Servo controller SDH TomCat
Ultracompact digital drive for AC and DC, rotary, linear and tubular, brushless and for DC permanent magnets motors at 230Vac and 400Vac with Hall sensors or incremental/absolute encoder. Operation mode via Ethercat CoE, Profinet RT/IRT, Canopen, ModbusRTU and I/O
SDH240/460 digital servo drives
SDH240/460 digital servodrives incorporates a last generation microcontroller that provides a doubled calculation performance, a quadruplicated analog to digital converter accuracy, resulting in an evolution for motor control and software application.
According to drive selected configuration, functionality control takes place via the most advanced fieldbus comunication protocols, including ETHERCAT CoE, PROFINET RT, Canopen® and Modbus RTU, as well as the Input/Output operating mode (always available in each drive configuration). It allows control for AC and DC Brushless motors, type rotary, linear and tubular, and permanent magnets continuous current motors equipped with HALL sensors, incremental encoder with or without HALL sensors, absolute encoder on SSI serial protocol and Resolver, for position and speed feedback.
An AC power supply, 230Vac singlephase/triphase or 400Vac triphase, or also a DC power supply, 200-360Vdc or 400- 700Vdc, is requested for power stage and a second DC logic supply is requested for turning on the drive. SDH240/460 can be set up with property software, ServalcoTool, (compatible with Microsoft Windows® operative systems), that allows to enter all calibration settings, parameters saving and alarm management and, thanks to USB 2.0 comunication, to perform debug with realtime scope up to 100μs on 4 simultaneous channels.
Head-on LEDs allow to check drive state and to verify alarms/warnings, leading to a fast failure diagnostic.
SDH240/460 ELECTRICAL FEATURES
| Maximum output current | IMAX = 2 • IRATED up to 2 seconds |
| Output frequency | Up to 1000Hz |
| Digital output | N°3 optoinsulated NPN/PNP: from OUT0 to OUT2 programmable• VDC < 30V and IMAX LOAD < 50mA for each output• OUT2 is available only if auxiliary analog input is disabled |
| Digital input | N°6 optoinsulated NPN/PNP 24VDC ± 20%: IN0 to IN5 programmable• Impedence ≥ 6,5kΩ• 2 input are Input Capture typeN°2 not insulated PNP 10-30V: IN6 and IN7 programmable• Impedence = 44kΩ• derived from analog input converted to digital input |
| Main speed analog input | N°1 differential ±10V: IN6• Impedence = 44kΩ (ADC 12bit)• only available if not used as digital input |
| Auxiliary analog input | N°1 single ended 0/+10V enabling: IN7• Impedence = 44kΩ (ADC 12bit)• only available if not used as digital input |
| Frequency input reference | N°1 main optoinsulated input (2 x differential or single ended channels)• Line Driver 5V: impedence = 200Ω / up to 500kHz for each channel• NPN/PNP 24V: external pull-up resistor / up to 200kHz for each channel |
| Feedback | Incremental Encoder with/without HALL sensors:• Supply: VDC = 5V / IMAX LOAD < 200mA• HALL sensors: single ended 0/+5V (120° sequence management)• Incremental Encoder (2 x differential or single ended channels)1. Line Driver 5V: impedence 1kΩ / up to 2,5MHz for each channel2. Push-Pull 5V: impedence 1kΩ / up to 400kHz for each channel3. Open Collector 5V: up to 200kHz for each channel (with internal pullup resistor with value equal to1kΩ)SSI binary, BISS B-C, Endat2.2/22 absolute Encoder:• Supply: VDC = 5V / IMAX LOAD< 300mA• DATA Line Driver 5V: impedence = 220Ω• CLOCK Line Driver 5V: IMAX LOAD = 20mA• Resolution: up to 32bit in single-turn and 15bit in multi-turn, includingMSB used for sign management Resolver: (available only with “R” option)• Supply: VAC = 6,5VRMS from 2 to 10 kHz / IMAX LOAD < 100mARMS• Transformation Ratio: 0,3 and 0,5• Resolution: up to 16bit at 5000RPM• Up to 8 pole pairs |
| Encoder output | Incremental encoder repetition and resolver emulated encoder output• ABZ Line Driver 5V: IMAX LOAD < 20mA for each channel |
| Motor thermo-protector | PTC, KTY84 and PT1000 sensors:• Alarm threshold setting |
| Safety input S.T.O. | N°2 redundant input for safety circuit S.T.O (Safe Torque Off)• Impedence = 4,4kΩ |
| Operating conditions and storage | Operating temperature: -20°C / +40°C - Relative humidity < 80%Storage and transport : -20°C / +70°CAltitude: up to 1000m. For upper altitude, degrade drive by 1% each additional 100m.Protection level: IP20. |
| Protections | Short-circuit of motore and between phase and earthAC power supply overvoltage and undervoltage Overcurrent limitationDrive heatsink overtemperature (Fan dynamic management) Motor thermal image and motor PTCBraking resistor thermal imageHall sensors or encoder damageSafety stop input STO, Safe Torque Off (also defined SPD) Alarms via 3 LEDs1. LED L0 (green): drive OK and alarms encoding L0L1L22. LED L1 (yellow): drive state and alarms encoding |
| Control | Fully digital ring regulation control:• Synchronous AC brushless rotary and linear motor: FOC control, SVM modulation, withfeedback or sensorless.• Asynchronous inductive rotary motor: V/Hz and FOC control, SVM modulation, withfeedback or sensorless.• Synchronous AC brushless rotary and linear motor: Trapezoidal modulation only with HALLsensors.• Permanent magnets continuous current rotary motor with feedback.Speed, torque, position and pressure reference:• via analog input or frequency input (pulse train).• single parameter or parameter table selectable via digital input o fieldbus.• with torque limit management.• with factors management useful to make easier convertions.• with change target on the fly.• with trapezoidal ramps or S ramps distinct for rotation direction.Position feedback:• motor sensor (incremental or absolute encoder or resolver).• external incremental encoder.Available filters:• Observer on motor feedback.• Notch filter on current reference.• Iq filter on quadrature current to motor.• PB filter in analog and digital input.Motor autophasing procedure available for all feedback. Digital I/O fully programmable.Cogging motor compensation available for brushless motors.DC braking procedure available for asynchronous inductive motors. Motor mechanical brake management.Drive setting via ServalcoTool software. |