ACCELNET, M-Series and ARGUS - DIGITAL SERVO CONTROLLER FOR DC SUPPLY

The Accelnet servo controllers are the little brothers of the Xenus servo controllers and as such are equally modern digital servo controllers or servo drives / amplifiers - with the difference that they were developed for operation on a DC supply. The voltage range varies from 9Vdc to 60Vdc to 24Vdc to 180Vdc. The Accelnet servo controller series is complemented by the M series, which are available as 3-axes servo controllers or servo drives for 4 axes.

 

Copley's servo drives for DC supply are 100% software compatible with the Xenus servo amplifiers, they too are servo controllers that can completely control individual axes with their indexer functionality. Communication with individual commands in ASCII format via the RS-232 interface is possible, as well as pre-programming and storing entire programs and controlling them via inputs.

 

The servo drives for DC supply are also equipped with a CAN interface as standard (CANopen, DSP402 profile). The new Accelnet Plus, M and Argus servo controllers also offer an optional EtherCAT interface and support various absolute encoders. The connection to these two fieldbus systems and the use of modern absolute encoder technologies such as BiSS B, BiSS C, Hiperface or EnDAT 2.2 opens up new possibilities for automation concepts with distributed intelligence.

 

In general, the following characteristics can be stated for Copley servo controllers with DC supply:

  • operation at 9 Vdc to 55 Vdc, 20 Vdc to 90 Vdc or 20 Vdc to 180 Vdc (depending on model)
  • currents up to 60A peak
  • versions for single axis and dual-axes (housed or as module), 3-axes or 4-axes as module
  • efficient control: vector control (info vector control )
  • efficient commissioning: CME software with oscilloscope and auto-tuning and auto-phasing
  • easy integration into central control concepts: +/-10V and/or PWM current/velocity specification
  • easy replacement of stepper motor solutions: pulse/direction interface as position command
  • efficient use as single axis controller: powerful indexer via RS232 interface (programs also addressable via I/O) easy integration into distributed control concepts: CANopen (optional CANopen libraries for C++ (Data Sheet CML ) and COM objects (Data Sheet CMO ))

further accessories are available:

  • various CAN interfaces (USB, PCI, PCIe or PC104) with one or two channels (parameterization via CAN possible), see CAN-Interfaces
  • CAN I/O processor for PCB mounting: 8 inputs for CAN address selection, 72 digital I/O, 12 analog inputs,12 PWM outputs, 2 outputs for status LED, RS-232), see CAN-I/O-Module
digital servo controller / drive for 9Vdc, 12Vdc, 24Vdc, 60Vdc,180Vdc brushless servo motors digital servo controller / drive for 9Vdc, 12Vdc, 24Vdc, 60Vdc,180Vdc brushless servo motors

ARGUS servo controller (EtherCAT, CANopen) For High Motor Current Up to 60 A peak

The ARGUS servo drive is Copley's servo controller for optimum performance with DC supply at low voltage from 9Vdc and high motor current; the ARGUS servo amplifiers are therefore particularly suitable for battery-powered applications at 12 Volt, 24 Volt or 48 Volt supply voltage such as vehicles or driverless transport systems (AGV) or mobile medical equipment etc.

 

The basic characteristics of the ARGUS servo amplifiers are:

  • operating modes: current, speed or position control
  • command input: EtherCAT, CANopen, RS-232, +/-10V, PWM, I/O (Indexer), Stepper, Master Encoder (Electronic Gear)
  • operation at 9 Vdc to 55 Vdc or 14 Vdc to 90 Vdc
  • motor currents up to 60A peak
  • PC board design as a module for soldering/inserting
  • very good current resolution
  • many inputs/outputs
  • various feedback options including absolute feedback: halls, digital incremental encoder (AquadB) / sine encoder / resolver, absolute encoder (EnDat 2.2, BiSS, SSI, HD, Tamagawa, Panasonic, Sanyo Denki, Nikon)
  • fieldbus connection: CANopen, EtherCAT
  • Safety: Safe Torque Off (STO), SIL 3, Category 3, PL d
type voltage
(Vdc)
continuous current
(Arms / Adc)
peak current
(Arms / Adc)
design dimensions
hxwxl
(mm)
digitale
In/Out
feedback
GEM/GPM-055-60 (-R)* 9-55 21.2 / 30 42.4 / 60 module
single axis
78.7x60.1x23.4 11 / 8 incremental:
Halls
TTL-encoder (RS422)
sine-encoder (1Vss)
Panasonic A
absolut:
SSI
EnDAT
Absolute A
(HD, Tamagawa,
Panasonic,
Sanyo Denki, Nikon)
Biss
secondary encoder:
digital TTL
input or
output (emulation)
GEM/GPM-090-60 (-R)* 14-90 21.2 / 30 42.4 / 60
AEV-090-14 (-R)* 9-90 5.0 / 7 9.9 / 14 64x41x17.5 7 / 6
AEV-090-30 (-R)* 10.6 / 15 21.2 / 30
AEV-090-50 (-R)* 17.7 / 25** 35.4 / 50**
AEV-180-10 (-R)* 20-180 3.5 / 5 7.1 / 10
AEV-180-20 (-R)* 7.1 / 10 14.2 / 20
* -R = Resolver
** needs to be solderd to the board for performance data!

M-series servo controllers for 3 or 4 axes (EtherCAT, CANopen)

The M Series servo controllers are Copley's multi-axes universal motor amplifiers for DC supply from 14Vdc:

  • universal controller for stepper motors, DC motors and BLDC motors also in mixed operation
  • 3-axes and 4-axes version 
  • operating modes: current, speed or position control
  • command input: EtherCAT, CANopen, RS-232, +/-10V, PWM, I/O (Indexer), Stepper, Master Encoder (Electronic Gear)
  • operation at 14 Vdc to 55 Vdc (4-axes) or 14 Vdc to 90 Vdc (3-axes)
  • currents up to 3A peak (4-axes) or 10A peak (3-axes)
  • PC board design as a module for soldering/inserting
  • very good current resolution
  • many inputs/outputs
  • various feedback options halls, digital incremental encoder (AquadB) (3-axes also sine encoder and absolute encoder (EnDat 2.2, BiSS, SSI, HD, Tamagawa, Panasonic, Sanyo Denki, Nikon))
  • fieldbus connection: CANopen, EtherCAT
type voltage
(Vdc)
continuous current
(Arms / Adc)
peak current
(Arms / Adc)
design dimensions
hxwxl
(mm)
digital
In/Out
feedback
ME3/MP3-090-10 14-90 3.5 / 5 7.1 / 10 module
three axes
101.6x85.1x21 19 / 9 incremental:
Halls
TTL-Encoder (RS422)
sine-encoder (1Vss)
Panasonic A
absolut:
SSI
EnDAT
Absolute A
(HD, Tamagawa,
Panasonic,
Sanyo Denki, Nikon)
Biss
secondary encoder:
digital TTL
input or
output (emulation)
ME4/MP4-055-03 14-90 2.1 / 3 2.1 / 3 module
four axes
101.6x85.1x21 24 / 12 incremental:
Halls
A/B/Z-Encoder (single ended)
secondary encoder:
digital A/B input

IES servo controller for integration in motors and robotic joints (EtherCAT)

The IES060-30 servo controller is intended for mounting on a motor e.g. in a robot joint; therefore it also has a hole in the middle so that power and network cables can be run through; currently there is a version with EtherCAT, CANopen is possible on request; the present standard version with 80x80x20mm (rounded, outer diameter 89.4mm) and a middle hole of 10mm is an example of a version; however, in several customer projects customer-specific versions have already been implemented.

 

The basic data for the IES single-board servo controllers:

 

  • DC motors and BLDC brushless servo motors
  • single axis
  • single board
  • operating modes: current, speed or position control
  • command interface: EtherCAT (CoE, CANopen over EtherCAT),   RS-232, +/-10V, PWM, I/O (Indexer), Stepper, Master Encoder (Electronic Gear)
  • operation at 14 Vdc to 60 Vdc
  • currents up to 30Adc (21.2Arms) peak, 15Adc (10.6Arms) continuous
  • very good current resolution
  • many inputs/outputs
  • feedback options: Halls, digital incremental encoder (AquadB); absolute encoder (BiSS (B&C) unidirectional, SSI)
  • fieldbus connection: EtherCAT (CANopen available on request)
type voltage
(Vdc)
continuous current
(Arms / Adc)
peak current
(Arms / Adc)
design dimensions
hxwxl
(mm)
digital
In/Out
feedback
IES-060-30 14-60 10.2 / 15 21.2 / 30 circuit board
single axis
80 x 80 x 20
outer Ø 89.4
center hole 10
1 / 1 incremental:
Halls
TTL-Encoder (RS422)
absolut:
SSI
Biss (B&C), unidirectional

ACCELNET PLUS servo controllers (EtherCAT, CANopen, MACRO)

Accelnet Plus is the high-end version of Accelnet servo controllers (single or dual axes) with DC supply:

