Datasheet:QCI-DS003 QuickSilver Controls, Inc. SilverDust D2 IGB
Contents
1. 1 Controller Driver D2 G1 03 IGB 3 Motor E QCI A17H 1 H 2 Motor I F Cable QCI C D15P D15S nn QuickSilver Controls Inc Page 13 of 17 Datasheet QCI DS003 QuickSilver Controls Inc 1 Controller Driver Standard controller driver is a QCI D2 IGB 2 Motor I F Cable For standard systems this D sub type cable goes between the motor and the controller The generic part number is QCI C D15P D15S nn Replace the last two digits nn with length of cable in feet i e 10 for 10 feet Standard stock lengths are 1 4 and 10 feet For IP65 system a special IP65 cable goes in between the motor and the controller The motors and cables are IP65 but not the controller driver The generic part number is QCI C D15P T14S nn Replace the last two digits nn with length of cable in feet i e 10 for 10 feet 3 Motor The SilverNugget N2 is capable of driving any 17 or 23 I Grade motor encoders See the following datasheets for more information QCI DS007 NEMA 17 I Grade Motor Encoder QCI DS008 NEMA 23 I Grade Motor Encoder See QCI DS017 for details on using QuickSilver s NEMA 11 frame motor with the IGB 4 Power Supply Power supply selection is motor dependen2. All SilverDust IGB are designed for multi axis operation All units stack together on a DIN rail or wall mount as shown above One wire jumper between Termination and RS 485B on the very last unit will terminate the RS 485 network Users need to provide power to each unit The communications are bussed via the 9 pin D Sub connectors on each side of the unit Note Only apply termination to the end unit when using an RS 485 network Note On 12 to 24 Volts system the I O power supply can share from the main power supply if isolation is not needed QuickSilver Controls Inc Page 16 of 17 Datasheet QCI DS003 Quicksilver Controls Inc Part Numbers DRIVER CONTROLER OPTION QCI D2 3 5 Amp IGB SilverDust D2 IGB Blank Standard e For 23 Frame 16 5 24V Isolated I O DIN Mountable and Smaller 7 TTL Inputs or Outputs D DMX512 e 3 5 Amps per 4 Analog Inputs Joystick Phase Analog Output Option Continuous use QCI BO B1 A 4 5 Amp Peak RS 232 or RS 485 Input Power ASCII Binary Modbus 4A 12V 48V Encoder Output CANopen Voltage Clamp And Resistor Drive Enable DB15HD pin SMI Port DB15HD socket Motor I F including motor power and encoder Depending on heat sink 25C ambient This selection creates the part number QCI D2 IGB New Part Numbers The part numbers have been revised Description Old Part Number New Part Number SilverDust IGB D2 G1 03 IGB QCI D2 IGB Closed Frame Servo
3. e Register Based o Position Accel Decel Vel o Modify On the Fly Multi Axis Linear Interpolation e XYZ Coords Contained in Text File e CANopen used for local bus e 1000 Points Stored In NV Memory Built In Voltage Clamp e Regenerative Braking Resistor Input Output e 16 5 24V Digital I O o Bi Directional o Isolated o Set While In Motion 7 TTL Digital I O 4 Analog Inputs Joystick Analog Output Option Programmable Limit Switch PLS Secondary Encoder In e Encoder Out Program and Data Storage e 32K Non Volatile Memory e 2000 3000 Program Lines e User Data Examples o CAM Tables o Motion Profiles o Lookup Tables Electronic Slip Clutch Brake e Variable Torque e Wind Unwind Applications Anti Hunt e Optionally use Open Loop While Holding e No Servo Dither While At Rest QuickSilver Controls Inc Page 2 of 17 QuickSilver Controls Inc Electronic Gearing Camming e Follow Encoder A B Quadrature or Step and Direction e Dynamic Gear Ratios o Integer Ratios 32767 1 to 1 32767 o Decimal Ratios to 7 Places e Electronic Cam o Import Tables From Text File o Over 2500 Points o Multiple Tables Communications e RS 485 RS 232 230K Baud e ASCII Binary Modbus DMX512 e CANopen e Host Control While Servo in Motion Programming Language e Easy Menu Driven Interface e Command Parameter Prompts e No Syntax Errors e User Namable I O and Registers Advance PVIA Servo Loop e 100 1 Inertial Mismatch e Direct Drive Oversize
4. 113 x E al VO 106 I O 106 AKO OC P VO 114 SEN 0 Q WO 107 I O 107 Q OQ VO115 Switch VO 108 VO 108 AKO O Al VO 116 y SOGND OUTPUTS INPUTS ISO 24V Typical Configuration Proximity Sensor p ISO 24V A ISO 24V ISO 24V ISO 24V Ol ISO GND ISO 24V ISO GND 2 xu ISO GND E e vo101 5 e Q vO 102 E 2 VO 103 2 ISO GND A WO 104 e Q vO 105 VO 101 e I O 106 Internal e Ql VO107 VO 108 Y ISO GND TS Sinking Output configuration Note This type of inputs are commonly referred as NPN Sinking Open Drain ON or LOW closed circuit Open source Open collector OFF or HIGH open circuit QuickSilver Controls Inc Page 9 of 17 Datasheet QCI DS003 QuickSilver Controls Inc Using the Extended I Os as an Input All extended I Os default to inputs 2 36 Volts HIGH LED OFF QuickControl Display Green 0 to 1v LOW LED ON QuickControl Display RED Each I O is pulled up internally to a diode isolated 5 Volts as well as to the associated LED through a resistor to the diode isolated 5v An output driving one of these inputs requires a minimum of 4mA sinking current LED Pull up resistor Commands to Use the I Os as an Output Set Output Bit SOB Sets output HIGH driver transistor is off Clear Output Bit COB Sets output LOW driver transistor is on Configure I O CIO Sets output HIGH LOW Tristate Configure I O Immediate Mode CII Same as CIO but e
5. Controller with breakout NOTE If old part numbers are ordered they are shipped with firmware revision 17 Revision 17 does not include CANopen or multi threading Contact Information QuickSilver Controls Inc 712 Arrow Grand Circle Covina CA 91722 626 384 4760 or 888 660 3801 626 384 4761 FAX www QuickSilverControls com QuickSilver Controls Inc Page 17 of 17
6. from all other signals NOTE CAN requires firmware rev 27 and QuickControl Rev 4 4 See SilverLode CANOpen User Manual for details 8 Processor Power Switch SilverDust IGB has a switch to turn on and off the power to the processor This processor power switch is extremely useful for multi axis programming Note it does not disconnect main power The main power should be OFF before connecting or disconnecting the system QuickSilver Controls Inc Page 12 of 17 Datasheet QCI DS003 QuickSilver Controls Inc Recommended Components SilverDust IGB Start Up Kit For first time users QCI recommends purchasing the QCI SK D2 IGB Start Up Kit which includes e SilverDust D2 QCI D2 IGB amp Datasheet QCI DS003 QuickControl Software CD QCI QC User Manual amp Command Reference QCI SLM Communication Cable QCI C D9M9F 6 4 DB15HD Motor I F Cable QCI C D15P D15S 4 DIN Rail Bracket QCI DIN2 Start Up Kit Setup Instructions QCI TD041 CAN to RS 232 Adapter QCI D9 CAN 232 With this Start Up kit a power supply and a motor encoder you will have everything you need to get started See technical document QCI TD041 on our website for details The system detailed below uses the QCI SK D2 IGB SilverDust IGB System Ie 4 Power Supply SISISISISISISISISIS
7. of the clamp circuitry and allow for adding an external power resistor if the internal resistor is not sufficient These two lines should be open in most applications The internal power resistor is sized to handle regenerative power from the motor but may allow the internal driver voltage to rise to 50v according to motor type and deceleration speed torque Smoother deceleration may be obtained by adding an additional parallel clamping resistor when using power supplies rated at less than 36v if the internal clamp voltage is being significantly elevated by the regenerated power as measured at the CLAMP terminal 2 Extended I O The extended I Os are fully Isolated from the main controller power and serial I O It is possible however to use the same 24v power supply to power up both the I Os and the main power input if the power supply current is sufficient and ground isolation is not required On a 48 volts drive system a separate 24 volts power supply is required for the 24 Volts I O operation 24v I O 1 16 as labeled on the top connectors of the IGB are mapped to the 100 bank of IO and have logical addresses of 101 116 in software I O 24 are the power supply inputs for the 24 Volts I O circuitry l O GND are the power grounds for the 24 Volts I O circuitry I O 101 to 116 are open drain sinking outputs They are capable of delivering up to 250 mA per channel at 24 volts Note The sinking outputs are open drain MOSFETs wit
8. 50 Watts continuous power with adequate heat dissipation Encoder Interface 2000 Lines 8000 counts revolution Designed to work with QCI s I Grade motor encoders Quadrature differential signals are employed QuickSilver Controls Inc Page 3 of 17 Datasheet QCI DS003 QuickSilver Controls Inc Inputs amp Outputs Standard I O 101 107 Digital Inputs 0 to 3 3 VDC LVTTL level compatible Effective internal 200K ohm impedance to 3 3 V Digital Output Voltage 0 3 3 VDC Digital Output Current Sinking or Sourcing l O 1 4 5 7 outputs 4 mA MAX I O 2 and 3 outputs 2 mA MAX I O 6 outputs 8 mA MAX l O Over Voltage Protection Each I O standard I O line is protected with by a series over voltage limiter Applying voltages greater than 30 volts will permanently damage digital I O Note Encoder output signals are NOT protected External Secondary Encoder Maximum Bandwidth Selectable by Select Encoder Filter SEF command Each level must be held for a minimum of 175nS or 325nS according to filter selection Maximum speed is 1 million counts per second Analog Inputs 0 to 3 3 VDC input signal range 10 bit ADC resolution single 11 bit ADC resolution differential Analog inputs 1 to 4 are mapped to share digital I O lines 4 to 7 Each input has an effective internal 200K ohm impedance to 43 3 VDC Analog signals are read every servo cycle 120 usec and the converted analog data is processed through
9. B Motor A Motor B Encoder Z Encoder A Encoder Z Motor A Chassis Ground Encoder B Encoder Ground Motor Memory Access QuickSilver recommends our QCI C D15P D15S nn nn length cable to interface between the motor and the controller Note 01 02 04 and 10 feet cables are standard lengths 5 Secondary Encoder In Out amp Communication Encoder Out A Encoder Out A B and Z are buffered A 2 Mcd s a single ended replicates of the differential signals from the motor A 4 Encoder In A encoder They are in Quadrature B 5 Encoder In B format with the index in a 49 50 Z 6 Encoder In Z format RT Termination B T RS 485B RS 232 TX A R RS 485A RS 232 RX Gnd Logic Ground The Encoder In Inputs can take Quadrature or Step and Direction format The Index input may be configured for single pulse per revolution or 49 50 format Encoder In A is the Step input when in Step Direction format Encoder In B is the Direction input when in Step Direction format Encoder In A B and Z are also I O 4 5 and 6 respectively If they are not used for electronic gearing then they may be used as general I O with 5v compliant 3 3V input and 3 3V output These I O are can also be used as analog inputs from 0 3 3V at 10 bit resolution QuickSilver Controls Inc Page 11 of 17 Datasheet QCI DS003 QuickSilver Controls Inc Communications 4 te
10. Datasheet QCI DS003 Quicksilver Controls Inc Date 3 September 2009 www QuickSilverControls com SilverDust D2 IGB Datasheet QCI D2 IGB The SilverDust D2 I Grade with Breakout IGB is a servo controller driver for QuickSilver s line of NEMA 11 17 amp 23 frame high torque direct drive servomotors The IGB is designed to servo QOI s I Grade motors through a single cable This single cable solution allows for easy installations and simple cable routing The IGB has breakouts for power communications and I O ir ls com QuickSilverContro zON wow POWER UP Ol NISNS LNO ON3 Sgvicec t m SilverDust D2 IGB ouicksilver Cont ls INC QCI D2 IGB SilverDust 6 ERROR COMM STATUS E i COMM IO MOTOR ENC NOTE Information on the open frame SilverDust IG QCI D2 IG has been moved to datasheet QCI DS019 Property of QuickSilver Controls Inc Page 1 of 17 This document is subject to change without notice QuickControl and QCI are Registered Trademarks of QuickSilver Controls Inc SilverLode SilverNugget SilverDust PVIATM QuickSilver Controls and AntiHunt are trademarks of QuickSilver Controls Inc CANopen and CiA are registered community trade marks of CAN in Automation e V Datasheet QCI DS003 System Overview Point to Point Moves e Relative or Absolute e Velocity or Time Based e S Curve Advanced Motion Profile Moves e Profile Move Commands
11. a 5 ms filter to reduce noise amp transients QuickSilver Controls Inc Page 4 of 17 Datasheet QCI DS003 QuickSilver Controls Inc Extended I O Designated I Os 101 116 Input Power 12 to 36 VDC Internally isolated from processor and driver power Current level according to load usage Note Power is required to read inputs as well as to drive them A status bit is provided in Internal Status Word 2 IS2 to detect loss of power Input Isolated from processor driver power 0 to 5 36 VDC 0 1V Logic Low 2V 36V Logic High Output Current Sinking Only Set out put LOW to turn on output FET HIGH to allow output to be pulled up Up to 250mA per channel continuously If the load draws more than the specified current the I O line will go into current thermal limit mode causing the FET to turn off I O Over Voltage Protection Each I O line will clamp at approximately 50 volts Applying more than 40 volts may permanently damage the I O lines Communications Hardware Interfaces RS 232 RS 232 multi drop or RS 485 multi drop software selectable Protocols 8 bit ASCII 9 bit binary or Modbus Hardware Configuration Settings Available Baud Rates 2400 4800 9600 19 2k 28 8k 57 6k 115 2k or 230 4k Data Bits 8 Stop Bits 1 5 or 2 Parity Bit None Controller Area Network CAN Hardware Available on all SilverDust IGB Software Firmware Rev 27 QuickControl Rev 4 4 See CANopen User Manual for hardware an
12. d Inertial Loads o Flywheels Belt Drives o Typically Without Gearheads e More Stable Than PID Digital 4 Quadrant Vector Drive e DSP Driven for Reduced Noise Multi Task Multi Thread Compatible with QCI Motor Encoders e NEMA 11 Frame o 4000 Counts Rev Encoder o Up To 9 0z in continuous e NEMA 17 Frame o 8000 Counts Rev Encoder o Up To 43 oz in continuous o IP50 or IP65 e NEMA 23 Frame o 8000 Counts Rev Encoder o Up To 300 oz in continuous o IP50 or IP65 e UL CUL CE Datasheet QCI DS003 QuickSilver Controls Inc Electrical Specifications Input Power Voltage 12 VDC to 48 VDC regulated Device must be initialized for the actual operating voltage Over Voltage Protection None available Voltages exceeding 55 VDC will permanently damage the controller driver electronics The IGB includes an onboard clamp circuit Power rating is dependent upon operation but should be at least 10W Reverse Polarity Protection Reverse polarity protection is available on the SilverDust IGB Note however if power supply is not floating connecting the V input to Ground will cause this potential to be present at the communications and I O lines which may damage these lines or that to which they are connected Input Current 4 Amps maximum for any input voltage 12 VDC to 48 VDC Output Power Output Driver Current 3 5 Amps continuous per phase 4 5 Amps peak per phase With Adequate Heat Sink Maximum Output Power 1
13. d software details QuickSilver Controls Inc Page 5 of 17 Datasheet QCI DS003 QuickSilver Controls Inc Mechanical Specifications 3 37 85 6 mm 3 06 77 7 mm hag e 70 6 mm K 2 73 69 4 mm d i 28 7 1 mm 33 8 3 mm j U 7 WY 3 1 H e TEES e 9 Laauuadpeausg 2 D ERTE 4 B 1 63 415 mm o b al p d j te B 4 2mm B 4 83 122 8 mm jE 442 112 2 mm i m 3 34 84 8 mm U s0 5 02 127 5 mm j B pi T fona d ge rca e 4 m 3 T e r U H I 4 ij ji l 1 46 37 0 mm H 125 3 18 mm 4 40 x 3 16 x 4 8 mm 4x Places 1 58 40 1 mm 4 C NEBSPXSIESOREY d 90 22 7 mm i Environmental Specifications Operational Temperature 10 C to 80 C Storage Temperature 40 C to 85 C Humidity Continuous specification is 95 RH non condensing Shock Limitation is approximately 50g 11ms IP Rating IP20 with cables attached QuickSilver Controls Inc Page 6 of 17 Datasheet QCI DS003 Quicksilver Controls Inc Connector Data Note For information regarding programming please see Si
14. h an Rds of approximately 2 2 ohms Power dissipated by the any MOSFET is I Ros ON Power dissipation per channel is Puissipate 0 250 2 2 ohms 0 1375 Watt when operated at 250mA QuickSilver Controls Inc Page 8 of 17 Datasheet QCI DS003 QuickSilver Controls Inc INPUTS ISO 24V ISO 24V JA PD ISO 24V ISO 24V ISO 24V I ISO 24V ISO 24V ISO 24V A ISO 24V ISO GND ISO GND Q ISO GND ISO GND ISO GND ISO GND ISOGND ISO GND Q ISO GND C vo 101 O 101 2 0 0O VO 109 Q WO 102 I O 102 ARO O A VO 110 HIGH 1 Q WO 103 I O 103 AHO O P vot WO 104 I O 104 AO O Z VO 112 vo105 VO 105 AKO O Al VO
15. lverLode User manual The SilverLode User manual is located on our website under the support section SilverDust IGB 8 Processor Power Switch 7 Controller Area Network CAN POWER UP ON www QuickSilverControls com unie asa bean 10 24 O 2 pri wa 2 Extended I O 10 GND IO GND O GND 5 Secondary Encoder In Out amp Communication 1 SSt zEZU NION3 LNOONS 2 3 4 5 6 7 8 Quicksilver Controls inc SilverDust O ENC ERROR Q COMM o STATUS Motor Interface 3 SMI SilverLode Multi function Port QuickSilver Controls Inc Page 7 of 17 Datasheet QCI DS003 QuickSilver Controls Inc 1 Power V Power ground from the power supply V Main input power Only voltages from 12 48 Volts are accepted Voltages beyond the 55 Volts will permanently damage the electronic circuitry V Pr Separate processor power Internally processor input power is the higher of the processor power input and the main input power diode OR ed This input may be used to keep the processor running while the main input power is shut off so as to be able to continue to track the encoder signals etc No connection is needed for normal operation DRV ENA Hardware Driver Enable In normal operation this pin must be high from 10 48 volts for the drive electronics to operate The factory default ships the IGB with a jumper from CLAMP to DRV ENA CLAMP is approximately at V CLAMP amp CLAMP are part
16. rminals are provided to allow for wiring multi axis networks Standard communications use three lines for either RS 232 or RS 485 software configurable Standard RS 485 requires termination at each the end of the network QuickSilver has made it easier to terminate the network by providing an internal terminating resistor with one end tied to RS 485A A R To terminate the network simple connect Termination RT to RS 485B RS232 B T on the last unit Note The Controller needs to provide a biased terminator for normal operation 6 Communication A DB 9 plug and socket are provided on opposite sides of the unit These are for communication and NE provide a simple means of networking the units RS 485 B RS 232 RX See Multi Axis design section below for more details Pins 2 3 and 5 are normally used for CA standard PC RS 232 communications but also CAN GND support RS 485 These pins are connected to the CANH respective pins on the SMI connector as well at the respective breakout connectors Pins 1 6 8 9 are used for the CAN communications These pins are also connected to the respective breakout connectors N A LOGIC GROUND AN V CO CO ND Or BY Oo Po 7 Controller Area Network CAN This high speed 1 megabit bus provides a means for register and I O sharing as well as interface to 3rd party CANOpen devices i e encoders I O modules The four CAN signals are isolated
17. t but the following will work with all the 17 and 23 frame motors S 210 48 48V 4 4A 210 Watt QuickSilver Controls Inc Page 14 of 17 Datasheet QCI DS003 QuickSilver Controls Inc 5 Din Rail Bracket Optional QCI DIN2 There are two plastic DIN mounting clips included with every IGB These clips are not reusable and are suitable for light industrial applications only The DIN Rail Bracket QCI DIN2 is secured to the IGB using 2 screws and provides a stronger attachment to the DIN rail See below for more details QCI DIN2 1 89 48 1 mm REF d 440 4 x 25 6 3 mm 3 15 80 0 mm REF QuickSilver Controls Inc Page 15 of 17 Datasheet QCI DS003 QuickSilver Controls Inc Multi Axis Design with IGB To Main Power Supply 12 24 VDC 12 48 VDC RS 485 Termination ISISISISISISISISISISISISISIS ISISISISISISISISISIS SIBI SS SIS ISISISISISISISISISISISISISIS ISISISISISISISISISIS QCI D15P D15S nn QCI D15P D15S nn QCI D15P D15S nn
18. xecutable from host even while a program is running Note All ISO 24 pins are connected internally Note All ISO GND pins are connected internally See SilverLode Command Reference for more details on these commands 3 SilverLode Multi function Interface SMI Port Signal ncm To get an additional 7 isolated 24V I O attach a npa Peer QCI OPTMC 24 module through a QCI EC SMI 02 cable RS 485 B RS 232 Tx RS 485 A RS 232 Rx Logic Ground 5 Volts 100mA 1 0 1 This port provides QuickSilver s basic Power Communication standard I O for backward compatibility with our previous systems All I O from this port are 0 3 3 Volts Analog inputs are shared with the digital I O Analog inputs have 10 Bits resolution from 0 3 3 Volts Power inputs are diode OR ed into power inputs from section 1 Apply power from either side is OK Note Encoder Inputs on section 5 uses I O 4 5 and 6 listed here If these I O are used for electronic gearing they are NOT available for general purpose I O function QuickSilver Controls Inc Page 10 of 17 Datasheet QCI DS003 QuickSilver Controls Inc Note Communication lines RS 485A RS 232 RX RS 485B RS232 TX and LOGIC GROUND are all internally connected between the SMI port and the respective pins on the top side connectors See sections 3 5 and 6 4 Motor Interface Motor B Chassis Ground 5V Encoder Power Encoder A Encoder
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