SBC PCD2.M5 Series - Pcd2.H32 X, Motion Control Modules for Servo-Drives

Hardware Manual for the PCD2.M5 Series│Document 26/856; Version EN 12│2014-07-24
Saia-Burgess Controls AG
Motion control modules for servo drives
Input/output (I/O) modules
6-107
6
6.18.2 PCD2.H32x, motion control modules for servo-drives
There are four module types available:
PCD2.H320: 2 axes with 24 V encoder
PCD2.H325: 2 axes with 5 V and SSI absolute value encoder
PCD2.H322:1axis(slaveoperation)with24Vencoder
PCD2.H327:1axis(slaveoperation)with5VandSSIabsolutevalueencoder
The PCD2.H32x motion control modules are intelligent I/O modules in the PCD2
series. They are used to position two independent axes, with one variable speed AC
orDCdrive(servo-motor)each,ortwoaxesasanelectronictransmission.
This requires the drive unit to have a power stage and incremental shaft encoder for
capturing position or speed. Displacement control may also be achieved with an SSI
absolute value encoder.
Each module contains a DSP processor that independently controls every movement
according to parameters supplied by the user program: velocity, acceleration and
destinationposition("PIDcontrol").Thisenableseachaxistoexecuteindependent
movements,performS-curveandtrapezoidalmotionproles,changevelocityand
acceleration, perform interrupt functions and record the current axis position during
motion.
In a PCD2 with expansion housing, up to 7 PCD2.H32x modules can be operated in
parallel.
Technical data
Function-specic data
Number of systems: 2 for H320/5
1 for H322/7 + 1 H100 counter input 4 DI + 1 DO
Motion parameters
31-bit registers are used for destination position, velocity and acceleration, numerical range
± 2
30
Position Unitandresolutionselectable(dependingonmechanicalfactor)
Speed Unitandresolutionselectable(dependingonmechanicalfactor)
Acceleration Unitandresolutionselectable(dependingonmechanicalfactor)
PID controller Sampletime100μs,programmableproportional,integraland
differential factors. Sample time for differential part can be pro-
grammed separately. Additional speed and acceleration feed-
forward(all16bitvalues)
Analogue controller
output
Velocity set point ±10 V
(resolution12bit)
Counting frequency max. 125 kHz for H320/5
max. 250 kHz for H322/7