Philips Cardio MD User manual

DIGIFLEX® DIGITAL SERVO DRIVES

MODEL: DR100RE30A40LDC (-10, -16)

FEATURES:

• Fully digital, state-of-the-art design

• Space Vector Modulation and vector control technology

• 20kHz Digital current loop with programmable gain settings

• PIDF velocity loop with 100microsecond update rate

• PID + FF position loop with 100 microsecond update rate

• Resolver based commutation

• Surface-mount technology

• Small size, low cost, ease of use

• RS232/485 interface for setup and networking

• Windows© based setup software with built-in 8-channel digital

scope

• Operates in torque, velocity or position mode with programmable
gain settings

• Programmable profiling in all modes

• Fully configurable current, voltage, velocity and position limits.

• Step & direction mode for stepper replacement

• Encoder following with programmable gear ratio

• 4 programmable digital inputs

• 2 programmable differential inputs, configurable as step &

direction, master encoder, or secondary encoder for dual loop
operation

• 4 programmable digital outputs

• 2 programmable an alog inputs (10-bit)

• 14-bit reference input or programmable analog input

• 2 programmable analog outputs (10-bit)

• Software selectable emulated encoder output resolution*

Model Number Low High
DR100RE30A40LDC 12-bit 14-bit
DR100RE30A40LDC -10 10-bit 12-bit
DR100RE30A40LDC -16 14-bit 16-bit

* See maximum speed table below

• Four quadrant regenerative operation

• Separate logic supply

• Bi-color LED status indicator

• Extensive built-in protection against:

§ over-voltage (programmable)

§ under-voltage (programmable)

• short-circuit: phase-phase, phase-ground

§ over-current

§ over-temperature

* Picture for reference only.

DR100RE Series

ADVANCED MOTION CONTROLS

3805 Calle Tecate, Camarillo, CA 93012
Tel: [phone], Fax: [phone]

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ADVANCED MOTION CONTROLS DR100RE Series

MOTOR A

MOTOR B

MOTOR C

LOGIC POWER

HIGH VOLTAGE

POWER GROUND

OUTPUT STAGE

REF+

ENC A+

ENC A-

ENC B+

ENC B-

ENC I+

ENC I-

BLOCK DIAGRAM:

DR100RE...A40LDC

RX/+RX

TX/+TX

-RX

-TX

SELECT

SGND

PROGR. INPUT 1..4

SGND

+PROGR. INPUT 5,6
STEP+, DIR+, AUX ENC A+/B+

-PROGR. INPUT 5,6
STEP-, DIR-, AUX ENC A-/B-

PROGR. OUTPUT 1...4

SGND

+REF

-REF

+5V

5K

+5V

10K

+5V

5K

20K

20K

RS232/485
INTERFACE

+5V

10K
10K

20K

+

-

20K

SUPPLY

ISOLATION

CONTROLLER

CURRENT CONTROL
TORQUE CONTROL
VELOCITY CONTROL
POSITION CONTROL

POWER

I/O INTERFACE

AUX POWER

AUX GROUND

REF-

COS+
COS-

SIN+
SIN-

PROGR. ANALOG INPUT 2,3

SGND

PROGR. ANALOG OUTPUT 1,2

40K

10K

+

-

MOTOR FEEDBACK

Emulated encoder output

DESCRIPTION:

The DR100RE Series digital PWM 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. 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.

DR100RE Series drives feature a single RS232/485 interface, which is used for drive configuration and setup as well
as online operation in networked applications. Drive commissioning can be accomplished through a fully graphical
Windows© based application.
All drive and motor parameters are stored in non -volatile memory.

Maximum Motor Velocity

Emulated Encoder
Resolution

Maximum

Motor Speed*
10-bit 64000 rpm
12-bit 16000 rpm
14-bit 4000 rpm
16-bit 1000 rpm

* Assuming no other limitations limit the motor speed

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ADVANCED MOTION CONTROLS DR100RE Series

SPECIFICATIONS:

POWER STAGE SPECIFICATIONS DR100RE30A40LDC (-10, -16)

DC SUPPLY VOLTAGE 60…400 VDC
PEAK CURRENT 30A (21.2Arms)
MAXIMUM CONTINUOUS CURRENT 15A (10.6Arms)
MINIMUM LOAD INDUCTANCE 600 µH
SWITCHING FREQUENCY 20 kHz
HEATSINK (BASEPLATE) TEMPERATURE RANGE 0 to 65 ºC, disables at 65 ºC
POWER DISSIPATION AT CONTINUOUS CURRENT 300W
MIN. UNDER VOLTAGE SHUTDOWN 60 VDC
MAX. OVER-VOLTAGE SHUTDOWN 425 VDC
LOGIC SUPPLY VOLTAGE 20…80 VDC, 20W maximum

MECHANICAL SPECIFICATIONS

POWER CONNECTOR: P1 Screw terminals
MOTOR FEEDBACK CO NNECTOR: CN3* 15-pin high density female D-sub
I/O CONNECTOR: CN2* 26-pin high density female D-sub
COMMUNICATIONS INTERFACE (RS232/485): CN1* 9-pin female D-sub

SIZE
WEIGHT

* Mating connectors not included.

8.00 x 5.69 x 1.92 inches

203.2 x 144.4 x 48.7 mm

2.12 lb.

0.99 kg

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ADVANCED MOTION CONTROLS DR100RE Series

PIN FUNCTIONS:

P1 - Motor and Power Connector:

CONNECTOR PIN NAME DESCRIPTION I/O

1 MA Motor phase A O
2 MB Motor phase B O
3 MC Motor phase C O

P1

CN3 - Motor Feedback Connector:

CONNECTOR PIN NAME DESCRIPTION I/O

CN3

* Contact factory for SR compatible options.

CN2 – I/O Connector:

CONNECTOR PIN NAME DESCRIPTION I/O

4 PGND Power ground GND
5 HV IN DC motor supply I
6 GND AUX Logic supply ground GND
7 PWR AUX Logic supply power I

1 N/C Not connected
2 N/C Not connected
3 N/C Not connected
4 REF+ O
5 REF­6 SIN+ I
7 SIN­8 COS+ I

9 COS­10 N/C* Not connected
11 N/C* Not connected
12 SGND Signal ground SGND

13 +5V OUT
14 PAI3

15 N/C* Not connected

Resolver reference (excitation) output.
4Vrms @ 5k Hz.

Resolver sine input. 2Vrms

Resolver cosine input. 2Vrms

+5V @ 250mA max. Short -circuit
protected.
Programmable analog input, single
ended, 10 -bit

O

I

I

O

I

CN2

1 PDO1* Programmable digital output O
2 SGND Signal ground SGND
3 PDO2* Programmable digital output O

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ADVANCED MOTION CONTROLS DR100RE Series

4 +REF I
5 -REF
6 PAI2 Programmable analog input I
7 PAO1 Programmable analog output O
8 PAO2 Programmable analog output O

9 -PDI6

10 PDO3 Programmable digital output O
11 PDI1 Programmable digital input I
12 PDI2 Programmable digital input I
13 PDI3 Programmable digital input I
14 PDO4 Programmable digital output O

15 +5V OUT

16 SGND Signal ground SGND
17 +PDI5

18 +PDI6
19 PDI4 Programmable digital input I

20 Enc A+ O
21 Enc A­22 Enc B+ O
23 Enc B­24 Enc I+ O
25 Enc I-

26 -PDI5

* Contact factory for SR compatible options.

CN1 - Communications Interface (RS232/485):

CONNECTOR PIN NAME DESCRIPTION I/O

CN1

1 SELECT
2 TX/+TX RS232: Transmit; RS485: +TX O

3 RX/+RX RS232: Receive; RS485: +RX I
4 N/C Not connected
5 SGND Signal ground SGND
6 -TX RS485: -TX O
7 N/C Not connected

Differential reference signal input, 14 -bit
resolution. Can also be used as
programmable analog input 1.

Programmable Input (see CN2-18) or
Direction- or Aux Enc B-

+5VDC. Note: the total current on CN2­15 and CN3-13 combined should not
exceed 250 mA

Programmable differential digital input,
or Step+ or Aux Enc A+
Programmable, differential digital input
or Direction+ or Aux Enc B+

Emulated channel A output. (10, 12, 14,
or 16 bit resolution)

Emulated channel B output. (10, 12, 14,
or 16 bit resolution)

Emulated index output. High when
channel A and B or both low.

Programmable Input (See CN2 -17) or
Step- or Aux Enc A-

RS232/485 selection. Pull to ground
(CN1-5) for RS485.

I

I

O

I
I

O

O

O

I

I

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ADVANCED MOTION CONTROLS DR100RE Series

ORDERING INFORMATION:

8 -RX RS485: -RX I
9 N/C Not connected

Standard model: DR100RE30A40LDCX
Options: DR100RE30A40LDCX-10, DR100RE30A40LDCX-16
X indicates the current revision letter.

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ADVANCED MOTION CONTROLS DR100RE Series

MOUNTING DIMENSIONS:

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