Copley Controls Xenus R10 Manual page 83

Accelnet R22
MOTOR ENCODER
The motor encoder interface is a differential line-
receiver with R-C filtering on the inputs. Encoders
with differential outputs are preferred because
they are less susceptible to noise that can be
picked on single-ended outputs. PC board layouts
should route the encoder signal-pairs as close to
each other as possible for best transmission-line
characteristics. If single-ended encoders are used,
a pull-up resistor should be installed on the PC
board, and the unused input can be left open. If
this is done, it is recommended that the inverting
input be left open as its' open-circuit voltage of
2.0 Vdc (typical) is closer to TTL and CMOS levels
than the non-inverting input which has an open-
circuit voltage of 2.9 Vdc (typical). The encoder
input circuit is shown below.
22 pF
A, B, X
1k
ENC
1k
22 pF
/A, /B, /X
SECONDARY ENCODER
A secondary incremental encoder can be connected
to [IN7] and [IN8] for dual-loop position control. A
typical use for this would be a gear-motor driving
a leadscrew. An encoder on the leadscrew would
give the position of the load while the motor
encoder and Halls would be used for velocity
control and commutation.
J2
A
Secondary
Encoder
B
(Optional)
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.
R1 J2-27
R2 J2-28
S3 J2-31
BRUSHLESS
RESOLVER
S1 J2-32
J2-29
S2
S4 J2-30
J2-3,4,21,22
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tech Support: E-mail: sales@copleycontrols.com, Internet: http://www.copleycontrols.com
MOTOR 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 in Accelnet they are used for commutation-
initialization after startup, and for checking the
motor phasing after the drive has switched to
sinusoidal commutation.
U
V
W
HALL
26LS32
+
-
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. The peak voltage between
adjacent etches on the PC board is equal to the
+HV power, and peak and continuous currents will
not be greater than the ratings of the particular
drive model. A trace width of 0.175 in, plating
thickness of 3 oz copper, and spacing of 0.25 in
is adequate for all models of Accelnet.
16 [IN7] HSIn
13 [IN8] HSIn
Ref
+
Sin
-
+
Cos
-
BRUSHLESS/BRUSH MOTORS
+5V
10 k
74HC14
10 k
U, V, W
3.3 nF
U
V BRUSHLESS
MOTOR
W
BRUSH
MOTOR
Tel: 781-828-8090
R22
RUGGEDIZED DIGITAL
SERVO DRIVE FOR
POWER SUPPLIES
Accelnet operates typically from transformer
isolated, unregulated DC power supplies. These
should be sized such that the maximum output
voltage under high-line and no-load conditions
does not exceed the drives maximum voltage
rating. Power supply rating depends on the
power delivered to the load by the drive. In many
cases, the continuous power output of the drive is
considerably higher than the actual power required
by an incremental motion application.
Operation from regulated switching power supplies
is possible if a diode is placed between the power
supply and drive to prevent regenerative energy
from reaching the output of the supply. If this is
done, there must be external capacitance between
the diode and drive. The minimum value required
is 330 µF per drive.
+HV
+
Drive
Gnd
AUX HV INPUT
Accelnet can continue to communicate on a CANopen
network under EMO (EMergency Off) conditions
if auxiliary DC power is connected to the Aux HV
input. This powers the internal DC/DC converter
so that motor position and drive communications
are preserved while +HV is removed from the
PWM inverter stage. The minimum voltage is +20
Vdc, and the maximum is the same as the drive
maximum +HV rating. The current requirements
will vary with voltage and can be calculated
based on an average power consumption of
2.5 W.
MOUNTING AND COOLING
Accelnet mounts on PC boards using two, dual-
row, 0.1 in female headers. These permit easy
installation and removal of the drive without
soldering. Threaded standoffs swaged into the
PC board provide positive retention of the
drive and permit mounting in any orientation.
Cooling options are: no heatsink and convection
heatsinks.
Convection heatsinks are available from Copley in
standard, or low-profile forms.
Fax: 781-828-6547
Page 5 of 22
RoHS
(+)
Switching
Power
(-)
Supply