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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-180-09 20 - 180 3 9
ACM-180-18 20 - 180 6 18
ACM-180-20 20 - 180 10 20
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547Web: www.copleycontrols.com Page 1 of 14
DIGITAL SERVO DRIVEfor BRUSHLESS/BRUSH MOTORS
CONTROL MODESIndexer, Point-to-Point, PVT
COMMAND INTERFACECANopen
COMMUNICATIONSCANopen
FEEDBACK
I/O - DIGITAL
DIMENSIONS: MM [IN]102 x 69 x 25 [4.0 x 2.7 x 1.0]
DESCRIPTIONAccelnet -
Accelnet--
Homing.
In addition to CANopen motion commands, Accelnet can operate
Accelnet
-
Phone: 877-478-3241
Phone: 877-IP-Tech1
Fax: 877-IP-Tech2
www.iptech1.com
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Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547Web: www.copleycontrols.com Page 2 of 14
DIGITAL SERVO DRIVEfor BRUSHLESS/BRUSH MOTORS
GENERAL SPECIFICATIONS
Test conditions: Load = Wye connected load: 1 mH+ 1 line-line. Ambient temperature = 25 °C. +HV = HVmax
MODEL ACM-055-18 ACM-090-09 ACM-090-24 ACM-180-09 ACM-180-18 ACM-180-20
OUTPUT POWER
INPUT POWER HVmin to HVmax +20 to +55 +20 to +90 +20 to +90 +20 to +180 +20 to +180 +20 to +180 Vdc, transformer-isolated
max
PWM OUTPUTS
BANDWIDTH
COMMAND INPUTS
CME 2
RS-232 COMMUNICATION PORTSignals RxD, TxD, Gnd
CANOPEN COMMUNICATION PORT
Protocol CANopen Application Layer DS-301 V4.01
MOTOR CONNECTIONS
RESOLVER
PROTECTIONS
I2
NOTES1.
Phone: 877-478-3241
Phone: 877-IP-Tech1
Fax: 877-IP-Tech2
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Current
Not used
[IN9]
[IN10]
Duty = 50% ±50%
<no connection>
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547Web: www.copleycontrols.com Page 3 of 14
DIGITAL SERVO DRIVEfor BRUSHLESS/BRUSH MOTORS
RS-232 COMMUNICATIONAccelnet
Accelnetserial port.
Accelnet can
CANOPEN COMMUNICATIONAccelnetCANH, CANL, and GND for connection, and
Before connecting Accelnet -
address is a combination of an internal ad-
-
CANOPEN NETWORKING
-
PC BOARD MOUNTING
Accelnet -
-
Accelnet
greater cooling capacity.
ACCELNET MODULE FEATURES
REFERENCE INPUTSAccelnet can
DIGITAL REFERENCE INPUTS
-
MECHANICAL & ENVIRONMENTAL
Vibration 2 g
g
AGENCY STANDARDS CONFORMANCE
UL 508C 3rd
PWM/DIR INPUTS
Phone: 877-478-3241
Phone: 877-IP-Tech1
Fax: 877-IP-Tech2
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+5 Vdc
[OUT1][OUT2]
1k
33 nF** (3.3 nF)
10k
10k 74HC14[IN1] *[IN2][IN3][IN4] **[IN5] ***
+5 Vdc
GP Inputs* Not programmable
*** 4.99k
100 pF
1k
10k74HC14[IN6]
[IN7][IN8][IN9][IN10]
+5 Vdc
HS Inputs
-+
37.4k
37.4k
5k
5k1.5V-
+
Ref(+)
Ref(-)
5.36k
B
A
11 [IN10] HSIn
14 [IN9] HSIn
11 [IN10] HSIn
14 [IN9] HSIn
11 [IN10] HSIn
14 [IN9] HSIn
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547Web: www.copleycontrols.com Page 4 of 14
DIGITAL SERVO DRIVEfor BRUSHLESS/BRUSH MOTORS
MOTOR CONNECTIONS
-
DIGITAL OUTPUTS
-
+30 Vdc.
are programmable.
-
-
DIGITAL INPUTSAccelnet, nine
-
are:
-mands
programmable.
GENERAL-PURPOSE INPUTS
QUAD A/B ENCODER
PULSE-DIRECTION
PULSE-UP, PULSE-DOWN
HIGH-SPEED INPUTS
ANALOG COMMAND INPUT
-
-
CAM MASTER
Phone: 877-478-3241
Phone: 877-IP-Tech1
Fax: 877-IP-Tech2
www.iptech1.com
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ENC-
+1k
1k
22 pF
22 pF
26LS32
/A, /B, /X
A, B, XHALL U, V, W
3.3 nF
74HC14
+5V
10 k
UV
W
10 k
SwitchingPowerSupply
(+)
(-)Drive
+HV
Gnd
+
BRUSHLESSMOTOR
BRUSHMOTOR
U
V
W
-
+
-
+
Sin
Cos
Ref
J2-31
J2-29
J2-30
J2-32
J2-27
J2-28
J2-3,4,21,22
R1
R2
S3
S1
S2
S4
BRUSHLESSRESOLVER
B
A
13 [IN8] HSIn
16 [IN7] HSIn
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547Web: www.copleycontrols.com Page 5 of 14
DIGITAL SERVO DRIVEfor BRUSHLESS/BRUSH MOTORS
MOTOR ENCODER
-
-
SECONDARY ENCODERA secondary incremental encoder can be
MOTOR PHASE CONNECTIONS
-
-
-
Accelnet.
Accelnet
-
-
2.5 W.
MOTOR HALL SIGNALS
-
encoder signals, and in Accelnet
POWER SUPPLIESAccelnet operates typically from transformer
-
-
application.
-
-
MOUNTING AND COOLINGAccelnet
in any orientation. Cooling options are: no
Phone: 877-478-3241
Phone: 877-IP-Tech1
Fax: 877-IP-Tech2
www.iptech1.com
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BRAKE
BRUSHLESSMOTOR
DCPower
DCPower
-330 µFMinimumper drive
+
HALLS
ENCODER
U
W
/A
/B
/X
B
X
A
W
U
NegLim
PosLim
Fuse *
32 34 36 38
31 33 35 37
J1
J2
24Motemp
GPin [IN5]
7 ±10V Ref(-)
26Hall W
23Hall V
25Hall U
28Encoder /X
27Encoder X
30Encoder /B
29Encoder B
31Encoder A
32Encoder /A
9Brake
[OUT2]
8 ±10V Ref(+)
MotorW
MotorV
MotorU
20Rev Enable[IN3] GPIn
18Fwd Enable[IN2] GPIn
21 Signal Gnd
22 Signal Gnd
19Enable Input[IN1] GPIn
10Fault Output[OUT1]
MotionController
+HVInput
+HVCom
21
22
23
24
25
26
11
12
13
14
15
16
1
2
3
4
5
6
ControllerRS-232I/O
RxD
TxD
Gnd
2
3
1 RxD
TxD
41
42
43
44
45
46
49 50Aux HVInput
Enable
CANopenBus ControllerI/O
CANH
CANL
Gnd
6
4
5 CANL
CANH
12
Fuse
+24 V
<= 12" (30 cm)from drive
capacitorMount external
+
-
DAC ±10V
* Optional
Note: Brush motorsconnect to U & VoutputsFuse *
17 [IN4] GPIn
15 [IN6] HSIn
13 [IN8] HSIn
16 [IN7] HSIn
B
A
11 [IN10] HSIn
14 [IN9] HSIn
B
A
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547Web: www.copleycontrols.com Page 6 of 14
DIGITAL SERVO DRIVEfor BRUSHLESS/BRUSH MOTORS
Quad A/B
TYPICAL DRIVE CONNECTIONS
NOTES
Note 3
Phone: 877-478-3241
Phone: 877-IP-Tech1
Fax: 877-IP-Tech2
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Signal J2 Pin Signal
RS-232 TxD 2 1 RS-232 RxD
Signal Ground 4 3 Signal Ground
CANH 6 5 CANL
±10V Ref(+) 8 7 ±10V Ref(-)
Fault [OUT1] 10 9 [OUT2] Brake
Signal Ground 12 11 [IN10] HSInput
HSInput [IN9] 14 13 [IN8] HSInput
HSInput [IN7] 16 15 [IN6] HSInput
GPInput [IN2] 18 17 [IN4] GPInput
GPInput [IN3] 20 19 [IN1] GPInput
Signal Ground 22 21 Signal Ground
GPInput [IN5] 24 23 Hall V
Hall W 26 25 Hall U
Encoder /X 28 27 Encoder X
Encoder /B 30 29 Encoder B
Encoder /A 32 31 Encoder A
langiS niP1J langiS
UrotoM2 1
UrotoM4 3
6 5
noitcennoCoN8 7
noitcennoCoN01 9
VrotoM21 11
VrotoM41 31
61 51
noitcennoCoN81 71
noitcennoCoN02 91
WrotoM22 12
WrotoM42 32
62 52
noitcennoCoN82 72
noitcennoCoN03 92
MOCVH)dnuorG(
23 13
MOCVH)dnuorG(
43 33
63 53
83 73
noitcennoCoN 04 93 noitcennoCoN
VH+24 14
VH+44 34
64 54
noitcennoCoN 84 74 noitcennoCoN
VHxuA 05 94 VHxuA
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547Web: www.copleycontrols.com Page 7 of 14
DIGITAL SERVO DRIVEfor BRUSHLESS/BRUSH MOTORS
Quad A/B
NOTES
SAMTEC SSW-125-01-S-D
J2: Signal
SAMTEC SSW-116-01-S-D
DRIVE PC BOARD CONNECTORS
Pin 1
Note 2Note 2
Phone: 877-478-3241
Phone: 877-IP-Tech1
Fax: 877-IP-Tech2
www.iptech1.com
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BRAKE
BRUSHLESSMOTOR
DCPower
DCPower
-330 µFMinimumper drive
+
HALLS
U
W
W
U
NegLim
PosLim
Fuse *
32 34 36 38
31 33 35 37
J1
J2
24Motemp
GPin [IN5]
7 ±10V Ref(-)
26Hall W
23Hall V
25Hall U
28Rslvr Ref(-)
27Rslvr Ref(+)
30Rslvr Cos(-)
29Rslvr Cos(+)
31Rslvr Sin(+)
32Rslvr Sin(-)
9Brake
[OUT2]
8 ±10V Ref(+)
MotorW
MotorV
MotorU
20Rev Enable[IN3] GPIn
18Fwd Enable[IN2] GPIn
21 Signal Gnd
22 Signal Gnd
19Enable Input[IN1] GPIn
10Fault Output[OUT1]
MotionController
+HVInput
+HVCom
21
22
23
24
25
26
11
12
13
14
15
16
1
2
3
4
5
6
ControllerRS-232I/O
RxD
TxD
Gnd
2
3
1 RxD
TxD
41
42
43
44
45
46
49 50Aux HVInput
Enable
CANopenBus ControllerI/O
CANH
CANL
Gnd
6
4
5 CANL
CANH
12
Fuse
+24 V
<= 12" (30 cm)from drive
capacitorMount external
+
-
DAC ±10V
* Optional
Note: Brush motorsconnect to U & VoutputsFuse *
17 [IN4] GPIn
15 [IN6] HSIn
13 [IN8] HSIn
16 [IN7] HSIn
B
A
11 [IN10] HSIn
14 [IN9] HSIn
B
A
BRUSHLESSRESOLVER
S3
S1
S2
S4
R1
R2
Note 3
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547Web: www.copleycontrols.com Page 8 of 14
DIGITAL SERVO DRIVEfor BRUSHLESS/BRUSH MOTORS
Resolver (-R option)
TYPICAL DRIVE CONNECTIONS
NOTES
Phone: 877-478-3241
Phone: 877-IP-Tech1
Fax: 877-IP-Tech2
www.iptech1.com
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Signal J2 PIN SIGNAL
RS-232 TxD 2 1 RS-232 RxD
4 3
CAN_H 6 5 CAN_L
8 7
10 9
12 11
14 13
16 15
18 17
20 19
22 21
24 23 Hall V
Hall W 26 25 Hall U
28 27
30 29
32 31
langiS niP1J langiS
UrotoM2 1
UrotoM4 3
6 5
noitcennoCoN8 7
noitcennoCoN01 9
VrotoM21 11
VrotoM41 31
61 51
noitcennoCoN81 71
noitcennoCoN02 91
WrotoM22 12
WrotoM42 32
62 52
noitcennoCoN82 72
noitcennoCoN03 92
MOCVH)dnuorG(
23 13
MOCVH)dnuorG(
43 33
63 53
83 73
noitcennoCoN 04 93 noitcennoCoN
VH+24 14
VH+44 34
64 54
noitcennoCoN 84 74 noitcennoCoN
VHxuA 05 94 VHxuA
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547Web: www.copleycontrols.com Page 9 of 14
DIGITAL SERVO DRIVEfor BRUSHLESS/BRUSH MOTORS
Resolver (-R option)
SAMTEC SSW-125-01-S-D
J2: Signal
SAMTEC SSW-116-01-S-D
DRIVE PC BOARD CONNECTORS
Pin 1
Note 2Note 2
NOTES
Phone: 877-478-3241
Phone: 877-IP-Tech1
Fax: 877-IP-Tech2
www.iptech1.com
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FOR NO. 6-32 [M3.5] SCREW Ø.169 [Ø4.29] HOLE
2.62[66.5]
1.31[33.3]
2.79[70.9]
4.05[102.7]
[88.4]2X
3.480.282[7.2]
[24.9]
0.025 [0.6] SQ.
