线性电机领域
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Specifications

Servo

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
• Gain Scheduling
• 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.

Drives

• 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 5 kHz
• 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 

Power Supplies

• 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. 

Motor Supplies

• Range: 85 to 265Vac (Optional- Low Voltage 17-85Vac or 24-120Vdc)

Control Supplies

• 24Vdc ± 10%, 4A

Motor Brake supply

• 24Vdc ± 20%, 3A

Motor Type

• 3 and 2 phase AC synchronous, AC Induction and DC brush and step motors

Feedback

• 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, not connected.
• 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 

Digital I/O

• 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.

Analog I/O

• 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)
• Communication Channels:
  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.
• MPU
  User Memory: RAM: 128Mb.
  Non-volatile memory (Flash): 128Mb.
  Power up Time: 35sec. with no additional EtherCAT nodes.

Environment

• Operating: 0 to +40°C. Storage : -25 to +60°C.
• Humidity: 5% to 90% non-condensing