From Granite Devices Knowledge Wiki
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| | | Safety || | | | Safety || |
| | *[[Safe torque off]] with 3-way redundancy | | *[[Safe torque off]] with 3-way redundancy |
| | + | *[[Charge pump enable input]] |
| | *Stopping motor on errors | | *Stopping motor on errors |
| | **Tracking error (velocity & position) | | **Tracking error (velocity & position) |
Revision as of 12:19, 31 March 2015
| Function |
Description
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| Servo/stepping 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.
- Synchronous AC & BLDC motors
- Sinusoidal and trapezoidal commutated
- SPM (Surface Permanent Magnet) and IPM (Internal Permanent Magnet) types
- Brush DC motors
- Linear motors
- Iron core
- Ironless (with external inductive filter)
- Stepping motor, 2 phase (4,6 or 8 wires) Beta
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| Control modes |
- Torque control
- Velocity/speed control
- Position control
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| Setpoint types |
See setpoint signal / reference inputs list
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| Closed loop |
Cascaded control loops (PIV):
- Torque / current control, update frequency 20.0 kHz
- Velocity control, update frequency 2.5 kHz
- Position control, update frequency 2.5 kHz
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| Feed-forwards |
Feed-forwards working in velocity & position control modes:
- Acceleration (inertia canceling) feed-forward
- Velocity (friction canceling) feed-forward
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| Homing |
Integrated homing function for position control mode:
- Sensorless hard-stop homing
- Home switch search
- Index pulse search
- Soft position limits (eliminate limit switches)
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| Feedback devices |
See feedback devices list
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| Safety |
- Safe torque off with 3-way redundancy
- Charge pump enable input
- Stopping motor on errors
- Tracking error (velocity & position)
- Over speed error
- Limit switch
- DC motor runaway prevention on feedback loss
- Communication error detection
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| Protections |
- Over current
- Short circuit (phase-to-phase)
- I2t motor thermal protection
- Over & under voltage
- Over temperature
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| Power supply |
- Externally supplied 5 – 52 VDC
- Additionally an external 5 VDC logic supply required. Note: if drive is used with IONICUBE motherboards, then 24 VDC logic supply voltage is needed instead as IONICUBE has on-board 5V regulator.
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| Motor output current |
- 0-15 A continuous & peak current with sufficient coolant air flow (peak of sine)
- Current level is automatically throttled by temperature rise
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| Commissioning |
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| Compliance |
CE (LVD & EMC): EN 61800-5-1:2007 and IEC 61000-6-1:2005
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