CSDP Plus Servo Drive User Manual

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If a sudden excessive current flows through the servo drive or the main circuit fails, this alarm will occur. Check the power supply and increase acceleration/ deceleration time. If the over current flows through the servo drive or the main circuit fails, this alarm will occur. Check the power supply and increase acceleration/ deceleration time. If the ambient temperature is 55° C or higher, IPM unit failed, or the power supply is low voltage, this alarm can occur. Check the power supply and lower the ambient temperature. If the torque feedback continues with the maximum torque for several seconds, this alarm can occur. Check the load condition, power supply and motor capacity, and increase acceleration /deceleration time. If 115% or more torque feedback continues for several seconds, this alarm can occur. Check the load condition, power supply and motor capacity, and increase acceleration /deceleration time. If the temperature of heatsink plate of servo drive is over about 95±10° C, this alarm will occur. Check the power supply and lower the ambient temperature. If the power cable of the motor is not connected, this alarm will occur. Connect the motor power cable to the motor and the servo drive properly. If drive capacity is exceeded, this alarm will occur . Check the load condition of the power supply. If the servo drive is overloaded, this alarm will occur. Check the load condition of the servo drive. 128
If the encoder cable is not connected, this alarm will occur. Connect the encoder cable to the encoder and the servo drive properly. If the motor revolves quickly when the main power supply of the servo drive is shut down during normal operation and the encoder works with the external battery, this alarm can occur. If the motor revolves quickly while the power is not supplied to the absolute encoder, the multirevolution data of the absolute encoder will have an error and this alarm will occur. Set the multirevolution data of the absolute encoder at 0. If a pulse error exceeding the overflow Level (SEt-33) is made, gain is too low or the external load is too big, this alarm occurs. Lower the input frequency, and raise feed forward gain (SEt-34) and speed gain (SEt-02, SEt-03) and position gain (SEt-04). If the absolute encoder data has an error, this error occurs. Turn off and turn on the power again or reset the alarm. If the main condenser of the absolute encoder is low voltage, this alarm occurs. Reset the system after one minute while the power is connected. Then the multi-revolution of the absolute encoder will be reset to be 0. If the encoder power is disconnected or the encoder type set-up (SEt-51) is wrong, this alarm occurs. Check the encoder power and set up the encoder type properly. If there is a communication failure between the servo drive and the absolute encoder, this alarm occurs. Check the wiring of the encoder and if there is nothing wrong, replace the motor with the new one. If the EEPROM of the encoder has an error, this alarm occurs. 129
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
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1 Introduction Functionality CSDP P
Page 11 and 12:
The models with the same appearance
Page 13 and 14:
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
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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 and 124: If the voltage of the external batt
Page 125: The servo drive can notify the cont
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
Page 175 and 176: 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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