R Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Web: www.copleycontrols.com Page 1 of 24 Accelnet Micro Panel RoHS ACJ Feedback Versions • Analog Sin/Cos • Quad A/B digital Control Modes • Indexer, Point-to-Point, PVT • Camming, Gearing, Position, Velocity, Torque Command Interface • CANopen • ASCII and discrete I/O • Stepper commands • ±10V position/velocity/torque command • PWM position*/velocity/torque command • Master encoder (Gearing/Camming) Communications • CANopen • RS-232 Feedback • Digital Quad A/B encoder • Secondary encoder / emulated encoder out • Brushless resolver (-R versions) • Analog sin/cos encoder (-S versions) • Digital Halls I/O - Digital • 9 inputs, 4 outputs Dimensions: mm [in] • 97 x 64 x 33 [3.8 x 2.5 x 1.3] * ACJ-R models DESCRIPTION Accelnet Micro Panel is a compact, DC powered servo drive for position, velocity, and torque control of AC brushless and DC brush motors. It can operate on a distributed control network, as a stand-alone indexing drive, or with external motion controllers. Standard feedback is digital quad A/B encoder and two option versions are available to support brushless resolver (-R), or analog sin/cos encoders (-S). Indexing mode enables simplified operation with PLC’s which use outputs to select and launch indexes and inputs to read back drive status. Additionally, a PLC can send ASCII data that can change motion profiles so that one index can perform various motions as machine requirements change. * Note: Add “-S” to part number for Sin/Cos version Add “-R” to part number for resolver version DIGITAL SERVO DRIVE FOR BRUSHLESS/BRUSH MOTORS The CANopen distributed control architecture is also supported. As a CAN node operating under the CANopen protocol, it supports Profile Position, Profile Velocity, Profile Torque, Interpolated Position, and Homing. Up to 127 drives can operate on a single CAN bus and groups of drives can be linked via the CAN so that they execute motion profiles together. Operation with external motion controllers is possible in torque (current), velocity, and position modes. Input command signals can be ±10V (torque, velocity, position), PWM/Polarity (torque, velocity), or stepper format (CU/CD or Step/Direction). Model * Vdc Ic Ip ACJ-055-09 20-55 3 9 ACJ-055-18 20-55 6 18 ACJ-090-03 20-90 1 3 ACJ-090-09 20-90 3 9 ACJ-090-12 20-90 6 12
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Accelnet Micro Panel ACJ RoHS - Amazon Web Services · Accelnet Micro Panel is a compact, DC powered servo drive for position, velocity, and torque control of AC brushless and DC
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Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547Web: www.copleycontrols.com Page 1 of 24
Accelnet Micro PanelRoHSACJ
Feedback Versions • Analog Sin/Cos • QuadA/Bdigital
Control Modes • Indexer,Point-to-Point,PVT • Camming,Gearing,Position,Velocity,Torque
IndexingmodeenablessimplifiedoperationwithPLC’swhichuse outputs to select and launch indexes and inputs toreadbackdrivestatus.Additionally,aPLCcansendASCIIdatathatcanchangemotionprofilessothatoneindexcanperformvariousmotionsasmachinerequirementschange.
The CANopen distributed control architecture is alsosupported.AsaCANnodeoperatingundertheCANopenprotocol,itsupportsProfilePosition,ProfileVelocity,ProfileTorque,InterpolatedPosition,andHoming.Upto127drivescanoperateonasingleCANbusandgroupsofdrivescanbelinkedviatheCANsothattheyexecutemotionprofilestogether.
Operation with externalmotion controllers is possiblein torque (current), velocity, and positionmodes. Inputcommandsignalscanbe±10V(torque,velocity,position),PWM/Polarity(torque,velocity),orstepperformat(CU/CDorStep/Direction).
