CD1-pm Installation manual gb PROFIBUS POSITIONER INFRANOR. CD1-pm 1

Transcription

1 CD-pm Installation manual gb PROFIBUS POSITIONER INFRANOR CD-pm

2 WARNING This is a general manual describing a series of servo amplifiers having output capability suitable for driving AC brushless sinusoidal servo motors. Instructions for storage, use after storage, commissioning as well as all technical details require the MANDATORY reading of the manual before getting the amplifiers operational. Please see CD-pm User Guide for the operation of the amplifier (commissioning, configuration ). For the PROFIBUS communication, see manual CD-pm PROFIBUS Communication Profile. Maintenance procedures should be attempted only by highly skilled technicians having good knowledge of electronics and servo systems with variable speed (EN 600- standard) and using proper test equipment. The conformity with the standards and the "CE" approval is only valid if the items are installed according to the recommendations of the amplifier manuals. Connections are the user's responsibility if recommendations and drawings requirements are not met. INFRANOR does not assume any responsibility for any physical or material damage due to improper handling or wrong descriptions of the ordered items. Any intervention on the items, which is not specified in the manual, will immediately cancel the warranty. Infranor reserves the right to change any information contained in this manual without notice.! Any contact with electrical parts, even after power down, may involve physical damage. Wait for at least 5 minutes after power down before handling the amplifiers (a residual voltage of several hundreds of volts may remain during a few minutes). ESD INFORMATION (ElectroStatic Discharge) INFRANOR amplifiers are conceived to be best protected against electrostatic discharges. However, some components are particularly sensitive and may be damaged if the amplifiers are not properly stored and handled. STORAGE - The amplifiers must be stored in their original package. - When taken out of their package, they must be stored positioned on one of their flat metal surfaces and on a dissipating or electrostatically neutral support. - Avoid any contact between the amplifier connectors and material with electrostatic potential (plastic film, polyester, carpet ). HANDLING - If no protection equipment is available (dissipating shoes or bracelets), the amplifiers must be handled via their metal housing. - Never get in contact with the connectors ELIMINATION In order to comply with the 00/96/EC directive of the European Parliament and of the Council of 7 January 00 on waste electrical and electronic equipment (WEEE), all INFRANOR devices have got a sticker symbolizing a crossed-out wheel dustbin as shown in Appendix IV of the 00/96/EC Directive. This symbol indicates that INFRANOR devices must be eliminated by selective disposal and not with standard waste. INFRANOR, September 008. All rights reserved. Issue: 8.6

3 Contents PAGE CONTENTS... CHAPTER GENERAL DESCRIPTION INTRODUCTION DESCRIPTION / COMPLIANCE WITH THE STANDARDS GENERAL DESCRIPTION REFERENCE TO THE STANDARDS: "CE" CERTIFICATION REFERENCE TO THE STANDARDS: "UL" LISTING OTHER DOCUMENTS REQUIRED FOR THE COMMISSIONING... 6 CHAPTER SPECIFICATIONS MAIN TECHNICAL DATA CD-pm-0-/I POSITIONER CD-pm-00/I POSITIONER COMMON SPECIFICATIONS TO BOTH POSITIONER VERSIONS CD-pm-0/I AND CD-pm-00/I DIMENSIONS CD-pm-0/I POSITIONER CD-pm-00/.8 TO 7. A POSITIONER CD-pm-00/ A POSITIONER CD-pm-00/0/5/70 AND 90 A POSITIONER BRAKING RESISTOR dp 00/00, dp 00/00, dp 50/00, dp /80 and EF FASTENING CD-pm-0/I POSITIONER CD-pm-00/.8 TO 7. A POSITIONER CD-pm-00/ A POSITIONER CD-pm-00/0/5/70 AND 90 A POSITIONER... - MULTIAXES CABINET MOUNTING CD-pm-0/I POSITIONER CD-pm-00/.8 to 7. POSITIONER CD-pm-00/ POSITIONER CD-pm-00/0/5/70 AND 90 A POSITIONER... CHAPTER - INPUTS - OUTPUTS CONNECTORS LOCATION LEDS AMPLIFIER FAULT LEDs X: RESOLVER CONNECTOR X: DIGITAL I/OS CONNECTOR X: ENCODER CONNECTOR X CONNECTOR FOR TTL INCREMENTAL ENCODER & HES INPUT (Sub D 5 pins female) X CONNECTOR FOR SinCos INCREMENTAL ENCODER & HES INPUT (Sub D 5 pins female) X CONNECTOR FOR ABSOLUTE SINGLE TURN SIN/COS ENCODER (Sub D 5 pins female) X CONNECTOR FOR ENCODER OUTPUT (Sub D 5 pins female) X: COMMAND CONNECTOR SPECIFICATIONS OF THE LOGIC INPUTS: FC+, FC-, INDEX, ENABLE, RESET SPECIFICATION OF THE "AOK" LOGIC RELAY OUTPUT X5: RS- CONNECTOR X6: PROFIBUS : AUXILIARY SUPPLY AND BRAKE CONNECTOR...

4 0 - : POWER CONNECTOR: MAINS, MOTOR, BRAKING RESISTOR (CD-PM-0 V & 00 V)... 5 CHAPTER - CONNECTIONS CONNECTION DIAGRAMS CD-pm-0/I POSITIONER CD-pm-00/I POSITIONER SERIAL LINK CONNECTION CONNECTION OF A BACKUP BATTERY FOR THE VDC AUXILIARY SUPPLY CONNECTION EXAMPLE FOR A MULTIAXIS APPLICATION WIRING RECOMMENDATIONS GROUND CONNECTIONS AND GROUNDING CONNECTORS SHIELD CONNECTION CONNECTION VIEW OF CD-pm-00/0/5/70 and 90 A MOTOR, RESOLVER AND ENCODER CABLES SERIAL LINK CABLES CONNECTION CABLES OF THE BRAKING RESISTOR... - REQUIREMENTS OF COMPLIANCE WITH THE UL STANDARDS CONNECTION BY MEANS OF FASTON SOCKET V SUPPLY POWER SUPPLY AND UL FUSE RATING CD-pm-0/I DRIVE: CONNECTION DIAGRAM WITH PROTECTIONS BY "UL" FUSES.5 - CD-pm-00/I DRIVE: CONNECTION DIAGRAM WITH PROTECTIONS BY "UL" FUSES CONNECTION EXAMPLE FOR A UL COMPLIANT MULTIAXIS APPLICATION FIRST POWERING OF THE CD-PM POSITIONER VERY IMPORTANT SWITCH ON THE VDC SUPPLY SWITCH ON THE 0 VAC OR 00 VAC SUPPLY (according to the positioner type) FURTHER COMMISSIONING PROCEDURE... 6 CHAPTER 5 APPENDIX HARDWARE ADJUSTMENTS OF THE LOGIC BOARD ADJUSTMENT TO VARIOUS RESOLVER TYPES USE OF THE "AOK" OUTPUT ENERGY RECUPERATION VIA A BRAKING RESISTOR ORDER CODE... 9 Contents

5 Chapter General description - INTRODUCTION Series CD-pm Profibus positioners are PWM servo amplifiers for the control of AC sinusoidal motors (brushless) equipped with a position sensor. The CD-pm servo drive is available as a stand-alone single-axis block that includes all supplies and mains filter. It is available in both mains operated versions 0 VAC and 00/80 VAC. The CD-pm positioner operates with a PROFIBUS DP interface or in stand-alone by using only digital I/Os. It generates itself the positioning trajectory that allows the programming of 8 positioning sequences. DESCRIPTION / COMPLIANCE WITH THE STANDARDS. - GENERAL DESCRIPTION The CD-pm amplifier directly controls the motor torque and speed by means of the information provided by a high resolution position sensor (resolver or encoder). The sinusoidal current commutation based on this high resolution position sensor provides very smooth motor torque/force control. The CD-pm amplifier can be configured for the feedback of various position sensor types. The appropriate position sensor configuration is selectable by software and saved in the amplifier. - With a resolver sensor feedback, the motor absolute position value over one revolution is available and the servo motor can immediately be enabled after the amplifier power up. - With a "SinCos tracks" sensor which provides two analog Sin and Cos signals electrically compliant with the SinCos encoder signals and which period is equal to the motor pole pitch, the servo-motor can be immediately enabled after the powering of the drive. - With an absolute single-turn SinCos encoder feedback (Heidenhain ERN 085 or compliant), the servo motor can also immediately be enabled after the amplifier power up. - With an incremental encoder only, a motor phasing procedure (Phasing) must be executed at each amplifier power up before the motor enabling. - With an incremental encoder + Hall Effect Sensors (HES) feedback, the motor phasing procedure is no more necessary and the servo motor can immediately be enabled after the amplifier power up. - With an absolute single-turn, multi-turn or linear encoder using the ENDAT or HIPERFACE communication protocols and fitted with incremental SinCos outputs, the servo-motor can also be immediately enabled after the powering of the drive. Series CD-pm positioners have their own DC/DC converter to provide appropriate logic voltage to the modules. An auxiliary VDC +/- 5 % supply is generally available on all machines and supplies a DC/DC converter with all logic supplies required by the positioner. The auxiliary supply allows to keep the logic board on, after the power supply has been switched off, in order to keep all parameters in the memory and to avoid initializing the machine all over again. A VDC battery supply with specific wiring allows to keep the position even after switching off the auxiliary VDC supply. This wiring can be used for "absolute" operation with the CD-pm positioner (see chapter : Connections). The power supply is depending on the positioner type: CD-pm-0/I: 0 VAC single-phase mains operation power supply or three-phase via a transformer or an autotransformer (or direct three-phase mains operation if there are three-phase mains available in 00 to 0 VAC). CD-pm-00/I: 00 to 80 VAC three-phase mains operated power supply. A soft start system of the power supply allows to limit the inrush current at power on. The very small dimensions of the CD-pm positioner allow an optimum integration in 00 mm deep cabinets (connectors included). The CD-pm positioner operates with a PROFIBUS DP interface or in stand-alone by using Chapter - General description 5

6 using only digital I/Os. The selection of the various operation modes (PROFIBUS or stand-alone) is made by means of micro-switches accessible by the operator.. - REFERENCE TO THE STANDARDS: "CE" CERTIFICATION Series CD-pm positioners have been approved with regard to their conformity with the Electromagnetic Compatibility standards concerning the power servos referenced in the EN 6800-:00 standard "Electrical variable speed power servo systems": - EN 550, group, C category, regarding radiated radioelectric disturbances, - EN regarding immunity. Standard to be applied to the electrical equipment of industrial machines: EN These items have been "CE" marked since year REFERENCE TO THE STANDARDS: "UL" LISTING CD-pm series have been C UL US listed according to UL508C, and UL80 regarding the insulator. This product was evaluated to: - the Third Edition of UL508C, the UL Standard for Power Conversion Equipment, dated May 00 for the UL Listing (USL), - the CSA Standard for Industrial Control Equipment, C. N -95, dated August 995 for the Canadian UL Listing (CNL) except for CD-pm-00/70 and 90 drives. Providing that the manual is specifying that the end user has to provide an isolated power supply, for VDC auxiliary input protected by a A UL Listed fuse, the power board is considered within a limited voltage/current circuit per section. of UL508C. Therefore, spacings on the power board are not required to be evaluated per section. of UL508C and were evaluated according to UL 80. Per UL 80 (Second Edition, dated May 0, 99) requirements, spacings are limited to.5 mm assuming pollution degree environment. Ground connection is fixed in the frame of the device by a rivet, Avibulb masse, BN The connector complies with standard dimensions given in table 6. of UL 0, the standard for Electrical Quick connect terminals. - OTHER DOCUMENTS REQUIRED FOR THE COMMISSIONING " CD-pm Profibus positioner User Manual". " CD-pm Profibus Communication Profile". "CD-pm SinCos track feedback" application note regarding the use of motors equipped with "SinCos tracks" position sensors. "CD-pm absolute encoders feedback" application note regarding the use of absolute single-turn, multi-turn or linear encoders using the ENDAT or HIPERFACE Communication protocols. 6 Chapter - General description

7 Chapter Specifications - MAIN TECHNICAL DATA. - CD-pm-0-/I POSITIONER Mains operated power supply voltage Isolated auxiliary galvanic and motor brake supply voltage Motor phase-phase output voltage 0 VAC + 0 %/- 5 % ~ or ~, Hz VDC +/- 5 % - 0 ma without brake 00 V rms Integrated braking system External 00 Ohm/00 W braking resistor (dp 00/00) Min. resistance: 50 Ohm (dp 50/00) Minimum inductance between phases mh OUTPUT CURRENT RATINGS (at a maximum room temperature of 0 C) Amplifier type Max. output current (Arms) for sec. +/- 5 % (0 VAC) Rated output current (Arms) (0 VAC) Power losses (W) Rated input current (Arms) (0 VAC, 60 Hz) Max. protection fuses for line circuit RK5 listed (Bussman / Littelfuse) Shortcircuit power of the mains CD-pm-0/ A 5 ka yes CD-pm-0/ A 5 ka yes CD-pm-0/ A 5 ka yes CD-pm-0/ A 5 ka yes CD-pm-0/ A 5 ka yes UL listed. - CD-pm-00/I POSITIONER Mains operating power supply voltage Isolated auxiliary and motor brake supply voltage Motor phase-phase output voltage 00 to 80 VAC + 0 %/- 5 % ~, TN or TT system with grounded neutral point 50 to 60 Hz (phase-ground voltage must be balanced) VDC +/- 5 % - 0 ma without brake 80 to 60 Vrms depending on the mains Integrated braking system CD-pm-00/.8 to 7. A: External 00 Ohms/00 W resistor (dp 00/00) Minimum resistor value: 50 Ohms/00 W CD-pm-00/: External 50 Ohms/00 W resistor (dp 50/00) CD-pm-00/0/5: External resistor Ω/80 W (dp /80) CD-pm-00/70/90: External resistor 6.5Ω/560 W (EF 00) Minimum inductance between phases mh Chapter - Specifications 7

8 OUTPUT CURRENT RATINGS (at a maximum room temperature of 0 C) Output voltage range for VAC (rms) three-phase mains Output current range:.8 A,.7 A, 5. A, 7. A, A, 0 A, 5 A, 70 A, 90 A (rms) Amplifier type Max. output current (Arms) for sec. +/- 5 % (80 VAC) Rated output current (Arms) (80 VAC) Power losses (W) Rated input current (Arms) (80 VAC, 60 Hz) Max. protection fuses for line circuit RK5 listed or A60Q0 for 00/70 and 00/90 Short-circuit power of the mains UL listed CD-pm-00/ A 5 ka yes CD-pm-00/ A 5 ka yes CD-pm-00/ A 5 ka yes CD-pm-00/ A 5 ka yes CD-pm-00/ A 5 ka yes CD-pm-00/ A 5 ka yes CD-pm-00/ A 5 ka yes CD-pm-00/ A 5 ka in progress CD-pm-00/ A 5 KA in progress. - COMMON SPECIFICATIONS TO BOTH POSITIONER VERSIONS CD-pm-0/I AND CD-pm-00/I Regulation loops: current, speed and position Mains filter on power supply Common mode filter on auxiliary supply Common mode filter on motor brake supply Power stage protections Motor brake control PWM switching frequency Minimum inductance between phases Digital current regulator (PI) Current loop bandwidth Digital Integrated in the positioner Integrated in the positioner Integrated in the positioner - power supply overvoltage - internal switch protection - short-circuit between motor phases or between motor phase and ground - amplifier overtemperature (on CD-pm-00/I only) - fan system error - PWM control error - power stage supply error - braking system error Max..5 A with VDC 8 khz mh for 0 V / mh for 00 V Adjusted to the motor Cut-off frequency for 5 phase shift : 000 Hz Internal current limitation Imax: 0 % to 00 % and Irated: 0 % to 50 % Imax duration = second Digital speed and position regulators Speed loop bandwidth Max. motor speed Resolver input Sampling period = 0,5 ms Anti-wind-up system of the integrator Adjustable digital gains Selectable cut-off frequency for 5 phase shift: 50 Hz, 75 Hz or 00 Hz Adjustable from 00 rpm to rpm Position conversion: 6556 ppr (6 bit) Excitation frequency: 8 khz Transformation ratio: 0. to 0.5 (other available values are factory set) 8 Chapter - Specifications

9 Encoder input Selectable by software: Quadrature signals A & B with Z marker pulse RS line receiver Maximum pulse frequency: MHz Resolution: 500 to 0 6 ppr Incremental Sin/Cos encoder Heidenhain Vcc Sin/Cos type or compliant Maximum signal frequency: 00 khz Resolution: 500 to 0 6 ppr Interpolation factor: 0 Absolute single-turn Sin/Cos encoder Heidenhain ERN 085 or compliant Maximum signal frequency: 00 khz Resolution: 08 or 5 ppr Interpolation factor: 0 Hall sensors input Encoder position output Logic inputs Logic outputs Analog input Analog output Relay outputs Open collector output protected against load shortcircuit PROFIBUS link Selectable by software: 0 or 60 HES type 5 V or V supply voltage HES sequence error detection A and B channels in quadrature Z marker pulse: per motor revolution RS- line driver Programmable resolution from 6 ppr to 68 ppr Arc minute accuracy = ( /Resolution) - Enable / Disable: ENABLE - Limit switch +: FC+ - Limit switch -: FC- - Homing input: INDEX - Reset of a stored fault: RESET - Sequence start: START - Sequence stop: STOP - Programmable inputs : IN to IN6 - Sequence in progress: SEQ - Position reached: POS - Speed reached :SPEED - Programmable outputs : OUT to OUT +/-0 V resolution bit ( reconfigurable logic output) On-the-fly speed limitation Polarity selectable by software: -no limitation for 0 Volt -no limitation for 0 Volt +/-0 V resolution 8 bit ( reconfigurable logic output) Load: 0 ma, linearity: %, low pass filter: 70 Hz Programmable output signal: Channel of the digital oscilloscope (current, speed or position) or Phasing OK output (from 0 V to 0 V when the motor phasing is OK for an incremental encoder without HES) Relay contact: Umax = 50 V Imax = 00 ma, Pmax = 0 W "Amp ready": Closed if amplifier OK, open if fault Motor brake coil with VDC/.5 A PPO- or PPO- or PPO- or PPO-. Fault display LEDs on front panel and diagnostic by serial link RS + diagnostic by PROFIBUS. Chapter - Specifications 9

10 Motor and application parameter setting Automatic functions Compliance with the standards: CE certification. 60 shield connection, equipotentiality according to the wiring rules. CD-pm-00/70 and 90 A with mains filtre F-00-70/90 Conformity with the standards: UL listing "60 " shield; equipotentiality according to the wiring rules. Temperature - storage -0 C à +70 C - operation +5 C à +0 C Altitude Moisture Cooling Mounting position Environment Mounting location Weight Serial link RS or Profibus DP link Amplifier adjustment to the motor (AUTO-PHASING) Automatic regulator tuning (AUTO-TUNING) EMC standards: - immunity: EN conducted and radiated disturbances: EN 550, Group, C category Electrical standards for industrial machines: - EN 600- : insulator 500 Vac / mn leakage current > 0 ma (EMI filters). CD-pm series have been C UL US listed according to UL508C, and UL80 regarding the insulator. This product was evaluated to: - the Third Edition of UL508C, the UL Standard for Power Conversion Equipment, dated May 00 for the UL Listing (USL), - the CSA Standard for Industrial Control Equipment, C. N -95, dated August 995 for the Canadian UL Listing (CNL) except for CD-pm-00/70 and 90 drives. From 0 C, the rated currents must be reduced of % per additional Celsius degree Max. temperature: 50 C 000 m < 50% at 0 C and < 90% at 0 C: EN 600- standard Condensation prohibited (storage and operation) Forced air (fan integrated in the CD-pm positioner) Check for free ventilation and no upper or lower obstruction of the air admissions Vertical Open chassis to be mounted in a housing protecting the drive from conducting dust and condensation (pollution degree environment) Closed cabinet without any conducting and/or corroding agents and according to the environment conditions requirements. Condensation prohibited CD-pm-0/I: approx. kg CD-pm-00/.8 to 7.: approx..5 kg CD-pm-00/: approx. kg CD-pm-00/0 and 5: about.8 kg CD-pm-00/70 and 90: about 5. kg 0 Chapter - Specifications

11 - DIMENSIONS. - CD-pm-0/I POSITIONER. - CD-pm-00/.8 TO 7. A POSITIONER CD-pm-00/ A POSITIONER. - CD-pm-00/0/5/70 AND 90 A POSITIONER 9 9 U V W Chapter - Specifications

12 .5 - BRAKING RESISTOR dp 00/00, dp 00/00, dp 50/00, dp /80 and EF 00 A B C DIMENSIONS dp 50/00, dp 00/00 and dp 00/00 dp /80, EF 00 Size A 57 mm 90 mm Size B 5 mm 78 mm Size C 5 mm 57 mm Chapter - Specifications

13 - FASTENING VERTICAL MOUNTING MANDATORY!. - CD-pm-0/I POSITIONER. - CD-pm-00/.8 TO 7. A POSITIONER M screws + Ø washers M screws + Ø washers = = 6,8 = = CD-pm-00/ A POSITIONER. - CD-pm-00/0/5/70 AND 90 A POSITIONER,5 M screws + Ø washers M screws + Ø washers ,5,5 88 = = 8, ,00 Chapter - Specifications

14 80 CD-pm Installation manual MULTIAXES CABINET MOUNTING. - CD-pm-0/I POSITIONER. - CD-pm-00/.8 to 7. POSITIONER Ground 6.8 X5 RS 6.8 X5 RS 80 X5 RS X5 RS NODE ID BAUD CD-pm-00/ POSITIONER. - CD-pm-00/0/5/70 AND 90 A POSITIONER Ground DC- L L L DC+ V U 0V V Br+ Br- 8.8 X5 RS 0 0V V Br+ Br- X5 RS U V W DC+ L L L DC DC- L L L DC+ V U 0V V Br+ Br- X5 RS 0V V Br+ Br- X5 RS U V W DC+ L L L DC-.5 * CD-pm-00/70 and 90 A 0V V Br+ Br- Chapter - Specifications

15 Chapter - Inputs - Outputs - CONNECTORS LOCATION INFRANOR SERVO DRIVES & MOTION CONTROL Profibus X6 X6 Profibus X5 RS Encoder X X Encoder connector Vdc connector and brake Power connector WARNING! Residual voltage Wait minute after power OFF Resolver X AOK /AOK ENA. FC+ FC- IND. RESET X X Resolver connector X Command connector In/out X X Digital I/Os connector ON SYS ERROR AP BUS BUSY LEDs ON (green) SYS (yellow) ERROR (red) AP (red) BUS (green) BUSY (yellow) Chapter - Inputs - Outputs 5

16 - LEDs. AMPLIFIER FAULT LEDs Location: below the X command connector ON (green) ERROR (red) BUS (green) SYS (yellow) AP (red) BUSY (yellow) ON : power supply SYS: system fault ERROR : Faults grouped on "ERROR" Led: These faults are coded and can be displayed by means of the VDSetup software via the serial RS link or the Profibus. The "ERROR" Led groups the following faults: SA: Power supply overvoltage CL: Out of VDC supply range (between 8 and 9 V) FT: Phase/ground short-circuit FD/R: Braking system short-circuited or overheated FV: Fan FO: Short-circuit, temperature, power stage supply, PWM error I t: I t protection error RDC: Digital resolver converter tracking error CNT: Encoder counting error POS: Position following error EP: EEPROM error BUS: PROFIBUS communication error (or Positioner initialization/configuration error) BUSY: Procedure execution error TMOT: Motor temperature RES: Resolver cable interruption COD: Encoder cable interruption HALL : Hall Effect Sensors error BUS:PROFIBUS communication OK. BUSY: Procedure in progress (blinking). AP: No power supply. The AOK output does not take into account the display of AP. All faults (except for the "Undervolt." fault) involve: - the positioner disabling - the motor brake control. - the opening of the AOK relay contact. This relay must be wired as described in section 5. for switching off the power supply in order to keep a zero type standstill. The AP fault involves: - the positioner disabling - the motor brake control. - X: RESOLVER CONNECTOR Sub D 9 pins female (same for all amplifier types 0V & 00V) PIN FUNCTION REMARKS TC (thermal sensor) If thermal switch connected to X 6 Shield connection If no "60 " connection on the connector TC (thermal sensor) If thermal switch connected to X 7 S (cosine-) Resolver connector S (cosine+) Resolver connector 8 S (sine-) Resolver connector S (sine+) Resolver connector 9 R (reference-) Resolver connector 5 R (reference+) Resolver connector For other resolver connections, see chapter 5 (Appendix), section. 6 Chapter - Inputs-Outputs

17 X: DIGITAL I/Os CONNECTOR Sub D 5 pins male (same connector for all amplifier types in 0 V and 00 V) Pins I/O Description I Optocoupled input "START" I Optocoupled input "STOP" I Optocoupled input IN O Z/ 5 O Z 6 O A/ 7 O A 8 O B/ 9 O B 0 I Optocoupled input IN I Optocoupled input IN I 0 V external I Optocoupled input IN I Optocoupled input IN5 5 I Optocoupled input IN6 6 O Isolated output SEQ 7 O Isolated output POS 8 O Isolated output SPEED 9 O Isolated output OUT 0 O Isolated output OUT O Isolated output OUT (**) Configurable analog input by jumpers O Isolated output OUT (**) Configurable analog output by jumpers O 0 V internal I External supply + V (*) 5 I 0 V external (*) + V input only required when the outputs SEQ, POS, SPEED, OUT, OUT, OUT, OUT are used. (**) The analog input and the analog output are configured by the jumpers located on the amplifier connector board as described below. CD-pm Connector board CD-pm Connector board Logic outputs selection Analog I/Os selection Chapter - Inputs - Outputs 7

18 SPECIFICATIONS OF THE LOGIC INPUTS : IN to IN6 5 V CD-pm Logic input 8. KΩ 00 KΩ 00 nf The input voltage corresponding to level is between 8 V and 0 V 0 V These inputs are optocoupled and work in positive logic. SPECIFICATIONS OF THE LOGIC OUTPUTS : SEQ, POS, SPEED, OUT to OUT CD-pm 0 Ohms +V external +V external 0 KOhms Driver 0V 0V external External supply + V (8 V < U < 0 V) Maximum voltage drop = V Protection against overloads Output current available per output (ma) Number of activated outputs \ Cyclic rate (%) 00% 70% 50% 0% 00 ma 00 ma 00 ma 00 ma 00 ma 50 ma 00 ma 00 ma 7 60 ma 80 ma 0 ma 00 ma SPECIFICATIONS OF THE ENCODER OUTPUTS +5 V CD-pm 6LS driver A /A B /B Z /Z 0 V Recommended receiver: 6LS 8 Chapter - Inputs-Outputs

