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RSWare User Manual

1. Copy Main Gains To all Gains Main Gains To Alternate Saves the current working values as power u 8 p p Save Parameters values in flash memory for the selected On Line drive and all of its children Customize the Manual Velocity Tuning window for your CSD5 Drive branch by selecting one or more of the following buttons RSWare User Manual 84 Examining the CSD5 Drive Interface e Toggle the Show Status selection to display or hide the Status pane e Toggle the Show Commands selection to display or hide the Commands pane e Click on the Revert button to return parameter settings to the values they held when you opened this window Understanding the Encoders Window The Properties window for Encoders looks like this Note The Properties window for Encoders of CSD5 Drive and KNX3 Drive are not same The below is an illustration of CSD5 Drive E Drive Enceder __ Encoder Output Forward Direction A Leads B an nae Save Parameters Output Ratio i Encoder Backup Battery Installed a Absolute Feedback Transfer Type Same as Command Polarity ai M Sho V Show Siete Revert Close Help Use the Encoders window to describe the motor and auxiliary encoders by e configuring the motor encoder This window has the following parameters Drive Encoders Drive Encoders Encoder Output Forward Direction Configure Encoder Output Forward Direction During Forward Rotation En
2. Fe 0 00 Parameter Metric English Follower None Position control mode F 1 Analog Velocity Tipao Node Speed control mode S 2 Analog Current ipur Non Torque control mode C 3 Analog Velocity es Inputy Follower Speed position mode SF 4 Analog Velocity Current Follower Torque position control mode CF 5 Analog Current Input Analog Torque speed control mode CS 6 Velocity Input Preset Velocity Note Multi step speed control mode P 7 Preset Velocity be Follower Multi step speed position control mode PF 8 Preset Velocity Analog Multi step speed speed control mode PSQ Velocity Input Preset Velocity Analog Multi step speed Torque control mode PC 10 Current Input Indexing Input Follower None RSWare User Manual Examining the CSD5 Drive Interface 31 Applicable Operating All Mode When Fabled Servo Off gt Setting gt After power cycle Drive Initial Current Bias Initial torque value applied when the servo drive activated Prevents the downturn of vertical load during initial operation Parameter Ft 4 06 Range 100 100 Default Units of motor rated continuous current Applicable Operating All Mode When Enabled Immediately Description Drive Velocity Limits Drive Velocity Limits Velocity Limit Mode Specifies the method for limiting the motor velocity within the motor s rated maximum velocity The drive will Descriptio
3. RSWare User Manual In Motion IMO An active state indicates an index move is active and the motor is moving In Dwell d DW An active state indicates the motor is holding position in an index move and waiting for the commanded dwell time Axis Homed HOMC An active state indicates that the homing routine has completed D adet eae se ou OIE CO Ft 0 25 Digit3 Output Servo drive ready An active state indicates the drive Ft 0 24 Digit1 is operational and does not have a fault Ft 0 25 Digit0 Ft 0 25 Digit1 Ft 0 25 Digit2 104 Examining the CSD5 Drive Interface pee GRC tlh des Sader tun Isei Ft 0 26 Digit0 Output Pee eae ull ieee ey an OISEED Ft 0 26 Digit Output nare PRE Sl dees aieceaOurO1shis Ft 0 26 Digit2 Output nare GE lt ew Slee OnO SEA Ft 0 26 Digit3 Output Index Select Output Moving Index Select 5 Out O ISEL5 Ft 0 27 Digit0 Enable End of Sequence E SEQU An active state indicates all iterations of the index move have been End of Sequence completed Ft 0 27 Digitl Note This parameter is only added for CSD5 Drive Applicable All Operating Mode When Enabled Servo Off gt Setting Drive Digital Outputs Output 4 Select the functionality to be assigned to digital output 4 Ft 0 22 Ft 0 27 Unassigned Unassigned o o Within position window P COM An active output state indicates that the position error has been less than the Posit
4. bit 16 bit 17 Velocity Feedback Applicable Operating All Mode When Enabled Immediately Drive Oscilloscope Channel A B Scale Type Select the division scale and offset setting Parameter J The division scale and offset Auto Range are changed automatically The division scale and offset Manual are set manually RSWare User Manual Examining the CSD5 Drive Interface 115 Applicable Operating All Mode When Enabled Immediately Drive Oscilloscope Channel A B Scale The amplitude of the selected channel input signal that can be displayed between gridlines of the oscilloscope in the units of the drive signal It is dependent on the signal selected If the Scale is left at its default value of 0 RSWare auto scales the data to fit the graph Note Visible only if Scale Type is Manual Parameter Ft 5 13 Ft 5 14 Description Range 1 99999 Units Units depend on the channel selection Applicable Operating All Mode When Enabled Immediately Drive Oscilloscope Channel A B Offset The trace offset for the selected Channel Input Its range depends on the signal selected A value of zero places the zero value of the signal at the middle grid line A nonzero offset shifts the trace up or down so that the offset value is positioned at the middle grid line Note Visible only if Scale Type is Manual Applicable Operating All Mode When Enabled Immediately
5. Analog Note This parameter is only added for CSD5 Drive oie een All Applicable Operating Mode When Enabled Servo Off gt Setting Drive Digital Inputs Input 3 Select the drive s digital input assignments F0 22 FEOT Unassigned Unassigned OOOO S Range NT ala an Alternate Gain Select G SEL Ft 0 13 Digit2 RSWare User Manual Preset Select 3 Preset Select 3 C SP3 Ft 0 12 Digit3 Reset Multiturn Data Reset multi turn data of Absolute Encoder R ABS Ft 0 15 Digit0 E eee Se a T a Ft 0 13 Digit0 Enable Position clear PCLR Ft 0 13 Digit3 Moving Enable Motor Moving Enable START Ft 0 14 Digitl 90 Examining the CSD5 Drive Interface Positive Negative l N r a ae Analog Speed Command Select C SP4 Ft 0 14 Digit2 Bank Selection Ft 0 16 Digit0 Digit3 a a n Ft 0 18 n Digit0 Index Select5 Input Index Select 5 Input d SEL5 Ft 0 18 Digitl Stop Homing Stop Homine H STOP Ft 0 18 Digit2 Start Indexing Start Index START D Ft 0 18 Digit3 Current Limit F Analog Current Limit A CL Ft 0 15 Digit1 Absolute Position Transfer Mode ABS MD m ee m Pr 0 15 Allocation of Input Signals 6 Data Size 4 digits Digit ji Descriptions Default UnmappedIO Status Ab S olute Po sition 0 Reset multi turn data of Absolute Encoder R ABS 0x0 OFF 1 Gain Bank Select BANK SEL OFF 0x0 Transfer Mode A Analog Curren
6. Examining the CSD5 Drive Intertace ssssssssscssrssessecsecssrssnssessississnsseseisesen 24 Chapter Overview cccsccsscsscsessessessesecsecseestestesteeeeeesaeeaesaeeateaeeaesaesaesatsateateaseats 24 CON MOURNE AM GoD Dryarn E N A 25 Configuring Properties for the CSD5 Drive 25 CSDD Drive Branch cccccssscsssssssssssssssssssssscesssscessescsscescessessescescesesesesesceseseesees 2 Velocity Control Panel Window 43 Understanding the Analog Window ccsscssssssesesessssseessessesseeseeseeseeseeseeeaes 45 Understanding the Preset WindOW c sssssscsssssssseseessessesseeseeseeseessesessaeeseeseeeaes 47 Understanding the Follower WindOW sscssssssessessesseeseeseessesseeseeseeseeseeseeeaes 50 RSWare Manual Understanding the Indexing Window Indexing Control Panel Indexing Teaching Panel Understanding the Homing Window Understanding the Motor Window Understanding the Tuning Window Understanding the Encoders Window Understanding the Digital Inputs Window Understanding the Digital Outputs Window Understanding the Analog Outputs Window Understanding the Monitor Understanding the Oscilloscope Window Channel Setup Window Understanding the Faults Window Understanding the Service Information Window Table of Contents Introduction Who Should Use This Manual Conventions Used in This Manual Related Documentation RSWare User Manual Preface
7. Labels Select which labels to display on the y axis Default One reference point for each channel is displayed Channel A eChannel B Description Y axis Labels The legend displays the color of the trace for each displayed input Legend signal The colors can be modified by clicking on the color rectangles displayed in the legend The following commands can be executed for the Oscilloscope window of an on line drive Command Description Arm Trigger Turns the oscilloscope trigger ON Run Continuous Runs the oscilloscope continuously circumventing the trigger Stop Triggering Turns the oscilloscope trigger OFF Snap Shot Show the a set of data in Snap Shot Dialog Customize the Oscilloscope window for your CSD5 Drive branch by selecting one or more of the following buttons RSWare User Manual 116 Examining the CSD5 Drive Interface RSWare User Manual e Toggle the Show Properties selection to display or hide the Properties pane e Toggle the Show Commands selection to display or hide the Commands pane e Click on the Save button to save the oscilloscope data to a tab delimited file on your PC which can be read by spreadsheet or presentation software Information saved includes the Oscilloscope data points from one or more channels e Click on the Revert button to return parameter settings to the values they held when you opened this window Channel Setup Window Channel Options Motor Feedback Position M
8. RS OFMax RSWare User Manual User Manual Version 1 2 1 e e Reliable amp Smart I S Automation Important User Information Because of the variety of uses for the products described in this publication those responsible for the application and use of this control equipment must satisfy themselves that all necessary steps have been taken to assure that each application and use meets all performance and safety requirements including any applicable laws regulations codes and standards The illustrations charts sample programs and layout examples shown in this guide are intended solely for purposes of example Since there are many variables and requirements associated with any particular installation RS Automation does not assume responsibility or liability to include intellectual property liability for actual use based upon the examples shown in this publication Reproduction of the contents of this manual in whole or in part without written permission of RS Automation Co 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 hazardous environment which may lead to personal injury or death property damage or economic loss Identifies information that is critical for successful application and understanding of the product Identifies information about practices
9. e Monitor a wide variety of status and motion parameters on the drives e Customize the application interface to display only the information you wish to see Before you begin using RSWare read this chapter to become familiar with e Understanding the RSWare Interface e Starting RSWare RSWare provides a graphical user interface within which you configure your drives The workspace consists of e a Workspace window e aClient Area e an Output window e a Main menubar e aset of Toolbars e aStatus bar Main menubar Eee Toolbars Workspace Window Properties Windows CSD5 KN Client area Status bar RSWare User Manual Before You Begin 9 Use the View menu commands to enable and disable these RSWare The RSWare user interface for CSD5 and KNX3 drives with several features enabled looks like this ee Driv x File Edit _ View Insert _ Tools Commands Window Help Srm maxas o olera ll 2 we Workspace o p On Line Drives ESIE ih Offline Unsaved Vah qn Drive a w pa Mode Configuration amp Motor Er Tuning Encoders I Digital Inputs rope esr a Override aoa 2 oe Outputs EA nala Reset to Factory Settings F Oscilloscope A Faults EZ Servicelnto SE Drive 5 B Mode Configuration E Motor r Tuning 4 Encoders Digital Outpor EA Analog Outputs E Monitor E Oscilloscope A Faults
10. Digit Range ee eae Use Low speed Line Drive Output in Host Controller Ox i roe for isolated electrical connection 900kHz Max Open Collector Input Use Open Collector in Host Controller 250kHz Max High Frequency Line Use High Frequency Line Drive Output in Host Drive Input Controller 3MHz Max D Applicable Operating Mode When Enabled Servo Off gt Setting Drive Mode Configuration Follower 1st Gear Ratio Change Select the drive state to make 1 t gear ratio take effect Ft 3 00 Digit3 Range Applicable Operating Mode When Enabled Enable Only on Drive Disabled Enable Only on Drive Disabled Always Enable Always Enable Enable Only on Drive Disabled Follower Servo Off gt Setting Drive Mode Configuration Follower 1st Gear Ratio Description e Denominator of Electronic gear Ft 3 01 e Numerator of Electronic gear Ft 3 02 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 Ft 3 01 Denominator of Electronic gear Ft 3 02 Numerator of Electronic gear Units Applicable Operating Mode When Enabled 360 10000 Master Counts Follower Counts Follower Servo Off
11. Immediately Examining the CSD5 Drive Interface 35 Drive Communications Communication Method Select the drive s communications Method Note This parameter is only supported for CSD5 drive Ft 0 09 Digit 3 1 RS4S5 RSA R5232 Applicable Operating All Mode When Enabled Immediately Drive Communications MODBUS Run Function Control It is used for selection of run xx or Input function using Modbus Run function cannot be used by key pad Description similarly if the run function is used by Modbus Note This parameter is only supported for CSD5 drive Ft 0 32 Digit 1 Description Not use both Run and Input function by Modbus Range Disable Applicable Operating All Mode When Enabled Servo Off gt Setting Drive Communications MODBUS Input Function Control It is used for selection of Input function using Modbus Input function on Hardware cannot be used in case Description that the input function is used by Modbus with this parameter Note This parameter is only supported for CSD5 drive Ft 0 32 Digit 0 Value Not use both Run and Input function by Modbus 0x0 Range Enable Use Input function only 0x1 rf P A use both Run and Input function by Modbus 0x2 Function Applicable Operating All Mode When Enabled Servo Off gt Setting Drive Current Limits Drive Current Limits Positive Internal It limits positive
12. Index Select 5 Input d SEL5 Stop Homing Stop Homing H STOP Start Indexing Start Index START D Current Limit Analog Analog Current Limit A CL Absolute Position Transfer Mode ABS MD Pr 0 15 Allocation of Input Signals 6 Data Size 4 digits Digit Absolute Position 0 Description Default Unmapped IO Status Reset multi turn data of Absolute Encoder R ABS 0x0 OFF 1 Gain Bank Select BANK SEL OFF Transfer Mode 0x0 Analog Current Limit A CL 0x0 OFF Absolute Position Transfer Mode ABS MD 0x0 OFF Applicable All Operating Mode When Enabled Servo Off gt Setting Please refer to the above content Current Limit Analog Current Limit A CL Analog Note This parameter is only added for CSD5 Drive Examining the CSD5 Drive Interface 95 Stop Indexing Pause Indexing Index Select Input Index Select Input Index Select2 Input Index Select3 Input Ft 0 16 Digit2 Ft 0 16 Digit3 Ft 0 17 Digit0 Ft 0 17 Digit1 Ft 0 17 Digit2 Ft 0 17 Digit3 Ft 0 18 Digit0 Ft 0 18 Digit1 Ft 0 18 Digit2 Ft 0 18 Digit3 Ft 0 15 Digit Ft 0 15 Digit2 Ft 0 15 Digit3 Er Applicable All Operating Mode When Enabled Servo Off gt Setting Drive Digital Inputs Input 7 Select the drive s digital input assignments POA FO Drive Enable Drive Enable SV ON Fault Reset Fault Reset A RST Integrator Inhibit Integra
13. T j Fa ji ois S JE a Counts Brake end Hold ry Use this CSD5 window to e configure the parameters for an off line or an on line drive e monitor the status of an on line drive e execute commands that clear faults reset the drive or reset the EEPROM e open the Control Panel windows where you can issue commands that control drive motion You can edit parameters for both an on line and an off line drive However you can monitor statuses 1 e executed through the RSWare interface only for a CSD5 drive in the On Line Drives branch The following parameters apply to the CSD5 Drive window Examining the CSD5 Drive Interface 29 Drive Name n The name of the drive Description i ee l l ee Note The drive name is displayed in the title bar of the windows relating to this drive up to 32 characters long Applicable Operating All Mode When Enabled Immediately Drive AC Line Loss Check Select main power input source Fe 00A Digi Enable 50 400W drive Enable single phase open check 0 8 1 5kW R drive Enable 3 phase open check ange Do not check the input power Single phase Applicable Operating Mode When Enabled Servo Off gt Setting Drive Motor Model oe Set Motor type Description l Set three items of the motor motor type motor rated output and encoder type Parameter Ft 0 01 Range Default CSMT 04BR for CSD5 Drive CSM A3BB for KNX3 Drive Applic
14. eHigh motor ambient temperature and ot eExcessive current eCheck if the motor power cable and the connector are not Motor cable shorted shorted Occurs when the winding wire of the Disconnect the motor power cable from the motor If the motor motor is shorted internally e Operate within the continuous torque rating not exceeding according to the ambient temperature e Lower the ambient temperature or increase the motor cooling eCheck if the ambient temperature is too high will not be rotated by hand a replacement may be needed Occurs when exceeding the continuous power rating while operating Occurs when an unsuitable IPM output short circuit or overcurrent exist in the drive AC line AC power input is low Attempted to activate the drive without turning on the main power Occurs when the power regeneration is excessive That is the drive generates an error to protect itself from the overload when its main power supply regenerates excessive peak energy while the motor RSWare User Manual Operate within the continuous power rating Decrease the acceleration rate eCheck the wiring connections that go from U V and W motor terminals to the DC BUS after disconnecting the power and the motor If the connections are normal check the wires between terminals or have the drive repaired eCheck the voltage level of the incoming AC power eCheck the noise pulse of the AC power or for a voltage drop Install
15. gt Setting Drive Mode Configuration Follower 2nd Gear Ratio Description Parameter e Denominator of 2nd Gear Ratio Ft 3 04 e Numerator of 2nd Gear Ratio Ft 3 05 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 Ftr 3 02 e Maximum resolution 1 No of pulses per 1 motor rotation x Reduction ratio x 4 Ft 3 04 Denominator of 2nd Gear Ratio Ft 3 05 Numerator of 2nd Gear Ratio RSWare User Manual Examining the CSD5 Drive Interface 53 Master Counts Follower Counts Applicable Operating Follower Mode When Enabled Servo Off gt Setting Drive Mode Configuration Follower Digital Filter Cut off Frequency Drive Mode Configuration Follower Digital Filter Cut off Frequency Line Drive Input 5 000 s n S Applicable Operating All Mode When Enabled Servo Off gt Setting Drive Mode Configuration Follower Digital Filter Cut off Frequency Open Collector Input so A S Applicable Operating All Mode When Enabled Servo Off gt Setting Drive Mode Configuration Follower Digital Filter Cut off Frequency High Frequency Line Drive Input The controller has differential TTL CMOS outputs Ft 3 08 Digit2 500 5 000 MH Range RSWare User Manual 54 Exami
16. project in Archives or a drive s children 2 Do one of the following e Select Paste from the Edit menu e Click the right mouse button then select Paste from the pop up menu e Simultaneously press the Ctrl V keys e Click on the Paste icon in the Edit toolbar If you are pasting an item into the Workspace window that replaces another item of the same name RSWare displays a message box asking you if you wish to continue 3 Select OK to paste or Cancel Delete The Delete command removes selected branches or items from the Workspace window The deleted item is permanently destroyed The Delete command cannot be reversed by an Undo command The following Workspace window items cannot be deleted e The On Line Drives branch e A drive in the On Line Drives branch e An RSWare file RSWare User Manual 22 Common Command for RSWare Drive Configuration e An immediate child item branching directly from a drive To Delete an item in the Workspace window 1 Select a Workspace window branch other than one those listed above 2 Do one of the following e Select Delete from the Edit menu e Click the right mouse button then select Delete from the pop up menu e Click on the Erase icon in the Edit toolbar RSWare displays a message box asking you if you wish to continue 3 Select OK to paste or Cancel Drag and Drop You can use the drag and drop method to copy and move a Workspace window branch or item to other locations
17. 1st gain when no position command status Position command lasts for the setup of delay time of gain switching x 200usec Ox9 and Speed and the speed falls slower than the setups of gain control switching level and hysteresis of control switching Applicable Operating All Mode When Enabled Immediately Drive Tuning Gain Switching Delay Time of Gain Switching When gain value is switched from Second gain to first gain you can set delay time Fe 0 10000 Applicable Operating Mode When Enabled Immediately Drive Tuning Gain Switching Level of Gain Switching Set standard value for gain switching The setting value is for Gain Switching Mode Ft 0 06 Digit2 Units s OS Applicable Operating Follower Analog Velocity Preset Mode When Enabled Immediately Drive Tuning Gain Switching Hysteresis of Gain Switching Operates Hysteresis based on operation level when gain switching The setting value is for Gain Switching Mode Ft 0 06 Digit1 Demis fo Vais O Applicable Operating Follower Analog Velocity Preset Mode When Enabled Immediately Follower Analog Velocity Preset Description Drive Tuning Gain Switching Position Gain Switching Time RSWare User Manual 80 Examining the CSD5 Drive Interface Description Adjust as Position Gain Switching Time step by step when switching gain value from first gain to
18. Enable Motor Moving Enable START Select Value Unassigned Alternate Gain oe Select Alternate Gain Select G SEL Ft 0 13 Digit2 Current limit sa ive Paces Positive Current Limit P TL Ft 0 11 Digit2 Current Limit ae Necaave Negative Current Limit N TL Ft 0 11 Digit1 Drive Enable Drive Enable SV ON Ft 0 10 Digit0 Fault Reset Fault Reset A RST Ft 0 11 DigitO Integrator Inhibit Integrator Inhibit P CON Ft 0 10 Digit3 Operation Mode Operation Mode Overtide C SEL Ft 0 11 Digit3 Override Preset Select 2 Preset Select 2 C SP2 Ft 0 12 Range Analog Speed me e A eE ere b ee i Overtravel 2 l m Negative Negative Over travel N OT Ft 0 10 Digit2 Preset Select 3 Preset Select 3 C SP3 Ft 0 12 Cane aeee Analog Speed Command Select C SP4 res m Digit2 Ft 0 14 Ll Digit3 Digit0 Digit1 Digit2 Digit3 Digit0 Digit1 2nd Electronic Ceat 2nd Electronic Gear Bank Selection GEAR Bank Selection Home Sensor Home Sensor H SENS Start Homing Start Homing SHOME Ft 0 16 Stop Indexing Stop Indexing STOP Ft 0 16 Pause Indexing Pause Indexing PAUSE Ft 0 16 EFSA FRS Ft 0 16 qq a a ee ee ee Index Select0 Input Index Select 0 Inputd SEL0 Ft 0 17 Index Select1 Input Index Select 1 Inputd SEL1 Ft 0 17 Index Select2 Input Index Select 2 Input 1 SEL2 Ft 0 17 re Digit2 Index Select3 Input Index Select 3 Input I SEL3 Pt 0 17 Index Select4 Inpu
19. Ft 0 13 Digit2 Current Limit me 2 n oe Positive Current Limit P TL Ft 0 11 Digit2 Current limit ae Newative Negative Current Limit N TL Ft 0 11 Digit1 Drive Enable Drive Enable SV ON Ft 0 10 Digit0 Fault Reset Fault Reset A RST Ft 0 11 DigitO Overtravel esate Negative Over travel N OT Range Position Strobe Position Strobe ABS DT Ft 0 14 Digit0 a m oe bl ee eo Ee Ft 0 11 eo eo Ft 0 10 Digit2 a ea m m Lee Description Select the drive s digital input assignments Integrator Inhibit Integrator Inhibit P CON Ft 0 10 Digit3 Overtravel Positive Positive Over travel P OT Ft 0 10 Digit1 Velocity Direction Preset Direction C DIR Ft 0 12 Preset Select 1 Ft 0 12 Digitl Preset Select 2 Ft 0 12 Digit2 Digit0 Preset Select 3 Preset Select 3 C SP3 Ft 0 12 Reset Multiturn Data Reset multi turn data of Absolute Encoder R ABS Ft 0 15 Digit0 n a a T e CLD Ft 0 13 Digit0 Position Clear Position clear PCLR Ft 0 13 Digit3 Moving Enable Motor Moving Enable START Ft 0 14 Digitl Analog Speed E C ada Analog Speed Command Select C SP4 Ft 0 14 Digit2 one TE mere a ironie C ea bans eedon orn Ft 0 14 Digit3 Bank Selection Home Sensor Home Sensor H SENS F t 0 16 Digit0 Start Homing Start Homine SHOME Ft 0 16 Digit1 Digit3 r Res eens me ope RSWare User Manual Index Select4 Input Index Select 4 Inputd SEL4 Index Select5 Input
20. Manual Index Select 0 Output Index Select 1 Output Index Select 2 Output Index Select 3 Output Index Select 4 Output Index Select Output Moving Enable End of Sequence Examining the CSD5 Drive Interface 105 In Motion IMO An active state indicates an index move is active and the motor is moving In Dwell d DW An active state indicates the motor is holding position in an index move and waiting for the commanded dwell time Axis Homed HOMC An active state indicates that the homing routine has completed Index Select 0 Out O ISELO Index Select 4 Out O ISEL4 Index Select 5 Out O ISEL5 End of Sequence E SEQU An active state indicates all iterations of the index move have been completed Note This parameter is only added for CSD5 Drive Ft 0 25 Digit0 Ft 0 25 Digit F t 0 Index Select 3 Out O ISEL3 Ft 0 26 Digit2 Ft 0 26 Digit3 Ft 0 27 Digit0 Ft 0 27 Digit Applicable All Operating Mode When Enabled Servo Off gt Setting Drive Digital Outputs Output 5 Select the functionality to be assigned to digital output 5 F0 2 FEOT Unassigned Unassigned o d y O Within position window Up to speed Range Brake Within Speed window Current Limited RSWare User Manual Within position window P COM An active output state indicates that the position error has been less than the Position F
21. Mode Configuration Homing Home Current Time The time to when the torque feedback is more than the home current to when the drive detects stopper INO1 0 Demake 0 Applicable Operating Indexing Mode When Enabled Disable drive Drive Mode Configuration Homing Homing Timeout Drive fault occurs when time for homing is over the homing time limit NOL Applicable Operating Indexing Mode When Enabled Disable drive The following statuses can be displayed from a Homing window of an on line drive Status Description ON indicates the motor is moving in response to an indexed motion In Motion command Note The In Motion status has a value of 1 when ON and 0 when OFF ON indicates the motor is holding position and waiting the commanded dwell time In Dwell Note The In Dwell status has a value of 1 when ON and 0 when OFF ON indicates that the homing routine has completed Axis Homed Note The Axis Homed status has a value of 1 when ON and 0 when OFF Customize the Homing window for your CSD5 Drive by selecting one or more of the following buttons e Toggle the Show Status selection to display or hide the Status pane e Click on the Revert button to return parameter settings to the values they held when you opened this window RSWare User Manual Examining the CSD5 Drive Interface 67 Understanding the Motor Window The Properties window for Motors looks like this Note The Properties
22. Note Increasing the P gain improves response time and increases the stiffness of the system Too high a P gain value causes instability too low a P gain value results in loose or sloppy system dynamics Vois s O Applicable Operating Follower Analog Speed Preset Mode When Enabled Immediately Drive Tuning Main Velocity Regulator Gains Integrator Gain Integral gain for the velocity loop The I gain generates a control signal proportional to the integral of the velocity error Description Note I gain improves the steady state velocity performance of the system Increasing the integral gain generally increases the ultimate positioning accuracy of the system However excessive integral gain results in system instability P103 RSWare User Manual Examining the CSD5 Drive Interface 73 er Applicable Operating Follower Analog Speed Preset Mode When Enabled Immediately Drive Tuning Main Velocity Regulator Gains Integrator Mode eon During transient response Speed Response Overshoot can be suppressed by speed controller change from Description Proportion Integration PI Controller into Proportion P Controller It reduces Position completion time during Position Control Always On Do not use P PI Mode Conversion Hich Cage When Current Command exceeds Current Value in Ft mo 1 18 Speed Controller is changed from PI Controller to Disable P Controller vear Comand When Speed Command exceeds Speed Va
23. Ratio or Index is used The digital input Preset Select binary values are as follows e Preset Select 1 1 if active 0 if not e Preset Select 2 2 if active 0 if not e Preset Select 3 4 if active 0 if not e Preset Select 4 8 if active 0 if not e Preset Select 5 16 if active 0 if not e Preset Select 6 32 if active 0 if not If a Preset Select is not assigned to a digital input the Preset Select is considered inactive The drive uses only the Preset Select 1 2 and3 binary values yielding values 1 7 when the drive s Operation mode is set to Preset Position Preset Velocity Preset Current and Preset Follower Gearing Ratio The drive uses all six Preset Select binary values yielding values 0 63 when the drive s Operation mode is set to Indexing There are no commands associated with the Digital Inputs parameter window This window has the following parameters and statuses Drive Digital Inputs Drive Digital Inputs Input 1 Description Select the drive s digital input assionments p g p g FEO 2A FeO E Unassigned CoS Alternate Gain ane Se Alternate Gain Select G SEL Ft 0 13 Digit2 Curent Tl Te Cnet iT E E A Ce limi 1 Ft 0 11 Digit1 Negative l Drive Enable SV ON Range Fault Reset A RST Ft 0 11 Digit0 Integrator Inhibit Integrator Inhibit P CON Operation Mode Operation Mode Override C SEL Override Overtravel Negative Over travel N OT Ft 0 10 Digit2 Posit
24. SP2 gt lt C SP3 gt sequence input signal is not allotted it is PIN Warning Digital IO Assignment RSWare User Manual Examining the CSD5 Drive Interface 123 displayed PRE Warning There may be a time of motor rotating It only occurs in the event of Absolute Encoder serial of Q E Power Up for over 100 RPM when main power is Type And when the resolution of 1 rotation data is 17bit it Overspeed ON automatically disassembled PRE Warning Power Up Overspeed It occurs when motor power is set eUse a motor suitable to the drive or set the torque limit below higher than the drive rated output the drive capacity Customize the Faults window for your CSD5 Drive branch by selecting one or more of the following buttons e Toggle the Show Status selection to display or hide the Status pane e Toggle the Show Commands selection to display or hide the Commands pane e Click on the Setup button to open the Monitor Setup window where you can customize the status display for this window e Click on the Revert button to return parameter settings to the values they held when you opened this window Understanding the Service Information Window The Service Information window looks like this f Drive Service Information lo amp z pve moder CS05_02exT Firmware Version 1 10 erin version o WV Show Status chew Commend Setup Revert Close Help Use the Service Information
25. Unmapped IO Status 1 4 0 Reset multi tur S e Encoder R ABS 0x0 g Absolute Po sition 0 Reset multi turn data of Absolute Encoder R ABS 0x0 OFF 1 Gain Bank Select BANK SEL 0x0 OFF Transfer Mode 2 Analog Current Limit A CL 0x0 OFF 3 Absolute Position Transfer Mode ABS MD 0x0 OFF Applicable All Operating Mode When Enabled Servo Off gt Setting Ft 0 15 Digit2 Please refer to the above content Current Limit Analog Current Limit A CL 7 Analog Note This parameter is only added for CSD5 Drive eee Start Indexing Applicable All RSWare User Manual 92 Examining the CSD5 Drive Interface Operating Mode When Enabled Servo Off gt Setting rare reer TON ere i cee eT ae eo eo eo eS orn pen Se eS ee Digit1 Digit2 Digit3 Digit0 Ft 0 13 DigitO Ft 0 13 Digit3 Ft 0 14 Digit1 Ft 0 14 eo eS l eo m Overtravel Positive Positive Over travel P OT Ft 0 10 Digit1 Pause Follower Pause Follower INHIBIT Ft 0 13 Digit1 Reset Multiturn Data Reset multi turn data of Absolute Encoder R ABS Ft 0 15 Zeto Speed Clamp Drive Digital Inputs Input 5 Description Select the drive s digital input assignments Position Strobe Position Strobe ABS DT Ft 0 14 Digit0 Velocity Direction Preset Direction C DIR Enable Zeto Speed Clamp Enable Z CLP Position Clear Position clear PCLR ei FOZ Preset Select 1 Preset Select 1 C SP1 Ft 0 12 Moving
26. and an off line drive However you can monitor statuses and execute direct commands Le RSWare User Manual Examining the CSD5 Drive Interface 47 executed through the RSWare interface only for a Analog window that is the child of an on line drive The following status is displayed by default for an Analog window of an on line drive Status Description Analog Command Velocity External Analog Velocity Command Analog Command Current External Analog Current Command Command Velocity Actual Velocity Command Command Current Actual Current Command The following commands can be executed for an Analog window that is located in the On Line Drives branch Commands Description This command automatically measures the existing offset of the Analog Command Input and resets the Velocity Offset value to eliminate the offset Remove Velocity Input Offset This command automatically measures the existing offset of the Analog Command Input and resets the Current Offset value to eliminate the offset Remove Current Input Offset Save parameters Save parameters Customize the Analog window for your CSD5 Drive branch by selecting one or more of the following buttons e Toggle the Show Status selection to display or hide the Status pane e Toggle the Show Commands selection to display or hide the Commands pane e Click on the Setup button to open the Monitor Setup window as shown on page 112 where you can customize
27. for Displayed Units above this is the user defined conversion factor used to convert velocity values relating to the motor encoder into user units In Counts per second per User Unit Parameter we OoOo Applicable Operating Mode When Immediatel Enabled es a Drive Motor Encoder Units Acceleration Label When User is selected for Displayed Units above this is the user defined label for acceleration values relating to the motor encoder Limited to 16 characters in length Description Parameter Units Applicable Operating All Mode When Enabled Immediately Drive Motor Encoder Units Acceleration Label When User is selected for Displayed Units above this is the user defined conversion factor used to convert esctiptio acceleration values relating to the motor encoder into user units In Counts per second squared per User Unit Parameter Revs s 2 per User Units Applicable Operating All Mode When Immediatel Enabled Fr secre Drive Stopping Functions Drive Stopping Functions Over Travel Stop Method Description Set stopping current with Over travel Current limit parameter F0 02 Digi RSWare User Manual Examining the CSD5 Drive Interface 41 Stop the motor while continuing the normal torque control Dynamic Brake Stops at Dynamic Brake in the mode selected Applicable Operating All Mode When Enabled Servo Off gt Setting Drive
28. of all on screen from the Help menu object RSWare Help Navigate the help files using Object property configuration the Table of Contents the settings Index and the Search tabs How to information Hither Click on a Help button in For help about the selected object Context Sensitive Help the active window or Select an on screen object press F1 Local Product Support Contact your local RS Automation representative for e Sales and order support e Product technical training e Warranty support e Support service agreements Technical Product Assistance If you need to contact RS Automation for technical assistance please review the information in this manual or in the Online Help file first Then call your local RS Automation representative For the quickest possible response we recommend that you have the catalog numbers of your products available when you call Introduction Chapter Overview Understanding the RSWare Interface RSWare User Manual Chapter 1 Before You Begin RSWare is a Windows 2000 XP Vista Windows 7 application by RS Automation that provides a complete setup for the CSD5 and KNX3 drives Use RSWare to e Communicate with multiple CSD5 and KNX3 drives using your PC s serial port e Adjust the drives feedback loop gains and parameters for the specific motors and loads e Define the drives motion capabilities by selecting the operating modes for the CSD5 or KNX3
29. this calculation The Preset window has no associated statuses or direct commands The Preset window has the following parameters Drive Mode Configuration Preset Drive Mode Configuration Preset Preset Velocity 1 e Sets each contact speed commands for contact speed control mode e The operation speed should be entered in advance into the relevant parameters lt C SP1 gt lt C SP2 gt lt C SP3 gt e According to combination of the sequence input signals lt C SP1 gt lt C SP2 gt lt C SP3 gt operation at Description 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 F205 RSWare User Manual Examining the CSD5 Drive Interface 49 OO Applicable Operating Preset Mode wee ian diatel Enabled pee Table Rotational speed depending on signals lt C SP1 gt lt C SP2 gt lt C SP3 gt Preset Velocity Stop Command Preset Velocity 1 Preset Velocity 2 Preset Velocity 3 Preset Velocity 4 Preset Velocity 5 Preset Velocity 6 Preset Velocity 7 Parameters lt C SP3 gt lt C SP2 gt lt C SP1 gt O rpm 0 Ft 2 05 0 Ft 2 06 0 Ft 2 07 0 Ft 2 08 1 Ft 2 09 1 Ft 2 10 1 Ft 2 11 1 e DO D e e oO D e O Aea O e Oee OO Beate oo o oooO Ap
30. window for Motors of CSD5 Drive and KNX3 Drive are not same The below is an illustration of CSD5 Drive a Parameter vawe unts Retresh Data _ Auto Motoriden ev Save Parameters _ MotorModel csmT 0486R inertia Ratio 100 Load Motor we WS i F Yri Ade gt ee re ee OY status vanwe Units General V Show Status V Show Commands Setup _ Revert Clase Hep Use the Motor window to e Select a motor for the associated on line or off line CSD5 drive Once you select a motor the status values associated with the selected motor appears in the Status pane of this window e Monitor the statuses that relate to the selected motor The following parameters statuses and commands apply to motors Select the type of homing operation the drive will perform RSWare User Manual 68 Examining the CSD5 Drive Interface wa Deseo ae Causes the drive to read motor parameters Disabled from a Motor Model selected below Enabled Causes the drive to read motor parameters id from an intelligent encoder Deae Dea Applicable Operating All Mode When Enabled Immediately Drive Motor Motor Model Only if Auto Motor Iden is disabled The model name of the selected motor Only listed motor models are valid Description Note RSWare ships with a Motor Configuration utility that lets you create custom motor configurations Use that utility to add customized motor selections to the Motor
31. window to e Display and monitor service information about the drive e Display the firmware version of the drive The following statuses apply to the Service Information window Status Description The model number of the drive This is the number you Drive Model selected from the Select New Drive dialog after executing the Insert CSD5 command RSWare User Manual RSWare User Manual Examining the CSD5 Drive Interface 123 The following statuses apply to the Service Information window Status Description The model number of the drive This is the number you Drive Model selected from the Select New Drive dialog after executing the Insert CSD5 command The version of the selected On Line drive s firmware in the format XX YY where XX major revision YY minor revision Firmware Version The version of the selected On Line drive s CPLD in the format X YY where X major revision YY minor revision CPLD Version Customize the Service Information window for your CSD5 Drive branch by selecting one or more of the following buttons e Toggle the Show Status selection to display or hide the Status pane e Toggle the Show Commands selection to display or hide the Commands pane e Click on the Revert button to return parameter settings to the values they held when you opened this window Publication RSWare EN July 2011 RS Automation Co Ltd www rsautomation biz RS Automation Building 348 2 Jinwi In
32. within the Workspace window The drag and drop method combines the Cut Copy and Paste commands as follows e the drag and drop method copies a Workspace window branch or item that can be both copied using the Copy command and pasted using the Paste command e the drag and drop method moves a Workspace window branch or item that can be both cut using the Cut command and pasted using the Paste command To use the drag and drop method to copy a Workspace window branch or item 1 Place the cursor arrow on a Workspace window branch or item that can be copied and hold down the left mouse button 2 Drag the selected Workspace window branch or item to the desired destination One of two things happens e If the item can be copied the pointer continues to appear as an arrow and a plus sign appears to the right of the arrow for as long as you continue drag the item over a place in the Workspace window where it may be dropped e If the item cannot be copied or if you are dragging the item over a part of the Workspace window where it may not be dropped the arrow is replaced by a circle with a line through it 3 Release the mouse button when you arrive at the Workplace window location where you want to copy the Workspace window branch or item The result is the same as if you had Copied then Pasted it to this location To use the drag and drop method to move a Workspace window branch or item 1 Place the cursor arrow on a Wo
33. 9 F027 Position Strobe Position Strobe ABS DT Ft 0 14 Digit0 Select Value Unassigned Ft 0 12 Digit0 a Gain Alternate Gain Select G SEL Ft 0 13 Digit2 Current limit a See Positive Positive Current Limit P TL Ft 0 11 Digit2 Current Limit l a m Negative Negative Current Limit N TL Ft 0 11 Digitl Drive Enable Drive Enable SV ON Ft 0 10 Digit0 Fault Reset Fault Reset A RST Ft 0 11 DigitO Integrator Inhibit Integrator Inhibit P CON Ft 0 10 Digit3 Operation Mode Operation Mode Override C SEL Ft 0 11 Digit3 Override Overtravel Nesative Negative Over travel N OT Ft 0 10 Velocity Direction Preset Direction C DIR Range Preset Select 1 Preset Select 1 C SP1 Ft 0 12 Digit1 Preset Select 2 Preset Select 2 C SP2 Ft 0 12 Digit2 Preset Select 3 Preset Select 3 C SP3 Ft 0 12 Digit3 Reset Multiturn Data Reset multi turn data of Absolute Encoder R ABS Ft 0 15 Digit0 o VE E E E CLP Ft 0 13 Digit0 Position Clear Position clear PCLR Ft 0 13 Digit3 Moving Enable Motor Moving Enable START Ft 0 14 Digit1 Analog Speed Cee ada ie Analog Speed Command Select C SP4 Ft 0 14 Digit2 oe Ce 2nd Electronic Gear Bank Selection GEAR Ft 0 14 Bank Selection Home Sensor Ft 0 16 Start Homing Ft 0 16 Stop Indexing Ft 0 16 Pause Indexing Ft 0 16 Index Select0 Input Ft 0 17 Index Select1 Input Ft 0 17 Index Select2 Input Ft 0 17 Index Select3 Input E ea m eos E eo eq eo m m Ll Digi
34. Delay and Brake Inactive Delay Within Speed window V COM An active output Within Speed state indicates that the velocity error is less than the es window P In Speed Window a the CSD5 drive D ee window Current Limited T LMT An active state indicates Current Limited the drive s current is being limited as set in the Ft 0 23 Digit0 Drive window Velocity Limited V LMT An active state indicates Velocity Limited the drive s velocity is being limited as set in the Ft 0 23 Digit1 Drive window Servo drive ready An active state indicates the drive as is operational and does not have a fault 25 Digt Applicable All Operating Mode When Enabled Servo Off gt Setting Drive Digital Outputs Brake Inactive Delay Description The time delay between disabling the drive and deactivating the Brake output which applies the motor brake Parameter Ft 5 06 Range O 10000 RSWare User Manual 108 Examining the CSD5 Drive Interface Applicable Operating Mode When Enabled Servo Off gt Setting Drive Digital Outputs Brake Active Delay The time delay between enabling the drive and activating the Brake output which releases the motor brake F509 Applicable Operating Mode When Enabled Servo Off gt Setting The following statuses are displayed by default for an CSD5 Drive in the Digital Outputs window Status Description The current state or condition of each digital output is depict
35. Mode When Drive Mode Configuration Indexing Index0 63 Setup Next Index The number 0 63 of the next indexed move to execute when Action When Complete is not set to Stop Dew oo oooO we Eoo Applicable RSWare User Manual 58 Examining the CSD5 Drive Interface Moe When Drive Mode Configuration Indexing Index0 63 Setup Action When Complete The drive s action when the index has completed IN02 00 IN02 63 Digit 1 Sia Ends the execution of indexed move commands 0x0 i default setting j ENEE E fe Commands execution of the Next Index move without 0x1 additional input but after the scheduled Dwell Commands execution of the Next Index move the next Wait for Start i i 0x2 time the Start Index input becomes active Default Stop Applicable Operating Indexing Mode When The following statuses can be displayed from a Indexing window of an on line drive Status Description ON indicates the motor is moving in response to an indexed motion In Motion oa Note The In Motion status has a value of 1 when ON and 0 when OFF ON indicates the motor is holding position and waiting the commanded dwell time In Dwell Note The In Dwell status has a value of 1 when ON and 0 when OFF ON indicates that the homing routine has completed Axis Homed Note The Axis Homed status has a value of 1 when ON and 0 when OFF The following command can be executed from a Indexing window of an on line
36. Model list by clicking on the Start button then selecting Programs OEMax Software RSWare and Motor Configuration from the pop up menus Parameter Fe 001 Set three items of the motor motor type motor rated output and encoder type echeck the model name on the motor nameplate Press Up Down arrow keys alphabetic and numeric characters representing each mode is displayed The following figure is an example of the nameplate on the motor Refer to the following figure to set the predefined place for each items ojl B lA lA lAIN 3 Motor rated output Encoder Type Setting Value Dea Applicable Operating Mode When Enabled Servo Off gt Setting gt After power cycle Drive Motor Inertia Ratio Load Inertia Motor Inertia Parmer Pe004 Be po ooo Load inertia Motor inertia Applicable Operating Mode When Enabled Immediately The following statuses are displayed by default for the Motor branch of an on line drive RSWare User Manual Status General Motor Flag Motor Type Torque Constant Inertia Poles Revolution Integral Limits Electrical Rated Voltage Resistance Inductance Ratings Maximum Speed Intermittent Current Continuous Current Feedback Encoder Commutation Hall Input Offset RSWare User Manual Examining the CSD5 Drive Interface 69 Description Either Automatic indicates the drive automatically deter
37. N TL Ft 0 11 Digit1 Range ibit P eo Drive Enable Drive Enable SV ON Ft 0 10 Digit0 Fault Reset Fault Reset A RST Ft 0 11 DigitO es m m Lene bed Le Integrator Inhibit Integrator Inhibit P CON Ft 0 10 Digit3 Operation Mode Operation Mode Override C SEL Override Overtravel oe Negative Over travel N OT Ft 0 10 On e Fi0 10 Digiti Pause Follower Ft 0 13 Digit Position Strobe Ft 0 14 Digit0 Velocity Direction Ft 0 12 Preset Select 1 Ft 0 12 Preset Select 2 Ft 0 11 eo s Digit3 ee b l es aal Digit2 m m m Digit0 Digit1 Digit2 eo eS Ft 0 12 eo a RSWare User Manual Examining the CSD5 Drive Interface 97 Preset Select 3 Preset Select 3 C SP3 Ft 0 12 Digit3 Reset Multiturn Data Reset multi turn data of Absolute Encoder R ABS Ft 0 15 Digit0 A SPO E a enable AE Ft 0 13 Digit0 Position Clear Position clear PCLR Ft 0 13 Digit3 Moving Enable Motor Moving Enable START Ft 0 14 Digit1 Analog Speed T Comrad aoe Analog Speed Command Select C SP4 Ft 0 14 Digit2 ene rome E E aniaselecuan ED Ft 0 14 Digit3 Bank Selection Index Select1 Input Index Select 1 Inputd SEL1 Ft 0 17 qq eo q m a ee eo re e f ee ial Ft 0 16 Ft 0 16 Ft 0 16 eo m m Pause Indexing Pause Indexing PAUSE Index Select0 Input Index Select 0 Inputd SELO Digit3 Digit0 Digit1 Digit2 Digit3 Digit0 Digi
38. Preface Read this preface to familiarize you with the rest of the manual This preface covers the following topics Introduction Who Should Use this Manual Conventions Used in this Manual Related Documentation Using Online Help RS Automation Support Use this manual when RSWare Version1 2 1 is used to configure and operate CSD5 Firmware Ver1 21 and KNX3 Firmware Ver1 10 drives Where to Find Help You can find help for RSWare in both this User Manual and Online Help The following conventions are used throughout this manual Bulleted lists provide information not procedural steps Numbered lists provide sequential steps Words you type or select and keys that you press appear in bold These publications provide additional information To obtain a copy contact yout local RS Automation office or distributor or access the documents on line at www tsautomation co kr or http www tsautomation biz Using Online Help RS Automation Support RSWare User Manual Preface 7 For information about Read this document Publication Number Information on the installation CSD5 Servo Drive Installation CSD5 IN001 of your CSD5 servo drive Instructions Information on the motors SMOTOR Pe together with CSD5 servo Servo Motor User Manual UM002 CSD5 User Manual CSD5 User Manual CSD5 UMO001A The following types of online help are available To use this Dothis Description Select Contents and Index Descriptions
39. QZ Servicelnto Workspace window The Workspace window is located by default beneath the menubar and toolbars and above the Status Bar Use the F7 key to return focus to the Workspace window The Workspace window has two main branches Branch Description of Display ee ae All connected on line drives and their child objects branch RSWate File All configured off line CSD5 and KNX3 drives their child branch objects 10 Before You Begin RSWare User Manual Use the Workspace window to navigate to all of the connected on line and off line objects and perform the following tasks e Create new Drive e Cut Copy Paste and Delete selected Workspace window objects e Open the Properties dialog box for selected Workspace window objects You can resize and move the Workspace window in several ways e With the Workspace window in its default state 1 e attached to the RSWate interface you can double click on the Workspace window s title bar to detach it from the RSWare interface e Once detached the Workspace window possesses all the properties of any window It can be resized or moved entirely outside the RSWare interface e To return the Workspace window to its default position just double click on its title bar To hide the Workspace window de select the Workspace selection in the View menu Client Area The Client Area is the large gray area located by default beneath the menubar and toolbars and to the
40. S9 mm H E Aec Co H Po 5 Ea aei E fu CE NEAREEC e Click the right mouse button and select Properties from the pop ip menu e Double click on the selected drive branch A properties window such as the Drive Properties window display below appears for the selected branch Note The Properties window of CSD5 Drive and KNX3 Drive are not same The below is an illustration of CSD5 Drive Override Follower None 3 To configure properties for the selected drive branch use the features of the Properties window as follows Section Description Located in the upper left part of the Properties window Parameters Type or select values in the parameter fields to configure the settings of the selected drive branch Located in the upper right part of the Properties window Click a button to issue the associated command Select show Commands below to display command buttons Not every drive branch has associated commands Commands Examining the CSD5 Drive Interface 27 Located beneath the Parameters and Commands sections By default these fields display the on line status of the selected drive branch Click on Setup to open a window where you can customize the statuses to be displayed Status i fields are read only Select Show Status to display the status section Note Status values for off line drives may not be meaningful Show Status Select this to display statuses for the selected drive branch
41. Select this to display commands for the selected drive branch Show Commands can be executed only for on line drives This Command selection is grayed out if no commands are associated with the selected drive branch Opens the Monitor Setup window where you can customize TE the Statuses that are displayed P Refer to Understanding the Monitor on page 111 for more information about using the Monitor window Click this button to return parameter settings to the values Revert D they had when you first opened this window Close Closes the window Help Click this button to get online help for this window The remainder of this chapter describes the process of entering and editing drive configuration settings the statuses that are displayed by default for each drive branch when the drive is on line and the commands available to a user for each drive branch when the drive is on line CSD5 Drive Branch The Properties window for the CSD5 Drive branch looks like this Note The Properties window of CSD5 Drive and KNX3 Drive are not same The below is an illustration of CSD5 Drive RSWare User Manual 28 Examining the CSD5 Drive Interface RSWare User Manual _ AS Leo yw oOo T x t J moi at t 7 ck on pioi fy JE gt TVRs as om Se 5 Ef Bal 7 i z4 i i im H Jj me JE Cur 1m ja iL Pes j _ Neg JE Ee j en jm 7 TE j egi JES E TE HEE 1L S JEM 5 Posi B TA THE H A HE TE
42. Stopping Functions Maximum Stopping Current eLimits the torque imposed on the motor if the motor is halted by overtravel lt P OT gt lt N OT gt input signal during rotation Description E NE l eUnlike external and internal torque limit the torque limit value for overtravel input is same for forward and reverse direction Applicable Operating All Mode When Enabled Immediately Drive Stopping Functions Fault and Disable Braking Set the Dynamic Brake DB stop method Ft 0 02 Digit 0 Brake and hold DB stop is maintained even after the complete stop Pea E DB Stop DB operation is released after the complete Range stop The DB is not used but free run stop Free stop and hold Free run stop DB operation is maintained after the complete stop Baked bol Applicable Operating All Mode When Enabled Servo Off gt Setting Drive Stopping Functions Disable Delay Disable Delay is the time from when Drive Disable command is received to when the Drive Disable command Description is actually executed Dew o ooo Applicable Operating All Mode Servo Off gt Setting RSWare User Manual 42 Examining the CSD5 Drive Interface Embed Drive Stopping Functions Braking Application Speed or The Braking Application Speed is the feedback speed below which the motor break is engaged after disabling Description ed Applicable Operating Mode When Enabled Servo Off
43. Timeout 60 Use the Homing window to configure the type of homing operation the drive performs Note Homing operations are performed by issuing the Start Homing command from the Indexing Control Panel Homing has no associated statuses Except for Copy and Paste it just has a Save Parameters command Note A homing operation is performed by issuing the Start Homing command in the Indexing Control Panel The following parameters apply to Homing Drive Mode Configuration Indexing Homing Homing Type Select the type of homing operation the drive will perform INO The position when a Start Homing signal is inputted becomes the new home If the Auto Start Homing function is enabled the position when the drive is enabled becomes the new home After the active going edge of the sensor is detected the drive immediately reverses motor direction and looks for the inactive going edge of the sensor After the inactive going edge of the sensor is detected the drive looks for the market After the marker is detected the drive moves the motor the Offset Move Distance from the marker reversing if necessary The final position becomes the new Home position The Homing Velocity is used for the initial sensor search After the motor decelerates to a stop when it finds the active going sensor edge the Creep Velocity is used for all the remaining motion This homing procedure is the same as the To Home sensor Ba
44. Unassigned Unassigned ss O Within position window Up to speed Within Speed window Current Limited Velocity Limited Within position window P COM An active output state indicates that the position error has been less than the Position Functions In Position Size setting for longer than the Position Functions In Position Time setting in the CSD5 Drive window Up to speed TG ON An active output state indicates motor velocity feedback is greater than the Up to Speed setting in the CSD5 Drive window Brake control BK Used to control a motor brake An active state releases the motor brake The Brake signal is the same as the Drive Enabled signal with the addition of the turn on and turn off delays specified by the Brake Active Delay and Brake Inactive Delay Within Speed window V COM An active output state indicates that the velocity error is less than the In Speed Window setting in the CSD5 drive window Current Limited I LMT An active state indicates the drive s current is being limited as set in the Drive window Velocity Limited V LMT An active state indicates the drive s velocity is being limited as set in the Drive window Ft 0 22 Digit0 Ft 0 22 Digit Ft 0 22 Digit2 Ft 0 22 Digit3 Ft 0 23 Digit0 Ft 0 23 Digit With Near Window Near position NEAR Ft 0 23 Digit2 Warning WARN Ft 0 23 Digit3 a positon Absolute position valid A VLD Ft 0 24 Dig
45. a drive 1 Select a drive branch 2 Do one of the following e Select Export from the File menu or e Place the cursor over the select drive branch click the right mounse button and select Export from the pop up menu The Export to dialog box opens Export To ES Saves AS Ware v jes ga S MonitorCSD5 A MonitorKN x3 Templ Temp Tempe New Project uxt File name sy Save as type User data exchange File uxf Cancel 3 Inthe Export To dialog box type or select a name for the drive Common Command for RSWare Drive Congifuation 19 4 Navigate to a location to which the file should be exported 5 Click Save The exported file is saved as an User data eXchange File with an uxf extension Importing a Drive 1 To Import a previously exported drive 2 Either e Select Import from the File menu or e Place the cursor over the selected RSWare File click the right mouse button and select Import from the pop up menu The Import From dialog box open Save ASWare gt a EE z MonitorCSD5 MonitorKNX3 Tempo Temp c Tempe fe New Project uxf Filename of Save as type User data eXchange File uxf x Cancel 3 Inthe Import From dialog box navigate to and select the User data eXchange File uxf that contains the desired drive settings 4 Click Open RSWare displays the imported drive in the off line RSWare file Working in the Workspace Window You can
46. able Operating All Mode When Eaabi d Servo Off gt Setting gt After power cycle Drive Command Polarity Direction of Motor Rotation Parameter Ft 0 02 Digit 2 Vaa The command signal is not inverted so that a positive Range command value results in CW Rotation as viewed from shaft end The command signal is inverted so that a positive command value results in CCW Rotation as viewed from shaft end Default Normal Applicable Operating All Mode RSWare User Manual 30 Examining the CSD5 Drive Interface When Enabled Servo Off gt Setting Drive Displayed Units Description Select a unit of measure for position velocity and acceleration displays Description units for rotary motors are counts position RPM velocity revs sec acceleration units for linear motors are meters position meters sec velocity and meters sec acceleration units for rotary motors are counts position RPM velocity tevs sec acceleration units for linear motors are inches position inches sec2 velocity and inches sec2 acceleration User displays measurements in terms defined by the user in the e Units section Default Metric Applicable Operating All Mode When Enabled Servo Off gt Setting Drive Operation Modes Main Override Select the combination of operation modes to be used when the Operation Mode Override digital input is Description active or inactive
47. alog window to e set Analog Velocity Current and Command Input drive parameters for an on line or off line drive e monitor the status of the incoming Analog Command for an on line drive and e execute commands that remove Velocity Current and Input Offsets for an on line drive These parameters govern drive operations when the Operating Mode is set to Analog Velocity Input or Analog Current Input in the window RSWare User Manual 46 Examining the CSD5 Drive Interface Drive Mode Configuration Analog Drive Mode Configuration Analog Velocity Scale e Sets the speed command value rpm for the analog speed command input pin Pin 19 20 of I O ean RPM V for rotary motors mm sec for linear motors Applicable e Speed command rpm Ft 2 00 rpm V x Input voltage V Operating Mode When Enabled Servo Off gt Setting Drive Mode Configuration Analog Current Scale e 0 3 Set the speed command value for 1 V on the analog torque command input pin pin 21 22 of I O Analog Velocity e Torque command Ft 4 00 V x input voltage V Applicable Operating Analog Current Command Dual Current Command Mode Parameter J s O Daw 00 Applicable Analog Velocity Command Operating Mode Enabled ames oT 10 000 10 000 Delage 00 Applicable Analog Velocity Command Operating Mode When Servo Off gt Setting Enabled You can edit Analog parameters for both an on line
48. amining the CSD5 Drive Interface 65 Active Going Transition Active Going Transition Inactive Going Transition Inactive Going Transition Applicable Operating Indexing Mode When Enabled Power Cycling Drive Mode Configuration Homing Home Position Description The home position when a homing procedure is completed INGLOT 2 147 483 647 2 147 483 647 Baa pooo Applicable Operating Indexing Mode When Enabled Disable drive Drive Mode Configuration Homing Creep Velocity For the To Sensor then Back to Marker Homing Type the velocity used for all remaining homing motion after Description the motor decelerates to a stop when it finds the sensor edge INOI OS RPM for rotary motors mm sec for linear motors Applicable Operating Indexing Mode When Enabled Disable drive Drive Mode Configuration Homing Home Current Specifies the torque feedback at which the drive stops moving the motor at the Homing Velocity Description i Unit Percentages of a motor rating torque Applicable Operating Indexing Mode When i Enabled Disable drive Drive Mode Configuration Homing Moving Distance After Home Sensor This value is distance that the drive ignores the marker inputs after the home sensor is detected INO Beate ooo Applicable Operating Indexing Mode RSWare User Manual 66 Examining the CSD5 Drive Interface When Enabled Disable drive Drive
49. an Uninterruptible Power Supply UPS to the AC input Before activating the drive turn on the main power Increase the time assigned in Homing Time Limit IN 01 11 Set the value other than 0 in Homing Velcoity IN 01 02 and Creep Velcoity IN 01 03 eCheck for an obstruction in homing eCheck the homing related parameter setting and mechanical parts 120 Examining the CSD5 Drive Interface is run by the external mechanical power Excessive AC input voltage eCheck the specifications of the input Increase the time assigned in Homing Time Limit IN 01 11 eSet the value other than 0 in Homing Velocity IN 01 02 and Creep Velocity IN 01 03 eCheck for an obstruction in homing eCheck the homing related parameter setting and mechanical parts eCheck the wiring of the encoder 18 Motor Meraapeed E T eRetune the drive system Overspeed Fault l eCheck the input gain of the torque or the external speed command Error Fault the allowed value eCheck the position loop tuning 22 Motor eDecrease the acceleration rate COn ae Occurs when the internal filter that eDecrease the duty cycle ON OFF of the motion assigned C protects the motor from overheating Increase the time for the motion allowed urrent Overload l ie l Fault trips eUse a drive or motor with bigger capacity eCheck the tuning eDecrease the acceleration rate Occurs when the drive average current Decrease the duty cycle ON OFF of the motion assig
50. aster Position Follower Position Position Error Position Command Count Frequency Velocity Command Velocity Feedback Velocity Error Curremt Command Current Feedback U Phase Current V Phase Current W Phase Current Commutation Angle Mechanical Angle Shunt Power Limit Ratio instantaneous Shunt Power Drive Utilization Absolute Rotations Bus Voltage Velocity Command Offset Current Command Offset Motor Utilization Analog Command Velocity Analog Command Current Digital 1 0 OF Cancel Note Digital I O option is added only for CSD5 Use this window to e Assign a specific Input Signal to the selected Channel in the Oscilloscope window for an CSD5 drive or e Assign no Input Signal to the selected channel in the Oscilloscope window for an CSD5 drive Much like the Monitor window this window allows you to customize the display for the selected on line CSD5 drive The window displays a tree diagram with all the statuses that can be monitored for the selected drive To assign a specific input signal or status to the selected channel 1 Open the tree control to the desired branch by clicking on one or more plus signs 2 Place a check mark in the box next to the desired input signal or status Understanding the Faults Window RSWare User Manual Examining the CSD5 Drive Interface 117 3 Click OK The selected input signal appears in the selected Channel in the Oscilloscope window To assign no inp
51. ault 1 Applicable Operating All Mode When Enabled Drive Command Polarity Immediately Description Select the motor s rotation direction Parameter Ft 0 02 Digit 2 Valu The command signal is not inverted so that a positive Range Normal command value results in CW Rotation as viewed from 0x0 shaft end The command sional is inverted SO that a positive command value results in CCW Rotation as viewed from shaft end Default Normal Applicable Operating All Mode Servo Off gt Setting RSWare User Manual 34 Examining the CSD5 Drive Interface Embed Drive Communications Baudrate Select a baud rate for the drive Description Note This parameter is supported for CSD5 drive There are two types of Baudate for KNX3 Drive RS 485 Port Baudrate and RS 232C Port Baudrate should be selected respectively Ft 0 09 Digit 0 Range 1 9200bps 19200bps 19200bps i Applicable Operating All Mode When Enabled Drive Communications Frame Format Select the drive s communications port packet framing format Fe 00 Digi 8 Data Odd Parity 1 Stop bit 8 Oda 1 Range 8 Data Odd Parity 2 Stop bit 8 Odd 2 8 Data No Parity 1 Stop bit Applicable Operating All Mode When Immediatel Enabled secu Drive Communications Protocol Ft 0 09 Digit 2 Applicable Operating All Mode ees feamnedintel Enabled ERARE RSWare User Manual
52. ays a tree diagram with all the statuses that can be monitored for the selected drive 3 Place a check mark in the checkbox to the left of a status item to monitor it Note e Ifyou place a check mark beside a parent item all its child items become checked and their statuses are displayed e Ifyou remove a check mark from a parent item check marks are removed from all its child items and their statuses are not displayed e If you place a check mark next to some but not all child items the parent item is checked but grayed Note The Properties window for Motor Setup of KNX3 and CSD5 are different The below is an illustration of CSD5 Drive 112 Examining the CSD5 Drive Interface Arnritar Cant Monitor Setup Drive a B Drive Status Analog Command Velocity Analog Command Current Bus Voltage Enabled Commutation Angle Mechanical Angle Absolute Rotations Fault Warning Firmware Version Motor Utilization Current Operating Mode Drive Utilization Brake State a o Position Signals O Motor Feedback Position Master Position Follower Position Error Position Command Count Frequency Negative Overtravel Positive Overtravel Absolute Position Valid Within Near Window Velocity Signals Current Signals Encoder Signals Digital Inputs Digital Outputs Power Status Faults Mode Configuration Cancel SORSSSRDOSRRENS 4 After you have finished selecting the statuses you wish to monitor s
53. box Parameter Ft 2 01 Range 0 6000 Default 50 Units RPM for rotary motors mm sec for linear motors Applicable Operating All Mode When Enabled Immediately The following commands can be executed from the Velocity Control Panel window of an on line drive RSWare User Manual Examining the CSD5 Drive Interface 45 Commands Description Jog Forward Move forward direction Jog Reverse Move reverse direction Jog Enable Enables the power stage of a drive Jog Disable Disables the power stage of a drive Customize the Velocity Control Panel window for your CSD5 Drive by selecting one or more of the following buttons e Toggle the Show Commands selection to display or hide the Commands pane e Click on the Revert button to return parameter settings to the values they held when you opened this window Understanding the Analog Window The Properties window for the Analog branch looks like this Note The Properties window for Analog of CSD5 Drive and KNX3 Drive are not same The below is an illustration of CSD5 Drive Drive Analog 5 xj Parameter__ Value Remove Velocity input Offset Velocity Scale 3900 0 He i A c th tOtset teaerant Stale 33 3 3 motor rated cont currenvVolt L Remove Current input offset Velocity Command Ofset4z1 ay oo o o OOOO o SovePoromoters Current Command Offset 10 0 imV janaiog Gol Analog Com Command Velocity Command Current Use the An
54. ck to Market only except that the physical overtravel is used instead of home sensor input The Home to Present eu 0x0 Position Range To Home sensot Back to Ox1 Marker To Limit Back to 0x2 Marker i physical overtravel fault is disabled while homing RSWare User Manual Examining the CSD5 Drive Interface 63 After the active going edge of the sensor is detected To Home the drive looks for the marker After the marker is sensor Fwd to detected the drive moves the motor the Offset Move Marker Distance from the marker reversing if necessary The final position becomes the new Home position The homing procedure is the same as the T o Home To Limit Fwd to sensor Fwd to Marker only except that the physical Marker overtravel is used instead of home sensor input The physical overtravel fault is disabled while homing The drive moves the motor at the Homing Velocity until the feedback current reaches the Home Current Home to Current Value After the Home Current Value is hit the drive Value immediately stops the motor motion and moves the Offset Move Distance reversing if necessary The final position becomes the new Home position After the Home Current Value is reached the drive immediately reverses motor direction and looks for the marker After the marker is detected the drive moves Home to Current the motor the Offset Move Distance from the marker 0x6 Value Back to Marker reversing if necessary Th
55. coder Output Phase A have a Range ena lead of 90 over Phase B During Forward Rotation Encoder Output Phase B have a B Leads A a a Applicable Operating Follower Mode When Enabled Servo Off gt Setting Drive Encoders Output Ratio RSWare User Manual Examining the CSD5 Drive Interface 85 First number Denominator of Position output pulse adjustment Second number Numerator of Position output pulse adjustment 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 Ft 3 03 the numerator of the encodet s output divider ratio is entered Generally the number of pulses Description to be output at 1 motor rotation is entered e At Ft 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 Ft 3 03 S Ft 3 04 has to be satisfied e For the No of output pulses per rotation to the higher level controller Ft 3 03 Ft 3 04 x of output pulses per rotation Output to higher level controller Ft 3 04 First number Ft 3 04 second number Output Counts Motor Counts Applicable Operating Mode When Enabled Servo Off gt Setting Drive Encoders Encoder Backup Battery Sets whether battery should be used when using serial absolute value e
56. d eCheck whether the motor supports an auto detection the interactive encoder cannot be 30 Encoder Cable Open Fault established eCheck the wiring of the encoder 31 Encoder Data Occurs when the encoder is not Occurs when the memory of the aa encoder is damaged Replace the motor RSWare User Manual Examining the CSD5 Drive Interface 121 eCheck if the cooling pan is working eCheck the tuning Decrease the acceleration rate Decrease the duty cycle ON OFF of the motion assigned eIncrease the time for the motion allowed Use a drive or motor with bigger capacity Occurs when the power is low Increase the instant outage compensation time Attempted to activate the drive without Ree l eBefore activating the drive turn on the main power 37 AC Line Loss turning on the main power Fault A phase is not connected eDisconnect the power and check all mechanical connections The alarm delay parameter is set too Ton YP Increase the Alarm delay parameter value 53 User Parameter An error exists in the parameter saved e nitialize the parameter Initialization Fault in the memory Reset the values of the drive to the factory settings 54 Current Feedback Offset Defective Hardware Replace the drive Fault Checksum Fault Reset the values of the drive to the factory settings 56 Watchdog Timeout Fault 57 PWM Defective Hardware Contact your nearest dealer Hardware Fault 58 Us
57. d be sure to first obtain a copy of the new firmware and any related instructions To upgrade firmware in the Firmware Upgrade dialog box 1 Select the drive for firmware upgrade from the list of On Line Drives If a drive name has been left blank it is identified as lt Drive gt 2 Enter the pathname of the new firmware file Either type in the pathname ot use the browse button marked with an ellipsis to navigate to the new firmware file The new firmware file must have an extension of hex 3 Select the Begin Load button RSWare informs you of firmware upgrade progress using both a progress bar and status messages You can cancel the firmware upgrade during the upgrade process by selecting the Cancel button However If you cancel the firmware upgrade while it is in progress the selected drive ceases to be functional Thereafter the selected drive can be used only to complete a subsequent firmware upgrade RSWare User Manual Chapter Overview Opening RSWare RSWare User Manual Chapter 2 Common Commands for RSWare Drive Configuration Use RSWare to configure both an on line and an off line drive You can configure an on line drive then copy or move it to an off line RSWare file or configure an off line drive in an RSWare file then copy and paste it onto an existing on line drive thereby overwriting the on line drive s settings You can also use RSWare s drag and drop functionality to accomplish the c
58. digital output 1 FEO FOZ RSWare User Manual Examining the CSD5 Drive Interface 101 Unassigned Unassigned o d y O Within position window P COM An active output state indicates that the position error has been less than the Position Functions In Position Within position Ft 0 22 Digit0 window Size setting for longer than the Position Functions In Position Time setting in the CSD5 Drive window Ft 0 22 Digit1 Up to speed TG ON An active output state Up to speed indicates motor velocity feedback is greater than the Up to Speed setting in the CSD5 Drive window Brake control BK Used to control a motor brake An active state releases the motor brake The Brake signal is the same as the Drive Enabled signal with o DiE the addition of the turn on and turn off delays Da specified by the Brake Active Delay and Brake Inactive Delay Within Speed window V COM An active output Within Speed state indicates that the velocity error is less than the window In Speed Window setting in the CSD5 drive window Current Limited I LMT An active state indicates Current Limited the drive s current is being limited as set in the Ft 0 23 Digit0 Ft 0 22 Digit3 Drive window Velocity Limited V LMT An active state Velocity Limited indicates the drive s velocity is being limited as set in Ft 0 23 Digit1 the Drive window With Near Window Near position NEAR Ft 0 23 Digit2 Wa
59. drive Customize the Indexing window for your CSD5 Drive by selecting one or more of the following buttons e Toggle the Show Status selection to display or hide the Status pane e Toggle the Show Commands selection to display or hide the Commands pane e Click on the Setup button to open the Monitor Setup window as shown on page 112 where you can customize the status display for this window e Click on the Revert button to return parameter settings to the values they held when you opened this window RSWare User Manual RSWare User Manual Examining the CSD5 Drive Interface 59 Indexing Control Panel The Properties window for the Indexing Control Panel looks like this amp Drive Indexing Control Panel boa Ss f Parameter Value Units Start Index Disable Drive Clear Faults 7 Show Commands etur Revert Close Help The Indexing Control Panel allows the user to select one of sixty four possible indexes and send direct commands to the selected drive Use the Indexing Control Panel window to e Start or stop the execution of an indexed motion command e Start or stop homing e Enable or disable a drive e Reset all drive faults The commands you execute override any motion commands originating from the drive s normal operation mode set in the CSD5 Drive window The Indexing Control Panel commands override the normal operation mode The motor moves in response to Indexing Control Panel comma
60. dustrial Complex Cheongho ni Jinwi myeon Pyeongtaek si Gyeonggi do Korea zip code 451 862 T 82 31 685 9300 F 82 31 685 9500 RS Automation Global Business Support rsagbs rsautomation biz SS El Ree TF To RL vs a ee LM 348 2RSB AIS ABA 451 862 T 82 31 685 9300 F 82 31 685 9500 RSA WILE PH rsagbs rsautomation biz Copyright 2011 RS Automation Co Ltd All rights reserved
61. dwidth e Valid if position FF gain Ft 1 15 is not 0 Description ee l P If a value other than O set for Ft 1 15 results in overshoot or vibration set this value to 0 RSWare User Manual Examining the CSD5 Drive Interface 75 Applicable Operating Follower Mode Drive Tuning Main Position Regulator Gains Low Pass Filter Bandwidth The connected drive s low pass filter s bandwidth This value indicates the cutoff frequency of the low pass Description filter Note This filter reduces noise generated by encoder resolution or mechanical resonance in the system Dew fos Applicable Operating Mode When Enabled Immediately Drive Tuning Main Position Regulator Gains High Error Output Offset When the position error is greater than the value of High Error Output Threshold this constant velocity Bias will be input into the velocity controller Deus o Applicable Operating Mode When Enabled Immediately Description Drive Tuning Main Position Regulator Gains High Error Output Threshold Applicable Operating Mode When Enabled Immediately Drive Tuning Main Current Regulator Gains Drive Tuning Main Current Regulator Gains Gain The bandwith for current control wm S RSWare User Manual 76 Examining the CSD5 Drive Interface Applicable Operating Mode When Enabled Immediately Drive Tuning Main Curre
62. e encoder is cut off or problematic Or eCheck the wiring of the encoder encoder signals are interrupted by the Contact your nearest dealer EMI noise 106 Encoder Communication Fault 107 Serial Communication Fault Communication error between the host Check the serial communication cable and the drive noise eCheck the noise of the serial communication interface eCheck if the hardware type selected in the drive matches the ee ia The input frequency value exceeds the as l Command limit Change from an open collector to a line drive Frequency Fault l eDecrease the speed command Manipulate the gear 112 Emergency eRemove the emergency stop condition Emergency Stop E STOP is detected ac TOP ea 113 Indexing Position Range Overflow The constant of the index position eUse a value in the range between 2 147 483 647 deviates the range 2 147 483 647 eWhen the error occurs while turning on the power there is a problem in the control or main power circuit 114 Motor Phase eWhen this error occurs while in Over Current operation overcurrent exists current that is 300 over the rated current is supplied to the motor at more than 250 ms BAT Warning It occurs when the voltage of external Absolute Encoder battery of absolute encoder is 3 2 V or Replace the battery Battery less In the event the Q E Type Absolute CNT Warning Encoder is rotated forward or reverse Absol
63. e CSD5 Drive Interface 89 lan pea cet emoes OOO rooe Ft 0 12 Digit1 Position clear PCLR Ft 0 13 Digit3 Moving Enable Motor Moving Enable START Ft 0 14 Digit1 Analog Speed Command Piiblile Analog Speed Command Select C SP4 Ft 0 14 Digit2 ee OES a car E Ft 0 14 Digit3 Bank Selection Home Sensor H SENS Ft 0 16 Digit0 m z Preset Select 3 Preset Select 3 C SP3 Ft 0 12 Digit3 Reset Multiturn Data Reset multi turn data of Absolute Encoder R ABS Ft 0 15 Digit0 Start Homing SHOMBE Ft 0 16 Digit1 Stop Indexing Stop Indexing STOP Ft 0 16 Digit2 l O OP CD ere Sheed Champ Rak CT Ft 0 13 Digit0 Enable Pause Indexing Pause Indexing PAUSE Ft 0 16 Digit3 i a Ft 0 17 Ft 0 17 SS p ee Digit2 Digit3 Current Limit 7 Analog Analog Current Limit A CL Ft 0 15 Digit1 Absolute Position Transfer Mode ABS MD e a a e e Pr 0 15 Allocation of Input Signals 6 Data Size 4 digits Digit Description Default Unmapped IO Status Ab S olute Po sition 0 Reset multi turn data of Absolute Encoder R ABS 0x0 OFF 1 Gain Bank Select BANK SEL 0x0 OFF Transfer Mode 2 Analog Current Limit A CL 0x0 OFF 3 0x0 OFF Ft 0 15 Digit2 3 Absolute Position Transfer Mode ABS MD Applicable All Operating Mode When Enabled Servo Off gt Setting Please refer to the above content Current Limit Analog Current Limit A CL
64. e Interface 37 Applicable Operating Mode When Immediatel Enabled cam Drive Position Limits Drive Position Limits Enable Software Limits Select the software overtravel monitor enablement IN 00 08 fom Turns off software overtravel limit checking Off Range Causes the drive to compare the motor feedback On position to the Positive and Negative Software Limits 0x1 below to determine if the drive has exceeded an overtravel limit Off Default Applicable Operating Indexing Mode When i i Enabled Disable drive Drive Position Limits Positive Software Limit If the motor feedback position is greater than this value the drive has exceeded the software overtravel limit IN 00 05 2 147 483 647 2 147 483 647 Applicable Operating Indexing Mode When Enabled Disable drive Drive Position Limits Negative Software Limit Applicable Operating Indexing Mode When i Enabled Disable drive Drive Position Limits Positive Decel Distance Bete ooo Applicable Operating Indexing Mode When RSWare User Manual 38 Examining the CSD5 Drive Interface Drive Position Limits Negative Decel Distance Description The stopping distance used when the drive encounters a negative overtravel limit Parameter IN 00 03 gt gt Range O0 2 147 483 647 Applicable Operating Indexing Mode When Drive Speed Functions Drive S
65. e final position becomes the new Home position The Homing Velocity is used for the initial motion until the current value is reached The Creep Velocity is used for all the remaining motion Sometimes the distance is very short between home sensor and marker so it may miss to detect the first marker To prevent this this method has one more parameter to define a minimum distance to detect Marker The minimum distance is defined as a time in the moving distance after home sensor After it detects the home sensor input the velocity is decelerated to the creep velocity and it is maintained until the marker is detected After the marker is detected the motor move back to the position After the marker is detected the drive moves the motor the Offset Move Distance from the marker reversing if necessary The final position becomes the new Home position To Home sensot Move Fwd to Marker Home to Marker To Home Sensor Back to Marker Applicable Operating Indexing Mode When Enabled Disable drive Drive Mode Configuration Homing Auto Start Homing on Enable Causes the drive to begin the homing procedure automatically when the drive is enabled NOLO Aore Automatically starts homing every time the drive is 0x0 mape enabled l Automatically starts homing when a drive is a a eka enabled if the drive has not already been homed Starts homing with start homing input Applicable Operating Index
66. e input 3 000 MHz WV Show Commands Revert Close Help Follower parameters control drive operation when the Operating Mode is set to one of the following e Step Up Step Down Positive Logic e Step Up Step Down Negative Logic e Step Direction Positive Logic e Step Direction Negative Logic e Auxiliary Encoder X1 e Auxiliary Encoder X2 e Auxiliary Encoder X4 in the CSD5 Drive window The Follower window has no associated statuses or direct commands The Follower window has the following parameters Drive Mode Configuration Follower Drive Mode Configuration Follower Command Type Note For Command types 0x4 0x5 and 0x6 Description Motor Counts Master Lines MULT sane 4 Para3 01 Para3 02 where MULT is 1 2 or 4 for command types 0x4 0x5 and 0x6 respectively Ft 3 00 Digit0 a Ta Step Up Step Down Positive logic Step Up Step Down Positive logic 0x0 Step Up Step Down Negative logic 0x1 Step Direction Positive Logic 2 Step Direction Negative Logic 3 A phase B phase x A phase B phase x2 0x5 A phase B phase x4 0x6 Step Up Step Down Positive logic Applicable Operating Follower Mode When i Enabled Servo Off gt Setting Drive Mode Configuration Follower Controller Output Type ps Step Direction Negative Logic 03 A phase B phasext OA RSWare User Manual 52 Examining the CSD5 Drive Interface Select the host controller output type Ft 3 00
67. ed by a light bulb icon as follows ON a bright light bulb OFF a darkened light bulb Output 1 6 State No Special commands are associated with the Digital Outputs window Customize the Digital Outputs window for your CSD5 Drive branch by selecting one or more of the following buttons e Toggle the Show Status selection to display or hide the Status pane e Toggle the Show Commands selection to display or hide the Commands pane e Click on the Setup button to open the Monitor Setup window as shown on page 112 where you can customize the status display for this window e Click on the Revert button to return parameter settings to the values they held when you opened this window Understanding the Analog Outputs Window The Properties window for Analog Outputs looks like this RSWare User Manual Examining the CSD5 Drive Interface 109 ER Drive Analog Outputs oS i in 2 Save Parameters Analog Output 1 Signal Velocity Feedba ck Scale S00 RPMIVot Analog Output 2 7 Signal VebctyCommand Sca 500 RPM VOR Use the Analog Outputs window to assign drive signals to analog outputs The Analog Outputs parameters window has the following parameters 1 99999 count V Position Command Count Position Command Count 0 1 9999 9 kilocount V Frequency Frequency a ge changeable with motor type V Commutation Angle Commutation Angle 0 1 9999 9 V Mechanical A
68. ee Analog Speed ee a Analog Speed Command Select C SP4 Ft 0 14 Digit2 Index Select1 Input Index Select 1 Inputd SEL1 Ft 0 17 Current Limit o Analog Analog Current Limit A CL Absolute Position Transfer Mode ABS MD Pr 0 15 Allocation of Input Signals 6 Data Size 4 digits Digit Description Default Unmapped IO Status Ab S olute Po sition 0 Reset multi turn data of Absolute Encoder R ABS 0x0 OFF 1 Gain Bank Select BANK SEL 0x0 OFF Transfer V ode 2 Analog Current Limit A CL 0x0 OFF 0x0 OFF Ft 0 15 Digit2 3 Absolute Position Transfer Mode ABS MD Applicable All Operating Mode When Enabled Servo Off gt Setting Please refer to the above content Current Limit Analog Current Limit A CL 7 Analog Note This parameter is only added for CSD5 Drive Poe Drive Enable Applicable Operating All Mode When Enabled Servo Off gt Setting Drive Digital Inputs Input 2 Select the drive s digital input assignments F02 FEOT Unassigned Unassigned sid y O i E A cae GE Ft 0 13 Digit2 Current limit ne D fgace oe Positive Current Limit P TL Ft 0 11 Digit2 Current limit a a Necative Negative Current Limit N TL Ft 0 11 Digit1 Drive Enable Drive Enable SV ON Ft 0 10 Digit0 Fault Reset A RST Ft 0 11 Digit0 Integrator Inhibit Integrator Inhibit P CON Ft 0 10 Digit3 e SS ee RSWare User Manual Examining th
69. elect OK to close the Monitor Setup window 5 The Monitor window now displays all the selected statuses weit Close Help Understanding the Oscilloscope Window The Properties window for the Oscilloscope looks like this RSWare User Manual Examining the CSD5 Drive Interface 113 Note The Properties window for the Oscilloscope of CSD5 Drive and KNX3 Drive are not same The below is an illustration of CSD5 Drive Amn Tagga pawas Labels Run Cortrucus Duva Stop Taggering Snap Shot or V Show Properties V Show Commands Use the Oscilloscope window to trace one of two drive signals by e Configuring the oscilloscope by selecting a drive signal to trace e Executing commands that run the oscilloscope s tracing function continuously or in response to the configured trigger e Monitoring the oscilloscope as it traces the selected drive signal The Oscilloscope window has the following parameters and commands associated with it Drive Oscilloscope Drive Oscilloscope Channel A B Drive Oscilloscope Channel A B Input Signal Signal Select a drive signal to assign to the selected Channel A B from the Channel Setup dialog box that Decinioi opens when you click on the down arrow to the right of this input box P Note The resolution of this signal may be confusing if Velocity Feedback is selected See the topic Velocity Motor Feedback Resolution for information on how i
70. eness of position control Description a e Change set value according to rigidity of load Teao 0 700 Operating RSWare User Manual Examining the CSD5 Drive Interface 83 i When Enabled Immediately Drive Tuning 4th Regulator Gains Low Pass Filter Bandwidth IReg Suppresses high frequency components of torque command Feta 0 10000 Applicable Operating Mode When Enabled Immediately The following statuses are displayed by default for the Tuning branch of an on line drive Status Description Velocity Loop Command Velocity The commanded motor velocity Feedback Velocity The actual motor velocity The difference between commanded motor velocity Error Velocity Command and actual motor velocity Velocity Motor Feedback Position Loop Master Position The commanded motor position Follower Position The actual motor position The difference between commanded motor position Error Position Command and actual motor position Position Feedback Current Loop Command Current The commanded current The following commands can be executed for a Motor branch of an on line drive Commands Description Start Auto tuning Begins the Autotuning procedure Copy Main Gains To 2nd Gains This command sets the values in the 2nd 3rd and Copy Main Gains To 3rd Gains 4th Gain Values section by copying the values set in Main Gains Copy Main Gains To 4th Gains Note For KNX3 Drive the command is Copy
71. er Parameter ae ee Input the parameter within the range Parameter range is invalid Range Fault eReset the values of the drive to the factory settings 60 Drive T T Hardware Error eReplace the drive Initialization Fault Exceeds the value allowed by the eAdjust the motion profile and keep the regeneration resistance 75 Shunt Overload voltage of the regeneration resistance within the limit Protection Fault Regeneration resistance is separated or Check the connection of the regeneration resistance damaged eCheck the values of the regeneration resistance 79 Shunt Overcurrent Protection Fault 36 Drive Overtemperature Occurs when the drive overheats Fault The regenerative current exceeds the eCheck if the regeneration resistance is shorted or damaged allowable instant value eCheck if the overload energy is excessive while decelerating The constant of the encoder backup 83 Absolute battery is set as installed but the Set the constant of the encoder backup battery as not installed Encoder Battery battery is not installed Fault The battery voltage is detected under eCheck the battery voltage and the connections 2 7 V dc eReplace the battery 84 Absolute The encoder rotates mechanically at Encoder high speed while turning off the drive Overspeed when it is powered by the battery 85 Absolute Noise from Encoder eTurn off and on the drive and reset the Warning Multi seis see gaa De
72. fective Encoder Replace the motor Count Fault 86 Encoder Single Noise in the encoder Cycle power to drive and reset alarm turn Count Fault Defective encoder Replace motor 100 Drive Set Up The drive operation mode and the Change the operation mode and or motor selection and reset Fault motor selection are not compatible the drive E as The motor cable is not connected eCheck the power connection between the motor and the drive Cable Open Fault eCheck the wiring of the motor Adjust the acceleration deceleration time eCheck if the motor selected is suitable Current Overload There is a defect in the current Fault eCheck the phase current feedback detection 103 Motor The dynamic control current of the Mismatch Fault Remove the motor from the system Turn off and on the drive and reset the Warning 102 Motor Instantaneous The motion profile requires peak current for a lengthy time selected motor exceeds double the Install a different motor value of the drive peak current rating RSWare User Manual 122 Examining the CSD5 Drive Interface Reduce acceleration rates 104 Continuous Motion application requires average Reduce duty cycle ON OFF of commanded motion Power Overload drive power in excess of rated Increase time permitted for motion Fault capability Use larger drive and motor eCheck tuning Mismatch Fault match the drive configuration The wiring between the drive and th
73. g Analog Speed o Catena Tibie Analog Speed Command Select C SP4 Ft 0 14 Digit2 ee Ore oad econ Cor Bae econCn Ft 0 14 Digit3 Bank Selection Home Sensor Home Sensor H SENS Ft 0 16 DigitO Start Homing Start Homine SHOME Ft 0 16 Digit1 Stop Indexing Stop Indexing STOP Ft 0 16 Digit2 Index Select4 Input Index Select 4 Input SEL4 DigitO Digit2 Digit3 Digit1 eo Se Analog Current Limit A CL Ft 0 15 eo Absolute Position Transfer Mode ABS MD Allocation of Input Signals 6 Digit Description Default Unmapped IO Status 0 Reset multi turn data of Absolute Encoder R ABS 0x0 OFF x Gain Bank Select BANK SEL x0 OFF Ft 0 3 1 5 Digit2 Absolute Position Transfer Mode Analog Current Limit A CL 0x0 OFF 3 Absolute Position Transfer Mode ABS MD 0x0 OFF Applicable All Operating Mode Servo Off gt Setting Please refer to the above content Current Limit Analog Current Limit A CL 7 Analog Note This parameter is only added for CSD5 Drive ore ere fancier ae Applicable All Operating Mode When Enabled Servo Off gt Setting Drive Digital Inputs Input 8 Description Select the drive s digital input assignments ey Select Value Unassigned Alternate Gain n Select Alternate Gain Select G SEL Ft 0 13 Digit2 Current limit PR Positive Positive Current Limit P TL Ft 0 11 Digit2 Current limit as Nesate Negative Current Limit
74. greater than the Ft 0 22 Digitl Up to Speed setting in the CSD5 Drive window Ft 0 22 Digit0 RSWare User Manual Examining the CSD5 Drive Interface 107 NGA In Motion IMO An active state indicates an index Ft 0 25 Digit0 move is active and the motor is moving In Dwell d DW An active state indicates the I Dwell motor is holding position in an index move and Ft 0 25 Digitl waiting for the commanded dwell time ee or Axis Homed HOMC An active state indicates Ft 0 25 Digit2 that the homing routine has completed Index Select Output Index Select 0 25 Digi i Index Select 0 Out O ISELO Ft 0 25 Digit3 1 Output Index Select 1 Out O ISEL1 Ft 0 26 Digit0 Indes Select Tndex Select 2 Out O ISEL2 Ft 0 26 Digit1 Output Index Select 3 i mag Output i 4 26 Index Select 3 Out O ISEL3 Ft 0 26 Digit2 Meeg Be Index Select 4 Out O ISEL4 Ft 0 26 Digit3 Output Index Select Output Moving Index Select 5 Out O ISEL5 Ft 0 27 Digit0 Enable End of Sequence E SEQU An active state indicates all iterations of the index move have been End of Sequence completed Ft 0 27 Digit1 Note This parameter is only added for CSD5 Drive Brake control BK Used to control a motor brake An active state releases the motor brake The Brake signal is the same as the Drive Enabled signal with a ne addition of the turn on and eee delays pear ei specified by the Brake Active
75. gt Setting Drive Auxiliary Function Selection 1 Drive Auxiliary Function Selection 1 Velocity Observer Selection of velocity monitor use When high resolution encoder is used by activating velocity monitor the speed ripple occurring at low velocity operation can be reduced Ft 0 05 Digit 1 Description Range Applicable Operating All Mode When Ebled Servo Off gt Setting gt After power cycle Drive Auxiliary Function Selection 1 Emergency Stop Input Select the emergency stop input enablement Ft 0 05 Digit 3 Range Applicable Operating All Mode When Fnabled Servo Off gt Setting gt After power cycle The following statuses are displayed by default for an CSD5 drive in the On Line Drives branch of the Workspace window Status Description Note All ON statuses have a value of 1 all OFF statuses have a value of 0 Current Operating Mode ON indicates the current of operating mode setting RSWare User Manual Examining the CSD5 Drive Interface 43 ON indicates position error has been less than the In Within Position Window Position Size setting for longer than the In Position Time setting Unto peed ON indicates motor velocity feedback is greater than r z the Up To Speed setting Fault Warnin If no error it indicates no error g ON indicates positive overtravel limit sensor is detected or position feedback exceeds positive software overtravel limit in case of using
76. he drive s digital input assignments Fe aT Select Value Unassigned Alternate Gain Select Alternate Gain Select G SEL Ft 0 13 Digit2 Current Limit Tor a Positive Positive Current Limit P TL Ft 0 11 Digit2 Range i me Current Limit l l Negative Negative Current Limit N TL Ft 0 11 Digit1 Drive Enable Drive Enable SV ON Ft 0 10 eS xq mnm e a ee Ll Digit0 Fault Reset Fault Reset A RST Ft 0 11 DigitO Integrator Inhibit Integrator Inhibit P CON Ft 0 10 Digit3 Operation Mode Operation Mode Override C SEL Override Overtravel Negative Ft 0 11 eo s Digit3 Negative Over travel N OT Ft 0 10 Digit2 RSWare User Manual 98 Examining the CSD5 Drive Interface eS a ee ee eee Preset Select 3 Preset Select 3 C SP3 Ft 0 12 Digit3 Reset Multiturn Data Reset multi turn data of Absolute Encoder R ABS Ft 0 15 Digit0 aa da ne ire Speed Clamp able CLP Ft 0 13 Digit0 Position clear PCLR Ft 0 13 Digit3 Moving Enable Motor Moving Enable START Ft 0 14 Digit1 m m a a ee m Analog Speed E Command Tabie Analog Speed Command Select C SP4 Ft 0 14 Digit2 Digit3 rd oe k 2nd Electronic Gear Bank Selection GEAR Ft 0 14 Bank Selection Home Sensor H SENS Ft 0 16 Digit0 a Current Limit B Analog Analog Current Limit A CL Ft 0 15 Digit1 Absolute Position Transfer Mode ABS MD O B O B ee ee eee ee A a Ll lt m a a e All
77. here you can select the collection of statuses to display in this window e Load a monitor previously saved e Save a monitor for later use This window has the following commands RSWare User Manual RSWare User Manual Examining the CSD5 Drive Interface 111 Commands Description Select the format for displaying integer values in the monitor Decimal Range 0 to 2147483647 eHexadecimal or Binary Note Do not create negative numbers in the Hexadecimal or Binary format Format Opens the Monitor Load dialog where you can eLoad a previously saved monitor from the list Load Delete an existing monitor from the list Save as de fault an existing monitor to automatically load each time you open the Monitor window Opens the Monitor Save dialog where you can eSave a monitor under a new or existing name for later use Save Delete an existing monitor from the list Save as de fault an existing monitor to automatically load each time you open the Monitor window Opens the Monitor Setup window where you can select the drive Setu ae RA P statuses that is displayed in this window To monitor your drives 1 Double click the left mouse button on the Monitor icon in the Workspace window The Monitor window appears in the Client Area 2 Click the Setup button to open the Monitor Setup window where you can customize the display of the Monitor window for the selected on line CSD5 drive The window displ
78. indexing mode Positive Overtravel ON indicates negative overtravel limit sensor is detected or position feedback exceeds negative software overtravel limit in case of using indexing mode Negative Overtravel The following commands can be executed for an CSD5 Drive window that is located in the On Line Drives branch These commands are explained in the following sections Status Description Opens the Velocity Control Panel window Refer to Velocity Control Panel Window on page 44 for more information about how to set a drive s velocity command and monitor its motor velocity or current Velocity Control Panel Resets or reboots the hardware and firmware for a Reset Drive l drive Resets a drive s parameters by reinitializing them to Reset to Factory settings factory default settings Stored faults and the Time in Service clock remain unchanged Save parameters Save parameters Customize the window for your CSD5 Drive branch by selecting one or more of the following buttons e Toggle the Show Status selection to display or hide the Status pane e Toggle the Show Commands selection to display or hide the Commands pane e Click on the Setup button to open the Monitor Setup window as shown on page 112 where you can customize the status display for this window e Click on the Revert button to return parameter settings to the values they held when you opened this window Velocity Control Panel Window The Propertie
79. ing Mode When Enabled Power Cycling RSWare User Manual 64 Examining the CSD5 Drive Interface Drive Mode Configuration Homing Homing Velocity The commanded velocity used during homing The sign of this value indicates the direction of motion Description during homing N0102 RPM for rotary motors mm sec for linear motors Applicable Operating Indexing Mode When Enabled Disable drive Drive Mode Configuration Homing Homing Accel Decel Description The rate of acceleration and deceleration used during homing INO Rev sec for rotary mm sec for linear Applicable Operating Indexing Mode When Enabled Disable drive Drive Mode Configuration Homing Offset Move Distance The distance the motor position will be from the marker edge or sensor edge for Sensor only Homing Type after the homing sequence is complete NOLS 2 147 483 647 2 147 483 647 Bean o Applicable Operating Indexing Mode When Enabled Disable drive Drive Mode Configuration Homing Stop Home Decel The rate of drive deceleration used when homing is stopped N0112 Rev sec for rotary mm sec for linear Applicable Operating Indexing Mode When Enabled Disable drive Drive Mode Configuration Homing Home Sensor Polarity Specifies the digital input state which indicates to the drive that the Home Sensor input 1s active INO1 06 RSWare User Manual Ex
80. ion Indexing Index0 63 Setup Drive Mode Configuration Indexing Index0 63 Setup Mode eae Note The axis must be homed before the drive can execute any index The shaded Registration is not Description available at Phase 2 IN02 00 IN02 63 Digit 0 Moves from its startin osition to the specified Absolute 8 P P 0x0 Range Position below Moves from its starting position the specified Distance Incremental bel 0x1 elow Applicable Operating Indexing Mode When Drive Mode Configuration Indexing Index0 63 Setup Distance or Position Position For Absolute mode moves the fixed position to which the motor will travel Distance For Incremental and Registration mode moves the relative distance the motor will travel Dew o OoOO Applicable Operating Indexing Mode When Drive Mode Configuration Indexing Index0 63 Setup Dwell Description RSWare User Manual Examining the CSD5 Drive Interface 57 Dew ooo Applicable Operating Indexing Mode When Drive Mode Configuration Indexing Index0 63 Setup Velocity Applicable Operating Indexing Mode When Drive Mode Configuration Indexing Index0 63 Setup Acceleration Rev sec for rotary mm sec for linear Applicable Operating Indexing Mode When Drive Mode Configuration Indexing Index0 63 Setup Deceleration Rev sec for rotary mm sec for linear Applicable Operating Indexing
81. ion Functions In Position Size setting for longer than the Position Functions In Position Time setting in the CSD5 Drive window Up to speed TG ON An active output state Up to speed indicates motor velocity feedback is greater than the Up to Speed setting in the CSD5 Drive window Brake control BK Used to control a motor brake An active state releases the motor brake The Brake sional is the same as the Drive Enabled signal with E Beer the addition of the turn on and turn off delays poe ao ate specified by the Brake Active Delay and Brake Range Inactive Delay Within Speed window V COM An active output Within Speed state indicates that the velocity error is less than the window In Speed Window setting in the CSD5 drive window Current Limited I LMT An active state indicates Current Limited the drive s current is being limited as set in the Ft 0 23 Digit0 Within position Ft 0 22 Digit0 window Ft 0 22 Digit Ft 0 22 Digit3 Drive window Velocity Limited V LMT An active state indicates Velocity Limited the drive s velocity is being limited as set in the Ft 0 23 Digit1 Drive window With Near Window Near position NEAR Ft 0 23 Digit2 Warning WARN Ft 0 23 Digit3 E ie 3 oo positon Absolute position valid A VLD Ft 0 24 Digit0 Servo drive ready An active state indicates the drive is operational and does not have a fault RARE RE RSWare User
82. iriirniriaebiriteieiiti tioti intentan aa eeter Erai 8 PEO CEU COIN an cette cece ta en etek eee cee tae cette cette 8 Chapter OvervieW sce ae ccs es ac ae A a ea 8 Understanding the RSWare Interface c csscsseseseseseesssseesesseeseeseesteseeseeseeeeaeens 8 Workspace window g Client Area 10 Main Menubar 10 Toolbars 11 Status Bar 11 Starting ROWare c cccscssssscsssssssssssssssssssssscssssssssscssssssssseenssssussssessnssssssccenssssessessoenes 12 Opening an RSWare File 12 Scanning the Network 12 Serial Port Settings 13 Uporadino Us L111 eee ne ee 13 RSWare Manual CSD5 User Manual Table of Contents Common Commands for RSWare Drive CONnfiqguratiOn 11scsssssessrseieiees 14 Chapter Overview ccscsccsscsscsessesseseeseeseeseeseesesseeesateaeeaeeaesaeeatsatsaesaeeaeeaeeatsateateats 14 Opena TR NN ANC cs alec oles Se a ae S 14 Creating Opening and Saving RSWare Files c csscssessesesesseseeseeseeseeseeseeseeseeaes 15 Creating a New RSWare File 15 Opening an Existing RSWare File 16 Saving an RSWare File 17 Creanga New DIINO ie a ea nk ci tate i Oi a Aa a Ok ta a aad ah 17 Importing and Exporting a Drive csccsssssescssessesseeseessesseeseeseeseesaeeseeseesaeeseeseeeaes 18 Exporting a Drive 18 Importing a Drive 19 Working in the Workspace WIndOW sscsssssssesesessssseeseeseeseeseeseessesseeseeseeees 19 Cut 19 Copy 20 Paste 20 Delete 21 Drag and Drop 22
83. it0 Servo drive ready An active state indicates the drive pi is operational and does not have a fault Ene Index Select 0 Output Index Select 1 Output Index Select 2 Output Index Select 3 Output Index Select 4 Output RSWare User Manual In Motion IMO An active state indicates an index move is active and the motor is moving In Dwell d DW An active state indicates the motor is holding position in an index move and waiting for the commanded dwell time Axis Homed HOMC An active state indicates that the homing routine has completed Index Select 1 Out O ISEL1 Index Select 0 Out O ISELO Index Select 4 Out O ISEL4 Ft 0 25 Digit0 Ft 0 25 Digit Ft 0 25 Digit2 Ft 0 25 Digit3 Ft 0 26 Digit0 Index Select 2 Out O ISEL2 Ft 0 26 Digit1 Index Select 3 Out O ISEL3 Ft 0 26 Digit2 Ft 0 26 Digit3 Applicable Operating Mode When Enabled Index Select Output Moving Enable End of Sequence Examining the CSD5 Drive Interface 103 Index Select 5 Out O ISEL5 End of Sequence E SEQU An active state indicates all iterations of the index move have been completed Note This parameter is only added for CSD5 Drive Ft 0 27 Digit0 Ft 0 27 Digit Up to speed All Servo Off gt Setting Drive Digital Outputs Output 3 Range Select the functionality to be assigned to digital output 3 0 22 eda Unassigned Unassigned T O Within posi
84. it2 l Reset Multiturn Data Reset multi turn data of Absolute Encoder R ABS Ft 0 15 Digit0 a ee A ein eC anus CED Ft 0 13 Digit0 Enable Position clear PCLR Ft 0 13 Digit3 Moving Enable Motor Moving Enable START Ft 0 14 Digit1 Analog Speed Comin nd Basle Analog Speed Command Select C SP4 Ft 0 14 Digit2 Ft 0 14 Digit3 a a a oe a DigitO Digit1 a a M U a a ee Ll Current Limit 7 Analog Analog Current Limit A CL Ft 0 15 Digit1 Absolute Position Transfer Mode ABS MD Pr 0 15 Allocation of Input Signals 6 Data Size 4 digits Digit Description Default Unmapped IO Status Ab S olute Po sition 0 Reset multi turn data of Absolute Encoder R ABS 0x0 OFF 1 Gain Bank Select BANK SEL 0x0 OFF Ft 0 15 Digit2 Transfer Mode 2 Analog Current Limit A CL 0x0 OFF 7 0x0 3 Absolute Position Transfer Mode ABS MD Applicable All Operating Mode When Enabled Servo Off gt Setting OFF Please refer to the above content Current Limit Analog Current Limit A CL Analog Note This parameter is only added for CSD5 Drive Ft 0 15 Digit3 Applicable Operating Mode When Enabled Servo Off gt Setting The following statuses are displayed by default for a CSD5 drive in the Digital Inputs window RSWare User Manual 100 Examining the CSD5 Drive Interface Status Description The current state or c
85. ive Over travel P OT Ft 0 10 Digit1 Pause Follower INHIBIT Position Strobe ABS DT Pem s Ft 0 10 Digit3 Ft 0 11 Pee L Digit3 FE s qjq S ee Ft 0 13 Digitl Ft 0 14 Sy qj rd Digit0 RSWare User Manual eo Digit3 Digit0 Digit1 Digit2 Digit3 Digit0 Digit1 Digit2 Digit3 Digit0 Digit1 Digit2 Digit3 Digit1 a m mnm mnm e Bank Selection Home Sensor Ft 0 16 Start Homing Ft 0 16 Index Select2 Input Ft 0 17 Index Select3 Input Ft 0 17 Index Select4 Input Ft 0 18 88 Examining the CSD5 Drive Interface Stop Indexing Stop Indexing STOP Ft 0 16 Pause Indexing Pause Indexing PAUSE Ft 0 16 Index Select5 Input Index Select 5 Input d SEL5 Ft 0 18 Stop Homing Stop Homine H STOP Ft 0 18 Velocity Direction Preset Direction C DIR Ft 0 12 DigitO Preset Select 1 Preset Select 1 C SP1 Ft 0 12 Digit1 Preset Select 2 Preset Select 2 C SP2 Ft 0 12 Digit2 Preset Select 3 Preset Select 3 C SP3 Ft 0 12 Digit3 Reset Multiturn Data Reset multi turn data of Absolute Encoder R ABS Ft 0 15 Digit0 a Clamp Zero Speed Clamp Enable Z CLP Ft 0 13 Digit0 Position Clear Position clear PCLR Ft 0 13 Digit3 Moving Enable Motor Moving Enable START Ft 0 14 Digitl Index Select0 Input Index Select 0 Input d SELO Ft 0 17 Start Indexing Start Index START I Ft 0 18 es mnm e es Oe eo See EE ee ee ee eee aa a n eo i iS Ft 0 15
86. ize and the Near Position output signal is assigned the Near Position output is turned ON Parameter Ft 5 02 Range 0 2500 Default 20 Units Counts Applicable Operating Follower Mode When Immediatel Enabled epi Drive Motor Encoder Units Description Description Drive Motor Encoder Units Position Label When User is selected for Displayed Units above this is the user defined label for position values relating to Description P the motor encoder Parameter Range Limited to 16 characters in length Default Counts Units Applicable Operating All Mode When Enabled Drive Motor Encoder Units Position Scale When User is selected for Displayed Units above this is the user defined conversion factor used to convert position values relating to the motor encoder into user units In Counts per User Unit Immediately Description Parameter Range Default Units In Counts per User Unit Applicable Operating All Mode When Immediatel Enabled eae Drive Motor Encoder Units Velocity Label When User is selected for Displayed Units above this is the user defined label for velocity values relating to Description the motor encoder RSWare User Manual 40 Examining the CSD5 Drive Interface Parameter Limited to 16 characters in length Applicable Operating All Mode When Enabled Immediately Drive Motor Encoder Units Velocity Scale When User is selected
87. k Every time RSWare opens it conducts a search of the network for all connected drives A Scan For On Line Drives dialog box appears This dialog box displays RSWare s progress in checking for on line drives on nodes 0 to 10 and the specific task RSWare is currently undertaking e g Scanning Node or Attaching to Node Before You Begin 13 To stop the process of scanning for and attaching to on line drives click on the Stop Scanning button RSWare displays every drive it detects in the On Line Drives branch of the Workspace window Because RSWare does not automatically update the Workspace window select Rescan from the Tools menu to display the list of drives that are currently on line Serial Port Settings After you open RSWare for the first time you may wish to change the configuration of your PC s serial port and baud rate settings from the defaults of COM1 57600 Baudrate 8 Data bits and No Parity To do this 1 Select Serial Port from the Tools menu 2 Inthe PC Communications Setup dialog box type the appropriate serial port settings Upgrading Firmware You can use the RSWare interface to upgrade the firmware for a selected on line drive Use the Upgrade Firmware command in the File menu to open the Firmware Upgrade dialog box where you can perform a flash upgrade to the firmware of a drive appearing in the On Line Drives branch of the Workspace window Before issuing the Upgrade Firmware comman
88. lect 3 Reset Multiturn Data Reset multi turn data of Absolute Encoder R ABS Ft 0 15 Digit0 s E E A E Ft 0 13 Digit0 Position Clear Position clear PCLR Ft 0 13 Digit3 Moving Enable Motor Moving Enable START Ft 0 14 Digit1 Range Analog Speed eo s Analog Speed Command Select C SP4 Ft 0 14 Digit2 Command Enable 2nd Electronic Gear Bank Selection Home Sensor Start Homing Stop Indexing Pause Indexing Index Select0 Input Index Select Input Index Select2 Input Index Select3 Input Index Select4 Input Index Select5 Input Stop Homing 2nd Electronic Gear Bank Selection GEAR Ft 0 14 Ft 0 16 Ft 0 16 Ft 0 16 Ft 0 16 Ft 0 17 Ft 0 17 Ft 0 17 Ft 0 17 Ft 0 18 Ft 0 18 Ft 0 18 eo Digit3 Digit0 Digit1 Digit2 Digit3 Digit0 Digit1 Digit2 Digit3 Digit0 Digit1 Digit2 Home Sensor H SENS Start Homine SHOME Stop Indexinge STOP Pause Indexing PAUSE Index Select 0 Input SELO Index Select 1 Input SEL1 Index Select 2 Input I SEL2 Index Select 3 Input I SEL3 Index Select 4 Input I SEL4 Index Select 5 Input I SEL5 Stop Homine H STOP es m ees e pes pss l pees pe eee ee ee ee ee ee eee ee ee Start Indexing Start Index START I Ft 0 18 Digit3 Current Limit oe oe hades Analog Current Limit A CL Ft 0 15 Digit1 solute Position Transfer Mode ABS MD Pr 0 15 Allocation of Input Signals 6 Data Size 4 digits Digit Description g Default
89. lue in Ft 1 18 Range ate a Speed Controller is changed from PI Controller to P 0x2 Disable Controller x4 y When Position error exceeds Position error Value in Ft Position Error 1 18 Speed Controller is changed from PI Controller to P Controller E E E T Automatically velocity controller is changed from PI 0 Controller to P Controller Always On Disable Applicable Mode Drive Tuning Main Velocity Regulator Gains Gain Disable Threshold TE If the speed torque command or the position tolerance exceeds the value set in this parameter the speed Description controller changes from PI type to P type Fe If Ft 1 17 1 units are of rated continuous current If Ft 1 17 2 units are RPM for rotary motors Units units are mm sec for linear motors If Ft 1 17 3 units are Counts Applicable Operating Follower Analog Velocity Preset Mode When Enabled Immediately Drive Tuning Main Velocity Regulator Gains D Derivative gain value for the velocity loop The D gain generates a control signal proportional to measured Deest acceleration ae ois Note Positive D gain reduces velocity overshoot and negative D gain should be used only in systems that exhibit mechanical resonance Fe Dele fo K Applicable Operating Follower Analog Velocity Preset Mode RSWare User Manual 74 Examining the CSD5 Drive Interface When Enabled Immediately Drive Tuni
90. m other than one of those listed above 2 Do one of the following e Select Copy from the Edit menu e Click the right mouse button then select Copy from the pop up menu e Simultaneously press the Ctrl C keys e Click on the Copy icon in the Edit toolbar Paste The Paste command inserts a previously copied or cut Workspace window item ot branch into the selected location of the Workspace window RSWare User Manual Common Command for RSWare Drive Congifuation 21 When pasting into the Workspace window three results can occur e If the selected Workspace window item is of the same type as the item to be pasted the pasted item REPLACES the selected item e If the selected Workspace window item is a parent branch that must always have one child of the same type as the item to be pasted the pasted item REPLACES the selected branch s child of the same type e If the selected Workspace window branch can have multiple child branches of the same type as the item to be pasted the pasted item REPLACES a child branch with the same name as the pasted item or is ADDED as an additional child branch if no other child branch shares the pasted item s name Any Workspace window item can be selected to recetve a pasted item except the following e Child branches of a CSD5 drive e Child branches of a KNX3 drive To Paste an item in the Workspace window 1 Select a Workspace window branch other than On Line Drives a child
91. mines the motor settings by communicating with the encoder Standard indicates a motor whose status settings come preconfigured by RSWare Custom indicates a user configured motor which was added to the Motor Model list above using the utility that ships with RSWare Indicate the type of motor Linear Rotary Only for rotary motors The sinusoidal force constant in Newton meters Ampere N m A Rotor inertia in Kilogram centimeter squared kg cm2 The number of motor poles per revolution Indicates whether the motor provides built in feedback for travel limits Yes No Voltage rating of the motor in Volts The phase to phase resistance of the motor stator in Ohms The phase to phase inductance of the motor stator in miliHenries mH Maximum motor output shaft speed in revolutions minute RPM for rotary motors meters second Meters sec for linear motors Maximum intermittent current of the motor in peak Amperes Continuous current rating of the motor in peak Amperes The encoder type Incremental Sine Cosine The type of commutation Brush Trapezoidal Sinusoidal Offset Hall Input offset from standard RS Automation orientation in electrical degrees The following commands can be executed for a Motor window of an on line CSD5 drive Commands Description Reads the motor definition information from the motor database and reapplies it to the drive Refresh Data s Note This command is useful
92. n never exceed the motor s rated maximum velocity This setting can be used to restrict the motor velocity further Fe 213 Description Value Disabled Motor s rated maximum velocity 0x0 Limited by Manual Velocity limit Ft 2 12 0x1 Limited by Analogue Speed Command Value except Analog Analog Input Mo 0x2 Manual and Analog Disabled Applicable Operating All Mode When Enabled Servo Off gt Setting Drive Velocity Limits Manual Velocity limit Limited by lesser one between Manual Velocity limit Ft 2 12 and Analogue Speed Command 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 Ft 2 13 e In addition in torque control mode the mode is changed automatically to speed control mode if motor Description speed exceeds this value speed control is performed using limit speed command e If the analog speed command exceeds motors maximum speed the excessive speed command warning OSC is issued e If excessive speed command warning is issued the speed command is automatically reduced to the motor s maximum speed RSWare User Manual 32 Examining the CSD5 Drive Interface Applicable Operating Follower Analog Velocity Preset Mode When Enabled Servo Off gt Set
93. ncoder Range ll Backup Battery Installed Not Installed Backup Battery Not Installed Applicable Operating Mode When Enabled Servo Off gt Setting gt After power cycle Drive Encoders Absolute Feedback Transfer Type Define the polarity of absolute encoder data Same as Command Absolute encoder data s polarity is changed by command Ox0 Range Polarity Polarity 7 Always CCW Absolute encoder data s polarity is fixed as CCW direction Always CW Absolute encoder data s polarity is fixed as CC direction Same as Command Polarity Applicable Operating Mode When Enabled Immediately The following commands can be executed on an on line drive using the Encoders window Commands Description Absolute Encoder Reset Reset Absolute Encoder Save Parameters Save Parameters RSWare User Manual 86 Examining the CSD5 Drive Interface Understanding the Digital Inputs Window RSWare User Manual Customize the Encoders window for your CSD5 Drive branch by selecting one or more of the following buttons e Toggle the Show Status selection to display or hide the Status pane e Toggle the Show Commands selection to display or hide the Commands pane e Click on the Setup button to open the Monitor Setup window as shown on page 112 where you can customize the status display for this window e Click on the Revert button to return parameter settings to the values they held when you o
94. ndow as shown on page 112 where you can customize the status display for this window Click on the Revert button to return parameter settings to the values they held when you opened this window Indexing Teaching Panel The Properties window for the Indexing Teaching Panel looks like this Examining the CSD5 Drive Interface 61 4 Drive Indexing Teaching Panel olal z Index 2 Distance or Position Index 11 Distance or Position Index 9 Distance or Position Index 10 Distance or Position Index 15 Distance or Position Index 12 Distance or Position Index 13 Distance or Position Index 14 Distance or Position W Show Stat g ne ane me Setup Revert Close Help e Indexing Teaching Panel is added from RSWare Version 1 2 0 e After the motor moved by the Jog operation Teaching save button is pressed the current value of the Follower position is stored as the Distance or Position parameters of selected index Understanding the Homing Window The Properties window for Homing looks like this RSWare User Manual 62 Examining the CSD5 Drive Interface Drive Mode Configuration Homing P Parameter __Vawe Units Save Parameters Homing Type To Home Sensor Forward to Marker Auto Start Homing on Enable inactive Homing Velocity 100 Homing AccelDece 6250 Offset Move Distance o 62 50 Active Going Transition 0 20 100 0 Home Ti 0 Homing
95. nds The Indexing Control Panel has the following parameter and direct commands Parameters Description The number 0 63 of the indexed motion Index Number command configured in the Indexing window which starts when you select the Start Index The following commands can be executed from the Indexing window of an on line drive Commands Description Begins execution of the indexed motion command 0 Start Index 63 specified in the Index Number parameter 60 Examining the CSD5 Drive Interface RSWare User Manual Stop Index Start Homing Stops execution of the indexed motion command 0 63 specified in the Index Number parameter Begins execution of the homing sequence as defined in the Homing window Stop Homing Stops execution of the homing sequence Enable Drive Enables the power stage of a drive Disable Drive Disables the power stage of a drive Clear Faults Clears all drive faults Note Closing the window returns the drive to its normal operating mode but software disabled Select the drive and execute an Enable command and instructed in the Windows message to make the drive operational Customize the Indexing Control Panel window for your CSD5 Drive by selecting one or more of the following buttons Toggle the Show Status selection to display or hide the Status pane Toggle the Show Commands selection to display or hide the Commands pane Click on the Setup button to open the Monitor Setup wi
96. ned exceeding the rated capacity is needed Increase the time for the motion allowed for the motion application Use a drive or motor with bigger capacity eCheck the tuning Homing is incomplete within the time assigned in Homing Time Limit IN 01 11 12 Home Search Failed 23 Drive Overload Fault Position Strobe input is not turned on off within 5s from the rising falling edge of Absolute Position Transfer 24 Absolute Ready during Absolute Position Verify the sequential timing of Position Strobe amp Absolute Position Transfer Transfer Mode using photo coupler Position Transfer Mode input Timeout Fault output Verify continuity of I O cable and connector Absolute Position Transfer Mode input is not turned off within 5s after absolute data transfer completion The sensor H_SENS P OT N OT used in a selected Homing Type is not configured at the Digital Input Configure the sensor to use in a selected Homing Type at the Digital Input Select a Homing Type in which a sensor H_SENS P OT N OT is not used 25 Sensor Unassigned Occurs when an axis didn t return to 27 Axis Not lt home before the drive can operate an Define the Home position Homed l absolute coordinate index Occurs when the encoder is not 28 Encoder Data properly programmed 5 Range Fault Occurs when the memory of the Depa DRON encoder is damaged Occurs when the communication with eCheck the motor selecte
97. ng Main Velocity Regulator Gains Low Pass Filter Bandwidth Baa e The low pass of velocity command and setting the cutoff frequency to suppress high frequency components Description e System gain value will change its value F108 Applicable Operating Follower Analog Speed Preset Mode When Enabled Immediately Drive Tuning Main Velocity Regulator Gains Error Filter Bandwidth Applicable Operating Follower Analog Velocity Preset Mode When Enabled Immediately Drive Tuning Main Position Regulator Gains Drive Tuning Main Position Regulator Gains Kp Proportional gain for the position loop The Kp gain generates a control signal proportional to the position error Note Increasing the Kp gain improves response time and increases the stiffness of the system Too high a Kp gain value causes instability too low a Kp gain value results in loose or sloppy system dynamics Parameter Ft 1 06 Range 0 700 Applicable Operating Follower Mode Drive Tuning Main Position Regulator Gains Kff Feedforward gain for the position loop The Kff gain generates a feed forward signal proportional to the Description commanded speed Note Kff gain reduces position following error However high values can cause position overshoot Parameter Ft 1 15 Range O 100 Deno 0 Description Units Applicable Operating Follower Mode Drive Tuning Main Position Regulator Gains Kff Low Pass Filter Ban
98. ngle Mechanical Angle 0 1 9999 9 V 1 99999 V 1 99999 V Velocity Feedback Applicable Operating All Mode Drive Analog Outputs Analog Output 1 2 Scale The amplitude of the channel 1 input signal to be displayed by the oscilloscope RSWare User Manual 110 Examining the CSD5 Drive Interface Units Ft 5 15 Ft 5 16 Units depend on the channel selection 00 ll 5 Applicable Operating A Mode When Enabled Immediately No status is displayed for an CSD5 drive in the Analog Outputs window No Special commands are associated with the Analog Outputs window Customize the Analog Outputs window for your CSD5 Drive branch by selecting one or more of the following buttons e Toggle the Show Status selection to display or hide the Status pane e Toggle the Show Commands selection to display or hide the Commands pane e Click on the Setup button to open the Monitor Setup window as shown on page 112 where you can customize the status display for this window e Click on the Revert button to return parameter settings to the values they held when you opened this window Understanding the Monitor RSWare s Monitor tool lets you select and display all or any combination of drive statuses for a selected CSD5 on line drive The Monitor tool works just like the status pane of a branch s Properties window Use this window to e View a collection of statuses e Open the Monitor Setup window w
99. ning the CSD5 Drive Interface Applicable Operating All Mode When l Enabled Servo Off gt Setting Click on the Revert button to return parameter settings to the values they held when you opened this window E 1 000 1 000 MHz Understanding the Indexing Window The Properties window for Indexing looks like this Note The Properties window for Indexing of CSD5 Drive and KNX3 Drive are not same The below is an illustration of CSD5 Drive Use the Indexing window to RSWare User Manual Examining the CSD5 Drive Interface 55 configure up to sixty four indexes 0 63 for CSD5 Drive 0 6 for KNX3 Drive and open the Indexing Control Panel where you can start and stop execution of the index command start and stop homing enable or disable a drive and monitor the execution of an index An index controls drive operation by executing preconfigured motion commands An index controls drive operation when Operating Mode is set to Indexing in the CSD5 Drive window The drive uses the index whose number 0 63 reflects the cumulative binary values of the Preset Select Lines 0 1 2 3 4 and 5 that are selected in the Digital Inputs window The digital input Preset Select Line binary values are as follows Preset Select 0 1 if active O if not Preset Select 1 2 if active O if not Preset Select 2 4 if active O if not Preset Select 3 8 if active O if not Preset Select 4 16 if active 0 if n
100. nt Regulator Gains Low Pass Filter Bandwidth Applicable Operating Mode When Enabled Immediately Drive Tuning Main Current Regulator Gains 1st Resonant Frequency Suppression Filter Applicable Operating Mode When Enabled Immediately Drive Tuning Main Current Regulator Gains 2nd Resonant Frequency Suppression Filter Applicable Operating Mode When Enabled Immediately Drive Tuning Main Current Regulator Gains 1st Resonant Frequency Suppression Filter Width Set up the notch width of the 1st resonance suppressing filter in 20 steps Higher the setup larger the notch width you can obtain Uais e Applicable Operating Mode When Enabled Immediately Drive Tuning Main Current Regulator Gains 2nd Resonant Frequency Suppression Filter Width Set up the notch width of 2nd resonance suppressing filter in 20 steps Higher the setup larger the notch width you can obtain FeLi RSWare User Manual Examining the CSD5 Drive Interface 77 Units e O Applicable Operating Mode When Enabled Immediately Drive Tuning Main Current Regulator Gains 2nd Resonant Frequency Suppression Filter Depth Set up the 2nd notch depth of the resonance suppressing filter Higher the setup shallower the notch depth and smaller the phase delay you can obtain PLIA Default Units e O Applicable Operating Mode When Enabled Immediately Drive T
101. o Cut Copy Paste Delete Find Replace Select All Go To Corresponding Go To Line Number Toggle Bookmark Next Bookmark Previous Bookmark Clear All Bookmarks Properties Toolbars Status Bar Workspace Output Workbook Mode CSD5 KNX3 Customize Rescan Rescan Options Serial Port Enabled Close All Cascade Tile Wide Tile Tall Arrange Icons Contents and Index Tip Of The Day Release Notes About RSWare RSWare offers four standard Windows toolbars which can be detached from the RSWare user interface and relocated To return a toolbar to its last docking position just double click on its header bar The RSWare toolbars are Toolbar Name File Edit Enable Contains these Commands New Open Save About Locate Cut Copy Paste Erase Enable Disable All Use the Toolbars command in the View menu to open the Toolbars dialog box and enable or disable existing toolbars and create new toolbars Use the Customize command in either the Toolbars dialog box or the Tools menu to open the Customize dialog box where you can e addacommand icon to a toolbar by dragging it from the Command tab and dropping it on the desired toolbar and e delete a command icon from a toolbar by dragging it from a toolbar and dropping it off the toolbar Status Bar 12 Before You Begin Starting RSWare RSWare User Manual To display the Status bar use the View menu Status Bar command The status ba
102. ocation of Input Signals 6 4 digits Description Default UnmappedIO Status 1 4 0 Reset multi turn data of Absolute Encoder R ABS 0x0 OFF Ab S olute Po sition Gain Bank Select BANK SEL 0x0 OFF Ft 0 1 5 Digit2 Transfer Mode 2 Analog Current Limit A CL 0x0 OFF 3 Absolute Position Transfer Mode ABS MD 0x0 OFF Applicable All Operating Mode When Enabled Servo Off gt Setting Please refer to the above content Current Limit Analog Current Limit A CL Analog Note This parameter is only added for CSD5 Drive Ee Applicable All Operating Mode When Enabled Servo Off gt Setting Drive Digital Inputs Input 10 Description Select the drive s digital input assignments p p p p F022 e027 Unassigned Unassigned OOOO o OP Aerma Can Sku CSE Ft 0 13 Digit2 aa Sete ee leer unen P Ft 0 11 Digit2 Positive Geen ae i epad Curent hm Ft 0 11 Digit1 Negative E i cues eee Drive Enable Drive Enable SV ON Ft 0 10 Digit0 RSWare User Manual Overtravel Negative Over travel N OT l Positive Over travel P OT Ft 0 10 Digit1 2nd Electronic oe 2nd Electronic Gear Bank Selection GEAR Bank Selection Ft 0 17 Ft 0 17 Examining the CSD5 Drive Interface 99 Fault Reset A RST Ft 0 11 Digit0 Integrator Inhibit Integrator Inhibit P CON Ft 0 10 Digit3 Operation Mode Ga Operation Mode Override C SEL Ft 0 11 Digit3 Ft 0 10 Dig
103. ondition of each digital input is depicted by a light bulb icon as follows ON a bright light bulb OFF a darkened light bulb Input 1 10 State No Special commands are associated with the Digital Inputs window Customize the Digital Inputs window for your CSD5 Drive branch by selecting one or more of the following buttons e Toggle the Show Status selection to display or hide the Status pane e Toggle the Show Commands selection to display or hide the Commands pane e Click on the Revert button to return parameter settings to the values they held when you opened this window Understanding the Digital Outputs Window The Properties window for Digital Outputs looks like this Drive Digital Outputs Parameter vae Unite soverom OO ompa vann Postion Window Dn om2 upos Output 3 ompa Unassigned S oupas Unassigned SiC Ouiput Unassigned SSC Brake nactve Desy 0 m 500 m _ status Value unis oupas ae ee oe E o CeT Output 4 State Output 5 State Output 6 State V Show Status I Show Commands Setup Revert Close Help Use the Digital Outputs window to e assign functionality to digital outputs e set both active and inactive brake delays e monitor the status of digital outputs The following parameters are associated with this window Drive Digital Outputs Drive Digital Outputs Output 1 Select the functionality to be assigned to
104. opy and paste process in a single step This chapter covers e Opening RSWare e Creating Opening and Saving RSWare Files e Creating a New Drive e Importing and Exporting a Drive e Working in the Workspace Window Before you create a new off line drive you must first create an RSWare file to contain the new drive When RSWare opens for the first time a dialog box like the following one appears x RSWare requires a udb file to store off line data Do you want to Open Last File test udb Open existing file C Create new file e Select Open Last File lt filename gt and click OK RSWare opens the most recently used RSWare file e Select Open existing file and click OK the Open dialog box appears where you can navigate to and open a previously saved RSWare file Creating Opening and Saving RSWare Files RSWare User Manual Common Command for RSWare Drive Congifuation 15 e Select Create new file and click OK a new empty file is created Note A new file is stored in temporary storage and the Workspace icon displays Unsaved until the file is saved with a filename e Click the Cancel button RSWare does not open an RSWare file RSWare displays the selected RSWare file if any in an Off Line branch of the Workspace window An RSWare File is a container that can hold any number or combination of off line CSD5 and KNX3 drives projects and their children An RSWare File is disting
105. 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 Labels may be located on or inside the equipment for example a drive or motor to alert people that dangerous voltage may be present BURN HAZ 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 Trademarks not belonging to RS Automation Co Ltd are property of their respective companies Table of Contents Table of Contents Important User Information c ccccssessesessesseseeseesesseeseeseeseeteeeesesateateteseeateateas 2 POL ACB OPETE AE AAAS E A A EAS PERLE AEA EAA A A A AN EEE 6 Introduction cccccccccccccccccccceceeessssssecccccccccececceceeeesseeeecaceecceceeeceeeceeeesssesensesaceceeeeeeeeess 6 Who Should Use This Manual cccccccccccscccccccccccessseecccccccesssseccccceeeesseseeceeeeeeseees 6 Where to Find Help 6 Conventions Used in This Manual ccccccccccccssssccecessscccecesssecceeeessecceeessseeeeeesssaees 6 FYE ch LOCH SL CO METI A LOIN exces ceca eee 6 Using Online FQN cesses seas ace a ak a a ae 7 RS Automation Support cccscsscssesscssesseseesseseeseeseesecseesesesaesseeesseeseeoestesteaneateas 7 Local Product Support 7 Technical Product Assistance 1 Before Vou BEGIN css
106. ot Preset Select 5 32 if active 0 if not If a Preset Select Line is not assigned to a digital input the Preset Select Line is considered inactive The following parameters statuses and commands apply to Indexing Drive Mode Configuration Indexing Drive Mode Configuration Indexing Auto Start Indexing Description When this field is set to on the drive will begin executing the selected index whenever the drive enables IN00 0 Off Drive starts to move to the selected index with start indexing input after drive enable Drive starts to move to the selected On index without start indexing input after drive enable Applicable Operating Indexing Mode When Enabled Power Cycling Drive Mode Configuration Indexing Abort Index Decel RSWare User Manual 56 Examining the CSD5 Drive Interface The deceleration used to stop motion when the Stop Index input terminates an index move INOO O1 0 01 21474836 47 for rotary 0 001 2147483 647 for linear 62 50 for rotary 6 250for linear Rev sec for rotary mm sec for linear Applicable Operating Indexing Mode When Drive Mode Configuration Indexing User Defined Distance Per Motor Revolution Dagpo This parameter is the user defined distance per motor 1 revolution in order to change the unit of indexing point escriptio distance 00 07 Bew ooo Applicable Operating Indexing Mode When Enabled Power Cycling Drive Mode Configurat
107. oving Ft 0 23 Digit In Dwell d DW An active state indicates the I Dwell motor is holding position in an index move and Ft 0 25 Digitl waiting for the commanded dwell time ees Axis Homed HOMC An active state indicates Ft 0 25 Digit2 that the homing routine has completed mee eee dee S Ou OSE LO Ft 0 25 Digit3 Output BGO CRE ddes a Om OSE Ft 0 26 Digit0 ange eS scl tae Scie E Ft 0 26 Digit Output 3 4 Output ae eee Index Select 3 Out O ISEL3 Ft 0 26 Digit2 Output oe ee Index Select 4 Out O ISEL4 Ft 0 26 Digit3 Output Index Select Output Moving Index Select 5 Out O ISEL5 Ft 0 27 Digit0 Enable End of Sequence E SEQU An active state indicates all iterations of the index move have been End of Sequence completed Ft 0 27 Digitl Note This parameter is only added for CSD5 Drive Applicable All Operating Mode When Enabled Servo Off gt Setting Drive Digital Outputs Output 6 Select the functionality to be assigned to digital output 6 Ft 0 22 Ft 0 27 Unassigned Unassigned o Within position window P COM An active output state indicates that the position error has Within position been less than the Position Functions In Position Range window Size setting for longer than the Position Functions In Position Time setting in the CSD5 Drive window Up to speed TG ON An active output state Up to speed indicates motor velocity feedback is
108. peed Functions Speed Window Deo If the speed error lt Speed Window for 10 ms and the Within Speed Window output signal is assigned then the eas Within Speed Window output is turned ON 5 05 Units RPM for rotary motors mm sec for linear motors Applicable Operating Follower Analog Velocity Input Preset Velocity Mode When Immediatel Enabled PARER Drive Speed Functions Up to Speed N If the motor speed gt Up to Speed and the Up to Speed output signal is assigned then the Up to Speed output Description is turned ON RPM for rotary motors mm sec for linear motors Applicable Operating All Mode When Immediatel Enabled Duan Drive Speed Functions Up to Speed If the Analog Speed Command lt Zero Clamp then the analog speed command is ignored and the motor Description command speed is set to zero Beate oo o oOoOoooS Applicable Operating Analog Velocity Mode van bactaa Enabled py Drive Position Functions Drive Position Functions In Position Size RSWare User Manual Examining the CSD5 Drive Interface 39 If position error lt In Position Size for 1 ms and the In Position Size output signal is assigned the In Position output is turned ON Parameter Ft 5 00 Range O 2500 Default 10 Units Counts Applicable Operating Follower Mode When Immediatel Enabled PER Drive Position Functions Near Position Size If position error lt Near Position S
109. pened this window The Properties window for Digital Inputs looks like this Note The Properties window for Digital Inputs of KNX3 and CSD5 look like same but the input setting is different For One Input only one can set for CSD5 Drive but many more can be set for KNX3 Drive Drive Digital Inputs oeeie Parameter Vale Units inputi Drive Enable ee Unassigned integrator inhibit Fault Reset Current Limit Negative Current Limit Positive Unassigned 7 Show Commands Setup Revert Close Help Use the Digital Inputs window to e assign functionality to digital inputs and e monitor the status of digital inputs Selecting a function in the Value selection box causes that function to become active when the associated Digital Input becomes active By default Input 1 is assigned the function Drive Enable If you change the assignments so that Drive Enable is not assigned to any input the drive automatically enable on power up Be aware that in this case the motor may start moving on power up Examining the CSD5 Drive Interface 87 Note Preset Selects 0 through 5 are a special case Instead of activating a function Preset Selects 1 through 6 contributes a binary value when a digital input becomes active The drive sums the binary values and uses the resulting integer to determine which Preset Position Preset Velocity Preset Current Preset Follower Gearing
110. plicable Operating Preset Mode When l Enabled Immediately Drive Mode Configuration Preset Preset Velocity 3 Refer to description of Ft 2 05 e207 Applicable Operating Preset Mode Van amedai Enabled eae e bew o OoOo Applicable Operating Preset Mode Tomada RSWare User Manual 50 Examining the CSD5 Drive Interface mawa a RPM for rotary motors mm sec for linear motors Applicable Operating Preset Mode When Immediatel Enabled maa Drive Mode Configuration Preset Preset Velocity 6 Refer to description of Ft 2 05 F210 Dele 0 RPM for rotary motors mm sec for linear motors Applicable Operating Preset Mode When Enabled Immediately Drive Mode Configuration Preset Preset Velocity 7 Refer to description of Ft 2 05 e21 n 0 RPM for rotary motors mm sec for linear motors Applicable Operating Preset Mode When Enabled Immediately Click on the Revert button to return parameter settings to the values they held when you opened this window Understanding the Follower Window The Properties window for Followers looks like this RSWare User Manual Examining the CSD5 Drive Interface 51 2 Drive Follower C mer OO o O O O Step Up Step Down Postive Logic Line Drive Input eee eee Master Counts Follower Counts Master Counts Folower Counts MHz MHz High Frequency Line Driv
111. r EE a Range Applicable Operating Mode When Enabled Servo Off gt Setting Drive Tuning Gain Switching Drive Tuning Gain Switching Gain Change Enable EE _ a Range Default Disable Applicable Operating All Mode When Enabled Servo Off gt Setting gt After power cycle Drive Tuning Gain Switching Mode of Gain Switching Select the gain switching mode Ft 0 06 Digit2 SEL on 2nd gain selection when the toque command is larger than Torque Command the setups level of gain control switching and hysteresis of 0x3 control switching RSWare User Manual Examining the CSD5 Drive Interface 79 2nd gain selection when the command speed is larger than Velocity Command the setups level of gain control switching and hysteresis of 0x4 control switching 2nd gain selection when the positional deviation is larger Position Error than the setups level of gain control switching and hysteresis 0x5 of control switching Position 2nd gain selection when more then one command pulse exist 0x6 Command between 200usec bet 2nd gain selection when the positional deviation counter In Position ae 0x7 value exceeds the setup of Positioning completer range x8 2nd gain selection when the motor actual speed exceeds the veie setup level of gain control switching and hysteresis of 0 control switching Switches to the 2nd gain while the position command exists Switches to the
112. r contains e Tooltip help a description of the menu or button command immediately beneath the pointer e Indicators for caps lock CAP num lock NUM and scroll lock SCRL e The Row and Column reference for the cursor if a source file or header file has focus in the Text Editor When the status bar is visible a check mark appears to the left of the Status Bar command in the View menu When you start RSWare for the first time RSWare prompts you to Open Last File xxx udb Open existing file or Create new file After you select the file to open or create RSWare scans the network for online drives You may need to configure your PC s serial port settings Refer to Serial Port Settings on page 13 and rescan the network Refer to Scanning the Network on page 12 to insure that RSWare successfully locates all online network drives Opening an RSWare File RSWare stores the name and location of any open RSWare file in its memory when you last closed RSWare Each time RSWare opens it displays a dialog box that lets you do one of the following Dialog Select s Description Open Last File ie and band EOR Opens the most recently used RSWare file SPEO RUUS ee Open another existing RSWare file of your choice then OK Create new file and then OK Open a new RSWare file Open RSWare without an active file in the Workspace Cancel window Note A new file is stored in temporary storage until saved Scanning the Networ
113. ral and derivative gains Together these regulators provide software control over the servo dynamics and stabilize the servo system RSWare User Manual 72 Examining the CSD5 Drive Interface The following parameters statuses and commands apply to this window Drive Tuning Drive Tuning Velocity Regulator Response level Set system gain in proportion to speed response level automatically by referring the estimated inertia ratio after auto tuning Fero Applicable Operating Mode When Enabled Immediately Drive Tuning System Gain e A higher 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 system s stability is increased e Refers to the bandwidth of the entire speed control loop e When this value is changed the gain values Ft 1 02 Ft 1 03 Ft 1 06 Ft 1 07 Ft 1 08 are set automatically according to the control mode while referring to the inertia ratio parameter Ft 0 04 eThe lower limit is 10 Hz Applicable Operating Mode When Enabled Immediately Drive Tuning Main Velocity Regulator Gains Description Drive Tuning Main Velocity Regulator Gains P Proportional gain for the velocity loop The P gain generates a control signal proportional to the velocity error Description
114. right of the Workspace window Use the Client Area to display e Property windows for objects selected in the Workspace window where you can configure the selected object s properties Selecting Workbook Mode from the View menu displays a tab for each object in the Client Area The tab contains the abbreviated name of the related object Select a tab to bring the related object to the top of the Client Area Unlike windows the Client Area cannot be directly resized The size of the Client Area depends upon the size and location of the surrounding Workspace and Output windows the Main menubar the Status Bar and the several toolbars However you can use the Cascade Tile Wide Tile Tall and Arrange Icons Window menu commands to arrange the display of windows in the client area Main Menubar The Main menubar is located at the top of the RSWare interface Use it to customize the RSWare main window and to perform essential functions and procedures with respect to objects selected in the Main Window The main menubar looks like this RSWare User Manual Before You Begin 11 Eis File Edit View Insert Tools Commands Window Help The menu items contain the following commands Menu Name File Edit View Insert Tools Commands Window Help Toolbars Contains these Commands New Open Save Save As Close Print Print Preview Print Setup Import Export Upgrade Firmware Recent File Exit Undo Red
115. rkspace window branch or item that can be cut and hold down the left mouse button RSWare User Manual Common Command for RSWare Drive Congifuation 23 2 Drag the selected Workspace window branch or item to the desired destination One of two things happens e Ifthe item can be cut the pointer continues to appear as an arrow for as long as you continue drag the item over a place in the Workspace window where it may be dropped e If the item cannot be cut or if you are dragging the item over a part of the Workspace window where it may not be dropped the arrow is replaced by a circle with a line through it 3 When you arrive at the Workplace window location where you want to move the item release both the mouse button and the Ctrl key The result is the same as if you had Cut then Pasted it to this location RSWare User Manual Chapter Overview RSWare User Manual Chapter 3 Examining the CSD5 Drive Interface A CSD5 drive may be set up in one of several operational modes Analog Velocity Controller Analog Current Controller Preset Velocity Controller Position Follower using an Auxiliary Encoder Position Follower using Step and Direction controls Position Follower Step Up and Step Down controls Indexing Controller The CSD5 drive interface also provides Homing Oscilloscope drive Tuning and Monitor capabilities and Motor and Encoder Diagnostic routines This chapter covers Configuring an CSD5 Drive Unde
116. rning WARN Ft 0 23 Digit3 sange Absolute position oe valid Absolute position valid A VLD Ft 0 24 Digit0 Servo drive ready An active state indicates the drive es is operational and does not have a fault Cs ee In Motion In Motion IMO An active state indicates an index Ft 0 25 Digit0 move is active and the motor is moving In Dwell d DW An active state indicates the I Dwell motor is holding position in an index move and waiting for the commanded dwell time Peer ere Axis Homed HOMC An active state indicates Ft 0 25 Digit2 that the homing routine has completed Inasa REECE Odes sde ONO SELO Ft 0 25 Digit3 Output Inec REECE ddes sde OnO SEEI Ft 0 26 Digit0 Output Indes GE Ades sde OnO E Ft 0 26 Digit1 Output kar S des ka On OTSE Ft 0 26 Digit2 Output PAE OSCE VI esket Ou OTEA Ft 0 26 Digit3 Output Index Select Output Moving Index Select 5 Out O ISEL5 Ft 0 27 DigitO Enable Ft 0 25 Digit End of Sequence E SEQU An active state indicates all iterations of the index move have been End of Sequence completed Ft 0 27 Digitl Note This parameter is only added for CSD5 Drive Within Position Window RSWare User Manual 102 Examining the CSD5 Drive Interface Applicable Operating Mode When Enabled All Servo Off gt Setting Drive Digital Outputs Output 2 Range Select the functionality to be assigned to digital output 2 022 ena
117. rstanding the CSD5 Drive Branch Understanding the Analog Window Understanding the Preset Window Understanding the Follower Window Understanding the Indexing Window Understanding the Homing Window Understanding the Motor Window Understanding the Tuning Window Understanding the Encoders Window Understanding the Digital Inputs Window Understanding the Digital Outputs Window Understanding the Analog Outputs Window Understanding the Monitor Configuring an CSD5 RSWare User Manual Examining the CSD5 Drive Interface 25 e Understanding the Oscilloscope Window e Understanding CSD5 Statuses e Understanding the Faults Window e Understanding the Service Information Window Each CSD5 drive in the Workspace window has the following child branches or windows e Operation Modes Analog Preset Follower Indexing Homing e Motor e Tuning e Encoders e Digital Inputs e Digital Outputs e Analog Outputs e Monitor e Oscilloscope e Faults e Service Information Except for the Monitor windows all of a drive s child branches can and must be configured in a Properties window Configuring Properties for the CSD5 Drive To configure the properties for an CSD5 drive or one of its child branches 1 Inthe Workspace window select the drive branch to configure 2 Do one of the following e Select Properties from the Edit menu 26 Examining the CSD5 Drive Interface RSWare User Manual i Drive EE E Nam ee At
118. s derived for various motor and feedback combinations Position Command Count Position Command Count Frequency Frequency 0 1 9999 9 kilocount V Velocity Command 1 99999 RPM V Velocity Feedback 1 99999 RPM V Velocity Error 1 99999 RPM V Current Command changeable with motor type V Current Feedback changeable with motor type V Select Value Motor Feedback Position 1 99999 count V Master Position 1 99999 count V Follower Position 1 99999 count V Position Error 1 99999 count V Range RSWare User Manual 114 Examining the CSD5 Drive Interface U Phase Current U Phase Current changeable with motor type V V Phase Current V Phase Current changeable with motor type V W Phase Current W Phase Current changeable with motor type V Commutation Angle Commutation Angle 0 1 9999 9 V Mechanical Angle Mechanical Angle 0 1 9999 9 V 99999 V 99999 W V 99999 V 99999 revolution V 99999 V V _ 0 1 9999 9 mV V 0 1 9999 9 mV V 1 99999 V 0 01 999 99 V V 0 01 999 99 V V bit 0 bit 1 bit 2 bit 3 bit 4 bit 5 bit 6 Digital Input 7 Digital I O Digital I O Diera ee bit 11 Digital Output 1 bit 12 bit 13 Digital Output 3 bit 14 Fault Digital Output 4 Fault 1 Digital Output 5 Fault 2 Digital Output 6 Fault 3 p p p O Digital Input 1 Digital Input 2 Digital Input 3 Digital Input 4 Digital Input 5 Digital Input 6 Digital Output 2 bit 15
119. s too large Uais e Applicable Operating Follower Analog Velocity Preset Mode When Enabled Immediately Drive Tuning 3rd Regulator Gains Low Pass Filter Bandwidth VReg wms e Hz Applicable Operating All Mode Drive Tuning 3rd Regulator Gains Kp N e Parameter which determines the responsiveness of position control Description ohana e Change set value according to rigidity of load E 0 700 2 Units H Applicable Operating Position Mode RSWare User Manual 82 Examining the CSD5 Drive Interface When Enabled Immediately Drive Tuning 3rd Regulator Gains Low Pass Filter Bandwidth IReg Suppresses high frequency components of torque command F136 0 10000 All Applicable Operating Mode When Enabled Immediately Drive Tuning 4th Regulator Gains Drive Tuning 4th Regulator Gains P Unis Applicable Operating Follower Analog Velocity Preset Mode escription e Overshoot in speed response can occur if set value is too large ow f Applicable Operating Follower Analog Velocity Preset Mode When Enabled Immediately Drive Tuning 4th Regulator Gains Low Pass Filter Bandwidth VReg Sets low pass cutoff frequency of speed command to suppress high frequency components Applicable Operating Mode When Enabled Drive Tuning 4th Regulator Gains Kp a e Parameter which determines the responsiv
120. s window for the Velocity Control Panel looks like this RSWare User Manual 44 Examining the CSD5 Drive Interface x Jog Forward Jog Reverse Jog Enable Jog Disable ae Drive Velocity Control Panel _ _Parameter__ Value _ Units velocity Command 50 RPM Show Status MV Show Commands Revert Close Help Note The command buttons Jog Forward Reverse Enable Disable can be displayed for CSD5 Drive window that is located in the On Line Drive branch Use the Velocity Control Panel window to directly set the drive s velocity command In support of these functions you can also e Jog Forward Jog Reverse e Jog Enable or Jog Disable The commands you execute override any motion commands originating from the drive s normal operation mode set in the CSD5 Drive window The Velocity Control Panel commands override the normal operation mode The motor moves in response to Velocity Control Panel commands The Velocity Control Panel has the following parameters statuses and direct commands Drive Right side Velocity Control Panel Velocity Command Sets speed for jog operation using run 00 The speed at which the motor turns when the Velocity Mode command executes provided that the drive is Description on line and enabled Note The drive ramps up or ramps down to the commanded velocity at the rate of acceleration set in the Acceleration input
121. second gain Parameter Ft 1 27 Range 0 10000 Units x 200usec Applicable Operating Follower Analog Velocity Preset Mode When Enabled Immediately Drive Tuning 2nd Regulator Gains Drive Tuning 2nd Regulator Gains P a Applicable Operating Follower Analog Velocity Preset Mode Drive Tuning 2nd Regulator Gains Integrator Gain escription e Overshoot in speed response can occur if set value is too large nis if O SS Applicable Operating Follower Analog Velocity Preset Mode When Enabled Immediately Drive Tuning 2nd Regulator Gains Low Pass Filter Bandwidth VReg Applicable Operating All Mode When Enabled Immediately Drive Tuning 2nd Regulator Gains Kp e Parameter which determines the responsiveness of position control e Change set value according to rigidity of load Applicable Operating Position Mode When Enabled Immediately Description RSWare User Manual Examining the CSD5 Drive Interface 81 Drive Tuning 2nd Regulator Gains Low Pass Filter Bandwidth IReg Suppresses high frequency components of torque command Parameter Ft 1 31 Range O 10000 Default Units 300 Operating All Mode When Enabled Immediately Drive Tuning 3rd Regulator Gains Units s O Applicable Operating Follower Analog Velocity Preset Mode escription e Overshoot in speed response can occur if set value i
122. t Index Select 4 Inputd SEL4 Ft 0 18 Digit3 Digit0 i Index Select5 Input Index Select 5 Input 1 SEL5 Ft 0 18 Stop Homing Stop Homing H STOP Ft 0 18 Digit2 Start Indexing Start Index START D Ft 0 18 Digit3 Current Limit Analog Analog Current Limit A CL Digit1 a Ft 0 15 oa pee i L Digit1 RSWare User Manual Examining the CSD5 Drive Interface 93 Absolute Position Transfer Mode ABS MD Pr 0 15 Allocation of Input Signals 6 Data Size 4digiss Digit Description Default Unmapped IO Status Ab S olute Po sition 0 Reset multi turn data of Absolute Encoder R ABS 0x0 OFF 1 Gain Bank Select BANK SEL 0x0 OFF Ft 0 1 5 Digit2 Transfer Mode 2 Analog Current Limit A CL i 0x0 OFF gt 0x0 Absolute Position Transfer Mode ABS MD 3 OFF Applicable All Operating Mode When Enabled Servo Off gt Setting Please refer to the above content Current Limit Analog Current Limit A CL a Analog Note This parameter is only added for CSD5 Drive ee ia ie ela Applicable All Operating Mode When Enabled Servo Off gt Setting Drive Digital Inputs Input 6 eo m m eo SS SS ee eo ea lTe LS S ie s Digit2 Description Select the drive s digital input assignments Overtravel Positive Positive Over travel P OT Ft 0 10 Digit1 Pause Follower Pause Follower INHIBIT Ft 0 13 Digitl e02
123. t Limit A CL OFF OFF Ft 0 15 Digit2 3 Absolute Position Transfer Mode ABS MD Applicable All Operating Mode When Enabled Servo Off gt Setting Please refer to the above content Current Limit Analog Current Limit A CL lt 3 Analog Note This parameter is only added for CSD5 Drive Pe ae a Applicable Operating All Mode Drive Digital Inputs Input 4 Select the drive s digital input assignments RSWare User Manual Examining the CSD5 Drive Interface 91 FOA Da Description Unassigned SS Alternate Gain a Stace Alternate Gain Select G SEL Ft 0 13 Digit2 o Lot oie Cinese Cnn T Ft 0 11 Digit2 Sey E entire a a Ft 0 11 Digit1 Negative l Drive Enable Fault Reset Drive Enable SV ON Fault Reset A RST Ft 0 10 Ft 0 11 Digit0 Digit0 eo ee ee ial m Integrator Inhibit Integrator Inhibit P CON Ft 0 10 Digit3 Operation Mode Yr Cua Operation Mode Override C SEL Ft 0 11 Digit3 ve Negative Over travel N OT Ft 0 10 Digit2 Negative Overtravel Positive Positive Over travel P OT Pause Follower INHIBIT Position Strobe ABS DT Preset Direction C DIR Preset Select 1 C SP1 Preset Select 2 C SP2 Preset Select 3 C SP3 Ft 0 10 Digit Ft 0 13 Digit Ft 0 14 Digit0 Ft 0 12 Digit0 Ft 0 12 Digit Ft 0 12 Digit2 Ft 0 12 Digit3 Pause Follower Position Strobe Velocity Direction Preset Select 1 Preset Select 2 Preset Se
124. t1 Digit2 Digit3 Digit1 Ft 0 17 i Home Sensor Home Sensor H SENS Ft 0 16 DigitO Start Homing Start Homine SHO ME Digit1 Index Select2 Input Index Select 2 Input l SEL2 Ft 0 17 Index Select3 Input Index Select 3 Input d SEL3 Ft 0 17 Stop Indexing Stop Indexing STOP Digit2 Index Select4 Input Index Select 4 Inputd SEL4 Ft 0 18 Index Select5 Input Index Select 5 Input d SEL5 Ft 0 18 Stop Homing Stop Homing H STOP Ft 0 18 Start Indexing Start Index START I Ft 0 18 Current Limit E Analog Analog Current Limit A CL Absolute Position Transfer Mode ABS MD Pr 0 15 Allocation of Input Signals 6 Data Size 4 digits eS ee eens eo m EE ee a a a a n Ft 0 15 me Digit j Descriptions Default UnmappedIO Status oe Reset multi tur a solute Encoder R ABS _ gt A eae Po sition 0 Reset multi turn data of Absolute Encoder R ABS Ox OFF 1 Gain Bank Select BANK SEL OFF 0x0 Transfer Mode Analog Current Limit A CL i 0x0 OFF Ft 0 15 Digit2 j Absolute Position Transfer Mode ABS MD 3 0x0 OFF Applicable All Operating Mode When Enabled Servo Off gt Setting Please refer to the above content Current Limit Analog Current Limit A CL 7 Analog Note This parameter is only added for CSD5 Drive eer Applicable All Operating Mode When Enabled Servo Off gt Setting Drive Digital Inputs Input 9 Description Select t
125. t3 Digit0 Digit1 Digit2 Digit3 Digit0 Digit1 Digit2 Digit3 m m m m a a ee ee ee Ft 0 17 eo n RSWare User Manual Start Indexing Start Index START I Ft 0 18 Digit3 Pr 0 15 Allocation of Input Signals 6 94 Examining the CSD5 Drive Interface Current Limit TER Analog Current Limit A CL Ft 0 15 Digit1 Analog Index Select4 Input Index Select 4 Inputd SEL4 Ft 0 18 Digit0 Index Select5 Input Index Select 5 Input 1 SEL5 Ft 0 18 Digit1 Stop Homing Stop Homing H STOP Ft 0 18 Digit2 Absolute Position Transfer Mode ABS MD Digit q Description Default UnmappedIO Status 1 4 0 Reset multi turn data of Absolute Encoder R ABS 0x0 OFF Ab solute Po sition 1 Gain Bank Select BANK SEL x0 OFF Ft 0 1 5 Digit2 Trans fer Mode 2 Analog Current Limit A CL 0x0 OFF 3 Absolute Position Transfer Mode ABS MD 0x0 OFF Applicable All Operating Mode When Enabled Servo Off gt Setting Please refer to the above content Current Limit Analog Current Limit A CL 7 Analog Note This parameter is only added for CSD5 Drive a ener a ea Applicable All Operating Mode When Enabled Servo Off gt Setting PZA FOZ Operation Mode E Oa Operation Mode Override C SEL Digit3 Pause Follower Pause Follower INHIBIT Ft 0 13 Digit1 Drive Digital Inputs Input 4 Select Value Unassigned Alternate Gain i Sai Alternate Gain Select G SEL
126. the status display for this window e Click on the Revert button to return parameter settings to the values they held when you opened this window Understanding the Preset Window The Properties window for Presets looks like this RSWare User Manual 48 Examining the CSD5 Drive Interface rameter vane unis soeren O __ PresetVewot0 RPM Preset Velocty2 0 Preset Vevey a0 Preset Veociy ajo my ooo fo fo Preset Velocity 5 Preset Velocity 6 RPM RPM RPM RPM RPM RPM FS E Show Commands Revert Close Help Use the Preset window to configure e up to seven preset velocity values Preset parameters control drive operation when the Operating Mode ts set to Preset Velocity in the CSD5 Drive window The drive uses the preset velocity value selected by the Preset Select Lines 0 1 and 2 as set in the Digital Inputs properties window The digital input s Preset Select Line binary values are as follows e Preset Select 0 1 if active 0 if not e Preset Select 1 2 if active 0 if not e Preset Select 2 4 if active 0 if not If a Preset Select Line is not assigned to a digital input the Preset Select Line is considered inactive If you only want to use a single gear ratio simply set up the Gear Ratio for Preset 0 and don t assign the Preset Select 0 1 or 2 to any digital inputs Note Binary values for an active digital input s Preset Select Lines 3 4 and 5 do not apply to
127. ting Drive Acceleration Limits Drive Acceleration Limits Acceleration Limits Sets the state of the Acceleration and Deceleration Limits in the drive for the Analog Velocity and Preset Velocity operation modes La SS O o Default Active Applicable Operating All Mode When Enabled Servo Off gt Setting Drive Acceleration Limits Acceleration Applicable Operating Analog Velocity Input Preset Velocity Mode When Immediatel Enabled eater Drive Acceleration Limits Deceleration Applicable Operating Analog Velocity Input Preset Velocity Mode Wan aneda Enabled R E Drive Acceleration Limits S Curve Time RSWare User Manual Examining the CSD5 Drive Interface 33 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 O is set S operation is performed on acceleration deceleration Motor _ Speed rated speed Command Speed Command Motor set speed Description Motor Acceldecel rated speed time set Motor set speed Motor curve Time rated speed Setting Motor set speed Demis fo Applicable Operating Mode When Immediatel Enabled aca Drive Communications Drive Communications Drive Address Description The drive s communication port address Parameter Ft 0 07 Range 1 247 Def
128. tion window Within Speed window Current Limited Velocity Limited Within position window P COM An active output state indicates that the position error has been less than the Position Functions In Position Size setting for longer than the Position Functions In Position Time setting in the CSD5 Drive window Up to speed TG ON An active output state indicates motor velocity feedback is greater than the Up to Speed setting in the CSD5 Drive window Brake control BK Used to control a motor brake An active state releases the motor brake The Brake signal is the same as the Drive Enabled signal with the addition of the turn on and turn off delays specified by the Brake Active Delay and Brake Inactive Delay Within Speed window V COM An active output state indicates that the velocity error is less than the In Speed Window setting in the CSD5 drive window Current Limited I LMT An active state indicates the drive s current is being limited as set in the Drive window Velocity Limited V LMT An active state indicates the drive s velocity is being limited as set in Ft 0 22 Digit0 Ft 0 22 Digit Ft 0 22 Digit2 Ft 0 22 Digit3 Ft 0 23 Digit0 Ft 0 23 Digit With Near Window Warning the Drive window Near position NEAR Ft 0 23 Digit2 Warnine WARN Ft 0 23 Digit3 a positon Absolute position valid A VLD Ft 0 24 Digit0 Ready In Motion I Dwell Axis Homed
129. tor Inhibit P CON a mee Operation Mode Override C SEL Override Overtravel Neeative Negative Over travel N OT Overtravel Positive Pause Follower Position Strobe Velocity Direction Preset Select 1 Preset Select 2 Preset Select 3 Reset Multiturn Data Zero Speed Clamp Enable Zeto Speed Clamp Enable Z CLP Position Clear Position clear PCLR Moving Enable Motor Moving Enable START RSWare User Manual Value Select Unassigned oe ae econ Can ee OSED Ft 0 13 Select Current limit me _ Positive Positive Current Limit P TL Ft 0 11 Digit2 ee A oes Care N Ft 0 11 Digit1 Negative oe 8 Range Digit2 w cC _lVe eo i SSS ee Ft 0 10 Digit0 Ft 0 11 Digit0 Ft 0 10 Digit3 Ft 0 11 eo m Digit3 Ft 0 10 Ft 0 10 Ft 0 13 Ft 0 14 Ft 0 12 Ft 0 12 Ft 0 12 Ft 0 12 Digit3 Ft 0 15 Digit0 Ft 0 13 DigitO e ee Digit2 Digit1 Digit1 Digit0 Digit0 Digit1 Digit2 ea oO mnm me pees ee a ee eee ee a ea rs m mn b ee Ft 0 13 Digit3 Ft 0 14 eo e Digit1 Ls m eo Lm N Lee Lee fd f be Le Ft 0 17 Ft 0 17 Ft 0 17 Ft 0 18 esa Rea eens oes es i eS 96 Examining the CSD5 Drive Interface Pause Indexing Ft 0 16 Digit3 Ine ceo ae Ft 0 17 Digit0 Index Select Input Digit Index Select2 Input Digit Index Select3 Input Digit3 ieee Ft 0 18 Digitl Stop Homing Ft 0 18 Start Indexing Ft 0 18 Current Limit Analo
130. torque in unit related to rated torque internally limited F Ao RSWare User Manual 36 Examining the CSD5 Drive Interface Applicable Operating All Mode When Enabled Immediately Drive Current Limits Negative Internal It limits positive torque in unit related to rated torque Internally limited Fe 4 02 Units of motor rated continuous current Applicable Operating All Mode When Enabled Immediately Drive Current Limits Positive External e The torque imposed on the motor is internally limited automatically by the values set on Ft 4 01 Ft 4 02 Additionally it is also limited by the values set on Ft 4 03 Ft 4 04 when external lt P TL gt lt N TL gt sionals are input through sequence input e The torque limit according to internal limit Ft 4 01 and Ft 4 01 takes precedence to external torque limit lt P TL gt and lt N TL gt signals e If lt P TL gt is ON it limits positive torque in unit related to rated torque ged leni SEQUENCE xternal limi Internal limit External limit _ Forward Description torque Torque command Torque Fe 4 05 of motor rated continuous current Applicable Operating Mode All When Enabled Immediately Drive Current Limits Negative External If lt N TL gt is ON it limits negative torque in unit related to rated torque RSWare User Manual Examining the CSD5 Driv
131. uished by its extension of udb Creating a New RSWare File To create a new RSWare DataBase udb file 1 Do one of the following e Select New in the File menu e Click on the New icon in the File toolbar e Press the Ctrl N keys Note If an RSWare file is already open a Save Changes dialog opens and requires a response before the request to open a new file executes Choosing one of the following from the dialog opens the new RSWare file Dialog Selects Description Saves the open file under the filename and location ae previously designated No Discards the changes to the open file Cancel Aborts the new RSWare file leaving the previous file open 2 Anew RSWare File titled Unsaved appears in the Workspace under On Line Drives 3 The RSWare file can be populated with drives as described in Creating a New Drive on page 17 and saved under a name using the directions in Saving an RSWare File on page 17 16 Common Command for RSWare Drive Configuration RSWare User Manual Opening an Existing RSWare File Workspace 98 By 3 Offsine Unsaved To open an existing RSWare File 1 Do one of the following e Select Open in the menu e Click on the Open icon in the File toolbar e Press the Ctrl O Keys Note If an RSWare file is already open a Save Changes dialog opens and requires a response before the request to open a new file executes Choosing one of the following from the dialog opens the ne
132. unctions In Position Size setting for longer than the Position Functions In Position Time setting in the CSD5 Drive window Up to speed TG ON An active output state indicates motor velocity feedback is greater than the Up to Speed setting in the CSD5 Drive window Brake control BK Used to control a motor brake An active state releases the motor brake The Brake signal is the same as the Drive Enabled signal with the addition of the turn on and turn off delays specified by the Brake Active Delay and Brake Inactive Delay Within Speed window V COM An active output state indicates that the velocity error is less than the In Speed Window setting in the CSD5 drive window Current Limited T LMT An active state indicates the drive s current is being limited as set in the Drive window Ft 0 22 Digit0 Ft 0 22 Digit1 Ft 0 22 Digit2 Ft 0 22 Digit3 Ft 0 23 Digit0 106 Examining the CSD5 Drive Interface Velocity Limited V LMT An active state Velocity Limited indicates the drive s velocity is being limited as set in the Drive window With Near Window Near position NEAR Ft 0 23 Digit2 Watning WARN Ft 0 23 Digit3 oP aoe positon Absolute position valid A VLD Ft 0 24 Digit0 Servo drive ready An active state indicates the drive a is operational and does not have a fault soak ali In Motion IMO An active state indicates an index Ft 0 25 Digit0 move is active and the motor is m
133. uning Autotuning Drive Tuning Autotuning Autotuning Speed Description The larger the setting value the higher speed Parameter Ft 0 03 Digit2 Range 200 900 Default 700 Units RPM Applicable Operating All Mode When Enabled Servo Off gt Setting Drive Tuning Autotuning Off Line Tuning Mode Select Off Line autotuning mode 0 05 Digit Select Inertia Moment Estimation Inertia Moment Estimation Inertia Moment Estimation and Resonant and Resonant Frequency 0x1 l Frequency Detection Detection Resonance requenc i q Y Resonance frequency Detection 0x2 Detection Default Inertia Moment Estimation and Resonant Frequency Detection Applicable Operating All Mode When Enabled Servo Off gt Setting Drive Tuning Autotuning On Line Vibration Suppression Mode Select On Line vibration suppression mode FELZ Dig Range aa Bie alee NOY Normal and High Velocity Mode 2x a a Slow Velocity Mode without initial value RSWare User Manual 78 Examining the CSD5 Drive Interface Applicable Operating Mode When Enabled Servo Off gt Setting Drive Tuning Autotuning On Line Vibration Suppression Gain Select On Line vibration suppression gain Range Applicable Operating Mode When Enabled Servo Off gt Setting Drive Tuning Velocity Regulator Configuration Drive Tuning Velocity Regulator Configuration Velocity Command Filter on Followe
134. use the Edit menu commands to Cut Copy Paste and Delete Erase items in the Workspace window You can also use RSWare s Drag and Drop function in place of Cut and Paste Cut The Cut command removes certain selected items from the Workspace window Any item cut from the Workspace window replaces any other item previously cut or copied and stored in RSWare s clipboard The following Workspace window items cannot be cut e The On Line Drives branch RSWare User Manual 20 Common Command for RSWare Drive Configuration e A drive in the On Line Drives branch e An RSWare file e Any child branch of a drive To cut an item from the Workspace window 1 Select a Workspace window item other than one of those listed above 2 Do one of the following e Select Cut from the Edit menu e Click the right mouse button then select Cut from the pop up menu e Simultaneously press the Ctrl X keys e Click on the Cut icon in the Edit toolbar 3 RSWare displays a message box asking you if you wish to continue Select OK to cut or Cancel Copy The Copy command copies certain selected items from the Workspace window Any branch or item copied in the Workspace window replaces any other branch or item previously copied or cut and stored in RSWare s clipboard The following Workspace window items cannot be copied e An RSWare file e Child branches of a drive To Copy an item from the Workspace window 1 Select a Workspace window ite
135. ut signal or status to the selected channel 1 Be sure no check marks appear next to any input signal or status 2 Click OK The word Unassigned appears in the selected Channel in the Oscilloscope window The Properties window for the Faults display looks like this Note The Properties window for Faults of CSD5 Drive and KNX3 Drive are not same The below is an illustration of CSD5 Drive Status 24 is deleted Status 25 86 104 are added for KNX3 Drive 118 Examining the CSD5 Drive Interface y i Je gt sY H a J Ti we se ee ee ee ee eee Use the Faults window to e Set fault limits e Monitor fault statuses e Execute the Clear Faults command e Open a window where you can review the drive s fault history The Faults window has the following parameters statuses and commands associated with it Description The minimum position error which triggers the Following Error fault RSWare User Manual Examining the CSD5 Drive Interface 119 Applicable Operating Mode Follower Applicable Operating Mode When Enabled Servo Off gt Setting The Faults window displays the status of the following faults Note Status 24 is deleted Status 25 86 104 are added for KN X3 Drive Status si Possible Cause Measures Solutions 4 Motor Overtemperature Fault 5 IPM Fault 9 Bus Undervoltage Fault 10 Bus Overvoltage Fault Motor thermal switch trips due to
136. ute Encoder over 32768 H J Type Absolute Reset the Absolute Encoder Count Overflow Encoder is for 4096 revolution it is displayed eCheck the wiring and the power eCheck the power and set or adjust the acceleration deceleration time When the torque command is inputted for 300 or more of the rated value the drive is automatically limited at 300 Also when lowering the external torque command to 300 or less of the rated value it automatically disassembled When the speed command is inputted with the maximum speed OSC Warning When the external speed command is ot more of the motor the drive is automatically limited at the Over Speed inputted with the maximum speed or maximum speed of motor Also when the external speed Command more of the motor it is displayed command is lowered for less than the maximum speed ot less of the motor it automatically disassembled OCC Warning When the external torque command is Over Current inputted with 300 or more of the Command rated value it is displayed 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 lt C SEL gt Resetting sequence input amp output signal After resetting it is sequence input signal is not allotted effective only when the power is re allowed In multi step control mode when speed command lt C DIR gt lt C SP1 gt lt C
137. w RSWare file Dialog Selects Description Saves the open file under the filename and location Yes previously designated No Discards the changes to the open file Cancel Aborts the new RSWare file leaving the previous file open The Open dialog box opens MonitorCSD5 MonitorKNX3 fe uwrecwrl Ternp0 fe uwrecwr2 Filename f Fies ofte RSWare Database udb XH Cancel Creating a New Drive RSWare User Manual Common Command for RSWare Drive Congifuation 17 2 Navigate to and select the name of the RSWare File to open 3 Click Open The selected RSWare File appears in the Workspace window If the Workspace window had displayed a previously opened RSWare File the selected RSWare File is displayed in its place Saving an RSWare File To save all changes made to a drive or a project 1 Do one of the following e Select Save in the File menu e Click on the Save icon in the File toolbar e Press the Ctrl S keys To save an RSWare File to a new filename 1 Select Save As in the File menu The Save As dialog box opens Save As Messssesssessessssssssseesssessssesss fe uwrecvr fe uwrecvr Save as type RS Ware Database udb Cancel 2 Type or select a file name 3 Navigate to the location where the new RSWare File should be stored 4 Click Save Note Save As saves the entire RSWare database udb file to a new name With an RSWare File open in the Workspace
138. when a motor definition in the motor database has been changed Save parameters Save parameters Customize the Motor window for your CSD5 Drive branch by selecting one or more of the following buttons e Toggle the Show Status selection to display or hide the Status pane 70 Examining the CSD5 Drive Interface e Toggle the Show Commands selection to display or hide the Commands pane e Click on the Setup button to open the Monitor Setup window as shown on page 112 where you can customize the status display for this window e Click on the Revert button to return parameter settings to the values they held when you opened this window Understanding the Tuning Window The Properties window for the Tuning branch looks like this Note The Properties window for Tuning of CSD5 Drive and KNX3 Drive are not same The below is an illustration of CSD5 Drive RSWare User Manual Examining the CSD5 Drive Interface 71 Use the Tuning window to e Configure Velocity Regulator Response Level and System Gain that are used in tuning e Monitor Velocity Position and Current loop statuses e Open windows where you can execute commands for start autotuning copy main gains to 2nd 3rd 4th all gains RSWare uses a nested digital servo control loop consisting of an outer position regulator using proportional integral derivative and feedforward gains around an inner velocity regulator using its own set of proportional integ
139. window you can add a new off line CSD5 or KNX3 drive To add a new CSD5 drive do one of the following e Select CSD5 from the Insert Menu e With the RSWare File selected click the right mouse button then select Insert CSD5 from the pop up menu A new CSD5 drive appears as the bottom drive in the Workspace window The name of the new drive is Drive or if Drive already exists Drive n where n is 18 Common Command for RSWare Drive Configuration Importing and Exporting a Drive RSWare User Manual the lowest positive integer that creates a unique drive name for the specific drive model i e Two CSD5 drives may be named Drive and Drivel and two KN X3 drives may also be named Drive and Drive 1 To add a new KNX3 drive do one of the following e Select KNX3 from the Insert Menu e With the RSWare File selected click the right mouse button then select Insert KNX3 from the pop up menu A new KNX3 drive appears as the bottom drive in the Workspace window The name of the new drive is Drive or if Drive already exists Drive n where n is the lowest positive integer that creates a unique drive name You can import an existing previously configured drive to an RSWare File using the File menu s Import command Only drives that have been previously exported using the File menu s Export command can be imported Exporting a drive saves it as an User data eXchange File with an uxf extension Exporting a Drive To Export

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