Infranor XtrapulsCD1-a Series Manuale utente

Digital drive for

AC sinusoidal

brushless motors

XtrapulsCD1-a

WARNING

This is a general manual describing a series of servo drives having output capability suitable for driving AC

brushless sinusoidal servo motors.

Instructions for storage, use after storage, commissioning as well as all technical details require the

MANDATORY reading of the manual before getting the drives operational.

Maintenance procedures should be attempted only by highly skilled technicians having good knowledge

of electronics and servo systems with variable speed (EN 60204-1 standard) and using proper test

equipment.

The compliance with the standards and the "CE" approval is only valid if the items are installed according to the

recommendations of the drive manuals. Connections are the user's responsibility if recommendations and

drawings requirements are not met.

INFRANOR does not assume any responsibility for physical or material damage due to improper handling or

wrong descriptions of the ordered items.

Any service on the items, which is not specified in the manual, will immediately cancel the warranty.

Infranor reserves the right to change any information contained in this manual without notice.

Issue: 8.16

ESD INFORMATION (Electro Static Discharge)

INFRANOR drives are conceived to be best protected against electrostatic discharges. However,

some components are particularly sensitive and may be damaged if the drives are not properly stored

and handled.

STORAGE

- The drives must be stored in their original package.

- When taken out of their package, they must be stored positioned on one of their flat metal

surfaces and on a dissipating or electrostatically neutral support.

- Avoid any contact between the drive connectors and material with electrostatic potential

(plastic film, polyester, carpet…).

HANDLING

- If no protection equipment is available (dissipating shoes or bracelets), the drives must be

handled via their metal housing.

- Never get in contact with the connectors.

Any contact with electrical parts, even after power down, may involve severe physical damage.

Wait for at least 5 minutes after power down before handling the drives (a residual voltage of several

hundreds of volts may remain during a few minutes).

WASTE DISPOSAL

This symbol indicates that INFRANOR devices must be eliminated by selective disposal and not

with household waste.

XtrapulsCD1-a

Contents

Content

PAGE

CONTENT............................................................................................................................................... 3

CHAPTER 1 - GENERAL DESCRIPTION ............................................................................................. 6

1- INTRODUCTION.............................................................................................................................. 6

2-DESCRIPTION /COMPLIANCE WITH THE STANDARDS............................................................ 6

2.1 - GENERAL DESCRIPTION....................................................................................................... 6

2.2 - REFERENCE TO THE STANDARDS: "CE" CERTIFICATION ............................................... 7

2.3 - REFERENCE TO THE STANDARDS: "UL" LISTING ............................................................. 7

3–OTHER DOCUMENTS................................................................................................................... 7

CHAPTER 2 - SPECIFICATIONS .......................................................................................................... 8

1-TECHNICAL SPECIFICATIONS..................................................................................................... 8

1.1 –XTRAPULS CD1-a-230/I DRIVE............................................................................................. 8

1.2 –XTRAPULS CD1-a-400/I DRIVE............................................................................................. 8

1.3 - COMMON SPECIFICATIONS TO BOTH DRIVE VERSIONS XTRAPULS CD1-a-230/I AND

XTRAPULS CD1-a-400/I.................................................................................................................. 9

2-BLOCK DIAGRAM......................................................................................................................... 12

3-MAIN PROTECTIONS .................................................................................................................. 13

3.1 - STORED PROTECTIONS...................................................................................................... 13

4-DIMENSIONS................................................................................................................................ 14

4.1 - XTRAPULS CD1-a-230/I........................................................................................................ 14

4.2 - XTRAPULS CD1-a-400/1,8 TO 7,2 A .................................................................................... 14

4.3 - XTRAPULS CD1-a-400/14..................................................................................................... 14

4.4 - XTRAPULS CD1-a-400/30/45/70 AND 90 A.......................................................................... 14

4.5 - BRAKING RESISTORS dp 100/100, dp 200/100, dp 50/200, dp 33/280 AND dp 16.5/560. 15

5-FASTENING.................................................................................................................................. 16

5.1 - XTRAPULS CD1-a-230/I........................................................................................................ 16

