CSDP Plus Servo Drive User Manual

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RSML Motor Specifications RSML Motor Basic Specifications Relevant <strong>Drive</strong> <strong>CSDP</strong>- 15BX2 20BX2 30BX2 50BX2 Rated Voltage V 220 Rated Power kW 1.2 2.0 3.0 4.5 6.0 Rated Torque Maximum Instantaneous Torque Kgf . cm N:M Kgf . cm N:M 117 11.5 286 28 198 19.1 449 44 290 28.4 650 63.7 Rated Revolving Speed RPM 1000 Maximum Revolving Speed RPM 2000 ROTOR INERTIA ROTOR INERTIA (WHEN BRAKE IS ATTACHED) gf . cm . s 2 64.5 Kg . m 2. 10 -4 63.3 gf . cm . s 2 70.4 Kg . m 2. 10 -4 69.1 97.9 96.1 103.9 102.0 133.6 131.1 139.8 137.1 437 42.9 1091 107 204.5 200.6 210.6 206.6 583 57.2 1315 129 255.1 250.0 261.2 256.0 POWER RATE kW/s 21.3 38.8 62.8 94 133 Mechanical Time Parameter ms 1.95 2.3 1.69 1.77 1.58 Electrical Time Parameter ms 31 31 40 42 45 Rated Current A (rms) 11.6 18.5 24.0 33.0 47.0 Maximum Instant Current A (rms) 40.0 60 80.0 118 155 Axial Play mm MAX 0.3 Weight (WHEN BRAKE IS ATTACHED) Revolving Direction Color Oil Seal Kg 15.5 19.0 17.5 21.0 25 29 U → V → W: CW Black Embedded 34 39.5 41 47 Item Specifications Item Specifications Wiring Method Y Wiring Time Rating Continuous Use Operating Temperature Range 0 to +40 °C Insulation Grade B Grade Storage Temperature Range -20 to +80 °C Dielectric Voltage 1500V AC 60 sec. 1800V AC 1 sec. Insulation resistance 500V DC 20 MΩ Dielectric Voltage (Brake) 1200V AC 1 sec. Number of Poles 8 Poles Excitation Method Permanent Magnet Vibration 49 m/s 2 When Stopped 24.5 m/s 2 During Operation Mounting Method Shock 98 m/s 2 Operating Humidity FLANGE 85% or less (Non-Condensing) 210
Brake Specifications RSML Motor Brake Specifications RSML- 12B to 60B Friction Torque nm 25 Rotor INERTIA Kg . m 2 .10 -4 4.7 Brake Pull In Time ms 160 Brake Release Time ms 75 Release Voltage V DC 2 (at 20° C) Rated Voltage V DC 24 ±2.4 Rated Current A 1.287 Allowed Brake Energy J 1800 Overall Allowed Brake Energy J 3.0 × 10 6 Speed Torque Curve 211
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
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
Page 22 and 23:
Please follow the command below to
Page 24 and 25:
Wiring Specifications Signal line I
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CN1 CN2 Connect the single-phase vo
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Connection with Controller Connect
Page 30 and 31:
32 Higher Control Connector (CN1) C
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Please See "Cable Specifications" i
Page 34 and 35:
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
Page 43 and 44:
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
Page 49 and 50:
Current Offset Adjustment To adjust
Page 51 and 52:
Parameter Initialization To return
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SEt-51 Set-up Value Please select t
Page 55 and 56:
4 Control Overview Input signal is
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For instance, put 7 in the fourth d
Page 59 and 60:
Three types of command are inputed
Page 61 and 62:
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
Page 69 and 70:
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
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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
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
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Speed Limiting Method Selection Ple
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Even when the motor is revolving at
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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
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If the voltage of the external batt
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The servo drive can notify the cont
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If the encoder cable is not connect
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If there is an error with the memor
Page 131 and 132:
Appendix A Parameter ATTENTION To c
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SEt-03 Speed Loop Integral Gain •
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SEt-07 Position Feedforward Filter
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SEt-11 Reverse Internal Torque Limi
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SEt-17 Zero Clamp Level • Setting
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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
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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 •
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: 209
Page 211 and 212: RSMN Motor Specifications RSMN Moto
Page 213 and 214: RSMX Motor Specifications RSMX Moto
Page 215 and 216: 217
Page 217 and 218: Model LL Brake Present Brake Absent
Page 219 and 220: RSMD, RSMF, RSMH, RSMK, RSML, RSMS
Page 221 and 222: Shaft End Size CSM Series Motor Sha
Page 223 and 224: Appendix C Cable Specifications Mot
Page 225 and 226: Encoder Cable CSMD, CSMF, CSMH, CSM
Page 227 and 228: I/O Cable CON-SCONN50PIN cable is u
Page 229 and 230: Motor Brake Cable CSMD, CSMF, CSMH,
Page 231 and 232: Appendix D Load Calculation ROLL Lo
Page 233 and 234: Minimum Acceleration Time (s) Minim
Page 235 and 236: Load Inertia Moment (kg . m 2 ) Min
Page 237 and 238: Movement Amount (m) Vl 2t s−ta
Page 239 and 240: Vertical BALL SCREW Load Mechanical
Page 241 and 242: Acceleration Torque Required (N . m
Page 243 and 244: Load Inertia Moment (kg . m 2 ) Min
Page 245 and 246: Disk Load Mechanical Configuration
Page 247 and 248: Index Sign /ABS-DT 4-58, 6-121, A-1
Page 249 and 250: Jog Operation Speed A-146 L Label 1
Page 251 and 252: Speed Bias Standard Range 5-85, 5-9
Page 254: CSDP Plus Servo Drive User Manual O
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CSDP Plus Servo Drive User Manual

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