SW-Series Servo Drives
Note: Though still supported, the SW-Series Drives has reached end-production. New systems will be specified with the S2D-Series drives . For after-market support, please reference Technical Note 58: Replacing SAC-SW Series Drives with SAC-S2D Series Drives for detailed information.
ServoWire digital drives provide high performance servo operation using digital networking technology based on IEEE 1394a (or FireWire). This network not only provides high speed, but also ease-of-use through cost-effective, industry-standard cabling.
- 5 Models from 2.4 to 60 amps
- Models Range from 600 to 15,000 Watts
- IEEE 1394a ServoWire (FireWire) digital network
- Input Power - 115 or 230 VAC
- DSP Technology with band width at 1200 Hz
- I/O on Board for high speed interface
- All-Digital Design - eliminates all manual drive setup
- Small Footprint - high power density, reduces space requirements
- Sinusoidal Commutation - improves low speed torque ripple
- Trapezoidal Commutation - provide user flexibility
- UL/CE marked
Each ServoWire drive supports a wide variety of high performance, encoder-based servomotors. Consult ORMEC for OEM applications of user-supplied brushless rotary or linear motors---as well as DC brush-type and voice-coil motors.
Eight drive models range from 600 to 15,000 watts, and offer continuous current output from 2.4 to 60 amps RMS/phase. All ServoWire drives use reliable IGBT-based intelligent power modules and provide cost effective solutions for your motion control applications. ServoWire drives operate on 115 or 230 VAC input power and provide both output short circuit and overvoltage protection.
All-digital design eliminates the troublesome analog interface between controller and drive systems, by using a modern high speed network based on the IEEE 1394a standard.
ServoWire drives combine all-digital operation with DSP technology to produce fast update rates and current loop bandwidths up to 1200Hz. High bandwidth current loops teamed with high resolution motor feedback combine for quick and accurate torque, velocity and position control.
Programmable Drive Configuration
ServoWire drives have no potentiometers, jumpers or field component changes. Factory adjustments are digital, automatically calibrated and stored in Flash memory. All user configurations are done in software using axis configuration tools in the MotionDesk software. Motor types are selected from a database of ORMEC standard products or the custom motor editor can be used to add other motor types to the database.
Configurations for each drive containing the motor parameters, all operational limits for torque and speeds, I/O configurations, load inertia and servo loop tuning parameters are stored in the ORION controller as part of a system project and automatically downloaded over the ServoWire network at power up. Simple cabling accommodates up to eight drives per network, and provides for quick and reliable installation.
Standard Motor Interface
ServoWire drives interface encoder based motors using quadrature feedback and hall track information. They provide smooth output torque using three phase sinusoidal commutation. An optional multi-revolution absolute encoder interface is available.
Integrated Drive I/O
Integration of digital drive technology with a high speed input and output interface gives the user greater flexibility and tighter control over the interaction between motion and external sensors and actuators. External sensors can initiate motion within one servo loop update, capture position with microsecond resolution, or reset PLS positions.
Versatile limit switch outputs are independently programmable and can be referenced from the motor position, motor command, another axis, or an on-board timer. Three optically isolated PLS outputs per axis can drive external actuators, be wired to sensor inputs to initiate motion, and be used to control when a sensor input is allowed to be seen by the drive during sensor ‘blinding operations’.
Auxiliary Encoder Interface Option
An auxiliary encoder interface option is available for applications requiring a pacer encoder or dual encoder feedback. This option includes three additional PLS outputs plus a virtual axis command generator that can be used during maintenance when encoder motion is not available.
Safety & Maintainability
Safety interlocks are standard in all ServoWire drives. The network’s integral safety interlocks and comprehensive alarm detection provide safe operation for ServoWire drives, axis modules and ORION controllers. System maintainability is enhanced by alarm detection and reporting.
ServoWire Drives -- At A Glance
- Five models: offering continuous output currents from 2.4 to 60 amps RMS/phase.
- All-digital design: eliminates all manual drive setup including pots and jumpers
- Small footprint: provides high power density and reduces space requirements.
- Sinusoidal commutation: improves low speed torque ripple and system efficiency.
- Trapezoidal commutation & DC operation: provide user flexibility.
- Integral shunt regulators: add protection (All models except SAC-SW203 & SW205).
- UL Listed and CE Mark (low voltage directive & EMC).
- Status Indicators -- Large two-digit display for network ID and drive status plus six LED indicators that show condition of sensors, travel limits and motor over-temperature.
- ServoWire Network Interface -- Two connectors provide all digital control link to ServoWire Drive Network. Network interface is galvanically isolated from the drive and powered by the ServoWire Axis Module.
- Drive Power Inputs -- Universal voltage input power accepts 90 VAC to 265 VAC featuring separate logic and bus power supplies with overvoltage protection.
- Flexible Drive I/O -- ServoWire Drive provides three high speed sensor inputs, up to six optically isolated programmable limit switch (PLS) outputs--(one of the PLSs can be used as a user-configurable fail-safe brake control output), two overtravel limit switch inputs, plus two high quality analog outputs for monitoring motor velocity and torque. Convenient screw terminal plugable connectors.
- External Regen & Bus Connections -- Allows bus power to be shared between drives and/or the addition of an external resistor for dissipating regenerative energy from the system. (All models except SAC-SW203 & SW205).
- Brushless Motor Feedback Interface -- Versatile encoder feedback interface accommodates differential or single-ended hall tracks, quadrature feedback, and optionally support the multi-revolution, absolute encoders available on ORMEC D-Series motors.
- Auxiliary Encoder Input Option -- Provides an additional connector for a pacer encoder when applications require addition positioning information for web control applications. Used for distributed feedback applications.
Integrated Drive I/O Interface
- High Speed Sensors: Each drive provides interfaces for three high speed sensors. The AS, BS, and CS inputs, along with the internal encoder reference signal, can capture real-time axis position for either or both axes within one microsecond of assertion. They can initiate axis motion on the next position loop update (between 0.2 and 1.0 milliseconds delay--depending on loop rate).
- Overtravel Limits: Each axis provides both hardware overtravel limits (HTLR, HLTF) as well as software overtravel limits for use when motor travel is limited. e.g. ballscrews
- Delay Counter: This optional 20-bit counter can be used to delay a sensor or encoder reference signal by the specified number of encoder feedback counts. It can be configured in several operating modes providing a wide range of flexibility. The DELAY counter output is fully integrated into MotionBASIC® and can be used to initiate motion and/or capture position.
- Analog Monitors: Two analog outputs (AOUT1, AOUT2) are provided to monitor torque and speed of the servomotor.
- Brake Output: A user-configurable output (OUT6) is provided for control of fail-safe brakes.
- Zero Reference Output: The motor’s zero reference (index mark) output signal (ZOUT) is available on this terminal.
- Programmable Limit Switches: Each axis on the ServoWire Network provides three optically coupled programmable limit switch (PLS) outputs which respond at the position update rate. Each PLS is independently driven with actual or commanded position of an axis, or through the MotionDATA network. OUT4, OUT5 & OUT6 functionality is included with the auxiliary encoder option.