User Manual

BL3410E2-D04-AC120
Plug-n-Play Servo System
with digital drive, brushless motor and cables
(10.5 lb-in, 6000 rpm)


v. 1.02
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2
Thank you for purchasing this QuickStart package!
QuickStart makes it easy to set up Advanced Motion Controls drives to get your system
running quickly. The drive and motor have been matched with each other, the cables are
custom made for this system and an interface board simplifies integration with your
controller.

Remember, if you need us, we are here for you!
Our goal is to get you up and running as quickly as possible. If at any point you have a
question, a team of applications engineers and our customer service staff are just a phone
call away. We are available weekdays from 8am to 5pm Pacific Time at 805-389-1935.
We can also be contacted via email through our website www.a-m-c.com - go to Contact
Us.






4 steps to success!
1
Getting Started
Whats included with
QuickStart and what
to expect.
2
5-Minute
QuickStart
Lets spin the motor!
3
Integrate
QuickStart into
your System
Get your machine
working.
4
Going into
Production
Transitioning from
prototype to
production.

This manual has been laid out in four sections to guide you through the process of setting
up and integrating your QuickStart system. By following each step in succession you will
first be introduced to QuickStart, then hook up the system for a simple bench test, and then
integrate QuickStart into your machine and finally transition into the production stage.



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Getting Started


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3
BL3410E2-D04-AC120

What to Expect

What is 'QuickStart'?
QuickStart is a system offering including: a drive, a motor, all necessary cables, and an
interface board with screw terminal connections - all in one box ready for fast delivery!

What purpose does 'QuickStart' serve?
QuickStart is intended to introduce OEMs to Advanced Motion Controls servo drives and
provide a positive first experience.

Why is Advanced Motion Controls offering a 'QuickStart' package?
We realize that many OEMs today are faced with trying to get their machinery to market
using the fastest possible methods. Our solution is to provide a means by which motion
control can be quickly proven.

How does 'QuickStart' benefit new users?
QuickStart is designed to make system prototyping easier to include Advanced Motion
Controls' servo drives. The attraction to OEM's is a savings of time, money and the
personnel needed to move from conception to production. Preconfigured wiring means you
can have the motor turning within 5 minutes of opening the box!

Are the motors available for individual resale?
Quite simply, not from Advanced Motion Controls. The motors in these packages are meant
to represent what is commonly available from many different manufacturers. Your local
Advanced Motion Controls representative can handle requests for motor model information
for additional purchases.

How is 'QuickStart' pricing important to me?
Careful selection of systems incorporate popular Advanced Motion Control's servo drives in
order to maximize exposure and minimize costs.

What other considerations should you know about 'QuickStart'?
Although it will be hard to find easy-to-configure systems like these at lower prices
anywhere, QuickStart isn't intended for multiple, pre-packaged system selling. Initial
exposure to Advanced Motion Controls' drives is the key. Each project will be followed up by
our Sales department to determine overall progress and assist in determining the next step.
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Getting Started


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4
Package Contents Checklist
Digital Servo Drive DPRAHIE-015N400
Brushless NEMA 34 Motor w/encoder MBL3410E2
Screw Terminal Board System Interface Board (SIB)
Feedback / Commutation Cable (10 foot) CBL-F02-10
Motor Power Cable (10 foot) CBL-P05-10
Drive Cable (1.5 foot) CBL-D03
RS232 Communication Cable CBL-RS232
Quick Connect Sheet
User Manual Documentation
Brochure with CD ROM



Additional Requirements
Item Notes
Power Source
Requirements:
120VAC 60 Hz Single Phase
or
208VAC 60 Hz Three Phase
Acceptable Operating Range 40 250 VAC
Single Phase or Three Phase
Controller
Supported Command Inputs:
+/-10V command signal
Step and Direction (24V)
Encoder Following (electronic gearing)
Windows PC
Computer with serial port to run the DriveWare software
for drive configuration.




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5-Minute QuickStart


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5
Lets spin the motor!

This quick setup procedure will get the motor moving in a short amount of time without the
need for a controller. The drive has been pre-configured for velocity mode with a slight
offset. This will turn the motor at a slow steady speed on power-up to demonstrate
operation. Once the system is shown to be operational, the next section Integrating
QuickStart into your System will guide you through the process of integrating the system
into your application.


Wiring
On page 7 you will find the cables and connections sheet. Use this as a reference when
following the steps in this section.

Drive
Connect either end of cable CBL-D03 to the I/O connector on the drive. Connect the other
end to the C2 connector on the system interface board (SIB).

Feedback
CBL-F02-10 is the feedback cable. Connect the black connectors and shield drain wire on
this cable to the corresponding connectors on the motor. Connect the 15pin D-sub end of
this cable to the Feedback connector on the Drive.

Motor and System Power
Connect the white connector on the motor power cable CBL-P05-10 to the corresponding
connector on the motor. Connect the other end of the cable to the Power connector on the
drive.
Red Motor Power A
White Motor Power B
Black Motor Power C
White AC Power L1
Black AC Power L2
The drive is set up to use 120VAC single phase as the power source. Do not apply power at
this time. An AC power strip or other switch can be used to make cycling power more
convenient during testing.


Grounding
Bring all ground wires to a central point ground such as a ground bus, ground plane or a
single ground bolt. Also don't forget to ground the drive chassis! Use the screw marked PE
on the case.

Motor Ground Ground the motor through direct contact with the machine housing or a
short heavy wire from the motor to earth ground. The green wire coming from motor power
cable should only be used if you cant bring the motor case directly to ground. Dont ground
the motor at both the green wire and the motor case since this creates a ground loop that
disrupts the feedback signals.
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Inhibit Switch (optional for this section)
Digital Input 1 has been assigned as the Inhibit function and this can be used to
inhibit/enable the drive. To do this you will need a switch and a 24V supply.
1. Bring the 24V ground to pin 15 (input common).
2. Tie one terminal of the switch to +24V and the other to pin 11.
With this configuration, opening the switch Enables the drive, closing the switch Disables
the drive.


User Interface and RS232 Cable
The user interface and RS232 Cable should not be hooked up for the 5-Minute QuickStart
procedure.

Cautions
Unexpected motion To prevent the motor from jumping unexpectedly and causing
damage, the motor should be secured either with clamps or bolted down using its mounting
holes.
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7
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8
Inhibit Line Test (optional) Follow this step only if you installed the inhibit switch
described in the wiring section on page 6. This is to verify that the optional inhibit switch is
functioning and the drive is initially powered up in a disabled state.
1. Unplug the motor by disconnecting the white connector on CBL-P05-10. Unplugging
this connection allows you to power up the system without the possibility of spinning
the motor.
2. Apply power to the drive and your 24V supply. Toggle the inhibit switch and verify
that you can cause the LED color to switch between Red and Green. Set the switch
so the LED is Red.
3. Remove power and reconnect the white connector on CBL-P05-10.


