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Summary of Contents for Infranor XtrapulsEasy 60VDC
- Page 1 XtrapulsEasy™ 60V Embedded module I n s t a l l a t i o n G u i d e...
- Page 2 This symbol indicates that INFRANOR devices shall be eliminated by selective disposal and not with household waste. INFRANOR does not assume any responsibility for any physical or material damage due to improper handling or wrong descriptions of the ordered items.
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Page 3: Table Of Contents
XtrapulsEasy™-DB - Installation Guide Content CONTENT ............................... 3 CHAPTER 1 - GENERAL ........................5 1.1 - INTRODUCTION .......................... 5 1.2 - DESCRIPTION / COMPLIANCE WITH THE STANDARDS ............5 1.2.1 - General description ....................... 5 1.2.2 - Reference to the standards: .................. - Page 4 XtrapulsEasy™-DB - Installation Guide CHAPTER 5 - APPENDIX ........................24 5.1 - D "DEV01" ......................24 EVELOPMENT KIT 5.1.1 - Overview of the development kit ..................24 5.1.2 - Connector details ......................... 25 5.1.2.1 - X1 connector: Feedback ....................... 25 5.1.2.2 - X2 connector: Input / Output......................
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Page 5: Chapter 1 - General
XtrapulsEasy™-DB - Installation Guide Chapter 1 - General 1.1 - INTRODUCTION XtrapulsEasy™ all-digital drives with sinusoidal PWM control are servo drives that provide the control of brushless AC motors. The standard control interface can be: CANopen® Analog. Series XtrapulsEasy™ drives are dedicated to basic applications that do not have a high level of requirements in terms of functionalities and where cost effectiveness is very important. -
Page 6: Reference To The Standards
XtrapulsEasy™-DB - Installation Guide Series XtrapulsEasy™ drives have their own DC/DC converter to provide the voltages required for the drive operation with a 24V +/- 15 % supply source which is generally available on machines. The auxiliary supply allows keeping the drive logic supplies after the power supply has been switched off. Thus, the position output can be kept without new initializations of the machine. -
Page 7: Ordering Code
XtrapulsEasy™-DB - Installation Guide 1.4 - ORDERING CODE XtrapulsEasy-ak-60/45-DB Logic version Analog and CANopen® interfaces Voltage range Current rating for 60V drives 45Arms Mounting version Embedded module 1.5 - ACCESSORIES Easy-dev01 Ordering code: This product provides external connectors identical to XtrapulsEasy™ 60V standard series (see section 5.1). -
Page 8: Chapter 2 - Specifications
XtrapulsEasy™-DB - Installation Guide Chapter 2 - Specifications 2.1 - MAIN TECHNICAL DATA 2.1.1 - XtrapulsEasy™-ak-60/45-DB Design Pluggable module Operating power supply voltage 24 to 60V +/- 10 % Grounded reference voltage Undervoltage threshold Overvoltage threshold Motor phase-to-phase output voltage 95% of power supply voltage Braking system No braking system integrated... - Page 9 XtrapulsEasy™-DB - Installation Guide Speed loop bandwidth Selectable cut-off frequency for 45° phase shift: 50 Hz (low), 75 Hz (medium) or 100 Hz (high) Current loop bandwidth Cut-off frequency for 45° phase shift: 500 Hz (low) or 1000 Hz (high) Max.
- Page 10 XtrapulsEasy™-DB - Installation Guide Cooling Natural air convection Check for free air convection and for no obstruction of the upper or lower air admissions. Environment The hosting printed circuit board must be mounted inside a cabinet protecting the drive from conducting dust and condensation (pollution degree 2 environment) and according to the room temperature requirements.
