Infranor XtrapulsCD1-pm User manual

1
PROFIBUS
POSITIONER
XtrapulsCD1-pm
Installation manual

2
XtrapulsCD1-pm –Installation manual
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.
Please see Xtrapuls CD1-pm User Guide for the operation of the drive (commissioning, configuration…).
For the PROFIBUS communication, see manual Xtrapuls CD1-pm –PROFIBUS Communication Profile.
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.
All electrical industrial automatisms which lifetime is coming to its end are Waste Electronic and Electrical
Equipment (WEEE) according to article R543-172 of the French Environmental Code.
WEEE classification of the INFRANORproducts
Categorie 9: Monitoring and control instruments
In accordance with the Decree nr. 2012-617 of May 2nd, 2012 which specifies the provisions related to
the professional EEE manufacturers' obligations, INFRANOR France is a member of RECYLUM : eco-
organization ecosystem certified for the collection, treatment and recycling of WEEE.
In France, RECYLUM allows all professionals benefiting from a free collection and recycling solution, in
observance of the regulation, the environment and health.
Information and sorting instructions regarding INFRANORproducts
!
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 drives (a residual voltage of several
hundreds of volts may remain during a few minutes).
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.
DISPOSAL
This symbol indicates that INFRANOR devices must be eliminated by selective disposal and not
with household waste.

CD1-pm 3
XtrapulsCD1-pm –Installation manual
Type of waste
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Cardboard
Recyclable waste
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point of recyclable waste
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Metal
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collection point
Heatsinks
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Recyclable waste
Waste disposal centre / metal
collection point
Electronical
boards and
components
WEEE (Waste Electronic and
Electrical Equipment)
Dangerous industrial
waste
France:
http://www.ecosystem.eco/fr/sous-
rubrique/solutions
Abroad:
Country-specific regulation
Sorting instructions may vary according to regions / countries.
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, September 2020. All rights reserved.
Issue: 8.15

4
Contents
XtrapulsCD1-pm –Installation manual
Content
PAGE
CONTENT ................................................................................................................................................4
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 REQUIRED FOR THE COMMISSIONING .................................................7
CHAPTER 2 –SPECIFICATIONS...........................................................................................................8
1-MAIN TECHNICAL DATA.................................................................................................................8
1.1 –XTRAPULS CD1-pm-230-/I POSITIONER...............................................................................8
1.2 –XTRAPULS CD1-pm-400/I POSITIONER................................................................................8
1.3 - COMMON SPECIFICATIONS TO BOTH POSITIONER VERSIONS XTRAPULS CD1-pm-
230/I AND XTRAPULS CD1-pm-400/I...............................................................................................9
2-DIMENSIONS................................................................................................................................ 12
2.1 - XTRAPULS CD1-pm-230/I POSITIONER.............................................................................. 12
2.2 - XTRAPULS CD1-pm-400/1.8 TO 7.2 A POSITIONER.......................................................... 12
2.3 - XTRAPULS CD1-pm-400/14 A POSITIONER ....................................................................... 12
2.4 - XTRAPULS CD1-pm-400/30/45/70 AND 90 A POSITIONER ............................................... 12
2.5 - BRAKING RESISTOR dp 100/100, dp 200/100, dp 50/200, dp 33/280 and dp 16.5/560 ..... 13
3-FASTENING.................................................................................................................................. 14
3.1 - XTRAPULS CD1-pm-230/I POSITIONER.............................................................................. 14
3.2 - XTRAPULS CD1-pm-400/1.8 TO 7.2 A POSITIONER.......................................................... 14
3.3 - XTRAPULS CD1-pm-400/14 A POSITIONER ....................................................................... 14
3.4 - XTRAPULS CD1-pm-400/30/45/70 AND 90 A POSITIONER ............................................... 14
4–MULTIAXES CABINET MOUNTING ............................................................................................ 15
4.1 - XTRAPULS CD1-pm-230/I POSITIONER.............................................................................. 15
4.2 - XTRAPULS CD1-pm-400/1.8 TO 7.2 A POSITIONER.......................................................... 15
4.3 - XTRAPULS CD1-pm-400/14 A POSITIONER ....................................................................... 15
4.4 - XTRAPULS CD1-pm-400/30/45/70 AND 90 A POSITIONER ............................................... 15
CHAPTER 3 - INPUTS - OUTPUTS..................................................................................................... 16
1-CONNECTOR LOCATION............................................................................................................ 16
2-LEDS.............................................................................................................................................. 17
2.1 –DRIVE FAULT LEDs.............................................................................................................. 17
3-X1: RESOLVER CONNECTOR .................................................................................................... 17
4–X2: DIGITAL I/OS CONNECTOR.................................................................................................. 18
5–X3: ENCODER CONNECTOR ..................................................................................................... 20
5.1 - X3 CONNECTOR FOR TTL INCREMENTAL ENCODER & HES INPUT (Sub D 25 pins
female)............................................................................................................................................ 20
5.2 - X3 CONNECTOR FOR SinCos INCREMENTAL ENCODER & HES INPUT (Sub D 25 pins
female)............................................................................................................................................ 21
5.3 - X3 CONNECTOR FOR ABSOLUTE SINGLE TURN SIN/COS ENCODER (Sub D 25 pins
female)............................................................................................................................................ 22
5.4 - X3 CONNECTOR FOR ENCODER OUTPUT (Sub D 25 pins female) ................................. 23
6-X4: COMMAND CONNECTOR..................................................................................................... 24
6.1 - SPECIFICATIONS OF THE LOGIC INPUTS: FC+, FC-, INDEX, ENABLE, RESET ............ 24
6.2 - SPECIFICATION OF THE "AOK" LOGIC RELAY OUTPUT.................................................. 25
7-X5: RS-232 CONNECTOR........................................................................................................... 25
8-X6: PROFIBUS.............................................................................................................................. 25
9-X8: AUXILIARY SUPPLY AND BRAKE CONNECTOR................................................................. 25
10 -X9: POWER CONNECTOR: MAINS, MOTOR, BRAKING RESISTOR (CD1-PM-230 V&400 V)26

5
XtrapulsCD1-pm –Installation manual
CHAPTER 4 - CONNECTIONS............................................................................................................ 27
1-CONNECTION DIAGRAMS.......................................................................................................... 27
1.1 –XTRAPULS CD1-pm-230/I POSITIONER............................................................................. 27
1.2 –XTRAPULS CD1-pm-400/I POSITIONER............................................................................. 28
1.3 –SERIAL LINK CONNECTION................................................................................................ 28
1.4 –CONNECTION OF A BACKUP BATTERY FOR THE 24 VDC AUXILIARY SUPPLY.......... 29
1.5 –CONNECTION EXAMPLE FOR A MULTIAXIS APPLICATION .......................................... 29
2-WIRING RECOMMENDATIONS................................................................................................... 30
2.1 –GROUND CONNECTIONS AND LEAKAGE CURRENT...................................................... 30
2.2 –CONNECTORS SHIELD CONNECTION.............................................................................. 31
2.3 –CONNECTION VIEW OF XTRAPULS CD1-pm-400/30/45/70 and 90 A.............................. 32
2.4 - MOTOR, RESOLVER AND ENCODER CABLES.................................................................. 32
2.5 - SERIAL LINK CABLES........................................................................................................... 33
2.6 –CONNECTION CABLES OF THE BRAKING RESISTOR .................................................... 33
3-REQUIREMENTS OF COMPLIANCE WITH THE UL STANDARDS............................................ 34
3.1 –CONNECTION BY MEANS OF FASTON SOCKET ............................................................. 34
3.2 –24 V SUPPLY ........................................................................................................................ 34
3.3 –POWER SUPPLY AND UL FUSE RATING .......................................................................... 34
3.4 –XTRAPULS CD1-pm-230/I DRIVE: CONNECTION DIAGRAM WITH PROTECTIONS BY
"UL" FUSES.................................................................................................................................... 35
3.5 –XTRAPULS CD1-pm-400/I DRIVE: CONNECTION DIAGRAM WITH PROTECTIONS BY
"UL" FUSES.................................................................................................................................... 36
3.6 –CONNECTION EXAMPLE FOR A UL COMPLIANT MULTIAXIS APPLICATION................ 37
4–FIRST POWERING OF THE XTRAPULS CD1-PM POSITIONER................................................ 37
4.1 - VERY IMPORTANT................................................................................................................ 37
4.2 -SWITCH ON THE 24 VDC SUPPLY..................................................................................... 37
4.3 –SWITCH ON THE 230 VAC OR 400 VAC SUPPLY (according to the positioner type)........ 37
4.4 –FURTHER COMMISSIONING PROCEDURE ..................................................................... 37
CHAPTER 5 –APPENDIX.................................................................................................................... 38
1-HARDWARE ADJUSTMENTS OF THE LOGIC BOARD .............................................................. 38
2–ADJUSTMENT TO VARIOUS RESOLVER TYPES ..................................................................... 39
3-USE OF THE "AOK" OUTPUT....................................................................................................... 39
4-ENERGY RECUPERATION VIA ABRAKING RESISTOR ........................................................... 40
5-ORDERING CODE........................................................................................................................ 40

6
Chapter 1 - General description
XtrapulsCD1-pm –Installation manual
Chapter 1 –General description
1- INTRODUCTION
Series XtrapulsCD1-pm Profibus positioners are PWM servo drives for the control of AC sinusoidal motors
(brushless) equipped with a position sensor.
The XtrapulsCD1-pm servo drive is available as a stand-alone single-axis block that includes all supplies and
mains filter. It is available in both mains operated versions 230 VAC and 400/480 VAC.
The XtrapulsCD1-pm positioner works with a PROFIBUS DP interface or in stand-alone by using only digital I/Os.
It generates itself the positioning trajectory that allows the programming of 128 positioning sequences.
2 –DESCRIPTION / COMPLIANCE WITH THE STANDARDS
2.1 - GENERAL DESCRIPTION
The XtrapulsCD1-pm 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-pm 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
servo motor can immediately be enabled after the drive 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 drive power up.
- With an incremental encoder only, a motor phasing procedure (Phasing) 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, 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 XtrapulsCD1-pm positioners have their own DC/DC converter to provide appropriate logic voltage to the
modules. An auxiliary 24 VDC +/- 15 % supply is generally available on all machines and supplies a DC/DC
converter with all logic supplies required by the positioner. The auxiliary supply allows to keep the logic board on,
after the power supply has been switched off, in order to keep all parameters in the memory 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
XtrapulsCD1-pm positioner (see chapter 4: Connections).
The power supply is depending on the positioner type:
•XtrapulsCD1-pm-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
direct three-phase mains operation if there are three-phase mains available in 200 to 230 VAC).
•XtrapulsCD1-pm-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.

7
XtrapulsCD1-pm –Installation manual
Chapter 1 - General description
The very small dimensions of the XtrapulsCD1-pm positioner allow an optimum integration in 300 mm deep
cabinets (connectors included). The XtrapulsCD1-pm positioner operates with a PROFIBUS DP interface or in
stand-alone by using only digital I/Os. The selection of the various operation modes (PROFIBUS or stand-alone)
is made by means of micro-switches accessible by the operator.
2.2 - REFERENCE TO THE STANDARDS: "CE" CERTIFICATION
Series XtrapulsCD1-pm positioners have been approved with regard to their conformity with the Electromagnetic
Compatibility standards concerning the power servos referenced in the EN 61800-3 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.
2.3 - REFERENCE TO THE STANDARDS: "UL" LISTING
Xtrapuls CD1-pm 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, spacings 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, spacings 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
" XtrapulsCD1-pm Profibus positioner User Manual".
" XtrapulsCD1-pm Profibus Communication Profile".
"CD1-pm SinCos track feedback" application note regarding the use of motors equipped with "SinCos tracks"
position sensors.
"CD1-pm 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-pm –Installation manual
Chapter 2 –Specifications
1 - MAIN TECHNICAL DATA
1.1 –XTRAPULS CD1-pm-230-/I POSITIONER
Mains operated power supply voltage 230 VAC + 10 %/- 15 % 1~ or 3~, 50 - 60 Hz
Isolated auxiliary galvanic and motor brake 24 VDC +/- 15 % - 320 mA without brake
supply voltage
Motor phase-phase output voltage 200 Vrms
Integrated braking system External 100 Ohm/100 W braking resistor (dp 100/100)
Min. resistance: 50 Ohm (dp 50/200)
Minimum inductance between phases 1 mH
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)
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-pm-230/2.25
2.25
1.1
25
1.1
6 A
5 kA
yes
CD1-pm-230/4.5
4.5
2.25
30
2.25
6 A
5 kA
yes
CD1-pm-230/7.5
7.5
3.75
44
3.75
6 A
5 kA
yes
CD1-pm-230/10.5
10.5
5.25
55
5.25
6 A
5 kA
yes
CD1-pm-230/16.5
16.5
8.25
66
8.25
9 A
5 kA
yes
1.2 –XTRAPULS CD1-pm-400/I POSITIONER
Mains operating power supply voltage
400 to 480 VAC + 10 %/- 15 % 3~, TN or TT system with
grounded neutral point 50 to 60 Hz (phase-ground voltage
must be balanced)
Isolated auxiliary 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
Xtrapuls CD1-pm-400/1.8 to 7.2 A:
External 200 Ohms/100 W resistor (dp 200/100)
Minimum resistor value: 150 Ohms/100 W
Xtrapuls CD1-pm-400/14:
External 50 Ohms/200 W resistor (dp 50/200)
Xtrapuls CD1-pm-400/30/45:
External resistor 33Ω/280 W (dp 33/280)
Xtrapls CD1-pm-400/70/90:
External resistor 16.5Ω/560 W (dp 16.5/560)
Minimum inductance between phases
2 mH
OPERATION POWER RESTRICTION IN SINGLE-PHASE OPERATION
Continuous RMS power ensuring a capacitor lifetime of 20 000 hours:
- 650 W for Xtrapuls CD1-pm-230/2.25 to 10.5
- 1000 W for Xtrapuls CD1-pm-230/16.5.
!

9
XtrapulsCD1-pm –Installation manual
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)
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
400/90 listed
Short-circuit
power of the
mains
UL listed
CD1-pm-400/1.8
1.8
0.9
35
0.9
2 A
5 kA
yes
CD1-pm-400/2.7
2.7
1.35
43
1.35
2 A
5 kA
yes
CD1-pm-400/5.1
5.1
2.55
71
2.55
4 A
5 kA
yes
CD1-pm-400/7.2
7.2
3.6
93
3.6
4 A
5 kA
yes
CD1-pm-400/14
14
7
200
7
8 A
5 kA
yes
CD1-pm-400/30
30
15
400
15
20 A
5 kA
yes
CD1-pm-400/45
45
20
560
20
20 A
5 kA
yes
CD1-pm-400/70
70
35
650
35
40 A
5 kA
yes
CD1-pm-400/90
90
35
650
35
40 A
5 KA
yes
1.3 - COMMON SPECIFICATIONS TO BOTH POSITIONER VERSIONS XTRAPULS CD1-pm-230/I AND
XTRAPULS CD1-pm-400/I
Regulation loops: current, speed and position
Digital
Mains filter on power supply
Integrated in the positioner
CD1-400/90 exception:
- EMC capacitors integrated
- Common mode choke not integrated
- Recommended filter: F-400-70-90
Common mode filter on auxiliary supply
Integrated in the positioner
Common mode filter on motor brake supply
Integrated in the positioner
Power stage protections
- power supply overvoltage
- internal switch protection
- short-circuit between motor phases or between motor
phase and ground
- drive overtemperature (on XtrapulsCD1-pm-400/I only)
- fan system error
- PWM control error
- power stage supply error
- braking system error
Motor brake control
Max. 1.5 A with 24 VDC
PWM switching frequency
8 kHz
Minimum inductance between phases
1 mH for 230 V / 2 mH for 400 V
Digital current regulator (PI)
Adjusted to the motor
Current loop bandwidth
Cut-off frequency for 45° phase shift : 1000 Hz
Internal current limitation
Imax: 20 % to 100 % and Irated: 20 % to 50 %
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

10
Chapter 2 –Specifications
XtrapulsCD1-pm –Installation manual
Max. motor speed
Adjustable from 100 rpm to 25.000 rpm
Resolver input
Position conversion: 65536 ppr (16 bit)
Excitation frequency: 8 kHz
Transformation ratio: 0.3 to 0.5
(other available values are factory set)
Encoder input
Selectable by software:
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
Hall sensors input
Selectable by software: 120° or 60° HES type
5 V or 12 V supply voltage
HES sequence error detection
Encoder position output
A and B channels in quadrature
Z marker pulse: 1 per motor revolution
RS-422 line driver
Programmable resolution from 64 ppr to 16384 ppr
Arc minute accuracy = (8 + 5400/Resolution)
Logic inputs
- Enable / Disable: ENABLE
- Limit switch +: FC+
- Limit switch -: FC-
- Homing input: INDEX
- Reset of a stored fault: RESET
- Sequence start: START
- Sequence stop: STOP
- Programmable inputs : IN1 to IN6
Logic outputs
- Sequence in progress: SEQ
- Position reached: POS
- Speed reached :SPEED
- Programmable outputs : OUT1 to OUT4
Analog input
+/-10 V resolution 14 bit (1 reconfigurable logic output)
On-the-fly speed limitation
Polarity selectable by software:
- no limitation for 0 Volt
- no limitation for 10 Volt
Analog output
+/-10 V resolution 8 bit (1 reconfigurable logic output)
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)
Relay outputs
Relay contact: Umax = 50 V
Imax = 100 mA, Pmax = 10 W
"Amp ready": Closed if drive OK, open if fault

11
XtrapulsCD1-pm –Installation manual
Chapter 2 - Specifications
Open collector output protected against load
short-circuit
Motor brake coil with 24 VDC/1.5 A
PROFIBUS link
PPO-1 or PPO-2 or PPO-3 or PPO-4.
Fault display
LEDs on front panel and diagnostic by serial link RS232 +
diagnostic by PROFIBUS.
Motor and application parameter setting
Serial link RS232 or Profibus DP link
Automatic functions
Drive adjustment to the motor (AUTO-PHASING)
Automatic regulator tuning (AUTO-TUNING)
Compliance with the standards: CE certification.
360° shield connection, equipotentiality according
to the wiring rules.
Xtrapuls CD1-pm-400/70 and 90 A with mains
filter F-400-70/90
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).
Compliance with the standards: UL listing
"360°" shield; equipotentiality according to the
wiring rules.
XtrapulsCD1-pm 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 à +70° C
- operation +5° C à +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 XtrapulsCD1-pm
positioner)
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
drive 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
XtrapulsCD1-pm-230/I: approx. 1.5 kg
XtrapulsCD1-pm-400/1.8 to 7.2: approx. 2 kg
XtrapulsCD1-pm-400/14: approx. 3 kg
XtrapulsCD1-pm-400/30 and 45: about 5 kg
XtrapulsCD1-pm-400/70 and 90: about 6 kg

12
Chapter 2 –Specifications
XtrapulsCD1-pm –Installation manual
2 - DIMENSIONS
2.1 - XTRAPULS CD1-pm-230/I POSITIONER
2.2 - XTRAPULS CD1-pm-400/1.8 TO 7.2 A
POSITIONER
2.3 - XTRAPULS CD1-pm-400/14 A
POSITIONER
2.4 - XTRAPULS CD1-pm-400/30/45/70 AND 90 A
POSITIONER

13
XtrapulsCD1-pm –Installation manual
Chapter 2 - Specifications
2.5 - BRAKING RESISTOR 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 EF 400, 16.5 /560 W 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

14
Chapter 2 –Specifications
XtrapulsCD1-pm –Installation manual
3 - FASTENING
VERTICAL MOUNTING IS MANDATORY!
3.1 - XTRAPULS CD1-pm-230/I POSITIONER
3.2 - XTRAPULS CD1-pm-400/1.8 TO 7.2 A
POSITIONER
3.3 - XTRAPULS CD1-pm-400/14 A
POSITIONER
3.4 - XTRAPULS CD1-pm-400/30/45/70 AND 90 A
POSITIONER

15
XtrapulsCD1-pm –Installation manual
Chapter 2 - Specifications
4 –MULTIAXIS CABINET MOUNTING
4.1 - XTRAPULS CD1-pm-230/I POSITIONER
4.2 - XTRAPULS CD1-pm-400/1.8 TO 7.2 A
POSITIONER
4.3 - XTRAPULS CD1-pm-400/14 A
POSITIONER
4.4 - XTRAPULS CD1-pm-400/30/45/70 AND 90 A
POSITIONER

16
Chapter 3 - Inputs-Outputs
XtrapulsCD1-pm –Installation manual
Chapter 3 - Inputs - Outputs
1 - CONNECTOR LOCATION

17
XtrapulsCD1-pm –Installation manual
Chapter 3 - Inputs - Outputs
2 - LEDs
2.1 –DRIVE ERROR LEDs
Location: below the X4 command connector
ON: power supply
SYS: system fault
ERROR: Faults grouped on "ERROR" Led: These faults are coded and can be displayed by means of the
VDSetup software via the serial RS232 link or the Profibus. The "ERROR" Led groups the following faults:
SA: Power supply overvoltage
CL: Out of 24 VDC supply range (between 18 and 29 V)
FT: Phase/ground short-circuit
FD/R: Braking system short-circuited or overheated
FV: Fan
FO: Short-circuit, temperature, power stage supply, PWM error
I2t: I2t protection error
RDC: Digital resolver converter tracking error
CNT: Encoder counting error
POS: Position following error
E2P: EEPROM error
BUS: PROFIBUS communication error (or Positioner initialization/configuration error)
BUSY: Procedure execution error
TMOT: Motor temperature
RES: Resolver cable interruption
COD: Encoder cable interruption
HALL : Hall Effect Sensors error
BUS: PROFIBUS communication OK.
BUSY: Procedure in progress (blinking).
AP: No power supply. The AOK output does not take into account the display of AP.
All faults (except for the "Undervolt." fault) involve:
- the positioner disabling
- the motor brake control.
- the opening of the AOK relay contact. This relay must be wired as described in section 5.3 for switching off the
power supply in order to keep a zero type standstill.
The AP fault involves:
- the positioner disabling
- the motor brake control.
3 - X1: RESOLVER CONNECTOR
Sub D 9 pins female (same for all drive types 230 V and 400 V)
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 5 (Appendix), section 2.
ON (green)
SYS (yellow)
ERROR (red)
BUSY (yellow)
BUS (green)
AP (red)

18
Chapter 3 - Inputs-Outputs
XtrapulsCD1-pm –Installation manual
4 - X2: DIGITAL I/Os CONNECTOR
Sub D 25 pins male (same connector for all drive types in 230 V and 400 V)
Pins
I/O
Description
1
I
Optocoupled input "START"
2
I
Optocoupled input "STOP"
3
I
Optocoupled input IN1
4
O
Z/
5
O
Z
6
O
A/
7
O
A
8
O
B/
9
O
B
10
I
Optocoupled input IN2
11
I
Optocoupled input IN3
12
I
0 V external
13
I
Optocoupled input IN4
14
I
Optocoupled input IN5
15
I
Optocoupled input IN6
16
O
Isolated output SEQ
17
O
Isolated output POS
18
O
Isolated output SPEED
19
O
Isolated output OUT1
20
O
Isolated output OUT2
21
O
Isolated output OUT3 (**)
Configurable analog input by jumpers
22
O
Isolated output OUT4 (**)
Configurable analog output by jumpers
23
O
0 V internal
24
I
External supply +24 V (*)
25
I
0 V external
(*) +24 V input only required when the outputs SEQ, POS, SPEED, OUT1, OUT2, OUT3, OUT4 are used.
(**) The analog input and the analog output are configured by the 3 jumpers located on the drive connector board
as described below.
Logic outputs selection
CD1-pm
Connector board
Analog I/Os selection
CD1-pm
Connector board

19
XtrapulsCD1-pm –Installation manual
Chapter 3 - Inputs - Outputs
SPECIFICATIONS OF THE LOGIC INPUTS : IN1 to IN6
These inputs are optocoupled and work in positive logic.
SPECIFICATIONS OF THE LOGIC OUTPUTS: SEQ, POS, SPEED, OUT1 to OUT4
❖External supply +24 V (18 V < U < 30 V)
❖Maximum voltage drop = 2 V
❖Protection against overloads
❖Output current available per output (mA)
Number of activated outputs / Cyclic rate (%)
100 %
70 %
50 %
30 %
2
200 mA
200 mA
200 mA
200 mA
4
100 mA
150 mA
200 mA
200 mA
7
60 mA
80 mA
120 mA
200 mA
SPECIFICATIONS OF THE ENCODER OUTPUTS
Recommended receiver: 26LS32.
The input voltage corresponding to level 1
is between 18 V and 30 V
100 kΩ
Logic input
0 V
CD1-pm
5 V
8.2 k
100 nF
+5 V
26LS31
driver
A
/A
B
/B
Z
/Z
0 V
CD1-pm
CD1-pm
330 Ohm
+24 V external
+24 V external
10 k
Driver
0 V external
0 V

20
Chapter 3 - Inputs-Outputs
XtrapulsCD1-pm –Installation manual
SPECIFICATIONS OF THE ANALOG INPUT
SPECIFICATIONS OF THE ANALOG OUTPUT
5 –X3: ENCODER CONNECTOR
Sub D 25 pins female (same connector for all drive types in 230 V and 400 V)
5.1 - X3 CONNECTOR FOR TTL INCREMENTAL ENCODER & HES INPUT (Sub D 25 pins female)
The “TTL incremental encoder & HES” configuration is selectable by software and stored in the drive EEPROM.
The corresponding X3 connector pin function is 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 (300 mA max. current)
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 Ω, max 150 mA available
23
AGND
Hall sensors supply GND
9
TC+
Motor thermal sensor input
22
TC-
Motor thermal sensor input
others
reserved
200 K
X2-22
CD1-pm
X2-23
33 K
4.7 nF
20 K
CD1-pm
X2-21
100 K
X2-23
100 K
1 nF
16 K