Advanced motion controls dprahia 020b080
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This document provides specifications for the DigiFlex® PerformanceTM Servo Drive DPRAHIA-020B080. It is a digital servo drive capable of driving brushed and brushless motors in torque, velocity, or position mode. It features 20A peak current, 10A continuous current, and an operating voltage range of 20-80VDC. The drive utilizes space vector modulation for motor control and includes configurable digital and analog inputs/outputs.
Advanced motion controls dprahia 020b080
- 1. DigiFlex® Performance™ Servo Drive DPRAHIA-020B080 Description Power Range Peak Current 20 A (14.1 ARMS) Continuous Current 10 A (7.1 ARMS) Supply Voltage 20 - 80 VDC 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 non-volatile memory. 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 MODES OF OPERATION ƒ Current ƒ Position ƒ Velocity COMMAND SOURCE ƒ PWM and Direction ƒ Encoder Following ƒ Over the Network ƒ ±10 V Analog ƒ 24V Step and Direction FEEDBACK SUPPORTED ƒ ±10 VDC Position ƒ Auxiliary Incremental Encoder ƒ Heidenhain EnDat® ƒ Stegmann Hiperface® ƒ Tachometer (±10 VDC) INPUTS/OUTPUTS ƒ 3 High Speed Captures ƒ 4 Programmable Analog Inputs (16-bit/12-bit Resolution) ƒ 3 Programmable Digital Inputs (Differential) ƒ 7 Programmable Digital Inputs (Single-Ended) ƒ 4 Programmable Digital Outputs (Single-Ended) COMPLIANCES & AGENCY APPROVALS ƒ CE Class A (LVD) ƒ CE Class A (EMC) ƒ RoHS Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 2. DigiFlex® Performance™ Servo Drive DPRAHIA-020B080 BLOCK DIAGRAM PDI-1,2,3,4,5,6,7 (STEP,DIR,CAP-A) INPUT COMMON PDI-8,9,10 + (PWM+ / DIR+ / AUX ENC A,B + / CAP-B,C+) PDO-1,2,3,4 OUTPUT COMMON PAI-1,4 + (REF+) PAI-1,4 – (REF–) SELECT TX/TX– Motor Feedback I/O Interface I/O Interface Motor Feedback Drive Logic +5V RS232/485 Interface CONTROL MODULE RX/RX– TX+ RX+ ISO GND +5V 5k 10k 10k 5k 20k 20k 20k PAI-2,3 SGN GND PAI-2: 33k PAI-3: 500k COS,SIN + COS,SIN – RS485_DATA+ RS485_DATA– RS485_CLOCK+ RS485_CLOCK– 3.75K PDI-8,9,10 – (PWM– / DIR– / AUX ENC A,B – / CAP-B,C–) OUTPUT PULL-UP ENC A,B,I + OUT ENC A,B,I – OUT MOTOR A MOTOR B MOTOR C HIGH VOLTAGE PWR GND POWER MODULE Power Stage Logic Power LOGIC POWER 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. *Approvals may be pending. See “Compliances & Agency Approvals” on page 1 of datasheet for currently held approvals. Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 3. DigiFlex® Performance™ Servo Drive DPRAHIA-020B080 SPECIFICATIONS Power Specifications Description Units Value DC Supply Voltage Range VDC 20 - 80 DC Bus Over Voltage Limit VDC 89 DC Bus Under Voltage Limit VDC 17.5 Logic Supply Voltage VDC 20 - 80 Maximum Peak Output Current A (Arms) 20 (14.1) Maximum Continuous Output Current A (Arms) 10 (7.1) Maximum Continuous Output Power W 760 Maximum Power Dissipation at Continuous Current W 40 Internal Bus Capacitance μF 33 Minimum Load Inductance (Line-To-Line)1 μH 250 Switching Frequency kHz 20 Low Voltage Supply Outputs - +5 VDC (250 mA) Control Specifications Description Units Value Communication Interfaces - RS-485/232 Command Sources - ±10 V Analog, 24V Step and Direction, Encoder Following, Over the Network, PWM and Direction Feedback Supported - ±10 VDC Position, Auxiliary Incremental Encoder, Heidenhain EnDat®, Stegmann Hiperface®, Tachometer (±10 VDC) Commutation Methods - Sinusoidal Modes of Operation - Current, Position, Velocity 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) - 10/4 Programmable Analog Inputs/Outputs (PAIs/PAOs) - 4/0 Primary I/O Logic Level - 24 VDC Current Loop Sample Time μs 50 Velocity Loop Sample Time μs 100 Position Loop Sample Time μs 100 Maximum Sin/Cos Encoder Frequency kHz 200 Maximum Sin/Cos Interpolation - 2048 counts per sin/cos cycle Mechanical Specifications Description Units Value Agency Approvals - CE Class A (EMC), CE Class A (LVD), RoHS Size (H x W x D) mm (in) 167 x 89.5 x 35.9 (6.6 x 3.5 x 1.4) Heatsink (Base) Temperature Range2 °C (°F) 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 - 6-pin, 3.96 mm spaced, friction lock header Notes 1. Lower inductance is acceptable for bus voltages well below maximum. Use external inductance to meet requirements. 2. Additional cooling and/or heatsink may be required to achieve rated performance. Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 4. DigiFlex® Performance™ Servo Drive DPRAHIA-020B080 PIN FUNCTIONS AUX ENCODER - Auxiliary Feedback Connector Pin Name Description / Notes I/O 1 RESERVED Reserved - 2 RESERVED Reserved - 3 RESERVED Reserved - 4 PDI-8 + (PWM+ / AUX ENC A+ / CAP-B+) Programmable Digital Input or PWM or Auxiliary Encoder or High Speed Capture (For I 5 PDI-8 - (PWM- / AUX ENC A- / CAP-B-) Single-Ended Signals Leave Negative Terminal Open) I 6 PDI-9 + (DIR+ / AUX ENC B+ / CAP-C+) I 7 PDI-9 - (DIR- / AUX ENC B- / CAP-C-) Programmable Digital Input or Direction Input or Auxiliary Encoder or High Speed Capture (For Single-Ended Signals Leave Negative Terminal Open) I 8 PDI-10 + Programmable Digital Input (For Single-Ended Signals Leave Negative Terminal Open) I 9 PDI-10 - I 10 SGN GND Signal Ground SGND 11 SGN GND Signal Ground SGND 12 SGN GND Signal Ground SGND 13 +5V OUT +5V Encoder Supply Output (Short Circuit Protected) O 14 PAI-4 + Differential Programmable Analog Input (12-bit Resolution) I 15 PAI-4 - I COMM - RS232/RS485 Communication Connector Pin Name Description / Notes I/O 1 SELECT RS232/485 selection. Pull to ground (CN1-5) for RS485. I 2 RS232 TX / RS485 TX- Transmit Line (RS-232 or RS-485) O 3 RS232 RX / RS485 RX- Receive Line (RS-232 or RS-485) I 4 RESERVED Reserved - 5 ISO GND Isolated Signal Ground IGND 6 RS485 TX+ Transmit Line (RS-485) O 7 RESERVED Reserved - 8 RS485 RX+ Receive Line (RS-485) I 9 RESERVED Reserved - FEEDBACK - Feedback Connector Pin Name Description / Notes I/O 1 COS + Cosine Input I 2 COS - I 3 SIN + Sine Input I 4 SIN - I 5 SGN GND Signal Ground SGND 6 RS485_DATA- Differential Data Line I/O 7 RS485_DATA+ I/O 8 RS485_CLOCK+ Clock Line O 9 RS485_CLOCK-Differential O 10 REF MARK + Reference mark from sine/cosine encoder I 11 RESERVED Reserved - 12 RESERVED Reserved - 13 +5V OUT +5V Encoder Supply Output (Short Circuit Protected) O 14 PAI-3 Programmable Analog Input (12-bit Resolution) I 15 REF MARK - Reference mark from sine/cosine encoder I Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 5. DigiFlex® Performance™ Servo Drive DPRAHIA-020B080 I/O - Signal Connector Pin Name Description / Notes I/O 1 PDO-1 Isolated Programmable Digital Output O 2 OUTPUT COMMON Digital Output Common OGND 3 PDO-2 Isolated 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 SGN GND Signal Ground SGND 8 OUTPUT PULL-UP Digital Output Pull-Up For User Outputs I 9 PDI-5 Isolated Programmable Digital Input I 10 PDO-3 Isolated Programmable Digital Output O 11 PDI-1 Isolated Programmable Digital Input I 12 PDI-2 Isolated Programmable Digital Input I 13 PDI-3 Isolated Programmable Digital Input I 14 PDO-4 Isolated Programmable Digital Output O 15 INPUT COMMON Digital Input Common (Can Be Used To Pull-Up Digital Inputs) IGND 16 SGN GND Signal Ground SGND 17 PDI-4 (STEP) Isolated Programmable Digital Input or Step I 18 PDI-6 (DIR) Isolated Programmable Digital Input or Direction I 19 PDI-7 (CAP-A) Isolated Programmable Digital Input or High Speed Capture I 20 ENC A+ OUT Emulated Encoder Channel A Output O 21 ENC A- OUT O 22 ENC B+ OUT Emulated Encoder Channel B Output O 23 ENC B- OUT O 24 ENC I+ OUT Emulated Encoder Index Output O 25 ENC I- OUT O 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 HIGH VOLTAGE DC Power Input I 5 PWR GND Power Ground (Common With Signal Ground) PGND 6 LOGIC PWR Logic Supply Input I Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 6. DigiFlex® Performance™ Servo Drive DPRAHIA-020B080 HARDWARE SETTINGS Switch Functions Setting Switch Description On Off 1 Bit 0 of binary RS-485 drive address. Does not affect RS-232 settings. 1 0 2 Bit 1 of binary RS-485 drive address. Does not affect RS-232 settings. 1 0 3 Bit 2 of binary RS-485 drive address. Does not affect RS-232 settings. 1 0 4 Bit 3 of binary RS-485 drive address. Does not affect RS-232 settings. 1 0 5 Bit 4 of binary RS-485 drive address. Does not affect RS-232 settings. 1 0 6 Bit 5 of binary RS-485 drive address. Does not affect RS-232 settings. 1 0 7 Bit 0 of drive RS-485 baud rate setting. Does not affect RS-232 settings. 1 0 8 Bit 1 of drive RS-485 baud 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. Baud Rate (kbps) Value For Bit Rate Setting Load from non-volatile memory 0 9.6 1 38.4 2 115.2 3 Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 7. DigiFlex® Performance™ Servo Drive DPRAHIA-020B080 MECHANICAL INFORMATION AUX ENCODER - Auxiliary Feedback Connector Connector Information 15-pin, high-density, male D-sub Details AMP: Plug P/N 748364-1; Housing P/N 748677-1; Terminals P/N 748610-4 (loose) or 748610-2 Mating Connector (strip) Included with Drive No 4 PDI-8 + (PWM+ / AUX ENC A+ / CAP-B+) 5 PDI-8 - (PWM- / AUX ENC A- / CAP-B-) 15 PAI-4 - 14 PAI-4 + 13 +5V OUT 12 SGN GND 11 SGN GND 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 COMM - RS232/RS485 Communication Connector Connector Information 9-pin, female D-sub Details AMP: Plug P/N 205204-4; Housing P/N 748677-1; Terminals P/N 5-66507-7 (loose) or 3-66507- Mating Connector 0 (strip) Included with Drive No RS232 RX / RS485 RX-5 2 RS232 TX / RS485 TX-3 1 SELECT ISO GND 6 RS485 TX+ 8 RS485 RX+ FEEDBACK - Feedback Connector Connector Information 15-pin, high-density, female D-sub Details AMP: Plug P/N 748364-1; Housing P/N 748677-1; Terminals P/N 748333-4 (loose) or 748333-2 Mating Connector (strip) Included with Drive No 5 SGN GND 4 SIN - 3 SIN + 2 COS - 1 COS + 13 +5V OUT 14 PAI-3 15 REF MARK - RS485_DATA- 6 RS485_DATA+ 7 RS485_CLOCK+ 8 RS485_CLOCK- 9 REF MARK + 10 Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 8. DigiFlex® Performance™ Servo Drive DPRAHIA-020B080 I/O - Signal Connector Connector Information 26-pin, high-density, female D-sub Details AMP: Plug P/N 748365-1; Housing P/N 748677-2; Terminals P/N 748333-4 (loose) or 748333-2 Mating Connector (strip) Included with Drive No PDI-5 OUTPUT PULL-UP 1 PDO-1 2 3 4 5 6 8 9 7 PDI-1 11 PDI-2 12 PDI-3 13 PDO-4 14 PDO-3 10 INPUT COMMON 15 SGN GND 16 PDI-4 (STEP) 17 PDI-6 (DIR) 18 OUTPUT COMMON SGN GND PAI-2 PAI-1 - (REF-) PAI-1 + (REF+) PDO-2 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 POWER - Power Connector Connector Information 6-pin, 3.96 mm spaced, friction lock header Details AMP: Plug P/N 770849-6; Terminals P/N 770522-1 (loose) or 770476-1 (strip) Mating Connector Included with Drive Yes 6 LOGIC PWR 4 HIGH VOLTAGE 3 MOTOR C 2 MOTOR B 1 MOTOR A 5 PWR GND Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 9. DigiFlex® Performance™ Servo Drive DPRAHIA-020B080 PART NUMBERING INFORMATION - Drive Series DigiFlex Performance Communication D P R A N I E 0 1 5 A 4 0 0 Command Inputs Example: DP R RS232/RS485 C CANopen or RS232 Q SynqNet Anal No Step & Di og (±10V) AN rection Anal Low og (±10V) AL Voltage Step & Direction (5V) Anal Hi og (±10V) AH gh Voltage Step & Direction (24V) No Anal Low og NL 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 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) - Customer Special Code used to identify customer specials Revision A through Z (letters may be skipped) 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 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. Examples of Customized Products Optimzed 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 Feel free to contact Applications Engineering for further information and details. Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 All specifications in this document are subject to change without written notice. Actual product may differ from pictures provided in this document. www.electromate.com sales@electromate.com