Accelnet 線性伺服驅動器 DC 電源入力 (ADP、ACJ、ACM、ACK、APM、AEM、AP2、AE2、BPL、BP2、BEL、BE2、BML、ACK-HC、R20、R21、R22、R23、R42、R43、AEP、AEV、APV)

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ADP	ACJ	ACM	ACK	APM	AEM	AP2	AE2	BPL	BP2	BEL	BE2
BML	ACK-HC	R20	R21	R22	R23	R42	R43	AEP	AEV	APV

Accelnet Panel

ADP Panel

Control Modes

• Indexer, Point-to-Point, PVT

• Camming, Gearing, Position, Velocity, Torque

Command Interface

• Stepper commands

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)

Communications

• CANopen

• RS232

Feedback

• Digital Quad A/B encoders

• Analog sin/cos encoder (-S option)

• Brushless resolver (-R option)

• Aux encoder / emulated encoder output

• Digital Halls

I/O - Digital

• 12 inputs, 3 outputs

Dimensions: mm [in]

• 168 x 99 x 31 [6.6 x 3.9 x 1.2]

Model	VDC	IC	IP
ADP-055-18	55	6	18
ADP-090-09	90	3	9
ADP-090-18	90	6	18
ADP-090-36	90	12	36
ADP-180-09	180	3	9
ADP-180-18	180	6	18
ADP-180-30	180	15	30

Add -S to part numbers above for sin/cos feedback

Add -R to part numbers above for resolver feedback

DESCRIPTION

Accelnet is a high-performance, DC powered drive for position,

velocity (using encoder, resolver, Halls, or BEMF), and torque control

of brushless and brush motors. It can operate as a distributed drive

using the CANopen, 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.

Drive commissioning is fast and simple using CME 2™ software

operating under Windows® and communicating with Accelnet via

CAN or an RS-232 link. CAN address selection is by a 16-position

rotary switch. If there are more than sixteen devices on the CAN bus,

the additional address bits needed can come from programmable

inputs, or can be set in flash memory.

Accelnet 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.

Digital quad A/B encoders and Halls are standard feedback devices.

Sin/cos analog encoders are supported in models with an “S”

appended to the part number. Resolver feedback is supported in

models with“R” appended to the part number.

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.

資料來源: https://www.copleycontrols.com/wp-content/uploads/2018/02/Accelnet_Panel_CANopen-ADP-Datasheet-Datasheet.pdf

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ACJ Micro Panel

Feedback Versions

• Analog Sin/Cos

• Quad A/B digital

Control Modes

• Indexer, Point-to-Point, PVT

• Camming, Gearing, Position, Velocity, Torque

Command Interface

• CANopen

• ASCII and discrete I/O

• Stepper commands

• ±10V position/velocity/torque command

• PWM position*/velocity/torque command

• Master encoder (Gearing/Camming)

Communications

• CANopen

• RS-232

Feedback

• Digital Quad A/B encoder

• Secondary encoder / emulated encoder out

• Brushless resolver (-R versions)

• Analog sin/cos encoder (-S versions)

• Digital Halls

I/O - Digital

• 9 inputs, 4 outputs

Dimensions: mm [in]

• 97 x 64 x 33 [3.8 x 2.5 x 1.3]

* ACJ-R models

model	VDC	IC	IP
ACJ-055-09	20-55	3	9
ACJ-055-18	20-55	6	18
ACJ-090-03	20-90	1	3
ACJ-090-09	20-90	3	9
ACJ-090-12	20-90	6	12

DESCRIPTION

Accelnet Micro Panel is a compact, DC powered servo drive

for position, velocity, and torque control of AC brushless and

DC brush motors. It can operate on a distributed control

network, as a stand-alone indexing drive, or with external

motion controllers. Standard feedback is digital quad A/B

encoder and two option versions are available to support

brushless resolver (-R), or analog sin/cos encoders (-S).

Indexing mode enables simplified operation with PLC’s which

use outputs to select and launch indexes and inputs to

read back drive status. Additionally, a PLC can send ASCII

data that can change motion profiles so that one index can

perform various motions as machine requirements change.

The CANopen distributed control architecture is also

supported. As a CAN node operating under the CANopen

protocol, it supports Profile Position, Profile Velocity, Profile

Torque, Interpolated Position, and Homing. Up to 127 drives

can operate on a single CAN bus and groups of drives can

be linked via the CAN so that they execute motion profiles

together.

Operation with external motion controllers is possible

in torque (current), velocity, and position modes. Input

command signals can be ±10V (torque, velocity, position),

PWM/Polarity (torque, velocity), or stepper format (CU/CD

or Step/Direction).

資料來源: https://www.copleycontrols.com/wp-content/uploads/2018/02/Accelnet_Micro_Panel_CANopen-ACJ-Datasheet-Datasheet.pdf

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ACM Accelnet Module

CONTROL MODES

• Indexer, Point-to-Point, PVT

• Camming, Gearing, Position, Velocity, Torque

COMMAND INTERFACE

• CANopen

•ASCII and discrete I/O

• Stepper commands

•±10 Vdc analog position/velocity/torque *

• PWM velocity/torque command

• Master encoder (Gearing/Camming)

COMMUNICATIONS

• CANopen

• RS-232

FEEDBACK

• Digital Quad A/B encoder

• Secondary encoder

• Brushless resolver (-R option)

• Digital Halls

I/O - DIGITAL

• 10 inputs, 2 outputs

DIMENSIONS: MM [IN]

• 102 x 69 x 25 [4.0 x 2.7 x 1.0]

* Available on RoHS versions

Model	VDC	IC	IP
ACM-055-18	20-55	6	18
ACM-090-09	20-90	3	9
ACM-090-24	20-90	12	24
ACM-090-60	20-90	30	60
ACM-180-09	20-180	3	9
ACM-180-18	20-180	6	18
ACM-180-20	20-180	10	20

Add -R to part numbers above for resolver feedback

DESCRIPTION

Accelnet is a digital servo drive that combines CANopen networking

with 100% digital control of brush or brushless motors in a pc board

mounting package with power options to 10 Adc continuous and

20 Adc peak from 20 Vdc to 180 Vdc power supplies.

RoHS compliance is now standard on all models and with this a

±10 Vdc analog input has been added for position/velocity/torque

control. The input takes the place of signal ground pins on non

RoHS models so that RoHS types can be installed in place of non

RoHS types with no change in function.

Accelnet 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.

Ten logic inputs are configurable as CAN address bits, enables,

limit & home switches, motor temperature switch, stepper/encoder

pulses, and reset. There are two logic outputs for reporting drive

status, or driving a motor brake.

In addition to CANopen motion commands, Accelnet can operate

using incremental position commands from step-motor controllers

in Pls/Dir or CW/CCW format, as well as A/B quadrature commands

from a master-encoder which can drive cam tables or be geared to

ratio the drive position to that of the master-encoder.

Drive commissioning is facilitated by CME 2™ software operating

under Windows® communicating with Accelnet via an RS-232

link. Auto-tuning algorithms in CME 2™ slash set up times for fast

system commissioning by automating motor phasing, and currentloop

tuning. A powerful oscilloscope and waveform generator display

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, multiaxis

installations in equipment where space is at a premium, and

wiring must be minimized.

資料來源: https://www.copleycontrols.com/wp-content/uploads/2018/02/Accelnet_Module_CANopen-ACM-Datasheet-Datasheet.pdf

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ACK Micro Module

Control Modes

• Indexer, Point-to-Point, PVT

• Camming, Gearing, Position, Velocity, Torque

Command Interface

• CANopen/DeviceNet

• ASCII and discrete I/O

• Stepper commands

• ±10V position/velocity/torque command

• PWM velocity/torque command

• Master encoder (Gearing/Camming)

Communications

• CANopen/DeviceNet

• RS232

Feedback

• Digital Quad A/B encoder

• Secondary encoder

• Digital Halls

• Resolver (-R option)

I/O - Digital

• 10 inputs, 3 outputs

Dimensions: mm [in]

• 64 x 41 x 21 [2.5 x 1.6 x 0.83]

Model	VDC	IC	IP
ACK-055-06	14-55	3	6
ACK-055-10	20-55	5	10
ACK-090-04	14-90	2	4
ACK-090-08	20-90	4	8
ACK-090-20	14-90	10	20
ACK-090-30	14-90	15	30

FOR RESOLVER OPTION, ADD “-R” TO THE PART NUMBER

DESCRIPTION

Accelnet Micro Module is a digital servodrive that combines CANopen

networking with 100% digital control of brush or brushless motors

in a PC board mounting package with power options to 5 Adc

continuous and 10 Adc peak from 14 to 90 Vdc power supplies.

Accelnet Micro Module 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 Micro Module 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 Micro Module 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 currentloop

tuning.

A powerful oscilloscope and waveform generator displays drive

performance for fine tuning. Drive configurations are saved in nonvolatile

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, multiaxis

installations in equipment where space is at a premium, and

wiring must be minimized.

資料來源: https://www.copleycontrols.com/wp-content/uploads/2018/02/Accelnet_Micro_Module_CANopen-ACK-Datasheet-Datasheet.pdf

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APM Accelnet^PLUS Module

Control Modes

• 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

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]

Model	VDC	IC	IP
APM-090-06	14-90	3	6
APM-090-14	14-90	7	14
APM-090-30	14-90	15	30

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.

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.

資料來源: https://www.copleycontrols.com/wp-content/uploads/2018/02/Accelnet_Plus_Module_CANopen-APM-Datasheet-Datasheet.pdf

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AEM

Control Modes

• Cyclic Synchronous Position-Velocity-Torque (CSP, CSV, CST)

• Indexer, Point-to-Point, PVT

• Camming, Gearing

Command Interface

• CAN application layer over EtherCAT (CoE)

• ASCII and discrete I/O

• Stepper commands

• ±10V position/velocity/torque command

• PWM velocity/torque command

• Master encoder (Gearing/Camming)

Communications

• EtherCAT

• 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

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]

Model	VDC	IC	IP
AEM-090-06	14-90	3	6
AEM-090-14	14-90	7	14
AEM-090-30	14-90	15	30
AEM-180-14	40-180	7	14
AEM-180-20	40-180	10	20

DESCRIPTION

Accelnet AEM is a high-performance, DC powered servo drive for

position, velocity, and torque control of brushless and brush motors

via EtherCAT, an Ethernet-based fieldbus. Using advanced FPGA

technology, the AEM provides a significant reduction in the cost

per node in multi-axis EtherCAT systems.

The AEM operates as an EtherCAT slave using the CAN application

layer over EtherCAT (CoE) protocol of DSP-402 for motion control

devices. Supported modes include: Cyclic Synchronous Position-

Velocity-Torque, Profile Position-Velocity-Torque, Interpolated

Position Mode (PVT), and Homing.

Command sources also include ±10V analog torque/velocity/

position, PWM velocity/torque, 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.

資料來源: https://www.copleycontrols.com/wp-content/uploads/2018/02/Accelnet_Plus_Module_EtherCAT-AEM-Datasheet-Datasheet.pdf

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AP2

Control Modes

• 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

I/O

• Digital: 20 inputs, 7 outputs

• Analog: 2, 12-bit inputs

Dimensions: mm [in]

• 114 x 73 x 20.6 [4.5 x 2.9 x 0.8]

Model	VDC	IC	IP
AP2-090-06	14-90	3	6
AP2-090-14	14-90	7	14
AP2-090-30	14-90	15	30

DESCRIPTION

Accelnet AP2 is a high-performance, DC powered servo drive for

position, velocity, and torque control of brushless and brush motors.

Using advanced FPGA technology, the AP2 provides a significant

reduction in the cost per node in multi-axis CANopen systems.

Each of the two nodes in the AP2 operates as an CANopen node

using the CANopen protocol 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.

Seventeen high-speed digital inputs with programmable functions

are provided, and two low-speed inputs 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.

Three open-drain MOSFET 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.

資料來源: https://www.copleycontrols.com/wp-content/uploads/2018/02/Accelnet_Plus_Dualaxis_Module_CANopen-AP2-Datasheet-Datasheet.pdf

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AE2

Control Modes

• Cyclic Synchronous Position-Velocity-Torque (CSP, CSV, CST)

• Profile Position-Velocity-Torque, Interpolated Position, Homing

• Camming, Gearing

• Indexer

Command Interface

• CAN application layer over EtherCAT (CoE)

• ASCII and discrete I/O

• Stepper commands

• ±10V position/velocity/torque command

• PWM velocity/torque command

• Master encoder (Gearing/Camming)

Communications

• EtherCAT

• 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

• Digital Halls

I/O

• Digital: 20 inputs, 7 outputs

• Analog: 2, 12-bit inputs

Dimensions: mm [in]

• 114 x 73 x 20.6 [4.5 x 2.9 x 0.8]

Model	VDC	IC	IP
AE2-090-06	14-90	3	6
AE2-090-14	14-90	7	14
AE2-090-30	14-90	15	30

DESCRIPTION

Accelnet AE2 is a dual-axis, high-performance, DC powered servo

drive for position, velocity, and torque control of brushless and brush

motors via EtherCAT, an Ethernet-based fieldbus. Using advanced

FPGA technology, the AE2 provides a significant reduction in the

cost per axis in multi-axis EtherCAT systems.

Each of the two axes in the AE2 operates as an EtherCAT slave using

the CAN application layer over EtherCAT (CoE) protocol of DSP-

402 for motion control devices. Supported modes include: Cyclic

Synchronous Position-Velocity-Torque, Profile Position-Velocity-

Torque, Interpolated Position Mode (PVT), and Homing.

Command sources also include ±10V analog torque/velocity/

position, PWM velocity/torque, and stepper command pulses.

Feedback from a number of incremental and absolute encoders is

supported.

Seventeen high-speed digital inputs with programmable functions

are provided, and two low-speed inputs for motor temperature

switches.

An SLI (Switch & LED Interface) function is supported by combining

a high-speed input with four high-speed digital outputs. If not used

for SLI, the input and outputs are programmable for other functions.

Three 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.

資料來源: https://www.copleycontrols.com/wp-content/uploads/2018/02/Accelnet_Plus_Dualaxis_Module_EtherCAT-AE2-Datasheet-Datasheet.pdf

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Accelnet Plus Panel CANopen BPL

CONTROL MODES

• Profile Position-Velocity-Torque, Interpolated Position, Homing

• Camming, Gearing

• Indexer

COMMAND INTERFACE

• CANopen

• ASCII and discrete I/O

• Stepper commands

• ±10V position/velocity/torque

• PWM velocity/torque command

• Master encoder (Gearing/Camming)

COMMUNICATIONS

• CANopen

• RS-232

FEEDBACK Incremental Encoders

• Digital quad A/B

Analog Sin/Cos

Panasonic Incremental A Format

• Aux. quad A/B encoder / encoder out Absolute Encoders

• SSI, EnDat, Absolute A,

Tamagawa & Panasonic Absolute A

Sanyo Denki Absolute A, BiSS (B & C)

Resolver (-R option)

• Brushless Resolver

Other

• Digital Halls

I/O DIGITAL

• 6 High-speed inputs

• 1 Motor over-temp input

• 4 Opto-Isolated inputs

• 3 Opto-Isolated outputs

• 1 Opto-Isolated brake output

I/O ANALOG

• 1 Reference Input, 12-bit

SAFE TORQUE OFF (STO)

• SIL 3, Category 3, PL d

DIMENSIONS: IN [MM]

• 5.08 x 3.41 x 1.99 [129 x 86.6 x 50.4]

• 5.08 x 3.41 x 3.39 [129 x 86.6 x 86.1] with heatsink

Model	VDC	IC	IP
BPL-090-06	90	3	6
BPL-090-14	90	7	14
BPL-090-30	90	15	30

Add -R for resolver feedback option

DESCRIPTION

The BPL is a high-performance, DC powered drive for position, velocity,

and torque control of brushless and brush motors via CANopen.

Drive commissioning is fast and simple using CME 2™ software operating under Windows®

and communicating with the BPL via RS-232.

The BPL operates as a CANopen DS-402 node.

Supported modes include: Profile Position-Velocity-Torque,

Interpolated Position Mode (PVT), and Homing.

Feedback from both incremental and absolute encoders is supported.

A multi-mode encoder port functions as an input or output depending on the drive’s basic setup.

There are seven non-isolated inputs. All inputs have programmable active levels.

Three opto-isolated outputs [OUT1~3] have individual +/- connections.

An isolated MOSFET brake output [OUT4] is programmable to drive motor brakes or other functions

and has a flyback diode to the Brake 24V input for driving inductive loads.

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.

資料來源: https://www.copleycontrols.com/wp-content/uploads/2018/02/Accelnet_Plus_Panel_CANopen-BPL-Datasheet-Datasheet.pdf

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Accelnet Plus 2-Axis Panel CANopen BP2

CONTROL MODES

• Profile Position-Velocity-Torque, Interpolated Position, Homing

• Camming, Gearing

• Indexer

COMMAND INTERFACE

• CANopen

• ASCII and discrete I/O

• Stepper commands

• ±10V position/velocity/torque

• PWM velocity/torque command

• Master encoder (Gearing/Camming)

COMMUNICATIONS

• CANopen DS-402

• RS-232

FEEDBACK Incremental Encoders

• Digital quad A/B

Analog Sin/Cos

Panasonic Incremental A Format

• Aux. quad A/B encoder / encoder out

Absolute Encoders

• SSI, EnDat, Absolute A,

Tamagawa & Panasonic Absolute A

Sanyo Denki Absolute A, BiSS (B & C)

Other

• Digital Halls

I/O DIGITAL

• 8 High-speed inputs

• 2 Motor over-temp inputs

• 8 Opto-Isolated inputs

• 5 Opto-Isolated outputs

• 2 Opto-Isolated brake outputs

ANALOG

• 2 Reference Inputs, 12-bit

SAFE TORQUE OFF (STO)

• SIL 3, Category 3, PL d

DIMENSIONS: IN [MM]

• 6.78 x 4.70 x 1.74 [172.1 x 119.3 x 44.1] no heatsink

• 6.78 x 4.70 x 3.14 [172.1 x 119.3 x 79.8] with heatsink

Model	VDC	IC	IP
BP2-090-06	90	3	6
BP2-090-14	90	7	14
BP2-090-20	90	10	20

Current ratings are for each axis

Add -R for resolver feedback option

DESCRIPTION

The BP2 is a high-performance, DC powered drive for position, velocity,

and torque control of brushless and brush motors via CANopen.

Drive commissioning is fast and simple using CME 2™ software operating under Windows®

and communicating with the BP2 via RS-232.

The BP2 operates as a CANopen DS-402 node.

Supported modes include: Profile Position-Velocity-Torque, Interpolated Position Mode (PVT), and Homing.

Feedback from both incremental and absolute encoders is supported.

A multi-mode encoder port functions as an input or output depending on the drive’s basic setup.

As an input it takes feedback from a secondary encoder to create a dual-loop position control system

or as a master encoder for driving a cam table.

As an output, it buffers the digital encoder signals from the motor’s digital encoder

and eliminates split cables that would be needed to send the signals to both drive and control system.

There are ten non-isolated inputs. Eight opto-isolated digital inputs are bipolar types that source or

sink current into a common connection that can be tied to ground or +24V.

[IN1&10] default to the drive Enable function for axes A & B, and are programmable to other functions.

The other inputs are programmable. All inputs have programmable active levels.

Five opto-isolated outputs [OUT1~5] have individual collector/emitter connections.

Two MOSFET outputs [OUT6~7] are programmable to drive motor brakes or other functions.

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.

資料來源: https://www.copleycontrols.com/wp-content/uploads/2018/02/BP2-ds.pdf

TOP

Accelnet Plus Panel EtherCAT BEL

CONTROL MODES

• Cyclic Synchronous Position-Velocity-Torque (CSP, CSV, CST)

• Profile Position-Velocity-Torque, Interpolated Position, Homing

• Camming, Gearing

• Indexer

COMMAND INTERFACE

• CAN application protocol over EtherCAT (CoE)

• ASCII and discrete I/O

• Stepper commands

• ±10V position/velocity/torque

• PWM velocity/torque command

• Master encoder (Gearing/Camming)

COMMUNICATIONS

• EtherCAT

• RS-232

FEEDBACK Incremental Encoders

• Digital quad A/B

Analog Sin/Cos

Panasonic Incremental A Format

• Aux. quad A/B encoder / encoder out

Absolute Encoders

• SSI, EnDat, Absolute A,

Tamagawa & Panasonic Absolute A

Sanyo Denki Absolute A, BiSS (B & C)

Resolver (-R option)

• Brushless Resolver Other

• Digital Halls

I/O DIGITAL

• 6 High-speed inputs

• 1 Motor over-temp input

• 4 Opto-Isolated inputs

• 3 Opto-Isolated outputs

• 1 Opto-Isolated brake output

I/O ANALOG

• 1 Reference Input, 12-bit

SAFE TORQUE OFF (STO)

• SIL 3, Category 3, PL d

DIMENSIONS: IN [MM]

• 5.08 x 3.41 x 1.99 [129 x 86.6 x 50.4]

• 5.08 x 3.41 x 3.39 [129 x 86.6 x 86.1] with heatsink

Model	VDC	IC	IP
BEL-090-06	90	3	6
BEL-090-14	90	7	14
BEL-090-30	90	15	30

Add -R for resolver feedback option

DESCRIPTION

The BEL is a high-performance, DC powered drive for position, velocity,

and torque control of brushless and brush motors via EtherCAT, an Ethernet-based fieldbus.

The BEL operates as an EtherCAT slave using the CANopen application protocol over EtherCAT (CoE).

Supported modes include: Profile Position-VelocityTorque, Cyclic Synchronous Position-Velocity-Torque,

Interpolated Position Mode (PVT), Homing, and CSTCA (Cyclic-sync torque with commutation angle).