SPiiPlusCMhv
with 1 or 2 drives, 230-480Vac, up to 15/30A or 230Vac 20/60A
32 Axis EtherCAT® Master Control Module with Two Built-in High Voltage Drives

Integrated EtherCAT master with one or two built-in drives Up to 32 axes and thousands of I/O Two built-in drives with up to 15A continuous / 30A peak @ 480 VAC or up to 20A continuous / 60A peak @ 230 VAC Exceptional Servo Performance: a standard comprehensive set of powerful algorithms to enhance accuracy, move & settle time, smooth velocity, stability and robustness Sampling and update rate of all control loops: -10KHz for 230 to 480Vac drives (A, B, C, D) -20KHz for 230Vac drives (E, F, G, H) Two feedback inputs per axis STO: Safe Torque Off (optional) Digital I/O: 8 + 8 or 10 + 6 (Programmable) Analog I/O: 4 + 2, Inputs resolution 12 bit, Outputs resolution 10 bit Extending the capabilities of the field proven SPiiPlusCM (Control Module) line to address the needs of high voltage, high power and cost sensitive applications A rich set of tools for application development, set up, tuning and diagnostics Powerful ACSPL+ multitasking motion programming language

The SPiiPlusCMHV is a state of the art line of EtherCAT network multi-axis machine and motion controllers with one or two built-in universal drives. It is specifically designed to extend the capabilities of the SPiiPlus line of control modules to address the needs of modern machinery for high voltage, high power, economical and scalable 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, and provides a comprehensive and cost effective control solution for demanding machinery. The SPiiPlusCMHV controls and generates the motion profile for up to 32 axes at 1KHz, and up to 16 axes at 2KHz.
The SPiiPlusCMHV is complemented by the SPiiPlusNT suite of software tools with built-in simulator. The tools are designed to minimize time to market while providing the flexibility to meet the specific machine requirements throughout its life cycle. It provides easy setup, fast host and embedded application development, and quick diagnostics, reducing efforts and costs.
The SPiiPlusCMHV is offered with the following current levels(cont./peak): 5A/10A , 10A/20A, 15A/30A, 20A/20A + 5A/10A with 230-480Vac, and 10A/30A, 15A/45A, 20A/60A with 230Vac.
Optional output current levels increase by 25% cont./peak within 230-400Vac supply range.
Optional Safe Torque Off (STO) module cuts the power to the motor without removal of the power source to comply with SIL-3 and PLe safety levels.
The module is powered by 3 phase 230 to 480Vac and by a separate 24Vdc control supply that keeps all low voltage signals alive during emergency conditions.

CE (Pending), UL
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany

Servo
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

Drives
Type: digital current control with field oriented control and space vector modulation
Current ripple frequency: 20 kHz for A, B, C, D drivers and 40KHz for E, F, G, H drivers 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: Short current (phase-to-phase or phase to ground), Over current, Over temperature
Supply
The module is fed by two power sources. A drive AC supply and a 24Vdc control supply
During emergency conditions there is no need to remove the 24Vdc control supply
Drive Supply
Range: 230 to 480Vac, or 230Vac, see ‘ordering options’ for the different configurations.
Current rating should be calculated based on actual load

Control Supply
Range: 24Vdc ± 10% Maximum input current / power: 4A / 100W
Note: The module consumes 2A (50W) Additional 2A are needed when the motor brake feature is used.
Regeneration
Internal + external option

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
Up to four, two per axis, AqB,I; Clk/Dir,I
RS-422. Max. rate: 50 million encoder counts/ sec.
Protection: Encoder error, not connected
Sin-Cos Analog Encoder (optional)
Up to two, one per axis.1Vptp, differential
Multiplication factor: From x4, to- x4,096, frequency: 250kHz.
Automatic compensation of Offset, Phase and Amplitude. Squared Sin-Cos output option
Maximum acceleration: 108 million sine periods/ sec2.
Protection: Encoder error, not connected
Absolute Encoder (optional)
Up to two, EnDat 2.1(Digital)/2.2, Smart-Abs, Panasonic, Hiperface, Biss-C, SSI
Resolver
Two, 12b resolution (4,096 counts/rev)
Hall inputs
One set of three per axis, Single-ended, 5V, source, opto-isolated. Input current: <7mA

Specifications
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