Copley Controls Xenus R10 Manual page 101

ConTRol MoDES
• Position, Velocity, Torque
• Indexer, Point-to-Point, PVT
• Camming, Gearing
CoMMAnD InTERFACE
• CAnopen
• ASCII and discrete I/O
• Stepper commands
• ±10V position/velocity/torque command
• PWM velocity/torque command
• Master encoder (Gearing/Camming)
CoMMUnICATIonS
• CAnopen
• RS-232
FEEDbACk
• Incremental
• Digital quad A/B encoder
• Analog sin/cos encoder
• Panasonic Incremental A
• Digital Halls
Absolute
• SSI
• EnDat
• Absolute A
• Tamagawa Absolute A
• Panasonic Absolute A Format
• BiSS (B & C)
I/o
• Digital: 11 inputs, 6 outputs
• Analog: 1 input
DIMEnSIonS: MM [In]
• 76.3 x 58.2 x 20.5
[3.01 x 2.29 x 0.81]
RUggEDIzED STAnDARDS ConFoRMAnCE
Ambient Temperature
Thermal Shock
Relative Humidity
Vibration
Altitude
Shock
MIL-STD specifications
IEC specifications
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tech Support: E-mail: sales@copleycontrols.com, Internet: http://www.copleycontrols.com
Accelnet
DESCRIPTIon
Accelnet R42 is a high-performance, ruggedized, DC powered servo drive for position,
velocity, and torque control of brushless and brush motors via CANopen. Using advanced
FPGA technology, the R42 provides a significant reduction in the cost per node in multi-axis
CANopen systems.
The R42 operates as an CANopen node using the CANopen over CANopen (CoE) protocol
of DSP-402 for motion control devices. Supported modes include: Profile Position-Velocity-
Torque, Interpolated Position Mode (PVT), and Homing.
Command sources also include ±10V analog torque/velocity/position, PWM torque/velocity,
and stepper command pulses.
Feedback from a number of incremental and absolute encoders is supported.
Nine high-speed digital inputs with programmable functions are provided, and a low-speed
input for motor temperature switches.
An SLI (Switch & LED Interface) function is supported by another high-speed input and four
high-speed digital outputs. If not used for SLI, the input and outputs are programmable for
other functions. Two open-drain MOSFET outputs can drive loads powered up to 24 Vdc.
An RS-232 serial port provides a connection to Copley's CME2 software for commissioning,
firmware upgrading, and saving configurations to flash memory.
Drive power is transformer-isolated DC from regulated or unregulated power supplies. An
AuxHV input is provided for "keep-alive" operation permitting the drive power stage to be
completely powered down without losing position information, or communications with the
control system.
non-operating
non-operating
non-operating
R42
Plus
Model
R42-090-06
R42-090-14
R42-090-30
-50ºC to 85ºC
operating -40ºC to 70ºC
operating -40ºC to 70ºC in 1 minute
95% non-condensing at 60ºC
operating 95% non-condensing at 60ºC
operating 5 Hz to 500 Hz, up to 3.85 grms
-400 m to 16,000 m
operating -400 m to 16,000 m
Crash Safety 75 g peak acceleration
operating 40 g peak acceleration
MIL-STD- 461, 704, 810, 1275, 1399
IEC- 60068, 60079
Tel: 781-828-8090
Ruggedized digital seRvo dRive
foR BRushless/BRush MotoRs
Ic Ip
3 6
7 14
15 30
Fax: 781-828-6547
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