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UDMnt

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UDMnt

1, 2 drives, 12-80V, up to 10/20A

 

EtherCAT ® Single & Dual
Drive Module

 
 
  • Unique achievable performance
    - Ultimate move & settle, jitter and robustness performance algorithms (optional): ServoBoostTM for optimal servo performance and robustness to varying mechanical properties
    - Advanced algorithm at standard configuration: PIV Cascaded Loop Structure with velocity and acceleration feed forward

  • Universal drive:
    2 and 3 phase AC Servo / DC brushless motors with sinusoidal commutation
    - DC Brush motors
    - Voice coils motors
    - Closed and open loop step motors

 
  • 12Vdc to 80Vdc, up to 10A continuous and 20A peak current

  • Wide range of feedback interfaces:
    - Digital incremental encoders
    - SIN-COS analog encoder interface, supporting laser encoders with speeds >5MHz (optional)
    - Absolute encoders (optional)

  • Comprehensive I/O:
    - 4 general-purpose / Registration Mark inputs (high-speed position-capture inputs)
    - 2 general purpose / motor brake outputs (24V, 0.1A)
    - 2 PEG (Position Event Generator) outputs (high-speed position-based outputs)
    - 2 analog inputs, ±10V
    - 1 analog output, ±10V

  • Small footprint: 144x112.5x38.5 mm3

The UDMNT is a line of compact, panel-mounted EtherCAT modules with single / dual axis universal drives for servo, stepper, and voice-coil
motors with peak power of up to 1.3kW.


The UDMnt addresses the needs of demanding multi-axis motion applications with limited space, such as wafer-handling robots, wire bonders,
die bonders, electronics packaging, small manipulators, and table-top motion stages.


With the optional combination of a 5MHz laser encoder interface, the powerful ServoBoost and MotionBoost  algorithms, demanding positioning systems achieve ultimate performance levels, such as speeds above 1m/s with position jitter below 3nm, almost zero settling time, and uncompromised system robustness with minimal sensitivity to disturbances and changes.


The UDMnt is a slave that runs under any ACS EtherCAT masters. A comprehensive set of software support tools are provided for module
configuration, setup and tuning.


 

 

Drives

 

Type: PWM with 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.
 

Supply

 

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.
 

Motor Supply

 

Range: 12Vdc to 80Vdc.
Current rating should be calculated based on actual load.
 

Control supply

 

Control supply input voltage: 24Vdc ± 20%

Maximum input power: 15W
Max input current: 0.9A @ 24V
 

Motor Type

 

Single phase motors: DC Brush, Voice coil

2 or 3 phase AC synchronous motor
2,3 and 5 phase step motor. Always using high resolution microstepping control
 

Feedback


Types: incremental digital encoders, optional Sin-Cos encoders
Incremental Digital Encoder:
One per axis, A&B,I; CLK/DIR,I.
Type: RS-422.
Max. rate: 50 million encoder counts/sec.
Sin-Cos Analog Encoder (optional):
One per axis.
Type: 1Vptp, differential.
Programmable multiplication factor: x4 to x4096.
Maximum frequency: 250kHz
Maximum acceleration with Sin-Cos encoder: 108 sine periods/second2.
Absolute Encoder (optional):
Two, EnDat 2.1/2.2, Smart- ABS, Panasonic, BiSS-C
Commutation Hall inputs:
A set of three per axis. Single-ended, 5V, opto-isolated.
Input current: <7mA.
 

Digital I/O


The Digital I/O are powered by a 24Vdc (default), 5V optional external supply
Safety Inputs:
Left and right limit inputs per axis.
24Vdc, single-ended, Sink or Source, opto-isolated.
Input circuit current: 4.1mA
Digital Inputs:
General purpose inputs:
Four, 24V, single-ended, source, opto-isolated.
Input current: 4.1mA.
Mark: Four
Digital Outputs:
General purpose outputs:
Two, 24V, single ended, sink or source (default), opto-isolated,
100mA per each output.
Note: other I/O configurations (source, 5V) are available upon request.
PEG: Two.
 

Analog I/O


Analog Inputs:
Two Inputs, ±10V, differential, 12 bit resolution.
Analog Outputs:
One output, ±10V, differential, 10 bit resolution.
 

Drive Protection

  • Over voltage
  • Under Voltage
  • Phase-to-phase short circuit
  • Short to ground
  • Over current
  • Over temperature
     

Environment


Operating range: 0 to + 50°C
Storage and transportation range: -25 to +60°C
Humidity (operating range): 5% to 90% non-condensing
 

Communication


Two EtherCAT ports, In and Out, RJ45 connecto

 

Specifications



Product UDMnt..A.. UDMnt..B.. UDMnt..C..
Number of axes 1 or 2
Motor voltage input range [Vdc] 12 - 80
Control voltage input [Vdc] 24 ± 20%
Phase current per axis Cont./Peak Sine amplitude [A] 2.5/5 5/10 10/20
Phase Current per axis Cont./Peak RMS [A] 1.8/3.6 3.6/7.2 7.2/14.4
Total output power Cont./Peak [W] 320/640 640/1280 640/2560
Peak current time [sec] 1
Max. output voltage to motor [Vdc] (Vin motor) x 92%
Max. RMS input current @ 80Vdc [A] 4.3 8.6 8.6
Min. load Inductance, at Max. motor voltage [mH] 0.050
Max. Heat dissipation per axis [W] 0.6 1.4 3.4
Weight [gram] 540
Dimensions [mm3] 144x38.5x112.5
Standards CE, UL 
 

 


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