EZCTRL17-SV
Features:
Copley Controls: Accelnet Module (ACM Series)
20-180 VDC Digital Drives for Brushless Motors
Description
Accelnet is a digital servo drive that combines CANopen networking with 100% digital control of brush or brushless motors in a pc board mounting package with power options to 10 Adc continuous and 20 Adc peak from 20 Vdc to 180 Vdc power supplies.
RoHS compliance is now standard on all models and with this a ±10 Vdc analog input has been added for position/velocity/torque control. The input takes the place of signal ground pins on non RoHS models so that RoHS types can be installed in place of non RoHS types with no change in function.
Accelnet operates as a Motion Control Device using the DSP-402 protocol under the CANopen DS-301 V4.01 (EN 50325-4) application layer. DSP-402 modes supported include Interpolated Position (PVT), Profile Position, Profile Velocity, Profile Torque, and Homing.
Ten logic inputs are configurable as CAN address bits, enables, limit & home switches, motor temperature switch, stepper/encoder pulses, and reset. There are two logic outputs for reporting drive status, or driving a motor brake.
In addition to CANopen motion commands, Accelnet can operate using incremental position commands from step-motor controllers in Pls/Dir or CW/CCW format, as well as A/B quadrature commands from a master-encoder which can drive cam tables or be geared to ratio the drive position to that of the master-encoder.
Drive commissioning is facilitated by CME 2™ software operating under Windows® communicating with Accelnet via an RS-232 link. Auto-tuning algorithms in CME 2™ slash set up times for fast system commissioning by automating motor phasing, and currentloop tuning. A powerful oscilloscope and waveform generator display drive performance for fine tuning. Drive configurations are saved in non-volatile flash memory. OEM’s can inventory one part, and configure drives on-site to each axis in a machine.
Space-vector modulation delivers higher motor speeds and lower motor power dissipation than conventional sine-pwm modulation. Carrier-cancellation modulation all but eliminates motor ripple current and dissipation at a standstill. Current-loop sampling is at 15 kHz, position and velocity loops at 3 kHz and PWM ripple at 30 kHz.
All drive circuits are DC coupled and operate from unregulated transformer-isolated linear DC power supplies, or regulated witching power supplies.
The PC board mounting package is suitable for high density, multiaxis installations in equipment where space is at a premium, and wiring must be minimized.
Control Modes
Indexer, Point-to-Point, PVT
Camming, Gearing, Position, Velocity, Torque
Command Interface
CANopen
ASCII and discrete I/O
Stepper commands
±10 Vdc analog position/velocity/torque *
PWM velocity/torque command
Master encoder (Gearing/Camming)
Communications
RS-232
Feedback
Digital Quad A/B encoder
Secondary encoder
Brushless resolver (-R option)
Digital Halls
I/O - Digital
10 inputs, 2 outputs
Dimensions: mm [in]
102 x 69 x 25 [4.0 x 2.7 x 1.0]
* Available on RoHS versions
Model No.: ACM-055-18, ACM-090-09, ACM-090-24, ACM-090-60, ACM-180-09, ACM-180-18, ACM-180-20
*Add -R to part numbers above for resolver feedback
Copley Controls: Accelus Panel (ASP Series)
20-180 VDC Digital Drives for Brushless/Brush Motors
Accelus is a 100% digital servoamplifier in a panel-mount package with a family of power options to 12A continuous and 36A peak. This new series offers sinusoidal commutation of brushless motors in torque, velocity, or position modes and fast, easy set up with CME 2™ software.
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 nonvolatile flash memory. OEM’s can inventory one part, and configure amplifiers on-site to each axis in a machine.
Advanced field-oriented-control ensures the highest motor torque over a wide speed range, minimizing motor heating and maximizing efficiency. Digital control algorithms transform 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 power supply.
Accelus works with motion controllers that close position loops 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 panel-mount package is compatible with the mounting footprint of Copley’s 5xx1 series trapezoidal brushless amplifiers, offering an easy upgrade to sinusoidal commutation with digital control.
Gearing, Position, Velocity, Torque
±10V velocity/torque command
Master encoder [Gearing]
RS232
6 inputs, 2 outputs
168 x 99 x 31 [6.6 x 3.9 x 1.2]
Model No.: ASP-055-18, ASP-090-09, ASP-090-18, ASP-090-36, ASP-180-09, ASP-180-18
Copley Controls: Junus (JSP-090 Series)
20-180 VDC Digital Drives for Brush Motors
Description:
The Junus™ digital servo amplifier puts 100% digital control of DC brush motors in a panel-mounting package with power options to ±15 Adc continuous and ±30 Adc peak from +20 Vdc to +180 Vdc DC power supplies.
Torque mode operation works with popular position-loop controllers that use PID filters to close a position-loop. Sensorless velocity control works with position loop controllers that only output a position-error signal such as PLC’s. Set-up is fast and automated by CME 2™ software operating under Windows®.
CME 2™ communicates with Junus™ through an RS-232 link for complete amplifier setup. Auto-tuning algorithms in CME 2™ slash set up times for fast system commissioning by automating current and velocity-loop tuning. A powerful oscilloscope and signal generator display amplifier performance for fine tuning thereafter.
Amplifier control parameters are saved in non-volatile flash memory. OEM’s can inventory one part, and configure amplifiers on-site to each axis in a machine.
Current-loop sampling at 20 kHz yields high-bandwidth with full adjustability. The velocity loop is sampled at 4 kHz for wide velocity bandwidths.
Carrier-cancellation modulation all but eliminates motor ripple current and dissipation at a standstill, and provides excellent crossover characteristics for voice-coil applications that demand low distortion around zero. PWM ripple is at 40 kHz, further minimizing losses in low-inductance motors.
Sensorless velocity control regulates motor back-EMF and compensates for changes in load that would cause a speed change with simple voltage controls. Amplifier output voltage is increased to offset the internal I*R voltage drops, keeping back-EMF constant. All amplifier circuits are DC coupled and operate from unregulated transformer-isolated DC power supplies, or regulated switching power supplies.
The panel-mount package is compatible with the mounting footprint of Copley’s 4xx series analog DC brush-motor amplifiers, offering an easy upgrade to 100% digital control.
Velocity, Torque
Back-EMF (velocity mode)
5 inputs, 1 output
130 x 82 x 31 [5.1 x 3.2 x 1.2]
Model No.: JSP-090-10, JSP-090-20, JSP-180-10, JSP-180-20, JSP-180-30
