6
CD1-a
Contents
2.3 - CONNECTION VUE OF CD1-a-400/30 AND 45.....................................................................................27
2.4 - MOTOR AND RESOLVER CABLES ......................................................................................................27
2.5 - INPUT COMMAND AND SERIAL LINK CABLES...................................................................................28
2.6 - CONNECTION CABLES OF THE BRAKING RESISTOR ......................................................................28
3-REQUIREMENTSOF COMPLIANCE WITHTHEUL STANDARDS.............................................................28
3.1 – CONNECTION BY MEANS OF FASTON SOCKET ..............................................................................28
3.2 - 24 V SUPPLY .........................................................................................................................................28
3.3 - POWER SUPPLY AND UL FUSE RATINGS..........................................................................................28
3.4 - CD1-a-230/I DRIVE: CONNECTION DIAGRAM WITH PROTECTIONS BY "UL" FUSES.....................29
3.5 - CD1-a-400/I DRIVE: CONNECTION DIAGRAM WITH PROTECTIONS BY "UL" FUSES.....................30
3.6 - CONNECTION EXAMPLE FOR A UL COMPLIANT MULTIAXIS APPLICATION..................................31
CHAPTER 5 - PARAMETER SETTING.................................................................................................................32
CHAPTER 6 - COMMISSIONING..........................................................................................................................33
1-AMPLIFIER STANDARD CONFIGURATION.................................................................................................33
2-FIRST POWERING OF THECD1-AAMPLIFIER...........................................................................................33
2.1 - VERY IMPORTANT................................................................................................................................33
2.2 - Switch on the 24 VDC supply.................................................................................................................33
2.3 - Switch on the 230 VAC or 400 VAC supply (according to the amplifier type). ........................................34
3-AMPLIFIER COMMISSIONING AND ADJUSTMENT ....................................................................................34
3.1 - COMMUNICATION VIA THE SERIAL LINK ...........................................................................................34
3.2 - AMPLIFIER ADJUSTMENT....................................................................................................................34
3.3 - SPEED LOOP ADJUSTMENT WITH VERTICAL LOAD ........................................................................35
3.4 - AMPLIFIER PARAMETERS SAVING.....................................................................................................35
CHAPTER 7 - TROUBLESHOOTING ...................................................................................................................36
1-FAULTS.........................................................................................................................................................36
1.1 - SYSTEM FAULT.....................................................................................................................................36
1.2 - "BUSY" FAULT .......................................................................................................................................36
1.3 - "EEPROM" FAULT.................................................................................................................................36
1.4 - "°C MOTOR" FAULT...............................................................................................................................36
1.5 - "UNDERVOLT" FAULT (non stored).......................................................................................................36
1.6 - "POWER STAGE" FAULT ......................................................................................................................37
1.7 - "RESOLVER" FAULT .............................................................................................................................37
1.8 - "R.D.C" FAULT.......................................................................................................................................37
1.9 - "I2T" FAULT ............................................................................................................................................37
1.10 - FOLLOWING ERROR ..........................................................................................................................38
2-OPERATING PROBLEMS.............................................................................................................................38
2.1 - MOTOR DOES NOT MOVE ...................................................................................................................38
2.2 - MOTOR SUPPLIED, BUT NOT TORQUE..............................................................................................38
2.3 - SHAFT LOCKED, ERATIC OSCILLATIONS OR ROTATION AT MAXIMUM SPEED ...........................38
2.4 - DISCONTINUOUS MOTOR ROTATION WITH ZERO TORQUE POSITIONS ......................................38
2.5 - MOTOR DRIFT WITH ANALOG INPUT COMMAND AT ZERO SPEED................................................38
2.6 - LOUD CRACKLING NOISE IN THE MOTOR AT STANDSTILL.............................................................38
2.7 - LOUD NOISE IN THE MOTOR AT STANDSTILL AND WHEN RUNNING ............................................39
2.8 - POSITION CONTROL NOT POSSIBLE WITH THE NC.........................................................................39
3-SERVICE AND MAINTENANCE....................................................................................................................39
CHAPTER 8 - APPENDIX......................................................................................................................................40
1-HARDWARE ADJUSTMENTS.......................................................................................................................40
2-ADJUSTMENT TO VARIOUS RESOLVER TYPES .......................................................................................41
3-ADJUSTMENT TO VARIOUS MOTOR TYPES .............................................................................................42
3.1 - MOTOR THERMAL SENSOR ................................................................................................................42
3.2 - I2t PROTECTION....................................................................................................................................42
4-USE OF THE"LIMIT SWITCH" INPUTS........................................................................................................43
5-USE OF THE"CV0" INPUT............................................................................................................................43
6-USE OF THE"AOK" OUTPUT .......................................................................................................................43
7-USE OF THE"RESET"INPUT.......................................................................................................................43
8-USE OF THE"ENABLE" INPUT.....................................................................................................................44
9-INCREMENTAL ENCODER OUTPUTS.........................................................................................................44
10 -SYSTEM OF POWER FEEDBACK VIA ABRAKING RESISTOR ................................................................45
11 -AMPLIFIER ORDER CODE .........................................................................................................................45
