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Copley Controls: CANopen Accelnet Plus (R42 Series)
Copley Controls: CANopen Accelnet Plus (R42 Series)
 

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Copley Controls: CANopen Accelnet Plus (R42 Series)

14-90 VDC Digital Drive for Brushless/Brush Motors


Descriptio
n

Accelnet R42 is a high-performance, ruggedized, DC powered servo drive for position, velocity, and torque control of brushless and brush motors via CANopen. Using advanced FPGA technology, the R42 provides a significant reduction in the cost per node in multi-axis CANopen systems.

The R42 operates as an CANopen node using the CANopen over CANopen (CoE) protocol of DSP-402 for motion control devices. Supported modes include: Profile Position-Velocity-Torque, Interpolated Position Mode (PVT), and Homing.

Command sources also include ±10V analog torque/velocity/position, PWM torque/velocity, and stepper command pulses.

Feedback from a number of incremental and absolute encoders is supported. Nine high-speed digital inputs with programmable functions are provided, and a low-speed input for motor temperature switches.

An SLI (Switch & LED Interface) function is supported by another high-speed input and four high-speed digital outputs. If not used for SLI, the input and outputs are programmable for other functions. Two open-drain MOSFET outputs can drive loads powered up to 24 Vdc. An RS-232 serial port provides a connection to Copley’s CME2 software for commissioning, firmware upgrading, and saving configurations to flash memory.

Drive power is transformer-isolated DC from regulated or unregulated power supplies. An AuxHV input is provided for “keep-alive” operation permitting the drive power stage to be completely powered down without losing position information, or communications with the control system.

Control Modes

  • Position, Velocity, Torque

  • Indexer, Point-to-Point, PVT

  • Camming, Gearing

Command Interface

  • CANopen

  • ASCII and discrete I/O

  • Stepper commands

  • ±10V position/velocity/torque command

  • PWM velocity/torque command

  • Master encoder (Gearing/Camming)

Communications

  • CANopen

  • RS-232

Feedback

Incremental

  • Digital quad A/B encoder

  • Analog sin/cos encoder

  • Panasonic Incremental A

  • Digital Halls

Absolute

  • SSI

  • EnDat

  • Absolute A

  • Tamagawa Absolute A

  • Panasonic Absolute A Format

  • BiSS (B & C)

I/O

  • Digital: 11 inputs, 6 outputs

  • Analog: 1 input

Dimensions: mm [in]

  • 76.3 x 58.2 x 20.5 [3.01 x 2.29 x 0.81]



Model No.: R42-090-06, R42-090-14, R42-090-30


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