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DR101EE Series 
DIGIFLEX® DIGITAL SERVO DRIVES 
MODEL: DR101EE30A40NDC 
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 
·  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 
Sold & Serviced By: 
ELECTROMATE 
Toll Free Phone (877) SERVO98 
Toll Free Fax (877) SERV099 
www.electromate.com 
sales@electromate.com
ADVANCED MOTION CONTROLS DR101EE Series 
POWER GND 
MOT ENC A+ 
MOT ENC A-MOT 
ENC B+ 
MOT ENC B-MOT 
ENC I+ 
MOT ENC I- 
Sold & Serviced By: 
Page 2 of 7 
BLOCK DIAGRAM: 
MOTOR A 
MOTOR B 
MOTOR C 
+5V 
20K 
20K 
2K 
+HALL A,B,C 
-HALL A,B,C 
DR101EE ISOLATION 
LOGIC POWER 
SUPPLY 
MOTOR FEEDBACK 
HIGH VOLTAGE 
POWER 
OUTPUT STAGE 
+5V 
5K 
RS232/485 
INTERFACE 
10K 
10K 
10K 
5K 
500 
20K 
20K 
20K 
40K 
10K 
- 
20K 
RX/+RX 
TX/+TX 
SELECT 
INPUT COMMON 
OUTPUT PULL-UP 
PROGR. OUTPUT 1...4 
OUTPUT COMMON 
+REF 
-REF 
PROGR. ANALOG INPUT 2,3 
AGND 
PROGR. ANALOG OUTPUT 1 
+ 
+ 
- 
PROGR. INPUT 1..4 
+5V 
+5V 
I/O INTERFACE 
-RX 
-TX 
GND 
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
ADVANCED MOTION CONTROLS DR101EE Series 
Sold & Serviced By: 
Page 3 of 7 
SPECIFICATIONS: 
POWER STAGE SPECIFICATIONS DR101EE30A40NDC 
DC SUPPLY VOLTAGE 60…400 VDC 
PEAK CURRENT 30A (21.2Arms) 
MAXIMUM CONTINUOUS CURRENT 15A (10.6Arms) 
MINIMUM LOAD INDUCTANCE 600 μH 
SWITCHING FREQUENCY 20 kHz 
HEATSINK (BASEPLATE) TEMPERATURE RANGE 0 to 65 ºC, disables at 65 ºC 
POWER DISSIPATION AT CONTINUOUS CURRENT 300W 
MIN. UNDER VOLTAGE SHUTDOWN 60 VDC 
MAX. OVER-VOLTAGE SHUTDOWN 425 VDC 
MECHANICAL SPECIFICATIONS 
POWER CONNECTOR: P1 Screw terminals 
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 8.00 x 5.62 x 1.60 inches 
203.2 x 142.9 x 40.7 mm 
WEIGHT 2.12 lb. 
0.99 kg 
* Mating connectors are not included. 
ELECTROMATE 
Toll Free Phone (877) SERVO98 
Toll Free Fax (877) SERV099 
www.electromate.com 
sales@electromate.com
ADVANCED MOTION CONTROLS DR101EE 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 POWER GND Power ground. GNDPWR 
P1 
5 HIGH VOLTAGE DC power 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 
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 
CN2 
3 PDO2 
Isolated programmable digital output, 
24V @ 50mA max. Referenced to pin 8, 
Output Common. 
O 
ELECTROMATE 
Toll Free Phone (877) SERVO98 
Toll Free Fax (877) SERV099 
www.electromate.com 
sales@electromate.com
ADVANCED MOTION CONTROLS DR101EE Series 
Differential reference signal input, 14-bit 
resolution. Can also be used as 
programmable analog input 1. I 
4 +REF I 
5 -REF 
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 
CN1 I 
Sold & Serviced By: 
Page 5 of 7 
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 
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 
CN1 - Communications Interface (RS232/485): 
CONNECTOR PIN NAME DESCRIPTION I/O 
1 SELECT RS232/485 selection. Pull to ground 
(CN1-5) for RS485. 
2 TX/+TX RS232: Transmit; RS485: +TX O 
ELECTROMATE 
Toll Free Phone (877) SERVO98 
Toll Free Fax (877) SERV099 
www.electromate.com 
sales@electromate.com
ADVANCED MOTION CONTROLS DR101EE Series 
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 
9 N/C Not connected 
Sold & Serviced By: 
Page 6 of 7 
ORDERING INFORMATION: 
Standard model: DR101EE30A40NDCX 
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 DR101EE 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 dr101ee30a40ndc

  • 1. DR101EE Series DIGIFLEX® DIGITAL SERVO DRIVES MODEL: DR101EE30A40NDC 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 · 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 Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 2. ADVANCED MOTION CONTROLS DR101EE Series POWER GND MOT ENC A+ MOT ENC A-MOT ENC B+ MOT ENC B-MOT ENC I+ MOT ENC I- Sold & Serviced By: Page 2 of 7 BLOCK DIAGRAM: MOTOR A MOTOR B MOTOR C +5V 20K 20K 2K +HALL A,B,C -HALL A,B,C DR101EE ISOLATION LOGIC POWER SUPPLY MOTOR FEEDBACK HIGH VOLTAGE POWER OUTPUT STAGE +5V 5K RS232/485 INTERFACE 10K 10K 10K 5K 500 20K 20K 20K 40K 10K - 20K RX/+RX TX/+TX SELECT INPUT COMMON OUTPUT PULL-UP PROGR. OUTPUT 1...4 OUTPUT COMMON +REF -REF PROGR. ANALOG INPUT 2,3 AGND PROGR. ANALOG OUTPUT 1 + + - PROGR. INPUT 1..4 +5V +5V I/O INTERFACE -RX -TX GND 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
  • 3. ADVANCED MOTION CONTROLS DR101EE Series Sold & Serviced By: Page 3 of 7 SPECIFICATIONS: POWER STAGE SPECIFICATIONS DR101EE30A40NDC DC SUPPLY VOLTAGE 60…400 VDC PEAK CURRENT 30A (21.2Arms) MAXIMUM CONTINUOUS CURRENT 15A (10.6Arms) MINIMUM LOAD INDUCTANCE 600 μH SWITCHING FREQUENCY 20 kHz HEATSINK (BASEPLATE) TEMPERATURE RANGE 0 to 65 ºC, disables at 65 ºC POWER DISSIPATION AT CONTINUOUS CURRENT 300W MIN. UNDER VOLTAGE SHUTDOWN 60 VDC MAX. OVER-VOLTAGE SHUTDOWN 425 VDC MECHANICAL SPECIFICATIONS POWER CONNECTOR: P1 Screw terminals 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 8.00 x 5.62 x 1.60 inches 203.2 x 142.9 x 40.7 mm WEIGHT 2.12 lb. 0.99 kg * Mating connectors are not included. ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 4. ADVANCED MOTION CONTROLS DR101EE 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 POWER GND Power ground. GNDPWR P1 5 HIGH VOLTAGE DC power 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 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 CN2 3 PDO2 Isolated programmable digital output, 24V @ 50mA max. Referenced to pin 8, Output Common. O ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 5. ADVANCED MOTION CONTROLS DR101EE Series Differential reference signal input, 14-bit resolution. Can also be used as programmable analog input 1. I 4 +REF I 5 -REF 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 CN1 I Sold & Serviced By: Page 5 of 7 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 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 CN1 - Communications Interface (RS232/485): CONNECTOR PIN NAME DESCRIPTION I/O 1 SELECT RS232/485 selection. Pull to ground (CN1-5) for RS485. 2 TX/+TX RS232: Transmit; RS485: +TX O ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 6. ADVANCED MOTION CONTROLS DR101EE Series 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 9 N/C Not connected Sold & Serviced By: Page 6 of 7 ORDERING INFORMATION: Standard model: DR101EE30A40NDCX 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 DR101EE 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