SERVO DRIVES & MOTION CONTROL

! This manual is describing a series of positioning servo amplifiers having output capability for driving AC brushless servo motors. This manual must be used in conjunction with both manuals CD1p-Installation and BD1/CD1pUser Guide of the CD1-p (Profibus) amplifier and cannot be dissociated from it. The conditions and recommendations of use as well as the responsibility and warranty restrictions mentioned in both manuals above are also valid for the present amplifier version CD1-pm. ©INFRANOR, January 2004. All rights reserved Issue: 1.2

The CD1-pm positioner is an extended version of the CD1-p positioner. It has got several logic inputs/outputs and can work in the following modes: ❖ Profibus mode with hardware addressing, The selection of the various operation modes is made by means of micro-switches accessible by the operator (see chapter 6). This mode is activated by the 00 micro-switches selection. This operation mode is the same as the one of the CD1-p positioner. The positioner Profibus address is saved into a non volatile memory (EEPROM). This EEPROM can be modified via Profibus (message Set_Slave_Add) by a Profibus master...

CINFRANOR By default, the inputs are Profibus inputs (compatibility with the CD1-p positioner). Some bits of the positioner configuration word (PNU 742) allow the selection of the hardware inputs. Chapter 1 - Operation mode

The logic outputs can be pulse outputs: once the output activated, it will automatically be reset at zero after a time previously defined. If this output is not a pulse output, it will keep its status until its next modification. Defines the pulse duration, in ms, of the pulse outputs. When starting a homing procedure directly by Profibus without using the sequences (bit 11 of the control word), parameter PNU 766 allows to define the homing mode (motion direction with or without switch, with or without marker pulse, ...). The value "Position reset" is always 0. It is now possible to define a...

Chapter 2 – Optocoupled logic inputs 2.1 - Diagram of the logic inputs +5 V Logic inputs The input voltage corresponding to level 1 must remain between 18 V and 30 V. 2.2 - Specifications of the optocoupled logic inputs 2.2.1 - Dedicated inputs (number = 2) START input: This input allows to start the sequence which number is defined by the programmable inputs. The level of this input will be taken into account after the end of the former sequence. This signal can be disabled before the end of the sequence. Logic inputs combinations 1.5 msec. min START STOP input: This input allows to stop the...

3.2 - Specifications of the optocoupled logic outputs ❖ External supply +24 V (18 V < U < 30 V) ❖ Maximum voltage drop = 2 V ❖ Protection against overloads ❖ Output current available per output (mA) 3.2.1 - Dedicated outputs (number = 3) ❖ SEQ output: Output indicating that a sequence is running. ❖ POS output: Output activated when the axis reaches its reference position. This output will remain active until the next motor shaft motion. ❖ SPEED output: Output activated when the step speed is reached during the axis motion. Chapter 3 - Optocoupled logic outputs

3.2.2 - Programmable outputs (number = 4) Programmable status: "High" status - "Low" status - "Toggle" status. Various triggering types: BEGIN, SPEED, POS, HOLD, END. These outputs can be triggered once a programmed sequence. BEGIN : Sequence begin SPEED : Speed reached POS : Pre-defined position reached HOLD : Arrival at reference position Chapter 3 – Optocoupled logic outputs

Two pulse channels "A" and "B" in quadrature with one marker pulse "Z" per revolution are available on the CD1-pm positioner. ❖ 4 differential signals A (/A), B (/B) in quadrature ❖ 2 differential signals Z (/z): One "marker pulse" per revolution - Duration = [Period (A)/4], ❖ Non-modifiable resolution: 1024 periods/rev. (front view of the motor shaft) (front view of the motor shaft) The use of a shielded cable for the encoder signals is MANDATORY. Chapter 4 - Incremental encoder outputs

Pins of the I/O extension connector +24 V input only required when the outputs SEQ, POS, SPEED, OUT1, OUT2, OUT3, OUT4 are used.

A DIP micro-switch, accessible by the operator, allows the selection of the various operation modes. Chapter 6 - Selection of the various modes

Chapter 7 – Location of the I/O extension connector (X2) Chapter 7 – Location of the I/O extension connector (X2)

SERVO DRIVES & MOTION CONTROL The parameter setting of the CD1-pm amplifier can be made by means of the PC software, but also by means of the serial link, by using the RS-232 protocol as well as the ASCII instructions described in the manual "INFRANOR drives parameter setting instructions". A VT-100 terminal can be connected to the serial link of the amplifier (X5 connector). The operator can use this terminal to display the axis position, to modify or execute pre-programmed motion sequences, to move the axis towards an absolute position or to control a JOG movement. 8.2.1 - CONFIGURATION8.2.1.1...

The arrow keys ENABLE signal is activated. The allow to move the motor (Jog+ or Jog-), when the key allows the operator to go back to the main menu. In this window, the operator can stop the motor (if it is rotating) by pressing the The operator must press the key for confirming the motor stopping or any other key for cancelling. 8.2.2.3 – Modification of a sequence This menu allows the operator to modify position or speed of a given sequence. MODIFY SEQUENCE 1 POSITION 2 SPEED_ The operator at first enters the sequence number (this sequence must exist). The former position is displayed and the...

The operator can modify the speed of a give sequence in the same way: MODIFY SPEED Sequence: 1 Pos: 1øøø Speed:_ 8.2.2.4 – Execution of a sequence When the position is not executing any sequence and when the ENABLE signal is activated, the operator can enter the number of a sequence to be executed: 8.2.2.5 - Motion When the positioner is not executing any sequence and when the ENABLE signal is activated, the operator can enter a position to be reached: