Servotronix CDHD-003 Quick Start Manual Download

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CDHD Servo Drive

Quick Start Guide

Revision 5.4

DOC-CDHD-QSG-EN

Summary of Contents for CDHD-003

Page 1: ...CDHD Servo Drive Quick Start Guide Revision 5 4 DOC CDHD QSG EN...

Page 2: ......

Page 3: ...o part of this work may be reproduced or transmitted in any form or by any means without prior written permission of IMO Disclaimer The information in this manual was accurate and reliable at the time...

Page 4: ...d trademark of Dr Johannes Heidenhain GmbH HIPERFACE is a registered trademark of Sick Stegmann Gmbh Windows is a registered trademark of Microsoft Corporation Contact Information IMO Jeambrun Automat...

Page 5: ...1 CAN Communication 41 EtherCAT or PROFIBUS Communication 41 Host Computer C1 C7 42 Daisy Chain C8 43 Drive Address Switches 44 3 Power Board 120 240 VAC ______________________________________45 Overv...

Page 6: ...CDHD 6 Quick Start Guide...

Page 7: ...ices The CDHD utilizes hazardous voltages Be sure the drive is properly grounded Before you install the CDHD review the safety instructions in this manual The manual is available as a PDF file that ca...

Page 8: ...f NET 4 is not installed on the computer ServoStudio will guide you through the installation but will not install it automatically CDHD Installation Procedure Perform the following steps to install an...

Page 9: ...9 CDHD Dimensions and Mounting Using the bracket on the back of the CDHD mount the CDHD on a grounded conductive metal panel CDHD 1D5 CDHD 003 120 240 VAC Dimensions mm Note CDHD 003 has fan CDHD 4D5...

Page 10: ...Introduction CDHD 10 Quick Start Guide CDHD 008 CDHD 010 CDHD 013 120 240 VAC Dimensions mm CDHD 020 CDHD 024 120 240 VAC Dimensions mm...

Page 11: ...CDHD Introduction Quick Start Guide 11 CDHD 003 CDHD 006 400 480 VAC Dimensions mm CDHD 012 400 480 VAC Dimensions mm...

Page 12: ...Introduction CDHD 12 Quick Start Guide CDHD Wiring and Pin Assignments CDHD 1D5 CDHD 003 Servo System Wiring 120 240 VAC 1 Phase...

Page 13: ...CDHD Introduction Quick Start Guide 13 CDHD 1D5 CDHD 003 Pin Assignments 120 240 VAC...

Page 14: ...Introduction CDHD 14 Quick Start Guide CDHD 4D5 CDHD 006 Servo System Wiring 120 240 VAC 1 Phase...

Page 15: ...CDHD Introduction Quick Start Guide 15 CDHD 4D5 CDHD 006 Pin Assignments 120 240 VAC...

Page 16: ...Introduction CDHD 16 Quick Start Guide CDHD 008 CDHD 010 CDHD 013 Servo System Wiring 120 240 VAC 3 Phase...

Page 17: ...CDHD Introduction Quick Start Guide 17 CDHD 008 CDHD 010 CDHD 013 Pin Assignments 120 240 VAC...

Page 18: ...Introduction CDHD 18 Quick Start Guide CDHD 020 CDHD 024 Servo System Wiring 120 240 VAC 3 Phase...

Page 19: ...CDHD Introduction Quick Start Guide 19 CDHD 020 CDHD 024 Pin Assignments 120 240 VAC...

Page 20: ...Introduction CDHD 20 Quick Start Guide CDHD 003 CDHD 006 Servo System Wiring 400 480 VAC 3 Phase...

Page 21: ...CDHD Introduction Quick Start Guide 21 CDHD 003 CDHD 006 Pin Assignments 400 480 VAC...

Page 22: ...Introduction CDHD 22 Quick Start Guide CDHD 0012 Servo System Wiring 400 480 VAC 3 Phase...

Page 23: ...CDHD Introduction Quick Start Guide 23 CDHD 012 Pin Assignments 400 480 VAC...

Page 24: ...ital I Os connect a 24 VDC source to pin 19 Connect the return of the 24 VDC supply to pin 1 which functions as the ground path for the outputs Note AP AF Models The 24 VDC supply and return can be co...

Page 25: ...signal A RS422 5 Equivalent encoder output B Low side of the equivalent encoder output signal B RS422 23 Equivalent encoder output B High side of the equivalent encoder output signal B RS422 6 Equival...

Page 26: ...13 Ground Digital ground 31 Digital input 3 Opto isolated programmable digital input Read using IN3 14 Digital input 4 Opto isolated programmable digital input Read using IN4 32 Digital input 5 Fast...

Page 27: ...CDHD Control Board Quick Start Guide 27 Controller Interface Wiring Controller Interface Wiring AP AF Models...

Page 28: ...Control Board CDHD 28 Quick Start Guide Controller Interface Wiring EC PN Models...

Page 29: ...s The 24 VDC supply and return can be connected on either the Controller interface C2 or the Machine interface C3 but it is not necessary to connect it to both Notes EC PN Models Common output on the...

Page 30: ...dary encoder 14 Secondary encoder ground Ground of the 5 VDC supply for the secondary encoder 5 Digital input 7 Opto isolated programmable digital input Read using IN7 15 Digital input 8 Opto isolated...

Page 31: ...CDHD Control Board Quick Start Guide 31 Machine Interface Wiring Machine Interface Wiring AP AF Models...

Page 32: ...Control Board CDHD 32 Quick Start Guide Machine Interface Wiring EC PN Models...

Page 33: ...Motor Feedback Interface Pin Function Pin Function 1 Incremental encoder A 14 Incremental encoder A SSI encoder data SSI encoder data 2 Incremental encoder B 15 Incremental encoder B SSI encoder clock...

Page 34: ...every power up the phase find procedure must be executed F Encoder backup battery is external to the CDHD drive Voltage must be more than 3 6 VDC The recommended battery is lithium ER3V 3 6V 1000mAh...

Page 35: ...ncoder A 2 Twisted Pair Incremental Encoder B 15 Incremental Encoder B 3 Twisted Pair Incremental Encoder Z 16 Incremental Encoder Z 4 Hall U 17 Hall V 5 Hall W 12 Twisted Pair Motor Temperature Senso...

Page 36: ...ed Pair Incremental Encoder B Hall V 15 Incremental Encoder B Hall V 3 Twisted Pair Incremental Encoder Z Hall W 16 Incremental Encoder Z Hall W 11 5 VDC 24 0 VDC 26 Shield Notes B D Feedback Wiring S...

Page 37: ...der with Index Pin Twisted Pair User Motor Pin Signal Description 9 Twisted Pair Sine Encoder Sine 22 Sine Encoder Sine 10 Twisted Pair Sine Encoder Cosine 23 Sine Encoder Cosine 3 Twisted Pair Sine E...

Page 38: ...Twisted Pair Sine Encoder Sine 22 Sine Encoder Sine 10 Twisted Pair Sine Encoder Cosine 23 Sine Encoder Cosine 11 5 VDC 24 0 VDC 26 Shield Note B Feedback Wiring Sick 8V Hiperface Protocol and Sine S...

Page 39: ...at 2 1 Protocol and Sine Signals Pin Twisted Pair User Motor Pin Signal Description 1 Twisted Pair SSI Data 14 SSI Data 2 Twisted Pair SSI Clock 15 SSI Clock 9 Twisted Pair Sine Encoder Sine 22 Sine E...

Page 40: ...attery Ground Notes B F Feedback Wiring Incremental Tamagawa 17 bit Single Turn Pin Twisted Pair User Motor Pin Signal Description 1 Twisted Pair Serial Data 14 Serial Data 11 5 VDC 24 0 VDC 26 Shield...

Page 41: ...ilar tool to set the switch position Towards T default 120 termination resistor not in use Away from T Used when the drive is the last drive in a chain The drive provides the 120 termination resistor...

Page 42: ...her one of the following interfaces USB port The interface is labeled C1 on all CDHD models Exception AP models do not have a USB port Use a USB 2 0 A to Mini B cable RS232 port The interface is label...

Page 43: ...t be daisy chained through the C8 connector Each drive must have a unique address to enable its identification on the network A daisy chained drive can be assigned an address from 1 to 99 by setting t...

Page 44: ...Use a small slotted screwdriver or similar tool to set the switches 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...

Page 45: ...mplete Safe Torque Off STO P1 STO uses interface P1 on all CDHD 120 240 VAC models Safe torque off STO is a safety function that prevents the drive from delivering power to the motor which can generat...

Page 46: ...art Guide Motor P2 Motor uses interface P2 on all CDHD 120 240 models Exception Motor uses P4 on CDHD 020 024 Motor Interface Pin Pin Label Function 1 PE Protective ground motor housing 2 U Motor Phas...

Page 47: ...0 024 Note On models CDHD 1D5 and CDHD 003 Regen and AC Input Voltage are combined on one connector If the application requires a regeneration regen resistor connect the regen resistor between termina...

Page 48: ...a connector for bus power uses interface P3 and another connector for logic power uses interface P2 Make the following connections 1 Connect the AC input voltage ground wire to the PE terminal locate...

Page 49: ...Phase 1 6 LC2 Logic AC Neutral CDHD 4D5 CDHD 006 Pin Pin Label Function P4 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 CDHD 008 CDHD 010 CDHD 013 Pin...

Page 50: ...power until all hardware connections are complete Safe Torque Off STO P1 STO uses interface P1 on all CDHD 400 480 VAC models Safe torque off STO is a safety function that prevents the drive from deli...

Page 51: ...uses interface P2 on all CDHD 400 480 VAC models This interface is used to connect an external power supply 24V 3 15A max that provides the logic voltage to the control board and to the motor brake c...

Page 52: ...ire to the PE terminal located on the CDHD front panel Use an M4 ring or spade terminal 2 Connect L1 L2 and L3 for the AC power input 3 If the application requires a regeneration regen resistor connec...

Page 53: ...VAC Quick Start Guide 53 Brake P4 Brake uses interface P4 on all CDHD 400 480 VAC models This is the power output for the electric motor brake system Brake Interface Pin Pin Label Function 1 BR Motor...

Page 54: ...ower Board 400 480 VAC CDHD 54 Quick Start Guide Motor P5 Motor uses interface P5 on all 400 480 VAC models Motor Interface Pin Pin Label Function 1 U Motor Phase U 2 V Motor Phase V 3 W Motor Phase W...

Page 55: ...e the drive is connected to the host computer on the USB port Windows detects the device and displays a Found New Hardware wizard Browse to and select the Drivers folder The path will vary depending o...

Page 56: ...ns of drive operation such as operation modes drive enable status and fault conditions For more information refer to the section Drive Status Drive Configuration 1 In ServoStudio select the Setup Wiza...

Page 57: ...current loop tuning At2 procedures three characters are displayed in sequence The state of the software and hardware limit switches are indicated by a sequential display of characters L1 L2 L3 L4 Duri...

Page 58: ...ycled Contact technical support 1 Fault Not Configured Drive configuration required Set drive parameters and execute CONFIG 5 Fault Motor Setup Failed Motor Setup procedure failed MOTORSETUPST will sh...

Page 59: ...lated offsets for the current sensors are out of range Reset faults If the fault persists the drive probably needs repair Contact technical support e120 Fault FPGA Version Mismatch FPGA version does n...

Page 60: ...itch is open Negative hardware limit switch is activated L3 Warning Hardware positive and negative limit switches are open Positive and negative hardware limit switches are both activated L4 Warning S...

Page 61: ...ult is related to resolver and sine encoder feedback Re execute the sine cosine calibration process r16 Fault Feedback 5V Over Current The current supplied by the drive on the 5V primary encoder suppl...

Page 62: ...nected One of the motor phases is disconnected The current of one of the motor phases is effectively zero for more than 160 electrical degrees while the current command is greater than 100 Check the w...

Page 63: ...perature on the power board has exceeded the preset limit Check if the ambient temperature exceeds the drive specification Otherwise contact technical support t2 Fault Power Module Over Temperature Th...

Page 64: ...Name Description Action Required Warning HIPERFACE Device Unknown HIPERFACE encoder type information is not recognized Contact technical support Warning Phase Find Required Phase difference is requir...

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Page 66: ...CDHD Servo Drive Quick Start Guide DOC CDHD QSG EN Rev 5 4 IMO Jeambrun 30 Rue de Rocory 94100 Saint Maur Des Fosses France Tel 8000 912 712 imo fr imopc com www imopc com...

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