DigiFlex® Performance™ Servo Drive

Description 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. This DP Series drive features a CANopen interface for networking and a RS-232 interface for drive configuration and setup. Drive commissioning is accomplished using DriveWare, available at www.a-mc.com. All drive and motor parameters are stored in nonvolatile memory. Peak Current Continuous Current Supply Voltage Power Range

DPCANTS-040B080

40 A (28.3 ARMS) 20 A (14.1 ARMS) 20 - 80 VDC

Features PIDF Velocity Loop PID + FF Position Loop Compact Size, High Power Density 16-bit Analog to Digital Hardware

Four Quadrant Regenerative Operation Space Vector Modulation (SVM) Technology Fully Digital State-of-the-art Design Programmable Gain Settings Fully Configurable Current, Voltage, Velocity and Position Limits

MODES OF OPERATION Current Position Velocity COMMAND SOURCE ±10 V Analog PWM and Direction Encoder Following Over the Network FEEDBACK SUPPORTED Halls Auxiliary Incremental Encoder 1Vp-p Sine/Cosine Encoder Tachometer (±10 VDC)
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INPUTS/OUTPUTS 3 High Speed Captures 3 Programmable Analog Inputs (16-bit/12-bit Resolution) 2 Programmable Analog Outputs (10-bit Resolution) 2 Programmable Digital Inputs (Differential) 6 Programmable Digital Inputs (Single-Ended) 4 Programmable Digital Outputs (Single-Ended) COMPLIANCES & AGENCY APPROVALS UL cUL CE Class A (LVD) CE Class A (EMC) RoHS

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DigiFlex® Performance™ Servo Drive BLOCK DIAGRAM

DPCANTS-040B080

CONTROL MODULE
+5V 5k PDI-1,2,3,4 (CAP-A),5,6 SGN GND PDI-7,8 + (PWM+ / DIR+ / AUX ENC A,B + / CAP-B,C+) PDI-7,8 – (PWM– / DIR– / AUX ENC A,B – / CAP-B,C–) Motor Feedback Motor Feedback +5V 5k +5V 10k +5V 5k PDO-1,2,3,4 SGN GND Interface I/O Interface 10k Drive Logic +5V 10k HALL A,B,C – 10k COS,SIN,REF MARK + COS,SIN,REF MARK – +5V 5k HALL A,B,C +

POWER MODULE
MOTOR A Power Stage MOTOR B MOTOR C

PAI-1 + (REF+) PAI-1 – (REF–)

20k

20k

20k

PAI-2,3 SGN GND

PAI-2: 33k PAI-3: 500k

HIGH VOLTAGE PWR GND

10k PAO-1,2 Logic Power LOGIC POWER

CAN_H CAN_L CAN_GND CANopen Interface

RS232 RX RS232 TX ISO GND RS-232 Interface

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.

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DigiFlex® Performance™ Servo Drive SPECIFICATIONS
Description
DC Supply Voltage Range DC Bus Over Voltage Limit DC Bus Under Voltage Limit Logic Supply Voltage Maximum Peak Output Current Maximum Continuous Output Current Maximum Continuous Output Power Maximum Power Dissipation at Continuous Current Internal Bus Capacitance Minimum Load Inductance (Line-To-Line)1 Switching Frequency Maximum Output PWM Duty Cycle Low Voltage Supply Outputs

DPCANTS-040B080

Power Specifications Units
VDC VDC VDC VDC A (Arms) A (Arms) W W µF µH kHz % 20 - 80 88.7 17.5 20 - 80 40 (28.3) 20 (14.1) 1520 80 500 250 20 100 +5 VDC (250 mA)

Value

Description
Communication Interfaces Command Sources Feedback Supported Commutation Methods Modes of Operation Motors Supported Hardware Protection Programmable Digital Inputs/Outputs (PDIs/PDOs) Programmable Analog Inputs/Outputs (PAIs/PAOs) Primary I/O Logic Level Current Loop Sample Time Velocity Loop Sample Time Position Loop Sample Time Sin/Cos Encoder DC Offset Range Maximum Sin/Cos Encoder Frequency Maximum Sin/Cos Interpolation

Control Specifications Units
μs μs μs V kHz CANopen (RS-232 for configuration)

Value

±10 V Analog, Encoder Following, Over the Network, PWM and Direction 1Vp-p Sine/Cosine Encoder, Auxiliary Incremental Encoder, Halls, Tachometer (±10 VDC) Sinusoidal Current, Position, Velocity 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 8/4 3/2 5V TTL 50 100 100 2 - 3.4 200 2048 counts per sin/cos cycle

Description
Agency Approvals Size (H x W x D) Weight Heatsink (Base) Temperature Range2 Storage Temperature Range Cooling System Form Factor IP Rating AUX COMM Connector COMM Connector FEEDBACK Connector I/O Connector MOTOR POWER Connector POWER Connector Notes 1. 2.

Mechanical Specifications Units
mm (in) g (oz) °C (°F) °C (°F) 190.5 x 111.76 x 35.9 (7.5 x 4.4 x 1.4) 872 (30.8) 0 - 75 (32 - 167) -40 - 85 (-40 - 185) Natural Convection Panel Mount IP10

Value

CE Class A (EMC), CE Class A (LVD), cUL, RoHS, UL

3-pin, 2.5 mm spaced, enclosed, friction lock header Shielded, dual RJ-45 socket with LEDs 15-pin, high-density, female D-sub 26-pin, high-density, female D-sub 3-port, 7.62 mm spaced, enclosed, friction lock header 4-port, 7.62 mm spaced, enclosed, friction lock header

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.

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DigiFlex® Performance™ Servo Drive PIN FUNCTIONS
AUX COMM - RS232 Communication Connector Pin
1 2 3 RS232 RX RS232 TX ISO GND

DPCANTS-040B080

Name
Receive Line (RS-232) Transmit Line (RS-232) Isolated Signal Ground

Description / Notes

I/O
I O IGND

COMM - CAN Communication Connector Pin
1 2 3 4 5 6 7 8 CAN_H CAN_L CAN_GND RESERVED RESERVED RESERVED CAN_GND RESERVED

Name
CAN_H Line (Dominant High) CAN _L Line (Dominant Low) CAN Ground Reserved Reserved Reserved CAN Ground Reserved

Description / Notes

I/O
I I CGND CGND -

FEEDBACK - Feedback Connector Pin
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 COS + COS SIN + SIN SGN GND HALL A+ HALL AHALL B+ HALL BREF MARK + HALL C+ HALL C+5V OUT PAI-3 REF MARK -

Name
Cosine Input Sine Input Signal Ground

Description / Notes

I/O
I I I I SGND I I I I I I I O I I

Commutation Sensor Input (For Single-Ended Signals Leave Negative Terminal Open) Commutation Sensor Input (For Single-Ended Signals Leave Negative Terminal Open) Reference mark from sine/cosine encoder Commutation Sensor Input (For Single-Ended Signals Leave Negative Terminal Open) +5V Encoder Supply Output (Short Circuit Protected) Programmable Analog Input (12-bit Resolution) Reference mark from sine/cosine encoder

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DigiFlex® Performance™ Servo Drive
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 PDO-1 SGN GND PDO-2 PAI-1 + (REF+) PAI-1 - (REF-) PAI-2 PAO-1 PAO-2 PDI-8 - (DIR- / AUX ENC B- / CAP-C-) PDO-3 PDI-1 PDI-2 PDI-3 PDO-4 +5V OUT SGN GND PDI-7 + (PWM + / AUX ENC A+ / CAPB+) PDI-8 + (DIR+ / AUX ENC B+ / CAP-C+) PDI-4 (CAP-A) PDI-5 PDI-6 SGN GND RESERVED RESERVED RESERVED PDI-7 - (PWM- / AUX ENC A- / CAP-B-)

DPCANTS-040B080

Name
Programmable Digital Output Signal Ground Programmable Digital Output

Description / Notes

I/O
O SGND O I I I O O I O I I I O O SGND I I I I I SGND I

Differential Programmable Analog Input or Reference Signal Input (16-bit Resolution) Programmable Analog Input (12-bit Resolution) Programmable Analog Output (10-bit Resolution) Programmable Analog Output (10-bit Resolution) Programmable Digital Input or Direction or Auxiliary Encoder or High Speed Capture (Leave Open for Single-Ended Signal) Programmable Digital Output Programmable Digital Input Programmable Digital Input Programmable Digital Input Programmable Digital Output +5V Encoder Supply Output (Short Circuit Protected) Signal Ground Programmable Digital Input or PWM or Auxiliary Encoder or High Speed Capture Programmable Digital Input or Direction or Auxiliary Encoder or High Speed Capture Programmable Digital Input or High Speed Capture Programmable Digital Input Programmable Digital Input Signal Ground Reserved Reserved Reserved Programmable Digital Input or PWM or Auxiliary Encoder or High Speed Capture (Leave Open for Single-Ended Signals)

MOTOR POWER - Power Connector Pin
1 2 3 MOTOR A MOTOR B MOTOR C

Name
Motor Phase A Motor Phase B Motor Phase C

Description / Notes

I/O
O O O

POWER - Power Connector Pin
1 2 3 4 PWR GND HIGH VOLTAGE LOGIC GND LOGIC PWR

Name

Description / Notes
Power Ground (Common With Signal Ground) DC Power Input Logic Supply Ground (Common With Signal Ground) Logic Supply Input

I/O
PGND I GND I

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DigiFlex® Performance™ Servo Drive HARDWARE SETTINGS
Switch Functions Switch 1 2 3 4 5 6 7 8 Description Bit 0 of binary CANopen node ID. Does not affect RS-232 settings. Bit 1 of binary CANopen node ID. Does not affect RS-232 settings. Bit 2 of binary CANopen node ID. Does not affect RS-232 settings. Bit 3 of binary CANopen node ID. Does not affect RS-232 settings. Bit 4 of binary CANopen node ID. Does not affect RS-232 settings. Bit 5 of binary CANopen node ID. Does not affect RS-232 settings. Bit 0 of drive CANopen bit rate setting. Does not affect RS-232 settings. Bit 1 of drive CANopen bit rate setting. Does not affect RS-232 settings.

DPCANTS-040B080

Setting On 1 1 1 1 1 1 1 1 Off 0 0 0 0 0 0 0 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. Bit Rate (kbits/sec) Load from non-volatile memory 500 250 125 Value For Bit Rate Setting 0 1 2 3

Jumper Settings Jumper Description Header Jumper CAN bus termination. Install this jumper on the last drive in a CAN network. This jumper is located on a 4-pin header adjacent to the RS-232 connector. It consists of the two pins furthest from the connector. Reserved. Not Installed Nonterminating Node Configuration Pins 1-2 Terminating Node Pins 2-3 N/A N/A

J1 J2

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DigiFlex® Performance™ Servo Drive MECHANICAL INFORMATION
AUX COMM - RS232 Communication Connector Connector Information Mating Connector Details Included with Drive 3-pin, 2.5 mm spaced, enclosed, friction lock header Phoenix: Plug P/N 1881338 Yes
3 ISO GND 2 RS232 TX 1 RS232 RX

DPCANTS-040B080

COMM - CAN Communication Connector Connector Information Mating Connector Details Included with Drive Shielded, dual RJ-45 socket with LEDs AMP: Plug P/N 5-569552-3 No

A

B

1 CAN_GND 7 3 2

CAN_H CAN_L CAN_GND

CAN_GND 3 CAN_L 2 CAN_H 1

7

CAN_GND

FEEDBACK - Feedback Connector Connector Information Mating Connector Details 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
HALL A+ 6 HALL A- 7 HALL B+ 8 HALL B- 9 REF MARK + 10 5 4 SGN GND SIN 3 SIN + 2 COS 1 COS +

11 HALL C+ 12 HALL C13 +5V OUT 14 PAI-3 15 REF MARK -

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DigiFlex® Performance™ Servo Drive
I/O - Signal Connector Connector Information Mating Connector Details Included with Drive

DPCANTS-040B080

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
9 8 PDI-8 - (DIR- / AUX ENC B- / CAP-C-) PAO-2 7 PAO-1 6 PAI-2 5 PAI-1 - (REF-) 4 PAI-1 + (REF+) 3 PDO-2 2 SGN GND 1 PDO-1

PDO-3 10 PDI-1 11 PDI-2 12 PDI-3 13 PDO-4 14 +5V OUT 15 SGN GND 16 PDI-7 + (PWM + / AUX ENC A+ / CAP-B+) 17 PDI-8 + (DIR+ / AUX ENC B+ / CAP-C+) 18

19 PDI-4 (CAP-A) 20 PDI-5 21 PDI-6 22 SGN GND

26 PDI-7 - (PWM- / AUX ENC A- / CAP-B-)

MOTOR POWER - Power Connector Connector Information Mating Connector Details Included with Drive 3-port, 7.62 mm spaced, enclosed, friction lock header Phoenix Contact: P/N 1804917 Yes

3

1 MOTOR A 2 MOTOR B MOTOR C

POWER - Power Connector Connector Information Mating Connector Details Included with Drive 4-port, 7.62 mm spaced, enclosed, friction lock header Phoenix Contact: P/N 1804920 Yes

4

1 PWR GND 2 HIGH VOLTAGE 3 LOGIC GND LOGIC PWR

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DigiFlex® Performance™ Servo Drive MOUNTING DIMENSIONS

DPCANTS-040B080

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DigiFlex® Performance™ Servo Drive PART NUMBERING INFORMATION
Example:
Drive Series DP DigiFlex Performance

DPCANTS-040B080

D P R

A N I

E

-

0 1 5 A 4 0 0

Customer Special Code used to identify customer specials Revision A through Z (letters may be skipped) Max DC Bus Voltage (VDC) 080 80 200 200 400 400 800 800 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 Peak Current (A0 to Peak) 015 15 016 16 020 20 025 25 030 30 040 40 060 60 100 100

Communication R RS232/RS485 C CANopen or RS232 Q SynqNet 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) Digital I/O I Isolated (24V) T TTL (5V) Non-Isolated Motor Feedback E Incremental Encoder and/or Halls R Resolver A Absolute Sin/Cos (Hiperface & Endat) S Sin/Cos with Halls

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. Feel free to contact Applications Engineering for further information and details. 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

Optimized Footprint Private Label Software OEM Specified Connectors No Outer Case Increased Current Resolution Increased Temperature Range Custom Control Interface Integrated System I/O

Available Accessories ADVANCED Motion Controls offers a variety of accessories designed to facilitate drive integration into a servo system. Visit www.a-m-c.com to see which accessories will assist with your application design and implementation.

Power Supplies
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Shunt Regulators

Filter Cards

To Motor

Drive(s)
Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com

All specifications in this document are subject to change without written notice. Actual product may differ from pictures provided in this document.