Infranor Gem Drive GD1 Series User manual

GD1
INFRANOR
Gem Drive
Installation Guide
gb
Actuator

GD1 – Installation Guide
GD1
1
WARNING
This is a general manual describing a series of servo drives having output capability suitable for driving AC
brushless sinusoidal servo motors.
Please see GD1 User Guide for the operation of the drive (commissioning, configuration, …).
For the CANopen communication, see manual GD1 – 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 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 conformity 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 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.
©INFRANOR, June 2008, All rights reserved.
Issue : 1.1
CAUTION
Any contact with electrical parts, even after power down, may involve physical damage.
Wait for at least 10 minutes after power down before handling the drives (a residual voltage of
several hundreds of volts ma
y
remain durin
g
a few minutes
)
.
ESD INFORMATION (ElectroStatic 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.
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.

2 General content
t
GD1 – Installation Guide
General content
Page
CONTENT PART 1 ................................................................................................................................. 5
CHAPTER 1 – GENERAL DESCRIPTION............................................................................................. 7
1.1 -INTRODUCTION......................................................................................................................... 7
1.2 -HARDWARE ARCHITECTURE TYPES...................................................................................... 8
1.2.1 - Single-axis configuration ..................................................................................................... 8
1.2.2 - Multiaxis configuration......................................................................................................... 9
1.3 -COMMUNICATION INTERFACES ........................................................................................... 11
1.4 -PROTECTIONS ........................................................................................................................ 11
1.5 -PROGRAMMABILITY ............................................................................................................... 11
1.6 -COMPLIANCE WITH THE STANDARDS ................................................................................. 11
1.6.1 - General description ........................................................................................................... 11
1.6.2 - Reference to the CE standards ......................................................................................... 12
1.6.3 - Reference to the UL standards.......................................................................................... 12
1.7 -OTHER DOCUMENTSREQUIRED FORTHECOMMISSIONING .......................................... 12
1.8 -OTHER DOCUMENTSREQUIRED FOREXTENSION BOARDS............................................ 12
CHAPTER 2 – SPECIFICATIONS........................................................................................................ 13
2.1 -MAIN TECHNICAL DATA.......................................................................................................... 13
2.1.1 - GD1-230/I single-axis drive............................................................................................... 13
2.1.2 - GD1-400/I single-axis drive............................................................................................... 14
2.1.3 - Technical features ............................................................................................................. 15
2.2 -DIMENSIONS............................................................................................................................ 17
CHAPTER 3 – INPUTS-OUTPUTS ......................................................................................................19
3.1 -LOCATION OF THE GD1-UUU/CC CONNECTORS................................................................... 19
3.2 -LEDDISPLAY ........................................................................................................................... 20
3.2.1 - Identification of the LEDs................................................................................................... 20
3.3 -DRIVE ADDRESSING: SELECTION OF THETRANSMISSION SPEED................................. 20
3.4 -X1 CONNECTOR:RESOLVER ................................................................................................ 21
3.5 -X2 CONNECTOR:INPUTS-OUTPUTS .................................................................................... 21
3.5.1 - Specification of the logic inputs INX.................................................................................. 22
3.5.2 - Specification of the AOK logic output on optorelay ........................................................... 22
3.5.3 - Specification of the logic outputs OUTX............................................................................ 23
3.5.4 - Specification of the analog inputs CV1+, CV1-,ILIM+, ILIM- .................................................. 23
3.6 -X3 CONNECTOR:ENCODER.................................................................................................. 24
3.6.1 - X3 Connector for "TTL & HES incremental encoder" input (SUB D 25 pins female)........ 24
3.6.2 -X3 Connector for "SIN/COS & HES incremental encoder" input (SUB D 25 pins female) 25
3.6.3 - X3 Connector for "Absolute single-turn SIN/COS encoder" input (SUB D 25 pins female)
...................................................................................................................................................... 26
3.7 –X4 CONNECTOR ..................................................................................................................... 27
3.8 –X5 CONNECTOR:SERIAL LINK RS-232 /RS-422.................................................................. 27
3.9 –X6 AND X7 CONNECTORS: CAN-OPEN ................................................................................ 27
3.10 –X8 CONNECTOR: AUXILIARY SUPPLY AND BRAKE SUPPLY........................................... 27
3.11 –X9 CONNECTOR: BRAKE ..................................................................................................... 27
3.12 –CONNECTOR X10: POWER –MOTOROUTPUT.................................................................. 28
3.13 –X11 CONNECTOR:POWER –DC BUS................................................................................. 28
3.14 –X12 CONNECTOR:POWER SUPPLY INPUT (INTERNAL SUPPLY)......................................... 28
3.14.1 – Single-phase power input connector for the 230 VAC single-axis configuration ............. 28
3.14.2 – Three-phase power input connector for the 400 VAC single-axis configuration.............. 29
3.14.3 – X13 Connector: additonnal braking resistor ................................................................... 29

GD1 – Installation Guide
3
General conten
t
CHAPTER 4 –CONNECTIONS............................................................................................................ 30
4.1 -CONNECTION DIAGRAM OF GD1–STAND-ALONE 230VAC OR 400VAC ............................ 30
4.2 -CONNECTION OF THESERIAL LINKRS-232......................................................................... 31
4.3 -CONNECTION OF ABACKUP BATTERY................................................................................ 31
4.4 -WIRING RECOMMENDATIONS............................................................................................... 31
4.4.1 - Ground connections and grounding .................................................................................. 31
4.4.2 - Shield connection on the connectors ................................................................................ 33
4.5 -MOTOR, RESOLVER AND ENCODERCABLES..................................................................... 34
4.6 -SERIAL LINK AND CAN COMMUNICATIONCABLES............................................................. 35
4.7 -CONNECTION CABLES OF THE BRAKING RESISTOR......................................................... 35
4.8 -FIRST POWERING OF THE DRIVE ......................................................................................... 35
4.8.1 - Very important ................................................................................................................... 35
4.8.2 - Switching on the 24 VDC supply......................................................................................... 35
4.8.3 - Switching on the power supply (230 VAC or 400 VAC according to the drivetype: ............ 35
GD1-uuu/cc-PS-R)........................................................................................................................ 35
4.9 -REQUIREMENTS FORTHE COMPLIANCE WITH THEUL STANDARDS ............................. 36
4.9.1 - 24 V supply........................................................................................................................ 36
4.9.2 - Power supply and UL fuse rating....................................................................................... 36
CHAPTER 5 –APPENDIX.................................................................................................................... 37
5.1 -ADJUSTMENT TO VARIOUS RESOLVER TYPES .................................................................. 37
5.2 -USE OF THE "AOK" OUTPUT................................................................................................... 37
5.3 -ENERGY RECUPERATION VIA ABRAKING RESISTOR ....................................................... 38
5.4 -MAINTENANCE ........................................................................................................................ 38
5.5 -ORDERCODE .......................................................................................................................... 38
CONTENT PART 2 ............................................................................................................................... 40
CHAPTER 1 - SPECIFICATIONS......................................................................................................... 41
1.1 -INTRODUCTION....................................................................................................................... 41
1.2 -MULTIAXIS POWER SUPPLY UNIT GDPS-400/16-32............................................................ 41
CHAPTER 2 -CONNECTORS ............................................................................................................. 43
2.1 -LOCATION OF THE GDPS CONNECTORS............................................................................. 43
2.2 -J1 CONNECTOR:THREE-PHASE 400 VPOWER INPUT FORTHE CONFIGURATIONWITH
EXTERNAL POWER SUPPLYUNIT (GDPS)................................................................................... 44
2.3 -J2 CONNECTOR:DC BUS FORTHE CONFIGURATIONIN 400 VWITHEXTERNAL POWER
SUPPLY UNIT (GDPS) ..................................................................................................................... 44
2.4 -X6 CONNECTOR:EXTERNAL BRAKING RESISTOR............................................................. 44
CHAPTER 3 –CONNEXIONS.............................................................................................................. 45
3.1 -CONNEXION DIAGRAMOF THE SUPPLIES IN MULTIAXIS CONFIGURATION WITH GDPS
400/XX POWER SUPPLY UNIT......................................................................................................... 45
3.2 -POWER SUPPLY AND UL FUSE RATING............................................................................... 46
CHAPTER 4 –ORDER CODE.............................................................................................................. 47
4.1 -ORDERCODE .......................................................................................................................... 47
4.2 -ACCESSORIES ........................................................................................................................ 47
CONTENT PART 3 ............................................................................................................................... 49
1 - OPERATING ENVIRONMENT CONDITIONS................................................................................. 50
2 - "SAFE TORQUE OFF" OPTION..................................................................................................... 53
2.1 -DESCRIPTION.......................................................................................................................... 53
2.2 -RECOMMENDATIONSFOR THEINTEGRATION................................................................... 53
2.2.1 - SAFETY INSTRUCTIONS................................................................................................. 53
2.2.2 - STO CONNECTION ..........................................................................................................54
2.2.3 - TIMINGS............................................................................................................................ 54

4 Part 1 – GD1 amplifier
GD1 – Installation Guide
PART 1
________ GD1
AMPLIFIER

GD1 – Installation Guide
5
Part 1 - Content
Content Part 1
Page
CONTENT PART 1 ................................................................................................................................. 5
CHAPTER 1 – GENERAL DESCRIPTION............................................................................................. 7
1.1 -INTRODUCTION......................................................................................................................... 7
1.2 -HARDWARE ARCHITECTURE TYPES...................................................................................... 8
1.2.1 - Single-axis configuration ..................................................................................................... 8
1.2.2 - Multiaxis configuration ......................................................................................................... 9
1.3 -COMMUNICATION INTERFACES ........................................................................................... 11
1.4 -PROTECTIONS ........................................................................................................................ 11
1.5 -PROGRAMMABILITY ............................................................................................................... 11
1.6 -COMPLIANCE WITH THE STANDARDS ................................................................................. 11
1.6.1 - General description ........................................................................................................... 11
1.6.2 - Reference to the CE standards ......................................................................................... 12
1.6.3 - Reference to the UL standards.......................................................................................... 12
1.7 -OTHER DOCUMENTS REQUIRED FOR THE COMMISSIONING .......................................... 12
1.8 -OTHER DOCUMENTS REQUIRED FOR EXTENSION BOARDS............................................ 12
CHAPTER 2 – SPECIFICATIONS........................................................................................................ 13
2.1 -MAIN TECHNICAL DATA.......................................................................................................... 13
2.1.1 - GD1-230/I single-axis drive ............................................................................................... 13
2.1.2 - GD1-400/I single-axis drive ............................................................................................... 14
2.1.3 - Technical features ............................................................................................................. 15
2.2 -DIMENSIONS............................................................................................................................ 17
CHAPTER 3 – INPUTS-OUTPUTS ......................................................................................................19
3.1 -LOCATION OF THE GD1-UUU/CC CONNECTORS................................................................... 19
3.2 -LED DISPLAY ........................................................................................................................... 20
3.2.1 - Identification of the LEDs................................................................................................... 20
3.3 -DRIVE ADDRESSING: SELECTION OF THE TRANSMISSION SPEED ................................. 20
3.4 -X1 CONNECTOR: RESOLVER ................................................................................................ 21
3.5 -X2 CONNECTOR: INPUTS-OUTPUTS .................................................................................... 21
3.5.1 - Specification of the logic inputs INX .................................................................................. 22
3.5.2 - Specification of the AOK logic output on optorelay ........................................................... 22
3.5.3 - Specification of the logic outputs OUTX............................................................................ 23
3.5.4 - Specification of the analog inputs CV1+, CV1-, ILIM+, ILIM- .................................................. 23
3.6 -X3 CONNECTOR: ENCODER .................................................................................................. 24
3.6.1 - X3 Connector for "TTL & HES incremental encoder" input (SUB D 25 pins female)........ 24
3.6.2 - X3 Connector for "SIN/COS & HES incremental encoder" input (SUB D 25 pins female) 25
3.6.3 - X3 Connector for "Absolute single-turn SIN/COS encoder" input (SUB D 25 pins female)
...................................................................................................................................................... 26
3.7 -X4 CONNECTOR ...................................................................................................................... 27
3.8 -X5 CONNECTOR: SERIAL LINK RS-232 /RS-422................................................................... 27
3.9 -X6 AND X7 CONNECTORS: CAN-OPEN ................................................................................. 27
3.10 -X8 CONNECTOR: AUXILIARY SUPPLY AND BRAKE SUPPLY............................................ 27
3.11 -X9 CONNECTOR: BRAKE...................................................................................................... 27
3.12 -CONNECTOR X10: POWER –MOTOR OUTPUT.................................................................. 28
3.13 -X11 CONNECTOR: POWER –DC BUS ................................................................................. 28
3.14 -X12 CONNECTOR: POWER SUPPLY INPUT (INTERNAL SUPPLY) .......................................... 28
3.14.1 - Single-phase power input connector for the 230 VAC single-axis configuration .............. 28
3.14.2 - Three-phase power input connector for the 400 VAC single-axis configuration............... 29
3.14.3 - X13 Connector: additonnal braking resistor .................................................................... 29

6 Part 1 – Content
GD1 – Installation Guide
CHAPTER 4 - CONNECTIONS ............................................................................................................ 30
4.1 -CONNECTION DIAGRAM OF GD1 –STAND-ALONE 230 VAC OR 400 VAC ............................ 30
4.2 -CONNECTION OF THE SERIAL LINK RS-232......................................................................... 31
4.3 -CONNECTION OF ABACKUP BATTERY ................................................................................ 31
4.4 -WIRING RECOMMENDATIONS............................................................................................... 31
4.4.1 - Ground connections and grounding .................................................................................. 31
4.4.2 - Shield connection on the connectors ................................................................................ 33
4.5 -MOTOR, RESOLVER AND ENCODER CABLES ..................................................................... 34
4.6 -SERIAL LINK AND CAN COMMUNICATION CABLES............................................................. 35
4.7 -CONNECTION CABLES OF THE BRAKING RESISTOR......................................................... 35
4.8 -FIRST POWERING OF THE DRIVE ......................................................................................... 35
4.8.1 - Very important ................................................................................................................... 35
4.8.2 - Switching on the 24 VDC supply......................................................................................... 35
4.8.3 - Switching on the power supply (230 VAC or 400 VAC according to the drive type: ............ 35
GD1-uuu/cc-PS-R)........................................................................................................................ 35
4.9 -REQUIREMENTS FOR THE COMPLIANCE WITH THE UL STANDARDS ............................. 36
4.9.1 - 24 V supply ........................................................................................................................ 36
4.9.2 - Power supply and UL fuse rating....................................................................................... 36
CHAPTER 5 – APPENDIX.................................................................................................................... 37
5.1 -ADJUSTMENT TO VARIOUS RESOLVER TYPES .................................................................. 37
5.2 -USE OF THE "AOK" OUTPUT................................................................................................... 37
5.3 -ENERGY RECUPERATION VIA ABRAKING RESISTOR ....................................................... 38
5.4 -MAINTENANCE ........................................................................................................................ 38
5.5 -ORDER CODE .......................................................................................................................... 38
CONTENT PART 2 ............................................................................................................................... 40

GD1 – Installation Guide
7
Part 1
–
Cha
p
ter 1
–
General descri
p
tion
Chapter 1 – General description
1.1 – INTRODUCTION
GD1 all-digital drives with sinusoidal PWM control are servo drives that provide the control of brushless AC
motors with a sensor (resolver, encoder or, as an option, second encoder sensor on the load).
Several versions are available:
♦with integrated power supply unit: 230 VAC single-phase or 230 to 480 VAC three-phase or
♦with external 230 to 480 VAC three-phase power supply unit (GDPS) – See Part 2.
The very small dimensions allow an easy mounting in low depth cabinets.
Height (235 mm) and depth (224 mm) are the same for all voltage and current ratings.
The drives with current rating ≤45 A have a single width with 74.5 mm pitch whereas drives with 60 A and 90 A
ratings have a double width with 145 mm pitch.
The drives with current ratings smaller than 8 A in 230 V have reduced 175 mm depth. The angle brackets can be
reverse side mounted in order to allow a wall-crossing fastening. This solution offers the advantage to separate
the part of the drive which requires heat dissipation.

8 Part 1 – Chapter 1 – General description
GD1 – Installation Guide
1.2 – HARDWARE ARCHITECTURE TYPES
1.2.1 –SINGLE-AXIS CONFIGURATION
INTEGRATED 230 VAC SINGLE-PHASE POWER SUPPLY UNIT
RATED POWER < 4 kW
* GD1-230/05 and 08 without braking resistor.
INTEGRATED 400/480 VAC THREE-PHASE POWER SUPPLY UNIT
RATED POWER < 7 kW
EXTERNAL POWER SUPPLY UNIT GDPS-400/xx
RATED POWER > 4 kW IN 230 VAC
RATED POWER > 7 kW IN 400 VAC
Power supply
+
filtre
+
braking
resistor
GD1- 230/05 to 30 - PS-R
Power supply
+
filtre
+
braking
resistor
GD1- 400/05 to 20 - PS-R
GDPS- 400/xx GD1- 400/30 to 90
230 VAC three-phase
or
400 VAC three-phase
A
1
X4
Power supply
+
filtre
See Part 2
Bus DC
X4 cable
X4

GD1 – Installation Guide
9
Part 1
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Cha
p
ter 1
–
General descri
p
tion
1.2.2 –MULTIAXIS CONFIGURATION
MULTIAXIS CONFIGURATION WITH INTEGRATED 230 VAC SINGLE-PHASE POWER SUPPLY UP
TO A RATED POWER < 4 kW
MULTIAXIS CONFIGURATION WITH INTEGRATED 400/480 VAC THREE-PHASE POWER SUPPLY
UP TO A RATED POWER < 7 kW
GD1- 230/05 to 30 - PS-R
Power supply
+
filtre
+
braking
resistor
A1 A2 A3 An
(n max
=
6)
GD1- 230/05 to 20 - 00-0
DC bus 320 VDC
Connect the actuators from A1 to An in the
decreasing order of their current ratings
GD1- 400/05 to 20 - PS-R
Power supply
+
filtre
+
braking
resistor
A1 A2 A3 An
(n max
=
6)
GD1- 400/05 to 20 - 00-0
DC bus 600 VDC
Connect the actuators from A1 to An in the
decreasing order of their current ratings

10 Part 1 – Chapter 1 – General description
GD1 – Installation Guide
MULTIAXIS CONFIGURATION WITH EXTERNAL POWER SUPPLY UNIT: GDPS-400/xx
The external GDPS power supply must be connected to the three-phase mains.
Its operating range is between 230 VAC and 480 VAC.
XPOWER SUPPLY SOURCE: 230 VAC THREE-PHASE
When connected to a 230 VAC three-phase power supply source, it provides a 320 VDC DC Bus voltage compliant
with the whole GD1-230 and 400 range (GD1-400/cc-00-0 compliant with 230 VAC).
XPOWER SUPPLY SOURCE: 400 VAC THREE-PHASE
When connected to a 400 VAC three-phase power supply source, it provides a 600 VDC DC Bus voltage which is
only compliant with the actuator range GD1-400 (400 VAC).
With a 230 VAC power supply, the first axis on which the X4 cable is connected must be a GD1-
230V.
The GD1-400 actuator(s) used with a 230 VAC power supply must be configured with:
"Operating voltage = 230 V" in the Gem Drive Studio software.
Connecting the 600 VDC bus with GD1-230 actuators will destroy then immediately.
The use of GD1-400/cc/PS drives instead of GD1-400/cc/00 will generate the "FP" (Fault phase)
error.
For running the drive in this case, the "FP" error may be parametrized as "Warning" (see GD1
User Guide)
GD1- 230/cc-00-0 and/or GD1-400/cc-00-0
A3A1 A2 An
(
n max = 6
)
External
braking
resistor
dp xxx/xxx
E
GDPS-400/xx
Power supply
+
filtre
See Part 2
X4 X4
X4 cable
Connect the actuators from A1 to An in the decreasing order
of their current ratings
DC bus
A3A1 A2 An
(
n max = 6
)
External
braking
resistor
dp xxx/xxx
E
GDPS-400/xx
Power supply
+
filtre
See Part 2
X4 X4
X4 cable GD1-400/cc-00-0
Connect the actuators from A1 to An in the decreasing order of their
current ratings
DC bus

GD1 – Installation Guide
11
Part 1
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Cha
p
ter 1
–
General descri
p
tion
XCALCULATION OF THE AVERAGE RATED POWER OF THE APPLICATION: see section 4.9.2
1.3 – COMMUNICATION INTERFACES
The standard version of the GD1 is delivered with the CANopencommunication interface. But this drive is also
available with other interfaces.
1.4 – PROTECTIONS
(according to EN 954-1 standard)
Safe torque off (see appendix)
1.5 – PROGRAMMABILITY
Servo functions
User program (see Programmation Guide)
1.6 – COMPLIANCE WITH THE STANDARDS
1.6.1 –GENERAL DESCRIPTION
The supply of the DC/DC converter requires an auxiliary 24 V supply +/-15%. A 24 VDC battery supply with
specific wiring allows to keep the position even after switching off the auxiliary 24 VDC supply.
The power supply is depending on the drive type:
♦GD1-230/05 A to 30 A: integrated 230 VAC single-phase mains operated power supply
♦GD1-400/05 A to 20 A: integrated 230 to 480 VAC three-phase mains operated power supply
♦GD1-400/30 – 45 – 60 - 90 A: 230 to 480 VAC three-phase mains operated supply with external power
supply unit GDPS-400
An integrated soft start system of the power supply limits the inrush current at power on.
The small dimensions of the GD1 drive allow an optimum integration:
♦in 300 mm deep cabinets (connectors included) when fastened on the cabinet rear wall,
♦in 240 mm deep cabinets with wall-crossing fastening (see diagram in chapter 2, section 2.2),
♦Mounting pitch: 74.5 mm up to a current rating of 45 A and double-pitch for higher currents (60 A and 90 A).

12 Part 1 – Chapter 1 – General description
GD1 – Installation Guide
1.6.2 –REFERENCE TO THE CE STANDARDS
According to the Directive 2004/108/EC, the GD1 drives have been approved with regard to their compliance with
the Electromagnetic Compatibility standards concerning the power servos referenced in the EN 61800-3 standard
"Electrical variable speed power servo systems", Part 3:
EMISSION EN 61800-3:2004 – Part 3: Section 6, 4-2 (C3 class equipment – see tables 17 and 18)
IMMUNITY EN 61000.4-2-3-4-5-6
Use: Second environment type including other places than those directly supplied by low voltage
mains.
NOTE: Industrial areas and technical rooms are an example of "second environment type".
Class of the drive equipment: C3.
Standard to be applied to the electrical equipment of industrial machines: EN 60204-1.
1.6.3 –REFERENCE TO THE UL STANDARDS
GD1 series drives have been "ULUS" 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),
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 UL840.
Per UL 840 (Second Edition, dated May 20, 1993) requirements, spaces are limited to 2.5 mm assuming pollution
degree 2 environment.
1.7 – OTHER DOCUMENTS REQUIRED FOR THE COMMISSIONING
GD1 User Guide,
Communication protocol,
Programmation Guide.
1.8 – OTHER DOCUMENTS REQUIRED FOR EXTENSION BOARDS
Encoder output "EO" manual,
Profibus manual,
Ethercat manual.

GD1 – Installation Guide
13
Part 1
–
Cha
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ter 2
–
S
p
ecification
s
Chapter 2 – Specifications
2.1 – MAIN TECHNICAL DATA
2.1.1 –GD1-230/I SINGLE-AXIS DRIVE
Mains operated power supply voltage 230 VAC +10% / -15% single-phase
50-60 Hz
Isolated auxiliary logic supply Input voltage: 24 VDC +/-15%
Input current: IXN = 320 mA without brake
Motor phase-phase output voltage ≥200 Vrms
Integrated braking system 200 Ω/ 65 W
or external resistor: min. 50 Ω(dp 50/200)
Triggering threshold of the braking system 400 V +/-10 V
OUTPUT CURRENT RATINGS (at a maximum room temperature of 40° C)
Drive type
Max. output
current
(Arms) for
1 sec. +/-5%
(230 VAC)
Rated
output
current
(Arms)
(230 VAC)
Rated
power
(kW)
Power
losses
(W)
Rated input
current
(Arms)
(230 VAC
60 Hz)
Max. protection
fuses for line
circuit A60Q
listed (Ferraz)
Short-
circuit
power of
the mains
UL
listed
Use with integrated single-phase 230 VAC power supply unit:
Drive type: GD1-230/cc-PS
GD1-230/05 5 2.5 1 2.5 2 A 5 kA Yes
GD1-230/08 8 4 1.6 4 4 A 5 kA Yes
GD1-230/11 11 5.5 2.2 5.5 6 A 5 kA Yes
GD1-230/17 17 8.5 3.4 8.5 10 A 5 kA Yes
GD1-230/30 30 10 4 10 15 A 5 kA Yes
Use with external power supply unit GDPS supplied in 230 VAC three-phase
Drive type: GD1-230/cc-00-0
GD1-230/05 5 2.5 1 2.5 2 A 5 kA Yes
GD1-230/08 8 4 1.6 4 4 A 5 kA Yes
GD1-230/11 11 5.5 2.2 5.5 6 A 5 kA Yes
GD1-230/17 17 8.5 3.4 8.5 10 A 5 kA Yes
GD1-230/30 30 15 6 15 15 A 5 kA Yes

14 Part 1 – Chapter 2 – Specifications
GD1 – Installation Guide
2.1.2 –GD1-400/I SINGLE-AXIS DRIVE
Mains operated power supply voltage 230 VAC -15% to 480 VAC +10% three-phase, TN or TT
system with grounded neutral point.
50 to 60 Hz (phase-ground voltage must be balanced)
IT system supported but not recommended
Voltage unbalance Max. 3 % of the mains voltage fundamental
Isolated auxiliary logic supply Input voltage: 24 Vdc +/-15%
Input current: 320 mA
Auxiliary supply for the motor brake Input voltage: 24 Vdc +/-15%
Input current: max. 1.5 A
Motor phase-phase output voltage 380 to 460 Vrms depending on the mains
Integrated braking system GD1-400/05 to 20 A: 200 Ω/ 65 W
or external resistor: min. 33 Ω(dp 33/280)
GD1-400/45 to 90 A:
external resistor: on GDPS supply module
Triggering threshold of the braking system 800 V +/-10 V
OUTPUT CURRENT RATINGS (at a maximum room temperature of 40° C)
Output voltage range for 400-480 VAC (rms) three-phase mains
Drive type
Max. output
current
(Arms) for
1 sec.
(480 VAC)
Rated
output
current
(Arms)
(480 VAC)
Rated
power
(kW)
Power
losses
(W)
Rated input
current
(Arms)
(480 VAC
60 Hz)
Max.
protection
fuses for line
circuit A60Q
listed (Ferraz)
Short-
circuit
power of
the
mains
UL listed
(*)
Use with integrated power supply unit
Drive type: GD1-400/cc-PS
GD1-400/05 5 2.5 1.7 2.5 2 A 5 kA Yes
GD1-400/08 8 4 2.7 4 4 A 5 kA Yes
GD1-400/14 14 7 5 7 8 A 5 kA Yes
GD1-400/20 20 10 7 10 10 A 5 kA Yes
Use with external power supply unit GDPS-400/xx
Drive type: GD1-400/cc-00-0
GD1-400/05 5 2.5 1.7 2.5 2 A 5 kA Yes
GD1-400/08 8 4 2.7 4 4 A 5 kA Yes
GD1-400/14 14 7 5 7 8 A 5 kA Yes
GD1-400/20 20 10 7 10 10 A 5 kA Yes
GD1-400/30 30 15 10 15 15 A 5 kA Yes
GD1-400/45 45 20 14 20 20 A 5 kA Yes
GD1-400/60 60 30 20 30 30 A 5 kA Yes
GD1-400/90 90 35 25 35 40 A 5 kA Yes
(*) NOTE: UL Listing up to 400 VAC rms input voltage.

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2.1.3 –TECHNICAL FEATURES
Servo loops: current, speed and position Digital. Sampling period:
Mains filter on power supply Integrated
Common mode filter on auxiliary supply Integrated
Common mode filter on motor brake supply Integrated
Position measurement sensor Transmitter resolver
Absolute single-turn encoder (ERN1085 or compliant)
Incremental encoder (TTL or SinCos signals)
Incremental encoder + Hall Effect Sensors
Second position sensor Option (encoder only)
Power stage protections See table of the main protections in the GD1 User Guide
PWM switching frequency Programmable: 4, 8 or 16 kHz (8 kHz by default)
Minimum inductance between phases 1 mH for 230 V / 2 mH for 400 V for a PWM of 8 kHz
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 Irated: 20% to 50%
Authorized Imax duration = 1 second
Digital speed and position regulators Sampling period =
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 (16 bit)
Excitation frequency: 8 kHz
Transformation ratio: 0.3 to 0.5 (other values need factory
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 1 Vcc 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

16 Part 1 – Chapter 2 – Specifications
GD1 – Installation Guide
Optocoupled logic inputs (programmable) INX: 10 programmable inputs
Analog inputs (programmable) AN1 (12 bit)
AN2 (12 bit)
Optocoupled logic outputs (programmable) OUTX: 4 programmable outputs
VLS2 (optional safety function)
VLS1 (optional safety function)
Analog outputs (programmable) AN_OUT1 (8 bit) filtered PWM analog output
AN_OUT2 (8 bit) filtered PWM analog output
Opto-relay outputs "OptoMos" relay: output open if error
Umax = 50 V, Imax = 300 mA
Brake output protected against load short-circuit Motor brake winding under 24 VDC / 1.5 A (brake supply is
independent from the logic 24 V)
Fieldbus:
- CAN
- Profibus
CANopenprotocol (DS 301 – DSP 402)
PROFIBUSDP (PP01 to PP04)
Error display LEDs on front panel + diagnostic via serial link RS 232 +
diagnostic via fieldbus
Motor and application parametrization Serial link RS 232 or 422 (option)
Bus interface with communication protocol
Automatic functions Drive adjustment to the motor (AUTO-PHASING)
Servo control adjustment (AUTO-TUNING)
Compliance with the standards: CE certification.
"360°" shield connection, equipotentiality
according to the wiring rules
•GD1-230/cc-PS: with FN612-20-06
mains filter
•GD1-400/cc-PS: with F400 mains filter
•GD1-400/cc-00 + GDPSxx
EMC requirements: EN 61800-3:2004, Part 3
- immunity: EN 61000.4-2-3-4-5-6
- conducted and radiated emissions: class 3
equipment
Electrical standards for industrial machines:
- EN 60204-1: insulator 2000 VAC / 1 mn
leakage current > 30 mA (EMI filters)
Compliance with the standards: UL listing
"360°" shield; equipotentiality according to the
wiring rules
•GD1-230/cc-PS: with FN612-20-06
mains filter
•GD1-400/cc-PS: with F400 mains filter
•GD1-400/cc-00 + GDPSxx
GD1 series have been "ULUS" 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),

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2.2 – DIMENSIONS
DRILLING M4
A B C E F G X Y
GD1-230/05 to 08 175 208.5 235 149 74.5 74.5 224.5 -
GD1-230/11 to 30 224.3 208.5 235 149 74.5 74.5 224.5 -
GD1-400/05 to 45 224.3 208.5 235 149 74.5 74.5 224.5 -
GD1-400/60 to 90 224.3 208.5 235 298 74.5 144.5 224.5 74.5
GDPS-400/16 175 208.5 235 149 74.5 74.5 224.5 -
GDPS-400/32 175 208.5 235 149 74.5 74.5 224.5 -
UPPER VIEW
(pitch between 2 axes)
E
F
SIDE VIEW
Power supply unit
and small current drives I ≤8 A
A
B
C
SIDE VIEW
Drive
A
C
FRONT SIDE
Power supply
Amplifiers up to 45 A
B
X
C
G
==
FRONT SIDE
Amplifiers 60 and 90 A
G
B
XC
Y

18 Part 1 – Chapter 2 – Specifications
GD1 – Installation Guide
UPPER VIEW
(wall crossing mounting)
75
160.5
Cabinet rear
wall
Spacing for
mounting
SINGLE-
A
XIS
WALL-CROSSING MOUNTING
4
4
6
14.5
14.5
213
Slot to be cut out
only if using an
integrated braking
resistor
2 M4 holes
225
20
20
= 68.5 =
Ø14.5
Ø14.5
DOUBLE-AXIS
WALL-CROSSING MOUNTING
34.25
143
74.5 34.25
6
225
213
4 M4 holes
MULTIAXIS
WALL-CROSSING MOUNTING
74.5 74.5
Slot to be cut out
only if using an
integrated
braking resistor

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Chapter 3 – Inputs-Outputs
3.1 – LOCATION OF THE GD1-uuu/cc CONNECTORS
UPPER VIEW
BOTTOM VIEW
X
13
4 3 2 1
GND W V U X10
MOTOR
2 1
DC- DC+ X11
DC BUS
4 3 2 1
NC NC Br - Br + X9
BRAKE
4 3 2 1
GND +24V 0V
Br
24V
Br
X8
A
UXILIARY SUPPLY 24 V
1 2 3
L1 Neutral GND X12 230 V
1 2 3 4
L1 L2 L3 GND X12 400 V
X7: CAN
X6: CAN
Address
X3 Encoder
X1 Resolver
X2 Inputs-Outputs
X5 Serial link