- High Performance Dual Axis Servo Drive

CDHD2 - High Performance Servo Drives

CDHD2-LV (Low Voltage)

Ratings

CDHD2-LV Units Model Model Model Model

3A 6A 12A 15A
Input Voltage Nominal VDC 20 – 90 20 – 48
Input Voltage Maximum VDC 150 100
Control Input Power (optional) VDC 20 – 48 20 – 48
Output Current Continuous Arms 3 6 12 15
Output Current Peak Arms 9 18 24 30
Peak Current Duration seconds 2 2
Under-Voltage Trip (nominal) VDC 19 19
Over-Voltage Trip VDC 92 50

Dimensions
Height: 167 mm
Width: 36 mm
Length: 104 mm
- High Performance Dual Axis Servo Drive

Control Inputs/Outputs

Motors DC brushless, Rotary servo motors, Linear First Analog Input Analog ±10 VDC differential;
servo motors, Voice coil motors 16-bit resolution*;
Operation Modes Selectable: Current (torque), Velocity, 1 kHz bandwidth (-3dB)
Position, HD Velocity or HD Position control Second Analog Input Analog ±10 VDC differential;
Current (Torque) Update rate: 31.25 μs (32 kHz), (optional) 14-bit resolution;
Control 1 kHz bandwidth (-3dB)
Output waveform sinusoidal
Pulse & Direction RS422 line receiver:
Velocity Control Update rate: 125 μs (8 kHz)
5 mHz max. input frequency
Selectable velocity control loops: PI, PDFF,
Opto isolated 24V fast inputs”
Pole Placement
200kHz max. input frequency
Position Control Update rate: 250 μs (4 kHz)
Equivalent Encoder A-quad-B and index differential;
Control loop: PID and feed-forward
Outputs RS422 line transmitter;
Velocity or Velocity update rate: 62.5 μs (16 kHz) 5 kHz max. input frequency
Position Position update rate 125: μs (8 kHz) 8 Digital Inputs | Configurable opto-isolated;
HD Control Control loop: A proprietary control algorithm 3 Fast Digital Inputs Compatible with sink/source output;
that surpasses typical servo control 24V; 6 mA |12.5 mA max. input current
algorithms in achieving optimal performance
6 Digital Outputs | Configurable open collector,
Autotuning Automatic inertia load measurement, self- 2 Fast Digital Outputs opto-isolated;
tuning and optimization; Minimizes error and Compatible with sink/source input;
settling time 24V; 50 mA max. input current
Brake Controlled stops: Dynamic Brake, Active Analog Output Configurable; ±10V range;
Disable 12-bit resolution
Electronic User-defined input signal ratio Secondary Feedback A-quad-B and index differential;
Gearing RS422 line receiver; BiSS-C, EnDat 2.2
Software Tools Windows-based application; drive, motor I/O 5 MHz max. input frequency
and feedback parameter settings and Fault Output Relay Configurable dry contacts
commissioning 24V; 1A max. current
Motor Setup Wizard, Automatic setup and
*14-bit if 2 analog inputs
tuning, Scope, Motion settings; Fault history/
display; Scope, Terminal, and Expert views
Protection and Environmental

Communication Protective Functions Under- and over-voltage, Over-current,

Drive and motor over-temperature,
CANopen* CiA 301 application layer and CiA 402 device Motor foldback, Drive foldback,
profile for drives and motion control Feedback lost, STO, Circuit failure
EtherCAT* CANopen over EtherCAT (CoE) Standards CE – EMC Directive 2004/108/EC,
RS232 ASCII-based, ServoStudio, HyperTerminal Standard IEC61800-3

USB* ASCII-based, ServoStudio, HyperTerminal CE – Low Voltage Directive 2006/95/EC,

Standard IEC61800-5-1
Daisy Chain Up to 8 axes; up to 100 addresses
STO – Safe Torque Off
* Some features are not available on all models. Check ordering options.
REACH
RoHS
Motor Feedback
Environment Ambient temperature: Operation 0-45°C,
Power from Drive 5 VDC , 8 VDC* Storage 0-70°C
Incremental A-quad-B with or without index/Hall, Humidity: 10-90%
Encoder Tamagawa® Altitude: < 1000m. If >1000m, derate
Hall Sensor Open collector single-ended (optional 5% per 330m
differential-ended) Vibration: 1.0g
Resolver Sine/cosine differential Operating Conditions Pollution degree: 2
Sine Encoder Sine/cosine differential, with or without Hall, Protection class: IP20
EnDat® 2.x, HIPERFACE®
SSI Encoder sensAR, EnDat® 2.2, Nikon®, Tamagawa®,
BiSS-C
Motor Thermal resistor PTC or NTC
Temperature
- High Performance Dual Axis Servo Drive

Interfaces

Digital Display
USB

Address Switches - Rotary

STO RS232 EtherCAT

Daisy Chain CANopen Controller
• Digital I/O
Top Panel • Analog I/O
• Pulse and Direction
• Encoder simulation output

Front Panel
Machine
• Digital I/O
Bottom Panel • Analog I/O
• Secondary encoder

Feedback
• sensAR
• Incremental encoder
• Hall sensor
• Resolver
Motor Phases 20V-90V 20V-48V • Analog Encoder (Sine/Cosine)
(U/V/W) DC Bus DC Logic • SSI (Tamagawa, Nikon, EnDat 2.2, BiSS-C)
• HIPERFACE
• EnDat 2.x
• Resolver

Ordering Information

CDHD2 – 006 1D AF1

CDHD2 LV Servo Drive – HD Series

Rating
Cont. Peak
[A rms] [A rms]
003 3 9
006 6 18
012 12 24
015 15 30
Input Power Supply
12–90 VDC for motor power
1D
12–48 VDC (optional) for logic power
Communication Interfaces
Analog Voltage, Pulse Train References,
AF1
CANopen, USB, RS232, with 1 analog input
EC2 EtherCAT, USB, RS232, with 2 analog inputs
Servotronix - 21C Yagia Kapayim St.
POB 3919 Petach Tikva 49130, Israel
Tel: 972-3-927-3800
[email protected]
www.servotronix.com