Motion Controller for High Power Requirement Integrated Driver for up to 4 Drive Axes with AC Servo Motor, DC Motor, Voice Coil Motor, Stepper Motor G-901 ▪ ACS motion controller with integrated ACS driver and integrated module for safe torque off (STO) ▪ Directly compatible with positioners from PI ▪ For AC servo motors / brushless DC motors, brushed DC motors, voice coil motors, stepper motors ▪ Output power per axis to 1500 W ▪ Many options for trajectory planning ▪ Upgradable to up to 8 axes in an ACS EtherCAT network Overview The G-901 motion controllers offer a fully integrated electronics solution with controller and driver in an industry-compatible 19" housing. The G-901 motion controller features the state-of-the-art ACS SPiiPlusEC motion controller and EtherCAT master. Integrated drivers for 2, 3, or 4 axes. Upgradable via EtherCAT to up to 8 synchronized axes (additional driver modules necessary). EtherCAT cycle and generation rate of the motion profile 2 kHz. Ethernet velocity of up to 1 GbE. Servo algorithms for advanced gantry and dual-loop control. STO safety function for safely switching off the power supply for the axes. Encoder Supports incremental encoders (sine/cosine or RS-422) and absolute encoders (EnDat 2.2 & 2.1, Smart-Abs, Panasonic, BiSSA/B/C (SSI)). Depending on the application, the encoders can be led to different interfaces. I/O lines The digital inputs and outputs can be flexibly configured. For the evaluation of reference switches, digital inputs can alternatively be led to the motor connectors. Depending on the application, the inputs for the limit and reference switches can be configured for 5 V or 24 V and also as PNP or NPN inputs. Position synchronous trigger signals with up to 10 Mhz output frequency enable a precise process control at high travel velocities (position event generator – PEG). Communication, software support The motion controller works as master in an internal EtherCAT network. The open network architecture also enables the integration of components from other manufacturers. For communication with a PC, the motion controller is equipped with an Ethernet TCP/IP and a RS-232 interface. ACS SPiiPlus MMI Application Studio, a modern user software with tools for control tuning and visualizing is included in the scope of delivery. Programming libraries are available for C/C++, COM, .NET, and MATLAB.

Configuration If the types of positioner are specified when ordering, all connectors of the G-901 are suitably preconfigured at delivery. The default factory configuration, without positioner-specific adjustments, is detailed in the specifications. For subsequent adjustments, please contact our service department. Specifications G-901.Rx19 / G-901.Rx197 / G-901.Rx199 Function Version Motor types Number of drive axes ACS SPiiPlusEC controller wit up to two ACS UDMcb driver modules including ACS components for STO x codes the intermediate circuit voltage (48 V / 96 V), for details see "Electrical...

EtherCAT network 2 × HD D-sub 26 (f), maximum 3 A continuous current per pin 2 × D-sub 9W4 (f), maximum 20 A per motor phase Alternative use is possible, depending on maximum phase current. The lines for limit and reference switches are available on all connectors. The lines for motor brakes are available on the HD D-sub 26 (f) connectors. 2 × M15 9-pin (f) The lines for limit switches are available for: 2 × HD D-sub 26 (f) 2 × M12 5-pin (f) 2 × D-sub 15 (m) The lines for reference switches are available on the HD D-sub 26 (f) connectors. The lines for motor brakes are available on the M15 9-pin...

Drawings / Images G-901.R319[x], dimensions in mm. Note that a comma is used in the drawings instead of a decimal point.

G-901.R419x and .R519, dimensions in mm. Note that a comma is used in the drawings instead of a decimal point.

G-901.R5197 and .R5199, dimensions in mm. Note that a comma is used in the drawings instead of a decimal point.

Rear panel of the G-901.R3199 with connectors Rear panel of the G-901.R4199 with connectors

Rear panel of the G-901.R5199 with connectors Ordering Information G-901.R319 ACS controller with ACS driver module, 2 axes, intermediate circuit voltage 48 V / 1000 W, 19'' housing, integrated ACS SP+EC-08080832NNNDNDNN motion controller + EtherCAT master, integrated ACS UDMcb2BA2U2CBAN driver module, integrated STO module (safe torque off), EtherCAT, Ethernet, and RS-232 interfaces G-901.R3197 ACS controller with ACS driver module, 3 axes, intermediate circuit voltage 48 V / 1000 W, 19'' housing, integrated ACS SP+EC-08080832NNNDNDNN motion controller + EtherCAT master, integrated ACS UDMcb2BA2U2CBAN...

G-901.R5199 ACS controller with ACS driver module, 4 axes, intermediate circuit voltage 96 V / 2000 W, 19'' housing, integrated ACS SP+EC-08080832NNNDNDNN motion controller + EtherCAT master, two integrated ACS UDMcb2BB2U2CBAN driver modules, integrated STO module (safe torque off), EtherCAT, Ethernet, and RS-232 interfaces Field Upgrades G-900.F001 Field upgrade G-Code for programming ACS-based controllers G-900.F002 Field upgrade ACS ServoBoostTM for 4 axes G-900.F003 Field upgrade ACS axis license for upgrading the controller from 4 to 8 or respectively from 8 to 16 drive axes