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DR100EE Series 
DIGIFLEX® DIGITAL SERVO DRIVES 
MODEL: DR100EE25A20NAC 
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 
·  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 programmable digital inputs 
·  2 programmable differential inputs, configurable as step & 
direction, master encoder, or secondary encoder for dual 
loop operation 
·  4 programmable digital outputs 
·  2 programmable analog inputs (10-bit) 
·  14-bit reference input or programmable analog input 
·  2 programmable analog outputs (10-bit) 
·  Encoder output (from motor, optionally buffered) 
·  120VAC off-line operation 
·  Four quadrant regenerative operation 
·  Integrated shunt regulator and resistor 
·  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 
ADVANCED MOTION CONTROLS 
Sold & Serviced By: 
ELECTROMATE 
Toll Free Phone (877) SERVO98 
Toll Free Fax (877) SERV099 
www.electromate.com 
sales@electromate.com
ADVANCED MOTION CONTROLS DR100EE Series 
MOT ENC A+ 
MOT ENC A-MOT 
ENC B+ 
MOT ENC B-MOT 
ENC I+ 
MOT ENC I-RS232/ 
Sold & Serviced By: 
Page 2 of 7 
BLOCK DIAGRAM: 
MOTOR A 
MOTOR B 
MOTOR C 
RX/+RX 
LOGIC POWER 
SUPPLY -RX 
-TX 
5K 
10K 
10K 
20K 
10K 
20K 
2K 
5K 
20K 
20K 
20K 
40K 
10K 
- 
20K +5V 
SELECT 
SGND 
PROGR. OUTPUT 1...4 
SGND 
+REF 
-REF 
PROGR. ANALOG INPUT 2,3 
SGND 
PROGR. ANALOG OUTPUT 1,2 
+HALL A,B,C 
-HALL A,B,C 
485 
INTERFACE 
MOTOR FEEDBACK 
+ 
+ 
- 
TX/+TX 
SGND 
POWER 
OUTPUT STAGE 
PROGR. INPUT 1..4 
DR100EE-NAC 
ISOLATION 
+5V 
+5V 
+5V 
+5V 
+5V 
I/O INTERFACE 
AC1 
AC2 
FUSE 
SHUNT 
+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 DR100EE Series digital PWM servo drives are designed to drive brushed and brushless servomotors. These fully 
digital drives can 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. 
DR100EE Series drives feature a single 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
ADVANCED MOTION CONTROLS DR100EE Series 
Sold & Serviced By: 
Page 3 of 7 
SPECIFICATIONS: 
POWER STAGE SPECIFICATIONS DR100EE25A20NAC 
AC SUPPLY VOLTAGE 45 – 125 VAC, single phase, 50 – 60 Hz 
PEAK CURRENT 25A (17.6Arms) 
MAXIMUM CONTINUOUS CURRENT 12.5A (8.8Arms 
MINIMUM LOAD INDUCTANCE 300 μH 
SWITCHING FREQUENCY 20 kHz 
HEATSINK (BASEPLATE) TEMPERATURE RANGE 0 to 65 ºC, disables at 65 ºC 
POWER DISSIPATION AT CONTINUOUS CURRENT 150W 
MIN. UNDER-VOLTAGE SHUTDOWN 60 VDC 
MAX. OVER-VOLTAGE SHUTDOWN 205 VDC 
BUS CAPACITANCE 3000 μF 
SHUNT RESISTOR 10 O @ 50W 
SHUNT SWITCH-ON VOLTAGE Programmable 
SHUNT FUSE 3A Motor Delay @ 250VAC 
BUS FUSE 15A Slow-Blow @ 250 VAC 
MECHANICAL SPECIFICATIONS 
POWER CONNECTOR: P1 Removable screw terminal 
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 7.42 x 5.92 x 2.58 
188.5x 150.4 x 65.5 mm 
WEIGHT 3.0 Lbs 
1.37 kg 
* Mating connectors not included. 
ELECTROMATE 
Toll Free Phone (877) SERVO98 
Toll Free Fax (877) SERV099 
www.electromate.com 
sales@electromate.com
ADVANCED MOTION CONTROLS DR100EE Series 
Commutation sensor inputs. Internal 
2K pull-up to +5VDC. Can be used 
with single ended or differential Hall 
sensors. I 
Sold & Serviced By: 
Page 4 of 7 
PIN FUNCTIONS: 
P1 - Motor and Power Connector: 
CONNECTOR PIN NAME DESCRIPTION I/O 
1 MA Motor phase A O 
2 MB Motor phase B O 
3 MC Motor phase C O 
4 AC2 I 
P1 
5 AC1 
AC supply input 
I 
CN3 - Motor Feedback Connector: 
CONNECTOR PIN NAME DESCRIPTION I/O 
1 +Hall A I 
2 +Hall B I 
3 +Hall C 
Encoder Input. For single 
4 MOT ENC A+ I 
5 MOT ENC A-Differential 
ended encoder signals, leave the A– 
terminal open. I 
Encoder Input. For single 
6 MOT ENC B+ I 
7 MOT ENC B-Differential 
ended encoder signals, leave the B– 
terminal open. I 
Encoder Input. For single 
8 MOT ENC I+ I 
9 MOT ENC I-Differential 
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 
12 SGND Signal ground SGND 
13 +5V OUT +5V @ 250mA max. Short-circuit 
protected. 
O 
14 PAI3 Programmable analog input, single 
ended, 10-bit 
I 
CN3 
15 -Hall C* See CN3-3. Leave open in case of 
single ended Hall sensors. 
I 
* Contact factory for SE compatible options. 
CN2 – I/O Connector: 
CONNECTOR PIN NAME DESCRIPTION I/O 
1 PDO1* Programmable digital output O 
2 SGND Signal ground SGND 
3 PDO2* Programmable digital output O 
CN2 
4 +REF Differential reference signal input, 14-bit 
resolution. Can also be used as 
I 
ELECTROMATE 
Toll Free Phone (877) SERVO98 
Toll Free Fax (877) SERV099 
www.electromate.com 
sales@electromate.com
ADVANCED MOTION CONTROLS DR100EE Series 
Sold & Serviced By: 
Page 5 of 7 
5 -REF 
resolution. Can also be used as 
programmable analog input 1. I 
6 PAI2 Programmable analog input I 
7 PAO1 Programmable analog output O 
8 PAO2 Programmable analog output O 
9 -PDI6 Programmable Input (see CN2-18) or 
Direction- or Aux Enc B-I 
10 PDO3 Programmable digital output O 
11 PDI1 Programmable digital input I 
12 PDI2 Programmable digital input I 
13 PDI3 Programmable digital input I 
14 PDO4 Programmable digital output O 
15 +5V OUT 
+5VDC. Note: the total current on CN2- 
15 and CN3-13 combined should not 
exceed 250 mA 
O 
16 SGND Signal ground SGND 
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 Programmable digital input I 
20 Encoder Channel A+ Output (from connector CN3), 
O 
21 Encoder Channel A-Encoder 
not buffered O 
22 Encoder Channel B+ Output (from connector CN3), 
O 
23 Encoder Channel B-Encoder 
not buffered O 
24 Encoder Channel I+ Output (from connector CN3), 
O 
25 Encoder Channel I-Encoder 
not buffered O 
26 -PDI5 Programmable Input (See CN2-17) or 
Step- or Aux Enc A-I 
* Contact factory for SE compatible options. 
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 
CN1 
8 -RX RS485: -RX I 
ELECTROMATE 
Toll Free Phone (877) SERVO98 
Toll Free Fax (877) SERV099 
www.electromate.com 
sales@electromate.com
ADVANCED MOTION CONTROLS DR100EE Series 
Sold & Serviced By: 
Page 6 of 7 
9 N/C Not connected 
ORDERING INFORMATION: 
Standard model: DR100EE25A20NACX 
X indicates the current revision letter. 
ELECTROMATE 
Toll Free Phone (877) SERVO98 
Toll Free Fax (877) SERV099 
www.electromate.com 
sales@electromate.com
ADVANCED MOTION CONTROLS DR100EE Series 
Sold & Serviced By: 
Page 7 of 7 
MOUNTING DIMENSIONS: 
ELECTROMATE 
Toll Free Phone (877) SERVO98 
Toll Free Fax (877) SERV099 
www.electromate.com 
sales@electromate.com

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Advanced motion controls dr100ee25a20nac

  • 1. DR100EE Series DIGIFLEX® DIGITAL SERVO DRIVES MODEL: DR100EE25A20NAC 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 · 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 programmable digital inputs · 2 programmable differential inputs, configurable as step & direction, master encoder, or secondary encoder for dual loop operation · 4 programmable digital outputs · 2 programmable analog inputs (10-bit) · 14-bit reference input or programmable analog input · 2 programmable analog outputs (10-bit) · Encoder output (from motor, optionally buffered) · 120VAC off-line operation · Four quadrant regenerative operation · Integrated shunt regulator and resistor · 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 ADVANCED MOTION CONTROLS Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 2. ADVANCED MOTION CONTROLS DR100EE Series MOT ENC A+ MOT ENC A-MOT ENC B+ MOT ENC B-MOT ENC I+ MOT ENC I-RS232/ Sold & Serviced By: Page 2 of 7 BLOCK DIAGRAM: MOTOR A MOTOR B MOTOR C RX/+RX LOGIC POWER SUPPLY -RX -TX 5K 10K 10K 20K 10K 20K 2K 5K 20K 20K 20K 40K 10K - 20K +5V SELECT SGND PROGR. OUTPUT 1...4 SGND +REF -REF PROGR. ANALOG INPUT 2,3 SGND PROGR. ANALOG OUTPUT 1,2 +HALL A,B,C -HALL A,B,C 485 INTERFACE MOTOR FEEDBACK + + - TX/+TX SGND POWER OUTPUT STAGE PROGR. INPUT 1..4 DR100EE-NAC ISOLATION +5V +5V +5V +5V +5V I/O INTERFACE AC1 AC2 FUSE SHUNT +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 DR100EE Series digital PWM servo drives are designed to drive brushed and brushless servomotors. These fully digital drives can 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. DR100EE Series drives feature a single 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
  • 3. ADVANCED MOTION CONTROLS DR100EE Series Sold & Serviced By: Page 3 of 7 SPECIFICATIONS: POWER STAGE SPECIFICATIONS DR100EE25A20NAC AC SUPPLY VOLTAGE 45 – 125 VAC, single phase, 50 – 60 Hz PEAK CURRENT 25A (17.6Arms) MAXIMUM CONTINUOUS CURRENT 12.5A (8.8Arms MINIMUM LOAD INDUCTANCE 300 μH SWITCHING FREQUENCY 20 kHz HEATSINK (BASEPLATE) TEMPERATURE RANGE 0 to 65 ºC, disables at 65 ºC POWER DISSIPATION AT CONTINUOUS CURRENT 150W MIN. UNDER-VOLTAGE SHUTDOWN 60 VDC MAX. OVER-VOLTAGE SHUTDOWN 205 VDC BUS CAPACITANCE 3000 μF SHUNT RESISTOR 10 O @ 50W SHUNT SWITCH-ON VOLTAGE Programmable SHUNT FUSE 3A Motor Delay @ 250VAC BUS FUSE 15A Slow-Blow @ 250 VAC MECHANICAL SPECIFICATIONS POWER CONNECTOR: P1 Removable screw terminal 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 7.42 x 5.92 x 2.58 188.5x 150.4 x 65.5 mm WEIGHT 3.0 Lbs 1.37 kg * Mating connectors not included. ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 4. ADVANCED MOTION CONTROLS DR100EE Series Commutation sensor inputs. Internal 2K pull-up to +5VDC. Can be used with single ended or differential Hall sensors. I Sold & Serviced By: Page 4 of 7 PIN FUNCTIONS: P1 - Motor and Power Connector: CONNECTOR PIN NAME DESCRIPTION I/O 1 MA Motor phase A O 2 MB Motor phase B O 3 MC Motor phase C O 4 AC2 I P1 5 AC1 AC supply input I CN3 - Motor Feedback Connector: CONNECTOR PIN NAME DESCRIPTION I/O 1 +Hall A I 2 +Hall B I 3 +Hall C Encoder Input. For single 4 MOT ENC A+ I 5 MOT ENC A-Differential ended encoder signals, leave the A– terminal open. I Encoder Input. For single 6 MOT ENC B+ I 7 MOT ENC B-Differential ended encoder signals, leave the B– terminal open. I Encoder Input. For single 8 MOT ENC I+ I 9 MOT ENC I-Differential 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 12 SGND Signal ground SGND 13 +5V OUT +5V @ 250mA max. Short-circuit protected. O 14 PAI3 Programmable analog input, single ended, 10-bit I CN3 15 -Hall C* See CN3-3. Leave open in case of single ended Hall sensors. I * Contact factory for SE compatible options. CN2 – I/O Connector: CONNECTOR PIN NAME DESCRIPTION I/O 1 PDO1* Programmable digital output O 2 SGND Signal ground SGND 3 PDO2* Programmable digital output O CN2 4 +REF Differential reference signal input, 14-bit resolution. Can also be used as I ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 5. ADVANCED MOTION CONTROLS DR100EE Series Sold & Serviced By: Page 5 of 7 5 -REF resolution. Can also be used as programmable analog input 1. I 6 PAI2 Programmable analog input I 7 PAO1 Programmable analog output O 8 PAO2 Programmable analog output O 9 -PDI6 Programmable Input (see CN2-18) or Direction- or Aux Enc B-I 10 PDO3 Programmable digital output O 11 PDI1 Programmable digital input I 12 PDI2 Programmable digital input I 13 PDI3 Programmable digital input I 14 PDO4 Programmable digital output O 15 +5V OUT +5VDC. Note: the total current on CN2- 15 and CN3-13 combined should not exceed 250 mA O 16 SGND Signal ground SGND 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 Programmable digital input I 20 Encoder Channel A+ Output (from connector CN3), O 21 Encoder Channel A-Encoder not buffered O 22 Encoder Channel B+ Output (from connector CN3), O 23 Encoder Channel B-Encoder not buffered O 24 Encoder Channel I+ Output (from connector CN3), O 25 Encoder Channel I-Encoder not buffered O 26 -PDI5 Programmable Input (See CN2-17) or Step- or Aux Enc A-I * Contact factory for SE compatible options. 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 CN1 8 -RX RS485: -RX I ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 6. ADVANCED MOTION CONTROLS DR100EE Series Sold & Serviced By: Page 6 of 7 9 N/C Not connected ORDERING INFORMATION: Standard model: DR100EE25A20NACX X indicates the current revision letter. ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 7. ADVANCED MOTION CONTROLS DR100EE Series Sold & Serviced By: Page 7 of 7 MOUNTING DIMENSIONS: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com