Advanced motion controls dprahia c100a400
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This document provides specifications for the DigiFlex® PerformanceTM Servo Drive DPRAHIA-C100A400. It is a fully digital servo drive designed to drive brushed and brushless servomotors in torque, velocity, or position mode. It features space vector modulation, configurable I/O, and is compatible with various feedback devices and command sources. The drive has 100A peak current rating, 10kHz switching frequency, and integrated protections. It is intended for panel mount and uses forced air cooling.
Advanced motion controls dprahia c100a400
- 1. DigiFlex® Performance™ Servo Drive DPRAHIA-C100A400 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 single RS-232/RS-485 interface used 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 (50 ARMS) AC Supply Voltage 200 - 240 VAC DC Supply Voltage 255 - 373 VDC 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 Current Position Velocity COMMAND SOURCE PWM and Direction Encoder Following Over the Network ±10 V Analog 24V Step and Direction 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) 3 Programmable Digital Inputs (Differential) 7 Programmable Digital Inputs (Single-Ended) 4 Programmable Digital Outputs (Single-Ended) COMPLIANCES & AGENCY APPROVALS RoHS UL/cUL Pending CE Pending 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 DPRAHIA-C100A400 BLOCK DIAGRAM SELECTTX/TX– Motor FeedbackI/O InterfaceI/O InterfaceMotor Feedback DriveLogicRS232/485InterfaceCONTROL MODULERX/RX– TX+ RX+ ISO GNDPAI-1,4 + (REF+) PAI-1,4 – (REF–) PDI-1,2,3,4,5,6,7 (STEP,DIR,CAP-A) INPUT COMMONPDI-8,9,10 + (PWM+ / DIR+ / AUX ENC A,B + / CAP-B,C+) PDO-1,2,3,4OUTPUT COMMON5k+5V10k+5V10k2.5k20k20k20kPAI-2,3SGN GNDPAI-2: 33kPAI-3: 500kCOS,SIN,REF MARK + COS,SIN,REF MARK – DATA+ DATA– CLOCK+ CLOCK– 3.75KPDI-8,9,10 – (PWM– / DIR– / AUX ENC A,B – / CAP-B,C–) OUTPUT PULL-UPENC A,B,I + OUTENC A,B,I – OUTDC+ MOTOR AMOTOR BMOTOR CDC- POWER MODULEPower StageL1L2BRLOGIC+ LOGIC– Logic PowerShunt Reg. L3 Information on Approvals and Compliances 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 DPRAHIA-C100A400 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 Current4 A (Arms) 50 (50) Max. Continuous Output Power @ Rated Voltage5 W 16103 Max. Continuous Power Dissipation @ Rated Voltage W 848 Internal Bus Capacitance μF 1120 External Shunt Resistor Minimum Resistance6 Ω 25 Minimum Load Inductance (Line-To-Line)7 μH 600 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 - RS-485/232 Command Sources - ±10 V Analog, 24V Step and Direction, 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 - 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) - 4/0 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 - RoHS, UL/cUL Pending, CE Pending Size (H x W x D) mm (in) 256.5 x 182.6 x 135.3 (10.1 x 7.2 x 5.3) Weight g (oz) 3560.7 (125.6) 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 AUX ENCODER Connector - 15-pin, high-density, male D-sub COMM Connector - 9-pin, female D-sub FEEDBACK Connector - 15-pin, high-density, female D-sub I/O Connector - 26-pin, high-density, female D-sub +24V LOGIC Connector - 2-port, 5.08 mm spaced, enclosed, friction lock header FAN Connector - 2-port, 5.08 mm spaced, enclosed, friction lock header MOTOR POWER Connector - 4-port, 10.16 mm spaced, enclosed, friction lock header AC POWER Connector - 4-port, 10.16 mm spaced, enclosed, friction lock header DC POWER Connector - 4-port, 10.16 mm spaced, enclosed, friction lock header Notes 1. Can operate on single-phase AC (208 VAC minimum) as long as output power does not exceed 3kW maximum. Current limits are de-rated to 30A cont. / 60A peak. 2. Large inrush current may occur upon initial DC supply connection to DC Bus. 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. ADVANCED Motion Controls recommends using an external fuse in series with an external shunt resistor. A 5 amp time delay fuse is typical. 7. Lower inductance is acceptable for bus voltages well below maximum. Use external inductance to meet requirements. 8. 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 DPRAHIA-C100A400 PIN FUNCTIONS 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 + Programmable Digital Input (For Single-Ended Signals Leave Negative Terminal Open) I 9 PDI-10 - 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 - RS232/RS485 Communication Connector Pin Name Description / Notes I/O 1 SELECT RS232/485 selection. Pull to ground (CN1-5) for RS485. I 2 RS232 TX / RS485 TX- Transmit Line (RS-232 or RS-485) O 3 RS232 RX / RS485 RX- Receive Line (RS-232 or RS-485) I 4 RESERVED Reserved - 5 ISO GND Isolated Signal Ground IGND 6 RS485 TX+ Transmit Line (RS-485) O 7 RESERVED Reserved - 8 RS485 RX+ Receive Line (RS-485) I 9 RESERVED Reserved - 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 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 DPRAHIA-C100A400 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 SGN GND Signal Ground SGND 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 (STEP) Isolated Programmable Digital Input or Step I 18 PDI-6 (DIR) Isolated Programmable Digital Input or Direction I 19 PDI-7 (CAP-A) Isolated Programmable Digital Input or High Speed Capture 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 Logic Power Connector Pin Name Description / Notes I/O 1 LOGIC GND Logic Supply Ground GND 2 LOGIC PWR Logic Supply Input I Fan Power Connector Pin Name Description / Notes I/O 1 FAN GND Fan Ground GND 2 FAN PWR Fan Power Input I AC Power Connector Pin Name Description / Notes I/O 1 L1 AC Supply Input (Three Phase). External 20 A time delay fuses are recommended in series with the AC input lines. I 2 L2 I 3 L3 I 4 CHASSIS Chassis Ground CGND DC Power Connector Pin Name Description / Notes I/O 1 GND Power Ground PGND 2 DC+ DC Power Input I 3 DC+ External Shunt Resistor Connection. Connect resistor between DC+ and BR. I 4 BR - Motor Power Connector Pin Name Description / Notes I/O 1 CHASSIS Chassis Ground CGND 2 MOTOR A Motor Phase A O 3 MOTOR B Motor Phase A O 4 MOTOR C Motor Phase B O 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 DPRAHIA-C100A400 HARDWARE SETTINGS Switch Functions Switch Description Setting On Off 1 Bit 0 of binary RS-485 drive address. Does not affect RS-232 settings. 1 0 2 Bit 1 of binary RS-485 drive address. Does not affect RS-232 settings. 1 0 3 Bit 2 of binary RS-485 drive address. Does not affect RS-232 settings. 1 0 4 Bit 3 of binary RS-485 drive address. Does not affect RS-232 settings. 1 0 5 Bit 4 of binary RS-485 drive address. Does not affect RS-232 settings. 1 0 6 Bit 5 of binary RS-485 drive address. Does not affect RS-232 settings. 1 0 7 Bit 0 of drive RS-485 baud rate setting. Does not affect RS-232 settings. 1 0 8 Bit 1 of drive RS-485 baud 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. Baud Rate (kbps) Value For Bit Rate Setting Load from non-volatile memory 0 9.6 1 38.4 2 115.2 3 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 DPRAHIA-C100A400 MECHANICAL INFORMATION 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 -9PDI-10 +8PDI-9 - (DIR- / AUX ENC B- / CAP-C-)7 COMM - RS232/RS485 Communication Connector Connector Information 9-pin, female D-sub Mating Connector Details TYCO: Plug P/N 205204-4; Housing P/N 5748677-1; Terminals P/N 1658540-5 (loose) or 1658540-4 (strip) Included with Drive No SELECT1RS232 TX / RS485 TX-2RS232 RX / RS485 RX-3ISO GND5RS485 TX+6RS485 RX+8 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:
- 8. DigiFlex® Performance™ Servo Drive DPRAHIA-C100A400 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-4 (STEP)17PDI-6 (DIR)18SGN GND16OUTPUT COMMONPDI-5OUTPUT PULL-UPSGN GNDPAI-2PAI-1 - (REF-) PAI-1 + (REF+) PDO-2PDI-7 (CAP-A)19ENC I+ OUT24ENC B+ OUT22ENC A+ OUT20ENC A-OUT21ENC B-OUT23ENC I-OUT25SGN GND26 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 1LOGIC GND2LOGIC PWR Fan 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 1FAN GND2FAN PWR AC Power Connector Connector Information 4-pin, 10.16 mm spaced, enclosed, friction lock header Mating Connector Details Phoenix Contact: P/N 1913523 Included with Drive Yes L11L22L33CHASSIS4 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 DPRAHIA-C100A400 DC Power Connector Connector Information 4-pin, 10.16 mm spaced, enclosed, friction lock header Mating Connector Details Phoenix Contact: P/N 1913523 Included with Drive Yes DC-1DC+2DC+3BR4 MOTOR POWER - Motor Power Connector Connector Information 4-pin, 10.16 mm spaced, enclosed, friction lock header Mating Connector Details Phoenix Contact: P/N 1913523 Included with Drive Yes CHASSIS1MOT A2MOT B3MOT C4 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 DPRAHIA-C100A400 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 DPRAHIA-C100A400 PART NUMBERING INFORMATION C- Drive SeriesDigiFlex PerformanceCommunicationCommand InputsRPDIHAA001A004Example: 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. Power Supplies Shunt Regulators 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: