ATOMI specifications

Device variations

ATOMI is available in three different models. See also ATOMI device model comparison.

ATOMI DeepStep™

Basic model for stepper motor operation only

ATOMI Standard

Additional features and supported motor types

ATOMI Advanced

Most features

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 Direct set-point tracking via pulse and direction, PWM, Analog, and SimpleMotion V2 Buffered synchronous motion commands via SimpleMotion V2
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	Quadrature (incremental) encoders
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 12 – 49 VDC Single power supply operation mode, no separate power supply needed for logic
Motor output current 1	AC/BLDC/Stepping/Linear motors (current specified as peak of sine): 0 - 8 A Brush DC motors: 0 - 10 A
Commissioning	Granity setup software
Compliance	CE (LVD & EMC): EN 61800-5-1:2007, IEC 61000-6-1:2005 and IEC 61000-6-3:2006. Notes: The device is Low Voltage Directive (LVD) compliant up to 42 VDC power supply, and above that level the supply voltage is considered hazardous, so external measures (such as or isolation or protective impedance) are necessary to prevent human contact to any circuit connected to the device. In order to meet EMC standard requirements, a proper installation and wiring is necessary. Refer to user guide for proper installation.
Reliability	MTBF: 660000 hours

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.

Motor output

Maximum output current throttling vs device temperature. Current is automatically reduced by device to protect from overheating.

Property	Value	Units	Remarks
Supported motors	Refer to ATOMI device model comparison page		Permanent magnet motors only
Continuous output current	0-8 1	A (peak value of sine)	User settable limit
Maximum effective motor phase output voltage	3-phase AC motors: Vsupply*0.671 V RMS (phase-to-phase) DC motors: Vsupply*0.95 VDC		I.e. at 48V supply, the maximum three-phase motor output voltage is 32.2 V RMS phase-to-phase I.e. at 48V supply, the maximum DC motor output voltage is 45.6 V
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	Not capped, may achieve up to 2 kHz

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

ATOMI has an on-board 15 Ohm 11 Watt regenerative resistor.

Feedback devices

ATOMI supports quadradure (incremental) encoders with single-ended 3-5.5V (CMOS, TTL, open collector).

Quadrature encoder electrical properties

Property	Value	Units	Remarks
Encoder count rate	ATOMI DeepStep™ and Standard: 0-4 ATOMI Advanced: 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	ATOMI DeepStep™ and Standard: 100-65535 ATOMI Advanced: 100-15000000	Pulses per revolution (P/R)

Setpoint signal / reference inputs

Setpoint signal type	Status	Electrical interface
Analog	ATOMI Advanced only	0 - 3.3 V input signal. External circuitry needed for ±10 V operation.
Pulse and direction	Standard feature	Maximum step rate ATOMI DeepStep™ and Standard: 4 MHz ATOMI Advanced: 8 MHz
PWM	ATOMI Advanced only	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 + Direction input mode
Serial communication	Standard feature	SimpleMotion V2 real-time serial bus with open source SDK. Connect through USB.
EtherCAT	Planned	Realized with add-on board

See also:

• Signal path of motor drive
• Pulse burst positioning

Mechanical

Dimension drawing

Property	Value	Units
Dimensions	160 × TBA (~17) × 91 (W×H×D)	mm
Weight	TBA	kg
Drawings	TBA	PDF/IGES/STEP

Note: all mounting holes are 3.2 mm diameter.

Electrical

Power supply

Input voltage	Input current when idle	Input current max
12 - 49 VDC	Typically < 0.4 A	Depends on total power output.

Note: ATOMI doesn't have an input diode for reverse input voltage protection (needed for some switching power supplies).

I/O

Please see ATOMI connectors and pinouts.

Environment

Property	Value	Units
Operating temperature	10 - 70	°C
Storage temperature	-30 - 90	°C
Humidity	0 - 95 non-condensing	%

Warnings

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