Advanced motion controls dpcania 060a800
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This document provides information on the DigiFlex® PerformanceTM Servo Drive DPCANIA-060A800. It can drive brushed and brushless servomotors in torque, velocity, or position mode using space vector modulation. It features a CANopen interface, configurable I/O, and supports various feedback devices. The drive is compliant with relevant safety standards and has protection against overcurrent, overtemperature, and other fault conditions.
Advanced motion controls dpcania 060a800
- 1. DigiFlex® Performance™ Servo Drive DPCANIA-060A800 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 60 A (42.4 ARMS) Continuous Current 30 A (21.2 ARMS) Supply Voltage 200 - 480 VAC 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 Built-in brake/shunt regulator 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 Auxiliary Incremental Encoder Heidenhain EnDat® Stegmann Hiperface® Tachometer (±10 VDC) INPUTS/OUTPUTS 3 High Speed Captures 4 Programmable Analog Inputs (16-bit/12-bit Resolution) 1 Programmable Analog Output (10-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 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 DPCANIA-060A800 BLOCK DIAGRAM I/O InterfaceI/O Interface DriveLogicCONTROL MODULEPAI-1,4 + (REF+) PAI-1,4 –(REF–) PDI-1,2,3,4,5,6,7INPUT COMMONPDI-8,9,10 + (PWM+ / DIR+ / AUX ENC A,B,I + / CAP-A,B,C+) PDO-1,2,3,4OUTPUT COMMON5k+5V10k+5V10k2.5k20k20k20kPAI-2,3SGN GNDPAI-2: 33kPAI-3: 500k3.75KPDI-8,9,10 –(PWM–/ DIR–/ AUX ENC A,B,I –/ CAP-A,B,C–) OUTPUT PULL-UPPAO-110kCAN_HCAN_LCANopenInterfaceCAN_GNDRS232 RXRS232 TXISO GNDRS-232Interface Motor FeedbackMotor Feedback COS,SIN,REF MARK + COS,SIN,REF MARK – DATA+ DATA– CLOCK+ CLOCK– ENC A,B,I + OUTENC A,B,I –OUTDC+ MOTOR AMOTOR BMOTOR CDC– POWER MODULEPower StageLogic PowerL1L2L3LOGIC+ LOGIC– Shunt Reg. InputFilterOutputFilterBR 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 DPCANIA-060A800 SPECIFICATIONS Power Specifications Description Units Value Rated Voltage VAC (VDC) 480 (678) AC Supply Voltage Range VAC 200 - 480 AC Supply Minimum VAC 180 AC Supply Maximum VAC 528 AC Input Phases - 3 AC Supply Frequency Hz 50 - 60 DC Supply Voltage Range1 VDC 255 - 747 DC Bus Over Voltage Limit VDC 850 DC Bus Under Voltage Limit VDC 230 Logic Supply Voltage VDC 20 - 30 (@ 850 mA) Maximum Peak Output Current2 A (Arms) 60 (42.4) Maximum Continuous Output Current A (Arms) 30 (21.2) Max. Continuous Output Power @ Rated Voltage3 W 13680 Max. Continuous Power Dissipation @ Rated Voltage W 720 Internal Bus Capacitance μF 330 External Shunt Resistor Minimum Resistance4 Ω 40 Minimum Load Inductance (Line-To-Line)5 μH 3000 Switching Frequency kHz 10 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, Heidenhain EnDat®, Stegmann Hiperface®, 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) - 10/4 Programmable Analog Inputs/Outputs (PAIs/PAOs) - 4/1 Primary I/O Logic Level - 24 VDC Current Loop Sample Time μs 100 Velocity Loop Sample Time μs 200 Position Loop Sample Time μs 200 Maximum Sin/Cos Encoder Frequency kHz 200 Maximum Sin/Cos Interpolation - 2048 counts per sin/cos cycle 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) 300.5 x 232.1 x 139.3 (11.8 x 9.1 x 5.5) Weight g (oz) 6174 (217.8) 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 AUX ENCODER Connector - 15-pin, high-density, male D-sub COMM Connector - Shielded, dual RJ-45 socket with LEDs DC BUS Connector - 4-port, 7.62 mm spaced, enclosed, friction lock header FEEDBACK Connector - 15-pin, high-density, female D-sub I/O Connector - 26-pin, high-density, female D-sub MOTOR POWER Connector - 4-port, 7.62 mm spaced, enclosed, friction lock header POWER Connector - 3-port, 7.62 mm spaced, enclosed, friction lock header Notes 1. DC supply operation through the L1, L2, or L3 terminals will reduce peak/cont. current ratings by 30%. See installation manual for details. 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 DPCANIA-060A800 PIN FUNCTIONS +24V LOGIC - Logic Power Connector Pin Name Description / Notes I/O 1 LOGIC PWR Logic Supply Input I 2 LOGIC GND Logic Supply Ground GND 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 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 Single-Ended Signals Leave Negative Terminal Open) I 5 PDI-8 - (PWM- / AUX ENC A- / CAP-B-) I 6 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 7 PDI-9 - (DIR- / AUX ENC B- / CAP-C-) I 8 PDI-10 + (AUX ENC I+ / CAP-A+) Programmable Digital Input or Auxiliary Encoder or High Speed Capture (For Single-Ended Signals Leave Negative Terminal Open) I 9 PDI-10 - (AUX ENC I- / CAP-A-) 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 - 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 - DC BUS - Power Connector Pin Name Description / Notes I/O 1 DC- Internal DC Bus Voltage (Can Be Used To Connect External Shunt Regulator) I/O 2 BR External Brake Resistor Connection - 3 DC+ Brake Resistor DC+. Connection for brake resistor. O 4 DC+ Internal DC Bus Voltage (Can Be Used To Connect External Shunt Regulator) I/O 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 DPCANIA-060A800 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 DATA- Differential Data Line I/O 7 DATA+ I/O 8 CLOCK+ Differential Clock Line O 9 CLOCK- 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 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 PAO-1 Programmable Analog Output (10-bit Resolution) O 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 Isolated Programmable Digital Input I 18 PDI-6 Isolated Programmable Digital Input I 19 PDI-7 Isolated Programmable Digital Input 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 MOTOR POWER - Power Connector Pin Name Description / Notes I/O 1 SHIELD Motor cable shield. Internally connected to protective earth ground. - 2 MOTOR C Motor Phase C O 3 MOTOR B Motor Phase B O 4 MOTOR A Motor Phase A O POWER - Power Connector Pin Name Description / Notes I/O 1 L3 AC Supply Input (Three Phase) I 2 L2 I 3 L1 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 DPCANIA-060A800 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 DPCANIA-060A800 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 PWR1LOGIC GND2 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 AUX ENCODER - Auxiliary Feedback Connector Connector Information 15-pin, high-density, male D-sub Mating Connector Details TYCO: Plug P/N 1658681-1; Housing P/N 5748677-1; Terminals P/N 1658686-2 (loose) or 1658686-1 (strip) Included with Drive No PDI-8 - (PWM- / AUX ENC A- / CAP-B-)5PDI-8 + (PWM+ / AUX ENC A+ / CAP-B+)4PAI-4 -15PAI-4 +14+5V OUT13SGN GND12SGN GND11SGN GND10PDI-9 + (DIR+ / AUX ENC B+ / CAP-C+)6PDI-10 - (AUX ENC I- / CAP-A-)9PDI-10 + (AUX ENC I+ / CAP-A+)8PDI-9 - (DIR- / AUX ENC B- / CAP-C-)7 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 DPCANIA-060A800 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 DC BUS - 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 DC-1BR2DC+3DC+4 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 COS +1COS -2SIN +3SIN -4SGN GND5+5V OUT13PAI-314REF MARK -15DATA-6REF MARK +10DATA+7CLOCK+8CLOCK-9 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 DPCANIA-060A800 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-310INPUT COMMON15PDI-417PDI-618SGN GND16OUTPUT COMMONPDI-5OUTPUT PULL-UPPAO-1PAI-2PAI-1 - (REF-) PAI-1 + (REF+) PDO-2PDI-719ENC I+ OUT24ENC B+ OUT22ENC A+ OUT20ENC A-OUT21ENC B-OUT23ENC I-OUT25SGN GND26 MOTOR 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 SHIELD1MOTOR C2MOTOR B3MOTOR A4 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 L31L22L13 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 DPCANIA-060A800 MOUNTING DIMENSIONS ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 11. DigiFlex® Performance™ Servo Drive DPCANIA-060A800 PART NUMBERING INFORMATION - Drive SeriesDigiFlex PerformanceCommunicationCommand InputsCPDINAA060A008Example: 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. 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: