Infranor XtrapulsCD1-a Series User manual

1
Digital drive for
AC sinusoidal
brushless motors
XtrapulsCD1-a

2
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.
© INFRANOR, April 2016. All rights reserved.
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.

3
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

4
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

5
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

6
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).

7
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.

8
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
25
1.1
6 A
5 kA
yes
CD1-a-230/4.5
4.5
2.25
30
2.25
6 A
5 kA
yes
CD1-a-230/7.5
7.5
3.75.
44
3.75
6 A
5 kA
yes
CD1-a-230/10.5
10.5
5.25
55
5.25
6 A
5 kA
yes
CD1-a-230/16.5
16.5
8.25
66
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.
!

9
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
35
0.9
2 A
5 kA
yes
CD1-a-400/2.7
2.7
1.35
43
1.35
2 A
5 kA
yes
CD1-a-400/5.1
5.1
2.55
71
2.55
4 A
5 kA
yes
CD1-a-400/7.2
7.2
3.6
93
3.6
4 A
5 kA
yes
CD1-a-400/14
14
7
200
7
8 A
5 kA
yes
CD1-a-400/30
30
15
400
15
20 A
5 kA
yes
CD1-a-400/45
45
20
560
20
20 A
5 kA
yes
CD1-a-400/70
70
35
650
35
40 A
5 kA
yes
CD1-a-400/90
90
35
650
35
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

10
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

11
XtrapulsCD1-a
Chapter 2 - Specifications
digital oscilloscope (current, speed or position) or "Phasing
OK" output (for incremental encoder without HES)
Error display
LED on front panel and diagnostic by serial link
Parameter setting
Serial link RS-232 as standard (RS-422 optional)
Automatic functions
Drive adjustment to the motor (AUTOPHASING)
Automatic regulator adjustment (AUTOTUNING)
Offset compensation on analog input
Compliance with the standards: CE certification
"360°" shield; equipotentiality according to the
wiring rules.
XtrapulsCD1-a-400/70 and 90 A with F-400-70/90
mains filter.
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 min.
- Leakage current > 30 mA (EMI filters)
Compliance with the standards: UL listing
"360°" shield; equipotentiality according to the
wiring rules.
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).
Temperature
- storage - 20°C to + 70°C
- operation 5°C to +40°C
From 40°C on, the rated currents must be reduced of 3 % per
additional °C.
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-a drive)
Check for free ventilation and no upper or lower obstruction of
the air admissions
Environment
Open chassis to be mounted in a housing protecting the drive
from conducting dust and condensation (pollution degree 2
environment)
Mounting position
Vertical
Mounting location
Closed cabinet without any conducting and/or corroding
agents and according to the room temperature requirements.
Condensation prohibited.
Weight
XtrapulsCD1-a-230/I: approx. 1.5 kg
XtrapulsCD1-a-400/1.8 to 7.2 A: approx. 2 kg
XtrapulsCD1-a-400/14: approx. 3 kg
XtrapulsCD1-a-400/30 and 45: approx. 5 kg
XtrapulsCD1-a-400/70 and 90: approx. 6 kg

12
Chapter 2 –Specifications
XtrapulsCD1-a
2 - BLOCK DIAGRAM

13
XtrapulsCD1-a
Chapter 2 - Specifications
3 - MAIN PROTECTIONS
3.1 - STORED PROTECTIONS
PROTECTION
ERROR
DISPLAY
LED
Drive rated current overload (see Chapter 8, part 3.2)
I2t


Position feedback cable interruption (resolver or encoder)
Feedback


Hall Effect Sensors sequence error or cable interruption /
Absolute single-turn encoder commutation channel error
HES


Power stage fault
Power stage


Encoder pulses counting error / Resolver position conversion
error
Counting / RDC


Power supply undervoltage (non stored fault)
Undervolt.


Motor overtemperature
°C motor


Speed or position following error
Following err.


Drive parameter storage memory error
EEPROM


- Procedure execution error
- Initialization phase execution error
Busy


24 VDC auxiliary supply out of tolerances
19 V < 24 VDC < 29 V
24 V


: LED is unlit : LED is lit.
NOTE
The power stage error includes the following faults:
- power supply overvoltage
- internal switch protection
- short-circuit between motor phases or between motor phase and earth
- drive overtemperature (on XtrapulsCD1-a-400/I only)
- fan system error
- PWM control error
- power stage supply error
- braking system error
The detail of the “Power stage” fault can be displayed in the Visual drive Setup software.
All these faults are stored in the drive except for the "Undervolt." fault.
The reset of a stored fault can be made:
- by means of the RESET function in the VISUAL DRIVE SETUP software
- via the fault RESET input (pin 13 of the X2 connector)
- by switching off the drive power supply.
All faults release the drive disabling. All faults, except for "Undervolt.", also release the opening of the AOK relay
contact. The "Undervolt." fault must be configured by software to release the opening of the AOK relay contact.

14
Chapter 2 –Specifications
XtrapulsCD1-a
4 - DIMENSIONS
4.1 - XTRAPULS CD1-a-230/I
4.2 - XTRAPULS CD1-a-400/1,8 TO 7,2 A
4.3 - XTRAPULS CD1-a-400/14
4.4 - XTRAPULS CD1-a-400/30/45/70 AND 90 A

15
XtrapulsCD1-a
Chapter 2 - Specifications
4.5 - BRAKING RESISTORS dp 100/100, dp 200/100, dp 50/200, dp 33/280 AND dp 16.5/560
dp 16.5/560
Connection of the braking resistor dp 16.5/560 on pins 1 and 3 of the braking resistor connector
DIMENSIONS
dp 50/200, dp 100/100 and dp
200/100
dp 33/280
dp 16.5/560
A
157 mm
290 mm
290 mm
B
145 mm
278 mm
278 mm
C
83 mm
83 mm
57 mm
D
52 mm
57 mm
145 mm

16
Chapter 2 –Specifications
XtrapulsCD1-a
5 - FASTENING
VERTICAL MOUNTING IS MANDATORY
5.1 - XTRAPULS CD1-a-230/I
5.2 - XTRAPULS CD1-a-400/1.8 TO 7.2 A
5.3 - XTRAPULS CD1-a-400/14
5.4 - XTRAPULS CD1-a-400/30/45/70 AND 90 A

17
XtrapulsCD1-a
Chapter 2 - Specifications
6 –MULTIAXES CABINET MOUNTING
6.1 - XTRAPULS CD1-a-230/I
6.2 - XTRAPULS CD1-a-400/1.8 TO 7.2 A
6.3 - XTRAPULS CD1-a-400/14
6.4 - XTRAPULS CD1-a-400/30/45/70 AND 90 A

18
Chapter 3 –Inputs-Outputs
XtrapulsCD1-a
Chapter 3 - Inputs-Outputs
1 - CONNECTORS LOCATION
1.1 - DRIVE CONNECTORS
2 - X1: RESOLVER CONNECTOR (Sub D 9 pins female)
Same connector for both 230 V and 400 V ranges.
PIN
FUNCTION
REMARKS
1
TC (thermal sensor)
If thermal switch connected to X1
6
Shield connection
The shield must have a 360° connection on the
connector metal cover. This connection can be
completed by connecting the wires to pin 1.
2
TC (thermal sensor)
If thermal switch connected to X1
7
S1 (cosine-)
Resolver connector
3
S3 (cosine+)
Resolver connector
8
S4 (sine-)
Resolver connector
4
S2 (sine+)
Resolver connector
9
R2 (reference-)
Resolver connector
5
R1 (reference+)
Resolver connector
For other resolver connections, see chapter 8 (Appendix), section 2.

19
XtrapulsCD1-a
Chapter 3 –Inputs-Outputs
3 –X2: COMMAND CONNECTOR, LOGIC INPUTS-OUTPUTS AND ENCODER (Sub D 25 pins male)
Same connector for both 230 V and 400 V ranges.
Pin
Function
I / O
REMARKS
1
FC+: Limit switch +
I
Positive logic, optocoupled input, galvanic insulation
14
FC-: Limit switch -
I
Positive logic, optocoupled input, galvanic insulation
24
Ref. inputs
I
Supply reference of the galvanic insulated logic inputs
20
ENABLE
I
Positive logic, optocoupled input, galvanic insulation
23
Ref. inputs
I
Supply reference of the galvanic insulated logic inputs
2
Current command CI
I
Positive logic, optocoupled input, galvanic insulation
10
CV0 Zero speed / Motor
phasing input command
I
Positive logic, optocoupled input, galvanic insulation
25
GND
I
GND reference of the grounded drive
13
RESET
I
Positive logic, optocoupled input, galvanic insulation
Inhibition of the faults memory stored in the drive
12
Ref. inputs (0 Volt)
I
Supply reference of the galvanic insulated logic inputs.
17
CV+ Input command CV +
I
± 10 V speed input command for max. speed
16
CV-Input command CV -
I
or ± 10 V current input command for Imax with "CI" input active
15
GND
I
GND reference of the earthed drive
3
I limit current limitation
I
Analog input for external max. current limitation
0 to 10 V for 100 % to 0 % of Imax
11
Analog output
O
+/-10 V, resolution: 8 bit, load: 10 mA, linearity: 2 %, low pass
filter: 170 Hz, programmable output signal: Channel 1 of the
digital oscilloscope (current, speed or position) or Phasing OK
output (from 0 V to 10 V when the motor phasing is OK for an
incremental encoder without HES)
18, 19
AOK: drive ready
O
Relay contact: closed if drive OK, open if fault.
Protection against overvoltages by bidirectional TRANSIL
Pmax = 10 W with Umax = 50 V or Imax = 100 mA
21
+ 12 Volts
O
Output impedance: 9 Ohms. Max. 150 mA available(1)
22
- 12 Volts
O
Output impedance: 47 Ohms. Max. 50 mA available
4
Z/
O
Differential output of Z/ encoder marker pulse (max. 5 V, 20 mA)
5
Z
O
Differential output of Z encoder marker pulse (max. 5 V, 20 mA)
6
A/
O
Differential output of encoder A/ channel (max. 5 V, 20 mA)
7
A
O
Differential output of encoder A channel (max. 5 V, 20 mA)
8
B/
O
Differential output of encoder B/ channel (max. 5 V, 20 mA)
9
B
O
Differential output of encoder B channel (max. 5 V, 20 mA)
(1): The sum of the currents consumed by both X2 connector, pin 21, and X3 connector, pin 10, must not
exceed 150 mA.

20
Chapter 3 –Inputs-Outputs
XtrapulsCD1-a
3.1 - SPECIFICATION OF THE ANALOG INPUTS: CV+, CV-, Ilim
3.2 - SPECIFICATION OF THE LOGIC OPTOCOUPLED INPUTS: ENABLE, FCP, FCN, RESET, CVO, CI
The input voltage corresponding to level 1 is between 18 V and 30 V.
3.3 - SPECIFICATION OF THE "AOK" RELAY OUTPUT
Relay contact open if any fault except for the "Undervolt." fault.
Pmax = 10 W with Umax = 50 V and Imax = 100 mA
100K
16K
100K
100K
16K
X2-17 (CV+)
100K
X2-16 (CV-)
1nF
1nF
20K
X2-15 (GND)
X2-3 (ILIM)
10K
X2-25 (GND)
18K
100K
2.2nF
10K
Logic input
100 nF
0 V
5 V
8.2 k
100 kΩ
10 kΩ