UDMhv
1 or 2 drives, 230-480Vac, up to 15/30A or 230Vac 20/60A
EtherCAT® Single & Dual Axis 480Vac Drive Module

niversal single and dual axis EtherCAT Drive Modules 230 - 480Vac with up to 15/30A continuous / peak current 230Vac with up to 20/60A continuous / peak current Exceptional Servo Performance Two feedback inputs per axis Supports incremental digital & analog encoders, absolute encoders & resolver Digital I/O: 8 inputs, 8 outputs Analog I/O: 4 inputs, 2 outputs, 12 bit resolution Safe Torque Off (STO)

The UDMHV is a line of EtherCAT universal single & dual axis economical drives for AC servo / DC Brushless, AC Induction*, and DC brush motors. The UDMHV operates as an EtherCAT node under any SPiiPlus EtherCAT master Controller including the PC based SPiiPlusSC Soft Controller. It is designed to address cost sensitive applications requiring high dynamics and large loads.
The UDMHV 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.
The module is powered by 3 phase 230 to 480Vac. In addition to the AC supply, the UDMHV is supplied by a separate 24Vdc control supply that keeps all low voltage signals alive during emergency conditions.
When a 230Vac - 480Vac module is operated below 400Vac, the output cont./peak current levels increase by 25%.
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.

CE, 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 and external options
Internal: 150Ω/300W for 230 - 480Vac modules
50Ω/300W for 230Vac modules
External: 50Ω/300W for 230Vac, 150Ω/300W for 480Vac
(see ordering options field 16)

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
Up to 4 feedback devices. The following are supported:
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 for initial commutation
One set of three per axis, Single-ended, 5V, source, opto-isolated. Input current: <7mA