Argon specifications overview table

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)

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