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PROFIBUS POSITIONER CD1-pm Installation manual

1. Infranor reserves the right to change any information contained in this manual without notice INFRANOR September 2008 All rights reserved Issue 8 6 CD1 pm Installation manual c INFRANO R Contents PAGE CONTENTS t D HE 3 CHAPTER 1 GENERAL DESCRIPTION miian kaa naaa netta Racks BA Rok CERE k XEM ka iaia 5 INTRODUCTION T HT 5 2 DESCRIPTION COMPLIANCE WITH THE STANDARDS 5 aEICI I uEu vcuDIP KM Ee 5 2 2 REFERENCE TO THE STANDARDS CE CERTIFICATION issues 6 2 3 REFERENCE TO THE STANDARDS UL LISTING nasi asik inen as impiden ah ttd kc 6 3 OTHER DOCUMENTS REQUIRED FOR THE COMMISSIONING eee 6 CHAPTER 2 SPECIFICATION Sau ia ci ala ka C RE a kam EXE n a er n n 7 T lt MAN TESHNGALBSTA Ghilane 7 EE RE 7 ZC POSITIONER Lain sott etti vr don din ERAS pra 7 1 3 COMMON SPECIFICATIONS TO BOTH POSITIONER VERSIONS CD1 pm 230 I AND CDI P A OU MR P 8 2 DIMENSION f 11 Cioe PIS pg m 11 SALOON TO RTE 11 24 3 GEH DATA A POSITIONER ci aaa fi 2 4 CD1 pm 400 30 45 70 AND 90 A POSITIONER ii 11 2 5 BRAKING RESISTOR dp 100 100 dp 200 100 dp 50 200 dp 33 280 and EF 400 12 S FASTENNG e T 13 EN Re 13 3 2 CDT pm A001 8 TO 7 2 A POSITIONER sm kon te d ink o EA RIA RE aak SER KANEN SS Kaakossa Kaakao panna 13 hA
2. Relay outputs Open collector output protected against load short circuit PROFIBUS link Fault display Chapter 2 Specifications CINFRANOR SERVO DRIVES amp MOTION CONTROL Selectable by software Quadrature signals A amp B with Z marker pulse RS 422 line receiver Maximum pulse frequency 1 MHz Resolution 500 to 10 ppr Incremental Sin Cos encoder Heidenhain 1Vcc Sin Cos type or compliant Maximum signal frequency 200 kHz Resolution 500 to 10 ppr Interpolation factor 1024 Absolute single turn Sin Cos encoder Heidenhain ERN 1085 or compliant Maximum signal frequency 200 kHz Resolution 2048 or 512 ppr Interpolation factor 1024 Selectable by software 120 or 60 HES type 5 V or 12 V supply voltage HES sequence error detection A and B channels in quadrature Z marker pulse 1 per motor revolution RS 422 line driver Programmable resolution from 64 ppr to 16384 ppr Arc minute accuracy 8 5400 Resolution Enable Disable ENABLE Limit switch FC Limit switch FC Homing input INDEX Reset of a stored fault RESET Sequence start START Sequence stop STOP Programmable inputs IN1 to ING Sequence in progress SEQ Position reached POS Speed reached SPEED Programmable outputs OUT1 to OUTA 10 V resolution 14 bit 1 reconfigurable logic output On the fly speed limitation Polarity selectable by software no limitation for O Volt no limit
3. CD1 pm 230 1 POSITIONER 2 M4 screws 29 4 washers 192 3 3 CD1 pm 400 14 A POSITIONER 2 M4 screws 2 4 washers 3 15 r 2 Specifications CINFRANOR SERVO DRIVES amp MOTION CONTROL 3 2 CD1 pm 400 1 8 TO 7 2 A POSITIONER 2 M4 screws 204 washers 228 3 4 CD1 pm 400 30 45 70 AND 90 A POSITIONER 4 M4 screws 4 4 washers 4 15 278 5 Pes 60 110 00 13 CD1 pm Installation manual 4 MULTIAXES CABINET MOUNTING 4 1 CD1 pm 230 1 POSITIONER 4 3 CD1 pm 400 14 POSITIONER D Wi 0 lt lt 86158828 0 HI e 602000 o o CINFRANOR 4 2 CD1 pm 400 1 8 to 7 2 POSITIONER Ground Chapter 2 Specifications CD1 pm Installation manual CINFRANOR SERVO DRIVES amp MOTION CONTROL Chapter 3
4. Inputs Outputs 1 CONNECTORS LOCATION Profibus i X8 24 Vdc connector and brake connector X9 Power connector Resolver connector Command connector Digital I Os connector ON green o SYS yellow ERROR red 9 e AP red BUS green BUSY yellow Chapter 3 Inputs Outputs 15 CD1 pm Installation manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 2 LEDs 2 1 AMPLIFIER FAULT LEDs Location below the X4 command connector ON green 0 SYS yellow ERROR red 6 6 AP red BUS green BUSY yellow ON power supply SYS system fault ERROR Faults grouped on ERROR Led These faults are coded and can be displayed by means of the VDSetup software via the serial RS232 link or the Profibus The ERROR Led groups the following faults SA Power supply overvoltage CL Out of 24 VDC supply range between 18 and 29 V FT Phase ground short circuit FD R Braking system short circuited or overheated FV Fan FO Short circuit temperature power stage supply PWM error Pt Pt protection error RDC Digital resolver converter tracking error CNT Encoder counting error POS Position following error E2P EEPROM error BUS PROFIBUS communication error or Positioner initialization configuration error BUSY Procedure execution error TMOT Motor temperature RES Resolver cable interruption COD Encoder cable interruption HALL Hall Effect Sensors error BUS PROFIBUS communication
5. 12 HALL W Hall sensor input signal phase W 10 12V Hall sensors supply voltage output impedance 9 O max 150 mA available 23 AGND Hall sensors supply GND 9 TC Motor thermal sensor input 22 TC Motor thermal sensor input others reserved 20 Chapter 3 Inputs Outputs CD1 pm Installation manual CINFRANOR SERVO DRIVES amp MOTION CONTROL SPECIFICATION OF THE SIN COS ENCODER CHANNELS X3 1 2 13 X3 14 15 25 20K Uref SPECIFICATION OF THE HALL SENSORS INPUT LINES 3 3V CD1 pm X3 11 12 24 1K 10K 1nF 74HC14 X3 23 5 3 X3 CONNECTOR FOR ABSOLUTE SINGLE TURN SIN COS ENCODER Sub D 25 pins female The Absolute single turn SinCos encoder configuration for Heidenhain ERN 1085 or compliant is selectable by software and stored in the amplifier EEPROM The corresponding X3 connector pin functions are described below FUNCTION REMARKS Marker R Marker R Channel A Channel A Channel B Channel B Channel C Channel C Channel D Channel D 5V GND TC TC reserved Differential input of the Sin Cos encoder reference pulse R Differential input of the Sin Cos encoder reference pulse R Differential input of the Sin Cos encoder channel A Differential input of the Sin Cos encoder channel A Differential input of the Sin Cos encoder channel B Differential input of the Sin Cos encoder channel B Differential input of the Sin Cos encoder channel C Differential
6. Connections CD1 pm Installation manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 2 3 CONNECTION VIEW OF CD1 pm 400 30 45 70 and 90 A 2 4 MOTOR RESOLVER AND ENCODER CABLES Motors resolvers and encoders are grounded via their housing Cable inputs must be made by means of metal connectors with collars allowing the 360 shield connection The resolver cable must be pair twisted and shielded sin cos ref Motor cables MUST also be shielded and connected over 360 at both ends as shown on the shield connection diagram The encoder inputs A B C D Z and R require a pair twisted and shielded cable The shield must have a 360 connection via metallic collars at both ends If the shield is connected by means of a pig tail it must be connected at one end to the GND pin of the connector on the amplifier side with a connection as short as possible Check that the voltage drop in the power supply lines of the encoder cable is complying with the technical specifications of the encoder The voltage drop value for a given cable is calculated as follows Ldm J mA AULV A0 10 727 with AU voltage drop in volts Lc cable length in meters I encoder current in milliamps see technical specifications S cross section in square millimeters Due to this voltage drop anencoder with a large power supply voltage range should be preferred if the encoder has got power sup
