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Summary of Contents for CDHD2

Page 1: ...CDHD2 Servo Drive Operator Panel HMI Revision 1 0 Firmware Version 2 15 x...

Page 2: ......

Page 3: ...x Motion Control Ltd reserves the right to change the specifications of the product described in this manual without notice at any time Trademarks All marks in this manual are the property of their re...

Page 4: ...CDHD2 4 Operator Panel HMI...

Page 5: ...7 2 Operator Panel Parameter Mode____________________________________________ 12 3 Operator Panel Command Mode____________________________________________ 23 4 Operator Panel Monitoring Mode__________...

Page 6: ...CDHD2 6 Operator Panel HMI...

Page 7: ...ates and mode are not automatically displayed in the other Changes made from the panel might not appear in a ServoStudio task screen until the screen in refreshed exited and reopened When COMMODE 1 is...

Page 8: ...r Press continuously Quickly scrolls through ascending parameter indices Speed of scrolling increases the longer the key is pressed Value Increases value by one increment Down Parameter Press once Nav...

Page 9: ...ng fault codes and system information Refer to Operator Panel Faults Info Mode The drive remembers the last selected setting or value in each mode If one or more faults occurs while in Status Commands...

Page 10: ...on control using serial commands If COMMODE 1 Object 6061 P P 1 Profile Position mode P S 3 Profile Velocity mode P t 4 Profile Torque mode H H 6 Homing mode S P 8 Cyclic Synchronous Position mode S S...

Page 11: ...Power Up During power up the digital display shows 5 dashes This code is also displayed when the Ember switch is activated which sets the drive to serial communication Boot Up mode Ember Mode During t...

Page 12: ...sulting from parameter manipulation are indicated by E followed by a two or three digit error code Refer to Error Messages in the CDHD2 User Manual If CONFIG is required after a parameter value is ent...

Page 13: ...string First string integers up to 99999 Second string numerals in values up to 9 999 999 xxx Third string numerals in values up to 999 999 999 999 xxx Fourth string numerals in values up to 99 999 9...

Page 14: ...rive Operation Mode P 0 0 0 1 GEARMODE Gearing Operation Mode P 0 0 0 2 ADDR Drive Communication Address P 0 0 0 3 XENCRES External Encoder Resolution P 0 0 0 4 GEARIN Gear Ratio Numerator P 0 0 0 5 G...

Page 15: ...GAIN HD Maximum Adaptive Gain P 1 0 1 2 NLNOTCHCENTER HD Current Filter Notch Center P 1 0 1 3 NLNOTCHBW HD Current Filter Notch Bandwidth P 1 0 1 4 NLNOTCH2CENTER HD Current Filter 2nd Notch Center P...

Page 16: ...VFR Position Velocity Feedforward P 1 2 1 3 KPAFRC Position Acc FF to Current Loop P 1 2 1 4 KPAFRV Position Acceleration Feedforward P 1 2 1 5 Current Loop Gains Starting at index 1300 KCP Current KP...

Page 17: ...P 2 0 0 8 HALLSINV Hall Signals Inversion P 2 0 0 9 HALLSTYPE Hall Signals Type P 2 0 1 0 PHASEFINDMODE Phase Find Mode P 2 0 1 1 PHASEFINDI Phase Find Current P 2 0 1 2 PHASEFINDTIME Phase Find Dura...

Page 18: ...0 0 2 MIPEAK Motor Peak Current P 3 0 0 3 MSPEED Motor Maximum Speed P 3 0 0 4 MPOLES Motor Poles P 3 0 0 5 MPITCH Motor Pitch P 3 0 0 6 MKT Torque Constant P 3 0 0 7 MKF Torque Constant for Linear Mo...

Page 19: ...NV 11 Input Inversion input 11 P 4 0 2 1 OUTMODE 1 Output Mode output 1 P 4 0 2 2 OUTMODE 2 Output Mode output 2 P 4 0 2 3 OUTMODE 3 Output Mode output 3 P 4 0 2 4 OUTMODE 4 Output Mode output 4 P 4 0...

Page 20: ...1 MSQ Filter P 4 2 0 3 ANIN1FILTT1 Analog Input 1 MSQ Filter Depth P 4 2 0 4 ANIN1FILTT2 Analog Input 1 MSQ 1st 2nd Deriv P 4 2 0 5 ANIN1FILTVELFF Analog Input 1 MSQ 1st Deriv FF P 4 2 0 6 ANIN1LPFHZ...

Page 21: ...Gear Motor Shaft Scaling P 6 0 0 7 FBITIDX Fieldbus Interpolation Time Index P 6 0 0 8 FBITPRD Fieldbus Interpolation Time P 6 0 0 9 FBPLIGNORE Fieldbus Ignore Packet Loss Fault P 6 0 1 0 FBSCALE Fie...

Page 22: ...2 0 8 Faults Modes and Thresholds Starting at index 7300 UVMODE Under Voltage Mode P 7 3 0 0 UVRECOVER Under Voltage Recovery Mode P 7 3 0 1 UVTHRESH Under Voltage Threshold P 7 3 0 2 UVTIME Under Vo...

Page 23: ...s that follow When selecting entering a command 0 often flashes once in digit 1 This is standard behavior of the panel indicating a value can be entered Table 3 1 Command Codes Command VarCom Descript...

Page 24: ...Generator Advanced for vertical applications drive based 10 External Motion Generator Express controller based 11 External Motion Generator Advanced controller based 12 External Motion Generator Adva...

Page 25: ...0001 Press Shift Display n n s e t Press Long Shift Display Motor setup progress in number Done d o n e or an error code Clear Faults OK Code C 0 0 0 2 Command Clear Faults VarCom CLEARFAULTS Sequence...

Page 26: ...Done 0 0 0 0 0 Note The ServoStudio toolbar status bar might not accurately reflect change in Enable Disable state Use the ST command in Terminal to verify Jog Code C 0 0 0 4 Command Jog VarCom J Not...

Page 27: ...ng Shift Display joG8S jog motion stopped Press and hold Up key move motor at defined speed in positive direction Press and hold Down key to move motor at defined speed in negative direction Display j...

Page 28: ...lti turn Reset VarCom MTTURNRESET Sequence Select C0007 Press Shift Display d o n e or an error code Restore Factory Settings Code C 0 0 0 8 Command Restore Factory Settings VarCom FACTORYRESTORE Sequ...

Page 29: ...rror code Move Absolute Distance Code C 0 0 1 0 Command Move Absolute distance VarCom MOVEABS distance velocity Sets the distance argument Command uses velocity value set by JOGSPD1 Sequence Make sure...

Page 30: ...Set a value of 2 revolutions Press Long Shift Display i n c n n during movement Display d o n e or an error code Note value of movement revolution counts degrees Sets distance for movement Speed is se...

Page 31: ...splay P h a S e Press Shift Display Flashing 0 in digit 1 Press Long Shift Display d o n e or an error code Sine Cosine Calibration Code C 0 0 1 4 Command Sine Cosine Calibration VarCom SININIT Sequen...

Page 32: ...Command VarCom Description Code V Actual speed in rpm d 0 0 0 0 PFB Actual position in degrees d 0 0 0 1 PFB Actual position in revolutions d 0 0 0 2 I Current in amperes d 0 0 0 3 IN Digital inputs 1...

Page 33: ...0 0 0 2 0 negative motion 20 rpm Actual Position degrees Code d 0 0 0 1 Command Actual Position in degrees Description Shows the actual position of the motor as measured by the primary feedback in deg...

Page 34: ...its 4 3 2 integer value digit 1 decimal value DP1 is lit If number of revolutions 100 digits 4 3 integer value digits 2 1 decimal value DP2 and DP1 are lit If number of revolutions 10 digit 4 integer...

Page 35: ...sly 0 0 1 7 8 0 0 1 8 8 0 0 1 9 2 0 0 2 0 4 Digital Inputs 1 through 10 Code d 0 0 0 4 Command Digital Inputs State Description Indicates the state of digital inputs 1 through 10 Double height line on...

Page 36: ...ss d0005 Press Shift Examples Digital input 11 is on Digital input 11 is off Digital Outputs 1 through 7 Code d 0 0 0 6 Command Digital Outputs State Description Indicates the state of digital outputs...

Page 37: ...ption Object 6040h VarCom Not Applicable Sequence Press d0008 Press Shift Display h 0 0 0 0 for example Analog Input 1 Value Code d 0 0 0 9 Command Analog Input 1 Value Description Shows the value of...

Page 38: ...nal counts Code d 0 0 1 1 Command Hardware Position External Description Shows the position as measured by an external feedback device in counts VarCom HWPEXT Sequence Press d0011 Press Shift Display...

Page 39: ...es are displayed as a string in digits 4 3 2 and 1 as needed and do not flash If a fault remains in effect and a different display mode is selected the fault code characters will be displayed sequenti...

Page 40: ...Press Up Display Fe Note Since the same fault may have been triggered multiple times you may need to press the Up or Down key a number of times before the code changes Alternately press and hold the...

Page 41: ...nel HMI 41 FPGA Version Code F 0 0 0 2 Command Firmware Version VarCom VER Example FPGA Version 4 08 March 16 2017 Sequence Select F0002 Press Shift Display Press Shift Display Press Shift Display Pre...

Page 42: ...ess Up Display L6 Notes When displayed in Status mode multi character warning codes are displayed in sequence in digit 4 only When displayed in Faults Info mode multi character codes are displayed as...

Page 43: ......

Page 44: ...CDHD2 Servo Drive Operator Panel HMI 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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