Advanced motion controls dpcanir 100a400
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This document describes a DigiFlex Performance Servo Drive model DPCANIR-100A400. It has the following key specifications: - Peak current of 100A and continuous current of 50A - Supply voltage of 200-240VAC - Interfaces include CANopen and RS-232 - Capable of torque, velocity, and position control modes - Includes configurable digital and analog inputs and outputs - Used to drive brushed and brushless motors
Advanced motion controls dpcanir 100a400
- 1. DigiFlex® Performance™ Servo Drive DPCANIR-100A400 Release Date: 4/3/2013 Revision: 2.02 ADVANCED Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com Page 1 of 11 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 100 A (70.7 ARMS) Continuous Current 50 A (35.4 ARMS) Supply Voltage 200 - 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 Indexing Jogging FEEDBACK SUPPORTED ±10 VDC Position Resolver 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
- 2. DigiFlex® Performance™ Servo Drive DPCANIR-100A400 Release Date: 4/3/2013 Revision: 2.02 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 11 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 ENC A,B,I + OUTENC A,B,I – OUTREF OUT + REF OUT – SIN,COS + SIN,COS – DC+ MOTOR AMOTOR BMOTOR CPOWER MODULEPower StageLogic PowerL1L2L3LOGIC+ LOGIC– Shunt Reg. BR 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.
- 3. DigiFlex® Performance™ Servo Drive DPCANIR-100A400 Release Date: 4/3/2013 Revision: 2.02 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 11 SPECIFICATIONS Power Specifications Description Units Value Rated Voltage VAC (VDC) 240 (339) AC Supply Voltage Range VAC 200 - 240 AC Supply Minimum VAC 180 AC Supply Maximum VAC 264 AC Input Phases1 - 3 AC Supply Frequency Hz 50 - 60 DC Supply Voltage Range2 VDC 255 - 373 DC Bus Over Voltage Limit VDC 429 DC Bus Under Voltage Limit VDC 205 Logic Supply Voltage VDC 20 - 30 (@ 850 mA) Maximum Peak Output Current3 A (Arms) 100 (70.7) Maximum Continuous Output Current A (Arms) 50 (35.4) Max. Continuous Output Power @ Rated Voltage4 W 11400 Max. Continuous Power Dissipation @ Rated Voltage W 600 Internal Bus Capacitance μF 1500 External Shunt Resistor Minimum Resistance5 Ω 10 Minimum Load Inductance (Line-To-Line)6 μH 600 Switching Frequency kHz 16 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, Indexing, Jogging Feedback Supported - ±10 VDC Position, Auxiliary Incremental Encoder, Resolver, 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 62.5 Velocity Loop Sample Time μs 125 Position Loop Sample Time μs 125 Resolver Reference/Excitation Signal Vrms 4 Vrms @ 5 kHz Expected Resolver Transformation Ratio Vrms 0.5 Feedback Resolution / Emulated Encoder Resolution7 bit High Resolution Setting: 14, Low Resolution Setting: 12 Maximum Motor Speed Per Feedback Resolution RPM High Resolution Setting: 5000, Low Resolution Setting: 20000 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) 272.8 x 230.4 x 149.4 (10.7 x 9.1 x 5.9) Weight g (oz) 5500 (194) Heatsink (Base) Temperature Range8 °C (°F) 0 - 75 (32 - 167) Storage Temperature Range °C (°F) -40 - 85 (-40 - 185) Form Factor - Panel Mount Cooling System - Forced Convection 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 BRAKE/LOGIC Connector - 4-contact, 13 mm spaced, dual-barrier terminal block 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 MOTOR POWER Connector - 4-contact, 13 mm spaced, dual-barrier terminal block POWER Connector - 4-contact, 13 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. P = (DC Rated Voltage) * (Cont. RMS Current) * 0.95. 5. ADVANCED Motion Controls recommends using an external fuse in series with the the shunt resistor. A 3 amp motor delay fuse is typical. 6. Lower inductance is acceptable for bus voltages well below maximum. Use external inductance to meet requirements. 7. Higher and lower resolution options are available. Contact Applications Engineering for more information. 8. Additional cooling and/or heatsink may be required to achieve rated performance.
- 4. DigiFlex® Performance™ Servo Drive DPCANIR-100A400 Release Date: 4/3/2013 Revision: 2.02 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 11 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+) 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 BRAKE/LOGIC - Logic Power Connector Pin Name Description / Notes I/O 1 LOGIC GND Logic Supply Ground GND 2 LOGIC PWR Logic Supply Input I 3 BR External Brake Resistor Connection - 4 DC+ Brake Resistor DC+. Connection for brake resistor. O 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 RESERVED Reserved - 2 RESERVED Reserved - 3 RESERVED Reserved - 4 REF OUT + Resolver Reference/Excitation Output O 5 REF OUT - O 6 SIN+ Resolver Sine Input I 7 SIN- I 8 COS+ Resolver Cosine Input I 9 COS- I 10 RESERVED Reserved - 11 RESERVED Reserved - 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 RESERVED Reserved -
- 5. DigiFlex® Performance™ Servo Drive DPCANIR-100A400 Release Date: 4/3/2013 Revision: 2.02 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 11 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 - Motor Power Connector Pin Name Description / Notes I/O 1 SHIELD Motor cable shield. Internally connected to protective earth ground. - 2 MOTOR POWER U Motor Phase U O 3 MOTOR POWER V Motor Phase V O 4 MOTOR POWER W Motor Phase W O POWER - AC Power Connector Pin Name Description / Notes I/O 1 L1 AC Supply Input (Three Phase) I 2 L2 I 3 L3 I 4 PE Protective Earth Ground -
- 6. DigiFlex® Performance™ Servo Drive DPCANIR-100A400 Release Date: 4/3/2013 Revision: 2.02 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 11 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
- 7. DigiFlex® Performance™ Servo Drive DPCANIR-100A400 Release Date: 4/3/2013 Revision: 2.02 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 11 MECHANICAL INFORMATION 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 BRAKE/LOGIC - Logic Power Connector Connector Information 4-contact, 13 mm spaced, dual-barrier terminal block Mating Connector Details Not applicable Included with Drive Not applicable LOGIC GND1LOGIC PWR2BR3DC+4
- 8. DigiFlex® Performance™ Servo Drive DPCANIR-100A400 Release Date: 4/3/2013 Revision: 2.02 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 11 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 REF OUT +4REF OUT -5SGN GND12+5V OUT13PAI-314SIN+6SIN-7COS+8COS-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
- 9. DigiFlex® Performance™ Servo Drive DPCANIR-100A400 Release Date: 4/3/2013 Revision: 2.02 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 11 MOTOR POWER - Motor Power Connector Connector Information 4-contact, 13 mm spaced, dual-barrier terminal block Mating Connector Details Not applicable Included with Drive Not applicable SHIELD1MOTOR POWER U2MOTOR POWER V3MOTOR POWER W4 POWER - AC Power Connector Connector Information 4-contact, 13 mm spaced, dual-barrier terminal block Mating Connector Details Not applicable Included with Drive Not applicable L11L22L33PE4
- 10. DigiFlex® Performance™ Servo Drive DPCANIR-100A400 Release Date: 4/3/2013 Revision: 2.02 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 11 MOUNTING DIMENSIONS
- 11. DigiFlex® Performance™ Servo Drive DPCANIR-100A400 Release Date: 4/3/2013 Revision: 2.02 ADVANCED Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com Page 11 of 11 PART NUMBERING INFORMATION - Drive SeriesDigiFlex PerformanceCommunicationCommand InputsRPDINAE510A004Example: DPRS232/RS485RCANopen or RS232CSynqNetQAnalog (±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 RequiredL15015160162002025025300304004060060100100- 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.)U 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 All specifications in this document are subject to change without written notice. Actual product may differ from pictures provided in this document.