Servotronix CDHD User manual

CDHD Servo Drive

User Manual

Revision 0.2

PRELIMINARY RELEASE

CDHD

User Manual i

Revision History

Document

Revision

Date Remarks

0.2 June 2011

Added diagram: CDHD-1D5 Dimensions;

Replaced diagram: System Wiring - Pin

Assignments; Minor text fixes

0.1 June 2011 Preliminary version

Hardware

Revision

Firmware

Revision

Software

Revision

Remarks

0.0.0.10

Important Notice

form or by any means without prior written permission of Servotronix Motion

Control Ltd.

Disclaimer

The information in this manual was accurate and reliable at the time of its

release. Servotronix Motion Control Ltd. reserves the right to change the

specifications of the product described in this manual without notice at any time.

Trademarks

All marks in this manual are the property of their respective owners.

Contact Information

Servotronix Motion Control Ltd.

21C Yagia Kapayim Street

Petach Tikva 49130

Israel

Tel: +972 (3) 927 3800

Fax: +972 (3) 922 8075

Website:

www.servotronix.com

Technical Support

If you need assistance with the installation and configuration of the CDHD drive,

contact Servotronix technical support:

tech.support@servotronix.com

Customer Service

Servotronix is committed to delivering quality customer service and support for

all our products. Our goal is to provide our customers with the information and

resources so that they are available, without delay, if and when they are needed.

In order to serve in the most effective way, we recommend that you contact

your local sales representative for order status and delivery information, product

information and literature, and application and field technical assistance. If you

CDHD

ii Servotronix

are unable to contact your local sales representative for any reason, please use

the most relevant of the contact details below:

For technical support, contact:

tech.support@servotronix.com

To order products, contact:

orders@servotronix.com

For all other inquiries regarding CDHD drives or other Servotronix products,

contact: customer.service@servotronix.com

Part Number

For ordering the CDHD, refer to the following diagram:

Warranty

The warranty is valid for 12 months from the date of shipment and applies only if

material or workmanship is found to be defective. The warranty will be invalid if

the customer fails to install, operate or maintain the product in accordance with

the instructions in this user manual.

During the warranty period, the owner must pay the cost of shipping the product

to the factory for repair, and Servotronix will pay for shipping the repaired

product to the customer.

After the warranty period has expired, all shipping costs will be the responsibility

of the customer.

Before returning the product, the customer must first request a Return Materials

Authorization (RMA) number from Servotronix by email to rma@servotronix.com

The complete Warranty Statement can be found in the Terms and Conditions

document on the Servotronix website:

