Servotronix CDHD2S User Manual
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Servotronix CDHD2S User Manual

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CDHD2S Servo Drive
User Manual
Please read this instruction manual carefully before using the product and keep it properly.

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Summary of Contents for Servotronix CDHD2S

  • Page 1 CDHD2S Servo Drive User Manual Please read this instruction manual carefully before using the product and keep it properly.
  • Page 2 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.
  • Page 3 The package contains only one CDHD2S drive. Upon arrival, please open the package and remove all packaging materials. Check the product to ensure that there is no visible damage in CDHD2S drive. If damage is found, please inform the carrier immediately.

  • Page 4: Table Of Contents

    Contents Contents 1. Introduction ..............10 1.1 CDHD2S Product Overview ..........10 1.2 CDHD2S model ............11 1.3 Order Information ............13 1.4 CDHD2S Product Label ........... 14 1.5 CDHD2S File Package ............. 15 2. Safety and Standards ............16 2.1 Safety Symbols ............
  • Page 5 4.9.12 Gantry system wiring ..........84 4.10 Power board connection ..........85 4.10.2 CDHD2S-1D5/003 (medium-voltage) power board pin assignment ..86 4.10.3 CDHD2S-4D5/006 (medium-voltage) power board pin assignment错 误 ! 未 定 义书签。 4.10.1 CDHD2S-012 (high-voltage) power board pin assignment 错误!未定义书签。...
  • Page 6 Contents 4.12.1 Firmware update preparation ........99 4.12.2 Firmware update options ........... 100 4.12.3 Updating firmware via serial connection ......101 4.12.4 Updating firmware on EtherCAT ........102 4.12.5 Restoration operation after firmware update ......106 4.12.6 Ember mode ............. 107 4.12.7 Download parameters via EtherCAT .........
  • Page 7 6.17 Error Correction ............166 6.17.1 Overview of error correction ........166 6.17.2 Error correction table - example ........166 6.17.3 Error correction function of CDHD2S ......... 167 6.17.4 Error correction parameters and commands ......168 6.17.5 Error correction feedback unit ........168 6.17.6 Error correction settings ...........
  • Page 8 Contents 7.3.1 Serial current operation ..........187 7.3.2 Analog current operation ........... 187 7.3.3 Current control ............ 187 7.4 Velocity Operation ............188 7.4.1 Serial velocity operation ..........188 7.4.2 Analog velocity operation ........... 188 7.4.3 Velocity control ............ 188 7.5 Position Operation ............
  • Page 9 10.4 Fieldbus status-LED ............. 261 10.4.1 Status LED-CANopen ..........261 10.4.2 Status LED - EtherCAT ..........262 10.4. Status LED - PROFINET ..........262 11. CDHD2S Accessories ............263 11.1 Mating Connector Kit ........... 263 11.2 Cable ..............263 11.3 D9-RJ45 adapter ............265 11.4 Line filter ..............

  • Page 10: Introduction

    CDHD2S is a high-performance servo drive based on innovative technology and advanced control algorithms. CDHD2S is optimized based on the second generation of this series of servo drives, and has made many improvements and enhancements in terms of functionality and performance.

  • Page 11: Cdhd2S Model

    Figure 1-3 CDHD2S- AC 380-460V (high-voltage) model 1.2 CDHD2S model Different models in the CDHD2S servo drive series use different communication methods and protocols. The table below shows the different models and their features. Table 1-1 CDHD2S Model - Communication and Protocol...
  • Page 12 PROFINET PROFINET VarCom is a dedicated set of parameters and commands for configuring, operating and tuning CDHD2S drives. The CDHD2S VarCom Reference Manual and EtherCAT Note: and CANopen Reference Manual can be downloaded from the product page of Servotronix website.

  • Page 13: Order Information

    Safety and Standards 1.3 Order Information The ordering options shown below include all drive models in the CDHD2S product line. To inquire about product availability, please contact Servotronix. Table 1-2 CDHD2S Ordering Plan CDHD2S – 012 – CDHD2SServo Drive – HD Series...

  • Page 14: Cdhd2S Product Label

    Safety and Standards Note: PN version only has 1.5A, 3A, 4.5A and 6A 220V MV models. 1.4 CDHD2S Product Label Different models of products may look exactly the same. See the product label on the back panel of the drive for model numbers and specifications. The following picture shows the EtherCAT model label.

  • Page 15: Cdhd2S File Package

    Figure 1-4 CDHD2S product label - sample 1.5 CDHD2S File Package The CDHD2S servo drive’s file package contains the following manuals. The CDHD2S manual can be downloaded from the product page of the Servotronix website (http://www.servotronix.com/products/cdhd-servo-drives/). CDHD2S User Manual: Hardware Setup, Operation and Tuning.

  • Page 16: Safety And Standards

    Machine manufacturers and/or integrators must take into account the intended use of the CDHD2S drive when performing a risk assessment. Based on the results of the assessment, appropriate security measures must be implemented. CDHD2S drives must be used in compliance with all applicable safety regulations and directives and all technical specifications and requirements.

  • Page 17: Installation Safety

    Note Improper handling of the CDHD2S can cause personal injury and/or equipment damage. When connecting the CDHD2S to other control devices, be sure to follow two basic guidelines to prevent damage to the drive: The CDHD2S must be grounded via the ground wire of the AC mains power supply.

  • Page 18: Operational Safety

    ⚫ provided with additional mechanical safety blocks (such as motor-controlled brakes) to prevent the load from falling out of control. The CDHD2S drive cannot keep the load suspended when the STO function is activated. If the load is not properly protected, serious injury may occur.
  • Page 19 Safety and Standards CDHD2S contains specific hazardous substances and can be used safely for 20 years, after which it should be recycled. Table 错误!文档中没有指定样式的文字。-2 Hazardous Substances Hexavalent Polybrominated Polybrominated Lead Mercury Cadmium Part Name chrome biphenyls diphenyl ethers (Pb) (Hg)

  • Page 20: Certifications

    Safety and Standards 2.4 Certifications Table 2-3 CDHD2S will be tested and certified according to the following standards. Certification Standard Directives/Instructions mark Low voltage directive 2014/35/EU Adjustable speed electrical power drive systems IEC61800-5-1 Machinery directive 2006/42/EC Adjustable speed electrical power drive systems - safety...

  • Page 21: Specifications

    Specifications 3. Specifications 3.1 Dimensions Various models of CDHD2S drives are housed in many different enclosures. The appearance dimensions of the enclosure are as shown in the figure below. Figure 3 -1 CDHD2S-1D5/CDHD2S-003 (medium-voltage) - dimensions (mm) Figure 3 - 2 CDHD2S-4D5/CDHD2S-006 (medium-voltage) - dimensions (mm)
  • Page 22 Specifications Figure 3-3 CDHD2S-012 (high-voltage) - dimensions (mm) Figure 3-4 CDHD2S-024/CDHD2S-030 (high-voltage) - dimensions (mm) —22—...

  • Page 23: Electrical And Mechanical Specifications

    Specifications Figure 3-5 CDHD2S-060 (high-voltage) - dimensions (mm) 3.2 Electrical and Mechanical Specifications Table 错误!文档中没有指定样式的文字。-1 Mechanical and electrical specifications-CDHD2S-1D5/CDHD2S-003 (120/240 VAC) Single phase Medium-voltage Medium-voltage Specification AC 120/240V CDHD2S-1D5 CDHD2S-003 Rating Rated voltage (AC voltage line- 120/240 120/240 neutral point) ±10%...
  • Page 24 System related drive) Internal bus capacitance (µF) VLOW (regenerative circuit off) (DC Application information voltage) VMAX (regenerative circuit on) (DC voltage) Table 错误!文档中没有指定样式的文字。-2 Mechanical and electrical specifications-CDHD2S-4D5/CDHD2S- 006 (120/240 VAC) Single or three phase Medium-voltage Medium-voltage Specification AC 120/240V CDHD2S-4D5...
  • Page 25 Specifications Single or three phase Medium-voltage Medium-voltage Specification AC 120/240V CDHD2S-4D5 CDHD2S-006 Continuous current (1 phase/3 phase, 8.5/4 10/5.8 Arms) Line fuse (FWP, or equivalent) Voltage-endurance (primary to 1500VAC (2121VDC) 1500VAC (2121VDC) ground) Control circuit input power 120±10 or 240±VAC...
  • Page 26 Specifications Single or three phase Medium-voltage Medium-voltage Specification AC 120/240V CDHD2S-4D5 CDHD2S-006 (regenerative resistor is not provided with the Power rating (W) System related System related drive) Internal bus capacitance (µF) 1120 1120 VLOW (regenerative circuit off) (DC Application information...
  • Page 27 Specifications Three phase High-voltage High-voltage High-voltage Specification AC 400/480V CDHD2S-012 CDHD2S-024 CDHD2S-030 Installations Installation of Book Left and right (mm) Net distance Top/bottom (mm) Voltage trip Low voltage trip (nominal) (DC voltage) Overvoltage trip (DC voltage) Power supply temperature Usually run at a quarter of power;...

  • Page 28: Control Specifications

    Specifications 3.3 Control Specifications Table 3-4 Control specifications Features Specification DC brushless motor, DC brush motor, voice coil motor, rotary servo Type motor, linear servo motor Motor Automatic motor Auto-configuration of motor phase, encoder direction and Hall phase phasing sequence. Optional control Current (torque) control, velocity control, position control, HD control, Operation mode...

  • Page 29: Protection Functions And Environmental Specifications

    Linear device Acceleration/Decelera mm/s2, µm2/s tion 3.4 Protection Functions and Environmental Specifications Table 3-5 Protection functions and environmental specifications - all CDHD2S models Features Specification Including but not limited to: low/overvoltage, overcurrent, drive and motor overheating, motor Protection function feedback, drive feedback, feedback loss, secondary feedback loss, STO signal not connected, not configured, circuit failure.

  • Page 30: Communication Specifications

    *Some features are not available on all models. Please refer to the Ordering Information. 3.7 Input/Output Specification Table 3-8 Input/output specifications Features Specification CDHD2S model AP/AF Voltage range Analog DC voltage ±10V difference Input resolution 16-bit (14-bit for versions with two analog inputs) 8kΩ...

  • Page 31: Motor Feedback Specification

    ±10V Analog output Resolution 12-bit – Bandwidth 2kHz – 100kΩ Maximum load – Signal Configurable analog output – Fault output relay Voltage – Maximum current – 3.8 Motor Feedback Specification Table 3-9 Motor feedback specifications - all CDHD2S models —31—...

  • Page 32: Secondary Feedback Specifications

    *Some features are not available on all models. Please refer to the Ordering Information. **The maximum combined current of the motor and secondary feedback must not exceed 500mA. 3.9 Secondary Feedback Specifications Table 3-10 Secondary feedback specifications - all CDHD2S models Features Specifications...

  • Page 33: Drive Setup

    驱动器设置 4. Drive Setup 4.1 Setup Overview Perform the following steps to install and set up the CDHD2S system. 1. Install CDHD2S. 2. Perform all wiring and cabling connections as required by the application: Controller input/output and/or mechanical input/output ◼ Motor feedback ◼...

