Accelnet Micro Panel
Contents
1. T f f 12 Multi Mode X Mot Enc X 10 XC 27 Multi Mode X Mot Enc X 3 X f ee U 1 Ref HallU 5 L V 16 Ref Hall V 12 e HALLS Hall w 13 m 2 9 Signal Gnd 1 at 4 CE Hi 3 IN1 Enable 14 me 20 18 IN2 T ag i Gnd 6 2 4 IN3 l ec 7 la E 19 IN4 2 asve V R 5 IN6 1 250mA 4 V ES y i Output 20 IN7 1 6 INS i Gnd 11 i 24V 21 IN9 o emm disk BRAKE 7 OUT1 rake J5 our 22 8 OUT3 23 routa 1 OOO n Signal Gnd 5 2s Ce Shielded cables required 24 ps A 1 Motoru Ta Fuse uU for CE compliance m i Signal Gnd 2 Meies T3 Fuse oM MOTOR 17 15 28 Motor W 2 w 14 RS 232 RxD ober CE 29 RS 232 TxD Frame Gnd 1 CAN Pwr HV Input CANH J3 CANL Gnd Signal Aux HV Input Gnd Frame J1 Frame Gnd Gnd CAN port is isolated Circuit Gnd Earth NOTES 1 The functions of input signals on J4 7 and J5 3 4 5 6 18 19 20 and 21 are programmable 2 The function of IN1 on J5 3 is always Amplifier Enable and is not programmable The active level of IN1 is programmable and resetting the amplifier with changes on the enable input is programmable 3 Pins J4 4 and J5 24 connect to the same 5 Vdc 250 mAdc p2. Copl a Corp Control Modes e Indexer Point to Point PVT e Camming Gearing Position Velocity Torque Command Interface e CANopen DeviceNet e ASCII and discrete I O e Stepper commands e 10V position velocity torque command e PWM velocity torque command e Master encoder Gearing Camming Communications e CANopen DeviceNet e RS232 Feedback e Digital Quad A B encoder e Secondary encoder emulated encoder out e Digital Halls I O Digital e 9 inputs 4 outputs Dimensions mm in e 97x 63 x 33 3 8 x 2 5 x 1 3 Model Ip Ic Vdc ACJ 055 09 9 3 55 ACJ 055 18 18 6 55 ACJ 090 03 3 1 90 ACJ 090 09 3 90 ACJ 090 12 12 6 90 Accelnet Micro Panel DIGITAL SERVOAMPLIFIER for BRUSHLESS or BRUSH MOTORS DESCRIPTION Accelnet Micro Panel 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 net work as a stand alone indexing drive or with external motion controllers Indexing mode enables simplified operation with PLC s which use outputs to select and launch indexes and inputs to read back amplifier 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 DeviceNet capability enables multiple Acce net drives to be controlled from PLC s that use this communication protocol The CANopen distributed
3. Operation Motor encoder signals are buffered and appear on J5 for feedback to control system Programmable to be quadrature encoder input for electronic gearing Signals A A B B X X Receiver 26C32 differential line receiver for operation as an encoder input port Driver 26C31 differential line driver for operation as buffered encoder outputs Frequency 20 MHz post quadrature RS 232 PORT Signals RxD TxD Gnd Mode Full duplex serial communication port for amplifier setup and control 9 600 to 115 200 baud Protocol Binary or ASCII formats CAN PORTS Signals CANH CANL Gnd Isolation CAN interface circuit and 5 Vdc supply for CAN is optically isolated from amplifier circuits Format CAN V2 0b physical layer for high speed connections compliant Data CANopen Device Profile DSP 402 Address selection Programmable to flash memory or determined by digital inputs MOTOR CONNECTIONS Phase U V W PWM outputs to 3 ph ungrounded Wye or delta wound brushless motors or DC brush motors Hall U V W Digital Hall signals single ended Encoder A A B B X X Digital quadrature encoder signals differential X or Index signal not required 5 MHz maximum line frequency 20 Mcounts sec 26C32 differential line receiver with 121 O terminating resistor between complementary inputs Hall amp encoder power 5 Vdc 2 250 mAdc max Motemp IN 5 Motor overtemperature sensor switch input Programmable to disable amplifier when motor over temperature conditi
4. Input IN7 Programmable Input IN6 Programmable Input IN9 21 6 Programmable Input IN8 J2 Cable Connector Programmable Output OUT2 Programmable Output OUT 1 UNE ee Programmable Output OUT4 23 8 Programmable Output OUT3 Sanne Contact Molex 39 00 0039 circuits are Crimping Tool Molex 11 01 0197 Encoders vag ao Signal Ground isolated from Extractor Tool Molex 11 03 0044 Multi Mode Encoder A Multi Mode Encoder A amplifier circuits Multi Mode Encoder B Multi Mode Encoder B a I J1 CAN I Multi Mode Encoder X Multi Mode Encoder X 1 sina Pn Signa Signal Ground 28 13 Signal Ground I I 3 29 13 3 l CAN Power 6 1 CAN Power I RS 232 TxD RS 232 RxD I CANH 7 CANH I J5 Cable Connector Signal Ground Signal Ground 30 position poke crim eae area ee l Contacts 30 Samtec CC79L 2024 01 F k a Fin rods boag as i E M J1 Cable Connector ontact EXTACLOT SAmMLEG ane soe 10 position poke crimp Housing Samtec IPD1 05 D Contacts 10 Samtec CC79L 2024 01 F Crimping tool Samtec CAT HT 179 2024 01 Contact Extractor Samtec CAT EX 179 01 Copley Controls Corp 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 Web www copleycontrols com Page 10 of 14 Copl a Corp ACJ FC 10 FEEDBACK CABLE ASSEMBLY This cable plugs into amplifier J4 and consists of seven twisted pairs of AWG 24 wire Each pair has a black and colored conductor The chart above shows twisted pairs in the
5. control architecture is also supported As a CAN node operating under the CANopen protocol it sup ports Profile Position Profile Velocity Profile Torque Interpo lated 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 com mand signals can be 10V torque velocity position PWM Polarity torque velocity or stepper format CU CD or Step Direction pmCc H C C P url Copley Controls Corp 20 Dan Road Canton MA 02021 USA Web www copleycontrols com Tel 781 828 8090 Fax 781 828 6547 Page 1 of 14 Copley DIGITAL SERVOAMPLIFIER C contro M for BRUSHLESS or BRUSH MOTORS C Accelnet wicro Panel GENERAL SPECIFICATIONS Test conditions Load Wye connected load 2 mH 2 Q line line Ambient temperature 25 C HV HV nax MODEL ACJ 055 09 ACJ 055 18 ACJ 090 03 ACJ 090 09 ACJ 90 12 OUTPUT POWER Peak Current 9 6 36 18 12 73 3 2 12 9 6 36 12 8 5 Adc Arms sinusoidal 5 Peak time 1 1 1 1 1 Sec Continuous current 3 2 12 6 4 24 1 0 71 3 2 12 6 4 24 Adc Arms sinusoidal 5 Peak Output Power 490 970 270 800 1600 Ww Continuous 163 323 89 267 533 Ww Outpu
6. motor or by encoders that have Hall tracks as part of the encoder disc They typically operate at much lower frequencies than the motor encoder signals and are used for commutation initialization after startup and for checking the motor phasing 3nF after the amplifer has switched to sinusoidal commutation v 5 Vdc MOTOR BRAKE Digital outputs OUT1 2 3 4 can be programmed to power a motor mounted BRAKE 24 Vdc brake These brake the motor when they are in an unpowered state and 1k must have power applied to release This provides a fail safe function that prevents motor motion if the system is in an unpowered uncontrolled state Because brakes are inductive loads an external flyback diode must L be used to control the coil voltage when power is removed The timing of OUT1 OUT2 the brake is programmable OUT3 or OUT4 MOTOR PHASE CONNECTIONS The amplifier output is a three phase PWM inverter that converts the DC buss voltage HV into three sinusoidal voltage waveforms that drive the motor phase coils Cable should be sized for the continuous current rating of the amplifier Motor cabling should use twisted shielded conductors for PWM CE compliance and to minimize PWM noise coupling into other circuits Outputs The motor cable shield should connect to motor frame and the amplifier frame ground terminal J2 1 for best results MOTOR CE Shielded cables requi
7. rows E g one pair goes to pins 1 amp 8 another pair to pins 289 etc Cable termination is flying leads for connec tion to customer motor feedback encoder Accelnet Micro Panel DIGITAL SERVOAMPLIFIER for BRUSHLESS or BRUSH MOTORS ACJ NC 10 amp ACJ NC 01 CANOPEN CABLE ASSEMBLIES Nc 5 NC Nc 7 2 Wihite orange NC NC NC Nc s 3 Orange NC o 4 White Green wc 1 s NC These cables connect to amplifier J1 and have 3 conduc tors of AWG 24 wire that are terminated in contacts that can then be inserted into pins 7 9 of another ACJ NC 10 to daisy chain the CAN signals to multiple amplifiers Copley Controls Corp 20 Dan Road Canton MA 02021 USA Web www copleycontrols com Tel 781 828 8090 Fax 781 828 6547 Page 11 of 14 Copley DIGITAL SERVOAMPLIFIER CE mo for BRUSHLESS or BRUSH MOTORS CE Accelnet micro Panel MOUNTING AND COOLING CONTINUOUS OUTPUT CURRENT VS MOUNTING AND AMBIENT TEMPERATURE VERTICAL MOUNTING ON INFINITE HEATSINK ACJ 055 18 ACJ 090 12 6AF 5AF 4AF ACJ 055 09 ACJ 090 09 3AF Output Current Adc Lb ACJ 090 03 0A I d di 1 1 1 4 11 1 1 41 41 1 1 1 1 25 30 35 40 45 50 55 60 65 70 Ambient Temperature C HORIZONTAL MOUNTING FAN COOLED 400 LFM ACJ 055 18 ACJ 090 12 6A 5AF S 4AF Es t ACJ 055 09 ACJ 090 09 E 3A 3 E 5 2A o ACJ 090 03 1AF QA 9L 4 E
8. 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 amplifier to protect the motor 45V MOTOR TEMPERATURE SENSOR Digital input IN5 is for use with a motor overtemperature switch The input should be programmed as a pull up to 5 Vdc if the motor switch is eae 74HC14 grounded when cold and open or high impedance when over heating a de gt gt AAA OR D gt pa IN5 3 3 nF MOTOR ENCODER v The input circuit for the motor encoder signals is a differential line receiver with R C filtering on the inputs A 121 Q resistor is across each input pair to terminate the signal pairs in the cable characteristic impedance The circuit is shown below Encoders with differential outputs are required because they are less susceptible to noise that can be picked on single ended outputs For best results encoder cabling should use twisted pair cable with one pair for each of the encoder outputs A A B B and X X Shielded twisted pair is even better for noise rejection MOTOR HALL SIGNALS Hall signals are single ended signals that provide absolute feedback within one electrical cycle of the motor There are three of them U V amp W and they may be sourced by magnetic sensors in the
9. tit ttt ttt ttt 25 30 35 40 45 50 55 60 65 70 Ambient Temperature C HORIZONTAL MOUNTING CONVECTION COOLING sa ACE055 18 ACI 090 12 5AF S 4A lt E ACJ 055 09 ACJ 090 09 E 3AF o E 5 2AF o ACJ 090 03 1AF pa dh l h d L3 4 4 25 30 35 40 45 50 55 60 65 70 Ambient Temperature C Copley Controls Corp 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 Web www copleycontrols com Page 12 of 14 CE i Ru BRUSH US or BRUSH MOTORE CC Accelnet wicro Panel DIMENSIONS P 3 83 97 16 18 4 70 3 46 87 76 Ba 147 3 73 I i i 52 13 21 m M je pu 1 C AYaaallmet wet 2 47 62 62 H F 1 q I 2 40 60 85 1 25 31 75 m Zlessmetc E ts le J5 SIGNAL gl Fe recon P i 2 15 54 48 IND amp gui can Fs moron Gs power n LL ape 3 an Y OO dB BL SL T 1 1 4 I II or Y EL 153 79 r 071 1 79 T
10. 0 ns Analog torque velocity position 10 Vdc 5 kQ differential input impedance DIGITAL INPUTS Number type 9 non isolated IN1 dedicated to Amp Enable function IN2 IN9 are programmable All inputs 74HC14 Schmitt trigger operating from 5 Vdc with RC filter on input 10 kQ to 5 Vdc or ground for all except IN5 see below Logic levels Vin LO lt 1 35 Vdc Vin HI gt 3 65 Vdc Input voltage range 0 to 24 Vdc Pull up pull down control All inputs have group selectable connection of input pull up down resistor to 5 Vdc or ground Enable IN1 1 Dedicated input with 330 us RC filter for amplifier enable GP IN2 3 4 3 General Purpose inputs with 330 us RC filter MS IN5 1 Medium Speed input for motor temperature switch 33 us RC filter 4 99 kQ pullup pulldown HS IN6 7 8 9 4 High Speed Inputs inputs with 100 ns RC filter DIGITAL OUTPUTS NOTE 1 Number type 4 non isolated programmable OUT1 4 Current sinking MOSFET with 1 kQ pullup to 5 Vdc through diode Current rating 100 mAdc max 30 Vdc max Functions programmable External flyback diode required if driving inductive loads puuE A M S H X S w ee ee Copley Controls Corp 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 Web www copleycontrols com Page 2 of 14 CES js BRUSH esr BRUSH MOTORS CC Accelnet wicro Panel MULTI MODE ENCODER PORT
11. 4 3 52 89 48 141 3 58 i 1 29 32 72 i i i 64 16 37 31 7 98 Notes 1 Dimensions shown in inches mm 2 Weight 4 8 oz 0 14 kg 3 Recommended mounting hardware is pan head SEMS screws with internal tooth lock washers imperial size 4 40 or metric M3 thread 4 For CE compliance heatplate must be grounded papcIE A JJ r1 Copley Controls Corp 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 Web www copleycontrols com Page 13 of 14 Copley DIGITAL SERVOAMPLIFIER CE mo for BRUSHLESS or BRUSH MOTORS CE Accelnet micro Panel MASTER ORDERING GUIDE AMPLIFIERS ORDER NUMBER DESCRIPTION ACJ 055 09 Accelnet Micro Panel Servoamplifier 3 9 Adc 55 Vdc ACJ 055 18 Accelnet Micro Panel Servoamplifier 6 18 Adc 55 Vdc ACJ 090 03 Accelnet Micro Panel Servoamplifier 1 3 Adc 90 Vdc ACJ 090 09 Accelnet Micro Panel Servoamplifier 3 9 Adc 90 Vdc ACJ 090 12 Accelnet Micro Panel Servoamplifier 6 12 Adc 90 Vdc ACCESSORIES ACJ CK Connector kit with poke crimp connectors includes next 7 items shown below Pt L st _ Connector housing GAN 10 position Same 3 L2 connector housing motor SposWon MolxMiF J5 1 1 1
12. ariety of formats n C t or Velocity Mod IN8 Polarity or Direction IN8 Position urrent or Velocity Mode Mies Increment or 10V Analog b 77 diia ND Decrement PWM Direction PWM 50 PWM 50 INPUT COUNT UP COUNT DOWN INPUTS Position Mode uty 50 50 CW or CU CU CD yc sd ont lt IN7 Position Current or Step Direction Velocity ncrease 10V Analog i IN8 cew ereny NS Position Master Encoder no connection No function Decrease A B Quadrature For current or velocity control the PWM Direc tion format takes a PWM signal at constant frequency which changes its duty cycle from 0 to 100 to control current or velocity and a DC level at the Direction input to control polarity The PWM 50 format takes a single PWM signal that produces 0 output at 50 INS duty cycle and maximum positive negative A pae Ene outputs at 0 or 100 As a protection against Ref gt wiring faults the 0 and 100 inputs can be E IN7 Master Enc programmed to produce 0 output When this Ch B is done the max min duty cycle range is gt 0 and 10096 Position control inputs take signals in popular 10 V ANALOG INPUT 37 4k 5k Ref gt QUAD AB ENCODER Pos Pos d I ELI ons lI PL stepper motor format or from a digital quadrature encoder The CU CD format moves the motor in a positive direction for each pulse received at the count up input Negative mot
13. current to ground GP INPUTS 1 2 3 GP INPUTS 4 5 24 Vdc max ok Views e Programmable 1 0 10k 4 99k 74HC14 IN4 IN5 10k 33nF 33nF IN5 connects to J4 for A i motor temperature sensor 3 3nF HS INPUTS 6 7 8 9 5 Vdc max IN6 IN7 IN8 IN9 5V DIGITAL OUTPUTS Digital outputs are open drain MOSFETs with 1 kQ pull up resistors to 5 Vdc These can sink up to 100 mAdc from external loads operating from power supplies to 30 Vdc When driving inductive loads such as a motor brake an external fly back diode is required The OUT4 diode in the output is for driving PLC inputs that are opto isolated and connected to 24 1k Vdc The diode prevents conduction from 24 Vdc through the 1 kQ resistor to 5 Vdc in OUT2 the amplifier This could turn the input on giving a false indication of the amplifier output OUT3 state These outputs are programmable to be on or off when active Typical functions are amplifier OUT4 fault indication or motor brake operation Other functions are programmable Copley Controls Corp 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 Web www copleycontrols com Page 6 of 14 CE ii idee esc BRUSH MOTORS CC Accelnet wicro Panel MOTOR CONNECTIONS Motor connections are of four types phase Halls encoder and thermal sensor The phase connections carry the amplifier output currents that drive the motor to produce motion The Hall signals are three digital signals
14. f 14 Copl a Corp CME 2 SOFTWARE 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 Motor data can be saved as ccm files Amplifier data is saved as ccx files that contain all amplifier settings plus motor data This eases system management as files can be cross referenced to ampifiers Once an amplifier configuration has been completed systems can be replicated easily with the same setup and performance RS 232 COMMUNICATIONS The serial port is three wire RxD TxD Gnd full duplex RS 232 that operates from 9600 to 115 200 Baud Connections to the RS 232 port are through J5 the Signal connector The Acce net Micro Panel Serial Cable Kit ACJ SK contains a 9 pin female Sub D serial port COM1 COM2 etc connector and 2m 6 ft cable that is terminated in a J5 cable connector This provides an easy connection to the amplifier for set up without wiring to J5 AMP STATUS LED A bi color LED gives the status of the amplifier by changing color and either blinking or remaining solid The possible col
15. from the amplifier and powered down to ensure operator safety The AUX HV input operates from any DC voltage that is within the operating voltage range of the amplifier and powers the DC DC converter that supplies operating voltages to the am plifier DSP and control circuits When the amplifier HV voltage is greater than the AUX HV voltage it will power the DC DC converter Under these conditions the AUX HV input will draw no current MOUNTING amp COOLING Accelnet Micro Panel has slots for mounting to panels at 0 or 90 Cooling is by conduc tion from amplifier heatplate to mounting surface or by convection to ambient CE Shielded cables required Copley Controls Corp 20 Dan Road Canton MA 02021 USA Web www copleycontrols com Tel 781 828 8090 Fax 781 828 6547 Page 8 of 14 CE DIGITAL SERVOAMPLIFIER C Corp ARN for BRUSHLESS or BRUSH MOTORS m AcCcelnet Micro Panel AMPLIFIER CONNECTIONS zl La LCE DOC s 10 Multi Mode A Mot EncA 8 25 Multi Mode A Mot Enc A 1 11 Multi Mode B ENCODER 26 Multi Mode B Mot Enc B 2 ra ra Mot EncB 9 ra a ia
16. gle control card CAN STATUS LED The CAN status LED operates in accordance with CAN specifica tion 303 3 This is a bi color LED that uses red and green colors in solid flashing and blinking states to indicate conditions on the CAN bus AMPLIFIER STATE LED ON OFF CONDITION red 41 T l F 1 F4 r Se Pre operational red Operational qo oit green red Stopped off 1s LJ green red Warning Limit Reached Jt g is green red Error Control Event J l J n T off 1s green ke _ red Syne Error i EE EI red green red Bus off De en green STATUS LEDS i STATUS LED Copley Controls Corp 20 Dan Road Canton MA 02021 USA Web www copleycontrols com Tel 781 828 8090 Fax 781 828 6547 Page 4 of 14 Cop C Contro Corp COMMAND INPUTS IN STAND ALONE MODE The command inputs control the amplifier to produce an output and are used when the amplifier is taking current velocity or position commands from an external controller in stand PWM DIRECTION INPUTS Duty 010096 Accelnet Micro Panel CURRENT OR VELOCITY MODE REFERENCE INPUTS for BRUSHLESS or BRUSH MOTORS DIGITAL SERVOAMPLIFIER CC STEP MOTOR EMULATION INPUTS PULSE DIRECTION INPUTS Pulse IN7 n N7 Current or Position alone mode The command inputs take digital Velocity magnitude and analog signals in a v
17. ion is produced by pulses on the count down input The step direction mode moves the motor an increment of position for every pulse received at the pulse input while the direction of movement is controlled by a DC level on the direction input Master encoder quadrature signals A B are decoded into four counts per encoder line with the direction derived from the logic state transitions of the inputs In position mode the ratio of motor motion per input count is programmable A 10V analog command can control current velocity or position as well FUNCTIONAL DIAGRAM OF ONE CHANNEL MULTI MODE ENCODER PORT This port consists of three differential input output channels with functions programmable For dual loop position