DigiFlex® Performance™ Servo Drive Description
DPRANIE-030N400 Power Range
The DigiFlex® Performance™ (DP) Series digital servo drives are designed to drive brushed and brushless servomotors. These fully digital drives operate in torque, velocity, or position mode and employ Space Vector Modulation (SVM), which results in higher bus voltage utilization and reduced heat dissipation compared to traditional PWM. The command source can be generated internally or can be supplied externally. In addition to motor control, these drives feature dedicated and programmable digital and analog inputs and outputs to enhance interfacing with external controllers and devices.
Peak Current
30 A (21.2 ARMS)
Continuous Current
15 A (10.6 ARMS)
Supply Voltage
100 - 240 VAC
This DP Series drive features a single RS-232/RS-485 interface used for drive configuration and setup. Drive commissioning is accomplished using DriveWare, available at www.a-m-c.com. All drive and motor parameters are stored in nonvolatile memory.
Features
Four Quadrant Regenerative Operation
PIDF Velocity Loop
Space Vector Modulation (SVM) Technology
PID + FF Position Loop
Fully Digital State-of-the-art Design
Compact Size, High Power Density
Programmable Gain Settings
16-bit Analog to Digital Hardware
Fully Configurable Current, Voltage, Velocity and Position Limits
Built-in brake/shunt regulator
MODES OF OPERATION Current Position Velocity Hall Velocity
INPUTS/OUTPUTS 3 High Speed Captures 4 Programmable Analog Inputs (16-bit/12-bit Resolution) 1 Programmable Analog Output (10-bit Resolution) 3 Programmable Digital Inputs (Differential) 7 Programmable Digital Inputs (Single-Ended) 4 Programmable Digital Outputs (Single-Ended)
COMMAND SOURCE PWM and Direction Encoder Following Over the Network ±10 V Analog FEEDBACK SUPPORTED Halls Incremental Encoder ±10 VDC Position Auxiliary Incremental Encoder Tachometer (±10 VDC)
Release Date: 4/10/2009
Revision: 1.09
COMPLIANCES & AGENCY APPROVALS UL cUL CE Class A (LVD) CE Class A (EMC) RoHS
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DigiFlex® Performance™ Servo Drive
DPRANIE-030N400
BLOCK DIAGRAM
CONTROL MODULE +5V 3.75K
10k
PDI-1,2,3,4,5,6,7
HALL A,B,C +
INPUT COMMON
+5V
PDI-8,9,10 + (PWM+ / DIR+ / AUX ENC A,B,I + / CAP-A,B,C+)
5k
Drive Logic
+5V
PDI-8,9,10 – (PWM– / DIR– / AUX ENC A,B,I – / CAP-A,B,C–)
10k 10k
OUTPUT PULL-UP
Motor Feedback Motor Feedback
+5V 20k 20k
+5V
HALL A,B,C –
5k MOT ENC A,B,I +
+5V 10k
MOT ENC A,B,I – 10k
2.5k PDO-1,2,3,4 I/O Interface I/O Interface
ENC A,B,I + OUT OUTPUT COMMON
20k
PAI-1,4 + (REF+) PAI-1,4 – (REF–)
20k
20k
ENC A,B,I – OUT
POWER MODULE MOTOR A MOTOR B
Power Stage
PAI-2: 33k
PAI-2,3
PAI-3: 500k
MOTOR C
SGN GND
L1 L2 L3
10k
PAO-1
Fuse
DC+
Shunt Reg. BR
SELECT TX/TX– RX/RX–
RS232/485 Interface
TX+ RX+ ISO GND
Information on Approvals and Compliances* US and Canadian safety compliance with UL 508c, the industrial standard for power conversion electronics. UL registered under file number E140173. Note that machine components compliant with UL are considered UL registered as opposed to UL listed as would be the case for commercial products. Compliant with European CE for both the Class A EMC Directive 89/336/EEC on Electromagnetic Compatibility (specifically EN 61000-6-4:2001, EN 61000-6-2:2001, EN 61000-3-2:2000, and EN 61000-3-3:1995/A1:2001) and LVD requirements of directive 73/23/EEC (specifically EN 60204-1), a low voltage directive to protect users from electrical shock. RoHS (Reduction of Hazardous Substances) is intended to prevent hazardous substances such as lead from being manufactured in electrical and electronic equipment. *Approvals may be pending. See “Compliances & Agency Approvals” on page 1 of datasheet for currently held approvals.
Release Date: 4/10/2009
Revision: 1.09
Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com
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DigiFlex® Performance™ Servo Drive
DPRANIE-030N400
SPECIFICATIONS Description Rated Voltage
Power Specifications Units VAC (VDC)
240 (339)
AC Supply Voltage Range
VAC
100 - 240
AC Supply Minimum
VAC
90
AC Supply Maximum
VAC
264
AC Input Phases1
-
AC Supply Frequency
Hz
3 50 - 60
DC Supply Voltage Range2
VDC
127 - 373
DC Bus Over Voltage Limit
VDC
430
DC Bus Under Voltage Limit
VDC
55
Maximum Peak Output Current
A (Arms)
30 (21.2)
Maximum Continuous Output Current
A (Arms)
15 (10.6)
Max. Continuous Output Power @ Rated Voltage3
W
3420
Max. Continuous Power Dissipation @ Rated Voltage
W
180
Internal Bus Capacitance
µF
1410
External Shunt Resistor Minimum Resistance
Ω
20
Minimum Load Inductance (Line-To-Line)4
µH
600
Switching Frequency
kHz
20
Low Voltage Supply Outputs
-
Description
Value
+5 VDC (250 mA)
Control Specifications Units
Communication Interfaces
-
RS-485/232
Command Sources
-
Feedback Supported
-
Value
Commutation Methods
-
±10 V Analog, Encoder Following, Over the Network, PWM and Direction ±10 VDC Position, Auxiliary Incremental Encoder, Halls, Incremental Encoder, Tachometer (±10 VDC) Sinusoidal, Trapezoidal
Modes of Operation
-
Current, Hall Velocity, Position, Velocity
Motors Supported
-
Hardware Protection
-
Programmable Digital Inputs/Outputs (PDIs/PDOs)
-
Closed Loop Vector, Single Phase (Brushed, Voice Coil, Inductive Load), Three Phase (Brushless) 40+ Configurable Functions, Over Current, Over Temperature (Drive & Motor), Over Voltage, Short Circuit (Phase-Phase & Phase-Ground), Under Voltage 10/4
Programmable Analog Inputs/Outputs (PAIs/PAOs)
-
4/1
Primary I/O Logic Level
-
24 VDC
Current Loop Sample Time
μs
50
Velocity Loop Sample Time
μs
100
Position Loop Sample Time
μs
Maximum Encoder Frequency
MHz
100 20 (5 pre-quadrature)
Internal Shunt Regulator
-
Yes
Internal Shunt Resistor
-
No
Description Agency Approvals
Mechanical Specifications Units -
Value
CE Class A (EMC), CE Class A (LVD), cUL, RoHS, UL
Size (H x W x D)
mm (in)
Heatsink (Base) Temperature Range5
°C (°F)
202 x 157 x 70 (8 x 6.2 x 2.8) 0 - 65 (32 - 149)
Storage Temperature Range
°C (°F)
-40 - 85 (-40 - 185)
Cooling System
-
Natural Convection
Form Factor
-
Panel Mount
IP Rating
-
IP10
AUX ENCODER Connector
-
15-pin, high-density, male D-sub
COMM Connector
-
9-pin, female D-sub
FEEDBACK Connector
-
15-pin, high-density, female D-sub
I/O Connector
-
26-pin, high-density, female D-sub
POWER Connector
-
8-contact, 11.10 mm spaced, dual-barrier terminal block
Notes 1. 2. 3. 4. 5.
Can operate on single-phase VAC if peak/cont. current ratings are reduced by at least 30%. DC Supply operation will reduce peak/cont. current ratings by at least 30%. P = (DC Rated Voltage) * (Cont. RMS Current) * 0.95. Lower inductance is acceptable for bus voltages well below maximum. Use external inductance to meet requirements. Additional cooling and/or heatsink may be required to achieve rated performance.
Release Date: 4/10/2009
Revision: 1.09
Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com
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DigiFlex® Performance™ Servo Drive
DPRANIE-030N400
PIN FUNCTIONS AUX ENCODER - Auxiliary Feedback Connector Pin
Name
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
RESERVED RESERVED RESERVED PDI-8 + (PWM+ / AUX ENC A+ / CAP-B+) PDI-8 - (PWM- / AUX ENC A- / CAP-B-) PDI-9 + (DIR+ / AUX ENC B+ / CAP-C+) PDI-9 - (DIR- / AUX ENC B- / CAP-C-) PDI-10 + (AUX ENC I+ / CAP-A+) PDI-10 - (AUX ENC I- / CAP-A-) SGN GND SGN GND SGN GND +5V OUT PAI-4 + PAI-4 -
Description / Notes
Pin
Name
Reserved Reserved Reserved Programmable Digital Input or PWM or Auxiliary Encoder or High Speed Capture (For Single-Ended Signals Leave Negative Terminal Open) Programmable Digital Input or Direction Input or Auxiliary Encoder or High Speed Capture (For Single-Ended Signals Leave Negative Terminal Open) Programmable Digital Input or Auxiliary Encoder or High Speed Capture (For Single-Ended Signals Leave Negative Terminal Open) Signal Ground Signal Ground Signal Ground +5V Encoder Supply Output (Short Circuit Protected) Differential Programmable Analog Input (12-bit Resolution)
I/O I I I I I I SGND SGND SGND O I I
COMM - RS232/RS485 Communication Connector 1 2 3 4 5 6 7 8 9
SELECT RS232 TX / RS485 TXRS232 RX / RS485 RXRESERVED ISO GND RS485 TX+ RESERVED RS485 RX+ RESERVED
Description / Notes RS232/485 selection. Pull to ground (CN1-5) for RS485. Transmit Line (RS-232 or RS-485) Receive Line (RS-232 or RS-485) Reserved Isolated Signal Ground Transmit Line (RS-485) Reserved Receive Line (RS-485) Reserved
I/O I O I IGND O I -
FEEDBACK - Feedback Connector Pin 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Name HALL A+ HALL B+ HALL C+ MOT ENC A+ MOT ENC AMOT ENC B+ MOT ENC BMOT ENC I+ MOT ENC IHALL AHALL BSGN GND +5V OUT PAI-3 HALL C-
Release Date: 4/10/2009
Revision: 1.09
Description / Notes Commutation Sensor Inputs Differential Encoder A Channel Input (For Single Ended Signals Use Only The Positive Input) Differential Encoder B Channel Input (For Single Ended Signals Use Only The Positive Input) Differential Encoder Index Input (For Single Ended Signals Use Only The Positive Input) Commutation Sensor Input (For Differential Signals Only) Commutation Sensor Input (For Differential Signals Only) Signal Ground +5V Encoder Supply Output (Short Circuit Protected) Programmable Analog Input (12-bit Resolution) Commutation Sensor Input (For Differential Signals Only)
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I/O I I I I I I I I I I I SGND O I I
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DigiFlex® Performance™ Servo Drive
DPRANIE-030N400
I/O - Signal Connector Pin 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26
Name PDO-1 OUTPUT COMMON PDO-2 PAI-1 + (REF+) PAI-1 - (REF-) PAI-2 PAO-1 OUTPUT PULL-UP PDI-5 PDO-3 PDI-1 PDI-2 PDI-3 PDO-4 INPUT COMMON SGN GND PDI-4 PDI-6 PDI-7 ENC A+ OUT ENC A- OUT ENC B+ OUT ENC B- OUT ENC I+ OUT ENC I- OUT SGN GND
Description / Notes Isolated Programmable Digital Output Digital Output Common Isolated Programmable Digital Output Differential Programmable Analog Input or Reference Signal Input (16-bit Resolution) Programmable Analog Input (12-bit Resolution) Programmable Analog Output (10-bit Resolution) Digital Output Pull-Up For User Outputs Isolated Programmable Digital Input Isolated Programmable Digital Output Isolated Programmable Digital Input Isolated Programmable Digital Input Isolated Programmable Digital Input Isolated Programmable Digital Output Digital Input Common (Can Be Used To Pull-Up Digital Inputs) Signal Ground Isolated Programmable Digital Input Isolated Programmable Digital Input Isolated Programmable Digital Input Buffered Encoder Channel A Output Buffered Encoder Channel B Output Buffered Encoder Index Output Signal Ground
I/O O OGND O I I I O I I O I I I O IGND SGND I I I O O O O O O SGND
POWER - Power Connector Pin 1 2 3 4 5 6 7 8
Name MOTOR A MOTOR B MOTOR C DC+ BR L1 L2 L3
Release Date: 4/10/2009
Revision: 1.09
Description / Notes Motor Phase A Motor Phase B Motor Phase C Brake Resistor DC+. Connection for brake resistor. External Brake Resistor Connection AC Supply Input (Single or Three Phase)
Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com
I/O O O O O I I I
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DigiFlex® Performance™ Servo Drive
DPRANIE-030N400
HARDWARE SETTINGS Switch Functions Switch 1 2 3 4 5 6 7 8
Description Bit 0 of binary RS-485 drive address. Does not affect RS-232 settings. Bit 1 of binary RS-485 drive address. Does not affect RS-232 settings. Bit 2 of binary RS-485 drive address. Does not affect RS-232 settings. Bit 3 of binary RS-485 drive address. Does not affect RS-232 settings. Bit 4 of binary RS-485 drive address. Does not affect RS-232 settings. Bit 5 of binary RS-485 drive address. Does not affect RS-232 settings. Bit 0 of drive RS-485 baud rate setting. Does not affect RS-232 settings. Bit 1 of drive RS-485 baud rate setting. Does not affect RS-232 settings.
Setting On
Off
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
Additional Details The drive can be configured to use the address and/or bit rate stored in non-volatile memory by setting the address and/or bit rate value to 0. Use the table below to map actual bit rates to a bit rate setting.
Release Date: 4/10/2009
Baud Rate (kbps)
Value For Bit Rate Setting
Load from non-volatile memory 9.6 38.4 115.2
0 1 2 3
Revision: 1.09
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DigiFlex® Performance™ Servo Drive
DPRANIE-030N400
MECHANICAL INFORMATION AUX ENCODER - Auxiliary Feedback Connector Connector Information Details
Mating Connector
Included with Drive
15-pin, high-density, male D-sub TYCO: Plug P/N 1658681-1; Housing P/N 5748677-2; Terminals P/N 1658686-2 (loose) or 1658686-1 (strip) No
SGN GND 10 PDI-10 - (AUX ENC I- / CAP-A-) 9 PDI-10 + (AUX ENC I+ / CAP-A+) 8 PDI-9 - (DIR- / AUX ENC B- / CAP-C-) 7 PDI-9 + (DIR+ / AUX ENC B+ / CAP-C+) 6
4 5
PDI-8 + (PWM+ / AUX ENC A+ / CAP-B+) PDI-8 - (PWM- / AUX ENC A- / CAP-B-)
15 PAI-4 14 PAI-4 + 13 +5V OUT 12 SGN GND 11 SGN GND
COMM - RS232/RS485 Communication Connector Connector Information Details
Mating Connector
Included with Drive
9-pin, female D-sub TYCO: Plug P/N 205204-4; Housing P/N 5748677-1; Terminals P/N 1658540-5 (loose) or 1658540-4 (strip) No 5
ISO GND 3
RS232 RX / RS485 RX2 RS232 TX / RS485 TX1 SELECT
6 8
RS485 TX+
RS485 RX+
FEEDBACK - Feedback Connector Connector Information Details
Mating Connector
Included with Drive
15-pin, high-density, female D-sub TYCO: Plug P/N 748364-1; Housing P/N 5748677-2; Terminals P/N 1658670-2 (loose) or 1658670-1 (strip) No MOT ENC B+ 6 MOT ENC B- 7 MOT ENC I+ 8 MOT ENC I- 9 HALL A- 10
5 4
MOT ENC AMOT ENC A+ 3 HALL C+ 2 HALL B+ 1 HALL A+
11 HALL B12 SGN GND 13 +5V OUT 14 PAI-3 15 HALL C-
Release Date: 4/10/2009
Revision: 1.09
Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com
Page 7 of 9
DigiFlex® Performance™ Servo Drive
DPRANIE-030N400
I/O - Signal Connector Connector Information Details
Mating Connector
Included with Drive
26-pin, high-density, female D-sub TYCO: Plug P/N 1658671-1; Housing P/N 5748677-3; Terminals P/N 1658670-2 (loose) or 1658670-1 (strip) No
PDO-3 10 PDI-1 11 PDI-2 12 PDI-3 13 PDO-4 14 INPUT COMMON 15 SGN GND 16 PDI-4 17 PDI-6 18
9 8
PDI-5 OUTPUT PULL-UP 7 PAO-1 6 PAI-2 5 PAI-1 - (REF-) 4 PAI-1 + (REF+) 3 PDO-2 2 OUTPUT COMMON 1 PDO-1
19 PDI-7 20 ENC A+ OUT 21 ENC A- OUT 22 ENC B+ OUT 23 ENC B- OUT 24 ENC I+ OUT 25 ENC I- OUT 26 SGN GND
POWER - Power Connector Connector Information Mating Connector
Details Included with Drive 8
8-contact, 11.10 mm spaced, dual-barrier terminal block Not applicable Not applicable
L3 7
L2 6
L1 5
BR 4
DC+ 3
MOTOR C 2
MOTOR B 1
Release Date: 4/10/2009
Revision: 1.09
MOTOR A
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DigiFlex® Performance™ Servo Drive
DPRANIE-030N400
PART NUMBERING INFORMATION Example:
D P R
A N I
E -
0 1 5 A 4 0 0
-
Drive Series
Customer Special
DP DigiFlex Performance
Code used to identify customer specials
Communication
Revision
R RS232/RS485
A through Z (letters may be skipped)
C CANopen or RS232 Q SynqNet
Max DC Bus Voltage (VDC) 080 80 200 200
Command Inputs Analog (±10V) AN No Step & Direction Analog (±10V) AL Low Voltage Step & Direction (5V) Analog (±10V) AH High Voltage Step & Direction (24V) No Analog NL Low Voltage Step & Direction (5V) No Analog, No Step & Direction NN (Communication Interface Only)
400 400 800 800 Power and Logic Supply AC Input A +24VDC User Logic Supply Required AC Input Only N No Logic Supply Required (Internal Supply) DC Input B Both Logic Supply Options (Internal or User) DC Input L Logic Supply Required DC Input Only D Internal Logic Supply
Digital I/O I Isolated (24V) T TTL (5V) Non-Isolated Motor Feedback E Incremental Encoder and/or Halls
Peak Current (A0 to Peak) 015 15
R Resolver
016 16
A Absolute Sin/Cos (Hiperface & Endat)
020 20
S Sin/Cos with Halls
025 25 030 30 040 40 060 60 100 100
DigiFlex® Performance™ series of products are available in many configurations. All models listed in the selection tables of the website are readily available, standard product offerings. ADVANCED Motion Controls also has the capability to promptly develop and deliver specified products for OEMs with volume requests. Our Applications and Engineering Departments will work closely with your design team through all stages of development in order to provide the best servo drive solution for your system. Equipped with on-site manufacturing for quickturn customs capabilities, ADVANCED Motion Controls utilizes our years of engineering and manufacturing expertise to decrease your costs and time-to-market while increasing system quality and reliability.
Optimzed Footprint Private Label Software OEM Specified Connectors No Outer Case Increased Current Resolution Increased Temperature Range Custom Control Interface Integrated System I/O
Examples of Customized Products Tailored Project File Silkscreen Branding Optimized Base Plate Increased Current Limits Increased Voltage Range Conformal Coating Multi-Axis Configurations Reduced Profile Size and Weight
Feel free to contact Applications Engineering for further information and details.
All specifications in this document are subject to change without written notice. Actual product may differ from pictures provided in this document. Release Date: 4/10/2009
Revision: 1.09
Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com
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