G-901 Motion Controller for High Power Requirement

Function

ACS SPiiPlusEC controller wit up to two ACS UDMcb driver modules including ACS components for STO

x codes the intermediate circuit voltage (48 V / 96 V), for details see "Electrical properties"

Version

19" rack mount with connectors for positioners from PI

Motor types

2 and 3-phase AC servo motors / brushless DC motors, brushed DC motors, voice coil motors, stepper motors

Number of drive axes

2 / 3 / 4

Upgradable via EtherCAT with additional driver modules to up to 8 synchronized axes.

Controller type

Cascading PIV controller structure with velocity and acceleration feedforward control

Sampling rate current control

20 kHz

Control algorithms

Multiple Input Multiple Output (MIMO) gantry control, dual loop control

Motion profiles/trajectory planning

Multi-axis point-to-point, jog, tracking, and sequential multi-point motion

Multi-axis segmented motion with look-ahead

Arbitrary path with PVT cubic interpolation

Third order profiles (S-Curve)

Smooth on-the-fly change of target position or velocity

Inverse/forward kinematics and coordinate transformations (at application level)

Master-slave with position and velocity locking (electronic gear/cam)

Encoder

1 × per integrated axis, supported types:

Incremental: 1V_ss, RS-422

Absolute: EnDat 2.2 & 2.1, Smart-Abs, Panasonic, BiSS-A/B/C (SSI)

Limit switches

2 × per integrated axis

Default: 5 V sinking (NPN)

Optional configuration: 24 V; sourcing (PNP)

Reference switch

Default: 1 × per integrated axis, 5 V sinking (NPN)

Optional configuration: 24 V; sourcing (PNP); use as digital multipurpose inputs on digital I/O connector (HD D-sub 15 (f))

Motor brake

1 × per integrated axis

Integrated PWM brake driver with current reduction for a reduced heating up of the brake

Functional safety

STO

For safety applications including SIL-3 safety integrity level according to:

EN/IEC 61800-5-2 Ed. 2 (Second Environment)

EN/IEC 61800-5-1

IEC 61508

IEC 62061

PLe performance level and category 3 according to:

EN ISO 13849-1/-2

Intermediate circuit voltage

All axes: 48 V

Axes 0, 1: 96 V

Axes 2, 3: 48 V

(Axis 3 only with G-901.R4199)

All axes: 96 V

Output power intermediate circuit, continuous / peak

1000 W / 1050 W (max. 5 s)

Intermediate circuit 96 V: 2000 W / 2100 W

Intermediate circuit 48 V: 480 W / 580 W (max. 10 s)

2000 W / 2100 W (max. 5 s)

Output power per axis (effective value), continuous / peak (max. 1 s)*

250 W / 740 W

Axes 0, 1: 500 W / 1500 W (at 96 V intermediate circuit voltage)

Axes 2, 3: 250 W / 580 W (at 48 V intermediate circuit voltage; axis 3 only with G-901.R4199)

500 W / 1500 W

Current limitation per motor phase (amplitude of sine), continuous/peak (max. 1 s)

6.6 A / 20 A

6.6 A / 20 A

6.6 A / 20 A

Motor connectors per driver module with 48 V intermediate circuit voltage**

2 × HD D-sub 26 (f), maximum 3 A continuous current per pin

2 × D-sub 9W4 (f), maximum 20 A per motor phase

Alternative use is possible, depending on maximum phase current.

The lines for limit and reference switches are available on all connectors.

The lines for motor brakes are available on the HD D-sub 26 (f) connectors.

Motor connectors per driver module with 96 V intermediate circuit voltage**

2 × M15 9-pin (f)

The lines for limit switches are available for:

2 × HD D-sub 26 (f)

2 × M12 5-pin (f)

2 × D-sub 15 (m)

The lines for reference switches are available on the HD D-sub 26 (f) connectors.

The lines for motor brakes are available on the M15 9-pin (f) and HD D-sub 26 (f) connectors.

Sensor connectors, per driver module**

2 × D-sub 15 (m)

2 × HD D-sub 26 (f)

Alternative use depending on encoder type.

Default factory configuration at delivery:

Digital incremental encoder (RS-422) or absolute encoder on HD D-sub 26 (f)

Incremental encoder 1 V_ss on D-sub 15 (m)

Possible modified factory configuration at delivery:

Digital incremental encoder (RS-422) or absolute encoder on D-sub 15 (m)

Digital I/O lines, per driver module

HD D-sub 15 (f):

2 × outputs PNP 24 V source; also control the drivers for the motor brakes

Default for inputs:

2 × PNP 24 V source on HD D-sub 15 (f); in addition 2 × NPN 5 V sinking for reference switches on the motor connectors

Optional configuration for inputs:

4 × PNP 24 V source on HD D-sub 15 (f)

Analog I/O lines, per driver module

HD D-sub 15 (m):

2 differential analog inputs: ±10 V, 12-bit

2 differential analog outputs: ±10 V, 10-bit

Outputs for position event trigger (PEG), per driver module

Parallel on HD D-sub 15 (m) and HD D-sub 15 (f):

2 differential outputs (RS-422) for pulses at programmable positions, pulse width 26 ns to 1.75 ms, max. 10 MHz; only possible with incremental encoder

Inputs for STO safety function

D-sub 9 (f)

2 differential inputs (STO1, STO2): 24 V, < 50 mA per pin

If at least one signal assumes the "low" state, all drives are deactivated at the same time within 50 to 200 ms.

EtherCAT network

Up to 8 axes in an ACS EtherCAT network, also using EtherCAT third-party components.

Control rate and EtherCAT clock rate

2 kHz

Communication interfaces

EtherCAT IN and OUT: RJ-45

Ethernet (TCP/IP, Modbus/TCP, EtherNet/IP): RJ-45

RS-232: D-sub 9 (m)

User software

ACS SPiiPlus MMI Application Studio

Application programming interfaces

Programming libraries for C/C++, COM, .NET, MATLAB available

Programming

ACSPL+ real-time scripting language: Up to 10 simultaneously running programs (buffer)

Operating voltage***

2 × mains connector 100-250 V AC, 50-60 Hz

2 × mains connector 100-250 V AC, 50-60 Hz

2 × mains connector 100-250 V AC, 50-60 Hz

Required protection per mains connector***

IEC:

12-16 A @ 250 V AC; 50 Hz

UL/CSA:

12-20 A @ 125/250 V AC; 60 Hz

IEC:

12-16 A @ 250 V AC; 50 Hz

UL/CSA:

12-20 A @ 125/250 V AC; 60 Hz

IEC:

12-16 A @ 250 V AC; 50 Hz

UL/CSA:

12-20 A @ 125/250 V AC; 60 Hz

Operating temperature range

5 °C to 40 °C (temperature protection switches off at excessively high temperatures)

5 °C to 40 °C (temperature protection switches off at excessively high temperatures)

5 °C to 40 °C (temperature protection switches off at excessively high temperatures)

Mass

13 kg

17 kg

15.5 kg

Dimensions

482.6 mm × 539.5 mm × 184.2 mm (including handles)

482.6 mm × 553.4 mm × 184.2 mm (including handles)

482.6 mm × 553.4 mm × 184.2 mm (including handles)