Accelnet Micro Panel ACJ RoHS · 2020. 4. 30. · * ACJ-R models DESCRIPTION Accelnet Micro Panel is a compact, DC powered servo drive for position, velocity, and torque control of

R

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Accelnet Micro PanelRoHSACJ

Feedback Versions • Analog Sin/Cos • QuadA/Bdigital

Control Modes • Indexer,Point-to-Point,PVT • Camming,Gearing,Position,Velocity,Torque

CommandInterface • CANopen • ASCIIanddiscreteI/O • Steppercommands • ±10Vposition/velocity/torquecommand • PWMposition*/velocity/torquecommand • Masterencoder(Gearing/Camming)

Communications • CANopen • RS-232

Feedback • DigitalQuadA/Bencoder • Secondaryencoder/emulatedencoderout • Brushlessresolver(-Rversions) • Analogsin/cosencoder(-Sversions) • DigitalHalls

I/O-Digital • 9inputs,4outputs

Dimensions: mm [in] • 97x64x33[3.8x2.5x1.3]

*ACJ-Rmodels

DESCRIPTIONAccelnet Micro Panel isacompact,DCpoweredservodriveforposition,velocity, andtorquecontrolofACbrushlessandDCbrushmotors.Itcanoperateonadistributedcontrolnetwork,asastand-aloneindexingdrive,orwithexternalmotioncontrollers.StandardfeedbackisdigitalquadA/Bencoderandtwooptionversionsareavailabletosupportbrushlessresolver(-R),oranalogsin/cosencoders(-S).

IndexingmodeenablessimplifiedoperationwithPLC’swhichuse outputs to select and launch indexes and inputs toreadbackdrivestatus.Additionally,aPLCcansendASCIIdatathatcanchangemotionprofilessothatoneindexcanperformvariousmotionsasmachinerequirementschange.

*Note: Add“-S”topartnumberforSin/Cosversion Add“-R”topartnumberforresolverversion

DIGITALSERVODRIVE FORBRUSHLESS/BRUSHMOTORS

The CANopen distributed control architecture is alsosupported.AsaCANnodeoperatingundertheCANopenprotocol,itsupportsProfilePosition,ProfileVelocity,ProfileTorque,InterpolatedPosition,andHoming.Upto127drivescanoperateonasingleCANbusandgroupsofdrivescanbelinkedviatheCANsothattheyexecutemotionprofilestogether.

Operation with externalmotion controllers is possiblein torque (current), velocity, and positionmodes. Inputcommandsignalscanbe±10V(torque,velocity,position),PWM/Polarity(torque,velocity),orstepperformat(CU/CDorStep/Direction).

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



GENERALSPECIFICATIONSTestconditions:Load=Wyeconnectedload:2mH+2Ωline-line.Ambienttemperature=25°C,+HV=HVmax

MODEL ACJ-055-09 ACJ-055-18 ACJ-090-03 ACJ-090-09 ACJ-90-12

OUTPUTPOWER PeakCurrent 9(6.36) 18(12.73) 3(2.12) 9(6.36) 12(8.5) Adc(Arms,sinusoidal),±5%

Peak time 1 1 1 1 1 Sec Continuouscurrent 3(2.12) 6(4.24) 1(0.71) 3(2.12) 6(4.24) Adc(Arms,sinusoidal),±5% PeakOutputPower 490 970 270 800 1600 W Continuous““ 163 323 89 267 533 W Outputresistance 0.075 0.075 0.075 0.036 0.075 Rout(Ω) MaximumOutputVoltage Vout=HV*0.97-Rout*Iout

INPUTPOWER HVmintoHVmax 20-55 20-55 20-90 20-90 20-90 +Vdc,Transformer-isolated Ipeak 9 18 3 9 12 Adc(1sec)peak Icont 3 6 1 3 6 Adccontinuous AuxHV 20-HVmax+Vdc@500mAdcmaximum

PWMOUTPUTS Type 3-phaseMOSFETinverter,15kHzcenter-weightedPWM,space-vectormodulation PWMripplefrequency 30kHz

DIGITALCONTROL DigitalControlLoops Current,velocity,position.100%digitalloopcontrol Duallooppositioncontrolusingsecondaryencoderinput Samplingrate(time) Currentloop:15kHz(66.7us)Velocity,positionloops:3kHz(333us) Commutation Sinusoidalfield-orientedcontrolortrapezoidalfromHallsforbrushlessmotors Modulation Center-weightedPWMwithspace-vectormodulation Bandwidths Currentloop:2.5kHztypical,bandwidthwillvarywithtuning&loadinductance HVCompensation Changesinbusvoltagedonotaffectbandwidth Minimumloadinductance 200µHline-line

COMMANDINPUTS CANopen ProfilePosition,InterpolatedPosition,ProfileVelocity,ProfileTorque,Homing Digitalposition Step/Direction,CW/CCW Steppercommands(2MHzmaximumrate) QuadA/BEncoder 20Mcount/sec(afterquadrature),5Mline/sec

Digitalposition*/velocity/torque PWM,Polarity PWM=0~100%,Polarity=1/0 *Resolvermodels(-R) PWM PWM=50%±50%,nopolaritysignalrequired PWMfrequencyrange 1kHzminimum,100kHzmaximum PWMminimumpulsewidth 220ns Analogtorque/velocity/position ±10Vdc,5kΩdifferentialinputimpedance

DIGITALINPUTS Number,type 9,non-isolated.[IN1]dedicatedtoDriveEnablefunction,[IN2]~[IN9]areprogrammable Allinputs 74HC14Schmitttriggeroperatingfrom+5VdcwithRCfilteroninput 10kΩto+5Vdcorgroundforallexcept[IN5](seebelow) Logiclevels Vin-LO<1.35Vdc,Vin-HI>3.65Vdc Pull-up,pull-downcontrol Allinputshavegroupselectableconnectionofinputpull-up/downresistorto+5Vdc,orground Enable[IN1] 1Dedicatedinputwith330µsRCfilterfordriveenable,0to+24Vdcmax GP[IN2,3,4] 3GeneralPurposeinputswith330µsRCfilter,0to+24Vdcmax MS[IN5] 1Medium-Speedinputformotortemperatureswitch,33µsRCfilter, 4.99kΩpullup/pulldown,0to+24Vdcmax HS[IN6,7,8,9] 4High-SpeedInputsinputswith100nsRCfilter,0to+5Vdcmax

DIGITALOUTPUTS(NOTE1) Number,type 4,non-isolated,programmable [OUT1~4], Current-sinkingMOSFETwith1kΩpullupto+5Vdcthroughdiode Currentrating 300mAdcmax,+30Vdcmax.Functionsprogrammable Externalflybackdioderequiredifdrivinginductiveloads

MULTI-MODEENCODERPORT Operation OperatesasaninputoroutputdependingondriveBasicSetup Signals Digital:A,/A,B,/B,X,/X AsInput 26C32differentiallinereceivers(foroperationasanencoderinputport) AsOutput 26C31differentiallinedrivers(foroperationasbufferedencoderoutputs) Frequency 20MHz(post-quadrature)

RS-232PORT Signals RxD,TxD,Gnd Mode Full-duplex,serialcommunicationportfordrivesetupandcontrol,9,600to115,200baud Protocol BinaryorASCIIformats

CANPORTS Signals CANH,CANL,Gnd Isolation CANinterfacecircuitand+5VdcsupplyforCANisopticallyisolatedfromdrivecircuits Format CANV2.0bphysicallayerforhigh-speedconnectionscompliant Data CANopenDeviceProfileDSP-402 Addressselection Programmabletoflashmemoryordeterminedbydigitalinputs

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FEEDBACK

DIGITALQUADA/BENCODER Type Quadrature,differentiallinedriveroutputs Signals A,/A,B,/B,(X,/X,indexsignalsoptional) Frequency 5MHzlinefrequency,20MHzquadraturecountfrequency

ANALOGENCODER(-SOPTION) Type Sin/cos,differentiallinedriveroutputs,0.5Vpeak-peak(1.0Vpeak-peakdifferential) centeredabout2.5Vdctypical.Common-modevoltage0.25to3.75Vdc Signals Sin(+),sin(-),cos(+),cos(-) Frequency 230kHzmaximumline(cycle)frequency Interpolation 10bits/cycle(1024counts/cycle)

RESOLVER(-ROPTION) Type Brushless,single-speed,1:1to2:1programmabletransformationratio Resolution 14bits(equivalenttoa4096linequadratureencoder) Referencefrequency 7.5kHz Referencevoltage 2.8Vrms,auto-adjustablebythedrivetomaximizefeedback Referencemaximumcurrent 100mA MaximumRPM 10,000+

ENCODEREMULATION Resolution Programmableto16,384counts/rev(4096lineencoderequivalent) Bufferedencoderoutputs 26C31differentiallinedriver

DIGITALHALLS Type Digital,single-ended,120°electricalphasedifference Signals U,V,W Frequency Consultfactoryforspeeds>10,000RPM

ENCODERPOWERSUPPLY PowerSupply +5Vdc@400mAtopowerencoders&Halls Protection Current-limitedto750mA@1Vdcifoverloaded Encoderpowerdevelopedfrom+24Vdcsopositioninformationisnotlostwhen ACmainspowerisremoved

MOTORCONNECTIONS PhaseU,V,W PWMoutputsto3-ph.ungroundedWyeordeltawoundbrushlessmotors,orDCbrushmotors HallU,V,W DigitalHallsignals,single-ended DigitalEncoder Digitalquadratureencodersignals,differential(XorIndexsignalnotrequired) 5MHzmaximumlinefrequency(20Mcounts/sec) 26C32differentiallinereceiverwith121Ωterminatingresistorbetweencomplementaryinputs AnalogEncoder Analogsin/cossignals,1Vp-p,differential Hall&encoderpower +5Vdc±2%@400mAdcmax Motemp[IN5] Motorovertemperaturesensorswitchinput Programmabletodisabledrivewhenmotorover-temperatureconditionoccurs Brake [OUT1~4]areprogrammableformotorbrakefunction,externalflybackdioderequired

STATUSINDICATORS DriveStatus BicolorLED,drivestatusindicatedbycolor,andblinkingornon-blinkingcondition CANStatus BicolorLED,statusofCANbusindicatedbycolorandblinkcodestoCANIndicatorSpecification303-3

PROTECTIONS HVOvervoltage HV>+56,+91Vdc Driveoutputsturnoffuntil+HV<overvoltage(for55,90Vdcmodels) HVUndervoltage HV<+14Vdc Driveoutputsturnoffuntil+HV>=+14Vdc Driveovertemperature Heatplate>70°C Driveoutputsturnoff,latchingfault Shortcircuits Outputtooutput,outputtoground,internalPWMbridgefaults I2TCurrentlimiting Programmable:continuouscurrent,peakcurrent,peaktime Motorovertemperature Digitalinputsprogrammabletodetectmotortemperatureswitch Functions Faultconditionsareprogrammableaslatchingornon-latchingtypes

MECHANICAL&ENVIRONMENTAL Size 3.83x2.47x1.29in.(97.28x62.74x32.77mm) Weight 4.8oz,0.14kg Ambienttemperature 0to+45°Coperating,-40to+85°Cstorage Humidity 0to95%,non-condensing Vibration 2gpeak,10~500Hz(sine),IEC60068-2-6 Shock 10g,10ms,half-sinepulse,IEC60068-2-27 Contaminants Pollutiondegree2 Environment IEC68-2:1990 Cooling Conductionthroughheatplateondrivechassis,orconvection

AGENCYCONFORMANCEEN55011:1998 CISPR11(1997)Edition2/Amendment2: LimitsandMethodsofMeasurementofRadioDisturbanceCharacteristicsofIndustrial,Scientific, andMedical(ISM)RadioFrequencyEquipment EN61000-6-1:2001 ElectromagneticCompatibilityGenericImmunityRequirements

Following the provisions of EC Directive 89/336/EEC: EN61010-12ndEd.:2001 SafetyRequirementsforElectricalEquipmentforMeasurement,Control,andLaboratoryuse

Following the provisions of EC Directive 2006/95/EC: UL508C3rdEd.:2002 ULStandardforSafetyforPowerConversionEquipment

AMPSTATUSLEDAbi-colorLEDgivesthestatusoftheamplifierbychangingcolor,andeitherblinkingorremainingsolid.Thepossiblecolor and blink combinations are:•Green/Solid:AmplifierOKandenabled.WillruninresponsetoreferenceinputsorCANopencommands.

•Green/Slow-Blinking:AmplifierOKbutNOT-enabled. Willrunwhenenabled.

•Green/Fast-Blinking:PositiveorNegativelimitswitchactive.Amplifierwillonlymoveindirection notinhibitedbylimitswitch.

•Red/Solid:Transientfaultcondition. Amplifierwillresumeoperationwhen faultisremoved.

•Red/Blinking:Latchingfault.Operationwill notresumeuntilampisReset

Faultconditions:

CME2™SOFTWAREAmplifier setup is fast and easy using CME 2™ softwarewhichcommunicateswiththeamplifieroverCANoranRS-232link.Alloftheoperationsneededtoconfiguretheamplifierareaccessiblethrough this powerful and intuitive program. Auto-phasing ofbrushlessmotor Hall sensors and phasewires eliminates “wireandtry”.ConnectionsaremadeonceandCME2™doestherestthereafter. Encoderwire swapping to establish the direction ofpositivemotioniseliminated.Motordatacanbesavedas.ccmfiles.Amplifierdataissavedas.ccxfilesthatcontainallamplifiersettingsplusmotordata.Thiseasessystemmanagementasfilescanbecross-referencedtoampifiers.Onceanamplifierconfigurationhasbeencompletedsystemscanbereplicatedeasilywiththesamesetupandperformance.

RS-232COMMUNICATIONSTheserial-portisthree-wire(RxD,TxD,Gnd),full-duplexRS-232thatoperates from9600 to115,200Baud. Connections to theRS-232portarethroughJ5,theSignalconnector.TheAccelnet Micro PanelSerialCableKit(ACJ-SK)containsa9-pinfemaleSub-Dserial port (COM1,COM2, etc.) connector and2m (6 ft.) cablethatisterminatedinaJ5cableconnector.Thisprovidesaneasyconnectiontotheamplifierforset-upwithoutwiringtoJ5.

CANOPENNETWORKINGBased on the CAN V2.0b physical layer, a robust, two-wirecommunicationbusoriginallydesignedforautomotiveusewherelow-costandnoise-immunityareessential,CANopenaddssupportformotion-control devices and command synchronization. Theresultisahighlyeffectivecombinationofdata-rateandlowcostformulti-axismotioncontrolsystems.Devicesynchronizationenablesmultipleaxestocoordinatemovesasiftheyweredrivenfromasingle control card.

CANLED

STATUSLED

CANSTATUSLEDTheCANstatusLEDoperatesinaccordancewithCANspecification303-3.This isabi-colorLED thatuses redandgreencolors insolid,flashing,andblinkingstates to indicateconditionson theCANbus.

CANNODEADDRESSThenodeaddressof theACJ canbe setusingdigital inputsorsavedinflashmemory.Thedefaultconfigurationistoassigninputs[IN6,7,8,9]asCANaddressbits.[IN6]istheLSBofa4-bitaddressand[IN9]istheMSB.Theseinputsareprogrammedasagrouptopull-downtogroundgivingadefaultnodeaddressof0.Connectinganyoftheseinputsto+5Vdcgivesalogicalvalueof1.TheCANaddressof0 is reserved for theCANbusmaster andcannotbeusedwhenthedrivesareoperatingonaCANbus.WhensetupforASCIIMulti-Drop,however,themasterdrivemusthaveaddress 0.Thetablebelowshowssomeexamplesofinputconfigurationsandthehexanddecimaladdressesthatresult.Thedefaultaddressis0.ForCANopenoperationthisisreservedforthebuscontroller.Formulti-dropASCII,thedrivethattakestheserialportcablemustbeaddress0,andtheotherdrivesdaisy-chainingfromthatviaCANcablesshouldhavenon-zeroaddresses.

3 2 1 0 AddressBits

[IN9] [IN8] [IN7] [IN6] Hex Dec

0 0 0 0 0x0 0

0 0 0 1 0x1 1

0 0 1 0 0x2 2

0 0 1 1 0x3 3

0 1 0 0 0x4 4

0 1 0 1 0x5 5

0 1 1 0 0x6 6

0 1 1 1 0x7 7

1 0 0 0 0x8 8

1 0 0 1 0x9 9

1 0 1 0 0xA 10

1 0 1 1 0xB 11

1 1 0 0 0xC 12

1 1 0 1 0xD 13

1 1 1 0 0xE 14

1 1 1 1 0xF 15

• Overorunder-voltage• Motorover-temperature• Phasingerror(currentposition is>60°electricalfromHallangle)

• Short-circuitsfromoutputtooutput• Short-circuitsfromoutputtoground• Internalshortcircuits• Amplifierover-temperature• Position-modefollowingerror

Faultsareprogrammabletobeeither transientorlatching



Current orVelocity

Polarity orDirection

[IN7]

[IN8]

Duty = 0~100%

Current orVelocity

No function

[IN7]

[IN8]

Duty = 50% ±50%

<no connection>

Positionmagnitude

PositionIncrement orDecrement

[IN7]

[IN8]

Pulse

Direction

Master Enc.Ch. A

Master Enc.Ch. B

[IN8]

[IN7]ENCA

B

Ch. A

Ch. B

Pos++ Pos--

PositionIncrease

PositionDecrease

[IN7]

[IN8]

CW (or CU)

CCW (or CD)

-+

37.4k

37.4k

5k

5k1.5V-+

Ref(+)

Ref(-)

5.36k

±10VANALOGINPUT



COMMANDINPUTSIN STAND-ALONEMODEThe command inputs control the drive toproduceanoutputandareusedwhenthedrive is taking current, velocity, or positioncommands from an external controller in stand-alonemode.Thecommandinputstakedigitalandanalogsignalsinavarietyofformats:Current or Velocity Mode±10VAnalogPWM/Direction,PWM50%

Position Mode±10VAnalogCU/CD, Step/DirectionMasterEncoder,A/BQuadraturePWM/Direction,PWM50%(-Rmodels)

For current or velocity control, the PWM/Direction format takes a PWM signal at constant frequencywhichchangesits’dutycyclefrom0to100%tocontrolcurrentorvelocityandaDClevelattheDirectioninputtocontrolpolarity.ThePWM50%formattakesasinglePWMsignalthatproduces0outputat50%dutycycle,andmaximumpositive/negativeoutputsat0%or100%.Asaprotectionagainstwiringfaults,the0%and100%inputscanbeprogrammedtoproduce0output.Whenthisisdonethemax/mindutycyclerangeis>0%and<100%.Position-controlinputstakesignalsinpopularstepper-motor format or from a digital quadratureencoder.TheCU/CDformatmovesthemotorinapositivedirectionforeachpulsereceivedatthecount-upinput.Negativemotionisproducedbypulsesonthecount-downinput.Thestep-directionmodemovesthemotoranincrementofpositionforeverypulsereceivedatthepulseinputwhilethedirectionofmovementiscontrolledbyaDClevelonthedirectioninput.Masterencoderquadraturesignals(A,B)aredecodedintofourcountsperencoderlinewiththedirectionderivedfromthelogic-statetransitionsoftheinputs.Inpositionmodetheratioofmotormotionperinput-countisprogrammable.Resolvermodels(-Roption)alsoacceptPWMinputsforpositioncontrol.A±10Vanalogcommandcancontrolcurrent,velocity,orpositionaswell.

MULTI-MODEENCODERPORTThisportconsistsof threedifferential input/outputchannels.Thefunctionschangewiththedrive’sbasicsetup.Fordual-loopposition-modeoperationthatemploysaprimaryencoderonthemotor,andasecondaryencoderontheload,theportworksasaninputreceivingthesecondaryencoder’squadA/B/Xsignals.Forstand-aloneoperationwithanexternalmotioncontroller,thesignalsfromthedigitalencoderonthemotorarebufferedandmadeavailableatthecontrolsignalconnectorfortransmissiontothecontroller.Thiseliminatessplit-wiredmotorcableswithdualconnectorsthattaketheencodersignalstobothdriveandcontroller.Asastand-alonepositioncontroller,theportcantakedifferentialdigitalpositioncommandsinpulse/direction,CU/CD,orquadA/Bformat.Modelsthattakesin/cosfeedbackwillproduceemulatedquadA/Bsignalswithprogrammableresolution.

FUNCTIONALDIAGRAMOFONECHANNEL

POSITION*,VELOCITY,ORTORQUEMODE REFERENCEINPUTS(*IN-RMODELS) STEPMOTOREMULATIONINPUTS

PWM/DIRECTIONINPUTS

Count-up/Count-down InputsPWM50%INPUT

Pulse/Direction Inputs

Quad AB Encoder



+5V

[OUT1][OUT2][OUT3][OUT4]

1k

33nF

10k

+5V

10k 74HC14[IN1][IN2][IN3]

Programmable1/0

33nF10k

+5V

10k74HC14

[IN4]*[IN5]

Programmable1/0

* 4.99k

* [IN5] connects to J4 formotor temperature sensor *3.3nF

100 pF

10k

+5V

1.0 k

74HC14[IN6][IN7][IN8][IN9]

Programmable1/0

DIGITALOUTPUTSDigitaloutputsareopen-drainMOSFETswith1kΩpull-upresistorsto+5Vdc.Thesecansinkupto100mAdcfromexternalloadsoperatingfrompowersuppliesto+30Vdc.Whendrivinginductiveloadssuchasamotorbrake,anexternalfly-backdiodeisrequired.ThediodeintheoutputisfordrivingPLCinputsthatareopto-isolatedandconnectedto+24Vdc.Thediodepreventsconductionfrom+24Vdcthroughthe1kΩresistorto+5Vdcinthedrive.Thiscouldturntheinputon,givingafalseindicationofthedriveoutputstate.Theseoutputsareprogrammabletobeonoroffwhenactive.Typicalfunctionsaredrivefaultindicationormotorbrakeoperation.Otherfunctionsareprogrammable.

DIGITALINPUTS hasninedigital inputs,eightofwhichhaveprogrammable functions. Input[IN1] isnotprogrammableand is

dedicatedtothedriveEnablefunction.Thisisdonetopreventaccidentalprogrammingoftheinputinsuchawaythatthecontrollercouldnotshutitdown.TwotypesofRCfiltersareused:GP(generalpurpose)andHS(highspeed).InputfunctionssuchasStep/Direction,CU/CD,QuadA/BarewiredtoinputshavingtheHSfilters,andinputswiththeGPfiltersareusedforgeneralpurposelogicfunctions,limitswitches,andthemotortemperaturesensor.Programmablefunctionsofthedigitalinputsinclude:

• PositiveLimitswitch • Step&Direction,orCU/CD • NegativeLimitswitch stepmotorpositioncommands • Homeswitch • QuadA/Bmasterencoder • DriveReset positioncommands • PWMcurrentorvelocitycommands • Motorover-temperature • CANaddressbits • MotionProfileAbort

Inadditiontotheactivelevelandfunctionforeachprogrammableinput,theinputresistorsareprogrammableinthreegroupstoeitherpullupto+5Vdc,ordowntoground.GroundedinputswithHIactivelevelsinterfacetoPLC’sthathavePNPoutputsthatsourcecurrentfrom+24Vdcsources.Inputspulledupto+5Vdcworkwithopen-collector,orNPNdriversthatsinkcurrenttoground.

GPINPUTS1,2,3 GPINPUTS4,5

HSINPUTS6,7,8,9

24Vdcmax 24Vdcmax

5Vdcmax

MOTOR

Mot U

Mot V

Mot W

+HV

Gnd

Keep as shortas possible

Equipment frameEarth

Keep connections as close as possible."Star" ground to a common point is best

Controller

Drive

Signal Gnd

ControlI/O

PowerSupply

+

-

Frame Ground

Frame Ground



GROUNDINGCONSIDERATIONSPowerandcontrolcircuitsshareacommoncircuit-ground(HVGndonJ3-4,andSignalGroundonJ2-5,J4-6&11,J5-2,9,15,17,and28).InputlogiccircuitsarereferencedtoSignalGround,asareanalogReferenceinputs, digital outputs, encoder and Hallsignals.Forthisreason,driveGndterminalsshouldconnecttotheusers’groundsystemsothatsignalsbetweendriveandcontrollerareatthesamecommonpotential,andtominimizenoise.Thesystemgroundshould,in turn,connect toanearthingconductoratsomepointsothatthewholesystemisreferenced to “earth”. TheCAN ports areopticallyisolatedfromthedrivecircuits.Because current flow through conductorsproduces voltage-drops across them, itisbesttoconnectthedriveHVReturntosystem earth, or circuit-common throughtheshortestpath,andtoleavethepower-supply floating. In this way, the powersupply (-) terminal connects to groundatthedriveHVReturnterminals,butthevoltage drops across the cables will notappearatthedriveground,butatthepowersupply negative terminal where theywillhavelesseffect.Motor phase currents are balanced, butcurrentscanflowbetweenthePWMoutputs,and themotor cable shield. Tominimizethe effects of these currents on nearbycircuits,thecableshieldshouldconnecttoGnd(J2-5).

Thedriveheatplatedoesnotconnecttoanydrivecircuits.CablesmustbeshieldedforCEcompliance,andtheshieldsshouldconnectto the Frame Ground terminals. Wheninstalled,thedriveheatplateshouldconnecttothesystemchassis.Thismaximizestheshielding effect, and provides a path toground fornoisecurrents thatmayoccurinthecableshields.Signalsfromcontrollertodrivearereferencedto+5Vdc,andotherpowersuppliesinuserequipment. These power supplies shouldalsoconnect tosystemgroundandearthat some point so that they are at samepotentialasthedrivecircuits.Thefinalconfigurationshouldembodythreecurrent-carrying loops. First, the powersupply currents flowing into and out ofthedriveatthe+HVandGndpinsonJ3.Secondthedriveoutputsdrivingcurrentsintoandoutofthemotorphases,andmotorshieldcurrentscirculatingbetweentheU,V,andWoutputsandGnd.And,lastly,logicandsignalcurrentsconnectedtothedrivecontrolinputsandoutputs.ForCEcomplianceandoperatorsafety,thedriveshouldbeearthedbyusingexternaltooth lockwashers under themountingscrews.Thesewillmakecontactwith thealuminum heatplate to connect it to theequipmentframeground.

POWERSUPPLIESAccelnet Micro Panel operates typically fromtransformer-isolated,unregulatedDCpowersupplies.Theseshouldbesizedsuchthat themaximum output voltage underhigh-lineandno-loadconditionsdoesnotexceedthedrivesmaximumvoltagerating.Powersupplyratingdependsonthepowerdeliveredtotheloadbythedrive.Inmanycases,thecontinuouspoweroutputofthedriveisconsiderablyhigherthantheactualpowerrequiredbyan incrementalmotionapplication.Operationfromregulatedswitchingpowersupplies is possible if a diode is placedbetween the power supply and drive topreventregenerativeenergyfromreachingthe output of the supply. If this is done,theremustbeexternalcapacitancebetweenthediodeanddrive.Distancebetweenthiscapacitorandthedriveshouldbe1metreor less.

MOUNTING&COOLINGAccelnet Micro Panelhasslotsformountingto panels at 0° or 90°. Cooling is byconductionfromdriveheatplatetomountingsurface,orbyconvectiontoambient.

AUXILIARYHVPOWERAccelnet Micro PanelhasaninputforAUXHV. This is a voltage that can keep thedrivecommunicationsandfeedbackcircuitsactivewhenthePWMoutputstagehasbeendisabledbyremovingthemain+HVsupply.ThiscanoccurduringEMO(EmergencyOff)conditionswherethe+HVsupplymustberemovedfromthedriveandpowered-downtoensureoperatorsafety.TheAUXHVinputoperatesfromanyDCvoltagethatiswithintheoperatingvoltagerangeofthedriveandpowerstheDC/DCconverterthatsuppliesoperating voltages to the drive DSP andcontrolcircuits.Whenthedrive+HVvoltageisgreaterthantheAUX-HVvoltageitwillpowertheDC/DCconverter.UndertheseconditionstheAUX-HVinputwilldrawnocurrent.

=Shieldedcablesrequired for CE compliance

ENCA, B, X

/A, /B, /X -+

1k

1k

22 pF

22 pF

26LS32

+5V2 k

121

HALL U, V, W 10 k

3.3 nF

74HC14

+5V

10 k

UV

W

RESOLVER(-RMODELS)Connections to the resolver should bemade with shielded cable that usesthreetwisted-pairs.Onceconnected,resolversetup,motorphasing,andothercommissioningadjustmentsaremadewithCME2software.Therearenohardwareadjustments.

J4-8BRUSHLESSRESOLVER

-

+

-

+J4-9

J4-4

Sin

Cos

J4-1

J4-10

J4-3Ref

R1

R2

S3

S1

S2

S4

FrameGround

J4-14

+5 Vdc

Signal Ground Signal Ground 11

+5 VdcVcc

0V+5 vdc to Halls

Vcc

0V+5 vdc to Encoder

HA-

HA+

HB-

HB+

/A

A

/B

X

/X

B

FrameGnd

FrameGnd

HA(+)

HA(-)

HB(+)

HB(-)

N.C.

N.C.27

12

26

10

11

25

30

24

28

3

10

2

9

1

14

8

J4J5

DigitalIncremental

Encoder

AnalogHalls

Hall feedback forbrushless motor commutation

Position feedback forposition/velocity control

4

ANALOGHALLS(-SMODELS)+DIGITALENCODERForposition feedbackwithhigher resolution than ispossibleby interpolating analog Halls, a digital incremental encoderisconnectedtothemulti-modeport.TheHallsarethenusedfor commutation and themulti-mode port is programmedas a differential input for the Secondary Incrementalmotorencoder.



MOTORCONNECTIONSMotorconnectionsareoffourtypes:phase,Halls,encoderandthermalsensor.Thephaseconnectionscarrythedriveoutputcurrentsthatdrivethemotortoproducemotion.TheHallsignalsarethreedigitalsignalsthatgiveabsolutepositionfeedbackwithinanelectricalcommutationcycle.Theencodersignalsgiveincrementalpositionfeedbackandareusedforvelocityandpositionmodes,aswellassinusoidalcommutation.Athermalsensorthatindicatesmotorovertemperatureisusedtoshutdownthedrivetoprotectthemotor.

DIGITALMOTORENCODERTheinputcircuitforthemotorencodersignalsisadifferentialline-receiverwithR-Cfilteringontheinputs.A121Ωresistorisacrosseachinputpairtoterminatethesignalpairsinthecablecharacteristicimpedance.Encoderswithdifferentialoutputsarerequiredbecausetheyarelesssusceptibletonoisethatcanbepickedonsingle-endedoutputs.Forbestresults,encodercablingshouldusetwistedpaircablewithonepairforeachoftheencoderoutputs:A-/A,B-/B,andX-/X.Shieldedtwisted-pairisevenbetterfornoiserejection.

MOTORHALLSIGNALSHallsignalsaresingle-endedsignalsthatprovideabsolutefeedbackwithinoneelectricalcycleofthemotor.Therearethreeofthem(U,V,&W)andtheymaybesourcedbymagneticsensorsinthemotor,orbyencodersthathaveHalltracksaspartoftheencoderdisc.Theytypicallyoperateatmuchlowerfrequenciesthanthemotorencodersignals,andareusedforcommutation-initializationafterstartup,andforcheckingthemotorphasingafterthedrivehasswitchedtosinusoidalcommutation.


ANALOGMOTORENCODERTheinputcircuitforthemotorencodersignalsisadifferentialline-receiverwithR-Cfilteringontheinputs.A121Ωresistorisacrosseachinputpairtoterminatethesignalpairsinthecablecharacteristicimpedance.Encoderswithdifferentialoutputsarerequiredbecausetheyarelesssusceptibletonoisethatcanbepickedonsingle-endedoutputs.Forbestresults,encodercablingshouldusetwistedpaircablewithonepairforeachoftheencoderoutputs:A-/A,B-/B,andX-/X.Shieldedtwisted-pairisevenbetterfornoiserejection.

+5 Vdc

[OUT1] [OUT2][OUT3], or [OUT4]

1k24 VdcBRAKE

+

-

10 k

3.3 nF

74HC14

+5V

4.99 k

[IN5]

MOTORBRUSHMOTOR

V

U

BRUSH-LESS

MOTOR

V

W

U

PWMOutputs

U

Frame Ground

V

W

Color Pin Color

N/C 6 1 N/C

N/C 7 2 White/Orange

N/C 8 3 Orange

N/C 9 4 White/Green

N/C 10 5 N/C

These cables connect to amplifier J1 and have 3conductors of AWG 24 wire that are terminated incontacts that can then be inserted into pins 7~9 ofanotherACJ-NC-10to“daisychain”theCANsignalstomultipleamplifiers.

ACJ-NC-10&ACJ-NC-01CANOPEN CABLEASSEMBLIES

Color Pin Color

Blue 8 1 Black

White 9 2 Black

Orange 10 3 Black

Black 11 4 Red

Brown 12 5 Black

Yellow 13 6 Black

Green 14 7 Black

ThiscableplugsintoamplifierJ4andconsistsofseventwisted-pairsofAWG24wire.Eachpairhasablackandcoloredconductor.Thechartaboveshowstwisted-pairs in therows.E.g.onepairgoestopins1&8,anotherpairtopins2&9,etc.Cableterminationisflyingleadsforconnectiontocustomermotorfeedbackencoder.

ACJ-FC-10FEEDBACKCABLEASSEMBLY



MOTORPHASECONNECTIONSThedriveoutput isathree-phasePWMinverterthatconvertstheDCbussvoltage(+HV)intothreesinusoidalvoltagewaveformsthatdrivethemotorphase-coils.Cableshouldbesizedforthecontinuouscurrentratingofthedrive.Motorcablingshouldusetwisted,shieldedconductorsforCEcompliance,andtominimizePWMnoisecouplingintoothercircuits.Themotorcableshieldshouldconnecttomotorframeandthedriveframegroundterminal(J2-1)forbestresults.

MOTORTEMPERATURESENSORDigitalinput[IN5]isforusewithamotorovertemperatureswitch.Theinputshouldbeprogrammedasapull-upto+5Vdcifthemotorswitchisgroundedwhencold,andopenorhigh-impedancewhenover-heating.

MOTORBRAKEDigitaloutputs[OUT1,2,3,4]canbeprogrammedtopoweramotor-mountedbrake.Thesebrakethemotorwhentheyareinanunpoweredstateandmusthavepowerappliedtorelease.Thisprovidesafail-safefunctionthatpreventsmotormotionifthesystemis inanunpowered(uncontrolled)state.Becausebrakesareinductiveloads,anexternalflybackdiodemustbeusedtocontrolthecoilvoltagewhenpowerisremoved.Thetimingofthebrakeisprogrammable.



QuadA/BEncoderCONNECTORS&SIGNALS

CANcircuitsareisolated from drivecircuits

J3CableConnector: 4-position poke/crimp Housing:Molex39-01-4041 Contacts:Molex39-00-0039 Crimping Tool: Molex 11-01-0197 ExtractorTool:Molex11-03-0044

J2CableConnector: 5-position poke/crimp Housing:Molex39-01-4051 Contact:Molex39-00-0039 Crimping Tool: Molex 11-01-0197 ExtractorTool:Molex11-03-0044

J1CableConnector: 10-position poke/crimp

Housing:SamtecIPD1-05-D Contacts(10):SamtecCC79L-2024-01-F Crimpingtool:SamtecCAT-HT-179-2024-11 ContactExtractor:SamtecCAT-EX-179-01

J4CableConnector: 14-position poke/crimp Housing:SamtecIPD1-07-D Contacts(14):SamtecCC79L-2024-01-F Crimpingtool:SamtecCAT-HT-179-2024-11 ContactExtractor:SamtecCAT-EX-179-01

J5CableConnector: 30-positionpoke/crimp Housing:SamtecIPD1-15-D Contacts(30):SamtecCC79L-2024-01-F Crimpingtool:SamtecCAT-HT-179-2024-11 ContactExtractor:SamtecCAT-EX-179-01

Conductorratingsforcontacts(whenusedwithcrimpingtoolsshownbelow): SamtecCC79L-2024-01-F:AWG24~20wire,insulationdiameter.035”(0,89mm)-.070”(1,78mm) Molex39-00-0039:AWG24~18wire,insulationdiameter.051”(1.30mm)-.122”(3.10mm)

J1

J2

J3J4

J5

18

714116

1530

J4 Feedback Signal Pin Signal

Encoder A 8 1 Encoder /A

Encoder B 9 2 Encoder /B

Encoder X 10 3 Encoder /X

Signal Ground 11 4 Encoder +5 Vdc

Hall V 12 5 Hall U

Hall W 13 6 Signal Ground

Frame Ground 14 7 Motemp [IN5]

J5 Signal

Signal Pin Signal

Analog Ref (-) 16 1 Analog Ref (+)

Signal Ground 17 2 Signal Ground

Programmable Input [IN2] 18 3 Enable Input [IN1]

Programmable Input [IN4] 19 4 Programmable Input [IN3]



Programmable Output [OUT2] 22 7 Programmable Output [OUT1]


