Accelnet Plus CANopen 1-Axis Module0 pages

Accelnet Plus Module CANopen APM
Control Modes
RoHS
DIGITAL SERVO DRIVE
FOR BRUSHLESS/BRUSH MOTORS
• Profile Position-Velocity-Torque, Interpolated Position, Homing
• Camming, Gearing
• Indexer
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
• Digital quad A/B encoder
Analog sin/cos incremental
Panasonic Incremental A Format
• SSI, EnDat, Absolute A
Tamagawa & Panasonic Absolute A
Sanyo Denki Absolute A,
BiSS,BiSS
• Aux. encoder / encoder out
• Digital Halls
Model
Ic
Ip
Vdc
APM-090-06
3
6
14-90
APM-090-14
7
14
14-90
APM-090-30
15
30
14-90
I/O
• Digital: 11 inputs, 6 outputs
• Analog: 1, 12-bit input
Dimensions: mm [in]
• 76.3 x 58.2 x 20.5 [3.01 x 2.29 x 0.81]
DEVELOPMENT KIT
DESCRIPTION
Accelnet APM is a high-performance, DC powered servo drive
for position, velocity, and torque control of brushless and brush
motors via CANopen. Using advanced FPGA technology, the APM
provides a significant reduction in the cost per node in multi-axis
CANopen systems.
The APM 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.
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Web: www.copleycontrols.com
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.
Tel: 781-828-8090
Fax: 781-828-6547
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