Infranor CD1-a, Manual

Page 1: ...CD1 a 1 CD1 a gb SERVO DRIVES MOTION CONTROL CD1 a digital drive for AC sinusoidal brushless motors ...

Page 2: ...CD1 a 2 CD1 a ...

Page 3: ...re handling the amplifiers a residual voltage of several hundreds of volts may remain during a few minutes INFRANOR drives are conceived to be best protected against electrostatic discharges However some components are particularly sensitive and may be damaged Before handling the drives and particularly before any contact with the connectors the user himself must be earthed Place or store the driv...

Page 4: ...CD1 a 4 CD1 a ...

Page 5: ...4 CD1 A 400 30 AND 45 A AMPLIFIER 16 6 MULTIAXES CABINET MOUNTING 17 6 1 CD1 a 230 I AMPLIFIER 17 6 2 CD1 a 400 1 8 to 7 2 AMPLIFIER 17 6 3 CD1 a 400 14 AMPLIFIER 17 6 4 CD1 a 400 30 AND 45 A AMPLIFIER 17 CHAPTER 3 INPUTS OUTPUTS 18 1 CONNECTORS LOCATION 18 1 1 AMPLIFIER CONNECTORS 18 2 X1 RESOLVER CONNECTOR 18 3 X2 COMMAND CONNECTOR LOGIC INPUTS OUTPUTS AND ENCODER 19 3 1 SPECIFICATION OF THE ANA...

Page 6: ...IFIER PARAMETERS SAVING 35 CHAPTER 7 TROUBLESHOOTING 36 1 FAULTS 36 1 1 SYSTEM FAULT 36 1 2 BUSY FAULT 36 1 3 EEPROM FAULT 36 1 4 C MOTOR FAULT 36 1 5 UNDERVOLT FAULT non stored 36 1 6 POWER STAGE FAULT 37 1 7 RESOLVER FAULT 37 1 8 R D C FAULT 37 1 9 I 2 T FAULT 37 1 10 FOLLOWING ERROR 38 2 OPERATING PROBLEMS 38 2 1 MOTOR DOES NOT MOVE 38 2 2 MOTOR SUPPLIED BUT NOT TORQUE 38 2 3 SHAFT LOCKED ERATI...

Page 7: ...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 amplifier The auxiliary supply allows to keep the logic board on after the power supply has been switched off in order to keep the position output and to avoid initializing the machine all over again A 24 VDC battery supply with specific wiring a...

Page 8: ...C 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 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 l...

Page 9: ...iance CD1 a 230 2 25 230 2 25 1 1 25 yes CD1 a 230 4 5 230 4 5 2 25 30 yes CD1 a 230 7 5 230 7 5 3 75 44 yes CD1 a 230 10 5 230 10 5 5 25 55 yes CD1 a 230 16 5 230 16 5 8 25 66 yes Maximum room temperature 40 C 1 2 CD1 a 400 I AMPLIFIER Mains operating power supply voltage 400 to 480 VAC 10 15 3 TN or TT system with earthed neutral point 50 60 Hz Phase Ground voltage must be balanced Isolated auxi...

Page 10: ...egrated in the amplifier Common mode filter on auxiliary supply Integrated in the amplifier Position sensor Transmitter resolver Power stage protections See section 3 Main protections PWM switching frequency 10 kHz Internal current limitation Imax 20 to 100 and Irated 20 to 50 Imax duration 1 second External current limitation 0 to 10 V resolution 12 bits 100 to 0 of the internal Imax limitation A...

Page 11: ...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 Temperature storage 20 C to 70 C operation 5 C to 40 C From 40 C on the rated currents mu...

Page 12: ...nusoidal oscillator Encoder outputs Ramp Serial link Pulse counter Position Speed Speed loop Input command Parameters saving Vector control Current input command Current limitation Current loops Current monitors I2t function PWM Power stage Enable Fault Rectifying filtering U motor V motor W motor Fault Energy recuperation Protections processing Reset Display DC DC converter ...

Page 13: ...t z LED is lit NOTE The power stage error includes the following faults power supply overvoltage internal switch protection short circuit between motor phases or between motor phase and earth amplifier overtemperature on CD1 a 400 I only fan system error PWM control error power stage supply braking system The detail of the Power stage fault can be displayed in the Visual drive Setup software All t...

Page 14: ...pecifications 4 DIMENSIONS 4 1 CD1 a 230 I AMPLIFIER 4 2 CD1 a 400 1 8 to 7 2 A AMPLIFIER 4 3 CD1 a 400 14 A AMPLIFIER 4 4 CD1 a 400 30 and 45 A AMPLIFIER 293 234 258 229 72 202 5 260 200 199 234 293 228 229 80 293 288 230 ...

Page 15: ...2 Specifications 4 5 BRAKING RESISTORS dp 100 100 dp 200 100 dp 50 200 and dp 33 280 A B 7 7 40 83 C DIMENSIONS dp 50 200 dp 100 100 and dp 200 100 dp 33 280 Size A 157 mm 290 mm Size B 145 mm 278 mm Size C 52 mm 57 mm ...

Page 16: ... MANDATORY 5 1 CD1 a 230 I AMPLIFIER 5 2 CD1 a 400 1 8 to 7 2 A AMPLIFIER 192 64 8 195 3 2 M4 screws 5 3 CD1 a 400 14 A AMPLIFIER 5 4 CD1 a 400 30 and 45 A AMPLIFIER 3 15 250 258 00 82 80 2 M4 screws 3 223 64 8 2 M4 screws 4 15 288 278 5 110 00 60 00 25 00 4 M4 screws ...

Page 17: ... 7 2 AMPLIFIER 80 80 70 X8 X9 GND 6 3 CD1 a 400 14 AMPLIFIER 6 4 CD1 a 400 30 AND 45 A AMPLIFIER X9 RB RB L1 DC L3 W DC L2 U V X8 0V 24V Br Br X8 0V 24V Br Br X9 RB RB L1 DC L3 W DC L2 U V 100 X8 X9 GND X8 X9 70 80 80 GND X9 X8 110 00 132 00 234 5 X9 RB RB DC L1 L2 L3 DC V U X9 RB RB DC L1 L2 L3 DC V U Ground ...

Page 18: ...lied PIN FUNCTION REMARKS 1 TC pin H sensor connector If thermal switch connected to X1 6 Shield connection If no 360 connection on the connector 2 TC pin I sensor connector If thermal switch connected to X1 7 S1 pin C sensor connector MAVILOR motor 3 S3 pin D sensor connector MAVILOR motor 8 S4 pin B sensor connector MAVILOR motor 4 S2 pin A sensor connector MAVILOR motor 9 R2 pin F sensor connec...

Page 19: ...reference of the galvanic insulated logic inputs 17 CV Input command CV I 10 V speed input command for max speed 16 CV Input command CV I or 10 V current input command for Imax with CI input active 15 GND I GND reference of the earthed amplifier 3 I limit current limitation I Analog input for external max current limitation 0 to 10 V for 100 to 0 of Imax 11 Reserved input I Do not use to be used b...

Page 20: ...NABLE FCP FCN RESET CVO CI The input voltage corresponding to level 1 is between 18 V and 30V 3 3 SPECIFICATION OF THE AOK RELAY OUTPUT AOK AOK X2 18 X2 19 12 V Bidirectional 53 V TRANSIL Relay contact open if any fault except for the Undervolt fault Pmax 10 W with Umax 50 V and Imax 100 mA 3 4 SPECIFICATION OF THE ENCODER OUTPUTS Recommended receiver 26LS32 Logic input 100 KΩ 0 V 5 V 8 2 KΩ 100 n...

Page 21: ...Power feedback during the motor deceleration with high inertia and speed CD1 a 230 I 100 Ohms 100W dp 100 100 CD1 a 400 1 8 to 7 2 200 Ohms 100W dp 200 100 CD1 a 400 14 50 Ohms 200 W dp 50 200 CD1 a 400 30 and 45 33 Ohms 280W dp 33 280 Braking resistors must be ordered separately 3 DC I O Parallel connection of the DC bus Only available on UL listed drives 4 L1 I 5 L2 I 6 L3 I Mains input Mains fi...

Page 22: ...24 Vdc 230 Vac R 230 Vac S 24 Vdc 3A AC 230 Vac 15 DC DC ENABLE relay Motor temp Motor temp Resolver signal Resolver reference GND GND GND RESOLVER MAVILOR GND Motor U phase Motor V phase Motor W phase 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 ON AOK Power OFF Power relay NC Analog speed input comman...

Page 23: ... relay remote control Power ON AOK Power OFF Power relay NC Analog speed input command Position counting Motor U phase Motor V phase Motor W phase DC DC 400 Vac L3 400 Vac L2 400 Vac L1 400 Vac three phase Braking resistor Braking resistor Braking resistor Mains 3x400V 480V MOTOR Power relay GND CD1 a 400 1 8 to 7 2 dp 200 100 CD1 a 400 14 dp 50 200 CD1 a 400 30 and 45 dp 33 280 Circuit breaker cu...

Page 24: ...s 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 X8 24 V 0 V L1 L2 L3 DC DC RB RB X9 CD1 a X8 24 V 0 V L1 L2 L3 DC DC RB RB X9 CD1 a X8 24 V 0 V L1 L2 L3 DC DC RB RB X9 CD1 a 10 A 24 VDC dp dp CD1 a 230 I 3 x 230 V CD1 a 400 I 3 x 400 V Mains For a multiaxis applicatio...

Page 25: ...st allow the 360 shield connections Reference potential loops especially with the ground are recommended only if these loops have a very low impedance 0 1 Ω Any shield that is used as a conductor can be connected at both ends under the condition to be connected over 360 at both ends by means of metal links in order to ensure the shield continuity The preferred reference potiential must be the eart...

Page 26: ...d 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 Electrical Specialities Division ref ...

Page 27: ...e maximum cable section allowed by the connectors to mount a reactance with the motor inductive value between 1 and 3 The reactance inductive value must be taken into account in the calculation of the current loops The current rating of the reactance must be equal to or higher than the drive rating The reactance must be mounted at the drive output Due to the use of a reactance a shielded cable is ...

Page 28: ... 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 ...

Page 29: ... 15 4 6 7 8 9 Z Z A A B B 3 25 CV CV GND ILIMIT GND CV0 RESET AOK AOK ENABLE FC FC REF INPUTS REF INPUTS CI CD1 a 230 I UL 24 Vdc 230 Vac R 230 Vac S 24 Vdc AC 230 Vac 15 DC DC 4 A UL listed ENABLE relay Motor temp Motor temp Resolver signal Resolver reference GND GND GND RESOLVER MAVILOR GND Motor U phase Motor V phase Motor W phase 230 Vac L3 230 Vac L2 230 Vac L1 230 Vac three phase Braking res...

Page 30: ...elay remote control Power ON AOK Power OFF Power relay NC Analog speed input command Position counting Motor U phase Motor V phase Motor W phase DC DC 400 Vac L3 400 Vac L2 400 Vac L1 400 Vac three phase Braking resistor Braking resistor Braking resistor Mains 3x400V MOTOR Power relay GND CD1 a 400 1 8 to 7 2 dp 200 100 CD1 a 400 14 dp 50 200 CD1 a 400 30 and 45 dp 33 280 10 A for I or 14 A 20 A f...

Page 31: ...IANT MULTIAXIS APPLICATION X8 24 V 0 V L1 L2 L3 DC DC RB RB X9 CD1 a X8 24 V 0 V L1 L2 L3 DC DC RB RB X9 CD1 a X8 24 V 0 V L1 L2 L3 DC DC RB RB X9 CD1 a 24 V DC dp dp CD1 a 230 I 3 x 230 V CD1 a 400 I 3 x 400 V Mains For the choice of the fuses see chapter 4 section 3 3 ...

Page 32: ...ranor fr for downloading the VISUAL DRIVE SETUP software WARNING The auto tuning procedure should be executed by the PC in control mode and at standstill If the auto tuning procedure must be executed with the drive controlled by the analog command input CV the value of the input command MUST be 0 Volt It is the user s responsibility to take all necessary steps in order to reduce the risk due to un...

Page 33: ...rating dp 33 280 for 30 and 45 A current ratings Any braking resistor value lower than 200 Ω for the CD1 a 400 1 8 to 7 2 A amplifier will definitely damage the braking system The ENABLE signal X2 connector pin 20 must be inactive and the CV analog command input X2 connector pins 16 17 must be short circuited Check for the correct earthings and 360 shield connections 2 2 Switch on the 24 VDC suppl...

Page 34: ... with the motor and amplifier specifications For the commissioning the I2 t fusing mode is recommended see chapter 8 section 3 2 If the motor used in the application is not mentioned in the Motor List proceed like follows o Select the thermal sensor type CTN CTP if the C motor fault is displayed on the amplifier front panel make a Fault reset o Enter the motor inductance value and start the Curren...

Page 35: ...upled from its mechanical load in order to initialize the speed loop gains Select the limiting mode of the I2 t function see chapter 8 section 3 2 Then select the speed regulator PI or PI2 Couple the motor to the load again and move the shaft by means of the digital speed input command until its maintaining position where the shaft rotation over one revolution is not dangerous for operator and mac...

Page 36: ...h inputs are not activated Then check that the motor is unloaded and the shaft movement is free during the procedure If the BUSY fault is continuously displayed after the execution of the OFFSET COMPENSATION function the offset is exceeding 0 5 Volt Check the voltage on the speed command input during the procedure 1 3 EEPROM FAULT Check the presence of the EEPROM and check its correct orientation ...

Page 37: ...tor wiring and at the motor terminals Check for no short circuit between one motor phase and the earth 1 7 RESOLVER FAULT Check the resolver connection on the amplifier X1 connector Check the presence of the P RES components Check that the resolver type is correct with regard to the P RES components Check the connections between the resolver and the amplifier 1 8 R D C FAULT If the failure occurs ...

Page 38: ...OTATION AT MAXIMUM SPEED Check the resolver wiring on the X1 connector and the mechanical mounting of the resolver on the motor Check the proper motor choice in the MOTOR LIST module Check the value of the Motor parameters in the Advanced Functions menu and execute the AUTO PHASING command again with unloaded motor if necessary see chapter 6 section 3 2 4 DISCONTINUOUS MOTOR ROTATION WITH ZERO TOR...

Page 39: ...e A B and Z signals on the amplifier X2 connector by turning manually the motor shaft and check the wiring between NC and amplifier Check the counting direction of the NC with regard to the sign of the speed input command If there is a reversal use the function Reverse Movement in the VISUAL DRIVE SETUP software to get a correct operation 3 SERVICE AND MAINTENANCE When exchanging an amplifier on a...

Page 40: ...RDWARE ADJUSTMENTS All hardware adjustments of the CD1 a amplifier module are located on the hardware location diagram below HARDWARE LOCATION DIAGRAM U12 U30 R109 X2 X1 X5 Firmware memory LOGIC BOARD Resolver transformation ratio PRES EEPROM parameters ...

Page 41: ...k Re red Bl blueWh white Br brown Ye yellow For the use of resolvers with transformation ratios others than 0 5 the Cos and Sin signal amplitude must be adjusted by means of the P RES components according to the table below P RES TRANSFORMATION RATIO 0 3 0 45 0 5 1 A B C D tolerance 1 21 K 14 3 K 12 7 K 6 34 K This adjustment is factory set by INFRANOR Note When using resolvers with a number of po...

Page 42: ...rrent limitation diagram in an extreme case motor overload or locked shaft is shown below t0 t2 t3 Rated current Maximum current Amplifier current t2 current limitation t3 I2t fault Time The maximum current duration before limitation at the rated current depends on the value of the Rated current and Maximum current parameters This value is calculated as follows Tmax second t2 t0 4 x Rated current ...

Page 43: ...on in speed mode CI logic input inactive the activation of the CV0 input stops the axis rotation the deceleration time is depending on the value of the Accel Decel time value During the amplifier operation in torque mode CI logic input active the enabling of the CV0 input assigns a zero current input command and the current reference is maintained at zero as long as the CV0 input is active 6 USE O...

Page 44: ...and B channels in quadrature with one Z marker pulse per revolution allow to close the position loop via the NC The duration of the marker pulse per revolution used for the homing is sized like follows A or B signal period Z marker pulse duration ________________________ 2DR 2 with DR division ratio DR 0 for 1024 ppr DR 1 for 512 ppr DR 2 for 256 ppr DR 3 for 128 ppr A B A B CW rotation motor shaf...

Page 45: ...ce the current load inside the AC DC converters It is recommended to mount the braking resistor on the drive with highest current rating On 400 V drives CD1 a 400 1 8 to 7 2 A as from index P CD1 a 400 14 A as from index H CD1 a 400 30 and 45 A as from index A an electronic control of the reflected power avoids the overloading of the braking resistor So if the energy reflected to the drives with p...