Home

CDHD Quick Start Guide

1. Daisy Chain C8 0 1 IDC Female NELTRON 4401 10SR or COXOC 304A 10PSAAA03 STX PN CONr00000010 67 EtherCAT In EtherCAT Out E Controller I F C5 RJ45 C6 RJ45 IRE ak C2 MDR 36 Plug 24 28 AWG OR OR A GND 1 24 VDC return 19 24 VDC CAN In CAN Out RS232 5 T TXD Common output Common input C5 RJ45 C6 RJ45 C7 4p4c 6 GND 2 Digital output 1 20 Digital input 2 1 CANH 1 CANH 7 B Digital input 1 21 2 em 2 om emo fe rasen SA GONE Bee PERE U 9 5 Equivalent encoder 23 Equivalent encoder 4 4 10 output B output B 5 5 i 6 Equivalent encoder 24 Equivalent encoder 6 6 output Z i output Z 7 FGND 7 25 Ground 8 8 Analog input 1 26 Analog input 1 Direction input 27 Direction input Secondary encoder B Secondary encoder B 10 Ground 28 Pulse input Secondary encoder A STO Safe Torque Off 11 Pulse input 29 Ground P1 Molex 26 28 AWG Secondary encoder A 24 VDC STO enable 1 12 30 Ground 24 VDC return T T 13 Ground 131 Digital input 3 14 Digital input 4 32 Digital input 5 15 Digital input 6 133 Digital output 2 Mating Connector I 1 Crimp Housing PN 436450400 or equiv 16 Digital output 3 34 i STX PN CONr10000004 09 i 17 135 Analog input 2 Contacts PN 0430300001 or equiv 3E
2. Analog input 1 Direction input 27 Direction input Secondary encoder B Ground 11 Pulse input Secondary encoder B Pulse input Secondary encoder A Ground Secondary encoder A 24 VDC STO enable Ground 24 VDC return 13 Ground Digital input 4 Digital input 6 ea 15 Digital i Mating Connector See AA Crimp Housing PN 436450400 or equiv 16 Digital output3 Contacts PN 0430300001 or equiv STX PN PINr43030000 00 ly i Wired STO Mating Connector STX PN CONr00000004 AS 3M Solder Plug Connector PN 10136 3000PE STX PN CONr00000036 01 or equiv 3M Solder Plug Junction Shell PN 10336 52F0 008 STX PN HODr00000036 00 or equiv Mating Cable STX PN CBL MDRFL 36 0x x 1 2 3 meter Machine I F C3 MDR 20 Plug 24 28 AWG Secondary encoder A 31 Digital input 3 32 Digital input 5 Digital output 2 Analog input 2 Analog input 2 Analog output Motor P2 JST J400 14 AWG Functional Ground 1 PE U Motor Phase U ma Motor Phase V Motor Phase W Mating Connector Crimp Housing PN J43FSS 04V KX STX PN CONr10000004 18 Contacts PN SJ4F 71GF M3 0 4 STX PN CRPrSJ4F71GF 00 Nm Secondary encoder Z Secondary encoder 5V 11 Secondary encoder A Controller VF Pulse input
3. Sine encoder sine Sine encoder sine Sine encoder cosine Sine encoder cosine Ground 5V 8V return 5V supply Mat 3M PN 3M PN Mat sensor Motor temperature Motor temperature 5V supply ing Connector Solder Plug Connector 10126 3000PE STX PN CONr00000026 31 or equiv Solder Plug Junction Shell 10326 52F0 008 STX PN HODr00000026 00 or equiv ing Cable STX PN CBL MDRFL 26 0x x 1 2 3 meter Models 120 240 VAC Quick Start Guide CDHD Introduction STO Safe Torque Off P1 Molex 26 28 AWG 24 VDC STO enable Grou nd 24 VDC return RX GND ISO TX Mating Connector Crimp Housing PN 436450400 or equiv STX PN CONr10000004 09 Contacts PN 0430300001 or equiv STX PN PINr43030000 00 Wired STO STX PN CONr00000004 AS Motor P2 JST J300 16 AWG 1 PE Functional Ground 2 U Motor Phase U 3 IV Motor Phase V 4 W Motor Phase W Mating Connector Crimp Housing PN F32FSS 04V KX STX PN CONr10000004 13 Contacts PN SF3F 71GF P2 0 STX PN PINrSF3F71GF 00 Mating Connector Spring PN 04JFAT SBXGF I STX PN CONr10000004 19 Regeneration P3 JST J300 16 AWG 1 Bi DC Bus 2 B2 Regen Bus Mating Connector Crimp Housing PN F32FSS 02V KX STX PN CONr10000002 10 Contacts PN SFSF 71GF P2 0 STX PN PINrSF3F71GF 00 Mating Connector Spring not available Motor
4. 22 Sieenodersme 11 5V supply 24 Ground 5V 8V return 12 Motor temperature 2 sensor Motor temperature sensor 43 5V supply Refer to ordering information CAN and EtherCAT models only EtherCAT models only n Servotronix Supplied with CDHD Mating Connector E 3M Solder Plug Connector PN 10126 3000PE STX PN CONr00000026 31 or equiv k Molex 0638190000 P1 P2 3M Solder Plug Junction Shell Crimping tool equivalent PN 10326 52F0 008 STX PN HODr00000026 00 or equiv 4 40 insert threads on C2 C3 C4 Mating Cable STX PN CBL MDRFL 26 0x x 1 2 3 meter Highlighted PN Pin Assignments on CDHD 012 AP AF EC Models 400 480 VAC 30 Quick Start Guide CDHD Introduction STO Safe Torque Off P1 Molex 26 28 AWG 24 VDC STO enable 2 Ground 24 VDC reum NI 4 Mating Connector Crimp Housing PN 436450400 or equiv STX PN CONr10000004 09 Contacts PN 0430300001 or equiv STX PN PINr43030000 00 Wired STO STX PN CONr00000004 AS Logic Power 24V Input P2 26 28 AWG 1 24 VDC logic in 2 Ground 24 VDC return Mating Connector Type Crimp Housing Molex PN 436450200 or equiv STX PN CONr1000002 03 2x CrimpMolex PN 0430300001 or equiv STX PN PINr43030000 00 Motor Brake AC Input and yio Motor Brake Regene
5. CDHD 006 2A AP 1 ST CDHD Servo Drive HD Series Excluding 120 240 020 024 models 400 480 all models 4D models Analog Input 120 240 VAC Cont Peak A rms Arms 0 Power block 1 One analog input 16 bit Two analog inputs 14 bit each Interface Options Analog Voltage Pulse Train Ref RS232 AF Analog Voltage Pulse Train Ref CANopen USB RS232 EC EtherCAT USB RS232 PWM Power Block Standard configuration with one analog input Standard configuration with two analog inputs PBO and PWM power block do not have analog input option 400 480 VAC Cont Peak Arms Arms AC and Controller Input Power Supply Input Single Phase 120 L L VAC 10 15 50 60 Hz Input Single Phase 240 L L VAC 10 15 50 60 Hz Input Three Phase 120 240 L L VAC 10 15 50 60 Hz AC Input Power Supply Input Three Phase 400 L L VAC 10 15 50 60 Hz Input Three Phase 480 L L VAC 10 15 50 60 Hz 24 VDC input for control board power supply 4 Quick Start Guide CDHD Contents 1 Introduction LLL LLLLLLL 7 CORP MOES A ER E D T I TIME 7 CHR PONNI soci ani UU SO AK S A IU S DA Fb SPA S aM o PPM S PLE ME Id E DES 7 orn e 8 Required Hardware and ToolSs zssssssseeeeeeeeeeeeeeeeeeeeeee nennen nnn 8 REGUIFEG Computer System asc iex OO ERR UR EROR a 8 CD
6. Pin Assignments on CDHD 4D5 CDHD 006 AP AF EC 18 CAN and EtherCAT models only ighlighted PN EtherCAT models only Supplied with CDHD Extraction tool YRF 1070 P2 P3 P4 Key for spring Servotronix connector 4 40 insert threads on C2 C3 C4 Controller I F C2 MDR 36 Plug 24 28 AWG m 1 24 VDC return 19 24 VDC Common output Common input Digital output 1 20 Digital input 2 Digital input 1 21 Equivalent encoder 22 Equivalent encoder output A output A 5 Equivalent encoder 23 Equivalent encoder output B output B 16 Equivalent encoder 24 Equivalent encoder output Z output Z 25 Ground Analog input 1 26 Analog input 1 Direction input 27 Direction input Secondary encoder B Secondary encoder B Ground 28 Pulse input EET encoder A Pulse input 29 Ground Secondary encoder A 30 3M PN 3M PN 13 Ground 31 Digital input 3 14 Digital input 4 32 Digital input 5 Digital input 6 33 Digital output 2 Digital output 3 134 18 IE Analog input 2 36 Analog output Mating Connector Mating Cable STX PN CBL MDRFL 36 0x x 1 2 3 meter Machine I F C3 MDR 20 Plug 24 28 AWG 35 IE Analog input 2 Solder Plug Connector 10136 3000PE STX PN CONr00000036 01 or equiv Sol
7. internal fault on the ServoSense encoder through communication One or more faults are indicated by the feedback device including battery low or error over speed counting error multi turn error Encoder index line is not connected The drive has detected either 000 or 111 state on the Hall feedback signals Feedback analog signal is out of range This fault is related to resolver and sine encoder feedback The drive checks that the amplitudes of the sine and cosine signals are correct based on the calculation sin2 cos2 1 The computed equivalent encoder output frequency exceeds the upper limit for this signal which is 4 MHz Cannot use the specified type of secondary feedback with analog operation modes i e OPMODE 1 OPMODE 3 The temperature on the power board and or on the control board and or the power module IPM has exceeded the preset limit Action Required If a fault occurs shortly after motion begins check MENCRES settings If a fault occurs after some time it is likely due to EMI noise Improve the installation Make sure ground is connected Make sure shield is connected on feedback and motor cables Check whether all signals from the primary feedback device are properly connected to the drive Use command SRVSNSINFO to identify the fault Check the battery voltage and feedback wiring Make sure the motor did not move at a high velocity during encoder initia
8. AP AF EC Models 400 480 VAC Quick Start Guide 27 Introduction CDHD 28 STO Safe Torque Off P1 Molex 26 28 AWG 2 Ground 24 VDC return 3 LL 4 Mating Connector Crimp Housing PN 436450400 or equiv STX PN CONr10000004 09 Contacts PN 0430300001 or equiv STX PN PINr43030000 00 Wired STO STX PN CONr00000004 AS A AN Logic Power 24V Input P2 26 28 AWG 24 VDC logic in Ground 24 VDC return Mating Connector Type Crimp Housing Molex PN 436450200 or equiv STX PN CONr1000002 03 2x CrimpMolex PN 0430300001 or equiv STX PN PINr43030000 00 AC Input and Regeneration P3 Phoenix 12 14 AWG lu Pee 1 wa 3 L3 AC Phase 3 4 Bi DC Bus e fe boes Mating Connector PN SPC 5 6 STCL 7 62 1718520 STX PN CONr00000006 78 Brake P4 Phoenix 14 17 AWG BR Motor Brake BR Motor Brake Mating Connector PN SPC 5 2 STCL 7 62 1718481 Motor Brake Control 3 Not connected Mating Connector Crimp Housing PN 43645 0300 or equivalent STX PN CONr10000003 08 Contacts PN 0430300001 or equivalent STX PN PINr43030000 00 Motor Brake DC 24V Input C4 Molex 26 28 AWG Mating Connector Crimp Housing PN 43645 0200 or equivalent STX PN CONr10000002 03 Contacts PN 0430300001 or equivalent STX PN PINr43030000 00 STX PN CONr10000002 16 M
9. CDHD Servo Drive Quick Start Guide 120 240 VAC and 400 480 VAC Revision 7 1b DOC CDHD QSG EN SERVOTRONIX always in motion amp CDHD Revision History Doc Rev 7 1 a b Jan 2015 Date 7 0 Dec 2014 6 0 May 2014 5 7 Jan 2014 5 6 Oct 2013 5 5 Aug 2013 5 4 Mar 2013 5 3 Dec 2012 5 2 Dec 2012 5 0 5 1 Nov 2012 4 3 Aug 2012 4 1 4 2 Aug 2012 4 0 Aug 2012 3 2 Jan 2012 3 1 Dec 2011 3 0 Dec 2011 2 4 Nov 2011 2 3 Sept 2011 2 2 Sept 2011 2 1 Aug 2011 2 0 Jun 2011 Firmware Revision 1 15 xx Note Remarks Fault update Wiring diagram adjustments Cover image Updated for FW 1 15 x Revised wiring tables diagrams added inrush surge warnings minor corrections Added CDHD 024 030 400 480 VAC Added CDHD Power Blocks Major revisions Updates and corrections firmware 1 4 5 Updated ordering info pin assignments diagrams controller and machine interface wiring diagrams EnDat wiring faults Updated product photos in wiring diagrams Minor updates and corrections Miscellaneous corrections and updates Added and revised faults and warnings Added wiring for CDHD 020 CDHD 024 models Includes 120 240 VAC and 400 480 VAC models Warnings and faults updated Pin assignment diagrams updated Revision for version 4 1 2 6 Revision 3 2 Revision 3 1 internal release Supplied connectors removed additional faults additional diagrams internal release Includes 7
10. Halls are single ended signals To use differential Hall signals refer to the relevant wiring tables Incremental encoders with Hall sensors and index pulse A B and Z signals use the same wiring as Hall sensors U V and W On power up feedback briefly sends Hall readings and then continuously sends the A B and Z signals On every power up the phase find procedure must be executed Encoder backup battery is external to the CDHD drive Voltage must be more than 3 6 VDC Suggested battery is lithium 3 6V 1000mAh Use the backup battery recommended by the encoder manufacturer To use differential Halls with A quad B and index connect the Halls to the Machine interface as follows Hall U to Machine I F pin 1 Hall U to Machine I F pin 11 Hall V to Machine I F pin 2 Hall V to Machine I F pin 12 Hall W to Machine I F pin 3 Hall W to Machine I F pin 13 Connect the encoder A B I and power supply to the Motor Feedback connector An 8V option is available only for CDHD AF and EC models Use the Motor Setup procedure and the Feedback screens to define motor feedback type resolution and other parameters 1 Feedback Wiring Resolver Pin Twisted Pair User Motor Pin Signal Description 6 19 7 20 8 21 12 25 24 26 Note A 44 Resolver Sine Twisted Pair Resolver Sine Resolver Cosine Twisted Pair Resolver Cosine l l Resolver Reference Twisted Pair Resolver Reference l l
11. If required by the application home the machine If required by the application home the machine If required by the application home the machine Set MENCAQBFILT to O to remove the filter on A and B signals If problem persists it may be due to a faulty encoder Make sure HALLSTYPE matches the Hall sensors in use single ended or differential Check whether all signals from the differential Hall sensors are properly connected to the drive Quick Start Guide CDHD Drive Status Display Light Type r39 Fault r4 Fault r40 Fault r41 Fault r5 Fault r6 Fault r8 Fault r9 Fault S1 Warning t Steady Warning Quick Start Guide Name AqB Commutation Fault A B Line Break ServoSense Encoder Fault Sankyo Absolute Encoder Fault Index Line Break Invalid Halls A B Out of Range Encoder Simul Frequency Too High Cannot Use SFBTYPE 1 with Analog OPMODE Over Temperature Description Loss of commutation encoder counts for AqB encoder The index signal serves as a reference position for detecting loss of commutation pulses The AqB encoder counter is compared at different index positions Between index position captures the count must be exactly MENCRESx4 or O counts if moved back to same index location One of the primary feedback signals is not connected This fault occurs in incremental encoder resolver and sine encoder feedback types The drive has detected an
12. Prevent inrush surge Bus Power L1 L2 L3 After switching Bus Power On wait 1 minute before switching On again regardless of time in Off state Logic Power L1C L2C After switching Logic Power Off wait 1 minute before switching On again Quick Start Guide CDHD Power Board 120 240 VAC Note On models CDHD 1D5 and CDHD 003 Regen and AC Input Voltage are combined on one connector CDHD 1D5 CDHD 003 P3 CDHD 4D5 CDHD 006 PA CDHD 008 CDHD 010 CDHD 013 PA P5 CDHD 020 CDHD 024 P3 P2 Quick Start Guide Pin 3 4 5 6 Pin UVP WU N HG Pin N FIT WwW N MH Pin N FTW N e Pin Label L1 L2 LIC LC2 Pin Label L1 L2 L3 L1C LC2 Pin Label L1 L2 L3 L1C LC2 Pin Label L1 L2 L3 LIC LC Function AC Phase 1 AC Phase 2 Logic AC Phase 1 Logic AC Neutral Function AC Phase 1 AC Phase 2 AC Phase 3 Logic AC Phase 1 Logic AC Neutral Function AC Phase 1 AC Phase 2 AC Phase 3 Logic AC Phase 1 Logic AC Neutral Function AC Phase 1 AC Phase 2 AC Phase 3 Logic AC Phase 1 Logic AC Neutral 59 Power Board 400 480 VAC CDHD 5 Power Board 400 480 VAC Overview PN On all CDHD 400 480 VAC models the power board has the following interfaces STO Pl m Logic Power 24 VDC P2 m AC Input and Regeneration P3 B Brake P4 B Motor P5 Make sure the main voltage rating matches the drive specification Applying
13. B P5 on CDHD 024 CDHD 030 1 Connect the AC input voltage ground wire to the PE terminal located on the CDHD front panel Use an M4 ring or spade terminal Connect L1 L2 and L3 for bus power If the application requires a regeneration regen resistor connect the regen resistor between terminals B1 and B2 Prevent inrush surge AN Bus Power L1 L2 L3 After switching Bus Power On wait 1 minute before switching On again regardless of time in Off state AC Input and Regeneration Resistor Interface Pin Pin Label Function 1 L1 AC Phase 1 2 L2 AC Phase 2 3 L3 AC Phase 3 4 Bl DC Bus 5 B2 Regen Bus 6 B3 DC Bus Brake P4 Brake uses interface P4 on all CDHD 400 480 VAC models Quick Start Guide 61 Power Board 400 480 VAC CDHD This is the power output for the electric motor brake system Brake Interface Pin Pin Label Function 1 BR Motor Brake 2 BR Motor Brake Motor P5 Motor uses interface P5 on all 400 480 VAC models Motor Interface Pin Pin Label Function 1 U Motor Phase U 2 V Motor Phase V 3 W Motor Phase W 62 Quick Start Guide CDHD Software 6 Software Installation Use software to configure the drive for your application 1 Install on the host computer 2 When installation is complete start bo Rp e DD 2 i Une Disabled Config Help About Wizards Motor Setup Autotuning Drive Configuration Drive Name DEMO1 Communication Drive Details Drive In
14. Contacts PN 0430300001 or equiv STX PN PINr43030000 00 Wired STO STX PN CONr00000004 AS 3 IV Motor Phase V 4 Ww Motor Phase W Mating Connector Crimp Housing PN J43FSS 04V KX STX PN CONr10000004 18 Contacts PN SJ4F 71GF M3 0 STX PN CRPrSJ4F71GF 00 Regeneration P3 JST J400 14 AWG Mating Connector Crimp Housing PN J42FSC 02V KX STX PN CONr10000002 14 Contacts PN SJ4F 71GF M3 0 STX PN CRPrSJ4F71GF 00 1 Li AC Phase 1 2 L2 AC Phase 2 3 L3 ACPhase3 Mating Connector Crimp Housing PN J43FSS 03V KX STX PN CONr10000003 19 Contacts PN SJ4F 71GF M3 0 STX PN CRPrSJ4F71GF 00 1 L1C AC Phase 1 2 L2C AC Phase 2 Mating Connector Crimp Housing PN F32FSS 02V KX STX PN CONr10000002 10 Contacts PN SF3F 71GF P2 0 STX PN PINrSF3F71GF 00 Functional Ground PE Terminal M4 M4 ring or spade terminal 1 ax 2 GNDISO coy vu Motor Brake Control 1 C3 Molex 26 28 AWG 1 Motor Brake 2 Motor Brake Not connected Mating Connector Crimp Housing PN 43645 0300 or equivalent STX PN CONr10000003 08 Contacts PN 0430300001 or equivalent STX PN PINr43030000 00 Motor Brake DC 24V Input 1 C4 Molex 26 28 AWG DC 24V T 2 DC 24V return Mating Connector Crimp Housing PN 43645 0200 or equivalent STX PN CONr100
15. Digital output 4 Mating Connector 8 Digital output 5 18 Digital output 6 i Crimp Housing PN F32FSS 04V KX 9 24 VDC 19 24 VDC return STX PN CONr10000004 13 Contacts PN SF3F 71GF P2 0 Common input Common output STX PN PINrSF3F71GF 00 Fault relay 1 Fault relay 2 Mating Connector Spring PN 04JFAT SBXGF I STX PN CONr10000004 19 Mating Connector 3M Solder Plug Connector PN 10120 3000PE STX PN CONr00000020 38 or equiv 3M Solder Plug Junction Shell PN 10320 52F0 008 STX PN HODr00000020 00 or equiv Mating Cable STX PN CBL MDRFL 20 0x x 1 2 3 meter Feedback C4 MDR 26 Plug 24 28 AWG Incremental encoder A 14 Incremental encoder A AC Input and Regeneration P3 JST J300 18 AWG B1 DC Bus B2 Regen Bus L1 AC Phase 1 L2 AC Phase 2 L1C Logic AC Phase 1 SSI encoder data SSI encoder data oa lr o mwm 2 Incremental encoder B 15 Incremental encoder B 6 LC2 Logic AC Phase 2 SSI encoder clock SSI encoder clock Mating Connector 3 Incremental encoder Z 16 Incremental encoder Z Crimp Housing PN F32FSS 06V KX STX PN CONr00000006 91 4 Hal U 17 Hall V Contacts PN SF3F 71GF P2 0 5 HallW 18 8V supply STX PN PINrSF3
16. Pulse input Secondary encoder B 12 Secondary encoder B Direction input Secondary encoder ground r Digital output 4 19 24 VDC return Mom 20 Fault relay 2 Direction input Digital input 7 Digital input 9 1 2 Be Mating Connector Crimp Housing PN J42FSC 02V KX STX PN CONr10000002 14 Contacts PN SJ4F 71GF M3 0 STX PN CRPrSJ4F71GF 00 Digital input 11 Regen Bus Digital output 5 Common input Fault relay 1 Mating Connector 3M Solder Plug Connector PN 10120 3000PE STX PN CONr00000020 38 or equiv 3M Solder Plug Junction Shell PN 10320 52F0 008 STX PN HODr00000020 00 or equiv Mating Cable STX PN CBL MDRFL 20 0x x 1 2 3 meter Feedback C4 MDR 26 Plug 24 28 AWG 1 Incremental encoder A SSI encoder data SSI encoder data 2 Incremental encoder B Incremental encoder B SSI encoder clock SSI encoder clock Logic Power AC Input i Incremental encoder Z P5 JST J300 16 AWG i Pa 1 Lic AC Phase 1 AC Phase 2 Mating Connector Resolver cosine Crimp Housing PN F32FSS 02V KX y Resolver reference STX PN CONr10000002 10 Rn a i Contacts PN SESE TAGF P2 6 ve 9 Sine encoder sine 22 Sine encoder sine STX PN PINrSF3F71GF 00 Na E Sine encoder cosine 23 Sine encoder cosine 5V supply 24 Ground 5V 8V return Functional Ground Motor temper
17. 4 32 Digital input 5 15 Digital input 6 133 Digital output 2 16 Digital output 3 E i 35 Analog input 2 STO Safe Torque Off P1 Molex 26 28 AWG 1 24 VDC STO enable 2 Ground 24 VDC return 3 Analog input 2 36 Analog output Mating Connector 3M Solder Plug Connector PN 10136 3000PE STX PN CONr00000036 01 or equiv 3M Solder Plug Junction Shell PN 10336 52F0 008 STX PN HODr00000036 00 or equiv Mating Cable STX PN CBL MDRFL 36 0x x 1 2 3 meter g C1 Mini B Mating Connector Crimp Housing PN 436450400 or equiv STX PN CONr10000004 09 Contacts PN 0430300001 or equiv gt STX PN PINr43030000 00 1 Secondary encoder A 11 Secondary encoder A AL OTC 1 Pulse input Pulse input STX PN CONr00000004 AS i i 1 2 Secondary encoder B 12 Secondary encoder B i Direction input Direction input i 1 3 Secondary encoder Z 13 Secondary encoder Z 1 PE Functional Ground 4 Secondary encoder SV 14 Secondary encoder ground 2 Ju Motor Phase U i 5 Digital input 7 15 Digital input 8 3 V Motor Phase V 6 Digital input 9 16 Digital input 10 4 W Motor Phase W 7 Digital input 11 17
18. 5 1 RX 6 Equivalent encoder 24 Equivalent encoder 6 2 GND ISO output Z SEE i roun 7 FGND IE 3 E Analog input 1 26 Analog input 1 Direction input 27 Direction input Secondary encoder B Secondary encoder B 10 Ground 28 Pulse input STO Safe Torque Off P1 Mol 26 28 AWG Secondary encoder A SIE E 11 Pulse input 29 Ground l et MDE Co TS Ene Secondary encoder A 2 Ground 24 VDC return 30 3 13 Ground 131 Digital input 3 14 Digital input 4 32 Digital input 5 Mating Connector er 5 Crimp Housing PN 436450400 or equiv 815 Digital input 6 33 Digital output 2 STX PN CONr10000004 09 16 Digital output 3 34 Contacts PN 0430300001 or equiv 7 T 5 STX PN PINr43030000 00 vail J33 T Analog input 2 Wired STO 18 Analog input 2 36 Analog output STX PN CONr00000004 AS Mating Connector 3M Solder Plug Connector PN 10136 3000PE STX PN CONr00000036 01 or equiv Logic Power 24V Input 3M Solder Plug Junction Shell P2 Molex 26 28 AWG PN 10336 52F0 008 STX PN HODr00000036 00 or equiv Mating Cable STX PN CBL MDRFL 36 0x x 1 2 3 meter 1 24 VDC logic in 2 Ground 24 VDC return Mating Connector Crimp Housing PN 436450200 or equiv STX PN CONr1000002 03 Machine I F Secondary encoder A C3 MDR 20 Plug 24 28 AWG Secondary encoder A Contacts PN 0430300001 or equiv Pulse input Pulse input
19. Brake Control C3 Molex 26 28 AWG 1 Motor Brake 2 Motor Brake 3 Not connected Mating Connector Crimp Housing PN 43645 0300 or equivalent STX PN CONr10000003 08 Contacts PN 0430300001 or equivalent STX PN PINr43030000 00 Motor Brake DC 24V Input C4 Molex 26 28 AWG 1 DC 24V 2 DC 24V return Mating Connector Crimp Housing PN 43645 0200 or equivalent STX PN CONr10000002 03 Contacts PN 0430300001 or equivalent STX PN PINr43030000 00 AC Input P4 JST J300 16 AWG L1 AC Phase 1 L2 AC Phase 2 L3 AC Phase 3 I L1C Logic AC Phase 1 5 LC2 Logic AC Phase 2 Mating Connector Crimp Housing PN F32FSS 05V KX STX PN CONr10000005 03 Contacts PN SF3F 71GF P2 0 STX PN PINrSF3F71GF 00 Mating Connector Spring PN 05JFAT SBXGF I STX PN CONr10000005 04 Rh O0O D Crimping tool Molex 0638190000 P1 C3 C4 or equivalent i Crimping tool YRF 1070 P2 P3 P4 Functional Ground PE Terminal M4 M4 ring or spade terminal Extraction tool EJ JFAJ3 SPA once Key for spring J FAT OT Highlighted PN Supplied with CDHD PB connector Pin Assignments on CDHD 4D5 CDHD 006 Power Block 120 240 VAC Quick Start Guide 19 Introduction CDHD CDHD 008 CDHD 010 CDHD 013 120 240 VAC Mains Daisy Chain Three Phase 120 240 VAC L L RS232 EtherCAT our or CAN Rotary Switches C
20. CDHD models 3 different frames Sequence of installation steps Wire gauge STO interface Motor Feedback interface USB driver screen System Wiring Pin Assignment diagram Rev 09 System Wiring Pin Assignment diagram updated Rev 08 for Controller I F Wiring and pinouts updated diagrams added revised Installation Steps 12 and 13 revised Status fault codes revised Software GUI Revision 1 15 xx If an earlier firmware revision is installed in your CDHD drive contact your Account Manager or Technical Support Copyright Notice 2015 Servotronix Motion Control 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 Quick Start Guide CDHD Disclaimer This product documentation was accurate and reliable at the time of its release Servotronix Motion Control Ltd reserves the right to change the specifications of the product described in this manual without notice at any time Trademarks All marks in this manual are the property of their respective owners Contact Information Servotronix Motion Control Ltd 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 CDHD drive contact technical support tech support servotronix com Ordering Options
21. Connector Crimp Housing PN 43645 0300 or equivalent STX PN CONr10000003 08 Contacts PN 0430300001 or equivalent STX PN PINr43030000 00 Not connected Motor Brake DC 24V Input C4 Molex 26 28 AWG 1 DC 24V 2 DC 24V return Mating Connector Crimp Housing PN 43645 0200 or equivalent STX PN CONr10000002 03 Contacts PN 0430300001 or equivalent STX PN PINr43030000 00 Functional Ground PE Terminal M4 M4 ring or spade terminal Regeneration P5 Phoenix 14 AWG 1 B2 Regen Bus B1 DC Bus Mating Connector PN SPC 5 2 STCL 7 62 1718481 STX PN CONr10000002 16 SIE EE Crimping tool Molex 0638190000 P1 C3 C4 Highlighted PN Supplied with CDHD PB or equivalent Pin Assignments on CDHD 020 CDHD 024 Power Block 120 240 VAC Quick Start Guide 25 Introduction CDHD CDHD 003 CDHD 006 400 480 VAC Mains Three Phase Max 528 VAC L L Breaker Daisy Chain or Fuses Rotary Switches Drive addressing RS232 EtherCAT OUT Line Filter or CAN optional STO Safe Torque Off Connect to 24 VDC PS or use bypass plug To PC p EN Magnetic USB mini B cable MA Contactor Logic PS T 24 VDC 3 5A To Host Controller Voltage reference input Pulse and direction input Encoder equivalent output Tal 6x digital inputs A 3x digital outputs Re
22. Junction Shell PN 10320 52F0 008 STX PN HODr00000020 00 or equiv Mating Cable STX PN CBL MDRFL 20 0x x 1 2 3 meter al lt DID N AJOJN AC Input and Regeneration P5 Phoenix 10 12 AWG s ee DCB Mating Connector PN SPC 5 6 STCL 7 62 1718520 Feedback C4 MDR 26 Plug 24 28 AWG Me sSiencodercirk SSlencoderdock STX PN CONr00000006 78 Functional Ground SS Incremental encoder Z PE Terminal M4 AS Hall V M4 ring or spade terminal E 8V supply i Resolver sine Motor d i Resolver cosine Resolver cosine P6 Phoenix 10 12 AWG Resolver reference 21 Resolver reference Motor Phase U Mating Connector PN SPC 5 3 STCL 7 62 1718494 STX PN CONr10000003 21 9 Sine encoder sine 22 Sine encoder sine 10 Sine encoder cosine 23 Sine encoder cosine 5V supply 24 Ground 5V 8V return 12 Motor temperature 25 Motor temperature sensor sensor 5V supply Shield Mating Connector 3M Solder Plug Connector NEE Refer to ordering information NEE CAN and EtherCAT models only P PN 10126 3000PE STX PN CONr00000026 31 or equiv ES EtherCAT models only LA Crimping tool Molex 0638190000 P1 P2 P3 3M Solder Plug Junction Shell Servotronix or equivalent PN 10326 52F0 008 STX PN HODr00000026 00
23. Motor Temperature Sensor Twisted Pair Motor Temperature Sensor Optional Internal shield of Ground each twisted pair sine cosine reference Cable Shield Quick Start Guide CDHD Control Board AP AF EC 2 Feedback Wiring Incremental Encoder A Quad B Index Pulse and Halls Pin Twisted Pair User Motor Pin Signal Description 1 14 2 15 3 16 4 17 5 12 25 11 24 26 Notes A C Twisted Pair Twisted Pair Twisted Pair Twisted Pair Incremental Encoder A Incremental Encoder A Incremental Encoder B Incremental Encoder B Incremental Encoder Z Incremental Encoder Z Hall U Hall V Hall W Motor Temperature Sensor Motor Temperature Sensor 5 VDC 0 VDC Shield 3 Feedback Wiring Single Ended Halls Only Pin Twisted Pair User Motor Pin 4 17 5 11 24 12 25 26 Notes A C Twisted Pair Quick Start Guide Signal Description Hall U Hall V Hall W 5 VDC O VDC Motor Temperature Sensor Motor Temperature Sensor Shield 45 Control Board AP AF EC CDHD 46 4 Feedback Wiring Incremental Encoder A Quad B Index Pulse and Differential Halls Pin 1 1 2 1 9 22 10 23 3 16 12 25 11 24 26 Twisted Pair Twisted Pair Twisted Pair Notes A G Twisted Pair User Motor Pin Signal Description Incremental Encoder A Incremental Encoder A Incremental Encoder B Incremental Encoder B Hall U Hall U Hall V Hall V
24. Secondary encoder B Secondary encoder B STX PN PINr43030000 00 vik T 2 Direction input Direction input AC Input and Secondary encoder Z 13 Secondary encoder Z Regeneration r Secondary encoder 5V Secondary encoder ground P3 Phoenix 12 14 AWG AC Phase 1 AC Phase 2 AC Phase 3 Digital input 7 15 Digital input 8 Digital input 9 16 Digital input 10 Digital input 11 17 Digital output 4 Digital output 5 18 Digital output 6 DC Bus olalniala alo 24 VDC 24 VDC return Regen Bus Common input Common output DC Bus Mating Connector PN SPC 5 6 STCL 7 62 1718520 STX PN CONr00000006 78 Machine I F Brake P4 Phoenix 14 17 AWG Motor Brake Motor Brake Mating Connector PN SPC 5 2 STCL 7 62 1718481 SSI encoder data Fault relay 1 Mating Connector 3M Solder Plug Connector PN 10120 3000PE STX PN CONr00000020 38 or equiv 3M Solder Plug Junction Shell PN 10320 52F0 008 STX PN HODr00000020 00 or equiv Mating Cable STX PN CBL MDRFL 20 0x x 1 2 3 meter Fault relay 2 Feedback Incremental encoder A C4 MDR 26 Plug 24 28 AWG Incremental encoder A SSI encoder data STX PN CONr10000002 16 Incremental encod
25. can connect outputs as source or sink m User can connect inputs as source or sink m Referto the Controller Interface Wiring schematic diagram for EC Models below and the CDHD System Wiring Pin Assignments diagram for EC Models at the end of this manual Quick Start Guide CDHD Control Board AP AF EC Controller I O Interface Pin Function Description Pin Function Description 1 24 VDC AP AF Models Return of 19 24 VDC AP AF Models User return the user supplied 24 VDC supplied 24V for I O biasing Common EC Models Common EC Models output input 2 Digital Opto isolated 20 Digital Opto isolated output 1 programmable digital input 2 programmable digital output Read using OUT1 input Read using IN2 3 Digital Opto isolated 21 input 1 programmable digital input Read using IN1 4 Equivalent Low side of the equivalent 22 Equivalent High side of the encoder encoder output signal A encoder equivalent encoder output A RS422 output A output signal A RS422 5 Equivalent Low side of the equivalent 23 Equivalent High side of the encoder encoder output signal B encoder equivalent encoder output B RS422 output B output signal B RS422 6 Equivalent Low side of the equivalent 24 Equivalent High side of the encoder encoder output index encoder equivalent encoder output Z RS422 output Z output index RS422 25 Ground Digital ground 8 Analog High side of the 26 Analog Low side of the input 1 differential analog input 1 diff
26. it would cause the motor to exceed the velocity limit The connection between controller and drive was removed The fieldbus controller has not sent a target command in 3 consecutive instances The drive has disconnected from the CAN bus due to communication errors and is no longer sending receiving communication packets EtherCAT packets have been lost Drive was enabled and in an operational state upon receiving a command to move to a lower state of communication Action Required Check the drive motor sizing This warning can occur if the drive or the motor is under sized under powered for the application Check motor drive sizing This fault can occur if the drive is under sized under powered for the application Check that the commutation angle is correct i e commutation is balanced Check MIFOLDFTHRESH and MIFOLDWTHRESH values Check the drive motor sizing This fault can occur if the motor is under sized under powered for the application Check IFOLDFTHRESH and IFOLDWTHRESH values Reduce the frequency of the gearing pulses commanded from the controller Remove the stall condition and take care to prevent stall conditions Enable the drive and send valid position commands Reestablish the connection between controller and drive Clear the fault and allow the controller to send new commands Check CAN cabling and verify the CAN network is functioning properly
27. 00002 03 Contacts PN 0430300001 or equivalent STX PN PINr43030000 00 Crimping tool Molex 0638190000 P1 C3 C4 or equivalent Crimping tool YRF 1130 P2 P3 P4 YRF 1070 P5 SUX Sanaian Extraction tool EJ JFAJ4 P2 P3 P4 Highlighted PN Supplied with CDHD PB EJ JFAJ3 P5 Pin Assignments on CDHD 008 CDHD 010 CDHD 013 Power Block 22 120 240 VAC Quick Start Guide CDHD Introduction CDHD 020 CDHD 024 120 240 VAC Mains Three Phase Gun RS232 EE EtherCAT 57 or Fuses ma SEAN IN Rotary Switches Drive addressing Line Filter STO optional Safe Torque Off Connect to 24 VDC PS or use bypass plug E Magnetic Contactor To PC USB mini B cable To Host Controller Voltage reference input Pulse and direction input Encoder equivalent output 6x digital inputs 3x digital outputs 1x analog output Regenerative To Additional lOs Resistor optional 5x digital inputs 3x digital outputs 1x fault relay Secondary feedback Functional Ground Motor Feedback Motor Brake Rela 24 VDC optional y Power Supply Motor Power Brake Output To be supplied by customer Refer to EMI Suppression in the user manual Servo System Wiring 3 Phase CDHD 020 CDHD 024 120 240 VAC Quick Start Guide 23 Introduction CDHD
28. A problem accessing the EEPROM on the power board Fatal fault drive cannot be operated A failure occurred in the circuit that measures bus voltage The calculated offsets for the current sensors are out of range FPGA version does not match the firmware version Internal error due to an endless while loop or a numerical issue Motor type nameplate data cannot be read Parameter was changed and requires SAVE and power cycle to take effect EtherCAT the Microblaze version does not match the version specified by drive EtherCAT the ESI version does not match the version specified by drive Over current detected on one of the digital outputs This fault disables the drive Action Required Reconnect master and slave and power cycle the drive Reconfigure the drive or download the parameter set and save the parameters If problem persists contact technical support Contact technical support Contact technical support Contact technical support Contact technical support Contact technical support Reset faults If the fault persists the drive probably needs repair Contact technical support Reset faults If the fault persists the drive probably needs repair Contact technical support Update either the FPGA version or drive version Contact technical support Reconnect the feedback device Make sure the motor type nameplate data is present SAVE and then cycle powe
29. CONr10000004 09 Contacts PN 0430300001 or equiv STX PN PINr43030000 00 Wired STO STX PN CONr00000004 AS Mating Connector Crimp Housing PN F32FSS 04V KX STX PN CONr10000004 13 Contacts PN SF3F 71GF P2 0 STX PN PINrSF3F71GF 00 Mating Connector Spring PN O4JFAT SBXGF I STX PN CONr10000004 19 Regeneration P3 JST J300 16 AWG 1 Bl DC Bus 2 B2 Mating Connector Crimp Housing PN F32FSS 02V KX STX PN CONr10000002 10 Contacts PN SF3F 71GF P2 0 STX PN PINrSF3F71GF 00 Mating Connector Spring not available 2 Regen Bus AC Phase 1 AC Phase2 AC Phase 3 Logic AC Phase 1 Mating Connector Crimp Housing PN F32FSS 05V KX STX PN CONr10000005 03 Contacts PN SF3F 71GF P2 0 STX PN PINrSF3F71GF 00 Mating Connector Spring PN 05JFAT SBXGF I STX PN CONr10000005 04 Functional Ground PE Terminal MA Md ring or spade terminal Daisy Chain EtherCAT In EtherCAT Out ES Eu DR ral C5 RJA5 C6 RJA5 NELTRON 4401 10SR or COXOC 304A 10PSAAAOS OR OR STX PN CONr00000010 67 CAN In CAN Out 1 CANH 1 2 CANL 2 FGND 3 4 4 5 5 1 RX 6 6 2 GNDISO 7 FGND 7 FGND 3 TX 8 8 4 Controller I F Machine I F Crimping tool USB C1 Mini B Molex 0638190000 P1 Refer to ordering information Crimping tool H
30. F71GF 00 CUR e i f 6 Resolver sine 19 Resolver sine Mating Connector TT EN Spring PN 06JFAT SBXGF I 7 Resolver cosine 20 Resolver cosine STX PN CONr10000006 06 8 Resolver reference 21 Resolver reference 9 Sine encoder sine 22 Sine encoder sine Functional Ground 10 Sine encoder cosine 23 Sine encoder cosine PE Terminal M4 11 5V supply 24 Ground 5V 8V return M4 ring or spade terminal 12 Motor temperature 25 Motor temperature Crimping tool Molex 0638190000 P1 SEEN yet or equivalent 13 5V supply 26 Shield Aerer to ordering eA Crimping tool YRF 880 P2 P3 Mating Connector CAN and EtherCAT models only EtherCAT models only STX Servotronix Highlighted PN Supplied with CDHD 3M Solder Plug Connector PN 10126 3000PE STX PN CONr00000026 31 or equiv Key for spring J FAT OT 3M Solder Plug Junction Shell connector PN 10326 52F0 008 STX PN HODr00000026 00 or equiv 4 40 insert threads on C2 C3 C4 Mating Cable STX PN CBL MDRFL 26 0x x 1 2 3 meter Extraction tool EJ JFAJ3 P2 P3 Pin Assignments on CDHD 1D5 CDHD 003 AP AF EC Models 120 240 VAC Quick Start Guide 15 Introduction CDHD STO Safe Torque Off P1 Molex 26 28 AWG 24 VDC STO enable Ground 24 VDC return Mating Connector Crimp Hou
31. HD Installad n PLOCedU e ica exe Cauca Cone re lac bene Faucets Care aub e 9 CDHD Dimensions and Mounting ccccccce cece cece cece nnns 10 CDHD Wiring and Pin Assignments sss enhn 14 CDHD ID5 CDHD 003 120 240 VA ana a a Cu 14 CDHD 4D5 CDHD 006 120 240 VAC iiisseeenmmmm nnne 17 CDHD 008 CDHD 010 CDHD 013 120 240 VAC ccc cece cece ee eeeeeeeeeees 20 CDHD 020 CDHD 024 120 240 VAC 0 2 RR RR 23 CDHD 003 CDHD 006 400 480 VAC 0c cece cceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 26 EBADEOT2 400 480 VAC Lnr 29 CDHD 024 CDHD 030 400 480 VAC sense renee renere EL mnm 32 2 Control Board AP AF EC lt lt lt 34 NTN NE 34 Controller HOSE 34 Controller Interface Wiring ss42sssssss essen esse esse meme eme memes 37 Machine OS ocu ee ee een 39 Machine Interface Wiring ssssssesseseeeee nennen nennen nnn 41 Moto Feedback Aus 43 Feedback Wiring Guidelines sseeeeeeeeeeeen HH 43 Fieldbus Devices C5 and CG iconibus etel HE EEE al 52 HOSL COMDULER HE T Cirat AGS 52 Daisy Cans Clus resto ie M NEU NIHU MM De E pania MN DEEP EU REN NEUEM pem MEE 53 Drive Address SMIE en 53 3 Control Board Power Block 4 54 CONTO NG OS usle 54 MOTO Brake CON 54 Motor Brake 24 VDG INP re 54 RS 232 C9MMURICaL ON is ee ee a 55 4 Power Board 120 240 VAC lt lt 56 NN 56 Sale TOrQUEOMISTON e PI ses res 56 Flame 57 RegeneratdonResIiStor Pusse 57 RnB Rd Odd
32. Hall W Hall W Motor Temperature Sensor Motor Temperature Sensor 5 VDC 0 VDC Shield 5 Feedback Wiring Differential Halls Only Pin Twisted Pair User Motor Pin Signal Description 9 22 10 23 3 16 12 25 11 24 26 Notes A Twisted Pair Hall U Hall U Hall V Hall V Hall W Hall W Motor Temperature Sensor Motor Temperature Sensor 5 VDC O VDC Shield Quick Start Guide CDHD Control Board AP AF EC 6 Feedback Wiring Incremental Tamagawa Pin Twisted Pair User Motor Pin 1 14 15 16 12 25 11 24 26 Twisted Pair Twisted Pair Twisted Pair Twisted Pair Notes A D 7 Feedback Wiring Sine Encoder Pin Twisted Pair User Motor Pin 9 22 10 23 12 25 11 24 26 Twisted Pair Twisted Pair Twisted Pair Notes A E Quick Start Guide Signal Description Incremental Encoder A Hall U Incremental Encoder A Hall U Incremental Encoder B Hall V Incremental Encoder B Hall V Incremental Encoder Z Hall W Incremental Encoder Z Hall W Motor Temperature Sensor Motor Temperature Sensor 5 VDC O VDC Shield Signal Description Sine Encoder Sine Sine Encoder Sine Sine Encoder Cosine Sine Encoder Cosine Motor Temperature Sensor Motor Temperature Sensor 5 VDC 0 VDC Shield 47 Control Board AP AF EC CDHD 8 Feedback Wiring Sine Encoder with Halls Pin Twisted Pai
33. Make sure the EtherCAT master controller sends the packets within the time defined by the master Make sure the controller does not switch to a lower state of communication while the drive is enabled Quick Start Guide CDHD Drive Status Display Light Type H H J J1 J2 J 3 J4 J5 L1 L2 L3 L4 L5 L6 Flash Fault Steady Warning Motor Over Flash Fault Fault Fault Fault Fault Fault Warning Warning Warning Warning Warning Warning Quick Start Guide Name Description Motor Over Either the motor has Temperature overheated or the drive is not set up correctly for the motor temperature sensor Motor is overheated Temperature Velocity Over Speed Actual velocity exceeded 1 2 Exceeded times the velocity limit The velocity limit is set using VLIM Exceeded Maximum Position Error The position error PE has exceeded the position error limit PEMAX Exceeded Maximum Velocity Error The velocity error VE has exceeded the velocity error limit VEMAX Excessive PE Value The position error PE has reached the software numerical limit Motor Runaway Condition Detected The motor moves in negative direction although the commanded current is positive Commutation is incorrect Algebraic signs of actual current acceleration and velocity do not match Secondary Position deviation between Feedback Position motor and load is to
34. Quick Start Guide 29 Introduction CDHD Daisy Chain EtherCAT In EtherCAT Out C8 0 1 IDC Female C5 RJ45 C6 RJ45 NEL REN NE Controller I F or COXOC 304A 10PSAAA03 OR OR STX PN CONr00000010 67 C2 MDR 36 Plug 24 28 AWG DC Shield 24 VDC return 19 24 VDC Common output Common input CAN In CAN Out C5 RJ45 C6 RJ45 0 JET input 2 Equivalent encoder output A 1 2 T 3 RXD Digital output 1 2 a GND Digital input 1 21 E TXD 4 Equivalent encoder 22 output A 6 GND i 5 Equivalent encoder 23 Equivalent encoder 7 output B output B 19 Equivalent encoder 24 output Z Equivalent encoder output Z 2 0 B ali 140 25 Ground 26 A Analog input 1 Analog input 1 gt Direction input 27 Direction input eR A Secondary encoder B Secondary encoder B 7 Ground 28 Pulse input 0 NJ O 0O BR OI ID 7 o O ANA G TI i e Z O A Hh Wi Pu 9 Secondary encoder A Pulse input 29 Ground Secondary encoder A STO Safe Torque Off P1 Molex 26 28 AWG 24 VDC STO enable EN Ground 24 VDC return _ 30 JE i i Ground 31 Digital input 3 USB C1 Mini B EN E Ma
35. T STX PN PINr43030000 00 18 Analog input 2 36 Analog output Wired STO STX PN CONr00000004 AS Mating Connector 3M Solder Plug Connector PN 10136 3000PE STX PN CONr00000036 01 or equiv 3M Solder Plug Junction Shell PN 10336 52F0 008 STX PN HODr00000036 00 or equiv Mating Cable STX PN CBL MDRFL 36 0x x 1 2 3 meter Controller I F Logic Power AC Input P2 Phoenix 16 AWG L1C AC Phase 1 Pn Machine I F EET C3 MDR 20 Plug 24 28 AWG Mating Connector 1 Secondary encoder A 11 Secondary encoder A PN FKC 2 5 2 STF 5 08 1873207 STX PN CONr10000002 25 Pulse input Pulse input N Secondary encoder B 12 Secondary encoder B Direction input Direction input l Main AC Input P3 Phoenix 12 13 AWG L1 AC Phase 1 Secondary encoder Z 13 Secondary encoder Z Machine I F Digital input 7 15 Digital input 8 3 4 Secondary encoder 5V 14 Secondary encoder ground 5 6 lo AC Phase 2 Digital input 9 16 Digital input 10 13 AC Phase 3 7 Digital input 11 17 Digital output 4 Mating Connector T 8 Digital output 5 18 Digital output 6 PN SPC 5 3 STCL 7 62 1718494 9 24 VDC 19124 VDC return STX PN CONr10000003 21 Common input Common output 1 0 Fault relay 1 20 Fault relay 2 Motor P4 Phoenix 10 11 AWG Ma
36. ace CDHD 1D5 CDHD 003 CDHD 4D5 CDHD 006 CDHD 008 CDHD 010 CDHD 013 Pin Pin Label Function P3 1 Bl DC bus 2 B2 Regen bus CDHD 020 CDHD 024 Pin Pin Label Function P5 1 B2 Regen bus 2 Bl DC bus Quick Start Guide 57 Power Board 120 240 VAC CDHD AC Input P3 P4 P5 58 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 CDHD 008 CDHD 010 andCDHD 013 Two connectors a connector for bus power uses interface P4 and another connector for logic power uses interface P5 CDHD 020 024 Two connectors a connector for bus power uses interface P3 and another connector for logic power uses interface P2 Make the following connections 1 Connect the AC input voltage ground wire to the PE terminal located on the CDHD front panel Use an M4 ring or spade terminal Connect L1 L2 and L3 for bus power m Ifthe main voltage is from a single phase source connect line and neutral to L1 and L2 m If the main voltage is from a three phase source connect the phases to L1 L2 and L3 Connect L1C and L2C for logic power m Ifthe main voltage is from a single phase source connect line and neutral to L1C and L2C m If the main voltage is from a three phase source connect any two phases to L1C and L2C
37. age may cause drive failure Do not apply power until all hardware connections are complete Safe Torque Off STO P1 STO uses interface P1 on all CDHD 120 240 VAC models 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 Note If the application does not require STO control jumper pin 4 to pin 1 and pin 3 to pin 2 to bypass the STO STO Interface Pin Pin Label Function 1 24V STO Enable 2 GND STO Return 3 24V Return provided by the drive 56 for use with emergency stop circuit 24V Supply provided by the drive for use with emergency stop circuit Quick Start Guide CDHD Power Board 120 240 VAC Motor P2 Motor uses interface P2 on all CDHD 120 240 models Exception Motor uses P4 on CDHD 020 024 Motor Interface Pin Pin Label 1 2 3 4 PE U V W Function Protective ground motor housing Motor Phase U Motor Phase V Motor Phase W 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 Regen Interf
38. al output 2 34 35 Analog input 2 36 Analog output Description Digital ground Opto isolated programmable digital input Read using I N3 Fast opto isolated programmable digital input Read using I N5 Opto isolated programmable digital output Read using OUT2 Low side of the second differential analog input x10 VDC Analog output referenced to digital ground 0 10 VDC Quick Start Guide CDHD Control Board AP AF EC Controller Interface Wiring i E x E EQVIVALENT ENCODER OUTPUT hr Ba DIRECTION E AKAL pecan PULSES DIRECTION 24 PULSE she OR SECONDARY ENCODER po al XX men Controller Interface Wiring AP AF Models Quick Start Guide 37 Control Board AP AF EC CDHD IN _COMN 9 INPUT SOURCE MODE Sa E sl 24v EI Z gt IN i INPUT SINK MODE 3v3 ay Med al ne La or rart T I IN COM OUT COM OUTPUT SOURCE MODE x T nF BIO ST ER E I doi de Es ay ANIN1 INPUT 10V 10nF GND es EIER Low ow ANIN2 OPTIONAL 10V pr XA EQVIVALENT ENCODER OUTPUT Y Z pons Co s RS422 RECEIVER h V DIR gt o e DIRECTION E PULSEZS DIRECTION L PULSE As OR SECONDARY ENCODER gt IKK PULSEJA Controller Interface Wiring EC Models 38 Quick Start Guide CDHD Control Board AP AF EC Machine I Os C3 Machine I Os are connected through interface C3 on all CDHD models Wire the machine inputs and outpu
39. altime Overload Warning Not Configured Motor Setup Failed Hardware Ember Switch Activated CAN Supply Fault Drive Locked Low Voltage PLL phase locked loop Synchronization Failed Description Generally occurs due to an unforeseen circumstance The drive is inoperable until power is cycled CPU has exceeded its computational limit Realtime execution takes longer than 31 25 us Drive has detected that CPU is close to its computational limit Drive configuration required Motor Setup procedure failed MOTORSETUPST will show the reason All segments light up when the Hardware Ember switch is pressed which sets the drive to serial communication Boot Up Mode A problem with the internal voltage supply for the CAN bus Security code and key do not match Fatal fault drive cannot be operated Battery voltage is nearing fault level Relevant only for Tamagawa encoder Controller synchronization signal IS missing or not stable The fault is detected only when synchronization is enabled by SYNCSOURCE command Action Required Contact technical support Contact technical support Set drive parameters and execute CONFIG Check phase and motor wiring Make sure to choose the correct feedback type and follow the hints in MOTORSETUPST The drive probably needs repair Contact technical Support Contact technical support Prepare to replace battery soon Check if controlle
40. ate and improve the phase find process Increase SFBPETHRESH SFBPETIME SFBPEMAX or improve position tuning 69 Drive Status CDHD Display Light Type N nl n3 n41 n42 n43 n45 015 0 15 05 06 07 o8 P2 70 Flash Fault Steady Warning Fault Fault Fault Fault Fault Fault Flash Fault Steady Warning Fault Fault Fault Fault Fault Fault Fault Fault Name STO Fault STO Regen Over Current Emergency Stop Issued Power Brake Open Load Power Brake Short Invalid Gain Table Data Power Brake Fault Over Voltage Bus AC Supply Line Disconnected Plus 15V Out of Range Minus 15V Out of Range 5V Out of Range Logic AC Power Failure Bus AC Supply Line Disconnect Regen Resistor Overload Over Current Unstable Current Loop Description The STO signal is not connected when drive enabled The STO signal is not connected when drive disabled The preset current limit for regen current has been exceeded The input defined as emergency stop has been activated Open load on the power brake output Short circuit on the power brake output The condition LMJ RGT1 lt LMJ RGT2 lt LMJRGT3 has not been met A fault occurred on the power brake The bus voltage exceeded the maximum value At least one phase of the main power for the bus supply is not connected The internal 15 V supp
41. ature 25 Motor temperature PE Terminal M4 sensor Crimping tool Molex 0638190000 P1 5V supply 26 Shield or equivalent CERES Mating Connector Crimping tool YRF 1130 P2 P3 P4 IS luc Connector EIE UPC S PN 10126 3000PE STX PN CONr00000026 31 or equiv Machine I F Mating Connector Crimp Housing PN J43FSS 03V KX STX PN CONr10000003 19 Contacts PN SJ4F 71GF M3 0 STX PN CRPrSJ4F71GF 00 Incremental encoder A Feedback 16 Incremental encoder Z 17 Hall V 8V supply Resolver sine Resolver sine 4 20 Resolver cosine Resolver reference M4 ring or spade terminal A Refer to ordering information CAN and EtherCAT models only EtherCAT models only STX Servotronix Highlighted PN Supplied with CDHD Extraction tool EJ JFAJ4 P2 P3 P4 3M Solder Plug Junction Shell EJ JFAJ3 P5 PN 10326 52F0 008 STX PN HODr00000026 00 or equiv 4 40 insert threads on C2 C3 C4 Mating Cable STX PN CBL MDRFL 26 0x x 1 2 3 meter Pin Assignments on CDHD 008 CDHD 010 CDHD 013 AP AF EC Models 120 240 VAC Quick Start Guide 21 Introduction CDHD STO Safe Torque Off P1 Molex 26 28 AWG DIES OCHRE Ground 24 VDC return 4 Mating Connector Crimp Housing PN 436450400 or equiv STX PN CONr10000004 09
42. circuit on the motor connection Check for excessive overshoot in the current loop Check and modify current controller settings Quick Start Guide CDHD Drive Status Display Light Type r r10 r14 rl5 r16 rl7 r18 r19 r20 r21 Steady Warning Fault Fault Fault Fault Fault Fault Fault Fault Fault Quick Start Guide Name Offset and or Gain Adjustment Values Detected After SININIT Sine Feedback Communication Fail Sine Encoder Quadrature Fault Sin Cos Calibration Invalid Feedback 5V Over Current Secondary Feedback Index Break Secondary Feedback A B Line Break Secondary Feedback 5V Over Current Feedback Communication Error Nikon Encoder Operational Fault Description Significant offset and or gain adjustment values were detected after SININIT The values that trigger this warning are half the value of those used to declare a fault Although the system may continue to function these values indicate the existence of a problem which may worsen over time Communication problem between the drive and the EnDat encoder Mismatch between calculated and actual encoder quadrature information The sine cosine calibration parameters are out of range This fault is related to resolver and sine encoder feedback The current supplied by the drive on the 5V primary encoder supply has exceeded the preset current limit Th
43. coder B Secondary encoder input encoder B secondary encoder input signal B RS422 signal B RS422 Direction High side of the direction Direction Low side of the direction input signal input signal Secondary High side of the 13 Secondary Low side of the encoder Z secondary encoder input encoder Z secondary encoder input index RS422 index RS422 Secondary 5 VDC supply for the 14 Secondary Ground of the 5 VDC encoder 5V secondary encoder encoder supply for the secondary ground encoder Digital Opto isolated 15 Digital Opto isolated input 7 programmable digital input 8 programmable digital input Read using IN7 input Read using IN8 Digital Opto isolated 16 Digital Opto isolated input 9 programmable digital input 10 programmable digital input Read using IN9 input Read using I N10 Digital Fast opto isolated 17 Digital Opto isolated input 11 programmable digital output 4 programmable digital input Read using I N11 output Read using OUTA Digital Opto isolated 15 Digital Fast opto isolated output 5 programmable digital output 6 programmable digital output Read using OUT5 output Read using OUT6 24 VDC AP AF Models User 19 24 VDC AP AF Models Return of supplied 24V for I O return the user supplied biasing 24 VDC Common EC Models Common EC Models input output 20 Fault relay 2 Terminal 2 of the dry contact fault relay Quick Start Guide CDHD Control Board AP AF EC Machine Interface Wiring Be Faul
44. d C7 on all CDHD models Use a 4p4c plug RS232 Interface 4P4C Pin Pin Label Function 1 RX Receive 2 GND ISO Ground 3 TX Transmit 4 Unused 52 Quick Start Guide CDHD Control Board AP AF EC Daisy Chain C3 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 A daisy chained drive can be assigned an address from 1 to 99 by setting the rotary switches on the drive When configuring a daisy chain address 0 cannot be used Daisy Chain Interface Pin Function 1 DC Shield 2 Unused 3 RXD 4 GND 5 TXD 6 GND 7 10 Unused 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 m The upper switch positions are set as tens 10 20 30 90 B The lower switch positions are set as ones 0 1 2 9 Each drive on the network must have a unique address Note If two or more drives are connected to the network address O cannot be used A single drive may have the address 0 Quick Start Guide 53 Control Board Power Block CDHD 3 Co ntrol Board Power Block The control board has the same interfaces on all CDHD power blocks b
45. d Pair Twisted Pair Twisted Pair Twisted Pair Quick Start Guide Serial Data Serial Data Sine Encoder Sine Sine Encoder Sine Sine Encoder Cosine Sine Encoder Cosine Motor Temperature Sensor Motor Temperature Sensor 5 VDC O VDC Shield 49 Control Board AP AF EC CDHD 12 Feedback Wiring Sick 8V Hiperface Protocol and Sine Signal Pin Twisted Pair User Motor Pin Signal Description 1 14 9 22 10 23 12 25 18 24 26 Note A Twisted Pair Twisted Pair Twisted Pair Twisted Pair Serial Data Serial Data Sine Encoder Sine Sine Encoder Sine Sine Encoder Cosine Sine Encoder Cosine Motor Temperature Sensor Motor Temperature Sensor 8 VDC O VDC Shield 13 Feedback Wiring Heidenhain EnDat 2 x Communication Only Pin Twisted Pair User Motor Pin Signal Description 1 14 2 15 12 25 11 24 26 Note A Twisted Pair Twisted Pair Twisted Pair 50 Serial Data Serial Data Serial Clock Serial Clock Motor Temperature Sensor Motor Temperature Sensor 5 VDC O VDC Shield Quick Start Guide CDHD Control Board AP AF EC 14 Feedback Wiring Heidenhain EnDat 2 x with Sine Cosine Pin Twisted Pair User Motor Pin Signal Description 1 14 2 15 9 22 10 23 11 24 26 Note A Twisted Pair Twisted Pair Twisted Pair Twisted Pair Serial Data Serial Data Serial Clock Serial Cl
46. dana 58 5 Power Board 400 480 VAC LLLLLL 60 OM a 60 sale Torque STO S PE a liada 60 LOGIC POWER 24V INPUT Pune 61 AC Input and Regeneration Resistor P3 ssssssseeeeeeeeeeeeeeeee nennen nn 61 BAKE Ps 61 Field EP Da ee TE Te Eee 62 6 Software LI LLLLLL 63 SENGS TUO TASTE NETTO nenn Ren E XE A 63 FV NNN 63 Drive ContigUratioN M PEUT 64 Quick Start Guide 5 7 Drive Status _ LLL LLLLLL 65 Normal Operation Goes osmosis 65 Warning and Fault Codes A 66 6 Quick Start Guide CDHD Introduction 1 Introduction CDHD Models The various models in the CDHD servo drive series are differentiated by means of the communication methods and protocols they use The following table presents the different models and their distinguishing characteristics Table 1 1 CDHD Models Communication and Protocols CDHD Model Physical Communication Programming Layer Protocol Language CDHD AP Analog 10V VarCom Pulse Train AB signals Serial ASCII CDHD commands CDHD CAN AF Analog 10V VarCom A CAN drive which uses Pulse Train AB signals CANopen protocol Also referred to as the CDHD Serial ASCII CDHD commands CANopen drive CAN Communication VarCom CANopen all 1000h objects CANopen Manufacturer Specific CANopen all 2000h objects Standard Servo Drive Motion CANopen all 6000h objects CDHD EtherCAT EC Ethernet Communication VarCom An EtherCAT drive which uses EtherCAT CANopen CANope
47. der and the drive has not means to verify battery voltage Motor Feedback Interface Pin Function Pin Function 10 Sine encoder cosine 23 Sine encoder cosine 11 5V supply 24 Ground 5V 8V return 12 Motor temperature sensor 25 Motor temperature sensor 1 Incremental encoder A 14 Incremental encoder A Serial encoder data Serial encoder data 2 Incremental encoder B 15 Incremental encoder B Serial encoder clock Serial encoder clock 3 Incremental encoder Z 16 Incremental encoder Z 4 Hall U 17 Hall V 5 Hall W 18 AF EC Models 8V supply 6 Resolver sine 19 Resolver sine 7 Resolver cosine 20 Resolver cosine 8 Resolver reference 21 Resolver reference 9 Sine encoder sine 22 Sine encoder sine 13 5V supply 26 Shield Feedback Wiring Guidelines The following tables present suggestions for the most common feedback variations If you need additional information or 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 Quick Start Guide 43 Control Board AP AF EC CDHD Notes for Wiring Tables A If the motor does not support a temperature sensor do not connect pins 12 and 25 The motor temperature is available on the serial data there is no need for pins 12 and 25
48. der Plug Junction Shell 10336 52F0 008 STX PN HODr00000036 00 or equiv Secondary encoder A 11 Secondary encoder A Secondary encoder B 12 Secondary encoder B Secondary encoder Z 13 Pulse input Pulse input Direction input Direction input Secondary encoder Z Secondary encoder 5V Secondary encoder ground Digital input 7 Digital input 8 Digital input 11 17 Digital output 4 Digital input 9 Digital input 10 Digital output 5 24 VDC Digital output 6 24 VDC return 19 10 Mat 3M PN 3M PN Mat SSI encoder data Incremental encoder B Common input Common output 20 Fault relay 2 Fault relay 1 ing Connector Solder Plug Connector 10120 3000PE STX PN CONr00000020 38 or equiv Solder Plug Junction Shell 10320 52F0 008 STX PN HODr00000020 00 or equiv ing Cable STX PN CBL MDRFL 20 0x x 1 2 3 meter Feedback C4 MDR 26 Plug 24 28 AWG Incremental encoder A SSI encoder data 15 Incremental encoder B SSI encoder clock SSI encoder clock Incremental encoder Z 16 Incremental encoder Z Hall U Hall V Hall W 8V supply Resolver sine Resolver sine Resolver cosine Resolver cosine Resolver reference Resolver reference
49. drive is configured La The digital display provides various indications of drive operation such as operation modes drive enable status and fault conditions For more information refer to the section Drive Status Drive Configuration 1 In select the Setup Wizard option from the navigation menu 2 Follow the prompts to configure the CDHD for your particular motor and application Note The wizard performs a basic drive configuration For more advanced configuration options and procedures refer to the user manual 64 Quick Start Guide CDHD Drive Status 7 Drive Status The 7 segment display provides various indications of drive status such as operation modes drive enable status and fault conditions In general the display uses the following conventions B Decimal point Indicates the drive s Enable Disable status if displayed the drive is enabled B Steadily lit digit Indicates the operation mode OPMODE currently in effect Steadily lit letter Indicates a warning Flashing Indicates a fault Sequential display of letters and digits Indicates a fault with some exceptions m At1 indicates motor phasing MOTORSETUP is in progress B L1 L2 L3 L4 indicate the state of software and hardware limit switches m 1 isa warning B A digit flashing at half second intervals during encoder initialization indicates the operation mode OPMODE currently in effect In the ev
50. e drive allows this fault to occur up to 3 times in succession After 3 faults the drive forces a delay of 1 minute before it can be reenabled Secondary encoder index line not connected One of the secondary feedback Signals is not connected The preset current limit for current supplied by the drive on the 5 V secondary encoder supply has been exceeded Communication with the feedback device did not initialize correctly Communication with the Nikon MAR A40A feedback device did not initialize correctly Action Required Check the encoder and associated hardware These values suggest some degradation in either electronics e g encoder drive or wiring e g increased wire resistance increased leakage between wires The problem must be analyzed and repaired Check that the data and clock signals to the EnDat encoder are connected properly The cable must be shielded Check the feedback device wiring Check that the correct encoder type MENCTYPE is selected Re execute the sine cosine calibration process The CDHD can source a maximum current of 250 mA to the primary encoder Check for a short circuit at the encoder Check if the encoder is drawing more than the current limit Check whether the drive is configured for working with the index signal on the secondary encoder and check if the index signal is connected Check that all signals from the secondary encoder are properly c
51. ent of concurrent faults only one fault code is displayed on the 7 segment display The display shows the code of the fault with the highest priority Normal Operation Codes After the drive is configured and ready for operation the display shows a steadily lit single digit indicating the operation mode Display Name 0 OPMODE 0 l OPMODE 1 2 OPMODE 2 3 OPMODE 3 4 OPMODE 4 Quick Start Guide Description Drive Drive Enabled Disabled Drive enabled Serial velocity control mode Analog velocity control mode Serial current control mode Analog current control mode Master slave gearing control mode 65 Drive Status CDHD Display Name 8 OPMODE 3 E Ember Mode Drive is in Ember mode firmware is being downloaded to the drive Description Position control mode Warning and Fault Codes Drive Drive Enabled Disabled The following table will help you interpret the warning and fault codes and respond appropriately B Display is the code that appears on the drive s 7 segment display B Light distinguishes between a steadily lit character for warnings and a flashing character for faults Type specifies a warning or a fault Name is the text message displayed in Display Light Type A4 bl 66 Flash Fault Flash Fault Steady Warning Fault Fault Fault Flash Fault Steady Warning Tamagawa Battery Fault Name Watchdog Fault Realtime Overload Fault Re
52. er B Incremental encoder B SSI encoder clock Incremental encoder Z SSI encoder clock Functional Ground PE Terminal M4 Incremental encoder Z Hall V M4 ring or spade terminal Resolver sine 8V supply Resolver sine Resolver cosine Resolver cosine Resolver reference Resolver reference 1 U Motor Phase U Sine encoder sine Sine encoder sine 2 Motor Phase V Sine encoder cosine Sine encoder cosine 3 W Motor Phase W Mating Connector PN SPC 5 3 STCL 7 62 1718494 STX PN CONr10000003 21 2V SURED Motor temperature sensor Ground 5V 8V return Motor temperature sensor 13 5V supply Refer to ordering information CAN and EtherCAT models only EtherCAT models only T Crimping tool Molex 0638190000 P1 P2 or equivalent Servotronix Supplied with CDHD STX Highlighted PN 4 40 insert threads on C2 C3 C4 Mating Connector 3M Solder Plug Connector PN 10126 3000PE STX PN CONr00000026 31 or equiv 3M Solder Plug Junction Shell PN 10326 52F0 008 STX PN HODr00000026 00 or equiv Mating Cable STX PN CBL MDRFL 26 0x x 1 2 3 meter Shield Pin Assignments on CDHD 003 CDHD 006
53. erential analog command input command input 10 VDC 10 VDC 9 Direction High side of the direction 27 Direction Low side of the direction input signal RS422 or input Signal RS422 or High side of the down Low side of the down count signal count signal Secondary High side of the Secondary Low side of the encoder Secondary encoder input encoder B secondary encoder input B signal B RS422 signal B RS422 10 Ground Digital ground 28 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 Quick Start Guide 35 Control Board AP AF EC CDHD Pin Function Description 11 Pulse Low side of the pulse input signal RS422 or Low side of the master encoder signal A or Low side of the up count Signal Secondary Low side of the secondary encoder A encoder input signal A RS422 12 13 Ground Digital ground 14 Digital Opto isolated input 4 programmable digital input Read using IN4 15 Digital Fast opto isolated input 6 programmable digital input Read using IN6 16 Digital Fast opto isolated output 3 programmable digital output Read using OUT3 17 18 Analog High side of the second input 2 differential analog input 10 VDC Optional see ordering information 36 Pin Function 29 Ground 30 31 Digital input 3 32 Digital input 5 33 Digit
54. formation Power Rating Drive Model CDHD 0062AAF 1 00 Drive Peak Current 25 4 A 18 Arms Motor Feedback Motion Units Firmware Version 1 32 Feedback Type Incremental encoder A B Halls Tamagawa Drive Information Drive Settings Serial Number 111F 00192 7 June 2011 Drive Continuous Current 8 4 A B Arms Limits Control Board Version Current Foldback Digital VOs Analog lOs FPGA Version Homing Disable Mode Enable amp Faults Tuning Download Firmware Motion Current Loop Velocity Loop Position Loop Dashboards Expert Terminal Scope General Preferences Backup amp Restore Power Board Version Operation Mode 8 New Messages 4 Power Up l After completing the hardware connections turn on power to the drive 2 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 Browse to and select the Drivers folder The path will vary depending on the computer s operating system and the location selected for software installation for example m Program Files x86 1 Drivers m Program Files Drivers The wizard will automatically select and install the driver file Quick Start Guide 63 Software CDHD 3 Look at the 7 segment display on the CDHD front panel 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
55. generative 1x analog output Resistor optional To Additional IO o itional lOs 5x digital inputs 3x digital outputs 1x fault relay Secondary feedback Functional _L Ground Motor Feedback Motor Power Motor Brake 24 VDC 1 3A max Internal 330 300W For higher power external regen resistor is required refer to the user manual Refer to EMI Suppression in the user manual Servo System Wiring 3 Phase CDHD 003 CDHD 006 AP AF EC Models 400 480 VAC 26 Quick Start Guide CDHD Introduction Daisy Chain C8 0 1 IDC Female EtherCAT In EtherCAT Out Controller I F css comis se ls ela or OR OR STX PN CONr00000010 67 i m 24 VDC return 19 24 VDC Common output Common input CAN In CAN Out DC Shield SCIES ee igital outpu igital inpu C5 RJ45 C6 RJ45 EEE ES igital inpu CANH 1 RXD peda p l GND Equivalent encoder 22 Equivalent encoder GAL 2 GANL output A output A 3 FGND RS232 USE 5 Equivalent encoder 23 Equivalent encoder 4 C7 4p4c GND zu output B output B
56. incorrect voltage may cause drive failure Do not apply power until all hardware connections are complete Safe Torque Off STO P1 60 STO uses interface P1 on all CDHD 400 480 VAC models CDHD 24 and CDHD 30 400 480 VAC models also have a second STO interface P3 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 Note If the application does not require STO control jumper pin 4 to pin 1 and pin 3 to pin 2 to bypass the STO STO I nterface Pin Pin Label Function 1 24V STO Enable 2 GND 24 VDC Return 3 4 Quick Start Guide 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 Prevent inrush surge N Logic Power L1C L2C After switching Logic Power Off wait 1 minute before switching On again Logic Power 24V Interface Pin Pin Label Function 1 24V Logic In 2 GND 24 VDC Return AC Input and Regeneration Resistor P3 On the CDHD 400 480 VAC models AC Input and Regen Resistor are combined on one connector and use the following interfaces B P3 on CDHD 003 CDHD 006 CDHD 012
57. ircuit Breaker Drive addressing or Fuses S10 Safe Torque Off d Connect to 24 VDC PS PEA or use bypass plug a E md To PC u ali te USB mini B cable Line Piller Hlegenelallve AS optional Resistor optional To Host Controller Voltage reference input Pulse and direction input Equivalent encoder output 6x digital inputs 3x digital outputs Magnetic 1x analog output Contactor To Additional lOs 5x digital inputs 3x digital outputs 1x fault relay Secondary feedback Motor Feedback Functional Ground Motor Brake optional Relay r 24 VDC Power Supply Motor Power Brake Output To be supplied by customer Refer to EMI Suppression in the user manual Servo System Wiring 3 Phase CDHD 008 CDHD 010 CDHD 013 120 240 VAC 20 Quick Start Guide CDHD Introduction Daisy Chain C8 0 1 IDC Female EtherCAT Out NELTRON 4401 10SR Controller I F C5 RJ45 C6 RJ45 or COXOC 304A 10PSAAA03 C2 MDR 36 Plug 24 28 AWG OR OR STX PN CONr00000010 67 ENDET C5 RJ45 CAN Out Common output Common input C6 RJ45 Digital output 1 Digital input 2 Digital input 1 4 Equivalent encoder output A 22 Equivalent encoder output A 5 Equivalent encoder output B Equivalent encoder output B 6 Equivalent encoder output Z Equivalent encoder output Z Ground Analog input 1
58. lization Check that the drive is configured for working with the index signal using MENCTYPE and check if the index signal is connected Check that the Hall signals are all properly connected While turning the motor read the Halls state using HALLS to see which signal is not connected If the feedback type is Tamagawa check that the feedback wiring is correct Check the amplitudes of the sine and cosine signals Check the parameters used for setting up the equivalent encoder output If using a sine encoder check the ENCOUTRES parameter settings Check if the ambient temperature exceeds the drive specification Otherwise contact technical support 73 Drive Status CDHD Display Light Type Name t1 Fault Power Stage Over Temperature t2 Fault Power Module Over Temperature t3 Fault Control Board Over Temperature t4 Fault Temperature Sensor Failure u Flash Fault Under Voltage u Steady Warning Under Voltage 74 Description The temperature on the power board has exceeded the preset limit The temperature inside the integrated power module has exceeded the preset limit The temperature on the control board has exceeded the preset limit Temperature sensor malfunction The bus voltage is below the minimum value The bus voltage is below the minimum value Action Required Check if the ambient temperature exceeds the drive specification Otherwise contact technical suppo
59. ly is out of range The internal 15 V supply is out of range 5V is low or powering off The main power for the logic supply is off At least one phase of the main power for the bus supply is not connected The regen resistor load exceeds its allowed power Over current at the drive output has been detected The drive allows this fault to occur up to 3 times in succession After 3 faults the drive forces a delay of 1 minute before it can be reenabled An unexpected high current overshoot has been detected Action Required Check that the STO connector P1 is wired correctly Check that the STO connector P1 is wired correctly Increase the value of the regen resistor Turn off the specific input Make sure the power brake load cables are connected properly and are not damaged Replace the power brake the motor Modify and correct the gain tables Replace the motor brake Check whether a regen resistor is required for the application The drive probably needs repair Contact technical support The drive probably needs repair Contact technical support May occur during power off If occurs otherwise contact technical support No action required This is a normal response when logic power is turned off Check the connection of the bus AC supply Make sure the supply is on Check whether the regen resistor properties are suited to the application Check for a short
60. models only Servotronix Mating Connector 3M Solder Plug Connector PN 10126 3000PE STX PN CONr00000026 31 or equiv Molex 0638190000 P1 3M Solder Plug Junction Shell or equivalent PN 10326 52F0 008 STX PN HODr00000026 00 or equiv Highlighted PN Supplied with CDHD 4 40 insert threads on C2 C3 C4 Mating Cable STX PN CBL MDRFL 26 0x x 1 2 3 meter Crimping tool Pin Assignments on CDHD 020 CDHD 024 AP AF EC Models 120 240 VAC 24 Quick Start Guide CDHD Introduction GND ISO TX RK o n STO Safe Torque Off P1 Molex 26 28 AWG 24 VDC STO enable 1 Ground 24 VDC return i Mating Connector Crimp Housing PN 436450400 or equiv STX PN CONr10000004 09 Contacts PN 0430300001 or equiv STX PN PINr43030000 00 Wired STO STX PN CONr00000004 AS Logic Power AC Input P2 Phoenix 16 AWG 1 L1C AC Phase 1 2 L2C AC Phase 2 Mating Connector PN FKC 2 5 2 STF 5 08 1873207 1 STX PN CONr10000002 25 5 4 Main AC Input i P3 Phoenix 12 13 AWG 43 1 L 1 AC Phase 1 1 2 L2 AC Phase 2 3 L3 AC Phase 3 Mating Connector PN SPC 5 3 STCL 7 62 1718494 STX PN CONr10000003 21 Motor P4 Phoenix 10 11 AWG Functional Ground Motor Phase U Motor Phase V Motor Phase W Mating Connector PN SPC 5 4 STCL 7 62 1718504 STX PN CONr10000004 26 C3 Molex 26 28 AWG 1 Motor Brake 2 Motor Brake 3 Mating
61. n over EtherCAT CoE Manufacturer Specific CANopen protocol all 2000h objects Standard Servo Drive Motion CANopen all 6000h objects CDHD Power Block PB PWM signals PWM signals PMAC Delta Tau CDHD Documentation This manual is part of a documentation set The entire set consists of the following m CDHD Quick Start Guide Basic setup and operation of the drive B CDHD User Manual Hardware installation configuration and operation CDHD VarCom Reference Manual Parameters and commands used to program the CDHD B CDHD CANopen for CAN and EtherCAT Reference Manual CDHD implementation of CANopen protocol for CAN AF and EtherCAT EC drives CDHD Functional Safety Reference Manual CDHD Technical Training Manual For use with CDHD Demo Kit and software for learning to configure program and operate the CDHD drive Quick Start Guide 7 Introduction CDHD Safety Only qualified persons may perform the installation procedures You do not need to be an expert in motion control to install and oper te the drive system However you must have a basic understanding of electronics computers mechanics and safety practices The CDHD utilizes hazardous voltages 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 website Failure to follow the safety instructions may result in perso
62. nal injury or equipment damage Required Hardware and Tools All required hardware and tools are specified in the diagrams in the section CDHD Wiring and Pin Assignments The connectors and tools that are supplied with the CDHD are also indicated in those diagrams In addition you will need a small slotted screwdriver for setting switches To connect the CDHD to the host computer via serial communication you will need one of the following m USB 2 0 Ato Mini B cable USB interface B 4p4c plug and cable RS232 interface To connect the CDHD to the host computer or host PLC via fieldbus you will need B RJ45 cables CAN interface or EtherCAT 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 Recommended screen resolution for is 1280x800 Minimal resolution is1024x768 B the graphical software interface for configuring and testing the drive Download from the website or contact Technical Support B Net4 for details refer to NET Framework System Requirements If NET 4 is not installed on the computer will guide you through the installation but will not install it automatically 8 Quick Start Guide CDHD Introduction CDHD Installation Procedure Perform the following step
63. o great Mismatch Positive hardware limit switch is activated Hardware positive limit switch is open Hardware negative limit switch is open Negative hardware limit switch is activated Hardware positive and negative limit switches are open Positive and negative hardware limit switches are both activated Positive software limit switch is activated PFB gt POSLIMPOS and POSLIMMODE 1 Software positive limit switch is tripped Software negative limit switch is tripped Negative software limit switch is activated PFB lt POSLIMNEG and POSLIMMODE 1 Software limit switches are tripped Positive and negative software limit switches are activated PFB gt POSLIMPOS and PFB lt POSLIMNEG and POSLIMMODE 1 Action Required Check that the drive is configured properly using THERMODE THERMTYPE THERMTHRESH and THERMTI ME and that the motor temperature sensor is properly connected to the drive if needed If the drive is configured and wired properly check whether the motor is under sized for the application Check that VLIM is set to match the application requirements Using velocity loop tuning check for excessive overshoot Change drive tuning to improve position tracking or increase PEMAX to allow a greater position error Change drive tuning to improve velocity tracking or increase VEMAX to allow a greater velocity error Check tuning Correct MPHASE setting Activ
64. ock Sine Encoder Sine Sine Encoder Sine Sine Encoder Cosine Sine Encoder Cosine 5 VDC O VDC Shield 15 Feedback Wiring Single Turn Nikon 17 bit Single Turn Incremental Tamagawa 17 bit Single Turn Pin Twisted Pair User Motor Pin Signal Description 1 14 11 24 26 Notes B Twisted Pair Serial Data Serial Data 5 VDC O VDC Shield 16 Feedback Wiring Multi turn Nikon 17 bit Multi turn Tamagawa 17 bit Multi turn Sankyo Multi turn Pin Twisted Pair User Motor Pin 1 14 11 24 26 Twisted Pair Notes B F Quick Start Guide Signal Description Serial Data Serial Data 5 VDC O VDC Shield Battery Voltage Battery Ground 51 Control Board AP AF EC CDHD Fieldbus Devices C5 and C6 All CDHD models have the same RJ45 connectors Interfaces C5 and C6 are RJ 45 ports that serve as transmitter Tx and receiver Rx for drives operating on CAN or EtherCAT networks Refer to the CDHD CANopen for CAN and EtherCAT Drives Reference Manual for details on installation configuration and operation of drives being used on CAN and EtherCAT networks Host Computer Cl C7 On all CDHD models the drive can be connected to the host computer through either one of the following interfaces B 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 B RS232 port The interface is labele
65. on CDHD 54 5 3pls for screws M4 or UN 8 CDHD 003 CDHD 006 400 480 VAC Dimensions mm 54 5 _3pls for screws M4 or UN 8 NE ry un n m P um 2 xt rx P 1 193 5 117 4 EE T CDHD 012 400 480 VAC Dimensions mm 12 Quick Start Guide CDHD Introduction Si 4 50 ef 6 Apls for screws M4 or UN 8 I f l o Bl LI B An al B ca g A cn 2 oa wT m wT N ce E L 201 6 x2 6l 209 3 147 30 Figure 3 1 CDHD 024 CDHD 030 400 480 VAC Dimensions mm Quick Start Guide 13 Introduction CDHD CDHD Wiring and Pin Assignments CDHD 1D5 CDHD 003 120 240 VAC Mains Daisy Chain Single Phase 120 240 VAC RS232 EtherCAT or CAN Circuit Breaker Rotary Switches Drive addressing or Fuses STO Safe Torque Off B Connect to 24 VDC PS uns To PC zlii or use bypass plug USB mini B cable Line Filter Regenerative To Host Controller optional Resistor optional Voltage reference input Pulse and direction input Equivalent encoder output 6x digital inputs 3x digital outputs Magnetic 1x analog output Contactor To Additional lOs 5x digital inputs 3x digital outputs 1x fault relay Secondary feedback Motor Feedback Functional Ground Motor Brake optional Relay m 24 VDC Power Supply Motor P
66. onnected to the drive The CDHD can source a maximum current of 250 mA to the secondary encoder Check for a short circuit at the encoder Check if the encoder is drawing more than the current limit Check that the feedback device is wired correctly Check that the correct encoder type MENCTYPE is selected Check that the feedback device is wired correctly Check that the correct encoder type MENCTYPE is selected 71 Drive Status CDHD Display Light Type r23 r24 r25 r26 r27 r28 r29 r34 r35 r36 r37 r38 72 Fault Fault Fault Fault Fault Fault Fault Fault Fault Fault Fault Fault Name Phase Find Failed Tamagawa Init Failed Pulse amp Direction Input Line Break Tamagawa Abs Operational Fault Motor Phases Disconnected Resolver Initialization Failed Absolute Encoder Battery Low Voltage PFB Off Checksum Invalid PFB Off Data Mismatch No PFB Off Data Encoder Phase Error Differential Halls Line Break Description Commutation initialization has failed This fault occurs in systems that do not have commutation information e g Hall signals in the motor feedback device The initialization process with the Tamagawa feedback device has failed One of the Pulse amp Direction signals is not connected Several faults are indicated by the feedback device and include one or more of the following batte
67. ool EJ JFAJ3 See Key for spring J FAT OT Highlighted PN Supplied with CDHD PB connector Pin Assignments on CDHD 1D5 CDHD 003 Power Block 120 240 VAC 16 Quick Start Guide CDHD Introduction CDHD 4D5 CDHD 006 120 240 VAC Mains Daisy Chain Single Phase RS232 120 240 VAC EtherCAT or CAN Rotary Switches Drive addressing Circuit Breaker STO or Fuses Safe Torque Off Connect to 24 VDC PS E or use bypass plug To PC ali USB mini B cable Line Filter Regenerative optional Resistor optional To Host Controller a Voltage reference input i Pulse and direction input Equivalent encoder output 6x digital inputs i 3x digital outputs Magnetic 1x analog output Contactor To Additional IOs 5x digital inputs 3x digital outputs 1x fault relay T Secondary feedback 2 E Wk Motor Feedback Functional Ground Motor Brake optional Relay 24 VDC Power Supply Motor Power Brake Output To be supplied by customer Refer to EMI Suppression in the user manual Servo System Wiring 1 Phase CDHD 4D5 CDHD 006 120 240 VAC Quick Start Guide 17 Introduction CDHD STO Safe Torque Off P1 Molex 26 28 AWG Mating Connector Crimp Housing PN 436450400 or equiv STX PN
68. or equiv Highlighted PN Supplied with CDHD Mating Cable STX PN CBL MDRFL 26 0x x 1 2 3 meter Pin Assignments on CDHD 024 CDHD 030 AP AF EC Models 400 480 VAC Quick Start Guide 33 Control Board AP AF EC CDHD 2 Control Board AP AF EC Overview The control board has the same interfaces on all CDHD AP AF EC 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 C5 and C6 RS232 Communication C7 Daisy Chain C8 Drive Address Rotary Switches Controller I Os C2 34 Controller I Os are connected through interface C2 on all CDHD AP AF EC models Wire the digital and analog 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 19 Connect the return of the 24 VDC supply to pin 1 which functions as the ground path for the outputs Note AP AF Models The 24 VDC supply and return can be connected on either the Controller interface C2 or the Machine interface C3 but it is not necessary to connect it on both Notes EC Models mg Common output on the Controller interface C2 and the Machine interface C3 are connected internally m Common input on the Controller interface C2 and the Machine interface C3 are connected internally mg User
69. oth 1 a 20 240 VAC and 400 480 VAC Controller I Os C2 Motor Brake Control C3 Motor Brake 24 VDC Input C4 RS232 Communication C7 Controller I Os The interface is labeled C2 on all CDHD power blocks For C2 pin descriptions refer to the master controller documentation Wire the controller inputs and outputs according to the requirements of your application Unused pins must remain unwired Motor Brake Control The interface is labeled C3 on all CDHD power blocks Motor Brake Interface Motor Pin Pin Label Function 1 BR Motor Brake 2 BR Motor Brake 3 Not connected Brake 24 VDC Input The interface is labeled C4 on all CDHD power blocks Motor Brake 24 VDC Interface 54 Pin Pin Label Function 1 24VI N 24V DC 2 24RTN 24V DC Quick Start Guide CDHD Control Board Power Block RS232 Communication The interface is labeled C7 on all CDHD power blocks Use a 4p4c plug RS232 Interface Pin Pin Label Function 1 RX Receive 2 GND ISO Ground 3 TX Transmit 4 Unused Quick Start Guide 55 Power Board 120 240 VAC CDHD 4 Power Board 120 240 VAC Overview On most CDHD 120 240 VAC models the power board has the following interfaces STO Pl 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 AN Applying incorrect volt
70. otor lt P5 Phoenix 12 14 AWG 1 Mating Connector PN SPC 5 3 STCL 7 62 1718494 STX PN CONr10000003 21 Functional Ground PE Terminal M4 M4 ring or spade terminal S SONO ee Molex 0638190000 P1 P2 C3 Highlighted PN Supplied with CDHD PB ping C4 or equivalent Pin Assignments on CDHD 003 CDHD 006 Power Block 400 480 VAC Quick Start Guide CDHD Introduction CDHD 012 400 480 VAC Mains Three Phase Max 528 VAC L L Daisy Chain RS232 BM u Rotary Switches Circuit i Drive addressing Breaker or Fuses nn AA GA STO Safe Torque Off Connect to 24 VDC PS Line Filter or use bypass plug optional en S o Logic PS i 24 VDC 3 5A i El i oe 9 e 3 To PC ED Magnetic 333 USB mini B cable Contactor GER GG To Host Controller Voltage reference input Pulse and direction input Encoder equivalent output 6x digital inputs 3x digital outputs 1x analog output Regenerative m Resistor optional To Additional lOs 5x digital inputs 3x digital outputs 1x fault relay Secondary feedback Functional Ground Motor Feedback Motor Power Motor Brake 24 VDC 1 3A max Internal 220 300W For higher power external regen resistor is required refer to the user manual Refer to EMI Suppression in the user manual Servo System Wiring 3 Phase CDHD 012 400 480 VAC
71. ower lenkene Brake Output To be supplied by customer Refer to EMI Suppression in the user manual Servo System Wiring 1 Phase CDHD 1D5 CDHD 003 120 240 VAC 14 Quick Start Guide CDHD Introduction Controller I F C2 MDR 36 Plug 24 28 AWG 24 VDC return 19 24 VDC z Common output Common input Daisy Chain Digital output 1 20 Digital input 2 2 EtherCAT In EtherCAT Out EOS Fel 3 Digtarinput 1 EN 7 C5 RJ45 C6 RJ45 MEL RU ger 4 Equivalent encoder 22 Equivalent encoder or COXOC 304A 10PSAAA03 18 output A output A OR OR STX PN CONr00000010 67 Fer 5 Equivalent encoder 23 Equivalent encoder CAN In CAN Out DC Shield output B output B C5 RJ45 C6 RJ45 6 Equivalent encoder 24 Equivalent encoder 1 RXD a re BB Lee 3 25 Ground 3 Analog input 1 26 Analog input 1 4 Direction input 127 Direction input 5 1 RX Secondary encoder B Secondary encoder B T 6 2 GND ISO l 10 Ground 28 Pulse input 7 3 TX Secondary encoder A 8 11 Pulse input 29 Ground Secondary encoder A 12 130 Ground 31 Digital input 3 Digital input
72. r User Motor Pin Signal Description 9 22 10 23 4 17 5 12 25 11 24 26 Twisted Pair Twisted Pair Twisted Pair Sine Encoder Sine Sine Encoder Sine Sine Encoder Cosine Sine Encoder Cosine Hall U Hall V Hall W Motor Temperature Sensor Motor Temperature Sensor 5 VDC O VDC Shield Note A 9 Feedback Wiring Sine Encoder with Index Pin Twisted Pair User Motor Pin Signal Description 9 22 10 23 3 16 12 25 11 24 26 Twisted Pair Twisted Pair Twisted Pair Twisted Pair Sine Encoder Sine Sine Encoder Sine Sine Encoder Cosine Sine Encoder Cosine Sine Encoder Z Sine Encoder Z Motor Temperature Sensor Motor Temperature Sensor 5 VDC O VDC Shield Note A 48 Quick Start Guide CDHD Control Board AP AF EC 10 Feedback Wiring Sine Encoder with Index and Halls Pin Twisted Pair User Motor Pin Signal Description 9 22 10 23 3 16 4 17 5 12 25 11 24 26 Note A Twisted Pair Twisted Pair Twisted Pair Twisted Pair Sine Encoder Sine Sine Encoder Sine Sine Encoder Cosine Sine Encoder Cosine Sine Encoder Z Sine Encoder Z Hall U Hall V Hall W Motor Temperature Sensor Motor Temperature Sensor 5 VDC 0 VDC Shield 11 Feedback Wiring Sick 5V Hiperface Protocol and Sine Signal Pin Twisted Pair User Motor Pin Signal Description 1 14 9 22 10 23 12 25 11 24 26 Note A Twiste
73. r provide synchronization signal Check the cable connection and wiring Quick Start Guide CDHD Drive Status Display Light Type Cl e E e101 e105 e106 e107 e108 e109 e120 e121 e123 e124 e125 e126 e127 Flash Flash Fault Fault Fault Fault Fault Fault Fault Fault Fault Fault Fault Fault Fault Fault Fault Fault Quick Start Guide Name CAN Heartbeat Lost Parameter Memory Checksum Failure Failure Writing to Flash Memory FPGA Config Fail Self Test Fail Control EEPROM Fault Power EEPROM Fault Vbus Measure Circuit Fail Current Sensors Offset Out of Range FPGA Version Mismatch Internal Error Motor Plate Read Failed SAVE and Power Cycle Required Fieldbus Version Mismatch ESI Version Mismatch Output Over Current Detected Description Drive detected disconnection between CAN master and drive The non volatile memory used to store drive parameters is empty or the data is corrupted May occur during power off if SAVE operation has not completed An internal problem accessing the flash memory Fatal fault drive cannot be operated The code for the FPGA did not load Fatal fault drive cannot be operated The power up self test failed Fatal fault drive cannot be operated A problem accessing the EEPROM on the control board Fatal fault drive cannot be operated
74. r to the drive Make sure the correct version has been downloaded to the drive Make sure the correct version has been downloaded to the drive Verify correct wiring of the digital outputs Make sure the output circuit is not shorted 67 Drive Status CDHD Display Light Type Name F Steady Warning Foldback Fl Fault Drive Foldback F2 Fault Motor Foldback F2H Fault Pulse Train Frequency Too High F3 Fault Stall Fault Fbl Fault Fieldbus Target position exceeds velocity limit Fb3 Fault EtherCAT Cable disconnected Fb4 Fault Fieldbus Target Command Lost Fb7 Fault CAN is in Bus Off State Fb8 Fault EtherCAT Packet Loss Fb9 Fault Fieldbus Drive Active but not in Operational State 68 Description Drive fold current dropped below the drive fold current warning threshold MIFOLDWTHRESH Or motor fold current dropped below the motor fold current warning threshold IFOLDWTHRESH Drive fold current dropped below the drive fold current fault threshold MIFOLDFTHRESH Motor fold current dropped below the motor fold current fault threshold IFOLDFTHRESH The external pulse train frequency has exceeded the maximum specified input frequency A stall fault occurred because the motor was in a stalled state for too long that is 1 gt MICONT and I gt 0 9 ILIM and V STALLVEL for time gt STALLTIME A target position command from controller was rejected because
75. ration Not connected Mating Connector Crimp Housing PN 43645 0300 or equivalent STX PN CONr10000003 08 Contacts PN 0430300001 or equivalent STX PN PINr43030000 00 DoBus Regen Bus Motor Brake DC 24V Input DC Bus C4 Molex 26 28 AWG Mating Connector 1 DC 24V PN SPC 5 6 STCL 7 62 1718520 Eee STX PN CONr00000006 78 2 DC 24V return Mating Connector Crimp Housing PN 43645 0200 or equivalent STX PN CONr10000002 03 Contacts PN 0430300001 or equivalent STX PN PINr43030000 00 Brake P4 Phoenix 14 17 AWG 1 BR Motor Brake 2 BR Motor Brake Mating Connector PN SPC 5 2 STCL 7 62 1718481 STX PN CONr10000002 16 Motor P5 Phoenix 12 14 AWG 1 U Motor Phase U 2 V Motor Phase V 3 W Motor Phase W Mating Connector PN SPC 5 3 STCL 7 62 1718494 STX PN CONr10000003 21 SUS ES OUS Crimping tool Molex 0638190000 P1 P2 C3 Highlighted PN Supplied with CDHD PB ping C4 or equivalent Pin Assignments on CDHD 012 Power Block 400 480 VAC Quick Start Guide 31 Introduction CDHD CDHD 024 CDHD 030 400 480 VAC Daisy Chain RS232 EtherCAT our Rotary Switches or CAN N Drive addressing Mains Three Phase STO Max 528 VAC L L Safe Torque Off Connect
76. rt Check if the ambient temperature exceeds the drive specification Otherwise contact technical support Check if the ambient temperature exceeds the drive specification Otherwise contact technical support Cycle power If problem persists contact technical Support Check that the main AC voltage supply is connected to the drive and is switched on The under voltage limit can be read with the UVTHRESH command Check that the main AC voltage supply is connected to the drive and is switched on Verify that the setting of UVMODE is correct Quick Start Guide CDHD Servo Drive Quick Start Guide DOC CDHD QSG EN Rev 7 1b N ser VOTRONIX always n motion Servotronix 21C Yagia Kapayim St POB 3919 Petach Tikva 49130 Israel Tel 972 3 927 3800 info servotronix com www servotronix com
77. ry low error over speed counting error multi turn error One of the motor phases is disconnected The current of one of the motor phases is effectively zero for more than 160 electrical degrees while the current command is greater than 100 The drive could not detect the proper gain setting or sampling point for the sine cosine signals An error bit indicating a battery problem was detected in data from the drive The calculated checksum of the PFB backup data does not match the expected checksum Multi turn data of the PFB cannot be restored due to axis movement PFB backup memory is empty In normal incremental encoder operation quadrature inputs A and B are 90 degrees out of phase The phase error occurs when edge transition is detected simultaneously on the A and B signals Line break in differential Hall sensors Action Required Check whether the motor feedback type and the phase finding parameters are set correctly for the application Check that the wiring to the encoder is correct Check that all signals to the P amp D inputs are properly connected to the drive Check the battery voltage and feedback wiring Make sure the motor did not move at a high velocity during encoder initialization Check the wiring of the motor phases Check resolver wiring and gain value Replace battery then reset drive If battery is replaced while drive is on position information is retained
78. s to install and setup a CDHD system 1 Mount the CDHD 2 Make all electrical connections Controller I Os and or Machine I Os Motor feedback Fieldbus devices if required Safe torque off STO or bypass using Jumpers Motor Regeneration resistor if required Motor brake if required AC input voltage Set the drive address using the rotary switches Connect the drive to the PC Power up the drive and the PC Install software ne P E ee Using configure and test the drive Quick Start Guide 9 Introduction CDHD CDHD Dimensions and Mounting Using the bracket on the back of the CDHD mount the CDHD on a grounded conductive metal panel 47 2pls for screws M4 or UN 8 AR TITT A er 2C 173 164 Whi ig Au E CDHD 1D5 CDHD 003 120 240 VAC Dimensions mm Note CDHD 003 has fan 4 6 2 pls far screws M4 or UN 8 ry 150 m ITI B Al I Inn n 167 4 CDHD 4D5 CDHD 006 120 240 VAC Dimensions mm 10 Quick Start Guide CDHD Introduction 4 6 2pls for screws M4 or 8 over o 3 Ef gt TA E Q KO 173 in 185 194 3 m U a eft it Diss I CDHD 008 CDHD 010 CDHD 013 120 240 VAC Dimensions mm 54 5 3 pls for screws M4 or 8 uni ini wi Wi ERR E ek dd 193 5 o CDHD 020 CDHD 024 120 240 VAC Dimensions mm Quick Start Guide 11 Introducti
79. sing PN 436450400 or equiv STX PN CONr10000004 09 Contacts PN 0430300001 or equiv STX PN PINr43030000 00 Wired STO STX PN CONr00000004 AS Motor P2 JST J300 18 AWG Functional Ground Motor Phase U Motor Phase V Motor Phase W Mating Connector Crimp Housing PN F32FSS 04V KX STX PN CONr10000004 13 Contacts PN SF3F 71GF P2 0 STX PN PINrSF3F71GF 00 Mating Connector Motor Brake Control Spring PN 04JFAT SBXGF I 28 AW STX PN CONr10000004 19 Sie MOS money Eis Motor Brake 2 Motor Brake 3 Not connected Mating Connector DC Bus i Crimp Housing PN 43645 0300 or equivalent Regen Bus x STX PN CONr10000003 08 1 Contacts PN 0430300001 or equivalent AC Phase 1 STX PN PINr43030000 00 AC Phase 2 Logic AC Phase 1 Logic AC Phase 2 3 Motor Brake DC 24V Input Mating Connector Crimp Housing PN F32FSS 06V KX AN C4 Molex 26 28 AWG STX PN CONr00000006 91 RTI d 1 DC 24V Contacts PN SF3F 71GF P2 0 pd idle STX PN PINrSF3F71GF 00 fa 2 DC 24V return Mating Connector ea Mating Connector Spring PN 06JFAT SBXGF I Crimp Housing PN 43645 0200 or equivalent STX PN CONr10000006 06 3 p STX PN CONr10000002 03 Contacts PN 0430300001 or equivalent STX PN PINr43030000 00 Crimping tool Molex 0638190000 P1 C3 C4 or equivalent Crimping tool YRF 1070 P2 P3 P4 Extraction t
80. t Relay Ly Aral 5472 RECEIVER Ak PULSE A PULSE BA DIRECTIONA E DIRECTION SECONDARY ENCODER Zs OR PULSE amp DIRECTION E BY END Machine Interface Wiring AP AF Models Quick Start Guide 41 Control Board AP AF EC CDHD IN COMMII9 INPUT SOURCE MODE Wa E 24 Nh deme Z sm X INPUT SINK MODE 3v3 zu dd Vid e eee y rep GND IN COM ATV OUT COM OUTPUT SOURCE MODE a NY sm X OUTPUT SINK MODE er iE NA T 3 Pe Im Machine Interface Wiring 42 es el HIGH LIC e ANIN INPUT 10V TOnF EU HET Sas lt LOW ow ANIN2 OPTIONAL 10V DAF EQVIVALENT ENCODER OUTPUT RS422 RECEIVER h 9 V DIR LL MAC piae PULSE A IKK PULSEJA PULSE amp DIRECTION i OR SECONDARY ENCODER En EC Models Quick Start Guide CDHD Control Board AP AF EC 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 Pin 25 for the motor temperature sensor is connected internally in the drive to CDHD ground Unused pins must remain unwired Notes about serial communication encoders such as Tamagawa and Nikon Serial encoder data is bidirectional Serial encoder clock is only output The low voltage indication comes directly from the enco
81. ting Connector 3M Solder Plug Connector PN 10120 3000PE STX PN CONr00000020 38 or equiv 1 PE Functional Ground 3M Solder Plug Junction Shell 2 Motor Phase U PN 10320 52F0 008 STX PN HODr00000020 00 or equiv 3 i Mating Cable STX PN CBL MDRFL 20 0x x 1 2 3 meter V Motor Phase V 4 W Motor Phase W Mating Connector PN SPC 5 4 STCL 7 62 1718504 STX PN CONr10000004 26 Incremental encoder A SSI encoder data Incremental encoder A SSI encoder data Incremental encoder B Incremental encoder B Regeneration SSI encoder clock SSI encoder clock P5 Phoenix 14 AWG 3 Incremental encoder Z 16 Incremental encoder Z 1 B2 RegenBus 4 HallU 17 Hall V 2 B1 DC Bus 5 Hall W 18 8V supply Mating Connector 6 Resolver sine 19 Resolver sine ANS ESTE OASEN 7 Resolver cosine 20 Resolver cosine STX PN CONr10000002 16 8 Resolver reference 21 Resolver reference Sine encoder sine 22 23 Sine encoder cosine 11 5V supply 24 Ground 5V 8V return JL Sine encoder sine Functional Ground PE Terminal M4 M4 ring or spade terminal Sine encoder cosine 12 Motor temperature 25 Motor temperature sensor sensor Shield 26 5V supply Refer to ordering information CAN and EtherCAT models only EtherCAT
82. ting Connector Crimp Housing PN 436450400 or equiv STXPN CONr10000004 09 Contacts PN 0430300001 or equiv Digital input 4 32 Digital input 5 Digital input 6 33 Digital output 2 4 15 z ml 185 rAnaloginputz Mating Connector 3M Solder Plug Connector PN 10136 3000PE STX PN CONr00000036 01 or equiv 3M Solder Plug Junction Shell PN 10336 52F0 008 STX PN HODr00000036 00 or equiv Mating Cable STX PN CBL MDRFL 36 0x x 1 2 3 meter Machine I F C3 MDR 20 Plug 24 28 AWG 1 Secondary encoder A 11 Secondary encoder A Pulse input Pulse input 12 Secondary encoder B STX PN PINr43030000 00 Wired STO STX PN CONr00000004 AS Controller VF Logic Power 24V Input P2 Molex 26 28 AWG 24 VDC logic in 2 Ground 24 VDC return Mating Connector Crimp Housing PN 436450200 or equiv STX PN CONr1000002 03 Contacts PN 0430300001 or equiv STX PN PINr43030000 00 AC Input and Regeneration P3 Phoenix 12 14 AWG 1 L1 AC Phase 1 2 L2 AC Phase 2 2 Secondary encoder B Direction input Direction input AAA Secondary encoder Z 13 Secondary encoder Z Secondary encoder ground Digital input 7 15 Digital input 8 Machine VF 3 a Secondary encoder 5V 14 5 6 Digital input 9 16 Digital input 10 7 Digital input 11 17 Digital outp
83. to 24 VDC PS or use bypass plug a E E AE Breaker Logic PS or Fuses 24 VDC 3 5A ISO mini B cable Line Filter optional To Host Controller Voltage reference input Pulse and direction input Encoder equivalent output 6x digital inputs Magnetic en Contactor mr To Additional lOs 0000000 rv TR 5x digital inputs EHE Y aa RE ME n 1x fault relay o MEE od Secondary feedback Regenerative Resistor optional Bus i Functional Ground Motor Feedback Motor Power Motor Brake 24 VDC 1 3A max Internal 120 300W For higher power external regen resistor is required refer to the user manual Refer to EMI Suppression in the user manual Servo System Wiring 3 Phase CDHD 024 CDHD 030 400 480 VAC 32 Quick Start Guide CDHD Introduction 10 Ground Pulse input m E Secondary encoder A k Daisy Chain EtherCAT In EtherCAT Out Ceuta DORUM mete ie or COXOC 304A 10PSAAA03 C2 MDR 36 Plug 24 28 AWG OR OR STX PN CONr00000010 67 g 19 CAN In CAN Out 1 DC Shield p Common output Common input C5 RJ45 C6 RJ45 2 20 Digital input 2 RS232 5 TXD output A output A T E Equivalent encoder 24 Equivalent encoder gee Pig 7 f le EN i a ee B Pusemu Secondary encoder A STO Safe Torque Off P1 Molex 26 28 AWG STO2 Safe Torque Off P3 Mole
84. ts 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 Note AP AF Models The 24 VDC supply and return can be connected on either the Controller interface C2 or the Machine interface C3 but it is not necessary to connect it to both Notes EC Models mg Common output on the Controller interface C2 and the Machine interface C3 are connected internally m Common input on the Controller interface C2 and the Machine interface C3 are connected internally m User can connect outputs as source or sink mg User can connect inputs as source or sink Refer to the Machine Interface Wiring schematic diagram for EC Models below and the CDHD System Wiring Pin Assignments diagram for EC Models at the end of this manual Quick Start Guide 39 Control Board AP AF EC CDHD Machine I O Interface 10 Fault relay 1 Terminal 1 of the dry contact fault relay Pin Function Description Pin Function Description 1 Secondary High side of the 11 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 Secondary High side of the 12 Secondary Low side of the en
85. ut 4 3 L3 AG Phase 3 Digital output 5 18 Digital output 6 9 24 VDC 19 24 VDC return Common input Common output 10 Fault relay 1 20 Faut relay 2 Mating Connector 3M Solder Plug Connector PN 10120 3000PE STX PN CONr00000020 38 or equiv 3M Solder Plug Junction Shell PN 10320 52F0 008 STX PN HODr00000020 00 or equiv Mating Cable STX PN CBL MDRFL 20 0x x 1 2 3 meter Mating Connector PN SPC 5 6 STCL 7 62 1718520 STX PN CONr00000006 78 Feedback Brake P4 Phoenix 14 17 AWG 1 BR Motor Brake 2 BR Motor Brake Mating Connector PN SPC 5 2 STCL 7 62 1718481 STX PN CONr10000002 16 Incremental encoder A SSI encoder data Incremental encoder B SSI encoder clock Functional Ground PE Terminal M4 M4 ring or spade terminal Motor P5 Phoenix 12 14 AWG 2 V Motor Phase V 3 W Motor Phase W Mating Connector PN SPC 5 3 STCL 7 62 1718494 STX PN CONr10000003 21 Incremental encoder Z 17 Hall V 8V supply Hall U Hall W 1 Resolver sine Resolver cosine 20 Resolver reference 21 Resolver reference 2 5 Resolver sine 5 6 7 Resolver cosine 8 R 1 9 9 Sine encoder sine
86. x 26 28 AWG o 24 VDC STO enable Ground 24 VDC return epo Mating Connector Crimp Housing PN 436450400 or equiv STX PN CONr10000004 09 Contacts PN 0430300001 or equiv STX PN PINr43030000 00 Wired STO STX PN CONr00000004 AS Logic Power 24V Input y P2 26 28 AWG ae vooogem HEER Ground 24 VDC return Mating Connector Type Crimp Housing Molex PN 436450200 or equiv STX PN CONr1000002 03 2x CrimpMolex PN 0430300001 or equiv STX PN PINr43030000 00 Brake P4 Phoenix 14 17 AWG ere moerse NT 2 for Motor Brake Mating Connector PN SPC 5 2 STCL 7 62 1718481 STX PN CONr10000002 16 30 31 Digital input 3 Digital input 5 Digital output 2 6 Digital output 3 5 18 Analog input 2 Analog output Mating Connector 3M Solder Plug Connector PN 10136 3000PE STX PN CONr00000036 01 or equiv 3M Solder Plug Junction Shell PN 10336 52F0 008 STX PN HODr00000036 00 or equiv Mating Cable STX PN CBL MDRFL 36 0x x 1 2 3 meter Machine I F C3 MDR 20 Plug 24 28 AWG iL cce Secondary encoder Z 5 4 Secondary encoder 5V 14 Secondary encoder ground Digital input 8 6 Digitalinput9 2 16 Digital input 10 17 Digital output 4 8 Digital output 5 18 Digital output 6 19 24 VDC return Common output 20 Fault relay 2 Mating Connector 3M Solder Plug Connector PN 10120 3000PE STX PN CONr00000020 38 or equiv 3M Solder Plug

CDHD Quick Start Guide

Contents

Download Pdf Manuals

Related Search

Related Contents