View source for IONI specifications

{{IoniManualNav}}{{parent|IONI}}This page lists official functional, electrical and physical specifications of the [[IONI Servo Drive]].

==Device variations==
IONI is available in three different models. See also [[IONI device model comparison]].

;IONI
:Standard model
;IONI Pro
:Advanced model, additional features and increased current range
;IONI Pro HC
:Same features as IONI Pro, except higher current and voltage range

==Main functionality==
{{:IONI specifications overview table}}

==Mechanical==
{| class="wikitable"
|-
! Property !! Value !! Units
|-
| Dimensions  || 70.5 × 37 × 7.5 (W×H×D)|| mm 
|-
| Weight || 14.0 ± 0.5 || g
|-
| Drawings || {{dlfile|IONI_dimensions.PDF|2D (PDF)}}, {{dlfile|IONI_3d_models.zip|3D (IGES & STEP)}} ||
|-
| Pinout || [[IONI connector pinout]] ||
|}

==Environment==
{| class="wikitable"
|-
! Property !! Value !! Units
|-
| Operating temperature || -10...+75, non condensing || °C
|-
| Storage temperature || -30...+90, non condensing || °C
|-
| Humidity || 0-95 non-condensing || %
|-
| Power dissipation || 0.3-15¹ || W
|}
¹) Power dissipation is output current and input voltage related.

==Power supply==
{| class="wikitable"
|-
! Supply<sup>2</sup> !! Input voltage  !! Input current typ !! Input current max
|-
| Logic power || 5 VDC +/- 10%<sup>4</sup> || 0.1 - 0.3 A || 0.2 A
|-
| Motor power || 5 - 52 VDC<sup>3</sup> (IONI, IONI Pro), 5 - 55 VDC <sup>3</sup> (IONI Pro HC)|| 0 - 23.5 A<sup>1</sup> || 23.5 A<sup>1</sup>
|}
<sup>1</sup>) Estimating true current or power consumption based on this table may be difficult as current demand typically varies greatly and and almost completely depends on motor load conditions.

<sup>2</sup>) Both logic and motor supplies are required.

<sup>3</sup>) Possible to use from 5 VDC upwards, however short circuit protection feature is lost below 12 VDC.

<sup>4</sup>) [[IONICUBE]] motherboards provide on-board 5V regulator and accepts 24 VDC logic supply voltage. With IONICUBE no 5V supply is needed.

==Motor output==
[[File:drive_temperature_derating.png|thumb|Maximum output current throttling vs device temperature. Current is automatically reduced by device to protect from overheating.]]
{| class="wikitable"
|-
! Property !! Value !! Units||Remarks
|-
| Supported motors ||  AC, BLDC, DC, Linear || ||  Permanent magnet motors only
|-
| [[Motor peak and continuous current limits|Continuous output current]]|| 0-15<sup>1</sup> (IONI), 0-18<sup>1</sup> (IONI Pro), 0-25<sup>1</sup> (IONI Pro HC) || A ([[peak value of sine]]) || User settable limit
|-
| [[Motor peak and continuous current limits|Peak output current]]||  0-15<sup>1</sup> (IONI), 0-18<sup>1</sup> (IONI Pro), 0-25<sup>1</sup> (IONI Pro HC)|| A ([[peak value of sine]]) || User settable current limit.
|-
| Maximum effective motor phase output voltage || 
*3-phase AC motors: V<sub>supply</sub>*0.671 V RMS (phase-to-phase) 
*DC motors: V<sub>supply</sub>*0.95 VDC 
||  || 
*I.e. at 48V supply, the maximum three-phase motor output voltage is 32.2 V RMS phase-to-phase
*I.e. at 48V supply, the maximum DC motor output voltage is 45.6 V
|-
| Switching frequency || 20.0 || kHz||
|-
|Maximum modulation depth || 95 || % || Maximum effective output is 95% of [[HV DC bus]] voltage.
|-
|Torque control bandwidth (typ.) || 1-3.3 || kHz || Motor coil dependent
|-
|Torque control cycle time || 50.0 || µs||
|-
|Position & velocity control cycle time || 400 || µs||
|-
|Power conversion efficiency || 93-97 || % || Under typical conditions
|-
|Motor inductance range @ 48 VDC || 0.2-25 || mH||
|-
|Motor inductance range @ 24 VDC || 0.1-25 || mH||
|-
| Motor power range || 0.01 - 0.5 || kW||
|-
| AC commutation frequency || 0-400 || Hz ||Not capped, may achieve up to 2 kHz
|}
<sup>1</sup>) Maximum current is obtainable only for short periods without active air cooling. Drive automatically throttles current limit if drive temperature rises beyond 75 Celsius. Output current capacity reduces linearly between 75 and 90 degrees Celsius from the maximum to zero.

==Regenerative resistor==
IONI has a dedicated 3.3V logic level output for regenerative resistor control. The logic signal can be externally fed to a switch component (such as MOSFET) to drive external regenerative resistor to prevent overvoltage during rapid motor decelerations.

==Feedback devices==
===Status of feedback device support===
{| class="wikitable"
|-
! Feedback device type !! Status || Electrical interface
|-
| Quadrature incremental encoder || Standard feature || Differential 3-5.5V (RS422), Single ended 3-5.5V (CMOS,TTL,open collector)
|-
| Hall sensors || Standard feature|| Single ended 3-5.5V (CMOS,TTL,open collector). Differential signals accepted.
|-
| Analog SinCos encoder || Standard feature in IONI Pro || 1 V p-p signal, user selectable 16X, 64X or 256X resolution interpolation factor (note 1). Automatic signal gain and offset calibration.
|-
| Serial SSI absolute encoder || Standard feature in IONI Pro, see [[Using serial data feedback device|more info]] || RS422/RS485
|-
| Serial BiSS absolute encoder || Standard feature in IONI Pro, see [[Using serial data feedback device|more info]]|| RS422/RS485
|}
<sup>1</sup>) The final resolution will be 4*line_count*interpolation_factor. I.e. with 1000 lines/electrical cycles per revolution SinCos encoder, the supported resolutions are 64000, 256000 and 1024000 counts per revolution. SinCos encoder can be also used without interpolation (4*line_count resolution).

===Quadrature encoder electrical properties===
{| class="wikitable"
|-
! Property !! Value !! Units || Remarks
|-
| Encoder count rate || 
*IONI: 0-4 
*IONI Pro: 0-18 
|| MHz || After 4x decoding, digitally filtered
|-
| Supply voltage || 4.8-5.2 || V|| Supplied externally (can share same voltage with drive logic supply)
|-
| Encoder resolution ||100-15000000
|| Pulses per revolution (P/R) ||
|}
==[[Setpoint]] signal / reference inputs==
{| class="wikitable"
|-
! [[Setpoint signal]] type !! Status || Electrical interface
|-
| [[Analog setpoint|Analog]]  || Standard feature || 
*Up to +/-10V or any lower voltage range
*+/-10V (bipolar) and 0-10V with polarity input (unipolar) supported
|-
| [[Pulse and direction]] || Standard feature || 
Maximum step rate
*IONI: 4 MHz
*IONI Pro: 8 MHz
|-
| [[Quadrature]] || Standard feature || 
Maximum quadrature frequency (count rate)
*IONI: 1 MHz (4 MHz)
*IONI Pro: 2 MHz (8 MHz)
|-
| [[PWM]] || Standard feature || 
*1-30 kHz PWM carrier frequency (f<sub>PWM</sub>), ~3 kHz for optimal operation.
*Single signal (no polarity input), zero setpoint at 50% duty
*PWM signal is sampled at 60MHz timer thus reading resolution is 60MHz/f<sub>PWM</sub>
*PWM+Polarity input mode
|-
| Serial communication || Standard feature || [[SimpleMotion V2]] real-time serial bus with open source SDK. Connect through RS485 or USB.
|-
| EtherCAT || Under development || Realized with add-on board, [[EtherFOX]]
|}
See also:
*[[Signal path of motor drive]]
*[[Pulse burst positioning]]

==Inputs / outputs==
===List of I/O's===
*Setpoint inputs
**Two digital channels (pulse/dir, quadrature or PWM)
**One +/-10V analog channel (differential, 2 wires)
*Digital inputs
**Switch inputs (3 channels): home switch, positive travel limit switch, negative travel limit switch
**Status control inputs (3 channels): enable, clear faults, STO
*Feedback inputs
**Quadrature encoder (3 channels differential, where 2 channels capable of 12 bit analog sampling)
**Hall sensors (3 channels)
*Digital outputs (3.3V logic level)
**Regenerative brake control output (external power switch needed, such as MOSFET)
**Holding brake control output (external power switch needed, such as MOSFET)
**Status indication outputs (3 channels): fault stop, servo ready, tracking error warning
*Serial comminication interfaces
**RS485 for [[SimpleMotion V2]]
===Electrical characteristics===
*Digital inputs accept standard signal levels 2.7 - 5.5 VDC, except STO and Enable inputs accept 4 - 26 VDC. 
*Digital outputs provide 3.3 VDC signal level
*Analog inputs accept +-/10 VDC (+/- 12 VDC max) referenced to GND
===Detailed properties===
For detailed pin specific description and electrical ratings, see [[IONI connector pinout]].

==Communication==
{| class="wikitable"
|-
! Property !! Value !! Units
|-
| Communication protocol || [[SimpleMotion V2]] || 
|-
| Default bitrate|| 460.8 || kBPS
|-
|Supported high bit rates
|1, 2, 3, 4, 4.5
|MBPS
|-
| Maximum number of SMV2 devices chained in a single bus || 32 || pcs
|-
| Command throughput || Up to 20000 || Commands/s
|}

==Safety==
{| class="wikitable"
|-
! Feature !! Properties !! Remarks
|-
| [[Safe torque off]] || 
*One dedicated physical STO input
#Cut gate drive voltage rendering power stage inactive @ STO2 input
#Disable motor control @ STO2 input (software based)

Reaction time from STO2 signal voltage going below 2 volts to de-energized motor is maximum 5 ms.
|| 
|-
| Control error detection ||
*Tracking error (velocity & position)
*Over speed error
*Limit switch 
*DC motor runaway prevention on feedback loss
*Communication error 
||
|-
|Electrical safety||
*ESD, short circuit, reverse polarity protection on all pins
|-
|Overload safety||
*Over current
*Short circuit (phase-to-phase)
*I<sup>2</sup>t motor thermal protection
*Over & under voltage
*Drive over temperature 
||
|}

==Warnings==
{{damage|Exceeding ratings may affect drive operation and cause instability or even damage the drive or other equipment. Damaged equipment may pose danger to users.}}

{{info|Specifications are subject to change without notice}}

[[Category:IONI]]
[[Category:IONI_features]]
[[Category:IONI_user_guide]]