DC servo motor driver
KSJ DC servo motor drivers have the series of Inros/Kyros.
Inros series have single board shape for industrial equipments,
and Kyros series have a small multilayer board shape so that it can be built into a robot.
When using a motor driver to move the mechanics, it is important that it is designed to be safe so as not to harm the surroundings. KSJ is now going to acquire the certification under TUV SUD for functional safety standards called STO (Safe Torque off) and SS1 (Safe Stop 1).
High-performance models and low-priced models are available for each of the Inros series and Kyros series, and users can select high-performance motor drivers for R&D and high-end applications, and can select inexpensive motor drivers for mass production applications.
When using a motor driver to move the mechanics, it is important that it is designed to be safe so as not to harm the surroundings. KSJ is now going to acquire the certification under TUV SUD for functional safety standards called STO (Safe Torque off) and SS1 (Safe Stop 1).
High-performance models and low-priced models are available for each of the Inros series and Kyros series, and users can select high-performance motor drivers for R&D and high-end applications, and can select inexpensive motor drivers for mass production applications.
Production Model (Inros / Kyros)
◇Model number
Specifications
Model specifications ~ Control characteristics ~
Common specifications ~ Electrical characteristics ~
Feedback control Logic
Current / velocity / position feedback
Motor control is realized by three layers of feedback: current control, speed control, and position control.
In current control loop, PI control is performed based on the current command value and the measured current value of the U/V/W three-phase from the motor.
The motor is driven by the voltage command by PI control and vector control outputting to PWM inverter.
The motor is driven by the voltage command by PI control and vector control outputting to PWM inverter.
In speed control loop, PI control is performed based on the speed command value and the speed information input from the encoder.
The output current command by PI control is given as the current command value for the current control loop.
The output current command by PI control is given as the current command value for the current control loop.
In position control loop, PID control is performed based on the position command value and the position information input from the encoder.
The output speed command by PID control is given as the speed command value for the speed control loop.
The output speed command by PID control is given as the speed command value for the speed control loop.
EtherCAT Communication
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・Communication cycle：100 μsec (Shortest)
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・Motion profile CiA402 corresponded
Mode of control： CST mode, CSV mode, CSP mode, PP mode, Homing mode -
・ User can evaluate KSJ motor driver as a set with KSJ EtherCAT master.
"KSJ Config tool" and "SDO communication" can set the same contents to motor drivers.
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・Object dictionaly
Table update later （will be add the download link）
Tuning tool for KSJ motor driver
Auto-tuning based on frequency response
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Based on classical control theory,“Auto-tuning based on Frequency response” is developed. KSJ considers not only just a motor but also the motor load. KSJ tuning algorithm discloses to customers.Users can know how tuning software works.
◆Main window
◆Bode plot
This tuning tool also provide the filter function for those issues.
◆Nyquist diagram
For fast or robust control system, Nyquist diagram is important to determint the parameters.
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