Copley Controls Xenus R10 Manual page 64

Accelnet R20
OUTPUTS
DIGITAL OUTPUTS
The digital outputs are open-drain MOSFETs with 1 kΩ pull-up resistors in series with a diode to +5
Vdc. They can sink up to 1 Adc from external loads operating from power supplies to +30 Vdc.
The output functions are programmable. The active state of the outputs is programmable to be on
or off.
When driving inductive loads such as a relay, an external fly-back diode is required. The internal
diode in the output is for driving PLC inputs that are opto-isolated and connected to +24 Vdc. The
diode prevents conduction from +24 Vdc through the 1 kΩ resistor to +5 Vdc in the drive. This could
turn the PLC input on, giving a false indication of the drive output state.
MOTOR CONNECTIONS
Motor connections are of three types: phase, feedback, and thermal sensor. The phase connections carry the drive output currents that
drive the motor to produce motion. A thermal sensor that indicates motor overtemperature is used to shut down the drive to protect
the motor. Feedback can be digital quad A/B encoder, analog sin/cos encoder, resolver or digital Halls, depending on the version of the
drive.
MOTOR PHASE CONNECTIONS
The drive output is a three-phase PWM inverter that converts the DC buss voltage
(+HV) into three sinusoidal voltage waveforms that drive the motor phase-coils.
Cable should be sized for the continuous current rating of the motor. Motor cabling
should use twisted, shielded conductors for CE compliance, and to minimize PWM
noise coupling into other circuits. The motor cable shield should connect to motor
frame and the drive frame ground terminal (J2-1) for best results.
DIGITAL 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 amplifer has switched to sinusoidal
commutation. Resolver models can also take Hall signal at inputs [IN6~8]. See
page 16 for connections.
DIGITAL ENCODERS
The quad A/B encoder interface is a differential line-receiver with R-C filtering on
the inputs. Encoders with differential outputs are required because they are less
susceptible to noise that can degrade single-ended outputs. Encoder cables should
use twisted-pairs for each signal pair: A & /A, B & /B, X & /X. An overall shield
should be used, and for longer cables, shields for individual pairs may be necessary
to guarantee signal integrity.
ANALOG ENCODER (-S MODELS)
Accelnet supports analog encoder signals for position feedback. The Sin and Cos
inputs are differential with 121 Ω terminating resistors and accept 1.0 Vp-p signals
in the A/B format used by encoders with analog outputs such as Heidenhain,
Stegman, and Renishaw. When Copley's ServoTube motors are used the analog
encoder supplies both commutation and incremental position feedback.
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.
MOTOR TEMPERATURE SENSOR
Digital input [IN5] is for use with a motor overtemperature switch. The input should
be programmed as a pull-up to +5 Vdc if the motor switch is grounded when cold,
and open or high-impedance when over-heating.
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tech Support: E-mail: sales@copleycontrols.com, Internet: http://www.copleycontrols.com
RUGGEDIZED DIGITAL
SERVO DRIVE FOR
BRUSHLESS/BRUSH MOTORS
U
V
W
U, V, W
HALL
R1
R2
S3
BRUSHLESS
RESOLVER S1
S2
S4
[IN5]
Tel: 781-828-8090
R20
RoHS
+5V
10 k
74HC14
10 k
3.3 nF
J2-3
Ref
J2-2
J2-8
+
Sin
J2-7
-
J2-13
+
Cos
J2-12
-
J2-1
Frame
Ground
+5V
4.99 k
74HC14
10 k
3.3 nF
Fax: 781-828-6547
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