PROMESS 850040060P
引言
1997年推出的CD系列伺服电机驱动放大器，
已经非常成功，并被我们的客户群很好地采用。
它采用了CD系列2的通用姓氏，是
由第五位数字为2的型号表示（即。，
CR06250）。2003年，一个提供更多功能的更新版本发布了
介绍并称为CD系列5。CD系列5是
由型号表示，第五位数字为5（即。
CR06550）。CD系列5已被证明是落后的
在形式、配合和功能上与CD系列2兼容，是
新应用的选产品。CD系列5使用
与CD系列2经现场验证的功率级相同，但增加了新的
DSP控制技术，一些额外的输入/输出，以及更低的成本
旋转变压器转换的拓扑。正弦电路组件短缺
CD系列2的编码器版本（即CB06250）强制
CD系列2版本的过时。本手册已
重写以集成新CD系列5产品的功能。
1.1 UCB2数字控制板
SERVOSTAR®
伺服放大器包括许多
系列5车型中的其他功能。添加这些
由于升级到UCB2数字控制，功能是可能的
板
介绍2004年6月Danaher Motion Kollmorgen
2 M-SS-017-01版本。T SERVOSTAR CD安装
1.2新功能
功能描述
正弦编码器
上支持正弦编码器反馈
主控制板。插值级别
设置为4096（MSINIT）。
正弦编码器校准
正弦编码器信号在
为了提高
插值（正弦）。
Stegmann Hiperface支持Hiperface（Stegmann）接口。
MENCTYPE=10。
SERCOS公司
SERCOS接口A级合规性为
已实施。
所有串行命令均受
SERCOS IDNs。
编码器模拟编码器的脉冲上升/脉冲下降模式
模拟添加了ENCOUTMOD。
编码器初始化
对于没有
位置指示，零
运动编码器初始化过程为
支持（唤醒无抖动编码器
初始化过程）。
软件解析器
旋转变压器到数字（RDC）的转换
在系列5产品中完成
使用软件技术。
扩展输入/输出附加输入/输出。
安装前阅读Danaher Motion Kollmorgen 04年6月
SERVOSTAR CD安装M-SS-017-01版本。T 1
2安装前阅读
这些安装步骤旨在引导您完成
正确安装和设置SERVOSTAR®
CD系统。他们
假设你有一个基本的
了解基本的电子、计算机、机械和
正确的安全做法。然而，你不必是专家
安装和操作驱动系统的动态控制。它是
建议您在阅读完整手册之前
正在尝试安装或操作。
注意安全
高电压会带来危险和危险
如果不是由合格的
电工一定要遵守所有国家和地方规定
安装期间的代码。遵守所有安全规定
随附CD-ROM中概述的注意事项
文档
1、打开盒子，取出所有内容物。检查到
确保任何设备没有明显损坏。
2.将SERVOSTAR CD安装到背板上。请参阅
本手册中的适当外形尺寸。金属对金属
接触对电气噪声控制很重要！
3、根据接线图连接SERVOSTAR CD。
4、将固体接地连接到所有部件的框架上。
5、连接主电源（115/230 VAC）。
6.CDxx560和CDxx551产品线的24伏电源
驱动器顶部的接头。
7.连接器C3处的用户输入/输出线：至少必须为24伏
引入启用电路。确保接头C3
正确插入。
8、连接电机和反馈。有关详细信息，请参阅系统反馈
其他信息。
9、导线再生电阻器套件（如适用）。
验证所有接线是否正确。
11、确认接地已连接。
验证是否符合所有电气和安全规范。
13.将串行电缆连接到连接器C2和PC。参见
适当的接线图。
14.在电脑上安装MOTIONLINK。
启动过程可能导致电机运动。确保所有
采取了适用的安全预防措施，以确保不会造成伤害
对个人或机器可能发生。
安装前阅读2004年6月Danaher Motion Kollmorgen
2 M-SS-017-01版本。T SERVOSTAR CD安装
15、在MOTIONLINK中使用启动向导：
A、 为您的特定电机配置SERVOSTAR CD，
如果这不是在工厂里做的。请参阅
MOTIONLINK启动向导。
B、 启用系统。
2.1按指示使用
正确使用SERVOSTAR CD系统的限制是：
− 放大器是内置在电气系统中的部件 
设备或机器，只能作为
此类设备的组成部分。
− 伺服放大器仅用于接地的三相工业主电源网络
PROMESS 850040060P

PROMESS 850040060P
INTRODUCTION The CD-series of servo motor drive amplifiers, introduced in 1997, has been very successful and well adopted by our customer base. Having adopted the general family name of CD Series 2, it is denoted by model numbers having a 2 as the fifth digit (i.e., CR06250). In 2003 a newer version offering more features was introduced and is known as the CD Series 5. The CD Series 5 is denoted by model numbers having a 5 as the fifth digit (i.e. CR06550). The CD Series 5 has been proven to be backward compatible to the CD Series 2 in form, fit, and function and is the product of choice for new applications. The CD Series 5 uses the same field-proven power stage of the CD Series 2, but adds new DSP control technology, some additional I/O, and lower cost topology for resolver conversion. Component shortages for the sine encoder version of the CD Series 2 (i.e., CB06250) have forced the obsolescence of the CD Series 2 version. This manual has been rewritten to integrate the features of the new CD Series 5 product. 1.1 UCB2 Digital Control Board The SERVOSTAR® servo amplifiers incorporate a number of additional features in the Series 5 model. The addition of these features is possible due to an upgrade to the UCB2 digital control board. Introduction 06/04 Danaher Motion Kollmorgen 2 M-SS-017-01 Rev. T SERVOSTAR CD Installation 1.2 New Features Feature Description Sine encoder Sine encoder feedback is supported on the main control board. Interpolation level is set up to 4096 (MSININT). Sine encoder calibration Sine encoder signals are calibrated in order to increase the accuracy of the interpolation (SININIT). Stegmann Hiperface Support Hiperface (Stegmann) interface. MENCTYPE=10. SERCOS SERCOS interface level-A compliance is implemented. All serial commands are supported by SERCOS IDNs. Encoder simulation Pulse up/pulse down mode for encoder simulation added with ENCOUTMOD. Encoder initialization For feedback devices without an absolute position indication, a zero motion encoder initialization process is supported (Wake-no-Shake encoder initialization process). Software Resolver The resolver-to-digital (RDC) conversion is accomplished in the Series 5 products using software techniques. Extended I/O Additional I/O. Danaher Motion Kollmorgen 06/04 Read Before Installing SERVOSTAR CD Installation M-SS-017-01 Rev. T 1 2 READ BEFORE INSTALLING These installation steps are designed to lead you through the proper installation and setup of a SERVOSTAR® CD system. They were developed with the assumption that you have a fundamental understanding of basic electronics, computers, mechanics, and proper safety practices. However, you do not have to be an expert in motion control to install and operate the drive system. It is recommended that you read the entire manual completely before attempting installation or operation. CAUTION High voltage can present dangerous and hazardous conditions if not performed by a qualified electrician. Be certain to follow all national and local codes during installation. Follow all safety precautions outlined in the accompanying CD-ROM documentation. 1. Open the box(es) and remove all the contents. Check to ensure there is no visible damage to any of the equipment. 2. Mount the SERVOSTAR CD to the back panel. Refer to the appropriate Outline Dimensions in this manual. Metal-to-metal contact is important for electrical noise control! 3. Wire the SERVOSTAR CD according to the Wiring Diagram. 4. Connect solid earth ground to frames of all components. 5. Wire the main power (115/230 VAC). 6. For CDxx560 and CDxx551 product wire the 24 volt supply to the connector at the top of the drive. 7. Wire user I/O at connector C3: At a minimum, 24 volts must be brought in to the enable circuit. Be certain that connector C3 is inserted correctly. 8. Wire the motor and feedback. See System Feedback for additional information. 9. Wire Regen Resistor kit, if applicable. 10. Verify that all wiring is correct. 11. Verify that earth grounds are connected. 12. Verify all electrical and safety codes are met. 13. Connect the serial cable to connector C2 and PC. See the appropriate Wiring Diagrams. 14. Install MOTIONLINK on the PC. Startup processes can cause motor motion. Be certain that all applicable safety precautions are taken to ensure that no harm to personal or machine can occur. Read Before Installing 06/04 Danaher Motion Kollmorgen 2 M-SS-017-01 Rev. T SERVOSTAR CD Installation 15. Using the Startup Wizard in MOTIONLINK: A. Configure the SERVOSTAR CD for your particular motor, if this was not done at the factory. Refer to the MOTIONLINK Startup Wizard. B. Enable the system. 