Accelnet R21 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 position*/velocity/torque command • Master encoder (Gearing/Camming) COMMUNICATIONS • CANopen • RS-232 FEEDBACK • Digital quad A/B encoder • Aux encoder / emulated encoder out • Analog sin/cos encoder (-S versions) • Brushless resolver (-R versions) • Digital Halls I/O - DIGITAL • 9 inputs, 4 outputs DIMENSIONS: mm [in] • 97 x 64 x 33 [3.8 x 2.5 x 1.3] RUGGEDIZED DIGITAL SERVO DRIVE FOR BRUSHLESS/BRUSH MOTORS R21 Model * Ic Ip R21-055-09 20-55 3 9 R21-055-18 20-55 6 18 R21-090-03 20-90 1 3 R21-090-09 20-90 3 9 R21-090-12 * R21-R models Vdc 20-90 6 RoHS 12 * Note: Add “-S” to part number for Sin/Cos version Add “-R” to part number for resolver version DESCRIPTION Accelnet R21 is a compact, DC powered servo drive for position, velocity, and torque control of AC brushless and DC brush motors. It can operate on a distributed control network, as a stand-alone indexing drive, or with external motion controllers. Two versions are available to support digital quadrature, or analog sin/cos encoders. Indexing mode enables simplified operation with PLC’s which use outputs to select and launch indexes and inputs to read back drive status. Additionally, a PLC can send ASCII data that can change motion profiles so that one index can perform various motions as machine requirements change. The CANopen distributed control architecture is also supported. As a CAN node operating under the CANopen protocol, it supports Profile Position, Profile Velocity, Profile Torque, Interpolated Position, and Homing. Up to 127 drives can operate on a single CAN bus and groups of drives can be linked via the CAN so that they execute motion profiles together. Operation with external motion controllers is possible in torque (current), velocity, and position modes. Input command signals can be ±10V (torque, velocity, position), PWM/Polarity (torque, velocity), or stepper format (CU/CD or Step/Direction). RUGGEDIZED STANDARDS CONFORMANCE Ambient Temperature Thermal Shock Relative Humidity Vibration Altitude Shock MIL-STD specifications IEC specifications Non-Operating Operating Operating Non-Operating Operating Operating Non-Operating Operating Crash Safety Operating MIL-STD- IEC- -50ºC to 85ºC -40ºC to 70ºC -40ºC to 70ºC in 1 minute 95% non-condensing at 60ºC 95% non-condensing at 60ºC 5 Hz to 500 Hz, up to 3.85 grms -400 m to 12,200 m -400 m to 5,000 m 75 g peak acceleration 40 g peak acceleration 461, 704, 810, 1275, 1399 60068, 60079 Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com Fax: 781-828-6547 Page 1 of 24

Accelnet R21 RUGGEDIZED DIGITAL SERVO DRIVE FOR BRUSHLESS/BRUSH MOTORS R21 RoHS GENERAL SPECIFICATIONS Test conditions: Load = Wye connected load: 2 mH + 2 Ω line-line. Ambient temperature = 25°C, +HV = HVmax MODEL OUTPUT POWER Peak Current Peak time Continuous current Peak Output Power Continuous “ “ Output resistance Maximum Output Voltage R21-055-09 R21-055-18 R21-090-03 R21-090-09 9 (6.36) 18 (12.73) 3 (2.12) 1 1 1 3 (2.12) 6 (4.24) 1 (0.71) 490 970 270 163 323 89 0.075 0.075 0.075 Vout = HV*0.97 - Rout*Iout INPUT POWER HVmin to HVmax Ipeak Icont Aux HV PWM OUTPUTS Type PWM ripple frequency...

Accelnet R21 RUGGEDIZED DIGITAL SERVO DRIVE FOR BRUSHLESS/BRUSH MOTORS R21 RoHS FEEDBACK DIGITAL QUAD A/B ENCODER Type Signals Frequency Quadrature, differential line driver outputs A, /A, B, /B, (X, /X, index signals optional) 5 MHz line frequency, 20 MHz quadrature count frequency ANALOG ENCODER (-S OPTION) Type Sin/cos, differential line driver outputs, 0.5 Vpeak-peak (1.0 Vpeak-peak differential) centered about 2.5 Vdc typical. Common-mode voltage 0.25 to 3.75 Vdc Sin(+), sin(-), cos(+), cos(-) 230 kHz maximum line (cycle) frequency 10 bits/cycle (1024 counts/cycle) Signals Frequency Interpolation...

Accelnet R21 RUGGEDIZED DIGITAL SERVO DRIVE FOR BRUSHLESS/BRUSH MOTORS R21 RoHS CME 2™ SOFTWARE CANOPEN NETWORKING Amplifier setup is fast and easy using CME 2™ software which communicates with the amplifier over CAN or an RS-232 link. All of the operations needed to configure the amplifier are accessible through this powerful and intuitive program. Auto-phasing of brushless motor Hall sensors and phase wires eliminates “wire and try”. Connections are made once and CME 2™ does the rest thereafter. Encoder wire swapping to establish the direction of positive motion is eliminated. Based on the...

Accelnet R21 R21 RUGGEDIZED DIGITAL SERVO DRIVE FOR BRUSHLESS/BRUSH MOTORS RoHS CURRENT OR VELOCITY MODE REFERENCE INPUTS COMMAND INPUTS IN STAND-ALONE MODE POSITION*, VELOCITY, OR TORQUE MODE REFERENCE INPUTS (* IN -R MODELS) The command inputs control the drive to produce an output and are used when the drive is taking current, velocity, or position commands from an external controller in standalone mode. The command inputs take digital and analog signals in a variety of formats: Pulse/Direction Inputs PWM/DIRECTION INPUTS Duty = 0~100% [IN7] [IN8] Current or Velocity Mode ±10V Analog STEP...

Accelnet R21 R21 RUGGEDIZED DIGITAL SERVO DRIVE FOR BRUSHLESS/BRUSH MOTORS RoHS DIGITAL INPUTS has nine digital inputs, eight of which have programmable functions. Input [IN1] is not programmable and is dedicated to the drive Enable function. This is done to prevent accidental programming of the input in such a way that the controller could not shut it down. Two types of RC filters are used: GP (general purpose) and HS (high speed). Input functions such as Step/Direction, CU/CD, Quad A/B are wired to inputs having the HS filters, and inputs with the GP filters are used for general purpose logic...