Model * Vdc Ic Ip
ACJ-055-09 20-55 3 9
ACJ-055-18 20-55 6 18
ACJ-090-03 20-90 1 3
ACJ-090-09 20-90 3 9
ACJ-090-12 20-90 6 12
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CANPORTS Signals CANH,CANL,Gnd Isolation CANinterfacecircuitand+5VdcsupplyforCANisopticallyisolatedfromdrivecircuits Format CANV2.0bphysicallayerforhigh-speedconnectionscompliant Data CANopenDeviceProfileDSP-402 Addressselection Programmabletoflashmemoryordeterminedbydigitalinputs
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Accelnet Micro PanelRoHSACJ
FEEDBACK
DIGITALQUADA/BENCODER Type Quadrature,differentiallinedriveroutputs,differential(XorIndexsignalnotrequired) 26C32differentiallinereceiverwith121Ωterminatingresistorbetweencomplementaryinputs Signals A,/A,B,/B,(X,/X,indexsignalsoptional) Frequency 5MHzlinefrequency,20MHzquadraturecountfrequency
ANALOGENCODER(-SOPTION)
Type Sin/Cos analogincrementalencoder,differentiallinedriveroutputs,1.0VVpeak-peaktypical,1.25Vpeak-peakmaximum Signals:Sin(+),Sin(-),Cos(+),Cos(-),±0.25V,centeredabout2.5Vdc,common-modevoltage0.25to3.75Vdc, Frequency:230kHzmaximumline(cycle)frequency,interpolation10bits/cycle(1024counts/cycle)
Following the provisions of EC Directive 89/336/EEC: EN61010-12ndEd.:2001 SafetyRequirementsforElectricalEquipmentforMeasurement,Control,andLaboratoryuse
Following the provisions of EC Directive 2006/95/EC: UL508C3rdEd.:2002 ULStandardforSafetyforPowerConversionEquipment
AMPSTATUSLEDAbi-colorLEDgivesthestatusoftheamplifierbychangingcolor,andeitherblinkingorremainingsolid.Thepossiblecolor and blink combinations are:•Green/Solid:AmplifierOKandenabled.WillruninresponsetoreferenceinputsorCANopencommands.
CME2™SOFTWAREAmplifier setup is fast and easy using CME 2™ softwarewhichcommunicateswiththeamplifieroverCANoranRS-232link.Alloftheoperationsneededtoconfiguretheamplifierareaccessiblethrough this powerful and intuitive program. Auto-phasing ofbrushlessmotor Hall sensors and phasewires eliminates “wireandtry”.ConnectionsaremadeonceandCME2™doestherestthereafter. Encoderwire swapping to establish the direction ofpositivemotioniseliminated.Motordatacanbesavedas.ccmfiles.Amplifierdataissavedas.ccxfilesthatcontainallamplifiersettingsplusmotordata.Thiseasessystemmanagementasfilescanbecross-referencedtoampifiers.Onceanamplifierconfigurationhasbeencompletedsystemscanbereplicatedeasilywiththesamesetupandperformance.
RS-232COMMUNICATIONSTheserial-portisthree-wire(RxD,TxD,Gnd),full-duplexRS-232thatoperates from9600 to115,200Baud. Connections to theRS-232portarethroughJ5,theSignalconnector.TheAccelnet Micro PanelSerialCableKit(ACJ-SK)containsa9-pinfemaleSub-Dserial port (COM1,COM2, etc.) connector and2m (6 ft.) cablethatisterminatedinaJ5cableconnector.Thisprovidesaneasyconnectiontotheamplifierforset-upwithoutwiringtoJ5.
CANOPENNETWORKINGBased on the CAN V2.0b physical layer, a robust, two-wirecommunicationbusoriginallydesignedforautomotiveusewherelow-costandnoise-immunityareessential,CANopenaddssupportformotion-control devices and command synchronization. Theresultisahighlyeffectivecombinationofdata-rateandlowcostformulti-axismotioncontrolsystems.Devicesynchronizationenablesmultipleaxestocoordinatemovesasiftheyweredrivenfromasingle control card.
CANLED
STATUSLED
CANSTATUSLEDTheCANstatusLEDoperatesinaccordancewithCANspecification303-3.This isabi-colorLED thatuses redandgreencolors insolid,flashing,andblinkingstates to indicateconditionson theCANbus.
