ETEL Accuret MODULAR series servo controller

ETEL Accuret MODULAR series servo controller

Overall positioning and architecture of the product

Manufacturer background

ETEL S.A.， Headquartered in M ô tiers, Switzerland, we specialize in high-precision direct drive motors and distributed motion controllers, targeting high-precision equipment such as semiconductors, precision testing, gantry platforms, and photovoltaics.

hardware architecture

Modular split design: EA-P2M dual axis controller+EA-S0M dedicated DC power supply (only 48 series is low-voltage DC direct supply, no need for matching AC-DC power supply); All controllers are standard 2-axis drive, distributed bus control, and a single TransnT bus can connect multiple controllers in series.

General hardware layout

All series interfaces have unified definitions: USB debugging port, dual network port (Ethernet TCP/IP+TransnT real-time bus), two encoder channels, independent digital IO for each axis, global high-speed IO, and two motor power terminals; High voltage 300/400/600 with grounding terminal and high voltage warning.

Differentiation of hardware parameters among the four major series (differences in core selection)

1. Accuret MODULAR 48 (EA-P2M-048, low voltage DC type)

Power supply: DC 15-48VDC, no need for matching EA-S0M power supply; Control logic 24VDC (± 10%)

Current specifications (2 types)

EA-P2M-048-2.5/5A: single axis continuous 2.5Arms, peak overload 5Arms, overall weight 0.98kg

EA-P2M-048-05/10A: single axis continuous 5Arms, peak overload 10Arms, total weight 1.13kg

Size: 130 (H) × 182 (D) × 50/75 (W) mm

PWM frequency: 10kHz/20kHz

Applicable: Small precision platforms, low-voltage linear motors, desktop inspection equipment

2. Accuret MODULAR 300 (EA-P2M-300, medium voltage AC power supply)

Controller bus: 48-340VDC; Supporting power supply EA-S0M-300 single-phase AC71-240V input

Current specifications (2 types)

EA-P2M-300-4/7.5A: continuous 4A, peak 7.5A, weight 1.4kg

EA-P2M-300-07/15A: continuous 7.5A, peak 15A, weight 1.6kg

Power output: DC bus 100-340VDC, continuous 40A, pulse 80A; auxiliary 24VDC control power supply

PWM：10/20kHz； The overall depth of the machine is 217mm

3. Accuret MODULAR 400 (EA-P2M-400, wide voltage high and low power)

Busbar: 48-400VDC; The EA-S0M-400 power supply supports single-phase/three-phase AC71-280V

Current specifications (3 types)

05/10A: Continuous 5A, peak 10A

10/20A: continuous 10A, peak 20A

15/40A: continuous 15A, peak 40A, whole machine 4kg

Power: Single phase maximum 2.8kW, three-phase 4.8kW; Controller maximum DC input 30A

Size: 259 (H) × 246 (D) mm

4. Accuret MODULAR 600 (EA-P2M-600, high voltage three-phase high power)

Busbar: 200-600VDC; The EA-S0M-600 power supply only supports three-phase AC142-424V

Unique current specification: single axis continuous 15Arms (5kHz PWM), peak overload 40Arms, whole machine 4kg

PWM frequency: 5kHz/10kHz (different from other series without 20kHz gear)

Power supply power of 7.3kW, suitable for large gantry and high thrust direct drive equipment

General parameters of power supply unit (EA-S0M series)

Auxiliary power supply: Unified output of 24VDC ± 10%, maximum 10A, providing logic power to the controller

Impulse current: peak power on value 15Apeak; Built in power safety relay, capable of cutting off power bridge output

DC bus output: continuous 40A, pulse peak 80A, matched with the maximum current of the corresponding controller

Unified control performance specifications for the entire series (all 4 series are completely universal)

1. Control loop sampling period (high-precision core)

Motion trajectory/command management: 400 μ s, can be reduced to a minimum of 200 μ s

Current loop closed loop: 50 μ s

Position loop closure: 50 μ s

2. Motion trajectory support

Basic contours: trapezoid, S-shaped curve, sine curve, custom table lookup interpolation; Advanced contour reference superior UltimET multi axis main controller

3. Communication interface (four types of standard communication)

USB 2.0 FullSpeed (12Mbps): only used for parameter debugging and firmware upgrade

TransnT (ETEL exclusive 1Gbps real-time bus): cycle 100 μ s, minimum 50 μ s, nanosecond level synchronization, up to 63 axes in series

Ethernet TCP/IP: 10/100M Ethernet, upper computer monitoring

Firmware upgrade channel: USB/Ethernet/TransnT all three channels can be flashed and written

4. Encoder compatible interface

Simulate 1Vpp sine encoder: maximum input 500kHz

TTL digital incremental encoder: maximum 10MHz

EnDat 2.1/2.2 Absolute value encoder: RS485 hardware interface

5. IO resource configuration (basic+optional expansion board)

Standard IO

Each axis is independent: 4 digital inputs DI/2 digital outputs DO

Dual axis shared high-speed IO: 6 high-speed inputs/4 high-speed outputs

No standard analog IO

Optional expansion board

Additional features: 8 channels of universal digital IO+4 channels of 16 bit high-precision analog input/output

Full range of universal advanced motion control functions (core features of the document)

All controllers are equipped with the same high-performance algorithm, targeting ultra-high precision and high-throughput devices:

20ns Fast Trigger (1D/2D Fast Trigger)

Based on theoretical/practical motor position output hardware triggering, micro nano level synchronization, used for photolithography, detection, and visual synchronization positioning.

Sensorless/sensorless force control

High precision torque closed-loop, zero stop time, no decrease in equipment production cycle, suitable for fitting and pressing processes.

Mechanical identification and automatic tuning tools

Automatically identify motor, rail resonance, and friction parameters, optimize PID with one click, and evaluate the mechanical performance of the entire machine.

Gantry decoupling control

Specialized decoupling algorithm significantly shortens the positioning stability time of the double dragon gate platform and suppresses synchronization errors.

Platform Security Protection Stage Protection

Emergency controlled emergency stop algorithm to avoid high-speed collision and support flexible deceleration shutdown.

Tooth slot torque+friction compensation

Self learning algorithm that automatically counteracts the cogging force of linear motors and nonlinear friction of guide rails, eliminating positioning ripple.

Single axis dual encoder feedback

Simultaneously reading the grating ruler and motor encoder, optimizing the positioning accuracy of long stroke equipment, and eliminating deformation errors of the screw/guide rail.

RTV real-time data stream

8 channels of high-speed real-time data upload per axis, with real-time reading of position, current, speed, and error by the upper computer.

Trajectory Filters

Flexible S-shaped filtering suppresses mechanical resonance, reduces vibration, and shortens positioning stability time.

Software and Secondary Development Ecology

ComET Debugging Software (Windows Vista/7/8/10)

Official upper computer: parameter configuration, waveform monitoring, automatic tuning, fault diagnosis, and motion program writing.

ETEL Device Interface (EDI) Development Library

Provide C/C++/. NET DLL drivers, support Windows 32/64 bit, RTX2016 real-time systems, and can independently develop device control software.

Firmware Update

Supports remote firmware upgrade of controllers via USB, Ethernet, and TransnT bus.