AC Controller 606



Introduction
 
Leadshine's fully digital AC servo drive AC Controller 606 is developed with 32-bit DSP based on advanced control algorithm. Since its input commands are PUL/DIR signals, the users can upgrade stepping drives to the AC Controoler 606 without changing control systems. The AC Controller 606 can offer high precision, high speed and high reliability performance, and widely used in inkjet printers, engraving machines, and etc. A built-in controller can be used for testing and tuning. PC based and handheld configuration & tuning tools can meet different tuning environments or requirements. The AC Controoler 606 can drive both DC brushless and AC servo motors.But it is more suitable for the DC brushless servo motors. Compare to the AC Controller 806, the ACS606 has less I/O, thus has smaller size and higher cost-effective.
 
Features
 
Peak Current: 18A , Continuous Current: 6 A (Max), 10 - 200 W
FOC-SVPWM technologies
PC based and handheld configuration tools
Electronic gear rate from 1/255 to 255
Self-test function with trapezoidal velocity profile
Support PUL/DIR and CW/CCW control signals
Opto-isolated, support single-ended and differential inputs
Following error lock range adjustable
Over-voltage, over-current, encoder failure protections
10 latest failures self-record function
Small size, surface-mount technology

Applications
 
Suitable for large and medium automation machines and equipments, such as inkjet printers, engraving machines, electronics manufacturing equipments, special NC machines, pick and place devices, packing devices, and so on. Particularly adapt to the applications require high speed, high precision, and low motor noise.

Electrical Specifications (Tj = 25oC/77oF)
 
Parameters AC Controller 606
Min. Typical Max. Unit
Peek output current 0 - 18 A
Continue output current 0 - 6 A
Supply voltage +18 - +60 VDC
Logic signal current 7 10 16 mA
Pulse input frequency 0 - 200 kHZ
Isolation resistance 500     MO
Current provided to encoder - - 100 mA

Performance Specifications (with BLM Series Motors)

Position following error : +/-1 count
Velocity accuracy: +/-2rpm
Maximum acceleration speed (No Load) : 80 rpm/ms2
Maximum speed : 3000 rpm
Allowable low speed reaches1 rpm
Positioning accuracy :+/-1 count
Suitable for 18 - 60 VDC AC/DC servo motors
 
Mechanical Specifications(unit: mm[inch])
 
sakhtar driver ac 606 1.gif
Connector Configuration
General Information
 
Feedback Signal Connector
Pin Signal Descriotion I/O
1 EA+ Encoder Channel A+ input I
2 EB+ Encoder channel B+ input I
3 EGD Signal ground GND
4 HW Hall sensor W input I
5 HU Hall Sensor U input I
6 FG Ground terminal for shielded GND
7 EZ+ Reserve I
8 EZ- Reserve I
9 HV Hall sensor V input I
10 NC Not Connected -
11 EA- Encoder channel A- input I
12 EB- Encoder channel B- input I
13 VCC +5V @ 100 mA max. O
14 NC Not Connected -
15 NC Not Connected -
Control Signal Connector
Pin Signal Desciription I/O
1 PUL+ Pulse signal input + I
2 PUL- Pulse signal input - I
3 DIR+ Direction signal input + I
4 DIR- Direction Signal input - I
5 ENA+ Enable signal input + I
6 ENA- Enable signal input - I
RS232 Communication Connector
Pin Signal Description I/O
1 NC Not connected -
2 +5V +5V power only for STU. O
3 TxD RS232 transmit. O
4 GND Ground. GND
5 RxD RS232 receive. I
6 NC Not connected -
High Voltage Connector
Pin Signal Description I/O
1 U Motor phase U O
2 V Motor phase V O
3 W Motor phase W O
4 +Vdc DC power Input (18-60VDC) I
5 GND Power Ground. GND

More about I/O Signals
 
Signal Description
PUL+/PUL- Pulse input signal. In single pulse (pulse/direction) mode, this input represents pulse signal, each rising or falling edge active (software configurable); 4-5V when PUL-HIGH, 0-0.5V when PUL-LOW. In double pulse mode (pulse/pulse) , this input represents clockwise (CW) pulse,active at both high level and low level . For reliable response, pulse width should be longer than 0.85µs. Series connect resistors for current-limiting when +12V or +24V used. The same as DIR and ENA signals
DIR+/DIR- Directions input signal. In single-pulse mode, this signal has low/high voltage levels, representing two directions of motor rotation; in double-pulse mode (software configurable), this signal is counter-clock (CCW) pulse,active at both high level and low level. For reliable motion response, DIR signal should be ahead of PUL signal by 5µs at least. 4-5V when DIR-HIGH, 0-0.5V when DIR-LOW.
ENA+/ENA-

Enable input signal. This signal used for enabling/disabling the drive. High level for enabling the drive and low level for disabling the drive. Usually left UNCONNECTED (ENABLED).


Encoder and Hall Sensor Connections
 
ac sakhtar encoder 606 2.gif
(a) The AC Controller 606 supplies the encoder directly
ac sakhtar encoder 606 3.gif
 
(b) Using external DC power supply to supply the encoder
 
Connect to Servo Tuning Tools
 
ac sakhtar con 606 4.gif

Professional Servo Tuning Software ProTuner
 
ac sakhtar con 606 5.gif

(a) Main window of ProTuner
 
ac sakhtar con 606 6.gif

(b) Position following error curve and velocity curve (Kp=6200, Ki=1400 and Kd=8500)
 
Typical Connections
 
ac sakhtar con 606 7.gif


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