Servotronix CDHD2S Manuals

Manuals and User Guides for Servotronix CDHD2S. We have 1 Servotronix CDHD2S manual available for free PDF download: User Manual

Servotronix CDHD2S User Manual (268 pages)

Brand: Servotronix | Category: Servo Drives | Size: 13 MB

Table of Contents
4
Introduction
10
CDHD2S Product Overview
10
CDHD2S Model
11
Order Information
13
CDHD2S Product Label
14
CDHD2S File Package
15
Safety and Standards
16
Safety Symbols
16
Safety Guide
16
Installation Safety
17
Operational Safety
18
Maintenance Safety
18
Material Safety Data
18
Certifications
20
Specifications
21
Dimensions
21
Electrical and Mechanical Specifications
23
Control Specifications
28
Protection Functions and Environmental Specifications
29
Sto/Functional Safety Specification
29
Communication Specifications
30
Input/Output Specification
30
Motor Feedback Specification
31
Secondary Feedback Specifications
32
Drive Setup
33
Setup Overview
33
Power up
33
Drive Address
33
Setup Preparation
34
Hardware and Tools
34
Cables and Crimping
35
Connector - Control Board
35
Connector - Power Board
36
Host System
37
Fieldbus Device Files
38
System Wiring
39
CDHD2S-1D5/003 (Medium-Voltage) System Wiring
39
CDHD2S-012 (High-Voltage) System Wiring
43
CDHD2S-024/CDHD2S-030 (High-Voltage) System Wiring
45
Electromagnetic Interference Suppression
49
CE Filtering Technology
49
Grounding
49
Shielding and Connection
51
Input Power Supply Filtering
52
Other Electromagnetic Interference Suppression Suggestions
52
Matters Needing Attention in Electrical System
53
Fuse
53
Leakage Current
53
Mechanical Installation
53
Installation of CDHD2S
53
Installing Multiple Units
54
Control Board Connection
54
CDHD2S-EC (High-Voltage) Control Board Pins
56
CDHD2S Panel Wiring Diagram
61
USB Serial Communication - C7
61
USB Serial Communication - C5 and C6
61
Daisy Chain and Gantry Communication - C8
61
Controller Interface - C2
61
Machine Interface - C3
69
Motor Brake Wiring
70
Secondary Feedback Wiring
72
Motor Feedback Interface - C4
73
Motor Feedback Wiring
74
Gantry System Wiring
84
Power Board Connection
85
CDHD2S-1D5/003 (Medium-Voltage) Power Board Pin Assignment
86
CDHD2S-012 (High-Voltage) Power Board Pin Assignment 错误!未定义书签
88
Sto-P1
91
Motor Power - P2, P4
92
Regenerative Resistors - P3, P5
92
AC Input - Bus Power and Logic Power - P3, P4, P5
92
Regeneration
93
Overview of Regenerative Energy
93
Calculation of Regenerative Resistance
94
Firmware Update
99
Firmware Update Preparation
99
Firmware Update Options
100
Updating Firmware Via Serial Connection
101
Updating Firmware on Ethercat
102
Restoration Operation after Firmware Update
106
Ember Mode
107
Download Parameters Via Ethercat
107
Motor Setup
110
Motor Setup Wizard
110
Drive Identification
114
Motor Installation
115
Motor Initialization
115
Current Limit
116
Velocity Limit
116
Position Limit
117
Motor Direction
117
New Motor Wizard
117
Application Setup
121
Parameters
121
Configuration of Parameters
121
Management of Parameters - Drive Memory
121
Application Setup Wizard
122
Communication
130
Serial Baud Rate
131
Canopen Baud Rate
132
Power Rating
132
Feedback
133
Incremental Encoder
133
Sine Encoder
135
Sensar Absolute Magnetic Encoder
135
Biss-C Interface
136
Endat2.X Bidirectional Interface
137
Encoder Analog Output
137
Resolver
138
Calibration of Resolver and Sine Encoder
138
Secondary Feedback
145
Overview of Secondary Feedback (Dual Loop Control)
145
Secondary Feedback Device
146
Secondary Feedback Bus
147
Secondary Feedback Unit
147
Secondary Feedback Parameters
149
Motor Unit
150
Foldback Current
151
Digital Input
151
Digital Output
152
Digital Output Control Using Comparison Matching (PCOM)
152
PCOM Fixed Cycle Configuration
153
PCOM Table Configuration
154
PCOM Timing Configuration
155
Analog Input
156
Analog Input 1
156
Analog Input 2
157
Using Analog Input as Velocity Command and Current Limit
157
Analog Output
158
Disabled Mode
159
Active Disable
160
Dynamic Braking
162
Motor Brake Control Via Relay
164
Motor Temperature Sensor
165
Error Correction
166
Overview of Error Correction
166
Error Correction Table - Example
166
Error Correction Function of CDHD2S
167
Error Correction Parameters and Commands
168
Error Correction Feedback Unit
168
Error Correction Settings
169
Gantry System
176
Gantry System Overview
176
Gantry Type
176
Gantry Control Mode
179
Gantry Operation Mode
179
Gantry Parameters and Commands
180
Gantry Setup
181
Homing
183
Index Homing and Motor Resolver
183
Index Homing and Single/Multi-Turn Encoder
184
Switch Positive Edge Homing
184
Gantry System Homing
184
Operations
186
Power on the Drive
186
Drive Operation Mode
186
Current Operation
187
Serial Current Operation
187
Analog Current Operation
187
Current Control
187
Velocity Operation
188
Serial Velocity Operation
188
Analog Velocity Operation
188
Velocity Control
188
Position Operation
192
Serial Position Operation
192
Position Control
194
Gearing/Pulse Train Operation
196
Pulse and Direction
197
CW/CCW (Up/Down) Counting
200
Encoder Follower (Master/Slave)
200
Drive Debugging
201
CDHD2SHD Controller
201
CDHD2SHD Controller Autotuning
201
Drive-Based Autotuning
202
Drive-Based Autotuning - Fast
202
Drive-Based Autotuning - Advanced
203
PC-Based Autotuning
210
Summary of Autotuning Parameters
213
Record and Evaluate Performance
213
Diagnosis
213
Recording Data in Servostudio2
214
Recording Data in the Terminal
216
Evaluate PTPVCMD
217
Evaluation of ICMD And/Or PE Oscillation
218
Current Command Low Pass Filter
219
Gear Filter
221
Moving Smoothing Filter
222
Notch Filter
223
Anti-Vibration Filter
223
Gain - Manual Tuning
228
Flexible Compensation Tuning
232
Dual Feedback Position Control Loop Debugging
233
Gantry Tuning
235
Tuning Questions - Q&A
239
Functional Safety
241
Safety Torque Shutdown (STO) Overview
241
STO Module in Servo Drive
241
STO Functional Safety Specification
242
STO System Requirements
242
Use STO
243
STO Maintenance
246
Troubleshooting
247
Report Generator
247
Faults and Warnings
247
Warning, Error and Fault Messages
248
Warning Messages
248
Error Messages - Manufacturers Only
251
Fault Messages
257
Fieldbus Status-LED
261
Status LED-Canopen
261
Status LED - Ethercat
262
Status LED - PROFINET
262
CDHD2S Accessories
263
Mating Connector Kit
263
Cable
263
D9-RJ45 Adapter
265
Line Filter
266
Regenerative Resistor
267

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Servotronix CDHD2S User Manual (268 pages)

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