Encoder +5 Vdc 24 9 Signal Ground

Bi-Mode Encoder /A 25 10 Bi-Mode Encoder A

Bi-Mode Encoder /B 26 11 Bi-Mode Encoder B

Bi-Mode Encoder /X 27 12 Bi-Mode Encoder X


RS-232 TxD 29 14 RS-232 RxD

Frame Ground 30 15 Signal Ground

J3 PowerPin Signal

1 Frame Ground

2 Aux HV

3 +HV

4 HV Ground

J2 MotorPin Signal

1 Frame Ground

2 Motor W

3 Motor V

4 Motor U

5 Signal Ground

J1 CANSignal Pin Signal

CAN Power 6 1 CAN Power

CANH 7 2 CANH

CANL 8 3 CANL


Frame Ground 10 5 Frame Ground

DCPower

+

-

3

4J3

J5

7Motemp[IN5]

4+5 V @400mAOutput

13Hall W

12Hall V

5Hall U

3

10

2

9

1

22/Brake[OUT2]

Motor U

Motor V

Motor W

BRAKE

+24V

HALLS

U

V

W

ENCODERB

/B

X

/X

MOTOR

+5 &

Gnd

for E

nco

der +

Hall

+HV Input

Gnd

4

3

2

Fuse

Fuse

J4

27

12

26

10

11

25

14

8

30

EarthCircuit Gnd

/A

A

11

Signal Gnd

6Gnd

Gnd

2Aux HV Input

1Frame Gnd

1Frame Gnd

5Signal Gnd

U

V

W

J2

1 Ref (+)

Ref (-)16

3 [IN1] Enable

21 [IN9]

18 [IN2]

4 [IN3]

17

Signal Gnd

7 [OUT1]

8 [OUT3]

24 +5V @ 400mA

19 [IN4]

5 [IN6]

20 [IN7]

6 [IN8]

14 RS-232 RxD

29 RS-232 TxD

23 [OUT4]

CAN Pwr1 6

2 7 CANH

3 8 CANL

4 9 SignalGnd

5 10 FrameGnd

J1

CAN port is isolated

Mot Enc A

Mot Enc B

Mot Enc X

Mot Enc /A

Mot Enc /B

Mot Enc /X

Multi-Mode A

Multi-Mode /A

Multi-Mode B

Multi-Mode /B

Multi-Mode X

Multi-Mode /X

15 28 13

2 9

Fuses optional

MOTOROVERTEMP

SWITCH



QuadA/BEncoderDRIVECONNECTIONS

NOTES1.ThefunctionsofinputsignalsonJ4-7andJ5-3,4,5,6,18,19,20,and21areprogrammable.2.Thefunctionof[IN1]onJ5-3isalwaysDriveEnableandisnotprogrammable. Theactivelevelof[IN1]isprogrammable,andresettingthedrivewith changesontheenableinputisprogrammable.3.PinsJ4-4andJ5-24connecttothesame+5Vdc@400mAdcpowersource. Totalcurrentdrawnfrombothpinscannotexceed400mAdc.4.Pins5&10ofCANportonJ1connecttoframegroundforcableshield.

AllotherCANportpinsareisolatedfromdrivecircuits.

J1

J2

J3J4

J5




Sin/Cos(-Soption)CONNECTORS&SIGNALS








J1

J2

J3J4

J5

18

714116

1530


Sin(+) 8 1 Sin(-)

Cos(+) 9 2 Cos(-)

Encoder X 10 3 Encoder /X


Hall V 12 5 Hall U



J5 Signal

Signal Pin Signal














RS-232 TxD 29 14 RS-232 RxD


J3 PowerPin Signal

1 Frame Ground

2 Aux HV

3 +HV

4 HV Ground

J2 MotorPin Signal

1 Frame Ground

2 Motor W

3 Motor V

4 Motor U

5 Signal Ground



CANH 7 2 CANH

CANL 8 3 CANL



DCPower

+

-

3

4J3

J5

7Motemp[IN5]

4+5 V @400mAOutput

13Hall W

12Hall V

5Hall U

3

10

2

9

1

22/Brake[OUT2]

Motor U

Motor V

Motor W

BRAKE

+24V

HALLS

U

V

W

SIN/COSENCODER

C+

C-

X

/X

MOTOR

+5 & G

ndfor E

ncoder + Hall

+HV Input

Gnd

4

3

2

Fuse

Fuse

J4

27

12

26

10

11

25

14

8

30

EarthCircuit Gnd

S-

S+

11

Signal Gnd

6Gnd

Gnd

2Aux HV Input

1Frame Gnd

1Frame Gnd

5Signal Gnd

U

V

W

J2

1 Ref (+)

Ref (-)16

3 [IN1] Enable

21 [IN9]

18 [IN2]

4 [IN3]

17

Signal Gnd

7 [OUT1]

8 [OUT3]

24 +5V @ 400mA

19 [IN4]

5 [IN6]

20 [IN7]

6 [IN8]

14 RS-232 RxD

29 RS-232 TxD

23 [OUT4]

CAN Pwr1 6

2 7 CANH

3 8 CANL

4 9 SignalGnd

5 10 FrameGnd

J1


Sin(+)

Cos(+)

Mot Enc X

Sin(-)

Cos(-)

Mot Enc /X

Bi-Mode Enc A

Bi-Mode Enc /A

Bi-Mode Enc B

Bi-Mode Enc /B

Bi-Mode Enc X

Bi-Mode Enc /X

15 28

2 9

13

Fuses optional



Sin/Cos(-Soption)DRIVECONNECTIONS




J1

J2

J3J4

J5



Resolver(-Roption)CONNECTORS&SIGNALS








J1

J2

J3J4

J5

18

714116

1530


Sin(+) Input S3 8 1 Sin(-) Input S1

Cos(+) Input S2 9 2 Cos(-) Input S4

Ref(+) Output R1 10 3 Ref(-) Output R2


Hall V 12 5 Hall U



J5 Signal

Signal Pin Signal














RS-232 TxD 29 14 RS-232 RxD


J3 PowerPin Signal

1 Frame Ground

2 Aux HV

3 +HV

4 HV Ground

J2 MotorPin Signal

1 Frame Ground

2 Motor W

3 Motor V

4 Motor U

5 Signal Ground



CANH 7 2 CANH

CANL 8 3 CANL



+

-

U

V

W


BRAKE

A

/A

B

/B

X

/X

BrushlessResolver

J5

J2

J3J1

J4

30

10

25

11

26

12

27

Ref(+)

Ref(-)

Signal Gnd

[IN1] Enable

1

2

3

[IN2]18

[IN3]4

[IN4]19

[IN6]5

[IN7]20

[IN8]

Frame Gnd

DCPower

EarthCircuit Gnd

1

Aux HV Input 2

Gnd 4

+HV Input 3

Frame Gnd 1

Motor W 2

Motor V 3

Motor U 4

Signal Gnd 5

/Brake [OUT2] 22

Gnd

+24V

MOTOROVERTEMP

SWITCH

11

Gnd 6

13

12

5

R23

R110

S42

S29

S11

S3

R2

Hall U

(Optional)

U

V

W

Hall V

Hall W

+5V for Halls

0V for Halls

Fuses optional

R1

S4

S2

S1

S38

14

Motemp[IN5] 7

+5V @ 400mAOutput

4

6

[IN9]21

[OUT1]7

[OUT3]8

[OUT4]

+5V @ 400 mA

Signal Gnd

RS-232 RxD

23

24

17

14

RS-232 TxD

CAN Pwr

CANH

CANL

SignalGnd

FrameGnd

29

1 6

2 7

3 8

4 9

5 10

15 28

9

16

Inputs SecondaryPosition Encoder

Outputs EmulatedQuad A/B from

Resolver

13

HALLS

Fuse

FuseMOTOR



Resolver(-Roption)DRIVECONNECTIONS




J1

J2

J3J4

J5

ACJ-CV ACJ-NA-10 ACJ-NTConnector

viewedfrom rear

ACJ-NK

J1Drive

CANSub-D9-pin 1 6

5 10

1 16

15 30

RS-232Sub-D9-pin

ACJ-SK

J5Drive

Sub-D 9F

ACJ-CV* ACJ-NA-10*

J1Drive 2

J1Drive n

ACJ-NC-10ACJ-NC-01

ACJ-NC-10ACJ-NC-01

ACJ-NK*

ACJ-NT*

ACJ-NT(see below)

J1Drive 1

CANSub-D9-pin

1 6

5 10



CABLINGFORCOMMUNICATIONS

RS-232

CANOPEN

TheSerialCableKit(ACJ-SK)isacompletecableassemblythatconnectsacomputerserialport(COM1,COM2)tothedrive.Itisusefulforamplifiersetupbeforeinstallationintoasystemorbasicdesktopoperation.SystemwiringcanbeaddedtotheJ5connectorleavingtheSub-Dconnectorandcableinplace.Or,theJ5plugwithsystemwiringcanberemovedandthecable-kitJ5plugusedwhichenablesoperationofthedrivewhilecompletelyisolatedfromthesystem.

TheconnectorkitforCANnetworking(ACJ-NK)providesthe parts to connect to a single drive. To use it, theflyingleadsmustbepokedintotheACJ-NT(seetableforpins).TheACJ-NTcomprisestheaplugfordriveJ1and also a 121 WresistorfortheCANbusterminator.Theflyingleadsareleftunattachedsothatthekitcanalsobeusedwithmultipledrives.Whenthisisdone,theCANcablesaredaisy-chainedfromdrivetodriveandtheACJ-NTisonlyusedonthelastdriveinthechain.Thecablesusedforthedaisy-chainaretheACJ-NC-10orACJ-NC-01whichhaveaJ1connectorattachedtoacablewithflyingleadsandcrimps.

Note:Flying-leadcontacts always plug into J1 connector pins 7, 8, & 9:White/Green->9

Orange->8 White/Orange->7

Note: Computers & drives are both DTE devices. RxD(ReceivedData)signalsareinputs. TxD(TransmittedData)signalsareoutputs.

ACJ-SK Connections

Sub-D 9F Pin Drive J5

RxD 2 29 TxD

TxD 3 14 RxD

Ground 5 15 Ground

ACJ-NT Connections

Drive J1 Cable Connector

FrameGnd 5 10 FrameGnd

CAN_GND 4 9 CAN_GND

121 W Terminator

Connects

3 8 CAN_L

2 7 CAN_H

CAN_V+ 1 6 CAN_V+

ACJ-NK Connections

Sub-D 9F Pin Wire Color

CAN_GND 3 White/Green

CAN_L 2 Orange

CAN_H 7 White/Orange

Note:Sub-D9FconnectionscomplywithCANCiADR-303-1

ACJ-NC-01(-10) Connections

Wire Color Drive J1 Cable Connector

FrameGnd 5 10 FrameGnd

WhiteGreen CAN_GND 4 9 CAN_GND

Orange CAN_L 3 8 CAN_L

White/Orange CAN_H 2 7 CAN_H

CAN_V+ 1 6 CAN_V+

J4Feedback

ACJ-FC-10



CABLINGFORMOTORS

ThiscableplugsintodriveJ4andconsistsofseventwisted-pairsofAWG24wire.Eachpairhasablackandcoloredconductor.Thechartaboveshowstwisted-pairsintherows.E.g.onepairgoestopins1&8,anotherpairtopins2&9,etc.Cableterminationisflyingleadsforconnectiontocustomermotorfeedbackencoder.

ACJ-FC-10FEEDBACKCABLEASSEMBLY

Color Pin ColorBlue 8 1 BlackWhite 9 2 Black

Orange 10 3 BlackBlack 11 4 RedBrown 12 5 BlackYellow 13 6 BlackGreen 14 7 Black

ACJ-FC-10FEEDBACKCABLESIN/COSENCODERCONNECTIONS(-SOPTION)

Signal Color Pin Color SignalSin(+) Blue 8 1 Black Sin(-)

Cos(+) White 9 2 Black Cos(-)Encoder X Orange 10 3 Black Encoder /X

Signal Gnd Black 11 4 Red +5 Vdc outHall V Brown 12 5 Black Hall UHall W Yellow 13 6 Black Signal Gnd

Frame Gnd Green 14 7 Black Motemp [IN5]

ACJ-FC-10FEEDBACKCABLERESOLVERCONNECTIONS(-ROPTION)

Signal Color Pin Color SignalSin(+) S3 Blue 8 1 Black Sin(-) S1

Cos(+) S2 White 9 2 Black Cos(-) S4Ref(+) R1 Orange 10 3 Black Ref(-) R2



ACJ-FC-10FEEDBACKCABLEQUADA/BENCODERCONNECTIONS

Signal Color Pin Color SignalEncoder A Blue 8 1 Black Encoder /AEncoder B White 9 2 Black Encoder /BEncoder X Orange 10 3 Black Encoder /X



ACJ-NC-10ACJ-NC-01

ACJ-NC-10ACJ-NC-01

ACJ-NT

Sub-D 9F

ACJ-SK

Drive #2CAN Node-ID = 1

(Optional)


(Optional)


(Required)

RS-232Multi-dropRules:

ThedrivewiththeRS-232connectionbe-comes a CAN bus master that sends serial commandsdown-streamtootherdrives.

Downstreamnode-IDrangeis0x01~0x7F(1~127)

Alldownstreamnode-ID’smustbeunique



MULTI-DROPRS-232

CABLINGFORCOMMUNICATIONS

TheRS-232specificationdoesnotsupportmulti-drop(multipledevice)connectionsasdoesRS-485orCAN.However,itispossibletoaddressmultipleCAN-enabledCopleydrivesfromasingleRS-232port.First,anRS-232connectionismadebetweenthecomputeranddrive#1whichmustbegivenaCANaddressof0.UndernormalCANoperation,thisaddressisnotallowedforCANnodes.But,inthiscase,drive#1willactasaCANmasterandsoaddress0isallowed.Next,CANconnectionsaremadebetweendrive#1,drive#2,andsoonindaisy-chainfashiontothelastdrive.Thelastdriveinthechainmusthavethe120WresistorbetweentheCAN_HandCAN_Lsignalstoactasaline-terminator.Finally,theCANaddressesofthedrivesdownstreamfromdrive#1aresettouniquenumbers,noneofwhichcanbe0.WhenASCIIdataisexchangedovertheserialport,thecommandsarenowprecededwiththenodeaddressofthedrive.Drive#1convertsthedataintoCANdatawhichisthensenttoallofthedrivesinthechain.ItnowappearsasthoughalldrivesinthechainareconnectedtothesingleRS-232portinthecomputerandforthatreasonwereferitasmulti-dropRS-232.

Serial Data ASCIIorBinary

format

CANopenData

Thenode-IDsshownhereareforexampleandcanbeanynumberthatfollowstheRS-232Multi-droprules(seeboxabove).

CAN Address > 0

Serial communications for CME 2 to set up drive

CANopen communicationsfor drive control

RS-232Sub-D9-pin

Sub-D 9F

ACJ-SKACJ-NK

CANopenRules:

Node-ID0isreservedforbusmaster

Slavenode-IDrangeis0x01~0x7F(1~127)

Allslavenode-ID’smustbeunique

WhenusingCME2,theCANbuscommunicationsshouldbesuspended.



SINGLE-DRIVESETUPFORCANOPENPOSITIONCONTROL

DriveoperatesasaCANnode.AllcommandsarepassedontheCANbus.CME 2isusedforsetupandconfigurationbeforeinstallationasCANnode.

