Accelnet R22. RoHS. Add -R to part number for resolver option

Transcription

1 Accelnet R Control Modes Indexer, PointtoPoint, PT Camming, Gearing, Position, elocity, Torque Command Interface CANopen ASCII and discrete I/O Stepper commands PM velocity/torque command Master encoder (Gearing/Camming) ±0 dc analog position/velocity/torque Communications CANopen RS Feedback Digital quad A/B encoder Secondary encoder / emulated encoder out Brushless resolver (R option) Digital Halls I/O Digital 0 inputs, outputs Dimensions: mm [in] 0 x 69 x 5 [.0 x.7 x.0] Model * dc Ic Ip R R R R R R Add R to part number for resolver option description Accelnet R is a ruggedized, PC boardmounting digital servo drive that combines CANopen networking with 00% digital control of brush or brushless motors. It operates as a Motion Control Device using the DSP0 protocol under the CANopen DS.0 (EN 505) application layer. DSP0 modes supported include Interpolated Position (PT), Profile Position, Profile elocity, Profile Torque, and Homing. A ±0 dc analog input has been added for position/velocity/torque control. Ten logic inputs are configurable as CAN address bits, enables, limit & home switches, motor temperature switch, stepper/encoder pulses, and reset. Two logic outputs are programmable to report drive status, or to drive a motor brake. As a standalone drive Accelnet R can operate using incremental position commands from stepmotor controllers in Pls/Dir or C/CC format, as well as A/B quadrature commands from a masterencoder. Drive commissioning is facilitated by CME software operating under indows communicating with Accelnet R via an RS link. Autotuning algorithms in CME 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 nonvolatile flash memory. OEM s can inventory one part, and configure drives onsite to each axis in a machine. All drive circuits are DC coupled and operate from unregulated transformerisolated linear DC power supplies, or regulated switching power supplies. The pcboard mounting package is suitable for highdensity, multiaxis installations in equipment where space is at a premium, and wiring must be minimized. ruggedized standards conformance Ambient Temperature nonoperating 50ºC to 85ºC O operating 0ºC to 70ºC Thermal Shock operating 0ºC to 70ºC in minute Relative Humidity nonoperating 95% noncondensing at 60ºC O operating 95% noncondensing at 60ºC ibration operating 5 Hz to 500 Hz, up to.85 grms Altitude N nonoperating 00 m to,00 m O operating 00 m to 5,000 m Shock Crash Safety 75 g peak acceleration O operating 0 g peak acceleration MILSTD specifications MILSTD 6, 70, 80, 75, 99 IEC specifications IEC 60068, Tech Support: sales@copleycontrols.com, Internet: Page of

2 Accelnet R GENERAL SPECIFICATIONS Test conditions: Load = ye connected load: mh Ω lineline. Ambient temperature = 5 C. H = H max MODEL R0558 R09009 R090 R8009 R808 R800 Output Power Peak Current 8 (.7) 9 (6.) (7.0) 9 (6.) 8 (.7) 0 (.) Adc (Arms, sinusoidal) Peak time Sec Continuous current 6 (.) (.) (8.5) (.) 6 (.) 0 (7.) Adc (Arms, sinusoidal) Peak Output Power k Continuous Output Power k INPT POER Hmin to Hmax 0 to 55 0 to 90 0 to 90 0 to 80 0 to 80 0 to 80 dc, transformerisolated Ipeak Adc ( sec) peak Icont Adc continuous Aux H 0 to H max.5 max Optional keepalive power input when H is removed PM OTPTS Type PM ripple frequency BANDIDTH Current loop, small signal H Compensation Current loop update rate Position & elocity loop update rate MOSFET phase inverter, 5 khz centerweighted PM carrier, spacevector modulation khz.5 khz typical, bandwidth will vary with tuning & load inductance Changes in H do not affect bandwidth 5 khz (66.7 µs) khz ( µs) Reference inputs CANopen bus Operating Modes Profile Position, Profile elocity, Profile Torque Interpolated Position (PT), Homing Digital position reference Pls/Dir, C/CC Stepper commands ( MHz maximum rate) Quad A/B Encoder Mline/sec, (8 Mcount/sec after quadrature) Digital torque & velocity reference (Note ) PM, Polarity PM = 0~00%, Polarity = /0 PM PM = 50% /50%, no polarity signal required PM frequency range khz minimum, 00 khz maximum PM minimum pulse width 0 ns Analog torque/velocity/position ±0 dc, 5 kω differential input impedance DIGITAL inputs (Note ) Number 0 All inputs 7HC Schmitt trigger operating from 5 dc with RC filter on input, 0 kω pullup to 5 dc RC timeconstants assume active drive on inputs and do not include 0 kω pullups. Logic levels vinlo <.5 dc, inhi >.65 dc, Maximum input voltage = 0 dc Enable [IN] dedicated input for drive enable, active level programmable, µs RC filter GP [IN,,,5] General Purpose inputs with µs ( µs for [IN] ) RC filter, dc max HS [IN6,7,8,9,0] 5 HighSpeed Inputs inputs with 00 ns RC filter, dc max digital outputs (note ) Number Type Currentsinking MOSFET opendrain output with kω pullup to 5 dc through diode Adc sink max, dc max Functions Programmable with CME Active Level Programmable to either HI (off, pullup to 5 dc) or LO (on, currentsinking) when output is active RS COMMNICATION PORT Signals RxD, TxD, Gnd Fullduplex, serial communication port for drive setup and control, 9,600 to 5,00 Baud CANopen COMMNICATION PORT Signals CANH, CANL, Gnd. Mbit/sec maximum. Protocol CANopen Application Layer DS.0 Device DSP0 Device Profile for Drives and Motion Control motor connections Motor,, Drive outputs to phase brushless motor, ye or delta connected (DC brush motor use outputs & ) Encoder Quadrature encoder, differential outputs (A,/A,B,/B,X,/X), 5 Mlines/sec (0 Mcount/sec after quadrature) Halls hall signals (,,) Motemp Motor temperature sensor or switch Resolver Type Brushless, singlespeed, : to : programmable transformation ratio Resolution bits (equivalent to a 096 line quadrature encoder) Reference frequency 7.5 khz Reference voltage.8 rms, autoadjustable by the drive to maximize feedback Reference maximum current 00 ma Maximum RPM 0,000 protections H Overvoltage 85, 9, 56 dc Drive outputs turn off until H is < overvoltage (for 80, 90, 55 dc models) H ndervoltage H < 0 dc Drive outputs turn off until H >= 0 dc Drive over temperature PC Board > 80 C. Drive latches OFF until drive is reset, or powered offon Short circuits output to output, output to ground, internal PM bridge faults I T Current limiting Programmable: continuous current, peak current, peak time Latching / NonLatching Programmable. [IN] is not programmable and always works as drive Enable. Other digital inputs are programmable. Tech Support: sales@copleycontrols.com, Internet: Page of

3 Accelnet R MECHANICAL & ENIRONMENTAL Size.05 in (0.7 mm) X.6 in (66.5 mm) X 0.9 in (.9 mm) eight 5.7 oz (0.6 kg) Contaminants Pollution degree Environment IEC68: 990 Cooling Heatsink required for continuous power output agency standards conformance EN 550 : 007 CISPR : 00/A : 006 Limits and Methods of Measurement of Radio Disturbance Characteristics of Industrial, Scientific, and Medical (ISM) Radio Frequency Equipment EN : 00 Electromagnetic Compatibility Generic Immunity Requirements Following the provisions of EC Directive 89/6/EEC: EN 600 : 00 Safety Requirements for Electrical Equipment for Measurement, Control, and Laboratory use Following the provisions of EC Directive 006/95/EC (Low oltage Directive) L 600 nd Ed.: 00 Safety Requirements for Electrical Equipment for Measurement, Control and Laboratory se Accelnet R Features CANopen Networking Based on the CAN physical layer, a robust, twowire communication bus originally designed for automotive use where lowcost and noiseimmunity are essential, CANopen adds support for motioncontrol devices and command synchronization. The result is a highly effective combination of datarate and lowcost for multiaxis motion control systems. Device synchronization enables multiple axes to coordinate moves as if they were driven from a single control card. FieldOriented Control nlike conventional sinusoidal commutation which controls only the amplitude of the motor phase currents, FieldOriented Control (FOC) controls the electrical phase in order to maintain the optimum ±90 between the motor magnetic axis and the field produced by the phase currents. The effect is to maximize the efficiency of the motor, and minimize the heating produced by the drive currents. Torque is maintained over a wider range of speeds than with conventional sinusoidal commutation, and spacevector modulation gives higher motor speeds from the same power supply. PC Board Mounting The small size, and cooling options enable Accelnet R to be integrated into machinery with fewer cables and connections, and closer to the motor when required. Optional convection heatsinks provide two choices of cooling capacity. The Accelnet R case has tabs moldedin that accept Socket A compatible chipcoolers which have integral fans to provide even greater cooling capacity. RS communication Accelnet R is configured via a threewire, fullduplex RS port that operates from 9,600 to 5,00 Baud. CME software provides a graphic user interface (GI) to set up all of Accelnet R features via a computer serial port. The RS port is used for drive set up and configuration. Once configured, Accelnet R can be used in standalone mode taking digital position, velocity, or torque commands from a controller, or as a networked drive on a CANopen bus. Reference Inputs As a network drive, the primary command input is the CANopen bus. But, Accelnet R can also operate in standalone mode, taking position, velocity, or current (torque, force) commands in digital format from a motion controller. CANopen communication Accelnet R uses the CAN physical layer signals CANH, CANL, and GND for connection, and CANopen protocol for communication. Before connecting Accelnet R to the CAN network, it must be assigned a CAN address. This is done via the RS port, which is also used for general drive setup. The CAN address is a combination of an internal address stored in flash memory, and digital inputs which have been configured to act as CAN address bits. A maximum of 7 CAN devices are allowed on a CAN bus network, so this limits the input pins used for this purpose to a maximum of seven, leaving three inputs available for other purposes. Most installations will use less than the maximum number of CAN devices, in which case the number of inputs used for a CAN address can be less than seven, leaving more inputs available for other functions. hen inputs are used for the CAN address bits, the internal address is added to the binary value that results from the inputs. If all the inputs are used as logic inputs, then the CAN address in flash memory is the drive CAN address. Digital Reference Inputs Two logic inputs are used as digital reference inputs in the standalone mode. These will be assigned automatically to inputs that have the HS filters. Current (torque, force) mode commands can be in one or twowire format. In the onewire format (50% PM), a single input takes a square waveform that has a 50% duty cycle when the drive output should be zero. Thereafter, increasing the duty cycle to 00% will command an output current that will produce a maximum force or torque in a positive direction of motion, and decreasing the duty cycle to 0% will produce a maximum negative torque or force output. In twowire format (PM/Dir), one input takes a PM waveform of fixed frequency and variable duty cycle, and the other input takes a DC level that controls the polarity of the output current. The active level of the PM signal for 0 current output is programmable. The direction of the force or torque produced will depend on the polarity of the DC signal on the direction input. Duty = 50% ±50% [IN9] [IN0] <no connection> Current Not used Tech Support: sales@copleycontrols.com, Internet: Page of

