PI普爱 G-910.RC0242100 满足低功耗要求的运动控制器
PI普爱 G-910.RC0242100 满足低功耗要求的运动控制器
集成 2 个轴的驱动程序，EtherCAT 主站可同步多达 4 个轴
带有集成 ACS 驱动器模块的 ACS 运动控制器
可升级到 G-910 最多 4 个轴。RC01 驱动模块
直接与 PI 的定位器兼容
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
输出功率 120 W （24 V） 或 280 W （48 V 时）
轨迹规划的多种选择
产品描述
概述
G-910 运动控制器提供完全集成的电子解决方案，将控制器和驱动器模块集成在一个紧凑的外壳中。The G-910.RC02 运动控制器采用最先进的 ACS SPiiPlusEC 运动控制器和 EtherCAT 主站。用于 2 个轴的集成驱动模块，可通过 EtherCAT 升级到最多 4 个同步轴。EtherCAT 周期和运动曲线的生成速率 2 kHz。以太网速度高达 1 GbE。用于高级龙门和双回路控制的伺服算法。
I/O 线
数字输入和输出可以灵活配置。为了评估参考开关，数字输入也可以引至电机连接器。根据应用，限位开关和参考开关的输入可配置为 5 V 或 24 V，也可配置为 PNP 或 NPN 输入。输出频率高达 10Mhz 的位置同步触发信号可以在高行进速度下实现精确的过程控制（位置事件发生器 – PEG）
配置
如果在订购时指定了定位器的类型，则 G-910 的所有连接器。RC02 在交付时进行了适当的预配置。规格中详细说明了默认出厂配置，没有定位器特定的调整。如需后续调整，请联系我们的服务部门。
编码器
支持增量编码器（正弦/余弦或RS-422）和绝对编码器（EnDat 2.2 & 2.1，Smart-Abs，Panasonic，BiSS-A/B/C （SSI））。根据应用的不同，编码器可以分别连接到电机接口或单独的传感器接口。
通信、软件支持
运动控制器在内部 EtherCAT 网络中作为主站工作。开放式网络架构还允许集成第三方组件。为了与 PC 通信，运动控制器配备了以太网 TCP/IP 和 RS-232 接口。ACS SPiiPlus MMI Application Studio 是一款现代用户软件，带有用于控制调整和可视化的工具，包含在供货范围内。编程库可用于 C/C、COM、.NET、MATLAB。
规格
|
|
G-910.RC0242100 / G-910.RC0242200 |
|---|---|
|
Function |
ACS SPiiPlusEC controller with the ACS UDMnt driver module, with connectors for positioners from PI |
|
Version |
Benchtop device |
|
Motor types |
2 and 3-phase AC servo motors / brushless DC motors, brushed DC motors, voice coil motors, stepper motors |
|
Number of drive axes |
2 Upgradable via EtherCAT with additional driver module to up to 4 synchronized axes. |
|
Motion and control |
G-910.RC0242100 / G-910.RC0242200 |
|---|---|
|
Controller type |
Cascading PIV controller structure with velocity and acceleration feedforward control |
|
Sampling rate current control |
20 kHz |
|
Control algorithms |
Gantry control, dual-loop control |
|
Motion profiles/trajectory planning |
Multi-axis point-to-point, jog, tracking, and sequential multi-point motion Multi-axis segmented motion with look-ahead Arbitrary path with PVT cubic interpolation Third order profiles (S-Curve) Smooth on-the-fly change of target position or velocity Inverse/forward kinematics and coordinate transformations (at application level) Master-slave with position and velocity locking (electronic gear/cam) |
|
Encoder |
1 × per integrated axis, supported types: Incremental: 1Vss, RS-422 Absolute: EnDat 2.2 & 2.1, Smart-Abs, Panasonic, BiSS-A/B/C (SSI) |
|
Limit switches |
2 × per integrated axis Default: 5 V sinking (NPN) Optional configuration: 24 V; sourcing (PNP) |
|
Reference switch |
Default: 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 a reduced heating up of the brake |
|
Interfaces and operation |
G-910.RC0242100 / G-910.RC0242200 |
|---|---|
|
Motor connector |
2 × HD D-sub 26 (f) |
|
Sensor connector |
2 × D-sub 15 (m) or 2 × via the motor connectors Default factory configuration at delivery: Digital incremental encoder (RS-422) or absolute encoder on motor connector Incremental encoder 1 Vss on D-sub 15 (m) Possible modified factory configuration at delivery: Digital incremental encoder (RS-422) or absolute encoder on D-sub 15 (m) |
|
Digital I/O lines |
HD D-sub 15 (f) and motor connectors: 2 × outputs PNP 24 V source; also control the drivers for the motor brakes Default for inputs: 2 × PNP 24 V source on HD D-sub 15 (f); in addition 2 × NPN 5 V sinking for reference switches on the motor connectors Optional configuration for inputs: 4 × PNP 24 V source on HD D-sub 15 (f) |
|
Analog I/O lines |
HD D-sub 15 (m): 2 differential analog inputs: ±10 V, 12-bit 1 differential analog output: ±10 V, 10 bit |
|
Outputs for position event generator (PEG) |
Parallel on HD D-sub 15 (m) and HD D-sub 15 (f): 2 differential outputs (RS-422) for pulses at programmable positions, pulse width 26 ns to 1.75 ms, max. 10 MHz; only possible with incremental encoder |
|
EtherCAT network |
Up to 4 axes in an ACS EtherCAT network, also using EtherCAT third-party components. |
|
Control rate and EtherCAT clock rate |
2 kHz |
|
Communication interfaces |
EtherCAT IN and OUT: RJ-45 Ethernet (TCP/IP, Modbus/TCP, EtherNet/IP): 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 scripting language: Up to 10 simultaneously running programs (buffer) |
|
Miscellaneous |
G-910.RC0242100 |
G-910.RC0242200 |
|---|---|---|
|
Operating voltage intermediate circuit |
24 V DC from external power adapter, power adapter with 24 V DC (120 W) included in the scope of delivery |
48 V DC from external power adapter, power adapter with 48 V DC (280 W) included in the scope of delivery |
|
Operating voltage logic |
24 V DC from external power adapter, power adapter with 24 V DC (120 W) included in the scope of delivery |
24 V DC from external power adapter, power adapter with 24 V DC (120 W) included in the scope of delivery |
|
Max. current consumption intermediate circuit* |
5 A |
5 A |
|
Max. current consumption logic |
1.7 A |
1.7 A |
|
Operating temperature range |
5 to 40 °C (temperature protection switches off at excessively high temperatures) |
5 to 40 °C (temperature protection switches off at excessively high temperatures) |
|
Mass |
2.85 kg |
2.85 kg |
|
Dimensions |
187.3 mm × 121 mm × 294.1 mm |
187.3 mm × 121 mm × 294.1 mm |
* 取决于使用的电源适配器
** 使用随附的电源适配器未达到允许的最大值
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