SERVO DRIVES & MOTION CONTROL INFRANOR ELECTRONICS SAS • Avenue Jean Moulin • B.P. 142 • F-65104 LOURDES Cedex Application note June 4, 2007 CDla / CDlk servo drive |SinCos tracks motor feedback1) INTRODUCTION This application note is dedicated to the commissioning of the CD1-a and CD1-k amplifier ranges running a motor equipped with a specific position sensor. The position sensor output signals (SinCos tracks) are analog and differential sine and cosine signals. They are electrically similar to a standard SinCos encoder. The Sin and Cos signal period is generally equal to the motor pole pitch or a multiple. Only the specific information regarding the SinCos tracks feedback sensor setting are described in this document. The complete information for the CD1 -a or CD1 -k amplifier commissioning and parameterization can be found in the appropriate manuals. CD1-a applications with SinCos tracks feedback requires amplifier version 12.3C or higher. CD1-k application with SinCos tracks feedback requires amplifier version 112.33 or higher. The parameterization for an application with SinCos tracks motor feedback requires the VDSetup software version 4.0 or an higher release. The “SinCos tracks motor feedback” configuration is software selectable and stored in the amplifier EEPROM. The corresponding X3 connector pin functions are described below.

SERVO DRIVES & MOTION CONTROL The analog Sin and Cos signals 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 position sensor cable is complying with the sensor technical specifications. The voltage drop value for a given cable is calculated as follows: AU: voltage drop in volts Lc: cable length...

CD1-a/CD1-k ranges: SinCos tracks motor feedback 5) APPLICATION WITH SIN/COS TRACKS MOTOR FEEDBACK 5-1. AMPLIFIER CONFIGURATION Proceed as described below for the SinCos tracks motor feedback configuration: Start the VDSetup software (release 4.0 or higher). Select "SinCos tracks" feedback in the "Position sensor configuration" window. Click on "OK" to validate the amplifier sensor feedback configuration. 5-2. AMPLIFIER SETTING AND OPERATION The CD1 servo drive operation with SinCos tracks motor feedback is similar to the resolver feedback operation. Refer to the appropriate Installation and...

SERVO DRIVES & MOTION CONTROL For the compensation of the position sensor errors (offsets and amplitude difference between the Sin and Cos tracks), proceed as described below. This operation allows to reduce the motor speed ripples at high speed and improve the positioning accuracy. It is required when the application performances must be optimized. In this case, the SinCos tracks error compensation operation must be renewed if the motor position sensor is changed for maintenance. > Start the servo drive commissioning and parameterization according to the appropriate CD1 amplifier Intallation...

SERVO DRIVES & MOTION CONTROL The motor feedback sensor is used to close the servo motor torque and speed control loops. The servo motor position loop can be closed by the motor feedback sensor or with the second sensor (see object 306Ah). In order to avoid running the motor feedback programming procedure by mistake, it is only executed when a specific signature is written to this object. The signature is 'fdbk'.

SERVO DRIVES & MOTION CONTROL

SERVO DRIVES & MOTION CONTROL The following hardware indexes are required in the CD1-a and CD1 -k amplifiers in order to support the SinCos tracks motor feedback functionality.