Digital control loop

Current, speed and position, 100% digital loop control; Dual position loop control using the second encoder input

Sampling frequency (time)

Current loop :15KHZ(66.7μs) Speed/Position loop :3KHZ(330μs)

Communication

Sinusoidal magnetic field directional control or trapezoidal control from HALL to brushless motors

Modulation

Space vector PWM modulation with center weighting

Broadband

The current loop is generally 2.5KHZ and varies with parameter adjustments and load inductance

HV compensation

Changing the bus voltage (HV) does not affect the bandwidth

Minimum load inductance

50 mH wire inductor

◆ Control mode: Position, speed, torque;
◆Sampling frequency (time) current loop: 16KHz(62.5us) Speed/Position loop :4KHz(250μs)
◆Bandwidth: The current loop is generally 2.5kHz, which varies with parameter adjustments and load inductance
◆Programmable protection: multi-directional protection functions such as position error, overcurrent, overvoltage or undervoltage, I2t, output short circuit and overload, etc.
◆Drive motor types: brushless motor, brushed motor, linear motor, voice coil motor, etc.
◆Encoder feedback: incremental encoder, Hall, grating ruler, resolver (with an external conversion card); Absolute encoder, supporting SSI, Absolute A, BiSS(B&C) protocols.
◆The pulse response frequency can reach up to 2MHz at most and it has digital filtering function.
◆RS232 serial interface, baud rate up to 115KB;
◆CAN2.0 local area bus, compatible with CANopen DS-402, with a maximum baud rate of 1MHz; Supports PVT, return-to-zero, and interpolation.
◆EtherCAT Ethernet fieldbus, as an EtherCAT slave station, uses the CANopen application protocol. The EtherCAT(CoE) protocol of DSP-402 for motion control equipment supports cyclic synchronous position-veloce-torque (CSP-CSV-)CST,PVT, interpolation, return to zero
◆Power supply voltage: 18-90(135/180)VDC

Position control

Instruction control mode

Servo enable, external reset, forward/reverse limit, motor operation stop, high-speed analog acquisition control, PWM synchronous signal input, high-speed pulse input, etc

Input signal

Pulse instruction

Input pulse pattern

It includes three instruction forms: "direction + pulse", "A and B phase orthogonal pulse", and "CW/CCW pulse"

Signal format

Differential input, collector open circuit

Maximum pulse frequency

Differential input :(maximum 2 Mpps) Collector open circuit :(maximum 500Kpps)

Simulation instruction

Voltage range

Input voltage range ±10V

Input impedance

Differential input impedance = 5KΩ

Speed control

Instruction control mode

PWM, ±10V analog quantity, function generator, software programming

Input signal

PWM

Polarity

PWM =0-100%, polarity =1/0

Non-polarity

PWM =50％ +/-50%

Frequency range

Minimum 1kHz, maximum 100kHz

Minimum pulse width

220ns

Simulation instruction

Voltage range

Input voltage range ±10V

Input impedance

Differential input impedance = 5KΩ

Current control

Instruction control mode

PWM, ±10V analog quantity, function generator, software programming

Input signal

PWM

Polarity

PWM =0-100%, polarity =1/0

Non-polarity

PWM = 50% +/-50%

Frequency range

Minimum 1kHz, maximum 100kHz

Minimum pulse width

220ns

Simulation instruction

Voltage range

Input voltage range ±10V

Input impedance

Differential input impedance = 5KΩ

I/O signal

Digital input IN

The number of ports

10(Among them, IN6, IN7, IN8, IN9 and IN10 are high-speed ports, and IN5 is internally used for motor temperature protection)

Signal format

NPN(Effective at low level)

Settable functions

Servo enable, external reset, forward/reverse limit, motor operation stop, high-speed analog acquisition and control, PWM synchronous signal input, high-speed pulse input, etc

Digital output OUT

The number of ports

3

Signal format

NPN(effective at low level), capable of withstands a maximum current of 300 madC and a maximum voltage of 30Vdc

Settable functions

Fault signal, brake control, PWM synchronization signal, custom event, trajectory status, position trigger, program control

Function

LED indication

Status indication, CAN network indication

Communication function

RS-232

Baud rate

9600-115200.

Agreement

Full-duplex mode, ASCII or binary format

CAN

Baud rate

20kbit/s-1Mbit/s

Agreement

Canopen Application Layer DS-301V4.02

Equipment

DSP-402 device drive and motion control

Protection function

Overvoltage, overcurrent, undervoltage, overload, overheating, encoder abnormality, excessive position tracking error and other protections

Usage environment

Installation location

No corrosive gases, flammable gases, etc

Altitude

Less than 1,000 meters

Altitude

-20℃ to +40℃

Humidity

5% to 95%RH, no water droplets condense

Vibration resistance/shock resistance strength

Less than 4.9 m/s ² / less than 19.6 m/s ²

Feedback

Digital A/B orthogonal encoder (-E, maximum rate 5M line/s)

Auxiliary encoder input/output (Full closed-loop control /-OP)

A resolver (-R) is optional

Digital Hall (-H(U/V/W, 120-degree electrical phase difference))

The absolute value encoder (A17) is optional

DEPC-3A ~50A

167

160

35

/

2-4.5

/

19. 5

100

51

22

4-4.5

160

DEPC-75A

200

190

59

4-5.0

/

25

/

114

60

32.5

4-4.8

190

DEPC-100A

200

190

59

4-5.0

/

25

/

114

60

32.5

4-4.8

190

DEPC-150A

221

211

59

5

/

25

/

140

60

45

4.8

211

DEPC-200A

221

211

85

5

/

25

/

140

/

/

/

211

DEPC-300A

221

211

85

5

/

25

/

140

/

/

/

211

Series

Special requirements

DC/DE/DE2/BC/BC2

MD: Small size

LG: Large size

Input instructions

RTR: Reduce temperature rise

P:Pulse  A:Analog quantity  R:RS485

GT: Green terminal model (BC)

C:CANopen E:EtherCAT

Feedback

Power supply voltage

E: Incremental A/B orthogonal encoder

090:18-90VDC 135:18-180VDC

A: Absolute value encoder

180:18-180VDC

H: Digital Hall, S: Analog sine and cosine encoder

Rated current

Special function

16:16Amps(11Arms) 50:50Amps(35Arms)

OP: Pulse output

150:150Amps(105Arms)

HUB: Servo hub (BC）

J6 RS-232 For debugging

Pin

Definition

Name

2

RXD

RS232 communication receiving terminal

3

GND

Communication power supply ground

5

TXD

RS232 communication sender

Serial number

Definition

Name

Name

Pin

Definition

Name

1

U

Motor power line phase U

It must be connected to the motors one by one according to the labels

1

CAN_H

CANH signal

2

V

Phase V of the motor power line

2

CAN_L

CANL signal

3

W

Phase W of the motor power line

+20 ~90V DC

4

GND

Input power supply

3

GND

Communication power supply ground

5

+HV

Input power +

Pin

Name

Function

Pin

Name

Function

1

ISO_COM

The common terminal of the ISO terminal

14

OUT1

Customize

2

Ref-

Analog negative input

15

OUT2

Customize

3

Ref+

Positive input of analog quantity

16

OUT3

Customize

4

IN1

Customize

17

MUL_ENC_S-

The second absolute value encoding input

5

IN2

Customize

18

MUL_ENC_S+

The second absolute value encoding input

6

IN3

Customize

19

GND

Power supply ground

7

IN4

Customize

20

+5V

5V power output (100mA)

8

IN5

Customize

21

EONZ-
(CLK-/MA-)

The output signal of the motor encoder is Z-
(Or the second incremental encoder input)

9

IN6

Customize

22

EONZ+
(CLK+/MA+)

The motor encoder outputs the signal Z+
(Or the second incremental encoder input)

10

ISO_IN7

Customize

23

EONB-

The motor encoder outputs signal B-

11

ISO_IN8

Customize

24

EONB+

The motor encoder outputs signal B+

12

ISO_IN9

Customize

25

EONA-

The motor encoder outputs signal A-

13

ISO_IN10

Customize

26

EONA+

The motor encoder outputs the signal A+

Pin

Definition

Function

Pin

Definition

Function

1

/

/

9

W+

Motor encoder W+ input

2

/

/

10

3

U+

Motor encoder U+ input

11

B-(DAT-)

Motor encoder B- input
(Absolute Value Encoder DAT-)

4

+5V

Motor signal line +5V

12

B+(DAT+)

Motor encoder B+ input
(Absolute Value Encoder DAT+

5

0V

Motor signal line GND

13

A-

Motor encoder A- input

6

V+

Motor encoder V+ input

14

A+

Motor encoder A+ input

7

Z-
(CLK-/MA-)

Motor encoder Z-input
(Absolute value CLK-/MA-)

15

/

/

8

Z+
(CL+/MA+)

Motor encoder Z+ input
(Absolute value CLK-/MA-)

/

/

/

SW Switch serial number

Corresponding station number

1

1

2

2

3

4

4

8