The module is fed by two power sources
A motor AC supply and a 24Vdc control supply
During emergency conditions there is no need
to remove the 24Vdc control supply
Drive (Motor) Supply
Range: 85 to 265Vac or 120 to 375Vdc
Current rating should be calculated based on actual load
Range: 24Vdc ± 10%
Maximum input current / power: 4A / 100W
Note: The module consumes 2A (50W). Additional 2A are needed when the motor brake feature is used
DC Brushless (AC Servo) ,DC brush motors, AC Induction
Incremental Digital Encoder: Four, two per axis, 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): Two, one per axis.1Vptp, differential.
Multiplication factor: From x4, to- x4,096 frequency: 250kHz
Automatic compensation of Offset, Phase and Amplitude. Squared Sin-Cos output option.
Maximum acceleration: 108 million sine periods/sec2. Protection: Encoder error, not connected
Hall inputs: Two sets of three per axis. Single-ended, 5V, source, opto-isolated.
Input current: <7mA.
Resolver: 12b resolution (4,096 counts/rev)
Absolute encoders (optional): EnDat 2.1/2.2, Smart-Abs, Panasonic, Biss-C, Hiperface.
Consult ACS for availability
5V feedback supply: Total current available for feedback devices: 250mA.
Safety Inputs: Left + right limit per axis. Single-ended, 24V±20%, opto_isolated, source.
(Consult ACS for 5V & sink)
Input current: 14mA. E-Stop: Opto-isolated, floating two-terminal.
Motor Brake outputs: Two. 24V, 1A ,opt_ isolated. Powered by the 24V Control Supply.
STO: Two pairs of inputs. (Optional)
General Purpose Inputs: Eight, Single-ended, 24V±20%, opto-isolated, source. (Consult ACS for 5V and sink) Input current: 14mA.
Registration Mark: Four. Two are RS422 with dedicated inputs and can be used as GP inputs.
Two share General Purpose Inputs 6,7.
General Purpose Outputs: Eight. Single-ended, 24V±20%, opto-isolated, source. 0.5A per output with up to 3A for all outputs.
Position Compare Outputs (PEG): Two PEG_Pulse and two PEG_State, RS422. Flexible axis assignment. Can be used as GP outputs.
Two GP opto-isolated outputs can be programmed to be used as the PEG Pulse outputs.
Pulse width with RS422 outputs: 26nSec to 1.75mSec. Maximum rate with RS422 outputs: 10MHz.
Pulse width with GP outputs: 0.75mSec to 1.75mSec. Maximum rate with GP outputs: 1kHz
HSSI: One channel. RS422.
Four inputs, Two outputs, ±10V, differential, 12 bit resolution. 20kHz sampling rate. The inputs can be used as feedback to the servo loops.
Controller and EtherCAT Master
Number of axes: Up to 32
MPU/EtherCAT Cycle Rate: 2kHz (2,4,6,8 axes), 1kHz (16,32 axes)
Communication Channels Ethernet: one, TCP/IP, 10/100 Mbits/sec.
Serial: One RS-232. Up to 115,200bps. Modbus protocol as master or slave.
EtherCAT: Two, In & Out, 100 Mbit/sec, CoE and FoE protocols.
MPU User Memory: RAM: 128Mb. Non-volatile memory (Flash): 128Mb. Power up Time: 25sec.
Operating: 0 to + 50°C. Storage : -25 to +70°C. Humidity: 5% to 90% non-condensing
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
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,
The module is fed by two power sources. A motor AC supply and a 24Vdc control supply.
During emergency conditions there is no need to remove the 24Vdc control supply.
Range: 85 to 265Vac
Current rating should be calculated based on actual load.