Servotronix CDHD User Manual

CDHD Servo Drive

User Manual

Revision 0.2

PRELIMINARY RELEASE

CDHD

User Manual i

Revision Histo r y

Document
Revision

Date Remarks

0.2 June 2011

Added diagram: CDHD-1D5 Dimensions;
Replaced diagram: Syste m Wiring - Pin
Assignments; Minor text fixes

0.1 June 2011 Preliminary version

Hardware
Revision

Firmware
Revision

Software
Revision

Remarks

0.0.0.10

Important Notice

© 2011 Servotronix Motion Control Ltd.
All rights reserved . No par t of this work may be repr od uced or transmitted in any

form or by any mean s without prior wr itten permiss ion of Servotr onix Motion
Control Ltd.

Disclaimer

The information in this manual was accurate and reliable at the time of its
release. Servotronix Motion Control Ltd. reserves the right to change the
specifications of the product described in this manual without notice at any time.

Trademarks

All marks in this manual are the property of their respective owners.

Contact Information

Servotronix Motion Control Ltd.
21C Yagia Kapayim Street
Petach Tikva 49130
Israel

Tel: [phone]
Fax: [phone]

Website:

www.servotronix.com

Technical Support

If you need assistance with the installation and configuration of the CDHD drive,
contact Servotronix technical support:

[e-mail]

Customer Service

Servotronix is committed to delivering quality customer service and support for
all our products. Our goal is to provide our customers with the information and
resources so that they are available, without delay, if and when they are needed.
In order to s erve in the most effective way, we recommend that you contact
your loca l sales representative for order status and del ivery informa tion, product
information and literature, and application and field technical assistance. If you

CDHD

ii Servotronix

are unable to contact your local sales representative for any reason, please use
the most relevant of the contact details below:

For technical support, contact:

[e-mail]

To order products, contact:

[e-mail]

For all other inquiries r egarding CDHD drives or other Serv otronix products,
contact: [e-mail]

Part Number

For ordering the CDHD, r e fe r to the followin g diagram:

Warranty

The warranty is valid for 12 months from the date of shipment and applies only if
material or workmanship is found to be defective. The warranty will be invalid if
the customer fails to install, operate or maintain the product in accordance with
the instructions in this user manual.

During the warranty period, the owner must pay the cost of shipping the product
to the factory for repair , and Servotronix will pay for shipping the repaired
product to the customer.

After the warranty period has expired, all shipping costs will be the responsibility
of th e cust o mer.

Before returning the product, the customer must first request a Return Materials
Authorization (RMA) number from Se rvotronix by email to [e-mail]

The complete Warranty Statement can be found in the Terms and Conditions
document on the Servotronix website:

www.servotronix.com/customer-service.html

CDHD

User Manual iii

Contents

1 Introduction ________________________________________________ 1

1.1 Documentation .......................................................................................... 1

1.1.1 About This Manual ............................................................................ 1

1.1.2 Documentation Set for CDHD ............................................................. 1

1.2 Safety ...................................................................................................... 1

1.2.1 Safety Sy mb o ls ................................................................................ 1

1.2.2 Safety Instructions ........................................................................... 2

1.3 Standards Compliance ................................................................................ 2

1.3.1 General Information ......................................................................... 2

1.3.2 CE Compliance ................................................................................. 3

1.4 Unpacking................................................................................................. 4

2 Product Descri p t ion __________________________________________ 5

2.1 Overview .................................................................................................. 5

2.1.1 General Description .......................................................................... 5

2.1.2 Product O pt ions ............................................................................... 5

2.2 Technical Specifications .............................................................................. 6

2.2.1 Dimensions ..................................................................................... 6

2.2.2 Mechanical and Electrical Specific a tions - 200V .................................... 7

2.2.3 Mechanical and Electrical Specific a tions - 400V .................................... 8

2.2.4 Control Specificati ons ...................................................................... 10

2.2.5 Protective Functions and Environment................................................ 11

2.2.6 Communication ............................................................................... 11

2.2.7 I/Os............................................................................................... 12

2.2.8 Motor Feed back............................................................................... 13

2.3 System Wiring - Pin Assignment s ................................................................ 14

3 Installation ________________________________________________ 15

3.1 Installation Overview ................................................................................ 15

3.2 Preparation .............................................................................................. 15

3.2.1 Hardware Requ irem ents ................................................................... 15

3.2.2 Computer Requirements................................................................... 16

3.2.3 Electrical Requirements .................................................................... 18

3.3 Mecha nic al Installation .............................................................................. 20

3.3.1 Mount th e CDHD ............................................................................. 20

3.4 Electr ical Installat io n ................................................................................. 20

3.4.1 Connect Motor (P2) ......................................................................... 20

3.4.2 Connect STO (P1)............................................................................ 21

3.4.3 Connect Regen (P3) ......................................................................... 22

3.4.4 Connect Motor Feedback (C4) ........................................................... 22

3.4.5 Connect Controller I/Os (C2) ............................................................ 24

3.4.6 Connect Machine I/Os ( C3) ............................................................... 25

3.4.7 Connec t AC I nput Voltage (P4).......................................................... 26

3.5 Set the Drive Address................................................................................ 27

3.6 Connect to PC ( C1 or C7) ........................................................................... 28

3.7 Power Up ................................................................................................. 29

3.8 Servo Studio So f tware In stallation ............................................................... 29

4 Configurati on and Operation___________________________________ 30

4.1 Variables and Commands........................................................................... 30

4.2 ServoSt ud io Software ................................................................................ 30

4.3 Connecti ng to a Drive ................................................................................ 31

4.4 Enabling/Disabling a Drive ......................................................................... 31

4.4.1 Drive Enable ................................................................................... 31

4.4.2 Operation Mod e Code s ..................................................................... 32

CDHD

iv Servotronix

4.5 Managing Drive Parameters ....................................................................... 33

4.6 Config uring Para m eters Using Serv o S tudio .................................................. 34

4.6.1 Tuning a nd Te sting .......................................................................... 34

4.6.2 Drive Info ....................................................................................... 35

4.6.3 Power ............................................................................................ 35

4.6.4 Motor ............................................................................................. 35

4.6.5 Foldback ........................................................................................ 35

4.6.6 Units.............................................................................................. 35

4.6.7 Feedback ....................................................................................... 35

4.6.8 Motion ........................................................................................... 36

4.6.9 Scope ............................................................................................ 36

4.6.10 Digital I/Os ..................................................................................... 36

4.6.11 Analog I/O...................................................................................... 36

4.6.12 Enable ........................................................................................... 36

4.6.13 Current Loop .................................................................................. 36

4.6.14 Current Limits ................................................................................. 36

4.6.15 Velocity L oop .................................................................................. 36

4.6.16 Velocity Limits ................................................................................ 36

4.6.17 Terminal ........................................................................................ 36

4.6.18 Faults ............................................................................................ 37

4.6.19 Parameters Table ............................................................................ 37

4.7 ServoStudio Expert View ........................................................................... 37

5 Firmware Upg ra d e __________________________________________ 38

5.1 Preparation .............................................................................................. 38

5.2 Upgrade Procedure ................................................................................... 38

6 Troubleshooting ____________________________________________ 39

6.1 Drive Status 7-Segment Display ................................................................. 39

6.2 Faults a nd Warning s .................................................................................. 39

6.3 Status Information in ServoStudio .............................................................. 40

6.4 Fault and Status Queries ........................................................................... 40

6.5 Fault Codes and Names ............................................................................. 40

CDHD Introduction

User Manual 1

1 Introduction

1.1 Documentation

1.1.1 About This Manual

This manual describ e s t he Servotronix CDHD Servo Drive. It provides th e
information required for installation, configuration and basic operation of the
CDHD unit.

This document is intended for persons who are qualified to transport, assemble,
commission, and maintain the equipment described herein.

1.1.2 Documentation Set for CDHD

This manual is part of a documentation set. The entire set consists of the
following:

 CDHD Quick Start Guide. Basic setup and operation of the drive.
 CDHD User Manual. Hardware installation, configuration and operation.
 CDHD VarCom Reference Manu al. Parame ters and commands used to

program the CDHD.

1.2 Safety

Only qualified persons may perform the installation procedures . You do not need
to be an expert in motion control to install and operate the drive system.
However , yo u m us t ha ve a basic under standi ng of electronics, computers,
mechanics, and safety practices.

The CDHD utili zes ha zardous volt ag es.
Be sure the driv e is properly grounded.

Before you install the CDHD, review the safety instructions in this manual.
Failure to follow t he sa fety inst r uctions may result in personal injury or
equipment damage.

1.2.1 Safety Symbols

Safety symbols indicate a potential for personal injury or equipment damage if
the recommended precautions and safe operating practices are not followed.

The following safety-a lert symbols are used on the drive and in the
documentation:

Caution ISO 7000-0434 (2004-01)

Introduction CDHD

2 Servotronix

Warning. Dangerous voltage. IEC 60417-5036 (2002-10)

Protective earth; protective ground IEC 60417–5019 (2006-08)

Cautio n, ho t su rf ac e IEC 60417-5041 (2000-10)

1.2.2 Safe ty Instructions

 Read all available product documentation before assembling and

commission ing. I ncor re ct ha ndl i ng of this produ ct may ca u se pe rso na l inj ury
and/or damage to equipment. Ad he re strict ly to the insta l lation instruc tions
and requirements.

 All syste m c omponents must be connected to ground. Electrica l safety is

provided through a low-resistance earth ground connection.

 This product contains static sensitive components that can be damaged by

incorr ect hand l ing . Av oid conta ct with h ig h insulati ng m ateria ls (artif ic ia l
fabrics, plastic film, etc.). Place the product on a conductive surface. Ground
yourself (discharge any possible static electricity build-up) by touching an
unpainted, metal, grounded surface.

 Keep all cov ers and cabinet d oors shut during operation. Otherwise,

potential hazards may cause personal injury and/or damage to equipment.

 During operation the product has electrically charged components and hot

surfaces. The heat sink can reach temperatures of 90°C. Control and power
cables can carry a high voltage, even when the motor is not rotating.

 To avoid electric arcing and hazards to personnel and electric contacts,

never disconnect or connect the product while the power source is
energized.

 After removing the power source from the equipment, wait at least

5 minutes before touching or disconnecting sections of the equipment that
normally carry electrical charges (e.g., capacitors, contacts, screwed
connections). For safety, measure the electrical contact points with a meter
before touching the equipment. Wait until the voltage drops below 30 VAC
before handling components.

1.3 Standards Compliance

1.3.1 General Information

The CDHD has been successfully tested and evaluated according to standards
IEC 61800-5-1 and UL 508C. This testing outlines the minimum requirements for
electrically operated power conversion equipment (frequency converters and
servo amplifiers) , whi ch are intended to eliminate the risk of fire, electric shock,
or injur y to persons.

CDHD Introduction

User Manual 3

UL 508C references UL 840, which describes the achievement by design of air
and insulation creepage spacings for electrical equipment and printed circuit
boards. The CDHD provides overload prot ection and current limit control .

The drive is i ntended for operation in pollution level 2 environment.
The terminals on the controller are coded so they can easily be identified in the

instructions. The instructions identify the connections for the power supply, load,
control, and ground.

Integral solid state short circuit protection does not provide branch circuit
protection. Branch circuit protection must be provided in accordance with the
National Electrical Code and any additional local codes, or the equivalent.

1.3.2 CE Compliance

Compliance with EC EMC Directive (2004/108/EC) and EC Low Voltage Directive
(2006/95/EC) is mandatory for all servo drives provided to the European
Community. CDHD is manufactured in conforman ce with these directives. CDHD
drives have also been successfully tested and evaluated to the limits and
requirements of these directives.

EC Low Voltage Directive (2006/95/EC) complies with standard IEC 61800-5-1.
The following standards are used in connec tio n with EC EM C Dir e ctive

(2004/108/EC):

 IEC 61000-6-1/2 (Interference Immunity in Residential & Industrial Areas)
 IEC 61000-6-3/4 (Interference Generation in Residential & Industrial Areas)

Drives are components that ar e intended for incorpora tion into a m achine, for
industrial use. Before a drive is in installed, verify that the associated equipment
complie s with the following standards :

 EC Machinery Directive (2006/42/EC)
 EC EMC Directive (2004/108/EC)
 EC Low Voltage Directive (2006/95/EC)

Standards EN/IEC 60204-1 (Safety and Electrical Equipment in Machines),
ISO 12100 (Safety of Machines) and EN 292 must be observed in reference to
Machinery Directive (2006/42/EC) .

Standard IEC 6 04 39-1 (Low-voltage Switchgear and Control Gear Assemblies)
must be observed in reference to EC Low Voltage Directive (2006/95/EC).

The machine manufacturer must generate a hazard analysis for the machine,
and must implement suitable measures to ensure that unexpected movements
will not c a use perso nal inju ry and/or property damage.

The machine manufacturer is responsible for ensuring that the machine meets
the requirements specified by the EMC regulations. Guidelines for correct
installation for EMC (such as shielding, grounding, treatment of connectors and
cable layout) are provided in this.

The machine manufacturer must check whether EC Directives or other standards
must be applied to the machine.

Servotronix only guarantees the conformance of the servo system with the
standards cited i n this chap ter.

Introduction CDHD

4 Servotronix

Caution: Installa tion of the e quipment is crit ic a l in designi ng sy s te m and
machine electromagnetic compatibility (EMC).
The end us er must appl y the installation rec o mmenda tions in th is m anual.

1.4 Unpacking

1. Open the package(s) and remove all packing materials and items. The

package contai ns two items:

• The CDHD drive

• A p a ck et of mating conn ectors for the power connect ors .

2. Check to ensure there is no visible damage to any of the equipment. If
damag e is d etected, notify th e carrier im m e d iately.

CDHD Product Description

User Manual 5

2 Product Description

2.1 Overview

2.1.1 General Description

The CDHD is a full-featured, high-performance servo drive featuri ng in novativ e
technologies and industry-leading power density.

Key features of the CDHD include:

 Support for rotary and linear brushless DC motors, and DC brush motors.
 Operation in current, velocity and position control loops.
 Eleven digital inputs, six digital outputs, together with an analog input and

output, to meet any I/O requirement.

 Various communication options.
 Various motor feedback options.
 Fir mware customization to address special application requirements.
 OEM motors predefined in user interface to enable immediate integration.

2.1.2 Product Options

The CDHD product family offers a number of options :

 200 or 400 VAC rating
 Contin uous current of 1.5, 3, 6 or 13 A rms for the 200 V model s
 Continuous current of 3 or 6 A rms for the 400 V m odels
 One 16-bit or two 14-bit analog inputs
 Various interface options, including analog voltage/pulse train and CANopen.

Refer to the part number diagram at the beginning of this manual for the various
ordering options for the CDHD drive.

Product Description CDHD

6 Servotronix

2.2 Technical Specifications

2.2.1 Dimensions

The exterior dimensions of the CDHD-1D5 and CDHD-006 are shown in
Figure 2-1 and Figure 2-1, respectively

Figure 2-1. CDHD-1D5 Dimensions (in mm)

Figure 2-2. CDHD-006 Dimensions (in mm)

CDHD Product Description

User Manual 7

2.2.2 Mechanical and Electrical Specifications - 200V

Single a nd Three­Phase 200V

Specification

CDHD­1D5

CDHD­003

CDHD­006

CDHD­013

Ratings

Input Power Main Circuit
(L1, L2, L3 )

Voltage (VAC Line-Line) Nominal
±10%

110 to
230

110 to
230

110 to 230 110 to 230

115 VAC 1 Phase 1 Phase

1 Phase or
3 Phase

1 Phase or

3 Phase
230 VAC 1 Phase 1 Phase 1 Phase 1 Phase
Line Frequency (Hz) 47-63 47-63 47-63 47-63
KVA at 115 VAC
KVA at 230 VAC
Continuous Current (A)
Peak Current (A) f or 2 sec

Withstand Voltage (Primary to
Ground)

Line Fuses (FRN -R, LPN, or
equivalent)

Logic Input Power
(L1C, L2C)

115 or 230 VAC 1 Phase 1 Phase 1 Phase 1 Phase

Motor Output
(U,V,W)

Continuous Output Current (A rms) 1.5 3 6 13

Continuous Output Current (A
peak)

2.12 4.24 8.485 18.38

Peak Output Current (A rms) f or
2 sec

4.5 9 18 26

Peak Output Current (A peak) for
2 sec

6.3 12.72 25.455 36.76

PWM Frequency (kHz) 16 16 16 8
Soft Start Max. Surge Soft Start Current (A) 6
Max. Charge Time (ms) 250
Hardware
Unit Weight (kg) 0.9
Connection Hardw are PE Ground Screw Size/ Torque

M4/

1.35 Nm

Wire Size

Control Circuit (AWG ) u p to 3
meter

24-28

Main Circuit Motor Lines (AW G ) 14-16
Main Circuit AC Inputs (AWG) 14-16
PE Ground Screw 14
Clearance Distance Side-to-Side (mm) 10-15
Top/Bottom (mm) 50
Voltage Trip

Under-Voltage Trip (nominal)
(VDC)

100

Over-Voltage Trip (VDC) 420

Product Description CDHD

8 Servotronix

Single a nd Three­Phase 200V

Specification

CDHD­1D5

CDHD­003

CDHD­006

CDHD-

013
Power Temperature

Power Over-Temperature Warning
(°C)

100

Power Over-Temperature Fault (°C) 110

Trigger Temperature for High­speed Fan (°C)

NA NA 60

Regen External
Regenerative resistor
(B1+, B2)

External Shunt
Regulator

Peak current (A) NA NA 30

Minimum resistance (Ω) NA NA 13.1
Watts NA NA

system

dependent
Application Informat ion Capacitance (F) NA NA 1120
Bus Voltage (nominal) (VDC) NA NA 320
VHYS (Regen Circuit Turn-off) VDC) NA NA

VMAX (Regen Circuit Turn-on)
(VDC)

NA NA

2.2.3 Mechanical and Electrical Specifications - 400V

Three-Phase 400V Specification CDHD-003 CDHD-006
Ratings

Input Power Main Circuit Voltage (VAC Line-Line) Nominal ±10 % 530-600 530-600
(L1, L2, L3 ) 380 VAC 3 Phase 3 Phase
430 VAC 3 Phase 3 Phase
Line Frequency (Hz) 47-63 47-63
KVA at 380 VAC
KVA at 430 VAC
Continuous Current (A)
Peak Current (A) f or 2 sec
Withstand Voltage (Primary to Ground)
Line Fuses (FRN -R, LPN, or equivalent)

Logic Input Power
(L1C, L2C)

VDC 24 VDC ±10% 24 V DC ±10%

Motor Output
(U,V,W)

Continuous Output Current (A rms) 3 6

Continuous Output Current (A peak) 4.24 8.485
Peak Output Current (A rms) for 2 sec 9 18
Peak Output Current (A pe a k ) f or 2 sec 12.72 25.455
PWM Frequency (kHz) 16 16
Soft Start Max. Surge Soft Start Current (A)
Max. Charge Time (ms)

CDHD Product Description

User Manual 9

Three-Phase 400V Specification CDHD-003 CDHD-006
Hardware

Unit Weight (kg)
Connection Hardw are PE Ground Screw Size/Torque
Wire Size Control Circuit (AWG) up to 3 meter
Main Circuit Motor Lines (AW G )
Main Circuit AC Inputs (AWG)
PE Ground Screw
Clearance Di st a nce Side-to-Side (mm)
Top/Bottom (mm)
Voltage Trip
Under-Voltage Trip (nominal) (VDC)
Over-Voltage Trip (VDC)
Power Temperature
Power Over-Temperature Warning (°C)
Power Over-Temperature Fault (°C)

Trigger Temperature for High-speed Fan
(°C)

Regen External
Regenerative resistor
(B1+, B2)

External Shunt
Regulator

Peak Current (A)

Minimum Resistance (Ω)
Watts
Application Informat ion Capacitance (F)
Bus Voltage (Nominal) (VDC)
VHYS (Regen Circuit Turn-off) (VDC)
VMAX (Regen Circuit Turn-on) (VDC)