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CSD3 Plus Servo Drive User Manual

1. Do not apply continuous stress on the The servo motor can be mounted wire vertically or horizontally H The oil is applied to the shaft to The ground wire of the servo motor prevent it from rusting Remove it must be connected to the grounding before installing the servo motor terminal of the servo drive e T Publication CSD3P UM001E EN P February 2008 Installation 2 3 Coupling Assembly Avoid excessive instantaneous shocks An excessive shock during a A Y the coupling assembly damages the encoder V D Use the coupling assembly tools and assemble it properly Encoder Load Connection Align the connection shaft of motor and load each other After assembling coupling measure the concentricity of the motor shaft and the load shaft By rotating it at intervals of 90 degrees measure 4 positions and adjust it y so that the difference between the maximum and minimum value is less than 0 03 mm y If the centers of the axes are different it leads to i the major cause of performance degradation Allowable Load on the Shaft Loads in the motor shaft should be wit
2. CSD3 A5BX2 50 W CSD3 01BX2 100 W 1 Phase 200 230 V 50 60 Hz 0 9 kg CSD3 02BX2 200 W et 50 5 165 a BE L 140 55 Y He AN H A a do a o o DO EX T 8 pe n Joo 0 00 ss E Y o oo 22 E n n o eS BD Fo eit 1 SULI Lll o y Bo ES Po a Ae 153 M Model Rated Output Input Power Weight CSD3 04BX1 P 400 W 1 Phase 200 230 V 50 60 Hz 1 2 kg 165 70 50 20 10 55 1 Doy ema BATI 9 oo E o DO 2 e 8 lps a DO a DO 7 ead B y Ve Gol euus I Publication CSD3P UMOO01E EN P February 2008 Servo Drive Specification B 3 Model Rated Output Weight CSD3 10BX1 P 3 Phase 200 230 V 50 60 Hz 2 1 kg CSD3 15BX1 P 210 90 6 AE a a oy 7S o o o ES n 10 o o o Je n o n no o DO o 20 ES o n zA EA se tent e EID e ej no n n ol se e Publication CSD3P UMOO1E EN P February 2008 B 4 Servo Drive Specification Specification Y Control Method PWM control using ASIPM o 2048 2500 5000 10000 P R Incremental Absolute Type El Feedback Method 131072 P R 17bit Serial Incremental Ab
3. encoder 8 Absolute encoder connection of RSMQ Z motors A gt E 52 B a Es a54 o LO Ss S 23 E 2 gt gs 3 gt HH es O e o b A nN Pla Lt amp a lel Pee a Ps V E EK gt gt EK bi gt El e oO m m o ol o co S iu of dB m m amp r Sol amp d e m Z O zo o UN eo xt Lo o r o Lo oO N e e e e e e eo N N 2 a co 3 wn o N az co o o e o Slo 7 o KR o 2 FE 2 2 Q m Es m m o Sud ae lt E E Bl c rod e al Sl g g si ae Re E a a a a a a N gt E E E lt gt lt gt py o T N co b LO T N e wt LO co N co o T T T NS A Ns M SE E P A ZL y Wiring 3 28 February 2008 Publication CSD3P UM001E EN P 3 29 Wiring Incremental encoder 9 wire Inc connection of RSMQ Z motors 9 c gt har oo gt 2 338 2 gt z o o as A o SS Lo u P 8 a o E e 2 S 3 gt ra ES O S d gt ean 3 X Tal oe a al lal Ta Ps gt KE EK gt E i gt e E oO m m Of O O9 co amp 2 w ud wm tu a a Sol amp d s mm iem Em O amp
4. Servo Drive Host Controller CN1 29 EA NS Serial I F Circuit 30 EA M p Up Down 31 EB Lol ounter UT ol 3 gt EB 32 jx d s 33 EC b Lm E 34 EC LV d p 35 PS M Serial I F Circuit UN 36 PS H ui EE Io 27 SG oiv I oiv 49 BAT Vi Iu EB 25 BAT Je DC 3 6 V Lu 50 FG mE Se Battery Battery It describes the battery for absolute encoder information preservation e When the power of servo drive is cut off the battery memorizes the absolute position of the load system and helps maintain it e If the power of servo drive is cut off and discharged the battery power to lower than the standard the saved information in absolute encoder may be damaged e Battery specification connected to CN5 Lithium battery 3 6 V 1 2 AA AAA size Publication CSD3P UMO001E EN P February 2008 e The voltage of battery is not di Applications 7 29 rectly monitored from the drive but the error is checked indirectly through the encoder Prepare the low voltage detection circuit as needed basis Battery Specification The below figure is the specification of battery connected to CN5 of servo drive MOLEX 5264 02 RED os BLACK Less than 14 5
5. c x z 3 22 2 gt 2 c o eS o kd E LL aR LL Oo Lo o ES o TS tom gt 3 D nai o E 3 X 3 FE o Mm Mm 72 N N o HH HH a 4 al To al lal lo Ge fae gt gt gt E gt gt E E 6 lt lt oO lt L ea ea O O oN m 6 w w mj u Q a Do 5s ao u Sa s z o o ye N ceo bu LO co N o LO o N co e oD e e ma e N N 3 a co e N e N 5 o e o o eo LO co co a gt N y 9 gt lt lt ea ea o o x lt x lt E a gt gt o CM ra tc tC e E E it c El El wlio ea ea Lu Lu a a a a a a a 3 gt gt gt gt gt gt al of s af o f wl of y og oj H Ff H z 2 5 NANO NM 2 PPD DAD T o e e February 2008 Publication CSD3P UM001E EN P Wiring 3 24 Incremental encoder 15 wire Inc connection of CSM CSMT R motoers 3 4 c B 35 e gt B 8 e c e gt BIE RB E S vi 5 e e2 o So cA S eo e LB Z gt gt li Gp V 5 Z ES E unt T ES S D gt B B cy oo 2 A WV AAA B o H Popes e SUMA Da f 8 4 a
6. Fun c LL 00 Overton r LI 9i n i Off Line Auto Tuning run Lg o r LI RS nh i Auto Adjustment of Speed Command Offset r LI fi n H Auto Adjustment of Torque Command Offset r LI ri Hn Lh Manual Adjustment of Speed Command Offset r LI ri HA h Manual Adjustment of Torque Command Offset r LI ri i Adjustment of Current Feedback Offset Sun LE ee run Jh t Alarm History Clear Publication CSD3P UMOD1E EN P February 2008 Parameter List A 41 Absolute Encoder Reset 2 Group Gain Storing Parameter Initialiaztion Publication CSD3P UMOO1E EN P February 2008 A 42 Parameter List Monitor Mode Function List Monitor Mode Name Unit al h gt n i Speed Feedback rpm d ic o d i Speed Command rpm d i 5 Hu p Speed Error rpm d ic gt fy 3 Torque Command d i D gt n H Position Feedback pulse d i M m M Position Command pulse d l n gt n E Position Error pulse d 1 5 c i p Position Command Pulse Frequency kpps d 5 OB Electrical Angle 0 d ic o Bm g Mechanical Angle 0 J Co tm Regeneration Accumulation Loading 96 ota Li Rate pd LG d f octinkvottage M Ed OST I E S The Number of rotation data of Do 12 UL Absolute Encoder
7. Publication CSD3P UMOO01E EN P February 2008 d E E Position error pulse rl t 7 Position pulse command frequency kpps d 5 HH Electrical angle a d t n o Mechanical angle 4d it in Regeneration accumulation loading A 1717 tL rate i d I 2 i DC Link Voltage M REE 3 Multi rotation data of absolute Ea UL encoder Applications 7 51 d t 7 Speed Command Offset mA d ic f H Torque Command Offset mV d 5 E Input amp Output Signal Confirmation When the sequence input amp output emergency stop and servo alarm signal are on the applicable displays of each position are lit 1211109 87 654 32 1 f r 4 J D q q I b g F g g CI L 00 0 0 0 I I I 765432 1 t 2 1 Sequence Input DI 1 E STOP Sequence Output SALM to Di 7 Emergency Stop Input DO 1 to DO 3 Servo Alarm Output UL Up to 8 servo alarm is stored The alarm that occurs most recently is the number 1 servo alarm occurrence If all 8 alarms are stored the alarm occurring thereafter is stored as number 1 with the earliest alarm No 8 alarm is deleted Refer the Chapter 8 4 for the content of servo alarm Servo Al md zi m Content of the dedo Nu
8. 400 W or above 2 mounting holes for M4 bolt we s If not grounded it reduces the performance dli o O no 0 o Im o no Im no no no O no no 1 Installation Environment Item Installation Environment Storing Temperature Store it within 20 to 80 C Operational T 5 Temperature Use it within 0 to 55 C Mora Use it below 90 96 RH at a place without condensation Vibration Use it below 0 5 g 4 9 m s Install a separate cooling device at a place with high ambient temperature and use it within the operational temperature Operational Recommendations To maintain reliability for a long time use it within 0 to 45 Location C Use it indoors with well ventilation at a place for easy checkup and cleaning and at a place without explosive gas Publication CSD3P UMOO1E EN P February 2008 2 6 Installation Publication CSD3P UMO001E EN P February 2008 Chapter 3 Wiring Introduction This chapter describes the information on motor host controller and other wiring connected to the servo drive along with the circuit diagram Ml Page Introduction 3 1 Electric Circuit 3 3 E CN1 Input Signal 3 11 CN1 Output Signal 3 13 CN1 Input Circuit and Interface 3 15 CN1 Output Circuit and Interface
9. LUI L Prepare the alarm reset Cj execution by pressing the ENTER key SE EIE E RELE E Completion Operate the Z alarm reset by pressing the 1 A MODE SET key EA a CHAIL Complete the operation by B pressing the ENTER key Y E a ES 2 a ME Completion Fur LI Fi Alarm Reset by Sequence Input lt A RST gt Signal There is another way to reset the alarm by using the sequence input signal lt A RST gt Refer to The Chapter 5 2 NOTE e Chapter 8 describes the detailed content relating to servo alarm e Also the history of alarm occurred from the beginning to this point can be inquired through the monitor mode Refer to The Chapter 7 50 Alarm History Clear run 09 Alarm History Servo drive may store the servo alarm that is detected by the independent error diagnosis function e When servo alarm occurs the monitor mode dis 16 is automatically stored in the order of occurrence and the user may confirm the alarm in the order of the alarm occurred from dis 16 Publication CSD3P UMOO1E EN P February 2008 7 46 Applications e Servo alarm can be stored up to 8 and the alarm occurring thereafter is stored by deleting the earliest occurring alarm from the 8 already stored alarm Alarm History Clear All alarm stored on monitor mode dis 16 is deleted How to Operate Refer to the flow chart below and operate SERVO ON SERVO OFF Alarm Rese
10. depending on the capacity O O o o Bo E DO n UUUUUUU Do a DO a nnnnnnn 4 a oO o Bo o 9 o im of S El D A o oJ eS O a O When installing several drives you must the following criteria Install a cooling fan to prevent excessive temperature increase If the surrounding temperature is higher than the operational temperature it reduces the performance More than 50 mm O I gt 0D gt gt qp gt gt OD Pane oda CJ sega oooo0OQ0l 0 orf oj fette o BERE ooooo0O9QlJ O0 oj felle y o E U LL o00 AE E AE gaa maaaadg C JO o o o o o9j Lo T et More than 30 mm More than 10 mm D codafooooa o o ojlo o CJ Jete SMe ee o o c Er Er More than 50 mm Publication CSD3P UMO001E EN P February 2008 Installation 2 5 Use the drive in a clean There is a grounding terminal at the bottom of enviroment where there is no the heat sink dust or humidity 200 W or less 1 mounting hole for M4 bolt
11. rm Pr BBDB Pr 518 Parameter Group Parameter Group Description Group 0 0 00 to 0 14 15 User parameter related to basic setting and 1 0 signal Group 1 1 00 to 1 15 16 User parameter related to gain and gain tuning Group 2 2 00 to 2 13 14 User parameter related to speed control mode Group 3 3 00 to 3 06 7 User parameter related to position control mode Group 4 4 00 to 4 06 7 User parameter related to torque control mode Group 5 5 00 to 5 14 15 User parameter related to supplementary function Overview of the Monitor Mode This section includes brief explanation of the parameters in monitor mode e Displays several numerical data generated as the motor is controlled by the drive e The contents of the monitor mode can be checked regardless of the status of the drive e Be fully aware of the numbers and units displayed in monitor mode shown in the table below and refer to it when using the servo drive e The table below shows the brief contents of each item in the monitor mode F IC MM 1 om g5 00 dib5 cdd Monitor Contents Monitor Contents Monitor Contents Item Unit Item Unit Item Unit Position command pulse Torque command offset 00 Speed feedback rom 07 frequency kpps 14 mV 01 Speed command rpm 08 Electrical angle 15 1 0 status Operator Basic Setting and Startup 4 11 02 Speed error rpm 09 Mechanical angle 16 Alarm histor
12. Parameter List A 3 ABS DT 1 0 8 0 Poe GG sv 2 0 8 0 Assign sequence input C SP4 3 0 8 0 signal GEAR 4 0 8 0 P COM 1 0 3 1 Pr B fi neo 2 0 3 2 Assign sequence BK 3 0 3 3 output signal N COM 4 0 3 0 T LMT 1 0 3 0 Pr E ff vw 2 0 3 0 Assign sequence NEAR 3 0 3 0 output signal WARN 4 0 3 0 Pri Pr i lr Servo ID 1 255 1 P E 3 Password p HB n i y RS 232C communication speed 1 1 6 6 LI RS 485 communication speed 2 1 6 2 Data format 3 1 6 1 Protocol 4 0 1 0 Parameter Group 1 Parameter type Name LED No Set range n P re n E System gain 0 500 50 pe TT i Speed loop proportional gain 0 10000 100 P pe ER p Speed loop integral gain 0 60000 100 P Vi 3 Position loop proportional gain 0 700 20 pe m Y Torque command filter 0 10000 1000 Pr LS Speed command filter 0 10000 1000 Pr LE Position command filter 0 60000 0 Pr LT Vibration blocking filter 0 10000 10000 Pr LIEB Position FF gain 0 100 0 Pr LU Position FF filter 0 2500 200 Publication CSD3P UMOO1E EN P February 2008 A 4 Parameter List Publication CSD3P UMOD1E EN P February 2008 P Pe m P control transition sqitch 0 3 1 Bm E l a transition reference 0 3000 100 H r A Speed bias amount 0 450 0 pe 3 Speed bias reference width 0 250 10 p e i f
13. T Publication CSD3P UM001E EN P February 2008 Wiring 3 37 Wiring when Using Several Drives This is an example of witing when connecting several drives e Connect the alarm output SALM signal of each servo drive in a series and run Relay 1 to detect the alarm Normally SALM and SALM are interconnected and with 24 V supplied to Relay1 the servo drive runs normally e If the servo alarm is generated 24 V supplied to Relay1 is cut off NOISE IMC FILTER ab Relay SW1 OFF SW20N 1 Q10 so OD Alarm Display Lamp 1 N E o0 E 1MC 24 V T t L1 CN1 Relay Ti 4 L2 SALM 45 lis SALM 46 L1C 24 V IIN 1 2 gt 24 V t L2C E STOP 109 2 0 0 V L1 CN1 delia SALM 46 L1C 24 V IIN 1 2 9 1 24 V L2C E STOP 10 20 0 OIV Cn olv L2 SALM 45 Lt13 SALM 46 L1C 24 V IN 1 2 4 24 V L2C E STOP 10 4 o 0 0 V Ss J Publication CSD3P UM001E EN P February 2008 3 38 Wiring Publication CSD3P UMO001E EN P February 2008 AC 220 V Power MCCB Breaks the circuit if large inruch current flows on power line Noise Filter Removes
14. Publication CSD3P UMOO1E EN P February 2008 6 4 Tuning by Gain Setting Setting Parameter Set the Inertia Ratio to the following parameter F Js uH H Inertia Ratio Setting Range a Unit Others Setting gt End 0 00t060 00 1 00 Times Applicable ALL It can be automatically set by off line auto tuning function in the Chapter 7 36 Inertia Ratio and Gain If the Inertia Ratio is adjusted by certain reason it automatically changes the following two basic gains at the same time with the adjustment Therefore the Inertia Ratio setting means gain setting so that you should be careful when adjusting or setting the Inertia Ratio Two basic gains that are changed according to the adjustment of Inertia Ratio peed Loop Proportion Gai Nm S a na Erg y 60000 i 0 peed Loop Integration Gain Nm S Publication CSD3P UM001E EN P February 2008 Tuning by Gain Setting 6 5 Gain Setting Configuration This chapter explains the overall configuration Position Speed Torque related to the gain setting The following diagram will help you understand the gain configuration related to position speed and torque Starting point for position mode gain setting e Position mode using the position pulse command of host controller includes all gains related to speed and torque from starting point to the servo motor as shown in the figure below e Servo d
15. Display for normal execution Completion Alarm Reset run 08 Servo drive may reset the servo alarm detected by the independent error diagnostic function Function Description The drive monitor the system with the independent error diagnosis function from the moment the power is connected At this time if there edd rs dp Display for normal LAA ZE I execution EI E LULO Q OR S ee yer Ley Lit is an error in the servo drive it displays the servo alarm e User has to understand the content of alarm and resolve the causes of alarm for a normal use of the drive e f an alarm occuts find out the content of alarm and resolve it After that reset it through the alarm reset operation When the content of alarm is resolved with no further problems the occurred alarm is no longer displayed e Even if the reset is made if the action taken is not sufficient or other error occurs the drive continuously displays the alarm content Publication CSD3P UMO001E EN P February 2008 Applications 7 45 How to operate Refer to the flow chart below and operate SERVO ON SERVO OFF Alarm Reset Execution Flowchart Status Display Mode E IEA Lt 72 Select operation mode with the MODE SET key S O E po Lt LILI Enter run 08 by using the direction key J E
16. Model Number Manufacturer One type regardless of motor model and encoder 10120 300VE 10320 52A0 008 3M Connector CON B for connection to the encoder cable of servo motor Classification Model Number Manufacturer 9 wire Inc Serial Absolute 72161 Serial Inc CSM CSMT CSMR 15 wire Inc 72163 AMP Absolute Type 72163 9 wire Inc 171162 1 RSMZ RSMQ Absolute 172163 RSMS RSMD RSMH 9 wire Inc RSMF RSMK RSML DMS 3108B20 298 or CSMK 15 wire Inc DMS 31068 20 29S DOR CSMT CSMR Compact Absolute NOTE B NOTE j Do not connect FG of servo drive to host controller if GND and FG are common or if there is no separate FG CSMG motor has a gear attached to CSM motor Other motor specifications are same 3 23 Wiring Encoder Signal Process Incremental encoder 9 wire Inc connection of CSM CSMT R motors 1 E z E S S D rg u AAA AN NN I FKTa a a aa VIS gt lt gt KE lt m o o2 o ui 4 uu A W G no cr Rr ay i So o N x no O N mM m m m mM N LO e a Ofa z o N olm vt LO e pa oo N lt lt mo m O o S S o CEE P nu Pu ETH JUE IA rd n n n n N e 5t LO o pe 00 o BIG RNENEN c ui o o E inr 2 Absolute encoder connection of CSM CSMT R motoers
17. SERVO ON SERVO OFF Parameter Initialization Execution Flowchart E Status Display Mod EE atus Display Mode Fr 5 h Select operation mode with D the MODE SET key E uly Lt Lt LI Enter run 12 by using the Cy direction key NY a Lt UL I Prepare the initialization by pressing the ENTER key NY AO a pps M WP Completion Initialize by pressing the MODE SET key NY E ux ET Display for normal AA l execution ae Pees eee rrr Complete the operation by pressing the ENTER key Sy Completion Pan i e The portable operator that is provided for selective specification NOTE may store and keep all value set on the parameter of the current servo drive e n addition it can be downloaded to other servo drive and use it quickly and conveniently Publication CSD3P UMOO1E EN P February 2008 7 50 Applications Monitor Mode Function Introduction of Monitor Function The below chart describes the function expressed in each monitor Monitor Mode Item Name Unit d E Hh dh Speed feedback rpm d Pr n l Speed command rpm d 5 d ul Speed error rpm d t un i Torque command 6 d 5 n H Position feedback pulse d 5 d M Position command pulse The dis 04 and dis 05 are displayed each upper and lower digits each 5 digits total 10 digits separately by left and right key in case of overflowing count data
18. After resetting it is effective only when the power is re allowed Indicator l H p Over Motor Capacity Cause It occurs when motor power is set higher than the drive rated output Action Use a motor suitable to the drive or set the torque limit below the drive capacity In times of servo warning sequence output signal lt WARN gt e When the servo warning occurs the servo drive may display that the servo warning occurs by the host controller through the sequence output signal lt WARN gt function e Warning detection lt WARN gt is sequence output signal For lt WARN gt signal is to be outputted first refer to the sequence input amp output signal of Chpater 5 2 and allot the signal Publication CSD3P UMOO1E EN P February 2008 8 6 Inspection and Protection Functions Publication CSD3P UMOO1E EN P February 2008 e Warning detection lt WARN gt is outputted by the output signal allotment and when the presence of servo warning from the host controller is not wanted it does not allotted Servo warning can be conveyed to the host controller for the presence NOTE i of servo warning through the sequence output channel Servo Alarm For protection function by the self diagnosis there is the servo alarm that displays the important errors Servo alarm Indicator e When servo alarm occurs the 7 segment indicator displays the character applicable to the servo alarm and stops the operation
19. excluding value 0 e For example if a certain function is to be applied to Pin 5 of CN1 the parameter pertaining to that signal should be looked up from the table below and the set value entered as 3 e If the input signal function is not to be used enter 0 e lf the input signal should be always ON regardless of wiring enter 8 The table below is a summary of parameters for each function and the 7 segment digits displayed on the configuration window Be sure that the digits on the configuration window match the parameters relevant to each signal 7 segment 4th digit 3rd digit 2nd digit 1st digit Configuration window n n ni m of each parameter LL L Li 1 p _ Mrmr lt P CON gt lt N OT gt lt P OT gt lt SV ON gt J LiL of Initial value 4 Initial value 8 Initial value 8 Initial value 1 Publication CSD3P UMOO1E EN P February 2008 A 12 Parameter List Publication CSD3P UMOD1E EN P February 2008 m fr f lt P TL gt lt N TL gt lt A RST gt F J LLL O voe Initial value 7 Initial value 6 Initial value 5 3 PE HID T scs lt C SP2 gt gt lt C SPt gt lt C DIR gt PE BHBB vue lt G SEL gt lt INHIB gt lt Z CLP gt 5 Br OO cen lt C SP4 gt lt START gt lt ABS DT gt Configuration example D MUZ Fr uno EB 1888 Value 7 is set at th parameter Pr 0 05
20. The reduction ratio that is mentioned in electronic gear setting is the rotation ratio of motor and end mechanical part Number of Motor Rotation Reduction Ratio Rotation Number of the End Mechanical Part When the mechanical part rotates once while the motor rotates 5 times then the reduction ratio is 5 When the device part rotates 5 times while the motor rotates once then the reduction ratio is 0 2 Example 1 of electronic gear setting The following example on ball screw will help you to understand the electronic gear Example 1 Ritch of ball Screw Linear Movement Distance Per Rotation gt 10 mm n AW Number of Encoder Output Pulse Per Rotation 5000 pulse e Ball screw is applied to the load above and the pitch is 10 mm When we suppose that the number of pulse of the encoder is 5000 pulse the reduction ratio is 1 because it is 1 1 Electronic Gear Parameter Setting Electronic Gear Electronic gear setting numerator parameter is as follows Setting Numerator H Tb i Ky i umber of Encoder Pulse X Reduction Ratio Therefore it is 5000 pulse X 1 so that setting value is 5000 Enter the number of pulse to make a motor rotate once If you want to rotate a motor once by the host controller sending 1000 pulse to the
21. A o e DC 3 6V Soldering AAA Spot Welding Soldering Spot Welding Battery Voltage Diagnosis The voltage monitored with encoder i depending on the following situation Servo Warning When the voltage of battery for absolute encoder is 3 2 V or less absolute encoder battery low voltage warning occurs At this time the below warning characters are displayed in the status display mode Replace the battery before having low voltage alarm for inside absolute encoder occurs with the low battery voltage in having the warning s displayed for servo warning and alarm Servo Alarm When the capacitor voltage of encoder inside is about 2 7 V or less the low voltage alarm for inside of absolute encoder occurs At this time the servo drive stops the operation When low voltage alarm for inside of absolute encoder occurs the saved information on encoder may be damaged MOO OL OF OAC IE BITE IE ie CMO F006 Publication CSD3P UMOO1E EN P February 2008 7 30 Applications NOTE e When absolute encoder battery low voltage warning occurs the H A type of absolute encoder automatically clears the warning if the battery voltage is in normal operation range but the O Type encoder is reset for warning by performing the alarm reset run 08 At this time multi step rotation data is not reset A or H type absolute encoder has a super condenser
22. Servo ON signal of the host controller and running the automobile The following describes the servo drive in relation to the transmission of the automobile Host Apply power Receive servo Receive command Motor Controller gt to the drive gt ON signal E such as position speed B Rotates Operator Jo automobile ON signal such as position speed Rotates Start D Receive servo D Receive command Bh Motor e As the transmission of the automobile should be positioned at D to statt the automobile the drive can be run only when the servo ON of the host controller is maintained Commands to run the motor such as the position speed of host controller are invalid in Servo OFF status In this manual the Servo ON signal is indicated as shown below Servo ON lt SV ON gt Servo OFF Servo ON signal input Servo ON signal from host controller is received through the sequence input signal of CN1 Refer to the Chapter 5 2 for the sequence I O signals Servo drive s own Servo ON If the servo drive runs the motor without a command from the host controller as in the operation mode run 00 run 01 the drive make itself Servo ON for the operation e Refer to the Chapter 7 35 for the operation mode run 00 to run 02 e In addition the operation mode run 00 is described in the Chapter 4 22 Startup e run 00 run 01 run 07 run 08 run 10 run 12 are
23. rd ita od 1 3 Manual Descaption One rd Ads 1 5 enc Lm 1 5 Product Type atid Each Part Name ku by er ex 1 6 Name o Each Part of the Drive mii e 1 6 Model Number of the Drive ds ri te hc PE 1 7 Drive Type Dy Capacity ii dace eo ede 1 7 Name of Each Motor Patt ss d ce ta e nuce od P 1 8 Model Number of the Molotov anii tere as 1 9 fuc A rr 1 10 Chapter 2 dto dos 2 1 DEN M OLOE C 2v ode ar ve ee Raps Armed cm ganas ara 2 2 DEVO dro ote edet sea each de o Iu DRE ri 2 4 Chapter 3 a sosi Dose E A aed 3 1 Before You Berita Ham A d V a RD UR d E 3 2 Electie GUI eue eom reed nd etos da tu br EPI RT CT a 3 3 Name atid PancHon sss esce RR x Ae e A 3 3 Electric Citc it Diagrami dote do dle 3 5 Using the Socket and Lever ci 55 pesce een ete bu 3 6 O Sipual CIN s ap betedec aar dren danse wie ra ot t ri e tunt 3 8 I O Connection Diagram porcion ostra ed pac 3 8 CNT Pin Arrate e O Yun m Rs 3 9 CNTY Taput Signal 5 sos eae E 3 11 Sequence Input Signal allocation iii A 3 11 General Input Signal fixed oe e eo a is 3 12 CNH Output Signal Se ota a erase o a e b orig 3 13 Sequence Output Signal Allocation ooooooo o 3 13 General Output Signal fixed oet s edes er ta 3 13 CNT Input Circuit and Interface a 55 n 3 15 Pulse Command Input Cicle be CP eae 3 15 Analog Voltage Input Circuit excuse re ve ER n es 3 16 Publication CSD3P UMOO1E EN P February 2008 Operator Basic Setting and Startup
24. vibration or noise can occur Maximum setting value of Pr 1 02 is as the following formula Pr 1 02 300 X Pr 1 01 2 X Inertia of applied motor Appendix e If necessary you can suppress the excessive change of position command as reducing the value of position command filter Pr 1 06 e It is better to set torque command filter Pr 1 08 as high as possible until vibration does not occur in load side e As repeating over response state adjust gain in detail NOTE Position FF gain position FF filter and speed bias function are explained in the Chapter 6 20 Publication CSD3P UMOO1E EN P February 2008 6 20 Tuning by Gain Setting Tip to get fast response Publication CSD3P UMOD1E EN P February 2008 Feed forward function For position feed forward FF diagram refer to the Chapter 6 18 Position FF makes differentiation factor on position command in position control mode approved in speed command through feed forward method Therefore over response characteristics is improved so that you can reduce position output time The related parameter to set is as follows Position Feed forward Gain Function 100 The higher the value is set the better position control response Bo festen performance Gen i Applicable Mode Position Others Setting End Position Feed forward Filter Cutoff Frequency Function e t makes position command itself smooth as suppressing high 8 Ee frequency
25. 43 44 and 47 48 of CN1 Sequence I O signal means the I O signal of various functions that are required for servo drive control by the host controller Sequence I O signal is not to process input or output signal with the designated pin of CN1 but to select the function that the user requires in terms of circuit design of host controller and to directly allocate the selected functions to the designated pin Therefore the host controller can do the sequential control that fits to the equipment to operate servo drive The following figure is sequence I O part among 50 pins of CN1 e Sequence Input is indicated as DI 1 to DI 7 Digital Input Channel e Sequence Output is indicated as DO 1 to DO S3 Digital Output Channel 1 0 50 Pin Connector lt CN1 gt DC 24 V Input gt roa Output S Eis 424 V IN 4 o V 2 S A Dl T Sequence Sequence Uutput Input Circuit UA Circui N te HL posi ore DI 1 3 K M lo ZKI 42 sz 2 j4 Xs VE DO 1 Les mes 15 T vss IE DO 424 P C a EE e B Y k y 4 Lo Dies j6 Yak DO 2 li Z 1 DO 3 ko ges S dai Me i La lu k 48 y loa Dies 8 iva 4 C VES DO 3 J o o Dt 9 yak S J Publication CSD3P UM001E EN P February 2008 Function for Contro
26. AL2 r Maximum Allowable Voltage DC 30 V Maximum Allowable Current 20 mA AL3 Alarm Code Output AL SG GND EA gt EA EB Encoder A B C Phase EB Line Receiver SN75175 or MC3486 EC EC a PS gt Rotation Data of the f Absolute Value Encoder PS d Z PULSE gt Encoder 7 Pulse Z PULSE J OPEN Collector SALM Servo Alarm SALM DO 4 1 4 r P COM DO 1 A EON Initial Set DO 2 J unction DO 344 gt BK DO 3 DC 24 V 1 0 50 Pin Connector lt CN1 gt orv Input gt kel Output 0 V or E 28 DC EM 2 ES D A 23 Sequence 27 Input Circuit 1 gt V_3 Initial Set Function JSV ON t 6 o DL 1 la T M SZ 38 P OT Lo DL 2 4 zd 39 n or Los D 43 15 l Ay 40 V P CON 6 oP 4 6 Zy 9 P A RST hoo DES 7 OR yee 30 IN TL o o DL 6 48 Zy EE P O p m hoo D 7 49 TT TAy lt 32 Emergency Stop oa P ais E STOP 10 Yak 34 N 35 P PULS 11 36 PULS 12 ex Position ah Command SIGN 13 yz P 4g f SIGN 14 Cy 45 P Ya 46 41 P V REF 19 Speed Command an No 1004 vq 108 V y V REFSG 20 AID WV T REF 21 Torque Command A 9D Pv T V T REFSG 22 V Back up batte PA T Pan foParBal Y TP BAT 25 o4 26 50 encode6 V A X X X Publication CSD3P UMOO01E EN P February 2008 Wiring 3 9 CN1 Pin Arrangement Specifications Pin
27. Applications 7 39 e The size of actually offset voltage can be confirmed in dis 13 of The Chapter 7 50 e Understand the speed zero clamp function of speed mode of the Chapter 5 31 together How to Operate Refer the below flow chart and operate SERVO ON SERVO OFF 5 Status Display Mode ho Select operation mode with the MODE SET key Make run 03 by using the direction key Prepare the auto adjustment by pressing the ENTER key Operate the auto adjustment by pressing the MODE SET key Completed the operation by pressing the ENTER key Completion 9 eZ UD ua 9 OR o p Flowchart of the Speed Command Off set Auto Adjustment poate M unl Display the normal emt I execution _ oS _ OR Auto Adjustment of Torque Command Offset run 04 When the operation is made with torque control mode from the host controller or combination control mode related to torque it is a function to automatically adjust with the offset voltage of the torque command Function Description e When the analog torque voltage command is made to 0 V the motor has to stop But there is such a case that the motor slowly rotates e This is because of the phenomenon that the small amount of voltage offset by the host controller or external circuit This function automatically adjusts such an offset voltage Publication
28. Before Using the CSD3 Servo Drive 1 9 Model Number of the Motor The following figure describes the model name of the motor on the nameplate The nameplate is attached to the motor Check the model on the nameplate Motor Type Example of Motor Specification RSMZ 0O1BA1 ANIM 3 Rated Output Voltage Encoder Type Design Sequence Motor Axis Key Status Option Manufacturer Shaft Specification This is the description of the model on the nameplate of the motor Motor Type CSM CSMT CSMR CSMO CSMZ CSMD CSMH CSMK CSMS RSMD RSMF RSMS RSMH RSMK RSML RSMO RSMZ Rated Output A3 A5 01 02 04 10 50 30 W 50 W 100 W 200 W 400 W T KW 5 kW Voltage A B C D AC 110 V AC 220 V DC 24 V AC 110 220 V Encoder Type Motor Model CSMT R RSMS D H F K L Q Z Resolution 1 Mark Rotation Resolution 1 Rotation Encoder Type Encoder Type Mark Serial Absolute Type 131072 Serial Incremental Type Publication CSD3P UM001E EN P February 2008 1 10 Before Using the CSD3 Servo Drive Motor Type CSM CSMT R CSMO Z S D H K Motor Type Pulse 1 RSMS D H F 1 Mark Rotation Encoder Type D H F K L 0 Z S 2048 15wire Inc Ma
29. DB stop is maintained even after the complete stop Setting 1 Value DB stop DB operation is released after the complete stop 2 The DB is not used but free run stop Mese ALL Other Servo OFF Setting End Publication CSD3P UMOO1E EN P February 2008 1 6 Applications Motor Brake Control Motor Brake This function is used when the motor is equipped with the mechanical brake e If the load is movable by the gravity e g When applied in the vertical axis control e The fall can be prevented when the power is off or the drive servo is off c 4 Brake Built Brake Built in Motor in Motor O gt When using the vertical axis load Z i ANM PO balance the weigh if it is mechanically possible G Load Load LA Thrusting Thrusting d ue to Oo y Gravity y Gravity Sequence signal allocation e In order to use the motor brake refer to the sequence input amp output signal in the Chapter 5 2 first and allocate the lt BK gt sequence output signal e The signal for brake control is outputted with the allotted pin e The factory setting is DO 3 No 47 and No 48 pins of CN1 Circuit configuration e The drive cannot use the high voltage and current that can directly control the motor brake Therefore the motor brake cannot be connected directly t
30. Pr S04 Publication CSD3P UMOD1E EN P February 2008 Parameter List A 35 Set range a Unit Other details Configure gt Complete Applicable 0 5000 0 rpm modes S e Used if the motor shows slight operation even when setting analog speed command to 0 at speed control mode The zero clamp function ignores small speed commands to keep motor at halted state e Small speed commands below set value are ignored if speed command exceeds set value motor is accelerated to set speed e Zero clamp function is activated when sequence input signal lt Z CLP gt is assigned and signal is input into assigned input pin e Ifa value other than 0 is set at Pr 5 04 automatical speed clamp is performed regardless of lt Z CLP gt input even if lt Z CLP gt input is not assigned Analog speed command external input voltage Pr 5 04 Z CLP input i OFF ON Actual speed command B l l ans fy 0 Time Detailed description Refer to Chapter 5 28 Brake release wait time Initial Other Set range value Unit details Servo OFF gt Setting gt End 0 1000 0 10 ms E a ALL Publication CSD3P UMOO1E EN P February 2008 A 36 Parameter List e Parameter set to control brake installed on motor e f motor brake is in engaged state when the drive is about to drive the motor the brake has to be r
31. Publication CSD3P UMOO1E EN P February 2008 3 10 Wiring Publication CSD3P UMO001E EN P February 2008 37 AL1 Yellow Line 38 A2 Blue Line Alarm code output Open collector output 39 AL3 White Line 40 AL SG Pink Line Alarm code output GND 41 DO 1 Orange Line z Sequence output signal pin 42 D0 1 Gray Line Tetmina input gna p i oid Redi Ene Refer to the Chapter 5 2 for details 44 DO 2 Yellow Line 1 45 SALM Blue Line 1 Servo alarm generation signal output 46 SALM White Line 1 Terminal output 47 D0 3 Pink Line 1 Sequence output signal pin Terminal input 48 D0 3 Orange Line 1 Refer to the Chapter 5 2 for details 49 BAT Gray Line 1 Absolute encoder battery power 3 6 V 50 Wiring 3 11 CN1 Input Signal Sequence Input Signal allocation Refer to the Chapter 5 2 for details of sequence input signal Type Description Mode Reference lt SV ON gt If input is ON the power is applied to the servo Al 42 Servo ON motor and if OFF the power is cut off ML HR Resets the servo alarm status Al 7 44 lt G SEL gt Use 2 group gain where the input is on and use Bae existing gain where the input is off Convert 2 Al 6 27 Gain group conversion types of gain groups lt P TL gt signal is ON limit forward torque by the Al Limit forward torque setting of Pr 4 03 E lt N TL gt signal is ON li
32. Setting gt Complete Publication CSD3P UMO001E EN P February 2008 Function for Control Mode 5 23 The Second Group of Electronic Gear lt GEAR gt input Parameter Pr ill 5 Parameter r Name Second electronic gear setting numerator Description The number of encoder pulses X deceleration ratio Setting value 1 65535 nitial value 32768 Unit Pulse Mode P Misc Servo OFF gt Setting gt Complete Parameter p On 3 B E ed Second electronic gear setting denominator The number of position command pulses from a controller necessary to turn Description load axis one revolution Setting value 1 65535 nitial value 32768 Unit Pulse Mode P Misc Servo OFF Setting Complete If the gear ratio is changed frequently or if the change in gear ratio is large severe machine vibration due to rapid acceleration deceleration may occur in Servo ON state ATTENTION B Position Completion Signal Detection lt P COM gt Approach Signal Detection lt NEAR gt Output Position Completion Signal Detection lt P COM gt The position completion signal detection lt P COM gt can be output with sequence output signal When you set the position command completion time to Servo drive that receives the position command from host controller and the difference Publication CSD3P UMOO1E EN P February 2008 5 24 Function for Control Mode betw
33. This value has been pin DIZ7 of CN1 is t 0 be used as input pin e 4th digit of the configuration window for set to use the P CON function it means that the Applicable modes ALL Other details Servo OFF gt Configure gt Reapply power gt Completed Detailed description Refer to Chapter 5 2 P y su Ta a Pr 7 i Sequence output signal assignment Set value j E H Output channel number DO 3 DO 2 DO 1 Always invalid CN1 pin number 47 48 43 44 41 42 If the relevant signal is no output the value s set to 0 The table below is a summary of each parameter per function an correct values for each signal s relevant parameter and each dig d 7 segment values Be sure to set t in the configuration window 7 segment 4th digit 3rd digit 2nd digit 1st digit Configuration window ri ri rt ri of each parameter Li Li Lue Li mom in BK lt TG ON gt lt P COM gt 1 FI Li 1 H lt N COM gt Initial value 3 Initial value 2 Initial value 1 2 Pr Ef warns lt NEAR gt lt VAMT gt lt T LMT gt Parameter List A 13 Configuration example Value 3 has been set as the 4 digit on the configuration window of parameter Pr 0 11 This value is set to output the lt NEAR gt signal it means that pin 47 and 48 of CN1 are to be used as output pins Applicabl
34. Torque E lime Revolution Speed X 60 Cycles Min Reference Chart 1 It shows the allowable repetition frequency per minute when operated without the load e It is left as blank if there is no applicable capacity of the motor type Allowable Repetition Frequency for no Load Cycles Min Motor Capacity W 300 400 500 600 750 800 900 1000 1200 1500 CSM CSMT 320 70 53 90 CSMP CSMR 40 CSMD RSMD 69 31 17 CSMF RSMF 35 19 9 Applications 7 15 CSMH RSMH 14 7 4 CSMK RSMK 54 76 40 14 CSMO RSMO 46 61 30 CSMS RSMS 43 27 CSMZ RSMD 88 63 When the repetition frequency of actual motor is larger than the NOTE x allowable repetition frequency perform as the following e Lower the possible setting speed e Refer to The Chapter 7 16 to set the possible deceleration time in long period of time e Refer to The Chapter 5 41 and limit the possible torque e Make the inertia of load system small Publication CSD3P UMOO1E EN P February 2008 7 16 Applications Setting for Smooth Operation Publication CSD3P UMO001E EN P February 2008 Overview By setting the acceleration deceleration time and S curve operation time on the servo drive the impact that may occur in acceleration or deceleration can be reduced to result in smoother operation Definition of Acce
35. Tourque Mode Gain Setting Torque Limit Torque Command ilter Cutoff Frequency Machine Resonance Suppression Filter Torque Command if LL Torque A Tuning by Gain Setting 6 7 Automatic Gain Setting Auto Tuning There are two functions which automatically detects the load status inside servo drive e Off line auto tuning e On line auto tuning Off line Auto Tuning Tuning function IMPORTANT BX1 and BX2 servo drives automatically detect and set only load inertia ratio However BX2 Rev B servo drive automatically detects and sets load inertia ratio friction coefficient and resonant frequency Two basic gains are automatically set based on the detected data Tuning mode There are two tuning modes e Inertia identification e Inertia identification and resonance frequency The tuning mode during Run 01 execution is set by autotuning mode setting Pr 0 03 N0 For more information refer to PeterKang Operation Tuning method e For Operation method for off line auto tuning Refer to Off line Auto Tuning Operation run 01 on page 7 36 Velocity Response Level Pr 1 15 IMPORTANT This parameter is only applicable to BX2 Rev B servo drive This is used to automatically set an initial system gain by determining available max bandwidth based on the inertia ratio which is obtained from Run 01 Publication CSD3P UMOO
36. a a Ba the host controller OFF ON SV ON command BrakeBrake execution of the servo gt OFF ON standby time river Motor Brake gt Operating Released Servo OFF Delay Time Setting Range vate Unit Other Servo Off gt Setting gt End Applicable 0 to 1000 0 10 ms Mode ALL Publication CSD3P UM001E EN P February 2008 1 8 Publication CSD3P UMO001E EN P February 2008 Applications The time between the receiving the servo off command from the host controller to the actual servo off by the drive can be set This setting is used in securing the time for operating the motor brake while the host controller commanded the servo off im oe AE 7SV ON command of D FI LILI the host controller gt ON OFF driverServo OFF SV ON command delay time execution or t e servo gt ON OFF A ER 1 Waiting Time When Outputting Brake Signal after FOI LC M6 Servo OFF Setting Range ae Unit Other Servo Off gt Setting gt End Applicable 0 to 1000 50 10 ms Mode ALL In order to stop the motor from the host controller the servo off command is outputted from the drive At this time the actual time when the motor brake is operated can be set Hr ot joe eel i SV ON command of the Host controller gt ON OFF Waiting Time When Outputting Brake Signal After
37. by using the direction key Vv M du mt EU i LI LI Confirm the content of each monitor by pressing the ENTER key V X 0 UE TE E a uc Exit the monitor window by pressing the ENTER key V Completion rl 4 it n Publication CSD3P UMOO1E EN P February 2008 7 54 Applications Publication CSD3P UM001E EN P February 2008 Introduction Chapter 8 Inspection and Protection Functions In this chapter the inspection and the protective function of servo drive are described Topic Page Introduction 8 2 Inspection 8 2 Protection Function 8 4 Publication CSD3P UMOO1E EN P February 2008 8 2 Inspection and Protection Functions Inspection Publication CSD3P UMOO1E EN P February 2008 It describes the basic inspection abnormality diagnosis and how to take action of servo motor and drive Also it describes the protection function of drive and action to take in times of alarm occurs as well as any action to take in times of breakdown following the alarm code Inspection of Motor Motor does not have a brush that causes mechanically abrasive part A simple inspection is sufficient as follow By considering the use environment determine the appropriate inspection time Item Vibration and Noise Period Daily Check Inspection and Repair Determine with Sense and Hearing Action It shall not be larger than normal times Presence of Eternal Foreign In Occurrenc
38. e Ifa motor to connect to the drive is selected verify the nameplate on the motor Motor setting is divided into three items as below e Motor setting should be done from the parameters Pr 0 01 As shown in the following figure the setting window of Pr 0 01 has a predefined place for each item and the same alphabet as the ones on the model name of the motor Use both capital letters and lowercase letters Publication CSD3P UMOD1E EN P February 2008 Motor Type Operator Basic Setting and Startup M CS MIT 0 1 BHA Tl ANTT Motor Type Rated Output Encoder Type Heo 6 884 ESSERNE t t t 4 17 Motor types of the servo motor are indicated in 4 digits and the code starts with CSM for all motors Thus the first 3 digit CSM is omitted in the display of the motor _ CSM if A csm p FHH RSMF Lt CSMT H T csm fA AA RSMK r csMR h HH csMK e HHL RSML gH csm 5HH RMS EEE RSMO B CSMZ ir di RSM pepe RSMZ iol cSMS rHEB_ RSMH Rated output capacity Rated output capacity and display of the motor are shown below R3 Allsom 100 W AB Hl EH R5 Hom A Bg Hom E f amp Asem Publication CSD3P UMOO1E EN P February 2008 4 18 Operator Basic Setting and Startup Encod
39. koed a e A A a E e NER N a a a a a N Fog gh Gv Wee ip o TS CEO gt gt RA SAL J 2 E lt gt lt gt 1 GH Sl el ES S es aa lt lt 0 a oO 0 al mad ol o eo io ol u um mi g Pol al ap amp ne amp ud a m d m UE fe E a o 5 8 5 8 8 8 8 S8 amp S 8 8 68 8 5 8 8 3 amp 2 o 3 a o a eo eo qa B gt gt o e o Lt Q En i z c lt LO co e a eg e p Oj Lo co a o o o o 9 E 9 lt a m ooo 2 gt 233 3 2 ZJ o m m o o gt gt RES eae iD e na egy me Pu Lo o 2 hor tl o la lio rl Loa atc oc ce cc BEL el wj _ W a a a a a a a N ine n o a a PS gt gt E gt EK E P g gt gt gt lt gt A RES g E E PAD a E E A al of f wl of r of o F H S 2 Y 2 Es m of al ul u r ol gt E 5 Ns Ne No Ns AA XA y 2 ZL Z y y a M o A No Ne De 2 y 3 EZ 8 o U Oo o o H OD o S 2 E ag February 2008 Publication CSD3P UM001E EN P 3 25 Wiring Incremental encoder 15 wire Inc connection of RSMS D F H K L motors 5 E gt 2 ES A 2 LI 1S8 S 2 gt 2 e S 3 i o S pS 3 gt Ex D D gs ES o c o o o c lw gt ua i aN a uM SAQUE PS gt gt gt P gt al al ol o 0 Lu lu Lu Lu no LL o o ex e
40. lt TG ON gt Output It indicates that the servo motor rotates at a speed higher than the set speed It can be used as one condition to check the motor status when you change the control mode in mixed control mode or before you change one sequence to other sequence among sequences lt TG ON gt is a sequence output signal To use lt TG ON gt function allocate lt TG ON gt signal by referring to the sequence input output signal in the Chapter 5 2 Set rotation detection level in order to set the appropriate constant to satisfy the purpose such as control mode change or sequence conversion pa mox of 4 Rotation Detection Level Initial i Setting Range Valde Unit Others Setting gt End 1 to 5000 20 RPM Ae Lal lt TG ON gt signal is output if the motor rotates at a speed higher than the set value Sequence output lt TG ON gt signal is output as shown below Rotation Speed A Actual Speed T AEE soie E y es ee E Bak Setting Speed 0 V COM Output B OFF ON OFF If you set rotation detection level Pr 5 03 too low lt TG ON gt signal NOTE MADE can be output even with small vibration Publication CSD3P UMOO1E EN P February 2008 5 36 Function for Control Mode Publication CSD3P UMOO1E EN P February 2008 Speed Limit Function and Speed Limit Detection lt V LMT gt Output You can limit the speed of servo motor within a set speed in order to avoid t
41. o o eo xt Lo o r o Lo oO N e se e e e e e N b N 5 a co a N o N 2 o S o lt Lo e co e lt m m o o x E NP S LO o ui ul a a a a V EM gt gt gt e e oc Lo co S y E M A M SE A A ZL p 3 o e i o February 2008 Publication CSD3P UM001E EN P Wiring 3 30 10 Serial encoder connection of RSMQ Z motors Absolute Incremental 18 and 19 not necessary for Incremental Up Down counter controller Dy circuit Serial I F circuit V ogv DC 2 8 4 5 V CSD3 Plus CN2 10 13 CN1 29 30 N SD SD 4 5 encoder February 2008 Publication CSD3P UM001E EN P Wiringthe Battery BATT Wiring 3 31 Battery Specifications The figure below shows the specifications of battery connected to BATT of servo drive MOLEX 5264 02 RED ao i RAS m k RED f E 0 BLACK 4 i SS eee 3 A 5 ine YELLOW TUBE 12 m Tube 7 DC 3 6V Soldering Soldering E Spot Welding Spot Welding Wiring the Battery BATT The figure below shows how to connect the battery to BATT of the servo dtive 2 g 0 lt 1 gt Proc
42. t FD D E r control mode 1 J E Contac AAA T positi In r L h speed position control mode d E dd mam Contact speed speed de Im im 14 LJ control mode Lo EA PT Contact speed torque TADE LE control mode EES Applicable Servo OFF gt Configuration gt Reapply modes ALL Other details power gt Completed Detailed description Refer to Chapter 4 13 Publication CSD3P UMOO1E EN P February 2008 Parameter List Publication CSD3P UMOD1E EN P February 2008 Motor configuration e Configure the motor to be connected to the servo drive e There are 3 configuration items motor type motor s rated output and encoder type e Check the model name which is printed on the motor s nameplate e Push the up down arrow keys to display alphanumerics for each configuration item e The figure below is an example of model name description on a motor s nameplate e By referring to the figure below set the confirmed detailes to the suitable fields Motor type Rated output Encoder type B H8 H 6_88_E 6_88_8 4 t 4 moor 1 ry LILI 1 Example of motor configuration CSM A3BB2ANT3 CSMZ 02BH1ANM3 CSMT 04B01ANT3 CSMR 10BR1ANM3 OZ L 3 nu ui niu n R3 b g B8g H E D4 83 FF Bro Applicable modes ALl Other details Servo OFF gt Configure
43. the same effect as increasing gain And if you reduce Pr 4 00 it has the same effect as reducing gain For external torque command input gain Pr 4 00 refer to the Chapter 5 40 For torque limit refer to the Chapter 5 38 Publication CSD3P UMOO1E EN P February 2008 6 16 Tuning by Gain Setting Speed Control Related Gain Speed related gain includes speed command filter speed loop proportional gain and speed loop integration gain The following figure is related to speed in Gain Setting Diagram Publication CSD3P UMOD1E EN P February 2008 Speed Control Related Gain Speed Limit Filter Cutoff Speed Loop Proportion Gain mee A d8 090 Pr 2 12 Speed e D ie 60 Ko Torque Command i 0 Command e T NEC Nm S Speed Loop Integration Gain H 10000 E 80000 Er SEHE 1000 o Hz 26 f EKi Pr 105 pee Fr tig Nm s Speed loop proportion gain Speed Loop Proportion Gain Function 2000 E Loop E ALL Applicable Mode Speed loop integration gain Speed Loop Integration Gain 60000 The higher the value s set the better response of speed control loop is Set as high as you can within the limit that vibration does not occur Others Setting gt End Function It is to remove error in normal state as responding to very small input The higher the value is set the
44. 65535 2048 pulse PPicable aii e Sets the number of pulses to be output through the servo drive s encoder signal output EA EA EB EB for one motor rotation e At Pr 3 03 the numerator of the encoder s output divider ratio is entered Generally the number of pulses to be output at 1 motor rotation is entered e At Pr 3 04 the denominator of the encoder s output divider ratio is entered Generally the number of pulses output from the encoder connected to the motor for 1 rotation is entered e For the encoder output division ratio the relationship Pr 3 03 Pr 3 04 has to be satisfied tor Denomi nator No of output pulsesper Output to higher level X rotation E controlle r Detailed description Refer to Chapter 7 21 H Et Ei 3l 2nd Electronic gear Numerator ODG i DB 2nd Electronic gear Denominator I The same function as Pr 3 01 or Pr 3 02 These are effective only when GEAR input is ON Initial 1 Other Set range value Unit details Servo OFF gt Setting gt End 1 65535 32768 pulse E p e By using the electronic gear function the amount of motor rotation per input command pulse can be set arbitrarily e The following relationship has to be satisfied No of pulses per 1 motor rotation x Reduction ratio x 4 Pr 3 02 e Maximum resolution 1 No of pulses per 1 motor rotation x Reduction ratio x 4 Detailed description Refer to Chapter 5 9 Pa
45. 7 35 Operation Mode Function Things to Know First First understand the below content before reading the description of the operation mode 1 From the flow chart content the content of display of status display mode may be different from the actual condition 2 The content displayed in the flow chart and the key operation sequence is the same with the actual condition 3 The black part of key button mark on the right means to press 4 The upper left side with servo ON servo OFF means the status of servo drives status in setting 5 It describes to the order from run 00 to run 12 6 Before using the functions of operation mode the content of each functions and flow chart shall sufficiently understand and operate it Adjust or operate in the black display status SERVO ON SERVO OFF E lt When the status of drive is not maintained the following content is displayed during the performance or storage of each operation mode IEEE Jog Operation run 00 Function Description By using the direction key of the operator the motor can be made for forward rotation or reverse rotation e It is an appropriate function when the trial operation of equipment or simple operation is required e The speed of the motor is determined with the setting value of Pr 2 01 Confirm the setting value of Pr 2 01 in advance before operation and adjust it for situation e The operation can be
46. Adjustment on Speed Bi Position Error to Filter Cutoff Sane Feedforward m Speed peed Bias Frequency Hz SuppressionFilte Gain 96 Filter Cutoff Loop Integration peedLoop rpm Add Speed Bias quency Hz Frequency Hz alue N A Integration Variable pulse As mentioned above gains in parameter group 1 and 13 parameters related to gain are explained and the details ate explained hereinafter Parameter that is most important for tuning Inertia Ratio The parameter that is considered to make motor that is connected to servo drive achieve the optimum performance in tuning is the inertia ratio setting parameter First of all you should understand that inertia ratio and gain settings are interlocked and refer to the explanation hereinafter Inertia Ratio What is inertia ratio The following figure explains the Inertia Ratio e t shows the ratio of load inertia compared to the motor rotor inertia e fthe motor rotor inertia is 3 gfcms and the load inertia is 30 gfcms the inertia ratio is 10 times e Forthe motor inertia table refer to the motor specification in the appendix Setting Unit Setting value of Inertia Ratio uses the unit times For example if the motor inertia is same as the load inertia the Inertia Ratio is 1 time and the setting value is 1 The setting value of the Inertia Ratio is determined by the following formula z Load Inertia Inertia a
47. Bottom Left Right Key the UP DOWN of the number 7 Drive Type There are two types All In One and Position Control Only Publication CSD3P UM001E EN P February 2008 Operator Basic Setting and Startup 4 7 Icons for the Key Buttons Describes the functions and icons of the key buttons e Icon is used in description throughout the manual Thus be fully aware of the shape name and function of icons Icon Name Function Icon Name Function SN Increases and T Used to indicate Cms Up decreases the value Mei up down left right Press and hold this y keys altogether icon to continuously NT increase decrease the Down value Use this when setting the value Changes the mode MODE Saves the setting SET Key value n ENTER setting window Key after changing the mode m Left Right gt E Black key button represents that it is pressed A a AAA To enter exit each Shifts the digits Structure of the Entire Mode As shown in the figure below the servo drive is divided into 4 types of control modes e The mode displayed after the power ON is the status display mode e Mode is changed whenever the MODE SET key is pressed e Be fully aware of the following 4 mode types and read the following Power Connection V ri Lir JN E LLLI Status D
48. Control Mode Publication CSD3P UMOO01E EN P February 2008 Analog Speed Command External Input Voltage Pr 5 04 Z CLP Input D OFF ON Actual Speed Command D Pr 5 04 WARNING e Do not use when you configure position control loop by host controller e Although Z CLP input is not allocated The Drive automatically clamps the speed command as 0 in case any value is in Pr 5 04 except 0 e The position loop may malfunction In addition set the acceleration time and deceleration time of Pr 2 02 and Pr 2 03 as 0 in this case Rotation Direction Switch Input C DIR Typically the direction of motor rotation in speed control mode is changed according to the analog voltage polarity as shown below Speed Command ld Normal Rotation Reverse Rotation In some applications the analog input used for speed command may not support negative voltages e g PLC 0 10V analog output In this situation you can control the rotation direction using input lt C DIR gt which is also used in Multi step Velocity Control Mode Pr 0 00 C When input lt C DIR gt is ON the rotational direction of the motor will be inverted For example if the analog input speed command polarity is positive and lt C DIR gt is ON then the analog input speed command will be interpreted as Motor Speed Function for Control Mode 5 33 negative If the analog input speed command polarit
49. Function for Control Mode Publication CSD3P UMO001E EN P February 2008 sequence Taput CHEMI eee ce tese es Mig eae ae ees 3 17 Emergency Stop A o es c te PEDE tet sean de anaes 3 17 CN1 Output Circuit and Interface 4 aie ete di 3 19 Encoder Witing CINZ as A a 3 21 Pin Arrangement of END dut ea recta on bb UP 3 21 CNJ Lera PE ars taedio ie stb 3 22 Encoder Signal Process a nda 3 23 Wirinethe Battery BATT ad 3 31 General Articles Wiring a a edd 3 32 Precautions i oars eiaeia E MAMAN AG t orale qtto 3 32 Capacity of the Drive and Fuse ua R3 3 33 Nois Protection uade crib coto ir oia db 3 34 Wiring when Using Several Drives ooooooomooo o 3 37 Connection to Peripheral Equipment ooo ooommmmm o 3 38 Chapter 4 IntroQ uc Hot or pos san eereoe heehee ev P ie A amp vi ps 4 1 Before You Beinis s se eei cia 4 2 About Servos OIN Signal ud denos pace e CHO 4 2 Table for Parameter Setting ici eos pac Ee PROUD ea 4 4 OPE FPE 4 6 Name and Function of Each Potts oros Dr ru 4 6 Icons tor the Key Buttons ces ai chr d e LAS Fe RE 4 7 Structure of the Entire Mode apar 4 7 Stats Display MOH si dc RERO eed ee ace oe oss 4 8 Overview of the Parameter Setting Mode oooo omoo o 4 9 Overview of the Monitor Mode wicca I DeL e 4 10 Overview ot the Operation Mode acne thori ars 4 11 DASS sl ON A deir sedie sc be AE 4 13 Overview of the Basic SEDO caco RE Eee ES rS 4 13 Control Mode Setting so uen i dudo CUPS UI 4 14
50. I D Connection ex 2 When it is open collector output maximum allowable frequency 200 kpps NOTE Pay attention to the maximum allowable frequency For the line drive output 900 kpps For the open collector output 200 kpps Publication CSD3P UMOO1E EN P February 2008 Function for Control Mode Cautions In the figure above when it is open collector method and TR1 of host controller is ON the servo drive identifies as low level input logic and if TR1 is OFF the servo drive identifies as high level input logic In addition set the Pull Up resistor R1 value to be within 7 mA to 15 mA by referring to the application example below Vcc of Host Controller 24 V 5 96 12 V 5 96 5 V 5 96 R1 2 2 kW 1 kW 180 W NOTE e When you use open collector method for the output of host controller it is recommended to use 24 V for Vcc In doing so the operation is stable even in the environment with serious noise problem e When input voltage of 12 14 and 16 of CNI is not exactly low level less than 0 6 V or R1 value is higher than the suggested value an error can occur Therefore use 24 V for Vcc of the host controller and 2 2 K for R1 Set the position command pulse type for the host controller P abies i D di H H H E n H Position Command Pulse Input Selection Setting 0 Use the line driv
51. Motor Setting utres obi a eX vU Ue VE re d 4 16 Main Power Selection sese 4 20 A SaL dedo aetna tes Dd Ed aie tss E A 4 22 O 4 22 SA e UA dali 4 22 Check up Items during Startup oooooooocroomcmmo 4 25 Chapter 5 Int fodQctioti di did tt 5 1 Sequence 1 0 Input Output Sinaloa ds 5 2 What is Sequence I O Signal a sae e a 5 2 Function of Output IAEA AGAR 5 5 Input Signal Allocation Method cuca ls 5 5 Output Signal Allocation Method oo o ooooocmmm o o 5 7 Notice for Signal Allocation pus ace Ete ae PC dot Oel 5 8 Position Gotitrol Modera haer ah d tcI Eran b APA 5 9 Tuning by Gain Setting OVERVIEW RARO 5 9 Standard Witing Example 2o pride bant Sr ra 5 10 Position Command Pulse ooooooooooomoomomoo 5 11 Position Command Pulse SettidB oooooooommo o 5 13 Electrical Specifications of Position Command Pulse 5 14 Blecttonie Geat ger sn clas wtb oh aS ee eee ea ea 5 15 Position Error Clear POLA ta 5 21 Pulse Command Inhibition lt INHIB gt Input 5 21 Expansion of Electronic Gear Setting o o o oooo o o 5 22 The Second Group of Electronic Gear lt GEAR gt input 5 23 Position Completion Signal Detection lt P COM gt Approach Signal Detection lt NEAR gt Output as tr kids 5 23 Output Width of Allowable Position Etrot o 5 27 Input Output Signal Timing diagram o ooo o oooooo o o 5 27 Speed Control Mode unidas ds 5 28 OY
52. Refer to Chapter 4 22 Chapter 7 35 P rs El hk Acceleration time P pe cil 3 Deceleration time Initial Other Set range value Unit details Setting gt End Applicable 0 to 60000 0 msec modes ALL e Acceleration deceleration time and S operation time are set for smooth operation e Acceleration time is the time needed for acceleration from 0 speed to motor s rated speed e Deceleration time is the time needed for deceleration from rated speed to 0 speed i Motor LL tt a dl ee Len e rated speed Speed command Motor set speed 0 i 1 3 Actual Motor deceleration rated speed H 4 time Motor set speed Ed BIER Time 0 Acceleration Deceleration set time set time Detailed description Refer to Chapter 7 16 Contact speed command Parameter List A 23 Initial Other Set range valla Unit details Setting End Applicable 0 to 5000 0 msec adas ALL e S operation time set for smooth operation e Applied only when acceleration deceleration time have been set If value is set to 0 S operation is not performed if a value other than 0 is set S operation is performed on acceleration deceleration A Motor O o 4 Speed Speed rated speed E Command Command Motor E set speed 0 Time i Vy Motor mee eee LI N Acceldecel rated speed A 1 Speed time set _
53. Servo OFF Motor Brake P Released l Operating HZZ ng H Speed Value When Outputting Brake Signal after Servo yu LI Ll OFF Seung range Valle Unit Other Servo Off gt Setting gt End 0 to 1000 100 rpm oe ALL The motor speed when the motor brake is operated can be set SV ON command of the Host controller ON OFF Speed Value When Motor Speed gt Dutputting Brake Signal After Servo Setting Speed 5 OFF Motorprake gt Released Operating The brake attached to the motor should not be used to stop the NOTE HERE running motor Use it to maintain the stop status of the motor immediately before or after the stop Applications 7 9 Precautions when Setting The below are the precautions when setting the time in Servo ON and Servo OFF e As shown on the right column if the brake operates after the actual servo off is completed it will temporarily be descended by the gravity in case of vertical load As shown on the left column loweting of the load is prevented by operating the motor brake early before the actual Servo OFE n order to prevent the fall by the gravity set the time properly 0 X Servo Off Delay Time Brake Output Standby Time Servo Off Delay Time Brake Output Standby Time rn nr rn nu o oo EME ba DE m Hr 5 HE gt Fe ot fl F 5 HE lt F
54. Setting Introduction This chapter explains the servo drive setting that can achieve its optimum performance to satisfy different load system as controlling servomotor Ml Page Introduction 6 1 Before you Begin 6 2 Gain Setting Configuration 6 7 Automatic Gain Setting 6 7 Manual Gain Setting 6 11 Tip to get fast response 6 20 Publication CSD3P UMOO1E EN P February 2008 6 2 Tuning by Gain Setting Before you Begin Publication CSD3P UMOD1E EN P February 2008 Mark Explanation The following icon is used for tuning Tunning Icon Maximum Gain Setting Parameter 500 Setting Value en Gal Initial Setting Gain Name and Unit 50 e Value 10Hz Minimum 0 t _ Setting Value Gain Introduction As the audio system has equalizer to adjust the audio quality the drive also requires adjustment to achieve the optimum performance for each load Equalizer adjustment is not essential for the audio system but the adjustment is important fact that is directly connected to performance for servo drive You should adjust servo drive to satisfy load condition in order to achieve optimum performance for each control In addition the adjustment made to the motor that is connected to drive to achieve the optimum performance through gain setting is called Tuning Servo drive gain What kind of drive gains are there that acts like equalizers of audio system P
55. and lt N TL gt are sequence input signals To use lt P TL gt and lt N TL gt functions allocate lt P TL gt and lt N TL gt signals by referring to the sequence input output signal in the chapter 5 1 External limit of positive torque uses lt P TL gt signal and that of negative torque uses lt N TL gt signal Torque limit by internal limit Pr 4 01 and Pr 4 02 are prior to external torque limit lt P TL gt and lt N TL gt signal More explanation Internal limit is used to limit maximum value of operation torque of motor or output torque within set range to protect the load system or the object on work Generally the allowable torque limit of motor is as shown in the figure below Therefore torque limit in the speed over rated speed is achieved within the momentary operation range as shown in the figure In high speed range torque limit according to current motor speed is automatically processed inside Servo drive If the values of Pr 4 01 and Pr 4 02 are set as shown in the following figure torque of motor is limited as the lined area in the figure Momentary Allowable l Momentary Continuous Maximum Torque Allowable Area Torque Limit Setting Value Rated Torque E Rotation Speed Rated Maximum Speed Speed NOTE Depending on the motor type there is a maximum instantaneous torque that is less than 300 96 If you set Pr 4 01 and Pr 4 02 to the value over maximum torque that mot
56. and input the setting value applicable to 1 V output Publication CSD3P UMOO1E EN P February 2008 7 26 Applications e The output range is 10 V to 10 V Monito emp P S fel 0 0500 Confirm the speed command of host controller through the analog monitor output CH1 e The speed command confirmation of host controller applicable to monitor output 1 V is 500 rpm e By outputting of maximum of 10 V the confirmation can be made up to 5000 rpm e Accordingly the confirmation range of entire speed command is 5000 rpm to 5000 rpm IV 10 V rpm L 500 5000 Monitoring Sample 2 H re 5 fF p il H H Confirm the position command of host controller through the analog monitor output CH2 e The position command confirmation of the host controller applicable to the monitor output 1 V is 1000 pulse e By outputting of maximum of 10 V the confirmation can be made up to 10000 pulse e Accordingly the confirmation range of entire position command is 10000 pulse to 10000 pulse V 10 V 11V L Pulse 1000 10000 Publication CSD3P UMOO01E EN P February 2008 Applications 7 27 Use of Absolute Encoder It describes on the matters related to the absolute encoder battery and other absolute encoder What is an Absolute Encoder e Absolute encoder is an encoder that can detect the absolute position of input e Absolute
57. as exactly set Inertia Ratio Pr 0 04 and set basic gains using system gain Pr 1 00 you can get response quality The following table is for Inertia Ratio and system gain Setting x na H Inertia Ratio x r pl Initial Value Unit Others Setting gt End Setting Range 0 00 to 60 00 1 00 Times Arne AL e This is the parameter to set load inertia ratio to motor inertia e When you change this value above two basic gains Pr 1 01 Pr 1 02 are changed by referring to the value Pr 1 00 System Gain Function e tis bandwidth of whole speed control loop If you 100 increase this value gain value increases in general and response quality is improved 20 e When you change this value above basic five gains Pr 1 01 Pr 1 02 Pr 1 03 Pr 1 04 Pr 1 05 are changed by H A pp Ersten Gan referring to the Inertia Ratio Pr 0 04 Fr cg noH e If you set the value too high compared to load condition vibration noise may occur Applicable Mode ALL Others Setting End To over response characteristics we will explain gain setting related to torque speed and position in the Chapter 6 14 In addition the Chapter 6 20 will give you the detailed explanation on various functions to acquire fast response quality in gain setting Publication CSD3P UMOO1E EN P February 2008 6 14 Tuning by Gain Setting Position Speed Torque Related Gain S
58. au SV ON command of the host controller SV ON command of the host controller OFF SV ON command SV ON co 9 the gt servo driver execution of the servo driver SV ON command OFF erating Released m Motor Brake Motor Brake gt ti gt Released Operating Brake signal is outputted according to the priority among Pr 5 07 and Pr 5 08 Waiting Time When Outputtin Speed Time When eau Brake Signal After Servo OFF Brake Signal After Servo OF Pr 2n7 Pr 208 yo ALIE po A Lt LI Other Even when the brake attached to the motor is not used a separate brake may be manufactured and installed by the user e When controlling the extra manufactured brake it can be controller by the signal from the servo drive NOTE e Sequence output signal BK that is to control the motor brake is allocated at the time of the shipment e When not using the motor brake allocate and use other output signal needed e The detailed contents on the sequence input and output is described in the Chapter 5 2 Publication CSD3P UMOO1E EN P February 2008 7 10 Applications Change of Motor Rotation Direction Publication CSD3P UMOO1E EN P February 2008 Overview The rotation direction of the motor is easily convertible e When the rotation direction of
59. better response is and completion time is reduced Set this value to low level in the environment that load inertia is big or vibration can easily occur Applicable Mode ALL Others Setting gt End Tuning by Gain Setting 6 17 Speed command filter cutoff frequency Speed Command Filter Cutoff Frequency 10000 1 1000 Speed 0 Command Filter Cutoff Function It makes speed command itself smooth as suppressing high frequency that is included in speed command If this value is 0 speed command filter is not used Frequenc Pree E Hz Applicable ALL Mode Others Setting End Speed control related gain setting procedure e Increase speed loop proportional gain Pr 1 01 to the limit that NOTE P vibration noise does not occur Confirm Pr 1 01 as the value of 80 to 90 of maximum setting value Increase speed loop proportional gain Pr 1 02 as checking over response overshoot completion time whether vibration or noise occuts If you set it too low response quality is degraded and if you set too high vibration or noise can occur Maximum setting value of Pr 1 02 is as the following formula Pr 1 02 300 X Pr 1 01 2 X Inertia of applied motor Appendix If position control related gain of host controller is set high more than necessary or in the environment where the noise is too big reduce the value of speed command filter Pr 1 05 It is better to set the value
60. can check the servo motor status and the motion of the system whether they occur noise or vibration or not during the jog operation NOTE If noise and vibration occur from the servo motor perform off line autotuning by referring to the Chapter 7 25 Then you can run the motor more smoothly in a stable condition Publication CSD3P UMOO1E EN P February 2008 4 26 Operator Basic Setting and Startup Publication CSD3P UMOD1E EN P February 2008 Chapter 5 Function for Control Mode Introduction This chapter describes the sequence input output function of I O signal connector CNI and the function for each control mode Topic Page Introduction 5 1 Sequence 1 0 Input Output Signal 5 2 Position Control Mode 5 9 Speed Control Mode 5 28 Torque Control Mode 5 38 Combinational Control Mode and lt C SEL gt Function 5 50 Publication CSD3P UMOO1E EN P February 2008 5 2 Function for Control Mode Sequence 1 0 Input Output What is Sequence 1 0 Signal Signal To provide the optimum performance that is suitable for user s equipment 50 pin connector of CN1 is used to allow the drive can input output signals that has various functions e Input provides 16 functions and you can freely allocate input signal of each function with 7 pins from CN1 No 3 to CN1 No 9 e Output provides 8 functions and you can freely allocate output signal of each function with three pairs of pins such as 41 42
61. connector CN2 and battery connector CN5 are included only in the description of the signal circuit e The description of other connectors are omitted Publication CSD3P UMO001E EN P February 2008 Wiring 3 3 Electric Circuit Name and Function The terminal symbol is printed on the wiring socket at the electric circuit terminal of the drive Observe the drive to identify and understand the terminals on the following table and then wire accordingly Terminal L1 L2 L3 AC Power Terminal Single phase 200 to 230 V 50 60 Hz 400 W or lower L3 port must not be used 400 W or higher 3 phase 200 to 230 V 50 60 Hz Terminal L1C L2C Control Power Terminal No output division Single phase 200 to 230 V 50 60 Hz e he main power and control power can be divided when connecting to the drive Therefore the user can configure surrounding circuits when the main power is cut off in an emergency or when the drive itself checks the status and cuts off the power e fthe drive independently checks the status and only the main power is cut off but not the control power the drive can display the cause of cut off of the main power The user can take appropriate action after identifying the cause of cut off of the main power e Refer to the Chapter 3 for the Electric Circuit Diagram of the power separation Terminal UMW Motor Cable Terminal Connect the motor cable NOTE e The motor cable connec
62. control the rotation direction of motor differently to forward and reverse as approving lt C DIR gt sequence input for each speed that is designated to each speed parameter lt C SP4 gt In Multi step Speed Mode Pr 0 00 C lt C SP4 gt can be used to change the motor speed using analog speed input voltage without changing the control mode When lt C SP4 gt is ON and lt C SP1 gt lt C SP2 gt and lt C SP3 gt are all OFF the motor speed is controlled by analog speed input The lt Z CLP gt input and zero clamp function are all available If the lt C SP4 gt input is ON and any one of lt C SP1 gt lt C SP2 gt and lt C SP3 gt inputs is ON at the same time the motor speed is controlled by the corresponding contact inputs o AE voltage l C SP1 2 3 l l i ON i C SP4 Motor Speed EL To use sequence input signal lt C DIR gt lt C SP1 gt lt C SP2 gt lt C SP3 gt or lt C SP4 gt function allocate signal with reference to sequence input output signal in the Chapter 5 2 NOTE e If you do not change the rotation direction you do not need to use lt C DIR gt input e In addition you do not need to use all lt C SP1 gt lt C SP2 gt and C SP3 gt and can adjust change level using only lt C SP1 gt or both lt C SP1 gt and lt C SP2 gt according to your needs e Ifyou ser up 8 when you allocate sequence input signal as described in sequence input output signa
63. controller DC 5 to 12 V 4 Line Receiver Host Controller Publication CSD3P UMO01E EN P February 2008 Wiring 3 21 Encoder Wiring CN2 Pin Arrangement of CN2 The table below shows the pin arrangement for each encoder DRIVE MOTOR CSM RC CSMS D H K ur RSMS D CSMT RSMZ RSMS D H RSMO RSMH F PIN CSMR RSMF K L MSN RSMK L NO FUNCTION PA A a A ABS Serial Serial Abs Inc Abs Inc 1 E0 V 8 14 14 11 14 G G G 8 G 2 3 A 1 1 1 1 1 A A A 4 A 2 2 2 2 2 B B B 5 B 3 3 3 3 3 C C C 6 B 4 4 4 4 4 D D D 7 C 5 5 5 5 5 E E E 8 C 6 6 6 6 6 E F F 9 10 U 7 7 11 K K 4 K 11 RST 9 9 R 12 13 U 8 8 12 E L 5 L 14 V 9 M 15 N 10 N 16 W 11 P 17 W 12 R 18 BAT 11 7 T 1 T 19 BAT 12 8 S 2 S 2 lsm V7 d h ho mw HS WE WE a h n 9 15 i 12 ie J J J 3 J Publication CSD3P UMOO1E EN P February 2008 3 22 Wiring Publication CSD3P UMO001E EN P February 2008 CN2 Terminal Type The table below shows the terminal type and specifications of the encoder cable CON A Connect this to CN2 of the servo drive 4 lt Encoder Cable gt CON B Connect this to the encoder cable of the servo drive Connector CON A for connection to CN2 of servo drive
64. d Motor set speed y lime A Motor fo S curve Time rated speed N Setting Speed Motor set speed 0 LJ S curvesettime _ Da Detailed description Refer to Chapter 7 27 Contact speed command Other Set range Initial value Unit details Setting gt End 5000 to 5000 100to700 rpm ED C e Sets each contact speed commands for contact speed control mode e The operation speed should be entered in advance into the relevant parameters as below e According to combination of the sequence input signals C SP1 C SP2 C SP3 gt operation at preset speed is possible e In addition sequence input signal lt C DIR gt is used to change the rotation direction of each speed command e To reduce impact of speed change set the acceleration deceleration time to a sufficient value which should not interfere with system responsiveness Publication CSD3P UMOO1E EN P February 2008 A 24 Parameter List Publication CSD3P UMOD1E EN P February 2008 Contact speed Speed set parameter lt C SP3 gt lt C SP2 gt lt C SP1 gt Halt command 0 rpm 0 0 0 Speed command 1 F ETT BID 0 0 1 Speed command2 F AE Geng 0 1 0 Speed command3 F ANA 4g 0 1 1 Speed command 4 F HTIH Gye 1 0 0 Speed command 5 F ANY ggg 1 0 1
65. d i 5 f i Speed Command Offset mV d n E H Torque Command Offset mV qd i D 1 D Input amp Output Signal Status Refer to 7 11 d i E E IE Alarm History Refer to 7 11 d ic gt E p Firmware Version rpm Publication CSD3P UMOD1E EN P February 2008 Parameter List A 43 a peus a pum Z i 5 f a Motor amp Encoder Type Refer to 7 11 i c a Analog speed command voltage 0 01V i n r ri Analog torque command voltage 0 01V UR gem im nu a Drive rated output I Ln gum nu i u am La na LL n 1 time rotation data of absolute encoder Encoder Feedback Counter Pulse Publication CSD3P UMOO1E EN P February 2008 A 44 Parameter List Publication CSD3P UMOD1E EN P February 2008 Appendix B Servo Drive Specification Introduction Topic Page Introduction B 1 Servo Drive Specification B 2 Publication CSD3P UMOO1E EN P February 2008 B 2 Servo Drive Specification Servo Drive Specification Outline Drawing Model Rated Output Weight
66. does not respond to the offset related to speed command and remains without moving The following figure illustrates the conversion of PI controller and P controller using lt P CON gt input in speed control loop speed controller Tuning by Gain Setting 6 23 Servo Drive Speed Controller Speed command Speed command 2000 Limiter ldB a Filter y Pr 2 12 D N 1 5 Speed Loop 9 yV Proportional ENNE ain f f ul THz Fr tue MA 1000 lo oD L J E 0 A 0 Integral Gain ERER Nns Speed Command Filter Hz P CON Analog Monitor Sequence Output d d 1 1 1 Host Controlar Logical Decision A Ao P CON O O Q O Method to use P PI mode switching function by parameter setting Meanwhile yon can operate speed controller as P controller type by parameter setting without allocation external sequence input According to parameter setting you can change speed controller to P controller type e When internal torque command is bigger than certain value Y e When speed command exceeds certain value rpm e When position error is bigger than certain value pulse For setting related to cases above use the following parameter Publication CSD3P UMOO1E EN P February 2008 6 24 Tuning by Gain Setti
67. factors may be set in several forms e The method to suspend the motors by the servo drive is classified as below Suspended by Using Dynamic Brake Function Suspended by Torque Control Consistent with Normal Operation Servo Alarm Refer to Chapter 8 6 The content on servo alarm is described in detail in the Chapter 8 6 Over Travel lt P OT gt lt N 0T gt Over Travel OT When the load exceeds the operation range while running the load system may be damaged To respond to this situation the sensor is installed at the edge of the operation range as shown in the figure below to prevent the damages to the load system e Allow the operation within the range so that the loading does not reach the sensor during the operation e The servo drive stops the motor to protect the load system when the signal from the sensor occurs due to the loading exceeding the operation range by a certain error Applications 1 3 e At this time the signal occurring in forward rotation of the motor is called lt P OT gt signal and the signal occurring in reverse rotation is called lt N OT gt signal Signal Occurrence in Forward Operation EP P OT limit S Signal Occurrence in Sequence imit Sensor Reverse Operation E N OT Input Signal xa o NV Loading J Forward Reverse CNI Loading Side lt Operation Operation gt o Je Rotation prohibition
68. for wiring or fuse capacity select the fuse capacity considering the load ratio Cut off features 200 2 seconds or more 700 96 0 01 second or more The high speed cut off fuse can not be used As the power of the NOTE ee drive is condenser input type the fuse may be blown even during a normal situation if the high speed cut off fuse is used Publication CSD3P UMOO1E EN P February 2008 3 34 Wiring Noise Protection The high speed switching device and microprocessor are used at the main circuit of the servo drive Thus switching noise is affected by the connection and grounding methods Use the proper wiring and grounding method to prevent any affects from the noise Use a wire of 3 5 mm ot thicker for the earth wire Aa LINE FILTER A 0 v PT 006 r y A sal old k gt T nas EB rm me gt Ve 2 AW AE VV YV he Woes O Ralay Sequence Circuit Signal Generating Circui L 1 res L e 2 t CN1 ff 3 o Servo Motor Heat Sink gt D Cn I JN A P Ground Plate Earth Grounding One Point Grounding lt Class 3 Grounding or Higher gt Extra caution is required when wiring the noise filter The following figure describes precautions when wiring the noise filter If the wiring is wrong the perform
69. gt End Detailed description Refer to Chapter 7 10 4 g Selection of instantaneous outage detection Select instantaneous outage detection option Set value Details 0 Use the option 1 Not use the option Default 0 Applicable modes ALL Other details Servo OFF gt Setting gt End Publication CSD3P UM001E EN P February 2008 A 10 Parameter List Publication CSD3P UMOD1E EN P February 2008 Selection of Auto Tuning Function Selection of Auto Tuning Mode Select auto tuning mode Set value Details 0 Inertia identification 1 Inertia identification and resonance frequency identification Default 0 Applicable ALL Other details Servo OFF gt Setting gt End modes Offline tuning speed Adjust the rotation speed for off line auto tuning Set value Details 2 9 The larger the value the higher the speed set value 100 rpm Select an appropriate speed according to load condition Applicable ALL Other details Servo OFF gt Configuration gt Complete modes Detailed description Refer to Chapter 6 7 3 Comma ES Lt Lt Lt On line tuning coefficient Selects whether on line auto tuning to be used and its sensitivity Set value Details If this value is not 0 on line auto tuning is used 0 9 The higher this value is set the faster is the response to load variation so that the motor re
70. gt Reapply power gt Completed Detailed description Refer to Chapter 4 13 Selection of 4 basic functions Selection of dynamic brake DB halting method e Description for the DB dynamic brake control e Set the halt method of servo drive for situations other than halt after normal operation such as servo alarm or servo OFF Set value Details 0 DB operation continued after DB halt 1 DB released after DB halt Parameter List A 9 2 Free run halt without using DB halt Applicable modes ALL Other details Servo OFF gt Setting gt End Detailed description Refer to Chapter 7 4 2 Mom Select method of overtravel halt E n E E r E E Select halt method to be applied when overtravel occurs Set value Details 0 Halts while performing normal torque control in case overtravel occurs Here torque limit can be imposed by setting rotation inhibit torque limit Pr 4 05 1 Halts according to the method set al the DB halt method selection set at Pr 0 02 in case overtravel occurs Applicable modes ALL Other details Servo OFF gt Setting gt End Detailed description Refer to Chapter 7 2 Selection of rotation direction Select the motor s rotation direction Set value Details 0 Sets forward direction to CW 1 Sets forward direction to CCW Applicable nades ALL Other details Servo OFF gt Setting
