Unilite Single and Dual Axis Motion Control Modules
Product Specifications:
POSITION CONTROL:
Sampling Rate: 20 kHz
Control Algorithms: Pgain acceleration feed-forward, automatic velocity feed-forward, anti-reset windup
Trajectory Calculation Rate: 1kHz
Range: ±999,999,999 counts
Accuracy: ±1 encoder count
Position Feedback: Incremental encoder
Encoder: Incremental, 3 channel (A, B, I), differential line drivers, 0-5V
Supply Voltage: 5V
Maximum Current Consumption (From Onboard Supply): 100mA per encoder (Use external supply if higher current is needed.)
VELOCITY CONTROL:
Sampling Rate: 20kHz
Control Algorithm: PI + second order low pass filter
Range: Up to 128,000,000 counts/second
Resolution: 1 count/second
Incremental Encoder Count Rate: Up to 32,000,000 counts/second
Velocity Accuracy:
Long term: 0.05%
Short term: 0.05-2.50% (system-dependent)
Acceleration Range: Up to 2,000,000,000 counts/second2
DRIVE:
Type: PWM, digital voltage control
Motor Type: DC brush
PWM Clock Frequency: 20kHz/40kHz, programmable
Continuous Current: 3A
Peak Current: 5A (for one second)
Minimum Motor Inductance: 0.1mH
I/O:
Single-Axis Module (standard):
Inputs: Four, 5V, opto-isolated, also serve as limits and E-stop, source type
General Purpose Outputs: Two, 5V, opto-isolated, open emiter and collector, 5mA/output, 350mA
Dual-Axis Module (per axis, optional):
Safety Inputs: Left and right limit, and E-stop, opto-isolated, source type
General Purpose Inputs: Eight, opto-isolated inputs, 0-5V, source type
General Purpose Outputs: Eight, opto-isolated, 0-5V, open emiter and collector, 5mA/output, 350mA
Analog Inputs: One differential or two single ended, ±10V, 12-bit resolution
Analog Output: ±10V, 10-bit resolution
COMMUNICATIONS:
Standard: RS232/422/485, up to 57,600 baud
Optional: CAN interface with CANopen protocol, up to 1 Mbit/second
CONTROLLER:
Dual Processor Architecture:
• 20MHz Intel 80C196KD for high level tasks and management
• 80MHz SB2500 SV Servo Processor per 0axis for real-time control tasks
Memory:
Firmware: 256k
RAM: 256k
Nonvolatile Memory: 128k, 100,000 write cycles
User Program Memory: 32k
POWER SUPPLY:
15-36VDC |