CSDP Plus Servo Drive User Manual

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SEt-40 Speed Command Filter • Setting range: 0 to 40000 rad/s • User Default: 1000 • Changes anytime The set value of this parameter suppress the high frequency element of the speed command. SEt-41 Control Mode Selection • Setting range: 0 to 15 • Factory Default: 0 • Change while the servo is OFF, and turn off the power and turn it back on Control Mode List Setting Control Mode /C-SEL OFF /C-SEL ON 0 Position Mode 1 Speed Mode 10 Direction Change Speed Mode 12 Torque Limit Speed Mode 5 Zero Clamp Mode 2 Torque Mode 3 Multi-level Speed Mode 9 Speed Limit Torque Mode Speed Limit Torque Mode Torque Mode 6 Torque + Speed Mode Torque Mode Speed Mode 7 Position + Torque Mode Position Mode Torque Mode 8 Position + Speed Mode Position Mode Speed Mode 13 Position + Multi-level Speed Mode Position Mode 14 Speed + Multi-level Speed Mode Speed Mode 15 Torque + Multi-level Speed Mode Torque Mode Multi-level Speed Mode Multi-level Speed Mode Multi-level Speed Mode In the direction change speed mode /C-DIR signal changes the revolving direction of the motor. 154
SEt-42 System Gain • Setting range: 0 to 300 Hz • User Default: 40 • Changes anytime System gain is the same with the bandwidth of the overall speed control loop of the servo drive. This gain can control the five basic gains at the same time. Basic gain is categorized in five items that are essential for tuning. • Speed Loop Proportional Gain (Nms, SEt-02) • Speed Loop Integral Gain (Nms 2 , SEt-03) • Position Loop Proportional Gain (rad/s, SEt-04) • Torque Command Filter (rad/s, SEt-06) • Speed Command Filter (rad/s, SEt-40) When this parameter is set, the values of the basic gain will change after referring to the inertia ratio (SEt-66). ATTENTION The value set last has the highest priority in the gain setting. For instance, even if the system gain (SEt-42) is set and the value of the speed loop proportional gain changed, setting new speed loop proportional gain (SEt-02) will make the new value valid. As the valueis set higher, the response improves. But if the value is too high for the load condition, vibration or noise can be generated. SEt-43(1) Servo Enable Method • Setting range: 0 x 0 to 0 x 1 • User Default: 0 x 0 • Change while the servo is OFF, and turn off the power and turn it back on The set values are as follows. 0: Servo ON by the external input signal (SV-ON) 1: Always Servo ON 155
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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
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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
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If the torque command gain is 100%/
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Multi-level Speed Control Multi-lev
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Multi-level Speed Speed Parameter D
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Combination Control Position contro
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5 Tuning By Gain Adjustment Overvie
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If position-related gains alone are
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Setting Tuning Coefficient on onlin
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Please set torque command filter at
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To set up position control-related
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P/PI Mode Set-up Function By settin
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Set Value 0 Do not use P/PI mode sh
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The set-up sequence of the default
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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 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: SEt-37 Electronic Gear Ratio Denomi
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 •
Page 177 and 178: Appendix B Motor Specifications CSM
Page 179 and 180: Speed Torque Curve 181
Page 181 and 182: CSMS Motor Specifications CSMS Moto
Page 183 and 184: Speed Torque Curve 185
Page 185 and 186: CSMH Motor Specifications CSMH Moto
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Page 189 and 190: Item Specifications Item Specificat
Page 191 and 192: CSMK Motor Specifications CSMK Moto
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Page 195 and 196: Brake Specifications RSMD Motor Bra
Page 197 and 198: RSMS Motor Specifications RSMS Moto
Page 199 and 200: 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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