QuickSilver Controls QCI-DS031 QCI-N2-IX

Datasheet: QCI-DS031 QuickSilver Controls, Inc.
Date: 6 June 2016 www.QuickSilverControls.com
Property of QuickSilver Controls, Inc. Page 1 of 14 This document is subject to change without notice.

QuickControl® and QCI® are Registered Trademarks of QuickSilver Controls, Inc.
SilverMax™, PVIA™, QuickSilver Controls™, and AntiHunt™ are trademarks of QuickSilver Controls, Inc..
SilverNugget™ N2-IX
The SilverNugget N2-IX is a servo controller/driver for QCI’s line of NEMA 11, 17, 23, and 24
frame, high torque, direct drive, servo motors. The N2-IX Servo Controller/Driver is designed to
operate QCI’s I-Grade motors through a single motor interface cable, which carries motor
power and encoder feedback. This single cable solution allows for easy installations and
simple cable routing.
Power, communications, and I/O are accessed through a single DB15 high density interface
connector. The interface includes 7 I/O, all of which support both LVTTL and analog signals,
and one of which also supports 0 to 10v analog. A hardware drive enable is available as a
factory option. All 7 I/O also have soft configurable pull-up/pull-down resistors, which may also
be disabled, for more flexibility.
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Datasheet:QCI-DS031 QuickSilver Controls, Inc.
QuickSilver Controls, Inc. Page 2 of 14
System Overview
Point-to-Point Moves
 Relative or Absolute
 Velocity or Time Based
 S-Curve
Advanced Motion Profile Moves
 Profile Move Commands
 Register Based
o Position
o Accel/Decel
o Velocity
o Modify On-the-Fly
o Non-zero velocity start & stop
Input/Output
 7 LVTTL Digital I/O
o Bi-Directional
o Set While In Motion
 7 Analog Inputs (Joystick)
 1 Analog 0-10v Input
 1 Output supports PWM out
 1 Input supports PWM in
 Programmable Logic Switch out
 Secondary Encoder In
 Encoder Out (single ended and
differential)
Program and Data Storage
 32K Non-Volatile Memory:
 2000-3000 Program Lines
 User Data Examples
o CAM Tables
o Motion Profiles
o Lookup Tables
Electronic Gearing/Camming
 Follow External Signals
o Encoder (A/B Quadrature)
o Step and Direction
 Gearing plus Trapezoid motion
 Electronic Cam
o Import Cam Table from File
 Gearing with extended precision:
o A/B gearing
o xxx.xxxxxxxx multiplier
(8 places behind decimal
point)
Electronic Slip Clutch/Brake
 Variable Torque
 Wind/Unwind Applications
 Communications
 RS-485 (ASCII, Modbus®
, DMX, 9-bit)
 Up To 230K Baud
 Host Control While Servo in Motion
Programming Language
 Easy, Menu Driven Interface
 Command Parameter Prompts
 No Syntax Error
 User Namable I/O and Registers
Advance PVIA™ Servo Loop
 Improvement Stability
 Simulated Viscous Inertial Damper
 100:1 Inertial Mismatch
 Direct Drive Oversized Inertial Loads
o Flywheels
o Belt Drives
o Typically eliminates need for
Gearheads
Anti-Hunt™
 Optionally transition to open loop
while in position – automatically
changes back to full servo if position
is disturbed.
 No Servo Dither While at Rest
Multi-Task/Multi-Thread
 Two programs plus a motion
simultaneously
 Multiple background protection
settings
Compatible with QCI’s Hybrid Servo Motors
 NEMA 11 Frame
o 4000 Counts/Rev Encoder
o Up to 9 oz-in (continuous)
 NEMA 17 Frame
o IP50 or IP65
 NEMA 23 Frame
o IP50 or IP65
 NEMA 24 Frame
o IP50 or IP65
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Electrical Specifications
Input Power
Voltage
+12.5 VDC to +48 VDC, regulated. Device must be initialized for the actual operating voltage.
An external clamp may be required if rapid decelerations of large loads are present. Both V+
pins and both PGND pins shall be used. The power circuit shall be fused at no more than 8A if
the power supply is capable of more than 8 Amps. PGND is also connected to the frame of the
controller/motor.
Input Current
5.5 Amps maximum for any input voltage, +12.5 VDC to +48 VDC per controller.
Output Power
Output/Driver Current
5 Amps continuous per phase.
Maximum Output Power
200 Watts continuous power at nominal 25C ambient. May be derated at higher temperatures
according to air flow.
Inputs & Outputs
Digital Inputs
0 to +3.3 VDC. LVTTL level compatible. All inputs have a light pull-up (~100k ohm to 3.3v).
All I/O have an optional programmable pull-up/pull-down of 2.2 k ohm; the source to these
resistors may also be floated if no pull-up or pull-down is needed. The seven IO are protected
to +/- 40v.
Digital Output Voltage
0 / +3.3 VDC.
Digital Output Current
Sinking or Sourcing: 2mA
External Encoder Inputs
Maximum Bandwidth: 5 million counts per second from a secondary encoder, quadrature
decoding. (External encoder input filtering at minimum setting.)
Analog Inputs
All 7 I/O may be used as Analog Inputs: 0 to +3.3 VDC input signal range.
IO7 has a secondary circuit to handle 0 to +10v input signal range; the input protection will
isolate the normal 3.3 v input channel allowing the 0 to 10v operation.
Resolution: 12 bits (before filtering), interpolated to 15 bits via filtering.
Analog signals are read every servo cycle (120 μsec.) and the converted analog data is
processed through a (default) 5 ms filter to reduce noise & transients, and to extend resolution.
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Communications
Serial Interface
RS-485 multi-drop, Reduced unit load accommodates up to 254 nodes.
Protected up to +/- 60v.
Note: RS-485 requires a nominal 120 ohm ½ W termination resistor at each end of the network
for longer runs. This termination is not provided onboard and must be provided by the user.
Simple termination is sufficient, biased termination is not needed with this device.
Protocols
8-bit ASCII, 9-bit binary, Modbus, and DMX512
Hardware Configuration Settings
Available Baud Rates: 2400, 4800, 9600, 19.2k, 28.8k, 57.6k, 115.2k or 230.4k
(250k only for DMX512)
Data Bits: 8 (9 bits for binary)
Stop Bits: 1.5 or 2
Parity Bit: None (Modbus supports None, Even, Odd)
Servo Control Specifications
Encoder Interface
Designed to work with QCI’s I-Grade motor/encoders. Quadrature differential signals are
employed. Quadrature decoding used (i.e 2000 lines are decoded as 8000 counts.)
Standard interface is 485 differential inputs. Encoder receiver includes ability to detect invalid
signal amplitudes and open or shorted traces.
Maximum Rotational Speed
4000 Revolutions per Minute; limited in controller software.
Servo Cycle Rate
120 microseconds  8.33 kHz
Software Torque Control
Signed 16-bit control: 1 part in 32767
Internal Memory
Serial Communications Buffer Size: 10 words
Program Buffer Size: 1023 words
Non-Volatile Memory Size:
32K bytes (16K words)
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Status Lights
Two status lights are provided on the back of the
SilverNugget. The COMM. LED (normally Red) indicates
the unit is ready (no program running) by a dim level, it is
off between communications if a program is running. It
blinks brightly during each incoming communications
frame. The Status light (normally Green) varies in intensity
with the motor torque (negative torque dimmer, positive
torque brighter); if Done Bit is configured the LED lights to
indicate Done (See Set Done Bit command), is also used
to blink error codes if a fault is detected (and the Done bit
is not configured).
Environmental Specifications
Operational Temperature
-10 C to +70 C. Continuous torque curves of mated I-Grade motors taken at 20C; derating may
be needed at higher temperatures.
Storage Temperature
- 40 C to +85 C
Humidity
Continuous specification is 95% RH non-condensing.
Shock
Limitation is approximately 50g/11ms.
COMM. Status
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Connector Data
SilverLode Multi-Function Interface (SMI) Port (P1)
The SMI port is a DB15HD (pin) connector containing input power, I/O and communications.
The Basic Breakout (QCI-BO-B1) attaches directly to the SMI port (no cable) and provides
access to all signals. Alternately, an SMI cable (QCI-C-EC-SMI-nn, nn=length) can be used to
interface with the optical I/O module, QCI-OPTMC-24.
Motor Interface Connector (P2)
The Motor Interface Connector is a DB15HD (socket) connector that carries the motor driver
signals and the encoder feedback signals. P2 connects to a QuickSilver NEMA 17, 23, or 24
frame I-Grade Motor/Encoder via a Motor Interface Cable (QCI-C-D15P-D15S-nn , nn=length).
P1 P2
Pin Signal Pin Signal
1 V+ 1 Motor Phase B+
2 RS-485 A 2 Motor Body Ground
3 +5v Out 3 Encoder +5v
4 I/O #3 4 Encoder A-
5 I/O #6 5 Encoder B-
6 Power Ground 6 Motor Phase A+
7 V+ 7 Motor Phase B-
8 Logic Ground 8 Encoder Z
9 I/O #2 9 Encoder A
10 I/O #5 10 Encoder Z/
11 Power Ground 11 Motor Phase A-
12 RS-485 B 12 Motor Body Ground
13 I/O #1 13 Encoder B
14 I/O #4 14 Encoder Ground
15 I/O #7 15 Motor Memory**
P1 P2
Input
Output
** Motor Memory supports QCI I-Grade motors
Solid
State
Relay
DC
Control
Input
To Load
+
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Mechanical Dimensions
Note: See our website for 2D drawings and 3D models. Specifications subject to change
without notice. See www.QuickSilverControls.com for current information.
Recommended Components
SilverNugget N2-IX Start-Up Materials
For first time users, QCI recommends purchasing the following items to aid with use of the N2-
IX controller:
 4’ DB15HD Motor Interface Cable (QCI-C-D15P-D15S-04)
 Basic Breakout Module (QCI-BO-B1)
 USB to RS485 converter (QCI-USB-RS485)
 Desired QCI I-Grade Motor
Optionally:
 240W, +48V Power Supply (SP-240-48)
 Power Supply Cord w/ Flying Leads (QCI-C-ACP-FLY-6)
Configuration Software: QuickControl™ is free and available from our website.
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Typical System Setup
1. Controller/Driver
The standard controller/driver is QCI-N2-IX.
2. Basic Breakout Module
QCI recommends purchasing a breakout to simplify wiring power, RS-485 communication, and
7 I/O. The QCI-BO-B1 breaks out all the signals into screw terminals blocks for wiring
convenience. See QCI-TD036 for more information.
3. USB to RS485 Converter
USB-RS-485 converter provides a USB powered serial port with RS-485 signaling. See QCI-
TD073 USB-RS485 Converter Setup Guide for information on network termination and
shielding recommendations.
4. Motor Interface Cable
For standard system, D-sub type cable goes between the motor and the controller. The
generic part number is QCI-C-D15P-D15S-nn. Replace the last two digits “nn” with length of
cable in feet (i.e. –10 for 10 feet). Standard stock lengths are 1, 4, and 10 feet. For IP65
system, a special IP65 cable goes in between the motor and the controller. The motors and
cables are IP65, but not the controller/driver. The generic part number is QCI-C-D15P-T14S-
nn. Replace the last two digits “nn” with length of cable in feet (i.e. –10 for 10 feet).
5. Motor
The SilverNugget is capable of driving QCI’s NEMA 11, 17, 23 and 24 I-Grade
motor/encoder. For IP65 system, add “-6T” to the end of the standard motor part to designate
an IP65 motor (i.e., QCI-A23H-5-6T).
See the following datasheets for more information:
QCI-DS007: NEMA 17 I-Grade Motor/Encoder
QCI-DS017: NEMA 11 M-Grade Motor/Encoder
(QCI-N2-IX)
2. Breakout
Board
(QCI-BO-B1)
4. Motor I/F Cable
(QCI-C-D15P-D15S-nn
3. USB to RS485
(QCI-USB-RS485)
5. Motor
(QCI-A23H-5)
6. Power Supply
(SP-240-48)
D+
D-
SG
FG
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6. Power Supply
Power supply selection is motor dependent, but the following will work with 11, 17, 23, and 24
frame motors.
SP-240-48 (48V, 5A, 240 Watt)
7. External Regenerative Clamp (not shown)
Rapid deceleration of larger loads may require a Clamp circuit if the capacitors in the power
supply output are not sufficient to hold the recovered energy. Continuous braking of a load also
may require the Clamp to handle the generated power. See QCI-TD017 for more information.
QCI-CLCF-04-R2
8. SilverNugget Multi-Function Interface Cable (shown below)
The QCI-EC-SMI-nn is used to connect the SilverNugget IX to QCI-OPTMC-24 Optical I/O
Module. Replace the last two digits “nn” with length of cable in feet (i.e. –10 for 10 feet).
Standard lengths are 2 and 10 feet.
9. Optical I/O Module (shown below)
The QCI-OPTMC-24 converts SilverNugget IX’s SMI Port LVTTL I/O to optically isolated 24V
I/O. See QCI-TD013 for more information.
D+
D-
SG
FG
(QCI-N2-IX)
9. Optical I/O Module
(QCI-OPTMC-24)
4. Motor I/F Cable
(QCI-C-D15P-D15S-nn
3. USB to RS485
(QCI-USB-RS485)
5. Motor
(QCI-A23H-5)
6. Power Supply
(SP-240-48)
8. SMI Cable
(QCI-C-EC-SMI-10)
Typical 24V I/O System Setup
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New Notable Commands and Features vs. N2-xx-04-EE
Analog Continuous Read Extended (ACX)
The ACX command adds additional analog channels that can be read and filtered into a
dedicated register. See Command Reference Manual for more information.
Configure I/O (CIO)
For the SilverNugget N2-IX series, the CIO commands adds programmable pull-up/pull-down
resistors.
Configure I/O, Immediate Mode (CII)
The CII command adds the ability to configure an I/O for input or output via serial interface at
any time, even during program execution.
Calculation Extended (CLX), Calculation with Data (CLD)
Versatile calculation commands with output plus two inputs.
Motor Memory
SilverNugget N2-IX has the ability to read motor memory stored in QCI’s I-Grade motors (via
Motor Memory signal). Motor memory contains motor type and encoder alignment calibration
information. Therefore, running the Index Phase Alignment (IPA) is no longer necessary when
initializing the SilverNugget N2-IX nor re-running the IPA when swapping motors, as the
SilverNugget N2-IX will automatically read motor memory on power-up. If no motor memory is
found or a different motor type was read from what was initialized, the controller will fault and
flash the status LED accordingly. See User Manual for status LED information.
Increased Program Buffer Size
The SilverNugget N2-IX’s program buffer is 1023 word. For comparison, the SilverNugget N2-
xx-04-EE’s program buffer is 200 words.
Multi-Threaded Capability
The SilverNugget N2-IX has the capability of running two threads in addition to a motion. If two
threads are running, each thread alternates execution, causing each thread to execute at 240
microsecond ticks rather than 120 microsecond ticks when only one thread is running. See
Multi-Thread Operation in User Manual for more details.
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Differences Between SilverNugget N2-IX and N2-xx-04-EE
The SilverNugget N2-IX uses a more advanced Digital Signal Processor (DSP) for its
computing engine, which allows QuickSilver to add more features. Every effort was made to
make the SilverNugget N2-IX series backwards compatible with the SilverNugget N2-xx-04-EE
series. The following is a list of differences between the SilverNugget N2-IX and N2-xx-04-EE
series controllers. For more details on the individual products, please see their datasheets and
respective SilverLode Command Reference Manuals.
Communication
Serial Interace (SIF)
SilverNugget N2-IX only supports RS-485. The RS-485 A&B lines are the same on both series
(same pinout). RS-232 is no longer supported.
Protocol (PRO)
SilverNugget N2-IX, supports all three of QCI’s protocols (8 Bit ASCII, 9 Bit Binary, Modbus®)
with same firmware. Separate part numbers (i.e. M3, M7) are no longer needed to call out
Modbus protocol.
ACK Delay (ADL)
For SilverNugget N2-IX, a negative Delay Count is interpreted as the number of 40uSec ticks
to delay. Positive Delay Count is still interpreted as the number of 120uSec ticks to delay. This
feature is used by ModBUS protocol to set inter frame timing.
Digital Inputs/Outputs
Background: Today’s DSP technologies are moving toward smaller sizes and faster
performance. As a result, lower operating voltages are necessary to reduce the power
consumption of the system and generate less heat to compensate for the smaller size DSPs.
The SilverNugget N2-IX’s DSP is based on a 3.3V design as opposed to the SilverNugget N2-
xx-04-EE's DSP which is based on a 5.0V design. As stated earlier, every effort was made to
make the N2-IX backward compatible, so that the N2-IX can accept a 0-5 Volt inputs, however
due to limitation of the DSP, the output is only 0 – 3.3 Volts. Drive levels are 2mA, sinking and
sourcing. All seven I/O now support analog inputs. Programmable pull-up pull-down resistors
are now 2.2k, and can be programmed to be open as well.
NOTE: The use of 5V pullups on outputs is not recommended as they will most likely override
the output capability of the SilverNugget N2-IX.
Data Input Range
SilverNugget
N2-xx-04-EE
SilverNugget
N2-IX
Input Range 0 to 5.0V 0 to 3.3V
Valid HIGH 2V – 5V 2V – 5V
Valid LOW 0 – 0.8V 0 – 0.8V
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I/O Output Range
SilverNugget
N2-xx-04-EE
SilverNugget
N2-IX
Output Range 0 to 5.0V 0 to 3.3V
Pull-Up Resistance
Input SilverNugget
N2-xx-04-EE
SilverNugget
N2-IX
1 4.7K ~100K when pullup off, 2.2k to 0v or 3.3v
programmable
programmable
programmable
4 ~200K ~100K when pullup off, 2.2k to 0v or 3.3v
programmable
programmable
programmable
7 ~200K ~1MΩ pull down when pullup off, 2.2k to 0v or
3.3v programmable
Sinking or Sourcing Limits
Output SilverNugget
N2-xx-04-EE
SilverNugget
N2-IX
1 5mA 2mA
2 5mA 2mA
3 5mA 2mA
4 5mA 2mA
5 5mA 2mA
6 5mA 2mA
7 5mA 2mA
Analog Inputs
SilverNugget
N2-xx-04-EE
SilverNugget
N2-IX
Total Available Analog Inputs
4 7
Range 0 to 5.0V 0 to 3.3V
Number of Bits 10 12
Resolution 4.88mV 0.805mV
Data range when read into a register 0-32767 0-32760
0 to +10V input
N/A
Available on I/O #7, separate
analog channel scaled to 0-10v
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Primary Encoder Support
Encoder Index
SilverNugget N2-IX supports standard, single index pulse encoders as well as QCI’s special 49
index encoder. This is soft configured at initialization time. The SilverNugget N2-xx-04-EE
required separate firmware for the 49 index encoders.
Encoder Resolution Reduction
SilverNugget N2-IX supports a user configurable encoder resolution reduction via our
QuickControl software through the Initialization Wizard. Separate part numbers (i.e. F2, F4)
are no longer needed to call out an encoder resolution reduction.
Secondary Encoder Support
Select External Encoder (SEE)
Index Source
0 = I/O #6
1 = I/O #3 (not supported in N2-IX)
2 = Enable Internal Encoder onto I/O# 4, 5, and 6.
Encoder Style
0 = A/B Quad on I/O# 4 & 5
1 = Step Up/Down on I/O# 4 & 5 (not supported in N2-IX)
2 = Step & Direction on I/O# 4 & 5
3 = Step & Direction on I/O# 2 & 3 (not supported in N2-IX)
7 = Configure I/O# 4, 5, and 6 back into I/O.
Enable Encoder Monitor (EEM)
EEM command outputs a buffered copy of the raw encoder signals onto I/O# 1, 2, and 3.
For SilverNugget N2-IX, if the EEM command is enabled and the SEE command is enabled to
output the internal encoder on I/O# 4, 5 and 6, then the encoder signals to I/O # 1, 2, and 3 are
inverted so as to provide differential encoder output signals.
Select Encoder Filter (SEF)
For SilverNugget N2-IX, Select Encoder Filter:
0 = 100ns filter
1 = 300ns filter (was 600nS for N2-xx-04-EE)
Motor Driver
The SilverNugget N2-IX has a continuous per phase rating of 5 Amps. The SilverNugget N2-
xx-04-EE’s continuous per phase rating is 3.5 Amps. (Driver is rated to 6A, the connector is
only rated to 5A). Minimum input voltage for full current is now 12.5v rather than 12v.
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Commands No Longer Supported
The following are commands not supported by SilverNugget N2-IX as the modulo encoder
output function is not available in the N2-IX. The new ability to use ratios or high accuracy
decimal scaling for the encoder following modes has made the hardware divisors no longer
useful.
Modulo Clear (MDC)
Modulo Set (MDS)
Modulo Trigger (MDT)
Part Numbers
SilverNugget N2-IX Controller/Driver
Controller/Driver
Standard:
 8-bit ASCII, Modbus® RTU, DMX512, 9-bit
 12.5v to 48v
 RS-485 – multiple protocols
 7 LVTTL I/O
o All configurable as 0-3.3v analog inputs
 1 Output supports PWM Out
o Use QCI-BO-B1A to amplify to 0-5v
 1 Input supports PWM In
 SilverLode Multi-Function Interface (SMI) Port
o DB15 High Density (Pin)
 Motor Interface Port
o DB15 High Density (Socket)
QCI-N2-IX
Contact Information
QuickSilver Controls, Inc.
990 N Amelia Ave
San Dimas, CA 91773
+1 (909) 599-6291 or (888) 660-3801
+1 (909) 599-6289 FAX
www.QuickSilverControls.com
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QuickSilver Controls QCI-DS031 QCI-N2-IX

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