Servotronix CDHD2S

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Operations

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Figure 7-6 Position control loop - HD controller

Linear position controller

Linear position controller is a feedforward PID controller with limited integral saturation (anti-

terminal) option.

Figure 7-7 Position control loop - linear

Main Page

Table of Contents4
Introduction10
CDHD2S Product Overview10
CDHD2S Model11
Order Information13
CDHD2S Product Label14
CDHD2S File Package15
Safety and Standards16
Safety Symbols16
Safety Guide16
Installation Safety17
Operational Safety18
Maintenance Safety18
Material Safety Data18
Certifications20
Specifications21
Dimensions21
Electrical and Mechanical Specifications23
Control Specifications28
Protection Functions and Environmental Specifications29
Sto/Functional Safety Specification29
Communication Specifications30
Input/Output Specification30
Motor Feedback Specification31
Secondary Feedback Specifications32
Drive Setup33
Setup Overview33
Power up33
Drive Address33
Setup Preparation34
Hardware and Tools34
Cables and Crimping35
Connector - Control Board35
Connector - Power Board36
Host System37
Fieldbus Device Files38
System Wiring39
CDHD2S-1D5/003 (Medium-Voltage) System Wiring39
CDHD2S-012 (High-Voltage) System Wiring43
CDHD2S-024/CDHD2S-030 (High-Voltage) System Wiring45
Electromagnetic Interference Suppression49
CE Filtering Technology49
Grounding49
Shielding and Connection51
Input Power Supply Filtering52
Other Electromagnetic Interference Suppression Suggestions52
Matters Needing Attention in Electrical System53
Fuse53
Leakage Current53
Mechanical Installation53
Installation of CDHD2S53
Installing Multiple Units54
Control Board Connection54
CDHD2S-EC (High-Voltage) Control Board Pins56
CDHD2S Panel Wiring Diagram61
USB Serial Communication - C761
USB Serial Communication - C5 and C661
Daisy Chain and Gantry Communication - C861
Controller Interface - C261
Machine Interface - C369
Motor Brake Wiring70
Secondary Feedback Wiring72
Motor Feedback Interface - C473
Motor Feedback Wiring74
Gantry System Wiring84
Power Board Connection85
CDHD2S-1D5/003 (Medium-Voltage) Power Board Pin Assignment86
CDHD2S-012 (High-Voltage) Power Board Pin Assignment 错误!未定义书签88
Sto-P191
Motor Power - P2, P492
Regenerative Resistors - P3, P592
AC Input - Bus Power and Logic Power - P3, P4, P592
Regeneration93
Overview of Regenerative Energy93
Calculation of Regenerative Resistance94
Firmware Update99
Firmware Update Preparation99
Firmware Update Options100
Updating Firmware Via Serial Connection101
Updating Firmware on Ethercat102
Restoration Operation after Firmware Update106
Ember Mode107
Download Parameters Via Ethercat107
Motor Setup110
Motor Setup Wizard110
Drive Identification114
Motor Installation115
Motor Initialization115
Current Limit116
Velocity Limit116
Position Limit117
Motor Direction117
New Motor Wizard117
Application Setup121
Parameters121
Configuration of Parameters121
Management of Parameters - Drive Memory121
Application Setup Wizard122
Communication130
Serial Baud Rate131
Canopen Baud Rate132
Power Rating132
Feedback133
Incremental Encoder133
Sine Encoder135
Sensar Absolute Magnetic Encoder135
Biss-C Interface136
Endat2.X Bidirectional Interface137
Encoder Analog Output137
Resolver138
Calibration of Resolver and Sine Encoder138
Secondary Feedback145
Overview of Secondary Feedback (Dual Loop Control)145
Secondary Feedback Device146
Secondary Feedback Bus147
Secondary Feedback Unit147
Secondary Feedback Parameters149
Motor Unit150
Foldback Current151
Digital Input151
Digital Output152
Digital Output Control Using Comparison Matching (PCOM)152
PCOM Fixed Cycle Configuration153
PCOM Table Configuration154
PCOM Timing Configuration155
Analog Input156
Analog Input 1156
Analog Input 2157
Using Analog Input as Velocity Command and Current Limit157
Analog Output158
Disabled Mode159
Active Disable160
Dynamic Braking162
Motor Brake Control Via Relay164
Motor Temperature Sensor165
Error Correction166
Overview of Error Correction166
Error Correction Table - Example166
Error Correction Function of CDHD2S167
Error Correction Parameters and Commands168
Error Correction Feedback Unit168
Error Correction Settings169
Gantry System176
Gantry System Overview176
Gantry Type176
Gantry Control Mode179
Gantry Operation Mode179
Gantry Parameters and Commands180
Gantry Setup181
Homing183
Index Homing and Motor Resolver183
Index Homing and Single/Multi-Turn Encoder184
Switch Positive Edge Homing184
Gantry System Homing184
Operations186
Power on the Drive186
Drive Operation Mode186
Current Operation187
Serial Current Operation187
Analog Current Operation187
Current Control187
Velocity Operation188
Serial Velocity Operation188
Analog Velocity Operation188
Velocity Control188
Position Operation192
Serial Position Operation192
Position Control194
Gearing/Pulse Train Operation196
Pulse and Direction197
CW/CCW (Up/Down) Counting200
Encoder Follower (Master/Slave)200
Drive Debugging201
CDHD2SHD Controller201
CDHD2SHD Controller Autotuning201
Drive-Based Autotuning202
Drive-Based Autotuning - Fast202
Drive-Based Autotuning - Advanced203
PC-Based Autotuning210
Summary of Autotuning Parameters213
Record and Evaluate Performance213
Diagnosis213
Recording Data in Servostudio2214
Recording Data in the Terminal216
Evaluate PTPVCMD217
Evaluation of ICMD And/Or PE Oscillation218
Current Command Low Pass Filter219
Gear Filter221
Moving Smoothing Filter222
Notch Filter223
Anti-Vibration Filter223
Gain - Manual Tuning228
Flexible Compensation Tuning232
Dual Feedback Position Control Loop Debugging233
Gantry Tuning235
Tuning Questions - Q&A239
Functional Safety241
Safety Torque Shutdown (STO) Overview241
STO Module in Servo Drive241
STO Functional Safety Specification242
STO System Requirements242
Use STO243
STO Maintenance246
Troubleshooting247
Report Generator247
Faults and Warnings247
Warning, Error and Fault Messages248
Warning Messages248
Error Messages - Manufacturers Only251
Fault Messages257
Fieldbus Status-LED261
Status LED-Canopen261
Status LED - Ethercat262
Status LED - PROFINET262
CDHD2S Accessories263
Mating Connector Kit263
Cable263
D9-RJ45 Adapter265
Line Filter266
Regenerative Resistor267

Servotronix CDHD2S - Page 195

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