CDHD Servo Drive
Quick Start Guide
Revision 5.4
DOC-CDHD-QSG-EN
CDHD
Quick Start Guide 3
Revision
Firmware
Revision
Software (GUI)
Revision
1.3.2 1.3.2.3
Important Notice
© 2013 IMO Precision Controls Ltd.
All rights reserved. No part of this work may be reproduced or transmitted in any
form or by any means without prior written permission of IMO.
Disclaimer
The information in this manual was accurate and reliable at the time of its
release. IMO Precision Controls Ltd. reserves the right to change the
specifications of the product described in this manual without notice at any time.
CDHD
4 Quick Start Guide
Trademarks
CANopen and CiA are registered trademarks of the CAN in Automation User's
Group
PROFINET is a trademark of PROFIBUS International
EtherCAT is a registered trademark and patented technology, licensed by
Beckhoff Automation GmbH
EnDat is a registered trademark of Dr. Johannes Heidenhain GmbH
HIPERFACE is a registered trademark of Sick Stegmann Gmbh
Windows is a registered trademark of Microsoft Corporation
Contact Information
IMO Jeambrun Automation SAS.
30 Rue De Rocroy
94100 Saint Maur Des Fosses, France
Tel: +8000 912 712
Fax: +8000 452 6445
Website:
www.imopc.com
Technical Support
If you need assistance with the installation and configuration of the CDHD drive,
contact Servotronix technical support:
imo-fr@imopc.com
Part Number
CDHD
Quick Start Guide 5
Contents
1 Introduction __________________________________________________ 7
CDHD Documentation ........................................................................................ 7
Safety .............................................................................................................. 7
Required Hardware and Tools .............................................................................. 7
Required Computer System ................................................................................ 8
CDHD Installation Procedure ............................................................................... 8
CDHD Dimensions and Mounting ......................................................................... 9
CDHD Wiring and Pin Assignments ...................................................................... 12
2 Control Board _________________________________________________ 24
Overview ......................................................................................................... 24
Controller I/Os – C2 .......................................................................................... 24
Controller Interface Wiring ......................................................................... 27
Machine I/Os – C3 ............................................................................................ 29
Machine Interface Wiring ........................................................................... 31
Motor Feedback – C4 ........................................................................................ 33
Feedback Wiring Guidelines........................................................................ 34
Fieldbus Devices – C5 and C6 ............................................................................ 41
CAN Communication ................................................................................. 41
EtherCAT or PROFIBUS Communication ....................................................... 41
Host Computer – C1, C7 .................................................................................... 42
Daisy Chain – C8 .............................................................................................. 43
Drive Address Switches ..................................................................................... 44
3 Power Board 120/240 VAC ______________________________________ 45
Overview ......................................................................................................... 45
Safe Torque Off (STO) – P1 ............................................................................... 45
Motor – P2 ....................................................................................................... 46
Regeneration Resistor – P3 ................................................................................ 47
AC Input – P3, P4, P5 ....................................................................................... 48
4 Power Board 400/480 VAC ______________________________________ 50
Overview ......................................................................................................... 50
Safe Torque Off (STO) – P1 ............................................................................... 50
Logic Power 24V Input – P2 ............................................................................... 51
AC Input and Regeneration Resistor – P3 ............................................................ 52
Brake – P4 ....................................................................................................... 53
Motor – P5 ....................................................................................................... 54
5 Software ____________________________________________________ 55
ServoStudio Installation .................................................................................... 55
Power Up ......................................................................................................... 55
Drive Configuration ........................................................................................... 56
6 Drive Status __________________________________________________ 57
Normal Operation Codes .................................................................................... 57
Warning and Fault Codes ................................................................................... 58
CDHD
6 Quick Start Guide
CDHD Introduction
Quick Start Guide 7
1 Introduction
CDHD Documentation
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 Manual. Parameters and commands used to
program the CDHD.
CDHD CANopen for CAN and EtherCAT Drives Reference Manual.
CDHD implementation of CANopen protocol for CAN and EtherCAT.
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, you must have a basic understanding of electronics, computers,
mechanics, and safety practices.
The CDHD utilizes hazardous voltages.
Be sure the drive is properly grounded.
Before you install the CDHD, review the safety instructions in this manual. The
manual is available as a PDF file that can be downloaded from the Servotronix
website.
Failure to follow the safety instructions may result in personal injury or
equipment damage.
Required Hardware and Tools
All required hardware and tools are specified in the diagrams in the section
CDHD Wiring and Pin Assignments.
The connectors and tools that are supplied with the CDHD are also indicated in
those diagrams.
In addition, you will need a small slotted screwdriver for setting switches.
To connect the CDHD to the host computer via serial communication, you will
need one of the following:
USB 2.0 A to Mini-B cable (USB interface)
4p4c plug and cable (RS232 interface)
To connect the CDHD to the host computer or host PLC via fieldbus, you will
need:
RJ45 cables (CAN interface or EtherCAT)
Introduction CDHD
8 Quick Start Guide
Required Computer System
The following computer system and software are required:
2 GHz CPU
1 MB RAM
1000 MB available on hard drive (after .net 4 is installed)
USB or RS232 port for connecting to the drive, according to CDHD model.
Operating system: Windows XP-SP3, or Windows 7
ServoStudio, the graphical software interface for configuring and testing the
drive. Download from the CDHD product page on the IMO website.
.Net4 (for details, refer to .NET Framework System Requirements). If .NET 4
is not installed on the computer, ServoStudio will guide you through the
installation, but will not install it automatically.
CDHD Installation Procedure
Perform the following steps to install and setup a CDHD system.
1. Mount the CDHD.
2. Make all electrical connections:
Controller I/Os and/or Machine I/Os
Motor feedback
Fieldbus devices, if required
Safe torque off (STO), or bypass using jumpers
Motor
Motor brake, if required
Regeneration resistor, if required
AC input voltage
3. Set the drive address using the rotary switches.
4. Connect the drive to the PC.
5. Power up the drive and the PC.
6. Connect to fieldbus devices (optional).
7. Install ServoStudio software.
8. Using ServoStudio, configure and test the drive.
CDHD Introduction
Quick Start Guide 9
CDHD Dimensions and Mounting
Using the bracket on the back of the CDHD, mount the CDHD on a grounded
conductive metal panel.
CDHD-1D5/CDHD-003 – 120/240 VAC - Dimensions (mm)
Note: CDHD-003 has fan.