www.servotronix.com/customer-service.html

CDHD

User Manual iii

Contents

1 Introduction ________________________________________________ 1

1.1 Documentation .......................................................................................... 1

1.1.1 About This Manual ............................................................................ 1

1.1.2 Documentation Set for CDHD ............................................................. 1

1.2 Safety ...................................................................................................... 1

1.2.1 Safety Symbols ................................................................................ 1

1.2.2 Safety Instructions ........................................................................... 2

1.3 Standards Compliance ................................................................................ 2

1.3.1 General Information ......................................................................... 2

1.3.2 CE Compliance ................................................................................. 3

1.4 Unpacking................................................................................................. 4

2 Product Description __________________________________________ 5

2.1 Overview .................................................................................................. 5

2.1.1 General Description .......................................................................... 5

2.1.2 Product Options ............................................................................... 5

2.2 Technical Specifications .............................................................................. 6

2.2.1 Dimensions ..................................................................................... 6

2.2.2 Mechanical and Electrical Specifications - 200V .................................... 7

2.2.3 Mechanical and Electrical Specifications - 400V .................................... 8

2.2.4 Control Specifications ...................................................................... 10

2.2.5 Protective Functions and Environment................................................ 11

2.2.6 Communication ............................................................................... 11

2.2.7 I/Os............................................................................................... 12

2.2.8 Motor Feedback............................................................................... 13

2.3 System Wiring - Pin Assignments ................................................................ 14

3 Installation ________________________________________________ 15

3.1 Installation Overview ................................................................................ 15

3.2 Preparation .............................................................................................. 15

3.2.1 Hardware Requirements ................................................................... 15

3.2.2 Computer Requirements................................................................... 16

3.2.3 Electrical Requirements .................................................................... 18

3.3 Mechanical Installation .............................................................................. 20

3.3.1 Mount the CDHD ............................................................................. 20

3.4 Electrical Installation ................................................................................. 20

3.4.1 Connect Motor (P2) ......................................................................... 20

3.4.2 Connect STO (P1)............................................................................ 21

3.4.3 Connect Regen (P3) ......................................................................... 22

3.4.4 Connect Motor Feedback (C4) ........................................................... 22

3.4.5 Connect Controller I/Os (C2) ............................................................ 24

3.4.6 Connect Machine I/Os (C3) ............................................................... 25

3.4.7 Connect AC Input Voltage (P4).......................................................... 26

3.5 Set the Drive Address................................................................................ 27

3.6 Connect to PC (C1 or C7) ........................................................................... 28

3.7 Power Up ................................................................................................. 29

3.8 ServoStudio Software Installation ............................................................... 29

4 Configuration and Operation___________________________________ 30

4.1 Variables and Commands........................................................................... 30

4.2 ServoStudio Software ................................................................................ 30

4.3 Connecting to a Drive ................................................................................ 31

4.4 Enabling/Disabling a Drive ......................................................................... 31

4.4.1 Drive Enable ................................................................................... 31

4.4.2 Operation Mode Codes ..................................................................... 32

CDHD

iv Servotronix

4.5 Managing Drive Parameters ....................................................................... 33

4.6 Configuring Parameters Using ServoStudio .................................................. 34

4.6.1 Tuning and Testing .......................................................................... 34

4.6.2 Drive Info ....................................................................................... 35

4.6.3 Power ............................................................................................ 35

4.6.4 Motor ............................................................................................. 35

4.6.5 Foldback ........................................................................................ 35

4.6.6 Units.............................................................................................. 35

4.6.7 Feedback ....................................................................................... 35

4.6.8 Motion ........................................................................................... 36

4.6.9 Scope ............................................................................................ 36

4.6.10 Digital I/Os ..................................................................................... 36

4.6.11 Analog I/O...................................................................................... 36

4.6.12 Enable ........................................................................................... 36

4.6.13 Current Loop .................................................................................. 36

4.6.14 Current Limits ................................................................................. 36

4.6.15 Velocity Loop .................................................................................. 36

4.6.16 Velocity Limits ................................................................................ 36

4.6.17 Terminal ........................................................................................ 36

4.6.18 Faults ............................................................................................ 37

4.6.19 Parameters Table ............................................................................ 37

4.7 ServoStudio Expert View ........................................................................... 37

5 Firmware Upgrade __________________________________________ 38

5.1 Preparation .............................................................................................. 38

5.2 Upgrade Procedure ................................................................................... 38

6 Troubleshooting ____________________________________________ 39

6.1 Drive Status 7-Segment Display ................................................................. 39

6.2 Faults and Warnings .................................................................................. 39

6.3 Status Information in ServoStudio .............................................................. 40

6.4 Fault and Status Queries ........................................................................... 40

6.5 Fault Codes and Names ............................................................................. 40

CDHD Introduction

User Manual 1

1 Introduction

1.1 Documentation

1.1.1 About This Manual

This manual describes the Servotronix CDHD Servo Drive. It provides the

information required for installation, configuration and basic operation of the

CDHD unit.

This document is intended for persons who are qualified to transport, assemble,

commission, and maintain the equipment described herein.

1.1.2 Documentation Set for CDHD

This manual is part of a documentation set. The entire set consists of the

following:

 CDHD Quick Start Guide. Basic setup and operation of the drive.

 CDHD User Manual. Hardware installation, configuration and operation.

 CDHD VarCom Reference Manual. Parameters and commands used to

program the CDHD.

1.2 Safety

Only qualified persons may perform the installation procedures. You do not need

to be an expert in motion control to install and operate the drive system.

However, you must have a basic understanding of electronics, computers,

mechanics, and safety practices.

The CDHD utilizes hazardous voltages.

Be sure the drive is properly grounded.

Before you install the CDHD, review the safety instructions in this manual.

Failure to follow the safety instructions may result in personal injury or

equipment damage.

1.2.1 Safety Symbols

Safety symbols indicate a potential for personal injury or equipment damage if

the recommended precautions and safe operating practices are not followed.

The following safety-alert symbols are used on the drive and in the

documentation:

Caution ISO 7000-0434 (2004-01)

Introduction CDHD

2 Servotronix

Warning. Dangerous voltage. IEC 60417-5036 (2002-10)

Protective earth; protective ground IEC 60417–5019 (2006-08)

Caution, hot surface IEC 60417-5041 (2000-10)

1.2.2 Safety Instructions

 Read all available product documentation before assembling and

commissioning. Incorrect handling of this product may cause personal injury

and/or damage to equipment. Adhere strictly to the installation instructions

and requirements.

 All system components must be connected to ground. Electrical safety is

provided through a low-resistance earth ground connection.

 This product contains static sensitive components that can be damaged by

incorrect handling. Avoid contact with high insulating materials (artificial

fabrics, plastic film, etc.). Place the product on a conductive surface. Ground

yourself (discharge any possible static electricity build-up) by touching an

unpainted, metal, grounded surface.

 Keep all covers and cabinet doors shut during operation. Otherwise,

potential hazards may cause personal injury and/or damage to equipment.

 During operation the product has electrically charged components and hot

surfaces. The heat sink can reach temperatures of 90°C. Control and power

cables can carry a high voltage, even when the motor is not rotating.

 To avoid electric arcing and hazards to personnel and electric contacts,

never disconnect or connect the product while the power source is

energized.

 After removing the power source from the equipment, wait at least

5 minutes before touching or disconnecting sections of the equipment that

normally carry electrical charges (e.g., capacitors, contacts, screwed

connections). For safety, measure the electrical contact points with a meter

before touching the equipment. Wait until the voltage drops below 30 VAC

before handling components.

1.3 Standards Compliance

1.3.1 General Information

The CDHD has been successfully tested and evaluated according to standards

IEC 61800-5-1 and UL 508C. This testing outlines the minimum requirements for

electrically operated power conversion equipment (frequency converters and

servo amplifiers), which are intended to eliminate the risk of fire, electric shock,

or injury to persons.

CDHD Introduction

User Manual 3

UL 508C references UL 840, which describes the achievement by design of air

and insulation creepage spacings for electrical equipment and printed circuit

boards. The CDHD provides overload protection and current limit control.

The drive is intended for operation in pollution level 2 environment.

The terminals on the controller are coded so they can easily be identified in the

instructions. The instructions identify the connections for the power supply, load,

control, and ground.

Integral solid state short circuit protection does not provide branch circuit

protection. Branch circuit protection must be provided in accordance with the

National Electrical Code and any additional local codes, or the equivalent.

1.3.2 CE Compliance

Compliance with EC EMC Directive (2004/108/EC) and EC Low Voltage Directive

(2006/95/EC) is mandatory for all servo drives provided to the European

Community. CDHD is manufactured in conformance with these directives. CDHD

drives have also been successfully tested and evaluated to the limits and

requirements of these directives.

EC Low Voltage Directive (2006/95/EC) complies with standard IEC 61800-5-1.

The following standards are used in connection with EC EMC Directive

(2004/108/EC):

 IEC 61000-6-1/2 (Interference Immunity in Residential & Industrial Areas)

 IEC 61000-6-3/4 (Interference Generation in Residential & Industrial Areas)

Drives are components that are intended for incorporation into a machine, for

industrial use. Before a drive is in installed, verify that the associated equipment

complies with the following standards:

 EC Machinery Directive (2006/42/EC)

 EC EMC Directive (2004/108/EC)

 EC Low Voltage Directive (2006/95/EC)

Standards EN/IEC 60204-1 (Safety and Electrical Equipment in Machines),

ISO 12100 (Safety of Machines) and EN 292 must be observed in reference to

Machinery Directive (2006/42/EC).

Standard IEC 60439-1 (Low-voltage Switchgear and Control Gear Assemblies)

must be observed in reference to EC Low Voltage Directive (2006/95/EC).

The machine manufacturer must generate a hazard analysis for the machine,

and must implement suitable measures to ensure that unexpected movements

will not cause personal injury and/or property damage.

The machine manufacturer is responsible for ensuring that the machine meets

the requirements specified by the EMC regulations. Guidelines for correct

installation for EMC (such as shielding, grounding, treatment of connectors and

cable layout) are provided in this.

The machine manufacturer must check whether EC Directives or other standards

must be applied to the machine.

Servotronix only guarantees the conformance of the servo system with the

standards cited in this chapter.

Introduction CDHD

4 Servotronix

Caution: Installation of the equipment is critical in designing system and

machine electromagnetic compatibility (EMC).

The end user must apply the installation recommendations in this manual.

1.4 Unpacking

1. Open the package(s) and remove all packing materials and items. The

package contains two items:

• The CDHD drive

• A packet of mating connectors for the power connectors.

2. Check to ensure there is no visible damage to any of the equipment. If

damage is detected, notify the carrier immediately.

CDHD Product Description

User Manual 5

2 Product Description

2.1 Overview

2.1.1 General Description

The CDHD is a full-featured, high-performance servo drive featuring innovative

technologies and industry-leading power density.

Key features of the CDHD include:

 Support for rotary and linear brushless DC motors, and DC brush motors.

 Operation in current, velocity and position control loops.

 Eleven digital inputs, six digital outputs, together with an analog input and

output, to meet any I/O requirement.

 Various communication options.

 Various motor feedback options.

 Firmware customization to address special application requirements.

 OEM motors predefined in user interface to enable immediate integration.

2.1.2 Product Options

The CDHD product family offers a number of options:

 200 or 400 VAC rating

 Continuous current of 1.5, 3, 6 or 13 A rms for the 200 V models

 Continuous current of 3 or 6 A rms for the 400 V models

 One 16-bit or two 14-bit analog inputs

 Various interface options, including analog voltage/pulse train and CANopen.

Refer to the part number diagram at the beginning of this manual for the various

ordering options for the CDHD drive.

Product Description CDHD

6 Servotronix

2.2 Technical Specifications

2.2.1 Dimensions

The exterior dimensions of the CDHD-1D5 and CDHD-006 are shown in

Figure 2-1 and Figure 2-1, respectively

Figure 2-1. CDHD-1D5 Dimensions (in mm)

Figure 2-2. CDHD-006 Dimensions (in mm)

CDHD Product Description

User Manual 7

2.2.2 Mechanical and Electrical Specifications - 200V

Single and Three-

Phase 200V

Specification

CDHD-

1D5

CDHD-

003

CDHD-

006

CDHD-

013

Ratings

Input Power Main Circuit

(L1, L2, L3)

Voltage (VAC Line-Line) Nominal

±10%

110 to

230

110 to

230

110 to 230 110 to 230

115 VAC 1 Phase 1 Phase

1 Phase or

3 Phase

1 Phase or

3 Phase

230 VAC 1 Phase 1 Phase 1 Phase 1 Phase

Line Frequency (Hz) 47-63 47-63 47-63 47-63

KVA at 115 VAC

KVA at 230 VAC

Continuous Current (A)

Peak Current (A) for 2 sec

Withstand Voltage (Primary to

Ground)

Line Fuses (FRN-R, LPN, or

equivalent)

Logic Input Power

(L1C, L2C)

115 or 230 VAC 1 Phase 1 Phase 1 Phase 1 Phase

Motor Output

(U,V,W)

Continuous Output Current (A rms) 1.5 3 6 13

Continuous Output Current (A

peak)

2.12 4.24 8.485 18.38

Peak Output Current (A rms) for

2 sec

4.5 9 18 26

Peak Output Current (A peak) for

2 sec

6.3 12.72 25.455 36.76

PWM Frequency (kHz) 16 16 16 8

Soft Start Max. Surge Soft Start Current (A) 6

Max. Charge Time (ms) 250

Hardware

Unit Weight (kg) 0.9

Connection Hardware PE Ground Screw Size/ Torque

M4/

1.35 Nm

Wire Size

Control Circuit (AWG) up to 3

meter

24-28

Main Circuit Motor Lines (AWG) 14-16

Main Circuit AC Inputs (AWG) 14-16

PE Ground Screw 14

Clearance Distance Side-to-Side (mm) 10-15

Top/Bottom (mm) 50

Voltage Trip

Under-Voltage Trip (nominal)

(VDC)

100

Over-Voltage Trip (VDC) 420

Product Description CDHD

8 Servotronix

Single and Three-

Phase 200V

Specification

CDHD-

1D5

CDHD-

003

CDHD-

006

CDHD-

013

Power Temperature

Power Over-Temperature Warning

(°C)

100

Power Over-Temperature Fault (°C) 110

Trigger Temperature for High-

speed Fan (°C)

NA NA 60

Regen External

Regenerative resistor

(B1+, B2)

External Shunt

Regulator

Peak current (A) NA NA 30

Minimum resistance (Ω) NA NA 13.1

Watts NA NA

system

dependent

Application Information Capacitance (F) NA NA 1120

Bus Voltage (nominal) (VDC) NA NA 320

VHYS (Regen Circuit Turn-off) VDC) NA NA

VMAX (Regen Circuit Turn-on)

(VDC)

NA NA

2.2.3 Mechanical and Electrical Specifications - 400V

Three-Phase 400V Specification CDHD-003 CDHD-006

Ratings

Input Power Main Circuit Voltage (VAC Line-Line) Nominal ±10% 530-600 530-600

(L1, L2, L3) 380 VAC 3 Phase 3 Phase

430 VAC 3 Phase 3 Phase

Line Frequency (Hz) 47-63 47-63

KVA at 380 VAC

KVA at 430 VAC

Continuous Current (A)

Peak Current (A) for 2 sec

Withstand Voltage (Primary to Ground)

Line Fuses (FRN-R, LPN, or equivalent)

Logic Input Power

(L1C, L2C)

VDC 24 VDC ±10% 24 VDC ±10%

Motor Output

(U,V,W)

Continuous Output Current (A rms) 3 6

Continuous Output Current (A peak) 4.24 8.485

Peak Output Current (A rms) for 2 sec 9 18

Peak Output Current (A peak) for 2 sec 12.72 25.455

PWM Frequency (kHz) 16 16

Soft Start Max. Surge Soft Start Current (A)

Max. Charge Time (ms)

CDHD Product Description

User Manual 9

Three-Phase 400V Specification CDHD-003 CDHD-006

Hardware

Unit Weight (kg)

Connection Hardware PE Ground Screw Size/Torque

Wire Size Control Circuit (AWG) up to 3 meter

Main Circuit Motor Lines (AWG)

Main Circuit AC Inputs (AWG)

PE Ground Screw

Clearance Distance Side-to-Side (mm)

Top/Bottom (mm)

Voltage Trip

Under-Voltage Trip (nominal) (VDC)

Over-Voltage Trip (VDC)

Power Temperature

Power Over-Temperature Warning (°C)

Power Over-Temperature Fault (°C)

Trigger Temperature for High-speed Fan

(°C)

Regen External

Regenerative resistor

(B1+, B2)

External Shunt

Regulator

Peak Current (A)

Minimum Resistance (Ω)

Watts

Application Information Capacitance (F)

Bus Voltage (Nominal) (VDC)

VHYS (Regen Circuit Turn-off) (VDC)

VMAX (Regen Circuit Turn-on) (VDC)

Product Description CDHD

10 Servotronix

2.2.4 Control Specifications

Feature Specification

Motors DC Brushless, DC Brush Rotary Servomotors, Linear Servomotors

Operation Mode Selectable Modes

Serial current, Analog current, Serial velocity, Analog

velocity, Pulse and direction position

Current Control Performance

Update rate 31.25 μs (32 kHz), Bandwidth 3 kHz, Output

waveform sinusoidal

Control Loop DQ, PI, Feed forward

Reference Command ± 10 VDC, Serial torque command, CANopen

Velocity Control Performance

Update rate 125 μs (8 kHz), Bandwidth system

dependent

Selectable Velocity Control

Loops

PI , PDFF, Standard pole placement, Advance pole

placement, Standard pole placement high frequency

Filters

First order low pass filter, Double first order low pass

filter, Notch filter, High pass filter, Band pass,

User defined polynomial filter

Reference Command ± 10 VDC, Serial Speed command, CANopen

Position Control Performance Update rate 250 μs (4 kHz)

Control loop PID and Feed forward

Reference Command Pulse and direction, Serial position command, CANopen

Brake Method Control stops: Dynamic brake, Active disable

Display Form 7-segment LED (green), display drive status

GUI User Interface ServoStudio Windows-based application

Function

Setting connection, Drive info, Power display, Motor,

Feedback, I/O selection/configuration, Motion

setting/tuning, Fault history/display, Setup wizard, Expert

view

Display Form 7-segment LED (green)

Units Position revolutions, counts, degrees

Velocity rps, rpm, deg/s

Auto tuning Method Self-tuning

CDHD Product Description

User Manual 11

2.2.5 Protective Functions and Environment

Feature Specification

Protective Functions

Under- and over-voltage, Drive and motor over-temperature, Foldback, Feedback

lost, Safety function (STO)

Compliance Standard UL - UL508c

CE - EC EMC (Electromagnetic Compatibility) IEC61800-3,

EC Electrical Safety Low Voltage Directive IEC61800-5-1

STO - Safe Torque Off

RoHS

Environment Ambient temperature: Operation 0-45°C (free from freezing) Storage 0-70°C

Humidity: 10-90%

Altitude: < 1000m. If >1000m, derate 5% per 330m

Vibration: 0.5g

Configuration Book mounting

2.2.6 Communication

Feature Specification

CAN (optional)

CANopen – CiA 301 application layer and the CiA 402 device profile for drives and

motion control

Baud rate 0.5M 1M bit/sec

RS232 ASCII-based, ServoStudio, HyperTerminal

Baud rate 9600 to 115200 bit/sec

Maximum cable length 10 m

USB ASCII-based, ServoStudio, HyperTerminal

Baud rate 9600 to 115200 bit/sec

Maximum cable length 3 m

Daisy Chain

Up to 8 axes

Axis address setting from 0-99 using two rotary switches

Maximum cable length 10 m

Product Description CDHD

12 Servotronix

2.2.7 I/Os

Feature Specification

First Analog Input Voltage Range ±10 VDC differential

Input Resolution 16 bit (14-bit on version with two analog inputs)

Input Impedance 8 kΩ (when using two analog inputs 20k Ω.)

Second Analog Input (optional) Voltage Range ±10 VDC differential 14 bit

Input Resolution 14 bit

Input Impedance 20 kΩ

Equivalent Encoder output Signal

A-quad-B and marker differential, RS 422 line

transmitter

8x Digital Inputs Signal

Configurable opto-isolated (compatible with

sinking output)

Voltage 24 V

Max. Input Current 10 mA

Propagation Delay Time 1 ms

3x Fast Digital Inputs Signal

Configurable opto-isolated (compatible with

sinking output)

Voltage 24 V

Max Input Current 10 mA

Propagation Delay Time 1 µs

4x Digital Output Signal

Configurable open collector, opto-isolated sinking

output

Voltage 24 V

Max. Current 40 mA

Propagation Delay Time 1 ms

2x Fast Digital Output Signal

Configurable open collector, opto-isolated sinking

output

Voltage 24 V

Max current 40 mA

Propagation Delay Time 1 µs

Analog Output Signal Configurable analog output

Voltage Range 0-10 V

Resolution 8 bit

Max. Load 1 kΩ

Secondary Feedback Signal

A-quad-B and marker differential, RS 422 line

receiver

Max. Input frequency 3 MHz (before A-quad-B)

Functions Dual loop, Master/Slave or Handwheel

Fault Output Relay Signal Configurable dry contacts

Voltage 24V

Max. Current 1 A

CDHD Product Description

User Manual 13

2.2.8 Motor Feedback

Motor Feedback Specification

General Supply Voltage from Drive 5 VDC

Max. Supply Current from Drive 250 mA

Max. Cable Length

AWG 28 – 3 m

AWG 24 – 10 m

Incremental Encoder Signal

A-quad-B with or without marker/Halls,

8-channel Tamagawa, RS 422 or RS485 line

receiver, Differential

Max Input Frequency 3 MHz (before quadrature)

Halls Signal Open collector single-ended

Resolver Signal Sine cosine differential

Transformation Ratio 0.45-1.6

Excitation Frequency 8 kHz

Input Voltage from Drive 6-22 Vpp

Max. DC Resistance 120 Ω (stator)

Max. Drive Current 55 mA rms

Output Voltage to Drive 10 Vpp

Sine encoder Signal Sine/Cosine differential, with or without Halls

Signal Level 1 Vpp @ 2.5 V

Max. Input Frequency 270 kHz

Protocols EnDat

®

2.1, Hiperface

®

Input Impedance 120 Ω

Maximum Drive Internal Interpolation 4096

SSI encoder Signal

Differential data and clock for synchronous

encoders

Data only for asynchronous encoders

Protocols EnDat 2.2, BiSS-C, other SSI

Motor Temperature Signal

Thermal resistor PTC or NTC, User-defined

fault threshold

Product Description CDHD

14 Servotronix

2.3 System Wiring - Pin Assignments

Figure 2-3. Pin Assignments

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Servotronix CDHD User manual

Servotronix CDHD User manual

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