Advanced motion controls dpcanie 015n400
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The DigiFlex® PerformanceTM Servo Drive DPCANIE-015N400 is a digital servo drive designed to drive brushed and brushless motors in torque, velocity, or position mode. It features a peak current of 15A, CANopen interface, and configurable digital and analog inputs and outputs. Commissioning is done using the DriveWare software available from the manufacturer's website.
Advanced motion controls dpcanie 015n400
- 1. DigiFlex® Performance™ Servo Drive DPCANIE-015N400 Description Power Range Peak Current 15 A (10.6 ARMS) Continuous Current 7.5 A (5.3 ARMS) Supply Voltage 100 - 240 VAC 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 CANopen 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. 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 ±10 V Analog ƒ PWM and Direction ƒ Encoder Following ƒ Over the Network FEEDBACK SUPPORTED ƒ Halls ƒ Incremental Encoder ƒ Auxiliary Incremental Encoder ƒ Tachometer (±10 VDC) INPUTS/OUTPUTS ƒ 3 High Speed Captures ƒ 4 Programmable Analog Inputs (16-bit/12-bit Resolution) ƒ 1 Programmable Analog Output (10-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 UL ƒ cUL ƒ CE Class A (LVD) ƒ CE Class A (EMC) ƒ 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 DPCANIE-015N400 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-UP Motor FeedbackMotor Feedback MOT ENC A,B,I + MOT ENC A,B,I – HALL A,B,C + HALL A,B,C – 10k+5V20k+5V20k+5V10k+5V10k5kENC A,B,I + OUTENC A,B,I – OUTPAO-110kCAN_HCAN_LCANopenInterfaceCAN_GNDRS232 RXRS232 TXISO GNDRS-232InterfaceDC+ MOTOR AMOTOR BMOTOR CDC- POWER MODULEPower StageLogic PowerL1L2L3 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 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. Release Date: 10/1/2009 Revision: 2.00 Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com Page 2 of 10 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 DPCANIE-015N400 Release Date: 10/1/2009 Revision: 2.00 Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com Page 3 of 10 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 Phases1 - 3 AC Supply Frequency Hz 50 - 60 DC Supply Voltage Range2 VDC 127 - 373 DC Bus Over Voltage Limit VDC 393 DC Bus Under Voltage Limit VDC 55 Maximum Peak Output Current 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 660 Minimum Load Inductance (Line-To-Line)4 μH 600 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 Feedback Supported - Auxiliary Incremental Encoder, Halls, Incremental Encoder, Tachometer (±10 VDC) Commutation Methods - Sinusoidal, Trapezoidal 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) - 4/1 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 Encoder Frequency MHz 20 (5 pre-quadrature) 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) 177.5 x 139.7 x 55.9 (7 x 5.5 x 2.2) Weight g (oz) 1291 (45.5) Heatsink (Base) Temperature Range5 °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 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 FEEDBACK Connector - 15-pin, high-density, female D-sub I/O Connector - 26-pin, high-density, female D-sub P1 Connector - 8-port, 7.62 mm spaced, enclosed, friction lock header Notes 1. Can operate on single-phase VAC if peak/cont. current ratings are reduced by at least 30%. 2. Large inrush current may occur upon initial DC supply connection to DC Bus. 3. P = (DC Rated Voltage) * (Cont. RMS Current) * 0.95. 4. Lower inductance is acceptable for bus voltages well below maximum. Use external inductance to meet requirements. 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 DPCANIE-015N400 Release Date: 10/1/2009 Revision: 2.00 Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com Page 4 of 10 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 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+) I 5 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 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 + (AUX ENC I+ / CAP-A+) I 9 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 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 + I 15 PAI-4 - Differential Programmable Analog Input (12-bit Resolution) 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 - FEEDBACK - Feedback Connector Pin Name Description / Notes I/O 1 HALL A+ I 2 HALL B+ I 3 HALL C+ Commutation Sensor Inputs I 4 MOT ENC A+ I 5 MOT ENC A- Differential Encoder A Channel Input (For Single Ended Signals Use Only The Positive Input) I 6 MOT ENC B+ I 7 MOT ENC B- Differential Encoder B Channel Input (For Single Ended Signals Use Only The Positive Input) I 8 MOT ENC I+ I 9 MOT ENC I- Differential Encoder Index Input (For Single Ended Signals Use Only The Positive Input) 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-3 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 DPCANIE-015N400 Release Date: 10/1/2009 Revision: 2.00 Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com Page 5 of 10 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+) I 5 PAI-1 - (REF-) Differential Programmable Analog Input or Reference Signal Input (16-bit Resolution) 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 O 21 ENC A- OUT Buffered Encoder Channel A Output O 22 ENC B+ OUT O 23 ENC B- OUT Buffered Encoder Channel B Output O 24 ENC I+ OUT O 25 ENC I- OUT Buffered Encoder Index Output O 26 SGN GND Signal Ground SGND P1 - 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 DC+ O 5 DC- Internal DC Bus Voltage (Can Be Used To Connect External Shunt Regulator) O 6 L1 I 7 L2 I 8 L3 AC Supply Input (Single or Three Phase) 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 DPCANIE-015N400 Release Date: 10/1/2009 Revision: 2.00 Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com Page 6 of 10 HARDWARE SETTINGS Switch Functions Setting Switch Description 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 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 DPCANIE-015N400 MECHANICAL INFORMATION AUX COMM - RS232 Communication Connector Connector Information 3-pin, 2.5 mm spaced, enclosed, friction lock header Details Phoenix: Plug P/N 1881338 Mating Connector Included with Drive Yes RS232 RX1RS232 TX2ISO GND3 AUX ENCODER - Auxiliary Feedback Connector Connector Information 15-pin, high-density, male D-sub Details TYCO: Plug P/N 1658681-1; Housing P/N 5748677-2; Terminals P/N 1658686-2 (loose) or 1658686-1 (strip) Mating Connector 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 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 COMM - CAN Communication Connector Connector Information Shielded, dual RJ-45 socket with LEDs Details AMP: Plug P/N 5-569552-3 Mating Connector Included with Drive No CAN_H1CAN_L2CAN_GND3 CAN_GND3CAN_GND7AB Release Date: 10/1/2009 Revision: 2.00 Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com Page 7 of 10 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 DPCANIE-015N400 FEEDBACK - Feedback Connector Connector Information 15-pin, high-density, female D-sub Details TYCO: Plug P/N 748364-1; Housing P/N 5748677-2; Terminals P/N 1658670-2 (loose) or 1658670-1 (strip) Mating Connector Included with Drive No HALL A+1HALL B+2HALL C+3MOT ENC A+4MOT ENC A-5HALL B-11SGN GND12+5V OUT13MOT 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 Details TYCO: Plug P/N 1658671-1; Housing P/N 5748677-3; Terminals P/N 1658670-2 (loose) or 1658670-1 (strip) Mating Connector 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-OUT23 P1 - Power Connector Connector Information 8-port, 7.62 mm spaced, enclosed, friction lock header Details Phoenix Contact: P/N 1767067 Mating Connector Included with Drive Yes MOTOR A1MOTOR B2MOTOR C3DC+4DC-5L16 Release Date: 10/1/2009 Revision: 2.00 Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com Page 8 of 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 DPCANIE-015N400 MOUNTING DIMENSIONS Release Date: 10/1/2009 Revision: 2.00 Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com Page 9 of 10 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 DPCANIE-015N400 PART NUMBERING INFORMATION Release Date: 10/1/2009 Revision: 2.00 Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com Page 10 of 10 - Drive SeriesDigiFlex Per RPDINAE510A004 ple: DPRS RCANope CSynqNe AnalNo St ANAnalLow ALAnalHi AHNo AnaLow NLNo Analog, No St NN Isol TTcreentl Encoder andEResolve RAbsolu ASi AC I AC INo N Bot Log DC - 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 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 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 Filter Cards Drive(s) 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: