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CSD5 Servo Drive

1. Natural a O d O o O o O o O o O G O d ot q O o O o oa o Natural CSD5 Servo Drive 2 2 Installation CSD5 Servo Drive Fixing Bolt Use A Cooling Fan When Installing Several Drives 400 W or less M4xL1 0 mounting holes at the top amp bottom 0 8 kW or more M5xL10 mounting holes at the top amp bottom Fixing Bolt K S R A SZ ToS Jan WAN AINN A ZN y WW Ea N WaS LI h ASS VO VENN W Be ta S i Ag 5
2. Fixing Bolt When installing several drives you must the following criteria Install a cooling fan to prevent excessive temperature increase If the surrounding temperature is higher than the operational temperature it may reduce the performance Panel Cooling Fan Cooling Fan a an 7 a D d W leXexe exejll exexexezere lOO Off HO OCOO0O
3. More than 30 mm More than 10 More than 50 mm More than 50 mm Installation 2 3 Use the Drive in a Clean Environment Use the drive in a clean environment where there is no dust or humidity Ground There is a grounding terminal at the bottom of the heat sink 200 W or less 1 mounting hole for M4 BOLT 400 W or above 2 mounting holes for M4 BOLT If not grounded it may reduce the performance CSD5 Servo Drive 2 4 Installation Servo Motor Installation CSD5 Servo Drive Installation Environment CSD5 Servo Drive installation environment is like below Table 2 1 CSD5 Servo Drive Installation Environment Item Installation Environment Storing Temperature Store it within 25 85 C Operational Use it within 0 50 C Temperature Operational Use it below 5 95 RH at a place witho
4. Display Model CSMT 0 0 E CSMR Q C E _ CSMZ Ho El Sci RSMS 2004 RS LI LJ LI LI L Ir RSMD 2004 RD C 0 G C a i RSMH 2004 RH Lil rr E mOl RSMF 2004 RF C01 Li CSD5 Servo Drive Table 4 13 Motor Type Display Operator Basic Setting and Startup Rated output Capacity 4 17 Model RSMK 2004 RK RSML 2004 RL RSMQ 2004 RQ RSMZ 2004 RZ Rated output capacity and display of the motor are shown below Table 4 14 Motor Rated Output Display Capacity a4 30 W 0 0 0 0 mr 50 W 0 0 0 0 m 100 W LI LI LI Li m 7 200 W LI DI LI L m LI LICI LI Ir 1 5 kW 0 0 0 0 Encoder Type In encoder type set serial absolute encoder transmits encoder data to the drive and automatically performs setting as it is connected to the drive The encoder type display is shown below CSD5 Servo Drive 4 18 Operator Basic Setting and Startup Table 4 15 Encoder Type Group 1 Motor Series Display Number of Encoder Type Pulse 1 Rotation CSMT R m 131072 Serial Absolute resolution Serial Inc 2048 9 wire Inc CSMT CSMR CSMQ CSMZ oO m 2500 11 wire Inc CSMQ Z Only L Fi Li 2048 Compact Absolute CSMQ Z Only Table 4 16 Encoder Type Group 2 Motor Series Display Number of Encoder Type Pulse 1 Rotation RSMS D H F K
5. As the transmission of the automobile should be positioned at D to start the automobile the drive can be run only when the servo ON of the host controller is maintained Commands to run the motor such as the position speed of host controller are invalid in Servo OFF status CSD5 Servo Drive Operator Basic Setting and Startup 4 3 Servo ON OFF Signal Indication In this manual the Servo ON signal is indicated as shown below Servo ON lt SV ON gt Servo OFF Servo ON Signal Input Servo ON signal from host controller is received through the sequence input sional of I O Refer to the 5 1 page Sequence I O Input Output Signal for the sequence I O signals Servo Drive s Own Servo ON If the servo drive runs the motor without a command from the host controller as in the operation mode run 00 run 01 the drive makes itself Servo ON for the operation TIP Refer to the 7 41 page Operation Mode Function for the operation mode run 00 to run 02 In addition the operation mode run 00 is described in the 4 21 page Startup Startup run 00 run O1 run 07 run 08 run 10 run 12 are not operated in Servo ON status Alarm Occurrence and Servo ON Status If servo alarm is occurred by the self diagnosis function of the drive while the Servo ON signal is applied to the drive the drive make itself Servo OFF to stop the motor and displays the contents of servo alar
6. Occurrence Servo Alarm OCEL O OC JC oO 1c 7 It displays the software version of servo drive D J An Example of Version Display Z mm UCT ALLI nao im Motor and Encoder Type di5 48 CSD5 Servo Drive Applications 7 55 Table 7 9 Monitor Mode Monitor Mode Item Unit Example of CSMZ Motor 400W A 11 wire Inc Type Encoder Sonu L B 0 0 0 0 0 s Motor Type Motor Capacity Encoder Type A3 30 W A5 50 W 01 100 W 02 200 W Analog Speed Command V di5 19 Analog Torque Command V d l 5 wy ra E Voltage nn an Drive Rated Output Org Cc Absolute Encoder 1 d 15 22 Encoder Feedback Data pulse roo oo dis 27 NN When the number of digits increases you can use left or right key to display the upper significant bits and low significant bits 5 digits each total 10 digits Key Button Operation It describes the key button operation of monitor mode The content of monitor mode can be confirmed regardless of servo drive status Refer to the below flow chart to confirm the content of each monitor item Use the upper and lower direction key to confirm the alarm history dis 16 CSD5 Servo Drive 7 56 Applications CSD5 Servo Drive Operation Flowchart of Key Button in Monitor Status Display Mode Fi IILI LILI Ci CI CI C L Select mo
7. u Parameter Name Motor Forward Direction Description You can choose the rotational direction of the motor Setting Value e 0 CW e 1 CCW Initial Value 0 Applicable Mode All Others Servo OFF gt Setting gt End Table Description Parameter at the top left side shows the parameter being described The setting window on the right of the parameter is entered when the ENTER key is pressed The parameter must be set from the digit in black color and the initial value shows the initial value of the parameter It is classified into a parameter selected among already set values selected parameter and a parameter which the users give appropriate value The selected parameter as shown in the example above displays both parameter and setting window and the latter parameter displays only the parameter and not eh setting window Parameter Name describes the value selectable by the user and the selected value Description describes the function and usage of parameter Setting Value describes the value selectable by the user and the selected value Initial Value Initial Value displayed when the parameter is selected Applicable Mode alphabetically displays the corresponding control mode in setting parameter and displays ALL if all are included Multi step speed mode Preface P 3 Combinational control mode indicates the alphabets of two modes combined in a row ex speed position mode SF torque
8. 198 6 8i 7 82 9 0 186 0 0 20 7 34 145 0 5 71 59 0 0 20 Mounting hole top and slot 29 9 2 32 bottom require M5 x 10 rouno terminals 0 87 bolts 2 Dimensions are in millimeters inches Drives are designed to metric dimensions inches are a mathematical conversion CSD5 Servo Dirve C 6 Specification and Exterior Size CSD5 Servo Drive Appendix D Cable Specification PC Communication Cable The next figure shows the communication cable assembly RS 232 that can be purchased from RS Automation to interface CSD5 Servo Drive and the host computer Figure D 1 CSD5 Servo Drive RS 232C PC Communication Cable Specifications Computer end Wiring diagram Drive end Pin 2 Pin 6 IEEE 1394 The table below shows the pins for RS 485 Table D 1 RS 485 Pin Description Drive Pin CSD5 Servo Drive D 2 Cable Specification CSD5 Servo Drive Appendix E Overivew I O Input Signal Type lt SV ON gt Servo ON lt A RST gt Alarm Reset lt G SEL gt Gain Group Conversion lt P TL gt Forward Torque Limit lt N TL gt Reverse Torque Limit lt P OT gt Prohibit Forward Rotation lt N OT gt Prohibit Reverse Rotation lt P CON gt P Control Conversion
9. Emergency Stop Erase E STOP signal ee ET The constant of the index position deviate the os ret ae a r a Index Position Range Overflow range ka A Oat i Nee CSD5 Servo Drive Inspection and Protection Functions 8 9 Table 8 4 Servo Alarm Types Alarm When the error occurs while turning on the Check the wiring and the power power there is a problem in the control or main power circuit EAHA Bou fur Motor Phase Over current Check the power and set or adjust the acceleration deceleration time When this error occurs while in operation over current exists Current that is 300 over the rated current is supplied to the motor at more than 250 ms CSD5 Servo Drive 8 10 Inspection and Protection Functions Confirmation before Requesting for A S In the event an error occurs in servo alarm that is not displayed it describes the cause and action If the main circuit power is allowed in a cause investigation it is dangerous After the power shall be disconnected to completely turn out the discharge confirming lamp take action on it In the event the error is not resolved after taking an action promptly request for A S to the company The chart below shows the diagnosis on errors when the alarm does not occut Table 8 5 Diagnosis on errors when the alarm does not occur Errors Cause Inspection and Action The motor does not run The power is not inputted Make correction aft
10. Hz Hz B 6 Parameter Group ae Velocity Regulator 0138 N A 0 10000 P Gain an Velocity Regulator 0139 N A 0 60000 26 I Gain 4 Position Regulator 9140 N A 0 700 20 Hz Kp Gain 4h Current Command 0141 N A 0 10000 300 Hz Lowpass Filter Bandwidth sirveiociy Command 0142 N A 0 10000 1000 Hz Lowpass Filter Bandwidth Standard Group 2 No Name Modbus Digit No Range Init Note Address m Velocity Scale 0200 N A 10 0 2000 0 500 0 rpm V or mm sec V Jog Velocity 0201 N A 0 6000 50 rpm or mm Command sec Acceleration 0202 0203 N A 1 214748364 41667 10 xRev sec T or mm sec Deceleration 0204 0205 N A 1 214748364 41667 10 xRev sec 7 or mm sec E m Preset Velocity 1 0207 m 6000 6000 B a B a Preset Velocity 2 0208 6000 6000 n Preset Velocity 3 0209 N A 6000 6000 rpm or mm sec ne B m i s rpm or mm sec rpm or mm sec rpm or mm sec Preset Velocity 4 0210 a 6000 6000 Preset Velocity 5 0211 m 6000 6000 Preset Velocity 6 0212 6000 6000 rpm or mm sec rpm or mm sec CSD5 Servo Drive Parameter Group B 7 Preset Velocity 7 0213 N A 6000 6000 rpm or mm sec Manual Velocity Limit 0214 1 6000 5000 rpm or mm sec ee woe PP Standard Group 3 No Name Modbus Digit No Range Init Note Address 7 Command Type 0300 0 Step Up Step Down Controller Controller Output Typ
11. In this case you can effectively use sequence input lt G SEL gt function Current Gain With Load Rotation EA a Without Rotation Load Tel RY 2 Group Gain The following details per step is to use lt G SEL gt function 1 Set the optimum gain to fit for No 2 condition in the figure above 2 Save gain in No 2 condition using gain storage function run 11 At this moment saved gains is 2nd group gain Corresponding gain Ft 1 02 Ft 1 08 Ft 1 04 Ft 1 05 excluded is stored in 2nd group gain For run 11 function refer to the Chapter 7 41 page Operation Mode Function 3 Set the optimum gain to fit for No 1 condition in the figure above current gain 4 Allocate the input pin for sequence input lt G SEL gt with reference to the Chapter 5 1 page Sequence I O Input Output Signal 5 Use as matching lt G SEL gt signal with the repeated movement No 1 and No 2 CSD5 Servo Drive Tuning by Gain Setting 6 37 Therefore if you use as dividing different loads into current gain and 2nd group gain you can satisfy the response quality of both different load conditions lt G SEL gt is sequence input signal To use lt G SEL gt function allocate lt G SEL gt signal with reference to sequence I O sign
12. Operator __ Communication and Operator Connector Analog Output Terminal I O Signal Connector lt I O gt RS485 Terminating Resistance Setting AC Main Power Input Terminal Contor Power Input Terminal S Drive Nameplate DC Link Negative Output Regenerative Resistor Terminal Encoder Cable Connector lt Motor Feedback gt Motor Cable Terminal The I O signal connector I O and encoder cable connector Motor Feedback are included only in the description of the signal circuit The description of other connectors and omitted Electric Circuit Name and Function The terminal symbol is printed on the wiring socket at the electric circuit terminal of the drive Observe the drive to identify and understand the terminals on the following table and then wire accordingly CSD5 Servo Drive Wiring 3 3 Table 3 1 Electric Circuit Terminal Terminal Symbol Purpose AC Power Terminal L1 L2 L3 400 W or lower Single phase 200 240 V 50 60 Hz L3 port must not be used 800 W or higher 3 phase 200 240 V 50 60 Hz 800 W can be used as Single phase Control Power Terminal LIC L2C No output division Single phase 200 240 V 50 60 Hz Motor Cable Terminal Connect the motor cable Grounding Terminal Connect the power and motor cable to the grounding termi
13. Z gt Z gt l EN 0 PI Mode Bit Field Gain mode ER EAE I L Velocity Regulator I 0118 N A 0 3000 100 Gain disable threshold Position Regulator 0119 N A 0 450 High Error Output Offset rpm or mm sec 0120 N A 0 50000 Position Regulator High Error Output Threshold 1000 pulse CSD5 Servo Drive Parameter Group B 5 Current Regulator 0121 Bit Field Bandwidth On line Vibration 0122 On line Vibration Disable Suppression Mode On line Vibration 1 0 1 0 Low Suppression Gain Velocity Command 0123 0 Disable Bit Field Filter on Follower Delay Time of Gain 0124 0 10000 Switching Level of Gain 0125 N A 0 10000 Switching Hysteresis of Gain 0126 N A 0 10000 Switching Position Gain 0127 N A 0 10000 Switching Time 2 4 Velocity Regulator 0128 N A 0 10000 P Gain 2 Velocity Regulator 9129 N A 0 60000 6 I Gain 2 4 Position Regulator 0130 N A 0 700 Hz Kp Gain Hz 2 4 Current Command 9131 N A 0 10000 Lowpass Filter Bandwidth je Velocity 0132 N A 0 10000 1000 Hz Command Lowpass Filter Bandwidth 3 Velocity Regulator 9133 N A 0 10000 P Gain 31d Velocity Regulator 0134 N A 0 60000 I Gain 3 Position Regulator 9135 N A 0 700 Kp Gain 3 Current Command 0136 N A 0 10000 Lowpass Filter Bandwidth 3rd Velocity Command 0137 N A 0 10000 1000 Hz Lowpass Filter Bandwidth CSD5 Servo Drive ON 1 Uo N D Uo N D
14. i The response performance of the drive is increased than prior to the auto tuning 10000 60000 a L 100 100 0 Set the 2 basic gains automatically using the data F L l fe c t y Hal detected by the tuning Speed Loop Speed Loop 4 Proportion Gain IntegratiomGai O Pa PR AA lt Automatic Adjustment of gt im T Fi ia _ 10000 the Basic Gain Cnil m A had 7 inn Using the Off line Tuning Function CLIL 1 Detect the inertia ratio automatically 0 2 Detect the resonant frequency of the load automatically Setting Range ET i E a a a SLE G 0 00 60 00 times re Lott lt Inertia ratio auto save gt Inertia Ratio n eae Hz t Sup lt resonance frequecny auto degection gt N run B r Off Line Auto Tuning Perform auto tuning by the off line auto tuning method Flowchart of the relartionship between the off line auto tuning Start 3 TIP Only as operating off line auto tuning you can prevent resonant noise caused by resonant frequency of load system and three basic gains Off line auto tuning automatically sets Inertia Ratio Ft 0 04 and resonant suppression filter Ft 1 07 but when you know exactly each value you can directly set However if the value set directly is not accurate the response quality is degraded and becomes the reason of resonant noise
