Infranor XtrapulsPac - User Manual

Digital drive
for sinusoidal
synchronous
AC motors
XtrapulsPac
User Guide

Summary

Chapter 1 - General Description

1.1 - INTRODUCTION

Overview of XtrapulsPac drives and their capabilities.

1.2 - ARCHITECTURE

Describes the functional architecture and control modes of the XtrapulsPac drive.

Chapter 2 - Commissioning

2.1 - PC SOFTWARE INSTALLATION

Details minimum PC configuration and installation steps for Gem Drive Studio software.

2.4 - PARAMETER SETTING

Describes drive configuration, motor setup, sensor configuration, and servo loop adjustment using Gem Drive Studio.

Chapter 3 - Reference

3.1 - CANOPEN COMMUNICATION

Covers CANopen communication objects, default COB-IDs, NMT protocols, and sync objects.

3.2 - DEVICE PROFILE

Details device control, state machines, error handling, warnings, and drive parameters.

3.2.1 - DEVICE CONTROL

Explains the drive state machine, transitions, and control/status words.

3.2.1.2 - Error & Warning

Describes error codes, warning codes, and error control mechanisms for the drive.

3.2.2 - DRIVE PARAMETERS

Details various drive parameters including motor, sensors, loops, modes, and features.

3.2.2.1 - Motor parameters

Covers motor data, control parameters, and auto-phasing procedures for motor configuration.

3.2.2.7 - Sensors

Explains resolver and encoder input configurations, types, and settings.

3.2.2.9 - Servo Loops

Explains servo controller structure, speed and position loop gains, and auto-tuning procedures.

3.2.3 - OPERATION MODES

Details supported drive modes, selection, and specific operation modes like profile position, velocity, torque, sequence, etc.

3.2.3.3 - Profile Position Mode

Describes the profile position mode, trajectory generation, and control word bits.

3.2.3.6 - Profile Velocity Mode

Covers profile velocity mode, parameters for velocity control, and input sources.

3.2.3.8 - Sequence Mode

Details the sequencer mode, sequence types, chaining, parameters, and file formats.

3.2.5 - APPLICATION FEATURE

Covers digital I/O, analog I/O, encoder emulation, digital cams, capture, modulo, and I/O extensions.

3.2.5.1 - Digital Input;Output configuration

Explains how to connect physical logic inputs/outputs to drive variables.

3.2.5.2 - Analog Inputs;Output

Details the configuration and usage of analog inputs and outputs for the drive.

3.2.6 - MAINTENANCE

Covers file management, firmware updates, and troubleshooting procedures for the drive.

3.3 - OBJECT LIST

Provides a comprehensive list of all objects defined in the CANopen object dictionary.

Infranor XtrapulsPac Specifications

General

Protection Class	IP20
Power Supply Voltage	24 V DC
Communication Interface	CANopen, RS232
Operating Temperature	0°C to +45°C
Storage Temperature	-20°C ... +70°C