CANNODEADDRESSThenodeaddressof theACJ canbe setusingdigital inputsorsavedinflashmemory.Thedefaultconfigurationistoassigninputs[IN6,7,8,9]asCANaddressbits.[IN6]istheLSBofa4-bitaddressand[IN9]istheMSB.Theseinputsareprogrammedasagrouptopull-downtogroundgivingadefaultnodeaddressof0.Connectinganyoftheseinputsto+5Vdcgivesalogicalvalueof1.TheCANaddressof0 is reserved for theCANbusmaster andcannotbeusedwhenthedrivesareoperatingonaCANbus.WhensetupforASCIIMulti-Drop,however,themasterdrivemusthaveaddress 0.Thetablebelowshowssomeexamplesofinputconfigurationsandthehexanddecimaladdressesthatresult.Thedefaultaddressis0.ForCANopenoperationthisisreservedforthebuscontroller.Formulti-dropASCII,thedrivethattakestheserialportcablemustbeaddress0,andtheotherdrivesdaisy-chainingfromthatviaCANcablesshouldhavenon-zeroaddresses.
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Accelnet Micro PanelRoHSACJ
Current orVelocity
Polarity orDirection
[IN7]
[IN8]
Duty = 0~100%
Current orVelocity
No function
[IN7]
[IN8]
Duty = 50% ±50%
<no connection>
Positionmagnitude
PositionIncrement orDecrement
[IN7]
[IN8]
Pulse
Direction
Master Enc.Ch. A
Master Enc.Ch. B
[IN8]
[IN7]ENCA
B
Ch. A
Ch. B
Pos++ Pos--
PositionIncrease
PositionDecrease
[IN7]
[IN8]
CW (or CU)
CCW (or CD)
-+
37.4k
37.4k
5k
5k1.5V-+
Ref(+)
Ref(-)
5.36k
±10VANALOGINPUT
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Accelnet Micro PanelRoHSACJ
COMMANDINPUTSIN STAND-ALONEMODEThe command inputs control the drive toproduceanoutputandareusedwhenthedrive is taking current, velocity, or positioncommands from an external controller in stand-alonemode.Thecommandinputstakedigitalandanalogsignalsinavarietyofformats:Current or Velocity Mode±10VAnalogPWM/Direction,PWM50%
Position Mode±10VAnalogCU/CD, Step/DirectionMasterEncoder,A/BQuadraturePWM/Direction,PWM50%(-Rmodels)
For current or velocity control, the PWM/Direction format takes a PWM signal at constant frequencywhichchangesits’dutycyclefrom0to100%tocontrolcurrentorvelocityandaDClevelattheDirectioninputtocontrolpolarity.ThePWM50%formattakesasinglePWMsignalthatproduces0outputat50%dutycycle,andmaximumpositive/negativeoutputsat0%or100%.Asaprotectionagainstwiringfaults,the0%and100%inputscanbeprogrammedtoproduce0output.Whenthisisdonethemax/mindutycyclerangeis>0%and<100%.Position-controlinputstakesignalsinpopularstepper-motor format or from a digital quadratureencoder.TheCU/CDformatmovesthemotorinapositivedirectionforeachpulsereceivedatthecount-upinput.Negativemotionisproducedbypulsesonthecount-downinput.Thestep-directionmodemovesthemotoranincrementofpositionforeverypulsereceivedatthepulseinputwhilethedirectionofmovementiscontrolledbyaDClevelonthedirectioninput.Masterencoderquadraturesignals(A,B)aredecodedintofourcountsperencoderlinewiththedirectionderivedfromthelogic-statetransitionsoftheinputs.Inpositionmodetheratioofmotormotionperinput-countisprogrammable.Resolvermodels(-Roption)alsoacceptPWMinputsforpositioncontrol.A±10Vanalogcommandcancontrolcurrent,velocity,orpositionaswell.
Keep connections as close as possible."Star" ground to a common point is best
Controller
Drive
Signal Gnd
ControlI/O
PowerSupply
+
-
Frame Ground
Frame Ground
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Accelnet Micro PanelRoHSACJ
GROUNDINGCONSIDERATIONSPowerandcontrolcircuitsshareacommoncircuit-ground(HVGndonJ3-4,andSignalGroundonJ2-5,J4-6&11,J5-2,9,15,17,and28).InputlogiccircuitsarereferencedtoSignalGround,asareanalogReferenceinputs, digital outputs, encoder and Hallsignals.Forthisreason,driveGndterminalsshouldconnecttotheusers’groundsystemsothatsignalsbetweendriveandcontrollerareatthesamecommonpotential,andtominimizenoise.Thesystemgroundshould,in turn,connect toanearthingconductoratsomepointsothatthewholesystemisreferenced to “earth”. TheCAN ports areopticallyisolatedfromthedrivecircuits.Because current flow through conductorsproduces voltage-drops across them, itisbesttoconnectthedriveHVReturntosystem earth, or circuit-common throughtheshortestpath,andtoleavethepower-supply floating. In this way, the powersupply (-) terminal connects to groundatthedriveHVReturnterminals,butthevoltage drops across the cables will notappearatthedriveground,butatthepowersupply negative terminal where theywillhavelesseffect.Motor phase currents are balanced, butcurrentscanflowbetweenthePWMoutputs,and themotor cable shield. Tominimizethe effects of these currents on nearbycircuits,thecableshieldshouldconnecttoGnd(J2-5).
Thedriveheatplatedoesnotconnecttoanydrivecircuits.CablesmustbeshieldedforCEcompliance,andtheshieldsshouldconnectto the Frame Ground terminals. Wheninstalled,thedriveheatplateshouldconnecttothesystemchassis.Thismaximizestheshielding effect, and provides a path toground fornoisecurrents thatmayoccurinthecableshields.Signalsfromcontrollertodrivearereferencedto+5Vdc,andotherpowersuppliesinuserequipment. These power supplies shouldalsoconnect tosystemgroundandearthat some point so that they are at samepotentialasthedrivecircuits.Thefinalconfigurationshouldembodythreecurrent-carrying loops. First, the powersupply currents flowing into and out ofthedriveatthe+HVandGndpinsonJ3.Secondthedriveoutputsdrivingcurrentsintoandoutofthemotorphases,andmotorshieldcurrentscirculatingbetweentheU,V,andWoutputsandGnd.And,lastly,logicandsignalcurrentsconnectedtothedrivecontrolinputsandoutputs.ForCEcomplianceandoperatorsafety,thedriveshouldbeearthedbyusingexternaltooth lockwashers under themountingscrews.Thesewillmakecontactwith thealuminum heatplate to connect it to theequipmentframeground.
POWERSUPPLIESAccelnet Micro Panel operates typically fromtransformer-isolated,unregulatedDCpowersupplies.Theseshouldbesizedsuchthat themaximum output voltage underhigh-lineandno-loadconditionsdoesnotexceedthedrivesmaximumvoltagerating.Powersupplyratingdependsonthepowerdeliveredtotheloadbythedrive.Inmanycases,thecontinuouspoweroutputofthedriveisconsiderablyhigherthantheactualpowerrequiredbyan incrementalmotionapplication.Operationfromregulatedswitchingpowersupplies is possible if a diode is placedbetween the power supply and drive topreventregenerativeenergyfromreachingthe output of the supply. If this is done,theremustbeexternalcapacitancebetweenthediodeanddrive.Distancebetweenthiscapacitorandthedriveshouldbe1metreor less.
MOUNTING&COOLINGAccelnet Micro Panelhasslotsformountingto panels at 0° or 90°. Cooling is byconductionfromdriveheatplatetomountingsurface,orbyconvectiontoambient.
AUXILIARYHVPOWERAccelnet Micro PanelhasaninputforAUXHV. This is a voltage that can keep thedrivecommunicationsandfeedbackcircuitsactivewhenthePWMoutputstagehasbeendisabledbyremovingthemain+HVsupply.ThiscanoccurduringEMO(EmergencyOff)conditionswherethe+HVsupplymustberemovedfromthedriveandpowered-downtoensureoperatorsafety.TheAUXHVinputoperatesfromanyDCvoltagethatiswithintheoperatingvoltagerangeofthedriveandpowerstheDC/DCconverterthatsuppliesoperating voltages to the drive DSP andcontrolcircuits.Whenthedrive+HVvoltageisgreaterthantheAUX-HVvoltageitwillpowertheDC/DCconverter.UndertheseconditionstheAUX-HVinputwilldrawnocurrent.