71. input is ON The basic electronic gear parameters Pr 3 01 and Pr 3 02 are used when input is OFF Switch between two electron ratios ic gear 5 23 Function for Control Mode 5 5 Function of Output Signal The following is the brief explanation on 8 functions of sequence output signal Details for each signal is explained in the pages listed on the right side of the table Type Description Mode Details P COM Itis on when the positi is withi e a position error is within the output Wk in Completion width of position completion signal Pr 5 00 P 5 23 Hae Te It is on when the position error is within the output P detection pp width of position approach signal Pr 5 01 N COM tis on when the speed difference between FE command speed and the rotation speed are within NEAN LUE he output width of speed coincidence signal PSC 5 29 Pr 5 02 TG ON t is on when the motor rotates with the speed Rotation detection more than the setting value of rotation detection All 5 35 evel Pr 5 03 T LMT is on when motor torque is reached the setting All 541 Torque limit detection value of torque limit N LMT is on when motor speed is reached the setting All 5 36 Speed limit detection value of speed limit BK is the signal for control of the brake that is All 76 Breaker control mounted inside and outside of the servo motor bie
72. is displayed if Z Pulse of the encoder is ALL detected 7 25 Wiring 3 15 CN1 Input Circuit and Interface Describes the connection circuit for input from the host controller to the servo drive Pulse Command Input Circuit The drive receives the pulse output of host controller by position command in position control mode e Host controller can output pulse in line drive or open collector type Select either of the two for use e Refer the Chapter 5 9 for the servo drive setting according to the selection Input pin of CN1 that uses line drive and open collector output PULS PULS 11 12 SIGN SIGN 13 14 PCLR PCLR 15 16 Line drive Maximum allowable frequency 900 kpps Line Drive SN75174 150 92 4 7 kQ Equivalent A Host Controller 2 8 V lt H Level L Level lt 3 7 Open collector Maximum allowable frequency 200 kpps Line Drive 150 Q 4 7 kQ Ms VF 1 5 to 1 8 V Host Controller By using the example at the bottom set the value of Pull Up resistor R1 so that the input current i is within 7 mA to 15 mA Vcc of the Host Controller 24 V 5 96 12 V 5 96 5 V 5 96 R1 2 2 KW 1 kW 180 W Publication CSD3P UMOO1E EN P February 2008 3 16 Wiring NOTE Maximum allowable frequency of host controller s pulse command is 900 kpps for the line drive e e 200 kpps for the open c
73. lt T LMT gt Output As described before torque that is added to motor can be limited by various setting The state that totque is limited by setting value can be generated to host controller by sequence output That output is torque limit detection lt T LMT gt signal lt T LMT gt is sequence output signal To use lt T LMT gt function allocate lt T LMT gt signal with reference to sequence input output signal in the Chapter 5 2 Torque limit detection lt T LMT gt output is ON when satisfying the following conditions Pr uti i P 4 2 Torque Limit Internal Servo Motor g Lent a fa UP LI m T LMT Forge f r HH d H r uH m Trque Limit Extenal gt Output p gy uf 5 Torque Limit for Over Travel Occurence e Internal and external torque limits can be set separately when the NOTE ee E rotation direction of the motor is forward and reverse e However for torque limit by over travel lt P OT gt and N OT signal input torque is limited by one setting value of rotation prohibition torque Pr 4 05 regardless of rotation direction of motor Function for Control Mode 5 45 Multi Step Speed Mode Overview Multi step speed mode is one of speed control method It is to operate according to sequence input after setting operation speed in advance by parameter setting It does not require separate speed command input or offset adjustment because it o
74. motor rotates 3 times in 360 forward and reverse direction e Confirm the loading not to exceed the operation range during tuning Applications 7 37 Loading Operation Range j Tuning Operation Range N SS i Lo PM Loading Operation E Sa Range How to Operate Refer to the below flow chart to operate SERVO ON SERVO OFF Flow Chart of the Off line Auto Tuning Operation Status Display Mode H h h Select the operation mode JL with MODE SET key LJ T AA LUI Lt LI Make run 01 by using the direction key V qu gt cl Y Lt Le Prepare the auto tuning by pressing the ENTER key i c NE e en IERI HLAE E AA Operate the auto tuning by Gy pressing the MODE SET key O Running Motor Execute the optimal tuning for the toad After the tuning the setting value is automatically stored Auto tuning automatically completed a Completed the operation by pressing the ENTER key a ER Completed Publication CSD3P UMOO1E EN P February 2008 7 38 Applications Searching an Origin Pulse run 02 The function is to search a origin Z Pulse When needing to align the location of motor shaft and machine shaft run this function Do not couple motor and machine shaft Coupling V
75. motor rotates even you command 0 V adjust motor not to rotate using speed command offset adjustment function run 03 run 05 y If necessary set the acceleration deceleration time Pr 2 02 Pr 2 03 y Use the zero clamp function to reduce the offset of host controller command Pr 5 04 y Tune the servo drive by adjusting the gain according to the load condition For Position Control Only model CSD3 xxBX1P does not support the NOTE speed control mode Function for Control Mode 5 29 Standard Wiring Example The following figure illustrates the standard wiring example of the speed control mode You can set sequence input output signal as you want if it is necessary for system configuration 1 0 50 Pin Connector lt CN1 gt DC 24 V rx E gt 24 V IN_ 4 28 ay D os Sequence Input Cir cuit A A 27 Recommended Setup Furction Input Channe V og Servo ON SV ON Y k Prohibit Forward Rotationp OT la t Be Prohibit Reverse Rotation N OT ls f B 40 P Control Conversion P CON zZ L6 yea 2 Alarm Reset A RST 7 Rx i P 30 Reverse Torque Limit N TL 8 v 7 31 Forward Torque Limit P TL s Fax P 3 jj 33 E STOP lio T vq P34 35 o P 36 177 se v te 45 Ez a Speed Contr ol Mode Input 41 V RE vx V 42 Analog Speed Command AID 10 V to 10 V V REFSG 43 xx V as 47 B
76. position control For this dtive there is no need for a separate control mode selection Refer to the Chapter 1 7 Combinational control mode cannot be used by combining more than 3 types Make sure to combine two types only e The table below shows the control mode types Refer to the chapter 5 for function for each control mode Basic Control Mode Associated Control Mode Display Description Display Description coco P Position mode cc 5 P Speed position mode 5 Torque speed mode m 4 Speed mode nm RE Torque mode Torque position mode 1 n LU n Multi step mode F P Multi step speed position mode E 5 Multi step speed speed mode FE Multi step speed torque mode Publication CSD3P UMOD1E EN P February 2008 Operator Basic Setting and Startup 4 15 Control Mode Setting Method Describes control mode setting method focusing on the key button manipulation e Apply the power and set it as shown in the flowchart below Flowchart of the Control Mode Setting Status Display Mode P h h Select Parameter Setting mode by MODE SET key Y 0 rt rrr Press ENTER Key and Enter into the Setting ll Window H Using the direction key create a control mode to set 9 ae Displays control mode by UP DOWN key SS C gt 9 Ep 9 Shift position by LE
77. possible in the range of 0 to 5000 rpm and the initial setting speed 1s 500 rpm Publication CSD3P UMOO1E EN P February 2008 7 36 Applications Publication CSD3P UMO001E EN P February 2008 How to Operate Refer the flow chart of the below and operate SERVO ON SERVO OFF Jog Operation Flowchart a Status Display Mode p h h Select the operation mode a ea with MODE SET key V D C E cs MN LU Lt LI Make run 00 Initial run 00 V qu C nr LU Lt LI Confirm the jog operation O by pressing the ENTER a n keySelect V S SE LI LI LI Prepare the jog operation by pressin the MODE SET key d MAA LI Lt LI Live O a CED c V Gs keyForward operation for motor Reverse operation for motor while pressing the above ke while pressing the lower key Counterclockwise direction Clockwise direction Release the jog operation by pressing the A MODES estatus v O Operation expiration b O piessing the ENTER key J Completion Off line Auto Tuning Operation run 01 Function Description Refer the Chapter 6 7 for detailed description on off line auto tuning Caution The following shall be carefully reviewed before operation NOTE e With the jog operation of the Chapter 7 35 the loading is positioned in the middle of operation area e The
78. presence of error in the power and adjust the acceleration or deceleration time ERES m Indicator COLL LII Over Current Cause1 If it occurs when the power is ON there is an error in the control and main power circuit Action1 Confirm the presence of error in wiring and power and inquire to the company if normal If it occurs during the operation it is made when the rapid over current was flown on Cause2 the motor when the current of 300 96 or more of rated current is flown to the motor for 2 ms or more Action Confirm the presence of error in the power and adjust the acceleration or deceleration time Indicator E Eroi Regenerative Over Current EFEU OL Cause It occurs when the over current is flown to the regeneration resistor due to the error in regenerative transistor and regeneration resistor Action Replace the servo drive or regeneration resistor Indicator E ar art Current Feedback Offset Error Pause In the event that current feedback offset adjustment run 07 is made it occurs when the offset current is 5 or more of rated current Action Confirm the motor condition and inquire to the company if it continues to occur NOTE e Current feedback offset adjustment is already made at the company in time of delivery e Adjust it only when the current offset is particularly large Particularly in the case of vertical load do not adjust Publication CSD3P UMOO1E EN P February 2008 8 8
79. regardless of current indication condition e Even when servo alarm occurs during the user setting and operating the key button by the user the drive displays the content of alarm immediately e The alarm indicator character is flickering like the Servo warning Servo alarm storing and confirmation e Servo drive may store the maximum of 8 alarm contents in the order of occutrence of servo alarm Also the stored alarm can be confirmed through the monitor mode dis 16 of Chpater 7 50 and clear the stored alarm by using the operation mode run 09 of Clause Chpater 7 45 Inspection and Protection Functions 8 7 Servo alarm types e Servo drive displays the alarm in the 34 situations below Indicator Canar Defective Internal Circuit of Servo Drive Cause When having a defect in a internal part of servo drive or circuit it is displayed Action Replaced the product and inquire to the company C 100TL os Indicator E IITE Defective Power Circuit Caiga When it occurs at the time of inputting power there is an error in control and main power circuit Action1 Confirm the presence of wiring and power and inquire to the company if normal If it occurs during the operation it is displayed if the over current occurs in the motor or Cause2 the internal temperature of device for motor drive is increased for over the permitted temperature Action Confirm the
80. servo drive enter 1000 as a setting value Electronic Gear Setting Denominator AS a result the ball screw rotates once with 1000 pulses so the ball screw DAM with the movement pitch of 10 mm moves 10 um Fr azuc If you want to rotate a motor once by the host controller sending 10000 pulse to the servo drive enter 10000 as a setting value As a result the ball screw rotates once with 10000 pulses so the ball screw with the movement pitch of 10 mm moves 1 um Function for Control Mode 5 17 Precautions When you set up the denominator as 10000 the ball screw moves 1 um per pulse of the host controller so that it shows better resolution than set with 1000 If so can you realize much better the resolution is if the denominator is set as 50000 No you cannot The resolution of the encoder that is selected is 5000 So the electronic gear has to satisfy the ollowing formula because it is set according to the selected encoder Number of Encoder Pulse X Reduction Ratio X 4 gt Setting Value of Pr 3 02 Therefore the example 1 above can make a motor rotate with maximum of 20000 pulses from the host controller Example 2 of electronic gear setting e This chapter explains the electronic gear setting for a belt load with the reduction ratio Example 2 End mechanical Therefore Y part 0 2 rotation reduction ratio is 5 Diam
81. signal in over travel occurrence The rotation prohibition signal in over travel occurrence is the sequence input signal and is classified as below Display Signal Name Description Prohibit forward lt P OT gt operation Signal occurs during forward operation lt N OT gt Prohibit reverse operation Signal occurs during reverse operation Over travel signal input e lt P OT gt and lt N OT gt are the sequence input signals In order to use the lt P OT gt and lt N OT gt functions refer to the sequence input amp output signal in Chapter 5 2 and allocate the lt P OT gt and lt N OT gt signals e The No 4 pin of CN1 has the lt P OT gt signal and the No 5 pin of CN1 has the lt N OT gt signal allocation as a factory setting The over travel signal is not the servo alarm signal but it is a signal for NOTE the protection of the load system When the over travel signal is inputted the drive status display mode shows the characters that the signal is inputted Refer to the content of status display mode in the Chapter 4 2 NOTE The sensor signal to cope with over travel may be used in performing the zero return function described in the Chapter 7 38 Refer to the Chapter 7 38 Publication CSD3P UMOO1E EN P February 2008 7 4 Applications Publication CSD3P UMO001E EN P February 2008 Selection of stop method in over travel occurrence Select the over travel stop method from
82. the below parameter e The information on dynamic brake is described in the following section Dynamic Brake The CSD3 servo drive has the dynamic brake circuit Dynamic Brake DB When the motor cable U V W of the servo motor is all short circuited and the motor shaft is rotated with hands it is easy to find out that there is much mote loading in the rotation than when not short circuited The drive uses such characteristic of the motor when stopping the motor This is referred to as a dynamic brake DB The following figure shows the internal DB circuit of the servo drive e If the motor cable is connected to the servo drive and if the power is not supplied to the servo drive the switch in the below figure is short circuited This indicates that the DB is in operation e Also the servo drive controls the DB switch according to the parameter setting for the DB operation e The DB cannot be used while stopping the motor with normal torque control The normal torque control is done in servo ON but the DB is only operated in servo OFE A i Dynamic Brake O DB Servo Motor DB stop DB Stop is operating the DB to stop the motor during the run Free run stop Free Run Stop is stopping the motor during the run by the friction of the load only Applications 1 5 DB Stop Method Setting Set the DB stop method on the below parameter Selection of DB Stop Method 0 DB stop
83. the noise from the power line Connection to Peripheral Equipment Regenerative Resistor HA Magnetic tH H Contactor O Uu off Control Magnetic Contactor for the Motor Break LI otor Cable P E IL E 1 c Ol lus Battery el CN1 Host Controller amp 1 CN2 Encoder Cable Brake Cable NA Motor Brake K ontrol Power CNB ees L go Motor Break Contro J Servo Motor Portable Operator Introduction Chapter 4 Operator Basic Setting and Startup This chapter introduces the operator mounted on the servo drive In addition it describes the basic setting of servo drive and also an example for simple startup Topic Page Introduction 4 1 Before You Begin 4 2 Operator 4 6 Basic Setting 4 13 Startup 4 22 Publication CSD3P UMOO1E EN P February 2008 4 2 Operator Basic Setting and Startup Before You Begin Publication CSD3P UMOD1E EN P February 2008 About Servo ON Signal This part describes Servo ON signal for the control of the servo dri
84. the rest of the manual This manual provides detailed installation instructions for mounting wiring and troubleshooting your CSD3 Plus servo drive drive and system integration for your dtive motor combination with a Motion Card This manual is intended for engineers or technicians directly involved in the installation and wiring of the CSD3 Plus servo drive drive and programmers directly involved in the operation field maintenance and integration of the CSD3 Plus servo drive drive with a Motion Card If you do not have a basic understanding of the CSD3 Plus servo drive drive contact your local OE Max sales representative before using this product for information on available training courses The conventions starting below are used throughout this manual e Bulleted lists such as this one provide information not procedural steps e Numbered lists provide sequential steps or hierarchical information Publication CSD3P UMOO1E EN P February 2008 Additional Resources The following documents contain additional information concerning related CSD3 Plus servo drive products Read This Document Publication Number Information on the installation of your CSD3 Plus servo drive CSD3 Plus Servo Drive Installation Instructions CSD3 IN001 Information on the motors used together with CSD3 Plus servo drive Publication CSD3P UM001E EN P February 2008 Servo Motor User Manual SMOTOR UM002 You can view or download publi
85. the speed through the independent setting of the servo drive Internal speed limit e Limit the speed through the command from the host controller External speed limit Internal Speed Limit e Internal speed limit is operated by the value set by the user on the below parameter Therefore when the faster speed command than the setting value of below from the host controller the servo drive is limited to the setting value and operated A a imi ri E 1C Speed Limit Setting Range e Unit Other Servo OFF Setting End Automat Applicable 1 to 5000 rpm Mode ALL It limits the rotation speed of the motor to operate under the setting value Initial value is automatically set with the maximum speed of the motor applicable together with the setting the motor model at the basis setting of the chapter 4 2 External Speed Limit e The below figure is the input of function to allow the servo drive to make the speed control by permitting the analog speed command at the host controller when the servo drive is used as the speed mode Refer to the speed mode in the chapter 5 3 e If the user does not use the speed mode and operate with other control mode position torque multi step speed the below input can be used as the function limiting the speed The speed limit utilizing the speed command input pin is referred to as external speed limit e When it is used as speed mode the external speed limit funct
86. torque of set motor over external torque command warning Servo warning OTC occurs NOTE e Motor can rotate even though torque command is not approved or the host controller outputs the torque command as 0 V It is because of the voltage offset between the host controller and the drive e The rotation of motor due to offset can be prevented using automatic adjustment of torque command offset Run 04 or manual adjustment Run 06 function For the automatic manual adjustment of the torque command offset refer to the Chapter 7 35 Torque Limit and Torque Limit Detection T LMT Output It can limit the torque of servo motor and can set separately in forwatd reverse direction Internal Limit It means the drive limits itself according to the parameter setting regardless of the external signal External Limit It receives the external sequence input signal In addition it sets up the limit value to the parameter that is different from internal limit and torque is limited according to sequence input signal If the internal torque limit is set the limit value is always valid However external torque limit setting is not always valid because it is controlled according to sequence input signal It can be difference between internal torque limit and external torque limit Publication CSD3P UMOO1E EN P February 2008 5 42 Function for Control Mode Positive Torque Torque Command Negati
87. value Unit details Setting gt End A Applicable 0 3000 00 Variable dee ALL e The unit is determined according to the value set at Pr 1 10 e Torque 96 speed rpm position pulse e fthe speed torque command or the position tolerance exceeds the value set in this parameter the speed controller changes from Pl type to P type Detailed description Refer to Chapter 6 21 Speed bias amount gum Vtt Publication CSD3P UMOO1E EN P February 2008 A 20 Parameter List Initial Other LL value Unit details Setting gt End 0 to 450 0 rpm oe AL e In order to shorten the position decision time if the position tolerance is larger than the value of Pr 1 13 a speed bias equal to the value set here is applied Detailed description Refer to Chapter 6 21 Speed bias reference width Initial Other Set range value Unit details Setting gt End Applicable 0 to 250 10 pulse mode ALL e Set to shorten position decision time determines at above how many pulses of position tolerance the bias should be applied Detailed description Refer to Chapter 6 21 Pr 1 14 Current Controller BW Publication CSD3P UMOD1E EN P February 2008 Parameter ri 11 Pr LIH Parameter Name Current Controller BW Description Set Current Controller BW Set values 0 2 Default 1 Unit N A Applicable modes All
88. when pressed a p 3 Connect this if the power needs to 2 be cut off Relay 1 Alarm Display Lamp oo XX Attach a surge suppressor to 3 the MC relay coil La CSD3 SERVO DRIVE All In One MODE SET ENTER 1MC CHARGE POWER e L1 O O Servo Motor L2 V Do not connect this to the drive L3 C ith less than 400 W w o L1C ES L2C CN2 J lt Shield gt B N E Connect this to the Vii a P1 erminal of th heat snk D CNT 00 nm P2 Relay 1 45 SALM Regenerative TP dl i Resistor ls 1 2 24 VIIN_ 46 SALM q AVI 4 Heat Sink awa D MN 10 E STOP b 2 Publication CSD3P UMOO1E EN P February 2008 3 6 Wiring Using the Socket and Lever This section describes the usage of wiring socket and lever provided with servo drive e Connect only one wire at wire inlet of the socket e If the wire is pulled accidentally with an excessive force rewire it properly e The peeled wire can be used Keep the length of the peeled core wire less than 8 mm e The use of phenol terminal is recommended for the reliability of wiring Use a lever for wires provided with the product The following figure shows the sequence of assembling wire at the socket e As shown in the figure insert lever in the socket and press it e Insert wire into socket and release the lever e Pull it slightly to check if the connection between the socket and wire is normal 1 Prepare the 4 S
89. you cannot use On line Auto Tuning A Publication CSD3P UMOO1E EN P February 2008 6 28 Tuning by Gain Setting Publication CSD3P UMOD1E EN P February 2008 Chapter Applications Introduction This chapter describes the contents that the users should know in terms of fragmentaty application function operation mode and monitor mode when using the servo drive Ml Page Introduction 7 1 Motor Suspension 7 2 Motor Brake Control 7 6 Change of Motor Rotation Direction 7 10 Regeneration Resistor 7 11 Setting for Smooth Operation 7 16 Speed Limiting Function 7 18 Position Feedback to the Host Controller 7 21 Analog Monitor Output 7 25 Use of Absolute Encoder 7 27 Operation Mode Function 7 35 Monitor Mode Function 7 50 Publication CSD3P UM001E EN P February 2008 1 2 Applications Motor Suspension Publication CSD3P UMOO1E EN P February 2008 It describes the suspension of the motor except the stopping by normal operation Overview The general overview on the each situation when the motor is stopped is explained With the exception of motor suspended by the normal operation the servo drive suspend its operation when the below situation occurs and result in suspension of the motor Servo Alarm Occurrence Over Travel Occurrence The motor can be stopped by 2 above factors in normal operation of the drive and the method of stopping the motor for each suspension
90. 1E EN P February 2008 6 8 Tuning by Gain Setting Publication CSD3P UMOD1E EN P February 2008 After autotuning max bandwidth is determined and the system gain Pr 1 00 is determined by Pr 1 15 Parameter BRBHABH Parameter Name Velocity response level Description define max system gain 96 recommended by a sysem based on inertia measured from autotuning setting 0 150 default 50 Unit Mode All Other servo OFF gt setting gt power off on gt end This parameter defines max system gain recommended by a system after execution of inertia identification or inertia identification and resonance frequency according to Pr 0 03 N0 setting For example if max available frequency of a system is 100Hz after autotuning its system gain Pr 1 00 is set to 50Hz according to its default value Max available frequency is determined based on estimated inertia and also system characteristics Therefore its default is set to 50 and Pr 1 00 Pr 1 05 are automatically set to appropriate values when it is changed However system gain is limited to 10Hz at its minimum to guarantee a proper level of motion characteristics when velocity response level Pr 1 15 is set too low Explanation of the relationship flow between off line auto tuning and gain e When you run off line auto tuning drive automatically Inertia Ratio Pr 0 04 of load system and automatically s
91. 28 Inhibit pulse command signal is ON lt ABS DT gt Transmits absolute encoder data to host Pee ee Data controller through EA EB when the signal is ON E 1 32 lt PCLR gt Clear position command position feedback and P 5 21 position error START Control motor rotation start or stop by using S C terminal signal in speed or terminal speed 5 33 control mode GEAR In position control mode the 2nd electronic gear P parameters Pr 3 05 and Pr 3 06 are used when input is ON The basic electronic gear 5 23 parameters Pr 3 01 and Pr 3 02 are used when input is OFF Switch between two electronic gear ratios Publication CSD3P UMOO1E EN P February 2008 3 12 Wiring Publication CSD3P UMOO1E EN P February 2008 General Input Signal fixed Power EE control power input for contact point Ea power 194 VIIN signal 24 V power should be prepared ALL p by users Emergency Stop Signal Name Reference Connect and use an extra emergency stop Emergency Stop E STOP switch to quickly act upon emergency 3 17 situation Position Command Signal Name Symbol Function Mode Reference PULS PULS Receives position command by pulse i input Can respond to both line drive Pulse command SIGN output and open collector output of host P controller 5 9 SIGN PCLR faa error Clears the position error P PCLR Signal Name Symbol Function Mode Reference V REF Speed co
92. 3 19 Encoder Wiring CN2 3 21 Wiringthe Battery BAT R General Articles Wiring 3 32 Publication CSD3P UM001E EN P February 2008 3 2 Wiring Before You Begin Pay attention to the following precautions when wiring e High voltage remains in the drive even though the power is off Therefore do not inspect components unless inside WARNING e Wiring should be done only by the qualified personnel lamp is off e Pay attention to the polarity when wiring e The heat sink of the drive generates high heat e Pay attention to the heat sink when wiring gt Charge In this chapter the circuit is divided into electric circuit and signal circuit for easier and convenient explanation Be fully aware of the names of each terminal when reading this user s manual Optional Connector lt CN4 gt Battery C lt CN5 gt onnector AC Power Terminal Control Power Terminal Connector for 1 0 1 DC Power Terminal Signals lt CN1 gt 2 DC Reactor Connection Terminal for Suppressing High Frequency Regenerative Resistor Terminal Encoder Cable Connector lt CN2 gt Motor Cable Terminal Communication and Operator Connector AA lt CN3 gt NOTE e The 1 0 signal connector CN1 encoder cable
93. 31 Encoder of A al A Bana J EB Phase gt gc oH N 34 Ab Absolute 12 PS gt EncoderRot 36 pg J ation Data Encoder Input Servo Drive Output Host Controller Alternative Circuit gt 2048 Pulses l 1000 Pulses Lg Lg Setting Set the pulse dividing circuit numerator and denominator from the below parameter p mos i i Number of Encoder Pulse per 1 Rotation Numerator Setting Range we Unit Other Servo OFF gt Setting gt End Applicable 1 to 32768 Automatic Pulse Mode ALL P r 4 uh Y Number of Encoder Pulse per 1 Rotation Denominator Setting Range ae Unit Other Servo OFF gt Setting gt End A Applicable 1 to 32768 Automatic Pulse Mode ALL NOTE The initial value of dividing circuit is automatically set the number of encoder pulse applicable to the encoder type at the basic setting of The Chapter 4 6 at the same time NOTE Even when the motor rotates at a fixed speed the encoder output pulse may have jittering of 33 usec depending on the rotation speed Publication CSD3P UM001E EN P February 2008 7 24 Applications Publication CSD3P UM001E EN P February 2008 Precaution Servo drive may not output to the host controller for the number of pulse that is more than the input pulse number Accordingly the below condition has to be complied Make sure to comply with th
94. 35 32768 aaa 2nd Electronic gear i ELELEL Na b denominator 65535 32768 Parameter Group 4 Initial Parameter type Name LED No Set range value E unr External torque command input Pr 40d gain P 0 0 100 0 33 3 Pr un Forward torque limit 0 300 300 P ir MH fi Pr ule Reverse torque limit 0 300 300 Pe x un 3 Forward torque external limit 0 300 100 pr gt urn M Reverse torque external limit 0 300 100 Pp HIE Rotation inhibit torque limit 0 3000 300 p es un E Initial torque bias 100 100 0 Parameter Group 5 Initial Parameter type Name LED No Setrange value ri r1n Pr 00 Position completion Publication CSD3P UM001E EN P February 2008 A 6 Parameter List E In 0 Position approximation as el is EE determination width 0 250 20 EF Speed match determination Pr 50d n i 0 1000 Ls H re B j Rotation detection level 1 5000 20 H f B H Speed zero clamp level 0 5000 0 H I of M Break release wait time 0 1000 0 A E Servo OFF delay time 0 1000 0 H re B q Break operation wait time 0 1000 50 H 9 B H Break operation start speed 0 1000 100 H r A g Allowed margin of position error 0 65535 20480 fa f Instantaneous power failure H ne M i i Recovery resistor capacity 0 1500 Ea 3 DA monitor output CH1 g 5 rr S IL configuration Tm ARO ae DA monitor output CH2 z T P ab 3 configuration CO Select use of battery when
95. 4 Symbol Wire Color Electrical Features 1 Red 24 V IN External 24 V input for contact point input 2 Yellow 3 DI 1 Blue 4 DI 2 White 9 Di 3 Pink Pin for sequence input signal 6 Dia Orange Terminal input 7 DI 5 Gray Refer to the Chapter 5 for details 8 DI 6 Red 1 Point 9 DI 7 Yellow 1 Point Emergency signal input 0 E STOP Blue 1 point Terminal input 11 PULS White 1 point 12 PULS Pink 1 point 3 SIGN Orange 1 Point Signal input for position control mode 14 SIGN Gray 1 Point Input of line drive and open collector 5 PCLR Red 2 Points 6 PCLR Yellow 2 Points 17 Z PULSE Blue 2 Points Encoder Z PULSE output 18 Z PULSE White 2 Points Terminal output 3 V REF Pink 2 Points Signal input for speed control mode 20 V REF SG Orange 2 Points Analog speed command 10 V to 10 V 21 T REF Gray 2 Points Signal input for torque control mode 22 TREF SG Red 3 Points Analog torque command 10 V to 10 V 23 AM CH2 Yellow 3 Points Analog monitor CH2 10 V to 10 V 24 25 BAT White 3 Points Absolute encoder battery GND 26 2 AM SG Orange 3 Points Analog monitor output GND 28 AM CH1 Gray 3 Points Analog monitor CH1 10 V to 10 V 29 EA Red 4 Points Encoder signal output 30 EA Yellow 4 Points line drive output 31 EB Blue 4 Points 32 EB White 4 Points 33 EC Pink 4 Points Encoder signal output 34 EC Orange 4 Points Line drive output 35 PS Gray 4 Points 36 PS Red Line
96. 4 20 Operator Basic Setting and Startup Main Power Selection Main power input The servo drive as described in the Chapter 3 3 can accept two types of main power input Refer to the Chapter 3 3 for details e Initial value is set so as to use AC power through terminals L1 L2 and L3 e Set this when DC voltage is used as the main power e The figure below is provided to help the understanding of the selection Initial Setting Value For the use of AC voltage by connecting the main power to the terminals L1 L2 and L3 Set Parameter no DC Main Power Input For the use of DC voltage by connecting the main power to the terminals N and P2 to Publication CSD3P UMOD1E EN P February 2008 The following describes the allowable momentary power down time setting according to the main power input selection p FS D T Allowable Temporary Power Down Time Setting Range Initial value Unit Others Servo OFF gt setting gt completion 20 to 1000 20 msec Mode ALL Set the time to process the temporary power down by the servo alarm If main power is not input within the set time it generates temporary power down servo alarm E AcoFF Refer to the chapter 8 2 2 NOTE The servo drive does not verify the status of temporary power down in case of using DC main power input terminal w
97. 4 7 50 Key Button Operation ui esc da Shh Sed 7 52 Chapter 8 Inspection and Protection T ttoducHono ar rp dde eonun dtes e aca eta 8 1 Functions Inspection AR e P I ERR wae sted M aged 8 2 Inspection or Mowe L2 ARA 8 2 Tispection of Does i bud soe ed a ei HU Vb P weld Bae Pati 8 2 PARLA DECO dac eot Pr ears Esc e tins 8 3 Battery Inspection for absolute Encoder 7 9 3 8 3 Protection UIC iia 8 4 A E 8 4 Seino Alin AA cot eL ad bee pa ena nats 8 6 Confirmation before Requesting for A S 0005 8 14 Appendix A Parameter List o O TN A 1 P rametet Lista ia ce iis dO E VIT RERUM aes A 2 Summary of Paraietelses s ees dore aa A 2 Parameter GEoup U voe da ede e e EE aw A 7 Parameter Group Lis ory denies ate wo eae te A 15 Pr 1 14 Current Controller BW ous 8 ed ES A 20 Pr 1 15 Velocity Response Level viii e A 21 Parameter e o AA o a e Rie Mehra e eade A 21 Patapicict Groups A se DB bee oes e A 25 parimeter Group dc oue canine eer ile e AUR A 29 Po Orbi chore NT A 32 Operation Mode Function List 2 05 4 acces pete da SeeS A 40 Monitor Mode Function List stella dd A 42 Appendix B Servo Drive Specification Tntrod ctionss piee adas B 1 Servo Drive Specification y variado ear B 2 Outline Drawing sos sp porros tales B 2 o AA E a e o p e RAM Ut B 4 Publication CSD3P UMOO1E EN P February 2008 vi Publication CSD3P UMO001E EN P February 2008 Summary of Change You will see change bars to the left o
98. 4 V IN 3 3 kQ DC24 V 50 mA or Higher Sequence Input Signal Host Controller DI 1 to DIZ7 Emergency Stop Signal This drive has a built in circuit for the emergency stop situation e To quickly respond to the equipment failure or dangerous situation it receives the emergency stop signal from 10 pin of CN1 e Emergency stop input can be done by the relay contact output of host controller and installing a separate switch 10 pin of CN1 assigned below is used as the input pin only for the emergency stop Normal Operation E STOP Switch Pia Power 24 V 24 V IN E STOP 24 V IN LA E STOP E STOP Switch Install a host controller or a separate switch Publication CSD3P UMOO1E EN P February 2008 3 18 Wiring NOTE e Ifthe emergency stop signal is input E EStoP servo alarm is generated e Refer to the Chapter 8 4 more information on the servo alarm e fthe emergency stop is released reset the alarm by referring to the Chapter 7 44 NOTE e You can check the status of emergency stop signal through the monitor mode describe in the Chapter 7 50 Publication CSD3P UMO001E EN P February 2008 Wiring 3 19 CN1 Output Circuit and Interface There are 3 types for the servo drive output circuits Design the input circuit at the host controller suitable for the each output circuit Line Drive Output Ou
99. 5 11 shall be confirmed for setting The selection of command pulse is wrong Refer to Chapter 3 5 Position Control and correctly set it Over trouble input is turned off P OT N OT input signal is made to ON It is in overload condition Servo alarm occurs Release the overload condition and operate it Remove the cause for alarm and implement the alarm reset then re start it Motor vibrates or has large overshoot in accelerating or decelerating The speed loop integration gain of servo is too high Lower the system gain Pr 1 00 Heighten the speed loop integration gain Pr 1 02 The motor rotates at the speed command 0 The speed command offset adjustment is erroneously made In put 0 to the speed command and redo the offset adjustment The encoder type setting error or encoder circuit alarm occurs The setting of motor and encoder is erroneous Confirm the motor setting parameter Pr 0 01 then set it correctly Motor and encoder wiring is erroneous Refer to the wiring in Chapter 3 and make a correction Strange noise is made Mechanical installation condition is bad Confirm the installation condition coupling nut tightening and adjust Motor or drive is overheated The ambient temperature is high Lower the ambient temperature under 50 C It is in overloaded condition Release the overload c
100. 8 Alarm reset 02 Homing 09 Alarm history clear 03 A of the Speed 10 Absolute encoder reset Publication CSD3P UMOO1E EN P February 2008 4 12 Operator Basic Setting and Startup Auto adjustment of the t 04 Land os anne torque 11 2 group gain storing 05 MISES del of the speed 12 Parameter initialization 06 Manual adjustment of the torque command offset NOTE Refer to the Chapter 7 35 for details of operation mode and key button manipulation Publication CSD3P UMOD1E EN P February 2008 Operator Basic Setting and Startup 4 13 Basic Setting This section includes the introduction of the control mode and the basic setting Overview of the Basic Setting Basic setting must be done before using the servo drive 1 Other parameters can be set after the basic setting 2 The basic setting is possible only after connecting the control power of the servo drive 3 After all setting three types of basic setting reapply the power 4 The setting values of the basic setting are saved even if the power is cut off or parameter is initialized by run 12 function of the operation mode 5 To change basic setting value change it directly from corresponding parameter and reapply the power As shown below the basic setting uses three parameters to set 3 types Basic Setting Parameter Setting 1 ee Ari D Control mode optional setting ro Lt LILI J Motor setting _ 2 Hol nn f Fi h
101. ALM lamp Servo alarm uses the fixed output pin of CN1 in contradiction to sequence output according to the allocation NOTE Reapply the power after allocating the sequence 1 0 signal NOTE Servo drive has self diagnostic function The servo alarm and servo warning is divided according to the importance of error diagnostic For the details see chapter 8 Publication CSD3P UMOO01E EN P February 2008 Function for Control Mode 5 9 Position Control Mode Overview The position control mode is used when the position command pulse is received from the host controller to move the load to a target position To operate the servo drive in position control mode connect the position command pulse signal to PULS and SIGN input pins connect other necessary input signals such as PCLR signal and set as follows Flowchart for Position Control Mode Operation B 3 y y Select sequence 1 0 function and allocate them Pr 0 05 to Pr 0 11 s4 S Set the position command pulse and signal type according to the host controller output Pr 3 00 y Startup the motor in position control mode as low speed pulse command frequency is output y Check the position pulse command in monitor mode dis 07 OK y Set the electronic gear Pr 3 01 Pr 3 02 y Check the speed command in monitor mode dis 01 OK y Check the speed command in monitor mod
102. CSD3P UMOO1E EN P February 2008 7 40 Applications Publication CSD3P UMO001E EN P February 2008 Operation Sequence e Connect the host controller to the CN1 and the torque voltage command is made to 0 V e At this time if the motor is not rotating it can be said that there is no offset voltage However if the motor is slowly rotating there is an offset voltage occurring e Make offset automatic adjustment The drive reads the voltage of adjustment as 0 V and stops the motor Other e The voltage range that is possible for offset adjustment is 1 V to 1 V The voltage exceeding the range cannot be adjusted and there is no showing in the display during the normal operation in the below figure e The size of actually offset voltage can be confirmed in dis 14 of the Chapter 7 50 How to Operate e Refer the below flow chart and operate SERVO ON SERVO OFF Auto Adjustment of the Torque Command Offset Flowchart Status Display Mode p E h q Select operation mode with the MODE SET key V O cs n LUI LILI L Make run 04 by using the y qa B o ft LO Lit Prepare the auto adjustment AQ LJ by pressing the ENTER key vy ri jt rngr rt M z Operate the auto adjustment by a pressing the MODE SET key V 5 Gap pes wae aster isplay the normal pop EN I execution ay E E BETEREN Completed the operation by a 1 pressing t
103. EC cogn UA TP gO eed ar EC ES 5 28 Standard Witing Example ee i et e o o mte ag 5 29 Speed Command Input o oe radere dea dM dae bee e 5 30 Zeta Clamp lt Z CLP gt Input amp id uid reed e iere 5 31 Rotation Direction Switch Input C DIR 5 32 Motor Rotation Start Stop Input START 5 33 Speed Coincidence Output Signal lt V COM gt 5 34 Rotation Detection lt TG ON gt Output 5 35 Speed Limit Function and Speed Limit Detection lt V LMT gt Ott sie Doe xi eee ai ee Meh wit enue als 5 36 Torque Control MOGQGu eid utes d riri ede ten hri Hcr ag cias 5 38 E a Eo doma LO E SEM 5 38 Standard Witing Examples 4c we e e RE aD 5 39 Torque Command Input is oor aS v Ea SUR ERECTUS 5 40 Torque Limit and Torque Limit Detection lt T LMT gt Output 5 41 Multiestep Speed Mods coi cese ei IRL bete iet va 5 45 OV CIAO ois cine CE edu uar EC EL Lad a ES 5 45 Standard Witing Example o o oer leet cm erts e x 5 46 Multi Step Speed Command Setting o o ooooooomom o 5 47 Combinational Control Mode and lt C SEL gt Function 5 50 Chapter 6 ipto uelit a reU uUo ea ob AUS oo eee D du UV 6 1 Before Desin sate dede rae E p EUR Ao b e Boe SR Wem 6 2 Matk Explination ieri NS 6 2 Gain Ito UCA A 6 2 Inertia Rao tt Eee ne mee md 6 3 Gain Setting Co Hg DEAHIOTL Li ate OS 6 5 Automatica Sea peius dr o dao oh RR ned tod 6 7 Auto TUNNE 1c DE co me ees roe d aot e gone eva ta
104. ENTER key Y EEE UH Us Qs Lt A Prepare the manual adjustment y by pressing the MODE SET key LJ Adjust with the lower key in offset with 4 voltage ic Bg 0 B e If offset is being made it shows the torque Y applicable to offset voltage Adjust with the upper key in offset with voltage Continue to press the direction key to slowly stop the motor with the torque nearing to 0 Y Once 0 7o is reached release the direction key to confirm that the motor has stopped Publication CSD3P UMOO01E EN P February 2008 Applications 7 43 e If the motor is still rotated slowly confirm the motor completely stop by pressing the direction key one in a while It is not to adjust one operation of direction key per 0 1 7o When the motor is completely stopped it is progressed as below rti LI Store it by pressing the O ER Z MODE SET key pro SR A Display for A AA f normal execution ANNE JN PSI Complete the operation by A gt pressing the ENTER key 1 SY Completion j 0960 Hh Adjustment of Current Feedback Offset run 07 The offset current that may occur when sensing the current flow on the motor is automatically adjusted Function Description e Servo drive sense and control the current flowing on the motor If the actual current flowing on the motor is not accurately sens
105. FT RIGHT key An alphabet representing each mode is displayed sz El ti step speed Torque Control Speed Control Position Control control Control mode selection completion Press MODE SET key to save it The setting window blinks and it is saved To complete the setting Turn power off and on again Publication CSD3P UMOO1E EN P February 2008 4 16 Operator Basic Setting and Startup Combinational Control Mode Setting Combinational control mode should be set as below Speed position control SP U8p Torque speed control TS L5 Torque position control TP L R Multi step speed position control CP F p Multi step speed speed control CS Feo Precautions The following are the precautions in setting associated control mode e Combinational control mode cannot be used by combining more than 3 types Make sure to combine two types only e If the setting is correctly entered the setting window blinks once when MODE SET key is used to save the data However if wrong setting is entered it does not blink nor is saved Wrong Input by entering more than 3 types FLEE CESP Motor Setting Select a motor to connect to the servo drive and set three items of the motor
106. Input Analog Speed Command E TRI p 10 V to 10 V I tr T REFSG 22 Back up Battery for BAT 4 Absolute Encoder id Back Up Battery BAT 25 24 2 DC 3 6 V t o 2 X X X gt Analog Monitor CH1 Output Range 10 V to 10 V 28 Analog Monitor CH2 a Output Range 10 V to 10 V 27 AM SG Analog Monitor Output GND AM SG V 3 AL 1 Servo Alarm Code Maximum Allowable Voltage AL2 DC 30 V AL3 Maximum Allowable Current 20 mA RT 40 5 NL SG Alarm Code Output GND WV D gt 294 EAs 30 EA 31 Encoder Phase A B amp C o EB P 32 gt Line Receiver SN75175 EB or MC3486 gt 33 EC 34 EC J 35 D S PS Absolute Encoder 36 PS j Rotation Data 17 A Z PULSE Encoder Phase Z Fea 17 PULSE OPEN Collector 45 P SAIM 4 Servo Alarm Z 46 SALM i 41 Dx DO 1 zs P ai l Rotation Detection TG ON DO 1 43 P DO kad porque Limit Detecton T LMT yee V 44 po yo 47 o DO 3 El A i Speed Limit Detection V LMT Y 8 Dogs Outpu Recommended channet_ equence Outpu Publication CSD3P UMOO1E EN P February 2008 5 40 Function for Control Mode Torque Command Input Torque Command Two pins of CN1 receive one command related to torque control mode Host controller outputs the voltage command of the analog type Torque Command T REF 10 V 10 V e T REF SG Host Controller Publication CSD3P UMO001E EN P Februa
107. Inspection and Protection Functions EF DIE Motor Power Cable Short U V W Indicator rLnB rc Cause It occurs when the motor cable is short circuited Action Confirm the motor cable wiring Indicator E ln 5 a L Torque Feedback Instantaneous Overload Cause It occurs when the torque feedback is operated at the maximum torque of 0 5 sec or more Wiring error excessive inertia of load error in setting rated output of motor Action Confirm the wiring of motor cable Confirm the load condition and adjust the acceleration and deceleration time Confirm motor setting value by referring Chpater 4 6 Publication CSD3P UMOO1E EN P February 2008 rr Cc ENE Indicator CLONOL Torque Feedback Continuous Overload Cause It occurs when the torque feedback is continuously operated for rated torque several to several tens sec or more at the rated torque or more Confirm the motor cable wiring Action Confirm the loading condition and adjust the acceleration and deceleration time Confirm motor setting value by referring Chpater 4 6 Indicator r ET cl Regenerative Overload oe ae uUuAL use It occurs when the regenerative power of regeneration resistor is exceeded the permitted value Replace the regeneration resistor that is appropriate with the capacity of regenerative Action power Adjust it to fit with regeneration resistor capacity settin
108. Motor type setting Fr bie t LI t_ Ef Motor capacity rated output setting Encoder type setting gan HERE Main power input optional setting e The key button manipulation flow chart is provided in the description of the basic setting to aid the understanding of the key buttons While performing the basic setting get accustomed to key button manipulation Key button manipulation flowchart is not described after Chapter 5 The following figure is an example of the nameplate attached to the motor e Before performing basic setting be sure to check the following three contents of the model name Publication CSD3P UMOO1E EN P February 2008 4 14 Operator Basic Setting and Startup e Before mounting a motor to the equipment check the model name of the motor in advance Depending on the motor type the motor may be mounted in such direction that the nameplate is not visible C N Check the model name on the Select a Motor D gt motor nameplate s lt Example of Model Name gt RISIMIZ 011 ByA 1 Motor Type Rated Output Encoder Type Sa P Control Mode Setting Control Mode Type As in the table below there are 4 kinds of basic control modes and 6 kinds of associated control modes e The drive has another drive exclusively for the
109. OE MAX Maximum Value for OEMs CONTROLS CSD3 Plus Servo Drive CSD3 xxBX2 Rev B User Manual Important User Information Solid state equipment has operational characteristics differing from those of electromechanical equipment Because of this difference and also because of the wide variety of uses for solid state equipment all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable In no event will Rockwell Automation Korea Ltd be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment The examples and diagrams in this manual are included solely for illustrative purposes Because of the many variables and requirements associated with any particular installation Rockwell Automation Korea Ltd cannot assume responsibility or liability for actual use based on the examples and diagrams No patent liability is assumed by Rockwell Automation Korea Ltd with respect to use of information circuits equipment or software described in this manual Reproduction of the contents of this manual in whole or in part without written permission of Rockwell Automation Korea Ltd is prohibited Throughout this manual when necessary we use notes to make you aware of safety considerations Identifies information about practices or circumstances that can cause an explosion in a haza
110. Other Servo OFF gt Setting gt Power On gt End Details 0 High bandwidth 10KHz 1 Middle bandwidth 66 67 of High bandwidth 2 Low bandwidth 33 34 of High bandwidth Parameter List A 21 Pr 1 15 Velocity Response Level Parameter Pr T l i5 Parameter Name Velocity Response Level men Set max system gain recommended by the drive based on the inertia Description ratio determined by auto tuning Set values 0 150 Default 50 Unit Applicable modes All Other Servo OFF gt Setting gt Power On gt End Details Parameter Group 2 Parameter group 2 Speed related parameters Pr 2 00 to Pr 2 13 External speed command input gain Other details Initial A Set range value Unit Servo OFF gt Setting gt End 10 0 2000 0 500 0 rpm ME S e Sets the speed command value rpm for the analog speed command input pin Pin 19 20 of CN1 e Speed command rpm Pr 2 00 rpm V x Input voltage V Detailed description Refer to Sec 5 3 Sec 7 6 Jog operation speed Initial Other Set range Unit Setting gt End Publication CSD3P UM001E EN P February 2008 A 22 Parameter List Publication CSD3P UMOD1E EN P February 2008 Applicable 0 5000 Hades 500 rpm ALL Sets speed for jog operation using run 00 This set value is applied on approach speed for homing run 02 Detailed description
111. RAM NY e he run 02 operation must be done in Servo On status e The searching speed is fixed as 10 rpm Auto Adjustment of Speed Command Offset run 03 When of operating the speed mode by the host controller or combination control mode related to the speed it is a function to automatically adjust with the offset voltage of the speed command Function Description e When the analog speed voltage command is made to 0 V the motor has to stop But there is such a case that the motor slowly rotates e This is because of the phenomenon that the small amount of voltage offset by the host controller ot external circuit This function automatically adjusts such an offset voltage Operation Sequence Connect the host controller to the CN1 and the speed voltage command is made to 0 V e At this time if the motor is not rotating it can be said that there is no offset voltage However if the motor is slowly rotating there is an offset voltage occurring e Make automatic offset adjustment The drive reads the voltage of adjustment as 0 V and stops the motor Other e The voltage range that is possible for offset adjustment is 1 V to 1 V The voltage exceeding the range cannot be adjusted and there is no showing in the display during the normal operation in the below figure Publication CSD3P UMOO01E EN P February 2008
112. Speed command 6 F 2 T BEBE 1 1 0 Prod Dorm ry Es o LK tLe Speed command 7 1 1 1 Parameter t value rpm Detailed description Refer to Chapter 5 45 Limit speed Initial Other 1 5000 5000 rpm popes ALL e Limits the operation speed to below this set value in all control modes e There are two methods of speed limitation limitation thorough this value and limitation through speed command of upper level controller Configure by referring to speed limit method selection of Pr 2 13 e In addition in torque control mode the mode is changed automatically to speed control mode if motor speed exceeds this value speed control is performed using limit speed command e f the analog speed command exceeds motor s maximum speed the excessive speed command warning OSC is issued e f excessive speed command warning is issued the speed command is automatically reduced to the motor s maximum speed Detailed description Refer to Chapter 7 18 Parameter List A 25 Speed limit selection Select the method of speed limitation Set value Details 0 Speed limit function not used 1 Limited by Pr 2 12 2 Speed limited by analog speed command in modes other than speed control mode 3 Speed limited to Pr 2 12 or analog speed command whichever is the smaller Applicable A 3 modes ALL Other details Servo OFF gt Setting gt End Detailed description Refe
113. T 5B 100 SPT 25C 100 SPT Reducer 03B 200 SPT 05B 200 SPT 9C 200 SPT 5C 200 SPT 25C 200 SPT Type 03B 400 SPT 05C 400 SPT 9C 400 SPT 5C 400 SPT 25D 400 SPT 03C 600 SPT 05C 600 SPT 9B 600 SPT 5D 600 SPT 25E 600 SPT 03C 800 SPT 05C 800 SPT 9B 800 SPT 5D 800 SPT 25E 800 SPT The reducer is only for CSM motors Publication CSD3P UMOO1E EN P February 2008 1 12 Before Using the CSD3 Servo Drive Publication CSD3P UMO001E EN P February 2008 Chapter 2 Installation This chapter describes matters to consider when installing the servo drive and the motor Refer to the appendix for numerical data on the drive motor and various peripheral equipment necessary for the installation Installation Page 2 1 Topic Installation Publication CSD3P UMOO1E EN P February 2008 2 2 Installation Servo Motor Precautions Refer to the following figures when installing a motor A motor is a precision part Pay an extra attention to the encoder motor shaft and bearing A shock is the major cause of degrading Do not connect the motor to the the performance of the motor power directly Pe Pay attention to the concentricity of Protect the motor from water or oil xX coupling connected to the load M Ta fq RES Y e
114. The number of rotation data 0 to 65535 1 Rotation Data 1 to 131071 Date 3bit Alarm content Date 3bit Alarm content ETX ETX Data Transmission Format Applications 7 33 Data Transmission Method Asynchronous Baud Rate 9600 bps Start Bit 1 bit Stop Bit 1 bit Parity None Character Code ASC Code Data Format 10 to 19 Characters NOTE e Through the monitor mode dis 12 of The Chapter 7 50 the multi step rotation data of absolute encoder can be confirmed e Division ratio is applied to 1 rotation data sent to PS output Not applied to A H type encoder Caution e STX indicates the beginning of transmission packet and is applicable to ASCII code 02H e ETX indicated the end of transmission packet and is applicable to ASCII code 03H e Multi step rotation data has the range of 32768 to 32767 4096 to 4095 The parenthesis is applicable to A H Type encoder indicates rotation direction Serial Data Transmission for EA and EB For the host controller not receiving the serial data output using the PS the data of absolute encoder is sent to the host controller in the form of incremental pulse form through the output of EA and ED the incremental encoder output signal From the absolute data send the 1 rotation data first then send the multi rotation data The host controller multiplexes the received pulses by 4 times Sequence o
115. V ON SV ON 2 A figure box with both the top corners cut off diagonally represents a circuit diagram If CN1 for I O signal or a connector attached to the servo driver is on the left it is the output of CN1 or servo drive Output Host controller Publication CSD3P UMOO1E EN P February 2008 1 4 Before Using the CSD3 Servo Drive 3 IfCN1 for I O signal or a connector attached to servo driver is on the right it is the input from the host controller to CN1 or servo drive ENT Speed Command V REF 10IV 10 V V REF SG 4 The following shows the symbols used on the circuit diagram Symbol Description Side A Side B 7 7 4 The figure represents the pin number of the connector which can be 1 marked with alphabets rather than the numbers 2 2 e he contact point is the connection between the side A and side B with 3 3 the connector Contact Point 5 The following figure shows a symbol used to show a twist pair wires to prevent the noise generation Description Twist the wires where this symbol is located for the noise prevention 6 The following figure shows a symbol used to show a shield pair wire to prevent the noise generation Description Shield the wires where this symbol is located for the noise Shield prevention Publication CSD3P UMOO01E EN P February 2008 Manual Description Order Before Using the CSD3 Servo Drive 1 5 This man
116. ack up Battery for BAT 49 wal 48 Absolute Encoder P Back Up Battery BAT 125 24 26 50 DC 3 6 V 1 1 X X X Analog Monitor CH1 Output Range 10 V to 10 V Analog Monitor CH2 Output Range 10 V to 10 V AM SG Analog Monitor Output GND AL 1 Servo Alarm Code Maximum Allowable Voltage AL2 DC 30 V Maximum Allowable Current 20 mA AL3 AL SG Alarm Code Output GND EA gt EA Encoder Phase A B amp C EB T Line Receiver SN75175 EB or MC3486 EC EC nd PS Absolute Encoder Ps J Rotation Data Z PULSE Encoder Phase Z Z PULSE OPEN Collector SALM Servo Alarm SALM DOETH Speed Coincidence DO 1 Detection DO 24 Rotation Detection DO 2 DO O Far Speed Limit Detection DO 3 Channel Setup Function equence Uutpu Circuit Publication CSD3P UMOO1E EN P February 2008 5 30 Function for Control Mode Speed Command Input Speed Command Two pins of CN1 receive one command related to the speed control mode Host controller sends the voltage command of analog type Speed Command V REF 10 V 10 V V REF SG Host Controller Publication CSD3P UMOO1E EN P February 2008 Speed Command Input Gain Setting Set the relationship between the analog speed command voltage and the speed to the parameter below H ym r m External Speed Command Gain amp External Speed Limit Setting Range ae U
117. adjusted properly the load descends momentarily thereby causing vibration on equipment Initial torque bias i e This property of vertical axis load results in speed overshoot on motor control which in turn Descent due to increases the position decision time In addition gravitiy if an attempt to drive the motor is made while the brake is engaged a servo alarm may be issued o e Initial torque bias is a function to apply an initial torque equal to the load s descent which occurs when the servo ON signal is applied in a direction opposite to the itial torque descent direction in order to prevent descent due to gravity when trying to control such vertical axis load e If the initial torque bias has been set properly according to the load s descending power the descent of vertical load at initial stage of operation can be prevented If vertical load is controlled use a motor with built in brake or install a brake system Detailed description Refer to Chapter 6 20 Parameter Group 5 Parameter Group 5 Parameters related to auxillary functions Pr 5 00 Pr 5 13 Position completion decision width Parameter List A 33 Initial Other Set range value Unit details Setting gt End Applicable 0 250 10 pulse modes P e Set to output the position completion indication singal lt P COM gt a sequence output signal e Sets the position pulse error
118. an use it as pulse command but the resolution is not guaranteed Maximum resolution is 1 Number of pulse per rotation of motor X Reduction ratio X 4 If the setting value of Pr 3 02 does not satisfy the relationship above e Reduce the distance or angle needs to be moved with one command pulse reduce the resolution e Use the high resolution encoder which outputs the number of pulse higher than the value set in Pr 3 02 divided by 4 or increase the reduction ratio NOTE e Position control resolution of CSD3 Servo drive is 1 pulse e Inthe example 1 on ball screw load Pr 3 01 5000 and the maximum value for Pr 3 02 is 5000 X 4 20000 e Therefore the minimum unit which moved by 1 command is 10 mm 20000 0 5 um e When actually applying design with sufficient amount more than the minimum unit NOTE e Servo drive can output the encoder by the host controller e Refer to the Chapter 7 6 position feedback with the host controller with the understanding of the electronic gear setting Publication CSD3P UMO001E EN P February 2008 Function for Control Mode 5 21 Position Error Clear PCLR If this signal is inputted the position command position error and encoder feedback counter dIS 23 are cleared to 0 If the position command pulse is not inputted any more the motor can be stopped from the current state Input the Position Error Clear PCLR signal to 15 16 pin of CN1 Posit
119. ance of the noise filter falls Publication CSD3P UM001E EN P February 2008 Wiring 3 35 e Separate the input and output wiring of the noise filter and do not tie up them together i Interference z Y 4 Y Primary and Secondary Ada Filter Mewld Mepuosas Primary and Secondary Interf nterference it O Primary Secondary Separation of Circuit Primary Secondary gt D Separation of Circuit e Earth wire of the noise filter should be wired in distance to the output wire and do not put other signal lines and earth wire in a same duct and tie up them together xX Primary Secondary Q rimary Secondary Publication CSD3P UMOO1E EN P February 2008 3 36 Wiring e Earth wire of noise filter should be solely attached in the earth plate Do not connect the earth wire of the noise filter to other earth wire together x Primary Secondary O Primary Secondary Mepuosas e If there is noise filter inside the case panel connect all of the earth wires and earth wires of other equipment inside of the case to the grounding plate And then ground them x
120. ange value Setting gt End Applicable 0 to 1000 10 rpm modes S e Set to output speed match detection signal lt V COM gt which is a sequence output signal e Sets the speed error range for output of speed match signal when the servo drive performs speed command according to speed command of higher level controller e When the speed error is within set range and lt V COM gt output is assigned to sequence output signal the speed match detection signal lt V COM gt is output to assigned output pin Difference between speed V COM command and actual rotation speed lt servale e output Rotation Speed ipn A PESCE Set VE AAA AA COS j value Actual speed Time 0 N COM Output gp OFF ON OFF Refer to Chapter 5 28 Detailed description Rotation detection level Set range Hate Unit Heel Configure gt Complete 1 to 5000 20 rpm dae ALL e Set to output rotation detection signal lt TG ON gt which is a sequence output signal e lt TG ON gt signal is output if the servo motors rotation speed exceeds set value e f value is set too small rotation detection signal can be output even due to small vibrations Rotation speed Actual speed E AA A es ud Set value 0 m Time TG ON Output g OFF ON OFF Detailed description Refer to Chapter 5 28 Speed zero clamp level
121. arameter group 1 has gain setting parameter for tuning and it is classified as follows lt System Gain gt Bandwidth of Speed Control Loop It can adjust five basic gains at the same time ERE It is the same as the Bandwidth of overall speed control System Gain Hz loop of the servo drive lt Basic Gain gt They are five fundamental gains for tuning EOR LL AA f i hy Si Speed Loop Speed Loop Position Proportion Gain Integration Gain Nm S Nm S oo IMPORTANT In case of BX2 Rev B servo drive the system gain is limited to 10Hz at its minimum to guarantee a proper level of motion characteristics when velocityresponse level Pr 1 15 is set too low For more information about velocity response level refer to peterkang E Se TAE 1 ll Ea Torque CommandFilter CutoffFrequency Hz Speed CommandFilter CutoffFrequency Hz Tuning by Gain Setting 6 3 Applicable Gain They are four gains that Others They are four parameters with with separate functions supplementary function that is required for tuning Oil ofr WI Ww wes Tue Pos Ine fas ESA 1 F i LLUEL ur bid 0 Ej E 1 Es mu Hr 7 18 gr d Ez mc ios HN ini i 1 1 Cr DD iti Machine iti Position Slection of Auto feference Value fo Minimo osition Comman Resonance Position Feedforward Adjustment on
122. arefully speed torque and position and be careful for setting The following figure is example of speed response when speed controller is converted from P1 controller type to P controller type in the over response condition In the over response condition in acceleration deceleration section if torque command is higher than setting value of P PI mode conversion standard value Pr 1 11 it becomes P controller type and the other section becomes PI controller type Tuning by Gain Setting 6 25 Speed Speed Command Response Torque Command A gt Y J PI Control Speed Speed A Command pee Response Torque Command A Pr 1 11 4 Pr 1 11 1 4 4 Y P Control PI Control P Control Initial Torque Bias It provides downturn by gravity of vertical shaft load during initial operation Initial Torque Bias Downturn of Load by gravity and initial torque bias Initial Torque Bias Drop due to Gravity f you approve Servo ON signal to operate motor in he condition that load is vertical as shown in the igure downturn of load by gravity can occur n addition when you change from Servo On to Servo OFF you need to hold or release motor brake If you do not appropriately adjust the timing instantly oad drops and vibration occurs in the device As characteristics
123. ate external regenerative resistor Publication CSD3P UMO001E EN P February 2008 Applications 7 13 Precautions e When the rated power is increased for regenerative resistor on the above two methods the following conditions have to be satisfied Total regenerative resistor of rated power shall be 70 W or less The resistance of the total regenerative resistor has to be 30 to 50 W NOTE e The resistance for regenerative resistor can be ascended to 200 degree or higher of the temperature on the rated loading condition e When the separate cooling fan is not used the temperature of the regenerative resistor may increase excessively Therefore user should lower it to 20 96 of the rated power NOTE e The contents relating to the regenerative resistor is important When the rated power of regenerative resistor is increased make sure to keep the above two contents e When the wrong regenerative resistor is selected it may cause the product damage and may reduce the performance Regenerative Resistor Selection Standard Regenerative resistor selection standard through the allowable number of repetition The regenerative resistor has to be selected with the specification that meets the load system of the user One of the selection standards may be the selection of optimal regenerative resistor that satisfies the load system by calculating the frequency of repeated motion of the motor e The repeated frequ
124. ation Data r r Ap nn sd Connect to Line Position PULS 12 YR 17 ae Command scm 113 Y z 9 2 PULSE gt Encoder Phase Z 18 OPEN Collector or Open LU osa lu Ex i cn Z PULSE collector 45 ae PCLR 15 Position a xr E 46 Svo Alarm Error Clear L yt PCLR 16 yv k SALM 41 DO 1 Position Completion External Speed Limit V REF DO 1 Singal Detection 10 V to 10 V tr a l V REFSG DO 2 Position Approach m DO 2 Singal Detection DO 3 Rotation Detection Back up Battery DO 3 For Absolute Encoder 0 DC 3 6 V Publication CSD3P UMO001E EN P February 2008 Utpu Recommended Channel Setup Function Function for Control Mode 5 11 Position Command Pulse 6 pins of CN1 receive 3 kinds of commands related to the position control mode Host controller sends the position command with the pulse input and sign input e To clear the position error to 0 send the PCLR command Refer to the Chapter 5 21 for details on PCLR Position Command Input Pulse Input Te Pulse Input Te Position Command Input When the position control mode is used there are line drive method and open collector method as the input types of the host controller The servo drive supports two types of input The output of host controller Connection ex 1 When it is line drive output maximum allowable frequency 900 kpps A h Es
125. automatically disassembled Indicator n Lt Over external Torque Command Caiga When the external torque command is inputted with 300 96 or more of the rated value itis displayed When the torque command is inputted for 300 96 or more of the rated value the drive Acton is automatically limited at 300 Also when lowering the external torque command to 300 96 or less of the rated value it automatically disassembled Display a 5 E Over external Speed Command When the external speed command is inputted with the maximum speed or more of the Cause motor it is displayed When the speed command is inputted with the maximum speed or more of the motor Sioa the drive is automatically limited at the maximum speed of motor Also when the external speed command is lowered for less than the maximum speed or less of the motor it automatically disassembled Indicator pr t n i ri Allocation Error of Sequence Input and Output D When sequence input amp output signal is duplicated and allotted to the same input and output channel In mixed control mode when the control mode conversion C SEL sequence input signal is not allotted In multi step control mode when speed command lt C DIR gt lt C SP1 gt lt C SP2 gt C SP3 sequence input signal is not allotted it is displayed Cause Action Resetting it by referring Clause 5 1 of sequence input amp output signal
126. cations at http www oemax co kr or http www oemax com To order paper copies of technical documentation contact your local Rockwell Automation Korea distributor or sales representative Chapter 1 Before Using the CSD3 Servo Drive Introduction This chapter describes the general matters and optional specifications that you should know before using the OEMax CSD3 SERVO DRIVE Topic Page Introduction 1 1 Safety Precautions 1 2 How to Use This Manual 1 3 Product Type and Each Part Name 1 6 Publication CSD3P UMOO1E EN P February 2008 1 2 Before Using the CSD3 Servo Drive Safety Precautions Publication CSD3P UMO001E EN P February 2008 This user s manual describes safety matters using the following marks Safety marks deals with the important matters If the following marks and contents of each mark ate indicated in the contents of this user s manual you must be fully aware of them and follow them 1 The following is a warning mark This indicates general precautions WARNING When handled incorrectly dangerous situations or physical damages may happen 2 The following is a caution mark This indicates an important precaution against an electric shock WARNING When handled incorrectly dangerous situation electrocution may happen and cause death or severe injury 3 The following is a caution mark This indicates precautions against a burn WARNING When handled incorrectly
127. cidence Signal Setting Range m Unit Others Setting gt End 1 to 1000 10 RPM a ALL If speed error is within setting value speed coincidence detection lt V COM gt signal is generated Speed coincidence detection lt V COM gt output is ON when the following conditions ate satisfied Speed Error lt Pr fg setting Value C V COM Output Therefore you can adjust the timing to generate lt V COM gt signal by adjusting the difference between the speed command and actual rotation speed to output width of speed coincidence signal Pr 5 02 Output width of speed coincidence signal Pr 5 02 setting does not have influence on the final speed control Sequence output lt V COM gt signal is generated as shown in the figure below Rotation Speed LAS AAA ERN Setting Speed Actual Speed 0 m Time N COM Output my OFF ON OFF NOTE lt V COM gt is ON to the allocated sequence output channel when the output width of speed coincidence signal is Pr 5 02 100 the speed command is 2000 rpm and the actual rotation speed is in 1900 to 2100 rpm Function for Control Mode 5 35 NOTE e When speed coincidence output signal lt V COM gt is generated the servo drive turns line indication 1 of status indication mode on to allow verification of the output of the lt V COM gt signal e For status indication mode refer to the Chapter 4 2 Rotation Detection
128. condition e Value can differ according to load s type or rigidity too large values result in vibration Detailed description Refer to Chapter 6 Position FF filter Initial Other Set range Unit Setting gt End Parameter List A 19 0 2500 200 Hz One ALL e Valid if position FF gain Pr 1 08 is not 0 e fa value other than 0 set for Pr 1 08 results in overshoot or vibration set this value to 0 Detailed description Refer to Chapter 6 Dol MOA ition swi j iL iLi agaaga j P control transition switch Changes the speed controller from proportional integral P to proportional P automatically during transient response to suppress overshoot of speed response Therefore the position completion time gets shorter in case of position control Set value Details 0 P PI mode transition not used 1 f torque command exceeds torque value 96 set at Pr 1 11 speed controller changes rom Pl to P 2 f torque command exceeds torque value rpm set at Pr 1 11 speed controller changes from PI to P 3 f the position tolerance exceeds the position tolerance value pulse set at Pr 1 11 he speed controller changes from PI to P Default 3 Applicable Other mod s ALL details Servo OFF gt Setting gt End Detailed description Refer to Chapter 6 21 P control transition reference value Initial Other Set range
129. control system becomes unstable Therefore firstly you should sufficiently secure the response quality of speed control loop to make the response quality of whole position control system good NOTE e For speed limit details refer to the Chapter 7 18 e For torque details refer to the Chapter 5 38 Publication CSD3P UMOO1E EN P February 2008 6 6 Tuning by Gain Setting Publication CSD3P UMOD1E EN P February 2008 Gain diagram related to position speed and torque lt SERVO DRIVE gt 2 12SpeedTimeSpeedCommandPosition Control Related Gain Chapter 6 5 1 Position Mode Position Command Pulse Starting Point of Filter Cutoff Ftquency Position Command iti Position a Gain Feedforward Filter Cutoff Frequency Gain Setting po a P 108 r 103 AE Dei dB Hz Position Loop Proportion Gain Speed bias n LJ pr 1 13 Pr 1 13 e Speed Command Torque Control Related Gain Chapter 6 5 2 tarting Point o Speed Mode Gain SettingStarting Speed Limit Speed Command Filter Cutoff Frequency Speed Loop Proportion Gain a Speed Command Pr i5 Pr uy Spee d 4 Pr 2 12 A e d8 Speed Loop Integration Gain Torque Command Torque Control Related Gain Chapter 6 5 3 tarting Point o
130. ctory setting speed 500 rpm e Startup the drive according to the following flowchart Operator Basic Setting and Startup 4 23 Flowchart of the Startup Using Jog Operation run 00 Turn Power On i a L L Status Display Mode H h hh Select run mode Y by MODE SET key v r3 mM A Create run 00 b y direction key Initial value is run 00 4 DA Gs NY DO t pr Press ENTER and check Ue ee JOG operation HEN GN Q ae AR SO WS Press MODE SET key O WUN prepare JOG ON operation NN TEN n A pda 7 nn G e The motor runs counter clockwise The motor runs clockwise w hil w hile pressing the U P key pressing the DOW N key Pree MODE SET key and Q ON clear JOG OFF o peration Pree MODE SET key and clear JOG OFF o peration o Startup the drive by changing the speed startup 2 Jg e Start up the drive by changing the speed from the initial value 500 rpm to 1000 rpm e The change of Jog operation speed should be done at Pr 2 01 The speed set here is not related to other operation and applied only upon the Jog operation e Setting range is 0 to 5000 rpm Initial value is 500 rpm Publication CSD3P UMOO1E EN P February 2008 4 24 Operator Basic Setting and Startup Publication CSD3P UMOD1E EN P February 2008 e Change the Jog operation speed by according to t
131. d Set it in Servo OFF status puis Setting gt Power Off amp On gt Set it in Servo OFF status and apply the power again Publication CSD3P UMOO1E EN P February 2008 4 6 Operator Basic Setting and Startup Operator Name and Function of Each Part The servo drive has a built in operator for various status displays parameter setting operation command and monitoring e Displays various contents with six 7 segment LED display e Distinguish the type of the servo drive according to the front design of the operator e Provides all key manipulation function without a separate external operator e The following figure shows the front side of the operator on the servo drive a N 1 7 2 mos MODE SET 3 5 n ENTER 4 CHARGE POWER No Name Function Displays the status with 6 digit 7 segment LED display 1 7 Segment LED Display sets parameter commands operation and displays monitoring 2 MODE SET Key Enters display mode shift and parameter setting value Enters into each window after changes the display mode 3 ENTER Key Completes setting and exits from it 4 Control Power Check Lamp Checks if the control power is applied 5 Main Power Check and Checks if the main power is applied and if the capacitor of Discharge Check Lamp the main circuit is discharged after the main power cut off Moves the digit of 7 segment LED display and functions as 6 Top
132. dangerous situation burn may happen and cause death or severe injury gt General Precaution e This user s manual may contain some drawings with the cover or protective shields removed for more detailed and clear explanation Make sure to reassemble the device before operation e Any modification of the product made by the user is not covered by the guarantee of quality e Rockwell Samsung Automation is not responsible for all injuries or physical damage caused by any modification of the product made by the user e Contact your Rockwell Samsung Automation agent to order a copy of this manual if 1t has been damaged or lost Before Using the CSD3 Servo Drive 1 3 How to Use This Manual Terminology The following describes terminologies used in this manual e Servo drive or Drive Refers to the CSD3 Servo Drive e Servo motor or Motor Refers to the servo motor exclusively for the CSD3 drive e Host controller Refers to a controller or a device that gives command to the drive and controls it e Initial value Refers to the value set at the factory before the shipment e Set value Refers to the initial value or the value changed and set by the users e User s manual Simply indicated as manual Notation Description Within the sentences of this manual the following is expressed as shown below Be fully aware of them when using the servo drive 1 Use in front of Active Low signal S
133. del in encoder type 2 the encoder type is displayed in order of A B D H J M E Publication CSD3P UMOD1E EN P February 2008 Operator Basic Setting and Startup 4 19 The table below is a setting example for each motor type CSM A3BE2ANT3 CSMZ 02BH1ANM3 CSMT 04B01ANT3 RSMD 10BA1ASK3 a otk J L Mu ud IA n inl al teil e UdL H E Bi ua ro mln Motor setting flowchart Flowchart of Motor Setting Selection Status Display Mode Select Parameter Setting y A mode by MODE SET Key Press ENTER key and Enter into the Setting Window 1 EN Find setting value from the setting items suitable for each digit N cB B Find setting value of the setting item by UP DOWN key Og Dg Move to the setting item by LEFT RIGHT key Motor Model Rated Output Encoder Type e a A a 4 E ZE D z UU c ON 2 aM ri rd L Us itis AU t en ju os 2 cust Em Vut 1 1 PRUNUS E a E a a na Ded nm zo A A Matice E F s im ri r a mii ms x X d y p ERa zs Q ENE Y 5 Isi bs Motor setting completion bof Y Press MODE SET key to save it Y The setting window blinks and it is saved de To complete the setting Turn power off and on againg Completion Publication CSD3P UMOO1E EN P February 2008
134. dition of each output Therefore related to sequence output signal allocation there is no setting value that is output always regardless of wiring such as setting value 8 for input signal Publication CSD3P UMOO1E EN P February 2008 5 8 Function for Control Mode Notice for Signal Allocation When you allocate the different functions to the same pin of CN1 as shown below the drive indicates servo warning in the status mode Set 4 in the 214 position in setting window of the parameter DITA Pr lb Pr 0 06 H H H H H H It is set to use lt N TL gt function and it means that CN1 No DI 4 pin A EN is used as an input pin K ni Set 4 in the 2 position in setting window of the parameter 1 MMT rr L LL Pr 0 08 H H HH H H It is set to use INHIB function and it means that CN1 No DI 4 pin is used as an input pin When you allocate more than two signals to the same pin as described above the servo warning is indicated In this case when you reapply the power after completing the Status Display Mode input allocation the status display mode indicates servo warning Pin P P in i p mm Check if you allocate more than two signals to the same pin of it CN1 NOTE Through monitor mode in the 7 50 you can check if the sequence 1 0 signal is input NOTE E STOP lamp Emergency stop uses the fixed input pin of CN1 contrary to sequence input according to the allocation S
135. drive output the maximum allowed input frequency is 900 kpps e For open collector output the maximum allowed input frequency is 300 kpps e f pulse input frequency exceeds the maximu allowed input frequency an excessive command pulse servo alarm E ovPUL is issued Set value Details 0 Uses the line drive output of higher level controller 1 Uses open collector output of hiher level controller Applicable ates P Other details Servo OFF gt Setting gt End Detailed description Refer to Chapter 5 9 Encoder pulse output direction Sets the encoder s pulse direction when the servo drive outputs encoder pulse to higher level controller Set value Details 90 deg p 0 Phase A of encoder output leads 90 at NIE A mp forward rotation Encoder output Phase B E 90 deg phase difference Encoder 1 Phase B of encoder output leads 90 at output Phase A L forward rotation Encoder output Phase B L gt Applicable modes ALL Other details Servo OFF gt Setting gt End Detailed description Refer to Chapter 7 21 UR q a a PCLR input selection a 5 pa ai Publication CSD3P UMOO1E EN P February 2008 A 28 Parameter List When this signal is input the position error is cleared to 0 so that if no more position command pulses are input the moor can be halted at current c
136. e Servo OFF gt Configuration gt Reapply power gt modes ALL Other details Completed Detailed description Refer to Chapter 5 2 i nm 17 P IST Ta Servo ID Set range Mina Unit n Setting gt End 1 255 CSI DD e Parameter for setting servo ID e Fixthis value to 1 if RS 232 is used He n 11 Password Password parameter for A S usage Unrelated to user do NOT use this parameter P rri B H Protocol Data Format and BAUD Rate anm Parameter rm zog C P EC LL ELECE L Parameter Name RS 232C communication speed Description Set RS 232C communication speed 1 9600bps 2 14400bps 3 19200bps Set values 4 38400bps 5 56000bps 6 5 600bps Default 6 Applicable modes All Other Set8 gt End Publication CSD3P UMOO1E EN P February 2008 A 14 Parameter List Publication CSD3P UMOD1E EN P February 2008 Parameter Pe Gl4y na Parameter Name RS 485 communication Description Set RS 485 communication speed 1 9600bps 2 14400bps 3 19200bps Set values 4 38400bps 5 56000bps 6 57600bps Default 2 Applicable modes All Other Set8 gt End Parameter P r s y l Parameter Name Data Format Description Set data format l Set value Data Bit Parity Bit Stop Bit p 1 8 N 1 I 2 8 E 1 Set values TE 8 0 1 4 8 N 2 I 5 8 E 2 6 8 0 2 De
137. e Cleaning with Vacuum Cleaner Substance Insulation Measure with Insulation Inquiry to the company if Resistance 1 year resistance meter the measuring value is 10 500 V 10 MW MQ or less OIL SEAL 5000 hours Oil Seal Replacement aes motor that has Disassembly and Overall Inspection e Inquiry to the Company worn out part replacement In the event of disassemble the servo motor for repair or inspection a care shall be taken for A S not available Inspection of Drive Servo drive is equipped with electronic circuit The dust and foreign substance may cause the breakdown ot malfunction that the dust shall be cleaned and tighten the nuts on a regular basis 1 year Item Cleaning of Main Body and Board Socket Connector Nut Inspection Period Once or more per year Once or more per year Inspection and Repair Do not have dust or oil Do not allow loosening of socket connector nut and others Action Clean with compressed air or fabric Do not allow loosening Abnormal Part on Main Body and Board Once or more per year There is no discoloration by heat damage or open circuit Inquiry to the company In the event of disassemble for repair and inspection the servo drive be careful that the A S is not available Inspection and Protection Functions 8 3 Part Inspection The part below may have mechanical abrasion or material degradation A regular
138. e Sets low pass cutoff frequency of speed command to suppress high frequency components e Value changed according to system gain Pr 1 00 Detailed description Refer to Chapter 6 Position command filter Initial Other Set range Unit Setting End Publication CSD3P UMOO1E EN P February 2008 A 18 Parameter List Publication CSD3P UMOD1E EN P February 2008 0 60000 0 Hz pplicalile ALL Sets low pass cutoff frequency of position command to suppress high frequency components Detailed description Refer to Chapter 6 Vibration blocking filter Set range qa Unit d Servo OFF Setting End 0 10000 10000 Hz AU IEEE E e Torque commands around the set frequency are blocked to suppress vibrations at a specific frequency band e fsetto 0 the vibration blocking filter function is not used e System gain can be increased further if the resonant frequency according to load is used appropriately e If value is not set according to load s resonant frequency vibration or noise will occur e his parameter is automatically set after auto tuning Detailed description Refer to Chapter 6 C t ex co Position FF gain n Set range ae Unit ae s Setting gt End 0 800 200 9 epica All e Larger values result in faster position completion and smaller position tolerances at transient response
139. e da 6 7 Off line Auto Tuning socer doc ue ESSO ERN E RAE 6 7 Publication CSD3P UMOO1E EN P February 2008 Applications Publication CSD3P UMOO1E EN P February 2008 On line A to TO IN es 6 10 Manual Gan Seting s oo ue ds ars 6 11 Gain Setting lod ad 6 11 Basic Gain Setting a E vn 6 12 Position Speed Torque Related Gain Setting o oo o 6 14 Torque Control Related Gattis 5 nuciray RS 6 14 Speed Control Related Gala A E o 6 16 Position Control Related Gain 215 4 2 ai ies ge 6 18 Tip tor pet fast response iq ou S x ees etate Aiea a cde pde 6 20 Feedforward functions ou tota p decas Sois 6 20 Speed Bias Function A SERS 6 21 P PI Mode Setting Pan GH Oi ger ica ida obra tr 6 21 Initial Totque Blair oases diate aves EA 6 25 lt GSEL gt PunchO tie viet chistes a ona 6 27 Chapter 7 InttoQUC B OD oe ote pares WERDE el te Ie LN a Eee Nee Vu 7 1 Moto us PERSON s eov eee P WEG es 7 2 A me NM td mtt OO psu 7 2 Servo Alarm Refer to Chapter 8 0 rito es 7 2 Over Travel lt P OT gt lt N OT gt it in he ree ph adeo qr dan 7 2 Dynamic Brad idad do ob cadalso 7 4 Motor Brake Control iue ace ce RE ADR ES RR 7 6 Change of Motor Rotation DIFfeCUof s s eov secte ederet dong 7 10 Reseneraloti Resistof avos oe ESO a d x 7 11 Regeneration Resistor IEA 7 11 External Regenerative Resistor ii rid Bian PRS 7 12 Regenerative Resistor Selection Standard o o ooooo o 7 13 Setting for Smooth PELO Aaa 7 16 Speed Limiting Functio
140. e dis 01 OK y Tune the servo drive by adjusting the gain according to the load condition Both All In One amp Position Control Only model can support the NOTE position control mode Publication CSD3P UMOO1E EN P February 2008 5 10 Function for Control Mode equence Input Circuit Recommended Setup Furction Servo ON SV ON E Standard Wiring Example The following figure illustrates the standard wiring example of position control mode You can set the sequence input output signal as you want if it is necessary for the system configuration 0 50 Pin Connector lt CN1 gt Analog Monitor CH1 Output Range 10 V to 10 V Analog Monitor CH2 Output Range 10 V to 10 V AM SG Alarm Code Output GND AL1 Servo Alarm Code AL2 Maximum Voltage DC 30 V Prohibit Forward Rotation P OT Maximum Voltage 20 mA AL3 Prohibit Reverse Rotation N OT AL 8G Alarm Code Output GND P Control Conversion P CON EA Alarm Reset A RST EA Reverse Torque Limit N TL EB Encoder Phase A B amp C Forward Torque Limit P TL Line Receiver SN75175 EB or MC3486 M EC EC iti 35 Input for Pos ition Mode i 9 PS el Encoder PULS 11 36 PS Rot
141. e following condition in the setting of NOTE ORAN alternative circuit H 3nu eer Applications 7 25 Analog Monitor Output Overview Servo drive outputs the signal for analog monitor which allows the user to confirm the actual controlling situation by using the oscilloscope and others e The monitoring is possible from all control mode and has two channels 28 Analog Monitor Output CH1 Oscilloscope and other 23 Analog Monitor Output CH2 27 AMSG Output Range 10 V to 10 V Host Controller Setting Set the output type and range that the users want to confirm from the below parameter ESSE i13 nt n Ti Analog Monitor Output CH2 FI 2 3 2 7 Lt ILLI Selection and Scaling Setting Range m Unit Other Setting End 0 0001 to Below Applicable 6 2500 3 0500 Chart Mode us The types of output and unit chart showing the setting window Selection Setting Setting Example No Type Range Unit 0 Speed Command 1to500 rpm Selection No 1 Torque Command 1 to 30 Position Command 1 to 5000 pulse gt Y iE m l oO a A wt N LiT L LEM Speed Feedback 1to500 rpm Torque Feedback 1 to 30 Setting Range Position Feedback 1 to 5000 pulse 02500 pulse Position error Monitoring Sample e The below figure is the monitoring sample e Set the monitoring type
142. e gain P2 storing by pressing the 1 MODE SET key e ESA Display for normal EAS AN I execution E E LULUOTSL Complete the operation by O pressing the ENTER key IL Completion ea ee NOTE e When the lt G SEL gt function of the Chapter 6 27 is not used the main storage function is meaningless e Understand the content of the Chapter 6 27 before using it Publication CSD3P UMOO1E EN P February 2008 7 48 Applications Publication CSD3P UMO001E EN P February 2008 Parameter Initialization run 12 This function is to initialize the user parameter to the same status as the factory setting values General Matter e The initialization of parameter is operated carefully After initializing parameter the parameter has to be reset in meeting the load e The below parameter is still maintained after initializing parameter For changing the below parameter directly change from the parameter T Control mode setting g T Sequence input amp output Pr 0 00 optional Pr 0 05 to Pr 0 11 signal Pr 0 01 Motor settin Pr 3 01 to Pr 3 04 Floctronie gear and Pulse i g i dividing circuit Pr 0 04 Inertia ratio Pr 4 01 Pr 4 02 Internal torque limit Pr 4 05 E prohibition torque Applications 7 49 How to Operate Refer to the flow chart below and operate
143. e output of the host controller Value 1 Use the open collector output of the host controller Applicable Mode P Servo OFF gt Setting gt End NOTE e Maximum allowable frequency of pulse command of host controller is 900 kpps for the line drive 200 kpps for the open collector e If it exceeds the maximum allowable frequency excessive position command pulse E OvPUL alarm occurs e Please be careful not to exceed the maximum allowable frequency Publication CSD3P UM001E EN P February 2008 Function for Control Mode 5 13 Position Command Pulse Setting The position command supports 10 types as shown below Check the applicable specification with reference to electric specification of the command pulse If the electric specification such as timing is not appropriate a position error can occur w 4n DB rn cuu Position Command Pulse Form ry Et LE Selection Positive Logic Command Forward Direction Reverse Direction Input Setting Pulse Form Operation Operation Multiplication Value cw cew use PULSO 2 n SIGN D SIGN gt n Pulse Train A Sign L Li I Phase A Phase B Puspo LILI LIL Duple l e NNN E Quadruple al Negative Logic CW CCW a a Pulse Train Sign MY Applicable Mode Y Others Servo OFF gt Setting gt End NOTE You can ve
144. ed the control may become difficult e Servo drive may automatically adjust the offset current that may occur in sensing the current flowing on the motot Precaution Make sure to adjust it in servo OFF status e Adjust only when it is determined to have a particularly significant occurrence of offset current than other drives e When the adjustment is not made correctly perform the run 12 of The Chapter 7 48 In this case it is initialized with other parameters WARNING e Motor Current Feedback Offset is already adjusted in shipment e t is possible to make small torque ripple and the improvement of control characteristics by the current offset adjustment but the characteristics may be lowered if it is adjusted carelessly e Adjust only when there is particularly large current offset e Do not adjust if it is in vertical loading Publication CSD3P UMOO1E EN P February 2008 1 44 Applications How to Operate Refer to the below flow chart and operate SERVO ON SERVO OFF Status Display Mode Select operation mode with the MODE SET key Enter run 07 by using the direction key Prepare the adjustment by pressing the ENTER key Completion Operate the adjustment by pressing the MODE SET key Current Feedback Offset Adjustment Flow Chart amp i Lr al m
145. ed as is without any special actions Publication CSD3P UMOO1E EN P February 2008 7 12 Applications Acceleration and Constant Speed T 0 SN Time Deceleration 7 0 AN Time Regeneration esistor Regeneration esistor A Specification of regenerative resistor mounted on the drive The allowable power is 20 of the rated power of the regenerative resistor mounted on the drive Servo Drive Mounted Regenerative Resistor Specification 200 W or Less Resistance W Rated Power W Allowable Power W 400 W 50 30 6 1 kW 50 70 14 1 5 kW 30 70 14 External Regenerative Resistor The regenerative resistor that the user connects to the outside for load is called external regenerative resistor The following is the description when using the external regenerative resistor General Specifications The user may consume the regeneration energy generated in the load system by increasing the rated power of regenerative resistor and installing the external regenerative resistor if the rated power of mounted regenerative resistor consumes small regeneration energy e In order to increase the allowable power of regenerative resistor the mounted regenerative resistor and external regenerative resistor are connected in parallel Another way is to remove the internal regenerative resistor and install the separ
146. ed when the ENTER key is pressed The parameter must be set from the digit in black color and the initial value shows the initial value of the parameter e It is classified into a parameter selected among already set values selected parameter and a parameter which the users give appropriate values The selected parameter as shown in the example above displays both parameter and setting window and the latter parameter displays only the parameter and not the setting window e lt Setting value gt Describes the value selectable by the user and the selected value e lt Applicable mode gt Alphabetically displays the corresponding control mode in setting parameter and displays ALL if all are included Alphabets display each mode Mode Position mode Speed mode Torque mode Multi step speed mode Display P S t C e Combinational control mode indicates the alphabets of two modes combined in a row Publication CSD3P UMOD1E EN P February 2008 Operator Basic Setting and Startup 4 5 e ex speed position mode SP torque speed mode tS e lt Others gt Normally as described in an example of automobile in the Chapter 4 2 the driver cannot manipulate parking brake of a running automobile and the servo drive also should be divided into Servo ON status and Servo OFF status when setting the parameter Others Description Setting gt End Set regardless of the drive status Servo OFF gt Setting gt En
147. edure 1 Prepare a battery according to the specifications 2 Open the battery cover 3 Push it to the end in the direction of lt 1 gt 4 Connect the connector in the direction of lt 2 gt 5 Close the battery cover 6 If you follow the battery specifications the polarity coincides Publication CSD3P UMOO1E EN P February 2008 3 32 Wiring General Articles Wiring Publication CSD3P UMOO1E EN P February 2008 This part describes wiring to implement optimum performance of the servo drive in wiring and noise Precautions Electric Circuit Use a thick wire as earth wire if possible Class 3 grounding is recommended Recommendation grounding resistance lower than 1000 Only 1 point must be grounded Select ground phase and ground point considering the power conditions of installation area If the power is supplied by the ground phase wire it so that L2 of AC main power input terminal L1 L2 L3 becomes the ground phase Use noise filter for the main power and control power Electric circuit wiring and signal circuit wiring should be apart as much as possible 30 cm or more Do not use same power with the electric ARC welding machine or discharge processor equipment The earth wire of the servo motor must be connected to the grounding terminal of the drive In addition ground the grounding terminal of the drive If the wiring is inside the metal pipe ground the pipe with class 1 grounding Si
148. een position feedback and position command is less than Setting value the position completion signal detection lt P COM gt can be output Publication CSD3P UMO001E EN P February 2008 Function for Control Mode 5 25 Setting the output width of position completion signal Set the output width of position completion signal Standard to output the lt P COM gt signal to the parameter below P peg 5 0 HH Output Width of Position Completion Signal i Initial Setting Range Malis Unit Others Setting gt End 0 to 1000 10 pulse olen p When the number of position error pulse is within the value above position completion signal detection lt P COM gt signal is generated Position approach signal detection lt NEAR gt The position approach signal detection lt NEAR gt signal can be output with sequence output signal When setting the position command approach signal time to the servo drive that receives position command from the host controller and the difference between the position feedback and position command is less than setting value the position approach signal detection lt P COM gt signal can be output Setting the output width of position approach signal Set up output width of position approach signal Standard to generate lt NEAR gt signal to the parameter below P ire oi i Output Width of Position Approach Signal Initial Setting Range Value Unit Othe
149. efined Sequence Input Servo On Alarm Reset Gain Group Change Forward Reverse Torque Limit Homing Forward Reverse Rotation Limit P PI or control mode change Multi Step Speed Command Zero Clamp Position Command Override Absolute Encoder Data Transmission Seauence Output Positioning Completion Position Nearing Speed Coincidence Rotation Detection Torque Limit Detection Speed Limit Detection Brake Control Signal Warning Emergency Stop H W Emergency Stop Input Dynamic Brake Operate in case of main power off or alarm Regenarative Resistor Built in 400W or more Overcurrent Overvoltage Overload Overspeed Overregenertion Overheat Protection Temporary Power Down Low Voltage CPU Fault Communication Fault Monitoring 2CH D A outputs for measuring commands or feedback error Communication RS 232C Publication CSD3P UMOO1E EN P February 2008 B 6 Servo Drive Specification Publication CSD3P UMO001E EN P February 2008 CSD3 Plus Servo Drive User Manual CSD3 xxBX2 Rev B OE MAX OEMax Controls CONTROLS WWww oemax com Trademarks not belonging to Rockwell Automation Korea are property of their respective companies www oemax co kr Publication CS D3P UMOOTE EN P February 2008 Copyright O 2008 Rockwell Automation Korea All rights reserved
150. eleased first e Here if the brake is released before servo is set ON or at the same time the vertical load will descend temporarily Therefore the drive should first set servo ON to prevent descent of vertical load then release the brake e This parameter is set to reserve time from servo drive setting servo ON to release of motor brake 52 ms fixed value SV ON command of a higher level controller OFF ON Brake release Servo driver executing Wait time SV ON command OFF ON Motor brake operation Operation Inactive Detailed description Refer to Chapter 7 6 P pos 2 a h Servo OFF delay time Set range d Unit Pn Servo OFF gt Configure gt Complete Applicable 0 1000 0 10 ms mode ALL e The time from the drive s receiving servo OFF command from higher level controller to the drive s actually setting servo OFF can be set e This parameter is used to set the delay time from the higher level controller s command to set servo OFF to the drive s activating the motor drive SV ON command of higher level controller Servo OFF Servo driver executing delay time SV ON command s ON E ON L Detailed description Refer to Chapter 7 6 Publication CSD3P UM001E EN P February 2008 Brake operation wait time Parameter List A 37 Set range H Unit A Servo OFF gt Configure gt Complete 0 1000 50 10 m
151. em gain Pr 1 00 Detailed description Refer to Chapter 6 Speed loop integral gain Publication CSD3P UMOO1E EN P February 2008 A 16 Parameter List Initial Other Publication CSD3P UMOD1E EN P February 2008 Set range sale Unit details Setting End 0 60000 100 INms Applicable psc e Removes steady state speed tolerance e Overshoot in speed response can occur if set value is too large e Value changed by change in inertia ratio Pr 004 or system gain Pr 1 00 Detailed description Refer to Chapter 6 Parameter List A 17 P d ia Position loop proportional gain Initial Other j Set range value Unit details Setting gt End 0 700 20 Hz Popi abie p e Parameter which determines the responsiveness of position control e Change set value according to rigidity of load e Value changed according to system gain Pr 1 00 Detailed description Refer to Chapter 6 Torque command filter Initial Other Set range ale Unit details Setting gt End Applicable 0 10000 1000 Hz modes ALL e Suppresses hih frequency components of torque command e Value changed according to system gain Pr 1 00 Detailed description Refer to Chapter 6 C i a Speed command filter 63 zZ im Initial Other 0 10000 1000 Hz Applicable ji modes
152. encoder can store and memorize the absolute position information of the load system by using the battery power if the power of servo drive is cut off e Absolute encoder does not accumulate the error by the noise during the signal transmission e Also if the power is cut off as in the incremental encoder there is no need to adjust again for initial load position and the operation of equipment can immediately be executed by using the saved information e When the host controller needs the absolute position of load system in the power cut off the motor that is equipped with the absolute encoder has to be used Drive Output and Encoder Information Flow Types of Absolute Encoder H J Type Absolute Encoder Q E Type Absolute Encoder Absolute Encoder has to be Connected with the Battery DC 3 6V AAA Publication CSD3P UMOO1E EN P February 2008 7 28 Applications Contact with the Host Controller When the motor equipped with the absolute encoder is used the standard connection with the drive and host controller is as below figure e For memorizing and maintaining the absolute position information the absolute encoder shall be connected to a battery e The battery may be connected to CN5 of servo drive and can be connected with No 49 and No 25 pins of CN1 connected from the host controller Make sure to connect one of the two places
153. ency means the frequency of operation that the motor rotates and stops regardless of the rotation direction of the motor The permitted repetition frequency means the maximum repetition frequency per minute e The motor regenerative resistor selection by the repetitive frequency is limited to the loading operated in the horizontal direction Refer to the below formula to calculate the maximum allowable repetition frequency of the load system Publication CSD3P UMOO1E EN P February 2008 7 14 Applications Publication CSD3P UMO001E EN P February 2008 Mime lovato Mamm 2 repetition XA Crcles Min frequency 1 n Setting speed e Contents necessary in calculation shall be referred to the below Reference Figure 1 and Reference Chart 1 e n is the inertia ratio e he maximum speed shall be referred to the motor specifications of the appendix formula WARNING Make sure to use the actual repetition frequency of the motor smaller than the permitted repetition frequency calculated on the above Reference Figure 1 It shows the acceleration and deceleration of the motor in certain operation cycle in horizontal axis i Speed CommandT lime 0 m l l M Setting Speed Revolution Speed A Time o gt cceleration Area Deceleration Area p l To Regeneration Area l m l l
154. enter the value Tuning by Gain Setting 6 15 Torque command filter cutoff frequency It suppresses high frequency factor that is included in torque command Torque Command Filter Cutoff Frequency c 10000 0 Torque Command Filter Cutoff Frequency Hz Function e t suppresses high frequency factor that is included in torque command It makes torque command itself smooth as suppressing high frequency over set frequency so it can reduce vibration or noise e The more the value is the better the response quality is but if you set too high vibration can occur If you reduce this value in the condition that the load rigidity is high you can suppress oscillation e Do not set too small more than necessary because it is a delay factor The load system can be unstable Applicable Mode ALL Others Servo OFF gt Setting gt End If load system uses belt or chain rigidity is low so that you cannot expect the fast response In addition if you excessively increase speed control or position control related gains it can be oscillated For those loads it is difficult to set the value of torque command filter Pr 1 04 within about 100 Hz NOTE For torque mode that host controller directly approves torque command through CN1 of servo drive you can indirectly adjust gain of whole control loop as adjusting external torque command input gain Pr 4 00 That is to say if you increase Pr 4 00 it has
155. er Type In encoder type setting serial absolute encoder whose encoder type is Q and E type transmit encoder data to the drive and automatically performs setting as it is connected to the drive The encoder type display is shown below Motor Series CSMT CSMR RSMS D H F K L RSMZ Q Number Number Display u Pulse Encoder Type Display of Pulse Encoder Type Rotation 1 Rotation BEA mor Sea 131072 Serial Inc Motor Series CSM CSMT CSMR Motor Series RSMZ Q Number Number Display i Pulse Encoder Type Display of Pulse Encoder Type Rotation 1 Rotation A 5 2048 15wire Inc e f H 2500 11wire Inc Lf 2949 Full _ FE y 2098 9wieln En Absolute Motor Series RSMS D H F K L HEB R Gompact HH FT 10000 t5wire inc ES A d 2500 15wire Inc M E h 5000 15wire Inc Y L 200 15wire Inc x _ L 6000 15wire Inc Precautions Setting sequence is in order of motor model rated output capacity and encoder type The encoder type is classified into group 1 and group 2 accotding to motor model and an encoder that corresponds to each motor type is displayed In addition only the rated output of the motor that corresponds to the type selected is displayed only A setting example of an encoder in the encoder type 1 1s shown in the following motor setting flowchart e In the following flowchart the encoder type is in order of S B A D C K Q e n case of using a mo
156. eration deceleration time is long or maximum rotation speed or torque limit is set low On line auto tuning coefficient setting Set the following parameter to use On line Auto Tuning On line Auto Tuning Coefficient Function uU 9 n line Auto n Tuning If this value is not 0 use On line Auto Tuning function Coefficient L 0 The higher you set the value the more delicately it responses to load change and respond quickly BEEHBH EEBERE Applicable Mode ALL Others Setting End If load is quickly changed you need to set the On line Auto Tuning coefficient high but it can be momentarily unstable in the load environment that the vibration is large So pay extra caution If the response quality of control loop is decreased during On line Auto Tuning increase the value of system gain Pr 1 00 and if noise or vibration occuts reduce that value For system gain Pr 1 00 refer to the Chapter 6 12 Publication CSD3P UMOD1E EN P February 2008 Manual Gain Setting Gain Setting Flowchart Tuning by Gain Setting 6 11 The following figure illustrates whole structure and procedure of Manual Gain Setting Flowchart of the manual gain setting Start 500 Automatically set the inertia ratio and machine resonance suppress
157. et two basic gains as being suitable for Inertia Ratio Therefore it is recognized that the response quality of servomotor is improved at the same time Tuning by Gain Setting e In addition load system sometimes does resonant vibration in the specific frequency range because of vibration noise For those situations it intercepts vibration of load system using resonant frequency that is automatically detected by auto tuning Resonant frequency of load system becomes the setting value for resonance suppression filter Pr 1 07 and if you know the exact resonant frequency of the load you can set it directly The response performance of the drive is increased than prior to the auto tuning a X Set the 2 basic gains automatically using the data detected by the tuning 2000 10000 100 100 0 o U Pr Hg en Loop Speed Loop roportion Integration Gain ain en A Setting Range 0 00 to 60 00 Times Inertia Ratio 0 na L4 V bpression Fite Ei ro lb J E 10000 RS Automatic Setting of the basic gain C J Using the off line tuning function 1 Detect the inertia ratio automatically 2 Detect the resonant frequency of the load automatically lt Inertia ratio auto save gt lt resonant frequency auto detection gt t AH cun 04 Off Line Auto Tuning A gt A l Perform auto t
158. eter of Pulley is 50 mm For the ball screw in the example 1 you can easily recognize the pitch through the ball screw specification but you cannot find the load pitch that consists of belt and pulley Therefore let s suppose that the distance we want to move is 100 um per pulse from the host controller e Let s suppose that the number of pulse of the encoder is 2048 pulse and the reduction ratio is 5 Electronic Gear Parameter Setting Electronic Gear Electronic gear setting numerator parameter is as follows Setting Numerator pe iH f Number of Encoder Pulse X Reduction Ratio Therefore 2048 pulse X 5 so the setting value is 10240 Publication CSD3P UMOO1E EN P February 2008 5 18 Function for Control Mode Load movement amount per 1 Electronic Gear load shaft rotation 3 14 X 50 mm Setting Denominator _ 1570 g I0 re Z Lt E Movement amount by 1 pulse 100 um from the host controller Rotate the pulley of the final mechanical part once with the 1570 pulses from the host controller In this case the linear moving distance of the final load per pulse from host controller is 100 um You can enter the numerator and denominator by reduction of fraction as the following IEEE uu 10240 1024 I 1 1 EI ic G Pre FG Su 1570 157 Example 3 of electronic gear setting The fo
159. etting Publication CSD3P UMOD1E EN P February 2008 Torque Control Related Gain There ate resonance suppression filter and torque command filter gains related to torque related gain The following figure is related to torque in Gain Setting Diagram Torque Control Related Gain TUS Machine Resonance Toraue Command Torque Limit Suppression Filter Pier Sula Torque A d8 k asl Torque D D Servo Command Motor 4 gt Hz Hz Resonance suppression filter It suppresses resonance of load system Machine Resonance Suppression Filter 10000 0 Machine Resonance Suppression Filter Hz Function When load system is resonant in the specific frequency range it suppressed vibration by load resonance If itis appropriately set you can increase other gain more So you can considerably improve the stability and response quality of the whole system If it is not properly set vibration or noise can occur Applicable Mode ALL Others Setting gt End NOTE Resonance frequency of load it is setting value of resonance suppression filter Pr 1 07 Resonance Suppression Filter Pr 1 07 automatically find out resonance frequency and set the value by itself when you execute Off line Auto Tuning For Off line Auto Tuning refer to the Chapter 7 36 If you know exactly mechanical resonance frequency range of load you can directly
160. f receiving the absolute serial data through EA and EB 1 Clear the Up Down counter for incremental pulse counter to 0 and make itin the absolute encoder data receiving standby status 2 The ABS DT signal inputted to drive is maintained in low level for 10 ms or more 3 After 100 ms since ABS DT is off receive the 1 rotation data transmitted from the drive Publication CSD3P UMOO1E EN P February 2008 7 34 Applications 4 Receive the number of rotation data and then receive 1 rotation data transmitted after 100 ms EA and EB of drive are operated in normal incremental encoder output signal after the lapse of about 50 ms after transmitting the 1 rotation data to which division ratio is applied PAO Serial data reception sequence Initial Incremental ABS DT ON Pulse Incremental EB i00 i Maintain it for more than 10 ms 100 ms MAX 100 5 E 20 ms ms P Content of each signal Signal Name Status Signal Content When initialize it by turning on the power Initial incremental pulse du In normal operation after the initialization Incremental pulse When initializing it by turning on the power Initial incremental pulse p In normal operation after the initialization Incremental pulse EC Always Original pulse PS Always Serial data of absolute encoder Publication CSD3P UM001E EN P February 2008 Applications
161. fault 1 Applicable modes All Other Set gt End Parameter Pr IU 4H co Parameter Name Communication Protocol Description Set Communication Protocol Parameter List A 15 Set values i MOI aD Default 0 Applicable modes All Other Set gt End Parameter Group 1 Parameter Group 1 Parameters related to control gain Pr 1 00 Pr 1 13 System gain Set range d Unit ae Setting gt End 0 500 50 Hz ee UAE e Ahigher value results in higher position speed torque related gain values and higher responsiveness However excessive values can result in noise and vibrations e Conversely lower values result in smaller gain and lower responsiveness however the whole systems stability is increased e Refers to the bandwidth of the entire speed control loop e When this value is changed the gain values Pr 1 01 Pr 1 02 Pr 1 03 Pr 1 04 Pr 1 05 are set automatically according to the control mode while referring to the inertia ratio parameter Pr 0 04 e he lower limit is 10Hz Detailed description Refer to Chapter 6 Speed loop proportional gain Other Initial Set range vila Unit details Setting End Applicable 0 10000 60 Nms mode PSC e Parameter which determines the responsiveness of speed control e Value changed simultaneously with change of inertia ratio Pr 0 04 or syst
162. g parameter Pr 5 11 Indicator E a H E H L Heat Sink Overheat It occurs when the heat sink temperature of servo drive exceeds approximately 95 Cause 10 C at 55 C or higher ambient temperature It occurs when the cooling fan is not operated Xin Ambient temperature of servo drive less than 55 C or lower Refer to the installation of Chapter 2 to comply with the user environment Indicator E E ri E p Encoder Type Mismatching Cause It occurs when the encoder setting of motor setting Pr 0 01 is wrong Action Reset the encoder by confirming the model name of the motor nameplate Inspection and Protection Functions 8 9 Rok RED Indicator EE NLO Encoder Cable Open C It occurs when the encoder cable is short circuited or the power is not supplied to the ause encoder Action Confirm the wiring of encoder Indicator E H h 2 E Absolute Encoder Communication Error Cause It occurs when there is a communication error in the servo drive and absolute encoder Action Replace the motor when the wiring of encoder is confirmed and found no error Indicator E H h L h E Absolute Encoder Low Voltage Error It occurs when the internal recharging capacitor voltage of absolute encoder is 2 7 V or less Cause It occurs when the battery for absolute encoder has defective connection or not connected Action Confirm the connection of battery Replace the battery and refer to the Chpater 7 44 to
163. g serial FI al ll MAI IA absolute value encoder Sets whether battery should be used when using serial absolute value encoder This parameter is not valid when using ordinary absolute value encoders If value is set to 1 the serial absolute value encoder is recognized as a serial incremental encoder therefore in this case the multirotation data from the absolute value encoder is not valid Set value Details 0 Battery used 1 Battery not used ue ALL Other details Servo OFF gt Configure gt Reapply power gt Completed Selection of speed monitor use When high resolution encoder is used by activating speed monitor the speed ripple occurring at low speed operation can be reduced Initial value 0 Set value Details 0 Speed monitor is not used 1 Speed monitor is used a rod PS C Other details Servo OFF gt Configure gt Reapply power gt Completed Publication CSD3P UMOO1E EN P February 2008 A 40 Parameter List Selection of excessive speed error detection When excessive speed error detection function is used E SPDER error shows up when the speed error is out of tolerable speed error range Set value Details 0 Excessive speed error detection function is not used 1 Excessive speed error detection function is used AIBR S P Other details Servo OFF Configure Reapply power Completed Operation Mode Function List
164. gnal Circuit Others The host controller should be installed as closely as possible to the drive and the noise filter must be used CN1 I O signal connector and CN2 encoder cable should be twist pair wire and batch shield wire Refer to the appendix for the Samsung s standardized parts Note that the signal circuit wire is very thin thus pay attention when handling it If the noise is generated at command input cable ground 0 V line SG of the input line before the usage Use the breaker or fuse for wiring to protect the servo drive Make sure there is no continuous bending and stress to the wire Use noise filter in radio noise If used around residential area or the radio disturbance is concerned install a noise filter on the input side of power line As the drive is for industrial use there are no measures for radio disturbance Attach a surge absorption circuit to the relay solenoid and coil of the magnetic contactor Wiring 3 33 Capacity of the Drive and Fuse The table below shows the capacity of servo drive and fuse Drive type Power Capacity per1 MCCB or Fuse Power Drive Power Capacity Capacity CSD3 kVA Arms 50 W A5BX2 0 25 100 W 01BX2 0 40 4 Single phase 220V 200 W 02BX2 0 75 400 W 04BX2 12 8 1 KW 10BX2 23 7 3 phase 220V 1 5 KW 15BX2 3 2 10 The fuse capacity is the value when 100 load is applied When selecting the MCCB breaker
165. he excessive operation of the load Initial value is limited to 5000 RPM and you can change the speed limit according to the parameter setting below Set speed level that you want to limit to the parameter below pa r rp A Speed Limit Setting Range va Unit Others Setting gt End Applicable 1 to 5000 5000 RPM Mode ALL It limits the rotation speed of motor to keep below the speed of set value Even though you set the speed limit Pr 2 12 as 1000 RPM and send analog speed command related to 1500 RPM from the host controller servo motor runs in 1000 RPM On this occasion if the speed of motor reaches to speed limit as allocating sequence output function speed limit detection lt V LMT gt you can generate lt V LMT gt signal to the allocated output pin lt V LMT gt is sequence output signal To use lt V LMT gt function allocate lt V LMT gt signal with reference to sequence input output signal in the Chapter 5 2 Speed limit detection lt V LMT gt output is ON when the following conditions ate satisfied nu ig Setting Value gt V LMT Output Rotation Speed z P r NOTE Initial value of speed limit is automatically set as maximum speed of set motor at the same time when motor type is set in the basic setting in the Chapter 4 6 NOTE Set speed limit Pr 2 12 to maximum speed of motor if there is no excessive load If the set value
166. he ENTER key gt CD s rtu Completion J F haem Bo T Applications 7 41 Manual Adjustment of Speed Command Offset run 05 First understand the content of Auto Adjustment of Speed Command Offset in the Chapter 7 38 e It is same function with the automatic adjustment and can make more precise adjustment than the automatic adjustment of speed command offset e The below flowchart describes under the premises of voltage applicable to the speed of 10 rpm or 10 rpm is offset SERVO ON SERVO OFF Status D isplay Mode Select oper the MODE SET key ation mode with Make run 05 by using the direction key by pressing Prepare the auto adjustment the ENTER key Prepare the manual adjustment by pressing the MODE SET key Auto Adjustment of the Torque Command Offset Flowchart i f LUI Lt LI O UU G5 E E LUA DH X a 20 im 4 n d d p a a ON Adjust with the lower key in offset with voltage l dp E Adjust with the upper key in offset with voltage o qa 8 e If offset is being made it shows the speed rpm applicable to offset voltage e Continue to press the direction key to slowly stop the motor with the speed nearing to 0 rpm Once 0 rpm is reached release the direction key to confirm that the mot
167. he following flowchart Jog Operation Speed Change Flow Chart Turn Power On Status Display Mode H h h Select parameter setting P modeby MODE SET key idi _ fee Ut Create Pr 2 01 by direction key V Gs O Oot y as Press ENTER and enter a Q into the seting window a rtr vert EEES Create 1000 rpm by A direction key V NC Bg Urt rt vt m xe Press MODE SET key CECECH tosaveit Blink V e Urt V 1 r1 AA A Press ENTER to exit End E en e If setting is wrong the setting window does not blink when saving it by pressing the MODE SET key e If setting is completed normally retry the Jog operation run 00 e You can see that the speed is changed from 500 rpm to 1000 rpm NOTE e At first the drive is not tuned suitable for the load or motor e Upon startup first perform off line auto tuning described in the Chapter 7 36 then startup the drive to run the motor more smoothly in a stable condition WARNING e To prevent the injury check the operation range of the motor shaft or load upon operation and keep it away from the drive e Run the drive after preparing the E stop circuit Then you can cope quickly with an emergency situation e Refer to the Chapter 3 15 for E stop information Operator Basic Setting and Startup 4 25 Check up Items during Startup You
168. hin the specified allowable load Refer to the motor specifications in the appendix for allowable load of the motor shaft on each motor type A Vertical Radial Load kgf Horizontal Thrust Load kg f Installation Environment Item Installation Environment Storing Temperature Store it within 20 60 Operating Temperature Use it within 0 55 Operating Humidity Use it below 90 RH at a place without condensation Use it indoors with well ventilation at a place for easy checkup and Operating Environment cleaning and at a place without explosive gas Publication CSD3P UMOO1E EN P February 2008 2 4 Installation Servo Drive Precautions Refer to the following figures when installing the servo drive e The most important thing to consider when installing the drive is the ambient temperature e Follow the operational temperature and mount the servo drive vertically Servo drive less than 400W applies the natural lt Fixing Bolt gt convective cooling and the servo drive with more 400 W or less M4xL10 than 1kW uses the cooling fan To increase the 2 mounting holes at the top cooling efficiency install it vertically amp bottom 1 kW or more M5xL10 2 4 mounting holes
169. ication e It displays the mark that is applicable to a warning through the Status Display Mode Status Display Mode Description r X 2 Servo The warning is displayed on the 3 digit of 7 segment as D shown on the left i The character displayed the normal operation status does not flicker but once the abnormality applicable for servo warning is sensed the applicable character is displayed and flickers Warning Idicator warning types e Servo drive displays the warning characters for the following 6 situations L En External Battery Inacio Ome Low Voltage of Absolute Encoder Cause It occurs when the voltage of external battery of absolute encoder is 3 2 V or less Action Understand the content of Chpater 7 27 and replace the battery Indicator H ri E Absolute Encoder Counter Overflow s n the event the Q E Type Absolute Encoder is rotated forward or reverse over 32768 H J Type Absolute Encoder is for 4096 revolution it is displayed Action Refer to Chpater 7 27 and reset the Absolute Encoder Inspection and Protection Functions 8 5 Indicator H F E Abnormal Initial Status of Absolute Encoder Cause There may be a time of motor rotating for over 100 RPM when main power is ON It only occurs in the event of Absolute Encoder serial of O E Type And when the Action resolution of 1 rotation data is 17bit it
170. ils of the operator _ Drive Nameplate AC main Power Inpu FTT Terminal ff Rated Output Label Control power input 4 Terminal 1 0 Signals Connector lt CN1 gt 2 DC Reactor Connection Terminal for suppressing high frequency 1 DC Main Power Input terminal Encoder Cable L Connector lt CN2 gt lee Communication and Operator Connector lt CN3 gt Regenerative Resistor 4 Terminal Motor Cable Terminal Mounting Hole Top Bottom Cp E y O Regenerative Resistor d 400 W or Higher Attached E 10 Heat Sink gt u s as Ti no 5 pat E TTI Wiring Socket 10 6P 4P and 3P 3 Part DO 10 lo Ground Terminal heat sink Publication CSD3P UMO001E EN P February 2008 Before Using the CSD3 Servo Drive 1 7 Model Number of the Drive The following figure describes the model name on the nameplate of the servo drive e The nameplate is attached on the side of the drive case e Check the model name on the nameplate and check if 1t corresponds to the product ordered e The drive type is Rockwell Samsung Automation Servo Drive CSD3 Series e The serial number is included on the nameplate Be careful not to erase the serial number during the use Nameplate is attached to the drive Chec
171. ime Rated Motor H 7 Acceleration Speed N Speed Deceleration NI Time Setting io E EN y Time 4 Rated Motor S curve Time Speed a NN a Setting i ES Speed Motor Setting E N Speed if Time S curve Time Setting La ol S Curve operation time setting Set the S curve operation time on the below parameter P f cil u S Curve Operation Time Setti Initial etting Range Malus Unit Other Setting End Applicable 0 to 5000 0 ms Mode ALL Caution The total command performance time differs by the acceleration deceleration and S curve operation time If the total consumed time for initial speed command is 10 seconds the total time of speed command time after the acceleration deceleration time setting is 10 seconds Pr 2 03 Also the total time 10 seconds Pr 2 03 Pr 2 04 of speed command performance after the S curve time setting NOTE e f the S curve setting value is set as 0 the S curve operation is not used e Also without the setting of acceleration deceleration time the S operation alone shall not be used For the use of S curve operation first set the acceleration deceleration time that is appropriate to the user s situation Publication CSD3P UMOO1E EN P February 2008 7 18 Applications Speed Limiting Function It describes the function to limit the rotation speed of the motor Ways to Limitthe Speed e Limit
172. in Hz Frequency Hz Frequency Hz SS 2 J B M D aaa E E 5 basic gains are set for rs Lit t the system gain E a interlocked 7 etting Range 0 ystem Gain 3 basic gains are set for Inertia Ratio to 60 00 Times PETAEN 10Hz the inertia ratio 5 5 M y LI f When the inertia _ RE D ratio of the load is The system gain is set by the user from Set after the user checking known lt Direct input ___ Pr 1 00 the load status Off Line by the user gt lt Direct input by the user gt Auto Tuning Y Q JW N When the off line auto tuning in the chapter Auto 2 of inertia 7 10 3 is performed the inertia ratio of the ratio using the off line current load system is set automatically in auto tuning C Pr 0 04 Flowchart fo the basic gain setting Start D Publication CSD3P UMOD1E EN P February 2008 Tuning by Gain Setting 6 13 If response performance is decreased after Off line Auto Tuning increase the value of system gain Pr 1 00 and do Off line Auto Tuning again We recommend securing the maximum response quality as increasing the value of system gain Pr 1 00 until noise or vibration occurs When maximum response quality is guaranteed in the condition that the value of Inertia Ratio Pr 0 04 is accurately set and there is no vibration noise in load system When you set the value of system gain Pr 1 00 as high as you can it becomes bandwidth of whole speed control loop As described above
173. in it so its voltage is maintained for 30 min even when its battery is disconnected When a battery is re connected internal low voltage alarm occurs Then reset the alarm e The super condenser of RSMx motor O type encoder can maintain its voltage for min 3 5 hours even after power is disconnected if it is charged for 3 hours or more before the disconnection Connecting Battery to CN5 The below figure is how to connect the battery to CN 5 of servo drive Connection Sequence Prepare the proper battery for specification Open the battery cover N 3 Push it all the way in to the No lt 1 gt direction 4 Contact the connector to the No lt 2 gt direction 5 Close the battery cover o The polarity is consistent if the battery specification is complied Reset of Absolute Encoder Implement the absolute encoder reset run 10 in the following cases e For initial trial operation e When separate the drive and encoder cable after cutting off the power and connected again e When wanting to reset the number of rotation data Caution has to be taken on the following e The reset operation of absolute encoder is possible only in servo OFF status Publication CSD3P UMO001E EN P February 2008 Applications 7 31 e When of A H J Type encoder resetting the encoder takes about 5 seconds Keep sufficient time on this e Depending on the encoder type the performance content
174. ing motor the motor operates like a generator and the resulting energy is called the regeneration energy Regeneration Resistor e The regeneration energy occurring when the motor is stopped is absorbed by the servo drive in some degree but if the energy exceeds the capacity a separate device is needed to consume the regeneration energy The regenerative resistor is mounted on the exterior of servo drive in order to consume the regeneration energy e If there is excessive regeneration energy that causes the damage to the Servo Drive but the Servo Drive is equipped with the protective circuit to shield off such phenomenon Regeneration Energy Generating Condition e When the speed is decelerating e When the motor is continuously rotated by the strength of the load for example loading condition or when of operating the vertical axis loading Precaution e Regenerative resistor equipped on the servo drive is designed to consume the regeneration energy in relatively short period of time such as in between the stops e It is not appropriate to the case when the regeneration energy is generated too much like the cases of minus loading condition and vertical load that rotates the servo motor with the gravity However when the rated power of regenerative resistor that is calculated by referring to the Chapter 7 13 is smaller than the regenerative resistor attached at the time of shipment the internal regenerative resistor can be us
175. inspection is needed for prevention and preservation Part Use Period Use Requirement Capacitor 3 year Cable 3 year based on flexible cable Power Device 3 year Ambient temperature Annual average of 30 Regeneration Resistor 2 year degree E Load rate less than 80 96 DB Resistor cid Operation rate less than FAN 2 year 20 hours day Cooling Fan 4 to 5 year Fuse 10 year Battery Inspection for absolute Encoder 7 9 3 Refer to Chpater 7 28 for absolute encoder battery Publication CSD3P UMOO1E EN P February 2008 8 4 Inspection and Protection Functions Protection Function Publication CSD3P UMOO1E EN P February 2008 It describes the equipped protection function and actions taken in times of abnormal operation in order to protect the servo drive and load system The protection function is classified into two types depending on the importance 1 Servo warning It displays a minimal abnormality that does not require the suspension of operation when occurred 2 Servo alarm It displays the very serious abnormality that requires the suspension of operation when occurred e It is classified depending on the importance but when an abnormality occurs remove the cause immediately and use the servo drive in normal condition Servo Warning There is a servo warning that displays a minimal abnormality as the protection function by the self diagnosis 1 Servo warning ind
176. internal limit Pr 4 01 and Pr 4 02 takes precedence to external torque limit lt P TL gt and lt N TL gt signals Internal limit EE External limit Forward Torque bs torque al praor f O Pra03 ESSN Y Lon SEM peed SQV see Torque 0 0 command Speed J Speed 5 o Ww P4 ON US Pr 4 04 Reverse torque Torque Torque gt Detailed description Refer to Chapter 5 38 Rotation inhibit torque limit Initial Other Set range value Unit details Setting gt End Applicable 0 300 300 modes ALL e Limits the torque imposed signal during rotation e Unlike external and intern on the motor if the motor is halted by overtravel lt P OT gt lt N OT gt input al torque limit the torque limit value for overtravel input is same for forward and reverse direction Detailed description Refer to Chapter 5 38 Initial torque bias Publication CSD3P UMOO1E EN P February 2008 A 32 Parameter List Publication CSD3P UMOD1E EN P February 2008 Initial Other Set range Unit details Setting gt End 100 100 0 96 di E ALL e f as in the figure the servo IN signal is applied to drive the motor while the load is along the vertical axis descent of load due to gravity can take place e In addition the motor brake has to be engaged or released on servo ON and servo OFF if the timing is not
177. ion Error Setting Value C P COM Output Position Error lt Setting Value C NEAR Output Publication CSD3P UMOO01E EN P February 2008 When Pr 5 00 is set with high value during the low speed operation lt P COM gt output signal remains ON gt NOTE lt P COM gt and lt NEAR gt are sequence output signal To use lt P COM gt and lt NEAR gt function allocate lt P COM gt and lt NEAR gt signal and refer to sequence input output signal in the Chapter 5 2 NOTE lt P COM gt and lt NEAR gt are sequence output signal To use lt P COM gt and lt NEAR gt function allocate lt P COM gt and lt NEAR gt signal and refer to sequence input output signal in the Chapter 5 2 NOTE e When position completion signal detection lt P COM gt signal is output the servo drive turns line indication 1 on to allow verification of lt P COM gt signal output e For status indication mode refer to the Chapter 4 6 Function for Control Mode 5 27 Output Width of Allowable Position Error Set allowable position error limit Output Width of Allowable Position Error Setting gt End 0 to 65535 20480 pulse ape le p If position error is bigger than setting value the position error overflow servo alarm E PoSEr occurs Input Output Signal Timing diagram The figure below is a timing diagram of Input Output signal in position c
178. ion Error Clear Input Host Controller In the parameter below set the parameter for the signal trigger condition to clear the error to 0 in position error clear input Select the trigger condition in the following parameter H f Jt BEBD BEA PCLR Input Selection Setting It clears in H level 0 Position error maintains 0 as long as the H level is H maintained 1 It clears just once at a rising edge i Setting Value It clears in L level uu 2 Position error maintains 0 as long as L level is L maintained 3 It clears just once at a falling edge i Applicable Mode P Others Servo OFF Set End Pulse Command Inhibition lt INHIB gt Input The position command counter can be stopped in the position control mode by setting the pulse command inhibition INHIB by the sequence input signal While lt INHIB gt input is ON it is ignored even though the host controller sends the position command pulse to the servo drive Therefore it locks the servo status in the current position If lt INHIB gt signal is ON OFF while the host controller continuously sends the position commands the following operation occurs according to the lt INHIB gt signal status In the figure below Td 1s about 10 msec Publication CSD3P UMOO1E EN P February 2008 Function for Control Mode ew a O EEE AL INHB gt OFF ON OFF Position Command gt Cou
179. ion filter by off line 50 auto tuning Setting Range 0 00 to 60 00 0 Adjust to obtain the ri ri System Gain optimum tuning using the NE y 2000 60000 700 10000 10000 Y 60 26 20 300 1000 0 0 0 0 0 Perform fine adjustment moonman foounms foo THE EEE Ta o HIOGHE from each basic gain Fr LU Dal CELE PARO SAD DEB DLE ERA DOTE Speed Loop Speed Loop Position Loop Torque Speed Proportion Gain Integration Gain Proportion Gain omand Hite pegan Nm S Nm s Hz Hz Frequency Hz 60000 10000 100 800 200 0 0 0 0 E aa A e AN E Perform fine adjustment l D LLUEL Fg LL i Ei LL El D LLE from each applicable gain Position Machine Position Position Command Filter Resonance Feedforward Feedforward Cutoff Frequency Suppression Gain Filter Cutoff Hz Filter Hz Frequency Hz 3 3000 50000 450 TEE Q 0 0 LM E 1000 a e Use other functions fro eg egy Viet ar fan Ver INEA Ln Ada pa Pl lr se ay e e f f E Fr t Ist rst l D tst l 1 q il cr tst tuning Slection of Auto P Control Minimum D Adjustment on Spee Conversion Position Error to Speed Bias Loop Integration Standard Value Add Speed Bias rpm Value N A Variable pulse Check the motion of the load system and if appropriate tuning is not done repeat the above steps Publication CSD3P UMOO1E EN P February 2008 6 12 Tuning by Gain Setting Basic Gain Setting The following explains five Basic Gain Settings for Tuni
180. ion may not be used and the speed may be limited by the internal speed limit e The speed may be limited to a speed equivalent to the analog voltage command inputted from the host controller Publication CSD3P UMO001E EN P February 2008 Applications 7 19 When operated in speed mode the analog speed command of host controller is executed Speed Command I V REF 19 10 V 10 V i V REFSG 20 CN1 Host Controller it eK Ife Exteranl Speed Limit Command V REF 19 10 V 10 V e V REF SG 20 Host Controller External Speed Limit Value The parameter below is the parameter setting the relationship between the analog speed command voltage and the speed when operating with speed mode When it is not used as the speed mode the speed is limited to the applicable speed at the below parameter setting e Select the analog command voltage and speed to be limited and set the external speed limit value of the below parameter fg mimi External Speed Command Gain and ro LLL External Speed Limit Value Setting Range ane Unit Other Servo OFF gt Setting gt End 10 0 to 2000 0 500 0 rpm V eee S Set the speed command value rpm on analog voltage 1 V and limit it with the set speed External speed limit value is given by the following relationship External speed limit _ Setting Val Input Voltage Accordingly when the input vol
181. is different in times of absolute encoder reset and alarm reset Refer the below chart and use it after a full understanding Alarm Reset run 08 A H J Type Encoder Encoder related alarm and warning reset The number of rotation data reset Q Type Encoder Encoder related alarm and warning reset Absolute Encoder Reset run 10 Encoder related alarm and warning reset The number of rotation data reset The number of rotation data reset Encoder related alarm and warning reset e A H J Type encoder performs the same functions of absolute encoder reset and alarm reset Both two cases have the number of rotation data resetting NOTE e When of using the encoder of Q Type make sure to perform the absolute encoder reset for resetting the number of rotation data Refer to the below flow chart to make absolute encoder reset Flow Chart of the Absolute Encoder Reset Status Display Mode p h h Select the operation mode with MODE SET key Y z A a a VUS ALI Enter run 08 by using the O direction key V Prepare for encoder reset by pressing the ENTER key gt A EB ENE Execute the encoder reset by pressing MODE SET key Tb E UN nam JA Complete it by pressing the ENTER key E gt oco Completed Fun LI Publication CSD3P UMOO1E EN P February 2008 1 32 Ap
182. is too small response performance is reduced NOTE Function for Control Mode 5 37 Except the speed limit method by setting of speed limit Pr 2 12 you can also limit the speed by the command from the host controller Among two methods you can select where to limit speed by speed limit selection Pr 2 13 If you do not select the method by Pr 2 12 in speed limit selection Pr 2 13 setting value of speed limit Pr 2 12 becomes invalid For details on speed limit refer to the Chapter 7 18 Publication CSD3P UMOO1E EN P February 2008 5 38 Function for Control Mode Torque Control Mode Publication CSD3P UMO001E EN P February 2008 Overview The torque control mode is used to control the tension or the pressure of the mechanical part by using the servo drive Enter the voltage related to the desired torque from the host controller Various setting values related to operation torque limit of motor are generally applied to the position or the speed control mode In order to operate the servo drive in a torque control mode connect the analog torque command to the related input pin and set the required process as shown bellow Flowchart for the Torque Control Mode Operation y Select the sequence 1 0 function and allocate them Pr 0 05 to Pr 0 11 y Check if the motor rotates while slowly increasing the analog torque command voltage y Run as resetting the external torque command inpu
183. isplay Mode Li Lt rt Fr Li a E a E a Fur a g f V7 LL LI Operation Mode Q Status Display Mode 182 _ MT a a E E Monitor Mode Publication CSD3P UMOO1E EN P February 2008 Operator Basic Setting and Startup NOTE All parameter setting after Chapter 4 1 should be done for the Servo ON status and Servo OFF status In this manual the servo drive status means whether the servo drive is in servo ON status or servo OFF status Status Display Mode This section describes contents of the status display mode e The figure below is an example of display for the description of the st atus mode e The display on the right is separated for the convenience of description e Refer to the table below for the meaning of each display NN Row Display 1 Row Display 2 Control Mode Status Point Display Row Display 3 Control Mode Basic Control Mode Combinational Control Mode Display Description Display Description Al Position mode EP Speed position mode E Speed mode E Torque speed mode E Torque mode k P Torque position mode 77 Multi step speed Posli Multi step speed position L J mode A mode Multi step speed speed EE ae mode pes Multi step speed torque i mode e Displays con
184. ith input of main power from Pr 0 02 Operator Basic Setting and Startup 4 21 Flowchart of the main power input selection Set it as shown in the following flowchart e Setting is on the fourth digit of the setting window Make sure to use the correct digit Setting Flow Chart in case of Using DC Main Power Input Status Display Mode E Lab Select parameter setting mode i by MODE SET key a Enter for Pr 0 02 by direction MA key O VY Gs 8 V1 A Press ENTER and enter into RAR the setting window o gt By direction key enter 1000 D Cy E Press MODE SET key to save it S a Blink o Press ENTER to exit the setting NS window i Q o oo mp Y End j c Main power can be input to either the input terminal of AC main WARNING power through terminals L1 L2 and L3 or the input terminal of DC main power through terminals N and P2 Be sure to connect it to only of them Basic setting is all finished for the use of the drive Reapply the power e To connect other motor type after completing the basic setting of motor connected to the servo drive initially or to change the parameter setting at the basic setting be sure to enter into corresponding parameter and change it e Basic setting value is preserved even if the power is cut off or the parameter is initialized Refer
185. k the model on the nameplate Drive Type Example of Drive Specification CS D3 0 1 B X 2 Design Sequence Mark Rated Outpu A5 50 W 01 100 W 02 200 W 04 400 W 1 kW 1 5 KW Mark Voltage B AC220 V Drive Type by capacity The table below shows the capacity of drive rated output and the capacity of the applied motor Drive Model Name Drive Capacity Capacity of the Applied Motor 1 coax Tawm o hoM 2 CSD3 A5BX1 P 50 W 50 W 3 CSD3 01BX1 P 100 W 100 W 4 CSD3 02BX1 P 200 W 200 W Publication CSD3P UM001E EN P February 2008 1 8 Before Using the CSD3 Servo Drive 5 CSD3 04BX1 P 400 W 300 W to 400 W 6 CSD3 10BX1 P 1 kW 500 W to 1 KW 7 CSD3 15BX1 P 1 5 kW 1 2 kW to 1 5 KW Name of Each Motor Part The following figure shows the name of each motor part e A motor without a brake does not have a brake cable The name of each motor part may differ from the following figure according to the motor type LED Break Cable ES ED Motor Power Cable RED Encoder Cable Encoder Nameplate of the Motor Motor Frame Motor Shaft Mounting Hole Publication CSD3P UMOO01E EN P February 2008
186. l adjustment of the speed command offset e In addition the rotation of motor can be prevented using the zero clamp function in the Chapter 5 31 Zero Clamp lt Z CLP gt Input Even though the analog speed command of the host controller is 0 V some offset voltage can exist in servo drive input resulting in slow rotation of the motor In this case prevent the subtle rotation of motor according to offset voltage using the zero clamp function lt Z CLP gt is a sequence input signal To use lt Z CLP gt function allocate lt Z CLP gt by referring to the sequence input output signal in the chapter 5 1 Set speed zero clamp level to the parameter below H rm L uh H Speed Zero Clamp Level Setting Range a Unit Others Setting End Applicable 0 to 5000 0 RPM Mode S Speed command that is below the value is ignored If you turn the signal on or off to the pin of CN1 where the zero clamp function is allocated the voltage command less than the zero clamp level Pr 5 04 or lower is ignored When the speed command value is higher than this level the motor is accelerated to the command value In addition if you set the sequence input as 8 with the reference of the input signal allocation method in the Chapter 5 7 the zero clamp function is always valid and if it is set as 0 the zero clamp function is not processed Publication CSD3P UMOO1E EN P February 2008 5 32 Function for
187. l Mode Function of Input Signal The following is the brief explanation on 16 functions of sequence input signal Details for each signal is explained in the reference pages listed on the right side of the table Type Description Mode Reference lt SV ON gt When input is ON voltage is applied to the Servo ON servo motor and when input is off the voltage is Al 4 2 cut off AIR It releases the servo alarm Al 7 44 lt G SEL gt Use 2 group gain for the section where input is on and current gain for the section where input Al 6 27 Gain group conversion is OFF It converts gain of 2 groups lt P TL gt When a signal is on it limits forward torque by Al Limit forward torque the setting value Pr 4 03 E lt N TL gt When a signal is on it limits reverse torque by A Limit reverse torque the setting value Pr 4 04 lt P OT gt It prohibits a motor from rotating forward when Prohibit forward the load part reaches to the limit of available Al operation section dp 2 lt N OT gt It prohibits a motor from rotating to the reverse Prohibit reverse direction when the load part reaches to the limit Al operation of available section It converts Speed controller from PI controller lt P CON gt type to P controller type PSC 6 21 P PI control conversion It is used for faster response completion as restrain overshoot of transient state E E It is used to convert the con
188. l aaa is on when the servo warning is detected All 8 4 NOTE e The sequence l O signal name is indicated by lt gt in this manual e ex lt SV ON gt lt P COM gt Input Signal Allocation Method Refer to the table below to allocate to CN1 pin by searching the function that is suitable for your condition A ri I AE u Lgs ug ri Setting Value al i a a 1 3 E i LI Input Channel No ajways DIEZ D6 D5 D4 DWS D2 DIT Aways CN Pin No valid g 8 7 6 5 4 3 invalid e As shown in the table below the related function is already allocated to the sequence input parameter and its position in the setting window and it means that you use the related function as setting certain value among 1 to 8 except 0 to the setting position Publication CSD3P UMOO1E EN P February 2008 5 6 Function for Control Mode Publication CSD3P UMOO1E EN P February 2008 e For example if you want to put certain function to CN1 No 5 pin you can find the related parameter of that signal and the position in the setting window according to the table below and enter 3 as the setting value e Set 0 when the function of input signal is not used e If you want to make input signal ON all the time regardless to the wiring set 8 The following table is to arrange the parameter for each function and 7 segment number position in the setting window Set so that the related pa
189. l in the Chapter 5 2 you can always use valid input signal e lt START gt input can be used Multi step speed mode The following figure is to help you understand motor operation according to sequence input signal in multi step control mode Function for Control Mode 5 49 Pr 2 07 When acceleration deceleration time is set Forward Operation gt Reverse Operation D gt C DIR v C SP3 Bm 0 0 0 0 1 0 1 1 0 C SP2 0 0 1 1 0 0 0 1 1 0 IC SP1 gm 0 1 0 1 0 0 1 0 1 0 comand gt 1 J 2 Es 4 ZR E NOTE e Set sufficient acceleration deceleration time within the limit that does not disturb the response performance of the system in order to alleviate the impact when the speed is changed e For acceleration deceleration time setting refer to the Chapter 7 16 Publication CSD3P UMOO1E EN P February 2008 5 50 Function for Control Mode Position control mode speed control mode torque control mode and multi step speed control mode described are called the basic control modes The servo drive provides combinational control mode function to combine basic control modes to meet the user s condition Combinational Control Mode and lt C SEL gt Function Combinational control mode uses two basic control modes Setting of Combinational Control Mode Set combinational contr
190. leration Time Time it takes to accelerate from stop status to motor s rated speed Definition of Deceleration Time Time it takes to decelerate from motor s rated speed to a stop status Speed Command and Acceleration Deceleration Time The below figure shows the command implementation of servo drive on the speed command after setting the acceleration deceleration time It shows the longer time of performance in command as much as the deceleration time Motor Rated i speed EE e aaa 7 Speed 1 Motor Rated i Command Speed 0 Time J Motor Rated A 1 Actual Speed Motor Rated Acceleration Time P Speed a ERES peed Motor Rated Speed Time 0 Acceleration Deceleration Setting Time E Setting Time Acceleration Deceleration Time Setting Set the acceleration deceleration time on the below parameter HH ion Ti T f CUE Acceleration Time Setting Range ns Unit Other Setting End Applicable 0 to 60000 0 ms Mode ALL P r cil 4 Deceleration Time Setting Range we Unit Other Setting gt End 0 to 60000 0 ms RU Dar Applications 1 17 Definition of S curve operation As shown in the below figure by performing the S curve command at the conversion point of acceleration deceleration more smooth operation can be had Rated Motor i Speed Speed peeeceeennceeeseHecepeeuae 3 Speed Command Command Motor Setting Speed 74 l
191. limit Pr 2 12 and external speed limit to limit in small value A ue ALL Other Servo OFF gt Setting gt End Applications 7 21 Position Feedback to the Host Controller Overview Servo drive controls the servo motor by using several information received from the encoder Also the servo drive has the function to output the encoder information to host controller In this the chapter it describes the output function of encoder information Types of Output Sent to Host Controller The total of 5 below encoder signals is outputted to the host controller Mark Output Type EA Output on Encoder A A EA EB Output on Encoder B B EB Line drive EC Output on Encoder C C EC PS Absolute Encoder Position Data Output PS Z PULSE Open Collector Output of Encoder Z Open collector Z PULSE Example of Wiring with Host Controller Refer to the chapter 3 8 for the example of wiring of the host controller and servo drive Direction Change of Output Pulse e The direction of encoder pulse outputted to the host controller is converted Publication CSD3P UMOO1E EN P February 2008 7 22 Applications Publication CSD3P UMO001E EN P February 2008 e Set the below parameter to convert the direction of output pulse Encoder Output Pulse Direction 90 of Phase Encoder Difference In fo
192. llowing explains the electronic gear setting when it is a turn table load with the reduction ratio Example 3 Rotation Load a Desired rotation distance per one pulse from host controller 0 1 degree Load rotates once when motor rotates three times Reduction Ratio 3 e Let s suppose the distance we want to rotate per command pulse from the host controller is 0 1 degree e Let s suppose that the number of pulse of the encoder 2048 pulse and the reduction ratio is 3 Electronic Gear Parameter Setting Electronic gear setting numerator parameter is as follows Electronic Gear Setting Numerator Pr 301 Number of Encoder Pulse X Reduction Ratio Therefore 2048 pulse X 3 so the setting value is 6144 Publication CSD3P UMO001E EN P February 2008 Function for Control Mode 5 19 Load movement amount per Electronic Gear 1 load shaft rotation 360 Degree Setting Denominator _ 3600 pe com 7 E tia Movement angle by 1 pulse 0 1 Degree from the host controller Rotate the turntable load of the end mechanical part once with the 3600 pulses from the host controller In this case the rotation angle of the final load per pulse from host controller is 0 1 degree The electronic gear is applied only when the position control mode is used You can easily adjust the di
193. locate E lt C SEL gt to sequence input Servo drive indicate Servo warning PIN in state indication mode Publication CSD3P UMOO1E EN P February 2008 Function for Control Mode 5 51 Current Control Mode Condition for Control Mode Convention Position Control Mode lt P COM gt Output ON 1 lt V COM gt Output ON Speed Control Mode 2 lt TG ON gt Output OFF Torque Control Mode 1 lt TG ON gt Output OFF 1 lt C SP1 gt to lt C SP3 gt Input All OFF Multi step Speed Mode 2 lt TG ON gt Output OFF As described before mixed control mode uses two basic control mode If you use two control mode and one mode is working other control mode input is ignored For example when the speed control mode is used position command pulse or analog torque command is ignored and only when the control mode is converted by lt C SEL gt signal the related input will be valid NOTE e Some parameter functions are valid in special control mode e For example acceleration deceleration time setting Pr 2 02 and Pr 2 03 S Curve Operation time setting Pr 2 04 are valid in speed control mode but invalid in position or torque control mode e Therefore be careful when converting the control mode Publication CSD3P UMOO1E EN P February 2008 5 52 Function for Control Mode Publication CSD3P UMO001E EN P February 2008 Chapter 6 Tuning by Gain
194. me effect as applying relatively high position proportional gain in the part where position error is big So you can reduce position completion time around maximum level The related parameter to set is as follows Speed Bias Function 90 If position error is more than setting value of bias standard width Pr 1 13 much bigger speed command that adds the setting value is A Speed sent Bias Fee Lig rom It is valid only when the value of Pr 1 13 is not 0 ee Position Others Setting gt End For speed bias function refer to the Chapter 6 18 If absolute value of position error is more than the setting value of speed bias standard width Pr 1 13 speed command as much as setting value of speed bias amount Pr 3 05 is added to or reduced from the position control output Adjust Pr 1 12 and Pr 1 13 in turn while checking the over response As reference if you set the value of Pr 1 12 too high or the value of NOTE AM Pr 1 13 too low vibration can occur P PI Mode Setting Function When you control speed or position if you set speed loop integration gain Pr 1 02 it responds to the delicate command so that you can accurately control and make the error in the normal state 0 Howevet if you increase speed loop integration Pr 1 02 to increase response quality overshoot occurs in speed response as over response and as a result position completion time can be increased Therefore you can reduce po
195. mi LE ri H E H Servo Alarm e e e FECE Lik wk Ly d ic f It displays the software version of servo drive Example of E 1 uf ens ME IU d t IB Motor and Encoder Type Publication CSD3P UMOO1E EN P February 2008 7 52 Applications L m Lt l zu Motor Type ju a Encoder Type 01 100W 02 200W Motor Capacity d f D a Analog speed command voltage V d ic p n Analog torque command voltage V d t p E Drive rated output d i 5 p p Absolute encoder 1 rotation data Ini d Ld p H Encoder Feedback Counter pulse When the number of digits increase you can use left or right key to display the upper significant bits and low significant bits 5 digits each total 10 digits Key Button Operation It describes the key button operation of monitor mode e The content of monitor mode can be confirmed regardless of servo drive status e Refer to the below flow chart to confirm the content of each monitor item Use the upper and lower direction key to confirm the alarm history dis 16 Publication CSD3P UMOO01E EN P February 2008 Applications 7 53 i Fc or coge Status Display rF n n Select monitor mode with the Y MODE SET key xy O 0G mm DU U A LI LI Enter dis 00 17
196. mit reverse torque by the Al Limit reverse torque setting of Pr 4 04 lt P OT gt load mechanical part reaches the forward Prohibit forward imit this prevents the motor from moving PSC operation further to that direction 35 lt N OT gt load mechanical part reaches the reverse Prohibit reverse imit this prevents the motor from moving PSC operation further to that direction Converts the speed controller from PI controller lt P CON gt type into P controller type PSC 6 21 P Pl control conversion Used to provide better response performance by prohibiting the overshoot in transient response LU ETE Used to convert control mode when used as Moon Control conversion combinational control mode Refer to 5 6 lt C DIR gt The rotation direction lt C DIR gt and rotation lt C SP1 gt speed lt C SP1 to C SP4 gt of the motor are lt C SP2 gt determined by the above input in terminal speed lt C SP3 gt control mode Rotation speed of lt C SP1 to C 5 45 C SP4 C SP3 is set in Pr 2 05 to Pr 2 11 Rotation 1 d i d speed of C SP4 is set by analog speed ermina rand command voltage C DIR is used to change comman motor roatation direction in speed control mode lt Z CLP gt Disregard the input value if in speed control Jo Clam analog command value is smaller than the value S 5 31 p set at speed zero clamp level Pr 5 04 lt INHIB gt Disregard position command pulse where the P 5
197. mmand Receives analog speed command S 5 28 input V REF 10 V to 10 V SG T REF Torque Receives analog torque command t 5 38 command input Ha 10 V to 10 V Battery Connection BAT s Supplies the external battery power when Battery input pp t absolute encoder is used TH Wiring 3 13 CN1 Output Signal Sequence Output Signal Allocation See Chapter 5 2 for details of sequence output signal Type Description Mode Details P COM Positioning It is ON when the position error is within the set value p Completion of output width of position completion signal Pr 5 00 detection 4 5 23 NEAR Itis ON when the position error is within the setting Position approach value of output width of position approach signal P detection Pr 5 01 N COM It is ON when error between speed command and motor Speed coincidence rotation speed is within the set value of output width of PSC 5 29 detection speed coincidence signal Pr 5 02 diese 7 Itis ON when the motor rotates at speeds higher than All 5 35 detection the set value of rotation detection level Pr 5 03 T LMT Torque limit It is ON when it reaches the set torque limit All 5 35 detection V LMT Speed limit It is ON when it reaches the set speed limit All 5 36 detection BK Signal for the control of brake mounted internally o
198. mode and can be operated only by sequence input Therefore sequence input signal has input signal that is exclusive for multi step control mode and exclusive input signals ate as follows C DIR C SP1 C SP2 C SP3 C SP4 lt C DIR gt It is input signal to determine rotation direction of motor If lt C DIR gt signal is OFF motor rotates forward and if it is ON motor rotates reverse lt C DIR gt Signal Motor Rotation Direction lt C SP1 gt lt C SP2 gt lt C SP3 gt 3 kinds of input signal can make 8 kinds of number and each number can set the rotation speed In addition parameter to set speed for each number is already designated Refer to the following table Multi step speed Speed Setting Parameter lt C SP3 gt lt C SP2 gt lt C SP1 gt Stop Command O RPM 0 0 0 Speed Command 1 Pr AS DEBO 0 1 Speed Command 2 Pr gTIE Beh o 1 0 Speed Command3 Pr gf11 BHa3RE 0 1 1 Speed Command 4 Pr AE puan 0 0 Speed Command 5 Pr a04 Dem 0 1 Speed Command 6 Pr A f1 Ras HA 1 0 SpeedCommand7 F g 1 0305 1 1 ft E Parameter tiel value Setting Range Initial Value Unit Mode in Use Others 5000 to 5000 100 to 700 RPM 6 Setting gt End Publication CSD3P UMOO1E EN P February 2008 5 48 Function for Control Mode Publication CSD3P UMO001E EN P February 2008 You can
199. n ys li a 7 18 Position Feedback to the Host Controller ooo oooo 7 21 Direction Change of Output Pulse cy b irks bs 7 21 Pulse Dividing Circuit does Jan rb ee ates e oe 7 22 Analog Monitor Output aote ee Pete ads 7 25 Use f Absolute Encoder oe esque tree iO 7 277 What is an Absolute Encoders y d oec e ees 7 277 Contact with the Host Controllet 4 45 edis et ee ees 7 28 DA ESL S oie pie ahs eb ena e dodo dete be inus 7 28 Reset ot Absolute Encoder 4 4 eese ER E ER e 7 30 Data Transmission of Absolute Encoder ooo ooooo 7 32 Operation Mode Function CARO 7 35 Things to OPS a 7 35 Jos Op ration one QI snee dra i ert an do A E a 7 35 Off line Auto Tuning Operation run 01 ooo oooo 7 36 Searching an Origin Pulse run 02 vico o cc a 7 38 Auto Adjustment of Speed Command Offset run 03 7 38 Auto Adjustment of Torque Command Offset run 04 7 39 Manual Adjustment of Speed Command Offset run 05 7 41 Manual Adjustment of Torque Command Offset run 06 7 42 Adjustment of Current Feedback Offset run 07 7 43 Alarm Reset 100 08 4 vicio as raa da Re 7 44 Alarm History Clear run 00 Lii seated er ux Rd 7 45 Absolute Encoder Reset rine 10 i i coca eve Fea 7 46 2 Gtroup Gain Storing tal Dai x E eoe x e 7 47 Parameter Initialization r ti D25 i ve eee Lye bte du 7 48 Monitor Mode Punch Onis or RR RE OM me enn 7 50 Introduction of Monitor Function 00000000
200. ng Publication CSD3P UMOD1E EN P February 2008 oO CIMA Y Selection of Auto Adjustment on Speed J CLO AAA 0 Loop Integration Value 0 P PI mode conversion is not used 1 f torque command is more than setting value of Pr 1 11 PI control P control Setting Value 2 f speed command is more than setting value of Pr 1 11 PI control P control 3 f position error is more than setting value of Pr 1 11 PI control P control Applicable Mode P S C Others Servo OFF Setting End P PETERE f Reference Value for Adjustment on Speed Loop Li Integration Value o cia Initial gt Setting Limit Setting gt End Applicable 0 to 3 000 100 Variable Mode PS C Initial Setting value is operates as P controller type when torque command exceeds 100 Unit of P control conversion standard value Pr 1 11 follows the unit of NOTE command that is jud selected parameter of P control conversion switch Pr 1 Speed Torque e Sequence input lt P CON gt signal is converted prior to setting of WARNING Pr 1 10 and Pr 1 11 That is to say if lt P CON gt is ON regardless of current motor condition or setting of motor value speed controller is converted to P controller e To reduce overshoot of speed response or position completion time using this function you should set appropriate value to Pr 1 10 and Pr 1 11 For optimum setting check c
201. ng Basic Gain Setting by System Gain and Inertia Ratio 1 Firstly execute the Off line Auto Tuning for automatic setting of Inertia Ratio Pr 0 04 Set system gain to optimum Tuning level If vibration noise occurs in load system reduce 2 tuning level to prevent vibration noise 3 If the tuning is not sufficient set again from the Off line Auto Tuning Adjust in each basic gain in detail The following figure illustrates the flowchart that Inertia Ratio and system gain set basic gain as being interlocked Adjust to make the optimum tuning as making Inertia Ratio and system gain refer to each other whenever Inertia Ratio is changed or the system gain is adjusted Tuning lt Adjust to obtain optimum tuning for 4 the load 4 ibration noise Realizes the p optimum Reduces response tuning SSS performance LI LI Fas gt puo ENS 700 Hn F 0000 10000 20 d 5 basic gains are set E 0 automatically DEA Bae T Aaa EE mE Fre T Setting from each basic Spesi Loop o Position Loop Torque Command Speed Command gain is possible Proportion Integration Proportion Filter Cutoff Filter Cutoff Gain Nm S Gain Nm S Ga
202. ng Function for Control Mode Output Signal Allocation Method 5 1 Refer to the table below to allocate to CN1 pin after searching the function that is suitable for your condition Setting Value Dutput Channel No DO 3 DO 2 DO I CN1 Pin No 47 48 43 44 41 42 rt Li Always Invalid Set the setting value as 0 when the output of the related signal is not used The following table is to arrange the parameter for each function and 7 segment number position in the setting window Set so that the related parameter of each signal and the number position in the setting window is not in the wrong 7 Segment 4 Position 3 Position 2 Position 1 Position Setting window of each n ri n ri parameter Li Li Lue Li w j lt BK gt lt TG ON gt lt P COM gt ry Lit ot lt N COM gt Initial value 3 Initial value 2 Initial value 1 Pr H URE qoe lt NEAR gt lt VAMT gt lt T LMT gt Set 1 in the 1 position in setting window of the parameter Pr 0 09 It is set to use lt P COM gt function and it means that we will use CN1 No DO 1 pin as ou put pin Set 3 in the 4 posi ion in setting window of the parameter Pr 0 10 It is set to use lt G SEL gt function and it means that we will use CN1 No DO 3 pin as ou put pin Sequence output signal is outputted when the situation that fits to the con
203. nge ae Unit P Servo OFF gt Configure gt Complete 20 1000 20 ms Papane ENTE e Sets the duration of temporary power failure above which a servo alarm should be issued e fthe main circuit power supply sustains a failure for a time longer than the set value the temporary power failure servo alarm E AcoFF is issued e Not valid if the main power input is set to DC input terminal at Pr 0 02 Detailed description Refer to Chapter 4 13 Reserved Analog monitor output CH1 selection and scaling rz E ie 0 05080 l LI LI Initial th Set range us Unit o Configure Complete Refer to 0 0001 Applicable 0 0500 table ALL 6 2500 below modes e heservo drive outputs analog monitoring signals which can be input into an oscilloscope so that the user can monitor the control operation Detailed description Refer to Chapter 7 25 Analog Monitor Output CH2 Selection and Scaling Setting Limit Tus Setting End 0 0001 Table Applicable Parameter List A 39 Setting Example Selection No Type Setting Limit Unit 0 at 500 rpm Torque 1 30 96 Selection No command 2 a 5000 pulse n ncnr f BT b 5 Speed 1 800 rom ______ Torque 4 Setting Limit 4 Fecthack 30 96 pon v5 iun 6 Position Error 1 2500 pulse Details Chapter 7 25 P EN A Y Ooo oo D Selection of battery when usin
204. nit Others Servo off gt Setting gt End 10 0 to 2000 0 500 0 RPM Mene S Set of speed command gain value RPM related to the analogue voltage 1 V This setting is used as external speed limit function if the servo drive is not used in speed control mode For speed limit function refer to the Chapter 7 18 Speed command is given according to the following relationship Speed Command F CESE rom j ec Setting Value rpm V X Input Voltage E L b V Therefore If input voltage 6 V according to initial value motor rotates 3000 RPM as the rated speed of motor If input voltage 10 V motor rotates 5000 RPM as the maximum speed of motor Rated speed and maximum speed can be different according to motor type NOTE e Maximum allowable voltage of speed command input is DC 10 V to 10 V e fanalog speed command voltage is more than the maximum speed of set motor over speed command servo warning OSC occurs Function for Control Mode 5 31 NOTE e Motor can rotate even though the speed command is not output or the host controller inputs speed command as 0 V It is because of the voltage offset between the host controller and the drive e The rotation of the motor can be prevented by offset using the automatic adjustment of speed command offset Run 03 or manual adjustment Run 05 function Refer to the Chapter 7 35 for the automatic manua
205. not operated in Servo ON status Alarm occurrence and Servo ON status If servo alarm is occurred by the self diagnosis function of the drive while the Servo ON signal is applied to the drive the drive make itself Servo OFF to stop the motor and displays the contents of servo alarm Users should inspect the contents of servo alarm take necessary action and reset the alarm Refer to the Chapter 7 44 At this time if an appropriate action against the servo alarm is taken and the servo ON signal of host controller is maintained the drive returns to servo ON status at the moment that alarm is reset Publication CSD3P UMOO1E EN P February 2008 4 4 Operator Basic Setting and Startup e Refer to the Chapter 8 6 for the information of the servo alarm NOTE e All parameter setting after Chapter 4 1 should be done for the Servo ON status and Servo OFF status e Inthis manual the servo drive status means whether the servo drive is in servo ON status or servo OFF status Table for Parameter Setting This manual uses the following table for parameter description Pr 800 B f f L Parameter Name Parameter Setting Window initial Value 0 Setting Value 7 Applicable Mode ALL Others Servo OFF gt Setting gt Power Off amp On gt End Table Description e Parameter at the top left side shows the parameter being described e The setting window on the right of the parameter is enter
206. nter Td Td nonus E Motro Rotation Motor Stop Motor Rotation lt INHIB gt is a sequence input signal To use the lt INHIB gt signal allocate the lt INHIB gt signal with the reference to the sequence input output signal in the Chapter 5 2 NOTE e fthe setting value is 8 the setting signal is always valid regardless of the wiring as shown in Input signal allocation method in the Chapter 5 5 e Therefore when setting the pulse command inhibition lt INHIB gt input as 8 the position command pulse is inhibited to lock the servo and the servo motor does not run Expansion of Electronic Gear Setting When the electronic gear ratio needs to be changed in position control mode the lt GEAR gt input can be used to switch from the first group of gear parameters to the second group of electronic gear parameters in Pr 3 05 and Pr 3 06 When the lt GEAR gt input is OFF the first group of electronic gear parameters in Pr 3 01 and Pr 3 02 will be used The Details of the newly added second group of electronic gear parameters are shown below A e a a a Parameter py c BIB A oe change the setting method of eletronic gear parameters Pr 3 01 and Pr 3 02 0 Change eletronic gear parameters only when Servo OFF Setting value 1 Change eletronic gear parameters no matter what Servo OFF or Servo ON Initial value 0 Mode P Misc Servo OFF gt
207. o the drive and used And it is possible to control the brake indirectly by configuring the external relay circuit e Refer to the indirect control circuit through the relay shown below Publication CSD3P UMO001E EN P February 2008 Applications 7 1 e The output channel of CN1 can be adjusted by the user according to the condition since the sequence output signal is used The example below is based on a factory setting Relay 1 External Voltage 24 V External circuit configuration of the motor brake control Motor brake control setting e After the allocation of the brake output signal the detailed setting on the brake control can be made in the below parameter e Set appropriately by observing the motion of the load Delay Time of Brake Output Signal after Servo ON Setting Range vs Unit Other Servo Off Setting End Applicable 0 to 1000 0 10 ms Mode ALL The motor brake has to be released first if the motor brake is in operation when the drive is about to start the motor At this time if the brake is released before servo ON or simultaneously the vertical load will immediately fall The drive has to be servo on first and to prevent the fall of the vertical load then release the brake This setting is used to secure the time from the servo drive becomes servo ON to the release of the motor brake 52 ms Fixed Value ri rnc SV ON command of i5
208. o x mn S N o do 8 o N n oa co ca wn e N a gt e lt LO co N o Oc lt LO co T _ al x lt lt m m oO Of gt 25 gt S z z 7 70 a 7 a E w w QQ a a a a a a a N V gt gt gt gt gt gt lt gt P lt en o a uw LL x EN z oa o x e gt S M As A M M Xx E y P xL y E 3 o e c o February 2008 Publication CSD3P UM001E EN P Wiring 3 26 6 Absolute encoder connection of RSMS D F H K L motors controller Serial I F circuit n a co a mn ce February 2008 Publication CSD3P UM001E EN P 3 21 Wiring 7 Serial encoder connection of RSMS D F H K L motors p Down counter gt 8 3 gt Z zo o Lo 2 0 e o e 5 D y D B lu o T ki ceo o o eo 72 ce e Lv AN MA AA Q o oa o o oa V E gt gt gt gt P s gt E E m m o GI wl o o x lt o ui w ul wj uu a a no ca 05 a SS zo o CN eo st 10 o o Lo T e e co eo eo e eo eo e e ce EL Lui a S o eo o co o amp e S gt d a o E E ic n o x x P d Ll uu fra co Da a a QE E E JE N zi E 0 E N gt No Ne S S X y e o o e e February 2008 Publication CSD3P UM001E EN P
209. of those vertical shaft load speed overshoot occurs in motor control and position output ime is delayed In addition if you try to operate motor as holding the brake it can be the reason of Servo alarm e Initial torque bias approves motor toward the direction against initial torque that relates to downturn when approving initial Servo ON signal in order to prevent downturn by gravity when controlling vertical shaft load e If you set initial torque bias appropriately against the strength that load drops you can prevent the downturn of vertical load during initial operation e f you control the vertical shaft load use the motor that has built in brake or install brake Publication CSD3P UMOO1E EN P February 2008 6 26 Tuning by Gain Setting Publication CSD3P UMOD1E EN P February 2008 Initial Torque Bias Setting Procedure Set the appropriate value following the procedure below Step Remark Step 1 Check motor rotation direction forward reverse and load direction up down Step 2 Stop load in the special position using 0 speed control or fixed location control If it remains without moving check torque command value in dis 03 of the Chapter 7 50 Step 3 and set that value to Pr 4 06 below Set positive value if the direction that load goes up is forward direction of motor and negative value if the direction that load goes up is reverse direction of motor For definition on for
210. of torque command filter Pr 1 04 as long as there is no vibration in load side e As repeating over response state adjust gain in detail Value of Pr 1 01 and Pr 1 02 is scaled based on inertia value of motor e Therefore if Inertia Ratio Pr 0 04 for 100 W motor or 1 KW motor is same as 10 times the appropriate gain of Pr 1 01 and Pr 1 02 becomes the same Publication CSD3P UMOO1E EN P February 2008 Tuning by Gain Setting Publication CSD3P UMOD1E EN P February 2008 NOTE For speed mode that host controller directly approves speed command through CN1 of servo drive you can indirectly adjust gain of whole control loop as adjusting external speed command input gain Pr 2 00 That is to say if you increase Pr 2 00 it has the same effect as increasing gain And if you reduce Pr 2 00 it has the same effect as reducing gain For external speed command input gain Pr 2 00 refer to the Chapter 5 30 Position Control Related Gain Position related gain includes position FF gain position FF filter and position loop proportional gain The following figure is related to position in Gain Setting Diagram Position Control Related Gain Position Command Position Feedforward Position Feedforward Filter Cutoff Frequency Gain Filter Cutoff Frequency Position dB 100 800 Command e Pluse D D D 20 pee mnm 3s E C
211. ol mode to meet your condition with reference to the Chapter 4 7 Convert two control modes by sequence input lt C SEL gt signal lt C SEL gt is sequence input signal To use lt C SEL gt function allocate lt C SEL gt signal with reference to sequence input output signal in the Chapter 5 2 If you set combinational control mode you should use sequence input lt C SEL gt When you use combinational control mode control mode is determined by lt C SEL gt input signal The following table is the relationship between lt C SEL gt input signal and control mode conversion Control Mode amp Display Mixed Control Mode Set in Pr 0 00 lt C SEL gt OFF lt C SEL gt ON E P Speed Position amp Tu A E 5 Torque Speed 3ES Eh E P Torque Position irt P E E IF p Multi Step Speed a r_ z L J Position J L Hs TE _ Multi Step Speed EE r LE L x Speed mj D om FL Multi Step Speed TAX EE MERE Lie Torque iL d 14 Each basic control mode is already described before If Servo is ON the current control mode is flashed and if the control mode is converted by lt C SEL gt signal the alphabet of the control mode is flashed lt C SEL gt is sequence input that is used only for combinational control mode Status Display Mode p p ri If you set combinational control mode in Pr 0 00 and do not al
212. ollector If the maximum allowable frequency is exceeded E OvPUL servo alarm of position command pulse is generated Make sure the output of host controller does not exceed the maximum allowable frequency Analog Voltage Input Circuit The drive receives analog voltage output of the host controller with speed speed of torque control mode and torque command e Input impedance of speed and torque commands is about 5 M e Maximum allowable voltage range of input signal is 10 V to 10 V Input pin of CN1 that uses analog voltage output of the host controller Speed command V REF V REF SG 19 20 Torque command T REF T REF SG 21 22 Analog Input Circuit Speed 39012 1 2W Command E gt V REF 5 12IV T 2 kQ lt i aD 1000 1 e V REF SG e Host Controller V OV Analog Input Circuit 390 9 1 2W 2 k92 T Host Controller WV OV T REF SG pa Publication CSD3P UMO001E EN P February 2008 Wiring 3 17 Sequence Input Circuit Relay or open collector output of the host controller is used for the sequence input circuit e Make sure that the input current i is within 7 mA to 15 mA Relay Circuit DC24 V 50 mA or Higher 24 V IN 3 3 k92 Sequence Input Signal Host Controller DI 1 to DIZ7 Open Colletor Circuit i 2
213. oller is high Action Confirm the types and frequency of input pulse Line drive 900 kpps or less Open collector 200 kpps or less Inspection and Protection Functions 8 11 i EE EE Indicator E rarui Emergency Stop Cause It occurs when the emergency stop signal is inputted from the external Action Resolve the emergency stop situation and release the emergency stop input i r E Indicator CLrore CPU Fault Error Cause CPU error Action Replace the servo drive in frequency occurrence and inquiry to the company Indicator E a E H Motor Out of Control Status Cause It occurs when the motor is impossible to control or the operation of encoder is defective Action Confirm the wiring of motor and encoder and replace the motor Indicator E 5 E r E E Serial Communication Error Ca s It occurs when there is an error in between the portable operator and servo drive that is caused by the noise or connection cable error Action Connection without the noise environment and condition of connection cable Indicator CLO Parameter Checksum Error Cause It occurs when there is an error in the memory that stores the user parameter Confirm and reset the recently set parameter and the rest shall be backed up Action If frequently occurring refer the Chpater 7 48 to return to the initial value for parameter i Ea TE i Indicator E F inu Data Se
214. ondition The position error clear PCLR input signal is input at pins 15 16 of CN1 Sets the signal s trigger condition at position error clear input to clear the error to 0 Set value Details 0 Cleared at H level As long as H level is maintained the error stays at 0 1 Cleared only once at rising edge 2 Cleared at L level As long as L level is maintained the error stays at 0 r 3 Cleared only once at falling edge Applicable E modes P Other details Servo OFF gt Setting gt End Detailed description Refer to Chapter 5 9 P pos S Electronic gear Numerator P n ifi zi Electronic gear Denominator Initial Other Set range value Unit d tails Servo OFF gt Setting gt End 1 65535 2048 pulse Applicable p e By using the electronic gear function the amount of motor rotation pr input command pulse can be set arbitrarily e The following relationship has to be satisfied No of pulses per 1 motor rotation x Reduction ratio x 4 Pr 3 02 e Maximum resolution 1 No of pulses per 1 motor rotation x Reduction ratio x 4 Detailed description Refer to Chapter 5 9 P rt Jt 3 Position output pulse adjustment Numerator P fre ifi Y Position output pulse adjustment Denominator Publication CSD3P UMOD1E EN P February 2008 Parameter List A 29 Set range Pa Servo OFF gt Setting gt End 1 to
215. ondition and operate it Appendix A Parameter List Introduction In this chapter the inspection and the protective function of servo drive are described Introduction Parameter List Publication CSD3P UMOO1E EN P February 2008 A 2 Parameter List Parameter List Publication CSD3P UMOD1E EN P February 2008 Summary of Parameters Parameter Group 0 Initial Parameter type Name LED No Set range value H pe Dm i Configure control mode CtSP P pe qua Configure motor Select method of DB halt 1 0 3 0 pr 7 n ng Select method of over travel halt 2 0 1 0 LJ Ls Select direction of rotation 3 0 1 0 Select main power input 4 0 1 0 Autotuning mode 1 0 1 0 pr m 3 Offline tuning speed 3 2 9 7 Online tuning coefficient 4 0 9 0 Pee H inertia ratio 0 00 60 00 1 00 SV ON 1 0 8 1 Pr 005 Por 2 0 8 8 Assign sequence input N OT 3 0 8 8 signals P CON 4 0 8 4 A RST 1 0 8 5 Pr HUOBb nu 2 0 8 6 Assign sequence input P TL 3 0 8 7 signals C SEL 4 0 8 0 C DIR 1 0 8 0 Pe GG T Mes 2 0 8 0 Assign sequence input C SP2 3 0 8 0 signals C SP3 4 0 8 0 Parameter Group 0 Initial Parameter type Name LED No Set range valle Z CLP 1 0 8 0 Hr Um INHIB 2 0 8 0 Assign sequence input G SEL 3 0 8 0 signal Reserved 4 0 8 0
216. ontrol mode Servo On Command of Host BP OFF ON OFF Controller Servo On Operation by the m Drive i l l Position Command Sign Input Position Command Pulse Input SJUUL gt Position Command l Phase A Position Command l Phase B Ti T2 P COM Output B ON OFF T4 ON OFF T5 Ti T2 T3 T4 T5 Maximum 40 ms Maximum 6 ms Minimum 40 ms Minimum 2 ms Publication CSD3P UMOO1E EN P February 2008 5 28 Function for Control Mode Speed Control Mode Publication CSD3P UMO001E EN P February 2008 Overview The speed control mode is used to control the speed as inputting speed command of analogue voltage type that is generated by the host controller to servo drive even if the position control loop is formed in the host controller or not In order to operate servo drive in speed control mode connect the analog speed command to the related input pin and set as the following Flowchart for the Speed Control Mode Operation y Select sequence l O function and allocate them Pr 0 05 to Pr 0 11 y Run motor within 100 rpm as increasing analog speed command voltage y Reset external speed command input gain in Servo OFF state and run it again as making Servo On Pr 2 00 y Check speed command rpm in monitor mode dis 01 and check speed feedback rpm in dis 00 OK y If
217. or allows it is limited to maximum torque value as ignoring setting value Torque limit when over travel occurs When over travel occurs except external and internal torque limits described above you can limit torque as setting separate parameter For over travel refer to the Chapter 7 2 Set torque limit value when over travel occurs to the following parameter Same setting value is applied both to positive and negative torque as being different from the internal and external torque limits Publication CSD3P UMOO1E EN P February 2008 5 44 Function for Control Mode EH LIT Rotation Prohibition Torque Limit LL aI lt P OT gt lt N OT gt Initial i Setting Range valig Unit Others Setting gt End Applicable 0 to 300 300 96 Mode ALL Publication CSD3P UMOO1E EN P February 2008 Both forward and reverse rotation are limited by the same setting value When setting value of rotation prohibition torque limit Pr 4 05 is bigger than setting value of internal torque limit Pr 4 01 and Pr 4 02 the internal torque is prior to everything so that setting value of rotation prohibition torque is meaningless When setting value of rotation prohibition torque limit Pr 4 05 is bigger than setting value of internal torque limit Pr 4 01 and Pr 4 02 the internal torque is prior to everything so that setting value of rotation prohibition torque is meaningless Torque Limit Detection
218. or has stopped e If the motor is still rotated slowly confirm the motor completely stop by pressing the direction key one in a while It is not to adjust one operation of direction key per 1 rpm When the motor is completely stopped it is progressed as below Publication CSD3P UMOO1E EN P February 2008 7 42 Applications rt Li Store it by pressing the Completion of L MODE SET key Adjustment C IE I Display for Jy f normal execution a a prt E x AA Complete the operation by O pressing the ENTER key 1L ER 5 E ER m hg Completion J n0 A ui Manual Adjustment of Torque Command Offset run 06 First understand the content Auto Adjustment of Torque Command Offset in the Chapter 7 39 e It is the same function with the automatic adjustment and can make mote precise adjustment than the automatic adjustment of torque command offset e The below flowchart describes under the premises of offset voltage applicable to the torque of 1 2 Vo or 1 2 Vo SERVO ON SERVO OFF Manual Adjustment of the Torque Command Offset Flowchart Status Display Mode ri oo lb et To d q Select operation mode with 1 ea the MODE SET key m EU E LUN Lt LI Make run 05 by using the CJ direction key 1 SY e m c In LUI Lt LI Prepare the auto adjustment CJ by pressing the
219. perates only with parameter and sequence input To operate servo drive as multi step control mode set the required process as follows Flowchart for Multi Step Speed Mode Operation 4 s Select sequence 1 0 function for multi step speed control and allocate them Pr 0 05 to P 0 11 y Check 1 0 state in monitor mode dis 15 OK y Set the speed for each step Pr 2 05 to Pr 2 11 y Check the speed command rpm in monitor mode dis 15 OK y If necessary set the acceleration deceleration time Pr 2 02 Pr 2 03 y Tune the servo drive by adjusting the gain according to the load condition For Position Control Only model CSD3 xxBX1P it does not support the NOTE multi step speed control mode Publication CSD3P UMOO1E EN P February 2008 5 46 Function for Control Mode Standard Wiring Example The following figure illustrates the standard wiring example of multi step speed control mode The sequence input output signal can be set according to needs if it is necessary for the system configuration 1 0 50 Pin Connector lt CN1 gt 9 Analog Monitor CH1 ea gt m ETA Output Range 10 V to 10 V 24 V IN 1 28 Analog Monitor CH2 ES Output Range 10 V to 10 V o V 2 PUR A oe Muti s tep Speed Mode Sequence Input Circuit T AM SG Analog Monitor Output GND AM SG Hecommended Setup F
220. plications Publication CSD3P UMO001E EN P February 2008 Data Transmission of Absolute Encoder This Chapter describes the sequence of drive receiving the data of absolute encoder and sending it to the host controller After sufficiently understand it and then design the host controller e As shown in the figure below the drive is outputted for absolute information through the PS EA EB terminals Encoder UUL Input rive CN1 el Ile EA EA EB EB EC EC E Encoder A B C Absolute Encoder Rotation Data PS serial data frame structure sending to host controller is as follows alarm Output Host Controller gt UOU L e Through the PS output the structure of transmission frame of data e Data is structured with multiple rotation data amp 1 rotation data and The transmission size of data varies depending on the data Absolute Encoder A H J Type Absolute Encoder The number of rotation Data 13 bits 11 bits 1 Rotation Data Transmission Cycle About 50 ms Q Type Absolute Encoder 16 bits 17 bits About 50 ms Structure of transmission frame A H type absolute encoder STX STX Absolute Data Variable digit The number of rotation data 0 to 8191 Absolute Data Variable digit 1 Rotation Data 1 to 2047
221. r All 14 Breaker control externally on the servo motor WARN Warning It is ON if a servo warning is detected All 8 4 detection NOTE e In this manual lt gt is applied to the names of sequence 1 0 signal e ex SV 0N lt P COM gt General Output Signal fixed Alarm code Signal Name Symbol Function Mode Reference AL1 mr Upon servo alarm generation it outputs AL2 the types of the servo alarm with the 3 bit Alarm code ALL 8 4 AL3 Maximum rating of open collector ALSG DC 30 V 20 mA Publication CSD3P UMOO1E EN P February 2008 3 14 Wiring Analog Monitor CH1 Signal name Analog Monitor Output Encoder signal Motor speed and torque etc are displayed for monitoring Output range 10 V to 10 V Signal name Symbol Function EA EA Displays multiplied encoder signal A B C EB pulse in the form of line drive Encoder Signal t Output EB According to the parameter setting the drive can logically invert output of A B EC pulse EC Absolute PS Outputs the number of rotation by serial Encoder S pulse PS data when the absolute encoder is used Servo alarm Signal name Monitor Output Encoder Z pulse display Signal name Encoder Z PULSE Mode ALL 7 25 Reference 7 21 SAM Z pulse A ZPUSE Publication CSD3P UM001E EN P February 2008 It is displayed if the servo alarm is generated It
222. r right of a paragraph throughout this manual to help you quickly indentify revisions Manual Revision Changes Date A N A N A B Initial draft October 2006 C Correction of typos such as model name or May 2007 connect name D Firmware Update V2 4 gt V2 5 November 2007 E Changes added to CSD3 xxBX2 Rev B Servo Drive February 2008 1 For more information on firmware update refer to CS 2 3 1 New Parameter e Pr 1 15 Velocity Response Level A217 2 Changed Prameter Values e Pr 0 03 Autotuning mode A201 e Pr 0 14 Protocol Data Format Baudrate A 1323 e Pr 1 00 System Gain A 1 52 e Pr 1 07 Vibration Suppression Filter A 182 3 Max Frequency of Pulse Command Open Collector is changed to 200kpps 300kpps before 3 15 4 Contact Input is changed to bi directional unidirectional before 3 8 For more information on each changed parameter refer to the corresponding page D3 Plus Firmware Update Release Note Ver2 50 Publication No CSD3 RN0024 For more information on ASCII amp Modbus RTU Protocol refer to CSD3 Servo Drive ASCII amp Modbus RTU Protocol Reference Manual Publication CSD3 RM001 Publication CSD3P UMOO1E EN P February 2008 SOC 2 Summary of Change Publication CSD3P UMOOTE EN P February 2008 About This Publication Who Should Use this Manual Conventions Used in This Manual Preface Read this preface to familiarize yourself with
223. r to Chapter 7 18 Parameter Group 3 Parameter Group 3 Position related parameters Pr 3 00 to Pr 3 04 DIES Jog BEBER LI LI ry i EL ELEDIL DL DIL LI Position command pulse type Publication CSD3P UMOO1E EN P February 2008 A 26 Parameter List Select the pulse type of the higher level controller s position command pulse Positive logic Pulse type Forward rotation Reverse rotation ans A PULS by L Puso 15 E i r1 CW CCW seno Pf 51 SIGN c L L PULS gt _ Puso Y Pulse train Sign apa 7 E SIGN o gt H SIGN gt L X1 times M m A phase B PULS o Puso X2 times E phase x SIGN 0 FIL SIGN o gt X4 times E Negative logic PULS H PULS gt CW CCW gt 2 j i SIGN D gt SIGN H PULS b gt Pe 43 Pulse train Sign A E o L SIGN o H a aide P Other details Servo OFF gt Setting gt End Detailed description Refer to Chapter 5 9 H Iam il ti H HHHH H Position command pulse type Publication CSD3P UM001E EN P February 2008 Parameter List A 27 e Sets the position command pulse type of higher level controller e For line
224. rameter Group 4 Parameter Group 4 Torque related parameters Pr 4 00 to Pr 4 06 External torque command input gain Publication CSD3P UMOO1E EN P February 2008 A 30 Parameter List Publication CSD3P UMOD1E EN P February 2008 Initial a Other Set range value Unit detail Servo OFF gt Setting gt End 0 0 100 0 33 3 96 V Applicable ALL e Set the speed c ommand value for 1 V on the analog torque command input pin pin 21 22 of CN1 e Torque command 96 Pr 4 00 96 V x input voltage V Detailed description Refer to Chapter 5 38 P pos uti i Forward torque limit P CS Uti Reverse torque limit Initial Other Set range value Unit details Setting gt End Applicable 0 300 300 96 modes ALL Limits forward and reverse direction torque on motor separately internally limited Detailed description Refer to Chapter 5 38 P y H n j Forward torque external limit P pt H Y Reverse torque external limit Initial Other Set range wale Unit details Setting gt End Applicable 0 300 100 96 modes ALL Parameter List A 31 e The torque imposed on the motor is internally limited automaticaly by the values set on Pr 4 01 Pr 4 02 Additionally it is also limited by the values set on Pr 4 03 Pr 4 04 when external lt P TL gt lt N TL gt signals are input through sequence input e The torque limit according to
225. rameter of each signal and the number position in the setting window is not in the wrong 7 Segment 4 Position 3 Position 2 Position 1 Position Setting window of each Fi TM ri rt ri parameter N LI Li L Li D MMT lt P CON gt lt N OT gt lt P OT gt lt SV ON gt LL 71 Initial value 4 Initial value 3 Initial value 2 Initial value 1 ri MMT lt P LT gt lt N TL gt lt A RST gt Fr LLL lt C SEL gt Initial value 7 Initial value 6 Initial value 5 Pe PT cse lt C SP2 gt lt C SP1 gt lt C DIR gt Pe fA vos lt G SEL gt lt INHIB gt lt Z CLP gt lt GEAR gt lt C SP4 gt lt START gt ae nng lt ABS DT gt The table below is the example to allocate sequence input signal P r u nS IL Enter 7 in the 4 position in setting window of the parameter Pr 0 05 1 This is to use P CON function and it means that the CN1 No DI pin is used as an input pin pa r OH E Enter 3 in the 3 position in setting window of the parameter Pr 0 08 OOO IE This is to use lt G SEL gt function and it means that the CN1 No DIZ3 pin is ALO Y LEE used as an input pin p r C n Ei Enter 8 in the 1 position in setting window of the parameter Pr 5 09 AL 7l nnnmnnrt This is to use lt SV ON gt function and since it is set as 8 it always It E I E remains as servo ON status after the power is allowed regardless of wiri
226. range to output the position completion indication signal when the servo drive performs position pulse command according to the higher level controller s position pulse command e When the position error comes within set range and the position pulse command frequency is entered below 100 pps the position completion detection signal P COM gt is output at the assigned output pin Detailed description Refer to Chapter 5 38 Position approximation decision width Set range ae Unit ee Setting gt End 0 to 250 20 puse Related p e Setto output the position approximation detection signal NEAR which is a sequence output signal e Sets the position pulse error s range to output the position approximation detection signal when the servo drive performs position pulse command according to position pulse command of higher level controller e f position error is within set range and the input position pulse command s frequency is below 100 pps the position completion detection signal lt NEAR gt is output to the assigned output pin Position error Pr 5 01 Pr 5 00 l l EN mm Time 0 bg pol d INE a aw iw P COM mp ON OFF ON Detailed description Refer to Chapter 5 38 p Pe L n r Speed match decision width Publication CSD3P UMOO1E EN P February 2008 A 34 Parameter List Initial Other Set r
227. rdous environment which may lead to personal injury or death property damage or economic loss IMPORTANT Identifies information that is critical for successful application and understanding of the product Identifies information about practices or circumstances that can lead to personal injury or death property damage or economic loss Attentions help you identify a hazard avoid a hazard and recognize the consequence ATTENTION Labels may be located on or inside the equipment for example a drive or motor to alert people that dangerous voltage may be present la lla Labels may be located on or inside the equipment for example a drive or motor to alert people that surfaces may be at dangerous temperatures BURN HAZARD gt CSD3 and CSD3P are trademarks of Rockwell Automation Korea Ltd Trademarks not belonging to Rockwell Automation Korea Ltd are property of their respective companies Summary of Change Before Using the CSD3 Servo Drive Installation Wiring Table of Contents Preface About This Publicat ad dra o P 1 Who Should Use this arial on RA eG Ee REN P 1 Conventions Used in This Manual elles essen P 1 Additional Resources oasis dede diia deed det ce eda P 2 Chapter 1 a s sa Qood quee pde ies etu c eRe ica Na 1 1 Safety PrecaudtoBs A dU e Pace e uot E vs 1 2 How to Use This Manual ioa wai mrt Wd eR par ers ho ad 1 3 Terminology sorier Ena 1 3 Notation Desciiption
228. reset the alarm COL E O Over Speed During Indicator LIM SO Blackout of Absolute Encoder It may occur with the motor rotates in high speed when the main power of servo drive Cause is disconnected while normally operating and the encoder is operated with external battery Action Turn off on power or reset the alarm Indicator ER E E n L Multiple Rotation Data Error of Absolute Encoder E C t occurs if the number of rotation data is changed when main power of the servo drive ause is ON Action Turn off on power or reset the alarm COLEFt us i Indicator CFE IL E 1 time Rotation Data Error of Absolute Encoder Cause t occurs if 1 time rotation data is changed when main power of the servo drive is ON Action Turn off on power or reset the alarm Indicator E E ri 3 p E Serial Absolute Encoder Parameter Error Cause EEPROM data error of absolute encoder Action Inquiry to the company Publication CSD3P UMOO1E EN P February 2008 8 10 Inspection and Protection Functions Publication CSD3P UMOO1E EN P February 2008 Indicator E n HH E l Over Voltage When the input voltage exceeds the rated voltage scope when the regeneration Caise resistor is short circuited When the transistor for regeneration is in error when operation is made for over the regenerative capacity Action Use rated voltage replacing the regeneration resistor replacing the
229. rgency Stop 0 E CPUFt CPU Fault Error 0 E SPDER Over Speed Error 0 ESERCE Serial Communication Error 0 E CHSUM Parameter Checksum Error 0 E RANGE Data Setting Range Error 0 E FLASH Flash ROM Error 0 E UndEF Servo Drive Capacity Undefined 0 E SetUP Setup Error of Mismatching Encoders 0 with Motors Publication CSD3P UMOO1E EN P February 2008 8 14 Inspection and Protection Functions Publication CSD3P UMOO1E EN P February 2008 Confirmation before Requesting for A S In the event an error occurs in servo alarm that is not displayed it describes the cause and action e If the main circuit power is allowed in a cause investigation it is dangerous After the power shall be disconnected to completely turn out the discharge confirming lamp take action on it In the event the error is not resolved after taking an action promptly request for A S to the company e The chart below shows the diagnosis on errors when the alarm does not occur Errors Cause Inspection and Action The motor does not run The power is not inputted Motor and encoder wiring is erroneously made Make correction after confirming the power wiring Make corrections after confirming the wiring External command and position command is not inputted Confirm the wiring of input terminal and input it correctly Servo ON is not made The allotted parameter of sequence input signal Pr
230. rify the data related to the position through monitor mode in the Chapter 7 50 Publication CSD3P UMOO1E EN P February 2008 Function for Control Mode Publication CSD3P UMOO01E EN P February 2008 Electrical Specifications of Position Command Pulse Maximum PRIORE Electrical Specification Allowable Frequency tt 42 t3 CCW Er Cw cw CCW Forward Operation Command Reverse Operation Command t1 t2 0 1 us qt 1 1 us t3 gt 3 us t T x100 50 96 3 1 Line Drive SIGN 900 Kpps T Pulse Train Sign PULS Open un t lts ts Reverse Operation Collector FO Operation Command T Command 200 Kpps t1 t2 t3 t7 0 1 us t4 t5 t6 gt 3 us 1 1 1 us tl t2 Phase A PHASEA 2 Phase E Pulse Train of 90 Phase B Difference ase PHASEB f everse eration A B Phase Forward Operation Command Parad a 05 i41 ug T x100 50 26 Function for Control Mode 5 15 Electronic Gear Electronic gear The electronic gear is to set the amount of load movement per input command pulse The following is the example of Encoder that generates 2048 pulses per rotation e Encoder that the number of pulse is 2048 rotates once when the host controller transfers 2048 pulses to the drive Then is it possible to make a motor rotate once as transferring 1000 pulse or other number of pulse Ye
231. rive first generates the speed command using the position command of the host 1 controller speed command generates the torque command and finally it transfers the torque command to the servo motor Therefore when you use the position mode the gain can be set properly e If gain related to position control is set properly but the gain related to torque or speed is not set properly the optimum tuning cannot be achieved Starting point for speed mode gain setting e Speed mode using speed command of the host controller includes all gains related to torque from starting point to the servo motor as shown in the figure below e Servo drive first generates torque command using speed command of the host controller 2 and finally it transfers the torque command to the servo motor Therefore when you use the speed mode the gains related to speed and torque can be set properly e If gain related to speed control is set properly but gain related to torque is not set properly the optimum tuning cannot be achieved Starting point for torque mode gain setting e Torque mode using torque command of host controller includes all gains related to torque 3 from starting point to servo motor as shown in the figure below e You can adjust gains related to torque in torque mode If gains related to position are set in the condition that response NOTE EM rs quality is not sufficiently guaranteed through gain settings related to speed
232. rk Pulse 1 Rotation Encoder Type B 2048 9wire Inc AUI 2500 11wire Inc Compact A 2048 Absolute Type H 2048 Absolute Type D 2500 15wire Inc MU 10000 15wire Inc C 2000 15wire Inc K 5000 15wire Inc K 5000 15wire Inc L 6000 15wire Inc Motor Axis Key Status Option A B N B S T Key No Key No Option With Brake With Oil Seal Pih Brake amp Motor axis specifications 1 2 3 4 5 6 Circular 2 Side Slice Harmonic Coupling Set screw Key Tightening TE Shee Drive Tightening tightening g g Attachment Reducer The following figure describes the model name of the reducer on the nameplate Nameplate is attached to the reducer Check the model on the nameplate Reducer Type Example of Reducer Specification VIR S F 2 5 C 2 0 0 SIPIT Backlash Grade Mark Applicable Motoi Mark Applicable Motor Capacity Model 0 7 030 30 W SPT CSM Motor 050 30 W 0 5 i 800 800 W uction Ratio The backlash grade of the reducer is set at the factory Publication CSD3P UMOO01E EN P February 2008 Before Using the CSD3 Servo Drive 1 11 Type of Reducers Exclusively for CSM Motor VRSF Reduction Ratio 1 3 1 5 1 9 15 1 25 03B 50 SPT 05B 50 SPT 9B 50 SPT 15B 50 SPT 25B 50 SPT 03B 100 SPT 05B 100 SPT 9B 100 SP
233. rs Setting gt End Applicabl 0 to 1000 20 pulse Made e p When the number of position error pulse is within the value above position Approach Signal detection lt NEAP gt signal is generated Other explanation Position approach signal detection lt NEAR gt signal with position completion signal detection lt P COM gt signal is useful to reduce the necessary operation at the position completion signal time First check the approach signal and preparing the next sequence before the host controller verifies the position completion signal detection signal The setting of these parameters above do not influence on the accuracy of final position decision Therefore you can adjust timing to output lt P COM gt signal and lt NEAR gt signal by adjusting the number of position error pulse of Pr 5 00 and Pr 5 01 If the position completion signal detection lt P COM gt signal is detected the segment LED in line indication 1 of status indication mode is on However lt NEAR gt signal is not on Publication CSD3P UMOO1E EN P February 2008 5 26 Function for Control Mode Figure Explanation Sequence output lt P COM gt and lt NEAR gt signal output as shown below Position Error Pr 5 01 Pr 5 00 z NEAR ON OFF ON P COM mb ON OFF ON Thus lt P COM gt and lt NEAR gt output are ON when satisfying the following conditions Time Posit
234. rward rotation the encoder Pius 0 output A phase have a lead of 90 over B phase Encoder Output gt B Phase Setting Value 90 of Phase Encoder Difference Output In forward rotation the encoder Phase A 1 output B phase have a lead of 90 Ed over A phase Output 5 B Phase TLI L Applicable ALL Other Servo OFF gt Setting gt End Mode Pulse Dividing Circuit Overview Servo drive may adjust the number of pulse of encoder through the dividing circuit function before outputting to the host controller through the input received from the encoder Adjustment calculation formula for pulse number The number of output pulse is adjusted by the formula below i jo s ani Denominator i 3E 4 This is a simple example to help understanding Number of Encoder Pulse Output to Host Controller X When the type of encoder connected to the drive is outputted 2048 pulses per 1 revolution and output 1000 pulses per 1 revolution with the host controller PE O Fr LL ULILILI X 2048 Pulse Output naa zt rur I Lt LL 1B Servo drive receives 2048 pulse per 1 revolution from the encoder but outputs 1000 pulse to the host controller Applications 7 23 Input of encoder signal and output to the host controller Encoder Input Servo Drive Output Host Controller T3 gt 2 EA 30 Ea 9
235. ry 2008 External Torque Command Gain Setting Set the relationship between the analog voltage value and torque command value to the parameter below pa Pis H T n External Torque Command Input Gain Setting Range yp Unit Others Servo off Setting End Applicable 0 0 to 100 0 33 3 M Mode t Set the gain of torque command value 96 related to analog voltage 1 V Speed command is given according to the following relationship M L r Lf Gh Setting Value X Input Voltage X Rated v Torque Torque Command QPPL 00 Therefore according to the Initial value when the input voltage is 3 V 100 Vo torque that is rated torque of motor occuts In addition when input voltage is 9 V 300 torque that is maximum torque of motor occurs Rated torque and maximum torque can be different according to motor type Torque Command 96 Setting Value as when Delivered 300 200 100 JH 10 l i Analog Input 3 9 10 Voltage V Function for Control Mode 5 41 NOTE e Maximum allowable torque command is DC 10 V to 10 V e fthe input reference voltage is changed the torque command can be changed together Therefore use the accurate power supply e fyou wanta precise torque adjustment it is recommended to use multi turn variable resistor more than 10 turn rotation e f analog torque command is over maximum
236. s it can e Let s suppose that the ball screw load is operated by the pitch Unit of load to be moved per rotation with 15 mm When the host controller transfers 2048 pulses the load moves 15 mm For easier calculation is it possible to move one pitch 15 mm with 1500 pulses Yes it can e When you want to control the accurate angle using the servo drive and if you control 360 degree with 2048 pulses the number of pulse and the moving unit of the last mechanical part are different So it is difficult to calculate e Therefore the electronic gear is set for easier calculation of the input pulse of the host controller in respect to the distance or angle that is the moving unit of last mechanical part e When you use the electronic gear the host controller can control without considering the number of pulse of the encoder or the reduction ratio of mechanical part Before setting the electronic gear The following table explains the contents that you should know before setting the electronic gear Description Motor Check the number of pulse of the encoder used Refer to the Chapter 4 7 Load Check the reduction ratio applied from shaft to the mechanical part Reduction ratio For the reduction ratio that is mentioned in electronic gear setting refer to the explanation below Publication CSD3P UMOO1E EN P February 2008 5 16 Function for Control Mode Publication CSD3P UMO001E EN P February 2008
237. s pelea ALL e Higher level controller issues Servo OFF command to drive in order to halt motor e The time delay from this point to the motor brake s actual operation can be set SV ON command of gt upper level controller ON OFF Brake operation Motor brake wait time 2 Inactive Operation Detailed description Refer to Chapter 7 6 g Eno Jj AL H Brake operation start speed Set range n a Unit Other details Servo OFF gt Configure gt Complete 0 1000 100 am Applicable pp The motor speed at the point the motor brake is activated can be set ri Ena SV ON command of F E u upper level controller ON OFF l Brake output start Motor speed gt speed gt Set speed Motor brake gt active or Detailed description Refer to Chapter 7 6 Position error range Publication CSD3P UMOO1E EN P February 2008 A 38 Parameter List Publication CSD3P UMOD1E EN P February 2008 Set range ae Unit een Configure gt Complete 0 65535 20480 pulse Mprricable p e f the difference between position command and actual position exceeds th set value a position error overflow servo alarm E PoSEr is issued Detailed description Refer to Chapter 5 9 Temporary power failure allow time Set ra
238. servo drive Confirm whether the inertia of load is excessive i L MILI Indicator E Lt CLE LI Under Voltage Cause It occurs when the main input voltage is not within the scope of rated value Action Confirm the input voltage EE TES I Indicator cnecorr Instantaneous Blackout Error Causa It occurs when the main power is disconnected or lowered due to the instantaneous power failure Acton Confirm the power or main circuit wiring noise filter magnetic contactor Adjust the instantaneous power failure maintenance time set Pr 5 10 E D p al Over Speed Indicator cro a Cause It occurs when the motor is rotated with a speed exceeding the maximum speed Confirm the wiring condition of encoder motor cable Confirm whether there is any Action problem in tuning Confirm whether there is any problem in external speed torque command input gain Pr 2 00 Pr 4 00 EEE Indicator EFPDICES Position Error Overflow e It occurs when the position error is exceeding the permitted error for position when controlling the position Pr 5 09 Confirm the pulse input wiring of host controller Confirm whether the pulse input Action frequency is excessive or not Reset the gain by referring Chapter 6 Confirm whether Indicator Cause the inertia of load is excessive Over Position Pulse Command It occurs when the input pulse command frequency of host contr
239. sition completion time as setting instantly integration gain as 0 and suppressing overshoot if necessary In that case speed control loop is changed from PI controller type to P controller type There are two methods to change speed control loop from PI controller type to P controller type Publication CSD3P UMOO1E EN P February 2008 6 22 Tuning by Gain Setting Publication CSD3P UMOD1E EN P February 2008 1 Control by sequence input P control conversion lt P CON gt signal 2 Method to use P Pl mode switching function by parameter setting Control by sequence input P control conversion lt P CON gt signal lt P CON gt is sequence input signal To use lt P CON gt allocate lt P CON gt vith reference to sequence input output signal in the Chapter 5 2 lt P CON gt signal is allocated and speed controller is determined as following type according to allocated input channel signal OFF PI Controller P CON Input ON PI Controller Therefore host controller checks analog output such as speed or torque of servo drive and sequence output such as lt P COM gt lt V COM gt lt TG ON gt and programs logics to convert controller from PI controller type to P controller type WARNING e Do not use this function when overshoot occurs e f some offset is included in speed command when you use speed A mode if you use P controller type motor
240. solute Type 3 Operation Temp Humidity 0 to 50 90 RH or less S Storing Temp Humidity 25 to 80 90 or less Mounting Method Base Mounting Type y 2 Speed Control Range 1 5000 Ss E Load 3 3 Marat n 0 01 or less at rate speed or in load rate 0 to 100 cape Speed Voltage S oer tio Marion 0 at rate speed or in supply voltage 170 to 253VAC x Temp 30 196 or less at rated speed or in ambient temperature Variation 25425 Frequency Bandwidth 550Hz Torque Control Precision 2 Acceleration Decelertion Time 0 to 60sec SO 3 Feedforward 2 2 Compensation 010100 es Ar m Tong Completion 0 to 250 pulse 1 CW CCW Pulse Sign 3 2 Command Pulse Type A phase B phase 90 phase difference o 2 gt Command Pulse Input Line Drive Differential Signal Level 2 8 to 3 7V ps S Type Open Collector External 24V DC 12V DC 5V DC 3 S 2 7 Line Drive Max 900 kpps Frequency Open Collector Max 200 kpps Control Signal Postion Error Clear Signal 2 Command Voltage 10V DC 16Bit A D conversion CD 2 Input Impedance About 8 3 MQ o zi Circuit Time Constant 1us Rotation Direction o i amp a Selection Used by sequence Input setting 3 Speed Selection Publication CSD3P UMO001E EN P February 2008 Position Output Type Feedback euBis 0 1 Servo Drive Specification B 5 Line Drive Output A B Z pulse Absolute Encoder Data Open Collector Output Z pulse Dividing Ratio User D
241. sponds to load change more quickly ee ALL Other details Servo OFF gt Configuration gt Complete Detailed description Refer to Chapter 6 10 Inertia ratio Parameter List A 11 e This ratio refers to the relative amount of load s inertia to that of the rotor e fthe rotor s inertia is 3 gf cm s and the load s intertia is 30 gf cm s the inertia ratio is 10 times e As for the rotors inertia table please refer to the motor specifications on the appendix Other details Initial Set range valo Units Setting gt End 000106000 1 00 tmes Applicable ayy e When setting the inertia ratio 2 basic gain parameters Pr 1 01 Pr 1 02 are set automatically by referring to system gain Pr 1 00 e When off line auto tuning run 01 function is selected the servo drive automatically senses the inertia ratio and sets the inertia ratio Pr 0 04 accordingly Detailed description Refer to Chapter 6 3 ri TEE UE y J a 0 rn Set values E I EH 3 1 da c i Li Input channel Amber D 7 D 6 DI 5 D 4 Di D 2 DIK Always Always valid invalid CN1 pin number 9 8 7 6 5 4 3 e As shown on the table below relevant functions are already assigned to sequence input parameters and the number of digits of the related configuration window the user enters relevant function by selecting a value in the range of 1 8
242. st On line Auto Tuning is not smoothly performed In addition if you operate different load condition with the same gain the response quality in one side is degraded In this case you can effectively use sequence input lt G SEL gt function Current Gain With Rotation Load a CF em t OFF Without Rotation EN Load OO 9 y SS Gain2 Group The following details per step is to use lt G SEL gt function Step Remark Step 1 Set the optimum gain to fit for No 2 condition in the figure above Save gain in No 2 condition using gain storage function run 11 Step2 At this moment saved gains is 2 group gain For run 11 function refer to the Chapter 7 35 Step 3 Set the optimum gain to fit for No 1 condition in the figure above current gain Step4 Allocate the input pin for sequence input lt G SEL gt with reference to the Chapter 5 2 Step5 Use as matching lt G SEL gt signal with the repeated movement No 1 and No 2 Therefore if you use as dividing different loads into current gain and 2nd group gain you can satisfy the response quality of both different load conditions lt G SEL gt is sequence input signal To use lt G SEL gt function allocate lt G SEL gt signal with reference to sequence I O signal in the Chapter 5 2 WARNING When you use lt G SEL gt function
243. stance or the angle of pulse command and load from the host controller by setting the electronic gear NOTE You should check two things below when setting the electronic gear e Check the number of pulse of encoder Refer to the Chapter 4 7 e Check the reduction ratio that is applied from shaft to the end mechanical part Electronic gear setting Set the electronic gear to the parameter below H Jos iti Electronic gear setting Numerator Setting Range da Unit Others Servo OFF gt Setting gt End 1 to 65535 Automatic pulse DE P Number of Encoder Pulse x Reduction Ratio P cm iig Electronic gear setting Denominator Setting Range mal Unit Others Servo OFF gt Setting gt End 1 to 65535 Automatic pulse Ma P The number of position command pulse of the host controller to rotate the load Load shaft once NOTE e The Initial value of the electronic gear parameter is automatically set as the number of pulse of related encoder at the same time when the parameter is initialized Run 12 Publication CSD3P UMOO1E EN P February 2008 5 20 Function for Control Mode Precautions and other Specification Setting value of the electronic gear should satisfy the following relationship e Number of pulse per rotation of motor x Reduction ratio x 4 Setting value of Pr 3 02 e If the relationship above is not formed you c
244. t signal is displayed Display 1 when using as a speed mode if the difference between motor speed and speed command is smaller than Pr 5 02 value the servo drive can 5 29 display lt V COM gt speed coincidence detection signal It is on when lt V COM gt signal is displayed When the rotation speed of the motor is higher than the setting value of 1d 2 rotation detection level Pr 5 03 the servo drive can display lt TG ON gt 5 35 py rotation detection signal It is on when TG ON signal is displayed Row f Display 3 It is on when Z pulse output of the encoder is detected Overview of the Parameter Setting Mode This section includes brief explanation of the parameters in parameter setting mode e The Parameter sets and saves various functions to make drive suitable for equipment Publication CSD3P UMOO1E EN P February 2008 4 10 Operator Basic Setting and Startup Publication CSD3P UMOD1E EN P February 2008 e There is a parameter that can be always set regardless of the status of the drive and those that must be in certain status of the drive when setting them Be careful to set parameter in reference to the contents in the Chapter 4 2 e The table below is to aid the understanding of parameter group e The contents related to parameter setting are described in details in Chapter 5 6 7 8 and the Appendix along with the functional description of the servo drive
245. t Execution Flowchart Status Display Mode Select operation mode with iL A the MODE SET key es Hr LUI Lt LI Enter run 09 by using the direction key LL qu E E Ala FLUTS C L A Prepare the clear by pressing the ENTER key IN te i Cea TT OR vert LL gt Completion Operate the 72 clear by pressing the MODE JL SEI key Ip ME ETT Display for normal E I execution TEE re ae ULOL Complete the operation by O pressing the ENTER key ay Completion roms in H Absolute Encoder Reset run 10 e The reset of absolute encoder refers to the Chapter 7 27 Publication CSD3P UMOO01E EN P February 2008 Applications 1 47 2 Group Gain Storing run 11 Function Description e Understand the content of the Chapter 6 27 first e When the optimal tuning that is appropriate to the load system is made it is stored How to Operate e Refer to the flow chart below and operate SERVO ON SERVO OFF 2 Group Gain Storing Flowchart Status Display Mode P h E Select operation mode with the MODE SET key V O Enter run 11 by using the 0 Prepare the gain storing by U pressing the ENTER key Y S zd E 1 L LU ir LS Completion Operate th
246. t gain in Servo On Servo On it again and retry running Pr 4 00 y Check torque command in monitor mode dis 03 OK y If motor rotates even the command O V is input then use the torque command offset adjustment function to adjust the motor to prevent the rotation run 04 run 06 y Set the torque limit internal or external y Tune the servo drive by adjusting the gain according to the load condition If you set rotation detection level Pr 5 03 too low lt TG ON gt signal NOTE in can be output even with small vibration Function for Control Mode 5 39 Standard Wiring Example The following figure illustrates the standard wiring example of the torque control mode The sequence input output signal can be set according to needs if it is necessary for the system configuration 1 0 50 Pin Connector lt CN1 gt DC 24 V gt 24 V IN_ 4 o V 12 equence Input Cir cuit gm Setup Furction E Servo ON SV ON Di 1 3 L Z Prohibit Forward Rotation p O P OT o D42 la y Prohibit Reverse Rotation jy O N OT Loss 5 Z P Control Conversion R P CON LL D 44 l6 Z z LT Alarm Reset A RST Lo D 45 17 y Reverse Torque Limit N TL DI46 8 al imit P TL Forward Torque Limit 4 67s DUET 19 YK A qQip E STOP 10 YK V REF 119 Lv v REFSG 20 Y AD Speed Contr ol Mode
247. t is made when the alarm occurs regardless of the types of alarm ALT AL3 Make the numbers of 7 types with the 3 output pins and it is classified to output by collecting the similar types of alarm in each of the cases The presence of servo alarm occurrence can be confirmed through the monitor mode dis 15 of Chpater 7 50 The following chart shows the output of alarm group tdm Indicator Alarm Name ved i a o 1 E OvCUr Over Current 0 1 0 0 E rEGOC Regenerative Over Current 0 E OFSEt Current Feedback Offset Error 0 E CabLE Motor Power Cable Open U V W 0 E InsOL Torque Feedback Instantaneous Overload 0 2 E ConOL Torque Feedback Continuous Overload 0 0 1 0 E rEGOL Regeneration Overload 0 EOHEAt Heat Sink Overheat JO Inspection and Protection Functions 8 13 E EnCtP Encoder Type Mismatching 0 E EnCoP Encoder Cable Open 0 E AbSCE Absolute Encoder Communication Error 0 EAbSbE Absolute Encoder Low Voltage Error 0 c Over Speed During Blackout of Absolute E AbSOS Encoder 0 i Multiple Rotation Data Error of ABS F AbSMT Encoder 0 E EnCPE Serial Absolute Encoder Parameter Error 0 E OvvtG Over Voltage 0 E UdvtG Under Voltage 0 E AcoFF Instantaneous Blackout Error 0 E OvSPd Over Speed 0 E PoSEr Position Error Over Flow 0 F OvPUL Over Position Pulse Command 0 E EstoP Eme
248. tage is 6 V following the initial value it is limited to the rated speed of motor 3000 rpm and limited to 5000 rpm the maximum speed of motor when the input voltage is 10 V The Voltage Command of Host Controller and External Speed Limit When the speed mode is used with V REF No 19 pin of CN1 and V REF SG No 20 pin of CN1 of servo drive the motor is rotated to the forward direction in the voltage And the motor is rotated to the reverse direction in the voltage when permitting the analog speed command of 10 V to 10 V range However when of using it as external speed limit function the classification of and voltage is not made For example when 1 V is permitted at the host controller and set with 500 for Pr 2 00 the external speed limit value becomes 500 rpm and it is limited in all forward and reverse directions Also if 1 V is permitted both forward and reverse directions are limited to 500 rpm Publication CSD3P UMOO1E EN P February 2008 7 20 Applications Publication CSD3P UMO001E EN P February 2008 Speed Limit Selection Select how to make the speed limit at the below parameter pe r f 3 i 1 Il l m Speed Limit Selection 0 The speed limit function is not used 1 It is limited by the internal speed limit Pr 2 12 Setting Value 2 Itis limited by the external speed limit 3 Compare the internal speed
249. that is included in position command l aro e f torque command filter Pr 1 04 is not 0 it is valid 200 Cutoff o Frequency e lf this value is 0 position FF filter is not used t i Lu e When you set big value for torque command filter Pr 1 04 and overshoot or vibration occurs reduce this value If you use position FF function speed command increases or reduces much as responding to increase or reduction of position command Therefore if position command is entered as the type to be significantly changed that is to say in case of high acceleration or high deceleration position FF has overshoot At this moment if you want to reduce position output time find out appropriate value as slowly increasing the value of Pr 1 04 as checking over response In addition it is good method to suppress high frequency factor of position FF using speed command filter Pr 1 05 or making position command itself smooth using position command filter Pr 1 06 WARNING If you use it with On line Auto Tuning the system can be unstable A Tuning by Gain Setting 6 21 Speed Bias Function It provides to add bias to speed command according to position error as another method to reduce position completion time in position mode You can quickly reduce position error if you use this function because the part where position error is big gives much bigger speed command to reduce the error It has the sa
250. the motor is wired differently than the intent of user by the pulse input the rotation direction of the motor can be reversed by the below parameter setting without the separate wiring e When the movement direction of the final mechanical part on loading side is operated to the opposite direction of the setting the motor rotation direction can be easily converted Definition of Forward Rotation CW Clockwise If the motor shaft rotates in clockwise when the load is viewed from the motor it is rotating in forward direction Definition of Reverse Rotation CCW Counterclockwise If the motor shaft rotates in counterclockwise when the load is viewed from the motor then it is rotating in reverse direction Rotation direction setting Set the direction of the rotation in the below parameter Li Ht Selection of Rotation Direction Setting 0 Forward rotation is set as the CCW direction Value 1 Forward rotation is set as the CW direction uus ALL Other Servo Off gt Setting gt End Forward Rotation Reverse Rotation NOTE e This function is not applicable in the jog operation using run 01 e Inthe jog operation the rotation direction of the motor and key button switch is mutually affixed e Refer to the Chapter 7 35 for the detailed description on the jog operation Applications 7 11 Regeneration Resistor Regeneration Resistor Regeneration Energy e When stopping the runn
251. to the Chapter 7 48 But the main power input selection is initialized by the parameter initialization e A flowchart for the key button manipulation is included in the description of the basic setting of the servo drive to help the understanding of the key button manipulation But it is not provided in Chapter 6 7 and 8 Read the following section on startup and get accustomed to the manipulation of the key buttons Publication CSD3P UMOO1E EN P February 2008 4 22 Operator Basic Setting and Startup Startup Before Startup 1 Be well aware of wiring in Chapter 3 and connect main power and control power normally In addition by configuring emergency stop input circuit clear the emergency stop status 2 Connect the motor and encoder properly 3 Perform basic setting in reference to the Chapter 4 6 4 Do not connect the load to the motor for safety purposes If the motor is mounted on the equipment remove coupling of the motor shaft so that load may not move Startup Start up the drive by using jog operation function Startup 1 J Publication CSD3P UMOD1E EN P February 2008 e The jog operation is possible in Servo OFF status Remove the wiring between the drive and the host controller or apply Servo OFF signal from the host controller e The speed of the motor can be set from the drive for the jog operation e The initial value of the jog operation speed is 500 rpm e At startup 1 run the drive at the fa
252. tor e So P2 External Equipment e The main power can be input by selecting either terminals L1 L2 and L3 for the AC main power terminal or the terminals DC and P1 for the DC main power terminal Connect only either AC main power terminal or the DC main power terminal gt e When wiring the wiring socket be careful not to expose the core wire It may case an electric shock NOTE e When using the DC main power terminal for the main power supply refer to the Chapter 4 8 for information on the setting of main power input selection e lfthe terminals DC P1 and P2 are not used for DC main power input or DC reactor for RF control do not remove the short circuit wire of the terminals P1 and P2 which is short circuit when delivered Electric Circuit Diagram Wiring 3 5 This is a circuit diagram where the main power is supplied from AC main power input terminal Use single phase power in servo drive whose rated output capacity is 400 W or lower Thus do not use the terminal L3 MCCB Molded Case Circuit Breaker 1MCCB MC Magnetic Contactor NOISE FILTER 1MC For more than one second press the Push Button S W which allows OFF SW2 Relay 1 the current to flow
253. tors U V W are output terminals Do not connect the input power e tcauses the fire Terminal Grounding Terminal Heat Sink Connect the power and motor cable to the grounding terminal Terminal B1 B2 Regenerative Resistor Connection Port As the function for regenerative energy consumption is not required the 200 W or lower regenerative resistor does not have to be mounted If the capacity of mounted regenerative resistor is insufficient remove it 400 W or higher or connect it to the mounted regenerative resistor in parallel Refer to the Chapter 7 11 for more information the Regeneration Resistor Publication CSD3P UMOO1E EN P February 2008 3 4 Wiring Publication CSD3P UMO001E EN P February 2008 DC Main Power Terminal or DC Reactor Connection Terminal for Suppressing High Frequency Terminal The main power can be input by selecting either terminals L1 L2 and L3 for the AC main power terminal or the terminals DC and P1 for the DC main power terminal Refer to the Chapter 4 8 for the selection method The initial setting is the AC main power input through the terminals L1 L2 and L3 When using the AC main power through terminals L1 L2 L3 the terminals P1 P2 can be used to connect the DC reactor for RF control P1 and P2 are short circuited when delivered External Equipment DC Reactor Connection Terminal for Suppressing High Frequency 9 P1 DC Reac
254. tput signal EA EA EB EB that converted the encoder serial data into 2 phase A phase and B phase pulse zero point pulse signal EC EC and S phase rotation amount signal PS PS are output to line drive circuit It is used to configure the position control loop from the host controller Receive the pulse signal with the line receiver circuit in the host controller Set R1 value to 330 Q Host Controller Open collector output The servo alarm code output signal is an open collector output circuit The figure below shows the connection in order of photo coupler line receiver and relay circuit e The maximum allowable voltage of the open collector output circuit is DC 30 V and the allowable current is 20 mA DC 5 to 12 V Photo Coupler F a Leahy Host Controller DC5to12 V jj Line Receiver K P vum I ti Host Controller DC5to12 V T Relay Host Controller Publication CSD3P UMOO1E EN P February 2008 3 20 Wiring Photo coupler output Servo alarm sequence output signal and encoder Z pulse signal output are the photo coupler output circuits Connection to the relay circuit of the host controller DC 5 to 24 V e A L__ o Jo Host Controller Connection to the line receiver circuit of the host
255. tripoffthe 3 PhenolTerminal 4 Assemble the wires wires Compression Socket gt gt CD gt e lt Compress with the Phenol Terminal Compressor gt E oof Keep the lenght of the peelde wire less than 8 mm The thickness of wire allowed by the socket is shown below Thickness of Wire AWG28 to AWG12 Thickness of Wire 20 5 to 20 8 mm Twist Single Publication CSD3P UMOO01E EN P February 2008 Wiring 3 7 WARNING Insert the wire completely If peeled core wire is exposed it may cause an electric shock NOTE The lever is a small tool used when wiring Keep it for other wiring jobs Publication CSD3P UMOO1E EN P February 2008 3 8 Wiring 1 0 Signal CN1 1 0 Connection Diagram This is the circuit diagram of a connector for I O signal It is divided into input on the left and output on the right The Backup battery for absolute value encoder can be connected to CN5 and CN1 49 25 It must be connected to one side only Analog Monitor CH1 Output Range 10 V to 10 V Analog Monitor CH2 Output Range 10 V to 10 V AM SG Analog Monitor Display GND AM SG AL1 gt Servo Alarm Code
256. trol mode in use In Servo ON status in operation the display of the control mode flickers e n combinational control mode it performs two types of selected mode simultaneously for the operation And at this time the display of the current mode is flickered If the mode is changed the display of new mode flickers and the previous mode does not Publication CSD3P UMOD1E EN P February 2008 Operator Basic Setting and Startup 4 9 Description HAASE AAA ri Displays corresponding option upon the use of the A network option DA option TOP Refer to the Chapter 1 6 for the network option aan BASE BLOCK means the preparation for the operation in Servo OFF ib h status Status Displays that it is running IBBPg E Displayed when forward operation prohibiting signal is input ERE Apt Displayed when reverse operation prohibiting signal is input e Displays corresponding character upon servo warning e Refer to the chapter 8 for details of the servo warning Description Point Display It is on if the power is applied Refer to the reference pages on the right for more information on the row display Description Reference When using as a position mode if the difference between load position and position command is smaller than Pr 5 00 value the servo drive 5 23 can display lt P COM gt position completion detection signal It is on Row when lt P COM g
257. trol mode when NAE Control Conversion using Mixed control mode Refer to 5 6 lt C DIR gt The rotation direction lt C DIR gt and rotation lt C SP1 gt speed lt C SP1 to C SP4 gt of the motor are lt C SP2 gt determined by the above input in terminal speed lt C SP3 gt control mode Rotation speed of lt C SP1 to C 5 45 C SP4 C SP3 is set in Pr 2 05 to Pr 2 11 Rotation 1 p l d speed of C SP4 is set by analog speed ermina d command voltage C DIR is used to change comman motor roatation direction in speed control mode When analog command value in the speed lt Z CLP gt control is lower than the setting value of speed S 531 Zero clamp zero clamp level Pr 5 04 the input value is ignored lt INHIB gt It ignores position command pulse in the section p 521 Inhibit pulse command where the signal is on lt ABS DT gt Transmits absolute encoder data to host ioa a aed Data controller through EA EB when the signal is ON p 1 32 Publication CSD3P UMOO1E EN P February 2008 5 4 Function for Control Mode lt PCLR gt Clear position command position feedba position error ck and START Control motor rotation start or stop by usi terminal signal in speed or terminal spee control mode ng d S C 5 33 GEAR Publication CSD3P UMOO01E EN P February 2008 In position control mode the 2nd electron ic gear parameters Pr 3 05 and Pr 3 06 are used when
258. tting Range Error C It occurs when the setting value that exceeds the setting scope of parameter is ause A inputted Action Set the parameter within the value of setting scope Indicator Cause Action Refer to Chpater 7 48 and return to the initial value of the parameter Flash Rom Error t occurs when there is an error in the memory that stores the parameter nitialize the parameter by referring to Chpater 7 48 Replace the servo drive in the event of frequent occurrence Publication CSD3P UM001E EN P February 2008 8 12 Inspection and Protection Functions Publication CSD3P UMOO1E EN P February 2008 Indicator E if ri d E F Servo Drive Capacity Undefined Cause t occurs when the rated output volume capacity of servo drive is wrongly set Action nquiry to the company Indicator E D E E LI H Setting error of motor encoder Cause It occurs when a wrong motor is connected to the servo drive Action Check motor Signal Output in Servo Alarm Once the servo alarm occurs the presence of alarm occurrence and types of alarm can be outputted through the output pin of CN1 The presence of alarm occurrence is outputted with host controller through the No 45 and No 46 pins SALM of CN1 Also through the No 37 to 39 AL1 to AL3 pins each of the alarm occurrence types can be outputted with host controller CN1 Output Description SALM Outpu
259. u Current Controller Bandwidth 0 2 1 A a l iS Velocity Response Level 0 150 50 Parameter Group 2 Parameter type Name LED No Set range a p nm el n pis speed command input 10 0 2000 0 500 0 Pr eli Jog operation speed 0 5000 500 Pru el g Acceleration time 0 60000 0 pe el 3 Deceleration time 0 60000 0 P el H S operation time 0 5000 0 Pr gt en 5 Contact speed command 1 5000 5000 100 P ire eos Contact speed command 2 5000 5000 200 pr gel H Contact speed command 3 5000 5000 300 B e cll E Contact speed command 4 5000 5000 400 Pr 209 Contact speed command 5 5000 5000 500 Pr 2 18 Contact speed command 6 5000 5000 600 Pr p i i Contact speed command 7 5000 5000 700 P p le Limit speed 1 5000 5000 Pr p 4 Select limit speed 0 3 0 Parameter List A 5 Parameter Group 3 Parameter type Name LED No Setrange al Position command pulse type 1 0 6 0 p qmm Position command pulse type 2 0 1 0 Fr Iun Encoder output pulse direction 3 0 1 0 PCLR input selection 4 0 3 1 encoder H pm i n i Electronic gear numerator 1 65535 pulse T numbers PES encoder H F TP Electronic gear denominator 1 65535 pulse mE numbers DM Position output pulse g rr SH adjustment numerator 65535 2048 D IML Position output pulse 4 LEG adjustment denominator 65535 2048 p p n 3l 5 2nd Electronic gear numerator 655
260. ual is described in the view of users from the purchase to operation Describes things to know before Describes the outline of product and 1 using the product marking 2 IA 8 AM r bd Describes precautions upon product Describes wiring with the host Y 3 installation controller and peripheral equipment 4 au d Describes the operator for various Describes brief functions of the ME 5 settings product 6 Y Describes the basic settings that Describes the function of the product 7 users should set for each control modes 8 IA g P EN Describes the tuning to implement Describes simple supplementary 9 optimum performance of load system functions 10 V pu NR d Describes the protective function Descr i bes i tems cor r espondi ng to i NS 11 fault diagnosis and troubleshooting v ar i ous numer i cal data i n the Appendi x 12 M P Others Each chapter or paragraph has a page called Before you begin before description For easiet understanding of this manual be fully aware of the contents of this page called Before you begin in advance Publication CSD3P UMOO1E EN P February 2008 1 6 Before Using the CSD3 Servo Drive Product Type and Each Part Name of Each Part of the Drive Name The following figure introduces the name of each part of the servo drive Optional Connector lt CN4 gt k Operator Battery Connector See Chapter 4 for _ CN5 deta
261. unction V 37 AL1 Servo Alarm Code Servo ON SV ON Maximum Allowable Voltage a ju DC 30V AL3 Maximum Allowable Current 20 mA Prohibit Forward Rotation P OT Prohibit Reverse Rotation N OT 40 4 AL SG Alarm Code Output GND V D gt O n P Control Conversion A RST l Alarm Reset C DIR P30 o EA Reverse Torque Limit C SP 1 D gt 31 EB Encoder Phase A B amp C m g E P Forward Torque Limit C SP2 325 Ep f Line Receiver SN75175 or MC3486 gt 335 EC P E STOP 10 z a 94 5 Ec 35 gt 3 o PS Absolute Encoder F 361 pg J Rotation Data 17 IZ PUSE E a ji Encoder Phase Z a ae OPEN Collector a zus T 45 5 SALM 1s P ervo Alarm yea y 48 suy 4 DO 1 DA peed Coincidence TG ON Baad 2 DO 1 Detection 43 p OO es Rotation Detection T LMT e 3 po go l 47 l P p Be sie Limit Detection V LMT Back up Battery for BAT 49 FEA 48 DO 43 Absolute Encoder P BAT 25 Out Hecommende aed Back Up rl O9 pM Channel X X X equence Outpu Circuit Publication CSD3P UMOO01E EN P February 2008 Function for Control Mode 5 47 Multi Step Speed Command Setting Multi step speed control mode does not have external signal input pin for each control mode unlike position speed and torque control
262. uning by the off line E auto tuning method d Flowchart of the relationship between the off line auto tuning and gain y gt Start NOTE i Only as operating off line auto tuning you can prevent resonant noise caused by resonant frequency of load system and three basic gains Off line auto tuning automatically sets Inertia Ratio Pr 0 04 and resonant suppression filter Pr 1 07 but when you know exactly each value you can directly set However if the value set directly is not accurate the response quality is degraded and becomes the reason of resonant noise Therefore be careful when setting it directly Publication CSD3P UMOO1E EN P February 2008 6 10 Tuning by Gain Setting On line Auto Tuning Overview On line Auto Tuning is used when load is continuously changed during the operation It continuously changes the gain value according to load state in order to maintain the regular response quality of system even though load state is changed Precautions Do not use On line Auto Tuning for the cases below if possible and we recommend using the Off line Auto Tuning or manual gain setting e When fine or large change is made to the Inertia ratio during the load Operation e If Inertia ratio is changed in two types during load operation you do not need to change In this case refer to the Chapter 6 27 e When big torque does not occur during load operation because accel
263. using serial absolute value type 1 0 1 0 encoder pr gt 5 i Y Select use of speed monitor 2 0 1 0 Select use of excessive speed 3 01 0 error detection function i Publication CSD3P UM001E EN P February 2008 Parameter Group 0 Parameter List System related parameters Pr 0 00 to Pr 0 13 Parameter Group 0 Use the up down left right arrow keys to set Under group control mode the sequence inpu Configure control mode Configure by selecting the control mode to be used signal lt C SEL gt is assigned and the lt C SEL gt signal is applied through the assigned input channel The control mode is changed al upon ON OFF of sign up the control mode according to the table below Basic control mode Configuration display message Control mode Description ECT Position control mode eae es position command according to pulse Per cee Saad eontralimeds Executes speed command according to analog 4 p voltage command at pers Executes torque command according to analog E Torque control mode voltage command rmm Contact speed control Executes speed command according to sequence L mode input signal Speed position Uses sequence input lt C SEL gt lt C SEL gt OFF lt C SEL gt ON 2 control mode 1 Torque speed control om HUE SESS RB F a ES L H Torque position
264. ve What is Servo ON Audio or TV can select and play music and display channel that the users want from the moment the power switch is on However the servo drive cannot run servo motor by simple applying the power To complete load the system and use the servo drive Servo ON signal from the host controller is required Servo ON signal should be applied and maintained from the host controller for the servo drive to run the motor In servo OFF status it cannot run the motor Servo OFF and Servo ON Servo OFF Status Servo ON Status e If the servo ON signal is not applied after the e If the servo ON signal is applied from the power application it is same as the servo host controller the drive starts to apply driver and motor being separated completely voltage to the motor At this time if there is uS no motor run command the drive maintains e This is a ready status to run the motor the motor stopped SV ON Input of commands such as position speed regarding servo ON status and motor run e Ifthe motor run command is input while the servo ON signal of the host controller is maintained the drive can run the motor according to the command SV ON Input of command such as position speed J lt Rotation 7 Operator Basic Setting and Startup 4 3
265. ve Torque Publication CSD3P UMOO1E EN P February 2008 Set the following two parameters for the internal torque limit H ys H m Forward Rotation Torque Limit Internal Limit Initial y Setting Range Value Unit Others Setting gt End Applicable 0 to 300 300 96 Mode ALL It limits positive torque in 96 unit related to rated torque Ln cum Reverse Rotation Torque Limit Internal Limit CLIL Setting Range Ma Unit Others Setting gt End Applicable 0 to 300 300 Mode ALL It limits negative torque in unit related o rated torque EH LU 4 External Forward Rotation Torque Limit po CECI lt P TL gt A Initial Setting Range Value Unit Others Setting gt End Applicable 0 to 300 100 96 Mode ALL If P TL is ON it limits positive torque in 96 unit related to rated torque EH UMLI External Torque Limit of Reverse Rotation LL 0 lt N TL gt Initial Setting Range alle Unit Others Setting gt End Applicable 0 to 300 100 96 Mode ALL If N TL is ON it limits negative torque in 96 unit related to rated torque Relationship between the internal and external torque limit Sequence Internal Limit Input External Limit Torque Torque Limited Torque Command Function for Control Mode 5 43 Cautions lt P TL gt
266. ward and reverse rotation refer to the Chapter 6 7 Step 4 Do detailed adjustment on the basis of current setting value as checking torque speed position response of motor Initial Torque Bias Setting Set initial torque bias to the following parameter P EZ un E Initial Torque Bias Setting Limit e Unit Others Setting gt End 100 to 100 0 96 i ALL e f you set this value as the value not 0 as soon as you do Servo ON control is started and the value of torque command is started from Setting value of parameter e Since torque to maintain the current state occurs from the beginning you can prevent the phenomenon that load drops e Therefore you can suppress overshoot of speed response so that you can reduce position completion time NOTE e For other method to control brake refer to motor brake control in the Chapter 7 6 e You can suppress the instant drop of the load only as setting brake control timing in the Chapter 7 6 WARNING e Ifyou set value of initial torque bias Pr 4 06 too high load can temporarily goes up A e Becareful to make appropriate setting Tuning by Gain Setting 6 27 lt G SEL gt Function As shown in the figure below two different conditions of load can be repeated For example robot moves a object to other position and return to the original position without any load after laying a object down If those movements are repeated too fa
267. y 0 Accumulated load rate of 7 regenerative resistor 96 03 Torque command Firmware version 04 ner feedback 11 DC Link voltage V 8 Motor amp Encoder Type 05 Position command 12 The number of rotation 9 Analog speed command D pulse data of absolute encoder voltage 0 01V Analog torque 20 command voltage 0 01V 21 Drive rated output 06 Position error pulse 13 nerd command offset 22 Absolute encoder 1 time rotation data 23 encoder feedback counter NOTE e The item of the monitor mode whose value is more than 6 digits is not displayed at once by the 6 digit 7 segment LED display e Refer to the Chapter 7 50 for details on how to check such items Overview of the Operation Mode This section includes brief explanation of the parameters in operation mode e The motor can be run in operation mode e Each item provides a special function which can be used e Just as in the parameter setting mode there is a status where the operation is possible impossible according to the status of the servo drive during the use of the operation mode Refer to the Chapter 7 35 for details of operation mode e The table below shows the brief functions of each item in the operation mode F MN ri ri Ti JR fo CunTUU CUNT iI Item Operation Item Operation Adjustment of Current feedback 00 Jog Operation 07 offset 01 Off line auto tuning 0
268. y Hz Pr 108 EEEHEH Position Loop Seas 2500 Proportion Gain p 4 7 el Pr 1 134 0 Hz 20 m ERN 0 ferai Pr iia F Position command filter cutoff frequency Position Command Filter Cutoff Frequency l 2500 Position Command Filter Cutoff Frequency Hz Function It makes position command itself smooth as suppressing high frequency that is included in position command If this value is 0 position command filter is not used Applicable Mode ALL Others Setting gt End Tuning by Gain Setting 6 19 Position loop proportion gain Position Loop Proportion Gain Q 500 Position I Loop Proportion 7 Gain Function The higher the value is set the better position control response is Applicable Mode ALL Others Setting gt End Position control related gain setting procedure e Increase the value of speed loop proportional gain Pr 1 01 in the condition while the initial value of position loop proportional gain Pr 1 03 is set e If there is vibration noise in load reduce the value of Pr 1 01 as 80 to 90 of that moment e Increase the value of Pr 1 03 again up to the level that vibration noise does not occur in over response e Increase speed loop integration gain Pr 1 02 as checking over response overshoot completion time whether vibration or noise occuts If you set too low response quality is degraded and if you set too high
269. y is negative and lt C DIR gt is ON then the analog input speed command will be interpreted as positive Speed Command Voltage C DIR Motor Speed Motor Rotation Start Stop Input START With previous FW revisions the motor begins to rotate when the speed command is entered after Servo ON in the Velocity Control Mode Pr 0 00 S or the Velocity Control Mode Pr 0 00 C With the new FW if the lt START gt input is assigned to an input pin the lt START gt contact point input acts as an enable and can be used to control motor rotation start or stop Speed Command Voltage START Motor Speed lt START gt is only configured to an input pin Publication CSD3P UMOO1E EN P February 2008 5 34 Function for Control Mode Publication CSD3P UMOO1E EN P February 2008 Speed Coincidence Output Signal lt V COM gt The speed coincidence detection output is to indicate that the actual motor speed matches up to command speed within the allowable error Like position completion output signal lt P COM gt in position control mode you can use it as an inter lock signal in the host controller lt V COM gt is a sequence output signal To use lt V COM gt function allocate lt V COM gt signal by referring to the sequence input output signal described in the Chapter 5 2 Set output width of speed coincidence signal to the parameter below p E LH c Output Width of Speed Coin

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