DCS Series Brush DC Servo Drive. Datasheet
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1 DCS Series Brush DC Servo Drive Datasheet Version DCS
2 DCS series Brush DC Servo Drives Description PrimoPal s DCS series Brush DC Servo Drive are fully digital brushed servo drives developed with high-performance DSP and advanced algorithms for smooth motion control. All inputs of those servo drives are opto-isolated. Taking step and direction control inputs makes these brushed servo drives easy to implement in many OEM applications. They can drive 5W to 400W brush DC servo motors at very high precision smoothly and quietly with very low motor heating at very effective costs. Applications PrimoPal s DCS series Brush DC Servo Drives are suitable for a wide range of equipment and instruments such as mini type engraving machines, inkjet printers, etc. These drives perform better in the applications where require low noise, high velocity, high precision and high reliability. Part Number DCS PrimoPal Brush DC Servo Drive Max. Input Voltage 3: 30V 8: 80V Max. Output Current 10: 10A 03: 3.0A Serial Number (A-Z) PrimoPal s Brush DC Servo Drives Summary Model Operating Output Current Driving Encoder Configuration Voltage Cont. Peak Motor Signals AC DC A A DCS303 N/A Up to 90W RS232 Single-ended DCS810 N/A Up to 400W RS232 Differential DCS810S N/A Up to 400W RS232 Single-ended Tel: Fax: Page 1 of 16
3 Datasheet of Brushed DC Servo Drive DCS303 DCS303 Brushed DC Servo Drive Input Voltage: 18-30VDC Output Current: 3 A (Cont.), 15A (Peak), Power range: 5-90W Based on DSP control technology and high smooth servo control algorithm Handheld and PC based tuning tools, including Pro Tuner and STU Feedback resolution 4 encoder line count Position Following error lock range adjustable Position error can be eliminated to 1 count, and velocity error can be eliminated to the Desired Velocity* ±0.3% Electronic gear ratio from 1/255 to 255 Built-in motion controller for self-test with trapezoidal velocity profile Support PUL/DIR control signals Opto-isolated inputs, support single-ended signals 10 latest errors self-record function Over-current, over-voltage, phase error, encoder error, position following error protections Descriptions The DCS303 is a digital DC servo driver developed with DSP and high efficient MOSFET technologies. In position control, it s easy for the end users to change stepping drivers to the DCS303 without changing control systems, because its input command is PUL/DIR signal, which is compatible with that of stepping drivers. In low power motion control applications, performances of DC servo systems using the DCS303 are better than those of digital AC servo systems in velocity, precision, stability, or at least as good as those of digital AC servo systems. However, the cost of the DCS303 stays at the price line of stepping driver, namely far lower than those of AC servo drivers. The DCS303 is a micro-size brush DC servo drive. It is an ideal choice for those applications in which the mounting space for the driver is limited and higher output power is not necessary. The DCS303 is very easy to tune and all parameters are visible. Handheld and PC based tuning tools, including ProTuner (Windows based setup software) and STU (Small servo tuning unit) can meet different tuning environments or requirements. Specifications Electrical Specifications (Tj = 25 /77 ) Parameter Min Typical Max Unit Peak output current 0-15 A Supply voltage VDC Logic signal current ma Pulse input frequency khz Isolation resistance MΩ Current provided to encoder ma Tel: Fax: Page 2 of 16
4 Datasheet of Brushed DC Servo Drive DCS303 Mechanical Specifications (unit: mm[inch]) Figure 1.1: Mechanical specifications Operating Environment and Parameters Cooling Natural Cooling or Forced cooling Environment Avoid dust, oil fog and corrosive gases Operating Environment Ambient Temperature 0-50 ( ) Humidity 40%RH - 90%RH Vibration 5.9m/s 2 Max Storage Temperature ( ) Weight 110g (3.88oz) Tel: Fax: Page 3 of 16
5 Connector Configuration General Information Datasheet of Brushed DC Servo Drive DCS303 Control Signal Connector 1 PUL I Pulse control signal 2 DIR I Direction control signal 3 OPTO I +5V Opto-isolated power input 4 ENA I Enable control signal, can be used to clear position following error 5 ERR O Error output signal, HIGH indicates normal, LOW indicates fault 6 EGD GND Opto-isolated GND, use for reference when using ERR Encoder Signal Connector 1 EB I Encoder channel B input 2 EA I Encoder channel A input 3 E +5V O Positive pole of the auxiliary power supply (50 ma (Max)) 4 EGND GND Ground of the auxiliary power supply Power Connector 1 Motor+ I Motor positive connection 2 Motor- I Motor negative connection 3 +Vdc O +18 to 30 VDC power input 4 GND GND Power Ground RS232 Communication Connector 1 +5V O +5V power only for STU 2 TxD O RS232 transmit 3 GND GND Ground 4 RxD I RS232 receive Tel: Fax: Page 4 of 16
6 More about I/O Signals Signal PUL DIR ENA ERR Datasheet of Brushed DC Servo Drive DCS303 Description Pulse signal: This input represents pulse signal; 4-5V when PUL-HIGH, 0-0.5V when PUL-LOW. For reliable response, pulse width should be longer than 2.5μs. Series connect resistors for current-limiting when using +12V or +24V control signals (OPTO). The same as DIR and ENA signals. DIR signal: This signal has LOW/HIGH voltage levels, 4-5V when DIR-HIGH, 0-0.5V when DIR-LOW. For reliable motion response, DIR signal should be ahead of PUL signal by 5μs at least. Please note that motion direction is also related to motor-driver wirings and encoder feedback A/B phase signals. Exchanging the connections of two wires of the motor to the driver and A/B phase signals of encoder will reverse motion direction. Enable signal: This signal is used for enabling/disabling the driver. High level (NPN control signal, PNP and Differential control signals are on the contrary, namely Low level for enabling.) for enabling the driver and low level for disabling the driver. Usually left UNCONNECTED (ENABLED). Error signal: This pin will be pulled to LOW level (reference to EGD) when driver goes into faulty status. There is a 10K resistor connected between ERR and OPTO. Please refer to figure 2 in Control Signal Connections for more details. RS232 Interface Connection Figure 1.2: RS232 interface connection Tel: Fax: Page 5 of 16
7 Typical Connections Two typical connections of the DCS303 are shown as Figure 1.3 and Figure 1.4. Datasheet of Brushed DC Servo Drive DCS303 Figure 1.3: Typical connection (Open-collector control signal) Figure 1.4: Typical connection (Differential control signal) Tel: Fax: Page 6 of 16
8 Datasheet of Brushed DC Servo Drive DCS810 DCS810 Brushed DC Servo Drive 18-80VDC, 0-20A, W Based on DSP control technology and high smooth servo control algorithm Parameter visible tuning tools, including Pro Tuner, EZ Tuner and STU Feedback resolution 4 encoder line count Position Following error lock range adjustable Position error can be eliminated to 1 count, and Velocity error eliminated to the Desired Velocity* ±0.3% Electronic gear ratio from 1/255 to 255 Built-in motion controller for self-test with trapezoidal velocity profile Support PUL/DIR and CW/CCW control signals Opto-isolated inputs, support single-ended and differential signals 10 latest errors self-record function Over-current, over-voltage, under-voltage, phase error, encoder error, position following error protections Descriptions The DCS810V2 is a digital DC servo driver developed with DSP and high efficient MOSFET technologies. In position control, it s easy for the end users to change stepping drivers to the DCS810V2 without changing control systems, because its input command is PUL/DIR signal, which is compatible with that of stepping drivers. In low power motion control applications, performances of DC servo systems using the DCS810V2 are better than those of digital AC servo systems in velocity, precision, noise, stability, or at least as good as those of digital AC servo systems. However, the cost of the DCS810V2 stays at the price line of stepping driver, namely far lower than those of AC servo drivers. Compared to the DB810-50V, the DCS810V2 can accept differential control signals and differential encoder feedback signals, offering better anti-interference performances. Meanwhile the DCS810V2 has higher Max Pulse Input Frequency, hence can drive a faster motor or choose a higher accuracy encoder for a given motor. What's more, broader input voltage range makes the DCS810V2 can drive broader range of servo motors. Compared to the DB810A, parameter visible tuning tools make the DCS810V2 much easier to tune. Compared to DCS810V1, an extra velocity loop is built to DCS810V2 for better motor control and flexible tuning. The DCS810V2 is very easy to tune and all parameters are visible. Parameter visible tuning tools, including ProTuner (Windows based setup software) and STU (Small servo tuning unit) can meet different tuning environments or requirements. Specifications Electrical Specifications (Tj = 25 /77 ) Parameter Min Typical Max Unit Peak output current 0-20 A Supply voltage VDC Logic signal current ma Pulse input frequency khz Isolation resistance MΩ Current provided to encoder ma Tel: Fax: Page 7 of 16
9 Datasheet of Brushed DC Servo Drive DCS810 Mechanical Specifications (unit: mm[inch]) Figure 2.1: Mechanical specifications Operating Environment and Parameters Cooling Natural Cooling or Forced cooling Environment Avoid dust, oil fog and corrosive gases Operating Environment Ambient Temperature 0-50 ( ) Humidity 40%RH - 90%RH Vibration 5.9m/s 2 Max Storage Temperature ( ) Weight 210g (7.41oz) Tel: Fax: Page 8 of 16
10 Connector Configuration General Information Datasheet of Brushed DC Servo Drive DCS810 Control Signal Connector 1 PUL+ I Pulse control signal (+). See more information about PUL in More about PUL/DIR/EN Signals section 2 PUL- I Pulse control signal (-) 3 DIR+ I Direction control signal (+). See more information about DIR in More about PUL/DIR/EN Signals section 4 DIR- I Direction control signal (-) 5 EN+ I Enable control signal (+) 6 EN- I Enable control signal (-) Encoder Signal Connector 1 EB+ I Encoder channel B (+) input. 2 EB- I Encoder channel B (-) input. 3 EA+ O Encoder channel A (+) input. 4 EA- GND Encoder channel A (-) input. 5 E +5V O Positive pole of the auxiliary power supply (50 ma (Max)). 6 EGND GND Ground of the auxiliary power supply. Power Connector 1 Motor+ O Motor positive connection 2 Motor- O Motor negative connection 3 +VDC I +18 to 80 VDC power input 4 GND GND Power Ground RS232 Communication Connector 1 NC - Not connected. 2 +5V O +5V power only for STU. 3 TxD O RS232 transmit. 4 GND GND Ground. 5 RxD I RS232 receive. 6 NC - Not connected. Tel: Fax: Page 9 of 16
11 More about I/O Signals Signal PUL+ PUL- DIR+ DIR- EN+ EN- Datasheet of Brushed DC Servo Drive DCS810 Description Pulse signal: In single pulse (pulse/direction) mode, this input represents pulse signal; 4-5V when PUL-HIGH, 0-0.5V when PUL-LOW. In double pulse mode (pulse/pulse), this input represents clockwise (CW) pulse,effective at LOW level (the fixed level). For reliable response, pulse width should be longer than 1.0μs. Series connect resistors for current-limiting when using +12V or +24V control signals. DIR signal: In single-pulse mode, this signal has low/high voltage levels, representing two directions of motor rotation (set by inside R33 and R37); in double-pulse mode, this signal is counter-clock (CCW) pulse,effective at LOW level (the fixed level). For reliable motion response, DIR signal should be ahead of PUL signal by 5μs at least. 4-5V when DIR-HIGH, 0-0.5V when DIR-LOW. Please note that motion direction is also related to motor-driver wiring and encoder feedback A/B phase signals. Exchanging the connections of two wires of the motor to the driver and A/B phase signals of encoder will reverse motion direction. Enable signal: This signal is used for enabling/disabling the driver. High level (NPN control signal, PNP and Differential control signals are on the contrary, namely Low level for enabling.) for enabling the driver and low level for disabling the driver. Usually left UNCONNECTED (ENABLED). Series connect resistors for current-limiting when using +12V or +24V control signals. RS232 Interface Connection Figure 2.2: RS232 interface connection Tel: Fax: Page 10 of 16
12 Typical Connections Two typical connections of the DCS810 are shown as Figure 2.3 and Figure 2.4. Datasheet of Brushed DC Servo Drive DCS303 Figure 2.3: Typical connection (Open-collector control signal and single-ended encoder.) Figure 2.4: Typical connection (Differential control signal and differential encoder.) Tel: Fax: Page 11 of 16
13 Datasheet of Brushed DC Servo Drive DCS810S DCS810S Brushed DC Servo Drive 18-80VDC, 0-20A, W Based on DSP control technology and high smooth servo control algorithm PC based and handheld configuration tools, including Pro Tuner and STU Feedback resolution 4 encoder line count Position Following error lock range adjustable Electronic gear ratio from 1/255 to 255 Built-in motion controller for self-test with trapezoidal velocity profile Support PUL/DIR and CW/CCW control signals Opto-isolated inputs, support single-ended signals 10 latest errors self-record function Over-current, over-voltage, under-voltage, phase error, encoder error, position following error protections Descriptions The DCS810S is a digital DC servo driver developed with DSP and high efficient MOSFET technologies. In position control, it s easy for the end users to change stepping drivers to the DCS810S without changing control systems, because its input command is PUL/DIR signal, which is compatible with that of stepping drivers. In low power motion control applications, performances of DC servo systems using the DCS810S are better than those of digital AC servo systems in velocity, precision, stability, or at least as good as those of digital AC servo systems. However, the cost of the DCS810S stays at the price line of stepping driver, namely far lower than those of AC servo drivers. The connectors of the DCS810S are specially designed to be compatible with those of the DB810-50V, which have been widely used in inkjet printers. The users can switch to the DCS810S without changing the previous system. Broader input voltage range also makes the DCS810S drive broader range of servo motors than the DB810-50V. What s more, the DCS810S has lower hearting than the DB810-50V owing to its advance digital algorithm. Compared to the DCS810V1, the DCS810S adopts single-ended interface for encoder signals and an extra velocity has been built into it for better performance (The same as DCS810V2). The DCS810S is very easy to tune and all parameters are visible. PC based and handheld configuration & tuning tools, including Pro Tuner (Windows based setup software) and STU (Small servo tuning unit) can meet different tuning environments or requirements. Specifications Electrical Specifications (Tj = 25 /77 ) Parameter Min Typical Max Unit Peak output current 0-20 A Supply voltage VDC Logic signal current ma Pulse input frequency khz Isolation resistance MΩ Current provided to encoder ma Tel: Fax: Page 12 of 16
14 Datasheet of Brushed DC Servo Drive DCS810S Mechanical Specifications (unit: mm[inch]) Figure 3.1: Mechanical specifications Operating Environment and Parameters Cooling Natural Cooling or Forced cooling Environment Avoid dust, oil fog and corrosive gases Operating Environment Ambient Temperature 0-50 ( ) Humidity 40%RH - 90%RH Vibration 5.9m/s 2 Max Storage Temperature ( ) Weight 210g (7.41oz) Tel: Fax: Page 13 of 16
15 Connector Configuration General Information Datasheet of Brushed DC Servo Drive DCS810S Control Signal Connector 1 +5V I Common +5V power input 2 PUL I Pulse control signal. See more information about PUL in More about +5V, PUL, DIR, ERR/RES Signals section 3 DIR I Direction control signal. See more information about DIR in More about +5V, PUL, DIR, ERR/RES Signals section Encoder Signal Connector 1 EB I Encoder channel B input 2 EA I Encoder channel A input 3 E +5V O Positive pole of the auxiliary power supply (50 mamax ) 4 EGND GND Ground of the auxiliary power supply 5 ERR/RES O Alarm signal output (+5V) or reset signal input (+5V) Power Connector 1 Motor+ O Motor positive connection 2 Motor- O Motor negative connection 3 +VDC I +18 to 80 VDC power input 4 GND GND Power Ground RS232 Communication Connector 1 NC - Not connected. 2 +5V O +5V power only for STU. 3 TxD O RS232 transmit. 4 GND GND Ground. 5 RxD I RS232 receive. 6 NC - Not connected. Tel: Fax: Page 14 of 16
16 Datasheet of Brushed DC Servo Drive DCS810S More about +5V, PUL, DIR, ERR/RES Signals Signal Description +5V +5V Opto-coupler power supply. PUL DIR ERR/RES Pulse signal: In single pulse (pulse/direction) mode, this input represents pulse signal, each rising or falling edge active (software configurable); 4-5V when PUL-HIGH, 0-0.5V when PUL-LOW. In double pulse mode (pulse/pulse), this input represents clockwise (CW) pulse,active both at high level and low level (fixed level software configurable). For reliable response, pulse width should be longer than 2.5μs. Series connect resistors for current-limiting when +12V or +24V used. The same as DIR and ENA signals. DIR signal: In single-pulse mode, this signal has low/high voltage levels, representing two directions of motor rotation; in double-pulse mode (software configurable), this signal is counter-clock (CCW) pulse,active both at high level and low level (fixed level software configurable). For reliable motion response, DIR signal should be ahead of PUL signal by 5μs at least. 4-5V when DIR-HIGH, 0-0.5V when DIR-LOW. Please note that rotation direction is also related to motor-driver wiring match. Exchanging the connections of two wires of the motor to the driver and A/B phase signals of encoder will reverse motion direction. ERR/RES Pin: Used to output error and reset the DCS810S to clear errors. +5 VDC when driver is normal. If protection functions such as over-voltage, over-current, phase error, encoder error, position following error are activated, ERR/RES pin will be pulled to LOW level (EGND). Only Position Following Error can be cleared by connecting the E+5V to ERR/RES, and the users should repower the driver to clear other errors after removing other related problem(s). RS232 Interface Connection Figure 3.2: RS232 interface connection Tel: Fax: Page 15 of 16
17 Datasheet of Brushed DC Servo Drive DCS810S Typical Connections Typical connections of the DCS810S are shown as Figure 3.3. Figure 3.3: Typical connection (Open-collector control signal and single-ended encoder.) Tel: Fax: Page 16 of 16
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