Servotronix CDHD Series - Page 6

CDHD
6 User Manual
5.6 Cont rol Board Connections ......................................................................... 78
5.6.1 Cont roller I nterface – C2 ................................................................ 78
5.6.2 Machine Int erface – C3 ................................................................... 83
5.6.3 Motor Feedback – C4...................................................................... 85
5.6.4 Motor Feedback Wiring Tables ......................................................... 87
5.6.5 Motor Brake on Power Block ............................................................ 97
5.6.6 Fieldbus Devices – C5 and C6 .......................................................... 98
5.6.7 Host Com puter – C1 and/ or C7 ........................................................ 99
5.6.8 Daisy Chain – C8 ......................................................................... 100
5.6.9 Drive Address – Rotary Switch ...................................................... 100
5.7 Power Board Connections – 120/ 240 VAC .................................................. 101
5.7.1 STO ........................................................................................... 101
5.7.2 Motor ......................................................................................... 102
5.7.3 Regeneration Resistor .................................................................. 103
5.7.4 AC Input Voltage ......................................................................... 105
5.7.5 Motor Brake (Optional) ................................................................. 108
5.8 Power Board Connections – 400/ 480 VAC .................................................. 109
5.8.1 STO ........................................................................................... 109
5.8.2 Logic Power 24V Input.................................................................. 110
5.8.3 AC Input and Regeneration Resistor ............................................... 111
5.8.4 Motor Brake ................................................................................ 112
5.8.5 Motor ......................................................................................... 115
5.9 Regeneration.......................................................................................... 115
5.9.1 Regenerative Energy Overview ...................................................... 115
5.9.2 Regeneration Resistence Calculations ............................................. 116
5.9.3 Regeneration Resist or Prot ection ................................................... 121
5.10 Firm ware Updat e .................................................................................... 123
5.10.1 Firmware Update Preparation ........................................................ 123
5.10.2 Firmware Update Options.............................................................. 123
5.10.3 Firmware Update over Serial Connection ......................................... 125
5.10.4 Firm ware Updat e over EtherCAT .................................................... 125
5.10.5 Resuming Operation Aft er Firm ware Updat e .................................... 129
5.10.6 Ember Mode ................................................................................ 129
5.11 Power Up ............................................................................................... 130
6 Applicat ion Se tup _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 1 3 1
6.1 Param eters ............................................................................................ 131
6.1.1 Configuration Parameters ............................................................. 131
6.1.2 Managing Param eters - Drive Mem ory ............................................ 131
6.2 Configuration Sequence ........................................................................... 132
6.3 Com m unication ...................................................................................... 134
6.3.1 Serial Baud Rate .......................................................................... 134
6.3.2 CANopen Bit Rat e ........................................................................ 135
6.4 Power Rat ing .......................................................................................... 135
6.5 Feedback ............................................................................................... 136
6.5.1 I ncrem ent al Encoder .................................................................... 136
6.5.2 Sine Encoder ............................................................................... 138
6.5.3 sensAR Absolut e Magnet ic Encoder ................................................ 138
6.5.4 BiSS-C I nt erface .......................................................................... 139
6.5.5 EnDat 2.2 Bidirectional Interface ................................................... 139
6.5.6 Encoder Sim ulation Output ........................................................... 140
6.5.7 Resolver ..................................................................................... 141
6.6 Resolver and Sine Encoder Calibration ....................................................... 142
6.6.1 Resolver and Sine Encoder Calibration Overview .............................. 142
6.6.2 Motor Revolutions Required for Calibrat ion ...................................... 142
6.6.3 Motor Speed Limit ations During Calibration ..................................... 143
6.6.4 Calibrat ing Resolver and Sine Encoder ............................................ 143