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(250μs)

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;
◆ Motion mode: Electronic gear, proportional linkage, point-to-point;
◆ Programmable protection: Multi-directional protection functions such as position error, overcurrent, overvoltage or undervoltage, I²t, output short circuit and overload;
◆ Drive motor types: brushless motor, servo motor, hub motor, hollow cup motor, etc;
◆ Position feedback: Incremental encoder, Hall, resolver (with an external conversion card); Absolute Value Protocol;
◆The maximum pulse response frequency can reach 2MHz and it has digital filtering function;
◆RS232 serial interface, baud rate up to 115KB;
◆RS485 modbus RTU, with a maximum baud rate of 115KB;
◆CAN2.0 local area bus, compatible with CANopen DS-402, with a maximum baud rate of 1MHz;
◆ Power supply voltage: 18-90(135/180)VDC;

Position control

Instruction control mode

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

Input signal

Pulse instruction

Input pulse pattern

Direction + Pulse

Signal format

Differential input, collector open circuit

Maximum pulse frequency

Differential input :(Maximum 2 Mpps)          

Collector open circuit :(Maximum 500Kpps)

Simulation instruction

Voltage range

Input voltage range ±10V

Input impedance

Differential input impedance = 5KΩ

Speed control

Instruction control mode

PWM, ±10V analog quantity

Input signal

PWM

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

Input signal

PWM

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

I/O signal

Digital input IN

The number of ports

10(Among them, IN6, IN7, IN8, IN9 and IN10 are high-speed ports, and IN5 is internally used for motor temperature protection)

Signal format

NPN(Effective at low level)

Settable functions

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

Digital output OUT

The number of ports

3

Signal format

NPN(effective at low level), capable of withstands a maximum current of 300 madC and a maximum voltage of 30Vdc

Settable functions

NPN(effective at low level), capable of withstands a maximum current of 300 madC and a maximum voltage of 30Vdc

Function

LED indication

Status indication, CAN network indication

Communication function

RS-232

Baud rate

9600-115200.

Agreement

Full-duplex mode, ASCII or binary format

RS-485

波特率

9600-115200

协议

modbus RTU

CAN

Baud rate

20kbit/s-1Mbit/s

Agreement

Canopen Application Layer DS-301V4.02

Equipment

DSP-402 device drive and motion control

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

Altitude

Less than 1,000 meters

Altitude

 -20℃ ~+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)

Encoder output (-OP)

A resolver (-R) is optional

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

The absolute value encoder (A17) is optional

BCPC-02~15A

141

134

32

/

4.5

/

15. 5

90

51

18

4.5

134

BCPC-2OA~35A

167

160

35

/

2-4.5

/

19. 5

100

51

22

4-4.5

160

BCPC-50A~85A

200

190

59

4-5.0

/

25

/

114

60

32.5

4-4.8

190

BCPC-100A

221

211

59

5

/

25

/

140

60

45

4.8

211

BCPC-140A210A

221

211

85

5

/

25

/

140

/

/

/

211

BCPC-250A

265

255

85

5

/

25

/

140

/

/

/

211

Series

Special requirements

BC/BC2

GT:Green terminal type

RTR:Reduce the temperature rise

Input instructions

MD:Small size

P:Pulse  A:Analog quantity  R:RS485

LG:Large size

C:CANopen

Feedback

Power supply voltage

E:Incremental A/B orthogonality

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

A:Absolute value (Tama River RS485)

180:18-180VDC

CH: Digital Hall

Rated current

Special function

10:10Arms    35:35Arms    50:50Arms

OP:Pulse output

100:100Arms  150:150Arms  250:250Arms

HUB:Servo hub

J6 RS-232For debugging

Foot position

Definition

1

NO Connection

2

RxD

3

SignalGround

4

Signal Groudn

5

TxD

6

INo Connection

Foot position

Definition

Optional

Foot position

Definition

1

4B5A (CAN_H)

The CAN communication function in parentheses is optional

1

u

2

485A (CAN_H)

2

V

3

GND_C

3

w

4

GND_C

4

ov

5

485B (CAN_)

5

DC20-90

6

485B(CAN L)

6

Auxiliary power supply

Foot position

Definition

Foot position

Definition

Foot position

Definition

1

The Earth

10

[IN6] Custom

19

ov

2

Analog input -

11

[nN7] Custom

20

+5V

3

Analog input +

12

[iN8] Custom

21

Pulse output Z-

4

[n] Enable

13

[IN9] Custom

22

Pulse output Z+

5

[IN2] Custom

14

[N10]Custom

23

Pulse output B-

6

[in3] Custom

15

[n5]Motor temperature

24

Pulse output B+

7

[IN4] Custom

16

[OUT1] Custom

25

Pulse output A-

8

[N11] Custom

17

[OuT2] Custom

26

Pulse output: A+

9

[IN12] Custom

18

[OUT3] Custom

/

/

Foot position

Definition

Foot position

Definition

Foot position

Definition

1

NTC*

6

V+

11

B-(absolute value DAT-)

2

NTC*

7

Z-

12

B+(absolute value DAT+)

3

U+

8

Z+

13

A-

4

+5V

9

W+

14

A+

5

ov

10

15

IN5* temperature control switch

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.

SW Switch serial number

Corresponding station number

1

1

2

2

3

4

4

8