  • operating modes: current, speed or position control
  • command input: EtherCAT, CANopen, RS-232, +/-10V, PWM, I/O (Indexer), Stepper, Master Encoder (Electronic Gear)
  • operation at 14 to 90 Vdc or 40 to 180 Vdc (depending on model)
  • currents from 2.1Arms to 10.6Arms continuous
  • available in five designs: Panel single-axis (BEL/BPL), Panel double-axes (BE2/BP2), Module for soldering single-axis (AEM/APM), Module for soldering double-axes (AE2/AP2), Panel single-axis (AEP/AMP, older version)
  • improved current resolution
  • many inputs/outputs
  • more feedback options: halls, digital incremental encoder (AquadB) / sine encoder / resolver, absolute encoder (EnDat 2.2, BiSS, SSI, HD, Tamagawa, Panasonic, Sanyo Denki, Nikon)
  • new fieldbus systems: CANopen, EtherCAT, MACRO
  • Safety: Safe Torque Off (STO), SIL 3, Category 3, PL d (panel version)
type voltage
(Vdc)
continuous current
(Arms / Adc)
peak current
(Arms / Adc)
design dimensions
hxwxl
(mm)
digital
In/Out
feedback
BEL/BPL-090-06 (-R)* 20-90 2.1 / 3 4.2 / 6 housing
(panel)
single axis
124.1x80.1x40 11 / 4 incremental:
Halls
TTL-Encoder (RS422)
sine-encoder (1Vss)
Panasonic A
absolut:
SSI
EnDAT
Absolute A
(HD, Tamagawa,
Panasonic,
Sanyo Denki, Nikon)
Biss
secondary encoder:
digital TTL
input or
output (emulation)
BEL/BPL-090-14 (-R)* 20-90 4.9 / 7 9.9 / 14
BEL/BPL-090-30 (-R)* 20-90 10.6 / 15 21 / 30
BE2/BP2-090-06 (-R)* 20-90 2.1 / 3 4.2 / 6 housing
(panel)
dual axes
167x115.2x40.6 18 / 5
BE2/BP2-090-14 (-R)* 20-90 4.9 / 7 9.9 / 14
BE2/BP2-090-20 (-R)* 20-90 7.1 / 10 14.1 / 20
AEM/APM-090-06 (-R)* 20-90 2.1 / 3 4.2 / 6 module (soldering pins)
module)
single axis
77x23x59 11 / 6
AEM/APM-090-14 (-R)* 20-90 4.9 / 7 9.9 / 14
AEM/APM-090-30 (-R)* 20-90 10.6 / 15 21 / 30
AEM/APM-180-14 (-R)* 40-180 4.9 / 7 9.9 / 14
AEM/APM-180-20 (-R)* 40-180 7.0 / 10 14.1 / 20
AE2/AP2-090-06 (-R)* 20-90 2.1 / 3 4.2 / 6 module (soldering pins)
module)
dual axes
114x20.6x73 20 / 7
AE2/AP2-090-14 (-R)* 20-90 4.9 / 7 9.9 / 14
AE2/AP2-090-30 (-R)* 20-90 10.6 / 15 21 / 30
* -R = Resolver

ACCELNET servo controller for DC supply

Standard version of the Accelnet servo amplifiers:

  • operating modes: current, velocity or position control
  • command input: CANopen, RS-232, +/-10V, PWM, I/O (Indexer), Stepper, Master Encoder (Electronic Gear)
  • operation at 20 to 180Vdc (depending on model)
  • currents from 0.7Arms to 8.5Arms continuous
  • various feedback options: halls, digital incremental encoder (AquadB) / sine encoder / resolver (depending on type)
  • available in four designs: Panel (ADP), Micropanel (ACJ), Plug-in / soldering module (ACM) or Micromodule (ACK)
  • NEW: ADP and ACK-High-Current with Advanced Feature Set:
    • BiSS-C-unidirectional Encoder
    • 32-Bit Floating Point Filter
    • Frequency-Analysis-Tool
    • sinusoidal and digital incremental Encoder in one hardware
type voltage continuous current
(Arms / Adc)
peak current
(Arms / Adc)
design dimensions
hxwxl
(mm)
digital
In/Out
ADP-055-18 20-55 4.2 / 6 12.7 / 18 housing
(panel)
167x30x104 12 / 3
ADP-090-09 20-90 2.1 / 3 6.3 / 9
ADP-090-18 20-90 4.2 / 6 12.7 / 18
ADP-090-36 20-90 8.5 / 12 25.4 / 36
ADP-180-09 20-180 2.1 / 3 6.3 / 9
ADP-180-18 20-180 4.2 / 6 12.7 / 18
ACJ-055-09 (-S)* 20-55 2.1 / 3 6.3 / 9 micro-housing
(micro-panel)
97x34x65 9 / 4
ACJ-055-18 (-S)* 20-55 4.2 / 6 12.7 / 18
ACJ-090-09 (-S)* 20-90 2.1 / 3 6.3 / 9
ACJ-090-18 (-S)* 20-90 4.2 / 6 12.7 / 18
ACM-055-18 20-55 4.2 / 6 12.7 / 18 module (soldering pins)
(module)
25x103x71 10 / 3
ACM-090-09 20-90 2.1 / 3 6.3 / 9
ACM-180-09 20-180 2.1 / 3 6.3 / 9
ACM-180-20 20-180 7.0 / 10 14.1 / 20
ACK-055-06 20-55 2.1 / 3 4.2 / 6 micro-module (soldering pins)
(micro-module)
63.5x40.6x21.1 12 / 4
ACK-055-10 20-55 3.5 / 5 7.1 / 10
ACK-090-04 20-90 1.4 / 2 2.8 / 4
ACK-090-08 20-90 2.8 / 4 5.7 / 8
ACK-090-20** 20-90 7.1 / 10 14.1 / 20
ACK-090-30** 20-90 10.6 / 15 21.2 / 30
* -S = sine-encoder
** Advanced Feature Set: BiSS C absolute encoder (unidirectional), SSI, 32Bit floating point filters different additional filters, frequency-analyse-Tool


ACCELUS - digital servo amplifier with +/-10V interface or PWM

Like the Accelnet servo controller, the Accelus servo drive is a fully digital servo amplifier for operation on a DC supply voltage - but the functionality is somewhat limited here and the control is limited to speed and current. The command is set via the analog +/-10V interface or via the digital PWM interface. The parameterization is done with the same software as for the Accelnet servo controllers.

  • easy integration into central control concepts
  • operating modes: current or speed control
  • command interface: +/-10V or PWM
  • operation at 20 to 180Vdc (depending on model)
  • currents from 0.7Arms to 8.5Arms continuous
  • digital incremental encoder (AquadB)
  • available in three designs: Panel single-axis (ASP), panel two-axes (ASP-X2), printed circuit board (ASC)
type voltage
(Vdc)
continuous current
(Arms / Adc)
peek current
(Arms / Adc)
design dimensions
hxwxl
(mm)
digital
In/Out
ASP-055-18 20-55 4.2 / 6 12.7 / 18 housing 168x31x99 6 / 2
ASP-090-09 20-90 2.1 / 3 6.3 / 9
ASP-090-18 20-90 4.2 / 6 12.7 / 18
ASP-090-36 20-90 8.5 / 12 25.4 / 36
ASP-180-09 20-180 2.1 / 3 6.3 / 9
ASP-180-18 20-180 4.2 / 6 12.7 / 18
ASP-055-04-X2 20-55 2.1 / 3 2.8 / 4 housing 167x30x99 3 / 4
ASC-055-18 20-55 4.2 / 6 12.7 / 18 circuit board 153x30x89 6 / 2
ASC-090-09 20-90 2.1 / 3 6.3 / 9

BANTAM - Analog servo amplifiers with block commutation

In many applications, analog technology still has its justification today: whether it is commissioning without a PC or the bandwidth advantages of analog control technology. We therefore continue to offer analog controllers.

 

Brand new is the new analog servo amplifier from Copley in modular design, i.e. for plugging (soldering) into PCB boards - BANTAM:

  • easy integration into central control concepts
  • operating modes: current control
  • command input: +/-10V or PWM
  • operation at 20 to 180Vdc (depending on model)
  • currents from 3.5Arms to 7Arms continuous
  • plug-in version in closed housing
  • current setting via external resistors or voltage (both in the customer electronics!)
  • parameter setting electronically (initially in the factory)
  • auxiliary board for commissioning available
model voltage continuous
current
Adc
peak
current
Adc
commutation feedback
BTM-055-20 18-55Vdc 10 20 block HE-sensors
BTM-090-10 18-90Vdc 5 10 HE-sensors


AKD Low Voltage Servo Controller / Drive

The AKD servo controllers of our partner Kollmorgen are now also available for the low voltage range, while maintaining the advantages.

 

  • four current ratings 3, 6, 12, 24 Arms continuous
  • supply voltage  from 24 Vdc to 100 Vdc
  • WorkBench commissioning software via Ethernet IP
  • screw terminals
  • real-time feedback evaluation
  • feedback options: SFD, EnDat 2.1 / 2.2, BiSS, Analog Sin/Cos Encoder, Incremental Encoder, HIPERFACE DSL, Resolver
  • adaptation to changing load conditions
  • digital signal processor
  • current control loop 0.67 µs
  • speed control loop 62.5 µs
  • position control loop 125 µs
  • fieldbus connection: EtherCAT, SynqNet, Modbus/TCP, CANopen, Ethernet/IP and Profinet
model voltage continuous
current
Arms
peak
current
Arms(5sec)
dimensions
hxwxl(mm)*
AKD-x003 24-100Vdc 3 9 168x54/59x156
AKD-x006 6 18 168x54/59x156
AKD-x012 12 30 196x72/78,4x187
AKD-x024 24 48 248x96/100x228
* without connectors and I/O-extensions!