CSDP Plus Servo Drive User Manual

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If the capacity of the motor is bigger than that of the servo drive, this warning will occur. Please replace the servo drive with the one that fits the capacity of the motor. If replacement is not available, limit the torque so that the servo drive won’t be overstrained. Servo Alarm In case of a servo alarm, corresponding numbers and characters will be displayed and the operation will stop. In case of a servo alarm, the LED of the servo drive will display the first number of the relevant alarm code. ATTENTION When a servo alarm occurs, please shut down the power and find the cause. After removing the cause and reseting the system, input the speed command to 0V and restart the operation. 126
The servo drive can notify the controller of the information about the alarm through AL1, AL2, and AL3 terminals. At the alarm output terminal, 1 means that the secondary photocoupler transistor is OFF, and 0 means it is ON. Servo Alarm List No. Event AL3 AL2 AL1 E.10 SC Servo Drive Internal Circuit Failure 0 0 1 E.11 oC Motor Overcurrent (Hall Sensor) 0 0 1 E.12 oH Device for Motor Operation Error (IPM H/W Fault) 0 0 1 E.22 Fol Torque Instantaneous Overload 0 1 0 E.23 FOL Torque Continuous Overload 0 1 0 E.24 HoH Heatsink Overheat 0 1 0 E.25 PCO Motor Cable Failure 0 1 0 E.26 POL Output Capacity Overload 0 1 0 E.27 dOL Drive Overload 0 1 0 E.30 EOP Encoder Cable Wiring Open 0 1 1 E.31 AOS Absolute Encoder Overspeed 0 1 1 E.32 AtE Absolute Encoder Multi-revolution Data Error 0 1 1 E.33 PoF Position Error Overflow 0 1 1 E.34 AdE Absolute Value Data Error 0 1 1 E.35 EuU Absolute Value Battery Failure 0 1 1 E.36 EoP Encoder Type Set-up Error 0 1 1 E.37 ACE Absolute Encoder Communication Failure 0 1 1 E.39 EPE Serial Absolute Encoder Parameter Error 0 1 1 E.40 oS Motor Overspeed 1 0 0 E.41 Est Emergency Stop 1 0 0 E.42 OPC Excessive Position Command Pulse 1 0 0 E.50 oU Excessive Voltage of the Main Power Supply 1 0 1 E.51 uU Low Voltage of the Main Power Supply 1 0 1 E.60 CPU CPU error 1 1 0 E.62 COF U Phase Offset Error 1 1 0 E.63 COF W Phase Offset Error 1 1 0 E.70 PF Main Power Supply Failure 1 1 1 E.80 CSE Parameter Checksum Error 0 0 0 E.81 Pro Out of Parameter Range 0 0 0 E.82 EtP Motor or Encoder Type Set-up Error 0 0 0 E.83 SCE Serial Communication Failure 0 0 0 E.84 FbE Parameter Breakdown 0 0 0 E.85 CdE Servo Drive Capacity Error 0 0 0 127
Page 1 and 2:
Maximum Value for OEMs SM CSDP Plus
Page 3 and 4:
Contents 1. Introduction...........
Page 5 and 6:
SEt-32 Brake Inactive Delay Time Af
Page 7 and 8:
A brief introduction to the manual
Page 9 and 10:
1 Introduction Functionality CSDP P
Page 11 and 12:
The models with the same appearance
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The performance specifications of C
Page 15:
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
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Please select the position control
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The speed reduction ratio is the ra
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If the distance to move with one pu
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Position Error Range Set the positi
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Speed Command Speed Control Wiring
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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 and 112: As shown below, executing command i
Page 113 and 114: Speed Limiting Method Selection Ple
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: If the voltage of the external batt
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
Page 163 and 164: When the second digit of SEt-50 is
Page 165 and 166: SEt-53 Motor Capacity • Setting r
Page 167 and 168: SEt-57 Position Error for Speed Int
Page 169 and 170: Put 3 in the second digit of SEt-62
Page 171 and 172: ATTENTION If inertia ratio is set,
Page 173 and 174: 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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195
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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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203
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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

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