Argon specifications

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. 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
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 Dual-loop feedback support planned as firmware upgrade
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	See setpoint signal / reference inputs list
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
Commissioning	Granity setup software Online user guide
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)
Drawings	2D (PDF), 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 - 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	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 Cut AC input by safety relay @ STO1 input Cut power stage gate voltage @ STO2 input 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

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