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CSDP Plus Servo Drive

1. Input Output 50pin Connector DC 24 V Input gt Output gt j T ee Analog Monitor 1 Anale 24 V IN_ 1 28 Output Range 10 V to 1017 2999 olv D A 25 oe Monitor CH2 Output 4 o utput Range 10 V to 10 V 27 Analog Monitor GND Recommended Setting Function Chann v 37 ALI Yak Servo Alarm Code Servo on SV ON 1 Df 3 fy 38 AL Maximum Used Voltage DC 30 V Forward Revolution jm wk Maximum Used Current mA Stop o o D 2 4 Y 8 39 J Reverse Revolution 1 op 5 oo DI 3 5 140 AL SG Servo Alarm Code GND P Control Shift P CON E DI 4 6 29 Alarm Reset e m P arm Reset _ A RST DI 5 7 ys V 30 Ea Reverse Direction N TL 6 8 Ra 31 Torgu Limit m 4 6 ol f 26 4 EB Encoder A B C phase omara Jp TL DI 47 9 wan 302 Line Receiver Limit mE SN75175 or MC3486 33 aaa Emergency Stop ESTOP DI 8 10 sal eo J oh 898 36 Absolute Encoder Data Speed Control Mode Input PS Analogue Speed Command V REF 19 17 Z PULSE 10 V to 10 V T Ve V REF SG 20 A D E Encoder Z phase yak y 18 z PULse open collector p
2. Controller Servo Motor Servo System Configuration CSDP Plus has five different products Basic specifications of the products are displayed on the labels 5 0 3 o B X 2 Rated Power Input Voltage Servo Drive Label Rated output of each product is described in the table below CSDP Plus Rated Output CSDP 15BX2 1 5 kW CSDP 20BX2 2 0 kW CSDP 30BX2 3 0 kw CSDP 40BX2 4 0 kw CSDP 50BX2 5 0 KW Input Voltage B means 220V AC The models with the same appearance as that or the device in the diagram below are as follows e CSDP 15BX2 e CSDP 20BX2 e CSDP 30BX2 o a 8 The models with the same appearance as that or the device in the diagram below are as follows e CSDP 40BX2 e CSDP 50BX2 Specifications Servo Drive The specifications of CSDP Plus models are as follows CSDP Plus Model Specifications 3 phase 200 to 230V 10 to 15 50 60 Hz Main Supply Voltage Vrms Control Voltage Vrms Single Phase 200 to 230V 10
3. When a servo alarm occurs please shut down the power and ATTENTION 4 find the cause After removing the cause and reseting the system input the speed command to OV and restart the operation The servo drive can notify the controller of the information about the alarm through AL1 AL2 and AL3 terminals At the alarm output terminal 1 means that the secondary photocoupler transistor is OFF and 0 means it is ON Servo Alarm List 0 E 11 oC Motor Overcurrent Hall Sensor 0 0 1 E 12 oH Device for Motor Operation Error IPM H W Fault 0 0 1 E 22 Fol Torque Instantaneous Overload 0 1 0 E 23FOL Torque Continuous Overload 0 1 0 E 24 HoH Heatsink Overheat 0 1 0 E 25 PCO Motor Cable Failure 0 1 0 E 26 POL Output Capacity Overload 0 1 0 E 27 dOL Drive Overload 0 1 0 E 30 EOP Encoder Cable Wiring Open 0 1 1 E 31 AOS Absolute Encoder Overspeed 0 1 1 E 32 AtE Absolute Encoder Multi revolution Data Error 0 1 1 E 33 PoF Position Error Overflow 0 1 1 E 34 AdE Absolute Value Data Error 0 1 1 E 35 EuU Absolute Value Battery Failure 0 1 1 E 36 EoP Encoder Type Set up Error 0 1 1 E 37 Absolute Encoder Communication Failure 0 1 1 E 39 EPE Serial Absolute Encoder Parameter Error 0 1 1 E 40 oS Motor Overspeed 1 0 0 E 41 Est Emergency Stop 1 0 0 E 42 OPC Excessive Position Command Pulse 1 0 0 E 50 oU Excessive
4. PulseTrain Sign SIGNO SIGN ras een sen 9e NS Positive Logic Pulse A Phase B Phase Forward Revolution Reverse Revolution PULSE gt PULSE CW CCW SIGN SIGN H PULSE PULSED Pulse Train Sign siGnc gt L SIGN gt H Negative Logic Pulse Electric characteristics of the position command pulse are shown the diagram CW CCW ccw CW Forward Instruction Reverse Instruction 11 12 lt 0 1 4s gt 1 14S t3 35 T x100 50 96 8 PulseTrain Sign SIGN T T PULS 0 16 Forward Instruction Reverse Instruction 11 12 13 t7 lt 0 105 t4 15 16 gt 3 us gt 1 1 US 90 phase difference m A phase B phase A phase PHASE A t B phase PHASE B Forward Instructio Reverse Instruction 11 12 lt 0 1 25 gt 1 145 x 100 lt 50 Electronic Gear Electronic gear is a function to set the amount of load movement for each input command pulse An encoder generating 2048 pulses per revolution can make a complete revolution when the controller transmits 2048 pulses to the drive If the electronic gear is used only 1000 pulses can make the encoder finish a
5. The absolute encoder uses external battery power to store and remember the position information of the load system if the power supply of the servo drive is cut The error caused by the noise during signal transmission is not accumulated with the absolute encoder And it doesn t require the default position of the load to be adjusted when the power supply is cut off while the incremental encoder does require it The absolute encoder can activate the equipment with the memory information When the power supply is cut off and the absolute position of the load system is needed by the absolute encoder should be used Servo drive CN1 Controller 29 EA LN Serial I F Circuit UN T pl 5 30 Iy 1 3 pt d Up Down 31 EB Counter Lm gt 32 3 a 33 EC 3 34 A a 35 PS Serial I F Circuit 36 PS 3 Lv L7 i I 27 SGOIV 49 BAT 25 BAT PI DC 3 61V 50 FG II N vr Absolute Encoder Wiring An absolute encoder should be connected to the external battery power The battery enables the absolute encoder to remember and maintain the information of absolute position of the load system when the power supply of the servo drive is cut off If the power supply to the servo drive is cut off and the battery power is discharged below the standard
6. Therefore at the controller a program to shift the speed controller from PI controller type to P controller type can be made by assessing the analogue output such as the speed of the servo drive and torque and the output like P COM V COM TG ON Description on Second Digit of SEt 54 Speed Command Speed Regulator Speed Feedback Torque Command Speed Command Speed Command Limit apy 4 Filter 5 Speed Loop SEt 67 gt gt Rad s td Speed Loop Integral Gain Lo ob P CON Analog Monitor Sequence Output Controller Decision Logic ATTENTION If overshoot is small do not use the control by the signal When a small amount of offset is included in the speed command on the speed control mode using the P controller type can cause the motor to not react to the offset set at 0 speed command and remain still P PI mode shift function by the parameter set up can be used in the following cases When the internal torque command is bigger than a certain value 96 e When the speed command is bigger than a certain value RPM When the position error is bigger than a certain value pulse BGEBRB Set the P control shift switch at the first digit of SEt 54 The set up can be done as shown in the n table below 0 Do not use P PI mode shift
7. Number of Poles 8 Poles 2 Vibration A9 mis 1 Stopped Mounting Method FLANGE 224 1 85 or less Shock 98 m s 3 Times Operating Humidity Non Condensing Brake Specifications CSMF Motor Brake Specifications Friction Torque Kate 78 e 21 6D or more ela da enema TETTO E A Brake Pull In Time ms 80 or less 150 or less Brake Release Time ms 35DLGK 100 or less Release Voltage VDC 2 or more Rated Voltage V DC 24 2 4 Rated Current A 0 83 10 0 75 10 Allowed Brake J 1372 1470 Energy Once Kgfm 140 150 Overall Allowed d 2 9 106 1 5 108 2 2 105 BRAKE Energy Kgfm 3 10 1 5 107 2 2 10 Speed Torque Curve Torque N m CSMH 15B 20 4 Instantaneous Use Area 10 4 Continuous Use Area Speed RPM 1000 2000 3000 Torque N m CSMH 25B 30 4 Instantaneous Use Area 15 4 Continuous Use Area T Speed RPM 1000 2000 3000 Torque N m CSMH 35B 50 4 Instantaneous Use Area 25 4 Continuous Use Area Speed RPM 1000 2000 3000 Torque N m dal CSMH 45B Instantaneous Use Area 25 4 Continuous Use Area I Speed RPM 1000 2000 3000 CSMK Motor Basic Specifications CSMK Motor Specifications Rated Voltage V 220 Rated Power kW 1 2 2 0 3 0 4 5 6 0 Rated Tora Kgfcm 117 2 195 289 5 437 4 583 2 N M 11 5 19 1 28 4 42 9 572 Maximum
8. CSMF 15B 196 167 171 142 65 200 176 233 3 2 18 13 5 CSMF 25B 192 163 165 136 65 235 220 268 4 16 13 5 CSMF 35B 200 171 173 144 65 235 220 268 4 16 13 5 CSMF 45B 220 171 189 160 70 235 220 268 4 16 13 5 RSMD 5 RSMH RSMK RSML RSMS Motor RSMD RSMF RSMH RSMK RSML RSMS Motor Size CSMK 6 kW Motor amp Brake cannon plug CSMK 4 5 kW or more Motor amp Brake cannon plug LC Encoder cannon plug m hw LL RSMD 15 208 183 55 145 130 165 6 12 9 RSMD 20 233 208 55 145 130 165 6 12 9 RSMD 25 258 233 55 145 130 165 6 12 9 RSMD 30 283 258 65 145 130 165 6 12 9 RSMD 45 238 213 70 200 180 230 32 18 135 RSMD 50 258 233 70 200 180 230 32 18 135 RSMF15 178 313 65 200 180 230 32 18 135 RSMF 25 177 146 65 220 268 4 16 ba RSMF 35 186 155 65 Li 220 268 4 16 E RSMF 45 202 171 70 Li 220 268 4 16 i RSMH 15 233 208 70 145 130 165 6 12 9 RSMH 20 225 200 80 200 180 230 32 18 135 RSMH 30 240 215 80 200 180 230 32 18 135 RSMH 40 255 230 80 200 180 230 32 18 135 RSMH 50 285 260 80 200 180 230 32 18 135 RSMK 12 208 183 80 200 180 230 32 18 135 RSMK 20 228 203 80 200 180
9. SEt 36 SEt 37 Does the speed command work properly in monitor mode Yes 02 Set the direction of encoder output pulse and division ratio SEt 44 4 5 1 23 SEt 24 Adjust gain Position Control Set up Sequence Three types of command inputed through the four pins of the controller connector CN1 Input Output 50pin Connector DC 24 V Input gt 2 Output LT Lay Analog Monitor CH1 24 V IN 1 28 Output Range 10 V to 10 D A Analog Monitor CH2 9nd 24 e 23 Output Range 10 V to 10 V Output Recommended Setting Function Channdl gr ALI te ISVEON La Y K 7 Servo Alarm Code s DH 3 i 138 aro Maximum Used Voltage DC 30 V pres Revolution 5 or 47 yu 4 m as j Maximum Used Current mA Reverse Revolution E ex Stop m o 5 405 AL SG Alarm Code GND P Control Shift P CON Lo Dita 18 eli PS 29 eng Alarm Reset 5 t zi P Reverse Direct ae n 55 fe Encoder A B C Ph leverse Direction Dire TL ncoder A B ase Torque Limit __ ANT m too Dl 6 8 4
10. seen 169 SEt 59 Input Signal Assignment 1 170 SEt 60 Input Signal Assignment 2 171 SEt 61 Input Signal Assignment 3 171 SEt 62 Input Signal Assignment 4 171 SEt 63 Input Signal Assignment 5 171 SEt 64 Forward Torque Offset ii 172 SEt 65 Reverse Torque Offset enean 172 SEt 66 Load Inertia 172 SEt 67 Speed e e 173 SEt 68 Maximum Torque Used i 173 SEt 69 System Bandwidth eese 173 SEt 71 DA Monitor Channel 1 Offset 174 SEt 72 DA Monitor Channel 1 Output Gain essere 174 SEt 73 DA Monitor Channel 2 Offset ii 174 SEt 74 Monitor Channel 2 Output Gain 174 SEt 75 Overload Curve LEvEl 175 SEt 76 Output Signal Assignment 1 175 SEt 77 Output Signal Assignment 2 175 SEt 78 DA Monitor Channel 176 SEt 79 Internal Speed Command 4 177 SEt 80 Internal Speed Command 5 178 SEt 81 Internal Speed Command 6 0 178 SEt 82 Internal Speed Command 7 essen 178 Motor Specifications 179 idc aes eec A
11. If the encoder cable or the motor cable is not connected properly or there is an error with the position command this alarm occurs Check the connection of the cable and adjust the electronic gears SEt 36 and SEt 37 If the emergency stop circuit is activated this alarm occurs Clear the emergency stop and cancel the emergency stop input If the input pulse command frequency of the controller is high this alarm occurs Check the type of the input pulse and the frequency It should be 900 kpps or less for the line drive type and 250 kpps or less for the open collector type If the power is higher than the rated voltage range 405V the regenerative resistor is short circuited the regenerative transistor failed or the operation exceeds the regenerative capacity this alarm occurs If the power supply voltage is normal and the load inertia is not excessive replace the regenerative resistor If the main power voltage is lower than 200V this alarm occurs Check the power supply voltage If there is an error with the CPU this alarm will occur If there is an error with the U phase current offset this alarm will occur If there is an error with the W phase current offset this alarm will occur If there is an error with the main power supply this alarm will occur r H H If there is an error with the memory that stores the LI user parameter this alarm will oc
12. 2215584 SH YAE 401 1282 445 811 T031 373 3744 F 031 372 6446 KE E 303 8 CIA Re 3135 617 731 T 051 329 7802 3 051 329 7804 rx RS Automation Co Ltd www rsautomation biz RS Automation Building 348 2 Jinwi Industrial Complex Cheongho ri 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 HE RAE TR iB 348 285 DIXIE RR 451 862 T 82 31 685 9300 F 82 31 685 9500 RSE ae SEK PH rsagbs rsautomation biz
13. Shifts when the torque command is bigger than P control shift reference value 2 Shifts when the speed command is bigger than P control shift reference value RPM 3 Shifts when the position error is bigger than P control shift reference pulse O cc Please set the P control shift reference for a torque T E E 0 0 0 command at SEt 55 The setting range is 0 to 300 and the default value is 100 Please set the control shift reference for speed command at SEt 56 The setting range is 0 to 3000 RPM and the default value is 100 E E _ Ern Please set the P control shift reference for position error at SEt 57 The setting range is 0 to 10000 pulse and the default value is 100 The picture below shows the speed response when the speed regulator is changed from PI to P by torque command in the transient response status In the transient status of acceleration area or deceleration area if the torque command is bigger than the P PI mode shift reference the speed regulator will be P type and PI controller type in other areas Speed Speed Speed Command Speed Command FTN Speed Response f Speed Response X gt gt Torque Command Torque Command Qo lf 07 Control P Control PI Control P Control P CON signal will be shifted prior to P control shift switch and the reference set up In other words rega
14. iring 11 wire Incremental Encoder W 5 3 g 82 Z lt o Ju 20 gt o O 5 2 ia ite Po es di I For toe ee ey ee i aM lt ra gt Ol ca x uj uj uj vd Aol Sg Bi Dlo o o x SIEN 6 0 9 o a a ON OZ o s Nn E gt gt gt q 9 2 gt z F SS g w a lal a qm p N X bonn oo O wi x o gt aaa TI og gt o c iring 15 wire Incremental Encoder W E S 5 L g 5 P t g gt gt 5 8 8 gt gt 6 3 4 5 5 o e ya 26 LL F 5 uw ost 5 E A h E A D 5 BIA 3 4 D 49 8 8 5 T 8 gt 5 F o o o Pl po pv o gia amp a c di jal gt e a a ae lt gt P LK lt lt lt gt Pj o um qc 43e 0 edo del bar deer cl cM S S
15. Load Torque N m Load Inertia Moment kg m J J d ca Disk Load Inertia Jg Gear Coupling Inertia MD zptD di 8 32 p 7 87 x10 kg m Iron 2 70 10 kg m Aluminum Minimum Acceleration Time 5 ZAN tJ ad 60 1 Motor Inertia Motor Maximum Torque Minimum Deceleration Time s _ 2AN 60 T T dm Load Operation Power W p 2zN 60 Load Acceleration Power W 2AN y J P Fa t lt t 60 ta Stam a Acceleration Torque Required N m OMEN ol tJa 60t a T ta Stam Deceleration Torque Required N m 2Nulu E 60t sd t lt Las Torque Effective Value N m 2 2 2 De 57 rms t Index Sign Analog Monitoring Channel 2 6 118 ABS DT 4 58 6 121 A 170 Applied Gain 5 85 A TL 4 58 A 170 Auto Adjustment for Speed Integral Value C DIR 4 57 4 58 4 80 A 147 A 170 A 177 A 167 C SEL 4 58 4 83 A 170 Auto Tuning Speed A 169 C SP1 4 80 A 147 A 177 B C SP2 4 58 4 80 A 147 A 170 A 177 5 C SP3 4 80 A 147 A 177 2 EA 6 115 Battery 6 119 6 115 Baud Rate 6 120 IEC 6 115 Brake Output Start Speed 6 105 EMG 4 58 A 170 Brake Output Waiting Time after servo ON G SEL 4 58 5 99 A 170 A 150 4 58 4 67 A 170 TE NEAR 4 59 4 68 A 144 A 175 eei 23 N T 4 78
16. Position Control Command Pulse Type CW CCW Pulse Train Signal Train A Phase BPhase 90 phase difference Command Input Type Line drive Voltage between levels 2 8 to 3 7 V Command Open collector External Voltage 24 V 12 V 5 V Input Signal Line drive Maximum 900 kpps Pulse Frequency Open collector Maximum 250 kpps Control Signal Position Error Clear Input Set at one of input terminals Speed Torque Command Voltage 10 V DC 14 bit A D conversion Command Input Input Impedance Approx 8 3 MQ Signal Circuit Time Constant 35 us or less Multi level Speed Command Input Signal Revolving Direction Used by assigning relevant functions to an input terminal Speed Selection Used by assigning relevant functions to an input terminal Signal Position Output Type Line Drive Output A B Z Phase Absolute Encoder Data Open Collector Output Z phase Input Servo On Alarm Reset Gain Group Shift Forward Reverse Torque Limit Forward Reverse Revolution Prohibition P PI Control Shift Control Mode Shift Internal Speed Command Zero Clamp Position Command Pulse Inhibit Absolute Encoder Data Transmission Output Position Completion Near Postion In Speed Revolution Detection Torque Limit Detection Speed Limit Detection Brake Control Output Servo Warning Detection Dynamic Brake When servo power supply is off When alarm occurs When
17. SEt 64 Forward Torque Offset e Setting range 0 to 100 e User Default 0 Changes while the servo is OFF Set this parameter in cases where the load moves upward vertically when the motor revolves in the forward direction This can supplement the problem of a falling vertical load when the mechanical brake is released as the servo is ON SEt 65 Reverse Torque Offset BEBBBB e Setting range 0 to 100 User Default 0 Changes while the servo is OFF Set this parameter in cases where the load increases when the load moves along the vertical axis and the motor revolves in the reverse direction This can resolve the problem of a falling load when the mechanical brake is released after the servo is ON in case of a vertically operating load SEt 66 Load Inertia Ratio BERGER e Setting range 0 to 600 0 1 times e User Default 30 e Changes while the servo is OFF The load inertia ratio estimated by auto tuning is set automatically In tuning the inertia ratio should be considered first for the optimum performance of the motor connected to the servo drive The inertia ratio is the ratio of the inertia of the load to that of the motor s rotor Motor Inertia Load Inertia If the inertia of rotor is 3 gf cm s and the inertia of load is 3 gf cm s inertia ratio is 10 times Inertia Ratio Inertia of the Load Inertia of the Motor s Rotor ATTENTION If inertia ratio is s
18. Position Multi level Speed Position Mode Multi level Speed 13 Mode Mode Multi level Speed 14 Speed Multi level Speed Mode Speed Mode Mode Multi level Speed 15 Torque Multi level Speed Mode Torque Mode Mode In the direction change speed mode C DIR signal changes the revolving direction of the motor SEt 42 System Gain 556888 e Setting range 0 to 300 Hz e User Default 40 e Changes anytime System gain is the same with the bandwidth of the overall speed control loop of the servo drive This gain can control the five basic gains at the same time Basic gain is categorized in five items that are essential for tuning e Speed Loop Proportional Gain Nms SEt 02 Speed Loop Integral Gain Nms SEt 03 e Position Loop Proportional Gain rad s SEt 04 Torque Command Filter rad s SEt 06 e Speed Command Filter rad s SEt 40 When this parameter is set the values of the basic gain will change after referring to the inertia ratio SEt 66 ATTENTION The value set last has the highest priority in the gain setting For instance even if the system gain SEt 42 is set and the value of the speed loop proportional gain changed setting new speed loop proportional gain SEt 02 will make the new value valid As the valueis set higher the response improves But if the value is too high for the load condition vibration or noise can be generated SEt 43 1 Servo Enable
19. 31 EB Line Receiver SN75175 Forward Direction Me MC3486 Torque Limit P TL Los DET 9 V 4 V 325 gg ve to ect E st E STOP DI 8 Stop 10 y K 34 e J Position Control Mode 35 PS gt Absolute Encoder icated Input P Data Serial Connect the line drive of r PULS LL vE PS controller open collector PULS 12 y K output i 17 Z PULSE osition comman SIGN 13 z da Encoder Z phase sk v 18 z J open collector LY san u va Z PULSE 45 SALM carl as Servo Alarm TR N 94 SALM 41 Doe Position 7 I P COM V REF 19 Ye v 42 DO 1 2 Completion Detection External Lp 10 V to 10 V V REF SG 20 i DO 2 Position vg y 44 DO 2 J Near Detection NEAR 415 DO 3 P Revolution Detection TG ON External BATH 48 VA v 48 3 Back Up Batti P m ery BAT 25 24 26 50 Recommended 3 y Channel Setting Function Sequence Output Circuit Position Control Wiring In the position control mode the controller can input position command in two ways The first is line drive and the second is open collector 150 O 4 7 kO VAVAVA fr A 3 Controller 2 8IV H level Llevel 3 7 V Drive Line Drive Input Vcc RI i 150 0 4 7 kQ E Sb VF 1 5 to 1 8 V Controller Drive Open Collector Input The maximum fr
20. lt lt 0 0 o OS lt p 8 lt og o o Of lt uj AC a ale a X los im e us 059 o tcd 10 wi o o o oo o o BON 9 9 9 9 9 2 AN 5 a g a S B o a 5 a 2895 e Doi 5355 Oz o Ozio eo co O N N 2 O Q e d ET cL i m of O Ol Fle x 2 2 Pe O da lt aoe cC C 5 5 OQ 8 vl S x x RE o d uj dia 0 fay al a c al a t a a t a a pee rene cepe d 7 Visae al E 3 x 1 r 6 SI CLLUL JJJ ek J 9 8 c c Encoder Connector Specifications RSMD RSME RSMH RSMK RSML RSMN DMS3108B20 29S RSMS RSMX xS or DMS3106B20 29S DMS3108B20 29S CSMD CSMF CSMH CSMS 11 wire Inc or DMS3106B20 29S CSMD CSME CSMH CSMS CSMK RSMD DMS3108B20 29S RSME RSMH RSMK RSML RSMN RSMS 15 wire Inc or DMS3106820 295 RSMX CSMD CSMF CSMH CSMS RSMD RSME Compact DMS3108B20 29S RSMH RSMK RSML RSMN RSMS RSMX Abs or DMS3106B20 29S RSMD RSME RSMH RSMK RSML RSMN anal Abs DMS3108B20 29S RSMS RSMX or DMS3106B20 29S RSMD RSME RSMH RSMK RSML RSMN mam
21. A Phase Phase ULIL sens SIGN Positive Logic Pulse Forward Revolution Reverse Revolution PULSE H PULSED CW CCW Ese Ges PULSE D gt PULSED PulseTrain Sign 516 gt E SIGN gt Negative Logic Pulse SEt 46 2 Speed Command Unit BEBBHE e Setting range 0x0to0x1 e User Default 0 x 0 Changes while the servo is OFF This parameter determines the unit for setting the speed command gain SEt 01 The set values are as follows 0 RPM 1V 1 RPM 10V SEt 46 3 Position Command Input Circuit Type BEBRHE e Setting range 0x0to0x1 e User Default 0 x 0 Changes while the servo is OFF The set values are as follows 0 Line Drive 1 Open Collector pee Controller 2 8 V H level L level 3 7 V Drive Line Drive Input Vec R1 150101 4 7 KQ VF 1 5 to 1 8 V Drive TRI Controller Open Collector Input SEt 46 4 Speed Observer Selection 5 e Setting range 0x0to0x1 e User Default 0 x 0 e Change while the servo is OFF and turn off the power and turn it back on The set values are as follows 0 Use the embedded o
22. Appendix Motor Specifications CSMD Motor Basic Specifications Rated Voltage mm Rated Output kW 1 5 2 0 2 5 3 0 3 5 4 0 4 5 5 0 ONES Kgf cm 73 974 121 146 169 192 219 243 N M 1 15 9 54 11 86 14 3 16 6 18 8 21 4 23 8 n Kgf cm 219 292 363 438 510 576 657 729 N M 21 5 28 5 35 6 42 9 50 0 56 4 64 3 71 4 Torque Rated Speed RPM 2000 Maximum Speed RPM 3000 gfcm s 11 4 15 5 19 6 22 8 36 6 43 4 51 6 61 9 ROTOR INERTIA 112 15 2 19 2 22 3 35 9 42 5 50 6 60 7 bis 11 gfcm s 13 6 170 21 5 25 1 41 0 478 56 7 68 1 240 4 Aci Kg m 10 12 3 16 7 21 1 24 6 40 2 46 8 55 6 66 7 POWER RATE kW s 45 8 60 0 73 2 91 6 76 83 2 91 1 93 5 ms 0 81 0 75 0 72 1 0 0 9 ms 19 21 20 24 30 32 Rated Current A rms 9 4 12 3 14 178 18 7 23 4 26 2 28 Maximum Instantaneous A rms 28 2 36 9 42 53 4 56 1 70 2 78 6 84 Current Axial Play mm MAX 0 3 Allowed thrust load Kgf MAX 20 35 during operation Allowed Radial Load Kgf MAX 50 80 during Operation Allowed Thrust Load while Coupling Kgf MAX 60 80 Allowed Radial Load while Coupling Kgf MAX 100 170 Weight When Brake is Attached Kg 8 5 10 6 10 1 12 5 12 8 14 7 14 6 16 5 16 2 18 7 18 8 21 5 25 21 3 25 28 5 Revolving Direction
23. E n Eg Set the decision range for displaying NEAR signal TAT at SEt 22 The display range is 0 to 1000 pulse and the default value is 20 The motions required at the moment of position completion can be shortened if NEAR signal and P COM signal are used together so that the controller can confirm the in position signal before position completion detection signal and prepare for the next sequence Setting these parameter does not affect the accuracy of the final position decision Position Error Near Position Range In Position Completion Range 0 Il INEAR ON OFF ON P COM OFF ON ATTENTION If the position completion range is large while the system is operating at a low speed P COM output signal can be kept A ON Position Error Range oo L og 3 Set the position error range at SEt 33 The setting DU pE range is 0 to 65535 pulse and the default value is 25000 If the position error is bigger than the set value the position error overflow servo alarm E 33 PoF will occur Servo ON Command of OFF ON Controllor Execution 1 PENNE T2 of Drive Position Sign Input Position Command Pulse Input T3 gt Position A phase Position Command B phase
24. P COM Output B ON OFF 4 OFF T5 T1 Maximum 40 ms T2 Maximum 6 ms T3 Minimum 40 ms T4 Minimum 10 ms T5 Minimum 10 ms Speed Control Speed control is used for the purpose of controlling speed by approving the speed command in the form of analog voltage from the controller to servo drive in both cases whether the position control loop is formed at the controller or not To carry out speed control please follow the command below for set up Allocate user input and output signals Raise analog speed command voltage slowly to operate the motor at the speed of 100 RPM Reset the external speed command input gain and restart the operation SEt 01 Do the speed command and speed feedback work well in monitor mode Yes i Con 01 Con 02 Adjust the speed command of fset to prevent the motor from revolving at OV instruction USr 03 USr 05 Set acceleration time and deceleration as needed SEt 19 SEt 20 If the motor revolves under the speed command of OV even after controlling speed command offset use zero clamp SEt 17 SEt 41 5 Adjust gain SEt 02 SEt 03 SEt 04 Speed Control Setting Sequence Input and output signals can be set as needed in case they are required in configuring the system
25. RSMK Motor Basic Specifications RSMK Motor Specifications Rated Voltage V 220 Rated Power kW 1 2 2 0 3 0 4 5 6 0 Rated Torque Nm ms a 429 572 Maximum Instantaneous Torque Kater 9 9 020 1091 ia N M 28 44 63 7 107 129 Rated Revolving Speed RPM 1000 Maximum Revolving Speed RPM 2000 vmm ge ROTOR INERTIA 52 36 9 42 2 63 0 88 7 110 WHEN BRAKE IS ATTACHED 2 10 4 36 2 41 4 61 7 86 9 108 kW s 44 104 147 232 337 Mechanical Time Parameter ms 0 94 0 85 0 72 0 71 0 63 Electrical Time Parameter ms 31 30 39 42 44 ne 185 240 330 470 Maximum Instant Current A rms 40 0 60 80 0 118 155 Axial Play mm MAX 0 3 Weight Kg 15 5 175 25 34 41 WHEN BRAKE IS ATTACHED 19 0 21 0 29 39 5 47 Revolving Direction U gt V gt W CW Color Black Oil Seal Embedded Wiring Method Y Wiring Time Rating Continuous Use Operating Temperature 0 to 40 C Insulation Grade B Grade Range Storage Temperature 1500V AC 60 sec 20 to 80 Dielectric Voltage 1800V AC 1 sec Insulation resistance 500V DC 20 Dielectric Voltage Brake 1200V AC 1 sec Number of Poles 8 Poles Excitation Method Permanent Magnet 49 m s When Stopped Vibration 24 5 m s During Mounting Method FLANGE Operation 2 M 8596 or less Shock 98 m s Operating Humidity No
26. STX represents the beginning of the transmission packet and corresponds to ASCII code 02H ETX represents the end of the transmission packet and corresponds to ASCII code 03H The range of the multi revolution data is 32768 to 32767 and if it exceeds 32768 it becomes 32767 and if it exceeds 32767 it becomes 32768 The range of multi revolution data of compact H type is 4096 to 4095 For the controller that can t receive the serial data output through PS terminal the absolute encoder data is transmitted to the controller in the form of incremental pulses through the output of the EA and EB terminals which are the incremental encoder output signals in the early stage Among the absolute value data 1 revolution data is transmitted after the multi revolution data The serial data of the absolute value can be received through the EA and EB terminals in the following order 1 Keep ABS DT signal at low level 10 ms or more 2 Clear the UP DOWN counter that counts the incremental pulses to 0 so that it can be ready for the absolute encoder data reception 3 Receive the multi revolution data transmitted from the drive after 100 ms 4 The EA and EB of the drive starts working with ordinary incremental encoder output signals 50 ms after they transmitted 1 revolution data ON Initial Incremental Incremental ABS DT Pulsa maintain 10 ms 100msec or more i y 100 ms
27. If load condition is equivalent to the operating condition the gain value for the load inertia 10 times larger than that of a 1 5 kW motor is similar to the load inertia 10 times larger than that of a 3 kW motor Speed A Time If the proportional gain P is lowered while the integral gain l remains the same or the proportional gain is kept the same while the integral gain is lowered the response changes in the order shown in the above diagram The time to reach the target speed in the early stage is determined by the proportional gain and the time to catch up with the end target from the point past 5096 of the target speed is determined by the integral gain Since the characteristics of these two gains can t be regarded separately tune the proportional gain first and then integral gain SEt 03 Speed Loop Integral Gain 556888 e Setting range 0 to 20000 N m s User Default 200 e Changes anytime Speed loop integral gain removes the speed error in the steady state Raising the value can improve the transient response characteristics and reduce error in the steady state But the value should be set within an appropriate range because overshoot or undershoot in an transient condition increases if the value is too high Speed integral gain is scaled to the rotor inertia of the motor If load condition is equivalent to the operating condition the gain value for the load inertia 10 times larger than that of a
28. RS OEMax CSDP Plus Servo Drive User Manual Catalog Number s CSDP xxBX2 e Reliable a Smart RS Automation Important User Information Solid state equipment has operational characteristics differing from those of electromechanical equipment Because of this difference and also because of the wide variety of uses for solid state equipment all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable In no event will RS Automation Co Ltd be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment The examples and diagrams in this manual are included solely for illustrative purposes Because of the many variables and requirements associated with any particular installation RS Automation Co Ltd cannot assume responsibility or liability for actual use based on the examples and diagrams No patent liability is assumed by RS Automation Co Ltd with respect to use of information circuits equipment or software described in this manual Reproduction of the contents of this manual in whole or in part without written permission of 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
29. Torque Limit Set Value 4 Rated Torque t Revolution Speed Rated Maximum Speed Speed Continuous Use Area Depending on the type of a motor Instantaneous maximum torque can be 300 or less If the torque limit is set higher than the maximum allowed torque of the motor the limit will be set at the Instantaneous maximum torque of the motor and the preset limit will be ignored Please set SEt 14 and SEt 15 to limit the torque tt case of an overtravel Setting range 0 to 300 300 BEBE BEBBHB Internal torque limit is always effective Therefore if the external torque limit and the torque limit to prohibit revolution are bigger than the preset value for limiting internal torque the external torque limit and the torque limit to prohibit revolution become meaningless The status where torque is limited by the preset values can be displayed to the controller by using T LMT signal If the motor s torque is the same as the preset torque limit LMT signal will be displayed 5 mani If the third digit of SEt 44 is 0 the motor will stop 0 0 1 by the torque set at SEt 14 and SEt 15 and if it is 1 ri the servo will be OFF LI Multi level Speed Control Multi level speed control is one of the ways to control speed The operation speed is set in advance by the parameter setting and the system is operated according to the input Hence speed command input or offse
30. 5 E A H Please set the deceleration time at SEt 20 The setting range is 0 to 60000 ms and the default value is 200 As shown below executing command in the form of an S curve at the transitional points of acceleration or deceleration can make the operation smoother Motor i Rated Speed n e i Motor Setting Speed KY X 0 Time 7 Motor i Rated Speed ff Acceleration Sepe N Lui Deceleration Motor N eed Feedbac Setting Speed 0 Time Motor S Curve Rated Speed 7 TREE Time Setting Motor Speed Setting Speed x Uv E 0 Time IL E s Curve Time Setting O E L 2 Please set S operation time at SEt 21 The setting LI l range is 0 to 5000 ms and the default value is 0 Assuming that the time required to execute the initial speed command is 10 seconds the total time required to execute the speed command after setting acceleration deceleration time will be 10 seconds deceleration time And the total time required to execute speed command after setting the S curve operation time is 10 seconds deceleration time S curve operation time ATTENTION S operation alone cannot be used without setting acceleration deceleration time To use S operation please set acceleration deceleration time that corresponds to the user s situation What is different from C
31. Emergency Stop Method BEBERHBH e Setting range 0x0to0x1 e User Default 0 x 0 Changes while the servo is OFF The set values are as follows 0 Stop by emergency stop torque SEt 14 SEt 15 1 Stop by 0 torque PWM OFF SEt 44 4 Encoder Output Pulse Direction e Setting range 0x0to0x1 e User Default 0 x 0 Changes while the servo is OFF The set values are as follows In the forward revolution encoder output A phase is produced 90 degress in advance Encoder 0 Output A Phase 90 phase difference Encoder Output B Phase In the reverse revolution encoder output B phase is produced 90 degrees in advance Encoder 1 Output A Phase 90 phase difference Encoder Output B Phase L SEt 45 1 Main Power Supply Type BEEBBES 0 e Setting range 0x0to0x1 e User Default 0 x 0 e Change while the servo is OFF and turn off the power and turn it back on The set values are as follows 0 3 phase Input 1 Single phase Input SEt 45 2 Speed Command Offset Auto Adjustment BEBBHBE BH e Setting range O xO to0 x1 User Default 0 x O Changes while the servo is OFF The set values are as follows 0 Analog Speed Command Offset 1 Current Offset when the servo is OFF 2 Current Offset when the servo is ON SEt 45 3 Speed Limit Method BEBBHBE Setti
32. External Voltage Zero Clamp Level SEt 17 Time Z CLP Input as port setting Actual Speed Command Speed Zero Clamp Level 0 Time If the CN1 connector pins where the zero clamp function is allocated are ON the voltage command below the level set at SEt 17 will be ignored When the value of the speed command surpasses this level again the motor will be accelerated to the value of the command If the input pins for zero clamp is not set execute the clamp automatically SEt 18 In Speed In Position Range BEBRBB Setting range 0 to 1000 RPM pulse User Default 10 e Changes anytime This parameter is the error range of the speed or position that turns ON the position completion signal P COM When the speed error or position error reaches within the preset range P COM signal will be displayed Position Error Pulse Set value of SEt 18 P COM OFF ON If this parameter is high in the low speed operation the position completion signal can be kept ON This signal can usually be used as a reference signal for the next sequence of the operation SEt 19 Acceleration Time 86868488 e Setting range 0 to 60000 ms e User Default 200 e Changes anytime Acceleration time is the time required for the motor to reach the rated speed from standstill Motor Rated Speed r _ 002 002243 Motor Speed Command Setting Speed 0 Time 1
33. Friction Torque Kgfcm 80 120 165 2 10 4 0 33 1 35 Rotor INERTIA rom Kg cm s 0 33 1 38 Brake Pull In Time ms 50 or less 80 or less 110 or less Brake Release Time ms 15 or less 50 or less Release Voltage VDC 2 or more Rated Voltage VDC 24 2 4 Rated Current A 0 81 1096 0 90 10 Allowed Brake J 392 1470 Energy Once Kgfm 40 150 Overall Allowed J 4 9 10 4 9 108 2 106 BRAKE Energy Kgfm 5 104 5 105 2 2 105 Speed Torque Curve Torque N m SMS 15B 15 15 Instantaneous Use Area Continuous Use Area Speed RPM 1000 2000 3000 4000 5000 Torque N m CSMS 20B 20 4 n Instantaneous Use Area Continuous Use Area i i i Speed RPM 1000 2000 3000 4000 5000 Torque N m CSMS 25B Instantaneous Use Area 10 4 Continuous Use Area Speed RPM 1000 2000 3000 4000 5000 Torque N m CSMS 30B 30 4 15 Instantaneous Use Area Continuous Use Area Speed RPM 1000 2000 3000 4000 5000 Torque N m CSMS 35B 30 4 Instantaneous Use Area 15 4 Continuous Use Area t T t Speed RPM 1000 2000 3000 4000 5000 Torque N m CSMS 40B 30 Instantaneous Use Area 15 4 Continuous Use Area T T T Speed RPM 1000 2000 3000 4000 5000 CSMS 45B Torque N m 50 25 Instantaneous Use Area Continuous Use Area Speed RPM 1000 2000 3000 4000 5000 Torque N m CSMS 50B 50 4
34. In the following cases offline auto tuning is better than online auto tuning e When the inertia ratio of the load changes minutely or rapidly during operation e When the inertia ratio of the load alternates between two values e When large torque is not generated during the operation because the acceleration or deceleration time is too long or the maximum revolving speed limit or torque limit is set low Setting Tuning Coefficient on online fourth digit of SEt 58 Setting range is 0 to 9 If the fourth position is not 0 online auto tuning function will be used As the value is set higher the system becomes more sensitive to load fluctuation E E t B To use online auto tuning set the coefficient at the l ri Li ATTENTION If the load fluctuates radiply online auto tuning coefficient needs to be set high but caution is needed because the system can be momentarily unstable in an environment where the load fluctuates excessively While online auto tuning is being used please raise system gain SEt 42 if the response of the control loop drops and lower it if the system makes noise or vibrates Gain Manual Set up To set up gains manually please follow the command below 1 Set the inertia ratio and system gain automatically executing offline auto tuning 2 If the response of control loop is lowered raise the system gain value If the load system makes noise or vibrates lower the s
35. Y Motor Actual Acceleration Time Actual Deceleration Time Rated Speed os 3 N Motor Speed Feedback Setting Speed 0 Time Acceleration Deceleration Setting Time SEt 19 Setting Time SEt 20 The diagram shows that the time for execution compared to command got extended as much as the deceleration time SEt 20 Deceleration Time Fir rnnt Setting range 0 to 60000 ms e User Default 200 e Changes anytime Deceleration Time is the time required for the motor to slow down to a halt from the rated speed SEt 21 S Curve Operation Time SEBABE e Setting range 0 to 5000 ms e User Default 0 e Changes anytime This parameter is the time for the S curve during acceleration deceleration operation As shown below executing command in the S curve form at transitional points of acceleration or deceleration can make the operation smoother Assuming that the time required to execute the initial soeed command is 10 seconds the total time required to execute the speed command after setting acceleration deceleration time will be 10 seconds deceleration time And the total time required to execute speed command after setting the S curve operation time is 10 seconds deceleration time S curve operation time Motor Rated Speed 3 Speed Speed Command Command Motor Setting Speed Time
36. e Symbols and Notations User of the manual This user s manual explains the specifications installation wiring operation abnormal status assessment and troubleshooting and maintenance of the CSDP Plus Servo Drive This manual is made for the engineers who want to install wire and operate the CSDP Plus Servo Drive or apply the CSDP Plus Servo Drive to a control system Those who do not have basic understanding of the CSDP Plus Servo Drive need to receive the product education provided by the before using the product The purpose of the manual This manual explains the installation configuration operation malfunction assessment troubleshooting measures and maintenance and repair of the CSDP Plus Servo Drive The necessary wiring diagram and other installation guidelines are provided Symbols and Notations The following symbols and notations are used in this manual Bullet points are used to provide multiple kinds of information They are not used for sequential procedures e Numbers are used to provide sequential procedures or hierarchical information Safety Instructions Please read this manual and the related documentation thoroughly and familiarize yourself with product information safety instructions and other directions before installing operating performing inspection and preventive maintenance Make sure to follow the directions correctly to ensure normal operation of the product and your safety
37. over travel occurs depending on conditions Regenerative Resistance Embedded in Drive Over current Over voltage Overload Over speed Low Protection Function Voltage CPU Malfunction Communication Malfunction etc Position Speed Torque Command and Feedback 2 Channel Monitoring D A Output for measuring position error Servo Motor Motors supported by CSDP Plus are as follows CSDP Plus supported motors CSDP 15BX2 CSDP 20BX2 CSDP 30BX2 CSDP 40BX2 CSDP 50BX2 CSMD 15 CSMD 20 CSMD 25 30 CSMD 35 40 CSMD 45 50 CSMF 15 CSMF 25 CSMF 35 CSMF 45 CSMH 15 CSMH 20 CSMH 30 CSMH 40 CSMH 50 CSMK 12 CSMK 20 CSMK 30 CSMK 45 60 CSMS 15 CSMS 20 CSMS 25 30 CSMS 35 40 CSMS 45 50 RSMD 15 RSMD 20 RSMD 25 30 RSMD 40 RSMD 45 50 RSMF 15 RSMF 25 RSMF 35 RSMF 45 RSMH 15 RSMH 20 RSMH 30 RSMH 40 RSMH 50 RSMK 12 RSMK 20 RSMK 30 RSMK 45 60 RSML 12 RSML20 RSML30 RSML45 60 RSMN 12 RSMN 20 RSMN 30 RSMS 15 RSMS 20 RSMS 25 30 RSMS 35 40 RSMS 45 50 RSMX 13 RSMX 20 RSMX 30 RSMX 45 General specifications of all the motors are displayed on each label of the motor CS MS 3 0 1 1 Rated Power Input Voltage Encoder Type Design Number Motor Shaft Key Option Manufacturer Motor Shaft Specification Servo Motor Label R
38. r _ LI Please set the combination control mode at SEt 41 J E p B If the combination control mode is set at SEt A1 and C SEL signal is not allocated a warning will be displayed as shown in the diagram When the system is in operation under one of the two control modes that are combined in the combination control mode input for the other control mode will be ignored For instance when the system is in operation under the speed control mode position command pulse or analog torque command will be ignored The input for those command will be valid only when the control mode is changed by C SEL signal to the relevant control mode Caution is needed when changing the control mode under the combination control mode In the case of changing the control mode just depending on C SEL signal it can cause damage to load or unstability to servo drive in certain circumstance Combination control mode including position control is changed when the following conditions are met Control Mode Changing Condition Torque Control Position Control Position Control Torque Control 7 Revolution Speed SEt 16 set value or torque position command pulse Input o command lt 10 rated torque position command_actual position lt 9 SEt 18set value continued for 16 ms Speed Control Position Control Position Control Speed Control 8 Position command pulse input 0 Revolution Speed SEt 16 se
39. the position completion time near the steady state can be reduced SEt 39 Speed Bias Application Range 5558488 e Setting range 0 to 250 pulse e User Default 10 e Changes anytime If the absolute value of position error is higher than the preset value of the speed bias application range the speed command equal to the preset value of the speed bias amount will be added to the position control output Please adjust the speed bias amount and the speed bias application range alternately while watching transient response If the speed bias amount is set too high or the speed bias application range is set too low vibration can occur SEt 40 Speed Command Filter O C O o Go BEBRBB Setting range 0 to 40000 rad s User Default 1000 Changes anytime The set value of this parameter suppress the high frequency element of the speed command SEt 41 Control Mode Selection e Setting range 0 15 e Factory Default 0 Change while the servo is OFF and turn off the power and turn it back on Control Mode List 0 Position Mode 1 Speed Mode 10 Direction Change Speed Mode 12 Torque Limit Speed Mode 5 Zero Clamp Mode 2 Torque Mode 3 Multi level Speed Mode Speed Limit Torque 9 Speed Limit Torque Mode Torque Mode Mode 6 Torque Speed Mode Torque Mode Speed Mode 7 Position Torque Mode Position Mode Torque Mode 8 Position Speed Mode Position Mode Speed Mode
40. 00 0000 158 SEt 44 4 Encoder Output Pulse 40 0 7 8000 159 SEt 45 1 Main Power Supply Type sese 159 SEt 45 2 Speed Command Offset Auto Adjustment 160 SEt 45 3 Speed Limit Method esee 160 SEt 45 4 Motor Revolving Direction i 160 SEt 46 1 Position Command Pulse Type i 161 SEt 46 2 Speed Command Unit essen 162 SEt 46 3 Position Command Input Circuit Type 162 SEt 46 4 Speed Observer Selection sese 163 SEt 47 Notch Filter aio etaed Fer rece e dee 163 48 SA iaia 163 SEt 50 1 Serial Encoder 164 SEt 50 2 In Output Signal Status 164 SEt 50 3 Parameter Fixiation i 165 SEt 50 4 Parameter Initialization Type i 165 SELST Encoder Type ioc aaa ei aaa 166 SEt 52 Motor ui 166 SEt 53 Motor Capacity i 167 SEt 54 Speed Integral Gain Auto Adjustment 167 SEt 55 Torque Command for Speed Integral Gain Auto Adjustment 168 SEt 56 Speed Command for Speed Integral Gain Auto Adjustment 168 SEt 57 Position Error for Speed Integral Gain Auto Adjustment 169 SEt 58 Auto Tuning Speed
41. 1 5 kW motor is similar to the load inertia 10 times larger than that of a 3 kW motor SEt 04 Position Loop Proportional Gain BEEBBB e Setting range 0 to 500 rad s e User Default 60 e Changes anytime Position loop proportional gain determines the response of the position control Raising this value improves the response and the set value changes according to the position decision load rigidity The upper limit is determined by the natural frequency and the rigidity of the system If the gain value is too high vibration can be generated and there can be noise in the system SEt 05 External Torque Command Gain Ci Ci C C Ci BEE 3 e Setting range 0 to 100 3V User Default 100 e Changes anytime This parameter is the torque ratio based on the rated torque of the motor Torque Torque Gain x Input Voltage x rated torque 100 If the torque gain is 100 3V and the input voltage is 3V 100 torque rated torque will be generated Torque Command Setting Available Area 300 200 100 Analog Input Voltage V If the torque command gain is 100 3V and the input voltage is 9 V 300 torque the maximum torque of the motor will be generated SEt 06 Torque Command Filter GEBRBBE e Setting range 0 to 60000 rad s User Default 1800 Changes anytime This parameter limits the high frequency element of the torque command The set value changes accordi
42. 1 settingrangeis0 to 100 3V and the default value is 100 Torque Torque Command Gain x Input Voltage x Rated Torque 100 When torque command gain is 100 3V and input voltage is 3V 100 torque rated torque is generated Torque Command Setting Available Area 300 2 200 1 10 100 E Analog T oltage If the torque command gain is 100 3V and the input voltage is 9V 300 torque the maximum torque of the motor will be generated ATTENTION The maximum allowed voltage of the torque command input is DC 10V If the standard voltage fluctuates the torque command can also change together Therefore a power supply with high accuracy is needed If minute torque adjustment is required please use a multi revolution variable resistor which revolves over 10 times If the torque command is bigger than the preset maximum torque of the motor an warning for excessive torque command A 08 OtC will be issued The motor sometimes revolves in both cases where the controller didn t approve a torque command at the offset automatic adjustment and where the controller approved the torque command with OV This is because of the voltage offset between the controller and the drive Torque Limit The torque of the servo motor can be limited in either forward or reverse direction There are two methods to limit torque The first is internal limit The internal limit is the limit of the drive itself
43. 10 V l pulse 1000 10000 p SEt 10 Forward Internal Torque Limits BGEBERHE e Setting range 0 to 300 User Default 300 Changes anytime This parameter limits the torque in the forward direction SEt 11 Reverse Internal Torque Limits BEERRH Setting range 0 to 300 User Default 300 e Changes anytime This parameter limits the torque in the reverse direction SEt 12 Forward External Torque Limits BEERRH e Setting range 0 to 300 e User Default 100 Changes anytime The torque in the forward direction is limited based on the set value of this parameter when P TL signal is received SEt 13 Reverse External Torque Limits 856888 e Setting range 0 to 300 e User Default 100 e Changes anytime The torque in the reverse direction is limited based on the set value of this parameter when N TL signal is received SEt 14 Forward Emergency Stop Torque 566488 e Setting range 0 to 300 e User Default 300 e Changes anytime When signal is set to the forward revolution limit signal second digit of SEt 43 and the P OT signal is received during the motor s forward revolution the motor will stop in emergency This parameter is the value of the torque at that time Forward Motor Speed Direction Emergency Stop Reverse Direction i Emergency Stop Emergency Forward Revolution Stop OFF Emergency Stop ON Operation
44. 191 P 66 ms Encoder Signal During initialization when the power is ON Early Incremental Pulse i During ordinary operation after initialization Incremental Pulse During initialization when the power is ON Early Incremental Pulse RE During ordinary operation after initialization Incremental Pulse EC Always Origin Pulse PS Always Serial Data of absolute encoder Troubleshooting Check Checking Motor The following simple checks are enough as there is no mechanical part like a brush that is vulnerable to abrasion Please choose when to check the system after considering the usage environment Motor Check Adjust it to not be bigger than usual Vibration and Noise Everyday decasians Foreign Bodies Instantly when found Vacuum clean Contact the company if it is lower than Insulation resistance 1 Year 10 mQ after checking with insulation resistance measuring instrument Cil Seal 5000 Hours Replace with a new oil seal Servo Drive Check The servo drive has an embedded electronic circuit Dust and other foreign bodies may cause malfunction Please keep the system cleaned and serviced Servo Drive Check Main Body 1 Year Remove the dust and grease with compressed air and cloth Socket Connector S rew 1 Year Tighten Contact the company in the case of discoloration breakage or a broken wire Circuit Board 1 Year
45. 2 Dots 16 Yellow 2 Dots 17 Sky blue 2 Dots 18 White 2 Dots 19 Pink 2 Dots 20 Orange 2 Dots 21 Gray 2 Dots 22 Red 3 Dots 23 Yellow 3 Dots 24 Sky blue 3 Dots 25 White 3 Dots 26 Pink 3 Dots 27 Orange 3 Dots 28 Gray 3 Dots 29 Red 4 Dots 30 Yellow 4 Dots I O Cable 31 Sky blue 4 Dots 32 White 4 Dots 33 Pink 4 Dots 34 Orange 4 Dots 35 Gray 4 Dots 36 Red Twisted Pair Wire 37 Yellow Twisted Pair Wire 38 Sky blue Twisted Pair Wire 39 White Twisted Pair Wire 40 Pink Twisted Pair Wire 41 Orange Twisted Pair Wire 42 Gray Twisted Pair Wire 43 Red 1 Line 44 Yellow 1 Line 45 Sky blue 1 Line 46 White 1 Line 47 Pink 1 Line 48 Orange 1 Line 49 Gray 1 Line 50 Green Shield To order I O cables use the order code as shown below IOC SH 03 U50CNA Cable Length Motor Brake Cable CSMD CSMF CSMH CSMK CSMS motors use the following motor brake cables Motor Part B Se Motor Brake Cable BK White 2 core cable BK Black 2 core cable Communication Cable CON SCONN20PIN cable is used for communication Servo Part CON A PC Part CON B m oH HH 2a LI U E O itii S EROS HH tt Communication Cable 11 2 1P Black Blue Blue RX 12 3 2P Black Yellow Yellow TX 1 5 3P Black Green Green GND
46. 311 rs RS B U Pa pun fU RST P BU V W The sizes of CSDP 15BX2 CSDP 20BX2 CSDP 30BX2 are as below fU eee 007 001 The sizes of CSDP 40BX2 CSDP 50BX2 are as below KER SSK on 207 eX SK e A Ww WV 9 04 SEZ CI NES elelee 90 est 281 Please follow the command below to install the drive Please make sure that the drive is t t installed vertically for enhanced cooling efficiency t Natural Convection Current Please attach the servo drive with a M5xL10 bolt When multiple drives are installed please set up cooling fans to prevent excessive tem
47. 4 0 x 108 Speed Torque Curve Torque N m 204 Instantaneous Operation Area 10 Continuous Operation Area T 0 1000 2000 3000 RSMD 15B Actual Speed RPM Actual Speed RPM Torque N m RSMD 20B 304 Instantaneous 15 Operation Area Continuous Operation Area T 0 1000 2000 3000 Torque N m 40 Instantaneous 20 Operation Area Continuous Operation Area 0 1000 2000 3000 RSMD 25B Actual Speed RPM Torque N m RSMD 30B 504 Instantaneous Operation Area 254 Continuous Operation Area I Actual Speed RPM 0 1000 2000 3000 Torque N m RSMD 40B 504 Instantaneous Operation Area 254 Continuous Operation Area L_ Actual Speed RPM 0 1000 2000 3000 Torque N m RSMD 45B 60 Instantaneous ES Operation Area ES 30 Continuous Operation Area Actual Speed RPM T 0 1000 2000 3000 Torque N m RSMD 50B 704 E Instantaneous ES Operation Area x 35 7 Continuous Operation Area Actual Speed RPM T 0 1000 2000 3000 RSMS Motor Basic Specifications RSMS Motor Specifications Rated Voltage V 220 Rated Power kW 3 0 4 0 4 5 5 0 Rated Torque ME AN MN Maximum Instantaneous Torque ae di i i i Rate
48. 4 62 6 115 Output Signal BK 4 58 NEAR 4 58 P COM 4 58 TG ON 4 58 T LMT 4 58 V COM 4 58 N LMT 4 58 Output Signal Allocation 1 A 175 Output Signal Allocation 2 A 175 Overcurrent 7 128 Overflow Level 7 129 A 151 Overheat 7 128 Overload Curvature Level A 175 Overshoot 5 93 Overspeed Level A 173 Overtravel 6 101 6 102 P P control shift standard value 5 85 P control shift switch 5 85 P PI Mode Shift 5 95 PAr 01 7 132 PAr 02 7 132 PAr 03 7 132 PAr 04 7 132 PAr 05 7 132 PAr 06 7 132 PAr 07 7 132 PAr 08 7 132 PAr 09 7 132 PAr 10 7 132 PAr 11 7 132 PAr 12 7 132 Password A 163 Position Control 4 60 Position Deviation based Integral Value A 169 Position Feedforward 5 93 Position Feedforward Gain 5 85 5 93 A 151 Position Feedfward Filter 5 93 A 137 Position Gain 7 129 Position Instruction Filter 5 85 5 93 5 94 A 151 Position Instruction Input Method A 162 Position Loop Proportional Gain 5 85 5 93 A 135 A 155 A 173 Position Proximity Determination Range A 144 P OT 6 101 P OT Signal Function Selection A 156 Power Cable 7 128 PS 6 115 6 120 6 121 R Rated Output 1 16 Rated Torque 4 76 A 136 Reasonance 5 90 Regenerative Resistance 7 124 Resolution 4 65 A 153 Reverse Emergency Stop Torque A 140 Reverse External Torque Limits A 139 Reverse Internal Torque Limits A 139 Reverse Torque 4 77 Reverse Torque Offset A 172 Revolution Detection Level 4 74 S S operation
49. 7 115 3 178 n ae gfcm s 2 90 3 89 4 84 7 60 8 88 14 4 17 3 20 1 3 404 Attached Kg 83 10 2 84 3 81 4 74 7 45 8 69 14 1 170 19 7 POWER RATE kW s 88 117 146 134 155 125 134 140 Mechanical time ms 0 54 0 53 0 52 0 46 0 45 0 51 0 45 0 46 Parameter Electrical Time mis 10 10 8 11 17 Parameter Rated Current A rms 9 4 12 15 9 18 6 21 6 24 7 28 28 5 Maximum Instant A taney 28 2 39 477 558 648 741 84 85 5 Current Axial Play mm MAX 0 3 Allowed THRUST Load during Kgf MAX 20 R Operation Allowed RADIAL Load during Kg MAX 30 80 Operation Alloed THRUST Kgf MAX 60 Load while Coupling Allowed RADIAL Kgf MAX 100 Load while Coupling Weight 5 1 6 5 75 9 3 109 12 9 15 1 173 WHEN BRAKE IS Kg ATTACHED 6 5 79 8 9 11 0 12 6 14 8 170 19 2 Revolving Direction U gt V gt W Color Black Oil Seal Embedded Wiring Method Y Wiring Time Rating Continuous Use Operating Temperature 0 to 40 C Insulation Grade F Grade Range Storage Temperature 20 to 80 C Dielectric Voltage 1500V AC 60 sec Insulation resistance 500V DC 20 MQ When Brake is Attached 1200V AC 60 sec Number of Poles 8 Poles Excitation Method Permanent Magnet 2 Vibration SUE 5 Stopped Mounting Method FLANGE Shock 98 m s 3 Times Operating Humidity 85 or less Non Condensing Brake Specifications CSMS Motor Brake Specifications AT nm 78 or more 11 8 or more 16 1 or more
50. 9 N C FG To order communication cables use the order code as shown below COM SH 03 CPCNNB Cable Length Appendix Load Calculation ROLL Load Mechanical Configuration racer a Pressure Roll F Tension F Tension P Pressure Vy Load Speed m min D Roll Diameter m a 1 R Speed Reduction Ratio Friction Coefficient p 7 Mechanical Efficiency Sar 1 IVICUIIdIIIUdI LIIICICIIUCy Movement Amount M LV 021 1 1 L 60 2 2 if ta la L 679 Motor Shaft Revolving Speed r min RV Ny Load Torque N m T uP F D 2Rn Load Inertia Moment J J J g Roll Inertia J Gear Coupling Inertia JR lt Solid Cylinder gt L M DM Pea MD _ zpLD 8 32 M p Density kg m p 1 87 x10 kg m Iron p 2 70x 10 kg m Aluminum lt Hollow Cylinder gt L M D M DI _ apl Di Df Jn 8 32 Minimum Acceleration Time 5 2aN J T 60 7 T J u Motor Inertia 7 Motor Maximum Torque Minimum Deceleration Time s 2AN tJ 60 T py Load Operation Power W ARN VT 60 Load Acceleration Power W a 2 0 x t amp t rn Acceleration Torque Required N OMEN ul u
51. ATTENTION ATTENTION If this product is used a situation that may cause personal injury and or significant product damage implement safe measures such as use of fault safe equipment Do not use this product under any conditions exposed to explosive gases It may cause an explosion Make sure to use an external device when configuring the protective circuit breakers for emergencies or interlock circuits Fasten the terminal screws tightly to ensure that the cable connection is secure Incorrect cable connection may cause overheating and product malfunction Operate and keep the product under the allowed conditions directed in product specifications Otherwise it may cause overheating and product malfunction Do not disassemble or remodel the product Otherwise it may cause an electric shock or malfunction Do not touch the terminals when the power is on Otherwise it may cause an electric shock Introduction Functionality CSDP Plus is an AC servo motor drive adopting a 32 bit DSP that realizes high accuracy control CSDP Plus supports standard incremental encoder simple incremental encoder and absolute encoder for the sake of convenient system design CSDP Plus based servo system is usually configured as shown in the following diagram The controller in the diagram is PLC but various controllers can be used instead of PLC
52. Area Continuous Operation Area T T T 0 1000 2000 3000 4000 5000 Actual Speed RPM Torque N m RSMS 40B 40 x Instantaneous 20 Operation Area Continuous Operation Area r Actual Speed RPM 0 1000 2000 3000 4000 5000 Torque N m RSMS 45B 40 Instantaneous Operation Area 204 Continuous Operation Area r Actual Speed RPM T T T 0 1000 2000 3000 4000 5000 Torgue Nam RSMS 50B 50 Instantaneous 25 Operation Area Continuous Operation Area Actual Speed RPM 0 1000 2000 3000 4000 5000 RSMH Motor Basic Specifications RSMH Motor Specifications Rated Voltage V 220 Rated Power kW 1 5 2 0 3 0 4 0 5 0 Rated Torque EM ms oss 1432 2387 Maximum Instantaneous Torque Kar em 2142 291 457 2 6 729 M 21 5 28 5 42 9 56 4 71 4 Rated Revolving Speed RPM 2000 Maximum Revolving Speed RPM 3000 ROTOR INERTIA ROTOR INERTIA gfem s 45 0 69 3 102 128 6 179 6 WHEN BRAKE IS ATTACHED Kg m 10 44 1 679 100 0 126 0 176 0 POWER RATE kW s 12 2 15 0 22 2 31 1 34 1 Mechanical Time Parameter ms 3 5 2 5 2 9 2 6 2 6 Electrical Time Parameter ms 22 26 26 30 31 Rated Current A rms 9 9 12 3 178 23 4 28 0 Maximum Instant Current A rms 40 51 9 75 8 100 120 Axial Play mm MAX 0 3 Weight Kg 10 16 18 2 22 26 7 WHEN BRAKE IS ATTAC
53. DMS3108B20 29S RSMS RSMX i or DMS3106B20 29S Fuse Fuse capacity in the table below is the figure when the load is 100 Please select a wiring breaker or fuse capacity after considering the load factor Fuse Specifications CSDP 15BX2 4 6 kVA 16A 30A 50A CSDP 20BX2 6 1 kVA 21A 30A CSDP 30BX2 9 1 kVA 31A 40A 50A CSDP 40BX2 12 1 kVA 41A 50A 50A CSDP 50BX2 15 2 kVA 52A 60A 50A Using a high speed fuse is not possible As the power supply of the drive is a condenser input type if a high speed fuse is used it can blow even under normal circumstances Anti noise Measures As CSDP Plus uses a high speed switching device and microprocessor in its main circuit it can be affected by the switching noise from the switching device depending on the methods of peripheral wiring and grounding PRET Please use a thick line with the diameter 3 5 mm or above for grounding And make sure that the signal line and the power supply line are separated Noise Filter 3 phase AC 3 Phase 220V AC Noise Filter pellice 2 40305 250V 15A 1e E E s S o4 CSDP 20 30B si NFZ 4030SG 250V 30A 20 E 1 o 5 CSDP40 50B mio NFZ 4040SG 250V 40A Goa 3 Phase AC 200 dn FILTER 1 LINE P FILT
54. Instantaneous Use Area 25 Continuous Use Area Speed RPM 1000 2000 3000 4000 5000 CSMH Motor Basic Specifications CSMH Motor Specifications Rated Voltage V 220 Rated Power kW 1 5 20 30 40 50 Kgf cm 73 974 146 192 243 Rated Torque N M 715 9 54 14 31 18 8 23 8 Maximum Instantaneous Kgf cm 219 292 483 576 729 Torque N M 21 5 28 5 42 9 56 4 71 4 Rated Revolving Speed RPM 2000 Maximum Revolving Speed RPM 3000 gfem s 43 8 63 3 96 0 122 4 173 5 ROTOR INERTIA Kg m2104 42 9 62 0 94 1 120 0 170 0 gfoms 45 0 69 3 102 128 6 179 6 ATTACHED Kg m 10 44 1 679 100 0 126 0 176 0 POWER RATE kW s 11 9 14 7 21 8 29 5 33 4 Mechanical mme ms 3 1 2 1 2 5 2 2 2 3 Parameter Electrical Time Parameter ms 19 6 30 31 Rated Current A rms 9 4 12 3 178 23 4 28 0 Maximum Instant Current A rms 28 0 36 7 53 6 70 2 84 0 Axial Play mm MAX Allowed Thrust Load Kgf MAX 20 35 during Operation Allowed Radial Load during Kgf MAX 50 80 Operation Allowed Thrust Load While Kgf MAX 60 80 Coupling Allowed Radial Load while Kgf MAX 100 170 Coupling Weight wewwes e ez S ATTACHED Revolving Direction U gt V gt W Color Black Oil Seal Embedded Y Wiring Time Rating Continuous Use Wiring Method Operating Temperature 0 to 40 C Insulation Grade F Grade Range Stor
55. Operating Temperature 0 to 55 C Operating Humidity RH 90 or less non condensing Installation environment needs to meet the following conditions e Indoors Good Ventilation e Easy to check and clean No explosive gas Servo Drive Installation Please check the following before installing CSDP Plus Does the delivered product match the order Does the servo motor match the specifications of the servo drive sthe product broken e Does the product have any loosened or cracked parts The installation environment required for CSDP Plus is as below CSDP Plus Installation Specifications Storage Temperature 20 to 80 C Operating Temperature to 55 C Operating Humidity RH 90 or less non condensing Vibration 0 5g 4 9 m S or less The installation environment needs to meet the following conditions e Indoors e Good ventilation e Easy to check e No explosive gas 902 281 e 0000000000000 lomo E UE 0000000000000 0000000000000 SET e o GET eo 01 t I e gt f 260 241 CSDP PI CSDP Plus 45 Cr qoum cum 330
56. P CLR 4 58 A 170 c 4 58 4 68 4 73 Cable 7 124 P CON 3 54 4 58 4 83 4 84 5 95 A 154 A 170 Circuit Board 7 123 P OT 4 57 Combination Control 4 83 PS 6 115 Con 01 3 47 P TL 4 78 Con 02 3 47 SV ON 4 58 A 170 Con 03 3 47 ITG ON 4 59 4 74 A 175 Con 04 3 47 IT LMT 4 58 4 59 4 78 A 175 Con 05 3 47 4 58 4 59 4 73 A 175 Con 06 3 47 N LMT 4 58 4 59 4 74 A 175 Con 07 3 47 WARN 4 59 A 175 Con 08 3 47 Z CLP 4 58 A 170 Con 09 3 47 Z PULSE 6 115 Con 10 3 47 Z PULSE 6 115 Con 11 3 47 A Con 12 3 47 Con 13 3 47 A 01 Lbt 7 124 Con 16 3 47 A 02 Cnt 7 124 Con 17 3 47 A 04 PrE 7 124 Con 18 3 47 A 08 OtC 7 124 Con 19 3 47 A 10 OSC 7 124 Con 20 3 47 A 20 Pin 7 124 Con 21 3 47 A 40 CAP 7 124 Con 22 3 47 Absolute Encoder 6 119 Con 23 3 47 Absolute Encoder Position Data Output 6 115 Con 24 3 47 Absolute Value Serial Data 6 121 Con 29 3 47 Acceleration Time A 142 Con 30 3 47 acceleration time 4 81 6 112 A 147 A 177 Con 32 3 47 acceleration deceleration time 6 112 Condenser 7 124 Ambient Temperature 7 124 Constant Initialization Target A 165 Analog Monitoring Channel 1 6 118 Control Mode Selection A 154 Cooling Efficiency 2 24 Cooling Fan 7 124 Coupling 2 20 CSDP Plus 1 11 D DA Monitor 1 Offset A 174 DA Monitor 2 Offset A 174 Data 7 129 Deceleration A 143 deceleration time 4 81 6 112 A 147 A 177 Dynamic Brake after the Motor Stopped 6 101 A 157 A 158 D
57. POWER RATE kW s 743 100 0 124 9 151 2 11 124 8 128 3 Mechanical Time ms 0 58 0 53 0 5 0 47 0 83 0 9 0 74 Parameter Electrical Time ms 19 21 21 20 28 30 32 Parameter Rated Current A rms 9 8 12 3 14 178 23 4 26 2 28 Maximum Instant A rms 40 52 18 60 75 5 103 111 120 Current Axial Play mm MAX 0 3 Weight 8 5 10 6 12 8 14 6 19 7 21 5 25 0 WHEN BRAKE IS Kg ATTACHED 10 1 12 5 14 7 16 5 23 2 25 0 28 5 Revolving Direction U gt V gt W CW Color Black Oil Seal Embedded Range Wiring Method Y Wiring Time Rating Continuous Use Operating Temperature 0 to 40 C Insulation Grade B Grade Range Storage Temperature 20 to 80 C Dielectric Voltage 1500V AC 60 sec 1800V AC 1 sec Insulation resistance 500V DC 20 MQ Dielectric Voltage Brake 1200V AC 1 sec Number of Poles 8 Poles Excitation Method Permanent Magnet 49 m s When Stopped Vibration 24 5 m s During Mounting Method FLANGE Operation 0 Shock 98 m s Operating Humidity 85 or less Non Condensing Brake Specifications RSMD Motor Brake Specifications Friction Torque nm 16 5 25 45 Rotor INERTIA Kg 83 104 1 2 4 7 11 Brake Pull In Time ms 110 160 220 Brake Release Time ms 50 75 100 Release Voltage V DC 2 at 20 C Rated Voltage V DC 24 2 4 Rated Current A 0 876 1 287 0 797 Allowed Brake Energy J 1000 1800 2000 Overall Allowed Brake Energy J 1 0 x 106 3 0 x 106
58. RSMK 120 2 5 200 300 2 450 600 RSML 120 3 5 200 i 300 i 450 600 RSMN 120 200 300 RSMS i 150 200 250 300 350 400 450 500 B RSMX 130 180 s 290 440 B Control Overview Input signal is sent to servo drive from the controller while the output is vice versa Only A contact is used for CSDP Plus except for P OT and IMPORTANT N OT Therefore ON means connection and OFF means interruption excluding the cases of P OT and N OT For example when C DIR signal is ON the terminal where C DIR signal is allocated will be connected and the electric current will flow but when C DIR signal is OFF the terminal will be interrupted so that the electricity will be shut off Input Signal There are 20 different input signals The functions of the signals are shown below Input Signal SV ON Control Voltage for the servo motor All A RST Clear the servo alarm All G SEL Shifts the gains of the two groups All P TL Limits the forward torque within the preset value SEt 12 All N TL Limits the reverse torque within the preset value SEt 13 All Stops the forward movement of the load devices when they reach the ROT mobility limit in the forward direction All Stops the reverse movement of the load when they reach the mobility NOT limit in the reverse direction All Position Speed Multi level P CON Changes th
59. Specifications RSMX Motor Brake Specifications Friction Torque nm 5 88 35 3 Rotor INERTIA Kg m 104 0 9 3 Brake Pull In Time ms 40 60 Brake Release Time ms 140 170 Release Voltage V DC 2 at 20 C Rated Voltage V DC 24 2 4 Rated Current A 0 2 0 34 Allowed Brake Energy J 1470 1372 Speed Torque Curve RSMX 13B Torque N 30 Instantaneous 15 4 operation area Continuous operation area T T 0 1000 2000 3000 Speed r min RSMX 20B Torque N m 407 Instantaneous 20 operation area Continuous operation area T j 0 1000 2000 3000 Speed r min RSMX 30B Torque N m 60 Instantaneous 30 operation area Continuous operation area T T 0 1000 2000 3000 Speed r min RSMX 45B Torque N m 804 Instantaneous 40 operation area Continuous operation area T T 0 1000 2000 3000 Speed r min Motor Size CSMD CSMH CSMK CSMS Motor CSMD CSMH CSMK CSMS Motor Size CSMK 6 kw CSMK 4 5 kW or more Motor amp Brake cannon plug Motor amp Brake cannon plug Encoder cannon plug LL LR CSMD 15B 226 197 201 172 55 145 130 165 6 12 9 CSMD 20B 251 222 226 197 55 1
60. Stop Input P OT Reverse Revolution Emergency Stop OFF ON Operation Stop Input N OT SEt 15 Reverse Emergency Stop Torque co C GEBBHB e Setting range 0 to 300 e User Default 300 e Changes anytime When N OT signal is the reverse revolution limit signal third digit of SEt 43 and N OT signal is received during the motor s reverse revolution the motor stops in emergency This parameter is the value of the torque at that time SEt 16 TG ON Speed Level Setting range 1 to 5000 RPM e User Default 20 e Changes anytime This parameter is the speed level that switches on the TG ON output It is valid only when the TG ON signal function fourth digit of SEt 43 is set 0 If the motor speed exceeds the preset value of this parameter TG ON signal will be ON SEt 17 Zero Clamp Level BERBHH Setting range 0 to 5000 RPM User Default 0 e Changes anytime This parameter is the stop speed level in the zero clamp control mode If the analog speed command is below the preset value of this parameter the motor will decelerate and stop Even if the analog speed command of the controller is OV at the speed command offset auto adjustment a little offset voltage can exist at the servo drive input terminal which may cause the motor to revolve slowly In this case using the zero clamp function can prevent the motor from revolving a little caused by the offset voltage Analog Speed Command
61. U gt V gt W Color Black Oil Seal Embedded Wiring Method Y Wiring Time Rating Continuous Use Operating Temperature 0 to 40 C Insulation Grade F Grade Range Storage Temperature 20 to 80 C Dielectric Voltage 1500V AC 60 sec Range Insulation resistance 500V DC 20 When Brake is Attached 1200V AC 60 sec Number of Poles 8 Pole Excitation Method Permanent Magnet Vibration 49 m s 24 5 when stopped Mounting Method FLANGE Shock 98 m s 3 Times Operating Humidity Pa Brake Specifications CSMD Motor Brake Specifications Les nm 13 7 or more 16 1 or more 21 5 or more 24 5 or more Friction Torque Kgfcm 140 165 220 250 m2104 1 35 4 25 9 0 Rotor INERTIA 5911710 Kg cm s 1 38 4 34 9 18 Brake Pull In Time ms 100 or less 110 or less 90 or less 80 or less Brake Release ms 50 or less 35 or less 25 or less Time Release Voltage V DC 2 or more Rated Voltage VDC 24 2 4 Rated Current A 0 79 10 0 90 10 1 1 10 1 3 10 Allowed BRAKE J 1176 1470 1078 1372 Energy Once 120 150 110 140 Overall Allowed J 1 5 108 2 106 2 4 106 2 9 106 BRAKE Energy Kgfm 1 5 10 2 2 105 2 5 105 3 105 Speed Torque Curve CSMD 15B 20 4 Instantaneous Use Area 10 4 Continuous Use Area Speed RPM 1000 2000 3000 Torque N m CSMD 20B 30 4 Instantane
62. Voltage of the Main Power Supply 1 0 1 E 51 uU Low Voltage of the Main Power Supply 1 0 1 E 60 CPU CPU error 1 1 0 E 62 COF U Phase Offset Error 1 1 0 E 63 COF W Phase Offset Error 1 1 0 E 70 PF Main Power Supply Failure 1 1 1 E 80 CSE Parameter Checksum Error 0 0 0 E 81 Pro Out of Parameter Range 0 0 0 E 82 EtP Motor or Encoder Type Set up Error 0 0 0 E 83 SCE Serial Communication Failure 0 0 0 E 84 FbE Parameter Breakdown 0 0 0 E 85 CdE Servo Drive Capacity Error 0 0 0 ia ma D Lt yam D If a sudden excessive current flows through the servo drive or the main circuit fails this alarm will occur Check the power supply and increase acceleration deceleration time If the over current flows through the servo drive or the main circuit fails this alarm will occur Check the power supply and increase acceleration deceleration time If the ambient temperature is 55 C or higher IPM unit failed or the power supply is low voltage this alarm can occur Check the power supply and lower the ambient temperature If the torque feedback continues with the maximum torque for several seconds this alarm can occur Check the load condition power supply and motor capacity and increase acceleration deceleration time If 115 or more torque feedback
63. When the ambient temperature is an anual average of 30 or less the load rate is 80 or less and the rate of operation is 20 hours a day or less the lifespan of major products are as follows Parts life of the servo drive Condenser 3 Years Cable 3 Years Based on Moving Cable Power Device 3 Years Regenerative Resistance 2 Years Dynamic Brake Resistance 2 Years FAN 2 Years Cooling Fan 4 to 5 Years Fuse 10 Years Servo Drive Failure When a failure occurs at the servo drive a servo warning or servo alarm will occur A servo warning will occur when there is a minor failure that doesn t require the operation to stop But a servo alarm means there is a serious failure and the operation should be stopped R t In case of a servo warning the corresponding Lif number and characters will be displayed mot alternately 0 0 0 com In case of a servo alarm the corresponding ILI number and characters will be displayed of alternately Servo Warning The servo drive can use WARN signal to notify the controller of a servo warning Servo Warning List A 01 Lbt Absolute Encoder Battery Low Voltage A 02 Cnt Absolute Encoder Counter Overflow A 04 PrE Absolute Encoder Default Status Failure A 08 OtC Excessive Torque command A 10 OSC Excessive Speed command A 20 Pin Allocation Failure at Input Pin or Output Pin A 40 CAP When the capacity of d
64. White Yellow Brown IW Abs Encoder A 3 1P White Blue Blue A B 4 1P White Blue White A C 5 2PWhieYelow Yellow D 6 2P White Yellow White IB E 7 SPWhiteGren Gren C F 8 3P White Green White 1 4P White Red Red GND H 20 4P White Red White VCC J 12 SH Shield FG K 10 5P White Purple Purple RX L 13 5P White Purple White RX R 11 6P Brown Blue Blue RST 15 N C S 19 5P Brown Yellow Yellow BAT T 18 5P Brown Yellow Brown BAT To order power cables use the order code as shown below ENC SH 03 E CN JA Cable Length Encoder Type Usage Write 1H5 to order a 1 5 m long cable 05 for a 5m long cable and 40 for a 40 m long cable Write CL if a 15 wire Abs type encoder is needed CL for a 11 wire Inc type and CH for a 17 bit Serial type encoder Write F for a cable to fix up and M for a flexible cable Cable CON SCONNBOPIN cable is used for an I O cable CON A CON B Servo Part AH 2 EL 1 Pe jm Cable NN 1 2 Yellow 3 Sky blue 4 White 5 Pink 6 Orange 7 Gray 8 Red 1 Dot 9 Yellow 1 Dot 10 Sky blue 1 Dot 11 White 1 Dot 12 Pink 1 Dot 13 Orange 1 Dot 14 Gray 1 Dot 15 Red
65. between the motor revolution speed and the speed command value is kept within a certain range This signal can be used as an interlock signal at the controller just as the position completion detection P COM signal at the position control mode can E oo IB Please set the decision range for in speed match at 0 0 0 SEt 18 The setting range is 0 1000 RPM and the default value is 10 If the in speed is 100 and the speed command is 2000 RPM V COM signal is ON and displayed when the actual revolution speed is 1900 RPM or higher and 2100 RPM or lower Revolution Speed In Speed Range j Set value Actual Speed Time V COM Output OFF ON OFF Revolution Detection TG ON signal shows that the servo motor is revolving faster than a certain speed This signal can be used as a condition to assess the status of the motor while changing the control mode from the combination control mode i Please set the revolution detection level at SEt 16 BEBRAB Li LI The setting range is 1 to 5000 RPM and the default value is 20 If the revolution detection level is set too low a minute revolution can cause the TG ON signal to be displayed Revolution Speed A ei Actual Speed Revolution Detection Level _ Set value 0 Time TG ON Output OFF ON OFF Speed Limit To avoid excessive motions in the load
66. by setting parameters regardless of external signals The second is external limit The external limit is determined according to input signals coo L _ am Please set SEt 10 to limit the forward torque 0 0 internally The setting range is 0 to 300 and the default value is 300 K E L _ Please set SEt 11 to limit the reverse torque 0 0 0 internally The setting range is 0 to 300 and the default value is 300 Please set SEt 12 to limit the forward torque externally The setting range is 0 to 30096 and the default value is 100 MU Please set SEt 13 to limit the reverse torque externally The setting range is 0 to 300 and the default value is 100 Ln m Fr Internal Limit Input External Limit Torque Torque Normal Torque A SEt 10 Limited Torque Torque Command Command Reverse Torque Torque P TL signal is used to externally limit the forward torque and N TL signal is used to externally limit the reverse torque These external torque limits have priority over internal torque limits Internal limits are used to retrain the maximum value of the motor s operating torque or output torque within a fixed range so that the load system or operation targets can be protected Usual range of the motor s available torque is as follows Torque Instantaneous Use Area Instant Maximum Torque
67. can restrain the high frequency element in the position command to soften the position command itself If its value is 0 position command filter will not be used Raising the value of position loop proportional gain improves the response of the position control To set up position control related gains please follow the commands below 1 Set the default position loop proportional gain at SEt 04 The setting range is 0 to 500 rad s and the default value is 60 2 Slowly raise the value of speed loop proportional gain SEt 02 3 Lower the value of speed loop proportional gain to 80 to 9096 if vibration or noise is generated from the load 4 Raise the value of position loop proportion gain as high as possible in the transient period as long as no vibration or noise is generated 5 Raise the value of speed loop integral gain SEt 03 gradually while watching the responses in the transient period such as overshoot completion time vibration or noise If it is set too low the response can drop But if it is too high vibration or noise can be generated 6 When necessary the value of position command filter SEt 35 can be lowered to restrain transient change of the position command 7 Itis desirable to set the value of torque command filter SEt 06 as high as possible as long as no vibration is generated from the load Methods to Get Quick Responses Position Feedforward Function Position feedforward applies the differ
68. complete revolution In order to use an electronic gear the speed reduction ratio from the motor shaft to the system is needed Number of revolution Speed Reduction _ of motor Ratio Number of revolution of system The speed reduction ratio is the ratio of revolutions of the system to the motor If the system make one revolution when the motor makes five revolutions the speed reduction ratio is 5 If the system make five revolutions when the motor revolves once then the speed reduction ratio is 0 2 The numerator and denominator of the electronic gear can be calculated as below SEt 36 Numerator Number of pulses of the encoder x Speed reduction ratio SEt 37 Denominator Number of pulses per a revolution of the motor In the case of a ball screw whose speed reduction ratio is 1 and the number of pulses of the encoder per one revolution is 5000 if the controller approves 1000 pulses for the servo drive to make the motor finish one revolution the numerator of the electronic gear is 5000 and the denominator is 1000 10 mm 155555 55555 RW The ball screw finishes one revolution with 1000 pulses and thus a ball screw with 10 mm pitch can move 10 with one pulse command ATTENTION AS the denominator increases the resolution becomes higher But the following expression should be satisfied Pulse of the encoder x Speed reduction ratio x 4 2
69. continues for several seconds this alarm can occur Check the load condition power supply and motor capacity and increase acceleration deceleration time If the temperature of heatsink plate of servo drive is over about 95 10 C this alarm will occur Check the power supply and lower the ambient temperature If the power cable of the motor is not connected this alarm will occur Connect the motor power cable to the motor and the servo drive properly If drive capacity is exceeded this alarm will occur Check the load condition of the power supply If the servo drive is overloaded this alarm will occur Check the load condition of the servo drive If the encoder cable is not connected this alarm will occur Connect the encoder cable to the encoder and the servo drive properly mm ca lu If the motor revolves quickly when the main power supply of the servo drive is shut down during normal operation and the encoder works with the external battery this alarm can occur zn rm RR If the motor revolves quickly while the power is not supplied to the absolute encoder the multi revolution data of the absolute encoder will have an error and this alarm will occur Set the multi revolution data of the absolute encoder at 0 mm rn If a pulse error exceeding the overflow Level SEt 33 is made gain is too low or the external load is too
70. grounding line of the noise filter and all other grounding lines of different devices to the grounding frame and finish the grounding Operation Overview You can instantly use general electronic appliances like a television by just turning it on But turning on a servo drive is not enough to operate a servo motor To properly operate a servo drive a servo ON signal from a controller is required ESA If the power supply is engaged but servo ON signal is not Bal issued the servo drive and the motor are separated Power When the controller issues a servo ON signal the drive i transmits voltage to the motor Power If the command for operating the motor is approved then the drive operate the motor according to the command Servo ON Operator To set up a servo drive operator needs to be connected to the servo drive Connect the operator cable to 9 pin terminal The operator used by for to CSDP Plus is CST SD2 9 FARA OPERATOR CST SD2 Operator Please press the MODE SET key to change mode or save the parameter Press the ENTER key to select the parameter or escape to higher mode after sele
71. level Speed CONtrol eese enne 79 Combination COntrol ui 83 Tuning By Gain Adjustment 85 OVveryvieW addi GG aLaaa ala 85 Gain Automatic 87 Gain Manual icin pete tice nan poe Y eo 89 Torque Control Gali uei redii etienne reti ide 90 Speed Control Gaited oi iaia 91 Positlon Control alli ier b e e tee eil 92 Methods to Get Quick Responses eese enne 93 6 Application e cor 101 Notor Sto EE 101 Wotor bin ee des bets 103 Motor Revolving 44 106 Regenerative 4 148 4 4 nennen rennen 107 Set up for Smooth 2 2 444 44 448 112 Speed 114 Position Feedback to the Controller essen 115 Analog rece RR ERU ads eee caren 117 Absolute EncoGer 2 eir e eh d ee a 119 Troubleshooting 123 Ole aS 123 Servo Drive eis rdiet ie ili doe desse dia re 124 Parameter gh SS 133 SEt 01 Speed Command Gain 133 SEt 02 Speed Loop Proportional Gain 13
72. power to the main system Connect the single phase voltage to r and s terminals to supply power to the control circuit 1 d reti Previous CSDP users need to be careful with the wiring since the terminal arrangement is different from CSDP gt Connect the motor power supply cable to U V and W terminals CSDP Plus has its own low capacity regenerative resistance CU eee CO imm mmm mm WARNING If an extra high capacity regenerative resistance is needed please remove the internal wiring of P and B terminals and connect the external regenerative resistance Power SS NOISE di m FILTER D 1MC LI SW OFF SW2 ON Relay 1 1 sup t da L8 3 Q Relay 1 Alarm Lamp XX 1 R 5 t r S Ian pi 45 SALM H B 1 2 24VIN 4221 0 46 SALM 724 Power Supply Wiring In the diagram above MCCB stands for Molded Case Circuit Breaker and MC stands for Magnetic Conductor Please use a push button switch that transmits electricity only when it is pushed at
73. stop the ATTENTION ad revolving motor Please use it right before the stop or use it to keep the stopped motor at a standstill If the brake active delay time is longer than the servo OFF delay time the brake works after the servo OFF is completed as shown below Then the vertial load is bound to fall for a moment by gravity Servo Off Delay Time SEt 29 Brake active delay Time SEt 31 SV ON Command ON of Controller SV ON Command ON OFF Execution of Servo Drive Motor Brake Release Operation On the contrary if the servo OFF delay time is longer than the brake active delay time the brake on the motor starts working before the servo OFF is completed as shown below preventing the fall of the vertical load Servo Off Delay Time SEt 29 Brake Active Delay Time SEt 31 SV ON Command of ON OFF Controller SV ON Command ON OFF Execution of Servo Drive Release Operation Motor Brake Motor Revolving Direction As for the controller and its wiring even if the revolving direction of the motor determined by pulse input is wired in a different way from the user s intention the revolving direction can be reversed by the parameter set up with no need to modify the wiring Please set the motor s revolving direction at the fourth position of SEt 45 Motor s Revolving Direction 0 Revolves in the forward direction 1 Revolves in the reverse direction Forward directi
74. the impact of speed change SEt 27 Internal Speed Command 2 SBBRBH Internal Speed Command 2 Setting range 0 to 5000 RPM e User Default 200 Changes anytime SEt 28 Internal Speed Command 3 SEE 8HB Internal Speed Command 3 Setting range 0 to 5000 RPM User Default 300 Changes anytime SEt 29 Servo OFF Delay Time BEEREBH Setting range 0 to 1000 10ms User Default 0 Changes while the servo is OFF This parameter is the delay time from the moment of the servo OFF command to the point when the command is executed Servo ON Servo OFF External Input Signal SV ON BRAKE Release BRAKE Maintenance BK Output Servo ON Servo OFF Set value of SEt 29 The parameter switches on the BK signal if the servo OFF signal is received when the motor stops maintains the servo ON status internally for the time set at SEt 29 from the moment it receives the servo OFF signal and switches the servo OFF after the preset time is passed The brake mounted on the motor cannot be used to actually ATTENTION stop the system Use it only for the purpose of maintaining the stopped motor at a standstill SEt 30 Braking Application Speed After Servo OFF Ci Ci e Setting range 0 1000 RPM e User Default 100 e Changes while the servo is OFF This parameter is the motor speed at the moment when the servo OFF command is received during revolution and
75. the information memorized in the absolute encoder can be damaged The drive does not monitor the battery voltage directly but checks it indirectly through the encoder When needed please get the low voltage detection circuit ready 1 When the voltage of the absolute encoder battery FULL becomes 3 2V or less the low voltage warning of mi L the absolute encoder battery will occur Please LO change your battery when this warning is seen 34 When the internal condenser voltage of the 6 10 0 encoder is about 2 8V or less the absolute encoder internal low voltage alarm will go off When this alarm goes off the memorized information in the encoder can disappear The drive transmits the absolute information through the PS EA EB terminals The data structure transmitted to the controller through the output is shown below PS output data of the encoder Absolute Value Compact H 13 bit 11 bit Approx 50 ms Serial 16 bit 17 bit Approx 50 ms Absolute Data Position variable Data 3bit Multi revolution Data 1 Revolution Data Alarm Content 0 to 65535 1 to 131071 Transmission Frame Structure Data Transmission Format Data Transmission Method Asynchronous Baud Rate 9600 bps Start Bit 1 bit STOP Bit 1 bit Parity N A Character Code ASCII Data Format 10 to 19 Character Array
76. time 6 112 6 113 S curve Drive A 143 Serial Encoder Type A 164 Servo Alarm 6 101 Servo Engaging Method A 155 Servo OFF Delay Time 6 104 Servo Off Delay Time A 148 SEt 01 4 71 A 133 SEt 57 5 97 A 169 SEt 02 5 85 5 92 5 93 7 129 A 134 A 155 A SEt 58 5 89 A 169 173 SEt 59 A 170 SEt 03 5 85 5 92 5 93 7 129 A 135 A 155 A SEt 60 A 171 173 SEt 61 A 171 SEt 04 5 85 5 93 7 129 A 135 A 155 A 173 SEt 62 A 171 SEt 05 4 76 A 135 SEt 63 A 171 SEt 06 5 85 5 91 5 92 5 93 136 A 155 A 173 SEt 64 5 98 5 99 A 172 SEt 07 5 85 5 93 A 137 SEt 65 5 98 5 99 A 172 SEt 08 6 118 A 137 SEt 66 5 86 5 88 A 172 A 173 SEt 09 A 138 SEt 67 4 74 6 114 A 173 SEt 10 4 77 A 138 SEt 68 A 173 SEt 11 4 77 A 139 SEt 69 A 173 SEt 12 4 77 A 139 SEt 71 A 174 SEt 13 4 77 A 139 SEt 72 A 174 SEt 14 4 78 A 139 SEt 73 A 174 SEt 15 A 140 SEt 74 A 174 SEt 16 4 74 A 140 SEt 75 A 175 SEt 17 A 141 SEt 76 A 175 SEt 18 4 68 4 73 A 142 SEt 77 A 175 SEt 19 6 112 A 142 SEt 78 A 176 SEt 20 6 112 A 143 SEt 79 4 81 A 177 SEt 21 6 113 A 143 SEt 80 4 81 A 147 SEt 22 4 68 A 144 SEt 81 4 81 A 178 SEt 23 6 116 A 145 SEt 82 4 81 A 178 SEt 24 6 116 A 146 Signal Allocation SEt 25 A 146 ABS DT 4 58 A 170 SEt 26 4 81 A 147 A RST 4 58 A 170 SEt 27 4 81 A 148 A TL 4 58 A 170 SEt 28 4 81 A 148 BK 4 59 175 SEt 29 6 104 148 C DIR 4 58 170 SEt 31 A 150 C SEL 4 58 170 SEt 32 6 104 6 105 150 C SP1 4 58 170 SEt 3
77. 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 IMPORTANT Identifies information about practices or circumstances that can lead to personal injury or death property damage or economic loss Attentions help you identify a hazard avoid a hazard and recognize the consequence ATTENTION Labels may be located on or inside the equipment for example a drive or motor to alert people that dangerous voltage may be present BURN HAZARD 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 A LEE Trademarks not belonging to RS Automation Co Ltd are property of their respective companies Contents Introduction uil 11 F nctionality inen a eene ui p RE 11 Specifications sia 14 Installation iran aiar 19 Servo Motor Installation 19 Servo Drive Installation 22 WATLING cL E 25 OD GF ATION eem 41 OC M 41 OPE ato 42 Muere 44 Basic Setsulp a iode aati eet TR ree xv Eee eT 54 eng pe 57 Overview mania tara i ah eed vd eI 57 Position a iaia 60 Speed dolore AREE 70 Torque Coritrol rte ce diee tee 75 Multi
78. 1 4 n P P M V REF 19 y 42 DO 1 v V REF SG 20 AID 43 DO 24 VW TG ON T REF 21 z 44 J E Y KL vy 44 DO 2 y T REF SG 22 E IR 49 E noue Ed i ws P BAT 25 lag 26 50 twisted pair cable 28 45V t T User Assignment Higher Control Connector CN1 Circuit Diagram Encoder Connection Connect the encoder cable to CN2 connector Encoder Connector CN2 Pin 1 EO V G G G G G G 2 3 A A A A A 4 A B B B B 5 B 6 B D D D D 7 E E 8 9 10 U SD P K K K K 11 RST Abs R 12 13 U SD R L L L 14 V M 15 V N 16 W P 17 W R 18 BAT T T 19 BAT S S 20 E5 V H H H H H H FG J J J J Please See Cable Specifications in Appendix C for further information about encoder cable connector and plug E AF 2 gt o LANA AAA O En e i a oe Si o gt m gt d u m m 25 o ca o x n n 6 o N o a ci Bs o LO N 00 N m S gt lt 4 amp Wu Z o E Ld T J o 9 S 8
79. 230 32 18 135 RSMK 30 268 243 80 200 180 230 32 18 135 RSMK 45 323 298 13 200 180 230 32 18 135 RSMK 60 368 113 200 180 230 32 18 135 RSML12 238 213 80 200 180 230 32 18 135 RSML20 258 233 80 200 180 230 3 2 18 13 5 RSML30 298 273 80 200 180 230 3 2 18 13 5 RSML45 353 328 113 200 180 230 3 2 18 13 5 RSML60 398 373 113 200 180 230 3 2 18 13 5 RSMS 40 273 248 65 145 130 165 6 12 9 RSMS 45 263 268 65 145 130 165 6 12 9 RSMS 50 313 288 65 135 130 165 6 12 9 Shaft End Size CSM Series Motor Shaft End Size L1 L2 H3 key ditch P9 Shaft Part N N de 8 CSMS 15 to 25 45 42 19 95 15 5 6 6 03 0 610 1 1 19 8 CSMD 10 to 20 CSMH 15 45 41 22 110 18 7 8 05 06ton 24 CSMS 30 to 35 E 51 24 110 20 7 8 05 06ton N CSMS 40 to 50 129 Step CSMD 45 to 50 CSMF 15 55 50 35 114 3 30 8 10 05 06ton 39 8 CSMH 20 to 50 1 5 to 25 45 55 50 35 200 30 8 10 di 1 5 379 CSMD 35 to 40 55 51 28 130 24 7 8 05 06ton 298 RSM Series Motor Shaft End Size L1 _ _ _ L2 H1 key ditch P9 H2 LBh6 H1 Sh6 RSMD 15 20 45 41 22 110 18 7 8 RSMD 25 30 55 51 24 110 20 7 8 RSMD 45 50 55 50 35 114 3 30
80. 3 4 69 7 129 A 151 C SP2 4 58 A 170 SEt 34 5 85 5 93 7 129 A 151 C SP3 4 58 A 170 SEt 35 5 85 5 93 5 94 A 151 EMG 4 58 A 170 SEt 36 7 130 A 152 G SEL 4 58 A 170 SEt 37 7 130 A 153 INHIB 4 58 A 170 SEt 38 5 94 NEAR 4 59 A 175 SEt 39 5 94 A 153 N TL 4 58 A 170 SEt 40 5 85 5 92 5 94 A 154 A 155 A 173 P CLR 4 58 A 170 SEt 41 4 62 4 83 A 154 P COM 4 59 A 175 SEt 42 A 155 P CON 4 58 A 170 SEt 43 A 155 P TL 4 58 A 170 SEt 44 A 157 R ENC 4 58 A 170 SEt 45 6 115 A 159 SV ON 4 58 A 170 SEt 46 A 161 TG ON 4 59 A 175 SEt 47 5 85 5 90 A 163 T LMT 4 59 A 175 SEt 48 A 163 N COM 4 59 A 175 SEt 50 A 164 A 165 N LMT 4 59 A 175 SEt 50 2 A 164 WARN 4 59 A 175 SEt 50 3 A 165 Z CLP 4 58 A 170 SEt 51 7 129 7 131 A 166 N OT 4 58 A 170 SEt 52 7 131 A 166 P OT 4 58 A 170 SEt 53 A 167 Socket 7 123 SEt 54 5 96 A 167 Speed Bias Amount 5 85 SEt 55 5 97 A 168 Speed Bias Position Deviation Level A 153 SEt 56 5 97 A 168 Speed Bias Standard Range 5 85 5 94 Speed Control 4 70 5 91 Speed Gain 7 129 Speed Instruction Filter 5 85 5 91 5 92 5 94 A 155 A 173 Speed Instruction Filter Frequency A 154 Speed Instruction Gain A 133 Speed Instruction Offset Auto Adjustment A 160 Speed Instruction Unit A 162 Speed Instruction based Integral Value A 168 Speed Limit 6 114 A 160 Speed Limit Level 4 74 Speed Limiting Method 6 115 Speed Loop Integral Gain 5 91 5 92 5 93 A 135 Speed Loop Proporti
81. 36 37 T seta SEt 2 3 gt SEt 6 10 to 15 Pulse Counter Speed Measurement 4 4 multiplications lt Encoder SEt 08 DA Monitor Channel 1 Scale o 0 0 0 0 0 e Setting range 1 to 65535 V e User Default 500 e Changes anytime The servo drive can display the analog monitor signals with which the user can check the actual control status through an oscilloscope ri Set the scale unit of analog monitor channel 1 at E DI UB SEt 08 MUTI LOL O6 _ cee Channel 1 Channel 2 If the scale of the analog monitor channel 1 is set to 500 of the speed command 0 the speed command of the controller that corresponds to the monitor output 1V is 500 RPM Since the maximum output is 10V the speed can be monitored up to 5000 RPM Therefore the monitoring range of the overall speed command is 5000 RPM V 10 V 1 V i RPM 500 5000 SEt 09 DA Monitor Channel 2 Scale BEBBBB e Setting range 1 to 65535 V User Default 500 Changes anytime If the scale of the analog monitor channel 2 is set to 1000 of the position command 2 the position command of the controller that corresponds to the monitor output 1V is 1000 pulse Since the maximum output is 10V the monitoring range is up to 10000 pulses Therefore the monitoring range of the overall position command is 10000 pulse IV
82. 4 SEt 03 Speed Loop Integral Gain essen 135 SEt 04 Position Loop Proportional Gain eese 135 SEt 05 External Torque Command Gain 135 SEt 06 Torque Command Filter 136 SEt 07 Position Feedforward Filter i 137 SEt 08 DA Monitor Channel 1 Scale 00 137 SEt 09 DA Monitor Channel 2 Scale 1 00 138 SEt 10 Forward Internal Torque Limits 000 138 SEt 11 Reverse Internal Torque LIMIts i 139 SEt 12 Forward External Torque Limits esee 139 SEt 13 Reverse External Torque Limits eese 139 SEt 14 Forward Emergency Stop Torque eene 139 SEt 15 Reverse Emergency Stop Torque 140 SEt 16 TG ON Speed Level sees 140 SEt 17 Zero Clamp LEVvel nnne 141 SEt 18 In Speed In Position Range 142 SEt 19 Acceleration TIME 142 SEt 20 Deceleration Time ii 143 SEt 21 S Curve Operation eee 143 SEt 22 Near Position 144 SEt 23 Encoder Output Ratio Numerator i 145 SEt 24 Encoder Output Ratio Denominator 146 SEt 25 Jog Command Speed i 146 SEt 26 Internal Speed Command 1 147 SEt 27 Internal Speed Command 2 se
83. 45 130 165 6 12 9 CSMD 25B 276 247 251 222 65 145 120 165 6 12 9 CSMD 30B 301 272 276 247 65 145 130 165 6 12 9 CSMD 35B 283 254 258 229 65 165 150 190 3 2 18 11 CSMD 40B 303 274 278 249 65 165 150 190 3 2 18 11 CSMD 45B 256 227 231 202 70 200 176 233 3 2 18 13 5 CSMD 50B 276 247 251 222 70 200 176 233 3 2 18 13 5 CSMS 15B 231 202 206 177 55 115 100 135 3 10 9 CSMS 20B 256 227 231 202 55 115 100 135 3 10 9 CSMS 25B 281 252 256 227 55 115 100 135 3 10 9 CSMS 30B 268 239 243 241 55 130 145 120 162 3 10 9 CSMS 35B 288 259 263 234 55 130 145 120 162 3 10 9 CSMS 40B 391 362 366 237 65 145 130 165 6 12 9 CSMS 45B 311 282 286 257 65 145 130 165 6 12 9 CSMS 50B 311 302 306 277 65 145 130 164 6 12 9 CHMH 15B 251 222 226 197 70 145 130 165 6 12 9 CHMH 20B 241 212 231 187 80 200 176 233 3 2 18 13 5 CHMH 30B 256 227 231 202 80 200 176 233 3 2 18 13 5 40 281 252 256 227 80 200 176 233 3 2 18 13 5 CHMH 50B 306 277 281 252 80 200 176 233 3 2 18 13 5 CSMK 12B 195 170 80 200 176 233 3 2 18 13 5 CSMK 20B 162 190 80 200 176 233 3 2 18 13 5 CSMK 30B 208 230 80 200 176 233 3 2 18 13 5 CSMK 45B 353 5 308 5 113 200 176 233 3 2 24 13 5 CSMK 60B 393 5 348 5 113 200 176 233 3 2 24 13 5 CSMF Motor CSMF Motor Size LL __ LR LC
84. 52 Motor _ Rated Speed 4 Acceleration N Speed Feedback Deceleration Motor A N Setting Speed Y j G Time Motor _ S Curve Rated Speed Fa Time Setting Motor LM N Speed Setting Speed Di X N N 0 VA NU Time IL s Curve Time Setting ATTENTION Please select the set value carefully because the S curve operation will be automatically run if this parameter is set higher than O SEt 22 Near Position Range 8556888 e Setting range 0 to 1000 pulse e User Default 20 e Changes anytime If the user sets the timing of the position command proximity at the servo drive that received the position command from the controller and the difference between the load position and the position command is smaller than the preset value the position proximity detection signal NEAR can be displayed The determination range to display the NEAR signal is called near position range Position Error Near Position Range In Position Completion Range 0 INEAR ON OFF ON P COM ON OFF ON SEt 23 Encoder Output Ratio Numerator 856888 e Setting range 1 to 65535 e Factory Default 2500 e Changes while the servo is disable The signal can be displayed after dividing the encoder input inside the servo drive This function can be used to make a position control loop at the controller Output Signal Servo drive Controller Motor A phas
85. 8 10 RSMF 15 55 50 35 200 30 8 10 RSMF 25 to 45 55 50 35 200 30 8 10 RSMH 15 45 41 22 110 18 7 8 RSMH 20 to 50 55 50 35 114 3 30 8 10 RSMK 12 to 30 55 50 35 114 3 30 8 10 RSMK 45 60 96 90 42 114 3 37 8 12 RSML 12 to 30 55 50 35 114 3 30 8 10 RSML45 60 96 90 42 114 3 37 8 12 RSMS 40 to 50 55 51 24 110 20 7 8 Appendix Cable Specifications Motor 3 phase Power Supply Cable CSMD CSMF CSMH CSMK CSMS RSMD RSMF RSMS RSMH RSMK RSML RSMN RSMXmotors use the following power supply cables Motor Part CON A Servo Part CON B Motor 3 phase Cable U Red 3 core Cable V White 3 core Cable Black 3 core Cable FG Yellow Striple on Green Solder 3 core Cable on the shield CSMD CSMF CSMH CSMK CSMS motors use MS3102A 24 11P or MS310A 22 4P power plugs C B MS3102A 24 11P MS3102A 22 22P MS3102A 24 11P is usually used for motors with brakes MS3102A 22 4P is used for the motors with no brakes Power plugs are different from each other for each motor capacity and are packaged inside the motor boxes for shipment Wire the pins of the motor power plugs as shown in the table below Pin fuctions of the motor power plugs A BR U B BR V E D FG E G FG H FG To order power cables use the order code as shown below POW SH 03 P 006 Cable Lengt
86. AA 0 I BBRRBH Alarm History Search Mode Monitor Mode Please press the MODE key to change mode Please See Troubleshooting in Chapter 7 for the alarm history search mode Status Display Mode When the power is turned on the dot on the right Ei LI LL EIL side of the fifth digit will be lit Di When the motor speed reaches the level of the speed command the top line on the fourth digit will be lit as the diagram shows When the revolution detection signal is displayed E Li LLLI the middle line on the fourth digit will be lit If the revolution speed of the motor is faster than the revolution detection level SEt 16 the servo drive can display the revolution detection signal TG ON b b P run E run P G Pok E Pot P o not SHAGE EBBB8E When the z phase output of the encoder is detected the bottom line on the fourth digit will be lit This indicates that the servo is off P run indicates that the operation is in the position control mode S run indicates that the operation is in speed control mode t run indicates that the operation is in torque control mode P Pot indicates that a signal to stop forward revolution is received in the position control mode S Pot indicates that a signal to stop f
87. DC 24 2 4 Rated Current A 1 287 Allowed Brake Energy J 1800 Overall Allowed Brake Energy J 3 0 x 106 Speed Torque Curve Torque N m 30 7 RSML 12B Instantaneous Operation Area 15 Continuous Operation Area 0 1000 2000 Actual Speed RPM Torque N m 50 7 RSML 20B x Instantaneous X Operation Area 25 4 Continuous Operation Area 0 1000 2000 Actual Speed RPM Torque N m 70 7 RSML 30B Instantaneous Operation Area 35 4 I Continuous Operation Area Actual Speed RPM 0 1000 2000 Torque N m 100 50 RSML 45B Instantaneous Operation Area Continuous Operation Area Actual Speed RPM 1000 2000 Torque N m 150 RSML 60B 75 Instantaneous Operation Area Continuous Operation Area Actual Speed RPM RSMN Motor Basic Specifications RSMN Motor Specifications Rated Voltage V 220 Rated Power kW 1 2 2 0 3 0 Rated Torque uM 15 19 284 Maximum Instantaneous Torque 7 Da i Di Rated Revolving Speed RPM 1000 Maximum Revolving Speed RPM 2000 ROTOR INERTIA e ROTOR INERTIA gfcm s 64 98 149 WHEN BRAKE IS ATTACHED Kg m 104 63 96 146 POWER RATE kW s 24 4 42 9 60 2 Mechanical Time Parameter ms 6 2 4 5 3 5 Electrical Time
88. Denominator In this case the maximum denominator is 20000 In the case of moving a belt 100 um per one pulse whose speed reduction ratio is 5 and the number of pulses of the encoder is 2048 the numerator of the electronic gear is 10240 and the denominator is calculated by the following method Denominator Movement distance of the load per revolution Distance to move by one pulse 50 mm If the diameter of the pulley on the load side is 50 mm and the distance to move by one pulse of the controller is 100 um the denominator is 1570 50 x mm 100 um 1570 In this case if 1570 pulses are approved by the controller the pulley at the end devices makes one revolution and the straight moving distance of the end load is 100 um In case of rotating a turntable 0 1 per pulse whose speed reduction ratio is 3 and the number of pulses of the encoder is 2048 the numerator of the electronic gear is 6144 and the denominator can be calculated by the following method Denominator Movement angle of the load per revolution Angle to move with one pulse Revolution Load If the distance to move with one pulse of the controller is 0 1 the denominator is 3600 360 0 1 3600 In this case if the controller approves 3600 pulses the rotational load of the end devices makes one revolution and the rotational angle of the end load per one pulse command becomes 0 1 Ple
89. ER P AVR CLE SE TIS Y 3 4 ll EET nenti D DC i Relay circuit Signal Occurrence e ere Circuit CSDP PLUS R ES 5 CN1 T r U Servo Motor 5 V W B CN2 T Earth Grounding Connection Grounding Wiring One Point Grounding Please separate the input ui and output wires of the filter and do not tie them Secon together Primary Secondary Intervention tr O Primary Secondary Primary Secondary Circuit Division Y Circuit Division y X Primary Secondary FILTER Primary Primary Secondary Please position the grounding line of the noise filter away from the output wiring and do not tie it with other signal lines in the same duct Connect the grounding line of the noise filter to the grounding frame separately Please do not connect the grounding line of the noise filter to other grounding lines If the noise filter is inside the case connect the
90. HED 11 6 19 5 21 7 25 5 30 2 Revolving Direction U gt V gt W CW Color Black Oil Seal Embedded Y Wiring Time Rating Continuous Use Range Wiring Method Operating Temperature 0 to 40 C Insulation Grade B Grade Range Storage Temperature P 1500V AC 60 sec 20 to 80 C Dielectric Voltage 1800V AC 1 sec Insulation resistance 500V DC 20 MO Dielectric Voltage Brake 1200V AC 1 sec Number of Poles 8 Poles Excitation Method Permanent Magnet 49 m s When Stopped 24 5 m s During Mounting Method FLANGE Vibration Operation 2 85 or less Shock 98 m s Operating Humidity Non Condensing Brake RSMH Motor Brake Specifications Friction Torque nm 16 5 25 Rotor INERTIA Kg m 104 1 2 4 7 Brake Pull In Time ms 110 160 Brake Release Time ms 50 75 Release Voltage V DC 2 at 20 C Rated Voltage V DC 24 2 4 Rated Current A 0 876 1 287 Allowed Brake Energy J 1000 1800 Overall Allowed Brake Energy J 1 0 x 106 3 0 x 108 Speed Torque Curve Torque N m 204 N Instantaneous Operation Area 104 Continuous Operation Area RSMH 15B Actual Speed RPM 3000 T 0 1000 2000 Torque N RSMH 20B 304 Instantaneous 15 Operation Area Continuous Operation Area Actual Speed RPM 2000 T 0 1000 3000 Torque N m 504 Instantane
91. Instantaneous Kgfcm 285 5 448 6 649 5 1091 1320 Torque N M 28 0 44 0 63 7 107 129 Rated Revolving Speed RPM 1000 Maximum Revolving RPM 2000 Speed ROTOR INERTIA 4 30 4 35 5 55 7 80 9 99 WHEN BRABEIS Kale 36 2 41 4 61 7 89 2 108 ATTACHED i i 43 3 103 145 228 331 WHEN 15 zi 36 3 88 3 131 207 304 ATTACHED i Mechanical Time Parameter c 1 0 97 0 74 0 70 0 9 WHEN BRAKE IS 1 2 1 1 0 82 0 78 0 98 ATTACHED Electrical Time Parameter ms 26 25 30 31 33 Rated Current A rms 11 6 18 5 24 33 47 Maximum Instant Current A rms 40 60 80 118 155 Axial Play mm MAX 0 3 Weight WHEN ERASE S Kg P p a ui ne ATTACHED Color Black Wiring Method Y Wiring Time Rating Continuous Use Operating Temperature 0 to 40 C Insulation Grade F Grade Range Storage Temperature 20 to 80 C Dielectric Voltage 1500V AC 60 sec Range Insulation resistance 500V DC 20 MQ When Brake is Attached 1200V AC 60 sec Number of Poles Vibration 8 Poles 24 5 Excitation Method Mounting Method Permanent Magnet 49 m s When Stopped FLANGE Shock 98 m s 3 Times Operating Humidity 8596 or less Non Condensing Brake Specifications CSMK Motor Brake Specifications Friction Torque nm 24 5 or more 58 8 or more Kgfcm 205 600 Rotor INERTIA 83 10 4 4 7 Brake Pull In Time ms 80 or less 150 or less Brak
92. LLA LL 179 GSMS MO OFE a a a aora 183 CSMEDMOtOEF neis tectis teda ten deii beret 187 CSME MOLtOT 190 n UI MEME 193 RSMD MIOtOE cm erc Ee terc dee b te t a iat das 196 RSM SM Oto rs sce ee eerie berti 199 RSMH Motor iiti eri DH ne ni 201 teure 204 RSMK Mtr esie elio dE ue p 207 RSME MOtOQOT iei eee esie bere aaa 210 RSM N Motor i eie pee gister tuit ise odio priced ipee 213 RSMXCIMIOLOT fs Ss eee testet eedem tee nana 215 MOtOr Size serale cet pisei e Ie hp ieu 218 Cable Specifications 225 Motor 3 phase Power Supply Cable sse 225 Encoder Cable nu see tee eite ek ete 227 eit ute e d ire a ein Ee 229 Motor Brake Cable eoe ile ees 231 Communication Cable iE RR 231 Load Calculation cereo 233 ROLL Load LL Lai 233 Timing Belt Load eene Sake hai is 236 Horizontal BALL SCREW 238 Vertical BALL SCREW 2 4 440000 nnn nnns 241 RACK amp PINION 1 244 Disk E030 ie init e e dmi 247 A brief introduction to the manual is in this preface The following contents are included in the preface e User of the manual Purpose of the manual Reference
93. MX 130 180 290 440 SEt 54 Speed Integral Gain Auto Adjustment e Setting range 0 x 0 to 0 x 193 e User Default 0 x 0 Changes while the servo is OFF AL When P CON is ON this parameter limits the integral value of the speed error and suppress the speed overshoot Therefore position completition becomes fast in the position control The set value is displayed in three digits and the function of each decimal digit will be applied in combination ri Adjusting method will be set at the first digit Li The set values are as follows 0 Previous integral value Use 1 Auto adjustment by the reference of torque feedback value SEt 55 2 Auto adjustment by the reference of speed command value SEt 56 3 Auto adjustment by the reference of position error SEt 57 The value on the second digit is applied in the Li following way Value on the second digit x 0 1 x Speed integral gain The set value on the third digit is shown below I 0 Previous Torque Command Use 1 Add Speed Command Feed Forward Value to Torque Command SEt 55 Torque Command for Speed Integral Gain Auto Adjustment 668488 e Setting range 0 to 300 e User Default 100 e Changes while the servo is OFF If the torque feedback exceeds the set value of this parameter speed integral gain will be automatically adjusted This setting is effective when ac
94. Method 8586488 H e Setting range 0x0to0x1 e User Default 0 x 0 e Change while the servo is OFF and turn off the power and turn it back on The set values are as follows 0 Servo ON by the external input signal SV ON 1 Always Servo ON SEt 43 2 Signal Function Selection L e Setting range OxOto 0x1 User Default 0 x 1 Change while the servo is OFF and turn off the power and turn it back on The set values are as follows 0 Forbid forward revolution with P OT signal 1 Always approve forward revolving operation SEt 43 3 N OT Signal Function Selection BEBBHRE e Setting range 0x0to0x1 e User Default 0 x 1 Change while the servo is OFF and turn off the power and turn it back on The set values are as follows 0 Forbid reverse revolution with N OT signal 1 Always approve reverse revolving operation SEt 43 4 TG ON Signal Function Selection BEBBRHE aad Eee e Setting range 0x0to0x1 e User Default 0 x 0 Change while the servo is OFF and turn off the power and turn it back on The set values are as follows 0 ON when the speed is faster than the zero speed level SEt 16 1 ON when the current is higher than the current limit SEt 10 SEt 11 SEt 12 SEt 13 SEt 44 1 Dynamic Brake ITEE 0 e Setting range 0x0to0x1 User Default 0 x 0 Changes while the servo is OFF The set value
95. Parameter ms 7 11 8 12 8 Rated Current A rms 11 7 18 8 26 Maximum Instant Current A rms 39 6 59 4 80 Axial Play mm MAX 0 3 Weight Kg 22 29 41 WHEN BRAKE IS ATTACHED 28 36 48 Revolving Direction U gt V gt W CW Color Black Oil Seal Embedded Wiring Method Y Wiring Time Rating Continuous Use Operating Temperature 0 to 40 C Insulation Grade B Grade Range Storage Temperature 1500V AC 60 sec Range 20 to 80 C Dielectric Voltage 1800V AC 1 sec Insulation resistance 500V DC 20 MQ Dielectric Voltage Brake 1200V AC 1 sec Number of Poles 8 Poles Excitation Method Permanent Magnet 49 m s When Stopped Vibration 24 5 m s During Mounting Method FLANGE Operation 2 id 8596 or less Shock 98 m s Operating Humidity Non Condensing Brake Specifications RSMN Motor Brake Specifications Friction Torque nm 35 3 Rotor INERTIA Kg m 104 3 Brake Pull In Time ms 60 Brake Release Time ms 170 Release Voltage V DC 2 at 20 C Rated Voltage V DC 24 2 4 Rated Current A 0 34 Allowed Brake Energy J 1372 Speed Torque Curve RSMN 12B Torque m 30 4 Instantaneous 15 Operation area Continuous operation area j 0 1000 2000 Speed r min RSMN 20B Torque N m 50 Instantaneous 25 operation area Continuous operation area 0 1000 2000 Speed r min RSMN 30B Torque N m 70 Instantaneous operation a
96. SDP is that 0 should be set at SEt 21 not to use the S operation Setting other values besides 0 enables S operation Speed Limit Speed limiting methods are internal speed limit and external speed limit e Internal Speed Limit Limit the speed through the setting of the servo drive itself e External Speed Limit Limit the speed through the command from the controller Internal Speed Limit Internal speed limit works as the speed is limited by the value users set at SEt 67 Therefore the servo drive operates under the preset limit even if the controller approves a speed command faster than the set value of the speed limit G E oo B n Please set the speed limit at SEt 67 The setting TO 4 rangeis 110 5000 RPM and the default value is 5000 External Speed Limit If the user does not use the speed control mode and operates the system in one of the other control modes the analog speed command input from external can be used to limit speed If the speed control mode is used the external speed limit function cannot be used and the speed can be limited by the internal speed limit Speed command gain SEt 01 determines the relationship between the analog speed command voltage and the speed command in the speed control mode When the speed control mode is not used the speed limit is the speed set by the relationship between the speed command gain and the analog speed command voltage G ri L oo Please set the spee
97. Signal 23 2 Yellow 3 Dots Analog Monitor Channel 2 24 Sky blue 3 Dots 25 BAT White 3 Dots Absolute Encoder Battery GND 26 Pink 3 Dots Controller Connector CN1 Pin 27 AM SG Orange 3 Dots Analog Monitor Output GND 28 AM CH1 Gray 3 Dots Analog Monitor Channel 1 29 EA Red 4 Dots Encoder Signal Line Drive Output A 30 EA Yellow 4 Dots Encoder Signal Line Drive Output A 31 EB Sky blue 4 Dots Encoder Signal Line Drive Output B 32 EB White 4 Dots Encoder Signal Line Drive Output B 33 EC Pink 4 Dots Encoder Signal Line Drive Output C 34 EC Orange 4 Dots Encoder Signal Line Drive Output C 35 PS Gray 4 Dots Encoder Signal Line Drive Output 36 PS 2 Encoder Signal Line Drive Output Yellow Twisted 37 AL1 Pair Wire Alarm Code 1 Open Collector Output Sky blue Twisted 38 AL2 Pair Wire Alarm Code 2 Open Collector Output 39 AL3 Alarm Code 3 Open Collector Output 40 arsa Pink Twisted Pair Alarm Code Output GND Wire Orange Twisted Output Signal Assignment Default Value i DO 1 Pair Wire P COM 42 DO 1 Gray Twisted Pair Output Signal Assignment Default Value Wire P COM Output Signal Assignment Default Value 43 DO 2 Red 1 Line TG ON 44 DO42 Yellow 1 Line Output Signal Assignment Default Value TG ON 45 SALM Sky blue 1 Line Servo Alarm Output 46 SALM White 1 Line Servo Alarm Output 47 DO 3 P
98. VR Speed Reduction Ratio 1 Pinion Thickness m N Mechanical Efficiency LL Friction Coefficient Movement Amount m gos Riel 60 2 V if does so e te Motor Shaft Revolving Speed r min B Load Torque N m 9 8uM F D T 2Rn Load Inertia Moment kg Jp di Jy Jg Rm Jt Load Inertia of Straight Movement Part dp Pinion Inertia Gear Coupling Inertia 2 M D 8 32 Jy MG Jp M p Pinion Mass ke 7 87 x10 kg m Iron p 2 10 x 10 kg m Aluminum Minimum Acceleration Time s ARN Ig J 60 T lagi Motor Inertia Tu Motor Maximum Torque Minimum Deceleration Time s _ 2AN tJ 60 T T dm Load Operation Power W p 2AN yT E 60 Load Acceleration Power W 2 T CA 60 a P ta 5 tam Acceleration Torque Required N m UN 747 T ET ta Stam 60t a Deceleration Torque Required N m SNA uibus 607 LL Torque Effective Value N m n t TP t t t Tt rms t Disk Load Mechanical Configuration M Disk Load Mass kg T Load Torque Disk Load Revolution Speed rpm D Disk Load Diameter m 1 R Speed Reduction Ratio 7 Mechanical Efficiency 1 Disk Load Thickness m Movement Amount rad E esta ta 60 2 if f 0 x t t Motor Shaft Revolving Speed r min Ny
99. a Ratio 12 Axis Current A 13 D Axis Current A 14 U Phase Current A 15 V Phase Current A 16 W Phase Current A 5 poo Please set the scale of the analog monitor channel 0 0 0 0 1 at SEt 08 The setting range is 1 to 65535 V and the default value is 500 l Please set the scale of the analog monitor channel 2 at SEt 09 The setting range is 1 to 65535 V the default value is 500 Ca oo Li rm me LC r3 If the scale of the analog monitor channel 1 is set to 500 of the speed command 0 the speed command of the controller that corresponds to the monitor output 1V is 500 RPM Since the maximum output is 10 V the speed can be monitored up to 5000 RPM Therefore the monitoring range of the overall speed command is 5000 RPM V 10 V 1 V RPM 500 5000 If the scale of the analog monitor channel 2 is 1000 of the position command 2 the position command of the controller that corresponds to the monitor output of 1V is 1000 pulses As the maximum output is 10 V the position command can be checked up to 10000 pulses Therefore the monitoring range of the overall position command is 10000 pulses IV 10 V 1 V L pulse i 1000 10000 Absolute Encoder An absolute encoder can detect the absolute position
100. a ball screw whose speed reduction ratio is 1 and the number of pulses of the encoder per one revolution is 5000 if the controller approves 1000 pulses for the servo drive to make the motor finish one revolution the numerator of the electronic gear is 5000 and the denominator is 1000 10 mm se 1 EB The ball screw finishes one revolution with 1000 pulses and thus a ball screw with 10 mm pitch can move 10 um with one pulse command SEt 37 Electronic Gear Ratio Denominator Gorron SEE 3 e Setting range 1 to 65535 pulse e Factory Default 2500 Changes while the servo is OFF ATTENTION the denominator increases the resolution becomes higher But the following expression should be satisfied Pulse of the encoder x Speed reduction ratio x 4 gt Denominator In this case the maximum denominator is 20000 SEt 38 Speed Bias e Setting range 0 to 450 RPM e User Default 0 Changes anytime A method to reduce the position completion time in the position control mode by adding bias to speed command depending on the position error When this function is used position error can be reduced quickly as faster speed command are issued to reduce error at the area with large position error This has the same effect as when a relatively higher position proportional gain is applied to an area with large position error and by doing so
101. age Temperature 20 to 80 C Dielectric Voltage 1500V AC 60 sec Range Insulation resistance 500V DC 20 MQ When Brake is Attached 1200V AC 60 sec Number of Poles 8 Poles Excitation Method Permanent Magnet 2 Vibration pun Stopped Mounting Method FLANGE 251 4 85 less Shock 98 m s 3 Times Operating Humidity Non Condensing Brake Specifications CSMH Brake Specifications 13 7 or more 24 5 Friction Torque M 4 140 250 53 1074 1 35 9 0 Rotor INERTIA Kg cm s 1 38 9 18 Brake Pull In Time ms 100 or less 80 or less Brake Release Time ms 50 or less 25 or less Release Voltage V DC 2 or more Rated Voltage V DC 24 2 4 Rated Current A 0 79 10 1 3410 Allowed Brake J 1176 1372 Energy Once Kgfm 120 140 Overall Allowed J 1 5 108 2 9 106 Kgfm 3 10 1 5 10 3 Speed Torque Curve CSMH 15B 20 4 Instantaneous Use Area 10 4 Continuous Use Area Speed RPM 1000 2000 3000 Torque N m CSMH 20B 30 i Instantaneous Use Area Continuous Use Area Speed RPM 1000 2000 3000 Torque N m CSMH 30B 50 4 25 J Instantaneous Use Area Continuous Use Area Speed RPM 1000 2000 3000 Torque N m CSMH 40B 50 Instantaneous Use Area 25 Continuous Use Area T Speed RPM 1000 2000 3000 Torque N m CSMH 50B 60 4 Instantaneous Use Area 30 4 Continuous U
102. ase set the numerator at SEt 36 SEO _ 4m Please set the denominator at SEt 37 SAHARA Pulse Command Inhibit Function Position command counter can be stopped by setting INHIB input which is the signal to ignore pulse command While this input is ON the position command pulse input from the controller to the servo drive is ignored Therefore the servo lock is maintained at the current position AO ha ee Command INHIB C OFF ON OFF 4 Position s Command Td gt 1 2 ms Td Counter Motor Operation C Motor Revolution Motor Stop Motor Revolution Position completion detection and in position detection The user can set the timing for the position command completion at the servo drive that received a position command from the controller and if the difference between the position of the load and the position command is smaller than the set value the signal for position completion detection P COM can be displayed G E oooa Set the decision range for displaying P COM signal 0 0 0 I Cl atSEt 18 The display range is 0 to 1000 pulse and the default value is 10 If the user sets the timing of the position command proximity at the servo drive that received the position command from the controller and the difference between the load position and the position command is smaller than the preset value the in position detection signal NEAR can be displayed 5
103. ated Output is displayed as it is on servo drive Rated Output Display Method 13 1 3 kW 15 1 5 KW 20 2 0 kW 25 2 5 kW 30 3 0 kW 35 3 5 kW 40 4 0 kw 45 4 5 kw 50 5 0 kw 60 6 0 kw Input Voltage stands for 220V Definitions of the remaining numbers are as follows Servo Motor Label Number 110V AC 220V AC 24V DC 110 220V AC Input Voltage Key Present Motor Shaft Key Key Absent Option Absent Brake Present Option Oil Seal Present Brake and Oil Seal Present vol w Z w gt CO WO gt Circular Type Coupling Tightening Motor Shaft Key Tightening Type BR Taper Tightening Type Encoder CSDP Plus supported encoders are as follows CSDP Plus supported Encoders A 2500 P R 11 wire type Inc B 2500 P R 15 wire type Inc CSMD CSMF CSMH CSMK CSMS D 1000 P R 15 wire type Inc H 2048 P R Compact Abs M 10000 P R 15 wire type Inc A 2500 P R 9 wire type Inc K 5000 P R 15 wire type Inc L 6000 P R 15 wire type Inc Stan SE BSMEGRSME M 10000 P R 15 wire type Inc H 2048 P R Compact Abs 17 Bit Serial Abs R 17 Bit Serial Inc Installation Servo Motor Installation Please pay special attention to the following during motor installation Impact is a major factor in lowering the motor s performance Please do not dir
104. ation Motor Speed Deceleration Time Acceleration Time A SEt 20 SEt 19 Forward Revolution JogSpeed SEt 25 1 5 sec 0 gt 2 gt Reverse Revolution SEt 26 Internal Speed Command 1 GBBRBEB Internal Speed Command 1 Setting range 0 to 5000 RPM User Default 100 Changes anytime There are four different input signals dedicated to multi level speed control e C DIR e C SP1 e 5 2 e C SP3 The revolution direction is forward direction when C DIR signal is OFF reverse direction when it is ON C SP1 C SP2 C SP3 signals can be combined in eight different ways for which revolution speed can be determined The motor s revolving direction can be controlled separately by engaging C DIR input to each speed designated to each speed command parameter In the multi level speed control mode the motion of the motor changes according to the input signal SEt 19 SEt 20 As acceleration deceleration time is not set Forward Direction As acceleration deceleration Operation time is set RPM Reverse Direction Operation C DIR 0 1 C SP3 0 0 0 0 1 0 1 1 1 0 C SP2 0 0 1 1 0 0 0 1 1 0 SP1 0 1 0 1 0 0 1 0 1 0 Speed Command 1 2 3 4 5 6 7 Set the acceleration time and deceleration time within the range that won t undermine the response of the system in order to ease
105. ation Time If the energy consumed by the load is unknown then calculate with E 0 The heat loss energy consumed by the coil resistance of the motor Eg can be calculated as shown in the formula below 3 rg Ra Phase Resistance E XT Krz Torque Parameter T Please make sure the rated power of the regenerative resistor ATTENTION is calculated accurately If the calculated rated power of the regenerative resistor is bigger than the rated power of the internal regenerative resistor please remove the existing resistor and set up an external regenerative resistor The units used in the aforementioned formula are as follows Units used in the formula for the regenerative resistor Energy E Joules kgm s Torque t Nm Inertia J kgm Time T s 1 60 Min Speed N RPM 60 2 rad s Torque Constant K r2 Nm A The regenerative energy produced when continuous regeneration sections occurred under the vertical load condition are called Ec and the selection standard of the regenerative resistor can be calculated as shown below Revolving energy of the servo motor E Energy consumed by the load in the deceleration section Eg Heat loss energy consumed by the coil resistance of the motor Ec Energy that can be absorbed by the servo drive E E Ej Eg Ec Eg Regenerative energy produced in the continuous regeneration sections Eg can be calculated as shown belo
106. ation process of the speed control related gains Speed Limit SEt 67 Speed Command Filter SEt 40 Speed A dB Speed Loop Proportiona Speed Speed Limit D D Gain Torque Command Time Speed Loop Integral Gain Command rad s Raising the speed loop proportional gain can improve the response of the speed control loop Please set the value as high as possible within a range that won t cause vibration Speed loop integral gain can remove error at the steady state by responding to even very small input Raising the speed loop integral gain can improve the response and reduce completion time Please set it low in an environment where the inertia of the load is big or vibration can easily occur The speed command filter can limit the high frequency element in the speed command to soften the speed command itself If its value is O speed command filter will not be used To set up the gains related to speed control please follow the commands below 1 Set the speed loop proportional gain at SEt 02 The setting range is 0 to 1500 Nms and the default value is 80 Please raise the value as high as possible as long as it doesn t cause vibration or noise 2 Set speed loop integral gain at SEt 03 The setting range is 0 to 20000 Nms and the default value is 200 Raise the value gradually while watching the responses in the excessive period such as overshoot completion time vibrat
107. big this alarm occurs Lower the input frequency and raise feed forward gain SEt 34 and speed gain SEt 02 SEt 03 and position gain Lit am e 7 a Le SEt 04 3144 fthe absolute encoder data has an error this error LI ELI occurs Turn off and turn on the power again or Li reset the alarm HdE 34 Ifthe main condenser of the absolute encoder is Li EIL LD low voltage this alarm occurs Reset the system Go after one minute while the power is connected LI Then the multi revolution of the absolute encoder will be reset to be 0 E 15 If the encoder power is disconnected or the Ul encoder type set up SEt 51 is wrong this alarm P occurs Check the encoder power set up the encoder type properly no n If there is a communication failure between the servo drive and the absolute encoder this alarm H E E occurs Check the wiring of the encoder and if there is nothing wrong replace the motor with the new one If the EEPROM of the encoder has an error this alarm occurs mo mim Hy L ma Z Ln ca D mm um mm Do Fay cam LI ma D ECZ E EL am ann CI ram Qu ram ca minu m rm Eam TES
108. bservation algorithm 1 Do not use the embedded observation algorithm SEt 47 Notch Filter e Setting range 0 to 10000 Hz e User Default 10000 e Changes anytime This parameter suppress the torque command of setting frequency area and vibration caused by resonance The resonance frequency can vary according to the load and if it is set properly the system gain can be raised more If the newly set frequency is different from the resonance frequency of the load vibration or noise can be generated SEt 48 Password BEBBRE e Setting range 0 to 9999 User Default 0 Changes anytime SEt 50 1 Serial Encoder Type GEBBRBH H e Setting range 0x0to0x1 e Factory Default 0 x 0 Change while the servo is OFF and turn off the power and turn it back on The set values are as follows 0 Serial Absolute Encoder 1 Serial Incremental Encoder External battery should be equipped to use serial absolute encoder This parameter can be used to use the serial absolute encoder without external battery SEt 50 2 In Output Signal Status Display BEEBBB e Setting range 0x0to0x1 e Factory Default 0 x 0 Change while the servo is OFF and turn off the power and turn it back on The set values are as follows 0 Display by the CSDP method 1 Display by the CSDP method To choose the CSDP display method for previous CSDP users at Con 12 put 1 for the parameter To ch
109. cording to the falling force of the load the falling of the vertical load can be prevented in the early stage of the operation By adjusting torque command offset SEt 64 and SEt 65 revolution of the motor can be prevented ATTENTION In case of controlling a vertical load please use brake motor or install braking device to use the motor The set up sequence of the default torque bias is as follows 1 Check the revolving direction of the motor and the movement direction of the load 2 Stop the load at a certain position by using 0 speed control or normal position control 3 Check the torque command value while maintaining the system at a halt and set the value at SEt 64 if it is in the forward direction and at SEt 65 if it is in the reverse direction 4 Fine tune the values with the current set values as standard while watching the torque of the motor speed and position response If the default torque bias is fixed at a certain value but not 0 the control begins at the moment of the servo ON and the value of the torque command begins from the set value of the parameter Since the torque to maintain the motor at the current status is generated from the beginning the temporary fall of the load can be prevented Therefore overshoot of the speed response can be restrained and consequently the position completion time can be reduced ATTENTION If the default torque bias is set too high the load can temporar
110. ction LED displays six digit numbers Then press left or right keys to move to other decimal places while selecting the parameter Press up or down keys at the current position and search the number or the value of the parameter you want For instance if you want to set up a position regulator loop proportional gain follow the command below p oot Please press the MODE key until SEt 01 0 0 0 appears When you see SEt 01 press the direction keys until you see Set 04 the Hi parameter for the position regulator loop D E proportional gain Then press the ENTER A 9 B key and the position proportional gain parameter will be displayed Press the G L H direction keys to get the value you want and press the SET key to save it Press the ENTER key to escape from the non current level UBL D Ou No 1 digit is on the far right and Hod BH the No 6 digit is on the far left In the status display mode and parameter selection mode a decimal place sometimes has a separate meaning of its own Mode CSDP Plus has five operation modes Status Display Mode Parameter Selection Mode Monitor Mode Alarm History Search Mode Operation Mode When the power is turned on the status display mode will start GRABAH Status Display Mode U5r B1 BEEBBH Operation Mode Parameter Selection Mode P
111. cur CO E Check and reset the recently set parameter and LJL back up the remaining parameter If there is a parameter set up out of the preset LIL range this alarm will occur B Reset the parameter with the values within the ro preset range B 2 If the motor type or encoder type is incorrectly set C LE this alarm will occur E L P Set the encoder type SEt 51 motor type SEt 52 and motor capacity SEt 53 properly If there is a failure of the serial communication caused by noise or connecting cable failure this alarm will occur Check the connection status of the cable and connect it in a noise free environment rm le un m rn ta If there is an error with the memory that stores parameter this alarm will occur If this alarm occurs too often replace the servo drive with a new one rr tn Fry N If the rated output of the servo drive is incorrectly set this alarm will occur am n p The servo drive can store a maximum of 10 alarm records in the order of occurrence The alarm records can be deleted by using USr 10 Servo Alarm Record List PAr 01 The latest error PAr 02 The error that occurred before 1 time PAr 03 The error that occurred before 2 times PAr 04 The error that occurred before 3 times PAr 05 The error that occurred before 4 times PAr 06 The error that occurred before 5 times PAr 07 The e
112. d Revolving Speed RPM 3000 Maximum Revolving Speed RPM 4500 w Dee ef ROTOR INERTIA gfcm s 10 65 14 0 15 2 177 WHEN BRAKE IS ATTACHED Kg m 10 10 44 13 7 14 9 173 POWER RATE kW s 100 5 134 154 161 Mechanical Time Parameter ms 0 54 0 58 0 47 0 48 Electrical Time Parameter ms 21 4 20 Rated Current A rms 20 4 24 7 28 0 28 5 Maximum Instant Current A rms 80 105 118 120 Axial Play mm MAX 0 3 Weight Kg 10 1 12 9 15 1 173 WHEN BRAKE IS ATTACHED 12 14 8 170 19 2 Revolving Direction U gt V gt W CW Color Black Oil Seal Embedded lea Te Senet Wiring Method Y Wiring Time Rating Continuous Use Operating Temperature 0 to 40 C Insulation Grade B Grade Range VD 20 to 480 C Dielectric Voltage Insulation resistance 500V DC 20 Dielectric Voltage Brake 1200V AC 1 sec Number of Poles 8 Poles Excitation Method Permanent Magnet 49 m s When Stopped Vibration 24 5 m s During Mounting Method FLANGE Operation Shock 98 m s Operating Humidity E Brake Specifications RSMS Motor Brake Specifications Friction Torque nm 16 5 Rotor INERTIA 83 10 4 1 2 Brake Pull In Time ms 110 Brake Release Time ms 50 Release Voltage V DC 2 at 20 C Rated Voltage V DC 24 2 4 Rated Current A 0 876 Allowed Brake Energy J 1000 Overall Allowed Brake Energy J 1 0 x 108 Speed Torque Curve Torque N m RSMS 30B 304 Instantaneous 15 Operation
113. d command gain at SEt 01 The O E Lif setting range is 10 to 6000 RPM V and the default value is 500 The formula to get the external speed limit is as follows External speed limit RPM Speed Command Gain RPM V x Input Voltage V When the speed command gain is 500 RPM V and the input voltage is 6V the motor speed is limited at 3000 RPM and when the input voltage is 10V the speed limit is 5 000 RPM Speed Limiting Method Selection 866484 BEE LI Please set the method to limit speed at the third digit of SEt 45 Speed Limiting Method 0 Does not use the speed limit function 1 Limits the speed by the internal speed limit SEt 67 2 Limits the speed by the analog speed command input from the outside Limits the speed under the smaller value between the motor s maximum speed and the value of SEt 67 Position Feedback to the Controller The servo drive controls the servo motor by using various information from the encoder And the servo drive can send the output of the encoder information to the controller The servo drive outputs five different encoder signals in total to the controller Encoder Signals Sent to the Controller EA EA Encoder A A Phase Output Line Drive EB EB Encoder B B Phase Output Line Drive EC EC Encoder C C Phase Output Line Drive PS PS Absolute encoder position Data output Line Drive Z PULSE Z PULSE Encoder Z Pha
114. default value is 200 Motor Rated Speed Fp 1 Motor Speed Command Setting Speed 0 G Time Rated Speed 1 Motor Actual Acceleration Time Actual Deceleration Time CA Motor Speed Feedback Setting Speed 0 Time Acceleration Deceleration Setting Time SEt 19 Setting Time SEt 20 The diagram shows that the time for execution compared to command was extended as much as the deceleration time Deceleration time is the time required for the motor to slow down to a halt from the rated speed 5 E oo n Please set deceleration time at SEt 20 The setting 0 01 0 Li range is 0 to 60000 ms and the default value is 200 Combination Control Position control speed control torque control and multi level speed control are the basic controls Basic controls can be used in combination depending on the user s circumstances C SEL signal is used to shift control mode between the two modes that are combined If the combination control mode is used C SEL signal must be used Combination Control Mode List 7 Position Torque Mode Position Mode Torque Mode 8 Position Speed Mode Position Mode Speed Mode Position Multi level Multi level Speed 13 Speed Mode Position Mode Mode Speed Multi level Speed Multi level Speed 14 Mode Speed Mode Mode 15 Torque Multi level Torque Mode Multi level Speed Speed Mode Mode
115. der 36 ps J Revolution Data Please set the number of output pulses per revolution which is the numerator at SEt 23 The setting range is 1 to 65535 pulse and the default value is 2500 Please set the number of encoder pulses per revolution the denominator at SEt 24 The setting range is 1 to 65535 pulse and the default value is 2500 Even when the motor is revolving at a completely normal speed jittering of about 33 us can be generated at the encoder output pulse depending on the revolution speed The servo drive cannot send more pulses than the number of ATTENTION input pulses from the encoder to the controller Therefore the numerator should always be the same as or smaller than the denominator Analog Monitor The servo drive can display the analog monitor signals with which the user can check the actual control status through an oscilloscope rir 4 LiL 6 Channel 1 Channel 2 Set the scale units of the analog monitor channel 1 and channel 2 at SEt 78 Analog Monitor Output Type Speed Command 1 to 500 RPM 0 1 Torque Command 1 to 30 2 Position Command 1 to 5000 pulse 3 Speed Feedback 1 to 500 RPM 4 Torque Feedback 1 to 30 5 Position Feedback 1 to 5000 pulse 6 Position Error 1 to 2500 pulse 7 Speed Error RPM 8 DC link Voltage V 9 2 Electrical ay eu E 11 Inerti
116. e Position Multi level Speed Position Mode Multi level Speed Mode Mode Multi level Speed 14 Speed Multi level Speed Mode Speed Mode Mode Multi level Speed 15 Torque Multi level Speed Mode Torque Mode Mode Please select the encoder type at SEt 51 SEt 51 Set up Value A 2500 P R Inc 11 wire 100 B 2500 P R Inc 15 wire 101 CSMD CSME CSMH CSMK CSMS D 1000 P R Inc 15 wire 102 H 2048 P R Compact Abs 104 M 10000 P R Inc 15 wire 106 A 2500 P R Inc 9 wire 107 K 5000 P R Inc 15 wire 103 L 6000 P R Inc 15 wire 105 RSMD ASME RSMH RSMK i imc 18 wire 106 H 2048 P R Compact Abs 104 17 Bit Serial Abs 108 R 17 Bit Serial Inc 109 Please set the motor type at SEt 52 SEt 52 Set up Value CSMS 2222 CSMD 2312 CSMH 2322 CSMF 2332 CSMK 2342 RSMS 2402 RSMD 2412 RSMH 2422 RSMF 2432 RSMK 2442 RSML 2452 RSMN 2462 RSMX 2472 Please set the motor capacity at SEt 53 SEt 53 Set up Value CSMD 150 200 250 300 350 400 450 500 CSMF 2 150 250 350 450 CSMH 2 150 200 i 300 400 500 CSMK 120 E 200 300 E 450 gt 600 CSMS i 150 200 250 300 350 400 450 500 i RSMD 5 150 200 250 300 350 400 450 500 E RSMF 150 250 350 450 RSMH 3 150 200 300 400 500
117. e please adjust the voltage generated from the controller or a variable resistor to OV Y o ra LI HB u Y 2 n The adjusted speed command offset be checked with Con 10 Y r c NN Auto Adjustment for Torque Command Offset ME _ nui Auto adjustment for torque command offset can be LI 1 done when the servo is either ON or OFF t The voltage input of the current torque command H ri L will be identified as OV Therefore please adjust the L voltage output generated from the controller or a variable resistor to OV T E n d The adjusted torque command offset can be checked with Con 11 0 0 0 0 0 0 Afterthought speed command offset or torque command ATTENTION offset is automatically adjusted so themotor move little This is because the power supply voltage has noise or fluctuates a little To completely stop the motor by analog command please operate the system in the zero clamp speed control mode Manual Adjustment for Speed Command Offset ro 0Q P6686 HEBHE mo An BHR BS Manual adjustment for speed command offset should be done when the servo is ON If the UP key is pushed offset will be added in the forward direction If the DOWN key is pushed offset will be added in the rev
118. e preset value of the speed bias amount will be added to the position control output Please adjust the speed bias amount and the speed bias application range alternately while watching transient response If the speed bias amount is set too high or the speed bias application range is set too low vibration can occur P PI Mode Set up Function By setting the speed loop integral gain SEt 03 in the speed control or position control mode the system will be able to respond to subtle changes of the command and can be controlled accurately and the error at the steady state can be If the speed loop integral gain is set too high in order to increase the response overshoot may occur with the speed response in the transient status which would increase position completion time Therefore position completion time can be reduced by setting the integral gain to 0 for an instant to restrain overshoot when necessary In this case the speed control loop is used in the form of a P controller after changing it from a PI controller There are two ways to use the speed control loop by changing it from PI controller type to P controller type e Input P Control Shift Control by P CON Signal P PI Mode Shift by Parameter Set up The type of the speed controller is determined in the following way according to the input channel signal after P CON Signal is allocated to the input channel OFF Controller LS ON D P Controller
119. e CN2 CN1 A phase phase Divider B phase Z phase Z phase The formula to adjust the number of output pulses is as follows Numerator Denominator x Number of Encoder Pulse Output to the controller If a certain type of the encoder connected to the drive produces 2048 pulses per revolution and as many as 1000 pulses per revolution should be sent to the controller the numerator can be set to 1000 and the denominator can be set to 2048 1000 2048 x 2048 1000 Controller Encoder 3 Servo drive CN2 CN1 2048 Pulse 1000 Pulse lea 30 EA TL B Encoder 32 eB A B C Phase EC EC 35 5 Absolute Encoder 36 PS Revolution Data ce SEt 24 Encoder Output Ratio Denominator HEBBBH Setting range 1 to 65535 pulse Factory Default 2500 Changes while the servo is OFF The servo drive output pulse cannot output to the outside A ATTENTION and B phase pulses higher than the number of encoder pulses per the motor s revolution If the motor mounted encoder generates 2048 PPR the pulse from the servo drive to the outside cannot exceed 2048 pulses per the motor s revolution SEt 25 Jog Command Speed COCCO 5 0 0 0 0 5 Setting range 0 to 5000 RPM User Default 500 Changes anytime This parameter is the command speed for a jog operation or a pilot oper
120. e Release Time ms 25 or less 50 or less Release Voltage V DC 2 or more Rated Voltage VDC 24 2 4 Rated Current A 1 3 10 1 4 10 Allowed Brake Energy J 140 Overall Allowed Brake Energy J 3 105 3 10 Speed Torque Curve Torque N m CSMK 12B 30 4 Instantaneous Use Area 15 4 Continuous Use Area Speed RPM 1000 2000 Torque N m CSMK 20B 50 4 Instantaneous Use Area 25 Continuous Use Area Speed RPM 1000 2000 Torque N m CSMK 30B 70 4 Instantaneous Use Area 35 4 Continuous Use Area Speed RPM 1000 2000 CSMK 45B Torque N m Instantaneous Use Area Continuous Use Area Speed RPM 1000 2000 Torque N m CSMK 60B 150 Instantaneous Use Area 75 Continuous Use Area Speed RPM 1000 2000 RSMD Motor Basic Specifications RSMD Motor Specification Rated Voltage V 220 Rated Power kW 1 5 2 0 2 5 3 0 4 0 4 5 5 0 Rated T Kgf cm 72 9 97 4 121 146 195 219 244 SP N M 715 9 55 11 9 14 3 19 1 21 5 23 9 i Kgfcm 219 2 292 363 437 576 657 729 DOMO UR N M 21 5 28 5 35 5 42 9 56 4 64 3 714 Torque Rated Revolving RPM 2000 Speed Maximum Revolving RPM 3000 Speed gfcm s 71 9 5 11 7 14 1 34 2 38 5 46 4 ROTORINERTIA Kgm 10 70 9 3 11 5 13 8 33 5 377 45 5 MER ERES gfcm s 8 5 10 7 13 1 15 3 38 5 43 8 51 7 2 4 ATTACHED Kg m 10 8 3 10 5 12 8 15 0 377 42 9 50 7
121. e SALM Sali var 46 Alarm i V T SALM 41 DO 1 A IN In Speed V COM T REF 21 um var 4 Bo41 Torque Limit Input 7 hei T REF SG 1 43 DO 2 44 a d Revolution Detection TG ON 47 i p po uy Speed Limit Detection V LMT E par pee ute Encode DO 3 ack UP Battery BAT 25 Input DC 3 6 V channel Seting Function X X X Speed Control Wiring Speed Command Set the speed command gain at SEt 01 The setting range is 10 to 6000 RPM 1V or RPM 10V The default value is 500 momong The unit setting of SEt 01 is set up on the second m E E digit of SEt 46 BE When the second digit of SEt 46 is 0 Speed Command RPM Speed Gain RPM V x Input Voltage V When the second digit of SEt 46 is 1 Speed Command RPM Speed Gain RPM 10V x Input Voltage V When the speed gain is 500 RPM V and the input voltage is 6V the motor revolves at the speed of 3000 RPM The tolerated range of the input voltage is DC V An error can occur if the input voltage is out of this range and it cannot be recognized If torque command is higher than the preset maximum torque of the motor a warning for excessive torque command A 10 OSC will occur Command Speed RPM 5000 Setting Available Range RPM 10V 1553 Input Voltage V 11 ri 10 5 10 1553 2500 5000 RPM 1V Speed command gain determines the
122. e first digit of SEt 76 to allocate P COM signal to the DO 1 pin i Put in the fourth digit of SEt 77 to use WARN function through DO 3 pin 8556288 Setting 0 makes the system always invalid and there is no value to make the system always valid which is different from the input case SEt 77 Output Signal Assignment 2 COCCO 5 Et LH e Setting range 0 x 0000 to 0 x 3333 e User Default 0 x 0000 e Change while the servo is OFF and turn off the power and turn it back on SEt 78 DA Monitor Channel Selection BEBRBE Setting range 0 to 2020 User Default 103 Changes anytime moi Set the units for the scales of the monitor channel 1 ULI LI 1 and channel 2 Channel 1 Channel 2 Analog Monitor Output Type 0 Speed Command 1 500 RPM 1 Torque Command 1 30 96 2 Position Command 1 5000 pulse 3 Speed Feedback 1 500 RPM 4 Torque Feedback 1 30 96 5 Position Feedback 1 5000 pulse 6 Position Error 1 2500 pulse 7 Speed Error RPM 8 DC link Voltage 9 O theta cnt Electrical Angle kHz 10 Pulse command Frequency kHz 11 Inertia Ratio 12 Axis Current A 13 D Axis Current A 14 U Phase Current A 15 V Phase Current A 16 W Phase Current A SEt 79 Internal Speed Command 4 BEERHH e Setting range 0 to 5000 RPM e User Default 400 e Changes anytime There are four different input sig
123. e speed control method from PI control to P control Control C SEL Changes the control mode from the combination control Complex Control Determines the revolution direction of the motor in th Iti I IC DIR ete es the revolution direction of the motor in the multi leve Multi level Control speed control C SP1 Selects the revolution speed in the multi level speed control Multi level Control C SP2 Selects the revolution speed in the multi level speed control Multi level Control C SP3 Selects the revolution speed in the multi level speed control Multi level Control Input Signal IZ CLP Ignores the input value if the value of analog command is lower than analog command Speed the speed zero clamp level SEt 17 in the speed control Control INHIB Ignores the position command pulse input Position Control ABS DT Sends absolute value data to the controller through EA EB signals All A TL i the torque speed limit control mode through Torque Speed Limit Control P LCR Clear the current position and position command Position Control EMG Issues an emergency alarm All R ENC Resets the multi revolution of the absolute encoder and the alarm All Output Signal There are eight different output signals The functions of the signals are shown below Output Signal P COM This signal will be displayed if the position error is w
124. ectly connect the motor to the power supply X a Z Please keep the motor away from X water and oil Please pay attention to the x concentricity of the coupling that is linked to the load Please do not put stress on the electric wires gt Please mount the motor vertically or horizontally The shaft is oiled for corrosion Q prevention Please remove it before installation Please connect the grounding line Q to the grounding connection terminal of the drive Excessive impact during coupling assembly can damage the encoder Please measure the concentricity of the motor shaft and load shaft after coupling assembly Take four measurements by rotating each 90 and adjust the difference between the maximum value and the minimum value to be 0 03 mm or less Load Connection Motor Shaft Load Shaft gt y mem enm Allowed Load for Motor Shaft Vertical Load kg f Radial v 48 Horizontal Load kg f Thrust Motor Installation Environment Motor Installation Specifications If the center of the shaft does not match it will lower the performance Please make sure the load on the motor shaft doesn t exceed load allowance Please refer to the motor specifications in the appendix for the allowed load for each motor Storage Temperature 20 to 80
125. egenerative energy produced from the load system If the produced energy is small enough users can set up the external regenerative resistor and increase the rated power of the regenerative resistor so that the regenerative energy produced from the load system can be consumed There are two ways to increase the allowed power of the regenerative resistor The first is connecting the internal regenerative resistor and the external resistor in parallel and the second is mounting an extra external regenerative resistor after removing the internal regenerative resistor In case of increasing the rated power of regenerative resistor set the minimum resistor value according to capacity 150 to 25Q ATTENTION gt The temperature of a resistance for the regenerative resistor can rise over 200 C under the rated load condition Because without an extra cooling fan the temperature of the regenerative resistor can go up excessively please use 20 or less of the rated power of the regenerative resistor ATTENTION gt This picture shows the case where a motor repeats acceleration deceleration on the horizontal basis with a fixed cycle Speed Command Time 0 1 A A i Speed Time 0 E a Deceleration ection Regeneration Section Torque 1 Number of Repetition T X 60 cycles min If the number of the motor s actual r
126. el 37 AL1 pco Servo on SV ON DA t 3 Servo Alarm Code wm 9 0 0 8 Y 8 38 AL2 Maxium Used Voltate DC 30 V Forward Revolution Stop P OT DI 2 47 fuse 39 AL3 Maxium Used Current mA am 0 0 0 Reverse Revolution Stop N OT m oo 5 FS 40 AL SG Servo Alarm Code GND P Control Shift P CON 6 entro iL D 29 Ew Alarm Reset A RST e 1 0185 7 y 30 Ea Reverse Direction Torque Limit N TL __ DI46 E wm gt 31 EB Encoder A B C phase Forward Direction Torque Limit P TL DI 7 9 Line Receiver VR 32 EB mm o SN75175 or MC3486 33 01 8 10 Emergency Stop E STOP ea VQ 34 EC J 35 psp Absolute Encoder Data 36 pg J 17 z PULSE 5 2 Encoder Z phase yaa y 18 Z PULSE open collector V REF 19 45 External Speed Limit pp j A 10IV to 10 V P V REFSG 20 48 SALM ervo Alarm A D Torque Control Mode Lt DO 14 T REF 21 42 J Revolution Detection TG ON Analog Torque Command L fe TREF sq 10 V to 10 V z 43 7 DOf2 7 44 J Torque Limit Detection T LMT 47 DO 3 SO H Speed Limit Detection V LMT 49 Y 4 V 48 poss ron Rosalie Encoder Ile aar o ded DO SM X X X D Torque Control Wiring Torque Command mE Please set torque command gain at SEt 05 The BBBEBBH seri LI LI
127. entiated element of the position command to speed command in the position control mode by way of feedforward Consequently transient response characteristics are improved and the position decision time is reduced _ Hu Setthe position feedforward gain at SEt 34 The ERE setting range is 0 to 100 and the default value is 0 Setting the value high will improve the response of the position control GEE Position feedforward filter restrains the high frequency element in the position command to soften the position command itself E ood 1 Set the feedforward filter at SEt 07 The setting SL LL rangeisOto 5000 rad s and the default value is 0 If its value is 0 position feedforward filter will not be used When the value of the torque command filter SEt 06 is set high if overshoot or excessive vibration occurs please lower the value of the position feedforward filter When the position feedforward function is used the speed command varies highly in response to the change of position command Therefore if the position command input fluctuates rapidly in cases of rapid acceleration or deceleration feedforward can cause overshoot To reduce position command completion time in this case raise the value of the torque command filter SEt 06 slowly and locate the appropriate value Or it may be desirable to restrain the high frequency element of the position feedforward by using the speed command filter SEt 40 or so
128. epetition is more than the allowed number of repetitions please follow the command below e Lower the preset speed as much as possible e Set the deceleration time as long as possible e Limit the torque as much as possible e Make the inertia of the load system smaller The regenerative resistor should be selected among those that meet the specifications of the user s load system As another way to select the regenerative resistor calculating the rated power of the necessary regenerative resistor can help the user choose the optimum regenerative resistor for the load system The formula to get the rated power Wy of the regenerative resistor is as follows T stands for the operation cycle and 2means the 20 of the rated power 0 2xT K The energy consumed by the regenerative resistor Ex can be calculated by the following formula Ey Revolving energy of the servo motor E Energy consumed by the load in the deceleration section Eg Heat loss energy consumed by the coil resistance of the motor E E E Energy that can be absorbed by the servo drive The revolving energy of the servo motor Ey be calculated by the following formula Ny Set Speed E _Jyx l n xNi Jy Motor Inertia 182 1 Ratio The energy consumed by the load in the deceleration section E can be calculated by the following formula T Motor Torque E Wu Tp Deceler
129. equency allowed in the line drive input is 900 kpps and the maximum frequency allowed in the open collector input is 250 kpps In the open collector type if TR1 is ON the servo drive recognizes it as a low level input logic and if TR1 is OFF the servo drive recognizes it as a high level input logic Please set the value of R1 so that the input electric current can be 7 to15 mA When the output of the controller is open collector type it is desirable to set Vcc to 24V It is because the system can be operated securely even in a noisy environment At this time please use 2 2 kQ resistor at R1 Resistance to Voltage 24V 5 2 2 12V 596 5 180 0 G L nu Set the control mode to position control by putting E OatSEt 41 nDmnpgog Set up the type of position command on the first 2 E Li digit of SEt 46 H Position Command Type Set up 0 Positive CW CCW 1 Negation CW CCW 8 Positive Pulse Train Sign 9 Negation Pulse Train Sign 2 Positive 1 multiplications A Phase B Phase 4 Positive 2 multiplications A Phase B Phase 6 Positive 4 multiplications A Phase B Phase Please select the position control type by referring to the diagram Forward Revolution Reverse Revolution PULSED L PULSED CW CCW Posso SIGNO SIGN gt L puse
130. erse direction The adjusted speed command offset can be checked with Con 10 Manual Adjustment for Torque Command Offset USr Uh BBHREH U5r 06 Alarm Reset Manual adjustment for torque command offset can be done when the servo is ON If the UP key is pushed offset will be added in the forward direction If the DOWN key is pushed offset will be added in the reverse direction The adjusted torque command offset can be checked with Con 11 If an alarm Error occurs it can be turned off by Usr 07 after the cause of the problem is dealt with Please See Troubleshooting in Chapter 7 for further details about the alarm Parameter Initialization IL To return the parameter to their default values LI ZI LI Z1 please use USr 09 When USr 09 is implemented in cases where the H ln 7 fourth digit of SEt 50 is 0 all the parameter except for those related to the system will be initialized and if the fourth digit of SEt 50 is 1 all the parameter will be initialized Good Ge LC u 5r I8 Alarm History Deletion Mo When an alarm occurs the alarm code will be Lit T LI recorded in the order of PAr 01 to PAr 10 If USr 10 is implemented all the values from PAr 01 to PAr 10 F will be changed to 0 00 0 0 P
131. et servo drive changes system gain SEt 42 and 5 basic gains according to inertia ratio Therefore adjustment of the inertia ratio should be done carefully SEt 67 Speed Limit 5 E 0 0 0 0 e Setting range 1 to 5000 RPM User Default 5000 Changes while the servo is OFF This parameter is the set value of internal speed limit If this setting exceeds the maximum motor speed it is automatically limited to maximum motor speed SEt 68 Maximum Torque Used 6868668 e Setting range 0 to 1000 e User Default 500 e Changes anytime The highest torque value of the torques used up to now is stored to this parameter Even after the power is shut down the value will remain SEt 69 System Bandwidth 686668 e Setting range 0 to 500 e Factory Default 60 e Changes while the servo is OFF If auto tuning is executed or user changes the inertia ratio system gain and 5 basic gains changed after referring to the value of system bandwidth Basic gain is categorized in five items that are essential for tuning e Speed Loop Proportional Gain Nms SEt 02 e Speed Loop Proportional Gain Nms SEt 03 e Position Loop Proportional Gain rad s SEt 04 Torque Command Filter rad s SEt 06 e Speed Command Filter rad s SEt 40 When this parameter is set the values of the basic gain will change after referring to the inertia ratio SEt 66 e System Gain SEt 42 SEt 71 DA Monitor Channe
132. et properly in case of using position control mode Even if the gains related to position control are appropriate the best tuning cannot be carried out if the gains related to torque or speed are not properly set Position Control Related Gain Position Control Mode Gain Setting Starting Point GEL E dB Position Command Pulse rad s JUUUUL Position Command Position FF Gain Position FF Filter Filter 3 Position Loop Proportional Gain Speed BEE HMH Command Speed Bias SEt38 a Speed Control Related Gain purea Speed Loo Speed Control Mode Speed Limit Speedo Gain Gain Setting i i rn EB H Starting Point 61 EE 4H BEb Hg Torque Speed 4 dB Command Speed T Speed Command Loop Integral Gain Time rad s Torque Control Related Gain Vibration Suppression Torque Command Torque Control Mode Torque Limit Filter Filter Gain Setting Starting Point Erg E Lun gt D SEE 1l BEE HE BBBHO gt Servo dB dB Motor A Torque Torque Command Speed Hz rad s If position related gains alone are adjusted when the response is not secured enough through setting the gains related to speed control the system can be unstable To improve t
133. et value until vibration or noise stops If the load system is not composed of optimum combination by 1 and 2 above adjust the gain minutely as 3 4 and 5 hereunder 3 Fine tune the value of each basic gain Speed loop proportional gain Speed loop integral gain Position loop proportional gain Torque command Filter Soeed command Filter 4 Fine tune the value of each applied gain Position command filter Vibration suppression filter Position feedforward gain Position feedforward filter 5 Set the four parameter required for tuning P control shift switch P control shift reference value Speed bias application range Speed bias amount If the response drops after offline auto tuning raise the system bandwidth SEt 69 a little and run offline auto tuning again Secure the maximum response by raising the system gain Set 42 to the level before vibration or noise starts L When the maximum response is secure while the E DI inertia ratio SEt 66 is set accurately and the load system has no vibration or noise the system gain can be set as high as possible and becomes the bandwidth of the overall speed control loop If the system gain SEt 42 is raised the overall 0 0 0 IL gains increase and the response improves If this value is changed the five basic gains change and the inertia ratio is referred to in this process If the value is set too high for the load condition
134. f minus load where load revolves servo motor with gravity and vertical load where continuing regenerative energy occurs excessively excessive regenerative energy can occur If regenerative energy is consumed however internal regenerative resistor is available without any measures Regenerative Resistor Specifications _ CSDP 15BX2 2010 pF 50Q 125 W CSDP 20BX2 2010 uF 250 125 W CSDP 30BX2 2010 uF 250 250 W CSDP 40BX2 2800 uF 25Q 250 W CSDP 50BX2 3900 uF 250 250 W Allowed Inertia Ratio Based on the 50 usage rate of the regenerative resistor 22 1 2KW 13kW 1 5kW 2kW 2 5kW SkW 3 5kW akw 4 5kW 5kW CSMD 80 50 60 50 30 30 20 1 5 CSMS 160 no 90 zo 40 40 30 csmr 60 wif CSMH 2 0 1 0 0 5 0 3 0 0 CSMK 13 0 10 0 6 0 70 5 0 RSMD 80 50 60 50 30 30 20 1 5 RSMF 6 0 2 0 2 0 1 0 RSMH 2 0 1 0 0 5 0 3 0 0 RSMK 13 0 10 0 6 0 7 0 5 0 RSMX 5 0 3 0 1 0 1 0 RSMN 80 4 5 2 0 RSML 6 0 3 0 2 0 2 0 15 Allowed inertia ratio application condition Setting acceleration time 200 ms 1cycle 2 sec Operation Speed Rated Speed A regenerative resistor that users connect to the outside according to the load is called the external regenerative resistor The rated power of the regenerative resistor consumes the r
135. f properly set it allows other gains to be raised so that the stability and response of the overall system are improved greatly But if it is set incorrectly it can cause vibration or noise 5 E L Ln Set vibration suppression filter at SEt 47 The t l setting range is 0 to 10000 Hz and the default value is 10000 Torque command filter limits the high frequency element in the torque command By limiting the high frequency element higher than the preset level torque command itself can be softened to reduce vibration and noise oo L oa 5 Please set torque filter at SEt 06 Ei Ei LI I setting range is 0 to 60000 rad s and the default value is 1800 As the value is higher the response can improve But if it is set too high it can cause vibration If the load is a belt or chain system fast response is not expected because of the lowered stiffness If speed control or position control related gain is raised excessively when the value is set at lower torque command it can oscillate In the case of these loads it is hard to set the torque command filter higher than 1000 rad s Please refer to the table below for set up Directly coupled Disk 4000 Ball Screw Coupled directly 2000 to 3000 Belt 500 to 1000 Speed Control Gain Speed control gains include speed loop proportional gain speed loop integral gain and speed command filter The picture below shows the applic
136. ften the position command itself by using the position command filter SEt 35 ATTENTION Using online auto tuning and position feedforward function together can make the system unstable Speed Bias Function In the position control mode another way to reduce position completion time is to apply bias to speed command according to position error When this function is used position error can be reduced quickly as faster speed command is issued to reduce error at the area with large position error This has the same effect as a relatively higher position proportional gain is applied to an area with large position error and by doing so the position completion time near the steady state can be reduced 5 r L 18 Please set the speed bias amount at SEt 38 DO 21 Ul setting range is 0 to 450 RPM and the default value is 0 If the position error is bigger than the preset value of the speed bias application range SEt 39 a faster speed command that includes the value of the speed command set here will be issued G E oooa Please set the speed bias application range at LI Li Li Et SEt 39 The setting range is 0 to 250 pulse and the default value is 10 When the position error is bigger than the value set here the speed bias amount SEt 38 will be added to the speed command If the absolute value of position error is bigger than the preset value of the speed bias application range the speed command equal to th
137. gradient of the graph The motor sometimes revolves in boths cases where the controller did not approve the speed command or it approved the speed command with OV This is because of the voltage offset between the controller and the drive Zero Clamp Even if the analog speed command of the controller is OV at the speed command offset automatic adjustment a little bit of offset voltage can exist at the servo drive input terminal which may cause the motor to slowly rotate In this case using the zero clamp function can prevent the motor from revolving a small amount caused by the offset voltage To use zero clamp function please set the control mode at 5 Once zero clamp input port is set the zero clamp input terminal should be ON to activate it If the port is not set it will be automatically activated 5 E L _ Please set the speed zero clamp level at SEt 17 The 0 0 0 i setting range is 0 to 5000 RPM and the default value is 0 If the CN1 connector pins where the zero clamp function is allocated are ON the voltage command below the level set at SEt 17 will be ignored When the value of the speed command surpasses this level again the motor will accelerate to the value of the command Analog Speed Command External Voltage Zero Clamp Level SEt 17 Time Z CLP Input as port setting Actual Speed Command Speed Zero Clamp Level 0 Time In Speed Function V COM signal displays that the error
138. h Capacity Usage Write 1H5 to order a 1 5 m long cable 05 for a 5 m long cable and 40 for a 40 m long cable If 1 5 kw capacity is required write 015 Encoder Cable CSMD CSMF CSMH CSMK CSMS RSMD RSMF RSMS RSMH RSMK RSML RSMN RSMX motors use the following encoder cables Motor Part CON A Servo Part CON B ZED NN 7 dl o 10 CSMD CSMF CSMH CSMK CSMS motors use MS3102A20 29 encoder plug Wire the pins of the encoder plug as shown in the table below MS3102A20 29P 11 wire Inc Encoder A 3 1P Whie Blue Blue A B 4 1P White Blue White A C 5 2P White Yellow Yellow B D 6 2P White Yellow White IB E 7 3P White Green Green C F 8 3P White Green White G 1 4P White Red White GND H 20 4P White Red Red VCC J 12 SH Shield FG P 10 5P White Purple Purple RX R 13 5P White Purple White RX 15 Inc Encoder A 3 1P White Blue Blue B 4 1P White Blue White 5 2P White Yellow Yellow D 6 2P White Yellow White 7 3P White Green Green F 8 3P White Green White G 1 4P White Red Red H 20 4P White Red White J 12 SH Shield FG 10 5P White Purple Purple U L 13 5P White Purple White U M 14 6P White Blue Blue V N 15 6P White Blue Brown N P 16 7P White Yellow Yellow W R 17 7P
139. he motor brake from the moment the servo is ON 40 ms Fixed Value SettingTime of SEt 32 SV ON Command D gt ON of Controllor SV ON Command Execution of D Servo Drive Motor Brak ML Operation Release Brake Inactive delay Time G E E 5 H g Please set the servo OFF delay time at SEt 29 The setting range is 0 to 1000 10 ms and the default value is 0 This configuration is used to secure the time before the drive activates the motor brake after the controller delivered the servo OFF command Setting Time of SEt 29 SV ON Command of D gt Controller ON OFF SV ON Command Execution of servo drive ON OFF Servo Off Delay Time Please set the brake output waiting time at SEt 31 The setting range is 0 to 1000 10 ms and the default value is 50 This configuration is used for the time for the motor brake to start working after the controller delivered the servo OFF command L rm Em NN SV ON Command of D ON OFF Controller Motor Brake Signal Release Operation Brake Active Relay Time E L n Please set the brake output start speed at SEt 30 LI Li The setting range is 0 to 1000 RPM and the default value is 100 SV ON Command of Controller gt ON OFF Motor Speed D Setting Speed Brake Signal Release Operation Braking Application Speed The brake mounted on the motor cannot be used to
140. he response of the overall position control system please secure ample response of the speed control loop Gain Automatic Set up The servo drive has the following two functions to automatically detect the status of the load e Offline Auto Tuning Online Auto Tuning Offline Auto Tuning Offline Auto Tuning automatically detects inertia ratio friction coefficient and resonance frequency and sets basic gains accordingly Please set SEt 69 as below according to the type of the system Low Rigidity Belt 20 Medium Stiffness 30 High Rigidity Ball Screw 45 The execution procedure of offline auto tuning is as below 1 Offline autotuning USr 02 is executed automatically 2 Inertia ratio and system gain are automatically set 3 5 different basic gains are automatically set 4 The response of drive will be improved nomnaon The value set on the third digit of SEt 58 represents E LI H 100 RPM For instance if the set value is 8 it H means 800 RPM Revolution speed can be set at offline auto tuning CEL Inertia ratio SEt 66 can be directly set by the user BBBBU Online Auto Tuning Online auto tuning is used when the load constantly changes during operation lt constantly changes the gain value according to the status of the load in order to maintain response of the system even if the status of the load changes
141. id For instance to keep SV ON always valid when the power is on regardless of the wiring put 9 in the first digit of SEt 59 H Output Signal Assignment Table SEt 76 N COM BK TG ON P COM SEt 77 WARN NEAR N LMT IT LMT Put 1 in the first digit of SEt 76 to allocate P COM signal to the DO 1 pin BEBREBE Put in the fourth digit of SEt 77 to use WARN function through DO 3 pin 858668 5 Setting 0 makes the system always invalid and there is no value to make the system always valid which is different from the input case p If the warning in the diagram is displayed it means Lt two or more signals were allocated to a single pin ATTENTION Restart servo drive after signal assignment A Position Control Position control is moving the load to the position where the controller instructs In order to carry out position control please connect the command pulse signal to PULSE and SIGN input pins and connect other input signals as needed And then please follow the command below for set up Allocate user input and output signals Y Set the form of position command pulse and the type of signal 4 SEt 46 Pilot operation Pulse Input Servo on Y Does the position pulse command frequency work properly No Yes 16 Set electronic gear
142. ignals be combined in eight different ways for which revolution speed can be determined The motor s revolving direction can be controlled separately by engaging C DIR input to each speed designated to each speed command Multi level Speed Stop command 0 5 Internal Speed SEt 26 100 0 0 1 command 1 Internal Speed SEt 27 200 0 1 0 2 Internal Speed SEt 28 300 0 1 1 Internal Speed SEt 79 400 1 0 0 4 Internal Speed SEt 80 500 1 0 command 5 Internal Speed SEt 81 600 1 1 0 command 6 Internal Speed SEt 82 700 1 1 1 7 In the multilevel speed control mode the motion of the motor changes according to the input signal SEt 19 SEt 20 As acceleration deceleration time is not set Forward Direction As deal Operation time is set RPM Reverse Direction Operation C DIR C SP3 0 0 0 0 1 0 1 1 1 0 C SP2 0 0 1 1 0 0 0 1 1 0 C SP1 0 1 0 1 0 0 1 0 1 0 Speed Command 1 2 3 4 6 7 Set the acceleration time and deceleration time within the range that won t undermine the response of the system in order to ease the impact of speed change Acceleration time is the time required for the motor to reach the rated speed from standstill 5 E L rmn g Please set the acceleration time at SEt 19 The setting range is 0 to 60000 ms and the
143. ily rise at the moment of the servo ON Gain Alternation In some cases the load alternates between the two different statuses For instance a robot repeats a motion to lift up an object carry it somewhere leave it there and come back to the original position at no load status If this kind of motion is repeated very quickly online auto tuning cannot be done smoothly And if the same gains are used to operate different load conditions the response drops in a one load situation In this case G SEL signal is helpful lt Primary Gain When load is Revolution e OFF gt lt G SEL gt Input When load Revolution ON is not ry 2 9 2 Secondary Gain If all the different load conditions are categorized into two the primary gains and the secondary gains the response of different load conditions can be satisfied To use G SEL signal please set the optimum gain under the no load condition And then set the optimum gain in a situation with a load And then let the G SEL signal be input in both conditions where a load exists or not cannot be carried out ATTENTION When the gain alternation function is used online auto tuning Application Motor Stop The servo drive aborts the operation and stops the motor under the following circumstances except for the case where the motor is stopped by normal operation e Servo Alarm Occurs e Overtravel Occurs The methods to stop the m
144. in the circuit Please connect the relay at when the power needs to be shut down Please attach a surge suppressor to the magnetic switch relay coil at Connection with Controller Connect the cable of controller to the CN1 connector Controller Connector CN1 Pin 24V IN 1 Red External 24V Input 2 24V IN Yellow External 24V Input 3 DI 1 Sky blue Input Signal Assignment Default Value SV ON 4 DI 2 White Input Signal Assignment Default Value P OT 5 DI 3 Pink Input Signal Assignment Default Value N OT 6 DI 4 Orange Input Signal Assignment Default Value P CON 7 DI 5 Gray Input Signal Assignment Default Value A RST 8 DI 6 Red 1 Dot Input Signal Assignment Default Value N TL 9 DI 7 Yellow 1 Dot Input Signal Assignment Default Value P TL 10 DI 8 Sky blue 1 Dot Input Signal Assignment Default Value ESTOP 11 PULS White 1 Dot Position Command Signal 12 PULS Pink 1 Dot Position Command Signal 13 SIGN Orange 1 Dot Position Command Signal 14 SIGN Gray 1 Dot Position Command Signal 17 Z PULSE Sky blue 2 Dots Encoder Z PULSE Output 18 Z PULSE White 2 Dots Encoder Z PULSE Output 19 V REF Pink 2 Dots Analog Speed Command Signal 20 V REF SG Orange 2 Dots Analog Speed Command Signal 21 T REF Analog Torque Command Signal 22 TREF SG Red Dots Analog Analog Torque Command
145. ink 1 Line Output Signal Assignment Default Value BK 48 DO 3 Orange 1 Line Output Signal Assignment Default Value BK 49 BAT Gray 1 Line Absolute Encoder Battery Power Supply DC 24 V Input gt gt 24 V IN 1 28 Analog Monitor Channel 1 XM 2 a D A 23 Analog Monitor Channel 2 27 Analog Monitor GND X SER Ak vx 1 Servo Alarm Code LI SV ON LI 1 3 ED AL2 Maximum Used Voltage DC 30 V o o DH 2 41 2 39 ALS Maximum Used Current 20 mA e CUM N OT o DI 3 5 XR 40 AL SG Alarm Code Ouptut GND 2 FR P CON 45 2 4 6 28 EAr e JA RST o o 5 7 30 IN TL o o DI 6 8 a 31 gp Encoder phase 1 eo 9 v 32 gg Line Receiver 33 SN75175 or MC3486 gt 33 EC __ DI48 P 9 10 L 345 35 5 Absolute Encoder PULS 11 36 ps Data Serial fP PULS 12 17 L sene la E 2 PULSE L y 18 SIGN 44 Uk Z PULSE 45 Tuo SAU 415 DOs
146. ion or noise If it is set too low the response can drop But if it is too high vibration or noise can be generated 3 Please set speed command filter at SEt 40 The setting range is 0 to 4000 rad s and the default value is 1000 Please lower the value in an environment where the position control related gain of the higher control device is set too high or there is too much noise 4 It is desirable to set the value of torque command filter SEt 06 as high as possible as long as no vibration is generated from the load The values of the speed loop proportional gain and the speed loop integral gain are supposed to be scaled according to the inertia ratio Therefore if the load inertia ratios of a 100 W motor and a 1 KW motor are the same to be about 10 times appropriate values of the speed loop integral gains are the same as well Position Control Gain Position control gain includes feedforward gain position feedforward filter and position loop proportional gain The diagram below shows the application process of position control related gains Position Control Position Command Position FF Gai Position FF Filt Mode Gain Setting Filter osition ain osition ilter Speed Command Serina Point dB Position Loop Proportional Gain Position Command 7 Pulse SEt 38 4 SEt 39 Position command filter
147. ithin the range of Position Control position completion decision SEt 18 INEAR This signal will be displayed if the position error is within the range of Position Control near position proximity decision SEt 23 This signal will be displayed if the error between the speed command V COM and the revolution speed of the motor is within the range of in speed Multi level Control SEt 18 TG ON This signal will be displayed if the motor revolves at the revolution All detection level value SEt 17 or above IT LMT This signal will be displayed if the torque reaches the torque limit value N LMT This signal will be displayed if the speed reaches the speed limit All value BK Activates the brake of the servo motor All ANARN This signal will be displayed when a servo warning is detected All Signal Assignment The input signals should be allocated to the CN1 connector s input pins from DI 1 to DIZ8 Input Signal Assignment Table SEt 59 P CON N OT P OT SV ON SEt 60 C SEL P TL N TL A RST SEt 61 C SP3 C SP2 C SP1 C DIR SEt 62 A TL G SEL INHIB Z CLP SEt 63 P CLR R ENC EMG ABS DT For instance put 7 in the fourth digit of SEt 59 to allocate the P CON signal to the DI 7 pin GEBEBBH Put 3 in the second digit of SEt 62 to allocate the INHIB signal to DI 3 pin GEBBBB j When 9 is set it is always valid and when 0 is set it is always inval
148. l 1 Offset 86568568 e Setting range 0 to 1000 10000 to 11000 mV e Factory Default 0 Changes anytime SEt 72 DA Monitor Channel 1 Output Gain SEEE e Setting range 0 to 1000 10000 to 11000 mV e Factory Default 0 e Changes anytime SEt 73 DA Monitor Channel 2 Offset 5E8888 e Setting range 0 to 1000 10000 to 11000 mV e Factory Default 0 e Changes anytime SEt 74 Monitor Channel 2 Output Gain e Setting range 0 to 1000 10000 to 11000 mV e Factory Default 0 Changes anytime The setting of SEt 71 to 74 is used for the offset of analog monitor and the control of output gain As the values between 0 to 1000 mV are entered it becomes offset in the case of the values between 10000 to 11000 mV it becomes offset 1 on the fifth digit means SEt 75 Overload Curve Level 5 E B n5 e Setting range 50 to 300 User Default 100 Changes while the servo is OFF The level of overload curves of driver can be controlled SEt 76 Output Signal Assignment 1 Li C C C C 5 EL e Setting range 0 x 0000 to 0 x 3333 e User Default 0 x 0321 e Change while the servo is OFF and turn off the power and turn it back on Output signals to be used at the CN1 connector s output pins from DO 1 to DO 3 should be allocated Output Signal Allocation Table SEt 76 V COM BK TG ON P COM SEt 77 ANARN NEAR N LMT IT LMT Put 1 in th
149. l SERVO ON OFF Servo OFF Servo ON Des Dynamic Brake Relay BK Brake Maintenance Brake Release Setting Time of SEt 32 ATTENTION 2 delay time can cause malfunction of the servo SEt 33 Following Error Level BEEBBB e Setting range 0 to 65535 pulse User Default 25000 Changes anytime Following error E 33 occurs when the difference between the position command and the actual movement position is higher than the set value of the parameter SEt 34 Position Feedforward Gain gooni Setting range 0 to 100 e User Default 0 e Changes anytime This parameter is the feedforward ratio to the speed value which is the differentiated position command If the set value is higher position error gets lower and the position completion can be done quickly But if the set value is too high there can be vibration in the system If 0 is set as the parameter the feedforward function won t be activated Please refer to the diagram below for the usage and setting position of SEt 34 Position Feedforward Gain SEt 34 Position Feedforward Filter SEt 07 Position ig Command 3 Electroni Position Control T Control Command Electronic gear ition r Speed Control orque Contro Mot Pulse Type SEt 36 37 SEt 4 SEt 2 3 gt SEt 6 10 to 15 SIOE SEt 46 1 n Pulse Counter Speed Meas
150. lease See Troubleshooting in Chapter 7 for detailed information about alarm LI ron Pilot Operation 100000 Pilot operation will be repeated in 0 0 0 0 0 0 the same pattern until it is aborted The 1 cycle is 14 seconds L LL DM Parameter can be referred to or set BBERBH during pilot operation TestRun Execution Motor Speed Deceleration Time Acceleration Time A SEt 20 SEt 19 Forward Revolution Jog Speed SEt 25 1 5 sec QO 5sec gt lt gt f gt Reverse Revolution Pilot Operation Pattern Basic Set up There are basic parameter that should be set first before setting other parameter The parameter included in the basic set up are listed in the table below Basic Parameter SEt 41 Control Mode SEt 51 Encoder Type SEt 52 Motor Type SEt 53 Motor Capacity Please turn off the power after basic set up and then restart it Please set up the control mode at SEt 41 SEt 41 Set up Value 0 Position Mode 1 Speed Mode 10 Direction Change Speed Mode 12 Torque Limit Speed Mode 5 Zero Clamp Mode 2 Torque Mode 3 Multi level Speed Mode Speed Limit Torque 9 Speed Limit Torque Mode Torque Mode Mode 6 Torque Speed Mode Torque Mode Speed Mode 7 Position Torque Mode Position Mode Torque Mode 8 Position Speed Mode Position Mode Speed Mod
151. ll Screw Lead m Ly Ball Screw Length m 7 Mechanical Efficiency F Thrust D Ball Screw Diameter m Ball Screw 1 R Speed Reduction Ratio Friction Coefficient F Thrust Mass of Counter kg Ball Screw Movement Amount m L 60 2 V x t 1 if f Za L 60 Motor Shaft Revolving Speed r min B Load Torque N m o 8u M Me qa E 2zRm Load Inertia Moment kg m J Jed e Js Load Inertia of Straight Movement Part 4 Ball Screw Inertia Jo Gear Coupling Inertia J i w A M D mpL D 8 32 M Ball Screw Mass kg 7 87 x 10 kg m Iron p 2 70 10 kg m Aluminum Minimum Acceleration Time s _ 2HN 60 7 Jy Motor Inertia Dai Motor Maximum Torque Minimum Deceleration Time s ZAN 60 TA 7 Load Operation Power W p ZAN i 60 Load Acceleration Power W pie t lt t a 60 Acceleration Torque Required N m BAN uei 60t a T Tdi t Stam Deceleration Torque Required N m _ 2ANy Jy T i 601 I ta Sin Torque Effective Value N m 2 2 2 ne T t T t t ta Tita rms t RACK amp PINION Load Mechanical Configuration Load Mass kg of Straight Movement Part F Thrust N V Load Speed m min D Pinion Diameter m
152. ly after short circuiting all the motor cables U V W of the servo motor the revolving load is bigger than when the cables are not short circuited The drive uses this feature to stop the motor When the servo drive uses this feature to stop the motor it is called dynamic brake CSDP Plus servo drive has internal dynamic brake circuit If the motor cable is connected to the servo drive and the servo drive is not enabled the switch in the diagram below is short circuited This means dynamic brake is working And the servo drive can activate dynamic brake by controlling the switch of dynamic brake according to the parameter setting Dynamic Brake Servo drive Servo Motor ATTENTION Dynamic brake cannot be used with the motor stop method which uses normal torque control When the motor needs to stop during operation if the dynamic brake stopped the motor it is called dynamic brake stop On the contrary if the friction of the load stopped the motor by itself it is called Free Run stop oo L Please set the stop method of dynamic brake on Li EI the first digit of SEt 44 H LI Dynamic Brake Stop Method 0 Stops by dynamic brake 1 Stops by free run brake function after the motor has stopped on the second digit of SEt 44 O E L og Please determine whether maintain the dynamic m 1 88 Dynamic Brake Function After Stoppage 0 Maintains the dynamic b
153. n Condensing Brake Specifications RSMK Motor Brake Specifications Friction Torque nm 25 Rotor INERTIA Kg m 104 4 7 Brake Pull In Time ms 160 Brake Release Time ms 75 Release Voltage V DC 2 at 20 C Rated Voltage V DC 24 2 4 Rated Current A 1 287 Allowed Brake Energy J 1800 Overall Allowed Brake Energy J 3 0 x 106 Speed Torque Curve Torque N m RSMK 12B 304 Instantaneous N Operation Area 154 Continuous Operation Area Actual Speed RPM 0 1000 2000 Torque N m RSMK 20B 507 Instantaneous Operation Area 25 Continuous Operation Area Actual Speed RPM 0 1000 2000 Torque N m RSMK 30B 704 Instantaneous B Operation Area 354 Continudus Operation Area Actual Speed RPM 0 1000 2000 Torque N m 5 RSMK 45B 100 5 A Instantaneous E Operation Area 504 Continuous Operation Area Actual Speed RPM 0 1000 2000 Torque N i50 RSMK 60B 754 N Instantaneous Operation Area x i Continuous Operation Area Actual Speed RPM 1000 2000 RSML Motor Basic Specifications RSML Motor Specifications Rated Voltage V 220 Rated Power kW 1 2 2 0 3 0 4 5 6 0 Fated Toa or Maximum Instanta
154. nals dedicated to multilevel speed control e C DIR e C SP1 e C SP2 e C SP3 The revolution will be in the forward direction if C DIR signal is OFF and in the reverse direction if the signal is ON C SP1 C SP2 C SP3 signals can be combined in eight different ways for which revolution speed can be determined The motor s revolving direction can be controlled separately by engaging C DIR input to each speed designated to each speed command parameter In the multilevel speed control mode the motion of the motor changes according to the input signal SEt 19 SEt 20 As acceleration deceleration time is not set Forward Direction As acceleration deceleration Operation time is set 0 RPM Reverse Direction Operation C DIR 0 1 C SP3 0 0 0 0 1 0 1 1 1 0 C SP2 0 0 1 1 0 0 0 1 1 0 SP1 0 1 0 1 0 0 1 0 1 0 Speed Command 1 2 3 4 5 6 7 Set the acceleration time and deceleration time within the range that won t undermine the response of the system in order to ease the impact of speed change SEt 80 Internal Speed Command 5 Setting range 0 to 5000 RPM e User Default 500 Changes anytime SEt 81 Internal Speed Command 6 HEBBHH Setting range 0 to 5000 RPM e User Default 600 Changes anytime SEt 82 Internal Speed Command 7 BEEBBB Setting range 0 to 5000 RPM User Default 700 Changes anytime
155. neous Torque Keren 286 19 650 1091 1215 N M 28 44 63 7 107 129 Rated Revolving Speed RPM 1000 Maximum Revolving Speed RPM 2000 E Ve el ee ROTOR INERTIA gfcm s 70 4 103 9 139 8 210 6 261 2 WHEN BRAKE IS ATTACHED 2 1074 69 1 102 0 1371 206 6 256 0 POWER RATE kW s 21 3 38 8 62 8 94 133 Mechanical Time Parameter ms 1 95 2 3 1 69 1 77 1 58 Electrical Time Parameter ms 31 31 40 42 45 Rated Current A rms 11 6 18 5 24 0 33 0 47 0 Maximum Instant Current A rms 40 0 60 80 0 118 155 Axial Play mm MAX 0 3 Weight Kg 15 5 175 25 34 41 WHEN BRAKE IS ATTACHED 19 0 21 0 29 39 5 47 Revolving Direction U gt V gt W CW Color Black Oil Seal Embedded Wiring Method Y Wiring Time Rating Continuous Use Operating Temperature 0 to 40 C Insulation Grade B Grade Range Storage Temperature 5 3 1500 60 20 to 80 C Dielectric Voltage 1800V AC 1 sec Insulation resistance 500V DC 20 MQ Dielectric Voltage Brake 1200V AC 1 sec Number of Poles 8 Poles Excitation Method Permanent Magnet 49 m s When Stopped Vibration 24 5 m s During Mounting Method FLANGE Operation 2 85 or less Shock 98 m s Operating Humidity Non Condensing Brake Specifications RSML Motor Brake Specifications Friction Torque nm 25 Rotor INERTIA Kg m 104 4 7 Brake Pull In Time ms 160 Brake Release Time ms 75 Release Voltage V DC 2 at 20 C Rated Voltage V
156. nertia If velocity speed regulator loop proportional gain and velocity speed regulator loop integral gain are not set properly the operation characteristics of the servo drive can slow down Speed Speed Time Time Before Autotuning After Autotuning The order of auto tuning is as follows Move the load in the middle of operation available section Determine the response of system depending on the level of rigidity Set the autotuning Is load inertia speed Set 58 low under too high Yes 500 RPM if load inertia is more than 5 times autotuning USr 02 Auto Tuning Order Please set SEt 69 by referring to the table below Set 69 Set Up Low Rigidity 20 Medium Rigidity 30 High Rigidity 45 H ng During the process of auto tuning the following 5 0 0 0 parameter will be automatically set e Speed Loop Proportional Gain SEt 02 Lt Speed Loop Integral Gain SEt 03 Position Loop Proportional Gain SEt 04 e Torque Command Filter SEt 06 d e Speed Command Filter SEt 40 e System Gain SEt 42 g DE lig inertia Ratio SEt 66 If auto tuning doesn t work well please adjust the gain according to the command below 1 First set the speed integral gain SEt 03 to its default value 2 Raise the speed proportional gain SEt 02 to the range that doe
157. ng range 0x0to0x3 e User Default 0 x 0 Changes while the servo is OFF The set values are as follows 0 Motor Maximum Speed 1 SEt 67 Value 2 Analog Speed Command 3 The smaller value between the motor maximum speed and SEt 67 SEt 45 4 Motor Revolving Direction 866886 BEBBEES e Setting range OxOto 0x 1 User Default 0 x O Changes while the servo is OFF This parameter determines the revolving direction of the motor The set values are as follows 0 Forward Direction 1 Reverse Direction Forward direction is counterclockwise when the motor is looked at from the front Reverse direction is clockwise when looked at from the front Forward Revolution Motion Reverse Revolution Motion SEt 46 1 Position Command Pulse Type BGEEBHEB ri LI e Setting range 0x0to0x9 e User Default 0 x 0 Changes while the servo is OFF The set values are as follows 0 Positive Logic CW CCW 1 Negative Logic CW CCW 2 Positive Logic A Phase B Phase 1 Multiplication 4 Positive Logic A Phase B Phase 2 Multiplication 6 Positive Logic A Phase B Phase 4 Multiplication 8 Positive Logic Sign Pulse 9 Negative Logic Sign Pulse Forward Revolution Reverse Revolution PULSED L 0 CW 4 CCW e SIGN gt SIGN sp PULSED Pulse Train Sign SIGN 0 gt H SIGN T gt L 90 o 90 PULSES PULSES
158. ng to the rigidity of the load Torque filter cut off frequency lowers the frequency depending on how many delay factors there were during the process of delivering the motor s torque to the load In the case of a directly coupled disk with no delay factor a value that is too low can cause vibration Contrastingly if the value is set too high for a belt or chain with many delay factors there can be a vibration Finish the setting according to the type of the load by referring to the next table Torque Filter Cut off Frequency Directly coupled Disk 4000 Ball Screw coupled directly 2000 to 3000 Belt or Chain 500 to 1000 SEt 07 Position Feedforward Filter 1 Setting range 0 to 5000 rad s e User Default 0 Changes anytime The filter is used to feedforward the differentiated position command This parameter is the cut off frequency of the filter If position feedforward gain SEt 34 is 0 this parameter is not valid In the case of an overshoot please set the parameter to O Please refer to the diagram below for the information about the usage and the setting position of SEt 07 Position Feedforward Gain SEt 34 Position Feedforward Filter SEt 07 Position Position Command M Command PulseType SEt 46 1 Encoder Signal Output gt Electronic gear Position Control Speed Control Torque Control Mot gt SEt
159. nsulation Grade B Grade Range Storage Temperature 3 1500 60 20 to 80 C Dielectric Voltage 1800V AC 1 sec Insulation resistance 500V DC 20 MO Dielectric Voltage Brake 1200V AC 1 sec Number of Poles 8 Poles Excitation Method Permanent Magnet 49 m s When Stopped Vibration 24 5 m s During Mounting Method FLANGE Operation 2 85 or less Shock 98 m s Operating Humidity Non Condensing Brake Specifications RSMF Motor Brake Specifications Friction Torque nm 25 45 Rotor INERTIA Kg m 104 4 7 11 Brake Pull In Time ms 160 220 Brake Release Time ms 75 100 Release Voltage VDC 2 at 20 C Rated Voltage VDC 24 2 4 Rated Current A 1 287 0 797 Allowed Brake Energy J 1800 2000 Overall Allowed Brake Energy J 3 0 x 106 4 0 x 108 Speed Torque Curve moran ee RSMF 15B 20 3 Instantaneous Operation Area m 10 E Continuous gt Operation Area p Actual Speed RPM 0 1000 2000 3000 Torque N m RSMF 25B 30 Instantaneous Operation Area 154 Continuous Operation Area Actual Speed RPM 0 1000 2000 3000 Torque N m RSMF 35B 50 Instantaneous 25 Operation Area Continuous Operation Area Actual Speed RPM T 0 1000 2000 3000 Torque N m CSMH 45B 50 4 Instantaneous Use Area 25 4 Continuous Use Area Speed RPM 1000 2000 3000
160. on is counterclockwise when the motor is looked at from the front The reverse direction is clockwise when the motor is looked at from the front Forward Revolution Motion Reverse Revolution Motion In the jog operation mode the motor s revolving direction and the key button switch are fixed to each other Therefore this function cannot be used for jog operation Regenerative Resistor When the operating motor is stopped the motor works like the generator which produces energy regenerative energy The servo drive absorbs to some extent the regenerative energy produced while the motor stops But if the amount of the regenerative energy exceeds the existing capacity an additional device to consume the energy is required If excessive regenerative energy overstrains the servo drive it can cause damage to the system To prevent this the servo drive has its own internal protective circuit Acceleration and Normal Speed Deceleration IMQ A 0 lime 0 Regenerative Resistor lt i Regenerative Resistor Regenerative energy is produced in the following cases e During deceleration When the force of the load revolves the motor continuously For instance minus load condition or when the vertical load is operated Under the condition o
161. onal Gain 5 85 5 91 5 92 5 93 A 134 A 155 A 173 Speed Match Decision Range 4 73 Speed Observation Method A 163 Speed Reduction Ratio 4 65 A 152 Speed Position Match Range A 142 Start Bit 6 120 Stop Bit 6 120 Symbols and Notations P 7 System Bandwidth A 173 System Gain 5 85 A 155 T TG ON Signal Function Selection A 156 TG ON Speed Level A 140 Torque Bias 5 99 Torque Control 4 75 5 90 Torque Feedback 7 128 Torque Instruction Filter 5 85 5 90 5 92 5 93 A 155 A 173 Torque Instruction Filter Gain 5 90 Torque Instruction Gain 4 76 Torque Limit 4 77 Torque Secondary Filter Frequency A 136 Torque based Integral Value A 168 Tuning 5 85 Tuning Coefficient 5 89 A 169 U User Inertia Ratio A 172 USr 01 USr 02 USr 03 USr 04 USr 05 USr 06 USr 07 USr 09 USr 10 USr 90 V 3 48 3 48 5 88 3 48 3 48 3 48 3 48 3 48 3 48 3 48 3 48 Vibration Cut off Filter 5 85 5 90 2 Zero Clamp 4 72 Zero Clamp Level A 141 Publication CSDPP UM001A EN P October 2011 Copyright 2011 RS Automation Ltd All rights reserved gro 9 EHO At EAS At www rsautomation co kr BHA ASA Boe AAA 348 2 ero 451 862 T 031 685 9300 F 031 685 9500 AP RIA BARUCH ABE Dj e 303 MARCIE 6208 8617 731 T 051 329 7870 F 051 329 7874 CHa AAR HTAA mu 2 166542 05 2239 702 717 053 944 7783 F 053 944 7784 epo es T T o rm
162. oo D 3 5 vss 40 AL SG Alarm Code Output GND Speed Selection 1 C SP1 so 01 4 6 29 EA A Speed Selection 2 C T P peed Selection 2 C SP2 boo 5 30 ga Speed Selection 3 5 s 2 6 x 31 ca Encoder A B C phase an Line Receiver SN75175 DI 7 9 VP 32 pg ine Becel AE EDS Emergency Stop 5 DI 8 10 34 EG 35 IRA PS Absolute Encoder Data V 36 pg PS 17 z PULSE Encoder 2 phase V 181 pypge J OPEN Collector 49 salme Servo Alarm 46 SALM 41 am DO 1 var 42 Speed Match V COM TAL V TE DO 1 Detection 43 Dore Revolution E P A TG ON 44 DO 2 Detection 47 DO 43 Speed Limit For Absolute Encoder BAT 49 48 DO 3 Detection Back Up Battery 7 P SA Oi R ded DC 3 6 FP sar 2 1 channet_ Setting Function X X X Multi level Speed Control Wiring In the multi level speed control mode there is no external signal input pin for each control mode including position control speed control and torque control The operation is carried out only by the external input signal There are four different input signals dedicated to multi level speed control e C DIR e C SP1 e C SP2 e C SP3 The revolution will be in the forward direction if C DIR signal is OFF and in the reverse direction if the signal is ON C SP1 C SP2 C SP3 s
163. oose the CSDP Plus method put 0 for the parameter When the second digit of SEt 50 is set to 0 the in output signal status of Con 12 will be displayed as below DI 3 N OT DI 6 P TL DI 2 P OT DI 5 RST DI 1 SV ON DI 4 P CON DI 7 N TL Ss NT X X GO m 280 EN o ILLE Yo When the parameter is 1 it will be displayed as below von 7 7 AE 4 r ce ims Ks x QUE y ans Ex Oo c ol TEIN UM ID SEt 50 3 Parameter Fixiation 688889 BBE e Setting range 0x0to0x1 e Factory Default 0 x 0 e Change while the servo is OFF and turn off the power and turn it back on The set values are as follows 0 Parameter Change Enabled 1 Parameter Change Disabled SEt 50 4 Parameter Initialization Type LI GEB e Setting range 0O xOto 0x 1 e Factory Default 0 x 0 Change while the servo is OFF and turn off the power and turn it back on The set values are as follows 0 Initialize the user parameter and maintain the system related parameter 1 Initialize all the parameters SEt 51 Encoder Setting range 0 x 0 to 0 x 109 e Factory Default 0 x 100 e Change while the servo is OFF and turn off the power and turn it back on Encoder Type Setting A 2500 P R Inc 11 wi
164. or s input pins from DI 1 to DI 8 Input Signal Allocation Table SEt 59 P CON N OT P OT SV ON SEt 60 C SEL P TL N TL A RST SEt 61 C SP3 C SP2 C SP1 C DIR SEt 62 A TL G SEL INHIB Z CLP SEt 63 P CLR R ENC EMG ABS DT For instance put 7 in the fourth digit of SEt 59 to allocate the P CON signal to the DI 7 pin BEBBBB EEA Put 3 in the second digit of SEt 62 to allocate the INHIB signal to DI 3 pin BEBBBB j When 9 is set it is always valid and when 0 is set it is always invalid For instance to keep SV ON always valid when the power is on regardless of the wiring put 9 in the first digit of SEt 59 BEERBB SEt 60 Input Signal Assignment 2 5E6888 e Setting range 0 x 0 to 0 x 9999 e User Default 0 x 0765 e Change while the servo is OFF and turn off the power and turn it back on Lo SEt 61 Input Signal Assignment 3 9E6468 e Setting range 0 x 0 to 0 x 9999 e User Default 0 x 0000 e Change while the servo is OFF and turn off the power and turn it back on SEt 62 Input Signal Assignment 4 e Setting range 0 x 0 to 0 x 9999 e User Default 0 x 0000 e Change while the servo is OFF and turn off the power and turn it back on SEt 63 Input Signal Assignment 5 8856488 e Setting range 0 x 0 to 0 x 9999 e User Default 0 x 0080 Change while the servo is OFF and turn off the power and turn it back on
165. orward revolution is received in the speed control mode t Pot indicates that a signal to stop forward revolution is received in the torque control mode P not indicates that a signal to stop reverse revolution is received in the position control mode S not indicates that a signal to stop reverse revolution is received in the speed control mode t not indicates that a signal to stop reverse revolution is received in the torque control mode The display panel on the servo drive itself can indicate Power ON Servo ON and Alarm occurrence When the power is ON the middle line will be lit And the power light will be on ALARMO SVRON When the Servo is ON a dot will be lit And SVRON light will amo Boon SVRON If an alarm occurs the first digit of the relevant number I will be displayed And the ALARM light will be on Parameter Selection Mode G E L oo Various operational conditions are allocated to the m LI parameter Please See Parameter in Ap
166. otor can be set up depending on the reasons for the stoppage e Stop by dynamic brake e Control stop as in normal operation Overtravel If the load moves out of the movement range during operation the load system can be damaged The breakage of the load system can be prevented by installing limit sensors at the end of the movement range Please make sure the load can move within the range that won t touch the sensors during operation If the load moves out of the movement range and the sensor generates a signal because of an unknown error the servo drive can stop the motor and protect the load system The signal emitted from the limit sensors while the motor revolves in the forward direction is the P OT signal and is the N OT signal while the motor revolves in the reverse direction Signal occurrence in case of forward revolution P OT f Signal occurrence in case of Limit Sensor reverse revolution N OT V OOOO Load e ER Forward Reverse gt CSDP Plus Drive Revolution Revolution The overtravel signal is not the servo alarm but a signal to protect the load system 5 ri L Please set the motor stop method in case of an 0 0 t overtravel on the third digit of SEt 44 Overtravel Stop method 0 Stop the motor while controlling torque normally 1 Servo OFF Dynamic Brake If a motor shaft is revolved manual
167. ous Operation Area 25 4 Continuous RSMH 30B Operation Area T 0 1000 2000 3000 Torque RSMH 40B 50 Instantaneous Operation Area 25 4 Continuous Operation Area T 1000 Torque N m 2000 3000 RSMH 50B 704 Instantaneous Operation Area 354 Continuous Operation Area Actual Speed RPM Actual Speed RPM Actual Speed RPM T 0 1000 2000 3000 RSMF Motor Basic Specifications RSMF Motor Specifications Rated Voltage V 220 Rated Power kW 1 5 2 5 3 5 4 5 Rated Torque Nim ne na 167 ns Maximum Instantaneous Torque Kgfem 249 910 230 960 21 5 30 4 44 1 54 9 Rated Revolving Speed RPM 2000 Maximum Revolving Speed RPM 3000 ROTOR INERTIA 327 426 587 ROTOR INERTIA gfcm s 23 7 46 2 55 4 71 7 WHEN BRAKE IS ATTACHED Kg m 10 23 2 45 3 54 3 70 3 POWER RATE kW s 29 0 42 6 66 5 80 1 Mechanical Time Parameter ms 1 4 1 2 1 0 0 8 Electrical Time Parameter ms 25 35 41 41 Rated Current A rms 9 5 13 4 20 0 23 5 Maximum Instant Current A rms 40 3 56 9 84 99 7 Axial Play mm MAX 0 3 Weight Kg 11 0 14 8 15 5 19 9 WHEN BRAKE IS ATTACHED 14 0 175 19 2 24 3 Revolving Direction U gt V gt W CW Color Black Oil Seal Embedded Wiring Method Y Wiring Time Rating Continuous Use Operating Temperature 0 to 40 C I
168. ous Use Area N 15 4 Continuous Use Area Speed RPM 1000 2000 3000 Torque N m CSMD 25B 40 Instantaneous Use Area 20 Continuous Use Area n r Speed RPM 1000 2000 3000 Torque N m CSMD 30B 50 25 Instantaneous Use Area Continuous Use Area T Speed RPM 1000 2000 3000 Torque N m CSMD 35B 50 Instantaneous Use Area 25 4 Continuous Use Area xS Speed RPM 1000 2000 3000 Torque N m CSMD 40B Instantaneous Use Area 25 4 Continuous Use Area x Speed RPM 1000 2000 3000 Torque N m CSMD 45B Instantaneous Use Area 30 Continuous Use Area Speed RPM 1000 2000 3000 Torque N m CSMH 50B 60 4 Instantaneous Use Area 30 4 Continuous Use Area Speed RPM 1000 2000 3000 CSMS Motor Basic Specifications CSMS Motor Specifications Rated Voltage ms 220 Rated Output kW 1 5 2 0 2 5 3 0 3 5 4 0 4 5 5 0 Rated Torau 48 7 64 9 81 973 113 129 146 162 IMPR N M 4 77 6 36 794 9 54 11 07 12 64 1431 15 88 2 Kgfcm 146 195 243 292 339 387 483 486 ARA ARIA N M 14 31 19 11 23 81 28 62 33 22 3793 42 92 4763 Torque Rated Speed RPM 300 Maximum Speed RPM 5000 4500 gfcm s 2 64 3 53 4 40 6 91 8 06 13 0 15 6 18 2 ROTOR INERTIA Kg 5 104 2 59 3 46 4 31 6 77 790 12
169. pendix A for the functions of each parameter Monitor Mode The monitor mode shows various data generated mg 0 0 0 0 0 0 while the drive controls the motor Monitor Number List Con 01 Speed Feedback RPM Con 02 Speed Command RPM Con 03 Torque Command Con 04 Electrical Angle Con 05 Speed Error RPM Con 06 Position Error pulse Con 07 Mechanical Angle Con 08 Position Feedback pulse Con 09 Position Command pulse Con 10 Offset of Analog Speed Command Con 11 Offset of Analog Torque Command Con 12 In Output Signal Status Con 13 Load Inertia Ratio Con 16 Frequency of the Position Command pulse kHz Con 17 Analog Speed Input Voltage 10 mV Con 18 Analog Torque Input Voltage 10 mV Con 19 Maximum Torque Used Until Now Con 20 Multi revolution Position of the Absolute Encoder Con 21 Maximum Position Error pulse Con 22 Maximum Speed RPM Con 23 Encoder Pulse Value After Servo ON Con 24 One Revolution Position of the Absolute Encoder Con 29 DC Voltage V Con 30 Instant Output Power W Con 32 Servo Drive Usage Rate Con 12 Function The in output signal status display method can be set up on the second digit of SEt 50 To use the previous CSDP method for existing CSDP users please set the parameter to 1 To use the original CSDP Plus display method plea
170. peratures 50 mm or more TS R s Y P3 vv w ars RstTP su vw 50 mm or more Wiring Please follow the wiring command below according to the wiring specifications Please install line filer servo drive motor and input device as close as possible Please attach surge absorption circuit to relay wiring breaker and electric contacter Please do not wire unused terminals If unused terminals are wired noise can be generated If a cable should move use a separate flexible cable Please use a noise filter at a power supply Signal line should be at least 30 cm away from the power supply line All the grounding terminals should be grounded WARNING Signal line should be wired separately from the power supply line Otherwise noise or system error can occur Wiring Specifications Signal lin Multi core twisted pair batch shielded cable as thick as gna s AWG26 or more One point grounding 100 O or less with an electric wire as thick as 3 5 mm or more Grounding Line Input Power Cable Length Max 3m Encoder Cable Length Max 20 m Motor Power Cable Length Max 20 m Connection terminal and connector are inside the cover The cover is at the lowe
171. plicable to position or speed control mode To operate the servo drive in torque control mode please connect analog torque command to corresponding input pins and follow the setting command Allocate user input and output signals Confirm if the motor revolves or not by raising the analogue torque command voltage Reset the external torque command gain under the Servo OFF and restart the operation SEt 05 Does the torque command work properly in monitor mode Yes l Con 03 Adjust the torque command offset to prevent the motor from revolving USr 04 USr 06 Set the torque limit SEt 10 to SEt 13 Adjust the gain depending on load status Torque Control Setting Sequence Input Output 50 Connector DC 24 V KA ass Input Output 4 24 V IN 1 LL umm Analog Monitor CH1 7 A nalog Output Range 10 V to 10 V Monitor oM 2 D A 2 Analog Monitor CH2 A 1 T 3 Output Range 10 V to 10 V Output Sequence Input Circuit 27 Analog Monitor GND Recommended Setting Function Input Chann
172. r end of the servo drive Please pull it downward and draw it up to open the cover A 6 R s T P B u v w J Servo Drive Cover The letters on the cover represent the terminal number CN1 CN2 J Qu NUM Fram WISIN I Ground SO 3 Grounding 3 gt S BU V Terminal block Power Supply Connection Terminal block CN1 Cable Connection with Controller CN2 Encoder Cable Connection 3 Phase 220V AC Main Power Supply Input Connection 3 Phase 220V AC Main Power Supply Input Connection 3 Phase 220V AC Main Power Supply Input Connection Regenerative Resistance Connection Regenerative Resistance Embedded Regenerative Resistance Connection Regenerative Resistance Embedded Motor Power Cable Connection Motor Power Cable Connection S clo v A m Motor Power Cable Connection Single Phase 220V AC Circuit Power Supply Input Connection Single Phase 220V AC Circuit Power Supply Input Connection o Grounding Connection Connect the 3 phase voltage to R S and T terminals to supply
173. rake function after the dynamic brake stoppage 1 Releases the dynamic brake function after the dynamic brake stoppage Motor Brake If a mechanical brake is mounted on the motor it can be used in the following cases e When the load can move by gravity e When the load should be kept from falling in case of power OFF or servo off Moved by gravity Moved by gravity The drive cannot use voltage and current high enough to control the motor brake directly Therefore the motor brake cannot be directly connected to the drive It can be controlled indirectly by building an external circuit through a relay The external circuit to control the motor brake is built as shown below 777 External Power 24 Relay 1 47 DO 3 48 DO 3 t I I o_o 5 E jg Please set the waiting time for brake release at 0 0 LI SEt 32 The setting range is 0 to 10000 10 ms and the default value is 0 If the motor brake is working at the moment when the drive activates the motor it should be released first In this case if the brake is released before the servo is ON the vertical load will drop for a moment Therefore the servo should be ON first so that the drive can control the vertical load so that it won t fall and then the brake should be released This configuration is to secure the time for the servo drive to release t
174. rdless of the current motor status and the set up of these values the speed regulator will be P controller type if P CON signal is ON To reduce the position completion time or overshoot of the speed response by using this function P control shift switch and the reference should be set up properly Please closely watch transient responses of speed torque and position for optimum set up Default Torque Bias Default torque bias prevents a fall due to gravity of the vertical load during the initial operation When the load is vertical and the servo ON signal is applied to activate the motor the load can fall because of gravity And when the servo ON servo OFF signals are applied the motor brake should be applied or released If the timing is not properly adjusted the load can fall momentarily causing vibration A Default Torque Bias iN the machine This characteristics of load the vertical load causes overshoot and postpones position completion Falling by gravity Moreover the servo alarm can go off as the system tries to activate the motor while the brake is applied L Default torque bias is used to prevent the load from falling by gravity during the process of controlling the vertical load The default torque equal to the falling load is applied to the motor in a reverse direction of the falling motion when the servo ON signal is applied If default torque bias is properly set ac
175. re 100 B 2500 P R Inc 15 wire 101 CSMD CSME CSMH CSMK CSMS D 1000 P R Inc 15 wire 102 H 2048 P R Compact Abs 104 M 10000 P R Inc 15 wire 106 A 2500 P R Inc 9 wire 107 RSMD RSME RSMH RSMK RSML K 5000 P R Inc 15 wire 103 RSMN RSMS RSMX L 6000 P R Inc 15 wire 105 M 10000 P R Inc 15 wire 106 H 2048 P R Compact Abs 104 17 bit Serial Abs 108 R 17 bit Serial Inc 109 SEt 52 Motor Type 566888 e Setting range 2222 to 2472 e Factory Default 2312 e Change while the servo is OFF and turn off the power and turn it back on Motor Type Setting CSMS 2222 CSMD 2312 CSMH 2322 CSMF 2332 CSMK 2342 RSMS 2402 RSMD 2412 RSMH 2422 RSMF 2432 RSMK 2442 RSML 2452 RSMN 2462 RSMX 2472 Motor Capacity Setting SEt 53 Motor Capacity GBBRBH Setting range 100 to 600 10W e Factory Default 150 e Change while the servo is OFF and turn off the power and turn it back on CSMF 150 250 350 3 450 CSMH E 150 200 300 400 500 CSMK 120 200 300 450 600 CSMS 5 150 200 250 300 350 400 450 500 RSMD 3 150 200 250 300 350 400 450 500 RSMF 150 250 350 5 450 RSMH 150 200 300 400 500 z RSMK 120 200 300 450 600 RSML 120 200 i 300 5 450 600 RSMN 120 200 300 RSMS 150 200 250 300 350 400 450 500 RS
176. rea Continuous operation area 35 j 0 1000 2000 Speed r min RSMX Motor Basic Specifications RSMX Motor Specifications Rated Voltage V 220 Rated Power kW 1 3 2 0 3 0 4 5 Fated Tora ESE Maximum Instantaneous Torque Karem 292 717 952 718 N M 24 7 34 54 1 76 2 Rated Revolving Speed RPM 1500 Maximum Revolving Speed RPM 2500 vwwm me TE 8 ROTOR INERTIA gfcms 40 2 64 98 149 WHEN BRAKE IS ATTACHED Kg m 104 39 4 63 96 146 POWER RATE kW s 18 5 24 4 40 7 60 2 Mechanical Time Parameter ms 5 2 6 2 4 6 3 8 Electrical Time Parameter ms 5 1 9 4 11 4 178 Rated Current A rms 9 7 15 20 30 Maximum Instant Current A rms 39 59 4 80 109 Axial Play mm MAX 0 3 Weight Kg 18 22 29 41 WHEN BRAKE IS ATTACHED 20 5 28 36 48 Revolving Direction U gt V gt W CW Color Black Oil Seal Embedded Wiring Method Y Wiring Time Rating Continuous Use Operating Temperature 0 to 40 C Insulation Grade B Grade Range Storage Temperature s 1500V AC 60 sec Range 20 to 80 C Dielectric Voltage 1800V AC 1 sec Insulation resistance 500V DC 20 Dielectric Voltage Brake 1200V AC 1 sec Number of Poles 8 Poles Excitation Method Permanent Magnet 49 m s When Stopped Vibration 24 5 m s During Mounting Method FLANGE Operation 2 85 1655 Shock 98 m s Operating Humidity Non Condensing Brake
177. river is less than that of motor Cao r 20 DUI rn Cal AOH 2329 mica Ma Da If the voltage of the external battery of the absolute encoder is less than 3 1V this warning will occur Please replace the battery If the type absolute encoder revolves in either forward or reverse direction more than 32768 4096 times for H type times this warning will occur Reset the absolute encoder If the motor revolves faster than 100 RPM when the main power supply is engaged this warning will occur This warning will occur only when the serial absolute encoder is used When the resolution of the 1 revolution data becomes 17 bit the warning will be automatically canceled If the external torque command is over 300 of the rated torque this warning will occur Even if the torque command is more than 300 of the rated torque the servo drive automatically limits it under 300 When the external torque command is lowered below 300 this warning will automatically canceled Aig ncm USL ReU If external speed command is input at more than the preset limit speed of drive this warning will occur If speed command is input at more than the limit speed servo drive is limited to the automatically preset limit speed When the external speed command is lowered below the speed limit the warning will be automaticall
178. rror that occurred before 6 times PAr 08 The error that occurred before 7 times PAr 09 The error that occurred before 8 times PAr 10 The error that occurred before 9 times PAr 11 Software Version PAr 12 Controller Type The controller type of PAr 12 is displayed as shown below Sdbu 15 J Motor Capacity Control Mode Input Power Motor Type Appendix Parameter ATTENTION To change the parameter that is unchangeable during operation please make sure to change it after turning the servo OFF and turn the servo ON SEt 01 Speed Command Gain GEBRBH e Setting range 10 to 6000 RPM 1V RPM 10V e User Default 500 e Changes anytime The second digit of SEt 46 determines the preset unit of the parameter Command Speed RPM Setting Available Range Input Voltage V RPM 1V Speed command gain determines the gradient of the graph Speed command RPM SEt 01 x Input Voltage V SEt 02 Speed Loop Proportional Gain SBBRBB e Setting range 0 1500 Nr m s User Default 80 Changes anytime Speed loop proportional gain determines the response of the speed control Set the highest value as long as vibration does not occur at the system The upper limit will be determined according to the natural frequency and rigidity of the system If the inertia of the load grows raise the value Speed loop proportional gain is scaled to the motor s rotor inertia
179. s are as follows 0 Stop the motor with dynamic brake 1 Stop the motor with free run If a motor shaft is revolved manually after short circuiting all the motor cables U V W of the servo motor the revolving load is higher than when the cables are not short circuited The drive uses this feature to stop the motor When the servo drive uses this feature to stop the motor it is called dynamic brake CSDP Plus servo drive has internal dynamic brake circuit If the motor cable is connected to the servo drive and the servo drive is not enabled the switch in the diagram below is short circuited This means dynamic brake is working And the servo drive can activate dynamic brake by controlling the switch of dynamic brake according to the parameter setting Dynamic Brake Servo drive Servo Motor ATTENTION Dynamic brake cannot be used with the motor stop method which uses normal torque control SEt 44 2 Dynamic Brake After the Motor Stopped EEEE T e Setting range O x0 toO x1 User Default 0 x 1 Changes while the servo is OFF The set values are as follows 0 Disable the dynamic brake after the motor stopped 1 Keep the dynamic brake ON after the motor stopped DYNAMIC BRAKE Release after Motor Stop DYNAMIC BRAKE STOP DYNAMIC BRAKE Maintenance SERVO OFF N after Motor Stop FREERUN STOP No DYNAMIC BRAKE after Motor Stop SEt 44 3
180. se 148 SEt 28 Internal Speed Command 3 148 SEt 29 Servo OFF Delay TIME 148 SEt 30 Braking Application Speed After Servo 149 SEt 31 Brake Active Delay Time After Servo OFF 150 SEt 32 Brake Inactive Delay Time After Servo 150 SEt 33 Following Error Level nennen 151 SEt 34 Position Feedforward Gain eese 151 SEt 35 Position Command Filter essen 151 SEt 36 Electronic Gear Ratio Numerator i 152 SEt 37 Electronic Gear Ratio 242 4020 153 SEt 38 Speed Bias necesites dre disiecta 153 SEt 39 Speed Bias Application 153 SEt 40 Speed Command Filter eese 154 SEt 41 Control Mode Selection 154 SEt 42 System Gall x utei Ea dte ead vies 155 SEt 43 1 Servo Enable Method essen 155 SEt 43 2 P OT Signal Function Selection iii 156 SEt 43 3 N OT Signal Function Selection ii 156 SEt 43 4 TG ON Signal Function Selection 156 SEt 44 1 Dynamic Brake 157 SEt 44 2 Dynamic Brake After the Motor 158 SEt 44 3 Emergency Stop Method 00
181. se Area Speed RPM 1000 2000 3000 CSMF Motor Basic Specifications CSMF Motor Specifications Rated Voltage V 220 Rated Power kW 1 5 2 5 3 5 4 5 Rated Torque M M i ies isti 45 Maximum Instantaneous Kgf cm 219 310 450 560 Torque N M 21 46 30 38 44 1 54 88 Rated Revolving Speed RPM 2000 Maximum Revolving Speed RPM 3000 comm rae ce TT ROTOR INERTIA gfcm s 21 9 46 2 56 8 80 1 WHEN BRAKE IS ATTACHED Kg m 104 21 9 45 3 55 7 78 5 POWER RATE kW s 25 5 34 53 1 63 7 Mechanical Time Parameter ms 1 4 1 3 1 06 0 88 Electrical Time Parameter ms 25 35 Rated Current A rms 9 5 13 4 20 23 5 Maximum Instant Current A rms 28 5 40 2 60 70 5 Axial Play mm MAX 0 3 Allowed Thrust Load During Kgf MAX 20 30 Operation Allowed Radial Load during Kgf MAX 50 80 Operation Allowed Thrust Load While Kgf MAX 60 70 Coupling Allowed Radial Load while Kgf MAX 100 190 Coupling Weight Kg 11 14 8 15 5 19 9 WHEN BRAKE IS ATTACHED 14 17 5 19 2 24 3 Revolving Direction U gt V gt W Color Black Oil Seal Embedded Time Rating Continuous Use Insulation resistance Wiring Method Y Wiring Operating Temperature 0 to 40 C Insulation Grade F Grade Range Storage Temperature 20 to 80 C Dielectric Voltage 1500V AC 60 sec Range 500V DC 20 MQ When Brake is Attached 1200V AC 60 sec Excitation Method Permanent Magnet
182. se Output Open Collector The direction of the encoder output pulse sent to the controller can be changed E L Please set the direction of the encoder output pulse at the first digit of SEt 46 LI Direction of the Encoder Output Pulse In the forward revolution encoder output 90 phase difference phase A is displayed 90 degress in advance Encoder Output A Phase 0 Encoder Output B Phase In the reverse revolution encoder output 7 90 phase difference phase B is displayed 90 degrees in advance Encoder 1 Output A Phase Encoder Output B L The servo drive can adjust the number of the encoder pulses through the dividing circuit function before sending the input from the encoder to the controller The formula to adjust the number of output pulse is as follows Numerator Denominator x Number of Encoder Pulse Output to the controller If a certain type of encoder connected to the drive produces 2048 pulses per revolution and as many as 1000 pulses per revolution should be sent to the controller the numerator can be set to 1000 and the denominator can be set to 2048 1000 2048 x 2048 1000 Encoder Controller Servo drive CN2 CN1 2048 Pulse _ 1000 Pulse _ M 29 EAS 30 EA MH EB Encoder 32 Ep A B C Phase 0M EC eC Dio 34 j Ec Absolute PS x Enco
183. se set the parameter to 0 When the second digit of SEt 50 is 0 the in output signal status of Con 12 will be displayed as below N OT DI 6 P TL Dl 2 P OT 01 5 RST DI 1 SV ON DI 4 P CON 01 7 N TL CA KMP A lt SI x oe PLS gt UTI Vo puis When it is 1 the status will be displayed as below am ma f 2 f E BK f S 2 il eee RST lt lt VIP UNO oe Vol Vo ao lo Operation Mode Mo rrr BERBBH Operation Number List USr 01 Jog Operation USr02 Auto Tuning USr 03 Auto Adjustment for Speed Command Offset Adjustment for Current Offset USr 04 Auto Adjustment for Torque Command Offset USr05 Manual Adjustment for Speed Command Offset USr06 Manual Adjustment for Torque Command Offset USr07 Alarm Reset USr 09 Parameter Initialization USr 10 Alarm History Initialization USr 90 Pilot Operation Jog Operation The revolution will continue in the forward Ur arp p direction counterclockwise only while the up button is pushed and in the reverse direction clockwise only while the down Li mur Lt Ei LI button is pushed OQ Le LI Vt u 5r L 1 Auto Tuning The gain of the servo drive is usually in proportion to i
184. sn t cause vibration in the system 3 Raise the speed integral gain SEt 03 to the range that doesn t cause vibration in the system 4 Try jog operation or pilot operation 5 If there is a serious vibration or noise please reduce the speed proportional SEt 02 or speed integral gain SEt 03 Please repeat the fourth and fifth steps until stabilization Quick response cannot be expected when the inertia of the load exceeds five times the inertia of the motor s rotor or when the load torque is higher than the motor torque In these cases please follow the command below for adjustment e Reduce the inertia of the system and load torque e Extend the time for acceleration and deceleration Replace the motor with another one with higher rotor inertia e Usea motor with higher output torque Lower the gain to reduce the response of the system Current Offset Adjustment SE Lt 5 To adjust the current offset please set the second 42 rt p digit of SEt 45 to 1 or 2 CI 1 Current Adjustment when Servo is OFF 2 Current Offset Adjustment when Servo is ON To run the auto adjustment for speed command offset please change the preset value to 0 Auto Adjustment for Speed Command Offset US 3 Auto adjustment for speed command offset can be done when the servo is either ON or OFF d r i Oe The voltage input of the current speed command is identified as OV Therefor
185. t adjustment is unnecessary To operate the servo drive in the multi level speed control mode please follow the command below Allocate user input and output signals lt Does the input output status work properly in monitor mode l 12 Set the speed on each level SEt 26 to SEt 28 SEt 79 to SEt 82 Does speed command work properly in monitor mode Yes Con 12 Set acceleration and deceleration time as needed SEt 19 SEt 20 Adjust gain Multi level Speed Control Set up Sequence Input Output 50 Connector lt cn1 gt DC 24 V input S S Output gt 424 V IN 1 ea Analogue Monitor CH1 Multi level Speed Control Mode gt Output Range 10 V to 10 V 2 1 23 Analogue Monitor CH2 Output Range 10 V to 10 V 27 AM SG Analog Monitor GND Ri ded Setting Function gpa chenne Sf AU Servo Alarm Code Servo on SV ON DUH T vx 385 Maximum Used Voltage DC 30 V Maximum Used Current 20 mA Alarm Reset A RST so 01 2 4 y 39 AL3 J Revolving Directi evolving Direction C DIR
186. t value position command actual position SEt 18set value continued for 16 ms Multi level Speed Control Position Control Position Control Multi level Speed Control 13 Position command pulse input 0 Revolution Speed SEt16 set value position command actual position lt SEt 18set value continued for 16 ms Tuning By Gain Adjustment Overview Users need to adjust the servo drive depending on the status of the load in order to control different loads for the best performance This is the gain adjustment And tuning is making the motor connected to the drive perform its best through the gain adjustment Gains can be categorized as below e System Gain Basic Gain e Applied Gain System gain is changed according to the inertia of the system and is the same with the bandwidth of the servo drive s overall speed control loop This gain can control the five basic gains at the same time e System Gain SEt 42 Basic gain is categorized in five items that are essential for tuning e Speed Loop Proportional Gain Nms SEt 02 Speed Loop Integral Gain Nms SEt 03 e Position Loop Proportional Gain rad s SEt 04 Torque Command Filter rad s SEt 06 e Speed Command Filter rad s SEt 40 Applied gains are categorized into four items with distinct functions e Position Command Filter rad s SEt 35 e Vibration Suppression Filter Hz SEt 47 e Position Feedforward Gain SEt 34 Position Feedfor
187. the servo motor can be used within a limited regular speed The speed limit is set by the user at SEt 67 Therefore the servo drive operates under the preset limit even if the controller approves a speed command faster than the set value of the speed limit 5 E Bn Please set the speed limit method at the third digit 0 0 0 la of SET 45 g The set values as follows 0 Motor Maximum Speed default value 1 SEt 67 Value RPM 2 Analog Speed command Operates in all modes except the speed control mode 3 The smaller value between the motor maximum speed and SEt 67 If setting value is bigger than the maximum speed of the motor speed is limited to that maximum speed 5 E 0000 Please set the speed limit level at SEt 67 0 The setting range is 1 to 5000 RPM and the default value is 5000 When the speed limit is set at 1000 RPM even if the controller approves a speed command for 1500 RPM the servo motor operates at the speed of 1000 RPM In this case the signal for speed limit detection V LMT can be allocated so that the V LMT signal can be displayed when the motor speed is bound by the speed limit Torque Control Torque control mode is used when the tension or pressure of the system should be controlled by using the servo drive Set the voltage appropriate for the required torque input from the controller Various set values for the motor s operating torque limit are commonly ap
188. the servo starts producing brake signals Servo OFF Servo ON Servo OFF or Alarm Occurrence or Power OFF Dynamic Brake DB Stop Stop Set Value of Set 30 EOM RCM E Time Brake Release BK Set Value of SEt 31 Motor Speed The brake signal will be produced if the motor speed is smaller than the set value of the parameter or the time set at SEt 31 passed after the servo is OFF SEt 31 Brake Active Delay Time After Servo OFF BEEBBH e Setting range 0 to 1000 10ms e User Default 50 Changes while the servo is OFF This parameter is the time needed for the servo to produce a brake signal output from the moment servo OFF command is received during revolution The brake signals will be produced if the motor speed is below the set value of the brake output starting speed SEt 30 after the servo stopped even if the time set at SEt 3 has not passed since the moment the servo was OFF SEt 32 Brake Inactive Delay Time After Servo ON BEEBE Setting range 0 to 1000 10ms e User Default 0 Changes while the servo is OFF When switching off the servo while the motor is stopped if the load moves little because of gravity set the delay time at this parameter from the moment when the servo OFF signal is received to the moment when the servo is actually switched OFF External Input SV ON Servo OFF Servo ON Interna
189. tivating a frictionless disk load But if the torque is higher than the set value of this parameter during normal speed operation there can be speed error Set this parameter higher than the torque when the motor stops SEt 56 Speed Command for Speed Integral Gain Auto Adjustment 5 Setting range 0 to 3000 RPM User Default 100 Changes while the servo is OFF If the motor speed exceeds the set value of this parameter speed integral gain will be automatically adjusted This setting is effective for the load with friction Speed Speed Command Set Value P 1 Pra Speed Feedback Time The integral value will be automatically adjusted based on the set value of the speed command There can be speed offset if the speed exceeds the set value SEt 57 Position Error for Speed Integral Gain Auto Adjustment C E LI Li C EPI BGBEEREH Setting range 0 to 10000 pulse User Default 100 Changes while the servo is OFF If the position error exceeds the set value of this parameter the speed integral gain will be automatically adjusted This setting is effective for the load with friction SEt 58 Auto Tuning Speed Ci DO BAERGA ri LI e Setting range 0 x 0200 to 0 x 9900 RPM e User Default 0 0700 e Changes while the servo is OFF In the caseusing the online auto tuning set the tuning coefficient on the fourth digit of SEt 58 Setting range is 0 x 0000 to 0
190. to 15 50 60 Hz Rated Current 8 2 10 3 15 1 19 4 22 2 Arms Input Power kVA 4 5 6 9 12 15 Output Voltage Vrms 200 200 200 200 200 Rated Output Current 10 13 19 25 28 5 Arms Peak Output Current 30 39 57 75 85 5 Arms Output Frequency 0 400 Hz Performance specifications of CSDP Plus are as follows The performance specifications of CSDP Plus Basic Specifications Control Method PWM Control by IPM Feedback Type 1000 2048 2500 6000 10000 Inc Abs Type 17 bit Serial Inc Abs type Ambient Temperature Humidity in Operation 0 to 55 C 90 RH or less Ambient Temperature Humidity in Storage 25 to 80 C 90 RH or less Mounting Type Base Mounted Type Speed Torque Control Speed Control Range 1 5000 Load Fluctuation Rate 0 0126 or less at the Rated Speed and within the Load Range of 0 to 10096 Voltage Fluctuation Rate 096 at the Rated Speed and Supply Voltage of 220V AC Temperature Fluctuation Rate 0 196 or less at the Rated Speed and Ambient Temperature of 25 Position Control Performance Performance Speed Response ote Frequency Torque Control per Accuracy Acceleration Deceleration Time 0 10 60 sec Feed forward 0 to 100 Positioning Completion Range 0 to 250 pulse The performance specifications of CSDP Plus Classification Item Specifications
191. urement Encoder Signal Output N M divider d SEt 23 24 4 multiplications 4 Encoder SEt 35 Position Command Filter SEE 35 Setting range 0 to 5000 rad s e User Default 0 e Changes anytime This parameter is the cut off frequency of the position command in the low frequency range SEt 36 Electronic Gear Ratio Numerator Oooo e Setting range 1 65535 pulse e Factory Default 2500 Changes while the servo is OFF An encoder generating 2048 pulses per revolution can make a complete revolution when the controller transmits 2048 pulses to the drive If the electronic gear is used only 1000 pulses can make the encoder finish a complete revolution In order to use an electronic gear the speed reduction ratio from the motor shaft to the system is needed Number of revolution Speed Reduction _ of motor Ratio Number of revolution of system The speed reduction ratio is the ratio of revolutions of the system to the motor If the system make one revolution when the motor makes five revolutions the speed reduction ratio is 5 If the system make five revolutions when the motor revolves once then the speed reduction ratio is 0 2 The numerator and denominator of the electronic gear can be calculated as below Numerator Number of pulses of the encoder x Speed reduction ratio Denominator Number of pulses per one revolution of the motor In case of
192. ust Ball Screw M Load Mass kg of Straight Movement part V Load Speed m min F Thrust N D Ball Screw Ball Screw Lea 5 R Speed Reduction Ratio Ly Ball Screw Length 7 Mechanical Efficiency 4 Friction Coefficient Movement Amount AR a 60 F 2 if t la L Zax 679 Motor Shaft Revolving Speed r min _ RY Ny B Load Torque N m _ 9 8uM T 5 2 1 Load Inertia Moment kg m J JI Jy Je a Load Inertia of Straight Movement Part d Ball Screw Inertia dai Gear Coupling Inertia P y J MD _ 2aR F 8 32 Ball Screw Mass kg Jy M 7 87 x10 kg m Iron 2 70 x 10 kg m Aluminum Minimum Acceleration Time s ARN 445 i 607 py dap Motor Inertia dou Motor Maximum Torque Minimum Deceleration Time s 2aN Ju 97 6 T T Load Operation power W _ 2AN T i 60 Load Acceleration Power W 2 J P x t lt t OD x 6 90 Acceleration Torque Required N m _ 2AN 60t a T TI t Stam Deceleration Torque Required N m 2 Jy T 601 do t lt tim Torque Effective Value N m IT t t T t t t Tt rms t Vertical BALL SCREW Load Mechanical Configuration M Load Mass kg of Straight Movement Part V Load Speed m min P Ba
193. vibration or noise can be generated By setting SEt 42 basic gains are changed by referring to the inertia ratio SEt 66 As the value is set higher the response improves But if the value is too high for the load condition vibration or noise can be generated ATTENTION The value set last takes priority in the gain set up For instance even after the speed loop proportional gain is changed by setting the system gain SEt 42 if the speed loop proportional gain SEt 02 is set again this value is valid ood g The function of the system bandwidth SEt 69 is CO the same as the function of the system gain SEt 42 but while the system gain changes according to the inertia ratio the system bandwidth remains parameter even if the inertia ratio changes un When the inertia ratio is changed by auto tuning or user change the system and basic gain refering to SEt 69 and inertia ratio Torque Control Gain Torque control gains include vibration suppression filter and torque command filter gain The diagram below shows the application process of torque control related gains Torque Limit Vibration Suppression Torque Command Filter Filter Torque dB Speed gt B D gt E B Servo Motor Hz rad s Torque Command B Vibration suppression filter restrains the vibration caused by the load s resonance when the load system resonates in a certain frequency band I
194. w ji Ny Preset speed in the continuous Eg m Nue regeneration sections Torque in the continuous regeneration sections Tg Operation time in the continuous regeneration sections This diagram shows the case where the motor repeats acceleration and deceleration on the vertical axis with a fixed cycle Operation Cycle Consecutive Regeneration Section Revolution Speed Torque Set up for Smooth Operation By setting the acceleration deceleration time and S operation time at the servo drive the system can operate more smoothly by easing the possible impact from acceleration or deceleration Acceleration time is the time required for the motor to reach the rated speed from standstill Deceleration Time is the time required for the motor to slow down to a halt from the rated speed Motor Rated Speed 4 Motor Speed Command Setting Speed Time 0 1 10 a Motor Actual Acceleration Time Actual Deceleration Time Rated Speed Motor Speed Feedback Setting Speed 0 Time Acceleration Deceleration Setting Time SEt 19 Setting Time SEt 20 The diagram shows that the time for execution compared to command got extended as much as the deceleration time Please set the acceleration time at SEt 19 The setting range is 0 to 60000 ms and the default value is 200
195. ward Filter rad s SEt 07 And there are four parameter needed for tuning P Control Shift Switch SEt 54 P Control Shift Reference Value SEt 55 SEt 56 SEt 57 e Speed Bias Amount RPM SEt 38 Speed Bias Application Range pulse SEt 39 In tuning the inertia ratio should be considered first for the optimum performance of the servo drive system The inertia ratio is the ratio of the inertia of the load to the that of the motor s Load Inertia rotor If the rotor s inertia is 3 gf cm s and the load s inertia is 30 gf cm s the inertia ratio is 10 Motor Inertia 2 Inertia Ratio Inertia of the Load Inertia of the Motor s Rotor 5 E Do E b Please set inertia ratio at SEt 66 Setting range 0 6 0 10 is 0 to 600 0 1 times and the default value is 30 The default value 30 indicates that the inertia ratio is 3 ATTENTION Once the inertia ratio is set the servo drive adjusts basic gains according to the inertia ratio Therefore adjustment of the inertia ratio should be done carefully Lt E nun g Set the system bandwidth 70243 Ifauto tuning or user changes the inertia ratio SEt 66 it automatically set the system gain SEt 42 and the basic gain based on this value The servo drive uses position command of the controller device to generate speed command and the speed command generate torque command and transmit them to the servo motor Thus all of the basic gains should be s
196. ward Torque 4 77 Free Run 6 103 Fuse 7 124 G Grounding Line 2 20 In Output Status Display Method A 164 Inertia Ratio 5 86 5 88 Input Signal ABS DT 4 58 A RST 4 57 C DIR 4 57 C SEL 4 57 C SP1 4 57 C SP2 4 57 C SP3 4 57 G SEL 4 57 INHIB 4 58 N OT 4 57 N TL 4 57 P CON 4 57 P TL 4 57 ISV ON 4 57 Z CLP 4 58 Input Signal Allocation 1 A 170 Input Signal Allocation 2 A 171 Input Signal Allocation 3 A 171 Input Signal Allocation 4 A 171 Input Signal Allocation 5 A 171 Input voltage 1 17 Installation Motor 2 19 Instant Maximum Torque 4 78 J Jittering 6 117 Jog Operation Speed A 146 L Label 1 16 Line Drive 4 61 4 62 6 115 Low voltage Detection Circuit 6 119 M M5xL10 bolt 2 24 Main Power Supply Type A 159 Manual Gain 5 89 Maximum Torque Used A 173 Maximum Used Torque A 173 MCCB 2 29 Monitor 1 Output Gain A 174 Monitor 2 Output Gain A 174 Monitor Channel A 176 Monitor Channel 1 Scale A 137 Monitor Channel 2 Scale A 138 Motor Capacity 7 131 A 167 Motor Revolving Direction A 160 Motor Type 7 131 Multi level Speed 2 A 148 Multi level Speed 3 A 148 Multi level Speed 4 A 177 Multi level Speed 5 A 177 A 178 Multi level Speed 6 A 178 Multi level Speed 7 A 178 Multi revolution Data 6 120 7 129 N Normal Torque Offset A 172 N OT 6 101 N OT Signal Function Selection A 156 Notch Filter Frequency A 163 Offline 5 87 Oil Seal 7 123 Online 5 87 Open Collector 4 61
197. x 9000 initial value is 0x0 If the fourth digit is not 0 online auto tuning function will be used As the value is set higher the system becomes more sensitive to load fluctuation ATTENTION If the load fluctuates radiply online auto tuning coefficient needs to be set high but caution is needed because the system can be momentarily unstable in an environment where the load fluctuates excessively Set value on the third digit of SEt 58 is the revolution speed used offline auto tuning For instance if the setting value is 8 it revolves forward and reverse 3 times when autotuned with 800 RPM Speed Speed Time Time Before Autotuning After Autotuning Auto tuning is done in the following sequence Move the load in the middle of operation available section Determine the response of system depending on the level of rigidity Set the autotuning Is load inertia speed Set 58 low under too high Yes 500 RPM if load inertia is more than 5 times No Execute autotuning USr 02 lt If it is set too low compared to the load the calculated inertia ratio can be inaccurate SEt 59 Input Signal Assignment 1 GEERBH e Setting range 0 x 0 to 0 x 9999 User Default 0 x 4321 Change while the servo is OFF and turn off the power and turn it back on The input signals should be assigned to the CN1 connect
198. y 60t a T 43d ta Stam Deceleration Torque Required N m 2NuUu 601 mi 2 Stim Torque Effective Value N m t m e t T2 t t t Tt Timing Belt Load Mechanical Configuration CN M a C Thrust de eS Timing Belt M Load Mass kg of Straight Movement Part F Thrust V Load Speed m min D Pulley m 1 R Speed Reduction Ratio Friction Coefficient 7 Mechanical Efficiency Movement Amount m Vi lata L 60 2 if f L x 4 Motor Shaft Revolving Speed r min _ RY Nu Load Torque N m 9 8uM F D T 2Rm Load Inertia Moment kg J J Jy tJe t Jy Load Inertia of Straight Movement Part J pi Inertia of Pulley Part Jo Gear Coupling Inertia D J M w T Minimum Acceleration Time s ARN T 60 Tpy B Jd i Motor Inertia Iu Motor Maximum Torque Minimum Deceleration Time s _ 2aNy Jy J 60 T oy T Load Operation Power W pos 60 Load Acceleration Power W MD XE ty Stam a P Acceleration Torque Required N m SAN a Gu 60t a T T t S La Deceleration Torque Required N m _ 2zN V Jy J T i 601 15 t S tam Torque Effective Value N m c t TP t t t T t rms t Horizontal BALL SCREW Load Mechanical Configuration AT F Thr
199. y canceled If input signal or output signal is allocated duplicately to the same input channel or output channel C SEL signal is not allocated while operated in combination control mode and C DIR C SP1 C SP2 C SP2 signals are not allocated while operated in contact control mode this warning will occur Check the wiring and signal allocation and approve the power again oun If the capacity of the motor is bigger than that of VI ULI the servo drive this warning will occur H P Please replace the servo drive with the one that fits LI the capacity of the motor If replacement is not available limit the torque so that the servo drive won t be overstrained Servo Alarm In case of a servo alarm corresponding numbers and characters will be displayed and the operation will stop Servo drive CN1 pin 45 SALM Maximum Used Voltage 30V 9 px i i DI Maximum Used Current 50 mA i pin 46 SALM 24V External Power Maximum Used Voltage 30V Maximum Used Current 20 mA Var pin 40 ALM SG 24V External Power 777 Controller 0v ALM RST V Alarm Reset Input CNT ping In case of a servo alarm the LED of the servo drive will display the first number of the relevant alarm code
200. ynamic Brake Resistance 7 124 E E 10 SC 7 127 E 110C 7 127 E 12 0H 7 127 E 22 Fol 7 127 E 23 FOL 7 127 E 24 HoH 7 127 E 25 PCO 7 127 E 26 POL 7 127 E 27 dOL 7 127 E 30 EOP 7 127 E 31 EOS 7 127 E 32 AtE 7 127 E 33 PoF 7 127 E 34 AdE 7 127 E 35 EuU 7 127 E 36 EoP 7 127 E 37 ACE 7 127 E 39 EPE 7 127 E 400S 7 127 E 41 Est 7 127 E 42 OPC 7 127 E 500U 7 127 E 51uU 7 127 E 60 CPU 7 127 E 62 COF 7 127 E 63 COF 7 127 E 70 PF 7 127 E 80 CSE 7 127 E 81 Pro 7 127 E 82 EtP 7 127 E 83 SCE 7 127 84 7 127 85 CdE 7 127 EA 6 115 6 120 6 121 EB 6 115 6 120 6 121 EC 6 115 6 121 EEPROM 7 129 Electronic Gear 4 64 7 130 Electronic Gear Ratio Denominator A 153 Electronic Gear Ratio Numerator A 152 Emergency Stop Circuit 7 130 Emergency Stop Motion A 158 Encoder 1 17 Absolute Encoder 1 11 Incremental Encoder 1 11 Encoder A A Phase Output 6 115 Encoder B B Phase Output 6 115 Encoder C C Phase Output 6 115 Encoder Cable 7 129 Encoder Output A Phase 6 116 A 159 Encoder Output B Phase 6 116 A 159 Encoder Output Pulse Direction A 159 Encoder Output Ratio Denominator A 146 Encoder Output Ratio Numerator A 145 Encoder Type 7 129 7 131 A 166 Encoder Z Phase Output 6 115 Energy Consumed 6 109 External Torque Instruction Gain A 135 F Feedforward Gain 7 129 Forward Emergency Stop Torque A 139 Forward External Torque Limits A 139 Forward Internal Torque Limits A 138 For

CSDP Plus Servo Drive

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