Connecting an Emoteq (Hathaway) BH02300E06HE BH series NEMA23 Servo Motor to a Copley ACP-180-018 Servo Drive

The BH02300E06HE is a single stack 4 pole NEMA23 high speed brushless DC servo motor with a custom E winding and a US Digital E3-1000-250-I encoder. The original manfacturer was Hathaway, which has since become the Emoteq division of Allied Motion Technologies. It looks like Allied Motion doesn't want to acknowledge the BH series, but the datasheet is still available from them here (it took a bit of googling to find it).

The E3 encoder is a 1000 line (4000 count/rev) incremental optical encoder for a 0.25" shaft with index pulse. The standard E3 encoder has single ended outputs; however, the one on the BH02300E06HE has a differential line driver with flying leads. It is not a standard US Digital line driver (PC4 or PC5), since those have a 10 position pin header instead of flying leads.

I was able to verify the location of the A+,A-,B+,and B- signals, but I am not positive I have the I+ and I- phases correct..

One of my two BH02300 motors does not have the index signals (I+, I-) connected, and does not appear to output the index pulse, even if you connect wires to the empty positions.

I highly recommend having some strain relief near the encoder - the connections can be very brittle and break easily, and it's not easy to re-solder the wires. It would have been much nicer if Hathaway had used a PC4 line driver.

The Copley Accelnet drives accept almost any cable configuration, since they will auto-phase to figure out the correct motor phase, hall phase, and encoder phase sequence. However, my connections below minimize any changes; in other words, the motor phasing is not inverted, the encoder is not inverted, and the hall sensor order is UVW. My connections are done so positive motion is the shaft turning clockwise when facing the motor.

Motor Connections

The motor power wires are the red, white, and black wires coming from the motor's body. The Accelnet's motor outputs are on the J1 connector (6 position removable screw terminal block).

Motor Name	Motor Color	Copley Connector	Copley Pin	Copley Name
Phase C	Black	J1	1	Motor U Output
Phase B	White	J1	2	Motor V Output
Phase A	Red	J1	3	Motor W Output

Hall Connections

The motor's hall sensor outputs are the rest of the wires coming from motor's body. The Accelnet's hall sensor inputs are on the J2 Feedback connector. The Copley wire colors are for a Copley ACP-FC-10 Feedback Cable.

Motor Signal	Motor Color	Copley Connector	Copley Pin	Copley Color	Copley Signal
Hall +5V	Blue	J2	3	Brown/White	+5 VDC
Hall GND	Green	J2	10	White/Green	Signal Ground
Hall 3	Yellow	J2	11	Tan/White	Digital Hall U
Hall 2	Orange	J2	12	White/Blue	Digital Hall V
Hall 1	Brown	J2	13	Blue/White	Digital Hall W

Encoder Connections

The motor encoder outputs are the eight flying leads coming from the encoder (six on one of my motors - it has no index signal). In general, without documentation it is impossible to tell which signal is the positive signal and which signal is the negative signal; however I was able to verify the A+/A- and B+/B- signals. Switching the A+ and A- signals reverses the encoder direction. The Accelnet's encoder inputs are on the J2 Feedback connector. The Copley wire colors are for a Copley ACP-FC-10 Feedback Cable.

Motor Signal	Motor Color	Copley Connector	Copley Pin	Copley Color	Copley Signal
Ground	Green	J2	2	White/Brown	Signal Ground
+5VDC	Blue	J2	3	Brown/White	+5VDC
A+	Red	J2	4	White/Pink	Encoder A Input
A-	Brown	J2	5	Pink/White	Encoder /A Input
B+	Orange	J2	6	White/Orange	Encoder B Input
B-	Yellow	J2	7	Orange/White	Encoder /B Input
Index+	Black	J2	8	White/Yellow	Encoder X Input
Index-	White	J2	9	Yellow/White	Encoder /X Input

Motor Setup

Since I do not have the specifications for this winding ("E"), I do not know the motor specifications (which can be entered in the Motor tab of the Motor/Feedback dialog). Instead, I let CME2 autotune the current loop. The autotuning produced a reasonable starting point.

It looks like the "E" winding is between the "B" (43V) and "C" (130V) windings. My guess is that the "E" winding has a design voltage of ~75V, and a Kb (V/kRPM) of ~7 since I reached about 7500 RPM with a 52V power supply.