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
Setpoint types	See setpoint signal / reference inputs list Direct set-point tracking via pulse and direction, PWM, Analog, Quadrature, SimpleMotion V2 Pulse burst positioning Buffered synchronous motion commands via SimpleMotion V2
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
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 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	Two power supply methods: Integrated AC mains power supply: single phase 85 – 264 VAC 50/60 Hz, 0 – 16 A Externally supplied 40 – 380 VDC Additionally an external 24 VDC logic supply required
Motor output current	0-12.5 A continuous (peak of sine) 0-18 A 1 second peak (peak of sine)
Commissioning	Granity setup software Online user guide
Compliance	CE (LVD & EMC): EN 61800-5-1:2007 and IEC 61000-6-1:2005

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 - 16 A1	26 A1
	704 - 380 VDC	0 - 16 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

⁴) Possible to use from 45 VDC upwards, however short circuit protection feature is lost below 70 VDC.

Motor output

Property	Value	Units	Remarks
Supported motors	AC, BLDC, DC, Linear		Permanent magnet motors only
Continuous output current	0-12.5	A (peak value of sine)	User settable limit
Peak output current	0-18	A (peak value of sine)	Duration 1 sec, then returned to continuous limit. User settable current limit.
Maximum effective motor phase output voltage	3-phase AC motors: VAC-supply*0.884 V RMS (phase-to-phase) DC motors: VAC-supply*1.24 VDC		I.e. at 230 VAC supply, the maximum three-phase motor output voltage is 203 V RMS phase-to-phase I.e. at 230 VAC supply, the maximum DC motor output voltage is 285 V
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	Standard feature	1 V p-p signal, 16X, 64X or 256X resolution interpolation factor (user selectable)2, max 500 kHz input frequency
Resolver/synchro	Supported, with adapter	10 kHz excitation
Serial SSI encoder	Not supported¹	RS422/RS485
Serial BiSS encoder	Not supported¹	RS422/RS485
Tachogenerator	Not supported¹

¹) Supported by hardware. Argon is supported as-is, no new features will be added to it. Custom firmware features are possible with the Argon open source firmware.

²) The final resolution will be 4*line_count*interpolation_factor. I.e. with 1000 lines/electrical cycles per revolution SinCos encoder, the supported resolutions are 64000, 256000 and 1024000 counts per revolution. SinCos encoder can be also used without interpolation (4*line_count resolution).

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

SinCos encoder electrical properties

Property	Value	Units	Remarks
Input frequency (16X interpolation)	0-640	kHz
Input frequency (64X interpolation)	0-160	kHz
Input frequency (256X interpolation)	0-40	kHz
Supply voltage	4.8-5.2	V	Supplied from drive
Supply current	0-500	mA	Supplied from drive
SinCos signal voltage	0.8-1.2	Vp-p

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	Up to 4 MHz step rate, 5V signaling
Quadrature	Standard feature	Up to 4 MHz count rate, 5V signaling
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 available on request
Serial communication	Standard feature	SimpleMotion V2 real-time serial bus with open source SDK. Connect through RS485 or USB.
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

See also:

• Signal path of motor drive
• Pulse burst positioning

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

Warnings

In no event the Product Information or parts hereof shall be regarded as guarantee of conditions or characteristics. The Product Information or any part thereof may also not be regarded as a warranty of any kind. No liability of any kind shall be assumed by Author with respect to Product Information or any use made by you thereof, nor shall Author indemnify you against or be liable for any third party claims with respect to such information or any use thereof.

As content of this Wiki may be edited by user community, Granite Devices Oy or it's affiliates do not take any responsibility of the contents of this Wiki. Use information at your own risk. However, Granite Devices staff attempts to review all changes made to this Wiki and keep information trustworthy.

Without written consent, Granite Devices' Products or Intellectual Property shall not be used in situations or installations where living beings, material property, or immaterial property could be harmed by the operation, features or failures of Product. Products may only be used in a way where hazards like moving parts, electric shock, laser radiation, or fire can't be realized even if the content of this Wiki would suggest otherwise.