G-902.RxE Motion Controller
Integrated Driver for up to 4 Drive Axes with AC Servo Motor, DC Motor, Voice Coil Motor, Stepper Motor
- ACS motion controller with integrated ACS driver and integrated module for safe stop 1 (SS1) and safe torque off (STO)
- Directly compatible with positioners from PI
- For AC servo motors / brushless DC motors, brushed DC motors, voice coil motors, stepper motors
- Encoder inputs for incremental and absolute-measuring encoders
- Output power per axis to 363 W
- Many options for trajectory planning
- Compact 19-inch rack mount housing (2 HE)
- Inexpensive unit
Overview
The G-902 motion controllers offer a fully integrated electronics solution with controller and driver in a flat 19-inch rack mount housing. Integrated driver for up to 4 axes for the operation of positioners with different motor and encoder types, can be configured for a variety of applications. Ethernet velocity of up to 100 Mbps. Servo algorithms for advanced gantry and dual-loop control. Safety functions SS1 for safe braking and STO for switching off the power supply of the axes. 4 motor brakes via PWM brake driver, reduced heat generation of the motor brake.
Encoder
Supports incremental encoders (sine/cosine or RS-422) and, depending on the controller model, also absolute encoders (BiSS-C, EnDat 2.1 & 2.2, Smart-Abs, SSI, Sanyo-Denki, Panasonic A6). Depending on the application, the encoders can respectively be led to the motor interface or the separate sensor interface.
I/O lines
The digital inputs and outputs can be flexibly configured. For the evaluation of reference switches, digital inputs can alternatively be led to the motor connectors. Depending on the application, the inputs for the limit and reference switches can be configured for 5 V or 24 V and also as PNP or NPN inputs. Position synchronous trigger signals with up to 10 Mhz output frequency enable a precise process control at high travel velocities (position event generator – PEG).
Communication, software support
For communication with a PC, the motion controller is equipped with an Ethernet TCP/IP and an RS-232 interface. ACS SPii-Plus MMI Application Studio, a modern user software with tools for control tuning and visualizing is included in the scope of delivery. Programming libraries are available for C/C++, COM, .NET, and MATLAB.
Configuration
If the types of positioners used are specified when ordering, all connectors of the G-902 are suitably preconfigured at delivery. The default factory configuration, without positioner-specific adjustments, is detailed in the specifications. For subsequent adjustments, please contact our customer service department.
Specifications
Specifications
G-902.R1E001 / G-902.R2E001 | G-902.R1E002 | |
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Function | ACS ECMsm controller with integrated servo controller | |
Design | 19-inch rack-mount controller with connectors for positioners from PI | |
Motor types | 2-phase and 3-phase AC servo motors / brushless DC motors, brushed DC motors, voice coil motors, stepper motors | |
Number of drive axes | 4 | 2 |
Motion and Control | G-902.R1E001 / G-902.R2E001 | G-902.R1E002 |
---|---|---|
Sample/Update rate of control loop | 20 kHz position 20 kHz velocity 20 kHz current | |
Control algorithms | Cascading PIVFF controller structure with loop-shaping filters Velocity feedforward MIMO (Multiple Input Multiple Output) gantry control algorithm Dual-loop control Disturbance rejection Gain scheduling Field-oriented control Space vector modulation | |
Profile generation | 3rd order with uniform endpoint modification during operation | |
Encoder | 1 × per integrated axis, supported types: Incremental: 1 Vpp, RS-422 Absolute: BiSS-C, EnDat 2.1 & 2.2, Smart-Abs, SSI, Sanyo-Denki, Panasonic A6 | 1 × per integrated axis, supported types: Incremental: 1 Vpp, RS-422 |
Limit switches | 2 × per integrated axis Default: 5 V sinking (NPN) Optional configuration: 24 V; sourcing (PNP) | |
Reference switch | Standard: 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 reduced brake heating | |
Functional safety | STO (safe torque off): Electrical interface: two-channel input, 24 V, insulated Safety standards: EN/IEC 61800-5-2 Ed. 2 (second environment) EN/IEC 61800-5-1 IEC 61508 IEC 62061 PLe performance level and category 3 according to: EN ISO 13849-1/-2 SS1 (safe stop 1): Braking time until STO activation: 110-230 ms The exact value for the braking time is a fixed value (SS1-t functionality) and depends on the product configuration. |
Electrical Properties | G-902.R1E001 | G-902.R2E001 | G-902.R1E002 |
---|---|---|---|
Intermediate circuit voltage | 48 V | 48 V | 48 V |
Output power intermediate circuit, continuous / peak (max. 10 s) | 550 W / 550 W at 40 °C | 1000 W / 1200 W at 40 °C | 550 W / 550 W at 40 °C |
Output power per axis (effective value), continuous / peak (max. 1 s) | 186 W* / 363 W* | 186 W / 363 W | 186 W / 363 W* |
Current limitation per motor phase (sine amplitude), continuous / peak (max. 1 s) | 5 A / 10 A | 5 A / 10 A | 5 A / 10 A |
Interfaces and Operation | G-902.R1E001 / G-902.R2E001 | G-902.R1E002 |
---|---|---|
Motor connector** | 4 × HD D-sub 26 (f) | 2 × HD D-sub 26 (f) |
Sensor connector** | 4 × HD D-sub 26 (f) or via the motor connectors Connector selection per axis via DIP switch | 2 × HD D-sub 26 (f) or via the motor connectors Connector selection per axis via DIP switch |
Digital inputs | Default: 4 × NPN 5 V sinking for reference switches on the motor and encoder connectors Optional configuration: Up to 4 multipurpose inputs, PNP 24 V source, parallel on 2 × HD D-sub 15 (f) | |
Digital outputs | 2 × HD D-sub 15 (f): 4 × output PNP 24 V source; used for controlling the brake drivers D-sub 25 (f): 8 × multipurpose output, differential (RS-422) | |
Analog inputs / outputs | HD D-sub 15 (m): 2 differential analog inputs: ±10 V, 12 bit 2 differential analog outputs: ±10 V, 10 bit | |
Outputs for position event generator (PEG) | Parallel on HD D-sub 15 (m) and HD D-sub 15 (f): 4 differential outputs (RS-422) for pulses at programmable positions, pulse width 27 ns to 1.745 ms, max. 10 MHz; only possible with incremental encoder | |
Inputs for STO safety function | D-sub 9 (f): 2 inputs (STO1, STO2): 24 V, up to 50 mA per STO input, with an inrush current of less than 70 mA | |
LEDs | Status of the fuses for the 24 V power supply, STO signals, logic supply | |
Cycle time of the controller | 1 kHz | |
Communication interfaces | Ethernet (TCP/IP, Ethernet/IP, Modbus/TCP): 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 script language: up to 6 simultaneously running programs (buffers) |
Miscellaneous | G-902.R1E001 / G-902.R2E001 / G-902.R1E002 |
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Operating voltage | 100-240 V AC, 50-60 Hz |
Required fusing per mains supply line | IEC: 12-16 A at 250 V AC; 50 Hz UL/CSA: 12-20 A at 125/250 V AC; 60 Hz |
Operating temperature range | 5 to 40 °C (temperature protection switches off at excessively high temperatures) |
Mass | 10 kg |
Dimensions | 482.6 mm × 533.75 mm × 95.3 mm (including handles) |
Downloads
Datasheet
Documentation
User Manual G902UM0001
G-902.R1E001 / G-902.R2E001 Motion Controllers
User Manual G902UM0003
G-902.R1E002 Motion Controller
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