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Function
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ACS UDMnt driver module, with connectors for positioners from PI
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Design
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G-910.RC01xxxxx: Benchtop deviceG-910.RC03xxxxx: Control cabinet module
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Motor types
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2-phase and 3-phase AC servo motors / brushless DC motors, brushed DC motors, voice coil motors, stepper motors
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Number of drive axes
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2
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Motion and control
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G-910.RC0102100 / G-910.RC0102200 / G-910.RC0302200
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Controller type
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Cascaded PIV controller structure with velocity and acceleration feedforward control
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Sampling rate current control
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20 kHz
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Control algorithms
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Gantry control, dual-loop control
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Encoder
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1 × per axis, supported types:Incremental: 1Vss, RS-422Absolute: EnDat 2.2 & 2.1, Smart-Abs, Panasonic, BiSS-A/B/C (SSI)
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Limit switch
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2 × per axisStandard: 5 V sinking (NPN)Optional configuration: 24 V; sourcing (PNP)
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Reference switch
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Default: 1 × per axis, 5 V sinking (NPN)Optional configuration: 24 V; sourcing (PNP); use as digital multipurpose inputs on HD-D-sub 15 (f)
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Motor brake
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1 × per axisIntegrated PWM brake driver with current reduction for reduced brake heating
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Electrical properties
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G-910.RC0102100
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G-910.RC0102200
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G-910.RC0302200
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Output voltage (intermediate circuit)*
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24 V
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48 V
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12 V to 60 V
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Max. output power (intermediate circuit)*
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120 W per axis
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280 W per axis
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480 W per axis (at 60 V DC, 8 A input current)
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Current limitation per motor phase (amplitude sinus), continuous/peak (max. 1 s)
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5 A / 9.5 A peak**
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5 A / 9.5 A peak**
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5 A continuous / 10 A peak
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Interfaces and operation
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G-910.RC0102100 / G-910.RC0102200 / G-910.RC0302200
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Motor connector
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2 × HD D-sub 26 (f)
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Sensor connector
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2 × D-sub 15 (m) or 2 × via the motor connectorsFactory default configuration on delivery:Digital incremental encoder (RS-422) or absolute encoder on motor connectorIncremental encoder 1 Vss on D-sub 15 (m)Factory default configuration on delivery:Digital incremental encoder (RS-422) or absolute encoder on D-sub 15 (m)
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Digital I/O lines
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HD D-sub 15 (f):2 × outputs PNP 24 V source; also control the brake drivers at the motor connectorsDefault for inputs:2 × PNP 24 V source on HD D-sub 15 (f); in addition 2 × NPN 5 V sinking for reference switches on the motor connectorsOptional configuration for inputs:4 × PNP 24 V source on HD D-sub 15 (f)
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Analog I/O lines
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HD D-sub 15 (m):2 differential analog inputs: ±10 V, 12 bit1 differential analog output: ±10 V, 10 bit
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Outputs for position event generator (PEG)
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Parallel on HD D-sub 15 (m) and HD D-sub 15 (f):2 differential outputs (RS-422) for pulses at programmable positions, pulse width 26 ns to 1.75 ms, max. 10 MHz; only possible with incremental encoder
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Communication interfaces
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EtherCAT
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Environment
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G-910.RC0102100
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G-910.RC0102200
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G-910.RC0302200
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Operating voltage intermediate circuit
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24 V DC from external power supply unit, power supply unit with 24 V DC (120 W) included in the scope of delivery
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48 V DC from external power supply unit, power supply unit with 48 V DC (280 W) included in the scope of delivery
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12 V to 60 V DC from external power adapter, not included in the scope of delivery
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Operating voltage logic
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24 V DC from external power supply unit, power supply unit with 24 V DC (120 W) included in the scope of delivery
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24 V DC from external power supply unit, power supply unit with 24 V DC (120 W) included in the scope of delivery
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24 V DC from external power supply unit, not included in the scope of delivery
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Max. current consumption intermediate circuit
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5 A*
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5 A*
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Max. current consumption logic
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0.9 A
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0.9 A
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0.9 A
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Operating temperature range
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5 °C to 40 °C (temperature protection switches off at excessively high temperatures)
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5 °C to 40 °C (temperature protection switches off at excessively high temperatures)
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5 °C to 40 °C (temperature protection switches off at excessively high temperatures)
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GND
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1.55 kg
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1.55 kg
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1.4 kg
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Dimensions
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187.3 mm × 64 mm × 294.1 mm
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187.3 mm × 64 mm × 294.1 mm
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186.4 mm × 56 mm × 295.2 mm
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