Ürünler - Nano Dünya

G-910.RC02 Motion Controller for Low Power Requirement

Integrated Driver for up to 2 Axes, EtherCAT Master for Synchronizing up to 4 Axes

ACS motion controller with integrated ACS driver module
Upgradable to up to 4 axes with the G-910.RC01 driver module
Directly compatible with positioners from PI
For AC servo motors / brushless DC motors, brushed DC motors, voice coil motors, stepper motors
Output power 120 W at 24 V or 280 W at 48 V
Many options for trajectory planning

G-910.RC0242200

G-910.RC0242x00, dimensions in mm. Note that a comma is used in the drawings instead of a decimal point.

Stacked system with G-910.RC02 motion controller (top) and G-910.RC01 driver module (bottom)

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Overview

The G-910 motion controller offers a fully integrated electronics solution with controller and driver module in a compact housing. The G-910.RC02 motion controller features the state-of-the-art ACS SPiiPlusEC motion controller and EtherCAT master. Integrated driver module for 2 axes, upgradable via EtherCAT to up to 4 synchronized axes. EtherCAT cycle and generation rate of the motion profile 2 kHz. Ethernet velocity of up to 1 GbE. Servo algorithms for advanced gantry and dual-loop control.

I/O lines

The digital inputs and outputs can be flexibly configured. For the evaluation of reference switches, digital inputs can alternatively be led to the motor connectors. Depending on the application, the inputs for the limit and reference switches can be configured for 5 V or 24 V and also as PNP or NPN inputs. Position synchronous trigger signals with up to 10Mhz output frequency make a precise process control at high travel velocities possible (position event generator – PEG).

Configuration

If the types of positioner are specified when ordering, all connectors of the G-910.RC02 are suitably preconfigured at delivery. The default factory configuration, without positioner-specific adjustments, is detailed in the specifications. For subsequent adjustments, please contact our service department.

Encoder

Supports incremental encoders (sine/cosine or RS-422) and absolute encoders (EnDat 2.2 & 2.1, Smart-Abs, Panasonic, BiSS-A/B/C (SSI)). Depending on the application, the encoders can respectively be led to the motor interface or the separate sensor interface.

Communication, software support

The motion controller works as master in an internal EtherCAT network. The open network architecture also allows the integration of third-party components. For communication with a PC, the motion controller is equipped with an Ethernet TCP/IP and a RS-232 interface. ACS SPiiPlus MMI Application Studio, a modern user software with tools for control tuning and visualizing is included in the scope of delivery. Programming libraries are available for C/C++, COM, .NET, MATLAB.

	G-910.RC0242100 / G-910.RC0242200
Function	ACS SPiiPlusEC controller with the ACS UDMnt driver module, with connectors for positioners from PI
Version	Benchtop device
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 Upgradable via EtherCAT with additional driver module to up to 4 synchronized axes.

Motion and control	G-910.RC0242100 / G-910.RC0242200
Controller type	Cascading PIV controller structure with velocity and acceleration feedforward control
Sampling rate current control	20 kHz
Control algorithms	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

Electrical properties	G-910.RC0242100	G-910.RC0242200
Output voltage intermediate circuit*	24 V	48 V
Max. output power (intermediate circuit)*	120 W per axis	280 W per axis
Current limitation per motor phase (amplitude of sine), continuous/peak (max. 1 s)	5 A* / 9.5 A peak**	5 A* / 9.5 A peak**

Interfaces and operation	G-910.RC0242100 / G-910.RC0242200
Motor connector	2 × HD D-sub 26 (f)
Sensor connector	2 × D-sub 15 (m) or 2 × via the motor connectors Default factory configuration at delivery: Digital incremental encoder (RS-422) or absolute encoder on motor connector 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	HD D-sub 15 (f) and motor connectors: 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	HD D-sub 15 (m): 2 differential analog inputs: ±10 V, 12-bit 1 differential analog output: ±10 V, 10 bit
Outputs for position event generator (PEG)	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
EtherCAT network	Up to 4 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)

Miscellaneous	G-910.RC0242100	G-910.RC0242200
Operating voltage intermediate circuit	24 V DC from external power adapter, power adapter with 24 V DC (120 W) included in the scope of delivery	48 V DC from external power adapter, power adapter with 48 V DC (280 W) included in the scope of delivery
Operating voltage logic	24 V DC from external power adapter, power adapter with 24 V DC (120 W) included in the scope of delivery	24 V DC from external power adapter, power adapter with 24 V DC (120 W) included in the scope of delivery
Max. current consumption intermediate circuit*	5 A	5 A
Max. current consumption logic	1.7 A	1.7 A
Operating temperature range	5 to 40 °C (temperature protection switches off at excessively high temperatures)	5 to 40 °C (temperature protection switches off at excessively high temperatures)
Mass	2.85 kg	2.85 kg
Dimensions	187.3 mm × 121 mm × 294.1 mm	187.3 mm × 121 mm × 294.1 mm

* Depending on the power adapter used

** Permissible maximum value is not reached with the supplied power adapter

3D Modeller

3-D model G-910.RC02

Versiyon / Tarih

2021-04-13
zip - 6 MB

Listeye Ekle Listeden Çıkar

Veri Sayfası

Datasheet G-910.RC02

Versiyon / Tarih

2020-11-27
pdf - 359 KB

İndir

Dokümantasyon

User Manual G910M0001

G-910.RC0242100 and G-910.RC0242200 ACS motion controllers with 24 V and 48 V intermediate circuit voltage and interfaces for PI positioners

Versiyon / Tarih

2023-07-28
pdf - 3 MB

Listeye Ekle Listeden Çıkar

G-910.RC0242100

ACS controller with ACS driver module, 2 axes, intermediate circuit voltage 24 V DC, logic voltage 24 V DC, benchtop device, integrated ACS SP+EC-04040432NNNDNDNN motion controller + EtherCAT master, integrated ACS UDMNT2B220U2N power amplifier, EtherCAT, Ethernet, and RS-232 interfaces