harmonic ddp series catalog
TRANSCRIPT
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RoHS
DIGITAL SERVO DRIVE for BRUSHLESS or BRUSH MOTORS
DDP Series
DESCRIPTIOnDDP Seriesis a high-performace, DC powered drive for positio,velocit (usig ecoder, Halls, or BEMF), ad torque cotrol ofbrushless ad brush motors. It ca operate as a distributed driveusig the CAnope or Devicenet protocols, or as a stad-aloedrive acceptig aalog or digital commads from a exteral motiocotroller. I stad-aloe mode, curret ad velocit modes acceptdigital 50% PWM or PWM/polarit iputs as well as 10V aalog. Ipositio mode iputs ca be icremetal positio commads fromstep-motor cotrollers, aalog 10V, or A/B quadrature commads
from a master-ecoder. Pulse to positio ratio is programmable forelectroic gearig.
Drive commissioig is fast ad simple usig HDM softwareoperatig uder Widows ad commuicatig with DDP SeriesviaCAn or a RS-232 lik. CAnope is the default protocol, Devicenetis supported b dowloadig rmware from the web-site. CAnaddress selectio is b a 16-positio rotar switch. If there aremore tha sixtee devices o the CAn bus, the additioal addressbits eeded ca come from programmable iputs, or ca be seti ash memor.
DDP Series models operate as Motio Cotrol Devices uder theDSP-402 protocol of the CAnope DS-301 V4.01 (En 50325-4)applicatio laer.
DSP-402 modes supported iclude: Prole Positio, Prole Velocit,Prole Torque, Iterpolated Positio Mode (PVT), ad Homig. Thetwo CAn ports are opticall isolated from drive circuits.
Feedback optios iclude digital quad A/B ad absolute SSIecoders as stadard. Si/cos aalog ecoders are supported imodels with a S appeded to the part umber. Resolver feedbackis supported i models with R appeded to the part umber.
There are twelve digital iputs eleve of which have programmablefuctios. These iclude CAn address, motio-abort, limit & home
switches, stepper/ecoder pulse iputs, reset, digital torque orvelocit referece, ad motor over-temperature. Iput [In1] isdedicated for the drive Eable. There are three programmablelogic outputs for reportig a drive fault, motor brake cotrol, orother status idicatios.
Drive power is trasformer-isolated DC from regulated oruregulated power supplies. A AuxHV iput powers cotrol circuitsfor keep-alive operatio permittig the drive power stage to becompletel powered dow without losig positio iformatio, orcommuicatios with the cotrol sstem.
Cotrol Modes Idexer, Poit-to-Poit, PVT
Cammig, Gearig, Positio, Velocit, Torque
Commad Iterface Stepper commads
Single-ended or Differential selectable
CAnope/Devicenet
ASCII ad discrete I/O
10V positio/velocit/torque commad
PWM velocit/torque commad
Master ecoder (Gearig/Cammig)
Commuicatios CAnope/Devicenet
RS232
Feedback Digital Quad A/B ecoders Aalog si/cos ecoder (-S optio) Brushless resolver (-R optio) Aux ecoder / emulated ecoder output
Digital Halls
I/O - Digital
12 iputs, 3 outputs
Dimesios: mm [i] 168 x 99 x 31 [6.6 x 3.9 x 1.2]
Add -S to part umbers above for si/cos feedbackAdd -R to part umbers above for resolver feedback
Check out DDP Series on our web-site for more info and downloads: DDP Drives
Md Ip Ic Vdc
DDP-055-18 18 6 55
DDP-090-09 9 3 90
DDP-090-18 18 6 90
DDP-090-36 36 12 90
DDP-180-09 9 3 180
DDP-180-18 18 6 180
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RoHS
DIGITAL SERVO DRIVE for BRUSHLESS or BRUSH MOTORS
DDP SeriesGEnERAL SPECIFICATIOnS
Test coditios: Load = We coected load: 2 mH + 2 lie-lie. Ambiet temperature = 25C, +HV = HVmax
MODEL DDP-055-18 DDP-090-09 DDP-090-18 DDP-090-36 DDP-180-09 DDP-180-18
OUTPUT POWER Peak Curret 18 (12.7) 9 (6.4) 18 (12.7) 36 (25.5) 9 (6.4) 18 (12.7) Adc (Arms), 5%
Peak time 1 1 1 1 1 1 SecCotiuous curret 6 (4.2) 3 (2.1) 6 (4.2) 12 (8.5) 3 (2.1) 6 (4.2) Adc (Arms) per phasePeak Output Power 0.92 0.79 1.55 2.95 1.59 3.15 kWCotiuous 0.32 0.27 0.53 1.06 0.53 1.06 kWOutput resistace 0.075 0.075 0.075 0.036 0.075 0.075 Rout ()Maximum Output Voltage Vout = HV*0.97 - Rout*Iout
InPUT POWERHV
mi~HV
max +20 to +55 +20 to +90 +20 to +90 +20 to +90 +20 to +180 +20 to +180 Vdc, trasformer-isolated
Ipeak 20 10 20 40 10 20 Adc (1 sec) peakIcot 5.47 2.74 5.47 10.64 2.74 5.47 Adc cotiuousAux HV +20 to +HV Vdc @ 500 mAdc maximum
PWM OUTPUTS Tpe 3-phase MOSFET iverter, 15 kHz ceter-weighted PWM, space-vector modulatio
PWM ripple frequec 30 kHz
DIGITAL COnTROL Digital Cotrol Loops Curret, velocit, positio. 100% digital loop cotrol
Samplig rate (time) Curret loop: 15 kHz (66.7 s) Velocit, positio loops: 3 kHz (333 s)Commutatio Siusoidal, eld-orieted cotrol for brushless motorsModulatio Ceter-weighted PWM with space-vector modulatioBadwidths Curret loop: 2.5 kHz tpical, badwidth will var with tuig & load iductaceHV Compesatio Chages i bus voltage do ot affect badwidthMiimum load iductace 200 H lie-lie
COMMAnD InPUTS CAnope commuicatios Prole Positio, Prole Velocit, & Prole Torque, Iterpolated Positio (PVT), HomigDevicenet commuicatios UCMM (Ucoected Message Maager) protocol for explicit message objects
CANopen is the default communications mode, download rmware from web-site for DeviceNet Digital positio referece Step/Directio, CW/CCW Stepper commads (2 MHz maximum rate)
Quad A/B Ecoder 2 M lies/sec, 8 M cout/sec (after quadrature)Digital torque & velocit referece PWM , Polarit PWM = 0~100%, Polarit = 1/0
PWM PWM = 50% +/-50%, o polarit sigal requiredPWM frequec rage 1 kHz miimum, 100 kHz maximumPWM miimum pulse width 220 s
Aalog torque, velocit, positio 10 Vdc Differetial, 5 k impedace
DIGITAL InPUTS number 12
Iputs [In1~5,11,12] 74HC14 Schmitt trigger, 330 s RC lter, Vi-LO < 1.35 Vdc, Vi-HI >3.65 Vdc, +30 Vdc max[In1] dedicated to drive eable fuctio, other iputs are programmableIput [In6] 74HC14 Schmitt trigger, 100 s RC lter, Vi-LO < 1.35 Vdc, Vi-HI >3.65 Vdc, +12 Vdc maxIputs [In7~10] Sigle-eded: Comparator with 2.5 Vdc referece, 100 s RC lter, Vi-LO 2.45 Vdc
Differetial: RS-485 lie receiver o iput pairs [In9-7], ad [In10-8], 100 s RC lters, +12 Vdc maxAll iputs 10 kpull-up to +5 Vdc or pull-dow to groud, selectable i groups, active level programmable
DIGITAL OUTPUTS number 3
[OUT1], [OUT2], [OUT3] Curret-sikig MOSFET with 1 k pullup to +5 Vdc through diodeCurret ratig 1 Adc max, +30 Vdc max. Fuctios programmable
Exteral back diode required if drivig iductive loads
MULTI-MODE EnCODER PORT Operatio Programmable as iput for secodar (dual) digital ecoder or as buffered outputs i
quad A/B/X format for digital motor feedback ecoder,or emulated ecoder outputs from aalog si/cos motor feedback ecoder
Sigals Quad A/B Ecoder: A, /A, B, /B, X, /XFrequec As iput for digital ecoder: 5M lies/sec, 20 M cout/sec (after quadrature)
As buffered outputs for digital motor ecoder: 5 M lies/sec, 20 M cout/sec (after quadrature)As emulated ecoder outputs for si/cos aalog motor ecoder: 4.5 M lies/sec,
18 M cout/sec (after quadrature)Iput/output 26C32 differetial lie receiver, or 26C31 differetial lie driver
RS-232 PORT Sigals RxD, TxD, Gd i 6-positio, 4-cotact RJ-11 stle modular coector.
Mode Full-duplex, serial commuicatio port for drive setup ad cotrol, 9,600 to 115,200 BaudProtocol ASCII or Biar formatMulti-drop ASCII iterface from sigle RS-232 port to cotrol multiple drives (RTL, DDP)
Drive with serial coectio acts as master for bi-directioal data ow to other drivesusig CAn coectios i dais-chai from drive to drive
CAn PORT Sigals CAnH, CAnL, Gd i dual 8-positio RJ-45 stle modular coectors, wired as per CAn Cia DR-303-1, V1.1
CAn iterface circuit ad +5 Vdc suppl are opticall isolated from drive circuitsFormat CAn V2.0b phsical laer for high-speed coectios compliatData CAnope Device Prole DSP-402Address selectio 16 positio rotar switch o frot pael with 3 additioal address bits available as
digital iputs or programmable to ash memor
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DIGITAL SERVO DRIVE for BRUSHLESS or BRUSH MOTORS
DDP Series
MOTOR COnnECTIOnS Phase U, V, W PWM outputs to 3-phase ugrouded We or delta coected brushless motors, or DC brush motors
Hall U, V, W Digital Hall sigals, sigle-ededDigital Ecoder Quadrature ecoder sigals, A, /A, B, /B, X, /X), differetial (X or Idex sigal ot required)
5 MHz maximum lie frequec (20 M couts/sec)26LS32 differetial lie receiver with 121 termiatig resistor betwee complemetar iputs
Aalog Ecoder Si/cos, differetial lie driver outputs, 0.5 Vpeak-peak (1.0 Vpeak-peak differetial)cetered about 2.5 Vdc tpical. Commo-mode voltage 0.25 to 3.75 Vdc
Sigals Si(+), si(-), cos(+), cos(-)Frequec 230 kHz maximum lie (ccle) frequecIterpolatio Programmable: 10 bits/ccle (1024 couts/ccle)Resolver R1, R2, S3, S1, S2, S4Hall & ecoder power +5 Vdc 2% @ 250 mAdc max, curret limited to 750 mAdc @ +1 Vdc if output overloadedMotemp [In5] Motor overtemperature sesor iput. Active level programmable
Programmable to disable drive whe motor over-temperature coditio occursSame iput circuit as GP digital iputs (Digital Iputs above)
Brake [OUT1,2,3] programmable for motor brake fuctio, exteral back diode required
STATUS InDICATORS Amp Status Bicolor LED, drive status idicated b color, ad blikig or o-blikig coditio
CAn Status Bicolor LED, status of CAn bus idicated b color ad blik codes to CAn Idicator Specicatio 303-3PROTECTIOnS
HV Overvoltage +HV > HVmax
Drive outputs tur off util +HV < HVmax
(See Iput Power for HVmax
)
HV Udervoltage +HV < +20 Vdc Drive outputs tur off util +HV > +20 VdcDrive over temperature Heat plate > 70C. Drive outputs tur offShort circuits Output to output, output to groud, iteral PWM bridge faultsI2T Curret limitig Programmable: cotiuous curret, peak curret, peak timeMotor over temperature Digital iputs programmable to detect motor temperature switch
MECHAnICAL & EnVIROnMEnTAL Size 6.58 i (167 mm) X 3.89 i (98.8 mm) X 1.17 i (29.7 mm)
Weight 0.94 lb (0.43 kg)
Ambiet temperature 0 to +45C operatig, -40 to +85C storage
Humidit 0 to 95%, o-codesigVibratio 2 g peak, 10~500 Hz (sie), IEC60068-2-6Shock 10 g, 10 ms, half-sie pulse, IEC60068-2-27Cotamiats Pollutio degree 2
Eviromet IEC68-2: 1990Coolig Heat sik ad/or forced air coolig required for cotiuous power output
notes: 1. Digital iput & output fuctios are programmable.
FEEDBACK
DIGITAL QUAD A/B EnCODER Tpe Quadrature, differetial lie driver outputs
Sigals A, /A, B, /B, (X, /X, idex sigals optioal)Frequec 5 MHz lie frequec, 20 MHz quadrature cout frequec
AnALOG EnCODER (-S OPTIOn) Tpe Si/cos, differetial lie driver outputs, 0.5 Vpeak-peak (1.0 Vpeak-peak differetial)
cetered about 2.5 Vdc tpical. Commo-mode voltage 0.25 to 3.75 VdcSigals Si(+), si(-), cos(+), cos(-)Frequec 230 kHz maximum lie (ccle) frequecIterpolatio 10 bits/ccle (1024 couts/ccle)
RESOLVER Tpe Brushless, sigle-speed, 1:1 to 2:1 programmable trasformatio ratio
Resolutio 14 bits (equivalet to a 4096 lie quadrature ecoder)Referece frequec 7.5 kHzReferece voltage 2.8 Vrms, auto-adjustable b the drive to maximize feedback
Referece maximum curret 100 mAMaximum RPM 10,000+
EnCODER EMULATIOn Resolutio Programmable to 16,384 couts/rev (4096 lie ecoder equivalet)
Buffered ecoder outputs 26C31 differetial lie driver
DIGITAL HALLS Tpe Digital, sigle-eded, 120 electrical phase differece
Sigals U, V, WFrequec Cosult Harmoic Drive for speeds >10,000 RPM
EnCODER POWER SUPPLy Power Suppl +5 Vdc @ 400 mA to power ecoders & Halls
Protectio Curret-limited to 750 mA @ 1 Vdc if overloaded
Ecoder power developed from +24 Vdc so positio iformatio is ot lost whe AC mais power is removed
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6.58 167
6.31 160.3
.59 151.17 29.7
3.00 76.2
4.07 103.5
1.17 29.7
6.58 167 6.31 160.3
.16 4.1
2.00 50.8
.89 22.6
R.08 2
3.38 85.7
1.50 38.1
RoHS
DIGITAL SERVO DRIVE for BRUSHLESS or BRUSH MOTORS
DDP Series
DIMEnSIOnS
Weights:Drive: 0.94 lb (0.43 kg)Heatsik: 1.0 lb (0.45 kg)
nOTES
1. Dimesios show i iches [mm].
2. Heatsik is mouted with four screws.Two of these are ot show to showdimesios of slots i the heatplate.
AGEnCy STAnDARDS COnFORMAnCEEn 55011 : 1998 CISPR 11 (1997) Editio 2/Amedmet 2:
Limits ad Methods of Measuremet of Radio Disturbace Characteristics of Idustrial, Scietic, adMedical (ISM) Radio Frequec Equipmet
En 61000-6-1 : 2001 Electromagetic Compatibilit Geeric Immuit Requiremets
Following the provisions of EC Directive 89/336/EEC:
En 61010-1 2dEd.: 2004 Safet Requiremets for Electrical Equipmetfor Measuremet, Cotrol, ad Laborator use
Following the provisions of EC Directive 2006/95/EC
UL 508C 3rdEd.: 2002 UL Stadard for Safet for Power Coversio Equipmet
GEnERAL SPECIFICATIOnS (COnTD)
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CAN Status LED
J6
6
9
1
5
D-Sub 9F
3 3
2 2
18
CAN_L
CAN_GND
CAN_H
CAN_L
RJ-45
CAN_GND
CAN_H7 1
J6
Pin 8Pin 1
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DIGITAL SERVO DRIVE for BRUSHLESS or BRUSH MOTORS
DDP Series
DEVICEnETDevicenet operatio is a commuicatios protocol that uses the CAn bus for the hardware laer. It is emploed b Alle-BradlePLCs ad eables the DDP Series drives to be cotrolled directl from A-B PLCs.For more iformatio o Devicenet commuicatios, dowload the Devicenet FW & EDS les from the Harmoic Drive web-site:Device Firmware & EDSThis lik is to a ZIP le that cotais the Devicenet Programmers guide ad EDS les for Harmoic Drive motio products.
CAnOPEn COMMUnICATIOnDDP Seriesuses the CAn phsical laer sigals CAnH, CAnL, ad GnD for coectio, ad CAnope protocol for commuicatio.Before istallig the drive i a CAn sstem, it must be assiged a CAn address. A maximum of 127 CAn odes are allowed o a sigleCAn bus. The rotar switch o the frot pael cotrols the four lower bits of the seve-bit CAn address. Whe the umber of odes oa bus is less tha sixtee, the CAn address ca be set usig ol the switch.For istallatios with sixtee or more CAn odes o a etwork HDM ca be used to cogure DDP Series to use the rotar switch,or combiatios of digital iputs ad programmed offset i ash memor to cogure the drive with a higher CAn ode address.
For more iformatio o CAnope commuicatios, dowload the CAnope Maual from the Harmoic Drive web-site:CAnope Maual
CAnOPEnBased o the CAn V2.0b phsical laer, a robust, two-wire commuicatio bus origiall desiged for automotive use where low-costad oise-immuit are essetial, CAnope adds support for motio-cotrol devices ad commad schroizatio. The result is ahighl effective combiatio of data-rate ad low cost for multi-axis motio cotrol sstems. Device schroizatio eables multipleaxes to coordiate moves as if the were drive from a sigle cotrol card.
note: Red & gree led o-times do ot overlap.LED color ma be red, gree, off, or ashig of either color.
CAn STATUS LED
COMMUnICATIOnS (COnTInUED)
CAnOPEn COnnECTORSDual RJ-45 coectors that accept stadardEtheret cables are provided for CAn buscoectivit. Pis are wired-through so thatdrives ca be dais-chaied ad cotrolledwith a sigle coectio to the usersCAn iterface. A CAn termiator shouldbe placed i the last drive i the chai.The XTL-nK coector kit provides a D-Subadapter that plugs ito a CAn cotrollerad has a RJ-45 socket that accepts theEtheret cable.
ADP-nK CAn COnnECTOR KITThe kit cotais the XTL-CV adapter that coverts the CAn iterface D-Sub9M coector to a RJ-45 Etheret cable socket, plus a 10 ft (3 m) cable adtermiator. Both coector pi-outs coform to the CiA DR-303-1 specicatio.
J6 CAn COnnECTIOnS
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DIGITAL SERVO DRIVE for BRUSHLESS or BRUSH MOTORS
DDP Series
DRIVE STATUS LEDA sigle bi-color LED gives the state of the drive b chagig color, ad either blikig or remaiig solid.The possible color ad blik combiatios are:
Green/Solid: Drive OK ad eabled. Will ru i respose to referece iputs or CAnope commads. Green/Slow-Blinking: Drive OK but nOT-eabled. Will ru whe eabled. Green/Fast-Blinking: Positive or negative limit switch active. Drive will ol move i directio ot ihibited b limit switch. Red/Solid: Trasiet fault coditio. Drive will resume operatio whe fault is removed. Red/Blinking: Latchig fault. Operatio will ot resume util drive is Reset.
Drive Fault coditios: Over or uder-voltage Motor over-temperature
Ecoder +5 Vdc fault Short-circuits from output to output Short-circuits from output to groud Iteral short circuits Drive over-temperature
Faults are programmable to be eithertrasiet or latchig
COMMUnICATIOnS (COnTInUED)
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PULSE
[IN9+]
[IN7-]
DIRECTION
[IN10+]
[IN8-]
PULSE
[IN9+]
[IN7-]
DIRECTION
[IN10+]
[IN8-]
CD (Count-Down)
CU (Count-Up)
Pulse
Direction
[IN9]
[IN10]
CU
CD
[IN9]
[IN10]
CU (Count-Up)
CD (Count-Down)
Enc. B
Enc. A
[IN9]
[IN10]
Encoder ph. A
Encoder ph. B
Enc A
[IN10+]
[IN8-]
Encoder ph. A
Enc. B
[IN9+]
[IN7-]
Encoder ph. B
Current orVelocity
Polarity orDirection
[IN9]
[IN10]
Duty = 0~100%
Current orVelocity
No function
[IN9]
[IN10]
Duty = 50% 50%
o connection>
Current orVelocity
[IN9+]
[IN7-]
Duty = 50% 50%
No
Function
[IN10+]
[IN8-]
PWM
[IN9+]
[IN7-]
Duty = 0 - 100%
Direction
[IN10+]
[IN8-]
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DIGITAL SERVO DRIVE for BRUSHLESS or BRUSH MOTORS
DDP Series
AnALOG REFEREnCE InPUTA sigle 10 Vdc differetial iput takes iputs from cotrollers that use PID or similarcompesators, ad outputs a curret commad to the drive. Drive output curret orvelocit vs. referece iput voltage is programmable.
COMMAnD InPUTS
DIGITAL POSITIOn
Digital positio commads ca be i either sigle-eded or differetial format. Sigle-eded sigals should be sourced from deviceswith active pull-up ad pull-dow to take advatage of the high-speed iputs. Differetial iputs have 121 Wlie-termiators.
SInGLE-EnDED PULSE & DIRECTIOn
DIFFEREnTIAL CU/CD
DIFFEREnTIAL PULSE & DIRECTIOn
SInGLE-EnDED CU/CD
QUAD A/B EnCODER SInGLE-EnDED QUAD A/B EnCODER DIFFEREnTIAL
DIGITAL TORQUE, VELOCITy
Digital torque or velocit commads ca be i either sigle-eded or differetial format. Sigle-eded sigals must be sourced fromdevices with active pull-up ad pull-dow to take advatage of the high-speed iputs.
SInGLE-EnDED PWM & DIRECTIOn
SInGLE-EnDED 50% PWM DIFFEREnTIAL 50% PWM
DIFFEREnTIAL PWM & DIRECTIOn
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HALLU, V, W
10 k
3.3 nF
74HC14
+5V
10 k
U
V
W
10 k
3.3 nF
74HC14
+5V
4.99 k
[IN5]
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DIGITAL SERVO DRIVE for BRUSHLESS or BRUSH MOTORS
DDP Series
DIGITAL HALL SIGnALSHall sigals are sigle-eded sigals that provide absolute feedback withi oeelectrical ccle of the motor. There are three of them (U, V, & W) ad the ma besourced b magetic sesors i the motor, or b ecoders that have Hall tracks aspart of the ecoder disc. The tpicall operate at much lower frequecies tha themotor ecoder sigals, ad are used for commutatio-iitializatio after startup,ad for checkig the motor phasig after the amplifer has switched to siusoidalcommutatio.
DIGITAL OUTPUTSThe digital outputs are ope-drai MOSFETs with 1 kpull-up resistors i series with a diode to +5Vdc. The ca sik up to 1 Adc from exteral loads operatig from power supplies to +30 Vdc.The output fuctios are programmable. The active state of the outputs is programmable to be oor off.Whe drivig iductive loads such as a rela, a exteral -back diode is required. The iteraldiode i the output is for drivig PLC iputs that are opto-isolated ad coected to +24 Vdc. Thediode prevets coductio from +24 Vdc through the 1 kresistor to +5 Vdc i the drive. This couldtur the PLC iput o, givig a false idicatio of the drive output state.
OUTPUTS
MOTOR PHASE COnnECTIOnS
The drive output is a three-phase PWM iverter that coverts the DC buss voltage(+HV) ito three siusoidal voltage waveforms that drive the motor phase-coils.Cable should be sized for the cotiuous curret ratig of the motor. Motor cabligshould use twisted, shielded coductors for CE compliace, ad to miimize PWMoise couplig ito other circuits. The motor cable shield should coect to motorframe ad the drive frame groud termial (J2-1) for best results.
MOTOR COnnECTIOnSMotor coectios are of three tpes: phase, feedback, ad thermal sesor. The phase coectios carr the drive output currets that
drive the motor to produce motio. A thermal sesor that idicates motor overtemperature is used to shut dow the drive to protectthe motor. Feedback ca be digital quad A/B ecoder, aalog si/cos ecoder, resolver or digital Halls, depedig o the versio of thedrive.
AnALOG EnCODER (-S MODELS)DDP Series supports aalog ecoder sigals for positio feedback. The Si ad
Cos iputs are differetial with 121 termiatig resistors ad accept 1.0 Vp-psigals i the A/B format used b ecoders with aalog outputs such as Heidehai,Stegma, ad Reishaw. Whe HDs ServoTube motors are used the aalog ecodersupplies both commutatio ad icremetal positio feedback.
DIGITAL EnCODERSThe quad A/B ecoder iterface is a differetial lie-receiver with R-C lterig othe iputs. Ecoders with differetial outputs are required because the are lesssusceptible to oise that ca degrade sigle-eded outputs. Ecoder cables shoulduse twisted-pairs for each sigal pair: A & /A, B & /B, X & /X. A overall shieldshould be used, ad for loger cables, shields for idividual pairs ma be ecessarto guaratee sigal itegrit.
MOTOR TEMPERATURE SEnSOR
Digital iput [In5] is for use with a motor overtemperature switch. The iput shouldbe programmed as a pull-up to +5 Vdc if the motor switch is grouded whe cold,ad ope or high-impedace whe over-heatig.
RESOLVER (-R MODELS)
Coectios to the resolver should be made with shielded cable that usesthree twisted-pairs. Oce coected, resolver set up, motor phasig, ad othercommissioig adjustmets are made with CME 2 software. There are o hardwareadjustmets.
J8-8
BRUSHLESS
RESOLVER-
+
-
+J8-13
J8-12
Sin
Cos
J8-7
J8-3
J8-2 Ref
R1
R2
S3
S1
S2
S4
Frame
Ground
J8-1
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1k
22 pF
22 pF
2.2kSecondary
Encoder Input
Input/OutputSelect
Quad A/B FeedbackEncoder
26C31
26C32
+5V
1k
1k
22 pF
22 pF
2.2kSecondaryEncoder Input
Input/OutputSelect
Emulated Quad A/Bsignals fromanalog Sin/Cos encoderor resolver
26C31
26C32
+5V
1k
1k
22 pF
22 pF
2.2k Secondary
Encoder Input
Input/OutputSelect
26C31
26C32
+5V
1k
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DIGITAL SERVO DRIVE for BRUSHLESS or BRUSH MOTORS
DDP SeriesMULTI-MODE EnCODER PORT
This port cosists of three differetial iput/output chaels that take their fuctios from the Basic Setup of the drive.O drives with quad A/B ecoder feedback, the port works as a output bufferig the sigals from the ecoder. With resolver or si/
cos ecoder versios, the feedback is coverted to quad A/B sigals with programmable resolutio. These sigals ca the be fed backto a exteral motio cotroller that closes the positio or velocit loops. As a iput, the port ca take quad A/B sigals to producea dual-loop positio cotrol sstem or use the sigals as master-ecoder feedback i cammig mode. I additio, the port ca takestepper commad sigals (CU/CD or Pulse/Directio) i differetial format.
AS BUFFERED OUTPUTS FROM A DIGITAL QUADRATUREFEEDBACK EnCODER
Whe usig a digital quadrature feedback ecoder, the A/B/X sigals drive
the multi-mode port output buffers directl. This is useful i sstems that useexteral cotrollers that also eed the motor feedback ecoder sigals becausethese ow come from J7, the Cotrol coector. I additio to elimiatig
y cablig where the motor feedback cable has to split to coect to bothcotroller ad motor, the buffered outputs reduce loadig o the feedbackcable that could occur if the motor ecoder had to drive two differetial iputsi parallel, each with its ow 121 ohm termiatig resistor.
AS EMULATED QUAD A/B/X EnCODER OUTPUTS FROM AnAnALOG SIn/COS FEEDBACK EnCODERAalog si/cos sigals are iterpolated i the drive with programmableresolutio. The icremetal positio data is the coverted back ito digitalquadrature format which drives the multi-mode port output buffers. Someaalog ecoders also produce a digital idex pulse which is coected directl
to the ports output buffer. The result is digital quadrature A/B/X sigals thatca be used as feedback to a exteral cotrol sstem.
AS A MASTER OR CAMMInG EnCODER InPUT FROM ADIGITAL QUADRATURE EnCODER
Whe operatig i positio mode the multi-mode port ca accept digitalcommad sigals from exteral ecoders. These ca be used to drive camtables, or as master-ecoder sigals whe operatig i a master/slavecoguratio.
AS DIGITAL COMMAnD InPUTS In PULSE/DIRECTIOn,PULSE-UP/PULSE-DOWn, ORDIGITAL QUADRATURE EnCODER FORMATThe multi-mode port ca also be used whe digital commad sigals are i adifferetial format. These are the sigals that tpicall go to [In9] ad [In10]whe the are sigle-eded. But, at higher frequecies these are likel to bedifferetial sigals i which case the multi-mode port ca be used.
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Motion
ControllerDigital
I/O
DCPower
+
-
5
4J1
J3
Motemp[IN5]
+5 V @250mAOutput
Hall W
Hall V
Hall U
17/Brake[OUT2]
Gnd
W
V
UMotor U
Motor V
Motor W
BRAKE
+24V
HALLS
U
V
W
ENCODERDIGITAL
B
/B
X
/X
MOTOR
+5&
Gnd
forEncoder+Hall
6Rev Enable[IN3]
5Fwd Enable[IN2]
18
19 Signal Gnd
4Enable Input[IN1]
16Fault Output[OUT1]
14
13
+HV Input
Gnd
1
2
3
ENCCh. A
ENCCh. B
15
Fuse
Fuse
Fuse
J2
21
22
23
26
24
25
11
MotionController
EncoderFeedback
EarthCircuit Gnd
Pulse
Dir
/CW
/CCW
Position Ref Inputs Torque & VelocityRef Inputs
Digital Ref Input[IN10]
Digital RefInput [IN9]
PWM50%
nonePOL(DC)
PWM0~100
%
/A
A
/A
A
/B
B
/X
X
20
Signal Gnd
Gnd
+5V @250mA
[OUT3]
Stand-AloneMode
Signals
6Aux HV Input
7 [IN4]
10 [IN6]
11 [IN7]
12 [IN8]
9 [IN12]
8 [IN11]
Amplifier mounting screw
26LS31
Note 2
3 Ref(+)
2 Ref(-)
DAC Out
0V
Analog
Ref Input
14
13
12
11
8
7
3
6
9
15
5
10
2
4
RoHS
DIGITAL SERVO DRIVE for BRUSHLESS or BRUSH MOTORS
DDP SeriesDRIVE COnnECTIOnS
nOTES
1. The fuctios of iput sigals o J2-10, ad J3-5,6,7,8,9,10,11,12,13, ad 14are programmable. Default fuctios are show.
2. The fuctio of [In1] o J3-4 is alwas Drive Eable ad is ot programmable
3. Pis J3-20, J2-2, ad J2-4 all coect to the same +5 Vdc @ 250 mAdc power source.Total curret draw from both pis caot exceed 250 mAdc.
4. Multi-mode ecoder port (J3-21~26) is show cogured for buffered-output of a digital primar motor ecoder.
Note 4
= Shielded cables requiredfor CE compliace
Note 5
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RoHS
DIGITAL SERVO DRIVE for BRUSHLESS or BRUSH MOTORS
DDP Series
PIN SIgNal
1 Motor U Output
2 Motor V Output
3 Motor W Output
4 Groud (HV, Sigal)
5 +HV Iput
6 Aux HV Iput
J1: MOTOR & POWER
J1 CABLE COnnECTOR:
Termial block,6 positio, 5.08 mm, black
Beau: 860506RIA: 31249106Weidmuller: 1526810000PCD: ELFP06210Weco: 121-A-111/06Tco: 796635-6
J4, J5 CABLE COnnECTOR:RJ-45 stle, male, 8 positio
Cable: 8-coductor, modular tpe
J4-J4 CAn BUS
RJ-11 stle, male, 6 positio
Cable: 6-coductor modular tpe
J6 CABLE COnnECTOR
J6 RS-232
J3 CABLE COnnECTOR:High-Desit D-Sub26 Positio, Male#4-40 lockig screws
J2 CABLE COnnECTOR:High-Desit D-Sub15 Positio, Male
#4-40 lockig screws
J3 COnTROL SIGnALS
J2 MOTOR FEEDBACK
PIN SIgNal PIN SIgNal PIN SIgNal
1 Frame Gd 10 [In6] HS 19 Sigal Gd
2 Ref(-) 11 [In7] HS 20 +5 Vdc (note 1)
3 Ref(+) 12 [In8] HS 21 Multi Ecoder /X
4 [In1] Eable 13 [In9] HS 22 Multi Ecoder X
5 [In2] GP 14 [In10] HS 23 Multi Ecoder /B
6 [In3] GP 15 Sigal Gd 24 Multi Ecoder B
7 [In4] GP 16 [OUT1] 25 Multi Ecoder /A
8 [In11] GP 17 [OUT2] 26 Multi Ecoder A
9 [In12] GP 18 [OUT3]
PIN SIgNal PIN SIgNal PIN SIgNal
1 Frame Gd 6 Hall V 11 Ecoder /B
2 +5 Vdc (note 1) 7 Ecoder /X 12 Ecoder B
3 Hall U 8 Ecoder X 13 Ecoder /A
4 +5 Vdc (note 1) 9 Hall W 14 Ecoder A
5 Sigal Gd 10 [In5] Motemp 15 Sigal Gd
PIN SIgNal
1 CAn_H
2 CAn_L
3 CAn_GnD
4 no Coectio
5 Reserved
6 (CAn_SHLD) 1
7 CAn_GnD
8 (CAn_V+) 1
PIN SIgNal
1 no Coectio
2 RxD
3 Sigal Groud
4 Sigal Groud
5 TxD
6 no Coectio
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DRIVE COnnECTIOnS
+
-
1
Stand-AloneModeSignals
MOTOR
DC
Power
EarthCircuit Gnd
W
V
U* Fuse
* Fuse
BRAKE
+24V
* Optional
J1
Motor U
Motor V
Motor W
+HV Input
Gnd
Aux HV Input
17/Brake
[OUT2]
J3
+5V @
250mA
[OUT3]
[IN4]
[IN6]
[IN7]
[IN8]
[IN12]
[IN11]
18
20
7
10
11
12
9
8
Amplifier mounting screw
Signal Gnd
Fault Output[OUT1]
6 Rev Enable[IN3]
5
4
16
Fwd Enable[IN2]
Enable InputNote 2
19
[IN1]
+5 V @250mAOutput
Motemp[IN5]
Gnd
Gnd
15
5
10
2
4
Digital Ref Input
[IN10]
Input [IN9]Digital Ref
+5
&
Gnd
forEncoder+Hall
Hall W
Hall V
Hall U
HALLS
ENCODER
ANALOG
DIGITAL
ENCODER
INDEX
U
V
W
X
/X
Sin(+)
Sin(-)
Cos(+)
Cos(-)
J2
Signal Gnd
Ref(+)
Ref(-)
AnalogRef Input
14
13
15
21
22
23
26
24
25
1 126LS31
3
2
/A
A
/B
B
/X
X
14
13
12
11
8
7
3
6
9
nonePOL
0~100PWM50%
(DC)
PWM
%Pulse
Dir
/CW
/CCW
ENCCh. A
ENCCh. B
Position Ref Inputs Torque & VelocityRef Inputs
Motion
Controller
Digital
I/O
MotionController
Encoder
Feedback
DAC Out
0V
Fuse5
4
1
2
3
6
Note: CE symbols indicate shieldingon cables and grounding
connections that arerequired for CE compliance
RoHS
DIGITAL SERVO DRIVE for BRUSHLESS or BRUSH MOTORS
DDP Series
nOTES
1. The fuctios of iput sigals o J2-10, ad J3-5,6,7,8,9,10,11,12,13, ad 14are programmable. Default fuctios are show.
2. The fuctio of [In1] o J3-4 is alwas Drive Eable ad is ot programmable3. Pis J3-20, J2-2, ad J2-4 all coect to the same +5 Vdc @ 250 mAdc power source.
Total curret draw from both pis caot exceed 250 mAdc.
4. Multi-mode ecoder port (J3-21~26) is show cogured for buffered-output of a digital primar motor ecoder.
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RoHS
DIGITAL SERVO DRIVE for BRUSHLESS or BRUSH MOTORS
DDP Series
J1 CABLE COnnECTOR:
Termial block,6 positio, 5.08 mm, black
Beau: 860506RIA: 31249106Weidmuller: 1526810000PCD: ELFP06210Weco: 121-A-111/06Tco: 796635-6
J3 COnTROL SIGnALS
J3 CABLECOnnECTOR:High-Desit D-Sub26 Positio, Male
J2 CABLE COnnECTOR:High-Desit D-Sub15 Positio, Male
J2 MOTOR FEEDBACK
J1: MOTOR & POWER
J4, J5 CABLE COnnECTOR:RJ-45 stle, male, 8 positio
Cable: 8-coductor, modular tpe
J4-J4 CAn BUS
RJ-11 stle, male, 6 positio
Cable: 6-coductor modular tpe
J6 CABLE COnnECTOR
J6 RS-232
PIN SIgNal PIN SIgNal PIN SIgNal
1 Frame Gd 10 [In6] HS 19 Sigal Gd
2 Ref(-) 11 [In7] HS 20 +5 Vdc (note 1)
3 Ref(+) 12 [In8] HS 21 Multi Ecoder /X
4 [In1] Eable 13 [In9] HS 22 Multi Ecoder X
5 [In2] GP 14 [In10] HS 23 Multi Ecoder /B
6 [In3] GP 15 Sigal Gd 24 Multi Ecoder B
7 [In4] GP 16 [OUT1] 25 Multi Ecoder /A
8 [In11] GP 17 [OUT2] 26 Multi Ecoder A
9 [In12] GP 18 [OUT3]
PIN SIgNal PIN SIgNal PIN SIgNal
1 Frame Gd 6 Hall V 11 Ecoder Cos(-)
2 +5 Vdc (note 1) 7 Ecoder /X 12 Ecoder Cos(+)
3 Hall U 8 Ecoder X 13 Ecoder Si(-)
4 +5 Vdc (note 1) 9 Hall W 14 Ecoder Si(+)
5 Sigal Gd 10 [In5] Motemp 15 Sigal Gd
PIN SIgNal
1 Motor U Output
2 Motor V Output
3 Motor W Output
4 Groud (HV, Sigal)
5 +HV Iput
6 Aux HV Iput
PIN SIgNal
1 CAn_H
2 CAn_L
3 CAn_GnD
4 no Coectio
5 Reserved
6 (CAn_SHLD) 1
7 CAn_GnD
8 (CAn_V+) 1
PIN SIgNal
1 no Coectio
2 RxD
3 Sigal Groud
4 Sigal Groud
5 TxD
6 no Coectio
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RoHS
DIGITAL SERVO DRIVE for BRUSHLESS or BRUSH MOTORS
DDP Series
J1 CABLE COnnECTOR:
Termial block,6 positio, 5.08 mm, black
Beau: 860506RIA: 31249106Weidmuller: 1526810000PCD: ELFP06210Weco: 121-A-111/06Tco: 796635-6
J3 COnTROL SIGnALS
J3 CABLECOnnECTOR:High-Desit D-Sub26 Positio, Male
J2 CABLE COnnECTOR:High-Desit D-Sub15 Positio, Male
J2 MOTOR FEEDBACK
J1: MOTOR & POWER
J4, J5 CABLE COnnECTOR:RJ-45 stle, male, 8 positio
Cable: 8-coductor, modular tpe
J4-J4 CAn BUS
RJ-11 stle, male, 6 positio
Cable: 6-coductor modular tpe
J6 CABLE COnnECTOR
J6 RS-232
PIN SIgNal PIN SIgNal PIN SIgNal
1 Frame Gd 10 [In6] HS 19 Sigal Gd
2 Ref(-) 11 [In7] HS 20 +5 Vdc (note 1)
3 Ref(+) 12 [In8] HS 21 Multi Ecoder /X
4 [In1] Eable 13 [In9] HS 22 Multi Ecoder X
5 [In2] GP 14 [In10] HS 23 Multi Ecoder /B
6 [In3] GP 15 Sigal Gd 24 Multi Ecoder B
7 [In4] GP 16 [OUT1] 25 Multi Ecoder /A
8 [In11] GP 17 [OUT2] 26 Multi Ecoder A
9 [In12] GP 18 [OUT3]
PIN SIgNal
1 Motor U Output
2 Motor V Output
3 Motor W Output
4 Groud (HV, Sigal)
5 +HV Iput
6 Aux HV Iput
PIN SIgNal
1 CAn_H
2 CAn_L
3 CAn_GnD
4 no Coectio
5 Reserved
6 (CAn_SHLD) 1
7 CAn_GnD
8 (CAn_V+) 1
PIN SIgNal
1 no Coectio
2 RxD
3 Sigal Groud
4 Sigal Groud
5 TxD
6 no Coectio
PIn SIGnAL PIn SIGnAL PIn SIGnAL
1 Frame Gd 6 Frame Gd 11 Frame Gd
2 Ref(-) Output R2 7 Si(-) Iput S1 12 Cos(-) Iput S4
3 Ref(+) Output R1 8 Si(+) Iput S3 13 Cos(+) iput S2
4 n.C. 9 n.C. 14 n.C.
5 Sigal Gd 10 [In5] Motemp 15 Sigal Gd
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DDPAmplifier
Switching
Power
Supply
+HV
Gnd
(+)
(-)
POWER SUPPLIES
DDP Series operates tpicall fromtrasformer-isolated, uregulated DC
power supplies. These should be sized suchthat the maximum output voltage uderhigh-lie ad o-load coditios does otexceed the drives maximum voltage ratig.Power suppl ratig depeds o the powerdelivered to the load b the drive. I macases, the cotiuous power output of thedrive is cosiderabl higher tha the actualpower required b a icremetal motioapplicatio.
Operatio from regulated switchig power
supplies is possible if a diode is placedbetwee the power suppl ad drive toprevet regeerative eerg from reachigthe output of the suppl. If this is doe,there must be exteral capacitace betweethe diode ad drive.
MOUnTInG & COOLInG
DDP Series has slots for moutig to paelsat 0 or 90. Coolig is b coductio fromdrive heatplate to moutig surface, or bcovectio to ambiet.
A heatsik (optioal) is required for thedrive to deliver the rated cotiuousoutput curret. Depedig o the drivemoutig ad coolig meas this ma otbe required.
GROUnDInG COnSIDERATIOnS
Power ad cotrol circuits i DDP Series share a commo circuit-groud (Gd o J1-4, adSigal Groud o J2-2, 10 ,15 ,20, ad J3-2, 23). Iput logic circuits are refereced to
Sigal Groud, as are aalog Referece iputs, digital outputs, ecoder ad Hall sigals.For this reaso, drive Gd termials should coect to the users commo groud sstemso that sigals betwee drive ad cotroller are at the same commo potetial, ad tomiimize oise. The sstem groud should, i tur, coect to a earthig coductor atsome poit so that the whole sstem is refereced to earth. The CAn ports are opticallisolated from the drive circuits.
Because curret ow through coductors produces voltage-drops across them, it is bestto coect the drive HV Retur to sstem earth, or circuit-commo through the shortestpath, ad to leave the power-suppl oatig. I this wa, the power suppl (-) termialcoects to groud at the drive HV Retur termials, but the voltage drops across thecables will ot appear at the drive groud, but at the power suppl egative termial
where the will have less effect.
Motor phase currets are balaced, but currets ca ow betwee the PWM outputs, adthe motor cable shield. To miimize the effects of these currets o earb circuits, thecable shield should coect to Gd (J1-4).
The drive case does ot coect to a drive circuits. Coectios to the case are providedo coectors J2-1, ad J3-1. Cables to these coectors should be shielded for CEcompliace, ad the shields should coect to these termials. Whe istalled, the drivecase should coect to the sstem chassis. This maximizes the shieldig effect of the case,ad provides a path to groud for oise currets that ma occur i the cable shields.
Sigals from cotroller to drive are refereced to +5 Vdc, ad other power supplies i
user equipmet. These power supplies should also coect to sstem groud ad earthat some poit so that the are at same potetial as the drive circuits.
The al coguratio should embod three curret-carrig loops. First, the power supplcurrets owig ito ad out of the drive at the +HV ad Gd pis o J1. Secod thedrive outputs drivig currets ito ad out of the motor phases, ad motor shield curretscirculatig betwee the U, V, ad W outputs ad Gd. Ad, lastl, logic ad sigal curretscoected to the drive cotrol iputs ad outputs.
For CE compliace ad operator safet, the drive should be earthed b usig exteral toothlockwashers uder the moutig screws. These will make cotact with the alumium chassisthrough the aodized ish to coect the chassis to the equipmet frame groud.
AUXILIARy HV POWER
DDP Series has a iput for AUX- HV.This is a voltage that ca keep the drivecommuicatios ad feedback circuitsactive whe the PWM output stage has bee
disabled b removig the mai +HV suppl.This ca occur durig EMO (Emergec Off)coditios where the +HV suppl must beremoved from the drive ad powered-dowto esure operator safet. The AUX HV iputoperates from a DC voltage that is withithe operatig voltage rage of the drive adpowers the DC/DC coverter that suppliesoperatig voltages to the drive DSP adcotrol circuits.
Whe the drive +HV voltage is greater thathe AUX-HV voltage it will power the DC/DCcoverter. Uder these coditios the AUX-HV iput will draw o curret.
= Shielded cables requiredfor CE compliace
RoHS
DIGITAL SERVO DRIVE for BRUSHLESS or BRUSH MOTORS
DDP Series
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MOTOR
CONTROLLER
DDP
FEEDBACK
DCPOWER
SUPPLY
J1
J2J3
RoHS
DIGITAL SERVO DRIVE for BRUSHLESS or BRUSH MOTORS
DDP Series
Groudig ad shieldig are the meas ofcotrollig the emissio of radio frequec
eerg from the drive so that it does otiterfere with other electroic equipmet.
The use of shielded cables to coect thedrive to motors ad feedback devices is awa of extedig the chassis of the driveout to these devices so that the coductorscarrig oise geerated b the driveare completel eclosed b a coductiveshield.
The process begis at the coector J1
of the drive. Whe possible, it is best togroud the (-) HV termial to the equipmetearth groud with as short a coectio aspossible. The drives PWM outputs producecurret pulses i the wires betwee drivead power suppl. B groudig the powersuppl at the drive ed of the cables, thisoise will ot appear betwee earth groudad drive circuit groud. Ad, usig shieldedcable betwee drive ad power suppl willprovide a retur path for oise produced i
the cables that might otherwise radiate toadjacet equipmet.
The shield of the motor cable should alsocoect to either J1-4, or to a earb stargroud at the chassis where the power-suppl (-) termial coects. Coectigthe shields of the motor cable to the motorframe completes the retur path for oisethat is capacitivel coupled to the motorframe.
next, groud the motor heatplate usiga exteral-tooth lockig washer. Thiswill peetrate the aodized ish of theheatplate (which is a electrical isulator)ad make good electrical cotact with thealumium plate. Groudig the heatplatei this wa shortes the path from driveto earth groud ad further reducesemissios.
Shield should also be added to the cablesfrom the motio cotroller or cotrol
sstem, ad from the feedback device othe motor.
notes:
1) Shielded cables required for CE are show i thediagram above.
GROUnDInG & SHIELDInG FOR CE
DIGITAL SERVO DRIVE f BRUSHLESS BRUSH MOTORS
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RoHS
DIGITAL SERVO DRIVE for BRUSHLESS or BRUSH MOTORS
DDP Series
ADP-nC-10 (10 ft)ADP-nC-01 (1 ft)
DB-9 TO RJ-45 ADAPTER& 10 FT CABLE (2)
SER-CK
SERIAL CABLE KIT (1)
notes:
1. Ol oe SER-CK is eeded per istallatio
2. Icluded i CAnope network Kit ADP-nK
3. Order oe cable (1 or 10 ft) for each additioaldrive
CAn TERMInATOR (2)
(for last ode o CAn bus)
CAn nETWORK CABLE (3)
ADP-CK
POWER SUPPLy
Mais-isolated DCRequired for all sstemsUser-supplied
Multiple drives are coected asodes o a CAn bus
Idividual drives are coguredusig a RS-232 coectio adHDM software
HV/MOTOR,FEEDBACK & COnTROLCOnnECTOR KIT
+HV
ADP-HK
HEATSInK
(Optioal)
CAnOPEn COnFIGURATIOn
Add -S to part umbers above for si/cos feedbackAdd -R to part umbers for resolver feedback
PART nUMBER DESCRIPTIOn
DDP-055-18 DDP SeriesServo drive, 55 Vdc, 6/18 A
DDP-090-09 DDP SeriesServo drive, 90 Vdc 3/9 A
DDP-090-18 DDP SeriesServo drive, 90 Vdc, 6/18 A
DDP-090-36 DDP SeriesServo drive, 90 Vdc, 12/36 A
DDP-180-09 DDP SeriesServo drive, 180 Vdc, 3/9 A
DDP-180-18 DDP SeriesServo drive, 180 Vdc, 6/18 A
ADP-CKCoector Kit for DDP Series(P1 plug, ad
plugs with soldercups & backshells for P2 & P3)
ADP-nK CAn network Kit (Sub-D 9F to RJ-45 adapter,10 ft. modular cable, ad CAn termiator)
ADP-nC-10 CAn etwork cable, 10 ft (3 m)
ADP-nC-01 CAn etwork cable, 1 ft (0.3 m)
HDM CD with HDM Coguratio Software
SER-CK RS-232 Cable Kit
ADP-HK Heatsik (optioal)
DIGITAL SERVO DRIVE for BRUSHLESS or BRUSH MOTORS
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RoHS
DIGITAL SERVO DRIVE for BRUSHLESS or BRUSH MOTORS
DDP Series
+HV/MOTORFEEDBACK AnD COnTROLCOnnECTOR KIT
SER-CK
ADP-CK
SERIAL CABLE KIT (1)
POWER SUPPLy
Mais-isolated DCRequired for all sstemsUser-supplied
HEATSInK
(Optioal)
Curret or Velocit Mode Sigals:PWM & PolaritPWM 50%10V Aalog
Positio-mode Sigals:Step/DirectioCW/CCW10V Aalog
Electroic Gearig Sigals:A/B Quadrature ecoder
HDM is used for setup adcoguratio.
DDP-HK
+HV
STAnD-ALOnE COnFIGURATIOn
Add -S to part umbers above for si/cos feedbackAdd -R to part umbers for resolver feedback
PART nUMBER DESCRIPTIOn
DDP-055-18 DDP SeriesServo drive, 55 Vdc, 6/18 A
DDP-090-09 DDP SeriesServo drive, 90 Vdc 3/9 A
DDP-090-18 DDP SeriesServo drive, 90 Vdc, 6/18 A
DDP-090-36 DDP SeriesServo drive, 90 Vdc, 12/36 A
DDP-180-09 DDP SeriesServo drive, 180 Vdc, 3/9 A
DDP-180-18 DDP SeriesServo drive, 180 Vdc, 6/18 A
ADP-CKCoector Kit for DDP Series(P1 plug, ad
plugs with soldercups & backshells for P2 & P3)
HDM CD with HDM Coguratio Software
SER-CK RS-232 Cable Kit
ADP-HK Heatsik (optioal)
DIGITAL SERVO DRIVE for BRUSHLESS or BRUSH MOTORS
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0
5
10
15
20
25
30 180
85
55
25
6543210
Output Current (A)
A
mplifierDissipation(W)
Amplifier Dissipation vs.
Output Current
0
5
10
15
20
2590
55
25
121086420
Output Current (A)
AmplifierDissipation(W)
Amplifier Dissipation vs.
Output Current
RoHS
DIGITAL SERVO DRIVE for BRUSHLESS or BRUSH MOTORS
DDP SeriesPOWER DISSIPATIOn
The charts o this page show the drive iteral power dissipatio for the DDP Seriesmodels uder differig power suppl ad output
curret coditios. Drive output curret is calculated from the motio prole, motor, ad load coditios. The values o the chartrepreset the RMS (root-mea-square) curret that the drive would provide durig operatio. The +HV values are for the average DCvoltage of the drive power suppl.
Whe +HV ad drive output curret are kow, the drive power dissipatio ca be foud from the chart. Oce this is doe use the datao the facig page to d drive thermal resistace. From this calculate the maximum ambiet operatig temperature. If this result islower tha the kow maximum ambiet temperature the a moutig with a lower thermal resistace must be used.
Whe the drive is disabled the power dissipatio is show o the chart as Off. note that this is a differet value tha that of a drivethat is O but outputtig 0 A curret.
DDP-090-36
180 VDC MODELS
DDP-090-18DDP-055-18
DDP-090-09
55 & 90 VDC MODELS
DDP-180-18
DDP-180-09
DIGITAL SERVO DRIVE for BRUSHLESS or BRUSH MOTORS
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RoHS
DIGITAL SERVO DRIVE for BRUSHLESS or BRUSH MOTORS
DDP Series
Thermal data for covectio-coolig with
a heatsik assumes a vertical moutig ofthe drive o a thermall coductig surface.Heatsik s ru parallel to the log axis ofthe drive. Whe fa-coolig is used verticalmoutig is ot ecessar to guarateethermal performace of the heatsik.
Thermal resistace is a measure of the temperature rise of the drive heatplate due to
power dissipatio i the drive. It is expressed i uits of C/W where the degrees are thetemperature rise above ambient.
E.g., a drive dissipatig 16 W mouted with o heatsik or fa would see a temperaturerise of 46 C above ambiet based o the thermal resistace of 2.9 C/W. Usig the drivemaximum heatplate temperature of 70 C ad subtractig 46 C from that would give 24C as the maximum ambiet temperature the drive i which the amplier could operatebefore goig ito thermal shutdow. To operate at higher ambiet temperatures a heatsikor forced-air would be required.
EnD VIEWSVERTICAL MOUnTInG
THERMAL RESISTAnCEMOUnTInG
TOP VIEWVERTICAL MOUnTInG
WITH FAn
heatSINk + faN C/W
FORCED-AIR, 300 LFM 0.6
heatSINk, No faN C/W
COnVECTIOn 1.7
No heatSINk, No faN C/W
COnVECTIOn 2.9
DIGITAL SERVO DRIVE for BRUSHLESS or BRUSH MOTORS
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RoHSDDP Series
Rev 1.04_mo 07/27/2009
MASTER ORDERInG GUIDE
note: Specicatios subject to chage without otice
Add -S to part umbers above for si/cos feedbackAdd -R to part umbers for resolver feedback
ACCESSORIES
Example: Order a DDP-090-18-S servo drive with heatsik istalled at factor ad associated compoets:
Qt Item Remarks
1 DDP-090-18-S-H DDP Seriesservo drive 1 ADP-CK Coector Kit
1 SER-CK Serial Cable Kit1 HDM HDM CD
ORDERInG EXAMPLE
QTy DESCRIPTIOn
Coector Kit
ADP-CK
1 Coector, 6 Termial, 5.08 mm
1 26 Pi Coector, High Desit, D-Sub, Solder Cup
1 26 Pi Coector Backshell
1 15 Pi Coector, High Desit, D-Sub, Solder Cup
1 15 Pi Coector Backshell
CAnopenetwork KitADP-nK
1 Adapter Ass, DB9 Female to RJ45 Jack (XTL-CV)
1 CAnope network Cable, 10 ft. (XTL-nC-10)
1 CAnope network Termiator (XTL-nT)
Heatsik KitADP-HK
1 Heatsik, Low Prole
1 Heatsik Thermal Material
4 Heatsik Hardware
ADP-CV Adapter Assembl, DB9 Female to RJ45 Jack
ADP-nC-10 CAnope network Cable, 10 ft
ADP-nC-01 CAnope etwork cable, 1 ft
ADP-nT CAnope network Termiator
HDM HDM Drive Coguratio Software o CD-ROM
SER-CK Serial Cable Kit
PART nUMBER DESCRIPTIOn
DDP-055-18 DDP Series Servo drive, 55 Vdc, 6/18 A
DDP-090-09 DDP Series Servo drive, 90 Vdc 3/9 A
DDP-090-18 DDP Series Servo drive, 90 Vdc, 6/18 A
DDP-090-36 DDP Series Servo drive, 90 Vdc, 12/36 A
DDP-180-09 DDP Series Servo drive, 180 Vdc, 3/9 A
DDP-180-18 DDP Series Servo drive, 180 Vdc, 6/18 A