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The Kepler & Apogee drive series consist of intelligent Pulse Width Modulation (PWM) drives for three- and single-phase actuators and offer both single and dual axis drives.
Our Apogee and Kepler drives are designed for demanding applications requiring high linearity and a very low output current ripple. This used to be the exclusive domain of linear amplifiers, but Prodrive Technologies uses its extensive experience in amplifier technology to introduce a PWM drive with negligible switching noise that matches linear drive performance.
All of our drives have an integrated controller which includes our highly flexible Prodrive Motion Platform (PMP).
The PMP tooling ensures fast and effortless commissioning, while offering motion applications a powerful API and real-time control.
| Apogee | Apogee | Kepler | Kepler | |
| Power input | S3-120/07 | D1-120/07 | D1-200/04 | D3-200/04 |
| Input voltage range | 60-120VDC | 60-120VDC | 60-200VDC | 60-200VDC |
| Input voltage, absolute max | 140VDC | 140VDC | 220VDC | 220VDC |
| Input current | 7ARMS | 7ARMS | 9ARMS | 9ARMS |
| Input current, peak | 12APK | 12APK | 21APK | 21APK |
| Auxiliary input voltage | 22-26VDC (optional) | |||
| Auxiliary input current | max 2ARMS (4APK) |
| Number of motor outputs | 1 | 2 | 2 | 2 |
| Supported motor types (linear and rotary) | 1-phase (voice coil) | 1-phase (voice coil) | ||
| 3-phase (PMSM/Reluctance/Induction/BLDC) | 3-phase (PMSM/Reluctance/Induction/BLDC) | |||
| Maximum phase current | 6.5ARMS (60s) | 6.5ARMS (60s) | 4ARMS (60s) | 4ARMS (60s) |
| Peak phase current (1s) | 16APK | 20APK (200ms) | 20APK (200ms) | |
| Maximum output voltage (line-line, typical) | 0...70VRMS | 0...70VRMS | 0...115VRMS | 0...115VRMS |
| Rated switching frequency | 200kHz | |||
| Output frequency | 0-6000Hz | 0-6000Hz | 0-4000Hz | 0-4000Hz |
| Internal brake resistor | Y | N | N | Y |
| External brake resistor | N |
| Number of encoder inputs | 2 | 2 | 2 | 2 |
| Supported types | Digital quadrature (A/B/I) | |||
| Analog sin/cos 1Vpp (14bit) | ||||
| Digital hall (5V) | ||||
| EnDAT 2.1/2.2 | ||||
| Hiperface DSL 4-wire | ||||
| BiSS C | ||||
| SSI | ||||
| Maximum signal fequency with no missing pulses | 4MHz | |||
| Maximum baudrate (digital encoders) | 32MHz | |||
| Encoder supply (each input) | 5V 500mA / 10V 500mA (with remote voltage sense) |
| Isolated digital inputs | 4 x 24V input (VIH≥11V, VIL≤5V, IIN<15mA) |
| Isolated digital outputs | 4 x 30V / 500mA |
| Non-isolated digital inputs | 4 x TTL |
| Non-isolated digital outputs | 2 x 24V - 1A + 2x 24V - 200mA + 4x TTL output |
| Analog inputs | 2 x ±10V differential input, 16bit |
| Analog outputs | 2 x ±10V differential output, 16bit |
| Brake outputs | - |
| Interface | Ethernet / EtherCAT / RS485 (50MBps max) |
| Update rate | 100Hz - 20kHz |
| Offset error [%of Ipk] | 0.40% | 0.40% | 0.25% | 0.25% |
| Offset drift [%of Ipk] | 0.04% | 0.04% | 0.07% | 0.07% |
| Gain error [%of Ipk] | 0.70% | 0.70% | 0.82% | 0.82% |
| Gain drift | max 150ppm | max 150ppm | max 0.15% | max 0.15% |
| Linearity error [ppm of Ipk] | max 50ppm | max 50ppm | max 550ppm | max 550ppm |
| Current loop, small signal bandwidth (-3dB) | Typical 6-7kHz | Typical 6-7kHz | Typical 2-4kHz | Typical 2-4kHz |
| Output current noise spectral density @100Hz | max 1μA/√Hz | max 1μA/√Hz | max 20μA/√Hz | max 20μA/√Hz |
| Output current noise, rms 1Hz-10kHz | max 110uArms | max 110uArms | max 600uArms | max 600uArms |
| Output current noise, rms 1Hz-20MHz | max 150uArms | max 150uArms | max 800uArms | max 800uArms |
| Applicable standard | - |
| STO | - |
| SBC | - |
| Dimensions (WxDxH) | 271 mm x 442 mm x 70mm |
| Mass (typical) | 7 |
| Operating temperature range | 10°C - 40°C |
| Operating humidity range | 20-80% non-condensing |
| Shock&Vibration | IEC61800-5-1, IEC60068-2-6 (Fc) |
| Lifetime | >10 years |
