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Function
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ACS driver module IDMsm with connectors for positioners from PI
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Design
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19-inch rack-mount housing
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Motor types
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2-phase and 3-phase AC servo motors / brushless DC motors, brushed DC motors, voice coil motors, stepper motors
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Number of drive axes
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4
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Motion and control
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G-902.R1I001 / G-902.R2I001
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Sample/update rate of control loop
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20 kHz position20 kHz velocity20 kHz current
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Control algorithms
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Cascaded PIVFF controller structure with loop-shaping filtersVelocity feedforwardMIMO (Multiple Input Multiple Output) gantry control algorithmDual-loop controlDisturbance rejectionGain schedulingField-oriented controlSpace vector modulation
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Profile generation
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3rd order with uniform end-point modification during operation
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Encoder
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1 × per axis, supported types:Incremental: 1 Vss, RS-422Absolute: BiSS-C, EnDat 2.1 & 2.2, Smart-Abs, SSI, Sanyo-Denki, Panasonic A6
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Limit switch
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2 × per axisStandard: 5 V sinking (NPN)Optional configuration: 24 V; sourcing (PNP)
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Reference switch
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Default: 1 × per 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))
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Motor brake
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1 × per axisIntegrated PWM brake driver with current reduction for reduced brake heating
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Functional safety
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STO (safe torque off):Electrical interface: Two-channel input, 24 V, insulatedSafety standards:EN/IEC 61800-5-2 Ed. 2 (second environment)EN/IEC 61800-5-1IEC 61508IEC 62061Performance Level PLe and category 3 according to:EN ISO 13849-1/-2SS1 (safe stop 1):Braking time until STO activation: 110-230 msThe exact value for the braking time is a fixed value (SS1-t functionality) and depends on the product configuration.
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Electrical properties
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G-902.R1I001
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G-902.R2I001
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Intermediate circuit voltage
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48 V
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48 V
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Output power intermediate circuit, continuous/peak (max. 10 s)
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550 W / 550 W at 40 °C
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1000 W / 1200 W at 40 °C
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Output power per axis (effective value), continuous/peak (max. 1 s)
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186 W* / 363 W*
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186 W / 363 W
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Current limitation per motor phase (sine amplitude), continuous/peak (max. 1 s)
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5 A / 10 A
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5 A / 10 A
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Interfaces and operation
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G-902.R1I001 / G-902.R2I001
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Motor connector
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4 × HD D-sub 26 (f)
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Sensor connector
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4 × HD D-sub 26 (f) or via the motor connectorsConnector selection per axis via DIP switch
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Digital inputs
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Default:4 × NPN 5 V sinking for reference switches on the motor and encoder connectorsOptional configuration:Up to 4 multipurpose inputs, PNP 24 V source, parallel on 2 × HD D-sub 15 (f)
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Digital outputs
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2 × HD D-sub 15 (f):4 × output PNP 24 V source; used for controlling the brake driversD-sub 25 (f):8 × multipurpose output, differential (RS-422)
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Analog inputs / outputs
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HD D-sub 15 (m):2 differential analog inputs: ±10 V, 12 bit2 differential analog outputs: ±10 V, 10 bit
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Outputs for position event generator (PEG)
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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
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Inputs for STO safety function
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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
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LEDs
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Status of the fuses for the 24 V power supply, STO signals, logic supply
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Communication interfaces
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EtherCAT IN and OUT: RJ-45Ethernet (TCP/IP, Ethernet/IP, Modbus/TCP): RJ-45RS-232: D-sub 9 (m)
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User software
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ACS SPiiPlus MMI Application Studio
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Application programming interfaces
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Program libraries available for C/C++, COM, .NET, MATLAB
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Programming
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ACSPL+ real-time script language: up to 4 simultaneously running programs (buffers)
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Environment
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G-902.R1I001 / G-902.R2I001
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Operating voltage
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100-240 V AC, 50-60 Hz
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Required fusing per power inlet
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IEC: 12-16 A at 250 V AC; 50 HzUL/CSA: 12-20 A at 125/250 V AC; 60 Hz
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Operating temperature range
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5 to 40 °C (temperature protection switches off at excessively high temperatures)
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GND
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10 kg
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Dimensions
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482.6 mm × 533.75 mm × 95.3 mm (including handles)
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