Hardware Manual

Hardware Manual PCD 1 / PCD 2 Series│Document 26 / 737│Edition EN 15│2008-07-22

Saia-Burgess Controls AG

PCD2.H31x

Input/output (I/O) modules

5

5.18.1 PCD2.H31x, motion control module for servo-motors, 1-axis encoder

Application

The PCD2.H31x motion control module is an intelligent I/O module. The module is

used to position a single axis with variable speed control DC or AC servomotors.

This requires the drive unit to have a power stage and incremental shaft encoder for

capturing position or speed.

Each module contains a single-chip processor that independently controls every

movement according to parameters supplied by the user program (velocity,

acceleration and destination position). The axes are controlled independently of each

other, which means that no interpolation is possible to trace curved paths. On the

other hand, linking of multiple axes (point-point) in quasi-synchronous operation cane

be programmed.

Technical data

Number of axes: 1

Motion parameters

31-bit registers are used for destination position, velocity and acceleration, numerical range

± 2^30

Position: Resolution selectable (depending on mechanical factor)

Velocity: Resolution selectable (depending on mechanical factor)

Acceleration: Resolution selectable (depending on mechanical factor)

PID controller: Sample time 341 μs, programmable proportional, integral

and differential factors. Sample time for differential part can

be programmed separately.

Analogue controller output: Velocity set point ±10 V (resolution 12 bit)

Counting frequency: max. 50 kHz

Digital inputs to PCD2.H310

Number of inputs: 1 encoder A, B, IN, 1 reference input

Nominal voltage: 24 V typically

“low” range: 0...+4 V0 ... +4 V

“high” range: +15...30 V for source operation only+15 ... 30 V for source operation onlyfor source operation only

Input current: typically 6 mA

Circuit type: electrically connected

Reaction time: 30 μsμs

Encoder frequency: max. 100 kHz

Digital inputs to PCD2.H311

Number of inputs: 1 encoder A, /A, B, /B, IN, /IN, (no reference input)

Input voltage: 5 V typically

Signal level: antivalent inputs according to RS 422

Hysteresis: max. 200 mV

Line termination resistance: 150 Ω

Encoder frequency: max. 100 kHz

Analogue outputs for PCD2.H310/311

Analogue controller output: resolution 12 bit (with sign bit)

Short circuit protection: yes

Electrical isolation: no

Output voltage *): ±10 V, accuracy of adjustment ±5 mV

Circuit type: positive switching

Minimum load impedance: 3 kΩΩ