Advanced motion controls dpcantr 025b200
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This servo drive operates in torque, velocity, or position mode using space vector modulation. It features a CANopen interface, configurable I/O, and supports various motor and feedback types. The drive can deliver up to 25A peak current and is compliant with various safety and EMC standards.
Advanced motion controls dpcantr 025b200
- 1. DigiFlex® Performance™ Servo Drive DPCANTR-025B200 Description 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 drive can be configured for a variety of external command signals. Commands can also be configured using the drive’s built-in Motion Engine, an internal motion controller used with distributed motion applications. 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® 7, available for download at www.a-m-c.com. All drive and motor parameters are stored in non- volatile memory. Peak Current 25 A (17.7 ARMS) Continuous Current 12.5 A (12.5 ARMS) Supply Voltage 20 - 190 VDC Features 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 PIDF Velocity Loop PID + FF Position Loop Compact Size, High Power Density 16-bit Analog to Digital Hardware On-the-Fly Mode Switching On-the-Fly Gain Set Switching MODES OF OPERATION Profile Current Profile Velocity Profile Position Cyclic Synchronous Current Mode Cyclic Synchronous Velocity Mode Cyclic Synchronous Position Mode COMMAND SOURCE ±10 V Analog PWM and Direction Encoder Following Over the Network Sequencing Indexing Jogging FEEDBACK SUPPORTED ±10 VDC Position Resolver Auxiliary Incremental Encoder Tachometer (±10 VDC) 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 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 2. DigiFlex® Performance™ Servo Drive DPCANTR-025B200 BLOCK DIAGRAM CAN_HCAN_L I/InterfaceI/O Interface DriveLogicCANopenInterfaceCONTROL MODULECAN_GND5k+5V5k+5V10k+5V10k5k+5V20k20k20k10kRS232 RXRS232 TXISO GNDPAI-2: 33kPAI-3: 500kPAI-1 + (REF+) PAI-1 – (REF–) PAO-1,2PDI-1,2,3,4 (CAP-A),5,6SGN GNDSGN GNDPAI-2,3SGN GNDPDI-7,8 + (PWM+ / DIR+ / AUX ENC A,B + / CAP-B,C+) PDI-7,8 – (PWM– / DIR– / AUX ENC A,B – / CAP-B,C–) Motor FeedbackMotor Feedback REF OUT + REF OUT – SIN,COS + SIN,COS – RS-232InterfacePDO-1,2,3,4PWR GNDMOTOR AMOTOR BMOTOR CHIGH VOLTAGEPOWER MODULEPower StageLogic PowerLOGIC POWER 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 2004/108/EC on Electromagnetic Compatibility (specifically EN 61000-6-4:2007 and EN 61000-6-2:2005) and LVD requirements of directive 2006/95/EC (specifically EN 60204-1:2006), 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. ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 3. DigiFlex® Performance™ Servo Drive DPCANTR-025B200 SPECIFICATIONS Power Specifications Description Units Value DC Supply Voltage Range VDC 20 - 190 DC Bus Over Voltage Limit VDC 198 DC Bus Under Voltage Limit VDC 17 Logic Supply Voltage VDC 20 - 190 Maximum Peak Output Current1 A (Arms) 25 (17.7) Maximum Continuous Output Current2 A (Arms) 12.5 (12.5) Maximum Continuous Output Power W 2256 Maximum Power Dissipation at Continuous Current W 119 Internal Bus Capacitance μF 50 Minimum Load Inductance (Line-To-Line)3 μH 300 Switching Frequency kHz 20 Maximum Output PWM Duty Cycle % 100 Low Voltage Supply Outputs - +5 VDC (250 mA) Control Specifications Description Units Value Communication Interfaces - CANopen (RS-232 for configuration) Command Sources - ±10 V Analog, Encoder Following, Over the Network, PWM and Direction, Sequencing, Indexing, Jogging Feedback Supported - ±10 VDC Position, Auxiliary Incremental Encoder, Resolver, Tachometer (±10 VDC) Commutation Methods - Sinusoidal Modes of Operation - Profile Current, Profile Velocity, Profile Position, Cyclic Synchronous Current Mode, Cyclic Synchronous Velocity Mode, Cyclic Synchronous Position Mode Motors Supported - Closed Loop Vector, Single Phase (Brushed, Voice Coil, Inductive Load), Three Phase (Brushless) Hardware Protection - 40+ Configurable Functions, Over Current, Over Temperature (Drive & Motor), Over Voltage, Short Circuit (Phase-Phase & Phase-Ground), Under Voltage Programmable Digital Inputs/Outputs (PDIs/PDOs) - 8/4 Programmable Analog Inputs/Outputs (PAIs/PAOs) - 3/2 Primary I/O Logic Level - 5V TTL Current Loop Sample Time μs 50 Velocity Loop Sample Time μs 100 Position Loop Sample Time μs 100 Resolver Reference/Excitation Signal Vrms 4 Vrms @ 5 kHz Expected Resolver Transformation Ratio Vrms 0.5 Feedback Resolution / Emulated Encoder Resolution4 bit High Res: 14 (16384 counts/resolver cycle), Low Res: 12 (4096 counts/resolver cycle) Maximum Motor Speed Per Feedback Resolution RPM High Res: 5000, Low Res: 20000 Mechanical Specifications Description Units Value Agency Approvals - CE Class A (EMC), CE Class A (LVD), cUL, RoHS, UL Size (H x W x D) mm (in) 190.5 x 111.8 x 35.9 (7.5 x 4.4 x 1.4) Weight g (oz) 872 (30.8) Heatsink (Base) Temperature Range5 °C (°F) 0 - 75 (32 - 167) Storage Temperature Range °C (°F) -40 - 85 (-40 - 185) Form Factor - Panel Mount Cooling System - Natural Convection IP Rating - IP10 AUX COMM Connector - 3-pin, 2.5 mm spaced, enclosed, friction lock header COMM Connector - Shielded, dual RJ-45 socket with LEDs FEEDBACK Connector - 15-pin, high-density, female D-sub I/O Connector - 26-pin, high-density, female D-sub MOTOR POWER Connector - 3-port, 7.62 mm spaced, enclosed, friction lock header POWER Connector - 4-port, 7.62 mm spaced, enclosed, friction lock header Notes 1. Capable of supplying drive rated peak current for 2 seconds with 10 second foldback to continuous value. Longer times are possible with lower current limits. 2. Continuous Arms value attainable when RMS Charge-Based Limiting is used. 3. Lower inductance is acceptable for bus voltages well below maximum. Use external inductance to meet requirements. 4. Higher and lower resolution options are available. Contact Applications Engineering for more information. 5. Additional cooling and/or heatsink may be required to achieve rated performance. ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 4. DigiFlex® Performance™ Servo Drive DPCANTR-025B200 PIN FUNCTIONS AUX COMM - RS232 Communication Connector Pin Name Description / Notes I/O 1 RS232 RX Receive Line (RS-232) I 2 RS232 TX Transmit Line (RS-232) O 3 ISO GND Isolated Signal Ground IGND COMM - CAN Communication Connector Pin Name Description / Notes I/O 1 CAN_H CAN_H Line (Dominant High) I 2 CAN_L CAN _L Line (Dominant Low) I 3 CAN_GND CAN Ground CGND 4 RESERVED Reserved - 5 RESERVED Reserved - 6 RESERVED Reserved - 7 CAN_GND CAN Ground CGND 8 RESERVED Reserved - FEEDBACK - Feedback Connector Pin Name Description / Notes I/O 1 RESERVED Reserved - 2 RESERVED Reserved - 3 RESERVED Reserved - 4 REF OUT + Resolver Reference/Excitation Output O 5 REF OUT - O 6 SIN+ Resolver Sine Input I 7 SIN- I 8 COS+ Resolver Cosine Input I 9 COS- I 10 RESERVED Reserved - 11 RESERVED Reserved - 12 SGN GND Signal Ground SGND 13 +5V OUT +5V Encoder Supply Output (Short Circuit Protected) O 14 PAI-3 Programmable Analog Input (12-bit Resolution) I 15 RESERVED Reserved - ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 5. DigiFlex® Performance™ Servo Drive DPCANTR-025B200 I/O - Signal Connector Pin Name Description / Notes I/O 1 PDO-1 Programmable Digital Output O 2 SGN GND Signal Ground SGND 3 PDO-2 Programmable Digital Output O 4 PAI-1 + (REF+) Differential Programmable Analog Input or Reference Signal Input (16-bit Resolution) I 5 PAI-1 - (REF-) I 6 PAI-2 Programmable Analog Input (12-bit Resolution) I 7 PAO-1 Programmable Analog Output (10-bit Resolution) O 8 PAO-2 Programmable Analog Output (10-bit Resolution) O 9 PDI-8 - (DIR- / AUX ENC B- / CAP-C-) Programmable Digital Input or Direction or Auxiliary Encoder or High Speed Capture (Leave Open for Single-Ended Signal) I 10 PDO-3 Programmable Digital Output O 11 PDI-1 Programmable Digital Input I 12 PDI-2 Programmable Digital Input I 13 PDI-3 Programmable Digital Input I 14 PDO-4 Programmable Digital Output O 15 +5V OUT +5V Encoder Supply Output (Short Circuit Protected) O 16 SGN GND Signal Ground SGND 17 PDI-7 + (PWM + / AUX ENC A+ / CAP- B+) Programmable Digital Input or PWM or Auxiliary Encoder or High Speed Capture I 18 PDI-8 + (DIR+ / AUX ENC B+ / CAP-C+) Programmable Digital Input or Direction or Auxiliary Encoder or High Speed Capture I 19 PDI-4 (CAP-A) Programmable Digital Input or High Speed Capture I 20 PDI-5 Programmable Digital Input I 21 PDI-6 Programmable Digital Input I 22 SGN GND Signal Ground SGND 23 RESERVED Reserved - 24 RESERVED Reserved - 25 RESERVED Reserved - 26 PDI-7 - (PWM- / AUX ENC A- / CAP-B-) Programmable Digital Input or PWM or Auxiliary Encoder or High Speed Capture (Leave Open for Single-Ended Signals) I MOTOR POWER - Power Connector Pin Name Description / Notes I/O 1 MOTOR A Motor Phase A O 2 MOTOR B Motor Phase B O 3 MOTOR C Motor Phase C O POWER - Power Connector Pin Name Description / Notes I/O 1 PWR GND Power Ground (Common With Signal Ground) PGND 2 HIGH VOLTAGE DC Power Input I 3 LOGIC GND Logic Supply Ground (Common With Signal Ground) GND 4 LOGIC PWR Logic Supply Input I ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 6. DigiFlex® Performance™ Servo Drive DPCANTR-025B200 HARDWARE SETTINGS Switch Functions Switch Description Setting On Off 1 Bit 0 of binary CANopen node ID. Does not affect RS-232 settings. 1 0 2 Bit 1 of binary CANopen node ID. Does not affect RS-232 settings. 1 0 3 Bit 2 of binary CANopen node ID. Does not affect RS-232 settings. 1 0 4 Bit 3 of binary CANopen node ID. Does not affect RS-232 settings. 1 0 5 Bit 4 of binary CANopen node ID. Does not affect RS-232 settings. 1 0 6 Bit 5 of binary CANopen node ID. Does not affect RS-232 settings. 1 0 7 Bit 0 of drive CANopen bit rate setting. Does not affect RS-232 settings. 1 0 8 Bit 1 of drive CANopen bit rate setting. Does not affect RS-232 settings. 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. Bit Rate (kbits/sec) Value For Bit Rate Setting Load from non-volatile memory 0 500 1 250 2 125 3 Jumper Settings Jumper Description Configuration Header Jumper Not Installed Pins 1-2 Pins 2-3 J1 CAN bus termination. Install this jumper (2.54mm) 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. Non- terminating Node Terminating Node N/A J2 Reserved. - - N/A ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 7. DigiFlex® Performance™ Servo Drive DPCANTR-025B200 MECHANICAL INFORMATION AUX COMM - RS232 Communication Connector Connector Information 3-pin, 2.5 mm spaced, enclosed, friction lock header Mating Connector Details Phoenix: Plug P/N 1881338 Included with Drive Yes RS232 RX1RS232 TX2ISO GND3 COMM - CAN Communication Connector Connector Information Shielded, dual RJ-45 socket with LEDs Mating Connector Details AMP: Plug P/N 5-569552-3 Included with Drive No CAN_H1CAN_L2CAN_GND3CAN_GND7CAN_H1CAN_L2CAN_GND3CAN_GND7AB FEEDBACK - Feedback Connector Connector Information 15-pin, high-density, female D-sub Mating Connector Details TYCO: Plug P/N 748364-1; Housing P/N 5748677-1; Terminals P/N 1658670-2 (loose) or 1658670-1 (strip) Included with Drive No REF OUT +4REF OUT -5SGN GND12+5V OUT13PAI-314SIN+6SIN-7COS+8COS-9 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 8. DigiFlex® Performance™ Servo Drive DPCANTR-025B200 I/O - Signal Connector Connector Information 26-pin, high-density, female D-sub Mating Connector Details TYCO: Plug P/N 1658671-1; Housing P/N 5748677-2; Terminals P/N 1658670-2 (loose) or 1658670-1 (strip) Included with Drive No PDO-1123456897PDO-414PDI-111PDI-212PDI-313PDO-310+5V OUT15PDI-7 + (PWM + / AUX ENC A+ / CAP-B+)17PDI-8 + (DIR+ / AUX ENC B+ / CAP-C+)18SGN GND16SGN GNDPDI-8 - (DIR- / AUX ENC B- / CAP-C-) PAO-2PAO-1PAI-2PAI-1 - (REF-) PAI-1 + (REF+) PDO-2PDI-4 (CAP-A)19SGN GND22PDI-520PDI-621PDI-7 - (PWM- / AUX ENC A- / CAP-B-)26 MOTOR POWER - Power Connector Connector Information 3-port, 7.62 mm spaced, enclosed, friction lock header Mating Connector Details Phoenix Contact: P/N 1804917 Included with Drive Yes MOTOR A1MOTOR B2MOTOR C3 POWER - Power Connector Connector Information 4-port, 7.62 mm spaced, enclosed, friction lock header Mating Connector Details Phoenix Contact: P/N 1804920 Included with Drive Yes PWR GND1HIGH VOLTAGE2LOGIC GND3LOGIC PWR4 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 9. DigiFlex® Performance™ Servo Drive DPCANTR-025B200 MOUNTING DIMENSIONS ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 10. DigiFlex® Performance™ Servo Drive DPCANTR-025B200 PART NUMBERING INFORMATION - Drive SeriesDigiFlex PerformanceCommunicationCommand InputsCPDTNAR520B002Example: DPRS232/RS485RCANopen or RS232CEthernet Powerlink or TCP/IPPAnalog (±10V) No Step & DirectionANAnalog (±10V) Low Voltage Step & Direction (5V)ALAnalog (±10V) High Voltage Step & Direction (24V)AHNo AnalogLow Voltage Step & Direction (5V)NLNo Analog, No Step & Direction(Communication Interface Only)NNDigital I/OIsolated (24V)ITTL (5V) Non-IsolatedTMotor FeedbackIncremental Encoder and/or HallsEResolverRAbsolute Sin/Cos (Hiperface & Endat)ASin/Cos with HallsSMax DC Bus Voltage (VDC) 80080200200400400800800AC Input+24VDC User Logic Supply RequiredAAC Input Single Phase Only+24VDC User Logic Supply RequiredSDC InputBoth Logic Supply Options (Internal or User)BDC InputLogic Supply RequiredL15015160162002025025300304004060C060100C100- Code used to identify customer specialsPower and Logic SupplyPeak Current (A0 to Peak) Customer SpecialEtherCATEUniversal (Halls, Inc. Enc., Abs. Enc., 1Vp-p Sin/Cos Enc.)U60060 DigiFlex® Performance™ series of products are available in many configurations. Note that not all possible part number combinations are offered as standard drives. 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 quick- turn 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 Optimized Footprint Tailored Project File Private Label Software Silkscreen Branding OEM Specified Connectors Optimized Base Plate No Outer Case Increased Current Limits Increased Current Resolution Increased Voltage Range Increased Temperature Range Conformal Coating Custom Control Interface Multi-Axis Configurations Integrated System I/O Reduced Profile Size and Weight 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 Shunt Regulators Drive(s) Filter Cards To Motor All specifications in this document are subject to change without written notice. Actual product may differ from pictures provided in this document. ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By: