SMC Hydra Motion Controller

Function

Motion controller for electromagnetic motors

Hydra TT: Benchtop device with integrated power adapter

Hydra CM: Compact device

Hydra RM: 19" rack unit with integrated power adapter

Axes

Hydra TT / Hydra CM: 2

Hydra RM: 2 / 4

Sensor channels

Hydra TT / Hydra CM: 2

Hydra RM: 2 / 4

Supported functions

Linear vector motion, independent point-to-point motion. Automatic detection of the motor phase.

Safety features

Switch-off via external switch. Overload protection of the motor driver. Overheat protection of the motor (I²t). Overcurrent protection of the system.

Controller type

PID controller, also adaptive for position and velocity as well as velocity and acceleration feed-forward, parameter changing during operation

Servo frequency

4 kHz

Profile generator

Trapezoidal velocity profile, setting of maximum velocity and acceleration

2-D vector control with linear interpolation

Encoder input

Analog signals (sin/cos) max. 150 kHz (line count)

Digital signals (A/B differential via RS-422) max. 4 MHz (line count)

Positioning range: ± 4.3*10¹² mm / deg

Stall detection

Position error, peak current, I²t limit

Microsteps per full step

3000

Limit switches

2 per channel, 5 to 24 V (programmable polarity)

N/O contact / N/C contact; NPN / PNP

Reference point switch

Index signal of the encoder

Motor brake

1x per channel, TTL, configurable via software

Maximum output voltage

24 V / 48 V

Maximum output power per channel

200 W

Maximum output current per channel

10 A_rms

Communication interfaces

TCP/IP: 10/100 Mbit; RS-232: Sub-D 9 (m), 9.6 to 115.2 kBaud

Hydra RM: USB as well

Motor connection per channel

Sub-D 15 (f)

Sensor connection per channel

Sub-D 15 (f)

I/O lines

6 inputs, optodecoupled, 5-24 V (2 each reserved per channel for limit switch)

Input for motor switch-off on all axes, optodecoupled

Open drain output (100 mA)

2 TTL outputs

4 analog outputs, 10-bit resolution, 0 to 3.3 V (not for Hydra TT)

With DeltaStar interface as factory default option:

Fast trigger output, max. 400 kHz, equidistant or from freely definable table (max. 3000 axis positions)

Position capture input, max. 4 kHz (> 3,000,000 axis positions)

With the factory default DeltaStar Eco interface option: Trigger output, 2 kHz, equidistant, jitter 10-30 µs

Command set

Venus-3 ASCII interpreter

Dynamic library for PI General Command Set (GCS)

User software

Venus-3 demo program LabVIEW (source code & executable)

Terminal program (Venus-3 DLL)

PIMikroMove via dynamic libraries for Windows

Software drivers

LabVIEW drivers, dynamic libraries for Windows (GCS)

GCS2 DLL 32/64-bit

Venus3 DLL 32/64-bit / .net wrapper DLL

incl. example source code

Manual operation

Joystick via CAN bus (accessory)

Operating voltage

Hydra TT: 90 - 260 V, integrated wide input range power supply

Hydra CM: 24 V / 48 V, external power adapter (not in scope of delivery)

Hydra RM: 90 - 260 V, integrated wide input range power supply

Max. power consumption

Hydra TT: 300 W

Hydra CM: 120 W

Hydra RM: 1000 W

Max. current consumption

11 A

Operating temperature range

10 to 40 °C

Weight

Hydra TT: 2.65 kg

Hydra CM: 0.45 kg

Hydra RM: 6 kg

Dimensions

Hydra TT: 225 mm x 515 mm x 56 mm

Hydra CM: 76 mm x 156 mm x 56 mm

Hydra RM: 84 HP, 2 RU, 310 mm depth