DigiFlex

Performance Servo Drive DPCANTA-015B200

Release Date:
4/28/2014
Status:
Active
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

Description 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 drives
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.
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 non-
volatile memory.
Peak Current 15 A (10.6 ARMS)
Continuous Current 7.5 A (7.5 ARMS)
Supply Voltage 40 - 190 VDC


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
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



MODES 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
Sequencing
Indexing
Jogging
FEEDBACK SUPPORTED
10 VDC Position
Auxiliary Incremental Encoder
Heidenhain EnDat
Stegmann Hiperface
Tachometer (10 VDC)
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


DigiFlex

Performance Servo Drive DPCANTA-015B200

Release Date:
4/28/2014
Status:
Active
ADVANCED Motion Controls 3805 Calle Tecate, Camarillo, CA, 93012
ph# 805-389-1935 fx# 805-389-1165 www.a-m-c.com
Page 2 of 10

BLOCK DIAGRAM
CAN_H
CAN_L
I
/
O

I
n
t
e
r
f
a
c
e
I
/
O

I
n
t
e
r
f
a
c
e
Drive
Logic
CANopen
Interface
CONTROL MODULE
CAN_GND
5k
+5V
5k
+5V
10k
+5V
10k
5k
+5V
20k
20k
20k
10k
RS232 RX
RS232 TX
ISO GND
PAI-2: 33k
PAI-3: 500k
M
o
t
o
r

F
e
e
d
b
a
c
k
M
o
t
o
r

F
e
e
d
b
a
c
k
COS,SIN,REF MARK +
COS,SIN,REF MARK
DATA+
DATA
CLOCK+
CLOCK
PAI-1 +(REF+)
PAI-1 (REF)
PAO-1,2
PDI-1,2,3,4 (CAP-A),5,6
SGN GND
SGN GND
PAI-2,3
SGN GND
PDI-7,8 +(PWM+/
DIR+/ AUX ENC A,B +/
CAP-B,C+)
PDI-7,8 (PWM /
DIR / AUX ENC A,B
/ CAP-B,C)
RS-232
Interface
PDO-1,2,3,4
PWR GND
MOTOR A
MOTOR B
MOTOR C
HIGH VOLTAGE
POWER MODULE
Power Stage
Logic Power LOGIC POWER

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 2004/108/EC on Electromagnetic Compatibility
(specifically EN 61000-6-4:2007 and EN 61000-6-2:2005) and LVD requirements of directive 2006/95/EC
(specifically EN 60204-1:2006), 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.

DigiFlex

Performance Servo Drive DPCANTA-015B200

Release Date:
4/28/2014
Status:
Active
ADVANCED Motion Controls 3805 Calle Tecate, Camarillo, CA, 93012
ph# 805-389-1935 fx# 805-389-1165 www.a-m-c.com
Page 3 of 10

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
MaximumPeak Output Current
1
A (Arms) 15 (10.6)
MaximumContinuous Output Current
2
A (Arms) 7.5 (7.5)
MaximumContinuous Output Power W 1353.8
MaximumPower Dissipation at Continuous Current W 71.3
Internal Bus Capacitance F 20
MinimumLoad Inductance (Line-To-Line)
3
H 250
Switching Frequency kHz 20
MaximumOutput 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, Sequencing, Indexing, J ogging
Feedback Supported -
10 VDC Position, Auxiliary Incremental Encoder, Heidenhain EnDat, Stegmann Hiperface, Tachometer (10
VDC)
Commutation Methods - Sinusoidal
Modes of Operation -
Profile Current, Profile Velocity, Profile Position, Cyclic Synchronous Current Mode, Cyclic Synchronous Velocity
Mode, Cyclic Synchronous Position Mode
Motors Supported - Closed Loop Vector, Single Phase (Brushed, Voice Coil, Inductive Load), Three Phase (Brushless)
Hardware Protection -
40+Configurable Functions, Over Current, Over Temperature (Drive & Motor), Over Voltage, Short 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 s 50
Velocity Loop Sample Time s 100
Position Loop Sample Time s 100
MaximumSin/Cos Encoder Frequency kHz 200
MaximumSin/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 Range
4
C (F) 0 - 65 (32 - 149)
Storage Temperature Range C (F) -40 - 85 (-40 - 185)
FormFactor - Panel Mount
Cooling System - Natural Convection
IP Rating - IP10
AUX COMM Connector - 3-pin, 2.5 mmspaced, 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 mmspaced, friction lock 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 Charge-Based Limiting is used.
3. Lower inductance is acceptable for bus voltages well below maximum. Use external inductance to meet requirements.
4. Additional cooling and/or heatsink may be required to achieve rated performance.

DigiFlex

Performance Servo Drive DPCANTA-015B200

Release Date:
4/28/2014
Status:
Active
ADVANCED Motion Controls 3805 Calle Tecate, Camarillo, CA, 93012
ph# 805-389-1935 fx# 805-389-1165 www.a-m-c.com
Page 4 of 10

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 +
Cosine Input
I
2 COS - I
3 SIN +
Sine Input
I
4 SIN - I
5 SGN GND Signal Ground SGND
6 DATA-
Differential Data Line
I/O
7 DATA+ I/O
8 CLOCK+
Differential Clock Line
O
9 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


DigiFlex

Performance Servo Drive DPCANTA-015B200

Release Date:
4/28/2014
Status:
Active
ADVANCED Motion Controls 3805 Calle Tecate, Camarillo, CA, 93012
ph# 805-389-1935 fx# 805-389-1165 www.a-m-c.com
Page 5 of 10

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+)
Differential Programmable Analog Input or Reference Signal Input (16-bit Resolution)
I
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
9 PDI-8 - (DIR- / AUX ENC B- / CAP-C-)
Programmable Digital Input or Direction or Auxiliary Encoder or High Speed Capture (Leave
Open for Single-Ended Signal)
I
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
17
PDI-7 +(PWM +/ AUX ENC A+/ CAP-
B+)
Programmable Digital Input or PWM or Auxiliary Encoder or High Speed Capture I
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 -
26 PDI-7 - (PWM- / AUX ENC A- / CAP-B-)
Programmable Digital Input or PWM or Auxiliary Encoder or High Speed Capture (Leave
Open for Single-Ended Signals)
I

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

DigiFlex

Performance Servo Drive DPCANTA-015B200

Release Date:
4/28/2014
Status:
Active
ADVANCED Motion Controls 3805 Calle Tecate, Camarillo, CA, 93012
ph# 805-389-1935 fx# 805-389-1165 www.a-m-c.com
Page 6 of 10

HARDWARE SETTINGS
Switch Functions
Switch Description
Setting
On Off
1
Bit 0 of binary CANopen node ID. Does not affect RS-232
settings.
1 0
2
Bit 1 of binary CANopen node ID. Does not affect RS-232
settings.
1 0
3
Bit 2 of binary CANopen node ID. Does not affect RS-232
settings.
1 0
4
Bit 3 of binary CANopen node ID. Does not affect RS-232
settings.
1 0
5
Bit 4 of binary CANopen node ID. Does not affect RS-232
settings.
1 0
6
Bit 5 of binary CANopen node ID. Does not affect RS-232
settings.
1 0
7
Bit 0 of drive CANopen bit rate setting. Does not affect RS-232
settings.
1 0
8
Bit 1 of drive CANopen bit rate setting. Does not affect RS-232
settings.
1 0
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
J 1
CAN bus termination. Install this jumper (2.54mm) on the last drive in a CAN
network. This jumper is located on a 4-pin header adjacent to the RS-232
connector. It consists of the two pins furthest from the connector.
Non-
terminating
Node
Terminating
Node
N/A
J 2 Reserved. - - N/A

DigiFlex

Performance Servo Drive DPCANTA-015B200

Release Date:
4/28/2014
Status:
Active
ADVANCED Motion Controls 3805 Calle Tecate, Camarillo, CA, 93012
ph# 805-389-1935 fx# 805-389-1165 www.a-m-c.com
Page 7 of 10

MECHANICAL INFORMATION
AUX COMM - RS232 Communication Connector
Connector Information 3-pin, 2.5 mm spaced, enclosed, friction lock header
Mating Connector
Details Phoenix: Plug P/N 1881338
Included with Drive Yes
RS232 RX 1
RS232 TX 2
ISO GND 3


COMM - CAN Communication Connector
Connector Information Shielded, dual RJ -45 socket with LEDs
Mating Connector
Details AMP: Plug P/N 5-569552-3
Included with Drive No
CAN_H 1
CAN_L 2
CAN_GND 3
CAN_GND 7
CAN_H 1
CAN_L 2
CAN_GND 3
CAN_GND 7
A B


FEEDBACK - Feedback Connector
Connector Information 15-pin, high-density, female D-sub
Mating Connector
Details
TYCO: Plug P/N 748364-1; Housing P/N 5748677-1; Terminals P/N 1658670-2 (loose) or
1658670-1 (strip)
Included with Drive No
COS + 1
COS - 2
SIN + 3
SIN - 4
SGN GND 5
+5V OUT 13
PAI-3 14
REF MARK - 15
DATA- 6
REF MARK + 10
DATA+ 7
CLOCK+ 8
CLOCK- 9



DigiFlex

Performance Servo Drive DPCANTA-015B200

Release Date:
4/28/2014
Status:
Active
ADVANCED Motion Controls 3805 Calle Tecate, Camarillo, CA, 93012
ph# 805-389-1935 fx# 805-389-1165 www.a-m-c.com
Page 8 of 10

I/O - Signal Connector
Connector Information 26-pin, high-density, female D-sub
Mating Connector
Details
TYCO: Plug P/N 1658671-1; Housing P/N 5748677-2; Terminals P/N 1658670-2 (loose) or
1658670-1 (strip)
Included with Drive No
PDO-1 1
2
3
4
5
6
8
9
7
PDO-4 14
PDI-1 11
PDI-2 12
PDI-3 13
PDO-3 10
+5V OUT 15
PDI-7 +(PWM +/ AUX ENC A+/ CAP-B+) 17
PDI-8 +(DIR+/ AUX ENC B+/ CAP-C+) 18
SGN GND 16
SGN GND
PDI-8 - (DIR- / AUX ENC B- / CAP-C-)
PAO-2
PAO-1
PAI-2
PAI-1 - (REF-)
PAI-1 +(REF+)
PDO-2
PDI-4 (CAP-A) 19
SGN GND 22
PDI-5 20
PDI-6 21
PDI-7 - (PWM- / AUX ENC A- / CAP-B-) 26


POWER - Power Connector
Connector Information 6-pin, 3.96 mm spaced, friction lock header
Mating Connector
Details AMP: Plug P/N 770849-6; Terminals P/N 770522-1 (loose) or 770476-1 (strip)
Included with Drive Yes
MOTOR A 1
MOTOR B 2
MOTOR C 3
HIGH VOLTAGE 4
PWR GND 5
LOGIC PWR 6


DigiFlex

Performance Servo Drive DPCANTA-015B200

Release Date:
4/28/2014
Status:
Active
ADVANCED Motion Controls 3805 Calle Tecate, Camarillo, CA, 93012
ph# 805-389-1935 fx# 805-389-1165 www.a-m-c.com
Page 9 of 10

MOUNTING DIMENSIONS


DigiFlex

Performance Servo Drive DPCANTA-015B200

Release Date:
4/28/2014
Status:
Active
ADVANCED Motion Controls 3805 Calle Tecate, Camarillo, CA, 93012
ph# 805-389-1935 fx# 805-389-1165 www.a-m-c.com
Page 10 of 10

PART NUMBERING INFORMATION
-
Drive Series
DigiFlex Performance
Communication
Command Inputs
C P D T N A A 5 1 0 B 0 0 2 Example:
DP
RS232/RS485 R
CANopen or RS232 C
Ethernet Powerlink or TCP/IP P
Analog (10V)
No Step & Direction
AN
Analog (10V)
Low Voltage Step & Direction (5V)
AL
Analog (10V)
High Voltage Step & Direction (24V)
AH
No Analog
Low Voltage Step & Direction (5V)
NL
No Analog, No Step & Direction
(Communication Interface Only)
NN
Digital I/O
Isolated (24V) I
TTL (5V) Non-Isolated T
Motor Feedback
Incremental Encoder and/or Halls E
Resolver R
Absolute Sin/Cos (Hiperface & Endat) A
Sin/Cos with Halls S
Max DC Bus Voltage (VDC)
80 080
200 200
400 400
800 800
AC Input
+24VDC User Logic Supply Required
A
AC Input Single Phase Only
+24VDC User Logic Supply Required
S
DC Input
Both Logic Supply Options (Internal or User)
B
DC Input
Logic Supply Required
L
15 015
16 016
20 020
25 025
30 030
40 040
60 C060
100 C100
-
Code used to identify customer
specials
Power and Logic Supply
Peak Current (A0 to Peak)
Customer Special
EtherCAT E
Universal (Halls, Inc. Enc., Abs. Enc.,
1Vp-p Sin/Cos Enc.)
U
60 060

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 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


Drive(s)


Filter Cards



To Motor




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