Difference between revisions of "IONI specifications"

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==Main functionality==
 
==Main functionality==
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{{:IONIspecifications overview table}}
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{{:IONI specifications overview table}}
  
 
==Mechanical==
 
==Mechanical==

Revision as of 16:35, 3 March 2015

IONI general pages
IONI & IONICUBE user guide
This page lists official functional, electrical and physical specifications of the IONI Servo Drive.

Main functionality

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.
  • 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)
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 20.0 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
  • 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
Protections
  • Over current
  • Short circuit (phase-to-phase)
  • I2t motor thermal protection
  • Over & under voltage
  • Over temperature
Power supply
  • Externally supplied
    • IONI, IONI Pro 5 – 52 VDC
    • IONI Pro HC 5 - 55 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.
Motor output current1
  • AC/BLDC/Stepping/Linear motors (current specified as peak of sine):
    • IONI 0-15 A
    • IONI Pro 0-18 A
    • IONI Pro HC 0-25 A
  • Brush DC motors:
    • IONI 0-19.5 A
    • IONI Pro 0-23.4 A
    • IONI Pro HC 0-30 A
Commissioning
Compliance CE (LVD & EMC): EN IEC 62368-1:2018, IEC 61000-6-1:2005 and IEC 61000-6-3:2006.

SIL2: IEC 61800-5-2:2016-04

Notes:

  • In order to meet EMC standard requirements, a proper installation and wiring is necessary. Refer to user guide for proper installation.
  • Signed Declaration of Conformity will be provided on request.
Reliability
  • MTBF: 2.99 million hours
  • Failure rate (all delivered units, actual statistic from 2015-2017): 0.36%

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.

Mechanical

Property Value Units
Dimensions 67.5 × 37.5 × 7.5 (W×H×D) mm
Weight TBD g
Drawings 2D (PDF), 3D (IGES & STEP)

Environment

Property Value Units
Operating temperature 10-70 °C
Storage temperature -30-90 °C
Humidity 0-95 non-condensing  %
Power dissipation 0.3-15¹ W

¹) Power dissipation is output current and input voltage related.

Power supply

Supply2 Input voltage Input current typ Input current max
Logic power 5 VDC +/- 10% 0.1 - 0.3 A 0.2 A
Motor power 5 - 55 VDC3 0 - 15.5 A1 15.5 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) Possible to use from 5 VDC upwards, however short circuit protection feature is lost below 12 VDC.

Motor output

Property Value Units Remarks
Supported motors AC, BLDC, DC, Linear Permanent magnet motors only
Continuous output current 0-151 A (peak value of sine) User settable limit
Peak output current 0-151 A (peak value of sine) User settable current limit.
Maximum effective motor phase output voltage
  • 3-phase AC motors: Vsupply*0.775 V RMS (phase-to-phase)
  • DC motors: Vsupply*0.95 VDC
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

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

IONI has a dedicated 3.3V logic level output for regenerative resistor control. The logic signal can be externally fed to a switch component (such as MOSFET) to drive external regenerative resistor to prevent overvoltage during rapid motor decelerations.

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
Serial SSI encoder Planned¹ RS422/RS485
Serial BiSS encoder Planned¹ RS422/RS485

¹) Supported already by hardware, usage possible after firmware upgrade

Quadrature encoder electrical properties

Property Value Units Remarks
Encoder count rate
  • IONI: 0-4
  • IONI Pro: 0-18
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
  • IONI: 100-65535
  • IONI Pro: 100-15000000
 Pulses per revolution (P/R)

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

Maximum step rate

  • IONI: 4 MHz
  • IONI Pro: 8 MHz
Quadrature Standard feature

Maximum quadrature frequency (count rate)

  • IONI: 1 MHz (4 MHz)
  • IONI Pro: 2 MHz (8 MHz)
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
Serial communication Standard feature SimpleMotion V2 real-time serial bus with open source SDK. Connect through RS485 or USB.
EtherCAT Planned Realized with add-on board

See also:

Inputs / outputs

List of I/O's

  • Digital inputs (4 channels) - used for limit & home switches and clear faults signal
  • Digital outputs (6 channels) - used for status indication & special functions
  • Differential analog input (1 signal pair) - used as Analog setpoint
  • High speed digital inputs (2 channels) - used for pulse/direction or second encoder
  • Digital inputs (2 channels) - used for safe torque off and drive enable
  • Digital output (1 channel) - used for motor solenoid brake

Electrical characteristics

  • Digital inputs accept standard signal levels 2.7 - 5.5 VDC, except STO and Enable inputs accept 4 - 26 VDC.
  • Digital outputs provide 3.3 VDC signal level
  • Analog inputs accept +-/10 VDC (+/- 12 VDC max) referenced to GND

For detailed pin specific description, see IONI connector pinout.

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
  • One dedicated physical STO input
  1. Cut gate drive voltage rendering power stage inactive @ STO2 input
  2. Disable motor control @ STO2 input (software based)
Control error detection
  • Tracking error (velocity & position)
  • Over speed error
  • Limit switch
  • DC motor runaway prevention on feedback loss
  • Communication error
Electrical safety
  • ESD, short circuit, reverse polarity protection on all pins
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.
Specifications are subject to change without notice
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