UDI hp/lt
4-axis +/-10V drive interface
Overview
EtherCAT ® dual/quad Motor Drive interface with ±10V commands
- Commanding Motor Drives with ±10V Interface, such as
- linear drives and piezo motor drives • Outstanding performance
- Powerful control algorithms 20kHz sampling and update rate Sinusoidal commutation
- Feedback 4 incremental and 2 optional absolute encoders 4 SIN-COS encoders, up to 5MHz
- Digital I/O: 4 Registration Mark inputs, 1 PEG and 4 motor brake (24V, 0.2A) outputs
- Analog I/O: 2 inputs, 1 output (see specifications)
- Compact footprint: 121x100x48 mm3
The UDI (UDI - Universal Drive Interface) is a compact EtherCAT module that controls up to 4 motor drives with industry standard ±10V interface. Now you can also use peizo-ceramic motor drives and linear drives when using any of ACS EtherCAT motion controllers, to achieve the ultimate position and velocity accuracy as required by demanding applications, such as wafer inspection. It supports both single torque command and two sinusoidal commutation current commands. It includes 4 incremental encoders (digital and SIN-COS), and 2 absolute encoders, four registration inputs, four 24Vdc/0.2A motor brake outputs and one PEG (Position Event Generator) output.
The UDI is available in two versions: UDIHP a high performance version and UDILT economical version. The UDlLT utilizes a 10 bit DAC to generate the ±10V commands and supports digital encoders only, incremental and absolute. The UDlHP utilizes a 16 bit DAC supports also SIN-COS encoders with raw frequencies up to 5MHz. This enables controlling positioning stages using high resolution laser encoders with sub-nanometer resolution at more than 1 meter/second. For PC based systems that utilize motor drives with analog ±10V commands, the combination of the SPiiPlusSC and the UDI is a superior solution when compared to solutions that are based on a PC plug-in controller. It is simpler, more powerful, scalable, and provides better performance at a lower cost. The UDI is panel or din rail mountable.
Specifications
Drive interface
-
Commands : Four, one torque command per drive, or two commutation current commands for two drives only ±10V differential.
UDILT: 10-bit resolution, UDIHP: 16-bit resolution
Unused drive commands can be used as general purpose analog outputs
Enable : Opto-isolated, two-terminal output, up to 24V
Drive Fault : Two-terminal, opto-isolated input, 24V
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
Feedback
-
Digital incremental encoder :
Four, A&B,I; Clk/Dir,I, RS-422 or single ended TTL level,
max. rate (RS-422): 50 million encoder counts/sec., (Single-ended): 2 million encoder counts/sec.
protection: Encoder error, not connected. On-board supply: 5.1-5.25V, 1A total -
SIN-COS incremental encoder (Optional) :
Four, A&B,I; Clk/Dir,I, RS-422, or single ended TTL level,
max. rate (RS-422): 50 million encoder counts/sec., (Single-ended): 2 million encoder counts/sec.
Protection: Encoder error, Encoder not connected. On-board supply: 5.1-5.25V, 1A total -
Absolute encoder (Optional) : Two, EnDat 2.1/2.2, Smart-ABS, Panasonic, BiSS-C.
Accessories
- UDI-ACC1 Mating connectors for drives, encoders and I/Os.
- UDI-ACC2 Din-rail mounting kit.
Digital I/O
- Safety inputs:
Left and right limit inputs per axis.Type: Single-ended, 24V±20%,opto isolated, source. E-Stop: 24V±20%,opto isolated, two-terminal. Unused safety inputs can be used as general purpose inputs - Registration Mark:
Four.Two-terminal, 24V±20%, fast opto-isolation. Flexible assignment to different axes. Can be used as general purpose inputs. - Motor Brake Outputs:
Four, opto-isolated, 24V±20%, 0.2A per output. Can be used as general purpose outputs. - Position Compare Outputs (PEG):
One, RS422. Can be used as general purpose output. Pulse width 26nSec to 1.75mSec Maximum rate with RS422 outputs: 10MHz.
Analog I/O
- Inputs
UDILT: None, UDIHP: Two, ±10V differential, 12 bit resolution, sharing the inputs of a SIN-COS encoder feedback. - Outputs
One, ±10V differential, 10 bit resolution. Unused drive commands can be used as general purpose analog outputs.
Environment
- Operating range: 0 to + 50°C
- Storage and transportation range: -25 to +70°C
- Humidity (operating range): 5% to 90% non-condensing
Communication
- Two EtherCAT ports, In and Out
Dimensions
- 121x100x48 mm3
Weight
- 250g