9
CD1-k – Installation Guide
Chapter 2 - Specifications
Encoder input
Software selectable:
Quadrature signals A & B with Z marker pulse
RS 422 line receiver
Maximum pulse frequency: 1 MHz
Resolution: 500 to 10
6
ppr
Incremental Sin/Cos encoder
Heidenhain 1Vcc Sin/Cos type or compliant
Maximum signal frequency: 200 kHz
Resolution: 500 to 10
6
ppr
Interpolation factor : 1024
Absolute single-turn Sin/Cos encoder
Heidenhain ERN 1085 or compliant
Maximum signal frequency: 200 kHz
Resolution: 2048 or 512 ppr
Interpolation factor : 1024
Pulse & Direction input
Re-configuration of the encoder input for stepper motor
emulation:
Line receiver RS-422
Maximum pulse frequency: 1 MHz
Resolution: 200 to 10
6
pitch/revolution
Hall sensors input
Software selectable: 120° or 60° HES type
5 V or 12 V supply voltage
HES sequence error detection
Logic inputs
INHIBIT
FC+ and FC- limit switches
INDEX
CAPTURE
LOW SPEED
Logic outputs
4 logic outputs activated by bus
Relay outputs
Relay contact: open if error
Umax = 50 V, Imax = 100 mA, Pmax = 10 W
Open collector output protected against load
short-circuit
Motor brake coil with 24 VDC/1.5 A
Analog inputs
Re-configuration of the logic outputs by means of jumpers:
+/- 10 V, resolution = 14 bits
Encoder position output
Re-configuration of the TTL encoder input via CANopen:
Two A and B channels in quad 1 marker pulse per
revolution
RS 422 line driver
Programmable resolution: 64 ppr to 16384 ppr (according to
the maximum motor speed)
Arc minute accuracy = (8 + 5400/Resolution)
Note
:
The total position accuracy must take into account the
accuracy of the resolver used.
CAN interface
CANopen protocol (DS 301 – DSP 402)
Error display
LEDs on front panel + diagnostic via serial link RS 232 +
diagnostic via CANopen.
Motor and application parameter setting
Serial link RS 232 or
bus interface with CANopen protocol
Automatic functions
Amplifier adjustment to the motor (AUTO-PHASING)
Servo control adjustment (AUTO-TUNING)
