding brake connection
Quantity 1
Nominal voltage 24 VDC
Input voltage 24 VDC 25%
Continuous current 1 A
Max. internal resistance 0.32
Max. switching frequency 100 Hz
Protective measures
Overload and short circuit protection Yes
Cable breakage monitoring No
Undervoltage monitoring Yes
Max. overcurrent limitation 8 A
Response threshold for undervoltage monitoring 18 VDC +0% / -10%
Reference potential GND for module supply (terminal X2, pin 10)
Enable inputs
Quantity 1
Nominal voltage 24 VDC
Input voltage 24 VDC 25%
Input current at rated voltage Typ. 60 mA
Input circuit Sink
Switching threshold
Low <5 V
High >15 V
Isolation voltage between input and bus 500 V
eff
Digital inputs / trigger inputs
Quantity 2
Can be used as trigger input 1
Nominal voltage 24 VDC
Input voltage 24 VDC 25%
Input current at nominal voltage Typ. 10 mA
Input filter
Hardware <10 s
Input circuit Sink
Input resistance Typ. 2.2 k
Switching threshold
Low <5 V
High >15 V
Isolation voltage between input and bus 500 V
eff
Interfaces
X2X
Design 4-pin plug
Min. X2X Link cycle time 250 s
Operating conditions
Mounting orientation
Vertical Yes
Installation at altitudes above sea level
0 to 2000 m No derating
>2000 m Reduction of ambient temperature by 0,5C per 100 m
Degree of pollution in accordance with EN 60664-1 2 (non-conductive pollution)
Protection in accordance with EN 60529 IP20
Table 18: 80SD100XS.C0XX-01 - Technical data
Technical data Stepper motor modules
50 ACOPOSmicro User's Manual 1.00
Product ID 80SD100XS.C0XX-01
Environmental conditions
Temperature
Operation 0 to 45C
Storage -25 to 55C
Transport -25 to 55C
Relative humidity
Operation 5 to 85%, non-condensing
Storage 5 to 95%, non-condensing
Transport 5 to 95%, non-condensing
Mechanical characteristics
Note Please order terminal block and X2X Link cable separately.
Mounting / cooling Screw mounting with heat spreader on mounting plate or cold plate
Dimensions
1)
Width 65 mm
Height 134 mm
Depth 95 mm
Weight 650 g
Backplane Always mount on conductive and grounded backplane
Table 18: 80SD100XS.C0XX-01 - Technical data
1) No heat spreader
Technical data Stepper motor modules
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ACOPOSmicro User's Manual 1.00 51
2.8 Status LEDs
Figure Description
LED Color Status indicators for module functionality
Off No power to module or module ready for operation ERR Red
On Module in error or reset status
Off No power to module
Single flash Reset mode
Double flash Update mode (firmware)
Blinking Preoperational mode
RDY Green
On Run mode
X2Xe [red] X2Xr [green] Status indicators for X2X connection
Off Off No power to X2X
Off On Communication OK
On Off Communication not OK
On On PREOPERATIONAL: Module not initialized
LED Color Status indicators for motors
RUNx Yellow Current applied to motor 1/2
Direction of rotation specification for motor 1/2
Yellow Direction of rotation (UP)
U/Dx Yellow / green
Green Opposite direction of rotation (DOWN)
Table 19: Status LEDs
The table above provides a description of the status LEDs on 2-channel ACOPOSmicro stepper motor modules.
1-channel variants only have one each of the RUN and U/D LEDs.

1-channel variant: RUN and U/D

2-channel variant: RUN1 and U/D1 for Motor 1, RUN2 and U/D2 for Motor 2
2.9 Monitoring the 24 VDC power supply
The module supply voltage is continually monitored. Its status can be read. A "Module power supply error" occurs
if the voltage falls below 18 V.
2.10 Monitoring the power supply
The power unit's supply module is monitored. Its status can be read. A "Module power supply error" occurs if the
voltage (UDC) falls below 18 V or rises above 95 V.
Overvoltage cutoff
If the supply voltage on the module exceeds 95 V (e.g. through feedback during generator operation), then the
motor output is switched off.
The following applies to the "Standard" function model:
The motor output is reactivated as soon as the supply voltage is back within the valid range.
2.11 Overtemperature cutoff
Module temperature
If the module temperature
1)
reaches or exceeds 85C, the following actions are taken:

The "Overtemperature" error bit is set.

The motor outputs are disabled.


The following applies to the "Standard" function model:
Once the module temperature sinks to 83C, the error bit is automatically cleared by the module and the
outputs become operational again.
1) See register descriptions "Temperature" on page 133 (for the standard function model) and "Temperature" on page 143 (for the ramp function model).
Technical data Stepper motor modules
52 ACOPOSmicro User's Manual 1.00
Heat sink temperature (temperature on the power unit):
If the temperature of the power unit
2)
reaches or exceeds 100C, the following actions are taken:

The "Overtemperature" error bit is set.

The motor outputs are disabled.


Once the temperature on the power unit sinks to 98C, the error bit is automatically cleared by the module and
the outputs become operational again.
2.12 Switching inductive loads
50
0.1 1 10 100
100
1000
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Coil inductance
Max. switching cycles / second
(with 90% duty cycle)
10 mH
100 mH
1 H
10 H 100 H
Figure 9: Additional digital inputs/outputs - Switching inductive loads
2.13 Power consumption
2.13.1 CPU power supply
The amount of power consumed by the module depends on the number of available encoder inputs:
Product ID Hiperface encoder Incremental encoder SSI encoder Power consumption
80SD100XD.C044-01 2 8.0 W
80SD100XD.C04X-13 1 7.0 W
80SD100XD.C0XX-01 6.0 W
80SD100XD.C0XX-21 6.0 W
80SD100XS.C04X-01 1 7.0 W
80SD100XS.C0XX-01 6.0 W
2.13.2 Motor power supply
The power required to control the motor is generated externally (e.g. by the 80PS080X3.10-01 power supply mod-
ule) and fed in via the power supply connection.
For more information, see "Dimensioning" on page 97.
2) See the register description "Heat sink temperature" on page 133 (for the standard function model) and "Temperature of output stage" on page 143
(for the ramp function model).
Technical data Stepper motor modules
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ACOPOSmicro User's Manual 1.00 53
When using a low-cost transformer with downstream, unregulated rectification and smoothing using an electrolytic
capacitor, keep in mind that the maximum output voltage is greater than the AC output voltage by a factor of 2
(square root of 2). In addition, voltage fluctuations from the mains also directly affect the output voltage.
DC+
DC-
L
N
Transformer Rectifier Capacitor
Figure 10: Transformer for motor supply
Example: 48 VAC output voltage from the transformer is rectified via a bridge connection. The output voltage
increases if using ideal diodes, lossless lines and no load current:
Technical data Inverter modules
54 ACOPOSmicro User's Manual 1.00
3 Inverter modules
Inverter modules from the ACOPOSmicro product family are used to control up to two servo motors. A wide range
of servo motors can be connected, from 24 to 64 VDC 25% nominal voltage and 8 A continuous current.
The inverter modules were designed for a nominal voltage of 80 VDC. The ability to withstand overvoltage up to
95 VDC also allows for increases in the DC link voltage such as those that occur during braking procedures. This
enables the ACOPOSmicro to provide additional safety.
Motor connector: 24 to 64 VDC 25%, nominal 8 A
RMS
(maximum 10.6 A
RMS
)
Switching frequency: 5, 10 or 20 kHz
Integrated motor detection (EnDat)
Complete integration in Automation Studio and CNC applications
Operation using PLCopen function blocks
3.1 Overview
ACOPOSmicro inverter module variants cover a wide range of applications. The following variants are available:
Model number Motor connections Encoders Additional inputs/outputs
80VD100PD.C000-01 2 2x EnDat 2.2 -
80VD100PD.C022-01 2 2x resolver -
80VD100PS.C00X-01 1 1x EnDat 2.2 -
80VD100PS.C02X-01 1 1x resolver -
Table 20: Overview of available ACOPOSmicro inverter motor module variants
3.2 System requirements
Requirements for ACOPOSmicro inverter modules:
ACOPOSmicro Automation Studio ACP10 software
80VD100PD.C000-01 3.0.81.SP3 or higher 2.25.0 or higher
80VD100PD.C022-01 3.0.81 or higher 2.24.0 or higher
80VD100PS.C00X-01 3.0.81.26 or higher 2.27.1 or higher
3.0.81.28 or higher 80VD100PS.C02X-01
3.0.81.26 or higher, if parameter group is added
manually
1
2.27.1 or higher
1 See section "Adding parameter groups manually" on page 157
Technical data Inverter modules
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ACOPOSmicro User's Manual 1.00 55
3.3 80VD100PD.C000-01
3.3.1 Order data
Model number Short description Figure
Inverter modules
80VD100PD.C000-01 ACOPOSmicro servo inverter unit, POWERLINK interface, 2x
EnDat 2.2, 24-64 VDC 25% module supply, 2 motor connec-
tions, 8 A continuous current, 2 digital inputs 24 VDC, sink, can
be used as trigger inputs, 1 digital output 24 VDC, 1 A, order ter-
minal blocks and encoder buffering battery 80XB120A2.36-00
separately.
Required accessories
Batteries
80XB120A2.36-00 1x lithium battery 1/2 AA 3.6 V
POWERLINK cable
X20CA0E61.0002 POWERLINK connection cable, RJ45 to RJ45, 0.2 m
X20CA0E61.0010 POWERLINK connection cable, RJ45 to RJ45, 1.0 m
X20CA0E61.0020 POWERLINK connection cable, RJ45 to RJ45, 2.0 m
X20CA0E61.0050 POWERLINK connection cable, RJ45 to RJ45, 5.0 m
X20CA0E61.0100 POWERLINK connection cable, RJ45 to RJ45, 10.0 m
X20CA0E61.0150 POWERLINK connection cable, RJ45 to RJ45, 15.0 m
X20CA0E61.0500 POWERLINK connection cable, RJ45 to RJ45, 50.0 m
Terminal block sets
80XVD100PD.C0-01A Screw clamp terminal block set for ACOPOSmicro modules
80VD100PD.xxxx-01: 1x 0TB1110.8010, 1x 0TB2105.9021,
1x 0TB2104.4021, 1x 0TB2104.4022, 1x 0TB2102.4021, 1x
0TB2102.4022
80XVD100PD.C0-01B Cage clamp terminal block set for ACOPOSmicro modules
80VD100PD.xxxx-01: 1x 0TB1110.8110, 1x 0TB2105.9121,
1x 0TB2104.4121, 1x 0TB2104.4122, 1x 0TB2102.4121, 1x
0TB2102.4122
Optional accessories
Terminal blocks
0TB1310.3100 Accessory terminal block, 3x 10-pin, cage clamps 1.5 mm, pro-
tected against vibration by the screw flange
0TB1310.8110 Accessory terminal block, 3x 10-pin, cage clamps 1.5 mm, pro-
tected against vibration by the screw flange, with labeling and
LED
Table 21: 80VD100PD.C000-01 - Order data
3.3.2 Technical data
Product ID 80VD100PD.C000-01
Short description
Inverter module Connection for two servo motors with EnDat 2.2 interface
General information
B&R ID code 0xADF7
Status indicators POWERLINK, operating status, module status, module information
Diagnostics
Module run/error Yes, using status LED and software
Module temperature / Cooling unit temperature Yes, using software
Motor status Yes, using status LED and software
POWERLINK Yes, using status LED
Electrical isolation
CPU - 24 VDC supply No
CPU - Power supply Yes
CPU - Motor connection Yes
CPU - Digital inputs Yes
CPU - Trigger inputs Yes
CPU - Enable inputs Yes
CPU - EnDat 2.2 interface No
CPU - Motor holding brake No
CPU - POWERLINK Yes
Certification
CE Yes
c-UL-us In preparation
GOST-R Yes
24 VDC supply
Input voltage 24 VDC 25%
Voltage monitoring Yes
Power consumption
CPU
1)
Max. 8 W
Power supply
Input voltage 24 to 64 VDC 25%
Table 22: 80VD100PD.C000-01 - Technical data
Technical data Inverter modules
56 ACOPOSmicro User's Manual 1.00
Product ID 80VD100PD.C000-01
Starting current Max. 10 A
Power consumption
Idle (no motor powered) 0.5 W
Full load TBD
Starting current limitation Yes, PTC (min. 9 ), bridged during operation using relay contact
Undervoltage cut-off <18 VDC
Overvoltage cut-off >95 VDC
Voltage measurement Yes
Line protection Must take place externally
Reverse polarity protection Yes
Motor connection
Quantity 2
Nominal current 8 A
RMS
/ 11.3 A
Peak
Max. current / motor 10.6 A
RMS
/ 15 A
Peak
Max. current / module 30 A
Peak
Rated switching frequency 5 kHz
Possible switching frequencies 5 / 10 / 20 kHz
Max. motor line length 25 m
Controller frequency 20 kHz
DC bus capacitance 940 F
Motor holding brake connection
Quantity 1
Can be used for
Axis 1 Yes
Axis 2 No
Nominal voltage 24 VDC
Continuous current 1 A
Max. internal resistance 0.3
Max. switching frequency 100 Hz
Protective measures
Overload and short circuit protection Yes
Cable breakage monitoring Yes
Undervoltage monitoring Yes
Response threshold for cable breakage monitoring <100 mA
Response threshold for undervoltage monitoring 23.5 V
Encoder inputs
Quantity 2
Type EnDat 2.2
Max. encoder cable length 25 m
Encoder supply
Output voltage
2)
Typ. 12.5 VDC
Load capability Max. 250 mA
Protective measures
Overload protection Yes
Short circuit proof Yes
Synchronous serial interface
Signal transfer RS485
Data transfer rate 6.25 Mbit/s
Enable inputs
Quantity 1
Nominal voltage 24 VDC
Input voltage 24 VDC 25%
Input current at rated voltage Typ. 60 mA
Input circuit Sink
Switching threshold
Low <5 V
High >15 V
Switching delay at rated input voltage
Enable 1 -> 0, PWM off
Typical 30 ms
Maximum 551 ms
Enable 0 -> 1, ready for PWM
Maximum 315 ms
Isolation voltage between input and bus 500 V
eff
Digital inputs / trigger inputs
Quantity 2
Can be used as trigger input 2
Nominal voltage 24 VDC
Input voltage 24 VDC 25%
Input current at nominal voltage Typ. 10 mA
Input filter
Hardware <10 s
Input circuit Sink
Table 22: 80VD100PD.C000-01 - Technical data
Technical data Inverter modules
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ACOPOSmicro User's Manual 1.00 57
Product ID 80VD100PD.C000-01
Input resistance Typ. 2.2 k
Switching threshold
Low <5 V
High >15 V
Isolation voltage between input and bus 500 V
eff
Interfaces
POWERLINK
Design RJ45 socket
Electrical isolation Yes
Operating conditions
Degree of pollution in accordance with EN 60664-1 2 (non-conductive pollution)
Protection in accordance with EN 60529 IP20
Environmental conditions
Temperature
Operation 0 to 45C
Storage -25 to 55C
Transport -25 to 55C
Relative humidity
Operation 5 to 85%, non-condensing
Storage 5 to 95%, non-condensing
Transport 5 to 95%, non-condensing
Mechanical characteristics
Note Please order terminal blocks separately!
Mounting / cooling Screw mounting with heat spreader on mounting plate or cold plate
Dimensions
3)
Width 65 mm
Height 134 mm
Depth 95 mm
Weight 750 g
Backplane Always mount on conductive and grounded backplane
Table 22: 80VD100PD.C000-01 - Technical data
1) Including enable input
2) Depends on the supply voltage of the CPU component
3) Without heat spreader
Technical data Inverter modules
58 ACOPOSmicro User's Manual 1.00
3.4 80VD100PD.C022-01
3.4.1 Order data
Model number Short description Figure
Inverter modules
80VD100PD.C022-01 ACOPOSmicro servo inverter unit, POWERLINK interface, 2x
resolver, 24-64 VDC 25% module supply, 2 motor connections,
8 A continuous current, 2 digital inputs 24 VDC, sink, can be
used as trigger inputs, 1 digital output 24 VDC, 1 A, order termi-
nal blocks separately.
Required accessories
POWERLINK cable
X20CA0E61.0002 POWERLINK connection cable, RJ45 to RJ45, 0.2 m
X20CA0E61.0010 POWERLINK connection cable, RJ45 to RJ45, 1.0 m
X20CA0E61.0020 POWERLINK connection cable, RJ45 to RJ45, 2.0 m
X20CA0E61.0050 POWERLINK connection cable, RJ45 to RJ45, 5.0 m
X20CA0E61.0100 POWERLINK connection cable, RJ45 to RJ45, 10.0 m
X20CA0E61.0150 POWERLINK connection cable, RJ45 to RJ45, 15.0 m
X20CA0E61.0500 POWERLINK connection cable, RJ45 to RJ45, 50.0 m
Terminal block sets
80XVD100PD.C0-01A Screw clamp terminal block set for ACOPOSmicro modules
80VD100PD.xxxx-01: 1x 0TB1110.8010, 1x 0TB2105.9021,
1x 0TB2104.4021, 1x 0TB2104.4022, 1x 0TB2102.4021, 1x
0TB2102.4022
80XVD100PD.C0-01B Cage clamp terminal block set for ACOPOSmicro modules
80VD100PD.xxxx-01: 1x 0TB1110.8110, 1x 0TB2105.9121,
1x 0TB2104.4121, 1x 0TB2104.4122, 1x 0TB2102.4121, 1x
0TB2102.4122
Optional accessories
Terminal blocks
0TB1310.3100 Accessory terminal block, 3x 10-pin, cage clamps 1.5 mm, pro-
tected against vibration by the screw flange
0TB1310.8110 Accessory terminal block, 3x 10-pin, cage clamps 1.5 mm, pro-
tected against vibration by the screw flange, with labeling and
LED
Table 23: 80VD100PD.C022-01 - Order data
3.4.2 Technical data
Product ID 80VD100PD.C022-01
Short description
Inverter module Connection for two servo motors with resolver interface
General information
B&R ID code 0xAB6D
Status indicators POWERLINK, operating status, module status, module information
Diagnostics
Module run/error Yes, using status LED and software status
Module temperature / Cooling unit temperature Yes, with software status
Motor status Yes, using status LED and software status
POWERLINK Yes, with status LED
Electrical isolation
CPU - 24 VDC supply No
CPU - Power supply Yes
CPU - Motor connection Yes
CPU - Digital inputs Yes
CPU - Trigger inputs Yes
CPU - Enable inputs Yes
CPU - Resolver interface No
CPU - Motor holding brake No
CPU - POWERLINK Yes
Certification
CE Yes
c-UL-us In preparation
GOST-R Yes
24 VDC supply
Input voltage 24 VDC 25%
Voltage monitoring Yes
Power consumption
CPU
1)
Max. 8 W
Power supply
Input voltage 24 to 64 VDC 25%
Starting current Max. 10 A
Table 24: 80VD100PD.C022-01 - Technical data
Technical data Inverter modules
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ACOPOSmicro User's Manual 1.00 59
Product ID 80VD100PD.C022-01
Power consumption
Idle (no motor powered) 0.5 W
Full load TBD
Starting current limitation Yes, PTC (min. 9 ), bridged during operation using relay contact
Undervoltage cut-off <18 VDC
Overvoltage cut-off >95 VDC
Voltage measurement Yes
Line protection Must take place externally
Reverse polarity protection Yes
Motor connection
Quantity 2
Nominal current 8 A
RMS
/ 11.3 A
Peak
Max. current / motor 10.6 A
RMS
/ 15 A
Peak
Max. current / module 30 A
Peak
Rated switching frequency 5 kHz
Possible switching frequencies 5 / 10 / 20 kHz
Max. motor line length 25 m
Controller frequency 20 kHz
DC bus capacitance 940 F
Motor holding brake connection
Quantity 1
Can be used for
Axis 1 Yes
Axis 2 No
Nominal voltage 24 VDC
Continuous current 1 A
Max. internal resistance 0.3
Max. switching frequency 100 Hz
Protective measures
Overload and short circuit protection Yes
Cable breakage monitoring Yes
Undervoltage monitoring Yes
Response threshold for cable breakage monitoring <100 mA
Response threshold for undervoltage monitoring 23.5 V
Resolver inputs
Quantity 2
Reference output
Output voltage 3.4 V
eff
Output current Max. 50 mA
eff
Frequency 10 kHz
Signal transfer Differential signal
Angular position resolution 14 bits/rev
Short circuit protection Yes
Input impedance 10.4 k - j 11.1 k
Resolver gear ratio
BRX 0.5 (10%)
BRT 0.5 (10%) with limitations
Enable inputs
Quantity 1
Nominal voltage 24 VDC
Input voltage 24 VDC 25%
Input current at rated voltage Typ. 60 mA
Input circuit Sink
Switching threshold
Low <5 V
High >15 V
Switching delay at rated input voltage
Enable 1 -> 0, PWM off
Typical 30 ms
Maximum 551 ms
Enable 0 -> 1, ready for PWM
Maximum 315 ms
Isolation voltage between input and bus 500 V
eff
Digital inputs / trigger inputs
Quantity 2
Can be used as trigger input 2
Nominal voltage 24 VDC
Input voltage 24 VDC 25%
Input current at nominal voltage Typ. 10 mA
Input filter
Hardware <10 s
Input circuit Sink
Input resistance Typ. 2.2 k
Table 24: 80VD100PD.C022-01 - Technical data
Technical data Inverter modules
60 ACOPOSmicro User's Manual 1.00
Product ID 80VD100PD.C022-01
Switching threshold
Low <5 V
High >15 V
Isolation voltage between input and bus 500 V
eff
Interfaces
POWERLINK
Design RJ45 socket
Electrical isolation Yes
Operating conditions
Degree of pollution in accordance with EN 60664-1 2 (non-conductive pollution)
Protection in accordance with EN 60529 IP20
Environmental conditions
Temperature
Operation 0 to 45C
Storage -25 to 55C
Transport -25 to 55C
Relative humidity
Operation 5 to 85%, non-condensing
Storage 5 to 95%, non-condensing
Transport 5 to 95%, non-condensing
Mechanical characteristics
Note Please order terminal blocks separately!
Mounting / cooling Screw mounting with heat spreader on mounting plate or cold plate
Dimensions
2)
Width 65 mm
Height 134 mm
Depth 95 mm
Weight 750 g
Backplane Always mount on conductive and grounded backplane
Table 24: 80VD100PD.C022-01 - Technical data
1) Including enable input
2) No heat spreader
Technical data Inverter modules
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ACOPOSmicro User's Manual 1.00 61
3.5 80VD100PS.C00X-01
3.5.1 Order data
Model number Short description Figure
Inverter modules
80VD100PS.C00X-01 ACOPOSmicro servo inverter unit, POWERLINK interface, 1x
EnDat 2.2, 24-64 VDC 25% module supply, 1 motor connec-
tion, 8 A continuous current, 2 digital inputs 24 VDC, sink, can
be used as trigger inputs, 1 digital output 24 VDC, 1 A, order ter-
minal blocks and encoder buffering battery 80XB120A2.36-00
separately.
Required accessories
Batteries
80XB120A2.36-00 1x lithium battery 1/2 AA 3.6 V
POWERLINK cable
X20CA0E61.0002 POWERLINK connection cable, RJ45 to RJ45, 0.2 m
X20CA0E61.0010 POWERLINK connection cable, RJ45 to RJ45, 1.0 m
X20CA0E61.0020 POWERLINK connection cable, RJ45 to RJ45, 2.0 m
X20CA0E61.0050 POWERLINK connection cable, RJ45 to RJ45, 5.0 m
X20CA0E61.0100 POWERLINK connection cable, RJ45 to RJ45, 10.0 m
X20CA0E61.0150 POWERLINK connection cable, RJ45 to RJ45, 15.0 m
X20CA0E61.0500 POWERLINK connection cable, RJ45 to RJ45, 50.0 m
Terminal block sets
80XVD100PS.C0-01A Screw clamp terminal block set for ACOPOSmicro modules
80VD100PS.xxxx-01: 1x 0TB1110.8010, 1x 0TB2105.9021, 1x
0TB2104.4021, 1x 0TB2102.4021
80XVD100PS.C0-01B Cage clamp terminal block set for ACOPOSmicro modules
80VD100PS.xxxx-01: 1x 0TB1110.8110, 1x 0TB2105.9121, 1x
0TB2104.4121, 1x 0TB2102.4121
Optional accessories
Terminal blocks
0TB1310.3100 Accessory terminal block, 3x 10-pin, cage clamps 1.5 mm, pro-
tected against vibration by the screw flange
0TB1310.8110 Accessory terminal block, 3x 10-pin, cage clamps 1.5 mm, pro-
tected against vibration by the screw flange, with labeling and
LED
Table 25: 80VD100PS.C00X-01 - Order data
3.5.2 Technical data
Product ID 80VD100PS.C00X-01
Short description
Inverter module Connection for a servo motor with EnDat 2.2 interface
General information
B&R ID code 0xB01C
Status indicators POWERLINK, operating status, module status, module information
Diagnostics
Module run/error Yes, using status LED and software status
Module temperature / Cooling unit temperature Yes, with software status
Motor status Yes, using status LED and software status
POWERLINK Yes, with status LED
Electrical isolation
CPU - 24 VDC supply No
CPU - Power supply Yes
CPU - Motor connection Yes
CPU - Digital inputs Yes
CPU - Trigger inputs Yes
CPU - Enable inputs Yes
CPU - EnDat 2.2 interface No
CPU - Motor holding brake No
CPU - POWERLINK Yes
Certification
CE Yes
c-UL-us In preparation
GOST-R Yes
24 VDC supply
Input voltage 24 VDC 25%
Voltage monitoring Yes
Power consumption
CPU
1)
Max. 8 W
Power supply
Input voltage 24 to 64 VDC 25%
Starting current Max. 10 A
Table 26: 80VD100PS.C00X-01 - Technical data
Technical data Inverter modules
62 ACOPOSmicro User's Manual 1.00
Product ID 80VD100PS.C00X-01
Power consumption
Idle (no motor powered) 0.5 W
Full load TBD
Starting current limitation Yes, PTC (min. 9 ), bridged during operation using relay contact
Undervoltage cut-off <18 VDC
Overvoltage cut-off >95 VDC
Voltage measurement Yes
Line protection Must take place externally
Reverse polarity protection Yes
Motor connection
Quantity 1
Nominal current 8 A
RMS
/ 11.3 A
Peak
Max. current / motor 10.6 A
RMS
/ 15 A
Peak
Max. current / module 15 A
Peak
Rated switching frequency 5 kHz
Possible switching frequencies 5 / 10 / 20 kHz
Max. motor line length 25 m
Controller frequency 20 kHz
DC bus capacitance 940 F
Motor holding brake connection
Quantity 1
Can be used for
Axis 1 Yes
Axis 2 -
Nominal voltage 24 VDC
Continuous current 1 A
Max. internal resistance 0.3
Max. switching frequency 100 Hz
Protective measures
Overload and short circuit protection Yes
Cable breakage monitoring Yes
Undervoltage monitoring Yes
Response threshold for cable breakage monitoring <100 mA
Response threshold for undervoltage monitoring 23.5 V
Encoder inputs
Quantity 1
Type EnDat 2.2
Max. encoder cable length 25 m
Encoder supply
Output voltage
2)
Typ. 12.5 VDC
Load capability Max. 250 mA
Protective measures
Overload protection Yes
Short circuit proof Yes
Synchronous serial interface
Signal transfer RS485
Data transfer rate 6.25 Mbit/s
Enable inputs
Quantity 1
Nominal voltage 24 VDC
Input voltage 24 VDC 25%
Input current at rated voltage Typ. 60 mA
Input circuit Sink
Switching threshold
Low <5 V
High >15 V
Switching delay at rated input voltage
Enable 1 -> 0, PWM off
Typical 30 ms
Maximum 1082 ms
Enable 0 -> 1, ready for PWM
Maximum 315 ms
Isolation voltage between input and bus 500 V
eff
Digital inputs / trigger inputs
Quantity 2
Can be used as trigger input 2
Nominal voltage 24 VDC
Input voltage 24 VDC 25%
Input current at nominal voltage Typ. 10 mA
Input filter
Hardware <10 s
Input circuit Sink
Input resistance Typ. 2.2 k
Table 26: 80VD100PS.C00X-01 - Technical data
Technical data Inverter modules
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ACOPOSmicro User's Manual 1.00 63
Product ID 80VD100PS.C00X-01
Switching threshold
Low <5 V
High >15 V
Isolation voltage between input and bus 500 V
eff
Interfaces
POWERLINK
Design RJ45 socket
Electrical isolation Yes
Operating conditions
Degree of pollution in accordance with EN 60664-1 2 (non-conductive pollution)
Protection in accordance with EN 60529 IP20
Environmental conditions
Temperature
Operation 0 to 45C
Storage -25 to 55C
Transport -25 to 55C
Relative humidity
Operation 5 to 85%, non-condensing
Storage 5 to 95%, non-condensing
Transport 5 to 95%, non-condensing
Mechanical characteristics
Note Please order terminal blocks separately!
Mounting / cooling Screw mounting with heat spreader on mounting plate or cold plate
Dimensions
3)
Width 65 mm
Height 134 mm
Depth 95 mm
Weight 750 g
Backplane Always mount on conductive and grounded backplane
Table 26: 80VD100PS.C00X-01 - Technical data
1) Including enable input
2) Depends on the supply voltage of the CPU component
3) No heat spreader
Technical data Inverter modules
64 ACOPOSmicro User's Manual 1.00
3.6 80VD100PS.C02X-01
3.6.1 Order data
Model number Short description Figure
Inverter modules
80VD100PS.C02X-01 ACOPOSmicro servo inverter unit, POWERLINK interface, 1x
resolver, 24-64 VDC 25% module supply, 1 motor connection,
8 A continuous current, 2 digital inputs 24 VDC, sink, can be
used as trigger inputs, 1 digital output 24 VDC, 1 A, order termi-
nal blocks separately.
Required accessories
POWERLINK cable
X20CA0E61.0002 POWERLINK connection cable, RJ45 to RJ45, 0.2 m
X20CA0E61.0010 POWERLINK connection cable, RJ45 to RJ45, 1.0 m
X20CA0E61.0020 POWERLINK connection cable, RJ45 to RJ45, 2.0 m
X20CA0E61.0050 POWERLINK connection cable, RJ45 to RJ45, 5.0 m
X20CA0E61.0100 POWERLINK connection cable, RJ45 to RJ45, 10.0 m
X20CA0E61.0150 POWERLINK connection cable, RJ45 to RJ45, 15.0 m
X20CA0E61.0500 POWERLINK connection cable, RJ45 to RJ45, 50.0 m
Terminal block sets
80XVD100PS.C0-01A Screw clamp terminal block set for ACOPOSmicro modules
80VD100PS.xxxx-01: 1x 0TB1110.8010, 1x 0TB2105.9021, 1x
0TB2104.4021, 1x 0TB2102.4021
80XVD100PS.C0-01B Cage clamp terminal block set for ACOPOSmicro modules
80VD100PS.xxxx-01: 1x 0TB1110.8110, 1x 0TB2105.9121, 1x
0TB2104.4121, 1x 0TB2102.4121
Optional accessories
Terminal blocks
0TB1310.3100 Accessory terminal block, 3x 10-pin, cage clamps 1.5 mm, pro-
tected against vibration by the screw flange
0TB1310.8110 Accessory terminal block, 3x 10-pin, cage clamps 1.5 mm, pro-
tected against vibration by the screw flange, with labeling and
LED
Table 27: 80VD100PS.C02X-01 - Order data
3.6.2 Technical data
Product ID 80VD100PS.C02X-01
Short description
Inverter module Connection for a servo motor with resolver interface
General information
B&R ID code 0xAB6E
Status indicators POWERLINK, operating status, module status, module information
Diagnostics
Module run/error Yes, using status LED and software status
Module temperature / Cooling unit temperature Yes, with software status
Motor status Yes, using status LED and software status
POWERLINK Yes, with status LED
Electrical isolation
CPU - 24 VDC supply No
CPU - Power supply Yes
CPU - Motor connection Yes
CPU - Digital inputs Yes
CPU - Trigger inputs Yes
CPU - Enable inputs Yes
CPU - Resolver interface No
CPU - Motor holding brake No
CPU - POWERLINK Yes
Certification
CE Yes
c-UL-us In preparation
GOST-R Yes
24 VDC supply
Input voltage 24 VDC 25%
Voltage monitoring Yes
Power consumption
CPU Max. 8 W
Power supply
Input voltage 24 to 64 VDC 25%
Starting current Max. 10 A
Power consumption
Idle (no motor powered) 0.5 W
Full load TBD
Table 28: 80VD100PS.C02X-01 - Technical data
Technical data Inverter modules
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ACOPOSmicro User's Manual 1.00 65
Product ID 80VD100PS.C02X-01
Starting current limitation Yes, PTC (min. 9 ), bridged during operation using relay contact
Undervoltage cut-off <18 VDC
Overvoltage cut-off >95 VDC
Voltage measurement Yes
Line protection Must take place externally
Reverse polarity protection Yes
Motor connection
Quantity 1
Nominal current 8 A
RMS
/ 11.3 A
Peak
Max. current / motor 10.6 A
RMS
/ 15 A
Peak
Max. current / module 15 A
Peak
Rated switching frequency 5 kHz
Possible switching frequencies 5 / 10 / 20 kHz
Max. motor line length 25 m
Controller frequency 20 kHz
DC bus capacitance 940 F
Motor holding brake connection
Quantity 1
Can be used for
Axis 1 Yes
Axis 2 -
Nominal voltage 24 VDC
Continuous current 1 A
Max. internal resistance 0.3
Max. switching frequency 100 Hz
Protective measures
Overload and short circuit protection Yes
Cable breakage monitoring Yes
Undervoltage monitoring Yes
Response threshold for cable breakage monitoring <100 mA
Response threshold for undervoltage monitoring 23.5 V
Resolver inputs
Quantity 1
Reference output
Output voltage 3.4 V
eff
Output current Max. 50 mA
eff
Frequency 10 kHz
Signal transfer Differential signal
Angular position resolution 14 bits/rev
Short circuit protection Yes
Input impedance 10.4 k - j 11.1 k
Resolver gear ratio
BRX 0.5 (10%)
BRT 0.5 (10%) with limitations
Enable inputs
Quantity 1
Nominal voltage 24 VDC
Input voltage 24 VDC 25%
Input current at rated voltage Typ. 60 mA
Input circuit Sink
Switching threshold
Low <5 V
High >15 V
Switching delay at rated input voltage
Enable 1 -> 0, PWM off
Typical 30 ms
Maximum 1082 ms
Enable 0 -> 1, ready for PWM
Maximum 315 ms
Isolation voltage between input and bus 500 V
eff
Digital inputs / trigger inputs
Quantity 2
Can be used as trigger input 2
Nominal voltage 24 VDC
Input voltage 24 VDC 25%
Input current at nominal voltage Typ. 10 mA
Input filter
Hardware <10 s
Input circuit Sink
Input resistance Typ. 2.2 k
Switching threshold
Low <5 V
High >15 V
Table 28: 80VD100PS.C02X-01 - Technical data
Technical data Inverter modules
66 ACOPOSmicro User's Manual 1.00
Product ID 80VD100PS.C02X-01
Isolation voltage between input and bus 500 V
eff
Interfaces
POWERLINK
Design RJ45 socket
Electrical isolation Yes
Operating conditions
Degree of pollution in accordance with EN 60664-1 2 (non-conductive pollution)
Protection in accordance with EN 60529 IP20
Environmental conditions
Temperature
Operation 0 to 45C
Storage -25 to 55C
Transport -25 to 55C
Relative humidity
Operation 5 to 85%, non-condensing
Storage 5 to 95%, non-condensing
Transport 5 to 95%, non-condensing
Mechanical characteristics
Note Please order terminal blocks separately!
Mounting / cooling Screw mounting with heat spreader on mounting plate or cold plate
Dimensions
Width 65 mm
Height 134 mm
Depth 95 mm
Weight 700 g
Backplane Always mount on conductive and grounded backplane
Table 28: 80VD100PS.C02X-01 - Technical data
Technical data Inverter modules
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ACOPOSmicro User's Manual 1.00 67
3.7 Status LEDs
Figure Description
LED Color Status indicators for module functionality
R/E Green/red No power to module or module ready for operation
ERR Red Module error or reset status
L/D1 Green Status of Ethernet POWERLINK port 1 (link/data activity)
L/D2 Green Status of Ethernet POWERLINK port 1 (link/data activity)
R/R1 Orange/Green Run/Ready Motor 1
U/D1 Orange/Green Rotational direction of motor 1
R/R2 Orange/Green Run/Ready Motor 2
U/D2 Orange/Green Rotational direction of motor 2
Table 29: Status LEDs
The table above provides a description of the status LEDs on 2-channel ACOPOSmicro stepper motor modules.
1-channel variants only have one each of the R/R and U/D LEDs.
1-channel variant: R/R and U/D
2-channel variant: R/R1 and U/D1 for Motor 1, R/R2 and U/D2 for Motor 2
3.7.1 Status changes when booting the operating system loader
Status LED sequence
Intervals
LED sequence repeated every 3000 ms
Interval: 50 ms
1.
Boot procedure for base hardware
active
R/R
ERR
2. Network configuration active
R/R
ERR
3. Waiting for network telegram
R/R
ERR
4. Network communication active
R/R
ERR
5.
Transferring/Burning the
ACOPOSmicro operating system
R/R
ERR
3.7.2 LED status R/R, ERR
Labeling Color Function Description
Green (lit) The module is operational and the power stage can be enabled (operating system present
and booted, no permanent or temporary errors).
Green Ready
Green (blinking)
1
The module is not ready for operation.
Examples:

No signal on the enable input

DC link voltage outside the tolerance range

Overtemperature on the motor (temperature sensor)

Motor feedback not connected or defective

Motor temperature sensor not connected or defective

Overtemperature

Disturbance on network
2 channel variant:
R/R1
R/R2
1 channel variant:
R/R
Orange Run Orange (lit) The module's power stage is enabled.
ERR There is a permanent error on the module.
Examples:

Permanent overcurrent

Invalid data in EPROM


1 Firmware V2.25.0 or higher
Technical data Inverter modules
68 ACOPOSmicro User's Manual 1.00
3.7.3 LED status indicators - POWERLINK
Labeling Color Function Description
LED not lit The module is not receiving power or initialization of the network interface
has failed.
Red (lit) The POWERLINK station number of the module is 0.
Red/green, blinking The client is in an error state (drops out of cyclic operation).
Green blinking (1x) The client detects a valid POWERLINK frame on the network.
Green blinking (2x) Cyclic operation on the network is taking place, but the client itself is not yet a
participant.
Green blinking (3x) Cyclic operation of the client is in preparation.
Green (lit) The client is participating in cyclic operation.
R/E Green Ready
Green (flickering) The client is not participating in cyclic operation and also does not detect any
other stations on the network participating in cyclic operation.
Green (lit) A physical connection has been established to another station on the net-
work.
L/D1 Green Link / Data activity on
Port 1
Green (blinking) Activity on port 1
Green (lit) A physical connection has been established to another station on the net-
work.
L/D2 Green Link / Data activity on
Port 2
Green (blinking) Activity on port 2
3.8 POWERLINK node number switches
Node numbers changed during operation will not be applied until the ACOPOSmicro is restarted.
3.9 Power consumption
3.9.1 CPU power supply
The amount of power consumed by the module depends on the number of available encoder inputs:
Product ID Inverter module Power consumption
80VD100PD.C000-01 Connection for two servo motors with EnDat 2.2 interface Max. 8 W
80VD100PD.C022-01 Connection for two servo motors with resolver interface Max. 8 W
80VD100PS.C00X-01 Connection for a servo motor with EnDat 2.2 interface Max. 8 W
80VD100PS.C02X-01 Connection for a servo motor with resolver interface Max. 8 W
3.9.2 Motor power supply
The power required to control the motor is generated externally (e.g. by the 80PS080X3.10-01 power supply mod-
ule) and fed in via the power supply connection.
For more information, see "Dimensioning" on page 97.
Technical data Inverter modules
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ACOPOSmicro User's Manual 1.00 69
When using a low-cost transformer with downstream, unregulated rectification and smoothing using an electrolytic
capacitor, keep in mind that the maximum output voltage is greater than the AC output voltage by a factor of 2
(square root of 2). In addition, voltage fluctuations from the mains also directly affect the output voltage.
DC+
DC-
L
N
Transformer Rectifier Capacitor
Figure 11: Transformer for motor supply
Example: 48 VAC output voltage from the transformer is rectified via a bridge connection. The output voltage
increases if using ideal diodes, lossless lines and no load current:
3.10 Backup battery for ACOPOSmicro with EnDat encoder inputs
3.10.1 Service life
The service life of the battery depends heavily on the following factors:

Average ACOPOSmicro service life

Number of EnDat 2.2 encoders used


The following estimate only applies to the 80XB120A2.36-00 accessory battery available from B&R:
ACOPOSmicro service life
Number of EnDat 2.2 encoders used 24 VDC CPU supply always off 24 VDC CPU supply 50% on 24 VDC CPU supply always on
1 At least 3.5 years >5 years >5 years
2 At least 2 years At least 3 years >5 years
Table 30: Service life of the backup battery
Information:
Recommendation: Exchange the battery at least every 5 years, regardless of how extensively it is used.
3.10.2 Battery-backed (EBI) encoder
The EnDat encoder built into the 8LVA motors is a battery-backed encoder (EBI), which means revolutions are only
added to the current position in increments and saved. The backup battery ensures that the encoder also registers
position changes when the drive is switched off.
If the battery supply fails, the encoder is no longer able to detect position changes when the drive is switched off. As
a result, there is no guarantee that the multi-turn position is correct and an alarm is registered (see "Supply voltage
failure", "Faulty position value", "Battery charge too low"). The error is will not be not acknowledged automatically.
It must be actively cleared by the user by writing the value 1 to ENCOD_CMD (par_id = 719). It will then be required
to measure the multi-turn position again!
3.10.3 Changing the battery
The following conditions must be met for the position of the encoder position to be maintained when changing
the backup battery:

The R/E LED on the ACOPOSmicro module must be lit.

The encoder must be connected to this ACOPOSmicro module.


Information:
Make sure to insert the battery with correct polarity!
Used batteries must be disposed of properly!
Technical data Inverter modules
70 ACOPOSmicro User's Manual 1.00
Changing/inserting the backup battery
1. Open the cover on the ACOPOSmicro.
2. If there is already a backup battery in the module:
Slide a screwdriver into the opening .
This will cause the battery to fall out of the battery compartment .
3. Place the new backup battery into the battery compartment as shown.
4. Close the cover .


Technical data Power supply module
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ACOPOSmicro User's Manual 1.00 71
4 Power supply module
The output voltage and current limiting for the 80PS080X3.10-01 power supply module can be configured via the
fieldbus (X2X Link). Integrated diagnostic options, a chopper output for connecting an external braking resistor, an
additional 24 V output and the ability to connect multiple modules in parallel make this power supply unit a perfect
match for the ACOPOSmicro drive system.
Input: 3x 380 to 480 VAC 10%
Output voltage adjustable via X2X Link
Status information readable via X2X Link
Chopper output for connecting an external braking resistor
3-phase wide range input
Closed metal housing
4.1 Order data
Model number Short description Figure
Power supply modules
80PS080X3.10-01 Power supply module, input 3x 380-480 VAC 10%, output 13.5
A, 24-80 VDC, output 2 A, 24 VDC, X2X Link interface, integrat-
ed braking chopper, wall mounting, order terminal blocks sepa-
rately.
Required accessories
Terminal block sets
80XPS080X3.10-01A Screw clamp terminal block set for 80PS080X3.10-01: 1x
0TB3104-7021, 1x 0TB3104-7022, 1x 0TB3102-7010, 1x
0TB1110.8010, 1x 0TB103.3
Optional accessories
Braking resistor
80XBR0025.010-11 Braking resistor for power supply module 80PS080X3.10-01 2.5
Ohm 100 W
Table 31: 80PS080X3.10-01 - Order data
4.2 Technical data
*)
Product ID 80PS080X3.10-01
General information
B&R ID code 0xA7A9
Status LED Yes
Electrical isolation
Mains input - Power output Yes
Mains input - 24 VDC Yes
Power output - 24 VDC No
X2X Link - Mains input Yes
X2X Link - Power output Yes
X2X Link - 24 VDC Yes
Certification
CE Yes
c-UL-us Yes
GOST-R In preparation
UL/CSA Yes
Mains input
Input voltage range 3x 380 to 480 VAC 10%
Input current at full load 3x 2.2 A @ 400 VAC
3x 1.8 A @ 480 VAC
Frequency range of mains voltage 50 to 60 Hz 5%
Phase failure detector Yes
Power failure bypass 10 ms (at full load)
Power factor (cos ) 0.72 @ 400 V 1kW
0.69 @ 480 V 1kW
Discharge current to PE <3.5 mA
Protective circuit Transient surge protection (using a varistor)
Fuse protection
Internal Each phase internally fused (5 A)
External External fuse for line protection if necessary
Power output
Output Power Max. 1000 W continuous power
Table 32: 80PS080X3.10-01 - Technical data
*) Technical data applies to power modules beginning with hardware revision B7.
Technical data Power supply module
72 ACOPOSmicro User's Manual 1.00
Product ID 80PS080X3.10-01
Output protection Short-circuit, overload and open circuit protection
Regulation precision 2%
Power back immunity Yes, <100 VDC
Output voltage
1)
24 to 80 VDC
Output current
24 to 60 VDC Max. 16.6 A continuous current
60 to 80 VDC Max. 16.6 to 12.5 A continuous current
Overload/pulse power rating
Overload current 20% overcurrent
Overload duration 2 s
Turn-on time <5 s (does not apply during firmware update)
Parallel operation Yes, max. 3 power supplies, to establish redundancy and increase capacity
Serial connection No
Maximum capacitive load Unlimited
24 VDC voltage output
Voltage range 24 VDC 10%
Output current Max. 2 A continuous current
Output protection Short-circuit, overload and open circuit protection
Chopper output
1)
Response threshold for chopper activation 29 to 95 VDC (adjustable)
Over-temperature protection (chopper-internal) Yes
Output current / Output power
Continuous current / Continuous power 30 A
Maximum current / Maximum power 40 A
Interfaces
Application interface
Design 10-pin terminal block
Type X2X Link
Min. X2X Link cycle time 250 s
Efficiency, reliability
Effectiveness > 92%
Power loss
Rated load 90 W
No-load operation 30 W
Operating conditions
Mounting orientation
Vertical Yes
Ventilation / Cooling Interneally controlled fan
Protection in accordance with EN 60529 IP20
Environmental conditions
Temperature
Operation 0 to 50C
Storage -25 to 85C
Transport -25 to 85C
Relative humidity
Operation 5 to 95%, non-condensing
Storage 5 to 95%, non-condensing
Transport 5 to 95%, non-condensing
Mechanical characteristics
Material Robust metal housing
Dimensions
Width 67.5 mm
Height 257 mm
Depth 219 mm
Weight 3.75 kg
Table 32: 80PS080X3.10-01 - Technical data
1) Can be set via X2X communication
Technical data Power supply module
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ACOPOSmicro User's Manual 1.00 73
4.3 Status LEDs
Figure LED Description
Status indicator - X2X Link.
Green Red Description
Off Off No supply via X2X Link
On Off X2X Link supplied, communication is functioning
Off On X2X Link supplied, but X2X Link communication is not functioning
X2Xr / X2Xe
On On PREOPERATIONAL: X2X Link supplied, module not initialized
LED Status Description
Off Brake chopper off
Stat
Orange
On Brake chopper on
Status indicator for module function.
LED Status Description
Off No power to module
Single flash Reset mode
Double flash Firmware update mode
Blinking PREOPERATIONAL mode
Green
On RUN mode
Off Module supply not connected or everything is OK
On Error or reset status
Single flash I/O channel warning/error, power output is off
RDY
Red
Double flash 24 VDC output is off
4.4 Block diagram
Rectifier
Primary current transformer
Transformer
X2X ASIC
Rectifier
L1
5 A
5 A
5 A
L2
L3
PE
X1
24 VDC voltage monitoring
Chopper
X2
X3
X4
X5
3
8
0

t
o

4
8
0

V
A
C
2
4

t
o

8
0

V
D
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V
D
C
X
2
X

L
i
n
k
50 W
DC-to-DC
Converter
1 kW
DC-to-DC
Converter
4.5 Parallel operation
If more output current is required, several power supply modules can be connected together and operated in
parallel. In addition, the PLC has to ensure that the same voltage is set for the connected outputs.
Technical data Power supply module
74 ACOPOSmicro User's Manual 1.00
Enabling parallel operation keeps the load on the connected power supply modules as consistent as possible. With
high output currents, however, the voltage is slightly lower than the configured voltage.
Information:
Parallel operation has the following requirements:
All power supply modules must be configured for parallel operation before the output is
switched on when the voltage configuration is written.
The same voltage must be set for every power supply module.
To ensure symmetrical current distribution, we recommend connecting the power supply modules to a bus bar
using cables with the same length and cross section.
Increasing power
With n power supply modules connected in parallel, the available output current is n x I
N
.
A parallel connection for increasing power can be implemented when extending existing systems. A parallel con-
nection is recommended if a single power supply unit cannot cover the requirements of the most powerful con-
sumer. Otherwise, the consumers should be distributed over several independent power supply modules.
+

Consumer
+
I
N
I
N
n x I
N
+

Information:
A maximum of three (3) power supply modules can be connected in parallel!
Redundant operation
This type of parallel operation is suitable for supplying systems with particularly high requirements on operational
safety. If a fault occurs in the primary circuit of the first power supply module, the other module automatically takes
over the full power supply without interruption.
To achieve this, the power supply modules connected in parallel must be large enough that the total current re-
quirements of all consumers can be fully met by a single power supply module. External decoupling diodes are
required for 100% redundancy!
4.6 Error monitoring
4.6.1 Phase detection
If one of the three phases on the power mains fails, then power is no longer delivered to the power output.
Technical data Power supply module
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ACOPOSmicro User's Manual 1.00 75
4.6.2 Overload monitoring
Power output is monitored for overload. Short-term overload currents up to 120% of the nominal current are per-
mitted for up to 2 s (pulse load).
If overload monitoring is enabled, the output current is limited to 90% of the nominal voltage. Acknowledging the
overload error allows overload operation to be reactivated.
The power supply is designed for a nominal power of P
N
= 1000 W:

U 60 V:
Overload monitoring with a constant nominal current of I
N
= 16.6 A

60 V < U < 80 V:
The nominal current for overload monitoring is calculated as I
N
= P
N
/ U

U = 80 V:
Overload monitoring with a constant nominal current of I
N
= 12.5 A
Cutoff characteristic - Power output
The following cutoff characteristic applies to the power supply's output power:
Cutoff characteristic - Power output
t [s]
I [A]
25
20
15
10
0 5 10 15 20 25 30
U = 60 V
U = 80 V
16.6
12.5
Figure 12: Cutoff characteristic - Power output
* Due to internal capacities, it is possible that more than the limited current is output.
The cutoff characteristic is limited by the maximum output current I
max
= 20 A.
Output current during overload
The cutoff characteristic allows the power supply module to handle a brief overload:
Maximum overload
Output voltage Nominal output current (=100%) 120% overload for max. 2 s
I
max
Overload Max. du-
ration
24 to 60 VDC 16.6 A 20 A 20 A 120% 2 s
60 to 80 VDC Output current I
N
= P
N
/ U 1.2 * I
N
20 A 20 A / I
N
Diagram
80 VDC 12.5 A 15 A 20 A 160% 0.57 s
Table 33: Overload behavior
4.6.3 Temperature error
If the measured temperature exceeds the maximum temperature of 80C, the power output is switched off and an
error message is generated. Once the temperature drops back below 75C, the error can be acknowledged and
operation is once again possible.
Technical data Power supply module
76 ACOPOSmicro User's Manual 1.00
4.6.4 Temperature model for the braking resistor
The temperature of the braking resistor is not measured, it is calculated using thermal model parameters.
The following formula applies when P
B
= constant:
Legend for the formula:
T
B
... Temperature of the braking resistor [C]
P
B
... Power at the braking resistor [W]
R
Bth
... Thermal resistance [K/W]
C
Bth
... Thermal capacity [Ws/K]
T
Amb
... Ambient temperature of the braking resistor [C]
T
B0
... Initial thermal load [C]
If the modeled braking resistor temperature (T
B
) exceeds the maximum temperature (T
Blim
), the corresponding
status bit is set in the status register.
If there is a known initial load (T
B0
) on the braking resistor, then the temperature model must be initialized with this
value after startup (see the description of the register "TempLimitBleeder01" on page 165).
Technical data Accessories
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5 Accessories
5.1 Overview
Product ID Short description on page
Batteries
80XB120A2.36-00 1x lithium battery 1/2 AA 3.6 V 91
Braking resistor
80XBR0025.010-11 Braking resistor for power supply module 80PS080X3.10-01 2.5 Ohm 100 W 89
80XBR0055.010-11 Braking resistor for ACOPOSmicro 5.5 Ohm 100 W 90
Hoe clamps
80XSC0000.00-01 Accessory for ACOPOSmicro: 1x hose clamp, W 9 mm, D 8-12 mm 91
80XSC0000.00-10 Accessory for ACOPOSmicro: 10x hose clamp, W 9 mm, D 8-12 mm 91
POWERLINK cable
X20CA0E61.0002 POWERLINK connection cable, RJ45 to RJ45, 0.2 m 85
X20CA0E61.0010 POWERLINK connection cable, RJ45 to RJ45, 1.0 m 85
X20CA0E61.0020 POWERLINK connection cable, RJ45 to RJ45, 2.0 m 85
X20CA0E61.0050 POWERLINK connection cable, RJ45 to RJ45, 5.0 m 85
X20CA0E61.0100 POWERLINK connection cable, RJ45 to RJ45, 10.0 m 85
X20CA0E61.0150 POWERLINK connection cable, RJ45 to RJ45, 15.0 m 85
X20CA0E61.0500 POWERLINK connection cable, RJ45 to RJ45, 50.0 m 85
Terminal blocks
0TB1106.8010 Accessory terminal block, 6-pin, screw clamps 1.5 mm, protected against vibration by the screw flange 79
0TB1106.8110 Accessory terminal block, 6-pin, cage clamps 1.5 mm, protected against vibration by the screw flange 79
0TB1110.8010 Accessory terminal block, 10-pin, screw clamps 1.5 mm, protected against vibration by the screw flange 80
0TB1110.8110 Accessory terminal block, 10-pin, cage clamps 1.5 mm, protected against vibration by the screw flange 80
0TB1310.3100 Accessory terminal block, 3x 10-pin, cage clamps 1.5 mm, protected against vibration by the screw flange 80
0TB1310.8110 Accessory terminal block, 3x 10-pin, cage clamps 1.5 mm, protected against vibration by the screw flange,
with labeling and LED
80
0TB2102.4021 Accessory terminal block, 2-pin, AX1, screw clamps 2.5 mm 81
0TB2102.4022 Accessory terminal block, 2-pin, AX2, screw clamps 2.5 mm 81
0TB2102.4121 Accessory terminal block, 2-pin, AX1, cage clamps 2.5 mm 81
0TB2102.4122 Accessory terminal block, 2-pin, AX2, cage clamps 2.5 mm 81
0TB2104.4021 Accessory terminal block, 4-pin, AX1, screw clamps 2.5 mm 81
0TB2104.4022 Accessory terminal block, 4-pin, AX2, screw clamps 2.5 mm 81
0TB2104.4121 Accessory terminal block, 4-pin, AX1, cage clamps 2.5 mm 81
0TB2104.4122 Accessory terminal block, 4-pin, AX2, cage clamps 2.5 mm 81
0TB2105.4021 Accessory terminal block, 5-pin, AX1, screw clamps 2.5 mm 81
0TB2105.4022 Accessory terminal block, 5-pin, AX2, screw clamps 2.5 mm 81
0TB2105.4121 Accessory terminal block, 5-pin, AX1, cage clamps 2.5 mm 81
0TB2105.4122 Accessory terminal block, 5-pin, AX2, cage clamps 2.5 mm 81
0TB2105.9021 Accessory terminal block, 5-pin, DC, screw clamps 2.5 mm 83
0TB2105.9121 Accessory terminal block, 5-pin, DC, cage clamps 2.5 mm 83
X2X Link cables
X20CA0X48.0010 X2X Link device connection cable, one open end, 1.0 m 87
X20CA0X48.0020 X2X Link device connection cable, one open end, 2.0 m 87
X20CA0X48.0050 X2X Link device connection cable, one open end, 5.0 m 87
X20CA0X48.0100 X2X Link device connection cable, one open end, 10.0 m 87
X20CA0X48.0200 X2X Link device connection cable, one open end, 20.0 m 87
X20CA0X68.0003 X2X Link device connection cable, 0.3 m 88
X20CA0X68.0010 X2X Link device connection cable, 1.0 m 88
X20CA0X68.0020 X2X Link device connection cable, 2.0 m 88
X20CA0X68.0050 X2X Link device connection cable, 5.0 m 88
X20CA0X68.0100 X2X Link device connection cable, 10.0 m 88
Technical data Accessories
78 ACOPOSmicro User's Manual 1.00
5.2 Terminal blocks
The following table provides an overview of the terminal blocks, their pins and the keying used:
Model number Short description Number
of poles
Keying
0TB1106.8010 Accessory terminal block, 6-pin, screw clamp 1.5 mm, protected against vibration by the screw flange 6
0TB1106.8110 Accessory terminal block, 6-pin, cage clamp, 1.5 mm, protected against vibration by the screw flange 6
0TB1110.8010 Accessory terminal block, 10-pin, screw clamp 1.5 mm, protected against vibration by the screw flange 10
0TB1110.8110 Accessory terminal block, 10-pin, cage clamp, 1.5 mm, protected against vibration by the screw flange 10
0TB1310.3100 Accessory terminal block, 3x 10-pin, cage clamp, 1.5 mm, protected against vibration by the screw
flange
30
0TB1310.8110 Accessory terminal block, 3x 10-pin, cage clamp 1.5 mm, protected against vibration by the screw
flange, with labeling and LED
30
0TB2102.4021 Accessory terminal block, 2-pin, AX1, screw clamp 2.5 mm 2 AX1
0TB2102.4022 Accessory terminal block, 2-pin, AX2, screw clamp 2.5 mm 2 AX2
0TB2102.4121 Accessory terminal block, 2-pin, AX1, cage clamp 2.5 mm 2 AX1
0TB2102.4122 Accessory terminal block, 2-pin, AX2, cage clamp 2.5 mm 2 AX2
0TB2104.4021 Accessory terminal block, 4-pin, AX1, screw clamp 2.5 mm 4 AX1
0TB2104.4022 Accessory terminal block, 4-pin, AX2, screw clamp 2.5 mm 4 AX2
0TB2104.4121 Accessory terminal block, 4-pin, AX1, cage clamp 2.5 mm 4 AX1
0TB2104.4122 Accessory terminal block, 4-pin, AX2, cage clamp 2.5 mm 4 AX2
0TB2105.4021 Accessory terminal block, 5-pin, AX1, screw clamp 2.5 mm 5 AX1
0TB2105.4022 Accessory terminal block, 5-pin, AX2, screw clamp 2.5 mm 5 AX2
0TB2105.4121 Accessory terminal block, 5-pin, AX1, cage clamp 2.5 mm 5 AX1
0TB2105.4122 Accessory terminal block, 5-pin, AX2, cage clamp 2.5 mm 5 AX2
0TB2105.9021 Accessory terminal block, 2-pin, DC, screw clamp, 2.5 mm 5 DC
0TB2105.9121 Accessory terminal block, 2-pin, DC, cage clamp, 2.5 mm 5 DC
Technical data Accessories
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ACOPOSmicro User's Manual 1.00 79
5.2.1 Terminal block for connecting additional inputs/outputs
Order data
0TB1106.8010 0TB1106.8110
Model number Short description
Terminal blocks
0TB1106.8010 Accessory terminal block, 6-pin, screw clamps 1.5 mm, protected against vibration by the screw
flange
0TB1106.8110 Accessory terminal block, 6-pin, cage clamps 1.5 mm, protected against vibration by the screw
flange
Table 34: 0TB1106.8010, 0TB1106.8110 - Order data
Technical data
Product ID 0TB1106.8010 0TB1106.8110
Terminal block
Note Protected against vibration by the screw flange, nominal values according to UL
Number of pins 6
Type of terminal clamp Screw clamps Cage clamps
Cable type Only copper wires (no aluminum wires!)
Distance between contacts 3.5 mm
Connection cross section
AWG wire 28 to 14 AWG 26 to 14 AWG
Wire tip sleeves with plastic covering 0.20 to 1.50 mm 0.20 to 1.00 mm
Solid wires 0.20 to 1.50 mm
Fine strand wires 0.20 to 1.50 mm
With wire tip sleeves 0.20 to 1.50 mm
Fastening torque 0.2 to 0.25 Nm -
Electrical characteristics
Nominal voltage 300 V
Nominal current
1)
10 A / contact
Contact resistance 4.2 m
Table 35: 0TB1106.8010, 0TB1106.8110 - Technical data
1) The limit data for each I/O module must be taken into consideration.
Technical data Accessories
80 ACOPOSmicro User's Manual 1.00
5.2.2 Terminal blocks for connecting the I/O and CPU power supplies
Order data
0TB1106.8010 0TB1106.8110 0TB1310.3100 0TB1310.8100
Model number Short description
Terminal blocks
0TB1110.8010 Accessory terminal block, 10-pin, screw clamps 1.5 mm, protected against vibration by the screw
flange
0TB1110.8110 Accessory terminal block, 10-pin, cage clamps 1.5 mm, protected against vibration by the screw
flange
0TB1310.3100 Accessory terminal block, 3x 10-pin, cage clamps 1.5 mm, protected against vibration by the
screw flange
0TB1310.8110 Accessory terminal block, 3x 10-pin, cage clamps 1.5 mm, protected against vibration by the
screw flange, with labeling and LED
Table 36: 0TB1110.8010, 0TB1110.8110, 0TB1310.3100, 0TB1310.8110 - Order data
Technical data
Product ID 0TB1110.8010 0TB1110.8110 0TB1310.3100 0TB1310.8110
Terminal block
Note Protected against vibration by the screw
flange, nominal values according to UL
Rated values ac-
cording to UL
With LED display, nominal
values according to UL
Number of pins 10 30
Type of terminal clamp Screw clamps Cage clamps
Cable type Only copper wires (no aluminum wires!)
Distance between contacts 3.5 mm
Connection cross section
AWG wire 28 to 14 AWG 26 to 14 AWG 22 to 16 AWG
Wire tip sleeves with plastic cover-
ing
0.20 to 1.50 mm 0.20 to 1.00 mm 0.20 to 1.50 mm
Solid wires 0.20 to 1.50 mm
Fine strand wires 0.20 to 1.50 mm
With wire tip sleeves 0.20 to 1.50 mm
Fastening torque 0.2 to 0.25 Nm -
Electrical characteristics
Nominal voltage 300 V
Nominal current
1)
10 A / contact 5 A / contact or bus bar
Contact resistance 4.2 m
Table 37: 0TB1110.8010, 0TB1110.8110, 0TB1310.3100, 0TB1310.8110 - Technical data
1) The limit data for each I/O module must be taken into consideration.
Technical data Accessories
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ACOPOSmicro User's Manual 1.00 81
5.2.3 Terminal blocks for connecting motors
Screw clamps
Order data
0TB2105.4021
0TB2105.4022
0TB2104.4021
0TB2104.4022
0TB2102.4021
0TB2102.4022
Model number Short description
Terminal blocks
0TB2102.4021 Accessory terminal block, 2-pin, AX1, screw clamps 2.5 mm
0TB2102.4022 Accessory terminal block, 2-pin, AX2, screw clamps 2.5 mm
0TB2104.4021 Accessory terminal block, 4-pin, AX1, screw clamps 2.5 mm
0TB2104.4022 Accessory terminal block, 4-pin, AX2, screw clamps 2.5 mm
0TB2105.4021 Accessory terminal block, 5-pin, AX1, screw clamps 2.5 mm
0TB2105.4022 Accessory terminal block, 5-pin, AX2, screw clamps 2.5 mm
Table 38: 0TB2102.4021, 0TB2102.4022, 0TB2104.4021, 0TB2104.4022, 0TB2105.4021, 0TB2105.4022 - Order data
Technical data
Product ID 0TB2102.4021 0TB2102.4022 0TB2104.4021 0TB2104.4022 0TB2105.4021 0TB2105.4022
Terminal block
Note Rated values according to UL
Number of pins 2 4 5
Type of terminal clamp Screw clamps
Cable type Only copper wires (no aluminum wires!)
Distance between contacts 5.08 mm
Connection cross section
AWG wire 26 to 12 AWG
Wire tip sleeves with plastic cover-
ing
0.25 to 2.50 mm
Solid wires 0.20 to 2.50 mm
Fine strand wires 0.20 to 2.50 mm
With wire tip sleeves 0.20 to 2.50 mm
Fastening torque - 0.4 to 0.5 Nm
Electrical characteristics
Nominal voltage 300 V
Nominal current
1)
15 A / contakt
Table 39: 0TB2102.4021, 0TB2102.4022, 0TB2104.4021, 0TB2104.4022, 0TB2105.4021, 0TB2105.4022 - Technical data
1) The limit data for each I/O module must be taken into consideration.
Cage clamps
Order data
0TB2105.4121
0TB2105.4122
0TB2105.4121
0TB2105.4122
0TB2105.4121
0TB2105.4122
Model number Short description
Terminal blocks
0TB2102.4121 Accessory terminal block, 2-pin, AX1, cage clamps 2.5 mm
0TB2102.4122 Accessory terminal block, 2-pin, AX2, cage clamps 2.5 mm
0TB2104.4121 Accessory terminal block, 4-pin, AX1, cage clamps 2.5 mm
0TB2104.4122 Accessory terminal block, 4-pin, AX2, cage clamps 2.5 mm
0TB2105.4121 Accessory terminal block, 5-pin, AX1, cage clamps 2.5 mm
0TB2105.4122 Accessory terminal block, 5-pin, AX2, cage clamps 2.5 mm
Table 40: 0TB2102.4121, 0TB2102.4122, 0TB2104.4121, 0TB2104.4122, 0TB2105.4121, 0TB2105.4122 - Order data
Technical data Accessories
82 ACOPOSmicro User's Manual 1.00
Technical data
Product ID 0TB2102.4121 0TB2102.4122 0TB2104.4121 0TB2104.4122 0TB2105.4121 0TB2105.4122
Terminal block
Note Rated values according to UL
Number of pins 2 4 5
Type of terminal clamp Cage clamps
Cable type Only copper wires (no aluminum wires!)
Distance between contacts 5.08 mm
Connection cross section
AWG wire 26 to 12 AWG
Wire tip sleeves with plastic cover-
ing
0.20 to 1.50 mm
Solid wires 0.20 to 2.50 mm
Fine strand wires 0.20 to 2.50 mm
With wire tip sleeves 0.20 to 2.50 mm
Electrical characteristics
Nominal voltage 300 V
Nominal current
1)
15 A / contakt
Contact resistance 5 m
Table 41: 0TB2102.4121, 0TB2102.4122, 0TB2104.4121, 0TB2104.4122, 0TB2105.4121, 0TB2105.4122 - Technical data
1) The limit data for each I/O module must be taken into consideration.
Technical data Accessories
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ACOPOSmicro User's Manual 1.00 83
5.2.4 Terminal blocks for the connection of power supply units
Order data
0TB2105.9021 0TB2105.9121
Model number Short description
Terminal blocks
0TB2105.9021 Accessory terminal block, 5-pin, DC, screw clamps 2.5 mm
0TB2105.9121 Accessory terminal block, 5-pin, DC, cage clamps 2.5 mm
Table 42: 0TB2105.9021, 0TB2105.9121 - Order data
Technical data
Product ID 0TB2105.9021 0TB2105.9121
Terminal block
Note Rated values according to UL
Number of pins 5
Type of terminal clamp Screw clamps Cage clamps
Cable type Only copper wires (no aluminum wires!)
Distance between contacts 5.08 mm
Connection cross section
AWG wire 26 to 12 AWG
Wire tip sleeves with plastic covering 0.25 to 2.50 mm 0.20 to 1.50 mm
Solid wires 0.20 to 2.50 mm
Fine strand wires 0.20 to 2.50 mm
With wire tip sleeves 0.20 to 2.50 mm
Fastening torque 0.4 to 0.5 Nm
Electrical characteristics
Nominal voltage 300 V
Nominal current
1)
15 A / contakt
Contact resistance - 5 m
Table 43: 0TB2105.9021, 0TB2105.9121 - Technical data
1) The limit data for each I/O module must be taken into consideration.
Technical data Accessories
84 ACOPOSmicro User's Manual 1.00
5.2.5 Terminal block sets
To simplify the ordering process, there are terminal block sets available for each ACOPOSmicro that provide the
required number of terminal blocks for the respective module.
Screw clamp sets
Model number Short description
80XSD100XD.C0-01A Screw clamp set for ACOPOSmicro modules 80SD100XD.xxxx-01: 1x 0TB1110.8010, 1x 0TB2105.4021, 1x 0TB2105.4022, 1x
0TB2105.9021
80XSD100XD.C0-13A Screw clamp set for ACOPOSmicro modules 80SD100XD.xxxx-13: 1x 0TB1110.8010, 1x 0TB1106.8010, 1x 0TB2105.4021, 1x
0TB2105.4022, 1x 0TB2105.9021
80XSD100XD.C0-21A Screw clamp set for ACOPOSmicro modules 80SD100XD.xxxx-21: 1x 0TB1110.8010, 1x 0TB1106.8010, 1x 0TB2105.4021, 1x
0TB2105.4022, 1x 0TB2105.9021
80XSD100XS.C0-01A Screw clamp set for ACOPOSmicro modules 80SD100XS.xxxx-01: 1x 0TB1110.8010, 1x 0TB2105.4021, 1x 0TB2105.9021
80XSD100XS.C0-13A Screw clamp set for ACOPOSmicro modules 80SD100XS.xxxx-13: 1x 0TB1110.8010, 1x 0TB1106.8010, 1x 0TB2105.4021, 1x
0TB2105.9021
80XVD100PD.C0-01A Screw clamp set for ACOPOSmicro Module 80VD100PD.xxxx-01: 1x 0TB1110.8010, 1x 0TB2105.9021, 1x 0TB2104.4021, 1x
0TB2104.4022, 1x 0TB2102.4021, 1x 0TB2102.4022
80XVD100PS.C0-01A Screw clamp set for ACOPOSmicro modules 80VD100PS.xxxx-01: 1x 0TB1110.8010, 1x 0TB2105.9021, 1x 0TB2104.4021, 1x
0TB2102.4021
80XPS080X3.10-01A Screw clamp set for 80PS080X3.10-01: 1x 0TB3104-7021, 1x 0TB3104-7022, 1x 0TB3102-7010, 1x 0TB1110.8010,
1x 0TB103.3
Cage clamp sets
Model number Short description
80XSD100XD.C0-01B Cage clamp set for ACOPOSmicro modules 80SD100XD.xxxx-01: 1x 0TB1110.8110, 1x 0TB2105.4121, 1x 0TB2105.4122, 1x
0TB2105.9121
80XSD100XD.C0-13B Cage clamp set for ACOPOSmicro modules 80SD100XD.xxxx-13: 1x 0TB1110.8110, 1x 0TB1106.8110, 1x 0TB2105.4121, 1x
0TB2105.4122, 1x 0TB2105.9121
80XSD100XD.C0-21B Cage clamp set for ACOPOSmicro modules 80SD100XD.xxxx-21: 1x 0TB1110.8110, 1x 0TB1106.8110, 1x 0TB2105.4121, 1x
0TB2105.4122, 1x 0TB2105.9121
80XSD100XS.C0-01B Cage clamp set for ACOPOSmicro modules 80SD100XS.xxxx-01: 1x 0TB1110.8110, 1x 0TB2105.4121, 1x 0TB2105.9121
80XSD100XS.C0-13B Cage clamp set for ACOPOSmicro modules 80SD100XS.xxxx-13: 1x 0TB1110.8110, 1x 0TB1106.8110, 1x 0TB2105.4121, 1x
0TB2105.9121
80XVD100PD.C0-01B Cage clamp set for ACOPOSmicro modules 80VD100PD.xxxx-01: 1x 0TB1110.8110, 1x 0TB2105.9121, 1x 0TB2104.4121, 1x
0TB2104.4122, 1x 0TB2102.4121, 1x 0TB2102.4122
80XVD100PS.C0-01B Cage clamp set for ACOPOSmicro modules 80VD100PS.xxxx-01: 1x 0TB1110.8110, 1x 0TB2105.9121, 1x 0TB2104.4121, 1x
0TB2102.4121
Technical data Accessories
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ACOPOSmicro User's Manual 1.00 85
5.3 POWERLINK cables
5.3.1 Order data
Model number Short description Figure
POWERLINK cable
X20CA0E61.0002 POWERLINK connection cable, RJ45 to RJ45, 0.2 m
X20CA0E61.0010 POWERLINK connection cable, RJ45 to RJ45, 1.0 m
X20CA0E61.0020 POWERLINK connection cable, RJ45 to RJ45, 2.0 m
X20CA0E61.0050 POWERLINK connection cable, RJ45 to RJ45, 5.0 m
X20CA0E61.0100 POWERLINK connection cable, RJ45 to RJ45, 10.0 m
X20CA0E61.0150 POWERLINK connection cable, RJ45 to RJ45, 15.0 m
X20CA0E61.0500 POWERLINK connection cable, RJ45 to RJ45, 50.0 m
Table 44: X20CA0E61.0002, X20CA0E61.0010, X20CA0E61.0020, X20CA0E61.0050,
X20CA0E61.0100, X20CA0E61.0150, X20CA0E61.0500 - Order data
5.3.2 Technical data
Product ID X20CA0E61.
0002
X20CA0E61.
0010
X20CA0E61.
0020
X20CA0E61.
0050
X20CA0E61.
0100
X20CA0E61.
0150
X20CA0E61.
0500
General information
Durability Oil resistant according to VDE 0473 part 811-2-1 (IEC 60811-2-1)
Flame resistant in accordance with IEC 60332-1-2
UV resistant
Short description EPL connec-
tion cable RJ45
to RJ45, 0.2 m
EPL connec-
tion cable RJ45
to RJ45, 1.0 m
EPL connec-
tion cable RJ45
to RJ45, 2.0 m
EPL connec-
tion cable RJ45
to RJ45, 5.0 m
EPL con-
nection ca-
ble RJ45 to
RJ45, 10.0 m
EPL con-
nection ca-
ble RJ45 to
RJ45, 15.0 m
EPL con-
nection ca-
ble RJ45 to
RJ45, 50.0 m
Type Connection cables
Cable cross section
AWG 4x 22 AWG
mm 4x 0.34 mm
Cable structure
Outer sheathing
Material Polyurethane (PUR) GN
Properties Halogen-free
Color Green
Labeling B&R X67CA0Exx.xxxx and X20CA0Exx.xxxx
Lines
Wire insulation Polyethylene (PE)
Wire colors White, yellow, blue, orange
Shield Aluminum foil and meshed wire shield made of tinned Cu wires
Type Stranded wires 0.34 mm (22 AWG), tinned
7x 0.25 mm / 7x 30 AWG
Stranding 4-wire twisted pair
Electrical characteristics
Conductor resistance 120 /km at 20C
Transfer properties Category 5 / class D up to 100 MHz according to ISO/IEC 11801 (EN50173-1), ISO/IEC 24702 (EN 50173-3)
Transfer rate 10/100 Mbit/s
Insulation resistance 500 M/km at 20C
Operating conditions
Protection in accordance with EN
60529
Cables IP67
M12 plug IP67, only when screwed in
RJ45 plug IP20, only when connected properly
Environmental conditions
Temperature
Transport -50 to 70C
Fixed installation -25 to 60C
flexible installation -20 to 60C
Mechanical characteristics
Mounting Easy snap-on mounting onto the DIN rail
Dimensions
Length 0.2 m 1 m 2 m 5 m 10 m 15 m 50 m
Diameter 6.5 mm 0.2 mm
Flex radius
After installation 7x outer diameter
During installation 3x outer diameter
Weight 0.061 kg/m
Table 45: X20CA0E61.0002, X20CA0E61.0010, X20CA0E61.0020, X20CA0E61.0050,
X20CA0E61.0100, X20CA0E61.0150, X20CA0E61.0500 - Technical data
Technical data Accessories
86 ACOPOSmicro User's Manual 1.00
5.3.3 Dimensions and pinout
Dimensions
xxxx
58 30
Pinout
RJ45 plug RJ45 plug
1 2 3 6
1
2
3
6
6
3
2
1
Shield
Yellow
White
Orange
Blue
1 2 3 6
Table 46: X20CA0E61 POWERLINK connection cable - Dimensions and pinout
Cable lengths
Model number Standard length [dm] Actual length [cm] Tolerance [cm]
X20CA0E61.0002 2 20 -
X20CA0E61.0010 10 100 -
X20CA0E61.0020 20 200 -
X20CA0E61.0050 50 500 -
X20CA0E61.0100 100 1000 -
X20CA0E61.0150 150 1500 -
X20CA0E61.0500 500 5000 -
Table 47: X20CA0E61 POWERLINK connection cable - Cable lengths
Technical data Accessories
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ACOPOSmicro User's Manual 1.00 87
5.4 X2X Link cables
5.4.1 X2X Link device attachment cable
Order data
Model number Short description Figure
X2X Link cables
X20CA0X48.0010 X2X Link device connection cable, one open end, 1.0 m
X20CA0X48.0020 X2X Link device connection cable, one open end, 2.0 m
X20CA0X48.0050 X2X Link device connection cable, one open end, 5.0 m
X20CA0X48.0100 X2X Link device connection cable, one open end, 10.0 m
X20CA0X48.0200 X2X Link device connection cable, one open end, 20.0 m
Table 48: X20CA0X48.0010, X20CA0X48.0020, X20CA0X48.0050, X20CA0X48.0100, X20CA0X48.0200 - Order data
Technical data
Product ID X20CA0X48.0010 X20CA0X48.0020 X20CA0X48.0050 X20CA0X48.0100 X20CA0X48.0200
General information
Durability Flame resistant according to VW-1 and FT1
Cable cross section
Data cables
AWG 2x 24 AWG
mm 2x 0.25 mm
Supply lines
AWG 2x 22 AWG
mm 2x 0.34 mm
RoHS compliant
1)
Yes
Mechanical characteristics
Dimensions
Length 1.0 m 2.0 m 5.0 m 10.0 m 20.0 m
Table 49: X20CA0X48.0010, X20CA0X48.0020, X20CA0X48.0050, X20CA0X48.0100, X20CA0X48.0200 - Technical data
1) RoHS (Restriction of the use of certain Hazardous Substances) limits the use of the following substances in electrical and electronic devices: Lead, mercury,
cadmium, chrome VI as well as the flame-retardant polybrominated biphenyl (PBB) and polybrominated diphenyl ether (PBDE).
Dimensions
49
50 5 12
xxxx
Twisted shielding mesh
and 5 mm (1.5 mm) tinned
Pinout
Plug Pin Name Wire colors Plug
1 X2X+ Red
2 X2X White
3 X2X\ Blue
4 X2X Black
1
4
Shield
Keying for X3B
Plug SHLD Shield
1
4
Shield
Keying for X3A
Technical data Accessories
88 ACOPOSmicro User's Manual 1.00
5.4.2 X2X Link device connection cable
Order data
Model number Short description Figure
X2X Link cables
X20CA0X68.0003 X2X Link device connection cable, 0.3 m
X20CA0X68.0010 X2X Link device connection cable, 1.0 m
X20CA0X68.0020 X2X Link device connection cable, 2.0 m
X20CA0X68.0050 X2X Link device connection cable, 5.0 m
X20CA0X68.0100 X2X Link device connection cable, 10.0 m
Table 50: X20CA0X68.0003, X20CA0X68.0010, X20CA0X68.0020, X20CA0X68.0050, X20CA0X68.0100 - Order data
Technical data
Product ID X20CA0X68.0003 X20CA0X68.0010 X20CA0X68.0020 X20CA0X68.0050 X20CA0X68.0100
General information
Durability Flame resistant according to VW-1 and FT1
Cable cross section
Data cables
AWG 2x 24 AWG
mm 2x 0.25 mm
Supply lines
AWG 2x 22 AWG
mm 2x 0.34 mm
RoHS compliant
1)
Yes
Mechanical characteristics
Dimensions
Length 0.3 m 1.0 m 2.0 m 5.0 m 10.0 m
Table 51: X20CA0X68.0003, X20CA0X68.0010, X20CA0X68.0020, X20CA0X68.0050, X20CA0X68.0100 - Technical data
1) RoHS (Restriction of the use of certain Hazardous Substances) limits the use of the following substances in electrical and electronic devices: Lead, mercury,
cadmium, chrome VI as well as the flame-retardant polybrominated biphenyl (PBB) and polybrominated diphenyl ether (PBDE).
Dimensions
49 49
12 12
xxxx
Pinout
Open Pin Name Wire colors Plug
1 X2X+ Red
2 X2X White
3 X2X\ Blue
4 X2X Black
For custom
wiring
Plug SHLD Shield
1
4
Shield
Keying for X3A
Technical data Accessories
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ACOPOSmicro User's Manual 1.00 89
5.5 Braking resistors
5.5.1 80XBR0025.010-11
Order data
Model number Short description Figure
Braking resistor
80XBR0025.010-11 Braking resistor for power supply module 80PS080X3.10-01 2.5
Ohm 100 W
Table 52: 80XBR0025.010-11 - Order data
Technical data
Product ID 80XBR0025.010-11
General information
RoHS compliant Yes
Cooling and mounting method Wall mounting
Certification
c-UL-us Yes
Braking resistors
Continuous power
Horizontal 100W
Ohmic resistance 2.5 10%
Design
RB1, RB2 Connecting wires 500 mm long
Temperature model data
Thermal resistance between braking resistor and
the environment
5.075 K/W
Max. permitted temperature of the wire resistor 558C
Operating conditions
Permitted mounting orientations
Horizontal Yes
Protection in accordance with EN 60529 IP50
Environmental conditions
Temperature
Operation -40 to 90C
Relative humidity
Operation 5 to 95%
Mechanical characteristics
Dimensions
Width 165 mm
Height 60 mm
Depth 31 mm
Weight 0.39 kg
Table 53: 80XBR0025.010-11 - Technical data
Dimensions
8
5
.
3
0
146
165
31
6
0
Figure 13: Dimensions
Technical data Accessories
90 ACOPOSmicro User's Manual 1.00
5.5.2 80XBR0055.010-11
Order data
Model number Short description Figure
Braking resistor
80XBR0055.010-11 Braking resistor for ACOPOSmicro 5.5 Ohm 100 W
Table 54: 80XBR0055.010-11 - Order data
Technical data
Product ID 80XBR0055.010-11
General information
RoHS compliant Yes
Cooling and mounting method Wall mounting
Certification
c-UL-us Yes
Braking resistors
Continuous power
Horizontal 100W
Ohmic resistance 5.5 10%
Design
RB1, RB2 Connecting wires 500 mm long
Temperature model data
Thermal resistance between braking resistor and
the environment
5.075 K/W
Max. permitted temperature of the wire resistor 558C
Operating conditions
Permitted mounting orientations
Horizontal Yes
Protection in accordance with EN 60529 IP50
Environmental conditions
Temperature
Operation -40 to 90C
Relative humidity
Operation 5 to 95%
Mechanical characteristics
Dimensions
Width 165 mm
Height 60 mm
Depth 31 mm
Weight 0.39 kg
Table 55: 80XBR0055.010-11 - Technical data
Technical data Accessories
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ACOPOSmicro User's Manual 1.00 91
5.6 Hose clamps
Order data
Model number Short description Figure
Hoe clamps
80XSC0000.00-01 Accessory for ACOPOSmicro: 1x hose clamp, W 9 mm, D 8-12
mm
80XSC0000.00-10 Accessory for ACOPOSmicro: 10x hose clamp, W 9 mm, D 8-12
mm
Table 56: 80XSC0000.00-01, 80XSC0000.00-10 - Order data
5.7 Backup battery
Order data
Model number Short description Figure
Batteries
80XB120A2.36-00 1x lithium battery 1/2 AA 3.6 V
Table 57: 80XB120A2.36-00 - Order data
Technical data Accessories
92 ACOPOSmicro User's Manual 1.00
5.8 Accessories included in delivery
Brief description of accessories delivered with the ACOPOSmicro
Accessory set for EMC-compatible installation of the X2X Link cable and the PE connection
Additional information in this documentation:

Information about using the accessory set in Chapter 6 "Wiring":


"Information about the protective ground connection for stepper motor modules" on page 114
"Information about the protective ground connection for inverter modules" on page 122

"EMC-compatible installation" on page 101


ACOPOSmicro multilingual warning stickers
5.8.1 ACOPOSmicro multilingual warning stickers
For information about how to use these stickers, please refer to section 2.7.1 "Protection against touching electrical
parts" on page 17 and section 2.7.3 "Protection against burns" on page 18.
Installation ACOPOSmicro with cold plate
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ACOPOSmicro User's Manual 1.00 93
Chapter 4 Installation
1 General information
ACOPOSmicro modules must be installed on a flat surface that is dimensioned correctly. The dimension diagram
lists the number and type of mounting screws to be used.
ACOPOSmicro modules can only be installed in environments that correspond to a pollution degree 2 (non-con-
ductive pollution). When installing the device, the specifications listed in the technical data for maximum operating
temperature and protection level must be met (see "Technical data" on page 29).
2 ACOPOSmicro with cold plate
2.1 Dimension diagram for ACOPOSmicro with cold plate
Installation dimensions are the same for all of the ACOPOSmicro modules described in this manual.
95 8
1
3
4
56
65
1
5
8
1
4
9
168
M
i
n
.

5
0
M
i
n
.

8
0
4.5
2.5
Figure 14: Dimension diagram and installation dimensions for ACOPOSmicro modules
The swivel range of the connector covers on the front of the ACOPOSmicro modules must not be impeded during
installation in order to avoid any cabling problems.
Sufficient space must be left above (at least 50 mm) and below (at least 80 mm) the ACOPOSmicro modules in
order to ensure proper air circulation.
ACOPOSmicro modules can be mounted with a minimum space of 6 mm between modules.
Installation ACOPOSmicro with cold plate
94 ACOPOSmicro User's Manual 1.00
2.2 Cold plate mounting
The mounting surface for the mounting plate or for the cold plate must provide sufficient stability in addition to being
non-flammable, level and free of contaminants.
Spacing for mounting and ventilation of ACOPOSmicro modules can be found in the section "Dimension diagram
for ACOPOSmicro with cold plate" on page 93.
Caution!
It is especially important that the mounting surface is level so that the entire surface of the heat spread-
er completely rests against it.
Mounting on uneven surfaces can lead to reduced heat dissipation from the ACOPOSmicro modules.
Information:
When mounting ACOPOSmicro modules, be sure not to scratch the heat spreader. This would impair
thermal dissipation to the mounting plate.
2.3 Unmounting from the cold plate
If heat conductive paste was used when mounting the ACOPOSmicro to a cold plate, then the drive module can
be separated from the cold plate using an M6 screw.
Figure 15: Removing an ACOPOSmicro from the cold plate
Installation Power supply module
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ACOPOSmicro User's Manual 1.00 95
3 Power supply module
3.1 Dimension diagram for the power supply module
2
9
5
2
5
7
2
2
.
5
67.5 1.5
219
2
8
3
5.5
The following mounting instructions must be followed for each power supply module in order to ensure
sufficient air circulation:
At least 5 cm spacing above and below
Vertical installation
No spacing is required to the left and right of a power supply module.
96
Dimensioning Fuse protection
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ACOPOSmicro User's Manual 1.00 97
Chapter 5 Dimensioning
1 Fuse protection
The power supply line should be protected by a circuit breaker or a fuse. In general, dimensioning of the supply line
and overcurrent protection depends on the structure of how the power is being supplied (ACOPOSmicro devices
can be connected individually or in groups).
Information:
The effective current for the power supply depends on the load but is always less than the motor
current. Make sure that the maximum nominal current of 15 A per pin is not exceeded on the power
supply terminals of the power unit.
When choosing a suitable fuse, the user must also account for characteristics such as aging effects, temperature
derating, overcurrent capacity and the definition of the rated current, which can vary by manufacturer and type. In
addition, the fuse that is selected must also be able to handle application-specific characteristics (e.g. overcurrent
that occurs in acceleration cycles).
The cross section of the power mains and the rated current of the overcurrent protection used are chosen according
to the current load so that the maximum current load for the cable cross section selected (based on the type of
layout, see table) is greater than or equal to the current load in the power mains. The rated current of the overcurrent
protection must be less than or equal to the maximum current load for the cable cross section selected (based
on the type of layout, see table):
I
Mains
I
b
I
Z
Mains Fuse Line/cable
I
Z
/ I
b
ratio according to the type of installation in an ambient air temperature of +40C in accordance with IEC 60204-1
Wire cross section [mm] B1 B2 C E
1.5 13.5 / 13.0 13.1 / 10.0 15.2 / 13.0 16.1 / 16.0
2.5 18.3 / 16.0 16.5 / 16.0 21.0 / 20.0 22.0 / 20.0
4.0 24.0 / 24.0 23.0 / 20.0 28.0 / 25.0 30.0 / 25.0
6.0 32.0 / 32.0 29.0 / 25.0 36.0 / 32.0 37.0 / 32.0
Table 58: Cable cross section of the mains supply line depending on the type of layout
I
Z
[A] ... Current carrying capacity of the cable cross section
I
b
[A] ... Rated current for overcurrent protection
Type of layout in accordance with IEC60204-1
B1 Wires in conduit or cable duct
B2 Cables in conduit or cable duct
C Cables or wires on walls
E Cables or wires on open cable tray
Table 59: Type of layout for the mains supply line
Dimensioning Power consumption - Stepper motor modules
98 ACOPOSmicro User's Manual 1.00
2 Power consumption - Stepper motor modules
The maximum total dissipated power for an ACOPOSmicro module is calculated from the power consumed by the
CPU (see "CPU power supply" on page 52) and the power unit.
The following diagram illustrates the dissipated power of the power unit for each axis being powered, depending
on the power supply voltage and motor current:
20 25 30 35 40 45 50 55 60 65 70 75 80
3 A
6 A
10 A
0.0
2.5
5.0
7.5
10.0
12.5
15.0
17.5
20.0
Power unit supply voltage [V]
P
o
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r

d
i
s
s
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t
i
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n

p
e
r

p
o
w
e
r
e
d

a
x
i
s

[
W
]
Figure 16: Dimensioning - Dissipated power from the power unit for each powered axis
This diagram can be used to determine the expected maximum power dissipation from the ACOPOSmicro for a
wide range of applications.
A majority of the dissipated heat from the power unit is emitted to the ACOPOSmicro's heat spreader.
Example 1:
ACOPOSmicro 2-channel model without encoder (80SD100XD.C0XX-01)
60 VDC power supply
10 A applied to motor 1
3 A applied to motor 2
Calculation:
Power consumption for... Power consumption [W]
CPU (including enable input) 6.00
Power unit when idle 0.50
Motor 1 power unit 17.30
Motor 2 power unit 2.80
Total 26.60
Example 2:
ACOPOSmicro 1-channel variant with encoder (80SD100XS.C04X-01)
60 VDC power supply
3 A applied to motor
Calculation:
Power consumption for... Power consumption [W]
CPU (including enable input) 7.00
Power unit when idle 0.50
Motor power unit 2.80
Total 10.3
Dimensioning Power consumption - Stepper motor modules
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ACOPOSmicro User's Manual 1.00 99
Example 3:
ACOPOSmicro 2-channel variant with encoder (80SD100XD.C044-01)
60 VDC power supply
10 A applied to motor 1
3 A applied to motor 2
Calculation:
Power consumption for... Power consumption [W]
CPU (including enable input) 8.00
Power unit when idle 0.50
Motor 1 power unit 17.30
Motor 2 power unit 2.80
Total 28.6
100
Wiring EMC-compatible installation
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ACOPOSmicro User's Manual 1.00 101
Chapter 6 Wiring
The following notice applies to all stepper motor and inverter modules as well as the power supply module:
Danger!
Connectors and terminal blocks must not be disconnected or connected when voltage is applied and/
or during operation.
1 EMC-compatible installation
1.1 General information
In compliance with EMC-compatible installation, the ACOPOSmicro drive system fulfills the following directives:
EMC directive 89/336/EEC
Low-voltage directive 73/23/EEC
ACOPOSmicro drive systems also meet the requirements for harmonized EMC product standard EN 61800-3:1996
+ A11:2000 for industrial areas (second environment).
Additional EMC measures must be implemented by the machine or system manufacturer in the event that the
product standard for the machine includes lower limit values or the machine conforms to the basic standard
IEC 61000-6-4. Proof of conformity to required limit values must be provided by the manufacturer or distributor of
the machine or system in accordance with the guidelines for implementing the EMC directive.
Additional EMC measures are required when operating ACOPOSmicro drive systems in a residential area or when
connecting ACOPOSmicro drive systems to a low voltage system that also supplies buildings in a residential area
(first environment) without an intermediate transformer.
1.2 Installation notes
1. The control cabinet or system must be constructed properly.
2. To prevent the effects of disturbances, the following lines must be properly shielded:
Motor cables
Encoder cables
Control cables
Data cables
3. Inductive switching elements such as contactors or relays must be equipped with corresponding suppressor
elements such as varistors, RC elements or damping diodes.
4. All electrical connections must be kept as short as possible.
5. Cable shields must be attached to designated shield terminals and the plug housing.
6. Shielded cables with copper mesh or tinned copper mesh must be used. Twisting or extending the protective
mesh using single conductors is not permitted.
7. Unused cable conductors must be grounded on both sides whenever possible.
Wiring Stepper motor modules
102 ACOPOSmicro User's Manual 1.00
2 Stepper motor modules
2.1 Pinout overview
2.1.1 80SD100XD.C044-01
ACOPOSmicro
80SD100XD.C044-01
GND +80 VDC
X1
D
C
1
+
P
E

(
g
r
o
u
n
d
)
D
C
2
+
D
C
2

D
C
1

+ +
GND +24 VDC
X2
2
4

V
D
C

b
r
a
k
e

s
u
p
p
l
y
D
i
g
i
t
a
l

/

T
r
i
g
g
e
r

i
n
p
u
t

2
D
i
g
i
t
a
l

/

T
r
i
g
g
e
r

i
n
p
u
t

1

G
N
D
D
i
g
i
t
a
l

/

T
r
i
g
g
e
r

i
n
p
u
t

1
D
i
g
i
t
a
l

/

T
r
i
g
g
e
r

i
n
p
u
t

2

G
N
D
C
P
U

s
u
p
p
l
y

G
N
D
C
O
M

E
n
a
b
l
e
2
4

V

E
n
a
b
l
e
2
4

V
D
C

b
r
a
k
e

o
u
t
p
u
t
+
2
4

V
D
C

C
P
U

s
u
p
p
l
y
1 2 3 4 5 6 7 8 9 10
1
5
6
9
X6A
1
5
6
9
X6B
X5
A
\
BB
\
P
E
A
X4
A
\
BB
\
P
E
A
X3B X3A
X
2
X

L
i
n
k
X
2
X

L
i
n
k
G
M
G
M
View A
View B
X1
X2
X3A
X3B
X5
X4
X6B
X6A
Wiring Stepper motor modules
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ACOPOSmicro User's Manual 1.00 103
2.1.2 80SD100XD.C04X-13
View A
View B
X1
X2
X3A
X3B
X5
X4
X6
X7
ACOPOSmicro
80SD100XD.C04X-13
GND +80 VDC
X1
D
C
1
+
P
E

(
g
r
o
u
n
d
)
D
C
2
+
D
C
2

D
C
1

+ +
GND +24 VDC
X2
2
4

V
D
C

b
r
a
k
e

s
u
p
p
l
y
D
i
g
i
t
a
l

/

T
r
i
g
g
e
r

i
n
p
u
t

2
D
i
g
i
t
a
l

/

T
r
i
g
g
e
r

i
n
p
u
t

1

G
N
D
D
i
g
i
t
a
l

/

T
r
i
g
g
e
r

i
n
p
u
t

1
D
i
g
i
t
a
l

/

T
r
i
g
g
e
r

i
n
p
u
t

2

G
N
D
C
P
U

s
u
p
p
l
y

G
N
D
C
O
M

E
n
a
b
l
e
2
4

V

E
n
a
b
l
e
2
4

V
D
C

b
r
a
k
e

o
u
t
p
u
t
+
2
4

V
D
C

C
P
U

s
u
p
p
l
y
1 2 3 4 5 6 7 8 9 10
X3B X3A
X
2
X

L
i
n
k
X
2
X

L
i
n
k
X5
A
\
BB
\
P
E
A
X4
A
\
BB
\
P
E
A
1
5
6
9
X6
M
G
M
1 2 4 5 3 6
X7
D
i
g
i
t
a
l

i
n
p
u
t

3

/

R
D
i
g
i
t
a
l

i
n
p
u
t

1

/

A
D
i
g
i
t
a
l

o
u
t
p
u
t

2
D
i
g
i
t
a
l

o
u
t
p
u
t

1
D
i
g
i
t
a
l

i
n
p
u
t

2

/

B
D
i
g
i
t
a
l

i
n
p
u
t

4
Wiring Stepper motor modules
104 ACOPOSmicro User's Manual 1.00
2.1.3 80SD100XD.C0XX-01
ACOPOSmicro
80SD100XD.C0XX-01
GND +80 VDC
X1
D
C
1
+
P
E

(
g
r
o
u
n
d
)
D
C
2
+
D
C
2

D
C
1

+ +
X5
A
\
BB
\
P
E
A
X4
A
\
BB
\
P
E
A
X3B X3A
X
2
X

L
i
n
k
X
2
X

L
i
n
k
GND +24 VDC
X2
2
4

V
D
C

b
r
a
k
e

s
u
p
p
l
y
D
i
g
i
t
a
l

/

T
r
i
g
g
e
r

i
n
p
u
t

2
D
i
g
i
t
a
l

/

T
r
i
g
g
e
r

i
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p
u
t

1

G
N
D
D
i
g
i
t
a
l

/

T
r
i
g
g
e
r

i
n
p
u
t

1
D
i
g
i
t
a
l

/

T
r
i
g
g
e
r

i
n
p
u
t

2

G
N
D
C
P
U

s
u
p
p
l
y

G
N
D
C
O
M

E
n
a
b
l
e
2
4

V

E
n
a
b
l
e
2
4

V
D
C

b
r
a
k
e

o
u
t
p
u
t
+
2
4

V
D
C

C
P
U

s
u
p
p
l
y
1 2 3 4 5 6 7 8 9 10
M
M
View A
View B
X1
X2
X3A
X3B
X5
X4
Wiring Stepper motor modules
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ACOPOSmicro User's Manual 1.00 105
2.1.4 80SD100XD.C0XX-21
ACOPOSmicro
80SD100XD.C0XX-21
GND +80 VDC
X1
D
C
1
+
P
E

(
g
r
o
u
n
d
)
D
C
2
+
D
C
2

D
C
1

+ +
GND +24 VDC
X2
2
4

V
D
C

b
r
a
k
e

s
u
p
p
l
y
D
i
g
i
t
a
l

/

T
r
i
g
g
e
r

i
n
p
u
t

2
D
i
g
i
t
a
l

/

T
r
i
g
g
e
r

i
n
p
u
t

1

G
N
D
D
i
g
i
t
a
l

/

T
r
i
g
g
e
r

i
n
p
u
t

1
D
i
g
i
t
a
l

/

T
r
i
g
g
e
r

i
n
p
u
t

2

G
N
D
C
P
U

s
u
p
p
l
y

G
N
D
C
O
M

E
n
a
b
l
e
2
4

V

E
n
a
b
l
e
2
4

V
D
C

b
r
a
k
e

o
u
t
p
u
t
+
2
4

V
D
C

C
P
U

s
u
p
p
l
y
1 2 3 4 5 6 7 8 9 10
X3B X3A
X
2
X

L
i
n
k
X
2
X

L
i
n
k
X5
A
\
BB
\
P
E
A
X4
A
\
BB
\
P
E
A
M
M
View A
View B
X1
X2
X3A
X3B
X5
X4
X7
1 2 4 5 3 6
X7
A
n
a
l
o
g

i
n
p
u
t

2

S
h
i
e
l
d
A
n
a
l
o
g

i
n
p
u
t

1

A
n
a
l
o
g

i
n
p
u
t

1

+
A
n
a
l
o
g

i
n
p
u
t

2

+
S
h
i
e
l
d
Wiring Stepper motor modules
106 ACOPOSmicro User's Manual 1.00
2.1.5 80SD100XS.C04X-01
ACOPOSmicro
80SD100XS.C04X-01
GND +80 VDC
X1
D
C
1
+
P
E

(
g
r
o
u
n
d
)
D
C
2
+
D
C
2

D
C
1

+ +
GND +24 VDC
X2
2
4

V
D
C

b
r
a
k
e

s
u
p
p
l
y
D
i
g
i
t
a
l

i
n
p
u
t

2
D
i
g
i
t
a
l

/

T
r
i
g
g
e
r

i
n
p
u
t

1

G
N
D
D
i
g
i
t
a
l

/

T
r
i
g
g
e
r

i
n
p
u
t

1
D
i
g
i
t
a
l

i
n
p
u
t

2

G
N
D
C
P
U

s
u
p
p
l
y

G
N
D
C
O
M

E
n
a
b
l
e
2
4

V

E
n
a
b
l
e
2
4

V
D
C

b
r
a
k
e

o
u
t
p
u
t
+
2
4

V
D
C

C
P
U

s
u
p
p
l
y
1 2 3 4 5 6 7 8 9 10
X3B X3A
X
2
X

L
i
n
k
X
2
X

L
i
n
k
X4
A
\
BB
\
P
E
A
G
M
1
5
6
9
X6
View A
View B
X1
X2
X3A
X3B
X4
X6
Wiring Stepper motor modules
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ACOPOSmicro User's Manual 1.00 107
2.1.6 80SD100XS.C0XX-01
ACOPOSmicro
80SD100XS.C0XX-01
GND +80 VDC
X1
D
C
1
+
P
E

(
g
r
o
u
n
d
)
D
C
2
+
D
C
2

D
C
1

+ +
GND +24 VDC
X2
2
4

V
D
C

b
r
a
k
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X3B X3A
X
2
X

L
i
n
k
X
2
X

L
i
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k
X4
A
\
BB
\
P
E
A
M
View A
View B
X1
X2
X3A
X3B
X4
Wiring Stepper motor modules
108 ACOPOSmicro User's Manual 1.00
2.2 X1 - Power unit supply
Figure Pinout
Pin Name
+ DC1+
- DC1-
PE (ground)
+ DC2+
- DC2
X1
+ + - -
Supply
18 - 80 VDC
X1
DC1 DC2
The supply connection for the power unit is made using the 0TB2105.9021 or
0TB2105.9121 terminal block.
For more information see section 5.2.4 "Terminal blocks for the connection of
power supply units" on page 83.
Table 60: X1 connection - Power unit supply
The DC1-/DC2- and DC1+/DC2+ connections are connected together inside the ACOPOSmicro. As a result, the
supply connections can be used as follows:
DC1 as the supply and DC2 to route the DC voltage
DC1 and DC2 parallel to the supply at very high loads
Information about safeguarding the lines can be found in the section "Dimensioning" under section "Fuse protection"
on page 97.
Information:
B&R power supply module 80PS080X3.10-01 must be used for the DC link supply voltage on X1 in
order to adhere to the limit values for "Disturbance voltage on mains connections" (see 185).
2.2.1 X1 diagram - Power supply
CZK
X1
DC +
DC +
PE
DC
DC
Figure 17: ACOPOSmicro - X1 diagram - Power supply
2.3 X2 - Power supply for the CPU and digital inputs/outputs
Figure Pinout
Pin Name
1 Digital input 1
2 Digital input 1 GND
3 Digital input 2
4 Digital input 2 GND
5 24 VDC brake supply voltage
1)
6 24 VDC brake output
7 24 V Enable
8 COM Enable
9 +24 VDC CPU supply
10 CPU supply GND
X2
1
2
3
4
5
6
7
8
9
10
View from below
The supply connection for the CPU and digital inputs/outputs is made using a ter-
minal block (0TB1110.8010, 0TB1110.8110, 0TB1310.3100 or 0TB1310.8100).
Information about these terminal blocks can be found in the section "Terminal
blocks for connecting the I/O and CPU power supplies" on page 80.
Table 61: X2 connection - Power supply for the CPU and digital inputs/outputs
1) Reference potential: CPU supply GND (pin 10)
Digital inputs 1 and 2 can be used as trigger inputs (see "Technical data" on page 29 for the respective drive
module).
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ACOPOSmicro User's Manual 1.00 109
0TB1110 terminal blocks are single-row terminal blocks. In contrast, the 0TB1310.3100 terminal has three rows
(3x 10 pins), which makes it particularly well-suited for connecting the inputs/outputs and acting as a jumper ter-
minal.
Information:
The red and blue rows of pins on the 0TB1310.3100 and 0TB1310.8100 terminal blocks are connected
internally to simplify wiring. The user only has to create two connections so that the GND potential
(blue) and the +24 VDC potential (red) can also supply the ACOPOSmicro CPU component on both
rows of pins (see the following figure).
1 2 3 4 5 6 7 8 9 10
Red Blue
Gray
Figure 18: X2 connection - CPU supply via the 0TB1310.3100 terminal
2.3.1 X2 connection - Input/Output circuit diagram
9
10
30 V
7
8
5
6
30 V
30 V
3
30 V
30 V
4
1
30 V
30 V
2
X2
GND
+24 VDC
24 V
Output
24 VDC brake
Enable
Trigger2
Trigger1
COM Enable
24 V Enable
24 VDC brake
Supply voltage
Digital input 2 GND
Digital input 2
Trigger 2
Digital input 1 GND
Digital input 1
Trigger 1
Figure 19: X2 connection - Input/output circuit diagram
Danger!
The brake controller integrated in the ACOPOSmicro and the holding brake integrated in B&R standard
motors fulfill the criteria of Safety Category B in accordance with EN 954-1.
Additional measures are necessary to achieve higher safety categories.
Wiring Stepper motor modules
110 ACOPOSmicro User's Manual 1.00
2.4 X3A/X3B - X2X Link connections
Figure X2X Link connections
View from below
X2X Link connections underneath
swivel-mount cover
X3A
X2X Link input
X3B
X2X Link output
The X2X Link connection is made using pre-assembled cables. Information
about these cables can be found in section 5.4 "X2X Link cables" on page 87.
Information:
Make sure that the X2X Link cable is properly connected and that the
input and output are not mixed up by mistake. Sockets and plugs are
keyed accordingly to prevent this.
Table 62: X3A/X3B connections - X2X Link
When using the pre-assembled X2X Link device attachment cable (X20CA0X48), the following pinout for the indi-
vidual wires must be taken into consideration:
X2X GND (black)
X2X + (red)
Shielding mesh
X2X (white)
X2X\ (blue)
Figure 20: X3A/X3B connections - X2X Link device attachment cable - Wire colors
The X2X Link supply for the ACOPOSmicro is generated internally from the 24 VDC supply, which means that it
does not have to be supplied via an upstream power supply (e.g. X67PS1300 or X20BT9400). For subsequent
modules, the X2X Link supply (X2X+, red wire on the X2X cable) is fed through internally from X3A to X3B (bridged).
Information:
By default, the X2X Link device attachment cable (see 5.4.1 "X2X Link device attachment cable" on
page 87) is keyed for the connection to the X2X Link input X3A. In order to use this cable on the X2X
Link output X3B of the ACOPOSmicro, its keying must be changed accordingly.
Unlocking mechanism
Keying
Keying
for X3B
Keying
for X3A
Keying tabs
Figure 21: X2X Link plug with keying tabs
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ACOPOSmicro User's Manual 1.00 111
2.5 X4/X5 - Stepper motor connection
Figure
X4 motor 1
AX1 keying
X5 Motor 2
AX2 keying
X4 motor 1
AX1 keying
2-channel variant
View from below
1-channel variant
View from below
Pinout
Pin Name
A Winding A
A\ Winding A\
B Winding B
B\ Winding B\
PE (ground)
A A\ B B\
The motor connection is made using the 0TB2105 terminal block.
Information about the 0TB2105 terminal block can be found in section 5.2.3 "Terminal blocks for connecting
motors" on page 81.
Table 63: X4/X5 connections - Stepper motor
Danger!
Motor plugs, terminal blocks and all other connections must not be connected or disconnected when
voltage is applied and/or during operation.
Information:
Since the sockets for the motor connections are keyed, be sure that the corresponding terminal blocks
with the proper keying are being used. For more information, see section 5.2.3 "Terminal blocks for
connecting motors" on page 81.
2.5.1 X4/X5 - Output diagram - Stepper motor connection
DC+
DC-
X4
A\
B
B\
PE
A
X5
A\
B
B\
PE
A
Output stage
Output stage
2-channel variant
Figure 22: X4/X5 - Output diagram - Stepper motor connection
Wiring Stepper motor modules
112 ACOPOSmicro User's Manual 1.00
2.6 X6 - Encoder inputs
X6A X6B X6
2-channel variant 1-channel variant
Figure 23: X6 - Encoder inputs
2.6.1 Incremental encoders
Pinout
X6 Pin Name
1 A
2 NC
3 B
4 NC
5 R
6 NC
7 NC
8 +24 VDC encoder supply output
5
9
1
6
9 GND = GND CPU supply
Table 64: Incremental encoder - Pinout
Input circuit diagram
1
3
5
9
A
B
R
GND
8
24 V
24 V
GND
24 V
24 V
Line disturbance A
Line disturbance B
Line disturbance R
+24 VDC
Encoder supply
Status
ACOPOSmicro
Internal
PTC
Channel 1
A
B
R
Channel 2
1
3
5
9
GND
8
+24 VDC
Encoder supply
Like channel 1
Monitoring
Figure 24: X6 - Incremental encoder input - Input circuit diagram
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ACOPOSmicro User's Manual 1.00 113
Information:
The +24 VDC encoder supply is protected by a PTC thermistor for both encoder supply lines. As a
result, the load must be completely separated after the PTC has been tripped (e.g. due to a short circuit
or overload) to allow the PTC to cool down.
2.7 X7 - Additional inputs/outputs
Figure
X7
1
2
3
4
5
6
View from below
Pinout
1)
Additional digital inputs/outputs
80SD100XD.C04X-13
Additional analog inputs
80SD100XD.C0XX-21
Pin Digital inputs/outputs ABR incremental encoder Counter Pin Analog inputs
1 Digital output 1 1 Analog input 1 +
2 Digital output 2 2 Analog input 1
3 Digital input 1 A Counter input 1 3 Shield
4 Digital input 2 B 4 Analog input 2 +
5 Digital input 3 R External counter frequency 5 Analog input 2
6 Digital input 4 Reference for enable input 6 Shield
Additional inputs/outputs are connected using a terminal block (0TB1106.8010 or 0TB1106.8110).
Information about these terminal blocks can be found in section 5.2.1 "Terminal block for connecting additional inputs/outputs" on page 79.
Table 65: X7 - Additional inputs/outputs - Pinout
1) Pinout for each ACOPOSmicro variant
2.7.1 Input circuit diagram for additional digital inputs
Digital input 1-4
Status
Figure 25: X7 connection - Input circuit diagram for additional digital inputs
2.7.2 Output circuit diagram for additional digital outputs
30 V
+24 VDC
Digital output 1, 2
Figure 26: X7 connection - Output circuit diagram for additional digital outputs
Wiring Stepper motor modules
114 ACOPOSmicro User's Manual 1.00
2.7.3 Input circuit diagram for additional analog inputs
+
-
+15 V
-15 V
A/D-
Converter
Reference
Filter
+ Analog input 1, 2
- Analog input 1, 2
Figure 27: X7 connection - Input circuit diagram for additional analog inputs
2.8 Protective ground connection PE
The wire cross section for the protective ground conductor is based on the selected cross section of the "external
line" (DC+ and DC-). In addition to the connection of the first protective ground conductor (X1/PE terminal, see
section 2.13.2 "Motor power supply" on page 52), a second, fixed (immobile) protective ground conductor may also
have to be connected to the respective protective ground connection on the ACOPOSmicro (if power supply >42
VDC). This must be done using a suitable M4 cable lug on the respective PE connection.
M4 threading
PE conductor connection using a suitable
M4 cable lug and M4 screw
Figure 28: PE conductor connection
Danger!
Before turning on the inverter module, make sure that the housing is properly connected to ground
(PE rail). The ground connection must be established even when testing the drive or operating it for
a short time!
Information:
For EMC-compatible installations, the X2X Link cable and the PE connection must be fastened using
the mounting set contained in the accessory set included in delivery.
If the included shield plate is used, then the cable lug must be installed over it!
2
1
Cable lug for
PE connection
Mounting clip
for X2X Link cable
Figure 29: EMC-compatible X2X Link cable connection
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ACOPOSmicro User's Manual 1.00 115
3 Inverter modules
3.1 Pinout overview
3.1.1 80VD100PD.C000-01, 80VD100PD.C022-01
ACOPOSmicro
80VD100PD.C000-01
80VD100PD.C022-01
GND +80 VDC
X1
D
C
1
+
P
E

(
g
r
o
u
n
d
)
D
C
2
+
D
C
2

D
C
1

+ +
GND +24 VDC
X2
2
4

V
D
C

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O
M

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n
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2
4

V

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2
4

V
D
C

b
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2
4

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1 2 3 4 5 6 7 8 9 10
X3B X3A
P
O
W
E
R
L
I
N
K
P
O
W
E
R
L
I
N
K
X4B X5B
T
+
T
-
UVW
P
E
X4A X5A
T
+
T
-
UVW
P
E
G
M
3
T
T
G
M
3
1
5
6
9
X6A
1
5
6
9
X6B
View A
View B
X1
X2
X3A
X3B
X5A
X5B
X4A
X4B
X6B
X6A
Wiring Inverter modules
116 ACOPOSmicro User's Manual 1.00
3.1.2 80VD100PS.C00X-01, 80VD100PS.C02X-01
ACOPOSmicro
80VD100PS.C00X-01
80VD100PS.C02X-01
GND +80 VDC
X1
D
C
1
+
P
E

(
g
r
o
u
n
d
)
D
C
2
+
D
C
2

D
C
1

+ +
GND +24 VDC
X2
2
4

V
D
C

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C
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4

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2
4

V
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C

b
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2
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1 2 3 4 5 6 7 8 9 10
X3B X3A
P
O
W
E
R
L
I
N
K
P
O
W
E
R
L
I
N
K
X4 X5
T
+
T
-
UVW
P
E
G
M
3
T
1
5
6
9
X6
View A
View B
X1
X2
X3A
X3B
X5
X4
X6
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ACOPOSmicro User's Manual 1.00 117
3.2 X1 - Power unit supply
Figure Pinout
Pin Name
+ DC1+
- DC1-
PE (ground)
+ DC2+
- DC2
X1
+ + - -
Supply
18 - 80 VDC
X1
DC1 DC2
The supply connection for the power unit is made using the 0TB2105.9021 or
0TB2105.9121 terminal block.
For more information see section 5.2.4 "Terminal blocks for the connection of
power supply units" on page 83.
Table 66: X1 connection - Power unit supply
The DC1-/DC2- and DC1+/DC2+ connections are connected together inside the ACOPOSmicro. As a result, the
supply connections can be used as follows:
DC1 as the supply and DC2 to route the DC voltage
DC1 and DC2 parallel to the supply at very high loads
Information about safeguarding the lines can be found in the section "Dimensioning" under section "Fuse protection"
on page 97.
Information:
B&R power supply module 80PS080X3.10-01 must be used for the DC link supply voltage on X1 in
order to adhere to the limit values for "Disturbance voltage on mains connections" (see 185).
3.2.1 X1 diagram - Power supply
CZK
X1
DC +
DC +
PE
DC
DC
Figure 30: ACOPOSmicro - X1 diagram - Power supply
3.3 X2 - Power supply for the CPU and digital inputs/outputs
Figure Pinout
Pin Name
1 Digital input 1
2 Digital input 1 GND
3 Digital input 2
4 Digital input 2 GND
5 24 VDC brake supply voltage
1)
6 24 VDC brake output
7 24 V Enable
8 COM Enable
9 +24 VDC CPU supply
10 CPU supply GND
X2
1
2
3
4
5
6
7
8
9
10
View from below
The supply connection for the CPU and digital inputs/outputs is made using a ter-
minal block (0TB1110.8010, 0TB1110.8110, 0TB1310.3100 or 0TB1310.8100).
Information about these terminal blocks can be found in the section "Terminal
blocks for connecting the I/O and CPU power supplies" on page 80.
Table 67: X2 connection - Power supply for the CPU and digital inputs/outputs
1) Reference potential: CPU supply GND (pin 10)
Digital inputs 1 and 2 can be used as trigger inputs (see "Technical data" on page 29 for the respective drive
module).
Wiring Inverter modules
118 ACOPOSmicro User's Manual 1.00
0TB1110 terminal blocks are single-row terminal blocks. In contrast, the 0TB1310.3100 terminal has three rows
(3x 10 pins), which makes it particularly well-suited for connecting the inputs/outputs and acting as a jumper ter-
minal.
Information:
The red and blue rows of pins on the 0TB1310.3100 and 0TB1310.8100 terminal blocks are connected
internally to simplify wiring. The user only has to create two connections so that the GND potential
(blue) and the +24 VDC potential (red) can also supply the ACOPOSmicro CPU component on both
rows of pins (see the following figure).
1 2 3 4 5 6 7 8 9 10
Red Blue
Gray
Figure 31: X2 connection - CPU supply via the 0TB1310.3100 terminal
3.3.1 X2 connection - Input/Output circuit diagram
9
10
30 V
7
8
5
6
30 V
30 V
3
30 V
30 V
4
1
30 V
30 V
2
X2
GND
+24 VDC
24 V
Output
24 VDC brake
Enable
Trigger2
Trigger1
COM Enable
24 V Enable
24 VDC brake
Supply voltage
Digital input 2 GND
Digital input 2
Trigger 2
Digital input 1 GND
Digital input 1
Trigger 1
Figure 32: X2 connection - Input/output circuit diagram
Danger!
The brake controller integrated in the ACOPOSmicro and the holding brake integrated in B&R standard
motors fulfill the criteria of Safety Category B in accordance with EN 954-1.
Additional measures are necessary to achieve higher safety categories.
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ACOPOSmicro User's Manual 1.00 119
3.4 X3 - POWERLINK connections
Figure POWERLINK connections
X3 Pin Name
1 RXD
2 RXD\
3 TXD
4 Termination
5 Termination
6 TXD\
7 Termination
1
8 Termination
View from below
POWERLINK connections underneath the
swivel-mount cover
X3A
POWERLINK
connection 1
X3B
POWERLINK
connection 2
The POWERLINK connection is made using pre-assembled cables. Information
about these cables can be found in section "POWERLINK cables" on page 85.
Table 68: X3 - POWERLINK connections
3.5 X4/X5 - Servo motor connection
Figure
2-channel variant
View from below
1-channel variant
View from below
X5 motor
AX1 keying
X4 temperature sensor
AX1 keying
X5B motor 2
AX2 keying
X4B temperature sensor 2
AX2 keying
X5A motor 1
AX1 keying
X4A temperature sensor 1
AX1 keying
Pinout
Pin Name
U Motor phase U
V Motor phase V
W Motor phase W
PE (ground)
T+ Temperature sensor T+
T- Temperature sensor T-
T- U V W T+
AX2
AX1
The motor connection is made using the 0TB2104.4x2x terminal block, and the temperature sensor is connected
to the 0TB2102.4x2x terminal block.
Information about terminal blocks can be found in section 5.2.3 "Terminal blocks for connecting motors" on page
81.
Table 69: X4/X5 - Servo motor connection
Danger!
Motor plugs, terminal blocks and all other connections must not be connected or disconnected when
voltage is applied and/or during operation.
Information:
Since the sockets for the motor and temperature sensor connections are keyed, take care that the
terminal blocks with the right keying are used. For more information, see section 5.2.3 "Terminal blocks
for connecting motors" on page 81.
Wiring Inverter modules
120 ACOPOSmicro User's Manual 1.00
3.5.1 X4/X5 - Input/Output circuit diagram - Temperature sensor / Stepper motor connection
DC+
DC-
X4
V
W
PE
U
X5
V
W
PE
U
Output stage
Output stage
2-channel variant
Figure 33: X4/X5 - Output diagram - Servo motor connection
ADC
3k
10k
+5 V
1
2
X4
T-
T+
Figure 34: X4/X5 - Output diagram - Stepper motor temperature sensor connection
3.6 X6 - Encoder inputs
X6A X6B X6
2-channel variant 1-channel variant
Figure 35: X6 - Encoder inputs
3.6.1 EnDat 2.2 interface
Pinout
X6 Pin Name
1 U+ Encoder supply +12.5 V
2 VBATT Battery backup for supply
3 --- NC
4 D Data input
5 T Clock output
6 GND 1 Encoder supply GND
7 GND 2 Battery backup for supply GND
8 D\ Data input inverted
5
9
1
6
9 T\ Clock output inverted
Table 70: EnDat 2.2 interface - Pinout
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ACOPOSmicro User's Manual 1.00 121
Input/Output circuit diagram
T
D
D\
U+
GND 1
GND 2
VBATT
5
9
4
8
1
6
7
2
30 V
30 V 100 nF
22 H
VBATT
U+
100 nF
Vcc
60 E
60 E
Vcc
Switching
controller
T\
Figure 36: EnDat 2.2 interface - Input/Output circuit diagram
3.6.2 Resolver
Pinout
X6 Pin Name
1 NC
2 NC
3 SIN
4 COS\
5 REF
6 NC
7 SIN\
8 COS
5
9
1
6
9 REF\
Table 71: Resolver interface - Pinout
Wiring Inverter modules
122 ACOPOSmicro User's Manual 1.00
Input circuit diagram
10 kHz
4
S1
8
3
7
5
9
S3
P4
ADC
S2
R2
R1
Vcc
25 k
25 k
25 k
25 k
+

Figure 37: Resolver interface - Input diagram


3.7 Protective ground connection PE
The wire cross section for the protective ground conductor is based on the selected cross section of the "external
line" (DC+ and DC-). In addition to the connection of the first protective ground conductor (X1/PE terminal, see
section 2.13.2 "Motor power supply" on page 52), a second, fixed (immobile) protective ground conductor may also
have to be connected to the respective protective ground connection on the ACOPOSmicro (if power supply >42
VDC). This must be done using a suitable M4 cable lug on the respective PE connection.
M4 threading
PE conductor connection using a suitable
M4 cable lug and M4 screw
Figure 38: PE conductor connection
Danger!
Before turning on the inverter module, make sure that the housing is properly connected to ground
(PE rail). The ground connection must be established even when testing the drive or operating it for
a short time!
Wiring Inverter modules
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ACOPOSmicro User's Manual 1.00 123
Information:
For EMC-compatible installations, the POWERLINK cable and the PE connection must be fastened
using the mounting set contained in the accessory set included in delivery.
If the included shield plate is used, then the cable lug must be installed over it!
2
1
Cable lug for
PE connection
Mounting clip
for POWERLINK cable
Figure 39: EMC-compatible POWERLINK cable connection
Wiring Power supply module
124 ACOPOSmicro User's Manual 1.00
4 Power supply module
4.1 X1 - Mains input
Figure
L1
L2
L3
X4
X3
X5
X2
X1
Pinout
Pin Name
L1 Outer wire L1
L2 Outer wire L2
L3 Outer wire L3
PE (ground)
The mains connection is made using the 0TB3104-7022 terminal block (see section "Terminal blocks" on page
78).
Table 72: X1 connection - Mains input
Information:
Max. load per pin: 41 A @ T
U
= 20 C, 36 A @ T
U
= 40C
4.2 X2 - Power output 24 to 80 VDC
Figure
X4
X3
X5
X1
X2

+
+
Pinout
Pin Name
+ Output +
+ Output +
Output
Output
The motor connection is made using the 0TB3104-7021 terminal block (see section "Terminal blocks" on page 78).
Table 73: X2 connection - Power output 24 to 80 VDC
Information:
Max. load per pin: 41 A @ T
U
= 20 C, 36 A @ T
U
= 40C
Cabling for parallel operation: see 4.5 "Parallel operation" on page 73
Wiring Power supply module
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ACOPOSmicro User's Manual 1.00 125
4.3 X3 connection - Chopper output
Figure
X4
X5
X2
X1
X3
2
1
Pinout
Pin Name
1 Output +
2 Chopper resistance
The connection is made using the 0TB3102-7010 terminal block (see section "Terminal blocks" on page 78).
Table 74: X3 connection - Chopper output
Information:
Max. load per pin: 41 A @ T
U
= 20 C, 36 A @ T
U
= 40C
4.4 X4 connection - Voltage output 24 VDC / 2 A
Figure
X3
X2
X1
X5
X4
1
2
3
Pinout
Pin Name
1 24 VDC output +
2 PE (ground)
3 24 VDC output
The connection is made using the 0TB103.3 terminal block (see section "Terminal blocks" on page 78).
Table 75: X4 connection - Voltage output 24 VDC / 2 A
Wiring Power supply module
126 ACOPOSmicro User's Manual 1.00
4.5 X5 - X2X Link interface
Figure
X4
X3
X2
X1
X5
10
9
8
7
6
5
4
3
2
1
Connected internally
Pinout
Pin Name
1
2
X2X+ (connected internally)
3 X2X
4 X2X GND
5 X2X\
X2X Link input
6 Shield
7 X2X
8 X2X GND
9 X2X\
X2X Link output
10 Shield
The connection is made using the 0TB1110.8010 terminal block (see section "Terminal blocks" on page 78).
Table 76: X5 connection - X2X Link interface
The X2X Link supply for the 80PS080X3.10-01 module is provided via X2X+. As a result, X2X Link can be con-
nected through to subsequent modules, even when the mains voltage is switched off on the 80PS080X3.10-01.
The behavior of the ModuleOK bit does not change (ModuleOK = FALSE when the mains voltage is off).
If no X2X Link supply is connected, the X2X Link will be supplied internally. In this case, X2X Link routing does
not take place if the power supply module is turned off.
Operation - Stepper motor modules Function models
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ACOPOSmicro User's Manual 1.00 127
Chapter 7 Operation - Stepper motor modules
1 Function models
A function model specifies the registers on the module (storage model) used by the application to operate the
module. Only these registers are processed on the module during each cycle and transferred cyclically/acyclically
via the bus. The function model is used to determine the module's functionality (default or ramp).
1.1 Minimum cycle time
The minimum cycle time defines how far the cycle time of the X2X Link bus can be reduced without causing a
communication error or impaired functionality. Keep in mind that very fast cycles leave less idle time for monitoring,
diagnostics and acyclic commands.
Minimum cycle time
Standard function model 250 s
Ramp function model 250 s
Table 77: ACOPOSmicro - Minimum cycle time
1.2 Minimum I/O update time
The minimum I/O update time defines how far the bus cycle can be reduced without preventing an I/O update from
occurring in each cycle.
Minimum I/O update time
Standard function model 250 s
Ramp function model 250 s
Table 78: ACOPOSmicro minimum I/O update time
1.3 Operation with bus controller
Information:
The ramp function model is used if an ACOPOSmicro module is being operated on a bus controller.
Operation - Stepper motor modules Standard function model
128 ACOPOSmicro User's Manual 1.00
2 Standard function model
2.1 Overview of registers
Register (dec.) Cyc. Acyc.
Channel 1 Channel 2 Name DT R W R W
Registers for stepper motor control
0 2 Position INT
10 Error/Status UINT
12 14 Motor ID UINT
16 24 MotorStep1 motor configuration UINT
18 26 MotorStep2 motor configuration UINT
20 28 MotorStep3 motor configuration UINT
22 30 MotorStep4 motor configuration UINT
33 36 Holding current USINT
34 37 Nominal current USINT
35 38 Maximum current USINT
46 Module configuration UINT
54 Error acknowledgment / Digital output of motor brake USINT
60 62 Position latch INT
68 70 usSinceTrigger UINT
72 Latch trigger status USINT
73 Life cycle counter SINT
76 Latch configuration USINT
78 Trigger configuration USINT
80 Temperature USINT
81 Motor ID trigger USINT
84 86 Full step threshold UINT
88 Heat sink temperature SINT
90 DC link voltage UINT
Registers for ACOPOSmicro with an encoder
130 144 ABR counter INT
134 148 ABR counter latch INT
154 ABR control register USINT
155 ABR configuration USINT
158 ABR advanced configuration USINT
Registers for ACOPOSmicro variants with additional digital inputs/outputs
192 Status of digital inputs and outputs USINT
193 Set digital outputs / Counter control register USINT
194 Counter INT
196 Counter latch INT
198 Counter configuration UINT
Registers for ACOPOSmicro variants with additional analog inputs
1409 Status of the analog inputs USINT
1414 Analog input 1 INT
1418 Analog input 2 INT
Registers for ACOPOSmicro variants with additional analog inputs - Trace functionality
1038 1166 Trace control word UINT
1090 1218 Trace status UINT
1094 1222 Trace buffer status UINT
1098 1226 Number of triggers executed IN
1102 1230 Number of failed triggers IN
1345 Trace trigger USINT
Table 79: Register overview - Standard function model
*) Legend: DT ... Data type, Cyc. ... Cyclic, Acyc. ... Acyclic, R ... Read, W ... Write
2.2 Registers for stepper motor control
2.2.1 Position
This register is used to read the internal position counter of a motor axis. This corresponds to the position calculated
by the ACOPOSmicro (position setpoint). Each of these is a cyclic 16-bit counter for each channel.
The lowest 5-8 bits represent microsteps, while the highest 8-11 bits represent full steps (depending on bits 5 and
6 of the register "Module configuration" on page 131).
Example of the internal position counter format (7-bit microsteps, i.e. setting bits 5 and 6 of the module configuration
register to binary 10):
Operation - Stepper motor modules Standard function model
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ACOPOSmicro User's Manual 1.00 129
15 0 14 13 12 11 10 9 8 7 6 5 4 3 2 1
0 6 5 4 3 2 1 8 7 6 5 4 3 2 1 0
Full steps Microsteps
The contents of the ABR counter register and the internal position counter can be exchanged on ACOPOSmicro
variants with an incremental encoder by setting bits 3 and/or 7 in the register ABR configuration (see section "ABR
configuration" on page 134).
ABR configuration Register
Bit 3 (channel 1) / Bit 7 (channel 2) = 0 Bit 3 (channel 1) / Bit 7 (channel 2) = 1
Position Internal position counter ABR counter
ABR counter ABR counter Internal position counter
2.2.2 Error/Status
Individual bits indicate either an error (E) or status information (S):
Bit Description
1)
0 0 ... Reserved
1 E 0 ... No error
1 ... Error: Overtemperature
2 E 0 ... No error
1 ... Error: Current setpoint not reached
3 E 0 ... No error
1 ... Error: Overcurrent
Motor 1
4 0 ... Reserved
5 E 0 ... No error
1 ... Error: Overtemperature
6 E 0 ... No error
1 ... Error: Current setpoint not reached
7 E 0 ... No error
1 ... Error: Overcurrent
Motor 2
8 S Status of drive 1:
0 ... Not ready
1 ... Ready
Motor 1
9 S Status of drive 2:
0 ... Not ready
1 ... Ready
Motor 2
10 S Status of ABR encoder 1:
0 ... Not ready
1 ... Ready
11 E Encoder supply error
0 ... 24 VDC OK
1 ... Error: Encoder supply not within the required range
12 S Status of ABR encoder 2:
0 ... Not ready
1 ... Ready
Encoder
13 E Module supply error
0 ... 24 VDC OK
1 ... Error: Undervoltage
14 S Enable status (corresponds to the enable input)
0 ... Disable
1 ... Enable OK
15 S Status of supply voltage for the power unit (UDCL ... DC link voltage):
0 ... Supply voltage for power unit not within the valid range
1 ... Supply voltage for power unit OK (18 V UDCL 80 V)
This status only indicates the supply for the power unit if the enable input (bit 14) is set. If the enable input is not set, then bit 15 is always 0,
regardless of whether or not the power unit is supplied.
1) On ACOPOSmicro 1-channel variants, all of the bits for motor 2 have no function (0 ... Reserved).
Depending on the ACOPOSmicro variant, the bits for the encoder have no function (0 ... Reserved).
If an error (indicated by "E" in the table) is detected, the corresponding error bit remains set until the error is
acknowledged (see 2.2.7 "Error acknowledgment / Digital output of motor brake" on page 131). Status bits (S)
are not affected by the error acknowledgment.
Error "Current setpoint not reached" (bits 2 and 6)
This error bit is set if the required current cannot be applied to the motor windings. This can be (but doesn't have to
be) caused by an open line. At higher speeds (depending on the motor), this error message can also occur even
without an open line if the desired current can no longer be provided to the motor windings. Because of the back
electromotive force on the motor, this bit is set at lower speeds if the motor is running at no load (as compared
with full or partial loads).
Operation - Stepper motor modules Standard function model
130 ACOPOSmicro User's Manual 1.00
Status of "drive X" (bits 8 and 9)
These bits have the value 0 if at least one of the following conditions exists:
The supply voltage on the power unit is not within the valid range.
The module is not enabled (enable input).
An overtemperature error is present.
The corresponding motor is not powered.
Status of "ABR encoder X" (bits 10 and 12)
These bits have the value 0 if at least one of the following conditions exists:
The encoder supply (bit 11) is not OK.
There is an open line on the ABR encoder (if encoder monitoring
3)
is enabled).
2.2.3 Motor ID
This register is used to easily differentiate and identify connected motor types (for service purposes).
The value of this register equals the amount of time (in s) needed to apply a current increase of I = 1 A to a
motor winding. This time depends on several factors:
The amplitude of operating voltage (DC link voltage)
The inductance and resistance of the motor winding
Notes about motor identification
1. To achieve reproducible results, the measurement must be made under the following defined conditions:
a) At standstill
b) Motors must be in a half-step position (phase A with full current, phase B with no current). The internal step counter of the ACOPOSmicro (see 2.2.1
"Position" on page 128) must therefore look like this:

Full steps are divisible by 4

Microsteps = 0
2. Condition 1.b is present after the ACOPOSmicro is reset or turned on. Immediately afterwards, when the holding current is applied to the motor for the first
time (at standstill), the time it takes to apply the current is measured. This is therefore a suitable time to read the motor identification register in the application.
3. A current setting of at least 15% of the module's nominal current (10 A) is recommended for the nominal current register (see section 2.2.5 "Holding current,
nominal current, maximum current" on page 131) as the operating range for determining the motor ID due to the lower relative inaccuracy at higher currents.
Range of values for the motor ID register
Motor ID register Description
0 No motor identifier available (after turning on for as long as the measurement conditions are not met)
1 32767 Valid range of values for the motor ID register
65504 65519 Ground fault: Measurement not possible
65531 Overcurrent: Measurement not possible
65532 Open line: Measurement not possible
65533 Motor position incorrect: Measurement not possible
65534 Invalid value: Overflow
4.
65535 Busy: Measurement in progress
Table 80: Notes about motor identification
2.2.4 Motor configuration
These four registers (MotorStep1 to MotorStep4) are used to specify the amount and direction of steps that must be
carried out by the module during the next X2X cycle in addition to selecting motor current (see also 2.2.5 "Holding
current, nominal current, maximum current" on page 131). Depending on the required resolution and maximum
configurable speed, the module configuration can be used to specify which bit position is used as the 1s position
for full steps (see bits 5 and 6 of the register "Module configuration" on page 131).
Bit Description
0-12 Number of steps for the module to move during the next X2X cycle
13 Direction of movement:
0 ... Description
1 ... Description
14-15 Motor current selection:
00 ... Description
01 ... Description
10 ... Description
11 ... Description
3) Encoder monitoring is only available starting with a specific hardware revision and firmware version:
80SD100XD.C044-01: Hardware revision B0 and firmware version 6
80SD100XS.C04X-01: Hardware revision B0 and firmware version 6
80SD100XD.C04X-13: Hardware revision B0 and firmware version 4
Operation - Stepper motor modules Standard function model
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ACOPOSmicro User's Manual 1.00 131
Example for 5-bit microsteps (setting bits 5 and 6 of the module configuration to binary 00):
15 0 14 13 12 11 10 9 8 7 6 5 4 3 2 1
7 6 5 4 3 2 1 0 0 4 3 2 1
Full steps Microsteps
The number of transfer values per X2X cycle is specified in the module configuration by bits 3 and 4 (see "Module
configuration" on page 131). If only one transfer value (bits 3 and 4 = 00) is specified, then the motor is advanced
by MotorStep1 until the next X2X cycle. If 2 or 4 transfer values are specified, then the X2X cycle is divided
correspondingly.
Example: X2X cycle = 1 ms (1000 s)
Number of transfer values (see "Module configuration" on page 131) Time
1 (Bits 3 - 4 = 00) 2 (Bits 3 - 4 = 01) 4 (Bits 3 - 4 = 10)
0 - 250 s MotorStep1
250 - 500 s
MotorStep1
MotorStep2
500 - 750 s MotorStep3
750 - 1000 s
MotorStep1
MotorStep2
MotorStep4
2.2.5 Holding current, nominal current, maximum current
The holding current, nominal current and maximum current registers are used to configure the desired motor
current.
Unit: Percent of the module nominal current (100% is equal to 10 A)
During runtime, it is possible to switch between the preconfigured current values using bits 14 and15 in the "Mo-
torStepX" registers (see"Motor configuration" on page 130).
As expected:
Holding current < Nominal current < Maximum current
The motor's nominal current is entered in the nominal current register according to the motor's data sheet.
Register Description
Holding current The holding current should be selected in situations when less torque is required (e.g. at standstill). This reduces
the heating of the motor.
Nominal current Current during "normal operation". A current setting of at least 15% of the module's nominal current (10 A) is rec-
ommended for the nominal current register (see section ) due to the lower relative inaccuracy at higher currents.
Maximum current Maximum current should be selected if a higher motor torque is required during acceleration phases (short-term).
2.2.6 Module configuration
Bit Description
0 - 2 0 Reserved
3 - 4 Number of values transferred per X2X cycle (see registers MotorStep1 - MotorStep4 in the section "Motor configuration" on page 130):
00 1 x s / t (Transfer values: MotorStep1)
01 2 x s / t (Transfer values: MotorStep1 - MotorStep2)
10 4 x s / t (Transfer values: MotorStep1 - MotorStep4)
11 Reserved
Information: This setting applies to both channels of 2-channel variants.
5 - 6 Resolution of microsteps for "MotorStepX" and "Position".
00 5 bits (bits 0 - 4)
01 6 bits (bits 0 - 5)
10 7 bits (bits 0 - 6)
11 8 bits (bits 0 - 7)
See "Motor configuration" on page 130 and "Position" on page 128.
7 - 15 0 Reserved
2.2.7 Error acknowledgment / Digital output of motor brake
Bit Description
0 Error acknowledgment for motor 1
1 Error acknowledgment for motor 2
2-6 0 ... Reserved
7 Status of digital output / motor brake
0 ... Motor brake off
1 ... Motor brake on
Operation - Stepper motor modules Standard function model
132 ACOPOSmicro User's Manual 1.00
2.2.8 Position latch
The position counter (internal position counter) is applied to this register when a latch event occurs (see "Latch
trigger status" on page 132).
On ACOPOSmicro variants with an incremental encoder, setting bits 3 and/or 7 in the register ABR configuration
(see page 134) exchanges the contents of this register with the register ABR counter latch (see page 134).
ABR configuration Register
Bit 3 (channel 1) / Bit 7 (channel 2) = 0 Bit 3 (channel 1) / Bit 7 (channel 2) = 1
Position latch Internal position counter latch ABR counter latch
ABR counter latch ABR counter latch Internal position counter latch
2.2.9 usSinceTrigger
This register indicates the time (in s) that has passed since the trigger event occurred (see "Latch trigger status"
on page 132).
2.2.10 Latch trigger status
Bit Description
1)
0 Latch input: Digital input for the latch event (level)
1 LatchDone: Changes its state each time the counter state is successfully latched (reset value = 0)
Stepper motor 1
2 Latch input: Digital input for the latch event (level)
3 LatchDone: Changes its state each time the counter state is successfully latched (reset value = 0)
Stepper motor 2
4 Trigger 1: Trigger input (level)
5 Trigger 2: Trigger input (level)
6 LatchDone: Changes its state each time ABR counter 1 is successfully latched (reset value = 0)
See ABR control register (see page 134) and the register ABR configuration (see page 134)
ABR counter 1
7 LatchDone: Changes its state each time ABR counter 2 is successfully latched (reset value = 0)
See ABR control register (see page 134) and the register ABR configuration (see page 134)
ABR counter 2
1) On ACOPOSmicro 1-channel variants, the bits for stepper motor 2 and trigger 2 have no function (0 ... Reserved).
Depending on the ACOPOSmicro variant, the bits for the encoder have no function (0 ... Reserved).
2.2.11 Life cycle counter
This value is incremented with each X2X cycle (the counter starts back at zero if an overflow occurs) and is used
to detect a module error, module failure or network failure.
2.2.12 Latch configuration
Bit Description
1)
0 Turn the latch function on/off for the position register
0 Negative edge: Turn off the latch function for the position register
1 Positive edge: Turn on the latch function for the position register
1-2 Configure the latch function for the position register
00 ... Unconditional latch position
01 ... Latch position on positive edge of trigger input 1
10 ... Latch position on negative edge of trigger input 1
11 ... Reserved
Channel 1
3 0 Reserved
4 Turn the latch function on/off for the position register
0 ... Negative edge: Turn off the latch function off for the position register
1 ... Positive edge: Turn on the latch function for the position register
5-6 Configure the latch function for the position register
00 ... Unconditional latch position
01 ... Latch position on positive edge of trigger input 2
10 ... Latch position on negative edge of trigger input 2
11 ... Reserved
Channel 2
7 0 Reserved
1) On ACOPOSmicro 1-channel variants, the bits for channel 2 have no function (0 ... Reserved).
2.2.13 Trigger configuration
Bit Description
1)
0 0 Trigger 1: Trigger edge = positive
1 Trigger 1: Trigger edge = negative
1 Enable trigger 1 (when a change occurs)
2 0 Trigger 2: Trigger edge = positive
1 Trigger 2: Trigger edge = negative
3 Enable trigger 2 (when a change occurs)
4-7 0 Reserved
1) On ACOPOSmicro 1-channel variants, the bits for trigger 2 have no function (0 ... Reserved).
Operation - Stepper motor modules Standard function model
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ACOPOSmicro User's Manual 1.00 133
Trigger function procedure:
Select the desired trigger edge using bit 0 (trigger 1) or bit 2 (trigger 1).
Enable the trigger function by changing the state of bit 1 (trigger 1) or bit 3 (trigger 1). When this bit changes,
usSinceTrigger (s counter) is cleared.
When the trigger event occurs, the s counter usSinceTrigger is started.
The counter usSinceTrigger cannot overflow, i.e. the counter is stopped at 2
16
and retains this value until
the next time the trigger function is enabled.
The trigger function can be re-enabled at any time by changing the state of bit 1 or bit 3, regardless of whether a
trigger event has occurred or if usSinceTrigger has reached the maximum value.
2.2.14 Temperature
The internal module temperature (on the controller board) is output in C.
Measurement range: -40 to +125C
Overtemperature cutoff (at +85C)
If the module temperature reaches or exceeds +85C...
...The application is notified via the "Overtemperature" error bit.
...All of the module's outputs are disabled (turned off).
Once the module temperature sinks to +83C, the error bit is automatically cleared by the module and the outputs
are re-enabled again (powered).
The module temperature will not reach the cutoff limit when operating the module within the specified environmental
conditions and the permissible output current range. The temperature cutoff serves only to protect the module
hardware and must not be misused for operating the module beyond the specified range as this can reduce its
service life.
2.2.15 Motor ID trigger
This register is used to asynchronously measure the motor ID. The application must ensure that the conditions for
a measurement are fulfilled (see "Table 80: Notes about motor identification" on page 130).
Bit Description
1)
0 0 ... No effect
1 ... Positive edge triggers motor ID measurement for motor 1
1 0 ... No effect
1 ... Positive edge triggers motor ID measurement for motor 2
2-7 0 ... Reserved
1) On ACOPOSmicro 1-channel variants, the bits for motor 2 have no function (0 ... Reserved).
2.2.16 Full step threshold
This register is used to configure a rotational speed (unit: steps/second). When this defined speed has been
reached, the drive will automatically change from microstep to full step mode. This makes it possible to optimize
torque at higher speeds, while microstep mode ensures optimum concentricity at lower speeds.
It does not make sense to change to full step mode when at a standstill because fine positioning would then
no longer be possible. This is why the value "0" does not make sense in the full step threshold register and is
interpreted as disabling of full step mode (i.e. the motor will always be operated in microstep mode).
Example
Microstep mode should change to full step mode at 500 steps/second. On a motor with 200 steps per revolution,
this would be equal to a speed of:
2.2.17 Heat sink temperature
This register indicates the temperature of the power board.
Unit: C
Operation - Stepper motor modules Standard function model
134 ACOPOSmicro User's Manual 1.00
Measurement range: +10 to +125C
2.2.18 DC link voltage
Contains the supply voltage in the power unit (in volts).
2.3 Registers for ACOPOSmicro with an encoder
2.3.1 ABR counter
This counter is a cyclic 16-bit counter for each encoder input. The relationship between this counter and the internal
position counter depends on the resolution of the ABR encoder and the defined microsteps of the internal position
counter.
The contents of the ABR counter and the internal position counter can be exchanged on ACOPOSmicro variants
with an incremental encoder by setting bits 3 and/or 7 of the register ABR configuration (see page 134).
ABR configuration Register
Bit 3 (channel 1) / Bit 7 (channel 2) = 0 Bit 3 (channel 1) / Bit 7 (channel 2) = 1
Position Internal position counter latch ABR counter latch
ABR counter ABR counter latch Internal position counter latch
2.3.2 ABR counter latch
The ABR counter is applied to this register when a latch event occurs (see "Latch trigger status" on page 132).
The contents of this register can be exchanged with the ABR counter latch register on ACOPOSmicro variants with
an incremental encoder by setting bits 3 and/or 7 in the register ABR configuration (see page 134).
ABR configuration
Register Bit 3 (channel 1) / Bit 7 (channel 2) = 0 Bit 3 (channel 1) / Bit 7 (channel 2) = 1
Position latch Internal position counter latch ABR counter latch
ABR counter latch ABR counter latch Internal position counter latch
2.3.3 ABR control register
Bit Description
1)
0 0 Disable referencing of ABR counter 1
1 Enable referencing of ABR counter 1 (positive edge enables referencing)
1-3 0 Reserved
4 0 Disable referencing of ABR counter 2
1 Enable referencing of ABR counter 2 (positive edge enables referencing)
5-7 0 Reserved
1) On ACOPOSmicro variants with one encoder, bit 4 for ABR counter 2 has no function (0 ... Reserved)
2.3.4 ABR configuration
Bit Description
Configures referencing of ABR counter 1:
00 No referencing
01 Referencing on positive edge of the R signal
10 Referencing on negative edge of the R signal
0 - 1
11 Referencing immediately on rising edge of bit 0 of ABR control register (see 134)
Referencing mode:
0 Copies ABR counter to ABR counter latch
2
1 Sets ABR counter to zero
0 No effect 3
1 Exchanges the contents of the following registers of channel 1:

Position ABR counter

Position latch ABR counter latch


Encoder 1
Configures referencing of ABR counter 1
00 No referencing
01 Referencing on positive edge of the R signal
10 Referencing on negative edge of the R signal
4-5
11 Referencing immediately on rising edge of bit 0 of ABR control register (see 134)
Referencing mode:
0 Copies ABR counter to ABR counter latch
6
1 Sets ABR counter to zero
Encoder 2
1)
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ACOPOSmicro User's Manual 1.00 135
Bit Description
0 No effect 7
1 Exchanges the contents of the following registers of channel 2:

Position ABR counter

Position latch ABR counter latch


1) On ACOPOSmicro variants with one encoder, bits 4-7 for ABR counter 2 have no function (0 ... Reserved)
ABR configuration Register
Bit 3 (channel 1) / Bit 7 (channel 2) = 0 Bit 3 (channel 1) / Bit 7 (channel 2) = 1
Position Internal position counter ABR counter
Position latch Internal position counter latch ABR counter latch
ABR counter ABR counter Internal position counter
ABR counter latch ABR counter latch Internal position counter latch
The following applies regardless of the configuration (bit 3 or bit 7):
Referencing of the ABR counter will always be configured using bits 0 - 2 or 4 - 6 of the ABR configuration register
and enabled by a positive edge on bit 0 or bit 4 in the ABR control register.
The latch function for the internal position counter (for the drive) will always be checked and enabled using bits 0
- 2 or 4 - 6 of the latch configuration register.
2.3.5 ABR advanced configuration
Bit Description
1)
Encoder monitoring
2)
of ABR encoder 1:
00 No encoder monitoring
01 Encoder monitoring of signals A and B
10 Encoder monitoring of signals A, B and R
0-1
11 Reserved
2-3 00 Reserved
Encoder monitoring
2)
of ABR encoder 1:
00 No encoder monitoring
01 Encoder monitoring of signals A and B
10 Encoder monitoring of signals A, B and R
4-5
11 Reserved
6-7 00 Reserved
1) On ACOPOSmicro variants with one (1) encoder, bits 4 and 5 for ABR encoder 2 have no function (reserved).
2) Important: Encoder monitoring is only available beginning with a specific hardware revision and firmware version:
80SD100XD.C044-01: Hardware revision B0 and firmware version 6
80SD100XS.C04X-01: Hardware revision B0 and firmware version 6
80SD100XD.C04X-13: Hardware revision B0 and firmware version 4
2.4 Registers for ACOPOSmicro variants with additional digital inputs/outputs
2.4.1 Status of digital inputs and outputs
Bit Description
0 Status of digital input 1 A Counter input 1
1 Status of digital input 2 B Counter input 1
2 Status of digital input 3 R External counter frequency for counter input 1
3 Status of digital input 4 Reference for enable input
4 Status of digital output 1
5 Status of digital output 2
Overflow of counter 1 (only valid if gate or period measurement is set in the counter configuration with bits 3 - 6):
0 Counter value within the counting range (0 to $7FFF)
This value is only valid if bit 0 of the counter control register is set.
6
1 Counter overflow
This bit is reset with bit 0 of the counter control register.
7 LatchDone: Changes its state each time the counter state is successfully latched (reset value = 0)
2.4.2 Counter configuration
Bit Description
Counter frequency (only valid if set in gate or period measurement):
00 Internal counter frequency 4 MHz
01 Internal counter frequency 31.25 kHz
10 External counter frequency (digital input 3)
0-1
11 Reserved
2 0 Reserved
Counter mode:
0000 No counter
0001 Event counter, positive edge
0010 Event counter, negative edge
3-6
0011 Event counter, both edges
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136 ACOPOSmicro User's Manual 1.00
Bit Description
0100 Period measurement between two consecutive negative edges
0101 Period measurement between two consecutive positive edges
0110 Gate measurement of the LOW level
0111 Gate measurement of the HIGH level
1000 AB counter without referencing
1001 ABR counter with referencing
Counter set to zero on positive edge of R
1010 ABR counter with referencing
Counter set to zero on negative edge of R
1011 ABR counter with immediate referencing
Counter set to zero on positive edge of bit 2 of the counter control register
1100 AB counter without referencing
1101 ABR counter with referencing
Counter state applied to the counter latch register on positive edge of R
1110 ABR counter with referencing
Counter state applied to the counter latch register on negative edge of R
1111 ABR counter with immediate referencing
Counter state applied to the counter latch register on positive edge of bit 2 of the counter control register
7 0 Reserved
Configuration of the reference for the enable input (digital input 4)
00 Digital input 4 (reference enable input) does not affect the R input. The R input is always enabled.
01 Reserved
10 R input active if the reference for the enable input is LOW
8-9
11 R input active if the reference for the enable input is HIGH
10-15 0 Reserved
2.4.3 Set digital outputs / Counter control register
Bit Description
0 Disable detection of counter overflow and resets the overflow bit of counter 1 0
1 Enable detection of counter overflow
1 0 Reserved
Referencing (only applies in AB(R) mode, see bits 8 and 9 in the counter configuration)
0 Disable referencing
2
1 Enable referencing
0 Reset the counter (to zero)
1 Start the counter
3
Note: Only set after the counter configuration is complete!
4-5 0 Reserved
6 Set digital output 1
7 Set digital output 2
2.4.4 Counter
This register contains the current counter state. Different counters (event counter, ABR counter, etc) are available
depending on the configuration.
2.4.5 Counter latch
The counter is applied to this register when the next latch event occurs (see ABR mode in "Counter configuration"
on page 135).
2.4.6 Counter configuration
Bit Description
Counter frequency (only valid if set in gate or period measurement):
00 Internal counter frequency 4 MHz
01 Internal counter frequency 31.25 kHz
10 External counter frequency (digital input 3)
0-1
11 Reserved
2 0 Reserved
Counter mode:
0000 No counter
0001 Event counter, positive edge
0010 Event counter, negative edge
0011 Event counter, both edges
0100 Period measurement between two consecutive negative edges
0101 Period measurement between two consecutive positive edges
0110 Gate measurement of the LOW level
0111 Gate measurement of the HIGH level
1000 AB counter without referencing
3-6
1001 ABR counter with referencing
Counter set to zero on positive edge of R
Operation - Stepper motor modules Standard function model
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ACOPOSmicro User's Manual 1.00 137
Bit Description
1010 ABR counter with referencing
Counter set to zero on negative edge of R
1011 ABR counter with immediate referencing
Counter set to zero on positive edge of bit 2 of the counter control register
1100 AB counter without referencing
1101 ABR counter with referencing
Counter state applied to the counter latch register on positive edge of R
1110 ABR counter with referencing
Counter state applied to the counter latch register on negative edge of R
1111 ABR counter with immediate referencing
Counter state applied to the counter latch register on positive edge of bit 2 of the counter control register
7 0 Reserved
Configuration of the reference for the enable input (digital input 4)
00 Digital input 4 (reference enable input) does not affect the R input. The R input is always enabled.
01 Reserved
10 R input active if the reference for the enable input is LOW
8-9
11 R input active if the reference for the enable input is HIGH
10-15 0 Reserved
2.5 Registers for ACOPOSmicro variants with additional analog inputs
2.5.1 Status of the analog inputs
Bit Description
0 Analog input 1
1 Analog input 2
0 ... OK
1 ... Outside the valid range or open line
2-7 0 ... Reserved
In addition to the status information, the analog value of the corresponding input will also be set if an error occurs
(status bit = 1):
Error Analog value (dec.) Analog value (hex.)
Open line +32,767 0x7FFF
Input voltage > +10 V +32,767 0x7FFF
Input voltage < -10 V -32,767 0x8001
Invalid value -32,768 0x8000
2.5.2 Analog input 1 / Analog input 2
These registers receive the analog value of the corresponding input.
Relationship between input voltage and register value:
Input voltage Register value
+10 V +32,767
: :
-10 V -32,768
2.6 Trace functionality for ACOPOSmicro variants with analog inputs
2.6.1 Trace registers
Trace control word
Bit 0 of the trace control word is used to turn trace functionality on/off for the corresponding analog input.
Bit Description
0 0 ... Trace functionality disabled
1 ... Trace functionality enabled
1-15 0 ... Reserved
A buffer overrun error can be cleared by resetting bit 0.
Trace status
Bit Description
0 0 ... Trace functionality turned off
1 ... Trace functionality turned on
1 0 ... Reserved
2 0 ... Trace data recording not active
1 ... Trace data recording active
3 0 ... Trace data reading inactive
1 ... Trace data reading active
4 0 ... Not ready for trigger
1 ... Ready for trigger
Operation - Stepper motor modules Standard function model
138 ACOPOSmicro User's Manual 1.00
Bit Description
5 Trigger active
0 ... No trigger active, trace recording stopped
1 ... Processing trigger, recording trace data
6 Trace OK
0 ... Buffer overrun or trace functionality turned off for analog input
1 ... No buffer overrun error
7 Trace error
0 ... No buffer overrun or trace functionality turned off for analog input
1 ... Buffer overrun error
Trace buffer status
This register contains the amount of buffer memory (in bytes) available for a trace recording. The buffer must be
large enough for the configured number of sampled values to be recorded.
If "Infinite trace" has been selected, then the buffer must be read fast enough for analog values to be recorded
at the configured sampling rate.
Number of triggers executed
This register contains the number of successfully executed trigger events (trace recordings).
Number of failed triggers
This register contains the number of failed trigger events (trace recordings).
This register is increased by one whenever a trigger event occurs under the following conditions:
The trace function is not enabled.
The trace buffer is full (two trigger events in short succession).
Pre-trigger function: If the configured number of recordings has not yet been reached before the trigger
event .
Trace trigger
This register can be used to start recording separately for each trace instance. This is only possible if the trigger
function has been enabled for the corresponding analog input.
Bit Description
0 Trigger for trace instance 1
1 Trigger for trace instance 2
The trigger event is triggered on a positive edge (bit changes from 0 1).
2-7 0 ... Reserved
2.6.2 Trace runtime configuration
This section specifies how the trace runtime configuration is made in Automation Studio:
Turning trace on/off for analog input X (Trace AnalogInput01/02 = on/off)
The trace function must first be turned on/off for the respective analog channel.
If the trace function was turned on for both analog inputs, then the recorded trace data will be provided by the
AsIoTrc library in the following order:
Sampling Array index Channel
0 Analog input 1 1
1 Analog input 2
2 Analog input 1 2
3 Analog input 2
: : :
Table 81: Order of trace data from two analog channels
Number of trace buffers
The number of local trace buffers must also be set on the CPU.
This number specifies how many trace recordings the CPU can save. If a trigger event occurs, even though all
configured trace buffers are full, then the corresponding sampled values will be lost.
Operation - Stepper motor modules Standard function model
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ACOPOSmicro User's Manual 1.00 139
The recorded trace data buffers are read out with the AsIoTrc library.
Number of samples
The number of sampled values to be recorded on the ACOPOSmicro module must then be set. It is important to
make sure that the trace buffer is large enough for the trace data on the module to be recorded.
If "Infinite trace" has been selected, then the buffer must be read fast enough for analog values to be recorded
at the configured sampling rate.
The total number of samples from all channels (channel 1 and 2 for trace 1 and 2) cannot be greater than 8192.
Block sizes for asynchronous data transfer (AsynSize)
A higher value here will result in faster data transfer from the module to the CPU.
Number of data blocks sent before repetition (AsynForward)
Each data block transferred must be acknowledged by the X2X Link master. If an acknowledgment has not been
received after the number of data blocks defined here, then all non-confirmed data blocks will be sent again.
Trace mode
Trace mode Description
Triggered Trace recording will start after the trigger event (see bit 0/1 of the register "Trace trigger" on page 138).
Infinite Infinite trace can be started with bit 0/1 of the register Trace trigger (see page 138).
X2X must be configured in such a way as to ensure that the amount of data generated can be transferred quickly enough.
The trace buffer must be read quickly to prevent an overflow in the module's local memory and to ensure that the samples
can be recorded at the configured sampling rate.
Recording range of trace data (trace start/stop position)
This defines the number of samples that should be recorded before/after the trigger event.
Trigger type Start position Stop position Beginning of recording End of recording
Post-trigger x 0 y > 0 x samples after trigger event y samples after start position
Pre-trigger x < 0 y > 0 x samples before trigger event y samples after trigger event
2.6.3 Trace library
The AsIoTrc library must be used to read the recorded trace data (see the Automation Studio help documentation
for more information).
The ACOPOSmicro module with additional analog inputs has two separate trace instances that can be triggered
at different times independently of one another.
Each trace instance has a device name:
<Hardware address of the module>.<Trace instance>
This device name is used by the AsIoTrcGet library function to read the trace data from the desired channel
Examples:
Trace for trace instance 1: "SS1.IF1.ST1.TRC1"
Trace for trace instance 2: "SS1.IF1.ST1.TRC2"
Operation - Stepper motor modules Ramp function model
140 ACOPOSmicro User's Manual 1.00
3 Ramp function model
The ramp function model is based on the CANopen communication profile DS402.
If an ACOPOSmicro module is operated on a bus controller, then the CANIOBusController function model is used.
Aside from some minor differences (see footnotes in the register overview), the CANIOBusController and ramp
function models are identical.
3.1 Overview of registers
Register (dec.) Cyc. Acyc.
Channel 1 Channel 2 Description
1)
DT R W R W
0 8 Set position/speed DINT
4 12 Control word UINT
6 14 Mode SINT
7 15 Motor brake BOOL
16 D Set digital outputs / Counter control register USINT
0 8 Current position (cyclic) DINT
4 12 Status UINT
6 Input status USINT
16 D Counter INT
18 D Counter latch INT
20 D Status of digital inputs and outputs USINT
42 UDCL DC link voltage UINT
44 Temperature of output stage SINT
46 Temperature SINT
48 112 Holding current USINT
49 113 Nominal current USINT
50 114 Maximum current USINT
52 116 Maximum speed UINT
54 118 Maximum acceleration UINT
56 120 Maximum deceleration UINT
58 122 Reversing loop INT
60 124 Position setpoint 1 DINT
64 128 Position setpoint 2 DINT
68 132 Referencing speed UINT
70 134 Referencing configuration SINT
72 136 Full step threshold UINT
75 139 Jolt time limitation USINT
80 144 Read back control word UINT
82 146 Read back mode SINT
84 148 Motor ID UINT
86 150 Referenced zero position for cyclic counter DINT
90 154 G Current position (acyclic) DINT
94 158 G Referenced zero position for acyclic counter DINT
98 162 Error code UINT
200 D Counter configuration UINT
1409 (16)
2)
A Status of the analog inputs USINT
1414 (18)
2)
A Analog input 1 INT
1418 (20)
2)
A Analog input 2 INT
Trace register
3)
1038 1166 A Trace control word UINT
1090 1218 A Trace status UINT
1094 1222 A Trace buffer status UINT
1098 1226 A Number of triggers executed INT
1102 1230 A Number of failed triggers INT
1345 A Trace trigger USINT
Table 82: ACOPOSmicro - Ramp function model
*) Legend: DT ... Data type, Cyc. ... Cyclic, Acyc. ... Acyclic, R ... Read, W ... Write
1) Some registers are only available for certain ACOPOSmicro variants:
G ... These registers are only available if there is also an encoder for the respective channel.
D ... These registers are only available for variants with additional digital inputs/outputs.
A ... These registers are only available for variants with additional analog inputs/outputs.
2) In the CANIOBusController function model, the registers for analog values fall within a different range (values in parentheses).
3) Trace functionality is not available for the CANIOBusController function model.
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ACOPOSmicro User's Manual 1.00 141
3.2 Register description
3.2.1 Set position/speed
This synchronous register is used to set the position or speed depending on the operating mode (see section
"Mode" on page 142).
Position mode:
Synchronous setting of the position setpoint (signed long) in microsteps. In ramp mode, one microstep is
always 1/256 of a full step.
Speed mode:
In this mode, this register is considered a signed speed setpoint.
3.2.2 Current position (cyclic)
This synchronous register contains the current position (signed long) of the internal step counter.
In ACOPOSmicro variants where an encoder can also be connected to the motor, this register can be switched to
the ABR counter (see bit 14 in the register "Control word" on page 141).
3.2.3 Current position (acyclic)
This register is only available for ACOPOSmicro variants where an encoder can be connected to the motor.
This asynchronous register contains the current position (signed long) of the ABR counter. This register can be
switched to the internal step counter (see bit 14 in the register "Control word" on page 141).
3.2.4 Input status
This register indicates the logical states of digital inputs.
Bit Description
0 Digital input 1 (X2 connection, pin 1)
1 Digital input 2 (X2 connection, pin 3)
2-7 Reserved (always 0)
Depending on the ACOPOSmicro variant, these digital inputs are used as a trigger input.
3.2.5 Control word
Depending on the module's state, this register can be used to issue commands (see section "Ramp function model
operation" on page 153).
Bit Description
1)
0 Switch on
1 Enable voltage
2 Quick stop
3 Enable operation
4-6 Mode-specific
7 Fault reset
8-10 Mode-specific
11
0 ... No effect
1 ... Rising edge: Motor ID trigger
12
0 ... No effect
1 ... Rising edge: Reset warnings
13
0 ... Undercurrent detection disabled (default)
1 ... Undercurrent detection enabled
14 G Contents of the "Current position (cyclic/acyclic)" registers:
0 ... Current position register (cyclic): Internal position counter, cyclic
Current position register (acyclic): ABR counter, acyclic
1 ... Current position register (cyclic): ABR counter, cyclic
Current position register (acyclic): Internal position counter, acyclic
Default setting: 0
15 0 Reserved
1) Some bits are only available for certain ACOPOSmicro variants.
G ... This bit is only available if there is also an encoder for the respective channel.
2) This bit can be used to determine the motor ID. The application must ensure that the conditions for measurement are met (see notes in section "Motor ID"
on page 146).
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3.2.6 Status
The bits in the "Status" register reflect the status of the state machine (for a detailed description, see the sections
"Status register" on page 154 and "State machine" on page 155).
Bit Description
0 Ready to switch on
1 Switched on
2 Operation enabled
3 Fault (error bit)
4 Voltage enabled
5 Quick stop
6 Switch on disabled
7 Warning
8 0 ... Reserved
9 Remote (always 1 because there is no local mode for the ACOPOSmicro)
10 Target reached
Depending on the mode, this bit has the following meaning:

Position reached

Referencing complete

Speed reached
11 Internal limit active (always 0 since this function does not exist on an ACOPOSmicro, e.g. position range limit)
12-15 0 ... Reserved
3.2.7 Mode
Value (dec.) Description
1 Position mode: Move to the target position as soon as the target position is changed
2 Speed mode: Constant speed
-121 Remaining distance mode
-122 Set the actual position
-123 Move to the target position when the external input is set
-124 Two position mode
-125 Move to position setpoint 1 (position set asynchronously)
-126 Move to position setpoint 2 (position set asynchronously)
-127 Positive referencing (see also "Referencing configuration" on page 144)
-128 Negative referencing (see also "Referencing configuration" on page 144)
Information:
Valid for all modes: The "Target reached" bit is set in the "Status" register (see section "Status" on
page 142) when the current action is finished (i.e. when the position or speed is reached, depending
on the mode).
A new position or speed can be specified even before the current action is finished.
Mode Description of the individual modes
1 Position mode
As soon as a position setpoint is set in the set position/speed register that is not the same as the current position, the new position is approached.
This is done with a ramp function that accounts for the defined maximum speed and acceleration values.
The position setpoint can also be changed during an active positioning procedure.
The position setpoint is specified in microsteps (1/256 of a full step).
2 Speed mode - Constant speed (pos./neg.)
The value in the set position/speed register is interpreted as speed setpoint in this case (microsteps / 25 ms).
Observing the maximum permissible acceleration, the motor moves with a ramp to the desired speed setpoint and maintains this speed until a
new speed setpoint is specified.
Values are allowed within the range -65535 to 65535. When a value is entered outside of this range, it is readjusted to these limits.
-121 Remaining distance mode (like mode 1)
On a rising/falling edge of the corresponding digital input
1)
, the number of steps defined in the "Position setpoint 1" register are added to the
current position, and the resulting position is approached.
Note:
Steps are not added to the target position, but rather to the current position at the moment the trigger occurs.
Negative values are also allowed for the offset defined in "Position setpoint 1".
New target positions are no longer accepted in the "Set position/speed" register after the trigger event. There must first be a switch made to
mode 0 and then back to mode -121.
The "Target reached" bit in the "Status" register is not set to 1 until the end position (after the trigger event) has been reached.
The referencing configuration determines whether a rising or falling edge of the digital input is used as a trigger.
The reversing loop is not enabled in this mode (i.e. any configured values not equal to 0 are ignored).
-122 Set the actual position
The target position set in the "Set position/speed" register is applied as the current actual position in the internal step counter when the state
machine is in the "Operation enable" state.
Before this mode is started, the motor must be at a standstill and physically located at the point for which the position being set should be applied.
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Mode Description of the individual modes
-123 Move to the target position when the external input is set
On a rising edge of the corresponding digital input
1)
, the position setpoint specified in the "Set position/speed" register is approached.
A new position setpoint is not accepted until another rising edge occurs on the corresponding digital input. This can also occur during the active
positioning procedure and will be applied immediately.
-124 Two position mode
"Position setpoint 1" and "Position setpoint 2" are defined in the asynchronous registers.
At 1 on the corresponding digital input
1)
, "Position setpoint 1" is approached. At 0, "Position setpoint 2" is approached.
Switching is possible during an active positioning procedure.
-125
-126
Move to "Position setpoint X"
The purpose of this mode is to enable a virtual switch from speed mode to position mode, which otherwise is not possible because of the dual
use of this register for specifying both position and speed.

Mode -125: Position setpoint 1

Mode -126: Position setpoint 2


-127
-128
Positive / Negative referencing
The motor must be at a standstill before switching from another mode to one of the referencing modes.
The first step is to specify whether referencing should occur on a Low/High level at the digital input, via the R input or unconditionally in
the referencing configuration (see section "Referencing configuration" on page 144).
Referencing via the R input or digital input
1)
Case 1: Active referencing level not yet reached Motor not yet at end position:
Movement continues at the referencing speed in the referencing direction until the active level for "Stop referencing" is at the input.
Case 2: Active referencing level already reached Motor at end position:
Movement continues at the referencing speed against the referencing direction until the active level for "Stop referencing" is no longer at the
digital input. Then, movement continues at the referencing speed in the referencing direction until the active level for "Stop referencing" is at
the input again.
Unconditional referencing (immediate) without motor movement
If the referencing condition occurs, then the motor stops and the values of the position counter and ABR counter valid at the moment when the
referencing condition occurs
2)
are written to the "Referenced zero position" register.
1) For motor 1: Digital input 1 (X2 connection, pin 1)
For motor 2: Digital input 2 (X2 connection, pin 3)
2) The ABR counter is only available for ACOPOSmicro variants with an encoder.
3.2.8 Motor brake
Bit Description
0 Digital output state (motor brake)
1-7 0 ... Reserved
This register is used to control the digital output (motor brake).
On 2-channel ACOPOSmicro variants, bit 0 of the two registers for motor 1 and motor 2 are linked with a logical
OR operation. This means that the digital output is enabled if the bit is set on one or both of the motors.
3.2.9 UDCL DC link voltage
This register contains the current supply voltage of the power unit.
Unit: V
3.2.10 Temperature of output stage
This register contains the current module temperature of the power output stage.
Unit: C
3.2.11 Temperature
This register contains the current module temperature.
Unit: C
3.2.12 Maximum speed
Maximum speed for the absolute positioning modes (1, -123, -124, -125, -126).
Does not apply to the speed and referencing modes (2, -127, -128).
Unit: Microsteps / 25 ms
3.2.13 Maximum acceleration
Maximum acceleration (also applies to referencing modes).
Unit: Microsteps / 25 ms
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144 ACOPOSmicro User's Manual 1.00
3.2.14 Maximum deceleration
Maximum deceleration (also applies to referencing modes).
Unit: Microsteps / 25 ms
3.2.15 Position setpoint 1
Position to move to in modes -124 (when 1 is set at the digital input) and -125.
3.2.16 Position setpoint 2
Position to move to in modes -124 (when 0 is set at the digital input) and -126.
3.2.17 Referencing speed
Speed for referencing modes (-127 and -128).
Unit: Microsteps / 25 ms
3.2.18 Referencing configuration
Value (dec.) Description
-123 Referencing on positive edge of the R input
-124 Referencing on negative edge of the R input
-125 Referencing on positive edge of the digital input
1)
-126 Referencing on negative edge of the digital input
1)
-127 Reserved
-128 Immediate referencing
All others No effect
1) For motor 1: Digital input 1 (X2 connection, pin 1)
For motor 2: Digital input 2 (X2 connection, pin 3)
3.2.19 Full step threshold
This register is used to configure a rotational speed (unit: microsteps / 25 ms). When this defined speed has been
reached, the drive will automatically change from microsteps to full step mode. This makes it possible to optimize
torque at higher speeds, while microstep mode ensures optimum concentricity at lower speeds.
The value 65,535 causes full step mode to be deactivated and the motor to always be run in microstep mode.
Example
A configured value of 3,200 microsteps per 25 ms is equal to 128,000 microsteps per second. In the ramp function
model, one full step consists of 256 micro steps, so that the configured value is equal to 500 full steps per second.
On a motor with 200 steps per revolution this corresponds to the following speed:
3.2.20 Jolt time limitation
If a value other than 0 is assigned to this register, then jolt limitation takes place by averaging the values for the steps
to be carried out (speed setpoint) in each 25 ms cycle using FIFO memory. The value of this register corresponds
to the number of FIFO elements (0 to 16). If a value greater than 16 is entered, then it will be limited internally to 16.
Changes made while the motor is running are applied under one of the following conditions:
The motor has reached the configured position (only in positioning modes).
The motor has stopped (all modes).
3.2.21 Read back control word
Reads back the register Control word(see "Control word" on page 141).
3.2.22 Read back mode
Reads back the register Mode(see "Mode" on page 142).
Operation - Stepper motor modules Ramp function model
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3.2.23 Referenced zero position for cyclic counter
After a referencing procedure, the reference point of the internal step counter can be read back here.
In ACOPOSmicro variants where an encoder can also be connected to the motor, this register can be switched to
the ABR counter (see bit 14 in the register "Control word" on page 141).
3.2.24 Referenced zero position for acyclic counter
This register is only available for ACOPOSmicro variants where an encoder can be connected to the motor.
After a referencing procedure, the reference point for the acyclic position counter can be read back here (either
the internal step counter or ABR counter depending on bit 14 of the register Control word, see section "Control
word" on page 141).
3.2.25 Reversing loop
This parameter is only used in modes 1, -123, -124, -125 and -126 (absolute positioning modes).
If the value for the reversing loop is not 0, then one of the following actions is performed:
The target position will be approached from the one direction.
Coming from the other direction, the target position will initially be passed by the configured number of
steps and then approached from the opposite direction.
This ensures that the target position is always approached from the same direction (to avoid mechanical backlash).
The sign of the defined value determines the direction in which the reversing loop runs.
3.2.26 Error code
The cause of an error or warning can be read here:
Error code Error type Description
0x0000 - No error
0xFF02 Error Module not enabled (enable input=0)
0x3210 Error Overvoltage on the DC link
0x3100 Error Module supply voltage
0x4200 Error Overtemperature
0x2300 Warning Overcurrent
0x3220 Error Undervoltage on the DC link
0xFF00 Warning Undercurrent
1)
0xFF10 Warning Encoder supply
2)
0xFF11 Warning Encoder open line
2)
1) Undercurrent is only detected if bit 13 = 1 in the control word (undercurrent detection enabled).
2) Encoder error messages can only occur if the ACOPOSmicro variant is equipped with an encoder component.
3.2.27 Holding current, nominal current, maximum current
The holding current, nominal current and maximum current registers are used to configure the desired motor
current.
Unit: Percent of the module's nominal current (100% is equal to 10 A)
As expected:
Holding current < Nominal current < Maximum current
The motor's nominal current is entered in the nominal current register according to the motor's data sheet.
Register Description
Holding current The holding current should be selected in situations when less torque is required (e.g. at a standstill). This reduces the heating
of the motor.
Nominal current Current during "normal operation". A current setting of at least 15% of the module's nominal current (10 A) is recommended for
the nominal current register due to the lower relative inaccuracy at higher currents.
Maximum current Maximum current should be selected if a higher motor torque is required during acceleration phases (short-term).
When the current changes to a weaker value (e.g. when transitioning from the acceleration phase to the constant
speed mode), the stronger current is maintained for an additional 100 ms. This is done according to the following
priority regardless of the actual defined values: maximum current before nominal current before holding current.
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3.2.28 Motor ID
This register is used to easily differentiate and identify connected motor types (for service purposes).
The value of this register equals the amount of time (in s) needed to apply a current increase of I = 1 A to a
motor winding. This time depends on several factors:

The amplitude of operating voltage (DC link voltage)

The inductance and resistance of the motor winding


Notes
1. To achieve reproducible results, the measurement must be made under the following defined conditions:
a) At standstill
b) Motors must be in a half-step position (phase A with full current, phase B with no current). The internal step counter of the ACOPOSmicro (see
section "Current position (cyclic)" on page 141) must appear as follows:

Full steps are divisible by 4

Microsteps = 0
2. Condition 1.b is present after the ACOPOSmicro is reset or turned on. Immediately afterwards, when the holding current is applied to the motor for the
first time (at standstill), the time it takes to apply the current is measured. This is therefore a suitable time to read the motor identification register in
the application.
3. A current setting of at least 15% of the module's nominal current (10 A) is recommended for the nominal current register (see section "Holding current,
nominal current, maximum current" on page 145) as the operating range for determining the motor ID due to the lower relative inaccuracy at higher
currents.
Range of values for the motor ID register
Motor ID (registers 84, 148) Description
0 No motor identifier available (after turning on for as long as the measurement conditions are not met)
1 32767 Valid range of values for register Motor ID
65504 65519 Ground fault: Measurement not possible
65531 Overcurrent: Measurement not possible
65532 Open line: Measurement not possible
65533 Motor position incorrect: Measurement not possible
65534 Invalid value: Overflow
4.
65535 Busy: Measurement in progress
Table 83: ACOPOSmicro - Notes about motor identification
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3.3 Registers for ACOPOSmicro variants with additional digital inputs/outputs
Status of digital inputs and outputs
Bit Description
0 Status of digital input 1 A Counter input 1
1 Status of digital input 2 B
2 Status of digital input 3 R External counter frequency for counter input 1
3 Status of digital input 4 Reference for enable input
4 Status of digital output 1
5 Status of digital output 2
6 Overflow of counter 1 (only valid if gate or period measurement is set in the counter configuration with bits 3 - 6):
0 ... Counter value within the counting range (0 to $7FFF)
This value is only valid if bit 0 of the counter control register is set.
1 ... Counter overflow
This bit is reset with bit 0 of the counter control register.
7 LatchDone: Changes its state each time the counter state is successfully latched (reset value = 0)
Set digital outputs / Counter control register
Bit Description
0
0 ... Disable detection of counter overflow and resets the overflow bit of counter 1
1 ... Enable detection of counter overflow
1
0 ... Reserved
2 Referencing (only applies in AB(R) mode, see bits 8 and 9 in the counter configuration):
0 ... Disable referencing
1 ... Enable referencing
3
0 ... Reset the counter (to zero)
1 ... Start the counter
Note: Only set after the counter configuration is complete!
4-5
0 ... Reserved
6 Set digital output 1
7 Set digital output 2
Counter
This register contains the current counter state. Different counters (event counter, ABR counter, etc) are available
depending on the configuration.
Counter latch
The counter is applied to this register when a latch event occurs (see counter mode in "Counter configuration"
on page 147).
Counter configuration
Bit Description
0 - 1 Counter frequency (only valid if set in gate or period measurement):
00 ... Internal counter frequency 4 MHz
01 ... Internal counter frequency 31.25 kHz
10 ... External counter frequency (digital input 3)
11 ... Reserved
2 0 ... Reserved
3 - 6 Counter mode:
0000 ... No counter
0001 ... Event counter, positive edge
0010 ... Event counter, negative edge
0011 ... Event counter, both edges
0100 ... Period measurement between two consecutive negative edges
0101 ... Period measurement between two consecutive positive edges
0110 ... Gate measurement of the LOW level
0111 ... Gate measurement of the HIGH level
1000 ... AB counter without referencing
1001 ... ABR referencing with referencing
Counter set to zero on positive edge of R
1010 ... ABR referencing with referencing
Counter set to zero on negative edge of R
1011 ... ABR counter with immediate referencing
Counter set to zero on positive edge of bit 2 of the counter control register
1100 ... AB counter without referencing
1101 ... ABR referencing with referencing
Counter state applied to the counter latch register on positive edge of R
1110 ... ABR referencing with referencing
Counter state applied to the counter latch register on negative edge of R
1111 ... ABR counter with immediate referencing
Counter state applied to the counter latch register on positive edge of bit 2 of the counter control register
7
0 ... Reserved
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Bit Description
8 - 9 Configuration of reference enable input (digital input 4):
00 ... Digital input 4 (reference enable input) does not affect the R input. The R input is always enabled.
01 ... Reserved
10 ... R input active if the reference for the enable input is LOW
11 ... R input active if the reference for the enable input is HIGH
10 - 15
0 ... Reserved
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3.4 Registers for ACOPOSmicro variants with additional analog inputs
Status of the analog inputs
Bit Description
0 Analog input 1
1 Analog input 2
0 ... OK
1 ... Outside the valid range or open line
2-7 0 ... Reserved
In addition to the status information, the analog value of the corresponding input will also be set if an error occurs
(status bit = 1):
Error Analog value (dec.) Analog value (hex.)
Open line +32,767 0x7FFF
Input voltage > +10 V +32,767 0x7FFF
Input voltage < -10 V -32,767 0x8001
Invalid value -32,768 0x8000
Analog input 1 / Analog input 2
These registers receive the analog value of the corresponding input.
Measurement range:
Input voltage Register value
+10 V +32,767
: :
-10 V -32,768
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3.5 Trace functionality for ACOPOSmicro variants with analog inputs
3.5.1 Trace registers
Trace control word
Bit 0 of the trace control word is used to turn trace functionality on/off for the corresponding analog input.
Bit Description
0 0 ... Trace functionality disabled
1 ... Trace functionality enabled
1-15 0 ... Reserved
A buffer overrun error can be cleared by resetting bit 0.
Trace status
Bit Description
0 0 ... Trace functionality turned off
1 ... Trace functionality turned on
1 0 ... Reserved
2 0 ... Trace data recording not active
1 ... Trace data recording active
3 0 ... Trace data reading inactive
1 ... Trace data reading active
4 0 ... Not ready for trigger
1 ... Ready for trigger
5 Trigger active
0 ... No trigger active, trace recording stopped
1 ... Processing trigger, recording trace data
6 Trace OK
0 ... Buffer overrun or trace functionality turned off for analog input
1 ... No buffer overrun error
7 Trace error
0 ... No buffer overrun or trace functionality turned off for analog input
1 ... Buffer overrun error
Trace buffer status
This register contains the amount of buffer memory (in bytes) available for a trace recording. The buffer must be
large enough for the configured number of sampled values to be recorded.
If "Infinite trace" has been selected, then the buffer must be read fast enough for analog values to be recorded
at the configured sampling rate.
Number of triggers executed
This register contains the number of successfully executed trigger events (trace recordings).
Number of failed triggers
This register contains the number of failed trigger events (trace recordings).
This register is increased by one whenever a trigger event occurs under the following conditions:
The trace function is not enabled.
The trace buffer is full (two trigger events in short succession).
Pre-trigger function: If the configured number of recordings has not yet been reached before the trigger
event .
Trace trigger
This register can be used to start recording separately for each analog input. This is only possible if the trigger
function has been enabled for the corresponding analog input.
Bit Description
0 Trigger for analog input 1
1 Trigger for analog input 2
The trigger event is triggered on a positive edge (bit changes from 0 1).
2-7 0 ... Reserved
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3.5.2 Trace runtime configuration
This section specifies how the trace runtime configuration is made in Automation Studio:
Turning trace on/off for analog input X (Trace AnalogInputXX = on/off)
The trace function must first be turned on/off for the respective analog channel. If the trace function was turned on
for both analog inputs, then the recorded trace data will be provided by the AsIoTrc library in the following order:
Sampling Array index Channel
0 Analog input 1 1
1 Analog input 2
2 Analog input 1 2
3 Analog input 2
: : :
Table 84: Order of trace data from two analog channels
Number of trace buffers
The number of local trace buffers must also be set on the CPU.
This number specifies how many trace recordings the CPU can save. If a trigger event occurs, even though all
configured trace buffers are full, then the corresponding sampled values will be lost.
The recorded trace data buffers are read out with the AsIoTrc library.
Number of samples
The number of sampled values to be recorded on the ACOPOSmicro module must then be set.
It is important to make sure that the trace buffer is large enough for the trace data on the module to be recorded.
If "Infinite trace" has been selected, then the buffer must be read fast enough for analog values to be recorded
at the configured sampling rate.
Block sizes for asynchronous data transfer (AsynSize)
A higher value here will result in faster data transfer from the module to the CPU.
Number of data blocks sent before repetition (AsynForward)
Each data block transferred must be acknowledged by the X2X Link master. If an acknowledgment has not been
received after the number of data blocks defined here, then all non-confirmed data blocks will be sent again.
Trace mode
Trace mode Description
Triggered Trace recording will start after the trigger event (see bit 0/1 of the register "Trace trigger" on page 150).
Infinite Infinite trace can be started with bit 0/1 of the register Trace trigger(see 150).
X2X must be configured in such a way as to ensure that the amount of data generated can be transferred quickly enough.
The trace buffer must be read quickly to prevent an overflow in the module's local memory and to ensure that the samples can
be recorded at the configured sampling rate.
Recording range of trace data (trace start/stop position)
This defines the number of samples that should be recorded before/after the trigger event.
Trigger type Start position Stop position Beginning of recording End of recording
Post-trigger x 0 y > 0 x samples after trigger event y samples after start position
Pre-trigger x < 0 y > 0 x samples before trigger event y samples after trigger event
3.5.3 Trace library
The AsIoTrc library must be used to read the recorded trace data (see the Automation Studio help documentation
for more information).
The ACOPOSmicro module with additional analog inputs has two separate trace instances that can be triggered
at different times independently of one another.
Each trace instance has a device name:
<Hardware address of the module>.<Trace instance>
This device name is used by the AsIoTrcGet library function to read the trace data from the desired channel
Operation - Stepper motor modules Ramp function model
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Examples:
Trace for analog input 1: "SS1.IF1.ST1.TRC1"
Trace for analog input 2: "SS1.IF1.ST1.TRC2"
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3.6 Ramp function model operation
Control for this model has been based on the CANopen communication profile DS402.
Commands are written to the control word for controlling the modules. The current module state is returned to
the Status register (see section "Status" on page 142). The function mode (absolute position, constant speed,
referencing, etc.) is set in the Mode register (see section "Mode" on page 142).
3.6.1 Control word
Control word bits and their state for state machine commands:
Command R
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Bit
1)
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Shutdown x x x x x x x x 0 x x x x 1 1 0
Switch on x x x x x x x x 0 x x x 0 1 1 1
Disable voltage x x x x x x x x 0 x x x x x 0 x
Quick stop x x x x x x x x 0 x x x x 0 1 x
Disable operation x x x x x x x x 0 x x x 0 1 1 1
Enable operation x x x x x x x x 0 x x x 1 1 1 1
Fault reset x x x x x x x x x x x x x x x
ACOPOSmicro variant
2)
G
1) x ... Any; ... Rising edge
2) Some commands are only available for certain ACOPOSmicro variants.
G ... This command is only available if there is also an encoder for the respective channel.
Information about the control word:
Bits 0, 1, 2, 3 and 7
(light gray in the previous table)
These bits control the state of the state machine (see section "State machine" on page 155) according to the
commands in the table above.
Bits 4 - 6 and 8 - 10 Reserved, should only be written with 0
Motor ID trigger A rising edge enables the motor ID measurement.
Warning reset A rising edge resets warnings (no effect on errors, which are reset using "Fault Reset"; the state machine is not
affected by this bit)
Fault reset A rising edge resets errors and warnings (see section "State machine" on page 155)
Undercurrent detection
0 ... Undercurrent detection disabled, active undercurrent warnings are reset
1 ... Undercurrent detection enabled/disabled
ABR counter sync/async
1)
0 ... Internal position counter of the ramp generator on cyclic registers 0/8
Value of the ABR counter on acyclic registers 90/154
1 ... Internal position counter of the ramp generator on acyclic registers 90/154
Value of the ABR counter on cyclic registers 0/8
1) This command is only available if there is also an encoder for the respective channel.
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154 ACOPOSmicro User's Manual 1.00
3.6.2 Status register
The individual bits of the Status register (see section "Status" on page 142) and its states depend on the currently
enabled state of the state machine:
Status
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Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Not ready to switch on x x x 0 0 x 1 0 x 0 x 0 0 0 0 0
Switch on disabled x x x 0 0 x 1 0 x 1 x 0 0 0 0 0
Ready to switch on x x x 0 0 x 1 0 x 0 1 0 0 0 0 1
Switched on x x x 0 0 x 1 0 x 0 1 1 0 0 1 1
Operation enable x x x 0 0 x 1 0 x 0 1 1 0 1 1 1
Quick stop active x x x 0 0 x 1 0 x 0 0 1 0 1 1 1
Fault reaction active x x x 0 0 x 1 0 x 0 x 0 1 1 1 1
Fault x x x 0 0 x 1 0 x 0 x 0 1 0 0 0
Information about the "Status" register:
Bits 0, 1, 2, 3, 5 and 6
(light gray in the previous table)
These bits are set according to the currently enabled state of the state machine (see section "State machine"
on page 155).
Voltage enabled Becomes 1 as soon as the motor is powered
Warning Becomes 1 if a warning is detected ("Overcurrent", "Undercurrent"). The type of warning is listed in the "Error
code" register (see table in section "Error code" on page 145). The highest priority error / warning is shown in
each case, with the priority corresponding to the order in the respective table.
Warnings can be reset with a rising edge on the "Warning reset" bit in the control word.
Remote Always 1 since there is no local mode on the ACOPOSmicro
Target reached In modes 1, -123, -124, -125 and -126 (absolute positioning):
0 ... Positioning begins
1 ... Target has been reached
In mode 2 (constant speed):
0 ... Motor accelerates/brakes
1 ... Speed setpoint reached
In modes -127 and -128 (referencing):
0 ... Referencing started
1 ... Referencing ended
In mode -122 (set actual position):
The bit briefly becomes 0 and immediately becomes 1 again as soon as the position is set.
Internal limit active Always 0 since the ACOPOSmicro has no position range limit
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3.6.3 State machine
The motor is controlled according to the state machine illustrated below. After the module is started, the state
machine automatically changes to the state "Not ready to switch on". The application then operates the state
machine by writing commands to the control word (see section "Control word" on page 153).
The state machine successively reaches the states "Ready to switch on", "Switched on" and "Operation enable"
by writing the consecutive commands "Shutdown", "Switch on" and "Enable operation".
Information:
Motor movements are not performed according to the setting in the Mode register (see section "Mode"
on page 142) until the "Operation enable" state.
(e.g. Temperature too high)
Enable operation Shutdown
Fault reset
Fault reaction active
Fault
Quick stop active
Disable voltage
Quick stop
Shutdown Switch on
Disable operation Enable operation
Not ready to switch on
Switch on disabled
Ready to switch on
Switched on
Operation enable
Shutdown
Quick stop
Disable voltage
Disable voltage
Quick stop
Fault condition Module start
(Internal reset)
Quick stop executed
Figure 40: State machine - Flow chart
State change Description
Not ready to switch on
Switch on disabled
This state change occurs automatically after starting the module and internal initialization has taken place.
Switch on disabled
Ready to switch on
This state change is brought on by the Shutdown command.
No others actions are performed.
Ready to switch on
Switch on disabled
This state change is brought on by the command Disable voltage or Quick stop.
No others actions are performed.
Switched on
Switch on disabled
This state change is brought on by the command Disable voltage or Quick stop.
The motor voltage is switched off immediately.
Ready to switch on
Switched on
This state change is brought on by the Switch on command.
The motor voltage is switched on.
When this state change occurs for the first time since the module is started, the motor ID measurement is per-
formed before the Switched on state is achieved. This can take approximately 1 second.
Switched on
Ready to switch on
This state change is brought on by the Shutdown command.
The motor voltage is switched off immediately.
Switched on
Operation enable
This state change is brought on by the Enable operation command.
Motor movements are now performed depending on the defined mode.
Operation enable
Switched on
This state change is brought on by the Disable operation command.
If in motion, the motor is decelerated with the configured deceleration.
Motor voltage remains on in the Switched on state.
Operation enable
Ready to switch on
This state change is brought on by the Shutdown command.
The motor voltage is switched off immediately.
Operation enable
Switch on disabled
This state change is brought on by the Disable voltage command.
Motor voltage switched off.
It is strongly recommended to only make this state change on a stopped motor since regeneration on a motor
running at no load can cause an overvoltage error on the DC link (0x3210).
Operation enable
Quick stop active
This state change is brought on by the Quick stop command.
If in motion, the motor is decelerated with the configured deceleration. During the deceleration, the state machine
remains in the Quick stop active state. Once the motor is at standstill, the state automatically changes to the
Switch on disabled state.
While the state machine is in the Quick stop active state, the Enable operation command can be used to switch
it back to the Operation enable state.
Table 85: ACOPOSmicro - State machine - State changes
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State change Description
Fault reaction active This state change is brought on when an error occurs and cannot be triggered by a command from the user. It
can be triggered by error types classified as an "Error" (see section "Error code" on page 145). (Other error types
listed as "Warning" only cause the "Warning" bit to be set in the status word and do not cause a state change
in the state machine.)
Motor voltage is switched off and the state machine then changes immediately to the Fault state.
The type of error is listed in the error code register (see table in section "Error code" on page 145). The highest
priority error is shown. The priority corresponds to the order in the error code table.
Fault
Switch on disabled
This state change is brought on by the Fault reset command. However, the state only changes if no more errors
are present when the command is written. All errors and warnings are reset. The error code register contains 0
or the warning code if a warning is still present.
Table 85: ACOPOSmicro - State machine - State changes
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ACOPOSmicro User's Manual 1.00 157
Chapter 8 Operation - Inverter modules
1 ACP10 software
ACOPOSmicro inverter modules are operated using the ACP10 software.
Requirements for ACOPOSmicro inverter modules:
ACOPOSmicro Automation Studio ACP10 software
80VD100PD.C000-01 3.0.81.SP3 or higher 2.25.0 or higher
80VD100PD.C022-01 3.0.81 or higher 2.24.0 or higher
80VD100PS.C00X-01 3.0.81.26 or higher 2.27.1 or higher
3.0.81.28 or higher 80VD100PS.C02X-01
3.0.81.26 or higher, if parameter group is added
manually
1
2.27.1 or higher
1 See section "Adding parameter groups manually" on page 157
1.1 Adding parameter groups manually
It is only possible to use Automation Studio version 3.0.81.26 for the ACOPOSmicro inverter module
80VD100PS.C02X-01 if the following procedure is performed:
1. In the Logical View:
Right-click on the respective axis parameter to open its shortcut menu, then select "Open":
2. In the [ACOPOS Parameter Table] window:
Right-click on the "Parameter" entry in the list to open its shortcut menu, then select "Add group":
Operation - Inverter modules EnDat 2.2 interface
158 ACOPOSmicro User's Manual 1.00
3. In the "Add group" window:
Make the settings as shown in the image below and click "Finish" to apply:
2 EnDat 2.2 interface
2.1 Parameter IDs
The parameter settings for the EnDat 2.2. encoder are shown for encoder 1 (ENCOD_).
Parameter ID name Access Data type Range of val-
ues
Init value Description
ENCOD_TYPE RD, WR UI1 <ncENDAT> ncENDAT Encoder1 - Type
SCALE_ENCOD_INCR RD, WR UI4 UI4 10000 Encoder1 - Encoder scaling:
Increments per encoder revolution [incr]
ENCOD_ERROR_STATUS RD UI1 <0.1> - Encoder 1 - Error status
2.2 Functions
EnDat 2.2 is a standard introduced by Dr. Johannes Heidenhain GmbH for transferring encoder data. Similar to SSI
encoders, a clock and a data line transfer the absolute position along with other data. Data can be transferred
in both directions (bidirectional synchronous serial interface).
2.2.1 Serial data transfer
The transfer channel for serial communication is a bidirectional synchronous serial interface.
The protocol for communicating with the encoder is explained in the "EnDat Interface Description" document from
Heidenhain.
2.2.2 Monitoring and error handling
Serial transfers are monitored for the following errors:
Timeout error during parameter transfer
Disturbances will trigger error 7015.
Error reading encoder parameters
An error occurred while reading data from the encoder.
Disturbances will trigger error 7017.
CRC error while transferring parameters
Disturbances will trigger error 7014.
Operation - Inverter modules EnDat 2.2 interface
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Error reading encoder memory
Disturbances will trigger error 7048.
CRC error in EnDat 2.2 additional data
Disturbances will trigger error 39023.
Error in EnDat 2.2 additional data
Transfer error in EnDat 2.2 additional data (Type 3 error).
Disturbances will trigger error 39026.
2.2.3 Encoder errors and warnings
Warning bit
An event occurred on the encoder that set the warning bit.
Disturbances will trigger error 39022.
Alarm bit
An event occurred on the encoder, setting the alarm bit.
Disturbances will trigger error 39003.
Multi-turn overflow
The permitted range has been exceeded on an encoder where multi-turn overflow monitoring is enabled.
Disturbances will trigger error 39025.
Supply voltage failure
An error occurred in the supply voltage of a battery-backed encoder.
Disturbances will trigger error 39024.
Lighting failure
Disturbances will trigger error 39004.
Faulty signal amplitude
Disturbances will trigger error 39005.
Faulty position value
Disturbances will trigger error 39006.
Overvoltage
Disturbances will trigger error 39007.
Undervoltage
Disturbances will trigger error 39008.
Overcurrent
Disturbances will trigger error 39009.
Operation - Inverter modules EnDat 2.2 interface
160 ACOPOSmicro User's Manual 1.00
Battery
The battery needs to be changed.
Disturbances will trigger error 39010.
Frequency exceeded
Disturbances will trigger error 39011.
Temperature exceeded
Disturbances will trigger error 39012.
Lighting reserve reached
Disturbances will trigger error 39013.
Battery charge too low
Disturbances will trigger error 39014.
2.2.4 Initialization active
Incomplete initialization will trigger error 7022.
2.2.5 Position value not synchronous with absolute value
Disturbances will trigger error 7038.
The absolute position of the encoder is read via the serial connection at an interval of a few milliseconds and
compared with the incremental position.
2.2.6 Error in the multi-turn position
Disturbances will trigger error 39028.
The absolute position of the encoder is read via the serial connection at an interval of a few milliseconds and
compared with the incremental position. This monitoring can be disabled using ENCOD_LINE_CHK_IGNOR.
2.3 Encoder card functions
2.3.1 Parameter IDs
Parameter ID name Access Data type Range of val-
ues
Default value Description
ENCOD_TEMP RD R4 R4 - Encoder1: Temperature [C]
ENCOD_DIAG RD UI1 UI1 - Encoder1: Diagnostic value
ENCOD_DIAG_ID RD,WR UI1 <0..16> 0 Encoder1: Diagnostic value ID
ENCOD_CMD WR UI1 <0,1,3> - Encoder1: Encoder command
2.3.2 Position measurement
Position measurement is based solely on serial data transfer; no analog signals are transferred. Pure serial data
transfers allow for higher transfer speeds than are possible with mixed transfers.
Unlike encoders with analog signals, the encoder reference is not established in signal periods per revolution, but
rather in increments per revolution. "Increments per revolution" refers to the resolution of a revolution provided
by the encoder.
SCALE_ENCOD_INCR = Encoder increments per revolution
For linear encoders:
SCALE_ENCOD_INCR = (Number of pole pairs * Pole width) / Increment length
Operation - Inverter modules EnDat 2.2 interface
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2.3.3 Diagnostic values
If supported by the encoder, diagnostic values can be read with the ENCOD_DIAG parameter. ENCOD_DIAG_ID
can be used to select the individual diagnostic values [1 ... 16]. The values are output as byte values [0 ... 255]. If
ENCOD_DIAG_ID is set to 0, then ENCOD_DIAG specifies the diagnostic values (assessment values) supported
and enabled by the encoder (see table).
Bit Description = 0 = 1 ENCOD_DIAG_ID Comment
2
0
Diagnostic value 1 Not supported Supported 1 Evaluation of incremental track
2
1
Diagnostic value 2 Not supported Supported 2
2
2
Diagnostic value 3 Not supported Supported 3 Evaluation of absolute track
2
3
Diagnostic value 4 Not supported Supported 4 Evaluation of code connection
... ... ... ... ...
2
15
System-specific data Not supported Supported 16
For more information about these assessment values, please refer to the documentation provided by the manu-
facturer of the measuring device.
2.3.4 Encoder temperature
If supported by the encoder, the ENCOD_TEMP parameter can be used to read the encoder temperature.
2.3.5 Example: Reading additional information
Reading which diagnostic values are supported by the encoder
ENCOD_DIAG_ID <-- 0 Encoder1: Diagnostic value ID
ENCOD_DIAG --> 0x0D Encoder1: Supported diagnostic values (1, 3 and 4)
Reading diagnostic values
ENCOD_DIAG_ID <-- 1 Encoder1: Diagnostic value ID
ENCOD_DIAG --> Evaluation number 1 Encoder1: Diagnostic value
ENCOD_DIAG_ID <-- 3 Encoder1: Diagnostic value ID
ENCOD_DIAG --> Evaluation number 3 Encoder1: Diagnostic value
ENCOD_DIAG_ID <-- 4 Encoder1: Diagnostic value ID
ENCOD_DIAG --> Evaluation number 4 Encoder1: Diagnostic value
2.3.6 Encoder status ENCOD_STATUS
Description Bit Encoder status (ENCOD_STATUS)
Initialization active 0 0x00000001
Timeout error during parameter transfer 4 0x00000010
Alarm bit 5 0x00000020
CRC error while transferring parameters 6 0x00000040
CRC error in EnDat 2.2 additional information 7 0x00000080
Warning bit 8 0x00000100
Position measurement not ready 9 0x00000200
Error in EnDat 2.2 additional information 10 0x00000400
Supply voltage failure 11 0x00000800
Multi-turn overflow 12 0x00001000
Position value not synchronous with absolute value 21 0x00200000
Error reading encoder memory 22 0x00400000
Error reading encoder parameters 23 0x00800000
162
Operation - Power supply Standard function model
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Chapter 9 Operation - Power supply
1 Function models
A function model specifies the registers on the module (storage model) used by the application to operate the
module. Only these registers are processed on the module during each cycle and transferred cyclically/acyclically
via the bus.
1.1 Minimum cycle time
The minimum cycle time defines how far the cycle time of the X2X Link bus can be reduced without causing a
communication error or impaired functionality. Keep in mind that very fast cycles leave less idle time for monitoring,
diagnostics and acyclic commands.
Function model Minimum cycle time
Default
CANIOBusController
250 s
Table 86: Power supply module - Minimum cycle time
2 Standard function model
2.1 Overview of registers
Cyc. Acyc.
Register
(dec.) Channel name Description DT R W R W
2 StatusPacked01 Status information and error messages UINT
3 ControlPacked01 Error acknowledgment USINT
83 Voltage01 Voltage measured on the power output SINT
86 Current01 Current measured on the power output INT
129 Temperature01 Heat sink temperature SINT
131 Temperature02 Chopper temperature SINT
133 Temperature03 Transformer temperature SINT
1026 ConfigPacked01 Turn chopper and parallel operation on/off UINT
1029 ChopperOffset01 Voltage offset for chopper control SINT
1031 VoltageSet01 Set voltage for the power output SINT
1034 CurrentSet01 Current limiting for the power output INT
1038 TempLimitBleeder01 Limit value of temperature monitoring for the braking resistor (T
Blim
). INT
1042 TempAmbBleeder01 Ambient temperature of the braking resistor (T
Amb
) INT
1046 TempInitBleeder01 Initial thermal load on the resistor (T
B0
). INT
1050 RBleeder01 Braking resistor (R
B
) INT
1060 RthBleeder01 Thermal resistance (R
Bth
) DINT
1068 CthBleeder01 Thermal capacity (C
Bth
) DINT
1282 TempBleeder01 Calculated braking resistor temperature (T
B
) INT
Table 87: Register overview - Standard function model
*) Legend: DT ... Data type, Cyc. ... Cyclic, Acyc. ... Acyclic, R ... Read, W ... Write
Operation - Power supply Standard function model
164 ACOPOSmicro User's Manual 1.00
2.2 StatusPacked01
This register contains status and error bits for the module (data type of individual bits: BOOL).
Bit Channel name Description
0 ErrorOutput01
0 ... No error
1 ... The power output was cut off due to an error, or power is no longer output due to phase failure.
After the error has been corrected and acknowledged, the power output can be enabled again.
Possible causes of errors:

Short circuit (OverloadError01)

Phase failure (StatusPhaseDetection01)

Overtemperature (StatusOvertemperature01)

Output voltage of the power output >100 V


1 OverloadError01
0 ... No error
1 ... Short circuit or overload on the power output:

When a short circuit occurs, the output is switched off and can be enabled again by ac-
knowledging the error.

When an overload occurs, the current is limited to 90% of the nominal current. Acknowl-
edging the error allows overload operation to be re-enabled.
2 CurrentLimit01
0 ... Constant output voltage
1 ... Current limiting active
3 StatusOvervoltage01
0 ... No error
1 ... Overvoltage on the power output. Voltage is 5 V higher than the chopper reference. No cutoff (not
until 100 V).
4 StatusPhaseDetection01
0 ... No phase failure
1 ... At least one phase has failed
No more power is output to the power output.
5 StatusOvertemperature01
0 ... Temperature within permissible range (T < 75C)
1 ... Overtemperature error (T > 80C). The power output is switched off and can be activated again
by acknowledging the error.
6 ChopperActive01
0 ... Chopper inactive
1 ... Chopper active
7 StatusBleeder01
0 ... No error: T < (TempLimitBleeder01 - 5C)
1 ... Temperature of the braking resistor exceeded: T > TempLimitBleeder01
8 StatusChopper01
0 ... No error: T < 75C
1 ... Temperature of the chopper output exceeded: T > 80C
9 StatusOutput02
0 ... No error
1 ... Short circuit or overload on power output. Output is switched off for 10 ms and then back on.
10 - 15 Reserved
Information:
No more power is output during phase failure. Nevertheless, regeneration from the DC link is still
possible. This only supplies the power supply module for a brief time (i.e. the 24 VDC voltage output
as well), to bridge temporary phase failures.
2.3 ControlPacked01
This register contains the error acknowledgment bit (data type of bit: BOOL).
Bit Channel name Description
0 ClearError01
1 ... The rising edge of this bit acknowledges the following power output errors:

ErrorOutput01

OverloadError01
1 - 7 (15)
1
Reserved 0
1 In the CANIOBusController function model, the ControlPacked01 register has data type UINT, which corresponds to a size of 16 bits.
2.4 Voltage01
Analog voltage measurement at the power output
Resolution: 1 V / digit
2.5 Current01
Analog current measurement at the power output
Resolution: 0.1 A / digit
Operation - Power supply Standard function model
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2.6 Temperature01-03
Measured value for the following temperatures:
Register Description Register value Temperature
Temperature01 Heat sink temperature
Temperature02 Chopper temperature
Temperature03 Transformer temperature
-2 to 127 -2 to 127C
2.7 ConfigPacked01
Bit Channel name Description
0 ParallelMode
0 ... Parallel operation off
1 ... Parallel operation on
1 ChopperEnable
0 ... Chopper off
1 ... Chopper on
2 - 15 Reserved
2.8 ChopperOffset01
Voltage offset for chopper control:
Chopper reference = Voltage reference + Voltage offset
The reference voltage is limited to a maximum value of 95 V.
Value of ChopperOffset01 Voltage
5 to 30 5 VDC to 30 VDC
Example:
VoltageSet01 = 80 V
ChopperOffset01 = 5 V
The brake chopper is activated at an output voltage of 85 V or higher.
2.9 VoltageSet01
Voltage reference for the power output:
Value of VoltageSet01 Voltage
24 to 80 24 VDC to 80 VDC
Important!
If multiple power supplies are connected to each other, they must first be configured for parallel oper-
ation. Only then can the output be switched on by writing the voltage configuration.
In parallel operation, all power supplies must always be set to the same voltage!
It is generally recommended to completely configure the power supply before setting this configura-
tion.
2.10 CurrentSet01
Current limiting for the power output:
Value of CurrentSet01 Maximum nominal current
50 to 200 5.0 to 20.0 A
The maximum nominal output current also depends on the configured output voltage (see output current of the
power unit in section "Technical data" on page 71).
2.11 TempLimitBleeder01
Limit value of temperature monitoring for the braking resistor (T
Blim
):
Value of TempLimitBleeder01 Temperature
0 to 1000 0 to 1000C
Operation - Power supply Standard function model
166 ACOPOSmicro User's Manual 1.00
2.12 TempAmbBleeder01
Ambient temperature of the braking resistor (T
Amb
):
Value of TempAmbBleeder01 Temperature
0 to 100 0 to 100C
2.13 TempInitBleeder01
Initial value for the temperature model of the braking resistor: Initial thermal load on the resistor (T
B0
).
Value of TempInitBleeder01 Temperature
0 to 1000 0 to 1000C
2.14 RBleeder01
The ohmic value of the braking resistor (R
B
) is used for the power calculation:
Value of RBleeder01 Temperature
10 to 1000 1 to 100
2.15 RthBleeder01
Thermal resistance (R
Rth
):
Value of RthBleeder01 Thermal resistance
1 to 5000 0.001 to 5.000 K/W
2.16 CthBleeder01
Thermal capacity (C
Bth
):
Value of CthBleeder01 Thermal capacity
1000 to 1,000,000 1 to 1000 Ws/K
2.17 TempBleeder01
The temperature model is used to calculate the temperature of the braking resistor (T
B
):
Value of TempBleeder01 Temperature
0 to 1000 0 to 1000C
Operation - Power supply Function model: CANIOBusController
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3 Function model: CANIOBusController
3.1 Overview of registers
Cyc. Acyc.
Register
(dec.) Channel name Description DT R W R W
0 StatusPacked01 Status information and error messages UINT
0 ControlPacked01 Error acknowledgment UINT
2 Voltage01 Voltage measured on the power output SINT
4 Current01 Current measured on the power output INT
129 Temperature01 Heat sink temperature SINT
131 Temperature02 Chopper temperature SINT
133 Temperature03 Transformer temperature SINT
1026 ConfigPacked01 Turn chopper and parallel operation on/off UINT
1029 ChopperOffset01 Voltage offset for chopper control SINT
1031 VoltageSet01 Set voltage for the power output SINT
1034 CurrentSet01 Current limiting for the power output INT
1038 TempLimitBleeder01 Limit value of temperature monitoring for the braking resistor (T
Blim
). INT
1042 TempAmbBleeder01 Ambient temperature of the braking resistor (T
Amb
) INT
1046 TempInitBleeder01 Initial thermal load on the resistor (T
B0
). INT
1050 RBleeder01 Braking resistor (R
B
) INT
1060 RthBleeder01 Thermal resistance (R
Bth
) DINT
1068 CthBleeder01 Thermal capacity (C
Bth
) DINT
1282 TempBleeder01 Calculated braking resistor temperature (T
B
) INT
Table 88: Register overview - CANIOBusController function model
*) Legend: DT ... Data type, Cyc. ... Cyclic, Acyc. ... Acyclic, R ... Read, W ... Write
168
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Chapter 10 Safety technology
1 Standard safety technology ("Wired safety technology")
Danger!
Especially in the area of safety technology, always consult the latest version of the User's Manual on
the B&R website (www.br-automation.com) for the valid specifications. Specifications in this version
of the user's manual are not necessarily current. Users should verify the correctness of specifications
before implementing any safety functions.
1.1 General information
ACOPOSmicro inverters use integrated safe pulse disabling for secure shutdowns and to prevent unexpected
startup. This is designed to meet the following safety classifications depending on the external circuit:
4)
Criteria Safety characteristic
Maximum Safety Category in accordance with EN ISO 13849 and EN 954-1
1)
CAT 3
Maximum Performance Level in accordance with EN ISO 13849 PL d
Maximum Safety Integrity Level in accordance with IEC 62061 SIL 2
Maximum Safety Integrity Level in accordance with IEC 61508 SIL 2
PFH (probability of dangerous failure per hour) <1.77 10
-9
PFD (probability of dangerous failure on demand) <1.55 10
-4
at a proof test interval of 10 years
<3.10 10
-4
at a proof test interval of 20 years
PTI (proof test interval)
2)
Max. 20 years
DC (diagnostic coverage) 99%
MTTFd (mean time to dangerous failure) >140 years
Table 89: Safety classifications, criteria and characteristics for safe pulse disabling
1) EN 954-1 is no longer valid and has been replaced by EN ISO 13849.
2) Corresponds to the mission time of the module
The following table provides an overview of the individual safety functions that can be implemented:
Label according to standard Short description
EN 61800-5-2 EN 60204-1
STO (Safe Torque Off) Stop Category 0 Power supply cutoff
SS1 (Safe Stop 1) Stop Category 1 Initiates active braking and activation of the STO function after a defined amount of time has
passed
SS2 (Safe Stop 2) Stop Category 2 Initiates active braking and activation of the SOS function after a defined amount of time has
passed
SLS (Safely Limited Speed) --- Protection against exceeding a defined speed limit
SOS (Safe Operating Stop) --- Protection against impermissible position deviation
Table 90: Overview of safety functions according to standards
Safe pulse disabling interrupts the power supply to the motor by preventing the pulses to the power semiconductors
over one channel. In this way, a rotating field can no longer be created in synchronous and induction motors
controlled by ACOPOSmicro inverters.
Integrated safe pulse disabling therefore meets the requirements for preventing unexpected startup in accordance
with EN 1037 as well as the requirements concerning Category 0 and 1 stop functions in accordance with EN
60204-1. Both stop functions require the supply to the machine drives to be switched off (immediately for Category
0 and after reaching standstill for Category 1). The requirements concerning the STO, SS1, SS2, SLS and SOS
safety functions are also met in accordance with EN 61800-5-2.
The terminology of EN 61800-5-2 (STO, SS1, SS2, SLS, SOS) will be used in the following.
1.2 Principle - Implementing the safety function
Safe pulse disabling is achieved by removing the FET control logic supply from the ACOPOSmulti inverter modules.
The X2 terminal ("24 V Enable" and "COM Enable" connections) is used to supply an integrated DC-to-DC converter
with 24 VDC. The converter creates the supply voltage for the FET control logic from this voltage.
4) A detailed explanation of standards and safety functions can be found in the section "Standards and certifications" on page 183.
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170 ACOPOSmicro User's Manual 1.00
If the 24 VDC voltage supply for the DC/DC converter is interrupted, the FET control logic is also no longer supplied.
It is then no longer possible to transfer the modulation pattern needed to generate the rotating field on the power
semiconductor. This cuts off the supply of power to the motor.
2-axis inverter module
ACOPOSmicro
80VD100PD.C000-01
80VD100PD.C022-01
GND +80 VDC
X1
D
C
1
+
P
E

(
g
r
o
u
n
d
)
D
C
2
+
D
C
2

D
C
1

+ +
X2
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O
M

E
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a
b
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2
4

V

E
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b
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1 2 3 4 5 6 7 8 9 10
X5B
UVW
P
E
X5A
UVW
P
E
M
3
M
3
FET
Drivers
12 V
24 V
3
3
FPGA
ASIC
Electrical isolation
Control element
FET power output stage
Figure 41: Block diagram for safe pulse disabling - 2-axis module
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ACOPOSmicro User's Manual 1.00 171
1-axis inverter module
ACOPOSmicro
80VD100PS.C00X-01
80VD100PS.C02X-01
GND +80 VDC
X1
D
C
1
+
P
E

(
g
r
o
u
n
d
)
D
C
2
+
D
C
2

D
C
1

+ +
X2 X5
UVW
P
E
FET
Drivers
12 V
24 V
3
FPGA
ASIC
Electrical isolation
Control element
M
3
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O
M

E
n
a
b
l
e
2
4

V

E
n
a
b
l
e
1 2 3 4 5 6 7 8 9 10
FET power output stage
Figure 42: Block diagram for safe pulse disabling - 1-axis module
Safety technology Standard safety technology ("Wired safety technology")
172 ACOPOSmicro User's Manual 1.00
1.2.1 Additional function
The availability of the DC-to-DC converter's output voltage is queried by the FPGA/ASIC. If voltage is not present
on the output of the DC-to-DC converter, then the FPGA/ASIC suppresses generation of the modulation pattern.
Danger!
After safe pulse disabling has been activated via the X2 terminal ("24 V Enable" and "COM Enable"
connections), the motor is de-energized and no longer produces torque. If the motor was moving before
activation of safe pulse disabling, it is only stopped by a safe operational brake (available under certain
conditions) or from the friction of the entire system. The motor is therefore not able to hold hanging
loads. Safe holding brakes must be used for this purpose.
For applications where this can be dangerous, the desired level of protection cannot be achieved.
Danger!
The switch-off time for the enable input must be taken into consideration since it has a substantial
effect on the response time of the safety functions and therefore the remaining distances and times
to be considered. In order to calculate the total safety response time, the user must validate the lag
time throughout the entire system.
The switch-off times for the enable input can be found in the technical data for the respective
ACOPOSmicro inverter.
Danger!
Activating safe pulse disabling via the X2 terminal ("24 V Enable" and "COM Enable" connections) is
not sufficient for achieving a voltage-free drive and therefore does not provide sufficient protection
against electrical shock!
Danger!
Depending on the application, it is possible for the drive to restart after safe pulse disabling is deac-
tivated.
Danger!
The brake controller integrated in ACOPOSmicro inverters and the holding brake integrated in B&R
standard motors fulfill the criteria up to Category B in accordance with EN ISO 13849-1.
Additional measures are necessary to achieve higher safety categories.
Danger!
The C standards applicable to applications must be adhered to!
Information:
Note that multiple errors in the FET semiconductor bridge can cause a brief forward movement. The
maximum turning angle of the motor shaft during this forward movement depends on the motor
being used. For permanent magnet synchronous motors, = 360/2p (for B&R standard motors, p=3
so the angle is 60). For three-phase induction motors, there is a relatively small angle of rotation
(between 5 and 15).
This short forward movement can be ruled out as an error in accordance with EN ISO 13849-1, among
other things due to the improbability that this would occur and due to general technical experience.
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ACOPOSmicro User's Manual 1.00 173
1.3 Enable input connected in accordance with Safety Category 3 / SIL 2 / PL d
Using the example of the STO safety function, different circuit variations for the enable input on the ACOPOSmicro
inverters are given here with regard to the required Safety Category / SIL / PL.
Danger!
All errors (e.g. cross faults) that are not detected can lead to a loss of safety functionality.
Appropriate measures must be taken to ensure the exclusion of errors. For instance errors caused by
short circuit between any two wires can be excluded in accordance with EN ISO 13849-2, appendix D.5
if one of the following conditions is met:
The wires are permanently installed and protected against external damage (e.g. using a cable
duct or armored conduit).
The wires are installed in different sheathed cables or within an area for electrical equipment.
5)
The wires are each individually protected via ground connection
For more error exclusions, see EN ISO 13849-2, Appendix D.5.
Danger!
To achieve Safety Category 3 / SIL 2 / PL d, it must be ensured that a single error does not lead to a
loss of safety functionality.
1.3.1 STO, Category 3 / SIL 2 / PL d (Variant A)
The enable input on the X2 terminal of the ACOPOSmicro inverter is supplied via a safe digital output (Out1+,
Out1-). If the safety function is requested, then the safe digital output disconnects the enable input (pins 7 and
8 on the X2 terminal).
Out1+
Out1-
DO1
e.g. X20SO2110
Requested
safety function
ACOPOSmicro
X2
C
O
M

E
n
a
b
l
e
2
4

V

E
n
a
b
l
e
1 2 3 4 5 6 7 8 9 10
Figure 43: STO, Category 3 / SIL 2 / PL d (Variant A)
Danger!
At least one safe digital output module with Category 3 / SIL 2 / PL d must be used for the DO1 digital
output shown.
The guidelines listed in the safe digital output module's user documentation must be observed!
Test signals on the safe digital output module must be turned off.
5) Prerequisite: Both the wires and the area for electrical equipment must meet the respective requirements (see IEC 60402-1).
Safety technology Standard safety technology ("Wired safety technology")
174 ACOPOSmicro User's Manual 1.00
1.3.2 STO, Category 3 / SIL 2 / PL d (Variant B)
When an E-stop button is pressed, the enable input on the ACOPOSmicro inverter is cut off from the +24 V supply
by a switch, thereby cutting off the motor's power supply.
ACOPOSmicro
X2
C
O
M

E
n
a
b
l
e
2
4

V

E
n
a
b
l
e
1 2 3 4 5 6 7 8 9 10
S1
STO
C
P
U

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N
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2
4

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D
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GND +24 VDC
Figure 44: STO, Category 3 / SIL 2 / PL d (Variant B)
1) For servo drives which have no 24 VDC output (ACOPOS 1010/1016/1022/1045/1090), the control voltage must be provided externally.
Danger!
The S1 switch shown requires the use of a one-pin Category 3 / SIL 2 / PL d switching device with a
positively-driven NC contact in accordance with EN 60947-5-1.
The guidelines in the switching device's user documentation must be observed!
1.4 Enable input circuits in accordance with Safety Category 3 / SIL 2 / PL d and functionality
(STO, SS1, SS2, SLS, SOS)
The following image illustrates example wiring suggestions for the external wiring of the enable input on
ACOPOSmicro inverter modules. They vary in their safety classification in accordance with EN 60204-1, ISO 13849
and EN 61800-5-2 as well as with regard to the safety function (STO, SS1, SS2, SLS, SOS).
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1.4.1 STO, SLS, SOS - Safety Category 3 / SIL 2 / PL d
ACOPOSmicro
X1
D
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1
+
P
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(
g
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)
D
C
2
+
D
C
2

D
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1

+ +
GND
+24 VDC
X2
2
4

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X3B X3A
POWERLINK
X4 X5
T
+
T
-
UVW
P
E
G
M
3
T
1
5
6
9
X6
GND
+80 VDC
PE (ground)
Q1
K1
3)
PE
T
S1
STO
S2
SLS / SOS
S3
1)
n>
2)
Figure 45: STO, SLS, SOS - Safety Category 3 / SIL 2 / PL d
1) S3 limit speed according to the application requirements.
S3 including the encoder is part of the safety function.
Implementation of S3 including the encoder must therefore meet Category 3 / SIL 2 / PL d.
2) The network connection is used for diagnostics and setting parameters.
3) The K1 line contactor is not required for the safety function.
Danger!
The brake shown in this image as well as brake control from the ACOPOSmicro inverter are not includ-
ed in the safety function!
Description
STO
When the S1 E-stop button is pressed, the enable input on the ACOPOSmicro inverter is de-energized. As a result,
the supply of power to the motor is cut off.
This ensures that the supply of power to the motor is always cut off immediately.
Safety technology Standard safety technology ("Wired safety technology")
176 ACOPOSmicro User's Manual 1.00
Secure restart inhibit
Opening and locking the S1 E-stop switch prevents unexpected startup.
SLS
Opening the S2 switch activates the SLS safety function. The switching contact of the S3 overspeed monitor is
opened if the monitor's configured speed limit is exceeded. This de-energizes the enable input of the ACOPOSmicro
inverter. As a result, the supply of power to the motor is cut off.
This ensures that the supply of power to the motor is always cut off immediately when the speed limit set on the
S3 overspeed monitor is exceeded.
SOS
Opening the S2 switch activates the SOS safety function. The switching contact of the overspeed monitor is opened
when the S3 standstill monitor is activated. This de-energizes the enable input of the ACOPOSmicro inverter. As
a result, the supply of power to the motor is cut off.
This ensures that the supply of power to the motor is always cut off immediately when the S3 standstill monitor
is activated.
Information:
The SLS or SOS safety function can be implemented depending on the function of the S3 switching
device (overspeed monitor or standstill monitor).
Danger!
The S1 and S2 switches shown require the use of one-pin Category 3 / SIL 2 / PL d switching devices
with a positively-driven NC contact in accordance with EN 60947-5-1. A one-pin Category 3 / SIL 2 / PL
d switching device must be used for the S3 switching device shown.
The guidelines in the switching device's user documentation must be observed!
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1.4.2 SS1, SLS, SS2 - Safety Category 3 / SIL 2 / PL d (Variant A)
ACOPOSmicro
X1
D
C
1
+
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E

(
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)
D
C
2
+
D
C
2

D
C
1

+ +
GND
+24 VDC
X2
2
4

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X3B X3A
POWERLINK
X4 X5
T
+
T
-
UVW
P
E
G
M
3
T
1
5
6
9
X6
GND
+80 VDC
PE (ground)
Q1
K1
3)
PE
T
S1
SS1
Emergency stop
S2
SLS / SS2
K2
K3
S3
1)
n>
2)
Figure 46: SS1, SLS, SS2 - Safety Category 3 / SIL 2 / PL d (Variant A)
1) S3 limit speed according to the application requirements. S3 including the encoder is part of the safety function.
Implementation of S3 including the encoder must therefore meet Category 3 / SIL 2 / PL d.
2) The network connection is used for diagnostics and setting parameters.
3) The K1 line contactor is not required for the safety function.
Safety technology Standard safety technology ("Wired safety technology")
178 ACOPOSmicro User's Manual 1.00
Danger!
The brake shown in this image as well as the brake control from the ACOPOSmicro inverter are not
part of the safety function!
Information:
For this circuit, Digital / Trigger input 2 (terminal X2) of the ACOPOSmicro inverter must be configured
as a quickstop for this connection.
Description
SS1
Pressing e-stop switch S1 causes relay K3 to be released. As a result, an active braking procedure is triggered via
Digital / Trigger input 2 (terminal X2) of the ACOPOSmicro inverter.
The K2 auxiliary relay with drop-out time is released after a defined amount of time. This separates the Enable
input of the ACOPOSmicro inverter. As a result, the supply of power to the motor is cut off.
This ensures that the supply of power to the motor is always cut off after a defined amount of time.
Secure restart inhibit
Opening and locking the S1 E-stop switch prevents unexpected startup.
SLS
Opening the switch S2 will activate the SLS safety function and trigger an active braking procedure via the input
X2 / Trigger1 of the ACOPOSmicro inverter. After a defined amount of time, speed monitoring will be activated on
the S3 speed monitor. If the defined limit speed is exceeded, then the enable input of the ACOPOSmicro inverter
is cleared via the switching contact of the speed monitor S3. As a result, the supply of power to the motor is cut off.
This ensures that the supply of power to the motor is always cut off immediately when the speed limit set on the
S3 rotation speed monitor is exceeded.
SS2
Opening the S2 switch activates the SS2 safety function and triggers an active braking procedure via Digital /
Trigger input 1 (terminal X2) of the ACOPOSmicro inverter. After a defined amount of time, standstill monitoring
will be activated on the S3 standstill monitor. If the defined tolerance limit is exceeded (standstill monitor S3 is
activated), then the enable input of the ACOPOSmicro inverter is cleared via the switching contact of the standstill
monitor S3. As a result, the supply of power to the motor is cut off.
This ensures that the supply of power to the motor is always cut off immediately when the S3 standstill monitor
is activated.
Information:
The SLS or SS2 safety function can be implemented depending on the function of the S3 switching
device (rotation speed monitor or standstill monitor).
Danger!
The S1 and S2 switches shown require the use of a one-pin Category 3 / SIL 2 / PL d switching device
with a positively driven NC contact in accordance with EN 60947-5-1. A one-pin Category 3 / SIL 2 / PL
d switching device must be used for the K2 relay shown and the S3 switching device.
The instructions in the switching device's user documentation must be observed!
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ACOPOSmicro User's Manual 1.00 179
1.4.3 SS1, SLS, SS2 - Safety Category 3 / SIL 2 / PL d (Variant B)
ACOPOSmicro
X1
D
C
1
+
P
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(
g
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o
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d
)
D
C
2
+
D
C
2

D
C
1

+ +
GND
+24 VDC
X2
2
4

V
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C

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X3B X3A
POWERLINK
X4 X5
T
+
T
-
UVW
P
E
G
M
3
T
1
5
6
9
X6
GND
+80 VDC
PE (ground)
Q1
K1
3)
PE
T
S1
SS1
Emergency stop
S2
SLS / SS2
K2
S3
1)
n>
2)
nLimit
4)
Figure 47: SS1, SLS, SS2 - Safety Category 3 / SIL 2 / PL d (Variant B)
1) K2 dropout delay and S3 limit speed according to the application requirements.
The K2 auxiliary drop-out delay relay and the S3 (including the encoder) are part of the safety function. The implementation of K2 and S3 including the
encoder must therefore meet the requirements of Category 3 / SIL 2 / PL d.
2) The network connection is used to transfer the interruption command for active braking, diagnostics and setting parameters.
3) Information about the status of the "EmergencyStop" digital input is also contained in the status of the "nLimit" digital input.
4) The K1 line contactor is not required for the safety function.
Danger!
The brake shown in this image as well as brake control from the ACOPOSmicro inverter are not includ-
ed in the safety function!
Safety technology Standard safety technology ("Wired safety technology")
180 ACOPOSmicro User's Manual 1.00
Description
SS1
When the S1 E-stop switch is pressed, the "EmergencyStop" digital input on the controller triggers an active braking
procedure (see "Code example" on page 181).
The K2 auxiliary drop-out delay relay is de-energized after a defined amount of time. This de-energizes the enable
input of the ACOPOSmicro inverter. As a result, the supply of power to the motor is cut off.
This ensures that the supply of power to the motor is always cut off after a defined amount of time.
Secure restart inhibit
Opening and locking the S1 E-stop switch prevents unexpected startup.
SLS
When the S2 switch is opened, the SLS safety function is activated and triggers an active braking procedure via
the "nLimit" digital input on the controller (see "Code example" on page 181). After a defined amount of time,
speed monitoring is activated on the S3 overspeed monitor. If the defined limit speed is exceeded, then the enable
input of the ACOPOSmicro inverter is de-energized via the switching contact of the S3 overspeed monitor. As a
result, the supply of power to the motor is cut off.
This ensures that the supply of power to the motor is always cut off immediately when the speed limit set on the
S3 overspeed monitor is exceeded.
SS2
When the S2 switch is opened, the SS2 safety function is activated and triggers an active braking procedure via
the "nLimit" digital input on the controller (see "Code example" on page 181). After a defined amount of time,
standstill monitoring is activated on the S3 standstill monitor. If the defined tolerance limit is exceeded (standstill
monitor S3 is activated), then the enable input of the ACOPOSmicro inverter is cleared via the switching contact
of the standstill monitor S3. As a result, the supply of power to the motor is cut off.
This ensures that the supply of power to the motor is always cut off immediately when the S3 standstill monitor
is activated.
Information:
Either the SLS or the SS2 safety function can be implemented depending on the function of the S3
switching device (overspeed monitor or standstill monitor).
Danger!
The S1 and S2 switches shown require the use of two or one-pin switching devices (Category 3 / SIL
2 / PL d) with a positively driven NC contact in accordance with EN 60947-5-1. A one-pin Category 3 /
SIL 2 / PL d switching device must be used for the K2 relay shown as well as the S3 switching device.
The instructions in the switching device's user documentation must be observed!
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Code example
Issuing the stop command (via POWERLINK):
if ( ! stop_active )
{
/* Movement stop not active: Test stop inputs */
if ( EmergencyStop == ncLOW )
{
/* Activate movement stop with parameter set for "E-stop" */
stop_index = E_STOP_INDEX;
step = MOV_STOP;
stop_active = 1;
}
else
{
/* Activate movement stop with parameter set for "low speed" */
stop_index = NLIMIT_INDEX;
step = MOV_STOP;
stop_active = 1;
}
}
else
{
/* Movement stop was activated */
if ( EmergencyStop == ncHIGH && nLimit == ncHIGH
&& step!= W_MOV_STOP)
{
/* Movement stop complete */
stop_active = 0;
}
}
switch (step)
{
...
case MOV_STOP:
/* Call NC action for movement stop */
p_ax_dat->move.stop.index.command = stop_index;
action_status = ncaction(ax_obj,ncMOVE,ncSTOP);
if ( action_status == ncOK )
{
step = W_MOV_STOP;
}
break;
case W_MOV_STOP:
/* Wait for movement stop procedure to complete */
if ( p_ax_dat->move.mode == ncOFF )
{
/* Movement stop complete */
step = <NEXT_STEP>
}
break;
...
}
182
Standards and certifications Environmental limits
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ACOPOSmicro User's Manual 1.00 183
Chapter 11 Standards and certifications
1 Applicable European directives
EMC directive 89/336/EEC
Low-voltage directive 73/23/EEC
Machine directive 98/37/EC
IFA EMC and functional safety for drive systems
with integrated safety functions (2012)
2 Applicable standards
Standard Description
IEC/EN 61800-2:1998 Adjustable speed electrical power drive systems
Part 2: General requirements; Rating specifications for low voltage adjustable frequency AC power drive
systems
IEC/EN 61800-3:2009 Adjustable speed electrical power drive systems
Part 3: EMC requirements including specific test methods
IEC 61800-5-1:2007 Electrical drive systems with adjustable speed
Part 5-1: Safety requirements - electrical, thermal and power requirements
IEC/EN 61131-3:2007 Programmable logic controllers
Part 2: Equipment requirements and tests
UL 508 C:2002 Industrial control equipment
Part 6: Solid-state motor controllers
Table 91: Applicable standards for the ACOPOSmicro
The limit values specified from section 3 "Environmental limits" to section 6 "Other environmental limit values in
accordance with IEC 61800-2" are taken from the IEC 61800 product standard for stepper motor and inverter
modules in industrial environments (2nd environment). Stricter test procedures and limit values are used during
the type tests for ACOPOSmicro modules. Additional information is available from B&R.
3 Environmental limits
3.1 Mechanical conditions in accordance with IEC 61800-2
3.1.1 Operation
IEC 60721-3-3, class 3M1
EN 61800-2
Vibration during operation
2 f < 9 Hz
9 f < 200 Hz
0.3 mm amplitude
1 m/s acceleration
Table 92: Mechanical conditions during operation
3.1.2 Transport
IEC 60721-3-2, class 2M1
EN 61800-2
Vibration during transport
2 f < 9 Hz
9 f < 200 Hz
200 f < 500 Hz
3.5 mm amplitude
10 m/s acceleration
15 m/s acceleration
Table 93: Mechanical conditions during transport
Standards and certifications Requirements for immunity to disturbances (EMC)
184 ACOPOSmicro User's Manual 1.00
3.2 Climate conditions in accordance with IEC 61800-2
3.2.1 Operation
IEC 60721-3-3, class 3K3
EN 61800-2
Ambient temperature during operation 5 to 45C
Relative humidity during operation 5 - 85%, non-condensing
Table 94: Climate conditions during operation
3.2.2 Storage
IEC 60721-3-1, class 1K4
EN 61800-2
Storage temperature -25 to +55C
Table 95: Climate conditions (temperature) during storage
IEC 60721-3-1, class 1K3
EN 61800-2
Relative humidity during storage 5 - 95%, non-condensing
Table 96: Climate conditions (humidity) during storage
3.2.3 Transport
IEC 60721-3-2, class 2K3
EN 61800-2
Transport temperature -25 to +70C
Relative humidity during transport 95% at +40C
Table 97: Climate conditions during transport
4 Requirements for immunity to disturbances (EMC)
4.1 Evaluation criteria (performance criteria)
Criteria A ...... The test object is not interfered with during testing.
Criteria B ...... The test object is only interfered with temporarily during testing.
Criteria C ...... The system does not reboot itself automatically (reset required).
4.2 High-frequency disturbances in accordance with IEC 61800-3
These immunity tests are valid for industry (2
nd
environment).
4.2.1 Electrostatic discharge
Tests in accordance with IEC 61000-4-2
EN 61800-3 Performance criteria
Contact discharge to powder-coated and bare metal housing parts 4 kV
Discharge through the air to plastic housing parts 8 kV
B
Table 98: Limits for electrical discharge
4.2.2 Electromagnetic fields
Tests in accordance with IEC 61000-4-3
EN 61800-3 Performance criteria
Housing, completely wired 80 MHz - 1 GHz, 10 V/m,
80% amplitude modulation 1 kHz
A
Table 99: Limits for electromagnetic fields
Standards and certifications Requirements for emissions (EMC)
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4.2.3 Burst
Tests in accordance with IEC 61000-4-4
EN 61800-3 Performance criteria
Power connection 2 kV, 1 min, direct coupling
Connections for measurement and control functions in the process environ-
ment
2 kV, 1 min
Signal interfaces, other wires 1 kV, 1 min
B
Table 100: Limits for burst
4.2.4 Surge
Tests in accordance with IEC 61000-4-5
EN 61800-3 Performance criteria
Power connection 1 kV (2 )
1)
, DM, symmetrical
2 kV (12 )
1)
, CM, asymmetrical
B
Table 101: Limits for surge
1) The impedance from IEC 61000-4-5 has been added because it is not defined in IEC 61800-3.
4.2.5 High-frequency conducted disturbances
Tests in accordance with IEC 61000-4-6
EN 61800-3 Performance criteria
Power connection
Connections for measurement and control functions in the process environ-
ment
Signal interfaces, other wires
0.15 - 80 MHz, 10 V,
80% amplitude modulation with 1 kHz,
A
Table 102: Limits for conducted disturbances (radio frequency)
5 Requirements for emissions (EMC)
5.1 High-frequency emissions in accordance with IEC 61800-3
These emission tests are valid for industrial environments (2
nd
environment).
5.1.1 Limit values for disturbance voltage on the power mains connections in the frequency band from
150 kHz to 30 MHz
Tests in accordance with IEC 55011
Continuous current on motor Frequency range [MHz] Quasi-peak value Average
0.15 f < 0.5 100 dB (V) 90 dB (V)
0.5 f < 5 86 dB (V) 76 dB (V)
I 100 A
5 f < 30 90 dB (V) 80 dB (V)
Table 103: Limit values for disturbance voltage on the pow-
er mains connections in the frequency band from 150 kHz to 30 MHz
5.1.2 Electromagnetic emissions
Tests in accordance with IEC 55011
Frequency range [MHz] Quasi-peak value
30 f 230 40 dB (V/m), measured at distance of 30 m
230 < f 1000 50 dB (V/m), measured at distance of 30 m
Table 104: Limit values for electro-magnetic emissions
1) Limit values are increased by 10 dB (V/m) when measured from a distance of 10 m.
Standards and certifications International certifications
186 ACOPOSmicro User's Manual 1.00
6 Other environmental limit values in accordance with IEC 61800-2
EN 61800-2
Degree of pollution in accordance with IEC 61800-2, 4.1.2.1. 2 (non-conductive pollution)
Overvoltage category in accordance with
IEC 60364-4-443:1999
III
EN 60529 protection IP20
Reduction of the continuous current at installation altitudes
over 500 m above sea level
10 % per 1000 m
Maximum installation altitude 2000 m
1)
Table 105: Additional environmental limit values
1) Requirements that go above and beyond this need to be arranged with B&R.
7 International certifications
B&R products and services comply with applicable standards. This includes international standards from organi-
zations such as ISO, IEC and CENELEC, as well as national standards from organizations such as UL, CSA, FCC,
VDE, VE, etc. We are committed to ensuring the reliability of our products in an industrial environment.
Certifications
USA and Canada All important B&R products are tested and listed by Underwriters Laboratories and checked quarterly by a UL
inspector.
This mark is valid for the USA and Canada and simplifies the certification of your machines and systems in these
areas.
Europe This mark certifies that all harmonized EN standards for the applicable directives have been met.
Russian Federation GOST-R certification is available for the export of all ACOPOSmicro stepper motor modules to the Russian Fed-
eration.
Table 106: International certifications
Appendix A Overview
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ACOPOSmicro User's Manual 1.00 187
Appendix A Abbreviations
1 General information
Abbreviations appear throughout the User's Manual, for example in data tables or descriptions of pinouts.
2 Overview
Abbreviation Stands for Description
Normally Closed A normally closed relay contact NC
Not connected Used in pinout descriptions if a terminal or pin is not connected to a module
ND Not defined In data tables, this stands for a value that has not been defined. This may be because a cable
manufacturer does not provide certain technical data, for example.
NO Normally Open A normally open relay contact
TBD To be defined Used in technical data tables when certain information is not yet available. The value will be
provided later.
Table 107: Abbreviations used in this user's manual
188
Appendix B Overview
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ACOPOSmicro User's Manual 1.00 189
Appendix B Variable mapping in Automation Studio
1 Overview
This appendix provides an overview of variable mapping in Automation Studio (X2X master) for the function models
of all ACOPOSmicro variants:
Standard function model Ramp function model ACOPOSmicro variant
Documentation Variable mapping Documentation Variable mapping
80SD100XD.C044-01 190 193
80SD100XD.C04X-13 194 197
80SD100XD.C0XX-01 198 200
80SD100XD.C0XX-21 202 205
80SD100XS.C04X-01 207 209
80SD100XS.C0XX-01
128
210
140
212
All registers are covered in detail in the section "Operation - Stepper motor modules" on page 127. This description
provides a summary of the functionality of all ACOPOSmicro stepper motor module variants. Differences are noted
in the section "Operation - Stepper motor modules".
The section Variable mapping in Automation Studio also provides the following information:
A detailed overview of the individual registers for each ACOPOSmicro stepper motor module variant
Variable mapping in Automation Studio All registers and data points (individual bits within a register)
Note: The descriptions for registers whose bits have no corresponding variable mapping are not included
in this section.
Appendix B 80SD100XD.C044-01 - Standard function model
190 ACOPOSmicro User's Manual 1.00
2 80SD100XD.C044-01 - Standard function model
2.1 Overview of registers
Register (dec.) Variable mapping in Automation Studio
Channel 1 Channel 2 Channel 1 Channel 2
Description
0 2 Position1Sync Position2Sync Position
10 Error Error/Status
12 14 Motoridentification01 Motoridentification02 Motor ID
16 24 Motor1Step0 Motor2Step0 MotorStep1 motor configuration
18 26 Motor1Step1 Motor2Step1 MotorStep2 motor configuration
20 28 Motor1Step2 Motor2Step2 MotorStep3 motor configuration
22 30 Motor1Step3 Motor2Step3 MotorStep4 motor configuration
33 36 ConfigOutput03 ConfigOutput06 Holding current
34 37 ConfigOutput04 ConfigOutput07 Nominal current
35 38 ConfigOutput05 ConfigOutput08 Maximum current
46 ConfigOutput02 Module configuration
54 StatusOutput14 Error acknowledgment / Digital output of motor brake
60 62 Position1Latched Position2Latched Position latch
68 70 usSinceTrigger01 usSinceTrigger02 usSinceTrigger
72 StepperLatchStatus Latch trigger status
73 LifeCnt Life cycle counter
76 StepperLatchConfig Latch configuration
78 TriggerConfig Trigger configuration
80 Temperature Temperature
81 MotorIdentTrigger Motor ID trigger
84 86 ConfigOutput09 ConfigOutput10 Full step threshold
88 CoolerTemperature Cooler temperature
90 UZKVoltage DC link voltage
Registers for ACOPOSmicro with an encoder
130 144 PosVal03 PosVal04 ABR counter
134 148 LatchVal03 LatchVal04 ABR counter latch
154 StatusOutput15 ABR control register
155 ConfigOutput11 ABR configuration
158 ConfigOutput13 ABR advanced configuration
Table 108: 80SD100XD.C044-01 - Standard function model
2.2 Error: Error/Status
Bit Variable mapping in
Automation Studio
0 0 ... Reserved
1 OvertemperatureError01 E 0 ... No error
1 ... Error: Overtemperature
2 CurrentError01 E 0 ... No error
1 ... Error: Current setpoint not reached
3 OvercurrentError01 E 0 ... No error
1 ... Error: Overcurrent
Motor 1
4 0 ... Reserved
5 OvertemperatureError02 E 0 ... No error
1 ... Error: Overtemperature
6 CurrentError02 E 0 ... No error
1 ... Error: Current setpoint not reached
7 OvercurrentError02 E 0 ... No error
1 ... Error: Overcurrent
Motor 2
8 DrvOk01 S Status of drive 1:
0 ... Not ready
1 ... Ready
Motor 1
9 DrvOk02 S Status of drive 2:
0 ... Not ready
1 ... Ready
Motor 2
10 IncrementalEncoderOk01 Status of ABR encoder 1:
0 ... Not ready
1 ... Ready
11 EncoderPowerSupplyError Encoder supply error
0 ... 24 VDC OK
1 ... Error: Encoder supply not within the required range
12 IncrementalEncoderOk02 Status of ABR encoder 2:
0 ... Not ready
1 ... Ready
Encoder
13 ModulePowerSupplyError E Module supply error
0 ... 24 VDC OK
1 ... Error: Undervoltage
14 Enable S Enable status (corresponds to the enable input)
0 ... Disable
1 ... Enable OK
Appendix B 80SD100XD.C044-01 - Standard function model
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ACOPOSmicro User's Manual 1.00 191
Bit Variable mapping in
Automation Studio
15 UZKStatus S Status of supply voltage for power unit (U
DCL
... DC link voltage):
0 ... Supply voltage for power unit not within the valid range
1 ... Supply voltage for power unit OK (18 V U
DCL
80 V)
This status only indicates the supply for the power unit if the enable input (bit 14) is set. If the enable input
is not set, then bit 15 is always 0, regardless of whether or not the power unit is supplied.
2.3 StatusOutput14: Error acknowledgment / Digital output of motor brake
Bit Variable mapping in
Automation Studio
Description
0 ClearError01 Error acknowledgment for motor 1
1 ClearError02 Error acknowledgment for motor 2
2-6 0 ... Reserved
7 DigitalOutput Status of digital output / motor brake
0 ... Motor brake off
1 ... Motor brake on
2.4 StepperLatchStatus: Latch trigger status
Bit Variable mapping in
Automation Studio
Description
0 LatchInput01 Digital input for the latch event (level)
1 LatchDone01 Changes its state each time the counter state is successfully latched
(reset value = 0)
Stepper motor 1
2 LatchInput02 Digital input for the latch event (level)
3 LatchDone02 Changes its state each time the counter state is successfully latched
(reset value = 0)
Stepper motor 2
4 DigitalInput01
TriggerInput01
State of digital input 1
State of trigger input 1
5 DigitalInput02
TriggerInput02
State of digital input 2
State of trigger input 2
6 LatchDone03 Changes its state each time ABR counter 1 is successfully latched (reset value
= 0)
See the ABR counter control register and ABR counter configuration register.
ABR counter 1
7 LatchDone04 Changes its state each time ABR counter 2 is successfully latched (reset value
= 0)
See the ABR counter control register and ABR counter configuration register.
ABR counter 2
2.5 StepperLatchConfig: Latch configuration
Bit Variable mapping in
Automation Studio
Description
0 StartLatch01 Turn the latch function on/off for the position register
0 Negative edge: Turn off the latch function for the position register
1 Positive edge: Turn on the latch function for the position register
1
2
TriggerEdgePos01
TriggerEdgeNeg01
Configure latch function for position register
00 Latch position unconditional
01 Latch position on positive edge of trigger input 1
10 Latch position on negative edge of trigger input 1
11 Reserved
Channel 1
3 0 Reserved
4 StartLatch02 Turn the latch function on/off for the position register
0 Negative edge: Turn off the latch function for the position register
1 Positive edge: Turn on the latch function for the position register
5
6
TriggerEdgePos02
TriggerEdgeNeg02
Configure latch function for position register
00 Latch position unconditional
01 Latch position on positive edge of trigger input 2
10 Latch position on negative edge of trigger input 2
11 Reserved
Channel 2
7 0 Reserved
2.6 TriggerConfig: Trigger configuration
Bit Variable mapping in
Automation Studio
Description
0 TriggerEdge01 0 Trigger 1: Trigger edge = positive
1 Trigger 1: Trigger edge = negative
1 StartTrigger01 Enable trigger 1 (when a change occurs)
2 TriggerEdge02 0 Trigger 2: Trigger edge = positive
1 Trigger 2: Trigger edge = negative
3 StartTrigger02 Enable trigger 2 (when a change occurs)
4-7 0 Reserved
Appendix B 80SD100XD.C044-01 - Standard function model
192 ACOPOSmicro User's Manual 1.00
2.7 StatusOutput15: ABR control register
Bit Variable mapping in
Automation Studio
Description
0 ActivateReferencing03 0 Disable referencing of ABR counter 1
1 Enable referencing of ABR counter 1
(positive edge enables referencing)
1-3 0 Reserved
4 ActivateReferencing04 0 Disable referencing of ABR counter 2
1 Enable referencing of ABR counter 2
(positive edge enables referencing)
5-7 0 Reserved
Appendix B 80SD100XD.C044-01 - Ramp function model
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ACOPOSmicro User's Manual 1.00 193
3 80SD100XD.C044-01 - Ramp function model
3.1 Overview of registers
Register (dec.) Variable mapping in Automation Studio
Channel 1 Channel 2 Channel 1 Channel 2
Description
0 8 AbsPos01 AbsPos02 Set position/speed
4 12 MpGenControl01 MpGenControl02 Control word
6 14 MpGenMode01 MpGenMode02 Mode
7 15 MpGenBrake01 MpGenBrake02 Motor brake
0 8 AbsPos01ActVal AbsPos02ActVal Current position (cyclic)
4 12 MpGenStatus01 MpGenStatus02 Status
6 InputStatus Input status
42 UZKVoltage UDCL DC link voltage
44 CoolerTemperature Temperature of output stage
46 Temperature Temperature
48 112 ConfigOutput03a ConfigOutput06a Holding current
49 113 ConfigOutput04a ConfigOutput07a Nominal current
50 114 ConfigOutput05a ConfigOutput08a Maximum current
52 116 MaxSpeed01pos MaxSpeed02pos Maximum speed
54 118 MaxAcc01 MaxAcc02 Maximum acceleration
56 120 MaxDec01 MaxDec02 Maximum deceleration
58 122 RevLoop01 RevLoop02 Reversing loop
60 124 FixedPos01a FixedPos02a Position setpoint 1
64 128 FixedPos01b FixedPos02b Position setpoint 2
68 132 RefSpeed01 RefSpeed02 Referencing speed
70 134 RefConfig01 RefConfig02 Referencing configuration
72 136 FullStepThreshold01 FullStepThreshold02 Full step threshold
75 139 JoltTime01 JoltTime02 Jolt time limitation
80 144 ControlReadback01 ControlReadback02 Read back control word
82 146 ModeReadback01 ModeReadback02 Read back mode
84 148 Motoridentification01 Motoridentification02 Motor ID
86 150 RefPos01CyclicCounter RefPos02CyclicCounter Referenced zero position for cyclic counter
90 154 AbsPos1ActValAcyclic AbsPos2ActValAcyclic G Current position (acyclic)
94 158 RefPos01AcyclicCounter RefPos02AcyclicCounter G Referenced zero position for acyclic counter
98 162 ErrorCode01 ErrorCode02 Error code
Table 109: 80SD100XD.C044-01 - Ramp function model
3.2 Motor brake
Variable mapping in Automation Studio Bit
Channel 1 Channel 2
Description
0 MpGenBrake01 MpGenBrake02 Digital output state (motor brake)
1-7 0 ... Reserved
The motor brake register is used to control the digital output (motor brake).
On 2-channel ACOPOSmicro variants, bit 0 of the two registers (Motor1 and Motor2) are linked with an OR function.
This means that the digital output is enabled if the bit is set on one or both of the motors.
Appendix B 80SD100XD.C04X-13 - Standard function model
194 ACOPOSmicro User's Manual 1.00
4 80SD100XD.C04X-13 - Standard function model
4.1 Overview of registers
Register (dec.) Variable mapping in Automation Studio
Channel 1 Channel 2 Channel 1 Channel 2
Description
0 2 Position1Sync Position2Sync Position
10 Error Error/Status
12 14 Motoridentification01 Motoridentification02 Motor ID
16 24 Motor1Step0 Motor2Step0 MotorStep1 motor configuration
18 26 Motor1Step1 Motor2Step1 MotorStep2 motor configuration
20 28 Motor1Step2 Motor2Step2 MotorStep3 motor configuration
22 30 Motor1Step3 Motor2Step3 MotorStep4 motor configuration
33 36 ConfigOutput03 ConfigOutput06 Holding current
34 37 ConfigOutput04 ConfigOutput07 Nominal current
35 38 ConfigOutput05 ConfigOutput08 Maximum current
46 ConfigOutput02 Module configuration
54 StatusOutput14 Error acknowledgment / Digital output of motor brake
60 62 Position1Latched Position2Latched Position latch
68 70 usSinceTrigger01 usSinceTrigger02 usSinceTrigger
72 StepperLatchStatus Latch trigger status
73 LifeCnt Life cycle counter
76 StepperLatchConfig Latch configuration
78 TriggerConfig Trigger configuration
80 Temperature Temperature
81 MotorIdentTrigger Motor ID trigger
84 86 ConfigOutput09 ConfigOutput10 Full step threshold
88 CoolerTemperature Cooler temperature
90 UZKVoltage DC link voltage
Registers for ACOPOSmicro with an encoder
130 - PosVal03 - ABR counter
134 - LatchVal03 - ABR counter latch
154 StatusOutput15 ABR control register
155 ConfigOutput11 ABR configuration
158 ConfigOutput13 ABR advanced configuration
Registers for ACOPOSmicro variants with additional digital inputs/outputs
192 Digital_in_do_rb Status of digital inputs and outputs
193 StatusOutput16 Set digital outputs / Counter control register
194 Counter01 Counter
196 CounterLatched01 Counter latch
198 ConfigOutput12 Counter configuration
Table 110: 80SD100XD.C04X-13 - Standard function model
4.2 Error: Error/Status
Bit Variable mapping in
Automation Studio
0 0 ... Reserved
1 OvertemperatureError01 E 0 ... No error
1 ... Error: Overtemperature
2 CurrentError01 E 0 ... No error
1 ... Error: Current setpoint not reached
3 OvercurrentError01 E 0 ... No error
1 ... Error: Overcurrent
Motor 1
4 0 ... Reserved
5 OvertemperatureError02 E 0 ... No error
1 ... Error: Overtemperature
6 CurrentError02 E 0 ... No error
1 ... Error: Current setpoint not reached
7 OvercurrentError02 E 0 ... No error
1 ... Error: Overcurrent
Motor 2
8 DrvOk01 S Status of drive 1:
0 ... Not ready
1 ... Ready
Motor 1
9 DrvOk02 S Status of drive 2:
0 ... Not ready
1 ... Ready
Motor 2
10 IncrementalEncoderOk Status of ABR encoder:
0 ... Not ready
1 ... Ready
11 EncoderPowerSupplyError Encoder supply error
0 ... 24 VDC OK
1 ... Error: Encoder supply not within the required range
12 0 ... Reserved
Encoder
Appendix B 80SD100XD.C04X-13 - Standard function model
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ACOPOSmicro User's Manual 1.00 195
Bit Variable mapping in
Automation Studio
13 ModulePowerSupplyError E Module supply error
0 ... 24 VDC OK
1 ... Error: Undervoltage
14 Enable S Enable status (corresponds to the enable input)
0 ... Disable
1 ... Enable OK
15 UZKStatus S Status of supply voltage for power unit (U
DCL
... DC link voltage):
0 ... Supply voltage for power unit not within the valid range
1 ... Supply voltage for power unit OK (18 V U
DCL
80 V)
This status only indicates the supply for the power unit if the enable input (bit 14) is set. If the enable input
is not set, then bit 15 is always 0, regardless of whether or not the power unit is supplied.
4.3 StatusOutput14: Error acknowledgment / Digital output of motor brake
Bit Variable mapping in
Automation Studio
Description
0 ClearError01 Error acknowledgment for motor 1
1 ClearError02 Error acknowledgment for motor 2
2-6 0 ... Reserved
7 DigitalOutput Status of digital output / motor brake
0 ... Motor brake off
1 ... Motor brake on
4.4 StepperLatchStatus: Latch trigger status
Bit Variable mapping in
Automation Studio
Description
0 LatchInput01 Digital input for the latch event (level)
1 LatchDone01 Changes its state each time the counter state is successfully latched
(reset value = 0)
Stepper motor 1
2 LatchInput02 Digital input for the latch event (level)
3 LatchDone02 Changes its state each time the counter state is successfully latched
(reset value = 0)
Stepper motor 2
4 DigitalInput01
TriggerInput01
State of digital input 1
State of trigger input 1
5 DigitalInput02
TriggerInput02
State of digital input 2
State of trigger input 2
6 LatchDone03 Changes its state each time ABR counter 1 is successfully latched (reset value
= 0)
See the ABR counter control register and ABR counter configuration register.
ABR counter 1
7 0 ... Reserved
4.5 StepperLatchConfig: Latch configuration
Bit Variable mapping in
Automation Studio
Description
0 StartLatch01 Turn the latch function on/off for the position register
0 Negative edge: Turn off the latch function for the position register
1 Positive edge: Turn on the latch function for the position register
1
2
TriggerEdgePos01
TriggerEdgeNeg01
Configure latch function for position register
00 Latch position unconditional
01 Latch position on positive edge of trigger input 1
10 Latch position on negative edge of trigger input 1
11 Reserved
Channel 1
3 0 Reserved
4 StartLatch02 Turn the latch function on/off for the position register
0 Negative edge: Turn off the latch function for the position register
1 Positive edge: Turn on the latch function for the position register
5
6
TriggerEdgePos02
TriggerEdgeNeg02
Configure latch function for position register
00 Latch position unconditional
01 Latch position on positive edge of trigger input 2
10 Latch position on negative edge of trigger input 2
11 Reserved
Channel 2
7 0 Reserved
4.6 TriggerConfig: Trigger configuration
Bit Variable mapping in
Automation Studio
Description
0 TriggerEdge01 0 Trigger 1: Trigger edge = positive
1 Trigger 1: Trigger edge = negative
1 StartTrigger01 Enable trigger 1 (when a change occurs)
2 TriggerEdge02 0 Trigger 2: Trigger edge = positive
1 Trigger 2: Trigger edge = negative
3 StartTrigger02 Enable trigger 2 (when a change occurs)
4-7 0 Reserved
Appendix B 80SD100XD.C04X-13 - Standard function model
196 ACOPOSmicro User's Manual 1.00
4.7 StatusOutput15: ABR control register
Bit Variable mapping in
Automation Studio
Description
0 ActivateReferencing03 0 Disable referencing of ABR counter 1
1 Enable referencing of ABR counter 1
(positive edge enables referencing)
1-7 0 Reserved
4.8 Digital_in_do_rb: Status of digital inputs and outputs
Bit Variable mapping in
Automation Studio
Description
0 DigitalInput03 Status of digital input 1 A Counter input 1
1 DigitalInput04 Status of digital input 2 B
2 DigitalInput05 Status of digital input 3 R External counter frequency for counter input 1
3 DigitalInput06 Status of digital input 4 Reference for enable input
4 DigitalOutputReadBack02 Status of digital output 1
5 DigitalOutputReadBack03 Status of digital output 2
6 CounterOverflow01 Overflow of counter 1 (only valid if gate or period measurement is set in the counter configuration with bit 3-6):
0 ... Counter value is within the counting range (0 to 0x7FFF).
This value is only valid if bit 0 of the counter control register is set.
1 ... Counter overflow
This bit is reset with bit 0 of the counter control register.
7 CounterLatchDone01 Changes its state each time the counter state is successfully latched (reset value = 0)
4.9 StatusOutput16: Set digital outputs / Counter control register
Bit Variable mapping in
Automation Studio
Description
0 CounterOverflowDetectEnable01
0 ... Disable detection of counter overflow and resets the overflow bit of counter 1
1 ... Enable detection of counter overflow
1 0 ... Reserved
2 ActivateRefCounter01 Referencing (only applies in AB(R) mode, see bits 8 and 9 in the counter configuration):
0 ... Disable referencing
1 ... Enable referencing
3 CounterEnable01
0 ... Reset the counter (to zero)
1 ... Start the counter
Note: Only set after the counter configuration is complete!
4-5 0 ... Reserved
6 DigitalOutput02 Set digital output 1
7 DigitalOutput03 Set digital output 2
Appendix B 80SD100XD.C04X-13 - Ramp function model
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ACOPOSmicro User's Manual 1.00 197
5 80SD100XD.C04X-13 - Ramp function model
5.1 Overview of registers
Register (dec.) Variable mapping in Automation Studio
Channel 1 Channel 2 Channel 1 Channel 2
Description
0 8 AbsPos01 AbsPos02 Set position/speed
4 12 MpGenControl01 MpGenControl02 Control word
6 14 MpGenMode01 MpGenMode02 Mode
7 15 MpGenBrake01 MpGenBrake02 Motor brake
16 OptionsBoardControl D Set digital outputs / Counter control register
0 8 AbsPos01ActVal AbsPos02ActVal Current position (cyclic)
4 12 MpGenStatus01 MpGenStatus02 Status
6 InputStatus Input status
16 Counter01 D Counter
18 CounterLatched01 D Counter latch
20 Digital_in_do_rb D Status of digital inputs and outputs
42 UZKVoltage UDCL DC link voltage
44 CoolerTemperature Temperature of output stage
46 Temperature Temperature
48 112 ConfigOutput03a ConfigOutput06a Holding current
49 113 ConfigOutput04a ConfigOutput07a Nominal current
50 114 ConfigOutput05a ConfigOutput08a Maximum current
52 116 MaxSpeed01pos MaxSpeed02pos Maximum speed
54 118 MaxAcc01 MaxAcc02 Maximum acceleration
56 120 MaxDec01 MaxDec02 Maximum deceleration
58 122 RevLoop01 RevLoop02 Reversing loop
60 124 FixedPos01a FixedPos02a Position setpoint 1
64 128 FixedPos01b FixedPos02b Position setpoint 2
68 132 RefSpeed01 RefSpeed02 Referencing speed
70 134 RefConfig01 RefConfig02 Referencing configuration
72 136 FullStepThreshold01 FullStepThreshold02 Full step threshold
75 139 JoltTime01 JoltTime02 Jolt time limitation
80 144 ControlReadback01 ControlReadback02 Read back control word
82 146 ModeReadback01 ModeReadback02 Read back mode
84 148 Motoridentification01 Motoridentification02 Motor ID
86 150 RefPos01CyclicCounter RefPos02CyclicCounter Referenced zero position for cyclic counter
90 154 AbsPos1ActValAcyclic AbsPos2ActValAcyclic G Current position (acyclic)
94 158 RefPos01AcyclicCounter - G Referenced zero position for acyclic counter
98 162 ErrorCode01 ErrorCode02 Error code
200 ConfigOutput12 D Counter configuration
Table 111: 80SD100XD.C04X-13 - Ramp function model
5.2 Motor brake
Variable mapping in Automation Studio Bit
Channel 1 Channel 2
Description
0 MpGenBrake01 MpGenBrake02 Digital output state (motor brake)
1-7 0 ... Reserved
The motor brake register is used to control the digital output (motor brake).
On 2-channel ACOPOSmicro variants, bit 0 of the two registers (Motor1 and Motor2) are linked with an OR function.
This means that the digital output is enabled if the bit is set on one or both of the motors.
Appendix B 80SD100XD.C0XX-01 - Standard function model
198 ACOPOSmicro User's Manual 1.00
6 80SD100XD.C0XX-01 - Standard function model
6.1 Overview of registers
Register (dec.) Variable mapping in Automation Studio
Channel 1 Channel 2 Channel 1 Channel 2
Description
0 2 Position1Sync Position2Sync Position
10 Error Error/Status
12 14 Motoridentification01 Motoridentification02 Motor ID
16 24 Motor1Step0 Motor2Step0 MotorStep1 motor configuration
18 26 Motor1Step1 Motor2Step1 MotorStep2 motor configuration
20 28 Motor1Step2 Motor2Step2 MotorStep3 motor configuration
22 30 Motor1Step3 Motor2Step3 MotorStep4 motor configuration
33 36 ConfigOutput03 ConfigOutput06 Holding current
34 37 ConfigOutput04 ConfigOutput07 Nominal current
35 38 ConfigOutput05 ConfigOutput08 Maximum current
46 ConfigOutput02 Module configuration
54 StatusOutput14 Error acknowledgment / Digital output of motor brake
60 62 Position1Latched Position2Latched Position latch
68 70 usSinceTrigger01 usSinceTrigger02 usSinceTrigger
72 StepperLatchStatus Latch trigger status
73 LifeCnt Life cycle counter
76 StepperLatchConfig Latch configuration
78 TriggerConfig Trigger configuration
80 Temperature Temperature
81 MotorIdentTrigger Motor ID trigger
84 86 ConfigOutput09 ConfigOutput10 Full step threshold
88 CoolerTemperature Cooler temperature
90 UZKVoltage DC link voltage
Table 112: 80SD100XD.C0XX-01 - Standard function model
6.2 Error: Error/Status
Bit Variable mapping in
Automation Studio
0 0 ... Reserved
1 OvertemperatureError01 E 0 ... No error
1 ... Error: Overtemperature
2 CurrentError01 E 0 ... No error
1 ... Error: Current setpoint not reached
3 OvercurrentError01 E 0 ... No error
1 ... Error: Overcurrent
Motor 1
4 0 ... Reserved
5 OvertemperatureError02 E 0 ... No error
1 ... Error: Overtemperature
6 CurrentError02 E 0 ... No error
1 ... Error: Current setpoint not reached
7 OvercurrentError02 E 0 ... No error
1 ... Error: Overcurrent
Motor 2
8 DrvOk01 S Status of drive 1:
0 ... Not ready
1 ... Ready
Motor 1
9 DrvOk02 S Status of drive 2:
0 ... Not ready
1 ... Ready
Motor 2
10-12 0 ... Reserved
13 ModulePowerSupplyError E Module supply error
0 ... 24 VDC OK
1 ... Error: Undervoltage
14 Enable S Enable status (corresponds to the enable input)
0 ... Disable
1 ... Enable OK
15 UZKStatus S Status of supply voltage for power unit (U
DCL
... DC link voltage):
0 ... Supply voltage for power unit not within the valid range
1 ... Supply voltage for power unit OK (18 V U
DCL
80 V)
This status only indicates the supply for the power unit if the enable input (bit 14) is set. If the enable input
is not set, then bit 15 is always 0, regardless of whether or not the power unit is supplied.
Appendix B 80SD100XD.C0XX-01 - Standard function model
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ACOPOSmicro User's Manual 1.00 199
6.3 StatusOutput14: Error acknowledgment / Digital output of motor brake
Bit Variable mapping in
Automation Studio
Description
0 ClearError01 Error acknowledgment for motor 1
1 ClearError02 Error acknowledgment for motor 2
2-6 0 ... Reserved
7 DigitalOutput01 Status of digital output / motor brake
0 ... Motor brake off
1 ... Motor brake on
6.4 StepperLatchStatus: Latch trigger status
Bit Variable mapping in
Automation Studio
Description
0 LatchInput01 Digital input for the latch event (level)
1 LatchDone01 Changes its state each time the counter state is successfully latched
(reset value = 0)
Stepper motor 1
2 LatchInput02 Digital input for the latch event (level)
3 LatchDone02 Changes its state each time the counter state is successfully latched
(reset value = 0)
Stepper motor 2
4 DigitalInput01
TriggerInput01
State of digital input 1
State of trigger input 1
5 DigitalInput02
TriggerInput02
State of digital input 2
State of trigger input 2
6-7 0 ... Reserved
6.5 StepperLatchConfig: Latch configuration
Bit Variable mapping in
Automation Studio
Description
0 StartLatch01 Turn the latch function on/off for the position register
0 Negative edge: Turn off the latch function for the position register
1 Positive edge: Turn on the latch function for the position register
1
2
TriggerEdgePos01
TriggerEdgeNeg01
Configure latch function for position register
00 Latch position unconditional
01 Latch position on positive edge of trigger input 1
10 Latch position on negative edge of trigger input 1
11 Reserved
Channel 1
3 0 Reserved
4 StartLatch02 Turn the latch function on/off for the position register
0 Negative edge: Turn off the latch function for the position register
1 Positive edge: Turn on the latch function for the position register
5
6
TriggerEdgePos02
TriggerEdgeNeg02
Configure latch function for position register
00 Latch position unconditional
01 Latch position on positive edge of trigger input 2
10 Latch position on negative edge of trigger input 2
11 Reserved
Channel 2
7 0 Reserved
6.6 TriggerConfig: Trigger configuration
Bit Variable mapping in
Automation Studio
Description
0 TriggerEdge01 0 Trigger 1: Trigger edge = positive
1 Trigger 1: Trigger edge = negative
1 StartTrigger01 Enable trigger 1 (when a change occurs)
2 TriggerEdge02 0 Trigger 2: Trigger edge = positive
1 Trigger 2: Trigger edge = negative
3 StartTrigger02 Enable trigger 2 (when a change occurs)
4-7 0 Reserved
Appendix B 80SD100XD.C0XX-01 - Ramp function model
200 ACOPOSmicro User's Manual 1.00
7 80SD100XD.C0XX-01 - Ramp function model
Register (dec.) Variable mapping in Automation Studio
Channel 1 Channel 2 Channel 1 Channel 2
Description
0 8 AbsPos01 AbsPos02 Set position/speed
4 12 MpGenControl01 MpGenControl02 Control word
6 14 MpGenMode01 MpGenMode02 Mode
7 15 MpGenBrake01 MpGenBrake02 Motor brake
0 8 AbsPos01ActVal AbsPos02ActVal Current position (cyclic)
4 12 MpGenStatus01 MpGenStatus02 Status
6 InputStatus Input status
42 UZKVoltage UDCL DC link voltage
44 CoolerTemperature Temperature of output stage
46 Temperature Temperature
48 112 ConfigOutput03a ConfigOutput06a Holding current
49 113 ConfigOutput04a ConfigOutput07a Nominal current
50 114 ConfigOutput05a ConfigOutput08a Maximum current
52 116 MaxSpeed01pos MaxSpeed02pos Maximum speed
54 118 MaxAcc01 MaxAcc02 Maximum acceleration
56 120 MaxDec01 MaxDec02 Maximum deceleration
58 122 RevLoop01 RevLoop02 Reversing loop
60 124 FixedPos01a FixedPos02a Position setpoint 1
64 128 FixedPos01b FixedPos02b Position setpoint 2
68 132 RefSpeed01 RefSpeed02 Referencing speed
70 134 RefConfig01 RefConfig02 Referencing configuration
72 136 FullStepThreshold01 FullStepThreshold02 Full step threshold
75 139 JoltTime01 JoltTime02 Jolt time limitation
80 144 ControlReadback01 ControlReadback02 Read back control word
82 146 ModeReadback01 ModeReadback02 Read back mode
84 148 Motoridentification01 Motoridentification02 Motor ID
86 150 RefPos01CyclicCounter RefPos02CyclicCounter Referenced zero position for cyclic counter
98 162 ErrorCode01 ErrorCode02 Error code
Table 113: 80SD100XD.C044-01 - Ramp function model
7.1 Overview of registers
Register (dec.) Variable mapping in Automation Studio
Channel 1 Channel 2 Channel 1 Channel 2
Description
0 8 AbsPos01 AbsPos02 Set position/speed
4 12 MpGenControl01 MpGenControl02 Control word
6 14 MpGenMode01 MpGenMode02 Mode
7 15 MpGenBrake01 MpGenBrake02 Motor brake
0 8 AbsPos01ActVal AbsPos02ActVal Current position (cyclic)
4 12 MpGenStatus01 MpGenStatus02 Status
6 InputStatus Input status
42 UZKVoltage UDCL DC link voltage
44 CoolerTemperature Temperature of output stage
46 Temperature Temperature
48 112 ConfigOutput03a ConfigOutput06a Holding current
49 113 ConfigOutput04a ConfigOutput07a Nominal current
50 114 ConfigOutput05a ConfigOutput08a Maximum current
52 116 MaxSpeed01pos MaxSpeed02pos Maximum speed
54 118 MaxAcc01 MaxAcc02 Maximum acceleration
56 120 MaxDec01 MaxDec02 Maximum deceleration
58 122 RevLoop01 RevLoop02 Reversing loop
60 124 FixedPos01a FixedPos02a Position setpoint 1
64 128 FixedPos01b FixedPos02b Position setpoint 2
68 132 RefSpeed01 RefSpeed02 Referencing speed
70 134 RefConfig01 RefConfig02 Referencing configuration
72 136 FullStepThreshold01 FullStepThreshold02 Full step threshold
75 139 JoltTime01 JoltTime02 Jolt time limitation
80 144 ControlReadback01 ControlReadback02 Read back control word
82 146 ModeReadback01 ModeReadback02 Read back mode
84 148 Motoridentification01 Motoridentification02 Motor ID
86 150 RefPos01CyclicCounter RefPos02CyclicCounter Referenced zero position for cyclic counter
98 162 ErrorCode01 ErrorCode02 Error code
Table 114: 80SD100XD.C0XX-01 - Ramp function model
Appendix B 80SD100XD.C0XX-01 - Ramp function model
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ACOPOSmicro User's Manual 1.00 201
7.2 Motor brake
Variable mapping in Automation Studio Bit
Channel 1 Channel 2
Description
0 MpGenBrake01 MpGenBrake02 Digital output state (motor brake)
1-7 0 ... Reserved
The motor brake register is used to control the digital output (motor brake).
On 2-channel ACOPOSmicro variants, bit 0 of the two registers (Motor1 and Motor2) are linked with an OR function.
This means that the digital output is enabled if the bit is set on one or both of the motors.
Appendix B 80SD100XD.C0XX-21 - Standard function model
202 ACOPOSmicro User's Manual 1.00
8 80SD100XD.C0XX-21 - Standard function model
8.1 Overview of registers
Register (dec.) Variable mapping in Automation Studio
Channel 1 Channel 2 Channel 1 Channel 2
Description
0 2 Position1Sync Position2Sync Position
10 Error Error/Status
12 14 Motoridentification01 Motoridentification02 Motor ID
16 24 Motor1Step0 Motor2Step0 MotorStep1 motor configuration
18 26 Motor1Step1 Motor2Step1 MotorStep2 motor configuration
20 28 Motor1Step2 Motor2Step2 MotorStep3 motor configuration
22 30 Motor1Step3 Motor2Step3 MotorStep4 motor configuration
33 36 ConfigOutput03 ConfigOutput06 Holding current
34 37 ConfigOutput04 ConfigOutput07 Nominal current
35 38 ConfigOutput05 ConfigOutput08 Maximum current
46 ConfigOutput02 Module configuration
54 StatusOutput14 Error acknowledgment / Digital output of motor brake
60 62 Position1Latched Position2Latched Position latch
68 70 usSinceTrigger01 usSinceTrigger02 usSinceTrigger
72 StepperLatchStatus Latch trigger status
73 LifeCnt Life cycle counter
76 StepperLatchConfig Latch configuration
78 TriggerConfig Trigger configuration
80 Temperature Temperature
81 MotorIdentTrigger Motor ID trigger
84 86 ConfigOutput09 ConfigOutput10 Full step threshold
88 CoolerTemperature Cooler temperature
90 UZKVoltage DC link voltage
Registers for ACOPOSmicro variants with additional analog inputs
1409 Status of the analog inputs
1414 AnalogInput01 Analog input 1
1418 AnalogInput02 Analog input 2
Registers for ACOPOSmicro variants with additional analog inputs
1038 1166 TraceEnable01 TraceEnable02 Trace control word
1090 1218 Trace status
1094 1222 FreeBufferSize01 FreeBufferSize02 Trace buffer status
1098 1226 TriggerCount01 TriggerCount02 Number of triggers executed
1102 1230 TriggerFailCount01 TriggerFailCount02 Number of failed triggers
1345 Trace trigger
Table 115: 80SD100XD.C0XX-21 - Standard function model
8.2 Error: Error/Status
Bit Variable mapping in
Automation Studio
0 0 ... Reserved
1 OvertemperatureError01 E 0 ... No error
1 ... Error: Overtemperature
2 CurrentError01 E 0 ... No error
1 ... Error: Current setpoint not reached
3 OvercurrentError01 E 0 ... No error
1 ... Error: Overcurrent
Motor 1
4 0 ... Reserved
5 OvertemperatureError02 E 0 ... No error
1 ... Error: Overtemperature
6 CurrentError02 E 0 ... No error
1 ... Error: Current setpoint not reached
7 OvercurrentError02 E 0 ... No error
1 ... Error: Overcurrent
Motor 2
8 DrvOk01 S Status of drive 1:
0 ... Not ready
1 ... Ready
Motor 1
9 DrvOk02 S Status of drive 2:
0 ... Not ready
1 ... Ready
Motor 2
10-12 0 ... Reserved
13 ModulePowerSupplyError E Module supply error
0 ... 24 VDC OK
1 ... Error: Undervoltage
14 Enable S Enable status (corresponds to the enable input)
0 ... Disable
1 ... Enable OK
Appendix B 80SD100XD.C0XX-21 - Standard function model
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ACOPOSmicro User's Manual 1.00 203
Bit Variable mapping in
Automation Studio
15 UZKStatus S Status of supply voltage for power unit (U
DCL
... DC link voltage):
0 ... Supply voltage for power unit not within the valid range
1 ... Supply voltage for power unit OK (18 V U
DCL
80 V)
This status only indicates the supply for the power unit if the enable input (bit 14) is set. If the enable input
is not set, then bit 15 is always 0, regardless of whether or not the power unit is supplied.
8.3 StatusOutput14: Error acknowledgment / Digital output of motor brake
Bit Variable mapping in
Automation Studio
Description
0 ClearError01 Error acknowledgment for motor 1
1 ClearError02 Error acknowledgment for motor 2
2-6 0 ... Reserved
7 DigitalOutput01 Status of digital output / motor brake
0 ... Motor brake off
1 ... Motor brake on
8.4 StepperLatchStatus: Latch trigger status
Bit Variable mapping in
Automation Studio
Description
0 LatchInput01 Digital input for the latch event (level)
1 LatchDone01 Changes its state each time the counter state is successfully latched
(reset value = 0)
Stepper motor 1
2 LatchInput02 Digital input for the latch event (level)
3 LatchDone02 Changes its state each time the counter state is successfully latched
(reset value = 0)
Stepper motor 2
4 DigitalInput01
TriggerInput01
State of digital input 1
State of trigger input 1
5 DigitalInput02
TriggerInput02
State of digital input 2
State of trigger input 2
6-7 0 ... Reserved
8.5 StepperLatchConfig: Latch configuration
Bit Variable mapping in
Automation Studio
Description
0 StartLatch01 Turn the latch function on/off for the position register
0 Negative edge: Turn off the latch function for the position register
1 Positive edge: Turn on the latch function for the position register
1
2
TriggerEdgePos01
TriggerEdgeNeg01
Configure latch function for position register
00 Latch position unconditional
01 Latch position on positive edge of trigger input 1
10 Latch position on negative edge of trigger input 1
11 Reserved
Channel 1
3 0 Reserved
4 StartLatch02 Turn the latch function on/off for the position register
0 Negative edge: Turn off the latch function for the position register
1 Positive edge: Turn on the latch function for the position register
5
6
TriggerEdgePos02
TriggerEdgeNeg02
Configure latch function for position register
00 Latch position unconditional
01 Latch position on positive edge of trigger input 2
10 Latch position on negative edge of trigger input 2
11 Reserved
Channel 2
7 0 Reserved
8.6 TriggerConfig: Trigger configuration
Bit Variable mapping in
Automation Studio
Description
0 TriggerEdge01 0 Trigger 1: Trigger edge = positive
1 Trigger 1: Trigger edge = negative
1 StartTrigger01 Enable trigger 1 (when a change occurs)
2 TriggerEdge02 0 Trigger 2: Trigger edge = positive
1 Trigger 2: Trigger edge = negative
3 StartTrigger02 Enable trigger 2 (when a change occurs)
4-7 0 Reserved
8.7 Status of the analog inputs
Bit Variable mapping in
Automation Studio
Description
0 AnalogInput01OK Analog input 1
1 AnalogInput02OK Analog input 2
0... OK
1... Outside the valid range or open line
2-7 0 Reserved
Appendix B 80SD100XD.C0XX-21 - Standard function model
204 ACOPOSmicro User's Manual 1.00
8.8 Trace control word
Variable mapping in Automation Studio Bit
Channel 1 Channel 2
Description
0 TraceEnable01 TraceEnable02
0... Trace functionality is disabled
1... Trace functionality enabled
1-15 0 ... Reserved
8.9 Trace status
Variable mapping in Automation Studio Bit
Channel 1 Channel 2
Description
0 TraceEnabled01 TraceEnabled02
0... Trace functionality turned off
1... Trace functionality turned on
1 0 ... Reserved
2 TraceWriteActive01 TraceWriteActive02
0... Trace data recording not active
1... Trace data recording active
3 TraceReadActive01 TraceReadActive02
0... Not ready for trigger
1... Ready for trigger
4 ReadyForTrigger01 ReadyForTrigger02
0... Description
1... Description
5 TriggerActive01 TriggerActive02 Trigger active
