Description 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 command source can be generated internally or can be supplied externally. 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. Power Range Peak Current 15 A (10.6 A RMS ) Continuous Current 10 A (7.1 A RMS ) Supply Voltage 40-190 VDC This DP Series drive features a SynqNet interface for networking and a RS-232 interface for drive configuration and setup. Drive commissioning is accomplished using DriveWare, available at www.a-mc.com. 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 MDES F PERATN Current Position Velocity CMMAND SURCE Communication nterface FEEDBACK SUPPRTED Halls ncremental Encoder ±10 V Analog Auxiliary ncremental Encoder NPUTS/UTPUTS 3 Dedicated Digital nputs 2 Dedicated Digital utputs 2 High Speed Captures 1 Programmable Analog nput 2 Programmable Digital nputs (Differential) 2 Programmable Digital nputs (Single-Ended) 2 Programmable Digital utputs (Differential) 2 Programmable Digital utputs (Single-Ended) CMPLANCES & AGENCY APPRVALS RoHS UL/cUL Pending CE Pending Page 1 of 9
BLCK DAGRAM USER NPUT 0,1 USR GND NDE DSABLE, LMT+/-, HME SENSCMMN + DFF. NPUT 0,1 DFF. NPUT 0,1 3.75K 3.75K 5k CNTRL MDULE Drive Logic Motor Feedback Motor Feedback 2k HALL A,B,C + HALL A,B,C MT ENC A,B, + MT ENC A,B, UTPUT PULL-UP USER UTPUT 0,1, NDE ALARM, BRAKE USR GND + DFF. UTPUT 0,1 1.7k / nterface / nterface PWER MDULE DFF. UTPUT 0,1 MTR A +ANALG N 20k Power Stage MTR B MTR C ANALG N 20k 20k HGH VLTAGE PA-3 500k PWR GND SGN GND Logic Power LGC PWER RD+ RD TD+ SynqNET nterface TD RS232 RX RS232 TX S GND RS-232 nterface 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 89/336/EEC on Electromagnetic Compatibility (specifically EN 61000-6-4:2001, EN 61000-6-2:2001, EN 61000-3-2:2000, and EN 61000-3-3:1995/A1:2001) and LVD requirements of directive 73/23/EEC (specifically EN 60204-1), 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 9
SPECFCATNS Power Stage Specifications Description Units Value DC Supply Voltage VDC 40-190 ver Voltage Limit VDC 198 Under Voltage Limit VDC 35 Peak utput Current A 15 Maximum Continuous utput Current A 10 Maximum Continuous utput Power W 1900 Maximum Power Dissipation at Continuous Current W 95 Minimum Load nductance (Line-To-Line) 1 µh 250 Switching Frequency khz 20 Control Specifications Description Units Value Communication nterfaces - RS-232, SynqNet Command Sources - Communication nterface Feedback Supported - ±10 V Analog, Auxiliary ncremental Encoder, Halls, ncremental Encoder Commutation Methods - Sinusoidal, Trapezoidal Modes of peration - Current, Position, Velocity Motors Supported - Brushed, Brushless, nduction, Voice Coil Hardware Protection - 40+ Configurable Functions, ver Current, ver Temperature (Drive & Motor), ver Voltage, Short Circuit (Phase-Phase & Phase-Ground), Under Voltage Programmable Digital nputs/utputs (PDs/PDs) - 4/2 Programmable Analog nputs/utputs (PAs/PAs) - 1/0 Current Loop Sample Time μs 50 Velocity Loop Sample Time µs 100 Position Loop Sample Time µs 100 Maximum Encoder Frequency MHz 16 (4 pre-quadrature) Mechanical Specifications Description Units Value Size (H x W x L) mm (in) 132.5 x 89.5 x 35.9 (5.2 x 3.5 x 1.4) Heatsink (Base) Temperature Range 2 C ( F) 0-65 (32-149) Storage Temperature Range C ( F) -40-85 (-40-185) Cooling System - Natural Convection Form Factor - Stand Alone P Rating - P10 AUX CMM Connector - 3-pin, 2.5 mm spaced, enclosed, friction lock header CMMa Connector - Shielded RJ-45 socket with LEDs CMMb Connector - Shielded RJ-45 socket with LEDs FEEDBACK Connector - 15-pin, high-density, female D-sub / Connector - 26-pin, high-density, female D-sub PWER Connector - 6-pin, 3.96 mm spaced, friction lock header Notes 1. Lower inductance is acceptable for bus voltages well below maximum. Use external inductance to meet requirements. 2. Additional cooling and/or heatsink may be required to achieve rated performance. Page 3 of 9
PN FUNCTNS AUX CMM - RS232 Communication Connector 1 RS232 RX Receive Line (RS-232) 2 RS232 TX Transmit Line (RS-232) 3 S GND solated Signal Ground GND CMMa - SynqNet Communication Connector 1 RD+ Receiver Line (100BaseT) 2 RD- 3 TD+ Transmitter Line (100BaseT) 4 RESERVED Reserved - 5 RESERVED Reserved - 6 TD- Transmitter Line (100BaseT) 7 RESERVED Reserved - 8 RESERVED Reserved - CMMb - SynqNet Communication Connector 1 TD+ Transmitter Line (100BaseT) 2 TD- 3 RD+ Receiver Line (100BaseT) 4 RESERVED Reserved - 5 RESERVED Reserved - 6 RD- Receiver Line (100BaseT) 7 RESERVED Reserved - 8 RESERVED Reserved - FEEDBACK - Feedback Connector 1 HALL A+ 2 HALL B+ Commutation Sensor nputs 3 HALL C+ 4 MT ENC A+ Differential Encoder A Channel nput (For Single Ended Signals Use nly The Positive 5 MT ENC A- nput) 6 MT ENC B+ Differential Encoder B Channel nput (For Single Ended Signals Use nly The Positive 7 MT ENC B- nput) 8 MT ENC + Differential Encoder ndex nput (For Single Ended Signals Use nly The Positive nput) 9 MT ENC - 10 HALL A- Commutation Sensor nput (For Differential Signals nly) 11 HALL B- Commutation Sensor nput (For Differential Signals nly) 12 SGN GND Signal Ground SGND 13 UT Encoder Supply utput (Short Circuit Protected) 14 RESERVED Reserved - 15 HALL C- Commutation Sensor nput (For Differential Signals nly) Page 4 of 9
/ - Signal Connector 1 USER UTPUT 0 solated Programmable Digital utput (Referenced To USER GND) 2 USER UTPUT 1 solated Programmable Digital utput (Referenced To USER GND) 3 USR GND Ground Reference For User utputs And nputs SGND 4 NDE ALARM Network Error (solated utput Referenced To USER GND) 5 BRAKE Brake (solated utput Referenced to USER GND) 6 SGN GND Signal Ground SGND 7 + DFF. NPUT 0 Non-solated Differential Digital nput (Programmable Capture Function) 8 - DFF. NPUT 0 9 UTPUT PULL-UP Digital utput Pull-Up 10 NDE DSABLE Node Disable (solated nput Referenced to SENSCMMN) 11 LMT + Positive Limit (solated nput Referenced To SENSCMMN) 12 LMT - Nagative Limit (solated nput Referenced To SENSCMMN) 13 HME Home Switch (solated nput Referenced To SENSCMMN) 14 USER NPUT 0 solated Programmable Digital nput (Referenced To USER GND) 15 USER NPUT 1 solated Programmable Digital nput (Referenced To USER GND) 16 SENSCMMN Sensor Common (Can Be Used To Pull-Up Related nputs) CMN 17 + DFF. NPUT 1 Non-solated Differential Digital nput (Programmable Capture Function) 18 - DFF. NPUT 1 19 SGN GND Signal Ground SGND 20 + DFF. UTPUT 0 Non-solated Differential Digital nput (Programmable Step & Direction r Divide-By-N 21 - DFF. UTPUT 0 Function) 22 + DFF. UTPUT 1 Non-solated Differential Digital nput (Programmable Step & Direction r Divide-By-N 23 - DFF. UTPUT 1 Function) 24 + ANALG N Programmable Differential Analog nput (±10V Range) 25 - ANALG N 26 SGN GND Signal Ground SGND PWER - Power Connector 1 MTR A Motor Phase A 2 MTR B Motor Phase B 3 MTR C Motor Phase C 4 HGH VLTAGE DC Power nput 5 PWR GND Power Ground (Common With Signal Ground) PGND 6 LGC PWR Logic Supply nput Page 5 of 9
HARDWARE SETTNGS Switch Functions Switch Description Setting n ff 1 Reserved. - - 2 Reserved. - - 3 Reserved. - - 4 Reserved. - - 5 Reserved. - - 6 Reserved. - - 7 Reserved. - - 8 Reserved. - - Page 6 of 9
MECHANCAL NFRMATN AUX CMM - RS232 Communication Connector Connector nformation 3-pin, 2.5 mm spaced, enclosed, friction lock header Mating Connector Phoenix: Plug P/N 1881338 3 S GND 2 RS232 TX 1 RS232 RX CMMa - SynqNet Communication Connector Connector nformation Shielded RJ-45 socket with LEDs Mating Connector AMP: Plug P/N 5-569552-3 A TD- 6 TD+ 3 RD- 2 RD+ 1 CMMb - SynqNet Communication Connector Connector nformation Shielded RJ-45 socket with LEDs Mating Connector AMP: Plug P/N 5-569552-3 B 1 TD+ 2 TD- 3 RD+ 6 RD- Page 7 of 9
Connector nformation Mating Connector FEEDBACK - Feedback Connector 15-pin, high-density, female D-sub AMP: Plug P/N 748364-1; Housing P/N 748677-1; Terminals P/N 748333-4 (loose) or 748333-2 (strip) MT ENC B+ 6 MT ENC B- 7 MT ENC + 8 MT ENC - 9 HALL A- 10 5 MT ENC A- 4 MT ENC A+ 3 HALL C+ 2 HALL B+ 1 HALL A+ 11 HALL B- 12 SGN GND 13 UT 15 HALL C- Connector nformation Mating Connector / - Signal Connector 26-pin, high-density, female D-sub AMP: Plug P/N 748365-1; Housing P/N 748677-2; Terminals P/N 748333-4 (loose) or 748333-2 (strip) NDE DSABLE 10 LMT + 11 LMT - 12 HME 13 USER NPUT 0 14 USER NPUT 1 15 SENSCMMN 16 + DFF. NPUT 1 17 - DFF. NPUT 1 18 9 UTPUT PULL-UP 8 -DFF. NPUT 0 7 + DFF. NPUT 0 6 5 SGN GND BRAKE 4 NDE ALARM 3 USR GND 2 USER UTPUT 1 1 USER UTPUT 0 19 SGN GND 20 + DFF. UTPUT 0 21 -DFF. UTPUT 0 22 + DFF. UTPUT 1 23 - DFF. UTPUT 1 24 + ANALG N 25 -ANALG N 26 SGN GND Connector nformation Mating Connector PWER - Power Connector 6-pin, 3.96 mm spaced, friction lock header AMP: Plug P/N 770849-6; Terminals P/N 770522-1 (loose) or 770476-1 (strip) 6 LGC PWR 5 PWR GND 4 HGH VLTAGE 3 MTR C 2 MTR B 1 MTR A Page 8 of 9
PART NUMBERNG NFRMATN Example: D P R A N E - 0 1 5 A 4 0 0 - Drive Series DP DigiFlex Performance Customer Special Code used to identify customer specials Communication R RS232/RS485 C CANopen or RS232 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 nly) Digital / solated (24V) T TTL (5V) Non-solated Revision A through Z (letters may be skipped) Max DC Bus Voltage (VDC) 080 80 200 200 400 400 800 800 Power and Logic Supply AC nput A +24VDC User Logic Supply Required AC nput nly N No Logic Supply Required (nternal Supply) DC nput B Both Logic Supply ptions (nternal or User) DC nput L Logic Supply Required DC nput nly D nternal Logic Supply Motor Feedback E ncremental Encoder and/or Halls R Resolver A Absolute Sin/Cos (Hiperface & Endat) S Sin/Cos with Halls Peak Current (A0 to Peak) 015 15 016 16 020 20 025 25 030 30 040 40 060 60 100 100 DigiFlex Performance series of products are available in many configurations. All models listed on the website are readily available, standard product offerings. ther combinations or possibilities can be made available for EMs with volume requests of 100 or more. Contact Applications Engineering for further information and details. All specifications in this document are subject to change without written notice. Actual product may differ from pictures provided in this document. Page 9 of 9