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Page 11: Dimensions And Motherboard Footprint
XtrapulsEasy™-DB - Installation Guide 2.2 - DIMENSIONS AND MOTHERBOARD FOOTPRINT The mechanical layout to be implemented on the motherboard is shown below: Chapter 2 – Specifications... -
Page 12: Chapter 3 - Inputs - Outputs
XtrapulsEasy™-DB - Installation Guide Chapter 3 - Inputs - Outputs 3.1 - DISPLAY 3.1.1 - Leds RUN (green) ERROR (red) RUN: status of the CANopen® communication bus connection. ERROR: faults grouped on the ‘ERROR’ LED: these errors are coded and can be displayed by means of the parameter setting software. -
Page 13: Canopen® Communication Bus
XtrapulsEasy™-DB - Installation Guide 3.1.2 - CANopen® communication bus RUN: The CANopen® RUN LED indicates the status of the NMT state machine (see DS-301 – 9.52 NMT state machine): CAN RUN LED STATUS 1000ms FLASHING STOP 200ms 200ms BLINKING PRE-OPERATIONAL 200ms OPERATIONAL See "DR-303-3 Indicator specification"... - Page 14 XtrapulsEasy™-DB - Installation Guide S2 (sine +) Resolver signal S4 (sine -) Resolver signal IN_ANA1+ Analog input nr. 1 Differential input +/-10V * IN_ANA1- Motor thermal sensor input. The valid measurement range is between 100Ω and 44kΩ measured between TM+ and GND HALL_U Hall sensor input signal phase U HALL_V...
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Page 15: Encoder Feedback
XtrapulsEasy™-DB - Installation Guide 3.2.2 Encoder feedback FUNCTION DESCRIPTION RS232 TX Transmit data RS-232 RS232 RX Receive data RS-232 CAN H Line CAN-H (dominant high) CAN L Line CAN-L (dominant low) +24V supply: +/- 15% Consumption: 300 mA without digital output loads OUT1 "high side"... - Page 16 XtrapulsEasy™-DB - Installation Guide Specification of the logic input Minimum Recommended Maximum High input voltage Low input voltage Specification of the logic outputs OUT1 and OUT2 Digital outputs can be paralleled in order to increase the maximum output current. Be careful to connect all paralleled outputs to the same drive signal. Paralleled outputs Output voltage Maximum output current...
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Page 17: X9: Power Connectors
XtrapulsEasy™-DB - Installation Guide 3.3 - X9: POWER CONNECTORS The power connector is a 2,54mm pitch 2x17 header. Recommended mating references are listed below :MANUFACTURER REFERENCE 87606-317LF HARWIN M20-7831746 SAMTEC SSQ-117-01-G-D E-TEC BL2-034-S842-55 SIGNAL FUNCTION DESCRIPTION Motor phase U Motor phase V Motor cable shield must be connected over 360°. -
Page 18: Chapter 4 - Design Recommendations
XtrapulsEasy™-DB - Installation Guide Chapter 4 - Design recommendations 4.1 - MOTHERBOARD DESIGN 4.1.1 - Copper section The copper section for motor phases U V W and power source must be at least 0.3mm² on external layers. However, in order to optimize the thermal behaviour (temperature rise less than 10°C), we recommend to maximize the current ability of the design by: Using at least 4-layer PCBs and at least 35µm finished copper thickness, Using maximum trace width according to the connector pitch = 7mm. -
Page 19: Shielding And Grounding
XtrapulsEasy™-DB - Installation Guide 4.1.4 - Shielding and grounding A good shielding and ground connection of the cables is mandatory for ensuring a proper operation. To ensure the correct EMC grounding of the whole system (drive-cable-motor), the following rules must be observed: The motherboard must be mounted at least on an aluminum chassis (a closed metal case is even better) -
Page 20: Accessories And Connections
XtrapulsEasy™-DB - Installation Guide 4.3 - ACCESSORIES AND CONNECTIONS 4.3.1 - Connection of a backup battery The XtrapulsEasy™ drive consumption is less than 100mA with 24V . So, a 24V / 30A/h battery can keep the drive powered during approx. 10 days. This backup method is interesting for saving the machine initialization as well as the axis position even when moving with the mains switched off. -
Page 21: Serial Link And Can Communication Cables
XtrapulsEasy™-DB - Installation Guide Check that the voltage drop in the power supply lines of the encoder cable is complying with the technical specifications of the encoder. The voltage drop value for a given cable is calculated as follows: ... -
Page 22: Connection Of The 24V
XtrapulsEasy™-DB - Installation Guide Check for the correct groundings as well as the 360° shield connections. WARNING ! During the machine adjustments, drive connection or parameterization errors may involve dangerous axis movements. It is the user's responsibility to take all necessary steps in order to reduce the risk of uncontrolled axis movements during the operator's presence in the pertaining area. -
Page 23: Chaining Drives
XtrapulsEasy™-DB - Installation Guide 4.5 - CHAINING DRIVES 4.5.1 - AOK chaining with XtrapulsEasy™ drives only Note: Maximum delay for the power relay deactivation: number of XtrapulsEasy™ drives x 1ms. 4.5.2 - AOK chaining with XtrapulsEasy™ and XtrapulsPac drives together Example 1 Example 2 (*) INx = IN1 or IN2 or IN3 and OUTy = OUT1 or OUT2. -
Page 24: Chapter 5 - Appendix
XtrapulsEasy™-DB - Installation Guide Chapter 5 - Appendix 5.1 - DEVELOPMENT KIT "DEV01" The purpose of the development kit is to evaluate the drive performance before designing your own board. It provides extend connectors identical to XtrapulsEasy™ 60V Standard series. 5.1.1 - Overview of the development kit The following drawing shows the development kit with its associated connectors and options. -
Page 25: Connector Details
XtrapulsEasy™-DB - Installation Guide 5.1.2 - Connector details 5.1.2.1 - X1 connector: Feedback SUB D 15 PIN FEMALE CONNECTOR A - Resolver feedback FUNCTION DESCRIPTION Motor thermal sensor inputs. The valid measurement range is between 100Ω and 44kΩ. S3 (cosine +) Resolver signal S1 (cosine -) Resolver signal... -
Page 26: X3 Connector: +24 V
XtrapulsEasy™-DB - Installation Guide 5.1.2.3 - X3 connector: +24 V Manufacturer: Wago Type: Midi connector Reference: 721-102/026-000 SIGNAL FUNCTION DESCRIPTION Mains isolated 24V auxiliary supply: +/- 15% power supply Consumption: 300mA without digital output loads 0V = GND 0V input referenced to the GND potential on the drive housing 5.1.2.4 - X4 connector: Motor phases and power supply Manufacturer: Phoenix Contact... -
Page 27: X10A Connectors
XtrapulsEasy™-DB - Installation Guide 5.1.2.6 - X10A connectors PHOENIX n°1989874 connectors Direct connection to wire with AWG between 20 and 24 FUNCTION DESCRIPTION RS232 TX Transmit data RS-232 RS232 RX Receive data RS-232 CAN H Line CAN-H (dominant high) CAN L Line CAN-L (dominant low) +24V supply: +/- 15%... -
Page 28: Layout
XtrapulsEasy™-DB - Installation Guide 5.1.4 - Layout The layout of the development kit PCB Easy-Dev01 is presented below. Chapter 5 - Appendix... -
Page 29: Low Operating Voltage
XtrapulsEasy™-DB - Installation Guide 5.2 - LOW OPERATING VOLTAGE XtrapulsEasy™ drives offer the possibility to change the operating voltage. Thanks to this feature, XtrapulsEasy™ drives are able to work within a wide voltage range, from 24V / 17V to 60V / 42V Please note that the drive specifications are depending on the operating voltage, as shown in the table below: Operating voltage... -
Page 30: Warranty
The reliability may be increased by installing a cooling system (take care of condensation). Other installation conditions must be specially analysed and subjected to a technical specification in agreement with INFRANOR. Vibration level for XtrapulsEasy™-ak-60/45-DB The XtrapulsEasy™-ak-60/45-DB drive can be integrated in mobile equipment which vibration level is up to 4g. - Page 31 XtrapulsEasy™-DB - Installation Guide UNUSUAL OPERATING ENVIRONMENT CONDITIONS The use of the power converter, of its pertaining control system and of the servo in conditions which are diverging from the usual ones defined by the IEC 60146-1-1 standard must be considered as abnormal. These abnormal operating conditions must be specified by the purchaser.
- Page 32 XtrapulsEasy™-DB - Installation Guide TRANSPORT 1 - Climatic conditions The equipment can be transported in its standard packaging in the environment conditions specified by class 2K3 of the IEC 60721-3-2. This includes: Surrounding air temperature: -25°C to +70°C NOTE: The surrounding air temperature is the temperature which is the nearest to the equipment, i.e. the inside of the container.
- Page 33 Switzerland United Kingdom Contact Other representations: Austria, Denmark, India, Israel, Poland, Slovenia, Turkey Manufacturer: INFRANOR SAS 29, avenue Jean Moulin F-65100 LOURDES © INFRANOR, November 2018 - All rights reserved Chapter 5 - Appendix Issue: 1.0 www.infranor.com...
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