Servotronix CDHD Series - Page 7

CDHD
User Manual 7
6.6.5 Sine Encoder and Resolver Diagnostics ........................................... 146
6.7 Motion Units ........................................................................................... 148
6.8 Current Foldback .................................................................................... 149
6.9 Digital Inputs ......................................................................................... 150
6.10 Digital Outputs ....................................................................................... 150
6.11 Analog Inputs ......................................................................................... 151
6.11.1 Analog Input 1 ............................................................................ 151
6.11.2 Analog Input 2 ............................................................................ 151
6.11.3 Using Analog I nput s for Velocity Com m and and Current Limit............ 152
6.12 Analog Output ........................................................................................ 153
6.13 Hom ing ................................................................................................. 154
6.13.1 Home at Index with Mot or Resolver ............................................... 155
6.13.2 Hom e at I ndex with Single/ Multi-Turn Encoders ............................... 155
6.13.3 Hom e at Positive Edge of Home Switch ........................................... 155
6.14 Disable Mode.......................................................................................... 155
6.14.1 Active Disable ............................................................................. 156
6.14.2 Dynamic Brake ............................................................................ 159
6.15 Motor Brake Control via Relay .................................................................. 160
6.16 Motor Tem perature Sensor ...................................................................... 162
7 M ot or Se t u p _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 1 6 5
7.1 Motor Setup Wizard ................................................................................ 165
7.2 Drive Identification ................................................................................. 169
7.3 Motor I dentification ................................................................................. 170
7.4 Motor I nitialization .................................................................................. 170
7.5 Current Limits ........................................................................................ 171
7.6 Velocity Limits ........................................................................................ 171
7.7 Position Limits ........................................................................................ 172
7.8 Motor Direction ....................................................................................... 172
7.9 New Motor Wizard................................................................................... 173
8 Oper a t ion _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 1 7 7
8.1 Drive Enable .......................................................................................... 177
8.2 Operation Modes..................................................................................... 177
8.3 Current Operation ................................................................................... 179
8.3.1 Serial Current Operation Mode ...................................................... 179
8.3.2 Analog Current Operat ion Mode ..................................................... 179
8.3.3 Current Control Loop .................................................................... 179
8.4 Velocity Operation .................................................................................. 179
8.4.1 Serial Velocity Operation Mode ...................................................... 179
8.4.2 Analog Velocity Operation Mode..................................................... 179
8.4.3 Velocity Cont rol Loops .................................................................. 179
8.5 Position Operation .................................................................................. 183
8.5.1 Serial Positioning Operation Mode .................................................. 183
8.5.2 Position Cont rol Loop ................................................................... 185
8.6 Gearing Operation Mode .......................................................................... 185
8.6.1 Pulse and Direction Mode .............................................................. 187
8.6.2 Master/ Slave – Encoder Follower ................................................... 190
8.6.3 Up/ Down Count ing ....................................................................... 191
9 Tuning _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 1 9 3
9.1 CDHD HD Controller ................................................................................ 193
9.2 CDHD HD Cont roller Autotuning ................................................................ 194
9.3 PC-Based Aut otuning............................................................................... 195
9.4 Drive-Based Autotuning ........................................................................... 198
9.4.1 Drive-Based Autotuning – Overview ............................................... 198
9.4.2 Drive-Based Autotuning – Express ................................................. 199
9.4.3 Drive-Based Autotuning – Advanced .............................................. 199
9.5 Aut otuning Parameters Sum m ary ............................................................. 204