AC Controller 806



Introduction
 
Leadshine's fully digital AC servo drive AC Controller 806 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 ACS806 without changing control systems. The AC Controller 806 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.

Features
 
Input: 18 - 80VDC,
Peak Current: 18A , Continuous Current: 6 A (Max), 50 - 400 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
Encoder output
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 nois.

Electrical Specifications (Tj = 25oC/77oF)
 
Parameters  
Min Typical Max Unit
Peak output current 0 - 18 A
Continue output current 0 - 6 A
Supply Voltage +18 - +80 VDC
Logic Signal current 7 10 16 mA
Pulse input frequency 0 - 600 kHZ
Isolation resistance 500     Mohm
Current provided to encoder - - 100 mA

Performance Specifications (with ACM Series Servo Motors)
 
Position following error : +/-1 count
Velocity accuracy: +/-2rpm
Maximum acceleration speed (No Load) : 80 rpm/ms2
Input frequency up to 600 kHz
Maximum speed : 4000 rpm
Allowable low speed reaches1 rpm
Positioning accuracy :+/-1 count
Suitable for 18 - 80 VDC AC servo motors

Mechanical Specifications(unit: mm[inch])
sakhtar driver 806 1.gif

Connector Configuration
General Information
 
Digital & Analog I/O Connector
Pin Signal Description I/O
1 ENA+ Enable signal input + I
2 ENA- Enable signal input - I
3 PUL+ Pulse signal input + I
4 PUL- Pulse signal input - I
5 DIR+ Direction signal input + I
6 DIR- Direction signal input - I
7 FL Positive limit signal input I
8 RL Negative limit signal input I
9 SGND Signal ground GND
10 Pend+ In position signal output+ O
11 Pend- In position signal output- O
12 ALM+ Alarm output signal+ O
13 ALM- Alarm output signal- O
14 NC Not connected -
15 NC Not connected -
16 NC Not connected -
17 FG Ground terminal for shield GND
18 SGND Signal ground GND
19 +5V +5V@10mA power supply O
20 A+ Encoder channel A+ output O
21 A- Encoder channel A- output O
22 B+ Encoder channel B+ output O
23 B- Encoder channel B- output O
24 Z+ Encoder channel Z+ output O
25 Z- Encoder channel Z- output O
26 SGND Signal ground GND
Halls & Encoder Connector
Pin Signal Description I/O
1 EA+ Encoder channel A+ input I
2 EB+ Encoder channel B+ input I
3 EGND Signal ground GND
4 HallW+ Hall sensor W+ input I
5 HallU+ Hall sensor U+ input I
6 FG Ground terminal for shielded GND
7 EZ+ Encoder channel Z+ input I
8 EZ- Encoder channel Z- input I
9 HallV+ Hall sensor V+ input I
10 HallV- Hall sensor V- input I
11 EA- Encoder channel A- input I
12 EB- Encoder channel B- input I
13 VCC +5V @ 100 mA max. O
14 HallW- Hall sensor W- input I
15 HallU- Hall sensor U- input I
High Voltage Connector
Pin Signal Description I/O
1 PE Motor case ground GND
2 U Motor phase U O
3 V Motor phase V O
4 W Motor phase W O
5 Rbrake Brake resistor connection (VDC-RBrake) I
6 +Vdc DC power Input (18-80VDC) I
7 GND Power Ground. GND
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 -

More about I/O Signals
 
Signal Description
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).
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.
FL/RL Positive or negative limit input signal. Use signal ground for reference. 0-0.5V is Low level input and 4-5V is High Level input. The active level can be set with configuration tools such as ProTuner, STU-ACS. If active at low level, FL/RL must be kept at high level for normal drive operation, and the drive will short-circuit the motor coils to stop the motor immediately when FL/RL turn to low level. If active at high level, FL/RL must be kept at low level for normal drive operation, and the drive will short-circuit the motor coils to stop the motor immediately when FL /RL turn to high level. Please select active at high level when RL/RL is not connected.
Pend+/Pend- In position signal output. OC output, high impedance when the position error is more than 2 pulses and low impedance when the position error is less than 2 pluses.
ALM+/ALM- Alarm signal output. OC output, high impedance when the working status is normal and low impedance when over-voltage, over-current, phase error, encoder error, limit error, position following error happens.
A+/A-/B+
/B-/Z+/Z-
Encoder feedback signals output, usually offered to the controller for external velocity/position loop.

Encoder and Hall Sensor Connections
 
ac controller 806 2.gif
 
(a) The AC Controller 806 supplies the encoder directly
 
ac controller 806 3.gif
 
(b) Using external DC power supply to supply the encoder
 
Connect to Servo Tuning Tools
 
ac controller 806 4.gif
 
Professional Servo Tuning Software ProTuner
 
ac controller 806 5.gif

(a) Main window of ProTuner
 
ac controller 806 6.gif

Position following error curve and velocity curve (Kp=1500, Ki=350 and Kd=1200)
 
Typical Connections
 
ac controller 806 7.gif


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