CINFRANOR XtrapulsCD1-k User Guide

XtrapulsCD1-k – User Guide WARNING ! This is a general manual describing a series of servo amplifiers having output capability suitable for driving AC brushless sinusoidal servo motors. Please see XtrapulsCD1-k Installation Guide for the hardware installation of the amplifier (dimensions, wiring, ...). For the CANopen communication, see manual XtrapulsCD1-k – CANopen Communication Profile. Instructions for storage, use after storage, commissioning as well as all technical details require the MANDATORY reading of the manual before getting the amplifiers operational. Maintenance procedures should...

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Chapter 1 - General description 1 - INTRODUCTION XtrapulsCD1-k all-digital amplifiers with sinusoidal PWM control are servo amplifiers that provide the control of brushless AC motors with position sensor. The XtrapulsCD1-k amplifier is a stand-alone single-axis block including power supply unit and mains filters. It is available in both 230 VAC and 400/480 VAC mains operated voltages. XtrapulsCD1-k amplifiers are working via a bus with "CANopen" communication protocol. The amplifier parameter setting can be made either by means of:  the CANopen bus or  the specific parameter setting software...

Electric motor Electric device that transforms electrical energy into a mechanical movement. This transformation is often made by means of current commutation. Generally, the movement is a rotation but there are also linear motors. Brushless or synchronous motor Electric brushless motor. The current commutation is electronically made and requires a position sensor (resolver, encoder, Hall sensor...). Absolute position sensor over one revolution. The resolver is often used together with brushless motors because of its robustness. Incremental or absolute position sensor. The encoder is used together...

Chapter 2 - Commissioning CAUTION ! Do not make the amplifier parameter setting by means of both Visual Amplifier Setup software and CANopen bus at the same time. 1 - INSTALLATION OF THE PARAMETER SETTING SOFTWARE The Visual Drive Setup software is PC compliant under Windows® 1 and allows an easy parameter setting of the XtrapulsCD1-k amplifier. Please see our website www.infranor.fr for downloading the "Visual Amplifier Setup" software. 2 - CHECKING THE AMPLIFIER HARDWARE CONFIGURATION The standard amplifier configuration is adjusted to MAVILOR motors (resolver sensor with transformation ratio...

XtrapulsCDI-k - User Guide This chapter describes the commissioning procedure of the amplifier by means of the " Visual Amplifier Setup" software. • Connect the serial link RS232 between PC and amplifier. • Switch on the amplifier and start the Visual Drive Setup software on the PC, under WINDOWS®. If the message No serial communication found is displayed on the screen, click on OK and check the following points: o The correct RS232 connection between amplifier and PC, o The correct software configuration (Com.port, ...). For a parameter setting of the amplifier via the Visual Drive Setup software:...

XtrapulsCD1-k – User Guide 4.1.2 - SELECTION OF THE MOTOR TYPE THE MOTOR USED IN THE APPLICATION IS CONTAINED IN THE MOTOR LIST OF THE PARAMETER SETTING SOFTWARE Select, in the motor list, the motor used in the application. The motor selection will start the automatic calculation of the current loop parameters. Check that the values of the parameters Max. current and Rated current are compliant with motor and amplifier. If necessary, modify them according to the motor and amplifier specifications. The parameter Max current defines the maximum output current value of the amplifier. It may vary...

XtrapulsCDI-k - User Guide 4.1.4 - PARAMETER ADJUSTMENT FOR A LINEAR MOTOR The Motor encoder resolution parameter is calculated as follows: Motor magnets Pole pitch Motor pole pitch (mm) Encoder signal pitch (pm) 1 encoder signal pitch = 4 counting incrementsThe value of the motor Maximum speed parameter in rpm is calculated as follows:Max. speed (rpm) = 60 x max. motor speed (m/s) Moto r pole pitch (mm) Motor speed (rpm) Motor pole pitch (mm) 4.1.5 - MAXIMUM APPLICATION SPEED The parameter Max. speed defines the maximum speed at which the amplifier can control the motor. • lower than or equal...

XtrapulsCD1-k – User Guide 4.2 - I2T PROTECTION 2 selection modes are available: Fusing or Limiting. It is advisable to use the Fusing mode during commissioning phases. In Fusing mode, the amplifier is disabled when the current limitation threshold is reached. In Limiting mode, the motor current is only limited at the value defined by the Rated current parameter when the limitation threshold is reached. 4.2.1 - OPERATION OF THE CURRENT LIMITATION IN "FUSING" MODE When the amplifier output RMS current (I2t) reaches 85 % of the rated current, the OK LED is blinking on the amplifier front panel...

4.2.2 - CURRENT LIMITATION IN "LIMITING" MODE When the amplifier output RMS current (I2t) reaches 85 % of the rated current, the OK LED on the amplifier front panel is blinking (t1 in the diagram). When the RMS current (I2t) drops below 85 % of the rated current, the blinking is inhibited. When the amplifier output RMS current (I2t) reaches the rated current value, the I2t protection limits the amplifier output current at this value (t2 in the diagram). Diagram of the amplifier output current limitation in an extreme case (motor overload or shaft locked): Amplifier output current t1 = Blinking...