™ Accelnet Micro Module digital servodrive for brushless or brush motors Copley Controls, 20 Dan Road, Canton, MA 02021, USA TUSA TUSA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 1 of 24 RoHS A uto-tuning algorithms in CME 2™ slash set up times for fast system commissioning by automating motor phasing, and current-loop tuning. A powerful oscilloscope and waveform generator displays drive performance for fine tuning. Drive configurations are saved in non-volatile flash memory. OEM’s can inventory one part, and configure drives on-site to each axis in a machine. S pace-vector modulation delivers higher motor speeds and lower motor power dissipation than conventional sine-pwm modulation. Carrier-cancellation modulation all but eliminates motor ripple current and dissipation at a standstill. Current-loop sampling is at 14 kHz, position and velocity loops at 2.8 kHz and PWM ripple at 28 kHz. A ll drive circuits are DC coupled and operate from unregulated transformer-isolated linear DC power supplies, or regulated switching power supplies. T he pc-board mounting package is suitable for high-density, multi-axis installations in equipment where space is at a premium, and wiring must be minimized. description Accelnet Micro Module is a digital servodrive that combines CANANopen networking with 100% digital control of brush or brushless motors in a pc board mounting package with power options to 5 Adc continuous and 10 Adc peak from 14 to 90 Vdc power supplies. Accelnet Micro Module operates as a Motion Control Device using the DSDSP-402 protocol under the CANANopen DSDS-301 V4.01 (ENEN 50325-4) application layer. DSDSP-402 modes supported include Interpolated Position (PVT), Profile Position, Profile Velocity, Profile Torque, and Homing. T here are ten logic inputs. One is dedicated to the Amp Enable function, the other nine are programmable. There are three logic outputs rated to +30 Vdc. U sed as a stand-alone drive, Accelnet Micro Module can operate using incremental position commands from step-motor controllers in Pulse/Direction or CU/CD format, as well as A/B quadrature commands from a master-encoder. T Torque or velocity control can be from digital PWM signals, or analog ±10 V. D rive commissioning is facilitated by CME 2™ software operating under Windows® communicating with Accelnet Micro Module via CAN or an RS-232 link. Control Modes • Indexer, Point-to-Point, PVT • Camming, Gearing, Position, Velocity, Torque Command Interface • CANopen/DeviceNet • ASCII and discrete I/O • Stepper commands • ±10V position/velocity/torque command • PWM velocity/torque command • Master encoder (Gearing/Camming) Communications • CANopen/DeviceNet • RS232 Feedback • Digital Quad A/B encoder • Secondary encoder • Digital Halls • Resolver (-R option) I /O - Digital • 10 inputs, 3 outputs D imensions: mm [in] • 64 x 41 x 21 [2.5 x 1.6 x 0.83] CopleyControls For resolver option, add “-R” to the part number Model Ic Ip Vdc ACK-055-06 3 6 55 ACK-055-10 5 10 55 ACK-090-04 2 4 90 ACK-090-08 4 8 90

Copley Controls, 20 Dan Road, Canton, MA 02021, USA TUSA TUSA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 2 of 24 ™ Accelnet Micro Module digital servodrive for brushless or brush motors RoHS GENERAL SPECIFICATIONSATIONS Test conditions: Load = Wye connected load: 1 mH+ 1Ù line-line. Ambient temperature = 25 °C. +HV = HVmax MODEL A ACK-055-06 A ACK-055-10 A ACK-090-04 A ACK-090-08 O utput Power Peak Current 6 (4.2) 10 (7.1) 4 (2.8) 8 (5.7) A Adc (Arms, sinusoidal) Peak time 1 1 1 1 S Sec Continuous current 3...

™ Accelnet Micro Module digital servodrive for brushless or brush motors Copley Controls, 20 Dan Road, Canton, MA 02021, USA T USA T USA T el: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 3 of 24 RoHS D C POWER OUTPUT +5 Vdc 250 mA maximum. Directly connects to drive internal circuits. L-C filter required to isolate drive and external circuits motor connections M M otor U ,V,W DW Drive outputs to 3-phase brushless motor, Wye or delta connected For DC brush motor use outputs U & V Encoder (primary) Quadrature, differential...

Copley Controls, 20 Dan Road, Canton, MA 02021, USA T USA T USA T el: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 4 of 24 ™ Accelnet Micro Module digital servodrive for brushless or brush motors RoHS DIGITAL Torque & Velocitelocity Inputsts RS -232 communication T he serial port is a full-duplex, three-wire (RxD, TxD, Gnd) RS-232 type that operates from 9,600 to 115,200 Baud. It can be used by CME2 for drive configuration and setup or by external equipment sending ASASCII commands. CME 2™ SOFTWARETWARETWARE D rive...

™ Accelnet Micro Module digital servodrive for brushless or brush motors Copley Controls, 20 Dan Road, Canton, MA 02021, USA T USA T USA T el: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 5 of 24 RoHS S tep/Direction Inputs Count-up/Count-down Inputs QUAD A/B Encoder Inputsts S tand-Alone Mode digital POSITION-CONTROL Inputs Accelnet Micro Module works with motion controllers that output pulses to command position. These formats are supported: S tep/Direction CU/CD A/B Quadrature Encoder I n Step/Direction mode, a...

Copley Controls, 20 Dan Road, Canton, MA 02021, USA T USA T USA T el: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Page 6 of 24 ™ Accelnet Micro Module digital servodrive for brushless or brush motors RoHS digital OUTPUTSUTS D igital outputs [OUT1~3] are open-drain MOSFETs with 1 k. pull-up resistors in series with a diode to +5 Vdc. They can sink up to 300 mAdc from external loads operating from power supplies to +30 Vdc. The outputs are typically configured as drive fault and motor brake. Additional functions are programmable....