Accelnet Panel

DIGITAL SERVOAMPLIFIER
for BRUSHLESS/BRUSH MOTORS ACP

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

Command Interface
• CANopen
• ASCII and discrete I/O
• Stepper commands
• ±10V position/velocity/torque command
• PWM velocity/torque command
• Master encoder [Gearing/Camming]

Communications
• CANopen
• RS232
Model Ip Ic Vdc
Feedback
• Digital Quad A/B encoder ACP-055-18 18 6 55
• Secondary encoder for dual position loops ACP-090-09 9 3 90
• Analog sin/cos encoder
ACP-090-18 18 6 90
• Digital Halls
ACP-090-36 36 12 90
I/O - Digital
• 12 inputs, 3 outputs ACP-180-09 9 3 180
Dimensions: mm [in] ACP-180-18 18 6 180
• 168 x 99 x 31 [6.6 x 3.9 x 1.2]

DESCRIPTION
Accelnet is a high-performance, DC powered amplifier for position, Accelnet models operate as Motion Control Devices under the
velocity (using encoder, Halls, or BEMF), and torque control of DSP-402 protocol of the CANopen DS-301 V4.01 (EN 50325-
brushless and brush motors. It can operate as a distributed drive 4) application layer. DSP-402 modes supported include: Profile
using the CANopen protocol, or as a stand-alone drive accepting Position, Profile Velocity, Profile Torque, Interpolated Position Mode
analog or digital commands from an external motion controller. In (PVT), and Homing. The two CAN ports are optically isolated from
stand-alone mode, current and velocity modes accept digital 50% amplifier circuits.
PWM or PWM/polarity inputs as well as ±10V analog. In position There are twelve digital inputs eleven of which have programmable
mode inputs can be incremental position commands from step- functions. These include CAN address, motion-abort, limit & home
motor controllers, analog ±10V, or A/B quadrature commands switches, stepper/encoder pulse inputs, reset, digital torque or
from a master-encoder. Pulse to position ratio is programmable velocity reference, and motor over-temperature. Input [IN1] is
for electronic gearing. dedicated for the amplifier Enable. There are three programmable
Amplifier commissioning is fast and simple using CME 2™ software logic outputs for reporting an amplifier fault, motor brake control,
operating under Windows® and communicating with Accelnet via or other status indications.
CAN or an RS-232 link. CAN address selection is by a 16-position Amplifier power is transformer-isolated DC from regulated or
rotary switch. If there are more than sixteen devices on the CAN bus, unregulated power supplies. An AuxHV input powers control circuits
the additional address bits needed can come from programmable for “keep-alive” operation permitting the amplifier power stage to
inputs, or can be set in flash memory. be completely powered down without losing position information,
or communications with the control system.

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Web: www.copleycontrols.com Page 1 of 16
 Accelnet Panel
DIGITAL SERVOAMPLIFIER
for BRUSHLESS/BRUSH MOTORS ACP
GENERAL SPECIFICATIONS
Test conditions: Load = Wye connected load: 2 mH + 2 Ω line-line. Ambient temperature = 25°C, +HV = HVmax
MODEL ACP-055-18 ACP-090-09 ACP-090-18 ACP-090-36 ACP-180-09 ACP-180-18
OUTPUT POWER
Peak Current 18 (12.7) 9 (6.4) 18 (12.7) 36 (25.5) 9 (6.4) 18 (12.7) Adc (Arms), ±5%
Peak time 1 1 1 1 1 1 Sec
Continuous current 6 (4.2) 3 (2.1) 6 (4.2) 12 (8.5) 3 (2.1) 6 (4.2) Adc (Arms) per phase
Peak Output Power 0.92 0.79 1.55 2.95 1.59 3.15 kW
Continuous “ “ 0.32 0.27 0.53 1.06 0.53 1.06 kW
Output resistance 0.075 0.075 0.075 0.036 0.075 0.075 Rout (Ω)
Maximum Output Voltage Vout = HV*0.97 - Rout*Iout
INPUT POWER
HVmin~HVmax +20 to +55 +20 to +90 +20 to +90 +20 to +90 +20 to +180 +20 to +180 Vdc, Transformer-isolated
Ipeak 20 10 20 40 10 20 Adc (1 sec) peak
Icont 6.7 3.3 6.7 13.3 3.3 6.7 Adc continuous
Aux HV +20 to +HV Vdc @ 500 mAdc maximum
PWM OUTPUTS
Type 3-phase MOSFET inverter, 15 kHz center-weighted PWM, space-vector modulation
PWM ripple frequency 30 kHz
DIGITAL CONTROL
Digital Control Loops Current, velocity, position. 100% digital loop control
Sampling rate (time) Current loop: 15 kHz (66.7 µs) Velocity, position loops: 3 kHz (333 µs)
Commutation Sinusoidal, field-oriented control for brushless motors
Modulation Center-weighted PWM with space-vector modulation
Bandwidths Current loop: 2.5 kHz typical, bandwidth will vary with tuning & load inductance
HV Compensation Changes in bus voltage do not affect bandwidth
Minimum load inductance 200 µH line-line
COMMAND INPUTS
CANopen communications Profile Position, Profile Velocity, & Profile Torque, Interpolated Position (PVT), Homing
Digital position reference Step/Direction, CW/CCW Stepper commands (2 MHz maximum rate)
Quad A/B Encoder 2 M lines/sec, 8 M count/sec (after quadrature)
Digital torque & velocity reference 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
Analog torque, velocity, position ±10 Vdc Differential, 5kΩ impedance
DIGITAL INPUTS
Number 12
All inputs 74HC14 Schmitt trigger operating from +5 Vdc with RC filter on input
10 kΩ shunt resistor
Logic levels Vin-LO < 1.35 Vdc, Vin-HI >3.65 Vdc
Configuration Programmable pull-up to +5 Vdc or pull-down to ground in four groups with active-level selection (HI/LO)
Enable [IN1] Dedicated input for amplifier enable with 330 µs RC filter 0~24 Vdc
GP [IN2,3,4,5,11,12] General Purpose inputs with 330 µs RC filter (33 µs for IN5), 0~24 Vdc
HS [IN6,7,8,9,10] High-Speed inputs inputs with 100 ns RC filter, 0~5 Vdc
DIGITAL OUTPUTS
Number 3
[OUT1], [OUT2], [OUT3] Current-sinking MOSFET with 1 kΩ pullup to +5 Vdc through diode
Current rating 1 Adc max, +30 Vdc max. Functions programmable
External flyback diode required if driving inductive loads
MULTI-MODE ENCODER PORT
Operation Programmable as input for secondary (dual) digital encoder or as buffered outputs in
quad A/B/X format for digital motor feedback encoder,
or emulated encoder outputs from analog sin/cos motor feedback encoder (ServoTube)
Signals Quad A/B Encoder: A, /A, B, /B, X, /X
Frequency As input for digital encoder: 5M lines/sec, 20 M count/sec (after quadrature)
As buffered outputs for digital motor encoder: 5 M lines/sec, 20 M count/sec (after quadrature)
As emulated encoder ouputs for sin/cos analog motor encoder: 4.5 M lines/sec,
18 M count/sec (after quadrature)
Input/output 26C32 differential line receiver , or 26C31 differential line driver
RS-232 PORT
Signals RxD, TxD, Gnd in 6-position, 4-contact RJ-11 style modular connector.
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
CAN PORTS
Signals CANH, CANL, Gnd in dual 8-position RJ-45 style modular connectors, wired as per CAN Cia DR-303-1, V1.1
CAN interface circuit and +5 Vdc supply are optically isolated from amplifier circuits
Format CAN V2.0b physical layer for high-speed connections compliant
Data CANopen Device Profile DSP-402
Address selection 16 position rotary switch on front panel with 3 additional address bits available as
digital inputs or programmable to flash memory

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Web: www.copleycontrols.com Page 2 of 16
 Accelnet Panel
DIGITAL SERVOAMPLIFIER
for BRUSHLESS/BRUSH MOTORS ACP
MOTOR CONNECTIONS
Phase U, V, W PWM outputs to 3-phase ungrounded Wye or delta connected brushless motors, or DC brush motors
Hall U, V, W Digital Hall signals, single-ended
Digital Encoder Quadrature encoder signals, A, /A, B, /B, X, /X), differential (X or Index signal not required)
5 MHz maximum line frequency (20 M counts/sec)
26LS32 differential line receiver with 121 Ω terminating resistor between complementary inputs
Analog Encoder Sin/Cos, differential line driver outputs, 1.0 Vpeak-peak typical, 1.25 Vp-p maximum
Signals Sin(+), sin(-), cos(+), cos(-), ±0.25 V centered about 2.5 Vdc, ±0.31 V maximum
Common-mode voltage 0.25 to 3.75 Vdc
Frequency 230 kHz maximum line (cycle) frequency
Interpolation Programmable: 10 bits/cycle (1024 counts/cycle)
Hall & encoder power +5 Vdc ±2% @ 250 mAdc max, current limited to 750 mAdc @ +1 Vdc if output overloaded
Motemp [IN5] Motor overtemperature sensor input. Active level programmable
Programmable to disable amplifier when motor over-temperature condition occurs
Same input circuit as GP digital inputs (Digital Inputs above)
Brake [OUT1,2,3] programmable for motor brake function, external flyback diode required
STATUS INDICATORS
Amp Status Bicolor LED, amplifier status indicated by color, and blinking or non-blinking condition
CAN Status Bicolor LED, status of CAN bus indicated by color and blink codes to CAN Indicator Specification 303-3
PROTECTIONS
HV Overvoltage +HV > HVmax Amplifier outputs turn off until +HV < HVmax (See Input Power for HVmax)
HV Undervoltage +HV < +20 Vdc Amplifier outputs turn off until +HV > +20 Vdc
Amplifier over temperature Heat plate > 70°C. Amplifier outputs turn off
Short circuits Output to output, output to ground, internal PWM bridge faults
I2T Current limiting Programmable: continuous current, peak current, peak time
Motor over temperature Digital inputs programmable to detect motor temperature switch
MECHANICAL & ENVIRONMENTAL
Size 6.58 in (167 mm) X 3.89 in (98.8 mm) X 1.17 in (29.7 mm)
Weight 0.94 lb (0.43 kg)
Ambient temperature 0 to +45°C operating, -40 to +85°C storage
Humidity 0 to 95%, non-condensing
Contaminants Pollution degree 2
Environment IEC68-2: 1990
Cooling Heat sink and/or forced air cooling required for continuous power output

Notes: 1.Digital input & output functions are programmable.

CME 2™ SOFTWARE CANOPEN NETWORKING

Amplifier setup is fast and easy using CME 2™ software. All of Based on the CAN V2.0b physical layer, a robust, two-wire commu-
the operations needed to configure the amplifier are accessible nication bus originally designed for automotive use where low-cost
through this powerful and intuitive program. Auto-phasing of and noise-immunity are essential, CANopen adds support for mo-
brushless motor Hall sensors and phase wires eliminates “wire tion-control devices and command synchronization. The result is a
and try”. Connections are made once and CME 2™ does the rest highly effective combination of data-rate and low cost for multi-axis
thereafter. Encoder wire swapping to establish the direction of motion control systems. Device synchronization enables multiple
positive motion is eliminated. axes to coordinate moves as if they were driven from a single con-
Motor data can be saved as .ccm files. Amplifier data is saved trol card.
as .ccx files that contain all amplifier settings plus motor data.
This eases system management as files can be cross-referenced
to ampifiers. Once an amplifier configuration has been com-
pleted systems can be replicated easily with the same setup
and performance.

