CSDP Plus Servo Drive User Manual

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Speed Limit Speed limiting methods are internal speed limit and external speed limit. • Internal Speed Limit: Limit the speed through the setting of the servo drive itself. • External Speed Limit: Limit the speed through the command from the controller. Internal Speed Limit Internal speed limit works as the speed is limited by the value users set at SEt-67. Therefore, the servo drive operates under the preset limit even if the controller approves a speed command faster than the set value of the speed limit. External Speed Limit Please set the speed limit at SEt-67. The setting range is 1 to 5000 RPM and the default value is 5000. If the user does not use the speed control mode and operates the system in one of the other control modes, the analog speed command input from external can be used to limit speed. If the speed control mode is used, the external speed limit function cannot be used and the speed can be limited by the internal speed limit. Speed command gain (SEt-01) determines the relationship between the analog speed command voltage and the speed command in the speed control mode. When the speed control mode is not used, the speed limit is the speed set by the relationship between the speed command gain and the analog speed command voltage. Please set the speed command gain at SEt-01. The setting range is 10 to 6000 RPM/V and the default value is 500. The formula to get the external speed limit is as follows. External speed limit (RPM) = Speed Command Gain (RPM/V) × Input Voltage (V) When the speed command gain is 500 RPM/V and the input voltage is 6V, the motor speed is limited at 3000 RPM and when the input voltage is 10V, the speed limit is 5000 RPM. 114
Speed Limiting Method Selection Please set the method to limit speed at the third digit of SEt-45. Speed Limiting Method Set Value Function 0 Does not use the speed limit function. 1 Limits the speed by the internal speed limit (SEt-67). 2 Limits the speed by the analog speed command input from the outside. 3 Limits the speed under the smaller value between the motor’s maximum speed and the value of SEt-67. Position Feedback to the Controller. The servo drive controls the servo motor by using various information from the encoder. And the servo drive can send the output of the encoder information to the controller. The servo drive outputs five different encoder signals in total to the controller. Encoder Signals Sent to the Controller. Symbols Function Type EA, /EA Encoder A(/A) Phase Output Line Drive EB, /EB Encoder B(/B) Phase Output Line Drive EC, /EC Encoder C(/C) Phase Output Line Drive PS, /PS Absolute encoder position Data output Line Drive /Z-PULSE+, /Z-PULSE- Encoder Z (+/-) Phase Output Open Collector The direction of the encoder output pulse sent to the controller can be changed. Please set the direction of the encoder output pulse at the first digit of SEt-46. 115
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Maximum Value for OEMs SM CSDP Plus
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Contents 1. Introduction...........
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SEt-32 Brake Inactive Delay Time Af
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A brief introduction to the manual
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1 Introduction Functionality CSDP P
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The models with the same appearance
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The performance specifications of C
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Input Voltage B stands for 220V AC.
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Please do not put stress on the ele
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Servo Drive Installation Please che
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Please follow the command below to
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Wiring Specifications Signal line I
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CN1 CN2 Connect the single-phase vo
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Connection with Controller Connect
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32 Higher Control Connector (CN1) C
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Please See "Cable Specifications" i
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Encoder Connector Specifications Mo
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Grounding, Wiring Please separate t
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3 Operation Overview You can instan
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For instance, if you want to set up
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If the revolution speed of the moto
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Monitor Number List No. Contents (U
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Jog Operation The revolution will c
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Current Offset Adjustment To adjust
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Parameter Initialization To return
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SEt-51 Set-up Value Please select t
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4 Control Overview Input signal is
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For instance, put 7 in the fourth d
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Three types of command are inputed
Page 61 and 62: Please select the position control
Page 63 and 64: The speed reduction ratio is the ra
Page 65 and 66: If the distance to move with one pu
Page 67 and 68: Position Error Range Set the positi
Page 69 and 70: Speed Command Speed Control Wiring
Page 71 and 72: If the CN1 connector pins where the
Page 73 and 74: Torque Control Torque control mode
Page 75 and 76: If the torque command gain is 100%/
Page 77 and 78: Multi-level Speed Control Multi-lev
Page 79 and 80: Multi-level Speed Speed Parameter D
