Control
Position (P) loop + velocity loop (PI, 2'nd
order low-pass and Notch filters).
Sampling Rate: 20 kHz.
Accuracy: ± 1 count.
Velocity Accuracy:
Long term: 0.005%.
Short term: 0.01%-0.5% (systemdependent).
Memory
RAM memory: 16Mb.
Flash memory: 16Mb.
Drive Interface
Analog commands:
One torque/force command or two
motor phases current commutation
commands. The SPiiPlus CM control Module has up to three internal digital amplifers
Type: see Analog Outputs,
drive commands section. Offset
compensation: programmable, 0.3mV
resolution.
Pulse-Direction Commands:
Type: RS-422. Up to 4 million pulse/sec.
Drive enable output:
Quantity: One per axis.
Type: two-terminal, opto-isolated, sink or
source. Up to 24V/20mA
Drive Fault Input:
Quantity: One per axis.
Type: two-terminal, opto-isolated, sink or
source. Input circut current: <7mA
Position and Velocity
Feedback
Feedback Types: Any combination of
incremental digital encoders, Sin-Cos
encoders (optional), analog inputs or
custom HSSI feedback modules.
Incremental Digital Encoder
Quantity: One per direct-connected or
HSSI-networked motor.
The SPiiPlus CM-1 provides a
secondary feedback via the A axis
encoder.
Type: Three-channel, differential,
incremental, RS-422.
Digital I/O
Safety Inputs: requires an external
supply - see Controller & Power Supply section.
Emergency stop input:
Quantity: One. Type: two-terminal, sink or
source, opto-isolated.
Left and right limit inputs:
Quantity: pair per axis. Type: single-ended,
sink (default) or source, opto-isolated.
Safety inputs voltage: 5V or 24V.
Input circut current: <15mA
Digital Inputs: requires an external supply
- see Controller & Power Supply section.
General purpose inputs :
Quantity: eight. Type: 5V or 24V, single-ended,
sink (default) or source, opto-isolated.
Input circut current: <15mA.
Mark (position capture) inputs:
Quantity: see table on next page.
Type: RS-422. Propagation delay: <0.1 ì sec.
Digital Outputs: requires an external supply
- see Controller & Power Supply section.
General purpose outputs:
Quantity: eight. Type: 5V or 24V, single-ended,
sink (default) or source, opto-isolated, 50mA
per output.
Mechanical brake:
Quantity: eight. Type: 5V or 24V, single-ended,
source only, opto-isolated, 7mA per output.
PEG (Position Event Generator) pulse
outputs:
Quantity: see table on next page.
Type: RS-422. Propagation delay: <0.1 ì sec.
PEG pulse width: 25nsec to 1.6msec.
PEG position accuracy: ± 1 count at up to
5,000,000 counts/sec.
PEG states outputs:
Quantity: three per X axis. Type: RS-422.
Propagation delay: <0.1 ì sec.
HSSI Expansion Channels:
Up to 256 Inputs and 256 Outputs depending on the number of HSSI channels ordered.
Each channel provides 64 input bits
and 64 output bits per channel, sampled and
updated at 20KHz.
Type: RS-422. Up to an additional 64/63 I/Os via
each HSSI port using HSSI-IO16 modules.
Analog Inputs:
Sin-Cos encoder 1Vptp or general
purpose analog inputs:
Quantity: see note *1 in the table on next
page. Type: 1Vptp, differential, 14-bit
resolution.
General purpose ± 10V analog inputs:
When axes C and/or D Sin-Cos encoders
are not used, these inputs can be used for
general purpose. Quantity: see note *2 in
the table on next page. Type: ± 10V,
differential, 14-bit resolution.
Analog Outputs:
Drive commands or general purpose
± 10V analog outputs: Quantity: see note
*3 in the table on next page. Type: ± 10V,
differential, 16-bit resolution.
General purpose only ± 10V analog
outputs:
Quantity: see note *4 in the
table on next page.
Type: ± 10V, differential, 16-bit resolution.
Signal-to-noise ratio of all analog I/O:
>=72dB (3 sigma).
Communication Channels
Serial: two RS-232. Up to 115,200bps.
Ethernet: TCP/IP, 10/100 Mbits/sec.
Simultaneous communication through all
channels is fully supported. Modbus
protocol as master or slave is supported via
Ethernet or Serial channels.
Note: Simultaneous communications through
all channels is supported |
