Accelnet Module
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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

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...

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...

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...

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...