IONI specifications

This page lists official functional, electrical and physical specifications of the IONI Servo Drive.

Main functionality

IONIspecifications overview table

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:

• Signal path of motor drive
• Pulse burst positioning

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

Most logic level digital I/O accept standard signal levels 2.7 - 5.5 VDC. 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 Cut gate drive voltage rendering power stage inactive @ STO2 input 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

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