Difference between revisions of "Argon specifications"

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{{ArgonManualNav}}{{parent|ARGON}}This page lists official functional, electrical and physical specifications of the [[ARGON Servo Drive]].
 
{{ArgonManualNav}}{{parent|ARGON}}This page lists official functional, electrical and physical specifications of the [[ARGON Servo Drive]].
 +
{{specs}}
 
==Main functionality==
 
==Main functionality==
 
{{:Argon specifications overview table}}
 
{{:Argon specifications overview table}}
Line 42: Line 43:
 
| Logic power || 24 VDC +/- 10% || 0.1 - 0.4 A || 0.5 A
 
| Logic power || 24 VDC +/- 10% || 0.1 - 0.4 A || 0.5 A
 
|-
 
|-
−
| rowspan="2"|Motor power³ || 85 - 264 VAC 50/60 Hz || 0 - 16 A<sup>1</sup> || 26 A<sup>1</sup>
+
| rowspan="2" |Motor power³ || 85 - 264 VAC 50/60 Hz || 0 - 16 A<sup>1</sup> || 26 A<sup>1</sup>
 
|-
 
|-
 
|  70<sup>4</sup> - 380 VDC || 0 - 16 A<sup>1</sup> || 26 A<sup>1</sup>
 
|  70<sup>4</sup> - 380 VDC || 0 - 16 A<sup>1</sup> || 26 A<sup>1</sup>
Line 106: Line 107:
 
| Hall sensors || Standard feature|| Single ended 3-5.5V (CMOS,TTL,open collector). Differential signals accepted.
 
| Hall sensors || Standard feature|| Single ended 3-5.5V (CMOS,TTL,open collector). Differential signals accepted.
 
|-
 
|-
−
| Analog SinCos encoder || Not yet available, planned in firmware version 2.1 || 1 V p-p signal, 16X, 64X or 256X resolution interpolation factor (user selectable)<sup>2</sup>, max 500 kHz input frequency
+
| Analog SinCos encoder || Standard feature || 1 V p-p signal, 16X, 64X or 256X resolution interpolation factor (user selectable)<sup>2</sup>, max 500 kHz input frequency
 
|-
 
|-
 
| Resolver/synchro || Supported, [[Argon resolver adapter|with adapter]] || 10 kHz excitation
 
| Resolver/synchro || Supported, [[Argon resolver adapter|with adapter]] || 10 kHz excitation
 
|-
 
|-
−
| Serial SSI encoder || Planned¹ || RS422/RS485
+
| Serial SSI encoder || Not supported¹ || RS422/RS485
 
|-
 
|-
−
| Serial BiSS encoder || Planned¹|| RS422/RS485
+
| Serial BiSS encoder || Not supported¹|| RS422/RS485
 
|-
 
|-
−
| Tachogenerator || Planned¹
+
| Tachogenerator || Not supported¹
 
|}
 
|}
−
<sup>1</sup>) Supported already by hardware, usage possible after firmware upgrade
+
<sup>1</sup>) Supported by hardware. Argon is supported as-is, no new features will be added to it. Custom firmware features are possible with the [[Argon open source firmware]].
  
 
<sup>2</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).
 
<sup>2</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).
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! Property !! Typical value !! Maximum rating !! Units
 
! Property !! Typical value !! Maximum rating !! Units
 
|-
 
|-
−
| Protections (all I/O lines) || colspan=3|overvoltage, ESD, short circuit, reverse polarity  
+
| Protections (all I/O lines) || colspan="3" |overvoltage, ESD, short circuit, reverse polarity  
 
|-
 
|-
 
| Isolated digital input (GPIx) logic 1 voltage || 4.5-24 || 25.5 || V
 
| Isolated digital input (GPIx) logic 1 voltage || 4.5-24 || 25.5 || V

Latest revision as of 10:42, 5 March 2018

Argon general pages
Argon user guide
This page lists official functional, electrical and physical specifications of the ARGON Servo Drive.
This page contains official specifications of a Granite Devices product. For security reasons contents, this Wiki page is protected thus modifiable by Granite Devices staff only.

