Elmo Servo Amplifier Dbp Series Users Manual Emanudbp

SERVO AMPLIFIER DBP SERIES MAN_DBP_

DBP SERIES to the manual 99089bd7-80ef-45b2-9a4d-224e6c003172

2015-02-06

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Rev 6/93

DBP - Rev 6/93

ELMO-WARRANTY PERFORMANCE

The

warranty

performance

covers

only

ELMO's

products

and

only

the

elimination of problems that are due to manufacturing defects resulting in
impaired function, deficient workmanship or defective material. Specifically
excluded from warranty is the elimination of problems which are caused by
abuse,

damage,

neglect,

overloading,

wrong

operation,

unauthorized

manipulations etc.
The following maximum warranty period applies:

12 months from the time of operational startup but not later than 18 months
from shipment by the manufacturing plant.

Units repaired under warranty have to be treated as an entity. A breakdown
of the repair procedure (for instance of the repair of a unit into repair of
cards) is not permissible.
Damage claims, including consequential damages, which exceed the warranty
obligation will be rejected in all cases.
If any term or condition in this warranty performance shall be at variance
or inconsistent with any provision or condition (whether special or general)
contained or referred to in the Terms and Conditions of Sales set out at the
back of Elmo's Standard Acknowledge Form, than the later shall prevail and be
effective.

DBP - Rev 6/93

How to use this manual - Flow Chart
The DBP HARDWARE MANUAL will lead you toward a successful start-up of your
digital amplifier. Please review carefully the following flow chart and write
down the chapters that you have to follow in the right order. Only after
performing all the steps you may proceed to the software manual.
If you are a new user of the DBP, you better not skip chapters 1-4 which
will familiarize you with the product.

Read chapters

Familiar with the DBP ?

Panel (H) version or Rack (R)

1,2,3,4

no
Rack (R) with Elmo mother board ?

Elmo enclosure ?

w/o Elmo mother board ?

Read chapter 5.1

Read chapter 5.2

Read chapter 5.3

Terminals

Read chapter 6 - Installation

Read chapter 7.1 - Start-Up

no
Hall sensors with
optical encoder ?

Resolver ?

yes
Adding velocity loop ?

Read chapter 8 - Applying power - Adjustments

Read chapter 9 - Summaries

DBP - Rev 6/93

Read Appendix B

TABLE OF CONTENTS
1.Description ................................ .......................... 7
2.

Type Designation ................................ ................... 8

Technical Specification ................................ ............ 9
3.1

Digital I/O specification ................................ ... 10

3.2

Analog input specification ................................ .. 13

3.3

Sensors specification ................................ ....... 14

3.4

3.3.1

Encoder ................................ ............. 14

3.3.2

Resolver ................................ ............ 14

Communication ................................ ............... 16
3.4.1

RS232 Configuration ................................ . 16

3.4.2

RS485 Configuration ................................ . 16

3.5

Battery backup ................................ .............. 16

3.6

Performance ................................ ................. 16

System Operation ................................ ................... 18
4.1

RS485 and Checksum Protocol ................................ . 18

4.2

Current Control ................................ ............. 18
4.2.1

Current feedback, Current feedback multiplier (CFM) and

Current loop ................................ ............... 19
4.3

Digital current limits ................................ ...... 20
4.3.1

Time dependent peak current limit ................... 20

4.4

Digital position and speed control .......................... 21

4.5

Operation of the shunt regulator ............................ 25

4.6

Commutation signals format ................................ .. 26

4.7

Protective functions ................................ ........ 27
4.7.1

Short circuit protection ............................ 27

4.7.2

Under/over voltage protection ....................... 27

4.7.3

Temperature protection .............................. 27

4.7.4

Internal power supply failure ....................... 27

4.7.5

Loss of commutation feedback ........................ 27

4.7.6

Low back-up Battery voltage ......................... 27

Terminal Description ................................ ............... 33
5.1

Terminals for Horizontal and Rack mounting versions ......... 33

5.2

Mother Boards terminals (MBA-DBP/3U and MBA-DBP/6U) ......... 43

5.3

Terminals for DBP mounted in ENCD. .......................... 54

5.4

Communication Port Connector ................................ 64

DBP - Rev 6/93

Installation procedures ................................ ............ 65
6.1

Mounting................................ ..................... 65

6.2

Wiring................................ ....................... 65

6.3

Load inductance ................................ .............. 66

6.4

AC power supply ................................ .............. 66

6.5

Wiring diagrams ................................ .............. 67
Motor's windings ................................ .....67

6.5.2

AC power wiring ................................ ......68

6.5.3

Hall sensors wiring ................................ ..77

6.5.4

RS232 Communication wiring ........................... 78

6.5.5

RS485 Communication wiring ........................... 79

6.5.6

Main encoder wiring ................................ ..81

6.5.7

Resolver wiring ................................ ......82

6.5.8

Auxiliary encoder wiring ............................. 83

6.5.9

Pulse/Direction signals wiring ....................... 84

Start - Up Procedures ................................ .............. 85
7.1

6.5.1

Common procedures for all amplifiers types ................... 85
7.1.1

Commutation signals format ........................... 85

7.1.2

CFM function ................................ .........85

7.1.3

Abort logic ................................ ..........85

7.1.4

Setting the auxiliary position input format ..........86

7.1.5

Selecting the communication bus ...................... 86

7.1.6

Preparing the automatic baud rate selection ..........86

7.2

Setting the main optical encoder format ...................... 87

7.3

Setting the R/D circuit ................................ ......87

Applying power - Adjustments ................................ .......94
Step 1 - Applying Power ................................ .....94
Step 2 - Establishing the communication ..................... 95
Step 3 - Checking the feedback elements ..................... 95
Step 4 - Adjusting the current limits ....................... 95
Step 5 - Latch mode of the protective functions ............. 96
Step 6 - Connecting the Motor ............................... 96

Tables and Summaries ................................ ............... 97
9.1

Display diagnostics ................................ ..........97

9.2

Summary of DIP switches ................................ ......98

Appendix A - Current loop response ................................ .....99

DBP - Rev 6/93

Appendix B -

Adding a velocity feedback ............................... 101

Appendix C -

Differential amplifier connection ........................ 102

DIMENSIONAL DRAWINGS ................................ ................... 103
PANEL (H), DBP1 ................................ .................. 104
PANEL (H), DBP2 ................................ .................. 107
PANEL (H), DBP3 ................................ .................. 110
PANEL (H), DBP4 ................................ .................. 113
PANEL (H), DBP6 ................................ .................. 116
RACK 3U/13T ................................ ...................... 119
RACK 3U/20T ................................ ...................... 122
RACK 6U/14T ................................ ...................... 125
RACK 6U/21T ................................ ...................... 128
ENCD - 3U/... ................................ .................... 130
ENCD - 6U/... ................................ .................... 131
EXTERNAL SHUNT RESISTOR ................................ .......... 132
List of ELMO Service Centers ................................ ........... 133

DBP - Rev 6/93

1.Description
The DBP series are digital, full wave, three phase servo amplifiers designed
for high performance brushless servo motors in the range of up to 7KW. They
utilize power MOSFETs and Surface Mounting Technology which contribute to its
high efficiency and compact design. The DBP operates from a single AC supply
(either single or three phase) and, when using the galvanic isolation option,
it can be connected directly to the Mains.
The DBP is constructed from two main PCBs mounted on a heat sink plate. The
lower board contains the rectifying bridge, the power switching transistors
which drive the motor, terminals for the power stage, the switch mode power
supply, the protection logic and commutation logic. The upper PCB is the
Digital Control Board (DCB) which contains the digital control logic, terminals
for the control stage, D-type connector for the communication and a 4-digit
display.
The DBP requires a position sensor in order to enable its operation. It can
be either a Resolver or a combination of an optical encoder and Hall effect
sensors. When using a Resolver, a small interface card is mounted on top of the
DCB.
The DBP is available in either panel version or rack version with two DIN
41612 connectors. The rack version can be fitted in a panel mount enclosure
(ENCD-3U

ENCD-6U),

that

specially

designed

for

simple

procedure.
The amplifiers are fully protected against the following faults:
* Under/over voltage
* Shorts between the outputs or between the outputs to ground.
* RMS current limit.
* Insufficient load inductance.
* Loss of commutation signals.
* Excess temperature.
* Excess position error.
Analog Section Standard Features:
* Single AC supply (single or three phase)
* Zero Deadband.
* Motor current monitor.
* Motor speed monitor.
* Extra differential operational amplifier.

DBP - Rev 6/93

hook-up

* Standard commutation sensors: Hall effect sensors or a Resolver.
* Galvanic isolation of the control stage - option.
Digital Section Standard Features
* Accepts motion commands via RS232 or RS485
* Buffering for pipe lining instructions prior to execution
* Battery-backed RAM for storing user programs and parameters
* Conditional statements for controlling program execution real- time.
* Programmable time and position trip points
* Variables for entering and changing system parameters
* 5 Uncommitted inputs
* 2 uncommitted high speed inputs.
* 10 Uncommitted outputs
* Arithmetic and logic functions for manipulating

parameters

* Digital filter with programmable gain, damping and integrator
* Error handling, end of travel, emergency stop, status reporting.
* 0-600,000 quadrature counts/second speed range
* One analog input - 11 bit resolution
* Master/slave operation with programmable following ratio (master information
from an optical encoder or from Pulse and Direction inputs)
* Dual-loop capability
* Adjustable continuous and peak current limits
* 4-digit display for diagnostics.

2. Type Designation

DBP F- 24 / 270 R R O
DBP series amplifier
Fan cooling required for full rating

I - Isolation *
O - Off line:
Isolation + Inrush current limit
E - Optical encoder + Hall sensors

Rated continuos current

R - Resolv er
R - Rack mounting

Max. operating AC v oltage

DBP - Rev 6/93

H - Panel mounting

3. Technical Specification
Type

AC Supply *

Current

Size

Weight

min

limits

Panel(H)

Rack(R)

(Kg)

max

DBP-12/135

28- 135

12/24

DBP2

3U/20T

1.4

DBP-20/135

28- 135

20/40

DBP3

6U/21T

DBP- 8/270

100- 270

8/16

DBP2

3U/20T

1.4

DBP-16/270

100- 270

16/32

DBP3

6U/21T

DBPF-12/135

28- 135

12/24

DBP1

3U/13T

0.7

DBPF-20/135

28- 135

20/40

DBP4

6U/13T

1.3

DBPF-30/135

28- 135

30/60

DBP6

6U/21T

DBPF- 8/270

100- 270

8/16

DBP1

3U/13T

0.7

DBPF-16/270

100- 270

16/32

DBP4

6U/13T

1.3

DBPF-24/270

100- 270

24/48

DBP6

6U/21T

These are the absolute minimum-maximum AC supply voltage under any condition.

DBP - Rev 6/93

General
* DC output voltage is 130% of AC input voltage.
* 2KHz current loop response
* Outputs voltages of +5V/0.2A, +15V/0.1A for external use.
* Efficiency at rated current - 97%.
* Operating temperature: 0 - 50 °C.
* Storage temperature: -10 - +70 °C.

3.1 Digital I/O specification
Digital Inputs:
High/Low input definition: Vil<1V,

Vih>2.4V

Maximum input voltage: 30V
Input impedance: 3-7Kohm
Input hysteresis: typ 1V.
When left open: low level.
Input threshold level can be shifted on request.
The fast inputs capture events (input voltage level
going from low to high) of less then 10 µsec duration.

Digital Outputs:
High/Low output definition:

Vol<0.4V,

Output level: 0-5V
Recommended output current: Iol=Ioh=5mA
Maximum output current +10mA
The outputs are normally at low level.

DBP - Rev 6/93

Voh>4V

13b

OUT 1
14b

OUT 2
15b

OUT 3

U17
16b

2
5

D0
D1
D2
D3
D4
D5
D6
D7

Q0
Q1
Q2
Q3
Q4
Q5
Q6
Q7

VCC

OUT 4

6
9
12
15

17b

OUT 5

16
19
20

+5V

OUT 6
2b

74HCT373A

OUT 7
3b

OUT 8

5a
OUT9

U11A
74HCT4050

6a
OUT10

U11B
74HCT4050

MOTION
COMPLETE

U11C
74HCT4050

DIGITAL OUTPUTS

DBP - Rev 6/93

FORWARD
LIMIT SWITCH

REVERSE
LIMIT SWITCH

3
U100A
SN75C189AD

10a

6
U100B
SN75C189AD

12a

8
U100C
SN75C189AD

13a

11
U100D
SN75C189AD

18b

3
U102A
SN75C189AD

19b

HOME INPUT

ABORT INPUT

6
U102B
SN75C189AD

20b

8
U102C
SN75C189AD

21b

11
U102D
SN75C189AD

22b

3
U103A
SN75C189AD

INDEX SLAVE
15a

6
U103B
SN75C189AD

16a

8
U103C
SN75C189AD

DIGITAL INPUTS

DBP - Rev 6/93

3.2 Analog input specification
Maximum input voltage:
- When R1 (470ohm) is inserted, the absolute value of the input voltage should be
less than 5V.
- When the absolute value is higher than 5V, R1(Kohm) = 2Vi-10 should be inserted.
The µP reads always +5V.

Resolution of the digital conversion: 11 bit full scale.

Typical offset: 5 bits

470K
VREF
4700PF
470k

300

9
10

8
U8C
DIGITAL GND

470k

ANALOG
INPUT

18a

*R1

4700PF

470k

10K
DIGITAL GND

6
5

7
U8B

DIGITAL GND

20K

13
12

14
U8D
DIGITAL GND

ANALOG INPUT

DBP - Rev 6/93

4700PF

1000PF
20K

U1\10

VREF
300
4700PF

U1\11
4700PF

DIGITAL GND

3.3 Sensors specification
3.3.1 Encoder
The encoder must be incremental with two TTL channels in quadrature and 90 °
phase shift.
High/Low input definition: Vil<1.5V,

Vih>3V

Input voltage range: 0-15V
Input hysteresis

1.5V

Input impedance: 1Kohm to 5V.
Maximum frequency main encoder: 150KHz
Maximum frequency auxiliary encoder: 250KHz
Noise protection by analog and digital filters
When left open the input is internally pulled to high level.

3.3.2

Resolver

Resolver Option Feature:
* 10,12,14 and 16 bit resolution set by the user.
* Maximum tracking rate 1040 rps (10 bits).
* Velocity output.
* Encoder A, B, outputs + programmable index output.
Reference parameters:
Max. voltage: 20Vptp or 7Vrms
Minimum output voltage: 2Vrms
Max. current: 80mA
Max frequency: 20KHz outputs:

DBP - Rev 6/93

+5v +5v

+5v+5v

+5V
Vref

1000P

CH B

27a

100

* R705

100

1000P
3
2

1000P

*R704

CH A

301K

DS3

28a

29a

7
U105

100K

+5v +5v

CH A

+5v+5v

1K
1000P

100

+5v

1K
3
2

7
U104

100K

100

30a

DS2

301K

+5v +5v +5v +5v
1K

1000P

AY/PULSE

21a

* R707
22a

+5v

2.49K

100

3
2

7
U107

100K

100
DS5

301K

+5v +5v

+5v +5v
+5V

1000P

INDEX

31a
* R708
32a

1K
1000P

100

301K
100K

11
10

1K
4
5

U121B

U31D

100

DS6

+5v +5v
1000P

+5v +5v

+5v

2.49K

1000P

BY/DIR

23a

* R706

BY/DIR

24a

100

3
2

7
U106

100

100K
DS4

301K

REMARK:
R704 - 708 ARE NOT INSTALLED IN FACTORY STANDARD SETTING.

ENCODER INPUTS
DBP - Rev 6/93

3.4 Communication
3.4.1 RS232 Configuration
The RS232 is configured for 8-bit, no parity, full duplex and it will echo all
the transmissions.
Baud rates: 300,600,1200,2400,4800,9600,19200,38400,57600
No hardware handshaking is required.

3.4.2

RS485 Configuration

The RS485 is configured for 8-bit, no parity, half duplex.
Baud rates: 300,600,1200,2400,4800,9600,19200,38400,57600
No hardware handshaking is required.

3.5 Battery backup
180mAH battery that at rated operating and storage condition will last for
at least 40,000 non operating hours.

3.6 Performance
Position range: +230 quadrature counts
Velocity range: +600,000 counts/sec
Velocity resolution: 1 count/s
Acceleration range: 91 - 11.8x10 6 count/s
Acceleration resolution: 91 counts/s 2

DBP - Rev 6/93

-15V

+15V

300

RS232

DZ13v

DZ13v
0.1MF
1
7
5
4

3
2
5

TRANSMIT
RECEIVE
GND

0.1MF

U115
-V

GND RTC

+5v

8
2
3
6

DS9
RS232-OFF
RS485-ON

SN75155

RS485/RS232
RS485

+5v
6

T/R-

7
120
8 ohm

T/R+

* R119

0.1MF
U114
8
VCC R
7
B RE
6
A DE
5

GND D

1
2
3
4

SN75LS176

TRANSMIT/

1 1K

RECEIVE CONTROL

+5V

* R802

+5v

Notes:
* R119 - LINE TERMINATION RESISTOR, USED ON BOTH ENDS OF LONG LINES. NORMALLY NOT MOUNTED.
* R802 - SMD RESISTOR. NORMALLY NOT MOUNTED

COMMUNICATION

DBP - Rev 6/93

4. System Operation
4.1 RS485 and Checksum Protocol
The RS485 in the DCB is configured as 8-bit, no parity, 1 stop bit, half
duplex. The following baud rates are available: 300, 600, 1200, 2400, 4800,
9600, 19200, 38400, 57600. No hardware handshaking is required.
In the RS-485, which is a Half Duplex system, all the Transmitters and all
the Receivers share the same Multidrop wire. Therefore, each character that is
transmitted on the line, is automatically received by all the Receivers. This
is an inherently "confused" way to transmit data and no "Echo" procedure can
assure reliable communication.
In order to solve this reliability problem, it is necessary to use standard
protocols procedures.
It is important to understand that using RS485 with the DCB products without
any protocol is possible. This is also the default condition whenever the RS485
is activated. However, the reliability of the communication is only assured
when activating the protocol. This is done by sending the command CK1 from the
host to the DCB.
Chapter 1.2.1 in the DCB Software manual explains the standard protocol used
and supplied by Elmo.

4.2 Current Control
The analog part of the DBP is actually a standard amplifier that operates in
current mode. However, the DCB receives continuously analog information about
the current magnitude, direction and ripple. This information is processed to
obtain digital control of the following features:
* Continuous current limit
* Peak current limit
* Time dependent peak current limit
* Current ripple

DBP - Rev 6/93

4.2.1
Current
Current loop

feedback,

Current

feedback

multiplier

(CFM)

and

Three current feedbacks are obtained by measuring the voltage drop across
current sensing resistors or by current transformers (when using the isolation
option). These three signals are synthesized and multiplexed which result in a
single voltage signal proportional to phases currents. It is then compared to
the current command. The error is processed by the current amplifier to provide
a voltage command to the PWM section.
Current loop control is obtained by op amp U21/A (current amplifier) and R4,
C1 which form a lag-lead network for current loop. The standard amp is equipped
with R4 and C1 to get optimum current response for an average motor in this
power range. These components are mounted in solderless terminals.

Error amplifier

Current amplifier

x2
Current feedback
CFM
The amplifier is equipped with a Current Feedback Multiplier (CFM). By
turning DIP switch 2 (on the upper board of the power stage) to ON, the signal
of the current feedback is multiplied by 2 and consequently the following
changes occur:
- Current gains are multiplied by 2.
- Current monitor is divided by 2.
- Current limits are divided by 2.
- Dynamic range is improved.
- Commutation ripple is reduced.

DBP - Rev 6/93

This function should be activated whenever the rated current AND the peak
current of the motor are less than 20% of the amplifier rated continuous and
peak limits respectively.
Sometimes, oscillations may occur in the current loop due to the fact that
the feedback gain was multiplied. This can be resolved by substituting R4 with
a lower value.

4.3 Digital current limits
The servo amplifier can operate in the following voltage-current plane:

-Ip

-Ic

Intermittent

Continuous

zone

-V

Ic - Continuous current

Ip - Peak current

Fig. 4.1: Voltage-Current plane

Each amplifier is factory adjusted to have this shape of voltage-current
operating area with rated values of continuous and peak current limits. By
using the command CL(n) for the continuous and PL(n) for the peak it is
possible to adjust the current limits (continuous and peak independently) from
the rated values down to 10% of the rated values.

4.3.1
The

Time dependent peak current limit
peak

current

duration

programmable

parameter

which

also

function of the peak amplitude and the motor operating current before the peak
demand. The user defines the maximum duration of the full amplitude peak by the
instruction

PDn

cannot

than

seconds.

addition

this

definition, a digital filter is employed to ensure that the RMS value of the
current will not exceed the continuous current limit. The duration of Ip is
given by:

DBP - Rev 6/93

Ip - Iop
Tp = 2.2ln ---------Ip - Ic

Iop - Actual operating current before the peak demand.
The result of this filter is that the maximum peak can last for a maximum of
2 seconds. A lower peak can last longer.

Example: A motor is driven by an DBPF-10/135 amplifier at constant speed and
constant current of 5A. What is the maximum possible duration of a 20A peak ?

20 - 5
Tp = 2.2ln -------- = 0.892 seconds
20 - 10

4.4 Digital position and speed control
The DCB accepts motion commands via an RS232 or RS485 communication line and
receives position feedback in an incremental encoder format either from an
encoder or from the resolver/digital circuit. The DCB derives the closed-loop
position error by comparing the command position and the feedback position. The
error is processed by a digital filter to yield with an analog motor command.
The

analog

volt

range

motor

command

then

amplified

the

power

amplifier.
Following is a summary of all the operating modes of the DCB and a detailed
discussion of each of them.
Control Modes
Holding Modes.
Start Modes
Program Mode
Termination Modes
Status reporting
Define origin modes

DBP - Rev 6/93

Control Modes
The DCB can be commanded to control the position of a motor, its torque or
its velocity using three basic control modes:
- Position Mode
- Velocity Mode
- Position Follower Mode

Position Mode
In the position mode the motor will advance a specified distance and then
stop. This distance can be represented as an absolute position (PA n) or as a
relative distance from the current position (PR n). The motion will follow a
trapezoidal

triangular

profile

with

the

acceleration

(AC

and

slew

velocity (SP n) set by the user.

Velocity Mode
In the velocity mode the motor will accelerate to a specified slew speed. It
will hold this speed until a stop condition is received (see termination
modes), or a new velocity/direction is commanded.

Position Follower
It can also control the motor as a position follower of a master encoder or
a pulse and direction signals.

Holding Modes.
The holding modes describe the behavior of the system after it has stopped.
There are three holding modes:
- Servo
- Motor Off

Servo Mode
In the servo mode (SV) the system maintains stopping position by using its
control law to correct for any position errors.

Motor Off Mode
In the Motor Off mode is, the power bridge and the position control are shut
off and there no torque is generated by the amplifier. The Motor Off mode is
useful in robotics applications in the teaching mode.

DBP - Rev 6/93

Start Modes
There are three start modes to begin a move:

Direct command
A move can be initiated directly by a command from the host or a terminal.

Program
A move can be initiated by a command included in the user program.

Input condition
Another alternative is to have the move started by a conditional statement
specified by the user program.

Program Mode
A

set

automatic

commands

and/or

can

complex

implemented

types

moves.

user

program

The

user

may

specify

allow

for

software

variables, conditional statements, subroutines and error routines which enable
enhanced motion control.

Termination Modes
A motion can be terminated in a variety of ways. In all but emergency
termination modes the motor will be decelerated gradually to a stop and then
will enter one of the stationary modes (Servo, or Motor Off). In a position
mode move, the motion will terminate naturally upon reaching the desired final
position. In all of the control modes the motion can be terminated by a command
from the host. An additional means of termination is from one of the local
inputs.
Activating the forward and reverse limit switch inputs can be another means
of terminating a move. Upon contacting the switch, the #[ routine will be
activated. This is a user programmed routine that should normally include a
stop command to decelerate the motor to a full stop.
There are two methods of generating an emergency stop. The first is by an
abort command from the host, and the other is by the local abort input. Upon
receipt of either of these commands the system will go immediately to its
stationary mode.
Another

"unnatural"

way

terminate

motion

whenever

internal

amplifier inhibit (due to one of the protections) occurs. This turns off the
power stage and the motor will decelerate to a stop by friction only. There are
two modes of handling the internal amplifier inhibit:
Latch Mode
The power stage is disabled and only a reset will release it.

DBP - Rev 6/93

Auto restart
The power stage inhibit will automatically be released upon clearing the
cause of the inhibit.

Status Reporting
Status is available to the user in several ways.

Communication
In response to the Tell Status command (TS) the DCB sends a coded message
describing the status of the amplifier.
In addition, the host may request certain information at any time. This
consists of the state of the system (GN?, ZR?, PL?, KI?), the state of the
local inputs (TI), the torque level (TT), the current motor position (TP), the
current motor velocity (TV) and the reason for a stop condition (TC).
Refer to the DCB Software Manual for further details.

Hardware signal
Motion complete signal
This output will go to high when motion is complete.
Inhibit output
Whenever the amplifier is inhibited, this open collector output goes to low.
When using Elmo's mother boards a potential free relay replaces the open
collector output.

4-digit display
Whenever a fault occurs, a fault message will be displayed for easy visual
information.

See

chapter

9.1

for

summary

all

amplifier's

fault

indications.

Define origin modes
The origin is that location at which the absolute position of the motor
equals zero. This special location may be defined in two ways. First, the user
may send a command (DH) which defines the current motor position to be the
origin. The alternate method is to request the DCB to perform the homing
sequence by commanding HM.

DBP - Rev 6/93

4.5 Operation of the shunt regulator
A shunt regulator is included in the power supply section of the DBP. The
shunt regulator is a switching type, wherein dissipative elements (resistors)
are switched across the DC bus, whenever the voltage reaches a predetermined
level (Vr). The function of the shunt regulator is to regulate the voltage of
the DC bus during the period of motor deceleration, when there is a net energy
outflow from the motor to the amplifier. The amplifier handles this reverse
energy just as efficiently as it provides energy to the motor, hence, most of
the energy is passed through the amplifier to the power supply, where the
returning energy charges the filter capacitors above their normal voltage
level, as determined by the AC incoming voltage.
When the capacitors charge-up reaches the predetermined voltage level (Vr),
the shunt regulator begins its regulating action. The bus is regulated to this
range until regeneration ceases.
All the double Eurocard size amplifiers are equipped with two outputs for
connecting an external shunt resistor , hence increasing the power dissipation
capability.
SHUNT specifications
Type

Reg.

Internal

External Reg.

Voltage

Reg.

Current (A)

(Vr)

Current (A)

DBP-12/135

193

N/A

DBP-20/135

193

DBP-8/270

383

N/A

DBP-16/270

383

DBPF-12/135

193

N/A

DBPF-20/135

193

N/A

DBPF-30/135

193

DBPF-8/270

383

N/A

DBPF-16/270

383

DBPF-24/270

383

DBP - Rev 6/93

4.6 Commutation signals format

A
B
60 FORMAT (120)
C

300

0
60
(360)

120

180

240

300

360
(0)

A
B

30 FORMAT

300

0
60
(360)

120

180

240

300

360
(0)

Vac
0 +
-

Vba
0 +
-

MOTOR BEMF

+ Vcb
0 -

300

0
60
(360)

DBP - Rev 6/93

120

180

240

300

360
(0)

4.7 Protective functions
All the protective functions except "Low Back-up Battery Voltage" activate
an interrupt to the main processor which inhibits the power bridge and disable
current flow to or from the motor. The user can interrogate the processor in
order to verify the cause of the inhibit. An indication of the fault will
appear on the display. The following protections are processed by the DCB:

4.7.1

Short circuit protection

The amplifier is protected against shorts between outputs, or either output
to ground, or either output to the positive supply line.

4.7.2

Under/over voltage protection

Whenever the DC bus voltage is under or over the limits indicated in the
technical specifications, the amplifier will be inhibited.

4.7.3

Temperature protection

Temperature sensor is mounted on the heatsink. If, for any reason, the
temperature exceeds 85 °C the amplifier will be inhibited. The amplifier will
restart when the temperature drops below 80 °C. The user can always interrogate
the DCB about the heatsink temperature by using the command T?.

4.7.4

Internal power supply failure

In any case that the sum of the internal power supplies is below 13V or its
difference higher than 1V, the amplifier will be inhibited.

4.7.5

Loss of commutation feedback

Lack of either of the commutation signals will inhibit the amplifier.

4.7.6

Low back-up Battery voltage

When the battery voltage goes below 2.4V the DCB will send a message on the
communication line and will display "BATT" on the display.

DBP - Rev 6/93

MOTOR OUTPUTS
+VS

SHUNT
AC

CONTROL

RECTIFING,
CURRENT
INRUSH LIMIT

CURRENT SENSING
POWER
COMMON

SUPPLIES

SMPS

SUPPLIES

HA
HB
HC

COMMUTATION

PWM SIGNALS
PROTECTIONS
CURRENT FEED BACK
"HALLS" SIGNALS

"HALL" SIGNAL
PROCESSING

DBP 3U - BLOCK DIAGRAM

DBP - Rev 6/93

CURRENT PROCESSING

CONTROL

PWM SIGNAL
PROTECTIONS
ISOLATION
CURRENT FEED BACK

Display
RS232

BATTERY
BACK UP

MEMORY

RS485
SHORT SIGNAL
Outputs
Buffers

POWER

UNDER / OVER - SIGNAL

Master
Processor

TEMP SIGNAL

Inputs
Buffer

STAGE
Current
Feedback

Aux
Encoder
Buffer

Current
limits
PWM

Analog in

Position

Encoder
Buffer

Processor
CURRENT
AMPLIFIER

MOTOR COMMAND

100K

VELOCITY/ CURRENT MODE

A
.01UF
C1

TO POSITION
PROCESSOR
ENCODER OUTPUTS

RESOLVER

option

OPTION

619K

VELOCITY
FEEDBACK

SIGNAL

OFFSET
OPTION

1M
-V

(TACH OUTPUT WITH RESOLVER OPTION)

100K

100K
TACH INPUT (OPTION)

100K

A
100K

ERROR AMPLIFIER

10K

10K
R2
+
R3

R800
100K
option

10K

INH. OUT 10MA/30V

DBP - Rev 6/93

DCB BLOCK DIAGRAM

L1
JC
T2

U130

U120
U123
U114

R713 R802
R712
R119

U115
Y1

U109

U25
R566
U116
U22

U108

U5
N80C196KB-12

JP
U112
C313
U28

C312

U113

U27

HB
HA

1
3

U10

U18

OFF 5

2
4
6

RR RR RR R
1 2 3 4 5 6 7

U26

8
9

U20
C1C2

U17

U21

U7
U101
JPR
R500
R501 U100
R502
R503
C139
R508

U21

R800

R509
R510 U103
R511

R705

U106

U11

U29

U107
U8

U102

R504 506
R505 507

U31

R708
C300
518
706
519 513 704

R707

DCB COMPONENTS LAYOUT

DBP - Rev 6/93

R228

Ref. oscillator output

JR/5
R233

R192
JR/6

Ref. osc. common
C60
C61

C62

R196

JR/9

R193
R197

SIN. INPUT

2K
C67

JR/10
RESOLVER TO
JR/7

R194

COS. INPUT

C68

DIGITAL CONVERTER
2K
R201

JR/8
POSITION
BITS

HA
R242

JPR/8
HB
JPR/9

DS12

R243
HC

JPR/10

R244

HALLS + ENCODER
PROCESSOR

ENCODER A

DS13

JR/2
ENCODER B
JR/3
ENCODER I

DS14

JR/1

DS11
JR/4

1K
Velocity feedback

DCB RESOLVER OPTION BLOCK DIAGRAM

DBP - Rev 6/93

R200

U24

U25
OFF

JR
1

11
12
13
14

200 195 201 228 194

ON
60

JPR
1

R R R R R R R RR R

c c c c c
68

62 192 197 196 233 193
U30

U22
DS2

10
U23
U28

U29

RESOLVER BOARD
COMPONENTS LAYOUT

DBP - Rev 6/93

5. Terminal Description
5.1 Terminals for Horizontal and Rack mounting versions
POWER BOARD - 3U size
H

Function

(32a,c)

Motor phase A output. With the DIN connector both pins must be
connected.

(30a,c

Motor phase B output. With the DIN connector both pins must be
connected.

(28a,c)

Motor phase C output. With the DIN connector both pins must be
connected.

(26a,c)

AC supply-phase A. With the DIN connector both pins must be
connected.

(24a,c)

AC supply-phase B. With the DIN connector both pins must be
connected.

(22a,c)

AC supply-phase C. With the DIN connector both pins must be
connected.

(20a,c)

DC power positive (+Vs)

(18a,c

DC power common

16a,c)
*

(14c)

Hall sensor A

(12c)

Hall sensor B *

(10c)

Hall sensor C *

(8c)

+15VDC for Hall sensors supply.

(6c)

Circuit common for the Hall sensors supply (Control common).

(4c)

24V common - for the fan supply only.

(2c)

+24VDC, 400mA for use with brushless fan

-1V < Vil < 1V ;

2V < Vih < 30V

Source sink capability - 2mA min.

DBP - Rev 6/93

Power Board - 6U size - Supplies terminals
H

FUNCTION

+VS

4ac,2ac

External shunt resistor connection / +VS.

NOT CONNECTED

8ac

External shunt resistor connection.
NOT CONNECTED

POW

14ac,12ac

POWER COMMON

COM
NC

NOT CONNECTED

20ac,18ac

AC supply-phase A. With the DIN connector all pins must be
connected.

26ac,24ac

AC supply-phase B. With the DIN connector all pins must be
connected.

32ac,30ac

AC supply-phase C. With the DIN connector all pins must be
connected.

Power Board - 6U size - Motor terminals
H

FUNCTION

Hall sensor C

Hall sensor B *

Hall sensor A

-FAN

24V common - for the fan supply only

+FAN

10c

+24VDC, 400mA for use with brushless fan

18ac,16ac,14a

Motor phase C output. With the DIN connector all pins must

be connected.
MB

26c,24ac,22ac

Motor phase B output. With the DIN connector all pins must
be connected.

32ac,30ac,28c

Motor phase A output. With the DIN connector all pins must
be connected.

-1V < Vil < 1V ;

2V < Vih < 30V

Source sink capability - 2mA min.

DBP - Rev 6/93

Control board
H & R

Function

Remarks

Output 6

Current monitor

This analog output represents the actual current
in the motor. The scale (in A/V) is:

Ip / 7.5

Ip - Rated peak current of amplifier.
2a

Output 7

Velocity / current mode

When input is left open (low level) the analog

selection

part of the amplifier is working in current mode.
when a high level signal is applied (>2V), the
analog part of the amplifier is working as a high
gain velocity amplifier. **

Output 8

Motion command (+5V)

This analog output represents the current command
from the position loop to the power amplifier. It
is

useful

for

monitoring

the

position

loop

response.
4a

Circuit common

Fast output 9

+5V output

There are several +5V terminals. The accumulative
external load should not exceed 200mA.

Fast output 10

Circuit common

Motion Complete

This

output

will

high

when

motion

complete. *
7b

+15V output

100mA.

Inhibit output

Whenever

the

amplifier

inhibited,

collector output goes low.
8b

*
**

-15V output

Vol<0.4V,

Voh>4V,

Vil<1V,

Vih>2.4V,

DBP - Rev 6/93

100mA.

Output level: 0-5V, max output current +5mA
Maximum input voltage: +30VDC

this

open

Control board - cont.
H & R

Function

Remarks

Forward limit switch

This committed input activates the #[ subroutine. *

positive

input

See Appendix C.

differential amplifier.
10a

Reverse limit switch

10b

Negative

input

This committed input activates the #[ subroutine.*
a

See Appendix C.

differential amplifier.
11a

Circuit common

11b

Output

See Appendix C.

differential amplifier.
12a

Home switch

12b

Tachogenerator

When using the resolver option this output is the

output/input

velocity monitor with a scale of 8V for maximum
speed. See 7.3.

13a

Abort input

This input must be connected to high level voltage
to enable the amplifier.*
**

13b

Output 1

14a

Circuit common

14b

Output 2

15a

Fast input 6

This fast response input can capture events with a
duration of less than 10 µs. An event is defined as
an input voltage transition from low to high. *

15b

Output 3

16a

Fast input 7

Same function as Fast Input 6 (15a). *

16b

Output 4

17a

Reset input

17b

Output 5

*
**

Vil<1V,

Vih>2.4V,

Vol<0.4V,

DBP - Rev 6/93

Voh>4V,

Maximum input voltage: +30VDC
Output level: 0-5V, max output current +5mA

Control board - cont.
H & R

Function

Remarks

18a

Analog input

This input is monitored by the main µP. When |Vi|
< 5V, R1=470ohm should be inserted. When |Vi|> 5V,
R1(Kohm)=2Vi-10 should be inserted. The µP always
reads a range of +5V.

18b

Input 1

19a

+5V output

There are several +5V terminals. The accumulative
external load should not exceed 200mA.

19b

Input 2

20a

Circuit common

20b

Input 3

21a

Auxiliary encoder input

(Ay) or pulse input for
Pulse

and

Direction

mode.
21b

Input 4

22a

Auxiliary

*
encoder

complementary
Ay)

Pulse

input (-

complementary
and

Direction

mode
22b

Input 5 or Index Input.

If a homing sequence is required, the Index Input
must be connected to Input 5 *

23a

Auxiliary encoder input
(By) or Direction input
for Pulse and Direction
mode

23b

Resolver reference

Max. voltage: 20Vptp or 7Vrms
Max current: 80mA
Max frequency: 20KHz

Vil<1V,

Vih>2.4V,

DBP - Rev 6/93

Maximum input voltage: +30VDC

Control board - cont.
H & R

Function

Remarks

24a

Auxiliary

encoder

complementary input (By)

Complementary

Direction
Pulse

input

and

for

Direction

mode
24b

25a

Resolver

reference

The

reference

voltage

the

resolver

must

common.

taken from terminals 23b and 24b only.

+5V output

There are several +5V terminals. The accumulative
external load should not exceed 200mA.

25b

Cosine signal input.

See 7.3

26a

Circuit common

For the auxiliary encoder

26b

Cosine signal common.

See 7.3

27a

Channel B input

27b

Sine signal input.

28a

Channel -B input

28b

Sine signal common

29a

Channel A input

29b

Circuit common

30a

Channel -A input

30b

Index output

31a

-Index input

31b

Channel B output

32a

Index input

32b

Channel A output

See 7.3

For the main encoder

For resolver option only.

Remark: In the following paragraphs the terminals will be related to all the
mounting types as in the following sample:
H/R-2a,E-J4/13.

DBP - Rev 6/93

CONTROL BOARD
1

b
a

POWER BOARD

4 2
c
a

TERMINALS OF DBP
RACK VERSION - 3U SIZE

DBP - Rev 6/93

TERMINALS LAYOUT

CONTROL BOARD
1

b
a

MOTOR OUT AC input

POWER
+VS COM.

HALL
A

SUPPLY FAN
24

~ ~ ~
+15 C - +
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16

DBP - PANEL (H) MOUNTING TYPE
EUROCARD SIZE TYPES

DBP - Rev 6/93

+FAN
-FAN
HA
HB
HC

15
16
17
18
19

7
8
9
10
11
12
13
14

N.C
POW
COM.
N.C
S.O
N.C
+VS
ab

DBP - PANEL (H) MOUNTING TYPE
DOUBLE EUROCARD SIZE TYPE
DBP - Rev 6/93

POWER

J3
POWER

CONTROL

DBP-6U RACK TYPE
CONNECTORS

DBP - Rev 6/93

5.2 Mother Boards terminals (MBA-DBP/3U and MBA-DBP/6U)
Use: For all DBP amplifiers (3U/6U size) with Resolver or optical encoder
feedback. The encoder outputs are driven by line drivers to improve noise
immunity.
Termination: Screw type terminals for the power and D-type connectors for the
signals.

POWER TERMINALS FOR MBA-DBP/3U
H

Function

(32a,c)

Motor phase A output. With the DIN connector both pins must be
connected.

(30a,c

Motor phase B output. With the DIN connector both pins must be
connected.

(28a,c)

Motor phase C output. With the DIN connector both pins must be
connected.

(26a,c)

AC supply-phase A. With the DIN connector both pins must be
connected.

(24a,c)

AC supply-phase B. With the DIN connector both pins must be
connected.

(22a,c)

AC supply-phase C. With the DIN connector both pins must be
connected.

(20a,c)

DC power positive (+Vs)

(18a,c

DC power common

16a,c)

Ground, this terminal is connecred through a screw to the rack
chassis.

(4c)

24V common - for the fan supply only.

(2c)

+24VDC, 400mA for use with brushless fan

DBP - Rev 6/93

POWER TERMINALS FOR MBA-DBP/6U
Terminal

Function

Motor phase A output.

Motor phase B output.

Motor phase C output.

GND

Ground. This terminal is connected to the ENC chassis.

AC supply-phase A.

AC supply-phase B.

AC supply-phase C.

COM

DC power common

DC power positive

Auxiliary shunt output, for external shunt resistor.

DBP - Rev 6/93

Signals connector - J1 (MBA-DBP/3U and MBA-DBP/6U)
Pin

Function

Channel A input

Channel -A input

Channel B input

Channel -B input

-Index input

Index input

+5V output

Remarks

There are several +5V pins. The accumulative
external load should not exceed 200mA.

+15V output

There are several +15V pins. The accumulative
external load should not exceed 100mA.

Circuit common

Signals connector - J2 (MBA-DBP/3U and MBA-DBP/6U)
Pin

Function

Remarks

Resolver reference

Max. voltage: 20Vptp or 7Vrms
Max current: 80mA
Max frequency: 20KHz

Resolver

reference

The reference voltage to the resolver must be

common.

taken from pins 1 and 2 only.

Cosine signal input.

See 7.3

Cosine signal common.

See 7.3

Sine signal input.

See 7.3

Sine signal common

See 7.3

+15V output

There are several +15V pins. The accumulative
external load should not exceed 100mA.

-15V output

There are several -15V pins. The accumulative
external load should not exceed 100mA.

Circuit common

DBP - Rev 6/93

Signals connector - J3 (MBA-DBP/3U and MBA-DBP/6U)
Pin

Function

positive

Remarks
input

See Appendix C.

differential amplifier.
2

Negative

input

See Appendix C.

differential amplifier.
3

Output

See Appendix C.

differential amplifier.
4

Circuit common

Analog input

This input is monitored by the main µP. When |Vi|
< 5V, R1=470ohm should be inserted. When |Vi|>
5V, R1(Kohm)=2Vi-10 should be inserted. The

µP

always reads a range of +5V.
6

Circuit common

Current monitor

This analog output represents the actual current
in the motor. The scale (in A/V) is:

Ip / 7.5

Ip - Rated peak current of amplifier.
9

Circuit common

+5V output

There are several +5V pins. The accumulative
external load should not exceed 200mA.

+15V output

There are several +15V pins. The accumulative
external load should not exceed 100mA.

-15V output

There are several -15V pins. The accumulative
external load should not exceed 100mA.

Channel B output

Channel A output

Index output

Not connected

Inhibit output

For resolver option only.

Relay contact (potential free).
The

relay

contact

closed

whenever

the

amplifier is enabled. Contact rating: 0.5A, 200V,
10W.

DBP - Rev 6/93

Signals connector - J3 - cont.
Pin

Function

Remarks

Inhibit output

Relay contact (potential free).
The

relay

contact

closed

whenever

the

amplifier is enabled. Contact rating: 0.5A, 200V,
10W.
19

Motion command (+5V)

This analog output represents the current command
from the position loop to the power amplifier. It
is

useful

for

monitoring

the

position

loop

response.
20

Circuit common

Reset input

Circuit common

Tachogenerator

When using the resolver option this output is the

output/input

velocity monitor with a scale of 8V for maximum

speed. See 7.3.
24

Circuit common

Velocity / current mode

When input is left open (low level) the analog

selection

part of the amplifier is working in current mode.
when a high level signal is applied (>2V), the
analog part of the amplifier is working as a high
gain velocity amplifier. *

Not connected

Signals connector - J4 (MBA-DBP/3U and MBA-DBP/6U)

Function

Remarks

Input 1

Input 2

Circuit common

Input 3

Input 4

Vil<1V,

Vih>2.4V,

DBP - Rev 6/93

Maximum input voltage: +30VDC

Signals connector - J4 - cont.
Pin

Function

Remarks

Input 5 or Index Input.

If a homing sequence is required, the Index Input
must be connected to Input 5.

Circuit common

Fast input 6

This fast response input can capture events with
a duration of less than 10 µs. An event is defined
as an input voltage transition from low to high.

Fast input 7

Circuit common

+5V output

Same function as Fast Input 6 (8).

There are several +5V pins. The accumulative
external load should not exceed 200mA.

+5V output

There are several +5V pins. The accumulative
external load should not exceed 200mA.

Output 7

+5V output

There are several +5V pins. The accumulative
external load should not exceed 200mA.

Output 1

Output 2

Output 3

Circuit common

Output 4

Output 5

Output 6

Circuit common

Output 9

*
**

Vil<1V,

Vih>2.4V,

Vol<0.4V,

DBP - Rev 6/93

Voh>4V,

Maximum input voltage: +30VDC
Output level: 0-5V, max output current +5mA

Signals connector - J4 - cont.
Pin

Function

Remarks

Output 10

Motion Complete

This

output

complete.
26

Output 8

will

high

Signals connector - J6 (MBA-DBP/3U and MBA-DBP/6U)
Pin

Function

Auxiliary

Remarks
encoder

complementary input (By)

Complementary

Direction
Pulse

input

and

for

Direction

mode
2

Auxiliary encoder input
(By) or Direction input
for Pulse and Direction
mode

Auxiliary encoder input
(Ay) or pulse input for
Pulse

and

Direction

mode.
4

Auxiliary

encoder

complementary
Ay)

Pulse

input (-

complementary
and

Direction

mode

Vol<0.4V,

Voh>4V,

DBP - Rev 6/93

Output level: 0-5V, max output current +5mA

when

motion

Signals connector - J6 - cont.
Pin

Function

Auxiliary encoder index

Remarks

input
6

+5V output

There are several +5V pins. The accumulative
external load should not exceed 200mA.

+15V output

There are several +15V pins. The accumulative
external load should not exceed 100mA.

Circuit common

Home switch

+5V output

There are several +5V pins. The accumulative
external load should not exceed 200mA.

Abort input

This

input

must

connected

high

level

voltage to enable the amplifier. *
12

+5V output

200mA

Forward limit switch

This committed input activates the #[ subroutine.
*

Reverse limit switch

This committed input activates the #[ subroutine.
*

Circuit common

J1A, FAN TERMINALS -

(MBA-DBP/6U ONLY)

24VDC common - fan only.

+24VDC isolated supply for fan (max. 400mA)

Vil<1V,

Vih>2.4V,

DBP - Rev 6/93

Maximum input voltage: +30VDC

Signals connector - J8 (MBA-DBP/3U and MBA-DBP/6U)
1

Channel A output

Main encoder buffered output (20mA, 0-5V)

Channel -A output

Main encoder buffered output (20mA, 0-5V)

Channel B output

Main encoder buffered output (20mA, 0-5V)

Channel -B output

Main encoder buffered output (20mA, 0-5V)

Encoder index output

For resolver option only buffered output
(20mA, 0-5V)

Encoder -index output

For resolver option only buffered output
(20mA, 0-5V)

Circuit common

Hall A

Hall B

Hall C

+15V

There are several +15V pins. The accumulative
external load should not exceed 100mA.

+5V output

There are several +5V pins. The accumulative
external load should not exceed 200mA.

Circuit common

Remark: In the following paragraphs the terminals will be related to all the
mounting types as in the following sample:
H/R-2a,E-J4/13.

-1V < Vil < 1V ;

2V < Vih < 30V

Source sink capability - 2mA min.

DBP - Rev 6/93

J6
1

5
8

J4
10
1

8
7

9
5

6
1

5
4
3

2
1
15
25

MBA - DBP/3U

DBP - Rev 6/93

16
J7

1
1

9
9

5
8

J4
1

10
11

J1A

SO
+VS
POW. COM.
AC
AC
AC

M3
M2
M1

MBA-DBP/6U

DBP - Rev 6/93

5.3 Terminals for DBP mounted in ENCD.
POWER TERMINALS FOR MBA-DBP/3UE (3U size)
Terminal

Function

Motor phase A output.

Motor phase B output.

Motor phase C output.

AC supply-phase A.

AC supply-phase B.

AC supply-phase C.

DC power positive (+Vs)

8,9

DC power common

Ground

POWER TERMINALS FOR MBA-DBP/6UE (6U size)
Terminal

Function

Motor phase A output.

Motor phase B output.

Motor phase C output.

GND

Ground

AC supply-phase A.

AC supply-phase B.

AC supply-phase C.

POW COM

POWER COMMON

+VS

External shunt resistor connection / +VS.

External shunt resistor connection.

Attention:
DC power commons, control commons and fan common are floating with respect to each
other. Do not short them unless specified.
For isolated amplifiers connecting control common to ground is accomplished by
inserting R2 (short resistor) on the mother board.

DBP - Rev 6/93

Signals connector - J1 (MBA-DBP/3UE and MBA-DBP/6UE)
Pin

Function

Channel A input

Channel -A input

Channel B input

Channel -B input

-Index input

Index input

+5V output

Remarks

There are several +5V pins. The accumulative
external load should not exceed 200mA.

+15V output

There are several +15V pins. The accumulative
external load should not exceed 100mA.

Circuit common

Signals connector - J2 (MBA-DBP/3UE and MBA-DBP/6UE)
Pin

Function

Remarks

Resolver reference

Max. voltage: 20Vptp or 7Vrms
Max current: 80mA
Max frequency: 20KHz

Resolver

reference

The reference voltage to the resolver must be

common.

taken from pins 1 and 2 only.

Cosine signal input.

See 7.3

Cosine signal common.

See 7.3

Sine signal input.

See 7.3

Sine signal common

See 7.3

+15V output

There are several +15V pins. The accumulative
external load should not exceed 100mA.

-15V output

There are several -15V pins. The accumulative
external load should not exceed 100mA.

Circuit common

DBP - Rev 6/93

Signals connector - J3 (MBA-DBP/3UE and MBA-DBP/6UE)
Pin

Function

positive

Remarks
input

See Appendix C.

differential amplifier.
2

Negative

input

See Appendix C.

differential amplifier.
3

Output

See Appendix C.

differential amplifier.
4

Circuit common

Analog input

This input is monitored by the main µP. When |Vi|
< 5V, R1=470ohm should be inserted. When |Vi|>
5V, R1(Kohm)=2Vi-10 should be inserted. The

µP

always reads a range of +5V.
6

Circuit common

Current monitor

This analog output represents the actual current
in the motor. The scale (in A/V) is:

Ip / 7.5

Ip - Rated peak current of amplifier.
9

Circuit common

+5V output

There are several +5V pins. The accumulative
external load should not exceed 200mA.

+15V output

There are several +15V pins. The accumulative
external load should not exceed 100mA.

-15V output

There are several -15V pins. The accumulative
external load should not exceed 100mA.

Channel B output

Channel A output

Index output

Not connected

Inhibit output

For resolver option only.

Relay contact (potential free).
The

relay

contact

closed

whenever

the

amplifier is enabled. Contact rating: 0.5A, 200V,
10W.

DBP - Rev 6/93

Signals connector - J3 - cont.
Pin

Function

Remarks

Inhibit output

Relay contact (potential free).
The

relay

contact

closed

whenever

the

amplifier is enabled. Contact rating: 0.5A, 200V,
10W.
19

Motion command (+5V)

This analog output represents the current command
from the position loop to the power amplifier. It
is

useful

for

monitoring

the

position

loop

response.
20

Circuit common

Reset input

Circuit common

Tachogenerator

When using the resolver option this output is the

output/input

velocity monitor with a scale of 8V for maximum

speed. See 7.3.
24

Circuit common

Velocity / current mode

When input is left open (low level) the analog

selection

part of the amplifier is working in current mode.
when a high level signal is applied (>2V), the
analog part of the amplifier is working as a high
gain velocity amplifier. *

Signals connector - J4 (MBA-DBP/3UE and MBA-DBP/6UE)

Function

Remarks

Input 1

Input 2

Circuit common

Input 3

Input 4

Vil<1V,

Vih>2.4V,

DBP - Rev 6/93

Maximum input voltage: +30VDC

Signals connector - J4 - cont.
Pin

Function

Remarks

Input 5 or Index Input.

If a homing sequence is required, the Index Input
must be connected to Input 5.

Circuit common

Fast input 6

This fast response input can capture events with
a duration of less than 10 µs. An event is defined
as an input voltage transition from low to high.

Fast input 7

Circuit common

+5V output

Same function as Fast Input 6 (8).

There are several +5V pins. The accumulative
external load should not exceed 200mA.

+5V output

There are several +5V pins. The accumulative
external load should not exceed 200mA.

Output 7

+5V output

There are several +5V pins. The accumulative
external load should not exceed 200mA.

Output 1

Output 2

Output 3

Circuit common

Output 4

Output 5

Output 6

Output 8

Output 9

*
**

Vil<1V,

Vih>2.4V,

Vol<0.4V,

DBP - Rev 6/93

Voh>4V,

Maximum input voltage: +30VDC
Output level: 0-5V, max output current +5mA

Signals connector - J4 - cont.
Pin

Function

Remarks

Output 10

Motion Complete

This

output

complete.

will

high

Signals connector - J6 (MBA-DBP/3UE and MBA-DBP/6UE)
Pin

Function

Auxiliary

Remarks
encoder

complementary input (By)

Complementary

Direction
Pulse

input

and

for

Direction

mode
2

Auxiliary encoder input
(By) or Direction input
for Pulse and Direction
mode

Auxiliary encoder input
(Ay) or pulse input for
Pulse

and

Direction

mode.
4

Auxiliary

encoder

complementary
Ay)

Pulse

input (-

complementary
and

Direction

mode

Vol<0.4V,

Voh>4V,

DBP - Rev 6/93

Output level: 0-5V, max output current +5mA

when

motion

Signals connector - J6 - cont.
Pin

Function

Auxiliary encoder index

Remarks

input
6

+5V output

There are several +5V pins. The accumulative
external load should not exceed 200mA.

+15V output

There are several +15V pins. The accumulative
external load should not exceed 100mA.

Circuit common

Home switch

+5V output

There are several +5V pins. The accumulative
external load should not exceed 200mA.

Abort input

This

input

must

connected

high

level

voltage to enable the amplifier. *
12

+5V output

200mA

Forward limit switch

This committed input activates the #[ subroutine.
*

Reverse limit switch

This committed input activates the #[ subroutine.
*

Circuit common

J1A, FAN TERMINALS -

(MBA-DBP/3UE and MBA-DBP/6UE)

24VDC common - fan only.

+24VDC isolated supply for fan (max. 400mA)

Vil<1V,

Vih>2.4V,

DBP - Rev 6/93

Maximum input voltage: +30VDC

Signals connector - J8 (MBA-DBP/3UE and MBA-DBP/6UE)
1

Channel A output

Main encoder buffered output (20mA, 0-5V)

Channel -A output

Main encoder buffered output (20mA, 0-5V)

Channel B output

Main encoder buffered output (20mA, 0-5V)

Channel -B output

Main encoder buffered output (20mA, 0-5V)

Encoder index output

For resolver option only buffered output
(20mA, 0-5V)

Encoder -index output

For resolver option only buffered output
(20mA, 0-5V)

Circuit common

Hall A

Hall B

Hall C

+15V

There are several +15V pins. The accumulative
external load should not exceed 100mA.

+5V output

There are several +5V pins. The accumulative
external load should not exceed 200mA.

Circuit common

Remark: In the following paragraphs the terminals will be related to all the
mounting types as in the following sample:
H/R-2a,E-J4/13.

-1V < Vil < 1V ;

2V < Vih < 30V

Source sink capability - 2mA min.

DBP - Rev 6/93

J1
8 CIRCUIT COM.

5 INDEX INPUT

CIRCUIT COM. 15

CIRCUIT COMMON 9

7 CIRCUIT COM.
+5V 14
+15V 13

6 INDEX OUT

+15V 8

5 INDEX OUT

+5V 7

5 SIN. SIGNAL INPUT
CIRCUIT COMMON 9

4 CH. B INPUT

3 COS. SIGNAL INPUT
+15V 7

2 CH. A INPUT

4 CH B OUT

4 COS. SIGNAL COMMON

-15V 8
3 CH. B INPUT

HALL C 12
HALL B 11

INDEX INPUT 6

2 Vref COMMON
SIN. SIGNAL COMMON 6

1 CH. A INPUT

1 Vref OUTPUT

3 CH B OUT
HALL A 10
2 CH A OUT
CIRCUIT COMMON 9

1 CH A OUT

13 OUT 7
MOTION COMPLETE 25

13 CHA. B OUTPUT

CURRENT/VELOCITY MODE 25

12 +5V

OUT 10 24

12 -15V

CIRUIT COMMON 24

11 +5V

11 +15V

OUT 9 23
10 CIRCUIT COMMON
OUT 8 22

TACHO COMMON 23
10 +5V

CIRUIT COMMON 22
9 INPUT 7

9 CIRCUIT COMMON

OUT 6 21
8 CIRCUIT
. COMMON

CIRCIT COMMON 15

RESET INPUT 21
8 INPUT 6

8 CURRENT MONITOR

OUT 5 20
OUT 4 19

REVERSE LIMIT SW 14
6 +5V

6 CIRCUIT COM.

CIRCUIT COMMON 18

5 INDEX
+5V 12
4 CH. A AUX. INPUT

0UT 3 17

3 CH. A AUX. INPUT

OUT 2 16

INHIBIT OUTPUT 18

4 INPUT 3

INHIBIT OUTPUT 17
4 CIRCUIT COM.
N.C. 16

3 CIRCUIT COMMON

2 CH. B AUX. INPUT
1 CH. B AUX. INPUT

5 INPUT 4

5 ANALOG INPUT

ABROT INPUT 11
+5V 10

7 CIRCUIT COM.
MOTOR COMMAND OUT 19

6 INPUT 5

FORWARD LIMIT SW 13

HOME INPUT 9

CIRUIT COMMON 20

7 CIRCUIT COMMON

7 +15V

3 OUT DIFF. AMP.

OUT 1 15

INDEX OUTPUT 15

1 INPUT 1

CHA. A OUTPUT 14

2 DIFF IN(-)

+5V 14

2 INPUT 2

1 DIFF. IN (+)

J3
CONTROL
COMMON

R2< 1ohm IS USED TO SHORT

J1A
FAN

CONTROL COMMON TO
GROUND WHEN USING

ISOLATED AMP.
J6

+VS
POWER

MOTOR OUTPUT
AC INPUT
A
1

B
2

C
3

POSITIVE
4

MBA-DBP/3UE
DBP - Rev 6/93

GROUND

POWER
COMMON
8

J1
8 CIRCUIT COM.

5 INDEX INPUT

CIRCUIT COM. 15

CIRCUIT COMMON 9

7 CIRCUIT COM.
+5V 14
+15V 13

6 INDEX OUT

+15V 8

5 INDEX OUT

+5V 7

5 SIN. SIGNAL INPUT
CIRCUIT COMMON 9

4 CH. B INPUT

-15V 8
3 CH. B INPUT

4 CH B OUT

INDEX INPUT 6

1 CH. A INPUT

4 COS. SIGNAL COMMON
3 COS. SIGNAL INPUT

+15V 7

2 CH. A INPUT

HALL C 12
HALL B 11

2 Vref COMMON
SIN. SIGNAL COMMON 6

1 Vref OUTPUT

3 CH B OUT
HALL A 10
2 CH A OUT
CIRCUIT COMMON 9

1 CH A OUT

13 OUT 7
MOTION COMPLETE 25
12 +5V

OUT 10 24

11 +15V

10 CIRCUIT COMMON

OUT 8 22

TACHO COMMON 23
CIRUIT COMMON 22

9 INPUT 7

CIRCIT COMMON 15

RESET INPUT 21
8 INPUT 6

OUT 4 19
6 +5V

6 INPUT 5

6 CIRCUIT COM.

4 CH. A AUX. INPUT

0UT 3 17

3 CH. A AUX. INPUT

OUT 2 16

INHIBIT OUTPUT 17

3 CIRCUIT COMMON

CONTROL COMMON

3 OUT DIFF. AMP.
2 INPUT 2

INDEX OUTPUT 15

1 INPUT 1

CHA. A OUTPUT 14

2 DIFF IN(-)

1 DIFF. IN (+)

R2<1ohm, is used to short control common to
ground only when ISOLATED amplifier
is used.

MC GND AC

MBA-DBP/6UE
DBP - Rev 6/93

N.C. 16

MA MB

4 INPUT 3

OUT 1 15
+5V 14

_FAN

INHIBIT OUTPUT 18

4 CIRCUIT COM.

2 CH. B AUX. INPUT
1 CH. B AUX. INPUT

5 INPUT 4

5 ANALOG INPUT

ABROT INPUT 11

7 CIRCUIT COM.
MOTOR COMMAND OUT 19

CIRCUIT COMMON 18

5 INDEX
+5V 12

+5V 10

CIRUIT COMMON 20

7 CIRCUIT COMMON

REVERSE LIMIT SW 14

HOME INPUT 9

8 CURRENT MONITOR

OUT 5 20

7 +15V
FORWARD LIMIT SW 13

10 +5V
9 CIRCUIT COMMON

OUT 6 21
8 CIRCUIT
. COMMON

12 -15V

CIRUIT COMMON 24

11 +5V

OUT 9 23

13 CHA. B OUTPUT

CURRENT/VELOCITY MODE 25

AC POW +VS SO
COM.

5.4 Communication Port Connector
The serial communication is available via a 9 pins D connector (Jc) with the
following pin assignment:

RS232

Function

Receive

Transmit

Common

When using an IBM XT as an host, pins 4 and 5 should be connected together on the 25
pins D connector (computer side). When using an IBM AT as an host, pins 7 and 8
should be connected together on the 9 pins D connector (computer side).

RS485

Function

Common

6,7

T/R -

8,9

T/R +

DBP - Rev 6/93

6. Installation procedures
6.1 Mounting
The DBP series dissipates its heat by natural convection except DBPF types
which are fan cooled. For optimum dissipation the amplifiers have to be mounted
with the fins in vertical position.

6.2 Wiring
Proper wiring, grounding and shielding techniques are important in obtaining
proper

servo

operation

and

performance.

Incorrect

wiring,

grounding

shielding can cause erratic servo performance or even a complete lack of
operation.
a) Keep motor wires as far as possible from the signal level wiring (feedback
signals, control signals, etc.).
b) If additional inductors (chokes) are required, keep the wires between the
amplifier and the chokes as short as possible.
c) Minimize lead lengths as much as is practical. Although the amplifier is
protected against long (inductive) supply wires it is recommended to keep
the leads as short as possible.
d) Use twisted and shielded wires for connecting all signals (command and
feedback). Avoid running these leads in close proximity to power leads or
other sources of EMI noise.
e) Use a 4 wires twisted and shielded cable for the motor connection.
f) Shield must be connected at one end only to avoid ground loops.
g) All grounded components should be tied together at a single point (star
connection). This point should then be tied with a single conductor to an
earth ground point.
h)

After

wiring

completed,

carefully

tightness, good solder joint etc.

DBP - Rev 6/93

inspect

all

conditions

ensure

6.3 Load inductance
The total load inductance must be sufficient to keep the current ripple
within the limits - 50% of the adjusted continuous current limit. The current
ripple (Ir) can be calculated by using the following equation:
0.5 x Vs
Ir = ----------

(A)

f x L
L - load inductance in mH.
Vs - Voltage of the DC supply in Volts.
f - Frequency in KHz.

If motor inductance does not exceed this value, 3 chokes should be added (to
each motor phase) summing together the required inductance
Lch = L - Lp
Lch - Choke inductance
Lp - Total inductance between two phases (in Y connection it is the sum of two
phases).

6.4 AC power supply
AC power supply can be at any voltage in the range defined within the
technical specifications. It must have the capability to deliver power to the
amplifier

(including

peak

power),

without

significant

voltage

drops.

Any

voltage below the minimum or above the maximum will disable the amplifier.
The recommended AC voltage are:

1.2 x VAC(min) < VAC < 0.9 x VAC(max)
Note - Single phase connection:
When using a single phase supply, voltage drop due to loading is expected.
The magnitude of the voltage drop depends on the load current, motor velocity,
stiffness of the power source and total bus capacitance. It is recommended not
to use single phase connection for output current higher than 20A.
For 3U size amplifiers it is recommended to add external capacitance as
follows:
For 135V units

up to 1200 µF

For 270V units

up to 600 µF

DBP - Rev 6/93

6.5 Wiring diagrams
6.5.1 Motor's windings

A
Motor

C
Chassis

DBP

MC
Heatsink / GND

Minimum acceptance

======================================================================

Power wires twisted together
A
Motor

C
Chassis

DBP

MC
Heatsink / GND

Acceptable for most applications

======================================================================

Power wires twisted and shielded
A
Motor

C
Chassis

DBP

MC
Heatsink / GND

Optimum wiring, minimum RFI

DBP - Rev 6/93

6.5.2

AC power wiring

Fuse
Fuse
Fuse

AC
AC
AC
+Vs

DBP + O option

DC power common
Control common
Heatsink
A. Direct connection to the
three phase mains
B. External fuses are needed for 3U size only

======================================================================

Fuse
Fuse
Fuse
Autotransformer
A. External fuses are needed for 3U size only
B. Using autotransformer with
three phase mains

DBP - Rev 6/93

AC
AC
AC

DBP + O option

+Vs
DC power common
Control common
Heatsink

Guide lines for connecting non-isolated AC supplies
Ground:
Control common
Motor chassis
Amplifier's heatsink

Do not ground:
Power common
(The

power

common

hot

point

and

any

grounding

will

cause

input

rectifier failure).

Caution:
- If source of motor command is grounded, use amplifier's differential input.
Otherwise, a ground loop is created.

DBP - Rev 6/93

Isolating transformer
Fuse
Fuse
Fuse

AC
AC DBP + I option
AC
+Vs
DC power common
Control common
Heatsink

A. Extenal fuses are needed for 3U size only
Guide lines for connecting an Isolated amplifier with an isolating power transformer
Ground:
DC power common
Control common
Motor chassis
Amplifier's heat sink.

Caution:
- If source of motor command is grounded, use amplifier's differential input.
Otherwise, a ground loop is created.

DBP - Rev 6/93

Isolating transformer
Fuse
Fuse
Fuse

AC
AC

NON-ISOLATED DBP

AC
+Vs
DC power common is internally
connected to control common
Heatsink

A. External fuses are needed for 3U size only

Guide lines for connecting a non isolated amplifier with an isolating power transformer
Ground:
DC power common
Motor chassis
Amplifier's heat sink

Do not ground:
Control common - It is internally connected to the power common. Grounding the
control common will create a ground loop.

Caution:
- If source of motor command is grounded, use amplifier's differential input.
Otherwise, a ground loop is created.

DBP - Rev 6/93

DIRECT CONNECTION TO
THE THREE PHASE MAINS

Fuse

Fuse
Fuse

AC
AC

DBP
O option

+Vs
DC power common
Control common
Heatsink
NOTE: DC POWER TERMINALS ARE
CONNECTED IF SINGLE PHASE
IS USED OR IF SHUNT CURRENT

AC
AC

HAS TO BE INCREASED

A. External fuses are needed
for 3U size only

AC
+Vs
To additional
DBPs

DBP
O option

DC power common
Control common
Heatsink

CONNECTING MORE THAN ONE DBP

DBP - Rev 6/93

ISOLATING
TRANSFORMER
Fuse

DBP

Fuse
Fuse

AC
AC

I option

+Vs
DC power common
NOTE: DC POWER TERMINALS ARE

Control common
Heatsink

CONNECTED IF SINGLE PHASE
IS USED OR IF SHUNT CURRENT
HAS TO BE INCREASED

A. External fuses are needed

AC
AC

for 3U size only

DBP
I option

AC
+Vs
To additional
DBPs

DC power common
Control common
Heatsink

CONNECTING MORE THAN ONE DBP

DBP - Rev 6/93

ISOLATING
TRANSFORMER
Fuse
Fuse

AC
AC

Fuse

AC
+Vs

NON
ISOLATED DBP

DC POWER COMMON IS
INTERNALLY CONNECTED
TO CONTROL COMMON

Heatsink
NOTE: DC POWER TERMINALS ARE
CONNECTED IF SINGLE PHASE
IS USED OR IF SHUNT CURRENT

AC
AC

HAS TO BE INCREASED
A. External fuses are needed

AC
+Vs

for 3U size only

To additional
DBPs

NON
ISOLATED DBP

DC POWER TERMINAL IS
INTERNALLY CONNECTED
TO CONTROL COMMON

Heatsink

CONNECTING MORE THAN ONE DBP

DBP - Rev 6/93

Fuse
Fuse
External
capacitance

AC
AC
DBP
AC
+Vs
DC power common
Control common
Heatsink

SINGLE PHASE CONNECTION
See chapter 6.4 for details

All rules about supply connections described in the previous pages are also valid
for multi-IBP and/or

DBP - Rev 6/93

single phase connection.

AC
AC

DBP

AC
+Vs

For 135V types the standard value of
Rex is 9.1ohm/225Watt

Rex
SO

For 270V types the standard value of

Control common

Rex is 33ohm/225Watt

Heatsink

CONNECTING THE EXTERNAL SHUNT RESISTOR
DOUBLE EUROCARD SIZE ONLY

DBP - Rev 6/93

6.5.3

Hall sensors wiring

HALL SENSORES CONNECTION

HALL SENSORES
HALL A
HALL B
HALL C
+15V
GND

15
14
13
12
11
10
9

8
7
6
5
4
3
2
1

REMARK:
TWISTED PAIR

SHIELDING

DBP - Rev 6/93

6.5.4

RS232 Communication wiring

RS232 COMMUNICATION

5
9
4
8
3
7
2
6
1

T
R

COMPUTER
RXD
TXD

NOTE:
SHIELDING MUST BE CONNECTED AT COMPUTER END ONLY

SYMBOLS:
TWISTED PAIR

SHIELDING

DBP - Rev 6/93

RST

CTS

6.5.5

RS485 Communication wiring

RS 485 COMMUNICATION

JC
5
9
4
8
3
7
2
6
1

COMPUTER
T/RT/R+

AMP. No 1

NOTES:
1. SHIELDING MUST BE CONNECTED AT COMPUTER END ONLY
2. PIN No.1 TRANSMIT/RECEIVE CONTROL
3. PIN No.4 +5V
SYMBOLS:
TWISTED PAIR

SHIELDING

DBP - Rev 6/93

RS485 COMMUNICATION
JC
5
9
4
8
3
7
2
6
1

COMPUTER
T/RT/R+

AMP. No 1

JC
5
9
4
8
3
7
2
6
1

AMP. No 2

AMP. No 32
JC
5
9
4
8
3
7
2
6
1

NOTES:
1. SHIELDING MUST BE CONNECTED AT COMPUTER
END ONLY.
2. PIN No.1 TRANSMIT/RECEIVE CONTROL
3. PIN No.4 +5V

SYMBOLS:
TWISTED PAIR

SHIELDING

DBP - Rev 6/93

6.5.6

Main encoder wiring

ENCODER CONNECTION
J1
5

9
4

8
3

7
2

ENCODER

6
1

DIFFERENTIAL ENCODER CONNECTION
J1
5
9
8

7
2

ENCODER
A
+V

NOTES:
1.THIS CONNECTION IS FOR AN ENCODER WITH +5V SUPPLY.
FOR AN ENCODER OF +15V SUPPLY, USE J1 PIN 8 INSTEAD OF PIN 7.
2.THE METAL FRAME OF J1 IS INTERNALLY CONNECTED TO THE DCB
COMMON. THE SHIELDING SHOULD BE CONNECTED EITHER
TO J1 PIN 9 OR TO THE METAL FRAME OF J1.

SYMBOLS:
TWISTED PAIR

SHIELDING

DBP - Rev 6/93

6.5.7

Resolver wiring

RESOLVER CONNECTION

RESOLVER
J2
9
8
7
6

S3
S1
S4
S2
R2
R1

5
4
3
2
1

NOTES:
1. PIN No 7 = +15V
2. PIN No 8 = -15V
3. PIN 9 AND THE METAL FRAME OF J2 ARE INTENALLY CONNECTED
TO THE DCB COMMON. THE SHIELDINGS OF ALL THE PAIRS
SHOULD BE CONNECTED EITHER TO J2 PIN 9 OR TO THE
FRAME OF J2.

SYMBOLS:
TWISTED PAIR

SHIELDING

DBP - Rev 6/93

6.5.8

Auxiliary encoder wiring

AUXILIARY ENCODER CONNECTION
J6

15
14
13
12
11
10
9

8
7
6
5
4
3
2
1

+V
I

ENCODER
A
B

DIFFERENTIAL AUXILIARY
ENCODER CONNECTION

14
13
12
11
10
9

8
7
6
5
4
3
2
1

+V
I
I
ENCODER
A
A
B
B

NOTES:
1.THIS CONNECTION IS FOR AN ENCODER WITH +5V SUPPLY.
FOR AN ENCODER OF +15V SUPPLY, USE J6 PIN 7 INSTEAD OF PIN 6.
2.THE METAL FRAME OF J6 AND PIN 8 ARE INTERNALLY CONNECTED TO
THE DCB COMMON. THE SHIELDING SHOULD BE CONNECTED EITHER
TO J6 PIN 8 OR TO THE METAL FRAME OF J6.

SYMBOLS:
TWISTED PAIR

SHIELDING

DBP - Rev 6/93

6.5.9

Pulse/Direction signals wiring

PULSE & DIRECTION INPUT CONNECTION
J6

15
14
13
12
11
10
9

8
7
6
5
4
3
2
1

CONTROLLER

PULSE
DIRECTION

DIFFERENTIAL PULSE & DIRECTION
INPUT CONNECTION

14
13
12
11
10
9

8
7
6
5
4
3
2
1

CONTROLLER
- PULSE
PULSE
DIRECTION
- DIRECTION

NOTES:
1.THE METAL FRAME OF J6 AND PIN 8 ARE INTERNALLY CONNECTED TO
THE DCB COMMON. THE SHIELDING SHOULD BE CONNECTED EITHER
TO J6 PIN 8 OR TO THE METAL FRAME OF J6.

SYMBOLS:
TWISTED PAIR

SHIELDING

DBP - Rev 6/93

7. Start - Up Procedures
7.1 Common procedures for all amplifiers types
7.1.1 Commutation signals format
Select the position of DIP switch 1 on the upper board of the power stage
according to the commutation signal format the motor has.

DS1 positions:

ON (down): 30°

OFF (up): 60°

For all Resolver versions it should be 60 °.

7.1.2

CFM function

Select the position of DIP switch 2 on the upper board of the power stage
according

the

motor's

rated

current.

less

than

20%

the

amplifier's rated current select:

DS2 to ON (down)

Otherwise,

DS2 to OFF (up) - No CFM

7.1.3

Abort logic

Make sure that the Abort input is connected to a High (logic) voltage
source.

DBP - Rev 6/93

7.1.4

Setting the auxiliary position input format

This step is valid only for those applications that need to use the auxiliary
position input. You may skip this step if you do not use it.

When using an Optical encoder

Set DS 7 to OFF

When a the encoder has differential outputs:

Set DS 4 and 5 to OFF

Otherwise they should be ON.

When using Pulse and Direction signals

Set DS 7 to ON

7.1.5

Selecting the communication bus

Select the desired communication bus as follows:

For RS232:

Set DS9 to OFF

For RS485:

Set DS9 to ON

7.1.6

Preparing the automatic baud rate selection

The DCB baud rate will automatically match the host baud rate when DS1 is
set to ON.

Set DS1 to ON

DBP - Rev 6/93

7.2 Setting the main optical encoder format
When a differential encoder is used:

Set DS 2,3,6 to OFF

Otherwise they should be ON.

7.3 Setting the R/D circuit
Set DS 2,3,6 to ON

The Resolver interface circuit consists of three basic blocks:
R/D converter
The R/D conversion is done by a variable resolution, monolithic converter
type 2S82 of Analog Devices. It accepts two signals from the Resolver (sine and
cos.) and converts them into binary position data bits. The resolution of the
position bits is user selectable 10, 12 ,14 and 16 (only for standard encoder
resolution). In addition, the R/D creates a signal that is proportional to the
Resolver velocity. This signal is being used as a velocity feedback.
EPROM
The EPROM creates "Hall" signals by mapping the position data bits accepted
from R/D into suitable Hall signals to operate a specific brushless motor. In
addition, the encoder index (marker) signal is also produced from the EPROM.
The EPROM is designated as follows:

X S STD
Encoder resolution

Resolver's poles number

Ratio of motor/resolver
poles numbers

Commutation address
R/D resolution
X=User selectable, 0=10 bits
2=12 bits, 4=14 bits, 6=16 bits

In the S (standard) version zero crossing of phases B C occurs at position
address "0" of the Resolver.

DBP - Rev 6/93

Oscillator
Creates sinusoidal waveform signal to excite the primary of the Resolver.

Oscillator Frequency/Amplitude Selection (R228,R233)
The frequency (fr) and amplitude (Vr) needed to excite the Resolver are
taken from the Resolver data sheet.

Selecting the frequency:

R228 = 110/fr

(Kohm)

0.1KHz < fr (KHz) < 20KHz

Selecting the amplitude:
Pay attention that the RMS amplitude does not exceed 7Vrms or that the peakto-peak (ptp) value is within the range of

2V < Vrptp < 20V. For Vr in

peak-to-peak value:

R233 = 6/(Vr - 2)

(Kohm)

For Vr in RMS value:
R233 = 6/(2.82Vr - 2)

(Kohm)

Reference Voltage level to R/D (R192)
In order to adjust the reference voltage input level to 2Vrms, select R192
as follows:

R192 = 50 x (Vr rms - 2)

For Vrrms <2V, install R192=100 ohm.

DBP - Rev 6/93

(Kohm)

Signal input level (R193,R194)
The R/D inputs (Vin rms) are adjusted to the sin/cos. Resolver outputs by:

Resolver output = Vin rms = Vrrms x Transformation ratio

R193 = R194 = Vin rms - 2 - R stator

(Kohm)

(Rstator in Kohm).

When Vin rms<2V, install R193=R194=100 ohm.
The standard R/D converter will not operate for Vin rms<1.8V. Consult factory
for OEM applications.

Velocity Signal
The tracking converter technique generates an internal signal at the output of
the integrator that is proportional to the rate of change of the input angle.
This dc analog output (velocity signal) is buffered and represented at terminal
H/R-12b,E-J3/23. Max output voltage is +8V.
This velocity signal can be internally connected to the summing junction of
the error amplifier by inserting R7 - see Appendix B for more details. However,
the standard procedure does not require closing the velocity loop.
Select maximum actual velocity of the application and calculate the maximum
tracking rate T of the Resolver as follows:

T = rpm x Q / 120

T unit is rps: Resolver electrical revolution per second
Q - number of poles of Resolver ;
rpm -

mechanical revolution per minute.

Selecting the Resolution
The resolution can be selected to be 10,12,14 or 16 bits by use of DIP
switches 13 and 14. When selecting the resolution the rps limits should not be
exceeded:

DBP - Rev 6/93

10 bit = 1040

rps

12 bit =

260

rps

14 bit =

rps

16 bit =

16.5rps

Resolution

DS13

DS14

OFF

Note:
-

Each

resolution

change

must

followed

new

components

selection

procedure.
- When changing resolution under dynamic conditions, a period of uncertainty
will exist before position and velocity data is valid.

Encoder resolution
In the STD mode (DS12 OFF), the encoder signals A,B are created by the EPLD
and can have only the following basic resolutions (for 2 pole Resolver):
256 for 10 bits
1024 for 12 bits
4096 for 14 and 16 bits
When

the

Resolver

than

poles,

the

resolution

for

one

shaft

rotation will be:

Er = QxS / 8

Q = number of Resolver poles ;
S = resolution of converter (2 10,212,or 214)
When

different

encoder

resolution

needed

the

encoder

signals

generated by the EPROM and the R/D resolution is no longer user selectable.
This option requires
- DS12 at ON
- Special EPROM which is programmed for this resolution.

DBP - Rev 6/93

are

HF Filter (R195, R196, C61, C62)
The function of the HF filter is to reduce the amount of noise present on
the signal inputs to the 2S82, reaching the Phase Sensitive Detector and
affecting the outputs. Values should be chosen so that

15Kohm < R195=R196 < 30Kohm
160x10 3
C61 = C62 = -----------R195 x

(pF)

fr = Reference frequency in KHz
R195 in Kohm
This filter gives an attenuation of 3 times at the input to the phase
sensitive detector.

AC Coupling of Reference Input (C60)
Select C60 so that there is no significant phase shift at the reference
frequency. That is,
10 6
C60 = --------------

100 x R192
(pF)

fr(KHz) x Rx

Rx = ------------

(Kohm)

100 + R192

R192 in Kohm

If Rx yields less than 50K, install a value of Rx=50K in the C60 equation.

Maximum Tracking Rate (R201)
The VCO input resistor R201 sets the maximum tracking rate of the converter
and hence the velocity scaling as at the maximum tracking rate, the velocity
output will be 8V.
Decide on your required maximum tracking rate, "T" , in revolutions per
second. Note that "T" must not exceed the specified maximum tracking rate or
1/16 of the reference frequency.

DBP - Rev 6/93

R201 = 5.92 x 10 7 / T x p

where p =

(Kohm)

bit per rev

1,024 for 10 bits resolution

4,096 for 12 bits

= 16,384 for 14 bits
= 65,536 for 16 bits

Closed Loop Bandwidth Selection (C67, C68, R200)
a. Choose the Closed Loop 3dB Bandwidth (f bw) required ensuring that

fref > 10 x f bw

Recommended bandwidth values:
250Hz for 3KHz
300Hz for 5KHz
500Hz for 10KHz

b. Select C67 so that

2.5x10
C67 =

------------R201 x f bw2

(pF)

with R201 in Kohm and f bw in Hz as selected above.
c. C68 is given by

C68 = 40 x C67

DBP - Rev 6/93

(pF)

d. R200 is given by

127 x 10 7
R200 = -------------

(Kohm)

f bw x C68

fbw in Hz, C68 in pF
R200 value should be at least three times R197.

Gain Scaling Resistor (R197)
R197 should be installed according the following table:
536Kohm for 10 bits resolution
130Kohm for 12 bits
33Kohm for 14 bits
8.2Kohm for 16 bits

DBP - Rev 6/93

8. Applying power - Adjustments

Important remarks:
A. If all the previous steps were accomplished you may now disconnect the motor
leads, turn the power on and continue with the following adjustments.

Step 1 - Applying Power
Apply power and check for LED Vs of the DCB that should be "ON", indicating
that the system supplies are present. The display should read: "F-OK". If you
get another message, refer to the following table to find the cause of the
problem. Turn the power off, clear the cause of the problem and re-power the
unit.

Event

Display

Display
after
Recurring

DIP switch 1 - ON

BAUD

Load is under cont. current limit

CLIM

C-OK

Battery Low

BATT

B-OK

Abort condition (hardware only)

ABRT

A-OK

Amplifier's power stage disabled *

AMPD

H-OK

-15V out of limits

-15V

F-OK

Under or Over Voltage

VOLT

F-OK

+15V out of limits

+15V

F-OK

Over Temperature

TEMP

F-OK

Commutation problem

CMMT

F-OK

Short condition at the power outputs

SHRT

F-OK

The AMPD message appears in two cases:
1. When MO (Motor Off) command is given.
2. Position error exceeds the allowed value.

DBP - Rev 6/93

Step 2 - Establishing the communication
Press CR (carriage return) in the host several times until the DCB sends the
message "Communication OK".
If you want to "lock" the baud rate in the DCB:
- Turn off the power and remove the amplifier from the rack if it is a rack
version.
- Set DS1-OFF.
Now the baud rate you selected is stored in the SRAM.

It is possible to change DS1 at any time. However, the DCB will notice the change
only upon power on or hardware reset.

Step 3 - Checking the feedback elements
- Turn on the power.
-

Rotate

the

motor

shaft

manually

and

interrogate

the

position

with

the

instruction:
TP (CR)
The controller response should vary as the motor is turned. If this does not
occur, check the feedback signals.
- When using the auxiliary encoder input, rotate the auxiliary encoder and
interrogate the position with the instruction: PY.
The controller response should vary as the encoder is turned. If this does
not occur, check the feedback signals. The DCB is counting quadrature pulses.
This means that for encoders or resolvers the answer for a TP command will be 4
times the number of basic encoder pulses and for

Pulse/Direction mode it will

be twice the number of pulses.

Step 4 - Adjusting the current limits
Defining the amplifier type
- Define the maximum current of the amplifier by the instruction:
MCn
n - rated peak current of the amplifier in A as given in the table of chapter
3.
For example: n is 48 for DBPF-24/270

DBP - Rev 6/93

Current limit adjustments
- Define the continuous current limit by the instruction:
CLn.m

(n.m - current in A)

- Define the peak current limit by the instruction:
PLn.m

(n.m - current in A)

- Define the maximum peak current duration by the instruction:
PDn.m

(n.m - seconds)

Step 5 - Latch mode of the protective functions
All the protective functions activate internal inhibit. There are two modes
of resetting the amplifier after the cause of the inhibit disappears:
Self Restart: (LM0)
The amplifier is inhibited only for the period that the inhibit cause is
present.
Latch (LM1)
Each failure latches the Inhibit and the failure message on the display. For
restart (after clearing the failure source), reset has to be performed by
applying logic 0 at the reset input (H/R-17a,E-J3/21), or by turning the power
off and on.

For safety reason it is recommended to use the amplifier in the LATCH MODE - LM1

Step 6 - Connecting the Motor
- Turn off the power.
- Connect the leads of the motor.
- Turn on the power.
For proper operation, the system must have negative feedback. If the motor
remains in the same position and returns to the same position when you turn the
motor shaft and let go, then the position feedback is negative as required. If
the motor runs away you have positive feedback. To correct the feedback, just
reverse the encoder leads.

DBP - Rev 6/93

9. Tables and Summaries
9.1 Display diagnostics
Each amplifier's fault is stored immediately in the DCB RAM. In addition to
that, a Failure Message is displayed. Following are all the valid Display
Messages:

Event

Display

Display
after
Recurring

DIP switch 1 - ON

BAUD

Load is under cont. current limit

CLIM

C-OK

Battery Low

BATT

B-OK

Abort condition (hardware only)

ABRT

A-OK

Amplifier's power stage disabled *

AMPD

H-OK

-15V out of limits

-15V

F-OK

Under or Over Voltage

VOLT

F-OK

+15V out of limits

+15V

F-OK

Over Temperature

TEMP

F-OK

CMMT

F-OK

SHRT

F-OK

Commutation

problem

(for

brushless

drives

only)
Short condition at the power outputs

The AMPD message appears in two cases:
1. When MO (Motor Off) command is given.
2. Position error exceeds the allowed value.

DBP - Rev 6/93

9.2 Summary of DIP switches
Power stage board
(2 poles DIP switch)
DIP switch

OFF (UP)

ON (DOWN)

DS1

60° commutation signals format

30° commutation signals format

DS2

No CFM

Activate CFM

Control stage board
(9 poles DIP switch)
DIP switch

OFF

DS1

Auto-selection of Baud rate

Latch last value

DS2

Non-differential channel A

Diff. input of channel A

DS3

Non-differential channel B

Diff. input of channel B

DS4

Non-differential channel Ay

Diff. input of channel Ay

DS5

Non-differential channel By

Diff. input of channel By

DS6

Non-differential index

Diff. index

DS7

Pulse/Direction format

Encoder channels format

DS8

N/C

DS9

RS485

RS232

4 poles DIP switch (for Resolver)
Switch

OFF

DS11

Tacho signal disconnected

Tacho

signal

connected

error

amplifier.
DS12

Standard encoder resolution

Non-standard encoder resolution

DS13

14 bit resolution (DS14-ON)

10 bit resolution (DS14-ON)

16 bit resolution (DS14-OFF)

12 bit resolution (DS14-OFF)

12 bit resolution (DS13-ON)

10 bit resolution (DS13-ON)

16 bit resolution (DS13-OFF)

14 bit resolution (DS13-OFF)

DS14

DBP - Rev 6/93

Appendix A - Current loop response
In most applications it is not necessary to adjust the current loop to
achieve the optimum response. When there are extreme electrical parameters in
the armature circuit (inductance and resistance) the standard components values
of 0.01µF for C1 and 100Kohm for R4 may not yield with the optimum response.
The current loop should be optimized as follows:
- Insert R7 (1K) to connect the tacho input to the error amplifier. The
amplifier must not be configured into velocity mode. If the resolver option
is used, make sure that DS11 is OFF.
- Apply power to the amplifier and send the command BA.
- Provide the tacho input H/R-12b,E-J3/23 with a bi-directional square wave
current command (100-200Hz, +2.0V waveform is often employed).
- Monitor the load current either by a current probe or by the current monitor.
If

the

current

response

not

critically

damped,

use

the

following

procedure:
- Short circuit C1 with a short jumper wire.
- Replace R4 with a decade resistance box. Initially set the box resistance at
10Kohm.
- Apply the square wave test signal to the amplifier input.
- Apply power, and while monitoring the load current, gradually increase the
value of the box resistance until optimum response as depicted in Fig A-1 is
achieved.
- Substitute the closest standard value discrete resistor for R4 and remove the
decade resistance box.
- Remove the shorting jumper across C1, and again check the response using the
square wave test signal.
- If the previous step does not yield satisfactory results, if unacceptable
overshooting has been noted, substitute a larger value than 0.01 µF; or, if
the

response

overdamped,

substitute

smaller

value

than

Repetition of this procedure should yield an optimum choice for C1.

DBP - Rev 6/93

0.01 µF.

Reference input signal

C1 too large / R4 too small

Critically damped

C1 too small / R4 too large
Fig. A-1
Typical current response waveforms

DBP - Rev 6/93

100

Appendix B - Adding a velocity feedback

THIS PAGE IS BLANK

DBP - Rev 6/93

101

Appendix C - Differential amplifier connection
The differential amplifier is provided for your optional use. It can be used
for buffering, inverting or elimination of common mode signals.
The differential amplifier inputs are available at terminals H/R-9b,E-J3/1,
H/R-10b,E-J3/2. Terminal H/R-10b,E-J3/2 is the inverting input, terminal H/R9b,E-J3/1 is the non-inverting input. The output is on terminal H/R-11b,E-J3/3.
The differential amplifier can be internally connected to the summing junction
by inserting R800.
The differential amplifier may be used as a buffer or as an eliminator of
common mode signals. For a non-inverting buffer amplifier, connect the positive
signal lead to terminal H/R-9b,E-J3/1 and the negative signal lead to terminal
H/R-10b,E-J3/2, and connect terminal H/R-10b,E-J3/2 to the circuit common. For
an inverting buffer amplifier, connect the positive signal lead to terminal
H/R-10b,E-J3/2, the negative signal lead to terminal H/R-9b,E-J3/1, and connect
terminal H/R-9b,E-J3/1 to the circuit common. The output of the differential
amplifier is given by:

10xV 1

Vo = ----------- x ( 1 + --- )
10 + R3

10xV 2
-

------R2

V1 - Input voltage of terminal H/R-9b,E-J3/1.
V2 - Input voltage of terminal H/R-10b,E-J3/2.

V1max < 10 + R3;

See schematic in chapter 4.

DBP - Rev 6/93

V 2max < 100/R2

102

DIMENSIONAL DRAWINGS

IN THE FOLLOWING DRAWINGS ALL THE DIMENSIONS ARE IN MILLIMETERS.

PANEL (H), DBP1................................ ................... 104
PANEL (H), DBP2................................ ................... 107
PANEL (H), DBP3................................ ................... 110
PANEL (H), DBP4................................ ................... 113
PANEL (H), DBP6................................ ................... 116
RACK 3U/13T................................ ....................... 119
RACK 3U/20T................................ ....................... 122
RACK 6U/14T................................ ....................... 125
RACK 6U/21T................................ ....................... 128
ENCD - 3U/................................... ..................... 130
ENCD - 6U/................................... ..................... 131
EXTERNAL SHUNT RESISTOR ................................ ...........132

DBP - Rev 6/93

103

PANEL (H), DBP1

BATTERY

187

169

9
12.5

85
110

DBP1 - TOP VIEW

DBP - Rev 6/93

104

OFF

1 2

52.5

9.6

4.0
187

DBP1 - SIDE VIEW 1

DBP - Rev 6/93

18.6

105

111.76

1
b
a

32.3
1 2 3 4 5 6 7 8 9 10 11 12 13 14 1516

66
1.6

8
5

DBP1 - SIDE VIEW 2

DBP - Rev 6/93

106

PANEL (H), DBP2

BATTERY

200

182

10
16

5
17
70
109

DBP2 - TOP VIEW

DBP - Rev 6/93

107

OFF
1 2 ON

OFF

85.5

102
9.6
51.2

200

GROUNDING
SCREW M4

DBP2 - SIDE VIEW 1

DBP - Rev 6/93

108

111.76
32

1
b
a

32.3
1 2 3 4

5 6

8 9 10 11 12 13 14 15 16

1.6
9.64
M4
42

40
2

DBP2 - SIDE VIEW 2

DBP - Rev 6/93

102

109

PANEL (H), DBP3

BATTERY

200

182

SEE
DETAIL A
25

205
245

DETAIL A.
5
10
10

DBP - Rev 6/93

DBP3 - TOP VIEW

110

OFF
1 2
ON

9.64
1

102

14.64

56.64

200

GROUNDING
SCREW M4

DBP3 - SIDE VIEW 1

DBP - Rev 6/93

111

245.11
111.76
32

1
b
a

FAN

HA HB HC

32.3
NC

P.C

NC SO NC

+VS

1.6
14.6

105

40
2

DBP3 - SIDE VIEW 2

DBP - Rev 6/93

112

PANEL (H), DBP4

BATTERY

187

173.5

215
245

DBP4 - TOP VIEW

DBP - Rev 6/93

113

SIDE VIEW
OFF

1 2
ON

9.64
1 2
72.54
14.64

14.64
23.64

4.0
187

DBP4 - SIDE VIEW 1

DBP - Rev 6/93

114

245.11
111.76

b
a
1

FAN
+ - HA HBHC

AC
32.3
NC

P.C NCSO NC +VS

72.54
1.6

14.64

DBP4 - SIDE VIEW 2

DBP - Rev 6/93

115

PANEL (H), DBP6
SEE DETAIL A

BATTERY

205

POWER
CONN.

74
FAN

AIR FLOW

182
200
5
10

DBP6 - TOP VIEW

10
DETAIL A.

DBP - Rev 6/93

294

116

FRONT VIEW

130

182
200

DBP6 - SIDE VIEW 1

DBP - Rev 6/93

117

1
b
a

130

294

DBP6 - SIDE VIEW 2

DBP - Rev 6/93

118

RACK 3U/13T

OFF
1 2 ON

OFF
ON
1 2

51.54

65.84
2.4
9.64

162.54

17.64

KEYING PIN

DBP RACK MOUNTING (3U/ 13T)
SIDE VIEW 1

DBP - Rev 6/93

119

111.76
1
b
a

32.3
65.84
C
2A

1.6
9.64
8

5.5

KEYING PIN

DBP RACK MOUNTING (3U/ 13T)
SIDE VIEW 2

DBP - Rev 6/93

120

POWER

M O

FRONT PANEL FOR DBP 3U/13T

DBP - Rev 6/93

121

RACK 3U/20T

OFF
1 2 ON

101.4
1

83.54
2.4
9.64
KEYING PIN
49.64

162.54

DBP RACK MOUNTING (3U/20T)
SIDE VIEW 1

DBP - Rev 6/93

122

111.76
32

1
b
a

32.3
2

C
A

1.6
9.64

KEYING PIN

101.4

5.5

DBP RACK MOUNTING (3U/ 20T)
SIDE VIEW 2

DBP - Rev 6/93

123

101.4

POWER

M O

128.7
9

FRONT PANEL FOR DBP 3U/ 20T

DBP - Rev 6/93

124

RACK 6U/14T

189

OFF

1 2

9.64
ON

70.92

32.3
56.54

14.64

1.6
14.64

162.5
180

DBP RACK MOUNTING (6U/14T)
SIDE VIEW 1

DBP - Rev 6/93

22.64

8.5

125

262
111.76

1
b
a

32.3
32

C
2A

C
2 A

1.6
14.6
8

DBP RACK MOUNTING (6U/14T)
SIDE VIEW 2

DBP - Rev 6/93

126

70.92

POWER

M O

262
6

FRONT PANEL FOR DBP 6U/14T

DBP - Rev 6/93

127

RACK 6U/21T

2.4

OFF
1 2 ON

9.64

32.3
14.64
1.6
14.64

106.5

88.54

54.64

162.5
180

DBP RACK MOUNTING (6U/21T)
SIDE VIEW 1

DBP - Rev 6/93

8.5

128

POWER

FRONT PANEL FOR DBP 6U/21T

DBP - Rev 6/93

129

ENCD - 3U/...

ENCD - 3U/...
FRONT VIEW
SIDE VIEW
11
11

POWER

272.5

132.5

265.5
9

45.0
5

POWER

7.5
11

222

Standard Sizes
12T
X 62.0

16T

20T

24T

36T

82.3

102.7

123.0

184.0

NOTE:
ALL DIMENSIONS ARE IN mm.

DBP - Rev 6/93

For non-standard sizes:
X = 5.08 x n + 1mm

130

ENCD - 6U/...

FRONT VIEW

SIDE VIEW

POWER

E L M O

400

9 5

406.5

POWER

7.5

7.5
11
20

NOTES:

DBP - Rev 6/93

11
20

1. ALL DIMENSIONS ARE IN mm.
2. X = n x 5.08+1, n = number of T

222
234

131

EXTERNAL SHUNT RESISTOR

EXTERNAL SHUNT RESISTOR (ESR)

TOP VIEW

7.14
15.9
11.9

SIDE VIEW

14.3

.508

31.75

9.5

FRONT VIEW
4.4
15.9

54
38

22.2

293.7
316

DBP - Rev 6/93

132

List of ELMO Service Centers
ISRAEL
Elmo Motion Control LTD
34 Segula ST.
Petah-Tikva 49103
Tel: (03)934-5059
Fax: (03)934-5126

U.S.A
Elmo Motion Control INC.
1200 Woodruff Road, Suite C-22,
Greenville, SC 29607
Tel: (803) 288-9316
Fax: (803) 288-9318

EUROPE
Elmo Motion Control
Stanserstr. 7
CH-6362 Stansstad, Switzerland
Tel: (041) 610775
Fax: (041) 610778
================================================================
BENELUX
AUSTRIA

Eltromat B.V.

Kwapil

Looierij 26

POB 64

4760 AB Zevenbergen

A-1091 Wien

The Netherlands

Tel: (0222) 342597

Tel: (01680) 25925

Fax: (0222) 311203

Telefax: (01680) 28485

DBP - Rev 6/93

134

FINLAND

ITALY

OY Scandrive

Servotecnica SRL

Elsankuja 2 K

Viale Lombardia 20

SF-02231 Espoo

20095 Cusano Milanino (MI)

Tel: 358-0-8035044

Tel: (02) 66401010

Fax: 358-0-8035055

Fax: (02) 66401020

FRANCE

SWEDEN

A 2 V

Aratron AB

11-12 Rue Eugene HENAFF,

P.O.B 20087,

78190 Trappes,

Kratsbodavagen 50,

Tel: (1) 30620101

S-16120 Bromma

Fax: (1) 30626204

Tel: 8-981875
Fax: 8-984281

GERMANY
IME GmbH

UNITED KINGDOM

Brugger str. 8

INMOCO Limited

D-78628 Rottweil

4 Brunel Close

Tel: 0741/22091

Drayton Fields

Fax: 0741/22060

Daventry NN11 5LE
Tel: 0327/300320
Fax: 0327/300319

DBP - Rev 6/93

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File Type Extension             : pdf
MIME Type                       : application/pdf
PDF Version                     : 1.2
Linearized                      : No
Page Count                      : 134
Creator                         : 
Create Date                     : 1998:01:20 17:09:58
Title                           : emanudbp.PDF
Author                          : Copyright Elmo Motion Control
Producer                        : Acrobat PDFWriter 3.02 for Windows NT
Subject                         : DBP Manual (English)

EXIF Metadata provided by EXIF.tools

Elmo Servo Amplifier Dbp Series Users Manual Emanudbp

SERVO AMPLIFIER DBP SERIES MAN_DBP_

DBP SERIES to the manual 99089bd7-80ef-45b2-9a4d-224e6c003172

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