Page 81 and 82: Combination Control Position contro
Page 83 and 84: 5 Tuning By Gain Adjustment Overvie
Page 85 and 86: If position-related gains alone are
Page 87 and 88: Setting Tuning Coefficient on onlin
Page 89 and 90: Please set torque command filter at
Page 91 and 92: To set up position control-related
Page 93 and 94: P/PI Mode Set-up Function By settin
Page 95 and 96: Set Value 0 Do not use P/PI mode sh
Page 97 and 98: The set-up sequence of the default
Page 99 and 100: 6 Application Motor Stop The servo
Page 101 and 102: When the motor needs to stop during
Page 103 and 104: Please set the brake output waiting
Page 105 and 106: Regenerative Resistor When the oper
Page 107 and 108: This picture shows the case where a
Page 109 and 110: K M ( EL + ER + EC ) EG E = E − +
Page 111: As shown below, executing command i
Page 115 and 116: Even when the motor is revolving at
Page 117 and 118: Absolute Encoder An absolute encode
Page 119 and 120: For the controller that can’t rec
Page 121 and 122: 7 Troubleshooting Check Checking Mo
Page 123 and 124: If the voltage of the external batt
Page 125 and 126: The servo drive can notify the cont
Page 127 and 128: If the encoder cable is not connect
Page 129 and 130: If there is an error with the memor
Page 131 and 132: Appendix A Parameter ATTENTION To c
Page 133 and 134: SEt-03 Speed Loop Integral Gain •
Page 135 and 136: SEt-07 Position Feedforward Filter
Page 137 and 138: SEt-11 Reverse Internal Torque Limi
Page 139 and 140: SEt-17 Zero Clamp Level • Setting
Page 141 and 142: SEt-20 Deceleration Time • Settin
Page 143 and 144: SEt-23 Encoder Output Ratio Numerat
Page 145 and 146: SEt-26 Internal Speed Command 1 Int
Page 147 and 148: ATTENTION The brake mounted on the
Page 149 and 150: SEt-33 Following Error Level • Se
Page 151 and 152: SEt-37 Electronic Gear Ratio Denomi
Page 153 and 154: SEt-42 System Gain • Setting rang
Page 155 and 156: SEt-44(1) Dynamic Brake • Setting
Page 157 and 158: SEt-44(4) Encoder Output Pulse Dire
Page 159 and 160: Forward direction is counterclockwi
Page 161 and 162: Open Collector Input SEt-46(4) Spee
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When the second digit of SEt-50 is
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SEt-53 Motor Capacity • Setting r
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SEt-57 Position Error for Speed Int
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Put 3 in the second digit of SEt-62
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ATTENTION If inertia ratio is set,
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SEt-75 Overload Curve Level • Set
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SEt-79 Internal Speed Command 4 •
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Appendix B Motor Specifications CSM
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Speed Torque Curve 181
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CSMS Motor Specifications CSMS Moto
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Speed Torque Curve 185
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CSMH Motor Specifications CSMH Moto
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189
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Item Specifications Item Specificat
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CSMK Motor Specifications CSMK Moto
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Brake Specifications RSMD Motor Bra
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RSMS Motor Specifications RSMS Moto
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RSMH Motor Specifications RSMH Moto
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Brake Specifications RSMF Motor Bra
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RSMK Motor Specifications RSMK Moto
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209
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Brake Specifications RSML Motor Bra
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RSMN Motor Specifications RSMN Moto
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RSMX Motor Specifications RSMX Moto
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217
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Model LL Brake Present Brake Absent
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RSMD, RSMF, RSMH, RSMK, RSML, RSMS
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Shaft End Size CSM Series Motor Sha
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Appendix C Cable Specifications Mot
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Encoder Cable CSMD, CSMF, CSMH, CSM
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I/O Cable CON-SCONN50PIN cable is u
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Motor Brake Cable CSMD, CSMF, CSMH,
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Appendix D Load Calculation ROLL Lo
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Minimum Acceleration Time (s) Minim
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Load Inertia Moment (kg . m 2 ) Min
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Movement Amount (m) Vl 2t s−ta
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Vertical BALL SCREW Load Mechanical
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Acceleration Torque Required (N . m
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Load Inertia Moment (kg . m 2 ) Min
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Disk Load Mechanical Configuration
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Index Sign /ABS-DT 4-58, 6-121, A-1
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Jog Operation Speed A-146 L Label 1
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Speed Bias Standard Range 5-85, 5-9
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CSDP Plus Servo Drive User Manual O
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CSDP Plus Servo Drive User Manual

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