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 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. Peak Current Continuous Current Supply Voltage Power Range

DPRAHIR-030A800

30 A (21.2 ARMS) 15 A (10.6 ARMS) 200 - 480 VAC

Features PIDF Velocity Loop PID + FF Position Loop Compact Size, High Power Density 16-bit Analog to Digital Hardware Built-in brake/shunt regulator Internal brake/shunt resistor

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 PWM and Direction Sold & ServicedFollowing Encoder By: Over the Network ±10 V Analog 24V Step and Direction FEEDBACK SUPPORTED Resolver ±10 VDC Position Auxiliary Incremental Encoder Tachometer (±10 VDC)

INPUTS/OUTPUTS 3 High Speed Captures 4 Programmable Analog Inputs (16-bit/12-bit Resolution) 3 Programmable Digital Inputs (Differential) 7 Programmable Digital Inputs (Single-Ended) 4 Programmable Digital Outputs (Single-Ended) COMPLIANCES & AGENCY APPROVALS CE Class A (LVD) CE Class A (EMC) RoHS

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

DigiFlex® Performance™ Servo Drive BLOCK DIAGRAM

DPRAHIR-030A800

CONTROL MODULE
PDI-1,2,3,4,5,6,7 (STEP / DIR / CAP-A) INPUT COMMON PDI-8,9,10 + (PWM+ / DIR+ / AUX ENC A,B,I + / CAP-B,C+) PDI-8,9,10 – (PWM– / DIR– / AUX ENC A,B,I – / CAP-B,C–) OUTPUT PULL-UP 2.5k PDO-1,2,3,4 OUTPUT COMMON 3.75K REF OUT + Motor Feedback Motor Feedback REF OUT – SIN,COS + SIN,COS – ENC A,B,I + OUT ENC A,B,I – OUT

+5V 5k +5V 10k 10k I/O Interface Drive Logic

POWER MODULE
MOTOR A Power Stage Output Filter MOTOR B MOTOR C L1

PAI-1,4 + (REF+) PAI-1,4 – (REF–)

20k

20k

20k

I/O Interface

PAI-2,3 SGN GND

PAI-2: 33k PAI-3: 500k 60 (50W) Shunt Reg.

Input Filter

L2 L3 DC+ BR DC–

SELECT TX/TX– RX/RX– TX+ RX+ ISO GND RS232/485 Interface Logic Power LOGIC– LOGIC+

Information on Approvals and Compliances 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.

Sold & Serviced By:

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

DigiFlex® Performance™ Servo Drive SPECIFICATIONS
Description
Rated Voltage AC Supply Voltage Range AC Supply Minimum AC Supply Maximum AC Input Phases AC Supply Frequency DC Supply Voltage Range1 DC Bus Over Voltage Limit DC Bus Under Voltage Limit Logic Supply Voltage Maximum Peak Output Current Maximum Continuous Output Current Max. Continuous Output Power @ Rated Voltage2 Max. Continuous Power Dissipation @ Rated Voltage Internal Bus Capacitance External Shunt Resistor Minimum Resistance Minimum Load Inductance (Line-To-Line)3 Switching Frequency Maximum Output PWM Duty Cycle Low Voltage Supply Outputs

DPRAHIR-030A800

Power Specifications Units
VAC (VDC) VAC VAC VAC Hz VDC VDC VDC VDC A (Arms) A (Arms) W W µF µH kHz % 480 (678) 200 - 480 180 528 3 50 - 60 255 - 747 850 230 20 - 30 (@ 850 mA maximum) 30 (21.2) 15 (10.6) 6840 360 660

Value

Contact factory before using an external shunt resistor. 3000 10 100 +5 VDC (250 mA)

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 Resolver Reference/Excitation Signal Expected Resolver Transformation Ratio Feedback Resolution / Emulated Encoder Resolution4 Maximum Motor Speed Per Feedback Resolution Internal Shunt Regulator Internal Shunt Resistor

Control Specifications Units
μs μs μs Vrms Vrms bit RPM RS-485/232

Value

±10 V Analog, 24V Step and Direction, Encoder Following, Over the Network, PWM and Direction ±10 VDC Position, Auxiliary Incremental Encoder, Resolver, 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 10/4 4/0 24 VDC 100 200 200 4 Vrms @ 5 kHz 0.5 High Resolution Setting: 14, Low Resolution Setting: 12 High Resolution Setting: 5000, Low Resolution Setting: 20000 Yes Yes

Description
Agency Approvals Size (H x W x D) Heatsink (Base) Temperature Range5 Cooling Serviced By: Sold & System Form Factor IP Rating +24V LOGIC Connector AUX ENCODER Connector COMM Connector DC BUS Connector FEEDBACK Connector I/O Connector Storage Temperature Range

Mechanical Specifications Units
mm (in) °C (°F) °C (°F) CE Class A (EMC), CE Class A (LVD), RoHS 300.51 x 232.08 x 97.34 (11.83 x 9.14 x 3.83) 0 - 75 (32 - 167) -40 - 85 (-40 - 185) Natural Convection Panel Mount IP10

Value

2-port, 5.08 mm spaced, enclosed, friction lock header 15-pin, high-density, male D-sub 9-pin, female D-sub 4-port, 7.62 mm spaced, enclosed, friction lock header 15-pin, high-density, female D-sub 26-pin, high-density, female D-sub 4-port, 7.62 mm spaced, enclosed, friction lock header 3-port, 7.62 mm spaced, enclosed, friction lock header

MOTOR POWER Connector POWER Connector Notes 1. 2. 3. 4. 5.

Large inrush current may occur upon initial DC supply connection to DC Bus. 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. Higher and lower resolution options are available. Contact Applications Engineering for more information. Additional cooling and/or heatsink may be required to achieve rated performance.

Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
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DigiFlex® Performance™ Servo Drive PIN FUNCTIONS
+24V LOGIC - Logic Power Connector Pin
1 2 LOGIC PWR LOGIC GND

DPRAHIR-030A800

Name
Logic Supply Input Logic Supply Ground

Description / Notes

I/O
I GND

AUX ENCODER - Auxiliary Feedback Connector Pin
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15

Name
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 + PDI-10 SGN GND SGN GND SGN GND +5V OUT PAI-4 + PAI-4 -

Description / Notes
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 (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 Pin
1 2 3 4 5 6 7 8 9

Name
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 -

DC BUS - Power Connector Pin
1 2 3 4 DCBR DC+ DC+

Name

Description / Notes
Internal DC Bus Voltage (Can Be Used To Connect External Shunt Regulator)1 External Brake Resistor Connection1 Brake Resistor DC+. Connection for brake resistor. 1 Internal DC Bus Voltage (Can Be Used To Connect External Shunt Regulator) 1

I/O
O O O

1. Contact factory before using an external shunt regulator or brake resistor.

FEEDBACK - Feedback Connector Pin Name
RESERVED RESERVED RESERVED REF OUT + REF OUT SIN+ SINCOS+ COSRESERVED RESERVED SGN GND +5V OUT PAI-3 RESERVED Reserved Reserved Reserved Resolver Reference/Excitation Output Resolver Sine Input Resolver Cosine Input

Description / Notes

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

Sold & Serviced By:
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15

Toll Free Phone: 877-378-0240 Reserved Reserved Toll Free Fax: 877-378-0249 Signal Ground +5V Encoder sales@servo2go.com Supply Output (Short Circuit Protected) Programmable Analog Input (12-bit Resolution) Reserved www.servo2go.com

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

DPRAHIR-030A800

Name
PDO-1 OUTPUT COMMON PDO-2 PAI-1 + (REF+) PAI-1 - (REF-) PAI-2 SGN GND OUTPUT PULL-UP PDI-5 PDO-3 PDI-1 PDI-2 PDI-3 PDO-4 INPUT COMMON SGN GND PDI-4 (STEP) PDI-6 (DIR) PDI-7 (CAP-A) 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) Signal Ground 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 or Step Isolated Programmable Digital Input or Direction Isolated Programmable Digital Input or High Speed Capture Emulated Encoder Channel A Output Emulated Encoder Channel B Output Emulated Encoder Index Output Signal Ground

I/O
O OGND O I I I SGND I I O I I I O IGND SGND I I I O O O O O O SGND

MOTOR POWER - Power Connector Pin
1 2 3 4 PE MOTOR C MOTOR B MOTOR A

Name
Protective Earth Ground Motor Phase C Motor Phase B Motor Phase A

Description / Notes

I/O
PE O O O

POWER - Power Connector Pin
1 2 3 L3 L2 L1

Name
AC Supply Input (Three Phase)

Description / Notes

I/O
I I I

Sold & Serviced By:

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

DigiFlex® Performance™ Servo Drive 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.

DPRAHIR-030A800

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. Baud Rate (kbps) Load from non-volatile memory 9.6 38.4 115.2 Value For Bit Rate Setting 0 1 2 3

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

DigiFlex® Performance™ Servo Drive MECHANICAL INFORMATION
+24V LOGIC - Logic Power Connector Connector Information Mating Connector Details Included with Drive 2-port, 5.08 mm spaced, enclosed, friction lock header Phoenix Contact: P/N 1757019 Yes
2 LOGIC GND 1 LOGIC PWR

DPRAHIR-030A800

AUX ENCODER - Auxiliary Feedback Connector Connector Information Mating Connector Details 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 - 9 PDI-10 + 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 Mating Connector Details 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

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6 8 RS485 TX+ RS485 RX+

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

DigiFlex® Performance™ Servo Drive
DC BUS - 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

DPRAHIR-030A800

1 2 3 4 DC+ DC+ BR

DC-

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
SIN+ 6 SIN- 7 COS+ 8 COS- 9 5 4 REF OUT REF OUT +

12 SGN GND 13 +5V OUT 14 PAI-3

I/O - Signal Connector Connector Information Mating Connector Details 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
9 8 PDI-5 OUTPUT PULL-UP 7 SGN GND 6 PAI-2 5 PAI-1 - (REF-) 4 PAI-1 + (REF+) 3 PDO-2 2 OUTPUT COMMON 1 PDO-1

Sold & Serviced By:

PDO-3 10 PDI-1 11 PDI-2 12 PDI-3 13 PDO-4 14 INPUT COMMON 15 SGN GND 16 PDI-4 (STEP) 17 PDI-6 (DIR) 18

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

19 PDI-7 (CAP-A) 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

DigiFlex® Performance™ Servo Drive
MOTOR 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

DPRAHIR-030A800

4

3 MOTOR A

1 PE 2 MOTOR C MOTOR B

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

1 2 3 L1 L2

L3

Sold & Serviced By:

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

DigiFlex® Performance™ Servo Drive MOUNTING DIMENSIONS

DPRAHIR-030A800

Sold & Serviced By:

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

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

DPRAHIR-030A800

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) 080 200 400 800 80 200 400 800

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

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

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 Available Accessories

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

ADVANCED By: Sold & Serviced 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.

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

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