Differences between Sigma-II and Junma
HARDWARE REFERENCE MANUAL
162
Revi
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on 3.0
A
Differences between Sigma-II and Junma
These are the differences between Sigma-II and Junma Servo Drivers and
motors.
1. Motor
•
The Sigma-II Servo Driver can control a large range of servo motors.
These include rotary, DD and Linear motors with different encoders,
IP rates, inertias and other electrical and mechanical characteristics.
•
The Junma can only control Junma motors with a 13-bit incremental
encoder. These motors have a low IP rate and medium inertia.
2. Power and voltage range
•
The output power of Sigma-II Servo Drivers and motors range from
30 W to 15 kW. The input voltages of Sigma-II Servo Drivers and
motors are 200 V single phase and 400 V three phase.
•
The output power of Junma Servo Drivers and motors range from
100W to 800W. The input voltage of Junma Servo Drivers and
motors is 200V single phase.
3. Power circuit
•
Sigma-II always has a breaking chopper. Most models have internal
braking resistor too. The voltage supplies for power and control
circuits are separate.
•
Junma has no breaking chopper or resistor. The same voltage
supply is used for both power and control circuits.
4. Motion control algorithm
•
Sigma-II has a traditional PID control algorithm, which in most cases
needs adjustments and tuning of parameters. Sometimes adjusting
and tuning can be time consuming but the benefit is full coverage of
a very wide range of applications regarding mechanical
characteristics of the system, such as inertia ratio, rigidity etc.
•
Junma supports a new and innovative self-tuning control algorithm,
which requires no adjustment and tuning from the user. The benefit
of this algorithm is that commissioning of the system is very fast and
easy. The drawback is a limited range of applications covered. This
particularly applies to inertia ratio. Junma Servo Drivers and motors
cannot serve applications where the inertia ratio is larger than 1:10
approximately.
5. Control modes
•
Sigma-II can work in all three control modes: position mode
(
ATYPE=40
), speed mode (
ATYPE=41
) and torque (force) mode
(
ATYPE=42
).
•
Junma can work only in position mode (
ATYPE=40
). Trying to set an
axis assigned to a Junma Servo Driver and motor to some other
control mode results in an alarm on the driver
6. I/O
•
Sigma-II has 7 digital inputs and 4 digital outputs. Functionality of
these I/Os is very flexible and can be configured using drivers
parameters. Analog control is possible (with the TJ1-FL02). There is
an encoder output as well, and fully closed encoder configuration is
possible.
•
Junma has 4 digital inputs and 2 digital outputs. They are not flexible,
but have fixed functionality. Fully closed encoder configuration is not
possible.
7. Operator interface and settings
•
The Sigma-II Servo Driver has a full operator interface. It consists of
a 4-digits display and 4 buttons. The interface can be used to
monitor and change parameters, perform tuning etc. Changing
parameters by using the CX-Drive software or by sending
MECHATROLINK-II commands from Trajexia is also possible.
•
The Junma Servo Driver has a limited operator interface. It consists
of a 1-digit display that shows the driver status and alarms.
Monitoring and changing of parameters is only possible by using a
separate operator panel, the CX-Drive software or by sending
MECHATROLINK-II commands from Trajexia.
For more detailed information on the differences between Sigma-II and
Junma Servo Drivers and motors, please see their respective manuals.
I51E-EN-03.book Seite 162 Donnerstag, 28. Juni 2007 1:05 13
