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 :16KHZ(62.5μs) Speed/Position loop :4KHZ(250μs)

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;
◆ Drive motor types: brushless motor, brushed motor, linear motor, voice coil motor, etc. It can drive two motors simultaneously.
◆ Encoder feedback: Incremental encoder, Hall, grating ruler, resolver (with an external conversion card); Absolute encoder, supporting SSI, Absolute A, BiSS(B&C) protocols;
◆The maximum pulse response frequency can reach 2MHz 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; Support PVT, return-to-zero, and interpolation;
◆EtherCAT Ethernet Fieldbus, using the CANopen application protocol as an EtherCAT slave station, the EtherCAT(CoE) protocol of DSP-402 for motion control equipment, supports cyclic synchronous position-velocity-Moment (CSP-CSV-CST),PVT, interpolation, and 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

16(Among which IN3, IN4, IN11 and IN12 are high-speed exits)

Signal format

NPN，PNP

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

6

Signal format

Optocoupler output, with a maximum voltage of 30Vdc. Two dedicated motor brake outputs

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

0℃ ~+50℃

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)

Analog sin/cos encoder (-s) is optional

A resolver (-R) is optional

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

The absolute value encoder (A17) is optional

DE2PC-09003A~50A

208

198

40

118

101

/

4-4.8

192

DE2PC-09075A~150A

245

235

59

148

80

34.5

4-5.0

229

DE2PC-18024A

208

198

40

118

101

/

4-4.8

192

DE2PC-18050A~75A

245

235

59

148

80

34.5

4-5.0

229

DE2PC-135100A

Series

DC/DE/DE2/BC/BC2

Special requirements

A: Absolute value

Input instructions

(Tama River RS485/

P:Pulse  A:Analog quantity  R:RS485

BISS-C/SSI）

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）

For debugging J3 RS-232

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

A#U

Motor power line phase U

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

1

CANH

CANH signal

2

CANL

CANL signal

2

A#V

Motor power line phase V

3

GND

Communication power supply ground

J4 (A#) &J8 (B#) control motor brake enable terminals

3

A#W

Motor power line phase W

 +20~90VDC

Serial number

Definition

Explanation

1

BRK-24

External 24V

4

GND

Input power -

2

BRK-OUT

Brake output

3

GND

External 0V

5

+HV

Input power +

4

MOT-TMP

Motor temperature switch

Pin

Name

Function

Pin

Name

Function

1

FG

The Earth

14

ISO_OUT1-

Customize

2

Ref-

Analog negative input

15

ISO_OUT2+

Customize

3

Ref+

Positive input of analog quantity

16

ISO_OUT2-

Customize

4

A#_IN1
B#_ IN10

Customize

17

MUL_ENC_S-

The second absolute value encoding input

5

A#_IN2
B#_ IN11

Customize

18

MUL_ENC_S+

The second absolute value encoding input

6

A#_IN3
B#_IN12

Customize

19

GND

Power supply ground

7

A#_IN4
B#_IN13

Customize

20

+5V

5V power output (100mA)

8

A#ISO_IN5
B#ISO_IN14

Customize

21

EONZ-

Motor encoder output signal Z-(or second incremental encoder input)

9

A#ISO_IN6
B#ISO_IN15

Customize

22

EONZ+

Motor encoder output signal Z+(or second incremental encoder input)

10

A#ISO_IN7
B#ISO_IN16

Customize

23

EONB-

Motor encoder output signal B-(or second incremental encoder input)

11

A#ISO_IN8
B#ISO_IN17

Customize

24

EONB+

Motor encoder output signal B+(or second incremental encoder input)

12

ISO_COM

The common terminal of the ISO terminal

25

EONA-

Motor encoder output signal A-(or second incremental encoder input)

13

ISO_OUT1+

Customize

26

EONA+

Motor encoder output signal A+(or second incremental encoder input)

Pin

Definition

Function

Pin

Definition

Function

1

SIN +

SIN +

9

W+

Motor encoder W+ input

2

SIN-

SIN-

10

COS+

COS+

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-

Motor encoder Z-input

15

COS-

COS-

8

Z+

Motor encoder Z+ input

/

/

/

SW Switch serial number

Corresponding station number

SW Switch serial number

Corresponding station number

1

1

5

16

2

2

6

32

3

4

7

64

4

8

8

128