Dual Encoder Support

• Supports single or dual incremental encoder operation up to 2MHz count rate.
• Supports single ended or differential encoder types . True differential operation with RS485 standard line driver chips.
• All encoder inputs are isolated from power circuitry.
• User adjustable digital noise filtering.
• High efficiency DC-DC converter provides up to 250mA per encoder at 5V.
• Extremely high positional accuracy in dual encoder mode. Typical results are point-to-point positioning error < ±0.5 encoder counts and < ±1.5 encoder counts full trajectory tracking error at the tool, measured as per ISO 230-2 ±2 Sigma error deviation.

Advanced Control Algorithms

• Supports modified PI-D (PIV) algorithm for single encoder, and modified cascade algorithm for dual encoder.
• Dedicated 32 bit ARM control board CPU with double precision floating point motion calculations.
• Command velocity improvement with glitch filter, sliding filter and noise filter.
• Frequency and 1/T command velocity estimation with automatic transition.
• Velocity and acceleration feed forward with time shifting.
• Stiction and reversal compensation.
• Fast settle feature stops dead on exact encoder count without dithering or deadband.
• Supports all combinations of metric and imperial hardware. Automatic calculation of electronic gearing and step multiplying with no loss of precision.
• Abnormal condition detection like saturation, following error and encoder fault.

Easy Setup and Operation

• Standard step and direction input supports popular CNC programs like Mach3.
• All control signals are isolated from power circuitry.
• Easy drive commissioning with free Tuna software for Windows via USB.
• 20 LED indicators show all I/O states without multimeters or oscilloscopes.
• In-built waveform generator creates tuning waveforms such as trapezoid and S-profile.
• Easy parameter configuration. Real-time adjustment while tuning.
• Eight channel scope with pan and zoom for easy waveform analysis.
• Digital readouts on command, motor and load positions.
• Real time statistical position error analysis and charting over multiple time intervals.
• Assign drive axis names and connect multiple drives simultaneously.

Advanced Power Stage

• DC bus voltage from 20 to 150VDC. Under and over voltage monitoring and alarms. User adjustable current limit from 5 to 20A. Current limiting alert.
• High efficiency MOSFET bridge with low Rds ON resistance. Typical applications require no additional heatsink or cooling.
• Dedicated 32 bit ARM CPU for power stage.
• Silent operation. No singing or dithering.
• Optional power saving mode significantly reduces drive and motor losses with no effect on performance.
• High efficiency DC-DC converter supplies power stage with negligible losses and spread-spectrum frequency for reduced EMI.

Advanced Protection

• Dual di/dt output filter inductors reduce EMI and increase SOA under fault conditions.
• Four quadrant short circuit detection protects against motor to motor, motor to negative and motor to positive supply faults.
• Progressive overload protection shuts down within 0.4mS to 2 sec depending on severity of overload condition, while eliminating nuisance tripping.
• Snubber circuits across each MOSFET for reduce di/dt and switching stress. Additional snubbers on motor power rails.
• Independent thermal monitoring of heat sink, output inductors and main filter capacitors with audible warning and shutdown.
• Power stage is isolated from control circuitry and earth.

Limit/Home Switch Support

• Supports direct connection of mechanical switches or NPN inductive proximity switches.
• Supports normally open (NO) or normally closed (NC) operation.
• Limit switch inputs are isolated from power circuitry.
• Intelligent jogging off limits, but not into them.
• Homing off limit switches or combined with encoder index pulse for precise homing to within 1 encoder pulse.
• User adjustable digital noise filtering.

Stepper Drive

The entire system is open loop. Position error is made up of the following:

• Stepper motor construction accuracy.
• Missed steps.
• Loose wires, intermittent connection.
• EMI interference pickup.
• Coupling flex and slip.
• Thrust bearing deflection.
• Ballscrew/belt/rack pitch error.
• Ballscrew torsion/belt stretch.
• Ballnut play, pulley pitch error.
• Backlash.
• Drive train wear.
• Stiction, friction.
• Thermal expansion.

Servo Drive

The motor position is closed loop. Drivetrain is open loop. Position error is made up of the following:

• Motor encoder accuracy.
• Coupling flex and slip.
• Thrust bearing deflection.
• Ballscrew/belt/rack pitch error.
• Ballscrew torsion/belt stretch.
• Ballnut play, pulley pitch error.
• Backlash.
• Drive train wear.
• Stiction, friction.
• Thermal expansion.

Dual Encoder Drive

The entire system is closed loop. Position error is made up of the following:

• Glass scales accuracy.

Typical results are point-to-point positioning error < ±0.5 load encoder counts and < ±1.5 load encoder counts full trajectory tracking error at the tool, measured as per ISO 230-2 ±2 Sigma error deviation.