Infranor CD1-k User Manual Download

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CD1-k – User Guide

Chapter 1 - General description

Chapter 1 - General description

1 - INTRODUCTION

CD1-k

all-digital amplifiers with sinusoidal PWM control are servo amplifiers that provide the control of brushless

AC motors with position sensor.

The

CD1-k

amplifier is a stand-alone single-axis block including power supply unit and mains filters. It is available

in both 230 VAC and 400/480 VAC mains operated voltages.

CD1-k

amplifiers are working via a bus with "

CANopen

" communication protocol.

The amplifier parameter setting can be made either by means of:

•

the

CANopen

bus or

•

the specific parameter setting software

Visual Drive Setup

, via the serial port RS-232.

2 - ARCHITECTURE OF THE AMPLIFIER

CANopen

interface

Position

regulator

Speed

regulator

Current

regulator

Current

measurements

Speed

measurement

Position

measurement

Motor

Resolver

Summary of Contents for CD1-k

Page 1: ...CD1 k 1 INFRANOR CANopen Amplifier CD1 k User Guide gb ...

Page 2: ...erves the right to change any information contained in this manual without notice INFRANOR September 2005 All rights reserved Issue 2 0 ELIMINATION In order to comply with the 2002 96 EC directive of the European Parliament and of the Council of 27 January 2003 on waste electrical and electronic equipment WEEE all INFRANOR devices have got a sticker symbolizing a crossed out wheel dustbin as shown...

Page 3: ...NCREMENTAL 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 S...

Page 4: ...ly unit and mains filters It is available in both 230 VAC and 400 480 VAC mains operated voltages CD1 k amplifiers are working via a bus with CANopen communication protocol The amplifier parameter setting can be made either by means of the CANopen bus or the specific parameter setting software Visual Drive Setup via the serial port RS 232 2 ARCHITECTURE OF THE AMPLIFIER CANopen interface Position ...

Page 5: ...mplifier Electric device for the control of electric motors It also includes a current regulator a speed regulator and often a position regulator Current loop Current regulator Used for the motor current control The motor torque is generally proportional to the current amplitude Speed loop Speed regulator Allows the motor speed control Position loop Position regulator Allows the motor position con...

Page 6: ... 0 5 For the adjustment to other motor types please see CD1 k Installation Guide 3 POWERING OF THE AMPLIFIER Please see manual CD1 k Installation Guide before switching on the amplifier for the first time For switching on the amplifier please proceed as follows Switch on the 24V auxiliary supply The green front panel LED OK must blink quickly Undervolt error displayed The AOK relay contact pins 9 ...

Page 7: ... that the INHIBIT input is enabled and the amplifier is on before moving manually the motor over one revolution or one pole pitch on linear motors If the HES error is displayed switch off the amplifier and check the following points before switching it on again The Hall effect sensors HES must be correctly connected on the amplifier X3 connector if 60 Hall sensor types are used check the various w...

Page 8: ...llows the detection of pulse counting errors and immediately disables the amplifier for reasons of security The encoder counting protection checks that the number of encoder pulses between to successive Z marker pulses or R reference signals is equal to the value of the Motor encoder resolution parameter multiplied by the one of the Zero mark pitch parameter The encoder counting protection also ch...

Page 9: ...n or with a CTP sensor ohmic resistance increasing temperature function Check that the selected thermal sensor type actually corresponds to the sensor type mounted on the application motor 4 1 6 2 Triggering threshold adjustment Enter the sensor ohmic value kOhm corresponding to the required temperature value for the release of the Motor overtemperature protection according to the manufacturer s s...

Page 10: ...ameters Rated current and Max current This value is calculated as follows T dyn second t1 t0 3 3 x rated current A max current A 2 The maximum current duration before limitation at the rated current is also depending on the value of the Rated current and Maximum current parameters This value is calculated as follows T max second t2 t0 4 x rated current A max current A 2 NOTE 1 When the Max current...

Page 11: ...entical to the Position mode The operator can select a bandwidth Low Medium or High as well as the filter type standard antiresonance or max stiffness The Autotuning procedure can be executed with the motor disabled or enabled i e vertical load Before executing the Autotuning procedure check that the motor shaft is free and that its rotation over one revolution is not dangerous for operator and ma...

Page 12: ...can be reversed by selecting the Reverse movement in the Visual Drive Setup parameter setting software 5 PARAMETER SAVING When all adjustments have been made the parameters may have to be stored in a non volatile EEPROM the amplifier must be disabled 6 MOTOR PHASING PHASING AT POWER ON In the Incremental encoder without HES configuration the motor phasing procedure Phasing must be performed at eac...

Page 13: ...isturbance is due to the difference of reluctance between the copper of the windings and the iron of the stator teeth For a given motor the cogging can be easily evaluated by simply moving the motor manually when the amplifier is disabled The Cogging compensation option available in the CD1 amplifier range allows to cancel the motor cogging effects for specific applications where torque accuracy o...

Page 14: ...d in the PC COG file Note 1 The motor cogging torque value is checked at the amplifier power up If it contains some errors storage problems in the amplifier memory the EEPROM error is displayed and the Enable cogging torque compensation function is disabled Note 2 When exchanging an amplifier on an axis the file of the adjustment parameters PAR as well as the cogging torque file COG corresponding ...

Page 15: ...m the rotation counting direction selection For checking the wiring of the limit switch inputs move the motor in one direction activate the limit switch placed in the rotation direction artificially if necessary check then the motor stopping if the motor goes on moving reverse the wiring of the limit switch inputs Notes When activating a limit switch input the motor is stopped with maximum deceler...

Page 16: ...ll as of the of the CANopen bus communication speed Addressing 6 selection bits Status of the cursors Address 6 5 4 3 2 1 OFF OFF OFF OFF OFF OFF 0 OFF OFF OFF OFF OFF ON 1 OFF OFF OFF OFF ON ON 3 ON ON ON ON ON ON 63 Communication speed 2 selection bits Status of the cursors Speed 8 7 OFF OFF 1Mbits OFF ON 500Kbits ON OFF 250Kbits ON ON 125Kbits Note Address 00 must only be used in Local mode An ...

Page 17: ...17 CD1 k User Guide Chapter 4 CANopen communication Chapter 4 CANopen communication For the commissioning of the CANopen communication protocole please see manual CD1k CANopen Communication Profile ...

Page 18: ...stic and maintenance easier the errors are displayed and processed with the precedence described below For safety reasons the power must be turned off for the cancelling of some errors that requires the handling of the amplifier in this case the amplifier is automatically reset when power is turned on again If power is not turned off do not forget to make a RESET immediately after the error is can...

Page 19: ... the error remains the EEPROM may not be correctly initialized CHECKSUM or is not compatible with the amplifier software To cancel this error make a new parameter setting of the amplifier and save the new parameters 1 3 3 C MOTOR ERROR If the error occurs when commissioning the amplifier Check the CTN CTP parameter setting the Triggering threshold and the Warning threshold Check the wiring of the ...

Page 20: ...ERROR Check the encoder supply connection on the amplifier connector X3 Check the encoder A channel and B channel connections on the amplifier connector X3 Note In the Incremental encoder without HES configuration the motor Phasing procedure must be carried out again after an Encoder fault release 1 3 8 COUNTING ERROR Check the marker pulse connection on the amplifier connector X3 If the motor enc...

Page 21: ...the correct encoder amplifier motor ground and shield connections with regard to the recommendations of chapter 4 of the CD1 k Installation Guide Check for the correct encoder A channel B channel and R reference signal waveforms A A B B R R A A B B R R Forward direction Reverse direction Check that the Motor encoder resolution and the Zero mark pitch parameter values are correct Check that the num...

Page 22: ...on Check the position loop adjustment Check the coherence of the Static threshold parameter with regard to the motion cycle 1 3 11 LOW SPEED ERROR Check that the Low speed parameter is coherent with regard to the axis motion speed Check the wiring of the Low speed input 1 3 12 CURRENT OFFSET ERROR If the Current offset error occurs at power on this means that the offset compensation procedure has ...

Page 23: ...n in the MOTOR LIST module Check the value of the Motor parameters in the Advanced Functions menu and renew the AUTO PHASING command with unloaded motor if required 3 4 DISCONTINUOUS MOTOR ROTATIONS WITH ZERO TORQUE POSITIONS Check the wiring of the three phases between motor and amplifier 3 5 LOUD CRACKLING NOISE IN THE MOTOR AT STANDSTILL Check that the Motor Amplifier Host system ground connect...

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