CDHD-4D5/CDHD-006 – 120/240 VAC - Dimensions (mm)
Introduction CDHD
10 Quick Start Guide
CDHD-008/CDHD-010/CDHD-013 – 120/240 VAC - Dimensions (mm)
CDHD-020/CDHD-024 – 120/240 VAC - Dimensions (mm)
CDHD Introduction
Quick Start Guide 11
CDHD-003/CDHD-006 – 400/480 VAC - Dimensions (mm)
CDHD-012 - 400/480 VAC - Dimensions (mm)
Introduction CDHD
12 Quick Start Guide
CDHD Wiring and Pin Assignments
CDHD-1D5/CDHD-003 – Servo System Wiring –120/240 VAC, 1-Phase
CDHD Introduction
Quick Start Guide 13
CDHD-1D5/CDHD-003 – Pin Assignments – 120/240 VAC
Introduction CDHD
14 Quick Start Guide
CDHD-4D5/CDHD-006 – Servo System Wiring – 120/240 VAC, 1-Phase
CDHD Introduction
Quick Start Guide 15
CDHD-4D5/CDHD-006 – Pin Assignments – 120/240 VAC
Introduction CDHD
16 Quick Start Guide
CDHD-008/CDHD-010/CDHD-013 – Servo System Wiring –
120/240 VAC, 3-Phase
CDHD Introduction
Quick Start Guide 17
CDHD-008/CDHD-010/CDHD-013 – Pin Assignments – 120/240 VAC
Introduction CDHD
18 Quick Start Guide
CDHD-020/CDHD-024 – Servo System Wiring – 120/240 VAC, 3-Phase
CDHD Introduction
Quick Start Guide 19
CDHD-020/CDHD-024 – Pin Assignments – 120/240 VAC
Introduction CDHD
20 Quick Start Guide
CDHD-003/CDHD-006 – Servo System Wiring – 400/480 VAC, 3-Phase
CDHD Introduction
Quick Start Guide 21
CDHD-003/CDHD-006 – Pin Assignments – 400/480 VAC
Introduction CDHD
22 Quick Start Guide
CDHD-0012 – Servo System Wiring – 400/480 VAC, 3-Phase
CDHD Introduction
Quick Start Guide 23
CDHD-012 – Pin Assignments – 400/480 VAC
Control Board CDHD
24 Quick Start Guide
2 Control Board
Overview
The control board has the same interfaces on all CDHD models:
USB Communication – C1 (Exception: AP models do not have a USB port.)
Controller I/Os – C2
Machine I/Os – C3
Motor Feedback – C4
Fieldbus Devices (optional) – C5 and C6
RS232 Communication – C7
Daisy Chain – C8
Drive Address Rotary Switches
Controller I/Os – C2
Controller I/Os are connected through interface C2 on all CDHD models.
Wire the digital and analog inputs and outputs according to the requirements of
your application.
Unused pins must remain unwired.
To preserve isolation of the digital I/Os, connect a 24 VDC source to pin 19.
Connect the return of the 24 VDC supply to pin 1, which functions as the ground
path for the outputs.
Note: AP/AF Models: The 24 VDC supply and return can be connected on
either the Controller interface (C2) or the Machine interface (C3), but it
is not necessary to connect it on both.
Notes: EC/PN Models:
Common output on the Controller interface (C2) and the Machine
interface (C3) are connected internally.
Common input on the Controller interface (C2) and the Machine
interface (C3) are connected internally.
User can connect outputs as source or sink.
User can connect inputs as source or sink.
Refer to the Controller Interface Wiring schematic diagram for
EC/PN Models below, and the CDHD System Wiring - Pin
Assignments diagram for EC/PN Models at the end of this
manual.
CDHD Control Board
Quick Start Guide 25
Controller I/O Interface
Pin Function Description Pin Function Description
1 24 VDC
return
AP/AF Models: Return of
the user-supplied 24 VDC
19 24 VDC AP/AF Models: User
supplied 24V, for I/O
biasing
Common
output
EC/PN Models Common
input
EC/PN Models
2 Digital
output 1
Opto-isolated
programmable digital
output. Read using OUT1
20 Digital
input 2
Opto-isolated
programmable digital
input. Read using IN2
3 Digital
input 1
Opto-isolated
programmable digital
input. Read using IN1
21
4 Equivalent
encoder
output A-
Low side of the equivalent
encoder output signal A
(RS422)
22 Equivalent
encoder
output A+
High side of the
equivalent encoder
output signal A (RS422)
5 Equivalent
encoder
output B-
Low side of the equivalent
encoder output signal B
(RS422)
23 Equivalent
encoder
output B+
High side of the
equivalent encoder
output signal B (RS422)
6 Equivalent
encoder
output Z-
Low side of the equivalent
encoder output index
(RS422)
24 Equivalent
encoder
output Z+
High side of the
equivalent encoder
output index (RS422)
7 25 Ground Digital ground
8 Analog
input 1+
High side of the
differential analog
command input
(±10 VDC)
26 Analog
input 1-
Low side of the
differential analog
command input
(±10 VDC)
9 Direction
input+
High side of the direction
signal (RS422), or
High side of the down
count signal
27 Direction
input-
Low side of the direction
signal (RS422), or
Low side of the down
count signal
Secondary
encoder
B+
High side of the
Secondary encoder input
signal B (RS422)
Secondary
encoder B-
Low side of the
secondary encoder input
signal B (RS422)
Control Board CDHD
26 Quick Start Guide
Pin Function Description Pin Function Description
10 Ground Digital ground 28 Pulse
input+
High side of the pulse
signal (RS422), or
High side of the master
encoder signal A, or
High side of the up count
signal
Secondary
encoder A+
High side of the
secondary encoder input
signal A (RS422)
11 Pulse
input-
Low side of the pulse
signal (RS422), or
Low side of the master
encoder signal A, or
Low side of the up count
signal
29 Ground Digital ground
Secondary
encoder A-
Low side of the secondary
encoder input signal A
(RS422)
12 30
13 Ground Digital ground 31 Digital
input 3
Opto-isolated
programmable digital
input. Read using IN3
14 Digital
input 4
Opto-isolated
programmable digital
input. Read using IN4
32 Digital
input 5
Fast opto-isolated
programmable digital
input. Read using IN5
15 Digital
input 6
Fast opto-isolated
programmable digital
input. Read using IN6
33 Digital
output 2
Opto-isolated
programmable digital
output. Read using OUT2
16 Digital
output 3
Fast opto-isolated
programmable digital
output. Read using OUT3
34
17 35* Analog
input 2-
Low side of the second
differential analog input
(±10 VDC)
18* Analog
input 2+
High side of the second
differential analog input
(±10 VDC)
36 Analog
output
Analog output,
referenced to digital
ground (0-10 VDC)
* Optional, see ordering information
CDHD Control Board
Quick Start Guide 27
Controller Interface Wiring
Controller Interface Wiring – AP/AF Models
Control Board CDHD
28 Quick Start Guide
Controller Interface Wiring – EC/PN Models
CDHD Control Board
Quick Start Guide 29
Machine I/Os – C3
Machine I/Os are connected through interface C3 on all CDHD models.
Wire the machine inputs and outputs according to the requirements of your
application.
Unused pins must remain unwired.
To preserve isolation of the digital I/Os, connect a 24 VDC source to pin 9.
Connect the return of the 24 VDC supply to pin 19, which functions as the
ground path for the outputs.
Note: AP/AF Models: The 24 VDC supply and return can be connected on
either the Controller interface (C2) or the Machine interface (C3), but it
is not necessary to connect it to both.
Notes: EC/PN Models:
Common output on the Controller interface (C2) and the Machine
interface (C3) are connected internally.
Common input on the Controller interface (C2) and the Machine
interface (C3) are connected internally.
User can connect outputs as source or sink.
User can connect inputs as source or sink.
Refer to the Machine Interface Wiring schematic diagram for
EC/PN Models below, and the CDHD System Wiring - Pin
Assignments diagram for EC/PN Models at the end of this
manual.
Control Board CDHD
30 Quick Start Guide
Machine I/O Interface
Pin Function Description Pin Function Description
1 Secondary
encoder A+
High side of the
secondary encoder input
signal A (RS422)
11 Secondary
encoder A-
Low side of the
secondary encoder input
signal A (RS422)
Pulse input+ High side of the pulse
signal
Pulse input- Low side of the pulse
signal
2 Secondary
encoder B+
High side of the
Secondary encoder input
signal B (RS422)
12 Secondary
encoder B-
Low side of the
secondary encoder input
signal B (RS422)
Direction
input+
High side of the direction
signal
Direction
input-
Low side of the direction
signal
3 Secondary
encoder Z+
High side of the
secondary encoder input
index (RS422)
13 Secondary
encoder Z-
Low side of the
secondary encoder input
index (RS422)
4 Secondary
encoder 5V
5 VDC supply for the
secondary encoder
14 Secondary
encoder
ground
Ground of the 5 VDC
supply for the secondary
encoder.
5 Digital
input 7
Opto-isolated
programmable digital
input. Read using IN7
15 Digital
input 8
Opto-isolated
programmable digital
input. Read using IN8
6 Digital
input 9
Opto-isolated
programmable digital
input. Read using IN9
16 Digital
input 10
Opto-isolated
programmable digital
input. Read using IN10
7 Digital
input 11
Fast opto-isolated
programmable digital
input. Read using IN11
17 Digital
output 4
Opto-isolated
programmable digital
output. Read using OUT4
8 Digital
output 5
Opto-isolated
programmable digital
output. Read using OUT5
18 Digital
output 6
Fast opto-isolated
programmable digital
output. Read using OUT6
9 24 VDC AP/AF Models: User
supplied 24V, for I/O
biasing
19 24 VDC
return
AP/AF Models: Return of
the user-supplied
24 VDC
Common
output
EC/PN Models Common
input
EC/PN Models
10 Fault relay 1 Terminal 1 of the dry
contact fault relay
20 Fault relay 2 Terminal 2 of the dry
contact fault relay
CDHD Control Board
Quick Start Guide 31
Machine Interface Wiring
Machine Interface Wiring – AP/AF Models
Control Board CDHD
32 Quick Start Guide
Machine Interface Wiring – EC/PN Models
CDHD Control Board
Quick Start Guide 33
Motor Feedback – C4
Motor Feedback uses interface C4 on all CDHD models.
Wire the motor feedback interface according to the type of feedback device to be
used in your application. Refer to the guidelines following the pinout table below.
Pins 1, 2, 14 and 15 have dual functionality.
Pin 25 for the motor temperature sensor is connected internally in the drive to
CDHD ground.
Unused pins must remain unwired.
Motor Feedback Interface
Pin Function Pin Function
1 Incremental encoder A + 14 Incremental encoder A -
SSI encoder data + SSI encoder data -
2 Incremental encoder B + 15 Incremental encoder B -
SSI encoder clock + SSI encoder clock -
3 Incremental encoder Z + 16 Incremental encoder Z -
4 Hall U + 17 Hall V+
5 Hall W + 18 AF/EC/PN Models: 8V supply
6 Resolver sine + 19 Resolver sine -
7 Resolver cosine + 20 Resolver cosine -
8 Resolver reference + 21 Resolver reference -
9 Sine encoder sine + 22 Sine encoder sine -
10 Sine encoder cosine + 23 Sine encoder cosine -
11 5V supply 24 Ground (5V/8V return)
12 Motor temperature sensor 25 Motor temperature sensor
13 5V supply 26 Shield
Control Board CDHD
34 Quick Start Guide
Feedback Wiring Guidelines
The following tables present the most common feedback variations. If your
motor feedback does not match any one of the following, contact technical
support.
The tables present the wiring pin layout. Use the User Motor Pin# column in
these tables to record the pin numbers of your specific motor for future
reference.
Notes for Wiring Tables
A If the motor does not support a temperature sensor, do not connect pins
12 and 25.
B If the motor has an additional temperature sensor, connect
pins 12 and 25.
C Halls are single-ended signals. If you want to use differential Hall
signals, contact your supplier.
D Incremental encoders with Hall sensors and index pulse.
A, B and Z signals use the same wiring as Hall sensors U, V, and W.
On power up, feedback briefly sends Hall readings, and then
continuously sends the A, B and Z signals.
E On every power up, the phase find procedure must be executed.
F Encoder backup battery is external to the CDHD drive.
Voltage must be more than 3.6 VDC. The recommended battery is
lithium (ER3V: 3.6V, 1000mAh), manufactured by Toshiba Corp.
G A serial digital data encoder. A single-turn absolute encoder transmits
absolute position data at 17-bit per revolution (131,072 count per rev).
H A serial digital data encoder. This is a full absolute encoder with
17-bit per revolution resolution and xx-bit multi-turn counting.
When the battery is disconnected, it functions as a full absolute
encoder that transmits absolute position data at 17-bit per revolution.
Use the ServoStudio Motor Setup procedure and the Feedback screens to
define motor feedback type, resolution, and other parameters.
Feedback Wiring – Resolver
Pin # Twisted Pair User Motor Pin# Signal Description
6
Twisted Pair
Resolver Sine +
19 Resolver Sine -
7
Twisted Pair
Resolver Cosine +
20 Resolver Cosine -
8
Twisted Pair
Resolver Reference +
21 Resolver Reference -
12
Twisted Pair
Motor Temperature Sensor
25 Motor Temperature Sensor
26 Shield
Note: A
CDHD Control Board
Quick Start Guide 35
Feedback Wiring - Incremental Encoder A Quad B Index Pulse and Halls
Pin # Twisted Pair User Motor Pin# Signal Description
1
Twisted Pair
Incremental Encoder A+
14 Incremental Encoder A-
2
Twisted Pair
Incremental Encoder B+
15 Incremental Encoder B-
3
Twisted Pair
Incremental Encoder Z+
16 Incremental Encoder Z-
4 Hall U
17 Hall V
5 Hall W
12
Twisted Pair
Motor Temperature Sensor
25 Motor Temperature Sensor
11 +5 VDC
24 0 VDC
26 Shield
Notes: A, C
Feedback Wiring – Halls Only
Pin # Twisted Pair User Motor Pin# Signal Description
4 Hall U
17 Hall V
5 Hall W
11 +5 VDC
24 0 VDC
26 Shield
Notes: A, C
Control Board CDHD
36 Quick Start Guide
Feedback Wiring - Incremental Tamagawa
Pin # Twisted Pair User Motor Pin# Signal Description
1
Twisted Pair
Incremental Encoder A+ /
Hall U+
14 Incremental Encoder A- /
Hall U-
2
Twisted Pair
Incremental Encoder B+ /
Hall V+
15 Incremental Encoder B- /
Hall V-
3
Twisted Pair
Incremental Encoder Z+ /
Hall W+
16 Incremental Encoder Z- /
Hall W-
11 +5 VDC
24 0 VDC
26 Shield
Notes: B, D
Feedback Wiring - Sine Encoder
Pin # Twisted Pair User Motor Pin# Signal Description
9
Twisted Pair
Sine Encoder Sine+
22 Sine Encoder Sine-
10
Twisted Pair
Sine Encoder Cosine+
23 Sine Encoder Cosine-
11 +5VDC
24 0VDC
26 Shield
Notes: B, E
CDHD Control Board
Quick Start Guide 37
Feedback Wiring - Sine Encoder with Halls
Pin # Twisted Pair User Motor Pin# Signal Description
9
Twisted Pair
Sine Encoder Sine+
22 Sine Encoder Sine-
10
Twisted Pair
Sine Encoder Cosine+
23 Sine Encoder Cosine-
4 Hall U
17 Hall V
5 Hall W
11 +5 VDC
24 0 VDC
26 Shield
Note: B
Feedback Wiring – Sine Encoder with Index
Pin # Twisted Pair User Motor Pin# Signal Description
9
Twisted Pair
Sine Encoder Sine+
22 Sine Encoder Sine-
10
Twisted Pair
Sine Encoder Cosine+
23 Sine Encoder Cosine-
3
Twisted Pair
Sine Encoder Z+
16 Sine Encoder Z-
11 +5 VDC
24 0 VDC
26 Shield
Note: B
Feedback Wiring – Sine Encoder with Index and Halls
Pin # Twisted Pair User Motor Pin# Signal Description
9
Twisted Pair
Sine Encoder Sine+
22 Sine Encoder Sine-
10
Twisted Pair
Sine Encoder Cosine+
23 Sine Encoder Cosine-
3
Twisted Pair
Sine Encoder Z+
16 Sine Encoder Z-
4 Hall U
Control Board CDHD
38 Quick Start Guide
17 Hall V
5 Hall W
11 +5 VDC
24 0 VDC
26 Shield
Note: B
Feedback Wiring – Sick 5V (Hiperface Protocol and Sine Signal)
Pin # Twisted Pair User Motor Pin# Signal Description
1
Twisted Pair
SSI Data +
14 SSI Data -
9
Twisted Pair
Sine Encoder Sine+
22 Sine Encoder Sine-
10
Twisted Pair
Sine Encoder Cosine+
23 Sine Encoder Cosine-
11 +5 VDC
24 0 VDC
26 Shield
Note: B
Feedback Wiring - Sick 8V (Hiperface Protocol and Sine Signal)
Pin # Twisted Pair User Motor Pin# Signal Description
1
Twisted Pair
SSI Data +
14 SSI Data -
9
Twisted Pair
Sine Encoder Sine+
22 Sine Encoder Sine-
10
Twisted Pair
Sine Encoder Cosine+
23 Sine Encoder Cosine-
18 +8 VDC
24 0 VDC
26 Shield
Note: B
CDHD Control Board
Quick Start Guide 39
Feedback Wiring – Heidenhain (EnDat 2.2 Protocol)
Pin # Twisted Pair User Motor Pin# Signal Description
1
Twisted Pair
SSI Data +
14 SSI Data -
2
Twisted Pair
SSI Clock +
15 SSI Clock -
11 +5 VDC
24 0 VDC
26 Shield
Note: B
Feedback Wiring – Heidenhain (EnDat 2.1 Protocol and Sine Signals)
Pin # Twisted Pair User Motor Pin# Signal Description
1
Twisted Pair
SSI Data +
14 SSI Data -
2
Twisted Pair
SSI Clock +
15 SSI Clock -
9
Twisted Pair
Sine Encoder Sine+
22 Sine Encoder Sine-
10
Twisted Pair
Sine Encoder Cosine+
23 Sine Encoder Cosine-
11 +5 VDC
24 0 VDC
26 Shield
Note: B
Feedback Wiring - Nikon 17-bit Single Turn
Pin # Twisted Pair User Motor Pin# Signal Description
1
Twisted Pair
Serial Data +
14 Serial Data -
11 +5 VDC
24 0 VDC
26 Shield
Notes: B
Control Board CDHD
40 Quick Start Guide
Feedback Wiring - Nikon 17-bit Multi Turn
Pin # Twisted Pair User Motor Pin# Signal Description
1
Twisted Pair
Serial Data +
14 Serial Data -
11 +5 VDC
24 0 VDC
26 Shield
Battery Voltage
Battery Ground
Notes: B, F
Feedback Wiring - Incremental Tamagawa 17-bit Single Turn
Pin # Twisted Pair User Motor Pin# Signal Description
1
Twisted Pair
Serial Data +
14 Serial Data -
11 +5 VDC
24 0 VDC
26 Shield
Notes: B, G
Feedback Wiring - Tamagawa 17-bit Multi Turn
Pin # Twisted Pair User Motor Pin# Signal Description
1
Twisted Pair
Serial Data +
14 Serial Data -
11 +5 VDC
24 0 VDC
26 Shield
Battery Voltage
Battery Ground
Notes: B, F, H
CDHD Control Board
Quick Start Guide 41
Fieldbus Devices – C5 and C6
All CDHD models have the same RJ45 connectors.
CAN Communication
1. Note the Termination Resistor switch located on the top of the drive next to
the daisy chain connector (C8).
Use a small slotted screwdriver or similar tool to set the switch position:
Towards T (default): 120Ω termination resistor not in use.
Away from T: Used when the drive is the last drive in a chain. The
drive provides the 120Ω termination resistor between CAN high and
CAN low.
2. Using any RJ45 cables:
Connect the host to the drive on interface C5.
Connect the next node to interface C6.
EtherCAT or PROFIBUS Communication
Using any RJ45 cables:
Connect the host to the drive on interface C5.
Connect the next node to interface C6.
Control Board CDHD
42 Quick Start Guide
Host Computer – C1, C7
On all CDHD models the drive can be connected to the host computer through
either one of the following interfaces:
USB port. The interface is labeled C1 on all CDHD models
(Exception: AP models do not have a USB port.)
Use a USB 2.0 A to Mini-B cable.
RS232 port. The interface is labeled C7 on all CDHD models.
Use a 4p4c plug.
RS232 Interface – 4P4C
Pin Pin Label Function
1 RX Receive
2 GND ISO Ground
3 TX Transmit
4 Unused
CDHD Control Board
Quick Start Guide 43
Daisy Chain – C8
The CDHD can be addressed and controlled on a daisy-chained RS-232 line.
In a daisy-chain RS-232 configuration, all drives must be daisy-chained through
the C8 connector. Each drive must have a unique address to enable its
identification on the network.
A daisy-chained drive can be assigned an address from 1 to 99 by setting the
rotary switches on the drive. When configuring a daisy-chain, address 0 cannot
be used.
Daisy Chain Interface
Pin Function
1 DC Shield
2 Unused
3 RXD
4 GND
5 TXD
6 GND
7-10 Unused
Control Board CDHD
44 Quick Start Guide
Drive Address Switches
On all CDHD models, two rotary switches are used to set the drive address for
both CAN and serial communication. Use a small slotted screwdriver or similar
tool to set the switches.
Each switch has 10 positions:
The upper switch positions are set as tens: 10, 20, 30 … 90
The lower switch positions are set as ones: 0, 1, 2 … 9
Each drive on the network must have a unique address.
Note: If two or more drives are connected to the network, address 0 cannot be
used. A single drive may have the address 0.
CDHD Power Board 120/240 VAC
Quick Start Guide 45
3 Power Board 120/240 VAC
Overview
On most CDHD 120/240 VAC models, the power board has the following interfaces:
STO – P1
Motor – P2 (P4 on CDHD-020/024)
Regeneration Resistor – P3 (P5 on CDHD-020/024)
AC Input Voltage – P3, P4 (P2, P3 on CDHD-020/024)
Make sure the main voltage rating matches the drive specification.
Applying incorrect voltage may cause drive failure.
Do not apply power until all hardware connections are complete.
Safe Torque Off (STO) – P1
STO uses interface P1 on all CDHD 120/240 VAC models.
Safe torque off (STO) is a safety function that prevents the drive from delivering
power to the motor, which can generate torque.
STO Enable and STO Return must be connected to enable CDHD operation. The
STO Enable signal voltage must be 24 VDC.
Note: If the application does not require STO control, jumper pin 4 to pin 1,
and pin 3 to pin 2, to bypass the STO.
STO Bypass
STO Interface
Pin Pin Label Function
1 24V STO Enable
2 GND STO Return
3 24V Return, provided by the drive
for use with emergency stop circuit
4 24V Supply, provided by the drive
for use with emergency stop circuit
Power Board 120/240 VAC CDHD
46 Quick Start Guide
Motor – P2
Motor uses interface P2 on all CDHD 120/240 models.
Exception: Motor uses P4 on CDHD-020/024.
Motor Interface
Pin Pin Label Function
1 PE Protective ground (motor housing)
2 U Motor Phase U
3 V Motor Phase V
4 W Motor Phase W
CDHD Power Board 120/240 VAC
Quick Start Guide 47
Regeneration Resistor – P3
Regen uses interface P3 on all CDHD 120/240 VAC models.
Exception: Regen uses P5 CDHD-020/024.
Note: On models CDHD-1D5 and CDHD-003, Regen and AC Input Voltage
are combined on one connector.
If the application requires a regeneration (regen) resistor, connect the regen
resistor between terminals B1+ and B2.
Regen Interface
Pin Pin Label Function
1 B1+ DC bus +
2 B2 Regen bus -
Regen Interface on CDHD -020/024
Pin Pin Label Function
1 B2 Regen bus -
2 B1+ DC bus +
Power Board 120/240 VAC CDHD
48 Quick Start Guide
AC Input – P3, P4, P5
The AC Input interfaces and connectors vary among CDHD 120/240 VAC models.
CDHD-1D5 and CDHD-003: One connector for bus power and logic power
uses interface P3.
CDHD-4D5 and CDHD-006: One connector for bus power and logic power
uses interface P4.
CDHD-008, CHDH-010 andCDHD-013: Two connectors – a connector for bus
power uses interface P4, and another connector for logic power uses
interface P5.
CDHD -020/024: Two connectors – a connector for bus power uses interface
P3, and another connector for logic power uses interface P2.
Make the following connections:
1. Connect the AC input voltage ground wire to the PE terminal, located on the
CDHD front panel. Use an M4 ring or spade terminal.
2. Connect L1, L2 and L3 (for bus power):
If the main voltage is from a single-phase source, connect line and
neutral to L1 and L2.
If the main voltage is from a three-phase source, connect the phases to
L1, L2 and L3.
3. Connect L1C and L2C (for logic power):
If the main voltage is from a single-phase source, connect line and
neutral to L1C and L2C.
If the main voltage is from a three-phase source, connect any two
phases to L1C and L2C.
CDHD Power Board 120/240 VAC
Quick Start Guide 49
AC Input Voltage Interface
Note: On models CDHD-1D5 and CDHD-003, Regen and AC Input Voltage
are combined on one connector.
CDHD-1D5
CDHD-003 Pin Pin Label Function
P3 3 L1 AC Phase 1
4 L2 AC Phase 2
5 L1C Logic AC Phase 1
6 LC2 Logic AC Neutral
CDHD-4D5
CDHD-006 Pin Pin Label Function
P4 1 L1 AC Phase 1
2 L2 AC Phase 2
3 L3 AC Phase 3
4 L1C Logic AC Phase 1
5 LC2 Logic AC Neutral
CDHD-008
CDHD-010
CDHD-013 Pin Pin Label Function
P4 1 L1 AC Phase 1
2 L2 AC Phase 2
3 L3 AC Phase 3
P5 1 L1C Logic AC Phase 1
2 LC2 Logic AC Neutral
CDHD-020
CDHD-024
Pin Pin Label Function
P3 1 L1 AC Phase 1
2 L2 AC Phase 2
3 L3 AC Phase 3
P2 1 L1C Logic AC Phase 1
2 LC2 Logic AC Neutral
Power Board 400/480 VAC CDHD
50 Quick Start Guide
4 Power Board 400/480 VAC
Overview
On all CDHD 400/480 VAC models, the power board has the following interfaces:
STO – P1
Logic Power 24 VDC – P2
AC Input and Regeneration – P3
Brake – P4
Motor – P5
Make sure the main voltage rating matches the drive specification.
Applying incorrect voltage may cause drive failure.
Do not apply power until all hardware connections are complete.
Safe Torque Off (STO) – P1
STO uses interface P1 on all CDHD 400/480 VAC models:
Safe torque off (STO) is a safety function that prevents the drive from delivering
power to the motor, which can generate torque.
