DigiFlex Performance Servo Drive DPRAHIR-060A400

Transcription

1 DigiFlex Performance Servo Drive DPRAHR-060A400 Description Power Range The DigiFlex Performance (DP) 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 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. n addition to motor control, these drives feature dedicated and programmable digital and analog inputs and outputs to enhance interfacing with external controllers and devices. Peak Current Continuous Current Supply Voltage 60 A (42.4 A RMS) 30 A (21.2 A RMS) VAC This DP Series drive features a single RS-232/RS-485 interface used for drive configuration and setup. Drive commissioning is accomplished using DriveWare 7, available for download at All drive and motor parameters are stored in nonvolatile memory. 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 PDF Velocity Loop PD + FF Position Loop Compact Size, High Power Density 16-bit Analog to Digital Hardware Built-in brake/shunt regulator nternal brake/shunt resistor On-the-Fly Mode Switching On-the-Fly Gain Set Switching MODES OF OPERATON Current Position Velocity COMMAND SOURCE PWM and Direction Encoder Following Over the Network ±10 V Analog 24V Step and Direction ndexing Jogging FEEDBACK SUPPORTED Resolver ±10 VDC Position Auxiliary ncremental Encoder Tachometer (±10 VDC) NPUTS/OUTPUTS 3 High Speed Captures 4 Programmable Analog nputs (16-bit/12-bit Resolution) 3 Programmable Digital nputs (Differential) 7 Programmable Digital nputs (Single-Ended) 4 Programmable Digital Outputs (Single-Ended) COMPLANCES & AGENCY APPROVALS UL cul CE Class A (LVD) CE Class A (EMC) RoHS Page 1 of 11

2 DigiFlex Performance Servo Drive DPRAHR-060A400 BLOCK DAGRAM CONTROL MODULE PD-1,2,3,4,5,6,7 (STEP / DR / CAP-A) 3.75K REF OUT + NPUT COMMON PD-8,9,10 + (PWM+ / DR+ / AUX ENC A,B, + / CAP-B,C+) PD-8,9,10 (PWM / DR / AUX ENC A,B, / CAP-B,C ) OUTPUT PULL-UP +5V 5k +5V 10k 10k Drive Logic Motor Motor Feedback Feedback REF OUT SN,COS + SN,COS ENC A,B, + OUT ENC A,B, OUT PDO-1,2,3,4 OUTPUT COMMON PA-1,4 + (REF+) PA-1,4 (REF ) 2.5k 20k 20k 20k /O nterface /O nterface POWER MODULE Power Stage MOTOR A MOTOR B MOTOR C DC+ DC- PA-2,3 SGN GND PA-2: 33k PA-3: 500k Fuse Fuse Fuse L1 L2 L3 Fuse DC+ SELECT TX/TX Shunt Reg. 10 (200W) NT EXT RX/RX TX+ RX+ RS232/485 nterface Logic Power LOGC+ LOGC SO GND nformation on Approvals and Compliances US and Canadian safety compliance with UL 508c, the industrial standard for power conversion electronics. UL registered under file number E 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 :2007 and EN :2005) and LVD requirements of directive 2006/95/EC (specifically EN :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. Page 2 of 11