RS-232 COMMUNICATIONS
Accelnet is configured via a three-wire, full-duplex RS-232 port
that operates from 9600 to 115,200 Baud. CME 2™ provides a
graphic user interface (GUI) to set up all of Accelnet features
via a computer serial port. Connections to the Accelnet RS-232
port are through J6, an RJ-11 style
connector. Signal format is full-du-
plex, 3-wire using RxD, TxD, and
Gnd. The Accelnet Serial Cable Kit
(SER-CK) contains a modular cable,
and an adapter that connects to a
9-pin, Sub-D serial port connector
(COM1, COM2, etc.) on PC’s and
compatibles.

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Web: www.copleycontrols.com Page 3 of 16
 Accelnet Panel
DIGITAL SERVOAMPLIFIER
for BRUSHLESS/BRUSH MOTORS ACP
AMP STATUS LED DIGITAL INPUTS
A single bi-color LED gives the state of the Accelnet has twelve digital inputs, eleven of which have programmable functions. Input
amplifier by changing color, and either blink- [IN1] is not programmable and is dedicated to the amplifier Enable function. This is done
ing or remaining solid. The possible color to prevent accidental programming of the input in such a way that the controller could
and blink combinations are: not shut it down.
• Green/Solid: Amplifier OK and enabled. Two types of RC filters are used: GP (general purpose) and HS (high speed). Input functions
Will run in response to reference inputs such as Step/Direction, CW/CCW, Quad A/B are wired to inputs having the HS filters, and
or CANopen commands. inputs with the GP filters are used for general purpose logic functions, limit switches, and
• Green/Slow-Blinking: Amplifier OK but the motor temperature sensor. Programmable functions of the digital inputs include:
NOT-enabled. Will run when enabled. • Positive Limit switch • Step & Direction, or CW/CCW
• Green/Fast-Blinking: Positive or Nega- • Negative Limit switch step motor position commands
tive limit switch active. Amplifier will • Home switch • Quad A/B master encoder
only move in direction not inhibited by • Amplifier Reset position commands
limit switch. • PWM current or velocity commands • Motor over-temperature
• CAN address bits
• Red/Solid: Transient fault condition.
Amplifier will resume operation when In addition to the active level and function for each programmable input, the input resistors
fault is removed. are programmable in four groups to either pull up to +5 Vdc, or down to ground. Inputs
pulled up to +5 Vdc work with open-collector NPN drivers that sink current to ground.
• Red/Blinking: Latching fault. Opera-
Grounded inputs with HI active levels interface to devices like PLC’s that have PNP outputs
tion will not resume until amp is Reset
that source current into grounded loads. GP inputs can work with 24V sources, HS inputs
are limited to 5V maximum.
Fault conditions:
• Over or under-voltage GP INPUTS 1,2,3 GP INPUTS 4,5
• Motor over-temperature 24 Vdc max 24 Vdc max
• Phasing error (current position +5.0 V +5.0 V
Programmable
is >60° electrical from Hall angle) Programmable
1/0 1/0
• Short-circuits from output to output 10k
*4.99k
• Short-circuits from output to ground 10k 74HC14
[IN1] 10k
• Internal short circuits [IN4]
[IN2]
• Amplifier over-temperature *[IN5]
[IN3] 10k
• Position-mode following error 33nF
33 nF 74HC14
*3.3 nF
Faults are programmable to be either
transient or latching
* [IN5] connects to J2 for motor overtemp switch

Amp Status HS INPUTS 6,7,8 HS & GP* INPUTS 9,10,11,12

LED 5 Vdc max 5 (*24) Vdc max
+5.0 V +5.0 V
Programmable Programmable
1/0 1/0
10k 10k
[IN9] 1k
J4 J5 [IN6] 1k [IN10] *10k
[IN7] *[IN11]
[IN8] *[IN12]
74HC14 100 pF 74HC14
100 pF
* 33 nF

DIGITAL OUTPUTS
Digital outputs are open-drain MOSFETs with 1 kΩ pull-up resistors to +5 Vdc. These can
sink up to 1 Adc from external loads operating from power supplies to +30 Vdc. When driv-
ing inductive loads such as a motor brake, an external fly-back diode is required. The 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 amplifier.
This could turn the input on, giving a false indication of the amplifier output state.
These outputs are programmable to be on or off when active. Typical functions are amplifier
fault indication or motor brake operation. Other functions are programmable.

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Web: www.copleycontrols.com Page 4 of 16
 Accelnet Panel
DIGITAL SERVOAMPLIFIER
for BRUSHLESS/BRUSH MOTORS ACP
COMMAND INPUTS IN CURRENT or VELOCITY MODE STEP MOTOR EMULATION INPUTS
STAND-ALONE MODE REFERENCE INPUTS
The Command inputs are used when
the amplifier is taking current, velocity, PWM/Direction Inputs Count-up/Count-down Inputs
or position commands from an external
controller in stand-alone mode. The com- Duty = 0~100% CU
[IN9]
[IN9] Position
mand inputs take signals in a variety of Current or
Velocity Increase
formats:
[IN10] CD [IN10]
Current or Velocity Mode Polarity or Position
Direction Decrease
PWM/Direction
PWM 50%
±10V Analog
Position Mode PWM 50% Input Pulse/Direction Inputs
CU/CD
Step/Direction Duty = 50% ±50% Duty = 0~100%
[IN9] [IN9]
Master Encoder Current or Position
A/B Quadrature Velocity Increase
[IN10] [IN10]
±10V Analog Polarity or
<no connection> No function
For current or velocity control, the PWM/ Direction
Direction format takes a PWM signal at
constant frequency which changes its’ duty
cycle from 0 to 100% to control current or ±10V Analog Input Master Encoder A/B Inputs
velocity and a DC level at the Direction input
Pos++ Pos--
to control polarity. The PWM 50% format
37.4k 5k Ch. A
takes a single PWM signal that produces 0 Ref(+)
Ch. B
output at 50% duty cycle, and maximum -
positive/negative outputs at 0% or 100%. 5.36k
A
[IN10] Master Enc.
+ Ch. A
As a protection against wiring faults, the
Ref(-) ENC
0% and 100% inputs can be programmed 37.4k 5k B
[IN9]
Master Enc.
to produce 0 output. When this is done +
- 1.5V Ch. B

the max/min duty cycle range is >0% and

<100%.
Analog signals in ±10V format also function
as current, velocity, or position control and provide an easy interface to controllers with
D/A converters at their outputs.
Position-control inputs also take signals in popular stepper-motor format or from a digital quadrature encoder.
The CU/CD format moves the motor in a positive direction for each pulse received at the count-up input. Negative mo-
tion is produced by pulses on the count-down input. The step-direction mode moves the motor an increment of position for
every pulse received at the pulse input while the direction of movement is controlled by a DC level on the direction input.
Master encoder quadrature signals (A,B) are decoded into four counts per encoder line with the direction derived from the logic-state
transitions of the inputs. In position mode the ratio of motor motion per input-count is programmable.

MULTI-MODE ENCODER PORT

Depending on amplifier set-up, this port functions either as an input or FUNCTIONAL DIAGRAM
output for differential encoder signals. OF ONE CHANNEL
For dual-loop position-mode operation that employs a primary encoder
on the motor, and a secondary encoder on the load, the port works as
an input receiving the secondary encoder’s quad A/B/X signals.
For stand-alone operation with an external motion controller, the signals
from the digital encoder on the motor are buffered and made available
at the control signal connector for transmission to the controller. This
eliminates split-wired motor cables with dual connectors that take the
encoder signals to both amplifier and controller.
When used with ServoTube motors, or other motors using analog en-
coders with sin/cos signal format, the amplifier interpolates the sin/cos
signals to a resolution that is programmable. The incremental changes
in position are then converted to digital quad A/B/X format for use by
the external motion controller.

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Web: www.copleycontrols.com Page 5 of 16
 Accelnet Panel
DIGITAL SERVOAMPLIFIER
for BRUSHLESS/BRUSH MOTORS ACP
MOTOR CONNECTIONS
Motor connections consist of: phases, Halls, encoder, thermal sensor, and brake. 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 posi-
tion modes, as well as sinusoidal commutation. A thermal sensor that indicates motor overtemperature is used to shut down the
amplifier to protect the motor. A brake can provide a fail-safe way to prevent movement of the motor when the amplifier is shut-
down or disabled.

MOTOR TEMPERATURE SENSOR

Digital input [IN5] connects to J2 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 ENCODER
The input circuit for the motor encoder signals is a differential line-receiver
with R-C filtering on the inputs. A 121 Ω resistor is across each input
pair to terminate the signal pairs in the cable characteristic impedance.
Encoders with differential outputs are required because they are less
susceptible to noise that can be picked on single-ended outputs. For best
results, encoder cabling should use twisted pair cable with one pair for
each of the encoder outputs: A-/A, B-/B, and X-/X. Shielded twisted-pair
is even better for noise rejection.

MOTOR HALL SIGNALS

Hall signals are single-ended signals that provide absolute feedback within
one electrical cycle of the motor. There are three of them (U, V, & W) and
they may be sourced by magnetic sensors in the motor, or by encoders
that have Hall tracks as part of the encoder disc. They typically operate
at much lower frequencies than the motor encoder signals, and in Ac-
celnet they are used for commutation-initialization after startup, and for
checking the motor phasing after the amplifer has switched to sinusoidal
commutation.

MOTOR BRAKE
Digital outputs [OUT1,2,3] can be programmed 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 programmable.

ANALOG ENCODER SIGNALS

The Sin and Cos inputs are differential with 121 Ω terminating resistors
and accept 1.0 Vp-p signals in the format used by encoders with analog
outputs such as Heidenhain, Stegman, and Renishaw, or with ServoTube
motors. The resolution is programmable from 4 to 1024 counts/cycle.

MOTOR PHASE CONNECTIONS

The amplifier output is a three-phase PWM inverter that converts the DC
buss voltage (+HV) into three sinusoidal voltage waveforms that drive the
motor phase-coils. Cable should be sized for the continuous current rating
of the amplifier. Motor cabling should use twisted, shielded conductors for
CE compliance, and to minimize PWM noise coupling into other circuits.
The motor cable shield should connect to motor frame and the amplifier
HV ground terminal (J1-4) for best results.
= Shielded cables required
for CE compliance

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Web: www.copleycontrols.com Page 6 of 16
 Accelnet Panel
DIGITAL SERVOAMPLIFIER
for BRUSHLESS/BRUSH MOTORS ACP
GROUNDING CONSIDERATIONS POWER SUPPLIES
Power and control circuits in Accelnet share a common circuit-ground (Gnd on J1-4, and Accelnet operates typically from trans-
Signal Ground on J2-2, 10 ,15 ,20, and J3-2, 23). Input logic circuits are referenced to former-isolated, unregulated DC power
Signal Ground, as are analog Reference inputs, digital outputs, encoder and Hall signals. For supplies. These should be sized such that
this reason, amplifier Gnd terminals should connect to the users’ common ground system the maximum output voltage under high-
so that signals between amplifier and controller are at the same common potential, and to line and no-load conditions does not exceed
minimize noise. The system ground should, in turn, connect to an earthing conductor at the amplifiers maximum voltage rating.
some point so that the whole system is referenced to “earth”. The CAN ports are optically Power supply rating depends on the power
isolated from the amplifier circuits. delivered to the load by the amplifier. In
Because current flow through conductors produces voltage-drops across them, it is best to many cases, the continuous power output
connect the amplifier HV Return to system earth, or circuit-common through the shortest of the amplifier is considerably higher than
path, and to leave the power-supply floating. In this way, the power supply (-) terminal the actual power required by an incremental
connects to ground at the amplifier HV Return terminals, but the voltage drops across the motion application.
cables will not appear at the amplifier ground, but at the power supply negative terminal Operation from regulated switching power
where they will have less effect. supplies is possible if a diode is placed
Motor phase currents are balanced, but currents can flow between the PWM outputs, and between the power supply and amplifier to
the motor cable shield. To minimize the effects of these currents on nearby circuits, the prevent regenerative energy from reaching
cable shield should connect to Gnd (J1-4). the output of the supply. If this is done,
there must be external capacitance between
The amplifier case does not connect to any amplifier circuits. Connections to the case are
the diode and amplifier.
provided on connectors J2-1, and J3-1. Cables to these connectors should be shielded for
CE compliance, and the shields should connect to these terminals. When installed, the
amplifier case should connect to the system chassis. This maximizes the shielding effect
of the case, and provides a path to ground for noise currents that may occur in the cable
shields. +HV (+)
Signals from controller to amplifier are referenced to +5 Vdc, and other power supplies in Switching
Accelnet
Power
user equipment. These power supplies should also connect to system ground and earth Amplifier
Gnd (-) Supply
at some point so that they are at same potential as the amplifier circuits.
The final configuration should embody three current-carrying loops. First, the power sup-
ply currents flowing into and out of the amplifier at the +HV and Gnd pins on J1. Second
the amplifier outputs driving currents into and out of the motor phases, and motor shield AUXILIARY HV POWER
currents circulating between the U, V, and W outputs and Gnd. And, lastly, logic and signal
Accelnet has an input for AUX- HV. This is a
currents connected to the amplifier control inputs and outputs.
voltage that can keep the amplifier commu-
For CE compliance and operator safety, the amplifier should be earthed by using external nications and feedback circuits active when
tooth lockwashers under the mounting screws. These will make contact with the alumi- the PWM output stage has been disabled by
num chassis through the anodized finish to connect the chassis to the equipment frame removing the main +HV supply. This can oc-
ground. cur during EMO (Emergency Off) conditions
where the +HV supply must be removed
from the amplifier and powered-down to
ensure operator safety. The AUX HV input
operates from any DC voltage that is within
the operating voltage range of the ampli-
fier and powers the DC/DC converter that
supplies operating voltages to the amplifier
DSP and control circuits.
When the amplifier +HV voltage is greater
than the AUX-HV voltage it will power the
DC/DC converter. Under these conditions the
AUX-HV input will draw no current.

MOUNTING & COOLING

Accelnet has slots for mounting to panels
at 0° or 90°. Cooling is by conduction from
amplifier heatplate to mounting surface, or
by convection to ambient.
A heatsink (optional) is required for the
amplifier to deliver the rated continuous
output current. Depending on the amplifier
mounting and cooling means this may not
be required.
= Shielded cables required
for CE compliance

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Web: www.copleycontrols.com Page 7 of 16
 Accelnet Panel
DIGITAL SERVOAMPLIFIER
for BRUSHLESS/BRUSH MOTORS ACP
AMPLIFIER CONNECTIONS

Note 4
1 1
26LS31
A A
16 4
/A /A
17 5
B B
Encoder 18 6
Feedback ENCODER
/B /B
19 7
X 20
X
8
/X 21 /X
9
Motion
Controller U
Stand-Alone 2 Signal Gnd Hall U 11
Mode V
Signals DAC Out 24 Ref(+) Hall V 12 HALLS
Analog W
Ref Input Hall W 13
0V 25 Ref(-)

for Encoder + Hall

+5 & Gnd
Gnd 10
ENC PWM PWM Digital Ref
J2 Gnd 15
/CW Pulse Ch. A 0~100 10
50% Input [IN9]
%
Gnd 2
ENC POL Digital Ref Input
/CCW Dir Ch. B none 11 Motemp
(DC) [IN10] 14
[IN5]
Position Ref Inputs Torque & Velocity
Ref Inputs
+5 V @
250mA 3
Enable Input Note 3
3 Output
[IN1] Note 2 Sin(+)
Fwd Enable Sin(+) 16 Note 5
4
[IN2]
Motion Rev Enable Sin(-)
5 Sin(-) 17
Controller [IN3] ANALOG
Digital Cos(+) ENCODER
Cos(+) 18
I/O
Cos(-)
23 Signal Gnd Cos(-) 19
Fault Output +24V
13 Gnd 20
[OUT1]

15 [OUT3]
J3 BRAKE
/Brake
14
[OUT2]
+5V @
Note 3 22
250mA
Fuse
6 [IN4] U
Motor U 1

7 [IN6] Fuse
= Shielded cables required Motor V 2
V MOTOR
for CE compliance 8 [IN7]
W
Motor W 3
9 [IN8]
12 [IN11] Fuse
+HV Input 5 +
26 [IN12]
Amplifier mounting screw
J1 Gnd 4 -
DC
Aux HV Input 6
Power

Circuit Gnd Earth

NOTES
1. The functions of input signals on J2-14, and J3-4,5,6,7,8,9,10,11,12, and 26
are programmable. Default functions are shown.
2. The function of [IN1] on J3-3 is always Amplifier Enable and is not programmable
3. Pins J3-22 and J2-3 connect to the same +5 Vdc @ 250 mAdc power source.
Total current drawn from both pins cannot exceed 250 mAdc.
4. Multi-mode encoder port (J3-16~21) is shown configured for buffered-output of a digital primary motor
encoder.

