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Servotronix CD3E Quick Start Manual

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CD3E Servo Drive
Quick Start Guide
ORIGINAL DOCUMENT
Revision: 1.0
Firmware Version 1.0.0.1

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Summary of Contents for Servotronix CD3E

  • Page 1 CD3E Servo Drive Quick Start Guide ORIGINAL DOCUMENT Revision: 1.0 Firmware Version 1.0.0.1...
  • Page 2 21C Yagia Kapayim Street Petach Tikva 49130, Israel Tel: +972 (3) 927 3800 Fax: +972 (3) 922 8075 Website: www.servotronix.com Technical Support If you need assistance with the installation and configuration of the CD3E drive, contact Servotronix technical support: tech.support@servotronix.com Quick Start Guide...
  • Page 3 CD3E 错误!使用“开始”选项卡将 Heading 1 应用于要在此处显示的文字。 Contents Introduction ____________________________________________________________________ 5 CD3E Product Description ..........................5 Product Models – Ordering Information ....................5 Product Package ..............................6 Product Label ................................ 6 Safety ___________________________________________________________________________ 7 Safety Symbols..............................7 Safety Guidelines ..............................7 Specifications ___________________________________________________________________ 9 Standards Compliance ............................
  • Page 4 CD3E Basic Drive Configuration _____________________________________________________ 35 Motors ................................... 35 7.1.1 Load Motor Parameters ......................35 7.1.2 Modify Motor Parameters ......................36 7.1.3 Copy Parameter Values to Another Motor ................. 37 7.1.4 Save Motor Parameters ......................37 Motor Brakes ..............................38 Limits..................................
  • Page 5 错误!使用“开始”选项卡将 Heading 1 应用于要在此处显示的文字。 Introduction CD3E Product Description CD3E is a high-performance, cost-optimized drive that is intended especially for linear motors. It is designed to work with 50W to 750W motors. Higher power motors will be supported in future versions.
  • Page 6 After unpacking, check the part number label on the product. Make sure it matches the product your ordered, and that the voltage meets your specific requirements. The CD3E package includes the following items: CD3E servo drive ⚫ Power mating connector ⚫...
  • Page 7 ⚫ standards, directives, and accident prevention regulations when performing such work. The CD3E servo drive is intended for use as a component within a machine system. ⚫ The machine builder and integrator must ensure the protection of both personnel and ⚫...
  • Page 8 The CD3E must be grounded via the earth ground of the main AC voltage supply. ⚫ Any motion controller, PLC or PC that is connected to the CD3E must be grounded to the ⚫ same earth ground as the CD3E.
  • Page 9 CD3E 错误!使用“开始”选项卡将 Heading 1 应用于要在此处显示的文字。 Specifications Standards Compliance The product has been developed and produced in accordance with the following standards. Certification is pending. Certification Directive Standard(s) Electrical, thermal and energy safety EU Low Voltage IEC 61800-5-1 Directive 2014/35/EU Electromagnetic compatibility for power drive...
  • Page 10 错误!使用“开始”选项卡将 Heading 1 应用于要在此处显示的文字。 CD3E The external dimensions of the CD3E drive are shown in the following figures. Figure 3-1. CD3E-003 Dimensions (mm) Figure 3-2. CD3E-5D5 Dimensions (mm) Quick Start Guide...
  • Page 11 CD3E 错误!使用“开始”选项卡将 Heading 1 应用于要在此处显示的文字。 Electrical Specifications Table 3-2. Electrical Specifications Feature Specification CD3E-003-2A CD3E-5D5-2A Max motor power 400 W 750 W Input power Input voltage 1-phase 220 VAC 1-phase 220 VAC 10% 10% Line frequency 50/60 Hz 50/60 Hz Continuous current 4.2 Ams...
  • Page 12 错误!使用“开始”选项卡将 Heading 1 应用于要在此处显示的文字。 CD3E Feature Specification Speed Control Update rate 4 kHz Control loop PDFF Reference command Ethernet/EtherCAT Filter First-order low-pass filters, notch filters, load disturbance observers, velocity observers Parameter tuning Rigidity table, automatic parameter setting (load method inertia ratio identification), manual parameter setting, load adjustment-free function.
  • Page 13 CD3E 错误!使用“开始”选项卡将 Heading 1 应用于要在此处显示的文字。 Environmental and Protection Specifications Table 3-4. Environmental Specifications Feature Specification Protection class Degree of protection: IP20 Pollution level: IEC 60664-1 class 2 Do not use in environments where exposed to: corrosive or flammable gases, water, oil or chemicals, dust (including iron powder), and salt Operating temperature 0°...
  • Page 14 错误!使用“开始”选项卡将 Heading 1 应用于要在此处显示的文字。 CD3E Communication Specifications Table 3-6. Communication Specifications Feature Specification Type EtherCAT over Ethernet (CoE), 100 Mbit Communication cycle time (minimum) 1 ms Device configuration file IEC61800-7 Profile type1 (CiA402) CoE (CANopen over EtherCAT) Communication object PDO (Process Data Object)
  • Page 15 CD3E 错误!使用“开始”选项卡将 Heading 1 应用于要在此处显示的文字。 Feature Specification Signal format Opto-isolated. NPN (sinking) Voltage level 5 to 24 V Maximum output 50 mA current Short-circuit protection Transmission delay time 1 µs Motor Feedback Specifications Table 3-8. Motor Feedback Specification Feature Specification Supply voltage from drive 5.2 VDC...
  • Page 16 CD3E Installation Installation Overview Perform the following steps to install and setup a CD3E system. Mount the CD3E. Make all wiring and cable connections, as required by your application. After completing all hardware connections, you can power on the drive and PC.
  • Page 17 错误!使用“开始”选项卡将 Heading 1 应用于要在此处显示的文字。 Mounting 4.2.1 Mounting the CD3E Using the bracket on the back of the CD3E, mount the CD3E on a grounded conductive metal panel. The panel must be sufficiently rigid. For mounting dimensions, refer to section Mechanical Specifications. 4.2.2...
  • Page 18 错误!使用“开始”选项卡将 Heading 1 应用于要在此处显示的文字。 CD3E System Wiring Guidelines Figure 4-2. System Wiring Quick Start Guide...
  • Page 19 CD3E 错误!使用“开始”选项卡将 Heading 1 应用于要在此处显示的文字。 Figure 4-3. System Circuitry Quick Start Guide...
  • Page 20 Use a single point ground for the system (star wiring) to avoid ground loops. It is strongly recommended that the CD3E be mounted to a metallic back panel, and that a high frequency ground be provided to connect the back panel to earth ground. Provide an electrical connection across the entire back surface of the drive panel.
  • Page 21 To meet the CE requirements for industrial environments, the electronic system components in the CD3E require EMI AC line filtering in the input power leads. Care must be taken to adequately size the system. The type of filter is determined according to the voltage and current rating of the system and whether the incoming line is single phase or three phase.
  • Page 22 Interfaces – Pinouts and Wiring Power Interface The power interface serves to connect the AC power supply to the CD3E. The interface is also used to supply power to the motor phases. In addition, it provides the connection to an external regenerative power resistor to dissipate energy generated by the motor, typically during deceleration.
  • Page 23 CD3E 错误!使用“开始”选项卡将 Heading 1 应用于要在此处显示的文字。 Procedure: Connecting Power The CD3E has 2 ground PE terminals, located on bottom panel next to the Power interface. Figure 4-2. PE terminal screws Connect the AC input voltage ground wire to one of the PE terminals. Use an M4 ring or a spade terminal.
  • Page 24 错误!使用“开始”选项卡将 Heading 1 应用于要在此处显示的文字。 CD3E Table 5-2. Interface C1 Pin # Name Description 24V+ 24V power supply positive 24V_COM 24V power supply ground EXT_STO_1 STO1 switch input EXT_STO_COM STO switch circuit ground EXT_STO_2 STO2 switch input EXT_STO_COM STO switch circuit ground...
  • Page 25 CD3E 错误!使用“开始”选项卡将 Heading 1 应用于要在此处显示的文字。 PC–Ethernet Interface For commissioning, the drive is connected to the PC through the Ethernet port. PC–Ethernet Pinout Figure 4-6. Interface PC-Ethernet Table 5-3. Interface PC-Ethernet Name Description Ethernet receive – differential positive Ethernet receive – differential negative Ethernet drive transmit –...
  • Page 26 错误!使用“开始”选项卡将 Heading 1 应用于要在此处显示的文字。 CD3E C2 / C3 Interfaces – EtherCAT Interfaces C2 and C3 are RJ45 ports that serve as transmitter and receiver for drives operating on an EtherCAT network. C2/C3 Pinout Figure 4-7. Interfaces C2 / C3 Table 5-4. Interfaces C2 / C3...
  • Page 27 CD3E 错误!使用“开始”选项卡将 Heading 1 应用于要在此处显示的文字。 C4 Interface – I/Os Interface C4 enables the connection of external I/O devices to the CD3E. C4 Pinout Figure 4-8. Interfaces C4 Table 5-5. Interface C4 Name Description Encoder emulation output Z-channel – differential negative Encoder emulation output Z-channel –...
  • Page 28 错误!使用“开始”选项卡将 Heading 1 应用于要在此处显示的文字。 CD3E Name Description PULSE_SI Fast digital input pulse signal DIR_SI Fast digital input direction signal EXT_DI_5 External digital input 5 EXT_DI_4 External digital input 4 Description SCSI-26 pin Mating connector Goldconn Precision Electronics: KSCS026MACAAAXX1 C4 Wiring – Digital Inputs – Source (PNP) Figure 4-9.
  • Page 29 CD3E 错误!使用“开始”选项卡将 Heading 1 应用于要在此处显示的文字。 C5 Interface – Encoder / Motor Feedback The interface supplies power to the motor encoder. The connection supports AB incremental encoders and absolute BiSS-C encoders. C5 Pinout Figure 4-11. Interface C5 Table 5-6. Interface C5...
  • Page 30 错误!使用“开始”选项卡将 Heading 1 应用于要在此处显示的文字。 CD3E C5 Wiring – Motor Feedback Figure 4-12. Quick Start Guide...
  • Page 31 CD3E 错误!使用“开始”选项卡将 Heading 1 应用于要在此处显示的文字。 C6 Interface – Gantry C6 Pinout Figure 4-13. Interface C6 Table 5-7. Interface C6 Name Description FSI_TX0_CLK_P Gantry drive transmit – Clock differential – Positive FSI_TX0_CLK_N Gantry drive transmit – Clock differential – Negative FSI_TX0_D0_P Gantry drive transmit –...
  • Page 32 错误!使用“开始”选项卡将 Heading 1 应用于要在此处显示的文字。 CD3E C6 Wiring Figure 4-14. Interface C6 Quick Start Guide...
  • Page 33 Software Installation ServoStudio+ is compatible with Windows 10 and later operating systems. If you require assistance with an older version of Windows, contact Servotronix Technical Support. Download the ServoStudio+ software installation file from the Servotronix website, or contact Technical Support.
  • Page 34 错误!使用“开始”选项卡将 Heading 1 应用于要在此处显示的文字。 CD3E Axis color Meaning White Axis disabled Green Axis enabled Yellow Axis disabled with a warning Axis disabled with a fault Green/Yellow split Axis enabled, with a warning Open the ServoStudio+ navigation menu. Figure 7-2. Navigation menu Parameter Values The first time a new drive is connected to ServoStudio+, the software displays the drive’s...
  • Page 35 ServoStudio+ contains two databases of motor settings. The ServoStudio+ library contains a database of motors already defined and supported ⚫ by Servotronix. These motor settings cannot be modified by users. The User library contains all other motors defined by users. ⚫...
  • Page 36 错误!使用“开始”选项卡将 Heading 1 应用于要在此处显示的文字。 CD3E Choose from Database Opens a menu that lets you select a motor from either the ServoStudio+ database or the User library. Family. Predefined. ServoStudio+ has a number of databases containing predefined sets of parameters for motors.
  • Page 37 CD3E 错误!使用“开始”选项卡将 Heading 1 应用于要在此处显示的文字。 Figure 7-2. Save changes to axis (saves parameter in drive) Select Save Changes to Axis n. Save Changes writes the new parameter values to the drive, but does not save the parameter values to the database or a file.
  • Page 38 错误!使用“开始”选项卡将 Heading 1 应用于要在此处显示的文字。 CD3E Motor Brakes Use the Brakes pane in the Digital I/Os screen to activate brake functionality and to monitor the state of all brakes. ServoStudio+ displays the actual number of brakes connected to the drive, as configured in the drive firmware.
  • Page 39 CD3E 错误!使用“开始”选项卡将 Heading 1 应用于要在此处显示的文字。 In the Limits screen, confirm and/or configure the position, velocity and current limits as required by your application. Position Limits Position Error Max The maximum position error value that does not produce a fault for the axis.
  • Page 40 错误!使用“开始”选项卡将 Heading 1 应用于要在此处显示的文字。 CD3E Autotune the Drive Caution! Tuning is potentially dangerous. Before starting any tuning routines, make sure there are no persons or obstructions within the motion envelope. Also make sure the emergency stop button is within your reach.
  • Page 41 CD3E 错误!使用“开始”选项卡将 Heading 1 应用于要在此处显示的文字。 Make sure the displayed values in Autotune Settings are suitable for your application. Maximum Acceleration/ Maximum acceleration/deceleration value during autotuning. Deceleration Motion Range Number of motor revolutions during autotuning. Cruise Velocity Speed during autotuning. Select Start Autotune. Confirm the prompts.
  • Page 42 错误!使用“开始”选项卡将 Heading 1 应用于要在此处显示的文字。 CD3E Drive Status Operator Panel and LED Display The CD3E 5-digit display provides indications of drive status, such as operation modes, drive enable status, warnings, and fault conditions. Digit 5 DP Digit 4 DP Digit 3 DP...
  • Page 43 CD3E 错误!使用“开始”选项卡将 Heading 1 应用于要在此处显示的文字。 Operator Panel Modes Use the M button to scroll through the display modes. The operator panel has several modes: Status (S) Indicates the drive’s operating mode. Homing mode Cyclic Synchronous Position mode Cyclic Synchronous Torque mode...