SPiiPlusCMnt
with 1, 2 drives, 85-265V, up to 7.5/15A
32 Axis EtherCAT ® Master Control
module with 2 Built-in Drives

Integrated EtherCAT master with two built-in drives   -Up to 32 axes and thousands of I/O   -Open Architecture – Command ACS and third party EtherCAT drives and I/O A rich set of tools for application development, set up, tuning and diagnostics Powerful ACSPL+ multitasking motion programming language Extending the capabilities of the field proven SPiiPlus line to address the needs of cost sensitive applications Two built-in drives   -85 to 265Vac, up to 7.5A continuous and 15A peak current     (~1.6kW/3.2kW @230Vac)   -Dual feedback per axis   -20kHz sampling and update rate of all control loops   -Safe Torque Off (STO) Digital I/O: 8 + 8 Analog I/O: 4 + 2, 12 bit resolution

The SPiiPlusCMNT is a state of the art line of EtherCAT network multi-axis machine and motion controllers with 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 an
economical, 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, providing a comprehensive and cost effective control solution for demanding machinery. The SPiiPlusCMnt controls and generates
the motion profile for up to 32 axes.

The SPiiPlusCMNT is complemented by the SPiiPlus 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 SPiiPlusCMNT is offered with the following current levels: 2.5/5, 5A/10A and 7.5A/15A (cont./peak). 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 a single phase 85 to 230Vac
and by a separate 24Vdc control supply that keeps all low voltage signals alive during emergency conditions.

Supply
The module is fed by two power sources
A motor AC supply and a 24Vdc control supply
During emergency conditions there is no need
to remove the 24Vdc control supply
Drive (Motor) Supply
Range: 85 to 265Vac or 120 to 375Vdc
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

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).

Incremental Digital Encoder: Four, two per axis, 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): 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
Hall inputs: Two sets of three per axis. Single-ended, 5V, source, opto-isolated.
Input current: <7mA.
Resolver: 12b resolution (4,096 counts/rev)
Absolute encoders (optional): EnDat 2.1/2.2, Smart-Abs, Panasonic, Biss-C, Hiperface.
Consult ACS for availability
5V feedback supply: Total current available for feedback devices: 250mA.

Digital I/O
Safety Inputs: Left + right limit per axis. Single-ended, 24V±20%, opto_isolated, source.
(Consult ACS for 5V & sink)
Input current: 4-14mA. E-Stop: Opto-isolated, floating two-terminal.
Motor Brake outputs: Two. 24V, 1A ,opt_ isolated. Powered by the 24V Control Supply.
STO: Two pairs of inputs. (Optional)
General Purpose Inputs: Eight, Single-ended, 24V±20%, opto-isolated, source. (Consult ACS for 5V and sink) Input current: 4-14mA.
Registration Mark: Four. Two are RS422 with dedicated inputs and can be used as GP inputs.
Two share General Purpose Inputs 6,7.
General Purpose Outputs: Eight. Single-ended, 24V±20%, opto-isolated, source. 0.5A per output with up to 3A for all outputs.
Position Compare Outputs (PEG): Two PEG_Pulse and two PEG_State, RS422. Flexible axis assignment. Can be used as GP outputs.
Two GP opto-isolated outputs can be programmed to be used as the PEG Pulse outputs.
Pulse width with RS422 outputs: 26nSec to 1.75mSec. Maximum rate with RS422 outputs: 10MHz.
Pulse width with GP outputs: 0.75mSec to 1.75mSec. Maximum rate with GP outputs: 1kHz
HSSI: One channel. RS422.

Analog I/O
Four inputs, Two outputs, ±10V, differential, 12 bit resolution. 20kHz sampling rate. The inputs can be used as feedback to the servo loops.

Controller and EtherCAT Master
Number of axes: Up to 32
MPU/EtherCAT Cycle Rate: 2kHz (2,4,6,8 axes), 1kHz (16,32 axes)
Communication Channels Ethernet: one, TCP/IP, 10/100 Mbits/sec.
Serial: One RS-232. Up to 115,200bps. Modbus protocol as master or slave.
EtherCAT: Two, In & Out, 100 Mbit/sec, CoE and FoE protocols.
MPU User Memory: RAM: 128Mb. Non-volatile memory (Flash): 128Mb. Power up Time: 25sec.

Environment
Operating: 0 to + 50°C. Storage : -25 to +70°C. Humidity: 5% to 90% non-condensing

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: 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

Supply
The module is fed by two power sources. A motor AC supply and a 24Vdc control supply.
During emergency conditions there is no need to remove the 24Vdc control supply.

Motor Supply
Range: 85 to 265Vac
Current rating should be calculated based on actual load.

Specifications