Advanced Motion Controls DPRAHIR-100A400

DigiFlex® Performance™ Servo Drive DPRAHIR-100A400
Description Power Range
Peak Current 100 A (70.7 ARMS)

The DigiFlex® Performance™ (DP) Series digital servo
drives are designed to drive brushed and brushless Continuous Current 50 A (35.4 ARMS)
servomotors. These fully digital drives operate in
torque, velocity, or position mode and employ Space Supply Voltage 200 - 240 VAC
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 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 16-bit Analog to Digital Hardware
Fully Configurable Current, Voltage, Velocity and Built-in brake/shunt regulator

Position Limits
MODES OF OPERATION INPUTS/OUTPUTS

Current 3 High Speed Captures
Position 4 Programmable Analog Inputs (16-bit/12-bit
Velocity Resolution)
COMMAND SOURCE 3 Programmable Digital Inputs (Differential)
PWM and Direction 7 Programmable Digital Inputs (Single-Ended)
Encoder Following 4 Programmable Digital Outputs (Single-Ended)
Over the Network COMPLIANCES & AGENCY APPROVALS
±10 V Analog UL
24V Step and Direction cUL
FEEDBACK SUPPORTED CE Class A (LVD)
Resolver CE Class A (EMC)
±10 VDC Position RoHS
Auxiliary Incremental Encoder
Tachometer (±10 VDC)
Sold & Serviced By:
Toll Free Phone: 877-378-0240

Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.com
Release Date: Revision: Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
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BLOCK DIAGRAM
CONTROL MODULE
3.75K
PDI-1,2,3,4,5,6,7
(STEP / DIR / CAP-A) REF OUT +
REF OUT –
Feedback
INPUT COMMON
Feedback
+5V SIN,COS +
PDI-8,9,10 + (PWM+ / 5k SIN,COS –
Motor
DIR+ / AUX ENC A,B,I + / Drive
Logic
Motor
CAP-B,C+) +5V ENC A,B,I + OUT
PDI-8,9,10 – (PWM– / 10k ENC A,B,I – OUT
DIR– / AUX ENC A,B,I – /
CAP-B,C–)
10k
OUTPUT PULL-UP
2.5k
I/O Interface
PDO-1,2,3,4
OUTPUT COMMON
POWER MODULE
I/O Interface
20k MOTOR A
PAI-1,4 + (REF+)
Power Stage MOTOR B
PAI-1,4 – (REF–)
20k MOTOR C
20k
L1
PAI-2: 33k L2
PAI-2,3
PAI-3: 500k L3
SGN GND
DC+
Shunt Reg.
BR
SELECT
TX/TX–
LOGIC+
RX/RX– RS232/485 Logic Power
Interface LOGIC–
TX+
RX+
ISO GND
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 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.
Sold & Serviced By:

sales@servo2go.com
www.servo2go.com
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SPECIFICATIONS
Power Specifications
Description Units Value
Rated Voltage VAC (VDC) 240 (339)
AC Supply Voltage Range VAC 200 - 240
AC Supply Minimum VAC 180
AC Supply Maximum VAC 264
AC Input Phases1 - 3
AC Supply Frequency Hz 50 - 60
DC Supply Voltage Range2 VDC 255 - 373
DC Bus Over Voltage Limit VDC 429
DC Bus Under Voltage Limit VDC 205
Logic Supply Voltage VDC 20 - 30 (@ 850 mA maximum)
Maximum Peak Output Current A (Arms) 100 (70.7)
Maximum Continuous Output Current A (Arms) 50 (35.4)
Max. Continuous Output Power @ Rated Voltage3 W 11400
Max. Continuous Power Dissipation @ Rated Voltage W 600
Internal Bus Capacitance µF 1500
External Shunt Resistor Minimum Resistance Ω 10
Minimum Load Inductance (Line-To-Line)4 µH 600
Switching Frequency kHz 16
Maximum Output PWM Duty Cycle % 100
Low Voltage Supply Outputs - +5 VDC (250 mA)
Control Specifications
Communication Interfaces - RS-485/232
Command Sources - ±10 V Analog, 24V Step and Direction, Encoder Following, Over the Network, PWM and Direction
Feedback Supported - ±10 VDC Position, Auxiliary Incremental Encoder, Resolver, Tachometer (±10 VDC)
Commutation Methods - Sinusoidal
Modes of Operation - Current, Position, Velocity
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
Hardware Protection -
Circuit (Phase-Phase & Phase-Ground), Under Voltage
Programmable Digital Inputs/Outputs (PDIs/PDOs) - 10/4
Programmable Analog Inputs/Outputs (PAIs/PAOs) - 4/0
Primary I/O Logic Level - 24 VDC
Current Loop Sample Time μs 62.5
Velocity Loop Sample Time μs 125
Position Loop Sample Time μs 125
Resolver Reference/Excitation Signal Vrms 4 Vrms @ 5 kHz
Expected Resolver Transformation Ratio Vrms 0.5
Feedback Resolution / Emulated Encoder Resolution5 bit High Resolution Setting: 14, Low Resolution Setting: 12
Maximum Motor Speed Per Feedback Resolution RPM High Resolution Setting: 5000, Low Resolution Setting: 20000
Internal Shunt Regulator - Yes
Internal Shunt Resistor - No
Mechanical Specifications
Agency Approvals - CE Class A (EMC), CE Class A (LVD), cUL, RoHS, UL
Size (H x W x D) mm (in) 272.8 x 230.4 x 149.4 (10.7 x 9.1 x 5.9)
Heatsink (Base) Temperature Range6 °C (°F) 0 - 75 (32 - 167)
Storage Temperature Range °C (°F) -40 - 85 (-40 - 185)
Cooling System - Forced Convection
Form Factor - Panel Mount
IP Rating - IP10
AUX ENCODER Connector - 15-pin, high-density, male D-sub
BRAKE/LOGIC Connector - 4-contact, 13 mm spaced, dual-barrier terminal block
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
MOTOR POWER Connector - 4-contact, 13 mm spaced, dual-barrier terminal block
POWER Connector - 4-contact, 13 mm spaced, dual-barrier terminal block
Notes
Sold & Serviced By:
1. Can operate on single-phase VAC if peak/cont. current ratings are reduced by at least 30%.
2. DC Supply operation will reduce peak/cont. current ratings by at least 30%.
Toll Free Phone: P
3. = (DC Rated Voltage) * (Cont. RMS Current) * 0.95.
877-378-0240
Toll Free4.Fax: 877-378-0249
Lower inductance is acceptable for bus voltages well below maximum. Use external inductance to meet requirements.
5. Higher and lower resolution options are available. Contact Applications Engineering for more information.
sales@servo2go.com
6. Additional cooling and/or heatsink may be required to achieve rated performance.
www.servo2go.com
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PIN FUNCTIONS
AUX ENCODER - Auxiliary Feedback Connector

Pin Name Description / Notes I/O
1 RESERVED Reserved -
4 PDI-8 + (PWM+ / AUX ENC A+ / CAP-B+) Programmable Digital Input or PWM or Auxiliary Encoder or High Speed Capture (For I
5 PDI-8 - (PWM- / AUX ENC A- / CAP-B-) Single-Ended Signals Leave Negative Terminal Open) I
6 PDI-9 + (DIR+ / AUX ENC B+ / CAP-C+) Programmable Digital Input or Direction Input or Auxiliary Encoder or High Speed Capture I
7 PDI-9 - (DIR- / AUX ENC B- / CAP-C-) (For Single-Ended Signals Leave Negative Terminal Open) I
8 PDI-10 + I
Programmable Digital Input (For Single-Ended Signals Leave Negative Terminal Open)
9 PDI-10 - I
10 SGN GND Signal Ground SGND
13 +5V OUT +5V Encoder Supply Output (Short Circuit Protected) O
14 PAI-4 + I
Differential Programmable Analog Input (12-bit Resolution)
15 PAI-4 - I
BRAKE/LOGIC - Logic Power Connector

1 LOGIC GND Logic Supply Ground GND
2 LOGIC PWR Logic Supply Input I
3 BR External Brake Resistor Connection -
4 DC+ Brake Resistor DC+. Connection for brake resistor. O
COMM - RS232/RS485 Communication Connector

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
5 ISO GND Isolated Signal Ground IGND
6 RS485 TX+ Transmit Line (RS-485) O
8 RS485 RX+ Receive Line (RS-485) I
FEEDBACK - Feedback Connector

4 REF OUT + O
Resolver Reference/Excitation Output
5 REF OUT - O
6 SIN+ I
Resolver Sine Input
7 SIN- I
8 COS+ I
Resolver Cosine Input
9 COS- I
13 +5V OUT +5V Encoder Supply Output (Short Circuit Protected) O
14 PAI-3 Programmable Analog Input (12-bit Resolution) I
Sold & Serviced By:

sales@servo2go.com
www.servo2go.com
Page 4 of 11
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I/O - Signal Connector

1 PDO-1 Isolated Programmable Digital Output O
2 OUTPUT COMMON Digital Output Common OGND
4 PAI-1 + (REF+) I
Differential Programmable Analog Input or Reference Signal Input (16-bit Resolution)
5 PAI-1 - (REF-) I
6 PAI-2 Programmable Analog Input (12-bit Resolution) I
8 OUTPUT PULL-UP Digital Output Pull-Up For User Outputs I
9 PDI-5 Isolated Programmable Digital Input I
15 INPUT COMMON Digital Input Common (Can Be Used To Pull-Up Digital Inputs) IGND
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-A) Isolated Programmable Digital Input or High Speed Capture I
20 ENC A+ OUT O
Emulated Encoder Channel A Output
21 ENC A- OUT O
22 ENC B+ OUT O
Emulated Encoder Channel B Output
23 ENC B- OUT O
24 ENC I+ OUT O
Emulated Encoder Index Output
25 ENC I- OUT O
MOTOR POWER - Motor Power Connector

1 SHIELD Motor feedback cable shield. Internally connected to protective earth ground. SGND
2 MOTOR POWER U Motor Phase U O
3 MOTOR POWER V Motor Phase V O
4 MOTOR POWER W Motor Phase W O
POWER - AC Power Connector

1 L1 I
2 L2 AC Supply Input (Three Phase) I
3 L3 I
4 PE Protective Earth Ground PE
Sold & Serviced By:

sales@servo2go.com
www.servo2go.com
Page 5 of 11
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HARDWARE SETTINGS
Switch Functions
Setting
Switch Description
On Off
Bit 0 of binary RS-485 drive address. Does not affect RS-232
1 1 0
settings.
2 1 0
settings.
3 1 0
settings.
4 1 0
settings.
5 1 0
settings.
6 1 0
settings.
Bit 0 of drive RS-485 baud rate setting. Does not affect RS-232
7 1 0
settings.
Bit 1 of drive RS-485 baud rate setting. Does not affect RS-232
8 1 0
settings.
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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sales@servo2go.com
www.servo2go.com
Page 6 of 11
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MECHANICAL INFORMATION
AUX ENCODER - Auxiliary Feedback Connector

Connector Information 15-pin, high-density, male D-sub
TYCO: Plug P/N 1658681-1; Housing P/N 5748677-2; Terminals P/N 1658686-2 (loose) or
Details
Mating Connector 1658686-1 (strip)
Included with Drive No
SGN GND 10
PDI-10 - 9
PDI-10 + 8
PDI-9 - (DIR- / AUX ENC B- / CAP-C-) 7 4 PDI-8 + (PWM+ / AUX ENC A+ / CAP-B+)
PDI-9 + (DIR+ / AUX ENC B+ / CAP-C+) 6 5 PDI-8 - (PWM- / AUX ENC A- / CAP-B-)
15 PAI-4 -
14 PAI-4 +
13 +5V OUT
12 SGN GND
11 SGN GND
BRAKE/LOGIC - Logic Power Connector

Connector Information 4-contact, 13 mm spaced, dual-barrier terminal block
Details Not applicable
Mating Connector
Included with Drive Not applicable
4 DC+
3 BR
2 LOGIC PWR
1 LOGIC GND
COMM - RS232/RS485 Communication Connector

Connector Information 9-pin, female D-sub
Details
5 ISO GND
3 RS232 RX / RS485 RX-

2 RS232 TX / RS485 TX-
1 SELECT
6 RS485 TX+
8 RS485 RX+
Sold & Serviced By:

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www.servo2go.com
Page 7 of 11
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FEEDBACK - Feedback Connector

Connector Information 15-pin, high-density, female D-sub
Details
SIN+ 6 5 REF OUT -

SIN- 7 4 REF OUT +
COS+ 8
COS- 9
12 SGN GND
13 +5V OUT
14 PAI-3
I/O - Signal Connector

Connector Information 26-pin, high-density, female D-sub
Details
PDO-3 10 9 PDI-5
PDI-1 11 8 OUTPUT PULL-UP
PDI-2 12 7 SGN GND
PDI-3 13 6 PAI-2
PDO-4 14 5 PAI-1 - (REF-)
INPUT COMMON 15 4 PAI-1 + (REF+)
SGN GND 16 3 PDO-2
PDI-4 (STEP) 17 2 OUTPUT COMMON
PDI-6 (DIR) 18 1 PDO-1
19 PDI-7 (CAP-A)
20 ENC A+ OUT
21 ENC A- OUT
22 ENC B+ OUT
23 ENC B- OUT
24 ENC I+ OUT
25 ENC I- OUT
26 SGN GND
MOTOR POWER - Motor Power Connector

Mating Connector
4 MOTOR POWER W
3 MOTOR POWER V
2 MOTOR POWER U
1 SHIELD
Sold & Serviced By:

sales@servo2go.com
www.servo2go.com
Page 8 of 11
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POWER - AC Power Connector

Mating Connector
4 PE
3 L3
2 L2
1 L1
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www.servo2go.com
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MOUNTING DIMENSIONS
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www.servo2go.com
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PART NUMBERING INFORMATION
Example: D P R A N I E - 0 1 5 A 4 0 0 -
Drive Series Customer Special
DP DigiFlex Performance Code used to identify customer
specials
Communication Revision
R RS232/RS485 A through Z (letters may be skipped)
C CANopen or RS232
Q SynqNet Max DC Bus Voltage (VDC)
080 80
Command Inputs 200 200
Analog (±10V) 400 400
AN
No Step & Direction 800 800
Analog (±10V)
AL
Low Voltage Step & Direction (5V)
Power and Logic Supply
Analog (±10V)
AH AC Input
High Voltage Step & Direction (24V) A
+24VDC User Logic Supply Required
No Analog
NL AC Input Only
Low Voltage Step & Direction (5V) N
No Logic Supply Required (Internal Supply)
No Analog, No Step & Direction
NN DC Input
(Communication Interface Only) B
Both Logic Supply Options (Internal or User)
DC Input
L
Digital I/O Logic Supply Required
I Isolated (24V) DC Input Only
D
T TTL (5V) Non-Isolated Internal Logic Supply
Motor Feedback Peak Current (A0 to Peak)

E Incremental Encoder and/or Halls 015 15
R Resolver 016 16
A Absolute Sin/Cos (Hiperface & Endat) 020 20
S Sin/Cos with Halls 025 25
030 30
040 40
060 60
100 100
DigiFlex® Performance™ series of products are available in many configurations. 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.
Sold & Serviced By:

sales@servo2go.com
All www.servo2go.com
specifications in this document are subject to change without written notice. Actual product may differ from pictures provided
in this document.
Page 11 of 11
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DigiFlex® Performance™ Servo Drive DPRAHIR-100A400

Description Power Range

Peak Current 100 A (70.7 ARMS)

This DP Series drive features a single RS-232/RS-485

All drive and motor parameters are stored in non-

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 16-bit Analog to Digital Hardware

Fully Configurable Current, Voltage, Velocity and Built-in brake/shunt regulator

MODES OF OPERATION INPUTS/OUTPUTS

Toll Free Phone: 877-378-0240

Information on Approvals and Compliances

Toll Free Phone: 877-378-0240

AUX ENCODER - Auxiliary Feedback Connector

BRAKE/LOGIC - Logic Power Connector

COMM - RS232/RS485 Communication Connector

FEEDBACK - Feedback Connector

Sold & Serviced By:

Toll Free Phone: 877-378-0240

I/O - Signal Connector

MOTOR POWER - Motor Power Connector

POWER - AC Power Connector

Sold & Serviced By:

Toll Free Phone: 877-378-0240

Baud Rate (kbps) Value For Bit Rate Setting

Sold & Serviced By:

Toll Free Phone: 877-378-0240

AUX ENCODER - Auxiliary Feedback Connector

BRAKE/LOGIC - Logic Power Connector

COMM - RS232/RS485 Communication Connector

3 RS232 RX / RS485 RX-

Toll Free Phone: 877-378-0240

FEEDBACK - Feedback Connector

SIN+ 6 5 REF OUT -

I/O - Signal Connector

MOTOR POWER - Motor Power Connector

Sold & Serviced By:

Toll Free Phone: 877-378-0240

POWER - AC Power Connector

Sold & Serviced By:

Toll Free Phone: 877-378-0240

Sold & Serviced By:

Toll Free Phone: 877-378-0240

PART NUMBERING INFORMATION

Motor Feedback Peak Current (A0 to Peak)

Examples of Customized Products

Sold & Serviced By:

Toll Free Phone: 877-378-0240

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