mode operation that employs a primary 35V 22 pF encoder on the motor and a secondary encoder on the load 22k Edad the port works as an input receiving the secondary encoder s a meader Input 1k quad A B X signals For stand alone operation with an external motion controller the signals from the digital encoder on the motor are buffered and made available at the control signal connector for transmission to the controller This eliminates split wired motor cables with dual connectors that take the encoder signals to both amplifier and controller 26CS32 Input Output Select Buffered Digital Encoder or Emulated Encoder Output 26C831 Tel 781 828 8090 Fax 781 828 6547 Page 5 of 14 Copley Controls C
18. mounting screws These will make contact with the aluminum heatplate to connect it to the equipment frame ground Keep as short as possible for CE compliance for BRUSHLESS or BRUSH MOTORS DIGITAL SERVOAMPLIFIER Ce POWER SUPPLIES Accelnet Micro Panel operates typically from transformer isolated 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 continuous power output of the amplifier is considerably higher than the actual power required by an incremental motion application Operation from regulated switching power supplies is possible if a diode is placed between the power supply and amplifier to prevent regenerative energy from reaching the output of the supply If this is done there must be external capacitance between the diode and amplifier Distance between this capacitor and the amplifier should be 1 metre or less Switching Amplifier Power Supply AUXILIARY HV POWER Accelnet Micro Panel has an input for AUX HV This is a voltage that can keep the am plifier communications and feedback circuits active when the PWM output stage has been disabled by removing the main HV supply This can occur during EMO Emergency Off conditions where the HV supply must be removed
19. on occurs Brake OUT1 4 are programmable for motor brake function external flyback diode required STATUS INDICATORS Amp Status Bicolor LED amplifier status indicated by color and blinking or non blinking condition CAN Status Bicolor LED status of CAN bus indicated by color and blink codes to CAN Indicator Specification 303 3 PROTECTIONS HV Overvoltage HV gt HV Amplifier outputs turn off until HV lt HV See Input Power for HV HV Undervoltage HV lt 14 Vdc Amplifier outputs turn off until HV gt 14 Vdc Amplifier over temperature Heat plate gt 70 C Short circuits Output to output output to ground internal PWM bridge faults PT Current limiting Programmable continuous current peak current peak time Motor over temperature Digital inputs programmable to detect motor temperature switch Functions Fault conditions are programmable as latching or non latching types MECHANICAL amp ENVIRONMENTAL Size 3 83 x 2 47 x 1 29 in 97 28 x 62 74 x 32 77 mm Weight 4 8 oz 0 14 kg Ambient temperature 0 to 45 C operating 40 to 85 C storage Humidity 0 to 95 non condensing Contaminants Pollution degree 2 Environment IEC68 2 1990 Cooling Conduction through heatplate on amplifier chassis or convection pu I en eee ee ee eee ee ee a ee ee Copley Controls Corp 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 Web www copleycontrols com Page 3 o
20. or and blink combinations are e Green Solid Amplifier OK and enabled Will run in response to reference inputs or CANopen commands e Green Slow Blinking Amplifier OK but NOT enabled Will run when enabled e Green Fast Blinking Positive or Negative limit switch active Amplifier will only move in direction not inhibited by limit switch e Red Solid Transient fault condition Amplifier will resume operation when fault is removed e Red Blinking Latching fault Operation will not resume until amp is Reset Fault conditions Over or under voltage e Motor over temperature e Phasing error current position is gt 60 electrical from Hall angle e Short circuits from output to output e Short circuits from output to ground e Internal short circuits e Amplifier over temperature e Position mode following error Faults are programmable to be either transient or latching Accelnet micro Panel DIGITAL SERVOAMPLIFIER for BRUSHLESS or BRUSH MOTORS Ce CANOPEN NETWORKING Based on the CAN V2 0b physical layer a robust two wire com munication 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 sin
