Copley Controls: Accelus Card (ASC Series)
20-180 VDC Digital Drives for Brushless/Brush Motors
The Accelus™ servo amplifier drives DC brushless motors in position, velocity, or torque modes with 100% digital control. Commutation is sinusoidal using encoder feedback from the motor. Hall signals are used for phase-initialization and phase-correction eliminating motor hunting after power-up.
Advanced field-oriented-control ensures the highest motor torque over a wide speed range, minimizing motor heating and maximizing efficiency. Digital control algorithms transform AC stator currents into direct and quadrature components. The torque-producing quadrature current is controlled by the current loop, and the direct component is driven to zero eliminating losses from current that doesn’t produce torque. Space-vector modulation produces higher speeds than sine-pwm modulation from the same buss voltage.
CME 2™ software communicates with Accelus through an RS-232 link for complete amplifier setup. Auto-phasing and auto-tuning algorithms in CME 2™ slash set up times for fast system commissioning and eliminate “re-wire and try” so common in brushless motor installations. CME 2™ automates current loop tuning, as well as motor, Hall, and encoder phasing. A powerful oscilloscope and signal generator display amplifier performance for fine tuning thereafter. Amplifier control parameters are saved in non-volatile flash memory. OEM’s can inventory one part, and configure amplifiers on-site to each axis in a machine.
Accelus™ works with motion controllers that close position-loops using incremental encoder feedback and process the position error in a PID filter to produce an amplifier command for torque, force, or velocity. Only one +/-10V analog, or a one or two-wire digital PWM/(DIR) control signal is required. All commutation is done in the amplifier.
In position-mode, Accelus™ accepts two-wire digital step motor control signals (CW/CCW, or Count/Direction), or operates as a slave from a master encoder. The ratio between input position pulses and motor position is programmable.
Velocity control is derived from motor encoder signals. Velocity mode is useful not only for speed-setpoint applications, but enables operation with PLC’s or controllers that output position-error signals with no PID filtering.
All amplifier circuits are DC coupled and operate from unregulated transformer-isolated DC power supplies, or regulated switching power supplies.
The package is a single board with no heat-plate. Solderless mating connectors on pc boards mount Accelus™ at 0° or 90°. Installation and replacement is fast and doesn’t damage amplifier connections. A Development Kit is available that mounts 1~4 Accelus™ amplifiers and provides unregulated DC power from an isolation step-down transformer.
PCB Mount
Position, Velocity, and Torque Control
Controller Interface, Stepper Interface, ±10V Velocity/Torque Command, PWM Velocity/Toque Command, Electronic gearing
Field-Oriented Control for Optimal Speed/Torque
Auto-Tuning and Auto-Phasing
Feedback Digital Encoder and Halls
Programmable I/O: 6 inputs, 2 outputs
