Cartões controladores

The controller cards are inserted into the card plug-in slot of the compact servo drive
module KW. The entire control of the drives including all monitoring and communication
is realized via the digital signal processor on the card.
The controller cards KW-R03 and KWR03P offer 2 additional card connectors, the controller card KW-R06 offers one additional card connector for option cards. The option cards are connected using a bus connector in the appropriate position on the controller card.

Functions:
• Control motor brake
• Electronic gear
• Probe function (actual position encoder/square wave pulse)
• Number of probe inputs according SERCOS
• Homing cycle
• Spindle positioning
• Change of operating mode
• Transfer of the parameter set
• Digital/analogue speed control
• Absolute/relative positioning

Realtime Ethernet

KW-R06

With the controller card KW-R06, AMK has created a new platform for outstanding
controller performance in the AMK drive system: With EtherCAT/VARAN as realtime Ethernet interface, a fast system bus is available which is predestined for high dynamic positioning tasks. So more than 100 drives with setpoints can be used synchronously. Integrated filters avoid disturbances by noise or cyclic influence. If no absolute encoders are used, the commutation can be effected by software using a micro movement.
Furthermore, the controller card has an option slot with which the system can be expanded through digital I/O’s.

Functional safety

KW-R07

The KW-R07 is similar to the KW-R06. Additionally safe drive solutions up to
PL e according to EN ISO 13849-1 can be realized. The control of the safety
functions is carried out by safe I/O’s or via FSoE by a safety PLC.

Safe stop functions
• STO - Safe Torque Off
• SOS - Safe Operating Stop
• SS1 - Safe Stop 1
• SS2 - Safe Stop 2
Safe movement functions
• SLS - Safely Limited Speed
• SDI - Safe Direction
• SSR - Safe Speed Range

ACC-Bus

KW-R03, KW-R03P, KW-R04

The KW-R03 is a controller card with full functionality. For connection to a control
and to additional participants, the CANopen (ACC bus) interface is available.
Up to 32 drives with setpoints can be used synchronously. The controller card offers two option slots for expanded functionality.

The KW-R03P adds PLC functionality.

The KW-R04 is similar to the KW-R03 without the encoder connection X131.

Overview controller cards

Functions	KW-R06	KW-R07	KW-R03	KW-R03P	KW-R04	KWZ
Drive control
Minimum fieldbus cycle time	250 µs	250 µs	500 µs	500 µs	500 µs	1000 µs
PLC functionality	-	-	KW-PLC2, option	Integrated	-	-
Encoder processing
Resolver connection	X	X	X	X	X	X
Sine encoder	X	X	X	X	-	-
EnDat 2.1	X	X	X	X	-	-
Hiperface	X	X	X	X	-	-
EnDat 2.2 light	X	X	-	-	-	-
Hall generator (over resolver input)	X	X	X	X	-	-
Square wave signal interface (input/transfer)	X	X	X	X	X	-
2. encoder connection, e.g. charge encoder	X	X	X	X	X	-
U/F running without encoder	X	X	X	X	X	X
I/O interfaces
Analogue input ±10V (release)	2 (12 Bit)	2 (12 Bit)	2 (12 Bit)	2 (12 Bit)	2 (12 Bit)	1 (12 Bit)
Local digital inputs	3	3	3	3	3	3
Local digital outputs	3	3	3	3	3	3
Square wave impulse output (SIWL), fmax	2MHz	2MHz	500kHz	500kHz	500kHz	-
Fieldbus interfaces
Realtime bus ACC	Master	Master	X	X	X	X
EtherCAT (SoE)	Slave	Slave	Option	Option	-	X
Service
Service port	USB 1.1	USB 1.1	RS232	RS232	RS232	RS232
AIPEXPRO connection	USB/ EtherCAT	USB/ EtherCAT	RS232/ ACC	RS232/ ACC	RS232/ ACC	RS232/ ACC
Functional safety	-	X	-	-	-	-