DZ Digital Drives: For Servo Systems

Everything’s possible.
DZ Digital Drives
for Servo Systems
Hardware
www.a-m-c.com Installation Manual
MNDGDZIN-03
Preface
ADVANCED Motion Controls constantly strives to improve all of its products. We review the information in
this document regularly and we welcome any suggestions for improvement. We reserve the right to modify
equipment and documentation without prior notice.
For the most recent software, the latest revisions of this manual, and copies of compliance and
declarations of conformity, visit the company’s website at www.a-m-c.com. Otherwise, contact the
company directly at:
ADVANCED Motion Controls • 3805 Calle Tecate Camarillo, CA • 93012-5068 USA
Agency Compliances
The company holds original documents for the following:

• UL 508c, file number E140173
• Electromagnetic Compatibility, EMC Directive - 2004/108/EC
EN61000-6-2:2001
EN61000-6-4:2001
EN61000-3-2:2000
EN61000-3-3:1995/A1:2001
• Electrical Safety, Low Voltage Directive - 2006/95/EC
EN 60 204-1 (IEC 60 204-1)
• Reduction of Hazardous Substances (RoHS), 2002/95/EC
Trademarks
ADVANCED Motion Controls™, the combined isosceles trapezoid/right triangle logo, DIGIFLEX®,
DIGIFLEX® Performance™ and DriveWare™ are either registered trademarks or trademarks of
ADVANCED Motion Controls in the United States and/or other countries. All other trademarks are the
property of their respective owners.
Related Documentation - available for download at www.a-m-c.com

• Product datasheet specific for your drive
• DriveWare Software Startup Guide
• CANopen Communication Manual
• Serial Communication Manual
MNDGDZIN-03 ii
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Attention Symbols
The following symbols are used throughout this document to draw attention to important operating
information, special instructions, and cautionary warnings. The section below outlines the overall directive
of each symbol and what type of information the accompanying text is relaying.
Note - Pertinent information that clarifies a process, operation, or ease-

of-use preparations regarding the product.
Note
Notice - Required instruction necessary to ensure successful completion

of a task or procedure.
Caution - Instructs and directs you to avoid damaging equipment.
Warning - Instructs and directs you to avoid harming yourself.
Danger - Presents information you must heed to avoid serious injury or

death.
Revision History
Document ID Revision # Date Changes
MNDGDZIN-01 1 12-11-2008 DZ Install Manual First Release
MNDGDZIN-02 2 1-13-2009 Updated default connection setting to 115200 baud rate
MNDGDZIN-03 3 12-11-2009 Updated for 40 amp drive models
© 2011 ADVANCED Motion Controls. All rights reserved.
iii MNDGDZIN-03
Contents
1 Safety 1
1.1 General Safety Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
2 Products and System Requirements 4
2.1 DZ Drive Family Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

2.1.1 Drive Datasheet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2.2 Products Covered . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.3 Communication Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.3.1 CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.3.2 RS-485 Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.4 Control Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.4.1 Current (Torque) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.4.2 Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.4.3 Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.5 Feedback Supported . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.5.1 Feedback Polarity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.5.2 Hall Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.5.3 Encoder Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.5.4 ±10 VDC Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.6 Command Sources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.6.1 ±10V Analog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.6.2 Encoder Following . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.6.3 Over the Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.6.4 PWM and Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.6.5 5V TTL Step and Direction (DZR Drives Only) . . . . . . . . . . . 11
2.7 Pin Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
MNDGDZIN-03 iv
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2.8 DZC Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

2.8.1 Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.8.2 Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.9 DZR Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.9.1 Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.9.2 Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.10 System Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.10.1 Specifications Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.10.2 Motor Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.10.3 Power Supply Specifications . . . . . . . . . . . . . . . . . . . . . . 16
2.10.4 Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Ambient Temperature Range and Thermal Data . . . . . . 17
Shock/Vibrations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
3 Integration in the Servo System 19
3.1 LVD Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

3.2 CE-EMC Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Analog Input Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
PWM Input Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
MOSFET Switching Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
IGBT Switching Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Fitting of AC Power Filters . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3.2.1 Ferrite Suppression Core Set-up . . . . . . . . . . . . . . . . . . . . . 21
3.2.2 Inductive Filter Cards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.3 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.4 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.4.1 Wire Gauge . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.4.2 Motor Wires . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.4.3 Power Supply Wires . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.4.4 Feedback Wires . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.4.5 Input Reference Wires . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.4.6 Communication Wires . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.5 Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.5.1 Mounting Card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.5.2 PCB Mounting Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Mating Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Soldering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
MNDGDZIN-03 v
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Screw Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3.6 PCB Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3.6.1 Trace Width and Routing . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3.7 Interface Circuitry Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Address Line Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
CAN Transceiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
RS-485/232 Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Digital Inputs (High Speed) . . . . . . . . . . . . . . . . . . . . . . . . . 30
Digital Inputs (Standard) . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Hall Sensor Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Encoder Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
DC Power Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Logic Supply Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Motor Power Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
4 Operation and Features 36
4.1 Features and Getting Started . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

4.1.1 Initial Setup and Configuration . . . . . . . . . . . . . . . . . . . . . 36
4.1.2 Input/Output Pin Functions . . . . . . . . . . . . . . . . . . . . . . . . . 38
Address Selector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Baud Rate Selector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Programmable Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . 39
Programmable Digital Outputs . . . . . . . . . . . . . . . . . . . . . . 40
Programmable Analog Input . . . . . . . . . . . . . . . . . . . . . . . 40
Capture Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Auxiliary Encoder Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
PWM and Direction Input . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Step and Direction Input (DZR drives only) . . . . . . . . . . . . 40
4.1.3 RS-485 Selection Jumper . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
4.1.4 Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
4.1.5 Commutation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Sinusoidal Commutation . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Trapezoidal Commutation . . . . . . . . . . . . . . . . . . . . . . . . . 43
4.1.6 Logic Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
4.1.7 Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
MNDGDZIN-03 vi
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A Specifications 45
A.1 Specifications Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

A.2 Mounting Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
B Troubleshooting 50
B.1 Fault Conditions and Symptoms . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Over-Temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Over-Voltage Shutdown . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Under-Voltage Shutdown . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Short Circuit Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Invalid Hall Sensor State . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
B.1.1 Software Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
B.1.2 Connection Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
B.1.3 Overload . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
B.1.4 Current Limiting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
B.1.5 Motor Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
B.1.6 Causes of Erratic Operation . . . . . . . . . . . . . . . . . . . . . . . . 52
B.2 Technical Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
B.2.1 Drive Model Information . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
B.2.2 Product Label Description . . . . . . . . . . . . . . . . . . . . . . . . . 53
B.2.3 Warranty Returns and Factory Help . . . . . . . . . . . . . . . . . 54
Index 55
MNDGDZIN-03 vii
1 Safety
This section discusses characteristics of your DZ Digital Drive to raise your awareness of potential risks and
hazards. The severity of consequences ranges from frustration of performance, through damage to equipment,
injury or death. These consequences, of course, can be avoided by good design and proper installation into your
mechanism.
1.1 General Safety Overview
In order to install a DZ drive into a servo system, you must have a thorough knowledge and
understanding of basic electronics, computers and mechanics as well as safety precautions and
practices required when dealing with the possibility of high voltages or heavy, strong
equipment.
Observe your facility’s lock‐out/tag‐out procedures so that work can proceed without residual
power stored in the system or unexpected movements by the machine.
You must install and operate motion control equipment so that you meet
all applicable safety requirements. Ensure that you identify the relevant
standards and comply with them. Failure to do so may result in damage
to equipment and personal injury.
Read this entire manual prior to attempting to install or operate the drive.
Become familiar with practices and procedures that allow you to
operate these drives safely and effectively. You are responsible for
determining the suitability of this product for the intended application.
The manufacturer is neither responsible nor liable for indirect or
consequential damages resulting from the inappropriate use of this
product.
High-performance motion control equipment can move rapidly with

very high forces. Unexpected motion may occur especially during
product commissioning. Keep clear of any operational machinery and
never touch them while they are working.
MNDGDZIN-03 1
Safety / General Safety Overview
Keep clear of all exposed power terminals (motor, DC Bus, shunt, DC

power, transformer) when power is applied to the equipment. Follow
these safety guidelines:
• Always turn off the main power and allow sufficient time for
complete discharge before making any connections to the drive.
• Do not rotate the motor shaft without power. The motor acts as a
generator and will charge up the power supply capacitors through
the drive. Excessive speeds may cause over-voltage breakdown in
the power output stage. Note that a drive having an internal power
converter that operates from the high voltage supply will become
operative.
• Do not short the motor leads at high motor speeds. When the motor is
shorted, its own generated voltage may produce a current flow as
high as 10 times the drive current. The short itself may not damage
the drive but may damage the motor. If the connection arcs or
opens while the motor is spinning rapidly, this high voltage pulse flows
back into the drive (due to stored energy in the motor inductance)
and may damage the drive.
• Do not make any connections to any internal circuitry. Only
connections to designated connectors are allowed.
• Do not make any connections to the drive while power is applied.
Do not reverse the power supply leads!

Severe damage will result!
Use sufficient capacitance!

Pulse Width Modulation (PWM) drives require a capacitor on the high
voltage supply to store energy during the PWM switching process.
Insufficient power supply capacitance causes problems particularly with
high inductance motors. During braking much of the stored mechanical
energy is fed back into the power supply and charges its output
capacitor to a higher voltage. If the charge reaches the drive’s over-
voltage shutdown point, output current and braking will cease. At that
time energy stored in the motor inductance continues to flow through
diodes in the drive to further charge the power supply capacitance. The
voltage rise depends upon the power supply capacitance, motor
speed, and inductance.
MNDGDZIN-03 2
Safety / General Safety Overview
Make sure minimum inductance requirements are met!

Pulse Width Modulation (PWM) servo drives deliver a pulsed output that
requires a minimum amount of load inductance to ensure that the DC
motor current is properly filtered. The minimum inductance values for
different drive types are shown in the individual data sheet
specifications. If the drive is operated below its maximum rated voltage,
the minimum load inductance requirement may be reduced. Most
servo-motors have enough winding inductance. Some types of motors
(e.g. "basket-wound", "pancake", etc.) do not have a conventional iron
core rotor, so the winding inductance is usually less than 50 μH.
If the motor inductance value is less than the minimum required for the
selected drive, use an external filter card.
MNDGDZIN-03 3
2 Products and System Requirements
This document is intended as a guide and general overview in selecting, installing, and operating a DZ Digital
servo drive. Contained within are instructions on system integration, wiring, drive‐setup, and standard operating
methods.
2.1 DZ Drive Family Overview

The family of DZ digital drives is designed to offer the same high performance and accuracy of
larger drives, but in a space‐saving PCB‐mount architecture. By utilizing high density power
devices, dual‐sided PCB boards, and creative design DZ drives are ideal for applications with
limited size and weight constraints.
The DZ drive family can power single phase (brushed), three phase (brushless), and closed
loop vector motors. DZ drives are powered off a single isolated DC power supply, and provide a
variety of control and feedback options. A digital controller can be used to command and
interact with DZ drives, and a number of dedicated and programmable digital and analog
input/output pins are available for parameter observation and drive configuration. DZ drives
are capable of operating in Current (Torque), Velocity, or Position Mode, and utilize Space
Vector Modulation, which results in higher bus voltage utilization and reduced heat dissipation
compared to traditional PWM.
DZ drives feature a serial communication interface for drive configuration and setup as well as
offering either CANopen or RS‐485 communication protocol for drive networking
applications. Drive commissioning is accomplished using DriveWare, the setup software from
ADVANCED Motion Controls, available for download at www.a‐m‐c.com.
2.1.1 Drive Datasheet

Each DZ digital drive has a separate datasheet that contains important information on the
options and product‐specific features available with that particular drive. The datasheet is to be
used in conjunction with this manual for system design and installation.
In order to avoid damage to equipment, only after a thorough reading

and understanding of this manual and the specific datasheet of the DZ
drive being used should you attempt to install and operate the drive.
MNDGDZIN-03 4
Products and System Requirements / Products Covered
2.2 Products Covered

The products covered in this manual adhere to the following part numbering structure.
However, additional features and/or options are readily available for OEM’s with sufficient
ordering volume. Feel free to contact ADVANCED Motion Controls for further information.
FIGURE 2.1 DZ Part Numbering Structure

Example: D Z R A L T E - 0 1 2 L 0 8 0
Drive Series Max DC Bus Voltage (VDC)
DZ DigiFlex Z (PCB Mount) 080 80
Communication Power and Logic Supply

R RS232/RS485 DC Input
C CANopen or RS232 L
Logic Supply Required
Command Inputs Peak Current (A0 to Peak)

Analog (±10V) 012 12
AN
No Step & Direction
020 20
Analog (±10V)
AL 040 40
Low Voltage Step & Direction (5V)
Digital I/O
T TTL (5V) Non-Isolated
Motor Feedback
E Incremental Encoder and/or Halls
In general, the DZ family of digital drives can be categorized either by the drive communication
control method, or by the drive power rating. Drives that use the CANopen protocol are
referred to herein as DZC drives, while drives that use RS‐485 communication are referred to
as DZR drives.
TABLE 2.1 Power Specifications
Description Units DZ-012L080 DZ-020L080 DZ-040L080
DC Supply Voltage Range1 VDC 20-80 10-80
DC Bus Over Voltage Limit VDC 88
DC Bus Under Voltage Limit VDC 17 8
Logic Supply Voltage VDC 5 (±5%)
Maximum Peak Output Current A (Arms) 12 (8.5) 20 (14.1) 40 (28.3)
Maximum Continuous Output Current A (Arms) 6 (4.2) 12 (8.5) 20 (14.1)
Maximum Power Dissipation at Continuous Current W 24 48 80
Internal Bus Capacitance1 μF 33 94 141
Minimum Load Inductance2 μH 250

Switching Frequency kHz 20
Maximum Output PWM Duty Cycle % 85
1. For DZ-040L080 drives, if the drive is operated at a supply voltage over 60 VDC, an additional 33μF, 100V capacitor is required on the supply line close to the drive.
2. Lower inductance is acceptable for bus voltages well below minimum. Use external inductance to meet requirements.
TABLE 2.2 Control Specifications

Description DZR DZC
Network Communication RS485/232 CANopen (RS-232 for Configuration)
±10V Analog, Over the Network, Encoder Following, PWM & Direction, 5V Step
Command Sources ±10V Analog, Over the Network, Encoder Following, PWM & Direction
& Direction
Commutation Methods Sinusoidal, Trapezoidal Sinusoidal, Trapezoidal
Control Modes Current, Hall Velocity, Position, Velocity Current, Position, Velocity
Motors Supported Three Phase, Single Phase, Closed Loop Vector Three Phase, Single Phase, Closed Loop Vector
40+ Configurable Functions, Over Current, Over Temperature (Drive & Motor), 40+ Configurable Functions, Over Current, Over Temperature (Drive & Motor),
Hardware Protection
Over Voltage, Short Circuit (Phase-Phase & Phase-Ground), Under Voltage Over Voltage, Short Circuit (Phase-Phase & Phase-Ground), Under Voltage
Programmable Digital I/O 5 Inputs, 3 Outputs 5 Inputs, 3 Outputs
Programmable Analog I/O 1 Input 1 Input
Hall Sensors, Differential Incremental Encoder, Aux. Incremental Encoder, ±10
Feedback Supported Hall Sensors, Differential Incremental Encoder, Aux. Incremental Encoder
VDC Position
MNDGDZIN-03 5
Products and System Requirements / Communication Protocol
2.3 Communication Protocol

DZ digital drives offer networking capability through either CANopen or RS‐485
communication: CANopen is used with DZC drives, and RS‐485 is used with DZR drives. Both
DZC and DZR drives include an auxiliary RS‐232 serial port used for configuring the drive
through DriveWare. DZR drives can also connect to DriveWare through RS‐485.
2.3.1 CANopen
CANopen is an open standard embedded machine control protocol that operates through the
CAN communication interface on DZC digital drives. The CANopen protocol is developed for
the CAN physical layer. The CAN interface for ADVANCED Motion Controls DZ drives follows the
CiA (CAN in Automation) DS301 communications profile and the CiA DSP402 device profile.
CiA is the non‐profit organization that governs the CANopen standard. More information can
be found at www.can‐cia.org.
On DZC drives, a CAN interface is provided through a transmit pin and a receive pin. A user‐
supplied external transceiver which meets a CAN physical layer standard (ex. ISO 11898‐2) is
required for CAN communication. This transceiver acts as a medium between chip‐level CAN
signals and bus‐level CAN signals. When choosing a transceiver, make sure it matches with the
physical layer standard of the CAN bus being used. It is also recommended to isolate the
transceiver from the DZ drive. See “CAN Transceiver” on page 29 for more information on
interfacing with a CAN transceiver.
CAN communication works by exchanging messages between a CANopen "host" and CANopen
"nodes". The messages contain information on specific drive functions, each of which is
defined by a group of objects. An object is roughly equivalent to a memory location that holds a
certain value. The values stored in the drive’s objects are used to perform the drive functions
(current loop, velocity loop, position loop, I/O functions, etc.). For more detailed information on
CANopen communication with DZC drives and a complete list of CAN objects, consult the
ADVANCED Motion Controls CANopen Communication Manual, available for download at
www.a‐m‐c.com.
2.3.2 RS-485 Communication

The ADVANCED Motion Controls proprietary serial protocol is a byte‐based, binary, master‐
slave standard to access drive "commands" used on DZR drives. The drive commands provide
read or write access to drive parameters, with each command containing one or more
parameters. Each command is assigned a unique index number, and parameters within a
command are given offset values. As a result, parameters are referenced using a combination
of the command index and parameter offset values. The serial protocol utilizes variable length
commands to access one or more parameters within an index.
On DZR drives, the RS‐485 interface is provided through a transmit pin and a receive pin.
These pins should be connected to the appropriate locations on a serial cable connector, as
specified by the serial protocol. The reference point for the RS‐485 signals is common with the
signal ground of the drive. See “RS‐485/232 Interface” on page 30 for more information on the
DZ drive serial interface connection. For more detailed information on RS‐485 communication
with DZ drives, consult the ADVANCED Motion Controls Serial Communication Manual.
MNDGDZIN-03 6
Products and System Requirements / Control Modes
2.4 Control Modes

The DZ family of digital drives operate in either Current (Torque), Velocity, or Position Mode.
The setup and configuration parameters for these modes are commissioned through
DriveWare. See the DriveWare Software Guide for mode configuration information.
The name of the mode refers to which servo loop is being closed in the drive, not the end‐result
of the application. For instance, a drive operating in Current (Torque) Mode may be used for a
positioning application if the external controller is closing the position loop. Oftentimes, mode
selection will be dependent on the requirements and capabilities of the controller being used
with the drive as well as the end‐result application.
2.4.1 Current (Torque)

In Current (Torque) Mode, the input command voltage controls the output current. The drive
will adjust the output duty cycle to maintain the commanded output current. This mode is used
to control torque for rotary motors (force for linear motors), but the motor speed is not
controlled. The output current and other parameters can be monitored in DriveWare through
the digital oscilloscope function. DriveWare also offers configuration of maximum and
continuous current limit values.
While in Current (Torque) Mode, the drive will maintain a commanded

torque output to the motor based on the input reference command.
Sudden changes in the motor load may cause the drive to output a high
torque command with little load resistance, causing the motor to spin
Note rapidly. Therefore, Current (Torque) Mode is recommended for
applications using a digital position controller to maintain system stability.
2.4.2 Velocity
In Velocity Mode, the input command voltage controls the motor velocity. This mode requires
the use of a feedback element to provide information to the drive about the motor velocity. DZ
drives allow velocity control with either Hall Sensors or an Encoder as the feedback element.
The motor velocity and other parameters can be monitored in DriveWare through the digital
oscilloscope function. The feedback element being used for velocity control must be specified
in DriveWare, which also offers configuration of velocity limits. See “Feedback Supported” on
page 8 for more information on feedback devices.
2.4.3 Position
In Position Mode, the input command voltage controls the actual motor position. This mode
requires the use of a feedback element to provide information to the drive about the physical
motor location. DZ drives allow position control with either an Encoder or ±10V Position
feedback. The motor position and other parameters can be monitored in DriveWare through
the digital oscilloscope function. The feedback element being used for position control must be
specified in DriveWare, which also offers configuration of position limits. See “Feedback
Supported” on page 8 for more information on feedback devices.
MNDGDZIN-03 7
Products and System Requirements / Feedback Supported
2.5 Feedback Supported

There are a number of different feedback options available in the DZ family of digital drives.
The feedback element must be capable of generating a voltage signal proportional to current,
velocity, position, or any parameter of interest. Such signals can be provided directly by a
potentiometer or indirectly by other feedback devices such as Hall Sensors or Encoders. These
latter devices must have their signals converted to a DC voltage, a task performed by the DZ
drive circuitry and configuration software.
2.5.1 Feedback Polarity

The feedback element must be connected for negative feedback. This will cause a difference
between the command signal and the feedback signal, called the error signal. The drive
compares the feedback signal to the command signal to produce the required output to the
load by continually reducing the error signal to zero. For DZ drives, this becomes important
when using “Encoder Feedback” and “Hall Sensors”, as connecting these feedback elements
for positive feedback will lead to a motor "run‐away" condition. In a case where the feedback
lines are connected to the drive with the wrong polarity, the drive will attempt to correct the
"error signal" by applying more command to the motor. With the wrong feedback polarity, this
will result in a positive feedback run‐away condition. To correct this, either change the order
that the feedback lines are connected to the drive, or use DriveWare to reverse the internal
velocity feedback polarity setting. The AutoCommutation routine in DriveWare will typically
determine the proper feedback polarity setting.
2.5.2 Hall Sensors

DZ drives can use single‐ended Hall Sensors for commutation and/or velocity control. The Hall
Sensors (typically three) are built into the motor to detect the position of the rotor magnetic
field. With Hall Sensors being used as the feedback element, the input command voltage
controls the motor velocity, with the Hall Sensor frequency closing the velocity loop. The Hall
Sensor frequency is converted into velocity feedback that the drive uses to control the motor
speed and direction. The actual motor speed can be monitored in DriveWare through the
digital oscilloscope function.
Due to the inherent low resolution of motor mounted Hall Sensors, using
Hall Sensors for velocity feedback is not recommended for low-speed
applications below 300 rpm for a 6-pole motor, 600 rpm for a 4-pole
motor, or 900 rpm for a 2-pole motor. Hall Velocity Mode is better suited
Note for velocity control applications where the motor will be spinning at
higher speeds.
For more information on using Hall Sensors for trapezoidal commutation, see “Trapezoidal
Commutation” on page 43.
The MC1XDZ01 mounting card provides the option of using differential

Hall Sensor inputs. Users designing their own PCB interface may also
design the appropriate circuitry on their PCB interface to allow
differential inputs. See “Hall Sensor Inputs” on page 32 for circuitry
Note recommendation.
MNDGDZIN-03 8
2.5.3 Encoder Feedback

DZ drives can utilize differential encoder inputs for velocity or position control, with the option
of also using the encoder to commutate the motor. The encoder provides incremental position
feedback that can be extrapolated into very precise velocity or position information. With an
Encoder being used as the feedback element, the input command controls the motor velocity
or motor position, with the frequency of the encoder signal closing either the velocity or
position loop. The encoder signals are read as "pulses" that the DZ drive uses to essentially
keep track of the motor’s speed, position and direction of rotation. Based on the speed and
order in which these pulses are received from the encoder, the drive can interpret the motor
velocity and physical location. The actual motor speed and physical location can be monitored
in DriveWare through the digital oscilloscope function. Both the "A" and "B" channels of the
encoder are required for operation. DZ drives also accept an optional differential "index"
channel that can be used for absolute position reference.
The MC1XDZ01 mounting card provides the option of using single-ended

encoder inputs. Users designing their own PCB interface may also design
the appropriate circuitry on their PCB interface to allow single-ended
inputs. See “Encoder Inputs” on page 33 for circuitry recommendation.
Note
Figure 2.2 below represents differential encoder "pulse" signals, showing how dependent on
which signal is read first and at what frequency the "pulses" arrive, the speed and direction of
the motor shaft can be extrapolated. By keeping track of the number of encoder "pulses" with
respect to a known motor "home" position, DZ drives are able to ascertain the actual motor
location.
FIGURE 2.2 Encoder Feedback Signals

Encoder A+
Encoder A-
Example 1: Encoder-A precedes Encoder-B. The pulses
arrive at a certain frequency, providing speed and
directional information to the drive.
Encoder B+
Encoder B-
Encoder A+
Encoder A-
Example 2: Encoder-B precedes Encoder-A, meaning the
direction is opposite from Example 1. The signal frequency
is also higher, meaning the speed is greater than in
Example 1.
Encoder B+
Encoder B-
MNDGDZIN-03 9
DZ drives can also use encoder feedback for sinusoidal commutation by using the
AutoCommutation routine in DriveWare. Encoder feedback is also used in the "Phase Detect"
procedure in DriveWare, which is necessary when using a three phase (brushless) motor
without Hall Sensors. The Phase Detect routine will have to be run before AutoCommutation.
Phase Detect works by sending a small current signal to the motor, prompting the motor to
vibrate slightly for a few seconds. The encoder feedback from this movement provides a
starting position for the motor, allowing the drive to then be properly commutated. See the
Driveware Software Guide for more information on Phase Detect.
The high resolution of motor mounted encoders allows for excellent

velocity and position control and smooth motion at all speeds. Encoder
feedback should be used for applications requiring precise and
accurate velocity and position control, and is especially useful in
Note applications where low-speed smoothness is the objective.
2.5.4 ±10 VDC Position

DZ drives accept an analog ±10 VDC Position feedback, typically in the form of a load‐mounted
potentiometer. The feedback signal must be conditioned so that the voltage does not exceed
±10 V, and is connected to the DZ drive through the Programmable Analog Input. In DriveWare,
the connection method that is used must be selected under the Position Loop Feedback
options. See the DriveWare Software Guide for more information.
When using the Programmable Analog Input for ±10 VDC Position
feedback, the drive cannot use a ±10V Analog input command through
the reference inputs. See the Command Sources section below for other
available types of command inputs.
Note
MNDGDZIN-03 10
Products and System Requirements / Command Sources
2.6 Command Sources

The input command source for DZ drives can be provided by one of the following options.
2.6.1 ±10V Analog

Both DZC and DZR drives accept a differential or single‐ended analog signal with a range of
±10 V from an external source. The input command signals should be connected to pins P1‐3
and P1‐4. See “Programmable Analog Input” on page 40 for more information.
2.6.2 Encoder Following

Both DZC and DZR drives can utilize Encoder Following as a form of input command. In
Encoder Following mode, an auxiliary differential encoder signal can be used to command the
drive in a master/slave configuration. The gearing ratio (input counts to output counts ratio)
can be configured in DriveWare by the user. Encoder Following is only a valid option when the
DZ drive is operated in position mode. The auxiliary encoder signal input should be connected
to pins P1‐17, P1‐18, P1‐19, and P1‐20. See “Auxiliary Encoder Input” on page 40 for more
information.
2.6.3 Over the Network

Both DZC and DZR drives can utilize network communication as a form of input command. DZC
drives can provide an input reference command through the CAN interface, and DZR drives
can provide an input reference command through the RS‐485 interface. For more information
on CANopen and RS‐485, see “Communication Protocol” on page 6.
2.6.4 PWM and Direction

DZ drives accept either a PWM and Direction or a Single Input PWM signal as the command
source input type. The Direction inputs commands the direction of rotation, while the PWM
input duty cycle commands the drive output. The PWM input is connected to P1‐17, while the
Direction input is connected to P1‐19. Scaling, offset, and command inversion may be
configured for customized control. The PWM and Direction command source supports broken
wire detection for cases when the PWM command reaches 0% or 100% duty cycle. The
frequency range of the PWM and Direction command input is 1kHz ‐ 125kHz.
2.6.5 5V TTL Step and Direction (DZR Drives Only)

DZR drives accept a differential Step and Direction input command from an external source.
The Direction input commands the direction of rotation, while each pulse of the Step input
commands the motor to "step" in that direction. Since the input is directly controlling the
actual position of the motor, the physical motor location can be determined without any other
feedback element. The differential Step input signal should be connected to pins P1‐17 and P1‐
18, and the differential Direction input signal should be connected to pins P1‐19 and P1‐20.
See “Step and Direction Input (DZR drives only)” on page 40 for more information.
MNDGDZIN-03 11
Products and System Requirements / Pin Layout
2.7 Pin Layout

Figure 2.3 below shows the pin layout and location on DZ drives, as seen from the PCB where
the drive is mounted. More detailed dimensional information can be found in “Physical
Dimensions” on page 46 and in “Mating Connectors” on page 27.
FIGURE 2.3 DZ Drives Pin Layout

DZ-012L080 DZ-020L080
P1 - Signal P1 - Signal P2 - Power

PIN 30
Connector
PIN 30
Connector Connector
P2 - Power
PIN 29
Connector PIN 29 PIN 1a
PIN 1 PIN 1b
0.10in [2.54mm] 0.10in [2.54mm]
PIN 12 PIN 12b

PIN 1 PIN 1
PIN 12a
2.08in [52.92mm] 2.08in [52.92mm]
PIN 2 PIN 2
DZ-040L080
P1 - Signal P2 - Power P3 - Power

PIN 30
Connector Connector Connector
PIN 29 PIN 1a PIN 1b
PIN 1b PIN 1a
0.10in [2.54mm]
PIN 12b PIN 12a

PIN 1
PIN 12b
PIN 12a
2.08in [52.92mm] 0.40in
PIN 2
[10.16mm]
MNDGDZIN-03 12
Products and System Requirements / DZC Drives
2.8 DZC Drives

• CANopen Networking • RS232 Configuration
• ±10V Analog, Encoder Following, PWM and Direction, or • Programmable Digital I/O’s
Network Command Sources • Programmable Analog Input
• Hall Sensor Feedback • 2 High Speed Captures
• Encoder Feedback • Compatible with Three‐Phase and Single‐Phase Motors
• 5V TTL Logic Level • Programmable Current, Voltage, and Velocity Limits
2.8.1 Block Diagram
FIGURE 2.4 DZC Drives Block Diagram

+5V +5V
5k 5k
PDI-1,2,3 (CAP-A) HALL A,B,C
Feedback
GND GND
Feedback
+5V Drive
Logic
5k
Motor
Motor
PDO-1,2,3 MOT ENC A,B,I +
MOT ENC A,B,I –

GND
I/O Interface
6.7k
PAI-1 + (REF+)
I/O Interface
PAI-1 – (REF–)
6.7k
2k
PDI-4,5 + (PWM+ / MOTOR A

DIR+ / AUX ENC A,B
+ / CAP-B,C +) Power Stage MOTOR B
PDI-4,5 – (PWM– / MOTOR C

DIR– / AUX ENC
A,B – / CAP-B,C –) HIGH VOLTAGE
CAN BAUD,
CAN ADDR 0,1 GND
500k
Logic Power
LOGIC POWER
RS32 RX RS232
Interface
RS232 TX
GND
CAN_RX CANopen
Interface
CAN_TX
2.8.2 Pinouts
TABLE 2.3 DZC Pin Functions
DZC Signal Connector - P1 DZC Power Connector - P2, P3
Pin Description Pin Description DZ-020L080
DZ-012L080
DZ-040L080
1 CAN ADDR 0 2 CAN ADDR 1
3 PAI-1 + (REF+) 4 PAI-1 - (REF -) Pin Description Pin
5 GROUND 6 CAN BAUD LOGIC PWR (1,1a)

1 1a 1b
N/C (1b)
7 PDO - 1 8 PDO - 2
2 2a 2b
9 PDO - 3 10 PDI - 1 GROUND
3 3a 3b
11 PDI - 2 12 PDI - 3 (CAP-A)
4 4a 4b
13 RS232 RX 14 CAN RX HIGH VOLTAGE
5 5a 5b
15 RS232 TX 16 CAN TX
6 RESERVED 6a 6b
17 PDI-4 + (AUX ENC A+/PWM+/CAP-B) 18 PDI-4 - (AUX ENC A-/PWM-)
7 7a 7b
19 PDI-5 + (AUX ENC B+/CAP-C/DIR+) 20 PDI-5 - (AUX ENC B-/DIR-) MOTOR C
8 8a 8b
21 GROUND 22 HALL A
9 9a 9b
23 HALL B 24 HALL C MOTOR B
10 10a 10b
25 MOT ENC I+ 26 MOT ENC I-
11 11a 11b
27 MOT ENC A+ 28 MOT ENC A- MOTOR A
12 12a 12b
29 MOT ENC B+ 30 MOT ENC B-
MNDGDZIN-03 13
Products and System Requirements / DZR Drives
2.9 DZR Drives

• RS‐485 Networking • Encoder Feedback
• ±10V Analog, Encoder Following , PWM and Direction, 5V • ±10V Analog Feedback
Step and Direction, or Network Command Sources • Programmable Digital I/O’s
• Programmable Current, Voltage, and Velocity Limits • Programmable Analog Input
• RS‐485/232 Configuration • 2 High Speed Captures
• Hall Sensor Feedback • Compatible with Three‐Phase and Single‐Phase Motors
2.9.1 Block Diagram
FIGURE 2.5 DZR Drives Block Diagram

+5V +5V
5k 5k
PDI-1,2,3 (CAP-A) HALL A,B,C
Feedback
GND GND
Feedback
+5V Drive
Logic
5k
Motor
Motor
PDO-1,2,3 MOT ENC A,B,I +
MOT ENC A,B,I –

GND
I/O Interface
6.7k
PAI-1 + (REF+)
I/O Interface
PAI-1 – (REF–)
6.7k
2k
PDI-4,5 + (AUX ENC A,B + / MOTOR A

PWM+ / STEP+ / DIR+ /
Power Stage MOTOR B
CAP-B,C +)
PDI-4,5 – (AUX ENC A,B – /
PWM– /STEP– / DIR– / MOTOR C
CAP-B,C –)
HIGH VOLTAGE
RS485 BAUD,
RS485 ADDR 0,1 GND
500k
Logic Power
LOGIC POWER
SELECT
RS232 TX / RS485 TX–
RS485/232
RS232 RX / RS485 RX– Interface
RS485 TX+
RS485 RX+
2.9.2 Pinouts
TABLE 2.4 DZR Pin Functions
DZR Signal Connector - P1 DZR Power Connector - P2
Pin Description Pin Description DZ- DZ-020L200, P2
012L080 DZ-040L200, P2,P3
1 RS485 ADDR 0 2 RS485 ADDR 1
P2
3 PAI-1 + (REF+) 4 PAI-1 - (REF -)
Pin Description Pin
5 GROUND 6 RS485 BAUD
LOGIC PWR (1,1a)
7 PDO - 1 8 PDO - 2 1 1a 1b
N/C (1b)
9 PDO - 3 10 PDI - 1 2 2a 2b
GROUND
11 PDI - 2 12 PDI - 3 (CAP-A) 3 3a 3b
13 RS232 RX / RS485 RX- 14 RS485 RX+ 4 4a 4b
HIGH VOLTAGE
15 RS232 TX / RS485 TX- 16 RS485 TX+ 5 5a 5b
17 PDI-4 + (PWM+/ STEP+ / AUX ENC A+/CAP-B) 18 PDI-4 - (PWM- / STEP- / AUX ENC A-) 6 RESERVED 6a 6b
19 PDI-5 + (DIR+ / AUX ENC B+/ CAP-C) 20 PDI-5 - (DIR- / AUX ENC B-) 7 7a 7b
MOTOR C
21 GROUND 22 HALL A 8 8a 8b
23 HALL B 24 HALL C 9 9a 9b
MOTOR B
25 MOT ENC I+ 26 MOT ENC I- 10 10a 10b
27 MOT ENC A+ 28 MOT ENC A- 11 11a 11b
MOTOR A
29 MOT ENC B+ 30 MOT ENC B- 12 12a 12b
MNDGDZIN-03 14
Products and System Requirements / System Requirements
2.10 System Requirements

To successfully incorporate a DZ digital servo drive into your system, you must be sure it will
operate properly based on electrical, mechanical, and environmental specifications while
anticipating impacts on performance.
2.10.1 Specifications Check

Before selecting a DZ digital servo drive, a user should consider the requirements of their
system. This involves calculating the voltage, current, torque, and power requirements of the
system, as well as considering the operating environment and any other equipment the drive
will be interfacing with. Before attempting to install or operate a DZ servo drive, be sure all the
following items are available:
• DZ Digital Servo Drive
• DZ Servo Drive Datasheet (specific to your model)
• DZ Series Digital Hardware Installation Manual
• DriveWare Software Guide
DZ servo drives are shipped with no other connectors or mounting

components other than the signal and power header pins on the drive
PCB itself. However, mounting cards and mating connectors are readily
available. See “Mounting Card” on page 26 for the ADVANCED Motion
Note Controls DZ mounting card. Customized mounting options are also
available for orders with sufficient volume.
2.10.2 Motor Specifications

DZ digital servo drives have a given current and voltage rating unique to each drive. Based on
the necessary application requirements and the information from the datasheet of the motor
being used, a DZ drive may be selected that will best suit the motor capabilities. Some general
guidelines that are useful when pairing a DZ servo drive with a motor:
• The motor current IM is the required motor current in amps DC, and is related to the
torque needed to move the load by the following equation:
Torque
I M = -------------------
KT
Where:
KT ‐motor torque constant
The motor current will need to be calculated for both continuous and peak operation. The
peak torque will be during the acceleration portion of the move profile. The continuous
torque is the average torque required by the system during the move profile, including
dwell times.
MNDGDZIN-03 15
• The system voltage requirement is based on the motor properties and how fast and hard
the motor is driven. The system voltage requirement is equal to the motor voltage, VM,
required to achieve the move profile.
VM = ( KE ⋅ SM ) + ( IM ⋅ RM )
Where:
KE ‐motor back EMF constant
SM ‐motor speed (use the maximum speed expected for the application)
IM ‐motor current (use the maximum current expected for the application)
RM ‐motor line‐to‐line resistance
• The motor inductance is vital to the operation of DZ servo drives, as it ensures that the DC
motor current is properly filtered.
A motor that does not meet the rated minimum inductance value of the
DZ drive may damage the drive! If the motor inductance value is less
than the minimum required for the selected drive, use of an external filter
card is necessary.
A minimum motor inductance rating for each specific DZ drive can be found in the drive
datasheet. If the drive is operated below the maximum rated voltage, the minimum load
inductance requirement may be reduced.
2.10.3 Power Supply Specifications

DZ servo drives operate off an isolated unregulated DC Power Supply (see Table 2.1 for drive
model power supply ranges and over‐voltage shutdown values). To avoid nuisance over‐ or
under‐voltage errors caused by fluctuations in the power supply, the system power supply
voltage should be at least 10% above the entire system voltage requirement, and at least 10%
below the lowest value of the following:
• Drive over voltage
• External shunt regulator turn‐on voltage
Use of a shunt regulator is necessary in systems where motor deceleration or a downward
motion of the motor load will cause the system’s mechanical energy to be regenerated via the
drive back onto the power supply. This regenerated energy can charge the power supply
capacitors to levels above that of the DZ drive over‐voltage shutdown level. If the power supply
capacitance is unable to handle this excess energy, or if it is impractical to supply enough
capacitance, then an external shunt regulator must be used to dissipate the regenerated
energy. The shunt regulator will "turn‐on" at a certain voltage level (set below the drive over‐
voltage shutdown level) and discharge the regenerated electric energy in the form of heat.
The diagram below provides a possible example of an appropriate system power supply
voltage for a DZ‐012L080 drive using an external shunt regulator.
MNDGDZIN-03 16
FIGURE 2.6 Sample DZ-012L080 Power Supply Selection
100
DZ Drive Over Voltage Shutdown (88V)
80 Shunt Regulator Turn-On Voltage (80V)
60
VDC Acceptable Power Supply
40 Range (26V-72V)
System Power Supply Requirement (24V)
20 DZ Drive Under Voltage Shutdown (17V)
0
The power supply current rating is based on the maximum current that will be required by
the system. If the power supply powers more than one drive, then the current requirements
for each drive should be added together. Due to the nature of servo drives, the current into the
drive does not always equal the current out of the drive. However, the power in is equal to the
power out. Use the following equation to calculate the power supply output current, IPS,
based on the motor current requirements.
VM ⋅ IM
I PS = ----------------------------
-
V PS ⋅ ( 0.98 )
Where:
VPS ‐nominal power supply voltage
IM ‐motor current
VM ‐motor voltage
Use values of V and I at the point of maximum power in the move profile (when VMIM = max).
This will usually be at the end of a hard acceleration when both the torque and speed of the
motor is high.
2.10.4 Environment
To ensure proper operation of a DZ servo drive, it is important to evaluate the operating
environment prior to installing the drive.
TABLE 2.5 Environmental Specifications
Environmental Specifications
Parameter Description
Ambient Temperature Range See Figure 2.7
Baseplate Temperature Range 0 - 65 ºC (DZ-012L080) ; 0 - 75 ºC (DZ-020L080 / DZ-040L080)
Humidity 90%, non-condensing
Mechanical Shock 15g, 11ms, Half-sine
Vibration 2 - 2000 Hz @ 2.5g
Altitude 0-3000m
Ambient Temperature Range and Thermal Data DZ drives contain a built‐in over‐

temperature disabling feature if the baseplate temperature rises above the maximum
baseplate temperature value, specified in Table 2.5. For a DC supply voltage of 80VDC and a
specific output current, Figure 2.7 below specifies an upper limit to the ambient temperature
range DZ drives can operate within while keeping the baseplate temperature below the
maximum baseplate temperature. It is recommended to mount the baseplate of the DZ drive to
MNDGDZIN-03 17
a heatsink for best thermal management results. Note that DZ‐012L080 drives operated at
supply voltages approaching 80VDC will require additional heatsinking to achieve rated
characteristics, so no natural convection data is given. For mounting instructions and diagrams
see “Mounting” on page 26.
FIGURE 2.7 DZ Drives Maximum Ambient Temperature Range

Maximum Ambient °C
DZ-012L080 Drive Models at 80VDC
60
50
40
°C 30
20
10
0
0 1 2 3 4 5 6 7
Continuous Output Current (Amps)
W/ Heatsink (see note 1)
Maximum Ambient °C Maximum Ambient °C

DZ-020L080 Drive Models at 80VDC DZ-040L080 Drive Models at 80VDC
80 80
70 70
60 60
50 50
40 °C 40
30 30
20 20
10 10
0 0
0 2 4 6 8 10 12 14 0 5 10 15 20 25
Continuous Output Current (Amps) Continuous Output Current (Amps)
No Heatsink W/ Heatsink (see note 1) No Heatsink W/ Heatsink (see note 1)
1.The heatsink used in the above tests is 15" x 22" x 0.65" aluminum plate.
Shock/Vibrations While DZ drives are designed to withstand a high degree of mechanical shock
and vibration, too much physical abuse can cause erratic behavior, or cause the drive to cease
operation entirely. Be sure the drive is securely mounted in the system to reduce the shock and
vibration the drive will be exposed to. The best way to secure the drive against mechanical
vibration is to use screws to mount the DZ drive against its baseplate. For information on
mounting options and procedures, see “Mounting” on page 26.
Care should be taken to ensure the drive is securely mounted in a

location where no moving parts will come in contact with the drive.
MNDGDZIN-03 18
3 Integration in the Servo System
This chapter will give various details on incorporating a DZ servo drive into a system, such as how to design the
PCB traces on an interface board, how to properly ground both the DZ drive along with the entire system, and
how to properly connect motor wires, power supply wires, feedback wires, communication cables, and inputs
into the DZ drive.
3.1 LVD Requirements

The servo drives covered in the LVD Reference report were investigated as components
intended to be installed in complete systems that meet the requirements of the Machinery
Directive. In order for these units to be acceptable in the end users’ equipment, the following
conditions of acceptability must be met.
1. European approved overload and current protection must be provided for the motors as
specified in section 7.2 and 7.3 of EN60204.1.
2. A disconnect switch shall be installed in the final system as specified in section 5.3 of
EN60204.1.
3. All drives that do not have a grounding terminal must be installed in, and conductively
connected to a grounded end use enclosure in order to comply with the accessibility
requirements of section 6, and to establish grounding continuity for the system in
accordance with section 8 of EN60204.1.
4. A disconnecting device that will prevent the unexpected start‐up of a machine shall be
provided if the machine could cause injury to persons. This device shall prevent the
automatic restarting of the machine after any failure condition shuts the machine down.
5. European approved over current protective devices must be installed in line before the
servo drive, these devices shall be installed and rated in accordance with the installation
instructions (the installation instructions shall specify an over current rating value as low
as possible, but taking into consideration inrush currents, etc.). Servo drives that
incorporate their own primary fuses do not need to incorporate over protection in the end
users’ equipment.
These items should be included in your declaration of incorporation as well as the name and
address of your company, description of the equipment, a statement that the servo drives must
not be put into service until the machinery into which they are incorporated has been declared
in conformity with the provisions of the Machinery Directive, and identification of the person
signing.
MNDGDZIN-03 19
Integration in the Servo System / CE-EMC Wiring Requirements
3.2 CE-EMC Wiring Requirements

The following sections contain installation instructions necessary for meeting EMC
requirements.
General
1. Shielded cables must be used for all interconnect cables to the drive and the shield of the
cable must be grounded at the closest ground point with the least amount of resistance.
2. The drive’s metal enclosure must be grounded to the closest ground point with the least
amount of resistance.
3. The drive must be mounted in such a manner that the connectors and exposed printed
circuit board are not accessible to be touched by personnel when the product is in
operation. If this is unavoidable there must be clear instructions that the amplifier is not to
be touched during operation. This is to avoid possible malfunction due to electrostatic
discharge from personnel.
Analog Input Drives

4. A Fair Rite model 0443167251 round suppression core must be fitted to the low level
signal interconnect cables to prevent pickup from external RF fields.
PWM Input Drives

5. A Fair Rite model 0443167251 round suppression core must be fitted to the PWM input
cable to reduce electromagnetic emissions.
MOSFET Switching Drives

6. A Fair Rite model 0443167251 round suppression core must be fitted at the load cable
connector to reduce electromagnetic emissions.
7. An appropriately rated Cosel TAC series AC power filter in combination with a Fair Rite
model 5977002701 torroid (placed on the supply end of the filter) must be fitted to the AC
supply to any MOSFET drive system in order to reduce conducted emissions fed back into
the supply network.
IGBT Switching Drives

8. An appropriately rated Cosel TAC series AC power filter in combination with a Fair Rite
model 0443167251 round suppression core (placed on the supply end of the filter) must
be fitted to the AC supply to any IGBT drive system in order to reduce conducted emissions
fed back into the supply network.
9. A Fair Rite model 0443164151 round suppression core and model 5977003801 torroid
must be fitted at the load cable connector to reduce electromagnetic emissions.
Fitting of AC Power Filters

10. It is possible for noise generated by the machine to "leak" onto the main AC power, and
then get distributed to nearby equipment. If this equipment is sensitive, it may be
adversely affected by the noise. AC power filters can filter this noise and keep it from
getting on the AC power signal. The above mentioned AC power filters should be mounted
MNDGDZIN-03 20
Integration in the Servo System / CE-EMC Wiring Requirements
flat against the enclosure of the product using the mounting lugs provided on the filter.
Paint should be removed from the enclosure where the filter is fitted to ensure good metal
to metal contact. The filter should be mounted as close to the point where the AC power
filter enters the enclosure as possible. Also, the AC power cable on the load end of the filter
should be routed far from the AC power cable on the supply end of the filter and all other
cables and circuitry to minimize RF coupling.
3.2.1 Ferrite Suppression Core Set-up

If PWM switching noise couples onto the feedback signals or onto the signal ground, then a
ferrite suppression core can be used to attenuate the noise. Take the motor leads and wrap
them around the suppression core as many times as reasonable possible, usually 2‐5 times.
Make sure to strip back the cable shield and only wrap the motor wires. There will be two
wires for single phased (brushed) motors and 3 wires for three phase (brushless) motors.
Wrap the motor wires together as a group around the suppression core and leave the motor
case ground wire out of the loop. The suppression core should be located as near to the drive
as possible. TDK ZCAT series snap‐on filters are recommended for reducing radiated
emissions on all I/O cables.
3.2.2 Inductive Filter Cards

Inductive filter cards are added in series with the motor and are used to increase the load
inductance in order to meet the minimum load inductance requirement of the drive. They also
serve to counteract the effects of line capacitance found in long cable runs and in high voltage
systems. These filter cards also have the added benefit of reducing the amount of PWM noise
that couples onto the signal lines.
MNDGDZIN-03 21
Integration in the Servo System / Grounding
3.3 Grounding
In most servo systems all the case grounds should be connected to a single Protective Earth
(PE) ground point in a "star" configuration. Grounding the case grounds at a central PE ground
point through a single low resistance wire for each case ground reduces the chance for ground
loops and helps to minimize high frequency voltage differentials between components. All
ground wires must be of a heavy gauge and be as short as possible. The following should be
securely grounded at the central PE grounding point:
• Motor chassis
• Controller chassis
• Power supply chassis
• PCB Interface chassis
FIGURE 3.1 System Grounding

Case Ground Wire
Shield Ground Wire
Shielded Feedback/Signal Cable
Command Command Shielded Power Cable
Signal Signal +VDC
+VDC PE Ground
Controller
Signal Ground
DZ Drive Power Ground
PCB Interface
Chassis Earth Ground
Isolated DC
Power Supply
Motor
Single Point System

Ground (PE Ground)
Ground cable shield wires at the mounting card or PCB interface side to a chassis earth ground
point. The DC power ground and the input reference command signal ground are oftentimes
at a different potential than chassis/PE ground. The signal ground of the controller must be
connected to the signal ground of the DZ drive to avoid picking up noise due to the "floating"
differential servo drive input. On all DZ drives, the DC power ground and the input command
signal ground are referenced to each other internally. In systems using an isolated DC power
supply, signal ground and/or power ground can be referenced to chassis ground. First decide if
this is both appropriate and safe. If this is the case, they can be grounded at the central
grounding point.
Grounding is important for safety. The grounding recommendations in

this manual may not be appropriate for all applications and system
machinery. It is the responsibility of the system designer to follow
applicable regulations and guidelines as they apply to the specific servo
system.
MNDGDZIN-03 22
Integration in the Servo System / Wiring
3.4 Wiring
Servo system wiring typically involves wiring a controller (digital or analog), a servo drive, a
power supply, and a motor. Wiring these servo system components is fairly easy when a few
simple rules are observed. As with any high efficiency PWM servo drive, the possibility of
noise and interference coupling through the cabling and wires can be harmful to overall
system performance. Noise in the form of interfering signals can be coupled:
• Capacitively (electrostatic coupling) onto signal wires in the circuit (the effect is more
serious for high impedance points).
• Magnetically to closed loops in the signal circuit (independent of impedance levels).
• Electromagnetically to signal wires acting as small antennas for electromagnetic radiation.
• From one part of the circuit to other parts through voltage drops on ground lines.
Experience shows that the main source of noise is the high DV/DT (typically about
1V/nanosecond) of the drive’s output power stage. This PWM output can couple back to the
signal lines through the output and input wires. The best methods to reduce this effect are to
move signal and motor leads apart, add shielding, and use differential inputs at the drive. For
extreme cases, use of an inductive filter card or a noise suppression device is recommended.
Unfortunately, low‐frequency magnetic fields are not significantly reduced by metal enclosures.
Typical sources are 50 or 60 Hz power transformers and low frequency current changes in the
motor leads. Avoid large loop areas in signal, power‐supply, and motor wires. Twisted pairs of
wires are quite effective in reducing magnetic pick‐up because the enclosed area is small, and
the signals induced in successive twist cancel.
3.4.1 Wire Gauge

As the wire diameter decreases, the impedance increases. Higher impedance wire will
broadcast more noise than lower impedance wire. Therefore, when selecting the wire gauge
for the motor power wires, power supply wires, and ground wires, it is better to err on the side
of larger diameter wire rather than too thin. This recommendation becomes more critical as
the cable length increases.
3.4.2 Motor Wires

The motor power wires supply power from the drive to the motor. Use a twisted, shielded pair
for the motor power cables to reduce the amount of noise coupling to sensitive components.
• For a brushed motor or voice coil, twist the two motor wires together as a group.
• For a brushless motor, twist all three motor wires together as a group.
Ground the motor power cable shield at one end only to the mounting card or PCB interface
chassis ground. The motor power leads should be bundled and shielded in their own cable and
kept separate from feedback signal wires.
DO NOT use wire shield to carry motor current or power!
MNDGDZIN-03 23
3.4.3 Power Supply Wires

The PWM current spikes generated by the power output‐stage are supplied by the internal
power supply capacitors. In order to keep the current ripple on these capacitors to an
acceptable level it is necessary to use heavy power supply leads and keep them as short as
possible. Reduce the inductance of the power leads by twisting them. Ground the power supply
cable shield at one end only to the mounting card or PCB interface chassis ground.
When multiple drives are installed in a single application, precaution regarding ground loops
must be taken. Whenever there are two or more possible current paths to a ground
connection, damage can occur or noise can be introduced in the system. The following rules
apply to all multiple axis installations, regardless of the number of power supplies used:
1. Run separate power supply leads to each drive directly from the power supply filter
capacitor.
2. Never "daisy‐chain" any power or DC common connections. Use a "star"‐connection
instead.
3.4.4 Feedback Wires

Use of a twisted, shielded pair for the feedback wires is recommended. Ground the shield at one
end only to the mounting card or PCB interface chassis ground. Route cables and/or wires to
minimize their length and exposure to noise sources. The motor power wires are a major
source of noise, and the motor feedback wires are susceptible to receiving noise. This is why it
is never a good idea to route the motor power wires with the motor feedback wires, even if
they are shielded. Although both of these cables originate at the drive and terminate at the
motor, try to find separate paths that maintain distance between the two. A rule of thumb for
the minimum distance between these wires is 10cm for every 10m of cable length.
FIGURE 3.2 Feedback Wiring

Avoid running
Motor Feedback feedback and power
wires together
Motor Feedback
DZ SERVO DZ SERVO Separate power and

DRIVE Motor DRIVE feedback wires Motor
where possible
Motor Power
Motor Power
MNDGDZIN-03 24
3.4.5 Input Reference Wires

Use of a twisted, shielded pair for the input reference wires is recommended. Connect the
reference source "+" to "+REF IN", and the reference source "‐" (or common) to "‐REF IN".
Connect the shield to the mounting card or PCB interface chassis ground. The servo drive’s
reference input circuit will attenuate the common mode voltage between signal source and
drive power grounds.
In case of a single-ended reference signal, connect the command

signal to "+ REF IN" and connect the command return and "- REF IN" to
signal ground.
Long signal wires (10‐15 feet and up) can also be a source of noise when driven from a typical
OP‐AMP output. Due to the inductance and capacitance of the wire the OP‐AMP can oscillate. It
is always recommended to set a fixed voltage at the controller and then check the signal at the
drive with an oscilloscope to make sure that the signal is noise free.
3.4.6 Communication Wires

DZ drives support standard RS‐232 data transmission between a PC and the drive. Connect the
PC transmit pin (Tx) to the drive receive pin (Rx), the PC receive pin (Rx) to the drive transmit
pin (Tx), and connect the PC RS‐232 ground to the drive signal ground.
MNDGDZIN-03 25
Integration in the Servo System / Mounting
3.5 Mounting
This section provides instructions and information on the different ways to mount a DZ servo
drive to a PCB.
3.5.1 Mounting Card

DZ servo drives are designed to interface directly with the ADVANCED Motion Controls
mounting card MC1XDZ01. Pinouts, dimensions, and ordering information for the mounting
card are obtainable on the MC1XDZ01 datasheet, available for download at www.a‐m‐c.com.
The MC1XDZ01 is designed for easy mounting and installation on a standard DIN‐rail tray,
available from Phoenix Contact. The MC1XDZ01 provides on‐board signal conditioning, an on‐
board CAN transceiver, and an on‐board 8‐position DIP switch bank for communication
settings, as well as many other features.
CANopen and serial communication connections are made through D‐SUB connections on the
MC1XDZ01, while input/output and feedback signal connections can be made either through
screw terminal or D‐SUB connectors. DC power is supplied through a screw terminal. The
MC1XDZ01 datasheet includes information on D‐SUB mating connectors, as well as surface‐
mount jumper and DIP Switch options available on the MC1XDZ01.
The MC1XDZ01 is shipped with the following included screw terminal connectors:
TABLE 3.1 MC1XDZ01 Included Mating Connectors
MC1XDZ01 Included Mating Connectors
Description Qty. Included Manufacturer and Part Number
8-terminal, 3.5 mm spaced insert connector 4 Phoenix Contact: P/N 1840421
2-terminal, 3.5 mm spaced insert connector 1 Phoenix Contact: P/N 1843606
FIGURE 3.3 DZ drive mounted on MC1XDZ01 on DIN rail tray (DIN rail tray shown for reference only and is not included with
DZ drive or MC1XDZ01; din rail tray is available from Phoenix Contact); MC1XDZ01 and mating connectors (mating connectors
shown are included with MC1XDZ01)
In addition, users may design their own mounting card to mate with a DZ servo drive. For more
information on designing a DZ compatible PCB interface card, see “PCB Design” on page 28 and
“Interface Circuitry Examples” on page 29.
MNDGDZIN-03 26
Integration in the Servo System / Mounting
3.5.2 PCB Mounting Options

DZ servo drives can be directly integrated onto a PCB, either by mounting the board on socket
connectors or by actually soldering the DZ drive to the board.
Mating Connectors DZ drives use 0.64 mm square post male headers (2.54 mm pin spacing)

for signal and power pins that are designed for fast and easy removal from PCB‐mount socket
connectors, making this option particularly useful when prototyping. The socket mating
connectors compatible with DZ drives are shown in the table below. For detailed DZ physical
dimensions, see “Physical Dimensions” on page 46.
TABLE 3.2 DZ Drives Socket Mating Connectors
Connector Pins Manufacturer and Part Number
Signal Connector - All DZ Drives 30 Samtec: BCS-115-L-D-PE
Power Connector - DZ-012L080 12 Samtec: BCS-112-L-S-PE
Power Connector - DZ-020L080 and DZ-040L080* 24 Samtec: BCS-112-L-D-PE
*DZ-040L080 drives will require two BCS-112-L-D-PE mating connectors for the power connectors
DZ drives are designed with a common pin layout throughout the entire drive family, providing
the user with the option of designing only one mounting card or PCB interface that is
compatible with every DZ drive. For an application that may have different versions with
higher or lower power requirements, the same mounting card or PCB interface can be used for
each application version with the appropriate DZ drive. The diagram below shows the PCB
mounting footprint for the DZ family. For specific dimensions, see “Mounting Dimensions” on
page 47.
FIGURE 3.4 DZ Drive PCB Footprint

P1 - Signal
P3 - Power P2 - Power Connector
Connector Connector PIN 30
PIN 1b PIN 1a PIN 29
PIN 1a
PIN 1b
78 x 0.025in [0.64mm] SQ Post Thru
PIN 12a PIN 12b

PIN 12b
PIN 12a PIN 1
0.40in 2.08in [52.92mm] PIN 2

[10.16mm]
DZ‐012L080 drives connect to P1 and the outside "A" row of P2, while DZ‐020L080 drives
connect to P1 and both rows of P2. DZ‐040L080 models connect to P1, P2, and P3.
Soldering Soldering a DZ board directly to a PCB provides added support against mechanical
shocks and vibration. It is recommended to solder DZ drives to a PCB following the industry
standard for Acceptability of Electronic Assemblies IPC‐A‐610D. Use solder with no‐clean flux.
DZ drives can be soldered by any of the following methods:
• wave soldering
• hand soldering
• selective wave soldering
MNDGDZIN-03 27
Integration in the Servo System / PCB Design
To clean the PCB and drive after soldering, it is recommended to gently apply isopropyl alcohol
or a cleaning agent with a soft‐bristled brush. Use care not to apply downward pressure, but
rather lightly brush the PCB and drive. Do not immerse the drive in a cleaning agent.
Screw Mounting For added stability and support, DZ drives can be mounted with screws in

tandem with one of the options above. DZ drives use 4/40 thread drive mounting screws to
maintain mechanical stability between the baseplate and drive PCB. One or both of these drive
mounting screw holes can also be used to secure the DZ drive to a mounting card or external
PCB interface. See “Physical Dimensions” on page 46 and/or the specific drive’s datasheet for
exact screw locations and dimensions.
DZ drives can also be screw mounted through the two drive mounting screw holes or the two
4/40 thread screw holes on either side of the DZ baseplate onto an external heatsink or other
mounting plate for added stability and resiliency against mechanical vibration. Mounting to an
external heatsink also provides better thermal management behavior than other mounting
options. See “Ambient Temperature Range and Thermal Data” on page 17 for more info.
3.6 PCB Design

When designing a PCB to interface with a DZ drive, there are some key features that must be
kept in mind to ensure proper operation.
3.6.1 Trace Width and Routing

The proper design and implementation of the PCB traces on an interface card is essential in
maximizing drive efficiency and noise reduction.
• Keep high and low power signals separated Although DZ servo drives have an internal
connection between power and signal ground, the traces emitting from the Power
Connector carry high currents and voltages, while the traces emitting from the Signal
Connector carry low currents and voltages. Refrain from routing power traces near signal
traces, and never route them in parallel. If power traces and signal traces need to cross,
they should do so at right angles.
• Keep high current traces short Traces carrying high current, such as the DC Power
traces and Motor Power traces, should be kept short and close together to minimize noise
emissions. Also, keep DC Power traces separate from Motor Power traces where possible.
• Design for maximum values Adjacent traces can carry a voltage potential equal to the
maximum DC power supply value, and carry current of both the DZ servo drive’s peak and
continuous current ratings. The trace width and copper plating thickness will need to take
these maximum values into account. Also, be aware that DZ servo drive pin headers have a
maximum current rating of 3 amps DC per pin. In order to achieve a higher overall peak
current capability, some high current signals "share" a group of pins to spread the current
between them. High current traces running to these pin groups should be inter‐connected
on the PCB board. Consult the drive’s datasheet or the "Pinouts" section in “Products
Covered” on page 5 for these pin groupings.
MNDGDZIN-03 28
Integration in the Servo System / Interface Circuitry Examples
3.7 Interface Circuitry Examples

The following sections show examples of how portions of an interface board could be designed
to work with a DZ servo drive, and also contain general connection rules and instructions.
Address Line Inputs The two address line inputs on DZ drives are sensitive to voltage level.

Voltages slightly above 3V can lead to damage of the drive. The user’s interface card must be
designed to take this into consideration, and ensure voltages greater than 3V are not applied to
the address lines. The address lines should not be left floating. They should either have a voltage
applied to them or be grounded (grounding both address lines will utilize the default address
that is stored in non‐volatile memory).
FIGURE 3.5 Recommended Address Line Input

INTERFACE PCB DZ SERVO
DRIVE
Voltage applied must be -

between 0 and +3 VDC +
500k
Be sure not to apply voltages greater than 3V to the address lines

to prevent damage to the drive! Example voltage levels are given
in “Address Selector” on page 38 and on the drive’s datasheet.
CAN Transceiver For DZC drives, the CAN transceiver is not supplied on the drive. A CAN

transceiver and additional circuitry must be provided on the user’s interface card. The
recommended circuitry is shown in Figure 3.6. DZR drives do not require a CAN transceiver.
FIGURE 3.6 Recommended CAN Transceiver

DRIVE
CAN INTERFACE +5V or

+5V_ISO +5V_ISO 3.3V
CAN Rx
H Rx
3.3V CMOS Interface
CAN Tx (+5V tolerant)
L Tx
Terminate for last device on

82C250 or
network
equivalent CAN
transciever
MNDGDZIN-03 29
RS-485/232 Interface Figure 3.7 is an example of how the RS‐485/232 connections could be

realized when designing a mounting card or PCB interface for a DZ drive.
FIGURE 3.7 RS-485/232 Interface

DRIVE
Supported Standards
RS232 Rx / RS485 Rx- for RS-232
Communication:
RS485 Rx+ RS-232
or
For 2 wire / half duplex
+5V EIA562 (+/-5V TTL)
wiring, Tx and Rx must be
tied together on the
interface card. 5k
RS485 Tx+ Supported Standards
for RS-485
Communication:
RS232 Tx / RS485 Tx-
RS-485
RS-422
+5V
RS-485 Select
Install 2mm Jumper for

RS-485 Operation on P3 10k
header
Digital Inputs (High Speed) DZ drives provide differential programmable digital inputs.

These inputs can be used for Capture, Step and Direction, PWM and Direction, or Auxiliary
Encoder inputs. Figure 3.8 below is an example of how the mounting card/interface board
should be designed for proper operation.
FIGURE 3.8 Recommended High Speed Digital Inputs Interface

INTERFACE PCB SERVO DRIVE
+5V
10k
250 PDI 4,5+
+5V
100pF +
-
R2*
250
PDI 4,5-
20k 100pF
*R2 is only needed for single-ended

operation (20k recommended)
MNDGDZIN-03 30
Digital Inputs (Standard) DZ drives provide single‐ended TTL level programmable digital

inputs. Figure 3.9 below is an example of how the mounting card/interface PCB should be
designed for proper operation.
FIGURE 3.9 Recommended Standard Digital Inputs Interface

DRIVE
+5V +5V
5k
PDI-1, 2, or 3
User switch or output
power device High Impedance
Buffer
Digital Outputs DZ drives provide single‐ended programmable digital outputs. Figure 3.10 is an

example of how the mounting card/interface PCB should be designed for proper operation.
FIGURE 3.10 Recommended Digital Outputs Interface

DRIVE
+5V +5V
User Load PDO-1,2, or 3
Signal Ground
Analog Inputs DZ drives provide one programmable analog input. Figure 3.11 below is an

example of how the mounting card/interface PCB should be designed for proper operation.
FIGURE 3.11 Recommended Analog Inputs Interface

DRIVE
6.7k
PAI-1+ (REF+)
-
10k PAI-1- (REF-) +
10k 6.7k
2k
MNDGDZIN-03 31
Hall Sensor Inputs DZ drives allow single‐ended Hall Sensor inputs both for commutation and

velocity feedback. For single‐ended Halls, no additional circuitry is required on the PCB
interface. For differential Halls, the inputs must first go through a signal conditioning amplifier.
Users designing their own mounting card or interface PCB must be sure to include this feature
in their design. Figure 3.12 shows the recommended single‐ended Hall Sensor inputs, as well
as the signal conditioning circuitry that is required for differential inputs.
FIGURE 3.12 Recommended Hall Sensor Interface Wiring

INTERFACE DZ SERVO
PCB DRIVE
Pass-Through Signal Conditioning +5V
for Single- Required for
Ended Halls Differential Halls
5k
Hall A Hall A
+5V
Shield
Hall B 5k
Motor Hall B
+5V
5k
Hall C Hall C
+V GND +5V
+VDC Power Supply +Hall

A,B,C 10k
for Hall Sensors
+
-
- Hall 20k
A,B,C
Signal Ground
Chassis Ground
While DZ drives are designed for single-ended Hall Sensor inputs,

the mounting card or PCB interface board may be designed for
use with differential Hall Sensor inputs.
Note
MNDGDZIN-03 32
Encoder Inputs DZ drives support differential incremental encoder inputs. The encoder inputs

are not filtered on the drive. Users designing their own interface card must provide this
circuitry on their interface card. Figure 3.13 below shows how the recommended filter
circuitry should be designed into the interface PCB for each differential encoder input. This
filter circuitry is highly recommended even if the encoder is physically close to the DZ drive in
the system. The encoder also must be powered by an external power supply that is referenced
to the same ground as the DZ drive’s signal ground. Check the motor and encoder
specifications for the encoder voltage and current requirements. Below is the recommended
circuitry when designing a mounting card to interface with a DZ drive.
FIGURE 3.13 Recommended Encoder Input Interface Wiring

INTERFACE DZ SERVO
PCB DRIVE
+VDC Power
Supply for
Encoder Signal Ground
+V GND
+ MOT ENC A+
Enc-A Filter +
- MOT ENC A- -
Circuitry
Shield
+ MOT ENC I+
Motor Filter +
- Circuitry MOT ENC I- -
+ MOT ENC B+
Filter +
Enc-B MOT ENC B-
- Circuitry -
Chassis
Ground
+5V
10k
250
+5V 100pF
R2*
250
20k 100pF
*R2 is only needed for single-ended
operation. (20K recommended)
While DZ drives accept differential encoder inputs, the mounting

card or PCB interface can be designed for use with single-ended
inputs.
Note
MNDGDZIN-03 33
DC Power Input Figure 3.14 shows how a DZ servo drive connects to an isolated DC Power

Supply through a mounting card/interface PCB. Notice that the power supply wires are
shielded, and that the power supply case is grounded at the single point system ground (PE
Ground). The cable shield should be grounded at the mounting card or PCB interface side to
chassis ground.
FIGURE 3.14 Recommended DC Power Input Wiring

INTERFACE DZ SERVO
PCB DRIVE
High Voltage
Isolated DC
Shield
Power +HV
Supply GND
Power Ground
Chassis Ground
Single Point
System Ground
(PE Ground)
Depending on the power capacity of the DZ drive model being used

there may be multiple pins for DC Input Power connections. Refer to the
datasheet of the specific model being used. The maximum current
capacity per pin is 3A continuous.
For DZ-040L080 drives operating at a supply voltage above 60 VDC, an

additional 33μF, 100V capacitor is required close to the drive between
High Voltage and Power Ground.
Logic Supply Input DZ drives require an external 5 VDC (±5%) Logic Power Supply. This logic

power should be referenced to the DZ drive signal ground (internally tied to DZ power
ground). Figure 3.15 shows how to connect a Logic Power Supply through a mounting
card/interface PCB.
FIGURE 3.15 Recommended Logic Supply Input Wiring

INTERFACE DZ SERVO
PCB DRIVE
Logic Power
+5VDC Shield
Logic Power +5V
Supply GND
Signal Ground
Chassis Ground
Single Point
System Ground
(PE Ground)
MNDGDZIN-03 34
Motor Power Output The figures below shows how a DZ servo drive connects to a motor

through a mounting card/interface PCB. Figure 3.16 shows the three phase (brushless)
configuration, and Figure 3.17 shows the single phase (brushed) configuration. Notice that the
motor wires are shielded, and that the motor housing is grounded to the single point system
ground (PE Ground). The cable shield should be grounded at the mounting card or PCB
interface side to chassis ground. The f
FIGURE 3.16 Recommended Three Phase Motor Power Output Wiring

DRIVE
Motor C
Shield
Motor Motor B
Motor A
Chassis Ground
Single Point
System Ground
(PE Ground)
FIGURE 3.17 Recommended Single Phase Motor Power Output Wiring

DRIVE
Motor B
Shield
Motor
Motor A
Single Point Chassis Ground

System Ground
(PE Ground)
Depending on the power capacity of the DZ drive model being used

there may be multiple pins for Motor Power connections. Refer to the
datasheet of the specific model being used. The maximum current
capacity per pin is 3A continuous.
MNDGDZIN-03 35
4 Operation and Features
This chapter will present a brief introduction on how to test and operate a DZ servo drive. Read through this
entire section before attempting to test the drive or make any connections.
4.1 Features and Getting Started

To begin operation with your DZ drive, be sure to read and understand the previous chapters
in this manual as well as the drive datasheet and the DriveWare Software Manual. Ensure that
all system specifications and requirements have been met, and become familiar with the
capabilities and functions of the DZ drive. Also, be aware of the “Troubleshooting” section at
the end of this manual for solutions to basic operation issues.
4.1.1 Initial Setup and Configuration

Carefully follow the grounding and wiring instructions in the previous chapters to make sure
your system is safely and properly set up. For initial testing purposes, it is not necessary to use
a controller to provide a command input, or to have any load attached to the motor. The items
required will be:
• DZ Servo Drive attached to Mounting Card or PCB Interface
• Motor
• DC Power Supply and Logic Power Supply for supplying power to system
• DriveWare Setup Software and Software Manual for detailed instructions on how to setup,
tune and configure a DZ drive in DriveWare
The following steps outline the general procedure to follow when commissioning a DZ drive
for the first time. The DriveWare Software Manual contains more detailed information on each
step.
MNDGDZIN-03 36
Operation and Features / Features and Getting Started
1. Check System Wiring: Before beginning, check the wiring throughout the system to
ensure proper connections and that all grounding and safety regulations have been
followed appropriately for the system.
Do not apply power to the system until certain all wiring and grounding
has been setup safely and properly!
2. Apply Power: Power must be applied to the drive before any communication or
configuration can take place. Turn on the +5 VDC Logic supply, then turn on the main DC
Power supply. Use a multimeter or voltmeter to check that both power supply levels are
within their specified ranges.
3. Establish Connection: Open DriveWare on the PC. The DZ drive should be attached to a
mounting card or PCB interface, and connected to the PC with a serial cable. Choose the
"Connect to a drive" option when DriveWare starts, and enter the appropriate
communication settings in the options window that appears. See the DriveWare Software
Guide for more information on connecting to a drive. For connection issues, see
“Connection Problems” on page 51.
4. Input Motor Data: Once DriveWare has connected to the DZ drive, the motor and
feedback information must be entered in DriveWare. This information is required for the
drive to be configured properly.
5. Set User Units: User Units allows the user to set the general units that will be used in
DriveWare. A variety of unit types are available, and DriveWare also offers the option of
using custom units.
6. Configure Drive Limits and Events: DriveWare allows the user to manually configure
system parameters and limits, and assign "actions" to specific events. The limits and their
corresponding actions are used as both safety measures to avoid system damage, as well
as parameter observation tools for drive configuration and troubleshooting.
7. Tune the Current Loop: Once the drive parameters are configured properly, the current
loop must be tuned. This is the innermost loop and forms the basis of all motion. The
current loop gains can be calculated based on the motor and application data entered in
the previous two steps, or they can be set manually. The DriveWare Software Manual
contains instructions on current loop tuning.
8. Commutate the Motor: For Three Phase (Brushless) motors, commutation is necessary to
maintain the optimal torque generation at any motor position. Typically this is
accomplished by running the AutoCommutation routing in DriveWare. Also see
“Commutation” on page 42.
Once the drive has been commutated successfully, the drive is ready for further use, such as
velocity or position loop tuning. Consult the DriveWare Software Manual for the correct
procedure.
MNDGDZIN-03 37
4.1.2 Input/Output Pin Functions

DZ drives provide a number of various input and output pins for parameter observation and
drive configuration options. Consult the drive datasheet to see which input/output pin
functions are available for each drive.
Address Selector The Address Selector Inputs are used for CAN bus addressing on DZC drives

and RS‐485 network addressing on DZR drives, by applying certain voltage values to the two
Address Selector Input pins, P1‐1 and P1‐2.
The Address Selector Input pins have a voltage range of 0 to 3V. Do not
apply voltages greater than 3V to avoid damaging the drive!
• For DZC drives, to set the CAN node address of a drive, use the formula:
7 ⋅ Addr0 7 ⋅ Addr1
CANAddress = ---------------------- + 8 ⋅ ----------------------
3 3
Where:
CANAddress . . . . . . . . . . . . the desired node address
Addr0 . . . . . . . . . . . . voltage applied to pin CAN ADDR 0 (P1‐1)
Addr1 . . . . . . . . . . . . voltage applied to pin CAN ADDR 1 (P1‐2)
Values for Addr0 and Addr1 are always integer multiples of 3/7 V within the range of 0 to 3
V. Examples of the voltages required to set certain node addresses are given in Table 4.1
below. Note that setting a CAN address of 0 will utilize the address stored in non‐volatile
memory.
• For DZR drives, to set the address of a drive, use the formula:
7 ⋅ Addr0 7 ⋅ Addr1
RS485Address = ---------------------- + 8 ⋅ ----------------------
3 3
Where:
RS485Address . . . . . . . . . . . . the desired drive address
Addr0 . . . . . . . . . . . . voltage applied to pin RS485 ADDR 0 (P1‐1)
Addr1 . . . . . . . . . . . . voltage applied to pin RS485 ADDR 1 (P1‐2)
Values for Addr0 and Addr1 are always integer multiples of 3/7 V within the range of 0 to 3
V. Examples of the voltages required to set certain node addresses are given in Table 4.2
below. Note that setting a drive address of 0 will utilize the address stored in non‐volatile
memory.
MNDGDZIN-03 38
TABLE 4.1 CAN Address Example Values

CAN Address Values
CAN ADDR 0 Value (V) CAN ADDR 1Value (V) CAN ADDR Tolerance (V) CAN Address (Node #)
0 0 +/-0.1 Address stored in non-volatile memory
3/7 (0.43) 0 +/-0.1 1
6/7 (.86) 0 +/-0.1 2
9/7 (1.3) 0 +/-0.1 3
... ... +/-0.1 ...
18/7 (2.57) 21/7 (3.0) +/-0.1 62
21/7 (3.0) 271/7 (3.0) +/-0.1 63
TABLE 4.2 RS485 Address Example Values

RS485 Address Values
RS485 ADDR 0 Value (V) RS485 ADDR 1Value (V) RS485 ADDR Tolerance (V) RS485 Address (Address #)
0 0 +0.1 Address stored in non-volatile memory
3/7 (0.43) 0 +/-0.1 1
6/7 (.86) 0 +/-0.1 2
9/7 (1.3) 0 +/-0.1 3
... ... +/-0.1 ...
18/7 (2.57) 21/7 (3.0) +/-0.1 62
21/7 (3.0) 271/7 (3.0) +/-0.1 63
Baud Rate Selector The Baud Rate Selector Input is used to set the CAN bit rate on DZC drives

and the RS‐485 baud rate on DZR drives, by applying a certain voltage value to the Baud Rate
Selector input, P1‐6. Note that applying zero voltage to the Baud Rate Selector pin will utilize
the baud rate stored in non‐volatile memory.
• For DZC drives, the CAN bit rate is set by applying the appropriate voltage to the Baud Rate
Selector Input (P1‐6) as given in Table 4.3.
TABLE 4.3 CAN Bit Rate Values
CAN Bit Rate Values
CAN BAUD Value CAN BAUD Tolerance CAN Bus Bit Rate (bits/s)
0 +/-0.388 Bit rate stored in non-volatile memory
1 +/-0.388 500k
2 +/-0.388 250k
3 +/-0.3880 125k
• For DZR drives, the RS‐485 baud rate is set by applying the appropriate voltage to the
Baud Rate Selector Input (P1‐6) as given in Table 4.4.
TABLE 4.4 RS-485 Baud Rate Values
RS-485 Baud Rate Values
RS-485 BAUD Value RS-485 BAUD Tolerance RS-485 Baud Rate (bits/s)
0 +/-0.388 Bit rate stored in non-volatile memory
1 +/-0.388 9.6k
2 +/-0.388 38.4k
3 +/-0.3880 115.2k
Programmable Digital Inputs DZ drives provide three single‐ended (P1‐10, P1‐11, P1‐12)

and two differential (P1‐17/18, and P1‐19/20) Programmable Digital Inputs. These can be
assigned to one or more functions in DriveWare. The differential high speed inputs can also be
used as command source inputs for PWM and Direction (see “PWM and Direction Input”),
with an Auxiliary Encoder (see “Auxiliary Encoder Input”), or as an external Step and Direction
input (see “Step and Direction Input (DZR drives only)”).
MNDGDZIN-03 39
Programmable Digital Outputs DZ drives provide three single‐ended Programmable

Digital Outputs on pins P1‐7, P1‐8, and P1‐9. These can be assigned to one or more functions in
DriveWare.
Programmable Analog Input Pins P1‐3 and P1‐4 can be used as a differential

Programmable Analog Input if they are not being used as an analog reference command input.
A drive function can be assigned to the analog input in DriveWare.
Capture Inputs DZ drives provide three Capture signals that can be used to capture and view

internal signals on a designated trigger (rising edge, falling edge, or both). The Capture signals
are connected to the DZ drive at pins P1‐12, P1‐17, and P1‐19. If using pins P1‐17 and P1‐19
for Capture inputs, the drive will not be able to utilize the PWM and Direction, Auxiliary
Encoder, or Step and Direction features.
Parameters and options for the Capture signals can be entered and configured in DriveWare.
Auxiliary Encoder Input DZ drives accept a differential auxiliary encoder input that can be

used when operating the drive in Encoder Following mode. The auxiliary encoder signals are
connected to the DZ drive at the High Speed Programmable Digital Input pins, P1‐17 through
P1‐20. If using these pins for an auxiliary encoder input, the drive will not be able to utilize the
High Speed Capture, PWM and Direction, or Step and Direction features.
Hardware settings and options for the auxiliary encoder can be entered and configured in
DriveWare. The DZ drive will have to be operating in Position Mode in order to utilize the
auxiliary encoder input.
The MC1XDZ01 mounting card provides the option of using a single-

ended auxiliary encoder signal. Users designing their own PCB interface
may also design the appropriate circuitry on their PCB interface to allow
single-ended inputs. See “Digital Inputs (High Speed)” on page 30 for
Note circuitry recommendation.
PWM and Direction Input DZ drives accept a PWM and Direction or a Single Input PWM

signal as the command source input. The PWM and Direction input signals are connected to
the DZ drive at the High Speed Programmable Digital Input pins, P1‐17 through P1‐20. If using
these pins for an auxiliary encoder input, the drive will not be able to utilize the High Speed
Capture, Auxiliary Encoder, or Step and Direction features.
The MC1XDZ01 mounting card provides the option of using a single-

ended auxiliary encoder signal. Users designing their own PCB interface
Step and Direction Input (DZR drives only) DZR drives accept a differential Step and

Direction input command. The Step and Direction input signals are connected to the DZ drive at
the High Speed Programmable Digital Input pins, P1‐17 through P1‐20. If using these pins for
Step and Direction command, the drive will not be able to utilize the High Speed Capture, PWM
and direction, or Auxiliary Encoder features.
MNDGDZIN-03 40
Limits and options for the Step and Direction command signal can be entered and configured
in DriveWare.
The MC1XDZ01 mounting card provides the option of using single-ended

Step and Direction input signals. Users designing their own PCB interface
4.1.3 RS-485 Selection Jumper

DZR drives have the option of switching between RS‐232 and RS‐485 communication. To
select RS‐485 communication, a jumper (2mm) must be installed between pins 1 and 2 of P3,
the 6‐pin header between the drive PCB and heatsink (two vertical pins closest to the corner of
the PCB).
FIGURE 4.1 RS-485 Selection Header Jumper Pins
Leaving these two pins open will automatically configure the drive for RS‐232 communication.
The default communication parameters for RS‐232 communication are 115200 Baud and
drive address 63 (some older drives may use 9600 Baud as the default). See “RS‐485/232
Interface” on page 30 for more information.
Once the jumper has been installed, the drive must be power cycled to enable RS‐485
communications. The default RS‐485 communication parameters are 9600 Baud and drive
address 63. These parameters can be changed within DriveWare once a connection is
established. The RS‐485 communication parameters are independent of RS‐232 parameters. If
the drive is returned to RS‐232 mode, the original communication parameters that were set in
RS‐232 mode will take effect. The factory default sets both RS‐232 and RS‐485 communication
parameters identically, but in practice it is possible to have two different sets of parameters.
If using a DZR drive with a MC1XDZ01 mounting card, the

MC1XDZ01 mounting card will also need to be configured for RS-
485. The default setting for the MC1XDZ01 is RS-232
communication and CAN networking. Consult the MC1XDZ01
Note datasheet for instructions on configuring the mounting card for RS-
485 networking.
MNDGDZIN-03 41
4.1.4 Homing
DZ drives can be configured in DriveWare to "home" to a certain reference signal. This
reference signal can be any number of different signal types, such as limit switches, home
switches, or encoder index pulses. See the DriveWare Software Manual for more information
on Homing.
4.1.5 Commutation
Motor commutation is the process that maintains an optimal angle between the magnetic field
created by the permanent magnets in the motor and the electromagnetic field created by the
currents running through the motor windings. This process ensures optimal torque or force
generation at any motor position. Single phase (brushed) motors accomplish this process with
internal commutators built into the motor housing. Three phase (brushless) motors require a
correctly configured drive to commutate properly, however. There are two ways to configure a
DZ digital drive to commutate a three phase (brushless) motor in DriveWare:
• AutoCommutation: Most applications can use the AutoCommutation routine in DriveWare
for configuring a drive to a specific motor. This routine will automatically detect the
feedback devices attached to the motor and ask the user to verify them against the motor’s
data sheet.
• Manual Commutation: This process requires more time, and may not be as accurate as
AutoCommutation. This method will have to be performed if:
— The motor is mechanically restrained such that it is unable to rotate
(AutoCommutation requires the motor to rotate 2 revolutions + 1 electrical cycle in
both directions for a rotary motor, and 3 electrical cycles for a linear motor).
— The motor or load has a significant amount of inertia.
For three phase (brushless) drives that use encoder feedback but no Hall Sensors, it is
required to run the "Phase Detect" routine in DriveWare before AutoCommutation. Phase
Detect works by sending a small current signal to the motor, prompting the motor to vibrate
slightly for a few seconds. The encoder feedback from this movement provides a starting
position for the motor, allowing the drive to then be properly commutated.
See the DriveWare Software Manual for more information on AutoCommutation, Manual
Commutation, and Phase Detect.
DZ drives allow either sinusoidal or trapezoidal commutation.
Sinusoidal Commutation Sinusoidal commutation provides greater performance and

efficiency than trapezoidal commutation. DZ drives can commutate sinusoidally when
connected to a motor‐mounted encoder. Sinusoidal Commutation works by supplying current
to each of the three motor phases smoothly in a sinusoidal pattern. The flow of current
through each phase is shifted by 120 degrees. The sum of the current flowing through all three
phases adds up to zero. Figure 4.2 shows one electrical cycle of the motor phase currents.
MNDGDZIN-03 42
FIGURE 4.2 Sinusoidal Commutation Motor Phase Currents

Sinusoidal
Commutation
Phase A
Phase B
Phase C
Volts
0
0 90 180 270 360

Electrical Degrees
Trapezoidal Commutation Trapezoidal commutation is accomplished with the use of Hall

Sensors on three phase (brushless) motors. DZ drives can commutate trapezoidally when used
with properly spaced Hall Sensors. Unlike sinusoidal commutation, current flows through only
two motor phases at a time with trapezoidal commutation. The Hall Sensors each generate a
square wave with a certain phase difference (either 120‐ or 60‐degrees) over one electrical
cycle of the motor. This results in six distinct Hall states for each electrical cycle. Depending on
the motor pole count, there may be more than one electrical cycle per motor revolution. The
number of electrical cycles in one motor revolution is equal to the number of motor poles
divided by 2. For example:
• a 6‐pole motor contains 3 electrical cycles per motor revolution
• a 4‐pole motor contains 2 electrical cycles per motor revolution
• a 2‐pole motor contains 1 electrical cycle per motor revolution
The drive powers two of the three motor phases with DC current during each specific Hall
Sensor state as shown in Figure 4.3.
FIGURE 4.3 Hall Sensor Commutation and Motor Phase Current for 120-Degree Phasing
Hall Sensor
Commutation
High (1)
Hall A
Low (0)
High (1)
Hall B
Low (0)
High (1)
Hall C
Low (0)
0 60 120 180 240 300 360 Electrical Degrees
Motor Phase
Current
High
Phase A
Low
High
Phase B
Low
High
Phase C
Low
0 60 120 180 240 300 360 Electrical Degrees
MNDGDZIN-03 43
Table 4.5 shows the default commutation states for 120‐degree and 60‐degree phasing.
Depending on the specific setup, the sequences may change after running AutoCommutation.
TABLE 4.5 Digital Drive Commutation Sequence Table
60 Degree 120 Degree Motor
Hall 1 Hall 2 Hall 3 Hall 1 Hall 2 Hall 3 Phase A Phase B Phase C
1 0 0 1 0 0 - LOW HIGH
1 1 0 1 1 0 HIGH LOW -
1 1 1 0 1 0 HIGH - LOW
Valid
0 1 1 0 1 1 - HIGH LOW
0 0 1 0 0 1 LOW HIGH -
0 0 0 1 0 1 LOW - HIGH
1 0 1 1 1 1 - - -
Invalid
0 1 0 0 0 0 - - -
4.1.6 Logic Power Supply

DZ drives require an external +5 VDC (±5%) power supply to provide power to the logic
circuitry. The logic power supply ground should be referenced to the DZ drive signal ground.
See “Logic Supply Input” on page 34 for more information.
4.1.7 Firmware
DZ drives are shipped with the latest version of firmware already stored in the drive. Periodic
firmware updates are posted on ADVANCED Motion Controls’ website, www.a‐m‐c.com. See the
DriveWare Software Manual for information on how to check the drive’s firmware version, and
how to download new firmware into the drive when necessary.
MNDGDZIN-03 44
A Specifications
A.1 Specifications Tables

TABLE A.1 Power Specifications
Description Units DZ-012L080 DZ-020L080 DZ-040L080
DC Supply Voltage Range1 VDC 20-80 10-80
DC Bus Over Voltage Limit VDC 88
DC Bus Under Voltage Limit VDC 17 8
Logic Supply Voltage VDC 5 (±5%)
Maximum Peak Output Current A (Arms) 12 (8.5) 20 (14.1) 40 (28.3)
Maximum Continuous Output Current A (Arms) 6 (4.2) 12 (8.5) 20 (14.1)
Maximum Power Dissipation at Continuous Current W 24 48 80
Internal Bus Capacitance1 μF 33 94 141
Minimum Load Inductance2 μH 250

Switching Frequency kHz 20
Maximum Output PWM Duty Cycle % 85
1. For DZ-40 drives, if the drive is operated at a supply voltage over 60 VDC, an additional 33μF, 100V capacitor is required on the supply line close to the drive.
2. Lower inductance is acceptable for bus voltages well below minimum. Use external inductance to meet requirements.
TABLE A.2 Control Specifications

Control Specifications
Description DZR DZC
Network Communication RS485/232 CANopen (RS-232 for Configuration)
±10V Analog, Over the Network, Encoder Following, PWM & Direction, 5V Step
Command Sources ±10V Analog, Over the Network, Encoder Following, PWM & Direction
& Direction, 24V Step & Direction
Commutation Methods Sinusoidal, Trapezoidal Sinusoidal, Trapezoidal
Control Modes Current, Hall Velocity, Position, Velocity Current, Position, Velocity
Motors Supported Three Phase, Single Phase, Closed Loop Vector Three Phase, Single Phase, Closed Loop Vector
40+ Configurable Functions, Over Current, Over Temperature (Drive & Motor), 40+ Configurable Functions, Over Current, Over Temperature (Drive & Motor),
Hardware Protection
Over Voltage, Short Circuit (Phase-Phase & Phase-Ground), Under Voltage Over Voltage, Short Circuit (Phase-Phase & Phase-Ground), Under Voltage
Programmable Digital I/O 5 Inputs, 3 Outputs 5 Inputs, 3 Outputs
Programmable Analog I/O 1 Input 1 Input
Hall Sensors, Differential Incremental Encoder, Aux. Incremental Encoder, ±10
Feedback Supported Hall Sensors, Differential Incremental Encoder, Aux. Incremental Encoder
VDC Position
TABLE A.3 Environmental Specifications

Environmental Specifications
Parameter Description
Ambient Temperature Range See Figure A.1
Baseplate Temperature Range 0 - 65 ºC (DZ-012L080) ; 0 - 75 ºC (DZ-020L080 / DZ-040L080)
Humidity 90%, non-condensing
Mechanical Shock 15g, 11ms, Half-sine
Vibration 2 - 2000 Hz @ 2.5g
Altitude 0-3000m
MNDGDZIN-03 45
/ Specifications Tables
FIGURE A.1 DZ20 and DZ40 Ambient Temperature Ranges

Maximum Ambient °C Maximum Ambient °C
DZ12 Drive Models at 80VDC DZ20 Drive Models at 80VDC
60 80
70
50
60
40
50
°C 30 40
30
20
20
10
10
0 0
0 1 2 3 4 5 6 7 0 2 4 6 8 10 12 14
Continuous Output Current (Amps) Continuous Output Current (Amps)
W/ Heatsink (see note 1) No Heatsink W/ Heatsink (see note 1)
Maximum Ambient °C
DZ40 Drive Models at 80VDC
80
70
60
50
°C 40
30
20
10
0
0 5 10 15 20 25
Continuous Output Current (Amps)
No Heatsink W/ Heatsink (see note 1)
1. The heatsink used in the above tests is 15" x 22" x 0.65" aluminum plate.
TABLE A.4 Physical Dimensions

Physical Dimensions
DZ-12 DZ-20 DZ-40
Description Units Value Value Value
Height mm (in) 63.50 (2.50) 63.50 (2.50) 76.2 (3.0)
Length mm (in) 50.80 (2.00) 50.80 (2.00) 50.80 (2.00)
Depth (not including pin lengths) mm (in) 18.44 (0.73) 22.9 (0.90) 22.9 (0.90)
Weight g (oz) 99.8 (3.5) 105 (3.7) 123.9 (4.4)
Baseplate Thickness mm (in) 7.85 (0.31) 6.35 (0.25) 6.35 (0.25)
MNDGDZIN-03 46
/ Mounting Dimensions
A.2 Mounting Dimensions
FIGURE A.2 DZ-12 Mounting Diagram (dimensions in inches and [mm])
MNDGDZIN-03 47
MNDGDZIN-03 48
MNDGDZIN-03 49
B Troubleshooting
This section discusses how to ensure optimum performance and, if necessary, get assistance from the factory.
B.1 Fault Conditions and Symptoms

An inoperative drive is typically an indication of a disabling fault condition. The fault condition
can either be caused by a system parameter in excess of software or hardware limits, or by an
event that has been user‐configured to disable the drive upon occurrence.
To determine whether the drive is in a fault state, use the Drive Status function in DriveWare to
view active and history event items and drive fault conditions. See the DriveWare Software
Guide for more information on reading the Drive Status window. Some common fault
conditions caused by hardware issues are listed below.
Over-Temperature Verify that the baseplate temperature is less than the maximum allowable
baseplate temperature value. The drive remains disabled until the temperature at the drive
baseplate falls below this threshold.
Over-Voltage Shutdown
1. Check the DC power supply voltage for a value above the drive over‐voltage shutdown
limit. If the DC bus voltage is above this limit, check the AC power line connected to the DC
power supply for proper value.
2. Check the regenerative energy absorbed during deceleration. This is done by monitoring
the DC bus voltage with a voltmeter or oscilloscope. If the DC bus voltage increases above
the drive over‐voltage shutdown limit during deceleration or regeneration, a shunt
regulator may be necessary. See “Power Supply Specifications” on page 16 for more
information.
Under-Voltage Shutdown Verify power supply voltage for minimum conditions per

specifications. Also note that the drive will pull the power supply voltage down if the power
supply cannot provide the required current for the drive. This could occur when high current
is demanded and the power supply is pulled below the minimum operating voltage required
by the drive.
MNDGDZIN-03 50
/ Fault Conditions and Symptoms
Short Circuit Fault

1. Check each motor lead for shorts with respect to motor housing, power ground, and also
phase‐to‐phase. If the motor is shorted it will not rotate freely when no power is applied
while it is uncoupled from the load.
2. Disconnect the motor leads to see if the drive will enable without the motor connected.
3. Measure motor armature resistance between motor leads with the drive disconnected.
Invalid Hall Sensor State See the “Commutation Sequence” table in “Hall Sensors” on page 8

for valid commutation states. If the drive is disabled check the following:
1. Check the voltage levels for all the Hall sensor inputs.
2. Make sure all Hall Sensor lines are connected properly.
B.1.1 Software Limits

Because DriveWare allows user configuration of many system parameters such as current,
velocity, and position limits, as well as an associated "event action" for DriveWare to take when
the system reaches this limit, it is possible for a drive to appear to be inoperative when in
actuality it is simply in an assigned disable state.
For example, the motor velocity can be limited by giving a value to the Motor Over Speed
selection in DriveWare. An "event action", such as "Disable the Power Bridge", can also be
assigned for DriveWare to take if the motor reaches this speed. If the motor does happen to
reach this velocity limit, DriveWare will automatically cut power to the drive’s output in this
particular case, and the drive will be disabled. In the Drive Status window, "Motor Over Speed"
will be shown as a "history" event, and "Commanded Disable" will be shown as an "Action"
event.
Depending on each specific system and application, there are many different options available
for assigning system limits and associated actions. See the DriveWare Software Guide for more
information.
B.1.2 Connection Problems

Connection problems are oftentimes caused by incorrect communication settings in
DriveWare. The default factory setting for DZ drives is a Drive Address of 63 and 115200 Baud
Rate. When connecting to the drive with DriveWare for the first time, these default factory
settings will have to be used along with the appropriate serial port being used with the PC.
Once the connection has been established, the Drive Address and Baud Rate may be changed.
Check all communications settings to be sure that the Drive Address, Baud Rate, and serial port
are correct. If unable to determine the appropriate settings, the Auto Detect routine will
automatically scan for serial port and Baud Rate settings.
Faulty connection cables are also a possible cause of connection problems. Check all cables for
any shorts or intermittent connections.
For network communication over CAN or RS‐485, the DZ drive must be configured for the
appropriate communication protocol. See “RS‐485 Selection Jumper” on page 41 for more
information.
MNDGDZIN-03 51
/ Fault Conditions and Symptoms
B.1.3 Overload
Verify that the minimum inductance requirement is met. If the inductance is too low it could
appear like a short circuit to the drive and thus it might cause the short circuit fault to trip.
Excessive heating of the drive and motor is also characteristic of the minimum inductance
requirement not being met. See drive data sheets for minimum inductance requirements.
B.1.4 Current Limiting
All drives incorporate a “fold‐back” circuit for protection against over‐current. This “fold‐back”
circuit uses an approximate “I2t” algorithm to protect the drive. All drives can run at peak
current for a maximum of 2 second (each direction). Currents below this peak current but
above the continuous current can be sustained for a longer time period, and the drive will
automatically fold back at an approximate rate of "I2t" to the continuous current limit within a
time frame of less than 10 seconds. An over‐current condition will not cause the drive to
become disabled unless configured to do so in DriveWare.
FIGURE B.1 Peak Current Fold-Back

Amps
Peak Current Limit
Continuous Current Limit Drive Current

Output
t(s)
0 2 12
B.1.5 Motor Problems

A motor run‐away condition is when the motor spins rapidly with no control from the
command input. The most likely cause of this error comes from having the feedback element
connected for positive feedback. This can be solved by changing the order that the feedback
element lines are connected to the drive, or by using DriveWare to reverse the internal velocity
feedback polarity setting.
Another common motor issue is when the motor spins faster in one direction than in the other.
This is typically caused by improper motor commutation or poor loop tuning. Follow the steps
in the DriveWare Software Guide to properly commutate and tune the motor.
B.1.6 Causes of Erratic Operation

• Improper grounding (i.e., drive signal ground is not connected to source signal ground).
• Noisy command signal. Check for system ground loops.
• Mechanical backlash, dead‐band, slippage, etc.
• Noisy inhibit input line.
• Excessive voltage spikes on bus.
MNDGDZIN-03 52
/ Technical Support
B.2 Technical Support
For help from the manufacturer regarding drive set‐up or operating problems, please gather
the following information.
B.2.1 Drive Model Information

• DC bus voltage and range.
• Motor type, including inductance, torque constant, and winding resistance.
• Length and make‐up of all wiring and cables.
• If brushless, include Hall sensor information.
• Type of controller, plus full description of feed back devices.
• Description of problem: instability, run‐away, noise, over/under shoot, or other
description.
• Complete part number and serial number of the product. Original purchase order is
helpful, but not necessary.
B.2.2 Product Label Description
The following is a typical example of a product label as it is found on the drive:
FIGURE B.2 DZ Product Label
1. EIA Date Code: The date code is a 4‐digit number signifying the year and week that the
drive was manufactured. The first two digits designate the year and the second two digits
designate the week. For example, the above part would have been built during the thirty‐
second week of 2008.
2. Serial Number: The serial number is a 5‐digit number followed by a 4‐digit number.
3. Version Number: 3‐digit code that refers to product version. Different versions reflect
minor component value changes. Note that the version number is not the same as the
revision designator in the Part Number below.
4. Part Number: Refer to the drive datasheet for typical part numbers. The last letter refers to
the revision (in the example label revision B is shown). The part number can be
proceeded by an X, which signifies a prototype unit. The part number can also have a suffix
(e.g. DZCANTE‐012L080B‐AM1), which designates a special version of the standard drive
(DZCANTE‐012L080B is the standard drive, ‐AM1 designates the special version).
MNDGDZIN-03 53
/ Technical Support
B.2.3 Warranty Returns and Factory Help
Seller warrants that all items will be delivered free from defects in material and workmanship
and in conformance with contractual requirements. The Seller makes no other warranties,
express or implied and specifically NO WARRANTY OF MERCHANTABILITY OR FITNESS FOR
A PARTICULAR PURPOSE.
The Seller's exclusive liability for breach of warranty shall be limited to repairing or replacing
at the Seller's option items returned to Seller's plant at Buyer's expense within one year of the
date of delivery. The Seller's liability on any claim of any kind, including negligence, for loss or
damage arising out of, connected with or resulting from this order, or from the performance or
breach thereof or from the manufacture, sale, delivery, resale, repair or use of any item or
services covered by or furnished under this order shall in no case exceed the price allocable to
the item or service or part thereof which gives rise to the claim and in the event Seller fails to
manufacture or deliver items other than standard products that appear in Seller's catalog.
Seller's exclusive liability and Buyer's exclusive remedy shall be release of the Buyer from the
obligation to pay the purchase price. IN NO EVENT SHALL THE SELLER BE LIABLE FOR
SPECIAL OR CONSEQUENTIAL DAMAGES.
Buyer will take all appropriate measures to advise users and operators of the products
delivered hereunder of all potential dangers to persons or property, which may be occasioned
by such use. Buyer will indemnify and hold Seller harmless from all claims of any kind for
injuries to persons and property arising from use of the products delivered hereunder. Buyer
will, at its sole cost, carry liability insurance adequate to protect Buyer and Seller against such
claims.
All returns (warranty or non‐warranty) require that you first obtain a Return Material
Authorization (RMA) number from the factory.
Request an RMA number by:
telephone (805) 389-1935

fax (805) 389-1165
e-mail [email protected]
MNDGDZIN-03 54
Index
Numerics Manual Commutation ................42 F

10 V Analog Input .......................... 11 Sinusoidal ...................................42 Fault Conditions .......................50–52
10 VDC Position Feedback ............10 Trapezoidal.................................43 Invalid Hall Commutation .........51
5V TTL Step and Direction ............ 11 Commutation Sequence Table.......44 Over‐Temperature......................50
Company Website ............................ii Over‐Voltage Shutdown .............50
A Connection Problems.....................51 Short Circuit Fault......................51
Control Modes ..................................7 Under‐Voltage Shutdown ...........50
Address Line Inputs .......................29 Feedback Polarity ............................8
Current (Torque) .........................7
Address Selector .............................38 Position.........................................7 Feedback Supported..................8–10
Address Selector Input ...................38 Velocity .........................................7 10 VDC Position .........................10
Agency Compliances .......................ii Control Specifications................5, 45 Encoder.........................................9
Altitude............................................17 Current (Torque) Mode ...................7 Hall Sensors .................................8
Ambient Temperature Range..17, 46 Current Limiting ............................52 Feedback Wires..............................24
Analog Inputs .................................31 Ferrite Suppression Cores.............21
Attention Symbols ...........................iii D Firmware ........................................44
Auto Detect .....................................51 DC Bus Over Voltage Limit ........5, 45 Fold‐back.........................................52
AutoCommutation ..........................42 DC Bus Under Voltage Limit ......5, 45
Auxiliary Encoder .......................... 11 DC Power Input..............................34 G
Auxiliary Encoder Inputs ..............30 DC Supply Voltage Range...........5, 45 Gearing Ratio ..................................11
Differential Inputs ..........................23 Ground Loops...........................22, 24
B Digital Inputs (High Speed) ...........30 Grounding ......................................22
Baseplate Temperature Range ......17 Digital Inputs (Standard)................31 Controller Chassis ......................22
Baud Rate .......................................51 Digital Outputs................................31 Drive Case...................................22
Baud Rate Selector .........................39 Drive Address .................................51 Motor Chassis .............................22
Block Diagram Drive Datasheet..........................4, 15 PCB Interface Chassis ................22
DZC Drives..................................13 Power Supply Chassis................22
DriveWare ........................4, 7, 36, 37 Shielding .....................................22
DZR Drives .................................14 Dwell Time .....................................15
DZ Pin Layout.................................12 H
C DZC Drives......................................13
CAN Bit Rate...................................39 Hall Sensor Inputs......................8, 32
Block Diagram............................13 Hand Soldering ...............................27
CAN Transceiver ............................29 Pinout .........................................13
CANAddress ....................................38 DZR Drives......................................14 Home Switches ..............................42
CANopen ..........................................6 Block Diagram............................14 Homing ...........................................42
Capacitive Interference .................23 Pinout .........................................14 Humidity.........................................17
Capture Inputs................................30
Central Point Grounding ...............22 E I
CiA.....................................................6 Electromagnetic Interference........23 Impedance ......................................23
Command Sources......................... 11 Encoder Feedback............................9 Inductive Filter Cards .....................21
10V Analog ................................. 11 Encoder Following ......................... 11 Input Reference Wires...................25
Encoder Following ..................... 11 Encoder Index ..................................9 Input/Output Pin Functions....38–41
Over the Network ...................... 11 Encoder Index Pulses.....................42 Address Selector Input ...............38
PWM and Direction ................... 11 Encoder Inputs ...............................33 Analog Input...............................40
Step and Direction...................... 11 Environment ..................................17 Auxiliary Encoder ......................40
Communication Protocol.................6 Baud Rate Selector .....................39
Shock/Vibration ........................18 Capture .......................................40
Communication Settings ...............51 Environmental Specifications .......45
Communication Wires...................25 Digital Inputs ..............................39
Error Signal ......................................8 Digital Outputs............................40
Commutation......................37, 42–44 External Filter Card..................16, 23
AutoCommutation ......................42 Step and Direction......................40
MNDGDZIN-03 55
/
Interface Circuitry Examples.........29 Over‐Temperature....................17, 50 Screw Mounting .............................28

Interference Coupling ...................23 Over‐Voltage Shutdown .................50 Selective Wave Soldering ...............27
Internal Bus Capacitance...........5, 45 Shielding ...................................22, 23
Invalid Hall Commutation .............51 P Shock/Vibration.............................18
Pad Layout......................................27 Short Circuit Fault..........................51
L Part Numbering Structure...............5 Shunt Regulator..............................16
Limit Switches ...............................42 PCB Design ...............................28–35 Signal Ground.................................22
Lock‐out/tag‐out Procedures..........1 Circuitry Examples...............29–35 Sinusoidal Commutation................42
Logic Power Supply.......................44 Address Line Inputs ......29 Software Limits ..............................51
Logic Supply Input.........................34 Analog Inputs.................31 Soldering .........................................27
CAN Transceiver............29
DC Power........................34 Space Vector Modulation .................4
M Digital Inputs ...........30, 31 Specifications Tables................45–49
Digital Outputs...............31
Magnetic Interference ...................23 Encoder ..........................33 Step and Direction Inputs ..............30
Manual Commutation ....................42 Hall Sensors ...................32 Step and Direction, 5V TTL............11
Logic Supply...................34 Switching Frequency .................5, 45
Mating Connectors ...................26, 27 Motor Power ..................35
Max. Continuous Current ..........5, 45 RS‐485/232 Interface ...30 System Requirements ..............15–18
Trace Routing .............................28 Environment ..............................17
Max. Peak Current .....................5, 45 Trace Width................................28
Maximum Power Dissipation Motor ..........................................15
PCB Mounting Footprint................27 Power Supply .............................16
at Continuous Current...........5, 45 PCB Mounting Options ..................27
MC1XDZ01 .............................8, 9, 26 System Voltage Requirement ........16
PE Ground ..........................22, 34, 35
Mechanical Shock ..........................17 Peak Current Fold‐back .................52
Minimum Load Inductance .......5, 45 T
Physical Dimension .......................46 Technical Support..........................53
Model Information .........................53 Physical Dimensions .....................46
Model Mask ......................................5 Thermal Data......................17–18, 46
Pin Layout ......................................12 Torque.............................................15
Motor "Run‐Away" .....................8, 52 Pinout
Motor Back EMF Constant.............16 Trace Routing .................................28
DZC Drives..................................13 Trace Width ....................................28
Motor Current ..........................15–17 DZR Drives..................................14
Motor Data ......................................37 Trademarks ..................................... ii
Position Control
Motor Inductance .......................3, 16 Trapezoidal Commutation .............43
Encoder.........................................9
Overload .....................................52 Position Feedback, 10 VDC ...........10 Troubleshooting .......................50–54
Motor Line‐to‐Line Resistance ......16 Position Mode...................................7 Twisted Pair Wires.........................23
Motor Power Output ......................35 Positive Feedback ............................8
Motor Run‐Away ............................52 Power Ground................................22 U
Motor Specifications ......................15 Power Specifications .......................5 Under‐Voltage Shutdown ...............50
Motor Speed ...................................16 Power Supply Capacitance ........2, 24 User Units .......................................37
Motor Torque Constant..................15 Power Supply Output Current ......17
Motor Voltage ...........................16, 17 Power Supply Specifications.........16 V
Motor Wires ...................................23 Power Supply Wires ......................24 Velocity Control
Mounting ..................................26–28 Product Label .................................53 Encoder.........................................9
PCB Mounting Options ..............27 Products Covered .............................5 Hall Sensors .................................8
Mating Connectors ........27 Protective Earth Ground................22 Velocity Mode ...................................7
Screw Mounting.............28 Vibration.........................................17
Soldering ........................27 PWM and Direction........................ 11
Mounting Card ...............................26 PWM and Direction Inputs ............30 Voltage Drop Interference .............23
Mounting Dimensions .............47–49
DZ‐12 ..........................................47 R W
DZ‐20 ..........................................48 Regeneration ..................................16 Warning Symbols ........................... iii
DZ‐40 ..........................................49 Warranty Info.................................54
Move Profile .............................15, 17 Returns ...........................................54
Revision History............................. iii Warranty Returns ..........................54
RS‐232 ........................................6, 30 Wave Soldering...............................27
N Wire Diameter................................23
Communication Parameters .....41
Negative Feedback...........................8 RS‐485 ........................................6, 30 Wire Gauge .....................................23
Network Communication .............. 11 Baud Rate ...................................39 Wiring .......................................23–25
Noise...............................................23 Communication Parameters .....41 Communication Wires ...............25
Nominal Power Supply Voltage ....17 RS‐485 Selection Jumper...............41 Feedback Wires..........................24
RS‐485/232 Interface....................30 Impedance ..................................23
O RS485Address ................................38 Input Reference Wires...............25
Operation........................................36 Motor Wires................................23
Power Supply Wires ..................24
Over the Network .......................... 11 S Wire Gauge .................................23
Overload .........................................52 Safety ............................................1–3
56 MNDGDZIN-03
DZ Digital Drive
Hardware Installation Manual
MNDGDZIN-03
3805 Calle Tecate • Camarillo, CA 93012-5068

Tel: (805) 389-1935 Fax: (805) 389-1165 www.a-m-c.com

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ADVANCED Motion Controls • 3805 Calle Tecate Camarillo, CA • 93012-5068 USA

The company holds original documents for the following:

Related Documentation - available for download at www.a-m-c.com

Note - Pertinent information that clarifies a process, operation, or ease-

Notice - Required instruction necessary to ensure successful completion

Caution - Instructs and directs you to avoid damaging equipment.

Warning - Instructs and directs you to avoid harming yourself.

Danger - Presents information you must heed to avoid serious injury or

© 2011 ADVANCED Motion Controls. All rights reserved.

1.1 General Safety Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

2 Products and System Requirements 4

2.1 DZ Drive Family Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

2.8 DZC Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

3 Integration in the Servo System 19

3.1 LVD Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

4 Operation and Features 36

4.1 Features and Getting Started . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

A.1 Specifications Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

B.1 Fault Conditions and Symptoms . . . . . . . . . . . . . . . . . . . . . . . . . . 50

1.1 General Safety Overview

High-performance motion control equipment can move rapidly with

Keep clear of all exposed power terminals (motor, DC Bus, shunt, DC

Do not reverse the power supply leads!

Use sufficient capacitance!

Make sure minimum inductance requirements are met!

2.1 DZ Drive Family Overview

2.1.1 Drive Datasheet

In order to avoid damage to equipment, only after a thorough reading

2.2 Products Covered

FIGURE 2.1 DZ Part Numbering Structure

Communication Power and Logic Supply

Command Inputs Peak Current (A0 to Peak)

Minimum Load Inductance2 μH 250

TABLE 2.2 Control Specifications

2.3 Communication Protocol

2.3.2 RS-485 Communication

2.4 Control Modes

2.4.1 Current (Torque)

While in Current (Torque) Mode, the drive will maintain a commanded

2.5 Feedback Supported

2.5.1 Feedback Polarity

2.5.2 Hall Sensors

The MC1XDZ01 mounting card provides the option of using differential

2.5.3 Encoder Feedback

The MC1XDZ01 mounting card provides the option of using single-ended

FIGURE 2.2 Encoder Feedback Signals

The high resolution of motor mounted encoders allows for excellent

2.5.4 ±10 VDC Position

2.6 Command Sources

2.6.1 ±10V Analog

2.6.2 Encoder Following

2.6.3 Over the Network

2.6.4 PWM and Direction

2.6.5 5V TTL Step and Direction (DZR Drives Only)

2.7 Pin Layout

FIGURE 2.3 DZ Drives Pin Layout

P1 - Signal P1 - Signal P2 - Power

0.10in [2.54mm] 0.10in [2.54mm]