ADVANCED MOTION CONTROLS DIGIFLEX® DIGITAL
DX15CO8 Series
DIGIFLEX® DIGITAL SERVO DRIVES
WITH CANopen INTERFACE
MODELS: DX15CO8, DX15CO8-SRC
FEATURES:
•
•
•
•
•
•
•
•
•
•
•
•
•
Fully digital, state-of-the-art design
Brushed DC, brushless AC drive
technology
Digital current, velocity, and position
loops with programmable gain
settings
Hall sensor commutation feedback
for brushless motors
Surface-mount technology
Small size, low cost, ease of use
Isolated CAN bus interface for setup
and networking
Supports CANopen communication
protocol (DS301) and Device Profile
for Drives and Motion Control
commands (DSP-402)
CAN bus address and bit rate
selection via DIP-switches
Windows© based DigiFlex®
DriveWare setup software via CAN
interface (operates with third party
PC-to-CAN interface)
Operates in torque, velocity or
position mode
•
•
•
•
Dual encoder input
7 programmable isolated digital inputs (sinking),
sourcing inputs optional (-SRC).
8 programmable isolated digital outputs (sinking)
Dedicated isolated limit and home switch inputs
3 programmable analog inputs (12-bit)
1 programmable analog output (10-bit)
•
•
Four quadrant regenerative operation
Agency Approvals:
•
•
•
Separate logic supply voltage (single supply
optional)
Bi-color LED status indicator
Extensive built-in protection against:
§ over-voltage
§ under-voltage
• short-circuit: phase-phase, phase-ground
§ over-current
§ over-temperature with pre-warning
ADVANCED MOTION CONTROLS
3805 Calle Tecate, Camarillo, CA 93012
Tel: (805) 389-1935, Fax: (805) 389-1165
Page 1 of 12
ADVANCED MOTION CONTROLS
DX15CO8 Series
BLOCK DIAGRAM:
DX15CO8
ISOLATION
ISOLATION
CAN_V+
LOGIC VOLTAGE
LOGIC POWER
SUPPLY
GNDCAN
CAN_H
LOGIC GND
CAN INTERFACE
CAN_L
CONTROL
LOGIC AND
PROTECTION
CIRCUIT
RTERM_CAN
SHIELD_CAN
ISOLATION
POWER GND
HIGH VOLTAGE
MOTOR A
DRIVE ENABLE
10K
POWER
OUTPUT STAGE
GNDIO
MOTOR B
MOTOR C
10K
I/O ISOLATION
FAULT RESET, HOME,
POS LIMIT, NEG LIMIT
GNDIO
PROGR. INPUT 1...7
10K
GNDIO
MOT ENC A+
MOT ENC AMOT ENC B+
MOT ENC BMOT ENC I+
MOT ENC I-
GNDIO
MAIN CONTROLLER
PROGR. OUTPUT 1...8
CURRENT CONTROL
TORQUE CONTROL
VELOCITY CONTROL
POSITION CONTROL
GNDIO
+5V
SYSTEM RESET
5.6VZ
MOTOR FEEDBACK
DRIVE READY
+5V +5V +5V
HALL A
HALL B
HALL C
GND
GNDSGN
+PROGR. ANALOG INPUT 1,2,3
+
-PROGR. ANALOG INPUT 1,2,3
-
AUX A/STEP/CW
AUX B/DIR/CCW
AUX I
PROGR. ANALOG OUTPUT
DESCRIPTION:
The DX15CO8 Series digital PWM servo drives are designed to drive brushed and brushless servomotors. These fully
digital drives can operate in torque, velocity, or position mode. Various feedback signals can be used to close the
velocity and position loop. 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.
DX15CO8 Series drives feature a single CAN interface which supports the CANopen protocol (DS301 and DSP402).
This interface is used for drive configuration and setup as well as online operation in networked applications. Drive
commissioning can be accomplished through DigiFlex® DriveWare, a fully graphical Windows© based application.
Torque, velocity, or position commands can be generated from an analog input, the auxiliary encoder input, a preset
index table, or the CAN interface. The DX15CO8 also features an interpolated position mode with cubic interpolation
for smooth, coordinated, multi-axis position control via the CAN interface. A homing routine based on the home switch
input and/or the encoder index pulse is also implemented.
All drive and motor parameters are stored in non-volatile memory.
Page 2 of 12
ADVANCED MOTION CONTROLS
DX15CO8 Series
SPECIFICATIONS:
POWER STAGE SPECIFICATIONS
DX15CO8, DX15CO8-SRC
DC SUPPLY VOLTAGE
24…75 VDC
PEAK CURRENT
15 A (if heat sink temperature is <50ºC)
MAXIMUM CONTINUOUS CURRENT
8A
MINIMUM LOAD INDUCTANCE
250 µH
SWITCHING FREQUENCY
20 kHz
HEATSINK (BASEPLATE) TEMPERATURE RANGE
0 to 65 ºC, disables at 65 ºC
POWER DISSIPATION AT CONTINUOUS CURRENT
30W
UNDER VOLTAGE SHUTDOWN
18 VDC
OVER-VOLTAGE SHUTDOWN
88 VDC
LOGIC SUPPLY SPECIFICATIONS
DC SUPPLY VOLTAGE
20…80 VDC
MAXIMUM RIPPLE
10%
INPUT POWER
10W max.
CAN INTERFACE SUPPLY SPECIFICATIONS
DC SUPPLY VOLTAGE
7.5 to 13 VDC
INPUT CURRENT
150 mA max.
MECHANICAL SPECIFICATIONS
POWER CONNECTOR: P1
Screw terminals
MOTOR FEEDBACK CONNECTOR: P2*
15-pin high density female D-sub
AUXILIARY ENCODER CONNECTOR: P3*
9-pin female D-sub
I/O CONNECTOR: P4*
44-pin high density female D-sub
COMMUNICATIONS INTERFACE (CAN): P5*
9-pin male D-sub
SIZE
8.855 x 4.212 x 1.1 inches
224.92 x 106.98 x 27.94 mm
WEIGHT
* Mating connectors are not included.
Page 3 of 12
ADVANCED MOTION CONTROLS
DX15CO8 Series
PIN FUNCTIONS:
P1 - Motor and Power Connector:
CONNECTOR
P1
PIN
NAME
DESCRIPTION
I/O
1
GNDSGN
Logic signal ground
GNDSGN
2
VLS
Logic supply voltage
I
3
MOTOR A
Motor phase A
O
4
MOTOR B
Motor phase B
O
5
MOTOR C
O
6
POWER GND
7
HIGH VOLTAGE
Motor phase C
Power ground. Internally connected to
GNDSGN
DC power input
GNDPWR
I
P2 - Motor Feedback Connector:
CONNECTOR
P2
PIN
NAME
1
MOT ENC A+
2
MOT ENC A-
3
MOT ENC B+
4
MOT ENC B-
5
GNDSGN
6
Hall A
DESCRIPTION
Differential Encoder Input
Differential Encoder Input
Signal ground
I/O
I
I
I
I
GNDSGN
I
Commutation sensor inputs. Internal
2K pull-up to +5VDC.
7
Hall B
8
Hall C
9
-
Not connected
10
-
Not connected
11
MOT ENC I+
12
MOT ENC I-
13
+5V OUT
14
MOTOR OVER TEMP
15
SHIELD
I
I
Differential Encoder Input
+5V @ 400mA max. Short-circuit
protected.
TTL input
Motor feedback cable shield. Internally
connected to GNDSGN
I
I
O
I
SHLD
P3 – Auxiliary Encoder Connector:
CONNECTOR
PIN
P3
1
NAME
DESCRIPTION
+AUX A / +STEP / +CW
2
-AUX A / -STEP / -CW
3
+AUX B / +DIR / +CCW
4
-AUX B / -DIR / -CCW
5
GNDSGN
I/O
I
Auxiliary encoder input
Step and direction interface
Clockwise/counterclockwise interface
I
I
I
Signal ground
GNDSGN
Page 4 of 12
ADVANCED MOTION CONTROLS
DX15CO8 Series
6
+5V OUT
7
+AUX I
8
-AUX I
9
SHIELD
+5V @ 400mA max. Short-circuit
protected.
Auxiliary encoder index channel
Cable shield. Internally connected to
GNDSGN
O
I
I
SHLD
P4 – I/O Connector:
CONNECTOR
PIN
NAME
DESCRIPTION
P4
1
-
Reserved
2
+24V IN
+24V input pull-up (for sourcing
inputs option only)
3
PROG INPUT 2
4
PROG INPUT 4
5
PROG INPUT 6
6
DRIVE ENABLE
7
PROG OUTPUT 1
8
PROG OUTPUT 3
9
PROG OUTPUT 5
10
GNDIO
11
+PROG ANALOG INPUT 1
12
+PROG ANALOG INPUT 2
13
+PROG ANALOG INPUT 3
14
SYSTEM RESET
15
SHIELD
16
-
17
+24V IN
18
PROG INPUT 1
19
PROG INPUT 3
20
PROG INPUT 5
21
PROG INPUT 7
22
FAULT RESET
23
PROG OUTPUT 2
I/O
I
I
Programmable digital input. Optoisolated. See schematic below.
I
I
Drive enable input. Opto-isolated.
See schematic below.
I
O
Programmable digital output. Optoisolated. See schematic below.
O
O
Isolated ground
GNDIO
I
Programmable analog input. Optoisolated. See schematic below.
I
I
TTL input. Pull to ground to reset
drive (same as power cycle).
Referenced to GNDSGN.
Cable shield. Internally connected
to GNDSGN
Reserved
+24V input pull-up (for sourcing
inputs option only)
I
SHLD
I
I
Programmable digital input. Optoisolated. See schematic below.
I
I
I
Fault reset input. Opto-isolated.
See schematic below.
I
O
Programmable digital output. Optoisolated. See schematic below.
24
PROG OUTPUT 4
25
PROG OUTPUT 6
26
-
Not connected
27
-PROG ANALOG INPUT 1
See pin 11, 12, 13 above
O
O
I
Page 5 of 12
ADVANCED MOTION CONTROLS
DX15CO8 Series
28
-PROG ANALOG INPUT 2
I
29
-PROG ANALOG INPUT 3
I
30
GNDSGN
Signal ground
31
-
Reserved
32
-
33
POSITIVE LIMIT SWITCH
34
NEGATIVE LIMIT SWITCH
35
HOME SWITCH
36
DRIVE READY
Reserved
Positive limit switch input. Optoisolated. See schematic below.
Negative limit switch input. Optoisolated. See schematic below.
Home switch input. Opto-isolated.
See schematic below.
Drive ready output. Opto-isolated.
See schematic below.
37
PROG OUTPUT 7
38
PROG OUTPUT 8
Programmable digital output. Optoisolated. See schematic below.
39
GNDIO
Isolated ground
GNDIO
40
GNDIO
Isolated ground
GNDIO
41
-
42
GNDA
43
PROG ANALOG OUTPUT 1
44
-
Not connected
Analog signal ground. Internally
connected to GNDSGN
Programmable analog output. See
schematic below.
Not connected
GNDSGN
I
I
I
O
O
O
GNDA
O
I/O SCHEMATICS:
•
Isolated Outputs
DRIVE READY, PROGRAMMABLE OUTPUT 1…8
OUTPUT
GNDIO
Active maximum voltage
Active maximum current
Inactive maximum voltage
Inactive maximum current
•
+0.7 VDC
200 mA
+30 VDC
0.01 mA
Isolated Inputs
DRIVE ENABLE, FAULT RESET, HOME SWITCH, POSITIVE LIMIT SWITCH, NEGATIVE LIMIT SWITCH,
PROGRAMMABLE INPUT 1…7
•
Sinking Inputs (standard version)
Page 6 of 12
ADVANCED MOTION CONTROLS
DX15CO8 Series
INPUT
10K
GNDIO
Active maximum voltage
Active minimum voltage
Inactive maximum voltage
Inactive minimum voltage
•
+30 VDC
+18 VDC
+2.5 VDC
–5VDC
Sourcing Inputs (optional –SRC version)
+24V IN
10K
INPUT
Active maximum voltage
Active minimum voltage
Inactive maximum voltage
Inactive minimum voltage
•
Programmable Analog Output
Voltage Range
Resolution
Minimum Load Resistance
•
+10VDC
–5VDC
+24VIN + 5VDC
+24VIN –2.5VDC
-10V…+10V
10-bit
2K Ohm
Programmable Analog Inputs
0.01uF
10K
10K
10K
+
-
10K
10K
0.01uF
Voltage Range
Resolution
10V…+10V
12-bit
Page 7 of 12
ADVANCED MOTION CONTROLS
•
DX15CO8 Series
System Reset Input
+5V
14K
1K
5.6VZ
0.1uF
P5 - Communications Interface (CAN):
CONNECTOR
PIN
NAME
DESCRIPTION
2
CAN_L
CAN _L bus line (dominant low)
3
CAN_GND
CAN ground
GND
5
CAN_SHLD
CAN shield
SHLD
7
CAN_H
8
CAN_TERM
9
CAN_V+
CAN_H bus line (dominant high)
Termination. Connect to CAN_H
for CAN bus termination (120
Ohm)
CAN external supply
7.5…13 VDC
P5
I/O
I
I
GND
I
DIP SWITCH FUNCTIONS:
•
CAN Address Setting (factory default is 1)
Node-ID
SW1
SW2
SW3
SW4
SW5
SW6
Via CAN
OFF
OFF
OFF
OFF
OFF
OFF
1
ON
OFF
OFF
OFF
OFF
OFF
2
OFF
ON
OFF
OFF
OFF
OFF
3
ON
ON
OFF
OFF
OFF
OFF
ON
ON
ON
ON
ON
ON
…
63
•
CAN Bus Bit Rate Setting (factory default is 1000K)
Bit Rate (bits/sec)
SW7
SW8
Via CAN
OFF
OFF
500K
OFF
ON
250K
ON
OFF
Page 8 of 12
ADVANCED MOTION CONTROLS
125K
•
ON
DX15CO8 Series
ON
CAN Bus Termination
SW10 can be used for CAN bus termination. Setting SW10 ON will internally connect the CAN_H signal to CAN_L via
a 120Ω resistor. This can be used if the drive is the last node in a CAN network. Setting SW10 OFF will open this
termination. Note: the CAN_TERM pin can also be used for termination, see below.
CAN_H
SW10
CAN_TERM
120
CAN_L
CAN
TRANSCEIVER
CAN_GND
DIGIFLEX® DRIVEWARE:
DigiFlex® DriveWare is a Windows© based application that can be used to setup and configure the DigiFlex® series of
digital servo drives via the CAN interface. This application operates with the following PC-to-CAN interfaces:
Manufacturer
Advantech
IXXAT
Kvaser
Vector
ESD Electronics
Part Number
PCL-841
any
any
Any
any
Style
ISA-bus
any
any
Any
any
Manufacturer Contact Information
www.advantech.com
www.ixxat.com
www.kvaser.com
www.vector-cantech.com
www.esd-electronics.com
CANopen OBJECT DICTIONARY:
For more detailed information on CANopen, please visit http://www.can-cia.org/, the official web site of CAN in
Automation (CiA), the governing body of the CANopen standard.
I. Communication Profile Objects (DS301):
1000h: Device_Type
1001h: Error_register
1002h: Manufacturer_Status_Register
1008h: Manufacturer_Device_Name
1009h: Manufacturer_Hardware_Version
100Ah: Manufacturer_Software_Version
100Ch: guard-time
100Dh: life-time factor
1010h: store_parameters
st
1400h: 1 receive pdo communication parameter
nd
1401h: 2 receive pdo communication parameter
rd
1402h: 3 receive pdo communication parameter
th
1403h: 4 receive pdo communication parameter
th
1404h: 5 receive pdo communication parameter
st
1414h: 21 receive pdo communication parameter
nd
1415h: 22 receive pdo communication parameter
rd
1416h: 23 receive pdo communication parameter
th
1417h: 24 receive pdo communication parameter
st
1600h: 1 receive pdo mapping parameter
nd
1601h: 2 receive pdo mapping parameter
rd
1602h: 3 receive pdo mapping parameter
th
1603h: 4 receive pdo mapping parameter
th
1604h: 5 receive pdo mapping parameter
st
1614h: 21 receive pdo mapping parameter
nd
1615h: 22 receive pdo mapping parameter
rd
1616h: 23 receive pdo mapping parameter
th
1617h: 24 receive pdo mapping parameter
st
1800h: 1 transmit pdo communication parameter
rd
1802h: 3 transmit pdo communication parameter
th
1803h: 4 transmit pdo communication parameter
Page 9 of 12
ADVANCED MOTION CONTROLS
th
1804h: 5 transmit pdo communication parameter
st
1814h: 21 transmit pdo communication parameter
nd
1815h: 22 transmit pdo communication parameter
rd
1816h: 23 transmit pdo communication parameter
th
1817h: 24 transmit pdo communication parameter
th
1818h: 25 transmit pdo communication parameter
th
1819h: 26 transmit pdo communication parameter
st
1A00h: 1 transmit pdo mapping parameter
rd
1A02h: 3 transmit pdo mapping parameter
th
1A03h: 4 transmit pdo mapping parameter
th
1A04h: 5 transmit pdo mapping parameter
st
1A14h: 21 transmit pdo mapping parameter
nd
1A15h: 22 transmit pdo mapping parameter
rd
1A16h: 23 transmit pdo mapping parameter
th
1A17h: 24 transmit pdo mapping parameter
th
1A18h: 25 transmit pdo mapping parameter
th
1A19h: 26 transmit pdo mapping parameter
II. Drive Profile Objects (DSP402)
•
Common Objects
6402h: motor_type
6403h: motor_catalogue_number
6404h: motor_manufacturer
6410h: motor_data
6510h: drive_data
6502h: supported_ drive_modes
6503h: drive_catalogue_number
6504h: drive_manufacturer
2001h: user_defined_drive_name
2002h: user_units
200Eh: active_non_fatal_errors
200Fh: error_self_reset
2011h: commutation_sensor_selection_code
2012h: hall_sensor_parameters
201Fh: hall_sensor_error_option_code
2031h: hall_sensor_error_counter
2032h: hall_sensor_error_counter_limit
2013h: encoder_parameters
2020h: encoder_counter
2021h: encoder_position
2022h: encoder_index_counter
2027h: encoder_error_option_code
2023h: encoder_error_counter
2024h: encoder_error_counter_limit
2014h: auxiliary_encoder_parameters
2028h: auxiliary_encoder_counter
2029h: auxiliary_encoder_position
202Ah: auxiliary_encoder_index_counter
2030h: auxiliary_encoder_error_option_code
202Bh: auxiliary_encoder_error_counter
202Ch: auxiliary_encoder_error_counter_limit
2040h: DIP-switch_settings
20A0h: programmable_digital_inputs
DX15CO8 Series
20A1h: programmable_digital_outputs
20A2h : programmable_analog_inputs
20A3h: programmable_analog_outputs
20A4h: programmable_digital_inputs_polarity
20A5h: programmable_digital_inputs_function
20A8h: programmable_digital_outputs_polarity
20A9h: programmable_digital_outputs_function
