Accelnet R20 is a ruggedized high-performance, DC-powered drive for position, velocity (using encoder, resolver, Halls, or BEMF), and torque control of brushless and brush motors. It operates as a distributed drive using the CANopen protocol, or as a stand-alone drive accepting analog or digital commands from an external motion controller. In stand-alone mode, current and velocity modes accept digital 50% PWM or PWM/polarity inputs as well as ±10V analog. In position mode, inputs can be incremental position commands from step-motor controllers, analog ±10V, or A/B quadrature commands from a master-encoder. Pulse to position ratio is programmable for electronic gearing.