Drives
Drives
CD1-a
Digital Servo Drive
mono-block package. The drives are
available in 220V and 400V versions, with
current ratings from 1.8V to 10.5V r.m.s.,
ensuring that most small to medium
industrial applications can be driven. The
compact package includes integral CE
filtering which simplifies the design of the
control cabinet and reduces installation
costs.
Product description.
The CD1-a range of servo drives provides
high performance velocity control of ac
brushless servo motors from an integrated
Technical specifications.
Although the CD1-a is very compact, it still
incorporates a full suite of control and set-up
functions, including P, PI and PI2 velocity
and/or current control, digital i/o for
interfacing with other machine elements,
plus Auto-Tuning and Auto-Phasing
algorithms to ensure optimum system
performance. Commissioning and set up of
the drive is simplified by the WindowsTM
based setup software which incorporates
analog and digital diagnostic functions for
on-line monitoring of drive performance. As
a result, the CD1-a can be quickly integrated
into your machine’s control system.
Sensor feedback
Resolver
Power Supply
230 VAC or 400 to 480 VAC(+10% / -15%)
Logic supply
24 VDC +/- 15%
Current ratings
230 V: 2.25 / 4.5 / 7.5 / 10.5 Arms
400 V: 1.8 / 2.7/5 .1 / 7.2 Arms
Digital speed loop
500 µs, P, PI, PI2 regulator, Antiwind-up system of the integrator
Auto-phasing
Adjustment to the motor
Auto-tuning
3 bands, 2 filters
Offset compensation
Push-button
Parameter setting WindowsTM software
Data storage
EEPROM
Interface
Analog input: speed reference /
current reference +/- 10 V
Analog input: current limitation
0- 10 V
Encoder output 1024/512/256/128
Logic inputs (Enable, Limit switches,
CI, CVO, Reset) 24 V optocoupled
Logic outputs (Amp. OK) Relay
RS-232 4800, 9600, 19200 kB
Error diagnostics LED, RS-232
Control features
PWM
10 kHz
Digital current loop
50 µs, d-q current vector control PI
regulator
Size (mm)
230 V: 200 x 199 x 65
400 V: 230 x 230 x 65
Weight (Kg)
230V:1.0
400 V:1.5
Conformity with the standards: CE
certification
EN 60204-1
CEI 1000-4-2, 3, 4, 5 according to IEC
1800-3
EN 55011 Group 1 Class A according
to IEC 1800-3
All EMC filters integrated
Tel: +33 16 96 33 515
Tel: +34 93 46 01 631
Tel: +12 03 72 98 258
Tel: +31 18 66 10 155
Tel: +49 62 21 30 4920
Tel: +41 22 77 63 624
technical@infranor.ltd.uk
sales@infranor.ltd.uk
www.infranor.com
Tel: +44 (0)1522 699500
PDS0392V1.1
Drives
CD1-a Specifications.
Drives
Drives
CD1-P3
Digital Servo Drive
Product description.
The CD1-P3 servo drive is a compact unit
housing 3 CD1-k CANopen drives. The
CANopen protocol allows easy interface with
other systems whilst providing high
performance velocity control of ac brushless
Technical specifications(mm).
servo motors from an integrated mono-block
package.
The drive is 400V/3 x 14Arms with 12 bit
resolution (CD1-k) or 16 bit resolution (CD1k2). This compact package requires less
volume in a cabinet than 3 single axis drives,
simplifying the design of the control cabinet
and is more cost-effective.
Although the CD1-P3 is comparatively small,
it still incorporates a full suite of control and
set-up functions, including P, PI and PI2
velocity and/or current control, digital i/o for
interfacing with other machine elements,
plus Auto-Tuning and Auto-Phasing
algorithms to ensure optimum system
performance. Commissioning and set up of
the drive is simplified by the WindowsTM
based setup software which incorporates
analog and digital diagnostic functions for
on-line monitoring of drive performance.
Integral CE filtering is also included.
As a result, the CD1-P3 can be quickly
integrated into the control system of your
machine.
Sensor feedback ....................................................................................................... Resolver
Power supply............................................................................... 400 to 480 VAC (+10% / -15%)
Logic supply.................................................................................................. 24 VDC +/- 15%
Current ratings .............................................................................................................. 14 Arms
Interface
6 Logic inputs (Inhibit, Limit switches, Index, Capture, Low speed) ................... 24 V optocoupled
4 Logic outputs (Amp. OK) ............................................................................................... Relay
RS-232 ............................................................................................... 4800, 9600, 19200 Baud
Drives
CD1-P3 Specifications.
Error diagnostics .............................................................................. LED, RS-232, CANopen
Control features
PWM .................................................................................................................................8 kHz
Digital current loop ............................................ 62.5 µs, d-q current vector control PI regulator
Digital speed loop ......................................................................... 500 µs, P, PI, PI2 regulator,
Anti-wind-up system of the integrator
Position loop ....................................................................................................................500 µs
Auto-phasing ..................................................................... Adjusts configuration of the motor
Auto-tuning ..................................................................................................... 3 bands, 2 filters
Drive features
Interpolated position mode ........................................................................................... 2 - 20 ms
P control (linear interpolation), PV control (cubic interpolation)
Homing mode, Profile velocity mode
Safe low speed mode
Size (mm) ............................................................................................................ 245 x 380 x 159
Weight (Kg) ............................................................................................................................. 6.7
Conformity with the standards: CE certification
EN 55011 Group 1 Class A according to IEC 1800-3
CEI 1000-4-2, 3, 4, 5 according to IEC 1800-3
EN 60204-1
All EMC filters integrated
Tel: +44 (0)1522 699500
Tel: +33 16 96 33 515
Tel: +34 93 46 01 631
Tel: +12 03 72 98 258
Tel: +31 18 66 10 155
Tel: +49 62 21 30 4920
Tel: +41 22 77 63 624
technical@infranor.ltd.uk
sales@infranor.ltd.uk
PDS0408V1.0
www.infranor.com
Communication features
CANopen .................................................................................................... DS301, version 4.01
NMT .................................................................................................................................... Slave
Minimum boot-up ................................................................................................................... Yes
COB ID distribution ................................................................................................ SDO, Default
Node ID distribution .......................................................................................................... Switch
Number of PDOs ....................................................................................................... 2 Tx / 2 Rx
PDO modes ................................................................... Remotely request, Sync (cyclic), Event
Variable PDO mapping, Emergency message, Lifeguarding ................................................ Yes
Number of SDOs ............................................................................................. 1 Server, 0 Client
Drive and motion profile ..............................................................................DSP-402, version 1.1
Support modes .................................................. Profile position, Homing, Interpolation position,
Profile velocity, Profile torque
Parameter setting
WindowsTM software
CANopen ...........................................................................................................................SDO
Data storage ............................................................................................................. EEPROM
commissioning.
The control circuits of all SMT-BD1 drives
employ digital signal processing (DSP)
technology which enables a large number of
parallel control tasks to be performed in real
time. Thus, in addition to the standard torque
and speed control functions, supplementary
options are available within the drive,
including position control, motion profiling and
multi-axes sequencing. This integration of
functionality simplifies the design of the
control panel reduces the build and setup
costs of the installed system.
Drives
Drives
SMT-BD1 Range
AC Digital Servo Drive
Product summary.
The SMT-BD1 range of servo drives is
designed to provide precise control of AC
servo motors in arduous industrial installations. The drives are available in 220V and
400V versions, with current ratings from 4.4
to 100 amps, ensuring that most industrial
motion control applications can be driven.
Single-axis and multi-axes rack formats
provide flexibility in design and installation,
with a range of optional add-ons such as DINrail mounted termination blocks and remote
test-boxes further simplifying installation and
SMT-BM 20A Single Axis Rack
Dimensions (mm).
With such a high level of functionality, ease of
drive setup and commissioning is of
paramount importance. The SMT-BD1 range
uses WINDOWSTM compatible setup
software, incorporating fast parameter
download and on-line cloning to greatly
simplify installation. Inbuilt Auto Phasing
provides smooth, cogging-free drive of most
types of AC servo motors, Auto Tuning
functions quickly setting the optimum loopcontrol parameters for each motor and load.
Once installed, on-line analysis functions
provide quick verification that the load is
performing within specification, thereby
ensuring smooth operation of the machine.
Multi-axis Rack Dimensions (mm).
AUXILIARY VOLTAGES
DC bus 310Vdc (220V series)
325Vdc (200V<Uaux<340Vdc) Max.
MOTOR PHASE-PHASE OUTPUT VOLTAGE
INTERNAL CURRENT LIMITATION
200Vrms for DC bus 310V (220V series).
380Vrms for DC bus 570V (400V series).
Imax = 50% to 100%
Irated = 20% to 50%
Imax duration = One second.
EXTERNAL CURRENT LIMITATION
ANALOGUE SPEED INPUT COMMAND
0 - 10V (resolution = 12 bits).
0 - 100% of internal Imax limitation.
±10V, resolution = 12 bit with 16 bit factory-fit
option.
Drives
SMT-BD1 Specifications
OPERATING VOLTAGES
MOTOR THERMAL SENSOR SELECTION
SPEED REGULATOR PI2
PTC or NTC
MOTOR RAMP RANGE
From 0-32 seconds between zero and maximum
speed.
Sampling time = 0.5ms.
Anti-wind up system of the integrator.
Adjustable numerical gains.
SPEED RANGE
2048:1 with 12 bit input command.
32768:1 with 16 bit input command.
SPEED LOOP BANDWIDTH
Cut- off (frequency for 45O phase shift).
Programmable: 50 Hz, 75Hz or 100Hz.
ANALOGUE OUTPUT TEST POINTS
ENCODER POSITION OUTPUT
Quadrature output A and B channels with ‘n’ marker pulses per revolution.
Programmable resolution:
max = 8192 ppr up to 900rpm.
max = 40966 ppr up to 3600rpm.
max = 1024 ppr up to 14000rpm.
LOGIC INPUTS
Enable / disable : ENABLE
Limit switch + : FC+
Limit switch - : FC-
Speed input command (CV) ± 10V for max speed.
Speed monitor (GT) ± 8V for ±14,000rpm.
Current Input Command (IDC): ±10V for amplifier
current rating,
DAC out 1, 8-bit resolution.
Current monitor (Imon): ±10 for amplifier current
rating,
DAC OUT 2, 8-bit resolution.
Current command : CI
Zero speed input command: CV0
Reset: RAZ
Maximum authorised rated current of the amplifier.
Amplifier
Reference
U rated
(Vrms)
Imax Without Fan 1
Fan 2
(Arms)
fan
55L/sec 105L/sec
Width
240
4.4
2
2
2
12TE
SMT-BD1-220/08
240
8.8
4
4
4
12TE
SMT-BD1-220/12
240
13.8
6
6
6
12TE
SMT-BD1-220/17
240
17.7
8.5
8.5
8.5
12TE
SMT-BD1-220/30
240
30.8
10
12
15
12TE
SMT-BD1-220/45
240
48.6
10
15
15
12TE
SMT-BD1-220/60
240
61
12
26
30
12TE
SMT-BD1-220/70
240
70
25
30
35
24E
SMT-BD1-220/100
240
100
25
30
35
24E
Additional Notes
All ratings are for an amplifier set in fusing mode. The maximum ambient temperature = +50OC; the rated current is 50% of
the maximum current.
Drives can be fitted with heat sinks to improve performance. The 400V series specification is available on request.
All drives have clear simple LED error displays. Logic outputs are relay contact (Vmax = 50V, Imax = 100ma, Pmax = 10W).
Amp ready relay closed if the amplifier is okay, open if in fault condition.
Temperature ratings are -40OC to +70OC for storage and +5OC to + 40OC for operating conditions.
Tel: +44 (0)1522 699500
Tel: +33 16 96 33 515
Tel: +34 93 46 01 631
Tel: +12 03 72 98 258
Tel: +31 18 66 10 155
Tel: +49 62 21 30 4920
Tel: +41 22 77 63 624
technical@infranor.ltd.uk
sales@infranor.ltd.uk
PDS0391V1.1
www.infranor.com
SMT-BD1-220/04
Controllers
Controllers
SMT-BD1 Drive
Advanced Control Options
Product summary.
The Infranor SMT-BD1 range of AC servo
drives is designed to provide integrated
closed-loop control and servo drive
functionality within a single package. By
utilising digital signal processing technology
and flexible, software configured I/O, a large
number of parallel control tasks can be
performed by the drive in real-time. This has
enabled the development of a range of
advanced control variants, in which the
standard torque and velocity control
algorithms are supplemented with position
control, motion profiling, multi-axes synchronisation and digital sequencing.
SMT-BD1 Position control algorithm.
To ease the development and commissioning
of integrated SMT-BD1 driven motion control
systems, customised options of the drive are
available, each aimed at a specific type of
application. For instance, the C-Option drive
integrates position control and high-speed
pulse inputs with the standard velocity
controller to enable the drive to replicate the
actions of a stepper drive. The M-Option drive
integrates position control with a motion
profile generator and digital I/O sequencer,
greatly simplifying the design and installation
of small machinery control systems. The
standard range of SMT-BD1 advanced
control options is summarised in the table
overleaf.
Drive Variant
SMT-BD1 / a
Function
Basic torque / velocity loop drive. ± 10V d.c. 12-bit demand input. P-I2 control,
Autophasing and Autotuning.
SMT-BD1 / b
Basic drive with 16-bit demand input
SMT-BD1 / c
Stepper emulation drive. Basic drive functionality plus closed-loop position
control using standard Pulse and Direction inputs.
SMT-BD1 / d
Electronic gearing drive. Closed-loop position control tracking of an incremental
encoder position input with programmable soft-drive ratio
SMT-BD1 / e
Tension control of a thread or film product. Closed-loop velocity and torque
controlled tracking of master encoder with compensation from a thread tension
sensor input.
SMT-BD1 / f
Spindle motor tool changing control. Switchable closed-loop velocity and position
control modes with programmable positions for tool changes.
SMT-BD1 / g
Registration control drive. Electronic gearing drive with additional
position tracking compensation from registration sensor input.
SMT-BD1 / h
CAN positioner drive. Basic drive functionality plus closed-loop position control
using Infranor CAN protocol for reference input.
SMT-BD1 / i
Spool winding / unwinding control. Closed-loop velocity and torque control with
compensation for varying spool diameter and web tension sensor.
SMT-BD1 / j
Spool winding / unwinding control with accumulator. Closed-loop velocity and
torque control with compensation for varying spool diameter and accumulator
height sensor.
SMT-BD1 / m
Integrated profiling / positioning drive. Basic drive functionality plus
closed-loop position control and integrated motion profile generator.
SMT-BD1 / p
Profibus drive. M-option integrated profiling / positioning drive with Profibus
communications
SMT-BD1 / s
SDS drive. M-option integrated profiling / positioning drive with SDS communications.
Controllers
Summary of SMT-BD1 Advanced Control Options
Notes
Motor cogging compensation can be fitted to drive versions a-j
All versions are available with RS 232 and RS 422 / 485 interface.
All versions can be fitted with high accuracy, 2 arc minutes, resolver to digital converter.
Tel: +33 16 96 33 515
Tel: +34 93 46 01 631
Tel: +12 03 72 98 258
Tel: +31 18 66 10 155
Tel: +49 62 21 30 4920
Tel: +41 22 77 63 624 technical@infranor.ltd.uk
sales@infranor.ltd.uk
PDS0393V1.1
www.infranor.com
Tel: +44 (0)1522 699500
and 400V versions, with current ratings from
4.4 to 100 amps. Single and multi-axis rack
formats provide flexibility in design and installation, with the hardware being suitable for
mounting SMT-BD2 and SMT-BD1 drives
together in the same rack. So, when required,
motors using encoder and resolver feedback
devices may be controlled from the same
multi-axis system, which allows the design
engineer great flexibility in developing new
machine configurations.
Drives
Drives
SMT-BD2 Range
Digital Servo Drive
Product summary.
The SMT-BD2 range of servo drives is a
variant of Infranor’s successful SMT-BD1
range which has been specifically modified to
drive AC servo motors fitted with encoder
feedback devices. As such, the SMT-BD2
range shares many of the proven hardware
and software features of the SMT-BD1.
SMT-BD2 servo drives are available in 220V
Single axis rack
dimensions (mm)
The control circuits of all SMT-BD2 drives
employ the same digital signal processing
technology and control algorithms as the
SMT-BD1. Thus, in addition to the standard
torque and speed control functions supplementary options are available within the drive,
including position control, motion profiling and
multi-axis sequencing. Servo drive configuration, setup and commissioning is simplified
using WindowsTM compatible setup software,
incorporating fast parameter download and
on-line cloning to greatly simplify installation.
The proven Auto Phasing function provides
smooth, cogging-free drive of most types of
AC servomotors, with the Auto Tuner greatly
simplifying the task of commissioning the
system once it has been installed. Thus, the
SMT-BD1 is the ideal solution for motion
control applications where encoder feedback
devices are preferred.
Multi-axis rack
dimensions (mm)
Sensor feedback
Incremental encoder
Incremental encoder with HES
Absolute single-turn Sin/Cos. encoder ...................................................... Selectable by jumpers
Power supply ............................................ 220 VAC or 400 VAC in single-axis or multi-axis rack
Max. operating current ........................................... 220 V: 4 to 100 Arms / 400 V: 15 to 60 Arms
Drives
SMT-BD2 Specifications
Interface
Analog input: speed reference / current reference .................. ±10 V Resolution; 12 bit standard,
16 bit optional
Analog input: current limitation ........................................................................................ 0 - 10 V
Analog output: software selectable signal ............................. ±10V, 12 bit resolution, 2 channels
Encoder output: software programmable division ratio ................................................1, 2, 4 or 8
Logic inputs (Enable, Limit switches, CI, CV0/Phasing) ........................... 5 to 24 V optocoupled
Logic outputs (Amplifier OK, Phasing OK, I2t warning) ............................................. Relay contact
Serial link RS-232 standard or RS-422/485 optional ............................. 4800, 9600, 19,200 Baud
Error diagnostics ............................................................................. Front panel LED, serial link
Control features
PWM switching frequency ..................................................................................................10 KHz
Current loop gain ........................................................................................ Selectable by jumpers
Digital speed loop ................................................................................ 500µs, P, PI, PI2 regulator
Maximum speed ............................................................ Adjustable from 100 rpm to 25,000 rpm
Encoder feedback resolution range .................................................... 1000 ppr to 1,000,000 ppr
Encoder feedback pulse frequency range .................................................................. 0 to 1 MHz
Auto-phasing ............................................................ Detects and adjusts to motor characteristics
Auto-tuning .......................................................................................................... 3 bands, 3 filters
Offset compensation ................................................................................. Push-button/serial link
Parameter setting
WindowsTM based BPCW software
Data storage .................................................................................................................. EEPROM
Conformity with the standards: CE certification
EN 60204-1
CEI 801-2-3-4
EN 55011 Group 1 Class A
Tel: +33 16 96 33 515
Tel: +34 93 46 01 631
Tel: +12 03 72 98 258
Tel: +31 18 66 10 155
Tel: +49 62 21 30 4920
Tel: +41 22 77 63 624
technical@infranor.ltd.uk
sales@infranor.ltd.uk
PDS0398V1.0
www.infranor.com
Tel: +44 (0)1522 699500