Copley Controls Xenus R10 Manual page 158

Accelnet R21
MOTOR CONNECTIONS
Motor connections are of four types: phase, Halls, encoder and thermal sensor. The phase connections carry the drive output currents that drive the motor
to produce motion. The Hall signals are three digital signals that give absolute position feedback within an electrical commutation cycle. The encoder signals
give incremental position feedback and are used for velocity and position modes, as well as sinusoidal commutation. A thermal sensor that indicates motor
over-temperature is used to shut down the drive to protect the motor.
DIGITAL MOTOR ENCODER
The input circuit for the motor encoder signals is a differential line-receiver with R-C filtering on
the inputs. A 121 Ω resistor is across each input pair to terminate the signal pairs in the cable
characteristic impedance. Encoders with differential outputs are required because they are less
susceptible to noise that can be picked on single-ended outputs. For best results, encoder cabling
should use twisted pair cable with one pair for each of the encoder outputs: A-/A, B-/B, and X-/X.
Shielded twisted-pair is even better for noise rejection.
ANALOG MOTOR ENCODER
The input circuit for the motor encoder signals is a differential line-receiver with R-C filtering on
the inputs. A 121 Ω resistor is across each input pair to terminate the signal pairs in the cable
characteristic impedance. Encoders with differential outputs are required because they are less
susceptible to noise that can be picked on single-ended outputs. For best results, encoder cabling
should use twisted pair cable with one pair for each of the encoder outputs: A-/A, B-/B, and X-/X.
Shielded twisted-pair is even better for noise rejection.
MOTOR HALL SIGNALS
Hall signals are single-ended signals that provide absolute feedback within one electrical cycle of
the motor. There are three of them (U, V, & W) and they may be sourced by magnetic sensors
in the motor, or by encoders that have Hall tracks as part of the encoder disc. They typically
operate at much lower frequencies than the motor encoder signals, and are used for commutation-
initialization after startup, and for checking the motor phasing after the drive has switched to
sinusoidal commutation.
ANALOG HALLS (-S MODELS) + DIGITAL ENCODER
For position feedback with higher resolution than is possible
by interpolating analog Halls, a digital incremental encoder
is connected to the multi-mode port. The Halls are then used
for commutation and the multi-mode port is programmed
as a differential input for the Secondary Incremental motor
encoder.
RESOLVER (-R models)
Connections to the resolver should be made with shielded cable that uses
three twisted-pairs. Once connected, resolver set up, motor phasing, and other
commissioning adjustments are made with CME 2 software. There are no hardware
adjustments.
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tech Support: E-mail: sales@copleycontrols.com, Internet: http://www.copleycontrols.com
= SHIELDED CABLES REQUIRED
FOR CE COMPLIANCE
RUGGEDIZED DIGITAL
SERVO DRIVE FOR
BRUSHLESS/BRUSH MOTORS
ENC
HALL
30
A
10
/A
25
B
Digital
11
Incremental
/B
26
Encoder
X
12
/X
27
Vcc
24
+5 Vdc
+5 vdc
0V
to Encoder
28 Signal Ground
Position feedback for
position/velocity control
BRUSHLESS
RESOLVER
Tel: 781-828-8090
R21
22 pF
+5V
2 k
1k
A, B, X
26LS32
+
121
/A, /B, /X
-
1k
22 pF
U
+5V
V
W
10 k
10 k
U, V, W
3.3 nF
Frame Frame
Gnd Gnd
14
J5 J4
HA(+)
8
HA(-)
1
HB(+)
9
HB(-)
2
N.C.
10
N.C. 3
Vcc
+5 Vdc 4
+5 vdc
to Halls
0V
Signal Ground 11
Hall feedback for
brushless motor commutation
R1 J4-10
R2 J4-3
S3 J4-8
+
S1 J4-1
-
J4-9
S2
+
S4 J4-2
-
J8-1
Frame
Ground
Fax: 781-828-6547
Page 8 of 24
RoHS
74HC14
HA+
HA-
Analog
HB+ Halls
HB-
Ref
Sin
Cos