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Copley Controls
Accelnet Plus Standard 1-Axis Module

Accelnet Plus Standard 1-Axis Module

Product catalog summary

Overview: The document outlines the technical specifications and operational guidelines for the Accelnet Plus Module (APM) by Copley Controls, designed for high-performance DC powered servo drive applications. It supports position, velocity, and torque control of brushless and brush motors via the CANopen protocol.

Specifications:

Models: APM-090-06, APM-090-14, APM-090-30 with varying peak and continuous current ratings.
Output Power: Peak currents range from 6A to 30A, with continuous currents from 3A to 15A.
Input Power: Operates on a DC voltage range of +20 to +90 V, with auxiliary HV input for keep-alive operations.
PWM Outputs: Utilizes a 3-phase MOSFET inverter with 16 kHz PWM frequency.

Control Modes:

Supports multiple control modes including Profile Position, Velocity, Torque, Interpolated Position (PVT), and Homing.
Command interfaces include CANopen, ASCII, discrete I/O, and analog/digital inputs.

Feedback and I/O:

Supports both incremental and absolute encoder feedback.
Provides 11 digital inputs and 6 digital outputs, with additional analog input.

Communications:

CANopen and RS-232 interfaces for communication and configuration.
RS-232 port supports baud rates from 9,600 to 115,200.

Protections:

Includes overvoltage, undervoltage, over-temperature, and short circuit protections.
Programmable current limiting and motor over-temperature detection.

Mechanical and Environmental:

Dimensions: 77 x 59 x 20.6 mm, weight 0.27 lb without heatsink.
Operating temperature range: 0 to +45°C, storage range: -40 to +85°C.
Conforms to various EMC and safety standards including EN 55011 and IEC 61010-1.

Additional Features:

Digital command inputs and outputs are programmable for various functions.
CANopen communication supports up to 127 nodes on a single bus.

Motor Connections: The motor connections include phases, Hall signals, encoder, thermal sensor, and brake. These components ensure proper motion, feedback, and safety.

Encoder Inputs: Supports digital quadrature encoder inputs with fault protection and analog sin/cos incremental encoders.

Multi-Mode Encoder Port: Features three differential input/output channels for dual-loop position-mode operation or stand-alone operation with an external motion controller.

Phase Connections: The drive output is a three-phase PWM inverter converting DC bus voltage into sinusoidal waveforms for motor phase-coils.

Development Kit: Provides mounting and connectivity for the APM drive, with solderless jumpers for easy configuration of inputs and outputs.

RS-232 Connection: Used for configuring the drive in stand-alone applications or before integrating into a CANopen network.

CANopen Connectors: Dual RJ-45 connectors for CAN bus connectivity, allowing for daisy-chaining of drives.

Drive Status LED: A bi-color LED indicates the drive's status with various color and blink combinations.

5V Power Sources: The feedback connector J7 supports two power supplies, with a jumper on J4 selecting between internal and external sources.

Logic Outputs and Inputs: Includes six logic outputs and multiple inputs, with configurations for connecting to external devices.

Accessories: Lists various kits and accessories essential for setting up and operating the module.

Dimensions and Ordering: Concludes with dimensions of the module and a master ordering guide for various components and accessories.

Catalog excerpts

RoHS APM CopleyControls Model Ic Ip Vdc APM-090-06 3 6 90 APM-090-14 7 14 90 APM-090-30 15 30 90 Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Web: www.copleycontrols.com Page 1 of 24 Accelnet Plus Module CANopen 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. descriptiondescription 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. Control Modes • Indexer, Point-to-Point, PVT • Camming, Gearing • Position, Velocity, Torque 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 Incremental • Digital quad A/B encoder • Analog sin/cos encoder • Panasonic Incremental A • Digital Halls • Aux. encoder / encoder out Absolute • SSI • EnDat • Absolute A • Tamagawa Absolute A • Panasonic Absolute A Format • BiSS (B & C) I/O • Digital: 11 inputs, 6 outputs • Analog: 1 input Dimensions: mm [in] • 77 x 59 x 20.6 [3.0 x 2.3 x 0.81]

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RoHS APM CopleyControls Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Web: www.copleycontrols.com Page 2 of 24 Accelnet Plus Module CANopen Page 2 of 4 GENERAL SPECIFICATIONS Test conditions: Load = Wye connected load: 2 mH + 2 Ù line-line. Ambient temperature = 25°C, +HV = HVmax MODEL APM-090-06 APM-090-14 APM-090-30 Units Output Power Peak Current 6 14 30 A DC, sinusoidal 4.2 10 21 A RMS, sinusoidal Peak time 1 1 s Sec Continuous current 3 7 15 A DC, sinusoidal 2.1 5 10.6 A RMS, sinusoidal Maximum Output Voltage V Vout = HV*0.97 - Rout*Iout INPUT POWER...

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Copley APM RoHS Controls Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Web: www.copleycontrols.com Page 3 of 24 Accelnet Plus Module CANopen RS-232 PORT Signals RxD, TxD, Gnd for operation as a DTE device Mode Full-duplex, DTE serial port for drive setup and control, 9,600 to 115,200 Baud Protocol ASCII or Binary format motormotormotor connections Phase U, V, W PWM outputs to 3-phase ungrounded Wye or delta connected brushless motors, or DC brush motors Hall U, V, W Digital Hall signals, single-ended, 1 ìs RC filter, 10 kW pull-up to +5 Vdc, 74HC14 Schmitt...

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Copley APM RoHS Controls Signal GroundP2/16P2/1P2/2RDRxDTDTxD6915TxDRxDGndD-Sub 9M(DTE) Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Web: www.copleycontrols.com Page 4 of 24 Accelnet Plus Module CANopen CME2 -> Tools -> Communications Wizard CME2 -> Basic Setup -> Operating Mode Options rs 232 portport RS-232 communicationscommunications APM is configured via a three-wire, full-duplex DTE RS-232 port that operates from 9600 to 115,200 Baud, 8 bits, no parity, and one stop bit. Signal format is full-duplex, 3-wire, DTE using RxD, TxD, and Gnd. Connections...

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Copley APM RoHS Controls P2/21[IN7]Current orVelocityP2/24No Function[IN8]SgndP2/16,33,34Duty = 0~100ControllerCopleyP2/21[IN7]Current orVelocityP2/24No Function[IN8]SgndP2/16,33,34Duty = 50% ±50%ControllerCopleyP2/21[IN7]Current orVelocityP2/24No Function[IN8]SgndP2/16,33,34CD (Count-Down)CU (Count-Up)ControllerCopleyP2/21[IN7]Current orVelocityP2/24No Function[IN8]SgndP2/16,33,34Master EncoderEncoder ph. BEncoder ph. ACopleyP2/21[IN7]Current orVelocityP2/24No Function[IN8]SgndP2/16,33,34DirectionPulseControllerCopleyP2/36P2/35+1.25V5kRef+Ref-VrefD/A±10VSgnd-P2/34 Copley Controls, 20 Dan Road,...

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Copley APM RoHS Controls +5V+5V [OUT3] MOSI [OUT4] SCLK [OUT5] SSP2/29P2/30P2/2747p74LVC2G1474AHCT1251k1k1k47p47p47p1k[IN10] MISOSgnd10k10k10k10k10k10kP2/26P2/33Drive (SLI Master)External circuit for EtherCAT alias switchesSwitches74HC165Q7D084218421D1D2D3D4D5D6D7Vcc+5V+5VGndSW13SW12CKESDIPLCLK+5V300mA300mA+30V max+R-LR-L+5V+5V[OUT1]Sgnd1k1k[OUT2]P2/31P2/32P2/33100p74LVC14+5V10k10kP2/15,17~26[IN1~9]P2/16,33,34Sgnd+5V[OUT3]MOSI[OUT4]SCLK[OUT5]SS1[OUT6]SS2P2/29P2/30P2/27P2/28 Input P2 Pin IN1 15 IN2 18 IN3 17 IN4 20 IN5 19 IN6 22 IN7 21 IN8 24 IN9 23 IN10 26 * IN11 25 High speed digitaldigital...

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Copley APM RoHS Controls Signal Ground-+-+10k10k12110k10k121Encodersincos+5V0V+5V output @ 400 mASinCosSin+Sin-Cos+Cos-P2/39P2/40P2/37P2/38P2/14P2/16AEMMAX3097MAX3097MAX3097Encoder* 121Ù terminating resistorson mounting boardABZ+5V0VSignal Ground***+5V output @ 400 mASignal GroundA/AB/BX/XP2/6P2/5P2/8P2/7P2/10P2/9P2/14P2/16AEMMAX3097MAX3097MAX3097Encoder* 121Ù terminating resistorson mounting boardAB+5V0VSignal Ground**+5V output @ 400 mASignal GroundA/AB/BX/XP2/6P2/5P2/8P2/7P2/10P2/9P2/14P2/16AEM Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Web: www.copleycontrols.com...

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