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Release Date: Revision: Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
Page 1 of 11
11/5/2009 2.00 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com
DigiFlex® Performance™ Servo Drive DPCANIR-060A800
BLOCK DIAGRAM
CONTROL MODULE
3.75K
PDI-1,2,3,4,5,6,7 REF OUT +
REF OUT –
Feedback
INPUT COMMON
Feedback
+5V SIN,COS +
PDI-8,9,10 + (PWM+ / 5k SIN,COS –
Motor
DIR+ / AUX ENC A,B,I + / Drive
CAP-A,B,C+) Logic
Motor
+5V ENC A,B,I + OUT
PDI-8,9,10 – (PWM– / 10k
DIR– / AUX ENC A,B,I – / ENC A,B,I – OUT
CAP-A,B,C–)
10k
OUTPUT PULL-UP
2.5k
PDO-1,2,3,4
I/O Interface
OUTPUT COMMON
POWER MODULE
I/O Interface
20k MOTOR A
PAI-1,4 + (REF+) Output
Power Stage
Filter MOTOR B
PAI-1,4 – (REF–)
20k MOTOR C
20k
L1
PAI-2: 33k Input
L2
PAI-2,3 Filter
PAI-3: 500k L3
SGN GND
Shunt Reg. DC+
BR
10k DC–
PAO-1
LOGIC+
Logic Power
LOGIC–
CAN_H
CANopen
CAN_L Interface
CAN_GND
RS232 RX
RS-232
RS232 TX Interface
ISO GND
Release Date: Revision: Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
Page 2 of 11
11/5/2009 2.00 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com
DigiFlex® Performance™ Servo Drive DPCANIR-060A800
SPECIFICATIONS
Power Specifications
Description Units Value
Rated Voltage VAC (VDC) 480 (678)
AC Supply Voltage Range VAC 200 - 480
AC Supply Minimum VAC 180
AC Supply Maximum VAC 528
AC Input Phases - 3
AC Supply Frequency Hz 50 - 60
DC Supply Voltage Range1 VDC 255 - 747
DC Bus Over Voltage Limit VDC 850
DC Bus Under Voltage Limit VDC 230
Logic Supply Voltage VDC 20 - 30 (@ 850 mA maximum)
Maximum Peak Output Current A (Arms) 60 (42.4)
Maximum Continuous Output Current A (Arms) 30 (21.2)
Max. Continuous Output Power @ Rated Voltage2 W 13680
Max. Continuous Power Dissipation @ Rated Voltage W 720
Internal Bus Capacitance µF 660
External Shunt Resistor Minimum Resistance Ω 40
Minimum Load Inductance (Line-To-Line)3 µH 3000
Switching Frequency kHz 10
Maximum Output PWM Duty Cycle % 100
Low Voltage Supply Outputs - +5 VDC (250 mA)
Control Specifications
Description Units Value
Communication Interfaces - CANopen (RS-232 for configuration)
Command Sources - ±10 V Analog, Encoder Following, Over the Network, PWM and Direction
Feedback Supported - Auxiliary Incremental Encoder, Resolver, Tachometer (±10 VDC)
Commutation Methods - Sinusoidal
Modes of Operation - Current, Position, Velocity
Motors Supported - Closed Loop Vector, Single Phase (Brushed, Voice Coil, Inductive Load), Three Phase (Brushless)
40+ Configurable Functions, Over Current, Over Temperature (Drive & Motor), Over Voltage, Short
Hardware Protection -
Circuit (Phase-Phase & Phase-Ground), Under Voltage
Programmable Digital Inputs/Outputs (PDIs/PDOs) - 10/4
Programmable Analog Inputs/Outputs (PAIs/PAOs) - 4/1
Primary I/O Logic Level - 24 VDC
Current Loop Sample Time μs 100
Velocity Loop Sample Time μs 200
Position Loop Sample Time μs 200
Resolver Reference/Excitation Signal Vrms 4 Vrms @ 5 kHz
Expected Resolver Transformation Ratio Vrms 0.5
Feedback Resolution / Emulated Encoder Resolution4 bit High Resolution Setting: 14, Low Resolution Setting: 12
