AxN

CONFIGURABLE MOTION

CONTROL PLATFORM

User Manual

Support Model:
AxN Size2: AxN 15.30.4
AxN Size3: AxN 22.44.4; AxN 35.70.4; AxN 50.100.4
AxN Size4: AxN 70.140.4
AxN Size5: AxN 90.150.4; AxN 110.200.4; AxN 110.250.4; AxN 150.300.4

Version: 1.1 E
 AxN Configurable Motion Control Platform

Summary
1 SAFETY INSTRUCTIONS (READ FIRST!) .............................................................................................. 3
1.1 Important Directions for Use ............................................................................................................................... 4
1.2 Safety Instructions for Electric Drives and Controls ............................................................................................ 5
1.3 Instructions with regard to Specific Dangers ...................................................................................................... 7
2 TECHNICAL SPECIFICATIONS ........................................................................................................... 10
2.1 AxN Size 2 (AxN 15.30.4) ................................................................................................................................... 11
2.2 AxN Size 3 (AxN 22.44.4; AxN 35.70.4; AxN 50.100.4) ....................................................................................... 13
2.3 AxN Size 4 (AxN 70.140.4) ................................................................................................................................. 17
2.4 AxN Size 5 (AxN 90.150.4; AxN 110.200.4; AxN 110.250.4; AxN 150.300.4) ...................................................... 19
2.5 AxN Series Ambient Conditions ......................................................................................................................... 24

3 MECHANICAL INSTALLATION ............................................................................................................ 25

3.1 Notes for Operation ........................................................................................................................................... 26
3.2 Installation Environment ................................................................................................................................... 26
3.3 Overall Dimensions ........................................................................................................................................... 27
3.4 Installation Orientation and Spacing ................................................................................................................ 29
3.5 Special Installation ........................................................................................................................................... 31
3.5.1 Though Panel Installation ............................................................................................................................ 32
3.5.2 Heat Conducting Base Installation .............................................................................................................. 33

4 ELECTRICAL INSTALLATION .............................................................................................................. 34

4.1 Standard Connection Diagram .......................................................................................................................... 35
4.2 Main Circuit ...................................................................................................................................................... 36
4.2.1 Main Circuit Connection Diagram................................................................................................................ 36
4.2.2 Power Supply Input Port (P1) ....................................................................................................................... 37
4.2.3 AC Power Supply Input ................................................................................................................................. 40
4.2.4 DC Power Supply Input ................................................................................................................................ 44
4.2.5 Brake Resistor ............................................................................................................................................. 48
4.2.6 Clamping Function ...................................................................................................................................... 52
4.2.7 Motor Power Output Port (P2) ...................................................................................................................... 53
4.2.8 Motor Power Output ..................................................................................................................................... 55
4.3 Control Circuit ................................................................................................................................................... 58
4.3.1 Auxiliary Power Supply (AUX Power) ............................................................................................................. 58
4.3.2 Safe Torque Off Function (ST0) .................................................................................................................... 61
4.3.3 System Relay (R1) ....................................................................................................................................... 64
4.4 Communication Port ......................................................................................................................................... 67
4.4.1 Overview of Communication Port Panel ....................................................................................................... 67
4.4.2 E1 Connector——Main Encoder Port ......................................................................................................... 68
4.4.3 Sincos Encoder ............................................................................................................................................ 69
4.4.4 Endat Encoder ............................................................................................................................................. 70
4.4.5 Digital Incremental Encoder with Hall ......................................................................................................... 71
4.4.6 Resolver ....................................................................................................................................................... 72
4.4.7 Hiperface Encoder ....................................................................................................................................... 73
4.4.8 S1 Connector——Serial Bus Port ............................................................................................................... 74
4.4.9 RS-232 ........................................................................................................................................................ 75
4.4.10 RS422/RS485 .............................................................................................................................................. 77
4.4.11 Auxiliary CAN ............................................................................................................................................... 78
4.4.12 C1 Connector——Main CAN Port ............................................................................................................... 79
4.4.13 Main CAN ..................................................................................................................................................... 80
4.4.14 Auxiliary Encoder ......................................................................................................................................... 81
4.4.15 EtherCAT IN/OUT——EtherCAT Port ........................................................................................................... 82
4.4.16 U1/U2——User Connectors........................................................................................................................ 83
4.4.17 U3/U4——Insulated User Connectors ........................................................................................................ 85
5 APPENDIX: ACCESSORIES ................................................................................................................ 87
1
 AxN Configurable Motion Control Platform

5.1 Prefabricated Motor Power Output Cable .......................................................................................................... 88

5.2 Prefabricated Encoder Cable (for Phase Motors) .............................................................................................. 89
6 APPENDIX: Certifications ................................................................................................................ 90
6.1 Safe Torque Off Catifications ............................................................................................................................ 91

2
 AxN Configurable Motion Control Platform

1 SAFETY INSTRUCTIONS
(READ FIRST!)

AxN Configurable Motion Control Platform

Powered by Phase Motion Control
3
 AxN Configurable Motion Control Platform

1.1 Important Directions for Use

Appropriate Use
Introduction
PMC products represent state-of-the-art developments and manufacturing. They are tested prior to delivery to ensure
operating safety and reliability.
The products may only be used in the manner that is defined as appropriate. If they are used in an inappropriate manner,
then situations can develop that may lead to property damage or injury to personnel.
Note: PMC as manufacturer is not liable for any damages resulting from inappropriate use. In such cases, the guarantee
and the right to payment of damages resulting from inappropriate use are forfeited. The user alone carries all responsibility
of the risks.
Before using PMC products, make sure that all the pre-requisites for an appropriate use of the products are satisfied:
» Personnel that in any way, shape or form uses our products must first read and understand the relevant safety
instructions and be familiar with appropriate use.
» If the products take the form of hardware, then they must remain in their original state, in other words, no structural
changes are permitted. It is not permitted to decompile software products or alter source codes.
» Do not mount damaged or faulty products or use them in operation.
» Make sure that the products have been installed in the manner described in the relevant documentation.
Areas of Use and Application
Drive controllers made by PMC are designed to control electrical motors and monitor their operation. Control and monitoring
of the motors may require additional sensors and actors.

Note: The drive controllers may only be used with the accessories and parts specified in this document. If a component has
not been specifically named, then it may not be either mounted or connected. The same applies to cables and lines.
Operation is only permitted in the specified configurations and combinations of components using the software and firmware
as specified.

Every drive controller has to be programmed before commissioning, making it possible for the motor to execute the specific
functions of an application. The drive controllers have been developed for use in single- and multi-axis drive and control
tasks.

To ensure an application-specific use, the drive controllers are available with different drive power and different interfaces.

Typical applications of the drive controllers include:

» handling and mounting systems;
» packaging and food machines;
» printing and paper processing machines;
» machine tools.

The drive controllers may only be operated under the assembly and installation conditions described in this
documentation, in the specified position of normal use and under the ambient conditions as described (temperature,
degree of protection, humidity, EMC, etc.).

Inappropriate Use
Using the drive controllers outside of the operating conditions described in this documentation and outside of the indicated
technical data and specifications is defined as “inappropriate use”.

Drive controllers must not be used, if

» ... they are subject to operating conditions that do not meet the specified ambient conditions. This includes, for
example, operation under water, under extreme temperature fluctuations or extremely high maximum temperatures.
» Furthermore, the drive controllers must not be used in applications which have not been expressly authorized by PMC.
» Please carefully follow the specifications outlined in the general Safety Instructions!

4
 AxN Configurable Motion Control Platform

1.2 Safety Instructions for Electric Drives and Controls

General Information
Using the Safety Instructions and Passing Them on to Others
Do not attempt to install or commission this device without first reading all documentation provided with the product. Read
and understand these safety instructions and all user documentation prior to working with the device. If you do not have the
user documentation for the device, contact your responsible PMC sales representative. Ask for these documents to be sent
immediately to the person or persons responsible for the safe operation of the device. If the device is resold, rented and/or
passed on to others in any other form, then these safety instructions must be delivered with the device.

Improper use of these devices, failure to follow the safety instructions in this document or tampering
with the product, including disabling of safety devices, may result in material damage, bodily harm,
electric shock or even death!

Instructions for Use

Read these instructions before the initial startup of the equipment in order to eliminate the risk of bodily harm or material
damage. Follow these safety instructions at all times.
» PMC is not liable for damages resulting from failure to observe the warnings provided in this documentation.
» Read the operating, maintenance and safety instructions in your language before starting up the machine. If you find
that you cannot completely understand the documentation for your product, please ask your supplier to clarify.
» Proper and correct transport, storage, assembly and installation as well as care in operation and maintenance are
prerequisites for optimal and safe operation of this device.
» Only assign trained and qualified persons to work with electrical installations:
Only persons who are trained and qualified for the use and operation of the device may work on this device or within
its proximity. The persons are qualified if they have sufficient knowledge of the assembly, installation and operation
of the equipment as well as an understanding of all warnings and precautionary measures noted in these instructions.
Furthermore, they must be trained, instructed and qualified to switch electrical circuits and devices on and off in
accordance with technical safety regulations, to ground them and to mark them according to the requirements of safe
work practices. They must have adequate safety equipment and be trained in first aid.
» Only use spare parts and accessories approved by the manufacturer.
» Follow all safety regulations and requirements for the specific application as practiced in the country of use.

For machine and installation manufacturers:

» The devices have been designed for installation in industrial machinery.
» The ambient conditions given in the product documentation must be observed.
» The information given in the documentation of the product with regard to the use of the delivered components contains
only examples of applications and suggestions.
The machine and installation manufacturer must make sure that the delivered components are suited for his individual
application and check the information given in this documentation with regard to the use of the components, make
sure that his application complies with the applicable safety regulations and standards and carry out the required
measures, modifications and complements.
» Startup of the delivered components is only permitted once it is sure that the machine or installation in which they are
installed complies with the national regulations, safety specifications and standards of the application.
» Operation is only permitted if the national EMC regulations for the application are met.
» The machine or installation manufacturer is responsible for compliance with the limiting values as prescribed in the
national regulations.
» Technical data, connections and operational conditions are specified in the product documentation and must be
followed at all times.
Explanation of Warning Symbols and Degrees of Hazard Seriousness
The safety instructions describe the following degrees of hazard seriousness. The degree of hazard seriousness informs about
the consequences resulting from non-compliance with the safety instructions:
Warning symbol with signal word Degree of hazard seriousness according to ANSI Z 535

Death or severe bodily harm will occur.

Death or severe bodily harm may occur.

Bodily harm or material damage may occur.

5
 AxN Configurable Motion Control Platform

Hazards by Improper Use

High electric voltage and high working current!

Risk of death or severe bodily injury by electric shock!

Dangerous movements! Danger to life, severe bodily harm or material damage by unintentional motor movements!

High electric voltage because of incorrect connection! Risk of death or bodily injury by electric shock!

Health hazard for persons with heart pacemakers, metal implants and hearing aids in proximity to electrical
equipment!

Hot surfaces on device housing! Danger of injury! Danger of burns!

Electrical hazard due to water leakage on electrical component. Risk of injury by improper handling! Risk of bodily
injury by bruising, shearing, cutting, hitting, or improper handling of pressurized lines!

6
 AxN Configurable Motion Control Platform

1.3 Instructions with regard to Specific Dangers

Protection against Contact with Electrical Parts
Note: This section only concerns devices and drive components with voltages of more than 50 Volt.
Contact with parts conducting voltages above 50 Volts can cause personal danger and electric shock. When operating
electrical equipment, it is unavoidable that some parts of the devices conduct dangerous voltage.

High electrical voltage! Danger to life, electric shock and severe bodily injury!

» Only those trained and qualified to work with or on electrical equipment are permitted to operate, maintain and repair
this equipment.
» Follow general construction and safety regulations when working on electrical power installations.
» Before switching on the device, the equipment grounding conductor must have been no detachably connected to all
electrical equipment in accordance with the connection diagram.
» Do not operate electrical equipment at any time, even for brief measurements or tests, if the equipment grounding
conductor is not permanently connected to the mounting points of the components provided for this purpose.
» Before working with electrical parts with voltage potentials higher than 50 V, the device must be disconnected from
the mains voltage or power supply unit. Provide a safeguard to prevent reconnection.
» With electrical drive and filter components, observe the following:
Wait 30 minutes after switching off power to allow capacitors to discharge before beginning to work. Measure the
voltage on the capacitors before beginning to work to make sure that the equipment is safe to touch.
» Never touch the electrical connection points of a component while power is turned on.
» Install the covers and guards provided with the equipment properly before switching the device on. Before switching
the equipment on, cover and safeguard live parts safely to prevent contact with those parts.
» A residual-current-operated circuit-breaker or r.c.d. cannot be used for electric drives! Indirect contact must be
prevented by other means, for example, by an overcurrent protective device according to the relevant standards.
» Secure built-in devices from direct touching of electrical parts by providing an external housing, for example a control
cabinet.

With electrical drive and filter components, observe the following:

High housing voltage and large leakage current! Risk of death or bodily injury by electric shock!

» Before switching on, the housings of all electrical equipment and motors must be connected or grounded with the
equipment grounding conductor to the grounding points. This is also applicable before short tests.
» The equipment grounding conductor of the electrical equipment and the units must be non-detachably and
permanently connected to the power supply unit at all times. The leakage current is greater than 3.5 mA.
» Over the total length, use copper wire of a cross section of a minimum of 10 mm2 for this equipment grounding
connection!
» Before start-up, also in trial runs, always attach the equipment grounding conductor or connect with the ground wire.
Otherwise, high voltages may occur at the housing causing electric shock.

Protection against Electric Shock by Protective Low Voltage (PELV)

All connections and terminals with voltages between 5 and 50 Volt at PMC products are protective extra-low voltage
systems which are provided with touch guard according to the product standards.

High electric voltage by incorrect connection! Risk of death or bodily injury by electric shock!

» To all connections and terminals with voltages between 0 and 50 Volt, only devices, electrical components, and
conductors may be connected which are equipped with a PELV (Protective Extra-Low Voltage) system.
» Connect only voltages and circuits which are safely isolated from dangerous voltages. Safe isolation is achieved for
example by isolating transformers, safe optocouplers or battery operation without mains connection.

Protection against Dangerous Movements

Dangerous movements can be caused by faulty control of connected motors. Some common examples are:
» improper or wrong wiring of cable connections
7
 AxN Configurable Motion Control Platform

» incorrect operation of the equipment components

» wrong input of parameters before operation
» malfunction of sensors, encoders and monitoring devices
» defective components
» software or firmware errors

Dangerous movements can occur immediately after equipment is switched on or even after an unspecified time of trouble-
free operation. The monitoring in the drive components will normally be sufficient to avoid faulty operation in the connected
drives. Regarding personal safety, especially the danger of bodily harm and material damage, this alone cannot be relied
upon to ensure complete safety. Until the integrated monitoring functions become effective, it must be assumed in any case
that faulty drive movements will occur. The extent of faulty drive movements depends upon the type of control and the state
of operation.

Dangerous movements! Danger to life, risk of injury, severe bodily harm or material damage!

» For the above reasons, ensure personal safety by means of qualified and tested higher-level monitoring devices or
measures integrated in the installation. They have to be provided for by the user according to the specific conditions
within the installation and a hazard and fault analysis. The safety regulations applicable for the installation have to be
taken into consideration. Unintended machine motion or other malfunction is possible if safety devices are disabled,
bypassed or not activated.

To avoid accidents, bodily harm and/or material damage:

» Keep free and clear of the machine’s range of motion and moving parts. Possible measures to prevent people from
accidentally entering the machine’s range of motion are using safety fences, using safety guards, using protective
coverings and installing light curtains or light barriers
» Fences and coverings must be strong enough to resist maximum possible momentum.
» Mount the emergency stop switch in the immediate reach of the operator. Verify that the emergency stop works before
startup. Don’t operate the device if the emergency stop is not working.
» Isolate the drive power connection by means of an emergency stop circuit or use a safety related starting lockout to
prevent unintentional start.
» Make sure that the drives are brought to a safe standstill before accessing or entering the danger zone.
» Additionally secure vertical axes against falling or dropping after switching off the motor power by, for example,
mechanically securing the vertical axes, adding an external braking/ arrester/ clamping mechanism or ensuring
sufficient equilibration of the vertical axes
» The standard equipment motor brake or an external brake controlled directly by the drive controller are not sufficient
to guarantee personal safety!
» Disconnect electrical power to the equipment using a master switch and secure the switch against reconnection for
maintenance, repair work, cleaning of equipment and long periods of discontinued equipment use.
» Prevent the operation of high-frequency, remote control and radio equipment near electronics circuits and supply leads.
If the use of such devices cannot be avoided, verify the system and the installation for possible malfunctions in all
possible positions of normal use before initial startup. If necessary, perform a special electromagnetic compatibility
(EMC) test on the installation.

Protection against Magnetic and Electromagnetic Fields during Operation and Mounting
Magnetic and electromagnetic fields generated by current-carrying conductors and permanent magnets in motors represent
a serious personal danger to those with heart pacemakers, metal implants and hearing aids.

Health hazard for persons with heart pacemakers, metal implants and hearing aids in proximity to
electrical equipment!

» Persons with heart pacemakers and metal implants are not permitted to enter following areas:
Areas in which electrical equipment and parts are mounted, being operated or commissioned.
Areas in which parts of motors with permanent magnets are being stored, repaired or mounted.
» If it is necessary for somebody with a pacemaker to enter such an area, a doctor must be consulted prior to doing so.
The interference immunity of present or future implanted heart pacemakers differs greatly, so that no general rules
can be given.
» Those with metal implants or metal pieces, as well as with hearing aids must consult a doctor before they enter the
areas described above. Otherwise health hazards may occur.

Protection against Contact with Hot Parts

8
 AxN Configurable Motion Control Platform

Hot surfaces at motor housings, on drive controllers or chokes! Danger of injury! Danger of burns!

» Do not touch surfaces of device housings and chokes in the proximity of heat sources! Danger of burns!
» Do not touch housing surfaces of motors! Danger of burns!
» According to operating conditions, temperatures can be higher than 60 °C, 140 °F during or after operation.
» Before accessing motors after having switched them off, let them cool down for a sufficiently long time. Cooling down
can require up to 140 minutes! Roughly estimated, the time required for cooling down is five times the thermal time
constant specified in the Technical Data.
» After switching drive controllers or chokes off, wait 15 minutes to allow them to cool down before touching them.
» Wear safety gloves or do not work at hot surfaces.
» For certain applications, the manufacturer of the end product, machine or installation, according to the respective
safety regulations, has to take measures to avoid injuries caused by burns in the end application. These measures can
be, for example: warnings, guards (shielding or barrier), and technical documentation.

Protection during Handling and Mounting

In unfavorable conditions, handling and assembling certain parts and components in an improper way can cause injuries.

Risk of injury by improper handling! Bodily injury by bruising, shearing, cutting, hitting!

» Observe the general construction and safety regulations on handling and assembly.
» Use suitable devices for assembly and transport.
» Avoid jamming and bruising by appropriate measures.
» Always use suitable tools. Use special tools if specified.
» Use lifting equipment and tools in the correct manner.
» If necessary, use suitable protective equipment (for example safety goggles, safety shoes, safety gloves).
» Do not stand under hanging loads.
» Immediately clean up any spilled liquids because of the danger of skidding.

9
 AxN Configurable Motion Control Platform

2 TECHNICAL
SPECIFICATIONS

AxN Configurable Motion Control Platform

Powered by Phase Motion Control
10
 AxN Configurable Motion Control Platform

2.1 AxN Size 2 (AxN 15.30.4)

Specifications

Technical specifications(1) Symbol AxN 15.30.4 Units

150 ~ 500 Vac 3 phase

Power Supply Voltage 𝑽𝑽𝑖𝑖𝑖𝑖
0 ~ 800 Vdc
Auxiliary supply voltage 𝑽𝑽𝑎𝑎𝑎𝑎𝑎𝑎 24V ± 15% / 2A Vdc
Output frequency 𝒇𝒇 0 ~ 1200 Hz
Current output, S1 (2)
𝑰𝑰𝑛𝑛 15 Arms
Peak current(2) 𝑰𝑰𝑝𝑝 30 Arms
Power Losses total (3) 𝑷𝑷𝑙𝑙 200 W
Maximum output voltage 𝑽𝑽𝑜𝑜𝑜𝑜𝑜𝑜 𝑽𝑽𝑖𝑖𝑖𝑖 × 0.95 Vac
PWM frequency (4) 𝒇𝒇𝑝𝑝𝑝𝑝𝑝𝑝 4 / 8 / 16 kHz
Efficiency at nominal power(2) -- 97.9 %
Input form factor (Full load) -- 0.9 Vac 3 phase
Maximum braking current -- 100% of 𝑰𝑰𝑝𝑝 (peak current) --
Cooling -- 1 fan 60×60×32 --
Flow rate -- 70 m /hour
3

Dimensions (H×D×W) -- 420×249×96 mm

(1) Test performed with full option control card and firmware 1.8.197
(2) 𝑽𝑽𝑖𝑖𝑖𝑖 = 380 Vac, 𝑽𝑽𝑜𝑜𝑜𝑜𝑜𝑜 = 𝑽𝑽𝑖𝑖𝑖𝑖 × 0.95, 𝐓𝐓𝑎𝑎𝑎𝑎𝑎𝑎 = 40℃, Comm.Freq.8kHz
(3) 𝑽𝑽𝑖𝑖𝑖𝑖 = 380 Vac, 𝑰𝑰𝑛𝑛 = 15 Arms, 𝐓𝐓𝑎𝑎𝑎𝑎𝑎𝑎 = 40℃, Comm.Freq.8kHz, Including input rectifier losses
(4) PWM frequency will automatically decrease at Zero Speed, in order to keep Nominal Current Output

Motor Feedback Options

Sincos encoder 5 channels (2 absolute analog tracks/2 incremental analog tracks/index)
Incremental encoder (1 Vpp or Different Line Driver)
Sensorless algorithm (w/o feedback)
Main Encoder (500kHz)
Endat serial encoder 1.0 to 2.2 (default)
Resolver
Hiperface encoder
Secondary Encoder Incremental digital encoder without commutation tracks (500kHz)
(500kHz) Endat serial encoder

Programmable Input Signals

2 Differential analog inputs ± 10V (1mV) / Rin = 10kΩ
8 digital inputs 20 ~ 30V / Rin = 6.6kΩ to GND
3 insulated analog inputs (optional) ± 10V (1mV)
8 insulated digital inputs (optional) 5mA, 24Vdc max

Programmable Output Signals

2 analog outputs 0 ~ 10V (1mV) FS (30mA)
4 digital outputs PNP open collector 24V (100mA)
1 watch dog relay 2A/30Vdc, 0.25A/250Vac, NO/NC contacts
2 insulated analog output (optional) ± 10V (1mV) FS (30mA)
2 insulated digital output (optional) On-off switch, 9 ~ 28V/2A

Hardware Configuration
Processor speed: 80 MIPS μC + FPGA
120 MIPS μC + FPGA Extreme Version (Optional)
Task frequency:
– Current /drive monitoring: 1 MHz
11
 AxN Configurable Motion Control Platform

– Position/speed loop: 8 kHz

– PLC fast task: 8 kHz
– PLC slow task: 15.625 Hz to 1 kHz user-programmable
Position loop mode available
Target position register: 32 or 64 bits
Full digital control Id/Iq, updated 16 kHz

Drive Operational Area of AxN Size2

Max Current VS. Ambient Temperature

Figure 2.1.1 AxN 15.30.4 Max current VS. Ambient temperature

Max Continuous Current VS. Output Voltage (at 40℃)

Figure 2.1.2 AxN 15.30.4 Max continuous current VS. Output voltage
12
 AxN Configurable Motion Control Platform

2.2 AxN Size 3 (AxN 22.44.4; AxN 35.70.4; AxN 50.100.4)

Specifications

Technical specifications(1) Symbol AxN 22.44.4 AxN 35.70.4 AxN 50.100.4 Units

150 ~ 500 Vac 3 phase

Power Supply Voltage 𝑽𝑽𝑖𝑖𝑖𝑖
0 ~ 800 Vdc
Auxiliary supply voltage 𝑽𝑽𝑎𝑎𝑎𝑎𝑎𝑎 24V ± 15% / 3A Vdc
Output frequency 𝒇𝒇 0 ~ 1200 Hz
Current output, S1 (2)
𝑰𝑰𝑛𝑛 22 35 50 Arms
Peak current(2) 𝑰𝑰𝑝𝑝 44 70 100 Arms
Power Losses total (3) 𝑷𝑷𝑙𝑙 280 400 590 W
Maximum output voltage 𝑽𝑽𝑜𝑜𝑜𝑜𝑜𝑜 𝑽𝑽𝑖𝑖𝑖𝑖 ×0.95 Vac
PWM frequency (4) 𝒇𝒇𝑝𝑝𝑝𝑝𝑝𝑝 4 / 8 / 16 kHz
Efficiency at nominal power(2) -- 98 98.2 98.1 %
Input form factor (Full load) -- 0.9 Vac 3 phase
Maximum braking current -- 100% of 𝑰𝑰𝑝𝑝 (peak current) --
Cooling -- 1 PWM fan 80×80×38 --
Flow rate -- 136 m /hour
3

Dimensions (H×D×W) -- 488×249×150 mm

(1) Test performed with full option control card and firmware 1.8.197
(2) 𝑽𝑽𝑖𝑖𝑖𝑖 = 380 Vac, 𝑽𝑽𝑜𝑜𝑜𝑜𝑜𝑜 = 𝑽𝑽𝑖𝑖𝑖𝑖 × 0.95, 𝐓𝐓𝑎𝑎𝑎𝑎𝑎𝑎 = 40℃, Comm.Freq.8kHz
(3) 𝑽𝑽𝑖𝑖𝑖𝑖 = 380 Vac, 𝑰𝑰𝑛𝑛 = 15 Arms, 𝐓𝐓𝑎𝑎𝑎𝑎𝑎𝑎 = 40℃, Comm.Freq.8kHz, Including input rectifier losses
(4) PWM frequency will automatically decrease at Zero speed, in order to keep Nominal current output

Motor Feedback Options

Sincos encoder 5 channels (2 absolute analog tracks/2 incremental analog tracks/index)
Incremental encoder (1 Vpp or Different Line Driver)
Sensorless algorithm (w/o feedback)
Main Encoder (500kHz)
Endat serial encoder 1.0 to 2.2 (default)
Resolver
Hiperface encoder
Secondary Encoder Incremental digital encoder without commutation tracks (500kHz)
(500kHz) Endat serial encoder

Programmable Input Signals

2 differential analog inputs ± 10V (1mV) / Rin = 10kΩ
8 digital inputs 20 ~ 30V / Rin = 6.6kΩ to GND
3 insulated analog inputs (optional) ± 10V (1mV)
8 insulated digital inputs (optional) 5mA, 24Vdc max

Programmable Output Signals

2 analog outputs 0 ~ 10V (1mV) FS (30mA)
4 digital outputs PNP open collector 24V (100mA)
1 watch dog relay 2A/30Vdc, 0.25A/250Vac, NO/NC contacts
2 insulated analog output (optional) ± 10V (1mV) FS (30mA)
2 insulated digital output (optional) On-off switch, 9 ~ 28V/2A

Hardware Configuration
Processor speed: 80 MIPS μC + FPGA
120 MIPS μC + FPGA Extreme Version (Optional)
Task frequency:
– Current /drive monitoring: 1 MHz
13
 AxN Configurable Motion Control Platform

– Position/speed loop: 8 kHz

– PLC fast task: 8 kHz
– PLC slow task: 15.625 Hz to 1 kHz user-programmable
Position loop mode available
Target position register: 32 or 64 bits
Full digital control Id/Iq, updated 16 kHz

Drive Operational Area of AxN Size3

Max Current VS. Ambient Temperature

Figure 2.2.1 AxN 22.44.4 Max current VS. Ambient temperature

Figure 2.2.2 AxN 35.70.4 Max current VS. Ambient temperature

14
 AxN Configurable Motion Control Platform

Figure 2.2.3 AxN 50.100.4 Max current VS. Ambient temperature

Max Continuous Current VS. Output Voltage (at 40℃)

Figure 2.2.4 AxN 22.44.4 Max continuous current VS. Output voltage

15
 AxN Configurable Motion Control Platform

Figure 2.2.5 AxN 35.70.4 Max continuous current VS. Output voltage

Figure 2.2.6 AxN 50.100.4 Max continuous current VS. Output voltage

16
 AxN Configurable Motion Control Platform

2.3 AxN Size 4 (AxN 70.140.4)

Specifications

Technical specifications(1) Symbol AxN 70.140.4 Units

150 ~ 500 Vac 3 phase

Power Supply Voltage 𝑽𝑽𝑖𝑖𝑖𝑖
0 ~ 800 Vdc
Auxiliary supply voltage 𝑽𝑽𝑎𝑎𝑎𝑎𝑎𝑎 24V ± 15% / 6A Vdc
Output frequency 𝒇𝒇 0 ~ 1200 Hz
Current output, S1 (2)
𝑰𝑰𝑛𝑛 70 Arms
Peak current(2) 𝑰𝑰𝑝𝑝 140 Arms
Power Losses total (3) 𝑷𝑷𝑙𝑙 870 W
Maximum output voltage 𝑽𝑽𝑜𝑜𝑜𝑜𝑜𝑜 𝑽𝑽𝑖𝑖𝑖𝑖 × 0.95 Vac
PWM frequency (4) 𝒇𝒇𝑝𝑝𝑝𝑝𝑝𝑝 4 / 8 / 16 kHz
Efficiency at nominal power(2) -- 98.1 %
Input form factor (Full load) -- 0.9 Vac 3 phase
Maximum braking current -- 100% of 𝑰𝑰𝑝𝑝 (peak current) --
Cooling -- 2 PWM fan 80×80×38 --
Flow rate -- 110×2 m /hour
3

Dimensions (H×D×W) -- 488×249×200 mm

(1) Test performed with full option control card and firmware 1.8.197
(2) 𝑽𝑽𝑖𝑖𝑖𝑖 = 380 Vac, 𝑽𝑽𝑜𝑜𝑜𝑜𝑜𝑜 = 𝑽𝑽𝑖𝑖𝑖𝑖 × 0.95, 𝐓𝐓𝑎𝑎𝑎𝑎𝑎𝑎 = 40℃, Comm.Freq.8kHz
(3) 𝑽𝑽𝑖𝑖𝑖𝑖 = 380 Vac, 𝑰𝑰𝑛𝑛 = 15 Arms, 𝐓𝐓𝑎𝑎𝑎𝑎𝑎𝑎 = 40℃, Comm.Freq.8kHz, Including input rectifier losses
(4) PWM frequency will automatically decrease at Zero speed, in order to keep Nominal current output

Motor Feedback Options

Sincos encoder 5 channels (2 absolute analog tracks/2 incremental analog tracks/index)
Incremental encoder (1 Vpp or Different Line Driver)
Sensorless algorithm (w/o feedback)
Main Encoder (500kHz)
Endat serial encoder 1.0 to 2.2 (default)
Resolver
Hiperface encoder
Secondary Encoder Incremental digital encoder without commutation tracks (500kHz)
(500kHz) Endat serial encoder

Programmable Input Signals

2 Differential analog inputs ± 10V (1mV) / Rin = 10kΩ
8 digital inputs 20 ~ 30V / Rin = 6.6kΩ to GND
3 insulated analog inputs (optional) ± 10V (1mV)
8 insulated digital inputs (optional) 5mA, 24Vdc max

Programmable Output Signals

2 analog outputs 0 ~ 10V (1mV) FS (30mA)
4 digital outputs PNP open collector 24V (100mA)
1 watch dog relay 2A/30Vdc, 0.25A/250Vac, NO/NC contacts
2 insulated analog output (optional) ± 10V (1mV) FS (30mA)
2 insulated digital output (optional) On-off switch, 9 ~ 28V/2A

Hardware Configuration
Processor speed: 80 MIPS μC + FPGA
120 MIPS μC + FPGA Extreme Version (Optional)
Task frequency:
– Current /drive monitoring: 1 MHz
17
 AxN Configurable Motion Control Platform

– Position/speed loop: 8 kHz

– PLC fast task: 8 kHz
– PLC slow task: 15.625 Hz to 1 kHz user-programmable
Position loop mode available
Target position register: 32 or 64 bits
Full digital control Id/Iq, updated 16 kHz

Drive Operational Area of AxN Size4

Max Current VS. Ambient Temperature

Figure 2.3.1 AxN 70.140.4 Max current VS. Ambient temperature

Max Continuous Current VS. Output Voltage (at 40℃)

Figure 2.3.2 AxN 70.140.4 Max continuous current VS. Output voltage
18
 AxN Configurable Motion Control Platform

2.4 AxN Size 5 (AxN 90.150.4; AxN 110.200.4; AxN 110.250.4; AxN 150.300.4)
Specifications
AxN AxN AxN AxN
Technical specifications(1) Symbol Units
90.150.4 110.200.4 110.250.4 150.300.4
150 ~ 500 Vac 3 phase
Power Supply Voltage 𝑽𝑽𝑖𝑖𝑖𝑖
0 ~ 800 Vdc
Auxiliary supply voltage 𝑽𝑽𝑎𝑎𝑎𝑎𝑎𝑎 24V ± 15% / 8A Vdc
Output frequency 𝒇𝒇 0 ~ 1200 Hz
Current output, S1 (2)
𝑰𝑰𝑛𝑛 90 110 110 150 Arms
Peak current(2) 𝑰𝑰𝑝𝑝 150 200 250 300 Arms
Power Losses total (3) 𝑷𝑷𝑙𝑙 1050 1280 1360 1930 W
Maximum output voltage 𝑽𝑽𝑜𝑜𝑜𝑜𝑜𝑜 𝑽𝑽𝑖𝑖𝑖𝑖 ×0.95 Vac
PWM frequency (4) 𝒇𝒇𝑝𝑝𝑝𝑝𝑝𝑝 4 / 8 / 16 kHz
Efficiency at nominal power (2)
-- 98.2 98.2 98.2 98.2 %
Input form factor (Full load) -- 0.9 Vac 3 phase
Maximum braking current -- 100% of 𝑰𝑰𝑝𝑝 (peak current) --
Cooling -- 3 PWM fan 80×80×38 --
Flow rate -- 110×3 m /hour
3

Dimensions (H×D×W) -- 725×249×286 mm

(1) Test performed with full option control card and firmware 1.8.197
(2) 𝑽𝑽𝑖𝑖𝑖𝑖 = 380 Vac, 𝑽𝑽𝑜𝑜𝑜𝑜𝑜𝑜 = 𝑽𝑽𝑖𝑖𝑖𝑖 × 0.95, 𝐓𝐓𝑎𝑎𝑎𝑎𝑎𝑎 = 40℃, Comm.Freq.8kHz
(3) 𝑽𝑽𝑖𝑖𝑖𝑖 = 380 Vac, 𝑰𝑰𝑛𝑛 = 15 Arms, 𝐓𝐓𝑎𝑎𝑎𝑎𝑎𝑎 = 40℃, Comm.Freq.8kHz, Including input rectifier losses
(4) PWM frequency will automatically decrease at Zero speed, in order to keep Nominal current output

Motor Feedback Options

Sincos encoder 5 channels (2 absolute analog tracks/2 incremental analog tracks/index)
Incremental encoder (1 Vpp or Different Line Driver)
Sensorless algorithm (w/o feedback)
Main Encoder (500kHz)
Endat serial encoder 1.0 to 2.2 (default)
Resolver
Hiperface encoder
Secondary Encoder Incremental digital encoder without commutation tracks (500kHz)
(500kHz) Endat serial encoder

Programmable Input Signals

2 Differential analog inputs ± 10V (1mV) / Rin = 10kΩ
8 digital inputs 20 ~ 30V / Rin = 6.6kΩ to GND
3 insulated analog inputs (optional) ± 10V (1mV)
8 insulated digital inputs (optional) 5mA, 24Vdc max

Programmable Output Signals

2 analog outputs 0 ~ 10V (1mV) FS (30mA)
4 digital outputs PNP open collector 24V (100mA)
1 watch dog relay 2A/30Vdc, 0.25A/250Vac, NO/NC contacts
2 analog output (optional) ± 10V (1mV) FS (30mA)
2 digital output (optional) On-off switch, 9 ~ 28V/2A

Hardware Configuration
Processor speed: 80 MIPS μC + FPGA
120 MIPS μC + FPGA Extreme Version (Optional)
Task frequency:
– Current /drive monitoring: 1 MHz
19
 AxN Configurable Motion Control Platform

– Position/speed loop: 8 kHz

– PLC fast task: 8 kHz
– PLC slow task: 15.625 Hz to 1 kHz user-programmable
Position loop mode available
Target position register: 32 or 64 bits
Full digital control Id/Iq, updated 16 kHz

Drive Operational Area of AxN Size5

Max Current VS. Ambient Temperature

Figure 2.4.1 AxN 90.150.4 Max current VS. Ambient temperature

Figure 2.4.2 AxN 110.200.4 Max current VS. Ambient temperature

20
 AxN Configurable Motion Control Platform

Figure 2.4.3 AxN 110.250.4 Max current VS. Ambient temperature

Figure 2.4.4 AxN 150.300.4 Max current VS. Ambient temperature

21
 AxN Configurable Motion Control Platform

Max Continuous Current VS. Output Voltage (at 40℃)

Figure 2.4.5 AxN 90.150.4 Max continuous current VS. Output voltage

Figure 2.4.6 AxN 110.200.4 Max continuous current VS. Output voltage

22
 AxN Configurable Motion Control Platform

Figure 2.4.7 AxN 110.250.4 Max continuous current VS. Output voltage

Figure 2.4.8 AxN 150.300.4 Max continuous current VS. Output voltage

23
 AxN Configurable Motion Control Platform

2.5 AxN Series Ambient Conditions

Ambient Conditions
Ambient Conditions AxN Series
Protection IP20
Accident Prevention
According to local regulations
Regulations
Mounting Altitude Up to 1000m above MSL, over 1000 m above MSL with power reduction ( 1% per 100m)
Pollution Severity 2
Installation Type Built-in unit, only for vertical installation in a switch cabinet with min. IP4x protection
Environment Far away from corrosive, flammable gases, droplets of oil or dust etc.

Climatic Conditions
Climatic Conditions AxN Series
As per EN 61800-2，IEC 60721-3-2 class 2K3(1)
In Transit Temperature -25℃ to +85℃
Relative air humidity 5 to 90% without condensation
As per EN 61800-2，IEC60721-3-1 class 1K3 和 1K4(2)
In Storage Temperature -25℃ to +85℃
Relative air humidity 5 to 90% without condensation
As per EN 61800-2，IEC60721-3-3 class 3K3(3)
In Operation Temperature 0℃ to 40℃，up to 60℃ with power reduction( See graphic )
Relative air humidity 5 to 95% without condensation
(1) The absolute humidity is limited to max. 60 g/m³. This means, at 70 °C for example, that the relative humidity may
only be max. 40 %.
(2) The absolute humidity is limited to max. 29 g/m³. So the maximum values for temperature and relative air humidity
stipulated in the table must not occur simultaneously.
(3) The absolute humidity is limited to max. 25 g/m³. That means that the maximum values for temperature and relative
air humidity stipulated in the table must not occur simultaneously.

Mechanical Conditions
Mechanical
AxN Series
Conditions
As per EN 61800-2, IEC 60721-3-2 class 2M1
Frequency (Hz) Amplitude (mm) Acceleration (m/s2)
Vibration Limit 2≤f<9
3.5 Not Applicable
in Transit
9≤f<200 Not Applicable 10
200≤f<500 Not Applicable 15
Shock Limit in As per EN 61800-2, IEC 60721-2-2 class 2M1
Transit Drop height of packed device max. 0.25m
As per EN 61800-2，IEC 60721-3-3 class 3M1
Vibration Limit Frequency (Hz) Amplitude (mm) Acceleration (m/s2)
of the system(1) 2≤f<9 0.3 Not Applicable
9≤f<200 Not Applicable 1
(1) NOTE: The devices are only designed for stationary use.

24
 AxN Configurable Motion Control Platform

3 MECHANICAL
INSTALLATION

AxN Configurable Motion Control Platform

Powered by Phase Motion Control
25
 AxN Configurable Motion Control Platform

3.1 Notes for Operation

Avoid
Please be sure to avoid:
1. penetration of damp into the device;
2. aggressive or conductive substances in the immediate vicinity;
3. explosive and flammable substances in the immediate vicinity;
4. drill chippings, screws or foreign bodies dropping into the device;
5. ventilation openings being covered over, as otherwise the device may be damaged

Note
Note the following points:
1. Make sure every part of the drive is anchored before moving the drive. Failure to comply may result in minor or moderate
injury from the drive parts falling.
2. Observe proper electrostatic discharge (ESD) procedures when handling the drive. Failure to comply could result in ESD
damage to the drive circuitry;
3. Prevent foreign matter such as metal shavings or wire clippings from falling into the drive during installation and project
construction. Failure to comply could result in damage to the drive. Place a temporary cover over the top of the drive
during installation. Remove the temporary cover before start-up, as the cover will reduce ventilation and cause the drive
to overheat.
4. Install proper cooling to ensure the temperature in the enclosure does not exceed 40 °C.

3.2 Installation Environment

To help prolong the optimum performance life of the drive, install the drive in the proper environment. The table below
provides description of the appropriate environment for the drive.
Environment Condition
Installation Area Indoor
0℃ to 40℃, up to 50℃ with power reduction (2%/℃)
Drive reliability improves in environments without wide temperature fluctuations.
Ambient
When using an enclosure panel, install a cooling fan or air conditioner in the area to ensure that
Temperature
the air temperature inside the enclosure does not exceed the specified levels.
Do not allow ice to develop on the drive.
Humidity 5 to 90% without condensation
Install the drive in an area free from:
1. oil mist and dust
2. metal shavings, oil, water or other foreign materials
3. radioactive materials
Surrounding Area
4. combustible materials (e.g., wood)
5. harmful gases and liquids
6. excessive vibration
7. chlorides
Altitude Up to 1000m above MSL, over 1000 m above MSL with power reduction ( 3% per 100m)
Amplitude up to 0.3mm at 2 to 9 Hz
Vibration
Acceleration up to 1m/s2 at 9 to 200 Hz
Orientation Install the drive vertically to maintain maximum cooling effects.

26
 AxN Configurable Motion Control Platform

3.3 Overall Dimensions

AxN Size2 – AxN 15.30.4

Figure 3.3.1 AxN size2 overall dimensions

AxN Size3 – AxN 22.44.4; AxN 35.70.4; AxN 50.100.4

Figure 3.3.2 AxN size3 overall dimensions

27
 AxN Configurable Motion Control Platform

AxN Size4 – AxN 70.140.4

Figure 3.3.3 AxN size4 overall dimensions

AxN Size5 – AxN 90.150.4; AxN 110.200.4; AxN 110.250.4; AxN 150.300.4

Figure 3.3.4 AxN size5 overall dimensions

28
 AxN Configurable Motion Control Platform

3.4 Installation Orientation and Spacing

Installation Orientation
To maintain proper cooling, install the AxN drive upright inside the switch cabinet as illustrated below:
WARNING: The airflow inside the drive must be upright after installation as illustrated below. If other form of installation
must be taken, CONNECT PMC ENGINEER BEFORE INSTALLATION.

Correct Incorrect

Direction of airflow inside the AxN drive

Figure 3.4.1 Installation orientation of AxN series drive (using AxN Size3 as an example)

Installation Spacing
To maintain sufficient space for airflow and wiring, the space between AxN drive and other device (including other AxN
drives) must comply the requirement below.

G
C＞30mm B＞10mm E
A＞100mm A＞100mm
Direction of Airflow inside the AxN Drive

D＞100mm D＞100mm
F G

Figure 3.4.2 Installation spacing of AxN series drive (using AxN Size3 as an example)
29
 AxN Configurable Motion Control Platform

No. Distance Description

A ＞100mm The distance between the top of the switch cabinet, to ensure enough space for air-out.
B ＞10mm The distance between other device (including other AxN drives and peripheral devices)
C ＞30mm The distance between the inside wall of the switch cabinet.
D ＞100mm The distance between the bottom of the switch cabinet, to ensure enough space for air-in.
E ＞100mm Air-out area, do not place any other device in this area
F ＞100mm Air-in area, do not place any other device in this area
G Airflow Direction
NOTE: The switch cabinet must have air outlets and inlets to ensure the thermal exchange between the cold air outside and
the hot air inside.

30
 AxN Configurable Motion Control Platform

3.5 Special Installation

Thanks to the modular design, AxN Series Drive is very flexible on installation. Other than standard installation, AxN Series
Drive has two more installation forms: Though Panel Installation and Heat Conducting Base Installation.

Advantage and Application

The selection of the drive installation environment is very tricky, because the two key elements of drive installation is
paradoxical. On the one hand, the installation environment should be airtight. Because it can protect the drive from oil,
water, dust and other environmental elements which would damage the drive. But on the other hand, for the sake of heat
dissipation, the drive needs an open environment.
Now, AxN Series Drive has two solutions for the confliction: Though Panel Installation and Heat Conducting Base Installation.
Through Panel Installation (Air Cooling)
The panel divides the drive into two parts which have different needs: the electrical part and the heat sink part. The electrical
part needs airtight and the heat sink part needs open air, so that the confliction is solved natural.
If the panel is strong enough, the through panel installation can be performed in any switch cabinet. Also, if the system has
a public air ducting, you can put AxN drive’s heat sink into the air ducting by through panel installation.
Heat Conducting Base Installation (Liquid Cooling)
The Heat Conducting Base Version use system’s heat conducting base to dissipate the heat, and no longer need heat sink
and fan. So that it no long need the open air. Problem solved either.

Inside Outside Inside

Airtight Open Air Airtight

No Need of Open Air

Heat Sink Part
Electrical Part

Electrical Part

Heat Sink Part

Air Cooling
Liquid Cooling
Figure 3.5.1 Through panel installation Figure 3.5.2 Heat conducting base installation

31
 AxN Configurable Motion Control Platform

3.5.1 Though Panel Installation

Preparation
Before conduction Though Panel Installation, remove the hook module of AxN Series Drive as below:

Figure 3.5.3 Remove the hook module

Installation Dimensions

A
C

Back
Panel
B
D

Opening

E
G

Figure 3.5.4 Through panel installation dimensions

No. Description AxN Size2 AxN Size3 AxN Size4 AxN Size5
A Horizontal Spacing of Screws(mm) 66 ± 0.3 112 ± 0.3 162 ± 0.3 240 ± 0.3
B Vertical Spacing of Screws(mm) 370 + 0.5 596 + 0.8
C Width of Panel Opening(mm) 82 120 184 266
D Height of Panel Opening(mm) 321 541
E Screw Hole M5 M6 M8
G Airflow Direction
NOTE: Other installation spacing is as same as standard installation.

Installation Orientation
After Installation, if the heat sink of AxN Series Drive is in a stationary air, the installation orientation should be upright just
like the standard installation. On the other hand, if the heat sink is in a stable airflow, the orientation of AxN drive should
follow the external airflow direction.

32
 AxN Configurable Motion Control Platform

3.5.2 Heat Conducting Base Installation

Preparation
Confirm that the drive is a Heat Conducting Base Version AxN Drive before the Installation. The Heat Conducting Base
Version AxN Drive changes the heat sink by removing the cooling fins and fans, only left the heat conducting base. So that
the Heat Conducting Base Version AxN Drive cannot be obtained by just removing some modules of a standard AxN drive.
The heat conducing base version AxN drive should be specifically requested during order.

Figure 3.5.5 Heat conducting base version

Installation Dimensions

A
B

Figure 3.5.6 Heat conducting base installation dimensions

No. Description AxN Size2 AxN Size3 AxN Size4 AxN Size5
A Horizontal Spacing of Screws(mm) 66 ± 0.3 112 ± 0.3 162 ± 0.3 240 ± 0.3
B Vertical Spacing of Screws(mm) 370 + 0.5 596 + 0.8
E Screw Hole M5 M6 M8

Installation Orientation
There are on special installation orientation request for heat conducting base version of AxN drive.

33
 AxN Configurable Motion Control Platform

4 ELECTRICAL
INSTALLATION

AxN Configurable Motion Control Platform

Powered by Phase Motion Control
34
 AxN Configurable Motion Control Platform

4.1 Standard Connection Diagram

Figure 4.1.1 Standard connection diagram

35
 AxN Configurable Motion Control Platform

4.2 Main Circuit

4.2.1 Main Circuit Connection Diagram
AxN Series Drive can use AC power or DC power as its power supply. Refer to the following figures for standard drive
connection diagram.
NOTE: DO NOT USE BOTH AC power supply and DC power supply AT THE SAME TIME!

AC Power Supply
Internal Brake Resistor
Jump(Optional)
DC+/B+

Power Supply Input Port (P1)

Motor Power Output Port (P2)

External Brake Jump
Resistor
B- A/U

DC- B/V Motor

R
AxN Drive C/W

T
150 ~ 500Vac
Three Phase

Grounding

Figure 4.2.1 Main circuit connection diagram: AC power supply

DC Power Supply
Internal Brake Resistor
Jump(Optional)
DC+/B+
Motor Power Output Port (P2)
Power Supply Input Port (P1)

External Brake Jump

Resistor A/U
B- B/V Motor
AxN Drive C/W
DC-
R
0 ~ 800Vdc S
T

Grounding

Figure 4.2.2 Main circuit connection diagram: DC power supply

36
 AxN Configurable Motion Control Platform

4.2.2 Power Supply Input Port (P1)

AxN Series Drives’ Power Supply Input Port (P1) have 8 terminals: PE, T, S, R, DC-, B-, Jump and DC+/B+. And the P1
port has 4 functions by using different combinations of terminals: AC Power Supply Input, DC Power Supply Input, External
Brake Resistor Connection and Internal Brake Resistor Activation. The appearance of P1 ports may be different depend on
Sizes. But they all have the same functions.

Port Location
AxN Series Drive’s Power Supply Input Port (P1) is on the top of the drive. Refer to the following figures for exact locations
on different Sizes Drives.

DC+/B+ B- R T
Jump DC- S PE

Figure 4.2.3 Power supply input port (P1), Size2

PE S DC- Jump
T R B- DC+/B+

Figure 4.2.4 Power supply input port (P1), Size3

37
 AxN Configurable Motion Control Platform

PE S DC- Jump
T R B- DC+/B+

Figure 4.2.5 Power supply input port (P1), Size4

PE Jump T DC+/B+ S B- R DC- PE

Figure 4.2.6 Power supply input port (P1), Size5

Terminal Configuration
AxN Series Drive’s Power Supply Input Port (P1) has 8 terminals: PE, T, S, R, DC-, B-, Jump and DC+/B+ (AxN Size5
38
 AxN Configurable Motion Control Platform

Series use the PE terminals on the shield as its P1 PE terminal). And the P1 port has different functions by using different
combinations of terminals. Refer to following table for more details:
Function Terminal Definition Description
T Three phase AC power supply: phase
S Three phase AC power supply: phase 150 ~ 500 Vac three
AC Power Supply Input
R Three phase AC power supply: phase phase AC power supply
PE Three phase AC power supply: grounding
DC+/B+ DC power supply: positive (+)
0 ~ 800 Vdc DC power
DC Power Supply Input DC- DC power supply: negative (-)
supply
PE DC power supply: grounding
DC+/B+ External brake resistor: positive (+) More details refer to 4.2.5
External Brake Resistor
B- External brake resistor: negative (-) Brake Resistor
DC+ Internal brake resistor: positive (+) More details refer to 4.2.5
Internal Brake Resistor
Jump Internal brake resistor: negative (-) Brake Resistor

39
 AxN Configurable Motion Control Platform

4.2.3 AC Power Supply Input

AC Power Supply Requirement
Mains Supply AxN Series
Voltage 150 ~ 500V
Type Three-phase AC power
Frequency 50/60Hz
Fluctuation of Frequency ±10% (45 ~ 66Hz)
Asymmetry ±3%

Cable
Wire Gauge
AxN series drive must use a 4 wire cable with shield as its AC power supply cable. Refer to the table below to select the
appropriate cables for different types:
AxN Series Current (A rms) Recommended Gauge (mm2) Recommended Gauge (AWG)
AxN 15.30.4 15 4.17 11
AxN 22.44.4 22 5.26 10
AxN 35.70.4 35 8.37 8
AxN 50.100.4 50 13.3 6
AxN 70.140.4 70 16.77 5
AxN 90.150.4 90 21.15 4
AxN 110.200.4 110 26.67 3
AxN 110.250.4 110 26.67 3
AxN 150.300.4 150 33.62 2
Pre-insulated Crimp Terminals
Crimping pre-insulated Terminals on the wires will enhance the connection stability and simplicity between the cable and
drive. AxN Size 2, 3 and 4 series drives are recommended to use the E Series Cord End Terminals manufactured by KST.
And AxN Size 5 series drives are recommended to use the RNY Series Ring Terminals also manufactured by KST. Refer to
the following table to select the appropriate terminals for different types:
NOTE: AxN Size5 Series’ Cable MUST be crimped with Ring Terminals before installation.
AxN Series Recommended Pre-insulated Crimp Terminals Recommended Strip Length(mm)
AxN 15.30.4 E4012 14
AxN 22.44.4 E6012 14
AxN 35.70.4 E10-12 14
AxN 50.100.4 E16-12 14
AxN 70.140.4 E16-12 14
AxN 90.150.4 RNYB22-8(Phase) / RNYBS22-6(Ground) 12
AxN 110.200.4 RNYB22-8(Phase) / RNYBS22-6(Ground) 12
AxN 110.250.4 RNYB22-8(Phase) / RNYBS22-6(Ground) 12
AxN 150.300.4 RNYB22-8(Phase) / RNYBS22-6(Ground) 12
Cable Shield Grounding
Wiring the cable shield to ground is a very helpful method to reduce interference. Follow these two precautions to ground
the cable shield:
1. Pull out some shield and fix it on the outside of the cable with heat-shrink tube.
2. Use a drainage line to connect the Cable Shield and PE (Ground) wire.
Cable Sketch
Coat Heat-shrink tube Shield Drainage line Cord end terminal

PE
T
S
R

60mm 40mm 160mm Heat-shrink label

Figure 4.2.7 Cable sketch of AC input, AxN Size2, Size3 and Size4

40
 AxN Configurable Motion Control Platform

Coat Heat-shrink tube Shield Drainage line Ring Terminals

PE
T
S
R

60mm 40mm 160mm Heat-shrink label

Figure 4.2.8 Cable sketch of AC input, AxN Size5

AC Power Installation
Wiring and Torque Specification
Insert the 4 wires of the AC power supply cable into the correspond terminals on the P1 port: T to T, S to S, R to R and PE
to PE. For AxN Size2 Series, the nominal torque to tight these terminals is 0.5 ~ 0.6 Nm; for AxN Size 3, 4 and 5, the
nominal torque to tight these terminals is 4.0 ~ 4.5 Nm. If the tight torque reaches higher than 8.5Nm, the terminal will
be broken.
Cable Fixing
Use a hose clamp to fix the cable on the cable support. Make sure that the cable shield has a large-area contact against the
cable support, so that they can together be grounded through drive housing.

Use a 0.6×3.5×100 word

3.5mm
Removable terminal

screwdriver to loosen and

tight the screws on the
terminal. The tight torque
is 0.5 - 0.6Nm.

Cord end terminal Insert

PE
Drainage T
line S
R

Coat Heat-shrink Shield

tube

Cable support Hose clamp

NOTE: Leave only the insulated part outside

Figure 4.2.9 Installation diagram of AC input, Size2

41
 AxN Configurable Motion Control Platform

Word Phillips
screwdriver screwdriver
6mm PH2
Coat

Heat-shrink tube

Hose clamp Shield Cable support

Drainage
120mm

120mm
line
Cord end
terminals

Use a 1.0×6×120 Word

screwdriver or a PH2 Insert
Phillips screwdriver
which is longer than
T S R
120mm to loosen and
tight the screws.The
tight torque is 4.0 - NOTE: Leave only the insulated
4.5Nm. PE T S R part outside

Figure 4.2.10 Installation diagram of AC input, Size3

Coat

Heat-shrink tube

Hose clamp

Drainage line Shield Cable support

NOTE: Leave only Cord end

the insulated part terminals
outside

Insert

T S R
6mm

PE T S R
Word
Use a 1.0×6×120 Word screwdriver screwdriver
or a PH2 Phillips screwdriver which
is longer than 120mm to loosen and 120mm Phillips
tight the screws.The tight torque screwdriver
is 4.0 - 4.5Nm. PH2

Figure 4.2.11 Installation diagram of AC input, Size4

42
 AxN Configurable Motion Control Platform

Word

6mm
Coat screwdriver
Use a 6mm hexagonal torque
6mm
6mm
wrench to loosen and tight
the hexagonal screw

Heat-shrink
tube
Cable support

120mm
Hose clamp
Shield
Drainage
line
Ring terminal
Use a 1.0×6
×120 Word
PE screwdriver
T S R to loosen
and tight
Ground
the screws.
point
The tight
T S R torque is
4.0 - 4.5Nm.

Figure 4.2.12 Installation diagram of AC input, Size5

43
 AxN Configurable Motion Control Platform

4.2.4 DC Power Supply Input

DC Power Supply Requirement
Fluctuation Nominal Current Peak Current Nominal Power Peak Power at
Main Supply Voltage
of Voltage Output (Arms) Output (Arms) at 565V (KW) 565V (KW)
AxN 15.30.4 18.4 36.8 10.4 20.8
AxN 22.44.4 27.1 54.2 15.3 30.5
AxN 35.70.4 43.0 86.0 24.3 48.5
AxN 50.100.4 61.5 123 34.7 69.3
AxN 70.140.4 565Vdc 0 ~ 800Vdc 85.8 171.6 48.5 97
AxN 90.150.4 110.4 220.8 62.4 103.9
AxN 110.200.4 134.9 269.8 76.2 138.6
AxN 110.250.4 134.9 337.3 76.2 190.5
AxN 150.300.4 183.9 367.9 103.9 207.8

Cable
Wire Gauge
AxN series drive must use a 3 wire cable with shield as its DC power supply cable. Refer to the table below to select the
appropriate cables for different types:
AxN Series Current (A rms) Recommended Gauge (mm2) Recommended Gauge (AWG)
AxN 15.30.4 18.4 5.26 10
AxN 22.44.4 27.1 6.63 9
AxN 35.70.4 43 10.55 7
AxN 50.100.4 61.5 16.77 5
AxN 70.140.4 85.8 21.15 4
AxN 90.150.4 110.4 26.67 3
AxN 110.200.4 134.9 33.62 2
AxN 110.250.4 134.9 33.62 2
AxN 150.300.4 183.9 42.41 1
Pre-insulated Crimp Terminals
Crimping pre-insulated Terminals on the wires will enhance the connection stability and simplicity between the cable and
drive. AxN Size 2, 3 and 4 series drives are recommended to use the E Series Cord End Terminals manufactured by KST.
And AxN Size 5 series drives are recommended to use the RNY Series Ring Terminals also manufactured by KST. Refer to
the following table to select the appropriate terminals for different types:
NOTE: AxN Size5 Series’ Cable MUST be crimped with Ring Terminals before installation.
AxN Series Recommended Pre-insulated Crimp Terminals Recommended Strip Length(mm)
AxN 15.30.4 E6012 14
AxN 22.44.4 E10-12 14
AxN 35.70.4 E16-12 14
AxN 50.100.4 E16-12 14
AxN 70.140.4 E16-12 14
AxN 90.150.4 RNYB22-8(Phase) / RNYBS22-6(Ground) 12
AxN 110.200.4 RNYB22-8(Phase) / RNYBS22-6(Ground) 12
AxN 110.250.4 RNYB22-8(Phase) / RNYBS22-6(Ground) 12
AxN 150.300.4 RNYB22-8(Phase) / RNYBS22-6(Ground) 12
Cable Shield Grounding
Wiring the cable shield to ground is a very helpful method to reduce interference. Follow these two precautions to ground
the cable shield:
1. Pull out some shield and fix it on the outside of the cable with heat-shrink tube.
2. Use a drainage line to connect the Cable Shield and PE (Ground) wire.
Cable Sketch
Coat Heat-shrink tube Shield Drainage line Cord end terminal

PE

DC-

DC+

60mm 40mm 160mm Heat-shrink label

Figure 4.2.13 Cable sketch of DC input, AxN Size2, Size3 and Size4

44
 AxN Configurable Motion Control Platform

Coat Heat-shrink tube Shield Drainage line Ring Terminals

PE

DC-

DC+

60mm 40mm 160mm Heat-shrink label

Figure 4.2.14 Cable sketch of DC input, AxN Size5

DC Power Installation
Wiring and Torque Specification
Insert the 3 wires of the DC power supply cable into the correspond terminals on the P1 port: DC+ to DC+/B+, DC- to DC-
and PE to PE. For AxN Size2 Series, the nominal torque to tight these terminals is 0.5 ~ 0.6 Nm; for AxN Size 3, 4 and 5,
the nominal torque to tight these terminals is 4.0 ~ 4.5 Nm. If the tight torque reaches higher than 8.5Nm, the terminal
will be broken.

Cable Fixing
Use a hose clamp to fix the cable on the cable support. Make sure that the cable shield has a large-area contact against the
cable support, so that they can together be grounded through drive housing.

Use a 0.6×3.5×100 word

Removable terminal

3.5mm

screwdriver to loosen and

tight the screws on the
terminal. The tight torque
is 0.5 - 0.6Nm.

Cord end terminal Insert

PE
Drainage
line

DC-

Coat Heat-shrink Shield

tube
DC+

Cable support Hose clamp

NOTE: Leave only the insulated part outside

Figure 4.2.15 Installation diagram of DC input, Size2

45
 AxN Configurable Motion Control Platform

Word Phillips
screwdriver screwdriver
PH2
Coat
6mm

Hose clamp
Heat-shrink
Cable support tube
Drainage line
120mm

120mm

NOTE: Leave
Shield
only the
Cord end
insulated
part outside terminals

Use a 1.0×6×120 Word

screwdriver or a PH2 Insert
Phillips screwdriver
which is longer than
DC- DC+
120mm to loosen and
tight the screws.The
tight torque is 4.0 -
4.5Nm. PE DC- DC+

Figure 4.2.16 Installation diagram of DC input, Size3

Coat

Heat-shrink tube

Drainage line Hose clamp Shield Cord end

terminals
NOTE: Leave only
the insulated part
outside

Insert

DC- DC+
6mm

PE DC- DC+
Word
Use a 1.0×6×120 Word screwdriver screwdriver
or a PH2 Phillips screwdriver which
is longer than 120mm to loosen and 120mm Phillips
tight the screws.The tight torque screwdriver
is 4.0 - 4.5Nm. PH2

Figure 4.2.17 Installation diagram of DC input, Size4

46
 AxN Configurable Motion Control Platform

Coat

6mm
Word
screwdriver
Use a 6mm hexagonal torque

6mm
6mm
wrench to loosen and tight
the hexagonal screw
Heat-shrink tube

Shield Cable support

120mm

Hose clamp Drainage

line
Ring terminals
Use a 1.0×6
×120 Word
screwdriver
to loosen
PE
DC+ DC-
and tight
the screws. Ground
The tight point
torque is
4.0 - 4.5Nm. DC+ DC-

Figure 4.2.18 Installation diagram of DC input, Size5

47
 AxN Configurable Motion Control Platform

4.2.5 Brake Resistor

Dynamic braking (DB) helps bring the motor to a smooth and rapid stop when working with high inertia loads. As the drive
lowers the frequency of a motor with high inertia connected, regeneration occurs. This can cause an overvoltage situation
when the regenerative energy flows back into the DC bus capacitors. A brake resistor prevents these overvoltage faults.
AxN Series Drive has an internal brake resistor inside the drive. And it can also connect an external brake resistor
(Recommended).
WARNING: Do not operate AxN Drive without any brake resistor. Failure to comply may result in damage to braking circuit
or drive.

Internal Brake Resistor

Specifications
Every AxN Series Drive has an internal brake resistor. Regard to its properties, using internal brake resistor in real
applications is NOT recommended. Refer to the following table for more details:
AxN Series Resistance (Ω) Power (W)
AxN 15.30.4 18 60
AxN 22.44.4 12 60
AxN 35.70.4 7 60
AxN 50.100.4 5 60
AxN 70.140.4 3.5 60
AxN 90.150.4 3.5 150
AxN 110.200.4 3 150
AxN 110.250.4 3 150
AxN 150.300.4 3 150
Activation
Use the attached shortcut wire to connect the Terminals, Jump and DC+/B+, in order to activate the Internal Brake Resistor
inside the AxN Series Drive.

Use a 0.6×3.5×100 word

Removable terminal

3.5mm

screwdriver to loosen and

tight the screws on the
terminal. The tight torque
is 0.5 - 0.6Nm.

Internal brake resistor shortcut wire

Jump
DC+/B+
NOTE: Leave only the insulated part outside

Figure 4.2.19 Installation diagram of jump, Size2

48
 AxN Configurable Motion Control Platform

Internal brake resistor shortcut wire Word Phillips

screwdriver screwdriver
6mm PH2
NOTE: Leave
only the
insulated
part outside

120mm

120mm
Use a 1.0×6×120 Word
screwdriver or a PH2
Jump DC+/B+ Phillips screwdriver which
is longer than 120mm to
loosen and tight the
screws.The tight torque is
Jump DC+/B+ 4.0 - 4.5Nm.

Figure 4.2.20 Installation diagram of jump, Size3

Internal brake resistor shortcut wire NOTE: Leave

only the
insulated
part outside

Jump DC+/B+
6mm

Word Jump DC+/B+

screwdriver Use a 1.0×6×120 Word screwdriver
or a PH2 Phillips screwdriver which
Phillips 120mm is longer than 120mm to loosen and
screwdriver tight the screws.The tight torque
0 PH2 is 4.0 - 4.5Nm.

Figure 4.2.21 Installation diagram of jump, Size4

120mm Internal brake resistor shortcut wire

6mm

Word screwdriver

Use a 1.0×6×120
Word screwdriver
to loosen and
Jump DC+/B+
tight the screws.
The tight torque
is 4.0 - 4.5Nm.

Jump DC+/B+

Figure 4.2.22 Installation diagram of jump, Size5

49
 AxN Configurable Motion Control Platform

External Brake Resistor

The External Brake Resistor must be sized properly in order to dissipate the required power to decelerate the load in desired
time. There are three important factors: Resistance, Maximum Absorb Energy and Maximum Power.

Resistance
The selection of the external brake resistor resistance must be proper. If the resistance is smaller than Minimum Resistance,
the IGBT might be damaged by the overload brake current. And if the resistance is bigger than Maximum Resistance, the
brake procedure might be abort because of the high DC-Bus Voltage (over 900V).Refer to following table to check the
Minimum and Maximum Resistance of external brake resistor which is suitable for a particular drive:
AxN Series Minimum Resistance (Ω) Maximum Resistance (Ω)
AxN 15.30.4 18 18.4
AxN 22.44.4 9 13.8
AxN 35.70.4 6 7.9
AxN 50.100.4 4.5 5.5
AxN 70.140.4 2.1 4
AxN 90.150.4 3 3.7
AxN 110.200.4 3 3
AxN 110.250.4 3 3
AxN 150.300.4 3 3

Maximum Absorb Energy and Maximum Power

Maximum Absorb Energy and Maximum Power are two important factors to evaluate the energy absorption ability of the
brake resistor. The values of these two factors may differ from one application to another, but the basic idea is always the
same, to dissipate the required power to decelerate the load in desired time.
NOTE: Brake resistor wires’ insulation grade must be higher than 1000Vac and 3000Vdc.

Installation
Connect the brake resistor’s wires to the Terminals, DC+/B+ and B-. Then fix the wires on AxN drive’s cable support. For
AxN Size2 Series, the nominal torque to tight these terminals is 0.5 ~ 0.6 Nm; for AxN Size 3, 4 and 5, the nominal torque
to tight these terminals is 4.0 ~ 4.5 Nm. If the tight torque reaches higher than 8.5Nm, the terminal will be broken.
Removable terminal

Use a 0.6×3.5×100 word

3.5mm

screwdriver to loosen and

tight the screws on the
terminal. The tight torque
is 0.5 - 0.6Nm.

External brake resistor wires

B-

Cable tie DC+

NOTE: Leave only the insulated part outside

Figure 4.2.23 Installation diagram of external brake resistor, Size2

50
 AxN Configurable Motion Control Platform

External brake resistor wires Word Phillips

Cable tie screwdriver screwdriver
6mm PH2
NOTE: Leave
only the
insulated
part outside

120mm

120mm
Use a 1.0×6×120 Word
screwdriver or a PH2
B- DC+/B+ Phillips screwdriver which
is longer than 120mm to
loosen and tight the
screws.The tight torque is
B- DC+/B+ 4.0 - 4.5Nm.

Figure 4.2.24 Installation diagram of external brake resistor, Size3

External brake resistor wires Cable tie

NOTE: Leave
only the
insulated
part outside

B- DC+/B+
6mm

Word B- DC+/B+
screwdriver Use a 1.0×6×120 Word screwdriver
or a PH2 Phillips screwdriver which
Phillips 120mm is longer than 120mm to loosen and
screwdriver tight the screws.The tight torque
PH2 is 4.0 - 4.5Nm.

Figure 4.2.25 Installation diagram of external brake resistor, Size4

120mm External brake resistor wires

6mm

Cable tie

Word screwdriver

Use a 1.0×6×120
Word screwdriver
to loosen and
DC+/B+ B-
tight the screws.
The tight torque
is 4.0 - 4.5Nm.

DC+/B+ B-

Figure 4.2.26 Installation diagram of external brake resistor, Size5

51
 AxN Configurable Motion Control Platform

4.2.6 Clamping Function

Clamping function is an overvoltage protection function in the AxN Series Drive which is independent from the brake
chopper. Unlike the brake chopper, clamping is fully based on hardware, so that it can work in anytime, even when the
24Vdc auxiliary power supply is off. Moreover, due to its hardware design, the response time of the clamping function is
very short. The overvoltage threshold of clamping is about 930 ~ 940Vdc and the undervoltage threshold is about
890Vdc. This means that when the DC bus voltage is over 930 ~ 940Vdc, the clamping circuit begins to reroute the
regenerated energy to the external brake resistor, and when the DC bus voltage is under 890Vdc, the clamping circuit
stops rerouting.
WARNING: The external brake resistor must be connected to the drive, otherwise the clamping function cannot work.
The table below describes the difference between Clamping and Brake:
Brake Clamping
Framework Software + Hardware Hardware
Auxiliary Power Supply Need No need
Respond Time 100µs class µs class
Overvoltage Threshold Programmable, but must under 900Vdc Not programmable, about 930 ~ 940Vdc
Undervoltage Threshold Programmable, but must under 900Vdc Not programmable, about 890Vdc
Operation Condition Only when drive is power on Any condition
External Resistor The external resistor must be connected

Application: Field Weakening Motor Abnormal Stop Protection

If some abnormal events happen which turn off the main power and auxiliary power simultaneously when the motor is
working on field weakening mode, the field weakening current Id will be therefore lost as well. At this moment, the DC
voltage suddenly rises, almost stepwise, proportionally to the motor speed and is delayed by the charging of the DC-Link
capacitance. Since the drive power is off, the brake chopper is unavailable. Without the clamping, the voltage will eventually
rise above the IGBT‘s threshold and then break the IGBT. However, with the clamping circuit, as soon as the voltage reaches
the clamping overvoltage threshold, the clamping circuit will reroute the regenerated energy to external brake resistor in
order to lower the voltage and protect the IGBT. In the meantime, clamping the motor will generate a braking torque at the
motor. As the motor slows down, the voltage will also decrease proportionally until the voltage is below the clamping
threshold. This is how clamping protects the drive in any condition even without the auxiliary power.

52
 AxN Configurable Motion Control Platform

4.2.7 Motor Power Output Port (P2)

AxN Series Drive’s Motor Power Output Port (P2) has 5 terminals: A, PE, B, PE and C. The appearance of P2 ports may be
different depend on Sizes. But they all have a same function: Output Power to the Motor.

Port Location
AxN Series Drive’s Motor Power Output Port (P2) is on the bottom of the drive. Refer to the following figures for exact
locations on different Sizes Drives.

PE B
C A

Figure 4.2.27 Motor power output port (P2), Size2

A PE B PE C

Figure 4.2.28 Motor power output port (P2), Size3

53
 AxN Configurable Motion Control Platform

A PE B PE C

Figure 4.2.29 Motor power output port (P2), Size4

PE A B C PE

Figure 4.2.30 Motor power output port (P2), Size5

Terminal Configuration
AxN Series Drive’s Motor Power Output Port (P1) has 5 terminals: A, PE, B, PE and C (AxN Size5 Series use the PE
terminals on the shield as its P2 PE terminal). The only function of P2 port is to transport power to the motor through
Motor Power Cable. The wires of the Motor Power Cable must correspond one to one with the terminals on the P2 port.
Refer to following table for more details:
Motor Power Motor Power
Descriptions
Output Port (P2) Cable
A U/1 Phase U wire must connect to A terminal
B V/2 Phase V wire must connect to B terminal
C W/3 Phase W wire must connect to C terminal
PE PE Grounding wire PE can connect to either one of PE terminals
WARNING: The correspondence between the Motor Power Output wires and terminals should be adhered! Otherwise the
motor cannot work properly!
54
 AxN Configurable Motion Control Platform

4.2.8 Motor Power Output

Cable
Wire Gauge
AxN series drive must use a 4 wire cable with shield as its Motor Power Output cable. Refer to the table below to select
the appropriate cables for different types:
AxN Series Current (A rms) Recommended Gauge (mm2) Recommended Gauge (AWG)
AxN 15.30.4 15 4.17 11
AxN 22.44.4 22 5.26 10
AxN 35.70.4 35 8.37 8
AxN 50.100.4 50 13.3 6
AxN 70.140.4 70 16.77 5
AxN 90.150.4 90 21.15 4
AxN 110.200.4 110 26.67 3
AxN 110.250.4 110 26.67 3
AxN 150.300.4 150 33.62 2
Pre-insulated Crimp Terminals
Crimping pre-insulated Terminals on the wires will enhance the connection stability and simplicity between the cable and
drive. AxN Size 2, 3 and 4 series drives are recommended to use the E Series Cord End Terminals manufactured by KST.
And AxN Size 5 series drives are recommended to use the RNY Series Ring Terminals also manufactured by KST. Refer to
the following table to select the appropriate terminals for different types:
NOTE: AxN Size5 Series’ Cable MUST be crimped with Ring Terminals before installation.
AxN Series Recommended Pre-insulated Crimp Terminals Recommended Strip Length(mm)
AxN 15.30.4 E4012 14
AxN 22.44.4 E6012 14
AxN 35.70.4 E10-12 14
AxN 50.100.4 E16-12 14
AxN 70.140.4 E16-12 14
AxN 90.150.4 RNYB22-8(Phase) / RNYBS22-6(Ground) 12
AxN 110.200.4 RNYB22-8(Phase) / RNYBS22-6(Ground) 12
AxN 110.250.4 RNYB22-8(Phase) / RNYBS22-6(Ground) 12
AxN 150.300.4 RNYB22-8(Phase) / RNYBS22-6(Ground) 12
Cable Shield Grounding
Wiring the cable shield to ground is a very helpful method to reduce interference. Follow these two precautions to ground
the cable shield:
3. Pull out some shield and fix it on the outside of the cable with heat-shrink tube.
4. Use a drainage line to connect the Cable Shield and PE (Ground) wire.
Cable Sketch
Coat Heat-shrink tube Shield Drainage line Cord end terminal

PE
U
V
W

60mm 40mm 160mm Heat-shrink label

Figure 4.2.31 Cable sketch of motor power output, AxN Size2, Size3 and Size4
Coat Heat-shrink tube Shield Drainage line Ring Terminals

PE
U
V
W

60mm 40mm 160mm Heat-shrink label

Figure 4.2.32 Cable sketch of motor power output, AxN Size5

Motor Power Output Installation

Wiring and Torque Specification
Insert the 4 wires of the motor power cable into the correspond terminals on the P2 port: U to A, V to B, W to C and PE to

55
 AxN Configurable Motion Control Platform

PE. The nominal torque to tight these terminals is 4.0 ~ 4.5Nm. If the tight torque reaches higher than 8.5Nm, the terminal
will be broken.
Cable Fixing
Use a hose clamp to fix the cable on the cable support. Make sure that the cable shield has a large-area contact against the
cable support, so that they can together be grounded through drive housing.

Figure 4.2.33 Installation diagram of motor power output, Size2

Figure 4.2.34 Installation diagram of motor power output, Size3

56
 AxN Configurable Motion Control Platform

Figure 4.2.35 Installation diagram of motor power output, Size4

Figure 4.2.36 Installation diagram of motor power output, Size5

57
 AxN Configurable Motion Control Platform

4.3 Control Circuit

4.3.1 Auxiliary Power Supply (AUX Power)

Auxiliary Power Supply Requirement
Main Supply AxN Size2 AxN Size3 AxN Size4 AxN Size5
Voltage 24V
Type DC power
Fluctuation of Voltage ±15% (22.8 ~ 25.2V)
Nominal Power 72W 144W 192W
Nominal Current 3A 6A 8A

Port Location
AxN Series Drive’s Auxiliary Power Supply Port (Female Plug, 4Pin) is on the right bottom of the drive. And a corresponding
Auxiliary Power Supply Terminal (Male Plug, 4Pin) is provided in the accessories. Refer to the following figures for exact
locations on different Sizes Drives.

1 2 3 4

24 V_AUX GND_AUX

24 V_SAF_H 24 V_SAF_L

AxN Size2 Series

Auxiliary Power Supply Terminal
(Female Plug)

Figure 4.3.1 Auxiliary power supply 24V port, Size2

58
 AxN Configurable Motion Control Platform

1 2 3 4

24 V_AUX GND_AUX

24 V_SAF_H 24 V_SAF_L

AxN Size3 Series

Auxiliary Power Supply Terminal
(Female Plug)

Figure 4.3.2 Auxiliary power supply 24V port, Size3

1 2 3 4

24 V_AUX PE_AUX

24 V_SAF_H 24 V_SAF_L

AxN Size4 Series

Auxiliary Power Supply Terminal
(Female Plug)

Figure 4.3.3 Auxiliary power supply 24V port, Size4

59
 AxN Configurable Motion Control Platform

1 2 3 4

24 V_AUX PE_AUX
24 V_SAF_H 24 V_SAF_L

AxN Size5 Series

Auxiliary Power Supply Terminal
(Female Plug)

Figure 4.3.4 Auxiliary power supply 24V port, Size5

Terminal Configuration
Pin Name Function Description
1 24V_AUX Control circuit power supply 24Vdc Positive
2 24V_SAF_H STO high-side power bridge power supply 24Vdc Positive
3 24V_SAF_L STO low-side power bridge power supply 24Vdc Positive
4 GND_AUX Reference ground 24Vdc Negative

60
 AxN Configurable Motion Control Platform

4.3.2 Safe Torque Off Function (STO)

General
The Safe Torque Off (STO) is a functional safety feature in a safety control system, which allows AxN series drive to disable
motor output so that the drive cannot generate torque in the motor shaft. All AxN series drives implement the STO function
according to the IEC 61800-5-2 standards which meet the SIL3 requirements. It may be used to avoid unexpected starts
in according to IEC 60204 standard.
Safety of Machinery Standards
» IEC 61800-5-2 Adjustable speed electrical power drive systems. Safety requirements. Functional
This standard specifically relates to drives which offer safety functions. It uses the same SIL measure of integrity as
IEC 62061. SIL can take values from 1 to 4, with machinery applications being restricted to a maximum level of 3.
» IEC 60204-1 Safe of machinery. Electrical equipment of machines. General requirements
This standard does not directly define integrity requirements for safety-related control systems, but it does include
important definitions for aspects such as methods of stopping a machine and emergency stop facilities. Emergency
stop - stop category 0 (according to EN 60204-1) means that the power to motor is cut off immediately. Stop category
0 is equivalent to the safe torque off function, as defined by standard IEC 61800-5-2.
NOTE!
The STO function is not the same as a prevention of unexpected start-up function. For fulfilling those requirements,
additional external components are required according to appropriate standards and application requirements. Required
extranl components may be for example:
» Appropriate lockable switch
» A safety relay providing a reset function
NOTE!
Do not use the STO function as a standard stop function of the drive.
NOTE!
In an IGBT fault situation, the shaft of a permanent magnet motor can rotate up to 180 degrees around the pole of the
motor.

Certifications
Please refer to Appendix: Certifications——6.1 Safe Torque Off Catifications to check the Safe Torque Off (STO)
cartificarions of AxN series drive.
NOTE!
Although AxN 110.250.4 and AxN 150.300.4 have a complete Safe Torque off function, just as other AxN size5 series
drives, these two types’ certification applications are still in process. If you want to use these two types, please contact
PHASE engineer for more information.

Definition
The term “Safe Torque Off” is defined in the standard for safety functions in IEC 61800-5-2.

When the STO function is activated, this function will bring the machine safely into a non-torque state and/or prevent it
from starting accidentally. The STO function can be used to effectively implement the prevention of unexpected startup
functionality, thus making stops safe by preventing the power only to the motor, while still maintaining power to the main
drive.

Function requested
│n│

0
t
61
 AxN Configurable Motion Control Platform

Figure 4.3.5 Safe Torque Off function request

Electrical shock hazard. Safe torque off can’t protect against electrical hazards. Verify that all sources
of AC and DC power are deenergized.

To avoid an electric shock hazard, verify that the DC bus voltage has discharged before performing any
work on the servo drive. Check the DC bus voltage between DC+ and DC- terminals by multi-meter or
the DC bus voltage parameter in the PHASE software-LogicLab cockpit. The voltage must be less than
24V.

After activating the STO function, the hazardous voltage may still be present at the motor. The operator
must disconnect power to the motor and verify the voltage is zero before performing any work on the
motor.

Principles of Safe Torque Off

The AC induction motor requires a rotating magnetic field to produce torque, and this requires a three-phase alternating
current source at the motor input connectors. The servo drive will convert the DC current to alternating current by control
the switching action of 6 power semiconductor devices (IGBT).

AxN series drive contains a complex control circuit employing digital logic and one DSP plus one FPGA to generate the
correct switching sequence for corresponding IGBT. The PWM signals are conveyed from the control circuit to the power
semiconductor by optocouplers. In the safe torque off management shown in the following figure, the power supply to
optocouplers is provided by STO power supply. If the STO power supply is present the switching sequence can reach the
IGBTs. The STO function is implemented in hardware and overrides all software activities. The only software involvement is
to report STO status to the user by communication with the software.

Stop

Start
～
Interface MCU Logic To motor
User (ASIC) Opto Power
I/O
Module

Power supply to
optocouplers
STO

Figure 4.3.6 Safe Torque Off diagram

Technical Details
Power Supply Requirement
STO Power Supply AxN Size2 AxN Size3 AxN Size4 AxN Size5
Voltage 24V
Type DC power
Fluctuation of Voltage ±15% (22.8 ~ 25.2V)
Current for each Channel 15mA 30mA 200mA
Response Time
Safety function Activation time Deactivation time
Safe Torque Off (STO) <10ms 200ms
Connections
The STO function is implemented using two redundant channels: SH and SL, each channel uses its own +24V DC power
supply. Another two channels (+24V and GND) power the drive control and logic circuits. The connection diagram is shown
as the following figure:

62
 AxN Configurable Motion Control Platform

24V_SAFE_H
High-side
V+ 1: +24V Gate Drive
24V DC 2: SH
Power 3: SL
Supply V- 4: GND

Low-side
Auxiliary power 24V_SAFE_L
supply connector Gate Drive

Figure 4.3.7 Safe Torque Off connection

The SH channel manages the power supply of high-side bridge optocouplers, while the SL channel manages the power
supply of low-side bridge optocouplers. If the power supply of any one channel or both channels is absent, the STO function
is activated. The MCU will always monitor the voltage level of SH and SL. Once the level is lower than threshold, the MCU
will stop all switching sequence and send one warning “Safe Torque Off (STO) active”.
V+ +24V
SH
24V

SH SH
SL
SL
GND
SL
V- GND
Figure 4.3.8 Safe Torque Off terminal connection

STO Function Disable

If you do not want to use Safe Torque Off function in any circumstance, you can use an insertion bridge which is attached
in the accessary bag to short cut Pin 1: +24V, Pin2: SH and Pin 3: SL to disable the STO function. The connection diagram
is shown as the following figure:
Insertion bridge

24V_SAFE_H
High-side
DC+ 1: +24V Gate drive
24V DC 2: SH
Power 3: SL
Supply DC- 4: GND

Auxiliary power Low-side

supply connector 24V_SAFE_L
Gate drive

Figure 4.3.9 Safe Torque Off disable connection

V+ +24V

DC+

DC-

V- GND Insertion bridge

Figure 4.3.10 Safe Torque Off disable terminal connection
63
 AxN Configurable Motion Control Platform

4.3.3 System Relay (R1)

Port Location
AxN Series Drive’s System Relay Port (Female Plug, 3Pin) is on the right bottom of the drive. And a corresponding System
Relay Terminal (Male Plug, 3Pin) is provided in the accessories. Refer to the following figures for exact locations on different
Sizes Drives.

1 2 3

Com N.O. N.C.

AxN Size2 Series
System Relay Terminal
(Female Plug)

Figure 4. 3.5 System relay port (R1), Size2

1 2 3

Com N.O. N.C.

AxN Size3 Series
System Relay Terminal
(Female Plug)

Figure 4.3.6 System relay port (R1), Size3

64
 AxN Configurable Motion Control Platform

1 2 3

Com N.O. N.C.

AxN Size4 Series
System Relay Terminal
(Female Plug)

AxN Size4 Series

System Relay Port (R1)

Figure 4.3.7 System relay port (R1), Size4

1 2 3

Com N.O. N.C.

AxN Size5 Series
System Relay Terminal
(Female Plug)

AxN Size5 Series

System Relay Port（R1）
Figure 4.3.8 System relay port (R1), Size5

65
 AxN Configurable Motion Control Platform

Terminal Configuration
Pin Name Function Description
1 Com Common relay contact
2 N.O. Relay normally open contact To be used as drive system OK signal
3 N.C. Relay normally closed contact

Diagram
AxN Series Drive use a relay to indicate the status. When Drive is power off or system is not ready, the circuit is connected
between N.C. (Normally Closed) and Com. In the meantime, the circuit is disconnect between N.O. (Normally Open) and
Com, illustrated as below.

Figure 4.3.9 System not ready

When the drive is ready, N.O. connects Com and N.C. disconnects Com, illustrated as below.

Figure 4.3.10 System Ready

66
 AxN Configurable Motion Control Platform

4.4 Communication Port

4.4.1 Overview of Communication Port Panel

EtherCAT IN/OUT U3 U4

C1

U2
S1
U1
E1
Figure 4.4.1 Overview of communication port panel
Name Function Description
E1 Encoder Connector SinCos, EnDat, Digital Incremental with Hall, Resolver and Hiperface
4 Analog Inputs, 2 Analog Outputs;
U1/U2 User Connectors
8 Digital Inputs, 4 Digital Outputs
S1 Serial Bus Connector RS232, RS422 and RS485 / Secondary CAN
C1 CAN Connector Main CAN / Auxiliary Encoder
EtherCAT IN/OUT EtherCAT Connector RJ45 100Base-TX
Insolated User Connectors Insolated: 3 Analog Inputs, 2 Analog Outputs;
U3/U4
(Optional) 8 Digital Inputs, 2 Digital Outputs. Optional

67
 AxN Configurable Motion Control Platform

4.4.2 E1 Connector——Main Encoder Port

AxN Series Drive’s Main Encoder Port is used to connect motor‘s position sensor (encoder). AxN Series Drive can support
5 different kinds of position sensor: SinCos Encoder, EnDat Encoder, Digital Incremental Encoder with Hall, Resolver and
Hiperface Encoder. Different position sensor has different pin assignment, refer to correspond section for more details.

If the motor is manufactured by Phase Motion Control, our Prefabricated Encoder Cables are recommended. Refer to:
Appendix: Prefabricated Cable——5.2 Encoder Cable for more details.

Port Location
AxN Series Drive’s Main Encoder Port (Female Plug, 15 Pin D-Sub) is on the right bottom of the Communication Port Panel.
Refer to the following figures for exact location.

Figure 4.4.2 Main encoder port

68
 AxN Configurable Motion Control Platform

4.4.3 Sincos Encoder

Pin Assignment
Pin Name Function Signal Description
1 GND Supply ground Encoder ground
2 SIN+ Encoder absolute channel 1 Vpp differential
3 COS+ Encoder absolute channel 1 Vpp differential
4 COS- Encoder absolute channel 1 Vpp differential
5 SIN- Encoder absolute channel 1 Vpp differential
6 +Vcc Encoder supply, 5Vdc Positive supply voltage
7 A+ Encoder incremental channel 1 Vpp differential
8 KTY+ Thermal sensor positive
9 I- Encoder index 1 Vpp differential
10 —— —— ——
11 —— —— ——
12 A- Encoder incremental channel 1 Vpp differential
13 B- Encoder incremental channel 1 Vpp differential
14 I+ Encoder index 1 Vpp differential
15 B+ Encoder Incremental channel 1 Vpp differential

Connection Table (with Ultract Series Motors)

Figure 4.4.3 Encoder cable definition, Sincos

1) N/C——No Connection;
2) Connector back shell shielded 360°(Both ends);
3) ● means that the shield or cable should connect to connectors.

69
 AxN Configurable Motion Control Platform

4.4.4 Endat Encoder

Pin Assignment
Pin Name Function Signal Description
1 GND Supply ground Encoder ground
2 —— —— ——
3 CLOCK+ Endat clock TTL
4 CLOCK- Endat clock TTL
5 —— —— ——
6 +Vcc Encoder supply, 8Vdc Positive supply voltage
7 —— —— ——
8 KTY+ Thermal sensor positive
9 DATA- Endat data TTL
10 —— —— ——
11 —— —— ——
12 —— —— ——
13 —— —— ——
14 DATA+ Endat data TTL
15 —— —— ——

Connection Table (with Ultract Series Motors)

Figure 4.4.4 Encoder cable definition, Endat

1) N/C——No Connection;
2) Connector back shell shielded 360°(Both ends);
3) ● means that the shield or cable should connect to connectors.

70
 AxN Configurable Motion Control Platform

4.4.5 Digital Incremental Encoder with Hall

Pin Assignment
Pin Name Function Signal Description
1 GND Supply ground Encoder ground
2 —— —— ——
3 H1 Hall sensor TTL
4 H2 Hall sensor TTL
5 H3 Hall sensor TTL
6 +Vcc Encoder supply, 8Vdc Positive supply voltage
7 B+ Encoder incremental channel TTL
8 KTY+ Thermal sensor positive
9 I- Encoder index TTL
10 —— —— ——
11 —— —— ——
12 B- Encoder incremental channel TTL
13 A- Encoder incremental channel TTL
14 I+ Encoder index TTL
15 A+ Encoder incremental channel TTL

Connection Table (with Ultract Series Motors)

Figure 4.4.5 Encoder cable definition, Digital incremental

1) N/C——No Connection;
2) Connector back shell shielded 360°(Both ends);
3) ● means that the shield or cable should connect to connectors.

71
 AxN Configurable Motion Control Platform

4.4.6 Resolver
Pin Assignment
Pin Name Function Signal Description
1 —— —— ——
2 SIN+ Absolute channel Differential signal
3 COS+ Absolute channel Differential signal
4 COS- Absolute channel Differential signal
5 SIN- Absolute channel Differential signal
6 —— —— ——
7 —— —— ——
8 KTY+ Thermal sensor positive
9 —— —— ——
10 RESEX+ Resolver energising + 8kHz sinusoidal wave
11 RESEX- Resolver energising - 8kHz sinusoidal wave
12 —— —— ——
13 —— —— ——
14 —— —— ——
15 —— —— ——

Connection Table (with Ultract Series Motors)

Figure 4.4.6 Encoder cable definition, Resolver

1) N/C——No Connection;
2) Connector back shell shielded 360°(Both ends);
3) ● means that the shield or cable should connect to connectors.

72
 AxN Configurable Motion Control Platform

4.4.7 Hiperface Encoder

Pin Assignment
Pin Name Function Signal Description
1 GND Supply ground Encoder ground
2 —— —— ——
3 —— —— ——
4 —— —— ——
5 —— —— ——
6 +Vcc Encoder supply, 8Vdc Positive supply voltage
7 COS+ Process data channel TTL
8 KTY+ Thermal sensor positive
9 DATA- RS-485 parameter channel TTL
10 —— —— ——
11 —— —— ——
12 COS- Process data channel TTL
13 SIN- Process data channel TTL
14 DATA+ RS-485 parameter channel TTL
15 SIN+ Process data channel TTL

Connection Table (with Ultract Series Motors)

Figure 4.4.7 Encoder cable definition, Hiperface

1) N/C——No Connection;
2) Connector back shell shielded 360°(Both ends);
3) ● means that the shield or cable should connect to connectors.

73
 AxN Configurable Motion Control Platform

4.4.8 S1 Connector——Serial Bus Port

AxN Series Drive’s Serial Bus Port (S1) supports RS-232, RS-422, RS-485 and CAN protocol. But only one communication
interface can be used at a time.

Port Location
AxN Series Drive’s Serial Bus Port (Male Plug, 9 Pin D-Sub) is on the downside of drive‘s communication port panel. Refer
to the following figures for exact location.

5
4 9
8
3 7
2
6
1

Figure 4.4.8 Location of the serial bus port (S1)

74
 AxN Configurable Motion Control Platform

4.4.9 RS-232
Pin Assignment
Pin Standard RS-232 AxN RS-232 Function
1 DCD -- Data Carrier Detect
2 RXD RXD Received Data
3 TXD TXD Transmitted Data
4 DTR DTR Data Terminal Ready
5 GND GND Common Ground
6 DSR DSR Data Set Ready
7 RTS RTS Request To Send
8 CTS CTS Clear To Send
9 RI -- Ring Indicator

Notes:
1. RS-232 devices may be classified as Data Terminal Equipment (DTE) or Data Communication Equipment (DCE); this
defines at each device which wires will be sending and receiving each signal. AxN Series Drive is a Data Communication
Equipment (DCE), and a controller or a computer is a Data Terminal Equipment (DTE).
2. The signal voltage is ±12V, and the max current of DTR (Pin4) is 100mA.

Minimal "3-wire" Connection

A minimal "3-wire" RS-232 connection consisting only of transmit data, receive data, and ground, is commonly used when
the full facilities of RS-232 are not required. And it also the minimal connection requirement of Cockpit communication
with AxN Series Drive.
Connection table

1) N/C——No Connection;
2) Connector back shell shielded 360°(Both ends);
3) ● means that the shield or cable should connect to connectors.
Figure 4.4.9 RS-232 minimal "3-wire" connection table
Connection diagram

Figure 4.4.10 RS-232 minimal "3-wire" connection diagram

75
 AxN Configurable Motion Control Platform

Maximal "7-wire" Connection

When the controller has a full facilities of RS-232, "7-wire" connection is the maximal connection which AxN series drive
can support.
NOTE: Do NOT use "9-wire" connection, AxN series drive do not support DCD and RI function.
Connection table

1) N/C——No Connection;
2) Connector back shell shielded 360°(Both ends);
3) ● means that the shield or cable should connect to connectors.
Figure 4.4.11 RS-232 maximal "7-wire" connection table

Connection diagram

Figure 4.4.12 RS-232 maximal "7-wire" connection diagram

76
 AxN Configurable Motion Control Platform

4.4.10 RS422/RS485
Pin Assignment
Pin RS-422 RS-485 Function
1 --- --- --- 5
2 RX+ RX+(LN+) Receive Data + GND 4
9
3 TX- TX-(LN-) Transmit Data - 8
4 --- --- --- 3 RX-
5 GND GND Ground connection TX- 7
6 --- --- --- 2 TX+
7 TX+ TX+(LN+) Transmit Data +
RX+ 1
6
8 RX- RX-(LN-) Receive Data -
9 --- --- ---

RS-422 Connection Table

1) N/C——No Connection;
2) Connector back shell shielded 360°(Both ends);
3) ● means that the shield or cable should connect to connectors.
Figure 4.4.13 RS-422 connection table

RS-485 Connection Table

4) N/C——No Connection;
5) Connector back shell shielded 360°(Both ends);
6) ● means that the shield or cable should connect to connectors.
Figure 4.4.14 RS-485 connection table

77
 AxN Configurable Motion Control Platform

4.4.11 Auxiliary CAN

AxN Series Drive supports CANOpen protocol and has two independent CAN controller. The auxiliary CAN controller links to
the S1 connector.

Pin Assignment
Pin CANOpen Function
1 CAN_H CAN_H bus line (dominant high)
2 --- ---
3 --- ---
4 --- ---
5 GND Ground connection
6 --- ---
7 --- ---
8 --- ---
9 CAN_L CAN_L bus line (dominant low)
Note: CANOpen pin assignment on S1 connector does NOT meet CiA 102 Standard.
Connection Table

AxN Drive Controller

Twisted pair
CAN_H 1 7 CAN_H
120Ω 120Ω
Termination Termination
Resistor Resistor
CAN_L 9 2 CAN_L
GND 5 3 GND
2 N/C N/C 1
3 N/C N/C 4
4 N/C N/C 5
6 N/C N/C 6
7 N/C N/C 8
8 N/C Shield N/C 9

1) N/C——No Connection;
2) Connector back shell shielded 360°(Both ends);
3) ● means that the shield or cable should connect to connectors.
Figure 4.4.15 Auxiliary CANopen connection table
Connection diagram

AxN Drive Other CAN Device

120Ω
Termination
5 5
Resistor
5
9 9 9
4 4 4
Serial Bus 8 8 8
Port (S1)
3 7 3 120Ω
3
Termination
Male 2 7 2 Resistor
2 7
6 6 6
1 1 1

CAN Cable

AxN Drive Side Other CAN Device Side

Female (CiA 102 Standard)

Note: Only the first and the last CAN node device should use a 120Ω terminal resistor.
Figure 4.4.16 Auxiliary CANopen connection diagram

78
 AxN Configurable Motion Control Platform

4.4.12 C1 Connector——Main CAN Port

AxN Series Drive’s Main CAN Port (C1) connects to the main CAN controller inside the AxN drive. It the default CAN network
port of AxN drive. Moreover, C1 port can also be used as Auxiliary Encoder Port.

Port Location
AxN Series Drive’s Main CAN Port (Female Plug, 9 Pin D-Sub) is on the middle side of drive‘s communication port panel.
Refer to the following figures for exact location.

1
6
2
7
3
8
4
9
5

Figure 4.4.17 Location of the main CAN port (C1)

79
 AxN Configurable Motion Control Platform

4.4.13 Main CAN

AxN Series Drive supports CANOpen protocol and has two independent CAN controller. The main CAN controller links to the
C1 connector.

Pin Assignment
Pin CANOpen Function
1 --- ---
2 CAN_L CAN_L bus line (dominant low)
3 GND Ground connection
4 --- ---
5 --- ---
6 --- ---
7 CAN_H CAN_H bus line (dominant high)
8 --- ---
9 --- ---
Connection Table

AxN Drive Controller

Twisted pair
CAN_H 7 7 CAN_H
120Ω 120Ω
Termination Termination
Resistor Resistor
CAN_L 2 2 CAN_L
GND 3 3 GND
1 N/C N/C 1
4 N/C N/C 4
5 N/C N/C 5
6 N/C N/C 6
8 N/C N/C 8
9 N/C Shield N/C 9

1) N/C——No Connection;
2) Connector back shell shielded 360°(Both ends);
3) ● means that the shield or cable should connect to connectors.
Figure 4.4.18 Main CANopen connection table
Connection diagram

AxN Drive Other CAN Device

1 1 1
2 6 6 2 2 6
3 7 7 3 7
8 3 8
4 8 4 4
5 9 9 5 9
5 120Ω 120Ω
Termination Termination
Resistor Resistor

CAN Cable
Main CAN Port(C1) AxN Drive Side Other CAN Device Side
Female Male (CiA 102 Standard)

Note: Only the first and the last CAN node device should use a 120Ω terminal resistor.
Figure 4.4.19 Main CANopen connection diagram

80
 AxN Configurable Motion Control Platform

4.4.14 Auxiliary Encoder

C1 port is also the Auxiliary Encoder Port. It supports Endat Encoder IN, Incremental Encoder IN and Simulated Incremental
Encoder OUT. The output voltage of Simulated Incremental Encoder is 0 ~ 3.3V.

Endat Encoder (IN)

Pin Name Function
1 DATA+ Endat Data
2 --- ---
3 GND Ground connection
4 CLOCK- Endat Clock
5 --- ---
6 DATA- Endat Data
7 --- ---
8 CLOCK+ Endat Clock
9 --- ---

Incremental Encoder (IN/OUT)

Pin Name Function
1 B+ Encoder incremental channel
2 --- ---
3 GND Ground connection
4 A- Encoder incremental channel
5 I- Encoder index
6 B- Encoder incremental channel
7 --- ---
8 A+ Encoder incremental channel
9 I- Encoder index

81
 AxN Configurable Motion Control Platform

4.4.15 EtherCAT IN/OUT——EtherCAT Port

AxN Series Drive supports EtherCAT fieldbus protocol. And can be connected to a EtherCAT network through two connectors:
EtherCAT IN and EtherCAT OUT.

Port Location
AxN Series Drive’s EtherCAT Port is on the upside of drive‘s communication port panel, formed by two RJ45 100Base-TX
female plug. Refer to the following figure for exact location.

Figure 4.4.20 Location of the EtherCAT port (EtherCAT IN/OUT)

Pin Assignment
Pin Name Function
1 TX + Transmit Data +
2 TX - Transmit Data -
3 RX + Receive Data +
4 --- ---
5 --- ---
6 RX - Receive Data -
7 --- ---
8 --- ---

82
 AxN Configurable Motion Control Platform

4.4.16 U1/U2——User Connectors

Port Location
AxN Series Drive’s User Connectors (Male Plug, 2×12 pin) are on the left bottom of the Communication Port Panel. Refer
to the following figure for exact location.

Figure 4.4.21 Location of the user connectors (U1/U2)

Diagram

NOTE: All analog signal reference GND are the same, and all digital signal reference GND are the same.
Figure 4.4.22 User connectors’ diagram

83
 AxN Configurable Motion Control Platform

Pin Assignment
User Connector U1
Pin Name Function Signal Description
±10V, Zin=10KΩ, able to switch between differential mode
1 R0P (AI0) Programmable analog input
and single end mode(1)
±10V, Zin=10KΩ, able to switch between differential mode
2 R0N (AI1) Programmable analog input
and single end mode(1)
3 AO0 Programmable analog output 0 ~ 10V f.s., 30 mA
4 GND Analog reference ground Analog signals reference
5 DI0 Programmable digital input 6.6 kΩ to ground, 20-30 V
6 DI1 Programmable digital input 6.6 kΩ to ground, 20-30 V
7 DI2 Programmable digital input 6.6 kΩ to ground, 20-30 V
8 DI3 Programmable digital input 6.6 kΩ to ground, 20-30 V
9 DO0 Programmable digital output PNP open collector, 24 V, 100mA max
10 DO1 Programmable digital output PNP open collector, 24 V, 100mA max
11 N\C Undefined No connection
12 COM Digital signal reference Digital signal reference

User Connector U2
Pin Name Function Signal Description
13 GND Analog reference ground Analog signals reference
±10V, Zin=10KΩ, able to switch between differential mode
14 R1P (AI2) Programmable analog input
and single end mode(1)
±10V, Zin=10KΩ, able to switch between differential mode
15 R1N (AI3) Programmable analog input
and single end mode(1)
16 AO1 Programmable analog output 0 ~ 10V f.s., 30 mA
17 GND Analog reference ground Analog signals reference
18 DI4 Programmable digital input 6.6 kΩ to ground, 20-30 V
19 DI5 Programmable digital input 6.6 kΩ to ground, 20-30 V
20 DI6 Programmable digital input 6.6 kΩ to ground, 20-30 V
21 DI7 Programmable digital input 6.6 kΩ to ground, 20-30 V
22 DO2 Programmable digital output PNP open collector, 24 V, 100mA max
23 DO3 Programmable digital output PNP open collector, 24 V, 100mA max
24 COM Digital signal reference Digital signal reference
Notes:
1. AxN Series Drive has 4 single end analog inputs or 2 differential analog inputs, and they can be switched by software.
The default mode is differential mode. When analog inputs are in differential mode, pin R0P (U1-1) and pin R0N (U1-
2) map the R0 channel in software, and pin R1P (U2-14) and pin R1N (U2-15) map the R1 channel in software. On
the other hand, when analog inputs are in single end mode, pins: AI0 (U1-1), AI1 (U1-2), AI2 (U2-14) and AI3 (U2-
15) respectively map channels AI0, AI1, AI2 and AI3 in software.

84
 AxN Configurable Motion Control Platform

4.4.17 U3/U4——Insulated User Connectors

Port Location
AxN Series Drive’s Insulated User Connectors (Male Plug, 2×12 pin) are on the right of the Communication Port Panel.
Refer to the following figure for exact location.

Figure 4.4.23 Location of the insulated user connectors (U3/U4)

Diagram

NOTE: All analog signal reference GND are independent, but all digital signal reference GND are the same.
Figure 4.4.24 Insulated user connectors’ diagram

85
 AxN Configurable Motion Control Platform

Pin Assignment
Insulated User Connector U3
Pin Name Function Signal Description
1 AO4P Programmable analog output ±10V f.s., 30 mA
2 AO4G Analog reference ground Insulated reference ground
3 AO5P Programmable analog output ±10V f.s., 30 mA
4 AO5G Analog reference ground Insulated reference ground
5 AI4G Analog reference ground Insulated reference ground
6 AI4P Programmable analog input ±10V
7 AI5G Analog reference ground Insulated reference ground
8 AI5P Programmable analog input ±10V
9 AI6G Analog reference ground Insulated reference ground
10 AI6P Programmable analog input ±10V
11 DO8P Programmable digital output
On/Off switch, 9V ~ 28Vdc/2A
12 DO8N Programmable digital output
Insulated User Connector U4
Pin Name Function Signal Description
13 COM Digital reference ground Insulated reference ground for digital input
14 DO9P Programmable digital output
On/Off switch, 9V ~ 28Vdc/2A
15 DO9N Programmable digital output
16 DI8 Programmable digital input 5mA, 24Vdc max
17 DI9 Programmable digital input 5mA, 24Vdc max
18 DI10 Programmable digital input 5mA, 24Vdc max
19 DI11 Programmable digital input 5mA, 24Vdc max
20 DI12 Programmable digital input 5mA, 24Vdc max
21 DI13 Programmable digital input 5mA, 24Vdc max
22 DI14 Programmable digital input 5mA, 24Vdc max
23 DI15 Programmable digital input 5mA, 24Vdc max
24 COM Digital reference ground Insulated reference ground for digital input

86
 AxN Configurable Motion Control Platform

5 APPENDIX:
ACCESSORIES

AxN Configurable Motion Control Platform

Powered by Phase Motion Control
87
 AxN Configurable Motion Control Platform

5.1 Prefabricated Motor Power Output Cable

Order Code Definition
The Order Code can provide all the necessary specifications about a Prefabricated Motor Power Output Cable. Choose the
specifications and use the corresponding order cable to order.
Order Code PW -C -D16 -5 -GTV

Cable Type Power Cable

Motor Side/Drive Side

C = Ring terminal/Cord end terminal

F = Ring terminal/Ring terminal

Terminal Type
S = Stripped wires/Cord end terminal

R = Stripped wires/Ring terminal

A = Aviation plug/Cord end terminal

D1.5=4×1.5mm² B1.5=4×1.5mm²+2×__mm²

D2.5=4×2.5mm² B2.5=4×2.5mm²+2×__mm²

D04 =4×4mm² B04 =4×4mm²+2×__mm²

Wire Gauge(1) D06 =4×6mm² B06 =4×6mm²+2×__mm²

D10 =4×10mm² B10 =4×10mm²+2×__mm²

D16 =4×16mm² B16 =4×16mm²+2×__mm²

D25 =4×25mm² B25 =4×25mm²+2×__mm²

3=3m

5=5m
Length
7=7m

X(2)=X m

Shield Type G = General shielded I = General + Internal shielded N = No shield

Trace Chain or Not S = Standard T = Trace chain

Coat material V = PVC U = PUR(3)

Notes:
1. B in the Wire Gauge means power cable for motor with brake, the gauge of brake wires should be provided either;
2. Cable Length are not just 3, 5 and 7m, order whatever cable length you want;
3. Cable Coat made by PUR is oil resistant and wear resistant.

Example
Order Code: PW-C-D16-7-GTV
Power cable; terminal type of motor side is ring terminal, terminal type of drive side is cord end terminal; wire gauge is
4×16mm²; length is 7m; general shielded; trace chain; insulating layer material is PVC.

88
 AxN Configurable Motion Control Platform

5.2 Prefabricated Encoder Cable (for Phase Motors)

Order Code Definition
The Order Code can provide all the necessary specifications about a Prefabricated Encoder Cable. Choose the
specifications and use the corresponding order cable to order.
Order Code CE -X -A28 -5 -ISU -XX

CN = Endat Encoder (EQN1325/ECN1313)

CE = Endat Encoder (ECI1319/EQI1331)

Cable Type CS = Sincos Encoder

CR = Resolver

CH = Incremental with Hall sensor

X=Aviation plug / DB15(180°outlet)

Terminal Type
Y=Aviation plug/DB15(45°outlet)

Wire Gauge A28=AWG28

3=3m

5=5m
Length
7=7m

X(1)=X m

Shield Type G = General shielded I = General + Internal shielded N = No shield

Trace Chain or Not S = Standard T = Trace chain

Coat material V = PVC U = PUR(2)

Reserve Code Reserve

Notes:
1. Cable Length are not just 3, 5 and 7m, order whatever cable length you want;
2. Cable Coat made by PUR is oil resistant and wear resistant.

Example
Order Code: CE-X-A28-5-ISU
Endat cable (ECI1319/EQI1331); terminal type of motor side is aviation plug, terminal type of drive side is DB15
connector(180 °outlet); internal diameter is AWG28; length 5m; general and internal shielded; standard, not trace chain;
insulating layer material is PUR.

89
 AxN Configurable Motion Control Platform

6 APPENDIX:
CERTIFICATIONS

AxN Configurable Motion Control Platform

Powered by Phase Motion Control
90
 AxN Configurable Motion Control Platform

6.1 Safe Torque Off Catifications

91
AxN Configurable Motion Control Platform

92
AxN Configurable Motion Control Platform

93
AxN Configurable Motion Control Platform

94