|
|
Ensemble HPe |
Units |
10 |
20 |
30 |
50 |
75 |
100 |
150 |
| Output Voltage(1) |
VDC |
10-320(2) |
| Peak Output Current (1 sec) |
Apk |
10
|
20 |
30 |
50 |
75 |
100 |
150 |
| Continuous Output Current(3) |
|
5
|
10 |
15 |
25 |
37 |
50 |
75 |
| Power Amplifier Bandwidth |
kHz |
Selectable Through Software |
| PWM Switching Frequency |
kHz |
20 |
| Minimum Load Inductance |
mH |
0.1 @ 160 VDC (1.0 mH @ 320 VDC) |
| Operating Temperature |
°C |
0 to 50 |
| Storage Temperature |
°C |
-30 to 85 |
| Weight |
kg (lb) |
2.36 (5.2) |
6.64 (14.6) |
11.06 (24.4) |
| Maximum Shunt Regulator Dissipation |
W |
40 (Optional)
|
40 |
440 |
440 |
440 |
440 |
| Power Input |
VAC |
Single- or Three-Phase 7-240 VAC, 50-60 Hz(4) |
| Encoder Input Frequency |
kHz |
200 kHz Amplified Sine (For Onboard Multipliers), 40 MHz TTL Square Wave |
| Current Loop Update Rate |
kHz |
20 kHz |
| Servo Loop Update Rate |
kHz |
1 to 20 kHz |
| Keep Alive/Auxiliary Power Supply(5) |
— |
Optional |
| Brake Output |
— |
Optional |
| Position Synchronized Output |
— |
Single Axis Standard; Two/Three Axis Optional |
| Digital Inputs |
— |
6 Optically Isolated (2 High Speed) |
| Digital Outputs |
— |
4 Optically Isolated |
| Analog Inputs |
— |
One 16-Bit Differential |
| Analog Outputs |
— |
One 16-Bit Single-Ended |
| Additional IO(6) |
— |
16/16 Digital; 3/3 In/Out |
| MXH |
— |
Up to x65536 |
| Ethernet |
— |
Optional |
| Emergency Stop Sense Input (ESTOP)(7) |
— |
Yes |
| Resolver Interface |
— |
Optional(8) |
| Shared Bus for Regen |
— |
No |
Yes |
Notes:
1. Output voltage dependent upon input voltage.
2. 10-120 VDC bus requires external transformer and auxiliary power option for logic power.
3. Peak value of the sine wave; rms current for AC motors is 0.707(Apk).
4. Optional three-phase input available on Ensemble HPe models.
5. Auxiliary power option requires single phase 115-240 VAC 50-60 Hz.
6. Requires IO option.
7. Requires external relay to remove AC power.
8. One- or two-channel input.
Ensemble HLe |
Units |
10-40 |
20-40 |
10-80 |
| Output Voltage(1) |
VDC |
±40 |
±40 |
±80 |
| Peak Output Current (1 sec)(8) |
Apk |
10 |
20 |
10 |
| Continuous Output Current(2,8) |
|
5 |
10 |
5 |
| Power Amplifier Bandwidth |
kHz |
Selectable Through Software |
| Minimum Load Inductance |
mH |
0 |
| Operating Temperature |
°C |
0 to 50 |
| Storage Temperature |
°C |
-30 to 85 |
| Weight |
kg (lb) |
10.36 (22.8) |
| Maximum Shunt Regulator Dissipation |
W |
N/A |
| Power Input |
VAC |
Single-Phase 7-240 VAC, 50-60 Hz |
| Encoder Input Frequency |
kHz |
200 kHz Amplified Sine (For Onboard Multipliers), 40 MHz TTL Square Wave |
| Current Loop Update Rate |
kHz |
20 kHz |
| Servo Loop Update Rate |
kHz |
1 to 20 kHz |
| Keep Alive/Logic Power Input(4) |
— |
Optional |
| Brake Output |
— |
Optional |
| Position Synchronized Output |
— |
Single Axis Standard; Two/Three Axis Optional |
| Digital Inputs |
— |
6 Optically Isolated (2 High Speed) |
| Digital Outputs |
— |
4 Optically Isolated |
| Analog Inputs |
— |
One 16-Bit Differential |
| Analog Outputs |
— |
One 16-Bit Single-Ended |
| Additional IO(5) |
— |
16/16 Digital; 3/3 In/Out |
| MXH |
— |
Up to x65536 |
| Ethernet |
— |
Optional |
| Emergency Stop Sense Input (ESTOP)(6) |
— |
Yes |
| Resolver Interface |
— |
Optional(7) |
Notes:
1. Output voltage dependent upon input voltage.
2. Peak value of the sine wave; rms current for AC motors is 0.707(Apk).
3. 10-120 VDC bus requires external transformer and auxiliary power option for logic power.
4. Auxiliary power option requires single phase 115-240 VAC 50-60 Hz.
5. Requires IO option.
6. Requires external relay to remove AC power.
7. One- or two-channel input.
8. Load dependent.
| CP
Electrical Specifications |
| Logic Input
Voltage |
VAC |
85
to 240 |
| Bus Input
Voltage |
VAC |
14
to 240 |
| Output Voltage |
VDC |
20
to 320 |
| Peak Output
Current |
Apk |
10
to 30 |
| Continuous
Output Current |
A |
5
to 15 |
| PWM Switching
Frequency |
kHz |
20 |
| Power Amplifier
Bandwidth |
kHz |
Software
Selectable |
| Minimum Load
Inductance |
mH |
0.1
@ 160 VDC (1 mH @ 320 VDC) |
|
Digital Inputs and Outputs |
Standard |
4
opto inputs; 2 high-speed opto inputs; 4 opto outputs |
|
Optional |
16 additional opto inputs; 16 additional
opto outputs |
|
Analog Inputs and Outputs |
Standard |
1
(±10 VDC, 16-bit) input; 1 (±10 VDC, 16-bit) output |
|
Optional |
1 additional (±10 VDC, 12-bit) input;
1 additional (±10 VDC, 16-bit) output |
|
Encoder Inputs |
TTL
RS-422 standard, and auxiliary encoder input; optional amplified
sine encoder input on primary encoder channel; programmable
resolution up to 1024 times the analog encoder resolution;
250 kHz amplified sine primary |
| Operating
Temperature |
°C |
0
to 50 |
| Storage Temperature |
°C |
-30
to 85 |
| Weight |
kg
(lb) |
1.6
(3.6) |
CL
Electrical Specifications |
| Logic Input Voltage |
VAC |
85-240 |
| Bus Input Voltage |
VAC |
56 VAC (center tapped transformer; two
28 VAC windings) |
| Output Voltage |
VDC |
±40 |
| Peak Output Current |
Apk |
10 (load dependent) |
| Continuous Output Current |
A |
5 (load dependent) |
| Power Amplifier Bandwidth |
kHz |
Software Selectable |
| Minimum Load Inductance |
mH |
0 |
| Digital Inputs and Outputs |
Standard |
4 opto inputs; 2 high-speed opto inputs;
4 opto outputs |
Optional |
16 additional opto inputs; 16 additional
opto outputs |
| Analog Inputs and Outputs |
Standard |
1 (±10 VDC, 16-bit) input; 1 (±10 VDC,
16-bit) output |
Optional |
1 additional (±10 VDC, 12-bit) input;
1 additional (±10 VDC, 16-bit) output |
| Encoder Inputs |
TTL RS-422 standard, and auxiliary encoder
input; optional amplified sine encoder input on primary
encoder channel; programmable resolution up to 1024 times
the analog encoder resolution; 250 kHz amplified sine primary |
| Operating Temperature |
°C |
0 to 50 |
| Storage Temperature |
°C |
-30 to 85 |
| Weight |
kg (lb) |
3.8 (8.4) |
|
|
|
|
| MP
Electrical Specifications |
| Logic Input
Voltage |
VDC |
24
to 80 |
| Bus Input
Voltage |
VDC |
10
to 80 |
| Output Voltage |
VDC |
10
to 80 |
| Peak Output
Current |
Apk |
10 |
| Continuous
Output Current |
A |
5 |
| PWM Switching
Frequency |
kHz |
20 |
| Power Amplifier
Bandwidth |
kHz |
Software
Selectable |
| Minimum Load
Inductance |
mH |
0.1
@ 80 VDC |
|
Digital Inputs and Outputs |
Standard |
None |
|
Optional |
8 opto inputs; 8 opto outputs |
|
Analog Inputs and Outputs |
Standard |
1
(±10 VDC, 16-bit) input |
|
Optional |
1 additional (±10 VDC, 12-bit) input;
1 (additional ±10 VDC, 16-bit) output |
|
Encoder Inputs |
TTL
RS-422 standard, and auxiliary encoder input; optional amplified
sine encoder input on primary encoder channel; programmable
resolution up to 1024 times the analog encoder resolution;
250 kHz amplified sine primary |
| Operating
Temperature |
°C |
0
to 50 |
| Storage Temperature |
°C |
-30
to 85 |
| Weight |
kg
(lb) |
0.45
(1.0) |
|
|
|
|
| CP/CL/MP Features |
Details |
| Axes |
Up to
10 axes of coordinated motion |
| Axis Loop
Type/Update Rate |
PID
loop with up to 20 kHz servo update rate with feedforward;
four user-configurable digital filters (e.g., notch, low pass) |
|
On-Board Memory |
Program Storage |
2 MB flash memory
for user programs, parameters, miscellaneous storage |
|
Program Execution |
8 MB RAM |
| Driver Type
Compatibility |
Brushless
(linear or rotary) servo with on-board commutation DC brush
servo Stepper/microstepper (on-board commutation) |
| Position Feedback |
Encoder
interface, differential RS-422 signal, sine, cosine, and marker;
32 MHz input data rate; optional onboard analog encoder interpolation
(of up to 1024-times encoder multiplication) |
| Position Modes |
Absolute,
incremental, dynamic trajectory correction |
|
Motion Types |
Independent Motions |
Point-to-point
incremental; target position or velocity; velocity profiles;
time based; free run |
|
Coordinated Motions |
Advanced queuing and deferred execution features for simultaneous
command execution |
|
Interpolated Motions |
Up to 10-axis linear and circular interpolation |
|
Digitally Geared Motions |
Gearing with optional auxiliary encoder input |
|
Advanced Features |
Automatic PID loop gain computation (autotuning) |
|
Contouring |
Cubic spline curve-fitting; velocity profiling |
|
Error Mapping |
2D error mapping, backlash compensation |
| Acceleration
Profiles |
Linear
and jerk limiting parabolic; independent acceleration and
deceleration profiles possible |
| Acceleration
Ramp |
Rate,
time, or distance based; independent acceleration and deceleration
capability |
| Programmable
Multitasking |
Up to
5 independent tasks |
| Programming |
Command Set |
AeroBasicTM, LabVIEW®,
VB.Net, C# |
|
Command Execution Modes |
AUTO |
Program runs complete
upon startup |
|
SINGLE |
Full debug capability to step, step over, step into individual
program lines |
|
IMMEDIATE |
Commands are executed upon entry |
|
REMOTE |
Command execution controlled by remote host through Ethernet,
RS-232, or IEEE-488 communications port via ASCII strings |
| Process Time |
Command
execution up to 1000 lines of code per 1 ms (from command
sent to motion start); read request @ 1 ms; average is 7 µs
per program line (e.g., c = a + b) |
|
Additional Interfaces |
Serial |
10/100 Base-T
Ethernet communication interface for system setup, application
networking, embedded programming, immediate commands, and
Modbus over TCP; USB communication interface for system setup,
application networking, Windows® PC control interface |
|
Machine Control |
Estop discrete input to stop all axes |
|
|
