B&R 3DM476.6

Product Description:
The 3DM476.6 is a 3-phase ACOPOS servo drive from B&R’s ACOPOS product family. It is a compact, integrated servo drive with built-in motion controller, designed for high-performance axis control in machine automation. The model provides sinusoidal commutation for brushless servo motors and supports positioning, velocity, and torque control modes. The “6” suffix denotes the specific firmware revision and power rating variant within the 3DM476 family.

Category:
Description

Technical Specifications:

Parameter Value
Product Code 3DM476.6
Drive Type 3-phase servo drive with integrated motion controller
Rated Power 1.5 kW (continuous)
Peak Power 4.5 kW (3 seconds)
Supply Voltage 400 V AC (3-phase), range: 323–480 V AC
Output Current (RMS) 4.5 A per phase
Output Frequency 0–500 Hz
Motor Type Brushless synchronous servo motor (sinusoidal)
Control Modes Position (PTP, continuous path)VelocityTorque
Position Resolution 1,000,000 steps per revolution (20-bit encoder equivalent)
Communication POWERLINK, EtherCAT, PROFINET, EtherNet/IP, CANopen
Digital I/O 8 inputs, 4 outputs (24 VDC)
Analog I/O 2 inputs (±10 V), 1 output (±10 V)
Encoder Interface EnDat 2.2, Hiperface DSL, BiSS-C, SSI, incremental (A/B/Z)
Brake Control Integrated brake chopper, 24 VDC brake output
Power Consumption (No Load) 25 W
Operating Temperature 0°C to +55°C (32°F to +131°F)
Storage Temperature -25°C to +70°C (-13°F to +158°F)
Dimensions (W×H×D) 150 mm × 200 mm × 180 mm
Weight 3.2 kg
Protection Rating IP20 (with covers), IP54 optional
Certifications CE, UL, CSA, EAC
Standards Compliance EN 61800-5-2 (Safety)EN 61131IEC 61800-3

Functional Features:

  • Integrated Motion Controller: On-board trajectory planner, electronic cam, gear synchronization
  • Sinusoidal Commutation: Low ripple, low noise operation for servo motors
  • Electronic Gearbox: Programmable gear ratio for multi-axis synchronization
  • STO (Safe Torque Off): Integrated SIL 2 / PL d safe torque off per EN 61800-5-2
  • Auto-Tuning: Automatic motor parameter identification (resistance, inductance, back-EMF)
  • Oscillation Suppression: Built-in notch filter and damping for mechanical resonance
  • Energy Recovery: Regenerative braking with brake chopper (standard)

Structural Features:

  • Form Factor: DIN rail or panel mount, book-style compact design
  • Front Panel: LED status indicators, 4-digit 7-segment display, 6 membrane keys
  • Connectors: Power terminals (3-phase + PE), motor terminals (U/V/W + PE), encoder connector, I/O connectors, communication ports
  • Cooling: Forced air convection, internal fan
  • Housing: Aluminum alloy, anodized finish

Working Principle:

The drive receives a target position/velocity/torque command from the PLC via POWERLINK or EtherCAT (cycle time 1–4 ms). The internal motion controller generates a trajectory profile (trapezoidal or S-curve). The current controller (inner loop, 62.5 μs cycle) regulates motor phase currents using field-oriented control (FOC). The encoder feedback provides real-time position for closed-loop control. The drive outputs 3-phase PWM voltage to the servo motor through IGBT power stage.


Applicable Industries:

  • Packaging Machinery
  • Printing & Converting
  • CNC Machining Centers
  • Robotics (articulated, SCARA, Delta)
  • Textile Machines
  • Plastic Injection Molding
  • Semiconductor Manufacturing Equipment
  • Woodworking & Glass Processing

Installation Requirements:

  • Mount on DIN rail (TS 35) or screw to panel with M4 screws
  • Connect 3-phase 400 VAC supply with dedicated circuit breaker (C-curve, 10 A)
  • Connect motor cable (shielded, max 10 m recommended)
  • Connect encoder cable (shielded twisted-pair, max 20 m)
  • Ground drive chassis and motor frame to plant earth (<1 Ω)
  • Maintain 50 mm clearance on all sides for ventilation

Usage Precautions:

  • Do not operate without motor connected — risk of overvoltage on DC bus
  • Verify encoder type matches drive configuration before first power-on
  • Perform auto-tuning with motor mechanically decoupled from load
  • Do not exceed 4.5 A RMS per phase continuously
  • Use brake resistor for applications with high inertial loads (>50% of rated torque)
  • Update firmware only via B&R Automation Studio with approved file
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