Junus™ DC BRUSH

DIGITAL SERVOAMPLIFIER

• 100% Digital DC Brush MODEL Ic Ip VDC

Motor Servoamplifier JSP-090-10 5 10 90

• ±10V Analog and Digital N EW! JSP-090-20 10 20 90

Command Inputs JSP-180-10 5 10 180
for Torque & Tachless
JSP-180-20 10 20 180
Velocity Control
• Tachless Velocity Mode
with I-R Compensation
• Low Ripple, No Deadband
for Voice-Coil Motors
• Fast Set-Up with CME 2™
Software for Windows®

• Torque / Velocity Inputs:

+/-10V Analog
PWM/DIR Digital, 2-wire
PWM Digital, 50%

• 100% Digital Control of DESCRIPTION

Current loop The Junus™ digital servoamplifier puts for wide velocity bandwidths.
Velocity loop 100% digital control of DC brush mo-
tors in a panel-mounting package with Carrier-cancellation modulation all but
• I2T Current-limiting power options to 10A continuous and eliminates motor ripple current and dis-
for Motor Protection 20A peak from 20V to 180V DC power sipation at a standstill, and provides ex-
supplies. cellent crossover characteristics for
• CME 2™ Software voice-coil applications that demand low
• Auto-Tuning This new series features torque mode distortion around zero. PWM ripple is
• Powerful Oscilloscope & by controlling motor current, and veloc- at 40 kHz, further minimizing losses in
Signal Generator display ity mode by controlling motor back-emf. low-inductance motors.
• RS-232 Communications for Set-up is fast and automated by CME Velocity control is done by regulation of
Complete Amplifier Setup 2 ™ software operating under Win- motor back-emf with I-R compensation.
• Amplifier configurations saved dows®. Changes in load that would cause a
in non-volatile Flash memory speed change with only voltage control
CME 2™ communicates with Junus™ are sensed and the amplifier output volt-
• Mounts on same footprint as through an RS-232 link for complete am- age is increased to offset the internal
plifier setup. Auto-tuning algorithms in voltage drops, keeping back-emf con-
Copley 4xx models
CME 2™ slash set up times for fast sys- stant.
• CE Compliance: tem commissioning by automating cur-
rent and velocity-loop tuning. A power- All amplifier circuits are DC coupled and
89/336/EEC Electromagnetic
EN 55011 Compatibility
ful oscilloscope and signal generator operate from unregulated transformer-
EN 50082-1 display amplifier performance for fine isolated DC power supplies, or regu-
tuning thereafter. lated switching power supplies.
98/37/EC Safety of Machinery
EN 60204-1 Amplifier control parameters are saved The panel-mount package is compat-
UL 508C in non-volatile flash memory. OEM’s can ible with the mounting footprint of
inventory one part, and configure am- Copley’s 4xx series DC brush-motor
plifiers on-site to each axis in a machine. amplifiers, offering an easy upgrade to
100% digital control.
Current-loop sampling at 20 kHz yields
high-bandwidth with full adjustability.
The velocity loop is sampled at 4 kHz

Copley Controls Corp., 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 1 of 8
 Junus™ DIGITAL SERVOAMPLIFIER
DC BRUSH

GENERAL SPECIFICATIONS
Test conditions: Load = 1mH in series with 1 Ohm. Ambient temperature = 25 deg. C. +HV = HVmax
MODEL JSP-090-10 JSP-090-20 JSP-180-10 JSP-180-20
OUTPUT POWER
Peak Current 10 20 10 20 Amps DC
Peak time 1 1 1 1 Sec
Continuous current 5 10 5 10 DC or ACrms per phase
Peak Output Power 0.85 1.64 1.73 3.41 kWatts
Continuous Output Power 0.43 0.85 0.87 1.73 kWatts
INPUT POWER
HVmin~HVmax 20~90 20~90 20~180 20~180 VDC, Transformer-isolated
Ipeak 10 20 10 20 ADC (1 sec) peak
Icont 5 10 5 10 ADC continuous
PWM OUTPUTS
Type MOSFET H-bridge , 20 kHz center-weighted PWM carrier
PWM ripple frequency 40 kHz
BANDWIDTH
Current loop, small signal 3 kHz typical, bandwidth will vary with tuning & load inductance
HV Compensation HVmin to HVmax Changes in HV do not affect bandwidth
Current loop update rate 20 kHz
Velocity loop update rate 4 kHz
REFERENCE INPUTS
Analog torque & velocity reference +/-10VDC, 12 bit resolution Differential (J2-2,9)
Input impedance 66kΩ Between Ref(+), Ref(-)
Digital torque & velocity reference (Note 1) /PWM [IN5], /Polarity [IN4] PWM = 0~100%, Polarity = 1/0 (J2-3,4)
or PWM = 50% +/-50%, no polarity signal required
CONTROL INPUTS (NOTE 1)
/Enable [IN1] Amplifier enable (Note 1)
/Pos Enable [IN2] Positive torque or velocity limit switch (Note 1)
/Neg Enable [IN3] Negative torque or velocity limit switch (Note 1)
Input Polarity Active level is programmable via CME 2™ software
Electrical Logic threshold = +2.5V. Maximum input voltage = 30VDC
Input resistance 10 k Ohms to either +5V, or ground (selectable pull-up or pull-down via CME 2™)
SERIAL DATA INPUT
RS-232 RxD, TxD, Gnd in 6-position, 4-contact RJ-11 type modular connector, and on J2-8, 15, & 7.
Full-duplex, serial communication port for amplifier setup and control, 9600 to 115200 baud
MOTOR CONNECTIONS
Motor (+), (-) Amplifier outputs to DC brush motor or voice-coil motor with ungrounded winding.
STATUS INDICATORS
Amp Status Bicolor LED. Amplifier status indicated by color, and blinking or non-blinking condition as follows:
Green/Slow-Blinking = Amp OK, will run when enabled
Green/Fast-Blinking = Amp enabled but positive or negative limit switch inputs are active
Green/Solid = Amp OK and motor will move when commanded (Amp enabled)
Red/Solid = Transient fault condition: Over or under voltage
Red/Blinking = Latching fault condition: output or internal short circuit, amplifier over-temperature.
DIGITAL OUTPUT (NOTE 1)
Type Current-sinking MOSFET open-drain output with 1kΩ pullup to +5V through diode, 1A sink max, 40V max.
Functions Programmable to be either Fault (/Normal) output, or /Brake output for motor brake (see below)
Active Level Programmable to either HI (off, pull-up to +5V) or LO (on, current-sinking) when output is active
Fault [OUT1] ON (LO) when amplifier is enabled AND NOT fault, OFF (HI) if amplifier is disabled OR fault occurs
ON-state sinks current from external relay or load connected to external voltage source such as +24VDC.
/Brake [OUT1] Energizes motor brake to permit motor to move when amplifier is enabled (Note 1)
External flyback diode required with relay or other inductive loads
PROTECTIONS
HV Overvoltage +HV > HVmax Amplifier outputs turn off until +HV < HVmax (See Input Power for HVmax)
HV Undervoltage +HV < 20VDC Amplifier outputs turn off until +HV > 20 VDC
Amplifier over temperature PC Board > 70° C. Amplifier latches OFF until Enable input (Note 1) cycled, power off-on, or Reset.
Short circuits Output to output, output to ground, internal PWM bridge faults
I2T Current limiting Programmable: continuous current, peak current, peak time
Notes
1.Digital input & output functions are programmable. Default functions are shown here.

Copley Controls Corp., 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 2 of 8
 Junus™ DC BRUSH
DIGITAL SERVOAMPLIFIER

COMMUNICATION
Junus™ is configured via a three-wire, DIGITAL INPUTS
full-duplex RS-232 port that operates There are three digital inputs that con- when the motor overheats. If the in-
from 9600 to 115,200 Baud. CME 2™ trol the “enable” state of the amplifier: puts are set to pull-up to +5V, the other
provides a graphic user interface [IN1], [IN2], and [IN3]. All three inputs terminal of the motor switch should be
(GUI) to set up all of Junus™ features have 10k resistors that connect to a grounded. If the inputs are set to pull-
via a computer serial port. Connec- common level that is programmable down to ground, the motor temp switch
tions to the RS-232 port J3 are via an to be either ground, or +5V. Thus, all should then be connected to +5V.The
RJ-11 style connector, and through three inputs can be configured as pull- active-level setting is then set depend-
the signal connector J2 (J2-8, 15 & 7). up to +5V, or pull-down to ground. The ing on the type of switch: normally
RxD, TxD, and Gnd signals comprise default selection is pull-up to +5V. open, or normally closed.
the signals supported. The Serial [IN1] always functions as the Enable
Cable Kit contains a modular cable, input, and controls the ON/OFF state Level
and an adapter that connects to a 9- of the amplifier outputs. [IN1] can func-
pin, Sub-D serial port connector tion simply as the amp-enable or as 10k
74HC14

(COM1, COM2, etc.) on PC’s and the amp-enable with reset. With the [IN1]
[IN2]
compatibles. reset options selected, the amplifier [IN3] 10k
will reset when [IN1] goes from the
33nF
RxD TxD active to the inactive level. The default
selection is active-LO with no reset.
When this default is combined with the DIGITAL OUTPUT
1 2 3 4 5 6
input resistor default of pull-up to +5V, The digital output OUT1 is an open-
the amplifier is in a fail-safe condition. drain MOSFET with a 1k pull-up re-
In order to make the amplifier oper- sistor to +5V. This can sink up to 1A
ate, the enable input must be con- from external loads operating from
STATUS LED nected and must be grounded to op- power supplies to 30V.
A single bi-color LED gives the state of erate the amplifier. If a wire were to The output can function as either an
the amplifier by changing color, and ei- break, or the controller malfunction, amplifier status (Normal, Fault) or
ther blinking or remaining solid. The pos- the input would not be grounded and motor brake driver.
sible color and blink combinations are: the amplifier would not operate. The As an amplifier status output, the ac-
• Green/Solid: Amplifier OK AND en- active-LO with pull-up to +5V and ac- tive level is programmable to be HI or
abled. Will run in response to refer- tive-HI with pull-downs to ground are LO when the amplifier is enabled and
ence input. both fail-safe combinations. Active-HI operating normally. As a brake output,
• Green/Slow-Blinking: Amplifier with pull-up to +5V and active-LO with it is programmable to be either HI or
OK but NOT-enabled. Will run when pull-downs to ground are not fail-safe. LO to release a motor brake when the
enabled. These combinations are not typically amplifier is enabled.
• Green/Fast-Blinking: Positive or used because they permit the ampli- When driving inductive loads such as
Negative limit switch active. Amplifier fier to operate even if there is no con- a relay, an external fly-back diode is
will only move in direction not inhib- nection to the enable input. required. A diode in the output is for
ited by limit switch. The other two digital inputs, [IN2] and driving PLC inputs that are opto-iso-
• Red/Solid: Temporary fault condi- [IN3] have alternate functions that are lated and connected to +24V. The di-
t i o n . settable via CME 2™: ode prevents conduction from +24V
Amplifier will resume operation when • Positive Limit Switch through the 1k resistor to +5V in the
fault is removed. • Negative Limit Switch amplifier. This could turn the PLC in-
• Red/Blinking: Latching fault. Op- • Amplifier Reset put on, giving a false indication of the
eration will not resume until amp is • Motor temp sensor amplifier output state.
Reset or powered off-on. In addition to the alternate functions, +5V
Temporary fault conditions: Over or un- the active level for each input is indi-
der-voltage. vidually programmable. 1k
Latching fault conditions: Short-circuits Amplifier reset takes place on transi-
from output to output, output to tions of the input and is programmable
[O U T 1]
ground, and internal shorts or over to 1/0 or 0/1. The motor temp sensor
current conditions, or amplifier over- function will disable the amplifier if a
temperature. switch in the motor opens or closes

