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CDHD Servo Drive

User Manual

Revision 0.2

PRELIMINARY RELEASE

Summary of Contents for CDHD

Page 1: ...CDHD Servo Drive User Manual Revision 0 2 PRELIMINARY RELEASE...

Page 2: ......

Page 3: ...t notice at any time Trademarks All marks in this manual are the property of their respective owners Contact Information Servotronix Motion Control Ltd 21C Yagia Kapayim Street Petach Tikva 49130 Isra...

Page 4: ...ound to be defective The warranty will be invalid if the customer fails to install operate or maintain the product in accordance with the instructions in this user manual During the warranty period th...

Page 5: ...Os 12 2 2 8 Motor Feedback 13 2 3 System Wiring Pin Assignments 14 3 Installation________________________________________________ 15 3 1 Installation Overview 15 3 2 Preparation 15 3 2 1 Hardware Requ...

Page 6: ...13Current Loop 36 4 6 14Current Limits 36 4 6 15Velocity Loop 36 4 6 16Velocity Limits 36 4 6 17Terminal 36 4 6 18Faults 37 4 6 19Parameters Table 37 4 7 ServoStudio Expert View 37 5 Firmware Upgrade...

Page 7: ...Manual Parameters and commands used to program the CDHD 1 2 Safety Only qualified persons may perform the installation procedures You do not need to be an expert in motion control to install and oper...

Page 8: ...zards may cause personal injury and or damage to equipment During operation the product has electrically charged components and hot surfaces The heat sink can reach temperatures of 90 C Control and po...

Page 9: ...EC IEC 61000 6 1 2 Interference Immunity in Residential Industrial Areas IEC 61000 6 3 4 Interference Generation in Residential Industrial Areas Drives are components that are intended for incorporat...

Page 10: ...must apply the installation recommendations in this manual 1 4 Unpacking 1 Open the package s and remove all packing materials and items The package contains two items The CDHD drive A packet of mati...

Page 11: ...meet any I O requirement Various communication options Various motor feedback options Firmware customization to address special application requirements OEM motors predefined in user interface to ena...

Page 12: ...tronix 2 2 Technical Specifications 2 2 1 Dimensions The exterior dimensions of the CDHD 1D5 and CDHD 006 are shown in Figure 2 1 and Figure 2 1 respectively Figure 2 1 CDHD 1D5 Dimensions in mm Figur...

Page 13: ...or equivalent Logic Input Power L1C L2C 115 or 230 VAC 1 Phase 1 Phase 1 Phase 1 Phase Motor Output U V W Continuous Output Current A rms 1 5 3 6 13 Continuous Output Current A peak 2 12 4 24 8 485 1...

Page 14: ...n VDC NA NA 2 2 3 Mechanical and Electrical Specifications 400V Three Phase 400V Specification CDHD 003 CDHD 006 Ratings Input Power Main Circuit Voltage VAC Line Line Nominal 10 530 600 530 600 L1 L2...

Page 15: ...ew Clearance Distance Side to Side mm Top Bottom mm Voltage Trip Under Voltage Trip nominal VDC Over Voltage Trip VDC Power Temperature Power Over Temperature Warning C Power Over Temperature Fault C...

Page 16: ...pole placement high frequency Filters First order low pass filter Double first order low pass filter Notch filter High pass filter Band pass User defined polynomial filter Reference Command 10 VDC Ser...

Page 17: ...0 45 C free from freezing Storage 0 70 C Humidity 10 90 Altitude 1000m If 1000m derate 5 per 330m Vibration 0 5g Configuration Book mounting 2 2 6 Communication Feature Specification CAN optional CAN...

Page 18: ...1 ms 3x Fast Digital Inputs Signal Configurable opto isolated compatible with sinking output Voltage 24 V Max Input Current 10 mA Propagation Delay Time 1 s 4x Digital Output Signal Configurable open...

Page 19: ...cosine differential Transformation Ratio 0 45 1 6 Excitation Frequency 8 kHz Input Voltage from Drive 6 22 Vpp Max DC Resistance 120 stator Max Drive Current 55 mA rms Output Voltage to Drive 10 Vpp...

Page 20: ...Product Description CDHD 14 Servotronix 2 3 System Wiring Pin Assignments Figure 2 3 Pin Assignments...

Page 21: ...ServoStudio configure and test the drive 3 2 Preparation 3 2 1 Hardware Requirements The following hardware is required for installation Mating connectors and the associated crimp pins for interfaces...

Page 22: ...one of the following USB 2 0 A to Mini B cable USB interface 4p4c plug and cable RS232 interface 3 2 2 Computer Requirements To install and run ServoStudio software the GUI based configuration and tes...

Page 23: ...CDHD Installation User Manual 17 Figure 3 1 CDHD servo system wiring using single phase 230 VAC...

Page 24: ...back panel Servotronix recommends that all shielded cables be bonded to the back panel The motor and feedback cables should have the shield exposed as close to the drive as possible This exposed shiel...

Page 25: ...e best filter design for particular motor control applications Implementation of the EMI filter must adhere to the following guidelines Filter must be mounted on the same panel as the drive and bus mo...

Page 26: ...ound line to ground Differential radiated currents exist from one motor lead to another line to line The filtering of the lines feeding the motor provides additional attenuation of noise currents that...

Page 27: ...ate torque STO Enable and STO Return must be connected to enable CDHD operation The STO Enable signal voltage must be 24 VDC Using the supplied mating connector connect the STO interface If the applic...

Page 28: ...rer JST Housing and 2 pin crimp Part F32FSS02 V KX and Part SF3F71 GF P0 2 Wire Gauge 14 16 AWG 3 4 4 Connect Motor Feedback C4 Wire the motor feedback interface according to the type of feedback devi...

Page 29: ...ly 6 Resolver sine 19 Resolver sine 7 Resolver cosine 20 Resolver cosine 8 Resolver reference 21 Resolver reference 9 Sine encoder sine 22 Sine encoder sine 10 Sine encoder cosine 23 Sine encoder cosi...

Page 30: ...he user supplied 24 VDC 19 24 VDC User supplied 24V for I O biasing 2 Digital output 1 Opto isolated programmable digital output Read using OUT1 20 Digital input 2 Opto isolated programmable digital i...

Page 31: ...isolated programmable digital output Read using OUT2 16 Digital output 3 Fast opto isolated programmable digital output Read using OUT3 34 Reserved for future use 17 Reserved for future use 35 Analog...

Page 32: ...ing IN9 16 Digital input 10 Opto isolated programmable digital input Read using IN10 7 Digital input 11 Fast opto isolated programmable digital input Read using IN11 17 Digital output 4 Opto isolated...

Page 33: ...le 3 11 AC Input Voltage Interface Pin Pin Label Function 1 L1 AC Phase 1 2 L2 AC Phase 2 3 L3 AC Phase 3 4 L1C Logic AC Phase 1 5 LC2 Logic AC Neutral Table 3 12 AC Input Voltage Interface Mating Con...

Page 34: ...es on a network Each switch has 10 positions The upper switch positions are set as tens 10 20 30 90 The lower switch positions are set as ones 0 1 2 9 Note If two or more drives are connected to the n...

Page 35: ...flash 1 alternating and 1 indicating that the drive is operational but not yet configured Figure 3 13 LED Status Display The digital display provides various indications of drive operation such as ope...

Page 36: ...for use at each power up In general drives are shipped from the factory with motor parameters set to zero and application parameters set to their default values 4 2 ServoStudio Software ServoStudio is...

Page 37: ...various connection options Make the selections that match your setup 4 4 Enabling Disabling a Drive 4 4 1 Drive Enable The drive is enabled when three conditions exist as shown in Figure 4 1 No Fault...

Page 38: ...4 4 2 Operation Mode Codes Once the drive is ready for operation the 7 segment display shows a steadily lit single digit indicating the operation mode currently in effect Table 4 1 Operation Mode on...

Page 39: ...e lost During power up the CDHD loads parameter values from the flash memory to the RAM and a checksum of these parameter values is calculated If the checksum is invalid default parameter values which...

Page 40: ...ange If a parameter cannot be modified while the drive is enabled ServoStudio will prompt you to disable the drive While setting the parameters pay close attention to any warning or error messages dis...

Page 41: ...recovers automatically or by toggling drive from disable to enable Refer to VBUS UVMODE UVTIME and UVRECOVER in the VarCom Reference Manual 4 6 4 Motor The Motor screen allows you to select a motor fr...

Page 42: ...o allows you to monitor the state of all analog inputs 4 6 12 Enable The Enable screen displays the state of all conditions required for the drive to be enabled 4 6 13 Current Loop The current loop ga...

Page 43: ...tion For each parameter you can find a description units maximum value minimum value and current value In this screen you can also download parameters from the drive upload parameters to the drive loa...

Page 44: ...1 Preparation Important Before upgrading the firmware backup the drive parameters since parameter settings may be lost during the upgrade After the upgrade is completed the parameters can be reloaded...

Page 45: ...e is saved in a fault history log FLTHIST in the drive s non volatile memory so that the fault history is not lost when power is removed from the drive Warnings are not considered faults and do not di...

Page 46: ...record data from the drive with or without associated motion 6 4 Fault and Status Queries The following commands can be used to query the status of the drive FLT Returns a list of faults latched by th...

Page 47: ...roblem accessing the EEPROM on the power board Fatal fault drive cannot be operated Contact technical support e108 Vbus Measure Circuit Fail A failure occurred in the circuit that measures bus voltage...

Page 48: ...E is selected r15 Sin Cos Calibration Invalid The sine cosine calibration parameters are out of range This fault is related to resolver and sine encoder feedback Re execute the sine cosine calibration...

Page 49: ...ed r8 A B Out of Range Feedback analog signal is out of range This fault is related to resolver and sine encoder feedback The drive checks that the amplitudes of the sine and cosine signals are correc...

Page 50: ...CDHD Servo Drive User Manual Revision 0 2 Servotronix 21C Yagia Kapayim St POB 3919 Petach Tikva 49130 Israel Tel 972 3 927 3800 info servotronix com www servotronix com...

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