Warning This is a general manual describing a series of servo drives having output capability suitable for driving AC brushless sinusoidal servo motors. Please see also: -IRD Installation Guide for the hardware installation of the drive (mounting, wiring, …). -EtherCAT fieldbus interface manual for the IRD-eb version Instructions for storage, use after storage, commissioning as well as all technical details require the MANDATORY reading of the manual before getting the drives operational. Maintenance procedures should be attempted only by highly skilled technicians who have good knowledge of...

IRD User Guide OINFRANOR IRD User Guide OINFRANOR In accordance with the Decree nr. 2012-617 of May 2nd, 2012 which specifies the provisions related to the professional EEE manufacturers' obligations, INFRANOR France is a member of RECYLUM: ecoorganization ecosystem certified for the collection, treatment and recycling of WEEE. In France, RECYLUM allows all professionals to benefit from a free collection and recycling solution, in observance of the regulation, the environment and health. Information and sorting instructions regarding INFRANOR products Sorting instructions may vary according to...

CHAPTER 1 - GENERAL DESCRIPTION 1.1 - Introduction The IRD drive directly controls the motor torque and speed from the information provided by a high-resolution position sensor. The sinusoidal current commutation generated from the information of this high-resolution position sensor ensures very smooth motor torque/force control. The IRD drive can be configured for the feedback of various position sensor types. The appropriate position sensor configuration is selectable by software and saved in the drive. ▪ With an incremental encoder only, a motor phasing procedure (Phasing) must be executed...

1.2 - Architecture IRD is a freely configurable drive. The drive configuration includes servo-loop parameters, motor and sensor parameters, communication parameters and I/O configuration parameters. The configuration parameters can be stored into the drive non- volatile memory. The IRD drive can be controlled via either CANopen or EtherCAT fieldbus, or via the digital I/Os (stand-alone positioner) according to the selected operation mode. The following diagram describes the functional architecture of the IRD drive: Communication bus (CANopen or EtherCAT) Standard Modes EtherCat Modes Manufacturer...

IRD User Guide OINFRANOR This chapter describes the commissioning procedure of the drive by means of the Optio software. The Optio Drive Assistant software is PC compliant under Windows and allows an easy parameterization of the IRD drive range. Please see our website www.infranor.com for downloading the Optio software. Minimum Configuration The use of the Optio Drive Assistant software requires the minimum PC configuration described below: • 15" screen, 256 color screen, 1024x768 resolution • Windows Seven operating system • Microsoft .NET Framework V4.6.1 installed • 160 MB available on hard...

IRD User Guide OINFRANOR The Optio software allows the parameterization of all IRD drives for a given application. Each IRD drive of the Optio project is identified by its node ID. The node ID code values must all be different from each other in the same project. On the IRD, this NodeID is read from the EtherCAT EEPROM value at power-on. This EEPROM value can be changed using an EtherCAT master. The default NodeID value is “1”. The different software commands allow: - Opening an existing project, - Adding and/or removing axes in the project, Each parameter (object) of the drive can be defined...

2.4 - Parameter Setting This chapter describes the parameterization procedure of the drive by means of the PC software tool. The different steps of the drive commissioning procedure and the sequence of operations are presented below. Step 1 : Power supply configuration -operating voltage -braking resistor Step 2 : Motor parameter setting -Position feedback -Current limits -Current loop gains -Thermal protection -I2t protection -Speed limit -Motor control Step 3 : Servo loop setting -Gains calculation -Auto-tuning -Gains adjustment Step 4 : User position scaling Following error protection Step...

IRD User Guide 2.4.1 - Power supply configuration The Drive operating Voltage parameter value must be less than or equal to the drive voltage rating (24Vdc or 48Vdc). When this parameter is changed, the Overvoltage fault threshold and the Undervoltage fault threshold are modified accordingly. The Undervoltage fault threshold parameter defines the undervoltage fault level on the DC bus. When the DC bus voltage value drops below this parameter value, the drive Undervoltage fault is activated. When the DC bus voltage value goes above this parameter value, the drive Undervoltage fault is reset. The...

Position sensor configuration The IRD drive can operate with various position sensor types according to the drive version. Different encoder types can also be connected to the IRD drive encoder 1 input: TTL (square) signals, incremental + Hall effect sensor channels. Absolute encoders with digital interface can also be connected to the IRD drive encoder 2 or encoder 3 input. Only Biss C protocol is supported. For more details, refer to IRD Installation Manual. The used motor feedback sensor must be selected, enabled, and configured in the PC software tool as described below. Encoder 1 input configuration...

Motor parameters Current limit adjustment The Maximum current parameter defines the maximum output current value of the drive. It may vary between 20 % and 100 % of the drive’s current rating. The Rated current parameter defines the limitation threshold of the drive output RMS current (I 2t). It may vary between 20 % and 50 % of the drive’s current rating. Current loop adjustment Enter the value of the total phase-to-phase inductance connected to the drive (motor internal winding inductance + external filtering inductance if used). Select the current loop Bandwidth: -The High bandwidth selection...