Copley Controls Xenus R10 Manual page 81

Accelnet R22
MECHANICAL & ENVIRONMENTAL
Size
Weight
Contaminants
Environment
Cooling
AGENCY STANDARDS CONFORMANCE
EN 55011 : 2007
EN 61000-6-1 : 2001
Following the provisions of EC Directive 89/336/EEC:
EN 61010-1 : 2001
UL 61010-1 2nd Ed.:
RoHS
ACCELNET R22 FEATURES
CANOPEN NETWORKING
Based on the CAN physical layer, a robust,
two-wire communication bus originally
designed for automotive use where low-cost
and noise-immunity are essential, CANopen
adds support for motion-control devices and
command synchronization. The result is a
highly effective combination of data-rate
and low-cost for multi-axis motion control
systems. Device synchronization enables
multiple axes to coordinate moves as if they
were driven from a single control card.
FIELD-ORIENTED CONTROL
Unlike conventional sinusoidal commutation
which controls only the amplitude of the
motor phase currents, Field-Oriented
Control (FOC) controls the electrical phase
in order to maintain the optimum ±90°
between the motor magnetic axis and the
field produced by the phase currents. The
effect is to maximize the efficiency of the
motor, and minimize the heating produced
by the drive currents. Torque is maintained
over a wider range of speeds than with
conventional sinusoidal commutation, and
space-vector modulation gives higher motor
speeds from the same power supply.
PC BOARD MOUNTING
The small size, and cooling options enable
Accelnet R22 to be integrated into machinery
with fewer cables and connections, and
closer to the motor when required. Optional
convection heatsinks provide two choices
of cooling capacity. The Accelnet R22 case
has tabs molded-in that accept Socket-A
compatible chip-coolers which have integral
fans to provide even greater cooling
capacity.
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tech Support: E-mail: sales@copleycontrols.com, Internet: http://www.copleycontrols.com
4.05 in (102.7 mm) X 2.62 in (66.5 mm) X 0.92 in (24.9 mm)
5.7 oz (0.16 kg)
Pollution degree 2
IEC68-2: 1990
Heatsink required for continuous power output
CISPR 11 : 2003/A2 : 2006
Limits and Methods of Measurement of Radio Disturbance Characteristics of Industrial, Scientific, and
Medical (ISM) Radio Frequency Equipment
Electromagnetic Compatibility Generic Immunity Requirements
Safety Requirements for Electrical Equipment for Measurement, Control, and Laboratory use
Following the provisions of EC Directive 2006/95/EC (Low Voltage Directive)
2004 Safety Requirements for Electrical Equipment for Measurement, Control and Laboratory Use
The R22 amplifier models are RoHS, the MDK-180-01 Development Kit is not RoHS
RS-232 COMMUNICATION
Accelnet R22 is configured via a three-wire, full-duplex RS-232 port that operates from
9,600 to 115,200 Baud. CME 2™ software provides a graphic user interface (GUI) to set
up all of Accelnet R22 features via a computer serial port.
The RS-232 port is used for drive set up and configuration. Once configured, Accelnet R22
can be used in stand-alone mode taking digital position, velocity, or torque commands
from a controller, or as a networked drive on a CANopen bus.
REFERENCE INPUTS
As a network drive, the primary command input is the CANopen bus. But, Accelnet R22
can also operate in stand-alone mode, taking position, velocity, or current (torque, force)
commands in digital format from a motion controller.
CANOPEN COMMUNICATION
Accelnet R22 uses the CAN physical layer signals CANH, CANL, and GND for connection,
and CANopen protocol for communication.
Before connecting Accelnet R22 to the CAN network, it must be assigned a CAN address.
This is done via the RS-232 port, which is also used for general drive setup. The CAN
address is a combination of an internal address stored in flash memory, and digital inputs
which have been configured to act as CAN address bits. A maximum of 127 CAN devices
are allowed on a CAN bus network, so this limits the input pins used for this purpose to a
maximum of seven, leaving three inputs available for other purposes. Most installations
will use less than the maximum number of CAN devices, in which case the number of
inputs used for a CAN address can be less than seven, leaving more inputs available for
other functions.
When inputs are used for the CAN address bits, the internal address is added to the binary
value that results from the inputs. If all the inputs are used as logic inputs, then the CAN
address in flash memory is the drive CAN address.
DIGITAL REFERENCE INPUTS
Two logic inputs are used as digital reference inputs in the stand-alone mode. These will
be assigned automatically to inputs that have the HS filters.
Current (torque, force) mode commands can be in one or two-wire format. In the one-wire
format (50% PWM), a single input takes a square waveform that has a 50% duty cycle
when the drive output should be zero. Thereafter, increasing the duty cycle to 100% will
command an output current that will produce a maximum force or torque in a positive
direction of motion, and decreasing the duty cycle to 0% will produce a maximum negative
torque or force output.
In two-wire format (PWM/Dir), one input takes a PWM waveform of fixed frequency and
variable duty cycle, and the other input takes a DC level that controls the polarity of the
output current. The active level of the PWM signal for 0 current output is programmable.
The direction of the force or torque produced will depend on the polarity of the DC signal
on the direction input.
RUGGEDIZED DIGITAL
SERVO DRIVE FOR
BRUSHLESS/BRUSH MOTORS
Duty = 50% ±50%
<no connection>
Tel: 781-828-8090
R22
RoHS
[IN9]
Current
[IN10]
Not used
Fax: 781-828-6547
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