VLC-ETC: Single Axis EtherCAT Servo Drive

The VLC-ETC is an EtherCAT servo drive that is based on SMAC's VLC 1-axis integrated controller/driver and an additional layer that provides the EtherCAT connectivity. The VLC part is pre-programmed with system macros to accommodate control and monitoring functionalities of the servo drive.

Additional macros can be programmed in the VLC to perform subroutines/functions that can be called from the EtherCAT master. Background knowledge on the VLC is required to configure the servo parameters of the VLC-ETC. Please refer to the latest VLCI-R1 or VLCI-X1 manual for more information about the servo drive parameters and programming.

Specification
Documentation
Software
Videos

Description	EtherCAT servo drive
Operating Modes	Position, Velocity, Torque, Current, Homing, Phasing
Filter Algorithm	PID
Max. Servo Loop Rate	100 μS
Trajectory Generator	Trapezoidal
Servo Position Feedback	Incremental Encoder with Index
Output (Standard)	PWM (space-vector-modulated), 3.5 Amps Cont. and 6.5 Amps Peak (with proper heat mitigation) at 50 VDC Max.
Motor Type	3-Phase Brushless, DC brushed, Linear voice coil
PWM Frequency	20.0 KHz
Current resolution	5.66 mA
Encoder and Index Input	Differential
Encoder Supply Voltage	5 VDC
Encoder Input Voltage	5.5 VDC Max., -0.1 VDC Min.
Encoder Count Rate	40 million encoder counts per Second
Position Range	31 Bits
Velocity Range	31 Bits
Acceleration Range	31 Bits
Digital I/O	4x Opto-isolated Digital Inputs w/ common: 24 V Level Input 4x Solid-state Relay Outputs w/ common: 200 mA Current Tolerant to 60 V
Analog I/O	Input: 1 Channel (differential), 0 to +/-10V With 12-Bit Resolution.
Analog I/O	Output: 1 Channel, 0-10V With 12-Bit Resolution.
STO (Safe Torque Off)	2x Opto-isolated STO Inputs: 24 V Level Input 1x Opto-isolated STO Feedback Output: 200 mA Current Tolerant to 60 V
LEDs	2 x 2 LEDs: EtherCAT LED: Run (green), Error (red) Servo Drive LED: Power ON (green), Fault (red)
Communication Interface	1x serial/UART (micro USB port): 9600 baud default, selectable between 2400 – 460800 2x EtherCAT RJ-45 ports
Protections	Driver overtemperature at 150 degrees C Overcurrent Overload Reverse polarity connection I 2T (excessive) servo position error
VLC program space	Macro storage: 53728 bytes Maximum number of macros: 512 Maximum number of program registers: 2048

VLC-ETC Outline Drawing

(Right-click and Save link as to download file.)

VLC-ETC Controller User Manual Ver 1.6

ESI file

System macro file

VLC-X Editor Setup 1.4 (Right-click and Save link as to download file.)
Easy setup and tuning of control parameters for VLC series controllers.

VLC-ETC Controller Tutorial 1 - Program Space and System Macros

VLC-ETC Controller Tutorial 2 - Establishing EtherCAT Connection with TwinCAT Software

VLC-ETC Controller Tutorial 3 - Generating Basic Motions on a Single-Phase Actuator

VLC-ETC Controller Tutorial 4 - Phasing on a Three-Phase Actuator