7. With an absolute single turn multi turn or linear encoder using the ENDAT or HIPERFACE communication protocols and fitted with incremental SinCos outputs the servo motor can also be immediately enabled after the powering of the drive Series CD1 pm positioners have their own DC DC converter to provide appropriate logic voltage to the modules An auxiliary 24VDC 15 supply is generally available on all machines and supplies a DC DC converter with all logic supplies required by the positioner The auxiliary supply allows to keep the logic board on after the power supply has been switched off in order to keep all parameters in the memory and to avoid initializing the machine all over again A 24 VDC battery supply with specific wiring allows to keep the position even after switching off the auxiliary 24 VDC supply This wiring can be used for absolute operation with the CD1 pm positioner see chapter 4 Connections The power supply is depending on the positioner type e CD1 pm 230 I 230 VAC single phase mains operation power supply or three phase via a transformer or an autotransformer or direct three phase mains operation if there are three phase mains available in 200 to 230 VAC e CD1 pm 400 I 400 to 480 VAC three phase mains operated power supply A soft start system of the power supply allows to limit the inrush current at power on The very small dimensions of the CD1 pm positioner allow an optimum integration in 300 mm deep cabin
8. 202 CONNECTOR cem MT 24 5 50 PROF BUS E 24 9 X8 AUXILIARY SUPPLY AND BRAKE CONNECTOR iia ite qud KIA TSEKKAA aa 24 CD1 pm Installation manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 10 X9 POWER CONNECTOR MAINS MOTOR BRAKING RESISTOR munki PM 230 V amp 400 we CHAPTER 4 CONNECTIONS Tor m nym m ix ALS r P ee 1 CONNECTION DIAGRAMS 1 1 CD1 pm 230 l POSITIONER 1 2 CD1 pm 400 1 POSITIONER Si M 1g SERIAL LINK CONNECTION uis nica itt maire sx Frau r lana moda kukkaa MAE THE mokia su ak assa noa 1 4 CONNECTION OF A BACKUP BATTERY FOR THE 24 VDC AUXILIARY SUPPLY 28 1 5 CONNECTION EXAMPLE FOR A MULTIAXIS APPLICATION 28 2 WIRING RECOMMENDATIONS 2 1 GROUND CONNECTIONS AND GROUNDING re 29 2 2 CONNECTORS SHIELD CONNECTION 2 3 CONNECTION VIEW OF CD1 pm 400 30 45 70 and 90 A 2 4 MOTOR RESOLVER AND ENCODER CABLES 2 5 SERIAL LINK CABLES Dem 32 2 6 CONNECTION CABLES OF THE BRAKING RES CU TIU a2 3 REQUIREMENTS OF COMPLIANCE WITH THE UL STANDARDS ice konc 28 3 1 CONNECTION BY MEANS OF FASTONSOCKE T li pn koala 33 Cue A MO e 33 do POWER SUPPLY AND UL FUSE RATING iius mssamei jamassa Up amine 33 3 4 CD1 pm 230 l DRIVE CONNECTION DIAGRAM WITH PROTECTIONS BY UL FUSES 34
9. 24 HALL V Hall sensor input signal phase V 12 HALL W Hall sensor input signal phase W 10 12 V Hall sensors supply voltage output impedance 9 O max 150 mA available 23 AGND Hall sensors supply GND 9 TC Motor thermal sensor input 22 TC Motor thermal sensor input others reserved Chapter 3 Inputs Outputs 19 CD1 pm Installation manual CINFRANOR SERVO DRIVES amp MOTION CONTROL ENCODER INPUT LINES SPECIFICATION Receiver Receiver X3 5 75 176 X3 18 SPECIFICATION OF THE HALL SENSORS INPUT LINES 3 3V X3 11 12 24 1K 1K ine 74HC14 X3 23 5 2 X3 CONNECTOR FOR SinCos INCREMENTAL ENCODER amp HES INPUT Sub D 25 pins female The SinCos incremental encoder 8 HES configuration is selectable by software and stored into the amplifier EEPROM The corresponding X3 connector pin functions are described below PIN FUNCTION REMARKS 25 Marker R Differential input of the Sin Cos encoder reference pulse R 13 Marker R Differential input of the Sin Cos encoder reference pulse R 14 Channel A Differential input of the Sin Cos encoder channel A 1 Channel A Differential input of the Sin Cos encoder channel A 15 Channel B Differential input of the Sin Cos encoder channel B 2 Channel B Differential input of the Sin Cos encoder channel B 8 5V Encoder supply voltage 300 mA max current 21 GND Encoder supply GND 11 HALL U Hall sensor input signal phase U 24 HALL V Hall sensor input signal phase V
10. 3 5 CD1 pm 400 l DRIVE CONNECTION DIAGRAM WITH PROTECTIONS BY UL FUSES 35 3 6 CONNECTION EXAMPLE FOR A UL COMPLIANT MULTIAXIS APPLICATION 36 4 FIRST POWERING OF THE CD1 PM POSITIONER sia vici OO le VERYVIMPORIANI siciliana ssaa CR 4 2 SWITCH ON THE 24 VDC SUPPLY 36 4 3 SWITCH ON THE 230 VAC OR 400 VAC SUPPLY according to the p ner type s 36 4 4 FURTHER COMMISSIONING PROCEDURE rm s dok aa 6 CHAPTER 5 APPENDIX certare r ai nonet mend 1 HARDWARE ADJUSTMENTS OF THE LOGIC BOARD s a iii OE 2 ADJUSTMENT TO VARIOUS RESOLVER RE duo 38 3 USE OF THE AOK OUTPUT gg E 4 ENERGY RECUPERATION VIA A BRAKING RESISTOR ja Gattung is 39 CINFRANOR SERVO DRIVES amp MOTION CONTROL CD1 pm Installation manual Chapter 1 General description 1 INTRODUCTION Series CD1 pm Profibus positioners are PWM servo amplifiers for the control of AC sinusoidal motors brushless equipped with a position sensor The CD1 pm servo drive is available as a stand alone single axis block that includes all supplies and mains filter It is available in both mains operated versions 230 VAC and 400 480 VAC The CD1 pm positioner operates with a PROFIBUS DP interface or in stand alone by using only digital I Os It generates itself the positioning trajectory that allows the programming of 128 positioning sequences 2 DESCRIPTION COMPLIANCE WITH TH
11. CD1 pm 230 1 POSITIONER 2 2 CD1 pm 400 1 8 TO 7 2 A POSITIONER EEE is 2 3 CD1 pm 400 14 A POSITIONER 2 4 CD1 pm 400 30 45 70 AND 90 A POSITIONER 293 293 234 234 LU m Jol _ T ad o lt P ITT J 000000000000000000000 00000 1 at Oc DEC CSI CO DC gt Oc pret EXC Oc Le ege Oc E Oc NE LOC Oc es EI amp CC CUI CI Oc Ce va EI 00000000000000000000 OO HO co 363 DO CC DO o o DO e DO Ss a Ss Sj el lt Hl DD Ss C 3 Si DI DO Chapter 2 Specifications CD1 pm Installation manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 2 5 BRAKING RESISTOR dp 100 100 dp 200 100 dp 50 200 dp 33 280 and EF 400 DIMENSIONS dp 50 200 dp 100 100 and dp 200 100 dp 33 280 EF 400 Size A 157 mm 290 mm Size B 145 mm 278 mm Size C 52 mm 57 mm 12 Chapter 2 Specifications CD1 pm Installation manual 3 FASTENING VERTICAL MOUNTING MANDATORY 3 1
