Advanced motion controls zdcr300ee12a8ldc
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The document describes the ZDCR300EE12A8LDC digital servo drive. It has a peak current of 12A and operates from 20-80VDC. The drive controls brushed and brushless motors in torque, velocity or position mode using space vector modulation. It has inputs and outputs for interfacing and communication via RS232 and CANopen.
Advanced motion controls zdcr300ee12a8ldc
- 1. Digital Servo Drive ZDCR300EE12A8LDC Features Power Range Peak Current 12 A (8.6 ARMS) Continuous Current 6 A (4.3 ARMS) Supply Voltage 20 – 80 VDC ZDCR300EE Series Description The ZDCR300EE 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 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. ZDCR300EE Series drives feature a single RS232 interface used for drive configuration and setup. Drive commissioning is accomplished using DriveWare300 available 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. High power density, compact form factor Fully digital state-of-the-art design Space Vector Modulation technology Programmable gain settings Programmable profiling in all modes Fully configurable current, voltage, velocity and position limits 20kHz d control PIDF velocity loop with 100 time (10kHz update rate) PID + FF position loop with time (10kHz update rate) igital current loop and vector μsec sample 100μsec sample Four quadrant regenerative operation Mod es of Operation: ƒ Torque (c ƒ Velocity urrent) ƒ Position Com mand Source: ƒ ±10V programmable analog input (12-bit) ƒ Step and Direction for stepper replacem ƒ Encoder Following ( ent Electronic Gearing) ƒ CANopen Network Feedba ls ƒ Incremental Encoder + Hal ƒ Incremental E ncoder only ƒ Analog Input ck Supported ƒ Halls only (Trapezoidal Commutation) Inp uts/Outputs ƒ 2 programmable differential digital inputs (Auxiliary Encoder or Step and D irection input) ƒ 3 programmable digital inputs ƒ 3 programmable digital outputs Com munication ƒ RS232 interface for setup ƒ CANopen int erface for embedded machine networking Prot ection ƒ Over Voltage (programmable) ƒ Under Voltage (programmable) ƒ -phase or phase-to- ƒ Over Current ƒ Drive Over Temperature ƒ Short Circuit (phase-to ground) Motor Over Temperature (via analog or digital input, programmable) Age ncy Approvals ƒ UL Recognized 508C, File No: E140173 ƒ CE: EN 55011:1998 Group 1, Class A / EN 50082-2:1995 CE Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 2. Digital Servo Drive ZDCR300EE12A8LDC Feature Highlights Mounts Directly onto PCB The header pins make it easy to integrate the ZDCR300EE12A8LDC into user PCB designs. Its compact size minimizes the space occupied by the drive. Incorporates 31 Homing Methods 31 built-in homing methods utilize combinations of Home Switch, Positive Limit Switch, Negative Limit Switch and/or Encoder Index Pulse. Separate Logic Supply Input A separate 5V logic supply input keeps the drive logic powered in order to keep track of position or other parameters even when you need to remove the power that drives the motor. Built-in 8-channel Digital Scope Drive tuning and performance evaluation is convenient with the built-in 8-channel digital oscilloscope. Over 40 parameters are available. Windows© Based Setup Software Configuring and tuning the drive is easy through the use of DriveWare300. The block-diagram interface layout is intuitive and easy to use. Sold & Serviced By: Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA PVT Mode PVT makes it easy to accomplish multi-axis coordinated motion. A host controller can generate a series of PVT commands containing position, velocity and time of the motion profile segment end points. The drive interpolates between these intermediate points to ensure smooth motion. Send PVT commands to multiple axes to achieve coordinated motion. Encoder Feedback with Hall Sensor or Encoder Only Commutation Sinusoidal commutation for high-resolution, smooth motion control can be accomplished using the encoder with or without the Hall sensor feedback. Advanced Event Handling The drive continuously monitors over 50 events related to the drive and system status. Each event has several configurable attributes, providing the user with complete control over the drive response to these events. 