DIGITAL SERVO DRIVE

Accelnet
™ for BRUSHLESS/BRUSH MOTORS
Panel ADP RoHS
Control Modes
• Indexer, Point-to-Point, PVT
• Camming, Gearing, Position, Velocity, Torque

Command Interface
• Stepper commands
Single-ended or Differential selectable
• CANopen
• ASCII and discrete I/O
• ±10V position/velocity/torque command
• PWM velocity/torque command
• Master encoder (Gearing/Camming)

Communications
• CANopen
• RS232

Feedback
• Digital Quad A/B encoders
• Analog sin/cos encoder (-S option) Model Ip Ic Vdc
• Brushless resolver (-R option) ADP-055-18 18 6 55
• Aux encoder / emulated encoder output
ADP-090-09 9 3 90
• Digital Halls
ADP-090-18 18 6 90
I/O - Digital
• 12 inputs, 3 outputs ADP-090-36 36 12 90

Dimensions: mm [in] ADP-180-09 9 3 180

• 168 x 99 x 31 [6.6 x 3.9 x 1.2] ADP-180-18 18 6 180

Add -S to part numbers above for sin/cos feedback

Add -R to part numbers above for resolver feedback

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

ServoTube linear motors compatible (-S models)! Check out the Copley web-site for more information: ServoTube Motors

Check out Accelnet on our web-site for more info and downloads: Accelnet Drives

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Web: www.copleycontrols.com Page 1 of 24
 DIGITAL SERVO DRIVE

Accelnet
™
for BRUSHLESS/BRUSH MOTORS
Panel ADP RoHS
GENERAL SPECIFICATIONS
Test conditions: Load = Wye connected load: 2 mH + 2 Ω line-line. Ambient temperature = 25°C, +HV = HVmax
MODEL ADP-055-18 ADP-090-09 ADP-090-18 ADP-090-36 ADP-180-09 ADP-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, 5 kΩ impedance
digital inputs
Number 12
Inputs [IN1~5,11,12] 74HC14 Schmitt trigger, 330 µs RC filter, Vin-LO < 1.35 Vdc, Vin-HI >3.65 Vdc, +30 Vdc max
[IN1] dedicated to drive enable function, other inputs are programmable
Input [IN6] 74HC14 Schmitt trigger, 100 ns RC filter, Vin-LO < 1.35 Vdc, Vin-HI >3.65 Vdc, +12 Vdc max
Inputs [IN7~10] Single-ended: Comparator with 2.5 Vdc reference, 100 ns RC filter, Vin-LO <2.3 Vdc, Vin-HI > 2.45 Vdc
Differential: RS-485 line receiver on input pairs [IN9-7], and [IN10-8], 100 ns RC filters, +12 Vdc max
All inputs 10 kΩ pull-up to +5 Vdc or pull-down to ground, selectable in groups, active level programmable
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) or resolver
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 outputs 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 drive 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 drives (Xenus, Accelnet, Stepnet)
Drive with serial connection acts as master for bi-directional data flow to other drives
using CAN connections in daisy-chain from drive to drive
CAN PORT
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 drive 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 24
 DIGITAL SERVO DRIVE

Accelnet
™ for BRUSHLESS/BRUSH MOTORS
Panel ADP RoHS
FEEDBACK
Digital quad a/b Encoder
Type Quadrature, differential line driver outputs
Signals A, /A, B, /B, (X, /X, index signals optional)
Frequency 5 MHz line frequency, 20 MHz quadrature count frequency
Analog Encoder (-S OPTION)
Type Sin/cos, differential line driver outputs, 0.5 Vpeak-peak (1.0 Vpeak-peak differential)
centered about 2.5 Vdc typical. Common-mode voltage 0.25 to 3.75 Vdc
Signals Sin(+), sin(-), cos(+), cos(-)
Frequency 230 kHz maximum line (cycle) frequency
Interpolation 10 bits/cycle (1024 counts/cycle)
Resolver
Type Brushless, single-speed, 1:1 to 2:1 programmable transformation ratio
Resolution 14 bits (equivalent to a 4096 line quadrature encoder)
Reference frequency 7.5 kHz
Reference voltage 2.8 Vrms, auto-adjustable by the drive to maximize feedback
Reference maximum current 100 mA
Maximum RPM 10,000+
Encoder Emulation
Resolution Programmable to 16,384 counts/rev (4096 line encoder equivalent)
Buffered encoder outputs 26C31 differential line driver
Digital Halls
Type Digital, single-ended, 120° electrical phase difference
Signals U, V, W
Frequency Consult factory for speeds >10,000 RPM
Connection Typically to J2-3,6,9; optionally to J3-10,11,12 when resolver feedback connects to J2
ENCODER Power Supply
Power Supply +5 Vdc @ 400 mA to power encoders & Halls
Protection Current-limited to 750 mA @ 1 Vdc if overloaded
Encoder power developed from +24 Vdc so position information is not lost when AC mains power is removed

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, 0.5 Vpeak-peak (1.0 Vpeak-peak differential)
centered about 2.5 Vdc typical. Common-mode voltage 0.25 to 3.75 Vdc
Signals Sin(+), sin(-), cos(+), cos(-)
Frequency 230 kHz maximum line (cycle) frequency
Interpolation Programmable: 10 bits/cycle (1024 counts/cycle)
Resolver R1, R2, S3, S1, S2, S4
Hall & encoder power +5 Vdc ±2% @ 400 mAdc max, current limited to 750 mAdc @ +1 Vdc if output overloaded
Motemp [IN5] Motor overtemperature sensor input. Active level programmable
Programmable to disable drive 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, drive 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 Drive outputs turn off until +HV < HVmax (See Input Power for HVmax)
HV Undervoltage +HV < +20 Vdc Drive outputs turn off until +HV > +20 Vdc
Drive over temperature Heat plate > 70°C. Drive 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
Vibration 2 g peak, 10~500 Hz (sine), IEC60068-2-6
Shock 10 g, 10 ms, half-sine pulse, IEC60068-2-27
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.

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Web: www.copleycontrols.com Page 3 of 24
 DIGITAL SERVO DRIVE

Accelnet
™
for BRUSHLESS/BRUSH MOTORS
Panel ADP RoHS
GENERAL SPECIFICATIONS (cont’d)
agency standards conformance
EN 55011 : 1998 CISPR 11 (1997) Edition 2/Amendment 2:
Limits and Methods of Measurement of Radio Disturbance Characteristics of Industrial, Scientific, and
Medical (ISM) Radio Frequency Equipment
EN 61000-6-1 : 2001 Electromagnetic Compatibility Generic Immunity Requirements
Following the provisions of EC Directive 89/336/EEC:
EN 61010-1 2nd Ed.: 2004 Safety Requirements for Electrical Equipment
for Measurement, Control, and Laboratory use
Following the provisions of EC Directive 2006/95/EC
UL 508C 3rd Ed.: 2002 UL Standard for Safety for Power Conversion Equipment

DIMENSIONS

2.00 50.8
.89 22.6 .16 4.1
R.08 2

Notes
1. Dimensions shown in inches [mm].
2. Heatsink is mounted with four screws.
6.58 167 6.31 160.3 Two of these are not shown to show
dimensions of slots in the heatplate.

3.38 85.7

4.07 103.5
6.31 160.3

1.17 29.7 1.17 29.7

.59 15

1.50 38.1

3.00 76.2
6.58 167

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

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Web: www.copleycontrols.com Page 4 of 24
 DIGITAL SERVO DRIVE

Accelnet
™ for BRUSHLESS/BRUSH MOTORS
Panel ADP RoHS
COMMUNICATIONS
CME 2 SOFTWARE
Drive setup is fast and easy using CME 2 software communicating via RS-232 or over the CAN bus.
All of the operations needed to configure the drive are accessible through this powerful and intuitive program. Auto-
phasing of brushless motor Hall sensors and phase wires eliminates “wire and try”. Connections are made once and
CME 2 does the rest thereafter. Encoder wire swapping to establish the direction of positive motion is eliminated.
Motor data can be saved as .ccm files. Drive data is saved as .ccx files that contain all drive settings plus motor
data. Thi s eases sy s t e m m a n a g e m e n t a s f i l e s c a n b e c r o s s - r e f e r e n c e d t o d r i ve s . O n c e a d r i ve confi gurati on
has been completed systems can be replicated easily with the same setup and performance.
When operating as a stand-alone drive that takes command inputs from an external controller, CME 2 is used for configuration. When
operated as a CAN node, CME 2 can be used for programming before and after installation in a CAN network. Accelnet can also be controlled
via CME 2 while it is in place as a CAN node. During this process, drive operation as a CAN node is suspended. When adjustments are
complete, CME 2 relinquishes control of the drive and returns it to the CAN node state.

RS-232 communication
Accelnet operates as a DTE device from a three-wire, full-duplex RS-232 port at 9,600 to 115,200 Baud. COM port settings must be
“N81” (No parity, 8 data-bits, 1 stop-bit). The SER-CK Serial Cable Kit provides an adapter that connects to the COM port of a PC (a 9
position, male D-Sub connector) and accepts a modular cable with RJ-11 connectors for connection to the Accelnet RS-232 port (J6).

RxD TxD
1
RxD TxD
1
9 6
RxD 1 2 3 4 5 6
TxD
9
6 5
Gnd 1 2 3 4 5 6
5
RJ-11
(DTE)

D-Sub 9F

D-Sub 9M 2 5 RJ-11
RxD TxD
(DTE) 3 2
(DTE)
TxD RxD
5 3
Gnd Gnd

PC COM POrt signals SER-CK serial cable kit Adapter connections J5 signals

RS-232 “multi-drop”
The RS-232 specification makes no allowance for more than two devices on a serial link. But, multiple Accelnet drives can communicate
over a single RS-232 port by daisy-chaining a master drive to other drives using CAN cables. In the CAN protocol, address 0 is reserved
for the CAN master and thereafter all other nodes on a CAN network must have unique, non-zero addresses. When the Accelnet CAN
address is set to 0, it acts as a CAN master, converting the RS-232 data into CAN messages and passing it along to the other drives
which act as CAN nodes.

RS-232
CANopen CANopen

CAN Addr 0 CAN Addr 1 CAN Addr n

CAN Master CAN Node CAN Node
ASCII communications
The Copley ASCII Interface is a set of ASCII format commands that can be used to operate and monitor Copley Controls Accelnet,
Stepnet, and Xenus series amplifiers over an RS-232 serial connection. For instance, after basic amplifier configuration values have
been programmed using CME 2, a control program can use the ASCII Interface to:
• Enable the amplifier in Programmed Position mode.
• Home the axis.
• Issue a series of move commands while monitoring position, velocity, and other run-time
variables.
Additional information can be found in the ASCII Programmers Guide on the Copley website:
ASCII Programmers Guide

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Web: www.copleycontrols.com Page 5 of 24
 DIGITAL SERVO DRIVE

Accelnet
™
for BRUSHLESS/BRUSH MOTORS
Panel ADP RoHS
COMMUNICATIOnS (continued)

CANopeN
Based on the CAN V2.0b 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 enables multiple
axes to coordinate moves as if they were driven from a single control card.

CANopen communication
Accelnet uses the CAN physical layer signals CANH, CANL, and GND for connection, and CANopen protocol for communication.
Before installing the drive in a CAN system, it must be assigned a CAN address. A maximum of 127 CAN nodes are allowed on a single
CAN bus. The rotary switch on the front panel controls the four lower bits of the seven-bit CAN address. When the number of nodes on
a bus is less than sixteen, the CAN address can be set using only the switch.
For installations with sixteen or more CAN nodes on a network CME 2 can be used to configure Accelnet to use the rotary switch,
or combinations of digital inputs and programmed offset in flash memory to configure the drive with a higher CAN node address.
For more information on CANopen communications, download the CANopen Manual from the Copley web-site:
CANopen Manual

canopen connectors ADP-NK can connector kit

Dual RJ-45 connectors that accept standard The kit contains the XTL-CV adapter that converts the CAN interface D-Sub
Ethernet cables are provided for CAN bus 9M connector to an RJ-45 Ethernet cable socket, plus a 10 ft (3 m) cable and
connectivity. Pins are wired-through so that terminator. Both connector pin-outs conform to the CiA DR-303-1 specification.
drives can be daisy-chained and controlled
with a single connection to the user’s
CAN interface. A CAN terminator should
be placed in the last drive in the chain.
The XTL-NK connector kit provides a D-Sub 1
6
8 1
adapter that plugs into a CAN controller
9
and has an RJ-45 socket that accepts the 5

Ethernet cable.
RJ-45
Pin 1 Pin 8 D-Sub 9F
2 2
CAN_L CAN_L
3 3
CAN_GND CAN_GND
7 1
CAN_H CAN_H
J4 J5
J6 CAN connections

CAN s tatus LED

J4 J5

CAN Status LED

Note: Red & green led on-times do not overlap.

LED color may be red, green, off, or flashing of either color.

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Web: www.copleycontrols.com Page 6 of 24
 DIGITAL SERVO DRIVE

Accelnet
™ for BRUSHLESS/BRUSH MOTORS
Panel ADP RoHS
COMMUNICATIOnS (continued)

Drive status LED

A single bi-color LED gives the state of the drive by changing color, and either blinking or remaining solid.
The possible color and blink combinations are:
• Green/Solid: Drive OK and enabled. Will run in response to reference inputs or CANopen commands.
• Green/Slow-Blinking: Drive OK but NOT-enabled. Will run when enabled.
• Green/Fast-Blinking: Positive or Negative limit switch active. Drive will only move in direction not inhibited by limit switch.
• Red/Solid: Transient fault condition. Drive will resume operation when fault is removed.
• Red/Blinking: Latching fault. Operation will not resume until drive is Reset.

Drive Fault conditions:

• Over or under-voltage
• Motor over-temperature
• Encoder +5 Vdc fault
• Short-circuits from output to output
• Short-circuits from output to ground
• Internal short circuits
• Drive over-temperature
Faults are programmable to be either
transient or latching

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Web: www.copleycontrols.com Page 7 of 24
 DIGITAL SERVO DRIVE

Accelnet
™
for BRUSHLESS/BRUSH MOTORS
Panel ADP RoHS
command Inputs

Analog Reference Input

A single ±10 Vdc differential input takes inputs from controllers that use PID or similar
compensators, and outputs a current command to the drive. Drive output current or
velocity vs. reference input voltage is programmable.

DIGITAL position
Digital position commands can be in either single-ended or differential format. Single-ended signals should be sourced from devices
with active pull-up and pull-down to take advantage of the high-speed inputs. Differential inputs have 121 W line-terminators.

Single-ended pulse & Direction differential pulse & Direction

[IN9+]
[IN9]
Pulse PULSE
[IN7-]
[IN10]
Direction

[IN10+]
DIRECTION
[IN8-]

Single-ended CU/CD differential CU/CD

CU (Count-Up)
CU (Count-Up) [IN9+]
[IN9] PULSE
CU [IN7-]

[IN10]
CD
CD (Count-Down)
[IN10+]
CD (Count-Down) DIRECTION
[IN8-]

QUAD a/b ENCODER SINGLE-ENDED QUAD a/b ENCODER DIFFERENTIAL

Encoder ph. B Encoder ph. B [IN9+]

[IN9] Enc. B
Enc. B [IN7-]

[IN10]
Enc. A
Encoder ph. A [IN10+]
Encoder ph. A Enc A
[IN8-]

DIGITAL TORQUE, VELOCITY

Digital torque or velocity commands can be in either single-ended or differential format. Single-ended signals must be sourced from
devices with active pull-up and pull-down to take advantage of the high-speed inputs.

Single-ended PWM & Direction differential PWM & Direction

Duty = 0~100% [IN9+]
[IN9] Current or Duty = 0 - 100%
PWM
Velocity [IN7-]

[IN10] Polarity or
Direction
[IN10+]

Direction
[IN8-]

Single-ended 50% PWM differential 50% PWM

[IN9+]
Duty = 50% ±50%
Duty = 50% ±50% Current or
Velocity
[IN9] Current or [IN7-]

Velocity
[IN10]
<no connection> No function [IN10+]
No
<no connection>
[IN8-] Function

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Web: www.copleycontrols.com Page 8 of 24
 DIGITAL SERVO DRIVE

Accelnet
™ for BRUSHLESS/BRUSH MOTORS
Panel ADP RoHS
command Inputs (continued)

digital INPUTS
Accelnet has twelve digital inputs, eleven of which have programmable functions. Input [IN1] is dedicated to the drive Enable function.
This is done to prevent accidental programming of the input in such a way that the controller could not shut it down.
Two types of RC filters are used: GP (general purpose) and HS (high speed). Input functions such as Pulse/Dir, CW/CCW, Quad A/B are
wired to inputs having the HS filters, and inputs with the GP filters are used for general purpose logic functions, limit switches, and the
motor temperature sensor. Programmable functions of the digital inputs include:
• Positive Limit switch • Step & Direction, or CU/CD pull-up/pull-down control
• Negative Limit switch step motor position commands In addition to the active level and function
• Home switch • Quad A/B master encoder for each programmable input, the input
• Drive Reset position commands
resistors are programmable in four groups
• PWM current or velocity commands • Motor over-temperature
• CAN address bits • Motion Profile Abort to either pull up to +5 Vdc, or down to
ground. Grounded inputs with HI active
levels interface to PLC’s that have PNP
outputs that source current from +24 Vdc
sources. Inputs pulled up to +5 Vdc work
with open-collector, or NPN drivers that
digital INPUT CIRCUITS sink current to ground. The table below
30 Vdc max 30 Vdc max shows the PU/PD groups and the inputs
they control.`
+5.0 V
+5.0 V

A B
10k
Group Inputs
*4.99k
74HC14
74HC14 A 1,2,3
10k
[IN1] [IN4]
[IN2]
B 4,5
*[IN5] 10k
10k
[IN3] C 6,7,8
33nF
33nF
*3.3nF D 9,10,11,12

HS (high speed) digital INPUTS

These inputs have all the programmable functions of the GP inputs plus these additional functions on [IN8] & [IN9]
which can be configured as single-ended or differential:
• PWM 50%, PWM & Direction for Velocity or Current modes
• Pulse/Direction, CU/CD, or A/B Quad encoder inputs for Position or Camming modes

single-ended differential
12 Vdc max 12 Vdc max

+5 V
+5 V
C
C 10k
10k 74HC14
74HC14
1k
1k [IN6]
[IN6]
100 pF
100 pF
10k
MAX3281 +5 V
[IN7] 1k
D
[IN8]
100 pF
10k 10k

100 pF
1k
+5 V 2.5V [IN9+]
D 1k
+ [IN7-]
10k
100 pF
10k 10k
1k MAX3283
[IN9]
1k 100 pF
[IN10]
[IN10+]
100 pF
1k
MAX3281 [IN8-]
10k 100 pF
10k
10k
[IN11] 10k
[IN12] [IN11]
[IN12]
33 nF
33 nF
74HC14

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Web: www.copleycontrols.com Page 9 of 24
 DIGITAL SERVO DRIVE

Accelnet
™
for BRUSHLESS/BRUSH MOTORS
Panel ADP RoHS
outputs

digital OUTPUTS
The digital outputs are open-drain MOSFETs with 1 kΩ pull-up resistors in series with a diode to +5
Vdc. They can sink up to 1 Adc from external loads operating from power supplies to +30 Vdc.
The output functions are programmable. The active state of the outputs is programmable to be on
or off.
When driving inductive loads such as a relay, an external fly-back diode is required. The internal
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.

MOTOR CONNECTIONS
Motor connections are of three types: phase, feedback, and thermal sensor. The phase connections carry the drive output currents that
drive the motor to produce motion. A thermal sensor that indicates motor overtemperature is used to shut down the drive to protect
the motor. Feedback can be digital quad A/B encoder, analog sin/cos encoder, resolver or digital Halls, depending on the version of the
drive.

motor phase connections

The drive 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 motor. 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 drive frame ground terminal (J2-1) for best results.

digitAl 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 U
+5V
sourced by magnetic sensors in the motor, or by encoders that have Hall tracks as V
part of the encoder disc. They typically operate at much lower frequencies than the W
10 k
motor encoder signals, and are used for commutation-initialization after startup, 74HC14
10 k
and for checking the motor phasing after the amplifier has switched to sinusoidal HALL U, V, W

commutation. Resolver models can also take Hall signal at inputs [IN6~8]. See
page 16 for connections. 3.3 nF

DIGITAL ENCODERS
The quad A/B encoder interface is a differential line-receiver with R-C filtering on
the inputs. Encoders with differential outputs are required because they are less
susceptible to noise that can degrade single-ended outputs. Encoder cables should
use twisted-pairs for each signal pair: A & /A, B & /B, X & /X. An overall shield
should be used, and for longer cables, shields for individual pairs may be necessary
to guarantee signal integrity.

ANALOG ENCODER (-S models)

Accelnet supports analog encoder signals for position feedback. The Sin and Cos
inputs are differential with 121 Ω terminating resistors and accept 1.0 Vp-p signals
in the A/B format used by encoders with analog outputs such as Heidenhain,
Stegman, and Renishaw. When Copley’s ServoTube motors are used the analog
encoder supplies both commutation and incremental position feedback.
R1 J8-3
Ref
R2 J8-2

RESOLVER (-R models) S3 J8-8

+
BRUSHLESS
Connections to the resolver should be made with shielded cable that uses RESOLVER S1 J8-7 -
Sin

three twisted-pairs. Once connected, resolver set up, motor phasing, and other S2 J8-13
commissioning adjustments are made with CME 2 software. There are no hardware
+
Cos
S4 J8-12 -
adjustments.
J8-1
Frame
Ground

+5V

Motor Temperature Sensor

4.99 k
Digital input [IN5] is for use with a motor overtemperature switch. The input should 10 k
74HC14

be programmed as a pull-up to +5 Vdc if the motor switch is grounded when cold,

[IN5]
and open or high-impedance when over-heating.
3.3 nF

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Web: www.copleycontrols.com Page 10 of 24
 DIGITAL SERVO DRIVE

Accelnet
™ for BRUSHLESS/BRUSH MOTORS
Panel ADP RoHS
multi-MODE ENCODER PORT
This port consists of three differential input/output channels that take their functions from the Basic Setup of the drive.
On drives with quad A/B encoder feedback, the port works as an output buffering the signals from the encoder. With resolver or sin/
cos encoder versions, the feedback is converted to quad A/B signals with programmable resolution. These signals can then be fed back
to an external motion controller that closes the position or velocity loops. As an input, the port can take quad A/B signals to produce
a dual-loop position control system or use the signals as master-encoder feedback in camming mode. In addition, the port can take
stepper command signals (CU/CD or Pulse/Direction) in differential format.

+5V 22 pF
as buffered outputs from a digital quadrature 2.2k
Secondary
feedback encoder Encoder Input
1k
When using a digital quadrature feedback encoder, the A/B/X signals drive 26CS32
the multi-mode port output buffers directly. This is useful in systems that use
external controllers that also need the motor feedback encoder signals because
these now come from J7, the Control connector. In addition to eliminating 1k
“Y” cabling where the motor feedback cable has to split to connect to both Input/Output
22 pF Select
controller and motor, the buffered outputs reduce loading on the feedback
cable that could occur if the motor encoder had to drive two differential inputs
in parallel, each with it’s own 121 ohm terminating resistor. 26CS31

Quad A/B Feedback

Encoder

+5V 22 pF
Secondary
2.2k
Encoder Input
as emulated quad a/b/x encoder outputs from an 1k
analog sin/cos feedback encoder 26CS32
Analog sin/cos signals are interpolated in the drive with programmable
resolution. The incremental position data is then converted back into digital
1k
quadrature format which drives the multi-mode port output buffers. Some Input/Output
analog encoders also produce a digital index pulse which is connected directly 22 pF Select
to the port’s output buffer. The result is digital quadrature A/B/X signals that
can be used as feedback to an external control system.
26CS31

Emulated Quad A/B

signals from
analog Sin/Cos encoder
or resolver

as a master or camming encoder input from a

+5V 22 pF
digital quadrature encoder
Secondary
When operating in position mode the multi-mode port can accept digital 2.2k
Encoder Input
command signals from external encoders. These can be used to drive cam 1k
tables, or as master-encoder signals when operating in a master/slave 26CS32
configuration.

1k
Input/Output
22 pF Select

as digital command inputs in pulse/direction,

pulse-up/pulse-down, or 26CS31
digital quadrature encoder format
The multi-mode port can also be used when digital command signals are in a
differential format. These are the signals that typically go to [IN9] and [IN10]
when they are single-ended. But, at higher frequencies these are likely to be
differential signals in which case the multi-mode port can be used.

