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Chapter 1 - General description
CD1-k – Installation Guide
Chapter 1 – General description
1 - INTRODUCTION
CD1-k
all-digital amplifiers with sinusoidal PWM control are servo amplifiers that provide the control of brushless
AC motors with a position sensor.
The
CD1-k
amplifier is a stand-alone single-axis block including power supply unit and mains filters. It is available
in both 230 VAC and 400/480 VAC mains operated voltages.
2 - DESCRIPTION / COMPLIANCE WITH THE STANDARDS
2.1 - GENERAL DESCRIPTION
The CD1-k amplifier directly controls the motor torque and speed by means of the information provided by a high
resolution position sensor (resolver or encoder). The sinusoidal current commutation based on this high resolution
position sensor provides very smooth motor torque/force control.
The CD1-k amplifier can be configured for the feedback of various position sensor types. The appropriate position
sensor configuration is selectable by software and saved in the amplifier.
- With a resolver sensor feedback, the motor absolute position value over one revolution is available and the
servo motor can immediately be enabled after the amplifier power up.
- With a "SinCos tracks" sensor which provides two analog Sin and Cos signals electrically compliant with the
SinCos encoder signals and which period is equal to the motor pole pitch, the servo-motor can be immediately
enabled after the powering of the drive.
- With an absolute single-turn SinCos encoder feedback (Heidenhain ERN 1085 or compliant), the servo
motor can also immediately be enabled after the amplifier power up.
- With an incremental encoder only, a motor phasing procedure (
Phasing
) must be executed at each amplifier
power up before the motor enabling.
- With an incremental e Hall Effect Sensors (HES) feedback, the motor phasing procedure is no more
necessary and the servo motor can immediately be enabled after the amplifier power up.
- With an absolute single-turn, multi-turn or linear encoder using the ENDAT or HIPERFACE communication
protocols and fitted with incremental SinCos outputs, the servo-motor can also be immediately enabled after the
powering of the drive.
Series CD1-k amplifiers have their own DC/DC converter to provide appropriate logic voltage to the modules. An
auxiliary 24VDC +/- 15 % supply is generally available on all machines and supplies a DC/DC converter with all
logic supplies required by the amplifier. The auxiliary supply allows to keep the logic board on, after the power
supply has been switched off, in order to keep the position output and to avoid initializing the machine all over
again. A 24 VDC battery supply with specific wiring allows to keep the position even after switching off the
auxiliary 24 VDC supply. This wiring can be used for "absolute" operation with the CD1-k amplifier (
The power supply is depending on the amplifier type:
•
CD1-k-230/I: 230 VAC single-phase mains operation power supply or three-phase via a transformer or
an auto-transformer or three-phase mains operation if there are three-phase mains available in 200 to
230 VAC.
•
CD1-k-400/I: 400 to 480 VAC three-phase mains operated power supply.
A soft start system of the power supply allows to limit the inrush current at power on.
The very small dimensions of the CD1-k amplifier allow an optimum integration in 300 mm deep cabinets
(connectors included).
