IONI 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. 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 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	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	Externally supplied 5 – 53 VDC Additionally an external 5 VDC logic supply required
Motor output current	0-15 A continuous & peak current with sufficient coolant air flow (peak of sine) Current level is automatically throttled by temperature rise
Commissioning	Granity setup software Online user guide
Compliance	CE (LVD & EMC): EN 61800-5-1:2007 and IEC 61000-6-1:2005

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