Copley的ME3是一款三轴高性能直流驱动器，通过EtherCAT实现伺服电机和步进电机的位置、速度及扭矩控制。采用FPGA 技术，ME3可显著降低多轴EtherCAT系统中每个节点的成本。

ME3中的三个轴均在DSP-402中作为运动控制设备的EtherCAT轴运行。支持的模式包括：循环同步位置/速度/扭矩模式、轮廓位置-速度模式、插值位置模式（PVT）以及归位模式。步进电机的伺服模式支持EtherCAT或数字PWM对位置/速度/扭矩进行控制。微步进模式下可支持步进电机指令脉冲及主编码器用于凸轮或齿轮传动。

Servo Motor Control Modes

• Cyclic Synchronous Position-Velocity-Torque (CSP, CSV, CST)

• Profile Position-Velocity-Torque, Interpolated Position, Homing

• Indexer, Point-to-Point, PVT

• Camming, Gearing

• Position, Velocity, Torque

Stepper Motor Control Modes

• Cyclic Synchronous Position (CSP)

• Profile Position-Velocity-Torque, Interpolated Position, Homing

• Position/Velocity/Torque (Servo Mode)

• Position (Microstepping)

• Indexer, Point-to-Point, PVT

• Camming, Gearing

Command Interface

• CANopen application protocol over EtherCAT (CoE)

• ASCII and discrete I/O

• Stepper commands

• ±10V position/velocity/torque

• PWM velocity/torque command

• Master encoder (Gearing/Camming)

Communications

• EtherCAT

• RS-232

Feedback

• Digital quad A/B/X encoder

• Absolute encoders

• Sin/Cos encoder

• Digital Halls

I/O Digital

• 19 HS inputs

• 3 MOSFET outputs

• 6 CMOS HS outputs

I/O Analog

• 3 ±10V inputs

I/O SPI

• 1 HS input

• 3 CMOS HS outputs

Dimensions: mm [in]• 101.6 x 85.1 x 21 [4.0 x 3.35 x 0.80]

附件：Copley ME3驱动器.pdf