Specifications
General Hardware Specifications
| Mass | 33g (including heatsink) |
| Dimensions | 45.7mm x 34mm x 18mm |
| Analog input | 1 x single ended (0 - 3.3V) |
| Encoder input | 1 x single ended / differential |
| Heatsink | Aluminium |
| Temperature sensing | 2x temperature sensors on power board |
| Safety protections | Over/under-temperature Over-current Over/under-voltage Loss of host Position sense fault Configurable fault on analog input |
| Supports JCS processes | Yes |
| Supports JCS device rate | Yes |
| JCS device rate frequency | 15kHz |
Electrical Specifications
| DC bus maximum voltage | +72V continuous, +85V peak (100mS), E-Stop at +90V |
| DC bus minimum voltage | +24V continuous, E-Stop at +20V |
| DC bus capacitance | 90uF |
| Phase current sensing | All 3 phases, in-line shunt based |
| Maximum phase current | 30A continuous, 50A peak (thermally limited) Active current limiting based on device temperature |
| Phase voltage sensing | All 3 phases |
| PWM frequency | 30kHz |
| Current control loop frequency | 30kHz |
encoder_X_spi_frequency fpclk |
54Mhz |
| 12V supply maximum voltage | 13V |
| 12V supply minimum voltage | 11V |
| 12V supply nominal current draw | 100mA (Device running) No encoder connected Actual current draw can vary up to this amount as the motor current variesEstimated - still to be verified |
| 12V supply capacitance | 88uF |
| Joint controller 5V interface burden | 3mA (15mW) Device draws this current from the joint controller 5V supply to power the isolated communications interface |
NOTE:
The device uses 100V rated ceramic capacitors. Note that DC bias effects will be present and the effective bus capacitance will go down as the bus voltage goes up. Add external capacitance close to the device power inputs if the application demands it.