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Web: www.copleycontrols.com Page 11 of 24
 quad A/B DIGITAL SERVO DRIVE

Accelnet
™
for BRUSHLESS/BRUSH MOTORS
Panel ADP RoHS
drive connections

Note 4
1 1
26LS31
A A
26 14
/A /A
25 13
B B
Encoder 24 12 DIGITAL
Feedback /B /B ENCODER
23 11
X 8
X
22
/X 21 7
/X
Motion
Controller U
Stand-Alone
15 Signal Gnd Hall U 3
Mode V
Signals DAC Out 3 Ref(+) Hall V 6 HALLS
Analog W
Ref Input Hall W 9
0V 2 Ref(-)

for Encoder + Hall

+5 & Gnd
ENC PWM PWM Digital Ref
J2 Gnd 15
/CW Pulse Ch. A 0~100 13
50% Input [IN9]
%
Gnd 5
ENC POL Digital Ref Input
/CCW Dir Ch. B none 14 Motemp
(DC) [IN10] 10
[IN5]
Position Ref Inputs Torque & Velocity
Ref Inputs
2
Enable Input +5 V
4
[IN1] Note 2 Output
Fwd Enable 4 Note 5
5
[IN2]
Motion Rev Enable
Controller 6
[IN3]
Digital
I/O
19 Signal Gnd
Fault Output +24V
16
[OUT1]

18 [OUT3]
J3 BRAKE
/Brake
17
[OUT2]
+5V
20
Output
Fuse
7 [IN4] U
Motor U 1

10 [IN6] Fuse
V MOTOR
= Shielded cables required Motor V 2
for CE compliance 11 [IN7]
W
Motor W 3
12 [IN8]

[IN11] Fuse
8
+HV Input 5 +
9 [IN12]
Amplifier mounting screw
J1 Gnd 4 -
DC
Aux HV Input 6
Power

Circuit Gnd Earth

Notes
1. The functions of input signals on J2-10, and J3-5,6,7,8,9,10,11,12,13, and 14
are programmable. Default functions are shown.
2. The function of [IN1] on J3-4 is always Drive Enable and is not programmable
3. Pins J3-20, J2-2, and J2-4 all connect to the same +5 Vdc @ 400 mAdc power source.
Total current drawn from both pins cannot exceed 400 mAdc.
4. Multi-mode encoder port (J3-21~26) is shown configured for buffered-output of a digital primary motor encoder.

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Web: www.copleycontrols.com Page 12 of 24
 quad A/B DIGITAL SERVO DRIVE

Accelnet
™ for BRUSHLESS/BRUSH MOTORS
Panel ADP RoHS

J6 RS-232 J4-J4 CAN BUS

PIN Signal PIN Signal
1 No Connection 1 CAN_H
2 RxD 2 CAN_L
3 Signal Ground 3 CAN_GND
4 Signal Ground 4 No Connection
5 TxD 5 Reserved
6 No Connection 6 (CAN_SHLD) 1

7 CAN_GND
J6 CABLE CONNECTOR
RJ-11 style, male, 6 position 8 (CAN_V+) 1

Cable: 6-conductor modular type J4, J5 Cable Connector:

RJ-45 style, male, 8 position
Cable: 8-conductor, modular type

J3 Control Signals
Pin Signal Pin Signal Pin Signal J3 Cable Connector:
High-Density D-Sub
1 Frame Gnd 10 [IN6] HS 19 Signal Gnd 26 Position, Male
#4-40 locking screws
2 Ref(-) 11 [IN7] HS 20 +5 Vdc (Note 1)
3 Ref(+) 12 [IN8] HS 21 Multi Encoder /X
4 [IN1] Enable 13 [IN9] HS 22 Multi Encoder X
5 [IN2] GP 14 [IN10] HS 23 Multi Encoder /B
6 [IN3] GP 15 Signal Gnd 24 Multi Encoder B
7 [IN4] GP 16 [OUT1] 25 Multi Encoder /A
8 [IN11] GP 17 [OUT2] 26 Multi Encoder A
9 [IN12] GP 18 [OUT3]

J2 Motor Feedback

Pin Signal Pin Signal Pin Signal

J2 Cable Connector:
High-Density D-Sub
1 Frame Gnd 6 Hall V 11 Encoder /B 15 Position, Male
#4-40 locking screws
2 +5 Vdc (Note 1) 7 Encoder /X 12 Encoder B
3 Hall U 8 Encoder X 13 Encoder /A
4 +5 Vdc (Note 1) 9 Hall W 14 Encoder A
5 Signal Gnd 10 [IN5] Motemp 15 Signal Gnd

J1: Motor & Power

PIN Signal J1 Cable Connector:
Terminal block,6 position, 5.08 mm, black
1 Motor U Output
Beau: 860506
2 Motor V Output RIA: 31249106
Weidmuller: 1526810000
3 Motor W Output
PCD: ELFP06210
4 Ground (HV, Signal) Weco: 121-A-111/06
Tyco: 796635-6
5 +HV Input
6 Aux HV Input

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Web: www.copleycontrols.com Page 13 of 24
 Sin/cos (-S option) DIGITAL SERVO DRIVE

Accelnet
™
for BRUSHLESS/BRUSH MOTORS
Panel ADP RoHS
drive connections

1 1
26LS31
A Sin(+)
26 14
/A Sin(-)
25 13
ANALOG
B Cos(+) ENCODER
Encoder 24 12
Feedback /B Cos(-)
23 11
X X
22 8 DIGITAL
ENCODER
/X /X
21 7 INDEX
Motion
Controller 15 Signal Gnd U
Stand-Alone Hall U 3
Mode V
Hall V 6 HALLS
Signals DAC Out 3 Ref(+)
Analog W
Ref Input Hall W 9
0V 2 Ref(-)

J2

for Encoder + Hall

+5 & Gnd
ENC PWM PWM Digital Ref Gnd 15
13
/CW Pulse Ch. A 50% 0~100 Input [IN9]
%
Gnd 5
ENC POL Digital Ref Input
/CCW Dir Ch. B none 14 [IN10] Motemp
(DC) 10
[IN5]
Position Ref Inputs Torque & Velocity
Ref Inputs
2
4 Enable Input +5 V
[IN1]Note 2 Output
Fwd Enable 4
5
[IN2]
Motion Rev Enable
6
Controller [IN3]
Digital
I/O

J3
19 Signal Gnd
Fault Output +24V
16
[OUT1]

BRAKE
18 [OUT3] /Brake
17
[OUT2]
+5V
20 * Optional
Output
* Fuse U
7 [IN4] Motor U 1

10 [IN6] * Fuse V
Motor V 2 MOTOR
Note: CE symbols indicate shielding 11 [IN7]
on cables and grounding W
Motor W 3
connections that are 12 [IN8]
required for CE compliance
8 [IN11] Fuse
+HV Input 5 +
9 [IN12]
Amplifier mounting screw
J1 Gnd 4 -
DC
Aux HV Input 6
Power

Circuit Gnd Earth

Notes
1. The functions of input signals on J2-10, and J3-5,6,7,8,9,10,11,12,13, and 14
are programmable. Default functions are shown.
2. The function of [IN1] on J3-4 is always Drive Enable and is not programmable
3. Pins J3-20, J2-2, and J2-4 all connect to the same +5 Vdc @ 400 mAdc power source.
Total current drawn from both pins cannot exceed 400 mAdc.
4. Multi-mode encoder port (J3-21~26) is shown configured for buffered-output of a digital primary motor encoder.

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Web: www.copleycontrols.com Page 14 of 24
 Sin/cos (-S option) DIGITAL SERVO DRIVE

Accelnet
™ for BRUSHLESS/BRUSH MOTORS
Panel ADP RoHS

J6 RS-232 J4-J4 CAN BUS

PIN Signal PIN Signal
1 No Connection 1 CAN_H
2 RxD 2 CAN_L
3 Signal Ground 3 CAN_GND
4 Signal Ground 4 No Connection
5 TxD 5 Reserved
6 No Connection 6 (CAN_SHLD) 1

7 CAN_GND
J6 CABLE CONNECTOR 8 (CAN_V+) 1

RJ-11 style, male, 6 position

Cable: 6-conductor modular type J4, J5 Cable Connector:
RJ-45 style, male, 8 position
Cable: 8-conductor, modular type

J3 Control Signals
Pin Signal Pin Signal Pin Signal J3 Cable
Connector:
1 Frame Gnd 10 [IN6] HS 19 Signal Gnd High-Density D-Sub
26 Position, Male
2 Ref(-) 11 [IN7] HS 20 +5 Vdc (Note 1)
3 Ref(+) 12 [IN8] HS 21 Multi Encoder /X
4 [IN1] Enable 13 [IN9] HS 22 Multi Encoder X
5 [IN2] GP 14 [IN10] HS 23 Multi Encoder /B
6 [IN3] GP 15 Signal Gnd 24 Multi Encoder B
7 [IN4] GP 16 [OUT1] 25 Multi Encoder /A
8 [IN11] GP 17 [OUT2] 26 Multi Encoder A
9 [IN12] GP 18 [OUT3]

J2 Motor Feedback
J2 Cable Connector:
Pin Signal Pin Signal Pin Signal High-Density D-Sub
15 Position, Male
1 Frame Gnd 6 Hall V 11 Encoder Cos(-)
2 +5 Vdc (Note 1) 7 Encoder /X 12 Encoder Cos(+)
3 Hall U 8 Encoder X 13 Encoder Sin(-)
4 +5 Vdc (Note 1) 9 Hall W 14 Encoder Sin(+)
5 Signal Gnd 10 [IN5] Motemp 15 Signal Gnd

J1: Motor & Power

PIN Signal J1 Cable Connector:
1 Motor U Output Terminal block,6 position, 5.08 mm, black
Beau: 860506
2 Motor V Output RIA: 31249106
3 Motor W Output Weidmuller: 1526810000
PCD: ELFP06210
4 Ground (HV, Signal) Weco: 121-A-111/06
Tyco: 796635-6
5 +HV Input
6 Aux HV Input

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Web: www.copleycontrols.com Page 15 of 24
 Resolver (-R option) DIGITAL SERVO DRIVE

Accelnet
™
for BRUSHLESS/BRUSH MOTORS
Panel ADP RoHS
drive connections

FG

1 1
A R1 R1
26 Outputs Emulated 3
Quad A/B from
/A Resolver
R2 R2
25 2
BRUSHLESS
B S3 S3
Encoder 24 8 RESOLVER
Feedback /B S1 S1
23 7
Inputs Secondary
X Position Encoder S2 S2
22 13
/X S4 S4
21 12
Motion
Controller FG 6
1
15 Signal Gnd
Stand-Alone
Mode FG 11
1
Signals DAC Out 3 Ref(+) N.C.
Analog
Ref Input 4 9 14
0V 2 Ref(-)

J2 MOTOR
PWM PWM
OVERTEMP
ENC Digital Ref Gnd 15
13 SWITCH
/CW Pulse Ch. A 50% 0~100 Input [IN9]
%
ENC POL Digital Ref Input
/CCW Dir Ch. B none 14 [IN10] Motemp
(DC) [IN5]
10

Position Ref Inputs Torque & Velocity

Ref Inputs
Enable Input 0V
4 Gnd 5
[IN1]
Fwd Enable Hall W
5 [IN6] 10
[IN2]
Motion Hall V Digital
6 Rev Enable [IN7] 11
[IN3] Halls
Controller
Hall U
Digital
I/O
J3 [IN8] 12
+5V 5V
20
19 Signal Gnd Output
Fault Output +24V
16
[OUT1]

BRAKE
18 [OUT3] /Brake
14
[OUT2]
7 [IN4]
* Optional
* Fuse U
Motor U 1
* Fuse V
Motor V 2 MOTOR

W
Motor W 3

8 [IN11] Fuse
+HV Input 5 +
9 [IN12]
Amplifier mounting screw
J1 Gnd 4 -
DC
Aux HV Input 6
Power

Circuit Gnd Earth

Notes
1. The functions of input signals on J2-10, and J3-5,6,7,8,9,10,11,12,13, and 14
are programmable. Default functions are shown.
2. The function of [IN1] on J3-4 is always Drive Enable and is not programmable
3. Pins J3-20 and J2-2 both connect to the same +5 Vdc @ 400 mAdc power source.
Total current drawn from both pins cannot exceed 400 mAdc.
4. Multi-mode encoder port (J3-21~26) is shown configured for buffered-output of a digital primary motor encoder.
5. Usage of [IN6~8] for Hall sensors is optional. If not used for Halls, these are programmable, high-speed inputs.

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Web: www.copleycontrols.com Page 16 of 24
 Resolver (-R option) DIGITAL SERVO DRIVE

Accelnet
™ for BRUSHLESS/BRUSH MOTORS
Panel ADP RoHS

J6 RS-232 J4-J4 CAN BUS

PIN Signal PIN Signal
1 No Connection 1 CAN_H
2 RxD 2 CAN_L
3 Signal Ground 3 CAN_GND
4 Signal Ground 4 No Connection
5 TxD 5 Reserved
6 No Connection 6 (CAN_SHLD) 1

7 CAN_GND
J6 CABLE CONNECTOR 8 (CAN_V+) 1

RJ-11 style, male, 6 position

Cable: 6-conductor modular type J4, J5 Cable Connector:
RJ-45 style, male, 8 position
Cable: 8-conductor, modular type

J3 Control Signals
Pin Signal Pin Signal Pin Signal J3 Cable
Connector:
1 Frame Gnd 10 [IN6] HS 19 Signal Gnd High-Density D-Sub
26 Position, Male
2 Ref(-) 11 [IN7] HS 20 +5 Vdc (Note 1)
3 Ref(+) 12 [IN8] HS 21 Multi Encoder /X
4 [IN1] Enable 13 [IN9] HS 22 Multi Encoder X
5 [IN2] GP 14 [IN10] HS 23 Multi Encoder /B
6 [IN3] GP 15 Signal Gnd 24 Multi Encoder B
7 [IN4] GP 16 [OUT1] 25 Multi Encoder /A
8 [IN11] GP 17 [OUT2] 26 Multi Encoder A
9 [IN12] GP 18 [OUT3]

J2 Motor Feedback
Pin Signal Pin Signal Pin Signal
J2 Cable Connector:
High-Density D-Sub
1 Frame Gnd 6 Frame Gnd 11 Frame Gnd 15 Position, Male
2 Ref(-) Output R2 7 Sin(-) Input S1 12 Cos(-) Input S4
3 Ref(+) Output R1 8 Sin(+) Input S3 13 Cos(+) input S2
4 N.C. 9 N.C. 14 N.C.
5 Signal Gnd 10 [IN5] Motemp 15 Signal Gnd

J1: Motor & Power

PIN Signal J1 Cable Connector:
1 Motor U Output Terminal block,6 position, 5.08 mm, black
Beau: 860506
2 Motor V Output RIA: 31249106
3 Motor W Output Weidmuller: 1526810000
PCD: ELFP06210
4 Ground (HV, Signal) Weco: 121-A-111/06
Tyco: 796635-6
5 +HV Input
6 Aux HV Input

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Web: www.copleycontrols.com Page 17 of 24
 DIGITAL SERVO DRIVE

Accelnet
™
for BRUSHLESS/BRUSH MOTORS
Panel ADP RoHS
GROUNDING CONSIDERATIONS POWER Supplies
Power and control circuits in Accelnet share a common circuit-ground (Gnd on J1-4, and Accelnet operates typically from transformer-
Signal Ground on J2-2, 10 ,15 ,20, and J3-2, 23). Input logic circuits are referenced to isolated, unregulated DC power supplies.
Signal Ground, as are analog Reference inputs, digital outputs, encoder and Hall signals. These should be sized such that the
For this reason, drive Gnd terminals should connect to the users’ common ground system maximum output voltage under high-line
so that signals between drive and controller are at the same common potential, and to and no-load conditions does not exceed
minimize noise. The system ground should, in turn, connect to an earthing conductor at the drives maximum voltage rating. Power
some point so that the whole system is referenced to “earth”. The CAN ports are optically supply rating depends on the power
isolated from the drive circuits. delivered to the load by the drive. In many
Because current flow through conductors produces voltage-drops across them, it is best cases, the continuous power output of the
to connect the drive HV Return to system earth, or circuit-common through the shortest drive is considerably higher than the actual
path, and to leave the power-supply floating. In this way, the power supply (-) terminal power required by an incremental motion
connects to ground at the drive HV Return terminals, but the voltage drops across the application.
cables will not appear at the drive 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 drive 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 drive case does not connect to any drive circuits. Connections to the case are provided
the diode and drive.
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 drive
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.
Signals from controller to drive are referenced to +5 Vdc, and other power supplies in +HV (+)
user equipment. These power supplies should also connect to system ground and earth Switching
Accelnet
Power
at some point so that they are at same potential as the drive circuits. Amplifier
Gnd (-) Supply
The final configuration should embody three current-carrying loops. First, the power supply
currents flowing into and out of the drive at the +HV and Gnd pins on J1. Second the
drive outputs driving currents into and out of the motor phases, and motor shield currents
circulating between the U, V, and W outputs and Gnd. And, lastly, logic and signal currents AUXILIARY HV POWER
connected to the drive control inputs and outputs.
Accelnet has an input for AUX- HV. This
For CE compliance and operator safety, the drive should be earthed by using external tooth is a voltage that can keep the drive
lockwashers under the mounting screws. These will make contact with the aluminum chassis communications and feedback circuits
through the anodized finish to connect the chassis to the equipment frame ground. active when the PWM output stage has been
disabled by removing the main +HV supply.
This can occur during EMO (Emergency Off)
conditions where the +HV supply must be
removed from the drive 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 drive and
powers the DC/DC converter that supplies
operating voltages to the drive DSP and
control circuits.
When the drive +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
drive heatplate to mounting surface, or by
convection to ambient.
A heatsink (optional) is required for the
drive to deliver the rated continuous
output current. Depending on the drive
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 18 of 24
 DIGITAL SERVO DRIVE

Accelnet
™ for BRUSHLESS/BRUSH MOTORS
Panel ADP RoHS
grounding & shielding for ce
Grounding and shielding are the means of
controlling the emission of radio frequency
energy from the drive so that it does not
interfere with other electronic equipment.
The use of shielded cables to connect the
drive to motors and feedback devices is a J3 J2
way of extending the chassis of the drive CONTROLLER FEEDBACK
out to these devices so that the conductors
carrying noise generated by the drive
are completely enclosed by a conductive
shield.
ACCELNET
The process begins at the connector J1
of the drive. When possible, it is best to
ground the (-) HV terminal to the equipment
earth ground with as short a connection as
possible. The drives’ PWM outputs produce
current pulses in the wires between drive MOTOR
and power supply. By grounding the power
supply at the drive end of the cables, this
noise will not appear between earth ground
and drive circuit ground. And, using shielded J1
cable between drive and power supply will
provide a return path for noise produced in
the cables that might otherwise radiate to DC
adjacent equipment. POWER
SUPPLY
The shield of the motor cable should also
connect to either J1-4, or to a nearby star
ground at the chassis where the power-
supply (-) terminal connects. Connecting
the shields of the motor cable to the motor
frame completes the return path for noise
that is capacitively coupled to the motor
frame.
Next, ground the motor heatplate using
an external-tooth locking washer. This
will penetrate the anodized finish of the
heatplate (which is an electrical insulator)
and make good electrical contact with the
aluminum plate. Grounding the heatplate
in this way shortens the path from drive
to earth ground and further reduces
emissions.
Shield should also be added to the cables
from the motion controller or control
Notes:
system, and from the feedback device on 1) Shielded cables required for CE are shown in the
the motor. diagram above.

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Web: www.copleycontrols.com Page 19 of 24
 DIGITAL SERVO DRIVE

Accelnet
™
for BRUSHLESS/BRUSH MOTORS
Panel ADP RoHS
CANopen CONFIGURATION
Serial Cable Kit (1)

SER-CK Multiple drives are connected as

nodes on a CAN bus
DB-9 to RJ-45 Adapter
& 10 ft Cable (2)
Individual drives 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
ADP-NC-10 (10 ft)
2. Included in CANopen Network Kit ADP-NK
ADP-NC-01 (1 ft)
3. Order one cable (1 or 10 ft) for each additional
drive

CAN Terminator (2)

(for last node on CAN bus)

HV/Motor,
Feedback & Control
Connector Kit
ADP-CK

PART NUMBER DESCRIPTION

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

Add -S to part numbers above for sin/cos feedback (ServoTube motors)

Add -R to part numbers for resolver feedback

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Web: www.copleycontrols.com Page 20 of 24
 DIGITAL SERVO DRIVE

Accelnet
™ for BRUSHLESS/BRUSH MOTORS
Panel ADP RoHS
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
ADP-CK configuration.

Power Supply
+HV PART NUMBER DESCRIPTION
Mains-isolated DC
Required for all systems ADP-055-18 Accelnet Servo drive, 55 Vdc, 6/18 A
User-supplied
ADP-090-09 Accelnet Servo drive, 90 Vdc 3/9 A
ADP-090-18 Accelnet Servo drive, 90 Vdc, 6/18 A
ADP-090-36 Accelnet Servo drive, 90 Vdc, 12/36 A
Heatsink ADP-180-09 Accelnet Servo drive, 180 Vdc, 3/9 A
ADP-HK ADP-180-18 Accelnet Servo drive, 180 Vdc, 6/18 A
(Optional)
Connector Kit for Accelnet (P1 plug, and plugs
ADP-CK
with soldercups & backshells for P2 & P3)
CME 2 CD with CME 2 Configuration Software
SER-CK RS-232 Cable Kit
ADP-HK Heatsink (optional)

Add -S to part numbers above for sin/cos feedback (ServoTube motors)

Add -R to part numbers for resolver feedback

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Web: www.copleycontrols.com Page 21 of 24
 DIGITAL SERVO DRIVE

Accelnet
™
for BRUSHLESS/BRUSH MOTORS
Panel ADP RoHS
POWER DISSIPATION
The charts on this page show the drive internal power dissipation for the Accelnet models under differing power supply and output
current conditions. Drive output current is calculated from the motion profile, motor, and load conditions. The values on the chart
represent the RMS (root-mean-square) current that the drive would provide during operation. The +HV values are for the average DC
voltage of the drive power supply.
When +HV and drive output current are known, the drive power dissipation can be found from the chart. Once this is done use the data
on the facing page to find drive 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 drive is disabled the power dissipation is shown on the chart as “Off”. Note that this is a different value than that of an drive
that is “On” but outputting 0 A current.

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

20 55

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

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)

85
180 Vdc models
15 55
25
10

0
0 1 2 3 4 5 6

Output Current (A)

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Web: www.copleycontrols.com Page 22 of 24
 DIGITAL SERVO DRIVE

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

top view
Vertical mounting
with fan
end views
Vertical mounting

no heatsink, no fan °C/W

convection 2.9

heatsink, no fan °C/W

convection 1.7

heatsink + fan °C/W

forced-air, 300 lfm 0.6

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Web: www.copleycontrols.com Page 23 of 24
 DIGITAL SERVO DRIVE

Accelnet
™
for BRUSHLESS/BRUSH MOTORS
Panel ADP RoHS
MASTER ORDERING GUIDE
PART NUMBER DESCRIPTION
ADP-055-18 Accelnet ADP Servo drive, 55 Vdc, 6/18 A
ADP-090-09 Accelnet ADP Servo drive, 90 Vdc 3/9 A
ADP-090-18 Accelnet ADP Servo drive, 90 Vdc, 6/18 A
ADP-090-36 Accelnet ADP Servo drive, 90 Vdc, 12/36 A
ADP-180-09 Accelnet ADP Servo drive, 180 Vdc, 3/9 A
ADP-180-18 Accelnet ADP Servo drive, 180 Vdc, 6/18 A

Add -S to part numbers above for sin/cos feedback (ServoTube motors)

Add -R to part numbers for resolver feedback
accessories

qty DESCRIPTION
1 Connector, 6 Terminal, 5.08 mm
1 26 Pin Connector, High Density, D-Sub, Solder Cup
Connector Kit
1 26 Pin Connector Backshell
ADP-CK
1 15 Pin Connector, High Density, D-Sub, Solder Cup
1 15 Pin Connector Backshell
1 Adapter Assy, DB9 Female to RJ45 Jack (XTL-CV)
CANopen
Network Kit 1 CANopen Network Cable, 10 ft. (XTL-NC-10)
ADP-NK
1 CANopen Network Terminator (XTL-NT)
1 Heatsink, Low Profile
Heatsink Kit 1 Heatsink Thermal Material
ADP-HK
4 Heatsink Hardware
ADP-CV Adapter Assembly, DB9 Female to RJ45 Jack
ADP-NC-10 CANopen Network Cable, 10 ft
ADP-NC-01 CANopen network cable, 1 ft
ADP-NT CANopen Network Terminator
CME 2 CME 2 Drive Configuration Software on CD-ROM
SER-CK Serial Cable Kit

Ordering example
Example: Order an ADP-090-18-S servo drive with heatsink installed at factory and associated components:
Qty Item Remarks
1 ADP-090-18-S-H Accelnet servo drive
1 ADP-CK Connector Kit
1 SER-CK Serial Cable Kit
1 CME2 CME 2™ CD

Check out the PST power supplies for mounting and DC power:
PST Power Supplies

Note: Specifications subject to change without notice Rev 7.01_tu 05/25/2010

Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Web: www.copleycontrols.com Page 24 of 24