2.1 Use As Directed The restrictions for proper use of a SERVOSTAR CD system are: − The amplifiers are components that are built into electrical equipment or machines and can only be commissioned as integral components of such equipment. − The servo amplifiers are to be used only on earthed, threephase industrial main supply networks (TN-system, TT-system with earthed neutral point). − The servo amplifiers must not be operated on power supply networks without an earth or with an asymmetrical earth. − If the servo amplifiers are used in residential areas, or in business or commercial premises, you must implement additional filtering measures. − The servo amplifiers are only intended to drive specific brushless synchronous servomotors from Danaher Motion with closed-loop control of torque, speed, and position. The rated voltage of the motors must be at least as high as the DC-link voltage of the servo amplifier. − The servo amplifiers may only be operated in a closed switch gear cabinet, taking into account the ambient conditions defined in the environmental specifications. Danaher Motion guarantees the conformance of the servo amplifiers with the standards for industrial areas stated in the front of this manual only if Danaher Motion delivers the components (motors, cables, amplifiers etc). Danaher Motion Kollmorgen 06/04 Unpacking and Inspecting SERVOSTAR CD Installation M-SS-017-01 Rev. T 3 3 UNPACKING AND INSPECTING Electronic components in this amplifier are design hardened to reduce static sensitivity. However, proper procedures should be used when handling. Remove all packing material and equipment from the shipping container. Be aware that some connector kits and other equipment pieces may be very small and can be accidentally discarded if care is not observed when unpacking the equipment. Do not dispose of shipping materials until the packing list has been checked. Upon receipt of the equipment, inspect components to ensure that no damage has occurred in shipment. If damage is detected, notify the carrier immediately. Check all shipping material for connector kits, manuals, diskettes, and other small pieces of equipment. 3.1 New Description Label Description:CE06550-000000 Serial No: Z04E-2151 Reference Manual/wiring Diagram for Installation and protection information Model Number Serial Number Firmware Version 3.2 Series 5 Part Number Guide CD Series 5 Part Number Guide Cx zz 5yw Examples: CE 03 560 Encoder Feedback; 3 A; 24 V; Analog interface CB 06 551 Sine encoder feedback; 6 A; 300 V; SERCOS interface CR 06 564 Resolver feedback; 6 A; 24 V; DeviceNet (DNIB) Control Interface 0: Analog 1: SERCOS 4: DeviceNet Cont. Current 03: 3 A 06: 6 A 10: 10 A Feedback E: Encoder B: Sine Encoder R: Resolver Logic Power 5: 300 V 6: Ext. 24 V Unpacking and Inspecting 06/04 Danaher Motion Kollmorgen 4 M-SS-017-01 Rev. T SERVOSTAR CD Installation 3.3 Series 2 Model Numbers Voltage Level 0 - No Comp 1 - 115 VAC (160 VDC) 2 - 230 VAC (325 VDC) J - low-inductance motors (with .SSV Variable file only) Y - Special Compensation * three-digit extension follows the Y designator S Series Hardware Options 100 - 199 Custom DCB variations 200 Standard 201 SERCOS interface 9xx Custom variations CD Series Hardware Options 250 Standard with 230 V logic input (see Note) 251 SERCOS interface with 230 V logic input 260 Standard with 24 V logic input 261 SERCOS interface with 24 V logic input Month Manufactured A - January B - February : : L - December S 9 8 A-5 8 9 C R 0 3 0 0 0 - 2 G 2 0 4 Unit Manufactured Year Manufactured Rated Current (Amps) S Series: 03, 06, 10, 20, 30, 55, 85 CD Series: 03, 06, 10 Feedback R - Resolver E - Encoder B - Sine Encoder SERVOSTAR® Amplifier Family S - S Series C - CD Series (Compact Drive) Motor Family D - DDR Series 0 - No Comp G - GOLDLINE (B, M, EB) R - RBE (H) H - SILVERLINE L - Linear (Ironless) C - Linear (Iron Core) P - PLATINUM XT S - GOLDLINE (Submersible) Motor Frame & Stack Length Motor Winding Manufacturing Location 250 replaces previous standard option (200) originally intended for single phase 3 and 6 amp units. Danaher Motion Kollmorgen 06/04 Mounting SERVOSTAR CD Installation M-SS-017-01 Rev. T 5 4 MOUNTING For proper ventilation, vertically mount the SERVOSTAR CD and mount them in an electrical enclosure to protect them from physical and environmental damage. 4.1 Hardware Specifications Amplifier Model Cx03 Cx06 Cx10 Unit Weight Lbs./kgs. 3.56/1.61 4.9/2.22 5.94/2.69 Mounting English (Metric) 10-32 (M4) Hardware Applied Torque 20 lb-in. (2.26 N-m) Line Screw Size/Torque bus Screw Size/Torque Motor Screw Size/Torque Connection Hardware Ground Screw Size/Torque M3.5/12 lb-in (1.35 N-m) Control Logic (AWG/ mm2 ) 16 / 1.5 Motor Line (AWG/ mm2 ) 14 / 2.5 Main Input (AWG/ mm2 ) 14 / 2.5 12 / 4 Configurable I/O wire gauge 22-18 AWG (0.3-0.75 mm2 ) Ferrules recommended: 18 AWG Type H0 - 75/14 Weidmuller 4629.0 or equivalent 20 AWG Type H0 - 5/14 Weidmuller 6907.0 or equivalent 22 AWG Type H0 – 34/12 Weidmuller 902577 or equivalent Wire Size (AWG#) Spade Terminals 16/14 AWG (1.5 mm2 ): Hollingsworth XSS0954S OR SS20947SF or equivalent 12/10 AWG (4-6 mm2 ): Hollingsworth XSS20836 OR SS20832F or equivalent Clearance Side-to-Side 0.5 in (12.7 mm) Distance Top/Bottom 2.5 in (63.5 mm) CK100 Kit Includes: C1, C2, C4, C7 (plus 2 ft/0.69 m of stranded bus ribbon), C8 C3 Danaher Motion #: A-93899-013 Vendor Info: Weidmuller BL3.5/13 Cat.No. 161574 C5 Danaher Motion #: A-81014-004 Vendor Info: PCD ELFP04110 Connector Screw Torque 2.25 lb-in (0.25 N-m) Mating Connector Hardware 24 V Logic (optional) Danaher Motion #: A-81014-002 Vendor Info: PCD ELFP02210 (or equiv.) 4.2 Control Specifications Product Model Control Specifications Update Rate 62.5 µs (16 kHz) Current Loop Bandwidth 10 kΩ/50 dB Analog Input (2, 3) Long-term Drift 100 ppm (0.075%/°C) Fault Output Relay (5, 6) Max Capacity 1 A at 24 VDC Bandwidth 2.5 kHz (Opto-isolated) Input Voltage Range 12 V to 24 V Nominal (bi-directional) Min. On/Max. Off 10 V/1 V Remote Enable (7, 8) Configurable Inputs(7, 9, 10, 11) Current Demand pe