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PROFIBUS POSITIONER CD1-p Installation manual

1. N J r gt A O I POO 96 joco m 3 F gt 7 3 C Cc J C gt C C C 5 C F CCo D e 0 A 06 O 3 3 d amp 2 C 5 E C 3 gt gt S D ee 4 4 CD1 p 400 30 AND 400 45 POSITIONER X8 Ground X9 Chapter 2 Specifications 15 132 00 CD1 p Installation manual CINFRANOR SERVO DRIVES amp MOTION CONTROL Chapter 3 Inputs Outputs 1 CONNECTORS LOCATION CINFRANOR CDip U 400 1 85 N Serie 200000 Date IY X8 GND X9 Bee FI f 1 MIDP 4 X i X5 Serial link EN 9 RS 232 ni ET MN Tenn sensor S X8 24 Vdc connector and brake COMMAND connector X9 Power connector AOK AOK X4 ENABLE X6 PROFIBUS
2. 29C 5 ZJ 55 C 00 C LEDs ON green ee SYS yellow ERROR red e e AP red BUS green e BUSY yellow 16 Chapter 3 Inputs Outputs CD1 p Installation manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 2 LEDs 2 1 AMPLIFIER FAULT LEDs Location below the X4 command connector ON green SYS yellow ERROR red 6 6 AP red BUS green BUSY yellow ON power supply SYS system fault ERROR Faults grouped on ERROR Led These faults are coded and can be displayed by means of the PC BD1m software from version 2 0 and greater via the serial RS232 link or the Profibus The ERROR Led groups the following faults SA Power supply overvoltage CL Out of 24 VDC supply range between 18 and 29 V FT Phase earth short circuit FD R Braking system short circuited or overheated FV Fan FB Short circuit of the motor holding brake FO Short circuit temperature power stage supply PWM error Pt It protection error RDC Digital resolver converter tracking error POS Position following error E2P EEPROM error BUS PROFIBUS communication error or Positioner initialization configuration error BUSY Procedure execution error TMOT Motor temperature RES Resolver cable interruption BUS PROFIBUS communication OK BUSY Procedure in
3. BRjumper position for CD1 400 14 Position of the BR jumper to be removed through the hood louver without opening the amplifier if the MOTOR BRAKE output is not used 3 BR JUMPER POSITION FOR CD1 p 400 30 AND 400 45 A J PSA HN OD i OC gt C OC C 3C O s DODO VEH Dd F IOC OC J gt gt oc a Q ED gt C C J a dad i O C C YD De C K DC e A J BRjumper position for CD1 400 30 and 45 A Position of the BR jumper to be removed through the hood louver without opening the amplifier if the MOTOR BRAKE output is not used 32 Chapter 5 Appendix CINFRANOR SERVO DRIVES amp MOTION CONTROL CD1 p Installation manual 4 BR JUMPER POSITION FOR CD1 400 1 8 TO 7 2 A This jumper is available on drives which traceability index mentioned on the ID sticker is P or higher for CD1 p 400 I drives and D or higher for CD1 pm 400 I drives BR jumper position for CD1 400 1 8 to 7 2 A Position of the BR jumper to be removed through the hood louver without opening the amplifier if the MOTOR BRAKE output is not used 5 ADJUSTMENT TO VARIOUS RESOLVER TYPES For the use of resolvers other than those mounted on MAVILOR motors see following wiring diagram of the X1 connector as well as the manufact
4. Shield 230 Vac RxD TxD P 24 Vdc CNTR P Motor brake Motor brake O 0 N O Q OO N Remote control ofthe Pf RAT power relay D 24V Motor U phase A Motor V phase p MOTOR Motor W phase C Power DC s r ga ON 400Vac 400 Vac L3 Mane three 400 Vac L2 i phase 400 Vac L1 An 3x400 480 Vac DC Braking resistor Braking Braking resistor resistor Ng g 5 o g x o mn n L Power relay CD1 p 400 1 8 to 7 2 dp 200 100 CD1 p 400 14 dp 50 200 CD1 p 400 30 and 45 dp33 280 Circuit breaker curve D Ms 10 x In 10Aforl lt or 14A 20 A for 30 and 45A Note The 24 V and power supplies protection on source side must be made by the user 1 3 SERIAL LINK CONNECTION 360 shield connection i er PC serial port TxD 3 GND 5 Sub D 9 pins female Sub D 9 pins female 22 Chapter 4 Connections CD1 p Installation manual b N F RA N O R SERVO DRIVES amp MOTION CONTROL 1 4 CONNECTION OF A BACKUP BATTERY FOR THE 24 VDC AUXILIARY SUPPLY 230 VAC Isolated 24 Vdc supply Battery 30A h The CD1 p positioner consumption is 320 mA with 24VDC So a 24 V 30 A h battery can keep the positioner under voltage during i e a long 3 days week end or during a mains cut off without loosing the machine initialization This backup method is very interesting for saving the machine initialization as well as the axis position even when
5. shield equipotentiality according to the wiring rules Temperature storage 20 C a 70 C operation 5 C 40 C Altitude Moisture Cooling Mounting position Environment Mounting location Weight Chapter 2 Specifications SINFRANOR SERVO DRIVES amp MOTION CONTROL Relay contact Umax 60 V Imax 200 mA Pmax 10 W Amp ready Closed if amplifier OK open if fault Motor brake coil with 24 VDC 1 5 A PPO 1 or PPO 2 or PPO 3 or PPO 4 LEDs on front panel and diagnostic by serial link RS232 diagnostic by PROFIBUS Serial link RS232 or Profibus DP link Amplifier adjustment to the motor AUTO PHASING Automatic regulator tuning AUTO TUNING EMC standards immunity EN 61000 4 2 3 4 5 conducted and radiated disturbances EN 55011 Group 1 class A Electrical standards for industrial machines EN 60204 1 insulator 1500 Vac 1 mn leakage current gt 30 mA EMI filters CD1 p series have been cULys 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 From 40 C the rated currents must be reduced of 3 per additional Celsius degree Max temperature 50 C 1000 m lt 50 to
6. DRIVES amp MOTION CONTROL 2 5 BRAKING RESISTOR dp 100 100 dp 200 100 dp 50 200 and dp 33 280 DIMENSIONS dp 50 200 dp 100 100 and dp 33 280 dp 200 100 Size A 157 mm 290 mm Size B 145 mm 278 mm Size C 52 mm 57 mm Chapter 2 Specifications 13 CD1 p Installation manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 3 FASTENING VERTICAL MOUNTING IS MANDATORY 3 1 CD1 p 230 I POSITIONER 3 2 CD1 p 400 1 8 TO 7 2 POSITIONER 2 M4 screws 2 M4 screws A E S 2 3 D N N 64 8 3 3 CD1 p 400 14 POSITIONER 3 4 CD1 p 400 30 and 400 45 POSITIONER 82 80 2 M4 screws 4 M4 screws 258 00 14 Chapter 2 Specifications CD1 p Installation manual e INFRANO R 4 MULTIAXES CABINET MOUNTING 4 1 CD1 p 230 I POSITIONER 4 2 CD1 p 400 1 8 TO 7 2 POSITIONER X8 GND X9 E X8 GND X9 lt f N b e 10000 lap Oa L apap man nm d coon 0 0eL Aa ne 1 005 n a LULUN RUE UU MIT OI T
7. OK Pmax 10 W with Umax 50 V or Imax 100 mA 3 ENABLE I Positive optocoupled logic 4 Limit switch l Positive optocoupled logic 5 Limit switch l Positive optocoupled logic 6 l 7 l INDEX Positive optocoupled logic GND 0 V of logic inputs Potential reference of the optocoupled galvanic isolated logic inputs This potential reference may be different from the auxiliary supply 8 Cl reserved l Positive optocoupled logic 4 1 SPECIFICATIONS OF THE LOGIC INPUTS FC FC INDEX ENABLE CI Logic input The input voltage corresponding to level 1 is between 5 V and 24 V OV These inputs are optocoupled and work in positive logic 4 2 SPECIFICATION OF THE AOK LOGIC RELAY OUTPUT xan AOK 15 V xao AQK Relay contact closed if amplifier ready open if fault Pmax 10 W with Umax 50 V and Imax 100 mA 5 X6 PROFIBUS Sub D 9 pins female Profibus male connector not supplied PIN SIGNAL DESCRIPTION Shield Shield RxD TxD P Data Reception Transmission Plus CNTR P Control signal DGND OV VP Supply for termination resistor RxD TxD N Data Reception Transmission Minus CO 00 A 0 01 OO N 18 Chapter 3 Inputs Outputs CINFRANOR SERVO DRIVES amp MOTION CONTROL CD1 p Installation manual 6 X5 RS 232 CONNECTOR Sub D 9 pins male female connector not supplied PN FUNCTION 5 0 Vo
8. THE 230 VAC OR 400 VAC SUPPLY according to the positioner type 30 4 4 FURTHER COMMISSIONING PROCEDURE iii 30 CHAPTER 5 APPENDIX daria ai iaia illa 1 HARDWARE ADJUSTMENTS 2 BR JUMPER POSITION FOR CD1 400 14 A T TE EE 3 BRJUMPER POSITION FOR CD1 P 400 30 AND in ee AR ski 32 4 BR JUMPER POSITION FOR CD1 400 1 8 TO 7 2 A 5 ADJUSTMENT TO VARIOUS RESOLVER TYPES 6 USE OF THE AGK OUTPUT lan 7 ENERGY RECUPERATION VIA A BRAKING RESISTOR SINFRANOR SERVO DRIVES amp MOTION CONTROL CD1 p Installation manual Chapter 1 General description 1 INTRODUCTION Series CD1 p Profibus positioners are PWM servo amplifiers for the control of AC sinusoidal motors brushless with transmitter resolver The CD1 p system is available as a stand alone single axis block that includes all supplies and mains filter It is available in both mains operated versions 230 VAC and 400 480 VAC The CD1 p positioner operates with a PROFIBUS DP interface It generates itself the positioning trajectory that allows the programming of 128 positioning sequences 2 DESCRIPTION COMPLIANCE WITH THE STANDARDS 2 1 GENERAL DESCRIPTION Series CD1 p positioners have their own DC DC converter to provide appropriate logic voltage to the modules An auxiliary 24VDC 15 supply is generally available on all machines and supplies a DC DC converter with all logic supplies required by th
9. moving with mains switched off An ASCII command allows to send the axis position to the digital host system 1 5 CONNECTION EXAMPLE FOR A MULTIAXIS APPLICATION CD1 p 230 1 3 x 230 V CD1 p 400 l 3 x 400 V Circuit breaker curve D 11s 10 x In For a multiaxis application with n drives the circuit breaker current rating is given by the formula In 0 3 gt amplifier current rating But the current rating of the circuit breaker must not exceed 20 Aon 230 V drives 20 Aon 400 V 1 8 to 14 A drives 40 Aon 400 V 30 A and 45 A drives Chapter 4 Connections 23 CD1 p Installation manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 2 WIRING RECOMMENDATIONS according to EN61000 4 2 3 4 5 and EN55011 standards see diagram Shield connection on the connectors chapter 4 section 2 2 2 1 EARTH WIRING AND EARTHING CAUTION Each potential conducting element must be shielded Several potential conductors in the same sleeve must be twisted and shielded A shield has no effect if it is not connected toareference potential byaconnection as short as possible a few centimeters 10 centimeters is prohibited bya 360 shield connection This means that the whole circumference of the shield sleeve must be connected to the reference conduction via a metal collar The connectors used for the compliance with the EN61000 4 standard must be made of metal or metallized and mu
10. p 230 1 100 Ohms 100W 2 RB O motor deceleration with high dp 100 100 inertia and speed CD1 p 400 1 8 to 7 2 200 Ohms 100W dp 200 100 CD1 p 400 14 50 Ohms 200 W dp 50 200 CD1 p 400 30 and 45 33 Ohms 280 W dp 33 280 Braking resistors must be separately ordered 3 DC I O Parallel connection of the DC Only on UL listed items bus 4 L1 l Mains input CD1 p 230 1 230 VAC 1 or 3 5 L2 l Mains filter integrated in the 6 L3 l positioner CD1 p 400 1 400 to 480 VAC 3 7 DC lO Parallel connection of the DC Only on UL listed items bus 8 W O Motor phase W Motor cable with earthed connection by means of 9 V O Motor phase V Faston socket and 360 shield connection on 10 U O Motor phase U earthed collar IMPORTANT The motor and brake cable must be shielded and connected over 360 on collars mounted for this purpose on the housing The earth wire of the motor cable MUST be connected to the Faston socket marked with the GND sign The earth reference must also be connected on the second Faston socket Chapter 3 Inputs Outputs 19 CD1 p Installation manual CINFRANOR 20 SERVO DRIVES amp MOTION CONTROL The installer of the drives has to use a UL Listed Quick connect for ground connection 0 250 inches or 6 35 mm wide nominal Field wiring terminals have to use copper conductors only Torque value for field wiring terminals value to be according to the Recognized terminal block used Chapter 3 Inputs Outpu
11. progress AP No power supply The AOK output does not take into account the display of AP All faults except for the Undervolt fault involve the positioner disabling the motor brake control the opening of the AOK relay contact This relay must be wired as described in section 5 3 for switching off the power supply in order to keep a zero type standstill The AP fault involves the positioner disabling the motor brake control 3 X1 RESOLVER CONNECTOR Sub D 9 pins female male connector not supplied PIN FUNCTION NOTE TC pin H sensor connector If thermal switch connected to X1 Shield connection If no 360 connection on the connector TC pin sensor connector If thermal switch connected to X1 S1 pin C sensor connector MAVILOR motor S3 pin D sensor connector MAVILOR motor S4 pin B sensor connector MAVILOR motor S2 pin A sensor connector MAVILOR motor R2 pin F sensor connector MAVILOR motor R1 pin E sensor connector MAVILOR motor GA CO T OJE I N O For other resolver connections see chapter 5 Appendix section 4 Chapter 3 Inputs Outputs 17 CD1 p Installation manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 4 X4 COMMAND CONNECTOR 8 pins male connector with 5 08mm pitch Female connector supplied Fastening torque of the connector screws 0 5 Nm PIN SIGNAL y o REMARK 1 2 AOK and AOK O Relay contact closed when amplifier
12. 0 V HP 19 CHAPTER 4 gt CONNECTIONS s nme i ka LR QS K CLR D cc QUARE ER ROLE ANE il RR 21 T CGONNECTION DIAGRAMS i lla DERE aa neon 21 1 7 CDON POSITIONENS M ks 21 1 2 EY POSITIONER M 22 Tats SERALE LINK CONNECTION sli lai 22 1 4 CONNECTION OF A BACKUP BATTERY FOR THE 24 VDC AUXILIARY SUPPLY 23 1 5 CONNECTION EXAMPLE FOR A MULTIAXIS APPLICATION 23 CD1 p Installation manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 2 WIRING RECOMMENDA eos CP 24 2 1 EAR TA WRING AND EAR THNG uu iaia 24 2 2 CONNECTORS SHIELD CONNECTION a a ks A rca 25 2 3 CONNECTION VUE OF i An BAG r c m R 24 MOTOR AND RESOLVER CABLES iii SERRE 2 5 SERIAL LINK TO OI 2 6 CONNECTION CABLES OF THE BRAKING RESISTOR nim 3 REQUIREMENTS OF COMPLIANCE WITH THE UL STANDARDS 2 3 1 CONNECTION BY MEANS OF FASTON SOCKET 32224 V SUPPLY iii Alia arida ere 3 3 POWER SUPPLY AND UL FUSE RATING ss iaia wee 3 4 CD1 p 230 l DRIVE CONNECTION DIAGRAM WITH PROTECTIONS BY UL FUSES 28 3 5 CD1 p 400 1 DRIVE CONNECTION DIAGRAM WITH PROTECTIONS BY UL FUSES 29 g ila SAN EXAMPLE FOR A UL kunn MULTIAXIS APPLICATION 30 42 SWITCH ON THE 24 v jm hank 30 4 3 SWITCH ON
13. 1 p User Guide 8 Chapter 1 General description CD1 p Installation manual CINFRANOR SERVO DRIVES amp MOTION CONTROL Chapter 2 Specifications 1 MAIN TECHNICAL DATA 1 1 CD1 p 230 1 POSITIONER Mains operated power supply voltage 230 VAC 10 15 1 or 3 50 60 Hz Isolated auxiliary galvanic and motor brake 24 VDC 15 320 mA without brake supply voltage Motor phase phase output voltage 200 Vims Integrated braking system External 100 Ohm 100 W braking resistor dp 100 100 Min resistance 50 Ohm dp 50 200 Minimum inductance between phases 1mH Positioner output current ratings Max rated AMPLIFIER U rated Imax Arms current Power losses UL listed TYPE Vrms 5 of the amplifier W 1s A rms CD1 p 230 2 25 230 2 25 1 1 25 yes CD1 p 230 4 5 230 4 5 2 25 30 yes CD1 p 230 7 5 230 7 5 3 75 44 yes CD1 p 230 10 5 230 10 5 5 25 55 yes CD1 p 230 16 5 230 16 5 8 25 66 yes Maximum room temperature 40 C 1 2 CD1 p 400 I POSITIONER Mains operating power supply voltage 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 Isolated auxiliary galvanic and motor brake supply 24 VDC 15 320 mA without brake voltage Motor phase phase output voltage 380 to 460 Vrms depending on the mains Integrated braking system CD1 p 400 1 8 to 7 2 A External 200 Ohms 100 W resisto
