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Servotronix CDHD2 Manual
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Servotronix CDHD2 Manual

Servo drive operator panel (hmi)
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CDHD2 Servo Drive
Operator Panel (HMI)
Revision: 1.0
Firmware Version 2.15.x

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Summary of Contents for Servotronix CDHD2

  • Page 1 CDHD2 Servo Drive Operator Panel (HMI) Revision: 1.0 Firmware Version 2.15.x...
  • Page 3 21C Yagia Kapayim Street Petach Tikva 49130, Israel Tel: +972 (3) 927 3800 Fax: +972 (3) 922 8075 Website: www.servotronix.com Technical Support If you need assistance with the installation and configuration of the CDHD2 drive, contact Servotronix technical support: tech.support@servotronix.com Operator Panel (HMI)
  • Page 4 CDHD2 Operator Panel (HMI)

  • Page 5: Table Of Contents

    CDHD2 Contents Operator Panel (HMI) Overview ________________________________________________ 7 Operator Panel – Parameter Mode ____________________________________________ 12 Operator Panel – Command Mode ____________________________________________ 23 Operator Panel – Monitoring Mode ___________________________________________ 32 Operator Panel – Faults & Info Mode _________________________________________ 39 Operator Panel (HMI)
  • Page 6 CDHD2 Operator Panel (HMI)

  • Page 7: Operator Panel (Hmi) Overview

    CDHD2 Operator Panel (HMI) Overview The CDHD2 operator panel is an HMI (human-machine interface) that allows you to monitor and edit parameter values, execute commands, and perform drive diagnostics and troubleshooting. While COMMODE 0 is in effect, the drive can be fully controlled (enabled, motor movement, parameter modification) by both the operator panel and ServoStudio.
  • Page 8 CDHD2 Table 1-2. Operator Panel Control Keys Name Function Mode Switches to next panel display mode (Status >  Parameter > Command > Monitor > Fault > Status). While editing, cancels the edited value and returns  to mode menu.
  • Page 9 Mode for displaying drive status, operating mode, warnings and motor movement. Refer to Operator Panel – Status Mode. Also refer to Digital Display – Warning Codes in the CDHD2 User Manual. Parameters Mode for reading and writing values of drive parameters. Refer to the VarCom Reference Manual.
  • Page 10 CDHD2 HMI Status Codes Status codes are shown in the table below. Also refer to Digital Display – Warning Codes in the CDHD2 User Manual. Table 1-4. Digital Display Status Codes Digit or DP Display Description DP 1 Drive enabled...
  • Page 11 CDHD2 HMI Special Status Codes Power Up During power up, the digital display shows 5 dashes. This code is also displayed when the Ember switch is activated, which sets the drive to serial communication Boot-Up mode. Ember Mode During the firmware update process, the digital display shows:...

  • Page 12: Operator Panel - Parameter Mode

    Error messages resulting from parameter manipulation are indicated by E followed by a two or three digit error code. Refer to Error Messages in the CDHD2 User Manual. If CONFIG is required after a parameter value is entered, the display will flash.
  • Page 13 CDHD2 HMI Parameter Value Manipulation The digital display can present parameter values up to ±9,223,372,036,854,775,807.000 The first string is displayed by default. To view the second, third and fourth strings, press the Shift key repeatedly, until the display shows the next string.
  • Page 14 CDHD2 Parameter Group Description Current Loop Gains Starting at index 1300 Feedback Starting at index 2000 Secondary Feedback Starting at index 2100 Motor Starting at index 3000 Digital I/Os Starting at index 4000 Analog I/Os Starting at index 4100 Limits...
  • Page 15 CDHD2 Parameter Description Code UNITSROTACC Units Rotary Acc/Dec P 0 0 2 3 UNITSROTVEL Units Rotary Velocity P 0 0 2 4 UNITSLINPOS Units Linear Position P 0 0 2 5 UNITSLINACC Units Linear Acc/Dec P 0 0 2 6...
  • Page 16 CDHD2 Parameter Description Code GEARFILTVELFF Gear Filter Velocity Feedforward P 1 1 0 8 GEARFILTAFF Gear Filter Acceleration FF P 1 1 0 9 Linear Loop Gains Starting at index 1200 Velocity Proportional Gain P 1 2 0 0 Velocity Integral Gain...
  • Page 17 CDHD2 Parameter Description Code IGRAV Gravity Compensation P 1 3 1 8 IMAX Drive Current Limit P 1 3 1 9 Current Q Axis P 1 3 2 0 Phase U Actual Current P 1 3 2 1 IUOFFSET Phase U Current Offset...
  • Page 18 CDHD2 Parameter Description Code INDEXDURATE Simulated Encoder Index Pulse Duration P 2 0 3 2 Secondary Feedback Starting at index 2100 HWPEXT Hardware Position External P 2 1 0 0 HWPEXTCNTRLR Hardware Position External (FPGA) P 2 1 0 1...
  • Page 19 CDHD2 Parameter Description Code INMODE Input Mode (input 5) P 4 0 0 4 INMODE Input Mode (input 6) P 4 0 0 5 INMODE Input Mode (input 7) P 4 0 0 6 INMODE Input Mode (input 8) P 4 0 0 7...
  • Page 20 CDHD2 Parameter Description Code OUTBRAKEINV Manual Brake by Output Inverse P 4 0 4 2 OUTBRAKEMODE Manual Brake by Output Mode P 4 0 4 3 OUTFLTLVL Force Digital Output State on Fault P 4 0 4 4 OUTILVL1 Current 1 Digital Output Definition...
  • Page 21 CDHD2 Parameter Description Code Limits Starting at index 5000 LIMSWITCHNEG Limit Switch Negative Status P 5 0 0 0 LIMSWITCHPOS Limit Switch Positive Status P 5 0 0 1 GEARLIMITSMODE Electronic Gearing Mode P 5 0 0 2 POSLIMHYST SW Position LS Hysteresis Value...
  • Page 22 CDHD2 Parameter Description Code COMMERRTTHRESH Commutation Error Threshold P 7 1 0 9 COMMERRVTHRESH Commutation Velocity Deviation P 7 1 1 0 STALLTIME Stall Time P 7 1 1 1 STALLVEL Stall Velocity P 7 1 1 2 Homing Starting at index 7200...

  • Page 23: Operator Panel - Command Mode

    Error messages resulting from parameter manipulation are indicated by followed by a two or three digit error code. For the full list of error message codes, refer to Error Messages in the CDHD2 User Manual. HMI Command Codes Command codes are shown in the table below.
  • Page 24 CDHD2 Autotuning Code C 0 0 0 0 Command Initiate Drive-based Autotuning VarCom HDTUNE Sequence Make sure the drive is disabled, and has no faults Select: C0000 Press: Shift Display: A t u n e Press: Shift Display: Flashing in digit 1 Insert a value that represents the autotuning options: Internal Motion Generator –...
  • Page 25 CDHD2 Motor Setup Code C 0 0 0 1 Command Motor Setup VarCom MOTORSETUP Sequence Make sure the drive is disabled, and has no faults Select: C0001 Press: Shift Display: n n s e t Press: Long Shift Display: Motor setup progress in % number...
  • Page 26 CDHD2 Enable / Disable Code C 0 0 0 3 Command Enable/Disable (Toggle) VarCom EN / K Sequence Select: C 0 0 0 3 Press: Shift Display: 00.000. Press: Long Shift Done: 0 0 . 0 0 0 . Sequence Select:...
  • Page 27 CDHD2 For example, set a speed of 300 rpm First string = values up to 99.999. Nothing to set. Press: Shift until you reach the first digit in the second string. Second string = values up to 9999,9nn.nnn. Press: Up to reach 3...
  • Page 28 CDHD2 Save Parameters Code C 0 0 0 6 Command Save Parameters VarCom SAVE Sequence Select: C0006 Press: Shift Display: d o n e (or an error code) Encoder Multi-Turn Reset Code C 0 0 0 7 Command Encoder Multi-turn Reset...
  • Page 29 CDHD2 Analog Input 1 Zero Code C 0 0 0 9 Command Analog Input 1 Zero Command VarCom ANIN1ZERO Sequence Make sure drive is Disabled. Select: C0008 Press: Shift Display: Flashing in digit 1 Press: Long Shift Display: d o n e...
  • Page 30 CDHD2 Move Incremental - Distance Code C 0 0 1 1 Command Move Incremental - distance VarCom MOVEINC {distance} {velocity} Sets the distance argument. Command uses velocity value set by JOGSPD1. Sequence Select: C0011 Display: i n c n n...
  • Page 31 CDHD2 Phase Find Code C 0 0 1 3 Command Phase Find VarCom PHASEFIND Sequence Select: C0013 Press: Shift. Display: P h a S e Press: Shift Display: Flashing in digit 1 Press: Long Shift Display: d o n e...

  • Page 32: Operator Panel - Monitoring Mode

    CDHD2 Operator Panel – Monitoring Mode The Monitoring mode is indicated by the character in digit 5. In Monitoring mode, the panel is used to read drive variables, such as speed, position, and current, inputs and outputs. HMI Monitor Codes Table 4-1.
  • Page 33 CDHD2 Actual Speed Code d 0 0 0 0 Command Velocity Description Shows the actual speed of the motor, as measured by the primary feedback, in rpm. Speed is shown in digits 4 3 2 1 If motion is in a negative direction, DP5 is lit.
  • Page 34 CDHD2 Actual Position (rev) Code d 0 0 0 2 Command Actual Position, in revolutions Description Shows the actual position of the motor, as measured by the primary feedback, in revolutions. If the position is a negative value, DP5 is lit.
  • Page 35 CDHD2 Actual Current Code d 0 0 0 3 Command Motor Current Description Shows the motor current, in amperes. If the current is a negative value, DP5 is lit. VarCom Sequence Select: d0003 Press: Shift Display: 0 0 . # # # .
  • Page 36 CDHD2 Digital Input 11 Code d 0 0 0 5 Command Digital Input 11 Status Description Indicates the state of digital input 11. Double height line = on Single height line = off VarCom Sequence Press: d0005 Press: Shift Examples Digital input 11 is on.
  • Page 37 CDHD2 Returns CAN Statusword Code d 0 0 0 7 Command Returns Statusword Description Object 6041h VarCom Not Applicable Sequence Press: d0007 Press: Shift Display: h 4 2 5 0 (for example) Returns CAN Controlword Code d 0 0 0 8...
  • Page 38 CDHD2 Hardware Position External (counts) Code d 0 0 1 1 Command Hardware Position External Description Shows the position as measured by an external feedback device, in counts VarCom HWPEXT Sequence Press: d0011 Press: Shift Display: 0 0 0 3 2 .

  • Page 39: Operator Panel - Faults & Info Mode

    If a fault remains in effect, and a different display mode is selected, the fault code characters will be displayed sequentially in digit 4, with flashing. For the full list of Fault codes, refer to Digital Display – Fault Codes in the CDHD2 User Manual.
  • Page 40 CDHD2 Faults History Code F 0 0 0 1 Command Faults History VarCom FLTHIST Example F e 1 2 3 : TP Read Failure F r 2 0 : Feedback Communication Error : Parameter Memory Checksum Failure F r 2 5...
  • Page 41 CDHD2 FPGA Version Code F 0 0 0 2 Command Firmware Version VarCom Example FPGA Version: 4.08 March 16 2017 Sequence Select: F0002 Press: Shift Display: Press: Shift Display: Press: Shift Display: Press: Shift Display: Operator Panel (HMI)
  • Page 42 CDHD2 Warnings History Code F 0 0 0 4 Command Warnings History VarCom Not Applicable Example : Foldback Warning : STO Warning : Software Limit Switches are Tripped Sequence Select: F0001 Press: Shift Display: Press: Display: Press: Display: Notes When displayed in Status mode, multi-character warning codes are displayed in sequence, in digit 4 only.
  • Page 44 CDHD2 Servo Drive – Operator Panel (HMI) Servotronix - 21C Yagia Kapayim St. POB 3919 Petach Tikva 49130, Israel Tel: 972-3-927-3800 info@servotronix.com www.servotronix.com...
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