21. orp 20 Dan Road Canton MA 02021 USA Web www copleycontrols com C Contro DIGITAL SERVOAMPLIFIER con for BRUSHLESS or BRUSH MOTORS Accelnet micro Panel DIGITAL INPUTS Accelnet Micro Panel has nine digital inputs eight of which have programmable functions Input IN1 is not programmable and is dedicated to the amplifier 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 functions limit switches and the motor temperature sensor Programmable functions of the digital inputs include e Positive Limit switch e Step amp Direction or CU CD Negative Limit switch step motor position commands e Home switch Quad A B master encoder e Amplifier Reset position commands e PWM current or velocity commands e Motor over temperature CAN address bits In addition to the active level and function for each programmable input the input resistors are programmable in three groups to either pull up to 5 Vdc or down to ground Grounded inputs with HI active levels interface to PLC s that have PNP outputs that source current from 24 Vdc sources Inputs pulled up to 5 Vdc work with open collector or NPN drivers that sink
22. ower source Total current drawn from both pins cannot exceed 250 mAdc 4 Pins 5 amp 10 of CAN port on J1 connect to frame ground for cable shield All other CAN port pins are isolated from amplifier circuits papc PE I T J 1 Copley Controls Corp 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 Web www copleycontrols com Page 9 of 14 Copley DIGITAL SERVOAMPLIFIER CE M for BRUSHLESS or BRUSH MOTORS c Accelnet wicro Panel CONNECTORS amp SIGNALS Conductor ratings for contacts when used with crimping tools shown below Samtec CC79L 2024 01 F AWG 24 20 wire insulation diameter 035 0 89mm 070 1 78mm Molex 39 00 0039 AWG 24 18 wire insulation diameter 051 1 30mm 122 3 10mm J3 Cable Connector 4 position poke crimp Housing Molex 39 01 4041 J4 Cable Connector Contacts Molex 39 00 0039 14 position poke crimp Crimping Tool Molex 11 01 0197 Housing Samtec IPD1 07 D Extractor Tool Molex 11 03 0044 Contacts 14 Samtec CC79L 2024 01 F Crimping tool Samtec CAT HT 179 2024 01 Contact Extractor Samtec CAT EX 179 01 Sum Pn Swa Encoder 8 1 Eder Encoder 9 2 Encoder HV Ground Hall V Hall U Hall W 6 Signal Ground Motemp INS J5 Signal Analog Ref 1 Analog Ret Pin signa EE Programmable Input IN2 Enable Input IN1 Programmable Input IN4 Programmable Input IN3 Programmable
23. red for CE compliance Copley Controls Corp 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 Web www copleycontrols com Page 7 of 14 Copi controis Corp GROUNDING CONSIDERATIONS Power and control circuits share a common circuit ground HV Gnd on J3 4 and Signal Ground on J2 5 J4 6 amp 11 J5 2 9 15 17 and 28 Input logic circuits are referenced to Signal Ground as are analog Reference inputs digital outputs encoder and Hall signals For this reason amplifier Gnd ter minals should connect to the users ground system so that signals between amplifier and controller are at the same common potential and to minimize noise The sys tem ground should in turn connect to an earthing conductor at some point so that the whole system is referenced to earth The CAN ports are optically isolated from the amplifier circuits Because current flow through conductors produces voltage drops across them it is best to connect the amplifier HV Return to system earth or circuit common through the shortest path and to leave the power supply floating In this way the power supply terminal connects to ground at the amplifier HV Return terminals but the voltage drops across the cables will not appear at the amplifier ground but at the power supply negative terminal where they will have less effect Motor phase currents are balanced but cur rents can flow between the PWM outputs and
