DigiFlex® Performance™ Servo Drive DPCANTA-015B200

Description Power Range

Peak Current 15 A (10.6 ARMS)

The DigiFlex® Performance™ (DP) Series digital servo
drives are designed to drive brushed and brushless Continuous Current 7.5 A (5.3 ARMS)
servomotors. These fully digital drives operate in
torque, velocity, or position mode and employ Space Supply Voltage 40 - 190 VDC
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. 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.

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, available at www.a-m-
c.com.

All drive and motor parameters are stored in non-

volatile memory.

Features

Four Quadrant Regenerative Operation PIDF Velocity Loop

Space Vector Modulation (SVM) Technology PID + FF Position Loop

Fully Digital State-of-the-art Design Compact Size, High Power Density

Programmable Gain Settings 16-bit Analog to Digital Hardware

Fully Configurable Current, Voltage, Velocity and

Position Limits

MODES OF OPERATION INPUTS/OUTPUTS

Current 3 High Speed Captures
Position 3 Programmable Analog Inputs (16-bit/12-bit
Velocity Resolution)
COMMAND SOURCE 2 Programmable Analog Outputs (10-bit
±10 V Analog Resolution)
PWM and Direction 2 Programmable Digital Inputs (Differential)
Encoder Following 6 Programmable Digital Inputs (Single-Ended)
Over the Network 4 Programmable Digital Outputs (Single-Ended)
FEEDBACK SUPPORTED COMPLIANCES & AGENCY APPROVALS
Auxiliary Incremental Encoder UL
Heidenhain EnDat® cUL
Stegmann Hiperface® CE Class A (LVD)
Tachometer (±10 VDC) CE Class A (EMC)
RoHS
Sold & Serviced By:

Toll Free Phone: 877-378-0240

Toll Free Fax: 877-378-0249
[email protected]
www.servo2go.com

Release Date: Revision: Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
Page 1 of 10
10/23/2009 2.00 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com
 DigiFlex® Performance™ Servo Drive DPCANTA-015B200

BLOCK DIAGRAM

CONTROL MODULE
+5V

5k COS,SIN,REF MARK +
PDI-1,2,3,4 (CAP-A),5,6
COS,SIN,REF MARK –

Feedback
SGN GND

Feedback
+5V RS485_DATA+

PDI-7,8 + (PWM+ / 5k Drive RS485_DATA–

Motor
DIR+ / AUX ENC A,B + / Logic

Motor
CAP-B,C+) +5V RS485_CLOCK+

PDI-7,8 – (PWM– / 10k RS485_CLOCK–

DIR– / AUX ENC A,B –
/ CAP-B,C–) +5V
10k
5k
PDO-1,2,3,4

Interface
I/O Interface
SGN GND
POWER MODULE
20k
PAI-1 + (REF+) MOTOR A

PAI-1 – (REF–) Power Stage MOTOR B

20k
20k
MOTOR C

PAI-2: 33k
PAI-2,3 HIGH VOLTAGE
PAI-3: 500k
SGN GND
PWR GND

10k
PAO-1,2
Logic Power LOGIC POWER

CAN_H
CANopen
CAN_L Interface
CAN_GND

RS232 RX
RS-232
RS232 TX Interface
ISO GND

Information on 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.

Sold & Serviced By:

Toll Free Phone: 877-378-0240

Toll Free Fax: 877-378-0249
[email protected]
www.servo2go.com

Release Date: Revision: Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
Page 2 of 10
10/23/2009 2.00 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com
 DigiFlex® Performance™ Servo Drive DPCANTA-015B200

SPECIFICATIONS

Power Specifications
Description Units Value
DC Supply Voltage Range VDC 40 - 190
DC Bus Over Voltage Limit VDC 198
DC Bus Under Voltage Limit VDC 35
Logic Supply Voltage VDC 40 - 190
Maximum Peak Output Current A (Arms) 15 (10.6)
Maximum Continuous Output Current A (Arms) 7.5 (5.3)
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)1 µH 250
Switching Frequency kHz 20
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
Auxiliary Incremental Encoder, Heidenhain EnDat®, Stegmann Hiperface®, Tachometer (±10
Feedback Supported -
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) - 8/4
Programmable Analog Inputs/Outputs (PAIs/PAOs) - 3/2
Primary I/O Logic Level - 5V TTL
Current Loop Sample Time μs 50
Velocity Loop Sample Time μs 100
Position Loop Sample Time μs 100
Maximum Sin/Cos Encoder Frequency kHz 200
Maximum Sin/Cos Interpolation - 2048 counts per sin/cos cycle
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) 132.5 x 89.5 x 35.9 (5.2 x 3.5 x 1.4)
Weight g (oz) 495 (17.5)
Heatsink (Base) Temperature Range2 °C (°F) 0 - 65 (32 - 149)
Storage Temperature Range °C (°F) -40 - 85 (-40 - 185)
Cooling System - Natural Convection
Form Factor - Panel Mount
IP Rating - IP10
AUX COMM Connector - 3-pin, 2.5 mm spaced, enclosed, friction lock header
COMM Connector - Shielded, dual RJ-45 socket with LEDs
FEEDBACK Connector - 15-pin, high-density, female D-sub
I/O Connector - 26-pin, high-density, female D-sub
POWER 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.

Sold & Serviced By:

Toll Free Phone: 877-378-0240

Toll Free Fax: 877-378-0249
[email protected]
www.servo2go.com

Release Date: Revision: Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
Page 3 of 10
10/23/2009 2.00 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com
 DigiFlex® Performance™ Servo Drive DPCANTA-015B200

PIN FUNCTIONS

AUX COMM - RS232 Communication Connector

Pin Name Description / Notes I/O
1 RS232 RX Receive Line (RS-232) I
2 RS232 TX Transmit Line (RS-232) O
3 ISO GND Isolated Signal Ground IGND

COMM - CAN Communication Connector

Pin Name Description / Notes I/O
1 CAN_H CAN_H Line (Dominant High) I
2 CAN_L CAN _L Line (Dominant Low) I
3 CAN_GND CAN Ground CGND
4 RESERVED Reserved -
5 RESERVED Reserved -
6 RESERVED Reserved -
7 CAN_GND CAN Ground CGND
8 RESERVED Reserved -

FEEDBACK - Feedback Connector

Pin Name Description / Notes I/O
1 COS + I
Cosine Input
2 COS - I
3 SIN + I
Sine Input
4 SIN - I
5 SGN GND Signal Ground SGND
6 RS485_DATA- I/O
Differential Data Line
7 RS485_DATA+ I/O
8 RS485_CLOCK+ O
Differential Clock Line
9 RS485_CLOCK- O
10 REF MARK + Reference mark from sine/cosine encoder I
11 RESERVED Reserved -
12 RESERVED Reserved -
13 +5V OUT +5V Encoder Supply Output (Short Circuit Protected) O
14 PAI-3 Programmable Analog Input (12-bit Resolution) I
15 REF MARK - Reference mark from sine/cosine encoder I

Sold & Serviced By:

Toll Free Phone: 877-378-0240

Toll Free Fax: 877-378-0249
[email protected]
www.servo2go.com

Release Date: Revision: Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
Page 4 of 10
10/23/2009 2.00 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com
 DigiFlex® Performance™ Servo Drive DPCANTA-015B200

I/O - Signal Connector

Pin Name Description / Notes I/O
1 PDO-1 Programmable Digital Output O
2 SGN GND Signal Ground SGND
3 PDO-2 Programmable Digital Output O
4 PAI-1 + (REF+) I
Differential Programmable Analog Input or Reference Signal Input (16-bit Resolution)
5 PAI-1 - (REF-) I
6 PAI-2 Programmable Analog Input (12-bit Resolution) I
7 PAO-1 Programmable Analog Output (10-bit Resolution) O
8 PAO-2 Programmable Analog Output (10-bit Resolution) O
Programmable Digital Input or Direction or Auxiliary Encoder or High Speed Capture (Leave
9 PDI-8 - (DIR- / AUX ENC B- / CAP-C-) I
Open for Single-Ended Signal)
10 PDO-3 Programmable Digital Output O
11 PDI-1 Programmable Digital Input I
12 PDI-2 Programmable Digital Input I
13 PDI-3 Programmable Digital Input I
14 PDO-4 Programmable Digital Output O
15 +5V OUT +5V Encoder Supply Output (Short Circuit Protected) O
16 SGN GND Signal Ground SGND
PDI-7 + (PWM + / AUX ENC A+ / CAP-
17 Programmable Digital Input or PWM or Auxiliary Encoder or High Speed Capture I
B+)
18 PDI-8 + (DIR+ / AUX ENC B+ / CAP-C+) Programmable Digital Input or Direction or Auxiliary Encoder or High Speed Capture I
19 PDI-4 (CAP-A) Programmable Digital Input or High Speed Capture I
20 PDI-5 Programmable Digital Input I
21 PDI-6 Programmable Digital Input I
22 SGN GND Signal Ground SGND
23 RESERVED Reserved -
24 RESERVED Reserved -
25 RESERVED Reserved -
Programmable Digital Input or PWM or Auxiliary Encoder or High Speed Capture (Leave
26 PDI-7 - (PWM- / AUX ENC A- / CAP-B-) I
Open for Single-Ended Signals)

POWER - Power Connector

Pin Name Description / Notes I/O
1 MOTOR A Motor Phase A O
2 MOTOR B Motor Phase B O
3 MOTOR C Motor Phase C O
4 HIGH VOLTAGE DC Power Input I
5 PWR GND Power Ground (Common With Signal Ground) PGND
6 LOGIC PWR Logic Supply Input I

Sold & Serviced By:

Toll Free Phone: 877-378-0240

Toll Free Fax: 877-378-0249
[email protected]
www.servo2go.com

Release Date: Revision: Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
Page 5 of 10
10/23/2009 2.00 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com
 DigiFlex® Performance™ Servo Drive DPCANTA-015B200

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.

Bit Rate (kbits/sec) Value For Bit Rate Setting

Load from non-volatile memory 0
500 1
250 2
125 3

Jumper Settings

Jumper Description Configuration

Header Jumper Not Installed Pins 1-2 Pins 2-3
CAN bus termination. Install this jumper on the last drive in a CAN network. Non-
Terminating
J1 This jumper is located on a 4-pin header adjacent to the RS-232 connector. terminating N/A
Node
It consists of the two pins furthest from the connector. Node
J2 Reserved. - - N/A

Sold & Serviced By:

Toll Free Phone: 877-378-0240

Toll Free Fax: 877-378-0249
[email protected]
www.servo2go.com

Release Date: Revision: Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
Page 6 of 10
10/23/2009 2.00 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com
 DigiFlex® Performance™ Servo Drive DPCANTA-015B200

MECHANICAL INFORMATION

AUX COMM - RS232 Communication Connector

Connector Information 3-pin, 2.5 mm spaced, enclosed, friction lock header
Details Phoenix: Plug P/N 1881338
Mating Connector
Included with Drive Yes

3 ISO GND
2 RS232 TX
1 RS232 RX

COMM - CAN Communication Connector

Connector Information Shielded, dual RJ-45 socket with LEDs
Details AMP: Plug P/N 5-569552-3
Mating Connector
Included with Drive No

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

FEEDBACK - Feedback Connector

Connector Information 15-pin, high-density, female D-sub
TYCO: Plug P/N 748364-1; Housing P/N 5748677-2; Terminals P/N 1658670-2 (loose) or
Details
Mating Connector 1658670-1 (strip)
Included with Drive No

RS485_DATA- 6 5 SGN GND

RS485_DATA+ 7 4 SIN -
RS485_CLOCK+ 8 3 SIN +
RS485_CLOCK- 9 2 COS -
REF MARK + 10 1 COS +

13 +5V OUT
14 PAI-3
15 REF MARK -

Sold & Serviced By:

Toll Free Phone: 877-378-0240

Toll Free Fax: 877-378-0249
[email protected]
www.servo2go.com

Release Date: Revision: Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
Page 7 of 10
10/23/2009 2.00 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com
 DigiFlex® Performance™ Servo Drive DPCANTA-015B200

I/O - Signal Connector

Connector Information 26-pin, high-density, female D-sub
TYCO: Plug P/N 1658671-1; Housing P/N 5748677-3; Terminals P/N 1658670-2 (loose) or
Details
Mating Connector 1658670-1 (strip)
Included with Drive No

PDO-3 10 9 PDI-8 - (DIR- / AUX ENC B- / CAP-C-)

PDI-1 11 8 PAO-2
PDI-2 12 7 PAO-1
PDI-3 13 6 PAI-2
PDO-4 14 5 PAI-1 - (REF-)
+5V OUT 15 4 PAI-1 + (REF+)
SGN GND 16 3 PDO-2
PDI-7 + (PWM + / AUX ENC A+ / CAP-B+) 17 2 SGN GND
PDI-8 + (DIR+ / AUX ENC B+ / CAP-C+) 18 1 PDO-1

19 PDI-4 (CAP-A)
20 PDI-5
21 PDI-6
22 SGN GND

26 PDI-7 - (PWM- / AUX ENC A- / CAP-B-)

POWER - Power Connector

Connector Information 6-pin, 3.96 mm spaced, friction lock header
Details AMP: Plug P/N 770849-6; Terminals P/N 770522-1 (loose) or 770476-1 (strip)
Mating Connector
Included with Drive Yes

6 LOGIC PWR
5 PWR GND
4 HIGH VOLTAGE
3 MOTOR C
2 MOTOR B
1 MOTOR A

Sold & Serviced By:

Toll Free Phone: 877-378-0240

Toll Free Fax: 877-378-0249
[email protected]
www.servo2go.com

Release Date: Revision: Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
Page 8 of 10
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 DigiFlex® Performance™ Servo Drive DPCANTA-015B200

MOUNTING DIMENSIONS

Sold & Serviced By:

Toll Free Phone: 877-378-0240

Toll Free Fax: 877-378-0249
[email protected]
www.servo2go.com

Release Date: Revision: Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
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 DigiFlex® Performance™ Servo Drive DPCANTA-015B200

PART NUMBERING INFORMATION

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

Motor Feedback Peak Current (A0 to Peak)

E Incremental Encoder and/or Halls 015 15
R Resolver 016 16
A Absolute Sin/Cos (Hiperface & Endat) 020 20
S Sin/Cos with Halls 025 25
030 30
040 40
060 60
100 100

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.

Examples of Customized Products

Optimized Footprint Tailored Project File
Private Label Software Silkscreen Branding
OEM Specified Connectors Optimized Base Plate
No Outer Case Increased Current Limits
Increased Current Resolution Increased Voltage Range
Increased Temperature Range Conformal Coating
Custom Control Interface Multi-Axis Configurations
Integrated System I/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 www.a-m-c.com to see which accessories will assist with your application design and implementation.

Power Supplies Shunt Regulators Filter Cards To Motor

Sold & Serviced By:

Drive(s)
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
[email protected]
www.servo2go.com

All specifications in this document are subject to change without written notice. Actual product may differ from pictures provided in this document.

Release Date: Revision: Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
Page 10 of 10
10/23/2009 2.00 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com