Infranor CD1-k, User Manual

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CD1-k 3
CD1-k – User Guide
Content
PAGE
CONTENT ............................................................................................................................................... 3
CHAPTER 1 - GENERAL DESCRIPTION ............................................................................................. 4
1 - INTRODUCTION............................................................................................................................. 4
2 - ARCHITECTURE OF THE AMPLIFIER .......................................................................................... 4
CHAPTER 2 - COMMISSIONING........................................................................................................... 6
1 - INSTALLATION OF THE PARAMETER SETTING SOFTWARE.................................................... 6
2 - CHECKING THE AMPLIFIER HARDWARE CONFIGURATION .................................................... 6
3 - POWERING OF THE AMPLIFIER................................................................................................... 6
4 - STARTING AND ADJUSTING THE AMPLIFIER ............................................................................ 7
4.1 - AMPLIFIER ADJUSTMENT TO THE MOTOR SPECIFICATIONS ......................................... 7
4.2 - I
2
t PROTECTION.................................................................................................................... 10
4.3 - SERVO LOOP ADJUSTMENT............................................................................................... 11
4.4 - ROTATION / COUNTING DIRECTION.................................................................................. 12
5 - PARAMETER SAVING.................................................................................................................. 12
6 - MOTOR PHASING (
PHASING
) AT POWER ON ............................................................................. 12
7 - INCREMENTAL ENCODER OUTPUTS ....................................................................................... 13
8 - COGGING TORQUE COMPENSATION ...................................................................................... 13
CHAPTER 3 - FUNCTIONAL FEATURES........................................................................................... 15
1 - LOGIC INPUTS ............................................................................................................................. 15
1.1 - "INHIBIT" INPUT..................................................................................................................... 15
1.2 - "LIMIT SWITCH" INPUTS ...................................................................................................... 15
1.3 - "LOW SPEED" INPUT............................................................................................................ 15
1.4 - "INDEX" INPUT ...................................................................................................................... 15
2 - BRAKE CONTROL........................................................................................................................ 15
3 - ADDRESSING SWITCH / SPEED SELECTION ........................................................................... 16
CHAPTER 4 - CANOPEN COMMUNICATION .................................................................................... 17
CHAPTER 5 - TROUBLESHOOTING & MAINTENANCE .................................................................. 18
1 -
ERRORS
.......................................................................................................................................... 18
1.1 - "SYSTEM" ERROR ................................................................................................................ 18
1.2 - NON STORED ERRORS ....................................................................................................... 18
1.3 - STORED ERRORS ................................................................................................................ 18
2 - ERROR RESET............................................................................................................................. 23
3 - OPERATION PROBLEMS ............................................................................................................ 23
3.1 - MOTOR DOES NOT MOVE................................................................................................... 23
3.2 - MOTOR ENABLED BUT LITTLE TORQUE........................................................................... 23
3.3 - SHAFT LOCKED – ERRATIC OSCILLATIONS - rotation AT MAXIMUM SPEED ................ 23
3.4 - DISCONTINUOUS MOTOR ROTATIONS WITH ZERO TORQUE POSITIONS .................. 23
3.5 - LOUD CRACKLING NOISE IN THE MOTOR AT STANDSTILL ........................................... 23
4 - SERVICE AND MAINTENANCE ................................................................................................... 23