Infranor CD1-k, Installation Manual

Page 1: ...CD1 k 1 CD1 k Installation Guide INFRANOR CANopen amplifier CD1 k Installation Guide gb ...

Page 2: ...tained in this manual without notice INFRANOR August 2008 All rights reserved Issue 5 7 Any contact with electrical parts even after power down may involve physical damage Wait for at least 5 minutes after power down before handling the amplifiers a residual voltage of several hundreds of volts may remain during a few minutes ESD INFORMATION ElectroStatic Discharge INFRANOR amplifiers are conceive...

Page 3: ...400 30 45 70 AND 90 A AMPLIFIER 13 4 MULTIAXIS CABINET MOUNTING 14 4 1 CD1 k 230 I AMPLIFIER 14 4 2 CD1 k 400 1 8 TO 7 2 A AMPLIFIER 14 4 3 CD1 k 400 14 A AMPLIFIER 14 4 4 CD1 k 400 30 45 70 AND 90 A AMPLIFIER 14 CHAPTER 3 INPUTS OUTPUTS 15 1 CONNECTORS LOCATION 15 1 1 SINGLE AXIS AMPLIFIERS CD1 k 230 I AND CD1 k 400 I 15 1 2 CD1 k 400 30 45 70 AND 90 AMPLIFIER 15 2 LED DISPLAY 16 2 1 IDENTIFICATI...

Page 4: ...K AND CAN COMMUNICATION CABLES 32 2 6 CONNECTION CABLES OF THE BRAKING RESISTOR 32 3 FIRST POWERING OF THE AMPLIFIER 33 3 1 VERY IMPORTANT 33 3 2 SWITCHING ON THE 24 Vdc SUPPLY 33 3 3 SWITCHING ON THE POWER SUPPLY 230 Vac or 400 Vac according to the amplifier type 33 3 4 COMMISSIONING 33 4 REQUIREMENTS FOR THE COMPLIANCE WITH THE UL STANDARDS 33 4 1 CONNECTION BY MEANS OF A FASTON SOCKET 33 4 2 24...

Page 5: ...ith 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 With an absolute single turn multi turn or linear encoder using the ENDAT or H...

Page 6: ...for CD1 k 400 70 and 90 drives Providing that the manual is specifying that the end user 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 spaces on the power board are not required to be evaluated per section 31 2 of UL508C and were evaluat...

Page 7: ...use Short circuit power of the mains UL listed CD1 k 230 2 25 2 25 1 1 25 1 1 6 A 5 kA yes CD1 k 230 4 5 4 5 2 25 30 2 25 6 A 5 kA yes CD1 k 230 7 5 7 5 3 75 44 3 75 6 A 5 kA yes CD1 k 230 10 5 10 5 5 25 55 5 25 6 A 5 kA yes CD1 k 230 16 5 16 5 8 25 66 8 25 9 A 5 kA yes 1 2 CD1 K 400 I SINGLE AXIS AMPLIFIER Mains operated power supply voltage 400 to 480 Vac 10 15 3 phase TN or TT system with earth...

Page 8: ...ion Digital Mains filter on power supply Integrated in the amplifier Common mode filter on auxiliary supply Integrated in the amplifier Common mode filter on motor brake supply Integrated in the amplifier Position sensor Transmitter resolver Absolute single turn encoder ERN1085 or compliant Incremental encoder TTL or SinCos signals Incremental encoder Hall Effect Sensors Power stage protections Se...

Page 9: ...tches INDEX CAPTURE LOW SPEED Logic outputs 4 logic outputs activated by bus Relay outputs Relay contact open if error Umax 50 V Imax 100 mA Pmax 10 W Open collector output protected against load short circuit Motor brake coil with 24 VDC 1 5 A Analog inputs Re configuration of the logic outputs by means of jumpers 10 V resolution 14 bits Encoder position output Re configuration of the TTL encoder...

Page 10: ...Equipment C22 2 N 14 95 dated August 1995 for the Canadian UL Listing CNL except for CD1 k 400 70 and 90 drives Temperature storage 20 C to 70 C operation 5 C to 40 C From 40 C the rated currents must be reduced of 3 per additional Celsius degree Max temperature 50 C Altitude 1000 m Moisture 50 at 40 C and 90 at 20 C EN 60204 1 standard Condensation prohibited storage and operation Cooling Forced ...

Page 11: ...2 Specifications 2 DIMENSIONS 2 1 CD1 k 230 I AMPLIFIER 2 2 CD1 k 400 1 8 TO 7 2 A AMPLIFIER 2 3 CD1 k 400 14 A AMPLIFIER 2 4 CD1 k 400 30 45 70 AND 90 A AMPLIFIER 199 203 260 200 230 228 293 234 293 U V W 234 381 288 230 230 258 234 293 ...

Page 12: ...e Chapter 2 Specifications 2 5 BRAKING RESISTOR dp 100 100 dp 200 100 dp 50 200 dp33 280 AND EF 400V A B 7 7 40 83 C DIMENSIONS dp 50 200 dp 100 100 and dp 200 100 dp 33 280 EF 400V A 157 mm 290 mm B 145 mm 278 mm C 52 mm 57 mm ...

Page 13: ... I AMPLIFIER 3 2 CD1 k 400 1 8 TO 7 2 A AMPLIFIER 3 3 CD1 k 400 14 A AMPLIFIER 3 4 CD1 k 400 30 45 70 AND 90 A AMPLIFIER 192 64 8 200 3 2 M4 screws 2 Ø 4 washers 228 00 64 8 3 220 2 M4 screws 2 Ø 4 washers 250 82 80 258 00 3 15 2 M4 screws 2 Ø 4 washers 278 5 4 15 288 25 60 110 00 4 M4 screws 4 Ø 4 washers ...

Page 14: ... 0 0 speed 1 Mbit 1 0 speed 500 Kbit 0 1 speed 250 Kbit 1 1 speed 125 Kbit 1 2 3 4 5 6 7 8 NODE ID BAUD 1 6 7 8 Br Br 24V 0V X8 V U L2 DC L3 DC L1 RB RB X9 RS 232 X5 Br Br 24V 0V X8 V U L2 DC L3 DC L1 RB RB X9 RS 232 X5 82 8 X8 X9 98 Ground Switch Function Addressing 1 63 0 0 speed 1 Mbit 1 0 speed 500 Kbit 0 1 speed 250 Kbit 1 1 speed 125 Kbit 1 2 3 4 5 6 7 8 NODE ID BAUD 1 6 7 8 125 110 RS 232 X...

Page 15: ...Q P O N M L K J I H G F E D C B A SERVO DRIVES MOTION CONTROL INFRANOR SYS BUS OK WARNING Residual voltage Wait 1 minute after power OFF X3 Encoder 1 X7 CAN 1 1 CAN X6 Date IY N Serie 200000 I 10 5 U 400 CD1 k 1 2 CD1 k 400 30 45 70 AND 90 AMPLIFIER 125 110 RS 232 X5 Br Br 24V 0V X8 V W W U L2 DC L3 DC L1 RB RB X9 Br Br 24V 0V X8 X9 X8 RS 232 X5 Br Br 24V 0V X8 V U L2 DC L3 DC L1 RB RB X9 234 5 GN...

Page 16: ...circuited or overheated Fan Motor phase motor phase short circuit power stage temperature power stage supply PWM error Triggering of the I2 t protection Counting error Position following error Low speed overshoot EEPROM error Procedure execution error busy Init 400 V error Current offset error Motor temperature error Resolver or encoder cable interruption Hall sensors or absolute encoder error Not...

Page 17: ...h one single address A DIP8 switch accessible by the operator allows to configure the amplifier address as well as the communication speed of the CANopen bus Addressing 6 selection bits Status of the cursors Address 6 5 4 3 2 1 OFF OFF OFF OFF OFF OFF 0 OFF OFF OFF OFF OFF ON 1 OFF OFF OFF OFF ON OFF 2 ON ON ON ON ON ON 63 Communication speed 2 selection bits Status of the cursors Speed 8 7 OFF OF...

Page 18: ...ion 4 Limit switch I Positive logic Galvanic insulation 5 Output 3 Analog input 1 O I Optocoupled logic output I 100 mA Re configurable as an analog input by jumper 6 Low speed I Positive logic Galvanic insulation 7 Capture 2 Index I Positive logic Galvanic insulation 8 Capture 1 I Positive logic Galvanic insulation 9 10 AOK relay contact O Relay contact open if error Pmax 10 W with Umax 50 V or I...

Page 19: ... V 5 2 SPECIFICATION OF THE LOGIC OUTPUT AOK ON RELAY Relay contact closed if amplifier OK and open if error Pmax 10 W with Umax 50 V Imax 100 mA 5 3 SPECIFICATION OF THE LOGIC OUTPUTS 5 4 SPECIFICATION OF THE ANALOG INPUTS 12V X2 9 X2 10 Bidirectional transile Logic input 100 NF 0 V external CD1 k 5 V 8 2 KΩ 100 KΩ 24 V external 10 kOhms 24 V external Driver 0 V external 0 V 330 Ohms 100 pF for I...

Page 20: ...coder 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 max current 300 mA 21 GND Encoder supply GND 11 HALL U Hall sensor input signal phase U 24 HALL V Hall sensor input signal phase V 12 HALL W Hall sensor input signal phase W 10 12 V Hall...

Page 21: ...annel 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 5 V Encoder supply voltage output impedance 9 Ohm max 150 mA available 21 GND Encoder supply GND 11 HALL U Hall sensor input signal phase U 24 HALL V Hall sensor input signal phase V 12 HALL W Hall sensor inpu...

Page 22: ...l 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 16 Channel C Differential input of the Sin Cos encoder channel C 3 Channel C Differential input of the Sin Cos encoder channel C 17 Channel D Differential input of the Sin Cos encoder channel D 4 Channel...

Page 23: ... amplifier EEPROM The corresponding X3 connector pin function is described below PIN FUNCTION REMARKS 19 PULSE Differential input of the PULSE channel 6 PULSE Differential input of the PULSE channel 20 DIR Differential input of the DIR channel 7 DIR Differential input of the DIR channel others reserved SPECIFICATION OF THE PULSE AND DIRECTION SIGNALS 5 V 3 3 K 200R 200R 5 V 75 176 receiver X3 6 7 ...

Page 24: ... 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 SPECIFICATION OF THE ENCODER OUTPUT SIGNALS 7 X6 AND X7 CONNECTORS CAN OPEN SUB D 9 PINS MALE AND FEMALE SAME FOR ALL AMPLIFIER TYPES CD1 k 230 I AND CD1 k 400 I PIN SIGNAL DESCRIPTION 2 CAN L CAN L line dominant low 3 CAN GND CAN Ground 7 CAN H CAN H line do...

Page 25: ...00 Ω 100 W dp 100 100 CD1 k 400 1 8 to 7 2 200 Ω 100 W dp 200 100 CD1 k 400 14 50 Ω 200 W dp 50 200 CD1 k 400 30 45 33 Ω 280 W dp 33 280 CD1 k 400 70 and 90 16 5 Ω 560 W EF 400V The braking resistors must be separately ordered 2 RB O 3 DC I O Parallel connection of the DC bus 4 L1 I 5 L2 I 6 L3 I Mains input Integrated mains filter CD1 k 230 I 230 Vac single phase or three phase CD1 k 400 I 400 to...

Page 26: ...gnal Resolver reference GND GND GND RESOLVER GND Motor U phase Motor V phase Motor W phase DC DC 230 Vac L3 230 Vac L2 230 Vac L1 230 Vac three phase Braking resistor Braking resistor 230 Vac single phase Power relay remote control Power relay Power relay Mains 230 Vac Braking resistor Mains 3x400V MOTOR OR Power ON Power OFF Power relay INHIBIT FC FC Index Reference Capture Speed limitation CAN L...

Page 27: ...5 A Motor U phase Motor V phase Motor W phase DC DC 400 Vac L3 400 Vac L2 400 Vac L1 Braking resistor Braking resistor GND Braking resistor MOTOR 400 Vac three phase CD1 k 400 1 8 to 7 2 dp 200 100 CD1 k 400 14 dp 50 200 CD1 k 400 30 and 45 dp 33 280 CD1 k 400 70 and 90 EF 400 Circuit breaker type D I1s 10 x In 10 A for I or 14 A 20 A for I 30 and 45 A 40 A for I 70 A and 90 A Mains 3x400V 480 Vac...

Page 28: ...NNECTION FOR A MULTIAXIS APPLICATION X8 24 V 0 V L1 L2 L3 DC DC RB RB X9 CD1 k X8 24 V 0 V L1 L2 L3 DC DC RB RB X9 CD1 k X8 24 V 0 V L1 L2 L3 DC DC RB RB X9 CD1 k 10 A 24 V DC dp dp CD1 k 230 I 3 x 230 V CD1 k 400 I 3 x 400 V Mains For a multiaxis application with n amplifiers the circuit breaker rating is given by the formula In 0 3 Σ n I rated amplifier But the ratings below must not be exceeded...

Page 29: ...etal or metallized and must allow the 360 shield connections Reference potential loops especially with the ground are recommended only if these connections have a very low impedance 0 1 Ω 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 potenti...

Page 30: ...p Motor connector for resolver and motor Metallic or metal plated plastic SUB D pin package 360 shield ensured by the tightening clamp The fastening screws must be tightened in order to ensure the shield continuity on the amplifier housing INFRANOR amplifier 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 Elec...

Page 31: ... 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 10 40 6 mm S mA I m L V U C with U voltage drop in volts Lc cable length in meters I encoder...

Page 32: ...equal 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 mo...

Page 33: ...ng to X8 sticker 3 3 SWITCHING ON THE POWER SUPPLY 230 Vac or 400 Vac according to the amplifier type The green OK LED on the front panel must be continuously lit 3 4 COMMISSIONING For further details regarding the amplifier commissioning please see manual CD1 k User Guide 4 REQUIREMENTS FOR THE COMPLIANCE WITH THE UL STANDARDS The UL listing requires the following conditions to be fulfilled by th...

Page 34: ...SR8ID FLSR20ID FERRAZ A60Q40 N 1 amplifier rated I 3 0 For a multiaxis application with N amplifiers 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 amplifiers and 40 A must not be exceeded on 400 30 45 70 A and 90 A amplifiers see chapter 4 section 1 5 On CD1k 230 I amplifiers the fuse ratings must be the followi...

Page 35: ...r W phase DC DC 230 Vac L3 230 Vac L2 230 Vac L1 230 Vac three phase Braking resistor Braking resistor 230 Vac single phase Power relay remote control Power relay Power relay Mains 230 Vac Braking resistor Mains 3x400V OR Power ON Power OFF Power relay INHIBIT FC FC Index Reference Capture Speed limitation CAN L CAN GND CAN H Motor brake Motor brake Motor brake 24 Vdc 1 5A isolated See UL fuses ta...

Page 36: ...DC 400 Vac L3 400 Vac L2 400 Vac L1 Braking resistor Braking resistor GND Braking resistor 400 Vac three phase Power relay CD1 k 400 1 8 to 7 2 dp 200 100 CD1 k 400 14 dp 50 200 CD1 k 400 30 and 45 A dp 33 280 CD1 k 400 70 and 90 A EF 400 10 A for I or 14 A 20 A for I 30 and 45 A 40 A for I 70 A and 90 A Mains 3x400V See UL fuses table 24 Vdc isolated Reference Capture Speed limitation 4 A UL list...

Page 37: ... UL COMPLIANT MULTIAXIS APPLICATION X8 24 V 0 V L1 L2 L3 DC DC RB RB X9 CD1 k X8 24 V 0 V L1 L2 L3 DC DC RB RB X9 CD1 k X8 24 V 0 V L1 L2 L3 DC DC RB RB X9 CD1 k 24 V DC dp dp CD1 k 230 I 3 x 230 V CD1 k 400 I 3 x 400 V Mains For the choice of the fuses see chapter 4 section 4 3 ...

Page 38: ...de Chapter 5 Appendix Chapter 5 Appendix 1 HARDWARE ADJUSTMENTS OF THE LOGIC BOARD LOGIC BOARD 01685 Encoder 5 V supply fuse EEPROM Parameter Always closed jumper Always closed jumper Amplifier address X5 J2 F1 J1 S1 RS BM U11 ...

Page 39: ...of pole pairs N 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 m...

Page 40: ... 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 overloading of the braking resistor So if the energy reflected to the amplifier...