Digital control loop

Current, speed and position, 100% digital loop control; Dual position loop control using the second encoder input

Sampling frequency (time)

Current loop :16KHZ(62.5μs) Speed/Position loop :2KHZ(500μs)

Communication

Sinusoidal magnetic field directional control or trapezoidal control from HALL to brushless motors

Modulation

Space vector PWM modulation with center weighting

Broadband

The current loop is generally 1.5KHZ and varies with parameter adjustments and load inductance

HV compensation

Changing the bus voltage (HV) does not affect the bandwidth

Minimum load inductance

50 mH wire inductor

◆ Control mode: Position, speed, torque；
◆ Sampling frequency (time) Current loop: 16KHz(62.5us); Speed/position loop :2KHz(500μs)；
◆ Bandwidth: The current loop is generally 1.5kHz, which varies with parameter adjustments and load inductance；
◆ Programmable protection: Multi-directional protection functions such as position error, overcurrent, overvoltage or undervoltage, ITT, output short circuit and overload；
◆ Drive motor types: DC brushless motor, hollow cup brushless motor, hub motor, DC servo motor, etc. It can drive two motors simultaneously；
◆ Encoder feedback: Incremental encoder, digital Hall, grating ruler, resolver (with an external conversion card), absolute encoder (Tama River protocol)；
◆The maximum pulse response frequency can reach 2MHz and it has digital filtering function；
◆RS232 serial interface, baud rate up to 115KB；
◆CAN2.0 local area bus, compatible with CANopen DS-402, with a maximum baud rate of 1MHz；
◆RS485 MODBUS RTU, the baud rate CAN reach 115KB (only one of RS485 and can can be selected)；
◆ Power supply voltage: 18-90(135/180)VDC；

Position control

Instruction control mode

Pulse, CANopen, RS485 MODBUS RTU

Input signal

Pulse instruction

Input pulse pattern

It includes three instruction forms: "direction + pulse", "A and B phase orthogonal pulse ", and "CW/CCW pulse"

Signal format

Collector open circuit

Maximum pulse frequency

Maximum 2Mpps

Speed control

Instruction control mode

PWM, ±10V analog quantity

Input signal

PWM
(RC command)

Polarity

PWM =0-100%, polarity =1/0

Non-polarity

PWM = 50% +/-50%

Frequency range

Minimum 1kHz, maximum 100kHz

Minimum pulse width

220ns

Simulation instruction

Voltage range

Input voltage range ±10V

Input impedance

Differential input impedance = 5KΩ

Current control

Instruction control mode

PWM, ±10V analog quantity, CANopen, RS485 MODBUS RTU

Input signal

Simulation instruction

Voltage range

Input voltage range ±10V

Input impedance

Differential input impedance = 5KΩ

I/O signal

Digital input IN

The number of ports

10 (among which IN4, IN5, IN9 and IN10 are expressway exits)

Signal format

NPN, PNP

Settable functions

Hardware enable, external reset, forward/reverse limit, PWM synchronous signal input, motor operation stop, high-speed pulse input, etc

Digital output OUT

The number of ports

6

Signal format

NPN(effective at low level), capable of withstanding a maximum current of 2A and a maximum voltage of 30VDC

Settable functions

Fault signal, brake control, custom event

Function

LED indication

Status indication, CAN network indication

Communication function

RS-232

Baud rate

9600-115200

Agreement

Full-duplex mode, ASCII or binary format

CAN

Baud rate

20kbit/s-1Mbit/s

Agreement

Canopen Application Layer DS-301V4.02

Equipment

DSP-402 device drive and motion control

RS-485

Baud rate

9600-115200

Agreement

MODBUS RTU

Protection function

Overvoltage, overcurrent, undervoltage, overload, overheating, encoder abnormality, excessive position tracking error and other protections

Usage environment

Installation location

No corrosive gases, flammable gases, etc

Installation location

Less than 1,000 meters

Temperature

0℃ ~+40℃

Humidity

5% to 95%RH, no water droplets condense

Vibration resistance/shock resistance strength

Less than4.9 m/s2/Less than19.6 m/s2

Feedback

Digital A/B orthogonal encoder (-E, maximum rate 5M line/s)

The absolute value encoder (A17) is optional

Digital Hall (-H(U/V/W, 120-degree electrical phase difference)

Resolver (external resolution card)

BC2-01~25A

144

138.6

36

88

71.2

10.8

4.8

BC2-25A~35A

204

196.8

52

126

71.2

27.4

4.8

BC2-50A~70AF

204

196.8

86

130

71.2

29.4

4.8

BC2-70A-100A

310

297

64.5

232

115

58.5

7

BC2-100AF-200AF

310

297

104.5

232

115

58.5

7

Series

DC/DE/DE2/BC/BC2

Special requirements

GT:Green terminal

Input instructions

RTR:Reduce the temperature rise

P:Pulse  A:Analog quantity  R:RS485

C:CANopen

Feedback

Power supply voltage

E: Incremental A/B orthogonal encoder

090:18V-90VDC 135:18V-180VDC

A: Absolute value encoder

180:18V-180VDC

CH: Digital Hall

Rated current

Special function

10:11Arms    15:16Arms    20:20Arms

OP: Pulse output

50:50Arms

HUB: Servo hub (BC)

For debugging J5 RS-232

The SW dial corresponds to the station number

J8 auxiliary power supply

Pin

Definition

Name

SW Switch serial number

Corresponding station number

GND

OV

2

RXD

RS232 communication receiving terminal

1

1

3

GND

Communication power supply ground

2

2

+AUXHV

+24V

5

TXD

RS232 communication sender

3

4

4

8

Serial number

Definition

Name

Name

Foot position

Definition

1

A#U

Motor power line phase U

It must be connected to the motors one by one according to the labels

1

485A (CAN_H)

In parentheses
CAN
Communication function
Optional

2

A#V

Phase V of the motor power line

2

485A (CAN_H)

3

A#W

Phase W of the motor power line

3

GND_C

4/5

GND

Input power supply

 +18~90V DC

6/7

+HV

Input power +

4

GND_C

J7B# Motor

序号

Definition

Name

Name

5

485B (CAN_L)

1

B#U

Motor power line phase U

It must be connected to the motors one by one according to the labels

2

B#V

Phase V of the motor power line

6

485B (CAN_L)

3

B#W

Phase W of the motor power line

Pin

Definition

Function

Pin

Definition

Function

1

NTC*

Wiring of the resistance temperature sensor
(Choose one of the two analog input functions)

9

W+

Motor encoder W+ input

2

NTC*

10

/

/

3

U+

Motor encoder U+ input

11

B-(DAT-)

Motor encoder B- input
(Absolute Value Encoder DAT-)

4

+5V

Motor signal line +5V

12

BH(DAT+)

Motor encoder B+ input
(Absolute Value Encoder DAT+

5

ov

Motor signal line GND

13

A-

Motor encoder A- input

6

V+

Motor encoder V + input

14

A+

Motor encoder A+ input

7

Z-

Motor encoder Z-input

15

IN3&IN8^*

Wiring of the temperature switch sensor

8

Z+

Motor encoder Z+ input

/

/

/

Note: 1. If the encoder input signal of the hub motor is A single-ended open-set signal, connect A to pin 13 and B to pin 11.
2.* If you need the input function of the NTC resistance temperature sensor, please indicate when placing an order:
3. If you need the temperature switch sensor input function, connect pin 1 and pin 15. Please specify when placing an order.

Pin

Name

Function

Pin

Name

Function

19

0V

Power supply ground

20

5V

5V output (100mA)

A轴

B轴

1

A#AREF+

Positive input of analog quantity

10

B#AREF+

Positive input of analog quantity

2

A#AREF-

Analog negative input

11

B#AREF-

Analog negative input

3

A#IN1 GP

Hardware enable

12

B#IN6 GP

Hardware enable

4

IN2_GP

Customize

13

IN7 GP

Customize

5

IN3_GP

Customize

14

IN8_GP

Customize

6

IN4HS

Customize

15

IN9_HS

Customize

7

IN5HS

Customize

16

IN10HS

Customize

8

OUT1

Customize

17

OUT4

Customize

9

OUT2

Customize

18

OUT5

Customize

21

A#ENC_A

The motor encoder outputs signal A

24

B#ENC_A

The motor encoder outputs signal A

22

A#ENC_B

The motor encoder outputs signal B

25

B#ENC_B

The motor encoder outputs signal B

23

OUT3

Customize

26

OUT6

Customize