5.2 - XTRAPULS CD1-a-400/1.8 TO 7.2 A .................................................................................... 16

5.3 - XTRAPULS CD1-a-400/14..................................................................................................... 16

5.4 - XTRAPULS CD1-a-400/30/45/70 AND 90 A.......................................................................... 16

6–MULTIAXES CABINET MOUNTING............................................................................................ 17

6.1 - XTRAPULS CD1-a-230/I........................................................................................................ 17

6.2 - XTRAPULS CD1-a-400/1.8 TO 7.2 A .................................................................................... 17

6.3 - XTRAPULS CD1-a-400/14..................................................................................................... 17

6.4 - XTRAPULS CD1-a-400/30/45/70 AND 90 A.......................................................................... 17

CHAPTER 3 - INPUTS-OUTPUTS....................................................................................................... 18

1-CONNECTORS LOCATION ......................................................................................................... 18

1.1 - DRIVE CONNECTORS.......................................................................................................... 18

2-X1: RESOLVER CONNECTOR (SUB D9PINS FEMALE) ................................................................ 18

3–X2: COMMAND CONNECTOR, LOGIC INPUTS-OUTPUTS AND ENCODER (SUB D25 PINS

MALE) .................................................................................................................................................. 19

3.1 - SPECIFICATION OF THE ANALOG INPUTS: CV+, CV-, Ilim .............................................. 20

3.2 - SPECIFICATION OF THE LOGIC OPTOCOUPLED INPUTS: ENABLE, FCP, FCN, RESET,

CVO, CI........................................................................................................................................... 20

3.3 - SPECIFICATION OF THE "AOK" RELAY OUTPUT.............................................................. 20

3.4 - SPECIFICATION OF THE ENCODER OUTPUTS................................................................ 21

3.5 - SPECIFICATION OF THE ANALOG OUTPUT...................................................................... 21

4-X3 ENCODER INPUT ................................................................................................................... 21

4.1 - X3 CONNECTOR FOR TTL INCREMENTAL ENCODER & HES INPUT (Sub D 25 pins

female)............................................................................................................................................ 21

4.2 - X3 CONNECTOR FOR SinCos INCREMENTAL ENCODER & HES INPUT (Sub D 25 pins

female)............................................................................................................................................ 22

Contents

XtrapulsCD1-a

4.3 - X3 CONNECTOR FOR ABSOLUTE SINGLE-TURN SinCos ENCODER (Sub D 25 pins

female) ............................................................................................................................................23

4.4 - X3 CONNECTOR FOR STEPPER MOTOR EMULATION (Sub D 25 pins female)..............24

5 - X5 SERIAL LINK (Sub D 9 pins male).......................................................................................25

6-X8: AUXILIARY SUPPLY CONNECTOR ......................................................................................25

7- X9 POWER CONNECTOR: MAINS, MOTOR, BRAKING RESISTOR (CD1-A-230 VAND 400 V)25

CHAPTER 4 - CONNECTIONS ............................................................................................................26

1-CONNECTION DIAGRAMS..........................................................................................................26

1.1 –XTRAPULS CD1-a-230/I DRIVE ...........................................................................................26

1.2 –XTRAPULS CD1-a-400/I DRIVE ...........................................................................................27

1.3 - SERIAL LINK CONNECTION.................................................................................................27

1.4 - CONNECTION OF A BACKUP BATTERY FOR THE 24 VDC AUXILIARY SUPPLY...........28

1.5 –CONNECTION EXAMPLE FOR A MULTIAXIS APPLICATION............................................28

2-WIRING .........................................................................................................................................29

2.1 - GROUND WIRING AND LEAKAGE CURRENT....................................................................29

2.2 - CONNECTORS SHIELD CONNECTION...............................................................................30

2.3 - CONNECTION VIEW OF XTRAPULS CD1-a-400/30 TO 90 A.............................................31

2.4 –MOTOR, RESOLVER AND ENCODER CABLES................................................................31

2.5 - INPUT COMMAND AND SERIAL LINK CABLES..................................................................32

2.6 - CONNECTION CABLES OF THE BRAKING RESISTOR.....................................................32

3-REQUIREMENTS OF COMPLIANCE WITH THE UL STANDARDS............................................33

3.1 - CONNECTION BY MEANS OF FASTON SOCKET..............................................................33

3.2 - 24 V SUPPLY .........................................................................................................................33

3.3 - POWER SUPPLY AND UL FUSE RATINGS.........................................................................33

3.4 –XTRAPULS CD1-a-230/I DRIVE: CONNECTION DIAGRAM WITH PROTECTIONS BY "UL"

FUSES ............................................................................................................................................34

3.5 –XTRAPULS CD1-a-400/I DRIVE: CONNECTION DIAGRAM WITH PROTECTIONS BY "UL"

FUSES ............................................................................................................................................35

3.6 - CONNECTION EXAMPLE FOR A UL COMPLIANT MULTIAXIS APPLICATION.................36

CHAPTER 5 - PARAMETER SETTING ...............................................................................................37

CHAPTER 6 –COMMISSIONING........................................................................................................ 38

1-DRIVE STANDARD CONFIGURATION........................................................................................38

2-FIRST POWERING OF THE XTRAPULS CD1-A DRIVE ..............................................................38

2.1 - VERY IMPORTANT................................................................................................................38

2.2 - SWITCH ON THE 24 VDC SUPPLY......................................................................................38

2.3 –SWITCH ON THE 230 VAC OR 400 VAC SUPPLY (according to the drive type). ..............38

3-DRIVE COMMISSIONING AND ADJUSTMENT...........................................................................39

3.1 - COMMUNICATION VIA THE SERIAL LINK...........................................................................39

3.2 –SENSOR FEEDBACK CONFIGURATION............................................................................39

3.3 - DRIVE ADJUSTMENT............................................................................................................39

3.4 - PARAMETERS ADJUSTMENT TO A LINEAR MOTOR........................................................40

3.5 - SPEED LOOP ADJUSTMENT WITH VERTICAL LOAD .......................................................41

3.6 - DRIVE PARAMETERS SAVING ............................................................................................41

3.7 - MOTOR PHASING AT POWER UP.......................................................................................41

3.8 - APPLICATION OF THE STEPPER MOTOR EMULATION...................................................42

3.9 - SOFTWARE GEARING APPLICATION.................................................................................42

CHAPTER 7 –TROUBLESHOOTING .................................................................................................44

1-FAULTS.........................................................................................................................................44

1.1 - SYSTEM FAULT.....................................................................................................................44

1.2 - "BUSY" FAULT.......................................................................................................................44

1.3 - "EEPROM" FAULT .................................................................................................................44

1.4 - "°C MOTOR" FAULT...............................................................................................................44

1.5 - "UNDERVOLT" FAULT (non stored)......................................................................................44

1.6 - "POWER STAGE" FAULT......................................................................................................45

1.7 - "FEEDBACK" FAULT IN THE RESOLVER FEEDBACK CONFIGURATION........................45

1.8 - "RDC " FAULT IN THE RESOLVER FEEDBACK CONFIGURATION...................................45

XtrapulsCD1-a

Contents

1.9 - "FEEDBACK" FAULT IN THE ENCODER FEEDBACK CONFIGURATION......................... 46

1.10 - "COUNTING" FAULT IN THE ENCODER FEEDBACK CONFIGURATION ....................... 46

1.11 - "HES" FAULT ....................................................................................................................... 47

1.12 - "I2T" FAULT .......................................................................................................................... 48

1.13 - FOLLOWING ERROR.......................................................................................................... 48

2-OPERATING PROBLEMS............................................................................................................ 48

2.1 - MOTOR DOES NOT MOVE................................................................................................... 48

2.2 - MOTOR SUPPLIED, BUT NOT TORQUE............................................................................. 48

2.3 - SHAFT LOCKED, ERRATIC OSCILLATIONS OR ROTATION AT MAXIMUM SPEED....... 48

2.4 - DISCONTINUOUS MOTOR ROTATION WITH ZERO TORQUE POSITIONS .................... 49

2.5 - MOTOR DRIFT WITH ANALOG INPUT COMMAND AT ZERO SPEED.............................. 49

2.6 - LOUD CRACKLING NOISE IN THE MOTOR AT STANDSTILL........................................... 49

2.7 - LOUD NOISE IN THE MOTOR AT STANDSTILL AND WHEN RUNNING........................... 49

2.8 - POSITION CONTROL NOT POSSIBLE WITH THE NC ....................................................... 49

3-SERVICE AND MAINTENANCE................................................................................................... 49

CHAPTER 8 - APPENDIX .................................................................................................................... 50

1-HARDWARE ADJUSTMENTS...................................................................................................... 50

2-ADJUSTMENT TO VARIOUS RESOLVER TYPES...................................................................... 51

3-ADJUSTMENT TO VARIOUS MOTOR TYPES............................................................................ 51

3.1 - MOTOR THERMAL SENSOR................................................................................................ 51

3.2 - I2t PROTECTION.................................................................................................................... 52

3.3 - ENCODER COUNTING PROTECTION................................................................................. 53

3.4 - POSITION FOLLOWING PROTECTION............................................................................... 54

4-USE OF THE "LIMIT SWITCH" INPUTS ....................................................................................... 54

5-USE OF THE "CV0" INPUT........................................................................................................... 55

6-USE OF THE "AOK" OUTPUT ...................................................................................................... 55

7-USE OF THE "RESET" INPUT...................................................................................................... 55

8-USE OF THE "ENABLE" INPUT.................................................................................................... 55

9-USE OF THE "BRAKE" OUTPUT.................................................................................................. 55

10 -INCREMENTAL ENCODER OUTPUTS ..................................................................................... 56

11 -USE OF THE "EXTERNAL CURRENT LIMITATION" INPUT..................................................... 56

12 –SERVO CONTROLLER STRUCTURE...................................................................................... 57

13 -DRIVE ADDRESSING VIA RS-232............................................................................................. 58

14 -DRIVE ADDRESSING VIA RS-422............................................................................................. 59

15 -COGGING TORQUE COMPENSATION .................................................................................... 59

16 -SYSTEM OF POWER FEEDBACK VIA ABRAKING RESISTOR............................................... 60

17 -ORDERING CODE...................................................................................................................... 60

Chapter 1 –General description

XtrapulsCD1-a

Chapter 1 - General description

1- INTRODUCTION

Series XtrapulsCD1-a all-digital servo modules are PWM servo drives that provide speed control for AC

sinusoidal motors (brushless) equipped with a position sensor.

The XtrapulsCD1-a system is available as a stand-alone single-axis block including all supplies as well as the

mains filters, and is 230 VAC or 400/480 VAC mains operated.

2 - DESCRIPTION / COMPLIANCE WITH THE STANDARDS

2.1 - GENERAL DESCRIPTION

The XtrapulsCD1-a drive directly controls the motor torque and speed by means of the information provided by a

high resolution position sensor (resolver or encoder). The sinusoidal current commutation based on this high

resolution position sensor provides very smooth motor torque/force control.

The XtrapulsCD1-a drive can be configured for the feedback of various position sensor types. The appropriate

position sensor configuration is selectable by software and saved in the drive.

- With a resolver sensor feedback, the motor absolute position value over one revolution is available and the

servomotor can immediately be enabled after the drive power up.

- With a "SinCos tracks" sensor which provides two analog Sin and Cos signals electrically compatible with the

SinCos encoder signals and which period is equal to the motor pole pitch, the servo-motor can be immediately

enabled after the powering of the drive.

- With an absolute single-turn SinCos encoder feedback (Heidenhain ERN 1085 or compliant), the servo

motor can also immediately be enabled after the drive power up.

- With an incremental encoder only, a motor phasing procedure must be executed at each drive power up

before the motor enabling.

- With an incremental encoder + Hall Effect Sensors (HES) feedback, the motor phasing procedure is no more

necessary and the servo motor can immediately be enabled after the drive power up.

- With an absolute single-turn, muti-turn or linear encoder using the ENDAT® or HIPERFACE® communication

protocols and fitted with incremental SinCos outputs, the servo-motor can also be immediately enabled after the

powering of the drive.

