*mydirectindustry

Catalogs
Copley Controls
Accelnet Module

Accelnet Module

Product catalog summary

Overview: The document outlines the technical specifications and operational guidelines for the Accelnet digital servo drive, suitable for both brushless and brush motors. It emphasizes the drive's compliance with RoHS standards and its versatility in control modes, communication interfaces, and feedback systems.

Specifications: The Accelnet module supports various models with voltage specifications ranging from 20 Vdc to 180 Vdc and peak currents up to 20 Adc. Its compact design is ideal for high-density installations.

Control Modes: The drive offers multiple control modes such as Indexer, Point-to-Point, PVT, Camming, Gearing, Position, Velocity, and Torque. Control can be achieved via CANopen, ASCII, discrete I/O, stepper commands, and analog inputs.

Communication Interfaces: Accelnet uses CANopen and RS-232 for communication. The RS-232 port is designated for setup and configuration, while CANopen facilitates networked operations with up to 127 devices.

Feedback Systems: Supported feedback systems include digital quad A/B encoders, secondary encoders, emulated encoder outputs, brushless resolvers, and digital halls.

Input/Output: The drive features 10 digital inputs and 2 outputs, with programmable functions for various operational needs. Inputs can be configured for CAN address bits, enables, limit switches, and more.

Protection and Safety: The drive is equipped with protections against overvoltage, undervoltage, over-temperature, and short circuits, conforming to various safety and electromagnetic compatibility standards.

Mechanical and Environmental: Designed for operation in ambient temperatures from 0 to +45°C and storage from -40 to +85°C, the drive requires a heatsink for continuous power output and complies with several environmental and safety standards.

Additional Features: The document highlights the use of space-vector modulation for efficient motor control and the availability of CME 2™ software for drive commissioning and tuning. Configurations are stored in non-volatile flash memory for easy setup and reconfiguration.

Input/Output Configurations: The module includes ten inputs, with [IN1] fixed for safety as a drive enable. The remaining inputs are programmable for functions like limit switches, drive reset, PWM control, and motor temperature sensing. Two types of RC filters are used: General Purpose (GP) and High-Speed (HS).

Motor Encoder Interface: The interface uses differential line-receivers with R-C filtering, favoring differential encoders for noise reduction. Recommendations are provided for handling open-circuit voltage with single-ended encoders.

Power Supply Requirements: Accelnet operates from transformer-isolated, unregulated DC power supplies. It is crucial to ensure the power supply voltage does not exceed the drive's maximum rating. For regulated supplies, a diode and external capacitance are necessary to handle regenerative energy.

Mounting and Cooling: The module mounts on PC boards using dual-row headers for easy installation. Cooling options include convection heatsinks, with specific models available from Copley.

Design and Layout Considerations: Guidelines for PC board layouts include installing low-ESR capacitors close to the drive and following IPC-2221 rules for conductor thickness and trace width to ensure proper current handling and minimize noise emissions.

Specifications and Layout Practices: Good layout practices include minimizing loop area, routing motor signals close together, and ensuring encoder signal pairs are routed close together to reduce noise. The drive heatplate is electrically isolated, and standoffs should be connected to frame ground for noise immunity.

Power Dissipation and Heatsink Installation: Charts provide internal power dissipation data for different models. Steps for installing a heatsink include removing phase change material, placing it on the heatplate, mounting the heatsink, and torquing the screws. Phase change material is used instead of thermal grease for optimal heat transfer.

Heatsink Options: Thermal resistances are provided for different heatsink options under convection or fan-cooled conditions.

Ordering Guide: Instructions for ordering various components and kits are provided. Heatsink kits are ordered separately and installed by the customer. Models with the green leaf symbol are RoHS compliant.

Catalog excerpts

RoHS Model * Vdc Ic Ip ACM-055-18 20 - 55 6 18 ACM-090-09 20 - 90 3 9 ACM-090-24 20 - 90 12 24 ACM-180-09 20 - 180 3 9 ACM-180-18 20 - 180 6 18 ACM-180-20 20 - 180 10 20 Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Web: www.copleycontrols.com Page 1 of 14 DIGITAL SERVO DRIVE for BRUSHLESS/BRUSH MOTORS Accelnet Module Control Modes Indexer, Point-to-Point, PVT • • Camming, Gearing, Position, Velocity, Torque Command Interfaceterface CANopen • • ASCII and discrete I/O • Stepper commands • ±10 Vdc analog position/velocity/torque * • PWM velocity/torque command • Master encoder (Gearing/Camming) Communicatioications CANopen • • RS-232 Feedback Digital Quad A/B encoder • • Secondary encoder / emulated encoder out • Brushless resolver (-R option) • Digital Halls I/O - Digitaligital 10 inputs, 2 outputs• Dimensions: mm [in] 102 x 69 x 25 [4.0 x 2.7 x 1.0]• * Available on RoHS versions descriptiodescriptio n Accelnet is a digital servo drive that combines CANopen networking with 100% digital control of brush or brushless motors in a pc board mounting package with power options to 10 Adc continuous and 20 Adc peak from 20 Vdc to 180 Vdc power supplies. RoHS compliance is now standard on all models and with this a ±10 Vdc analog input has been added for position/velocity/torque control. The input takes the place of signal ground pins on non RoHS models so that RoHS types can be installed in place of non RoHS types with no change in function. Accelnet operates as a Motion Control Device using the DSP-402 protocol under the CANopen DS-301 V4.01 (EN 50325-4) application layer. DSP-402 modes supported include Interpolated Position (PVT), Profile Position, Profile Velocity, Profile Torque, and Homing. Ten logic inputs are configurable as CAN address bits, enables, limit & home switches, motor temperature switch, stepper/encoder pulses, and reset. There are two logic outputs for reporting drive status, or driving a motor brake. In addition to CANopen motion commands, Accelnet can operate using incremental position commands from step-motor controllers in Pls/Dir or CW/CCW format, as well as A/B quadrature commands from a master-encoder which can drive cam tables or be geared to ratio the drive position to that of the master-encoder. Drive commissioning is facilitated by CME 2™ software operating under Windows® communicating with Accelnet via an RS-232 link. Auto-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 display 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. Space-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 15 kHz, position and velocity loops at 3 kHz and PWM ripple at 30 kHz. All drive circuits are DC coupled and operate from unregulated transformer-isolated linear DC power supplies, or regulated switching power supplies. The 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. Add -R to part numbers above for resolver feedback

Open the catalog to page 1

RoHS Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Web: www.copleycontrols.com Page 2 of 14 DIGITAL SERVO DRIVE for BRUSHLESS/BRUSH MOTORS Accelnet Module GENERAL SPECIFICATIONS Test conditions: Load = Wye connected load: 1 mH+ 1Ù line-line. Ambient temperature = 25 °C. +HV = HVmax MODEL ACM-055-18 ACM-090-09 ACM-090-24 ACM-180-09 ACM-180-18 ACM-180-20 Output Power Peak Current 18 (12.7) 9 (6.34) 24 (17.0) 9 (6.34) 18 (12.7) 20 (14.14) Adc (Arms, sinusoidal) Peak time 1 1 1 1 1 1 Sec Continuous current 6 (4.24) 3 (2.1) 12 (8.5) 3 (2.1) 6 (4.24) 10 (7.1)...

Open the catalog to page 2

RoHS CurrentNot used[IN9][IN10]Duty = 50% ±50% Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Web: www.copleycontrols.com Page 3 of 14 DIGITAL SERVO DRIVE for BRUSHLESS/BRUSH MOTORS Accelnet Module RS-232 communicatioication Accelnet is configured via a three-wire, full-duplex RS-232 port that operates from 9,600 to 115,200 Baud. CME 2™ software provides a graphic user interface (GUI) to set up all of Accelnet features via a computer serial port. The RS-232 port is used for drive set up and configuration. Once configured, Accelnet can be used in stand-alone...

Open the catalog to page 3

RoHS +5 Vdc[OUT1][OUT2]1k33 nF** (3.3 nF)10k10k74HC14[IN1] *[IN2][IN3][IN4] **[IN5] ***+5 VdcGP Inputs* Not programmable*** 4.99k100 pF1k10k74HC14[IN6][IN7][IN8][IN9][IN10]+5 VdcHS Inputs-+37.4k37.4k5k5k1.5V-+Ref(+)Ref(-)5.36kCammingMasterEncoder(Optional)BAJ211[IN10] HSIn14[IN9] HSInCammingMasterSignals(Optional)J211[IN10] HSIn14[IN9] HSInPls-UpPls-DwnCammingMasterSignals(Optional)J211[IN10] HSIn14[IN9] HSInPulseDirection Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Web: www.copleycontrols.com Page 4 of 14 DIGITAL SERVO DRIVE for BRUSHLESS/BRUSH MOTORS...

Open the catalog to page 4

RoHS ENC-+1k1k22 pF22 pF26LS32/A, /B, /XA, B, XHALLU, V, W3.3 nF74HC14+5V10 kUVW10 kSwitchingPowerSupply(+)(-)Drive+HVGnd+BRUSHLESSMOTORBRUSHMOTORVWUVNo Connect to WU(+)(-)ShldShldMotorOutputsUVW-+-+SinCosRefJ2-31J2-29J2-30J2-32J2-27J2-28J2-3,4,21,22R1R2S3S1S2S4BRUSHLESSRESOLVERSecondaryEncoder(Optional)BAJ213[IN8] HSIn16[IN7] HSIn Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Web: www.copleycontrols.com Page 5 of 14 DIGITAL SERVO DRIVE for BRUSHLESS/BRUSH MOTORS Accelnet Module MOTOR ENCODER The motor encoder interface is a differential line-receiver...

Open the catalog to page 5

Accelnet Module

Accelnet Module

Catalog excerpts

All Copley Controls catalogs and technical brochures