Copley Controls Xenus R10 Manual page 80

Accelnet R22
GENERAL SPECIFICATIONS
Test conditions: Load = Wye connected load: 1 mH+ 1Ω line-line. Ambient temperature = 25 °C. +HV = HV
MODEL
R22-055-18
OUTPUT POWER
Peak Current
Peak time
Continuous current
Peak Output Power
Continuous Output Power
INPUT POWER
HVmin to HVmax +20 to +55 +20 to +90 +20 to +90
Ipeak
Icont
Aux HV +20 to HVmax 2.5 W max
PWM OUTPUTS
Type
PWM ripple frequency
BANDWIDTH
Current loop, small signal
HV Compensation
Current loop update rate
Position & Velocity loop update rate
REFERENCE INPUTS
CANopen bus
Digital position reference
Digital torque & velocity reference (Note 1)
Analog torque/velocity/position
DIGITAL INPUTS (NOTE 1)
Number
All inputs
Logic levels
Enable [IN1]
GP [IN2,3,4]
Motemp [IN5]
HS [IN6,7,8,9,10]
DIGITAL OUTPUTS (NOTE 1)
Number
Type
Functions
Active Level
RS-232 COMMUNICATION PORT
Signals
CANOPEN COMMUNICATION PORT
Signals
Protocol
Device
MOTOR CONNECTIONS
Motor U,V,W
Encoder
Halls
Motemp
RESOLVER
Type
Resolution
Reference frequency
Reference voltage
Reference maximum current
Maximum RPM
PROTECTIONS
HV Overvoltage
HV Undervoltage
Drive over temperature
Short circuits
I T Current limiting
2
Latching / Non-Latching
NOTES
1. [IN1] is not programmable and always works as drive Enable. Other digital inputs are programmable.
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tech Support: E-mail: sales@copleycontrols.com, Internet: http://www.copleycontrols.com
R22-090-09 R22-090-24
18 (12.7) 9 (6.34) 24 (17.0)
1 1 1
6 (4.24) 3 (2.1) 12 (8.5)
0.99 0.81 2.16
0.33 0.27 1.08
18 9 24
6 3 12
MOSFET 3-phase inverter, 15 kHz center-weighted PWM carrier, space-vector modulation
30 kHz
2.5 kHz typical, bandwidth will vary with tuning & load inductance
Changes in HV do not affect bandwidth
15 kHz (66.7 µs)
3 kHz (333 µs)
Operating Modes
Pls/Dir, CW/CCW
Quad A/B Encoder
PWM
PWM frequency range
PWM minimum pulse width
±10 Vdc, 5 kΩ differential input impedance
10
74HC14 Schmitt trigger operating from +5 Vdc with RC filter on input, 10 kΩ pull-up to +5 Vdc
RC time-constants assume active drive on inputs and do not include 10 kΩ pull-ups.
Vin-LO < 1.35 Vdc, Vin-HI >3.65 Vdc, Maximum input voltage = +10 Vdc
1 dedicated input for drive enable, active level programmable, 330 µs RC filter
3 General Purpose inputs, 10 kΩ pull-ups, 330 µs RC filter (33 µs for [IN4]), 24 Vdc max
1 General Purpose input with, 4.99 kΩ pull-up, 330 µs RC filter, 24 Vdc max
5 High-Speed Inputs inputs with 100 ns RC filter, +12 Vdc max
2
Current-sinking MOSFET open-drain output with 1 kΩ pullup to +5 Vdc through diode
1 Adc sink max, +30 Vdc max
Programmable with CME 2™
Programmable to either HI (off, pull-up to +5 Vdc) or LO (on, current-sinking) when output is active
RxD, TxD, Gnd
Full-duplex, serial communication port for drive setup and control, 9,600 to 115,200 Baud
CANH, CANL, Gnd. 1Mbit/sec maximum.
CANopen Application Layer DS-301 V4.01
DSP-402 Device Profile for Drives and Motion Control
Drive outputs to 3-phase brushless motor, Wye or delta connected (DC brush motor use outputs U & V)
Quadrature encoder, differential outputs (A,/A,B,/B,X,/X), 5 Mlines/sec (20 Mcount/sec after quadrature)
Hall signals (U,V,W)
Motor temperature sensor or switch
Brushless, single-speed, 1:1 to 2:1 programmable transformation ratio
14 bits (equivalent to a 4096 line quadrature encoder)
7.5 kHz
2.8 Vrms, auto-adjustable by the drive to maximize feedback
100 mA
10,000+
+185, +91, +56 Vdc
+HV < +20 Vdc
PC Board > 80 °C.
BRUSHLESS/BRUSH MOTORS
R22-090-60 R22-180-09 R22-180-18
9 (6.34) 18 (12.7)
60 (42.4)
1 1
1
3 (2.1) 6 (4.24)
30 (21.2)
1.62 3.24
5.4
0.54 1.08
2.7
+20 to +180 +20 to +180 +20 to +180
+20 to +90
9 18
60
3 6
30
Optional keep-alive power input when +HV is removed
Profile Position, Profile Velocity, Profile Torque
Interpolated Position (PVT), Homing
Stepper commands (2 MHz maximum rate)
2 Mline/sec, (8 Mcount/sec after quadrature)
PWM , Polarity
PWM = 50% +/-50%, no polarity signal required
1 kHz minimum, 100 kHz maximum
220 ns
Drive outputs turn off until +HV is < overvoltage (for 180, 90, 55 Vdc models)
Drive outputs turn off until +HV >= +20 Vdc
Drive latches OFF until drive is reset, or powered off-on
Output to output, output to ground, internal PWM bridge faults
Programmable: continuous current, peak current, peak time
Programmable
Tel: 781-828-8090
R22
RUGGEDIZED DIGITAL
SERVO DRIVE FOR
max
R22-180-20
20 (14.14) Adc (Arms)
1 Sec
10 (7.1) Adc (Arms)
3.6 kW
1.8 kW
Vdc
20 Adc
10 Adc
PWM = 0~100%, Polarity = 1/0
Fax: 781-828-6547
Page 2 of 22
RoHS