Servotronix CDHD User manual

CDHD Servo Drive
User Manual
Revision 0.2
PRELIMINARY RELEASE

CDHD
User Manual i
Revision History
Document
Revision
Date Remarks
0.2 June 2011 Added diagram: CDHD-1D5 Dimensions;
Replaced diagram: System Wiring - Pin
Assignments; Minor text fixes
0.1 June 2011 Preliminary version
Hardware
Revision Firmware Revision Software Revision Remarks
0.0.0.10
Important Notice
© 2011 Servotronix Motion Control Ltd.
All rights reserved. No part of this work may be reproduced or transmitted in any
form or by any means without prior written permission of Servotronix Motion
Control Ltd.
Disclaimer
The information in this manual was accurate and reliable at the time of its
release. Servotronix Motion Control Ltd. reserves the right to change the
specifications of the product described in this manual without notice at any time.
Trademarks
All marks in this manual are the property of their respective owners.
Contact Information
Servotronix Motion Control Ltd.
21C Yagia Kapayim Street
Petach Tikva 49130
Israel
Tel: [phone]
Fax: [phone]
Website: www.servotronix.com
Technical Support
If you need assistance with the installation and configuration of the CDHD drive,
contact Servotronix technical support: [e-mail]
Customer Service
Servotronix is committed to delivering quality customer service and support for
all our products. Our goal is to provide our customers with the information and
resources so that they are available, without delay, if and when they are needed.
In order to serve in the most effective way, we recommend that you contact
your local sales representative for order status and delivery information, product
information and literature, and application and field technical assistance. If you

CDHD
ii Servotronix
are unable to contact your local sales representative for any reason, please use
the most relevant of the contact details below:
For technical support, contact:
[e-mail]
To order products, contact:
[e-mail]
For all other inquiries regarding CDHD drives or other Servotronix products,
contact: [e-mail]
Part Number
For ordering the CDHD, refer to the following diagram:
Warranty
The warranty is valid for 12 months from the date of shipment and applies only if
material or workmanship is found to be defective. The warranty will be invalid if
the customer fails to install, operate or maintain the product in accordance with
the instructions in this user manual.
During the warranty period, the owner must pay the cost of shipping the product
to the factory for repair, and Servotronix will pay for shipping the repaired
product to the customer.
After the warranty period has expired, all shipping costs will be the responsibility
of the customer.
Before returning the product, the customer must first request a Return Materials
Authorization (RMA) number from Servotronix by email to [e-mail]
The complete Warranty Statement can be found in the Terms and Conditions
document on the Servotronix website:
www.servotronix.com/customer-service.html

CDHD
User Manual iii
Contents
1Introduction ________________________________________________ 1
1.1 Documentation.......................................................................................... 1
1.1.1 About This Manual............................................................................ 1
1.1.2 Documentation Set for CDHD............................................................. 1
1.2 Safety ...................................................................................................... 1
1.2.1 Safety Symbols................................................................................ 1
1.2.2 Safety Instructions........................................................................... 2
1.3 Standards Compliance................................................................................ 2
1.3.1 General Information ......................................................................... 2
1.3.2 CE Compliance................................................................................. 3
1.4 Unpacking................................................................................................. 4
2Product Description __________________________________________ 5
2.1 Overview.................................................................................................. 5
2.1.1 General Description .......................................................................... 5
2.1.2 Product Options ............................................................................... 5
2.2 Technical Specifications.............................................................................. 6
2.2.1 Dimensions ..................................................................................... 6
2.2.2 Mechanical and Electrical Specifications - 200V .................................... 7
2.2.3 Mechanical and Electrical Specifications - 400V .................................... 8
2.2.4 Control Specifications ......................................................................10
2.2.5 Protective Functions and Environment................................................11
2.2.6 Communication...............................................................................11
2.2.7 I/Os...............................................................................................12
2.2.8 Motor Feedback...............................................................................13
2.3 System Wiring - Pin Assignments................................................................14
3Installation________________________________________________ 15
3.1 Installation Overview ................................................................................15
3.2 Preparation..............................................................................................15
3.2.1 Hardware Requirements...................................................................15
3.2.2 Computer Requirements...................................................................16
3.2.3 Electrical Requirements....................................................................18
3.3 Mechanical Installation ..............................................................................20
3.3.1 Mount the CDHD .............................................................................20
3.4 Electrical Installation.................................................................................20
3.4.1 Connect Motor (P2) .........................................................................20
3.4.2 Connect STO (P1)............................................................................21
3.4.3 Connect Regen (P3).........................................................................22
3.4.4 Connect Motor Feedback (C4)...........................................................22
3.4.5 Connect Controller I/Os (C2) ............................................................24
3.4.6 Connect Machine I/Os (C3)...............................................................25
3.4.7 Connect AC Input Voltage (P4)..........................................................26
3.5 Set the Drive Address................................................................................27
3.6 Connect to PC (C1 or C7)...........................................................................28
3.7 Power Up.................................................................................................29
3.8 ServoStudio Software Installation...............................................................29
4Configuration and Operation___________________________________ 30
4.1 Variables and Commands...........................................................................30
4.2 ServoStudio Software................................................................................30
4.3 Connecting to a Drive................................................................................31
4.4 Enabling/Disabling a Drive.........................................................................31
4.4.1 Drive Enable...................................................................................31
4.4.2 Operation Mode Codes.....................................................................32

CDHD
iv Servotronix
4.5 Managing Drive Parameters .......................................................................33
4.6 Configuring Parameters Using ServoStudio ..................................................34
4.6.1 Tuning and Testing..........................................................................34
4.6.2 Drive Info.......................................................................................35
4.6.3 Power ............................................................................................35
4.6.4 Motor.............................................................................................35
4.6.5 Foldback ........................................................................................35
4.6.6 Units..............................................................................................35
4.6.7 Feedback .......................................................................................35
4.6.8 Motion ...........................................................................................36
4.6.9 Scope ............................................................................................36
4.6.10Digital I/Os.....................................................................................36
4.6.11Analog I/O......................................................................................36
4.6.12Enable ...........................................................................................36
4.6.13Current Loop ..................................................................................36
4.6.14Current Limits.................................................................................36
4.6.15Velocity Loop..................................................................................36
4.6.16Velocity Limits ................................................................................36
4.6.17Terminal ........................................................................................36
4.6.18Faults ............................................................................................37
4.6.19Parameters Table............................................................................37
4.7 ServoStudio Expert View ...........................................................................37
5Firmware Upgrade __________________________________________ 38
5.1 Preparation..............................................................................................38
5.2 Upgrade Procedure ...................................................................................38
6Troubleshooting ____________________________________________ 39
6.1 Drive Status 7-Segment Display.................................................................39
6.2 Faults and Warnings..................................................................................39
6.3 Status Information in ServoStudio ..............................................................40
6.4 Fault and Status Queries ...........................................................................40
6.5 Fault Codes and Names.............................................................................40

CDHD Introduction
User Manual 1
1Introduction
1.1 Documentation
1.1.1 About This Manual
This manual describes the Servotronix CDHD Servo Drive. It provides the
information required for installation, configuration and basic operation of the
CDHD unit.
This document is intended for persons who are qualified to transport, assemble,
commission, and maintain the equipment described herein.
1.1.2 Documentation Set for CDHD
This manual is part of a documentation set. The entire set consists of the
following:
CDHD Quick Start Guide. Basic setup and operation of the drive.
CDHD User Manual. Hardware installation, configuration and operation.
CDHD VarCom Reference Manual. Parameters and commands used to
program the CDHD.
1.2 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 utilizes hazardous voltages.
Be sure the drive is properly grounded.
Before you install the CDHD, review the safety instructions in this manual.
Failure to follow the safety instructions may result in personal injury or
equipment damage.
1.2.1 Safety Symbols
Safety symbols indicate a potential for personal injury or equipment damage if
the recommended precautions and safe operating practices are not followed.
The following safety-alert symbols are used on the drive and in the
documentation:
Caution ISO 7000-0434 (2004-01)

Introduction CDHD
2 Servotronix
Warning. Dangerous voltage. IEC 60417-5036 (2002-10)
Protective earth; protective ground IEC 60417–5019 (2006-08)
Caution, hot surface IEC 60417-5041 (2000-10)
1.2.2 Safety Instructions
Read all available product documentation before assembling and
commissioning. Incorrect handling of this product may cause personal injury
and/or damage to equipment. Adhere strictly to the installation instructions
and requirements.
All system components must be connected to ground. Electrical safety is
provided through a low-resistance earth ground connection.
This product contains static sensitive components that can be damaged by
incorrect handling. Avoid contact with high insulating materials (artificial
fabrics, plastic film, etc.). Place the product on a conductive surface. Ground
yourself (discharge any possible static electricity build-up) by touching an
unpainted, metal, grounded surface.
Keep all covers and cabinet doors shut during operation. Otherwise,
potential hazards may cause personal injury and/or damage to equipment.
During operation the product has electrically charged components and hot
surfaces. The heat sink can reach temperatures of 90°C. Control and power
cables can carry a high voltage, even when the motor is not rotating.
To avoid electric arcing and hazards to personnel and electric contacts,
never disconnect or connect the product while the power source is
energized.
After removing the power source from the equipment, wait at least
5 minutes before touching or disconnecting sections of the equipment that
normally carry electrical charges (e.g., capacitors, contacts, screwed
connections). For safety, measure the electrical contact points with a meter
before touching the equipment. Wait until the voltage drops below 30 VAC
before handling components.
1.3 Standards Compliance
1.3.1 General Information
The CDHD has been successfully tested and evaluated according to standards
IEC 61800-5-1 and UL 508C. This testing outlines the minimum requirements for
electrically operated power conversion equipment (frequency converters and
servo amplifiers), which are intended to eliminate the risk of fire, electric shock,
or injury to persons.

CDHD Introduction
User Manual 3
UL 508C references UL 840, which describes the achievement by design of air
and insulation creepage spacings for electrical equipment and printed circuit
boards. The CDHD provides overload protection and current limit control.
The drive is intended for operation in pollution level 2 environment.
The terminals on the controller are coded so they can easily be identified in the
instructions. The instructions identify the connections for the power supply, load,
control, and ground.
Integral solid state short circuit protection does not provide branch circuit
protection. Branch circuit protection must be provided in accordance with the
National Electrical Code and any additional local codes, or the equivalent.
1.3.2 CE Compliance
Compliance with EC EMC Directive (2004/108/EC) and EC Low Voltage Directive
(2006/95/EC) is mandatory for all servo drives provided to the European
Community. CDHD is manufactured in conformance with these directives. CDHD
drives have also been successfully tested and evaluated to the limits and
requirements of these directives.
EC Low Voltage Directive (2006/95/EC) complies with standard IEC 61800-5-1.
The following standards are used in connection with EC EMC Directive
(2004/108/EC):
IEC 61000-6-1/2 (Interference Immunity in Residential & Industrial Areas)
IEC 61000-6-3/4 (Interference Generation in Residential & Industrial Areas)
Drives are components that are intended for incorporation into a machine, for
industrial use. Before a drive is in installed, verify that the associated equipment
complies with the following standards:
EC Machinery Directive (2006/42/EC)
EC EMC Directive (2004/108/EC)
EC Low Voltage Directive (2006/95/EC)
Standards EN/IEC 60204-1 (Safety and Electrical Equipment in Machines),
ISO 12100 (Safety of Machines) and EN 292 must be observed in reference to
Machinery Directive (2006/42/EC).
Standard IEC 60439-1 (Low-voltage Switchgear and Control Gear Assemblies)
must be observed in reference to EC Low Voltage Directive (2006/95/EC).
The machine manufacturer must generate a hazard analysis for the machine,
and must implement suitable measures to ensure that unexpected movements
will not cause personal injury and/or property damage.
The machine manufacturer is responsible for ensuring that the machine meets
the requirements specified by the EMC regulations. Guidelines for correct
installation for EMC (such as shielding, grounding, treatment of connectors and
cable layout) are provided in this.
The machine manufacturer must check whether EC Directives or other standards
must be applied to the machine.
Servotronix only guarantees the conformance of the servo system with the
standards cited in this chapter.

Introduction CDHD
4 Servotronix
Caution: Installation of the equipment is critical in designing system and
machine electromagnetic compatibility (EMC).
The end user must apply the installation recommendations in this manual.
1.4 Unpacking
1. Open the package(s) and remove all packing materials and items. The
package contains two items:
•The CDHD drive
•A packet of mating connectors for the power connectors.
2. Check to ensure there is no visible damage to any of the equipment. If
damage is detected, notify the carrier immediately.