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Kepler series

The Kepler series consist of a D3-200/04, which is a dual-axis intelligent PWM drive for three-phase actuators, and a D1-200/04, which is a dual-axis intelligent PWM drive for single-phase actuators.

The Kepler series is designed for demanding applications requiring high linearity and a very low output current ripple. This used to be the exclusive domain of linear amplifiers, but Prodrive Technologies uses its extensive experience in amplifier technology to introduce a PWM drive with negligible switching noise that matches linear drive performance. The Kepler motor drives offer world-class linearity and switching noise. Due to internal output filtering and EMI protections, the drive can operate with a minimal number of external components.

Kepler drives have an integrated Prodrive Motion Platform (PMP) motion controller. PMP is a highly flexible platform that is being used in many applications, ranging from personal transportation solutions to semiconductor industry. The PMP tooling ensures fast and effortless commissioning, while motion applications benefit from a powerful API and real-time.

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Motor Drive 9763
Programmable PMP motion controller
Ultra-low output noise
High output linearity
Wide range of connectivity options



Power Levels

Module is available in several current ratings.


Mounting Options

Various mounting brackets are available allowing both surface mounting and rack mounting of the device.

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Communication Interfaces

Drive can be used in real-time industrial networks as EtherCAT and CANopen, or can be commanded via the Ethernet-based PMP interface.


Kepler series specifications

  Series Kepler Kepler
  Model D1-200/04 D3-200/04
Power input    
  Input voltage range 60-200VDC 60-200VDC
  Input voltage, abs max 220VDC 220VDC
  Input current 9ARMS 9ARMS
  Input current, peak 21APK 21APK
  Auxiliary input voltage 22-26VDC (optional)
  Auxiliary input current max 2ARMS (4APK)
Actuator outputs    
  Number of motor outputs 2 2
  Supported motor types (linear and rotary) stepper,
1-phase (voice coil)
3-phase (PMSM/Reluctance/Induction/BLDC)
  Maximum phase current 4ARMS (60s) 4ARMS (60s)
  Peak phase current (1s) 20APK (200ms) 20APK (200ms)
  Maximum output voltage (line-line, typical) 0...115VRMS 0...115VRMS
  Rated switching frequency 200kHz 200kHz
  Output frequency 0-4000Hz
  Internal brake resistor N Y
  External brake resistor N
Encoder inputs    
  Number of encoder inputs 2 2
  Supported types Digital quadrature (A/B/I)
Analog sin/cos 1Vpp (14bit)
Digital hall (5V)
EnDAT 2.1/2.2
Hiperface DSL 4-wire
  Maximum signal fequency with no missing pulses 4MHz
  Maximum baudrate (digital encoders) 32MHz
  Encoder supply (each input) 5V 500mA / 10V 500mA (with remote voltage sense)
General purpose inputs/outputs    
  Isolated digital inputs 4 x 24V input (VIH≥11V, VIL≤5V, IIN<15mA)
  Isolated digital outputs 4 x 30V / 500mA
  Non-isolated digital inputs 4 x TTL
  Non-isolated digital outputs 2 x 24V - 1A + 2x 24V - 200mA + 4x TTL output
  Analog inputs 2 x ±10V differential input, 16bit
  Analog outputs 2 x ±10V differential output, 16bit
  Brake outputs -
  Interface Ethernet / EtherCAT / RS485 (50MBps max)
  Update rate 100Hz - 20kHz
  Offset error [%of Ipk] 0.25% 0.25%
  Offset drift [%of Ipk] 0.07% 0.07%
  Gain error [%of Ipk] 0.82% 0.82%
  Gain drift max 0.15% max 0.15%
  Linearity error [ppm of Ipk] max 550ppm max 550ppm
  Current loop, small signal bandwidth (-3dB) Typical 2-4kHz
  Output current noise spectral density @100Hz max 20 µA/√Hz max 20 µA/√Hz
  Output current noise, rms 1Hz-10kHz max 600uArms max 600uArms
  Output current noise, rms 1Hz-20MHz max 800uArms max 800uArms
Functional safety    
  Applicable standard -
  STO -
  SBC -
Electrical safety    
  Applicable standard IEC/UL61800-5-1
  Pollution degree 2
  Overvoltage category I
  IP-protection class / enclosure type IP20 / open type
  Maximum altitude during operation 2000m above mean sea level
  Applicable standard IEC61800-3
  Input filtering cat C3, 2nd env.
  Output filtering Low-pass filter 
Mechanical &  Climatic    
  Dimensions (width x depth x height) 271 mm x 447 mm x 70mm
  Mass (typical) 6 6
  Operating temperature range 10°C - 40°C
  Operating humidity range 20-80% non-condensing
  Shock&Vibration IEC61800-5-1, IEC60068-2-6 (Fc)
  Lifetime >10 years


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