The motor speed or torque input command is an analog voltage (± 10 V). The rotor position monitor is available as

two channels A and B in quadrature, and one marker pulse per revolution.

The resolution is programmable. All the values between 64 pulses per revolution and 16384 pulses per revolution

(ppr) can be programmed according to the motor speed limitation. The main errors are displayed on the drive front

panel.

All command parameters are programmable by means of a serial RS-232 link (or RS-422 optional) and saved in

an EEPROM. The auto-phasing and auto-tuning functions allow the easy and quick commissioning of the drive.

The XtrapulsCD1-a drives have their own DC/DC converter to provide appropriate logic voltage to the modules.

An auxiliary 24VDC +/- 15 % supply is generally available on all machines and supplies a DC/DC converter with all

logic supplies required by the drive. The auxiliary supply keeps the drive logic supplies, after the power supply has

been switched off, in order to keep the position output without initializing the machine all over again. A 24

VDC battery supply with specific wiring keeps the position even after switching off the auxiliary 24 VDC supply.

This wiring can be used for "absolute" operation with the XtrapulsCD1-a drive (see chapter 4: Connections).

XtrapulsCD1-a

Chapter 1 - General description

The power supply is depending on the drive type:

XtrapulsCD1-a-230/I: 230 VAC single-phase mains operation power supply with limitation of the operation

power (see chapter 2, section 1.1) or three-phase via a transformer or an autotransformer or three-phase

mains operation if there are three-phase mains available in 200 to 230 VAC.

XtrapulsCD1-a-400/I: 400 to 480 VAC three-phase mains operated power supply.

A soft start system of the power supply limits the inrush current at power on.

The very small dimensions of the XtrapulsCD1-a drive allow an optimum integration in 300 mm deep cabinets

(connectors included).

The VISUAL DRIVE SETUP software, which is PC compliant with the WINDOWS® operating system, allows the

display and easy modification of all drive parameters. The commissioning of the drive is quick and easy thanks to

the "digitizing oscilloscope" function included in this software.

2.2 - REFERENCE TO THE STANDARDS: "CE" CERTIFICATION

Series XtrapulsCD1-a drives have been approved for their conformity with the EMC standards regarding the

power servos referenced in the EN 61800-3 standard concerning "electrical power servos with variable speed":

EN 55011, Group 1, C3 category regarding conducted and radiated radioelectric disturbances,

EN 61000.4-2-3-4-5 regarding immunity.

Standard to be applied to the electrical equipments of industrial machines: EN 60204.1.

2.3 - REFERENCE TO THE STANDARDS: "UL" LISTING

XtrapulsCD1-a series have been « cULus » listed according to UL508C and UL840 regarding the insulator.

This product was evaluated to:

- the Third Edition of UL508C, the UL Standard for Power Conversion Equipment for the UL Listing

(USL),

- the CSA Standard for Industrial Control Equipment, C22.2 N° 14-10 for the Canadian UL Listing

(CNL).

Providing that the manual is specifying that the end user has to provide an isolated power supply, for 24 VDC

auxiliary input protected by a 4 A UL Listed fuse, the power board is considered within a limited voltage/current

circuit per section 31.4 of UL508C. Therefore, spaces on the power board are not required to be evaluated per

section 31.2 of UL508C and were evaluated according to UL 840.

Per UL 840 requirements, spaces are limited at 2.5 mm assuming pollution degree 2 environment.

Ground connection is fixed in the frame of the device by a rivet, Avibulb masse, BN10-5168. The connector

complies with standard dimensions given in table 6.2 of UL 310, the standard for Electrical Quick connect

terminals.

3 - OTHER DOCUMENTS

- "CD1-a/CD1-k SinCos track feedback": application note regarding the use of motors equipped with

"SinCos tracks" position sensors.

- "CD1-a/CD1-k absolute encoders feedback": application note regarding the use of absolute single-turn

multi-turn or linear encoders using the ENDAT® or HIPERFACE® Communication protocols.

Chapter 2 –Specifications

XtrapulsCD1-a

Chapter 2 - Specifications

1 - TECHNICAL SPECIFICATIONS

1.1 –XTRAPULS CD1-a-230/I DRIVE

Mains operating power supply 230 VAC +10 % / -15 %, 1~ or 3~, 50 - 60 Hz

Isolated galvanic auxiliary supply voltage 24 VDC +/- 15 % - 320 mA

Motor phase-phase output voltage 200 Vrms

Integrated braking system External 100 Ohm / 100 W resistor (dp 100/100)

Minimum resistance: 50 Ohm (dp 50/200)

Minimum inductance between phases 1 mH

Drive output current ratings

Drive type

Max. output

current (Arms)

for 1 sec.

+/- 5 %

(230 VAC)

Rated

output

current

(Arms)

(230 VAC)

Power

losses

(W)

Rated input

current (Arms)

(230 VAC,

60 Hz)

Max. protection

fuses for line

circuit

RK5 listed

(Bussman /

Littelfuse)

Short-

circuit

power of

the mains

UL listed

CD1-a-230/2.25

2.25

1.1

6 A

5 kA

yes

CD1-a-230/4.5

4.5

2.25

6 A

5 kA

yes

CD1-a-230/7.5

7.5

3.75.

3.75

6 A

5 kA

yes

CD1-a-230/10.5

10.5

5.25

6 A

5 kA

yes

CD1-a-230/16.5

16.5

8.25

9 A

5 kA

yes

Maximum room temperature = 40° C.

1.2 –XTRAPULS CD1-a-400/I DRIVE

Mains operating power supply voltage

400 to 480 VAC + 10 %/- 15 % 3~, TN or TT system with

earthed neutral point, 50 - 60 Hz

(Phase/Ground voltage must be balanced)

Isolated auxiliary supply voltage

24 VDC +/- 15 % - 320 mA

Motor phase-phase output voltage

380 to 460 Vrms depending on the mains

Integrated braking system

XtrapulsCD1-a-400/1.8 to 7.2 A:

External 200 Ω/100 W resistor (dp 200/100)

Minimum resistor value: 150 /100 W

XtrapulsCD1-a-400/14:

External 50 Ω/200 W resistor (dp 50/200)

XtrapulsCD1-a-400/30 and 45:

External 33 Ω/280 W resistor (dp 33/280)

XtrapulsCD1-a-400/70 and 90:

External 16.5/560 W resistor (dp 16.5/560)

Minimum inductance between phases

2 mH

OPERATING POWER RESTRICTION IN SINGLE-PHASE VOLTAGE

Continuous RMS power ensuring a capacitor lifetime of 20 000 hours:

- 650 W for CD1-a-230/2.25 to 10.5

- 1000 W for CD1-a-230/16.5.

XtrapulsCD1-a

Chapter 2 - Specifications

DRIVE OUTPUT CURRENT RATINGS

Output voltage range for 400-480 VAC (rms) three-phase mains.

Output current range: 1.8 A, 2.7 A, 5.1 A, 7.2 A, 14 A, 30 A, 45 A, 70 A, 90 A (rms)

Drive type

Max. output

current (Arms)

for 1 sec.

+/- 5 % (480

VAC)

Rated

output

current

(Arms)

(480 VAC)

Power

losses

(W)

Rated input

current (Arms)

(480 VAC,

60 Hz)

Max. protection

fuses for line

circuit RK5 listed

or A60Q40 for

400/70 and 90 A

listed

Short-

circuit

power of

the mains

UL listed

CD1-a-400/1.8

1.8

0.9

2 A

5 kA

yes

CD1-a-400/2.7

2.7

1.35

2 A

5 kA

yes

CD1-a-400/5.1

5.1

2.55

4 A

5 kA

yes

CD1-a-400/7.2

7.2

3.6

4 A

5 kA

yes

CD1-a-400/14

200

8 A

5 kA

yes

CD1-a-400/30

400

20 A

5 kA

yes

CD1-a-400/45

560

20 A

5 kA

yes

CD1-a-400/70

650

40 A

5 kA

yes

CD1-a-400/90

650

40 A

5 kA

yes

Maximum room temperature = 40° C.

1.3 - COMMON SPECIFICATIONS TO BOTH DRIVE VERSIONS XTRAPULS CD1-a-230/I AND XTRAPULS

CD1-a-400/I

Regulation loops: current, speed, position

Digital

Mains filter on power supply

Integrated in the drive

XtrapulsCD1-400/90 exception:

- EMC capacitors integrated

- Common mode choke not integrated

- Recommended filter: F-400-70-90

Common mode filter on auxiliary supply

Integrated in the drive

Position sensor

Transmitter resolver

Absolute single-turn encoder (ERN1085 or compliant)

Incremental encoder (TTL or SinCos signals)

Incremental encoder + Hall Effect Sensors

Power stage protections

See section 3 "Main protections"

PWM switching frequency

8 kHz

Internal current limitation

Imax: 20 % to 100 % and Irated: 20 % to 50 %

Imax duration = 1 second

External current limitation

0 to 10 V (resolution = 13 bits)

100 to 0 % of the internal Imax limitation

Limitation polarity selectable by software:

* 0 V to 10 V (no limitation for 0 Volt)

* 10 V to 0 V (no limitation for 10 Volt)

Analog speed input command CV

±10 V, resolution = 14 bits

Motor accel/decel ramp range

Between 0 and 30 s from zero speed to max. speed

Speed and position regulator

Sampling period = 0,5 ms

Anti-wind-up system of the integrator

Antiresonance filter

Adjustable digital gains

Speed loop bandwidth

Selectable cut-off frequency for 45° phase shift :

50 Hz, 75 Hz or 100 Hz

Current loop bandwidth

Cut-off frequency for 45° phase shift: 1000 Hz

Chapter 2 –Specifications

XtrapulsCD1-a

Max. motor speed

Adjustable from 100 rpm to 25000 rpm

Speed range

1 : 8192 with 14 bits input command resolution

Encoder position output

Two A and B channels in quadrature with 1 marker pulse per

revolution.

RS422 line driver.

Programmable resolution between 64 ppr and 16384 ppr

(according to the motor maximum speed)

Arc minute accuracy = (8 + 5400/Resolution)

Note: The total position accuracy must take into account the

accuracy of the resolver used.

Resolver input

Resolution: 65536 ppr (16 bit)

Excitation frequency: 8 kHz

Transformation ratio: 0.3 to 0.5 (other values need factory-set

adjustment)

Encoder input

Software selectable:

Quadrature signals A & B with Z marker pulse

RS 422 line receiver

Maximum pulse frequency: 1 MHz

Resolution: 500 to 106ppr

Incremental Sin/Cos encoder

Heidenhain 1Vcc Sin/Cos type or compliant

Maximum signal frequency: 200 kHz

Resolution: 500 to 106ppr

Interpolation factor : 1024

Absolute single-turn Sin/Cos encoder

Heidenhain ERN 1085 or compliant

Maximum signal frequency: 200 kHz

Resolution: 2048 or 512 ppr

Interpolation factor : 1024

PULSE and DIRECTION input

Re-configuration of the encoder input for stepper motor

emulation:

Line receiver RS-422

Maximum pulse frequency: 1 MHz

Resolution: 200 to 106pitch/revolution

Hall sensors input

Selectable by software : 120° or 60° HES type

5 V or 12 V supply voltage

HES sequence error detection

Logic inputs

Enable / Disable: ENABLE

Limit switch +: FC+

Limit switch - : FC-

Current command: CI

Zero speed input command / Phasing command: CV0

Fault RESET

Logic outputs

"AOK" relay contact

Umax = 50 V, Imax = 100 mA, Pmax = 10 W

"AOK": closed if drive OK, open if fault

Motor BRAKE control 1.5 A maximum with 24 Vdc.

Open collector protected against short circuits.

The brake is controlled when the motor is enabled: ENABLE

activated and no fault displayed.

Analog output

+/-10 V, resolution: 8 bit, load: 10 mA, linearity: 2%, low pass

filter: 170 Hz, programmable output signal: Channel 1 of the

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