Copley Controls Corp. Accelnet Micro Module User manual

Copley Controls Corp., 20 Dan Road, Canton, MA 02021, USA Tel: [phone] Fax: [phone]
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™
PRELIMINARY
Accelnet Micro Module
CANopen or Standalone
Brushless or Brush Servoamplifier
LEDOM cI pI CDV
60-550-KCA 3 6 55
40-090-KCA 2 4 09
NEW!
Module via an RS-232 link. Auto-tuning algorithms in CME 2™
slash set up times for fast system commissioning by automating
motor phasing, and current-loop tuning. A powerful oscilloscope
and waveform generator display amplifier performance for fine
tuning. Amplifier configurations are saved in non-volatile flash
memory. OEM’s can inventory one part, and configure amplifiers
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 14 kHz, position and velocity loops at 2.8 kHz and
PWM ripple at 28 kHz.
All amplifier circuits are DC coupled and operate from unregu-
lated transformer-isolated linear DC power supplies, or regulated
switching power supplies.
The PC-board mounting package is suitable for high-density,
multi-axis installations in equipment where space is at a premium,
and wiring must be minimized.
DESCRIPTION
Accelnet™ Micro Module is a digital servoamplifier that com-
bines CANopen networking with 100% digital control of brush or
brushless motors in a PC board mounting package with power
options to 3 Adc continuous and 6 Adc peak from 20 to 90 Vdc
power supplies.
Accelnet™ Micro Module operates as a Motion Control Device us-
ing 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 +24 Vdc.
Used as a stand-alone amplifier, 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.
Amplifier commissioning is facilitated by CME 2™ software op-
erating under Windows® communicating with Accelnet™ Micro
• PCB Mount: 1.6 x 2.5 in
• CANopen Distributed Drive
PVT, Profile, Homing
Powerful Software Tools
• Stand-Alone Operation
Stepper Inputs: Step/Dir, CU/CD
Torque/Velocity Control
PWM Digital
±10 V Analog
Electronic gearing
Indexing
• Field-Oriented Control for
Optimal Speed / Torque
• Auto-Tuning and Auto-Phasing
• Feedback
Digital Encoder and Halls
Dual encoder operation
• Programmable I/O:
10 inputs, 3 outputs

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™
PRELIMINARY
Accelnet Micro Module
CANopen or Standalone
Brushless or Brush Servoamplifier
RS-232 COMMUNICATION
Accelnet™ is configured via a three-wire,
full-duplex RS-232 port that operates
from 9,600 to 115,200 Baud. CME 2™
software provides a graphic user in-
terface (GUI) to set up all of Accelnet™
features via a computer serial port.
The RS-232 port is used for amplifier set
up and configuration. Once configured,
Accelnet™ can be used in stand-alone
mode taking digital position, velocity, or
torque commands from a controller, or
as a networked amplifier on a CANopen
bus.
CANopen COMMUNICATION
Accelnet™ uses the CAN physical layer
signals CANH, CANL, and GND for
connection, and CANopen protocol for
communication.
Before connecting Accelnet™ to the CAN
network, it must be assigned a CAN ad-
dress. This is done via the RS-232 port,
which is also used for general amplifier
setup. The CAN address is a combina-
tion of an internal address stored in flash
memory, and digital inputs which have
been configured to act as CAN address
bits. A maximum of 128 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.
When inputs are used for the CAN ad-
dress 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 amplifier CAN address.
ACCELNET™ FEATURES
• CANopen NETWORKING
Based on the CAN physical layer, a
robust, two-wire communication bus
originally designed for automotive use
where low-cost and noise-immunity are
essential, CANopen adds support for
motion-control devices and command
synchronization. The result is a highly
effective combination of data-rate and
low-cost for multi-axis motion control
systems. Device synchronization en-
ables multiple axes to coordinate moves
as if they were driven from a single
control card.
• FIELD-ORIENTED CONTROL
Unlike conventional sinusoidal com-
mutation which controls only the am-
plitude of the motor phase currents,
Field-Oriented 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 space-vector modulation gives
higher motor speeds from the same
power supply.
• PC BOARD MOUNTING
The small size, and cooling options
enable Accelnet™ to be integrated into
machinery with fewer cables and con-
nections, and closer to the motor when
required. Optional convection heatsinks
provide two choices of cooling capacity.
The Accelnet™ case has tabs molded-in
that accept Socket-A compatible chip-
coolers which have integral fans to pro-
vide even greater cooling capacity.

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™
PRELIMINARY
Accelnet Micro Module
CANopen or Standalone
Brushless or Brush Servoamplifier
GENERAL SPECIFICATIONS
Test conditions: Load = Wye connected load: 1 mH+ 1Ω line-line. Ambient temperature = 25 °C. +HV = HVmax
MODEL ACK-055-06 ACK-090-04
OUTPUT POWER
Peak Current 6 (4.24) 4 (2.83) Adc (Arms, sinusoidal)
Peak time 1 1 Sec
Continuous current 3 (2.12) 2 (1.41) Adc (Arms, sinusoidal)
Peak Output Power 0.99 0.81 kW
Continuous Output Power 0.33 0.27 kW
INPUT POWER
HVmin to HVmax +20 to +55 +20 to +90 Vdc,transformer-isolated
Ipeak 6.6 4.4 Adc (1 sec) peak
Icont 3.3 2.3 Adc continuous
Aux HV +20 to HVmax 2.5 W Optional keep-alive power input when +HV is removed
PWM OUTPUTS
Type MOSFET 3-phase inverter, 14 kHz center-weighted PWM carrier, space-vector modulation
PWM ripple frequency 28 kHz
BANDWIDTH
Current loop, small signal 2.5 kHz typical, bandwidth will vary with tuning & load inductance
HV Compensation Changes in HV do not affect bandwidth
Current loop update rate 14 kHz (71.4 µs)
Position & Velocity loop update rate 2.8 kHz (357 µs)
REFERENCE INPUTS
CANopen bus Homing, Profile Position, Profile Velocity, Profile Torque and Interpolated Position modes
Digital position reference Pls/Dir, CW/CCW Stepper commands (2 MHz maximum rate)
Quad A/B Encoder 2 Mline/sec, (8 Mcount/sec after quadrature)
Analog torque & velocity reference ±10 Vdc, 5 kΩ differential input impedance
Digital torque & velocity reference (Note 1) PWM , Polarity PWM = 0~100%, Polarity = 1/0
PWM PWM = 50% +/-50%, no polarity signal required
PWM frequency range 1 kHz minimum, 100 kHz maximum
PWM minimum pulse width 220 ns
DIGITAL INPUTS (NOTE 1)
Number 10
All inputs 74HC14 Schmitt trigger operating from +5 Vdc with RC filter on input, 10 kΩ pull-up to +5 Vdc
RC time-constants assume active drive on inputs and do not include 10 kΩ pull-ups.
Logic levels Vin-LO < 1.35 Vdc, Vin-HI >3.65 Vdc, Maximum input voltage = +10 Vdc
Enable [IN1] 1 dedicated input for amplifier enable, active level programmable, 33 µs RC filter
GP [IN2,3,4,5] 4 General Purpose inputs with 33 µs ( 22 µs for [IN5] ) RC filter, programmable functionst
HS [IN6,7,8,9,10] 5 High-Speed Inputs inputs with 100 ns RC filter, programmable functions
DIGITAL OUTPUTS
Number 3
Type Current-sinking MOSFET open-drain output with 1 kΩ pullup to +5 Vdc through diode
100 mAdc sink max, +30 Vdc max
Functions Programmable with CME 2™
Active Level Programmable to either HI (off, pull-up to +5 Vdc) or LO (on, current-sinking) when output is active
RS-232 COMMUNICATION PORT
Signals RxD, TxD, Gnd
Mode Full-duplex, serial communication port for amplifier setup and control, 9,600 to 115,200 baud
Protocol ASCII or Binary format
Multi-drop ASCII interface from single RS-232 port to control multiple amplifiers (Xenus, Accelnet, Stepnet)
Amplifier with serial connection acts as master for bi-directional data flow to other amplifiers
using CAN connections in daisy-chain from amplifier to amplifier
CANopen COMMUNICATION PORT
Signals CANH, CANL, Gnd. 1Mbit/sec maximum.
Protocol CANopen Application Layer DS-301 V4.01
Device DSP-402 Device Profile for Drives and Motion Control
DC POWER OUTPUT
+5 Vdc 250 mA maximum. Directly connected to amplifier internal circuits.
L-C filter required to isolate internal and external circuits
MOTOR CONNECTIONS
Motor U,V,W Amplifier outputs to 3-phase brushless motor, Wye or delta connected
For DC brush motor use outputs U & V
Encoder Quadrature encoder, differential outputs (A,/A,B,/B,X,/X), 5 Mlines/sec (20 Mcount/sec after quadrature)
Halls Hall signals (U,V,W)
Motemp Motor temperature sensor or switch
PROTECTIONS
HV Overvoltage +HV > +56, +91 Vdc Amplifier outputs turn off until +HV is < overvoltage (for 55, 90 Vdc models)
HV Undervoltage +HV < +20 Vdc Amplifier outputs turn off until +HV >= +20 Vdc
Amplifier over temperature PC Board > 70 °C. Programmable as latching or temporary fault
Short circuits Output to output, output to ground, internal PWM bridge faults
I2T Current limiting Programmable: continuous current, peak current, peak time
Latching / Non-Latching Programmable response to errors
Notes
1. [IN1] is not programmable and always works as amplifier Enable. Other digital inputs are programmable.

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™
PRELIMINARY
Accelnet Micro Module
CANopen or Standalone
Brushless or Brush Servoamplifier
TYPICAL DRIVER CONNECTIONS
NOTES
1. [IN1] always functions as Drive Enable with programmable active level
[IN2]~[IN10] have programmable functions and active level
2. HS inputs [IN6,7,8,9,10] are for high-speed signals and have 100 ns RC filters.
GP inputs [IN1,2,3, & 4] have 33 µs filters, [IN5] has a 22 µs filter.
RC filter time constants apply when inputs are driven by active sources and do not include the 10 kΩ pull-up resistors.

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™
PRELIMINARY
Accelnet Micro Module
CANopen or Standalone
Brushless or Brush Servoamplifier
DIMENSIONS
Notes
1. Dimensions shown in inches (mm).
ACK-055-06 Dissipation (W)
Iout (Adc) HV (Vdc)
15 35 55
02.4 2.3 2.4
12.5 2.5 2.6
22.9 2.9 3.1
33.6 3.5 3.9
44.6 4.5 4.9
56.0 5.7 6.2
67.8 7.4 7.9
ACK-090-04 Dissipation (W)
Iout (Adc) HV (Vdc)
30 60 90
02.3 2.4 2.7
12.5 2.7 3.1
23.0 3.3 3.7
33.7 4.1 4.7
44.9 5.3 6.1
Thermal Resistance (°C/W)
Convection 15
Forced Air, 100 LFM 9
Forced Air, 200 LFM 7
COOLING REQUIREMENTS
From charts below, find power dissipation based on amplifier model, HV,
and output current. With ambient temperature known, calculate required
thermal resistance. Select cooling method that gives a thermal resis-
tance that is equal to, or lower than the calculated value.
Example:
ACK-055-06, HV = 55 Vdc, Iout = 3A
Power dissipation is 3.9 W
Amplifier thermal shutdown is at 90 °C, ambient is 45 °C
Thermal resistance required = (90 - 45) / 3.9 = 11.5
Convection cooling gives 15 °C/W, so forced-air is required.

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™
PRELIMINARY
Accelnet Micro Module
CANopen or Standalone
Brushless or Brush Servoamplifier
DIGITAL TORQUE & VELOCITY INPUTS
RS-232 COMMUNICATION
Accelnet Micro Module is configured via a three-wire, full-duplex RS-232 port that operates
from 9,600 to 115,200 Baud. CME 2™ software provides a graphic user interface (GUI) to set
up all of Accelnet Micro Module features via a computer serial port. Once configured, Accelnet
Micro Module can be used in stand-alone mode, or as a networked driver on a CAN bus.
CME 2™ SOFTWARE
Driver setup is fast and easy using CME 2™ software. All of the operations needed
to configure the driver are accessible through this powerful and intuitive program.
Motor data can be saved as .ccm files. Driver data is saved as .ccx files that contain all driver
settings plus motor data. This eases system management as files can be cross-referenced to
ampifiers. Once an driver configuration has been completed systems can be replicated easily
with the same setup and performance.
CANopen COMMUNICATION
Accelnet Micro Module uses the CAN physical layer signals CANH, CANL, and GND for
connection, and CANopen protocol for communication. The electrical interface is a TJA1050
high-speed CAN transceiver.
Before connecting Accelnet Micro Module to the CAN network, it must be assigned a CAN
address. This can be done via the RS-232 port, or by using logic inputs for the CAN address
bits. The CAN address is a combination of an internal address stored in flash memory, and an
address derived from the logic inputs. A maximum of 127 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.
When 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 ad-
dress in flash memory is the driver CAN address.
STAND-ALONE OPERATION
Accelnet Micro Module can operate with external motion controllers in torque, velocity, or position mode.
Torque (current, force) and velocity modes accept command inputs in either analog ±10V format, or as digital PWM &
Direction signals.
When operating as a position controller command signal are digital in either Pulse/Direction or CU/CD (Count-UP/Count-
Down) format. Quadrature encoder signals can also be used. In all cases, the ratio of input position commands to motor
encoder feedback is programmable to match controller position units to actual motor travel. If using an encoder as posi-
tion input this feature also enables electronic gearing.
The PWM signal duty-cycle
controls magnitude, and the DC
signal controls polarity.
ANALOG TORQUE & VELOCITY INPUTS
A ±10V analog signal controls
motor current (torque, force).

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™
PRELIMINARY
Accelnet Micro Module
CANopen or Standalone
Brushless or Brush Servoamplifier
STEP/DIRECTION INPUTS COUNT-UP/COUNT-DOWN INPUTS QUAD A/B ENCODER INPUTS
STAND-ALONE MODE POSITION-CONTROL INPUTS
Accelnet Micro Module works with motion controllers that output pulses to command position. These formats are supported:
Step/Direction
CU/CD
A/B Quadrature Encoder
In Step/Direction mode, a pulse-train controls motor position, and the direction is controlled by a DC level at the Direction input.
CU/CD (Count-Up/Count-Down) signals command the motor to move CW or CCW
depending on which input the pulse-train is directed to.
The motor can also be operated in an electronic gearing mode by connecting the inputs to a quadrature encoder on another motor.
In all cases the ratio between input pulses and motor revolutions is programmable.
MOTOR ENCODER
Six dedicated inputs accept the encoder A,
B, and X (index) signals. Encoders with dif-
ferential line-driver outputs must be used.
MOTOR TEMPERATURE SENSOR
Digital input [IN5] is programmable for use
with a motor overtemperature switch. The
input should be programmed as a pull-up to
+5 Vdc if the motor switch is grounded.
MOTOR BRAKE
Digital outputs [OUT1,2,3] can be pro-
grammed to power a motor-mounted brake.
These brake the motor when they are in
an unpowered state and must have power
applied to release. This provides a fail-safe
function that prevents motor motion if the
system is in an unpowered (uncontrolled)
state. Because brakes are inductive loads,
an external flyback diode must be used
to control the coil voltage when power is
removed. The timing of the brake is pro-
grammable.
MOTOR PHASE CONNECTIONS
The driver output is a dual H-bridge that
converts the DC buss voltage (+HV) into
sinusoidal voltage waveforms that drive the
motor phases. Cable should be sized for the
continuous current rating of the driver. Motor
cabling should use twisted, shielded conduc-
tors for CE compliance, and to minimize
PWM noise coupling into other circuits.
MOTOR CONNECTIONS
Motor connections are of three types: phase, Halls, and encoder. The phase connections carry the amplifier 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 com-
mutation.

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™
PRELIMINARY
Accelnet Micro Module
CANopen or Standalone
Brushless or Brush Servoamplifier
DIGITAL OUTPUTS
Digital outputs [OUT1~2] are open-drain MOSFETs with 1 kΩ pull-up resistors in series
with a diode to +5 Vdc. They can sink up to 100 mAdc from external loads operating from
power supplies to +30 Vdc. 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 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. When driving induc-
tive loads such as a relay, an external fly-back diode is required. A diode in the output is for
driving PLC inputs that are opto-isolated and connected to +24 Vdc. The diode prevents
conduction from +24 Vdc through the 1 kΩ resistor to +5 Vdc in the drive. This could turn
the PLC input on, giving a false indication of the drive output state.
DIGITAL INPUTS
There are ten digital inputs to Accelnet Micro Module, nine of which can be programmed to a selection of functions. The Enable input
which controls the on/off state of the PWM outputs is fixed to [IN1] as a safety measure so that a driver cannot be programmed in such
a way that, once installed, it could not be shut down by the controller. Two types of RC filters are used: GP (General-purpose) and HS
(High Speed). The input time-constants apply when driven by active sources (CMOS, TTL, etc). All inputs have 10 kΩ pull-up resistors to
+5 Vdc. Input functions such as Step/Direction, CountUp/CountDown, Quad A/B must be wired to inputs having the HS filters, and inputs
with the GP filters can be used for general purpose logic functions, limit switches, and the motor temperature sensor. In addition to the
selection of functions, the active level for each input is individually programmable.
GP input functions HS input functions
• Drive enable • Step/Direction, or CountUp/CountDown step motor control commands
• CAN address • Quad A/B master encoder position commands
• Positive Limit switch • Motor-mounted feedback encoder
• Negative Limit switch
• Home switch
• Driver Reset
• Motor temperature sensor input
• Motion abort
Driver reset is programmable to take place on transitions of the input and is programmable to 1/0 or 0/1. The motor temp sensor function
will disable the driver if a switch in the motor opens or closes when the motor overheats.
GP INPUTS 1,2,3,4,5 HS INPUTS 6,7,8,9,10
+5 VDC OUTPUT
The amplifier internal +5 Vdc power is made available at J1-20. The output current is 250
mA maximum. This power should be used with care as there is no linear regulator between
the amplifier internal power supply and the external circuits as in other Copley amplifiers
with +5 Vdc outputs. When using this power an L-C filter is required. This consists typically
of a ferrite-core inductor and an electrolytic capacitor. A typical value for the capacitor would
be 4.7 µF. The inductor can be 50~150 µH and should be rated for DC current of 30 mA
minimum. The capacitor should have a return path to amplifier power ground (J1-17, 18).

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™
PRELIMINARY
Accelnet Micro Module
CANopen or Standalone
Brushless or Brush Servoamplifier
POWER SUPPLIES
Accelnet Micro Module operates typically from transformer-isolated, unregulated DC power
supplies. These should be sized such that the maximum output voltage under high-line and
no-load conditions does not exceed the drivers maximum voltage rating. Power supply rating
depends on the power delivered to the load by the driver.
Operation from regulated switching power supplies is possible if a diode is placed between
the power supply and driver to prevent regenerative energy from reaching the output of the
supply. If this is done, there must be external capacitance between the diode and driver.
The minimum value required is 330 µF per driver mounted no more than 12 inches from
the driver.
AUX HV (Optional)
CANopen communications can be maintained when +HV is turned off by using the Aux HV input. The voltage has the same range as +HV,
and can be greater or less than +HV.
In operation, the Aux HV keeps the driver logic and control circuits active so it is always visible as a node on a CAN bus. The current-
position data is maintained making ‘homing’ unnecessary after system power is re-enabled. If Accelnet Micro Module is operating as a
stand-alone driver, Aux HV is not necessary but can be useful if the controller is monitoring driver digital outputs.
GROUNDING CONSIDERATIONS
Power and control circuits share a common circuit-ground (P1-3,4,27,33, 34, and J1-13, 14). Input logic circuits are referenced to Signal
Ground, as are power GND, digital outputs, and encoder. For this reason, driver Gnd terminals should connect to the users’ common
ground system so that signals between driver and controller are at the same common potential, and to minimize noise. The system ground
should, in turn, connect to an earthing conductor at some point so that the whole system is referenced to “earth”.
Because current flow through conductors produces voltage-drops across them, it is best to connect the driver HV GND to system earth,
or circuit-common through the shortest path, and to leave the power-supply floating. In this way, the power supply (-) terminal connects
to ground at the driver HV Return terminals, but the voltage drops across the cables will not appear at the driver ground, but at the power
supply negative terminal where they will have less effect.
For CE compliance driver cables should be shielded. Motor phase currents are balanced, but currents can flow between the PWM outputs,
and the motor cable shield.
Signals from controller to driver are referenced to +5 Vdc,
and other power supplies in user equipment. These power
supplies should also connect to system ground and earth at
some point so that they are at same potential as the driver
circuits. The final configuration should embody three cur-
rent-carrying loops. First, the power supply currents flowing
into and out of the driver at the +HV and Gnd pins on J1.
Second the driver outputs driving currents into and out of
the motor phases, and motor shield currents circulating
between the U, V, and W outputs and HV common. And,
lastly, logic and signal currents connected to the driver
control inputs and outputs.For CE compliance driver cables
should be shielded. Motor phase currents are balanced,
but currents can flow between the PWM outputs, and the
motor cable shield.
Signals from controller to driver are referenced to +5 Vdc,
and other power supplies in user equipment. These power
supplies should also connect to system ground and earth at
some point so that they are at same potential as the driver
circuits. The final configuration should embody three cur-
rent-carrying loops. First, the power supply currents flowing
into and out of the driver at the +HV and Gnd pins on J1.
Second the driver outputs driving currents into and out of
the motor phases, and motor shield currents circulating
between the U, V, and W outputs and HV common. And,
lastly, logic and signal currents connected to the driver
control inputs and outputs.

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™
PRELIMINARY
Accelnet Micro Module
CANopen or Standalone
Brushless or Brush Servoamplifier
DRIVER PC BOARD CONNECTORS
J1: +HV, Gnd, & Motor Outputs
Dual row, 0.1” centers
22 position female header
Samtec: SSW-111-01-S-D
P1: Signal
Dual row, 0.1” centers
34 position female header
Samtec: SSW-117-01-S-D
Driver viewed from above looking down on the pc
board on which it is mounted.
Pins shown in grey are unused locations in PC board
socket
Pin 1
langiS niP1J langiS
WrotoM 2 1 WrotoM
4 3
VrotoM 6 5 VrotoM
8 7
UrotoM 01 9 UrotoM
21 11
nommocVH 41 31 nommocVH
61 51
VH+ 81 71 VH+
02 91
xuAVH+ 22 12
SIGNALS P1 Pin SIGNALS
Ref (-) 2 1 Ref (+)
Signal ground 4 3 Signal ground
[IN2] 6 5 [IN1]
[IN4] 8 7 [IN3]
[IN6] 10 9 [IN5]
[IN8] 12 11 [IN7]
[IN10] 14 13 [IN9]
[OUT1] 16 15 [OUT2]
[OUT3] 18 17 Hall U
Hall V 20 19 Hall W
Encoder /X 22 21 Encoder X
Encoder /B 24 23 Encoder B
Encoder /A 26 25 Encoder A
+5 Vdc @ 250 mA 28 27 Signal Ground
CANH 30 29 CANL
TxD 32 31 RxD
Signal ground 34 33 Signal Ground
NOTES
1. Grey-shaded signal are N.C. (No Connection)
2. Signals are grouped for current-sharing on the power connector. When laying out pc board art-
works, all pins in groups having the same signal name must be connected.
3. Do not connect to this pin. Function is reserved.
Pin 22 Pin 34
Top View

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™
PRELIMINARY
Accelnet Micro Module
CANopen or Standalone
Brushless or Brush Servoamplifier
PC BOARD MOUNTING FOOTPRINT
NOTES
1. J1 pins with the same signal name must
be connected for current-sharing.
2. To determine copper width and thickness
for J1 signals refer to specification IPC-
2221. (Association Connecting Electronic
Industries, http://www.ipc.org)
3. Standoffs should be connected to
etches on pc board that connect to frame
ground for maximum noise suppression
and immunity.
Top View
Dimensions in inches (mm)
Mounting Hardware:
Qty Description Mfgr Part Number Remarks
1 Socket Strip Samtec SSW-111-01-S-D J1
1 Socket Strip Samtec SSW-117-01-S-D P1
2 Standoff 4-40 X 3/8” PEM KFE-440-12-ET
PC BOARD DESIGN
The peak voltage between adjacent traces will
be equal to +HV. Trace width and copper plating
thickness should support the driver peak and
continuous output current ratings.
Printed circuit board layouts for Accelnet
Micro Module drivers should follow some simple
rules:
1. Install a low-ESR electrolytic capacitor not
more than 12 inches from the driver. PWM driv-
ers produce ripple currents in their DC supply
conductors. Accelnet Micro Module drivers do not
use internal electrolytic capacitors as these can
be easily supplied by the printed circuit board.
In order to provide a good, low-impedance path
for these currents a low-ESR capacitor should
be mounted as close to the driver as possible.
330 µF is a minimum value, with a voltage rating appropriate to the driver model and power supply.
2. Connect J1 signals (U, V, & W outputs, +HV, and +HV Common) in pin-groups for current-sharing. The signals on J1 are all higher-cur-
rent types. To carry these currents (up to 6 Adc peak) the pins of J1 must be used in multiples to divide the current and keep the current
carrying capacity of the connectors within specification. The diagram on page 9 shows the pin groups that must be inter-connected to act
as a single connection point for pc board traces.
3. Follow IPC-2221 rules for conductor thickness and width of J1 signals.
Minimum trace width, and copper plating thickness should follow industry-standards (IPC-2221). The width and plating should depend on
the model of driver used, the maximum voltage, and maximum current expected to be used for that model. Power supply traces (+HV,
+HV Common) should be routed close to each other to minimize the area of the loop enclosed by the driver 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. Phase outputs (U, V, & W) should be routed as closely as possible to form a balanced transmission path. Keeping
these traces as closely placed as possible will again minimize noise radiation due to motor phase currents. Accelnet Micro Module circuit
grounds are electrically common, and connect internally. However, the J1 signals carry high currents while the grounds on P1 (signal
ground) carry low currents. So, P1 signals should be routed away from, and never parallel to the signals on J1.
MOUNTING AND COOLING
Accelnet Micro Module mounts on PC boards
using two, dual-row, 0.1” female headers. These
permit easy installation and removal of the driver
without soldering. Threaded standoffs swaged
into the PC board provide positive retention of
the driver and permit mounting in any orientation.
Cooling is by convection, or external fan-supplied
forced air.

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PRELIMINARY
Development Kit
™
Accelnet
Micro module
RS-232 CONNECTION
The RS-232 port is used to configure the amplifier for stand-alone applications, or
for configuration before it is installed into a CANopen network. CME 2™ software
communicates with the amplifier over this link and is then used for complete amplifier
setup. The CAN address that is set by the rotary switch can be monitored, and an
address offset programmed as well. This will add to the switch address to produce a
working CAN address that can be from 1 to 127.
The RS-232 connector, J4, is a modular type that uses a 6-position plug, four wires
of which are used for RS-232. A connector kit is available (SER-CK) that includes
the modular cable, and an adaptor to interface this cable with a 9-pin RS-232 port
on a computer.
CAN CONNECTIONS
Connectors J6 & J7 are Sub-D male and female 9-position types that conform to the CAN DS-102 Physical Layer specification. The male-
female configuration supports a single cable type with male and female connectors that can be daisy-chained from device to device along
a CANopen network.
Only the CAN_H, CAN_L, and CAN_GND signals are used. The CAN_GND is connected to the circuit ground on the development kit.
This ground is also shared by the amplifier power supply, accessory +5V (for encoders), and the RS-232 link. Other DS-102 signals are
wired-through for use by products that support them.
The table below lists the signals and pins on J6 & J7. Signals in ( ) are those that have no connection on the development kit and which
are connected pin-to-pin between J6 & J7.
NIP SLANGIS
1 )
devreseR(
2 L
_NAC
3 D
NG_NAC
4 )
devreseR(
5 )
DLHS_NAC(
6 d
nuorglangiS
7 H
_NAC
8 )devreseR(
9 )
devreseR(
Important!
Install JP4 ONLY if
development kit is the
LAST node on a CAN
bus
CAN Bus
Connector
Signals
*
* These signals
connect through
from J6 to J7 with
no connection to
Development Kit PC
board.
DESCRIPTION
The Development Kit provides mounting and connectivity for a Accelnet
Micro Module amplifier. Solderless jumpers ease configuration of inputs
and outputs to support their programmable functions. Switches can be
jumpered to connect to digital inputs 1~5 so that these can be toggled
to simulate equipment operation. Two LED’s provide status indication
for the digital outputs. To simplify cabling to external controllers, the
encoder signals from the motor are connected to pins on the signal
connector J3. Dual CAN bus connectors make daisy-chain connections
possible so that other CANopen devices such as Copley’s Stepnet or
Xenus amplifiers can easily be connected to build mixed stepper and
servo multi-axis systems.
*
*
*
*

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PRELIMINARY
Development Kit
Accelnet
Micro module
™
CAN ADDRESS SELECTION
Rotary switch SW7, labeled “CAN ADDR” connects to IN7, IN8, IN9, and IN10 of the amplifier. These are programmable inputs which
default to CAN address bits. The switch will select CAN addresses 0x01~0x0F (dec 1~15) . Address 0 is reserved for network manage-
ment devices. The CAN standard permits up to 127 devices, so if the amplifier must have a address beyond 0x0F(dec 15), this is done
by programming an address offset into the amplifier before it is installed into a CAN environment or by programming logic inputs as CAN
Note: To use inputs 7,8,9, or 10 as logic inputs
remove jumpers shown at left to disconnect SW6
from logic inputs.
LOGIC OUTPUTS
There are two logic outputs that can drive controller logic inputs
or relays. If relays are driven, then flyback diodes must be con-
nected across their terminals to clamp overvoltages that occur
when the inductance of the relay coil is suddenly turned off.
As delivered, these outputs drive two LED’s. Jumpers JP1-D, &
E connect these LED’s to logic outputs. These are N-channel
MOSFET’s which sink current from loads connected to positive
voltages. When the outputs are ON (Active Low), they ground
the cathode of the led’s which then turn on as they are con-
nected to the +5Vdc supply via current-limiting resistors.
The logic outputs also connect to signal connector J3. If they
are used to drive external loads >+5Vdc, the LED jumpers
must be removed.
LOGIC INPUTS
There are has 10 logic inputs. [IN1] is dedicated to the amplifier
enable function, the other inputs are programmable.
The development kit is equipped with switches that can be
used to control logic inputs 1~5. To use these switches jump-
ers JP2-A,B,C,D, and E must be installed.
If connecting these logic inputs to external equip-
ment, the same jumpers must be removed so that the
switches cannot short input signals to ground.
Logic
Inputs
CAN Address
Switch

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PRELIMINARY
Development Kit
™
Accelnet
Micro module
POWER SUPPLIES
+HV
Amplifier main power, +HV, is typically
supplied by unregulated DC power sup-
plies. These must be isolated from the
mains, and all circuits should be grounded
to earth at some point. The +HV supply
connects to J1. For good wiring practice,
the +HV wires should be twisted together
for noise suppression, and the power
supply should not be grounded. Doing this
ensures that the higher currents flowing in
these conductors will not flow through any
circuit grounds where they might induce
noise.
During deceleration, mechanical energy in
the motor and load is converted back into
electrical energy that must be dissipated
as the motor comes to a stop. While some
of this is converted to heat in the motor
windings, the rest of it will flow through
the amplifier into the power supply. An
external storage capacitor should be used
if the load has appreciable inertia, and
this should be sized such that adding the
undissipated energy from the motor will not
raise the voltage beyond the point at which
the amplifier shuts down. When this is not
possible, an external ‘dumper’, or regen-
erative energy dissipater must be used
which acts as a shunt regulator across the
+HV and Gnd terminals.
AUX HV
Not required for stand-alone operation,
an Aux HV power supply provides power
for the drive control circuits so that CAN
bus communications with the drive can be
maintained when the +HV supply is turned
off. This might occur as a result of an
Emergency Off condition, or for machine
operator intervention. The Aux HV supply
does not power the PWM stage that drives
the motor, but keeps the drive controller
enabled as well as inputs and outputs. The
Aux HV supply must be less than the +HV
supply voltage and greater than the drive
minimum +HV ( > 20 Vdc).
ENCODER +5 VDC
Encoder power must be supplied from an
external +5 Vdc supply with sufficient cur-
rent to drive the motor encoder. Typically
these will be 250 mA or less. In cases
where an encoder uses a separate inter-
polater module to process the data, current
demand may be higher. Consult the motor
encoder literature to be sure that the +5
Vdc supply can handle the encoder power
requirements.
SWITCHING POWER SUPPLIES
Switching power supplies can also be used
for +HV power. Unlike unregulated sup-
plies, these cannot accept reverse energy
flow, so an isolating diode must be placed
between the power supply and J1-1 to
block current flow back into the power sup-
ply. When this is done, an external storage
capacitor must be used across J1-1 & J1-2
because the capacitor on the Development
Kit board is only for ripple-current control,
and cannot store enough energy to handle
regeneration.
GROUNDING
An earthing ground connection can be
made via a second conductor to J1-2 that
connects to the equipment frame ground.
ENCODER CONNECTIONS
The development kit has a 26C32 differential line receiver for
the motor encoder inputs. Differential-output encoders are pre-
ferred for best signal quality and noise rejection. Wiring should
be twisted-pairs, preferably with a shield for each pair. To elimi-
nate noise on the encoder signals caused by reflections on the
cables, it is good practice to terminate signal-pairs with a resistor
that matches the characteristic impedance of the cable. On the
development kit, 121Ω resistors are provided for this purpose.
Jumpers at JP9-A, B, and C connect these termination resistors
across the differential signals when installed.
If single-ended encoders are used, they must have active (not
open-collector) outputs. They should be connected to the A, B,
and X pins leaving the /A, /B, and /X pins open. Jumpers at JP9-A,
B, and C must be removed.
Note that [IN6] is also connected to switch SW-6. If the
encoder index (X, /X) signal is used then jumper JP2-E
must be removed so that SW-6 cannot ground the en-
coder signal from the 26C32.

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PRELIMINARY
Development Kit
Accelnet
Micro module
™
DEVELOPMENT KIT CONNECTIONS
Notes:
1. CAN connectors J6 & J7 are not shown here. For details see pp. 3,6, & 10.

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PRELIMINARY
Development Kit
™
Accelnet
Micro module
SLANGIS1J NIP
tupnIVH+ 1
DNG 2
tuptuOWrotoM 3
tuptuOVrotoM 4
tuptuOUrotoM 5
NIP SLANGIS2J
8
tupnIAredocnE
7
tupnIBredocnE
6
tupnIXredocnE
5
dnuorGlangiS
4
WllaH
3
VllaH
2
UllaH
1
dnuorGsissahC
SLANGIS2J NIP
tupnIA/redocnE 51
tupnIB/redocnE 41
tupnIX/redocnE 31
dnuorGlangiS 21
tuptuOV5+ 11
dnuorGlangiS 01
]5NI[ 9
nepoNAC SLANGIS NIP
)devreseR( 1
L_NAC 2
DNG_NAC 3
)devreseR( 4
)DLHS_NAC( 5
SLANGIS8J NIP
tupnIV5+ 1
dnG 2
dnG 3
tupnIVHxuA 4
J8
J1
J2
J7

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PRELIMINARY
Development Kit
Accelnet
Micro module
™
SLANGIS3J NIP
dnuorGsissahC 1
)+(feRgolanA 2
]6NI[tupnIPG 3
]4NI[tupnIPG 4
]1NI[tupnIelbanE 5
]1TUO[tuptuO 6
XtuptuoredocnE 7
BtuptuoredocnE 8
AtuptuoredocnE 9
dnuorGlangiS 01
]2TUO[tuptuO 11
dnuorGlangiS 21
dnuorGlangiS 31
NIP SLANGIS3J
41 )-(feRgolanA
51 dnuorGlangiS
61 dnuorGlangiS
71 hctiwStimiLSOP]2NI[
81 hctiwStimiLGEN]3NI[
91 tuptuoX/redocnE
02 tuptuoB/redocnE
12 tuptuoA/redocnE
22 dnuorGlangiS
32 tuptuOV5+
42 tuptuODxT232-SR
52 tupnIDxR232-SR
NIP SLANGIS4J
6 n
oitcennoCoN
5 t
uptuODxT
4 d
nuorGlangiS
3 d
nuorGlangiS
2 t
upnIDxR
1 n
oitcennoCoN
NIP 5J
SLANGIS
1 1
-1P
2 2
-1P
3 3
-1P
NIP nepoNAC SLANGIS
6 D
NG_NAC
7 H
_NAC
8 )
devreseR(
9 )
+V_NAC(
J3
J4
J5
J6 CANopen Notes:
1. Connector pinouts for J6 & J7 follow CAN standard DS-102.
2. Signals in ( ) are wired-through from J7 to J6 and have no other connections on the pc board.
3. CAN_GND is connected to Gnd on pc board (Stepnet signal and power ground)

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™
PRELIMINARY
Accelnet Micro Module
CANopen or Standalone
Brushless or Brush Servoamplifier
ORDERING GUIDE
Rev 2.06_th 03/03/2005
ORDERING INSTRUCTIONS
Example: Order 1 ACK-055-06 amplifier with
Development Kit, Development Kit Connector Kit,
Serial Cable Kit, and CME 2.
Qty Item Remarks
1 ACK-055-06 Accelnet Micro Module driver
1 KDK-090-01 Accelnet Micro Module
Development Kit
1 KDK-CK Connector Kit for Development Kit
1 SER-CK Serial Cable Kit
1 CME2 CME 2 CD
PART
NUMBER DESCRIPTION
ACK-055-06 Accelnet Micro Module servoamplifier 3/6 Adc @ 55 Vdc
ACK-090-04 Accelnet Micro Module Stepper Driver 2/4 Adc @ 90 Vdc
KDK-090-01 Accelnet Micro Module Development Kit
KDK-CK Accelnet Micro Module Development Kit Connector Kit
SER-CK Serial Cable Kit (1 per computer)
CME2 CME 2™ CD (CME 2 program, manual in PDF file format)
Note: Specifications subject to change without notice
APPLICATIONS
Simplify product design by
mounting multiple ampli-
fiers on a single PC board
and controlling all of them
with a single CAN bus
connection to the system
controller
Use as a stand-alone servoamplifier with an external motion controller