Advanced motion controls dzcante 060l080
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The DigiFlex® PerformanceTM Servo Drive DZCANTE-060L080 is a fully digital servo drive designed to drive brushed and brushless servomotors. It operates in torque, velocity, or position mode using space vector modulation for higher efficiency. The drive features programmable digital and analog inputs and outputs, and supports various command and feedback interfaces. It is compliant with various safety standards including UL, CE, and RoHS.
Advanced motion controls dzcante 060l080
- 1. DigiFlex® Performance™ Servo Drive DZCANTE-060L080 Description Power Range The DZCANTE-060L080 digital servo drive is designed to drive brushed and brushless 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. 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, this drive features dedicated and programmable digital and analog inputs and outputs to enhance interfacing with external controllers and devices. The DZCANTE-060L080 features a single RS232 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 online operation in networked applications. All drive and motor parameters are stored in non- volatile memory. Peak Current 60 A (42.4 ARMS) Continuous Current 30 A (30 ARMS) Supply Voltage 10 - 80 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 12-bit Analog to Digital Hardware 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 Sequencing Indexing Jogging FEEDBACK SUPPORTED ±10 VDC Position Halls Incremental Encoder Auxiliary Incremental Encoder INPUTS/OUTPUTS 2 High Speed Captures 1 Programmable Analog Input (12-bit Resolution) 2 Programmable Digital Inputs (Differential) 3 Programmable Digital Inputs (Single-Ended) 3 Programmable Digital Outputs (Single-Ended) COMPLIANCES & AGENCY APPROVALS UL cUL CE Class A (LVD) CE Class A (EMC) RoHS 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 DZCANTE-060L080 Release Date: 4/28/2014 Status: Active 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 8 BLOCK DIAGRAM GNDGNDPDO-1,2,3MOT ENC A,B,I + MOT ENC A,B,I – HALL A,B,CGNDRS32 RXRS232 TXGNDHIGH VOLTAGEMOTOR AMOTOR BMOTOR CLOGIC POWERGND Motor FeedbackI/O Interface 5k+5V5k+5V6.7k6.7k2k5k+5V I/O Interface Power StageDriveLogicRS232InterfaceLogic PowerCAN_RXCAN_TX500k Motor Feedback CANopenInterfacePDI-1,2,3 (CAP-A) PDI-4,5 + (PWM+ / DIR+ / AUX ENC A,B + / CAP-B,C +) PDI-4,5 – (PWM– / DIR– / AUX ENC A,B – / CAP-B,C –) PAI-1 – (REF–) PAI-1 + (REF+) CAN BAUD, CAN ADDR 0,1 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. 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 DZCANTE-060L080 Release Date: 4/28/2014 Status: Active 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 8 SPECIFICATIONS Power Specifications Description Units Value DC Supply Voltage Range VDC 10 - 80 DC Bus Over Voltage Limit VDC 88 DC Bus Under Voltage Limit VDC 8 Logic Supply Voltage VDC 5 (+/- 5%) Maximum Peak Output Current1 A (Arms) 60 (42.4) Maximum Continuous Output Current2 A (Arms) 30 (30) Maximum Continuous Output Power W 2280 Maximum Power Dissipation at Continuous Current W 120 Internal Bus Capacitance3 μF 30 Minimum Load Inductance (Line-To-Line)4 μH 250 (at 80 V supply); 150 (at 48 V supply); 75 (at 24 V supply); 40 (at 12 V supply) Switching Frequency kHz 20 Maximum Output PWM Duty Cycle % 92 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, Sequencing, Indexing, Jogging Feedback Supported - ±10 VDC Position, Auxiliary Incremental Encoder, Halls, Incremental Encoder 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) - 5/3 Programmable Analog Inputs/Outputs (PAIs/PAOs) - 1/0 Primary I/O Logic Level - 5V TTL Current Loop Sample Time μs 50 Velocity Loop Sample Time μs 100 Position Loop Sample Time μs 100 Maximum Encoder Frequency MHz 20 (5 pre-quadrature) 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) 76.2 x 50.8 x 22.9 (3.0 x 2.0 x 0.9) Weight g (oz) 123.9 (4.4) Minimum Heatsink (Base) Temperature Range5 °C (°F) 0 - 60 (32 - 140) Storage Temperature Range °C (°F) -40 - 85 (-40 - 185) Cooling System - Natural Convection Form Factor - PCB Mounted P1 Connector - 30-pin, 2.54 mm spaced, dual-row header P2 Connector - 24-pin, 2.54 mm spaced, dual-row header P3 Connector - 24-pin, 2.54 mm spaced, dual-row header Notes 1. 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. 2. Continuous Arms value attainable when RMS Charge-Based Limiting is used. 3. Requires an additional external 470μF, 100V capacitor on the power supply line between High Voltage and Power Ground close to the drive. 4. Lower inductance is acceptable for bus voltages well below maximum. Use external inductance to meet requirements. 5. Thermal shutdown when PCB temperature reaches 75°C. The base plate temperature at this point may be between 60°C and 75°C depending on rate of base plate cooling (additional heat sinking), ambient temperature, and output current. 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 DZCANTE-060L080 Release Date: 4/28/2014 Status: Active 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 8 PIN FUNCTIONS P1 - Signal Connector Pin Name Description / Notes I/O 1 CAN ADDR 0 CAN Bus Address Selector I 2 CAN ADDR 1 I 3 PAI-1 + (REF+) Differential Programmable Analog Input or Reference Signal Input (12-bit Resolution) I 4 PAI-1 - (REF-) I 5 GND Ground GND 6 CAN BAUD CAN bus bit rate selector. I 7 PDO-1 Programmable Digital Output O 8 PDO-2 Programmable Digital Output O 9 PDO-3 Programmable Digital Output O 10 PDI-1 Programmable Digital Input I 11 PDI-2 Programmable Digital Input I 12 PDI-3 (CAP-A) Programmable Digital Input or High Speed Capture I 13 RS232 RX Receive Line (RS-232) I 14 CAN RX CAN Receive Line (Requires External Transceiver) I 15 RS232 TX Transmit Line (RS-232) O 16 CAN TX CAN Transmit Line (Requires External Transceiver) O 17 PDI-4 + (PWM+ / AUX ENC A+ / CAP-B+) Programmable Digital Input or PWM or Auxiliary Encoder or High Speed Capture (For Single-Ended Signals see DZ HW Installation Manual) I 18 PDI-4 - (PWM- / AUX ENC A- / CAP-B-) I 19 PDI-5 + (DIR+ / AUX ENC B+ / CAP-C+) Programmable Digital Input or Direction or Auxiliary Encoder or High Speed Capture (For Single-Ended Signals see DZ HW Installation Manual) I 20 PDI-5 - (DIR- / AUX ENC B- / CAP-C-) I 21 GND Ground GND 22 HALL A Single-ended Commutation Sensor Input I 23 HALL B I 24 HALL C I 25 MOT ENC I+ Differential Encoder Index Input (see MC1XDZC02-HP1 datasheet for recommended signal conditioning) I 26 MOT ENC I- I 27 MOT ENC A+ Differential Encoder A Channel Input (see MC1XDZC02-HP1 datasheet for recommended signal conditioning) I 28 MOT ENC A- I 29 MOT ENC B+ Differential Encoder B Channel Input (see MC1XDZC02-HP1 datasheet for recommended signal conditioning) I 30 MOT ENC B- I P2 and P3 - Power Connector Pin Name Description / Notes I/O 1a LOGIC PWR Logic Supply Input (P2 only; Reserved on P3) I 1b RESERVED Reserved - 2a 2b GND Ground. GND 3a 3b GND GND 4a 4b HIGH VOLTAGE DC Power Input. 3A Continuous Current Rating Per Pin. 470μF, 100V external capacitor required between High Voltage and Ground. I 5a 5b HIGH VOLTAGE I 6a 6b RESERVED Reserved - 7a 7b MOTOR C Motor Phase Outputs. Current output distributed equally across both P2 and P3 connectors – 8 pins per motor phase. At ambient temperatures above 50ºC, 3A continuous current carrying capacity per pin. At 25ºC ambient, 6A continuous current carrying capacity per pin. O 8a 8b MOTOR C O 9a 9b MOTOR B O 10a 10b MOTOR B O 11a 11b MOTOR A O 12a 12b MOTOR A O Pin Details CAN ADDR 0 (P1-1) This pin, CAN ADDR 0, as well as CAN ADDR 1, are used for CAN bus addressing. To set the CAN node address of a drive, use the formula 31*7*830*7AddrAddrCANAddress+=, where CANAddress is the desired node address and Addr0 and Addr1 represent the voltage that should be applied to pins CAN ADDR 0 and CAN ADDR 1, respectively. The values for Addr0 and Addr1 are always integer multiples of 3/7 V within the range 0- 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 DZCANTE-060L080 Release Date: 4/28/2014 Status: Active 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 8 3 V. Examples of the voltages required to set certain node addresses are given in the table below. Note that setting a CAN address of 0 will utilize the address stored in non-volatile memory. CAN ADDR 0 Value (V) CAN ADDR 1 Value (V) CAN ADDR Tolerance (V) CAN Address (Node #) 0 0 ±0.1 Address stored in non-volatile memory 3/7 (0.43) 0 ±0.1 1 6/7 (0.86) 0 ±0.1 2 9/7 (1.3) 0 ±0.1 3 … … ±0.1 … 18/7 (2.57) 21/7 (3.0) ±0.1 62 21/7 (3.0) 21/7 (3.0) ±0.1 63 CAN BAUD (P1-6) The CAN bit rate is set by applying the appropriate voltage to the CAN BAUD pin as given in the table below. CAN BAUD Value (V) CAN BAUD Tolerance (V) CAN Bus Bit Rate (bits/s) 0 ±0.388 Bit rate stored in non-volatile memory 1 ±0.388 500k 2 ±0.388 250k 3 ±0.388 125k 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 DZCANTE-060L080 Release Date: 4/28/2014 Status: Active 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 8 MECHANICAL INFORMATION P1 - Signal Connector Connector Information 30-pin, 2.54 mm spaced, dual-row header Mating Connector Details Samtec: SSM-115-L-DV Included with Drive No CAN ADDR 01CAN ADDR 12PAI-1 + (REF+)3PAI-1 -(REF-)4GND5CAN BAUD6PDO-17PDO-28PDO-39PDI-110PDI-211PDI-3 (CAP-A)12RS232 RX13RS232 TX15CAN RX14PDI-4 -(PWM-/ AUX ENC A-/ CAP-B-)18CAN TX16PDI-5 -(DIR-/ AUX ENC B-/ CAP-C-)20HALL A22HALL C24MOT ENC I-26MOT ENC A-28MOT ENC B-30MOT ENC B+29MOT ENC A+27MOT ENC I+25HALL B23GND21PDI-5 + (DIR+ / AUX ENC B+ / CAP-C+)19PDI-4 + (PWM+ / AUX ENC A+ / CAP-B+)17 P2 - Power Connector Connector Information 24-pin, 2.54 mm spaced, dual-row header Mating Connector Details Samtec: BCS-112-L-D-PE Included with Drive No MOTOR A12aMOTOR A11aMOTOR A11bMOTOR B10aMOTOR B10bMOTOR B9aMOTOR B9bMOTOR C8aMOTOR C8bMOTOR CHIGH VOLTAGEMOTOR CHIGH VOLTAGEHIGH VOLTAGEGNDGNDGNDGNDHIGH VOLTAGELOGIC PWR7a5a4a3a2a1a12b2b3b4b5b7bMOTOR A P3 - Power Connector Connector Information 24-pin, 2.54 mm spaced, dual-row header Mating Connector Details Samtec: BCS-112-L-D-PE Included with Drive No MOTOR A12aMOTOR A11aMOTOR A11bMOTOR B10aMOTOR B10bMOTOR B9aMOTOR B9bMOTOR C8aMOTOR C8bMOTOR CHIGH VOLTAGEMOTOR CHIGH VOLTAGEHIGH VOLTAGEGNDGNDGNDGNDHIGH VOLTAGE7a5a4a3a2a12b2b3b4b5b7bMOTOR A 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 DZCANTE-060L080 Release Date: 4/28/2014 Status: Active 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 8 MOUNTING DIMENSIONS 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 DZCANTE-060L080 Release Date: 4/28/2014 Status: Active 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 8 PART NUMBERING INFORMATION - DigiFlex Z (PCB Mount) RZDTLAE210L080Example: DZRS232/RS485RCANopen or RS232CAnalog (±10V) No Step & DirectionANAnalog (±10V) Low Voltage Step & Direction (5V)ALDigital I/OTTL (5V) Non-IsolatedTIncremental Encoder and/or HallsEMax DC Bus Voltage (VDC) DC InputLogic Supply RequiredLPeak Current (A0 to Peak) 175 V20012 A01220 A02040 A04010 A01080 V08025 A02580V Drives175V DrivesDrive SeriesCommunicationCommand InputsMotor FeedbackPower and Logic Supply60 A060 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. 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 Feel free to contact Applications Engineering for further information and details. 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 Mounting Card MC1XDZC02-HP1 Filter Cards To Motor Drive(s) 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: