Advanced motion controls dzralte 040l080
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The DigiFlex® PerformanceTM Servo Drive DZRALTE-040L080 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 configurable digital and analog inputs and outputs, RS-232 and RS-485 interfaces, and supports various command and feedback types. It is compliant with relevant safety standards and has a compact form factor making it suitable for embedded applications.
Advanced motion controls dzralte 040l080
- 1. DigiFlex® Performance™ Servo Drive DZRALTE-040L080 Description Power Range The DZRALTE-040L080 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 DZRALTE-040L080 features a RS-232 interface for drive configuration and setup as well as a RS-485 interface for drive networking. 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 40 A (28.3 ARMS) Continuous Current 20 A (20 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 Current Hall Velocity Position Velocity COMMAND SOURCE PWM and Direction Encoder Following Over the Network ±10 V Analog 5V Step and Direction Sequencing Indexing Jogging FEEDBACK SUPPORTED Halls Incremental Encoder ±10 VDC Position 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 DZRALTE-040L080 BLOCK DIAGRAM GNDGNDPDO-1,2,3MOT ENC A,B,I + MOT ENC A,B,I – HALL A,B,CGNDHIGH VOLTAGEMOTOR AMOTOR BMOTOR CLOGIC POWERGND Motor FeedbackI/O Interface 5k+5V5k+5V6.7k6.7k2k5k+5V I/O Interface Power StageDriveLogicLogic Power500k Motor Feedback PDI-1,2,3 (CAP-A) PDI-4,5 + (PWM+ / AUX ENC A,B + / STEP+ / DIR+ / CAP-B,C +) PDI-4,5 –(PWM–/ AUX ENC A,B –/ STEP–/ DIR–/ CAP-B,C –) PAI-1 –(REF–) PAI-1 + (REF+) RS485 BAUD, RS485 ADDR 0,1RS232/485InterfaceSELECTRS232 TX / RS485 TX– RS232 RX / RS485 RX– RS485 TX+ RS485 RX+ GND 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 DZRALTE-040L080 SPECIFICATIONS Power Specifications Description Units Value DC Supply Voltage Range1 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) 40 (28.3) Maximum Continuous Output Current2 A (Arms) 20 (20) Maximum Continuous Output Power W 1520 Maximum Power Dissipation at Continuous Current W 80 Internal Bus Capacitance3 μF 141 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 - RS-485/232 Command Sources - ±10 V Analog, 5V Step and Direction, 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 - Current, Hall Velocity, 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) - 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) Heatsink (Base) Temperature Range5 °C (°F) 0 - 75 (32 - 167) 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. If the drive is operated at a supply voltage over 60 VDC, an additional 33μF, 100V capacitor is required on the supply line close to the drive. 4. Lower inductance is acceptable for bus voltages well below maximum. Use external inductance to meet requirements. 5. 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 DZRALTE-040L080 PIN FUNCTIONS P1 - Signal Connector Pin Name Description / Notes I/O 1 RS485 ADDR 0 RS-485 Network Address Selector I 2 RS485 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 RS485 BAUD RS-485 Baud 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 / RS485 RX- Receive Line (RS-232 or RS-485) I 14 RS485 RX+ Receive Line (RS-485) I 15 RS232 TX / RS485 TX- Transmit Line (RS-232 or RS-485) O 16 RS485 TX+ Transmit Line (RS-485) O 17 PDI-4 + (PWM+ / STEP+ / AUX ENC A+ / CAP-B+) Programmable Digital Input or PWM or Step+ or Auxiliary Encoder or High Speed Capture (For Single-Ended Signals see DZ HW Installation Manual) I 18 PDI-4 - (PWM- / STEP- / 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 (For Differential Inputs See MC1XDZ01 Datasheet For Recommended Signal Conditioning) I 23 HALL B I 24 HALL C I 25 MOT ENC I+ Differential Encoder Index Input (See MC1XDZ01 Datasheet For Recommended Signal Conditioning) I 26 MOT ENC I- I 27 MOT ENC A+ Differential Encoder A Channel Input (See MC1XDZ01 Datasheet For Recommended Signal Conditioning) I 28 MOT ENC A- I 29 MOT ENC B+ Differential Encoder B Channel Input (See MC1XDZ01 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. For Supply Voltages over 60 VDC, connect an additional 33μF, 100V capacitor 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, 3A 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 RS485 ADDR 0 (P1-1) This pin, RS485 ADDR 0, as well as RS485 ADDR 1, are used for RS-485 network addressing. To set the address of a drive, use the formula 31*7*830*7485AddrAddrAddressRS+=, where RS485Address is the desired node address and Addr0 and Addr1 represent the voltage that should be applied to pins RS485 ADDR 0 and RS485 ADDR 1, respectively. The values for Addr0 and Addr1 are always integer multiples of 3/7 V within 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 DZRALTE-040L080 the range 0-3 V. Examples of the voltages required to set certain node addresses are given in the table below. Note that setting a drive address of 0 will utilize the address stored in non-volatile memory. RS485 ADDR 0 Value (V) RS485 ADDR 1 Value (V) RS485 ADDR Tolerance (V) RS485 Address (Address #) 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 RS485 BAUD (P1-6) The RS-485 baud rate is set by applying the appropriate voltage to the RS485 BAUD pin as given in the table below. RS485 BAUD Value (V) RS485 BAUD Tolerance (V) RS485 Baud Rate (bits/s) 0 ±0.388 Bit rate stored in non-volatile memory 1 ±0.388 9.6k 2 ±0.388 38.4k 3 ±0.388 115.2k HARDWARE SETTINGS Jumper Settings Jumper Description Configuration Header Jumper Not Installed Pins 1-2 Pins 2-3 J1 Reserved. - - N/A J2 Reserved. - - N/A J3 RS-485 selection. Install this jumper (2mm) to select RS-485 communication. This jumper is located on a 6-pin header between the PCB and heatsink. It consists of the two pins closest to the corner of the PCB. RS-232 RS-485 N/A 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 DZRALTE-040L080 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 RS485 ADDR 01RS485 ADDR 12PAI-1 + (REF+)3PAI-1 -(REF-)4GND5RS485 BAUD6PDO-17PDO-28PDO-39PDI-110PDI-211PDI-3 (CAP-A)12RS232 RX / RS485 RX-13RS232 TX / RS485 TX-15RS485 RX+14PDI-4 -(PWM-/ STEP-/ AUX ENC A-/ CAP-B-)18RS485 TX+16PDI-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+ / STEP+ / 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 DZRALTE-040L080 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 DZRALTE-040L080 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 MC1XDZR02 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: