A-811.21A10
PIglide motion controller, 19" rack unit, one axis, incremental encoder with sin/cos signal transmission, Output current 10 A continuous / 20 A peak
A-81x PIglide Motion Controller for 1, 2 or 4 Axes
For Stages with Direct Drive, TCP/IP Interface
- 1, 2, & 4 motion axes
- Fully integrated closed-loop servo control, amplifier module, and power supplies
- For voice coil drives, DC motors, and brushless 3-phase motors
- Quiet PWM drives
- Encoder inputs support incremental (analog sine/cosine and RS-422) and absolute (BiSS-C, EnDat 2.1/2.2) encoder
- Output current up to 10 A continuous / 20 A peak per axis
A-81x, dimensions in mm
A-81x PIglide Motion Controller for 1, 2 or 4 Axes
Product Description
Specifications
Downloads
Quote / Order
Overview
The A-81x motion controller series from PI offers a fully integrated electronics solution with controller, servo drives, and power supplies in a compact 19-inch rack unit. The A-81x controllers are designed and optimized for the operation of air bearing PIglide linear and rotation stages with direct drive and other positioners from PI that are equipped with servo motors and high-resolution encoders.
Standard options include inputs for incremental and absolute encoders. Support for sine/cosine encoders has an integrated interpolation factor of up to 4096x. All controllers feature on-board flash memory for stored motion programs and parameters.
The A-81x controllers can be operated in stand-alone mode running stored programs, or controlled via an external PC. A PC is required for programming and startup. All software is supplied with the controller.
If the controller is purchased together with a PIglide air bearing stage or positioning system, PI will do the servo tuning, startup of the controller, and error calibration, and supply a complete ready-to-use positioning system.
The A-81x motion controller features the state-of-the-art ACS SPiiPlusEC motion controller and EtherCAT master.
Options and Upgrades
- Various encoder inputs. Custom configurations are required for mixing encoder types across channels.
- Various motor current output levels
- G-Code Programming
- Input shaping for an improved settling behavior and a decreased motion caused by reaction forces
- Additional control axes for external drives via EtherCAT (up to 64 axes)
- ServoBoostTM or ServoBoostTM PLUS for an improved position stability and a reduction of servo jitter
- Additional programming buffers for storing motion programs (up to 64 axes)
Specifications
Specifications
General specifications | A-81x |
|---|---|
Controller type | ACS SpiiPlus EC controller and EtherCAT master for closed-loop servo control, parameter change during operation, synchronized multi-axis motion via native XSEG motion commands with advanced look-ahead and corner rounding algorithms. Dynamic error compensation functionality during multi-axis operation. |
Servo frequency current control | 20 kHz |
Servo drive type | PWM |
Motor types | Brushless 3-phase motor with sine commutation (default) Voice coil Brushed DC motor |
Cooling | Fan on the side (continuous operation, constant speed) |
Interlock / E-stop | 1x 24 V DC sink, switches off the power supply of the motors when open |
Connectors | Rear panel connectors D-sub for motor and signal connections IEC 60320 type C14 for power supply |
Power supply | 120 - 240 V AC, single phase, 50-60 Hz, 600 W |
Output voltage | 60 V DC (default) Possible factory setting: 48 V DC |
Communication interfaces | Ethernet: TCP/IP (100/1000 Mbps), EtherNet/IP, Modbus/TCP |
User software | ACS SPiiPlus MMI Application Studio Optional (separate licence required): ACS SpiiPlus SPC Smart Processing Commander |
Command set | ACS SPiiPlus ACSPL+ command set Optional: G-Code |
Application programming interfaces | Programming libraries for C/C++, COM, .NET Optional: MATLAB |
Dimensions | 482.6 mm (19'') × 453 mm (17.8'' = 2U) × 89 mm (3.5'') |
Configurations | A-811.21xxx | A-812.21xxx | A-814.21xxx |
|---|---|---|---|
Number of axes | 1 | 2 | 4 |
Number of synchronized axes via EtherCAT(1) | Up to 2 | Up to 8 | Up to 8 |
Control rate and EtherCAT clock rate | 2 kHz(2) | 5 kHz | 5 kHz |
User I/O (without limit switch)(3) | 2 × digital input, 24 V DC sink (NPN) 2 × digital output, 24 V DC source (PNP) 1 × analog input, differential 12-bit 1 × analog output, differential 10-bit 2 × RS-422 5 V high-speed output for position trigger (PEG) | 2 × digital input, 24 V DC sink (NPN) 2 × digital output, 24 V DC source (PNP) 1 × analog input, differential 12-bit 1 × analog output, differential 10-bit 2 × RS-422 5 V high-speed output for position trigger (PEG) | 4 × digital input, 24 V DC sink (NPN) 4 × digital output, 24 V DC source (PNP) 2 × analog input, differential 12-bit 2 × analog output, differential 10-bit 4 × RS-422 5 V high-speed output for position trigger (PEG) |
Motor brake output | 2 × 24 V DC 1 A max. per channel, 1 A max. total | 2 × 24 V DC 1 A max. per channel, 1 A max. total | 4 × 24 V DC 1 A max. per channel, 1 A max. total |
Regeneration clamp | 50 W continuous, 800 W peak | – | – |
Mass | 8.5 kg | 8.5 kg | 9.3 kg |
Configurations | A-81x.21Axx | A-81x.21Bxx | A-81x.21Cxx |
|---|---|---|---|
Encoder type | Incremental | Absolute | Incremental |
Signal type | Analog 1 Vpp sine/cosine Differential 4 × up to 4096x interpolation (internal) | BiSS-C, EnDat 2.1/2.2 Serial data | RS-422 A/B quadrature, TTL Differential |
Max. velocity encoder impulses | 500 kHz | – | 12.5 million lines/s 50 million quadcounts/s |
Limit switch(3) | 24 V DC sink (NPN) or open collector | – | 24 V DC sink (NPN) or open collector or 5 V DC TTL source |
(1) Upgrade option to up to 64 axes (separate licenses necessary)
(2) Upgrade to 5 kHz possible
(3) All single-ended, opto-isolated
(4) Values can only be reached with single axis variant
Additional servo drives can be controlled with the EtherCAT master of the A-81x. Contact PI for possible upgrade options.
The A-81x controllers support a dual-channel encoder feedback, the secondary feedback channel, however, uses an additional controller axis.
Downloads
Datasheet
Documentation
Documentation
User Manual A-811.21xxx
A-81x Single Axis Motion Controller
Version / Date
2020-05-27
pdf - 2 MB
English
Documentation
User Manual A-812.21xxx
A-81x 2-Axis Motion Controller
Version / Date
2020-05-27
pdf - 2 MB
English
Documentation
User Manual A-814.21xxx
A-81x 4-Axis Motion Controller
Version / Date
2020-05-27
pdf - 2 MB
English
3D Models
3D Models
A-81x 3-D model
Version / Date
2018-10-04
zip - 6 MB
Quote / Order
Ask for a free quote on quantities required, prices, and lead times or describe your desired modification.
One axis
A-811.21A00
PIglide motion controller, 19" rack unit, one axis, incremental encoder with sin/cos signal transmission, Output current 5 A continuous / 10 A peak
A-811.21A02
PIglide motion controller, 19" rack unit, one axis, incremental encoder with sin/cos signal transmission, Output current 2.5 A continuous / 5 A peak
A-811.21B10
PIglide motion controller, 19" rack unit, one axis, absolute encoder with BiSS-C or EnDat 2.1/2.2 signal transmission, Output current 10 A continuous / 20 A peak
A-811.21B00
PIglide motion controller, 19" rack unit, one axis, absolute encoder with BiSS-C or EnDat 2.1/2.2 signal transmission, Output current 5 A continuous / 10 A peak
A-811.21B02
PIglide motion controller, 19" rack unit, one axis, absolute encoder with BiSS-C or EnDat 2.1/2.2 signal transmission, Output current 2.5 A continuous / 5 A peak
A-811.21C10
PIglide motion controller, 19" rack unit, one axis, incremental encoder with A/B quadrature signal transmission, Output current 10 A continuous / 20 A peak
A-811.21C00
PIglide motion controller, 19" rack unit, one axis, incremental encoder with A/B quadrature signal transmission, Output current 5 A continuous / 10 A peak
A-811.21C02
PIglide motion controller, 19" rack unit, one axis, incremental encoder with A/B quadrature signal transmission, Output current 2.5 A continuous / 5 A peak
Two axes
A-812.21A00
PIglide motion controller, 19" rack unit, two axes, incremental encoder with sin/cos signal transmission, Output current 5 A continuous / 10 A peak
A-812.21A02
PIglide motion controller, 19" rack unit, two axes, incremental encoder with sin/cos signal transmission, Output current 2.5 A continuous / 5 A peak
A-812.21B00
PIglide motion controller, 19" rack unit, two axes, absolute encoder with BiSS-C or EnDat 2.1/2.2 signal transmission, Output current 5 A continuous / 10 A peak
A-812.21B02
PIglide motion controller, 19" rack unit, two axes, absolute encoder with BiSS-C or EnDat 2.1/2.2 signal transmission, Output current 2.5 A continuous / 5 A peak
A-812.21C00
PIglide motion controller, 19" rack unit, two axes, incremental encoder with A/B quadrature signal transmission, Output current 5 A continuous / 10 A peak
A-812.21C02
PIglide motion controller, 19" rack unit, two axes, incremental encoder with A/B quadrature signal transmission, Output current 2.5 A continuous / 5 A peak
Four axes
A-814.21A00
PIglide motion controller, 19" rack unit, four axes, incremental encoder with sin/cos signal transmission, Output current 5 A continuous / 10 A peak
A-814.21A02
PIglide motion controller, 19" rack unit, four axes, incremental encoder with sin/cos signal transmission, Output current 2.5 A continuous / 5 A peak
A-814.21B00
PIglide motion controller, 19" rack unit, four axes, absolute encoder with BiSS-C or EnDat 2.1/2.2 signal transmission, Output current 5 A continuous / 10 A peak
A-814.21B02
PIglide motion controller, 19" rack unit, four axes, absolute encoder with BiSS-C or EnDat 2.1/2.2 signal transmission, Output current 2.5 A continuous / 5 A peak
A-814.21C00
PIglide motion controller, 19" rack unit, four axes, incremental encoder with A/B quadrature signal transmission, Output current 5 A continuous / 10 A peak
A-814.21C02
PIglide motion controller, 19" rack unit, four axes, incremental encoder with A/B quadrature signal transmission, Output current 2.5 A continuous / 5 A peak
Upgrades (at factory or retrofitted)
A-810.SHP1
input shaping upgrade for ACS-based controller
A-810.GCD1
G-Code programming
A-810.SB1
ServoBoostTM upgrade for ACS-based controllers (4 axes)
A-810.SBP1
ServoBoostTM PLUS upgrade for ACS-based controller (ServoBoostTM upgrade must have already been installed)
A-810.P4AX
Controller upgrade, 4 additional axes for ACS-based controllers
A-810.UPGD
Further factory default options (additional axes, customized programming, ...). Contact PI for further information.
Accessories (please order separately)
A-810.LCM1
ACS laser control module
A-810.LCM2
ACS laser control module with A/B quadrature option