19 SPECIFICATIONS OF THE ANALOG INPUT CD-pm 6K X- X- 0K 00K 00K nf SPECIFICATIONS OF THE ANALOG OUTPUT CD-pm.7nF 00K K X- X- 5 X: ENCODER CONNECTOR Sub D 5 pins female (same connector for all amplifier types in 0 V and 00 V) 5. - X CONNECTOR FOR TTL INCREMENTAL ENCODER & HES INPUT (Sub D 5 pins female) The TTL incremental encoder & HES configuration is selectable by software and stored in the amplifier EEPROM. The corresponding X connector pin function is described below. PIN FUNCTION REMARKS 8 Marker Z/ Differential input of the encoder marker pulse Z/ 5 Marker Z Differential input of the encoder marker pulse Z 9 Channel A/ Differential input of the encoder channel A/ 6 Channel A Differential input of the encoder channel A 0 Channel B/ Differential input of the encoder channel B/ 7 Channel B Differential input of the encoder channel B 8 +5 V Encoder supply voltage (00 ma max. current) Encoder supply HALL U Hall sensor input signal phase U HALL V Hall sensor input signal phase V HALL W Hall sensor input signal phase W 0 + V Hall sensors supply voltage: output impedance = 9 Ω, max 50 ma available A Hall sensors supply 9 TC+ Motor thermal sensor input TC- Motor thermal sensor input others reserved Chapter - Inputs - Outputs 9

20 ENCODER INPUT LINES SPECIFICATION +5V +5V +5V.K X- 6,7 00R 00R Receiver X- 5 Receiver X- 9,0 X- 8 SPECIFICATION OF THE HALL SENSORS INPUT LINES +.V X-,, K 0K nf 7HC X X CONNECTOR FOR SinCos INCREMENTAL ENCODER & HES INPUT (Sub D 5 pins female) The SinCos incremental encoder & HES configuration is selectable by software and stored into the amplifier EEPROM. The corresponding X connector pin functions are described below. PIN FUNCTION REMARKS 5 Marker R/ Differential input of the Sin/Cos encoder reference pulse R/ Marker R Differential input of the Sin/Cos encoder reference pulse R Channel A/ Differential input of the Sin/Cos encoder channel A/ Channel A Differential input of the Sin/Cos encoder channel A 5 Channel B/ Differential input of the Sin/Cos encoder channel B/ Channel B Differential input of the Sin/Cos encoder channel B 8 +5V Encoder supply voltage (00 ma max. current) Encoder supply HALL U Hall sensor input signal phase U HALL V Hall sensor input signal phase V HALL W Hall sensor input signal phase W 0 +V Hall sensors supply voltage: output impedance = 9 Ω, max 50 ma available A Hall sensors supply 9 TC+ Motor thermal sensor input TC- Motor thermal sensor input others reserved 0 Chapter - Inputs-Outputs

21 SPECIFICATION OF THE SIN/COS ENCODER CHANNELS X-,, 0K CD-pm 0K 0R 0K X-,5,5 0K Uref SPECIFICATION OF THE HALL SENSORS INPUT LINES +.V CD-pm X-,, K 0K nf 7HC X X CONNECTOR FOR ABSOLUTE SINGLE TURN SIN/COS ENCODER (Sub D 5 pins female) The Absolute single-turn SinCos encoder configuration (for Heidenhain ERN 085 or compliant) is selectable by software and stored in the amplifier EEPROM. The corresponding X connector pin functions are described below. PIN FUNCTION REMARKS 5 Marker R/ Differential input of the Sin/Cos encoder reference pulse R/ Marker R Differential input of the Sin/Cos encoder reference pulse R Channel A/ Differential input of the Sin/Cos encoder channel A/ Channel A Differential input of the Sin/Cos encoder channel A 5 Channel B/ Differential input of the Sin/Cos encoder channel B/ Channel B Differential input of the Sin/Cos encoder channel B 6 Channel C/ Differential input of the Sin/Cos encoder channel C/ Channel C Differential input of the Sin/Cos encoder channel C 7 Channel D/ Differential input of the Sin/Cos encoder channel D/ Channel D Differential input of the Sin/Cos encoder channel D 8 +5V Encoder supply voltage (00 ma max. current) Encoder supply 9 TC+ Motor thermal sensor input TC- Motor thermal sensor input others reserved Chapter - Inputs - Outputs

22 SPECIFICATION OF THE SIN/COS ENCODER CHANNELS X-,, 0K CD-pm 0K 0R 0K X-,5,5 0K Uref SPECIFICATION OF THE SIN/COS COMMUTATION CHANNELS X-, 0K 75K CD-pm K 0K X-6,7 75K Uref 5. - X CONNECTOR FOR ENCODER OUTPUT (Sub D 5 pins female) At power on, the differential channels A, B and Z are configured as encoder inputs. The configuration as encoder outputs must be enabled via the PROFIBUS bus. The corresponding X connector pin functions are described below. PIN FUNCTION REMARKS 9 Channel A/ Differential output of channel A/ 6 Channel A Differential output of channel A 0 Channel B/ Differential output of channel B/ 7 Channel B Differential output of channel B 8 Marker Z/ Differential output of channel Z/ 5 Marker Z Differential output of channel Z 0 V reference of the amplifier others reserved Chapter - Inputs-Outputs

23 SPECIFICATION OF THE ENCODER OUTPUT SIGNALS +5V +5V +5V.K Driver R 00R X- 6,7 Driver X- 5 X- 9,0 X X: COMMAND CONNECTOR 8 pins male connector (with 5.08mm pitch) - Same connector for all amplifier types in 0 V and 00 V. Female connector supplied. Fastening torque of the connector screws: 0,5 Nm. PIN SIGNAL I/O REMARK, AOK and AOK/ O Relay contact: closed when amplifier OK Pmax = 0 W with Umax = 50 V or Imax = 00 ma ENABLE I Positive optocoupled logic Limit switch + I Positive optocoupled logic 5 Limit switch - I Positive optocoupled logic 6 INDEX I Positive optocoupled logic 7 : 0 V of logic inputs I Potential reference of the optocoupled (galvanic isolated) logic inputs. This potential reference may be different from the auxiliary supply 8 RESET I Positive optocoupled logic : Inhibition of the faults memory stored in the amplifier 6. - SPECIFICATIONS OF THE LOGIC INPUTS: FC+, FC-, INDEX, ENABLE, RESET 5 V CD-pm Logic input 8. KΩ 00 KΩ 00 nf The input voltage corresponding to level is between 8 V and 0 V 0 V These inputs are optocoupled and work in positive logic. Chapter - Inputs - Outputs

24 6. - SPECIFICATION OF THE "AOK" LOGIC RELAY OUTPUT +V Bidirectional transile X- X- Relay contact: closed if amplifier ready, open if fault. Pmax = 0 W with Umax = 50 V and Imax = 00 ma. 7 - X5: RS- CONNECTOR Sub-D 9 pins male (same connector for all amplifier types in 0 V and 00 V) PIN FUNCTION REMARK 5 0 Volt (60 shield connection if no 60 connection on the connector) TXD Transmit data RS- RXD Receive data RS- 8 - X6: PROFIBUS Sub-D 9 pins female (same for all amplifier types 0V & 00V) PIN SIGNAL DESCRIPTION Shield Shield RxD/TxD-P Data Reception/Transmission (Plus) CNTR-P Control signal 5 D 0 V 6 VP Supply for termination resistor 7 8 RxD/TxD-N Data Reception/Transmission (Minus) : AUXILIARY SUPPLY AND BRAKE CONNECTOR pins male connector (with 5.08 mm pitch). Same connector for all amplifier types in 0 V and 00 V. Female connector supplied. Fastening torque of the connector screws: 0.5 Nm PIN SIGNAL I/O FUNCTION DESCRIPTION I Potential reference = grounded potential reference of the VDC supply + VDC I VDC auxiliary supply mains isolated VDC +/-5% - 0. A without brake Regulation with load: % UL: Protection by UL A fuse. Brake + V O Motor brake supply with VDC Brake - O Direct motor brake control Imax =.5A Powerless brake: VDC /.5 A Open collector output protected against load short-circuits Chapter - Inputs-Outputs

25 0 - : POWER CONNECTOR: MAINS, MOTOR, BRAKING RESISTOR (CD-pm-0 V & 00 V) CD-pm-0/I: 0 pins male connector (with 5.08 mm pitch). Female connector supplied. CD-pm-00/I: 0 pins male connector (with 7.6mm pitch). Female connector supplied. CD-pm-00/70 and 90: 0 pins male connector (with 0.6 mm pitch). Female connectors supplied in parts: 7 pins female, pins to 7 and pins female, pins 8 to 0 for the motor. Fastening torque of the connector screws: 0.5 Nm PIN SIGNAL I/O FUNCTION DESCRIPTION O O Power feedback during the motor deceleration with high inertia and speed DC- I/O Parallel connection of the DC bus L I Mains input 5 L I Mains filter integrated in the 6 L I positioner 7 DC+ I/O Parallel connection of the DC bus 8 W O Motor phase W 9 V O Motor phase V 0 U O Motor phase U CD-pm-0/I: 00 Ohms/00W (dp 00/00) CD-pm-00/.8 to 7.: 00 Ohms/00W (dp 00/00) CD-pm-00/: 50 Ohms/00 W (dp 50/00) CD-pm-00/0/5: Ohms/80 W (dp /80) CD-pm-00/70 and 90: 6.5 Ohms/560W (EF 00) * (Braking resistors must be separately ordered) Only on UL listed items. CD-pm-0/I 0 VAC ~ or ~ CD-pm-00/I 00 to 80 VAC ~ Only on UL listed items. Motor cable with grounded connection by means of Faston socket and 60 shield connection on grounded collar (²) To get a 6.5 Ω/560 W braking resistor, connect together both resistors of the EF 00 in parallel via pins and 5 of XA. Use pins and of XA to connect the braking resistor to the drive. IMPORTANT: The motor and brake cable must be shielded and connected over 60 on collars mounted for this purpose on the housing. The ground wire of the motor cable MUST be connected to the Faston socket marked with the sign. The earth reference must also be connected on the second Faston socket. The installer of the drives has to use a UL Listed Quick connect for ground connection (0.50 inches or 6.5 mm wide nominal). Field wiring terminals have to use copper conductors only. Torque value for field wiring terminals: value to be according to the Recognized terminal block used. Chapter - Inputs - Outputs 5

26 Chapter - Connections - CONNECTION DIAGRAMS. CD-pm-0/I POSITIONER (For the UL compliant connection, see chapter, section.). CD-pm-0/I ENABLE relay V X AOK () AOK/ ENABLE FC+ FC- INDEX CI Motor temp. Motor temp. Resolver signal Resolver reference X RESOLVER TC TC S S S S R R Remote control of the power relay V Amp. OK () Power ON Power OFF Power relay X Shield RxD / TxD-P CNTR-P D VP RxD/TxD-N OR 0Vac threephase 0 Vac singlephase + Vdc DC+ Motor brake+ Motor brake- Motor U phase Motor V phase Motor W phase 0 Vac 0 Vac 0 Vac L L L DC- Braking resistor Braking resistor 0 Vac R 0 Vac S A (*) Power relay 00 Ω /00W (*) Power relay - + Vdc +/-5% isolated 0V + Motor - brake Vdc/.5A MOTOR Phase Phase Phase 00V Mains 0 Vac AC Braking resistor (*) Circuit breaker curve D Is = 0 x In In = 0 A Mains x00 0 Vac () CAUTION! Imax = 00 ma (See AOK output specifications) Note: The V and power supplies protection, on source side, must be made by the user. 6 Chapter - Connections

27 . - CD-pm-00/I POSITIONER See chapter, section.5 for the UL compliant connection CD-pm-00/I ENABLE relay V X AOK () AOK/ ENABLE FC+ FC- INDEX CI Motor temp. Motor temp. Resolver signal Resolver reference X RESOLVER TC TC S S S S R R Remote control of the power relay V Amp. OK () Power ON Power OFF X Shield RxD / TxD-P CNTR-P D VP RxD/TxD-N + Vdc Motor brake+ Motor brake DC+ 7 L 6 L 5 L Motor U phase Motor V phase Motor W phase 00 Vac 00 Vac 00 Vac 00Vac threephase DC- Braking resistor Braking resistor A ** Power relay dp* - + Vdc +/-5% isolated AC + Motor - brake Vdc/.5A MOTOR Phase Phase Phase Mains x00/80 Vac Braking resistor 0 Vac Power relay () CAUTION! Imax = 00 ma (see AOK output specifications) * CD-pm-00/.8 to 7.: dp 00/00 CD-pm-00/: dp 50/00 CD-pm-00/0/5/70: dp /80 CD-pm-00/70 and 90: EF 00 Circuit breaker curve D Is = 0 x In ** 0 A for I < or = A 0 A for I = 0 and 5 A 0 A for I = 70 and 90 A Note: The V and power supplies protection, on source side, must be made by the user.. SERIAL LINK CONNECTION 60 shield connection PC serial port RxD TxD TxD RxD CD/pm X5 5 5 Sub D 9 pins female Sub D 9 pins female Chapter - Connections 7

28 . CONNECTION OF A BACKUP BATTERY FOR THE VDC AUXILIARY SUPPLY 0 VAC AC Isolated VDC supply D D Vdc Battery 0 A/h + - R The CD-pm positioner consumption is 0 ma with VDC. So, a V / 0 A/h battery can keep the positioner under voltage during i.e. a long days week-end or during a mains cut-off without loosing the machine initialization. This backup method is very interesting for saving the machine initialization as well as the axis position even when moving with mains switched off. An ASCII command allows to send the axis position to the digital host system..5 CONNECTION EXAMPLE FOR A MULTIAXIS APPLICATION V DC 0 A V 0 V V 0 V V 0 V L CD-pm L CD-pm L CD-pm *** Mains L L L L L L DC- DC- DC- DC+ DC+ DC+ dp dp *** CD-pm-0/I : x 0 V CD-pm-00/I : x 00 V Circuit breaker curve D Is = 0 x In For a multiaxis application with n drives, the circuit breaker current rating is given by the formula: In = 0, Σ n I rated amplifier But, the current rating of the circuit breaker must not exceed: - 0 A on 0 V drives, - 0 A on 00 V /.8 to A drives, - 0 A on 00 V / 0 A and 5 A drives, - 60 A on 00 V / 70 A and 90 A drives. 8 Chapter - Connections

29 - WIRING RECOMMENDATIONS (according to EN and EN550 standards - see diagram "Shield connection on the connectors " chapter, section.).. GROUND CONNECTIONS AND GROUNDING CAUTION Each potential conducting element must be shielded. Several potential conductors in the same sleeve must be twisted and shielded. A shield has no effect if it is not connected: - to a reference potential, - by a connection as short as possible (a few centimeters; 0 centimeters is prohibited), - by a "60 " shield connection. This means that the whole circumference of the shield sleeve must be connected to the reference conduction via a metal collar. The connectors used for the compliance with the EN6000. standard must be made of metal or metallized and must allow the 60 shield connections. Reference potential connections (especially with the ground) are recommended only these connections have a very low impedance (< 0, Ω). Any shield that is used as a conductor can be connected at both ends with the condition to be connected over 60 at both ends by means of metal links in order to ensure the shield continuity. The reference potential must be the ground. Cables with low potential should never run in the proximity of power lines. If there is a potential reference, i.e. a main chassis or cabinet with a low impedance between its different elements, it should be used to connect ALL reference to it and also being grounded itself. Chapter - Connections 9

30 . CONNECTORS SHIELD CONNECTION RULE The shield should never be interrupted or corrupted over the whole cable length. Self-sticking copper ribbon if necessary, for increasing the shield diameter in order to get it correctly tightened under the clamp Motor connector for resolver and motor Metallic or metal plated plastic SUB-D pin package Br- Br+ V 0V X 60 shield ensured by the tightening clamp X INFRANOR amplifier SUB-D connector The fastening screws must be tightened in order to ensure the shield continuity on the amplifier housing NOTE In order to improve the contact and to avoid the cable shield corruption, use the self-sticking copper ribbon of M "Electrical Specialities Division", ref U V W NC L L L NC NOTE When the 60 shield connection is made by means of a collar, it is not necessary to connect a cable on the appropriate pin of the SUB-D connector. 0 Chapter - Connections

31 . CONNECTION VIEW OF CD-pm-00/0/5/70 and 90 A Br + Br - U V W. - MOTOR, RESOLVER AND ENCODER CABLES Motors, resolvers and encoders are grounded via their housing. Cable inputs must be made by means of metal connectors with collars allowing the 60 shield connection. The resolver cable must be pair twisted and shielded (sin, cos, ref.). Motor cables MUST also be shielded and connected over 60 at both ends as shown on the shield connection diagram. The encoder inputs A, B, C, D, Z and R require a pair twisted and shielded cable. The shield must have a "60 " connection via metallic collars at both ends. If the shield is connected by means of a pig tail, it must be connected at one end to the pin of the connector on the amplifier side with a connection as short as possible. Check that the voltage drop in the power supply lines of the encoder cable is complying with the technical specifications of the encoder. The voltage drop value for a given cable is calculated as follows: [ ]. [ ] [ ] LC m I ma U V =. S[ mm²] with U: voltage drop in volts Lc: cable length in meters I: encoder current in milliamps (see technical specifications) S: cross section in square millimeters Due to this voltage drop: an encoder with a large power supply voltage range should be preferred, if the encoder has got power supply SENSE feedback lines, they can be connected to the power supply lines in order to reduce the voltage drop by the half (the SENSE feedback signal is not used in the CD range), if none of both solutions above can be used, the user has to supply the encoder by means of an external power supply. Chapter - Connections

32 Example The application requires an Heidenhain linear encoder supplied by 5 V ±5 % / 00mA with 5 m cable length. Min. power voltage: 5 V ±5 % U max = 0.5 V. Min. cross section: S =. mm². Such a large cross section is difficult to obtain, so the user can: either connect the SENSE feedback signal lines with power supply lines, while the needed wires cross section will be the half (0.6 mm²), or use the same encoder type but the version which allows its power supply voltage from.6 V to 5.5V / 00mA. Min power voltage.6v U max =.V. Min. cross section : S = 0.mm² The cables of brake equipped motors must also have their brake cables shielded in order to be EMC compliant. Maximum cable length: - resolver: 00 m - encoder: 5 m - motor: 5 m For motor cable length > 5 m, we advise: - to use the maximum cable section allowed by the connectors, - to mount a reactance with an inductive value between % and % of the motor inductive value. The reactance inductive value must be taken into account in the calculation of the current loops. The current rating of the reactance must be equal to or higher than the amplifier rating. The reactance must be mounted at the amplifier output. Due to the use of a reactance, a shielded cable is not mandatory anymore. A more complex sinus filter type FN50 by Schaffner may also be mounted instead of the reactance. UNDESIRABLE EFFECTS OF MOTOR CABLES LONGER THAN 5 m: - Heating of the power module, the motor and the cable. - High overvoltages on the motor windings involving a shortening of their life time. The reactance reduces the undesirable effects on motor and amplifier but it may be quite heated. This requires an appropriate fan..5 - SERIAL LINK CABLES The serial link cable must also be shielded according to the above mentioned shield connection recommendations.! CAUTION Command cables (resolver, serial link, Profibus) as well as the power cables must be connected and disconnected with the positioner OFF. Reminder: The power voltage can remain several minutes on the capacitors terminals. A contact under high voltage may involve severe physical damage..6 CONNECTION CABLES OF THE BRAKING RESISTOR The connection cable to the braking resistor housing must bear the high voltage and temperature of 600 V and 05 C. Recommended cable: UL 05 gauge. Fastening torque on the connector of the braking resistor housing: dp = 0.9 Nm. Chapter - Connections

