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DR100EE Series 
DIGIFLEX® DIGITAL SERVO DRIVES 
MODEL: DR100EE100A40NDC 
FEATURES: 
·  Fully digital, state-of-the-art design 
·  Space Vector Modulation and vector control technology 
·  15kHz Digital current loop with programmable gain settings 
·  PIDF velocity loop with 133 microsecond update rate 
·  PID + FF position loop with 133 microsecond update rate 
·  Hall sensor + encoder or encoder-only based commutation 
·  Surface-mount technology 
·  Small size, low cost, ease of use 
·  RS232/485 interface for setup and networking 
·  Windows© based setup software with built-in 8-channel digital 
scope 
·  Operates in torque, velocity or position mode with programmable 
gain settings 
·  Programmable profiling in all modes 
·  Fully configurable current, voltage, velocity and position limits. 
·  Step & direction mode for stepper replacement 
·  Encoder following with programmable gear ratio 
·  4 programmable digital inputs 
·  2 programmable differential inputs, configurable as step & 
direction, master encoder, or secondary encoder for dual loop 
operation 
·  4 programmable digital outputs 
·  2 programmable analog inputs (10-bit) 
·  14-bit reference input or programmable analog input 
·  2 programmable analog outputs (10-bit) 
·  Encoder output (from motor, optionally buffered) 
·  Four quadrant regenerative operation 
·  Bi-color LED status indicator 
·  Extensive built-in protection against: 
§ over-voltage (programmable) 
§ under-voltage (programmable) 
·  short-circuit: phase-phase, phase-ground 
§ over-current 
§ over-temperature 
ADVANCED MOTION CONTROLS 
Sold & Serviced By: 
ELECTROMATE 
Toll Free Phone (877) SERVO98 
Toll Free Fax (877) SERV099 
www.electromate.com 
sales@electromate.com
ADVANCED MOTION CONTROLS DR100EE Series 
POWER GND 
MOT ENC A+ 
MOT ENC A-MOT 
ENC B+ 
MOT ENC B-MOT 
ENC I+ 
MOT ENC I-RS232/ 
Sold & Serviced By: 
Page 2 of 7 
BLOCK DIAGRAM: 
MOTOR A 
MOTOR B 
MOTOR C 
RX/+RX 
LOGIC POWER 
SUPPLY -RX 
-TX 
5K 
10K 
10K 
20K 
10K 
20K 
2K 
5K 
20K 
20K 
20K 
40K 
10K 
- 
20K +5V 
SELECT 
SGND 
PROGR. OUTPUT 1...4 
SGND 
+REF 
-REF 
PROGR. ANALOG INPUT 2,3 
SGND 
PROGR. ANALOG OUTPUT 1,2 
+HALL A,B,C 
-HALL A,B,C 
485 
INTERFACE 
MOTOR FEEDBACK 
CONTROLLER 
CURRENT CONTROL 
TORQUE CONTROL 
VELOCITY CONTROL 
POSITION CONTROL 
+ 
+ 
- 
TX/+TX 
SGND 
HIGH VOLTAGE 
POWER 
OUTPUT STAGE 
PROGR. INPUT 1..4 
+PROGR. INPUT 5,6 
STEP+, DIR+, AUX ENC A+/B+ 
-PROGR. INPUT 5,6 
STEP-, DIR-, AUX ENC A-/B-DR100EE... 
40NDC 
ISOLATION 
+5V 
+5V 
+5V 
+5V 
+5V 
I/O INTERFACE 
DESCRIPTION: 
The DR100EE Series digital PWM servo drives are designed to drive brushed and brushless servomotors. These fully 
digital drives can operate in torque, velocity, or position mode and employ Space Vector Modulation (SVM), which 
results in higher bus voltage utilization and reduced heat dissipation. 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. 
DR100EE Series drives feature a single RS232/485 interface, which is used for drive configuration and setup as well 
as online operation in networked applications. Drive commissioning can be accomplished through a fully graphical 
Windows© bas ed application. 
All drive and motor parameters are stored in non-volatile memory. 
ELECTROMATE 
Toll Free Phone (877) SERVO98 
Toll Free Fax (877) SERV099 
www.electromate.com 
sales@electromate.com
ADVANCED MOTION CONTROLS DR100EE Series 
Sold & Serviced By: 
Page 3 of 7 
SPECIFICATIONS: 
POWER STAGE SPECIFICATIONS DR100EE100A40NDC 
DC SUPPLY VOLTAGE 60…400 VDC 
PEAK CURRENT 100A (70.7Arms) 
MAXIMUM CONTINUOUS CURRENT 50A (35.3Arms) 
MINIMUM LOAD INDUCTANCE 600 μH 
SWITCHING FREQUENCY 15 kHz 
HEATSINK (BASEPLATE) TEMPERATURE RANGE 0 to 65 ºC, disables at 65 ºC 
POWER DISSIPATION AT CONTINUOUS CURRENT 600W 
MIN. UNDER VOLTAGE SHUTDOWN 60 VDC 
MAX. OVER-VOLTAGE SHUTDOWN 425 VDC 
MECHANICAL SPECIFICATIONS 
POWER CONNECTOR: P1 Screw terminals 
MOTOR FEEDBACK CONNECTOR: CN3* 15-pin high density female D-sub 
I/O CONNECTOR: CN2* 26-pin high density female D-sub 
COMMUNICATIONS INTERFACE (RS232/485): CN1* 9-pin female D-sub 
SIZE 10.65 x 9.14 x 4.05 inches 
270.5 x 232.1 x 102.8 mm 
WEIGHT 11.6 lbs. 
5.3 kg 
* Mating connectors are not included. 
ELECTROMATE 
Toll Free Phone (877) SERVO98 
Toll Free Fax (877) SERV099 
www.electromate.com 
sales@electromate.com
ADVANCED MOTION CONTROLS DR100EE Series 
Commutation sensor inputs. Internal 
2K pull-up to +5VDC. Can be used 
with single ended or differential Hall 
sensors. I 
Sold & Serviced By: 
Page 4 of 7 
PIN FUNCTIONS: 
P1 - Motor and Power Connector: 
CONNECTOR PIN NAME DESCRIPTION I/O 
1 MA Motor phase A O 
2 MB Motor phase B O 
3 MC Motor phase C O 
4 POWER GND Power ground. GNDPWR 
P1 
5 HIGH VOLTAGE DC power input I 
CN3 - Motor Feedback Connector: 
CONNECTOR PIN NAME DESCRIPTION I/O 
1 +Hall A I 
2 +Hall B I 
3 +Hall C 
Encoder Input. For single 
4 MOT ENC A+ I 
5 MOT ENC A-Differential 
ended encoder signals, leave the A– 
terminal open. I 
Encoder Input. For single 
6 MOT ENC B+ I 
7 MOT ENC B-Differential 
ended encoder signals, leave the B– 
terminal open. I 
Encoder Input. For single 
8 MOT ENC I+ I 
9 MOT ENC I-Differential 
ended encoder signals, leave the I– 
terminal open. I 
10 -Hall A* See CN3-1. Leave open in case of 
single ended Hall sensors. 
I 
11 -Hall B* See CN3-2. Leave open in case of 
single ended Hall sensors. 
I 
12 SGND Signal ground SGND 
13 +5V OUT +5V @ 250mA max. Short-circuit 
protected. 
O 
14 PAI3 Programmable analog input, single 
ended, 10-bit 
I 
CN3 
15 -Hall C* See CN3-3. Leave open in case of 
single ended Hall sensors. 
I 
CN2 – I/O Connector: 
CONNECTOR PIN NAME DESCRIPTION I/O 
1 PDO1* Programmable digital output O 
2 SGND Signal ground SGND 
3 PDO2* Programmable digital output O 
CN2 
4 +REF Differential reference signal input, 14-bit 
resolution. Can also be used as 
I 
ELECTROMATE 
Toll Free Phone (877) SERVO98 
Toll Free Fax (877) SERV099 
www.electromate.com 
sales@electromate.com
ADVANCED MOTION CONTROLS DR100EE Series 
Sold & Serviced By: 
Page 5 of 7 
5 -REF 
resolution. Can also be used as 
programmable analog input 1. I 
6 PAI2 Programmable analog input I 
7 PAO1 Programmable analog output O 
8 PAO2 Programmable analog output O 
9 -PDI6 Programmable Input (see CN2-18) or 
Direction- or Aux Enc B-I 
10 PDO3 Programmable digital output O 
11 PDI1 Programmable digital input I 
12 PDI2 Programmable digital input I 
13 PDI3 Programmable digital input I 
14 PDO4 Programmable digital output O 
15 +5V OUT 
+5VDC. Note: the total current on CN2- 
15 and CN3-13 combined should not 
exceed 250 mA 
O 
16 SGND Signal ground SGND 
17 +PDI5 Programmable differential digital input, 
or Step+ or Aux Enc A+ 
I 
18 +PDI6 Programmable, differential digital input 
or Direction+ or Aux Enc B+ 
I 
19 PDI4 Programmable digital input I 
20 Encoder Channel A+ Output (from connector CN3), 
O 
21 Encoder Channel A-Encoder 
not buffered O 
22 Encoder Channel B+ Output (from connector CN3), 
O 
23 Encoder Channel B-Encoder 
not buffered O 
24 Encoder Channel I+ Output (from connector CN3), 
O 
25 Encoder Channel I-Encoder 
not buffered O 
26 -PDI5 Programmable Input (See CN2-17) or 
Step- or Aux Enc A-I 
* Contact factory for SE compatible 
CN1 - Communications Interface (RS232/485): 
CONNECTOR PIN NAME DESCRIPTION I/O 
1 SELECT RS232/485 selection. Pull to ground 
(CN1-5) for RS485. 
I 
2 TX/+TX RS232: Transmit; RS485: +TX O 
3 RX/+RX RS232: Receive; RS485: +RX I 
4 N/C Not connected 
5 SGND Signal ground SGND 
6 -TX RS485: -TX O 
7 N/C Not connected 
CN1 
8 -RX RS485: -RX I 
ELECTROMATE 
Toll Free Phone (877) SERVO98 
Toll Free Fax (877) SERV099 
www.electromate.com 
sales@electromate.com
ADVANCED MOTION CONTROLS DR100EE Series 
Sold & Serviced By: 
Page 6 of 7 
9 N/C Not connected 
ORDERING INFORMATION: 
Standard model: DR100EE100A40NDCX 
X indicates the current revision letter. 
ELECTROMATE 
Toll Free Phone (877) SERVO98 
Toll Free Fax (877) SERV099 
www.electromate.com 
sales@electromate.com
ADVANCED MOTION CONTROLS DR100EE Series 
Sold & Serviced By: 
Page 7 of 7 
MOUNTING DIMENSIONS: 
ELECTROMATE 
Toll Free Phone (877) SERVO98 
Toll Free Fax (877) SERV099 
www.electromate.com 
sales@electromate.com

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Advanced motion controls dr100ee100a40ndc

  • 1. DR100EE Series DIGIFLEX® DIGITAL SERVO DRIVES MODEL: DR100EE100A40NDC FEATURES: · Fully digital, state-of-the-art design · Space Vector Modulation and vector control technology · 15kHz Digital current loop with programmable gain settings · PIDF velocity loop with 133 microsecond update rate · PID + FF position loop with 133 microsecond update rate · Hall sensor + encoder or encoder-only based commutation · Surface-mount technology · Small size, low cost, ease of use · RS232/485 interface for setup and networking · Windows© based setup software with built-in 8-channel digital scope · Operates in torque, velocity or position mode with programmable gain settings · Programmable profiling in all modes · Fully configurable current, voltage, velocity and position limits. · Step & direction mode for stepper replacement · Encoder following with programmable gear ratio · 4 programmable digital inputs · 2 programmable differential inputs, configurable as step & direction, master encoder, or secondary encoder for dual loop operation · 4 programmable digital outputs · 2 programmable analog inputs (10-bit) · 14-bit reference input or programmable analog input · 2 programmable analog outputs (10-bit) · Encoder output (from motor, optionally buffered) · Four quadrant regenerative operation · Bi-color LED status indicator · Extensive built-in protection against: § over-voltage (programmable) § under-voltage (programmable) · short-circuit: phase-phase, phase-ground § over-current § over-temperature ADVANCED MOTION CONTROLS Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 2. ADVANCED MOTION CONTROLS DR100EE Series POWER GND MOT ENC A+ MOT ENC A-MOT ENC B+ MOT ENC B-MOT ENC I+ MOT ENC I-RS232/ Sold & Serviced By: Page 2 of 7 BLOCK DIAGRAM: MOTOR A MOTOR B MOTOR C RX/+RX LOGIC POWER SUPPLY -RX -TX 5K 10K 10K 20K 10K 20K 2K 5K 20K 20K 20K 40K 10K - 20K +5V SELECT SGND PROGR. OUTPUT 1...4 SGND +REF -REF PROGR. ANALOG INPUT 2,3 SGND PROGR. ANALOG OUTPUT 1,2 +HALL A,B,C -HALL A,B,C 485 INTERFACE MOTOR FEEDBACK CONTROLLER CURRENT CONTROL TORQUE CONTROL VELOCITY CONTROL POSITION CONTROL + + - TX/+TX SGND HIGH VOLTAGE POWER OUTPUT STAGE PROGR. INPUT 1..4 +PROGR. INPUT 5,6 STEP+, DIR+, AUX ENC A+/B+ -PROGR. INPUT 5,6 STEP-, DIR-, AUX ENC A-/B-DR100EE... 40NDC ISOLATION +5V +5V +5V +5V +5V I/O INTERFACE DESCRIPTION: The DR100EE Series digital PWM servo drives are designed to drive brushed and brushless servomotors. These fully digital drives can operate in torque, velocity, or position mode and employ Space Vector Modulation (SVM), which results in higher bus voltage utilization and reduced heat dissipation. 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. DR100EE Series drives feature a single RS232/485 interface, which is used for drive configuration and setup as well as online operation in networked applications. Drive commissioning can be accomplished through a fully graphical Windows© bas ed application. All drive and motor parameters are stored in non-volatile memory. ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 3. ADVANCED MOTION CONTROLS DR100EE Series Sold & Serviced By: Page 3 of 7 SPECIFICATIONS: POWER STAGE SPECIFICATIONS DR100EE100A40NDC DC SUPPLY VOLTAGE 60…400 VDC PEAK CURRENT 100A (70.7Arms) MAXIMUM CONTINUOUS CURRENT 50A (35.3Arms) MINIMUM LOAD INDUCTANCE 600 μH SWITCHING FREQUENCY 15 kHz HEATSINK (BASEPLATE) TEMPERATURE RANGE 0 to 65 ºC, disables at 65 ºC POWER DISSIPATION AT CONTINUOUS CURRENT 600W MIN. UNDER VOLTAGE SHUTDOWN 60 VDC MAX. OVER-VOLTAGE SHUTDOWN 425 VDC MECHANICAL SPECIFICATIONS POWER CONNECTOR: P1 Screw terminals MOTOR FEEDBACK CONNECTOR: CN3* 15-pin high density female D-sub I/O CONNECTOR: CN2* 26-pin high density female D-sub COMMUNICATIONS INTERFACE (RS232/485): CN1* 9-pin female D-sub SIZE 10.65 x 9.14 x 4.05 inches 270.5 x 232.1 x 102.8 mm WEIGHT 11.6 lbs. 5.3 kg * Mating connectors are not included. ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 4. ADVANCED MOTION CONTROLS DR100EE Series Commutation sensor inputs. Internal 2K pull-up to +5VDC. Can be used with single ended or differential Hall sensors. I Sold & Serviced By: Page 4 of 7 PIN FUNCTIONS: P1 - Motor and Power Connector: CONNECTOR PIN NAME DESCRIPTION I/O 1 MA Motor phase A O 2 MB Motor phase B O 3 MC Motor phase C O 4 POWER GND Power ground. GNDPWR P1 5 HIGH VOLTAGE DC power input I CN3 - Motor Feedback Connector: CONNECTOR PIN NAME DESCRIPTION I/O 1 +Hall A I 2 +Hall B I 3 +Hall C Encoder Input. For single 4 MOT ENC A+ I 5 MOT ENC A-Differential ended encoder signals, leave the A– terminal open. I Encoder Input. For single 6 MOT ENC B+ I 7 MOT ENC B-Differential ended encoder signals, leave the B– terminal open. I Encoder Input. For single 8 MOT ENC I+ I 9 MOT ENC I-Differential ended encoder signals, leave the I– terminal open. I 10 -Hall A* See CN3-1. Leave open in case of single ended Hall sensors. I 11 -Hall B* See CN3-2. Leave open in case of single ended Hall sensors. I 12 SGND Signal ground SGND 13 +5V OUT +5V @ 250mA max. Short-circuit protected. O 14 PAI3 Programmable analog input, single ended, 10-bit I CN3 15 -Hall C* See CN3-3. Leave open in case of single ended Hall sensors. I CN2 – I/O Connector: CONNECTOR PIN NAME DESCRIPTION I/O 1 PDO1* Programmable digital output O 2 SGND Signal ground SGND 3 PDO2* Programmable digital output O CN2 4 +REF Differential reference signal input, 14-bit resolution. Can also be used as I ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 5. ADVANCED MOTION CONTROLS DR100EE Series Sold & Serviced By: Page 5 of 7 5 -REF resolution. Can also be used as programmable analog input 1. I 6 PAI2 Programmable analog input I 7 PAO1 Programmable analog output O 8 PAO2 Programmable analog output O 9 -PDI6 Programmable Input (see CN2-18) or Direction- or Aux Enc B-I 10 PDO3 Programmable digital output O 11 PDI1 Programmable digital input I 12 PDI2 Programmable digital input I 13 PDI3 Programmable digital input I 14 PDO4 Programmable digital output O 15 +5V OUT +5VDC. Note: the total current on CN2- 15 and CN3-13 combined should not exceed 250 mA O 16 SGND Signal ground SGND 17 +PDI5 Programmable differential digital input, or Step+ or Aux Enc A+ I 18 +PDI6 Programmable, differential digital input or Direction+ or Aux Enc B+ I 19 PDI4 Programmable digital input I 20 Encoder Channel A+ Output (from connector CN3), O 21 Encoder Channel A-Encoder not buffered O 22 Encoder Channel B+ Output (from connector CN3), O 23 Encoder Channel B-Encoder not buffered O 24 Encoder Channel I+ Output (from connector CN3), O 25 Encoder Channel I-Encoder not buffered O 26 -PDI5 Programmable Input (See CN2-17) or Step- or Aux Enc A-I * Contact factory for SE compatible CN1 - Communications Interface (RS232/485): CONNECTOR PIN NAME DESCRIPTION I/O 1 SELECT RS232/485 selection. Pull to ground (CN1-5) for RS485. I 2 TX/+TX RS232: Transmit; RS485: +TX O 3 RX/+RX RS232: Receive; RS485: +RX I 4 N/C Not connected 5 SGND Signal ground SGND 6 -TX RS485: -TX O 7 N/C Not connected CN1 8 -RX RS485: -RX I ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 6. ADVANCED MOTION CONTROLS DR100EE Series Sold & Serviced By: Page 6 of 7 9 N/C Not connected ORDERING INFORMATION: Standard model: DR100EE100A40NDCX X indicates the current revision letter. ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 7. ADVANCED MOTION CONTROLS DR100EE Series Sold & Serviced By: Page 7 of 7 MOUNTING DIMENSIONS: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com