Infranor CD1-k User manual

CD1-k 1
CD1-k – Installation Guide
INFRANOR
®
CANopen
amplifier
CD1-k
Installation Guide
gb

2
CD1-k- Installation guide
CD1-k- Installation guide
WARNING
This is a general manual describing a series of servo amplifiers having output capability suitable for driving AC
brushless sinusoidal servo motors.
Please see CD1-k User Guide for the operation of the amplifier (commissioning, configuration, ...).
For the CANopen communication, see manual CD1-k – CANopen Communication Profile.
Instructions for storage, use after storage, commissioning as well as all technical details require the
MANDATORY reading of the manual before getting the amplifiers 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 conformity with the standards and the "CE" approval is only valid if the items are installed according to the
recommendations of the amplifier manuals. Connections are the user's responsibility if recommendations and
drawings requirements are not met.
INFRANOR does not assume any responsibility for any physical or material damage due to improper handling or
wrong descriptions of the ordered items.
Any intervention 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.
©INFRAN
O
R,
August 2008. All rights reserved.
Issue: 5.7
!
Any contact with electrical parts, even after power down, may involve physical damage.
Wait for at least 5 minutes after power down before handling the amplifiers (a residual voltage of several
hundreds of volts may remain during a few minutes).
ESD INFORMATION (ElectroStatic Discharge)
INFRANOR amplifiers are conceived to be best protected against electrostatic discharges. However,
some components are particularly sensitive and may be damaged if the amplifiers are not properly
stored and handled.
STORAGE
- The amplifiers 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 amplifier connectors and material with electrostatic potential
(plastic film, polyester, carpet…).
HANDLING
- If no protection equipment is available (dissipating shoes or bracelets), the amplifiers must
be handled via their metal housing.
-
Never get in contact with the connectors
ELIMINATION
In order to comply with the 2002/96/EC directive of the European Parliament and of the Council of
27 January 2003 on waste electrical and electronic equipment (WEEE), all INFRANOR devices
have got a sticker symbolizing a crossed-out wheel dustbin as shown in Appendix IV of
the 2002/96/EC Directive.
This symbol indicates that INFRANOR devices must be eliminated by selective disposal and not
with standard waste.

3
Content
CD1-k – Installation Guide
Content
PAGE
CONTENT............................................................................................................................................... 3
CHAPTER 1 – GENERAL DESCRIPTION............................................................................................. 5
1-INTRODUCTION............................................................................................................................. 5
2-DESCRIPTION /COMPLIANCE WITH THE STANDARDS............................................................ 5
2.1 - GENERAL DESCRIPTION.......................................................................................................5
2.2 - REFERENCE TO THE STANDARDS: "CE" CERTIFICATION ............................................... 6
2.3 - REFERENCE TO THE STANDARDS: "UL" LISTING ............................................................. 6
3-OTHER DOCUMENTS REQUIRED FOR THE COMMISSIONING................................................ 6
CHAPTER 2 – SPECIFICATIONS.......................................................................................................... 7
1-MAIN TECHNICAL DATA................................................................................................................ 7
1.1 - CD1-k-230/I SINGLE-AXIS AMPLIFIER .................................................................................. 7
1.2 - CD1-K-400/I SINGLE-AXIS AMPLIFIER.................................................................................. 7
1.3 - COMMON SPECIFICATIONS TO THE CD1-k-230/I AND CD1-k-400/I AMPLIFIER TYPES. 8
2-DIMENSIONS................................................................................................................................ 11
2.1 - CD1-k-230/I AMPLIFIER…..................................................................................................... 11
2.2 - CD1-k-400/1.8 TO 7.2 A AMPLIFIER..................................................................................... 11
2.3 - CD1-k-400/14 A AMPLIFIER.................................................................................................. 11
2.4 - CD1-k-400/30/45/70 AND 90 A AMPLIFIER.......................................................................... 11
2.5 - BRAKING RESISTOR dp 100/100, dp 200/100, dp 50/200, dp33/280 AND EF 400V.......... 12
3-FASTENING.................................................................................................................................. 13
3.1 - CD1-k-230/I AMPLIFIER…..................................................................................................... 13
3.2 - CD1-k-400/1.8 TO 7.2 A AMPLIFIER..................................................................................... 13
3.3 - CD1-k-400/14 A AMPLIFIER….............................................................................................. 13
3.4 - CD1-k-400/30/45/70 AND 90 A AMPLIFIER.......................................................................... 13
4-MULTIAXIS CABINET MOUNTING.............................................................................................. 14
4.1 - CD1-k-230/I AMPLIFIER…..................................................................................................... 14
4.2 - CD1-k-400/1.8 TO 7.2 A AMPLIFIER..................................................................................... 14
4.3 - CD1-k-400/14 A AMPLIFIER.................................................................................................. 14
4.4 - CD1-k-400/30/45/70 AND 90 A AMPLIFIER.......................................................................... 14
CHAPTER 3 – INPUTS-OUTPUTS ......................................................................................................15
1-CONNECTORS LOCATION ......................................................................................................... 15
1.1 - SINGLE-AXIS AMPLIFIERS CD1-k-230-I AND CD1-k-400-I ................................................ 15
1.2 - CD1-k-400/30/45/70 AND 90 AMPLIFIER ............................................................................. 15
2-LED DISPLAY ............................................................................................................................... 16
2.1 - IDENTIFICATION OF THE LEDs........................................................................................... 16
3-AMPLIFIER ADDRESSING: SELECTION OF THE TRANSMISSION SPEED............................. 17
4-X1 CONNECTOR: RESOLVER SENSOR....................................................................................... 18
5-X2 CONNECTOR: INPUTS-OUTPUTS ........................................................................................ 18
5.1 - SPECIFICATION OF THE LOGIC INPUTS: INHIBIT, FC+,FC-, INDEX, CAPTURE, LOW
SPEED............................................................................................................................................ 19
5.2 - SPECIFICATION OF THE LOGIC OUTPUT "AOK" ON RELAY........................................... 19
5.3 - SPECIFICATION OF THE LOGIC OUTPUTS ....................................................................... 19
5.4 - SPECIFICATION OF THE ANALOG INPUTS ....................................................................... 19
6-X3 CONNECTORS: ENCODER.................................................................................................... 20
6.1 - X3 CONNECTOR FOR TTL INCREMENTAL ENCODER & HES INPUT (Sub D 25 pins
female)............................................................................................................................................ 20
6.2 - X3 CONNECTOR FOR SinCos INCREMENTAL ENCODER & HES INPUT (Sub D 25 pins
female)............................................................................................................................................ 21
6.3 – X3 CONNECTOR FOR ABSOLUTE SINGLE-TURN SinCos ENCODER (Sub D 25 pins
female)............................................................................................................................................ 22
6.4 - X3 CONNECTOR FOR "PULSE / DIRECTION" INPUTS (Sub D 25 pins female)................ 23

4 Content
CD1-k- Installation Guide
6.5 - X3 CONNECTOR FOR ENCODER OUTPUT (Sub D 25 pins female) ................................. 24
7-X6 AND X7 CONNECTORS: CAN-OPEN ...................................................................................... 24
8-X5 CONNECTOR: RS-232............................................................................................................ 24
9-X8 CONNECTOR: AUXILIARY SUPPLY AND BRAKE ................................................................ 25
10 -X9 CONNECTOR: POWER........................................................................................................ 25
CHAPTER 4 - CONNECTIONS............................................................................................................ 26
1-CONNECTION DIAGRAMS.......................................................................................................... 26
1.1 - CD1-k-230/I AMPLIFIER ........................................................................................................ 26
1.2 - CD1-k-400/I AMPLIFIER ........................................................................................................ 27
1.3 - CONNECTION OF THE SERIAL LINK .................................................................................. 28
1.4 - CONNECTION OF A BACKUP BATTERY ............................................................................ 28
1.5 - CONNECTION FOR A MULTIAXIS APPLICATION .............................................................. 28
2-WIRING RECOMMENDATIONS................................................................................................... 29
2.1 - GROUND CONNECTIONS AND GROUNDING.................................................................... 29
2.2 - SHIELD CONNECTION OF THE CONNECTORS ................................................................ 30
2.3 - CONNECTION VUE OF CD1-K-400/30/45/70 AND 90......................................................... 31
2.4 - MOTOR, RESOLVER AND ENCODER CABLES ................................................................. 31
2.5 - SERIAL LINK AND CAN COMMUNICATION CABLES......................................................... 32
2.6 - CONNECTION CABLES OF THE BRAKING RESISTOR..................................................... 32
3-FIRST POWERING OF THE AMPLIFIER ..................................................................................... 33
3.1 - VERY IMPORTANT................................................................................................................ 33
3.2 - SWITCHING ON THE 24 Vdc SUPPLY................................................................................. 33
3.3 - SWITCHING ON THE POWER SUPPLY (230 Vac or 400 Vac according to the
amplifier type) ................................................................................................................................. 33
3.4 - COMMISSIONING.................................................................................................................. 33
4-REQUIREMENTS FOR THE COMPLIANCE WITH THE UL STANDARDS ................................. 33
4.1 - CONNECTION BY MEANS OF A FASTON SOCKET........................................................... 33
4.2 - 24 V SUPPLY ......................................................................................................................... 33
4.3 - POWER SUPPLY AND UL FUSE RATING ........................................................................... 34
4.4 - CD1-k-230/I AMPLIFIER: CONNECTION DIAGRAM WITH PROTECTIONS BY
"UL" FUSES.................................................................................................................................... 35
4.5 - CD1-k-400/I AMPLIFIER: CONNECTION DIAGRAM WITH PROTECTIONS BY
"UL" FUSES.................................................................................................................................... 36
4.6 - CONNECTION EXAMPLE FOR A UL COMPLIANT MULTIAXIS APPLICATION ............... 37
CHAPTER 5 - APPENDIX
.................................................................................................................... 38
1-HARDWARE ADJUSTMENTS OF THE LOGIC BOARD.............................................................. 38
2-ADJUSTMENT TO VARIOIUS RESOLVER TYPES..................................................................... 39
3-USE OF THE "AOK" OUTPUT ...................................................................................................... 39
4-ENERGY RECUPERATION VIA ABRAKING RESISTOR ................................................................. 40
5-ORDER CODE .............................................................................................................................. 40

5
Chapter 1 - General description
CD1-k – Installation Guide
Chapter 1 – General description
1 - INTRODUCTION
CD1-k all-digital amplifiers with sinusoidal PWM control are servo amplifiers that provide the control of brushless
AC motors with a position sensor.
The CD1-k amplifier is a stand-alone single-axis block including power supply unit and mains filters. It is available
in both 230 VAC and 400/480 VAC mains operated voltages.
2 - DESCRIPTION / COMPLIANCE WITH THE STANDARDS
2.1 - GENERAL DESCRIPTION
The CD1-k amplifier 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 CD1-k amplifier can be configured for the feedback of various position sensor types. The appropriate position
sensor configuration is selectable by software and saved in the amplifier.
- With a resolver sensor feedback, the motor absolute position value over one revolution is available and the
servo motor can immediately be enabled after the amplifier power up.
- With a "SinCos tracks" sensor which provides two analog Sin and Cos signals electrically compliant 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 amplifier power up.
- With an incremental encoder only, a motor phasing procedure (Phasing) must be executed at each amplifier
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 amplifier power up.
- With an absolute single-turn, multi-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.
Series CD1-k amplifiers 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 amplifier. The auxiliary supply allows to keep the logic board on, after the power
supply has been switched off, in order to keep the position output and to avoid initializing the machine all over
again. A 24 VDC battery supply with specific wiring allows to keep the position even after switching off the
auxiliary 24 VDC supply. This wiring can be used for "absolute" operation with the CD1-k amplifier (see chapter 4:
Connections).
The power supply is depending on the amplifier type:
•CD1-k-230/I: 230 VAC single-phase mains operation power supply or three-phase via a transformer or
an auto-transformer or three-phase mains operation if there are three-phase mains available in 200 to
230 VAC.
•CD1-k-400/I: 400 to 480 VAC three-phase mains operated power supply.
A soft start system of the power supply allows to limit the inrush current at power on.
The very small dimensions of the CD1-k amplifier allow an optimum integration in 300 mm deep cabinets
(connectors included).

6
Chapter 1 - General description
CD1-K- Installation Guide
2.2 - REFERENCE TO THE STANDARDS: "CE" CERTIFICATION
Series CD1-k amplifiers have been approved with regard to their conformity with the Electromagnetic Compatibility
standards concerning the power servos referenced in the EN 61800-3:2004 standard "Electrical variable speed
power servo systems":
- EN 55011, group 1, C3 category, regarding radiated radioelectric disturbances,
- EN 61000.4-2-3-4-5 regarding immunity.
Standard to be applied to the electrical equipment of industrial machines: EN 60204-1.
These items have been "CE" marked since year 2000.
2.3 - REFERENCE TO THE STANDARDS: "UL" LISTING
CD1-k 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, dated May 2002 for the UL
Listing (USL),
- the CSA Standard for Industrial Control Equipment, C22.2 N° 14-95, dated August 1995 for the Canadian UL
Listing (CNL) except for CD1-k-400/70 and 90 drives.
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 (Second Edition, dated May 20, 1993) requirements, spaces are limited to 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 REQUIRED FOR THE COMMISSIONING
CD1-k User Guide,
CANopen communication protocol for CD1-k amplifiers.
"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.

7
CD1-k – Installation Guide
Chapter 2 - Specifications
Chapter 2 – Specifications
1 - MAIN TECHNICAL DATA
1.1 – CD1-k-230/I SINGLE-AXIS AMPLIFIER
Mains operated power supply voltage 230 Vac +10 % / -15 % single-phase or 3-phase
50 to 60 Hz
Isolated auxiliary logic and motor brake supply voltage 24 Vdc +/-15 % - 320 mA without brake
Motor phase-phase output voltage 200 Vrms
Integrated braking system External resistor 100 Ohm / 100 W (dp 100/100)
Minimum resistance: 50 Ohm
Minimum inductance between phases 1 mH
OUTPUT CURRENT RATINGS (at a maximum room temperature of 40°C)
Amplifier 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-k-230/2.25 2.25 1.1 25 1.1 6 A 5 kA yes
CD1-k-230/4.5 4.5 2.25 30 2.25 6 A 5 kA yes
CD1-k-230/7.5 7.5 3.75 44 3.75 6 A 5 kA yes
CD1-k-230/10.5 10.5 5.25 55 5.25 6 A 5 kA yes
CD1-k-230/16.5 16.5 8.25 66 8.25 9 A 5 kA yes
1.2 - CD1-K-400/I SINGLE-AXIS AMPLIFIER
Mains operated power supply voltage 400 to 480 Vac +10 % / -15 % 3-phase, TN or TT
system with earthed neutral point
50 to 60 Hz (phase-earth voltage must be
balanced)
Auxiliary logic and motor brake supply voltage 24 Vdc +/-15 % - 320 mA without brake
Motor phase-phase output voltage 380 to 460 Vrms depending on the mains
Integrated braking system CD1-k-400/1.8 to 7.2 A:
External resistor: 200 Ohm / 100 W (dp 200/100)
Minimum resistor value: 150 Ω/100 W
CD1-k-400/14 A:
External resistor: 50 Ohm / 200 W (dp 50/200)
CD1-k-400/30 and 45 A:
External resistor : 33 Ω/280 W (dp 33/280)
CD1-k-400/70 and 90 A:
External resistor: 16.5 Ω/560 W (EF 400V)
Minimum inductance between phases 2 mH

8
CD1-K- Installation Guide
Chapter 2 – Specifications
OUTPUT CURRENT RATINGS (at a maximum room temperature of 40°C)
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)
Amplifier 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 or A60Q40
for 400/70 and 90
listed
Short-
circuit
power of
the mains
UL listed
CD1-k-400/1.8 1.8 0.9 35 0.9 2 A 5 kA yes
CD1-k-400/2.7 2.7 1.35 43 1.35 2 A 5 kA yes
CD1-k-400/5.1 5.1 2.55 71 2.55 4 A 5 kA yes
CD1-k-400/7.2 7.2 3.6 93 3.6 4 A 5 kA yes
CD1-k-400/14 14 7 200 7 8 A 5 kA yes
CD1-k-400/30 30 15 400 15 20 A 5 kA yes
CD1-k-400/45 45 20 560 20 20 A 5 kA yes
CD1-k-400/70 70 35 650 35 40 A 5 kA In progress
CD1-k-400/90 90 35 650 35 40 A 5 kA In progress
1.3 – COMMON SPECIFICATIONS TO THE CD1-k-230/I AND CD1-k-400/I AMPLIFIER TYPES
Servo loops: current, speed and position Digital
Mains filter on power supply Integrated in the amplifier
Common mode filter on auxiliary supply Integrated in the amplifier
Common mode filter on motor brake supply Integrated in the amplifier
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 table of the main protections in the CD1-k User Guide
Motor brake control 1.5 A maximum with 24 Vdc.
PWM switching frequency 8 kHz
Minimum inductance between phases 1 mH pour 230 V / 2 mH pour 400 V
Digital current regulator (PI) Adjustable
Current loop bandwidth Cut-off frequency for 45° phase shift: 1000 Hz
Internal current limitation Imax: 20 % to 100 % and I rated: 20 % to 50 %
Authorized Imax duration = 1 second
Digital speed and position regulators Sampling period = 0.5 ms
Anti-wind-up system of the integrator
Adjustable digital gains
Speed loop bandwidth Selectable cut-off frequency for 45° phase shift:
50 Hz, 75 Hz or 100 Hz
Max. motor speed Adjustable from 100 rpm to 25 000 rpm
Resolver input Resolution : 65536 ppr (16 bit)
Excitation frequency: 8 kHz
Transformation ratio: 0.3 to 0.5 (other values need factory
adjustment)

9
CD1-k – Installation Guide
Chapter 2 - Specifications
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 & 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 Software selectable: 120° or 60° HES type
5 V or 12 V supply voltage
HES sequence error detection
Logic inputs INHIBIT
FC+ and FC- limit switches
INDEX
CAPTURE
LOW SPEED
Logic outputs 4 logic outputs activated by bus
Relay outputs Relay contact: open if error
Umax = 50 V, Imax = 100 mA, Pmax = 10 W
Open collector output protected against load
short-circuit
Motor brake coil with 24 VDC/1.5 A
Analog inputs Re-configuration of the logic outputs by means of jumpers:
+/- 10 V, resolution = 14 bits
Encoder position output Re-configuration of the TTL encoder input via CANopen:
Two A and B channels in quadrature + 1 marker pulse per
revolution
RS 422 line driver
Programmable resolution: 64 ppr to 16384 ppr (according to
the maximum motor speed)
Arc minute accuracy = (8 + 5400/Resolution)
Note: The total position accuracy must take into account the
accuracy of the resolver used.
CAN interface CANopen protocol (DS 301 – DSP 402)
Error display LEDs on front panel + diagnostic via serial link RS 232 +
diagnostic via CANopen.
Motor and application parameter setting Serial link RS 232 or
bus interface with CANopen protocol
Automatic functions Amplifier adjustment to the motor (AUTO-PHASING)
Servo control adjustment (AUTO-TUNING)

10
CD1-K- Installation Guide
Chapter 2 – Specifications
Compliance with the standards: CE certification.
360° shield connection, equipotentiality according
to the wiring rules.
CD1-400/70 and 90 A with mains filtre F-400-
70/90.
Conformity with the standards: UL listing
"360°" shield; equipotentiality according to the
wiring rules.
EMC standards:
- immunity: EN 61000.4-2-3-4-5
- conducted and radiated disturbances: EN 55011, Group 1,
C3 category
Electrical standards for industrial machines:
- EN 60204-1: insulator 1500 Vac / 1 mn
leakage current > 30 mA (EMI filters).
CD1-k 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, dated May 2002 for the UL Listing
(USL),
- the CSA Standard for Industrial Control Equipment, C22.2
N° 14-95, dated August 1995 for the Canadian UL Listing
(CNL) except for CD1-k-400/70 and 90 drives.
Temperature
- storage: -20° C to +70° C
- operation: +5° C to +40° C
From 40° C, the rated currents must be reduced of
3 % per additional Celsius degree
Max. temperature: 50° C
Altitude 1000 m
Moisture < 50% at 40° C and < 90% at 20° C: EN 60204-1 standard
Condensation prohibited (storage and operation)
Cooling Forced air (fan integrated in the CD1-k amplifier)
Check for free ventilation and no upper or lower obstruction of
the air admissions
Mounting position Vertical
Environment Open chassis to be mounted in a housing protecting the
amplifier from conducting dust and condensation (pollution
degree 2 environment)
Mounting location Closed cabinet without any conducting and/or corroding
agents and according to the environment conditions
requirements
Condensation prohibited
Weight CD1-k-230/I: about 1 kg
CD1-k-400/1.8 to 7.2 A: about 1.5 kg
CD1-k-400/14: about 3 kg
CD1-k-400/30 and 45: about 4.8 kg
CD1-k-400/70 and 90: about 5.3 kg

11
CD1-k – Installation Guide
Chapter 2 - Specifications
2 - DIMENSIONS
2.1 - CD1-k-230/I AMPLIFIER 2.2 - CD1-k-400/1.8 TO 7.2 A AMPLIFIER
2.3 - CD1-k-400/14 A AMPLIFIER 2.4 - CD1-k-400/30/45/70 AND 90 A AMPLIFIER
199
203
260
200
230
228
293
234
293
UV
W
234
381
288
230
230
258
234
293

12
CD1-K- Installation Guide
Chapter 2 – Specifications
2.5 - BRAKING RESISTOR dp 100/100, dp 200/100, dp 50/200, dp33/280 AND EF 400V
A
B
7
7
40
83
C
DIMENSIONS dp 50/200, dp 100/100 and dp 200/100 dp 33/280, EF 400V
A 157 mm 290 mm
B 145 mm 278 mm
C 52 mm 57 mm

13
CD1-k – Installation Guide
Chapter 2 -Specifications
3 - FASTENING
VERTICAL MOUNTING MANDATORY!
3.1 - CD1-k-230/I AMPLIFIER 3.2 - CD1-k-400/1.8 TO 7.2 A AMPLIFIER
3.3 - CD1-k-400/14 A AMPLIFIER 3.4 - CD1-k-400/30/45/70 AND 90 A AMPLIFIER
==
192
64,8
200
3
2 M4 screws +
2 Ø 4 washers
==
228.00
64.8
3
220
2 M4 screws +
2 Ø 4 washers
==
250
82,80
258,00
3,15
2 M4 screws +
2 Ø 4 washers
278,5 4,15
288
25 60
110,00
4 M4 screws +
4 Ø 4 washers

14 Chapter 2 – Specifications
CD1-k – Installation Guide
4 - MULTIAXIS CABINET MOUNTING
4.1 - CD1-k-230/I AMPLIFIER 4.2 - CD1-k-400/1.8 TO 7.2 A AMPLIFIER
4.3 - CD1-k-400/14 A AMPLIFIER 4.4 - CD1-k-400/30/45/70 AND 90 A AMPLIFIER
GND
Switch Function
Addressing (1-63)
0 0 ---> speed 1 Mbit
1 0 ---> speed 500 Kbit
0 1 ---> speed 250 Kbit
1 1 ---> speed 125 Kbit
RS 232
X5
RS 232
X5
64,8
X8 X9
80
1 2 3 4 5 6 7 8
NODE ID BAUD 1 - 6
7 - 8
RS 232
X5
1 2 3 4 5 6 7 8
NODE ID
BAUD
RS 232
X5
64,8
X8 X9
80
Ground
Switch Function
Addressing (1-63)
0 0 ---> speed 1 Mbit
1 0 ---> speed 500 Kbit
0 1 ---> speed 250 Kbit
1 1 ---> speed 125 Kbit
1 2 3 4 5 6 7 8
NODE ID BAUD 1 - 6
7 - 8
Br-
Br+
24V
0V
X8
V
U
L2
DC+
L3
DC-
L1
RB RB
X9
RS 232
X5
Br-
Br+
24V
0V
X8
V
U
L2
DC+
L3
DC-
L1
RB RB
X9
RS 232
X5
82,8
X8 X9
98
Ground
Switch Function
Addressing (1-63)
0 0 ---> speed 1 Mbit
1 0 ---> speed 500 Kbit
0 1 ---> speed 250 Kbit
1 1 ---> speed 125 Kbit
1 2 3 4 5 6 7 8
NODE ID BAUD
1 - 6
7 - 8
125
110
RS 232
X5
Br-
Br+
24V
0V
X8
V
W
W
U
L2
DC+
L3
DC-
L1
RB RB
X9
Br-
Br+
24V
0V
X8
X9
X8
RS 232
X5
Br-
Br+
24V
0V
X8
V
U
L2
DC+
L3
DC-
L1
RB RB
X9
234.5
GND
Addressing (1-63)
0 0 ---> Speed 1 Mbit
1 0 ---> Speed 500 Kbit
0 1 ---> Speed 250 Kbit
1 1 ---> Speed 125 Kbit
Switch Function
(*) CD1-k-400/70 and 90 A
1 2 3 4 5 6 7 8
NODE ID BAUD
1 - 6
7 - 8

15
CD1-k – Installation Guide
Chapter 3 -Inputs-Outputs
Chapter 3 – Inputs-Outputs
1 - CONNECTORS LOCATION
1.1 - SINGLE-AXIS AMPLIFIERS CD1-k-230-I AND CD1-k-400-I
GND
Switch Function
Addressing (1 - 63)
0 0 ---> speed 1 Mbit
1 0 ---> speed 500 Kbit
0 1 ---> speed 250 Kbit
1 1 ---> speed 125 Kbit
RS 232
X5
RS 232
X5
64,8
X8 X9
80
1 2 3 4 5 6 7 8
NODE ID BAUD 1 - 6
7 - 8
I / O
X2
X1
Resolver
1
1
TSRQPON
M
L
K
JIHGFEDCBA
SERVO DRIVES & MOTION CONTROL
INFRANOR
SYS
BUS
OK
WARNING !
Residual voltage
Wait 1 minute after power
OFF
X3
Encoder
1
X7
CAN
1
1
CAN
X6
Date: IY
N°Serie: 200000
I: 10.5
U: 400
CD1-k
1.2 – CD1-k-400/30/45/70 AND 90 AMPLIFIER
125
110
RS 232
X5
Br-
Br+
24V
0V
X8
V
W
W
U
L2
DC+
L3
DC-
L1
RB RB
X9
Br-
Br+
24V
0V
X8
X9
X8
RS 232
X5
Br-
Br+
24V
0V
X8
V
U
L2
DC+
L3
DC-
L1
RB RB
X9
234.5
GND
Addressing (1-63)
0 0 ---> Speed 1 Mbit
1 0 ---> Speed 500 Kbit
0 1 ---> Speed 250 Kbit
1 1 ---> Speed 125 Kbit
Switch Function
(*) CD1-k-400/70 and 90 A
1 2 3 4 5 6 7 8
NODE ID BAUD 1 - 6
7 - 8

16
CD1-k- Installation Guide
Chapter 3 - Inputs-Outputs
2 - LED DISPLAY
2.1 - IDENTIFICATION OF THE LEDs
SYS: System error
SYS LED is continuously lit if System error,
SYS LED is unlit if no error.
OK: Errors are regrouped on the ‘OK’ LED: These errors are coded and can be displayed by means of the
parameter setting software, via the serial link RS-232 or via the CANopen bus.
OK LED: continuously flashing if error,
OK LED: continuously lit if no error.
The OK LED groups the following errors:
Undervoltage (quick flashing)
Power supply overvoltage
Out of 24 Vdc supply range (18 to 29 V),
Motor phase / GND short-circuit
Braking system short-circuited or overheated
Fan
Motor phase / motor phase short-circuit, power stage temperature, power stage supply, PWM error
Triggering of the I2t protection
Counting error
Position following error
Low speed overshoot
EEPROM error
Procedure execution error (busy)
Init-400 V error
Current offset error
Motor temperature error
Resolver or encoder cable interruption
Hall sensors or absolute encoder error.
Notes:
Any of these errors (except for the "Undervolt." error) involves:
- the slow flashing of the OK Led
- the amplifier disabling,
- the motor brake control,
- opening of the AOK relay contact. This relay must be wired as described in Chapter 5, section 3, in order to
switch-off the power supply and keep a zero type standstill.
The error "No power voltage" involves:
- the amplifier disabling,
- the motor brake control.
OK (green)
BUS (green)
SYS (red)

17
CD1-k – Installation Guide
Chapter 3 -Inputs-Outputs
BUS: CANopen RUN LED
The CANopen RUN LED indicates the status of the NMT state machine (see DS-301 – 9.52 NMT state machine):
CAN RUN LED STATUS
SINGLE FLASH STOP
FLASHING PRE-OPERATIONAL
ON OPERATIONAL
See "DR-303-3 Indicator specification" for more information.
3 - AMPLIFIER ADDRESSING: SELECTION OF THE TRANSMISSION SPEED
Each amplifier of the network must be configured with one single address.
A DIP8 switch accessible by the operator allows to configure the amplifier address as well as the communication
speed of the "CANopen" bus.
•Addressing (6 selection bits)
Status of the cursors Address
6 5 4 3 2 1
OFF OFF OFF OFF OFF OFF 0
OFF OFF OFF OFF OFF ON 1
OFF OFF OFF OFF ON OFF 2
... ... ... ... ... ... ...
ON ON ON ON ON ON 63
•Communication speed (2 selection bits):
Status of the cursors Speed
8 7
OFF OFF 1 Mbit
OFF ON 500 Kbits
ON OFF 250 Kbits
ON ON 125 Kbits
Note:
- The "00" address is only to be used in Local mode.
- An address ≠00 is to be used in Remote mode (use of the CANopen bus).
1 000 ms
200 ms
ON
OFF
200 ms
200 ms
ON
OFF

18
CD1-k- Installation Guide
Chapter 3 - Inputs-Outputs
4 - X1 CONNECTOR: RESOLVER SENSOR
SUB D 15 PINS FEMALE (SAME FOR ALL AMPLIFIER TYPES CD1-k-230/I AND CD1-k-400/I)
PIN FUNCTION DESCRIPTION
1 Shield connection If no "360°" connection on the connector
2 S3 (cosine +) Resolver connector
3 S4 (sine -) Resolver connector
4 R2 (reference -) Resolver connector
5 R1 (reference +) Resolver connector
10 S1 (cosine -) Resolver connector
11 S2 (sine +) Resolver connector
12 TC (thermal sensor) If motor thermal switch connected on X1
13 TC (thermal sensor) If motor thermal switch connected on X1
For the connection of other resolver types, see chapter 5, section 2.
5 - X2 CONNECTOR: INPUTS-OUTPUTS
SUB D 15 PINS MALE (SAME FOR ALL AMPLIFIER TYPES CD1-k-230/I AND CD1-k-400/I)
PIN SIGNAL I/O DESCRIPTION
1 INHIBIT I Positive logic - Galvanic insulation
2 GND I For the shield connection if no "360°" connection
3 Limit switch + I Positive logic - Galvanic insulation
4 Limit switch - I Positive logic - Galvanic insulation
5 Output 3 / Analog input 1 O/I Optocoupled logic output ; I = 100 mA
Re-configurable as an analog input by jumper
6 Low speed I Positive logic - Galvanic insulation
7 Capture 2 Index I Positive logic - Galvanic insulation
8 Capture 1 I Positive logic - Galvanic insulation
9,10 AOK relay contact O Relay contact open if error
Pmax = 10 W with Umax = 50 V or Imax = 100 mA
11 Output 0 O Optocoupled logic output ; I = 100 mA
12 Output 1 O Optocoupled logic output ; I = 100 mA
13 Output 2 / Analog input 2 O/I Optocoupled logic output ; I = 100 mA
Re-configurable as an analog input by jumper
14 + 24 external I To be wired if the logic outputs are used
15 0 V external I
Both analog inputs 1 and 2 are configurable by means of the OUT/IN-SEL jumpers located on the amplifier
connector board as shown below. The values of the analog inputs can be read via the CANopen bus.
Note: There are only two jumpers on some connector boards for the "Logic outputs / Analog inputs" selection.
OUT/IN-SEL OUT/IN-SEL
Analog inputs selection
CD1-k
Connector board
CD1-k
Connector board
Logic outputs selection

19
CD1-k – Installation Guide
Chapter 3 -Inputs-Outputs
5.1 - SPECIFICATION OF THE LOGIC INPUTS: INHIBIT, FC+, FC-, INDEX, CAPTURE, LOW
SPEED
These optocoupled inputs are operating in positive logic.
The input voltage corresponding to level 1 must be between 18 V and 30 V.
5.2 - SPECIFICATION OF THE LOGIC OUTPUT "AOK" ON RELAY
Relay contact closed if amplifier OK and open if error.
Pmax = 10 W with Umax = 50 V - Imax = 100 mA
5.3 - SPECIFICATION OF THE LOGIC OUTPUTS
5.4 - SPECIFICATION OF THE ANALOG INPUTS
+12V
X2-9
X2-10
Bidirectional
transile
Logic input 100 NF *
0 V external
CD1-k
5 V
8.2 KΩ
100 KΩ
+24 V external
10 kOhms
+24 V external
Driver
0 V external
0 V
330 Ohms
(*): 100 pF for Index and Capture
20K
CD1-k
X2-5,13
100K
X2-2
100K
1nF
16 k

20
CD1-k- Installation Guide
Chapter 3 - Inputs-Outputs
6 - X3 CONNECTORS: ENCODER
SAME CONNECTORS FOR ALL CD1-k-230/I AND CD1-k-400/I AMPLIFIER TYPES
6.1 - X3 CONNECTOR FOR TTL INCREMENTAL ENCODER & HES INPUT (Sub D 25 pins female)
The “ TTL incremental encoder & HES” configuration is software selectable and stored into the amplifier
EEPROM.
The corresponding X3 connector pin functions are described below.
PIN FUNCTION REMARKS
18 Marker Z/ Differential input of the encoder marker pulse Z/
5 Marker Z Differential input of the encoder marker pulse Z
19 Channel A/ Differential input of the encoder channel A/
6 Channel A Differential input of the encoder channel A
20 Channel B/ Differential input of the encoder channel B/
7 Channel B Differential input of the encoder channel B
8 +5 V Encoder supply voltage (max. current = 300 mA)
21 GND Encoder supply GND
11 HALL U Hall sensor input signal phase U
24 HALL V Hall sensor input signal phase V
12 HALL W Hall sensor input signal phase W
10 +12 V Hall sensors supply voltage: output impedance = 9 Ohm, max. 150 mA available
23 AGND Hall sensors supply GND
9 TC+ Motor thermal sensor input
22 TC- Motor thermal sensor input
others reserved
ENCODER INPUT LINES SPECIFICATION
HALL SENSORS INPUT LINES SPECIFICATION
X3-11,12,24
1K
X3-23
10K
1nF
+3.3V
74HC14
+5V
X3
-
6,7
X3- 19,20
Receiver
75-176
+5V
3.3K
200R
200R
+5V
X3- 5
X3- 18
Receiver
75-176