System Power Up
1. Apply power to the drive. If an inhibit switch has been installed, enable the drive by
toggling the inhibit switch so the LED turns Green.
2. The motor should turn at a slow speed.
3. If the motor turns then the system has been hooked up correctly. Remove power
and continue to the next section. If not then go to Troubleshooting.
4. To remove the offset from the motor, follow the instructions in Section 3b
Configuration to connect to the drive and set the offset to 0.



Troubleshooting
LED not lit. Verify that power has been applied to the drive.
Motor doesnt have holding torque Verify that the LED is Green.
LED doesnt turn Green.
Verify all cables are connected.
If an Inhibit Switch has been installed, toggle the
Inhibit switch.
Motor is noisy and vibrates.
This can happen if there is noise on the feedback
signal. Poor system grounding is the primary cause
for excessive noise.

Verify that the system is properly grounded, then
cycle power.
Contact Factory - If you cant get the motor turning within a few minutes, please call and
ask for technical support! 805-389-1935. We want to get you up and running quickly!



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The following instructions are a continuation of the 5-Minute QuickStart. This section
explains controller wiring, drive configuration, drive mounting, motor mounting, SIB
mounting and load coupling.



Signal Ground
Many of the Inputs and Outputs on this drive are isolated from each other. To control/read
a given input/output the signal and return path must be wired correctly. This manual will
explain how to wire the following signals:
Analog Reference Input
24V Step & Direction Command
Encoder Following
Digital Inputs 1 and 2
To wire the other inputs/outputs use the block diagram on the drive datasheet to visualize
the correct wiring.

Command Signal
The command signal and servo drive mode you choose are dictated by the capabilities of
your controller and the desired operation of your system. Analog command signals are
suited for torque and velocity modes, while digital command signals such as Step &
Direction and Encoder Following are associated with Position mode.

+/-10V Command Signal (Single Ended)
Controller SIB
Available
Drive Modes
Command C3-4 (Ref+)
Signal Ground
C3-2 or C3-16
(SGND)
Torque Mode,
Velocity Mode
To avoid ground loops there should only be one connection between the drive signal ground and the controller
signal ground. Dont add a connection if there is already continuity between the two grounds.

+/-10V Command Signal (Differential)
Controller SIB
Available
Drive Modes
Command + C3-4 (Ref+)
Command - C3-5 (Ref-)
Signal Ground
C3-2 or C3-16
(SGND)
Torque Mode,
Velocity Mode
To avoid ground loops there should only be one connection between the drive signal ground and the controller
signal ground. Dont add a connection if there is already continuity between the two grounds.

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24V Step & Direction
Controller SIB
Available
Drive Mode
Step C3-17 (+PDI5)
Direction C3-18 (+PDI6)
Input Common C3-15
Position Mode

Encoder Following
The Encoder Following command signals are not accessed through the SIB (System
Interface Board). Rather they are accessed directly from the Auxiliary Feedback Connector
labeled Aux Encoder on the drive.
Controller
Aux Feedback
Connector on
Drive
Available
Drive Mode
Channel A Pin 4 (PDI8)
Channel A- Pin 5 (PDI8-)
Channel B Pin 6 (PDI9)
Channel B- Pin 7 (PDI9-)
Position Mode
Signal Ground
Pin 10, 11 or 12
(SGND)

For a single ended command signal, leave Channel A- and Channel B- disconnected.

More Information on Mode Selection
Drive modes can be separated into three basic categories: Torque, Velocity and Position.
The name of the mode describes what servo loops are being closed in the drive. They dont
describe the end-result of the operation. For example, a drive in Torque mode can still be
in a positioning application if the external controller closes the position loop. In fact, most
high performance positioning systems use a drive in torque mode with the controller closing
the velocity and position loops.

The correct mode is determined by the requirements of the controller. Some controllers
require that the drive be in torque mode. Other controllers require that the drive be in
velocity mode. Check the documentation on your controller or contact the manufacturer of
your controller to determine the correct mode for your drive.

Once the command signal and mode have been selected, connect the controller to the
signals as indicated in the above tables. The proper gains and command settings must also
be configured using the DriveWare Software. Software configuration is explained later in
this section.
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11
Drive Inhibit (recommended)
The inhibit line is used to turn off power to the motor while the drive is still powered on.
Sometimes this is necessary if power to the motor needs to be removed quickly or if the
user needs to manually move the load in a freewheeling condition. If your controller has an
inhibit function then we highly recommend that you use it.

Inhibit Connection
Controller SIB
Inhibit C3-11 (PDI1)
Input Common C3-15

Note: The inhibit input is configured to disable the drive when pulled low (active low). The
control logic can be inverted by setting it to active high in the DriveWare software.


Feedback
The feedback on the motor is an incremental encoder with two Channels (A and B) and an
Index (I). The signals are differential but are compatible with single ended circuitry (simply
leave the complimentary signals open A-, B- and I-). The resolution is 10000 counts per
revolution (quadrature).

Power Requirements - Encoder power is supplied by the drive. 5VDC @ 125mA.

The screw terminals on the System Interface Board (SIB) provide easy access to the
encoder signals.

Encoder connection to your controller
Signal SIB
Channel A+ C3-20
Channel A- C3-21
Channel B+ C3-22
Channel B- C3-23
Channel I+ C3-24
Channel I- C3-25
To properly detect the encoder signals, the Signal Grounds on the servo drive and controller need to be connected.


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12
Drive Mounting
Mounting Dimensions can be found in the drive datasheet in the Appendix.

The drive can be mounted flat against the base plate or along the spine.

Mounting the drive flat on the base plate against a large thermally conductive surface for
cooling will provide the most natural heat dissipation for the drive. A metal back plane in a
cabinet on the machine often makes a good surface.

Drives mounted on the spine can be mounted next to each other. Maintain a minimum
separation of 1 inch between drives to provide adequate convection cooling.

Note: Additional cooling may be necessary to dissipate the heat generated by the drive
depending on the ambient temperature, duty cycle and natural ventilation.



Motor Mounting
Mounting Dimensions can be found in the motor datasheet in the Appendix.

The mounting surface must be stiff enough so it does not deflect when radial loads are
applied to the motor shaft. The mounting surface should also have good thermal
conductivity, especially if peak performance is demanded of the motor.



SIB Mounting
Mounting Dimensions can be found in the SIB datasheet in the Appendix.

The SIB can be mounted using the mounting holes or a DIN tray such as from Phoenix
Contact. If using the mounting holes, standoffs must be used to keep the bottom of the SIB
from shorting with the mounting surface.



Cable Routing
Cable Datasheets can be found in the Appendix.

QuickStart cables come with excellent shielding and make proper grounding easy. This
makes proper cable routing less critical, however proper routing practices should still be
followed.

Route cables to minimize length and minimize exposure to noise sources. The motor power
wires are a major source of noise and the motor feedback wires are susceptible to receiving
noise. This is why it is never a good practice to route the motor power wires close to the
motor feedback wires even if they are shielded. Although both of these cables originate at
the amplifier and terminate at the motor, try to find separate paths that maintain distance
between the two. A rule of thumb for the minimum distance between these wires is 1cm for
every 1m of cable length.


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Grounding
Bring all ground wires to a central point ground such as a ground bus, ground plane or a
single ground bolt. Also don't forget to ground the drive chassis! Use the silver screw
marked PE on the case.

Motor Ground The green wire coming from motor power cable is the motor chassis
ground. If the motor case is already grounded through direct contact with the machine
housing, then leave the green wire disconnected. Grounding the motor at both the green
wire and at the motor case causes a ground loop that has been shown to disrupt the
feedback signals. Choose one or the other.

Grounding the motor case directly rather than through the green grounding wire results in
better noise reduction.



Load Coupling
A non-rigid coupling must be used between the motor shaft and the load to minimize
mechanical stress due to radial loads, axial loads or misalignment. If you feel that the
radial load on the motor is excessive, you may want to consider connecting the motor to an
idler shaft that is supported by pillow block bearings (or similar). Then the load can be
coupled to the idler shaft without risking damage to the motor bearings.
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14
Configuration / Software

Advanced Motion Controls DP Series DigiFlex

Servo Drives are configured using the

DriveWare configuration software. DriveWare can be found on the CD ROM that came with
your QuickStart package or it can be downloaded from the Advanced Motion Controls
website at
http://www.a-m-c.com/content/support/categories/dprs232.html.

The basic setup of DigiFlex

servo drives is designed to be user friendly. These instructions

will walk you through the steps necessary to configure your drive to your system:
Connect to the drive
Configure the drive mode.
Torque
Velocity
Set Velocity Limits
Position
Set Position Limits

Save your project often to the DriveWare\My Projects directory.
For topics not covered in this guide, assistance is available through any of the following:
DriveWare Help files
www.a-m-c.com
Technical Assistance via phone: 805-389-1935
Technical Assistance via e-mail: techsupport@a-m-c.com.

Note: Complete software documentation can be found on the Advanced Motion
Controls website under Support/DigiFlex Performance Series RS232/RS485.

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Connect to the Drive
1. Install the AMC DriveWare software onto your PC. Follow instructions to assure
complete installation.
2. Connect an available RS-232 communications port on your PC to the serial interface on
the drive. Use the cable provided with your QuickStart system.
3. If desired, connect the Inhibit/Enable circuit as described in the QuickStart User Manual.
4. Apply power to the drive.
5. Launch DriveWare to start the setup software.
6. At the opening screen, select Connect to a drive and click OK.

7. Use the default settings (COM1, 9600),
Note: If this doesnt work, select Auto Detect, then Start Scan. Once the drive is found
select Apply Settings then Connect.

Note: You are now connected to the drive. The status indicator on the bottom right corner
of the screen should indicate CONNECTED.
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8. For the best performance when running network intensive applications such as the real
time oscilloscope, you should increase to the highest baud rate available for your
system. To change the RS-232 communications baud rate, you must first be connected
to the drive, then follow these steps:
a. On the Menu bar, select Communication Connect (or click the Connection
Settings icon )
b. Select the new baud rate.
c. Click OK to set the new baud rate.
d. To save the settings in the drive select Drive Store to drive (or click the Store
Settings icon ), then OK to store parameters to the drive nonvolatile memory.
Note: Some PCs may not communicate reliably at higher baud rates. If increasing the
communications baud rate results in communications errors, use a lower rate.

The Block Diagram window gives access to the servo drives setup parameters.
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17
Drive Mode Configuration
The drive has been configured with an offset to make the motor turn without a command.
Before you configure the drive, remove the offset so the motor doesnt keep turning.

In the Block Diagram, select the Command block.

1. Select No Command



2. Click OK on the Command Source window.
Note: No Command is a non-operation input source that prevents sudden motion. If the
drive is in velocity or current mode, No Command will always provide a command of zero.
If the drive is in position mode, No Command sets Position Target equal to the Position
Measured.

Enable/Disable
The drive can be enabled and disabled by clicking the Enable/Disable icon in the toolbar .
If you are using an external inhibit switch, the icon cannot override it. In this case to
enable, both the switch AND the Enable/Disable icon need to be set to Enable .

You are now ready to configure the drive for your system:

Torque Mode
Page 18

Velocity Mode
Page 22

Position Mode
The Velocity loop must be
tuned first, Page 22.
Then the drive can be set
in Position Mode, Page
30.
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18
Torque Mode
Your QuickStart drive has been configured in Velocity mode. To change to torque mode
simply disable the Velocity loop.

1. In the block diagram, click on the Velocity Loop block.




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2. This opens the Velocity Loop screen. To disable the velocity loop, uncheck the box
that says Velocity Loop Enabled. Click OK.




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20

Notice that the symbols in the Velocity Block have changed. The feedback arrows no longer
extend into the block and the 1 indicates that the velocity loop is disabled and is set to
unity gain.

Command Source Selection for Torque Mode
In the Block Diagram window, select the Command Source block.

1. Select Analog Input 1
2. Click OK.
Note: No Command is a non-operation input source that prevents sudden motion. If the
drive is in velocity or current mode, No Command will always provide a command of zero.
If the drive is in position mode, No Command sets Position Target equal to the Position
Measured.
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21
Analog Input Scaling
1. Set the analog command scaling as follows:
a. In the Block Diagram window, select Inputs/Outputs.



b. Set the desired scaling (e.g. Amps/Volt) for Analog Input 1.

The Polarity of the signal can be changed by setting the scaling value to a
negative number. The offset voltage and deadband can also be set from this
screen.
c. Click Apply or OK to set any modified values.
2. On the Menu Bar, select Drive Store to drive (or click the Store Settings icon ), then
OK to store parameters to the drive nonvolatile memory.
3. The Analog Input may now be used to apply a current command to the drive.

Further assistance is available through any of the following:
DriveWare Help files
www.a-m-c.com
Technical Assistance via phone: 805-389-1935
Technical Assistance via e-mail: techsupport@a-m-c.com.

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22
Velocity Mode
Your QuickStart drive is already in Velocity Mode, however the velocity loop has been tuned
for the unloaded motor.

Velocity Loop tuning is dependent on the system mechanics and inertia, therefore for best
performance; the Velocity Loop must be tuned with the motor installed in the system and
coupled to the load.

Velocity Loop Tuning
1. Verify that the drive is disabled ( ).
2. From the Main Block Diagram, select the Velocity Loop block.


3. In the Velocity Loop window, click the Limits button to open the Velocity Limits tab in
Limits & Options.
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23


4. The limits have been preset to the maximum capabilities of the motor/servo drive
system. If you wish, lower values can be set to match your machine requirements. Set
values for At Velocity Window, Velocity Following Error, Positive Velocity Limit, and
Negative Velocity Limit.

Note: Velocity limit values cannot exceed the Maximum Speed rating of the motor (from
the Motor Data window).
5. Click OK to accept values and close Limits & Options.

6. Open the Waveform Generator by clicking the Waveform Generator button.


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24


7. With the Waveform Generator, establish a Square wave into the Velocity Loop with an
amplitude of approximately 10% of the expected motor speed during system operation.
Set the Frequency low enough so the motor has enough time to reach the commanded
velocity, but high enough to prevent the system from reaching any mechanical limits on
the machine (e.g.: 1-3Hz).
Note: The accuracy of velocity loop tuning is dependent on the quality and resolution of
the velocity feedback. Sources with relatively low resolution or higher noise will require
tuning at a higher velocity in order to overcome the effects of these limitations. It is
best to experimentally determine the optimum tuning setup.
8. To open the digital oscilloscope, select Tools Oscilloscope (or click the Oscilloscope
icon .) Use the help files in the DriveWare software for detailed instructions on how to
use the oscilloscope. In the menu bar go to Help AMC DriveWare Help Help Help
Index Use the digital scope.
Set up the oscilloscope as follows:
a. Set Motor Velocity Target to channel 1 and the Motor Velocity Measured to
channel 2.
b. Set the Trigger Source to Motor Velocity Target at a level of zero RPM, Up Slope.
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25
9. To keep the signal from jumping around, set the Trigger Mode to Normal.
10. Enable the drive by clicking the Enable/Disable Drive icon .

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26
11. The desktop should be arranged so the oscilloscope is visible while adjusting the tuning
values and waveform generator. Results vary depending on screen resolution.


12. Use the Proportional Gain and Integral Gain sliders or arrow buttons to adjust the Motor
Velocity Measured waveform on the oscilloscope and match the Motor Velocity Target as
closely as possible. The Feedback Filter Cut Off Frequency can be used to smooth the
response.
13. When tuning is complete, disable the drive with the Enable/Disable Drive icon and
select Not Connected on the Waveform Generator.
14. On the Menu Bar, select Drive Store to Drive (or click the Store Settings icon ),
then OK to store parameters to the drive nonvolatile memory.

***Note the Velocity Loop is now sufficiently tuned. For Position Mode
applications proceed to Position Mode configuration page 30.

For Velocity Mode applications continue onto the next page to configure the
command source.
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27
Velocity Loop Command Profiling (Optional)
The command profiler can be used to limit the acceleration and deceleration from step input
commands. The command profiler provides independent control of acceleration and
deceleration in both the positive and negative velocity directions.

1. From the Main Block Diagram, open the Command block.

2. Activate the check box for Command Profiler Enabled.
3. Using the slider bars or numerical entry, enter the desired acceleration values.
Independent values can be entered for both acceleration and deceleration in both the
positive and negative directions. Click OK when done.

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28
Command Source Selection
1. In the Block Diagram window, select the Command block.

2. Select Analog Input 1. Click OK to accept the selection and close the window.

Note: No Command is designed to be a non-operation input source. If the drive is in
velocity or current mode, No Command will always provide a command of zero.
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29
Analog Input Scaling
1. Set the analog command scaling as follows:
a. In the Block Diagram window, select the Inputs/Outputs block.
b. For the appropriate Analog Input, (as previously selected,) set the required
scaling (e.g. RPM/Volt). If desired, an offset or deadband can also be applied
from this screen.
c. Command polarity can be inverted by changing the sign (+/-) on the Analog
Input scaling.
d. Click Apply or OK to set any modified values.
e. On the Menu Bar, select Drive Store to drive (or click the Store Settings icon
), then OK to store parameters to the servo drive.
2. The Analog Input is now configured and can be used to apply a velocity command to the
drive.




Further assistance is available through any of the following:
DriveWare Help files
www.a-m-c.com
Technical Assistance via phone: 805-389-1935
Technical Assistance via e-mail: techsupport@a-m-c.com.




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30
Position Mode
Before the servo drive can be configured in Position Mode, the Velocity Loop must be tuned
to match the system. Follow the instructions for Velocity Mode configuration first.

Position Loop tuning is dependent on the system mechanics and inertia, therefore for best
performance; the Position Loop must be tuned with the motor installed in the system and
coupled to the load.

1. Verify that the drive is disabled ( ).
2. From the Main Block Diagram, open the Position Loop window.


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31
3. Select the check box for Position Loop Enabled.

4. In the Position Loop window, click the Limits button to open the Position Limits tab in the
Limits & Options window.



5. Enter values for In Position Window and Position Following Error Window. To prevent
the drive from unintentionally disabling, the Position Following Error Window has been
preconfigured to a large value equivalent to two motor revolutions. The value can be
reduced to meet your system requirements, but if it is set too small, you may have
difficulty enabling the drive if the motor is out of position.


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32
6. If appropriate for your machine, enter values for the Max and Min Target Position Limit,
or leave the limits disabled.

7. Set the Measured Position Value to zero (0) counts.

8. Click OK to accept values and close Limits & Options.

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33
Note: The drive has been configured to disable due to a following error if the
Measured Position doesnt match the Target Position. A large following error is
likely if you have been running the motor in Velocity mode and then switched to
Position mode. For your convenience, Digital Input 2 (pin 12 on the SIB) has been
configured to set the Measured Position equal to 0. To set the Measured Position
to zero, briefly pull Digital Input 2 to signal ground. A switch or push button can
be wired here for convenience.


9. Open the Waveform Generator.


10. With the drive still disabled, use the Waveform Generator to establish a Square wave
into the Position Loop with amplitude of 1000 to 1500 counts. The frequency should be
slow enough to allow the motor to settle into position (e.g. 1-2Hz). Decimal values for
the frequency can be set for very heavy machines.

If the waveform generator shows a large offset, use Digital Input 2 to set the measured
position to 0 (briefly pull pin 12 to pin 2 on the SIB). Then click the Set To Measured
Position button. The offset should now read 0.



Continued
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34
11. Open the oscilloscope and set it up as follows:
a. Set Channel 1 to Motor Position Target and Channel 2 to Motor Position
Measured. Set the scaling on these channels to 500 counts/div.
b. In the Trigger area of the scope, use the Change button to set Motor Position
Target as the Trigger Source at a level of zero Counts, Up Slope.
12. Set the Trigger Mode to Normal. Change the Time/Div to 20msec.



13. Enable the drive by clicking the Enable/Disable Drive icon .
14. Use the Proportional Gain and Integral Gain sliders to adjust the Position Measured
waveform on the oscilloscope to achieve the desired response. Use the arrow buttons
for fine-tuning. Take care not to over-tune the system. This can result in excessive
vibration and audible noise.


15. When tuning is complete, disable the drive and select Not Connected on the
Waveform Generator. Close the Waveform Generator, Oscilloscope and Position Loop
screen.
16. On the Menu Bar, select Drive Store to drive (or click the Store Settings icon ), then
OK to store parameters to the drive nonvolatile memory.
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35
Command Source Selection
1. In the Block Diagram window, select the Command block.

2. Select the command source appropriate for your system. Step and Direction and
Encoder Following are the easiest to set up for position mode.
3. Accesses additional parameters by clicking the ellipsis button , set the step and
direction or encoder following scaling.
4. Click OK on the Command Source window.
Note: No Command is designed to be a non-operation input source. If the drive is in
velocity or current mode, No Command will always provide a command of zero. If the
drive is in position mode, when the command is set to No Command the drive sets Position
Target equal to the Position Measured to prevent sudden motion.


Further assistance is available through any of the following:
DriveWare Help files
www.a-m-c.com
Technical Assistance via phone: 805-389-1935
Technical Assistance via e-mail: techsupport@a-m-c.com.


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4
Going into Production


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36
Prototype to Production
Once you have completed your proof of concept you will be ready to design for production.
If you decide that the QuickStart drive and motor are perfect for you then youre in luck.
Both are popular off-the-shelf items that are readily available. Drives can be ordered
directly from us and we can put you in touch with the appropriate motor supplier.

If your servo system requires a drive that better fits your application such as:
Additional features
Different power range
Smaller size
Different form factor such as plug in style drives
Network connectivity
Then an ADVANCED Motion Controls applications engineer can help optimize your system by
selecting the best drive for your needs.













Our local representatives can also help you with the selection of motors and other system
components such as cables, gear boxes, slides, bearings and more.

Feedback

Your feedback is important to us. Your comments can make QuickStart better and help us
improve our processes, technical support, customer support and product offering. Please go
to www.a-m-c.com and select Contact Us.




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5
Appendix


Advanced Motion Controls 3805 Calle Tecate, Camarillo, CA 93012
Phone: 805-389-1935 Fax: 805-389-1165 www.a-m-c.com

37

A. System Specifications
B. Drive
C. Motor
D. Cables
E. System Interface Board


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System Specifications
Torque peak 21.1 lb-in, 2.38 Nm
Torque continuous 10.57 lb-in, 1.19 Nm
Velocity Maximum 6000 rpm
Supply Voltage 120VAC
Encoder Resolution 10000 counts / rev
Speed Torque Curve



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DigiFlex

Performance Servo Drive DPRAHIE-015N400

Description Power Range
Peak Current 15 A (10.6 A
RMS
)
Continuous Current 7.5 A (5.3 A
RMS
)
Supply Voltage 90 - 264 VAC
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 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.
This DP Series drive features a single RS-232/RS-485
interface used for drive configuration and setup. Drive
commissioning is accomplished using DriveWare,
available at www.a-m-c.com.
All drive and motor parameters are stored in non-
volatile memory.


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



MOD ATION ES OF OPER
Current
Position
Velocity
COMMAND SOURCE
ing Encoder Follow
10 V Analog
24 V Step & Direction
FEEDBACK SUPPORTED
Halls
coder Incremental En
10 V Analog
Auxiliary Incremental Encoder
INPUTS/OUTPUTS
3 High Speed Captures
4 Programmable Analog Inputs (16-bit/12-bit
Resolution)
3 Programmable Digital Inputs (Differential)
7 Programmable Digital Inputs (Single-Ended)
4 Programmable Digital Outputs (Single-Ended)

COM AGENCY APPROVALS PLIANCES &
RoHS
ing UL/cUL Pend
CE Pending

Release Date:
3/11/2008
Revision:
1.04
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

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DigiFlex

Performance Servo Drive DPRAHIE-015N400

BLOCK DIAGRAM

SELECT
TX/TX
I
/
O

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

I
n
t
e
r
f
a
c
e
Drive
Logic
RS232/485
Interface
CONTROL MODULE
RX/RX
TX+
RX+
ISO GND
PAI-1,4 + (REF+)
PAI-1,4 (REF)
PDI-1,2,3,4,5,6,7
(STEP / DIR / CAP-1)
INPUT COMMON
PDI-8,9,10 + (AUX ENC
A,B + / CAP-2,3)
PDO-1,2,3,4
OUTPUT COMMON
5k
+5V
10k
+5V
10k
5k
20k
20k
20k
PAI-2,3
SGN GND
PAI-2: 33k
PAI-3: 500k
3.75K
PDI-8,9,10 (AUX
ENC A,B )
OUTPUT PULL-UP
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
MOT ENC A,B,I +
MOT ENC A,B,I
HALL A,B,C +
HALL A,B,C
10k
+5V
20k
+5V
20k
+5V
10k
+5V
10k
5k
ENC A,B,I + OUT
ENC A,B,I OUT
DC+
MOTOR A
MOTOR B
MOTOR C
DC-
POWER MODULE
Power Stage
Logic Power
L1
L2
L3

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 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.
Release Date:
3/11/2008
Revision:
1.04
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

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DigiFlex

Performance Servo Drive DPRAHIE-015N400

Release Date:
3/11/2008
Revision:
1.04
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
AC Supply Voltage Range VAC 90 - 264
Nominal AC Supply Voltage VAC 120 - 240
Rated Supply Voltage VAC 240
AC Input Phases
1
- 3
AC Supply Frequency Hz 50 - 60
DC Supply Voltage Range VDC 127 - 373
DC Bus Over Voltage Limit VDC 393.8
DC Bus Under Voltage Limit VDC 55
Maximum Peak Output Current A (Arms) 15 (10.6)
Maximum Continuous Output Current A (Arms) 7.5 (5.3)
Max. Continuous AC Current Draw @ Rated Voltage A 4.3
Max. Continuous Output Power @ Rated Voltage W 1710
Max. Continuous Power Dissipation @ Rated Voltage W 90
Internal Bus Capacitance F 660
Minimum Load Inductance (Line-To-Line)
2
H 600
Switching Frequency kHz 20
Low Voltage Supply Outputs - +5 VDC (250 mA)
Control Specifications
Description Units Value
Communication Interfaces - RS-232, RS-485
Command Sources - 24 V Step & Direction, 10 V Analog, Encoder Following
Feedback Supported - 10 V Analog, Auxiliary Incremental Encoder, Halls, Incremental Encoder
Commutation Methods - Sinusoidal, Trapezoidal
Modes of Operation - Current, Position, Velocity
Motors Supported - Brushed, Brushless, Induction, Voice Coil
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) - 10/4
Programmable Analog Inputs/Outputs (PAIs/PAOs) - 4/0
Current Loop Sample Time s 50
Velocity Loop Sample Time s 100
Position Loop Sample Time s 100
Maximum Encoder Frequency MHz 20 (5 pre-quadrature)
Mechanical Specifications
Description Units Value
Agency Approvals - CE Pending, RoHS, UL/cUL Pending
Size (H x W x L) mm (in) 177.5 x 139.7 x 55.9 (7 x 5.5 x 2.2)
Weight g (oz) 1264 (44.6)
Heatsink (Base) Temperature Range
3
C (F) 0 - 65 (32 - 149)
Storage Temperature Range C (F) -40 - 85 (-40 - 185)
Cooling System - Natural Convection
Form Factor - Stand Alone
IP Rating - IP10
AUX ENCODER Connector - 15-pin, high-density, male D-sub
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
P1 Connector - 8-port, 7.62 mm spaced, enclosed, friction lock header
Notes
1. Can operate on single-phase 120/240 VAC if peak/cont. current ratings are reduced by at least 30%.
2. Lower inductance is acceptable for bus voltages well below maximum. Use external inductance to meet requirements.
3. Additional cooling and/or heatsink may be required to achieve rated performance.
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Performance Servo Drive DPRAHIE-015N400

Release Date:
3/11/2008
Revision:
1.04
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 ENCODER - Auxiliary Feedback Connector
Pin Name Description / Notes I/O
1 RESERVED Reserved -
2 RESERVED Reserved -
3 RESERVED Reserved -
4 PDI-8 + (AUX ENC A+ / CAP-2) Programmable Digital Input or Auxiliary Encoder or High Speed Capture I
5 PDI-8 - (AUX ENC A-) Programmable Digital Input or Auxiliary Encoder (For Differential Signals Only) I
6 PDI-9 + (AUX ENC B+ / CAP-3) Programmable Digital Input or Auxiliary Encoder or High Speed Capture I
7 PDI-9 - (AUX ENC B-) Programmable Digital Input or Auxiliary Encoder (For Differential Signals Only) I
8 PDI-10 + Programmable Digital Input I
9 PDI-10 - Programmable Digital Input (For Differential Signals Only) I
10 SGN GND Signal Ground SGND
11 SGN GND Signal Ground SGND
12 SGN GND Signal Ground SGND
13 +5V OUT +5V Encoder Supply Output (Short Circuit Protected) O
14 PAI-4 + I
15 PAI-4 -
Differential Programmable Analog Input (12-bit Resolution)
I

COMM - RS232/RS485 Communication Connector
Pin Name Description / Notes I/O
1 SELECT RS232/485 selection. Pull to ground (CN1-5) for RS485. I
2 RS232 TX / RS485 TX- Transmit Line (RS-232 or RS-485) O
3 RS232 RX / RS485 RX- Receive Line (RS-232 or RS-485) I
4 RESERVED Reserved -
5 ISO GND Isolated Signal Ground IGND
6 RS485 TX+ Transmit Line (RS-485) O
7 RESERVED Reserved -
8 RS485 RX+ Receive Line (RS-485) I
9 RESERVED Reserved -

FEEDBACK - Feedback Connector
Pin Name Description / Notes I/O
1 HALL A+ I
2 HALL B+ I
3 HALL C+
Commutation Sensor Inputs
I
4 MOT ENC A+ I
5 MOT ENC A-
Differential Encoder A Channel Input (For Single Ended Signals Use Only The Positive
Input)
I
6 MOT ENC B+ I
7 MOT ENC B-
Differential Encoder B Channel Input (For Single Ended Signals Use Only The Positive
Input)
I
8 MOT ENC I+ I
9 MOT ENC I-
Differential Encoder Index Input (For Single Ended Signals Use Only The Positive Input)
I
10 HALL A- Commutation Sensor Input (For Differential Signals Only) I
11 HALL B- Commutation Sensor Input (For Differential Signals Only) I
12 SGN GND Signal Ground SGND
13 +5V OUT +5V Encoder Supply Output (Short Circuit Protected) O
14 PAI-3 Programmable Analog Input (12-bit Resolution) I
15 HALL C- Commutation Sensor Input (For Differential Signals Only) I

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DigiFlex

Performance Servo Drive DPRAHIE-015N400

Release Date:
3/11/2008
Revision:
1.04
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 Isolated Programmable Digital Output O
2 OUTPUT COMMON Digital Output Common OGND
3 PDO-2 Isolated Programmable Digital Output O
4 PAI-1 + (REF+) I
5 PAI-1 - (REF-)
Differential Programmable Analog Input or Reference Signal Input (16-bit Resolution)
I
6 PAI-2 Programmable Analog Input (12-bit Resolution) I
7 SGN GND Signal Ground SGND
8 OUTPUT PULL-UP Digital Output Pull-Up For User Outputs I
9 PDI-5 Isolated Programmable Digital Input I
10 PDO-3 Isolated Programmable Digital Output O
11 PDI-1 Isolated Programmable Digital Input I
12 PDI-2 Isolated Programmable Digital Input I
13 PDI-3 Isolated Programmable Digital Input I
14 PDO-4 Isolated Programmable Digital Output O
15 INPUT COMMON Digital Input Common (Can Be Used To Pull-Up Digital Inputs) IGND
16 SGN GND Signal Ground SGND
17 PDI-4 (STEP) Isolated Programmable Digital Input or Step I
18 PDI-6 (DIR) Isolated Programmable Digital Input or Direction I
19 PDI-7 (CAP-1) Isolated Programmable Digital Input or High Speed Capture I
20 ENC A+ OUT O
21 ENC A- OUT
Buffered Encoder Channel A Output
O
22 ENC B+ OUT O
23 ENC B- OUT
Buffered Encoder Channel B Output
O
24 ENC I+ OUT O
25 ENC I- OUT
Buffered Encoder Index Output
O
26 SGN GND Signal Ground SGND

P1 - 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 DC+ O
5 DC-
Internal DC Bus Voltage (Can Be Used To Connect External Shunt Regulator)
O
6 L1 I
7 L2 I
8 L3
AC Supply Input (Single or Three Phase)
I
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DigiFlex

Performance Servo Drive DPRAHIE-015N400

Release Date:
3/11/2008
Revision:
1.04
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
Setting
Switch Description
On Off
1
Bit 0 of binary RS-485 drive address. Does not affect RS-232
settings.
1 0
2
Bit 1 of binary RS-485 drive address. Does not affect RS-232
settings.
1 0
3
Bit 2 of binary RS-485 drive address. Does not affect RS-232
settings.
1 0
4
Bit 3 of binary RS-485 drive address. Does not affect RS-232
settings.
1 0
5
Bit 4 of binary RS-485 drive address. Does not affect RS-232
settings.
1 0
6
Bit 5 of binary RS-485 drive address. Does not affect RS-232
settings.
1 0
7
Bit 0 of drive RS-485 baud rate setting. Does not affect RS-232
settings.
1 0
8
Bit 1 of drive RS-485 baud 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.

Baud Rate (kbps) Value For Bit Rate Setting
Load from non-volatile memory 0
9.6 1
38.4 2
115.2 3
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Performance Servo Drive DPRAHIE-015N400

MECHANICAL INFORMATION
AUX ENCODER - Auxiliary Feedback Connector
Connector Information 15-pin, high-density, male D-sub
Details
AMP: Plug P/N 748364-1; Housing P/N 748677-1; Terminals P/N 748610-4 (loose) or 748610-2
(strip)
Mating Connector
Included with Drive No
PDI-8 - (AUX ENC A-) 5
PDI-8 + (AUX ENC A+ / CAP-2) 4
PAI-4 - 15
PAI-4 + 14
+5V OUT 13
SGN GND 12
SGN GND 11
SGN GND 10
PDI-9 + (AUX ENC B+ / CAP-3) 6
PDI-10 - 9
PDI-10 + 8
PDI-9 - (AUX ENC B-) 7


COMM - RS232/RS485 Communication Connector
Connector Information 9-pin, female D-sub
Details
AMP: Plug P/N 205204-4; Housing P/N 748677-1; Terminals P/N 5-66507-7 (loose) or 3-66507-
0 (strip)
Mating Connector
Included with Drive No
SELECT 1
RS232 TX / RS485 TX- 2
RS232 RX / RS485 RX- 3
ISO GND 5
RS485 TX+ 6
RS485 RX+ 8


FEEDBACK - Feedback Connector
Connector Information 15-pin, high-density, female D-sub
Details
AMP: Plug P/N 748364-1; Housing P/N 748677-1; Terminals P/N 748333-4 (loose) or 748333-2
(strip)
Mating Connector
Included with Drive No
HALL A+ 1
HALL B+ 2
HALL C+ 3
MOT ENC A+ 4
MOT ENC A- 5
HALL B- 11
SGN GND 12
+5V OUT 13
PAI-3 14
HALL C- 15
MOT ENC B+ 6
HALL A- 10
MOT ENC B- 7
MOT ENC I+ 8
MOT ENC I- 9


Release Date:
3/11/2008
Revision:
1.04
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

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Sold & Serviced By:

DigiFlex

Performance Servo Drive DPRAHIE-015N400

I/O - Signal Connector
Connector Information 26-pin, high-density, female D-sub
Details
AMP: Plug P/N 748365-1; Housing P/N 748677-2; Terminals P/N 748333-4 (loose) or 748333-2
(strip)
Mating Connector
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
INPUT COMMON 15
PDI-4 (STEP) 17
PDI-6 (DIR) 18
SGN GND 16
OUTPUT COMMON
PDI-5
OUTPUT PULL-UP
SGN GND
PAI-2
PAI-1 - (REF-)
PAI-1 + (REF+)
PDO-2
PDI-7 (CAP-1) 19
ENC I+ OUT 24
ENC B+ OUT 22
ENC A+ OUT 20
ENC A- OUT 21
ENC B- OUT 23
ENC I- OUT 25
SGN GND 26


P1 - Power Connector
Connector Information 8-port, 7.62 mm spaced, enclosed, friction lock header
Details Phoenix Contact: P/N 1767067
Mating Connector
Included with Drive Yes
MOTOR A 1
MOTOR B 2
MOTOR C 3
DC+ 4
DC- 5
L1 6
L2 7
L3 8

Release Date:
3/11/2008
Revision:
1.04
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

ELECTROMATE
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sales@electromate.com
Sold & Serviced By:

DigiFlex

Performance Servo Drive DPRAHIE-015N400

MOUNTING DIMENSIONS

Release Date:
3/11/2008
Revision:
1.04
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

ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
Sold & Serviced By:

DigiFlex

Performance Servo Drive DPRAHIE-015N400

PART NUMBERING INFORMATION

Release Date:
3/11/2008
Revision:
1.04
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

-
Drive Series
Di Per giFlex formance
Communication
R P D I N A E 5 1 0 A 0 0 4
Command Inputs
Example:
DP
RS232/RS485 R
CANopen or RS232 C
SynqNet Q
Anal
No Ste
og (10V)
p & Direction
AN
Anal
Low
og (10V)
Voltage Step & Direction (5V)
AL
Anal
Hi
og (10V)
gh Voltage Step & Direction (24V)
AH
No Anal
Low
og
Voltage Step & Direction (5V)
NL
No Anal , No Ste og p & Direction
(Communication Interface Only)
NN
Digital I/O
Isolated (24V) I
TTL (5V) Non-Isolated T
Motor Feedback
Incremental and/or Halls Encoder 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
Power and Logic Supply
AC Input
+24VDC User Logic Supply Required
A
AC Input Only
ogic Supply Required (Internal Supply) No L
N
DC Input
Logic Supply Options (Internal or User) Both
B
DC Input
ic Supply Required Log
L
DC Input Only
Internal Logic Supply
D
Peak Current (A0 to Peak)
-
Customer Special
Code used to identify customer
specials
Revision
A through Z (letters may be skipped)
015 15
016 16
020 20
025 25
030 30
040 40
060 60

100 100
DigiFlexPerformance series of products are available in many configurations. All models listed in the selection tables of the
website are readily available, standard product offerings. Other combinations or possibilities can be made available for OEMs
with sufficient volume requests. Feel free to contact Applications Engineering for further information and details.


All specifications in this document are subject to change without written notice. Actual product may differ from pictures provided
in this document.
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Quick Start Motor
MBL3410E2 BRUSHLESS SERVO MOTOR


FEATURES:

3.25 Inch NEMA 34 w/ Heavy Duty Shaft
Continuous Torques up to 11.56 lb-in
Speeds up to 6000 rpm
Voltage Rating up to 170 Vdc
Integrated Hall Effect Commutation
30 Lb Radial Load Capacity, 1/2" from Front Face
High Precision Optical Encoders 10000 count


SPECIFICATIONS:

SPECIFICATIONS UNITS VALUE
CONTINUOUS TORQUE Nm (lb-in) 1.31 (11.56)
PEAK TORQUE Nm (lb-in) 3.89 (34.4)
SPEED @ RATED VOLTAGE RPM 6000
RATED VOLTAGE V dc 170
CONTINUOUS CURRENT A 8.9
PEAK CURRENT A 26.5
TORQUE CONSTANT Nm / A (lb-in / A) 0.159 (1.41)
VOLTAGE CONSTANT V / KRPM 16.7
RESISTANCE ohms 0.405
INDUCTNACE mH 1.69
INERTIA kg-cm (lb-in-s) 1.243 (0.0011)
WEIGHT Kg (lb) 2.49 (5.5)


ADVANCED MOTION CONTROLS
3805 Calle Tecate, Camarillo, CA 93012 Tel: (805) 389-1935, Fax: (805) 389-1165
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Quick Start Motor
ENCODER:

ELECTRICAL SPECIFICATIONS VALUE
INPUT VOLTAGE 5 VDC +/- 5%
INPUT CURRENT REQUIREMENTS 125 mA Typical @ 5 VDC Plus Interface Loads
INPUT RIPPLE 2% Peak to Peak @ 5 VDC
OUTPUT CIRCUITS AM26LS31 RS 422A Line Driver
FREQUENCY RESPONSE 500 kHz
INCREMENTAL OUTPUT FORMAT
Quadrature with A leading B for CW rotation.
Index Pulse centered over A.
SYMMETRY 180 Degrees +/- 10% Typical
MINIMUM EDGE SEPARATION 54 electrical degrees
COMMUTATION FORMAT N/A
COMMUTATION ACCURACY N/A

ENVIRONMENTAL SPECIFICATIONS VALUE
STORAGE TEMPERATURE -40 to 125 C
OPERATING TEMPERATURE -20 to 100 C Typical
HUMIDITY 98% Non-Condensing
VIBRATION 20 G's @ 50 to 500 CPS
SHOCK 50 G's @ 11 ms duration

MECHANICAL SPECIFICATIONS VALUE
LINE COUNT 2500 lines/revolution
MAXIMUM SHAFT SPEED 8000 RPM
THROUGH SHAFT DIAMETER 0.250" (-0.0000", +0.0005")
RADIAL SHAFT MOVEMENT 0.007" TIR
AXIAL SHAFT MOVEMENT +/- 0.030" MAX
HOUSING Carbon Fiber Composite (case ground via cable)
TERMINATION 15 conductor cable, 28 AWG, 18" long
MOUNTING 1.812" Bolt Circle
MOMENT OF INERTIAL 1.5 x 10
-4
oz-in-s
2
ACCELERATION 1 x 10
5
Radians/s
2
ACCURACY +/- 1.0 Arc Minutes


ADVANCED MOTION CONTROLS
3805 Calle Tecate, Camarillo, CA 93012 Tel: (805) 389-1935, Fax: (805) 389-1165
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Quick Start Cable
CBL-D03 DRIVE CABLE


WIRING SPECIFICATIONS:
Connector Contact Wiring Scheme Function Wire Color Contact Connector
1 Single Wire PDO1 red/black 1
2 Single Wire SGND pink 2
3 Single Wire PDO2 blue 3
6 Single Wire PAI2 blue/white 6
7 Single Wire PAO1 black 7
8 Single Wire PAO2 black/white 8
10 Single Wire PDO3 orange 10
11 Single Wire PDI1 orange/white 11
12 Single Wire PDI2 orange/black 12
13 Single Wire PDI3 white 13
14 Single Wire PDO4 yellow 14
19 Single Wire PDI4 yellow/black 19
4 +REF green 4
5 -REF green/white 5
9 -PDI6 purple 9
18 +PDI6 purple/white 18
15 5V red 15
16 SGND red/white 16
17 +PDI5 gray 17
26 -PDI5 gray/black 26
20 Encoder A+ brown 20
21 Encoder A- brown/white 21
22 Encoder B+ pink/red 22
23 Encoder B- pink/black 23
24 Encoder I+ green/black 24
25 Encoder I- light green 25
Shell Shield Shield - Shell
NOTE: For cables with only twisted pairs, single wires can be paired with other single or unused wires.
A
26-Pin AMP (D-SUB)
Plug:
P/N 748365-1
Housing:
P/N 748677-2
Terminals:
P/N 748333-4
Common Side 2 (SIB)
B
26-Pin AMP (D-SUB)
Plug:
P/N 748365-1
Housing:
P/N 748677-2
Terminals:
P/N 748333-4
CABLE: CBL-D03
Twisted Pair
Side 1 (Drive)
Twisted Pair
Twisted Pair
Twisted Pair
Twisted Pair
Twisted Pair
Twisted Pair


DIAGRAM:

Connector B
Grounding Shell
Single Wires Single Wires
Twisted Pairs Twisted Pairs
1.5 ft
Connector A
Grounding Shell

ADVANCED MOTION CONTROLS
3805 Calle Tecate, Camarillo, CA 93012 Tel: (805) 389-1935, Fax: (805) 389-1165
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
Sold & Serviced By:

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Quick Start Cable
CBL-F02-10 FEEDBACK CABLE

WIRING SPECIFICATIONS:

Connector Contact Wiring Scheme Function Wire Color Contact Connector
3 Single Wire Hall A Brown 1
4 Single Wire Hall B Orange 2
5 Single Wire Hall C Yellow 3
1 5V Red 13
2 SGND Black 12*
6 Shield Shield White/Black Shell*
3 A+ Brown 4
4 A- White 5
5 B+ Blue 6
6 B- Green 7
7 I+ Orange 8
8 I- Yellow 9
1 5V Red 13
2 SGND Black 12*
Flying Lead Shield Shield - Shell*
- - - - Shell* Spade
* Indicates contacts that share continuity with the connector shell (see diagram).
A
6-Pin Molex
Connector:
P/N 43020-0601
Terminals:
P/N 43031-0002
B
8-Pin Molex
Connector:
P/N 70107-0007
Terminals:
P/N 16-02-0077
Common Side 2
C
15-Pin AMP (D-SUB)
Plug:
P/N 748364-1
Housing:
P/N 748677-1
Terminals:
P/N 748333-4
CABLE: CBL-F02-10
Twisted Pair
Twisted Pair
Twisted Pair
Twisted Pair
Twisted Pair
Side 1


DIAGRAM:

Twisted Pairs Twisted Pairs
Shield
Shield
C
o
n
n
e
c
t
o
r

A
C
o
n
n
e
c
t
o
r

B
Connector C
Spade
Shields
Grounding Shell
Single Wires Single Wires
Twisted Pairs Twisted Pairs
10 ft


ADVANCED MOTION CONTROLS
3805 Calle Tecate, Camarillo, CA 93012 Tel: (805) 389-1935, Fax: (805) 389-1165
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
Sold & Serviced By:

ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
Sold & Serviced By:
Quick Start Cable
CBL-P05-10 POWER CABLE


WIRING SPECIFICATIONS:

Connector Contact Wiring Scheme Function Wire Color Contact Connector
1 Single Wire Motor A red 1
2 Single Wire Motor B white 2
3 Single Wire Motor C black 3
4 Shield Shield grey Spade
1 Single Wire AC Neutral white 6
2 Single Wire AC Hot black 7
3 Single Wire Earth Ground green Spade
Common Side 2
B (8-Port Phoenix)
Connector:
P/N 1767067
CABLE: CBL-P05-10
Side 1
A (4-Pin AMP)
Connector, Terminals:
P/N 1-480703-0,
P/N 350873-1
B (AC Cable)


DIAGRAM:

Single Wires Single Wires
10 ft
C
o
n
n
e
c
t
o
r

A
Shield
Connector C
Single Wires
Single Wires
Spade
C
o
n
n
e
c
t
o
r

B
Spade

ADVANCED MOTION CONTROLS
3805 Calle Tecate, Camarillo, CA 93012 Tel: (805) 389-1935, Fax: (805) 389-1165
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
Sold & Serviced By:

ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
Sold & Serviced By:


Advanced Motion Controls 3805 Calle Tecate, Camarillo, CA 93012
Phone: 805-389-1935 Fax: 805-389-1165 www.a-m-c.com


System Interface Board (SIB)


Dimensions 72mm x 72mm
C1 Connector 15 pin to motor
C2 Connector 26 pin to drive
C3 Connector 26 pin user interface.

C3 Pin Functions
Pin Function
1 PDO-1
2 OUTPUT COMMON
3 PDO-2
4 PAI-1 +
5 PAI-1 -
6 PAI-2
7 SGN GND
8 OUTPUT PULL-UP
9 PDI-5
10 PDO-3
11 PDI-1
12 PDI-2
13 PDI-3
14 PDO-4
15 INPUT COMMON
16 SGN GND
17 PDI-4
18 PDI-6
19 PDI-7
20 ENCODER A+
21 ENCODER A-
22 ENCODER B+
23 ENCODER B-
24 ENCODER I+
25 ENCODER I-
26 SGN GND
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