CSDP Plus Servo Drive User Manual

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Offline Auto Tuning Offline Auto Tuning automatically detects inertia ratio, friction coefficient, and resonance frequency, and sets basic gains accordingly. Please set SEt-69 as below according to the type of the system. System Type SEt-69 Low Rigidity (Belt) 20 Medium Stiffness 30 High Rigidity (Ball Screw) 45 The execution procedure of offline auto tuning is as below. 1. Offline autotuning (USr-02) is executed automatically. 2. Inertia ratio and system gain are automatically set. 3. 5 different basic gains are automatically set. 4. The response of drive will be improved. The value set on the third digit of SEt-58 represents 100 RPM. For instance, if the set value is 8, it means 800 RPM. Revolution speed can be set at offline auto tuning. Inertia ratio (SEt-66) can be directly set by the user. Online Auto Tuning Online auto tuning is used when the load constantly changes during operation. It constantly changes the gain value according to the status of the load in order to maintain response of the system even if the status of the load changes. In the following cases, offline auto tuning is better than online auto tuning. • When the inertia ratio of the load changes minutely or rapidly during operation. • When the inertia ratio of the load alternates between two values • When a large torque is not generated during the operation because the acceleration or deceleration time is too long, or the maximum revolving speed limit or torque limit is set low. 88
Setting Tuning Coefficient on online To use online auto tuning, set the coefficient at the fourth digit of SEt-58. Setting range is 0 to 9. If the fourth position 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. While online auto tuning is being used, please raise system gain (SEt- 42) if the response of the control loop drops and lower it if the system makes noise or vibrates. Gain <strong>Manual</strong> Set-up To set up gains manually, please follow the command below. 1. Set the inertia ratio and system gain automatically executing offline auto tuning. 2. If the response of control loop is lowered, raise the system gain value. If the load system makes noise or vibrates, lower the set value until vibration or noise stops. If the load system is not composed of optimum combination by 1 and 2 above, adjust the gain minutely as 3, 4 and 5 hereunder. 3. Fine tune the value of each basic gain. (Speed loop proportional gain, Speed loop integral gain, Position loop proportional gain, Torque command Filter, Speed command Filter) 4. Fine tune the value of each applied gain. (Position command filter, Vibration suppression filter, Position feedforward gain, Position feedforward filter) 5. Set the four parameter required for tuning. (P control shift switch, P control shift reference value, Speed bias application range, Speed bias amount) If the response drops after offline auto tuning, raise the system bandwidth (SEt-69) a little and run offline auto tuning again. Secure the maximum response by raising the system gain (Set-42) to the level before vibration or noise starts. When the maximum response is secure while the inertia ratio (SEt-66) is set accurately and the load system has no vibration or noise, the system gain can be set as high as possible and becomes the bandwidth of the overall speed control loop. 89
Page 1 and 2:
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
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: If position-related gains alone are
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
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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
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SEt-23 Encoder Output Ratio Numerat
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SEt-26 Internal Speed Command 1 Int
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ATTENTION The brake mounted on the
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SEt-33 Following Error Level • Se
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SEt-37 Electronic Gear Ratio Denomi
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SEt-42 System Gain • Setting rang
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SEt-44(1) Dynamic Brake • Setting
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SEt-44(4) Encoder Output Pulse Dire
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Forward direction is counterclockwi
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Open Collector Input SEt-46(4) Spee
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When the second digit of SEt-50 is
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SEt-53 Motor Capacity • Setting r
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SEt-57 Position Error for Speed Int
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Put 3 in the second digit of SEt-62
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ATTENTION If inertia ratio is set,
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SEt-75 Overload Curve Level • Set
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SEt-79 Internal Speed Command 4 •
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Appendix B Motor Specifications CSM
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Speed Torque Curve 181
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CSMS Motor Specifications CSMS Moto
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Speed Torque Curve 185
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CSMH Motor Specifications CSMH Moto
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189
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Item Specifications Item Specificat
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CSMK Motor Specifications CSMK Moto
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Brake Specifications RSMD Motor Bra
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RSMS Motor Specifications RSMS Moto
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RSMH Motor Specifications RSMH Moto
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Brake Specifications RSMF Motor Bra
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RSMK Motor Specifications RSMK Moto
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Brake Specifications RSML Motor Bra
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RSMN Motor Specifications RSMN Moto
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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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CSDP Plus Servo Drive User Manual

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