14. 40 C and lt 90 to 20 C EN 60204 1 standard Condensation prohibited storage and operation Forced air fan integrated in the CD1 p positioner Check for free ventilation and no upper or lower obstruction of the air admissions Vertical Open chassis to be mounted in a housing protecting the drive from conducting dust and condensation pollution degree 2 environment Closed cabinet without any conducting and or corroding agents and according to the environment conditions requirements Condensation prohibited CD1 p 230 1 approx 1 kg CD1 p 400 1 8 to 7 2 approx 1 5 kg CD1 p 400 14 approx 3 kg CD1 p 400 30 and 45 about 4 8 kg 11 CD1 p Installation manual 2 DIMENSIONS 2 1 CD1 p 230 1 POSITIONER N ai 2 3 CD1 p 400 14 POSITIONER OD OC OD OC OD OD OD Oc N O lt gt SS q ODI OS N OD x OD OD si OC OC om o OD usa CINFRANOR SERVO DRIVES amp MOTION CONTROL 2 2 CD1 p 400 1 8 TO 7 2 POSITIONER 229 80 E 22 000000000000000000000 D0 NII Cc DI C 0 230 Chapter 2 Specifications CD1 p Installation manual CINFRANOR SERVO
15. L 8 ORDER CODE Series CD1 Profibus interface 230 230 VAC operation voltage 400 400 or 480 VAC operation voltage Current rating 2 25 4 5 7 5 10 5 16 5 Arms with 230 VAC 1 8 2 7 5 1 7 2 14 30 45 Arms with 400 VAC Chapter 5 Appendix 35
16. NE gr a a blade 12 2 5 BRAKING RESISTOR dp 100 100 dp 200 100 dp 50 200 and dp 33 280 13 TE ai b bi a a aiar ari 14 JA CD1 D 2304 POSITIONER lirica 14 32 CDT p 40071 8 TO 7 2 POSITIQNER ricicla 14 S D Pee Ly Pr POS TONER Mert 14 3 4 CD1 p 400 30 and 400 45 POSIHONER ci yaa e makamsal ka KA AA m PANNA 14 4 MULTIAXES CABINET MOUNTING isisisi iadan wl i ka i Rd Rad 15 LICIA A e ea Apa M e e ee e 15 4 2 CGDT p 400 1 8 TO 7 2 POSITIONER ll abad EE ERR AM iii 15 4 3 CDT 0 400 14 POSITIONER u massa eb ek a Ren ERE ARRETRATA AFRS A A r apanapa dei 15 4 4 CD1 p 400 30 AND 400 45 POSITMONER nasas asas asas asas ans 15 CHAPTER 3 INPUTS lt OUTPUTS kalsada ls n ne i FP lari E ERA ATI ve l ia oda koon Dea da Dal DA ki 16 T CONNECTORS LOCATION dario u u CU e FERRE eons EET melda EEG 0 16 2 LEDE H cC ri 17 2 7 AMPLIFIER FAULT LEDS leale LE 3 XT HRESOLVER CONNECTOR MA PAY RO FEE OHEY FERE FS ER AYY 17 4 X4 COMMAND CONNEGTO Rara ala 18 4 1 SPECIFICATIONS OF THE LOGIC INPUTS FC FC INDEX ENABLE C 18 4 2 SPECIFICATION OF THE AOK LOGIC RELAY OUTPUT serere 18 KO PROFIBUS P 18 6 X5 RS 232 CONNECTOR aaa 19 7 X8 AUXILIARY SUPPLY AND BRAKE CONNECTOR tras heh RI 19 8 X9 POWER CONNECTOR MAINS MOTOR BRAKING RESISTOR CD1 P 230 V AND 40
17. USSMANN N Class RK5 FRN R 6 FRN R 9 0 3 x N lated mpliier Type FRN R LITTELFUSE Class RK5 FLNR6ID FLNR9ID 0 3 x gt s rir Type FLNR ID For a multiaxis application with N drives the fuse rating is calculated by the formula given in the table above But a rating of 20 A must not be exceeded on 230 V drives see chapter 4 section 1 5 Chapter 4 Connections 27 CD1 p Installation manual SINFRANOR SERVO DRIVES amp MOTION CONTROL 3 4 CD1 p 230 I DRIVE CONNECTION DIAGRAM WITH PROTECTIONS BY UL FUSES according to section 3 3 of this chapter ENABLE relay Remote control of the power relay 24V E 2 5 5 o g A e TI n L Power relay IMPORTANT CD1 p 230 1 UL MAVILOR Motor temp Motor temp Resolver ENABLE A signal FC FC L INDEX GND CI Resolver reference GN GND i 230 Vac Shield 24 Vdc RxD TxD P CNTR P Motor brake Motor brake brake 24Vdc 1 5A RxD TxD N OMAN O Q OO N Motor U phase Motor V phase Motor W phase DC 230Va 230 Vac L3 gus gt three 230 Vac 12 3400 phase 230 vac L1 DC Braking resistor Braking resistor 230 a 230 Vac R 6 singe 230 Vac S 5 phase 4 10A Mains 230 Vac Power relay See UL fuses table The installer of the drives has to use a UL lis
18. ZINFRANOR SERVO DRIVES amp MOTION CONTROL CD1 p Installation manual gb p PROFIBUS POSITIONER PIP well i well INFRANOR CD1 p CD1 p Installation manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 2 CD1 p SINFRANOR CD1 p Installation manual SERVO DRIVES 4 MOTION CONTROL WARNING A This is a general manual describing a series of servo 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 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 be attempted only by highly skilled technicians having good knowledge of electronics and servo systems with variable speed EN 60204 1 standard and using proper test equipment The conformity with the standards and the CE approval is only valid if the items are installed according to the recommendations of the amplifier manuals Connections are the user s responsibility if recommendations and drawings requirements are not met Wait for at least 5 minutes after power down before handling the amplifiers a residual voltage of several Any contact with electrical parts even after power down may involve physical damage A h
19. ary supply Integrated in the positioner Common mode filter on motor brake supply Integrated in the positioner Speed and position monitor sensor Transmitter resolver Power stage protections See table of the main protections in the SMT BD1 p CD1 p User Guide Motor brake control Max 1 5 A with 24 VDC PWM switching frequency 10 kHz Minimum inductance between phases 1mH for 230V 2mH for 400 V Digital current regulator PI Adjusted to the motor Current loop bandwidth Cut off frequency for 45 phase shift 1000 Hz Internal current limitation Imax 20 to 100 and Irated 20 to 50 Imax duration 1 second Digital speed and position regulators Sampling period 0 5 ms Anti wind up system of the integrator Adjustable digital gains Speed loop bandwidth Selectable cut off frequency for 45 phase shift 50 Hz 75 Hz or 100 Hz Max motor speed Adjustable from 100 rpm to 10 000 rpm Logic inputs Enable Disable ENABLE Limit switch FC Limit switch FC Homing input INDEX Command input CI reserved 10 Chapter 2 Specifications CD1 p Installation manual Relay outputs Open collector output protected against load short circuit PROFIBUS link Fault display Motor and application parameter setting Automatic functions Compliance with the standards CE certification 360 shield connection equipotentiality according to the wiring rules Conformity with the standards UL listing 360
20. cialities Division ref 1739 7 VS Z When the 360 shield connection is made by means of a collar it is not necessary to connect a cable on the appropriate pin of the SUB D connector Chapter 4 Connections CINFRANOR SERVO DRIVES amp MOTION CONTROL 25 SINFRANOR CD1 p Installation manual SERVO DRIVES amp MOTION CONTROL 2 3 CONNECTION VUE OF CD1 p 400 30 and 400 45 2 4 MOTOR AND RESOLVER CABLES Motors and resolvers are grounded via their housing Cable inputs must be made by means of metal connectors with collars allowing the 360 shield connection The resolver cable must be pair twisted and shielded sin cos ref Motor cables MUST also be shielded and connected over 360 at both ends as shown on shield connection diagram The cables of brake equipped motors must also have their brake cables shielded in order to be EMC compliant Maximum cable length resolver lt 100 m 26 motor 25 m lt d lt 100 m We advise to use the maximum cable section allowed by the connectors to mount a reactance with an inductive value between 1 and 3 of the motor inductive value The reactance inductive value must be taken into account in the calculation of the current loops The current rating of the reactance must be equal to or higher than the drive rating The reactance mus
21. e positioner The auxiliary supply allows to keep the logic board on after the power supply has been switched off in order to keep all parameters in the memory and to avoid initializing the machine all over again A 24 VDC battery supply with specific wiring allows to keep the position even after switching off the auxiliary 24 VDC supply This wiring can be used for absolute operation with the CD1 p positioner see chapter 4 Connections The power supply is depending on the positioner type e CD1 p 230 l 230 VAC single phase mains operation power supply or three phase via a transformer or an autotransformer or direct three phase mains operation if there are three phase mains available in 200 to 230 VAC e CD1 p 400 1 400 to 480 VAC three phase mains operated power supply A soft start system of the power supply allows to limit the inrush current at power on The very small dimensions of the CD1 p positioner allow an optimum integration in 300 mm deep cabinets connectors included 2 2 REFERENCE TO THE STANDARDS CE CERTIFICATION Series CD1 p positioners have been approved with regard to their conformity with the Electromagnetic Compatibility standards concerning the power servos referenced in the EN 61800 3 standard Electrical variable speed power servo systems EN 55011 group 1 class A regarding radiated radioelectric disturbances EN 61000 4 2 3 4 5 regarding immunity Standard to be applied to the electrical equipment of
22. ich is not specified in the manual will immediately cancel the warranty Infranor reserves the right to change any information contained in this manual without notice INFRANOR September 2005 All rights reserved Issue 7 2 CD1 p 3 CD1 p Installation manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 4 CD1 p CD1 p Installation manual La INFRANO R Contents PAGE PONTENDSZ elia IM EE 5 CHAPTER 1 GENERAL DESCRIPTION issi s isisia kuka a pedi sansa bk ERR ao a ida hama mak tai 7 T TRG TEN uuu u y u au A kas 7 2 DESCRIPTION COMPLIANCE WITH THE STANDARDS ass a i tra vasaa vaan suus pF san 7 2 sENERAL DESCRIPTION mestaa A EAH 7 22 REFERENCE TO THE STANDARDS CE CERTIFICATION ss 7 2 3 REFERENCE TO THE STANDARDS UL LISTING Li 7 3 OTHER DOCUMENTS REQUIRED FOR THE COMMISSIONING 8 CHAPTER 2 SPECIFIGRTIDNSLL ctr ni Dk ORI a a a A NGA COG Ei aa el XE XR DTE C D 9 TsMAIN TECHNICAL DET ela 9 1 7 CDT p 230 J POSITIONER blica 9 12 D TOUN POSIT ONE m van 9 1 3 COMMON SPECIFICATIONS TO BOTH POSITIONER VERSIONS CD1 p 230 1 10 COR IERI A ae pannan 10 i RE SIDON O ap le IN a maa Say ESRA SNI SS NONE 12 EA UTC TONE erm 12 2 2 CDTF p 200 L8 TO 7 2 POSHIONER uu uuu una yemesi aaa 24 2440 202 4 kind ri las 12 2 3 CDT p 400 14 POSITIONER cis i I ora x EXE YER IERI 12 A 45 POSITIO
23. industrial machines EN 60204 1 These items have been CE marked since year 2000 2 3 REFERENCE TO THE STANDARDS UL LISTING CD1 p series have been cUL ys 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 Chapter 1 General description 7 CD1 p Installation manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 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 the power board is considered within a limited voltage current circuit per section 31 4 of UL508C Therefore spacings on the power board are not required to be evaluated per section 31 2 of UL508C and were evaluated according to UL 840 Per UL 840 Second Edition dated May 20 1993 requirements spacings are limited to 2 5 mm assuming pollution degree 2 environment Ground connection is fixed in the frame of the device by a rivet Avibulb masse BN10 5168 The connector complies with standard dimensions given in table 6 2 of UL 310 the standard for Electrical Quick connect terminals 3 OTHER DOCUMENTS REQUIRED FOR THE COMMISSIONING Profibus positioner SMT BD1 p CD