=Shieldedcablesrequired for CE compliance
ENCA, B, X
/A, /B, /X -+
1k
1k
22 pF
22 pF
26LS32
+5V2 k
121
HALL U, V, W 10 k
3.3 nF
74HC14
+5V
10 k
UV
W
RESOLVER(-RMODELS)Connections to the resolver should bemade with shielded cable that usesthreetwisted-pairs.Onceconnected,resolversetup,motorphasing,andothercommissioningadjustmentsaremadewithCME2software.Therearenohardwareadjustments.
J4-8BRUSHLESSRESOLVER
-
+
-
+J4-9
J4-4
Sin
Cos
J4-1
J4-10
J4-3Ref
R1
R2
S3
S1
S2
S4
FrameGround
J4-14
+5 Vdc
Signal Ground Signal Ground 11
+5 VdcVcc
0V+5 vdc to Halls
Vcc
0V+5 vdc to Encoder
HA-
HA+
HB-
HB+
/A
A
/B
X
/X
B
FrameGnd
FrameGnd
HA(+)
HA(-)
HB(+)
HB(-)
N.C.
N.C.27
12
26
10
11
25
30
24
28
3
10
2
9
1
14
8
J4J5
DigitalIncremental
Encoder
AnalogHalls
Hall feedback forbrushless motor commutation
Position feedback forposition/velocity control
4
ANALOGHALLS(-SMODELS)+DIGITALENCODERForposition feedbackwithhigher resolution than ispossibleby interpolating analog Halls, a digital incremental encoderisconnectedtothemulti-modeport.TheHallsarethenusedfor commutation and themulti-mode port is programmedas a differential input for the Secondary Incrementalmotorencoder.
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These cables connect to amplifier J1 and have 3conductors of AWG 24 wire that are terminated incontacts that can then be inserted into pins 7~9 ofanotherACJ-NC-10to“daisychain”theCANsignalstomultipleamplifiers.
ACJ-NC-10&ACJ-NC-01CANOPEN CABLEASSEMBLIES
Color Pin Color
Blue 8 1 Black
White 9 2 Black
Orange 10 3 Black
Black 11 4 Red
Brown 12 5 Black
Yellow 13 6 Black
Green 14 7 Black
ThiscableplugsintoamplifierJ4andconsistsofseventwisted-pairsofAWG24wire.Eachpairhasablackandcoloredconductor.Thechartaboveshowstwisted-pairs in therows.E.g.onepairgoestopins1&8,anotherpairtopins2&9,etc.Cableterminationisflyingleadsforconnectiontocustomermotorfeedbackencoder.
ACJ-FC-10FEEDBACKCABLEASSEMBLY
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TheconnectorkitforCANnetworking(ACJ-NK)providesthe parts to connect to a single drive. To use it, theflyingleadsmustbepokedintotheACJ-NT(seetableforpins).TheACJ-NTcomprisestheaplugfordriveJ1and also a 121 WresistorfortheCANbusterminator.Theflyingleadsareleftunattachedsothatthekitcanalsobeusedwithmultipledrives.Whenthisisdone,theCANcablesaredaisy-chainedfromdrivetodriveandtheACJ-NTisonlyusedonthelastdriveinthechain.Thecablesusedforthedaisy-chainaretheACJ-NC-10orACJ-NC-01whichhaveaJ1connectorattachedtoacablewithflyingleadsandcrimps.
These cables connect to amplifier J1 and have 3conductors of AWG 24 wire that are terminated incontacts that can then be inserted into pins 7~9 ofanotherACJ-NC-10to“daisychain”theCANsignalstomultipleamplifiers.
ACJ-NC-10&ACJ-NC-01CANOPEN CABLEASSEMBLIES
MODEL DESCRIPTION
ACJ-055-09 ACJ-055-09-S ACJDrive3/9A,55Vdc
ACJ-055-18 ACJ-055-18-S ACJDrive6/18A,55Vdc
ACJ-090-03 ACJ-090-03-S ACJDrive1/3A,90Vdc
ACJ-090-09 ACJ-090-09-S ACJDrive3/9A,90Vdc
ACJ-090-12 ACJ-090-12-S ACJDrive6/12A,90Vdc
ACJ-CK ConnectorKit
ACJ-SK SerialCableKit
J5Control
J2Motor
J1Power
J1CAN
J4Feedback
Notes:1. Kit contains connector shells and crimp-contacts for J1~J5.2. Crimp-contacts are not shown
ACJ-CK
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