DR101EE Series

ADVANCED MOTION CONTROLS

3805 Calle Tecate, Camarillo, CA 93012
Tel: (805) 389-1935, Fax: (805) 389-1165
Page 1 of 7
DIGIFLEX DIGITAL SERVO DRIVES
MODEL: DR101EE20A8BDC-QD1

FEATURES:

Fully digital, state-of-the-art design
Space Vector Modulation and vector control technology
20kHz Digital current loop with programmable gain settings
PIDF velocity loop with 100microsecond update rate
PID + FF position loop with 100 microsecond update rate
Hall sensor + encoder or encoder-only based commutation
Surface-mount technology
Small size, low cost, ease of use

Isolated RS232/485 interface for setup and networking
Windows based setup software with built-in 8-channel digital scope
Operates in torque, velocity or position mode with programmable gain
settings
Programmable profiling in all modes
Fully configurable current, voltage, velocity and position limits.
Step & direction mode for stepper replacement
Encoder following with programmable gear ratio

4 isolated programmable digital inputs
2 programmable differential inputs, configurable as step & direction,
master encoder, or secondary encoder for dual loop operation
4 isolated programmable digital outputs
2 programmable analog inputs (10-bit)
14-bit reference input or programmable analog input
1 programmable analog output (10-bit)
Encoder output (from motor, optionally buffered)


Four quadrant regenerative operation
Separate backup logic supply input
Bi-color LED status indicator
Extensive built-in protection against:
over-voltage (programmable)
under-voltage (programmable)
short-circuit: phase-phase, phase-ground
over-current
over-temperature


ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
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sales@electromate.com
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ADVANCED MOTION CONTROLS DR101EE Series
Page 2 of 7
BLOCK DIAGRAM:

MOTOR A
MOTOR B
MOTOR C
20K
20K
2K
+5V
+HALL A,B,C
-HALL A,B,C
MOT ENC A+
MOT ENC A-
MOT ENC B+
MOT ENC B-
MOT ENC I+
MOT ENC I-
M
O
T
O
R

F
E
E
D
B
A
C
K
LOGIC POWER
SUPPLY
HIGH VOLTAGE
LOGIC POWER
GROUND
POWER
OUTPUT STAGE
DR101EE-BDC
+5V
10K
5K
10K
10K
5K
500
20K
20K
40K
10K
20K
20K
PROGR. OUTPUT 1...4
OUTPUT COMMON
OUTPUT PULL-UP
AGND
INPUT COMMON
+REF
PROGR. ANALOG INPUT 2,3
-REF
PROGR. ANALOG OUTPUT 1
RS232/485
INTERFACE
+
+
-
-
-RX
-TX
TX/+TX
GND
SELECT
RX/+RX
PROGR. INPUT 1..4
+5V
+5V
I
/
O

I
N
T
E
R
F
A
C
E
ISOLATION
+PROGR. INPUT 5,6
STEP+, DIR+, AUX ENC A+/B+
-PROGR. INPUT 5,6
STEP-, DIR-, AUX ENC A-/B-
CONTROLLER
CURRENT CONTROL
TORQUE CONTROL
VELOCITY CONTROL
POSITION CONTROL


DESCRIPTION:

The DR101EE Series digital PWM 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. 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.

DR101EE Series drives feature a single, isolated RS232/485 interface, which is used for drive configuration and setup
as well as online operation in networked applications. Drive commissioning can be accomplished through a fully
graphical Windows based application.

All drive and motor parameters are stored in non-volatile memory.
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
Sold & Serviced By:
ADVANCED MOTION CONTROLS DR101EE Series
Page 3 of 7
SPECIFICATIONS:

POWER STAGE SPECIFICATIONS DR101EE20A8BDC-QD1
DC SUPPLY VOLTAGE 2080 VDC
PEAK CURRENT 20A (14.2Arms)
MAXIMUM CONTINUOUS CURRENT 10A (7.1Arms)
MINIMUM LOAD INDUCTANCE 250 H
SWITCHING FREQUENCY 20 kHz
HEATSINK (BASEPLATE) TEMPERATURE RANGE 0 to 65 C, disables at 65 C
POWER DISSIPATION AT CONTINUOUS CURRENT 50W
MIN. UNDER VOLTAGE SHUTDOWN 20 VDC
MAX. OVER-VOLTAGE SHUTDOWN 86 VDC
LOGIC SUPPLY VOLTAGE (backup supply) 2080 VDC, 20W maximum


MECHANICAL SPECIFICATIONS
LOGIC BACKUP CONNECTOR: P1
2-pin; 5.08mm pitch removable with screw
flange
POWER CONNECTOR: P2
2-pin; 7.62mm pitch removable with screw
flange
MOTOR CONNECTOR: P3
3-pin; 7.62mm pitch removable with screw
flange
MOTOR FEEDBACK CONNECTOR: CN3* 15-pin high density female D-sub
I/O CONNECTOR: CN2* 26-pin high density female D-sub
COMMUNICATIONS INTERFACE (RS232/485): CN1* 9-pin female D-sub
SIZE
5.22 x 3.52 x 1.42 inches
132.5 x 89.5 x 35.9 mm
WEIGHT
1 lb.
0.44 kg

* Mating connectors are not included.
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
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ADVANCED MOTION CONTROLS DR101EE Series
Page 4 of 7
PIN FUNCTIONS:

P1 Logic Backup Connector:

CONNECTOR PIN NAME DESCRIPTION I/O
1 GND Ground GND
P1
2 LOGIC PWR
Logic supply input. This input can be
used to supply power to the drive logic
circuitry only. Effective only when the
voltage applied to pin P2-2 is lower
then the voltage applied to P1-2.
I

P2 Power Connector:

CONNECTOR PIN NAME DESCRIPTION I/O
1 GND Ground GND
P2
2 HV IN
DC power input. This input is used to
supply power to the motor and drive
logic circuitry.
I

P3 - Motor Connector:

CONNECTOR PIN NAME DESCRIPTION I/O
1 MA Motor phase A O
2 MB Motor phase B O P3
3 MC Motor phase C O


CN3 - Motor Feedback Connector:

CONNECTOR PIN NAME DESCRIPTION I/O
1 +Hall A I
2 +Hall B I
3 +Hall C
Commutation sensor inputs. Internal
2K pull-up to +5VDC. Can be used
with single ended or differential Hall
sensors. I
4 MOT ENC A+ I
5 MOT ENC A-
Differential Encoder Input. For single
ended encoder signals, leave the A
terminal open.
I
6 MOT ENC B+ I
7 MOT ENC B-
Differential Encoder Input. For single
ended encoder signals, leave the B
terminal open.
I
8 MOT ENC I+ I
9 MOT ENC I-
Differential Encoder Input. For single
ended encoder signals, leave the I
terminal open.
I
10 -Hall A*
See CN3-1. Leave open in case of
single ended Hall sensors.
I
11 -Hall B*
See CN3-2. Leave open in case of
single ended Hall sensors.
I
CN3
12 SGND Signal ground SGND
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ADVANCED MOTION CONTROLS DR101EE Series
Page 5 of 7
13 +5V OUT
+5V @ 250mA max. Short -circuit
protected.
O
14 PAI3
Programmable analog input, single
ended, 10-bit
I

15 -Hall C*
See CN3-3. Leave open in case of
single ended Hall sensors.
I

CN2 I/O Connector:

CONNECTOR PIN NAME DESCRIPTION I/O
1 PDO1
Isolated programmable digital output,
24V @ 50mA max. Referenced to pin 8,
Output Common.
O
2 OUTPUT COMMON Digital output common. OGND
3 PDO2
Isolated programmable digital output,
24V @ 50mA max. Referenced to pin 8,
Output Common.
O
4 +REF I
5 -REF
Differential reference signal input, 14-bit
resolution. Can also be used as
programmable analog input 1.
I
6 PAI2 Programmable analog input I
7 PAO1 Programmable analog output O
8 OUTPUT PULL-UP Digital output pull -up via 5K resistor. I
9 -PDI6
Programmable Input (see CN2-18) or
Direction- or Aux Enc B-
I
10 PDO3
Isolated programmable digital output,
24V @ 50mA max. Referenced to pin 8,
Output Common.
O
11 PDI1
Isolated programmable digital input,
24V @ 5mA max. Referenced to pin 15,
Input Common.
I
12 PDI2
Isolated programmable digital input,
24V @ 5mA max. Referenced to pin 15,
Input Common.
I
13 PDI3
Isolated programmable digital input,
24V @ 5mA max. Referenced to pin 15,
Input Common.
I
14 PDO4
Isolated programmable digital output,
24V @ 50mA max. Referenced to pin 8,
Output Common.
O
15 Input Common
Digital input common. Can also be used
to pull-up digital inputs.
IGND
16 AGND Analog ground AGND
17 +PDI5
Programmable differential digital input,
or Step+ or Aux Enc A+
I
18 +PDI6
Programmable, differential digital input
or Direction+ or Aux Enc B+
I
19 PDI4
Isolated programmable digital input,
24V @ 5mA max. Referenced to pin 15,
Input Common.
I
CN2
20 Encoder Channel A+ Encoder Output (from connector CN3),
not buffered
O
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ADVANCED MOTION CONTROLS DR101EE Series
Page 6 of 7
21 Encoder Channel A-
not buffered
O
22 Encoder Channel B+ O
23 Encoder Channel B-
Encoder Output (from connector CN3),
not buffered
O
24 Encoder Channel I+ O
25 Encoder Channel I-
Encoder Output (from connector CN3),
not buffered
O

26 -PDI5
Programmable Input (See CN2-17) or
Step- or Aux Enc A-
I


CN1 - Communications Interface (RS232/485):

CONNECTOR PIN NAME DESCRIPTION I/O
1 SELECT
RS232/485 selection. Pull to ground
(CN1-5) for RS485.
I
2 TX/+TX RS232: Transmit; RS485: +TX O
3 RX/+RX RS232: Receive; RS485: +RX I
4 N/C Not connected
5 SGND Signal ground SGND
6 -TX RS485: -TX O
7 N/C Not connected
8 -RX RS485: -RX I
CN1
9 N/C Not connected

ORDERING INFORMATION:

Standard model: DR101EE20A8BDCX-QD1
X indicates the current revision letter.
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
Sold & Serviced By:
ADVANCED MOTION CONTROLS DR101EE Series
Page 7 of 7
MOUNTING DIMENSIONS:

ELECTROMATE
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Toll Free Fax (877) SERV099
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