CSDP Plus Servo Drive User Manual

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SEt-51 Encoder Type • Setting range: 0 x 0 to 0 x 109 • Factory Default: 0 x 100 • Change while the servo is OFF, and turn off the power and turn it back on Encoder Type Setting Motor Type Encoder Type setting CSMD, CSMF, CSMH, CSMK, CSMS RSMD, RSMF, RSMH, RSMK, RSML, RSMN, RSMS, RSMX SEt-52 Motor Type A 2500 P/R Inc. (11 -wire) 100 B 2500 P/R Inc. (15-wire) 101 D 1000 P/R Inc. (15-wire) 102 H 2048 P/R Compact Abs. 104 M 10000 P/R Inc. (15 -wire) 106 A 2500 P/R Inc. (9 -wire) 107 K 5000 P/R Inc. (15 -wire) 103 L 6000 P/R Inc. (15 -wire) 105 M 10000 P/R Inc. (15 -wire) 106 H 2048 P/R Compact Abs. 104 Q 17 bit Serial Abs. 108 R 17 bit Serial Inc. 109 • Setting range: 2222 to 2472 • Factory Default: 2312 • Change while the servo is OFF, and turn off the power and turn it back on Motor Type Setting Motor setting CSMS 2222 CSMD 2312 CSMH 2322 CSMF 2332 CSMK 2342 RSMS 2402 RSMD 2412 RSMH 2422 RSMF 2432 RSMK 2442 RSML 2452 RSMN 2462 RSMX 2472 166
SEt-53 Motor Capacity • Setting range: 100 to 600 10W • Factory Default: 150 • Change while the servo is OFF, and turn off the power and turn it back on Motor Capacity Setting 1.2kW 1.3kW 1.5kW 2.0kW 2.5kW 3.0kW 3.5kW 4.0kW 4.5kW 5.0kW 6.0kW CSMD - - 150 200 250 300 350 400 450 500 - CSMF - - 150 - 250 - 350 - 450 - - CSMH - - 150 200 - 300 - 400 - 500 - CSMK 120 - - 200 - 300 - - 450 - 600 CSMS - - 150 200 250 300 350 400 450 500 - RSMD - - 150 200 250 300 350 400 450 500 - RSMF - - 150 - 250 - 350 - 450 - - RSMH - - 150 200 - 300 - 400 - 500 - RSMK 120 - - 200 - 300 - - 450 - 600 RSML 120 - - 200 - 300 - - 450 - 600 RSMN 120 - - 200 - 300 RSMS - - 150 200 250 300 350 400 450 500 - RSMX - 130 - 180 - 290 - - 440 - - SEt-54 Speed Integral Gain Auto Adjustment • Setting range: 0 x 0 to 0 x 193 • <strong>User</strong> Default: 0 x 0 • Changes while the servo is OFF When /P-CON is ON, this parameter limits the integral value of the speed error and suppress the speed overshoot. Therefore, position completition becomes fast in the position control. The set value is displayed in three digits and the function of each decimal digit will be applied in combination. Adjusting method will be set at the first digit. The set values are as follows. 0: Previous integral value Use 1: Auto adjustment by the reference of torque feedback value (SEt-55) 2: Auto adjustment by the reference of speed command value (SEt-56) 3: Auto adjustment by the reference of position error (SEt-57) 167
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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
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When the motor needs to stop during
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Please set the brake output waiting
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Regenerative Resistor When the oper
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This picture shows the case where a
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K M ( EL + ER + EC ) EG E = E − +
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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 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: When the second digit of SEt-50 is
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
Page 187 and 188: 189
Page 189 and 190: Item Specifications Item Specificat
Page 191 and 192: CSMK Motor Specifications CSMK Moto
Page 193 and 194: 195
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
Page 201 and 202: 203
Page 203 and 204: Brake Specifications RSMF Motor Bra
Page 205 and 206: RSMK Motor Specifications RSMK Moto
Page 207 and 208: 209
Page 209 and 210: Brake Specifications RSML Motor Bra
Page 211 and 212: RSMN Motor Specifications RSMN Moto
Page 213 and 214: 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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