CSD5 Servo Drive

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ii Pulse Command Input Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16 Analog Voltage Input Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17 Sequence Input Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-18 Emergency Stop Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19 (I/O) Output Circuit and Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20 Line Drive Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20 Photo-Coupler Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20 Encoder Wiring (Motor Feedback) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22 Pin Arrangement of Motor Feedback. . . . . . . . . . . . . . . . . . . . . . . . . . 3-22 Terminal Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23 Encoder Signal Process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-24 General Articles Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-27 Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-27 Capacity of the Drive and Fuse. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-28 Noise Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-29 Wiring when Using Several Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-33 Connection to Peripheral Equipment. . . . . . . . . . . . . . . . . . . . . . . . . . 3-34 Operator, Basic Setting and Startup Chapter 4 Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1 About Servo-ON Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1 Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4 Name and Function of Each Part . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4 Icons for the Key Buttons. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4 Structure of the Entire Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5 Status Display Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7 Overview of the Parameter Setting Mode . . . . . . . . . . . . . . . . . . . . . . . 4-9 Overview of the Monitor Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10 Overview of the Operation Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11 Basic Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12 Overview of the Basic Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12 Control Mode Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13 Motor Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16 Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-21 Before Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-21 Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-21 Chapter 5 Function for Control Mode Sequence I/O (Input/Output) Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1 What is Sequence I/O Signal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1 Function of Input Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2 Function of Output Signal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4 Input Signal Allocation Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5 Output Signal Allocation Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7 Notice for Signal Allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8 Position Control Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10 Standard Wiring Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11
iii Position Command Pulse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11 Position Command Pulse Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-15 Electrical Specifications of Position Command Pulse . . . . . . . . . . . . . 5-17 Electronic Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18 Position Error Clear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25 Pulse Command Inhibition Input . . . . . . . . . . . . . . . . . . . 5-25 Expansion of Electronic Gear Setting . . . . . . . . . . . . . . . . . . . . . . . . . 5-26 The Second Group of Electronic Gear Input . . . . . . . . . 5-27 Position Completion Signal Detection , Approach Signal Detection Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-28 Output Width of Allowable Position Error . . . . . . . . . . . . . . . . . . . . . 5-31 Input / Output Signal Timing Diagram . . . . . . . . . . . . . . . . . . . . . . . . 5-31 Speed Control Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-32 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-32 Standard Wiring Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-33 Speed Command Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-34 Zero Clamp Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-35 Rotation Direction Switch Input . . . . . . . . . . . . . . . . . . . 5-36 Motor Rotation Start/Stop Input. . . . . . . . . . . . . . . . . . . 5-37 Speed Coincidence Output Signal . . . . . . . . . . . . . . . . . 5-38 Rotation Detection Output . . . . . . . . . . . . . . . . . . . . . . 5-39 Speed Limit Function and Speed Limit Detection Output . . . 5-41 Torque Control Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-43 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-43 Standard Wiring Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-44 Torque Command Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-44 Torque Limit and Torque Limit Detection Output . . . . 5-46 Multi-Step Speed Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-51 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-51 Standard Wiring Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-52 Multi-Step Speed Command Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . 5-52 Mixed Control Mode and Function. . . . . . . . . . . . . . . . . . . . . 5-56 Chapter 6 Tuning by Gain Setting Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1 Mark Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1 Gain Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1 Inertia Ratio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4 Gain Setting Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5 Auto Gain Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8 Auto Tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8 Off-line Auto Tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8 On-line Auto Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10 On-line Vibration Suppression . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11 Online Vibration Suppression Gain Setting . . . . . . . . . . . . . . . . . . . . . 6-13 Manual Gain Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-14 Gain Setting Flowchart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-14 Basic Gain Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-15 Position, Speed, Torque Related Gain Setting. . . . . . . . . . . . . . . . . . . . . . . 6-18
Page 1 and 2: CSD5 Servo Drive User Manual Catalo
Page 3 and 4: Summary of Change You will see chan
Page 5: Table Of Contents Summary of Change
Page 9 and 10: v Inspection and Protection Functio
Page 11 and 12: Preface Read this preface to famili
Page 13 and 14: Preface P-3 Combinational control m
Page 15 and 16: Preface P-5 Manual Description Orde
Page 17 and 18: Preface P-7 Installation and Wiring
Page 19 and 20: Chapter 1 Before Using the CSD5 Ser
Page 21 and 22: Before Using the CSD5 Servo Drive 1
Page 23 and 24: Chapter 2 Installation This chapter
Page 25 and 26: Installation 2-3 Use the Drive in a
Page 27 and 28: Chapter 3 Wiring This chapter descr
Page 29 and 30: Wiring 3-3 Table 3.1 Electric Circu
Page 31 and 32: Wiring 3-5 Electric Circuit Diagram
Page 33 and 34: Wiring 3-7 CAUTION Insert the wire
Page 35 and 36: Wiring 3-9 Table 3.2 (I/O) Pin Arra
Page 37 and 38: Wiring 3-11 Table 3.3 I/O Sequence
Page 39 and 40: Wiring 3-13 (I/O) Output Signal Seq
Page 41 and 42: Wiring 3-15 Encoder Z-pulse Display
Page 43 and 44: Wiring 3-17 • PULS+ (15), PULS- (
Page 45 and 46: Wiring 3-19 Whether to use the emer
Page 47 and 48: Wiring 3-21 Connect to the relay ci
Page 49 and 50: Wiring 3-23 Terminal Type The table
Page 51 and 52: Wiring 3-25 Serial encoder connecti
Page 53 and 54: Wiring 3-27 General Articles Wiring
Page 55 and 56: Wiring 3-29 Cut-off features: 200 [
Page 57 and 58:
Wiring 3-31 Separate the input and
Page 59 and 60:
Wiring 3-33 Wiring when Using Sever
Page 61 and 62:
Chapter 4 Operator, Basic Setting a
Page 63 and 64:
Operator, Basic Setting and Startup
Page 65 and 66:
Page 67 and 68:
Page 69 and 70:
Page 71 and 72:
Page 73 and 74:
Page 75 and 76:
Page 77 and 78:
Page 79 and 80:
Page 81 and 82:
Page 83 and 84:
Page 85 and 86:
Chapter 5 Function for Control Mode
Page 87 and 88:
Function for Control Mode 5-3 Table
Page 89 and 90:
Function for Control Mode 5-5 Table
Page 91 and 92:
Function for Control Mode 5-7 The t
Page 93 and 94:
Function for Control Mode 5-9 TIP
Page 95 and 96:
Function for Control Mode 5-11 Stan
Page 97 and 98:
Function for Control Mode 5-13 When
Page 99 and 100:
Function for Control Mode 5-15 Set
Page 101 and 102:
Function for Control Mode 5-17 Elec
Page 103 and 104:
Function for Control Mode 5-19 Redu
Page 105 and 106:
Function for Control Mode 5-21 Exam
Page 107 and 108:
Function for Control Mode 5-23 •
Page 109 and 110:
Page 111 and 112:
Function for Control Mode 5-27 Para
Page 113 and 114:
Function for Control Mode 5-29 Posi
Page 115 and 116:
Function for Control Mode 5-31 Outp
Page 117 and 118:
Page 119 and 120:
Page 121 and 122:
Function for Control Mode 5-37 Spee
Page 123 and 124:
Function for Control Mode 5-39 Ther
Page 125 and 126:
Function for Control Mode 5-41 Spee
Page 127 and 128:
Function for Control Mode 5-43 Torq
Page 129 and 130:
Function for Control Mode 5-45 Host
Page 131 and 132:
Function for Control Mode 5-47 Exte
Page 133 and 134:
Function for Control Mode 5-49 Caut
Page 135 and 136:
Function for Control Mode 5-51 Torq
Page 137 and 138:
Page 139 and 140:
Function for Control Mode 5-55 Tabl
Page 141 and 142:
Function for Control Mode 5-57 Mult
Page 143 and 144:
Function for Control Mode 5-59 Prec
Page 145 and 146:
Chapter 6 Tuning by Gain Setting Th
Page 147 and 148:
Tuning by Gain Setting 6-3 Applicab
Page 149 and 150:
Tuning by Gain Setting 6-5 Unit App
Page 151 and 152:
Tuning by Gain Setting 6-7 Gain Dia
Page 153 and 154:
Tuning by Gain Setting 6-9 After au
Page 155 and 156:
Tuning by Gain Setting 6-11 Precaut
Page 157 and 158:
Tuning by Gain Setting 6-13 Once th
Page 159 and 160:
Tuning by Gain Setting 6-15 Basic G
Page 161 and 162:
Tuning by Gain Setting 6-17 Paramet
Page 163 and 164:
Page 165 and 166:
Tuning by Gain Setting 6-21 Speed C
Page 167 and 168:
Tuning by Gain Setting 6-23 Speed C
Page 169 and 170:
Tuning by Gain Setting 6-25 Positio
Page 171 and 172:
Tuning by Gain Setting 6-27 Tip to
Page 173 and 174:
Page 175 and 176:
Tuning by Gain Setting 6-31 The fol
Page 177 and 178:
Tuning by Gain Setting 6-33 CAUTION
Page 179 and 180:
Tuning by Gain Setting 6-35 3. If i
Page 181 and 182:
Tuning by Gain Setting 6-37 Therefo
Page 183 and 184:
Tuning by Gain Setting 6-39 Categor
Page 185 and 186:
Chapter 7 Applications This chapter
Page 187 and 188:
Applications 7-3 The No. 4 pin of I
Page 189 and 190:
Applications 7-5 DB Stop Method Set
Page 191 and 192:
Applications 7-7 47 OUTPUT #3+ Rela
Page 193 and 194:
Applications 7-9 Parameter Paramete
Page 195 and 196:
Applications 7-11 Change the Motor
Page 197 and 198:
Applications 7-13 Acceleration and
Page 199 and 200:
Applications 7-15 The repeated freq
Page 201 and 202:
Applications 7-17 Setting for Smoot
Page 203 and 204:
Applications 7-19 Definition of S-c
Page 205 and 206:
Applications 7-21 Speed Limiting Fu
Page 207 and 208:
Applications 7-23 Accordingly, when
Page 209 and 210:
Applications 7-25 Setting Value •
Page 211 and 212:
Applications 7-27 The initial value
Page 213 and 214:
Applications 7-29 Parameter Paramet
Page 215 and 216:
Applications 7-31 Use of Absolute E
Page 217 and 218:
Applications 7-33 Battery Battery I
Page 219 and 220:
Applications 7-35 • When separate
Page 221 and 222:
Applications 7-37 Encoder Servo Dri
Page 223 and 224:
Applications 7-39 Multi-step rotati
Page 225 and 226:
Applications 7-41 Operation Mode Fu
Page 227 and 228:
Applications 7-43 Off-line Auto Tun
Page 229 and 230:
Applications 7-45 Operation Sequenc
Page 231 and 232:
Applications 7-47 Operation Sequenc
Page 233 and 234:
Applications 7-49 Alarm Reset (run-
Page 235 and 236:
Applications 7-51 How to Operate Re
Page 237 and 238:
Applications 7-53 Table 7.9 Monitor
Page 239 and 240:
Applications 7-55 Table 7.9 Monitor
Page 241 and 242:
Chapter 8 Inspection and Protection
Page 243 and 244:
Inspection and Protection Functions
Page 245 and 246:
Page 247 and 248:
Page 249 and 250:
Page 251 and 252:
Appedix B Parameter Group Parameter
Page 253 and 254:
Parameter Group B-3 Reserved 0021 -
Page 255 and 256:
Parameter Group B-5 Current Regulat
Page 257 and 258:
Parameter Group B-7 Preset Velocity
Page 259 and 260:
Parameter Group B-9 Disabled Brakin
Page 261 and 262:
Parameter Group B-11 Range Value De
Page 263 and 264:
Page 265 and 266:
Parameter Group B-15 Applicable Ope
Page 267 and 268:
Parameter Group B-17 Range for All
Page 269 and 270:
Parameter Group B-19 Allocation of
Page 271 and 272:
Page 273 and 274:
Parameter Group B-23 1 Index Select
Page 275 and 276:
Parameter Group B-25 Description Ru
Page 277 and 278:
Parameter Group B-27 When Enabled I
Page 279 and 280:
Page 281 and 282:
Parameter Group B-31 Description
Page 283 and 284:
Parameter Group B-33 On-line Vibrat
Page 285 and 286:
Parameter Group B-35 2 nd Velocity
Page 287 and 288:
Parameter Group B-37 3 rd Position
Page 289 and 290:
Parameter Group B-39 4 th Velocity
Page 291 and 292:
Parameter Group B-41 Range 0~5,000
Page 293 and 294:
Parameter Group B-43 Preset Velocit
Page 295 and 296:
Page 297 and 298:
Parameter Group B-47 Range 1~32768
Page 299 and 300:
Parameter Group B-49 Initial Value
Page 301 and 302:
Page 303 and 304:
Page 305 and 306:
Page 307 and 308:
Parameter Group B-57 Creep Velocity
Page 309 and 310:
Parameter Group B-59 Indexing Gorup
Page 311 and 312:
Parameter Group B-61 : : : : : : :
Page 313 and 314:
Parameter Group B-63 Description If
Page 315 and 316:
Page 317 and 318:
Page 319 and 320:
Parameter Group B-69 • Errors are
Page 321 and 322:
Parameter Group B-71 Table E Error
Page 323 and 324:
Parameter Group B-73 Table E Error
Page 325 and 326:
Appendix C Specification and Exteri
Page 327 and 328:
Specification and Exterior Size C-3
Page 329 and 330:
Specification and Exterior Size C-5
Page 331 and 332:
Appendix D Cable Specification PC C
Page 333 and 334:
Appendix E I/O Setting and Indexing
Page 335 and 336:
I/O Setting and Indexing E-5 Sequen
Page 337 and 338:
I/O Setting and Indexing E-7 I/O Se
Page 339 and 340:
I/O Setting and Indexing E-9 I/O Si
Page 341 and 342:
I/O Setting and Indexing E-11 PAUSE
Page 343 and 344:
I/O Setting and Indexing E-13 STOP
Page 345 and 346:
I/O Setting and Indexing E-15 Index
Page 347 and 348:
I/O Setting and Indexing E-17 Start
Page 349 and 350:
I/O Setting and Indexing E-19 Homin
Page 351 and 352:
I/O Setting and Indexing E-21 Homin
Page 353 and 354:
I/O Setting and Indexing E-23 Veloc
Page 355 and 356:
I/O Setting and Indexing E-25 Speed
Page 357 and 358:
I/O Setting and Indexing E-27 Movin
Page 359 and 360:
I/O Setting and Indexing E-29 RUN S
Page 361 and 362:
I/O Setting and Indexing E-31 31 CS
Page 363:
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