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Features
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 DPRAHIR-100A400
BLOCK DIAGRAM
CONTROL MODULE
3.75K
PDI-1,2,3,4,5,6,7
(STEP / DIR / CAP-A) 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
Logic
Motor
CAP-B,C+) +5V ENC A,B,I + OUT
PDI-8,9,10 – (PWM– / 10k ENC A,B,I – OUT
DIR– / AUX ENC A,B,I – /
CAP-B,C–)
10k
OUTPUT PULL-UP
2.5k
I/O Interface
PDO-1,2,3,4
OUTPUT COMMON
POWER MODULE
I/O Interface
20k MOTOR A
PAI-1,4 + (REF+)
Power Stage MOTOR B
PAI-1,4 – (REF–)
20k MOTOR C
20k
L1
PAI-2: 33k L2
PAI-2,3
PAI-3: 500k L3
SGN GND
DC+
Shunt Reg.
BR
SELECT
TX/TX–
LOGIC+
RX/RX– RS232/485 Logic Power
Interface LOGIC–
TX+
RX+
ISO GND
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:
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 DPRAHIR-100A400
SPECIFICATIONS
Power Specifications
Description Units Value
Rated Voltage VAC (VDC) 240 (339)
AC Supply Voltage Range VAC 200 - 240
AC Supply Minimum VAC 180
AC Supply Maximum VAC 264
AC Input Phases1 - 3
AC Supply Frequency Hz 50 - 60
DC Supply Voltage Range2 VDC 255 - 373
DC Bus Over Voltage Limit VDC 429
DC Bus Under Voltage Limit VDC 205
Logic Supply Voltage VDC 20 - 30 (@ 850 mA maximum)
Maximum Peak Output Current A (Arms) 100 (70.7)
Maximum Continuous Output Current A (Arms) 50 (35.4)
Max. Continuous Output Power @ Rated Voltage3 W 11400
Max. Continuous Power Dissipation @ Rated Voltage W 600
Internal Bus Capacitance µF 1500
External Shunt Resistor Minimum Resistance Ω 10
Minimum Load Inductance (Line-To-Line)4 µH 600
Switching Frequency kHz 16
Maximum Output PWM Duty Cycle % 100
Low Voltage Supply Outputs - +5 VDC (250 mA)
Control Specifications
Description Units Value
Communication Interfaces - RS-485/232
Command Sources - ±10 V Analog, 24V Step and Direction, Encoder Following, Over the Network, PWM and Direction
Feedback Supported - ±10 VDC Position, 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) - 4/0
Primary I/O Logic Level - 24 VDC
Current Loop Sample Time μs 62.5
Velocity Loop Sample Time μs 125
Position Loop Sample Time μs 125
Resolver Reference/Excitation Signal Vrms 4 Vrms @ 5 kHz
Expected Resolver Transformation Ratio Vrms 0.5
Feedback Resolution / Emulated Encoder Resolution5 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
Internal Shunt Resistor - No
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) 272.8 x 230.4 x 149.4 (10.7 x 9.1 x 5.9)
Heatsink (Base) Temperature Range6 °C (°F) 0 - 75 (32 - 167)
Storage Temperature Range °C (°F) -40 - 85 (-40 - 185)
Cooling System - Forced Convection
Form Factor - Panel Mount
IP Rating - IP10
AUX ENCODER Connector - 15-pin, high-density, male D-sub
BRAKE/LOGIC Connector - 4-contact, 13 mm spaced, dual-barrier terminal block
COMM Connector - 9-pin, female D-sub
FEEDBACK Connector - 15-pin, high-density, female D-sub
I/O Connector - 26-pin, high-density, female D-sub
MOTOR POWER Connector - 4-contact, 13 mm spaced, dual-barrier terminal block
POWER Connector - 4-contact, 13 mm spaced, dual-barrier terminal block
Notes
Sold & Serviced By:
1. Can operate on single-phase VAC if peak/cont. current ratings are reduced by at least 30%.
2. DC Supply operation will reduce peak/cont. current ratings by at least 30%.
Toll Free Phone: P
3. = (DC Rated Voltage) * (Cont. RMS Current) * 0.95.
877-378-0240
Toll Free4.Fax: 877-378-0249
Lower inductance is acceptable for bus voltages well below maximum. Use external inductance to meet requirements.
5. Higher and lower resolution options are available. Contact Applications Engineering for more information.
sales@servo2go.com
6. Additional cooling and/or heatsink may be required to achieve rated performance.
www.servo2go.com
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 DPRAHIR-100A400
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 DPRAHIR-100A400
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 DPRAHIR-100A400
HARDWARE SETTINGS
Switch Functions
Setting
Switch Description
On Off
Bit 0 of binary RS-485 drive address. Does not affect RS-232
1 1 0
settings.
Bit 1 of binary RS-485 drive address. Does not affect RS-232
2 1 0
settings.
Bit 2 of binary RS-485 drive address. Does not affect RS-232
3 1 0
settings.
Bit 3 of binary RS-485 drive address. Does not affect RS-232
4 1 0
settings.
Bit 4 of binary RS-485 drive address. Does not affect RS-232
5 1 0
settings.
Bit 5 of binary RS-485 drive address. Does not affect RS-232
6 1 0
settings.
Bit 0 of drive RS-485 baud rate setting. Does not affect RS-232
7 1 0
settings.
Bit 1 of drive RS-485 baud 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.
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 DPRAHIR-100A400
MECHANICAL INFORMATION
SGN GND 10
PDI-10 - 9
PDI-10 + 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
4 DC+
3 BR
2 LOGIC PWR
1 LOGIC GND
5 ISO GND
6 RS485 TX+
8 RS485 RX+
Sold & Serviced By:
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 DPRAHIR-100A400
12 SGN GND
13 +5V OUT
14 PAI-3
PDO-3 10 9 PDI-5
PDI-1 11 8 OUTPUT PULL-UP
PDI-2 12 7 SGN GND
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 (STEP) 17 2 OUTPUT COMMON
PDI-6 (DIR) 18 1 PDO-1
19 PDI-7 (CAP-A)
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
4 MOTOR POWER W
3 MOTOR POWER V
2 MOTOR POWER U
1 SHIELD
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 DPRAHIR-100A400
4 PE
3 L3
2 L2
1 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 DPRAHIR-100A400
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 DPRAHIR-100A400
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.
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