Copley Controls: CANopen Accelnet (R23 Series)
20-180 VDC Digital Drive for Brushless/Brush Motors
Accelnet R23 is a digital servo drive that combines CANopen networking with 100% digital control of brush or brushless motors in a pc board mounting package.
Accelnet R23 operates as a Motion Control Device using the DSP-402 protocol under the CANopen DS-301 V4.01 (EN 50325-4) application layer. DSP-402 modes supported include Interpolated Position (PVT), Profile Position, Profile Velocity, Profile Torque, and Homing. There are ten logic inputs. One is dedicated to the Amp Enable function, the other nine are programmable. There are three logic outputs rated to +30 Vdc.
Used as a stand-alone drive, Accelnet R23 can operate using incremental position commands from step-motor controllers in Pulse/Direction or CU/CD format, as well as A/B quadrature commands from a master encoder. Torque or velocity control can be from digital PWM signals, or analog ±10 V.
Drive commissioning is facilitated by CME 2™ software operating under Windows® communicating with Accelnet R23 via CAN or an RS-232 link.
Auto-tuning algorithms in CME 2™ slash set up times for fast system commissioning by automating motor phasing, and current-loop tuning. A powerful oscilloscope and waveform generator displays drive performance for fine tuning. Drive configurations are saved in non-volatile flash memory. OEM’s can inventory one part, and configure drives on site to each axis in a machine.
Space-vector modulation delivers higher motor speeds and lower motor power dissipation than conventional sine-pwm modulation. Carrier cancellation modulation all but eliminates motor ripple current and dissipation at a standstill. Current-loop sampling is at 15 kHz, position and velocity loops at 3 kHz and PWM ripple at 30 kHz.
All drive circuits are DC coupled and operate from unregulated transformer-isolated linear DC power supplies, or regulated switching power supplies.
The pc-board mounting package is suitable for high-density, multi-axis installations in equipment where space is at a premium, and wiring must be minimized.
Indexer, Point-to-Point, PVT
Camming, Gearing, Position, Velocity, Torque
CANopen
ASCII and discrete I/O
Stepper commands
±10V position/velocity/torque command
PWM velocity/torque command
Master encoder (Gearing/Camming)
Digital Quad A/B encoder
Secondary encoder
Digital Halls
Resolver (-R option)
Model No.: R23-055-06, R23-055-10, R23-090-04, R23-090-08
*For resolver option, add “-R” to the part number