Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: [email protected], Web: http://www.copleycontrols.com Page 1 of 8 DIGITAL SERVO DRIVE for BRUSHLESS/BRUSH MOTORS Accelus Card RoHS description The Accelus™ servoamplifier drives DC brushless motors in position, velocity, or torque modes with 100% digital control. Commutation is sinusoidal using encoder feedback from the motor. Hall signals are used for phase-initialization and phase-correction eliminating motor hunting after power-up. Advanced field-oriented-control ensures the highest motor torque over a wide speed range, minimizing motor heating and maximizing efficiency. Digital control algorithms transform AC stator currents into direct and quadrature components. The torque-producing quadrature current is controlled by the current loop, and the direct component is driven to zero eliminating losses from current that doesn’t produce torque. Space-vector modulation produces higher speeds than sine-pwm modulation from the same buss voltage. CME 2™ software communicates with Accelus through an RS-232 link for complete amplifier setup. Auto-phasing and auto-tuning algorithms in CME 2™ slash set up times for fast system commissioning and eliminate “re-wire and try” so common in brushless motor installations. CME 2™ automates current loop tuning, as well as motor, Hall, and encoder phasing. A powerful oscilloscope and signal generator display amplifier performance for fine tuning thereafter. Amplifier control parameters are saved in non-volatile flash • PCB Mount • Position, Velocity, and Torque Control • Controller Interface Stepper Interface ±10V Velocity / Torque Command PWM Velocity / Torque Command Electronic gearing • Field-Oriented Control for Optimal Speed / Torque • Auto-Tuning and Auto-Phasing • Feedback Digital Encoder and Halls • Programmable I/O: 6 inputs, 2 outputs memory. OEM’s can inventory one part, and configure amplifiers on-site to each axis in a machine. Accelus™ works with motion controllers that close positionloops using incremental encoder feedback and process the position error in a PID filter to produce an amplifier command for torque, force, or velocity. Only one +/-10V analog, or a one or two-wire digital PWM/(DIR) control signal is required. All commutation is done in the amplifier. In position-mode, Accelus™ accepts two-wire digital stepmotor control signals (CW/CCW, or Count/Direction), or operates as a slave from a master encoder. The ratio between input position pulses and motor position is programmable. Velocity control is derived from motor encoder signals. Velocity mode is useful not only for speed-setpoint applications, but enables operation with PLC’s or controllers that output position-error signals with no PID filtering. All amplifier circuits are DC coupled and operate from unregulated transformer-isolated DC power supplies, or regulated switching power supplies. The package is a single board with no heatplate. Solderless mating connectors on pc boards mount Accelus™ at 0° or 90°. Installation and replacement is fast and doesn’t damage amplifier connections. A Development Kit is available that mounts 1~4 Accelus™ amplifiers and provides unregulated DC power from an isolation step-down transformer. Model Ic Ip Vdc ASC-055-18 6 18 55 ASC-090-09 3 9 90

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: [email protected], Web: http://www.copleycontrols.com Page 2 of 8 Accelus Card RoHS DIGITAL SERVO DRIVE for BRUSHLESS/BRUSH MOTORS GENERAL SPECIFICATIONS Test conditions: Load = 1mH in series with 1 Ohm. Ambient temperature = 25 deg. C. MODEL ASC-055-18 ASC-090-09 Output Power Peak Current 18 (12.73) 9 (6.36) Amps DC (Amps ACrms) Peak time 1 1 Sec Continuous current 6 (4.24) 3 (2.12) Amps DC (Amps ACrms) INPUT POWER HVmin~HVmax 20~55 20~90 VDC, Transformer-isolated 20 10 ADC (1...

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: [email protected], Web: http://www.copleycontrols.com Page 3 of 8 DIGITAL SERVO DRIVE for BRUSHLESS/BRUSH MOTORS Accelus Card RoHS status LED A single bi-color LED gives the state of the amplifier by changing color, and either blinking or remaining solid. Slowblinking is about 1 blink/sec, fast is about 5 blinks/sec. The possible color and blink combinations are: • Green/Solid: Amplifier OK AND enabled. Will run in response to reference input. • Green/Slow-Blinking: Amplifier OK...

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: [email protected], Web: http://www.copleycontrols.com Page 4 of 8 Accelus Card RoHS DIGITAL SERVO DRIVE for BRUSHLESS/BRUSH MOTORS Digital Reference Inputs (cont’d) For torque or velocity control, the inputs may be configured in two formats: 1. PWM (0~100%) & Polarity 2. PWM (50%) In the first case, the PWM signal can vary from 0% to 100%, and the Polarity signal is a DC level that controls the direction of the motor. The PWM duty-cycle controls the amplifier output current, or...

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: [email protected], Web: http://www.copleycontrols.com Page 5 of 8 DIGITAL SERVO DRIVE for BRUSHLESS/BRUSH MOTORS Accelus Card RoHS POWER Suplies Accelus™ operates typically from transformerisolated, unregulated DC power supplies. These should be sized such that the maximum output voltage under high-line and no-load conditions does not exceed the amplifiers maximum voltage rating. Power supply rating depends on the power delivered to the load by the amplifier. In many cases, the...

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: [email protected], Web: http://www.copleycontrols.com Page 6 of 8 Accelus Card RoHS DIGITAL SERVO DRIVE for BRUSHLESS/BRUSH MOTORS amp lifier conne ctions Notes 1. The functions of input signals on J1-2, 14, 16, 21, & 23 are programmable. Default functions are shown. 2. The functions of output signals on J1-13 & 15 are programmable. Default functions are shown.