Difference between revisions of "ATOMI specifications"
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ATOMI is available in three different models. See also [[ATOMI device model comparison]]. | ATOMI is available in three different models. See also [[ATOMI device model comparison]]. | ||
| − | ;ATOMI | + | ;ATOMI DeepStep™ |
:Basic model for stepper motor operation only | :Basic model for stepper motor operation only | ||
;ATOMI Standard | ;ATOMI Standard | ||
| Line 8: | Line 8: | ||
;ATOMI Advanced | ;ATOMI Advanced | ||
:Most features | :Most features | ||
| + | |||
| + | ==Main functionality== | ||
| + | {{:ATOMI specifications overview table}} | ||
==Motor output== | ==Motor output== | ||
| Line 60: | Line 63: | ||
|- | |- | ||
| Encoder count rate || | | Encoder count rate || | ||
| − | *ATOMI | + | *ATOMI DeepStep™ and Standard: 0-4 |
*ATOMI Advanced: 0-18 | *ATOMI Advanced: 0-18 | ||
|| MHz || After 4x decoding, digitally filtered | || MHz || After 4x decoding, digitally filtered | ||
| Line 67: | Line 70: | ||
|- | |- | ||
| Encoder resolution || | | Encoder resolution || | ||
| − | *ATOMI | + | *ATOMI DeepStep™ and Standard: 100-65535 |
*ATOMI Advanced: 100-15000000 | *ATOMI Advanced: 100-15000000 | ||
|| Pulses per revolution (P/R) || | || Pulses per revolution (P/R) || | ||
| Line 77: | Line 80: | ||
! [[Setpoint signal]] type !! Status || Electrical interface | ! [[Setpoint signal]] type !! Status || Electrical interface | ||
|- | |- | ||
| − | | [[Analog setpoint|Analog]] || | + | | [[Analog setpoint|Analog]] || ATOMI Advanced only || 0 - 3.3 V input signal. External circuitry needed for ±10 V operation. |
|- | |- | ||
| [[Pulse and direction]] || Standard feature || | | [[Pulse and direction]] || Standard feature || | ||
Maximum step rate | Maximum step rate | ||
| − | *ATOMI | + | *ATOMI DeepStep™ and Standard: 4 MHz |
*ATOMI Advanced: 8 MHz | *ATOMI Advanced: 8 MHz | ||
|- | |- | ||
| − | | [[ | + | | [[PWM]] || ATOMI Advanced only || |
| − | + | *1 - 30 kHz PWM carrier frequency (f<sub>PWM</sub>), ~3 kHz for optimal operation. | |
| − | + | ||
| − | + | ||
| − | + | ||
| − | + | ||
| − | *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 | *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 signal is sampled at 60MHz timer thus reading resolution is 60MHz/f<sub>PWM</sub> | ||
| − | *PWM+ | + | *PWM + Direction input mode |
|- | |- | ||
| − | | Serial communication || Standard feature || [[SimpleMotion V2]] real-time serial bus with open source SDK. Connect through | + | | Serial communication || Standard feature || [[SimpleMotion V2]] real-time serial bus with open source SDK. Connect through USB. |
|- | |- | ||
| EtherCAT || Planned || Realized with add-on board | | EtherCAT || Planned || Realized with add-on board | ||
Latest revision as of 12:23, 7 June 2017
Contents
Device variations[edit | edit source]
ATOMI is available in three different models. See also ATOMI device model comparison.
- ATOMI DeepStep™
- Basic model for stepper motor operation only
- ATOMI Standard
- Additional features and supported motor types
- ATOMI Advanced
- Most features
Main functionality[edit | edit source]
| Function | Description |
|---|---|
| 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.
|
| Control modes |
|
| Setpoint types |
See setpoint signal / reference inputs list
|
| Closed loop | Cascaded control loops (PIV):
|
| Feed-forwards | Feed-forwards working in velocity & position control modes:
|
| Homing | Integrated homing function for position control mode:
|
| Feedback devices |
|
| Safety |
|
| Protections |
|
| Power supply |
|
| Motor output current 1 |
|
| Commissioning |
|
| Compliance | CE (LVD & EMC): EN 61800-5-1:2007, IEC 61000-6-1:2005 and IEC 61000-6-3:2006.
Notes:
|
| Reliability |
|
1) Currents achievable continuously only with with sufficient coolant air flow. Without forced cooling, typically 30-45% of the maximum range can be driven continuously. Despite of this, maximum current is available for short periods of time even without cooling. Current is automatically throttled on temperature rise to protect the drive.
Motor output[edit | edit source]
| Property | Value | Units | Remarks |
|---|---|---|---|
| Supported motors | Refer to ATOMI device model comparison page | Permanent magnet motors only | |
| Continuous output current | 0-8 1 | A (peak value of sine) | User settable limit |
| Maximum effective motor phase output voltage |
|
| |
| 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 |
1) 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[edit | edit source]
ATOMI has an on-board 15 Ohm 11 Watt regenerative resistor.
Feedback devices[edit | edit source]
ATOMI supports quadradure (incremental) encoders with single-ended 3-5.5V (CMOS, TTL, open collector).
Quadrature encoder electrical properties[edit | edit source]
| Property | Value | Units | Remarks |
|---|---|---|---|
| Encoder count rate |
|
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 |
|
Pulses per revolution (P/R) |
Setpoint signal / reference inputs[edit | edit source]
| Setpoint signal type | Status | Electrical interface |
|---|---|---|
| Analog | ATOMI Advanced only | 0 - 3.3 V input signal. External circuitry needed for ±10 V operation. |
| Pulse and direction | Standard feature |
Maximum step rate
|
| PWM | ATOMI Advanced only |
|
| Serial communication | Standard feature | SimpleMotion V2 real-time serial bus with open source SDK. Connect through USB. |
| EtherCAT | Planned | Realized with add-on board |
See also:
Mechanical[edit | edit source]
| Property | Value | Units |
|---|---|---|
| Dimensions | 160 × TBA (~17) × 91 (W×H×D) | mm |
| Weight | TBA | kg |
| Drawings | TBA | PDF/IGES/STEP |
Note: all mounting holes are 3.2 mm diameter.
Electrical[edit | edit source]
Power supply[edit | edit source]
| Input voltage | Input current when idle | Input current max |
|---|---|---|
| 12 - 49 VDC | Typically < 0.4 A | Depends on total power output. |
Note: ATOMI doesn't have an input diode for reverse input voltage protection (needed for some switching power supplies).
I/O[edit | edit source]
Please see ATOMI connectors and pinouts.
Environment[edit | edit source]
| Property | Value | Units |
|---|---|---|
| Operating temperature | 10 - 70 | °C |
| Storage temperature | -30 - 90 | °C |
| Humidity | 0 - 95 non-condensing | % |
Warnings[edit | edit source]
 | Exceeding ratings may affect drive operation and cause instability or even damage the drive or other equipment. Damaged equipment may pose danger to users. |
 | Specifications are subject to change without notice |
