Granite Devices ARGON User manual
Table of Contents
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1. Reading the manual
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A"!Bhttp://granitedevices.com/wiki/Argon_(servo_driveC
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IMPORTANT:!.!1!'!*1*@"%%5!
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2. ARGON Features
2.1. State of the Art
•High dynamic range torque control
•:!!''!A"!5#A8?5#A#?A"!(:!(:
•!'%dead-time distortion!
•<1"1%2.%'!''!%A!%!!.
•5#$%%/%!'!%)#$"!"%!*
•7"%!*%!6%%*B"%!
•3-level WM output /%!!
1) !!*%%!"1%2''!A!.%''!'%!
"/'
2.2. Control
•4'setpoint signals%pulse and directionAquadratureAanalog WM
•)!'&<%'1SimpleMotion V2"1"!'%!!
•4<!"%!/!hard-stop operating mode
2.3. Prote tions & Ruggedness
•/*Safe torque off/!!12
•$.%.4EF!!'!CA1!%2!!%2
!%!
•4*B!.%A!%%A!..!A.!!.
''!%!A*"A%!%!!%!
•4#%'!%!
•7!%"!"%!#''*.!
•!warranty
2.4. Appli ations
•4.!%!!
•##
•$%!!1!%
•'
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•!!&/!!
2.5. Main fun tionality
Function Description
.!!!.
#!!!'%!!!".!types of servo motors1*!"
!%!!/dead-time distortion correctionhigh
dynamic range torque control
•''!!.0G!".!!!1!/2:2
•*%!!#&8?5#!!
•!'H!%!
•$)F "%$)C4$)F4$
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•85#!!
•?!!
•4!%!
•4!F/<%."C
Control modes
•=!@%!!
•9!%*'%!!
•$!!%!!
Setpoint*'
setpoint signal / reference inputs
•5%'!%2.pulse and directionA WMAAnalogA
QuadratureASimpleMotion V2
•ulse burst positioning
•86*%!!!!%!.SimpleMotion V2
#!!!'
#%%!!!!'F$49C
•=!@%%!!A'"@%*(27H
•9!%*%!!A'"@%*(27H
•$!!%!!A'"@%*(27H
Feed-forwards
"!//!2.!%*&'!!%!!!
•%%!F%%C""!/
•9!%*F"%!%%C""!/
(
Function Description
Homing
4!"%!"!'!!%!!!
•!hard-stop homing
•7!/%%
•4<'%
•!I'!!F/%C
Feedback devices #!'feedback devices!%
"*
•Safe torque off //*%*
•!''!!!!
•=%2!F.!%*&'!!C
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•>%!'2Fpeak of sineC
#!! •Granity '!I/
•Online user guide
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3. Spe i' ations
3.1. Ele tri al hara teristi s
!!A%'J$!%!%!K
Property Typical value Maximum
rating Units
$!%!F4C !..!A+ 5A!%%A.'!*
4!'F$4<C!%.! (> (( 9
4!'F$4<C!%.! > 9
4!!'F$<C.! > (( 9
4!!'F$<C%.%'1*A (>
7''F7 4<C.! >(( 9
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+1''!%.! > (( 9
STO''!%.! > (( 9
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1) %!'.%'1**.*"!!)%'1*(
2) 5!!<%$"!'F C?!$<'/ /"!!/
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3.1.1. Quadrature en oder ele tri al hara teristi s
Property alue Units Remarks
+%!%! > )7H I<%!A*"
''*.! ->( 9 ''"!.
''*% >( ''"!.
3.2. Me hani al
Property alue Units
5!F//!1CQ (R0RF:R7R5C
5!F<%/!1CQ (RRF:R7R5C
: -- 2
# F%!.CAF2C
5/B
2D ( DF)http://granitedevices.com/w/images/0/0d/Argon_asm_dimensions. DF
3D (IG ES & STE ) http://granitedevices.com/w/images/d/d8/Argon_3d_models.zip
1) :!1"<'!"%!
3.3. Environment
Property alue Units
'' > S#
!' >0 S#
7* >0(A!%! G
$!/'! >:
1) $!/'!!'%'.!
3.4. Power supply
Supply 2 Input voltage Input current typ
?!%'!/ 95#±G >
)!!'!/
-(>9#(7H >
>-95#>
1) +%!'!/%!'!1!1*16%%
*'%*.*!%!'*'!!!!%!!
2) 8!!%!!''@
3) %
4) $!1!"!(95#'/A!/.!%%'!%!"!1!/95#
-
3.5. Motor output
Property alue Units Remarks
''!!! #A8?5#A5#A? $!!!*
Continuous output
current > 1
eak output current >
5!%A!
%!!1%
)<6%.!!
'!'.!
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G5#
4"!9#.''*A<!!
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-(95#F15#C
/%"@%* ( 27H
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DC bus.!
=!@%!!
1/F*'C > 27H )!!%!'
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6%%* 0>0( G *'%%!!
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U9# >( 7
)!!%%
U(9# >( 7
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#%!!
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1) eak value of sine
0
3.6. Regenerative resistor
Property alue Units
)<%
" -
)!/%U9#''* V
)!/%U(9#''* ( V
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1) $!/'!'!!/%*W2%*%!!
3.7. Feedba k devi e support status
Feedback device type Status Electrical interface
,%
%! "
56>((9F CA
>((9F#) A==?A!'
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7! "
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2) ="!!/1NM%!N'!!M"%!4/%%%*%
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3.8. Setpoint signal / referen e inputs
Setpoint signal type Status Electrical interface
Analog"
•'!±9!*!/.!
•±9F1'!C>9/'!*'
F'!C''!
ulse and direction" '!)7H'A(9
Quadrature" '!)7H%!A(9
WM"
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%!%! " SimpleMotion V21/!'
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!!'!!
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+#= $ H/!1!
3.9. Communi ation
Property alue Units
#!%!'!!%! SimpleMotion
V2
5"1 - 8$
)<1!"!.%%1 ( '%
#!!' '! #!
3.10. Safety
Feature Properties Remarks
Safe torque
off
/*%*/'*% ='
•##'1*"**U ='
•#'!/.!U ='
•51'!/1*!I/U =
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Pin # Pin name Electrical type (in most
feedback device modes)
Alternate electrical
type (in some
feedback device
modes)
Connection with various
feedback devices
$+ +% 1%2%1
7??M: 5': 7!'A':
7??M9 5'9 7!'A'9
7??M 5' 7!'A'
+Z 56'+Z 56!'+Z %!4
( 8 56'8 !'8Z ,%!F8
%C #!
%!!.' 8Z 56'8Z !'8
56' !' ,%!F
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+ 56'+ 56!'+ %!4
5 56'5 56!'5 %!4A!.
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5Z 56'5Z 56!'5Z
# 56'# ,%!<
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%!'( #Z 56'#Z
4.1.1. In remental en oder
4.1.1.1. Dierential
56!'F %%C!"%!'!.!!EMI*''!
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•''*
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•4<%F!'!CA*'%*%\!4
=.!'..F!!C!"'!.!'
J1 pin # Pin name Pin function Encoder wire
$+ +% #1
( 8 56'8 #8
8Z 56'8Z #8Z
56' #
- Z 56'Z #Z
0 (9M= +%!''*(9!' +%!''*
5 +%!''*! +%!!
# 56'# 4<F\!4C%
( #Z 56'#Z 4<ZF\Z!4ZC%
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4.1.1.2. Single ended
!'*'*!!""!!/B
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•==?!'
•#) !'
=*'%%!>(/B
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•4<%F!'!CA*'%*%\!4%
(
J1 pin # Pin name Pin function Encoder wire
$+ +% #1
8Z 56'8Z #8
- Z 56'Z #
0 (9M= +%!''*(9!' +%!''*
5 +%!''*! +%!!
( #Z 56'#Z 4<F\C%
$!1I!'!"!!"%!%7!
4.1.2. Hall sensor
!#8?5#?!!@''/Hall sensor/%!/".H!
I'!/!phase search%12''7!!%*%/!!
!1!!."*1!%!/'!/!F"<!"%%
.!.%<C
)*7!.6!'F!..%AD26
%!CA!/.!!*7!'/%''!1!!'*'
F6C
4'!1!%!%7!!/!"1%2.%!'!4%%
''*'*11/'85W
J1 pin # Pin name Electrical function Hall sensor wiring
$+ +% 1%2%1
7??M: 7!'A': 7!:F"6A
:Z%C
7??M9 7!'A'9 7!9F"6A9Z
%C
7??M 7!'A' 7!F"6AZ
%C
0 (9M= +%!''*(9!' 7!''*
5 +%!''*! 7!!
$!1I!'!"!!"%!
4.2. J2.1 and J2.2 SimpleMotion & E-stop ports
SimpleMotion V2%!%!2Argon.RJ45%!%!%1'*%
%!%!A/%/2!/"!+%!%!%1*1/
')!!/
4.2.1. Bus properties
')!!9RS485%%%!%!"!" !
1"!" -(B
•)!'1'!1F'!.%2C
•71*!6
•7!%1'!1UART
•+*!"%."!%!%!!/
•?!//%!A!*/Z!
•8%!"F%.&C!/'
•#1/3(+%1
" ')!!9-1'1%.!.!!%!'
%!
4.2.2. PC onne tion
')!!9.%%1%!!%!"1*$#%!'%!'1
-('=!%!!/*! 8! ')!!9'%
SimpleMotion V2 USB adapter
Fhttp://granitedevices.com/wiki/SimpleMotion_V2_USB_adapterC
4!'!1!2!1*"!!/%!BDIY SimpleMotion V2 adapter
Fhttp://granitedevices.com/wiki/DIY_SimpleMotion_V2_adapterC
4.2.3. Using SMV2 port as E-stop & Enable input
4 )9%!'1.A )9%!%!%!%*!'!Safe torque off'
*%!%!'1!%*!".%%!1!''
%"!2.%
4.2.4. Wiring with SMV2BRK
='"!!/ =+1! )1!SMV2BRK12!1!
!"1% )98;% -(!!/"! =+1
/*"%!/%
!%!!!" )98;A% )98;'
http://granitedevices.com/wiki/SMV2BRK
4.2.5. Wiring with IONICUBE devi es
IONICUBE!1!''! )9%1%!%!1/!.:
!1!AIONI & IONICUBE user guide"!/
4.2.6. Wiring with bare RJ45 able
=! )91%!%/%/! )98;ASimpleMotion V2 termination
with bare cable
4.3. J3 24 V power and motor brake port
3'!1!%2*'%!%!"!''*95#!.!'!*%!!
!!!!12
4.3.1. Pin-out
Pin # Pin name Description Connection
8; )!!12!' 4"!!9!!12A
%!%121/8;9Z
9Z 9''*'!.' #!%!9$ Z
9 9''*!A!3A3<3(
%!%!!5 #!%!9$
95#*'%%%!'!1/>'!!/%%/1*
"1%2.%!'!!!12
4.4. J4 power & motor port
3'!1!%2%!%!"!."%!BA#'!/'A!!!'A
.!!'795#2
-
4.4.1. Pin-out
Pin # Pin
name Descrpition AC/BLDC motor
connection Brush DC motor connection
9 795#2. 5!!%!%A2'./9&9$
!'!/''12!
8 82!!' '!12! Argon braking
resistor
9$ 795#2'!.
$+ $!%. #!%!!!$+%!%!!!%1
( )!!'!' )!!' )!!Z
9 )!!'!' )!!9' )!!
: )!!'!' )!!:' !%!%!
- ? #''*? #!%!#''*
0 #''* #!%!#''*
$+ $!%.
#!%!''*'!%.=%!%!
/*!*/*.!9#!
95#''!.%] Argon user
guide/Earthing
1) 4!!!A9A:'%A A=
4.4.2. J4 wiring guide
Wiring multiple drives with power supply & braking resistor sharing
0
4!B:'./'!/''*&12!=!!!%
/!!!F3CA!!12F3CA%!!F3(CA#'!/'%%*
4.5. J5 Inputs/Outputs
3(4'IDC connector!%!!"!=%!%!.''!4
/setpoint signal'"B&!/%'A%!!'AanalogA
pulse and directionAquadrature! WM*'!"setpoint'%!*feedback device
'
4!B3(%!%!'!'!'
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