Servotronix CDHD-1D5 User manual

CDHD Servo Drive
Quick Start Guide
Revision 5.4
DOC-CDHD-QSG-EN

CDHD
Quick Start Guide 3
Revision
Firmware
Revision
Software (GUI)
Revision
1.3.2 1.3.2.3
Important Notice
© 2013 IMO Precision Controls Ltd.
ll rights reserved. No part of this work may be reproduced or transmitted in any
form or by any means without prior written permission of IMO.
Disclaimer
The information in this manual was accurate and reliable at the time of its
release. IMO Precision Controls Ltd. reserves the right to change the
specifications of the product described in this manual without notice at any time.

CDHD
4 Quick Start Guide
Trademarks
C Nopen and Ci are registered trademarks of the C N in utomation User's
Group
PROFINET is a trademark of PROFIBUS International
EtherC T is a registered trademark and patented technology, licensed by
Beckhoff utomation GmbH
EnDat is a registered trademark of Dr. Johannes Heidenhain GmbH
HIPERF CE is a registered trademark of Sick Stegmann Gmbh
Windows is a registered trademark of Microsoft Corporation
Contact Information
IMO Jeambrun utomation S S.
30 Rue De Rocroy
94100 Saint Maur Des Fosses, France
Tel: [phone]
Fax: [phone]
Website: www.imopc.com
Technical S pport
If you need assistance with the installation and configuration of the CDHD drive,
contact Servotronix technical support: [email protected]
Part N mber

CDHD
Quick Start Guide 5
Contents
1 Introd ction __________________________________________________ 7
CDHD Documentation ........................................................................................ 7
Safety .............................................................................................................. 7
Required Hardware and Tools .............................................................................. 7
Required Computer System ................................................................................ 8
CDHD Installation Procedure ............................................................................... 8
CDHD Dimensions and Mounting ......................................................................... 9
CDHD Wiring and Pin ssignments ...................................................................... 12
2 Control Board _________________________________________________ 24
Overview ......................................................................................................... 24
Controller I/Os – C2 .......................................................................................... 24
Controller Interface Wiring ......................................................................... 27
Machine I/Os – C3 ............................................................................................ 29
Machine Interface Wiring ........................................................................... 31
Motor Feedback – C4 ........................................................................................ 33
Feedback Wiring Guidelines........................................................................ 34
Fieldbus Devices – C5 and C6 ............................................................................ 41
C N Communication ................................................................................. 41
EtherC T or PROFIBUS Communication ....................................................... 41
Host Computer – C1, C7 .................................................................................... 42
Daisy Chain – C8 .............................................................................................. 43
Drive ddress Switches ..................................................................................... 44
3 Power Board 120/240 VAC ______________________________________ 45
Overview ......................................................................................................... 45
Safe Torque Off (STO) – P1 ............................................................................... 45
Motor – P2 ....................................................................................................... 46
Regeneration Resistor – P3 ................................................................................ 47
C Input – P3, P4, P5 ....................................................................................... 48
4 Power Board 400/480 VAC ______________________________________ 50
Overview ......................................................................................................... 50
Safe Torque Off (STO) – P1 ............................................................................... 50
Logic Power 24V Input – P2 ............................................................................... 51
C Input and Regeneration Resistor – P3 ............................................................ 52
Brake – P4 ....................................................................................................... 53
Motor – P5 ....................................................................................................... 54
5 Software ____________________________________________________ 55
ServoStudio Installation .................................................................................... 55
Power Up ......................................................................................................... 55
Drive Configuration ........................................................................................... 56
6 Drive Stat s __________________________________________________ 57
Normal Operation Codes .................................................................................... 57
Warning and Fault Codes ................................................................................... 58

CDHD
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CDHD Introduction
Quick Start Guide 7
1 Introd ction
CDHD Doc mentation
This manual is part of a documentation set. The entire set consists of the
following:
 CDHD Q ick Start G ide. Basic setup and operation of the drive.
 CDHD User Man al. Hardware installation, configuration and operation.
 CDHD VarCom Reference Man al. Parameters and commands used to
program the CDHD.
 CDHD CANopen for CAN and EtherCAT Drives Reference Man al.
CDHD implementation of C Nopen protocol for C N and EtherC T.
Safety
Only qualified persons may perform the installation procedures. You do not need
to be an expert in motion control to install and operate the drive system.
However, you must have a basic understanding of electronics, computers,
mechanics, and safety practices.
The CDHD tilizes hazardo s voltages.
Be s re the drive is properly gro nded.
Before you install the CDHD, review the safety instructions in this manual. The
manual is available as a PDF file that can be downloaded from the Servotronix
website.
Failure to follow the safety instructions may result in personal injury or
equipment damage.
Req ired Hardware and Tools
ll required hardware and tools are specified in the diagrams in the section
CDHD Wiring and Pin Assignments.
The connectors and tools that are supplied with the CDHD are also indicated in
those diagrams.
In addition, you will need a small slotted screwdriver for setting switches.
To connect the CDHD to the host computer via serial communication, you will
need one of the following:
 USB 2.0 to Mini-B cable (USB interface)
 4p4c plug and cable (RS232 interface)
To connect the CDHD to the host computer or host PLC via fieldbus, you will
need:
 RJ45 cables (C N interface or EtherC T)

Introduction CDHD
8 Quick Start Guide
Req ired Comp ter System
The following computer system and software are required:
 2 GHz CPU
 1 MB R M
 1000 MB available on hard drive (after .net 4 is installed)
 USB or RS232 port for connecting to the drive, according to CDHD model.
 Operating system: Windows XP-SP3, or Windows 7
 ServoStudio, the graphical software interface for configuring and testing the
drive. Download from the CDHD product page on the IMO website.
 .Net4 (for details, refer to .NET Framework System Requirements). If .NET 4
is not installed on the computer, ServoStudio will guide you through the
installation, but will not install it automatically.
CDHD Installation Proced re
Perform the following steps to install and setup a CDHD system.
1. Mount the CDHD.
2. Make all electrical connections:
 Controller I/Os and/or Machine I/Os
 Motor feedback
 Fieldbus devices, if required
 Safe torque off (STO), or bypass using jumpers
 Motor
 Motor brake, if required
 Regeneration resistor, if required
 C input voltage
3. Set the drive address using the rotary switches.
4. Connect the drive to the PC.
5. Power up the drive and the PC.
6. Connect to fieldbus devices (optional).
7. Install ServoStudio software.
8. Using ServoStudio, configure and test the drive.

CDHD Introduction
Quick Start Guide 9
CDHD Dimensions and Mo nting
Using the bracket on the back of the CDHD, mount the CDHD on a grounded
conductive metal panel.
CDHD-1D5/CDHD-003 – 120/240 VAC - Dimensions (mm)
Note: CDHD-003 has fan.
CDHD-4D5/CDHD-006 – 120/240 VAC - Dimensions (mm)

Introduction CDHD
10 Quick Start Guide
CDHD-008/CDHD-010/CDHD-013 – 120/240 VAC - Dimensions (mm)
CDHD-020/CDHD-024 – 120/240 VAC - Dimensions (mm)

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Quick Start Guide 11
CDHD-003/CDHD-006 – 400/480 VAC - Dimensions (mm)
CDHD-012 - 400/480 VAC - Dimensions (mm)

Introduction CDHD
12 Quick Start Guide
CDHD Wiring and Pin Assignments
CDHD-1D5/CDHD-003 – Servo System Wiring –120/240 VAC, 1-Phase

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Quick Start Guide 13
CDHD-1D5/CDHD-003 – Pin Assignments – 120/240 VAC

Introduction CDHD
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CDHD-4D5/CDHD-006 – Servo System Wiring – 120/240 VAC, 1-Phase

CDHD Introduction
Quick Start Guide 15
CDHD-4D5/CDHD-006 – Pin Assignments – 120/240 VAC

Introduction CDHD
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CDHD-008/CDHD-010/CDHD-013 – Servo System Wiring –
120/240 VAC, 3-Phase

CDHD Introduction
Quick Start Guide 17
CDHD-008/CDHD-010/CDHD-013 – Pin Assignments – 120/240 VAC

Introduction CDHD
18 Quick Start Guide
CDHD-020/CDHD-024 – Servo System Wiring – 120/240 VAC, 3-Phase

CDHD Introduction
Quick Start Guide 19
CDHD-020/CDHD-024 – Pin Assignments – 120/240 VAC

Introduction CDHD
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CDHD-003/CDHD-006 – Servo System Wiring – 400/480 VAC, 3-Phase