STO Enable and STO Return must be connected to enable CDHD operation. The
STO Enable signal voltage must be 24 VDC.
Note: If the application does not require STO control, jumper pin 4 to pin 1,
and pin 3 to pin 2, to bypass the STO.
STO Bypass
STO Interface
Pin Pin Label Function
1 24V STO Enable
2 GND 24 VDC Return
3
4
CDHD Power Board 400/480 VAC
Quick Start Guide 51
Logic Power 24V Input – P2
Logic Power 24V uses interface P2 on all CDHD 400/480 VAC models.
This interface is used to connect an external power supply (24V 3.15A max.)
that provides the logic voltage to the control board and to the motor brake
circuit.
Logic Power 24V Interface
Pin Pin Label Function
1 24V Logic In
2 GND 24 VDC Return
Power Board 400/480 VAC CDHD
52 Quick Start Guide
AC Input and Regeneration Resistor – P3
AC Input and Regen Resistor use interface P3 on all CDHD 400/480 VAC
models.
1. Connect the AC input voltage ground wire to the PE terminal, located on the
CDHD front panel. Use an M4 ring or spade terminal.
2. Connect L1, L2 and L3 for the AC power input.
3. If the application requires a regeneration (regen) resistor, connect the regen
resistor between terminals B1+ and B2.
AC Input and Regeneration Resistor Interface
Pin Pin Label Function
1 L1 AC Phase 1
2 L2 AC Phase 2
3 L3 AC Phase 3
4 B1+ DC Bus +
5 B2 Regen Bus
6 B3- DC Bus -
CDHD Power Board 400/480 VAC
Quick Start Guide 53
Brake – P4
Brake uses interface P4 on all CDHD 400/480 VAC models.
This is the power output for the electric motor brake system.
Brake Interface
Pin Pin Label Function
1 BR+ Motor Brake +
2 BR- Motor Brake -
Power Board 400/480 VAC CDHD
54 Quick Start Guide
Motor – P5
Motor uses interface P5 on all 400/480 VAC models:
Motor Interface
Pin Pin Label Function
1 U Motor Phase U
2 V Motor Phase V
3 W Motor Phase W
CDHD Software
Quick Start Guide 55
5 Software
ServoStudio Installation
Use ServoStudio software to configure the drive for your application.
1. Install ServoStudio on the host computer.
2. When installation is complete, start ServoStudio.
Power Up
1. After completing the hardware connections, turn on power to the drive.
2. The first time the drive is connected to the host computer on the USB port,
Windows detects the device and displays a Found New Hardware wizard.
Browse to and select the Drivers folder. The path will vary, depending on
the computer’s operating system and the location selected for software
installation; for example:
\Program Files (x86)\IMO\ServoStudio\Drivers
\Program Files\IMO\ServoStudio\Drivers
The wizard will automatically select and install the driver file STX-CDHD.inf
from the folder.
3. Look at the 7-segment display on the CDHD front panel.
Software CDHD
56 Quick Start Guide
Upon initial power up, the status display shows a flashing e, indicating that
drive parameters are not yet configured. This fault will be cleared once the
drive is configured.
The digital display provides various indications of drive operation, such as
operation modes, drive enable status, and fault conditions.
For more information, refer to the section Drive Status.
Drive Configuration
1. In ServoStudio, select the Setup Wizard option from the navigation menu.
2. Follow the prompts to configure the CDHD for your particular motor and
application.
Note: The wizard performs a basic drive configuration. For more advanced
configuration options and procedures, refer to the user manual.
CDHD Drive Status
Quick Start Guide 57
6 Drive Status
The 7-segment display provides various indications of drive status, such as
operation modes, drive enable status, and fault conditions.
The display uses the following conventions:
Decimal point –Enable/Disable status; if displayed, the drive is enabled.
Steadily lit digit – Operation mode (OPMODE).
Steadily lit letter – Warning.
Sequential display of letters and digits – Fault, with some exceptions.
Flashing – Fault.
Other Status Indications
During the motor setup (At1) and current loop tuning (At2) procedures,
three characters are displayed in sequence.
The state of the software and hardware limit switches are indicated by a
sequential display of characters (L1, L2, L3, L4).
During the encoder initialization, a digit flashing at half-second intervals
indicates the operation mode (OPMODE) currently in effect.
Normal Operation Codes
After the drive is configured and ready for operation, the display shows a
steadily lit single digit, indicating the operation mode.
Display Name Description Drive
Enabled
Drive
Disabled
. Drive enabled
0 OPMODE 0 Serial velocity control mode
1 OPMODE 1 Analog velocity control mode
2 OPMODE 2 Serial current control mode
3 OPMODE 3 Analog current control mode
Drive Status CDHD
58 Quick Start Guide
Display Name Description Drive
Enabled
Drive
Disabled
4 OPMODE 4 Master/slave gearing control mode
8 OPMODE 8 Position control mode
E Ember Mode Drive is in Ember
mode; firmware is
being downloaded to the drive.
Warning and Fault Codes
The following table will help you interpret the warning and fault codes, and
respond appropriately.
Display is the code that appears on the drive’s 7-segment display.
Light distinguishes between a steadily lit character (for warnings) or a
flashing character (for faults).
Type specifies a warning or a fault.
Name is the text message displayed in ServoStudio.
Display Light Type Name Description Action Required
≡≡≡≡
Flash Fault Watchdog Fault Generally occurs due to an
unforeseen circumstance. The
drive is inoperable until power is
cycled.
Contact technical support.
-1 Fault Not Configured Drive configuration required. Set drive parameters and
execute CONFIG.
-5 Fault Motor Setup Failed Motor Setup procedure failed
(MOTORSETUPST will show the
reason)
Check phase and motor
wiring. Make sure to choose
the correct feedback type,
and follow the hints in
MOTORSETUPST.
A4 Fault CAN Supply Fault A problem with the internal
voltage supply for the CAN bus.
The drive probably needs
repair. Contact technical
support.
b Flash Fault Drive Locked Security code and key do not
match. Fatal fault; drive cannot
be operated.
Contact technical support.
b Steady Warning Tamagawa Battery
Low-Voltage
Battery voltage is nearing fault
level.
Prepare to replace battery
soon.
b1 Fault PLL (phase-locked
loop)
Synchronization
Failed
Controller synchronization signal
is missing or not stable. The
fault is detected only when
synchronization is enabled by
SYNCSOURCE command.
Check if controller provide
synchronization signal. Check
the cable connection and
wiring.
CDHD Drive Status
Quick Start Guide 59
Display Light Type Name Description Action Required
e Flash Fault Parameter Memory
Checksum Failure
The non-volatile memory used
to store drive parameters is
empty or the data is corrupted.
Reconfigure the drive, or
download the parameter set,
and save the parameters.
E Flash Fault Failure Writing to
Flash Memory
An internal problem accessing
the flash memory. Fatal fault;
drive cannot be operated.
Contact technical support.
e101 Fault FPGA Config Fail The code for the FPGA did not
load. Fatal fault; drive cannot
be operated.
Contact technical support.
e105 Fault Self Test Fail The power-up self test failed.
Fatal fault; drive cannot be
operated.
Contact technical support.
e106 Fault Control EEPROM
Fault
A problem accessing the
EEPROM on the control board.
Fatal fault; drive cannot be
operated.
Contact technical support.
e107 Fault Power EEPROM
Fault
A problem accessing the
EEPROM on the power board.
Fatal fault; drive cannot be
operated.
Contact technical support.
e108 Fault Vbus Measure
Circuit Fail
A failure occurred in the circuit
that measures bus voltage.
Reset faults. If the fault
persists, the drive probably
needs repair. Contact
technical support.
e109 Fault Current-Sensors
Offset Out-ofRange
The calculated offsets for the
current sensors are out of
range.
Reset faults. If the fault
persists, the drive probably
needs repair. Contact
technical support.
e120 Fault FPGA Version
Mismatch
FPGA version does not match
the firmware version
Update either the FPGA
version or drive version
F Steady Warning Foldback Drive fold current dropped
below the drive fold current
warning threshold
(MIFOLDWTHRESH).
Or, motor fold current dropped
below the motor fold current
warning threshold
(IFOLDWTHRESH).
Check the drive-motor sizing.
This warning can occur if the
drive or the motor is undersized (under-powered) for the
application.
F1 Fault Drive Foldback Drive fold current dropped
below the drive fold current
fault threshold
(MIFOLDFTHRESH).
Check motor-
drive sizing. This
fault can occur if the drive is
under-sized (under-powered)
for the application.
Check that the commutation
angle is correct (i.e.,
commutation is balanced).
Check MIFOLDFTHRESH and
MIFOLDWTHRESH values
F2 Fault Motor Foldback Motor fold current dropped
below the motor fold current
fault threshold.
(IFOLDFTHRESH).
Check the drive-motor sizing.
This fault can occur if the
motor is under-sized (underpowered) for the application.
Check IFOLDFTHRESH and
IFOLDWTHRESH values.
F3 Fault Stall Fault A stall fault occurred because
the motor was in a stalled state
for too long; that is, [I >
MICONT] and [I > 0.9 ILIM] and
[V < STALLVEL] for [time >
STALLTIME].
Remove the stall condition,
and take care to prevent stall
conditions.
Drive Status CDHD
60 Quick Start Guide
Display Light Type Name Description Action Required
H Flash Fault Motor Over-
Temperature
Either the motor has
overheated, or the drive is not
set up correctly for the motor
temperature sensor.
Check that the drive is
configured properly (using
THERMODE, THERMTYPE,
THERMTHRESH and
THERMTIME), and that the
motor temperature sensor is
properly connected to the
drive if needed.
If the drive is configured and
wired prope
rly, check whether
the motor is under-sized for
the application.
H Steady Warning Motor Over-
Temperature
Motor is overheated.
j Flash Fault Velocity Over-
Speed Exceeded
Actual velocity exceeded 1.2
times the velocity limit. The
velocity limit is set using VLIM.
Check that VLIM is set to
match the application
requirements. Using velocity
loop tuning, check for
excessive overshoot.
j1 Fault Exceeded
Maximum Position
Error
The position error (PE) has
exceeded the position error limit
(PEMAX)
Change drive tuning to
improve position tracking, or
increase PEMAX to allow a
greater position error.
L1 Warning Hardware positive
limit switch is open
Positive hardware limit switch is
activated.
L2 Warning Hardware negative
limit switch is open
Negative hardware limit switch
is activated.
L3 Warning Hardware positive
and negative limit
switches are open
Positive and negative hardware
limit switches are both
activated.
L4 Warning Software positive
limit switch is
tripped
Positive software limit switch is
activated.
PFB > POSLIMPOS and
POSLIMMODE = 1
L5 Warning Software negative
limit switch is
tripped
Negative
software limit switch is
activated.
PFB < POSLIMNEG and
POSLIMMODE = 1
L6 Warning Software limit
switches are
tripped
Positive and negative software
limit switches are activated.
PFB > POSLIMPOS and
PFB < POSLIMNEG and
POSLIMMODE = 1
n Flash Fault STO Fault The STO signal is not connected
when drive enabled.
Check that the STO connector
(P1) is wired correctly.
n Steady Warning STO The STO signal is not connected
when drive disabled.
Check that the STO connector
(P1) is wired correctly.
n1 Fault Regen Over-
Current
The preset current limit for
regen current has been
exceeded.
Increase the value of the
regen resistor.
n41 Fault
Power Brake Open
Load
Open load on the power brake
output
Make sure the power brake
load cables are connected
properly and are not
damaged.
n42 Fault
Power Brake Short
Short circuit on the power brake
output
Replace the power brake (the
motor).
o Flash Fault Over-Voltage The bus voltage exceeded the
maximum value.
Check whether a regen
resistor is required for the
application.
CDHD Drive Status
Quick Start Guide 61
Display Light Type Name Description Action Required
o15 Fault Plus 15V Out of
Range
The internal +15 V supply is out
of range.
The drive probably needs
repair. Contact technical
support.
o-15 Fault Minus 15V Out of
Range
The internal -15 V supply is out
of range.
The drive probably needs
repair. Contact technical
support.
o5 Fault 5V Out of Range 5V is low or powering off
May occur during power off. If
occurs otherwise, contact
technical support.
P Fault Over-Current Over-
current at the drive output
has been detected.
The drive allows this fault to
occur up to 3 times in
succession. After 3 faults, the
drive forces a delay of 1 minute
before it can be reenabled.
Check for a short circuit on
the motor connection.
Check for excessive overshoot
in the current loop.
r10 Fault Sine Feedback
Communication Fail
Communication problem
between the drive and the
EnDat encoder.
Check that the data and clock
signals to the EnDat encoder
are connected properly. The
cable must be shielded.
r14 Fault Sine Encoder
Quadrature Fault
Mismatch between calculated
and actual encoder quadrature
information.
Check the feedback device
wiring.
Check that the correct
encoder type (MENCTYPE) is
selected.
r15 Fault Sin/Cos Calibration
Invalid
The sine/cosine calibration
parameters are out of range.
This fault is related to resolver
and sine encoder feedback.
Re-execute the sine/cosine
calibration process.
r16 Fault Feedback 5V Over-
Current
The current supplied by the
drive on the 5V primary encoder
supply has exceeded the preset
current limit.
The drive allows this fault to
occur up to 3 times in
succession. After 3 faults, the
drive forces a delay of 1 minute
before it can be reenabled.
The CDHD can source a
maximum current of 250 mA
to the primary encoder.
