CSDP Plus Servo Drive User Manual

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The value on the second digit is applied in the following way. Value on the second digit x 0.1 x Speed integral gain The set value on the third digit is shown below. 0: Previous Torque Command Use 1: Add Speed Command Feed Forward Value to Torque Command SEt-55 Torque-Command for Speed Integral Gain Auto Adjustment • Setting range: 0 to 300% • User Default: 100 • Changes while the servo is OFF If the torque feedback exceeds the set value of this parameter, speed integral gain will be automatically adjusted. This setting is effective when activating a frictionless disk load. But if the torque is higher than the set value of this parameter during normal speed operation, there can be speed error. Set this parameter higher than the torque when the motor stops. SEt-56 Speed Command for Speed Integral Gain Auto Adjustment • Setting range: 0 to 3000 RPM • User Default: 100 • Changes while the servo is OFF If the motor speed exceeds the set value of this parameter, speed integral gain will be automatically adjusted. This setting is effective for the load with friction. The integral value will be automatically adjusted based on the set value of the speed command. There can be speed offset if the speed exceeds the set value. 168
SEt-57 Position Error for Speed Integral Gain Auto Adjustment • Setting range: 0 to 10000 pulse • User Default: 100 • Changes while the servo is OFF If the position error exceeds the set value of this parameter, the speed integral gain will be automatically adjusted. This setting is effective for the load with friction. SEt-58 Auto Tuning Speed • Setting range: 0 x 0200 to 0 x 9900 RPM • User Default: 0 x 0700 • Changes while the servo is OFF In the caseusing the online auto tuning, set the tuning coefficient on the fourth digit of SEt-58. Setting range is 0 x 0000 to 0 x 9000, initial value is 0x0. If the fourth digit is not 0, online auto tuning function will be used. As the value is set higher, the system becomes more sensitive to load fluctuation. ATTENTION If the load fluctuates radiply, online auto tuning coefficient needs to be set high, but caution is needed because the system can be momentarily unstable in an environment where the load fluctuates excessively. Set value on the third digit of SEt-58 is the revolution speed used in offline auto tuning. For instance, if the setting value is 8, it revolves forward and reverse 3 times when autotuned with 800 RPM. 169
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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
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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 and 164: When the second digit of SEt-50 is
Page 165: SEt-53 Motor Capacity • Setting r
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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Page 203 and 204: Brake Specifications RSMF Motor Bra
Page 205 and 206: RSMK Motor Specifications RSMK Moto
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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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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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