Advanced motion controls dpcanie 030a400
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This document provides specifications for the DigiFlex® PerformanceTM Servo Drive DPCANIE-030A400. It can supply up to 30A of peak current and 15A of continuous current. It has a CANopen interface for networking and RS-232 interface for configuration. It is designed to drive brushed and brushless servomotors in torque, velocity, or position mode using space vector modulation.
Advanced motion controls dpcanie 030a400
- 1. DigiFlex® Performance™ Servo Drive DPCANIE-030A400 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 30 A (21.2 ARMS) Continuous Current 15 A (15 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 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 Halls Incremental Encoder Auxiliary Incremental Encoder 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 UL cUL 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 DPCANIE-030A400 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 CBRPOWER MODULEPower StageLogic PowerL1L2L3LOGIC+ LOGIC– Shunt Reg. Fuse 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 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 DPCANIE-030A400 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 429 DC Bus Under Voltage Limit VDC 55 Logic Supply Voltage VDC 20 - 30 (@ 850 mA) Maximum Peak Output Current3 A (Arms) 30 (21.2) Maximum Continuous Output Current4 A (Arms) 15 (15) Max. Continuous Output Power @ Rated Voltage5 W 4831 Max. Continuous Power Dissipation @ Rated Voltage W 254 Internal Bus Capacitance μF 1410 External Shunt Resistor Minimum Resistance Ω 20 Minimum Load Inductance (Line-To-Line)6 μH 600 Switching Frequency kHz 20 Maximum Output PWM Duty Cycle % 100 Internal Shunt Fuse Rating A 3 A time-delay fuse 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, Halls, Incremental Encoder, Tachometer (±10 VDC) Commutation Methods - Sinusoidal, Trapezoidal 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 50 Velocity Loop Sample Time μs 100 Position Loop Sample Time μs 100 Maximum Encoder Frequency MHz 20 (5 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), cUL, RoHS, UL Size (H x W x D) mm (in) 202 x 157 x 70 (8 x 6.2 x 2.8) Weight g (oz) 1731 (61.1) Heatsink (Base) Temperature Range7 °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 with threaded flange 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 POWER Connector - 8-contact, 11.10 mm spaced, dual-barrier terminal block Notes 1. Can operate on single-phase VAC if peak/cont. current ratings are reduced by at least 30%. 2. DC Supply operation will reduce peak/cont. current ratings by at least 30%. 3. 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. 4. Continuous Arms value attainable when RMS Charge-Based Limiting is used. 5. P = (DC Rated Voltage) * (Cont. RMS Current) * 0.95. 6. Lower inductance is acceptable for bus voltages well below maximum. Use external inductance to meet requirements. 7. 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-030A400 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 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 - 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-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-030A400 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 Buffered Encoder Channel A Output O 21 ENC A- OUT O 22 ENC B+ OUT Buffered Encoder Channel B Output O 23 ENC B- OUT O 24 ENC I+ OUT Buffered 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 DC+ Brake Resistor DC+. Connection for brake resistor. O 5 BR External Brake Resistor Connection - 6 L1 AC Supply Input (Single or Three Phase) I 7 L2 I 8 L3 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-030A400 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 DPCANIE-030A400 MECHANICAL INFORMATION +24V LOGIC - Logic Power Connector Connector Information 2-port, 5.08 mm spaced, enclosed, friction lock header with threaded flange Mating Connector Details Phoenix Contact: P/N 1777808 Included with Drive Yes LOGIC GND1LOGIC PWR2 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 DPCANIE-030A400 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 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-314HALL 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 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 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-030A400 POWER - Power Connector Connector Information 8-contact, 11.10 mm spaced, dual-barrier terminal block Mating Connector Details Not applicable Included with Drive Not applicable MOTOR A1MOTOR B2MOTOR C3DC+4BR5L16L27L38 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-030A400 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 DPCANIE-030A400 PART NUMBERING INFORMATION - Drive SeriesDigiFlex PerformanceCommunicationCommand InputsCPDINAE030A004Example: 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: