AC Linear Motor Servo Driver
cpc reserves the right to revise any information(technical details) any time without notice,for printing mistakes or any other incidental mistakes. We take no responsibility.

4881 Murietta Street.
Chino, CA. 91710

2017.11.01 Printed in Taiwan

TC-01-QB1-EN

AC Servo Driver- Auto Tuning- Auto Phasing- Filter- Response Bode plot
- Time response plot

WizardAutotune
Step by step setup interface01

AC Servo Driver

Auto tune

Auto tune(position)- Auto tuning- Visualized control loop

- Fast control loop up to 5k Hz- User-friendly interface- Can test 3 groups of gain set- Highly efficient tuning algorithm- Feedforward signal path

- Short tuning time

- Easy to fine tune

- Can tune for stable or fast system
response

Auto phasing- Input response with profile position

Gain switch- 3 groups of position and velocity gains
can be switched- Hall sensor or forcecommutation- Gain-switch rule:
Demand, Feedback, Error, Target, andDigital input-Step by step phasing progress prompt- Easy to fine tune for different application- Auto phasing

Auto tune(velocity)

Gain switch Test

- Distance:0.6m- Velocity:3m/s- Acceleration:3g- Deceleration:3g- Fast control loop up to 10k Hz- Can test 3 groups of gain set- Easy to fine tune
- Feedforward signal path
- Response Bode plot
- Bandwidth label- Input response test with step/sine/triangle- 3 filters on force output

02

Performance without Gain-switch
Yellow: velocity profile
Red: Position Error [+- 35 count]03

AC Servo Driver

Gain switch Test

- Dis tan ce :0 .6m- V e locity :3m/s- A cce le r ation :3 g
- D e ce le r ation :3 g

Scripting

Performance with Gain-switch
Script could program motor motion
with user-friendly interface.

Yellow: velocity profile
Red: Position Error [± 11 count]

Scope

Ordering Information

TC1-B

9P/230 -H

RE
Ō：CANopen(Note1)
E ：EtherCAT- Scope provides a real time monitor ofdriver information.

Ō: No Resistor(Note1)
R: Brake Resistor- User could inspect motion detail without
an oscilloscope.

Ō: No heatsink(Note1)
H : Passive heatsink
F : Heatsink with fanHoming

AC supply: 230VAC
Ō: Normal
P : Extended peak current(Note2)
Continuous current (Amps):
8, 20 (A-type only)
3, 9 (B-type only)
Ō: A-type

B: B-type

Servo Driver- Setup interface provides 35 kinds ofhoming methods.
- Also, the vivid animations explain how ahoming method is performed.

0405

AC Servo Driver
Specification
Product Overview

TC1-B

TC1-B3/230

ModelVoltage and Phase

Fieldbus
LM-Ironcore

General port:
2x ±10V Analog input
1x Pulse trigger output
3x Digital inputs
2x Digital outputs

USB Serial port

1125

3375
24 VDC> 0.5Current (A)Peak power output (kW)

1.3

4.4

6.6

Peak current output (A)62030(Note2)

Cont. current output (A)

39(Note3)9(Note3)60 (option)

Resistance (Ohm)Regenerativeresistor

Continuous dissipation (Watt)

100 (option)

Pulse Braking Energy

5000 (option)

Fieldbus (DS402 V3.0)

10CANopen

20
EtherCAT

DS402 Operation modes

RS232

Motor typeLinear/Rotary PMSM

24V control logic supply

Analog(sin / cos)

Amplitude

Absolute

TypeLinear motor Stage±231counts
1VP-P

Work Frequency

100 kHz, 4096 Cnt/Period Interpolation
BiSS-C, Tamagawa, EnDat 2.2, SSI
Yes

Loop Frequency
Current control

R is registered trademark and patented technology,
EtherCATO
licensed by Beckhoff Automation GmbH, Germany.

Velocity control

20 KHzPWM modulation

SVPWM

Command input

Serial, Fieldbus, ±10 V Analog, internal software

Loop Frequency

10 KHzCommand input

Serial, Fieldbus, ±10 V Analog, internal software

Output filter

x3 (Low-pass or Notch)

Counter range

Dimension

Position control

1212Analog Input

R3
RUN

Controller

FeedbackGeneralmotion

ECER+UVW

R+R-L3L2M

Pulse command
frequency

Loop Frequency

5 KHz

Command input

Pulse command (A/B, Step/Dir, CW/CCW), Serial, Fieldbus, ±10 V Analog, internal software

Trajectory generator

Trapezoidal with S-curve filter

Counter rangeïWRFRXQWV

Input typex1 (±10 V differential) , x1 (±10 V Single-end)

ADC resolution

12 bit

RS422

Max. 10 MHz

5V single-end

Max. 1 MHz

24V single-end

Max. 50 KHz
x12 ( 5~24 V )Total Digital Inputs

x3 ( 24V, 400 mA ), x3 ( 24 V, 200 mA )High speed Position compare output
Autotuner

164 (9A)
134 (3A)OUT

x1 (RS422)
Current/Velocity/Position loop gain, motor phasing setup, sin/cos encoder calibration
Yes

Gain switch function[ GLJLWFKDUDFWHU/&' [SXVKEXWWRQVControl panel

IN

535RS232

Software protection

Dynamic brake, motor over-current, over/under-position, over-velocity.
Virtual/physical position limit switch, missing hall signal, externa fault trigger

Hardware protection

Drive over-temperature (analog), 5V output short circuit, motor over-temperature (analog)

Dimensions (LxHxW)(mm)
Weight (Kg)

CANopen

14.56Operating temperature06

ïWRFRXQWVVHFRQG

Total Digital Outputs (open-collector)

11.5

L124V

3053

USB

ECRN

6ERROR

11.5

200

EtherCATMax. 20 Mega counts/sFeedback position error mapping

AC power input

CANopenA/B Incremental (RS422 signaling)

Work Frequency
Count Rage

Encoder Input

RS232 Serial port

EtherCAT

PP, PV, PT, HM, CST, CSV, CSP

Type

Motor power output /External regen. resistor

CANopen

Serial bus

Digital

DD Motor

TC1-B9P/230-E

390

Regenerative resistor switch cont. current (A)LM-Ironless

TC1-B9P/230

50 to 60

Voltage Range (VDC)

Control Logi Power

TC1-B9/230-E

Ʒ9$&Frequency (Hz)Power Rating (W)Feedback port:
6x Digital inputs
1x Digital output
Encoder input
1x 0~5V analog input

TC1-B9/230

DC Bus Peak Voltage (VDC)

Input Power

Controller port:
3x Digital inputs
3x Digital outputs
Pulse Cmd. Input
Encoder buffered output

TC1-B3/230-E

Ʒ9$&200 x 134 x 53
1.2

200 x 164 x 53 (excluding optional heatsink)
1.6 (excluding optional heatsink)
10~40 oC

Note 1: Only applicable for the TC1-B series.
Note 2: Only applicable for the TC1-B series. Current sensor with a wider input range is used at the cost of additional signal noise and reduced resolution. This
arrangement is suitable for applications where the motor mostly operates in short, high current bursts.
Note 3: Additional heatsink required to ensure continuous operation at rated output.

07

AC Servo Driver

Product Overview

TC1- Auto Phasing- Auto Tuning- Auto Gain SwitchSpecification- Current Filter- Oscilliscope- S-curve Profile- Anti-Cogging- Scripting

ModelInput PowerƷ9$&communication interfacee

Control Logi Power9x 5V Digital Input
2x 5V Digital Output
2x 500mA Digital Output(Open-collector)

2x ± 10V Analog Input

5 Digit 7-Segement display
24VDC & 3Ø220VAC
power connector

10x 5V Digital Input
Motor Encoder Input

LM-Ironless

50 to 60

Frequency (Hz)3000

> 0.5Current (A)Peak power output (kW)

4.4

12

Peak current output (A)2060

Regenerativeresistor

Resistance (Ohm)

82060

25

Continuous dissipation (Watt)

100

200

Pulse energy capacity (Joule)

2500

10000

Regenerative resistor switch cont. current (A)20Fieldbus (DS402 V3.0)

CANopenDS402 Operation modes
Motor power
connector External
Breaking resist Resistor

7500
24

Voltage Range (VDC)

Cont. current output (A)5x 5V Digital Input
External Pulse Command Input(A/B, P/D, CW/CCW)
Buffered output for Pulse
Command or Motor Encoder

System status LEDs

390

DC Bus Peak Voltage (V)Power Rating (W)4x front panel key

LM-Ironcore

TC1-20/230

TC1-8/230

Voltage and Phase

PP, PV, PT, HM, CST, CSV, CSP

Serial bus

RS232

Motor typeLinear/Rotary PMSM

Encoder Input

A/B/Z (RS422)

20 MCnt/s

Sin/Cos (1Vpp)-SSI (RS422)-BiSS

DD Motor

Feedback position error mapping
Current control

Linear motor Stage

Velocity control

Loop Frequency

20 KHzPWM modulation

SVPWM

Command input

Serial, Fieldbus, ±10 V Analog, internal software

Loop Frequency

10 KHzCommand input

Serial, Fieldbus, ±10 V Analog, internal software

Output filter
Counter range

Dimension76
7.75

Position control

4.55

Ø660

Pulse command
frequency

x3 (Low-pass or Notch)ïWRFRXQWVVHFRQG

Loop Frequency

5 KHz

Command input

Pulse command (A/B, Step/Dir, CW/CCW), Serial, Fieldbus, ±10 V Analog, internal software

Trajectory generator
Counter range

Analog Input

Yes

Trapezoidal with S-curve filterïWRFRXQWV±10 V differential

Input type
ADC resolution

12 bit

RS422

Max. 10 MHz

5V single-end

Max. 1 MHz-

24V single-end

x22 (3.3~5 V)

220

212

Total Digital Inputs

x2 ( 24 V, 500 mA ), x6 ( 24 V, 20 mA )Total Digital Outputs (open-collector)-High speed Position compare output
Total Analog Inputs

94.5

104.5

Control panel

8R39607.75

Yes
x1 (5 digit 7-segment LED)x4 push buttonsSoftware protection

Dynamic break, motor over-current, over/under-position, over-velocity.
Virtual/physical position limit switch, missing hall signal, externa fault trigger

Hardware protection

Drive over-temperature (on/off), motor over-temperature (on/off)Dimensions (LxHxW)(mm)
Weight (Kg)
Operating temperature

08

Current/Velocity/Position loop gain, motor phasing setup, sin/cos encoder calibration

Gain switch function

467.5

Autotunerx2 (±10 V differential)

220 x 105 x 76

270 x 195 x 94

1.6

3.7
10~40 oC

09