Maximum Motor Speed Per Feedback Resolution RPM High Resolution Setting: 5000, Low Resolution Setting: 20000
Internal Shunt Regulator - Yes
Mechanical Specifications
Description Units Value
Agency Approvals - CE Class A (EMC), CE Class A (LVD), RoHS
Size (H x W x D) mm (in) 300.51 x 232.08 x 139.25 (11.83 x 9.14 x 5.48)
Weight g (oz) 6174 (217.8)
Heatsink (Base) Temperature Range5 °C (°F) 0 - 75 (32 - 167)
Storage Temperature Range °C (°F) -40 - 85 (-40 - 185)
Cooling System - Forced Air
Form Factor - Panel Mount
IP Rating - IP10
+24V LOGIC Connector - 2-port, 5.08 mm spaced, enclosed, friction lock header
AUX COMM Connector - 3-pin, 2.5 mm spaced, enclosed, friction lock header
AUX ENCODER Connector - 15-pin, high-density, male D-sub
COMM Connector - Shielded, dual RJ-45 socket with LEDs
DC BUS Connector - 4-port, 7.62 mm spaced, enclosed, friction lock header
FEEDBACK Connector - 15-pin, high-density, female D-sub
I/O Connector - 26-pin, high-density, female D-sub
MOTOR
Sold & Serviced By: POWER Connector - 4-port, 7.62 mm spaced, enclosed, friction lock header
POWER Connector - 3-port, 7.62 mm spaced, enclosed, friction lock header
Notes
Toll Free 1.
Phone: Large
877-378-0240
inrush current may occur upon initial DC supply connection to DC Bus.
Toll Free2.Fax: 877-378-0249
P = (DC Rated Voltage) * (Cont. RMS Current) * 0.95.
sales@servo2go.com
3. Lower inductance is acceptable for bus voltages well below maximum. Use external inductance to meet requirements.
4. Higher and lower resolution options are available. Contact Applications Engineering for more information.
www.servo2go.com
5. Additional cooling and/or heatsink may be required to achieve rated performance.
Release Date: Revision: Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
Page 3 of 11
11/5/2009 2.00 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com
DigiFlex® Performance™ Servo Drive DPCANIR-060A800
PIN FUNCTIONS
Release Date: Revision: Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
Page 4 of 11
11/5/2009 2.00 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com
DigiFlex® Performance™ Servo Drive DPCANIR-060A800
Release Date: Revision: Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
Page 5 of 11
11/5/2009 2.00 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com
DigiFlex® Performance™ Servo Drive DPCANIR-060A800
HARDWARE SETTINGS
Switch Functions
Setting
Switch Description
On Off
Bit 0 of binary CANopen node ID. Does not affect RS-232
1 1 0
settings.
Bit 1 of binary CANopen node ID. Does not affect RS-232
2 1 0
settings.
Bit 2 of binary CANopen node ID. Does not affect RS-232
3 1 0
settings.
Bit 3 of binary CANopen node ID. Does not affect RS-232
4 1 0
settings.
Bit 4 of binary CANopen node ID. Does not affect RS-232
5 1 0
settings.
Bit 5 of binary CANopen node ID. Does not affect RS-232
6 1 0
settings.
Bit 0 of drive CANopen bit rate setting. Does not affect RS-232
7 1 0
settings.
Bit 1 of drive CANopen bit rate setting. Does not affect RS-232
8 1 0
settings.
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.
Jumper Settings
Release Date: Revision: Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
Page 6 of 11
11/5/2009 2.00 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com
DigiFlex® Performance™ Servo Drive DPCANIR-060A800
MECHANICAL INFORMATION
2 LOGIC GND
1 LOGIC PWR
3 ISO GND
2 RS232 TX
1 RS232 RX
SGN GND 10
PDI-10 - (AUX ENC I- / CAP-A-) 9
PDI-10 + (AUX ENC I+ / CAP-A+) 8
PDI-9 - (DIR- / AUX ENC B- / CAP-C-) 7 4 PDI-8 + (PWM+ / AUX ENC A+ / CAP-B+)
PDI-9 + (DIR+ / AUX ENC B+ / CAP-C+) 6 5 PDI-8 - (PWM- / AUX ENC A- / CAP-B-)
15 PAI-4 -
14 PAI-4 +
13 +5V OUT
12 SGN GND
11 SGN GND
Release Date: Revision: Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
Page 7 of 11
11/5/2009 2.00 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com
DigiFlex® Performance™ Servo Drive DPCANIR-060A800
A B
1 CAN_H
CAN_GND 7 2 CAN_L
3 CAN_GND
CAN_GND 3
CAN_L 2 7 CAN_GND
CAN_H 1
1 DC-
2 BR
3 DC+
4 DC+
12 SGN GND
13 +5V OUT
14 PAI-3
Release Date: Revision: Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
Page 8 of 11
11/5/2009 2.00 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com
DigiFlex® Performance™ Servo Drive DPCANIR-060A800
PDO-3 10 9 PDI-5
PDI-1 11 8 OUTPUT PULL-UP
PDI-2 12 7 PAO-1
PDI-3 13 6 PAI-2
PDO-4 14 5 PAI-1 - (REF-)
INPUT COMMON 15 4 PAI-1 + (REF+)
SGN GND 16 3 PDO-2
PDI-4 17 2 OUTPUT COMMON
PDI-6 18 1 PDO-1
19 PDI-7
20 ENC A+ OUT
21 ENC A- OUT
22 ENC B+ OUT
23 ENC B- OUT
24 ENC I+ OUT
25 ENC I- OUT
26 SGN GND
1 PE
2 MOTOR C
3 MOTOR B
4 MOTOR A
1 L3
2 L2
3 L1
Release Date: Revision: Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
Page 9 of 11
11/5/2009 2.00 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com
DigiFlex® Performance™ Servo Drive DPCANIR-060A800
MOUNTING DIMENSIONS
Release Date: Revision: Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
Page 10 of 11
11/5/2009 2.00 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com
DigiFlex® Performance™ Servo Drive DPCANIR-060A800
Example: D P R A N I E - 0 1 5 A 4 0 0 -
Drive Series Customer Special
DP DigiFlex Performance Code used to identify customer
specials
Communication Revision
R RS232/RS485 A through Z (letters may be skipped)
C CANopen or RS232
Q SynqNet Max DC Bus Voltage (VDC)
080 80
Command Inputs 200 200
Analog (±10V) 400 400
AN
No Step & Direction 800 800
Analog (±10V)
AL
Low Voltage Step & Direction (5V)
Power and Logic Supply
Analog (±10V)
AH AC Input
High Voltage Step & Direction (24V) A
+24VDC User Logic Supply Required
No Analog
NL AC Input Only
Low Voltage Step & Direction (5V) N
No Logic Supply Required (Internal Supply)
No Analog, No Step & Direction
NN DC Input
(Communication Interface Only) B
Both Logic Supply Options (Internal or User)
DC Input
L
Digital I/O Logic Supply Required
I Isolated (24V) DC Input Only
D
T TTL (5V) Non-Isolated Internal Logic Supply
DigiFlex® Performance™ series of products are available in many configurations. 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 quick-
turn 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.
Available Accessories
ADVANCED Motion Controls offers a variety of accessories designed to facilitate drive integration into a servo system.
Visit www.a-m-c.com to see which accessories will assist with your application design and implementation.
Drive(s)
Release Date: Revision: Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
Page 11 of 11
11/5/2009 2.00 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com