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Table of Contents
Related Manuals for Servotronix CDHD
Summary of Contents for Servotronix CDHD
- Page 1 CDHD Servo Drive User Manual Revision 0.2 PRELIMINARY RELEASE...
- Page 3 Fax: +972 (3) 922 8075 Website: www.servotronix.com Technical Support If you need assistance with the installation and configuration of the CDHD drive, contact Servotronix technical support: tech.support@servotronix.com Customer Service Servotronix is committed to delivering quality customer service and support for all our products.
- Page 4 During the warranty period, the owner must pay the cost of shipping the product to the factory for repair, and Servotronix will pay for shipping the repaired product to the customer. After the warranty period has expired, all shipping costs will be the responsibility of the customer.
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Page 5: Table Of Contents
CDHD Contents Introduction ________________________________________________ 1 Documentation ..................1 1.1.1 About This Manual ................1 1.1.2 Documentation Set for CDHD ............. 1 Safety ...................... 1 1.2.1 Safety Symbols ................1 1.2.2 Safety Instructions ................2 Standards Compliance ................2 1.3.1 General Information ................. 2 1.3.2 CE Compliance ................. - Page 6 CDHD Managing Drive Parameters ............... 33 Configuring Parameters Using ServoStudio ..........34 4.6.1 Tuning and Testing ................34 4.6.2 Drive Info ..................35 4.6.3 Power .................... 35 4.6.4 Motor ..................... 35 4.6.5 Foldback ..................35 4.6.6 Units....................35 4.6.7 Feedback ..................35 4.6.8 Motion ...................
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Page 7: Introduction
The CDHD utilizes hazardous voltages. Be sure the drive is properly grounded. Before you install the CDHD, review the safety instructions in this manual. Failure to follow the safety instructions may result in personal injury or equipment damage. -
Page 8: Safety Instructions
Standards Compliance 1.3.1 General Information The CDHD has been successfully tested and evaluated according to standards IEC 61800-5-1 and UL 508C. This testing outlines the minimum requirements for electrically operated power conversion equipment (frequency converters and servo amplifiers), which are intended to eliminate the risk of fire, electric shock, or injury to persons. -
Page 9: Ce Compliance
UL 508C references UL 840, which describes the achievement by design of air and insulation creepage spacings for electrical equipment and printed circuit boards. The CDHD provides overload protection and current limit control. The drive is intended for operation in pollution level 2 environment. -
Page 10: Unpacking
Open the package(s) and remove all packing materials and items. The package contains two items: • The CDHD drive • A packet of mating connectors for the power connectors. Check to ensure there is no visible damage to any of the equipment. If damage is detected, notify the carrier immediately. -
Page 11: Product Description
Product Description Product Description Overview 2.1.1 General Description The CDHD is a full-featured, high-performance servo drive featuring innovative technologies and industry-leading power density. Key features of the CDHD include: Support for rotary and linear brushless DC motors, and DC brush motors. -
Page 12: Technical Specifications
Product Description CDHD 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) Figure 2-2. CDHD-006 Dimensions (in mm) Servotronix... -
Page 13: Mechanical And Electrical Specifications - 200V
CDHD Product Description 2.2.2 Mechanical and Electrical Specifications - 200V Specification Single and Three- CDHD- CDHD- CDHD- CDHD- Phase 200V Ratings Input Power Main Circuit Voltage (VAC Line-Line) Nominal 110 to 110 to 110 to 230 110 to 230 (L1, L2, L3) ±10%... -
Page 14: Mechanical And Electrical Specifications - 400V
Product Description CDHD Single and Three- Specification CDHD- CDHD- CDHD- CDHD- Phase 200V Power Temperature Power Over-Temperature Warning (°C) Power Over-Temperature Fault (°C) Trigger Temperature for High- speed Fan (°C) Regen External Regenerative resistor (B1+, B2) Peak current (A) External Shunt Regulator Minimum resistance (Ω) - Page 15 CDHD Product Description Three-Phase 400V Specification CDHD-003 CDHD-006 Hardware Unit Weight (kg) Connection Hardware PE Ground Screw Size/Torque Wire Size Control Circuit (AWG) up to 3 meter Main Circuit Motor Lines (AWG) Main Circuit AC Inputs (AWG) PE Ground Screw...
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Page 16: Control Specifications
Product Description CDHD 2.2.4 Control Specifications Feature Specification Motors DC Brushless, DC Brush Rotary Servomotors, Linear Servomotors Operation Mode Selectable Modes Serial current, Analog current, Serial velocity, Analog velocity, Pulse and direction position Current Control Performance Update rate 31.25 μs (32 kHz), Bandwidth 3 kHz, Output... -
Page 17: Protective Functions And Environment
CDHD Product Description 2.2.5 Protective Functions and Environment Feature Specification Protective Functions Under- and over-voltage, Drive and motor over-temperature, Foldback, Feedback lost, Safety function (STO) Compliance Standard UL - UL508c CE - EC EMC (Electromagnetic Compatibility) IEC61800-3, EC Electrical Safety Low Voltage Directive IEC61800-5-1... -
Page 18: I/Os
Product Description CDHD 2.2.7 I/Os Feature Specification First Analog Input Voltage Range ±10 VDC differential Input Resolution 16 bit (14-bit on version with two analog inputs) Input Impedance 8 kΩ (when using two analog inputs 20k Ω.) Second Analog Input (optional) Voltage Range ±10 VDC differential 14 bit... -
Page 19: Motor Feedback
CDHD Product Description 2.2.8 Motor Feedback Motor Feedback Specification General Supply Voltage from Drive 5 VDC Max. Supply Current from Drive 250 mA Max. Cable Length AWG 28 – 3 m AWG 24 – 10 m Incremental Encoder Signal A-quad-B with or without marker/Halls,... -
Page 20: System Wiring - Pin Assignments
Product Description CDHD System Wiring - Pin Assignments Figure 2-3. Pin Assignments Servotronix... -
Page 21: Installation
Mating connectors and the associated crimp pins for interfaces P1, P2, P3 and P4; these are supplied with the CDHD drive. The mating connector for P1 (STO) is supplied pre-assembled with e STO bypassed via wire jumpers. Mating connectors for interfaces C2, C3 and C4: ... -
Page 22: Computer Requirements
Installation CDHD Crimping tools, if you are not using ready-made cable assemblies: Connector P1 (STO): Molex crimper 0638190000 Connectors P2 (Motor Power), P3 (Regen) and P4 (AC Input): JST crimper YRF-1070. If a crimp pin extraction tool is needed, use JST extraction tool EJ-JFA J3. - Page 23 CDHD Installation Figure 3-1. CDHD servo system wiring, using single-phase 230 VAC User Manual...
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Page 24: Electrical Requirements
Phoenix Contact (and others). CE Filtering Techniques The CDHD drive system (bus module, drive, motor) complies with the CE standards specified in the section Standards Compliance. Proper bonding and grounding techniques must be applied when incorporating EMC noise filtering components in order to meet this standard. - Page 25 CDHD Installation Input Power Filtering The CDHD electronic system components require EMI filtering in the input power leads to meet the conducted emission requirements for the industrial environment. This filtering blocks conducted type emissions from exiting onto the power lines and provides a barrier for EMI on the power lines.
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Page 26: Mechanical Installation
I/O ports in close proximity. Mechanical Installation 3.3.1 Mount the CDHD Using the bracket on the back of the CDHD, mount the CDHD on a grounded conductive metal panel. For mounting dimensions, refer to Figure 2-1. Electrical Installation 3.4.1 Connect Motor (P2) -
Page 27: Connect Sto (P1)
Safe torque off (STO) is a safety function that prevents the drive from delivering power to the motor, which can generate torque. STO Enable and STO Return must be connected to enable CDHD operation. The STO Enable signal voltage must be 24 VDC. -
Page 28: Connect Regen (P3)
Pins 11 and 13 for 5V to the encoder are used in digital board revision 0. Pin 18 can be used only in digital board revision 1 and later. Pin 25 for the motor temperature sensor is connected internally in the drive to CDHD ground. Unused pins must remain unwired. Servotronix... - Page 29 CDHD Installation Figure 3-5. Motor Feedback Interface Table 3-8. Motor Feedback Interface Function Function Incremental encoder A + Incremental encoder A - or SSI encoder data + or SSI encoder data - Incremental encoder B + Incremental encoder B -...
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Page 30: Connect Controller I/Os (C2)
Installation CDHD 3.4.5 Connect Controller I/Os (C2) Wire the digital and analog inputs and outputs according to the requirements of your application. Wire the digital and analog inputs and outputs according to the requirements of your application. Unused pins must remain unwired. -
Page 31: Connect Machine I/Os (C3)
CDHD Installation Pin Function Description Pin Function Description Direction High side of the direction Direction Low side of the direction input+ signal (RS422) input- signal (RS422) Ground Digital ground Pulse input+ High side of the pulse signal (RS422) Pulse input-... -
Page 32: Connect Ac Input Voltage (P4)
If the main voltage is from a three-phase source, connect the phases to L1, L2 and L3. Connect the AC input voltage ground wire to the PE terminal, located on the CDHD front panel. Use an M4 ring or spade terminal. Figure 3-8. Ground Terminals Servotronix... -
Page 33: Set The Drive Address
14–16 AWG Set the Drive Address The CDHD has two 10-pole rotary switches, accessible from the front of the unit. The switches are used to set the drive address. When there is more than one drive on a daisy-chain or CANbus network, each drive must have a unique address to enable its identification on the network. -
Page 34: Connect To Pc (C1 Or C7)
Installation CDHD Use the two rotary switches to set the drive address for both CAN and serial communication. For Ethernet-based motion buses, the switch has no functional use for either the drive or the network. It can be used at the application level to identify specific drives on a network. -
Page 35: Power Up
Power Up After completing the hardware connections, turn on power to the drive. Look at the 7-segment display on the CDHD front panel. Upon initial power up, the status display should flash -1 (alternating “-” and “1”), indicating that the drive is operational, but not yet configured. -
Page 36: Configuration And Operation
CDHD VarCom Reference Manual. Some variables are read-only, while others allow read/write access. Variables can be stored in the CDHD’s non-volatile memory (flash memory) 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. -
Page 37: Connecting To A Drive
The commands EN and DIS set the Software Enable state of the drive. For the CDHD analog version, Software Enable is on at power up, which allows the drive’s enable state to be controlled by the Remote Enable signal. -
Page 38: Operation Mode Codes
Configuration and Operation CDHD Remote (Hardware) Enable This is a signal in the range of 5—24 VDC that is applied to one of the opto- isolated digital inputs in the Controller I/O connector. The input must be configured for use as the Remote (Hardware) Enable input, using INMODE. -
Page 39: Managing Drive Parameters
CDHD Configuration and Operation Managing Drive Parameters The CDHD drive has two types of memory for storing the drive’s parameters: Flash: Non-volatile memory. It holds the drive’s default parameter values (contained within the drive’s firmware), as well as the saved set of parameters. -
Page 40: Configuring Parameters Using Servostudio
CDHD drive. Figure 4-2. Drive Memory Architecture For more information on the commands for saving and loading parameters, refer to the CDHD VarCom Reference Manual. Configuring Parameters Using ServoStudio Disable the drive before manipulating motor and feedback parameters. -
Page 41: Drive Info
CDHD Configuration and Operation 4.6.2 Drive Info The Drive Info screen displays basic information about the CDHD, such as current rating, hardware version and firmware version. It is important to provide this information to Servotronix Technical Support when asking for assistance. -
Page 42: Motion
Configuration and Operation CDHD The Feedback screen also allows you to activate the encoder simulation output and set its resolution. 4.6.8 Motion The Motion screen allows you to choose the operation mode and to set the relevant motion settings. It also allows you to execute motion and to view the actual current, velocity and position of the motor. -
Page 43: Faults
CDHD Configuration and Operation 4.6.18 Faults The Faults screen shows a list of drive faults. This information allows you to identify problems and take measures to correct them. 4.6.19 Parameters Table The Parameters Table displays and allows you to modify the drive parameters. -
Page 44: Firmware Upgrade
Firmware Upgrade CDHD Firmware Upgrade The CDHD firmware can be upgraded using the ServoStudio software. 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/restored. -
Page 45: Troubleshooting
Refer to Table 6-1 for a complete list of fault codes, names and descriptions. Faults and Warnings If the CDHD is connected to a host computer via the USB or RS232 ports, it communicates fault codes to the computer by means of a text message. This message is saved in a fault history log (FLTHIST) in the drive’s non-volatile... -
Page 46: Status Information In Servostudio
Status Information in ServoStudio Drive status information can be found in various ServoStudio screens. The Drive Info screen shows basic information about the CDHD, such the current rating, hardware version and firmware version. It is important to communicate this information to Servotronix Technical Support when requesting assistance. - Page 47 CDHD Troubleshooting Table 6-1. Faults Display Fault Name Description Action Required Watchdog Fault Contact technical support. ≡ Generally occurs due to an unforeseen circumstance. The drive is inoperable until power is cycled. Not Configured Drive configuration required. Set drive parameters and execute CONFIG.
- Page 48 Invalid parameters are out of range. This process. fault is related to resolver and sine encoder feedback. The CDHD can source a maximum Feedback 5V Over- The current supplied by the drive on Current the 5V primary encoder supply has current of 250 mA to the primary exceeded the preset current limit.
- Page 49 CDHD Troubleshooting Display Fault Name Description Action Required Phase Find Failed Commutation initialization has Check whether the motor feedback failed. This fault occurs in systems type and the phase-finding parameters that do not have commutation are set correctly for the application.
- 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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