The iGVD71 BX-CAT is a compact high-performance controller that is optimally tailored to the requirements of battery-powered driverless transport systems (AGVs), autonomous mobile robots, and logistics systems. Thanks to the powerful embedded MotionChip ™ controller and the very flexible TML programming language, coordinated and synchronized motor/drive train movements or active torque distribution between the axes (torque biasing) can be implemented. IGVD71 BX-CAT is the ultimate solution for battery-powered mobile applications.
Electrical characteristics:
      Motor supply: 11-80 VDC / Logic supply: 9-36 VDC
      Output current: 100A (71ARMS)continuous, 140A (100ARMS) peak current
Motor types:
      Brushless and servo motors (BLDC, PMSM)
      Brushed DC motors
      Direct drive Torque & Linear motors
Feedback options:
      1st Feedback:
            Incremental quadrature encoder (ABZ)
      2nd Feedback:
            Incremental quadrature encoder (ABZ)
            SSI / BiSS-C
            EnDat 2.2
Control:
      Via EtherCAT fieldbus, pulse and direction or analog/digital inputs
      Autonomous execution of complex motion sequences stored in the nonvolatile memory of the drive.
Communication:
      EtherCAT, with cycle times down to 100µs (10 kHz). Protocols supported:
      CANopen over EtherCAT (CoE) - According to CiA 402;
      File over EtherCAT (FoE) - Enables setup data transfers and firmware updates;
      Ethernet over EtherCAT (EoE) - Enables remote control and commissioning using EasyMotion Studio and Technosoft’s own TML protocol.
      RS232 – includes micro USB to RS232 adapter, for setup settings, programming and commissioning
Digital and analog inputs/outputs:
      5 digital inputs: 12-36 V, PNP/NPN selectable, opto-isolated
      4 digital outputs: 5-36V, PNP/NPN selectable, 0.3A NPN / 0.2A PNP
      1 analog input: 12 bits, 0-5 V
      Digital output for controlling an external motor/holding brake
      DIP switch for setting the unit node ID
Safety:
      Safe Torque Off with safety integrity level SIL 3, category 3, PLe.
      Extensive protection functions against over-current, over-temperature, under-voltage and over-voltage, short-circuit, I2t, tracking error and current limitation
Control features:
      Sinusoidal commutation with field-oriented control (FOC) via encoder, Hall sensors or sensorless.     
      Resonance and vibration suppression using up to 10 bi-quad filters configurable as notch, low-pass, high-pass or band-pass
      Gain scheduling for dynamic adjustment of the PID controller parameters for optimal positioning performance.
      Dual-loop with simultaneous use of two different feedback sensors to compensate for gear backlash and mechanical elasticities.
      Fast and highly precise cascaded control loops with freely adjustable sampling rates and PWM switching frequency
Operating modes:
      Profile Position, Profile Velocity, Homing Mode
      Cyclic Synchronous Position Mode (CSP)
      Cyclic Synchronous Velocity Mode (CSV)
      Cyclic Synchronous Torque Mode (CST)
      Interpolated Position Mode (Linear, PT, PVT)
      Electronic cam (ECAM)
      Electronic gears (EGEAR)
      Pulse & direction external position reference
      InterpControl of position, speed, current or voltage via interpolation tables, analogue input or online commands
EasyMotion Studio-Software:
    Graphic programming interface with many functions and wizards for simple commissioning, configuration and local programming of complex sequence programs in single-axis or multi-axis systems.
      Enables the selection of motor type, encoder interface and control structure as well as the setting of protection and controller parameters.
      Automatic determination of the PID controller parameters (autotuning).
      Extended analysis and optimization tools integrated using the control panels, loggers and scope functionalities.
TML Library: The TML Motion Libraries can work under Windows (32-bit and 64-bit versions available), or Linux operating system and can be included in an application developed under C/C++, C#, Visual Basic, Delphi Pascal, or LabVIEW. TML_Lib is a collection of high-level functions allowing to control, from a PC, the Technosoft intelligent drives and motors. The protocol is TML and communication can take place via RS232, CAN bus, Ethernet or USB.
Technosoft Motion Language (TML) programming language: Using the TML language, different operating modes, movement profiles, reference runs or the control of complex sequence programs can be graphically programmed and executed autonomously. The drive controllers can process analog and digital I / O signals, perform arithmetic and logical operations, and also exchange data and commands between the axes. Single-axis and multi-axis stand-alone applications can be easily implemented with self-created sequence programs, even without the use of a complex CANopen or EtherCAT master controller.
MotionChip ™ technology: The main core of all Technosoft servo controllers is the MotionChip ™ - an intelligent, freely programmable motion controller specially designed for complex motion control tasks. The MotionChip ™ offers the possibility to use the powerful digital signal processors (DSP) from Texas Instruments as an independent, intelligent unit. As a result, many tasks of a complex master control are solved directly by the MotionChip ™, so that the global function of a machine is relieved and the management of a master application can be optimized. All-important control functions of a controller such as a multitude of operating modes, PLC properties, protection and safety functions as well as support for the different interface and motor technologies are accommodated on the MotionChip ™, thus enabling flexible use in a wide variety of drive systems.