3 DigiFlex Performance Servo Drive DPRAHR-060A400 SPECFCATONS Power Specifications Description Units Value Rated Voltage VAC (VDC) 240 (339) AC Supply Voltage Range VAC AC Supply Minimum VAC 90 AC Supply Maximum VAC 264 AC nput Phases 1-3 AC Supply Frequency Hz DC Supply Voltage Range 2 VDC DC Bus Over Voltage Limit VDC 429 DC Bus Under Voltage Limit VDC 55 Logic Supply Voltage VDC (@ 850 ma) Maximum Peak Output Current 3 A (Arms) 60 (42.4) Maximum Continuous Output Current A (Arms) 30 (21.2) Max. Continuous Output Rated Voltage 4 W 6840 Max. Continuous Power Rated Voltage W 360 nternal Bus Capacitance µf 1650 External Shunt Resistor Minimum Resistance Ω 10 Minimum Load nductance (Line-To-Line) 5 µh 600 Switching Frequency khz 20 Maximum Output PWM Duty Cycle % 100 nternal Shunt Fuse Rating A 5 A time-delay fuse AC Line Fuse Rating A 20 A fast-acting fuses Low Voltage Supply Outputs - +5 VDC (250 ma) Control Specifications Description Units Value Communication nterfaces - RS-485/232 Command Sources - ±10 V Analog, 24V Step and Direction, Encoder Following, Over the Network, PWM and Direction, ndexing, Jogging Feedback Supported - ±10 VDC Position, Auxiliary ncremental Encoder, Resolver, Tachometer (±10 VDC) Commutation Methods - Sinusoidal Modes of Operation - Current, Position, Velocity Motors Supported - Closed Loop Vector, Single Phase (Brushed, Voice Coil, nductive Load), Three Phase (Brushless) Hardware Protection Configurable Functions, Over Current, Over Temperature (Drive & Motor), Over Voltage, Short Circuit (Phase-Phase & Phase-Ground), Under Voltage Programmable Digital nputs/outputs (PDs/PDOs) - 10/4 Programmable Analog nputs/outputs (PAs/PAOs) - 4/0 Primary /O Logic Level - 24 VDC Current Loop Sample Time μs 50 Velocity Loop Sample Time μs 100 Position Loop Sample Time μs 100 Resolver Reference/Excitation Signal Vrms 4 5 khz Expected Resolver Transformation Ratio Vrms 0.5 Feedback Resolution / Emulated Encoder Resolution 6 bit High Resolution Setting: 14, Low Resolution Setting: 12 Maximum Motor Speed Per Feedback Resolution RPM High Resolution Setting: 5000, Low Resolution Setting: nternal Shunt Regulator - Yes nternal Shunt Resistor - Yes 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) x x (9.2 x 6.4 x 6) Weight g (oz) 4495 (158.6) Heatsink (Base) Temperature Range 7 C ( F) 0-75 (32-167) Storage Temperature Range C ( F) ( ) Form Factor - Panel Mount Cooling System - Natural Convection P Rating - P10 +24V LOGC Connector - 2-port, 5.08 mm spaced, enclosed, friction lock header with threaded flange AUX ENCODER Connector - 15-pin, high-density, male D-sub COMM Connector - 9-pin, female D-sub DC BUS / BRAKE RESSTOR Connector - 5-contact, 13 mm spaced, dual-barrier terminal block FEEDBACK Connector - 15-pin, high-density, female D-sub /O Connector - 26-pin, high-density, female D-sub MOTOR POWER / DC BUS Connector - 5-contact, 13 mm spaced, dual-barrier terminal block POWER Connector - 5-contact, 13 mm spaced, dual-barrier terminal block Notes 1. Can operate on single-phase VAC if peak/cont. current ratings are reduced by at least 30%. 2. Large inrush current may occur upon initial DC supply connection to DC Bus. 3. 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. 4. P = (DC Rated Voltage) * (Cont. RMS Current) * Lower inductance is acceptable for bus voltages well below maximum. Use external inductance to meet requirements. 6. Higher and lower resolution options are available. Contact Applications Engineering for more information. 7. Additional cooling and/or heatsink may be required to achieve rated performance. Page 3 of 11

4 DigiFlex Performance Servo Drive DPRAHR-060A400 PN FUNCTONS +24V LOGC - Logic Power Connector Pin Name Description / Notes /O 1 LOGC GND Logic Supply Ground GND 2 LOGC PWR Logic Supply nput AUX ENCODER - Auxiliary Feedback Connector Pin Name Description / Notes /O 1 RESERVED Reserved - 2 RESERVED Reserved - 3 RESERVED Reserved - 4 PD-8 + (PWM+ / AUX ENC A+ / CAP-B+) Programmable Digital nput or PWM or Auxiliary Encoder or High Speed Capture (For 5 PD-8 - (PWM- / AUX ENC A- / CAP-B-) Single-Ended Signals Leave Negative Terminal Open) 6 PD-9 + (DR+ / AUX ENC B+ / CAP-C+) Programmable Digital nput or Direction nput or Auxiliary Encoder or High Speed Capture 7 PD-9 - (DR- / AUX ENC B- / CAP-C-) (For Single-Ended Signals Leave Negative Terminal Open) 8 PD-10 + Programmable Digital nput (For Single-Ended Signals Leave Negative Terminal Open) 9 PD SGN GND Signal Ground SGND 11 SGN GND Signal Ground SGND 12 SGN GND Signal Ground SGND 13 +5V OUT +5V Encoder Supply Output (Short Circuit Protected) O 14 PA-4 + Differential Programmable Analog nput (12-bit Resolution) 15 PA-4 - COMM - RS232/RS485 Communication Connector Pin Name Description / Notes /O 1 SELECT RS232/485 selection. Pull to ground (CN1-5) for RS RS232 TX / RS485 TX- Transmit Line (RS-232 or RS-485) O 3 RS232 RX / RS485 RX- Receive Line (RS-232 or RS-485) 4 RESERVED Reserved - 5 SO GND solated Signal Ground GND 6 RS485 TX+ Transmit Line (RS-485) O 7 RESERVED Reserved - 8 RS485 RX+ Receive Line (RS-485) 9 RESERVED Reserved - DC BUS / BRAKE RESSTOR - Power Connector Pin Name Description / Notes /O 1 HGH VOLTAGE O DC Bus Output 2 POWER GND PGND 3 EXT External Brake Resistor Connection. - 4 DC+ Brake Resistor DC+. Connection for brake resistor. O 5 NT nternal Brake Resistor. Jumper to Brake Resistor DC+ to activate. - FEEDBACK - Feedback Connector Pin Name Description / Notes /O 1 RESERVED Reserved - 2 RESERVED Reserved - 3 RESERVED Reserved - 4 REF OUT + O Resolver Reference/Excitation Output 5 REF OUT - O 6 SN+ Resolver Sine nput 7 SN- 8 COS+ Resolver Cosine nput 9 COS- 10 RESERVED Reserved - 11 RESERVED Reserved - 12 SGN GND Signal Ground SGND 13 +5V OUT +5V Encoder Supply Output (Short Circuit Protected) O 14 PA-3 Programmable Analog nput (12-bit Resolution) 15 RESERVED Reserved - Page 4 of 11

