CSDP Plus Servo Drive User Manual

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SEt-64 Forward Torque Offset ................................................................... 172 SEt-65 Reverse Torque Offset.................................................................... 172 SEt-66 Load Inertia Ratio ........................................................................... 172 SEt-67 Speed Limit..................................................................................... 173 SEt-68 Maximum Torque Used ................................................................. 173 SEt-69 System Bandwidth ......................................................................... 173 SEt-71 DA Monitor Channel 1 Offset ........................................................ 174 SEt-72 DA Monitor Channel 1 Output Gain.............................................. 174 SEt-73 DA Monitor Channel 2 Offset ........................................................ 174 SEt-74 Monitor Channel 2 Output Gain.................................................... 174 SEt-75 Overload Curve Level..................................................................... 175 SEt-76 Output Signal Assignment 1 ......................................................... 175 SEt-77 Output Signal Assignment 2 ......................................................... 175 SEt-78 DA Monitor Channel Selection...................................................... 176 SEt-79 Internal Speed Command 4........................................................... 177 SEt-80 Internal Speed Command 5........................................................... 178 SEt-81 Internal Speed Command 6........................................................... 178 SEt-82 Internal Speed Command 7........................................................... 178 B. Motor Specifications.............................................. 179 CSMD Motor ............................................................................................... 179 CSMS Motor ............................................................................................... 183 CSMH Motor ............................................................................................... 187 CSMF Motor................................................................................................ 190 CSMK Motor ............................................................................................... 193 RSMD Motor ............................................................................................... 196 RSMS Motor ............................................................................................... 199 RSMH Motor ............................................................................................... 201 RSMF Motor................................................................................................ 204 RSMK Motor ............................................................................................... 207 RSML Motor................................................................................................ 210 RSMN Motor............................................................................................... 213 RSMX Motor ............................................................................................... 215 Motor Size................................................................................................... 218 C. Cable Specifications .............................................. 225 Motor 3-phase Power Supply Cable ......................................................... 225 Encoder Cable............................................................................................. 227 I/O Cable...................................................................................................... 229 Motor Brake Cable...................................................................................... 231 Communication Cable ............................................................................... 231 D. Load Calculation .................................................... 233 ROLL Load................................................................................................... 233 Timing Belt Load ........................................................................................ 236 Horizontal BALL SCREW Load .................................................................. 238 Vertical BALL SCREW Load ....................................................................... 241 RACK & PINION Load................................................................................. 244 Disk Load..................................................................................................... 247 6
A brief introduction to the manual is in this preface. The following contents are included in the preface. • User of the manual • Purpose of the manual • Reference • Symbols and Notations User of the manual This user’s manual explains the specifications, installation, wiring, operation, abnormal status assessment and troubleshooting, and maintenance of the CSDP Plus Servo Drive. This manual is made for the engineers who want to install, wire, and operate the CSDP Plus Servo Drive or apply the CSDP Plus Servo Drive to a control system. Those who do not have basic understanding of the CSDP Plus Servo Drive need to receive the product education provided by the before using the product. The purpose of the manual This manual explains the installation, configuration, operation, malfunction assessment, troubleshooting measures, and maintenance and repair of the CSDP Plus Servo Drive. The necessary wiring diagram and other installation guidelines are provided. Symbols and Notations The following symbols and notations are used in this manual. • Bullet points are used to provide multiple kinds of information. They are not used for sequential procedures. • Numbers are used to provide sequential procedures or hierarchical information. 7
Page 1 and 2: Maximum Value for OEMs SM CSDP Plus
Page 3 and 4: Contents 1. Introduction...........
Page 5: SEt-32 Brake Inactive Delay Time Af
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:
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