Advanced motion controls dr101ee30a40nac
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The DR101EE Series digital servo drives are fully digital devices that control brushed and brushless motors in torque, velocity, or position mode using space vector modulation. The drives feature programmable digital and analog inputs and outputs, integrated motor commutation sensing, and configurable operation through a Windows software interface.
Advanced motion controls dr101ee30a40nac
- 1. DR101EE Series DIGIFLEX® DIGITAL SERVO DRIVES MODEL: DR101EE30A40NAC FEATURES: · Fully digital, state-of-the-art design · Space Vector Modulation and vector control technology · 20kHz Digital current loop with programmable gain settings · PIDF velocity loop with 100microsecond update rate · PID + FF position loop with 100 microsecond update rate · Hall sensor + encoder or encoder-only based commutation · Surface-mount technology · Small size, low cost, ease of use · Isolated RS232/485 interface for setup and networking · Windows© based setup software with built-in 8-channel digital scope · Operates in torque, velocity or position mode with programmable gain settings · Programmable profiling in all modes · Fully configurable current, voltage, velocity and position limits. · Step & direction mode for stepper replacement · Encoder following with programmable gear ratio · 4 isolated programmable digital inputs · 2 programmable differential inputs, configurable as step & direction, master encoder, or secondary encoder for dual loop operation · 4 isolated programmable digital outputs · 2 programmable analog inputs (10-bit) · 14-bit reference input or programmable analog input · 1 programmable analog output (10-bit) · Encoder output (from motor, optionally buffered) · Off-line 1 or 3-phase 240VAC operation · Four quadrant regenerative operation · Integrated shunt regulator · Bi-color LED status indicator · Extensive built-in protection against: § over-voltage (programmable) § under-voltage (programmable) · short-circuit: phase-phase, phase-ground § over-current § over-temperature Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 2. ADVANCED MOTION CONTROLS DR101EE Series SHNT1 SHNT2 AC2 MOT ENC A+ MOT ENC A-MOT ENC B+ MOT ENC B-MOT MOT ENC I- MOTOR FEEDBACK ENC I+ Sold & Serviced By: Page 2 of 7 BLOCK DIAGRAM: MOTOR A MOTOR B MOTOR C +5V 20K 20K 2K +HALL A,B,C -HALL A,B,C DR101EE30A40NAC ISOLATION LOGIC POWER SUPPLY POWER OUTPUT STAGE +5V AC1 AC3 FUSE SHUNT REG. 5K RS232/485 INTERFACE 10K 10K 10K 5K 500 20K 20K 20K 40K 10K - 20K RX/+RX TX/+TX SELECT INPUT COMMON OUTPUT PULL-UP PROGR. OUTPUT 1...4 OUTPUT COMMON +REF -REF PROGR. ANALOG INPUT 2,3 AGND PROGR. ANALOG OUTPUT 1 + + - PROGR. INPUT 1..4 +5V +5V I/O INTERFACE -RX -TX GND ISOLATION +PROGR. INPUT 5,6 STEP+, DIR+, AUX ENC A+/B+ -PROGR. INPUT 5,6 STEP-, DIR-, AUX ENC A-/B-CONTROLLER CURRENT CONTROL TORQUE CONTROL VELOCITY CONTROL POSITION CONTROL DESCRIPTION: The DR101EE Series digital PWM 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. 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. DR101EE Series drives feature a single, isolated RS232/485 interface, which is used for drive configuration and setup as well as online operation in networked applications. Drive commissioning can be accomplished through a fully graphical Windows© based application. All drive and motor parameters are stored in non-volatile memory. ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 3. ADVANCED MOTION CONTROLS DR101EE Series Sold & Serviced By: Page 3 of 7 SPECIFICATIONS: POWER STAGE SPECIFICATIONS DR101EE30A40NAC AC SUPPLY VOLTAGE 40 – 270 VAC, 1 or 3-phase, 50 – 60 Hz PEAK CURRENT 30A (21.2 Arms) MAXIMUM CONTINUOUS CURRENT 15A (10.6 Arms) MINIMUM LOAD INDUCTANCE 600 μH SWITCHING FREQUENCY 20 kHz HEATSINK (BASEPLATE) TEMPERATURE RANGE 0 to 65 ºC, disables at 65 ºC POWER DISSIPATION AT CONTINUOUS CURRENT 200W MIN. UNDER-VOLTAGE SHUTDOWN 55 VDC MAX. OVER-VOLTAGE SHUTDOWN 439 VDC BUS CAPACITANCE 1410 μF SHUNT RESISTOR External SHUNT SWITCH-ON VOLTAGE Programmable SHUNT FUSE 3A Motor Delay @ 250VAC MECHANICAL SPECIFICATIONS POWER CONNECTOR: P1 Screw terminal MOTOR FEEDBACK CONNECTOR: CN3* 15-pin high density female D-sub I/O CONNECTOR: CN2* 26-pin high density female D-sub COMMUNICATIONS INTERFACE (RS232/485): CN1* 9-pin female D-sub SIZE 7.95 x 6.18 x 2.76 inches 202x 157 x 70 mm WEIGHT * Mating connectors are not included. ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 4. ADVANCED MOTION CONTROLS DR101EE Series Commutation sensor inputs. Internal 2K pull-up to +5VDC. Can be used with single ended or differential Hall sensors. I Sold & Serviced By: Page 4 of 7 PIN FUNCTIONS: P1 - Motor and Power Connector: CONNECTOR PIN NAME DESCRIPTION I/O 1 MA Motor phase A O 2 MB Motor phase B O 3 MC Motor phase C O 4 SHNT1 O External shunt resistor connection 5 SHNT2 O 6 AC1 I 7 AC2 I P1 8 AC3 AC supply input. 40 – 270 VAC, single or 3-phase. I CN3 - Motor Feedback Connector: CONNECTOR PIN NAME DESCRIPTION I/O 1 +Hall A I 2 +Hall B I 3 +Hall C Encoder Input. For single 4 MOT ENC A+ I 5 MOT ENC A-Differential ended encoder signals, leave the A– terminal open. I Encoder Input. For single 6 MOT ENC B+ I 7 MOT ENC B-Differential ended encoder signals, leave the B– terminal open. I Encoder Input. For single 8 MOT ENC I+ I 9 MOT ENC I-Differential ended encoder signals, leave the I– terminal open. I 10 -Hall A* See CN3-1. Leave open in case of single ended Hall sensors. I 11 -Hall B* See CN3-2. Leave open in case of single ended Hall sensors. I 12 SGND Signal ground SGND 13 +5V OUT +5V @ 250mA max. Short-circuit protected. O 14 PAI3 Programmable analog input, single ended, 10-bit I CN3 15 -Hall C* See CN3-3. Leave open in case of single ended Hall sensors. I CN2 – I/O Connector: CONNECTOR PIN NAME DESCRIPTION I/O 1 PDO1 Isolated programmable digital output, 24V @ 50mA max. Referenced to pin 8, Output Common. CN2 O 2 OUTPUT COMMON Digital output common. OGND ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 5. ADVANCED MOTION CONTROLS DR101EE Series Differential reference signal input, 14-bit resolution. Can also be used as programmable analog input 1. I Sold & Serviced By: Page 5 of 7 3 PDO2 Isolated programmable digital output, 24V @ 50mA max. Referenced to pin 8, Output Common. O 4 +REF I 5 -REF 6 PAI2 Programmable analog input I 7 PAO1 Programmable analog output O 8 OUTPUT PULL-UP Digital output pull-up via 5K resistor. I 9 -PDI6 Programmable Input (see CN2-18) or Direction- or Aux Enc B-I 10 PDO3 Isolated programmable digital output, 24V @ 50mA max. Referenced to pin 8, Output Common. O 11 PDI1 Isolated programmable digital input, 24V @ 5mA max. Referenced to pin 15, Input Common. I 12 PDI2 Isolated programmable digital input, 24V @ 5mA max. Referenced to pin 15, Input Common. I 13 PDI3 Isolated programmable digital input, 24V @ 5mA max. Referenced to pin 15, Input Common. I 14 PDO4 Isolated programmable digital output, 24V @ 50mA max. Referenced to pin 8, Output Common. O 15 Input Common Digital input common. Can also be used to pull-up digital inputs. IGND 16 AGND Analog ground AGND 17 +PDI5 Programmable differential digital input, or Step+ or Aux Enc A+ I 18 +PDI6 Programmable, differential digital input or Direction+ or Aux Enc B+ I 19 PDI4 Isolated programmable digital input, 24V @ 5mA max. Referenced to pin 15, Input Common. I 20 Encoder Channel A+ Output (from connector CN3), O 21 Encoder Channel A-Encoder not buffered O 22 Encoder Channel B+ Output (from connector CN3), O 23 Encoder Channel B-Encoder not buffered O 24 Encoder Channel I+ Output (from connector CN3), O 25 Encoder Channel I-Encoder not buffered O 26 -PDI5 Programmable Input (See CN2-17) or Step- or Aux Enc A-I CN1 - Communications Interface (RS232/485): ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 6. ADVANCED MOTION CONTROLS DR101EE Series CONNECTOR PIN NAME DESCRIPTION I/O Sold & Serviced By: Page 6 of 7 1 SELECT RS232/485 selection. Pull to ground (CN1-5) for RS485. I 2 TX/+TX RS232: Transmit; RS485: +TX O 3 RX/+RX RS232: Receive; RS485: +RX I 4 N/C Not connected 5 SGND Signal ground SGND 6 -TX RS485: -TX O 7 N/C Not connected 8 -RX RS485: -RX I CN1 9 N/C Not connected ORDERING INFORMATION: Standard model: DR101EE30A40NACX X indicates the current revision letter. ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 7. ADVANCED MOTION CONTROLS DR101EE Series Sold & Serviced By: Page 7 of 7 MOUNTING DIMENSIONS: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com