CSDP Plus Servo Drive User Manual

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6. Application ............................................................. 101 Motor Stop.................................................................................................. 101 Motor Brake ................................................................................................ 103 Motor Revolving Direction ........................................................................ 106 Regenerative Resistor ................................................................................ 107 Set-up for Smooth Operation.................................................................... 112 Speed Limit................................................................................................. 114 Position Feedback to the Controller.......................................................... 115 Analog Monitor .......................................................................................... 117 Absolute Encoder ....................................................................................... 119 7. Troubleshooting ..................................................... 123 Check ........................................................................................................... 123 Servo Drive Failure..................................................................................... 124 A. Parameter .............................................................. 133 SEt-01 Speed Command Gain................................................................... 133 SEt-02 Speed Loop Proportional Gain...................................................... 134 SEt-03 Speed Loop Integral Gain.............................................................. 135 SEt-04 Position Loop Proportional Gain................................................... 135 SEt-05 External Torque Command Gain................................................... 135 SEt-06 Torque Command Filter ................................................................. 136 SEt-07 Position Feedforward Filter ........................................................... 137 SEt-08 DA Monitor Channel 1 Scale ......................................................... 137 SEt-09 DA Monitor Channel 2 Scale ......................................................... 138 SEt-10 Forward Internal Torque Limits..................................................... 138 SEt-11 Reverse Internal Torque Limits ..................................................... 139 SEt-12 Forward External Torque Limits.................................................... 139 SEt-13 Reverse External Torque Limits .................................................... 139 SEt-14 Forward Emergency Stop Torque ................................................ 139 SEt-15 Reverse Emergency Stop Torque ................................................. 140 SEt-16 TG-ON Speed Level........................................................................ 140 SEt-17 Zero Clamp Level ........................................................................... 141 SEt-18 In Speed/In Position Range ........................................................... 142 SEt-19 Acceleration Time........................................................................... 142 SEt-20 Deceleration Time........................................................................... 143 SEt-21 S-Curve Operation Time ................................................................ 143 SEt-22 Near Position Range ...................................................................... 144 SEt-23 Encoder Output Ratio Numerator ................................................. 145 SEt-24 Encoder Output Ratio Denominator ............................................. 146 SEt-25 Jog Command Speed .................................................................... 146 SEt-26 Internal Speed Command 1........................................................... 147 SEt-27 Internal Speed Command 2........................................................... 148 SEt-28 Internal Speed Command 3........................................................... 148 SEt-29 Servo OFF Delay Time ................................................................... 148 SEt-30 Braking Application Speed After Servo OFF................................ 149 SEt-31 Brake Active Delay Time After Servo OFF.................................... 150 4
SEt-32 Brake Inactive Delay Time After Servo ON .................................. 150 SEt-33 Following Error Level..................................................................... 151 SEt-34 Position Feedforward Gain............................................................ 151 SEt-35 Position Command Filter ............................................................... 151 SEt-36 Electronic Gear Ratio Numerator.................................................. 152 SEt-37 Electronic Gear Ratio Denominator .............................................. 153 SEt-38 Speed Bias ...................................................................................... 153 SEt-39 Speed Bias Application Range ...................................................... 153 SEt-40 Speed Command Filter .................................................................. 154 SEt-41 Control Mode Selection ................................................................. 154 SEt-42 System Gain ................................................................................... 155 SEt-43(1) Servo Enable Method ................................................................ 155 SEt-43(2) P-OT Signal Function Selection ................................................ 156 SEt-43(3) N-OT Signal Function Selection ............................................... 156 SEt-43(4) TG-ON Signal Function Selection............................................. 156 SEt-44(1) Dynamic Brake ........................................................................... 157 SEt-44(2) Dynamic Brake After the Motor Stopped................................. 158 SEt-44(3) Emergency Stop Method .......................................................... 158 SEt-44(4) Encoder Output Pulse Direction ............................................... 159 SEt-45(1) Main Power Supply Type .......................................................... 159 SEt-45(2) Speed Command Offset Auto Adjustment .............................. 160 SEt-45(3) Speed Limit Method .................................................................. 160 SEt-45(4) Motor Revolving Direction ........................................................ 160 SEt-46(1) Position Command Pulse Type................................................. 161 SEt-46(2) Speed Command Unit ............................................................... 162 SEt-46(3) Position Command Input Circuit Type ..................................... 162 SEt-46(4) Speed Observer Selection......................................................... 163 SEt-47 Notch Filter ..................................................................................... 163 SEt-48 Password......................................................................................... 163 SEt-50 (1) Serial Encoder Type.................................................................. 164 SEt-50 (2) In/Output Signal Status Display............................................... 164 SEt-50 (3) Parameter Fixiation................................................................... 165 SEt-50 (4) Parameter Initialization Type ................................................... 165 SEt-51 Encoder Type .................................................................................. 166 SEt-52 Motor Type...................................................................................... 166 SEt-53 Motor Capacity ............................................................................... 167 SEt-54 Speed Integral Gain Auto Adjustment ......................................... 167 SEt-55 Torque-Command for Speed Integral Gain Auto Adjustment.... 168 SEt-56 Speed Command for Speed Integral Gain Auto Adjustment ..... 168 SEt-57 Position Error for Speed Integral Gain Auto Adjustment ........... 169 SEt-58 Auto Tuning Speed......................................................................... 169 SEt-59 Input Signal Assignment 1 ............................................................ 170 SEt-60 Input Signal Assignment 2 ............................................................ 171 SEt-61 Input Signal Assignment 3 ............................................................ 171 SEt-62 Input Signal Assignment 4 ............................................................ 171 SEt-63 Input Signal Assignment 5 ............................................................ 171 5
Page 1 and 2: Maximum Value for OEMs SM CSDP Plus
Page 3: Contents 1. Introduction...........
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.
Page 18 and 19: Please do not put stress on the ele
Page 20 and 21: Servo Drive Installation Please che
Page 22 and 23: Please follow the command below to
Page 24 and 25: Wiring Specifications Signal line I
Page 26 and 27: CN1 CN2 Connect the single-phase vo
Page 28 and 29: Connection with Controller Connect
Page 30 and 31: 32 Higher Control Connector (CN1) C
Page 32 and 33: Please See "Cable Specifications" i
Page 34 and 35: Encoder Connector Specifications Mo
Page 36 and 37: Grounding, Wiring Please separate t
Page 39 and 40: 3 Operation Overview You can instan
Page 41 and 42: For instance, if you want to set up
Page 43 and 44: If the revolution speed of the moto
Page 45 and 46: Monitor Number List No. Contents (U
Page 47 and 48: Jog Operation The revolution will c
Page 49 and 50: Current Offset Adjustment To adjust
Page 51 and 52: Parameter Initialization To return
Page 53 and 54: SEt-51 Set-up Value Please select t
Page 55 and 56:
4 Control Overview Input signal is
Page 57 and 58:
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
Page 63 and 64:
The speed reduction ratio is the ra
Page 65 and 66:
If the distance to move with one pu
Page 67 and 68:
Position Error Range Set the positi
Page 69 and 70:
Speed Command Speed Control Wiring
Page 71 and 72:
If the CN1 connector pins where the
Page 73 and 74:
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 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 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 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
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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