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.
  • Support over 97% of all the servo motors below 2 kW in the market
  • 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)
Control modes
  • Torque control
  • Velocity/speed control
  • Position control
Setpoint types

See setpoint signal / reference inputs list

Closed loop Cascaded control loops (PIV):
  • Torque / current control, update frequency 17.5 kHz
  • Velocity control, update frequency 2.5 kHz
  • Position control, update frequency 2.5 kHz
Feed-forwards Feed-forwards working in velocity & position control modes:
  • Acceleration (inertia canceling) feed-forward
  • Velocity (friction canceling) feed-forward
Homing Integrated homing function for position control mode:
  • Sensorless hard-stop homing
  • Home switch search
  • Index pulse search
  • Soft position limits (eliminate limit switches)
Feedback devices See feedback devices list
Safety
  • Safe torque off with 3-way redundancy
  • Stopping motor on errors
    • Tracking error (velocity & position)
    • Over speed error
    • Limit switch
  • DC motor runaway prevention on feedback loss
  • Communication error detection
Protections
  • Over current
  • Short circuit (phase-to-phase)
  • I2t motor thermal protection
  • Over & under voltage
  • Over temperature
Power supply

Two power supply methods:

  • Integrated AC mains power supply: single phase 85 – 264 VAC 50/60 Hz, 0 – 16 A
  • Externally supplied 40 – 380 VDC
  • Additionally an external 24 VDC logic supply required
Motor output current
Commissioning
Compliance CE (LVD & EMC): EN 61800-5-1:2007 and IEC 61000-6-1:2005

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 Download-icon.png 2D (PDF), Download-icon.png 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 - 16 A1 26 A1
704 - 380 VDC 0 - 16 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 0-12.5  A (peak value of sine) User settable limit
Peak output current 0-18 A (peak value of sine) Duration 1 sec, then returned to continuous limit. User settable current limit.
Maximum effective motor phase output voltage
  • 3-phase AC motors: VAC-supply*0.884 V RMS (phase-to-phase)
  • DC motors: VAC-supply*1.24 VDC
  • I.e. at 230 VAC supply, the maximum three-phase motor output voltage is 203 V RMS phase-to-phase
  • I.e. at 230 VAC supply, the maximum DC motor output voltage is 285 V
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 Standard feature 1 V p-p signal, 16X, 64X or 256X resolution interpolation factor (user selectable)2, max 500 kHz input frequency
Resolver/synchro Supported, with adapter 10 kHz excitation
Serial SSI encoder Not supported¹ RS422/RS485
Serial BiSS encoder Not supported¹ RS422/RS485
Tachogenerator Not supported¹

1) Supported by hardware. Argon is supported as-is, no new features will be added to it. Custom firmware features are possible with the Argon open source firmware.

2) 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

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

SinCos encoder electrical properties

Property Value Units Remarks
Input frequency (16X interpolation) 0-640 kHz
Input frequency (64X interpolation) 0-160 kHz
Input frequency (256X interpolation) 0-40 kHz
Supply voltage 4.8-5.2 V Supplied from drive
Supply current 0-500 mA Supplied from drive
SinCos signal voltage 0.8-1.2 Vp-p

Setpoint signal / reference inputs

Setpoint signal type Status Electrical interface
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 Up to 4 MHz step rate, 5V signaling
Quadrature Standard feature Up to 4 MHz count rate, 5V signaling
PWM Standard feature
  • 1-30 kHz PWM carrier frequency (fPWM), ~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/fPWM
  • PWM+Polarity input mode available on request
Serial communication Standard feature SimpleMotion V2 real-time serial bus with open source SDK. Connect through RS485 or USB.
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

See also:

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
  • 3-way redundancy with 2 physical STO inputs
  1. Cut AC input by safety relay @ STO1 input
  2. Cut power stage gate voltage @ STO2 input
  3. Disable power stage by software @ STO2 input
 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
  • Tracking error (velocity & position)
  • Over speed error
  • Limit switch
  • DC motor runaway prevention on feedback loss
  • Communication error
Electrical safety
  • Galvanic isolation between I/O side and power side
  • Internal fuse on AC input
  • MOV based transient overvoltage protection
  • Earth leakage current typ. < 0.5 mA
  • ESD, short circuit, reverse polarity protection on all pins
  • Surge protection on AC & DC power inputs
 Galvanic isolation on J1, J2, J3 and J5 connectors against J4 with live AC mains voltages
Overload safety
  • Over current
  • Short circuit (phase-to-phase)
  • I2t motor thermal protection
  • Over & under voltage
  • Drive over temperature

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.
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