Advanced motion controls dpranir c060a400
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The DigiFlex® PerformanceTM Servo Drive DPRANIR-C060A400 is a digital servo drive designed to drive brushed and brushless servomotors in torque, velocity, or position mode. It employs Space Vector Modulation for higher efficiency and features programmable I/O, configurable limits, and PID control loops. The drive is configured and programmed using DriveWare® 7 software and stores parameters in non-volatile memory.
Advanced motion controls dpranir c060a400
- 1. DigiFlex® Performance™ Servo Drive DPRANIR-C060A400 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 60 A (42.4 ARMS) Continuous Current 30 A (30 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 Sequencing Indexing Jogging FEEDBACK SUPPORTED Resolver ±10 VDC Position 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 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 DPRANIR-C060A400 BLOCK DIAGRAM SELECTTX/TX– I/O InterfaceI/O Interface DriveLogicRS232/485InterfaceCONTROL MODULERX/RX– TX+ RX+ ISO GNDPAI-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-110k Motor FeedbackMotor Feedback ENC A,B,I + OUTENC A,B,I – OUTREF OUT + REF OUT – SIN,COS + SIN,COS – DC+ 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 DPRANIR-C060A400 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 420 DC Bus Under Voltage Limit VDC 205 Logic Supply Voltage VDC 20 - 30 (@ 850 mA) Maximum Peak Output Current3 A (Arms) 60 (42.4) Maximum Continuous Output Current4 A (Arms) 30 (30) Max. Continuous Output Power @ Rated Voltage5 W 9662 Max. Continuous Power Dissipation @ Rated Voltage W 509 Internal Bus Capacitance μF 1120 External Shunt Resistor Minimum Resistance6 Ω 20 Minimum Load Inductance (Line-To-Line)7 μH 600 Switching Frequency kHz 14 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, Encoder Following, Over the Network, PWM and Direction, Sequencing, Indexing, Jogging Feedback Supported - ±10 VDC Position, Auxiliary Incremental Encoder, Resolver, 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) - 4/1 Primary I/O Logic Level - 24 VDC Current Loop Sample Time μs 71.4 Velocity Loop Sample Time μs 142.9 Position Loop Sample Time μs 142.9 Resolver Reference/Excitation Signal Vrms 4 Vrms @ 5 kHz Expected Resolver Transformation Ratio Vrms 0.5 Feedback Resolution / Emulated Encoder Resolution8 bit High Res: 14 (16384 counts/resolver cycle), Low Res: 12 (4096 counts/resolver cycle) Maximum Motor Speed Per Feedback Resolution RPM High Res: 5000, Low Res: 20000 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 83.7 (10.1 x 7.2 x 3.3) Weight g (oz) 2812.3 (99.2) Heatsink (Base) Temperature Range9 °C (°F) 0 - 75 (32 - 167) Storage Temperature Range °C (°F) -40 - 85 (-40 - 185) Form Factor - Panel Mount Cooling System - Natural Convection +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 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 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. 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. Higher and lower resolution options are available. Contact Applications Engineering for more information. 9. 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 DPRANIR-C060A400 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 + (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 - 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 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 - 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 DPRANIR-C060A400 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 Logic Power Connector Pin Name Description / Notes I/O 1 LOGIC GND Logic Supply Ground SGND 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 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 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 DC- Power Ground PGND 2 DC+ DC Power Input I 3 DC+ External Shunt Resistor Connection. Connect resistor between DC+ and BR. - 4 BR - 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 DPRANIR-C060A400 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 DPRANIR-C060A400 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 - (AUX ENC I- / CAP-A-)9PDI-10 + (AUX ENC I+ / CAP-A+)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 REF OUT +4REF OUT -5SGN GND12+5V OUT13PAI-314SIN+6SIN-7COS+8COS-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 DPRANIR-C060A400 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 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 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 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 DPRANIR-C060A400 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 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 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 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 DPRANIR-C060A400 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 DPRANIR-C060A400 PART NUMBERING INFORMATION C- Drive SeriesDigiFlex PerformanceCommunicationCommand InputsRPDINAR060A004Example: 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: