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Infranor XtrapulsCD1-pm, Installation Manual

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Infranor XtrapulsCD1-pm Installation Manual Download Page 4

 

 

 

 

 

4 

Contents

 

XtrapulsCD1-pm 

– Installation manual 

 

Content  

 

 

PAGE 

CONTENT ................................................................................................................................................4

 

CHAPTER 1 

– GENERAL DESCRIPTION ..............................................................................................6

 

1-

 

INTRODUCTION ...............................................................................................................................6

 

2

 

–

 

DESCRIPTION

 

/

 

COMPLIANCE

 

WITH

 

THE

 

STANDARDS ............................................................6

 

2.1 - GENERAL DESCRIPTION ........................................................................................................6

 

2.2 - REFERENCE TO THE STANDARDS: "CE" CERTIFICATION.................................................7

 

2.3 - REFERENCE TO THE STANDARDS: "UL" LISTING ...............................................................7

 

3

 

-

 

OTHER

 

DOCUMENTS

 

REQUIRED

 

FOR

 

THE

 

COMMISSIONING .................................................7

 

CHAPTER 2 

– SPECIFICATIONS ...........................................................................................................8

 

1

 

-

 

MAIN

 

TECHNICAL

 

DATA .................................................................................................................8

 

1.1 

– XTRAPULS CD1-pm-230-/I POSITIONER ...............................................................................8

 

1.2 

– XTRAPULS CD1-pm-400/I POSITIONER ................................................................................8

 

1.3 - COMMON SPECIFICATIONS TO BOTH POSITIONER VERSIONS XTRAPULS CD1-pm-
230/I AND XTRAPULS CD1-pm-400/I ...............................................................................................9

 

2

 

-

 

DIMENSIONS ................................................................................................................................ 12

 

2.1 - XTRAPULS CD1-pm-230/I POSITIONER .............................................................................. 12

 

2.2 - XTRAPULS CD1-pm-400/1.8 TO 7.2 A POSITIONER .......................................................... 12

 

2.3 - XTRAPULS CD1-pm-400/14 A POSITIONER ....................................................................... 12

 

2.4 - XTRAPULS CD1-pm-400/30/45/70 AND 90 A POSITIONER ............................................... 12

 

2.5 - BRAKING RESISTOR dp 100/100, dp 200/100, dp 50/200, dp 33/280 and dp 16.5/560 ..... 13

 

3

 

-

 

FASTENING .................................................................................................................................. 14

 

3.1 - XTRAPULS CD1-pm-230/I POSITIONER .............................................................................. 14

 

3.2 - XTRAPULS CD1-pm-400/1.8 TO 7.2 A POSITIONER .......................................................... 14

 

3.3 - XTRAPULS CD1-pm-400/14 A POSITIONER ....................................................................... 14

 

3.4 - XTRAPULS CD1-pm-400/30/45/70 AND 90 A POSITIONER ............................................... 14

 

4

 

–

 

MULTIAXES

 

CABINET

 

MOUNTING ............................................................................................ 15

 

4.1 - XTRAPULS CD1-pm-230/I POSITIONER .............................................................................. 15

 

4.2 - XTRAPULS CD1-pm-400/1.8 TO 7.2 A POSITIONER .......................................................... 15

 

4.3 - XTRAPULS CD1-pm-400/14 A POSITIONER ....................................................................... 15

 

4.4 - XTRAPULS CD1-pm-400/30/45/70 AND 90 A POSITIONER ............................................... 15

 

CHAPTER 3 - INPUTS - OUTPUTS ..................................................................................................... 16

 

1

 

-

 

CONNECTOR

 

LOCATION ............................................................................................................ 16

 

2

 

-

 

LED

S

 .............................................................................................................................................. 17

 

2.1 

– DRIVE FAULT LEDs .............................................................................................................. 17

 

3

 

-

 

X1:

 

RESOLVER

 

CONNECTOR .................................................................................................... 17

 

4

 

–

 

X2:

 

DIGITAL

 

I/O

S 

CONNECTOR .................................................................................................. 18

 

5

 

–

 

X3:

 

ENCODER

 

CONNECTOR ..................................................................................................... 20

 

5.1 - X3 CONNECTOR FOR TTL INCREMENTAL ENCODER & HES INPUT (Sub D 25 pins 
female) ............................................................................................................................................ 20

 

5.2 - X3 CONNECTOR FOR SinCos INCREMENTAL ENCODER & HES INPUT (Sub D 25 pins 
female) ............................................................................................................................................ 21

 

5.3 - X3 CONNECTOR FOR ABSOLUTE SINGLE TURN SIN/COS ENCODER  (Sub D 25 pins 
female) ............................................................................................................................................ 22

 

5.4 - X3 CONNECTOR FOR ENCODER OUTPUT (Sub D 25 pins female) ................................. 23

 

6

 

-

 

X4:

 

COMMAND

 

CONNECTOR ..................................................................................................... 24

 

6.1 - SPECIFICATIONS OF THE LOGIC INPUTS: FC+, FC-, INDEX, ENABLE, RESET ............ 24

 

6.2 - SPECIFICATION OF THE "AOK" LOGIC RELAY OUTPUT.................................................. 25

 

7

 

-

 

X5:

  

RS-232

 

CONNECTOR ........................................................................................................... 25

 

8

 

-

 

X6:

 

PROFIBUS .............................................................................................................................. 25

 

9

 

-

 

X8:

 

AUXILIARY

 

SUPPLY

 

AND

 

BRAKE

 

CONNECTOR ................................................................. 25

 

10

 

-

 

X9:

 

POWER

 

CONNECTOR:

 

MAINS,

 

MOTOR,

 

BRAKING

 

RESISTOR

 

(CD1-

PM

-230

 

V

 

&

 

400

 

V) 26

 

Summary of Contents for XtrapulsCD1-pm

Page 1: ...1 PROFIBUS POSITIONER XtrapulsCD1 pm Installation manual ...

Page 2: ...specifies the provisions related to the professional EEE manufacturers obligations INFRANOR France is a member of RECYLUM eco organization ecosystem certified for the collection treatment and recycling of WEEE In France RECYLUM allows all professionals benefiting from a free collection and recycling solution in observance of the regulation the environment and health Information and sorting instruc...

Page 3: ...boards and components WEEE Waste Electronic and Electrical Equipment Dangerous industrial waste France http www ecosystem eco fr sous rubrique solutions Abroad Country specific regulation Sorting instructions may vary according to regions countries INFRANOR does not assume any responsibility for any physical or material damage due to improper handling or wrong descriptions of the ordered items Any...

Page 4: ...m 400 1 8 TO 7 2 A POSITIONER 14 3 3 XTRAPULS CD1 pm 400 14 A POSITIONER 14 3 4 XTRAPULS CD1 pm 400 30 45 70 AND 90 A POSITIONER 14 4 MULTIAXES CABINET MOUNTING 15 4 1 XTRAPULS CD1 pm 230 I POSITIONER 15 4 2 XTRAPULS CD1 pm 400 1 8 TO 7 2 A POSITIONER 15 4 3 XTRAPULS CD1 pm 400 14 A POSITIONER 15 4 4 XTRAPULS CD1 pm 400 30 45 70 AND 90 A POSITIONER 15 CHAPTER 3 INPUTS OUTPUTS 16 1 CONNECTOR LOCATI...

Page 5: ...QUIREMENTS OF COMPLIANCE WITH THE UL STANDARDS 34 3 1 CONNECTION BY MEANS OF FASTON SOCKET 34 3 2 24 V SUPPLY 34 3 3 POWER SUPPLY AND UL FUSE RATING 34 3 4 XTRAPULS CD1 pm 230 I DRIVE CONNECTION DIAGRAM WITH PROTECTIONS BY UL FUSES 35 3 5 XTRAPULS CD1 pm 400 I DRIVE CONNECTION DIAGRAM WITH PROTECTIONS BY UL FUSES 36 3 6 CONNECTION EXAMPLE FOR A UL COMPLIANT MULTIAXIS APPLICATION 37 4 FIRST POWERIN...

Page 6: ... encoder feedback Heidenhain ERN 1085 or compliant the servo motor can also immediately be enabled after the drive power up With an incremental encoder only a motor phasing procedure Phasing must be executed at each drive power up before the motor enabling With an incremental encoder Hall Effect Sensors HES feedback the motor phasing procedure is no more necessary and the servo motor can immediate...

Page 7: ...ion of UL508C the UL Standard for Power Conversion Equipment for the UL Listing USL the CSA Standard for Industrial Control Equipment C22 2 N 14 10 for the Canadian UL Listing CNL Providing that the manual is specifying that the end user has to provide an isolated power supply for 24 VDC auxiliary input protected by a 4 A UL Listed fuse the power board is considered within a limited voltage curren...

Page 8: ...0 2 25 6 A 5 kA yes CD1 pm 230 7 5 7 5 3 75 44 3 75 6 A 5 kA yes CD1 pm 230 10 5 10 5 5 25 55 5 25 6 A 5 kA yes CD1 pm 230 16 5 16 5 8 25 66 8 25 9 A 5 kA yes 1 2 XTRAPULS CD1 pm 400 I POSITIONER Mains operating power supply voltage 400 to 480 VAC 10 15 3 TN or TT system with grounded neutral point 50 to 60 Hz phase ground voltage must be balanced Isolated auxiliary and motor brake supply voltage ...

Page 9: ... pm 400 I Regulation loops current speed and position Digital Mains filter on power supply Integrated in the positioner CD1 400 90 exception EMC capacitors integrated Common mode choke not integrated Recommended filter F 400 70 90 Common mode filter on auxiliary supply Integrated in the positioner Common mode filter on motor brake supply Integrated in the positioner Power stage protections power s...

Page 10: ...output A and B channels in quadrature Z marker pulse 1 per motor revolution RS 422 line driver Programmable resolution from 64 ppr to 16384 ppr Arc minute accuracy 8 5400 Resolution Logic inputs Enable Disable ENABLE Limit switch FC Limit switch FC Homing input INDEX Reset of a stored fault RESET Sequence start START Sequence stop STOP Programmable inputs IN1 to IN6 Logic outputs Sequence in progr...

Page 11: ...cording to UL508C and UL840 regarding the insulator This product was evaluated to the Third Edition of UL508C the UL Standard for Power Conversion Equipment for the UL Listing USL the CSA Standard for Industrial Control Equipment C22 2 N 14 10 for the Canadian UL Listing CNL Temperature storage 20 C à 70 C operation 5 C à 40 C From 40 C the rated currents must be reduced of 3 per additional Celsiu...

Page 12: ...s XtrapulsCD1 pm Installation manual 2 DIMENSIONS 2 1 XTRAPULS CD1 pm 230 I POSITIONER 2 2 XTRAPULS CD1 pm 400 1 8 TO 7 2 A POSITIONER 2 3 XTRAPULS CD1 pm 400 14 A POSITIONER 2 4 XTRAPULS CD1 pm 400 30 45 70 AND 90 A POSITIONER ...

Page 13: ... dp 50 200 dp 33 280 and dp 16 5 560 dp 16 5 560 Connection of the braking resistor EF 400 16 5 560 W on pins 1 and 3 of the braking resistor connector Dimensions dp 50 200 dp 100 100 and dp 200 100 dp 33 280 dp 16 5 560 A 157 mm 290 mm 290 mm B 145 mm 278 mm 278 mm C 83 mm 83 mm 57 mm D 52 mm 57 mm 145 mm ...

Page 14: ...m Installation manual 3 FASTENING VERTICAL MOUNTING IS MANDATORY 3 1 XTRAPULS CD1 pm 230 I POSITIONER 3 2 XTRAPULS CD1 pm 400 1 8 TO 7 2 A POSITIONER 3 3 XTRAPULS CD1 pm 400 14 A POSITIONER 3 4 XTRAPULS CD1 pm 400 30 45 70 AND 90 A POSITIONER ...

Page 15: ...ual Chapter 2 Specifications 4 MULTIAXIS CABINET MOUNTING 4 1 XTRAPULS CD1 pm 230 I POSITIONER 4 2 XTRAPULS CD1 pm 400 1 8 TO 7 2 A POSITIONER 4 3 XTRAPULS CD1 pm 400 14 A POSITIONER 4 4 XTRAPULS CD1 pm 400 30 45 70 AND 90 A POSITIONER ...

Page 16: ...16 Chapter 3 Inputs Outputs XtrapulsCD1 pm Installation manual Chapter 3 Inputs Outputs 1 CONNECTOR LOCATION ...

Page 17: ... BUS PROFIBUS communication OK BUSY Procedure in progress blinking AP No power supply The AOK output does not take into account the display of AP All faults except for the Undervolt fault involve the positioner disabling the motor brake control the opening of the AOK relay contact This relay must be wired as described in section 5 3 for switching off the power supply in order to keep a zero type s...

Page 18: ...coupled input IN6 16 O Isolated output SEQ 17 O Isolated output POS 18 O Isolated output SPEED 19 O Isolated output OUT1 20 O Isolated output OUT2 21 O Isolated output OUT3 Configurable analog input by jumpers 22 O Isolated output OUT4 Configurable analog output by jumpers 23 O 0 V internal 24 I External supply 24 V 25 I 0 V external 24 V input only required when the outputs SEQ POS SPEED OUT1 OUT...

Page 19: ...ion against overloads Output current available per output mA Number of activated outputs Cyclic rate 100 70 50 30 2 200 mA 200 mA 200 mA 200 mA 4 100 mA 150 mA 200 mA 200 mA 7 60 mA 80 mA 120 mA 200 mA SPECIFICATIONS OF THE ENCODER OUTPUTS Recommended receiver 26LS32 The input voltage corresponding to level 1 is between 18 V and 30 V 100 kΩ Logic input 0 V CD1 pm 5 V 8 2 k 100 nF 5 V 26LS31 driver...

Page 20: ...Marker Z Differential input of the encoder marker pulse Z 19 Channel A Differential input of the encoder channel A 6 Channel A Differential input of the encoder channel A 20 Channel B Differential input of the encoder channel B 7 Channel B Differential input of the encoder channel B 8 5 V Encoder supply voltage 300 mA max current 21 GND Encoder supply GND 11 HALL U Hall sensor input signal phase U...

Page 21: ...3 Marker R Differential input of the Sin Cos encoder reference pulse R 14 Channel A Differential input of the Sin Cos encoder channel A 1 Channel A Differential input of the Sin Cos encoder channel A 15 Channel B Differential input of the Sin Cos encoder channel B 2 Channel B Differential input of the Sin Cos encoder channel B 8 5V Encoder supply voltage 300 mA max current 21 GND Encoder supply GN...

Page 22: ...ference pulse R 14 Channel A Differential input of the Sin Cos encoder channel A 1 Channel A Differential input of the Sin Cos encoder channel A 15 Channel B Differential input of the Sin Cos encoder channel B 2 Channel B Differential input of the Sin Cos encoder channel B 16 Channel C Differential input of the Sin Cos encoder channel C 3 Channel C Differential input of the Sin Cos encoder channel...

Page 23: ...abled via the PROFIBUS bus The corresponding X3 connector pin functions are described below PIN FUNCTION REMARKS 19 Channel A Differential output of channel A 6 Channel A Differential output of channel A 20 Channel B Differential output of channel B 7 Channel B Differential output of channel B 18 Marker Z Differential output of channel Z 5 Marker Z Differential output of channel Z 21 GND 0 V refer...

Page 24: ...optocoupled logic 5 Limit switch I Positive optocoupled logic 6 INDEX I Positive optocoupled logic 7 GND 0 V of logic inputs I Potential reference of the optocoupled galvanic isolated logic inputs This potential reference may be different from the auxiliary supply 8 RESET I Positive optocoupled logic Inhibition of the faults memory stored in the drive 6 1 SPECIFICATIONS OF THE LOGIC INPUTS FC FC I...

Page 25: ... CNTR P Control signal 5 DGND 0 V 6 VP Supply for termination resistor 7 8 RxD TxD N Data Reception Transmission Minus 9 9 X8 AUXILIARY SUPPLY AND BRAKE CONNECTOR 4 pins male connector with 5 08 mm pitch Same connector for all drive types in 230 V and 400 V Female connector supplied Fastening torque of the connector screws 0 5 Nm PIN SIGNAL I O FUNCTION DESCRIPTION 1 GND I Potential reference of t...

Page 26: ... Ohm 560 W dp 16 5 560 Braking resistors must be separately ordered 2 RB O 3 DC I O Parallel connection of the DC bus Only on UL listed items 4 L1 I Mains input CD1 pm 230 I 230 VAC 1 or 3 CD1 pm 400 I 400 to 480 VAC 3 5 L2 I 6 L3 I 7 DC I O Parallel connection of the DC bus Only on UL listed items 8 W O Motor phase W Motor cable with grounded connection by means of Faston socket and 360 shield co...

Page 27: ...apter 4 Connections Chapter 4 Connections 1 CONNECTION DIAGRAMS 1 1 XTRAPULS CD1 pm 230 I POSITIONER For the UL compliant connection see chapter 4 section 3 4 Note The 24 V and power supplies protection on source side must be made by the user ...

Page 28: ...NER See chapter 4 section 3 5 for the UL compliant connection Note The 24 V and power supplies protection on source side must be made by the user 1 3 SERIAL LINK CONNECTION CD1 pm X5 PC serial port 360 shield connection Sub D 9 pins female Sub D 9 pins female RxD 2 TxD 3 GND 5 5 GND 2 RxD 3 TxD ...

Page 29: ...y can keep the positioner under voltage during i e a long 3 days week end or during a mains cut off without losing the machine initialization This backup method is very interesting for saving the machine initialization as well as the axis position even when moving with mains switched off An ASCII command allows sending the axis position to the digital host system 1 5 CONNECTION EXAMPLE FOR A MULTI...

Page 30: ...at both ends with the condition to be connected over 360 at both ends by means of metal links in order to ensure the shield continuity The reference potential must be the ground Cables with low potential should never run in the proximity of high power lines If there is a potential reference i e a main chassis or cabinet with a low impedance between its different elements it should be used to conne...

Page 31: ... CONNECTORS SHIELD CONNECTION RULE The shield should never be interrupted or corrupted over the whole cable length NOTE When the 360 shield connection is made by means of a collar it is not necessary to connect a cable on the appropriate pin of the SUB D connector ...

Page 32: ...he shield connection diagram The encoder inputs A B C D Z and R require a pair twisted and shielded cable The shield must have a 360 connection via metallic collars at both ends If the shield is connected by means of a pig tail it must be connected at one end to the GND pin of the connector on the drive side with a connection as short as possible Check that the voltage drop in the power supply lin...

Page 33: ... mount a reactance with an inductive value between 1 and 3 of the motor inductive value The reactance inductive value must be taken into account in the calculation of the current loops The current rating of the reactance must be equal to or higher than the drive rating The reactance must be mounted at the drive output Due to the use of a reactance a shielded cable is not mandatory anymore A more c...

Page 34: ...for the auxiliary supply input protected by a 4 A UL listed fuse 3 3 POWER SUPPLY AND UL FUSE RATING The fuse type recommended for motor applications is of class RK5 The maximum short circuit power of the mains must not exceed 5000 Arms at a voltage of 480 V when protected by a UL fuse of type RK5 and A60Q40 for 400 70 and 400 90 ratings On Xtrapuls CD1 pm 400 I drives the fuse ratings must be the...

Page 35: ...35 XtrapulsCD1 pm Installation manual Chapter 4 Connections 3 4 XTRAPULS CD1 pm 230 I DRIVE CONNECTION DIAGRAM WITH PROTECTIONS BY UL FUSES according to section 3 3 of this chapter ...

Page 36: ...BY UL FUSES according to section 3 3 of this chapter IMPORTANT The installer of the drives has to use a UL listed quick connect for ground connection 0 250 inches or 6 35 mm wide nominal Field wiring terminals must use copper conductors only Torque value for field wiring terminals according to the Recognized terminal block used ...

Page 37: ...A current ratings dp 16 5 560 for 70 and 90 A current ratings Check for the correct groundings and 360 shield connections 4 2 SWITCH ON THE 24 VDC SUPPLY The green front panel ON Led must light up The red front panel AP Led must light up The AOK relay contact pins 1 and 2 of X4 is closed It is possible to control the power relay according to the recommendations of Chapter 4 section 1 Connection di...

Page 38: ...38 XtrapulsCD1 pm Installation manual Chapter 5 Appendix Chapter 5 Appendix 1 HARDWARE ADJUSTMENTS OF THE LOGIC BOARD ...

Page 39: ... When using resolvers with a number of pole pairs N 1 all speed values displayed in the drive are equal to N times the motor rotation speed 3 USE OF THE AOK OUTPUT The AOK output MUST be used on a potential free relay in order to allow the connection of the power supply see Chapter 4 section 1 Connection diagrams The correct drive operation requires this connection logic Switching on the power sup...

Page 40: ... bus DC and DC can be connected in parallel see diagram in chapter 4 section 1 5 In this case the mains input must also be parallel wired in order to balance the current load inside the AC DC converters It is recommended to mount the braking resistor on the drive with highest current rating An electronic control of the reflected power avoids the overload of the braking resistor So if the energy re...

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