Chapter 1 - General description
7
XtrapulsCD1-pm - User manual
Chapter 1 - General description
1 - INTRODUCTION
Series XtrapulsCD1-pm Profibus positioners are PWM servo amplifiers for the control of AC sinusoidal motors
(brushless) equipped with a position sensor.
The XtrapulsCD1-pm servo drive is available as a stand-alone single-axis block that includes all supplies and
mains filter. It is available in both mains operated versions 230 V
AC
and 400/480 V
AC
.
The XtrapulsCD1-pm positioner generates itself the positioning trajectory and is suited for axis positioning
applications. Up to 128 control sequences including axis homing, absolute or relative displacement, speed profile
running, electronic gearing and torque regulation can be programmed and combined in order to solve various
applications. The sequence chaining capability allows defining macro-sequences for complex applications:
several control sequences can be linked together in order to be automatically executed one after the other. The
control sequences are pre-programmed. So, the application programming simply consists in initializing the
sequences parameters with the desired values. A control sequence can then be selected by using the
programmable logic inputs and its execution is started by using the START logic input. The XtrapulsCD1-pm
positioner can operate in stand-alone mode or in connection with a host controller (PROFIBUS mode).
The selection of the various operation modes is made by means of micro-switches accessible by the operator.
1.1
– PROFIBUS MODE WITH SOFTWARE ADDRESSING
This mode is activated by the
00
micro-switches selection.
This operation mode is fully compliant with the CD1-p positioner.
The positioner Profibus address is saved into a non volatile memory (EEPROM). This EEPROM can be modified
via Profibus (message Set_Slave_Add) by a Profibus master of class 2. The new address will be automatically
saved.
1.2
– PROFIBUS MODE WITH HARDWARE ADDRESSING
This mode is activated by the
01
to
7D
micro-switches selections (Profibus address valid for one slave: 3 to 125).
In this mode, the drive address is defined by the micro-switches status and not by the serial link or by Profibus.
The address modification via Profibus is still possible but the address taken into account at the next power up is
always the one defined by the selection micro-switches.
1.3
– STAND-ALONE MODE
This mode is activated for the
7E
and
7F
combinations of the selection micro-switches:
▪
The
7E
combination corresponds to the stand-alone mode with VT100.
▪
The
7F
combination corresponds to the stand-alone mode without VT100.
In this mode, the Profibus is not used. The positioner operation is managed by the inputs
START
,
STOP
,
IN1
to
IN6
as well as by the outputs
SEQ
,
POS
,
SPEED
,
OUT1
to
OUT4
.
The
ENABLE
input enables/disables the positioner. The positioner cannot be enabled/disabled via the serial link
RS-232 or by the Profibus. Consequently,
the positioner adjustment phase (autophasing, autotuning,
cogging torque acquisition ...) must not be made in stand-alone mode
.
In stand-alone mode, the brake delay
time with regard to the enabling/disabling is not possible either.
