LTi CDE/CDB3000 positioning controller

LTi CDE/CDB3000 positioning controller

Overview and Security Chapter

1.1 Product positioning

CDE/CDB3000 is a servo positioning controller, which is an internal component of the equipment and cannot be put into operation separately. The entire machine must comply with the EU Machinery Directive 2006/42/EEC before it can be put into use; Compliant with the Low Voltage Directive and EMC Electromagnetic Compatibility Directive.

CDE3000: Supports rotary transformers and TTL/SSI encoders;

CDB3000: Supports TTL/SSI/HTML encoders;

Supporting documents: Application Manual, CANopen Communication Manual, PROFIBUS-DP Communication Manual.

1.2 Rules for nameplates and serial numbers

Serial number code: week year serial number, which can directly read the production week and year from the SN number.

1.3 Mandatory safety requirements

Qualifications of homework personnel: Only for certified electrical engineers, familiar with IEC364, DIN VDE0100, and comply with local accident prevention regulations.

High voltage risk: After a power outage, the DC bus capacitor will still maintain high voltage for about 10 minutes, and maintenance must wait for the voltage to be released to<60V.

Three types of danger signs: warning of damaged equipment during operation; High voltage lethal danger; The automatic activation of rotating components poses a danger.

Special population: People wearing pacemakers and metal implants are prohibited from approaching the driver and servo motor areas.

The equipment is not inherently safe. In the event of a system failure, the entire equipment must take external safety measures; The emergency stop logic needs to be based on EN ISO 14121 risk analysis and select the safety circuit category according to EN ISO 13849-1.

Unauthorized disassembly is prohibited, otherwise the warranty will be invalidated; This product is used by default for fixed devices, and requires special permission from the manufacturer for use on mobile devices.

Mechanical installation

The hardware is divided into seven shell specifications, BG1-BG7a, with a weight of 1.6-32kg, and offers four installation methods: wall mounted installation, cold plate installation, through heat sink installation, and liquid cooling installation.

2.1 General installation taboos

Prohibit water vapor, conductive dust, and cutting debris from entering the driver; Cannot cover ventilation and heat dissipation holes; Prohibited for use on non fixed equipment. Suggest galvanizing/chromate treatment for installing the base plate; The contact surface of the spray painted base plate installation must be polished off to ensure large-area metal contact and achieve EMC grounding. All installation modes require the preservation of ventilation gaps in the upper, lower, left, and right directions, and the manual provides a complete size chart.

2.2 Four installation modes

Wall mounting installation: The driver is installed vertically, providing all BG specification openings, screw specifications, weight, and external dimensions; The maximum cable length between the power filter and the driver is 30cm.

Cold plate heat dissipation: relying on the conduction heat dissipation of the back plate, the minimum cooling bottom plate area is specified; If there is not enough base plate for low-power models, an external radiator must be selected.

Push through heat sink: The heat sink side is located outside the control cabinet (IP54), and the electronic body is inside the cabinet (IP20); BG3-BG6 support; The sealing gasket must be intact and tightly pressed; 70-80% of the heat loss is dissipated outside the cabinet.

Liquid cooling version (suffix L): BG6/BG7/BG7a; Cooling joint specification 3/8 "; provide pipeline layout, installation clearance, weight dimensions.

All modes require reliable grounding of the backplane.

Electrical installation

3.1 Overview of Hardware Interfaces

X1: Main power supply; X2: Control IO (analog input/output, digital input/output, relay, STO safety terminal)

X3: Motor temperature sensor PTC/KTY/Klixon;

X4: RS232 debugging port (connected to KP300 keyboard and DriveManager software);

X5: CANopen interface;

X6: Rotary Transformer Interface (CDE only);

X7: TTL/SSI absolute value encoder;

X9: Brake output 2A (CDE);

X18: External control power supply (for high-power models, an external 24-48VDC is required when the bus voltage is low);

X21: High power BG6-7a motor, braking resistor terminal.

3.2 EMC Electromagnetic Compatibility Installation Specification

0.37-7.5kW and 22-37kW models have built-in RFI power filters; Other models require an external EMCxxx filter.

Motor cables and signal cables must use double-layer copper braided shielded cables (with a coverage rate of 60-70%); Both ends of the shielding layer are extensively grounded.

The PE protective conductor adopts star grounding, and chain series grounding is prohibited; Leakage current>3.5mA.

Separate the wiring of motor cables and signal cables; Power filter to driver cable ≤ 30cm.

Only full current sensitive RCM leakage protectors can be used, as driver faults can generate residual DC current; The use of this drive is prohibited without grounding the IT power grid.

Industrial power grids with Class 3 harsh environments (voltage fluctuations, welding machines, frequent start stop of large motors) must be equipped with incoming reactors.

3.3 Power supply and main circuit wiring

Support single-phase 230V and three-phase 400/460V; provide cable cross-sections and fuse selection tables for each power level.

Frequent on-off of the main contactor is prohibited, with a minimum interval of 60 seconds. It is also forbidden to use the contactor for jogging.

Braking resistor RB: Regenerative energy release; Distinguish between the built-in BR version and the external braking resistor; The external braking resistor must be equipped with overheat protection, and the overheat signal will cut off the main power of the driver.

3.4 Internal power supply electrical isolation architecture

Two level isolated power supply SNT1, SNT2:

SNT1 generates 24V from the DC bus and provides it to digital IO;

SNT2 generates 5V and 10V again to supply MCU, analog circuit, and encoder.

Analog input can be switched to digital input, but it is not allowed to mix one analog input and the other digital input.

3.5 Encoder and motor wiring

CDE3000

X6: Rotary Transformer Resolver, which can also be connected to the motor PTC temperature;

X7: TTL incremental/SSI multi turn absolute encoder; Power supply+5V, maximum 150mA, with sense detection line, must be connected; Maximum cable length of 50m;

Motor: Supports LTi original factory motors and third-party motors; Third party motor PTC insulation withstand voltage ≥ 2kV.

X9:2A motor brake drive requires external 24V power supply.

CDB3000

X7: TTL/SSI encoder;

The X2 terminal can be connected to an HTL-24V encoder as a second encoder to achieve a dual measurement system (one commutation and one positioning); The maximum cable length is 30m.

The original factory recommends using LTi prefabricated encoder cables and power cables (KRY2-KS, KGS2-KS, KM2-KS series).

3.6 Communication Interface

RS232 X4: only for debugging diagnostic interfaces, not for device control; Connect KP300 handheld keyboard PC DriveManager； The maximum cable length is 3m, and it is strongly recommended to use a photoelectric isolator to prevent common mode voltage from damaging the PC/driver.

CANopen X5: DSP402 protocol; On board DIP dialing can set station numbers and parameters; Built in 120 Ω terminal resistor jumper.

PROFIBUS-DP requires the optional expansion card CM-DPV1.

3.7 STO Safe Torque Off (Key Safety Function)

Certification: T Ü V Rheinland Certification; Meet EN ISO13849-1 PL e, Cat. 4, SIL3, stop category 0; Can be used for emergency stop circuits.

Function: Dual channel cut-off of power pulses, no electrical isolation of the main circuit/motor, no physical disconnection, and the motor side remains energized; Cannot prevent axis movement caused by external forces (additional mechanical brakes are required for vertical load lifting).

CDE uses ISDSH and ENPO dual channel terminals; The CDB-SH version uses ISD00 and ENPO dual channels; Equipped with STO status feedback relay contact RSH.

Logical timing: ISDSH (ISD00) must be set to high first or simultaneously, and then ENPO must be set to high to lift the prohibition on restart; If the input is already at a high level when powered on, automatic startup may occur, and the external control system must avoid it.

Mandatory testing timing: The effectiveness of STO functionality must be tested during initial debugging, wiring changes, and hardware replacement.

Debugging and commissioning

Two debugging modes: batch serial debugging, initial new debugging, tool: PC DriveManager software V3.4+; Handheld control panel KP300.

4.1 Serial Batch Debugging (Multiple Same Devices)

Debug the first driver and save the complete parameter dataset to a file;

Connect other drives of the same model in sequence, download parameter files, save them to the drives, and complete batch configuration.

4.2 Initial Debugging Process

All wiring is completed; ENPO set low, power level prohibited to avoid accidental motor start-up; Power on drive self-test; PC connects to DriveManager via RS232.

Select preset solution: Built in 20 sets of standard application templates, including speed/torque/positioning modes, IO allocation, given sources (analog, CANopen, PROFIBUS, PLC), quickly complete basic configuration; You can modify the template and save it as a user plan.

Motor and encoder settings:

Select the corresponding motor model from the motor database, or manually identify it by entering the nameplate parameters;

Set the encoder type, number of lines, and speed ratio; Can support dual encoder configuration; Manually rotate the motor and verify the correctness of the encoder direction.

Basic parameter fine-tuning: slope acceleration and deceleration, amplitude limiting, analog calibration, zeroing, etc.

Save parameters: Save to non-volatile storage on the drive, or export parameter files for backup.

4.3 No load test run

Disconnect the mechanical load for testing; If carrying a load, it is necessary to confirm the safety of the travel limit.

Timing: STO released → ENPO set high, meeting timing conditions;

DriveManager manual mode, given low-speed speed; Use a software oscilloscope to record the step response curve (speed setting/actual speed/actual torque).

Judgment criteria: Rotary transformer overshoot of about 20%, incremental encoder overshoot of about 30%; Troubleshooting of waveform abnormalities in motor wiring, encoder wiring, motor parameters, and inertia matching.

Attention to holding brake: The holding brake is only used for stopping and is not allowed to be used as a working brake.

4.4 KP300 Handheld Panel

Insert X4 port; Graphic display screen, supporting parameter modification, status viewing, and SmartCard storage card; Can be directly installed on the cabinet door.

Diagnosis and troubleshooting

Equipment LED status indicator light, displaying operation, alarm, and fault;

Error message classification: hardware failure, parameter error, keyboard operation error, SmartCard error, power switch failure;

Reset methods: software reset, power-off reset.