Accelnet Plus CANopen 1-Axis Module
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Accelnet Plus Module CANopen APM Control Modes RoHS DIGITAL SERVO DRIVE FOR BRUSHLESS/BRUSH MOTORS • Profile Position-Velocity-Torque, Interpolated Position, Homing • Camming, Gearing • Indexer Command Interface • • • • • • CANopen ASCII and discrete I/O Stepper commands ±10V position/velocity/torque command PWM velocity/torque command Master encoder (Gearing/Camming) Communications • CANopen • RS-232 Feedback • Digital quad A/B encoder Analog sin/cos incremental Panasonic Incremental A Format • SSI, EnDat, Absolute A Tamagawa & Panasonic Absolute A Sanyo Denki Absolute A, BiSS,BiSS • Aux. encoder / encoder out • Digital Halls Model Ic Ip Vdc APM-090-06 3 6 14-90 APM-090-14 7 14 14-90 APM-090-30 15 30 14-90 I/O • Digital: 11 inputs, 6 outputs • Analog: 1, 12-bit input Dimensions: mm [in] • 76.3 x 58.2 x 20.5 [3.01 x 2.29 x 0.81] DEVELOPMENT KIT DESCRIPTION Accelnet APM is a high-performance, DC powered servo drive for position, velocity, and torque control of brushless and brush motors via CANopen. Using advanced FPGA technology, the APM provides a significant reduction in the cost per node in multi-axis CANopen systems. The APM operates as an CANopen node using the CANopen over CANopen (CoE) protocol of DSP-402 for motion control devices. Supported modes include: Profile Position-Velocity-Torque, Interpolated Position Mode (PVT), and Homing. Command sources also include ±10V analog torque/velocity/ position, PWM torque/velocity, and stepper command pulses. Feedback from a number of incremental and absolute encoders is supported. Copley Controls, 20 Dan Road, Canton, MA 02021, USA Web: www.copleycontrols.com Nine high-speed digital inputs with programmable functions are provided, and a low-speed input for motor temperature switches. An SLI (Switch & LED Interface) function is supported by another high-speed input and four high-speed digital outputs. If not used for SLI, the input and outputs are programmable for other functions. Two open-drain MOSFET outputs can drive loads powered up to 24 Vdc. An RS-232 serial port provides a connection to Copley’s CME2 software for commissioning, firmware upgrading, and saving configurations to flash memory. Drive power is transformer-isolated DC from regulated or unregulated power supplies. An AuxHV input is provided for “keep-alive” operation permitting the drive power stage to be completely powered down without losing position information, or communications with the control system. Tel: 781-828-8090 Fax: 781-828-6547 Page 1 of 26

Accelnet Plus Module CANopen APM RoHS GENERAL SPECIFICATIONS Test conditions: Load = Wye connected load: 2 mH + 2 Ω line-line. Ambient temperature = 25°C, +HV = HVmax MODEL APM-090-06 OUTPUT POWER Peak Current Peak time Continuous current Maximum Output Voltage INPUT POWER HVmin~HVmax Ipeak Icont Aux HV PWM OUTPUTS Type PWM ripple frequency APM-090-14 APM-090-30 Units 6 4.2 1 3 2.1 14 10 1 7 5 30 21 1 15 10.6 A A s A A V +14 to +90 6 3 DC, sinusoidal RMS, sinusoidal Sec DC, sinusoidal RMS, sinusoidal Vout = HV*0.97 - Rout*Iout +14 to +90 +14 to +90 V DC, transformer-isolated 14 30 A For 1...

Accelnet Plus Module CANopen APM RS-232 PORT Signals Mode Protocol RoHS RxD, TxD, Gnd for operation as a DTE device Full-duplex, DTE serial port for drive setup and control, 9,600 to 115,200 Baud ASCII or Binary format MOTOR CONNECTIONS Phase U, V, W Hall U, V, W Digital Incremental Encoder PWM outputs to 3-phase ungrounded Wye or delta connected brushless motors, or DC brush motors Digital Hall signals, single-ended, 1.5 µs RC filter, 15 kW pull-up to +5 Vdc, 74LVC14 Schmitt trigger Quadrature signals, (A, /A, B, /B, X, /X), differential (X, /X Index signals not required) 5 MHz maximum...

Accelnet Plus Module CANopen APM RoHS CANOPEN Based on the CAN V2.0b physical layer, a robust, two-wire communication bus originally designed for automotive use where low-cost and noise-immunity are essential, CANopen adds support for motion-control devices and command synchronization. The result is a highly effective combination of data-rate and low cost for multi-axis motion control systems. Device synchronization enables multiple axes to coordinate moves as if they were driven from a single control card. CANOPEN COMMUNICATION Accelnet uses the CAN physical layer signals CANH, CANL, and...

Accelnet Plus Module CANopen APM RoHS COMMAND INPUTS ANALOG COMMAND INPUT The analog input has a ±10 Vdc range. As a reference input it can take position/velocity/torque commands from a controller. D/A CME2 -> Basic Setup -> Operating Mode Options [AIN+] ±10V P2/35 [AIN-] - Vref 5k + P2/36 Sgnd 1.25V P2/34 DIGITAL COMMAND INPUTS Digital commands are single-ended format and should be sourced from devices with active pull-up and pull-down to take advantage of the high-speed inputs. The active edge (rising or falling) is programmable for the Pulse/Dir and CU/CD formats. DIGITAL POSITION PULSE...

Accelnet Plus Module CANopen APM RoHS INPUT-OUTPUT Input 30V max 5V max 23 26 IN11 DIGITAL OUTPUTS 24 IN10 P2/16,33,34 21 IN9 74LVC14 C1 Sgnd 22 IN7 P2/15,17~26 19 IN6 R2 20 IN5 IN8 [IN1~9] 17 IN4 R1 18 IN3 +5V +5V 15 IN2 7V tolerant P2 Pin IN1 HIGH SPEED DIGITAL INPUTS R1 25 R2 10k 1k 4.99k C1 10k 100p 47p 33n Module 1k +5V [OUT1] P2/31 +5V [OUT2] P2/32 Sgnd P2/33 R-L 300mA + +30V max [OUT6] EN2 30 27 OUT6 P2/28 29 OUT4 P2/27 32 OUT5 [OUT5] EN1 31 OUT2 P2/30 P2 Pin OUT3 [OUT4] SCLK Output OUT1 300mA 1k P2/29 [OUT3] MOSI R-L 28 CAN NODE ADDRESS SWITCHES The SLI (Switch & LED Interface) port...

Accelnet Plus Module CANopen APM RoHS MOTOR CONNECTIONS Motor connections consist of: phases, Halls, encoder, thermal sensor, and brake. The phase connections carry the drive output currents that drive the motor to produce motion. The Hall signals are three digital signals that give absolute position feedback within an electrical commutation cycle. The encoder signals give incremental position feedback and are used for velocity and position modes, as well as sinusoidal commutation. A thermal sensor that indicates motor overtemperature is used to shut down the drive to protect the motor. A...