33 - REQUIREMENTS OF COMPLIANCE WITH THE UL STANDARDS The UL listing requires the following conditions to be fulfilled by the installer of the drives.. CONNECTION BY MEANS OF FASTON SOCKET The installer must use a UL listed quick connect for ground connections (0.50 inches or 6.5 mm wide nominal) on all drives equipped with FASTON sockets. On drives equipped with a screwed ground connector, the connection must be made via UL listed sockets.. V SUPPLY The end user has to provide a VDC isolated power supply (e.g. with isolated transformer) for the auxiliary supply input, protected by a A UL listed fuse.. POWER SUPPLY AND UL FUSE RATING The fuse type recommended for motor applications is of class RK5. The maximum short-circuit power of the mains must not exceed 5000 Arms at a voltage of 80 V, when protected by a UL fuse of type RK5 and A60Q0 for 00/70 and 00/90 ratings. On CD-pm-00/I drives, the fuse ratings must be the following: CD-pm 00/.8 to 7. 00/ 00/0 and 5 00/70 and 90 Multiaxis BUSSMANN FERRAZ Class RK5 FRS-R- FRS-R-8 FRS-R-0 0, N I A60Q0 rated amplifier Type FRS-R LITTELFUSE FERRAZ Class RK5 FLSRID FLSR8ID FLSR0ID 0, N I A60Q0 rated amplifier Type FLSR-ID For a multiaxis application with N drives, the fuse rating is calculated by the formula given in the table above. But a rating of 0 A must not be exceeded on 00/.8 A to A drives and 0 A must not be exceeded on 00/0/5/70 A and 90 A drives (see chapter, section.6). On CD-pm-0/I drives, the fuse ratings must be the following: CD-pm 0/.5 to 0.5 0/6.5 Multiaxis BUSSMANN Class RK5 FRN-R-6 FRN-R-9 0, N I rated amplifier Type FRN-R LITTELFUSE Class RK5 FLNR6ID FLNR9ID 0, N I rated amplifier Type FLNR-ID For a multiaxis application with N drives, the fuse rating is calculated by the formula given in the table above. But a rating of 0 A must not be exceeded on 0 V drives (see chapter, section.5). Chapter - Connections

34 . CD-pm-0/I DRIVE: CONNECTION DIAGRAM WITH PROTECTIONS BY "UL" FUSES (according to section. of this chapter). CD-pm-0/I UL ENABLE relay V X AOK () AOK/ ENABLE FC+ FC- INDEX CI Motor temp. Motor temp. Resolver signal Resolver reference X RESOLVER TC TC S S S S R R Remote control of the power relay V Amp. OK() Power ON Power OFF X Shield RxD / TxD-P CNTR-P D VP RxD/TxD-N OR + Vdc Motor brake+ Motor brake- Motor U phase Motor V phase Motor W phase DC+ 0 Vac L 0 Vac L 0 Vac L 0Vac threephase DC- Braking resistor Braking resistor A UL listed See UL fuses table dp 00 Ω /00W - + Vdc +/-5% isolated + Motor - brake Vdc/.5A MOTOR Phase Phase Phase 0A Power relay AC 0V Braking resistor 00V 0 Vac Mains x00 Power relay 0 Vac singlephase 0 Vac R 0 Vac S 6 5 See UL fuses table 0A Power relay Mains 0 Vac () CAUTION! Imax = 00 ma (see AOK output specifications) IMPORTANT The installer of the drives has to use a UL listed quick connect for ground connection (0.50 inches or 6.5 mm wide nominal). Field wiring terminals must use copper conductors only. Torque value for field wiring terminals: according to the Recognized terminal block used. Chapter - Connections

35 .5 CD-pm-00/I DRIVE: CONNECTION DIAGRAM WITH PROTECTIONS BY "UL" FUSES (according to section. of this chapter) CD-pm-00/I UL ENABLE relay V X AOK() AOK/ ENABLE FC+ FC- INDEX CI Motor temp. Motor temp. Resolver signal Resolver reference X RESOLVER TC TC S S S S R R Remote control of the power relay V Amp. OK() Power ON Power OFF X Shield RxD / TxD-P CNTR-P D VP RxD/TxD-N + Vdc Motor brake+ Motor brake- 00Vac threephase DC+ 7 L 6 L 5 L DC- Motor U phase Motor V phase Motor W phase 00 Vac 00 Vac 00 Vac Braking resistor Braking resistor dp* A UL listed See UL fuses table - Vdc +/-5% + isolated AC + Motor - brake Vdc/.5A MOTOR Phase Phase Phase ** Power relay Braking resistor 0 Vac Mains x00 Power relay * CD-pm-00/.8 to 7.: dp 00/00 CD-pm-00/: dp 50/00 CD-pm-00/0/5: dp /80 CD-pm-00/70 and 90: EF 00 () CAUTION! Imax = 00 ma (cf. AOK output specifications) ** 0 A for I < or = A 0 A for I = 0 and 5 A 0 A for I = 70 and 90 A IMPORTANT The installer of the drives has to use a UL listed quick connect for ground connection (0.50 inches or 6.5 mm wide nominal) Field wiring terminals must use copper conductors only Torque value for field wiring terminals: according to the Recognized terminal block used. Chapter - Connections 5

36 .6 CONNECTION EXAMPLE FOR A UL COMPLIANT MULTIAXIS APPLICATION V V V V DC 0 V 0 V 0 V L CD-pm L CD-pm L CD-pm ***Mains L L L L L L UL mounting For the choice of the fuses, see chapter, section. DC- DC+ DC- DC+ DC- DC+ dp dp *** CD-pm-0/I : x 0 V CD-pm-00/I : x 00 V FIRST POWERING OF THE CD-pm POSITIONER. - VERY IMPORTANT Check the connections, particularly of the VDC and power supplies. There are two different positioner voltage versions: 0 VAC and 00 VAC. Check for the appropriate label. It must be in accordance with the power connections. The 00 VAC connection of a 0 V positioner will destroy it. The ENABLE signal (X connector, pin ) must be inactive. Check for the braking resistor sizing: - dp 00/00 for 0 VAC - dp 00/00 for 00 VAC and current ratings.8 to dp 50/00 for A current rating. - dp /80 for 0/5 A current ratings. - EF 00 for 70 and 90 A current ratings. Check for the correct groundings and 60 shield connections.! WARNING During the machine adjustments, some drive connection or parameter setting errors may involve dangerous axis movements. It is the user's responsibility to take all necessary steps in order to reduce the risk due to uncontrolled axis movements during the operators' presence in the concerned area.. - SWITCH ON THE VDC SUPPLY The green front panel "ON" Led must light up. The red front panel "AP" Led must light up. The "AOK" relay contact (pins and of X) is closed. It is possible to control the power relay according to the recommendations of Chapter, section : Connection diagrams). Connection according to sticker.. SWITCH ON THE 0 VAC OR 00 VAC SUPPLY (according to the positioner type).. FURTHER COMMISSIONING PROCEDURE See manual " CD-pm Positioner User guide". 6 Chapter - Connections