Difference between revisions of "Argon specifications"
From Granite Devices Knowledge Wiki
| [checked revision] | [checked revision] |
(→Safety) |
(→Safety) |
||
| Line 263: | Line 263: | ||
| [[Safe torque off]] || | | [[Safe torque off]] || | ||
*3-way redundancy with 2 physical STO inputs | *3-way redundancy with 2 physical STO inputs | ||
| − | # | + | #Cut AC input by safety relay @ STO1 input |
| − | #Cut power stage gate voltage | + | #Cut power stage gate voltage @ STO2 input |
| − | # | + | #Disable power stage by software @ STO2 input |
|| STO1 safe up to 6 A RMS | || STO1 safe up to 6 A RMS | ||
|- | |- | ||
Revision as of 17:45, 21 October 2013
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 |
|
| 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:
|
| Setpoint signal | See setpoint signal / reference inputs list |
| Feedback devices | See feedback devices list |
| Safety |
|
| Protections |
|
| 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) |
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 |
| 84 - 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
Motor output
| Property | Value | Units | Remarks |
|---|---|---|---|
| Supported motors | AC, BLDC, DC, Linear | Permanent magnet motors only | |
| Continuous output current | 0-10 | A (peak value of sine) | User settable limit |
| Peak output current | 0-15 | 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 | 3-24 | 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 | 0-10 | 10 | 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) Power dissipation is output current and input voltage related.
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 RMS |
| 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. |
