M-Serv / D-Serv Stand Alone Motion Controllers
- 1-3 axis digital control module with integral digital current loop amplifier and power supply
- Programmable 20 KHz servo update rate
- Sinusoidal, brushless current commutation
- User friendly Windows or Dos based operator interface with a soft scope and C-libraries.
Anorad's single and multi-axis stand-alone motion control products, M-Serv and D-Serv, offer the latest in digital servo technology. These controllers, with integral digital amplifiers and power supplies, were designed to suit the needs of Anorad's high performance Anoline brushless linear servo motors and rotary servo motors.
The M-Serv is a scaled down version of the higher power, feature rich D-Serv product. The operating system for these products offers a user friendly Windows or DOS based programming and set-up environment. Coupled to a digital current loop control drive, eliminates potentiometer tweaking and the setting of hardware "personality modules" for the drive. For setup, all that is required is knowledge of the motor specifications and the load characteristics. The D-Serv software then sets up the control parameters of the current, velocity and position loops for optimal performance. In short, set up time is dramatically reduced.
When using software commutation, the feedback device will be used for both position feedback and commutation. Also, a second encoder input may be used as a master for "following" applications. Control of motor commutation can be provided by a hall sensor, an incremental encoder, or a resolver.
In addition to the 20 kHz position, velocity and current loop update rates, the standard controller is supplied with a second order position loop filter, first order velocity filter, brushless motor commutation algorithms, first order (PI) current loop control filters, smoothed trapezoidal profiles, phase advance, programmable shaping of the phase current to match the back emf (acceleration feedback), and user programmable filters. Features such as these create a control system with very high bandwidth, responsive servo loops and the most exceptional dynamic tracking and settling performance of any other controller in its class.
Specifications
| Number of axes | (D-SERV) one, two, and three axis models (M-SERV) single axis only |
| Position range | ± 999,999,999 counts |
| Servo Algorithm | (D-SERV) Second order filter, acceleration and velocity feedforward (M-SERV) PI, acceleration and velocity feedforward |
| Velocity range | ± 1 to 10,000,000 counts/sec |
| Acceleration range | 1,000 to 127,000,000 counts/sec 2 |
| Servo Update Rate | 20 kHz |
| Encoder input | 3 channel differential line receiver |
| Communication | RS232,RS422,programmable to 9,600 baud |
| Analog Inputs: | (D-SERV) ± 10V, 12 bit resolution, 2/axis (M-SERV) ± 10V, 12 bit resolution, 1/axis |
| Analog Outputs: | (D-SERV) (1) ± 10V, with 10 bit resolution/axis, (1) General purpose (M-SERV)(1) ± 10V, with 10 bit resolution/axis |
| Dedicated Inputs: | (D-SERV)(2) limits, emergency stop, opto-isolated. (48) inputs available on 2&3 axis models (M-SERV)(2) limits,opto-isolated |
| Digital Inputs: | (D-SERV)(8) single axis, (16) multi axis, opto-isolated. (48) inputs available on 2&3 axis models |
| Digital Outputs: | (D-SERV)(8) single, (16) multi axis, opto-isolated, supported by a built-in 24V opto-isolated supply, (0.5A). Additional 16 outputs on 2&3 axis models available. (M-SERV)(2) opto-isolated, CE floating |
| Brake driver | D-serv only, single axis. Built in 24V, (0.75A), for brake/clutch |
Protection, Diagnostics and Error Handling:
- Most errors supported by automatic routines
- Programmable software limits, stall and dynamic torque limits.
- Automatic drive shutdown when: emergency stop is activated, position feedback signal is lost, and user defined position error is exceeded.
- Automatic warning if the axis moves away from its target by more than a pre-defined distance.
- Protection against 5V over-voltage, detection of motor overheating.
- Host communication with check-sum validation, data verification on "set" commands, and immediate indication of erroneous commands.
- Immediate responses to "begin motion" commands indicating either a successful execution, or a reason for failure.
- Immediate indication and reason for abnormal motion termination, along with detailed information on motion.
- I/O status and memory integrity
- Built-in hardware watch-dog timer to protect against software failure.
Software Attributes:
- Error mapping, real time data collection, position event generator (optional).
- Built-in motion modes: linear and repetitive point-to-point, move by sequence (1024 pre-defined points), search for contact, jogging, master-slave, CAM, registration mark moves, index searching at any speed.
- Conditional statements, special states and variables which reflect motion, arrays, variables, counters, nested subroutines, arithmetic, and logical expressions.
- Automatic execution routines, interactive data entry.