Advanced motion controls dvc250a060
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The DVC250A060 digital servo drive is designed to drive brushed, brushless, and AC induction motors from a compact form factor suitable for embedded applications. It operates in torque, velocity, or position mode and employs Space Vector Modulation for higher efficiency. It features configurable analog and digital inputs/outputs, CANopen communication, and IP65 enclosure rating, making it suitable for mobile electric vehicle applications.
Advanced motion controls dvc250a060
- 1. M/V™ Series Digital Servo Drive DVC250A060 Description Power Range The DVC250A060 DigiFlex® Performance™ digital servo drive is designed to drive brushed, brushless, and AC induction servomotors from a compact form factor ideal for embedded applications. This fully digital drive operates in torque, velocity, or position mode and employs Space Vector Modulation (SVM), which results in higher bus voltage utilization and reduced heat dissipation compared to traditional PWM. DVC250A060 servo drives feature a single USB interface used for drive configuration and setup. Drive commissioning is accomplished using DriveWare® 7, available for download at www.a-m-c.com. The CANopen interface can be used for runtime operation in networked applications. DVC250A060 servo drives are packaged in a ruggedized, watertight IP65 rated enclosure ideal for mobile electric vehicular applications. Multiple throttle input command types and configurations are available for selection within DriveWare® 7. All drive and motor parameters are stored in non- volatile memory. Peak Current 250 A Continuous Current 150 A Supply Voltage 20 - 54 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 Four Quadrant Regenerative Operation PIDF Velocity Loop PID + FF Position Loop On-the-Fly Mode Switching On-the-Fly Gain Set Switching Selectable 120/60 Hall Commutation Phasing Ingress Protection Rating: IP65 Electromagnetic Holding Brake Output Safe Torque Off (STO) Inputs 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 Over the Network Vehicle Specific Commands Sequencing Indexing Jogging FEEDBACK SUPPORTED ±10 VDC Position Halls Incremental Encoder Tachometer (±10 VDC) INPUTS/OUTPUTS 2 Programmable High Powered Digital Outputs 2 Programmable Analog Inputs (12-bit Resolution) 4 Programmable Digital Inputs (Single-Ended) 2 Programmable Digital Outputs (Single-Ended) COMPLIANCES & AGENCY APPROVALS UL cUL RoHS CE Pending ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 2. M/V™ Series Digital Servo Drive DVC250A060 BLOCK DIAGRAM PAI-1 + (REF+) PAI-1 – (REF–) CAN_HCAN_L I/O InterfaceI/O Interface DriveLogicCANopenInterfaceCONTROL MODULEPAI-2 Motor FeedbackMotor Feedback MOT ENC A,B,I + MOT ENC A,B,I – HALL A,B,C + 10k+5V+5V10k+5V10k5kMOTOR AMOTOR BMOTOR CBATT+ POWER MODULEPDI-1,2,3,4ISO RETURNPDO-1,2PDO COMMONCAN_TDATA- DATA+ USB GNDUSB InterfaceVBUSMOTOR THERMISTOR+3VHP PDO-1,2KEYSWITCHSTO 1STO 2STO ReturnBATT- Power Stage+ BRAKE VOLTAGE- 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. 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. M/V™ Series Digital Servo Drive DVC250A060 SPECIFICATIONS Power Specifications Description Units Value DC Supply Voltage Range VDC 20 - 54 DC Bus Over Voltage Limit VDC 60 DC Bus Under Voltage Limit VDC 18 Logic Supply Voltage (Keyswitch) VDC 20 - 54 Safe Torque Off Voltage VDC 24 (±6) Maximum Peak Output Current1 A 250 Maximum Continuous Output Current A 150 Max. Continuous Output Power W 7695 Max. Continuous Power Dissipation W 405 Internal Bus Capacitance μF 12600 Minimum Load Inductance (Line-To-Line) 2 μH 200 Switching Frequency kHz 14 Maximum Output PWM Duty Cycle % 80 Control Specifications Description Units Value Command Sources - ±10 V Analog, 0 – 5 V Analog, 0 – 5 kΩ, Over the Network, Sequencing, Indexing, Jogging Feedback Supported - ±10 VDC Position, 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) - 4/4 Programmable Analog Inputs/Outputs (PAIs/PAOs) - 2 Primary I/O Logic Level - 24 VDC Current Loop Sample Time μs 71 Velocity Loop Sample Time μs 143 Position Loop Sample Time μs 143 Maximum Encoder Frequency MHz 20 (5 pre-quadrature) Mechanical Specifications Description Units Value Agency Approvals - UL, cUL, RoHS, CE Pending Size (H x W x D) mm (in) 203.2 x 139.7 x 59.7 (8.0 x 5.5 x 2.4) Size (H x W x D) with 35-pin mating connector installed mm (in) 203.2 x 139.7 x 74.0 (8.0 x 5.5 x 2.9) Weight g (oz) 1638.60 (57.80) Heatsink (Base) Temperature Range3 °C (°F) 0 - 75 (32 - 167) Storage Temperature Range °C (°F) -20 - 85 (-4 - 185) Cooling System3 - Natural Convection Form Factor - Vehicle Mount IP Rating - 65 I/O Connector - 35-pin, AMPSEAL connector AUX COMM Connector - 5-pin, Mini USB B Type port MOTOR POWER Connector - 3 Individual M6 threaded terminals POWER Connector - 2 Individual M6 threaded terminals Notes 1. Maximum duration of peak current is ~10 seconds for zero-to-peak current commands. 2. Lower inductance is acceptable for bus voltages well below maximum. Use external inductance to meet requirements. 3. Additional cooling and/or heatsink is required to achieve rated performance. Thermal grease recommended between baseplate and external heatsink. Mating Connector Kit Mating connector housing, socket contacts, and seal plugs can be ordered as a kit using ADVANCED Motion Controls’ part number KC-35AMPSEAL01. ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 4. M/V™ Series Digital Servo Drive DVC250A060 PIN FUNCTIONS I/O - Signal Connector Pin Name Description / Notes I/O 1 HP PDO-1 High Powered Programmable Digital Output O 2 PDI COMMON Digital Inputs Ground PDIGND 3 PDI-1 Programmable Digital Input I 4 PDO COMMON Digital Outputs Ground PDOGND 5 STORET Safe Torque Off Return STORET 6 PAI-2 Programmable Analog Input (12-bit Resolution) I 7 PAI COMMON Analog Inputs Ground PGND 8 CAN_T CAN Termination. Connect to CAN_L (Pin 19) if drive is the last device on the CAN network, or use DIP Switch #7 – see Hardware Settings for switch description. I/O 9 MOT ENC A+ Differential Encoder A Channel Input (For Single Ended Signals Use Only Positive Input) I 10 MOT ENC B+ Differential Encoder B Channel Input (For Single Ended Signals Use Only Positive Input) I 11 MOT ENC I+ Differential Encoder Index Input (For Single Ended Signals Use Only Positive Input) I 12 +5V OUT +5V 250mA Encoder and Hall Supply Output (Short Circuit Protected) O 13 HP PDO-2 High Powered Programmable Digital Output O 14 PDI-2 Programmable Digital Input I 15 PDO-1 Programmable Digital Output O 16 STO-1 Safe Torque Off – Input 1 I 17 POT HIGH +5V @ 5 mA output supply. For external 5k potentiometer command. Reference to pin 7. O 18 PAI-1- (REF-) Differential Programmable Analog Input or Reference Signal Input (12-bit Resolution) I 19 CAN_L CAN_L Line (Dominant Low) I 20 MOT ENC A- Differential Encoder A Channel Input (For Single Ended Signals Use Only Positive Input) I 21 MOT ENC B- Differential Encoder B Channel Input (For Single Ended Signals Use Only Positive Input) I 22 MOT ENC I- Differential Encoder Index Input (For Single Ended Signals Use Only Positive Input) I 23 FEEDBACK COMMON Motor Feedback Ground PGND 24 KEYSWITCH Master switch for the drive. Logic power input supply. Voltage range equal to DC Supply Voltage Range (see specifications table). This must be ON for the drive to function. Reference to Power Ground. I 25 PDI-3 Programmable Digital Input I 26 PDI-4 Programmable Digital Input I 27 PDO-2 Programmable Digital Output O 28 STO-2 Safe Torque Off – Input 2 I 29 PAI-1+ (REF+) Differential Programmable Analog Input or Reference Signal Input (12-bit Resolution) I 30 CAN_GND CANopen Ground PGND 31 CAN_H CAN_H Line (Dominant High) I 32 HALL 1 Commutation Sensor Inputs I 33 HALL 2 I 34 HALL 3 I 35 MOTOR THERMISTOR Motor Thermistor Connection. I AUX. COMM - USB Communication Connector Pin Name Description / Notes I/O 1 VBUS Supply Voltage O 2 DATA - Data - I/O 3 DATA + Data + I/O 4 RESERVED - - 5 USB GND USB Ground UGND MOTOR POWER - Power Connector Terminal Name Description / Notes I/O MA MOTOR A Motor Phase A O MB MOTOR B Motor Phase B O MC MOTOR C Motor Phase C O POWER - Power Connector Terminal Name Description / Notes I/O B- BATT - / POWER GROUND Power Ground PGND B+ BATT + DC Power Input. Battery Power. I ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 5. M/V™ Series Digital Servo Drive DVC250A060 I/O FEATURES Programmable Analog Inputs The Programmable Analog Inputs have voltage ranges of 0 to +5V for PAI-2 and -10 to +10V for PAI-1. Function Description / Notes Command Inputs Vehicle Throttle Command Interfaces may be configured for Wigwag or Inverse Wigwag through the setup software. • 3-wire 5k Potentiometer Command • 5V Voltage Command Programmable Digital Inputs The Programmable Digital Inputs are +24VDC sinking or sourcing single-ended inputs. Programmable Digital Outputs The Programmable Digital Outputs are +24VDC sinking single-ended outputs. These can be used for standard fault output signals or used to sink an external LED. Safe Torque Off (STO) Inputs The Safe Torque Off (STO) Inputs are dedicated +24VDC sinking single-ended inputs. Both STO1 and STO2 must be active (HIGH) to allow torque output at the motor outputs. (Functional Safety STO meets SIL 3 per IEC 61800-5-2; tested by NRTL.) High Powered Programmable Digital Outputs The High Powered Programmable Digital Outputs are DIP Switch selectable for 24, 36, 48, or 72 V and sink up to 3A. A user- supplied load can be connected between the external Keyswitch supply and the HPDO. See Hardware Settings section for DIP Switch functionality. Examples of possible uses are given below. Function Description / Notes Electromagnetic Holding Brake When activated, HPDO will energize an external user-supplied holding brake and release the motor. Electromagnetic holding brake is normally engaged to lock the motor shaft and keep the rotor from turning when the vehicle is stopped. Main Contactor When activated, HPDO will engage the external user-supplied main power contactor to connect DC Bus power from the battery to the drive. ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 6. M/V™ Series Digital Servo Drive DVC250A060 HARDWARE SETTINGS Switch Functions DIP Switches are located under the drive access panel. DIP Switch changes take effect after power cycling the drive. Switch Description Setting On Off 1 Bit 0 of binary CANopen node ID. 1 0 2 Bit 1 of binary CANopen node ID. 1 0 3 Bit 2 of binary CANopen node ID. 1 0 4 Bit 3 of binary CANopen node ID. 1 0 5 Bit 4 of binary CANopen node ID. 1 0 6 Bit 5 of binary CANopen node ID. 1 0 7 CAN Termination. Internally connects 120 ohm resistor between CAN_H and CAN_L. Set to ON if drive is the last device on the network. Terminating Node Non-Terminating Node 8 HPDO Voltage Selection. See HPDO Voltage Selection Table below for DIP Switch Settings. - - 9 - - 10 Reserved - - HPDO Voltage Selection Table HPDO Voltage SW8 SW9 24V OFF OFF 36V ON OFF 48V OFF ON 72V ON ON CANopen Communication Bit Rate The default CANopen bit rate is set in EEPROM at 1000 kbits/sec. ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 7. M/V™ Series Digital Servo Drive DVC250A060 MECHANICAL INFORMATION I/O - Signal Connector Connector Information 35-pin, AMPSEAL connector Mating Connector Details TE Connectivity: Housing P/N 776164-1; Socket Contacts P/N 770854-3 (loose); Seal Plug P/N 770678-1; Crimp Tool P/N 58529-1 Included with Drive No 1HP PDO-123FEEDBACK COMMON24KEYSWITCH2PDI COMMON3PDI-14PDO COMMON5STORET6PAI-27PAI COMMON8CAN_T9MOT ENC A+ 10MOT ENC B+ 11MOT ENC I+ 12+5V OUT22MOT ENC I- 21MOT ENC B- 20MOT ENC A- 19CAN_L18PAI-1- (REF-) 17POT HIGH16STO-115PDO-114PDI-213HP PDO-225PDI-326PDI-427PDO-228STO-229PAI-1+ (REF+) 30CAN_GND31CAN_H32HALL 133HALL 234HALL 335MOTOR THERMISTOR AUX. COMM – USB Communication Connector Connector Information 5-pin, Mini USB B Type port Suggested Mating Cable Details TYCO: 1496476-3 (2-meter STD-A to MINI-B ASSY) Included with Drive No 1VBUS2DATA - 3DATA + 4RESERVED5USB GND MOTOR POWER - Power Connector Connector Information Three individual M6 threaded terminals Mating Connector Details M6 screw or bolt with washer Included with Drive Yes POWER - Power Connector Connector Information Two individual M6 threaded terminals Mating Connector Details M6 screw or bolt with washer Included with Drive Yes ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 8. M/V™ Series Digital Servo Drive DVC250A060 MOUNTING DIMENSIONS ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 9. M/V™ Series Digital Servo Drive DVC250A060 PART NUMBERING INFORMATION A060250Peak CurrentCANopenC: Communication TypeMaximum peak current rating in AmpsVVehicular and Electric MobilityDCPeak/Continuous RatioContinuous = ~0.6·PeakA: Maximum Voltage54V Over-Voltage060: 88V Over-Voltage100: DigiFlex® Performance™ Servo Drive ADVANCED Motion Controls servo drives 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. Examples of Customized Products Integration of Drive into Motor Housing Integrate OEM Circuitry onto Drive PCB Mount OEM PCB onto Drive Without Cables Custom Control Loop Tuned to Motor Characteristics Multi-axis Configuration for Compact System Custom I/O Interface for System Compatibility Custom PCB and Baseplate for Optimized Footprint Preset Switches and Pots to Reduce User Setup RTV/Epoxy Components for High Vibration Optimized Switching Frequency OEM Specified Connectors for Instant Compatibility Ramped Velocity Command for Smooth Acceleration OEM Specified Silkscreen for Custom Appearance Remove Unused Features to Reduce OEM Cost Increased Thermal Limits for High Temp. Operation Application Specific Current and Voltage Limits Feel free to contact Applications Engineering for further information and details. 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: