SPiiPlusCMhp/ba
with 1 to 3 drives, 85-265V, up to 15/30A
32 Axis EtherCAT ® Master Control
Module with Three Built-in Drives

Up to 32 axes and thousands of I/O Open Architecture – Command ACS and third party EtherCAT drives and I/O Plug-in replacement for the series of SPiiPlusCM Control Modules Two versions: Economical (ba) and High Performance (hp) Three built-in drives - 85 to 265Vac, up to 15A continuous and 30A peak current - 4 encoders - 20kHz sampling and update rate of all control loops Digital I/O - 8/8 general purpose inputs / outputs - 4 Registration Mark inputs, 2/8 PEG outputs (Pulse/States) - 3 motor brake outputs 24V/1A Analog I/O: 8/2 Optional built-in 4-axis Pulse/Dir interface

The SPiiPlusCMHP/BA is a state of the art series of EtherCAT motion controllers with three built-in universal drives. It addresses the needs of modern machinery for both economical and for high performance, scalable and distributed control for motion centric applications. Its open architecture operates in conjunction with ACS’ line of EtherCAT servo and step motor drives and I/Os modules, as well as with any certified EtherCAT module that complies with CAN over EtherCAT (CoE) protocol, providing a comprehensive and cost effective control solution for demanding machinery. The SPiiPlusCMhp/ba controls and generates the motion profile for up to 32 axes.

The SPiiPlusCMHP addresses high accuracy demanding applications, while the SPiiPlusCMBA econo version addresses more price sensitive applications. The SPiiPlusCMHP/BA are complemented by the SPiiPlusNT suite of software tools with built-in simulator that minimizes development effort and time to market. It provides extraordinarily easy setup, fast host and embedded application development, and quick diagnostics, reducing efforts and costs. The built-in drives are offered with three current levels: 5/10A, 10/20A and 15/30A (cont./peak).

The modules are powered by a single or three-phase AC from 24 to 265Vac (rectified internally to generate a Vac x 1.4 motor voltage) and by a separate 24Vdc control supply that keeps all low voltage signals alive during emergency conditions. It supports a wide range of position feedback devices: incremental digital, analog SIN-COS, and absolute encoders. The modules are optionally available with built-in additional 4-axis control of drives with Pulse/Dir interface. The series are a plug-in replacement to the series of SPiiPlusCM control modules with identical dimensions and pin to pin connectivity.

A standard comprehensive set of powerful algorithms to enhance accuracy, move & settle time, smooth velocity, stability and robustness.

• Advanced PIV cascaded structure
• Loop shaping filters
• Gain Scheduling
• Gantry MIMO control
• Dual feedback / loop control
• Disturbance rejection control

Optional Servoboost® algorithem that provides better, more consistent servo performance, insensitive to noise and large changes in the system.

Type: digital current control with field oriented control and space vector modulation.
Current ripple frequency: 40 kHz Current loop sampling rate: 20 kHz.
Programmable Current loop bandwidth: up to 4kHz, will vary with tuning & load parameters.
Commutation type: sinusoidal. Initiation with and without hall sensors.
Switching method: advanced unipolar PWM.
Protection: Over voltage, Phase-to-phase short circuit, Short to ground, Over
current, Over temperature, motor over temperature.
Current sensing: CMba: 12b ADC, CMhp: 16b ADC.

Motor Supplies
Range: 85 to 265Vac (Optional- Low Voltage 17-85Vac or 24-120Vdc)
Control Supplies
24Vdc ± 10%, 4A
Motor Brake supply
24Vdc ± 20%, 3A

Motor Type
Two- and three-phase permanent magnet synchronous (DC brushless/AC servo), DC brush, Voice coil, Two- and three-phase stepper (micro-stepping open or closed loop), AC Induction*.
(* Consult ACS)

Feedback
Incremental Digital Encoder: Four, A&B,I; Clk/Dir,I
RS-422. Max. rate: 50 million encoder counts/sec., Protection:Encoder error, not connected
Sin-Cos Analog Encoder (optional): Three.1Vptp, differential.
Multiplication factor: From x4, to-CMba-x4,096, CMhp-x65,536.
Maximum frequency: 250kHz
Automatic compensation of Offset, Phase and Amplitude
ADC used: CMba: 12b, CMhp: 16b low S/N
Maximum acceleration: 108 million sine periods/sec2. Protection: Encoder error,
not connected.
Hall inputs: Three sets of three per axis. Single-ended, 5V, source, opto-isolated.
Input current: <7mA.
Absolute encoders (optional): EnDat 2.1/2.2, Tamagawa Smart-ABS, Panasonic, BiSS-C .
5V feedback supply: Total current available for feedback devices: 1A.

Pulse/Direction Interface (Optional)
(Optional) Four pairs
Type: RS-422. Up to 5 million pulse/sec.
Programmable pulse width
Range: 0.08 to 80 microseconds

Digital I/O
Safety Inputs: Left + right limit per axis, E-stop, General Purpose Inputs: 8 Single-ended, 5Vdc (±10%) or 24Vdc (±20%),opto-isolated, sink/source,
Input current: 4-14mA.
Registration Mark inputs: Four. RS422.
Motor Brake Outputs: Three. 24V, 1A ,opto-isolated. Powered by the 24V Brake Supply.
General Purpose Outputs: Eight. Single-ended, 5Vdc (±10%) or 24Vdc (±20%), opto-isolated,
sink/source, Max. output current per output: 100mA, Max. total of 800 mA for all.
Position Event Generator utputs (PEG): Two PEG_Pulse and eight PEG_State, RS422.
Can be used as GP outputs.
HSSI channels: Two. RS422.

Analog I/O
Inputs: Six ±10V, differential, 20kHz sampling rate. The inputs can be used as feedback to the servo loops. Resolution: CMba - 12b, CMhp - 16b. Joystick inputs: two single-end, ±10V, 12b resolution
Outputs: Two, single-end, ±10V, 10b resolution.

Controller and EtherCAT Master
Number of axes: Up to 32
MPU/EtherCAT Cycle Rate: 2kHz (4,6,8,16 axes), 1kHz (32 axes)
Communication Channels
Serial ports: one RS-232. One RS-232/422. Up to 115,200bps.
Ethernet channel: TCP/IP 10/100Mbits/sec (10/100 BaseT).
EtherCAT: Two, In & Out, 100 Mbit/sec, CoE and FoE protocols support.
MPU
User Memory: RAM: 128Mb.
Non-volatile memory (Flash): 128Mb.
Power up Time: 35sec. with no additional EtherCAT nodes.

Environment
Operating: 0 to +40°C. Storage : -25 to +60°C.
Humidity: 5% to 90% non-condensing