Weisshorn — BLDC Servo Drive for Robot Joints

Ring-shaped BLDC servo drive for robot joints, exoskeletons and AMR/AGV axes. Mounts directly inside the motor housing and dissipates heat through the housing. Diameter, power stage and interfaces to your specifications.

Control

• FOC+ with near dead-beat behaviour: depending on configuration, current errors can be corrected in around 3 control cycles (at a 20 kHz current loop).
• Current loop up to 100 kHz, current bandwidth up to 6 kHz, position bandwidth up to 800 Hz.
• Cascaded current, velocity and position control, including observer.
• Sensorless down to standstill at full torque.

Feedback and multi-encoder

• Dual encoder on motor and output side, with control on either motor or output position.
• ABI, SSI and BiSS-C up to 24 bit, plus Hall sensors and resolver.
• Mutual plausibility check of both encoders.

Motion functions

• Impedance and force control.
• Zero-torque mode for hand guiding and teaching.
• Force, torque and pressure sensors directly in the control loop.
• Real-time axis synchronisation, including torque follower.

Robustness and fault behaviour

• Monitoring of current, voltage, temperature and encoders, with configurable fault response.
• Defined behaviour on communication loss via watchdog.
• Safety functions STO, SS1 and SLS up to PLe / SIL 3 available.
• ICT/FCT test concept for series production.

Communication

• CAN, CAN-FD and CANopen CiA 402.
• EtherCAT optional.
• Multiple axes daisy-chained on a single bus.

On request only.