  • Page 34: Setup Preparation

    4.4.1 Hardware and tools The table below specifies all required hardware and tools. In addition, you also need: Except for CDHD2S-033, CDHD2S044, and CDHD2S-055, all models use M4 ring ⚫ terminals or sector terminals for grounding. M6 ring terminal for grounding for CDHD2S-033, CDHD2S-044, CDHD2S-055.

  • Page 35: Cables And Crimping

    For other models, no additional tools are required. 4.4.2 Cables and crimping Please refer to the Cables section for details of the various cables required by the CDHD2S system. Before crimping, strip 2mm off the end of the wire, as shown in Figure 4-1.

  • Page 36: Connector - Power Board

    7,62(1718520) 11201707000306 interface Wire diameter: 12-14AWG Housing: SPC5/2-STCL- CONr10000002-16 or Motor brake 7,62(1718481) 11201707000304 Wire diameter: 14-17AWG Housing: SPC5/3-STCL- Motor phase line CONr10000003-21 or 7,62(1718494) interface 11201707000305 Wire diameter: 12-14AWG Table 4-9 Connector for CDHD2S-024 (high-voltage)/CDHD2S-030 (high-voltage) —36—...

  • Page 37: Host System

    Download from the Servotronix website or contact technical support. Please refer to Software Installation in the ServoStudio2 manual. Note: ServoStudio2 provides compatibility with CDHD2S firmware version 2.0 and above. Install ServoStudio2 1. Download the ServoStudio2 software installation file from the Servotronix website or contact technical support. —37—...

  • Page 38: Fieldbus Device Files

    Note: CDHD2S USB drives are digitally signed. 4.4.6 Fieldbus device files EDS file of CDHD2S on the host computer or PLC controller (if CAN protocol is used). ⚫ Download from the Servotronix website or contact technical support. XML file of CDHD2S on the host or PLC controller (if EtherCAT protocol is used).

  • Page 39: System Wiring

    驱动器设置 4.5 System Wiring CDHD2S-1D5/003 (medium-voltage) system wiring Figure4-2 CDHD2S-1D5/CDHD2S-003 AC 120-240V (medium-voltage) model system wiring —39—...
  • Page 40 PN 10326-52F0-008 (STX PN HODr00000026-00)or only Extraction tool EJ-JFAJ3 (F2,P3) equiv. ★★★ EC models only Keyfor spring J-FAT-OT Mating Cable (STX PN CBL-MDRFL-26-0x,x=123 meter Servotronix connector Highlighted PN Supplied with CDHD 4/40 insert threads on C2,C3,C4 Figure4-3 CDHD2S-1D5/CDHD2S-003 (medium-voltage) pin definition —40—...
  • Page 41 驱动器设置 4.5.1 CDHD2S-4D5/006 (MV) system wiring Figure 4-4 CDHD2S-4D5/CDHD2S-006 AC 120-240V (MV) model system wiring —41—...
  • Page 42 Extraction tool EJ-JFAJ3 (F2,P3) PN 10326-52F0-008 (STX PN HODr00000026-00)or Keyfor spring equiv. J-FAT-OT Functional GroundPE:Terminal M4 connector Mating Cable (STX PN CBL-MDRFL-26-0x,x=123 meter M4 ring or spade terminal 4/40 insert threads on C2,C3,C4 Figure 4-5 CDHD2S-4D5/CDHD2S-006 (MV) pin definitiong —42—...

  • Page 43: Cdhd2S-012 (High-Voltage) System Wiring

    驱动器设置 4.5.2 CDHD2S-012 (high-voltage) system wiring Figure 4-6 Three phase servo system wiring - CDHD2S-012 (HV) model system wiring —43—...
  • Page 44 PN 10126-3000PE(STX PN CONr00000026-31)or Molex 0638190000(P1) Crimping tool or equivalent equiv 3M Solder Plug Junction Shell 4/40 insert threads on C2,C3,C4 PN 10326-52F0-008 (STX PN HODr00000026-00)or equiv. Mating Cable (STX PN CBL-MDRFL-26-0x,x=123 meter Figure 4-7 CDHD2S-012 (HV) pin definition —44—...

  • Page 45: Cdhd2S-024/Cdhd2S-030 (High-Voltage) System Wiring

    驱动器设置 4.5.3 CDHD2S-024/CDHD2S-030 (high-voltage) system wiring Figure 4-8 CDHD2S-024/CDHD2S-030 AC 380V (HV) model system wiring —45—...
  • Page 46 Motor Phase V Functional GroundPE:Terminal M4 Motor Phase W M4 ring or spade terminal Molex 0638190000(P1) Mating Connector: Crimping tool or equivalent PN SPC 5/3-STCL-7,62(1718494) 4/40 insert threads on C2,C3,C4 (STX PN CONr10000003-21) Figure 4-9 CDHD2S-024/CDHD2S-030 (HV) pin definition —46—...
  • Page 47 驱动器设置 4.5.4 CDHD2S-060 (high-voltage) system wiring Figure 4-10 Wiring of three-phase servo system-CDHD2S-060 (high-voltage) wiring system —47—...
  • Page 48 AF and EC models only MatingConnector: * * * 3MSolderPlugConnector Functional GroundPE:Terminal M4 EC models only PN10126-3000PE(STXPNCONr00000026-31)orequiv. M4 ring or spade terminal Servotronix 3MSolderPlugJunctionShell Highlighted PN Supplied with CDHD PN10326-52F0-008(STXPNHODr00000026-00)orequiv. MatingCable(STXPNCBL-MDRFL-26-0x,x=123meter Figure 4-11 CDHD2S-060 AC 380V (high-voltage) pin assignment —48—...

  • Page 49: Electromagnetic Interference Suppression

    4.6.2 Grounding When connecting the CDHD2S to other control devices, be sure to follow two basic guidelines to prevent damage to the drive: The CDHD2S must be grounded via the ground wire of the AC mains power supply.
  • Page 50 The system uses a single point ground (start wiring) to avoid ground loops. It is strongly recommended to mount the CDHD2S on a metal backplane and provide a high frequency ground to ground the backplane. Electrical connections are provided throughout the entire back of the drive panel.

  • Page 51: Shielding And Connection

    驱动器设置 4.6.3 Shielding and connection Figure 4-13 To minimize noise emissions and maximize drive system immunity, motor and feedback cables must be shielded and properly connected to a ground surface. The shield must be connected to ground at both ends of the cable. Its purpose is to reduce the impedance between the cable shield and the rear panel.

  • Page 52: Input Power Supply Filtering

    It is recommended to use shielded busbars for star shield connection 4.6.4 Input power supply filtering CDHD2S electronic system components require EMI AC line filtering in the input power lines to meet CE requirements for industrial environments. Pay attention to the calibration system size. The filter type is determined based on the rated voltage and current values of the system and the phase of the input line (1 phase or 3 phase).

  • Page 53: Matters Needing Attention In Electrical System

    4.8 Mechanical Installation 4.8.1 Installation of CDHD2S Mount the CDHD2S on a grounded conductive metal panel using the bracket on the back of the CDHD2S. The metal panel must be strong enough. For installation dimensions, please refer to the Dimensions.

  • Page 54: Installing Multiple Units

    驱动器设置 4.8.2 Installing multiple units When multiple CDHD2S units are installed side by side in a cabinet or enclosure, it is recommended that the minimum unit spacing is 10mm. The recommended minimum top and bottom clearance for all CDHD2S models is 50mm.
  • Page 55 驱动器设置 Analog input 1or2 1or2 1or2 Analog output Digital input C2|C3 Fast digital input Digital output Fast digital input Machine interface ◼ ◼ ◼ – Secondary feedback – ◼ ◼ ◼ Fault relay ◼ ◼ ◼ – Motor feedback interface ◼...

  • Page 56: Cdhd2S-Ec (High-Voltage) Control Board Pins

    5V 电源 电缆屏蔽层 二次编码器 Z 二次编码器接 二次编码器 地 数字输入 7 数字输入 8 数字输入 9 数字输入 10 快速数字输入 数字输出 4 数字轴出 5 数字输出 6 公共输入 公共输入 故障继电器 1 故障继电器 2 Figure 4-15 CDHD2S-1.5A 3A MV PN model control board pin assignment —56—...
  • Page 57 驱动器设置 Figure 4-16 CDHD2S-4.5A 6A MV PN model control board pin assignment 控制器 I/F C2:MDR36 插头 | 24-28AWG 公共输出 公共输入 数字输出 1 数字输入 2 数字输入 1 等价编码器输 等价综码器输 出 A 出 A+ USB C1:Mini-B 等价编码器输 等价编码器输 出 B 出 B+ 等价编码器输...
  • Page 58 5V 电源 接地(5V) 数字输入 7 数字输入 8 电动机温度传感器 电动机温度传感器 数字输入 9 数字输入 10 5V 电源 电缆屏蔽层 快速数字输入 11 数字输出 4 数字轴出 5 数字输出 6 公共输入 公共输入 故障继电器 1 故障继电器 2 Figure 4-17 CDHD2S (HV) EC model control board pin assignment —58—...
  • Page 59 1658527-3 CoNr00000010-67 Daisy Chain/Gantry C8:01"IDC Female DC Shield GantryA+ GantryA- GantryB+ GantryB- RS232 C7:4p4c GND ISO Shield EtherCAT OUT C6:RJ45 CANH CANK FGND FGND EtherCAT In C5:RJ45 CANH CANL FGND FGND Figure 4-18 CDHD2S PN model panel pin assignment —59—...
  • Page 60 Connector 1658527-3 CoNr00000010-67 Daisy Chain/Gantry C8:01"IDC Female DC Shield GantryA+ GantryA- GantryB+ GantryB- RS232 C7:4p4c GND ISO Shield EtherCAT OUT C6:RJ45 CANH CANK FGND FGND EtherCAT In C5:RJ45 CANH CANL FGND FGND Figure 4-19 CDHD2S EtherCATmodel panel pin assignment —60—...

  • Page 61: Cdhd2S Panel Wiring Diagram

    RJ45 Adapter. 4.9.5 Daisy chain and gantry communication - C8 The CDHD2S can be addressed and controlled via a daisy chain RS232 line. In a daisy chain RS232 configuration, all drives must be connected in the daisy chain via interface C8. Each drive must have a unique address so that it can be identified on the network.
  • Page 62 驱动器设置 The motor brake requires a separate power supply. If the load is inductive (such as a relay), an external flywheel diode must be added. Table 4-11 Controller interface - AP/AF/EC mode Function Description Function Description Common output Common input Optoisolated programmable Optoisolated programmable Digital output 1...
  • Page 63 驱动器设置 Function Description Function Description Pulse signal low (RS422), or Pulse input - main encoder signal A low, or up counting signal low Grounded Digital ground Secondary encoder Secondary encoder input signal A low (RS422) Fast digital output Fast digital output 8 Optoisolated programmable Grounded Digital ground...
  • Page 64 驱动器设置 Function Description Function Description Grounded Digital ground Differential analog command Differential analog command Analog input 1+ input high (DC voltage ± Analog input 1- input low (DC voltage ± 10V) 10V) Grounded Digital ground Grounded Digital ground Optoisolated programmable Grounded Digital ground Digital input 3...
  • Page 65 驱动器设置 Digital and analog input and output wiring - C2 Figure 4-20 Digital input wiring - C2 Figure 4-21 Digital output wiring - C2 —65—...
  • Page 66 CDHD2S can connect DC voltage 24V single-ended signal PLC to the drive. This type of signaling requires fast digital input on the CDHD2S controller interface (C2). For this configuration, CDHD2S inputs 5 and 6 must be set to INMODE17 and 18 respectively. (Applicable/approved in GEARMODE0, 1\2).
  • Page 67 The cable shield on the PLC side can be connected to any available shielded connector. ⚫ The cable shield on the CDHD2S side can be connected to the housing of the 36-pin connector. ⚫ Note: The user should provide DC voltage 24V power supply.
  • Page 68 驱动器设置 Pulse and direction optoisolated input wiring - C2 When using the CDHD2 controller interface (C2): The pulse signal is received from the controller or PLC on pins 28 and 11. ⚫ The direction signal is received from the controller or PLC on pins 9 and 27. ⚫...

  • Page 69: Machine Interface - C3

    The DC voltage 24V power supply and loop can be connected at the controller interface (C2) or the machine interface (C3), but not both. All digital inputs and digital outputs on all CDHD2S models are optoisolated. Fast output can only be sink type. All other digital inputs and digital outputs can be connected as source or sink.

  • Page 70: Motor Brake Wiring

    You can connect a relay to any digital output on the CDHD2S machine I/F (C3) or controller interface (C2). It is recommended that you connect to the fast digital output connector 7.
  • Page 71 Switching these inductive loads generates hundreds to thousands of volts of back- EMF, which can severely damage contacts and shorten product life. Please refer to the Motor Brake Control via Relays. Figure 4-29 Motor brake wiring CDHD2S (medium-voltage model) —71—...

  • Page 72: Secondary Feedback Wiring

    驱动器设置 4.9.9 Secondary feedback wiring The table below shows the most common secondary feedback changes. If you require additional information, or if your motor feedback does not match any of the following, please contact technical support. Use the "User Motor Pin Number" column in these tables to record the pin number of your specific feedback device for future reference.

  • Page 73: Motor Feedback Interface - C4

    For common feedback wiring, please refer to the table in Motor Feedback Wiring. Pins 1, 2, 14 and 15 have dual functions. Pin 25 of the motor temperature sensor is connected internally to the CDHD2S ground within the drive.

  • Page 74: Motor Feedback Wiring

    驱动器设置 4.9.11 Motor feedback wiring The table below shows the most common feedback changes. If you require additional information, or if your motor feedback does not match any of the following, please contact technical support. Use the "User Motor Pin Number" column in these tables to record the pin number of your specific motor for future reference.
  • Page 75 驱动器设置 Wiring - Incremental encoder AB quadrature, index pulse and Hall Table 4-20 Feedback wiring – incremental encoder AB quadrature, index pulse and Hall Twisted pair User motor pin Numb Signal declarations cables number Incremental encoder A+ Twisted pair cables Incremental encoder A- Incremental encoder B+ Twisted pair cables...
  • Page 76 驱动器设置 Wiring - Incremental encoder AB quadrature, index pulse and differential Hall Table 4-22 Feedback wiring – incremental encoder AB quadrature, index pulse and differential Hall User motor pin Numb Twisted pair cables Signal declarations number Incremental encoder A+ Twisted pair cables Incremental encoder A- Incremental encoder B+ Twisted pair cables...
  • Page 77 驱动器设置 Wiring – differential Hall only Table 4-23 Feedback wiring – differential Hall only Twisted pair User motor pin Numb Signal declarations cables number Incremental encoder A+/Hall U+ Twisted pair cables Incremental encoder A-/Hall U- Incremental encoder B+/Hall V+ Twisted pair cables Incremental encoder B-/Hall V- Incremental encoder Z+/Hall W+ Twisted pair cables...
  • Page 78 驱动器设置 Table 4-25 Feedback wiring – sine encoder Twisted pair User motor pin Numb Signal declarations cables number Sine encoder sine+ Twisted pair cables Sine encoder sine- Sine encoder cosine+ Twisted pair cables Sine encoder cosine- Motor temperature sensor Twisted pair cables Motor temperature sensor +5V DC voltage 0V DC voltage...
  • Page 79 驱动器设置 Wiring - sine encoder with Index Table 4-27 Feedback wiring – sine encoder with index Twisted pair cables User motor pin number Signal declarations Number Sine encoder sine+ Twisted pair cables Sine encoder sine- Sine encoder cosine+ Twisted pair cables Sine encoder cosine- Sine encoder Z+ Twisted pair cables...
  • Page 80 驱动器设置 Note: If the motor does not support a temperature sensor, do not connect pins 12 and 25. Wiring – Sick5V (HIPERFACE protocol and sine signal) Table 4-29 Feedback wiring – Sick5V (HIPERFACE protocol and sine signal) Twisted User motor pin Numbe pair Signal declarations...
  • Page 81 驱动器设置 Note: If the motor does not support a temperature sensor, do not connect pins 12 and 25. Wiring – HEIDENHAIN (EnDat2.x communication only) Table 4-31 Feedback wiring - HEIDENHAIN (EnDat2.x communication only) Twisted pair User motor pin Numb Signal declarations cables number Serial data+...
  • Page 82 Twisted pair cables Serial data- +5V DC voltage 0V DC voltage Shielding The encoder backup battery is external to the CDHD2S drive. Note: The recommended battery is 3.6V, 1000mAh lithium battery. Use backup batteries recommended by the encoder manufacturer. —82—...
  • Page 83 驱动器设置 Wiring - resolver Table 4-35 Feedback wiring - resolver Twisted pair User motor pin Signal declarations Number cables number Resolver sine+ Twisted pair cables Resolver sine - Resolver cosine+ Twisted pair cables Resolver cosine - Resolver reference+ Twisted pair cables Resolver reference- Motor temperature sensor...

  • Page 84: Gantry System Wiring

    驱动器设置 4.9.12 Gantry system wiring The two drives of the two axes of the CDHD2S gantry system can be connected to each other via the C8 or C3 interface. To ensure immunity to interference, it is strongly recommended to connect the drive via the C3 shielded interface.

  • Page 85: Power Board Connection

    Serial data Rx- 4.10 Power Board Connection The power board interface varies with the specific CDHD2S model. For power board, please refer to the power board pin assignment diagram. Ensure that the main voltage rating meets the drive requirements. Applying an incorrect voltage may cause the drive to malfunction.

  • Page 86: Cdhd2S-1D5/003 (Medium-Voltage) Power Board Pin Assignment

    Extraction tool EJ-JFAJ3 (F2,P3) ★★★ equiv. EC models only Keyfor spring J-FAT-OT Mating Cable (STX PN CBL-MDRFL-26-0x,x=123 meter Servotronix connector Highlighted PN Supplied with CDHD 4/40 insert threads on C2,C3,C4 Figure 4-32 CDHD2S-1D5/003 (medium-voltage) power board pin assignment —86—...
  • Page 87 EJ-JFAJ3 (F2,P3) PN 10326-52F0-008 (STX PN HODr00000026-00)or Keyfor spring equiv. J-FAT-OT Functional GroundPE:Terminal M4 connector Mating Cable (STX PN CBL-MDRFL-26-0x,x=123 meter M4 ring or spade terminal 4/40 insert threads on C2,C3,C4 Figure 4-33 CDHD2S-4D5/006 (medium-voltage) power board pin assignment —87—...

  • Page 88: Cdhd2S-012 (High-Voltage) Power Board Pin Assignment 错误!未定义书签

    PN 10126-3000PE(STX PN CONr00000026-31)or Crimping tool or equivalent equiv 3M Solder Plug Junction Shell 4/40 insert threads on C2,C3,C4 PN 10326-52F0-008 (STX PN HODr00000026-00)or equiv. Mating Cable (STX PN CBL-MDRFL-26-0x,x=123 meter Figure 4-34 CDHD2S-012 (high-voltage) power board pin assignment —88—...
  • Page 89 Motor Phase V Functional GroundPE:Terminal M4 Motor Phase W M4 ring or spade terminal Molex 0638190000(P1) Mating Connector: Crimping tool or equivalent PN SPC 5/3-STCL-7,62(1718494) 4/40 insert threads on C2,C3,C4 (STX PN CONr10000003-21) Figure 4-35 CDHD2S-024/CDHD2S-060 (high-voltage) power board pin assignment —89—...
  • Page 90 AF and EC models only MatingConnector: * * * 3MSolderPlugConnector Functional GroundPE:Terminal M4 EC models only PN10126-3000PE(STXPNCONr00000026-31)orequiv. M4 ring or spade terminal Servotronix 3MSolderPlugJunctionShell Highlighted PN Supplied with CDHD PN10326-52F0-008(STXPNHODr00000026-00)orequiv. MatingCable(STXPNCBL-MDRFL-26-0x,x=123meter Figure 4-36 CDHD2S-060 (high-voltage) power board pin assignment —90—...

  • Page 91: Sto-P1

    Drive Setup 4.10.6 STO-P1 Safe Torque Off (STO) is a safety feature that prevents the drive from supplying power to the motor, thereby producing torque. For complete installation and operating details, please refer to the Safe Torque Off (STO) Overview Table 4-38 STOP Interface Pin tag Function...

  • Page 92: Motor Power - P2, P4

    4.10.5 AC input - bus power and logic power - P3, P4, P5 The AC input interface and connector vary with CDHD2S model. On the CDHD2S-1D5 and CDHD2S-003, the regeneration and AC input voltages are combined on one connector. Since these models only support single-phase AC, they do not have an L3 terminal for bus power.

  • Page 93: Regeneration

    Procedure: Connect power 1. Connect the AC input voltage ground wire to the PE terminal located on the front panel of the CDHD2S. Use M4 ring terminal or sector terminal. Figure 4-40 Ground terminal 2. Connect L1, L2 and L3 (for bus power).

  • Page 94: Calculation Of Regenerative Resistance

    (if required), please refer to the "calculation of regenerative resistance" to calculate the performance of the system. Figure 4-41 Regenerative resistor working circuit 4.11.2 Calculation of regenerative resistance CDHD2S busbar specifications Table 4-39 Busbar specifications - two-phase AC voltage 120/240V Maximum Rated voltage...
  • Page 95 Drive Setup CDHD2S-024 540/680 CDHD2S-030 540/680 Calculate the return energy for each deceleration )(ω ω Where: = Energy returned during deceleration (J or ft· lb) = Rotor inertia (kg· m or lb· ft· sec2) = Load inertia (kg· m or lb· ft· sec2) ω...
  • Page 96 Drive Setup Determine the energy that the bus module can absorb C( V ) ) ( V - Where: = Energy that the bus module can absorb (J) C=Bus module capacitance (F); please refer to the Bus Specifications section = Maximum bus voltage (v); please refer to the Bus Specifications section. =Bus nominal voltage=√2V （V）...
  • Page 97 = Maximum bus voltage (v); please refer to the Bus Specifications section. Example for the calculation of regenerative resistor resistance (in US standard units) Motor and drive specifications CDHD2S-006 drive, using single-phase AC voltage 240V input =0.000484lb· ft· sec2 motor =1.32Ω...
  • Page 98 ⚫ The regenerative resistor circuit requires overload protection to ensure reliable operation of the resistor. In this mode, you can configure the CDHD2S regenerative resistor parameters for protection. Regeneration without resistor overload protection. This mode is also called bang-bang mode.

  • Page 99: Firmware Update

    4.11.4 Regenerative resistor parameters The regenerative resistor capacity is defined by several parameters. To activate the regenerative resistor protection function in CDHD2S, parameter REGENRES and/or parameter REGENPOW must be set to a value other than -1, and this is the default value.

  • Page 100: Firmware Update Options

    Drive Setup 4.12.2 Firmware update options Click the Firmware Download button in the ServoStudio2 drive information screen to open the firmware download dialog box. Figure 4-42 Firmware download —100 —...

  • Page 101: Updating Firmware Via Serial Connection

    Drive Setup Table 4-41 Containing the path and name of the firmware update file. The file name represents the firmware version; for example: Firmware path 2_00_0*.sfw represents firmware version 2.0.x. The default path is \My Documents\ServoStudio2. Click Browse to choose a different path. Start Activate firmware update.

  • Page 102: Updating Firmware On Ethercat

    The firmware update can be performed using the FileoverEtherCAT (FoE) download protocol. The CDHD2S runs in a bootloader state, allowing firmware to be downloaded to the host controller over the EtherCAT network. Therefore, standardized firmware can be downloaded to the device even without TCP/IP support.
  • Page 103 Figure 4-44 Procedure: Update drive firmware via EtherCAT 1. Install TwinCAT3.0 on the host. Follow the instructions provided by Beckhoff. Figure 4-45 2. Connect to CDHD2S drive in TwinCAT. 3. In the TwinCAT navigation menu, select I/O>Devices...CDHD2S Drive. —103 —...
  • Page 104 4. Go to the "Online" tab. Click "Bootstrap". Wait for the "Current State" to change to BOOT. Figure 4-47 5. Click “Download". 6. The File Manager dialog box will open. Browse and select the CDHD2S firmware file (extension *.i00). Click "Open". —104 —...
  • Page 105 Drive Setup Figure 4-48 7. The Edit FoE Name dialog box will open. 8. Do not change anything in this dialog box. Click “OK”. Figure 4-49 9. The firmware update process begins. Digital display screen shows: Figure 4-50 In the TwinCAT status bar at the bottom of the screen, "Downloading" is displayed on the left and a progress bar is displayed on the right.

  • Page 106: Restoration Operation After Firmware Update

    Drive Setup Figure 4-51 10. When the firmware update is completed, the "Current State” switches from BOOT to PREOP. Figure 4-52 4.12.5 Restoration operation after firmware update Procedure: Restoration operation after firmware update 1. Go to the ServoStudio2 Drive Information screen in ServoStudio2 and check the drive firmware version to verify that the new firmware has been loaded.

  • Page 107: Ember Mode

    Drive Setup 4.12.6 Ember mode Ember is a process for burning new firmware on the flash memory of the drive. The drive must be in Ember mode to load firmware. The drive has two Ember modes, software and hardware. Generally, you can and should communicate with the drive in software Ember mode to load new firmware.
  • Page 108 Drive Setup Figure 4-54 2. Using TwinCAT, connect to the CDHD2S drive. Make sure the drive is in Init or Pre-Op state. Figure 4-55 3. Click the "Download" button and select the SSV parameter file saved in step 1. —108...
  • Page 109 Drive Setup Figure 4-56 4. Ensure that The File Name Contains the Extension .SSV (By default, TwinCAT does not add extensions.) Figure 4-57 5. Click “OK”. Observe the drive. When downloading parameters, the digital display shows oR. 6. Wait about 10 seconds. When the download is completed, the digital display will be restored to its previous settings.

  • Page 110: Motor Setup

    Motor Setup 5. Motor Setup From firmware version 1.40.0, the drive will attempt to detect the motor feedback device and electronic motor nameplate (MTP) upon power-up. If the electronic motor nameplate (MTP) is detected, some motors and feedback parameters will be directly transmitted to the drive and cannot be operated.
  • Page 111 EtherCAT/CANopen or PROFINET means that the drive is active (servo on) and drive ⚫ commands are transmitted through the EtherCAT, CANopen or PROFINET interface. COMMODE 1. Note: For CDHD2S, there are only EC and PN models at present. —111 —...
  • Page 112 Motor Setup Motor - Setup - Motor identification and initialization If the drive detects the electronic motor nameplate, the parameters in this screen will be set automatically and cannot be operated. Just click Next to proceed to the next step. Figure 5-3 Motor setup wizard - automatic motor detection If the drive does not detect the electronic nameplate (or the software does not communicate with the drive), you can select the motor from the ServoStudio2 motor library.
  • Page 113 Motor Setup Please refer to the Current Limit and Velocity Limit and Velocity Limit. The wizard also allows setting the position error limit, i.e. the maximum value that will not cause a failure. Please refer to the VarComPEMAX. Note: If the limit is set too low, the Autotuning wizard may not produce optimal results. Figure 5-5 Motor setup wizard - limit 1.

  • Page 114: Drive Identification

    Motor Setup "Negative" and "Positive" start the drive and run the motor! 2. To reverse the direction to match the system, enable the Inverse Direction option. Please refer to the VarComMPHASE and DIR. 3. To complete the process, click Save or Done. Motor Setup - Save After completing the "Motor Setup", it is recommended that you save the parameters to the non-volatile drive memory and a file on the host for backup.

  • Page 115: Motor Installation

    Motor Setup Defined by hardware. Return to the drive model and serial number, as well as the INFO version numbers of firmware, control board, power board and FPGA. User-defined parameters. Used when an application has multiple drives. It is DRIVENAME recommended to provide the drive with a name that reflects the function it performs, such as Axis-1.

  • Page 116: Current Limit

    Motor Setup 2. Clear any faults in the drive. 3. Enter the command MOTORSETUP (motor setup). 4. Enable the drive (otherwise the process will stop at stage 5/51). The process follows a series of steps. After the "Motor Initialization" procedure is started (even if the drive is disabled), the digital display shows At1.

  • Page 117: Position Limit

    Motor Setup 5.7 Position limit Modify and/or confirm the position limit during the Motor Setup wizard. The Position Limit tab in the ServoStudio 2 Limit screen allows you to define position limit. The following parameters are used to define the position limit mechanism and error tolerance. Table 5-5 VarCom Description...
  • Page 118 Motor Setup If the motor parameters you use are not available in the default motor library series of ServoStudio2, you can use the "New Motor" wizard to define your motor. Once defined, the new motor will be added to the "User Motor" series in the motor library. The wizard can be activated from the Motor screen or from the Motor Selection step in the Motor Setup wizard.
  • Page 119 Motor Setup Table 5-7 VarCom Description MOTORTYPE Rotary motor/Linear motor MIPEAK Motor peak current MICONT Motor continuous current MSPEED Maximum motor speed Motor inductance Motor resistance MPOLES Motor poles Torque constant (rotatory motor) Rotor inertia (rotatory motor) Torque constant (linear motor) MMASS No-load motor mass (linear motor) MPITCH...
  • Page 120 Motor Setup VarCom Description Motor over-temperature mode THERMODE Figure 5-11 New motor - verification will start the drive and drive the motor! Verification Complete the program according to the location activated by the New Motor wizard. If the New Motor wizard is activated from the Motor screen, click these buttons in the ⚫...

  • Page 121: Application Setup

    If the parameters cannot be modified when the drive is enabled, a drive disable prompt will be displayed. 6.1.2 Management of parameters - drive memory The CDHD2S drive has two memory types used to store drive parameters: Flash memory: Non-volatile memory. Save drive default parameter values (contained in ⚫...

  • Page 122: Application Setup Wizard

    Application Setup The following figure shows the relationship between different memory types and the commands used to manage drive parameters. GUI– SoftwareInterface DriveFlashMem HostComp uter RestoreFact DriveRAM FLASH GUISoftwareIn terface Hardcodedfirmware Defaults andfactorydefault parametervalues Workingme tore mory,holdspara meter Non-volatile valuesduring user-defined onlineoperation FilesonPC...
  • Page 123 Application Setup Application Setup - Communication Figure 6-2 ServoStudio2 - application setup - communication This will be displayed when the interface mode is CANopen. It defines the communication settings for the drive system operating in the CANopen network. Please refer to the section Communication. Application Setup - Operation Mode Figure 6-3 ServoStudio2 - application setup - operation mode (CANopen/EtherCAT) It defines the operation mode of the drive system working in a CANopen or EtherCAT network.
  • Page 124 Application Setup It defines the operation mode of the drive system based on the analog command. Please refer to the Analog Current Operation Mode and Analog Velocity Operation Mode. Application Setup - Pulse Train Figure 6-5 ServoStudio2 - application setup - pulse train It defines the driving method of the drive system working according to a gearing (pulse train).
  • Page 125 Application Setup Figure 6-7 ServoStudio2 - application setup - resolution (analog command) It defines the resolution, gear ratio and feedback parameters of the drive system working according to the analog command. Application Setup - Filter Figure 6-8 ServoStudio2 - application setup – filter (pulse train) It defines the resolution, gear ratio and feedback parameters of the drive system working according to a gearing (pulse train).
  • Page 126 Application Setup Figure 6-9 ServoStudio2 - application setup - filter (analog command) It defines the filtering parameters of the drive system working according to the analog command. Application Setup - Limit Figure 6-10 ServoStudio2 - application setup - limit (pulse train) It defines the limit parameters of the drive system working according to a gearing (pulse train).
  • Page 127 Application Setup Application Setup - PDO Drawing Figure 6-12 ServoStudio2 - application setup - PDO drawing (CANopen/EtherCAT) Figure 6-13 It will be displayed when "Interface Mode" is the following mode: EtherCAT ⚫ CANopen ⚫ PROFINET ⚫ —127 —...
  • Page 128 Application Setup Application Setup - Position Unit Figure 6-14 ServoStudio2 - application setup - position unit —128 —...
  • Page 129 Application Setup It will be displayed when "Interface Mode" is the following mode: EtherCAT ⚫ CANopen ⚫ PROFINET ⚫ ⚫ Application Setup - Input/Output Figure 6-15 ServoStudio2 - application setup - input/output It will be displayed when "Interface Mode" is the following mode: EtherCAT ⚫...

  • Page 130: Communication

    Application Setup Application Setup - Return Figure 6-16 ServoStudio2 - application setup - return It will be displayed when "Interface Mode" is the following mode: EtherCAT ⚫ CANopen ⚫ Pulsetrain ⚫ USB/RS232 ⚫ Application Setup - Save This option appears in the Application Setup - Return step when the software is communicating with the drive.

  • Page 131: Serial Baud Rate

    6.3.1 Serial baud rate The default baud rate of CDHD2S is 115200. If the settings are changed and saved in the non- volatile drive memory, the saved baud rate will be used when the drive is powered on.

  • Page 132: Canopen Baud Rate

    Application Setup Enter the communication screen. ◼ Select the same baud rate specified in the drive terminal. ◼ Figure 6-17 Serial baud rate Press Connect. ◼ If the operation is successful, ServoStudio2 will reconnect the drive and return to online status. 6.3.2 CANopen baud rate Program: establish CANopen communication Establish, verify and modify CANopen communication using ServoStudio2 over serial...

  • Page 133: Feedback

    MENCRES For incremental encoders, MENCRES 4 is equal to the encoder count per revolution. CDHD2S monitors all encoder signal lines. If any wire is damaged, an A/B disconnection fault will be generated (digital display: r4|Fr4) Hall signal The CDHD2S supports single-ended (or open collector) and differential Hall signals.
  • Page 134 HALLS Convert the polarity of a single Hall signal related to the motor phase UVW. HALLSINV CDHD2S monitors the Hall signal status. If status 000 or 111 is detected, an illegal Hall fault will be generated (digital display: r6|Fr6 If the differential Hall signal cannot be detected, a differential Hall disconnection fault will be...

  • Page 135: Sine Encoder

    SensAR encoder has an electronic motor nameplate (MTP), which refers to a set of motor parameters embedded in the encoder's non-volatile memory. CDHD2S attempts to detect the electronic motor nameplate when powered on. If detected, the motor and feedback parameters will be transmitted directly to the drive, and the user cannot operate them.

  • Page 136: Biss-C Interface

    Application Setup The multi-turn encoder can store up to 65535 revolutions if it has an external backup battery. The encoder battery is inserted into the battery box on the cable between the motor and the drive. If the cable between the motor and battery box is disconnected, or if the encoder cannot receive battery or drive voltage, the encoder will lose multi-turn revolutions;...

  • Page 137: Endat2.X Bidirectional Interface

    The EnDat encoder +5V DC supply must be switched off during (re)initialization. During EnDat initialization, CDHD2S turns off the DC voltage +5V provided to the encoder. However, if the encoder receives DC voltage +5V from a different source and is not switched off, initialization may fail.

  • Page 138: Resolver

    6.5.8 Calibration of resolver and sine encoder Resolver and sine encoder calibration overview When the CDHD2S is connected to a motor equipped with a resolver or sine encoder for the first time, the CDHD2S parameters must be calibrated. Calibration is required during system assembly.
  • Page 139 Application Setup When calibrating, the CDHD2S needs to read 128 sine signals in one direction or back and forth. Typically, the 128 sine signals required for resolver generation will require the motor to rotate 128 times. Therefore, it is necessary to make the motor move at a limited velocity through motion commands.
  • Page 140 Application Setup Motor velocity limit during calibration During the calibration procedure, the motor velocity should not exceed the following values: 3750 • MENCRES Resolver: 3750 MENCRES Sine encoder: Calibrating resolver and sine encoder Procedure: Calibrate resolver using terminal 1. In the terminal interface, enter the sine/cosine calibration command: SININIT<Enter>...
  • Page 141 Application Setup Figure 6-18 2. In the Motion screen, set parameters such as: Select "Operation Mode > Serial Velocity". ◼ Set the velocity to 600rpm. ◼ Figure 6-19 3. In the Feedback screen, make the following settings: —141 —...
  • Page 142 Application Setup Figure 6-20 a. Notice that the sine/cosine calibration status is 0. b. Press the "Start" button to begin the calibration procedure. c. Notice that the sine/cosine calibration status changes to 1. d. Wait for the sine/cosine calibration status to return to 0. Calibration completed.
  • Page 143 Overview of sine encoder and resolver diagnosis When working with a sine encoder or resolver, the CDHD2S measures the sine and cosine signal levels and checks if they are within the specific range. When the signal is out of range, two faults may occur: r4 and r8.
  • Page 144 Application Setup Recorded data is expressed in internal drive unit (analog-to-digital converter counts). Figure 6-22 Sine encoder recording - example A typical resolver record might look like the figure below. Figure 6-23 Resolver recording - example Converting to physical value The recorded data is expressed in internal drive unit and needs to be converted to physical unit;...

  • Page 145: Secondary Feedback

    Figure 6-25 Resolver signal - example 6.6 Secondary feedback Please also refer to Dual Feedback Position Control Loop Tuning. 6.6.1 Overview of secondary feedback (dual loop control) CDHD2S can correct positioning error through secondary feedback device and dual-loop control. —145 —...

  • Page 146: Secondary Feedback Device

    When using dual loop control, the gearing input must through the controller interface (C2); GEARMODE0, 1 and 2. Note: When the CDHD2S error correction function is used in a dual control loop system, the secondary (load) encoder value is corrected.

  • Page 147: Secondary Feedback Bus

    Application Setup In addition, the double loop control secondary feedback device can be AB quadrature, BiSS-C interface or EnDat2.2. For a stable dual loop control, the effective resolution of the motor encoder must be higher than the effective resolution of the load feedback device. The low resolution of the motor encoder will cause the position loop to issue VCMD (its resolution is too high), and it cannot be executed by the velocity loop.
  • Page 148 Application Setup Figure 6-27 Load rotating motor (with gear box and ball screw) and linear encoder Motor reducer speed ratio: 1:11 Ball screw pitch: 20mm LMUNITSNUM LMUNITSDEN Load rotating motor and rotary encoder - example Figure 6-28 Load rotating motor and rotary encoder Motor side pulley diameter: 50mm Load side pulley diameter: 100mm N1: Number of teeth of N1 gear (10)

  • Page 149: Secondary Feedback Parameters

    Application Setup 6.6.5 Secondary feedback parameters The following parameters are used to configure and monitor dual feedback applications. Table 6-12 VarCom Description Description Activate/deactivate the dual feedback control Secondary feedback mode SFBMODE mode. Feedback device type (rotary or linear) and Secondary feedback type SFBTYPE communication interface.

  • Page 150: Motor Unit

    Deceleration on SFBMODE. 6.7 Motor Unit CDHD2S provides configurable acceleration, velocity and position units for both linear and rotary motor systems. The unit is defined as the user's preference or the specific motor performance being used. Use the ServoStudio2 Motion Unit screen to view and define motion unit.

  • Page 151: Foldback Current

    Application Setup 6.8 Foldback current Foldback current is a mechanism used by CDHD2S to protect the drive and motor from overheating due to excess current. Set the foldback current of the drive and motor independently. The foldback current limits the root mean square (rms) value of the current supplied to the drive and/or motor.

  • Page 152: Digital Output

    The output is used to activate an external event or device - such as a camera, pick-and-place machine, or measurement device - when the CDHD2S moves through a predefined position or position range.

  • Page 153: Pcom Fixed Cycle Configuration

    Application Setup Cycle configuration: Trigger output based on the fixed feedback count between ⚫ positions. Table configuration: Trigger output based on the predefined position group. ⚫ Timing configuration: trigger output when there is a time offset with the SYNC0 signal. ⚫...

  • Page 154: Pcom Table Configuration

    Application Setup continuously compares the actual position with the defined value in PCOMN (or equivalent EtherCAT/CANopen object). When the feedback counter equals PCOMN, the PCOM module triggers the output. Two user-defined positions (PCOMSTART and PCOMEND) define the position range ⚫ within which the position comparison function takes effect and triggers the output.

  • Page 155: Pcom Timing Configuration

    Application Setup Figure 6-30 Position comparison trigger output - table configuration 6.11.3 PCOM timing configuration Note: PCOM timing configuration is only valid in EtherCAT cyclic synchronous operation mode. Timing configuration is used to set the output state when there is time offset from the SYNC0 signal.

  • Page 156: Analog Input

    The CDHD2S supports both one 16-bit analog input and two 14-bit analog inputs. There are differences between these two input types. Note The number in the CDHD2S part number indicates that the drive supports one or two analog inputs. Analog input is used to send commands to the drive through analog voltage. Analog command can control motor velocity or the current supplied to the motor.

  • Page 157: Analog Input 2

    6.12.3 Using analog input as velocity command and current limit Procedure: Using analog input as velocity command and current limit Use the following program from ServoStudio2 to configure the CDHD2S. Use analog input 1 as the velocity command and analog input 2 as the current limit.

  • Page 158: Analog Output

    ACC and DEC values. 6.13 Analog output The CDHD2S also has an analog output that can be set to output a voltage equivalent to a specific parameter value. Use the ServoStudio2 Analog Output panel in the Analog IO screen to set analog output properties and monitor output values.

  • Page 159: Disabled Mode

    Application Setup Define analog output function. ANOUTMODE Display the analog output value (in volts) set by ANOUTMODE. Read only. ANOUT Analog output command (in volt) set by the user in ANOUTMODE0. ANOUTCMD Analog output voltage scaling representing motor current (I) or current ANOUTISCALE command (ICMD).

  • Page 160: Active Disable

    Application Setup Table 6-21 VarCom Description Define the velocity threshold below which the motor is considered stopped and the active disable timer starts the countdown to disable. For a motor to DISSPEED be considered stopped, the motor velocity must be at least 50 ms below this threshold.
  • Page 161 Application Setup Figure 6-35 Disable (use active disable) Figure 6-36 shows the effects of DISSPEED and DISTIME. In this example, DISSPEED is set to 1000 and DISTIME is set to 1ms. The motor velocity remains below 1000 for 50ms and after the time defined by DISTIME has elapsed, the drive will be disabled and the motor coasts to a stop.

  • Page 162: Dynamic Braking

    Application Setup Figure 6-37 Impact of the second disable command on active disable The legend in the “ServoStudio2 Emergency Stop" screen shows active disable behavior. Figure 6-38 Disable stop If a digital output is configured for brake control, the brake will be enabled as soon as the DISTIME timer starts counting.
  • Page 163 Application Setup Figure 6-39 Motor coasting (without dynamic braking) Figure 6-40 shows what happens when dynamic braking is in effect. As shown in the picture above, the velocity command will be set to zero immediately after the drive is disabled. However, the actual velocity will descend gradually after the brake is applied.

  • Page 164: Motor Brake Control Via Relay

    In this case, active disable is used to stop the motor and dynamic braking is activated after DISTIME. 6.15 Motor Brake Control Via Relay The CDHD2S can control the motor brake via an external relay. The relay can be connected to any digital output on the CDHD2S machine I/F (C3) or controller interface (C2). It is recommended to connect digital output 7.

  • Page 165: Motor Temperature Sensor

    When the "Disable" command is executed, the CDHD2S immediately changes the brake output value and disables the CDHD2S control after waiting for the Active Disable Time (DISTIME) to end. When a fault such as STO or loss of feedback occurs, the drive immediately switches the brake output value and disables CDHD2S control.

  • Page 166: Error Correction

    H|FH. 6.17 Error Correction 6.17.1 Overview of error correction The CDHD2S drive has an error correction function that can cancel repeatable positioning errors. An error map is generated using an external measurement device such as a laser interferometer. The error map is stored in the non-volatile drive memory. The drive retrieves the correction value in real time based on the actual position and performs dynamic (on-the-fly) correction.

  • Page 167: Error Correction Function Of Cdhd2S

    Corrected value Encoder position position Figure 6-44 Laser interferometer measuring travel distance 6.17.3 Error correction function of CDHD2S The CDHD2S error correction function can be applied in several motor system types: Direct drive linear platform ⚫ Direct drive rotary platform ⚫...

  • Page 168: Error Correction Parameters And Commands

    Application Setup 6.17.4 Error correction parameters and commands The following parameters are used to configure and execute the error correction function. Table 6-24 VarCom Description Define user’s request to activate the error correction function. ERRCOREN Indicate the state of the error correction function after sending the user ERRCORST request (ERRCOREN 1).

  • Page 169: Error Correction Settings

    Application Setup When using a rotary platform driven by a servo motor (motor rotates and the load is linear), the mechanical ratio is 1 revolution of the motor for every n turns of the load. LMUNITSNUM LMUNITSDEN 6.17.6 Error correction settings The following figure shows the parameters used by the error correction map.
  • Page 170 It is assumed that the Renishaw system has been installed in accordance with the manufacturer's instructions and that the user knows how to operate the hardware and software. CDHD2S|ServoStudio2 1. Make sure CDHD2S is working in serial communication mode (COMMODE0). 2. Configure motor and motor feedback parameters. —170...
  • Page 171 Index offset (if required) ◼ Load/motor mechanical ratio (if required) ◼ Note The CDHD2S and laser system must have the same physical reference (home) position. Laser system 5. Use “CARTO Capture - Define Tag” to configure error table. Select linear definition.
  • Page 172 Application Setup Figure 6-48 7. CARTO Capture - Define Tag > Trigger Parameters menu. Use position triggering. This mode automatically captures data by comparing laser measurements to target positions and records error measurements when the machine is within specified range of tolerance, stability period and stability range. Figure 6-49 8.
  • Page 173 Application Setup Figure 6-50 CDHD2S|ServoStudio2 9. Issue a command to move the axis to an out-of-range position. The out-of-range position should be at least a few millimeters from the start capture position. The out-of-range position must be defined as an axis movement from the out-of-range position to the sampling range in the defined direction of laser movement.
  • Page 174 Application Setup #Delay5000 moveabs-1060 #Delay5000 moveabs$start_position$vel #delay5000 #while$cmd<$stop_position moveabs$cmd$Vel #Delay5000 #printpfbpfbraw #Round$index0 $corr=errcorsetindex$index #print$corr $index=$index+1 $cmd=$cmd+$interval #End_While Laser system 12. CARTO capture. After all sampling is completed, press the Save button to save the error correction data. 13.CARTO exploration. Select Open File. Figure 6-51 14.
  • Page 175 Application Setup Figure 6-52 CDHD2S|ServoStudio2 15. In the error correction screen, press Load from File to load the data file saved in CARTO.(*.RTL). 16. The data will now be loaded from the file and the error correction table will be imported and displayed.

  • Page 176: Gantry System

    The CDHD2S gantry system synchronizes the two Y-axes through two CDHD2S drives that work together and use high-speed communications to generate and control motion along the Y-axis.
  • Page 177 The differential motion of the two Y-axes causes a certain amount of rotational motion around the center of the gantry. This rotational motion (yaw) is considered a differential axis by the CDHD2S system. Therefore, the flexible gantry system needs to control the difference between the Y1 and Y2 axis positions.
  • Page 178 Application Setup Flexible gantry yaw alignment In a rigid gantry system, the yaw value is 0 and the X and Y axes are orthogonally aligned. Therefore, no yaw alignment is required. But in a flexible gantry system, offset may occur. Use parameter GANTRYOFFSET to align yaw.

  • Page 179: Gantry Control Mode

    Application Setup 6.18.3 Gantry control mode The CDHD2S gantry system is controlled via a pair of two drives mated via communication cables. These two drives are called "paired" drives. The drive of Y1 axis is the main drive. The gantry main drive receives position commands from the motion controller and executes a position loop on the virtual Y axis (calculated as the average value of Y1 and Y2).

  • Page 180: Gantry Parameters And Commands

    Application Setup When COMMODE=1 (EtherCAT/CANopen communication; with fieldbus), the operation mode can be profile position (opmode1), periodic cycle position (opmode8), and homing (opmode6). Reference commands can be generated by EtherCAT/CANopen, pulse train or serial communication devices. 6.18.5 Gantry parameters and commands The following parameters are used to configure and monitor gantry applications.

  • Page 181: Gantry Setup

    Application Setup 6.18.6 Gantry setup When setting up a CDHD2S gantry system, perform the following steps: 1. If the gantry system includes limit switches, ensure they are installed as follows: The positive limit switches on Y1 and Y2 must be parallel, and the alignment ◼...
  • Page 182 Application Setup 4. Define addresses for each drive. Use HMI panel (medium-voltage models) or rotary switch (low-voltage models). Please refer to the Drive Addressing section. Restart the drive after setting the address. Set up and test each axis individually: Note: For the two gantry Y-axes, the motor cannot be configured with the ServoStudio2 motor setup wizard.

  • Page 183: Homing

    9. Perform gantry main controller and differential controller tuning. Please refer to the Gantry Tuning section. 6.19 Homing CDHD2S provides several methods for homing the motor. The parameter HOMETYPE defines the time to reverse the direction of motion, the homing trigger (e.g. switch, index) and other conditions during homing.

  • Page 184: Index Homing And Single/Multi-Turn Encoder

    6.19.4 Gantry system homing The homing command (HOMECMD) must be sent to the CDHD2S gantry main drive to start and control the two gantry motors to home In an EtherCAT/CANopen system, each drive must be set to the "homing" operation mode (OPMODE6) and then wait to receive a homing command from the motion controller.
  • Page 185 Y1 or Y2 will cause a change in direction. Flexible gantry system homing In a flexible CDHD2S gantry system, the homing requirements and methods are as follows: Each of the two gantry motors must have an index switch or zero switch.

  • Page 186: Operations

    If not, the drive is disabled. 7.2 Drive Operation Mode The CDHD2S can run in multiple operation modes. Each operation mode has a main control loop (current/torque, velocity or position) and a specific type of command input. When using the VarCom instruction, the operation mode is set via the OPMODE value:...

  • Page 187: Current Operation

    Operations 8=Position control, using serial commands When using CANopen or CANopenoverEtherCAT (CoE) communication, the operation mode can be set via object 6060h and reported via object 6061h. 1=Profile position 3=Profile velocity 4=Profile torque 6=Homing 7=Interpolation position 8=Periodic synchronization position 9=Periodic synchronization velocity 10=Periodic synchronization torque For details, please refer to the CDHD2SEtherCAT and CANopen manuals.

  • Page 188: Velocity Operation

    Operations Current control loop tuning is derived from motor properties and bus voltage. In the ServoStudio2 "Motor Setup" wizard, the current control loop is tuned. 7.4 Velocity Operation 7.4.1 Serial velocity operation In serial velocity mode (OPMODE0), the drive current and speed loops are active and the drive responds to commands received via the USB or RS232 port.
  • Page 189 Operations Figure 7-2 Velocity control loop - HD velocity control (with integrating circuit) proportional-integral (PI) controller Please refer to VarComVELCONTROLMODE0. The figure below shows the PI controller. Figure 7-3 Velocity control loop - PI controller The PI controller is a unit feedback system without prefilter. The proportional gain (KVP) stabilizes the system and The integral gain (KVI) compensates the steady-state error.
  • Page 190 Operations Please refer to VarComVELCONTROLMODE1. The figure below shows the PDFF controller. Like the PI controller, the PDFF controller has an integral gain (KVI) and a proportional gain (KVP), plus a feedforward KVFR. Figure 7-4 Velocity control loop PDFF controller When the application requires maximum responsiveness, less integral gain is required and KVFR can be set to a high value.
  • Page 191 Operations Figure 7-5 Velocity control loop - standard pole placement (PP) controller For controller design, it is not necessary to know the load inertia. Parameter tuning is simple, as described in the following procedure. Use the following procedure to manually tune a pole placement (PP) velocity controller.

  • Page 192: Position Operation

    7.5 Position Operation 7.5.1 Serial position operation CDHD2S has a dedicated operation mode (OPMODE8) for simple serial port positioning applications. The host transmits serial commands through the serial port. The command specifies the target position and cruise velocity, and sets additional trajectory information (such as acceleration, deceleration and trajectory type) with explicit variables.
  • Page 193 Operations VarCom Description Define the acceleration. Define the deceleration. Position error (also called following error). PE is the calculated absolute difference between PCMD and position feedback (PFB). Read only. PCMD Position reference command. Read only. Actual position based on motor feedback. Read only. Incremental (relative) motion Incremental or relative motion moves the motor relative to its current position.

  • Page 194: Position Control

    STOPPED=2. The trajectory is completed and INPOS=1. 7.5.2 Position control The CDHD2S has two position control loop options - HD (non-linear) and linear. HD (non-linear) position controller HD position control is a proprietary algorithm designed to minimize position errors during movement, and to minimize settling time at the end of movement.
  • Page 195 Operations Figure 7-6 Position control loop - HD controller Linear position controller Linear position controller is a feedforward PID controller with limited integral saturation (anti- terminal) option. Figure 7-7 Position control loop - linear —195 —...

  • Page 196: Gearing/Pulse Train Operation

    In the gearing/pulse train operation mode, the drive current, velocity and position loops are active loops and the drive is synchronized to the main input command signal of the pulse train. The CDHD2S can be configured to read this input signal as an encoder follower, up/down counter, or pulse/direction counter.

  • Page 197: Pulse And Direction

    Operations In addition to tuning the current, velocity, and position loops, the following table shows some of the parameters used to configure and monitor the gearing. Table 7-6 VarCom Description Activate the gearing function. GEAR Gearing ratio numerator. GEARIN GEARIN value symbol determines the direction of rotation. Gearing ratio numerator.
  • Page 198 Operations For example, assume that the motor encoder resolution is 2500 lines per revolution. If you set GEARIN=1, GEAROUT=1 and XENCRES=10000, this will cause the motor to rotate once every 10000 pulses (assuming the direction is fixed during this period). Note: The drive homing function remains active in this configuration.
  • Page 199 The relationship between input pulse and motor shaft motion is determined by the external encoder resolution (HWPEXT) and the gear ratio (GEARIN/GEAROUT). For example: Set the PLC controller to provide 1024 line pulses as a CDHD2S system input command to make the motor rotate two turns. The settings should be as follows:...

  • Page 200: Cw/Ccw (Up/Down) Counting

    Operations 7.6.2 CW/CCW (up/down) counting In a CW/CCW (or up/down) system, a pulse on one signal increases motor position, while a pulse on the other signal decreases motor position. The signal must be connected to the controller interface (C2). When a pulse signal is applied to the A channel, the external position counter (PEXT) is incremented and the motor is rotated in the positive direction.

  • Page 201: Drive Debugging

    Warning! Tuning is potentially dangerous. Before starting any tuning procedure, make sure no one is within the motion envelope curve and that the panic button is within reach. Perform autotuning on the HD control loop of the CDHD2S. There is no autotuning procedure for linear control loop.

  • Page 202: Drive-Based Autotuning

    Tuning Initially use the Autotuning wizard to set the HD control loop parameters. Drive tuning performed by the wizard is usually sufficient. However, you may need to manually tune control parameters to optimize them for your specific application. Parameters can be viewed and modified in the ServoStudio2 Position Loop - HD Controller screen.

  • Page 203: Drive-Based Autotuning - Advanced

    Tuning For details on each step, please refer to the Drive-Based Autotuning - Advanced. Table 8-1 Drive-based autotuning process steps Fast Advanced Model Inertia Movement Options Start Test Save 8.3.2 Drive-based autotuning - advanced The advanced autotuning process includes the following steps: 1.
  • Page 204 Tuning Step - Tuning mode Figure 8-2 Autotuning - tunning mode 1. Select Advanced/External (or Advanced/Internal). 2. Transmission testing usually begins at the midpoint of the motion stroke. If your application requires a different start position, use Manual Move. Use the negative and positive buttons to place the load in a position where the motor can safely rotate three times in each direction.
  • Page 205 Tuning You may need to manually set the moment of inertia (step 4 - option: load/motor inertia ratio (LMJR) value) to get better performance, for example: If the load/motor ratio is very large. ⚫ If you know the exact value of the load inertia connected to the motor. ⚫...
  • Page 206 Tuning Autotuning must be performed using transmission profile, replicating the actual mechanical characteristics of the motion performed in the application. Click Set Defaults to set values that produce a good trapezoidal profile on the graph. The software will indicate whether this profile is suitable for the autotuning procedure. Highlight orange: profile available, but not recommended ⚫...
  • Page 207 Tuning Options: Smoothing Select this option to automatically tune the input profile command. If checked, autotuning will adjust the profile smoothing parameters. Clear this option if the application is multi-axis and requires equal smoothing on all axes. If cleared, MOVESMOOTHAVG is used, and its value is in the range of 1-15 ms. Option: Load/motor inertia ratio (LMJR) value Typically, autotuning can use the load/motor inertia ratio (LMJR) value calculated in the autotuning step - inertia ratio estimation.
  • Page 208 Tuning Figure 8-8 Autotuning - parameters changed by autotuning Step - Test Figure 8-9 Autotuning - test 4. Click Move and Plot to send the current command to the drive and plot the response. Move and Plot enables the drive and the motor will run! The resulting graph shows the position command profile in velocity unit (PTPVCMD).
  • Page 209 Tuning 5. Optional: modify the motion settings and/or gain settings and repeat the test under different conditions: Target position ◼ Cruising velocity ◼ Acceleration (and deceleration) ◼ HD Global Gain (KNLUSERGAIN); This is the global gain parameter of the HD control ◼...

  • Page 210: Pc-Based Autotuning

    Tuning 8.4 PC-based Autotuning If no electronic motor nameplate is detected at power-up, ServoStudio2 will activate the PC- based autotuning wizard. The PC-based Autotuning wizard overrides the user's unit settings and works with the following units: Position: count ⚫ Velocity: rpm/s for rotary motors, mm/s for linear motors ⚫...
  • Page 211 Tuning 5. Click Next to continue. Step - Gain optimization Figure 8-12 PC-based autotuning wizard - gain optimization 1. The Move Command values shown are recommended; based on the motor you defined in the setup. Use the negative and positive buttons to position the load where the motor can safely rotate a full range in each direction.
  • Page 212 Tuning Step - Test movement quality Figure 8-13 PC-based autotuning wizard – test movement quality 1. Click Move and Plot to send the current command to the drive and plot the response. Move and Plot enables the drive and the motor will run! 2.

  • Page 213: Summary Of Autotuning Parameters

    The following figure describes the procedure for diagnosing system behavior and applying filters to improve performance. CDHD2S recording function is used for performance verification, tuning and debugging. ServoStudio2 provides a full-featured graphical interface for recording, plotting and measuring data. Please refer to the ServoStudio2 Reference Manual for details.

  • Page 214: Recording Data In Servostudio2

    Tuning To improve or change the performance of your CDHD2S system, please refer to the performance diagnostic chart and manually modify and evaluate parameters. Procedure: Modify and test parameters After each modification of parameters, please perform the following operations: 1. Make sure the operation mode is set to serial position.
  • Page 215 Tuning 4. Make sure the drive is enabled and click the Run Record and Plot button in the Range toolbar. Figure 8-14 Note that the trajectory scale factor of the "Position Error" variable shown here is 50. Figure 8-15 Motion obtained using default parameter values 5.

  • Page 216: Recording Data In The Terminal

    Tuning 6. Check the position error and settling time Right-click in the graph pane and select Show Settling Time. Figure 8-17 Position error (count) and settling time (ms) The acceptable range of response (position error) is the motion at the end point (in count). Acceptable range: Example: Mechanical dimensions (connector length) = 0.5 meters...

  • Page 217: Evaluate Ptpvcmd

    Tuning interval as 1. Since there will be no movement of 128 pre-trigger points, the recorded data will be filled with zeros (zero velocity command before movement). 3. Use the variables REC COMPLETE (recording completed) and/or RECING (recording in progress) to determine whether the recorded data is available. 4.

  • Page 218: Evaluation Of Icmd And/Or Pe Oscillation

    Tuning Figure 8-18 Poor performance of PTPVCMD 8.6.5 Evaluation of ICMD and/or PE oscillation Note: ServoStudio2 has not been fully updated. The figure below shows an example of ICMD (current command) and PE (position error) oscillations that indicate poor performance. Figure 8-19 Poor performance of ICMD and PE To determine if the oscillation is greater than 300Hz, use the ServoStudio2FFT function on the PE or ICMD recording:...

  • Page 219: Current Command Low Pass Filter

    Tuning Figure 8-20 FFT tracking evaluation 8.7 Current Command Low Pass Filter Note: ServoStudio2 has not been fully updated. The HD control loop output is a current command. This current command is low-pass filtered before being transmitted to the current controller. The autotuning procedure sets optimal low-pass filter parameter values during the load estimation process.
  • Page 220 Tuning If the equipment to be controlled has resonance at a high frequency, NLFITT 1 can be used for current output. NLFILTT1 can effectively reduce the noise, but it will also reduce the control bandwidth and the potential stiffness of the system. NLFILTDAMPING can minimize low-pass negative effects.

  • Page 221: Gear Filter

    Tuning 8.8 Gear filter Note ServoStudio2 has not been fully updated. The gear filter can be used if the system exhibits the following characteristics: The resolution of pulse and direction commands is low. ⚫ The coupling between the motor and the load is not strong. ⚫...

  • Page 222: Moving Smoothing Filter

    Tuning Gear filter - example 2 Increasing GEARFILTT2 and VELFF can compensate for the delay, but it will increase the overshoot. IfGEARFILTVELFF=GEARFILTT2， no delay. Figure 8-24 Tuning gear filter 8.9 Moving Smoothing Filter Note ServoStudio2 has not been fully updated. The HD control provides three options for smooth position command, defined by the parameter MOVESMOOTHMODE.

  • Page 223: Notch Filter

    Tuning 8.10 Notch filter Note ServoStudio2 has not been fully updated. The notch filter can be used to eliminate high-frequency oscillations that can occur in systems with flexible connections between motor and load, such as: Ball screw linear slide with coupling ⚫...
  • Page 224 Tuning Figure 8-26 Anti-vibration filter Stage 1: Detect disturbances sensed by the system using various control variables as inputs, such as position error and current. The disturbed values are calculated for the next stage. Stage 2: The disturbed values are passed through a narrowband bandpass filter, selecting disturbances caused by system oscillations.
  • Page 225 Tuning Perform an action and measure the resonance (oscillation frequency) of the current command ◼ (ICMD): In the Range screen, right-click the ICMD plot. ⚫ Select FFT and Differentiation. ⚫ Select FFT tracking. ⚫ The FFT tracking will look like this, for example: Figure 8-27 FFT tracking Set the value of parameter NLANTIVIBHZn to the peak or dominant resonance (in ◼...
  • Page 226 Tuning Figure 8-28 Frequency response varying with NLANTIVIBSHARPn Suitable for 20Hz center frequency Step 2 – Tune damping gain Increase the value of parameter NLANTIVIBGAINn until optimal damping is reached. At each increment, the current command (ICMD) is recorded and the oscillation damping ⚫...
  • Page 227 Tuning Figure 8-30 No vibration suppression, long settling time Figure 8-31 Settling time - without anti-vibration tuning In order to suppress oscillations and shorten settling time, the following parameters need to be set: NLANTIVIBHZ2=14Hz, measure the resonance frequency. ⚫ NLANTIVIBSHARP2=0.5, estimate the width based on the sharpness shown in the FFT ⚫...

  • Page 228: Gain - Manual Tuning

    Tuning Figure 8-34 Settling time - with anti-vibration tuning 8.12 Gain - Manual Tuning Note: ServoStudio2 has not been fully updated. KNLD - differential gain 1. Set KNLP to half of the default settings. 2. Set KNLI and KNLIV to zero. 3.
  • Page 229 Tuning Increase the KNLIV value until the position error (PE) starts to oscillate. Increasing the KNLIV value can reduce the position error, reduce the sensitivity to external disturbance, and reduce the steady-state position error (if any) when stopping. Optimal tuning: Position error decreases as quickly as possible after each motion phase change (jerk), no oscillations during phase transitions;...
  • Page 230 Tuning Optimal tuning: The shape is as square as possible, indicating that the position error is constant at each stage of motion and that there are no oscillations during the transitions between stages (acceleration to smooth, smooth to deceleration, deceleration to stop). PE becomes flat during acceleration and deceleration...
  • Page 231 Tuning —231 —...

  • Page 232: Flexible Compensation Tuning

    Tuning KNLI value is too high; position error oscillation at stop Position error overshoot KNLI selected value Figure 8-38 KNLI tuning 8.13 Flexible compensation tuning Note ServoStudio2 has not been fully updated. The flexible compensation parameter reduces the vibration caused by the load and the tracking error through the sudden change of acceleration (jerk).

  • Page 233: Dual Feedback Position Control Loop Debugging

    Tuning Figure 8-39 Equipment flexibility Procedure: Flexible compensation tuning 1.Set NLAFFLPFHZ=3×KNLD 2. Start with the highest value of NLPEAFF and decrease until you reach the best result for your application. The criterion can be settling time or position error. 8.14 Dual feedback position control loop debugging Note ServoStudio2 has not been fully updated.
  • Page 234 Tuning 2. Configure the motor and motor feedback parameters. 3. Set the motor to the load to inertia ratio (LMJR) value. If unknown, use ServoStudio2 autotuning estimated value. 4. Configure secondary feedback device parameters. Please refer to the Secondary Feedback. 5.

  • Page 235: Gantry Tuning

    Tuning Best adjustment: Gradually increase the KNLDUALLOOPKP value until ICMD oscillates, or noise is heard. Then reduce the KNLDUALLOOPKP value by 10%. Figure 8-42 Dual feedback - tune position controller (KNLDUALLOOPKP) - example d. Set the velocity feedforward to 100% (KNLDUALLOOPVFF): Figure 8-43 Dual feedback - tune position controller (KNLDUALLOOPVFF) - example 8.15 Gantry Tuning Note: The tuning process (movement/recording) of the gantry system is performed by the...
  • Page 236 Tuning (POSCONTROLMODE5) 4. Open ServoStudio2 Control > Range screen. Make sure the selected drive is the gantry host. Define the parameters to be recorded. ◼ PTPVCMD ICMD Define a serial position motion command, execute and record. View the result chart. ◼...
  • Page 237 Tuning Figure 8-46 KNLD=50 6. Gradually increase the KNLP (HD proportional gain) value until the position error decreases. Figure 8-47 KNLD=20 Figure 8-48 KNLD=50 7. Increase the KNLI (HD integral gain) value to reduce the static error. KNLP The maximum value of KNLI should be less than —237 —...
  • Page 238 Tuning Figure 8-49 KNLD=20 8. If necessary, reduce the setup time by increasing the KNLIV (HD differential-integral gain) value. If there is oscillation at the end of the movement, decrease KNLIV. 9. Switch the drive axis to the gantry differential drive. 10.

  • Page 239: Tuning Questions - Q&A

    Tuning KNLD32 KNLP16 KNLI0 KNLIV0 KNLVFF1 KNLUSERGAIN1 NLTFDESIGNMODE1 NLTFBW400 KNLD32 KNLP8 KNLI0 KNLIV0 KNLVFF1 RECOFF RECORD322000“PTPVCMD“PE“GANTRYMSTRVFB“ICMD RECTRIG“PTPVCMD101001 ACC100 DEC100 MOVEABS1400000500 #PLOT #Delay4000 MOVEABS0250 8.16 Tuning Questions - Q&A When should I use a notch filter? When your equipment has high-frequency vibration and produces sharp sound or horn sound when you increase the gain.
  • Page 240 Tuning Tune the system at high speed, reduce the global gain KNLUSERGAIN value, increase the rise time of low-pass filter NLFILTT1, and then increase NLMAXGAIN. The system is flexible and overshoots at the end of the movement. How to eliminate overshoot? Use a low-value acceleration filter NLAFFLPFHZ and reduce NLPEAFF.

  • Page 241: Functional Safety

    If the load is not properly protected, it may cause serious personal injury. The STO function in CDHD2S removes the power provided by the power module gate drive, suppressing the PWM pulses generated by driving IGBT, as shown in the figure below.

  • Page 242: Sto Functional Safety Specification

    Yes* AC 120/240V CDHD2S 4.5A, 6A STO_A3 Yes* 9.3 STO Functional Safety Specification Note: At present, the STO function of all CDHD2S models are waiting for certification. Table 9-2 Features Specification Performance level Meeting 4PLe category (ISO13849-1) Safety integrity level...

  • Page 243: Use Sto

    EN60204-1 standard Safety of machinery — Electrical equipment of machines Part 1: General requirements. Note: The built-in 24V DC power supply of the CDHD2S is not approved for safety applications and is therefore prohibited from being used as an STO power supply.
  • Page 244 Troubleshooting Figure 9-2 Motor coasts to a stop when STO takes effect STO indicator STO status and diagnostic information is provided in the following ways. Digital display If the drive is disabled and STO is in effect (STO power is removed), a warning condition will occur and n will be normally on when the panel is in status mode (08 indicates the operation mode in this example).
  • Page 245 Troubleshooting Drive is not ready: No SW enabled Fault exists FLT4STO fault Since the drive is enabled and fails, the failure recovery procedure must be performed. CANopen and EtherCAT If the drive is enabled and STO power is removed, a fault condition will occur. Object 603Fh subindex 0 provides the current error error code.

  • Page 246: Sto Maintenance

    Troubleshooting STO special circumstances A short circuit between two non-adjacent IGBTs in a short period of time can cause the movement to reach 120 electrical degrees, even if STO function takes effect. The probability of such an event is extremely low, but it could still happen. However, the probability of such fult is considered negligible.

  • Page 247: Troubleshooting

    ⚫ 10.2 Faults and Warnings If the CDHD2S is connected to the host through the serial interface, the fault code is transmitted to the host through a text message. This message is saved in the fault history log (FLTHIST) in the non-volatile drive memory, so the fault history will not be lost when the power supply of the drive is restored.

  • Page 248: Warning, Error And Fault Messages

    All faults as well as many warnings are also displayed via the drive digital display. Certain conditions generate only on-screen warning messages. 10.3.1 Warning messages CDHD2S drive warnings are reported in object 2011h. Table 10-2 Warning codes and messages Warning#...
  • Page 249 Troubleshooting Warning# Warning message (click description for more information) Number HIPERFACE encoder resolution mismatch The encoder resolution determined by the detected WRN21 HIPERFACE device differs from the MENCRES setting currently in effect. Multi-turn encoder battery low voltage WRN22 EnDat encoder resolution mismatch WRN24 MENCRES does not match the encoder resolution read during initialization.
  • Page 250 Troubleshooting Warning# Warning message (click description for more information) Number Conflicting digital inputs are turned on WRN53 Fan circuit warning WRN54 Blower circuit overloaded or disconnected Excessive electrical noise warning WRN55 System produces excessive electrical noise Feedback type mismatch WRN56 The configured feedback type and the connected encoder do not match sensAR encoder over-temperature warning...

  • Page 251: Error Messages - Manufacturers Only

    Troubleshooting Warning# Warning message (click description for more information) Number Scroll display WRN71 EnDat encoder flipped Invalid VBUSREADOUT In CDHD2-LV, VBUSREADOUT will be equal to VBUS when WRN72 customerid = Homing is not completed, PEINPOS is too low When homing in gantry mode, the drive waits to settle to zero. WRN73 When the unit is a degree or lower resolution, corresponding configuration must be performed.
  • Page 252 Troubleshooting Warning# Digital Error message Error code Number display Value must be a multiple of 0.25 ERR49 E0049 08000000h Save to flash memory failed ERR50 E0050 08000000h Not applicable ERR51 E0051 06060000h Direction limit switch command ERR54 E0054 08000000h Homing mode active 300SS 08000000h ERR55...
  • Page 253 Troubleshooting Warning# Digital Error message Error code Number display Value must be a multiple of 0.125 ERR115 30LLS 08000000h Fieldbus mode (COMMODE=1) active 08000000h ERR116 30LL9 Current loop design failed ERR201 30Z0L 08000000h MENCRES out of range ERR202 30Z0Z 08000000h MSPEED out of range ERR204 30Z0v...
  • Page 254 Troubleshooting Warning# Digital Error message Error code Number display SensAR: Request time out ERR264 30Z9v 08000000h SensAR: Flash save failed ERR265 30Z9S 08000000h SensAR: protocol error ERR266 30Z99 08000000h SensAR: Illegal request ERR267 30Z9L 08000000h SensAR: inconsistent addresses ERR268 30Z98 08000000h Unable to read motor nameplate data ERR269...
  • Page 255 Troubleshooting Warning# Digital Error message Error code Number display CANopen: drive NMT status error ERR302 30c0Z 08000000h SFBMODE nonlinearity is not supported ERR303 30c0c 08000000h Use different signs for positive and negative directions 08000000h ERR304 30c0v Use the same sign for positive and negative directions ERR305 30c0S 08000000h...
  • Page 256 Troubleshooting Warning# Digital Error message Error code Number display PCOM feedback is invalid 30cvL ERR341 0x08000000 PCOM drive does not home ERR342 30cvZ 0x08000000 PCOM type does not exist 30cvc ERR343 0x08000000 PCOM output mode is undefined ERR344 30cvv 0x08000000 Dual loop invalid VELCONTROLMODE 30cvS ERR345...

  • Page 257: Fault Messages

    Troubleshooting Warning# Digital Error message Error code Number display Error correction enabling requirements are not allowed to ERR374 30cLv 08000000h be modified. 10.3.3 Fault messages Table 10-4 Fault codes and messages Fault# Fault message Emergency (fault) Number (Click the description for more information) Error code Drive locking 8180h...
  • Page 258 Troubleshooting Fault# Fault message Emergency (fault) Number (Click the description for more information) Error code Regenerative overcurrent 3180h FLT29 Field bus velocity overrun FLT30 6380h Secondary encoder 5V overcurrent 2189h FLT31 CAN power supply fault 5582h FLT32 Self-test failed 5583h FLT33 Feedback communication error 7380h...
  • Page 259 Troubleshooting Fault# Fault message Emergency (fault) Number (Click the description for more information) Error code Exceeding the maximum position error 8482h FLT67 Encoder phase error FLT68 738Bh Fieldbus target command lost FLT69 7582h Internal error FF01h FLT70 Differential Hall line disconnected FLT71 738Ah Logical AC power fault...
  • Page 260 Troubleshooting Fault# Fault message Emergency (fault) Number (Click the description for more information) Error code This drive model does not support drive firmware. FLT109 FF16h ESI supplier mismatch FLT110 7099h MENCZPOS does not match Hall FLT111 70A0h sensAR encoder position fault FLT112 7398h sensAR over-temperature fault...

  • Page 261: Fieldbus Status-Led

    Troubleshooting Fault# Fault message Emergency (fault) Number (Click the description for more information) Error code u16_VbusMeasureFilter exceeds 5 FLT150 — Temp_Sensor_Failure_Qualifier exceeds 250 FLT151 — Axis_To_Axis_Timeout_Max exceeds 1000 FLT152 — FPGA_BG_Buffer_Consec exceeds 1000 FLT153 — Gantry fieldbus disable failed FLT154 FFA7h Multi-turn secondary encoder battery voltage is low FLT155...

  • Page 262: Status Led - Ethercat

    Troubleshooting 10.4.2 Status LED - EtherCAT Interfaces C5 and C6 (EB and EC models) each have two LED lights that indicate the status of the fieldbus when communicating on the EtherCAT network. Figure 10-2 Top panel interfaces and LEDs on the EtherCAT model Table 10-6 Flashing - communication activity Green light...

  • Page 263: Cdhd2S Accessories

    CDHD2SSTO connector KIT-00P1000-00 11.2 Cable Table 11-2 C1 - USB2.0A to Mini-B cable Note: It is strongly recommended that you use the USB cable provided by Servotronix, which has been tested and proved to be reliable.. Item Specification Servotronix part number USB2.0A to Mini-B cable...
  • Page 264 CDHD2S Accessories Wire gauge 20–28AWG 2 ferrite cores, located near each EMI filtering connector Table 11-4 C3 - machine interface cable Item Specification Servotronix part number CBL-MDR2-20-01 1 meter fly wire CBL-MDR2-20-02 2 meter fly wire CBL-MDR2-20-03 3 meter fly wire...

  • Page 265: D9-Rj45 Adapter

    Wire gauge 24–28AWG 11.3 D9-RJ45 adapter Many PLC devices use a D9 type interface for CAN connections. To connect the CDHD2SRJ45 port to the D9 interface, Servotronix provides an adapter, as shown in the figure below. Figure 11-1 D9-RJ45 adapter —265...

  • Page 266: Line Filter

    CDHD2S adapter CAN, D9 to RJ45 ADPrCAN_D9|RJ45 CDHD2S adapter DB95, RJ45/jack 8 contacts ADPr0AMK0001-00 11.4 Line filter The recommended line filter manufacturers and part numbers of CDHD2S are listed in the following table. Table 11-13 Recommended line filters High-voltage model CDHD2S-012...

  • Page 267: Regenerative Resistor

    CDHD2S Accessories 11.5 Regenerative resistor The resistance value (ohms, W) is defined by the CDHD2S servo drive. The required power is defined by the application. Therefore, each drive has multiple regenerative resistor options. The manufacturer and part number of regenerative resistor recommended by CDHD2S are listed in the following table.
  • Page 268 CDHD2S Accessories —268 —...

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