ipos4808 MY-CAT-STO DATASHEET P/N: P E121

Transcription

1 Rear view; Pins facing upwards; All dimensions are in mm; Header pitch is 2.54 mm. Drawing not to scale. Motor sensor configurations Motor PMSM BLDC DC BRUSH ST Sensor (2-ph) ncr. Encoder ncr. Encoder + Hall Analog Sin/Cos encoder SS BiSS-C Linear Halls Tacho Open-loop (no sensor) ST (3-ph) Features Motion controller and drive in a single compact unit based on MotionChip TM technology Universal solution for control of rotary and linear brushless, brushed and 2 or 3-phase step motors Advanced motion control capabilities (PT,S-curve, electronic cam) Motor supply: 11-50; Logic SEL/ PEL supply: 9-36; STO SEL/ PEL supply: Output current: 8A cont. (BLDC mode); 20APEAK, up to 100kHz PWM Feedback Devices (dual-loop support) 1 st feedback devices supported: ncremental encoder interface (single ended or differential) Analogue sin/cos encoder interface (differential 1pp) Digital Hall sensor interface ( and open collector) Linear Hall sensors interface pulse & direction interface (single ended) for external (master) digital reference 2 nd feedback devices supported: ncremental encoder interface (differential) pulse & direction interface (differential) for external (master) digital reference BSS / SS encoder interface STO: 2 safe torque-off inputs, safety integrity level (SL3/Cat3/PLe) acc. to EN ;-2/ EN ;-4/ EN SO digital inputs, 5-36, PNP/NPN programmable: 2 for limit switches, 4 general-purpose 5 digital outputs, 5-36, 0.5A, NPN open-collector: Ready, Error, 3 general-purpose 2 analogue inputs: 12-bit, 0-5: Reference, Feedback or general purpose RS-232 serial & dual 100Mbps EtherCAT interfaces 127 h/w addresses selectable by h/w pins configuration 16k x 16 SRAM memory for data acquisition 16k x16 E 2 ROM to store setup data, TML motion programs, cam tables and other user data Operating ambient temperature: 0-40 C (over 40 C with derating) NTC/PTC analogue Motor Temperature sensor input Page: 1 of 5

2 Mating Connectors Ref Producer Part No. Description J1 Samtec SSQ G-S 1x12 contacts, socket 2.54mm-pitch J2 FC LF 2x7 contacts, socket, 2.54mm-pitch TE Connectivity J33 Samtec SSQ G-S 1x14 contacts, socket 2.54mm-pitch J4 Samtec SSQ G-D 2x12 contacts, socket 2.54mm-pitch 1x8 contacts, High-current socket J5 Samtec SSQ G-S 2.54mm-pitch accepting 0.635mm square pin J1 J5 Pin Type Description Return ground for all signals. nternally 1 GND - connected to J4 pins 31 and 32, to metallic cover, and to the 3 fixing screws 2 reserved - Reserved 3 Axis D Bit6 4 Axis D Bit5 5 Axis D Bit4 6 Axis D Bit3 7 Axis D Bit2 8 Axis D Bit1 9 Axis D Bit0 8 bit H/W Axis D register. Connect pin to GND to set bit to 1. Up to 127 H/W axis D combinations. 10 reserved - Reserved for interface extensions 11 reserved - Reserved for interface extensions 12 reserved - Reserved for interface extensions Pin Type Description Phase A for 3-ph motors, 1,2 A/A+ O A+ for 2-ph steppers, Motor+ for DC brush motors 3,4 B/A- O Phase B for 3-ph motors, A- for 2-ph steppers, Motor- for DC brush motors 5,6 C/B+ O Phase C for 3-ph motors, B+ for 2-ph steppers 7,8 Br/B- O Brake resistor / Phase B- for 2-ph steppers J33 J2 Pin Type Description 1 RX1- /O Receive/Transmit negative, OUT port. Connect to magnetics PHY RX1. 2 RX1+ /O Receive/Transmit positive, OUT port. Connect to magnetics PHY RX1. 3 TX1- /O Transmit/Receive negative, OUT port. Connect to magnetics PHY TX1. 4 TX1+ /O Transmit/Receive positive, OUT port. Connect to magnetics PHY TX O Return for center tap of magnetics PHY TX1 and RX1. nternally connected to J33 pin ACT1 O Anode of Link/Activity LED for port OUT. 7 RUN O Anode of Run LED (EtherCAT status machine). 8 ERR O Anode of Error LED (EtherCAT status machine). 9 ACT0 O Anode of Link/Activity LED for port N O Return for center tap of magnetics PHY TX0 and RX0. nternally connected to J33 pin TX0+ /O Transmit/Receive positive, N port. Connect to magnetics PHY TX0. 12 TX0- /O Transmit/Receive negative, N port. Connect to magnetics PHY TX0. 13 RX0+ /O Receive/Transmit positive, N port. Connect to magnetics PHY RX0. 14 RX0- /O Receive/Transmit negative, N port. Connect to magnetics PHY RX0. Pin Type Description Safe Torque Off input 1, positive 1 STO1+ input (opto-isolated, 18 40) Apply between both STO1+, STO2+ and Safe Torque Off input 2, positive 2 STO2+ STO1-, STO2-24 input(opto-isolated, 18 40) DC from SEL/ PEL Safe Torque Off input 1, negative 3 STO1- power supply for return (opto-isolated, 0) motor PWM output Safe Torque Off input 2, negative 4 STO2- operation return (opto-isolated, 0) 5 LH1 Linear Hall 1 input 6 LH2 Linear Hall 2 input 7 N general-purpose digital PNP/NPN input 8 N general-purpose digital PNP/NPN input 9 OUT0 O A, general-purpose digital output, NPN opencollector/ttl pull-up 10 OUT3/ A, drive Ready output, active low, NPN opencollector/ttl pull-up. Also drives the green LED. O Ready 11 OUT1 O A, general-purpose digital output, NPN opencollector/ttl pull-up 12 OUT2/ A, drive Error output, active low, NPN opencollector/ttl pull-up. Also drives the red LED O Error 13 REF Analogue input, 12-bit, 0-5. Reads analog reference, or general purpose analogue input 14 FDBK / LH3 Analogue input, 12-bit, 0-5. Reads an analogue feedback (tacho), or general purpose/ or Linear Hall 3 Page: 2 of 5

3 J4 Pin Type Description 1 N general-purpose digital PNP/NPN input 2 N general-purpose digital PNP/NPN input 3 N2/LSP 5-36 digital PNP/NPN input. Positive limit switch input 4 N3/LSN 5-36 digital PNP/NPN input. Negative limit switch input 5 B2-/Dir-/CLK- /MA- /O 6 B1-/Cos- 7 B2+/Dir+/CLK+/ MA+ /O 8 B1+/Cos+ 9 A2+/Pulse+/ Data+/SL+ 10 A1+/Sin+ 11 A2- /Pulse-/ Data-/SL- 12 A1- /Sin- ncr. encoder2 B- diff. input, or Dir--, or Clockfor SS, or Master- for BiSS; has 150Ω resistor between pins 5 and 7 ncr. encoder1 B- diff. input, or analogue encoder Cos- diff. input ncr. encoder2 B+ diff. input, or Dir+-, or Clock+ for SS, or Master+ for BiSS; has 150Ω resistor between pins 5 and 7 ncr. encoder1 B, or B+ diff. input, or analogue encoder Cos+ diff. input ncr. encoder2 A+ diff. input, or Pulse+, or Data+ for SS, or Slave+ for BiSS; has 150Ω resistor between pins 9 and 11 ncr. encoder1 A, or A+ diff. input, or analogue encoder Sin+ diff. input ncr. encoder2 A- diff. input, or Pulse-, or Datafor SS, or Slave- for BiSS; has 150Ω resistor between pins 9 and 11 ncr. encoder1 A- diff. input, or analogue encoder Sin- diff. input ncr. encoder2 Z+ diff. input ; has 150Ω resistor between pins 13 and Z2+ 14 Z1+ ncr. encoder1 Z, or Z+ diff. input, 15 Z2- ncr. encoder2 Z- diff. input; has 150Ω resistor between pins 13 and Z1- ncr. encoder1 Z- diff. input 17 Hall 1 Digital input Hall 1 sensor 18 Reserved - Reserved. Do not connect. 19 Hall 2 Digital input Hall 2 sensor 20 Reserved - Reserved. Do not connect. 21 Hall 3 Digital input Hall 3 sensor TX O RS-232 Data Transmission 23 +5OUT O 5 output supply for /O usage RX RS-232 Data Reception 25 Temp Mot NTC/PTC input. Used to read an analog temperature value 26 Reserved - Reserved. Do not connect. 27 +LOG Positive terminal of the logic supply input: 9 to 36DC from SEL/ PEL type power supply. 28 O A, general-purpose digital output, NPN open-collector/ttl pull-up 29 +MOT Positive terminal of the motor supply: 11 to 48DC. 30 +MOT Positive terminal of the motor supply: 11 to 48DC. 31 GND - Return ground for all signals. nternally 32 GND - connected to J4 pin 32, to J1 pin 1, to metallic cover, and to the 3 fixing screws leave unconnected if interface extensions are not used Ambient Pressure atm Storage Conditions Ambient temperature ºC Ambient humidity Non-condensing %Rh Ambient Pressure atm Not powered; applies to ESD capability ±0.5 k any accessible part (Human body model) Original packaging ±15 k Mechanical Mounting Airflow natural convection 3, closed box Between adjacent drives 30 mm Spacing required Between drives and nearby for vertical 30 mm walls mounting Between drives and roof-top 20 mm Between adjacent drives 4 mm Between drives and nearby Spacing required 5 mm walls for horizontal Space needed for drive mounting 10 mm removal Between drives and roof-top 15 mm nsertion force Using recommended mating TBD TBD N Extraction force connectors TBD TBD N Environmental Characteristics Size ( Length x 64 x 43.6 x 22 mm Width x Height ) Global size ~2.52 x 1.72 x 0.87 inch Weight 45 g Cleaning agents Dry cleaning is recommended Only Water- or Alcohol- based Protection degree According to EC60529, UL508 P20 - Logic Supply nput (+LOG) Nominal values 9 36 DC drive operating but outside 8 40 DC guaranteed parameters Supply voltage DC surge (duration 10ms) +LOG = Supply current +LOG = LOG = Motor Supply nput (+MOT) Nominal values DC drive operating but outside 9 52 DC guaranteed parameters Supply voltage DC surge (duration 10ms) dle 1 5 Operating -20 ±8 +20 A Supply current Absolute maximum value, short-circuit condition 26 A (duration 10ms) Supply Output (+5) Output voltage Current sourced = Output current NOT protected Over-voltage NOT protected Electrical characteristics All parameters measured under the following conditions (unless otherwise specified): LOG = 24 DC; MOT = 48DC Supplies start-up / shutdown sequence: -any- Load current (sinusoidal amplitude / BLDC, DC, stepper) = 8A Operating Conditions Ambient temperature ºC Ambient humidity Non-condensing 0 90 %Rh Altitude / pressure 2 Altitude (vs. sea level) Km 1 Operating temperature at higher temperatures is possible with reduced current and power ratings 2 ipos4808 can be operated in vacuum (no altitude restriction), but at altitudes over 2,500m, current and power rating are reduced due to thermal dissipation efficiency. 3 n case of forced cooling (conduction or ventilation) the spacing requirements may drop substantially down to zero as long as the ambient temperature is kept below the maximum operating limit Page: 3 of 5

4 Motor Outputs (A/A+, B/A-, C/B+, BR/B-) for DC brushed, steppers and BLDC motors with Hallbased 8 trapezoidal control Nominal output for PMSM motors with FOC current, 1 sinusoidal control (sinusoidal 8 A amplitude value) for PMSM motors with FOC sinusoidal control (sinusoidal 5.66 effective value) Motor output current, peak maximum 2.5s A protection ±22 ±26 ±30 A threshold protection delay 5 10 µs On-state voltage drop Off-state leakage current Motor inductance (phase-to-phase) Nominal output current; including typical mating connector contact resistance Recommended value, for current ripple max. ±5% of full range; +MOT = 36 FPWM 20 khz khz khz khz khz 60 ±0.3 ±0.5 ±0.5 ±1 Minimum value, 20 khz 120 limited by shortcircuit 60 khz khz 30 µh protection; 80 khz 15 +MOT = khz 8 Recommended 20 khz 250 Motor electrical value for ±5% 40 khz 125 time-constant current 60 khz 100 µs (L/R) measure-ment 80 khz 63 error 100 khz 50 Current measurement FS = Full Scale accuracy ±4 ±8 %FS Digital nputs (N0, N1, N2/LSP, N3/LSN, N4, N5) 2 PNP nput floating (wiring Logic LOW Logic LOW Logic HGH nput voltage surge nput current Logic LOW ; pulled to GND 0 Logic HGH NPN nput floating (wiring Logic HGH Logic LOW Logic HGH nput voltage surge Logic LOW ; Pulled to GND nput current Logic HGH ; Pulled to nput frequency khz 3.3 µs ESD protection Human body model ±2 k µh Digital Outputs ( OUT2/Error, OUT3/ Ready, ) All outputs ( OUT2/Error, OUT3/Ready) Not supplied (+LOG floating or to GND) mmediately after powerup OUT2/Error, OUT3/ Ready Normal OUT2/Error operation OUT3/Ready Logic LOW ; output current = 0.5A Output voltage Output current Logic HGH ; output current = 0, no load OUT2/Error, OUT3/ Ready Logic HGH, external load to +LOG NPN 24 High-Z (floating) Logic HGH Logic LOW Logic HGH Logic LOW LOG -0.5 LOG+0.5 surge -1 LOG+1 Logic LOW, sink current 0.5 A Logic LOW, sink current, pulse 5 sec. Logic HGH, source current; external load to GND; OUT >= 2.0 OUT2/Error, OUT3/ Ready OUT0, OUT1, Logic HGH, leakage current; external load to +LOG; OUT = LOG max = 40 1 A µs ESD protection Human body model ±15 k Digital Hall nputs (Hall1, Hall2, Hall3) TTL / CMOS / Open-collector nput floating (wiring Logic HGH Logic LOW Logic HGH 2 5 nput voltage Floating voltage (not 4.4 surge Logic LOW ; Pull to GND 1.2 nput current Logic HGH ; nternal 4.7KΩ pull-up to +5 2 µs ESD protection Human body model ±5 k Linear Hall nputs (LH1, LH2, LH3) nput voltage Operational range nput voltage surge nput current nput voltage nterpolation Depending on software Resolution settings 11 bits Frequency 0 1 khz FPWM 2 The digital inputs are software selectable as PNP or NPN Page: 4 of 5

5 Encoder1 nputs (A1/A1+, A1-, B1/B1+, B1-, Z1/Z1+, Z1-) Single-ended Leave negative inputs mode compliance disconnected TTL / CMOS / Open-collector Logic LOW 1.6 nput voltage, Logic HGH 1.8 mode A/A+, B/B+ 3.3 Logic LOW 1.2 nput voltage, Logic HGH 1.4 mode Z/Z+ 4.7 nput current, Logic LOW ; Pull to GND Logic HGH ; nternal 2.2KΩ mode A/A+, pull-up to +5 B/B+, Z/Z+ Differential mode For full RS422 compliance, compliance see 1 TA/EA-422-A Hysteresis ±0.06 ±0.1 ±0.2 nput voltage, Common-mode range differential mode (A+ to GND, etc.) nput impedance, A1+ to A1-, B1+ to B1-1 differential Z1+ to Z1-1 kω Single-ended mode, Opencollector / NPN 0 5 MHz nput frequency Differential mode, or Singleended driven by push-pull (TTL / CMOS) 0 10 MHz Single-ended mode, Opencollector / NPN 1 µs Differential mode, or Singleended driven by push-pull 50 ns (TTL / CMOS) nput voltage, any pin to GND surge Encoder2 nputs (A2+/Data+, A2-/Data-, B2+/Clk+, B2-/Clk-, Z2+, Z2-) 2 Differential mode For full RS422 compliance, compliance see 1 TA/EA-422-A Hysteresis ±0.06 ±0.1 ±0.2 nput voltage nput impedance, differential Differential mode Common-mode range (A+ to GND, etc.) A2+, B2+, Z2+ A2-, B2-, Z Ω nput frequency Differential mode 0 10 MHz Differential mode 50 ns Sin-Cos Encoder nputs (Sin+, Sin-, Cos+, Cos-) nput voltage, differential Sin+ to Sin-, Cos+ to Cos PP Operational range nput voltage, any pin to GND surge Differential, Sin+ to Sin-, nput impedance Cos+ to Cos kω Common-mode, to GND 2.2 kω Resolution with Software selectable, for one interpolation sine/cosine period 2 10 bits Frequency Sin-Cos interpolation khz Quadrature, no interpolation 0 10 MHz Analog 0 5 nputs (REF, FDBK) Operational range nput voltage surge ±36 nput impedance To GND 28 kω Resolution 12 bits ntegral linearity ±2 bits Offset error ±2 ±10 bits Gain error ±1% ±3% % FS 4 Band (-3Db) Software selectable 0 1 khz ESD protection Human body model ±5 k RS-232 Compliance TA/EA-232-C Bit rate Software selectable Baud 232TX short to GND Guaranteed ESD protection Human body model ±2 k Safe torque OFF (STO1+,STO1-; STO2+, STO2+) Safety function According to EN STO (Safe Torque OFF) EN / -2 Safety ntegrity Level safety integrity level 3 (SL3) and EN PFHD (probability of dangerous 3/ -4 failures per hour) Classification hour -1 EN Classification Mode compliance nput voltage nput current Pulse duration Fault reaction time Performance Level MTTFM (meantime to dangerous failure) Cat3/PLe PNP nput floating (wiring Logic LOW Logic LOW Logic HGH Logic LOW ; pulled to GND 0 Logic HGH, pulled to +log 9 13 gnored low-high-low 1 gnored high-low-high 1.5 Accepted pulse From internal fault detection to register DER bit 14 =1 and OUT2/Error high-to-low years ESD protection Human body model ±2 k Ethernet Ports Standard Compliance Power over Ethernet solation GND0,GND1 Maximum cable length ESD protection NOT used by the ipos4808my, requires separate +log SEL/ PEL supply Requirement for motherboard PCB routing ms ms EtherCAT (EC /4/5/6-12) Fast Ethernet 100BASE-TX (EEE802.3u) Auto-negotiation for 100Mbps/s fullduplex Auto-detect MD/MD-X compliant to EEE802.3af mode A Mixed DC & Data NOT compliant to EEE802.3af mode B DC on Spares 500 rms 1.5 kpeak 2-pair UTP Cat m Human body model ±4 k LED signals LED connection Common anode to 3.3 output Direct, no series resistor LED current output voltage 3.3 output current 60 Stresses beyond values listed under absolute maximum ratings may cause permanent damage to the device. Exposure to absolute-maximum-rated 1 For full RS-422 compliance, 150Ω termination resistors must be connected across the conditions for extended periods may affect device reliability. differential pairs, as close as possible to the drive input pins. 2 Encoder2 differential input pins have internal 150Ω termination resistors connected across 3 For many applications, a 150Ω termination resistor should be connected across SN+ to SN-, and across COS+ to COS-. Please consult the feedback device datasheet for confirmation. 4 FS stands for Full Scale Page: 5 of 5