Difference between revisions of "Argon specifications"

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{{ArgonManualNav}}This page lists official electrical and physical specifications of the [[Argon (servo drive)]].
 
{{ArgonManualNav}}This page lists official electrical and physical specifications of the [[Argon (servo drive)]].
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==Main servo drive functionality==
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{| class="wikitable"
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|-
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! Function !! Description
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|-
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| Servo motor drive || Closed loop control of various [[Motor types|types of servo motors]] including:
 +
*AC / BLDC motors
 +
**Sinusoidal and trapezoidal commutated
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**SPM (Surface Permanent Magnet) and IPM (Internal Permanent Magnet) types
 +
*Brush DC motors
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*Linear motors
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**Iron core
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**Ironless (with external inductive filter)
 +
Output based on sinusoidal field oriented control with [[Dead-time distortion|dead-time distortion]] correction.
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|-
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| [[Control modes]] ||
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* Torque control
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*Velocity/speed control
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*Position control
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|-
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| Closed loop || Cascaded control loops (PIV):
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*Torque / current control, cycle time 17.5 kHz
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*Velocity control, cycle time 2.5 kHz
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*Position control, cycle time 2.5 kHz
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|-
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| [[Feed-forward]]s || Feed-forwards working in velocity & position control modes:
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*Acceleration (inertia canceling) feed-forward
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*Velocity (friction canceling) feed-forward
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|-
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| [[Homing]] || Integrated homing function for position control mode:
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*Sensorless [[Hard-stop homing]]
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*Home switch search
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*Index pulse search
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*Soft position limits (eliminate limit switches)
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|-
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| [[Setpoint signal]] ||
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|}
 
==Mechanical==
 
==Mechanical==
 
{| class="wikitable"
 
{| class="wikitable"
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|-
 
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|Motor inductance range @ 115 VAC || 0.7-25 || mH||
 
|Motor inductance range @ 115 VAC || 0.7-25 || mH||
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|-
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| Motor power range || 0.05 - 1.5 || kW||
 
|}
 
|}
  

Revision as of 22:14, 7 October 2013

Argon general pages
Argon user guide
This page lists official electrical and physical specifications of the Argon (servo drive).

Main servo drive functionality

Function Description
Servo motor drive Closed loop control of various types of servo motors including:
  • 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)

Output based on sinusoidal field oriented control with dead-time distortion correction.

Control modes
  • Torque control
  • Velocity/speed control
  • Position control
Closed loop Cascaded control loops (PIV):
  • Torque / current control, cycle time 17.5 kHz
  • Velocity control, cycle time 2.5 kHz
  • Position control, cycle time 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)
Setpoint signal

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 0.85 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.
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

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 Included Differential 3-5.5V (RS422), Single ended 3-5.5V (CMOS,TTL,open collector)
Hall sensors Included 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

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

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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