AC Linear Motor Servo Driver

Transcription

1 AC Linear Motor Servo Driver cpc reserves the right to revise any information(technical details) any time without notice, for printing mistakes or any other incidental mistakes. We take no responsibility Murietta Street. Chino, CA Printed in Taiwan TC01QB1EN

2 Auto Tuning Auto Phasing Filter Response Bode plot Time response plot Autotune Wizard Step by step setup interface 01

3 Auto tune Auto tune(position) Auto tuning Visualized control loop Userfriendly interface Highly efficient tuning algorithm Short tuning time Can tune for stable or fast system response Fast control loop up to 5k Hz Can test 3 groups of gain set Feedforward signal path Easy to fine tune Input response with profile position Auto phasing Gain switch 3 groups of position and velocity gains can be switched Auto phasing Hall sensor or forcecommutation Step by step phasing progress prompt Gainswitch rule: Demand, Feedback, Error, Target, and Digital input Easy to fine tune for different application Auto tune(velocity) Gain switch Test Distance:0.6m Velocity:3m/s Acceleration:3g Deceleration:3g Fast control loop up to 10k Hz Can test 3 groups of gain set Easy to fine tune Feedforward signal path Response Bode plot Bandwidth label Input response test with step/sine/triangle 3 filters on force output Performance without Gainswitch Yellow: velocity profile Red: Position Error [+ 35 count] 02 03

4 Gain switch Test Distance:0.6m Velocity:3m/s Acceleration:3g Deceleration:3g Scripting Performance with Gainswitch Yellow: velocity profile Red: Position Error [± 11 count] Script could program motor motion with userfriendly interface. Scope Ordering Information TC1 B 9 P /230 H R E Homing Scope provides a real time monitor of driver information. User could inspect motion detail without an oscilloscope. : No heatsink (Note1) H : Passive heatsink F : Heatsink with fan CANopen (Note1) E EtherCAT : No Resistor (Note1) R: Brake Resistor AC supply: 230VAC : Normal P : Extended peak current (Note2) Continuous current (Amps): 8, 20 (Atype only) 3, 9 (Btype only) : Atype B: Btype Setup interface provides 35 kinds of homing methods. Also, the vivid animations explain how a homing method is performed. Servo Driver 04 05

5 U + AC Servo Driver Product Overview LMIroncore LMIronless DD Motor Linear motor Stage Dimension TC1B 53 Fieldbus RS232 Serial port 12.5 M Controller port: 3x Digital inputs 3x Digital outputs Pulse Cmd. Input Encoder buffered output USB Serial port EtherCATO R is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany R3 USB Controller Feedback General ECRN RUN ECER ERROR L1 L2 L (9A) 134 (3A) R OUT R+ IN CANopen W V RS232 Feedback port: 6x Digital inputs 1x Digital output Encoder input 1x 0~5V analog input 24V AC power input General port: 2x ±10V Analog input 1x Pulse trigger output 3x Digital inputs 2x Digital outputs 24V control logic supply Motor power output / External regen. resistor Specification 14.5 arrangement is suitable for applications where the motor mostly operates in short, high current bursts. 06 Note 3: Additional heatsink required to ensure continuous operation at rated output motion Model Voltage and Phase DC Bus Peak Voltage (VDC) Input Power Frequency (Hz) Power Rating (W) Voltage Range (VDC) Control Logi Power Current (A) Peak power output (kw) Peak current output (A) Cont. current output (A) Resistance (Ohm) Regenerative resistor Continuous dissipation (Watt) Pulse Braking Energy Regenerative resistor switch cont. current (A) Fieldbus (DS402 V3.0) DS402 Operation modes Serial bus Motor type Encoder Input Feedback position error mapping Current control Velocity control Position control Analog Input Pulse command frequency Digital Analog (sin / cos) Absolute Total Digital Inputs Total Digital Outputs (opencollector) High speed Position compare output Autotuner Gain switch function Control panel Software protection Hardware protection Dimensions (LxHxW)(mm) Weight (Kg) Operating temperature Type Work Frequency Count Rage Amplitude Work Frequency Type PWM modulation Output filter Trajectory generator Input type ADC resolution RS422 5V singleend 24V singleend TC1B3/230 TC1B3/230E TC1B9/230 TC1B9/230E TC1B9P/230 TC1B9P/230E to VDC > (Note2) 3 9 (Note3) 9 (Note3) 60 (option) 100 (option) 5000 (option) CANopen EtherCAT CANopen EtherCAT CANopen EtherCAT PP, PV, PT, HM, CST, CSV, CSP RS232 Linear/Rotary PMSM A/B Incremental (RS422 signaling) Max. 20 Mega counts/s ±2 31 counts 1V PP 100 khz, 4096 Cnt/Period Interpolation BiSSC, Tamagawa, EnDat 2.2, SSI 20 KHz SVPWM 10 KHz x3 (Lowpass or Notch) 5 KHz Pulse command (A/B, Step/Dir, CW/CCW), Trapezoidal with Scurve filter x1 (±10 V differential), x1 (±10 V Singleend) 12 bit Max. 10 MHz Max. 1 MHz Max. 50 KHz x12 ( 5~24 V ) x3 ( 24V, 400 ma ), x3 ( 24 V, 200 ma ) x1 (RS422) Current/Velocity/Position loop gain, motor phasing setup, sin/cos encoder calibration Dynamic brake, motor overcurrent, over/underposition, overvelocity. Virtual/physical position limit switch, missing hall signal, externa fault trigger Drive overtemperature (analog), 5V output short circuit, motor overtemperature (analog) 200 x 134 x x 164 x 53 (excluding optional heatsink) (excluding optional heatsink) 10~40 o C Note 1: Only applicable for the TC1B series. Note 2: Only applicable for the TC1B series. Current sensor with a wider input range is used at the cost of additional signal noise and reduced resolution. This