ACJ-NC-10ACJ-NC-01




ACJ-NC-10ACJ-NC-01

ACJ-NT

ACJ-NK

Sub-D 9F

ACJ-SK

CANopenRules:

Node-ID0isreservedforbusmaster

Slavenode-IDrangeis0x01~0x7F(1~127)

Allslavenode-ID’smustbeunique

CANopen Communications

CANopen Master

Node-ID=0



Theslavenode-IDsshownhereare for example and can be any numberthatfollowstheCANopenrules(seeboxabove).

MULTIPLE-DRIVESETUPFORCANOPENCONTROL

Color Pin ColorN/C 6 1 N/CN/C 7 2 White/OrangeN/C 8 3 OrangeN/C 9 4 White/GreenN/C 10 5 N/C

These cables connect to amplifier J1 and have 3conductors of AWG 24 wire that are terminated incontacts that can then be inserted into pins 7~9 ofanotherACJ-NC-10to“daisychain”theCANsignalstomultipleamplifiers.

ACJ-NC-10&ACJ-NC-01CANOPEN CABLEASSEMBLIES

MODEL DESCRIPTION

ACJ-055-09 ACJ-055-09-S ACJDrive3/9A,55Vdc





ACJ-CK ConnectorKit

ACJ-SK SerialCableKit

J5Control

J2Motor

J1Power

J1CAN

J4Feedback

Notes:1. Kit contains connector shells and crimp-contacts for J1~J5.2. Crimp-contacts are not shown

ACJ-CK



STAND-ALONEOPERATION

DrivetakesdigitalpositioncommandsinPulse/Direction,orCW/CCWformatfromanexternalcontrollerorquadratureencodersignalsfromamaster-encoderforelectronicgearing.Velocityortorquecontrolcanbefrom±10V,digitalPWMsignals.CME 2usedforsetupandconfiguration.

ORDERINGGUIDEThistableshowspartstoorderfortheconfigurationonthispageSeepage21forotherpartsrequired(motor,+24Vdcpowersupply,etc.)

0 A

1 A

2 A

3 A

4 A

5 A

6 A

70"'65605550454035"'3025

Ambient Temperature (°C)

ACJ-055-18, ACJ-090-12

ACJ-055-09, ACJ-090-09

ACJ-090-03

Ou

tpu

t C

urr

ent

(Ad

c)

0 A

1 A

2 A

3 A

4 A

5 A

6 A

70"'65605550454035"'3025


ACJ-055-18, ACJ-090-12

ACJ-055-09, ACJ-090-09

ACJ-090-03

Ou

tpu

t C

urr

ent

(Ad

c)

0 A

1 A

2 A

3 A

4 A

5 A

6 A

70"'65605550454035"'3025


ACJ-055-18, ACJ-090-12

ACJ-055-09, ACJ-090-09

ACJ-090-03

Ou

tpu

t C

urr

ent

(Ad

c)

FAN



MOUNTINGANDCOOLING:CONTINUOUSOUTPUTCURRENTVS.MOUNTINGANDAMBIENTTEMPERATURE

VERTICALMOUNTINGONINFINITEHEATSINK

HORIZONTALMOUNTING,FAN-COOLED,400LFM

HORIZONTALMOUNTING,CONVECTIONCOOLING

27.2392.1

97.1170.

85.3141.

97.351.

84.9825.3

73.6146.

89.713.

58.0604.2

26.2674.2

07.481.

67.7864.3 78.1470.

12.3125.

57.1352.1

61.7938.3

84.4551.2

37.3741.

Notes1. Dimensionsshownininches[mm].2. Weight:4.8oz(0.14kg)3. Recommendedmountinghardwareispan-headSEMSscrewswithinternaltoothlockwashers,

imperialsize#4-40ormetricM3thread.4. ForCEcomplianceheatplatemustbegrounded.Whenmountedwithheatplateagainstthepanel,thescrewswillgroundtheheatplatetothepanel.Ifmountedwiththeplasticbaseagainstthepanel,thenawiremustbeusedtogroundtheheatplate.Ifthisisterminatedinaring-lug,thenthiscanbeattachedtotheheatplatewithascrewandnutofthesizerecommendedabove.

DIMENSIONS





MASTERORDERINGGUIDE

DRIVES

ACCESSORIES

Rev9.01_tu11/29/2011Note:Specificationssubjecttochangewithoutnotice

ORDEREXAMPLE:STAND-ALONE,SIN/COSQty OrderNo. Description1 ACJ-090-09-S Accelnet Micro Panel 1 ACJ-CK ConnectorKit 1 ACJ-FC-10 FeedbackCable,10ft(3m) 1 ACJ-SK SerialCableKit 1 CME2 CME 2 Program CD

ORDEREXAMPLE:CANNETWORKING,QUADA/BQty Order No. Description1 ACJ-090-09 Accelnet Micro Panel 1 ACJ-CK Connector Kit 1 ACJ-NK Network Connector Kit 1 ACJ-SK Serial Cable Kit 1 CME2 CME 2 Program CD

For each additional ACJ drive in a CAN network: 1 ACJ-NC-10 DriveJ1plugtoflyingleads,10ft(3m) or 1 ACJ-NC-01 DriveJ1plugtoflyingleads,1ft(0.3m)

ModelswiththegreenleafsymbolonthelabelareRoHScompliant.

ROHSCOMPLIANCE

ORDER NUMBER Qty Ref DESCRIPTION

ACJ-CK Connector kit with poke/crimp connectors (includes next 7 items shown below)

1 J1 Connectorhousing,CAN,10position(Samtec)

1 J2 Connectorhousing,motor,5position(MolexMini-Fit)

1 J3 Connectorhousing,power,4position(MolexMini-Fit)

1 J4 Connectorhousing,feedback,14position(Samtec)

1 J5 Connectorhousing,control,30position(Samtec)

60 J1,J4,J5 Contact,crimp,female,forAWG24~20wire(Samtec)

12 J2,J3 Contact,crimp,female,forAWG24~20wire(MolexMini-Fit)

ACJ-NK Connector kit for CANopen networking (includes next 3 items shown below)

ACJ-CV 1 J1 Cable adapter: Sub-D 9 position female to RJ-45 female

ACJ-NA-10 1 J1 CANopencableassembly:RJ-45plugtoflyingleadswithcrimps,10ft(3m)

ACJ-NT 1 J1 CANopen terminator (J1 plug with resistor)

Individual Components

ACJ-CV J1 Cable adapter: Sub-D 9 position female to RJ-45 female

ACJ-FC-10 J4 Feedbackcableassembly,10ft(3m),withflyingleads

ACJ-NA-10 J1 CANopencableassembly:RJ-45plugtoflyingleadswithcrimps,10ft(3m)

ACJ-NC-10 J1 CANopencableassembly:driveJ1plugtoflyingleadswithcrimps,10ft(3m)

ACJ-NC-01 J1 CANopencableassembly:driveJ1plugtoflyingleadswithcrimps,1ft(0.3m)

ACJ-NT J1 CANopen network teminator (J1 plug with resistor)

ACJ-SK J5 Serialcablekit:Sub-D9positionfemaletodriveJ5connector,6ft(1.8m)

CME2 CME 2™ CD (CME 2)

QUAD A/B MODELS SIN/COS MODELS DESCRIPTION

ACJ-055-09 ACJ-055-09-S Accelnet Micro Panel Servodrive 3/9 Adc @ 55 Vdc





Documents

Accelnet Micro Panel ACJ RoHS · 2020. 4. 30. · * ACJ-R models DESCRIPTION Accelnet Micro Panel is a compact, DC powered servo drive for position, velocity, and torque control of