Difference between revisions of "Argon specifications"
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| Supported motors || AC, BLDC, DC, Linear || || Permanent magnet motors only | | Supported motors || AC, BLDC, DC, Linear || || Permanent magnet motors only | ||
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| − | | Continuous output current|| 0- | + | | Continuous output current|| 0-11 || A ([[peak value of sine]]) || User settable limit |
|- | |- | ||
| − | | Peak output current|| 0- | + | | Peak output current|| 0-16 || A ([[peak value of sine]]) || Duration 1 sec, then returned to continuous limit. User settable current limit. |
|- | |- | ||
| Maximum effective motor phase output voltage || Max 88% of input AC supply voltage AC or 124% DC. || || I.e. for 230 VAC drive supply, max motor output is 202 VAC (AC/BLDC/Linear) or 285 VDC (brush DC). | | Maximum effective motor phase output voltage || Max 88% of input AC supply voltage AC or 124% DC. || || I.e. for 230 VAC drive supply, max motor output is 202 VAC (AC/BLDC/Linear) or 285 VDC (brush DC). | ||
Revision as of 13:13, 6 March 2014
This page lists official functional, electrical and physical specifications of the ARGON Servo Drive.Main functionality
| Function | Description |
|---|---|
| Servo motor drive | Closed loop control of various types of servo motors by sinusoidal field oriented control with dead-time distortion correction and high dynamic range torque control.
|
| Control modes |
|
| Setpoint types |
See setpoint signal / reference inputs list
|
| Closed loop | Cascaded control loops (PIV):
Dual-loop feedback support planned as firmware upgrade |
| Feed-forwards | Feed-forwards working in velocity & position control modes:
|
| Homing | Integrated homing function for position control mode:
|
| Feedback devices | See feedback devices list |
| Safety |
|
| Protections |
|
| Power supply |
Two power supply methods:
|
| Motor output current |
|
| Commissioning |
|
| Approvals | CE (LVD & EMC) |
Mechanical
| Property | Value | Units |
|---|---|---|
| Dimensions (with wall mounting tabs)¹ | 51×197×127 (W×H×D) | mm |
| Dimensions (excluding wall mounting tabs)¹ | 51×177×127 (W×H×D) | mm |
| Weight | 0.88 | kg |
| Case materials | Steel (cover), aluminum (heat sink) | |
| Drawings | 2D (PDF), 3D (IGES & STEP) |
¹) Wall mounting tabs are fixed part of enclosure
Environment
| Property | Value | Units |
|---|---|---|
| Operating temperature | 10-70 | °C |
| Storage temperature | -30-90 | °C |
| Humidity | 0-95 non-condensing | % |
| Power dissipation | 2-100¹ | W |
¹) Power dissipation is output current and input voltage related.
Power supply
| Supply2 | Input voltage | Input current typ | Input current max |
|---|---|---|---|
| Logic power | 24 VDC +/- 10% | 0.1 - 0.4 A | 0.5 A |
| Motor power³ | 85 - 264 VAC 50/60 Hz | 0 - 15 A1 | 26 A1 |
| 704 - 380 VDC | 0 - 15 A1 | 26 A1 |
1) 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.
2) Both logic and motor supplies are required.
3) Features internal inrush current limiter
4) Possible to use from 45 VDC upwards, however short circuit protection feature is lost below 70 VDC.
Motor output
| Property | Value | Units | Remarks |
|---|---|---|---|
| Supported motors | AC, BLDC, DC, Linear | Permanent magnet motors only | |
| Continuous output current | 0-11 | A (peak value of sine) | User settable limit |
| Peak output current | 0-16 | A (peak value of sine) | Duration 1 sec, then returned to continuous limit. User settable current limit. |
| Maximum effective motor phase output voltage | Max 88% of input AC supply voltage AC or 124% DC. | I.e. for 230 VAC drive supply, max motor output is 202 VAC (AC/BLDC/Linear) or 285 VDC (brush DC). | |
| Switching frequency | 17.5 | kHz | |
| Maximum modulation depth | 88 | % | Maximum effective output is 88% of HV DC bus voltage. |
| Torque control bandwidth (typ.) | 1-3.3 | kHz | Motor coil dependent |
| Torque control cycle time | 57.1 | µs | |
| Position & velocity control cycle time | 400 | µs | |
| Power conversion efficiency | 90-95 | % | Under typical conditions |
| Motor inductance range @ 230 VAC | 1.4-25 | mH | |
| Motor inductance range @ 115 VAC | 0.7-25 | mH | |
| Motor power range | 0.05 - 1.5 | kW | |
| AC commutation frequency | 0-400 | Hz |
Regenerative resistor
| Property | Value | Units |
|---|---|---|
| Maximum current | 6 | A |
| Series fuse | 8 | A |
| Minimum allowed resistance @ 230 VAC supply | 63 | Ω |