6 Product Overview TC1 Specification Auto Phasing Auto Tuning Auto Gain Switch Current Filter Oscilliscope Scurve Profile AntiCogging Scripting Input Power Model Voltage and Phase DC Bus Peak Voltage (V) Frequency (Hz) TC18/ to 60 TC120/230 4x front panel key Power Rating (W) LMIroncore System status LEDs 5 Digit 7Segement display 24VDC & 3Ø220VAC power connector communication interfacee 2x ±10V Analog Input 9x 5V Digital Input 2x 5V Digital Output 2x 500mA Digital Output (Opencollector) 5x 5V Digital Input External Pulse Command Input (A/B, P/D, CW/CCW) Buffered output for Pulse Command or Motor Encoder 10x 5V Digital Input Motor Encoder Input Voltage Range (VDC) Control Logi Power Current (A) Peak power output (kw) Peak current output (A) Cont. current output (A) Resistance (Ohm) Regenerative resistor Continuous dissipation (Watt) Pulse energy capacity (Joule) Regenerative resistor switch cont. current (A) Fieldbus (DS402 V3.0) 24 > CANopen LMIronless Motor power connector External Breaking resist Resistor DS402 Operation modes Serial bus Motor type PP, PV, PT, HM, CST, CSV, CSP RS232 Linear/Rotary PMSM A/B/Z (RS422) 20 MCnt/s Encoder Input Sin/Cos (1V pp ) SSI (RS422) DD Motor BiSS Feedback position error mapping 20 KHz Current control PWM modulation SVPWM 10 KHz Linear motor Stage Velocity control Output filter x3 (Lowpass or Notch) Dimension Ø Position control Trajectory generator 5 KHz Pulse command (A/B, Step/Dir, CW/CCW), Trapezoidal with Scurve filter Analog Input Input type ADC resolution ±10 V differential 12 bit Pulse command frequency RS422 5V singleend 24V singleend Max. 10 MHz Max. 1 MHz Total Digital Inputs x22 (3.3~5 V) Total Digital Outputs (opencollector) High speed Position compare output x2 ( 24 V, 500 ma ), x6 ( 24 V, 20 ma ) Total Analog Inputs x2 (±10 V differential) Autotuner Current/Velocity/Position loop gain, motor phasing setup, sin/cos encoder calibration Gain switch function Control panel x1 (5 digit 7segment LED) x4 push buttons 4 Software protection Dynamic break, motor overcurrent, over/underposition, overvelocity. Virtual/physical position limit switch, missing hall signal, externa fault trigger 9 8 R Hardware protection Dimensions (LxHxW)(mm) Weight (Kg) Drive overtemperature (on/off), motor overtemperature (on/off) 220 x 105 x x 195 x Operating temperature 10~40 o C 08 09