20ACh : programmable_analog_input_parameters
20AEh: programmable_analog_output_parameters
20C2h: power_stage_temperature
20C8h: communication_control
208Fh: load_inertia
•
Device Control Objects
6040h: controlword
20C4h: controlword_initial_value
20C5h: auxiliary_controlword
6041h: statusword
605Ah: quick_stop_option_code
605Bh: shutdown_option_code
605Ch: disable_operation_option_code
6060h: modes_of_operation
6061h: modes_of_operation display
2000h: statusword_1
2004h: dedicated_digital_inputs
2005h: dedicated_digital_outputs
2006h: dedicated_digital_inputs_polarity
2007h: dedicated_digital_outputs_polarity
2049h: invert_command
20B0h: trigger_at_value
20B1h: capture_value
20B3h: trigger_signal
20B5h: capture_signal
20B6h: capture_event
20C1h: delay_times
20C3h: motor_overtemperature_option_code
•
Factor Group Objects
6090h: velocity_encoder_resolution
608Fh: position_encoder_resolution
6093h: position_factor
6094h: velocity_encoder_factor
6097h: acceleration_factor
2079h: analog_torque_command_factor
207Ah: digital_torque_command_factor
2081h: analog_velocity_command_factor
2082h: digital_velocity_command_factor
2091h: analog_position_command_factor
2092h: digital_position_command_factor
•
Profile Position Mode Objects
607Ah: target_position
607Dh: software_position_limit
Page 10 of 12
ADVANCED MOTION CONTROLS
6086h: motion_profile_type
607Fh: maximum_profile_velocity
6081h: profile_velocity
6083h: profile_acceleration
6084h: profile_deceleration
6085h: Quick_stop_deceleration
•
Homing Mode Objects
607Ch: home_offset
6098h: homing_method
6099h: homing_speeds
609Ah: homing_acceleration
•
Position Control Function Objects
6062h: position_demand_value
6063h: position_actual_value*
6064h: position_actual_value
6067h: position_window
6068h: position_window_time
6065h: following_error_window
6066h: following_error_time_out
60F4h: following_error_actual_value
60FBh: position_control_parameter_set
60FCh: position_demand_value*
2090h: demand_position_offset
2093h: position_command_low_pass_filter
•
Profile Velocity Mode Objects
DX15CO8 Series
606Ch: velocity_actual_value
606Dh: velocity_window
606Eh: velocity_window_time
606Fh: velocity_threshold
6070h: velocity_threshold_time
60F9h: velocity_control_parameter_set
60FFh: target_velocity
2080h: demand_velocity_offset
2083h: velocity_command_low_pass_filter
2084h: velocity_error
•
Profile Torque Mode Objects
6071h: target_torque
6072h: max_torque
6074h: torque_demand_value
6075h: motor_rated_current
6076h: motor_rated_torque
6077h: torque_actual_value
6078h: current_actual_value
6079h: dc_link_circuit_voltage
6087h: torque_slope
6088h: torque_profile_type
60F8h: torque_control_parameters
2010h: rated_voltage
2070h: current_control_parameter_set
2074h: target_current_q
2075h: reference_current_q
2077h: reference_torque
2078h: rated_torque_constant
207Bh: Torque command low pass filter
6069h: velocity_sensor_actual_value
606Ah: sensor_selection_code
606Bh: velocity_demand_value
ORDERING INFORMATION:
Standard model: DX15CO8X
With sourcing inputs: DX15CO8X-SRC
X indicates the current revision letter.
Page 11 of 12
ADVANCED MOTION CONTROLS
DX15CO8 Series
MOUNTING DIMENSIONS:
Page 12 of 12
Was this manual useful for you? yes no
Thank you for your participation!

* Your assessment is very important for improving the work of artificial intelligence, which forms the content of this project

Download PDF

advertising