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Accelnet R23 RoHSR23RUGGEDIZED DIGITAL SERVO DRIVE fOR

BRUSHLESS/BRUSH MOTORS

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 Tech Support: E-mail: [email protected], Internet: http://www.copleycontrols.com of 24

DESCRIPTIonAccelnet R23 is a digital servodrive 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.

Model Ic Ip Vdc

R23-055-06 3 6 14~55R23-055-10 5 10 20~55R23-090-04 2 4 14~90R23-090-08 4 8 20~90

ConTRol MoDES•Indexer, Point-to-Point, PVT •Camming,Gearing,Position,Velocity,Torque

CoMMAnD InTERFACE•CAnopen •ASCIIanddiscreteI/O •Steppercommands •±10Vposition/velocity/torquecommand •PWMvelocity/torquecommand •Masterencoder(Gearing/Camming)

CoMMUnICATIonS•CAnopen •RS232

FEEDbACk•Digital Quad A/b encoder •Secondaryencoder •DigitalHalls •Resolver(-Roption)

I/O-DIGITAl•10inputs,3outputs

DIMEnSIonS: mm [in]•64 x 41 x 16 [2.5 x 1.6 x 0.6]

RuGGeDIzeDSTAnDARDSCOnfORMAnCeAmbient Temperature non-operating -50ºC to 85ºC operating -40ºC to 70ºC Thermal Shock operating -40ºC to 70ºC in 1 minute RelativeHumidity non-Operating 95%non-condensingat60ºC Operating 95%non-condensingat60ºC Vibration Operating 5Hzto500Hz,upto3.85grms Altitude non-operating -400 m to 12,200 m operating -400 m to 5,000 m Shock Crash Safety 75 g peak acceleration operating 40 g peak acceleration MIl-STDspecifications MIl-STD- 461,704,810,1275,1399 IeCspecifications IeC- 60068,60079

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.

fORReSOlVeROPTIOn,ADD“-R”TOTHePART nUMbER




GeneRAlSPeCIfICATIOnSTestconditions:load=Wyeconnectedload:1mH+1Ωline-line.Ambienttemperature=25°C.+HV=HVmaxMODel R23-055-06 R23-055-10 R23-090-04 R23-090-08OuTPuTPOWeR PeakCurrent 6(4.2) 10(7.1) 4(2.8) 8(5.7) Adc(Arms,sinusoidal) Peak time 1 1 1 1 Sec Continuouscurrent 3(2.1) 5(3.5) 2(1.4) 4(2.8) Adc(Arms,sinusoidal) PeakOutputPower 0.33 0.50 0.36 0.72 kW ContinuousOutputPower 0.15 0.18 0.18 0.36 kWInPuTPOWeR HVmintoHVmax +14to+55 +20to+55 +14to+90 +20to+90 Vdc,transformer-isolated Ipeak 6.6 11 4.4 8.8 Adc(1sec)peak Icont 3.3 5.5 2.3 4.4 Adccontinuous AuxHV +14toHVmax 2.5W Optionalkeep-alivepowerinputwhen+HVisremovedPWMOuTPuTS Type MOSfeT3-phaseinverter,15kHzcenter-weightedPWMcarrier,space-vectormodulation PWMripplefrequency 30kHzBAnDWIDTH Currentloop,smallsignal 2.5kHztypical,bandwidthwillvarywithtuning&loadinductance HVCompensation ChangesinHVdonotaffectbandwidth Currentloopupdaterate 15kHz(66.7µs) Position&Velocityloopupdaterate 3kHz(333µs)REFEREnCE InPUTS CAnopenbus Homing,ProfilePosition,ProfileVelocity,ProfileTorque and Interpolated Position modes Digitalpositionreference Pls/Dir,CW/CCW Steppercommands(2MHzmaximumrate) QuadA/Bencoder 2Mline/sec,(8Mcount/secafterquadrature) Analogtorque,velocity&positionreference ±10Vdc,5kW differential input impedance Digitaltorque&velocityreference(note1) PWM,Polarity PWM=0~100%,Polarity=1/0 PWM PWM=50%+/-50%,nopolaritysignalrequired PWMfrequencyrange 1kHzminimum,100kHzmaximum PWMminimumpulsewidth 220nsDIGITAlInPuTS(nOTe1) number 10 Allinputs 74HC14Schmitttriggeroperatingfrom+5VdcwithRCfilteroninput,10kWpull-upto+5Vdc RCtime-constantsassumeactivedriveoninputsanddonotinclude10kW pull-ups. logiclevels Vin-lO<1.35Vdc,Vin-HI>3.65Vdc,Maximuminputvoltage=+10Vdc enable[In1] 1dedicatedinputfordriveenable,activelevelprogrammable,33µsRCfilter GP[In2,3,4,5] 4GeneralPurposeinputswith33µs(22µsfor[In5])RCfilter,programmablefunctions HS[In6,7,8,9,10] 5High-SpeedInputsinputswith100nsRCfilter,programmablefunctionsDIGITAlOuTPuTS number 3 Type Current-sinking MoSFET open-drain output with 1 kWpullupto+5Vdcthroughdiode 300mAdcsinkmax,+30Vdcmax Functions Programmable with CME 2™ Activelevel ProgrammabletoeitherHI(off,pull-upto+5Vdc) orlO(on,current-sinking)whenoutputisactiveRS-232COMMunICATIOnPORT Signals RxD,TxD,Gnd Mode full-duplex,DTeserialcommunicationportfordrivesetupandcontrol,9,600to115,200baud Protocol ASCII or binary format Multi-drop ASCIIinterfacefromsingleRS-232porttocontrolmultipledrives(Xenus,Accelnet,Stepnet) Drivewithserialconnectionactsasmasterforbi-directionaldataflowtootherdrives usingCAnconnectionsindaisy-chainfromdrivetodriveCAnoPEn CoMMUnICATIon PoRT Signals CAnH,CAnl,CAn_Gnd.1Mbit/secmaximum. Protocol CAnopenApplicationlayerDS-301V4.01 Device DSP-402DeviceProfileforDrivesandMotionControlFEEDbACkDigitalIncrementalencoder Quadraturesignals,(A,/A,B,/B,X,/X),differential(X,/XIndexsignalsnotrequired) 5MHzmaximumlinefrequency(20Mcounts/sec) 26lS32differentiallinereceiverwith121Ωterminatingresistorbetweencomplementaryinputs encoderpower +5Vdc@250mAdcmax(l-CfilterrequiredbetweenStepnetandencoder) Resolver (seespecificationsonoppositepage)noTES 1.[In1]isnotprogrammableandalwaysworksasdriveenable.Otherdigitalinputsareprogrammable.



Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547 TechSupport:e-mail:[email protected],Internet:http://www.copleycontrols.com Page3of24

DCPOWeROuTPuT +5Vdc 250mAmaximum.Directlyconnectstodriveinternalcircuits. l-CfilterrequiredtoisolatedriveandexternalcircuitsMoToR ConnECTIonS Motoru,V,W Driveoutputsto3-phasebrushlessmotor,Wyeordeltaconnected forDCbrushmotoruseoutputsu&V encoder(primary) Quadrature,differential(A,/A,B,/B,X,/X),5Mlines/sec(20Mcount/secafterquadrature) encoder(secondary) Quadrature,activesingle-ended(A,B,X), 2MHzmaximumlinefrequency(8Mcounts/secafterquadrature) Halls Hallsignals(u,V,W) Motemp Motor temperature sensor or switchPRoTECTIonS HVOvervoltage +HV>+56Vdc Driveoutputsturnoffuntil+HVis<overvoltage(-055-models) +HV>+91Vdc Driveoutputsturnoffuntil+HVis<overvoltage(-090-models) HVundervoltage +HV<+14Vdc Driveoutputsturnoffuntil+HV>=+14Vdc(for-04&-06models) +HV<+20Vdc Driveoutputsturnoffuntil+HV>=+20Vdc(for-08&-10models) Driveovertemperature PCBoard>90°C. Programmableaslatchingortemporaryfault Shortcircuits Outputtooutput,outputtoground,internalPWMbridgefaults I2T Current limiting Programmable: continuous current, peak current, peak time latching / non-latching Programmable response to errorsMeCHAnICAl Size 2.50in(63.5mm)X1.60in(40.6mm)X0.83in(21mm)for-04&-06models 2.50in(63.5mm)X1.60in(40.6mm)X0.71in(18mm)for-08&-10models Weight 1.3oz(0.037kg) Contaminants Pollution degree 2 environment IeC68-2:1990 Cooling forcedaircoolingrequiredforcontinuouspoweroutputAGenCySTAnDARDSCOnfORMAnCe

In accordance with EC Directive 2004/108/EC (EMC Directive) en55011:2007 CISPR11:2003/A2:2006

Industrial,Scientific,andMedical(ISM)Radiofrequencyequipment– electromagneticDisturbanceCharacteristics–limitsandMethodsofMeasurement Group1,ClassA

en61000-6-1:2001 electromagneticCompatibility(eMC)–Part6-1:GenericStandards– Immunityforresidential,Commercialandlight-industrialenvironments

In accordance with EC Directive 2006/95/EC (Low Voltage Directive) IeC61010-1:2001 SafetyRequirementsforelectricalequipmentforMeasurement,ControlandlaboratoryuseUnderwriters Laboratory Standards ul61010-1,2nded.:2004 SafetyRequirementsforelectricalequipmentforMeasurement,Controlandlaboratoryuse UL File Number E249894

SPECIFICATIonS FoR RESolVER FEEDbACk oPTIonRESolVER Type brushless, single-speed, 1:1 to 2:1 programmable transformation ratio Resolution 14bits(equivalenttoa4096linequadratureencoder) Referencefrequency 7.5kHz Referencevoltage 2.8Vrms,auto-adjustablebythedrivetomaximizefeedback Reference maximum current 100 mA Maximum RPM 10,000EnCoDER EMUlATIon Resolution Programmableto65,536counts/rev(4096lineencoderequivalent) Bufferedencoderoutputs 26C31differentiallinedriver




DIGITAlTORQue&VelOCITyInPuTS

RS-232COMMunICATIOnTheserialport isafull-duplex,three-wire(RxD,TxD,Gnd)RS-232typethatoperatesfrom9,600to115,200Baud.ItcanbeusedbyCMe2fordriveconfigurationandsetuporbyexternalequipmentsendingASCII commands.

CMe2™SOfTWAReDrivesetupisfastandeasyusingCME 2™software.AlloftheoperationsneededtoconfigurethedriveareaccessiblethroughthispowerfulandintuitiveprogramwhichcommunicateswiththedriveoverCAnoranRS-232link. Motordatacanbesavedas.ccmfiles.Drivedataissavedas.ccxfilesthatcontainalldrivesettingsplusmotordata.Thiseasessystemmanagementasfilescanbecross-referencedtoampifiers.Onceadrive configurationhasbeen completed systemscanbe replicatedeasilywith the samesetupandperformance.

CAnoPEn CoMMUnICATIonAccelnet Micro ModuleusestheCAnphysicallayersignalsCAnH,CAnl,andGnDforconnection,andCAnopenprotocolforcommunication.TheelectricalinterfaceisaTJA1050high-speedCAntransceiver.before connecting Accelnet Micro Module to the CAn network, it must be assigned a CAn address. This canbedoneviatheRS-232port,orbyusinglogicinputsfortheCAnaddressbits.TheCAnaddressisacombinationofaninternaladdressstoredinflashmemory,andanaddressderivedfromthelogicinputs.Amaximumof127CAndevicesareallowedonaCAnbusnetwork,sothislimitstheinputpinsusedforthispurposetoamaximumofseven,leavingthreeinputsavailableforotherpurposes.MostinstallationswilluselessthanthemaximumnumberofCAndevices,inwhichcasethenumberofinputsusedforaCAnaddresscanbelessthanseven,leavingmoreinputsavailableforotherfunctions.WheninputsareusedfortheCAnaddressbits,theinternaladdressisaddedtothebinaryvaluethatresultsfromtheinputs.Ifalltheinputsareusedaslogicinputs,thentheCAnaddressinflashmemoryisthedriveCAnaddress.

STAnD-AlonE oPERATIonAccelnet Micro Modulecanoperatewithexternalmotioncontrollersintorque,velocity,orpositionmode.Torque(current,force)andvelocitymodesacceptcommandinputsineitheranalog±10Vformat,orasdigitalPWM&Directionsignals.WhenoperatingasapositioncontrollercommandsignalsaredigitalineitherPulse/DirectionorCu/CD(Count-uP/Count-Down)format,oranalogas±10V.Quadratureencoder signals can also be used. In all cases, the ratio of input position commands to motor encoder feedback is programmable to match controller position unitstoactualmotortravel.Ifusinganencoderaspositioninputthisfeaturealsoenableselectronicgearing.

ThePWMsignalduty-cyclecontrolsmagnitude, and the DC signal controls polarity.

AnAlOGTORQue,VelOCITyORPOSITIOnInPuTS




STEP/DIRECTIon InPUTS COunT-uP/COunT-DOWnInPuTS QUAD A/b EnCoDER InPUTS

STAnD-AlOneMODeDIGITAlPOSITIOn-COnTROlInPuTSAccelnet Micro Module works with motion controllers that output pulses to command position. These formats are supported:

Step/Direction CU/CD A/b Quadrature Encoder

InStep/Directionmode,apulse-traincontrolsmotorposition,andthedirectioniscontrolledbyaDClevelattheDirectioninput. Cu/CD(Count-up/Count-Down)signalscommandthemotortomoveCWorCCWdependingonwhichinputthepulse-trainisdirectedto.Themotorcanalsobeoperatedinanelectronicgearingmodebyconnectingtheinputstoaquadratureencoderonanothermotor.Inallcasestheratiobetweeninputpulsesandmotorrevolutionsisprogrammable.

MoToR EnCoDERSix dedicated inputs accept the encoder A, b, andX(index)signals.encoderswithdifferentialoutputs must be used.

MOTORReSOlVeR(-Roption)Resolvers use only six connections and do notneed+5V.

MoToR TEMPERATURE SEnSoRDigital input [In5] is programmable for use with a motorovertemperatureswitch.Theinputshouldbeprogrammedasapull-upto+5Vdcifthemotorswitch is grounded.

MoToR bRAkEDigitaloutputs[OuT1,2,3]canbeprogrammedtopower a motor-mounted brake. These brake the motor when they are in an unpowered state and musthavepowerappliedtorelease.Thisprovidesa fail-safe function thatpreventsmotormotionifthesystemisinanunpowered(uncontrolled)state. Because brakes are inductive loads, anexternalflybackdiodemustbeusedtocontrolthecoilvoltagewhenpowerisremoved.Thetimingof the brake is programmable.

10 k

2.2 nF

74HC14

4.99k

[IN5]

+5V

MOTORPHASeCOnneCTIOnSThedriveoutputisadualH-bridgethatconvertstheDCbussvoltage(+HV)intosinusoidalvoltagewaveforms that drive themotor phases. Cableshouldbesizedforthecontinuouscurrentratingof the drive.Motor cabling should use twisted,shielded conductors for CE compliance, and to minimizePWMnoisecouplingintoothercircuits.

MoToR ConnECTIonSMotorconnectionsareoffivetypes:phase,Halls,temperaturesensor,encoderandresolver(option).Thephaseconnectionscarrythedriveoutputcurrentsthatdrivethemotortoproducemotion.TheHallsignalsarethreedigitalsignalsthatgiveabsolutepositionfeedbackwithinanelectricalcommutationcycle.Atemperaturesensorcanshutdownthedrivetoprotectthemotorfromover-heating.Theencoderandresolversignalsgiveincrementalpositionfeedbackandareusedforvelocityandpositionmodes,aswellassinusoidalcommutation.

SeCOnDARyenCODeRInputs [In7], [In8], and [In9] accept the encoder A,B,andXsignals.encoderswithsingle-endedactiveoutputsmustbeused.

SECONDARYENCODER

GndGnd

A+[IN7]B+

[IN8]

+5 Vdc+5 V

X+[IN9]

19Hall W

20Hall V

17Hall U

22Encoder /X

21Encoder X

24Encoder /B

23Encoder B

25Encoder A

26Encoder /A

HALLS

U

V

W

EncoderMotor

A

/A

B

/B

X

/X

22Ref(-)

21Ref(+)

24Cos(-)

23Cos(+)

25Sin(+)

26Sin(-)

ResolverMotor

S3

S1

S2

S4

R1

R2




DIGITAlOuTPuTSDigitaloutputs[OuT1~3]areopen-drainMOSfeTswith1kW pull-up resistors in series with a diode to+5Vdc.Theycansinkupto100mAdcfromexternalloadsoperatingfrompowersuppliesto+30Vdc.Theoutputsare typically configuredasdrive faultandmotorbrake.Additional functionsareprogrammable.Asadrivefaultoutput,theactivelevelisprogrammabletobeHIorlOwhenafaultoccurs.Asabrakeoutput,itisprogrammabletobeeitherHIorlOtoreleaseamotorbrakewhenthedriveisenabled.Whendrivinginductiveloadssuchasarelay,anexternalfly-backdiodeisrequired.AdiodeintheoutputisfordrivingPlCinputsthatareopto-isolatedandconnectedto+24Vdc.Thediodepreventsconductionfrom+24Vdcthroughthe1kWresistorto+5Vdcinthedrive.ThiscouldturnthePlCinputon,givingafalseindicationofthedriveoutputstate.

3.3 nF

10 k

10 k

74HC14

[IN1][IN2][IN3][IN4][IN5] *

+5

* 2.2 nF

*4.99 k

DIGITAlInPuTSThere are ten digital inputs to Accelnet Micro Module, nine of which can be programmed to a selection of functions. The Enable input which controls the on/offstateofthePWMoutputsisfixedto[In1]asasafetymeasuresothatadrivecannotbeprogrammedinsuchawaythat,onceinstalled,itcouldnotbeshutdownbythecontroller.TwotypesofRCfiltersareused:GP(General-purpose)andHS(HighSpeed).Theinputtime-constantsapplywhendrivenbyactivesources(CMOS,TTl,etc).Allinputsexcept[In5]have10kWpull-upresistorsto+5Vdc.Thepull-upfor[In5]is4.99kforcompatibilitywithCopleylinearmotors.InputfunctionssuchasStep/Direction,Countup/CountDown,QuadA/BmustbewiredtoinputshavingtheHSfilters,andinputswiththeGPfilterscanbeusedforgeneralpurposelogicfunctions,limitswitches,andthemotortemperaturesensor.Inadditiontotheselectionoffunctions,theactivelevelforeachinputisindividuallyprogrammable.

GPinputfunctions HSinputfunctions •Driveenable •Step/Direction,orCountup/CountDownstepmotorcontrolcommands •CAnaddress •QuadA/Bmasterencoderpositioncommands •Positivelimitswitch •Motor-mountedfeedbackencoder •negativelimitswitch •Homeswitch •DriveReset •Motortemperaturesensorinput •Motionabort

Driveresetisprogrammabletotakeplaceontransitionsoftheinputandisprogrammableto1/0or0/1.Themotortempsensorfunctionwilldisablethedriveifaswitchinthemotoropensorcloseswhenthemotoroverheats.

GPInPuTS1,2,3,4,5 HSInPuTS6,7,8,9,10

+5VDCOuTPuTThedriveinternal+5VdcpowerismadeavailableatP1-28.Theoutputcurrentis250mAmaximum.ThispowershouldbeusedwithcareasthereisnolinearregulatorbetweenthedriveinternalpowersupplyandtheexternalcircuitsasinotherCopleydriveswith+5Vdcoutputs.Whenusingthispoweranl-Cfilterisrequired.Thisconsiststypicallyofaferrite-coreinductorandanelectrolyticcapacitor.Atypicalvalueforthecapacitorwouldbe4.7µf.Theinductorcanbe50~150µHandshouldberatedforDCcurrentof250mAminimum.Thecapacitorshouldhaveareturnpathtodrivepowerground(J1-13,14).




POWeRSuPPlIeSAccelnet Micro Module operates typically from transformer-isolated, unregulated DC power supplies. Theseshouldbesizedsuchthatthemaximumoutputvoltageunderhigh-lineandno-loadconditionsdoesnotexceedthedrivemaximumvoltagerating.Powersupplyratingdependsonthepowerdeliveredtotheloadbythedrive.operation from regulated switching power supplies is possible if a diode is placed between the power supplyanddrivetopreventregenerativeenergyfromreachingtheoutputofthesupply.Ifthisisdone,theremustbeexternalcapacitancebetweenthediodeanddrive.Theminimumvaluerequiredis330µfperdrivemountednomorethan12inchesfromthedrive.

AuXHV(OPTIOnAl)CAnopencommunicationscanbemaintainedwhen+HVisturnedoffbyusingtheAuxHVinput.Thevoltagehasthesamerangeas+HV,andcanbegreaterorlessthan+HV.Inoperation,theAuxHVkeepsthedrivelogicandcontrolcircuitsactivesoit isalwaysvisibleasanodeonaCAnbus.Thecurrent-positiondataismaintainedmaking‘homing’unnecessaryaftersystempowerisre-enabled.IfAccelnetMicroModuleisoperatingasastand-alonedrive,AuxHVisnotnecessarybutcanbeusefulifthecontrollerismonitoringdrivedigitaloutputs.

GROunDInGCOnSIDeRATIOnSPowerandcontrolcircuitsshareacommoncircuit-ground(P1-3,4,27,33,34,andJ1-13,14).InputlogiccircuitsarereferencedtoSignalGround,asarepowerGnD,digitaloutputs,andencoder.forthisreason,driveGndterminalsshouldconnecttotheusers’commongroundsystemsothatsignalsbetweendriveandcontrollerareatthesamecommonpotential,andtominimizenoise.Thesystemgroundshould,inturn,connecttoanearthingconductoratsome point so that the whole system is referenced to “earth”.Becausecurrentflowthroughconductorsproducesvoltage-dropsacrossthem,itisbesttoconnectthedriveHVGnDtosystemearth,orcircuit-commonthroughtheshortestpath,andtoleavethepower-supplyfloating.Inthisway,thepowersupply(-)terminalconnectstogroundatthedriveHVReturnterminals,butthevoltagedropsacrossthecableswillnotappearatthedriveground,butatthepowersupplynegativeterminalwheretheywillhaveless effect.forCecompliancedrivecablesshouldbeshielded.Motorphasecurrentsarebalanced,butcurrentscanflowbetweenthePWMoutputs,andthemotorcable shield.Signalsfromcontrollertodrivearereferencedto+5Vdc,andotherpowersuppliesinuserequipment.Thesepowersuppliesshouldalsoconnecttosystemgroundandearthatsomepointsothattheyareatsamepotentialasthedrivecircuits.Thefinalconfigurationshouldembodythreecurrent-carryingloops.first,thepowersupplycurrentsflowingintoandoutofthedriveatthe+HVandGndpinsonJ1.Second,thedriveoutputscurrentintoandoutof

the motor phases, and motor shield currents circulating between theu,V,andWoutputsandHVcommon.And,lastly,logicandsignalcurrentsconnectedtothedrivecontrolinputsandoutputs.forCecompliancedrivecablesshouldbeshielded.Motorphasecurrentsarebalanced,butcurrentscanflowbetweenthePWMoutputs, and the motor cable shield.




TyPICAlDRIVeCOnneCTIOnS(STAnDARD,enCODeRMODelS)

DCPower

+

-13 14

J1

J29Motemp

GPin [IN5]

19Hall W

20Hall V

17Hall U

22Encoder /X

21Encoder X

24Encoder /B

23Encoder B

25Encoder A

26Encoder /A

15[OUT2]

W

V

U

Motor W

Motor V

Motor U

BRAKE

HALLS

U

V

W

MOTOR

7 [IN3] GP

6 [IN2] GP

3

4

Signal Gnd

5 Enable[IN1] GP

16 [OUT1]

Controller

+HV

+HV Com

2 1

6 5

10 9

Fuse

330 µFMinimumper drive

Mount external capacitor<= 12 in (30 cm) from drive

17 18

8 [IN4] GP

10 [IN6] HS

14 [IN10] HS

13 [IN9] HS

PosLim

NegLim

Drive Enable

2

1 Ref(+)

Ref(-)

Signal Gnd

ENCCh. A

ENCCh. B

Step

Dir

CU

CD

22 Aux HV+14 Vdc to Max HV

2.5 W (optional)

+5 VdcOutput

SignalGround

30

34

29CANopenBus ControllerI/O

CANH

CANL

Gnd

CANL

CANH

SignalGround

32

33

31ControllerRS-232I/O

RxD

TxD

Gnd

RxD

TxD

18[OUT3]

++5 Vdc @ 250 mA

27

28

12 [IN8] HS

11 [IN7] HS

SECONDARYENCODER

A

B

+-

24V

13 [IN9] HSX

EncoderMotor

A

/A

B

/B

X

/X

Quad A/B

Note 3

notes1.[In1]alwaysfunctionsasDriveenablewithprogrammableactivelevel

[In2]~[In10]haveprogrammablefunctionsandactivelevel2.HSinputs[In6,7,8,9,10]areforhigh-speedsignalsandhave100nsRCfilters.

GPinputs[In1,2,3,&4]have33µsfilters,[In5]hasa22µsfilter. RCfiltertimeconstantsapplywheninputsaredrivenbyactivesourcesanddonotincludethe10kW pull-up resistors.

3.[In9]isprogrammableasanencoderindex(X)inputifitisnotusedasaninputfordigitalcommands.




DRIVE PC boARD ConnECToRS

J1: +HV, Gnd, & Motor Outputs

Dual row, 0.1” centers 22 position female header Samtec:SSW-111-01-S-D

P1: Signal Dual row, 0.1” centers 34positionfemaleheader Samtec:SSW-117-01-S-D

Drive viewed from above looking down on the pc board on which it is mounted. Pins shown in grey are unused locations in PC board socket

Pin 1

Signal J1 Pin Signal

Motor W 2 1 Motor W

4 3

Motor V 6 5 Motor V

8 7

Motor U 10 9 Motor U

12 11

HV common 14 13 HV common

16 15

+HV 18 17 +HV

20 19

+HV Aux 22 21

noTES

1.Grey-shadedsignalaren.C.(noConnection)2.Signalsaregroupedforcurrent-sharingonthepowerconnector.Whenlayingoutpcboardart-works,allpinsingroupshavingthesamesignalnamemustbeconnected.

Pin 22 Pin34

Top View

SIGNALS P1 Pin SIGNALS

Ref (-) 2 1 Ref (+)

Signal ground 4 3 Signal ground

[IN2] 6 5 [IN1]

[IN4] 8 7 [IN3]

[IN6] 10 9 [IN5]

[IN8] 12 11 [IN7]

[IN10] 14 13 [IN9]

[OUT1] 16 15 [OUT2]

[OUT3] 18 17 Hall U

Hall V 20 19 Hall W

Encoder /X 22 21 Encoder X

Encoder /B 24 23 Encoder B

Encoder /A 26 25 Encoder A

+5 Vdc @ 250 mA 28 27 Signal Ground

CANH 30 29 CANL

TxD 32 31 RxD

Signal ground 34 33 Signal Ground

Quad A/B




TyPICAlDRIVeCOnneCTIOnS(ReSOlVeROPTIOn)

DCPower

+

-13 14

J1

J29Motemp

GPin [IN5]

22Ref(-)

21Ref(+)

24Cos(-)

23Cos(+)

25Sin(+)

26Sin(-)

15[OUT2]

W

V

U

Motor W

Motor V

Motor U

BRAKE

MOTOR

7 [IN3] GP

6 [IN2] GP

3

4

Signal Gnd

5 Enable[IN1] GP

16 [OUT1]

Controller

+HV

+HV Com

2 1

6 5

10 9

Fuse

330 µFMinimumper drive

Mount external capacitor<= 12 in (30 cm) from drive

17 18

8 [IN4] GP

10 [IN6] HS

14 [IN10] HS

13 [IN9] HS

PosLim

NegLim

Drive Enable

2

1 Ref(+)

Ref(-)

Signal Gnd

ENCCh. A

ENCCh. B

Step

Dir

CU

CD

22 Aux HV+14 Vdc to Max HV

2.5 W (optional)

+5 VdcOutput

SignalGround

30

34

29CANopenBus ControllerI/O

CANH

CANL

Gnd

CANL

CANH

SignalGround

32

33

31ControllerRS-232I/O

RxD

TxD

Gnd

RxD

TxD

18[OUT3]

27

28

+-

24V

19Hall W

20Hall V

17Hall U

HALLS

U

V

W

12 [IN8] HS

11 [IN7] HS

SECONDARYENCODER

A

B

13 [IN9] HSX

ResolverMotor

S3

S1

S2

S4

R1

R2

Resolver

noTES

1.[In1]alwaysfunctionsasDriveenablewithprogrammableactivelevel [In2]~[In10]haveprogrammablefunctionsandactivelevel

2.HSinputs[In6,7,8,9,10]areforhigh-speedsignalsandhave100nsRCfilters. GPinputs[In1,2,3,&4]have33µsfilters,[In5]hasa22µsfilter. RCfiltertimeconstantsapplywheninputsaredrivenbyactivesourcesanddonotincludethe10kW pull-up resistors.

3.[In9]isprogrammableasanencoderindex(X)inputifitisnotusedasaninputfordigitalcommands.

note3




Signal J1 Pin Signal

Motor W 2 1 Motor W

4 3

Motor V 6 5 Motor V

8 7

Motor U 10 9 Motor U

12 11

HV common 14 13 HV common

16 15

+HV 18 17 +HV

20 19

+HV Aux 22 21

noTES

1.Grey-shadedsignalaren.C.(noConnection)2.Signalsaregroupedforcurrent-sharingonthepowerconnector.Whenlayingoutpcboardart-works,allpinsingroupshavingthesamesignalnamemustbeconnected.

DRIVE PC boARD ConnECToRS

J1: +HV, Gnd, & Motor Outputs

Dual row, 0.1” centers 22 position female header Samtec:SSW-111-01-S-D

P1: Signal Dual row, 0.1” centers 34positionfemaleheader Samtec:SSW-117-01-S-D

Drive viewed from above looking down on the pc board on which it is mounted. Pins shown in grey are unused locations in PC board socket

Pin 1

Pin 22

Top View

Pin34

Signal P1 Pin Signal

Ref(-) 2 1 Ref(+)

Sgnd 4 3 Sgnd

[In2] 6 5 [In1]

[In4] 8 7 [In3]

[In6] 10 9 [In5]

[In8] 12 11 [In7]

[In10] 14 13 [In9]

[oUT1] 16 15 [oUT2]

[OuT3] 18 17 Hallu

HallV 20 19 HallW

R2Ref(-) 22 21 R1Ref(+)

S4Cos(-) 24 23 S2Cos(+)

S1Sin(-) 26 25 S3Sin(+)

+5Vdc@250mA 28 27 Sgnd

CAnH 30 29 CAnl

RS-232TxD 32 31 RS-232RxD

Sgnd 34 33 Sgnd

Resolver




PCBOARDMOunTInGfOOTPRInT

noTES

1. J1 pins with the same signal name must be connected for current-sharing.

2. To determine copper width and thickness forJ1signalsrefertospecificationIPC-2221.(AssociationConnectingelectronicIndustries,http://www.ipc.org)

3.Standoffsshouldbeconnectedtoetcheson pc board that connect to frame ground for maximum noise suppression and immunity.

TOPVIeWDimensionsininches(mm)

MountingHardware: Qty Description Mfgr Part number Remarks 1 SocketStrip Samtec SSW-111-01-S-D J1 1 SocketStrip Samtec SSW-117-01-S-D P1 2 Standoff4-40X3/8” PeM Kfe-440-12-eT

1.40(35.56)

0.35(8.89)

(TYP)

0.100 (2.54)

0.100 (2.54)

(TYP)

56X Ø.040 ±.003(Ø.001 ±.076) THRU AFTER

PLATING

2X Ø.166 +.005/-.001(Ø4.22 +.127/-.0254)

THRU AFTERPLATING

1.125(28.58)

12

12P1J1

1.183(30.05)

2.05(52.07)

0.20(5.08)

0.45(11.43)0.233

(5.92)

0.017(0.43)

3334

2122 1.833(46.56)

PCBOARDDeSIGnThe peak voltage between adjacent traces will beequalto+HV.Tracewidthandcopperplatingthicknessshouldsupportthedrivepeakandcontinuousoutputcurrent ratings.Printed c ircuit board layouts for Accelnet Micro Moduledrivesshouldfollowsomesimplerules:1. Install a low-ESR electrolytic capacitor not more than 12inchesfromthedrive.PWMdrivesproduceripplecurrents in their DC supply conductors. Accelnet Micro Moduledrivesdonotuseinternalelectrolyticcapacitorsas these can be easily supplied by the printed circuit board. In order to provide a good, low-impedancepath for these currents a low-ESR capacitor should be mountedasclosetothedriveaspossible.330µfisaminimumvalue,withavoltageratingappropriatetothedrivemodelandpowersupply.2.ConnectJ1signals(u,V,&Woutputs,+HV,and+HVCommon)inpin-groupsforcurrent-sharing.Thesignals on J1 are all higher-current types. To carry these currents(upto6Adcpeak)thepinsofJ1mustbeusedinmultiplestodividethecurrentandkeepthecurrentcarryingcapacityoftheconnectorswithinspecification.Thediagramonpage9showsthepingroupsthatmustbeinter-connectedtoactasasingleconnectionpointforpcboardtraces.3.Minimumtracewidth,andcopperplatingthicknessshouldfollowindustry-standards(IPC-2221).Thewidthandplatingshoulddependonthemodelofdriveused,themaximumvoltage,andmaximumcurrentexpectedtobeusedforthatmodel.Powersupplytraces(+HV,+HVCommon)shouldberoutedclosetoeachothertominimizetheareaoftheloopenclosedbythedriveDCpower.noiseemissionoreffectsonnearbycircuitryareproportionaltotheareaofthisloop,sominimizingitisgoodlayoutpractice.Motorsignalsshouldalsoberoutedclosetogether.Phaseoutputs(u,V,&W)shouldberoutedascloselyaspossibletoformabalancedtransmissionpath.Keepingthesetracesascloselyplacedaspossiblewillagainminimizenoiseradiationduetomotor phase currents. Accelnet Micro Module circuitgroundsareelectricallycommon,andconnectinternally.However,theJ1signalscarryhighcurrentswhilethegroundsonP1(signalground)carrylowcurrents.So,P1signalsshouldberoutedawayfrom,andneverparalleltothesignalsonJ1.

MOunTInGAnDCOOlInGAccelnet Micro Module mounts on PC boards using two, dual-row, 0.1” female headers. These permit easy installationandremovalofthedrivewithoutsoldering.ThreadedstandoffsswagedintothePCboardprovidepositiveretentionofthedriveandpermitmountinginanyorientation.Coolingisbyconvection,orexternalfan-supplied forced air.




DIMEnSIonS

DIMEnSIonS

noTES1.Dimensionsshownininches(mm).2.forR23-055-06&R23-090-04:0.394[10.0], forR23-055-10&R23-090-08:0.28[7.1]

3.forR23-055-06&R23-090-04:0.825[21], forR23-055-10&R23-090-08:0.71[18]

Seenote3

.150[3.81]

.394 [10.0]

1.60[40.64]

.281 [7.14]

2.50 [63.5]

2.066 [52.48].217 [5.51]

.217

1.166

[5.51]

[29.62]

0.824 [20.9]

See note 2

Seenote3




20

25

30

35

40

45

50

55

60

65

70

0 1 2 3 4 5

NHSNF

NHSF100

NHSF200

20

25

30

35

40

45

50

55

60

65

70

0 1 2 3 4 5

NHSNF

NHSF100

NHSF200

20

25

30

35

40

45

50

55

60

65

70

0 1 2 3 4

NHSNF

NHSF100

NHSF200

20

25

30

35

40

45

50

55

60

65

70

0 1 2 3 4

NHSNF

NHSF100

NHSF200

20

25

30

35

40

45

50

55

60

65

70

0 1 2 3 4

NHSNF

NHSF100

NHSF200

20

25

30

35

40

45

50

55

60

65

70

0 1 2 3 4 5

NHSNF

NHSF100

NHSF200

R23-090-08

R23-090-08

R23-090-04

R23-090-04

THeRMAlS

R23-055-XX@15VDC R23-090-XX@30VDC

R23-090-XX@60VDC

R23-090-XX@90VDC

R23-055-XX@35VDC

R23-055-XX@55VDC

MAXOPeRATInGTeMPeRATuReVS.OuTPuTCuRRenTThese charts show the maximum operating ambient temperature based on the continuous output current and the mounting/cooling conditions while operating at arangeof+HVvoltages.nHSnf noHeatSinknofan ConvectioncoolingnHSf100 noHeatSinkfancooledat100lfM(linearfeetperMinute)nHSf200 noHeatSinkfancooledat200lfM(linearfeetperMinute)

legend:y-Axis=Maximumoperatingtemperature(°C)X-Axis=Continuousoutputcurrent(Adc)The red dashed lines on each chart show the continuous outputcurrentratingofthedrivemodels.

R23-055-10

R23-055-10

R23-055-10 R23-090-08

R23-055-06

R23-055-06

R23-055-06 R23-090-04




Development Kit

RS-232COnneCTIOnTheRS-232 port is used to configure the drive for stand-alone applications, orforconfigurationbeforeitisinstalledintoaCAnopennetwork.CMe2™softwarecommunicateswiththedriveoverthislinkandisthenusedforcompletedrivesetup.The CAn address that is set by the rotary switch can be monitored, and an address offset programmed as well. This will add to the switch address to produce a working CAn address that can be from 1 to 127. TheRS-232connector,J4,isamodulartypethatusesa6-positionplug,fourwiresofwhichareusedforRS-232.Aconnectorkitisavailable(SeR-CK)thatincludesthemodularcable,andanadaptortointerfacethiscablewitha9-pinRS-232porton a computer.

CAn ConnECTIonSConnectorsJ6&J7areSub-Dmaleandfemale9-positiontypesthatconformtotheCAnDS-102Physicallayerspecification.Themale-femaleconfigurationsupportsasinglecabletypewithmaleandfemaleconnectorsthatcanbedaisy-chainedfromdevicetodevicealongaCAnopennetwork.OnlytheCAn_H,CAn_l,andCAn_GnDsignalsareused.TheCAn_GnDisconnectedtothecircuitgroundonthedevelopmentkit.Thisgroundisalsosharedbythedrivepowersupply,accessory+5V(forencoders),andtheRS-232link.OtherDS-102signalsarewired-through for use by products that support them.ThetablebelowliststhesignalsandpinsonJ6&J7.Signalsin()arethosethathavenoconnectiononthedevelopmentkitandwhichareconnectedpin-to-pinbetweenJ6&J7.

NIP SLANGIS

1 )devreseR(

2 L_NAC

3 DNG_NAC

4 )devreseR(

5 )DLHS_NAC(

6 dnuorglangiS

7 H_NAC

8 )devreseR(

9 )devreseR(

Important! Install JP4 only if development kit is the last node on a Can bus

CAn busConnector

Signals*

* These signals connect through

from J6 to J7 with no connection to DevelopmentKit

PC board.

DESCRIPTIonTheDevelopmentKitprovidesmountingandconnectivityforaAccelnetR23drive.Solderlessjumperseaseconfigurationofinputsandoutputstosupporttheirprogrammablefunctions.Switchescanbejumperedto connect to digital inputs 1~5 so that these can be toggled tosimulateequipmentoperation.ThreeleD’sprovidestatusindicationfor the digital outputs. To simplify cabling to external controllers, the encoder signals from the motor are connected to pins on the signal connectorJ3.DualCAnbusconnectorsmakedaisy-chainconnectionspossiblesothatotherCAnopendevicessuchasCopley’sStepnetorXenusdrivescaneasilybeconnectedtobuildmixedstepperandservomulti-axis systems.

**

**




Development KitCAn ADDRESS SElECTIonRotaryswitchSW6,labeled“CAnADDR”connectstoIn7,In8,In9,andIn10ofthedrive.TheseareprogrammableinputswhichdefaulttoCAnaddressbits.TheswitchwillselectCAnaddresses0x01~0x0f(dec1~15).Address0isreservedfornetworkmanagementdevices.TheCAnstandardpermitsupto127devices,soifthedrivemusthaveaaddressbeyond0x0f(dec15),thisisdonebyprogramminganaddressoffsetintothedrivebeforeitisinstalledintoaCAnenvironmentorbyprogramminglogicinputsasCAnaddressbits.

note: To use inputs 7,8,9, or 10 as logic inputs removejumpersshownatlefttodisconnectSW6from logic inputs.

lOGICOuTPuTSTherearethreelogicoutputsthatcandrivecontrollerlogicinputsorrelays.Ifrelaysaredriven,thenflybackdiodesmustbeconnectedacrosstheir terminalstoclampovervoltagesthat occur when the inductance of the relay coil is suddenly turned off. Asdelivered,theseoutputsdrivethreeleD’s.JumpersJP6-A,andJP1-D,&econnecttheseleD’stologicoutputs.Thesearen-channel MoSFET’s which sink current from loads connected topositivevoltages.WhentheoutputsareOn(Activelow),they ground the cathode of the led’s which then turn on as theyareconnectedtothe+5Vdcsupplyviacurrent-limitingresistors. ThelogicoutputsalsoconnecttosignalconnectorJ3.Iftheyareusedtodriveexternalloads>+5Vdc,theleDjumpersmustberemoved.

lOGICInPuTSThere are 10 logic inputs. [In1] is dedicated to the driveenable function, the other inputs are programmable. The development kit is equippedwith switches that canbeusedtocontrollogicinputs1~5.TousetheseswitchesjumpersJP2-A,B,C,D,andemustbeinstalled.Ifconnectingtheselogicinputstoexternalequipment,thesamejumpersmustberemovedsothattheswitchescan-not short input signals to ground.

+5 +5

[OUT1]

[OUT2]

499

499

DS

1

DS

2

J3

6

11

JP1-

D

JP1-

E

22

+5

499

JP6-

A

DS

3

[OUT3]

J3A B D

JP2

C

SW1 SW2 SW3 SW4 SW5

[IN1][IN2][IN3][IN4][IN6]

IN1 IN2 IN3 IN4 IN6

HILOSWITCH POLARITY

5

4

3

1817

JP3ABCD

E

E

logic Inputs

[IN7][IN8][IN9][IN10]

1 2 34

56789AB

CD

E F 1248

B

DE

JP6

C

SW6

0

CAn Address Switch




Development Kit

POWeRSuPPlIeSThe drivemainpower,+HV,istypicallysuppliedby unregulated DC power supplies. These must be isolated from the mains, and all circuits should be grounded to earth at some point. The +HV supply connects to J1. forgoodwiring practice, the+HVwires should betwisted together for noise suppression, and the power supply should not be grounded. Doing this ensures that the higher currents flowingin these conductors will not flow through anycircuit grounds where they might induce noise. During deceleration, mechanical energy in the motorandloadisconvertedbackintoelectricalenergy that must be dissipated as the motor comestoastop.Whilesomeofthisisconvertedto heat in the motor windings, the rest of it will flowthroughthedriveintothepowersupply.Anexternal storage capacitor should be used if the load has appreciable inertia, and this should be sizedsuch thatadding theundissipatedenergyfromthemotorwillnotraisethevoltagebeyondthepointatwhichthedriveshutsdown.Whenthis is not possible, an external ‘dumper’, or regenerative energy dissipatermust be usedwhichactsasashuntregulatoracrossthe+HVandGndterminals.

AuXHVnotrequiredforstand-aloneoperation,anAuxHVpowersupplyprovidespowerforthedrivecontrolcircuits so that CAn bus communications with the drive can bemaintainedwhen the+HV supplyis turned off. This might occur as a result of an Emergency off condition, or for machine operator intervention.TheAuxHVsupplydoesnotpowerthePWMstagethatdrivesthemotor,butkeepsthedrivecontrollerenabledaswellasinputsandoutputs.TheAuxHVsupplymustbelessthanthe+HVsupplyvoltageandgreater than thedriveminimumHVrating.

enCODeR+5VDCencoderpowercanbesuppliedfromanexternal+5Vdcsupplyorfromthedrive.Tousedrive+5Vdc@250mAmaximum,installjumperJP8.Ifmorethan250mAisrequiredthenthismustcomefromanexternal+5VsourceandJP8mustberemovedwhenthisisdone.

IMPoRtant: REMoVE JP8 BEFoRE ConnECtInG EXtERnal +5V PoWER to J8-1. FaIlURE to Do so WIll DaMaGE DRIVE!!

SWITCHInGPOWeRSuPPlIeSSwitchingpowersuppliescanalsobeusedfor+HVpower. Unlike unregulated supplies, these cannot acceptreverseenergyflow,soanisolatingdiodemust be placed between the power supply and J1-1 to block current flowback into the powersupply.When this is done, an external storagecapacitormustbeusedacrossJ1-1&J1-2becausethecapacitorontheDevelopmentKitboardisonlyfor ripple-current control, and cannot store enough energy to handle regeneration.

GROunDInGAnearthinggroundconnectioncanbemadeviaa second conductor to J1-2 that connects to the equipmentframeground.

EnCoDER ConnECTIonSThedevelopmentkithasa26C32differentiallinereceiverforthemotorencoder inputs. Differential-output encoders are preferred for best signal qualityandnoiserejection.Wiringshouldbetwisted-pairs,preferablywitha shield for each pair. To eliminate noise on the encoder signals caused byreflectionsonthecables,itisgoodpracticetoterminatesignal-pairswith a resistor that matches the characteristic impedance of the cable. Onthedevelopmentkit,121Ωresistorsareprovidedforthispurpose.Jumpers at JP9-A, b, and C connect these termination resistors across the differential signals when installed.If single-endedencodersareused, theymusthaveactive (not open-collector) outputs. They shouldbe connected to theA,B, andXpinsleavingthe/A,/B,and/Xpinsopen.JumpersatJP1-A,B,andCmustberemoved.

ABJP1 C

J3

J2

8

67

1415

13

121

ENCODER

SIGNAL

Enc A

Enc B

Enc X

9

[IN5]

+5V10 k

C

B

A

JP7

10 k

10 k

7

20

89

19 21

Enc /A

Enc /B

Enc /X




Development KitDEVEloPMEnT kIT ConnECTIonS

notes:1.CAnconnectorsJ6&J7arenotshownhere.fordetailsseepp.3,6,&10.2.JP8installed:+5Vdc@250mAfromdriveavailableatJ3-23 JP8removed:+5VdcmustbesuppliedfromanexternalpowersupplyconnectedtoJ8-1&2. WhEn UsInG EXtERnal 5 VDC PoWER sUPPly, JP8 MUst BE REMoVED oR DaMaGE to DRIVE WIll oCCUR

Note 2




Development Kit

notes:1.CAnconnectorsJ6&J7arenotshownhere.fordetailsseepp.3,6,&10.2.JP8installed:+5Vdc@250mAfromdriveavailableatJ3-23 JP8removed:+5VdcmustbesuppliedfromanexternalpowersupplyconnectedtoJ8-1&2. WhEn UsInG EXtERnal 5 VDC PoWER sUPPly, JP8 MUst BE REMoVED oR DaMaGE to DRIVE WIll oCCUR

+

-

4

+

-

+

-

Gnd

DEVELOPMENT KIT

Resolver

S2 Cos(+)

S4 Cos(-)

R1 Ref(+)

R2 Ref(-)

X1 Sin(-)

S3 Sin(+)

S2 Cos(+)

S4 Cos(-)

R1 Ref(+)

R2 Ref(-)

X1 Sin(-)

S3 Sin(+)

Brushless

BRAKE

(Optional)for encoderand LED'sSee Note 2

(Optional)

+5 V

+24 V

MOTOR

DCPower

EarthCircuit Gnd

W

V

U

S3

S1

S2

S4

R1

R2

+HV Input

Gnd

Fuse

Motor W

Motor V

Motor U

J1

[OUT2]

Aux HV

Drive Enable

DAC Out

DAC Ground

[IN1] GP

[IN2] GP

[IN3] GP

Ref (-) Input

Signal Ground

Ref (+) Input

/Motemp[IN5]

Gnd

Gnd

Gnd

Hall U

Hall V

Hall W

+5 VdcOutput

J2

EnablePosLim

NegLim

Signal Ground

Drive OK

J3 /Brake

SignalGnd

[IN4] GP

[OUT1]

[IN6] HS

[OUT3]

J8+5V Input

Gnd

Gnd

RS-232 signals connect

+5V Output

to both J3 & J4.Only one external

connection can beactive at a time

PC SerialPort

D-Sub9-posMale

5

SerialCable Kit

Adapter Cable

Black

Red

Yellow

Sub-D toRJ-11 Modular

J4RJ-11

1

2

9

5

13

6

14

7

15

11

10

3

4

5

1

8

12

1

2

2

3

4

3

4

11

14

1

5

17

18

13

2

6

19

7

20

9

8

4

3

21

22

15 16

10 12

RxD

TxD24

25

23

ControllerRS-232I/O

TxD

RxD

5

2

4

3

RxD

TxD

Gnd

6

1

Mod

ular

Jac

kR

J-11

6P

4C

D-S

ub 9-posFem

ale5

2

3 2

3

5

3

5

2

TxD

RxD

1

RS-232DTE

6

9

U

V

W

HALLS

DEVEloPMEnT kIT ConnECTIonS (MODelSWITH-ROPTIOnfORReSOlVeRfeeDBACK)




Development Kit

SLANGIS1J NIP

tupnIVH+ 1

DNG 2

tuptuOWrotoM 3

tuptuOVrotoM 4

tuptuOUrotoM 5

NIP SLANGIS2J

8 tupnIAredocnE

7 tupnIBredocnE

6 tupnIXredocnE

5 dnuorGlangiS

4 WllaH

3 VllaH

2 UllaH

1 dnuorGsissahC

SLANGIS2J NIP

tupnIA/redocnE 51

tupnIB/redocnE 41

tupnIX/redocnE 31

dnuorGlangiS 21

tuptuOV5+ 11

dnuorGlangiS 01

]5NI[ 9

nepoNAC SLANGIS NIP

)devreseR( 1

L_NAC 2

DNG_NAC 3

)devreseR( 4

)DLHS_NAC( 5

SLANGIS8J NIP

tupnIV5+ 1

dnG 2

dnG 3

tupnIVHxuA 4

J8

J1

J2

J7

IMPoRtant: REMoVE JUMPER JP8 BEFoRE ConnECtInG EXtERnal +5 Vdc PoWER to J8-1. FaIlURE to Do so WIll DaMaGE DRIVE!!

DEVEloPMEnT kIT ConnECTIonS




Development Kit

SLANGIS3J NIP

dnuorGsissahC 1

)+(feRgolanA 2

]6NI[tupnIPG 3

]4NI[tupnIPG 4

]1NI[tupnIelbanE 5

]1TUO[tuptuO 6

XtuptuoredocnE 7

BtuptuoredocnE 8

AtuptuoredocnE 9

dnuorGlangiS 01

]2TUO[tuptuO 11

dnuorGlangiS 21

dnuorGlangiS 31

PIN J3 SIGNALS

14 Analog Ref (-)15 Signal Ground16 Signal Ground17 [IN2] POS Limit Switch18 [IN3] NEG Limit Switch19 Encoder /X output20 Encoder /B output21 Encoder /A output22 [OUT3] Output23 +5V Output24 RS-232 TxD Output25 RS-232 RxD Input

NIP SLANGIS4J

6 noitcennoCoN

5 tuptuODxT

4 dnuorGlangiS

3 dnuorGlangiS

2 tupnIDxR

1 noitcennoCoN

NIP 5JSLANGIS

1 1-1P

2 2-1P

3 3-1P

NIP nepoNAC SLANGIS

6 DNG_NAC

7 H_NAC

8 )devreseR(

9 )+V_NAC(

J3

J4

J5

J6 CANopen Notes:1.ConnectorpinoutsforJ6&J7followCAnstandardDS-102.2.Signalsin()arewired-throughfromJ7toJ6andhavenootherconnectionsonthepcboard.3.CAn_GnDisconnectedtoGndonpcboard(AccelnetR23signalandpowerground)

J3ReSOlVeRCOnneCTIOnS

J3SIGnAlS PIn J3SIGnAlS

R1 7 19 R2

S2 8 20 S4

S3 9 21 S1




Development Kit

IMPORTANT: REMOVE JUMPER JP8 BEFORE CONNECTING EXTERNAL +5 Vdc POWER TO J8-1. FAILURE TO DO SO WILL DAMAGE DRIVE!!

DEVELOPMENT KIT CONNECTIONS (MODElS WiTH -R OPTiON fOR RESOlVER fEEDBACk)

J8

J1

J2

J7

JP1-A,b,C

IMPoRtant!! thEsE JUMPERs MUst BE REMoVED FoR REsolVER oPERatIon

oUTAbC

SLANGIS1J NIP

tupnIVH+ 1

DNG 2

tuptuOWrotoM 3

tuptuOVrotoM 4

tuptuOUrotoM 5

nepoNAC SLANGIS NIP

)devreseR( 1

L_NAC 2

DNG_NAC 3

)devreseR( 4

)DLHS_NAC( 5

SLANGIS8J NIP

tupnIV5+ 1

dnG 2

dnG 3

tupnIVHxuA 4

PIN J2 SIGNALS

8 S3 Sin(+)

7 S2 Cos(+)

6 R1 Ref(+)

5 Signal Ground

4 Hall W

3 Hall V

2 Hall U

1 Chassis Ground

J2 SIGNALS PIN

S1 Sin(-) 15S4 Cos(-) 14R2 Ref(-) 13

Signal Ground 12+5V Output 11

Signal Ground 10[IN5] 9




Development KitDEVELOPMENT KIT CONNECTIONS (MODElS WiTH -R OPTiON fOR RESOlVER fEEDBACk)

CANopen Notes:1.ConnectorpinoutsforJ6&J7followCAnstandardDS-102.2.Signalsin()arewired-throughfromJ7toJ6andhavenootherconnectionsonthepcboard.3.CAn_GnDisconnectedtoGndonpcboard(Accelnetsignalandpowerground)

J3

J4

J5

J6

JP7-A,b,CoUTA

bC

IMPoRtant!! thEsE JUMPERs MUst BE REMoVED FoR REsolVER oPERatIon

NIP SLANGIS4J

6 noitcennoCoN

5 tuptuODxT

4 dnuorGlangiS

3 dnuorGlangiS

2 tupnIDxR

1 noitcennoCoN

NIP 5JSLANGIS

1 1-1P

2 2-1P

3 3-1P

NIP nepoNAC SLANGIS

6 DNG_NAC

7 H_NAC

8 )devreseR(

9 )+V_NAC(

J3 SIGNALS PIN

Chassis Ground 1Analog Ref(+) 2GP Input [IN6] 3GP Input [IN4] 4

Enable Input [IN1] 5Output [OUT1] 6

R1 Ref(+) 7S2 Cos(+) 8S3 Sin(+) 9

Signal Ground 10Output [OUT2] 11Signal Ground 12Signal Ground 13

PIN J3 SIGNALS

14 Analog Ref (-)15 Signal Ground16 Signal Ground17 [IN2] POS Limit Switch18 [IN3] NEG Limit Switch19 R2 Ref(-)20 S4 Cos(-)21 S1 Sin(-)22 [OUT3] Output23 +5V Output24 RS-232 TxD Output25 RS-232 RxD Input




ORDeRInGGuIDe

ORDeRInGInSTRuCTIOnSexample:Order1R23-055-06drivewithDevelopmentKit,DevelopmentKitConnectorKit,SerialCableKit,andCMe2.

Qty Item Remarks

1 R23-055-06 Accelnet R23drive 1 kDk-090-01 Accelnet R23 Development Kit 1 KDK-CK ConnectorKitforDevelopmentKit 1 SER-Ck Serial Cable kit 1 CME2 CME 2 CD

R23modelswiththegreenleafsymbolonthelabelareRoHScompliant.

PART nUMbER DESCRIPTIon

R23-055-06 AccelnetR23Servodrive3/6A@55Vdc




kDk-090-01 AccelnetR23DevelopmentKit

kDk-Ck AccelnetR23DevelopmentKitConnectorKit

SER-Ck SerialcableforDevelopmentKit

fORReSOlVeROPTIOn,ADD“-R”TOTHeACCelneTPARTnuMBeR

Model R23-055-06Serial # 12345678

Input:

Output:20~55 VDC 7A pk

55 VDC @ 6A pk

RoHSCOMPlIAnCe

note:Specificationssubjecttochangewithoutnotice Rev16.01-we10/04/2016

edied diil r23 roh s€¦ · digital inputs (note 1) number10 all inputs 74hc14 schmitt trigger...

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