Accelnet Plus Standard 2-Axis Module
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PRELIMINARY Accelnet Plus 2-Axis Module CANopenRoHS AP2 Model Ic Ip Vdc AP2-090-06 3 6 90 AP2-090-14 7 14 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 4 CopleyControls Seventeen high-speed digital inputs with programmable functions are provided, and two low-speed inputs for motor temperature switches. An SPI (Serial Peripheral Interface) function is supported by another high-speed input and four high-speed digital outputs. If not used for SPI, the input and outputs are programmable for other functions. Three open-drain MOSFET 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. descriptiodescriptio n Accelnet AP2 is a high-performance, DC powered servo drive for position, velocity, and torque control of brushless and brush motors. Using advanced FPGA technology, the AP2 provides a significant reduction in the cost per node in multi-axis CANopen systems. Each of the two nodes in the AP2 operates as an CANopen node using the CANopen protocol 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 • EtherCAT • RS-232 Feedback Incremental • Digital quad A/B encoder • Analog sin/cos encoder • Digital Halls Absolute • SSI • EnDat 2.1 & 2.2 • Hiperface • Absolute A • BiSS I/O • Digital: 20 inputs, 7 outputs • Analog: two 16-bit inputs Dimensions: mm [in] • 114 x 73 x 20.6 [4.5 x 2.9 x 0.8]

PRELIMINARY Accelnet Plus 2-Axis Module CANopenRoHS AP2 Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Web: www.copleycontrols.com Page 2 of 4 CopleyControls GENERAL SPECIFICATIONS Test conditions: Load = Wye connected load: 2 mH + 2 Ù line-line. Ambient temperature = 25°C, +HV = HVmax MODEL AP2-090-06 AP2-090-14 Output Power Peak Current 6 (4.2) 14 (10) Adc (Arms-sine), ±5% Peak time 1 Sec Continuous current 3 (2.1) 7 (5) Adc (Arms-sine) per phase Maximum Output Voltage Vout = HV*0.97 - Rout*Iout INPUT POWER HVmin~HVmax +20 to +90 +20 to +90 Vdc...

PRELIMINARY Accelnet Plus 2-Axis Module CANopen AP2 RoHS Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Web: www.copleycontrols.com Page 3 of 4 Copley Controls RS-232 PORT Signals RxD, TxD, Gnd for operation as a DTE device Mode F Full-duplex, DTE serial port for drive setup and control, 9,600 to 115,200 Baud Protocol ASCII or Binary format motormotormotor connections (per axis) 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,...

PRELIMINARY Accelnet Plus 2-Axis Module CANopen AP2 RoHS AP2-090-06 Accelnet AP2 servo drive, 3/6 A, 90 Vdc AP2-090-14 Accelnet AP2 servo drive, 7/14 A, 90 Vdc Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Web: www.copleycontrols.com Page 4 of 4 Copley Controls MASTER ORDERING GUIDE Rev 3.01_fr 11/05/2010 Note: Specifications subject to change without notice 73.32.894.49113.920.38 ±0.25[0.803±.010]33.3 [1.31]Heatsink(Optional) dimedime n siosio n s Units: mm [in]