PI普爱 G-902.RxE运动控制器
PI普爱 G-902.RxE运动控制器
集成驱动器，最多可支持4个驱动轴，包括交流伺服电机、直流电机、音圈电机、步进
集成ACS驱动器和集成安全停止1（SS1）和安全扭矩关闭（STO）模块的ACS运动控制器
直接兼容PI的位置
用于交流伺服电机/无刷直流电机、有刷直流电机、音圈电机、步进电机
用于增量和绝对测量编码器的编码输入
每个轴的输出功率高达363瓦
多种轨迹规划选项
紧凑的19英寸机架安装外壳（2 HE） 经济的单元
输入/输出线
数字输入和输出可以灵活配置。对于参考开关的评估，数字输入可以替代性地引导到电机器。根据应用，极限和参考开关的输入可以配置为5 V或24 V，也可以作为PNP或NPN输入。位置同步触发，输出频率高达10 MHz，能够在高行程速度下实现精确的过程控制（位置事件发生器 – PEG）。
配置
如果在订时指定了使用的位置编码器类型，则G-902的所有连接器在交付时都会适当地预配置。默认的工厂配置，不进行编码器特定的调整，在规格中详细说明。对于后续调整，请联系我们的客户服务部门。
编码器
支持增量式编码器（正弦/余弦或RS-422），根据控制器型号，还支持式编码器（BiSS-C、EnDat 2.1 & 2.2、Smart-Abs、SSI、Sany-Denki、Panasonic A6）。根据应用情况，编码器可以分别连接到电机接口或独立的传感器接口。
通信，软件支持
与PC的通信，运动控制器配备了以太网TCP/IP和RS-232接口。ACSPii-Plus MMI应用工作室，一个现代用户软件，包含用于控制调优和可视化的工具，包含在交付范围内。C/C 、COM、.NET和MATLAB的编程库。
Specifications
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G-902.R1E001 / G-902.R2E001 |
G-902.R1E002 |
|---|---|---|
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Function |
ACS ECMsm controller with integrated servo controller |
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Design |
19-inch rack-mount controller with connectors for positioners from PI |
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Motor types |
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 |
4 |
2 |
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Motion and Control |
G-902.R1E001 / G-902.R2E001 |
G-902.R1E002 |
|---|---|---|
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Sample/Update rate of control loop |
20 kHz position 20 kHz velocity 20 kHz current |
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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 |
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Profile generation |
3rd order with uniform endpoint modification during operation |
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Encoder |
1 × per integrated axis, supported types: Incremental: 1 Vpp, RS-422 Absolute: BiSS-C, EnDat 2.1 & 2.2, Smart-Abs, SSI, Sanyo-Denki, Panasonic A6 |
1 × per integrated axis, supported types: Incremental: 1 Vpp, RS-422 |
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Limit switches |
2 × per integrated axis Default: 5 V sinking (NPN) Optional configuration: 24 V; sourcing (PNP) |
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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)) |
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Motor brake |
1 × per integrated axis Integrated PWM brake driver with current reduction for reduced brake heating |
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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. |
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Electrical Properties |
G-902.R1E001 |
G-902.R2E001 |
G-902.R1E002 |
|---|---|---|---|
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Intermediate circuit voltage |
48 V |
48 V |
48 V |
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Output power intermediate circuit, continuous / peak (max. 10 s) |
550 W / 550 W at 40 °C |
1000 W / 1200 W at 40 °C |
550 W / 550 W at 40 °C |
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Output power per axis (effective value), continuous / peak (max. 1 s) |
186 W* / 363 W* |
186 W / 363 W |
186 W / 363 W* |
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Current limitation per motor phase (sine amplitude), continuous / peak (max. 1 s) |
5 A / 10 A |
5 A / 10 A |
5 A / 10 A |
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Interfaces and Operation |
G-902.R1E001 / G-902.R2E001 |
G-902.R1E002 |
|---|---|---|
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Motor connector** |
4 × HD D-sub 26 (f) |
2 × HD D-sub 26 (f) |
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Sensor connector** |
4 × HD D-sub 26 (f) or via the motor connectors Connector selection per axis via DIP switch |
2 × HD D-sub 26 (f) or via the motor connectors Connector selection per axis via DIP switch |
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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) |
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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) |
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Analog inputs / outputs |
HD D-sub 15 (m): 2 differential analog inputs: ±10 V, 12 bit 2 differential analog outputs: ±10 V, 10 bit |
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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 |
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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 |
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LEDs |
Status of the fuses for the 24 V power supply, STO signals, logic supply |
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Cycle time of the controller |
1 kHz |
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Communication interfaces |
Ethernet (TCP/IP, Ethernet/IP, Modbus/TCP): RJ-45 RS-232: D-sub 9 (m) |
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User software |
ACS SPiiPlus MMI Application Studio |
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Application programming interfaces |
Programming libraries for C/C++, COM, .NET, MATLAB available |
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Programming |
ACSPL+ real-time script language: up to 6 simultaneously running programs (buffers) |
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Miscellaneous |
G-902.R1E001 / G-902.R2E001 / G-902.R1E002 |
|---|---|
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Operating voltage |
100-240 V AC, 50-60 Hz |
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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 |
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Operating temperature range |
5 to 40 °C (temperature protection switches off at excessively high temperatures) |
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Mass |
10 kg |
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Dimensions |
482.6 mm × 533.75 mm × 95.3 mm (including handles) |
* 所有轴无法同时供电。
** G-902.R1E002: 2和3轴的电机和传感器连接器可用，但功能有限。
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