CSDP Plus Servo Drive User Manual

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If all the different load conditions are categorized into two, the primary gains and the secondary gains, the response of different load conditions can be satisfied. /To use /G-SEL signal, please set the optimum gain under the no-load condition. And then set the optimum gain in a situation with a load. And then let the /G-SEL signal be input in both conditions where a load exists or not. ATTENTION When the gain alternation function is used, online auto tuning cannot be carried out. 100
6 Application Motor Stop The servo drive aborts the operation and stops the motor under the following circumstances except for the case where the motor is stopped by normal operation. • <strong>Servo</strong> Alarm Occurs • Overtravel Occurs The methods to stop the motor can be set up depending on the reasons for the stoppage. • Stop by dynamic brake • Control stop as in normal operation Overtravel If the load moves out of the movement range during operation, the load system can be damaged. The breakage of the load system can be prevented by installing limit sensors at the end of the movement range. Please make sure the load can move within the range that won’t touch the sensors during operation. If the load moves out of the movement range and the sensor generates a signal because of an unknown error, the servo drive can stop the motor and protect the load system. The signal emitted from the limit sensors while the motor revolves in the forward direction is the P-OT signal, and is the N-OT signal while the motor revolves in the reverse direction. 101
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
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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
Page 32 and 33:
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
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If the revolution speed of the moto
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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: The set-up sequence of the default
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
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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
Page 181 and 182:
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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195
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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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203
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Brake Specifications RSMF Motor Bra
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RSMK Motor Specifications RSMK Moto
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209
Page 209 and 210:
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
Page 235 and 236:
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
Page 243 and 244:
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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