Copley Controls Corp., 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
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 Junus™ DIGITAL SERVOAMPLIFIER
DC BRUSH

REFERENCE INPUTS DIGITAL REFERENCE INPUTS

The Reference inputs command the am- There are two logic inputs for digital ref- Another type of PWM input is the “50%”
plifier to produce an output. Junus™ has erence signals that are programmable type. There is only one PWM signal that
analog and digital reference inputs. Only for controlling torque or velocity. If they connects to IN5. The other digital input,
one can be active at a time. are not used as reference inputs they IN4, is not used in this mode. A 50%
The analog input takes a +/-10V signal, can be programmed with the same func- duty-cycle corresponds to a zero-cur-
and the digital input(s) take either two, tions as [IN2] & [IN3]. The electrical rent command in torque mode, or a
or one digital signals to command mo- structure of these inputs is shown be- zero-speed command in velocity mode.
tor current or velocity. low: Duty-cycles of 0%, and 100% would
result in negative full-scale or positive
74HC14 full-scale outputs. The duty-cycle con-
ANALOG REFERENCE INPUT
The analog ±10V signal is an industry trols not only the magnitude, but also
[IN5]
standard for torque or velocity control. the polarity of the amplifier output.
1k
The analog reference input is a differ- 10k The scale-factor for amplifier-output vs.
100pF
ential amplifier which is to be connected PWM input is settable via CME 2™ soft-
to the motion controller ground and DAC ware in both cases.
output. Using a differential amplifier is +5V Duty = 50% ±50%
important because there may be poten- [IN5]
Current or
tial differences between the amplifier 10k
74HC14 Velocity
and controller grounds. A differential [IN4]
[IN4] <no connection> No function
amplifier rejects these differences and
1k
measures the controller output refer-
enced to ground at the controller. 100pF

The voltage between Ref(+) and Ref(-) MOTOR CONNECTIONS

inputs must be zero to produce a “zero” Motor connections are the positive and
amplifier output. Because the reference negative terminals of a DC brush motor,
amplifier is connected to +1.5V inter- For torque or velocity control, the inputs
or voice-coil motor. The connections
nally, grounding Ref(-), and allowing may be configured in two formats:
carry the amplifier output currents that
Ref(+) to be open will produce a large 1. PWM (0~100%) & Polarity
drive produce torque, or force in the
command, as will grounding Ref(+) and 2. PWM (50%)
case of a voice-coil.
letting Ref(-) be open. When wiring the In the first case, the PWM signal on IN5
The amplifier output is an H-bridge PWM
controller DAC output to the reference can vary from 0% to 100%, and the Po-
stage that converts the DC buss volt-
inputs, be sure to use both reference in- larity signal on IN4 is a DC level that
age (+HV) into voltage waveforms that
puts, and connect Ref(-) to ground at controls the direction of the motor. The
drive the motor winding. The output cur-
the controller, and not at the amplifier. PWM duty-cycle controls the amplifier
rents from the (+) and (-) outputs are
output current, or motor velocity. In cur-
balanced, so individual conductors in the
5k rent mode, 100% corresponds to the
motor cable should be sized for the con-
maximum output current. In velocity
33k tinuous current rating of the amplifier.
Ref(+) - mode, it commands the maximum ve-
Motor cabling should use twisted,
locity that is configured.
Ref(-) + shielded conductors for CE compliance,
IN5 has a pull-down resistor so that in
33k
and to minimize PWM noise coupling
case it is not connected, it defaults to
into other circuits. The motor cable
5k 0V which is equivalent to a duty-cycle
+ 1.5V shield should connect to motor frame
- of 0%. IN4 has a pull-up resistor to +5V
and an amplifier HV ground terminal (J1-
so that it can be controlled by an open-
3 ) for best results.
collector, TTL, or CMOS driver.
IMPORTANT!
ALWAYS CONNECT BOTH ANALOG REF INPUTS. Duty = 0~100%
THERE MUST BE ZERO VOLTS BETWEEN REF(+) & [IN5] M ot (+) +
REF(-) FOR ZERO OUTPUT FROM THE AMPLIFIER! Current or 1
Velocity MOTO R
M ot (-) -
J1 2
[IN4]
Polarity or Shld
3
Direction
Gnd

Copley Controls Corp., 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
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 Junus™ DC BRUSH
DIGITAL SERVOAMPLIFIER

nect to system ground and earth at MOUNTING & COOLING

GROUNDING CONSIDERATIONS
some point so that they are at same Junus™ has slots for mounting to pan-
All of the circuits in Junus™ share a com-
potential as the amplifier circuits. els at 0° or 90°. Cooling is by conduc-
mon circuit-ground (Ground on J1-2, 3
The final configuration should embody tion from amplifier heatplate to mount-
and Signal Ground on J2-7,10,11,12,
three current-carrying loops. First, the ing surface, or by convection
and J3-3 & 4). Input logic circuits are
power supply currents flowing into and to ambient.
referenced to Signal Ground, as are
out of the amplifier at the +HV and Gnd FUSING & PROTECTIONS
analog reference inputs, and the digital
pins on J1. Second the amplifier outputs Fusing of input power connections to
output. For this reason, amplifier Gnd
terminals should connect to the users’
driving currents into and out of the mo- Junus™ protects external circuits from
tor, and motor shield currents circulat- an uncontrolled failure of the amplifier.
common ground system so that signals
ing between the (+) and (-) outputs and Fusing of motor phase connections pro-
between amplifier and controller are at
Gnd. And, lastly, logic and signal cur- vides protection of the motor from
the same common potential, and to mini-
rents connected to the amplifier control overcurrents due to either mis-configu-
mize noise. The system ground should,
inputs and outputs. ration of the amplifier, or uncontrolled
in turn, connect to an earthing conduc-
failure of the amplifier. Motor phase fus-
tor at some point so that the whole sys- Controller Am plifier
ing is recommended for motor applica-
tem is referenced to “earth”. Mot (+)

Control tions that have lower thermal capacities.

Because current flow through conduc- I/O M ot (-)
M OTO R

In many applications, Junus™ will have

tors produces voltage-drops across
G nd peak and continuous ratings greater
them, it is best to connect the amplifier
G nd than the motors’ ratings, so operator er-
HV Gnd to system earth, or circuit-com- - Power
Signal Gnd +H V Supply rors during setup or adjustments can
mon through the shortest path, and to +
easily damage the motor with little stress
leave the power-supply floating. In this Keep as short as possible
to the amplifier.
way, the power supply (-) terminal con- Equipm ent frame
Earth
nects to ground at the amplifier HV Gnd Keep connections as close as possible.
Depending on the application, fast-act-
terminals, and the voltage drops across "Star" ground to a comm on point is best
ing fuses may be the fuse of choice for
the cables will not appear at the ampli- motor phase protection. Typically, one
POWER SUPPLIES
fier ground, but at the power supply fuse provides sufficient protection for
Junus™ operates typically from trans-
negative terminal where they will have motor currents as the motor currents
former-isolated, unregulated DC power
less effect. sum to zero. If grounding of the motor
supplies. These should be sized such
Motor phase currents are balanced, but winding is possible, then two fuses
that the maximum output voltage under
currents can flow between the PWM would provide complete protection for
high-line and no-load conditions does
outputs, and the motor cable shield. To any overcurrents flowing out of the am-
not exceed the amplifiers maximum volt-
minimize the effects of these currents plifier and into the motor.
age rating. Power supply rating depends
on nearby circuits, the cable shield on the power delivered to the load by Sizing of motor phase fuses should take
should connect to Gnd (J1-3). the amplifier. In many cases, the con- into account the peak and rms current
The amplifier case does not connect to tinuous power output of the amplifier is over the anticipated duty cycle of the
any amplifier circuits. Connections to the considerably higher than the actual motor, and motor ratings. The final value
case are provided on connector J2-1. power required by an incremental mo- selected should be tested in the equip-
Cables to this connector should be tion application. ment to prove that no false tripping oc-
shielded for CE compliance, and the Operation from regulated switching curs under worst-case temperature and
shield should connect to this terminal. power supplies is possible if a diode is operating-current conditions.
When installed, the amplifier case placed between the power supply and
should connect to the system chassis. The maximum input current to the am-
amplifier to prevent regenerative energy plifier should not exceed its rated out-
This maximizes the shielding effect of from reaching the output of the supply.
the case, and provides a path to ground put currents under normal operating
If this is done, there must be external conditions. Time-delay fuses typically
for noise currents that may occur in the capacitance between the diode and
signal cable shield. carry 75% of their rating continuously,
amplifier. so choosing a fuse that can cary 33%
Signals from controller to amplifier are
referenced to controller ground, and +HV (+)
more current than the continuous cur-
other power supplies in user equipment. Switching rent rating of the amplifier should be pre-
Junus
These power supplies should also con- Am plifier
Power vent false tripping. The DC voltage rat-
G nd (-) Supply ing should be sufficient to carry the am-
plifier +HV operating voltage.

Copley Controls Corp., 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
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 Junus™ DIGITAL SERVOAMPLIFIER
DC BRUSH

AMPLIFIER CONNECTIONS

Fram e Earth
M otion Connection
Controller 1 Fram e Gnd

Analog ±10V
Torque or D AC 2 Ref(+) Input
Velocity
Reference
Output Gnd
9 Ref(-) Input

Digital
Torque & Velocity
7 Signal Gnd
J2
Ref Outputs

PW M
PW M Digital Ref Input
0~100 3
50% [IN5]
%

none
POL Digital Ref Input Fuse
4 +
(DC) [IN4] M otor (+) 1
M OTO R
Fuse
-
M otor (-) 2
Enable Input
AMP ENABLE 13
[IN1]

5
Pos Enable
[IN2]
J1
LIMIT SW ITCHES
Fuse
Neg Enable +HV Input 5 +
6
[IN3]
DC
10 Signal Gnd Power

GND 11 Signal Gnd Gnd 4 -

12 Signal Gnd

AMP STATUS 14 Fault-Brake G nd 3

Output
[OUT1]
Circuit Gnd Earth
Controller TxD 8 RS-232 RxD Input
RS-232
I/O RxD 15 RS-232 TxD O utput
RS-232 signals connect
to both J3 & J4.
Only one external
connection can be
active at a time

PC or
RS-232 6
DTE
1 2 2 5 TxD
5
6 Yellow
D-Sub 9-pos

RxD
Modular Jack

G nd
RJ-11 6P4C
Fem ale

4
TxD
5 5 3
3
Red
9 3 3 2 RxD
Gnd 2
Black
5
PC Serial
1
Sub-D to RJ-11
Port Modular
D-Sub
9-pos
RJ-11
Adapter
Cable J3
Male

Serial Cable Kit

NOTES
1. Input resistors for [IN1], [IN2], and [IN3] connect to a common bus that is programmable to be
+5V or ground to give a pull-up or pull-down function.
2. The function and active level of the following signals are programmable. Default functions are shown.
J2-5 [IN2] Pos Enable Input
J2-6 [IN3] Neg Enable Input
J2-14 [OUT1] Fault Output
3. The function of [IN1] is always Amplifier Enable and is not programmable.
The active level of [IN1] is programmable, and amplifier Reset with enable is programmable.

Copley Controls Corp., 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
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 Junus™ DIGITAL SERVOAMPLIFIER
DC BRUSH

AMPLIFIER CONNECTORS MATING (CABLE) CONNECTORS

J1: +HV, Gnd, & Motor Outputs P1: Molex/Beau 5,08mm, Eurostyle®, 5-position terminal
Molex/Beau 5,08mm, Eurostyle®, 5-position receptacle. block 860505-00, or equivalent.
J2: Signal: P2: Sub-D, 15-position, male, #4-40 locking screws.
Sub-D, 15-position, female. #4-40 standoffs for
cable connector shell screws. P3: Modular plug. 6-position, 4-contact

J3: RS-232: Note: Junus Connector Kit #84-00066-000 contains one each of the
Modular connector. RJ-11 style P1 & P2 connectors. P3 is part of cable assembly in
6-position, 4-contact. Serial Cable Kit p/n 84-00064-00.

PIN J1 SIGNAL

5 +HV 5 +HV Input

GND 4 Ground
GND 3 Ground
J1 M
- O 2 Motor (-) Output
T
1 + O 1 Motor (+) Output
R

PIN J2 SIGNAL
J2 SIGNAL PIN
8 RS-232 RxD
RS-232 TxD 15
8
7 Signal Ground
Fault Output 14 15
6 Rev Enable
Enable Input 13
J2 5 Fwd Enable
Signal Ground 12
4 Direction Input
Signal Ground 11 9
1 3 PWM Input
Signal Ground 10
2 Ref(+) Input
Ref(-) Input 9
1 Chassis Ground

J3 SIGNAL PIN
No Connection 6
TxD Output 5
1

J3
Signal Ground 4
6

Signal Ground 3
RxD Input 2
No Connection 1

NOTES
1. Input resistors for [IN1], [IN2], and [IN3] connect to a common bus that is programmable to be
+5V or ground to give a pull-up or pull-down function.
2. The function and active level of the following signals are programmable. Default functions are shown.
J2-5 [IN2] Pos Enable Input
J2-6 [IN3] Neg Enable Input
J2-14 [OUT1] Fault Output
3. The function of [IN1] is always Amplifier Enable and is not programmable.
The active level of IN1 is programmable, and amplifier Reset with enable is programmable.

Copley Controls Corp., 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 7 of 8
 Junus™ DC BRUSH
DIGITAL SERVOAMPLIFIER

DIMENSIONS
5.10
(129,5)
4.80
(121,9)

0.87
(22,1)
0.15
(3,81)

Junus ™ 2.00
(50,8)
3.22
(81,79)

J1
MOT
J2 J3
G ND

G ND

STA TU S
+ HV

(+ )
(-)

8 1 1 6
SIG N AL R S-232
5 4 3 2 1 15 9

0.16
(4,06)

0.33
(8,38)

1.17
(29,72)

0.17
(4,32)

Notes
1. Dimensions shown in inches (mm).

ORDERING GUIDE

ORDERING INSTRUCTIONS
PART NUMBER DESCRIPTION
Example: Order 1 JSP-090-20 amplifier with
JSP-090-10 Junus™ Servoamplifier 5/10A @ 90VDC associated components:

ASP-090-20 Junus™ Servoamplifier 10/20A @ 90VDC Qty Item Remarks

1 JSP-090-20 Junus™ servoamplifier
ASP-180-10 Junus™ Servoamplifier 5/10A @ 180VDC 1 84-00066-000 Connector Kit
1 84-00064-000 Serial Cable Kit
ASP-180-20 Junus™ Servoamplifier 10/20A @ 180VDC 1 95-00203-000 CME 2™ CD
84-000xx-000 Connector Kit for Junus™ amplifier

84-00064-000 Serial Cable Kit (1 per computer)

95-00203-000 CME 2™ CD (CME 2™, Manual)

Rev 1.06_fr 02/08/2002

Copley Controls Corp., 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 8 of 8