Copley Accelnet Rev 02 R20
Ruggedized digital servo drive for burshless/brush motors.
Rev 02 below the model number on the label indicates Accelnet R20 with the advanced feature set. R20 is a ruggedized high-performance, DC powered drive for Position, Velocity (using encoder, Halls, or BEMF), and Torque control of brushless and brush motors. It operates as a distributed drive using the CANopen protocol, or as a stand-alone drive accepting analog or digital commands from an external motion controller.
In stand-alone mode, Current and Velocity modes accept digital 50% PWM or PWM/polarity inputs as well as ±10V analog. In Position mode inputs can be incremental Position commands from step-motor controllers, analog ±10V, or A/B quadrature commands from a master-encoder. Pulse to position ratio is programmable for electronic gearing. Accelnet R20 operates as Motion Control Device under the DSP-402 protocol of the CANopen DS-301 V4.01 (EN 50325-4) application layer.
DSP-402 modes supported include: Profile Position, Profile Velocity, Profile Torque, Interpolated Position Mode (PVT), and Homing. The two CAN ports are optically isolated from drive circuits.
There are twelve digital inputs eleven of which have programmable functions. These include CAN address, motion-abort, limit & home switches, stepper/encoder pulse inputs, reset, digital torque or velocity reference, and motor over-temperature. Input [IN1] is dedicated for the drive Enable. There are three programmable logic outputs for reporting an drive fault, motor brake control, or other status indications.
Drive power is transformer-isolated DC from regulated or unregulated power supplies. An AuxHV input powers control circuits for “keep-alive” operation permitting the drive power stage to be completely powered down without losing position information, or communications with the control system.
AFS Advanced FEature Set
- BiSS-C Unidirectional & SSI absolute encoders
- 32-bit floating point filters
- Multiple advanced filters
- Frequency analysis tools
Dimensions (in mm)
168 x 99 x 31 (6.6 x 3.9 x 1.2)
CONTROL MODES
- Fast indexer, Point-to-Point, PVT
- Camming, Gearing, Position, Velocity, Torque
COMMAND INTERFACE
- Stepper commands Single-ended or Differential selectable
- CANopen
- ASCII and discrete I/O
- ±10V Position/Velocity/Torque command
- PWM Position/Velocity/Torque command
- Master encoder (Gearing/Camming)
COMMUNICATIONS
- CANopen
- RS-232
- RS-422 (Optional)
Feedback
- Digital quad A/B encoders
- Biss-C Unidirectional absolute encoders
- Analog Sin/Cos encoders
- Secondary encoder / emulated encoder out
- Digital Halls
I/O – DIGITAL
- 9 inputs, 4 outputs
Copley Accelnet R21
Ruggedized digital servo drive for burshless/brush motors.
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).
Dimensions (in mm)
97 x 64 x 33 (3.8 x 2.5 x 1.3)
CONTROL MODES
- Fast 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*/Torque command (*R21-R Models )
- 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
- 12 inputs, 3 outputs