Copley Controls Accelnet Plus APZ-090-50 Manuals

Manuals and User Guides for Copley Controls Accelnet Plus APZ-090-50. We have 1 Copley Controls Accelnet Plus APZ-090-50 manual available for free PDF download: User Manual

Copley Controls Accelnet Plus APZ-090-50 User Manual

Copley Controls Accelnet Plus APZ-090-50 User Manual (139 pages)

Micro Modules

Brand: Copley Controls | Category: Control Unit | Size: 6.26 MB

Table of Contents

Table of Contents
2
About this Manual
4
Title, Number, Revision
4
Revision History
4
Overview and Scope
4
Original Instructions
4
Related Documentation
4
EC Declaration of Conformity
5
Abbreviations and Acronyms
6
Comments
7
Copyrights
7
Document Validity
7
Product Warnings
8
Introduction
9
Accelnet Plus Micro Modules Overview
9
Accelnet Plus Micro Module Models
10
Specifications
11
Agency Approvals
11
Input Power
11
Output Power
12
Control Loops
13
Digital Command Inputs
13
Analog Inputs
14
Digital Inputs
14
Safe Torque off (STO)
15
Digital Outputs
15
Encoders
15
Multi-Port Input / Output
17
Serial Interface
18
Network Interfaces
19
Ethercat Interface: AEV Models
20
CAN Architecture: APV Models
21
Status Indicators
21
Fault Levels
22
Dimensions
23
Mechanical and Environmental
25
Thermals
26
Operating Temperature and Cooling Configurations
29
EZ Board Pins Heatsink Mounting
30
Connections and Wiring - Modules
31
AEV PC Board Connectors and Pinout
32
APV PC Board Connectors and Pinout
33
Mounting Configurations
34
Integration Guidelines for AEV & APV Modules
37
Grounding Considerations
39
Ethercat Communications
42
Communications
42
Digital Command Inputs: Position
43
Digital Command Inputs: Velocity, Torque
43
Multi-Mode Port as an Input
44
Multi-Mode Port as an Output
45
CME Defaults
46
High Speed Inputs: IN1, IN2, IN3, IN4, IN5, 1N6
47
Analog Input: AIN1
48
Digital Outputs: Out1~Out6
48
SLI (Switch & LED Interface) PORT
49
Encoder 1 (Primary Feedback)
49
Analog Encoder
52
Other Motor Connections
52
Vlogic
53
Typical Connections
54
Connections and Wiring - EZ Boards
55
Safe Torque off
64
Serial Communications
67
Network Ports
68
Control I/O
70
EZ Board Indicators
81
EZ Development Board Indicators
81
Motor Feedback
84
EZ Development Board Pins Heatsink Mounting
90
Safe Torque off (STO) - Use, Connections and Wiring
91
STO Reference Standards
93
STO Architecture and Function
94
STO Channel Operation
95
STO Function Specifications
96
Environmental Specifications
97
Safety Related Parameters
97
Regulatory Specifications
97
Limitations and Necessary Risk Reductions
98
PC Board Design for STO
101
Installation Overview
102
STO: Installation for AEV & APV Modules
104
STO: Installation for AEZ & APZ Models
110
Operational Theory
113
Drive Input Power
113
Commutation Modes
114
Feedback
114
Synchronization
114
Input Command Types
115
Communications
120
Brake Operation
124
Protection
126
Position and Velocity Errors
128
Digital Inputs
130
Analog Inputs
131
Outputs
131
Appendix
132
A: Connecting AEZ/APZ for Serial Control
134
B: Ordering Guide and Accessories
135

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