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Copley Controls: Ruggedized Digital Servo Drive Accelnet R20 (R20-090 Series) 20-180 VDC Digital Drive for Brushless/Brush Motors Accelnet R20 is a ruggedized high-performance, DC powered drive for position, velocity (using encoder, resolver, Halls, or BEMF), and torque control of brushless and brush motors. It operates as a distributed drive using the CANopen protocol, or as a stand-alone drive accepting analog or digital commands from an external motion controller. In stand-alone mode, current and velocity modes accept digital 50% PWM or PWM/polarity inputs as well as ±10V analog. In position mode inputs can be incremental position commands from step-motor controllers, analog ±10V, or A/B quadrature commands from a master-encoder. Pulse to position ratio is programmable for electronic gearing. Accelnet R20 models operate as Motion Control Devices under the DSP-402 protocol of the CANopen DS-301 V4.01 (EN 50325-4) application layer. DSP-402 modes supported include: Profile Position, Profile Velocity, Profile Torque, Interpolated Position Mode (PVT), and Homing. The two CAN ports are optically isolated from drive circuits. There are twelve digital inputs eleven of which have programmable functions. These include CAN address, motion-abort, limit & home switches, stepper/encoder pulse inputs, reset, digital torque or velocity reference, and motor over-temperature. Input [IN1] is dedicated for the drive Enable. There are three programmable logic outputs for reporting an drive fault, motor brake control, or other status indications. Drive power is transformer-isolated DC from regulated or unregulated power supplies. An AuxHV input powers control circuits for “keep-alive” operation permitting the drive power stage to be completely powered down without losing position information, or communications with the control system. Indexer, Point-to-Point, PVT Camming, Gearing, Position, Velocity, Torque
Single-ended or Differential selectable CANopen ASCII and discrete I/O ±10V position/velocity/torque command PWM position/velocity/torque command Master encoder (Gearing/Camming)
CANopen RS-232 RS-422 (Optional)
Digital quad A/B encoder Aux encoder / emulated encoder out Analog sin/cos encoder (-S versions) Brushless resolver (-R option) Digital Halls
Model No.: R20-090-36, R20-090-36-R
Add -S to part numbers above for sin/cos feedback. Add -R to part numbers above for resolver feedback.
 
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