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Market-leading Apogee & Kepler PWM servo drives
The most demanding semiconductor applications need motors with servo drives that have fast linear output and minimum distortion. This used to require linear amplifiers, but reducing switching noise to very low levels allows the use of PWM servo drives. That means versatile control and increased system efficiency to reduce thermal load.
Our Apogee & Kepler are industry-leading servo drives that can move loads to within a few nanometres at fast, constant velocity. They have excellent linearity, up to 24-bit (for Apogee) current sensing resolution for accurate feedback, and ultra-low noise outputs with very low output current ripple and jitter. Internal output filtering and EMI protection means the drive can operate with a minimum of external components.
Both are intelligent PWM (Pulse Width Modulation) drives with unrivaled 200 kHz switching frequency for single- and three-phase motors, and single- and dual-axis drives. Their performance used to be exclusive to linear amplifiers, but the negligible switching noise now matches linear drive performance.
They can be part of a synchronized EtherCAT® network as slaves. With dual loop feedback (for both motor and load position), the motor drives have incremental, analog, Hall, and absolute encoder support. They work with any motor type including brushless, brush, linear, and voice coils. A dedicated Ethernet output has advanced diagnostic capabilities.
All of our drives come with our versatile PMP (Prodrive Motion Platform). PMP offers powerful real-time control of centralized, distributed, and hybrid systems. It also ensures fast and effortless commissioning and debugging. Combined with one of our multi-axis controllers, they interface with Matlab® and Simulink® code generation to apply custom control-loops models that perfectly match the application.
Applications include:
| 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 |