4 analog command Input models (green leaf on label) now feature an analog input for position/velocity/torque control. hen using this input, Ref() and Ref() must both be connected to the controller. This differential connection is important for two reasons. First, for rejection of noise between controller and drive grounds. Second, because if one Ref input is left open, grounding of the other input will produce a ±% of peakcurrent command, not a 0% command. Ref() Ref() 7.k 5.6k 7.k k 5 dc 5k 5k Accelnet R [OT] [OT].5 digital OTPTS The digital outputs [OT], and [OT] are opendrain MOSFETs with kω pullup resistors in series with a diode to 5 dc. They can sink up to Adc from external loads operating from power supplies to dc. The outputs are typically configured as drive fault and motor brake. Additional functions are programmable. As a drive fault output, the active level is programmable to be HI or LO when a drive fault occurs. As a brake output, it is programmable to be either HI or LO to release a motor brake when the drive is enabled. hen driving inductive loads such as a relay, an external flyback diode is required. A diode in the output is for driving PLC inputs that are optoisolated and connected to dc. The diode prevents conduction from dc through the kω resistor to 5 dc in the drive. This could turn the PLC input on, giving a false indication of the drive output state. Digital INPTS There are ten digital inputs to Accelnet, nine of which can be programmed to a selection of functions. The Enable input which controls the on/ off state of the PM outputs is fixed to [IN] as a safety measure so that cannot be programmed in such a way that, once installed, it could not be shut down by the controller. The other nine inputs can be set to a selection of functions. Two types of RC filters are used: GP (General Purpose), and HS (HighSpeed). Input functions such as Pulse/Direction, C/CC, Quad A/B typically are wired to inputs having the HS filters, and inputs with the GP filters are used for general purpose logic functions, limit switches, and the motor temperature sensor. Input [IN] has a µs RC filter. Programmable functions of the I/O inputs are: Positive Limit switch Negative Limit switch Home switch Drive Reset PM current or velocity control CAN address Pls/Dir, or C/CC step motor control pulses Quad A/B master encoder position commands Motor temperature sensor or switch input Motion Profile Abort In addition to the selection of functions, the active level for each input is individually programmable. Drive reset takes place on transitions of the input and is programmable to /0 or 0/. The motor temp sensor function will disable the drive if a switch in the motor opens or closes when the motor overheats. GeneralPurpose Inputs [IN] * [IN] [IN] [IN] ** [IN5] *** 5 dc 0k ***.99k 0k GP Inputs * Not programmable HighSpeed Inputs [IN6] [IN7] [IN8] [IN9] [IN0] 5 dc 0k k HS Inputs 7HC nf ** (. nf) 7HC 00 pf Camming Master Encoder (Optional) Camming Master Signals (Optional) A B J pulseup, pulsedown J Camming Master Signals (Optional) cam master hen operating in Camming mode an incremental encoder may be the Master input and connects to [IN9] and [IN0]. Other types of digital signals can used, too. Pulse & Direction or Pulsep/Pulse Down formats are supported. quad a/b encoder pulsedirection [IN9] HSIn [IN0] HSIn Plsp [IN9] HSIn PlsDwn [IN0] HSIn Pulse Direction MOTOR CONNECTIONS J [IN9] HSIn [IN0] HSIn Motor connections are of three types: phase, Halls, and encoder. The phase connections carry the drive output currents that drive the motor to produce motion. The Hall signals are three digital signals that give absolute position feedback within an electrical commutation cycle. The encoder signals give incremental position feedback and are used for velocity and position modes, as well as sinusoidal commutation. Tech Support: sales@copleycontrols.com, Internet: Page of

