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Servotronix CDHD-1D5 Quick Start Manual

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CDHD Servo Drive
Quick Start Guide
Revision 5.4
DOC-CDHD-QSG-EN

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Summary of Contents for Servotronix CDHD-1D5

  • Page 1 CDHD Servo Drive Quick Start Guide Revision 5.4 DOC-CDHD-QSG-EN...
  • Page 3 CDHD Revision Firmware Software (GUI) Revision Revision 1.3.2 1.3.2.3 Important Notice © 2013 IMO Precision Controls Ltd. All rights reserved. No 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 of its release.
  • Page 4 94100 Saint Maur Des Fosses, France Tel: +8000 912 712 Fax: +8000 452 6445 Website: www.imopc.com Technical Support If you need assistance with the installation and configuration of the CDHD drive, contact Servotronix technical support: imo-fr@imopc.com Part Number Quick Start Guide...

  • Page 5: Table Of Contents

    CDHD Contents 1 Introduction __________________________________________________ 7 CDHD Documentation ..................7 Safety ......................7 Required Hardware and Tools ................7 Required Computer System ................8 CDHD Installation Procedure ................8 CDHD Dimensions and Mounting ................. 9 CDHD Wiring and Pin Assignments ..............12 2 Control Board _________________________________________________ 24 Overview ......................
  • Page 6 CDHD Quick Start Guide...

  • Page 7: Introduction

    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 can be downloaded from the Servotronix website. Failure to follow the safety instructions may result in personal injury or equipment damage.

  • Page 8: Required Computer System

    Introduction CDHD Required Computer System The following computer system and software are required: 2 GHz CPU 1 MB RAM 1000 MB available on hard drive (after .net 4 is installed) USB or RS232 port for connecting to the drive, according to CDHD model. Operating system: Windows XP-SP3, or Windows 7 ServoStudio, the graphical software interface for configuring and testing the drive.

  • Page 9: Cdhd Dimensions And Mounting

    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/CDHD-006 – 120/240 VAC - Dimensions (mm)
  • Page 10 Introduction CDHD CDHD-008/CDHD-010/CDHD-013 – 120/240 VAC - Dimensions (mm) CDHD-020/CDHD-024 – 120/240 VAC - Dimensions (mm) Quick Start Guide...
  • Page 11 CDHD Introduction CDHD-003/CDHD-006 – 400/480 VAC - Dimensions (mm) CDHD-012 - 400/480 VAC - Dimensions (mm) Quick Start Guide...

  • Page 12: Cdhd Wiring And Pin Assignments

    Introduction CDHD CDHD Wiring and Pin Assignments CDHD-1D5/CDHD-003 – Servo System Wiring –120/240 VAC, 1-Phase Quick Start Guide...
  • Page 13 CDHD Introduction CDHD-1D5/CDHD-003 – Pin Assignments – 120/240 VAC Quick Start Guide...
  • Page 14 Introduction CDHD CDHD-4D5/CDHD-006 – Servo System Wiring – 120/240 VAC, 1-Phase Quick Start Guide...
  • Page 15 CDHD Introduction CDHD-4D5/CDHD-006 – Pin Assignments – 120/240 VAC Quick Start Guide...
  • Page 16 Introduction CDHD CDHD-008/CDHD-010/CDHD-013 – Servo System Wiring – 120/240 VAC, 3-Phase Quick Start Guide...
  • Page 17 CDHD Introduction CDHD-008/CDHD-010/CDHD-013 – Pin Assignments – 120/240 VAC Quick Start Guide...
  • Page 18 Introduction CDHD CDHD-020/CDHD-024 – Servo System Wiring – 120/240 VAC, 3-Phase Quick Start Guide...
  • Page 19 CDHD Introduction CDHD-020/CDHD-024 – Pin Assignments – 120/240 VAC Quick Start Guide...
  • Page 20 Introduction CDHD CDHD-003/CDHD-006 – Servo System Wiring – 400/480 VAC, 3-Phase Quick Start Guide...
  • Page 21 CDHD Introduction CDHD-003/CDHD-006 – Pin Assignments – 400/480 VAC Quick Start Guide...
  • Page 22 Introduction CDHD CDHD-0012 – Servo System Wiring – 400/480 VAC, 3-Phase Quick Start Guide...
  • Page 23 CDHD Introduction CDHD-012 – Pin Assignments – 400/480 VAC Quick Start Guide...

  • Page 24: Control Board

    Control Board CDHD Control Board Overview The control board has the same interfaces on all CDHD models: USB Communication – C1 (Exception: AP models do not have a USB port.) Controller I/Os – C2 Machine I/Os – C3 Motor Feedback – C4 Fieldbus Devices (optional) –...
  • Page 25 CDHD Control Board Controller I/O Interface Pin Function Description Pin Function Description 24 VDC AP/AF Models: Return of 24 VDC AP/AF Models: User return the user-supplied 24 VDC supplied 24V, for I/O biasing Common EC/PN Models Common EC/PN Models output input Digital Opto-isolated...
  • Page 26 Control Board CDHD Pin Function Description Pin Function Description Ground Digital ground Pulse High side of the pulse input+ signal (RS422), or High side of the master encoder signal A, or High side of the up count signal Secondary High side of the encoder A+ secondary encoder input signal A (RS422)

  • Page 27: Controller Interface Wiring

    CDHD Control Board Controller Interface Wiring Controller Interface Wiring – AP/AF Models Quick Start Guide...
  • Page 28 Control Board CDHD Controller Interface Wiring – EC/PN Models Quick Start Guide...

  • Page 29: Machine I/Os - C3

    CDHD Control Board Machine I/Os – C3 Machine I/Os are connected through interface C3 on all CDHD models. Wire the machine inputs and outputs according to the requirements of your application. Unused pins must remain unwired. To preserve isolation of the digital I/Os, connect a 24 VDC source to pin 9. Connect the return of the 24 VDC supply to pin 19, which functions as the ground path for the outputs.
  • Page 30 Control Board CDHD Machine I/O Interface Pin Function Description Pin Function Description Secondary High side of the Secondary Low side of the encoder A+ secondary encoder input encoder A- secondary encoder input signal A (RS422) signal A (RS422) Pulse input+ High side of the pulse Pulse input- Low side of the pulse signal signal...

  • Page 31: Machine Interface Wiring

    CDHD Control Board Machine Interface Wiring Machine Interface Wiring – AP/AF Models Quick Start Guide...
  • Page 32 Control Board CDHD Machine Interface Wiring – EC/PN Models Quick Start Guide...

  • Page 33: Motor Feedback - C4

    CDHD Control Board Motor Feedback – C4 Motor Feedback uses interface C4 on all CDHD models. Wire the motor feedback interface according to the type of feedback device to be used in your application. Refer to the guidelines following the pinout table below. Pins 1, 2, 14 and 15 have dual functionality.

  • Page 34: Feedback Wiring Guidelines

    Control Board CDHD Feedback Wiring Guidelines The following tables present the most common feedback variations. If your motor feedback does not match any one of the following, contact technical support. The tables present the wiring pin layout. Use the User Motor Pin# column in these tables to record the pin numbers of your specific motor for future reference.
  • Page 35 CDHD Control Board Feedback Wiring - Incremental Encoder A Quad B Index Pulse and Halls Pin # Twisted Pair User Motor Pin# Signal Description Incremental Encoder A+ Twisted Pair Incremental Encoder A- Incremental Encoder B+ Twisted Pair Incremental Encoder B- Incremental Encoder Z+ Twisted Pair Incremental Encoder Z-...
  • Page 36 Control Board CDHD Feedback Wiring - Incremental Tamagawa Pin # Twisted Pair User Motor Pin# Signal Description Incremental Encoder A+ / Hall U+ Twisted Pair Incremental Encoder A- / Hall U- Incremental Encoder B+ / Hall V+ Twisted Pair Incremental Encoder B- / Hall V- Incremental Encoder Z+ / Hall W+...
  • Page 37 CDHD Control Board Feedback Wiring - Sine Encoder with Halls Pin # Twisted Pair User Motor Pin# Signal Description Sine Encoder Sine+ Twisted Pair Sine Encoder Sine- Sine Encoder Cosine+ Twisted Pair Sine Encoder Cosine- Hall U Hall V Hall W +5 VDC 0 VDC Shield...
  • Page 38 Control Board CDHD Hall V Hall W +5 VDC 0 VDC Shield Note: B Feedback Wiring – Sick 5V (Hiperface Protocol and Sine Signal) Pin # Twisted Pair User Motor Pin# Signal Description SSI Data + Twisted Pair SSI Data - Sine Encoder Sine+ Twisted Pair Sine Encoder Sine-...
  • Page 39 CDHD Control Board Feedback Wiring – Heidenhain (EnDat 2.2 Protocol) Pin # Twisted Pair User Motor Pin# Signal Description SSI Data + Twisted Pair SSI Data - SSI Clock + Twisted Pair SSI Clock - +5 VDC 0 VDC Shield Note: B Feedback Wiring –...
  • Page 40 Control Board CDHD Feedback Wiring - Nikon 17-bit Multi Turn Pin # Twisted Pair User Motor Pin# Signal Description Serial Data + Twisted Pair Serial Data - +5 VDC 0 VDC Shield Battery Voltage Battery Ground Notes: B, F Feedback Wiring - Incremental Tamagawa 17-bit Single Turn Pin # Twisted Pair User Motor Pin# Signal Description Serial Data + Twisted Pair...

  • Page 41: Fieldbus Devices - C5 And C6

    CDHD Control Board Fieldbus Devices – C5 and C6 All CDHD models have the same RJ45 connectors. CAN Communication Note the Termination Resistor switch located on the top of the drive next to the daisy chain connector (C8). Use a small slotted screwdriver or similar tool to set the switch position: Towards T (default): 120Ω...

  • Page 42: Host Computer - C1, C7

    Control Board CDHD Host Computer – C1, C7 On all CDHD models the drive can be connected to the host computer through either 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.

  • Page 43: Daisy Chain - C8

    CDHD Control Board Daisy Chain – C8 The CDHD can be addressed and controlled on a daisy-chained RS-232 line. In a daisy-chain RS-232 configuration, all drives must be daisy-chained through the C8 connector. Each drive must have a unique address to enable its identification on the network.

  • Page 44: Drive Address Switches

    Control Board CDHD Drive Address Switches On all CDHD models, two rotary switches are used to set the drive address for both CAN and serial communication. 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 …...

  • Page 45: Power Board 120/240 Vac

    CDHD Power Board 120/240 VAC Power Board 120/240 VAC Overview On most CDHD 120/240 VAC models, the power board has the following interfaces: STO – P1 Motor – P2 (P4 on CDHD-020/024) Regeneration Resistor – P3 (P5 on CDHD-020/024) AC Input Voltage – P3, P4 (P2, P3 on CDHD-020/024) Make sure the main voltage rating matches the drive specification.

  • Page 46: Motor - P2

    Power Board 120/240 VAC CDHD Motor – P2 Motor uses interface P2 on all CDHD 120/240 models. Exception: Motor uses P4 on CDHD-020/024. Motor Interface Pin Label Function Protective ground (motor housing) Motor Phase U Motor Phase V Motor Phase W Quick Start Guide...

  • Page 47: Regeneration Resistor - P3

    Regen uses interface P3 on all CDHD 120/240 VAC models. Exception: Regen uses P5 CDHD-020/024. 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 terminals B1+ and B2.

  • Page 48: Ac Input - P3, P4, P5

    AC Input – P3, P4, P5 The AC Input interfaces and connectors vary among CDHD 120/240 VAC models. CDHD-1D5 and CDHD-003: One connector for bus power and logic power uses interface P3. CDHD-4D5 and CDHD-006: One connector for bus power and logic power uses interface P4.
  • Page 49 CDHD Power Board 120/240 VAC AC Input Voltage Interface Note: On models CDHD-1D5 and CDHD-003, Regen and AC Input Voltage are combined on one connector. CDHD-1D5 CDHD-003 Pin Label Function AC Phase 1 AC Phase 2 Logic AC Phase 1...

  • Page 50: Power Board 400/480 Vac

    Power Board 400/480 VAC CDHD Power Board 400/480 VAC Overview On all CDHD 400/480 VAC models, the power board has the following interfaces: STO – P1 Logic Power 24 VDC – P2 AC Input and Regeneration – P3 Brake – P4 Motor –...

  • Page 51: Logic Power 24V Input - P2

    CDHD Power Board 400/480 VAC Logic Power 24V Input – P2 Logic Power 24V 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 circuit.

  • Page 52: Ac Input And Regeneration Resistor - P3

    Power Board 400/480 VAC CDHD AC Input and Regeneration Resistor – P3 AC Input and Regen Resistor use interface P3 on all CDHD 400/480 VAC models. Connect the AC input voltage ground wire to the PE terminal, located on the CDHD front panel.

  • Page 53: Brake - P4

    CDHD Power Board 400/480 VAC 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 Label Function Motor Brake + Motor Brake - Quick Start Guide...

  • Page 54: Motor - P5

    Power Board 400/480 VAC CDHD Motor – P5 Motor uses interface P5 on all 400/480 VAC models: Motor Interface Pin Label Function Motor Phase U Motor Phase V Motor Phase W Quick Start Guide...

  • Page 55: Software

    CDHD Software Software ServoStudio Installation Use ServoStudio software to configure the drive for your application. Install ServoStudio on the host computer. When installation is complete, start ServoStudio. Power Up After completing the hardware connections, turn on power to the drive. The first time the drive is connected to the host computer on the USB port, Windows detects the device and displays a Found New Hardware wizard.

  • Page 56: Drive Configuration

    Software CDHD Upon initial power up, the status display shows a flashing e, indicating that drive parameters are not yet configured. This fault will be cleared once the drive is configured. The digital display provides various indications of drive operation, such as operation modes, drive enable status, and fault conditions.

  • Page 57: Drive Status

    CDHD Drive Status Drive Status The 7-segment display provides various indications of drive status, such as operation modes, drive enable status, and fault conditions. The display uses the following conventions: Decimal point –Enable/Disable status; if displayed, the drive is enabled. Steadily lit digit –...

  • Page 58: Warning And Fault Codes

    Drive Status CDHD Display Name Description Drive Drive Enabled Disabled OPMODE 4 Master/slave gearing control mode OPMODE 8 Position control mode Ember Mode Drive is in Ember mode; firmware is being downloaded to the drive. Warning and Fault Codes The following table will help you interpret the warning and fault codes, and respond appropriately.
  • Page 59 CDHD Drive Status Display Light Type Name Description Action Required Flash Fault Parameter Memory The non-volatile memory used Reconfigure the drive, or Checksum Failure to store drive parameters is download the parameter set, empty or the data is corrupted. and save the parameters. Flash Fault Failure Writing to...
  • Page 60 Drive Status CDHD Display Light Type Name Description Action Required Flash Fault Motor Over- Either the motor has Check that the drive is Temperature overheated, or the drive is not configured properly (using set up correctly for the motor THERMODE, THERMTYPE, temperature sensor.
  • Page 61 CDHD Drive Status Display Light Type Name Description Action Required Fault Plus 15V Out of The internal +15 V supply is out The drive probably needs Range of range. repair. Contact technical support. o-15 Fault Minus 15V Out of The internal -15 V supply is out The drive probably needs Range of range.
  • Page 62 Drive Status CDHD Display Light Type Name Description Action Required Fault Nikon Encoder Communication with the Nikon Check that the feedback Operational Fault MAR-A40A feedback device did device is wired correctly. not initialize correctly. Check that the correct encoder type (MENCTYPE) is selected.
  • Page 63 CDHD Drive Status Display Light Type Name Description Action Required Fault Illegal Halls The drive has detected either Check that the Hall signals 000 or 111 state on the Hall are all properly connected. feedback signals. While turning the motor, read the Halls state (using HALLS) to see which signal is not connected.
  • Page 64 Drive Status CDHD Display Light Type Name Description Action Required Warning HIPERFACE Device HIPERFACE encoder type Contact technical support. Unknown information is not recognized Warning Phase Find Phase difference is required to Perform phase find. Required initialize the commutation angle Quick Start Guide...
  • 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...

This manual is also suitable for:

Cdhd-4d5Cdhd-003Cdhd-006Cdhd-008Cdhd-010Cdhd-013 ... Show all

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