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Servotronix CDHD2 제품

시스템 구성

SIN/COS Type Encoder 적용 시 결선도

TTL Type Encoder 적용 시 결선도(C4)

SIN/COS Type Encoder 적용 시 결선도

TTL Type Encoder 적용 시 결선도(C4)

SIN/COS Type Encoder 적용 시 결선도

TTL Type Encoder 적용 시 결선도(C4)

SIN/COS Type Encoder 적용 시 결선도

TTL Type Encoder 적용 시 결선도(C4)

엔코더 피드백 사양


Feature	Specification
Power Supply	Supply Voltage from Drive	5 VDC (8 VDC*)
Power Supply	Max. Supply Current from Drive to Primary Encoder**	320 mA @5V 140 mA @8V
Cable	Max. Length	50 m for sensAR encoder. For other feedback devices, per device specifications
Incremental Encoder	Differential RS422 or RS485	AqB with or without index, 8-channel Tamagawa
	AqB Max. Input Frequency	5 MHz (before quadrature)
	Min. Index Pulse Width	1 μs
Hall Sensor	Signal	Open collector single-ended (optional differential)
Resolver	Signal	Sine/cosine differential
	Transformation Ratio	0.45 - 0.8
	Excitation Frequency	8 kHz
	Input Voltage from Drive	6 - 22 Vpp
	Max. DC Resistance	120 Ω (stator)
	Max. Drive Current	55 mA rms
	Output Voltage to Drive	10 Vpp
Sine Encoder	Signal	Sine/cosine differential, with or without Halls
	Signal Level	1 Vpp @ 2.5 V
	Max. Input Frequency	300 kHz
	Protocols	EnDat 2.1, HIPERFACE
	Input Impedance	120 Ω
	Interpolation	Up to 16384 (14 bit)
SSI Encoder	Signal	Differential data and clock for synchronous encoders Data only for asynchronous encoders
SSI Encoder	Protocols	sensAR, EnDat 2.2, BiSS-C (up to 26 bit), Nikon, Tamagawa
Motor Temperature	Signal	Thermal resistor PTC or NTC, User-defined fault threshold

* Some features are not available on all models
Check the options in the section Ordering Information, or contact your supplier.


SIN-COS 최대 입력 주파수 : 300kHz	- 40 ㎛ sin-cos encoder 사용시 최대 속도 12m/s 구동가능 - 20 ㎛ sin-cos encoder 사용시 최대 속도 6m/s 구동가능
A/B상 엔코더(Digital Encoder) 최대 입력 주파수(체배 후 ) : 16MHz	- 0.1 ㎛ A/B상 엔코더 사용시 최대 속도 최대 속도 1.6m/s 구동가능 - 0.5 ㎛ A/B상 엔코더 사용시 최대 속도 최대 속도 3.2m/s 구동가능 - 1.0 ㎛ A/B상 엔코더 사용시 최대 속도 최대 속도 16m/s 구동가능

드라이브 사양


Model CDHD2-		1D5	003	4D5	006	008	010	013	020	024
Output Current	Continuous[Arms]	1.5	3	4.5	6	8	10	13	20	24
Output Current	Peak[Arms]	4.5	9	18	18	28	28	28	48	48
Driver Size(W X H X D) (mm)		43.2 x 157.67 x 144.71		55.24 x 157.59 x 164.5		62.18 X 177.3 X 174.88			117.8x245.2x193.5
Control Circuit Power Supply	Voltage, Frequency Phase	1 Phase 120/240VAC, 50/60Hz
Main Circuit Power Supply	Phase	1 Phase		1/3 Phase				3 Phase
Main Circuit Power Supply	Voltage, Frequency	120/240VAC, 50/60Hz
Position Control	Input/Output	Position command / Velocity command
	Performance	Update rate 250 ㎲ (4kHz)
	Control loop	PID and feed-forward
	Reference Command	Pulse and direction with electronic gearing, Serial, Serial RS232 or USB, CANopen
Velocity Control	Input/Output	Velocity command / Current command
	Performance	Update rate 125 ㎲ (8kHz)
	Selectable velocity Control Loops	PI , PDFF, Standard pole placement, Advance pole placement, Standard pole placement high frequency, Pole placement with active dumping
	Filters	First order low pass filter, Double first order low pass filter, Notch, High pass filter, Band pass filter, User defined polynomial filter
	Reference Command	Analog Voltage ±10VDC, Serial RS232 or USB, CANopen
Torque Control	Input/Output	Current command / 3 phase PWM command
	Performance	Update rate 31.25㎲ (32kHz), Output waveform sinusoidal
	Step Response Time	Actual current reaches command in two cycles, 62.5㎲
	Control loop	DQ, PI, Feed-forward
	Reference Command	Analog Voltage ±10 VDC, Serial RS232 or USB, CANopen
	Autotuning	Automatic self-tuning of current control loop parameters
HD Control	Performance	Update rate 125 μs (8 kHz)
	Control Loop	Nonlinear control algorithm provides very low tracking error, zero or minimum settling time and smooth movement; includes an adaptive feedforward feature that is applied at end of movement to achieve zero or minimum settling time.
	Filters	One second order low pass, two notch filters, and other filters to handle flexible and resonant systems
	Reference Command*	Velocity: Analog Voltage ±10 VDC, Serial RS232 or USB, CANopen, EtherCAT Position: Pulse Train, Serial RS232 or USB, CANopen, EtherCAT
	Autotuning	Automatic inertia load measurement, automatic setting and optimization of HD control loop parameters.
Gantry Control	Control Loop	Position control for H-shaped mechanical structures
Display	User Interface	MV models: 5 digit 7-segment LED display LV models: 1 digit 7-segment LED display * Some

* Some features are not available on all models.
Check the options in the section Ordering Information, or contact your supplier

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