24. t resistance 0 075 0 075 0 075 0 036 0 075 Rout Q Maximum Output Voltage Vout HV 0 97 Rout Iout INPUT POWER HV nin to HV 20 to 55 20 to 55 20to 90 20to 90 20 to 90 Vdc Transformer isolated Ipeak 9 18 3 9 12 Adc 1 sec peak Icont 3 6 1 3 6 Adc continuous Aux HV 20 to HVmax 500 mAdc maximum PWM OUTPUTS Type 3 phase MOSFET inverter 15 kHz center weighted PWM space vector modulation PWM ripple frequency 30 kHz DIGITAL CONTROL Digital Control Loops Current velocity position 100 digital loop control Dual loop position control using secondary encoder input Sampling rate time Current loop 15 kHz 66 7 us Velocity position loops 3 kHz 333 us Commutation Sinusoidal field oriented control or trapezoidal from Halls for brushless motors Modulation Center weighted PWM with space vector modulation Bandwidths Current loop 2 5 kHz typical bandwidth will vary with tuning amp load inductance HV Compensation Changes in bus voltage do not affect bandwidth Minimum load inductance 200 UH line line COMMAND INPUTS CANopen Profile Position Interpolated Position Profile Velocity Profile Torque Homing Digital position Step Direction CW CCW Stepper commands 2 MHz maximum rate Quad A B Encoder 20 Mcount sec after quadrature 5 Mline sec Digital torque amp velocity PWM Polarity PWM 0 100 Polarity 1 0 PWM PWM 50 50 no polarity signal required PWM frequency range 1 kHz minimum 100 kHz maximum PWM minimum pulse width 22
25. the motor cable shield To minimize the effects of these currents on nearby circuits the cable shield should connect to Gnd J2 5 Controller Signal Gnd B Q Keep connections as close as possible Star ground to a common point is best Accelnet micro Panel Amplifier The amplifier heatplate does not connect to any amplifier circuits Cables must be shielded for CE compliance and the shields should connect to the Frame Ground termi nals When installed the amplifier heatplate should connect to the system chassis This maximizes the shielding effect and provides a path to ground for noise currents that may occur in the cable shields Signals from controller to amplifier are ref erenced to 5 Vdc and other power supplies in user equipment These power supplies should also connect to system ground and earth at some point so that they are at same potential as the amplifier circuits The final configuration should embody three current carrying loops First the power supply currents flowing into and out of the amplifier at the HV and Gnd pins on J3 Second the amplifier outputs driving cur rents into and out of the motor phases and motor shield currents circulating between the U V and W outputs and Gnd And lastly logic and signal currents connected to the amplifier control inputs and outputs For CE compliance and operator safety the amplifier should be earthed by using exter nal tooth lockwashers under the
26. us Connector housing control 30 postin Same a eo ORDER EXAMPLE STAND ALONE ORDER EXAMPLE CAN NETWORKING Qty Order No Description Qty Order No Description 1 ACJ 090 09 Accelnet Micro Panel 1 ACJ 090 09 Accelnet Micro Panel 1 ACLCK Connector Kit 1 ACJ CK Connector Kit 1 ACJ FC 10 Feedback Cable 10 ft 3m 1 ACJ NK Network Connector Kit 1 ACJ SK Serial Cable Kit 1 ACJ SK Serial Cable Kit 1 CME2 CME 2 Program CD 1 CME2 CME 2 Program CD For each additional ACJ amplifier in a CAN network 1 ACJ NC 10 Amplifier J1 plug to flying leads 10 ft 3 m or 1 ACJ NC 01 Amplifier J1 plug to flying leads 1 ft 0 3 m Note Specifications subject to change without notice Rev 1 32 tu 04 04 2006 E BA ro A H F Hw A w rt Copley Controls Corp 20 Dan Road Canton MA 02021 USA Tel 781 828 8090 Fax 781 828 6547 Web www copleycontrols com Page 14 of 14
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