Pulse-Direction; High-Speed Inputs - Copley Controls Xenus R10 Manual

Accelnet R22
ANALOG COMMAND INPUT
An analog input is provided for position/velocity/
torque control. When using this input, Ref(+) and
Ref(-) must both be connected to the controller.
This differential connection is important for two
reasons. First, for rejection of noise between
controller and drive grounds. Second, because
if one Ref input is left open, grounding of the
other input will produce a ±2% of peak-current
command, not a 0% command.
37.4k 5k
Ref(+)
-
5.36k
+
Ref(-)
37.4k 5k
DIGITAL OUTPUTS
The digital outputs [OUT1], and [OUT2] 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 outputs are typically configured as drive
fault and motor brake. Additional functions are
programmable.
As a drive fault output, the active level is
programmable to be HI or LO when a drive fault
occurs. As a brake output, it is programmable to
be either HI or LO to release a motor brake when
the drive is enabled.
When driving inductive loads such as a relay, an
external fly-back diode is required. A 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.
+5 Vdc
1k
[OUT1]
[OUT2]
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tech Support: E-mail: sales@copleycontrols.com, Internet: http://www.copleycontrols.com
DIGITAL INPUTS
There are ten digital inputs to Accelnet, nine
of which can be programmed to a selection of
functions. The Enable input which controls the on/
off state of the PWM outputs is fixed to [IN1] as
a safety measure so that cannot be programmed
in such a way that, once installed, it could not be
shut down by the controller. The other nine inputs
can be set to a selection of functions. Two types
of RC filters are used: GP (General Purpose),
and HS (High-Speed). Input functions such as
Pulse/Direction, CW/CCW, Quad A/B typically
are wired to inputs having the HS filters, and
inputs with the GP filters are used for general
purpose logic functions, limit switches, and the
motor temperature sensor. Input [IN4] has a 33
µs RC filter.
Programmable functions of the I/O inputs are:
• Positive Limit switch
• Negative Limit switch
• Home switch
• Drive Reset
• PWM current or velocity control
+
1.5V
-
• CAN address
• Pls/Dir, or CW/CCW step motor control pulses
• Quad A/B master encoder position commands
• Motor temperature sensor
or switch input
• Motion Profile Abort
In addition to the selection of functions, the
active level for each input is individually
programmable.
Drive reset takes place on transitions of the input
and is programmable to 1/0 or 0/1. The motor
temp sensor function will disable the drive if a
switch in the motor opens or closes when the
motor overheats.
GENERAL-PURPOSE INPUTS
+5 Vdc
[IN1] *
[IN2]
[IN3]
[IN4] **
[IN5] ***
GP Inputs
* Not programmable

HIGH-SPEED INPUTS

+5 Vdc
[IN6]
[IN7]
[IN8]
[IN9]
[IN10]
BRUSHLESS/BRUSH MOTORS
10k 74HC14
*** 4.99k
10k
33 nF
** (3.3 nF)
74HC14
10k
1k
100 pF
HS Inputs
Tel: 781-828-8090
R22
RUGGEDIZED DIGITAL
SERVO DRIVE FOR
CAM MASTER
When operating in Camming mode an
incremental encoder may be the Master
input and connects to [IN9] and [IN10].
Other types of digital signals can used,
too. Pulse & Direction or Pulse-Up/Pulse-
Down formats are supported.
QUAD A/B ENCODER
Camming
A
Master
Encoder
B
(Optional)
PULSE-UP, PULSE-DOWN
Camming
Pls-Up
Master
Signals Pls-Dwn
(Optional)

PULSE-DIRECTION

Camming
Master
Signals
Direction
(Optional)
MOTOR CONNECTIONS
Motor connections are of three types: phase,
Halls, and encoder. 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.
Fax: 781-828-6547
Page 4 of 22
RoHS
J2
14 [IN9] HSIn
11 [IN10] HSIn
J2
14 [IN9] HSIn
11 [IN10] HSIn
J2
Pulse
14 [IN9] HSIn
11 [IN10] HSIn