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

Model	VLC-ETC	VLC-ETC-13
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 at 50 VDC max.	10 Amps Cont. and 13 Amps, peak at 48 VDC max.
Motor Type	3-Phase Brushless, DC brushed, Linear voice coil
PWM Frequency	20.0 KHz
Current resolution	2.93 mA (Optional: 5.66 mA, 1.95 mA {Max. sensed current: 4 A, peak current: 6 A}, 0.98 mA {Max. sensed current: 2 A, peak current: 3.4 A})	2.93 mA (based on current sensing range of -6 A to 6 A, and 12-bit current sensing ADC). Custom current resolution can be made by request.
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.
	Output: 1 Channel, 0-10V With 12-Bit Resolution.	n/a
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	1x EtherCAT LED: Run (green), Error (red) 1x Servo Drive LED: Power ON (green), Fault (red)	1x Power on LED 1x Fault LED 1x GPO5 LED
Communication Interface	1x Serial/UART (USB type-B): 9600 baud default, selectable between 2400 – 460800 2x EtherCAT RJ-45 ports	1x Serial/UART (USB type-B) 2x EtherCAT IP RJ-45 ports
Protections	Reverse polarity connection I2T Overcurrent Overload (excessive) servo position error	Driver overtemperature at 150 degrees C Reversed Power Supply Polarity I2T Overcurrent Overload (excessive) servo position error
VLC program space	Macro storage: 53728 bytes Maximum number of macros: 512 Maximum number of program registers: 2048