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Web: www.copleycontrols.com Page 8 of 16
 Accelnet Panel
DIGITAL SERVOAMPLIFIER
for BRUSHLESS/BRUSH MOTORS ACP
CONNECTORS & SIGNALS J6: RS-232 PORT RJ-11 style, male, 6 position
Cable: 6-conductor modular
J6 Signal Pin type
J4, J5 CABLE CONNECTOR:
No connect 6 RJ-45 style, male, 8 position
TxD Output 5 Cable: 8-conductor modular type
Signal Ground 4 J4, J5: CAN BUS
Signal Ground 3
RxD Input 2 Pin J4,J5 Signal
1 CAN_H NOTES
No connect 1
2 CAN_L 1. These signals interconnect between
3 CAN_GND J4 & J5 but have no internal connec-
tions to the amplifier
4 No connection
2. CAN circuits in dashed outline are
5 Reserved
optically isolated from amplifier
6 (CAN_SHLD) 1
circuits.
7 CAN_GND
8 (CAN_V+) 1

J3: SIGNAL (CONTROL)

J3 SIGNAL PIN PIN J3 SIGNAL J3: SIGNAL (CONTROL)

Chassis Ground 1 14 [OUT2] Output 2
J3 CABLE CONNECTOR:
Signal Ground 2 15 [OUT3] Output 3
Solder Cup, 26 position male,
Enable Input [IN1] 3 16 Tri-Mode Encoder A 1.27 mm pitch
Programmable Input [IN2] 4 17 Tri-Mode Encoder /A Cable: 26 conductor, shielded
Programmable Input [IN3] 5 18 Tri-Mode Encoder B Standard with Snap locks
Programmable Input [IN4] 6 19 Tri-Mode Encoder /B 3M: 10126-3000 VE connector
Programmable Input [IN6] 7 20 Tri-Mode Encoder X 3M: 10326-52F0-008 backshell
Programmable Input [IN7] 8 21 Tri-Mode Encoder /X Rugged with Screw-locks
Programmable Input [IN8] 9 22 +5 Vdc @ 250 mA Molex: 54306-2619 connector
Molex: 54331-0261 backshell
Programmable Input [IN9] 10 23 Signal ground
Programmable Input [IN10] 11 24 Analog Ref(+) Note: Molded cable assem-
Programmable Input [IN11] 12 25 Analog Ref(-) blies are available for J2 & J3.
Output [OUT1] 13 26 [IN12] Programmable Input See p. 10 for cable colors.

J2: FEEDBACK
J2 SIGNAL PIN PIN J2 SIGNAL
Chassis Ground 1 11 Hall U Input J2 CABLE CONNECTOR:
12 Hall V Input Solder Cup,20 position male,
Signal Ground 2
1.27 mm pitch
+5 Vdc @ 250 mA 3 13 Hall W Input
Cable: 20 conductor, shielded
Encoder A Input 4 14 [IN5] Motor Temp Sensor
Standard with Snap locks
Encoder /A Input 5 15 Signal Ground
3M: 10120-3000VE connector
Encoder B Input 6 16 Analog Encoder Sin(+)
3M: 10320-52F0-008 backshell
Encoder /B Input 7 17 Analog Encoder Sin(-)
Rugged with Screw-locks
Encoder X Input 8 18 Analog Encoder Cos(+)
Molex: 54306-2019 connector
Encoder /X Input 9 19 Analog Encoder Cos(-) Molex: 54331-0201 backshell
Signal Ground 10 20 Signal Ground

PIN J1 SIGNAL J1 CABLE CONNECTOR:

1 Motor U Output Terminal block,6 position, 5.08 mm, black
2 Motor V Output Beau: 860506
J1: MOTOR & POWER
3 Motor W Output RIA: 31249106
Weidmuller: 1526810000
4 GND
PCD: ELFP06210
5 +HV Input Weco: 121-A-111/06
6 Aux HV Input Tyco: 796635-6

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Web: www.copleycontrols.com Page 9 of 16
 Accelnet Panel
DIGITAL SERVOAMPLIFIER
for BRUSHLESS/BRUSH MOTORS ACP
ACCESSORY CABLE CONNECTIONS

SIGNAL CABLE ( ACP-CC-10 ) CONNECTOR (FRONT VIEW)

Cable assembly: CCC p/n 59-00785-000

Molded connector mates with drive J7 and has flying-lead terminations.

Signal Pin Color (Body/Stripe Pair Color (Body/Stripe Pin Signal

Rev A & B: White/Tan
Frame Ground 1 1a 8a White/Violet 14 [OUT2]
Rev C: Brown

Rev A & B: Tan/White

Signal Ground 2 1b 8b Violet/White 15 [OUT3]
Rev C: Orange
Enable [IN1] 3 White/Brown 2a 9a White/Grey 16 Multi-Encoder A
GP Input [IN2] 4 Brown/White 2b 9b Gray/White 17 Multi-Encoder /A
GP Input [IN3] 5 White/Pink 3a 10a Tan/Brown 18 Multi-Encoder B
GP Input [IN4] 6 Pink/White 3b 10b Brown/Tan 19 Multi-Encoder /B
HS Input [IN6] 7 White/Orange 4a 11a Tan/Pink 20 Multi-Encoder X
HS Input [IN7] 8 Orange/White 4b 11b Pink/Tan 21 Multi-Encoder /X
HS Input [IN8] 9 White/Yellow 5a 12a Tan/Orange 22 +5 Vdc @ 400 mA
HS Input [IN9] 10 Yellow/White 5b 12b Orange/Tan 23 Signal Ground
HS Input [IN10] 11 White/Green 6a 13a Tan/Yellow 24 Analog Ref(+)
GP Input [IN11] 12 Green/White 6b 13b Yellow/Tan 25 Analog Ref(-)
[OUT1] 13 White/Blue 7a 7b Blue/White 26 [IN12] GP Input

FEEDBACK CABLE ( ACP-FC-10 ) CONNECTOR (FRONT VIEW)

Cable assembly: CCC p/n 59-00786-000

Molded connector mates with drive J7 and has flying-lead terminations.

