2, 4 Axis Drive Module, 80V, Up to 20/40A
EtherCAT ® Drive Module, Unique, Compact, Cost Effective
4 digital incremental encoders
4 absolute encoders (optional)
Digital I/O (all can be used as general purpose I/O)
Inputs: 4 Registration MARK (High Speed Position Capture)
Outputs: 1 PEG (Position Event Generator), 4 motor brake (24V, 0.5A)
- Safe Torque Off (optional)
A wide range of current selection
Two axis versions, current rating per drive:
5A / 10A (cont. / Peak), 10A / 20A, 20A / 40A
Four axis versions, current rating per drive:
All four axes with 2.5A / 5A (cont. / Peak), 5A / 10A, 10A / 20A, 20A / 40A
Two axes with 5A / 10A & two axes with 10A / 20A
Two axes with 5A / 10A & two axes with 20A / 40A
Two axes with 10A / 20A & two axes with 20A / 40A
- Compact footprint: 152 x 138 x 48 mm3
The UDMMC is a line of compact EtherCAT modules of two and four universal drives with rating of 12 to 80Vdc and 2.5A (5A peak) to 20A (40A peak) per drive. Each drive is programmable to control a 3 & 2 phase servo motor, a DC brush motor, a voice coil motor and a 2 & 3 phase step motor.
The UDMMC addresses the needs of demanding multi-axis motion applications with limited space, such as waferhandling robots, wire bonders, die bonders, electronics packaging, small manipulators, and table-top motion stages. With the optional powerful ServoBoostTM algorithm (ordered with the controller), demanding positioning systems can achieve ultimate performance levels, such as speeds of meters per seconds and Nanometers of jitter, minimal settling time, and uncompromising system robustness with minimal sensitivity to disturbances and changes. Optional Safe Torque Off (STO) cuts the power to the motor without removal of the power source for applications that are required to comply with SIL-3 and PLe safety levels. The UDMMC is a slave that runs under any ACS’ EtherCAT masters. The 4-axis UDMMC can be ordered with mixed current specifications. See Ordering Options.
A comprehensive set of software support tools are provided for configuration, setup, tuning and diagnostics.
Continuous/peak current Sine
|Continuous/peak current RMS [A]||1.75/3.5||3.5/7||7/14||14/28|
|Heat dissipation [W]||1||2.2||3||8|
Maximum cont./peak output
power @ 80Vdc [W]
|Maximum cont Input current [A]||2||4||8||16|
|Peak current time [sec]||1|
Minimum load inductance
@80Vdc [mH]. Can be derated
linearily for lower voltages
Maximum cont input current per
|Maximum motor voltage [Vdc]||(Vin motor) x 92%|
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 & under voltage, Phase to phase and phase to ground short, Over current, Over temperature.
The drive must be supplied by two power sources
A motor supply and a 24Vdc control & logic supply.
During emergency conditions there is no need to remove the 24Vdc control supply.
Range: 12Vdc to 80Vdc
Current rating should be calculated based on actual load.
External shunt power resistor, activated at 83V, should be added in parallel to motor supply, which must not exceed 85V under any operating conditions.
Range: 24Vdc ± 20%
Maximum input power:
Without motor brakes:19W (0.8A @ 24Vdc)
With 4 motor brakes: 67W (2.8A @ 24Vdc)
DC Brush, Voice coil
2 & 3 phase AC synchronous (DC Brushless
2,3 & 5 phase step motor.
Always using high resolution microstepping.
Types: incremental digital encoders, optional:
Incremental Digital Encoder: Four, one per axis.
A&B,I and Clk/Dir, Type: Differential RS-422 or single-ended
Max. rate: RS-422 - 50M quad counts/sec,
Single-ended: 2M quad counts/sec.
Protection: Encoder error, not connected
Absolute encoders (optional): Up to four.
EnDat 2.1(Digital)/2.2, Panasonic, Smart-Abs, and BiSS-C
Four, a set of three per axis. Type: single-ended, 5V, source, opto-isolated
Input current: <7mA
5V feedback supply
Feedback devices are fed by a 5V±5% supply.
Total current provided by the internal supply:
0.5A. If more current is needed, an external supply should be used, using the dedicated connector
Axis’ Limit inputs: Eight, Two per axis.
Type: Single-ended, 5/24V±20%,opto isolated, sink/source. 14mA per input
Unused limit inputs can be used as general purpose inputs
STO: Two inputs. Current per input <50mA
All drives are disabled within 50mS to 200mS
Registration MARK (High Speed Position Capture) Inputs: Four, 24V±20%, opto-isolated, two terminals. Can be configured as ‘sink’ or ‘source’. Input current <14mA. Can be used as general purpose inputs.
Motor Brake Outputs: Four, opto-isolated, source, 24V±20%, 0.5A. Can be used as general purpose outputs.
Position Event Generator (PEG): One, RS422.
Can be used as general purpose output. Pulse width 26nSec to 1.75mSec. Maximum rate: 10MHz
- Over & under Voltage
- Short circuit: Phase-to-phase, Short to ground
- Over current
- Over temperature
Operation: 0 to + 50°C
Storage and transportation: -25 to +60°C
Humidity (operating range): 5% to 90%
Two EtherCAT ports, In and Out, RJ45 connector
UDMmc-ACC1: Mating connectors kit for drives, encoders and I/Os
STO-ACC1: Cable for STO with mating connector