A standard comprehensive set of powerful algorithms to enhance accuracy, move & settle time, smooth velocity, stability and robustness.
Advanced PIV cascaded structure
Loop shaping filters
Gantry MIMO control
Dual feedback / loop control
Disturbance rejection control
Optional Servoboost® algorithem that provides better, more consistent servo performance, insensitive to noise and large changes in the system.
Type: digital current control with field oriented control and space vector modulation.
Current ripple frequency: 40 kHz Current loop sampling rate: 20 kHz.
Programmable Current loop bandwidth: up to 4kHz, will vary with tuning & load parameters.
Commutation type: sinusoidal. Initiation with and without hall sensors.
Switching method: advanced unipolar PWM.
Protection: Over voltage, Phase-to-phase short circuit, Short to ground, Over
current, Over temperature, motor over temperature.
Current sensing: CMba: 12b ADC, CMhp: 16b ADC.
The module is fed by three power sources. A motor AC supply, a 24Vdc control supply and 24Vdc motor brake supply.
During emergency conditions there is no need to remove the 24Vdc control supply.
Range: 85 to 265Vac (Optional- Low Voltage 17-85Vac or 24-120Vdc)
24Vdc ± 10%, 4A
Motor Brake supply
24Vdc ± 20%, 3A
3 and 2 phase AC synchronous, AC Induction and DC brush and step motors
Incremental Digital Encoder: Four, A&B,I; Clk/Dir,I
RS-422. Max. rate: 50 million encoder counts/sec., Protection:Encoder error, not connected
Sin-Cos Analog Encoder (optional): Three.1Vptp, differential.
Multiplication factor: From x4, to-CMba-x4,096, CMhp-x65,536.
Maximum frequency: 250kHz
Automatic compensation of Offset, Phase and Amplitude
ADC used: CMba: 12b, CMhp: 16b low S/N
Maximum acceleration: 108 million sine periods/sec2. Protection: Encoder error,
Hall inputs: Three sets of three per axis. Single-ended, 5V, source, opto-isolated.
Input current: <7mA.
Absolute encoders (optional): EnDat 2.1/2.2, Tamagawa Smart-ABS, Panasonic, BiSS-C .
5V feedback supply: Total current available for feedback devices: 1A.
Pulse/Direction Interface (Optional)
(Optional) Four pairs
Type: RS-422. Up to 5 million pulse/sec.
Programmable pulse width
Range: 0.08 to 80 microseconds
Safety Inputs: Left + right limit per axis, E-stop, General Purpose Inputs: 8 Single-ended,
5Vdc (±10%) or 24Vdc (±20%),opto-isolated, sink/source, Input current: 14mA.
Registration Mark inputs: Four. RS422.
Motor Brake Outputs: Three. 24V, 1A ,opto-isolated. Powered by the 24V Brake Supply.
General Purpose Outputs: Eight. Single-ended, 5Vdc (±10%) or 24Vdc (±20%), opto-isolated,
sink/source, Max. output current per output: 100mA, Max. total of 800 mA for all.
Position Event Generator utputs (PEG): Two PEG_Pulse and eight PEG_State, RS422.
Can be used as GP outputs.
HSSI channels: Two. RS422.
Inputs: Six ±10V, differential, 20kHz sampling rate. The inputs can be used as feedback to the servo loops. Resolution: CMba - 12b, CMhp - 16b. Joystick inputs: two single-end, ±10V, 12b resolution
Outputs: Two, single-end, ±10V, 10b resolution.
Controller and EtherCAT Master
Number of axes: Up to 32
MPU/EtherCAT Cycle Rate: 2kHz (4,6,8,16 axes), 1kHz (32 axes)
Serial ports: one RS-232. One RS-232/422. Up to 115,200bps.
Ethernet channel: TCP/IP 10/100Mbits/sec (10/100 BaseT).
EtherCAT: Two, In & Out, 100 Mbit/sec, CoE and FoE protocols support.
User Memory: RAM: 128Mb.
Non-volatile memory (Flash): 128Mb.
Power up Time: 35sec. with no additional EtherCAT nodes.
Operating: 0 to +40°C. Storage : -25 to +60°C.
Humidity: 5% to 90% non-condensing