Intelligent, compact and freely programmable motor controller
For brushless, DC brush and step motors
Motor supply / logic supply / STO supply: 11 – 80 VDC / 9 – 36 VDC / 18-40VDC
Output current: 15 A RMS continuous; 28 A RMS peak current
Communication via RS232 or EtherCAT
STO inputs with safety integrity level SIL3/Cat3/PLe
Size (L x W x H): 139 x 94.2 x 24.5 mm
The iPOS8015 is a family of fully digital intelligent servo drives, based on the latest DSP technology and they offer unprecedented drive performance combined with an embedded motion controller.Programmable and flexible drive controller with integrated output stage, MotionChip ™ controller, I / O signals, EtherCAT interface, STO safety function and comprehensive support for motor technologies and encoder interfaces. The BZ module was specially developed for integration on a carrier board and offers an ideal solution for various applications with critical room conditions.
Electrical characteristics: Motor supply / logic supply: 11 – 80 VDC / 9 – 36 VDC Output current: 21 A continuous, 43 A peak current Motor types: Brushless DC motors (BLDC, PMSM motors) Brushed DC motors (DC motors) Stepper motors (2- or 3-phase) Voice coil actuators Linear motors Feedback options: 1st Feedback: Incremental encoder SinCos 1Vpp Digital Hall-sensors Analog Hall-sensors 2nd Feedback: Incremental encoder SSI / BiSS-C Panasonic Tamagawa Nikon Sanyo Denki EnDat 2.2 Control: Via EtherCAT Bus, pulse and direction or analog/digital inputs Autonomous execution of complex motion sequences stored in the nonvolatile memory of the drive. Communication: RS232 – up to 115 Kbit/s EtherCAT – supports the following protocols with cycle times down to 10 kHz (100 µs): CANopen over EtherCAT (CoE) File over EtherCAT (FoE) enables the transfer of setup data and firmware updates. Ethernet over EtherCAT (EoE), EasyMotion Studio enables communication with the iPOS controller via Technosoft own protocol. Digital and analog inputs/outputs: 4 digital inputs: 12-36 V, PNP/NPN programmable 4 digital outputs: 5-36 V, 0.5 A, PNP/NPN programmable 2 analog input: 12 bit, 12 bit, +/-10V and 0-5V: Reference and Feedback (for Tacho) or general purpose Possibility to use a digital output for controlling an external motor/holding brake Integrated brake chopper function for controlling an external braking resistor Safety: Protection against over-current, over-temperature, under-voltage and over-voltage, I2t and following error. STO – Safe Torque Off with safety integrity level SIL 3, category 3, PLe. Control features: Sinusoidal commutation with field-oriented control (FOC) via encoder, Hall sensors or sensorless. Fast and accurate control loop structure with customizable sampling rate and PWM frequency up to 100KHz Outstanding resonance and vibration suppression through the flexible, simultaneous use of 2 BiQuad filters. Gain scheduling for dynamic adjustment of the PID controller parameters for optimal positioning performance. Dual loop with simultaneous evaluation of two different feedback sensors to compensate for gear backlash and mechanical elasticities. Closed-loop with sinusoidal commutation and field-oriented control (FOC) when encoder available. Open loop with up to 512 microsteps per full step, step loss detection and automatic position compensation when encoder available on the load. Operating modes: Position, speed and torque control Path generator with trapezoidal and sinusoidal ramps Profile Position Mode, Velocity Mode, Homing Mode Interpolated position with linear (PT) and cubic splines (PVT) Cyclic Synchronous Position (CSP), Velocity (CSV), Torque (CST) Electronic gears (EGEAR) and cams (ECAM) Motion contouring via position, speed, torque or voltage Analogue external reference, pulse and direction EasyMotion Studio-Software: Graphic programming interface with many functions and wizards for simple commissioning, configuration and local programming of complex sequence programs in single-axis or multi-axis systems. Enables the selection of motor type, encoder interface and control structure as well as the setting of protection and controller parameters. Automatic determination of the PID controller parameters (autotuning). Extended analysis and optimization tools integrated using the control panels, loggers and scope functionalities. Technosoft Motion Language (TML) programming language: Using the TML language, different operating modes, movement profiles, reference runs or the control of complex sequence programs can be graphically programmed and executed autonomously. The drive controllers can process analog and digital I / O signals, perform arithmetic and logical operations, and also exchange data and commands between the axes. Single-axis and multi-axis stand-alone applications can be easily implemented with self-created sequence programs, even without the use of a complex CANopen or EtherCAT master controller. MotionChip ™ technology: The main core of all Technosoft servo controllers is the MotionChip ™ – an intelligent, freely programmable motion controller specially designed for complex motion control tasks. The MotionChip ™ offers the possibility to use the powerful digital signal processors (DSP) from Texas Instruments as an independent, intelligent unit. As a result, many tasks of a complex master control are solved directly by the MotionChip ™, so that the global function of a machine is relieved and the management of a master application can be optimized. All-important control functions of a controller such as a multitude of operating modes, PLC properties, protection and safety functions as well as support for the different interface and motor technologies are accommodated on the MotionChip ™, thus enabling flexible use in a wide variety of drive systems.