24. lt GND 360 shield connection if no 360 connection on the connector 3 TXD Transmit data RS 232 2 RXD Receive data RS 232 7 X8 AUXILIARY SUPPLY AND BRAKE CONNECTOR 4 pins male connector with 5 08 mm pitch Female connector supplied Fastening torque of the connector screws 0 5 Nm PIN SIGNAL y o FUNCTION DESCRIPTION 1 GND I Potential reference GND earthed potential reference of the 24VDC supply 2 24 VDC I 24 VDC auxiliary supply 24 VDC 15 0 4 A UL Protection by UL 4 A without brake fuse Regulation with load 3 mains isolated 3 Brake O Motor brake supply Powerless brake 24 VDC 1 5 A 24V with 24 VDC 4 Brake O Direct motor brake control Open collector output protected against Imax 1 5A load short circuits If there is no brake on the motor the electronic brake control circuit is detecting the missing load and displays the brake error In this case remove the BR jumper located on the hardware adjustments diagram see chapter 5 section 1 8 X9 POWER CONNECTOR MAINS MOTOR BRAKING RESISTOR CD1 p 230 V AND 400 V CD1 p 230 1 10 pins male connector with 5 08 mm pitch Female connector supplied CD1 p 400 1 10 pins male connector with 7 62mm pitch Female connector supplied Fastening torque of the connector screws 0 5 Nm PIN SIGNAL I O FUNCTION DESCRIPTION 1 RB O Power feedback during the CD1
25. o be fulfilled by the installer of the drives 3 1 CONNECTION BY MEANS OF FASTON SOCKET The installer must use a UL listed quick connect for ground connections 0 250 inches or 6 35 mm wide nominal on all drives equipped with FASTON sockets On drives equipped with a screwed ground connector the connection must be made via UL listed 3 2 24 V SUPPLY The end user has to provide a 24 VDC isolated power supply e g with isolated transformer for the auxiliary supply input protected by a 4 A UL listed fuse 3 3 POWER SUPPLY AND UL FUSE RATING The fuse type recommended for motor applications is of class RK5 The maximum short circuit power of the mains must not exceed 5000 Arms at a voltage of 480 V when protected by a UL fuse of type RKS On CD1 p 400 drives the fuse ratings must be the following CD1 p 400 1 8 to 7 2 400 14 400 30 and 45 Multiaxis BUSSMANN Class RK5 FRS R 4 FRS R 8 FRS R 20 0 3 x 25 lated amplifier Type FRS R LITTELFUSE Class RK5 FLSR2ID FLSR8ID FLSR20ID 0 3 x 2 l ated mpiiier Type FLSR ID For a multiaxis application with N drives the fuse rating is calculated by the formula given in the table above But a rating of 20 A must not be exceeded on 400 1 8 A to 14 A drives and 40 A must not be exceeded on 400 30 A and 45 A drives see chapter 4 section 3 6 On CD1 p 230 I drives the fuse ratings must be the following CD1 p 230 2 5 to 10 5 230 16 5 Multiaxis B
26. r dp 200 100 CD1 p 400 14 External 50 Ohms 200 W resistor dp 50 200 CD1 p 400 30 and 45 A External resistor 330 280 W dp 33 280 Minimum inductance between phases 2 mH Chapter 2 Specifications 9 CD1 p Installation manual CINFRANOR SERVO DRIVES amp MOTION CONTROL AMPLIFIER OUTPUT CURRENT RATINGS 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 Max branch Max Rated Rated circuit Short AMPLIFIER output output Power input Housing protection circuit UL TYPE current current losses current dimensions Listed RK5 withstand listed for 1s 480 VAC W 480 VAC Bussman rating 480 VAC 60 Hz Littelfuse fuses CD1 p 400 1 8 1 8 0 9 35 0 9 230x230x65 2A 5 kA yes CD1 p 400 2 7 2 7 1 35 43 1 35 230x230x65 2A 5 kA yes CD1 p 400 5 1 5 1 2 55 71 2 55 230x230x65 4A 5 kA yes CD1 p 400 7 2 7 2 3 6 93 3 6 230x230x65 4A 5kA yes CD1 p 400 14 14 0 7 200 7 230x258x83 8A 5 kA yes CD1 p 400 30 30 0 15 400 15 230x288x110 20A 5 kA yes CD1 p 400 45 45 0 20 560 20 230x288x110 20A 5 kA yes Environment Appendix type 1 compliant with a room temperature of 40 C 1 3 COMMON SPECIFICATIONS TO BOTH POSITIONER VERSIONS CD1 p 230 1 AND CD1 p 400 1 Regulation loops current speed and position Digital Mains filter on power supply Integrated in the positioner Common mode filter on auxili
27. rive the braking resistor is ALWAYS mounted outside It MUST be mounted out of range of elements sensitive to heat and inflammable plastic cable sleeves etc For an optimum energy recuperation by the drives in a multiaxis application the DC bus DC and DC can be connected in parallel see diagram in chapter 4 section 1 5 In this case the mains input must also be parallel wired in order to balance the current load inside the AC DC converters It is recommended to mount the braking resistor on the drive with highest current rating On 400 V drives CD1 p and CD1 pm 30 A and 45 A CD1 p 400 1 8 to 7 2 A with index P or higher CD1 p 400 14 A with index I or higher CD1 pm 400 1 8 to 7 2 A and CD1 pm 400 14 with index D or higher an electronic control of the reflected power avoids the overloading of the braking resistor So if the energy reflected to the drives with parallel mounted DC busses is too high the DC bus voltage will rise up to the triggering of the Overvoltage fault A second resistor must then be mounted on the second axis AVAILABILITY OF THIS FUNCTION ON 400 V DRIVES ACCORDING TO TABLE BELOW DRIVE TYPE TRACEABILITY INDEX CD1 p 400 1 8 A to 7 2 A 2P CD1 p 400 14 A zl CD1 p 400 30 A and 45 A 2A CD1 pm 400 1 8 A to 7 2 A 2D CD1 pm 400 14 A 2D CD1 pm 400 30 A and 45 A 2A 34 Chapter 5 Appendix CD1 p Installation manual CINFRANOR SERVO DRIVES amp MOTION CONTRO
28. st allow the 360 shield connections Reference potential connections especially with the ground are recommended only these connections have a very low impedance lt 0 1 Q Any shield that is used as a conductor can be connected at both ends with the condition to be connected over 360 at both ends by means of metal links in order to ensure the shield continuity The reference potential must be the earth Cables with low potential should never run in the proximity of power lines If there is a potential reference i e a main chassis or cabinet with a low impedance between its different elements it should be used to connect ALL reference to it and also being grounded itself 24 Chapter 4 Connections CD1 p Installation manual 2 2 CONNECTORS SHIELD CONNECTION RULE The shield should never be interrupted or corrupted over the whole cable length INFRANOR amplifier NOTE Self sticking copper ribbon if necessary for increasing the shield diameter in order to get it correctly tightened under the clamp Motor connector for resolver and motor Metallic or metal plated plastic SUB D pin package 360 shield ensured by the tightening clamp The fastening screws must be tightened in order to ensure the shield continuity on the amplifier housing SUB D connector NOTE In order to improve the contact and to avoid the cable shield corruption use the self sticking copper ribbon of 3 M Electrical Spe
29. t be mounted at the drive output Due to the use of a reactance a shielded cable is not mandatory anymore A more complex sinus filter type FN510 by Schaffner may also be mounted instead of the reactance Undesirable effects of motor cables longer than 25 m Heating of the power module the motor and the cable A High overvoltages on the motor windings involving a shortening of their life time The reactance reduces the undesirable effects on motor and drive but it may be quite heated This requires an appropriate cooling Chapter 4 Connections SINFRANOR SERVO DRIVES amp MOTION CONTROL CD1 p Installation manual 2 5 SERIAL LINK CABLES The serial link cable must also be shielded according to the above mentioned shield connection recommendations CAUTION Command cables resolver serial link Profibus as well as the power cables must be A connected and disconnected with the positioner OFF Recall The power voltage can remain several minutes on the capacitors terminals A contact under high voltage may involve severe physical damage 2 6 CONNECTION CABLES OF THE BRAKING RESISTOR The connection cable to the braking resistor housing must bear the high voltage and temperature 600 V 105 C Recommended cable UL 1015 gauge 14 Fastening torque on the connector of the braking resistor housing dp 0 9 Nm 3 REQUIREMENTS OF COMPLIANCE WITH THE UL STANDARDS The UL listing requires the following conditions t
30. take all necessary steps in order to reduce the risk due to uncontrolled axis movements during the operators presence in the concerned area 4 2 SWITCH ON THE 24 VDC SUPPLY The green front panel ON Led must light up The red front panel AP Led must light up The AOK relay contact pins 1 and 2 of X4 is closed It is possible to control the power relay according to the recommendations of Chapter 4 section 1 Connection diagrams 4 3 SWITCH ON THE 230 VAC OR 400 VAC SUPPLY according to the positioner type 4 4 FURTHER COMMISSIONING PROCEDURE See manual SMT BD1 p CD1 p User guide 30 Chapter 4 Connections SINFRANOR CD1 p Installation manual i Chapter 5 Appendix 1 HARDWARE ADJUSTMENTS LOGIC BOARD Resolver transformation ratio PRES UYU Chapter 5 Appendix 31 CD1 p Installation manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 2 BR JUMPER POSITION FOR CD1 p 400 14 A G 3 J D lt E ba C DC C IC o DO C s DC o E C D OC C JC C DC DC A A A
31. ted quick connect for ground connection 0 250 inches or 6 35 mm wide nominal Field wiring terminals must use copper conductors only Torque value for field wiring terminals according to the Recognized terminal block used 28 Chapter 4 Connections CD1 p Installation manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 3 5 CD1 p 400 I DRIVE CONNECTION DIAGRAM WITH PROTECTIONS BY UL FUSES according to section 3 3 of this chapter ENABLE relay Remote control of the power relay 24V NA G D 3 2 n EI L Power relay IMPORTANT CD1 p 400 1 UL MAVILOR Motor temp Motor temp Resolver signal FC INDEX Resolver GND reference GND GND Shield 4AUL listed 230 Vac 24 Vdc RxD TxD P CNTR P Motor brake 24Vdc 1 5A Motor brake Motor brake OANODAAWNH Motor U phase Motor V phase Motor W phase DG 7 7 400Vac 400 Vac L3 three 400 Vac L2 Mains phase 400 Vac L1 3x400 Powel DC relay Braking resistor Braking resistor Braking resistor CD1 p 400 1 8 to 7 2 dp 200 100 CD1 p 400 14 dp 50 200 CD1 p 400 30 and 45 dp 33 280 E 10Aforl lt or 14A 20 A for 30 and 45A The installer of the drives has to use a UL listed quick connect for ground connection 0 250 inches or 6 35 mm wide nominal Field
32. ts CD1 p Installation manual 1 CONNECTION DIAGRAMS 1 1 CD1 p 230 1 POSITIONER ZINFRANOR SERVO DRIVES amp MOTION CONTROL Chapter 4 Connections For the UL compliant connection see chapter 4 section 3 4 ENABLE relay O ON Remote control of the power relay 24V gt 2 s 9 o n T C Power relay Note The 24 V and power supplies protection on source side must be made by the user Chapter 4 Connections ENABLE FC FC INDEX GND CI Shield RxD TxD P CNTR P D GND VP RxD TxD N OR CD1 p 230 1 Motor temp Motor temp Motor U phase Motor V phase Motor W phase Braking resistor Braking resistor 230 Vac Vac R MAVILOR Resolver signal Resolver reference GND 24 Vdc Motor brake Motor brake DC 230 Vac L3 230 Vac L2 230 Vac L1 DC Mains 230 Vac S 230 Vac 6 5 4 Power relay Circuit breaker curve D lis 10 x In In 10A GND ANd 230 Vac 21 SINFRANOR CD1 p Installation manual SERVO DRIVES amp MOTION CONTROL 1 2 CD1 p 400 1 POSITIONER See chapter 4 section 3 5 for the UL compliant connection CD1 p 400 1 MAVILOR Motor temp Motor temp ENABLE rela 7 3 ENABLE ji FC FC L man INDEX Resolver K gt GND reference a GND GND
33. undreds of volts may remain during a few minutes ESD INFORMATION ElectroStatic Discharge INFRANOR amplifiers are conceived to be best protected against electrostatic discharges However some components are particularly sensitive and may be damaged if the amplifiers are not properly stored and handled STORAGE The amplifiers must be stored in their original package When taken out of their package they must be stored positioned on one of their flat metal surfaces and on a dissipating or electrostatically neutral support Avoid any contact between the amplifier connectors and material with electrostatic potential plastic film polyester carpet HANDLING f no protection equipment is available dissipating shoes or bracelets the amplifiers must be handled via their metal housing Never aet in contact with the connectors ELIMINATION In order to comply with the 2002 96 EC directive of the European Parliament and of the Council of 27 January 2003 on waste electrical and electronic equipment WEEE all INFRANOR devices have got a sticker symbolizing a crossed out wheel dustbin as shown in Appendix IV of the 2002 96 EC Directive This symbol indicates that INFRANOR devices must be eliminated by selective disposal and not with standard waste INFRANOR does not assume any responsibility for any physical or material damage due to improper handling or wrong descriptions of the ordered items Any intervention on the items wh
34. urer s diagram Bk Wh Ref Re Wh For the use of resolvers with transformation ratios others than 0 5 the Cos and Sin signal amplitude must be adjusted by means of the P RES components according to the table below P RES PRES Transformation ratio A B C Dtolerance lt 1 14 3 K 12 7 K 6 34 K NOTE When using resolvers with a number of pole pairs N gt 1 all speed values displayed in the positioner are equal to N times the motor rotation speed Chapter 5 Appendix 33 CD1 p Installation manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 6 USE OF THE AOK OUTPUT The AOK output MUST be used on a potential free relay in order to allow the connection of the power supply see Chapter 4 section 1 Connection diagrams The correct positioner operation requires this connection logic Switching on the power supply before initializing the 24 VDC auxiliary supply will hinder the operation It will then be necessary to proceed according to the recommendations of this manual Power relay remote control 24V Power ON AOK Power OFF Power relay 7 ENERGY RECUPERATION VIA A BRAKING RESISTOR All CD1 drives are equipped with the power feedback system When the motor is decelerating with high inertia and high speed the mechanical braking energy is reflected to the drive This energy is dissipated inside a resistor called braking resistor In order to avoid heat dissipation inside the d
35. wiring terminals must use copper conductors only Torque value for field wiring terminals according to the Recognized terminal block used Chapter 4 Connections 29 CD1 p Installation manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 3 6 CONNECTION EXAMPLE FOR A UL COMPLIANT MULTIAXIS APPLICATION CD1 p KKK Mains UL mounting For the choice of the fuses see chapter 4 section 3 3 CD1 p 230 l 3 x 230 V CD1 p 400 1 3 x 400 V 4 FIRST POWERING OF THE CD1 p POSITIONER 4 1 VERY IMPORTANT Check the connections particularly of the 24 VDC and power supplies There are two different positioner voltage versions 230 VAC and 400 VAC Check for the appropriate label It must be in accordance with the power connections The 400 VAC connection of a 230 V positioner will destroy it The ENABLE signal X4 connector pin 3 must be inactive Check for the braking resistor sizing dp 100 100 for 230 VAC dp 200 100 for 400 VAC and current ratings 1 8 to 7 2 dp 50 200 for 14 A current rating dp 33 280 for 30 and 45 A current ratings Any braking resistor value lower than 200 O for the CD1 a 400 1 8 to 7 2 A amplifier will definitely damage the braking system Check for the correct earthings and 360 shield connections WARNING During the machine adjustments some drive connection or parameter setting errors may involve dangerous axis movements It is the user s responsibility to

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