Physik Instrumente SMC Hydra Datasheet

SMC_Hydra-Datasheet SMC Hydra Motion Controller

User Manual: Physik Instrumente SMC Hydra Motion Controller

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23.11.2017
For Electromagnetic Motors
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.
SMC Hydra
Motion Controller
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
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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
motor (I2t). 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 feed-
forward, 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)
Positioning range: ± 4.3*1012 mm / deg
Stall detection
Position error, peak current, I2t 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)
With DeltaStar interface as factory default option:
Fast trigger output, max. 400 kHz, equidistant or from freely definable table (max. 3000 axis
positions)
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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 10-
30 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
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Drawings and Images
SMC Hydra TT, rear panel
SMC Hydra CM, 2-axis motion controller
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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 RON-
905 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

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