| Minimum allowed resistance @ 115 VAC supply | 35 | Ω |
| Resistor power dissipation | 0-2400¹ | W |
¹) Power dissipation depends on how much system's kinetic energy is directed to the resistor
Feedback devices
Status of feedback device support
| 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 | Under development¹ | 1 V p-p, 12 bits sampling |
| Resolver/synchro | Under development¹ | 10 kHz excitation |
| Serial SSI encoder | Planned¹ | RS422/RS485 |
| Serial BiSS encoder | Planned¹ | RS422/RS485 |
| Tachogenerator | Planned¹ |
¹) Supported already by hardware, usage possible after firmware upgrade
Quadrature encoder electrical properties
| Property | Value | Units | Remarks |
|---|---|---|---|
| Encoder count rate | 0-4 | MHz | After 4x decoding, digitally filtered |
| Supply voltage | 4.8-5.2 | V | Supplied from drive |
| Supply current | 0-500 | mA | Supplied from drive |
Setpoint signal / reference inputs
| Setpoint signal type | Status | Electrical interface |
|---|---|---|
| Analog | Standard feature | Up to +/-10V or any lower range |
| Pulse and direction | Standard feature | Up to 4 MHz step rate, 5V signaling |
| Quadrature | Standard feature | Up to 4 MHz count rate, 5V signaling |
| PWM | Standard feature | 3-30 kHz PWM carrier frequency |
| Serial communication | Standard feature | SimpleMotion V2 RS485 based real-time serial bus with open source SDK |
| Stand-alone operation or custom setpoint signal | User implementable | May be implemented in the Argon open source firmware |
| EtherCAT | Planned | Realized with add-on board |
Inputs / outputs
List of I/O's
J5 I/O connector pin groups. In addition to J5, J2 has digital I/O's for enable and STO
- Isolated digital inputs (4 channels) - used for limit & home switches and clear faults signal ¹
- Isolated digital outputs (4 channels) - used for status indication ¹
- Differential analog inputs (2 channels) - used as Analog setpoint ¹
- Differential digital inputs (2 channels) - used for pulse/direction or second encoder ¹
- Digital inputs (3 channels) - used for safe torque off and drive enable
- Digital output (1 channel) - used for motor solenoid brake
¹) Functions may be altered by modifying the Argon open source firmware
Electrical characteristics
For detailed specifications, see I/O electrical interfacing and pinout & wiring.
| Property | Typical value | Maximum rating | Units |
|---|---|---|---|
| Protections (all I/O lines) | overvoltage, ESD, short circuit, reverse polarity | ||
| Isolated digital input (GPIx) logic 1 voltage | 4.5-24 | 25.5 | V |
| Isolated digital input (GPIx) logic 0 voltage | 0-1.3 | V | |
| Isolated digital output (GPOx) voltage | 0-24 | 25.5 | V |
| Isolated digital output (GPOx) current drive capability ¹,² | 5-20 | 40 | mA |
| High speed digital input (HSINx) voltage range | 2.7-5.5 | 6.0 | V |
| Analog input input (ANAINx) voltage range | ±10 | ±25 vs GND | V |
| Analog input input (ANAINx) resolution | 12 | bits | |
| Enable input input logic 1 voltage | 20-24 | 25.5 | V |
| STO input input logic 1 voltage | 20-24 | 25.5 | V |
| Motor brake voltage | 12-24 | 25.5 | V |
| Motor brake load current | 0-0.5 | 0.7 | A |
¹) Actual output drive capability may vary from unit to unit. Minimum guaranteed capability is 5 mA.
²) Do not exceed GPO safe operating area (SOA). Loading GPOx pin is within SOA when following equation is true: Voltage_drop_over_GPOx_pin_pair*Load_current < 0.1W. Example: if voltage over GPOx pins is 5V and current 0.01A, then 5V*0.01A=0.05W which is less than 0.1W so the operation is safe. The recommended practice is to drive only high impedance circuits with GPO to avoid overloading.
Communication
| Property | Value | Units |
|---|---|---|
| Communication protocol | SimpleMotion V2 | |
| Default bitrate | 460800 | BPS |
| Maximum number of Argon devices chained in a single bus | 15 | pcs |
| Command throughput | Up to 10000 | Commands/s |
Safety
| Feature | Properties | Remarks |
|---|---|---|
| Safe torque off |
|
STO1 safe up to 6 A AC RMS input current. Not operational if AC input > 6 A RMS AC or if DC voltage is being supplied to drive through L & N terminals or VP & VN terminals. |
| Control error detection |
|
|
| Electrical safety |
|
Galvanic isolation on J1, J2, J3 and J5 connectors against J4 with live AC mains voltages |
| Overload safety |
|
Warnings
 | Exceeding ratings may affect drive operation and cause instability or even damage the drive or other equipment. Damaged equipment may pose danger to users. |