Check for a short-circuit at
the encoder.
Check if the encoder is
drawing more than the
current limit.
r17 Fault Secondary
Feedback Index
Break
Secondary encoder index line
not connected.
Check whether the drive is
configured for working with
the index signal on the
secondary encoder, and check
if the index signal is
connected.
r18 Fault Secondary
Feedback A/B Line
Break
One of the secondary feedback
signals is not connected.
Check that all signals from the
secondary encoder are
properly connected to the
drive.
r19 Fault Secondary
Feedback 5V OverCurrent
The preset current limit for
current supplied by the drive on
the 5 V secondary encoder
supply has been exceeded.
The CDHD can source a
maximum current of 250 mA
to the secondary encoder.
Check for a short-circuit at
the encoder.
Check if the encoder is
drawing more than the
current limit.
r20 Fault Feedback
Communication
Error
Communication with the
feedback device did not
initialize
correctly.
Check that the feedback
device is wired correctly.
Check that the correct
encoder type (MENCTYPE) is
selected.
Drive Status CDHD
62 Quick Start Guide
Display Light Type Name Description Action Required
r21 Fault Nikon Encoder
Operational Fault
Communication with the Nikon
MAR-A40A feedback device did
not initialize correctly.
Check that the feedback
device is wired correctly.
Check that the correct
encoder type (MENCTYPE) is
selected.
r23 Fault Phase Find Failed Commutation initialization has
failed. This fault occurs in
systems that do not have
commutation information (e.g.,
Hall signals) in the motor
feedback device.
Check whether the motor
feedback type and the phasefinding parameters are set
correctly for the application.
r24 Fault Tamagawa Init
Failed
The initialization process with
the Tamagawa feedback device
has failed.
Check that the wiring to the
encoder is correct.
r25 Fault Pulse & Direction
Input Line Break
One of the Pulse & Direction
signals is not connected.
Check that all signals to the
P&D inputs are properly
connected to the drive.
r26 Fault Tamagawa Abs
Operational Fault
Several faults are indicated by
the feedback device and include
one or more of the following:
battery low/error, over-speed,
counting error, multi-turn error
Check the battery voltage and
feedback wiring. Make sure
the motor did not move at a
high velocity during encoder
initialization.
r27 Fault Motor Phases
Disconnected
One of the motor phases is
disconnected. The current of
one of the motor phases is
effectively zero for more than
160 electrical degrees while the
current command is greater
than 100.
Check the wiring of the motor
phases.
r28 Fault Resolver
Initialization Failed
The drive could not detect the
proper gain setting or sampling
point for the sine/cosine signals.
Check resolver wiring and
gain value.
r29 Fault Absolute Encoder
Battery LowVoltage
An error bit indicating a battery
problem was detected in data
from the drive.
Replace battery, then reset
drive. If battery is replaced
while drive is on, position
information is retained.
r34 Fault PFB Off Checksum
Invalid
The calculated checksum of the
PFB backup data does not
match the expected checksum.
If required by the application,
home the machine.
r35 Fault PFB Off Data
Mismatch
Multiturn data of the PFB cannot
be restored due to axis
movement.
If required by the application,
home the machine.
r36 Fault No PFB Off Data PFB backup memory is empty. If required by the application,
home the machine.
r4 Fault A/B Line Break One of the primary feedback
signals is not connected. This
fault occurs in incremental
encoder, resolver and sine
encoder feedback types.
Check whether all signals
from the primary feedback
device are properly connected
to the drive.
r5 Fault Index Line Break Encoder index line is not
connected.
Check that the drive is
configured for working with
the index signal (using
MENCTYPE), and check if the
index signal is connected.
CDHD Drive Status
Quick Start Guide 63
Display Light Type Name Description Action Required
r6 Fault Illegal Halls The drive has detected either
000 or 111 state on the Hall
feedback signals.
Check that the Hall signals
are all properly connected.
While turning the motor, read
the Halls state (using HALLS)
to see which signal is not
connected.
If the feedback type is
Tamagawa, check that the
feedback wiring is correct
r8 Fault A/B Out of Range Feedback analog signal is out of
range. This fault is related to
resolver and sine encoder
feedback. The drive checks that
the amplitudes of the sine and
cosine signals are correct, based
on the calculation sin2 + cos2 =
1
Check the amplitudes of the
sine and cosine signals.
r9 Fault Encoder Simulation
Freq Too High
The computed equivalent
encoder output frequency
exceeds the upper limit for this
signal, which is 4 MHz.
Check the parameters used
for setting up the equivalent
encoder output.
If using a sine encoder, check
the ENCOUTRES parameter
settings.
t Steady Warning Over-Temperature The temperature on the power
board and/or on the control
board has exceeded the preset
limit.
Check if the ambient
temperature exceeds the
drive specification. Otherwise
contact technical support.
t1 Fault Power Stage Over-
Temperature
The temperature on the power
board has exceeded the preset
limit.
Check if the ambient
temperature exceeds the
drive specification. Otherwise
contact technical support.
t2 Fault Power Module
Over-Temperature
The temperature inside the
integrated power module has
exceeded the preset limit.
Check if the ambient
temperature exceeds the
drive specification. Otherwise
contact technical support.
t3 Fault Control Board
Over-Temperature
The temperature on the control
board has exceeded the preset
limit.
Check if the ambient
temperature exceeds the
drive specification. Otherwise
contact technical support.
u Flash Fault Under-Voltage The bus voltage is below the
minimum value.
Check that the main AC
voltage supply is connected to
the drive and is switched on.
The under-voltage limit can
be read with the UVTHRESH
command.
u Steady Warning Under-Voltage The bus voltage is below the
minimum value.
Check that the main AC
voltage supply is connected to
the drive and is switched on.
Verify that the setting of
UVMODE is correct.
Warning
Encoder Hall Switch
Not Found
Hall switch not yet detected.
Warning Encoder Index Not
Detected
Index not yet detected.
Warning HIPERFACE
Encoder Resolution
Mismatch
Encoder resolution, as
determined from the detected
HIPERFACE device information,
is different from the current
settings of MENCRES
Enter the correct resolution
(MENCRES value).
Warning HIPERFACE Device
Not Supported
The detected HIPERFACE device
is not supported
Contact technical support.
Drive Status CDHD
64 Quick Start Guide
Display Light Type Name Description Action Required
Warning HIPERFACE Device
Unknown
HIPERFACE encoder type
information is not recognized
Contact technical support.
Warning Phase Find
Required
Phase difference is required to
initialize the commutation angle
Perform phase find.
CDHD Servo Drive
Quick Start Guide
DOC-CDHD-QSG-EN Rev. 5.4
IMO Jeambrun – 30,Rue de Rocory
94100 Saint Maur Des Fosses, France
Tel: +8000 912 712
imo-fr@imopc.com
www.imopc.com
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