4.3 - X3 CONNECTOR FOR ABSOLUTE SINGLE-TURN SinCos ENCODER (Sub D 25 pins
female) ............................................................................................................................................ 23
4.4 - X3 CONNECTOR FOR STEPPER MOTOR EMULATION (Sub D 25 pins female) .............. 24
5 - X5 SERIAL LINK (Sub D 9 pins male) ....................................................................................... 25
6 - X8: AUXILIARY SUPPLY CONNECTOR ...................................................................................... 25
7- X9 POWER CONNECTOR: MAINS, MOTOR, BRAKING RESISTOR (CD1-A-230 V AND 400 V)25
CHAPTER 4 - CONNECTIONS ............................................................................................................ 26
1 - CONNECTION DIAGRAMS .......................................................................................................... 26
1.1 – XTRAPULS CD1-a-230/I DRIVE ........................................................................................... 26
1.2 – XTRAPULS CD1-a-400/I DRIVE ........................................................................................... 27
1.3 - SERIAL LINK CONNECTION ................................................................................................. 27
1.4 - CONNECTION OF A BACKUP BATTERY FOR THE 24 VDC AUXILIARY SUPPLY ........... 28
1.5 – CONNECTION EXAMPLE FOR A MULTIAXIS APPLICATION ............................................ 28
2 - WIRING ......................................................................................................................................... 29
2.1 - GROUND WIRING AND LEAKAGE CURRENT .................................................................... 29
2.2 - CONNECTORS SHIELD CONNECTION ............................................................................... 30
2.3 - CONNECTION VIEW OF XTRAPULS CD1-a-400/30 TO 90 A ............................................. 31
2.4 – MOTOR, RESOLVER AND ENCODER CABLES ................................................................ 31
2.5 - INPUT COMMAND AND SERIAL LINK CABLES .................................................................. 32
2.6 - CONNECTION CABLES OF THE BRAKING RESISTOR ..................................................... 32
3 - REQUIREMENTS OF COMPLIANCE WITH THE UL STANDARDS ............................................ 33
3.1 - CONNECTION BY MEANS OF FASTON SOCKET .............................................................. 33
3.2 - 24 V SUPPLY ......................................................................................................................... 33
3.3 - POWER SUPPLY AND UL FUSE RATINGS ......................................................................... 33
3.4 – XTRAPULS CD1-a-230/I DRIVE: CONNECTION DIAGRAM WITH PROTECTIONS BY "UL"
FUSES ............................................................................................................................................ 34
3.5 – XTRAPULS CD1-a-400/I DRIVE: CONNECTION DIAGRAM WITH PROTECTIONS BY "UL"
FUSES ............................................................................................................................................ 35
3.6 - CONNECTION EXAMPLE FOR A UL COMPLIANT MULTIAXIS APPLICATION ................. 36
CHAPTER 5 - PARAMETER SETTING ............................................................................................... 37
CHAPTER 6 – COMMISSIONING ........................................................................................................ 38
1 - DRIVE STANDARD CONFIGURATION ........................................................................................ 38
2 - FIRST POWERING OF THE XTRAPULS CD1-A DRIVE .............................................................. 38
2.1 - VERY IMPORTANT ................................................................................................................ 38
2.2 - SWITCH ON THE 24 VDC SUPPLY ...................................................................................... 38
2.3 – SWITCH ON THE 230 VAC OR 400 VAC SUPPLY (according to the drive type). .............. 38
3 - DRIVE COMMISSIONING AND ADJUSTMENT ........................................................................... 39
3.1 - COMMUNICATION VIA THE SERIAL LINK ........................................................................... 39
3.2 – SENSOR FEEDBACK CONFIGURATION ............................................................................ 39
3.3 - DRIVE ADJUSTMENT ............................................................................................................ 39
3.4 - PARAMETERS ADJUSTMENT TO A LINEAR MOTOR ........................................................ 40
3.5 - SPEED LOOP ADJUSTMENT WITH VERTICAL LOAD ....................................................... 41
3.6 - DRIVE PARAMETERS SAVING ............................................................................................ 41
3.7 - MOTOR PHASING AT POWER UP ....................................................................................... 41
3.8 - APPLICATION OF THE STEPPER MOTOR EMULATION ................................................... 42
3.9 - SOFTWARE GEARING APPLICATION ................................................................................. 42
CHAPTER 7 – TROUBLESHOOTING ................................................................................................. 44
1 - FAULTS ......................................................................................................................................... 44
1.1 - SYSTEM FAULT ..................................................................................................................... 44
1.2 - "BUSY" FAULT ....................................................................................................................... 44
1.3 - "EEPROM" FAULT ................................................................................................................. 44
1.4 - "°C MOTOR" FAULT............................................................................................................... 44
1.5 - "UNDERVOLT" FAULT (non stored) ...................................................................................... 44
1.6 - "POWER STAGE" FAULT ...................................................................................................... 45
1.7 - "FEEDBACK" FAULT IN THE RESOLVER FEEDBACK CONFIGURATION ........................ 45
1.8 - "RDC " FAULT IN THE RESOLVER FEEDBACK CONFIGURATION ................................... 45
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