Copley Controls Xenus R10 Manual page 151

Accelnet R21
CONTROL MODES
•
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*/velocity/torque command
•
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
•
9 inputs, 4 outputs
DIMENSIONS: mm [in]
•
97 x 64 x 33 [3.8 x 2.5 x 1.3]
R21-R models
*
DESCRIPTION
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).
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
.
Non-Operating
Non-Operating
Non-Operating
Crash Safety
RUGGEDIZED DIGITAL
SERVO DRIVE FOR
BRUSHLESS/BRUSH MOTORS
Model *
R21-055-09
R21-055-18
R21-090-03
R21-090-09
R21-090-12
* Note: Add "-S" to part number for Sin/Cos version
Add "-R" to part number for resolver version
-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 12,200 m
Operating -400 m to 5,000 m
75 g peak acceleration
Operating 40 g peak acceleration
MIL-STD- 461, 704, 810, 1275, 1399
IEC- 60068, 60079
Tel: 781-828-8090
R21
Vdc Ic Ip
20-55 3 9
20-55 6 18
20-90 1 3
20-90 3 9
20-90 6 12
Fax: 781-828-6547
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