0... No trigger active, trace recording stopped
1... Processing trigger, recording trace data
6 TraceOK01 TraceOK02 Trace OK
0... Buffer overrun or trace function enabled for analog input
1... No buffer overrun error
7 TraceError01 TraceError02 Trace error
0... No buffer overrun or trace function disabled
for analog input
1... Buffer overrun error
8.10 Trace trigger
Bit Variable mapping in
Automation Studio
Description
0 TraceTrigger01 Trigger for trace instance 1
1 TraceTrigger02 Trigger for trace instance 2
The trigger event is triggered on a positive edge (bit changes from 0 1).
2-7 0 Reserved
Appendix B 80SD100XD.C0XX-21 - Ramp function model
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ACOPOSmicro User's Manual 1.00 205
9 80SD100XD.C0XX-21 - Ramp function model
9.1 Overview of registers
Register (dec.) Variable mapping in Automation Studio
Channel 1 Channel 2 Channel 1 Channel 2
Description
0 8 AbsPos01 AbsPos02 Set position/speed
4 12 MpGenControl01 MpGenControl02 Control word
6 14 MpGenMode01 MpGenMode02 Mode
7 15 MpGenBrake01 MpGenBrake02 Motor brake
0 8 AbsPos01ActVal AbsPos02ActVal Current position (cyclic)
4 12 MpGenStatus01 MpGenStatus02 Status
6 InputStatus Input status
42 UZKVoltage UDCL DC link voltage
44 CoolerTemperature Temperature of output stage
46 Temperature Temperature
48 112 ConfigOutput03a ConfigOutput06a Holding current
49 113 ConfigOutput04a ConfigOutput07a Nominal current
50 114 ConfigOutput05a ConfigOutput08a Maximum current
52 116 MaxSpeed01pos MaxSpeed02pos Maximum speed
54 118 MaxAcc01 MaxAcc02 Maximum acceleration
56 120 MaxDec01 MaxDec02 Maximum deceleration
58 122 RevLoop01 RevLoop02 Reversing loop
60 124 FixedPos01a FixedPos02a Position setpoint 1
64 128 FixedPos01b FixedPos02b Position setpoint 2
68 132 RefSpeed01 RefSpeed02 Referencing speed
70 134 RefConfig01 RefConfig02 Referencing configuration
72 136 FullStepThreshold01 FullStepThreshold02 Full step threshold
75 139 JoltTime01 JoltTime02 Jolt time limitation
80 144 ControlReadback01 ControlReadback02 Read back control word
82 146 ModeReadback01 ModeReadback02 Read back mode
84 148 Motoridentification01 Motoridentification02 Motor ID
86 150 RefPos01CyclicCounter RefPos02CyclicCounter Referenced zero position for cyclic counter
98 162 ErrorCode01 ErrorCode02 Error code
1409 (16)
1
A Status of the analog inputs
1414 (18)
1
AnalogInput01 A Analog input 1
1418 (20)
1
AnalogInput02 A Analog input 2
Trace register for ACOPOSmicro variants with analog inputs
2
1038 1166 TraceEnable01 TraceEnable02 A Trace control word
1090 1218 A Trace status
1094 1222 FreeBufferSize01 FreeBufferSize02 A Trace buffer status
1098 1226 TriggerCount01 TriggerCount02 A Number of triggers executed
1102 1230 TriggerFailCount01 TriggerFailCount02 A Number of failed triggers
1345 A Trace trigger
Table 116: 80SD100XD.C0XX-21 - Ramp function model
1 The CANIOBusController function model is nearly identical to the ramp function model. The registers for analog values are in a different range, however
(values in parentheses).
2 Trace functionality is not available for the CANIOBusController function model.
9.2 Motor brake
Variable mapping in Automation Studio Bit
Channel 1 Channel 2
Description
0 MpGenBrake01 MpGenBrake02 Digital output state (motor brake)
1-7 0 ... Reserved
The motor brake register is used to control the digital output (motor brake).
On 2-channel ACOPOSmicro variants, bit 0 of the two registers (Motor1 and Motor2) are linked with an OR function.
This means that the digital output is enabled if the bit is set on one or both of the motors.
9.3 Status of the analog inputs
Bit Variable mapping in
Automation Studio
Description
0 AnalogInput01OK Analog input 1
1 AnalogInput02OK Analog input 2
0... OK
1... Outside the valid range or open line
2-7 0 Reserved
9.4 Trace control word
Bit 0 of the trace control word is used to turn trace functionality on/off for the corresponding analog input.
Appendix B 80SD100XD.C0XX-21 - Ramp function model
206 ACOPOSmicro User's Manual 1.00
Variable mapping in Automation Studio Bit
Channel 1 Channel 2
Description
0 TraceEnable01 TraceEnable02
0... Trace functionality is disabled
1... Trace functionality enabled
1-15 0 ... Reserved
A buffer overrun error can be cleared by resetting bit 0.
9.5 Trace status
Variable mapping in Automation Studio Bit
Channel 1 Channel 2
Description
0 TraceEnabled01 TraceEnabled02
0... Trace functionality turned off
1... Trace functionality turned on
1 0 ... Reserved
2 TraceWriteActive01 TraceWriteActive02
0... Trace data recording not active
1... Trace data recording active
3 TraceReadActive01 TraceReadActive02
0... Not ready for trigger
1... Ready for trigger
4 ReadyForTrigger01 ReadyForTrigger02
0... Description
1... Description
5 TriggerActive01 TriggerActive02 Trigger active
0... No trigger active, trace recording stopped
1... Processing trigger, recording trace data
6 TraceOK01 TraceOK02 Trace OK
0... Buffer overrun or trace function enabled for analog input
1... No buffer overrun error
7 TraceError01 TraceError02 Trace error
0... No buffer overrun or trace function disabled
for analog input
1... Buffer overrun error
9.6 Trace trigger
This register can be used to start recording separately for each trace instance. This is only possible if the trigger
function has been enabled for the corresponding analog input.
Bit Variable mapping in
Automation Studio
Description
0 TraceTrigger01 Trigger for trace instance 1
1 TraceTrigger02 Trigger for trace instance 2
The trigger event is triggered on a positive edge (bit changes from 0 1).
2-7 0 Reserved
Appendix B 80SD100XS.C04X-01 - Standard function model
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ACOPOSmicro User's Manual 1.00 207
10 80SD100XS.C04X-01 - Standard function model
10.1 Overview of registers
Regis-
ter (dec.)
Variable mapping in
Automation Studio
Description
0 Position1Sync Position
10 Error Error/Status
12 Motoridentification01 Motor ID
16 Motor1Step0 MotorStep1 motor configuration
18 Motor1Step1 MotorStep2 motor configuration
20 Motor1Step2 MotorStep3 motor configuration
22 Motor1Step3 MotorStep4 motor configuration
33 ConfigOutput03 Holding current
34 ConfigOutput04 Nominal current
35 ConfigOutput05 Maximum current
46 ConfigOutput02 Module configuration
54 StatusOutput14 Error acknowledgment / Digital output of motor brake
60 Position1Latched Position latch
68 usSinceTrigger01 usSinceTrigger
72 StepperLatchStatus Latch trigger status
73 LifeCnt Life cycle counter
76 StepperLatchConfig Latch configuration
78 TriggerConfig Trigger configuration
80 Temperature Temperature
81 MotorIdentTrigger Motor ID trigger
84 ConfigOutput09 Full step threshold
88 CoolerTemperature Cooler temperature
90 UZKVoltage DC link voltage
Registers for ACOPOSmicro with an encoder
130 PosVal03 ABR counter
134 LatchVal03 ABR counter latch
154 StatusOutput15 ABR control register
155 ConfigOutput11 ABR configuration
158 ConfigOutput13 ABR advanced configuration
Table 117: 80SD100XS.C04X-01 - Standard function model
10.2 Error: Error/Status
Bit Variable mapping in
Automation Studio
Description
0 0 ... Reserved
1 OvertemperatureError01 E 0 ... No error
1 ... Error: Overtemperature
2 CurrentError01 E 0 ... No error
1 ... Error: Current setpoint not reached
3 OvercurrentError01 E 0 ... No error
1 ... Error: Overcurrent
4-7 0 ... Reserved
8 DrvOk01 S Status of drive:
0 ... Not ready
1 ... Ready
9 0 ... Reserved
10 IncrementalEncoderOk01 Status of ABR encoder:
0 ... Not ready
1 ... Ready
11 EncoderPowerSupplyError Encoder supply error
0 ... 24 VDC OK
1 ... Error: Encoder supply not within the required range
12 0 ... Reserved
13 ModulePowerSupplyError E Module supply error
0 ... 24 VDC OK
1 ... Error: Undervoltage
14 Enable S Enable status (corresponds to the enable input)
0 ... Disable
1 ... Enable OK
15 UZKStatus S Status of supply voltage for power unit (U
DCL
... DC link voltage):
0 ... Supply voltage for power unit not within the valid range
1 ... Supply voltage for power unit OK (18 V U
DCL
80 V)
This status only indicates the supply for the power unit if the enable input (bit 14) is set. If the enable input
is not set, then bit 15 is always 0, regardless of whether or not the power unit is supplied.
Appendix B 80SD100XS.C04X-01 - Standard function model
208 ACOPOSmicro User's Manual 1.00
10.3 StatusOutput14: Error acknowledgment / Digital output of motor brake
Bit Variable mapping in
Automation Studio
Description
0 ClearError01 Error acknowledgment for motor
1-6 0 ... Reserved
7 DigitalOutput01 Status of digital output / motor brake
0 ... Motor brake off
1 ... Motor brake on
10.4 StepperLatchStatus: Latch trigger status
Bit Variable mapping in
Automation Studio
Description
0 LatchInput01 Digital input for the latch event (level)
1 LatchDone01 Changes its state each time the counter state is successfully latched
(reset value = 0)
2-3 0 ... Reserved
4 DigitalInput01
TriggerInput01
State of digital input 1
State of trigger input 1
5 DigitalInput02 Status of digital input 2
6 LatchDone03 Changes its state each time ABR counter 1 is successfully latched (reset value = 0)
See the ABR counter control register and ABR counter configuration register.
7 0 ... Reserved
10.5 StepperLatchConfig: Latch configuration
Bit Variable mapping in
Automation Studio
Description
0 StartLatch01 Turn the latch function on/off for the position register
0 Negative edge: Turn off the latch function for the position register
1 Positive edge: Turn on the latch function for the position register
1
2
TriggerEdgePos01
TriggerEdgeNeg01
Configure latch function for position register
00 Latch position unconditional
01 Latch position on positive edge of trigger input 1
10 Latch position on negative edge of trigger input 1
11 Reserved
3-7 0 Reserved
10.6 TriggerConfig: Trigger configuration
Bit Variable mapping in
Automation Studio
Description
0 TriggerEdge01 0 Trigger 1: Trigger edge = positive
1 Trigger 1: Trigger edge = negative
1 StartTrigger01 Enable trigger 1 (when a change occurs)
2-7 0 Reserved
10.7 StatusOutput15: ABR control register
Bit Variable mapping in
Automation Studio
Description
0 ActivateReferencing03 0 Disable referencing of ABR counter
1 Enable referencing of ABR counter
(positive edge enables referencing)
1-7 0 Reserved
Appendix B 80SD100XS.C04X-01 - Ramp function model
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ACOPOSmicro User's Manual 1.00 209
11 80SD100XS.C04X-01 - Ramp function model
11.1 Overview of registers
Regis-
ter (dec.)
Variable mapping in Automa-
tion Studio
Description
0 AbsPos01 Set position/speed
4 MpGenControl01 Control word
6 MpGenMode01 Mode
7 MpGenBrake01 Motor brake
0 AbsPos01ActVal Current position (cyclic)
4 MpGenStatus01 Status
6 InputStatus Input status
42 UZKVoltage UDCL DC link voltage
44 CoolerTemperature Temperature of output stage
46 Temperature Temperature
48 ConfigOutput03a Holding current
49 ConfigOutput04a Nominal current
50 ConfigOutput05a Maximum current
52 MaxSpeed01pos Maximum speed
54 MaxAcc01 Maximum acceleration
56 MaxDec01 Maximum deceleration
58 RevLoop01 Reversing loop
60 FixedPos01a Position setpoint 1
64 FixedPos01b Position setpoint 2
68 RefSpeed01 Referencing speed
70 RefConfig01 Referencing configuration
72 FullStepThreshold01 Full step threshold
75 JoltTime01 Jolt time limitation
80 ControlReadback01 Read back control word
82 ModeReadback01 Read back mode
84 Motoridentification01 Motor ID
86 RefPos01CyclicCounter Referenced zero position for cyclic counter
90 AbsPos1ActValAcyclic G Current position (acyclic)
94 RefPos01AcyclicCounter G Referenced zero position for acyclic counter
98 ErrorCode01 Error code
Table 118: 80SD100XS.C04X-01 - Ramp function model
11.2 Motor brake
Bit Variable mapping in
Automation Studio
Description
0 MpGenBrake01 Digital output state (motor brake)
1-7 0 ... Reserved
The motor brake register is used to control the digital output (motor brake).
Appendix B 80SD100XS.C0XX-01 - Standard function model
210 ACOPOSmicro User's Manual 1.00
12 80SD100XS.C0XX-01 - Standard function model
12.1 Overview of registers
Regis-
ter (dec.)
Variable mapping in
Automation Studio
Description
0 PositionSync Position
10 Error Error/Status
12 Motoridentification Motor ID
16 MotorStep0 MotorStep1 motor configuration
18 MotorStep1 MotorStep2 motor configuration
20 MotorStep2 MotorStep3 motor configuration
22 MotorStep3 MotorStep4 motor configuration
33 ConfigOutput03 Holding current
34 ConfigOutput04 Nominal current
35 ConfigOutput05 Maximum current
46 ConfigOutput02 Module configuration
54 StatusOutput14 Error acknowledgment / Digital output of motor brake
60 PositionLatched Position latch
68 usSinceTrigger usSinceTrigger
72 StepperLatchStatus Latch trigger status
73 LifeCnt Life cycle counter
76 StepperLatchConfig Latch configuration
78 TriggerConfig Trigger configuration
80 Temperature Temperature
81 MotorIdentTrigger Motor ID trigger
84 ConfigOutput09 Full step threshold
88 CoolerTemperature Cooler temperature
90 UZKVoltage DC link voltage
Table 119: 80SD100XS.C0XX-01 - Standard function model
12.2 Error: Error/Status
Bit Variable mapping in
Automation Studio
Description
0 0 ... Reserved
1 OvertemperatureError E 0 ... No error
1 ... Error: Overtemperature
2 CurrentError E 0 ... No error
1 ... Error: Current setpoint not reached
3 OvercurrentError E 0 ... No error
1 ... Error: Overcurrent
4-7 0 ... Reserved
8 DrvOk S Status of drive:
0 ... Not ready
1 ... Ready
9 0 ... Reserved
10 IncrementalEncoderOk Status of ABR encoder:
0 ... Not ready
1 ... Ready
11 EncoderPowerSupplyError Encoder supply error
0 ... 24 VDC OK
1 ... Error: Encoder supply not within the required range
12 0 ... Reserved
13 ModulePowerSupplyError E Module supply error
0 ... 24 VDC OK
1 ... Error: Undervoltage
14 Enable S Enable status (corresponds to the enable input)
0 ... Disable
1 ... Enable OK
15 UZKStatus S Status of supply voltage for power unit (U
DCL
... DC link voltage):
0 ... Supply voltage for power unit not within the valid range
1 ... Supply voltage for power unit OK (18 V U
DCL
80 V)
This status only indicates the supply for the power unit if the enable input (bit 14) is set. If the enable input
is not set, then bit 15 is always 0, regardless of whether or not the power unit is supplied.
12.3 StatusOutput14: Error acknowledgment / Digital output of motor brake
Bit Variable mapping in
Automation Studio
Description
0 ClearError Error acknowledgment for motor
1-6 0 ... Reserved
7 DigitalOutput Status of digital output / motor brake
0 ... Motor brake off
1 ... Motor brake on
Appendix B 80SD100XS.C0XX-01 - Standard function model
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ACOPOSmicro User's Manual 1.00 211
12.4 StepperLatchStatus: Latch trigger status
Bit Variable mapping in
Automation Studio
Description
0 LatchInput Digital input for the latch event (level)
1 LatchDone Changes its state each time the counter state is successfully latched (reset value = 0)
2-3 0 ... Reserved
4 DigitalInput
TriggerInput
State of digital input 1
State of trigger input
5 DigitalInput02 Status of digital input 2
6-7 0 ... Reserved
12.5 StepperLatchConfig: Latch configuration
Bit Variable mapping in
Automation Studio
Description
0 StartLatch Turn the latch function on/off for the position register
0 Negative edge: Turn off the latch function for the position register
1 Positive edge: Turn on the latch function for the position register
1
2
TriggerEdgePos
TriggerEdgeNeg
Configure latch function for position register
00 Latch position unconditional
01 Latch position at positive edge of trigger input
10 Latch position at negative edge of trigger input
11 Reserved
3-7 0 Reserved
12.6 TriggerConfig: Trigger configuration
Bit Variable mapping in
Automation Studio
Description
0 TriggerEdge 0 Trigger: Trigger edge = positive
1 Trigger: Trigger edge = negative
1 StartTrigger Enable trigger (when changes occur)
2-7 0 Reserved
Appendix B 80SD100XS.C0XX-01 - Ramp function model
212 ACOPOSmicro User's Manual 1.00
13 80SD100XS.C0XX-01 - Ramp function model
13.1 Overview of registers
Regis-
ter (dec.)
Variable mapping in Automa-
tion Studio
Description
0 AbsPos01 Set position/speed
4 MpGenControl01 Control word
6 MpGenMode01 Mode
7 MpGenBrake01 Motor brake
0 AbsPos01ActVal Current position (cyclic)
4 MpGenStatus01 Status
6 InputStatus Input status
42 UZKVoltage UDCL DC link voltage
44 CoolerTemperature Temperature of output stage
46 Temperature Temperature
48 ConfigOutput03a Holding current
49 ConfigOutput04a Nominal current
50 ConfigOutput05a Maximum current
52 MaxSpeed01pos Maximum speed
54 MaxAcc01 Maximum acceleration
56 MaxDec01 Maximum deceleration
58 RevLoop01 Reversing loop
60 FixedPos01a Position setpoint 1
64 FixedPos01b Position setpoint 2
68 RefSpeed01 Referencing speed
70 RefConfig01 Referencing configuration
72 FullStepThreshold01 Full step threshold
75 JoltTime01 Jolt time limitation
80 ControlReadback01 Read back control word
82 ModeReadback01 Read back mode
84 Motoridentification01 Motor ID
86 RefPos01CyclicCounter Referenced zero position for cyclic counter
98 ErrorCode01 Error code
Table 120: 80SD100XS.C0XX-01 - Ramp function model
13.2 Motor brake
Bit Variable mapping in
Automation Studio
Description
0 MpGenBrake01 Digital output state (motor brake)
1-7 0 ... Reserved
The motor brake register is used to control the digital output (motor brake).
Appendix C
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ACOPOSmicro User's Manual 1.00 213
Appendix C CE declaration of conformity
This document was originally written in the German language. The German edition therefore represents the original
instruction manual in accordance with 2006/42/EC machine guidelines. Documents in other languages are to be
interpreted as translations of the original instruction manual.
Product manufacturer:
Bernecker + Rainer
Industrie-Elektronik Ges.m.b.H.
B&R Strasse 1
5142 Eggelsberg
AUSTRIA
The CE declaration of conformity can be downloaded from the B&R website at http://www.br-automation.com.
214
Figure index
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ACOPOSmicro User's Manual 1.00 215
Figure 1: Warning on the drive system.................................................................................................17
Figure 2: Sticker for "Hot surface" (3 pcs. are included with the delivery of the ACOPOSmicro)......... 18
Figure 3: ACOPOSmicro stepper motor modules - Operating and connection elements.....................23
Figure 4: ACOPOSmicro inverter modules - Operating and connection elements...............................23
Figure 5: Dimensions.............................................................................................................................24
Figure 6: Topology - Compact solution for small and mid-sized machines.......................................... 26
Figure 7: Topology - Customized system combinations....................................................................... 27
Figure 8: Topology - APC620 embedded for central control, visualization and operation.................... 28
Figure 9: Additional digital inputs/outputs - Switching inductive loads................................................. 52
Figure 10: Transformer for motor supply................................................................................................ 53
Figure 11: Transformer for motor supply................................................................................................ 69
Figure 12: Cutoff characteristic - Power output...................................................................................... 75
Figure 13: Dimensions.............................................................................................................................89
Figure 14: Dimension diagram and installation dimensions for ACOPOSmicro modules.......................93
Figure 15: Removing an ACOPOSmicro from the cold plate................................................................. 94
Figure 16: Dimensioning - Dissipated power from the power unit for each powered axis...................... 98
Figure 17: ACOPOSmicro - X1 diagram - Power supply..................................................................... 108
Figure 18: X2 connection - CPU supply via the 0TB1310.3100 terminal............................................. 109
Figure 19: X2 connection - Input/output circuit diagram.......................................................................109
Figure 20: X3A/X3B connections - X2X Link device attachment cable - Wire colors........................... 110
Figure 21: X2X Link plug with keying tabs........................................................................................... 110
Figure 22: X4/X5 - Output diagram - Stepper motor connection..........................................................111
Figure 23: X6 - Encoder inputs.............................................................................................................112
Figure 24: X6 - Incremental encoder input - Input circuit diagram....................................................... 112
Figure 25: X7 connection - Input circuit diagram for additional digital inputs....................................... 113
Figure 26: X7 connection - Output circuit diagram for additional digital outputs.................................. 113
Figure 27: X7 connection - Input circuit diagram for additional analog inputs......................................114
Figure 28: PE conductor connection.....................................................................................................114
Figure 29: EMC-compatible X2X Link cable connection...................................................................... 114
Figure 30: ACOPOSmicro - X1 diagram - Power supply..................................................................... 117
Figure 31: X2 connection - CPU supply via the 0TB1310.3100 terminal............................................. 118
Figure 32: X2 connection - Input/output circuit diagram.......................................................................118
Figure 33: X4/X5 - Output diagram - Servo motor connection............................................................. 120
Figure 34: X4/X5 - Output diagram - Stepper motor temperature sensor connection.......................... 120
Figure 35: X6 - Encoder inputs.............................................................................................................120
Figure 36: EnDat 2.2 interface - Input/Output circuit diagram.............................................................. 121
Figure 37: Resolver interface - Input diagram...................................................................................... 122
Figure 38: PE conductor connection.....................................................................................................122
Figure 39: EMC-compatible POWERLINK cable connection................................................................123
Figure 40: State machine - Flow chart................................................................................................. 155
Figure 41: Block diagram for safe pulse disabling - 2-axis module......................................................170
Figure 42: Block diagram for safe pulse disabling - 1-axis module......................................................171
Figure 43: STO, Category 3 / SIL 2 / PL d (Variant A)........................................................................ 173
Figure 44: STO, Category 3 / SIL 2 / PL d (Variant B)........................................................................ 174
Figure 45: STO, SLS, SOS - Safety Category 3 / SIL 2 / PL d............................................................175
Figure 46: SS1, SLS, SS2 - Safety Category 3 / SIL 2 / PL d (Variant A)........................................... 177
Figure 47: SS1, SLS, SS2 - Safety Category 3 / SIL 2 / PL d (Variant B)........................................... 179
216
Table index
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ACOPOSmicro User's Manual 1.00 217
Table 1: Manual history............................................................................................................................. 15
Table 2: Description of the safety notices used in this documentation.....................................................15
Table 3: Terminology................................................................................................................................. 19
Table 4: Topology - Compact solution for small and mid-sized machines............................................... 26
Table 5: Topology - APC620 embedded for central control, visualization and operation......................... 28
Table 6: Overview of available ACOPOSmicro stepper motor module variants....................................... 31
Table 7: 80SD100XD.C044-01 - Order data.............................................................................................32
Table 8: 80SD100XD.C044-01 - Technical data.......................................................................................32
Table 9: 80SD100XD.C04X-13 - Order data............................................................................................ 35
Table 10: 80SD100XD.C04X-13 - Technical data...................................................................................... 35
Table 11: 80SD100XD.C0XX-01 - Order data............................................................................................ 39
Table 12: 80SD100XD.C0XX-01 - Technical data......................................................................................39
Table 13: 80SD100XD.C0XX-21 - Order data............................................................................................ 42
Table 14: 80SD100XD.C0XX-21 - Technical data......................................................................................42
Table 15: 80SD100XS.C04X-01 - Order data............................................................................................ 45
Table 16: 80SD100XS.C04X-01 - Technical data...................................................................................... 45
Table 17: 80SD100XS.C0XX-01 - Order data............................................................................................ 48
Table 18: 80SD100XS.C0XX-01 - Technical data...................................................................................... 48
Table 19: Status LEDs................................................................................................................................ 51
Table 20: Overview of available ACOPOSmicro inverter motor module variants....................................... 54
Table 21: 80VD100PD.C000-01 - Order data.............................................................................................55
Table 22: 80VD100PD.C000-01 - Technical data.......................................................................................55
Table 23: 80VD100PD.C022-01 - Order data.............................................................................................58
Table 24: 80VD100PD.C022-01 - Technical data.......................................................................................58
Table 25: 80VD100PS.C00X-01 - Order data............................................................................................ 61
Table 26: 80VD100PS.C00X-01 - Technical data...................................................................................... 61
Table 27: 80VD100PS.C02X-01 - Order data............................................................................................ 64
Table 28: 80VD100PS.C02X-01 - Technical data...................................................................................... 64
Table 29: Status LEDs................................................................................................................................ 67
Table 30: Service life of the backup battery............................................................................................... 69
Table 31: 80PS080X3.10-01 - Order data.................................................................................................. 71
Table 32: 80PS080X3.10-01 - Technical data............................................................................................ 71
Table 33: Overload behavior....................................................................................................................... 75
Table 34: 0TB1106.8010, 0TB1106.8110 - Order data............................................................................... 79
Table 35: 0TB1106.8010, 0TB1106.8110 - Technical data.........................................................................79
Table 36: 0TB1110.8010, 0TB1110.8110, 0TB1310.3100, 0TB1310.8110 - Order data............................. 80
Table 37: 0TB1110.8010, 0TB1110.8110, 0TB1310.3100, 0TB1310.8110 - Technical data.......................80
Table 38: 0TB2102.4021, 0TB2102.4022, 0TB2104.4021, 0TB2104.4022, 0TB2105.4021, 0TB2105.4022
- Order data.................................................................................................................................81
Table 39: 0TB2102.4021, 0TB2102.4022, 0TB2104.4021, 0TB2104.4022, 0TB2105.4021, 0TB2105.4022
- Technical data.......................................................................................................................... 81
Table 40: 0TB2102.4121, 0TB2102.4122, 0TB2104.4121, 0TB2104.4122, 0TB2105.4121, 0TB2105.4122
- Order data.................................................................................................................................81
Table 41: 0TB2102.4121, 0TB2102.4122, 0TB2104.4121, 0TB2104.4122, 0TB2105.4121, 0TB2105.4122
- Technical data.......................................................................................................................... 82
Table 42: 0TB2105.9021, 0TB2105.9121 - Order data.............................................................................. 83
Table 43: 0TB2105.9021, 0TB2105.9121 - Technical data........................................................................ 83
Table 44: X20CA0E61.0002, X20CA0E61.0010, X20CA0E61.0020, X20CA0E61.0050, X20CA0E61.0100,
X20CA0E61.0150, X20CA0E61.0500 - Order data.................................................................... 85
Table 45: X20CA0E61.0002, X20CA0E61.0010, X20CA0E61.0020, X20CA0E61.0050, X20CA0E61.0100,
X20CA0E61.0150, X20CA0E61.0500 - Technical data..............................................................85
Table 46: X20CA0E61 POWERLINK connection cable - Dimensions and pinout......................................86
Table 47: X20CA0E61 POWERLINK connection cable - Cable lengths.................................................... 86
Table 48: X20CA0X48.0010, X20CA0X48.0020, X20CA0X48.0050, X20CA0X48.0100, X20CA0X48.0200
- Order data.................................................................................................................................87
Table 49: X20CA0X48.0010, X20CA0X48.0020, X20CA0X48.0050, X20CA0X48.0100, X20CA0X48.0200
- Technical data.......................................................................................................................... 87
Table index
218 ACOPOSmicro User's Manual 1.00
Table 50: X20CA0X68.0003, X20CA0X68.0010, X20CA0X68.0020, X20CA0X68.0050, X20CA0X68.0100
- Order data.................................................................................................................................88
Table 51: X20CA0X68.0003, X20CA0X68.0010, X20CA0X68.0020, X20CA0X68.0050, X20CA0X68.0100
- Technical data.......................................................................................................................... 88
Table 52: 80XBR0025.010-11 - Order data................................................................................................ 89
Table 53: 80XBR0025.010-11 - Technical data.......................................................................................... 89
Table 54: 80XBR0055.010-11 - Order data................................................................................................ 90
Table 55: 80XBR0055.010-11 - Technical data.......................................................................................... 90
Table 56: 80XSC0000.00-01, 80XSC0000.00-10 - Order data.................................................................. 91
Table 57: 80XB120A2.36-00 - Order data.................................................................................................. 91
Table 58: Cable cross section of the mains supply line depending on the type of layout.......................... 97
Table 59: Type of layout for the mains supply line.....................................................................................97
Table 60: X1 connection - Power unit supply........................................................................................... 108
Table 61: X2 connection - Power supply for the CPU and digital inputs/outputs..................................... 108
Table 62: X3A/X3B connections - X2X Link............................................................................................. 110
Table 63: X4/X5 connections - Stepper motor..........................................................................................111
Table 64: Incremental encoder - Pinout....................................................................................................112
Table 65: X7 - Additional inputs/outputs - Pinout..................................................................................... 113
Table 66: X1 connection - Power unit supply........................................................................................... 117
Table 67: X2 connection - Power supply for the CPU and digital inputs/outputs..................................... 117
Table 68: X3 - POWERLINK connections................................................................................................ 119
Table 69: X4/X5 - Servo motor connection...............................................................................................119
Table 70: EnDat 2.2 interface - Pinout..................................................................................................... 120
Table 71: Resolver interface - Pinout....................................................................................................... 121
Table 72: X1 connection - Mains input..................................................................................................... 124
Table 73: X2 connection - Power output 24 to 80 VDC........................................................................... 124
Table 74: X3 connection - Chopper output...............................................................................................125
Table 75: X4 connection - Voltage output 24 VDC / 2 A......................................................................... 125
Table 76: X5 connection - X2X Link interface.......................................................................................... 126
Table 77: ACOPOSmicro - Minimum cycle time.......................................................................................127
Table 78: ACOPOSmicro minimum I/O update time................................................................................ 127
Table 79: Register overview - Standard function model...........................................................................128
Table 80: Notes about motor identification............................................................................................... 130
Table 81: Order of trace data from two analog channels......................................................................... 138
Table 82: ACOPOSmicro - Ramp function model.................................................................................... 140
Table 83: ACOPOSmicro - Notes about motor identification....................................................................146
Table 84: Order of trace data from two analog channels......................................................................... 151
Table 85: ACOPOSmicro - State machine - State changes..................................................................... 155
Table 86: Power supply module - Minimum cycle time............................................................................ 163
Table 87: Register overview - Standard function model...........................................................................163
Table 88: Register overview - CANIOBusController function model........................................................ 167
Table 89: Safety classifications, criteria and characteristics for safe pulse disabling............................... 169
Table 90: Overview of safety functions according to standards............................................................... 169
Table 91: Applicable standards for the ACOPOSmicro............................................................................ 183
Table 92: Mechanical conditions during operation....................................................................................183
Table 93: Mechanical conditions during transport.................................................................................... 183
Table 94: Climate conditions during operation..........................................................................................184
Table 95: Climate conditions (temperature) during storage......................................................................184
Table 96: Climate conditions (humidity) during storage............................................................................184
Table 97: Climate conditions during transport.......................................................................................... 184
Table 98: Limits for electrical discharge................................................................................................... 184
Table 99: Limits for electromagnetic fields............................................................................................... 184
Table 100: Limits for burst.......................................................................................................................... 185
Table 101: Limits for surge......................................................................................................................... 185
Table 102: Limits for conducted disturbances (radio frequency)................................................................ 185
Table 103: Limit values for disturbance voltage on the power mains connections in the frequency band from
150 kHz to 30 MHz...................................................................................................................185
Table 104: Limit values for electro-magnetic emissions............................................................................. 185
Table index
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ACOPOSmicro User's Manual 1.00 219
Table 105: Additional environmental limit values........................................................................................186
Table 106: International certifications..........................................................................................................186
Table 107: Abbreviations used in this user's manual................................................................................. 187
Table 108: 80SD100XD.C044-01 - Standard function model..................................................................... 190
Table 109: 80SD100XD.C044-01 - Ramp function model..........................................................................193
Table 110: 80SD100XD.C04X-13 - Standard function model.................................................................... 194
Table 111: 80SD100XD.C04X-13 - Ramp function model......................................................................... 197
Table 112: 80SD100XD.C0XX-01 - Standard function model.................................................................... 198
Table 113: 80SD100XD.C044-01 - Ramp function model..........................................................................200
Table 114: 80SD100XD.C0XX-01 - Ramp function model......................................................................... 200
Table 115: 80SD100XD.C0XX-21 - Standard function model.................................................................... 202
Table 116: 80SD100XD.C0XX-21 - Ramp function model......................................................................... 205
Table 117: 80SD100XS.C04X-01 - Standard function model.....................................................................207
Table 118: 80SD100XS.C04X-01 - Ramp function model..........................................................................209
Table 119: 80SD100XS.C0XX-01 - Standard function model.................................................................... 210
Table 120: 80SD100XS.C0XX-01 - Ramp function model......................................................................... 212
220
Model number index
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0TB1106.8010........................................................................................................................................................ 79
0TB1106.8110........................................................................................................................................................ 79
0TB1110.8010........................................................................................................................................................ 80
0TB1110.8110.........................................................................................................................................................80
0TB1310.3100........................................................................................................................................................ 80
0TB1310.8110........................................................................................................................................................ 80
0TB2102.4021........................................................................................................................................................ 81
0TB2102.4022........................................................................................................................................................ 81
0TB2102.4121........................................................................................................................................................ 81
0TB2102.4122........................................................................................................................................................ 81
0TB2104.4021........................................................................................................................................................ 81
0TB2104.4022........................................................................................................................................................ 81
0TB2104.4121........................................................................................................................................................ 81
0TB2104.4122........................................................................................................................................................ 81
0TB2105.4021........................................................................................................................................................ 81
0TB2105.4022........................................................................................................................................................ 81
0TB2105.4121........................................................................................................................................................ 81
0TB2105.4122........................................................................................................................................................ 81
0TB2105.9021........................................................................................................................................................ 83
0TB2105.9121........................................................................................................................................................ 83
80PS080X3.10-01.................................................................................................................................................. 71
80SD100XD.C044-01.............................................................................................................................................32
80SD100XD.C04X-13............................................................................................................................................ 35
80SD100XD.C0XX-01............................................................................................................................................ 39
80SD100XD.C0XX-21............................................................................................................................................ 42
80SD100XS.C04X-01............................................................................................................................................ 45
80SD100XS.C0XX-01............................................................................................................................................ 48
80VD100PD.C000-01.............................................................................................................................................55
80VD100PD.C022-01.............................................................................................................................................58
80VD100PS.C00X-01............................................................................................................................................ 61
80VD100PS.C02X-01............................................................................................................................................ 64
80XB120A2.36-00.................................................................................................................................................. 91
80XBR0025.010-11................................................................................................................................................ 89
80XBR0055.010-11................................................................................................................................................ 90
80XSC0000.00-01.................................................................................................................................................. 91
80XSC0000.00-10.................................................................................................................................................. 91
X20CA0E61.0002...................................................................................................................................................85
X20CA0E61.0010...................................................................................................................................................85
X20CA0E61.0020...................................................................................................................................................85
X20CA0E61.0050...................................................................................................................................................85
X20CA0E61.0100...................................................................................................................................................85
X20CA0E61.0150...................................................................................................................................................85
X20CA0E61.0500...................................................................................................................................................85
X20CA0X48.0010...................................................................................................................................................87
X20CA0X48.0020...................................................................................................................................................87
X20CA0X48.0050...................................................................................................................................................87
X20CA0X48.0100...................................................................................................................................................87
X20CA0X48.0200...................................................................................................................................................87
X20CA0X68.0003...................................................................................................................................................88
X20CA0X68.0010...................................................................................................................................................88
X20CA0X68.0020...................................................................................................................................................88
X20CA0X68.0050...................................................................................................................................................88
X20CA0X68.0100...................................................................................................................................................88