0.980
0.24 +.020
6.1 +0.5-.020
-0.5
0.22 +.020
5.6 +0.5-.020
-0.5
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547Web: www.copleycontrols.com Page 10 of 14
DIGITAL SERVO DRIVEfor BRUSHLESS/BRUSH MOTORS
Accelnet
1. Install a low-ESR electrolytic capacitor not
Accelnet
-
-
as a single connection point for pc board traces.
-
traces as closely placed as possible will
Accelnet
-
PC BOARD DESIGN
DIMENSIONS
Phone: 877-478-3241
Phone: 877-IP-Tech1
Fax: 877-IP-Tech2
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0.490
2.990
1.880
0.500
0.100
(TYP)
0.100
(TYP)
0.100
(TYP)
.000
.000
82X Ø.040 ±.003 THRUAFTER PLATING
2X Ø.213 +.003/-.000 THRUAFTER PLATING
0.990
12
12
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547Web: www.copleycontrols.com Page 11 of 14
DIGITAL SERVO DRIVEfor BRUSHLESS/BRUSH MOTORS
Notes
Accelnet
PC BOARD MOUNTING FOOTPRINT
Top View
Phone: 877-478-3241
Phone: 877-IP-Tech1
Fax: 877-IP-Tech2
www.iptech1.com
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0
5
10
15
20
25
30
35
185
14510565
25
1086420
Output Current (A)
+HV (VDC)Drive Dissipation vs.Output Current & +HVfor ACM-180-xx Models
2
4
6
8
10
85
65
4525
6543210
Output Current (A)
+HV (VDC)
Drive Dissipation vs.Output Current & +HVfor ACM-055-18,and ACM-090-09
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547Web: www.copleycontrols.com Page 12 of 14
DIGITAL SERVO DRIVEfor BRUSHLESS/BRUSH MOTORS
-ternal power dissipation for different models
--
Accelnet
STEPS TO INSTALL
HEATSINK INSTALLATION
AccelNet
Transparent Carrier
POWER DISSIPATION
40 degree ambient
40 degree ambient
Phone: 877-478-3241
Phone: 877-IP-Tech1
Fax: 877-IP-Tech2
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Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547Web: www.copleycontrols.com Page 13 of 14
DIGITAL SERVO DRIVEfor BRUSHLESS/BRUSH MOTORS
HEATSINK OPTIONS
DRIVE
CONNECTOR
1.35AMPLIFIERDRIVE
KNISTAEHON W/C°
NOITCEVNOC 2.6
)MFL003(RIAECROF 1.2
NO HEATSINK
DRIVE
CONNECTOR
2.04
HEATSINK
DRIVE DRIVE
KNISTAEHLH-MCA W/C°
NOITCEVNOC 0.4
)MFL003(RIAECROF 9.0
DRIVE
CONNECTOR
2.65
STANDARDHEATSINK
AMPLIFIER DRIVE
KNISTAEHSH-MCA W/C°
NOITCEVNOC 2.2
)MFL003(RIAECROF 5.0
connectors and standoffs
Phone: 877-478-3241
Phone: 877-IP-Tech1
Fax: 877-IP-Tech2
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Serial # 12345678
Input
Model No: ACM-055-18
Made in U.S.A.
OutputAmpsVolts Volts Amps20-55 20 1855 6pk. pk.max. cont.
CopleyControlsCorp.
PARTNUMBER DESCRIPTION
ACM-055-18 Accelnet™ Servodrive 6/18 Adc @ 55 Vdc
ACM-090-09 Accelnet™ Servodrive 3/9 Adc @ 90 Vdc
ACM-090-24 Accelnet™ Servodrive 12/24 Adc @ 90 Vdc
ACM-180-09 Accelnet™ Servodrive 3/9 Adc @ 180 Vdc
ACM-180-18 Accelnet™ Servodrive 6/18 Adc @ 180 Vdc
ACM-180-20 Accelnet™ Servodrive 10/20 Adc @ 180 Vdc
MDK-180-01 Accelnet™ Development Kit
MDK-CK Accelnet™ Development Kit Connector Kit
ACM-HL Accelnet™ Module Heatsink Kit, Low-profile
ACM-HS Accelnet™ Module Heatsink Kit, Standard
CME2 CME 2™ Drive Configuration Software CD-ROM
SER-CK Serial Cable Kit
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547Web: www.copleycontrols.com Page 14 of 14
DIGITAL SERVO DRIVEfor BRUSHLESS/BRUSH MOTORS
ORDERING GUIDE
ORDERING INSTRUCTIONS
Connector Kit
1 ACM-090-09 Accelnet
1 MDK-180-01 Accelnet
1 SER-CK Serial Cable Kit
NOTES-
RoHS COMPLIANCE
Phone: 877-478-3241
Phone: 877-IP-Tech1
Fax: 877-IP-Tech2
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