Advanced motion controls dpqnnie 015s400
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This document provides specifications for the DigiFlex® PerformanceTM Servo Drive DPQNNIE-015S400. It is a digital servo drive designed to drive brushed and brushless servomotors in torque, velocity, or position mode. It features a SynqNetTM interface for networking, programmable I/O, and complies with various agency approvals including CE and RoHS. The document provides detailed technical specifications, diagrams, and pinout information for the drive.
Advanced motion controls dpqnnie 015s400
- 1. DigiFlex® Performance™ Servo Drive DPQNNIE-015S400 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 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 SynqNet™ interface for networking and a RS-232 interface 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 non- volatile memory. Peak Current 15 A (10.6 ARMS) Continuous Current 7.5 A (5.3 ARMS) Supply Voltage 100 - 240 VAC Features Four Quadrant Regenerative Operation Space Vector Modulation (SVM) Technology Fully Digital State-of-the-art Design Programmable Gain Settings Compact Size, High Power Density 16-bit Analog to Digital Hardware Built-in brake/shunt regulator MODES OF OPERATION Current COMMAND SOURCE Over the Network FEEDBACK SUPPORTED Halls Incremental Encoder INPUTS/OUTPUTS 3 Dedicated Digital Inputs 2 Dedicated Digital Outputs 2 High Speed Captures 2 Programmable Analog Inputs (16-bit/12-bit Resolution) 2 Programmable Digital Inputs (Differential) 2 Programmable Digital Inputs (Single-Ended) 2 Programmable Digital Outputs (Differential) 2 Programmable Digital Outputs (Single-Ended) COMPLIANCES & AGENCY APPROVALS 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 DPQNNIE-015S400 BLOCK DIAGRAM I/O InterfaceI/O Interface DriveLogicCONTROL MODULE+ANALOG IN–ANALOG INNODE DISABLE, LIMIT+/-, HOMESENSCOMMON+ DIFF. INPUT 0,1USR GND5k+5V10k+5V10k1.7k20k20k20k3.75K–DIFF. INPUT 0,1OUTPUT PULL-UP Motor FeedbackMotor Feedback MOT ENC A,B,I + MOT ENC A,B,I – HALL A,B,C + HALL A,B,C – 2k+5V10k+5V10k+5V10k+5V10k10kRD+ RD–SynqNETInterfaceTD+ RS232 RXRS232 TXSGN GNDUSER INPUT 0,1USR GND3.75K+ DIFF. OUTPUT 0,1–DIFF. OUTPUT 0,1TD– RS-232InterfaceUSER OUTPUT 0,1, NODE ALARM, BRAKE500kPAI-2SGN GNDDC+ MOTOR AMOTOR BMOTOR CDC- POWER MODULEPower StageL1L2 (N) BRLOGIC+ LOGIC– Logic PowerShunt Reg. Information on Approvals and Compliances 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 DPQNNIE-015S400 SPECIFICATIONS Power Specifications Description Units Value Rated Voltage VAC (VDC) 240 (339) AC Supply Voltage Range VAC 100 - 240 AC Supply Minimum VAC 90 AC Supply Maximum VAC 264 AC Input Phases - 1 AC Supply Frequency Hz 50 - 60 DC Supply Voltage Range1 VDC 127 - 373 DC Bus Over Voltage Limit VDC 394 DC Bus Under Voltage Limit VDC 55 Logic Supply Voltage VDC 20 - 30 (@ 850 mA) Maximum Peak Output Current2 A (Arms) 15 (10.6) Maximum Continuous Output Current A (Arms) 7.5 (5.3) Max. Continuous Output Power @ Rated Voltage3 W 1710 Max. Continuous Power Dissipation @ Rated Voltage W 90 Internal Bus Capacitance μF 540 External Shunt Resistance Minimum Resistance4 Ω 25 Minimum Load Inductance (Line-To-Line)5 μH 600 Switching Frequency kHz 16 Maximum Output PWM Duty Cycle % 100 Low Voltage Supply Outputs - +5 VDC (250 mA) Control Specifications Description Units Value Communication Interfaces - SynqNet (RS-232 for configuration) Command Sources - Over the Network Feedback Supported - Halls, Incremental Encoder Commutation Methods - Sinusoidal, Trapezoidal Modes of Operation - Current 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) - 4/2 Programmable Analog Inputs/Outputs (PAIs/PAOs) - 2/0 Current Loop Sample Time μs 62.5 Maximum Encoder Frequency MHz 5 (1.25 pre-quadrature) Internal Shunt Regulator - Yes Internal Shunt Resistor - No Mechanical Specifications Description Units Value Agency Approvals - CE Class A (EMC), CE Class A (LVD), RoHS Size (H x W x D) mm (in) 177.495 x 123.393 x 44.450 (6.988 x 4.858 x 1.750) Weight g (oz) 894 (31.5) Heatsink (Base) Temperature Range6 °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 +24V LOGIC Connector - 2-port, 5.08 mm spaced, enclosed, friction lock header AUX COMM Connector - 3-pin, 2.5 mm spaced, enclosed, friction lock header COMM IN Connector - Shielded RJ-45 socket with LEDs COMM OUT Connector - Shielded RJ-45 socket with LEDs FEEDBACK Connector - 15-pin, high-density, female D-sub I/O Connector - 26-pin, high-density, female D-sub POWER Connector - 10-port, 5.08 mm spaced, enclosed, friction lock header Notes 1. Large inrush current may occur upon initial DC supply connection to DC Bus. 2. 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. 3. P = (DC Rated Voltage) * (Cont. RMS Current) * 0.95. 4. ADVANCED Motion Controls recommends using an external fuse in series with the shunt resistor. A 3 amp motor delay fuse is typical. 5. Lower inductance is acceptable for bus voltages well below maximum. Use external inductance to meet requirements. 6. 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 DPQNNIE-015S400 PIN FUNCTIONS +24V LOGIC - Logic Power Connector Pin Name Description / Notes I/O 1 LOGIC GND Logic Supply Ground GND 2 LOGIC PWR Logic Supply Input I 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 SGN GND Signal Ground SGND COMM IN - SynqNet Communication Connector Pin Name Description / Notes I/O 1 RD+ Receiver Line (100BaseT) I 2 RD- I 3 TD+ Transmitter Line (100BaseT) O 4 RESERVED Reserved - 5 RESERVED Reserved - 6 TD- Transmitter Line (100BaseT) O 7 RESERVED Reserved - 8 RESERVED Reserved - COMM OUT - SynqNet Communication Connector Pin Name Description / Notes I/O 1 TD+ Transmitter Line (100BaseT) O 2 TD- O 3 RD+ Receiver Line (100BaseT) I 4 RESERVED Reserved - 5 RESERVED Reserved - 6 RD- Receiver Line (100BaseT) I 7 RESERVED Reserved - 8 RESERVED Reserved - FEEDBACK - Feedback Connector Pin Name Description / Notes I/O 1 HALL A+ Commutation Sensor Inputs I 2 HALL B+ I 3 HALL C+ I 4 MOT ENC A+ Differential Encoder A Channel Input (For Single Ended Signals Use Only The Positive Input) I 5 MOT ENC A- I 6 MOT ENC B+ Differential Encoder B Channel Input (For Single Ended Signals Use Only The Positive Input) I 7 MOT ENC B- I 8 MOT ENC I+ Differential Encoder Index Input (For Single Ended Signals Use Only The Positive Input) I 9 MOT ENC I- I 10 HALL A- Commutation Sensor Input (For Differential Signals Only) I 11 HALL B- Commutation Sensor Input (For Differential Signals Only) I 12 SGN GND Signal Ground SGND 13 +5V OUT +5V Encoder Supply Output (Short Circuit Protected) O 14 PAI-2 Programmable Analog Input (12-bit Resolution) I 15 HALL C- Commutation Sensor Input (For Differential Signals Only) I 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 DPQNNIE-015S400 I/O - Signal Connector Pin Name Description / Notes I/O 1 USER OUTPUT 0 (PDO-1) 24V Isolated Programmable Digital Output (Referenced To USER GND) O 2 USER OUTPUT 1 (PDO-2) 24V Isolated Programmable Digital Output (Referenced To USER GND) O 3 USER GND Ground Reference For User Outputs And Inputs ISOGND 4 NODE ALARM (PDO-12) 24V Network Error (Isolated Output Referenced To USER GND) O 5 BRAKE (PDO-13) 24V Brake (Isolated Output Referenced to USER GND) O 6 SGN GND Signal Ground SGND 7 + DIFF. INPUT 0 (PDI-3) 5V Non-Isolated Differential Digital Input I 8 - DIFF. INPUT 0 (PDI-3) I 9 OUTPUT PULL-UP Digital Output Pull-Up For User Outputs I 10 NODE DISABLE (PDI-12) 24V Node Disable (Isolated Input Referenced to SENSCOMMON) I 11 LIMIT + (PDI-9) 24V Positive Limit (Isolated Input Referenced To SENSCOMMON) I 12 LIMIT - (PDI-10) 24V Negative Limit (Isolated Input Referenced To SENSCOMMON) I 13 HOME (PDI-11) 24V Home Switch (Isolated Input Referenced To SENSCOMMON) I 14 USER INPUT 0 (PDI-1) 24V Isolated Programmable Digital Input (Referenced To USER GND) I 15 USER INPUT 1 (PDI-2) 24V Isolated Programmable Digital Input (Referenced To USER GND) I 16 SENSCOMMON Sensor Common (Can Be Used To Pull-Up Related Inputs) CMN 17 + DIFF. INPUT 1 (PDI-4) 5V Non-Isolated Differential Digital Input I 18 - DIFF. INPUT 1 (PDI-4) I 19 SGN GND Signal Ground SGND 20 + DIFF. OUTPUT 0 (PDO-3) 5V Non-Isolated Differential Digital Output O 21 - DIFF. OUTPUT 0 (PDO-3) O 22 + DIFF. OUTPUT 1 (PDO-4) 5V Non-Isolated Differential Digital Output O 23 - DIFF. OUTPUT 1 (PDO-4) O 24 + ANALOG IN (PAI-1) ±10V Programmable Differential Analog Input (16-bit Resolution) I 25 - ANALOG IN (PAI-1) I 26 SGN GND Signal Ground SGND 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 4 SHIELD Motor cable shield. Internally connected to protective earth ground. - 5 PE Protective Earth Ground - 6 L1 AC Supply Input (Single Phase) I 7 L2 (N) I 8 DC+ Internal DC Bus Voltage O 9 BR External Brake Resistor Connection. If using an external brake resistor, connect between this port and DC+. - 10 DC- Internal DC Bus Voltage O 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 DPQNNIE-015S400 HARDWARE SETTINGS Switch Functions Switch Description Setting On Off 1 Bit 0 of binary SynqNet drive address. Does not affect RS-232 settings. 1 0 2 Bit 1 of binary SynqNet drive address. Does not affect RS-232 settings. 1 0 3 Bit 2 of binary SynqNet drive address. Does not affect RS-232 settings. 1 0 4 Bit 3 of binary SynqNet drive address. Does not affect RS-232 settings. 1 0 5 Bit 4 of binary SynqNet drive address. Does not affect RS-232 settings. 1 0 6 Bit 5 of binary SynqNet drive address. Does not affect RS-232 settings. 1 0 7 Bit 6 of binary SynqNet drive address. Does not affect RS-232 settings. 1 0 8 Bit 7 of binary SynqNet drive address. Does not affect RS-232 settings. 1 0 LED Functions LINK_IN LED On Receive Valid Off Not Valid or Power Off or Reset CYCLIC LED On Network Cyclic Off Power Off or Reset Blinking Network Not Cyclic LINK_OUT LED On Receive Valid Off Not Valid or Power Off or Reset REPEATER LED On Repeater On, Network Cyclic Off Repeater Off or Power Off or Reset Blinking Repeater On, Network Not Cyclic 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 DPQNNIE-015S400 MECHANICAL INFORMATION +24V LOGIC - Logic Power Connector Connector Information 2-port, 5.08 mm spaced, enclosed, friction lock header Mating Connector Details Phoenix Contact: P/N 1757019 Included with Drive Yes LOGIC -1LOGIC +2 AUX COMM - RS232 Communication Connector Connector Information 3-pin, 2.5 mm spaced, enclosed, friction lock header Mating Connector Details Phoenix Contact: Plug P/N 1881338 Included with Drive Yes RS232 RX1RS232 TX2SGN GND3 COMM IN - SynqNet Communication Connector Connector Information Shielded RJ-45 socket with LEDs Mating Connector Details TYCO: Plug P/N 5-569552-3 Included with Drive No RD+1RD-2TD+3TD-6COMM INLINK_IN LEDCYCLIC LED COMM OUT - SynqNet Communication Connector Connector Information Shielded RJ-45 socket with LEDs Mating Connector Details TYCO: Plug P/N 5-569552-3 Included with Drive No TD+1TD-2RD+3RD-6COMM OUTREPEATER LEDLINK_OUT LED 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 DPQNNIE-015S400 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 HALL A+1HALL B+2HALL C+3MOT ENC A+4MOT ENC A-5HALL B-11SGN GND12+5V OUT13PAI-214HALL C-15MOT ENC B+6HALL A-10MOT ENC B-7MOT ENC I+8MOT ENC I-9 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 USER OUTPUT 0 (PDO-1)123456897USER INPUT 0 (PDI-1)14LIMIT + (PDI-9)11LIMIT - (PDI-10)12HOME (PDI-11)13NODE DISABLE (PDI-12)10USER INPUT 1 (PDI-2)15+ DIFF. INPUT 1 (PDI-4)17-DIFF. INPUT 1 (PDI-4)18SENSCOMMON16USER OUTPUT 1 (PDO-2) OUTPUT PULL-UP-DIFF. INPUT 0 (PDI-3) + DIFF. INPUT 0 (PDI-3) SGN GNDBRAKE (PDO-13) NODE ALARM (PDO-12) USER GNDSGN GND19+ ANALOG IN (PAI-1)24+ DIFF. OUTPUT 1 (PDO-4)22+ DIFF. OUTPUT 0 (PDO-3)20-DIFF. OUTPUT 0 (PDO-3)21-DIFF. OUTPUT 1 (PDO-4)23-ANALOG IN (PAI-1)25SGN GND26 POWER - Power Connector Connector Information 10-port, 5.08 mm spaced, enclosed, friction lock header Mating Connector Details Phoenix Contact: P/N 1781069 Included with Drive Yes MOTOR A1MOTOR B2MOTOR C3SHIELD4PE5L16L2 (N)7DC+8BR9DC-10 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 DPQNNIE-015S400 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 DPQNNIE-015S400 PART NUMBERING INFORMATION - Drive SeriesDigiFlex PerformanceCommunicationCommand InputsRPDINAE510A004Example: DPRS232/RS485RCANopen or RS232CSynqNetQAnalog (±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 RequiredL15015160162002025025300304004060060100100- 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.)U 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 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. 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: