Idm680 Datasheet - Technosoft Motion Control

Transcript

IDM680-8BI DATASHEET P/N: P048.002.E104 Motor Sensor PMSM rotary BiSS Encoder Connectors type Ref On drive Producer Mating Connector Connector J2 Ph Contact MC 1.5/8-GF-3.5 MC 1.5/8-STF-3.5 1 J4 generic 9-pin Sub-D female 9-pin Sub-D male J9 generic 26-pin High Density Sub-D female 26-pin HD Sub-D male J10 generic 9-pin Sub-D male 9-pin Sub-D female J13 generic 15-pin High Density Sub-D female 15-pin HD Sub-D male 1 Delivered with the drive. Accepts wires of 0.14 … 1.5 mm2 (AWG35 … AWG16) Features J13 SW1 Continuous drive power: 640W (80V, 8A) Logic supply: 12÷48VDC Motor supply: 12÷80VDC Motor output: 8ARMS cont.; 16.5A PEAK SSI encoder interface: RS-422 differential Second incremental encoder / pulse and direction interface for external (master) digital reference: 5 V or 24 V single-ended, open-collector or RS422 differential Digital I/Os ¾ 6 inputs 24V, opto-isolated, common I/O ground: 2 general-purpose, 2 for limit switches, 2 for Reset and Enable (emergency shutdown) ¾ 2 inputs 24V / 5V compatible (shared with second encoder / pulse & direction) ¾ 6 digital outputs, opto-isolated, 24V PNP-type, 80/160 mA, short-circuit protected: 4 general-purpose, 2 for Ready and Error 2 differential analog inputs +/-10 V, for reference and feedback RS-232 serial communication up to 115kbps CAN-bus 2.0A / 2.0B up to 1Mbps, opto-isolated, with selectable communication protocol: ¾ CANopen – compatible with CiA standards: DS301 and DSP402 ¾ TMLCAN – compatible with all Technosoft drives with CANbus interface Motor temperature sensor interface On-board temperature sensor Directly drives external brake resistor 4K × 16 internal SRAM for data acquisitions 8K × 16 E2ROM for setup data and TML programs Operating ambient temperature: 0-40°C Minimal load inductance 50μH @ 12V, 200μH @ 48V, 330μH @ 80V Hardware Protections: ¾ Short-circuit on motor phases and earth-fault ¾ All I/Os are ESD protected Pin Name 1 2 3 4 5 6 7 A / A+ B / AC / B+ BR / BEarth +VMOT +VLOG Type Description O O O O I I 8 GND - • Brushless motor: Phase A • Brushless motor: Phase B • Brushless motor: Phase C • Brake output for external brake resistor Earth connection; connected to frame Positive terminal of the motor supply: 12 to 80 VDC Positive terminal of the logic supply: 12 to 48 VDC Negative terminal of the +VMOT and +VLOG external power supplies J J2 Connectors description 1 FU/Norm - 2 TMLCAN - 3 4 5 6 7 ID-bit4 ID-bit3 ID-bit2 ID-bit1 ID-bit0 - 8 Auto/Ext 1 A1+ 2 B1+ 3 +5 VDC 4 H3/CK+ 5 H1/DT+ 6 Therm 7 Z1+ 8 Z1- 9 H2+ 10 11 12 13 H2A1B1GND 14 H3/CK- 15 H1/DT- 2 CAN_L ON: Enable Firmware Update OFF: Normal operation ON: drive communicates using the TMLCAN protocol (CAN 2.0B) OFF: drive communicates using the CANopen protocol (CAN 2.0A) Axis ID selection switches ON: Autorun (stand-alone) mode. After reset, automatically executes a program from the internal 2 - E ROM. OFF: External (slave) mode. After reset, waits for commands from an external device. Positive A for differential encoder or A for singleI ended encoder 1 *) Positive B for differential encoder or B for singleI ended encoder 1*) O +5 VDC Supply (generated internally) • Positive Hall 3 input for differential Hall or Hall 3 for single-ended Hall 2*); I/O • Positive Clock output signal for differential SSI encoder • Positive Hall 1 for differential Hall or Hall 1 for single-ended Hall 2*); I • Positive Data signal for differential SSI encoder I Analog input from motor thermal sensor Positive Z for differential encoder or Z for singleI ended encoder 1*) I Negative Z for differential encoder Positive Hall 2 for differential Hall or Hall 2 for I single-ended Hall 2*) I Negative Hall 2 for differential Hall I Negative A for differential encoder I Negative B for differential encoder Ground of the encoder supply • Negative Hall 3 input for differential Hall; I/O • Negative Clock output signal for differential SSI encoder • Negative Hall 1 for differential Hall I • Negative Data signal for differential SSI encoder I/O CAN-Bus negative line (low during dominant bit) 1 *) In application configurations without any encoder feedback, this input may be used as a general-purpose input. 2 *) In application configurations without any Hall, this input may be used as a general-purpose input. Name First edition Document template: Last edition D. Erhan 5/14/2007 3:51:00 PM P099.TQT.564.0001 TS template vertical 5/14/2007 5:17:00 PM Title of document N° document TECHNOSOFT IDM680-8BI PRODUCT DATA SHEET Visa : P048.002.E104.DSH.10A.doc Page: 1 of 3 IDM680-8BI DATASHEET J4 P/N: P048.002.E104 3,6 CAN_GND 5 SHLD 7 CAN_H 1,4,8 n.c. 9 CAN_V+ 2 TxD 3 RxD 5 GND 1,4, n.c. 6,7,8 I/O I O I - 9 +5V O 1,19 24VPLC I 2 IN6/EN I 3 IN2/HOME I 4 IN0/B2/D- I 5 IN1/A2/P- I 6 IN3 I 7 IN4/LSP I 8 IN5/LSN I 9,26 0VPLC - 10 +VLOG O 11 RESET I 12 IN0/B2/D+ I 13 IN1/A2/P+ I 14 15 16 17 18 20 21 22 23 24 25 +Ref -Ref +Tach -Tach GND OUT4/ER OUT5/RD OUT0 OUT1 OUT2 OUT3 I I I I O O O O O O Reference ground for LO, HI and CAN_V+ signals Shield; Connected to frame CAN-Bus positive line (high during dominant bit) Not connected +24 VDC isolated supply input RS232 Data Transmission RS232 Data Reception Ground Not Connected Optional supply for handheld terminal (internally generated) 24 V power supply (+) terminal for all opto-isolated I/O 24 V compatible ENABLE input, opto-isolated, programmable polarity / active level • 24 V compatible input, opto-isolated, • homing input • 24 V compatible input; • DIRECTION input in Pulse & Direction motion mode; • Negative B for second differential encoder; Shared with pin 12 – IN0/B2/D+ • 24 V compatible input; • PULSE input in Pulse & Direction motion mode; • Negative A for second differential encoder; Shared with pin 13 – IN1/A2/P+ 24 V compatible input, opto-isolated • 24 V compatible input, opto-isolated; • Positive limit switch, with programmable polarity • 24 V compatible input, opto-isolated; • Negative limit switch, with programmable polarity Ground terminal for all opto-isolated I/O + VLOG. Logic supply voltage (as applied on J2, pin 7) RESET pin – connect to 24VPLC for reset the drive • 5V compatible input for DIRECTION input in Pulse & Direction motion mode; • Positive B for second differential encoder; Shared with pin 4 – IN0/B2/D• 5V compatible input for PULSE input in Pulse & Direction motion mode; • Positive A input for second differential encoder; Shared with pin 5 – IN1/A2/P+/-10 V differential analog input. May be used as analog position, speed or torque reference +/-10 V differential analog input. May be used as analog position or speed feedback. Ground terminal for all non-isolated I/O 24 V compatible ERROR output. Opto-isolated. 24 V compatible READY output. Opto-isolated. 24 V compatible output. Opto-isolated. 24 V compatible output. Opto-isolated. 24 V compatible output. Opto-isolated. 24 V compatible output. Opto-isolated. Electrical characteristics All parameters are measured under the following conditions (unless otherwise noted): ƒ Tamb = 0…40°C, VLOG = 24 VDC, V24 VPLC = 24 VDC, CAN_V+ = 24 VDC; ƒ VMOT = 80VDC; Load current 8ARMS; Supplies start-up / shutdown sequence: -anyMin. Typ. Max. Measured between +VLOG and GND. Logic Supply Input Supply Nominal values, including 12 24 voltage ripple 48 Units VDC Absolute maximum values, continuous Absolute maximum values, +51 † -100 surge (duration ≤ 10ms) +VLOG = 12V 350 Supply +VLOG = 24 V 150 current 80 +VLOG = 48 V Measured between +VMOT and GND. Motor Supply Input Nominal values, including ripple & braking-induced over12 voltage up to ±25% Supply Absolute maximum values, 0 voltage continuous Absolute maximum values, † -0.5 surge (duration ≤ 10ms) Idle 0.5 Operating Supply current Absolute maximum values, VDC +60 V 400 250 150 mA mA mA 80 VDC 100 VDC 105 V 1.5 16.5 mA A † 100 A surge (duration ≤ 10ms) Measured between +24 VPLC and 0VPLC. I/O Supply Input (isolated) Nominal values 8 24 30 VDC Supply Absolute maximum values, voltage † -100 32 V surge (duration ≤ 10ms) All inputs and outputs 20 30 mA disconnected Supply All inputs tied to +24 VPLC; all current outputs sourcing 700 1000 mA simultaneously their nominal current into external load(s) Isolation 200 VRMS voltage Between 0VPLC and GND rating CAN-Bus Supply Input Measured between CAN_V+ and CAN_GND. (isolated) Nominal values 8 24 30 VDC Supply Absolute maximum values, voltage † -75 32 V surge (duration ≤ 10ms) CAN-Bus idle 12 25 mA Supply current CAN-Bus at 1Mbit/s 60 180 mA Isolation Between CAN_GND and drive voltage 200 VRMS GND rating All voltages referenced to GND. Motor Outputs Continuous Motor output current -8 +8 ARMS operation Motor output current, -16.5 +16.5 A peak Short-circuit protection ±26 ±25 ±29 A threshold Short-circuit protection 12 15 μS delay Output current = On-state voltage drop -1.1 ±0.25 +0.6 V ±8A Off-state leakage -1 ±0.1 +1 mA current FPWM = 20 kHz, 50 μH +VMOT = 12 V FPWM = 20 kHz, Motor inductance 200 μH +VMOT = 48 V FPWM = 20 kHz, 400 μH +VMOT = 80 V 24 V Digital Inputs (opto-isolated) All voltages referenced to 0VPLC. Logic “LOW” -5 0 1.2 Logic “HIGH” 8 24 30 Input voltage V Absolute maximum, surge † -30 +80 (duration ≤ 1s) Logic “HIGH” 2.5 10 15 Input current mA Logic “LOW” 0 0.2 Name First edition Document template: Last edition D. Erhan 5/14/2007 3:51:00 PM P099.TQT.564.0001 TS template vertical 5/14/2007 5:17:00 PM Title of document N° document TECHNOSOFT 8 IDM680-8BI PRODUCT DATA SHEET Visa : P048.002.E104.DSH.10A.doc Page: 2 of 3 IDM680-8BI DATASHEET P/N: P048.002.E104 Input frequency 0 5 Pulse “LOW”-”HIGH”10 μs Minimum pulse “LOW” width Pulse “HIGH”-“LOW”100 μs ”HIGH” Pulse / Direction / Master Encoder Inputs IN+; Leave INTTL / CMOS / open-collector Single-Ended disconnected mode 24V referenced to GND IN-; Leave IN+ disconnected Both IN+, IN- driven; for Differential TIA / EIA - 422 full RS-422 compliance, Mode see 1 IN+; Logic “LOW” -7 0 1.2 IN+; Logic “HIGH” 1.8 5 12 IN-; Logic “LOW” -7 0 4.6 IN-; Logic “HIGH” 5.4 24 30 Absolute maximum, surge Input voltage V † -12 32 (duration ≤ 1s) Differential input ±0.1 ±0.2 ±0.4 hysteresis -7… Common-mode range -12 30 (differential input mode) …12 IN+ 1 Input IN0.77 kΩ impedance 1.5 Differential impedance1 Single-ended mode 0 1 MHz Input frequency Differential mode 0 8 MHz ESD protection Human body model kV ±2 24 V Digital Outputs (opto-isolated) All voltages referenced to 0VPLC. Logic “HIGH”; +24 VPLC = 22 23 24.5 24 VDC; External load = 330Ω Output V Absolute maximum, surge voltage † -0.5 35 (duration ≤ 1s) Logic “HIGH”; [+24 VPLC – VOUT] 80 mA ≤ 2 V; all outputs except OUT5/RD and OUT4/ER Logic “HIGH”; [+24 VPLC – VOUT] Output 160 mA ≤ 2 V; outputs OUT5/RD and current OUT4/ER Logic “LOW” (leakage crt.) 0.05 0.2 mA Absolute maximum, surge † -350 350 mA (duration ≤ 1s) BiSS/SSI Encoder Interface Differential mode For full RS422 TIA/EIA-422 (CLOCK, DATA) 1 compliance, see 1 Differential; 50Ω 2.0 2.5 5.0 differential load CLOCK Output V voltage Common-mode, 2.3 2.5 2.7 referenced to GND CLOCK frequency 400 to 2500, in 100 Software selectable kHz increment DATA Input hysteresis ±0.1 Differential mode DATA Input common mode range Referenced to GND Absolute maximum, DATA format Software selectable surge (duration≤1s) DATA resolution † Single-turn Multi-turn and singleturn Analog Inputs Differential voltage range ±0.2 ±0.5 -7 +12 -25 +25 Common-mode voltage range Input impedance Common-mode impedance Resolution Integral linearity kHz V V Offset error Gain error Bandwidth (3dB) RS-232 Standards compliance Bit rate ESD Protection CAN-Bus Standards compliance Recommended transmission line impedance Bit rate Referenced to GND 0…10 +50 V 40 Referenced to GND 20 KΩ 12 0.036 bits %FS2 ±0.2 ±0.5 %FS2 ±10 ±12 %FS2 Common-mode voltage = 0…10 V Common-mode voltage = 0…10 V Depending on software settings KΩ 1.5 kHz TIA/EIA-232-C 9600 115200 bps Human Body Model kV ±15 All voltages referenced to CAN_GND CAN-Bus 2.0B error active; ISO 11898-2 Measured at 1MHz 90 120 125K Bit rate = 125kbps Number of network …250kbps nodes Bit rate = 500kbps Bit rate = 1Mbps ESD Protection Human Body Model 150 Ω 1M bps 64 - 50 32 ±15 kV 5.2 V Supply Outputs +5 VDC voltage +5 VDC available current Other Operating temperature Dimensions Weight Frame Insulation voltage withstand Storage temperature Humidity Altitude Dust & humidity protection Current sourced = 350 mA 4.8 5 400 500 mA 0 Length x Width x Height 40 136 x 95 x 26 0.30 GND to SHIELD (connected to frame) Not powered Non-condensing Referenced to sea-level According to IEC-60925 °C mm kg 250 V -40 85 °C 0 0 90 4000 %RH m IP20 1 Differential input impedance is ≥1.5KΩ. For full RS-422 compliance, 120Ω termination resistors must be connected across the differential pairs, as close as possible to the drive input pins. 2 “FS” stands for “Full Scale” † Stresses beyond those listed under “absolute maximum ratings” may cause permanent damage to the device. Exposure to absolute-maximum-rated conditions for extended periods may affect device reliability. Specifications can change without prior notification. Binary / Gray3 Single-turn / Multi-turn Counting direction 19 31 ±10 bit V Name First edition Document template: Last edition D. Erhan 5/14/2007 3:51:00 PM P099.TQT.564.0001 TS template vertical 5/14/2007 5:17:00 PM Title of document N° document TECHNOSOFT -12 Differential IDM680-8BI PRODUCT DATA SHEET Visa : P048.002.E104.DSH.10A.doc Page: 3 of 3