5 MOTOR ENCODER The motor encoder interface is a differential linereceiver with RC filtering on the inputs. Encoders with differential outputs are preferred because they are less susceptible to noise that can be picked on singleended outputs. PC board layouts should route the encoder signalpairs as close to each other as possible for best transmissionline characteristics. If singleended encoders are used, a pullup resistor should be installed on the PC board, and the unused input can be left open. If this is done, it is recommended that the inverting input be left open as its opencircuit voltage of.0 dc (typical) is closer to TTL and CMOS levels than the noninverting input which has an opencircuit voltage of.9 dc (typical). The encoder input circuit is shown below. ENC Secondary Encoder (Optional) A, B, X /A, /B, /X A B k k pf pf J Accelnet R 6LS secondary ENCODER A secondary incremental encoder can be connected to [IN7] and [IN8] for dualloop position control. A typical use for this would be a gearmotor driving a leadscrew. An encoder on the leadscrew would give the position of the load while the motor encoder and Halls would be used for velocity control and commutation. 6 [IN7] HSIn [IN8] HSIn MOTOR HALL SIGNALS Hall signals are singleended signals that provide absolute feedback within one electrical cycle of the motor. There are three of them (,, & ) and they may be sourced by magnetic sensors in the motor, or by encoders that have Hall tracks as part of the encoder disc. They typically operate at much lower frequencies than the motor encoder signals, and in Accelnet they are used for commutationinitialization after startup, and for checking the motor phasing after the drive has switched to sinusoidal commutation. HALL,, 5 0 k 0 k. nf 7HC motor phase connections The drive output is a threephase PM inverter that converts the DC buss voltage (H) into three sinusoidal voltage waveforms that drive the motor phasecoils. The peak voltage between adjacent etches on the PC board is equal to the H power, and peak and continuous currents will not be greater than the ratings of the particular drive model. A trace width of 0.75 in, plating thickness of oz copper, and spacing of 0.5 in is adequate for all models of Accelnet. POER Supplies Accelnet operates typically from transformer isolated, unregulated DC power supplies. These should be sized such that the maximum output voltage under highline and noload conditions does not exceed the drives maximum voltage rating. Power supply rating depends on the power delivered to the load by the drive. In many cases, the continuous power output of the drive is considerably higher than the actual power required by an incremental motion application. Operation from regulated switching power supplies is possible if a diode is placed between the power supply and drive to prevent regenerative energy from reaching the output of the supply. If this is done, there must be external capacitance between the diode and drive. The minimum value required is µf per drive. Drive H Gnd () Switching Power Supply Aux H Input Accelnet can continue to communicate on a CANopen network under EMO (EMergency Off) conditions if auxiliary DC power is connected to the Aux H input. This powers the internal DC/DC converter so that motor position and drive communications are preserved while H is removed from the PM inverter stage. The minimum voltage is 0 dc, and the maximum is the same as the drive maximum H rating. The current requirements will vary with voltage and can be calculated based on an average power consumption of.5. () RESOLER (R models) Connections to the resolver should be made with shielded cable that uses three twistedpairs. Once connected, resolver set up, motor phasing, and other commissioning adjustments are made with CME software. There are no hardware adjustments. BRSHLESS RESOLER R R S S S S J7 J8 J J J9 J Ref Sin Cos Motor Outputs Shld () () Shld No Connect to BRSHLESS MOTOR BRSH MOTOR MONTING AND COOLING Accelnet mounts on PC boards using two, dualrow, 0. in female headers. These permit easy installation and removal of the drive without soldering. Threaded standoffs swaged into the PC board provide positive retention of the drive and permit mounting in any orientation. Cooling options are: no heatsink and convection heatsinks. Convection heatsinks are available from Copley in standard, or lowprofile forms. J,,, Tech Support: sales@copleycontrols.com, Internet: Page 5 of

6 Typical drive connections quad A/B Accelnet R Motion Controller Enable PosLim NegLim Enable Input [IN] GPIn Fwd Enable [IN] GPIn Rev Enable [IN] GPIn Encoder A Encoder /A Encoder B Encoder /B 9 A /A B /B ENCODER Signal Gnd Encoder X 7 X Signal Gnd Encoder /X 8 /X 0 Fault Output [OT] Hall Hall 5 HALLS DAC ±0 8 ±0 Ref() Hall 6 7 ±0 Ref() 7 [IN] GPIn J Secondary Encoder Optional A B 5 [IN6] HSIn 6 [IN7] HSIn [IN8] HSIn Motemp GPin [IN5] Camming Master Encoder (Optional) A B [IN9] HSIn [IN0] HSIn Brake [OT] 9 BRAKE Motor 5 6 * Optional CANopen Bus Controller I/O Controller RS I/O CANH CANL Gnd RxD TxD Gnd 6 CANH 5 CANL TxD RxD Motor Motor Aux H Input J H Input Fuse * Fuse * Fuse BRSHLESS MOTOR DC Power DC Power Note: Brush motors connect to & outputs H Com µf Minimum per drive Mount external capacitor <= " ( cm) from drive. [IN] always functions as Drive Enable and is not programmable. [IN]~[IN0] are programmable.. HS inputs [IN6,7,8,9,0] are for highspeed signals and have 00 ns RC filters. GP inputs [IN,,,5] have µs filters, [IN] has a µs filter. RC filter time constants apply when inputs are driven by active sources and do not include the 0 kω pullup resistors. Tech Support: sales@copleycontrols.com, Internet: Page 6 of

7 Drive PC BOARD CONNECTORS quad A/B Accelnet R Pin Drive viewed from above looking down on the pc board on which it is mounted. Pins and housing shapes are shown in phantom view. J: Signal Dual row, 0. centers position female header SAMTEC SS60SD J: H, Aux H, Gnd, & Motor Outputs Dual row, 0. centers Female header SAMTEC SS50SD Signal J Pin Signal RS TxD RS RxD Signal Ground Signal Ground CANH 6 5 CANL ±0 Ref() 8 7 ±0 Ref() Fault [OT] 0 9 [OT] Brake Signal Ground [IN0] HSInput HSInput [IN9] [IN8] HSInput HSInput [IN7] 6 5 [IN6] HSInput GPInput [IN] 8 7 [IN] GPInput GPInput [IN] 0 9 [IN] GPInput Signal Ground Signal Ground GPInput [IN5] Hall Hall 6 5 Hall Encoder /X 8 7 Encoder X Encoder /B 9 Encoder B Encoder /A Encoder A. Signals are grouped for currentsharing on the power connector. hen laying out pc board artworks, all pins in groups having the same signal name must be connected. Signal Motor Motor Motor H COM (Ground) J Pin Signal Motor Motor Motor H COM (Ground) No Connection 0 9 H 6 5 H No Connection 8 7 Aux H Aux H Tech Support: sales@copleycontrols.com, Internet: Page 7 of

8 Typical drive connections resolver (r option) Accelnet R Motion Controller Enable PosLim NegLim Enable Input [IN] GPIn Fwd Enable [IN] GPIn Rev Enable [IN] GPIn Rslvr Sin() Rslvr Sin() Rslvr Cos() Rslvr Cos() 9 S S S S BRSHLESS RESOLER Signal Gnd Rslvr Ref() 7 R Signal Gnd Rslvr Ref() 8 R 0 Fault Output [OT] Hall Hall 5 HALLS DAC ±0 8 ±0 Ref() Hall 6 7 ±0 Ref() 7 [IN] GPIn J Secondary Encoder Optional A B 5 [IN6] HSIn 6 [IN7] HSIn [IN8] HSIn Motemp GPin [IN5] Camming Master Encoder (Optional) A B [IN9] HSIn [IN0] HSIn Brake [OT] 9 BRAKE Motor 5 6 * Optional CANopen Bus Controller I/O Controller RS I/O CANH CANL Gnd RxD TxD Gnd 6 CANH 5 CANL TxD RxD Motor Motor Aux H Input J H Input Fuse * Fuse * Fuse BRSHLESS MOTOR DC Power DC Power Note: Brush motors connect to & outputs H Com µf Minimum per drive Mount external capacitor <= " ( cm) from drive. [IN] always functions as Drive Enable and is not programmable. [IN]~[IN0] are programmable.. HS inputs [IN6,7,8,9,0] are for highspeed signals and have 00 ns RC filters. GP inputs [IN,,,5] have µs filters, [IN] has a µs filter. RC filter time constants apply when inputs are driven by active sources and do not include the 0 kω pullup resistors. Tech Support: sales@copleycontrols.com, Internet: Page 8 of

9 Drive PC BOARD CONNECTORS resolver (r option) Accelnet R Pin Drive viewed from above looking down on the pc board on which it is mounted. Pins and housing shapes are shown in phantom view. J: Signal Dual row, 0. centers position female header SAMTEC SS60SD J: H, Aux H, Gnd, & Motor Outputs Dual row, 0. centers Female header SAMTEC SS50SD Signal J PIN Signal RS TxD RS RxD Signal Ground Signal Ground CAN_H 6 5 CAN_L ±0 Ref() 8 7 ±0 Ref() Fault [OT] 0 9 [OT] Brake Signal Ground [IN0] HSInput HSInput [IN9] [IN8] HSInput HSInput [IN7] 6 5 [IN6] HSInput GPInput [IN] 8 7 [IN] HSInput GPInput [IN] 0 9 [IN] HSInput Signal Ground Signal Ground GPInput [IN5] Hall Hall 6 5 Hall Ref() Output R 8 7 Ref() Output R Cos() Input S 9 Cos() Input S Sin() Input S Sin() Input S. Signals are grouped for currentsharing on the power connector. hen laying out pc board artworks, all pins in groups having the same signal name must be connected. Signal Motor Motor Motor H COM (Ground) J Pin Signal Motor Motor Motor H COM (Ground) No Connection 0 9 H 6 5 H No Connection 8 7 Aux H Aux H Tech Support: sales@copleycontrols.com, Internet: Page 9 of

10 PC BOARD DESIGN Printed circuit board layouts for Accelnet R drives should follow some simple rules:. Install a lowesr electrolytic capacitor not more than inches from the drive. PM drives produce ripple currents in their DC supply conductors. Accelnet R drives do not use internal electrolytic capacitors as these can be easily supplied by the printed circuit board. In order to provide a good, lowimpedance path for these currents a lowesr capacitor should be mounted as close to the drive as possible. µf is a minimum value, with a voltage rating appropriate to the drive model and power supply.. Connect J signals (,, outputs, H, and H Common) in pingroups for currentsharing. The signals on J are all highcurrent types (with the exception of the dc Aux H supply). To carry Accelnet R these high currents (up to 0 Adc peak) the pins of J must be used in multiples to divide the current and keep the current carrying capacity of the connectors within specification. The diagram on page 8 shows the pin groups that must be interconnected to act as a single connection point for pc board traces.. Follow IPC rules for conductor thickness and minimum trace width of J signals. The width and plating should depend on the model of drive used, the maximum voltage, and maximum current expected to be used for that model. Power supply traces (H, H Common) should be routed close to each other to minimize the area of the loop enclosed by the drive DC power. Noise emission or effects on nearby circuitry are proportional to the area of this loop, so minimizing it is good layout practice. Motor signals (,,) should also be routed close together. All the motor currents sum to zero, and while the instantaneous value in a given phase will change, the sum of currents will be zero. So, keeping these traces as closely placed as possible will again minimize noise radiation due to motor phase currents. Accelnet R circuit grounds are electrically common, and connect internally. However, the J signals carry high currents while the grounds on J (signal ground) carry low currents. So, J signals should be routed away from, and never parallel to the signals on J. Encoder signal pairs (A, /A, B, /B, and X, /X) should be routed close together for good transmissionline effect to reduce reflections and noise. The drive heatplate is electrically isolated from all drive circuits. For best noiseimmunity it is recommended to connect the standoffs to frame ground and to use metal mounting screws to maintain continuity between heatplate and standoffs. DIMENSIONS 0.8 [7.].8 [88.] X Ø.69 [Ø.9] HOLE FOR NO. 6 [M.5] SCRE. [.].6 [66.5].79 [70.9].05 [0.7] 0.05 [0.6] SQ [.9]. Dimensions shown in inches [mm]. Tech Support: sales@copleycontrols.com, Internet: Page 0 of

11 PC BOARD MONTING FOOTPRINT Accelnet R Top iew Dimensions in inches J Signal Grouping for currentsharing (Note ) 8X Ø.00 ±.00 THR AFTER PLATING 0.00 (TYP) (TYP) 0.00 (TYP) X Ø..00/.000 THR AFTER PLATING Accelnet R Mounting Hardware: Qty Description Mfgr Part Number Remarks Socket Strip Samtec SS60SD J Socket Strip Samtec SS50SD J Standoff 6 X /8 PEM KFE6ET. J signals must be connected for currentsharing.. To determine copper width and thickness for J signals refer to specification IPC. (Association Connecting Electronic Industries, Standoffs should be connected to etches on pc board that connect to frame ground for maximum noise suppression and immunity. Tech Support: sales@copleycontrols.com, Internet: Page of

