The Leader in Linear Motors

Specifications

Profile Generation
Motion Profile generation rate: 1 or 2kHz

Servo    
A standard comprehensive set of powerful algorithms to enhance accuracy, move & settle time, smooth velocity, stability and robustness.

• Advanced PIV cascaded structure
• Loop shaping filters
• Gain Scheduling
• Gantry MIMO control
• Dual feedback / loop control
• Disturbance rejection control

Optional Servoboost® algorithem that provides better, more consistent servo performance, insensitive to noise and large changes in the system

Feedback

• Feedback types: incremental digital encoders, Sin-Cos encoders (optional),
  Absolute encoders (optional) analog inputs and 3 hall inputs for initiating commutation.
• Incremental Digital Encoder:
  One per axis, A&B,I; UP/DN,I; CLK/DIR,I. Type: RS-422.
  Max. rate: 40 million encoder counts/sec.
• Sin-Cos Encoder (optional)
  SPiiPlusNT/DC-HP/LD:
  Multiplication factor: From x4, to-DC-LT: - x4,096, DC-HP- x65,536
  Rate: 250*103 or (LD version) 4*106 sine periods/sec
  Sin-Cos offset compensation: programmable, ±500mV.
  Maximum acceleration with Sin-Cos encoder: 108 sine periods/second2.
  SPiiPlusNT/DC-LT:
  Multiplication factor: x4 - x1,024.
  Sin-Cos offset compensation: N/A
  Rate: 125*103 sine periods/sec
  Maximum acceleration with Sin-Cos encoder:108 sine periods/second2.

Hall inputs:

• Quantity: A set of three per axis. Single-ended, 5V, source, opto-isolated
• Input circuit current: <7mA.
• Absolute Encoder:
  Absolute encoders (optional): EnDat 2.1/2.2, Smart-ABS, Panasonic, Biss-C, Hiperface.

Drive Interface

• Analog commands: Two per axis.
• For SPiiPlusNT-LD only:
  Type: ±10V,differential, 16 bit resolution.
  Offset compensation: programmable, 0.3mV resolution.
  PWM Drive Commands: 3 per
  axis. PWM Switching Method, Advanced unipolar space vector modulation.
  PWM Switching frequency: 40kHz on the motor. Current loop sampling rate: 20kHz
  Control algorithm: Field Oriented control with PI filters.
  Current feedback resolution:
  SPiiPlusNT/DC-HP: 16 bit.
  SPiiPlusNT/DC-LT: 12 bit.

Digital I/O

• Note: It is recommended to use a dedicated supply for digital IO. See Power Supplies section.
  Safety Inputs:
  Emergency stop input:
  Type: two-terminal, sink or source, opto-isolated.
  Left and right limit inputs:
  One pair per axis
  Type: single-ended, sink (default) or source, configurable by jumper, opto-isolated.
  Supply: 5V or 24V.
  Input current: <15mA.
  Digital Inputs:
  General purpose inputs:
  Quantity: eight. Type: single-ended, 5V or 24V, sink (default) or source, optoisolated.
  Input current: <15mA.
  Mark (position capture) inputs:
  Quantity: Up to four. Refer to SPiiPlusNT user manual for detailed information.
  Type: RS-422.
  Propagation delay: <0.1 μsec.
  Note: additional four MARK inputs (MARK2), single-ended and opto-isolated, are available through general purpose digital inputs IN4, IN5, IN6 and IN7

Digital Outputs:

• General purpose outputs:
  Quantity: eight. Type: single-ended, 5V or 24V, sink (default) or source, optoisolated, 100mA per output.

Mechanical Brake Outputs:

• Quantity: one per axis. Type: single-ended, 5V, source only, opto-isolated, 7mA per
  output. By default, configured as dynamic brake.
  Note: general purpose digital outputs can be configured as Mechanical Brake Outputs

PEG (Position Event Generator) pulse outputs:

• For details, refer to “SPiiPlusNT PEG and MARK Operations” Application Note.
  Quantity: Up to six. Refer to SPiiPlusNT user manual for detailed information.
  Type: RS-422. Propagation delay: <0.1μsec.
  PEG pulse width: 25nsec to 1.7msec.
  PEG position accuracy: ±1 count at speeds up to 18,000,000 counts/sec.

PEG states outputs:

• Quantity: Up to six. Refer to SPiiPlusNT user manual for
  detailed information.
  Type: RS-422. Propagation delay: <0.1μsec.

HSSI Expansion Channels:

• Up to three. Each channel provides 64 input bits and
  64 output bits per channel, sampled and updated every 50μS.
  Type: RS-422.

Analog I/O

• Analog Inputs:
  Unused Sin-Cos encoder inputs can be used as general purpose analog inputs.
  Quantity: up to 16
  Type: 1Vptp, differential
  Resolution and SNR:
  SPiiPlusNT/DC-HP: 16 bit, SNR>72db
  SPiiPlusNT/DC-LT: 12 bit, SNR>52db
  General purpose ±10V analog inputs:
• SPiiPlusNT/DC-HP:
  Quantity: four and additional up to four when axes number 3 and/or 7 Sin-Cos encoders are not used. These inputs can be used as general purpose. Type: ±10V,
  differential. Resolution: 16 bits
• SPiiPlusNT/DC-LT:
  Quantity: up to four when axes number 3 and/ or 7 Sin-Cos encoders are not used.
  These inputs can be used for general purpose. Type: ±10V,differential. Resolution:
  12 bits.
  General purpose
  Type: ±10V
  Type: ±10V, PWM filtered
  Quantity: 2, 4.
  Resolution: 10bit.

Communication Channels

• Serial: two RS-232. Up to 115,200bps.
• Ethernet: one, TCP/IP, 10/100 Mbits/sec.
• Simultaneous communication through all channels is fully supported. Modbus
  protocol as master or slave is supported via all channels.
• EtherCAT: One, 100 Mbit/sec, supporting CoE and FoE protocols. 

MPU

• User Memory: RAM: 128Mb.
• Flash: 128Mb.
• Powerup Time: 25-100 sec. according to system and network configuration

Power Supplies

• Power Supply Voltage/Current: +5Vdc
  (±10%)/2.7A, -5Vdc (±10%)/0.1A, ±12Vdc
  (±5%)/0.6A. Supplied internally from the power supply module enclosed in the MC4U configuration
• I/O Supply Voltage/Current: +5Vdc (±10%)/1A, or 24Vdc (±10%)/1A.
• Safety Supply Voltage/Current: +5Vdc (±10%)/1A, or 24Vdc (±10%)/1A.
• Six LEDs on the front panel indicate the status of all above power supplies.

Standards & Environment

• Operating Temperature: 0˚C to 55˚C.
• Storage Temperature: - 40˚C to 70˚C.
• Humidity: 90%RH, non-condensing.
• The controllers are CE (EMC), UL certified and RoHS compliant.