General Specifications - Copley Controls Xenus R10 Manual

Accelnet R20

GENERAL SPECIFICATIONS

Test conditions: Load = Wye connected load: 2 mH + 2 Ω line-line. Ambient temperature = 25°C, +HV = HV
MODEL
R20-055-18
OUTPUT POWER
Peak Current
Peak time
Continuous current
Peak Output Power
Continuous " "
Output resistance
Maximum Output Voltage
INPUT POWER
HV ~HV +20 to +55
min max
Ipeak
Icont
Aux HV
PWM OUTPUTS
Type
PWM ripple frequency
DIGITAL CONTROL
Digital Control Loops
Sampling rate (time)
Commutation
Modulation
Bandwidths
HV Compensation
Minimum load inductance
COMMAND INPUTS
CANopen communications
Digital position reference
Digital position/velocity/torque reference
Analog torque, velocity, position
DIGITAL INPUTS
Number
Inputs [IN1~5,11,12]
Input [IN6]
Inputs [IN7~10]
All inputs
DIGITAL OUTPUTS
Number
[OUT1], [OUT2], [OUT3]
Current rating
MULTI-MODE ENCODER PORT
Operation
Signals
Frequency
Input/output
RS-232 PORT
Signals
Mode
Protocol
RS-422 PORT (Optional)
Signals
Mode
Protocol
CAN PORT
Signals
Format
Data
Address selection
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tech Support: E-mail: sales@copleycontrols.com, Internet: http://www.copleycontrols.com
R20-090-09 R20-090-18
18 (12.7) 9 (6.4) 18 (12.7)
1 1
6 (4.2) 3 (2.1)
0.92 0.79
0.32 0.27
0.075 0.075
Vout = HV*0.97 - Rout*Iout
+20 to +90 +20 to +90
20 10
6.7 3.3
+20 to +HV Vdc @ 500 mAdc maximum
3-phase MOSFET inverter, 15 kHz center-weighted PWM, space-vector modulation
Current, velocity, position. 100% digital loop control
Current loop: 15 kHz (66.7 µs) Velocity, position loops: 3 kHz (333 µs)
Sinusoidal, field-oriented control for brushless motors
Center-weighted PWM with space-vector modulation
Current loop: 2.5 kHz typical, bandwidth will vary with tuning & load inductance
Changes in bus voltage do not affect bandwidth
200 µH line-line
Profile Position, Profile Velocity, & Profile Torque, Interpolated Position (PVT), Homing
Step/Direction, CW/CCW
Quad A/B Encoder
PWM , Polarity
PWM
PWM frequency range
PWM minimum pulse width
±10 Vdc
12
74HC14 Schmitt trigger, 330 µs RC filter, Vin-LO < 1.35 Vdc, Vin-HI >3.65 Vdc, +24 Vdc max
[IN1] dedicated to drive enable function, other inputs are programmable
74HC14 Schmitt trigger, 100 ns RC filter, Vin-LO < 1.35 Vdc, Vin-HI >3.65 Vdc, +12 Vdc max
Single-ended: Comparator with 2.5 Vdc reference, 100 ns RC filter, Vin-LO <2.3 Vdc, Vin-HI > 2.45 Vdc
Differential: RS-485 line receiver on input pairs [IN9-7], and [IN10-8], 100 ns RC filters, +12 Vdc max
10 kΩ pull-up to +5 Vdc or pull-down to ground, selectable in groups, active level programmable
3
Current-sinking MOSFET with 1 kΩ pullup to +5 Vdc through diode
1 Adc max, +30 Vdc max. Functions programmable
External flyback diode required if driving inductive loads
Programmable as input for secondary (dual) digital encoder or as buffered outputs in
quad A/B/X format for digital motor feedback encoder,
or emulated encoder outputs from analog sin/cos motor feedback encoder (ServoTube) or resolver
Quad A/B Encoder: A, /A, B, /B, X, /X
As input for digital encoder: 5M lines/sec, 20 M count/sec (after quadrature)
As buffered outputs for digital motor encoder: 5 M lines/sec, 20 M count/sec (after quadrature)
As emulated encoder outputs for sin/cos analog motor encoder: 4.5 M lines/sec,
18 M count/sec (after quadrature)
26C32 differential line receiver, or 26C31 differential line driver
RxD, TxD, Gnd in 6-position, 4-contact RJ-11 style modular connector
Full-duplex, DTE serial communication port for drive setup and control, 9,600 to 115,200 baud
Binary and ASCII formats
XMT-A, XMT-B, RCV-A, RCV-B, in a 6-position, 6-contact RJ-11 style modular connector
Full-duplex, RS-422 slave, 9,600 to 115,200 baud
Binary and ASCII formats
CANH, CANL, Gnd in dual 8-position RJ-45 style modular connectors, wired as per CAN Cia DR-303-1, V1.1
CAN interface circuit and +5 Vdc supply are optically isolated from drive circuits
CAN V2.0b physical layer for high-speed connections compliant
CANopen Device Profile DSP-402
16 position rotary switch on front panel with 3 additional address bits available as
digital inputs or programmable to flash memory
BRUSHLESS/BRUSH MOTORS
R20-090-36 R20-180-09
36 (25.5) 9 (6.4)
1 1
6 (4.2) 12 (8.5) 3 (2.1)
1.55 2.95
0.53 1.06
0.075 0.036
+20 to +90 +20 to +180
20 40
6.7 13.3
30 kHz
Stepper commands (2 MHz maximum rate)
2 M lines/sec, 8 M count/sec (after quadrature)
PWM = 0~100%, Polarity = 1/0
PWM = 50% +/-50%, no polarity signal required
1 kHz minimum, 100 kHz maximum
220 ns
Differential, 5 kΩ impedance
Tel: 781-828-8090
R20
RUGGEDIZED DIGITAL
SERVO DRIVE FOR
R20-180-18
18 (12.7)
1 1
6 (4.2)
1.59 3.15
0.53 1.06
0.075 0.075
+20 to +180
10 20
3.3 6.7
RoHS
max
Adc (Arms), ±5%
Sec
Adc (Arms) per phase
kW
kW
Rout (Ω)
Vdc, transformer-isolated
Adc (1 sec) peak
Adc continuous
Fax: 781-828-6547
Page 2 of 24