Hardware Manual

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

Saia-Burgess Controls AG

PCD2.H32x

Input/output (I/O) modules

5

5.18.2 PCD2.H32x, motion control modules for servo-drives

There are four module types available:

PCD2.H320: 2 axes with 24 V encoder

PCD2.H325: 2 axes with 5 V and SSI absolute value encoder

PCD2.H322: 1 axis (slave operation) with 24 V encoder

PCD2.H327: 1 axis (slave operation) with 5 V and SSI absolute value encoder

The PCD2.H32x motion control modules are intelligent I/O modules in the PCD2

series. They are used to position two independent axes, with one variable speed AC

or DC drive (servo-motor) each, or two axes as an electronic transmission.

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

capturing position or speed. Displacement control may also be achieved with an SSI

absolute value encoder.

Each module contains a DSP processor that independently controls every movement

according to parameters supplied by the user program: velocity, acceleration and

destination position (“PID control”). This enables each axis to execute independent

movements, perform S-curve and trapezoidal motion profiles, change velocity and

acceleration, perform interrupt functions and record the current axis position during

motion.

In a PCD2 with expansion housing, up to 7 PCD2.H32x modules can be operated in

parallel.

Technical data

Function-specific data

Number of systems: 2 for H320/5

1 for H322/7 + 1 H100 counter input 4 DI + 1 DO

Motion parameters

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

± 2^30 )

Position Units and resolution selectable (depending on mechanical factor)

Velocity Units and resolution selectable (depending on mechanical factor)

Acceleration Units and resolution selectable (depending on mechanical factor)

PID controller Sample time 100 μs / axis, programmable proportional, integral

and differential factors. Sample time for differential part can be

programmed separately. Additional velocity and acceleration feed-

forward (all 16 bit values)

Analogue controller

output

Velocity set point ± 10 V

(resolution 12 bit)

Counting frequency max. 125 kHz for H320/5

max. 250 kHz for H322/7