Signal Pin Color (Body/Stripe Pair Color (Body/Stripe Pin Signal

Rev A & B: White/Tan Rev A &B: Tan/White
Frame Ground 1 1a 1b 11 Digital Hall U
RevC: Brown Rev C: Orange
Signal Ground 2 White/Brown 2a 7a White/Blue 12 Digital Hall V
+5 Vdc @ 400 mA 3 Brown/White 2b 7b Blue/White 13 Digital Hall W
Encoder Input A 4 White/Pink 3a 8a White/Violet 14 [IN5] Temp Sensor
Encoder Input /A 5 Pink/White 3b 8b Violet/White 15 Signal Ground
Encoder Input B 6 White/Orange 4a 9a White/Gray 16 Analog Sin(+)
Encoder Input /B 7 Orange/White 4b 9b Gray/White 17 Analog Sin(-)
Encoder Input X 8 White/Yellow 5a 10a Tan/Brown 18 Analog Cos(+)
Encoder Input /X 9 Yellow/White 5b 10b Brown/Tan 19 Analog Cos(-)
Signal Ground 10 White/Green 6a 6b Green/White 20 Signal Ground

Note: Cable shields connect to connector shells and not to conductors. The shells of drive J7 & J8 are connected to the earth ground terminal
on power connector J1 and to the drive chassis. When the cables above are connected to the drive a continuous path from cable shield to earth
is established for shielding and CE compliance.

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 Accelnet Panel
DIGITAL SERVOAMPLIFIER
for BRUSHLESS/BRUSH MOTORS ACP
DIMENSIONS

NOTES
1. Dimensions shown in inches (mm).

Weights:
Amplifier: 0.94 lb (0.43 kg)
Heatsink: 1.0 lb (0.45 kg)

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 Accelnet Panel
DIGITAL SERVOAMPLIFIER
for BRUSHLESS/BRUSH MOTORS ACP
CANOPEN CONFIGURATION
SERIAL CABLE KIT (1)

SER-CK Multiple amplifiers are connected

as nodes on a CAN bus
DB-9 TO RJ-45 ADAPTER
& 10 FT CABLE (2)
Individual amplifiers are configured
using an RS-232 connection and
CME 2™ software

CAN NETWORK CABLE (3) Notes:

1. Only one SER-CK is needed per installation
ACP-NC-10 (10 ft)
2. Included in CANopen Network Kit ACP-NK
ACP-NC-01 (1 ft)
3. Order one cable (1 or 10 ft) for each additional
amplifier

CAN TERMINATOR (2)

(for last node on CAN bus)

HV/MOTOR,
FEEDBACK & CONTROL
CONNECTOR KIT
ACP-CK or
ACP-CA

PART NUMBER DESCRIPTION

ACP-055-18 Accelnet Servoamplifier, 55 Vdc, 6/18 A
ACP-090-09 Accelnet Servoamplifier, 90 Vdc 3/9 A
ACP-090-18 Accelnet Servoamplifier, 90 Vdc, 6/18 A
ACP-090-36 Accelnet Servoamplifier, 90 Vdc, 12/36 A
ACP-180-09 Accelnet Servoamplifier, 180 Vdc, 3/9 A
POWER SUPPLY
+HV ACP-180-18 Accelnet Servoamplifier, 180 Vdc, 6/18 A
Mains-isolated DC
Required for all systems Connector Kit for Accelnet (P1 plug, and plugs
User-supplied ACP-CK
with soldercups & backshells for P2 & P3)
Connector Kit for Accelnet (P1 plug, and
ACP-CA molded 10 ft cable with flying leads for P2
& P3)
HEATSINK
CAN Network Kit (Sub-D 9F to RJ-45 adapter,
ACP-HK (Optional)
ACP-NK 10 ft. modular cable, and CAN terminator)
ACP-NC-10 CAN network cable, 10 ft (3 m)
ACP-NC-01 CAN network cable, 1 ft (0.3 m)
CME 2 CD with CME 2 Configuration Software
SER-CK RS-232 Cable Kit
ACP-HK Heatsink (optional)

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Web: www.copleycontrols.com Page 12 of 16
 Accelnet Panel
DIGITAL SERVOAMPLIFIER
for BRUSHLESS/BRUSH MOTORS ACP
STAND-ALONE CONFIGURATION

Current or Velocity Mode Signals:

SERIAL CABLE KIT (1)
PWM & Polarity
SER-CK PWM 50%
±10V Analog

Position-mode Signals:
Step/Direction
CW/CCW
±10V Analog

+HV/MOTOR Electronic Gearing Signals:

FEEDBACK AND CONTROL A/B Quadrature encoder
CONNECTOR KIT
CME 2™ is used for setup and
ACP-CK configuration.
ACP-CA

POWER SUPPLY
+HV PART NUMBER DESCRIPTION
Mains-isolated DC
Required for all systems ACP-055-18 Accelnet Servoamplifier, 55 Vdc, 6/18 A
User-supplied
ACP-090-09 Accelnet Servoamplifier, 90 Vdc 3/9 A
ACP-090-18 Accelnet Servoamplifier, 90 Vdc, 6/18 A
ACP-090-36 Accelnet Servoamplifier, 90 Vdc, 12/36 A
HEATSINK ACP-180-09 Accelnet Servoamplifier, 180 Vdc, 3/9 A
ACP-HK ACP-180-18 Accelnet Servoamplifier, 180 Vdc, 6/18 A
(Optional)
Connector Kit for Accelnet (P1 plug, and plugs
ACP-CK
with soldercups & backshells for P2 & P3)
Connector Kit for Accelnet (P1 plug, and
ACP-CA molded 10 ft cable with flying leads for P2
& P3)
CME 2 CD with CME 2 Configuration Software
SER-CK RS-232 Cable Kit
ACP-HK Heatsink (optional)

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Web: www.copleycontrols.com Page 13 of 16
 Accelnet Panel
DIGITAL SERVOAMPLIFIER
for BRUSHLESS/BRUSH MOTORS ACP
POWER DISSIPATION

The charts on this page show the amplifier internal power dissipation for the Accelnet models under differing power supply and output
current conditions. Amplifier output current is calculated from the motion profile, motor, and load conditions. The values on the chart rep-
resent the RMS (root-mean-square) current that the amplifier would provide during operation. The +HV values are for the average DC
voltage of the amplifier power supply.
When +HV and amplifier output current are known, the amplifier power dissipation can be found from the chart. Once this is done use the
data on the facing page to find amplifier thermal resistance. From this calculate the maximum ambient operating temperature. If this result
is lower than the known maximum ambient temperature then a mounting with a lower thermal resistance must be used.
When the amplifier is disabled the power dissipation is shown on the chart as “Off”. Note that this is a different value than that of an ampli-
fier that is “On” but outputting 0 A current.

ADP-090-36
25 Amplifier Dissipation vs. 90
Output Current

20 55

ADP-090-18 25
ADP-055-18
Amplifier Dissipation (W)

15
55 & 90 VDC MODELS

ADP-090-09
10

0
0 2 4 6 8 10 12

Output Current (A)

ADP-180-18
30 180
Amplifier Dissipation vs.
Output Current

25
ADP-180-09
20
Amplifier Dissipation (W)

180 VDC MODELS 85

15 55
25
10

0
0 1 2 3 4 5 6

Output Current (A)

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Web: www.copleycontrols.com Page 14 of 16
 Accelnet Panel
DIGITAL SERVOAMPLIFIER
for BRUSHLESS/BRUSH MOTORS ACP
MOUNTING THERMAL RESISTANCE

Thermal data for convection-cooling with Thermal resistance is a measure of the temperature rise of the amplifier heatplate due to
a heatsink assumes a vertical mounting power dissipation in the amplifier. It is expressed in units of °C/W where the degrees are
of the amplifier on a thermally conducting the temperature rise above ambient.
surface. Heatsink fins run parallel to the E.g., an amplifier dissipating 16 W mounted with no heatsink or fan would see a tempera-
long axis of the amplifier. When fan-cooling ture rise of 46 °C above ambient based on the thermal resistance of 2.9 °C/W. Using the
is used vertical mounting is not necessary amplifier maximum heatplate temperature of 70 °C and subtracting 46 °C from that would
to guarantee thermal performance of the give 24 °C as the maximum ambient temperature the amplifier in which the ampifier could
heatsink. operate before going into thermal shutdown. To operate at higher ambient temperatures a
heatsink or forced-air would be required.

END VIEWS
VERTICAL MOUNTING

NO HEATSINK, NO FAN °C/W

CONVECTION 2.9

TOP VIEW
VERTICAL MOUNTING
WITH FAN
HEATSINK, NO FAN °C/W

CONVECTION 1.7

HEATSINK + FAN °C/W

FORCED-AIR, 300 LFM 0.6

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 Accelnet Panel
DIGITAL SERVOAMPLIFIER
for BRUSHLESS/BRUSH MOTORS ACP
MASTER ORDERING GUIDE

ORDERING INSTRUCTIONS
PART NUMBER DESCRIPTION Example: Order 1 ACP-090-18 amplifier with heat-
ACP-055-18 Accelnet Servoamplifier, 55 Vdc, 6/18 A sink installed at factory and associated components:
Qty Item Remarks
ACP-090-09 Accelnet Servoamplifier, 90 Vdc 3/9 A
1 ACP-090-18-H Accelnet servoamplifier
ACP-090-18 Accelnet Servoamplifier, 90 Vdc, 6/18 A 1 ACP-CK Connector Kit
ACP-090-36 Accelnet Servoamplifier, 90 Vdc, 12/36 A 1 SER-CK Serial Cable Kit
1 CME2 CME 2™ CD
ACP-180-09 Accelnet Servoamplifier, 180 Vdc, 3/9 A
ACP-180-18 Accelnet Servoamplifier, 180 Vdc, 6/18 A
Connector Kit for Accelnet (P1 plug, and plugs with
ACP-CK
soldercups & backshells for P2 & P3)
Connector Kit for Accelnet (P1 plug, and molded 10 ft
ACP-CA
cable with flying leads for P2 & P3)
DC POWER SUPPLIES TO USE
CAN Network Kit (Sub-D 9F to RJ-45 adapter, 10 ft.
ACP-NK modular cable, and CAN terminator)
ACP-NC-10 CAN network cable, 10 ft (3 m)
ACP-NC-01 CAN network cable, 1 ft (0.3 m)
ACP-CC-10 Molded control cable (to J3), 10 ft, flying leads
ACP-FC-10 Molded feedback cable (to J2), 10 ft, flying leads
ACP-CV CAN adapter (Sub-D 9F to RJ-45)
ACP-NT CAN network terminator (121W in RJ-45 plug)
SER-CK RS-232 Cable Kit
Up to six Accelnet amplifiers can mount to
CME 2 CD with CME 2 Configuration Software
a PST power supply. All models shown are
ACP-HK Heatsink (optional) switch-selectable to operate from 115 or
230 Vac mains.

ADD A CAN BUS INTERFACE TO YOUR COMPUTER: Amplifier Power Supply Vdc Watts
Copley’s CAN-PCI-02 provides two fully-isolated
ACP-055-18 PST-040-13-DP-E 40 520
CAN channels in a PCI-card form-factor and works
with the XSJ-NK connector kit. ACP-090-09
ACP-090-18 PST-070-08-DP-E 70 525
ACP-090-36
ACP-180-09
PST-140-04-DP-E 140 490
ACP-180-18
Note: the -E option is for an extender plate that mounts to the
PST power supply and is required for mounting Accelnet Panel
amplifiers.

NEW FEATURES

Accelnet Panel models manufactured after February, 2006 have

enhanced features and can be identified by the red square on
the label. The new features are:
• ±10V analog input for current, velocity, position mode
• Multi-mode encoder port
Emulated encoder outputs from ServoTube motors
Buffered digital encoder outputs
Secondary encoder input

Note: Specifications subject to change without notice Rev 11.02_tu 05/27/2013

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Web: www.copleycontrols.com Page 16 of 16