SERVO DRIVES & MOTION CONTROL CANopen drive

! 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. For the use of the drive (dimensions, wiring,...), see manual "CD1-k User Guide". For the CANopen communication, see manual "CD1-k – CANopen Communication Protocol". Maintenance procedures should be attempted only by highly skilled technicians having good knowledge of electronics and servo systems with variable speed...

SERVO DRIVES & MOTION CONTROL 1.4 - COMMON SPECIFICATIONS TO THE THREE DRIVE TYPES CD1-k-230/I, CD1-k-400/I 5.1 - SPECIFICATION OF THE LOGIC INPUTS: INHIBIT, FC+, FC-, INDEX, CAPTURE, LOW

3.3 - SWITCHING ON THE POWER SUPPLY (230 Vac or 400 Vac according to the drive type) 30 4.4 - CD1-k-230/I DRIVE: CONNECTION DIAGRAM WITH PROTECTIONS BY "UL" FUSES... 32 4.5 - CD1-k-400/I DRIVE: CONNECTION DIAGRAM WITH PROTECTIONS BY "UL" FUSES... 33

OINFRANOR SERVO DRIVES & MOTION CONTROL Series CD1-k drives with CANopen interface are PWM servo drives for the control of AC sinusoidal motors (brushless) with transmitter resolver. ■ a stand-alone single-axis block available in both mains operated versions 230 VAC and 400/480 VAC, Series CD1-k drives have their own supply. An auxiliary supply 24VDC +/- 15 % is required for the supply of the DC/DC converter. A 24 VDC battery supply with specific wiring allows to keep the position even after switching off the 24 VDC auxiliary supply. This wiring can be used for "absolute" operation with the CD1-k...

CD1-k- Installation guide 2.3 - REFERENCE TO THE STANDARDS: "UL" LISTING CD1-k 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). 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,...

OINFRANOR SERVO DRIVES & MOTION CONTROL 1.1 - CD1-k-230/I SINGLE-AXIS DRIVE Mains operated power supply voltage Isolated auxiliary logic and motor brake supply voltage Motor phase-phase output voltage Integrated braking system Minimum inductance between phases OUTPUT CURRENT RATINGS (at a maximum room t 24 Vdc +/-15 % - 320 mA without brake 200 Vrms External resistor 100 Ohm / 100 W (dp 100/100) Minimum resistance: 50 Ohm 1.2 - CD1-K-400/I SINGLE-AXIS DRIVE Mains operated power supply voltage Auxiliary logic and motor brake supply voltage Motor phase-phase output voltage Integrated braking system...

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 (rms) Mains operated power supply voltage Auxiliary logic and motor brake supply voltage Motor phase-phase output voltage Integrated braking system Minimum inductance between phases OUTPUT CURRENT RATINGS PER AXIS (at a 400 to 480 VAC + 10 %/- 15 % 3~, TN or TT system with earthed neutral point 50 to 60 Hz (phase-earth voltage must be balanced) 380 to 460 Vrms depending on the mains External resistor: 33...

1.4 - COMMON SPECIFICATIONS TO THE THREE DRIVE TYPES CD1-k-230/I, CD1-k-400/I and CD1-k-400/14 P3 Servo loops: current, speed and position Mains filter on power supply Common mode filter on auxiliary supply Common mode filter on motor brake supply Position measurement sensor 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 Integrated in the drive Integrated in the drive Integrated in the drive Transmitter...

Compliance with the standards: CE certification. EMC standards: 360° shield connection, equipotentiality according - immunity: EN 61000.4-2-3-4-5 to the wiring rules. - conducted and radiated disturbances: EN 55011, Group 1, Electrical standards for industrial machines: leakage current > 30 mA (EMI filters). Conformity with the standards: UL listing CD1-k series have been “cULus” listed according to UL508C "360°" shield; equipotentiality according to the and UL840 regarding the insulator. wiring rules. This product was evaluated to: - the Third Edition of UL508C, the UL Standard for Power Conversion...

Drive type / Dimensions

OINFRANOR SERVO DRIVES & MOTION CONTROL 1 - CONNECTORS LOCATION 1.1 - SINGLE-AXIS DRIVES CD1-k-230-I AND CD1-k-400-I XI oor©innc©3c b UJUUc=D c NODE ID BAUD

SERVO DRIVES & MOTION CONTROL

CD1-k – Installation Guide 1.3 – CD1-k-400/30 AND 45 DRIVE Ground 2 - LED DISPLAY 2.1 - IDENTIFICATION OF THE LEDs BUS (green) OK (green) SYS (red) SYS: System error SYS LED is continuously lit if System error, SYS LED is unlit if no error. OK: Errors are regrouped on the ‘OK’ LED: These errors are coded and can be displayed by means of the parameter setting software, via the serial link RS-232 or via the CANopen bus. OK LED: continuously blinking if error, OK LED: continuously lit if no error. The OK LED regroups the following errors: Power supply overvoltage No power voltage Out of 24 Vdc supply...

Any of these errors (except for the "Undervolt." error) involves: - the motor brake control, - opening of the AOK relay contact. This relay must be wired as described in Chapter 5, section 3, in order to switch-off the power supply and keep zero type standstill. The error "No power voltage" involves: - the motor brake control. The CANopen RUN LED indicates the status of the NMT state machine (see DS-301 - 9.52 NMT state machine): SINGLE FLASH See "DR-303-3 Indicator specification" for more information. 3 - DRIVE ADDRESSING: SELECTION OF THE TRANSMISSION SPEED Each drive of the network must be...