12 Ambient Temperature ( C) Ambient Temperature ( C) Ambient Temperature ( C) Ambient Temperature ( C) Ambient Temperature ( C) Ambient Temperature ( C) POER DISSIPATION Accelnet R The charts below show that maximum ambient temperature vs. continuous output current for the Accelnet R models. Models: R0558, R09009 H: 5 dc Models: R0558, R09009 H: 65 dc = No heatsink = Low profile heatsink = Standard heatsink = No heatsink, with fan 5 = Low profile heatsink with fan, or standard heatsink, with fan = No heatsink = Low profile heatsink = Standard heatsink = No heatsink, with fan 5 = Low profile heatsink with fan, or standard heatsink, with fan Continuous Output Current (Adc) Continuous Output Current (Adc) 6 Models: R0558, R09009 H: 85 dc Models: R8009, R808, R800 H: 65 dc = No heatsink = Low profile heatsink = Standard heatsink = No heatsink, with fan 5 = Low profile heatsink with fan, or standard heatsink, with fan = No heatsink = Low profile heatsink = Standard heatsink = No heatsink, with fan 5 = Low profile heatsink with fan 6 = Standard heatsink, with fan Continuous Output Current (Adc) Continuous Output Current (Adc) Models: R8009, R808, R800 H: 5 dc Models: R8009, R808, R800 H: 85 dc Continuous Output Current (Adc) 0 = No heatsink = Low profile heatsink = Standard heatsink = No heatsink, with fan 5 = Low profile heatsink with fan 6 = Standard heatsink, with fan Continuous Output Current (Adc) 0 = No heatsink = Low profile heatsink = Standard heatsink = No heatsink, with fan 5 = Low profile heatsink with fan 6 = Standard heatsink, with fan Tech Support: sales@copleycontrols.com, Internet: Page of

13 Accelnet R HEATSINK INSTALLATION If a heatsink is used it is mounted using the same type of screws used to mount the drive without a heatsink but slightly longer. Phase change material (PSM) is used in place of thermal grease. This material comes in sheet form and changes from solid to liquid form as the drive warms up. This forms an excellent thermal path from drive heatplate to heatsink for optimum heat transfer. STEPS TO INSTALL. Remove the PSM (Phase Change Material) from the clear plastic carrier.. Place the PSM on the Accelnet R aluminum heatplate taking care to center the PSM holes over the holes in the drive body.. Mount the heatsink onto the PSM again taking care to see that the holes in the heatsink, PSM, and drive all line up.. Torque the #6 mounting screws to 8~0 lbin (0.9~. N m). #6 Mounting Screws Phase Change Material Heatsink Transparent Carrier (Discard) Accelnet R Drive HEATSINK OPTIONS Rth expresses the rise in temperature of the drive per att of internal power loss. The units of Rth are C/, where the C represent the rise above ambient in degrees Celsius. The data below show thermal resistances under convection, or fancooled conditions for the noheatsink, HL, and HS heatsinks. NO HEATSINK NO HEATSINK C/ DRIE.5 AMPLIFIER DRIE CONECTION 6. FORCE AIR (0 LFM). CONNECTOR LOPROFILE HEATSINK (RHL) HEATSINK ACMHL HEATSINK C/ CONECTION. 0 DRIE.0 DRIE FORCE AIR (0 LFM) 0. 9 CONNECTOR STANDARD HEATSINK (RHS) ACMHS HEATSINK C/ STANDARD HEATSINK CONECTION. FORCE AIR (0 LFM) DRIE AMPLIFIER DRIE CONNECTOR Tech Support: sales@copleycontrols.com, Internet: Page of

14 ORDERING GIDE Part number R0558 R09009 R090 R8009 R808 R800 MDK800 MDKCK RHL RHS CME SERCK Accelnet R Description Accelnet R Servo drive 6/8 55 dc Accelnet R Servo drive /9 90 dc Accelnet R Servo drive / 90 dc Accelnet R Servo drive /9 80 dc Accelnet R Servo drive 6/8 80 dc Accelnet R Servo drive 0/0 80 dc Accelnet R Development Kit Accelnet R Development Kit Connector Kit Lowprofile heatsink (for field mounting) Standard heatsink (for field mounting) CME Drive configuration software (CDROM) Serial cable for Development Kit Add R to part number for resolver option Ordering Instructions Example: Order R09009 drive with Standard Heatsink, Development Kit, and Development Kit Connector Kit Qty Item Remarks R09009 Accelnet R servodrive RHS Standard Heatsink MDK800 Accelnet R Development Kit MDKCK Connector Kit for Development Kit CME CME CD SERCK Serial Cable Kit. Heatsink kits are ordered separately and installed by the customer, not at the factory. Note: Specifications are subject to change without notice Rev 6.0_tu 05/5/00 Tech Support: sales@copleycontrols.com, Internet: Page of