SERVO DRIVES & MOTION CONTROL digital drive for AC sinusoidal brushless motors

! This is a general manual describing a series of servo speed amplifiers having output capability suitable for driving AC brushless sinusoidal servo motors. This manual may be used in conjunction with appropriate and referenced drawings pertaining to the various specific models. 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...

Chapter 1 - General description 1- INTRODUCTION Series CD1-a all digital servo modules are PWM servo amplifiers that provide speed control for AC sinusoidal motors (brushless) with transmitter resolver. The CD1-a system is available as a stand-alone single-axis block including all supplies as well as the mains filter, and is 230 VAC or 400/480 VAC mains operated. 2 – DESCRIPTION / COMPLIANCE WITH THE STANDARDS 2.1 - GENERAL DESCRIPTION The CD1-a amplifier directly controls the motor torque and speed by means of the information provided by a transmitter resolver sensor. The motor speed or torque...

CD1-a 2.2 - REFERENCE TO THE STANDARDS: "CE" CERTIFICATION The CD1-a amplifiers have been approved for their conformity with the EMC standards concerning the power servos referenced in the EN 61800.3 standard regarding "electrical power servos with variable speed": • EN 55011, Group 1, Class A regarding conducted and radiated radioelectric disturbances, • EN 61000.4-2-3-4-5 regarding immunity. Standard to be applied to the electrical equipments of industrial machines: EN 60204.1. The amplifiers have been "CE" marked since year 2000. 2.3 - REFERENCE TO THE STANDARDS: "UL" LISTING CD1-a series...

CINFRANOR SERVO DRIVES & MOTION CONTROL 1 - TECHNICAL SPECIFICATIONS 1.1 - CD1-a-230/I AMPLIFIER External 100 Ohm / 100 W resistor (dp 100/100) Minimum resistance: 50 Ohm (dp 50/200) Mains operating power supply Isolated galvanic auxiliary supply voltage Motor phase-phase output voltage Integrated braking system Minimum inductance between phases Mains operating power supply voltage Isolated auxiliary supply voltage Motor phase-phase output voltage Integrated braking system Minimum inductance between phases 400 to 480 VAC + 10 %/- 15 % 3~, TN or TT system with earthed neutral point, 50 - 60 Hz...

CINFRANOR AMPLIFIER OUTPUT CURRENT RATINGS 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 (rms) Environment : Appendix type 1, compliant with a room temperature of 40°C. Regulation loops: current, speed Mains filter on power supply Common mode filter on auxiliary supply Position sensor Power stage protections Internal current limitation External current limitation Integrated in the amplifier Integrated in the amplifier Transmitter resolver See section 3 "Main protections" Imax: 20 % to 100 % and Irated: 20 % to 50...

CINFRANOR Logic inputs Enable / Disable: ENABLE Limit switch - : FC-Current command: CI Zero speed input command: CV0 Fault RESET Logic outputs Error display Parameter setting Umax = 50 V, Imax = 100 mA, Pmax = 10 W "AOK": closed if amplifier OK, open if fault LED on front panel and diagnostic by serial link Automatic functions Amplifier adjustment to the motor (AUTOPHASING) Automatic regulator adjustment (AUTOTUNING) Offset compensation on analog input Conformity with the standards: CE certification EMC standards: "360°" shield; equipotential according to the - Immunity: EN 61000.4-2-3-4-5 wiring...

Enable Fault Resolver sensor conversion Pulse counter Sinusoidal oscillator Vector control Current input command Current loops Current monitors Encoder outputs Speed loop Current limitation Energy recuperation Input command Protections processing Ilim AOK Reset Enable Serial link Parameters saving

CINFRANOR 3 - MAIN PROTECTIONS 3.1 - STORED PROTECTIONS 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) - power stage supply - braking system The detail of the “Power stage” fault can be displayed in the Visual drive Setup software. All these faults are stored in the amplifier except for the "Undervolt." fault. The reset of a stored fault can be made: - by means of the RESET function in the VISUAL DRIVE SETUP software...

CINFRANOR - DIMENSIONS - CD1-a-230/I AMPLIFIER

CINFRANOR 4.5 - BRAKING RESISTORS dp 100/100, dp 200/100, dp 50/200 and dp 33/280

5 - FASTENING VERTICAL MOUNTING IS MANDATORY 5.1 - CD1-a-230/I AMPLIFIER

6 - MULTIAXES CABINET MOUNTING 6.1 - CD1-a-230/I AMPLIFIER

1 - CONNECTORS LOCATION 1.1 - AMPLIFIER CONNECTORS Command connector Serial link connector 2 - X1: RESOLVER CONNECTOR Sub D 9 pins female (male connector is not supplied) For other resolver connections, see chapter 8 (Appendix), section 2.

CINFRANOR 3 - X2: COMMAND CONNECTOR, LOGIC INPUTS-OUTPUTS AND ENCODER Sub D 25 pins male (female connector is not supplied)

CD1-a 3.1 - SPECIFICATION OF THE ANALOG INPUTS: CV+, CV-, Ilim 4K 3.2 - SPECIFICATION OF THE LOGIC OPTOCOUPLED INPUTS: ENABLE, FCP, FCN, RESET, CVO, CI 5V 8.2 KΩ Logic input The input voltage corresponding to level 1 is between 18 V and 30V. 3.3 - SPECIFICATION OF THE "AOK" RELAY OUTPUT X2/18 AOK 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 +5V X2 - 5-7-9 CI 26LS31

CINFRANOR 4 - X5 SERIAL LINK Sub D 9 pins male (female connector is not supplied) IMPORTANT: The motor cable must be shielded and connected over 360° on collars mounted for this purpose on the housing. The earth 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. ■ 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 have to use copper conductors only. ■ Torque value for field wiring terminals:...