dpcantr-015b200
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DigiFlex® Performance™ Servo Drive Description DPCANTR-015B200 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. 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. Peak Current 15 A (10.6 A RMS ) Continuous Current 7.5 A (7.5 A RMS ) Supply Voltage 40 - 190 VDC This DP Series drive features a CANopen interface for networking and a RS-232 interface for drive configuration and setup. Drive commissioning is accomplished using DriveWare® 7, available for download at www.a-m-c.com. All drive and motor parameters are stored in nonvolatile memory. Features MODES 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 OF OPERATION Profile Current Profile Velocity Profile Position Cyclic Synchronous Current Mode Cyclic Synchronous Velocity Mode Cyclic Synchronous Position Mode COMMAND SOURCE ±10 V Analog PWM and Direction Encoder Following Over the Network Indexing Jogging FEEDBACK SUPPORTED Resolver Auxiliary Incremental Encoder Tachometer (±10 VDC) Release Date: 9/7/2012 Revision: 2.02 PIDF Velocity Loop PID + FF Position Loop Compact Size, High Power Density 16-bit Analog to Digital Hardware On-the-Fly Mode Switching On-the-Fly Gain Set Switching INPUTS/OUTPUTS 3 High Speed Captures 3 Programmable Analog Inputs (16-bit/12-bit Resolution) 2 Programmable Analog Outputs (10-bit Resolution) 2 Programmable Digital Inputs (Differential) 6 Programmable Digital Inputs (Single-Ended) 4 Programmable Digital Outputs (Single-Ended) COMPLIANCES & AGENCY APPROVALS UL cUL CE Class A (LVD) CE Class A (EMC) RoHS ADVANCED Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com Page 1 of 10

DigiFlex® Performance™ Servo Drive DPCANTR-015B200 BLOCK DIAGRAM CONTROL MODULE +5V 5k REF OUT + SGN GND +5V 5k PDI-7,8 + (PWM+ / DIR+ / AUX ENC A,B + / CAP-B,C+) Drive Logic +5V Motor Feedback Motor Feedback PDI-1,2,3,4 (CAP-A),5,6 10k PDI-7,8 – (PWM– / DIR– / AUX ENC A,B – / CAP-B,C–) +5V REF OUT – SIN,COS + SIN,COS – 10k 5k Interface I/O Interface PDO-1,2,3,4 SGN GND 20k PAI-1 + (REF+) POWER MODULE MOTOR A Power Stage PAI-1 – (REF–) 20k 20k MOTOR B MOTOR C PAI-2: 33k HIGH VOLTAGE PAI-2,3 PAI-3: 500k SGN GND PWR GND 10k PAO-1,2 Logic Power LOGIC POWER CAN_H CANopen Interface CAN_L CAN_GND...

DigiFlex® Performance™ Servo Drive DPCANTR-015B200 SPECIFICATIONS Description Power Specifications Units DC Supply Voltage Range VDC DC Bus Over Voltage Limit VDC 198 DC Bus Under Voltage Limit VDC 35 Logic Supply Voltage VDC 40 - 190 Maximum Peak Output Current1 A (Arms) 15 (10.6) Maximum Continuous Output Current2 A (Arms) Value 40 - 190 7.5 (7.5) Maximum Continuous Output Power W 1353.8 Maximum Power Dissipation at Continuous Current W 71.3 Internal Bus Capacitance µF 20 Minimum Load Inductance (Line-To-Line)3 µH 250 Switching Frequency kHz 20 Maximum Output PWM Duty Cycle % 100 Low...

DigiFlex® Performance™ Servo Drive DPCANTR-015B200 PIN FUNCTIONS AUX COMM - RS232 Communication Connector Pin 1 2 3 Name RS232 RX RS232 TX ISO GND Description / Notes Receive Line (RS-232) Transmit Line (RS-232) Isolated Signal Ground I/O I O IGND COMM - CAN Communication Connector Pin 1 2 3 4 5 6 7 8 Name CAN_H CAN_L CAN_GND RESERVED RESERVED RESERVED CAN_GND RESERVED Description / Notes CAN_H Line (Dominant High) CAN _L Line (Dominant Low) CAN Ground Reserved Reserved Reserved CAN Ground Reserved I/O I I CGND CGND - FEEDBACK - Feedback Connector Pin 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15...

DigiFlex® Performance™ Servo Drive Pin I/O - Signal Connector Description / Notes Name 1 2 3 4 5 6 7 8 PDO-1 SGN GND PDO-2 PAI-1 + (REF+) PAI-1 - (REF-) PAI-2 PAO-1 PAO-2 9 PDI-8 - (DIR- / AUX ENC B- / CAP-C-) 10 11 12 13 14 15 16 18 19 20 21 22 23 24 25 PDO-3 PDI-1 PDI-2 PDI-3 PDO-4 +5V OUT SGN GND PDI-7 + (PWM + / AUX ENC A+ / CAPB+) PDI-8 + (DIR+ / AUX ENC B+ / CAP-C+) PDI-4 (CAP-A) PDI-5 PDI-6 SGN GND RESERVED RESERVED RESERVED 26 PDI-7 - (PWM- / AUX ENC A- / CAP-B-) 17 DPCANTR-015B200 I/O Programmable Digital Output Signal Ground Programmable Digital Output Differential Programmable...

DigiFlex® Performance™ Servo Drive DPCANTR-015B200 HARDWARE SETTINGS Switch Functions Switch Description Bit 0 of binary CANopen node ID. Does not affect RS-232 settings. Bit 1 of binary CANopen node ID. Does not affect RS-232 settings. Bit 2 of binary CANopen node ID. Does not affect RS-232 settings. Bit 3 of binary CANopen node ID. Does not affect RS-232 settings. Bit 4 of binary CANopen node ID. Does not affect RS-232 settings. Bit 5 of binary CANopen node ID. Does not affect RS-232 settings. Bit 0 of drive CANopen bit rate setting. Does not affect RS-232 settings. Bit 1 of drive CANopen...

DigiFlex® Performance™ Servo Drive DPCANTR-015B200 MECHANICAL INFORMATION AUX COMM - RS232 Communication Connector Connector Information Details Included with Drive Mating Connector 3-pin, 2.5 mm spaced, enclosed, friction lock header Phoenix: Plug P/N 1881338 Yes 3 ISO GND 2 RS232 TX 1 RS232 RX COMM - CAN Communication Connector Connector Information Details Included with Drive Mating Connector Shielded, dual RJ-45 socket with LEDs AMP: Plug P/N 5-569552-3 No A B 1 CAN_GND 2 7 3 CAN_GND 3 CAN_L 2 CAN_H 1 7 CAN_H CAN_L CAN_GND CAN_GND FEEDBACK - Feedback Connector Connector Information...