DigiFlex® Performance™ Servo Drive DZCANTE-012L080

Description Power Range

Peak Current 12 A (8.5 A RMS )

The DZCANTE-012L080 digital servo drive is designed
to drive brushed and brushless servomotors from a Continuous Current 6 A (6 A RMS )
compact form factor ideal for embedded applications.
This fully digital drive operates in torque, velocity, or Supply Voltage 20 - 80 VDC
position mode and employs Space Vector Modulation
(SVM), which results in higher bus voltage utilization
and reduced heat dissipation compared to traditional
PWM. The drive can be configured for a variety of
external command signals. Commands can also be
configured using the drive’s built-in Motion Engine, an
internal motion controller used with distributed motion
applications. In addition to motor control, this drive
features dedicated and programmable digital and
analog inputs and outputs to enhance interfacing with
external controllers and devices.

The DZCANTE-012L080 features a single RS232

interface used for drive configuration and setup. Drive
commissioning is accomplished using DriveWare® 7,
available for download at www.a-m-c.com. The
CANopen interface can be used for online operation in
networked applications.

All drive and motor parameters are stored in non-

volatile memory.

Features

 Four Quadrant Regenerative Operation  PIDF Velocity Loop

 Space Vector Modulation (SVM) Technology  PID + FF Position Loop

 Fully Digital State-of-the-art Design  Compact Size, High Power Density

 Programmable Gain Settings  12-bit Analog to Digital Hardware

 Fully Configurable Current, Voltage, Velocity and  On-the-Fly Mode Switching

Position Limits  On-the-Fly Gain Set Switching

MODES OF OPERATION FEEDBACK SUPPORTED

 Profile Current  ±10 VDC Position
 Profile Velocity  Halls
 Profile Position  Incremental Encoder
 Cyclic Synchronous Current Mode  Auxiliary Incremental Encoder
 Cyclic Synchronous Velocity Mode INPUTS/OUTPUTS
 Cyclic Synchronous Position Mode  2 High Speed Captures
COMMAND SOURCE  1 Programmable Analog Input (12-bit Resolution)
 ±10 V Analog  2 Programmable Digital Inputs (Differential)
 PWM and Direction  3 Programmable Digital Inputs (Single-Ended)
 Encoder Following  3 Programmable Digital Outputs (Single-Ended)
 Over the Network
COMPLIANCES & AGENCY APPROVALS
 Sequencing
 UL
 Indexing
 cUL
 Jogging
 CE Class A (LVD)
Sold & Serviced By:  CE Class A (EMC)
 RoHS
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com

Release Date: Status: ADVANCED Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
Page 1 of 7
4/28/2014 Active ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com
 DigiFlex® Performance™ Servo Drive DZCANTE-012L080

BLOCK DIAGRAM

+5V +5V

5k 5k
PDI-1,2,3 (CAP-A) HALL A,B,C

Feedback
GND GND

Feedback
+5V Drive
Logic

Motor
5k

Motor
PDO-1,2,3 MOT ENC A,B,I +

MOT ENC A,B,I –

GND

I/O Interface
6.7k
PAI-1 + (REF+)

I/O Interface
PAI-1 – (REF–)
6.7k
2k

PDI-4,5 + (PWM+ / DIR+ / MOTOR A

AUX ENC A,B + /
Power Stage MOTOR B
CAP-B,C +)
PDI-4,5 – (PWM– / DIR– / MOTOR C
AUX ENC A,B – /
CAP-B,C –) HIGH VOLTAGE
CAN BAUD,
CAN ADDR 0,1 GND
500k

Logic Power
LOGIC POWER

RS32 RX RS232
Interface
RS232 TX

GND

CAN_RX CANopen
Interface
CAN_TX

Information on 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 2004/108/EC on Electromagnetic Compatibility
(specifically EN 61000-6-4:2007 and EN 61000-6-2:2005) and LVD requirements of directive 2006/95/EC
(specifically EN 60204-1:2006), a low voltage directive to protect users from electrical shock.

RoHS (Reduction of Hazardous Substances) is intended to prevent hazardous substances such as lead from being
manufactured in electrical and electronic equipment.

Sold & Serviced By:

ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com

Release Date: Status: ADVANCED Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
Page 2 of 7
4/28/2014 Active ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com
 DigiFlex® Performance™ Servo Drive DZCANTE-012L080

SPECIFICATIONS

Power Specifications
Description Units Value
DC Supply Voltage Range VDC 20 - 80
DC Bus Over Voltage Limit VDC 88
DC Bus Under Voltage Limit VDC 17
Logic Supply Voltage VDC 5 (+/- 5%)
Maximum Peak Output Current1 A (Arms) 12 (8.5)
Maximum Continuous Output Current2 A (Arms) 6 (6)
Maximum Continuous Output Power W 456
Maximum Power Dissipation at Continuous Current W 24
Internal Bus Capacitance µF 33
Minimum Load Inductance (Line-To-Line)3 µH 250 (at 80 V supply); 150 (at 48 V supply); 75 (at 24 V supply)
Switching Frequency kHz 20
Maximum Output PWM Duty Cycle % 85
Control Specifications
Description Units Value
Communication Interfaces - CANopen (RS-232 for configuration)
Command Sources - ±10 V Analog, Encoder Following, Over the Network, PWM and Direction, Sequencing, Indexing, Jogging
Feedback Supported - ±10 VDC Position, Auxiliary Incremental Encoder, Halls, Incremental Encoder
Commutation Methods - Sinusoidal, Trapezoidal
Profile Current, Profile Velocity, Profile Position, Cyclic Synchronous Current Mode, Cyclic Synchronous
Modes of Operation -
Velocity Mode, Cyclic Synchronous Position Mode
Motors Supported - Closed Loop Vector, Single Phase (Brushed, Voice Coil, Inductive Load), Three Phase (Brushless)
40+ Configurable Functions, Over Current, Over Temperature (Drive & Motor), Over Voltage, Short Circuit
Hardware Protection -
(Phase-Phase & Phase-Ground), Under Voltage
Programmable Digital Inputs/Outputs (PDIs/PDOs) - 5/3
Programmable Analog Inputs/Outputs (PAIs/PAOs) - 1/0
Primary I/O Logic Level - 5V TTL
Current Loop Sample Time μs 50
Velocity Loop Sample Time μs 100
Position Loop Sample Time μs 100
Maximum Encoder Frequency MHz 20 (5 pre-quadrature)
Mechanical Specifications
Description Units Value
Agency Approvals - CE Class A (EMC), CE Class A (LVD), cUL, RoHS, UL
Size (H x W x D) mm (in) 63.5 x 50.8 x 18.4 (2.5 x 2 x 0.7)
Weight g (oz) 99.8 (3.5)
Heatsink (Base) Temperature Range4 °C (°F) 0 - 65 (32 - 149)
Storage Temperature Range °C (°F) -40 - 85 (-40 - 185)
Cooling System - Natural Convection
Form Factor - PCB Mounted
P1 Connector - 30-pin, 2.54 mm spaced, dual-row header
P2 Connector - 12-pin, 2.54 mm spaced header

Notes
1. Capable of supplying drive rated peak current for 2 seconds with 10 second foldback to continuous value. Longer times are possible with lower current limits.
2. Continuous A rms value attainable when RMS Charge-Based Limiting is used.
3. Lower inductance is acceptable for bus voltages well below maximum. Use external inductance to meet requirements.
4. Additional cooling and/or heatsink may be required to achieve rated performance.

Sold & Serviced By:

ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com

Release Date: Status: ADVANCED Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
Page 3 of 7
4/28/2014 Active ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com
 DigiFlex® Performance™ Servo Drive DZCANTE-012L080

PIN FUNCTIONS

P1 - Signal Connector
Pin Name Description / Notes I/O
1 CAN ADDR 0 I
CAN Bus Address Selector
2 CAN ADDR 1 I
3 PAI-1 + (REF+) I
Differential Programmable Analog Input or Reference Signal Input (12-bit Resolution)
4 PAI-1 - (REF-) I
5 GND Ground GND
6 CAN BAUD CAN bus bit rate selector. I
7 PDO-1 Programmable Digital Output O
8 PDO-2 Programmable Digital Output O
9 PDO-3 Programmable Digital Output O
10 PDI-1 Programmable Digital Input I
11 PDI-2 Programmable Digital Input I
12 PDI-3 (CAP-A) Programmable Digital Input or High Speed Capture I
13 RS232 RX Receive Line (RS-232) I
14 CAN RX CAN Receive Line (Requires External Transceiver) I
15 RS232 TX Transmit Line (RS-232) O
16 CAN TX CAN Transmit Line (Requires External Transceiver) O
17 PDI-4 + (PWM+ / AUX ENC A+ / CAP-B+) Programmable Digital Input or PWM or Auxiliary Encoder or High Speed Capture (For I
18 PDI-4 - (PWM- / AUX ENC A- / CAP-B-) Single-Ended Signals see DZ HW Installation Manual) I
19 PDI-5 + (DIR+ / AUX ENC B+ / CAP-C+) Programmable Digital Input or Direction or Auxiliary Encoder or High Speed Capture (For I
20 PDI-5 - (DIR- / AUX ENC B- / CAP-C-) Single-Ended Signals see DZ HW Installation Manual) I
21 GND Ground GND
22 HALL A I
Single-ended Commutation Sensor Input (For Differential Inputs See MC1XDZ01 Datasheet
23 HALL B I
For Recommended Signal Conditioning)
24 HALL C I
25 MOT ENC I+ Differential Encoder Index Input (See MC1XDZ01 Datasheet For Recommended Signal I
26 MOT ENC I- Conditioning) I
27 MOT ENC A+ Differential Encoder A Channel Input (See MC1XDZ01 Datasheet For Recommended I
28 MOT ENC A- Signal Conditioning) I
29 MOT ENC B+ Differential Encoder B Channel Input (See MC1XDZ01 Datasheet For Recommended I
30 MOT ENC B- Signal Conditioning) I

P2 - Power Connector
Pin Name Description / Notes I/O
1 LOGIC PWR Logic Supply Input I
2 GND Ground GND
3 GND Ground GND
4 HIGH VOLTAGE DC Power Input I
5 HIGH VOLTAGE DC Power Input I
6 RESERVED Reserved -
7 MOTOR C O
8 MOTOR C O
9 MOTOR B Motor Phase Outputs. Current output distributed equally across 2 pins per motor phase, 3A O
10 MOTOR B continuous current carrying capacity per pin. O
11 MOTOR A O
12 MOTOR A O

Pin Details

CAN ADDR 0 (P1-1)

This pin, CAN ADDR 0, as well as CAN ADDR 1, are used for CAN bus addressing. To set the CAN node address of a drive, use
the formula

7 * Addr 0 7 * Addr1
CANAddress = + 8* ,
3
Sold & Serviced By: 3
ELECTROMATE
where CANAddress is the desired node address and Addr0 and Addr1 represent the voltage that should be applied to pins CAN
ADDR 0 and CAN ADDR 1, respectively. The values Tollfor
Free Phoneand
Addr0 (877) SERVO98
Addr1 are always integer multiples of 3/7 V within the range 0-
3 V. Examples of the voltages required to set certainTollnode
Free Fax (877) SERV099
addresses are given in the table below. Note that setting a CAN
www.electromate.com
address of 0 will utilize the address stored in non-volatile memory.
sales@electromate.com

Release Date: Status: ADVANCED Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
Page 4 of 7
4/28/2014 Active ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com
 DigiFlex® Performance™ Servo Drive DZCANTE-012L080

CAN ADDR 0 Value (V) CAN ADDR 1 Value (V) CAN ADDR Tolerance (V) CAN Address (Node #)
0 0 ±0.1 Address stored in non-volatile memory
3/7 (0.43) 0 ±0.1 1
6/7 (0.86) 0 ±0.1 2
9/7 (1.3) 0 ±0.1 3
… … ±0.1 …
18/7 (2.57) 21/7 (3.0) ±0.1 62
21/7 (3.0) 21/7 (3.0) ±0.1 63

CAN BAUD (P1-6)

The CAN bit rate is set by applying the appropriate voltage to the CAN BAUD pin as given in the table below.

CAN BAUD Value (V) CAN BAUD Tolerance (V) CAN Bus Bit Rate (bits/s)
0 ±0.388 Bit rate stored in non-volatile memory
1 ±0.388 500k
2 ±0.388 250k
3 ±0.388 125k

MECHANICAL INFORMATION

P1 - Signal Connector
Connector Information 30-pin, 2.54 mm spaced, dual-row header
Details Samtec: SSM-115-L-DV
Mating Connector
Included with Drive No

15 RS232 TX
PDI-4 + (PWM+ / AUX ENC A+ / CAP-B+) 17 13 RS232 RX
PDI-5 + (DIR+ / AUX ENC B+ / CAP-C+) 19 11 PDI-2
GND 21 9 PDO-3
HALL B 23 7 PDO-1
MOT ENC I+ 25 5 GND
MOT ENC A+ 27 3 PAI-1 + (REF+)
MOT ENC B+ 29 1 CAN ADDR 0

MOT ENC B- 30 2 CAN ADDR 1

MOT ENC A- 28 4 PAI-1 - (REF-)
MOT ENC I- 26 6 CAN BAUD
HALL C 24 8 PDO-2
HALL A 22 10 PDI-1
PDI-5 - (DIR- / AUX ENC B- / CAP-C-) 20 12 PDI-3 (CAP-A)
PDI-4 - (PWM- / AUX ENC A- / CAP-B-) 18 14 CAN RX
16 CAN TX

P2 - Power Connector
Connector Information 12-pin, 2.54 mm spaced header
Details Samtec: BCS-112-L-S-PE
Mating Connector
Included with Drive No

11 MOTOR A
9 MOTOR B
7 MOTOR C
5 HIGH VOLTAGE
3 GND
1 LOGIC PWR

Sold & Serviced By: 2 GND

4 HIGH VOLTAGE

ELECTROMATE
8 MOTOR C
10 MOTOR B
Toll Free Phone (877) SERVO98
12 MOTOR A
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com

Release Date: Status: ADVANCED Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
Page 5 of 7
4/28/2014 Active ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com
 DigiFlex® Performance™ Servo Drive DZCANTE-012L080

MOUNTING DIMENSIONS

Sold & Serviced By:

ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com

Release Date: Status: ADVANCED Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
Page 6 of 7
4/28/2014 Active ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com
 DigiFlex® Performance™ Servo Drive DZCANTE-012L080

PART NUMBERING INFORMATION

Example: D Z R A L T E - 0 1 2 L 0 8 0
Drive Series Max DC Bus Voltage (VDC)
DZ DigiFlex Z (PCB Mount) 080 80 V
200 175 V
Communication
R RS232/RS485 Power and Logic Supply
C CANopen or RS232 DC Input
L
Logic Supply Required

Command Inputs Peak Current (A0 to Peak)

Analog (±10V) 012 12 A
AN
No Step & Direction
020 20 A
Analog (±10V) 80V Drives
AL 040 40 A
Low Voltage Step & Direction (5V)
060 60 A
010 10 A
Digital I/O 175V Drives
025 25 A
T TTL (5V) Non-Isolated

Motor Feedback
E Incremental Encoder and/or Halls

DigiFlex® Performance™ series of products are available in many configurations. Note that not all possible part number
combinations are offered as standard drives. All models listed in the selection tables of the website are readily available, standard
product offerings.

ADVANCED Motion Controls also has the capability to promptly develop and deliver specified products for OEMs with volume
requests. Our Applications and Engineering Departments will work closely with your design team through all stages of
development in order to provide the best servo drive solution for your system. Equipped with on-site manufacturing for quick-
turn customs capabilities, ADVANCED Motion Controls utilizes our years of engineering and manufacturing expertise to decrease
your costs and time-to-market while increasing system quality and reliability.

Examples of Customized Products

 Optimized Footprint  Tailored Project File
 Private Label Software  Silkscreen Branding
 OEM Specified Connectors  Optimized Base Plate
 No Outer Case  Increased Current Limits
 Increased Current Resolution  Increased Voltage Range
 Increased Temperature Range  Conformal Coating
 Custom Control Interface  Multi-Axis Configurations
 Integrated System I/O  Reduced Profile Size and Weight

Feel free to contact Applications Engineering for further information and details.

Available Accessories
ADVANCED Motion Controls offers a variety of accessories designed to facilitate drive integration into a servo system.
Visit www.a-m-c.com to see which accessories will assist with your application design and implementation.

Power Supplies Shunt Regulators Filter Cards

Mounting Card
MC1XDZC02
To Motor

Sold & Serviced By:

ELECTROMATE
Drive(s)
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
All specifications in this document are subject to change without written notice. Actual product may differ from pictures provided in this document.

Release Date: Status: ADVANCED Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
Page 7 of 7
4/28/2014 Active ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com