Physik Instrumente SMC Hydra Datasheet
SMC_Hydra-Datasheet SMC Hydra Motion Controller
User Manual: Physik Instrumente SMC Hydra Motion Controller
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Motion Controller For Electromagnetic Motors SMC Hydra 2-D vector motion with linear interpolation, independent single-axis motion Digital inputs and outputs Optional: Encoder-based trigger output Optional: Position capture input: Position detection in real time via digital input Optional: Dynamic position correction Joystick operation via CAN bus Universal digital motion controller For DC servo and brushless DC motors (BLDC), linear and torque motors (2 / 3 phases), 2-phase stepper motors. 24 V / 48 V DC output voltage, up to 200 W power per channel. Maximum output current 10 A per phase (effective). Sine-commutated operation. Servo frequency 4 kHz. Extensive functions, software support Automatic detection of the motor phase. PID controller for position and velocity. Extensive software support, e.g., for LabVIEW, dynamic libraries for Windows and Linux. Interfaces Commanding via TCP/IP, RS-232. RM version only: USB as well. Manual operation with joystick via CAN bus (accessory). Digital inputs and outputs for automation. Opto-decoupled inputs, 4 analog outputs. Factory default options DeltaStar und DeltaStar Eco encoder interface modules Required for control of closed-loop drives (rotation or linear encoder). Differential signal transmission for digital (A/B) or analog (sin/cos) encoder signals, inputs for limit switch signals. Please specify when ordering. Trigger options with DeltaStar: Trigger outputs, position capture input (position detection in real time via digital input) Trigger options with DeltaStar Eco: Trigger outputs Dynamic position correction Position deviations for a selected configuration of linear or rotation stages are determined with a highly accurate measuring system and saved in a table of corrections in the controller. Correction is also dynamic. Single-axis mapping, only available as factory default in conjunction with a PI positioning system. Please specify when ordering. 23.11.2017 Specifications SMC Hydra Function Motion controller for electromagnetic motors Hydra TT: Benchtop device with integrated power supply Hydra CM: Compact device Hydra RM: 19" rack unit with integrated power supply Axes Hydra TT / Hydra CM: 2 Hydra RM: 2 / 4 Sensor channels Hydra TT / Hydra CM: 2 Hydra RM: 2 / 4 Supported functions Linear vector motion, independent point-to-point motion. Automatic detection of the motor phase. Safety features Switch-off via external switch. Overload protection of the motor driver. Overheat protection of the 2 motor (I t). Overcurrent protection of the system. Motion and control SMC Hydra Controller type PID controller, also adaptive for position and velocity as well as velocity and acceleration feedforward, parameter changing during operation Servo frequency 4 kHz Profile generator Trapezoidal velocity profile, setting of maximum velocity and acceleration 2-D vector control with linear interpolation Encoder input Analog signals (sin/cos) max. 150 kHz (line count) Digital signals (A/B differential via RS-422) max. 4 MHz (line count) 12 Positioning range: ± 4.3*10 mm / deg Stall detection Position error, peak current, I t limit Microsteps per full step 3000 Limit switches 2 per channel, 5 to 24 V (programmable polarity) N/O contact / N/C contact; NPN / PNP Reference point switch Index signal of the encoder Motor brake 1x per channel, TTL, configurable via software Electrical properties SMC Hydra Maximum output voltage 24 V / 48 V Maximum output power per channel 200 W Maximum output current per channel 10 Arms Interfaces and operation SMC Hydra Communication interfaces TCP/IP: 10/100 Mbit; RS-232: Sub-D 9 (m), 9.6 to 115.2 kBaud Hydra RM: USB as well Motor connection per channel Sub-D 15 (f) Sensor connection per channel Sub-D 15 (f) I/O lines 6 inputs, opto decoupled, 5-24 V (2 each reserved per channel for limit switch) Input for motor switch-off on all axes, opto decoupled Open drain output (100 mA) 2 TTL outputs 4 analog outputs, 10-bit resolution, 0 to 3.3 V (not for Hydra TT) 2 With DeltaStar interface as factory default option: Fast trigger output, max. 400 kHz, equidistant or from freely definable table (max. 3000 axis positions) 23.11.2017 Interfaces and operation SMC Hydra Position capture input, max. 4 kHz (> 3,000,000 axis positions) With the factory default DeltaStar Eco interface option: Trigger output, 2 kHz, equidistant, jitter 1030 µs Command set Venus-3 ASCII interpreter Dynamic library for PI General Command Set (GCS) User software Venus-3 demo program LabVIEW (source code & executable) Terminal program (Venus-3 DLL) PIMikroMove via dynamic libraries for Windows Software drivers LabVIEW drivers, dynamic libraries for Windows and Linux (GCS) GCS2 DLL 32/64-bit Venus3 DLL 32/64-bit / .net wrapper DLL incl. example source code Manual operation Joystick via CAN bus (accessory) Miscellaneous SMC Hydra Operating voltage Hydra TT: 90 - 260 V, integrated wide-range-input power supply Hydra CM: 24 V / 48 V, external power supply (not in scope of delivery) Hydra RM: 90 - 260 V, integrated wide-range-input power supply Max. power consumption Hydra TT: 300 W Hydra CM: 120 W Hydra RM: 1000 W Max. current consumption 11 A Operating temperature range 10 to 40 °C Weight Hydra TT: 2.65 kg Hydra CM: 0.45 kg Hydra RM: 6 kg Dimensions Hydra TT: 225 mm x 515 mm x 56 mm Hydra CM: 76 mm x 156 mm x 56 mm Hydra RM: 84 HP, 2 RU, 310 mm depth 23.11.2017 Drawings and Images SMC Hydra TT, rear panel SMC Hydra CM, 2-axis motion controller 23.11.2017 Ordering Information 71609601 SMC Hydra TT motion controller, 24 V, TCP/IP, RS-232, 2 axes, benchtop device 71609602 SMC Hydra TT motion controller, 48 V, TCP/IP, RS-232, 2 axes, benchtop device 71609604 SMC Hydra RM motion controller, 24 V, TCP/IP, RS-232, USB, 4 axes, 19" controller 71609605 SMC Hydra RM motion controller, 48 V, TCP/IP, RS-232, USB, 4 axes, 19" controller 71609638 SMC Hydra RM motion controller, 48 V, TCP/IP, RS-232, USB, 2 axes, 19" controller 71609600 SMC Hydra CM motion controller, 24 V, TCP/IP, RS-232, 2 axes, compact device 71609603 SMC Hydra CM motion controller, 48 V, TCP/IP, RS-232, 2 axes, compact device Power supplies for CM versions 71609626 Power supply for SMC Hydra CM, 24V, 120 W 71609625 Power supply for SMC Hydra CM, 48V, 120 W Default option, please specify when ordering 71609632 SMC Hydra DeltaStar Eco encoder interface module 71609631 SMC Hydra DeltaStar encoder interface module 71609644-0000 SMC Hydra dynamic position correction for linear stages incl. axis measurement and measurement log (laser interferometer) 71609644-0001 SMC Hydra dynamic position correction for rotation stages incl. axis measurement and measurement log (Heidenhain RON905 master encoder) Accessories 71609633 Joystick for SMC Hydra, 2 axes 71609634 Trigger cable for SMC Hydra DeltaStar, Mini HDMI to Sub-D 9 (f) 71609635 Trigger cable for SMC Hydra DeltaStar, Mini HDMI to BNC 23.11.2017
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