5/18/2006 Tel 805-389-1935 · Fax 805-389-1165· www.a-m-c.com Page 2 of 9 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 3. Digital Servo Drive ZDCR300EE12A8LDC BLOCK DIAGRAM PDI 1,2,3 GND PDO 1,2,3 SGND - PDI 4,5 DIFF 5/18/2006 Sold & Serviced By: Tel 805-389-1935 · Fax 805-389-1165· www.a-m-c.com HALL A,B,C GND MOTOR A MOTOR B MOTOR C GND GND Page 3 of 9 Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA + REF - REF + PDI 4,5 DIFF CAN BAUD CAN ADDR 0 CAN ADDR 1 MOT ENC A,B,I + MOT ENC A,B,I - CAN RX CAN TX GND RX TX + HIGH VOLTAGE LOGIC POWER Motor Feedback I/O Interface +5V 5K 5K 500K +5V 6.67K 6.67K 1K 1K +5V 5K Int. Refr. RS232 Interface Power Stage Drive Logic CANopen Interface Logic Power ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 4. Digital Servo Drive ZDCR300EE12A8LDC 5/18/2006 Sold & Serviced By: Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA Tel 805-389-1935 · Fax 805-389-1165· www.a-m-c.com Page 4 of 9 SPECIFICATION SUMMARY Power Stage Specifications DC Supply Voltage 20 - 80 V Peak Output Current ± 12 A (8.6 Arms) Maximum Continuous Output Current ± 6 A (4.3 Arms) Minimum Load Inductance* 250 μH Switching Frequency 20 kHz Heatsink (Base) Temperature Range 0 o to + 65o C, disables if > 65o C Power Dissipation at Continuous Current 18 W Internal Bus Capacitance 33 μF Logic Supply Voltage 5 VDC (+/- 5%) @ 0.4A + current consumption of feedback and I/O Under-Voltage Limit 17 V Over-Voltage Limit 86 V Control Specifications Commutation Method Sinusoidal or Trapezoidal (programmable) Max Encoder Line Frequency 4.0 MHz Current Loop Sample Time 50 μs Velocity Loop Sample Time 100 μs Position Loop Sample Time 100 μs Mechanical Specifications Power Connector: P2 Single row header, 0.1 inch (2.54 mm) spacing Signal Connector: P1 Dual row header, 0.1 inch (2.54 mm) spacing Size (L x W x H) 2.5 x 2.0 x 0.73 inches 63.5 x 50.8 x 18.5 mm Weight 3.4 oz 95.2 g * The Minimum Load Inductance provided assumes the highest allowed bus voltage. Lower inductances are acceptable for lower bus voltages. ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 5. Digital Servo Drive ZDCR300EE12A8LDC PIN FUNCTIONS P1 – Signal Connector Pin Name Description I/O 1 CAN ADDR 0 CAN bus address selector. I 2 CAN ADDR 1 3 -REF IN 4 +REF IN Differential analog command input or programmable analog input. I 5 GND Signal ground. - 6 CAN BAUD CAN bus bit rate selector. I 7 PDO 1 8 PDO 2 9 PDO 3 Programmable digital outputs. O 10 PDI 1 11 PDI 2 12 PDI 3 Programmable digital inputs. I 13 RX RS232 receive. I 14 CAN_RX CAN receive (requires external transceiver). I 15 TX RS232 transmit. O 16 CAN_TX CAN transmit (requires external transceiver). O 17 +PDI 4 18 -PDI 4 Programmable differential digital input, or Step+/Step-, or Aux Enc A+/A-. See MC1XZDCR datasheet for recommended signal conditioning. I 19 +PDI 5 20 -PDI 5 Programmable differential digital input, or Direction+/Direction-, or Aux Enc B+/B-. See MC1XZDCR datasheet for recommended signal conditioning. I 21 GND Signal ground. - 22 HALL A Hall sensor commutation inputs. Internal 5 kΩ pull-up to 23 HALL B +5 VDC. For differential inputs see MC1XZDCR datasheet I 24 HALL C for recommended signal conditioning. 25 ENC I+ 26 ENC I-Differential encoder index input. See MC1XZDCR datasheet for recommended signal conditioning. I 27 ENC A+ 28 ENC A-Differential encoder channel A input. See MC1XZDCR datasheet for recommended signal conditioning. I 29 ENC B+ 30 ENC B-Differential encoder channel B input. See MC1XZDCR datasheet for recommended signal conditioning. I 5/18/2006 Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 Tel 805-389-1935 · Fax 805-389-1165· www.a-m-c.com Page 5 of 9 Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA www.electromate.com sales@electromate.com
- 6. Digital Servo Drive ZDCR300EE12A8LDC 5/18/2006 Sold & Serviced By: Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA Tel 805-389-1935 · Fax 805-389-1165· www.a-m-c.com Page 6 of 9 P2 – Power Connector Pin Name Description I/O 1 +5V IN 5V logic supply, +/-5%. Input current is 0.4A + current consumption of feedback and I/O. I 2 3 POWER GROUND Power ground (current rating of 3A per pin). - 4 5 HIGH VOLTAGE DC power input (current rating of 3A per pin). I 6 N/C Not connected. Pin has been removed. - 7 8 MOTOR C Motor phase C connection (current rating of 3A per pin). O 9 10 MOTOR B Motor phase B connection (current rating of 3A per pin). O 11 12 MOTOR A Motor phase A connection (current rating of 3A per pin). O For more details on pin functionality please refer to the User Manual for this product. ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 7. Digital Servo Drive ZDCR300EE12A8LDC CONNECTOR INFORMATION P1 – I/O Connector Connector Information Dual Row, 30-pin, 0.1 in (2.54 mm) pitch Mating Connector Example Samtec: SSM-115-L-DV P2 – Power Connector Connector Information Single-Row, 12-pin, 0.1 in (2.54 mm) pitch Mating Connector Example Samtec: BCS-112-L-S-PE ENC B- 30 ENC A- 28 ENC I- 26 HALL C 24 HALL A 22 -PDI5 20 -PDI4 18 CAN TX 16 CAN RX 14 PDI3 12 PDI1 10 29 ENC B+ 27 ENC A+ 25 ENC I+ 23 HALL B 21 GND 19 +PDI5 17 +PDI4 15 TX 13 RX 11 PDI2 9 PDO3 CAN BAUD 6 5 GND 1 CAN ADDR 0 +REF 4 CAN ADDR 1 2 3 -REF PDO2 8 7 PDO1 1 +5V INPUT 2 GND 3 GND 4 +HV 5 +HV 6 7 MOTOR C 8 MOTOR C 9 MOTOR B 10 MOTOR B 11 MOTOR A 12 MOTOR A P1 P2 5/18/2006 Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 Tel 805-389-1935 · Fax 805-389-1165· www.a-m-c.com Page 7 of 9 Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA www.electromate.com sales@electromate.com
- 8. Digital Servo Drive ZDCR300EE12A8LDC MOUNTING DIMENSIONS 5/18/2006 Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 Tel 805-389-1935 · Fax 805-389-1165· www.a-m-c.com Page 8 of 9 Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA www.electromate.com sales@electromate.com
- 9. Digital Servo Drive ZDCR300EE12A8LDC ORDERING INFORMATION 300 A LDC A DigiFlex Drive Micro Series Digital Drive Communication CANopen Network RS232 for Setup Series 300 Series Feedback Encoder + Aux. Encoder Revision A through Z Power Supply DC Power + Required Separate DC Logic Peak Voltage 1/10th Peak Supply Voltage Rating in Volts-Peak Peak Current Peak Output Current Rating in Amps-Peak ZD CR EE 12 8 Notes: Peak Current Maximum continuous current rating is approximately ½ of the peak current rating. Revision This letter is not required when placing an order. Some letters are skipped when assigning revisions. Additional Options Only available on select drives. Options not listed here are for custom drives. Contact an AMC representative for more information. Drive Family Available Accessories Accessory Part Numbers Mounting Card MC1XZDCR SRST50 SRST70 Shunt Regulator SRST80 BFC1010 Filter Card BFC10010 PS16L30 / PS16H30 PS16L36 / PS16H36 PS16L40 / PS16H40 PS16L60 / PS16H60 PS16L72 / PS16H72 PS16L80 / PS16H80 PS2X3H24 / PS2X3W24 PS2X3H48 / PS2X3W48 PS300H24 / PS300W24 ZDCR300EE12A8LDC Power Supply PS300H48 / PS300W48 5/18/2006 Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 Tel 805-389-1935 · Fax 805-389-1165· www.a-m-c.com Page 9 of 9 Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA www.electromate.com sales@electromate.com