G-902.RxE Motion Controller

Function

ACS ECMsm controller with integrated servo controller

Design

19-inch rack-mount controller with connectors for positioners from PI

Motor types

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

Number of drive axes

4

Sample/Update rate of control loop

20 kHz position

20 kHz velocity

20 kHz current

Control algorithms

Cascading PIVFF controller structure with loop-shaping filters

Velocity feedforward

MIMO (Multiple Input Multiple Output) gantry control algorithm

Dual-loop control

Disturbance rejection

Gain scheduling

Field-oriented control

Space vector modulation

Profile generation

3rd order with uniform endpoint modification during operation

Encoder

1 × per integrated axis, supported types:

Incremental: 1 V_pp, RS-422

Absolute: BiSS-C, EnDat 2.1 & 2.2, Smart-Abs, SSI, Sanyo-Denki, Panasonic A6

Limit switches

2 × per integrated axis

Default: 5 V sinking (NPN)

Optional configuration: 24 V; sourcing (PNP)

Reference switch

Standard: 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 reduced brake heating

Functional safety

STO (safe torque off):

Electrical interface: two-channel input, 24 V, insulated

Safety standards:

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

SS1 (safe stop 1):

Braking time until STO activation: 110-230 ms

The exact value for the braking time is a fixed value (SS1-t functionality) and depends on the product configuration.

Intermediate circuit voltage

48 V

48 V

Output power intermediate circuit, continuous / peak (max. 10 s)

550 W / 550 W at 40 °C

1000 W / 1200 W at 40 °C

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

186 W* / 363 W*

186 W / 363 W

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

5 A / 10 A

5 A / 10 A

Motor connector

4 × HD D-sub 26 (f)

Sensor connector

4 × HD D-sub 26 (f) or via the motor connectors

Connector selection per axis via DIP switch

Digital inputs

Default:

4 × NPN 5 V sinking for reference switches on the motor and encoder connectors

Optional configuration:

Up to 4 multipurpose inputs, PNP 24 V source, parallel on 2 × HD D-sub 15 (f)

Digital outputs

2 × HD D-sub 15 (f):

4 × output PNP 24 V source; used for controlling the brake drivers

D-sub 25 (f):

8 × multipurpose output, differential (RS-422)

Analog inputs / outputs

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 generator (PEG)

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

4 differential outputs (RS-422) for pulses at programmable positions, pulse width 27 ns to 1.745 ms, max. 10 MHz; only possible with incremental encoder

Inputs for STO safety function

D-sub 9 (f):

2 inputs (STO1, STO2): 24 V, up to 50 mA per STO input, with an inrush current of less than 70 mA

LEDs

Status of the fuses for the 24 V power supply, STO signals, logic supply

Cycle time of the controller

1 kHz

Communication interfaces

Ethernet (TCP/IP, Ethernet/IP, Modbus/TCP): 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 script language: up to 6 simultaneously running programs (buffers)

Operating voltage

100-240 V AC, 50-60 Hz

Required fusing per mains supply line

IEC: 12-16 A at 250 V AC; 50 Hz

UL/CSA: 12-20 A at 125/250 V AC; 60 Hz

Operating temperature range

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

Mass

10 kg

Dimensions

482.6 mm × 539.5 mm × 95.3 mm (including handles)