5 DigiFlex Performance Servo Drive DPRAHR-060A400 /O - Signal Connector Pin Name Description / Notes /O 1 PDO-1 solated Programmable Digital Output O 2 OUTPUT COMMON Digital Output Common OGND 3 PDO-2 solated Programmable Digital Output O 4 PA-1 + (REF+) Differential Programmable Analog nput or Reference Signal nput (16-bit Resolution) 5 PA-1 - (REF-) 6 PA-2 Programmable Analog nput (12-bit Resolution) 7 SGN GND Signal Ground SGND 8 OUTPUT PULL-UP Digital Output Pull-Up For User Outputs 9 PD-5 solated Programmable Digital nput 10 PDO-3 solated Programmable Digital Output O 11 PD-1 solated Programmable Digital nput 12 PD-2 solated Programmable Digital nput 13 PD-3 solated Programmable Digital nput 14 PDO-4 solated Programmable Digital Output O 15 NPUT COMMON Digital nput Common (Can Be Used To Pull-Up Digital nputs) GND 16 SGN GND Signal Ground SGND 17 PD-4 (STEP) solated Programmable Digital nput or Step 18 PD-6 (DR) solated Programmable Digital nput or Direction 19 PD-7 (CAP-A) solated Programmable Digital nput or High Speed Capture 20 ENC A+ OUT O Emulated Encoder Channel A Output 21 ENC A- OUT O 22 ENC B+ OUT O Emulated Encoder Channel B Output 23 ENC B- OUT O 24 ENC + OUT O Emulated Encoder ndex Output 25 ENC - OUT O 26 SGN GND Signal Ground SGND MOTOR POWER / DC BUS - Power Connector Pin Name Description / Notes /O 1 MOTOR A Motor Phase A O 2 MOTOR B Motor Phase B O 3 MOTOR C Motor Phase C O 4 POWER GND Power Ground (solated From Signal Ground) PGND 5 HGH VOLTAGE DC Power nput POWER - Power Connector Pin Name Description / Notes /O 1 L1 2 L2 AC Supply nput (Three Phase) 3 L3 4 PE Protective Earth Ground - 5 RESERVED Reserved - Page 5 of 11

6 DigiFlex Performance Servo Drive DPRAHR-060A400 HARDWARE SETTNGS Switch Functions Switch Description Bit 0 of binary RS-485 drive address. Does not affect RS-232 Bit 1 of binary RS-485 drive address. Does not affect RS-232 Bit 2 of binary RS-485 drive address. Does not affect RS-232 Bit 3 of binary RS-485 drive address. Does not affect RS-232 Bit 4 of binary RS-485 drive address. Does not affect RS-232 Bit 5 of binary RS-485 drive address. Does not affect RS-232 Bit 0 of drive RS-485 baud rate setting. Does not affect RS-232 Bit 1 of drive RS-485 baud rate setting. Does not affect RS-232 Setting On Off Additional Details The drive can be configured to use the address and/or bit rate stored in non-volatile memory by setting the address and/or bit rate value to 0. Use the table below to map actual bit rates to a bit rate setting. Baud Rate (kbps) Value For Bit Rate Setting Load from non-volatile memory Page 6 of 11

7 DigiFlex Performance Servo Drive DPRAHR-060A400 MECHANCAL NFORMATON Connector nformation +24V LOGC - Logic Power Connector 2-port, 5.08 mm spaced, enclosed, friction lock header with threaded flange Details Phoenix Contact: P/N ncluded with Drive Yes 1 LOGC GND 2 LOGC PWR Connector nformation AUX ENCODER - Auxiliary Feedback Connector 15-pin, high-density, male D-sub TYCO: Plug P/N ; Housing P/N ; Terminals P/N (loose) or Details (strip) ncluded with Drive No SGN GND 10 PD-10-9 PD PD-9 - (DR- / AUX ENC B- / CAP-C-) 7 PD-9 + (DR+ / AUX ENC B+ / CAP-C+) 6 4 PD-8 + (PWM+ / AUX ENC A+ / CAP-B+) 5 PD-8 - (PWM- / AUX ENC A- / CAP-B-) 15 PA-4-14 PA V OUT 12 SGN GND 11 SGN GND Connector nformation COMM - RS232/RS485 Communication Connector 9-pin, female D-sub TYCO: Plug P/N ; Housing P/N ; Terminals P/N (loose) or Details (strip) ncluded with Drive No 5 SO GND 3 RS232 RX / RS485 RX- 2 RS232 TX / RS485 TX- 1 SELECT 6 RS485 TX+ 8 RS485 RX+ Page 7 of 11

8 DigiFlex Performance Servo Drive DPRAHR-060A400 Connector nformation DC BUS / BRAKE RESSTOR - Power Connector 5-contact, 13 mm spaced, dual-barrier terminal block Details Not applicable ncluded with Drive Not applicable 5 NT 4 DC+ 3 EXT 2 POWER GND 1 HGH VOLTAGE Connector nformation Details ncluded with Drive FEEDBACK - Feedback Connector 15-pin, high-density, female D-sub TYCO: Plug P/N ; Housing P/N ; Terminals P/N (loose) or (strip) No SN+ 6 SN- 7 COS+ 8 COS- 9 5 REF OUT - 4 REF OUT + 12 SGN GND 13 +5V OUT 14 PA-3 Connector nformation Details ncluded with Drive /O - Signal Connector 26-pin, high-density, female D-sub TYCO: Plug P/N ; Housing P/N ; Terminals P/N (loose) or (strip) No PDO-3 10 PD-1 11 PD-2 12 PD-3 13 PDO-4 14 NPUT COMMON 15 SGN GND 16 PD-4 (STEP) 17 PD-6 (DR) 18 9 PD-5 8 OUTPUT PULL-UP 7 SGN GND 6 5 PA-2 PA-1 - (REF-) 4 PA-1 + (REF+) 3 PDO-2 2 OUTPUT COMMON 1 PDO-1 19 PD-7 (CAP-A) 20 ENC A+ OUT 21 ENC A- OUT 22 ENC B+ OUT 23 ENC B- OUT 24 ENC + OUT 25 ENC - OUT 26 SGN GND Page 8 of 11

9 DigiFlex Performance Servo Drive DPRAHR-060A400 Connector nformation MOTOR POWER / DC BUS - Power Connector 5-contact, 13 mm spaced, dual-barrier terminal block Details Not applicable ncluded with Drive Not applicable 5 HGH VOLTAGE 4 POWER GND 3 MOTOR C 2 MOTOR B 1 MOTOR A Connector nformation Details ncluded with Drive POWER - Power Connector 5-contact, 13 mm spaced, dual-barrier terminal block Not applicable Not applicable 4 PE 3 L3 2 L2 1 L1 Page 9 of 11

10 DigiFlex Performance Servo Drive DPRAHR-060A400 MOUNTNG DMENSONS Page 10 of 11

11 DigiFlex Performance Servo Drive DPRAHR-060A400 PART NUMBERNG NFORMATON Example: D P R A N E A Drive Series DP DigiFlex Performance Communication R RS232/RS485 C CANopen or RS232 E EtherCAT Q SynqNet Command nputs Analog (±10V) AN No Step & Direction Analog (±10V) AL Low Voltage Step & Direction (5V) Analog (±10V) AH High Voltage Step & Direction (24V) No Analog NL Low Voltage Step & Direction (5V) No Analog, No Step & Direction NN (Communication nterface Only) Digital /O solated (24V) T TTL (5V) Non-solated Customer Special Code used to identify customer specials Max DC Bus Voltage (VDC) Power and Logic Supply AC nput A +24VDC User Logic Supply Required AC nput Single Phase Only S +24VDC User Logic Supply Required DC nput B Both Logic Supply Options (nternal or User) DC nput L Logic Supply Required Motor Feedback E ncremental Encoder and/or Halls R Resolver A Absolute Sin/Cos (Hiperface & Endat) S Sin/Cos with Halls Universal (Halls, nc. Enc., Abs. Enc., U 1Vp-p Sin/Cos Enc.) Peak Current (A0 to Peak) 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 quickturn 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. Feel free to contact Applications Engineering for further information and details. Examples of Customized Products Optimized Footprint Tailored Project File Private Label Software Silkscreen Branding OEM Specified Connectors Optimized Base Plate No Outer Case ncreased Current Limits ncreased Current Resolution ncreased Voltage Range ncreased Temperature Range Conformal Coating Custom Control nterface Multi-Axis Configurations ntegrated System /O Reduced Profile Size and Weight Available Accessories ADVANCED Motion Controls offers a variety of accessories designed to facilitate drive integration into a servo system. Visit to see which accessories will assist with your application design and implementation. 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. Page 11 of 11