12. NAJ E P A POSMIONER ee ERAN 13 3 4 CD1 pm 400 30 45 70 AND 90 A POSITIONER isses eene nnne 13 s MULTIAXES CARINE T MOUNTING aaa 14 PIER POSITIONER chon Label EE 14 4 2 GDT pi 400 08 ia 7 2 POSITIONER ae i m atrii tes Med AS NU ariani 14 4 3 CD T prr 4 00 14 POSITIONER A n ies ag AE RENE NEU SEN CE QE RENE QE REN 14 4 4 CD1 pm 400 30 45 70 AND 90 A POSITIONER nae 14 CHAPTER 3 INPITS lt OUTPUT tege Edge 15 T CONNEC TORS LOCATION usual musaa mudassa t REDI EE Z ka ets 15 2 LEDS E oeo 16 2 1 AMPLIFIER FAULT LEDS E T Sis 16 S XT RESOLVER CONNECTOR asian tk La EIL ERO au Baa EI t d aed 16 3 X2 DIGITAL OS CONNECTOR aiite rtt d bia at dE E E ERE ELI LR FL EU ale 17 XS ENCODER CONNECTOR tiere maana ne AE au Kaa taata siae 19 5 1 X3 CONNECTOR FOR TTL INCREMENTAL ENCODER amp HES INPUT Sub D 25 pins Coo c S SVGA 19 5 2 X3 CONNECTOR FOR SinCos INCREMENTAL ENCODER amp HES INPUT Sub D 25 pins LICIA 20 5 3 X3 CONNECTOR FOR ABSOLUTE SINGLE TURN SIN COS ENCODER Sub D 25 pins SCO TT ORI TIT I 21 5 4 X3 CONNECTOR FOR ENCODER OUTPUT Sub D 25 pins female 22 5 24 COMMAND CONNECTOR imussa lA iod riae oli b nb INA E pr LA UR atas iN slan rn SAN 23 6 1 SPECIFICATIONS OF THE LOGIC INPUTS FC FC INDEX ENABLE RESET 23 6 2 SPECIFICATION OF THE AOK LOGIC RELAY OUTPUT sse 24 1 25 RS
13. dp 33 280 CD1 pm 400 70 and 90 EF 400 230 Vac CD1 pm 400 1 8 to 7 2 dp 200 100 Theinstaller of the drives has to use a UL listed quick connect for ground connection 0 250 inches or 6 35 mm wide nominal Field wiring terminals must use copper conductors only Torque value for field wiring terminals according to the Recognized terminal block used Chapter 4 Connections 35 CD1 pm Installation manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 3 6 CONNECTION EXAMPLE FOR A UL COMPLIANT MULTIAXIS APPLICATION kkk Mains UL mounting For the choice of the fuses see chapter 4 section 3 3 CD1 pm 230 l 3 x 230 V CD1 pm 400 I 3 x 400 V 4 FIRST POWERING OF THE CD1 pm POSITIONER 4 1 VERY IMPORTANT Check the connections particularly of the 24 VDC and power supplies There are two different positioner voltage versions 230 VAC and 400 VAC Check for the appropriate label It must be in accordance with the power connections The 400 VAC connection of a 230 V positioner will destroy it The ENABLE signal X4 connector pin 3 must be inactive Check for the braking resistor sizing dp 100 100 for 230 VAC dp 200 100 for 400 VAC and current ratings 1 8 to 7 2 dp 50 200 for 14 A current rating dp 33 280 for 30 45 A current ratings EF 400 for 70 and 90 A current ratings Check for the correct groundings and 360 shield connections WARNING During the mach
14. input of the Sin Cos encoder channel C Differential input of the Sin Cos encoder channel D Differential input of the Sin Cos encoder channel D Encoder supply voltage 300 mA max current Encoder supply GND Motor thermal sensor input Motor thermal sensor input Chapter 3 Inputs Outputs 21 CINFRANOR CD1 pm Installation manual ERO DAVES MONG ENS SPECIFICATION OF THE SIN COS ENCODER CHANNELS 20K CD1 pm X3 1 2 13 X3 14 15 25 SPECIFICATION OF THE SIN COS COMMUTATION CHANNELS 5 4 X3 CONNECTOR FOR ENCODER OUTPUT Sub D 25 pins female At power on the differential channels A B and Z are configured as encoder inputs The configuration as encoder outputs must be enabled via the PROFIBUS bus The corresponding X3 connector pin functions are described below PIN FUNCTION REMARKS 19 Channel A Differential output of channel A 6 Channel A Differential output of channel A 20 Channel B Differential output of channel B 7 Channel B Differential output of channel B 18 Marker Z Differential output of channel Z 5 Marker Z Differential output of channel Z 21 GND 0 V reference of the amplifier others reserved 22 Chapter 3 Inputs Outputs CINFRANOR CD1 pm Installation manual SPECIFICATION OF THE ENCODER OUTPUT SIGNALS Driver 75 176 X3 5 X3 19 20 us 6 X4 COMMAND CONNECTOR 8 pins male connector with 5 08mm pitch Same connector for all amplifi
15. not be exceeded on 400 30 45 70 A and 90 A drives see chapter 4 section 3 6 On CD1 pm 230 1 drives the fuse ratings must be the following CD1 pm 230 2 5 to 10 5 230 16 5 Multiaxis BUSSMANN Class RK5 FRN R 6 FRN R 9 0 3 x x eiedsnipliier Type FRN R LITTELFUSE Class RK5 FLNR6ID FLNR9ID 0 3 x X Lio Type FLNR ID For a multiaxis application with N drives the fuse rating is calculated by the formula given in the table above But a rating of 20 A must not be exceeded on 230 V drives see chapter 4 section 1 5 Chapter 4 Connections 33 CD1 pm Installation manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 3 4 CD1 pm 230 1 DRIVE CONNECTION DIAGRAM WITH PROTECTIONS BY UL FUSES according to section 3 3 of this ENABLE relay Remote control of the power relay 24V H mE d g 5 8 9 o o S L Power relay chapter CD1 pm 230 1 UL Motor temp Motor temp AOK 4 e AOK ENABLE 2 FC FC INDEX Resolver GND reference CI Se GND GND Shield 24 Vdc RxD TxD P CNTR P Motor brake Motor brake RxD TxD N O N e om P ON Motor V phase Motor W phase DC 230 Vac L3 230 Vac L2 230 Vac L1 230Vac three phase DC Braking resistor Braking resistor See UL fuses table 1 CAUTION Imax 100 mA see AOK output specifications IMPORTANT M
16. 24 V 18 V lt U lt 30 V s Maximum voltage drop 2 V Protection against overloads Output current available per output mA Number of activated outputs Cyclic rate 100 10 50 30 2 200 mA 200 mA 200 mA 200 mA 4 100 mA 150mA 200 mA 200 mA 7 60 mA 80 mA 120 mA 200 mA SPECIFICATIONS OF THE ENCODER OUTPUTS 26LS31 driver Recommended receiver 26L S32 18 Chapter 3 Inputs Outputs CD1 pm Installation manual CINFRANOR SERVO DRIVES amp MOTION CONTROL SPECIFICATIONS OF THE ANALOG INPUT 100K 100K 5 X3 ENCODER CONNECTOR Sub D 25 pins female same connector for all amplifier types in 230 V and 400 V 5 1 X3 CONNECTOR FOR TTL INCREMENTAL ENCODER amp HES INPUT Sub D 25 pins female The TTL incremental encoder amp HES configuration is selectable by software and stored in the amplifier EEPROM The corresponding X3 connector pin function is described below PIN FUNCTION REMARKS 18 Marker Z Differential input of the encoder marker pulse Z 5 Marker Z Differential input of the encoder marker pulse Z 19 Channel A Differential input of the encoder channel A 6 Channel A Differential input of the encoder channel A 20 Channel B Differential input of the encoder channel B 7 Channel B Differential input of the encoder channel B 8 5 V Encoder supply voltage 300 mA max current 21 GND Encoder supply GND 11 HALL U Hall sensor input signal phase U
17. 360 on collars mounted for this purpose on the housing The ground wire of the motor cable MUST be connected to the Faston socket marked with the GND sign The earth reference must also be connected on the second Faston socket Theinstaller of the drives has to use a UL Listed Quick connect for ground connection 0 250 inches or 6 35 mm wide nominal Field wiring terminals have to use copper conductors only Torque value for field wiring terminals value to be according to the Recognized terminal block used Chapter 3 Inputs Outputs 25 CD1 pm Installation manual 1 CONNECTION DIAGRAMS 1 1 CD1 pm 230 I POSITIONER CINFRANOR SERVO DRIVES amp MOTION CONTROL Chapter 4 Connections For the UL compliant connection see chapter 4 section 3 4 aok ENABLE relay AOK ENABLE FC FC Ta INDEX FE GND EM CI Shield RxD TxD P CNTR P D GND VP RxD TxD N CON o o BR ON Remote control of the power relay 24V three phase OR d g v 5 g O a 9 n U Power relay CD1 pm 230 1 Motor temp Motor temp Motor brake Motor brake Motor U phase Motor V phase Motor W phase 230Vac 230 Vac L3 Braking resistor Braking resistor 230 Vac single Resolver signal Resolver reference GND GND 230 Vac 24 Vdc Motor brake 24Vdc 1 5A MOTOR GND Phase 1 Ph
18. E STANDARDS 2 1 GENERAL DESCRIPTION The CD1 pm amplifier directly controls the motor torque and speed by means of the information provided by a high resolution position sensor resolver or encoder The sinusoidal current commutation based on this high resolution position sensor provides very smooth motor torque force control The CD1 pm amplifier can be configured for the feedback of various position sensor types The appropriate position sensor configuration is selectable by software and saved in the amplifier With a resolver sensor feedback the motor absolute position value over one revolution is available and the servo motor can immediately be enabled after the amplifier power up With a SinCos tracks sensor which provides two analog Sin and Cos signals electrically compliant with the SinCos encoder signals and which period is equal to the motor pole pitch the servo motor can be immediately enabled after the powering of the drive With an absolute single turn SinCos encoder feedback Heidenhain ERN 1085 or compliant the servo motor can also immediately be enabled after the amplifier power up With an incremental encoder only a motor phasing procedure Phasing must be executed at each amplifier power up before the motor enabling With an incremental encoder Hall Effect Sensors HES feedback the motor phasing procedure is no more necessary and the servo motor can immediately be enabled after the amplifier power up
19. ION ElectroStatic Discharge INFRANOR amplifiers are conceived to be best protected against electrostatic discharges However some components are particularly sensitive and may be damaged if the amplifiers are not properly stored and handled STORAGE The amplifiers must be stored in their original package When taken out of their package they must be stored positioned on one of their flat metal surfaces and on a dissipating or electrostatically neutral support Avoid any contact between the amplifier connectors and material with electrostatic potential plastic film polyester carpet HANDLING f no protection equipment is available dissipating shoes or bracelets the amplifiers must be handled via their metal housing Never aet in contact with the connectors ELIMINATION In order to comply with the 2002 96 EC directive of the European Parliament and of the Council of 27 January 2003 on waste electrical and electronic equipment WEEE all INFRANOR devices have got a sticker symbolizing a crossed out wheel dustbin as shown in Appendix IV of the 2002 96 EC Directive This symbol indicates that INFRANOR devices must be eliminated by selective disposal and not with standard waste INFRANOR does not assume any responsibility for any physical or material damage due to improper handling or wrong descriptions of the ordered items Any intervention on the items which is not specified in the manual will immediately cancel the warranty
20. OK BUSY Procedure in progress blinking AP No power supply The AOK output does not take into account the display of AP All faults except for the Undervolt fault involve the positioner disabling the motor brake control the opening of the AOK relay contact This relay must be wired as described in section 5 3 for switching off the power supply in order to keep a zero type standstill The AP fault involves the positioner disabling the motor brake control 3 X1 RESOLVER CONNECTOR Sub D 9 pins female same for all amplifier types 230V amp 400V PN O FUNCTION 1 REMARKS TC thermal sensor If thermal switch connected to X1 Shield connection If no 360 connection on the connector TC thermal sensor If thermal switch connected to X1 S1 cosine Resolver connector S3 cosine Resolver connector S4 sine Resolver connector S2 sine Resolver connector R2 reference Resolver connector R1 reference Resolver connector OR oO NII gt For other resolver connections see chapter 5 Appendix section 2 16 Chapter 3 Inputs Outputs CD1 pm Installation manual 4 X2 DIGITAL I Os CONNECTOR N ZINFRANOR Sub D 25 pins male same connector for all amplifier types in 230 V and 400 V SERVO DRIVES amp MOTION CONTROL Pins yo Description 1 I Optocoupled inpu
21. ZINFRANOR SERVO DRIVES amp MOTION CONTROL CD1 pm Installation manual gb PROFIBUS POSITIONER INFRANOR CD1 pm 1 CD1 pm Installation manual CINFRANOR SERVO DRIVES amp MOTION CONTROL WARNING AN This is a general manual describing a series of servo amplifiers having output capability suitable for driving AC brushless sinusoidal servo motors Instructions for storage use after storage commissioning as well as all technical details require the MANDATORY reading of the manual before getting the amplifiers operational Please see CD1 pm User Guide for the operation of the amplifier commissioning configuration For the PROFIBUS communication see manual CD1 pm PROFIBUS Communication Profile Maintenance procedures should be attempted only by highly skilled technicians having good knowledge of electronics and servo systems with variable speed EN 60204 1 standard and using proper test equipment The conformity with the standards and the CE approval is only valid if the items are installed according to the recommendations of the amplifier manuals Connections are the user s responsibility if recommendations and drawings requirements are not met Wait for at least 5 minutes after power down before handling the amplifiers a residual voltage of several Any contact with electrical parts even after power down may involve physical damage A hundreds of volts may remain during a few minutes ESD INFORMAT
22. amplifiers in a multiaxis application the DC bus DC and DC can be connected in parallel see diagram in chapter 4 section 1 5 In this case the mains input must also be parallel wired in order to balance the current load inside the AC DC converters It is recommended to mount the braking resistor on the amplifier with highest current rating An electronic control of the reflected power avoids the overload of the braking resistor So if the energy reflected to the amplifiers with parallel mounted DC busses is too high the DC bus voltage will rise up to the triggering of the Overvoltage fault A second resistor must then be mounted on the second axis 5 ORDER CODE Series CD1 Profibus interface 230 230 VAC operation voltage 400 400 or 480 VAC operation voltage Current rating 2 25 4 5 7 5 10 5 16 5 Arms with 230 VAC 1 8 2 7 5 1 7 2 14 30 45 70 90 Arms with 400 VAC Chapter 5 Appendix 39
23. ase 2 Phase 3 Mains 3x400 Braking resistor DC 230 Vac L2 230 Vac L1 Power relay DC 100 Q 100W Mains 230 Vac Power re ay Circuit breaker curve D lis 10 x In In 10A 1 CAUTION Imax 100 mA See AOK output specifications Note The 24 V and power supplies protection on source side must be made by the user 26 Chapter 4 Connections CD1 pm Installation manual 1 2 CD1 pm 400 1 POSITIONER See chapter 4 section 3 5 for the UL compliant connection CINFRANOR SERVO DRIVES amp MOTION CONTROL ENABLE relay Remote control of the power relay 24V EE 5 o S X O X o 3 3 U Power relay 1 CAUTION Imax 100 mA see AOK output specifications Note The 24 V and power supplies protection on source side must be made by the user 1 3 SERIAL LINK CONNECTION CD1 pm 400 1 Motor temp Motor temp AoK 1 _ zi AOK ENABLE Resolver signal FC FC L INDEX Resolver GND reference el GND GND Shield 24 Vdc RxD TxD P CNTR P D GND Motor brake VP Motor brake RxD TxD N COON OORWNH HH Ge W wore na JL Phase 3 Motor U phase Motor V phase Motor W phase DC 400Vac 400 Vac L3 Mains three 400 Vac L2 T 94 Sieg o 3x400 480 Vac DC Braking res
24. ation for 10 Volt 10 V resolution 8 bit 1 reconfigurable logic output Load 10 mA linearity 2 low pass filter 170 Hz Programmable output signal Channel 1 of the digital oscilloscope current speed or position or Phasing OK output from 0 V to 10 V when the motor phasing is OK for an incremental encoder without HES Relay contact Umax 50 V Imax 100 mA Pmax 10 W Amp ready Closed if amplifier OK open if fault Motor brake coil with 24 VDC 1 5 A PPO 1 or PPO 2 or PPO 3 or PPO 4 LEDs on front panel and diagnostic by serial link RS232 diagnostic by PROFIBUS CD1 pm Installation manual Motor and application parameter setting Automatic functions Compliance with the standards CE certification 360 shield connection equipotentiality according to the wiring rules CD1 pm 400 70 and 90 A with mains filtre F 400 70 90 Conformity with the standards UL listing 360 shield equipotentiality according to the wiring rules Temperature Storage 20 C 70 C operation 5 C 40 C Altitude Moisture Cooling Mounting position Environment Mounting location Weight 10 CINFRANOR SERVO DRIVES amp MOTION CONTROL Serial link RS232 or Profibus DP link Amplifier adjustment to the motor AUTO PHASING Automatic regulator tuning AUTO TUNING EMC standards immunity EN 61000 4 2 3 4 5 conducted and radiated disturbances EN 55011 Group 1 C3 category Electri
25. cal standards for industrial machines EN 60204 1 insulator 1500 Vac 1 mn leakage current 30 mA EMI filters CD1 pm series have been cULus listed according to UL508C and UL840 regarding the insulator This product was evaluated to the Third Edition of UL508C the UL Standard for Power Conversion Equipment dated May 2002 for the UL Listing USL the CSA Standard for Industrial Control Equipment C22 2 N 14 95 dated August 1995 for the Canadian UL Listing CNL except for CD1 pm 400 70 and 90 drives From 40 C the rated currents must be reduced of 3 96 per additional Celsius degree Max temperature 50 C 1000 m lt 50 at 40 C and lt 90 at 20 C EN 60204 1 standard Condensation prohibited storage and operation Forced air fan integrated in the CD1 pm positioner Check for free ventilation and no upper or lower obstruction of the air admissions Vertical Open chassis to be mounted in a housing protecting the drive from conducting dust and condensation pollution degree 2 environment Closed cabinet without any conducting and or corroding agents and according to the environment conditions requirements Condensation prohibited CD1 pm 230 l approx 1 kg CD1 pm 400 1 8 to 7 2 approx 1 5 kg CD1 pm 400 14 approx 3 kg CD1 pm 400 30 and 45 about 4 8 kg CD1 pm 400 70 and 90 about 5 3 kg Chapter 2 Specifications CINFRANOR CD1 pm Installation manual 2 DIMENSIONS 2 1
26. de filter on motor brake supply Power stage protections Motor brake control PWM switching frequency Minimum inductance between phases Digital current regulator PI Current loop bandwidth Internal current limitation Digital speed and position regulators Speed loop bandwidth Max motor speed Resolver input Digital Integrated in the positioner Integrated in the positioner Integrated in the positioner power supply overvoltage internal switch protection short circuit between motor phases or between motor phase and ground amplifier overtemperature on CD1 pm 400 l only fan system error PWM control error power stage supply error braking system error Max 1 5 A with 24 VDC 8 kHz 1 mH for 230V 2mH for 400 V Adjusted to the motor Cut off frequency for 45 phase shift 1000 Hz Imax 20 to 100 and Irated 20 96 to 50 96 Imax duration 1 second Sampling period 0 5 ms Anti wind up system of the integrator Adjustable digital gains Selectable cut off frequency for 45 phase shift 50 Hz 75 Hz or 100 Hz Adjustable from 100 rpm to 25 000 rpm Position conversion 65536 ppr 16 bit Excitation frequency 8 kHz Transformation ratio 0 3 to 0 5 other available values are factory set Chapter 2 Specifications CD1 pm Installation manual Encoder input Hall sensors input Encoder position output Logic inputs Logic outputs Analog input Analog output
27. e calculation of the current loops The current rating of the reactance must be egual to or higher than the amplifier rating The reactance must be mounted at the amplifier output Due to the use of a reactance a shielded cable is not mandatory anymore A more complex sinus filter type FN510 by Schaffner may also be mounted instead of the reactance UNDESIRABLE EFFECTS OF MOTOR CABLES LONGER THAN 25 m Heating of the power module the motor and the cable High overvoltages on the motor windings involving a shortening of their life time The reactance reduces the undesirable effects on motor and amplifier but it may be quite heated This requires an appropriate fan 2 5 SERIAL LINK CABLES The serial link cable must also be shielded according to the above mentioned shield connection recommendations CAUTION Command cables resolver serial link Profibus as well as the power cables must be A connected and disconnected with the positioner OFF Reminder The power voltage can remain several minutes on the capacitors terminals A contact under high voltage may involve severe physical damage 2 6 CONNECTION CABLES OF THE BRAKING RESISTOR The connection cable to the braking resistor housing must bear the high voltage and temperature of 600 V and 105 C Recommended cable UL 1015 gauge 14 Fastening torque on the connector of the braking resistor housing dp 0 9 Nm 32 Chapter 4 Connections CD1 pm Installation man
28. er has to provide an isolated power supply for 24 VDC auxiliary input protected by a 4 A UL Listed fuse the power board is considered within a limited voltage current circuit per section 31 4 of UL508C Therefore spacings on the power board are not required to be evaluated per section 31 2 of UL508C and were evaluated according to UL 840 Per UL 840 Second Edition dated May 20 1993 requirements spacings are limited to 2 5 mm assuming pollution degree 2 environment Ground connection is fixed in the frame of the device by a rivet Avibulb masse BN10 5168 The connector complies with standard dimensions given in table 6 2 of UL 310 the standard for Electrical Quick connect terminals 3 OTHER DOCUMENTS REQUIRED FOR THE COMMISSIONING CD1 pm Profibus positioner User Manual CD1 pm Profibus Communication Profile CD1 pm SinCos track feedback application note regarding the use of motors equipped with SinCos tracks position sensors CD1 pm absolute encoders feedback application note regarding the use of absolute single turn multi turn or linear encoders using the ENDAT or HIPERFACE Communication protocols 6 Chapter 1 General description CD1 pm Installation manual 1 MAIN TECHNICAL DATA 1 1 CD1 pm 230 1 POSITIONER Mains operated power supply voltage Isolated auxiliary galvanic and motor brake supply voltage Motor phase phase output voltage Integrated braking system Minimum inductance b
29. er types in 230 V and 400 V Female connector supplied Fastening torque of the connector screws 0 5 Nm PIN SIGNAL y o REMARK 1 2 AOK and AOK O Relay contact closed when amplifier OK Pmax 10 W with Umax 50 V or Imax 100 mA ENABLE l Positive optocoupled logic Limit switch l Positive optocoupled logic Limit switch l Positive optocoupled logic l I INDEX Positive optocoupled logic GND 0 V of logic inputs Potential reference of the optocoupled galvanic isolated logic inputs This potential reference may be different from the auxiliary supply 8 RESET I Positive optocoupled logic Inhibition of the faults memory stored in the amplifier NIDIA 6 1 SPECIFICATIONS OF THE LOGIC INPUTS FC FC INDEX ENABLE RESET Logic input The input voltage corresponding to level 1 is between 18 V and 30 V OV These inputs are optocoupled and work in positive logic Chapter 3 Inputs Outputs 23 CD1 pm Installation manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 6 2 SPECIFICATION OF THE AOK LOGIC RELAY OUTPUT Bidirectional transile Relay contact closed if amplifier ready open if fault Pmax 10 W with Umax 50 V and Imax 100 mA 7 X5 RS 232 CONNECTOR Sub D 9 pins male same connector for all amplifier types in 230 V and 400 V PN X FUNCTION REMARK 5 0 Volt GND 360 shield connection if no 360 connect
30. ets connectors included The CD1 pm positioner operates with a PROFIBUS DP interface or in stand alone by using Chapter 1 General description 5 CD1 pm Installation manual CINFRANOR SERVO DRIVES amp MOTION CONTROL using only digital I Os The selection of the various operation modes PROFIBUS or stand alone is made by means of micro switches accessible by the operator 2 2 REFERENCE TO THE STANDARDS CE CERTIFICATION Series CD1 pm positioners have been approved with regard to their conformity with the Electromagnetic Compatibility standards concerning the power servos referenced in the EN 61800 3 2004 standard Electrical variable speed power servo systems EN 55011 group 1 C3 category regarding radiated radioelectric disturbances EN 61000 4 2 3 4 5 regarding immunity Standard to be applied to the electrical equipment of industrial machines EN 60204 1 These items have been CE marked since year 2000 2 3 REFERENCE TO THE STANDARDS UL LISTING CD1 pm series have been cULus listed according to UL508C and UL840 regarding the insulator This product was evaluated to the Third Edition of UL508C the UL Standard for Power Conversion Equipment dated May 2002 for the UL Listing USL the CSA Standard for Industrial Control Equipment C22 2 N 14 95 dated August 1995 for the Canadian UL Listing CNL except for CD1 pm 400 70 and 90 drives Providing that the manual is specifying that the end us
31. etween phases CINFRANOR SERVO DRIVES amp MOTION CONTROL Chapter 2 Specifications 230 VAC 10 15 1 or 3 50 60 Hz 24 VDC 15 320 MA without brake 200 Vims External 100 Ohm 100 W braking resistor dp 100 100 Min resistance 50 Ohm dp 50 200 1 mH OUTPUT CURRENT RATINGS at a maximum room temperature of 40 C Max output Rated Power Rated input Max protection Short current Arms output losses current Arms fuses for line circuit Amplifier type for 1 sec current W 230 VAC circuit power of UL 1 5 Arms 60 Hz RKS listed the mains listed 230 VAC 230 VAC Bussman Littelfuse CD1 pm 230 2 25 2 25 1 1 25 1 1 6A 5 kA yes CD1 pm 230 4 5 4 5 2 25 30 2 25 6A 5 kA yes CD1 pm 230 7 5 7 5 3 75 44 3 75 6A 5 kA yes CD1 pm 230 10 5 10 5 5 25 55 5 25 6A 5 kA yes CD1 pm 230 16 5 16 5 8 25 66 8 25 9A 5 kA yes 1 2 CD1 pm 400 I POSITIONER Mains operating power supply voltage Isolated auxiliary and motor brake supply voltage Motor phase phase output voltage Integrated braking system Minimum inductance between phases Chapter 2 Specifications 400 to 480 VAC 10 15 3 TN or TT system with grounded neutral point 50 to 60 Hz phase ground voltage must be balanced 24 VDC 15 Yo 320 mA without brake 380 to 460 Vrms depending on the mains CD1 pm 400 1 8 to 7 2 A External 200 Ohms 100 W resistor dp 200 100 Minimum resi
32. he current rating of the circuit breaker must not exceed 20 A on 230 V drives 20 Aon 400 V 1 8 to 14 A drives 40 Aon 400 V 30 A and 45 A drives 60 A on 400 V 70 A and 90 A drives 28 Chapter 4 Connections CD1 pm Installation manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 2 WIRING RECOMMENDATIONS according to EN61000 4 2 3 4 5 and EN55011 standards see diagram Shield connection on the connectors chapter 4 section 2 2 2 1 GROUND CONNECTIONS AND GROUNDING CAUTION Each potential conducting element must be shielded Several potential conductors in the same sleeve must be twisted and shielded A shield has no effect if it is not connected toareference potential bya connection as short as possible a few centimeters 10 centimeters is prohibited bya 360 shield connection This means that the whole circumference of the shield sleeve must be connected to the reference conduction via a metal collar The connectors used for the compliance with the EN61000 4 standard must be made of metal or metallized and must allow the 360 shield connections Reference potential connections especially with the ground are recommended only these connections have a very low impedance lt 0 1 Q Any shield that is used as a conductor can be connected at both ends with the condition to be connected over 360 at both ends by means of metal links in order to ensure the shield continuity The reference p
33. ine adjustments some drive connection or parameter setting errors may involve dangerous axis movements It is the user s responsibility to take all necessary steps in order to reduce the risk due to uncontrolled axis movements during the operators presence in the concerned area 4 2 SWITCH ON THE 24 VDC SUPPLY The green front panel ON Led must light up The red front panel AP Led must light up The AOK relay contact pins 1 and 2 of X4 is closed It is possible to control the power relay according to the recommendations of Chapter 4 section 1 Connection diagrams Connection according to X8 sticker 4 3 SWITCH ON THE 230 VAC OR 400 VAC SUPPLY according to the positioner type 4 4 FURTHER COMMISSIONING PROCEDURE See manual CD1 pm Positioner User guide 36 Chapter 4 Connections CD1 pm Installation manual CINFRANOR SERVO DRIVES amp MOTION CONTROL Chapter 5 Appendix 1 HARDWARE ADJUSTMENTS OF THE LOGIC BOARD LOGIC BOARD 01685 Encoder 5 V supply fuse z o DE a W W S E g a Jumper always Amplifier address Jumper always Chapter 5 Appendix 37 CD1 pm Installation manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 2 ADJUSTMENT TO VARIOUS RESOLVER TYPES For other resolver connections than the Infranor standard chapter 3 section 3 see following wiring diagram of the X1 connector as well as the manufacturer s diagram For the use of resolvers wi
34. ion on the connector 3 TXD Transmit data RS 232 2 RXD Receive data RS 232 8 X6 PROFIBUS Sub D 9 pins female same for all amplifier types 230V amp 400V PIN SIGNAL DESCRIPTION Shield Shield RxD TxD P Data Reception Transmission Plus CNTR P Control signal DGND OV VP Supply for termination resistor RxD TxD N Data Reception Transmission Minus Oo No OR Go Ro gt 9 X8 AUXILIARY SUPPLY AND BRAKE CONNECTOR 4 pins male connector with 5 08 mm pitch Same connector for all amplifier types in 230 V and 400 V Female connector supplied Fastening torque of the connector screws 0 5 Nm PIN SIGNAL y o FUNCTION DESCRIPTION 1 GND I Potential reference GND grounded potential reference of the 24VDC supply 2 24 VDC I 24 VDC auxiliary supply 24 VDC 15 0 4 A UL Protection by UL 4 A mains isolated without brake fuse Regulation with load 3 3 Brake O Motor brake supply Powerless brake 24 VDC 1 5 A 24V with 24 VDC 4 Brake O Direct motor brake control Open collector output protected against Imax 1 5A load short circuits 24 Chapter 3 Inputs Outputs CD1 pm Installation manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 10 X9 POWER CONNECTOR MAINS MOTOR BRAKING RESISTOR CD1 pm 230 V amp 400 V CD1 pm 230 l 10 pins male connector with 5 08 mm pitch Female connector supplied CD1 pm 400 l 10 pins male c
35. istor Braking resistor Braking resistor N RUG oco CD1 pm 400 14 dp 50 200 Circuit breaker curve D 11s 10 x In 10Aforl lt or 14A 20 A for 30 and 45A 40 A for 70 and 90 A 360 shield connection Boa egen PC serial port TxD 3 GND 5 Sub D 9 pins female Chapter 4 Connections Sub D 9 pins female 230 Vac CD1 pm 400 1 8 to 7 2 dp 200 100 CD1 pm 400 30 45 70 dp 33 280 CD1 pm 400 70 and 90 EF 400 27 CD1 pm Installation manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 1 4 CONNECTION OF A BACKUP BATTERY FOR THE 24 VDC AUXILIARY SUPPLY D gt gt 24 Vdc 230 VAC D gt Battery 30 A h T The CD1 pm positioner consumption is 320 mA with 24VDC So a 24 V 30 A h battery can keep the positioner under voltage during i e a long 3 days week end or during a mains cut off without loosing the machine initialization This backup method is very interesting for saving the machine initialization as well as the axis position even when moving with mains switched off An ASCII command allows to send the axis position to the digital host system 1 5 CONNECTION EXAMPLE FOR A MULTIAXIS APPLICATION CD1 pm 230 1 3 x 230 V CD1 pm 400 l 3 x 400 V Circuit breaker curve D I1s 10 x In For a multiaxis application with n drives the circuit breaker current rating is given by the formula In 0 3 z rated amplifier But t
36. onnector with 7 62mm pitch Female connector supplied CD1 pm 400 70 and 90 10 pins male connector with 10 16 mm pitch Female connectors supplied in 2 parts 7 pins female pins 1 to 7 and 3 pins female pins 8 to 10 for the motor Fastening torque of the connector screws 0 5 Nm PIN SIGNAL UO FUNCTION DESCRIPTION 1 RB O Power feedback during the CD1 pm 230 l 100 Ohms 100W 2 RB O motor deceleration with high dp 100 100 inertia and speed CD1 pm 400 1 8 to 7 2 200 Ohms 100W dp 200 100 CD1 pm 400 14 50 Ohms 200 W dp 50 200 CD1 pm 400 30 45 33 Ohms 280 W dp 33 280 CD1 pm 400 70 and 90 16 5 Ohms 560W EF 400 Braking resistors must be separately ordered 3 DC I O Parallel connection of the DC Only on UL listed items bus 4 L1 I Mains input CD1 pm 230 l 230 VAC 1 or 3 5 L2 l Mains filter integrated in the 6 L3 l positioner CD1 pm 400 l 400 to 480 VAC 3 7 DC lO Parallel connection of the DC Only on UL listed items bus 8 W O Motor phase W Motor cable with grounded connection by means 9 V O Motor phase V of Faston socket and 360 shield connection on 10 U O Motor phase U grounded collar To get a 16 5 0 560 W braking resistor connect together both resistors of the EF 400 in parallel via pins 3 and 5 of XA2 Use pins 3 and 4 of XA2 to connect the braking resistor to the drive IMPORTANT The motor and brake cable must be shielded and connected over
37. otential must be the ground Cables with low potential should never run in the proximity of power lines If there is a potential reference i e a main chassis or cabinet with a low impedance between its different elements it should be used to connect ALL reference to it and also being grounded itself Chapter 4 Connections 29 CD1 pm Installation manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 2 2 CONNECTORS SHIELD CONNECTION RULE The shield should never be interrupted or corrupted over the whole cable length Self sticking copper ribbon if necessary for increasing the shield diameter in order to get it correctly tightened under the clamp I Motor connector for resolver and motor QUUU T Ww ni Metallic or metal plated plastic SUB D pin package x olR 360 shield ensured by the tightening clamp 3 C279 The fastening screws must be tightened in order to ensure the shield continuity on the amplifier housing INFRANOR amplifier T JE SUB D connector NOTE In order to improve the contact and to avoid the cable shield corruption use the self sticking copper ribbon of 3 M Electrical Specialities Division ref 1739 7 amp ZA NOTE When the 360 shield connection is made by means of a collar it is not necessary to connect a cable on the appropriate pin of the SUB D connector 30 Chapter 4
38. otor brake 230 Vac 24Vdc 1 5A Power relay 230 Vac The installer of the drives has to use a UL listed quick connect for ground connection 0 250 inches or 6 35 mm wide nominal Field wiring terminals must use copper conductors only Torque value for field wiring terminals according to the Recognized terminal block used 34 Chapter 4 Connections CD1 pm Installation manual ZINFRANOR SERVO DRIVES amp MOTION CONTROL 3 5 CD1 pm 400 I DRIVE CONNECTION DIAGRAM WITH PROTECTIONS BY UL FUSES according to section 3 3 of this chapter ENABLE relay ENABLE pon FC signal FC m INDEX Resolver GND reference CI N GND Remote control of the power relay 24V Ya js de OK 1 Power OFF DE Power relay CD1 pm 400 l UL RESOLVER Motor temp Motor temp GND 24 Vdc 1 Shield 4 A UL listed M 2 Kale 3 RxD TxD P 24 Vde 4 CNTR P 5 Motor brake i 6 Motor brake 24Vdc 1 5A 7 8 9 Motor U phase Motor V phase Motor W phase DC 400Vac 400 Vac L3 three 400 Vac L2 phase 400Vac L1 DC Braking resistor Braking Braking resistor resistor CD1 pm 400 14 dp 50 200 10Aforl lt or 14A 1 CAUTION Imax 100 mA cf AOK output specifications 20 A for 30 and 45A IMPORTANT 40 A for 70 and 90A CD1 pm 400 30 45
39. ply SENSE feedback lines they can be connected to the power supply lines in order to reduce the voltage drop by the half the SENSE feedback signal is not used in the CD1 range if none of both solutions above can be used the user has to supply the encoder by means of an external power supply Chapter 4 Connections 31 CD1 pm Installation manual CINFRANOR SERVO DRIVES amp MOTION CONTROL Example The application requires an Heidenhain linear encoder supplied by 5 V 5 300mA with 25 m cable length Min power voltage 5 V 5 Yo AUmax 0 25 V Min cross section S 1 2 mm Such a large cross section is difficult to obtain so the user can either connect the SENSE feedback signal lines with power supply lines while the needed wires cross section will be the half 0 6 mm or use the same encoder type but the version which allows its power supply voltage from 3 6 V to 5 25V 300mA Min power voltage 3 6V gt AUmax 1 4V Min cross section S 0 21mm The cables of brake equipped motors must also have their brake cables shielded in order to be EMC compliant Maximum cable length resolver x 100 m encoder lt 25 m motor lt 25 m For motor cable length gt 25 m we advise to use the maximum cable section allowed by the connectors to mount a reactance with an inductive value between 1 and 3 of the motor inductive value The reactance inductive value must be taken into account in th
40. stor value 150 Ohms 100 W CD1 pm 400 14 External 50 Ohms 200 W resistor dp 50 200 CD1 pm 400 30 45 External resistor 330 280 W dp 33 280 CD1 pm 400 70 90 External resistor 16 50 560 W EF 400 2 mH CD1 pm Installation manual CINFRANOR SERVO DRIVES amp MOTION CONTROL OUTPUT CURRENT RATINGS at a maximum room temperature of 40 C Output voltage range for 400 480 VAC rms three phase mains Output current range 1 8 A 2 7 A 5 1 A 7 2 A 14 A 30 A 45 A 70 A 90 A rms Max output Rated Power Rated input Max protection Short circuit current output losses current fuses for line power of the Amplifier type Arms for current W Arms circuit mains UL listed 1 sec Arms 480 VAC RK5 listed or 1 5 480 VAC 60 Hz A60040 for 480 VAC 400 70 and 400 90 CD1 pm 400 1 8 1 8 0 9 35 0 9 2A 5 kA yes CD1 pm 400 2 7 2 7 1 35 43 1 35 2A 5 kA yes CD1 pm 400 5 1 5 1 2 55 71 2 55 4A 5 kA yes CD1 pm 400 7 2 7 2 3 6 93 3 6 4A 5 kA yes CD1 pm 400 14 14 7 200 7 8A 5 kA yes CD1 pm 400 30 30 15 400 15 20A 5 kA yes CD1 pm 400 45 45 20 560 20 20A 5 kA yes CD1 pm 400 70 70 35 650 35 40 A 5 kA in progress CD1 pm 400 90 90 35 650 35 40A 5 KA in progress 1 3 COMMON SPECIFICATIONS TO BOTH POSITIONER VERSIONS CD1 pm 230 I AND CD1 pm 400 l Regulation loops current speed and position Mains filter on power supply Common mode filter on auxiliary supply Common mo
41. t START 2 I Optocoupled input STOP 3 I Optocoupled input IN1 4 O ZI 5 O Z 6 O AJ 7 O A 8 O B 9 O B 10 I Optocoupled input IN2 11 I Optocoupled input IN3 12 l 0 V external 13 l Optocoupled input IN4 14 l Optocoupled input IN5 15 I Optocoupled input IN6 16 O Isolated output SEQ 17 O Isolated output POS 18 O Isolated output SPEED 19 O Isolated output OUT1 20 O Isolated output OUT2 21 O Isolated output OUT3 Configurable analog input by jumpers 22 O Isolated output OUTA Configurable analog output by jumpers 23 O 0 V internal 24 I External supply 24 V 25 I 0 V external 24 V input only required when the outputs SEQ POS SPEED OUT1 OUT2 OUT3 OUTA are used The analog input and the analog output are configured by the 3 jumpers located on the amplifier connector CD1 pm CD1 pm Connector board board as described below Connector board Logic outputs selection Chapter 3 Inputs Outputs Analog I Os selection CD1 pm Installation manual CINFRANOR SERVO DRIVES amp MOTION CONTROL SPECIFICATIONS OF THE LOGIC INPUTS IN1 to ING Logic input i The input voltage corresponding to level 1 i is between 18 V and 30 V OV These inputs are optocoupled and work in positive logic SPECIFICATIONS OF THE LOGIC OUTPUTS SEQ POS SPEED OUT1 to OUT4 CD1 pm 24V external 424V external 330 Ohms 10 KOhms Driver OV OV external a NAWA EE E External supply
42. th transformation ratios out of the range 0 3 to 0 5 the adjustment must be factory set NOTE When using resolvers with a number of pole pairs N gt 1 all speed values displayed in the amplifier are equal to N times the motor rotation speed 3 USE OF THE AOK OUTPUT The AOK output MUST be used on a potential free relay in order to allow the connection of the power supply see Chapter 4 section 1 Connection diagrams The correct amplifier operation requires this connection logic Switching on the power supply before initializing by means of the 24 VDC auxiliary supply will hinder the operation It will then be necessary to proceed according to the instructions contained in this manual Power relay remote control 24V 1 CAUTION Imax 100 mA see AOK output specifications 38 Chapter 5 Appendix CD1 pm Installation manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 4 ENERGY RECUPERATION VIA A BRAKING RESISTOR All CD1 amplifiers are equipped with the power feedback system When the motor is decelerating with high inertia and high speed the mechanical braking energy is reflected to the amplifier This energy is dissipated inside a resistor called braking resistor In order to avoid heat dissipation inside the amplifier the braking resistor is ALWAYS mounted outside It MUST be mounted out of range of heat sensitive and inflammable elements plastic cable sleeves etc For an optimum power feedback by the
43. ual CINFRANOR SERVO DRIVES amp MOTION CONTROL 3 REQUIREMENTS OF COMPLIANCE WITH THE UL STANDARDS The UL listing requires the following conditions to be fulfilled by the installer of the drives 3 1 CONNECTION BY MEANS OF FASTON SOCKET The installer must use a UL listed quick connect for ground connections 0 250 inches or 6 35 mm wide nominal on all drives equipped with FASTON sockets On drives equipped with a screwed ground connector the connection must be made via UL listed sockets 3 2 24 V SUPPLY The end user has to provide a 24 VDC isolated power supply e g with isolated transformer for the auxiliary supply input protected by a 4 A UL listed fuse 3 3 POWER SUPPLY AND UL FUSE RATING The fuse type recommended for motor applications is of class RK5 The maximum short circuit power of the mains must not exceed 5000 Arms at a voltage of 480 V when protected by a UL fuse of type RK5 and A60Q40 for 400 70 and 400 90 ratings On CD1 pm 400 1 drives the fuse ratings must be the following CD1 pm 400 1 8 to 7 2 400 14 400 30 and 45 400 70 and 90 Multiaxis BUSSMANN N Class RK5 FRS R 4 FRS R 8 FRS R 20 ni ei Type FRS R LITTELFUSE Class RK5 FLSR2ID FLSR8ID FLSR20ID pira o c io Type FLSR ID For a multiaxis application with N drives the fuse rating is calculated by the formula given in the table above But a rating of 20 A must not be exceeded on 400 1 8 A to 14 A drives and 40 A must

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