DigiFlex Performance Servo Drive DZSANTU-020B080

Transcription

1 Description Power Range The DZSANTU020B080 digital servo drive is designed to drive brushed and brushless servomotors from a compact form factor ideal for embedded applications. This fully digital drive operates in torque, velocity, or position mode and employs 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, this drive features dedicated and programmable digital and analog inputs and outputs to enhance interfacing with external controllers and devices. Peak Current Continuous Current Supply Voltage 20 A (14.1 ARMS) 10 A (10 ARMS) VDC The DZSANTU020B080 supports ADVANCED Motion Controls exclusive DxM technology which allows connectivity of up to 3 DZSANTU020B080 drives to a single DZEANTU020B080 on an EtherCAT network. DZSANTU020B080 drives receive commands from a DZEANTU020B080 over a high speed communication interface, allowing for up to 4 axes of servo drive control from a single EtherCAT connection. Drive commissioning and setup is accomplished through a USB interface using DriveWare available for download at All drive and motor parameters are stored in nonvolatile memory. Features Four Quadrant Regenerative peration Space Vector Modulation (SVM) Technology Fully Digital Stateoftheart Design Programmable Gain Settings Fully Configurable Current, Voltage, Velocity and Position Limits PDF Velocity Loop PD + FF Position Loop Compact Size, High Power Density 12bit Analog to Digital Hardware Supports ADVANCED Motion Controls DxM Technology nthefly Mode Switching nthefly Gain Set Switching Dedicated Safe Torque ff (ST) nputs MDES F PERATN Profile Current Profile Velocity Profile Position Cyclic Synchronous Current Mode Cyclic Synchronous Velocity Mode Cyclic Synchronous Position Mode CMMAND SURCE ver the Network FEEDBACK SUPPRTED (FRMWARE DEPENDENT) Halls ncremental Encoder Auxiliary ncremental Encoder 1Vpp Sine/Cosine Encoder Absolute Encoder (EnDat 2.1/2.2, Hiperface or BiSS CMode) ±10 VDC Position Tachometer (±10 VDC) NPUTS/UTPUTS 1 Programmable Analog nput (12bit Resolution) 5 Programmable Digital nputs (Differential) 3 Programmable Digital nputs (SingleEnded) 5 Programmable Digital utputs (SingleEnded) 3 High Speed Captures CMPLANCES & AGENCY APPRVALS UL cul CE Class A (LVD) CE Class A (EMC) TÜV Rheinland (ST) RoHS Page 1 of 8

2 BLCK DAGRAM GP PD1,2,3 GND +5V 20k +5V 20k HALL A,B,C GND GP PD1,2,3,4,5 ENC A,B, +/SN+/CS+ PD4,5 PD4,5 PA1 + (REF+) PA1 (REF ) 6.7k 6.7k / nterface / nterface Drive Logic Motor Feedback ENC A,B, /SN/CS AUX ENC A,B,+/PD+ AUX ENC A,B,/PD DATA,CLCK+ DATA,CLCK MTR THERMSTR CAN BAUD, ADDR0 / ADDR1 10k 500k MTR A MTR B AMP STATUS LED MTR C CAN_RX CAN_TX WR CS CLK MS MS SYNC DATA DATA+ VBUS USB GND CANopen nterface DxM High Speed nterface USB nterface Power Stage Logic Power ST nterface ST 1 ST 1 Return ST 2 ST 2 Return ST UT ST UT Return HGH VLTAGE GND AUX SUPPLY NPUT 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 EMC Directive 2004/108/EC on Electromagnetic Compatibility (specifically EN :2007 for Emissions, Class A and EN :2005 for mmunity, Performance Criteria A). LVD requirements of Directive 2006/95/EC (specifically, EN :2004, a Low Voltage Directive to protect users from electrical shock). The RoHS Directive 2011/65/EU restricts the use of certain substances including lead, mercury, cadmium, hexavalent chromium and halogenated flame retardants PBB and PBDE in electronic equipment. Functional Safety ST is TÜV Rheinland certified and meets requirements of the following standards: EN S Category 4 / PL e EN EC ST (SL 3) EN62061 SL CL3 EC SL 3 Page 2 of 8

3 SPECFCATNS Power Specifications Description Units Value DC Supply Voltage Range VDC DC Bus ver Voltage Limit VDC 89 DC Bus Under Voltage Limit VDC 16 Logic Supply Voltage VDC Safe Torque ff Voltage (Nominal) VDC 5 (operating active range, 2.5V to 15V) Maximum Peak utput Current 1 A (Arms) 20 (14.1) Maximum Continuous utput Current 2 A (Arms) 10 (10) Maximum Continuous utput Power W 760 Maximum Power Dissipation at Continuous Current W 40 nternal Bus Capacitance 3 µf 33 Minimum Load nductance (LineToLine) 4 µh 250 (at 80 V supply); 150 (at 48 V supply); 75 (at 24 V supply); 40 (at 12 V supply) Switching Frequency khz 20 Maximum utput PWM Duty Cycle % 85 Control Specifications Description Units Value Communication nterfaces DxM High Speed nterface (USB for configuration) Command Sources ver the Network Feedback Supported (Firmware Dependent) Auxiliary ncremental Encoder, Halls, ncremental Encoder, 1Vpp Sine/Cosine Encoder, Absolute Encoder (EnDat 2.1/2.2, Hiperface, or BiSS CMode), ±10 VDC Position, Tachometer (±10 VDC) Commutation Methods Sinusoidal, Trapezoidal Modes of peration Profile Current, Profile Velocity, Profile Position, Cyclic Synchronous Current, Cyclic Synchronous Velocity, Cyclic Synchronous Position Motors Supported Closed Loop Vector, Single Phase (Brushed, Voice Coil, nductive Load), Three Phase (Brushless) Hardware Protection 40+ Configurable Functions, ver Current, ver Temperature (Drive & Motor), ver Voltage, Short Circuit (PhasePhase & PhaseGround), Under Voltage Programmable Digital nputs/utputs (PDs/PDs) 8/5 Programmable Analog nputs/utputs (PAs/PAs) 1/0 Primary / Logic Level 5V TTL Current Loop Sample Time μs 50 Velocity Loop Sample Time μs 100 Position Loop Sample Time μs 100 Maximum Encoder Frequency MHz 20 (5 prequadrature) Mechanical Specifications Description Units Value Agency Approvals CE Class A (EMC), CE Class A (LVD), cul, RoHS, UL, TÜV Rheinland (ST), Size (H x W x D) mm (in) 88.9 x 63.5 x 20.1 (3.5 x 2.5 x 0.8) Weight g (oz) (4.43) Baseplate perating Temperature Range 5 C ( F) 0 75 (32 167) Storage Temperature Range C ( F) (4 185) Relative Humidity 0 90% noncondensing Altitude m (ft) ( ) Cooling System Natural Convection Form Factor PCB Mounted P1 Connector 68pin, 1.27 mm spaced, dualrow header P2 Connector 58pin, 2.0 mm spaced, dualrow header Notes 1. 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. 2. Continuous Arms value attainable when RMS ChargeBased Limiting is used. 3. Additional 100 F / 100 V external bus capacitor between High Voltage and Power Ground as close to the drive as possible required. 4. Lower inductance is acceptable for bus voltages well below maximum. Use external inductance to meet requirements. 5. Additional cooling and/or heatsink may be required to achieve rated performance. Page 3 of 8

4 PN FUNCTNS P1 Signal Connector Pin Name Description / Notes / Pin Name Description / Notes / 1 RESERVED Reserved. Do not connect. 2 CAN BAUD CAN Bus Bit Rate Selector 3 PA1 Differential Programmable Analog nput or 4 ADDR1 CAN Bus Address Selector 5 PA1+ Reference Signal nput (12bit Resolution) 6 ADDR0 7 GRUND Ground GND 8 GRUND Ground GND MT ENC B / MT ENC A / 9 CS Primary ncremental Encoder or Cos nput from 10 SN Primary ncremental Encoder or Sin nput from feedback device (Absolute or Sin/Cos 1Vpp). feedback device (Absolute or Sin/Cos 1Vpp). MT ENC B+ / Leave open for BiSS and EnDat 2.2. MT ENC A+ / Leave open for BiSS and EnDat 2.2. CS+ SN+ 13 GRUND Ground GND 14 +5V UT +5V User Supply 15 MTR THERMSTR Motor Thermistor nput 16 GRUND Ground GND 17 MT ENC CLK Serial nterface (RS485) for absolute feedback / 18 MT ENC DATA Serial nterface (RS485) for absolute feedback / 19 MT ENC CLK+ device (BiSS: MA/+) / 20 MT ENC DATA+ device (BiSS: SL/+) / 21 MT ENC Differential ncremental Encoder Channel. Leave 22 AUX ENC B Auxiliary ncremental Encoder Channel B or 23 MT ENC + open for BiSS and EnDat AUX ENC B+ Differential Programmable Digital nput 7 25 AUX ENC Auxiliary ncremental Encoder Channel or 26 AUX ENC A Auxiliary ncremental Encoder Channel A or 27 AUX ENC + Differential Programmable Digital nput 8 28 AUX ENC A+ Differential Programmable Digital nput V UT +5V User Supply 30 HALL B Singleended Commutation Sensor nputs 31 HALL C Singleended Commutation Sensor nputs 32 HALL A 33 PD5 Differential Programmable Digital nput 34 PD4 Differential Programmable Digital nput 35 PD5+ (High Speed Capture) 36 PD4+ (High Speed Capture) 37 GP PD5 General Purpose Programmable Digital utput 38 GP PD3 General Purpose Programmable Digital nput (High Speed Capture) 39 GP PD4 General Purpose Programmable Digital utput 40 GP PD2 General Purpose Programmable Digital nput 41 GP PD3 General Purpose Programmable Digital utput 42 GP PD1 General Purpose Programmable Digital nput AMP STATUS 43 GP PD2 General Purpose Programmable Digital utput 44 LED AMP Status LED utput for BiColor LED AMP STATUS 45 GP PD1 General Purpose Programmable Digital utput 46 LED+ 47 RESERVED Reserved. Do not connect. 48 RESERVED Reserved. Do not connect V USB USB Supply 50 DATA USB / USB Data Channel 51 GND USB USB Ground UGND 52 DATA+ USB / 53 GRUND Ground GND 54 GRUND Ground GND 55 RESERVED 56 CAN_LW CAN_L bus line (dominant low) / Reserved. Do not connect. 57 RESERVED 58 CAN_HGH CAN_H bus line (dominant high) / 59 GRUND Ground GND 60 WR / 61 RESERVED Reserved. Do not connect. 62 CS / DxM SubNode High Speed Comm Channel 63 SYNC / 64 CLK / DxM SubNode High Speed Comm Channel 65 MS / 66 MS / 67 GRUND Ground GND 68 GRUND Ground GND P2 Power Connector Pin Name Description / Notes / SAFE1 ST UT RETURN Safe Torque ff utput Return STRET SAFE2 ST UTPUT Safe Torque ff utput SAFE3 ST2 RETURN Safe Torque ff 2 Return STRET2 SAFE4 ST2 Safe Torque ff nput 2 SAFE5 ST1 RETURN Safe Torque ff 1 Return STRET1 SAFE6 ST1 Safe Torque ff nput 1 SAFE7 NC SAFE8 NC 1 AUX SUPPLY NPUT Auxiliary Supply nput for Logic backup (ptional) 2 AUX SUPPLY NPUT 310 HGH VLTAGE DC Power nput. Additional 100 F / 100V external bus capacitor required between HV and Ground. 11 NC 12 NC 1320 GRUND Ground connection for input power GND 21 NC 22 NC 2330 MTR A Motor Phase A. Current output distributed equally across 8 pins per motor phase, 3A continuous current carrying capacity per pin. 31 NC 32 NC Motor Phase B. Current output distributed equally across 8 pins per motor phase, 3A continuous current 3340 MTR B carrying capacity per pin. 41 NC 42 NC Motor Phase C. Current output distributed equally across 8 pins per motor phase, 3A continuous current 4350 MTR C carrying capacity per pin. Page 4 of 8

5 Pin Details ADDR0 (P16); ADDR1 (P14) ADDR0, as well as ADDR1, are used to set the DZSANTU drive address on the EtherCAT network. DZSANTU drives are designed to support DxM technology where up to three DZSANTU drives connect to a single DZEANTU drive over high speed communication channels (A, B, and C). For proper operation in this configuration, the correct voltages need to be applied to ADDR0 and ADDR1, depending on which channel the DZSANTU is connected to. The values are given in the table below. DZEANTU Connection ADDR1 Voltage (Volts) ADDR1 Value (Hex) ADDR0 Voltage (Volts) ADDR0 Value (Hex) Node D (Decimal) Channel A Channel B Channel C CAN BAUD (P12) DZSANTU drives are required to use the bitrate stored in nonvolatile memory (set to 1 Mbit/s). Short the CAN BAUD pin to ground to use this setting. Note that DZSANTU drives used with the MC4XDZP01 mounting card in a DxM technology configuration will automatically be assigned addresses of 1, 2, and 3, and a bitrate of 1 Mbit/s. No action is required in this configuration to set the addresses and bitrate for the DZSANTU drive(s). Safe Torque ff (ST) nputs (P2SAFE1 to P2SAFE8) The Safe Torque ff (ST) nputs are dedicated +5VDC sinking singleended inputs. Page 5 of 8

6 MECHANCAL NFRMATN Connector nformation Mating Connector Details ncluded with Drive P1 Signal Connector 68pin, 1.27mm spaced, dualrow header Samtec: CLP13402FDBEAK (bottom entry); FLE13401GDVAK (top entry) No SYNC 63 MS 65 GRUND 67 5 PA1+ 3 PA1 1 RESERVED GRUND 68 MS 66 CLK CAN BAUD 4 ADDR2 ADDR1 Connector nformation Mating Connector Details ncluded with Drive P2 Power Connector 58pin, 2.0mm spaced, dualrow header Samtec: CLT12902FDBEAK (bottom entry); TLE12901GDVAK (top entry) No MTR C 45 MTR C 47 MTR C 49 5 HGH VLTAGE 3 HGH VLTAGE 1 AUX SUPPLY NPUT SAFE 7 NC SAFE5 ST1 RETURN SAFE 3 ST2 RETURN SAFE1 ST UT RETURN MTR C 50 MTR C 48 MTR C 46 6 SAFE2 ST UTPUT SAFE4 ST2 SAFE6 ST1 SAFE8 NC 2 AUX SUPPLY NPUT 4 HGH VLTAGE HGH VLTAGE Page 6 of 8

7 MUNTNG DMENSNS Page 7 of 8

8 PART NUMBERNG NFRMATN Example: D Z S A N T U B Drive Series Max DC Bus Voltage (VDC) DZ DigiFlex Z (PCB Mount) Communication C CANopen E EtherCAT S EtherCAT Subnode P PWERLNK / Modbus TCP / Ethernet R RS485 / Modbus RTU Command nputs Power and Logic Supply DC nput B Both Logic Supply ptions (nternal or User) DC nput L Logic Supply Required Analog (±10V) AN No Step & Direction Analog (±10V) AL Low Voltage Step & Direction (5V) Digital / T TTL (5V) Nonsolated Peak Current (A0 to Peak) A A A 80V Drives Motor Feedback E ncremental Encoder and/or Halls Universal (Halls, nc. Enc., Abs. Enc, U 1Vpp Sin/Cos Enc.) A A A A 175V Drives 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 EMs with volume requests. ur 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 onsite manufacturing for quickturn customs capabilities, ADVANCED Motion Controls utilizes our years of engineering and manufacturing expertise to decrease your costs and timetomarket while increasing system quality and reliability. Examples of Customized Products ptimized Footprint Tailored Project File Private Label Software Silkscreen Branding EM Specified Connectors ptimized Base Plate No uter Case ncreased Current Limits ncreased Current Resolution ncreased Voltage Range ncreased Temperature Range Conformal Coating Custom Control nterface MultiAxis Configurations ntegrated System / Reduced Profile Size and Weight 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 to see which accessories will assist with your application design and implementation. Power Supplies Shunt Regulators Mounting Card MC4XDZP01 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 8 of 8