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Zenith DA-30/01 是双轴机架模块直线驱动器，采用 24V 直流电供电，内部生成 +15/-15V 直流电压。驱动控制采用 EtherCAT 协议，通过CiA402 兼容接口连接。此驱动器是我们的 Multi Axes Motion Control Rack（多轴运动控制机架）概念和 Prodrive Motion Platform（PMP，浦卓运动平台）的一部分。与电机和传感器的外部连接可完全按照客户需求定制。
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| CST & CSTA modes | CiA402 interface |
| PP & CSP modes | |
| Jerk and snap-limited trajectory generator | |
| Standard control | Sequential PI control with 5x bi-quad filter |
| Generated control | Prepared for future extension with Simulink generated control loops |
| Custom control possibilities | eg PD-control with I/O linearizing high gain observer for optimized settling performance |
| Commutation | based on encoder or Hall sensor |
| Current control | |
| Min | Typ | Max | Unit | |
| Control supply | 24 | VDC | ||
| Actuator supply | -15 | 15 | VDC | |
| External actuator supply | 24 | VDC |
| Max | Unit | |
| Output current (cont.) | 1 | Arms |
| Output current (pk.) | 2 | A |
| Output voltage (ph-ph) | 100 | Vrms |
| Current noise (10-1000 Hz) | 20 | µA/√Hz |