Servo Amplifiers ® SERIES MPA 03/06-SL 8031 Indexer Interface Card CONTROLLER OPTIONS The combination of the 8031 Indexer Interface Card with the MPA 03/06-SL amplifier creates a stand-alone digital servo controller/amplifier to control a single axis of digital position control. The 8031 Indexer Interface Card executes profiles which are programmed into a single EPROM. Up to 8 profiles can be held in the 8031 Indexer at one time (1 to 4 profiles can be held if using a proximity switch for homing). Profile selection is done via a three-position DIP switch or through digital inputs. 8031 Indexer card specifications • 12 bit D/A for position command and error output Parameter Specification • 12 bit D/A for acceleration feedforward (quick CPU Type 80C31 response for high acceleration moves) Speed 16 MHz • Programmable position control loop update rate Data Bus Width 8 bits (300 µs to 25.5 ms for AVD and velocity profiles) Memory System EPROM 64 Kbytes • Programmable loop and feedforward parameters System RAM 128 bytes (internal) (Kp, Kd, Kff, Ka) EPROM • Profile selection via DIP switch or optically Size 512 Kbits (27C512) Speed 120 ns (maximum) isolated digital inputs Type CMOS, 5 volt • Three color LED status indicator Digital Inputs Input 1 (Home), Input 2, Input 3 Current Sense sinking or sourcing Propagation Delay 200 µs maximum Input Voltage 5 to 30 Vdc = On PROF_GEN Commands. The following table shows 0 to 1 Vdc = Off all of the commands and where they may be used. Input Current 10 mA maximum Isolation 1500 V minimum Servo Output Commands which must be used globally (before any programs Type Analog Voltage are defined): Resolution 12 bits PROGRAM_COUNT Range ±10 V single-ended RESET_DELAY Load Resistance 2KΩ minimum INPUT1=HOME READY_OUTPUT Environment IF_EXCESS_ERROR Temperature 0 to 45° C ambient EXCESS_ERR_DELAY 32 to 113° F ambient EXCESS_ERR_DIST Humidity 10 to 90%, noncondensing EXERR_RETRY Overall Dimensions Commands which must be used during a program definition: Length 5.1 inches PROGRAM Width 4.5 inches KP Thickness 1.0 inch KD Specifications are subject to change without notice. KFF Contact MTS Automation Division for verification of specifications critical KA to your needs. AVD_SEGMENT VELOCITY_PROFILE HOMING_PROFILE HOME_ACCEL NO_HOMING GOTO Commands which can be used either globally or during a program definition (but not both at the same time): HOME_METHOD HOME_LOC HOME_OFFSET HOME_VELOCITY RETRIGGER TEST_HOME ® MaxPlus is a registered trademark of MTS Systems Corporation. ©2000 MTS Systems Corporation. Servo Amplifiers ® SERIES MPA 03/06-SL 8031 Pulse and Direction Interface Card CONTROLLER OPTIONS The combination of the Pulse and Direction Interface Card with a MPA 03/06-SL amplifier creates a stand-alone digital servo controller/amplifier to control a single axis of digital position control. The 8031 Pulse and Direction Interface Card is a closed loop position controller. It uses either pulse and direction inputs, or the clockwise/ counter-clockwise inputs for the motion command. These digital signals are then converted to an analog velocity or torque command. 8031 Pulse and Direction Interface Card There are two standard EPROM options available Specifications with the 8031 Pulse and Direction Interface card to set different scales for input resolution. The standard Parameter Specification CPU resolutions are 800, 1000, 2000, 4000, or 512, 1024, Type 80C32 2048, 4096 pulses per motor revolution. Custom Speed 16 MHz resolutions are available. Data Bus Width 8 bits Memory System EPROM 64 Kbytes • 12 bit D/A for analog command System RAM 128 bytes (internal) • 800 µs position control loop update rate EPROM Size 512 Kbits (27C512) • Switch selectable loop and feedforward Speed 120 ns (maximum) parameters (Kp, Kp, Kff) Type CMOS, 5 volt • Switch selectable input resolution Digital Inputs Pulse and Direction (CW/CCW) Voltage Sense active high or active low • Maximum input pulse rate of 500 KHz Current Sense sinking or sourcing (1 µs width minimum) Maximum Pulse Rate 500 KHz • Current sinking or sourcing pulse and Minimum Pulse Width 1 µs Propagation Delay 200 µs maximum direction inputs (or CW or CCW inputs) Input Voltage 5 to 30 Vdc = On • Switch selectable mode of operation 1 Vdc = Off Input Current 10 mA maximum (velocity or torque) Isolation 1500 V minimum • Three color LED status indicator Digital Output Fault • Open collector fault output Voltage Sense active high or active low Current Sense sinking or sourcing • Isolated inputs Propagation Delay 25 µs maximum Leakage Current 100 nA maximum Output Current 15 mA maximum Isolation 1500 V minimum Servo Output Type Analog Voltage Resolution 12 bits Range ±10 V single-ended Load Resistance 2KΩ minimum Environment Temperature 0 to 45° C ambient 32 to 113° F ambient Humidity 10 to 90%, noncondensing Overall Dimensions Length 5.1 inches Width 4.5 inches Thickness 1.0 inch Specifications are subject to change without notice. Contact MTS Automation Division for verification of specifications critical to your needs. ® MaxPlus is a registered trademark of MTS Systems Corporation. ©2000 MTS Systems Corporation. Servo Amplifiers ® SERIES MPA 03/06-SL 8031 Clamp Interface Card CONTROLLER OPTIONS The combination of the Clamp Interface Card with a MPA 03/06-SL amplifier creates a stand-alone “clamping” servo controller/ amplifier. The 8031 Clamp Interface Card is a closed loop position controller. It is used in applications where the amplifier is run in open-loop velocity control (such as a conveyer or pump application where the velocity command is usually a potentiometer or other DC source). When the 8031 Clamp Interface Card is enabled, it will clamp (or lock) the current position of the motor to prevent the motor from 8031 Clamp Interface Card Specifications drifting from its current position. Upon the release Parameter Specification of the clamp input, the amplifier is switched back CPU to open loop velocity control. Type 80C32 Speed 16 MHz Data Bus Width 8 bits • 12 bit D/A for analog command Memory • 800 µs position control loop update rate System EPROM 64 Kbytes System RAM 128 bytes (internal) • Switch selectable loop gain parameter (Kp) EPROM • Current sinking or sourcing Clamp inputs Size 512 Kbits (27C512) • Three color LED status indicator Speed 120 ns (maximum) Type CMOS, 5 volt Input Current 10 mA maximum Isolation 1500 V minimum Digital Inputs Input 1 (Home), Input 2, Input 3 Current Sense sinking or sourcing Propagation Delay 200 µs maximum Input Voltage 5 to 30 Vdc = On 0 to 1 Vdc = Off Input Current 10 mA maximum Isolation 1500 V minimum Servo Output Type Analog Voltage Resolution 12 bits Range ±10 V single-ended Load Resistance 2KΩ minimum Environment Temperature 0 to 45˚C ambient 32 to 113˚F ambient Humidity 10 to 90%, noncondensing Overall Dimensions Length 5.1 inches Width 4.5 inches Thickness 1.0 inch Specifications are subject to change without notice. Contact MTS Automation Division for verification of specifications critical to your needs. ® MaxPlus is a registered trademark of MTS Systems Corporation. ©2000 MTS Systems Corporation.