15. 0 V COM Output gt OFF ON OFF TIP lt V COM gt is ON to the allocated sequence output channel when the output width of speed coincidence signal is Ft 5 03 100 the speed command is 2000 tpm and the actual rotation speed is in 1900 to 2100 rpm When speed coincidence output signal lt V COM gt is generated the servo drive turns line indication 1 of status indication mode on to allow verification of the output of the lt V COM signal For status indication mode refer to the 4 7 page Status Display Mode Rotation Detection lt TG ON gt Output It indicates that the servo motor rotates at a speed higher than the set speed It can be used as one condition to check the motor status when you change the control mode in mixed control mode or before you change one sequence to other sequence among sequences lt TG ON gt is a sequence output signal To use lt TG ON gt function allocate lt TG ON gt signal by referring to the sequence input output signal in the 5 1 page Sequence I O Input Output Signal CSD5 Servo Drive 5 40 Function for Control Mode CSD5 Servo Drive Set rotation detection level in order to set the appropriate constant to satisfy the purpose such as control mode change or sequence conversion Parameter Parameter Name Rotation Detection Level Description lt TG ON gt signal is output if the motor rotates at a speed higher than the set value Setting Value 1 5
16. 5 3 CSD5 Servo Drive 5 4 Function for Control Mode Table 5 1 I O Sequence Input Signal I lt I_SELO gt Used for the combinations to allocate indexes Index selection 0 Input lt I_SEL1 gt Index selection 1 Input lt I_SEL2 gt Index selection 2 Input lt I_SEL3 gt Index selection 3 Input lt I_SEL4 gt Index selection 4 Input lt I_SEL5 gt Indexselection 5 Input lt H_STOP gt Stop homing Stops Homing operation when it is set to ON lt START_I gt Start indexing Start Indexing operation when it is set to ON lt ABS MD gt Absolute Absolute Data transfered to host contoller by photo coupler F Position Data Transfer Mode output which output Fault Code when it is set to ON Function of Output Signal The following is the brief explanation on 8 functions of sequence output sional Details for each signal is explained in the pages listed on the right side of the table Table 5 2 I O Sequence Output Signal lt S_ALM gt Alarm It is on when the servo warning is detected page 8 5 lt P COM gt Positioning It is on when the position error is within the output width of KI page 5 28 Completion detection position completion signal Ft 5 00 lt NEAR 4 gt Positioning It is on when the position error is within the output width of KI page 5 28 approach detection position approach signal Ft 5 02 lt V COM gt Speed It is on when the speed difference between command speed and
17. Avoid using the product near wet places or corrosive and inflammable materials Operate the system with no load during pilot operation Never touch the heat sink directly Do not store the product near wet places rain toxic gas or fluid Keep the product out of the direct rays of the sun and store it within the storage temperature and humidity ranges Avoid overloading if the product is stored in a warehouse Do not carry the product by holding the cable and the motor shaft Preface P 7 Installation and Wiring WARNING CAUTION gt j ei Install a cooling fan to prevent excessive temperature increase Refer to the Chapter 2 Be careful not to wiring cables around the heat sink Install drives with regular space at least 10 mm between them Pay attention to the heat sink when wiring Refer to Chapter 2 Maintenance and Repair WARNING gt Do not disassemble or remodel the product Any damage caused after the user disassembles or remodels the product will be excluded from the company s warranty he company bears no responsibility for injuries or physical damage caused by remodeling of this product Life limited Parts by mechanical friction or heat requires regular Refer to the Chapter 8 In case of a failure that cannot be dealt with please contact the company s technical support team or after sales
18. CAUTION With the jog operation of the Chapter 7 41 page Jog Operation run 00 Lhe motor rotates 3 times in 360 forward and reverse direction Confirm the loading not to exceed the operation range during tuning Loading Operation Tuning Operation Range E _ Loading Tuning lt Range Range Ae CSD5 Servo Drive 7 44 Applications How to Operate Refer to the below flow chart to operate Servo ON Servo OFF Flow Chart of OFF Line Auto Tuning Status Display Mode D ri d u Select operation mode with the 7 MODE SET key run 00 make run 01 by using the direction run i Prepare the auto tuning by pressing the Jh ENTER key Ol E Ault o Operate the auto tuning by pressing the I MODE SET key Running Motor Execute the optimal tuing for the load After the tuning the setting value is automatically stored Auto tuning automatically completed Completed the operation by pressing the ENTER key Completion Auto Adjustment of Speed Command Offset run 03 When of operating the speed mode by the host controller or combination control mode related to the speed it is a function to automatically adjust with the offset voltage of the speed command Function Description When the analog speed voltage command is made t
19. 300 Hz All Immediately Description Range Initial Value Unit Applicable Operating Mode When Enabled Standard Group 2 Description Range Initial Value Unit Applicable Operating Mode When Enabled Description Range Initial Value Unit Applicable Operating Mode When Enabled Description Parameter Group B 39 4th Velocity Command Low pass Filter Bandwidth RSWare Drive Tuning qth Regulator Gains Lowpass Filter Bandwidth VReg Sets low pass cutoff frequency of speed command to suppress high frequency components 0 10000 1000 Hz All Immediately Velocity Scale RSWare Drive Mode Configuration Analog Velocity Scale e Sets the speed command value rpm for the analog speed command input pin Pin 19 20 of I O e Speed command rpm Ft 2 00 rpm V x Input Voltage V 10 0 2000 0 500 0 Rotary Motor rpm V Linear Motor mm sec V S Servo Off gt Setting Jog Velocity Command RSWare Drive Right Side Velocity Control Panel Velocity Command Sets speed for jog operation using run 00 0 6000 50 Rotary Motor rpm Linear Motor mm sec All Immediately Acceleration RSWare Drive Acceleration Limits Acceleration Acceleration means slope of the Speed Profile CSD5 Servo Drive B 40 Parameter Group Range Initial Value Unit Applicable Operating Mode When Enabled Description Range Initial Va
20. 7 14 Applications CSD5 Servo Drive General Specifications The user may consume the regeneration energy generated in the load system by increasing the rated power of regenerative resistor and installing the external regenerative resistor if the rated power of mounted regenerative resistor consumes small regeneration energy In order to increase the allowable power of regenerative resistor the mounted regenerative resistor and external regenerative resistor are connected in parallel Another way is to remove the internal regenerative resistor and install the separate external regenerative resistor Precautions When the rated power is increased for regenerative resistor on the above two methods the following conditions have to be satisfied CAUTION he resistance of the total regenerative resistor has to be 30 50 2 The resistance for regenerative resistor can be ascended to 200 degree or higher of the temperature on the rated loading condition When the separate cooling fan is not used the temperature of the regenerative resistor may increase excessively Therefore user should lower it to 25 of the rated power The contents relating to the regenerative resistor is important When the rated power of regenerative resistor is increased make sure to keep the above two contents When the wrong regenerative resistor is selected it may cause the product damage and may reduce the performance R
21. Description I Turns to ON when a Servo warning is detected When activated it shows the completion of the Homing operation Turns to ON when in motion When activated it indicates that the motor is on the hold position in the index movement and on stand by for the dwell time assigned Used to output the index number in use in the selected indexing operation Turns to ON when the index movement is complete The sequence I O signal name is indicated by lt gt in this manual Ex lt SV ON gt lt P COM gt Input Signal Allocation Method Refer to the table below to allocate to I O pin by searching the function that is suitable for your condition As shown in the table below the related function is already allocated to the sequence input parameter and its position in the setting window and it means that you use the related function as setting certain value among to except 0 to the setting position For example if you want to put certain function to I O No 5 pin you can find the related parameter of that signal and the position in the setting window according to the table below and enter 3 as the setting value 8 8g Enter 0 when the function of input signal is not used If you want to make input signal ON all the time regardless of the wiring set as CSD5 Servo Drive 5 6 Function for Control Mode Table 5 3 I O Sequence Input Signal Input Channel
22. Parameter Parameter Name Initial Torque Bias Setting Value 100 100 Description If you set this value as the value not 0 as soon as you do Servo ON control is started and the value of torque command is started from Setting value of parameter Since torque to maintain the current state occurs from the beginning you can prevent the phenomenon that the load drops Therefore you can suppress overshoot of speed response so that you can reduce position completion time Initial Value 0 Unit Applicable Mode All Others Setting gt End TIP For other method to control brake refer to motor brake control in the Chapter 7 6 page Motor Brake Contorl You can suppress the instant drop of the load only as setting brake control timing in the Chapter 7 6 page Motor Brake Contorl CSD5 Servo Drive 6 36 Tuning by Gain Setting CAUTION If you set value of initial torque bias Ft 4 06 too high load can temporarily goes up AN Be careful to make appropriate setting lt G SEL gt Function As shown in the figure below two different conditions of load can be repeated For example robot moves a object to other position and return to the original position without any load after laying a object down If those movements are repeated too fast On line Auto Tuning is not smoothly performed In addition if you operate different load condition with the same gain the response quality in one side is degraded
23. Parameter Name Position Command Filter Description It makes position command itself smooth as suppressing high frequency that is included in position command If this value is 0 position command filter is not used Max value is 1000 Applicable Mode All Others Setting gt End CSD5 Servo Drive 6 26 Tuning by Gain Setting Position Loop Proportion Gain Parameter 700 20 0 IPE gt 406 Position Loop Proportion Gain Hz Parameter Name Position Loop Proportion Gain Description The higher the value is set the better position control response is Applicable Mode All Others Setting gt End Position Control Related Gain Setting Procedure Increase the value of speed loop proportional gain Ft 1 06 in the condition while the initial value of position loop proportional gain Ft 1 02 is set If there is vibration noise in load reduce the value of Ft 1 02 as 80 to 90 of that moment Increase the value of Ft 1 06 again up to the level that vibration noise does not occur in over response Increase speed loop integration gain Ft 1 03 as checking over response overshoot completion time whether vibration or noise occurs If you set too low response quality is degraded and if you set too high vibration or noise can occur Maximum setting value of Ft 1 03 is as the following formula Ft 1 03 lt 300 x Ft 1 02 x Inertia of applied motor Appendix Lf necessary
24. RS OEMax CSD5 Servo Drive User Manual Catalog Number s CSD5_xxBX1 Reliable amp Smart S Automation Important User Information Solid state equipment has operational characteristics differing from those of electromechanical equipment There are some important differences between solid state equipment and hard wired electromechanical devices 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
25. Various setting values related to operation torque limit of motor are generally applied to the position or the speed control mode In order to operate the servo drive in a torque control mode connect the analog torque command to the related input pin and set the required process as shown bellow Flowchart for the Torque Contorl Mode Operation Select the sequence I O function and allocate them Ft 0 10 Ft 0 31 Check if the motor rotates while slowly increasing the analog torque command voltage Run as resetting the external torque command input again in Servo ON Servo On it again and retry running Ft 4 00 Check torque command in monitor mode dis 03 OK Yes G If motor torates even the command 0 v is input then use the torque command offset adjustment function to adjust the motor to prevent the rotation run 04 Set the torque limit internal or external Ft 4 01 Ft 4 04 Tune the servo drive by adjusting the gain according to the load condition CSD5 Servo Drive 5 44 CSD5 Servo Drive Function for Control Mode Standard Wiring Example The following figure illustrates the standard wiring example of the torque control mode The sequence input output signal can be set according to needs if it is necessary for the system configuration 24V or GND m 1 GND for 24V o FAULT 1 OUTPUT 4 PUTI SV ONJ 3 H oo all ae 5 gt FAULT 2 OUTPUT 5 peri m so MUP 44 ay FAU
26. When actually applying design with sufficient amount more than the minimum unit Servo drive can output the encoder by the host controller Refer to the7 24 page Postion Feedback to the Host Controller position feedback with the host controller with the understanding of the electronic gear setting Position Error Clear lt PCLR gt If this signal is inputted the position command the position feedback the position error and encoder feedback counter dIS 23 are cleared to 0 If the position command pulse is not inputted any more the motor can be stopped from the current state It can be stop instantly when it receive signal during operation so stop the motor before operating Position error clear input signal is assigned to sequence input and the parameter is set in Ft 0 13 It clears just once at a falling edge of the position error clear signal Pulse Command Inhibition lt INHIB gt Input The position command counter can be stopped in the position control mode by setting the pulse command inhibition lt INHIB gt by the sequence input sional While lt INHIB gt input is ON it is ignored even though the host controller sends the position command pulse to the servo drive Therefore it locks the servo status in the current position If lt INHIB gt signal is ON OFF while the host controller continuously sends the position commands the following operation occurs according to the lt INHIB g
27. 5010 5011 Changeable Status Servo OFF When Enabled Disable Drive t User Defined Distance Per Motor Revolution RSWare Drive Mode Configuration Indexing User Defined Distance Per Motor Revolution Define user defined distance per motor revolution 0 99999 Initial Value Os Unit User Defined 5012 Changeable Status When Enabled Disable Drive Indexing Parameter Garoup 1 Homing Homing Type RSWare Drive Mode Configuration Homing Homing Type Select the type of homing operation the drive will perform 0 Home to Present Position 1 To Home sensor Back to Marker 2 To Limit Back to Marker 3 To Home sensor Fwd to Marker 4 To Limit Fwd to Marker 5 Home to Current Value 6 Home to Current Value Back to Marker 7 To Home sensor Move Back to Marker 8 Home to Marker 9 To Home Sensor 10 To Limit Sensor 5200 Changeable Status Servo OFF When Enabled Disable Drive Auto Start Homing on Enable RSWare Drive Mode Configuration Homing Auto Start Homing on Enable Home Sensor Polarity RSWare Drive Mode Configuration Homing Home Sensor Polarity CSD5 Servo Drive B 64 Parameter Group Description 0 NORMAL CLOSE 1 NORMAL OPEN Initial Value 9 Unit N A Modbus Address 5208 Changeable Status Servo OFF When Enabled Disable drive Applicable Operation I Range l Mode i Home Position RSWare Drive Mode Configuration Homing Home Position Description The home position when a h
28. All Servo Off gt Setting Following Error Limit RSWare Drive Faults Following Error Limit A following error fault occurs when the difference between position command and actual position is greater than this parameter 0 2147483647 99999 pulse F AC Line Loss Fault Delay RSWare Drive Faults AC Line Loss Fault Delay The AC Line Loss Fault is inhibited for this amount of time when a loss of AC power is detected Range Initial Value Unit Applicable Operating Mode When Enabled Description Range Initial Value Applicable Operating Mode When Enabled Description Range Initial Value Applicable Operating Mode When Enabled Description Range Unit Initial Value Applicable Operating Mode When Enabled Description Range Parameter Group B 55 20 1000 20 ms All Servo Off gt Setting Analog Output CH1 Selection RS Ware Drive Analog Outputs Analog Output 1 Signal The drive signal assigned to channel from the Channel Setup dialog box in the Oscilloscope window 0 28 Except 15 23 25 26 0 All Immediately Analog Output CH2 Selection RSWare Drive Analog Outputs Analog Output 2 Signal The drive signal assigned to channel 2 from the Channel Setup dialog box in the Oscilloscope window 0 28 Except 15 23 25 26 1 All Immediately Analog Output CH1 Scale RSWare Drive Analog Outputs Analog Output 1 Sc
29. Applicable Operating Mode When Enabled Description Unit Initial Value Unit Applicable Operating Mode When Enabled Description Unit Initial Value Unit Applicable Operating Mode When Enabled 2 d Resonant Frequency Suppression Filter Width RSWare Drive Tuning Main Current Regulator Gains gmi Resonant Frequency Suppression Filter Width Set up the notch width of 2nd resonance suppressing filter in 20 steps Higher the setup larger the notch width you can obtain 1 20 10 All Immediately 2 d Resonant Frequency Suppression Filter Depth RSWare Drive Tuning Main Current Regulator Gains oe Resonant Frequency Suppression Filter Depth Set up the 2nd notch depth of the resonance suppressing filter Higher the setup shallower the notch depth and smaller the phase delay you can obtain 0 100 100 All Immediately Position Regulator Kff Gain RSWare Drive Tuning Main Position Regulator Gains Kff e Larger values result in faster position completion and smaller position tolerances at transient response condition e Value can differ according to load s type or rigidity too large values result in vibration 0 100 0 F Immediately Position Regulator Kff Bandwidth RSWare Drive Tuning Main Position Regulator Gains Kff Low Pass Filter Bandwidth BE i Et ete HLE CEERI Description Range Initial Value Applicable Operating Mode
30. C SP2 gt lt C SP3 gt e According to combination of the sequence input signals lt C SP1 gt lt C SP2 gt lt C SP3 gt operation at preset speed is possible e In addition sequence input signal lt C DIR gt is used to change the rotation direction of each speed command e To reduce impact of speed change set the acceleration deceleration time to a sufficient value which should not interfere with system responsiveness Range 6000 6000 Initial Value 0 Unit Rotary Motor rpm Linear Motor mm sec Applicable Operating P Mode When Enabled Immediately Table B 1 Seed Set according to lt C SP1 gt lt C SP2 gt and lt C SP3 gt Signal Contact Speed Speed Set Parameter lt C SP3 gt lt C SP2 gt lt C SP1 gt Halt Command 0 rpm 0 0 0 Speed 0 0 1 Command 1 Speed 0 1 0 Command 2 Speed 0 l 1 Command 3 Speed 1 0 0 Command 4 CSD5 Servo Drive B 42 Parameter Group CSD5 Servo Drive Table B 1 Seed Set according to lt C SP1 gt lt C SP2 gt and lt C SP3 gt Signal Contact Speed Speed Set Parameter lt C SP3 gt lt C SP2 gt lt C SP1 gt Speed Command 5 Speed Command 6 Speed Command 7 Preset Velocity 2 RSWare Drive Mode Configuration Preset Preset Velocity 2 Description Refer to description of Ft 2 05 Range 6000 6000 Initial Value 0 Unit Rotary Motor rpm Linear Motor mm sec Applicable Operating P Mode When Enabled Immed
31. CSD5 Servo Drive uses the combinations of these signals at the active going edge of START to set an index I SELO 5 signal is valid only when the active going edge of START maintains the status for at least 4ms before and for at least 8msec after When I_SELO 5 signal is detected while in motion the corresponding signal is inhibited 7ms 9ms rox ma _SELO OFF en _SEL1 ON OFF _SEL2 OFF START OFF ON OFF gt 4ms gt 8ms Q_ISEL0 S Index Selection 0 5 Output The drive outputs the operating index number while it s in motion When the motor is stopped the drive outputs the previously completed index number from 0 to 5 6 signals repeats ON and OFF and shows one index combination out of 64 indexes I O Setting and Indexing E 11 PAUSE Index Pause When the system detects the active going edge of PAUSE while indexing the motor remembers the index and starts decelerating until it completely stops within the predetermined deceleration time Since the motion is not complete IMO stays ON When CSD5 Servo derive detects the active going edge of START while in Pause the index is reactivated to reach the index position using the motion profiles such as Acceleration Time Speed and Deceleration Time When the STOP turns to ON while in Pause the indexing is cancelled and ends Then the system prepares a new indexing Please see PAUSE for more information Pause is activated at the active going edge of PAUSE
32. Command Filter Hz Parameter Name Speed Command Filter Description It makes speed command itself smooth as suppressing high frequency that is included in speed command If this value is 0 speed command filter is not used Applicable Mode All Others Setting gt End Speed Control Related Gain Setting Procedure Increase speed loop proportional gain Ft 1 02 to the limit that vibration noise does not occur Confirm Ft 1 02 as the value of 80 to 90 of maximum setting value Increase speed loop proportional gain Ft 1 03 as checking over response overshoot completion time whether vibration or noise occurs If you set it too low response quality is degraded and if you set too high vibration or noise can occur Maximum setting value of Ft 1 03 is as the following formula Ft 1 03 lt 300 x Ft 1 02 x Inertia of applied motor Appendix Lf position control related gain of host controller is set high more than necessary or in the environment where the noise is too big reduce the value of speed command filter Ft 1 08 It is better to set the value of torque command filter Ft 1 07 as long as there is no vibration in load side As repeating over response state adjust gain in detail CSD5 Servo Drive 6 24 Tuning by Gain Setting CSD5 Servo Drive Value of Ft 1 02 and Ft 1 03 is scaled based on inertia value of motor Therefore if Inertia Ratio Ft 0 04 for 100 W
33. F S P I page 5 38 coincidence detection the rotation speed are within the output width of speed coincidence signal Ft 5 03 lt TG ON 4 gt Rotation It is ON when the motor rotates with the speed more than the All page 5 39 detection setting value of rotation detection level Ft 5 04 lt T LMT gt Torque limit It is on when motor torque is reached the setting value of torque All page 5 46 detection limit lt V LMT 4 gt Speed limit It is on when motor speed is reached the setting value of speed All page 5 41 detection limit lt BK gt Breaker control It is the signal for control of the brake that is mounted inside and All page 7 6 outside of the servo motor lt A_VLD gt Absolute position Turns to ON when the absolute position data is valid while using All valid the absolute motor l lt RDY gt Drive ready Means getting the operation ready while in the Servo OFF Status CSD5 Servo Drive Function for Control Mode 5 5 Table 5 2 I O Sequence Output Signal Type lt WARN gt Warning lt HOMC 4 gt Axis homing lt IMO gt In motion lt I_DW gt In dwell lt O_ISELO gt Index selection 0 Output lt O_ISEL1 gt Index selection 1 Output lt O_ISEL2 gt Index selection 2 Output lt O_ISEL3 gt Index selection 3 Output lt O_ISEL4 gt Index selection 4 Output lt O_ISEL5S gt Index selection 5 Output lt E_SEQU gt Sequence operation completion
34. Index 0 63 Velocity orn Nuvo _ RSWare Drive Mode Configuration Indexing Index 0 63 Setup Velocity Description Maximum velocity while in motion Range 0 6000 Initial Value 750 Unit Rotary Motor rpm Linear Motor mm sec Modbus Address 6600 6663 Changeable Status When Enabled Always Applicable Operation I Mode Indexing Parameter Group 10 Index Acceleration Index 0 63 Acceleration LILI Ls RSWare Drive Mode Configuration Indexing Index 0 63 Setup Acceleration Description Maximum acceleration while in motion CSD5 Servo Drive Parameter Group B 67 Range 1 2147483647 Initial Value 6250 Unit Rotary Motor 10 xRev sec Linear Motor mm sec Modbus Address 7000 7127 Changeable Status When Enabled Always Applicable Operation I Mode Indexing Parameter Group 10 Index Deceleration Index 0 63 Deceleration I LU RSWare Drive Mode Configuration Indexing Index 0 63 Setup Deceleration Description Maximum deceleration while in motion Range 1 2147483647 Initial Value 6250 Unit Rotary Motor 10 xRev sec Linear Motor mm sec Modbus Address 7200 7327 Changeable Status When Enabled Always Applicable Operation Mode Indexing Parameter Group 12 Index Next Index Index 0 63 Next Index RSWare Drive Mode Configuration Indexing Index 0 63 Setup Next Index Description The number 0 63 of the next indexed move to execute w
35. NEAR 4 gt Position Proximity Detection lt V COM gt Speed Match Detection lt TG ON 4 gt Rotation Detection lt T LMT gt Torque Limit Detection lt V LMT 4 gt Speed Limit Detection lt BK 4 gt Brake Control lt A_ VLD gt Absolute Position Valid lt RDY gt Drive Ready lt WARN gt Warning lt HOMC 4 gt Axis Homing lt IMO gt In Motion lt I_DW gt In Dwell lt O_ISELO gt Index Selection 0 Output lt O_ISEL1 gt Index Selection 1 Output lt O_ISEL2 gt Index Selection 2 Output lt O_ISEL3 gt Index Selection 3 Output lt O_ISEL4 gt Index Selection 4 Output lt O_ISEL5 gt Index Selection 5 Output lt E_SEQU gt Sequence Operation Completion I O Setting and Indexing E 5 Sequence Output Signal Outputs when Servo Alarm sets off All Turns to ON when the position error is within the set value of the position completion F I range Ft 5 00 Turns to ON when the position error is within the set value of the position completion F I range Ft 5 02 Turns to ON when the deviation between the speed command and the motor rotation F S PI speed is within the set value of the speed match decision range Ft 5 03 Turns to ON when the motor is rotating above the set value of the rotation detection All level Ft 5 04 Turns to ON when torque reaches the set value of the torque limit All
36. Shunt Overload Protection Shunt resistor is disconnected or e Verify resistor connection damaged e Verify resistance of shunt resistor Shunt current exceeded e Verify shunt is not shorted or 607950654 allowable instantaneous value damaged 0 0 0 0 0 0 0 tol Shunt Overcurrent Protection e Verify load energy is not excessive during deceleration Egg IE ALGE E Encoder Backup Battery Set Encoder Backup Battery parameter is set to installed but parameter to Not Installed Absolute Encoder Battery a battery is not installed Error Battery voltage is sensed below e Confirm battery voltage and 2 7 V de connection e Replace battery EQ fig z E ALS Do 5 Battery powered encoder 1s e Mechanically disengage motor mechanically rotated at high from system Absolute Encoder speed while drive is powered Overspeed down e Cycle power to drive and reset alarm Engs ERAS EE Noise in the encoder Cycle power to drive and reset alarm Absolute Encoder Defective encoder Replace motor Multi turn Count Error PABGSIESEEER The drive operating mode and Change the operating mode and or the C l i Li 0 0 0 0 0 A motor selection are motor selection and reset the drive Drive Set Up incompatible CSD5 Servo Drive B 74 Parameter Group Table E CSD5 Servo Drive Error Text Possible Cause Action Solution Code Message Motor cable open Motor Instantaneous Current Overlo
37. Table 4 9 Operation Mode Item Operation run 00 Jog operation run 01 Off line auto tuning run 03 Auto adjustment of the speed command offset run 04 Auto adjustment of the torque command offset run 08 Alarm reset run 10 Absolute encoder reset run 11 2 group gain storing run 12 Parameter initialization Refer to the 7 41 page Operation Mode Function for details of operation mode and key button manipulation CSD5 Servo Drive 4 12 Operator Basic Setting and Startup Basic Setting This section includes the introduction of the control mode and the basic setting Overview of the Basic Setting Basic setting must be done before using the servo drive Other parameters can be set after the basic setting he basic setting is possible only after connecting the control power of the servo drive After all setting three types of basic setting reapply the power he setting values of the basic setting are saved even if the power is cut off or parameter is initialized by run 12 function of the operation mode To change basic setting value change it directly from corresponding parameter and reapply the power As shown below the basic setting uses two parameters to set 2 types Table 4 10 Basic Setting Basic Setting Parameter Setting Control mode optional setting Motor setting e Motor type setting e Motor capacity rated output setting e Encoder type setting The ke
38. When Enabled Parameter Group B 31 Description e Valid if position FF gain Ft 1 15 is not 0 e Ifa value other than 0 set for Ft 1 15 results in overshoot or vibration set this value to 0 Unit 0 2500 Initial Value 200 Unit Hz Applicable Operating F Mode When Enabled Immediately Velocity Regulator I Gain Mode RSWare Drive Tuning Main Velocity Regulator Gains Integrator Mode During transient response Speed Response Overshoot can be suppressed by speed controller change from Proportion Integration PI Controller into Proportion P Controller It reduces Position completion time during Position Control OO Do not use P PI Mode Conversion Always On 1 When Current Command exceeds Current Value in High Current Disable Ft 1 18 Speed Controller is changed from PI Controller to P Controller 2 When Speed Command exceeds Speed Value in Velocity Command Ft 1 18 Speed Controller is changed from PI Disable Controller to P Controller 3 When Position error exceeds Position error Value in Position Error Disable Ft 1 18 Speed Controller is changed from PI Controller to P Controller 4 Automatically velocity controller is changed from PI Automatic Disable Controller to P Controller 0 All Servo Off gt Setting Speed Regulator I Gain Disable Threshold RSWare Drive Tuning Integrator Hold Threshold Description If the speed torque command or the position tolerance exceeds the value
39. When the automatic homing start is selected when the drive is activated homing starts only when Axis Homing HOMC is deactivated When Axis Homing HOMC is activated homing does not start Automatic Homing when activated INO1 01 Value Description 0 Active 1 Avtive only after resetting 2 Inavtive Homing Offset User can set a different home from the one defined at a homing operation by using this option When a homing offset exists the final home is some distance as much as homing offset away from the original home Homing Offset can not be applied to 17 bit absolute motors Homing Offset is set in IN01 05 The range is 2 147 483 647 2 147 483 647 I O Setting and Indexing E 27 Moving Distance After Home Sensoring When the Homing Type 7 is selected all the markers that appear between the active going edge of the home sensor and the moving distance after home sensoring are inhibited The first marker that appears after moving distance and home sensoring is used for defining Home The moving distance after home sensoring is set in INO1 08 The range is 0 2 147 483 647 Home Current and Home Current Time When the Homing Type 5 or 6 are used for homing the system decides whether it actually reaches the stopper when the current higher than the home current is maintained Home current is set at 1 250 of the rated current in INO1 09 The home current time is set in IN01 10 The possible range is 0 1
40. When the inertia ratio The system gain is set by the user from of the load is known Ft 1 01 Set after the user checking the load status Auto detection of inertia ratio using the off line auto tuning If response performance is decreased after Off line Auto Tuning increase the value of system gain Ft 1 01 and do Off line Auto Tuning again We recommend securing the maximum response quality as increasing the value of system gain Ft 1 01 until noise or vibration occurs When maximum response quality is guaranteed in the condition that the value of Inertia Ratio Ft 0 04 is accurately set and there is no vibration noise in load system When you set the value of system gain Ft 1 01 as high as you can it becomes bandwidth of whole speed control loop As described above as exactly set Inertia Ratio Ft 0 04 and set basic gains using system gain Ft 1 01 you can get response quality The following table is for Inertia Ratio and system gain setting Parameter Parameter Name Description Setting Value Initial Value Unit Applicable Mode Others Parameter Parameter Name Description Applicable Mode Others Tuning by Gain Setting 6 17 Inertia Ratio This is the parameter to set load inertia ratio to motor inertia When you change this value above two basic gains Ft 1 02 Ft 1 03 are changed by referring to the value Ft 1 01 0 00 60 00 1 00 All Setting gt End ai
41. _ 9 SE D LA H g Regenerative Resistor 400 W or Higher Attached T Heat Sink L dg z i iE E D0 wae Ne ie OT g oi 3 Sen i H l Wiring Socket 6P 2P 3P 3 PART op T On Ground Terminal Heat Sink L tN m roun ermina ea 1 8 7 CL PR pkg TD i Model Number of the The following figure describes the model name on the nameplate of the servo drive Drive he nameplate is attached on the side of the drive case Check the model name on the nameplate and check if it corresponds to the product ordered he drive type is RS Automation Servo Drive CSD5 Series The serial number is included on the nameplate Be careful not to erase the serial number during the use Drive Type Example of Servo Drvicve Specification csp 5 _ A8 B X 1 CSD5 Servo Drive Mask AS 01 02 04 08 10 15 Rated 50 W 100 W 200 W 400 W 800 W 1 kW 1 5 kW Before Using the CSD5 Servo Drive 1 3 Name of Each Motor Part The following figure shows the name of each more part A motor without a brake does not have a brake cable The name of each motor part may differ from the following figure according to the motor type For more detailed infroamtion about Servo Motor please refer to Servo Motor Manual PP Break Cable Encoder Motor Nameplate Motor Frame Motor Shaft Mounting Hole RS Automation does not provide cables For more information about specification and ord
42. abnormality applicable for servo warning is sensed the applicable character is displayed and flickers CSD5 Servo Drive 8 4 Inspection and Protection Functions Servo Warning Types Servo drive displays the warning characters for the following 7 situations FAG In the event the Q Type Absolute Reset the Absolute Encoder 0 6 Encoder is rotated forward or Absolute Encoder Counter reverses over 32768 revolutions Overflow it is displayed HAE It occurs when the voltage of Replace the battery or external power battery or external power supply supply to make sure 1 Low Voltage of Absolute of absolute encoder is 3 2 V or Encoder Battery less PFE During the drive motor for After making sure that the motor moving the control power has stops turning off the control power Abnormal Initial Status of been applied Absolute Encoder Analog current scale setting Check 1f the scale constant is suitable mEafa oft Inadequate for range of the analog signal Over external Current Command The system does not support the e Check the speed loop tuning motion profile e Check the capacity of the system Current limit setting is Check if the current limit lower than inappropriate the current limited capacity of the system zfs Analog current scale setting Check 1f the scale constant is suitable AIL f inadequate for range of the analog signal Over external Speed Com
43. l On Modbus Address 5000 Changeable Status When Enabled Power Cycling Applicable Operation I Mode Abort Index Deceleration J Mm FILILOL RSWare Drive Mode Configuration Indexing Abort Index Decel Description The deceleration used to stop motion when the Stop Index input terminates an index move Range 0 2 147483647 Initial Value 6250 Unit Rotary Motor 10 xRev sec Linear Motor mm sec Modbus Address 5001 Changeable Status When Enabled Always CSD5 Servo Drive B 62 Parameter Group Applicable Operation Mode Description Range Modbus Address Applicable Operation Mode TiTi I EEEN L ip Te al f i Id Md Description Range Modbus Address Applicable Operation Mode TIHH H Description Range Modbus Address Applicable Operation Mode annm Ui In Description Range Modbus Address Applicable Operation Mode ni fnuug cm CSD5 Servo Drive I Positive Deceleration Distance RSWare Drive Mode Configuration Indexing Positive Deceleration Distance The stopping distance used when the drive encounters a positive overtravel limit 0 2147483647 Initial Value COS Unit 5003 5004 Changeable Status When Enabled pulse Always Negative Deceleration Distance RSWare Drive Mode Configuration Indexing Negative Deceleration Distance The stopping distance used when the drive encounters a
44. lt C SEL gt Control Mode Conversion lt C DIR gt lt C SP1 gt lt C SP2 gt lt C SP3 gt lt C SP4 gt Contact Speed Command lt Z CLP gt Zero Clamp lt INHIB gt Inhibit Pulse Command lt ABS DT gt Absolute Encoder Data Transmission I O Setting and Indexing This chapter describes the I O setting and the indexing of CSD5 Servo Drive I O Sequence Input Signal CSD5 servo drive allows users to configure the I O signals I O Sequence Input Signal Description Mode When the servo is set to ON voltage is applied to the servo motor when it is set to All OFF voltage is cut off It disables the Servo s Alarm All Use 2 group gain where it is set to ON and use current gain where it is set to OFF It All converts gain of 2 groups When it is set to ON limit the forward torque by the set value Ft 4 03 All When it is set to ON limit the reverse torque by the set value Ft 4 04 All It prohibits the motor from rotating forward when the load device reaches the limit of All the available section It prohibits the motor from rotating reversely when the load device reaches the limit of All the available section It converts the Seed Controller from PI type controller to P type controller It is used to F S p yO suppress the overshoot of the excessive response and complete a faster response It is used to convert Control Mode when using it as Combination Control Mode Combinational Cont
45. motor or 1 kW motor is same as 10 times the appropriate gain of Ft 1 02 and Ft 1 03 becomes the same For speed mode that host controller directly approves speed command through I O of servo drive you can indirectly adjust gain of whole control loop as adjusting external speed command input gain Ft 2 00 That is to say if you increase Ft 2 00 it has the same effect as increasing gain And if you reduce Ft 2 00 it has the same effect as reducing gain For external speed command input gain Ft 2 00 refer to the 5 34 page Speed Command Input For speed limit refer to the 7 21 page Speed Limiting FPunction and 5 41 page Speed Limit Function and Speed Limit Detection lt V LMT gt Output Tuning by Gain Setting 6 25 Position Control Related Gain Position related gain includes position FF gain position FF filter and position loop proportional gain The following figure is related to position in Gain Setting Diagram Position Control Related Gain Position Command Position FF Gain Position FF Filter Filter N N Position d B we og Command Pulse E 5 200 _ Speed mn 0 0 Hz a C Hz PERSAS FE IIG L 1000 Position Loop Integration Gain gt 700 H aia 20 FE 109 o Hz reo U6 Position Command Filter Parameter 1000 0 a sean ps Position Command Filter HZ
46. yh A o an jie 10000 Pe 4O4 Prado Prade 300 tf paj ai Di woe a Poot Pre 4ud Pr woe Pre tdy Pe tu The Ist and 2nd Vibration Suppression Filter If the vibration suppression filter is used in a ball screw or a belt system it can suppress the mechanical vibration by decreasing the specific frequency that generates resonance The frequency depth and width of the vibration suppression filter can be adjusted The vibration suppression filter works the same way as a general notch filter The depth and width of the vibration suppression filter is as below Gain dB BE 2 Fy ot LILI aH Ut Depth and Width of the Vibration Suppression Filter a TTT TT TTT a a a E gs F FEST TT ca o EEn iiy Depth 100 Width 5 TEE Depth 50 Width 5 Depth 100 Width 10 oL I I TII I i i 1 Beane od Tuning by Gain Setting 6 19 Parameter Parameter Name Description Applicable Mode Others 10000 10000 0 0 mi E L TEO cam Mp I L i IL LC Ist Vibration 2nd Vibration Suppression Filter Suppression Filter Hz Hz The 1st and 2nd Vibration Suppression Filter Ft1 10 Ft1 12 Two vibration suppression filters are provided The width of the 1st vibration suppression filter the width and the depth of the 2nd vibration suppression filter can be adjusted The width range for the filter is
47. 0 20 the depth is 0 100 For the Ist vibration suppression filter the depth is fixed as 100 the depth and width of the 2nd vibration suppression filter can be adjusted When the load system causes resonance in a specific frequency band it suppresses the vibration caused by the resonance of the load If properly set it allows other gains to be raised so that the stability and responsiveness of the overall system are improved enormously But if it is set in a wrong way it can cause vibration or noise All Setting gt End Resonance frequency of load it is setting value of resonance suppression filter Ft 1 07 Resonance Suppression Filter Ft 1 07 automatically find out resonance frequency and set the value by itself when you execute Off line Auto Tuning For Off line Auto Tuning refer to the 6 8 page Off line Auto Tuning If you know exactly mechanical resonance frequency range of load you can directly enter the value CSD5 Servo Drive 6 20 Tuning by Gain Setting Torque Command Filter It suppresses high frequency factor that is included in torque command Parameter g 10000 300 0 og ey ae Pe L Torque Command Filter Hz Parameter Name Torque Command Filter Description It suppresses high frequency factor that is included in torque command It makes torque command itself smooth as suppressing high frequency over set frequency so it can reduce vibration or noise The more the val
48. 1 1 2 group gain and Gain Bank 2 3 4 group gain through lt BANK_SEL gt The gain value after the auto tuning is saved only in the 1 gain group same as before and it can be manually copied to other groups and used after a fine tuning Motor Suspension Chapter 7 Applications This chapter describes the contents that the users should know in terms of fragmentary application function operation mode and monitor mode when using the servo drive It describes the suspension of the motor except the stopping by normal operation Overview The general overview on the each situation when the motor is stopped is explained With the exception of motor suspended by the normal operation the servo drive suspend its operation when the below situation occurs and result in suspension of the motor servo Alarm Occurrence Over Travel Occurrence The motor can be stopped by 2 above factors in normal operation of the drive and the method of stopping the motor for each suspension factors may be set in several forms The method to suspend the motors by the servo drive is classified as below suspended by Using Dynamic Brake Function suspended by Torque Control Consistent with Normal Operation Servo Alarm The content on servo alarm is described in detail in the Chapter 8 5 CSD5 Servo Drive 7 2 Applications CSD5 Servo Drive OverTravel lt P OT gt lt N OT gt OverTravel OT When the load exceeds
49. 264 Vims 2 The AC input voltage between any two input power pins L1 L2 L3 LIC L2C and CHASSIS must not exceed this rating This note also applies to the CHASSIS ground connection which implies that transformer secondaries must be grounded 3 Maximum Power Dissipation includes dissipative power of drive plus the Continuous Shunt Power rating of the drive s internal shunt Internal Shunt Power Continuous Shunt Power a ee eee eee 30W W 70 W Instantaneous Shunt 3000 W 7000 W Power Digital Input Output Specifications Type Active Low current sinking External Power Supply Voltage 21 6 to 26 4 V Requirements Maximum Current Draw 64 mA Note Digital I O is not powered by an internal supply customer must connect an external power supply Analog Input Output Specifications Inputs Voltage range is 10 to 10 V Impedance of10 kz A D conversion with 16 bit resolution and 12 bit resolution Outputs Voltage range is 10 to 10 V Current output of up to 10 mA into a resistive load D A conversion with 12 bit resolution CSD5 Servo Drive Specification and Exterior Size C 3 Drive CSD5 A5BX1 01BX1 02BX1 04BX1 08BX1 10BX1 15BX1 Motor Control Specifications Feedback Device Power 5V supplied by drive for incremental and serial encoder devices Incremental Encoder Differential drivers for A B Z and single ended Hall signals S1 S2 and S3 Requirements Maximum line frequency 3 500 000 lines second 14 000 000 count
50. 500 50 10 mm System Gain Sr ea System Gain It is bandwidth of whole speed control loop If you increase this value gain value increases in general and response quality is improved When you change this value above basic five gains Ft 1 02 Ft 1 03 Ft 1 06 Ft 1 07 and Ft 1 08 are changed by referring to the Inertia Ratio Ft 0 04 If you set the value too high compared to load condition vibration noise may occur All Setting gt End To over response characteristics we will explain gain setting related to torque speed and position in the page Position Speed Torque Related Gain Setting In addition the Chapter 6 27 page Tip to get fast response will give you the detailed explanation on various functions to acquire fast response quality in gain setting CSD5 Servo Drive 6 18 Tuning by Gain Setting Position Speed Torque Related Gain Setting CSD5 Servo Drive Torque Control Related Gain There are resonance suppression filter and torque command filter gains related to torque related gain The following figure is related to torque in Gain Setting Diagram Torque Control Related Gain _ Ist Vibration 2nd Vibration Suppression gt Torque Limit e OEIC Filter Torque Command Filter Torqued dB dB 3 dB Torque ZI0 Servo Command L gt gt gt gt Moter Nj Speed HZ Hz Hz U
51. 7 28 Applications Analog Monitor Output Overview The drive includes two analog outputs that a user can allocate for the variables of the internal drive A 4 pin connector DF11 4DP 2DSA is provided for two analog outputs Analog Monitor Cable Socket DF11 4DS 2C Contact DF11 2428SCF _ 4 2 s 3 1 1000 Omm The figure above shows when the connector is installed from the front the pin numbers are from the pins in the connector Pin Description Setting Analog Output Ch 2 Analog GND Analog Output Ch 1 Analog GND Set the output type and range that the users want to confirm from the below parameter Parameter Parameter Name Setting Value Initial Value Applicable Mode Other CSD5 Servo Drive Analog Monitor Output CH1 CH2 Selection 0 28 Except 15 23 25 26 0 1 All Setting gt End Applications 7 29 Parameter Parameter Analog Monitor Output CH1 CH2 Scaling Name Description Input signal amplitude of Channel 1 and 2 to display on oscilloscope Setting Value 1 99999 Initial Value 500 Applicable All Mode Other Setting gt End Table 7 4 Types and Unit of Analog Monitor Ouput Selection Type Unit Range of No of Ft 5 15 CH1 Ft 5 15 C Ft 5 16 CH2 H1 Ft 5 16 C H2 0 Velocity Feedback 1 99999 I Velocity Command 1 99999 O 19 Motor Utilization 1 99999 20 Analog Command Velocity 0 01V 0 001 99 999 CSD5
52. 944 7783 F 053 944 7784 of AM BSAA BA PALS 1589 1 JEP A S 10 506 721 T 062 945 8408 F A LOJA OE HOA AHJAMIE 27 Au NE 7E SHA SEHH 2 401 1242 445 811 T 031 373 3744 F 031 372 6446 HARHAA BALA OAKS 1589 1 H7 FASE 10 506 721 T 062 945 8665 F 062 945 8664 FAROA MALT WHE 578 MYSZOSAT 275 1035 617 726 T 051 319 1802 3 F 051 319 1834 opi p or aa Pa r m ee i m JT 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 co kr 5 Ele ES HRB ae LW 348 2RSB ALB Aba 451 862 T 82 31 685 9300 F 82 31 685 9500 RSE a PEK PSH rsagbs rsautomation co kr
53. Always INPUT INPUT INPUT INPUT INPUT INPUT INPUT INPUT INPUT INPUT Always No valid 10 9 8 7 6 5 4 3 2 1 invalid The following table is to arrange the parameter for each function and 7 segment number position in the setting window Set so that the related parameter of each signal and the number position in the setting window is not in the wrong Table 5 4 7 Segment Number Position of Input Signal Parameter Parameter 7 Segment Position lt P CON gt Initial value lt N OT gt Initial value lt SV ON gt Initial value 1 lt A RST gt Initial value 5 7 lt C SP3 gt lt C DIR gt lt PCLR gt lt Z CLP gt lt GEAR gt lt ABS DT gt lt ABS MD gt lt R_ABS gt lt PAUSE gt lt H_SENS gt lt I_SEL3 gt lt I_SELO gt lt START_I gt lt I_SEL4 gt lt P OT gt 4 Initial value b b lt P TL gt lt C SEL gt Initial value lt N TL gt Initial value 6 CSD5 Servo Drive Function for Control Mode 5 7 The table below is the example to allocate sequence input signal Example mi Tour Enter 7 in the 34 position in setting window of the parameter EC one Ft 0 01 7 This value is set to use lt P CON gt function It means that the I O INPUT 7 pin is used as an input pin Applicable Other l Models All Drive Disable gt Configure gt Completed Output Signal Allocation Method Refer to the table below to allocate t
54. CLP gt by referring to the sequence input output signal in the 5 1 page Sequence I O Input Output Signal Set speed zero clamp level to the parameter below Parameter Parameter Name Description Setting Value Initial Value Unit Applicable Mode Others Speed sero clamp level Speed command that is below the value is ignored 0 5000 0 rpm S Setting gt End CSD5 Servo Drive 5 36 Function for Control Mode CSD5 Servo Drive If you turn the signal on or off to the pin of I O where the zero clamp function is allocated the voltage command less than the zero clamp level Ft 5 05 or lower is ignored When the speed command value is higher than this level the motor is accelerated to the command value In addition if you set the sequence input as b with the reference of the input signal allocation method in the 5 5 page Input Signal Allocation Method the zero Clamp function is always valid and if it is set as 0 the zero clamp function is not processed Analog Speed Command gt Ft 5 05 AN AN Time 0 Z CLP Input gt OFF ON l Actual Speed O gt Command Ft 5 05 o Time CAUTION m Although Z CLP input is not allocated the drive automatically clamps the speed command as 0 in case any value is in Ft 5 05 except O Do not use when you configure position control loop by host controller The position loop may malfunction Set the a
55. Drive Function for Control Mode 5 57 Multi step Speed Mode The following figure is to help you understand motor operation according to sequence input signal in multi step control mode When acceleration deceleration time is not Forward Operation cS When acceleration deceleration time is se O rom O rom Reverse Operation cS Ft 2 09 Ft 2 10 C DIR E gt 0 1 C SP3 gt 0 0 0 0 1 0 1 1 1 0 C SP2 E gt 0 0 1 1 0 0 0 1 1 0 C SP1 D 0 1 0 1 0 0 1 0 1 0 Speed Command D gt 1 9 3 4 5 6 7 TIP Set sufficient acceleration deceleration time within the limit that does not disturb the response performance of the system in order to alleviate the impact when the speed is changed For acceleration deceleration time setting refer to the 7 17 page Setting for Smooth Operation Mixed Control Mode and Position control mode speed control mode torque control mode and lt IC SEL gt Fun cti on multi step speed control mode described are called the basic control modes The servo drive provides combinational control mode function to combine basic control modes to meet the user s condition Combinational control mode uses two basic control modes Setting of Combinational Control Mode Set combinational control mode to meet your condition with referenc
56. Drive Parameter Group B 69 Table C Table D Errors are serious abnormalities that do not allow motor control The Error display alternates between a three digit error code and a six digit text message Overtravel Display Possible Cause Action Soluction fa L A Positive Overtravel condition Apply motion in a negative direction to oO is detected back Positive Overtravel on no m A Negative Overtravel condition Apply motion in a positive direction mo E is detected to back off limit Negative Overtravel Warning Display Possible Cause Action Solution The Q Type Absolute Encoder is Reset the absolute encoder BAG rotated forward or reverse over Absolute Encoder Counter 32768 revolutions Overflow GAR 3 2V or less output from encoder Replace battery or verify external battery or external power supply power supply Absolute Encoder Battery ARE Control power is applied to the After verifying motor has stopped drive while the motor is in recycle control power Power Up Overspeed motion Pas Improper setting of analog Verify scaling parameter corresponds current scale to analog signal range Over Current Command System cannot meet motion e Verify velocity loop tuning profile e Verify system sizing Incorrect current limit settings Verify current limits do not restrict current to less than system capabilities Aaa Verify sc
57. Drive Velocity Limits Manual Velocity limit CSD5 Servo Drive B 44 Parameter Group Follower Description Range Initial Value Limits the operation speed to below this set value in all control modes There are two methods of speed limitation limitation thorough this value and limitation through speed command of upper level controller Configure by referring to speed limit method selection of Ft 2 13 In addition in torque control mode the mode is changed automatically to speed control mode if motor speed exceeds this value speed control is performed using limit speed command If the analog speed command exceeds motor s maximum speed the excessive speed command warning OSC is issued If excessive speed command warning is issued the speed command is automatically reduced to the motor s maximum speed 1 6000 5000 Unit Rotary Motor rpm Linear Motor mm sec Applicable Operating F S P Mode When Enabled Servo Off gt Setting Velocity Limit Mode RSWare Drive Velocity Limits Velocity Limit Mode Description Select velocity limit mode 0 Disabled Disabled Limit by Ft 2 12 Manual Limit 2 Limited by Analogue Speed Command Analog Input Value except Analog Speed Mode Initial Value 0 Applicable Operating All Mode Limited by lesser one between Ft 2 12 Manual and Analog and Analogue Speed Command When Enabled Servo Off gt Setting Standard Group 3 RSWar
58. Function 0007 N A Bit Field Automatic Motor 0 1 1 Enable Identification Incremental Feedback 1 0 1 O Monitored Loss Mode of Gain Change 2 2 eee h Absolute Feedback 3 0 2 Conversion mee eee Drive Address 0008 N A 1 247 1 E TAN ILII RU Serial Port 0010 N A Bit Field Configuration RS 232 485 O 5 5 57600 bps Communication Speed Baud rate Data bits Parity Stop 1 0 5 O 88bits No bit parity 1 stop Communication 3 0 1 O RS232 Method 1 RS485 Allocation of Input 0011 0x0000 0xab 0x4bb1 Bit Field Signal 1 bb Allocation of Input 0012 0x0000 0xaaa 0x0765 Bit Field Signal 2 a Allocation of Input 0013 0x0000 0xaaa 0x0000 Bit Field Signal 3 a Allocation of Input 0014 0x0000 0xaaa 0x0000 Bit Field Signal 4 a Allocation of Input 0015 0x0000 0xaaa 0x0000 Bit Field Signal 5 a Allocation of Input 0016 0x0000 0xaaa 0x0000 Bit Field Signal 6 a Allocation of Input 0017 0x0000 0xaaa 0x0000 Bit Field Signal 7 a Allocation of Input 0018 0x0000 0xaaa 0x0000 Bit Field Signal 8 a Allocation of Input 0019 0x0000 0xaaa 0x0000 Bit Field Signal 9 a B PF oF CSD5 Servo Drive Parameter Group Reserved 0021 Reserved 0022 Allocation of Output 0023 0x0000 0x66 Signal 1 Allocation of Output 0024 0x0000 0x66 Signal 2 Allocation of Output 0025 0x0000 0x00 Signal 3 Allocation of Output 0026 0x0000 0x66 Signal 4 Allocation of Output 0027 Signal 5 Allocation of
59. Function Control RSWare MODBUS Input Function Control RSWare Name 0x0 Disable 0x1 Enable 0x11 Disable Special Function MODBUS Run Function Control RSWare Drive Communications MODBUS Run Function Control Value RSWare Name 0x0 Disable 0x10 Enable All Servo Off gt Setting CSD5 Servo Drive B 26 Parameter Group CSD5 Servo Drive Standard Group 1 Description Range Initial Value Unit Applicable Operating Mode When Enabled Description Range Initial Value Unit Applicable Operating Mode When Enabled Description Range Initial Value Unit Applicable Operating Mode Velocity Regulator Response level RSWare Drive Tuning Velocity Regulator Response Level Set system gain in proportion to speed response level automatically by referring the estimated inertia ratio after auto tuning 1 150 50 All Immediately System Gain RSWare Drive Tuning System Gain e A higher value results in higher position speed torque related gain values and higher responsiveness However excessive values can result in noise and vibrations e Conversely lower values result in smaller gain and lower responsiveness however the whole system s stability is increased e Refers to the bandwidth of the entire speed control loop e When this value is changed the gain values Ft 1 02 Ft 1 03 Ft 1 06 Ft 1 07 Ft 1 08 are set automatically according to th
60. IMO In Motion is still activated in Pause CSD5 Servo Drive E 12 I O Setting and Indexing CSD5 Servo Drive Position Index 3 Position Index 4 Position L Motor Speed Index Servo SV ON oF START OFF _SELO _SEL1 OFF _SEL2 PAUSE P COM an MO OFF HOMC OFF HIRA y OFF L gi O mi OFF ON OFF Index 4 OFF O OFF I O Setting and Indexing E 13 STOP Index Stop STOP is a signal to cancel indexing When the STOP turns to ON while indexing the motor starts decelerating and stops The indexing is cancelled The IMO also turns to OFF Cancel is activated at the active going edge of STOP STOP can be used only in the Operation Option because it is not a homing type When STOP is activated IMO In Motion turns to OFF Position Index 3 Position Index 4 Position Motor Speed ef ft 4 Servo SV ON OFF ON START OFF ON OFF ON OFF _SELO L_SEL1 _SEL2 STOP OFF P COM ON OFF ON OFF ON IMO ON HOMC oe CSD5 Servo Drive E 14 I O Setting and Indexing SHOM Start Home HOME Home Sensor HOMC Axis Home Homing begins in the presence of the active going edge of the SHOM signal All SHOM signals are inhibited while homing When the second digit of the IN01 01 is set as 1 the SHOM signal is read HOME is an input signal from the Home Sensor HOMC is an output
61. L m 131072 resolution Serial Absolute q RSMZ Q Serial Inc m 2500 9 wire Inc L TAE H 2048 Compact Absolute RSMZ Only CSD5 Servo Drive Operator Basic Setting and Startup 4 19 Precautions Setting sequence is in order of motor model rated output capacity and encoder type The encoder type is classified into group 1 and group 2 according to motor model and an encoder that corresponds to each motor type is displayed In addition only the rated output of the motor that corresponds to the type selected is displayed only A setting example of an encoder in the encoder type 1 is shown in the following motor setting flowchatt In the following flowchart the encoder type is in order of S B A D C Q and R In case of using a model in encoder type 2 the encoder type is displayed in order of K L H A M Q andR The table below is a setting example for each motor type Motor model number setting CSMT 04BQ1ANT3 RSMD 10BAIASK3 CSD5 Servo Drive 4 20 Operator Basic Setting and Startup Motor Setting Flowchart Flowchart of Motor Setting Selection Status Display Mode Select Parameter Setting Mode by MODE SET key Press ENTER key and Enter into the Setting Window Find Setting value from the Setting Itmes suitable for Each Digit Press MODE SET key to save it The Setting Window blinks
62. MODE SET key DV LIL LILI Enter run 08 by using the direction y Prepare for encoder reset by pressing J the Enter Key pannat 0 0 0 0 0 0 Execute the encoder reset by pressing Lh MODE SET key donf Complete it by pressing the ENTER key i Completed l Haast ri I LI Data Transmission of Absolute Encoder This Chapter describes the sequence of drive receiving the data of absolute encoder and sending it to the host controller After sufficiently understand it and then design the host controller As shown in the figure below the drive is outputted for absolute information through the PS AM and BM terminals Encoder O UL Applications 7 37 Servo Drive Host Contoller Motor tput Feedback T O Ou ee Tal AM Wiig 31 el BM Encoder ne 32 ay A B C on 34 iM J UL 35 PS Absolute 36 PS Encoder PS Serial Data Frame Structure Through the PS output the structure of transmission frame of data sending to host controller is as follows Data is structured with multiple rotation data 1 rotation data and alarm The transmission size of data varies depending on the data Table 7 6 PS Output Data of Encoder Absolute Encoder The Number of 1 Rotation Data Transmission Rotation Data Cycle A H Type Absolute 13 bits 11 bit About 50 ms Encoder CSD5 Servo Drive 7 38 Applicati
63. Next Index Set Value 1 Moves all sequentially set indexes with one Start signal This command executes the next index movement without any additional input However there is a dwell time after the designated movement The stop time at each index is determined by the dwell time defined by the index data IMO turns to the active mode when the movement begins and maintains the initial status until it reaches the final index Velocity Dwell Dwell Outputs In Motion ON OFF ON OFF In Dwell OFF ON OFF ON CSD5 Servo Drive E 18 I O Setting and Indexing Wait for Start Set Value 2 Unlike Start Next Index which moves all designated indexes just with one START signal Wait for Start needs a START for each movement to the next index IMO turns to OFF whenever an index reaches to each position Velocity Dwell Dwell Outputs In Motion ON OFF ON OFF In Dwell OFF ON OFF ON Input Start Index Jon OFF ON OFF The operation setting after the index movement is set in the 1st digit of 7 segment in IN 02 00 63 Press ENTER for the Configuration Window A Sets an operation using the direction key in this digit by shifting between 0 2 Press MODE SET key to save the setting CSD5 Servo Drive I O Setting and Indexing E 19 Homing While indexing all 64 indexes are defined by the standard position HOME Search for Home is a movement to find and set Home After finding Home and defining it set the home position a
64. O Input Output Signal Chapter 5 Function for Control Mode This chapter describes the sequence input output function of I O signal connector CNI and the function for each control mode What is Sequence I O Signal To provide the optimum performance that is suitable for user s equipment 50 pin connector of I O is used to allow the drive can input output signals that have various functions Input provides 25 functions and you can freely allocate input signal of each function with 10 pins Output provides 16 functions and you can freely allocate output signal of each function with three pairs of pins such as 41 42 43 44 47 48 and pin 37 40 of I O Sequence I O signal means the I O signal of various functions that are required for servo drive control by the host controller Sequence I O signal is not to process input or output signal with the designated pin of I O but to select the function that the user requires in terms of circuit design of host controller and to directly allocate the selected functions to the designated pin Therefore the host controller can do the sequential control that fits to the equipment to operate servo drive The following figure is sequence I O part among 50 pins of I O Sequence Input is indicated as INPUT 1 toINPUT 10 Digital Input Channel Sequence Output OUTPUT 1 to OUTPUT 6 Digital Output Channel CSD5 Servo Drive 5 2 Function for Control Mode
65. Output Signal first and allocate the lt BK gt sequence output signal The signal for brake control is outputted with the allotted pin The factory setting is OUTPUT 3 No 47 and No 48 pins of I O Circuit Configuration The drive cannot use the high voltage and current that can directly control the motor brake Therefore the motor brake cannot be connected directly to the drive and used And it is possible to control the brake indirectly by configuring the external relay circuit Refer to the indirect control circuit through the relay shown below The output channel of I O can be adjusted by the user according to the condition since the sequence output signal is used The example below is based on a factory setting Parameter Parameter Name Description Setting Value Initial Value Unit Applicable Mode Others Motor Brake Control Setting 47 OUTPUT 3 48 OUTPUT 3 Applications 7 7 External Circuit Configuration of the Motor After the allocation of the brake output signal the detailed setting on the brake control can be made in the below parameter Set appropriately by observing the motion of the load Delay Time of Brake Output Signal after Servo ON Set delay time of brake ouput signal after servo on The motor brake has to be released first if the motor brake is in operation when the drive is about to start the motor At this time if
66. Overall Inspection 20000 Hours 5 Years Inquiry to the Company Disassembly and worn out part replacement CAUTION In the event of disassemble the servo motor for repair or inspection a care shall be taken for A S not available CSD5 Servo Drive 8 2 Inspection and Protection Functions Table 8 2 Servo Drive Inspection Inspection and Repair Action Do not have dust or oil Clean with compressed air or fabric Once or more per year Do not allow loosening of socket Do not allow loosening connector nut and others Once or more per year There is no discoloration by heat Inquiry to the company damage or open circuit Item Cleaning of Main Body and Board Socket Connector Nut Abnormal Part on Main Body and Board CSD5 Servo Drive Inspection of Drive Servo drive is equipped with electronic circuit The dust and foreign substance may cause the breakdown or malfunction that the dust shall be cleaned and tighten the nuts on a regular basis 1 year CAUTION In the event of disassemble the servo drive for repair or inspection a care shall be taken for A S not available Part Inspection The part below may have mechanical abrasion or material degradation A regular inspection is needed for prevention and preservation The life of parts is as below if the ambient temperature annual average is 30 C load rate is less then 80 and operation rate is less than 20 hours day Table 8 3 Servo Dirve s p
67. Position Error Clear lt START gt Start lt GEAR gt Electronic Gear Rate Shift lt R_ABS gt Absolute encoder multi rotation data reset lt BANK_SEL gt Gain bank select lt A CL gt Analog torque limit lt H_SENS gt Home sensor lt SHOMES Start homing lt PAUSE gt Index pause lt STOP gt Index stop When a signal is on it limits reverse torque by the setting value Ft 4 04 It prohibits a motor from rotating forward when the load part reaches to the limit of available section All It prohibits a motor from rotating to the reverse direction when the load part reaches to the limit of available section It converts the Seed Controler from PI type controller to P type F S P I controller It is used to suppress the overshoot of the excessive response and complete a faster response It is used to convert the control mode when using Mixed control Combinational mode Control Mode Only The rotation direction lt C DIR gt and rotation speed lt C SP1 to C SP4 gt of the motor are determined by the above input in terminal speed control mode Rotation speed of lt C SP1 to C SP3 gt is set in Ft 2 05 to Ft 2 11 Rotation speed of lt C SP4 gt is set by analog speed command voltage lt C DIR gt is used to change motor rotation direction in speed control mode When analog command value in the speed control is lower than the setting value of speed zer
68. Red Cee Peay oat oe 6 8 OTe Ute Tune indi ss ane atte a eee a noes 6 8 Oole AO T UNINC eegene ieee bie heel aes Gite adn 6 10 On line Vibtaton Suppression cce p25 sccm usidcel ag haw eae 6 11 Online Vibration Suppression Gain Setting 00 0006 6 13 Manali Gain Serine nace acho r ape tease Lee ea eee eed 6 14 Gir New en 8 0184 FOCHA eae rere reece Pe ma a ne ener a 6 14 Basic Gain Seuine sees co hy teehee peta hens AEEA ETO 6 15 Position Speed Torque Related Gain Setting 0006 6 18 Applications Torque Control Related Gain ordenene iad boda e ss os eet e 6 19 Speed Control Related Galt 5 44 wei vig ta itaeeehtes sade beeen e 6 21 Position Control Related Gain vi416 ibde cise ide wie aed nitku 6 25 TIP TO Get IES PONSE eerden e aE erre e Nae tage as 6 27 Peedlorwatd ACHO merciin beth e EE ENEA 6 27 Speed Bias FunClOn eiei e n A E E EEE 6 28 PPE Mode Seting aluiaeialas hearer aerate rareee car erm Ea A area eee 6 30 Inia Ore Dias vine oniga veer reba ee beet EERE 6 33 SG SEE Tunc hoas eee a ois fate eae ae oh ea Seo sold fate ad 6 36 Cain Owitchiio PunciOn s lt tesco pore eens see acedere se 6 37 Chapter 7 MOtoro UPEN Ohee pr AET rine oe Sack Sota hae ea ha E 7 1 CSCW se ances ier eaten Scns is Wee besos aie Bs ale BS Be WR Bea ene Beg ee 7 1 SCVO UNA enges oa wed ew ee acta a a ae a Baw ewe eae 7 1 Over irav SPOTA SNOT rka e eRe awed WERE 7 2 Dyadic Drake eieiei aea aaa a a a aA 7 3 Motor Brak
69. S curve Operation As shown in the below figure by performing the S curve command at the conversion point of acceleration deceleration more smooth operation can be had Motor Rated Speed Sea Command Motor Setting lime G Motor Rated Acceleration J me Deceleration fi 4 Time Setting Motor Setting Motor Rated S F i Time j T i Speed Setting Motor Setting A 0 Time C S curve Time Setting lt y S curve Operation Time Setting Set the S curve operation time on the below parameter Parameter Parameter Area Description Setting Value Initial Value Unit Applicable Mode Others S curve Operation Time Set motor accelecation time 0 5000 0 ms All Setting gt End CSD5 Servo Drive 7 20 Applications CSD5 Servo Drive Caution The total command performance time differs by the acceleration deceleration and S curve operation time If the total consumed time for initial speed command is 10 seconds the total time of speed command time after the acceleration deceleration time setting is 10 seconds Ft 2 03 Also the total time 10 seconds Ft 2 03 Ft 2 04 of speed command performance after the S curve time setting If the S cutve setting value is set as 0 the S curve Operation is not used AN Also without the setting of acceleration deceleration the S operation alone shall not be used For the use of S curve operation f
70. Speed Command F a Loop iia Gain A C 1I E L i ade bb cic 16 i 7 orque Speed ld A Command Ft 2 12 L Gain Loop Proportion ain aa ak O BREED Starting Point of Torque 4 Mode Gain Settin ae fC s Torque Command Noe FE Torque Contorl related Gain Torque Limit Fe 40 FE 405 Torque A Ist Vibration 2nd Vibration Suppression Suppression Filter Filter Ft tie Torque Command Filter FESD FESI FES UIY FE dBA dB if DEDS Speed J Fi Servo 4 5 m gt Motor A 6 7 CSD5 Servo Drive 6 8 Tuning by Gain Setting Auto Gain Setting CSD5 Servo Drive Auto Tuning There are two functions which automatically detects the load status inside servo drive Off line auto tuning On line auto tuning Off line Auto Tuning Tuning Function Two basic gains are automatically set based on the detected data Tuning Mode There are inertial identification mode inertia identification and resonance frequency detection mode and resonance frequency detection mode The operation mode of run 01 is set by the Auto tuning Mode Setting Ft 0 03 NO Ft 0 03 NO 2 Resonance Frequency Detection This is a function that looks for only the resonance frequency of the system in a stationary position unlike the inertia moment identification function This function is for the users who are interested in finding only the resonance frequen
71. VReg Sets low pass cutoff frequency of speed command to suppress high frequency components 0 10000 1000 Hz All Immediately 4th Velocity Regulator P Gain RS Ware Drive Tuning an Regulator Gains P Parameter which determines the responsiveness of speed control CSD5 Servo Drive B 38 Parameter Group CSD5 Servo Drive Range Initial Value Unit Applicable Operating Mode When Enabled Description Range Initial Value Unit Applicable Operating Mode When Enabled a a az Description Range Initial Value Unit Applicable Operating Mode When Enabled Description Range Initial Value Unit Applicable Operating Mode When Enabled 0 10000 60 F S P Immediately 4th Velocity Regulator I Gain RSWare Drive Tuning qth Regulator Gains Integrator Gain e Removes steady state speed tolerance e Overshoot in speed response can occur if set value is too large 0 60000 26 F S P Immediately 4 Position Regulator Kp Gain RSWare Drive Tuning 4th Regulator Gains Kp e Parameter which determines the responsiveness of position control e Change set value according to rigidity of load 0 700 20 Hz F Immediately 4th Current Command Low pass Filter Bandwidth RSWare Drive Tuning qth Regulator Gains Lowpass Filter Bandwidth Reg Suppresses high frequency components of torque command 0 10000
72. Where 0 is Off B is On and 1 A are digital input 4 digits Unmapped IO Status RS Ware Name Fault Reset 5 OFF Fault Reset A RST Negative Current OFF Current Limit Negative Limit N TL Positive Current 7 OFF Current Limit Positive Limit P TL Operation Mode OFF Operation Mode Override Override C SEL All Seveo Off gt Setting Allocation of Input Signals 3 RSWare Drive Digital Inputs 0 B Where 0 is Off B is On and 1 A are digital input 4 digits Unmapped IO Status RS Ware Name OFF Preset Direction Preset Direction C DIR Preset Select 1 OFF Preset Select 1 C SP1 Preset Select 2 OFF Preset Select 2 C SP2 Preset Select 3 OFF Preset Select 3 C SP3 All Seveo Off gt Setting Allocation of Input Signals 4 RSWare Drive Digital Inputs 0 B Where 0 is Off B is On and 1 A are digital input 4 digits Unmapped IO Status RSWare Name Zero Speed Clamp OFF Zero Speed Clamp Enable Enable Z CLP Pause Follower OFF Pause Follower INHIBIT CSD5 Servo Drive Parameter Group Applicable Operating Mode When Enabled Range for All Digits Data Size Digit 0 Applicable Operating Mode When Enabled Data Size Digit 0 Applicable Operating Mode When Enabled CSD5 Servo Drive Alternate Gain OFF Alternate Gain Select Select G SEL Position clear OFF Position Clear PCLR All Seveo Off gt Setting Allocation of Input Signals 5 RSWare Drive
73. aad ie B 7 Sand Group A aesmar a ete dine teaeaanenea ees B 7 SAAd GOUE OF saner oes ern es aa be oo Eee Be Oe ae ast B 8 Parameter Desi ON 2 004 sig Gos e deters eect ead wiad eae B 9 DEAN ard Glog Oe ccs de seve tee aes oa bate pra between dele ites cena B 9 Siatidard Group a siseie nt 2is hee ob ee dee but e a B 25 Sanda Grote co Sai bare e eee ween TEE B 38 Standard Group aia ah puck Bares ak ieee B 42 Standard GLa siete iat seat A eo eeemees B 47 SADA GIOUND tin na ete ores eka ead eahod 4 B 49 Indexing Dive Parameters ols ine nea be EE ee eutin g she eee ees B 53 Indexing Group 0 Indexing System ject eee cine pete B 53 IndexineG coup 1 HOMNE eeepc e a a Kee seas et iws B 54 Indexing Group 2 Index OPHON a 4 ta hh nd ot he Sad aie Gime B 54 Indexing Gorup 4 Index Position Distance 4 B 55 Indexing Group lidex Diwellis s 4 cu sesuta eaa ade B 55 lndexne Got up p Index Veloci ceir giest racs nis tanenin EA B 56 Indexing Group 10 Index Acceleration 0 000 B 56 Indexing Gorup 11 Index Deceleration 0 00 4 B 56 Ind xine Gorup 12 Index Next Index rre taa4 2 seating eee hie B 57 Indexing Parameter Gorup 0 Indexing System B 57 Indexing Parameter Gatoup 1 Homing n i6ccks soe tates edese B 59 Indexing Parameter Group 2 Indexing Options B 62 Indexing Parameter Group 4 Index Position Distance B 63 Indexing Parameter Gro
74. alarm occurs find out the content of alarm and resolve it After that reset it through the alarm reset operation When the content of alarm is resolved with no further problems the occurred alarm is no longer displayed Even if the reset is made if the action taken is not sufficient or other error occuts the drive continuously displays the alarm content How to operate Refer to the flow chart below and operate Servo OFF Flow Chart of Alarm Reset Execution i LI tatus Display M ar Status Display Mode ci j i m Select operation mode with the lt p MODE SET key noooon Port LILI Make run 08 by using the direction Vy Loe Pout LILI Prepare the alarm reset execution by a pressing the ENTER key 0 C G D CE Al rSk Completion Operate the alarm reset by pressing the MODE SET key mane Complete the operation by pressing the Jh ENTER key Completion rm ri Put LILI CSD5 Servo Drive 7 50 Applications CSD5 Servo Drive Alarm Reset by Sequence Input lt A RST gt Signal There is another way to reset the alarm by using the sequence input signal lt A RST gt Refer to The Chapter 5 1 page Sequence I O Input Output Signal NOTE Chapter 8 describes the detailed content relating to servo alarm Also the history of alarm occurred from the beginning to this point can be inquired through the monitor mode Refer to The 7 52 page Mon
75. information about practices or circumstances which may lead to serious personal injury or death properity damage or economic loss Wea Ge Identifies information that is critical for successful application and understanding of the product CAUTION ldnetifies information about proctives or circumstances that can lead to minor personal injury properity damage ecconomic loss or product malfuntion However depending on the situraiton failutre to follow the directions accompanying this symbol may also lead to serious consequences a Summary of Change You will see change bars to the left or right of a paragraph throughout this manual to help you quickly indentify revisions Manual Date Revision A N A Jun 2011 CSD5 Servo Drive SOC 2 Summary of Change CSD5 Servo Drive Summary of Change Preface Before Using the CSD5 Servo Drive Installation Wiring Table Of Contents Who Should Use This Manali 2 i320 0 eawederdw anda ag aeeeateeis P 1 About Apical Neat ONs iens r a gah ad Sd ate ethos P 1 Additonal RESOUICES 44 ony ania hos LEEA E ane eee eee P 1 Conventions Used in This Manual ssseuasananaan euena P 1 Table tor Parimet Set aa a E E T P 2 LONDO lOO Erap A E aware E E E E A TOT P 3 Notation DesenpuOns erre TAE adem dior Mae eee S T P 3 Manual Descn pion Order nc atan ne at aden done ooh emcee ean d t P 5 DING ip sat ch apd dh le Gao eects ee ans ate tee Sie sects ware en te P 5 Salety Pr
76. input Before activating the drive turn on the main power Check the regenerative circuit Adjust the motion profile and keep the regeneration resistance within the limit Replace the regenerative transistor Replace the drive Confirm the input value CSD5 Servo Drive 8 6 Inspection and Protection Functions Table 8 4 Servo Alarm Types Alarm Code BARRE BREA IE Home Searching Failed EDIB Eou5Fd Motor Over Speed 9A8EnEBESEE Over the Position Error Limit Efe e EConol Motor Continuous Current Overload Bgedecledeuot Drive Overload BARES BABB Sl Absolute Position Transfer Timeout Ege EnotHn Homing Incomplete EbeercjbEnbd Encoder Date Range Error EDIO EEnLaP Encoder Cable Open CSD5 Servo Drive Homing is incomplete within the time assigned in Homing Time Limit IN 01 11 Motor speed exceeds the maximum Occurs when the position error exceeds the allowed value Occurs when the internal filter that protects the motor from overheating trips Occurs when the drive average current exceeding the rated capacity is needed for the motion application ABS DT input is not turned on within 5s from Absolute Position Transfer Ready On during Absolute Position Transfer Mode using photo coupler output ABS DT input is not turned off within 5s from Absolute Position Transfer Ready Off during Absolute
77. is 2048 x 4 x 5 so that setting value is 40960 Electronic Gear Setting Denominator Electronic gear setting denominator parameter CSD5 Servo Drive 5 22 Function for Control Mode CSD5 Servo Drive Rotate the pulley of the final mechanical part once with the 1570 pulses from the host controller In this case the linear moving distance of the final load per pulse from host controller is 100 um Load Movement Amount per l 3 14 x 50 e G ee 1570 Movement Amont by 1 Pulse 100 from the Host Controller You can enter the numerator and denominator by reduction of fraction as the following Electronic Gear Setting Numerator Ft 3 01 40960 4096 Electronic Gear Setting 1570 157 Denominator Ft 3 02 Example 3 of Electronic Gear Setting The following explains the electronic gear setting when it is a turn table load with the reduction ratio Desired rotation destance per one pulse Rotation from host controller 0 1 Load Rotates once when motro rotates three times Redunction Ratio 3 Let s suppose the distance we want to rotate per command pulse from the host controller is 0 1 Let s suppose that the number of pulse of the encoder 2048 pulse Resolution 8192 and the reduction ratio is 3 Electronic Gear Setting Numerator Electronic gear setting numerator parameter Function for Control Mode 5 23 Electronic gear setting numerator parameter is as follows P
78. is converted Set the below parameter to convert the direction of output pulse Parameter Name Encoder Output Pulse Direction Description Set the direction of output pulse Applications 7 25 Setting Value e 0 In forward rotation the encoder output A phase have a lead of 90 over A phase 90 of phase Encoder Ouput A D gt JL Encoder Ouput B _ fai e 1 In forward rotation the encoder output A phase have a lead of 90 over B phase 90 of phase Encoder Ouput A gt he tak Encoder Ouput B E Initial Value 0 Applicable Mode All Other Servi OFF gt Setting gt End Pulse Dividing Circuit Overview Servo drive may adjust the number of pulse of encoder through the dividing circuit function before outputting to the host controller through the input received from the encoder Adjustment calculation formula for pulse number The number of output pulse is adjusted by the formula below Ft 3 03 Ft 3 04 xX Number of Encoder Pulse Ouput to Host Controller When the type of encoder connected to the drive is outputted 2048 pulses per 1 revolution and output 1000 pulses per 1 revolution with the host controller 1000 2048 x2048 1000 Servo drive receives 2048 pulse per 1 revolution from the encoder but outputs 1000 pulse to the host controller CSD5 Servo Drive 7 26 Applications Encorder OUL CSD5 Servo Drive Input gt Motor Servo Dri
79. lt V LMT gt function allocate lt V LMT gt signal with reference to sequence input output signal in the 5 1 page Sequence I O Input Output Signal Speed limit detection lt V LMT gt output is ON when the following conditions are satisfied Rotation Speed Setting value of Ft 2 12 V LMT Output CSD5 Servo Drive 5 42 Function for Control Mode CSD5 Servo Drive Initial value of speed limit is automatically set as maximum speed of set motor at the same time when motor type is set in the basic setting in the 4 12 page Basic Setting set speed limit Ft 2 12 to maximum speed of motor if there is no excessive load If the set value is too small response performance is reduced Except the speed limit method by setting of speed limit Ft 2 12 you can also limit the speed by the command from the host controller Among two methods you can select where to limit speed by speed limit selection Ft 2 13 If you do not select the method by Ft 2 12 in speed limit selection Ft 2 13 setting value of speed limit Ft 2 12 becomes invalid For details on speed limit refer to the 7 21 page Speed Limiting Function Function for Control Mode 5 43 Torque Control Mode Overview The torque control mode is used to control the tension or the pressure of the mechanical part by using the servo drive Enter the voltage related to the desired torque from the host controller
80. mode Function for Control Mode 5 45 Host controller outputs the voltage command of the analog type 10 V 10 V External Torque Command Gain Setting Set the relationship between the analog voltage value and torque command value to the parameter below Parameter Parameter Name External Torque Command Input Gain Description Set the gain of torque command value related to analog voltage 1 V Setting Value 0 0 1000 Initial Value 333 Unit 10 V Applicable Mode C Others Servo OFF gt Setting gt End Speed command is given according to the following relationship Setting Valueof X Input Voltage X Rated Torque 10 Torque Therefore according to the Initial value when the input voltage is 3 V 100 0 torque that is rated torque of motor occurs In addition when input voltage is 9 V 300 torque that is maximum torque of motor occurs Rated torque and maximum torque can be different according to motor type CSD5 Servo Drive 5 46 Function for Control Mode CSD5 Servo Drive Torque Command Setting Value as when Delivered 300 200 4 100 a x Analog Input Voltage V 910 Maximum allowable torque command is DC 10 V to 10 V Lf the input reference voltage is changed the torque command can be changed together If you want a precise torque adjustment it is recommended to use multi t
81. not more than 5000 rms symmetrical amperes 240 Volts maximum Suitable for use on a circuit capable of delivering not more than 100 000 rms symmetrical amperes 240 Volts maximum when protected by high interrupt capacity current limiting fuses UL248 Class CC G J L R T Utilizes solid state motor overload protection which operates e within 8 minutes at 200 overload e within 20 seconds at 600 overload Protective ground conductor terminal UL listed to U S and Canadian safety standards UL 508C File E226834 CE marked for all applicable directives 200 240V lor3 phase 50 or 60 Hz 6 25 A 3 phase 10 82 A 1 phase 200 240V 1 phase 50 or 60 Hz 200 240V 3 phase 50 or 60 Hz 8 75 A 12 37 A 22 6A 2 power cycle 1 minute interval CSD5 Servo Dirve C 2 Specification and Exterior Size Drive CSD5 DC Bus Discharge Time 5 minutes after removal of main AC power Main Input Power Nominal Input Voltage 200 240V 1 phase 50 or 60 Hz Vrms Input Current Ams O 1A Maximum Inrush Current 31 A O peak Inverter Output Continuous Output Current A ms Intermittent Output 2 A 4 A 7 21 A 14 0 A Ga 21A 70 A 41 99 A Current 0 peak Continuous Output a VA niall VA 460 VA 890 VA alll VA eal VA 2670 VA Power 240 Vic Power Dissipation Maximum Power 50 W 50 W 50 W 50 W 100 W 150 W Dissipation 30 W3 70 W 70 W 1 Nominal values are listed Absolute range is 170 to
82. of the host controller SIGN SIGN High Frequency HF_PULSE _ Connect the high frequency pulse input to this terminal Pulse Command Line Drive less than 3 Mpps HF_PULSE HF_SIGN HF_SIGN Open Collector 24 24V_PULSE For Open Collector 24 V pulse input connect to this V Pulse terminal without a pull up resistance Command PULS 24V_SIGN SIGN Speed Command VCMD Receives analog speed command Input 10 V 10 V VCMD Torque Command ICMD Receives analog torque command Input CND 10 V 10 V CSD5 Servo Drive Wiring 3 13 I O Output Signal Sequence Output Signal Allocation Refer to the 5 1 page Sequence I O Input Output Signal for details of sequence output signal Table 3 7 I O Sequence Output Signal lt S_ALM gt Alarm Outputs when Servo Alarm sets off 8 5 page lt P COM gt Position Turns to ON when the position error is within the set value of F I 5 28 page Completion Detection the position completion range Ft 5 00 lt NEAR 4 gt Position Turns to ON when the position error is within the set value of F I 5 28 page Proximity Detection the position completion range Ft 5 02 lt V COM 4 gt Speed Turns to ON when the deviation between the speed command F S P I 5 38 page Match Detection and the motor rotation speed is within the set value of the speed match decision range Ft 5 03 lt TG ON 4 gt Rotation Tur
83. operator for various settings Describes brief functions of the product Describes the basic settings that users should set Describes the fucntion of the product for each control modes Describes the tuning to implement optimum performance of load system 10 Describes simple supplementary functions 11 Describes the protective function fault diagnosis and troubleshooting 12 Describes items corresponding to various numerical data in the Others Appendix Each chapter or paragraph has a page called before you begin before description For easier understanding of this manual be fully aware of the contents of this page called before you begin in advance CSD5 Servo Drive P 6 Preface Safety Precautions CSD5 Servo Drive This is CSD5 User Manual describes safety matters using the following marks Safety marks deals with the important matters If the following marks and contents of each mark are indicated in the contents of this user s manual you must be fully aware of them and follow them Usage CAUTION WARNING Storage WARNING Transportation WARNING A Do not touch the inside of servo drive Make sure that the servo drive and the motor are fully grounded Completely discharged before handling after power off Do not put excessive stress on the motor power and encoder cable Never touch the revolving part of the motor during operation
84. parameters Ft 3 01 and Ft 3 02 0 Change electronic gear parameters only when Servo OFF 1 Change electronic gear parameters no matter what Servo OFF or Servo ON 0 F Servo OFF gt Setting gt End The Second Group of Electronic Gear lt GEAR gt Input When the electronic gear ratio needs to be changed in position control mode the lt GEAR gt input can be used to switch from the first group of gear parameters to the second group of electronic gear parameters in Ft 3 01 and Ft 3 02 When the lt GEAR gt input is OFF the first group of electronic gear parameters in Ft 3 01 and Ft 3 02 will be used The Details of the newly added second group of electronic gear parameters are shown below Parameter Parameter Name Description Setting Value Initial Value Unit Applicable Mode Others Parameter Parameter Name Description Setting Value Initial Value Second electronic gear setting numerator Pulse of Encoder x 4 Resolution x Deceleration Ratio 1 65535 4 pulse F Servo OFF gt Setting gt End Second electronic gear setting denominator The number of position command pulses from a controller necessary to turn load axis one revolution 1 65535 1 CSD5 Servo Drive 5 28 Function for Control Mode CSD5 Servo Drive Unit pulse Applicable F Mode Others Servo OFF gt Setting gt End CAUTION If the gear ratio is changed frequently or if the change in ge
85. servo drive in wiring and noise Precautions Electric Circuit Use a thick wire as earth wire if possible Class 3 grounding is recommended Recommendation grounding resistance lower than 100 2 Only 1 point must be grounded Select ground phase and ground point considering the power conditions of installation area If the power is supplied by the ground phase wire it so that L2 of AC main power input terminal L1 L2 and L3 becomes the ground phase Use noise filter for the main power and control power Electric circuit wiring and signal circuit wiring should be apart as much as possible 30 cm or more Do not use same power with the electric ARC welding machine or discharge processor equipment he earth wire of the servo motor must be connected to the grounding terminal of the drive In addition ground the grounding terminal of the drive Lf the wiring is inside the metal pipe ground the pipe with class 1 grounding Signal Circuit The host controller should be installed as closely as possible to the drive and the noise filter must be used I O O signal connector and Motor Feedback encoder cable should be twist pair wire and batch shield wire Note that the signal circuit wire is very thin thus pay attention when handling it Lf the noise is generated at command input cable ground 0 V line SG of the input line before the usage CSD5 Servo Dri
86. set in this parameter the speed controller changes from PI type to P type Range 0 3000 Initial Value 100 Unit If Ft 1 17 1 units are of rated continuous current If Ft 1 17 2 units are RPM for rotary motors units are mm sec for linear motors If Ft 1 17 3 units are Counts Applicable Operating F S P Mode When Enabled Immediately CSD5 Servo Drive B 32 Parameter Group Description Range Initial Value Unit Applicable Operating Mode When Enabled Description Range Initial Value Unit Applicable Operating Mode When Enabled Description Range Initial Value Applicable Operating Mode When Enabled CSD5 Servo Drive Position Regulator High Error Output Offset RS Ware Drive Tuning Main Position Regulator Gains High Error Output Offset In order to shorten the position decision time if the position tolerance is larger than the value of Ft 1 20 a speed bias equal to the value set here is applied 0 450 0 Rotary RPM Linear mm sec All Immediately Position Regulator High Error Output Threshold RS Ware Drive Tuning Main Position Regulator Gains High Error Output Threshold Ft 1 19 Speed bias value Position error standard value input to the speed controller 0 50000 1000 pulse All Immediately Current Regulator Bandwidth Reduction Scale RSWare Drive Tuning Main Current Regulator Gains Gain Current co
87. speed mode tS Others normally as described in an example of automobile the driver cannot manipulate parking brake of a running automobile and the servo drive also should be divided into Servo ON status and Servo OFF status when setting the parameter Others Description Setting gt End Set regardless of the drive status Servo OFF gt Setting gt End Set it in Servo OFF status Servo OFF gt Setting gt Power Off amp Set it in Serve OFF status and apply the power On gt End again Terminology The following describes terminologies used in this manual servo Drive or Drive Refer to the CSD5 Servo Drive servo Motor or Motor Refer to the servo motor exclusively for the CSD5 drive Host Controller Refers to a controller or a device that gives command to the drive and controls it Initial Value Refer to the value set at the factory before the shipment setting Value Refers to the initial value or the value changed and set by the users User s Manual Simply indicated as manual Notation Description Within the sentences of this manual the following is expressed as shown below Be fully aware of them when using the servo drive 1 Use in front of Active Low signal CSD5 Servo Drive P 4 Preface 2 A figure box with both the top corners cut off diagonally represents a circuit diagram If I O for I O signal or a connector attached to the servo driver is on th
88. the Inertia Ratio is determined by the following formula Load Inertia Inertia Ratio Motor Rotor Inertia Setting Parameter Set the Inertia Ratio to the following parameter Parameter Parameter Name Inertia Ratio Descirption It can be automatically set by off line auto tuning function in the 7 44 H O Al 2 2z cel 2E Fa 2M run 01 Setting Value 0 00 60 00 Initial Value 1 00 Tuning by Gain Setting 6 5 Gain Setting Configuration Unit Times Applicable Mode All Others Setting gt End MPORTANT Based on the motor type and the rated output the maximum allowed inertia ratio is as below When the allowed inertia ratio exceeds the maximum you cannot expect a fast response Motor Maximum Allowble Inertia Rotation CSMT R 30 Times RSMQ Z less 1 kW 20 Times 10 Times RSMS D H F K L All 10 Times Inertia Ratio and Gain If the Inertia Ratio is adjusted by certain reason it automatically changes the following two basic gains at the same time with the adjustment Therefore the Inertia Ratio setting means gain setting so that you should be careful when adjusting or setting the Inertia Ratio Two basic gains that are changed according to the adjustment of Inertia Ratio 10000 60000 60 26 0 0 Fe tie FES463 Speed Loop Positon Loop Integration Gain Proportaion Gain Nmg Nms2 This chapter explains the overall configuration Position Speed and Torque related to t
89. the brake is released before servo ON or simultaneously the vertical load will immediately fall The drive has to be servo on first and to prevent the fall of the vertical load then release the brake This setting is used to secure the time from the servo drive becomes servo ON to the release of the motor brake Brake release standby time 0 10000 Servo OFF gt Setting gt End SV ON command of the Host Controller D gt SV ON command excution of the Servo Motor Brake OFF OFF 400 ms Fixed E G Setting Time on Ft 5 06 ON ON Operatin Released CSD5 Servo Drive 7 8 Applications Parameter Parameter Name Description Setting Value Initial Value Unit Applicable Mode Others Parameter Parameter Name Description Setting Value Initial Value Unit Applicable Mode Others CSD5 Servo Drive Servo OFF Delay Time Set Servo OFF dely time The time between the receiving the servo off command from the host controller to the actual servo off by the drive can be set This setting is used in securing the time for operating the motor brake while the host controller commanded the servo off Motor Brake gt Released ere peratin Servo OFF Dealy SV ON Command of Time the Servo Drive D gt ON OFF 0 10000 Serve OFF gt Setting gt End Waiting Time When Outputting Bra
90. the home sensor and markers When the home searching begins the motor moves to homing direction IN01 01 with homing velocity IN01 02 until detecting the homing sensor At this point the motor decelerates and stops it starts moving reversly with the creep velocity IN01 03 When it hits the first marker after losing the sional input from the home sensor the deceleration stops and it returns to the position where it detected the active going edge of the first marker Creep Velocity Home Type 2 Return to Limit Marker Homing Type 2 uses the limit sensor or and markers Only the limit sensor installed in the homing direction is used and the hardware limit fault is deactivated Operating principles are same as Homing Type 1 The only difference is that it uses the limit sensor instead of the home sensor CSD5 Servo Drive E 22 I O Setting and Indexing Creep Velocity Velocity Homing Sensor Maker CSD5 Servo Drive Homing Type 3 Forward to Homing Sensor Marker Similar to the Homing Type 1 the Homing Type 3 also uses the homing sensor and markers to define Home However the mechanism is different When the home sensor is detected the speed decelerates to the creep velocity and maintains until the active going edge is detected After it decelerates again and stops it moves reversly to the position where the active going edge was detected Creep Velocity Honing Velocity Homing Type 4 Forw
91. the input types of the host controller The servo drive supports three types of input CSD5 Servo Drive 5 12 Function for Control Mode When It is Line Drive Output Maximum allowable frequency e For the line drive output 900 kpps e For the high speed line drive output 3 Mpps Line Drive Pulse Input Pulse Input Following circuit shows above figure Line Dirve Corresponding SN75174 l i HF_PULS High Speed Line Drive Pulse Input Pulse Input E P HF_PULS HF_SIGN 4 CSD5 Servo Drive Function for Control Mode 5 13 When It is Open Collector Output Maximum allowable frequency 250 kpps Open Collector 5 V 12 V open collectors connect the external resistance R1 in the middle of the general line drive input Pin No 11 12 13 and 14 For the 24 V open collector directly connect it to Pulse Pin No 49 12 Sign Pin No 25 14 without the pull up resistance R1 IMPORTANT Caution is needed on the highest allowed frequency When the duty ratio for Pulse is 50 50 For the general line drive input 900 kpps For the high speed line drive input 3 Mpps For the open collector input 250 kpps Cautions In the figure above when it is open collector method and TR1 of host controller is ON the servo drive identifies as low level input logic and if TR1 is OFF the servo drive identifies as high level input logic In addition set the Pull Up resistor R1 v
92. the operation range while running the load system may be damaged To respond to this situation the sensor is installed at the edge of the operation range as shown in the figure below to prevent the damages to the load system Allow the operation within the range so that the loading does not reach the sensor during the operation The servo drive stops the motor to protect the load system when the signal from the sensor occurs due to the loading exceeding the operation range by a certain error At this time the signal occurring in forward rotation of the motor is called lt P OT gt signal and the sional occurring in reverse rotation is called lt N OT gt signal Signal Occurrence in Forward Operation m P OT S equence Input Signal Limit Sensor Signal Occurrence in Reverse Operation E gt N OT o Loadin lt Forward Operation Reverse E gt Rotation Prohibition Signal In Over Travel Occurrence The rotation prohibition signal in overtravel occurrence is the sequence input sional and is classified as below Display Signal Name Description lt P OT gt Prohibit forward operation Signal occurs during forward operation lt N OT gt Prohibit reverse operation Signal occurs during reverse operation Overtravel Signal Input lt P OT gt and lt N OT gt are the sequence input signals In order to use the lt P
93. the precautions when setting the time in Servo ON and Servo OFF As shown on the right column if the brake operates after the actual servo off is completed it will temporarily be descended by the gravity in case of vertical load As shown on the left column lowering of the load is prevented by operating the motor brake early before the actual Servo OFF In order to prevent the fall by the gravity set the time properly CSD5 Servo Drive 7 10 Applications O X Servo OFF Delay Brake Ouput Standbay Servo OFF Delay Brake Ouput Standbay EE mE G g gt lt CE JUL ISV ON command of SV ON command of the Servo Drive gt ON OFF the Servo Drive D gt ON OFF SV ON command V ON command Excution Excution of iy ON OFF of gt ON OFF Motor Brake L Motor Brake Released Operatin gt Released Operatin Brake signal is outputted according to the priority among Ft 5 08 and Ft 5 09 Other Even when the brake attached to the motor is not used a separate brake may be manufactured and installed by the user When controlling the extra manufactured brake it can be controlled by the signal from the servo drive NOTE Sequence output signal lt BK gt that is to control the motor brake is allocated at the time of the shipment When not using the motor brake allocate and use other output signal needed The detailed contents on
94. tuning Verify the sequential timing of Absolute Position Transfer Ready amp ABS DT Absolute Position Transfer Mode input Verify continuity of I O cable and connector detection Check the wiring of the encoder Inspection and Protection Functions 8 7 Table 8 4 Servo Alarm Types Alarm Code EgJ seep Pe Papal fed ada t ahd sh Encoder Date Parameter Error EDJ Edruot Drive Overheating 8889A EBEBER AC line Loss E8590 ERE REE User Parameter Initialization Error EGSYEciEoFSEE Current Feedback Offset 6055505 EE855E User Parameter Checksum EERDER Watchdog Timeout ES Ie BHRARE PWM Hardware Error EObO Edinlt Drive Initialization Error pang nooo BOAR CrE SAB GE Regenerative Overload Protection Occurs when the encoder is not properly programmed Occurs when the memory of the encoder is damaged Occurs when the drive overheats Occurs when the power is low Attempted to activate the drive without turning on the main power A phase is not connected The alarm delay parameter is set too short An error exists in the parameter saved in the memory Defective Hardware Checksum Error Excessive System Noise a Defective Hardware Defective Hardware Parameter range is invalid Hardware Error Exceeds the value allowed by the voltage of the regeneration resistance Regene
95. used Noise Protection The high speed switching device and microprocessor are used at the main circuit of the servo drive Thus switching noise is affected by the connection and grounding methods Use the proper wiring and grounding method to prevent any affects from the noise CAUTION Use a wire of 3 5 mm7 or thicker for the earth wire Separate the signal and power wiring CSD5 Servo Drive 3 30 Wiring CSD5 Servo Drive 3 Phase AC 200 240 V lt 50 60 LINE FILTER 1 T LINE e JP e e ar 2 Ee ee eee Ralay Sequence Circuit Signal Generating p L2 I O pbs E L1C OL a 7 ha Z V W Z ywywewywy wy Os 62 J One Point Grounding Parth Grounding D lt Class 3 Grounding or Higher gt Extra caution is required when wiring the noise filter The following figure describes precautions when wiring the noise filter If the wiring is wrong the performance of the noise filter falls Wiring 3 31 Separate the input and output wiring of the noise filter and do not tie up them together Primary and Secondary Secondary Interference O Primary Secondary Primary Secondary FILTER 3 J pina Secondar 22 Separation of Separation of Earth wire of the noise filter should be wired in distance to the output wire and do not put other signal lines and earth wire in a same duct a
96. 0 tpm V Input Voltage V Therefore If input voltage 6 V according to initial value motor rotates 3000 rpm as the rated speed of motor If input voltage 10 V motor rotates 5000 rpm as the maximum speed of motot Function for Control Mode 5 35 Maximum allowable voltage of speed command input is DC 10 V to 10 V If analog speed command voltage is more than the maximum speed of set motor over speed command servo warning OSC occurs Motor can rotate even though the speed command is not output or the host controller inputs speed command as 0 V It is because of the voltage offset between the host controller and the drive he rotation of the motor can be prevented by offset using the automatic adjustment of speed command offset Run 03 Refer to the 7 41 page Operation Mode Function For the automatic manual adjustment of the speed command offset In addition the rotation of motor can be prevented using the zero clamp function in the 5 35 page Zero Clamp lt Z CLP gt Input Zero Clamp lt Z CLP gt Input Even though the analog speed command of the host controller is 0 V some offset voltage can exist in servo drive input resulting in slow rotation of the motor In this case prevent the subtle rotation of motor according to offset voltage using the zero clamp function lt Z CLP gt is a sequence input signal To use lt Z CLP gt function allocate lt Z
97. 000 Initial Value 20 Unit rpm Applicable Mode All Others Setting gt End Sequence output lt TG ON gt signal is output as shown below Rotation Speed N a Actual F 5 04 Seeting Value we Time 0 TG ON Output mp or o fe TIP If you set ration detection level Ft 5 04 too low lt TG ON gt signal can be output even with small vibration Function for Control Mode 5 41 Speed Limit Function and Speed Limit Detection lt V LMT gt Output You can limit the speed of servo motor within a set speed in order to avoid the excessive operation of the load Initial value is limited to 5000 rpm and you can change the speed limit according to the parameter setting below Set speed level that you want to limit to the parameter below Parameter Parameter Name Speed Limit Description It limits the rotation speed of motor to keep below the speed of set value Setting Value 1 6000 Initial Value 5000 Unit rpm Applicable Mode F S P Others Servo OFF gt Setting gt End Even though you set the speed limit Ft 2 12 as 1500 rpm and send analog speed command related to 1500 rpm from the host controller servo motor runs in 1000 rpm On this occasion if the speed of motor reaches to speed limit as allocating sequence output function speed limit detection lt V LMT gt you can generate lt V LMT gt signal to the allocated output pin lt V LMT gt is sequence output signal To use
98. 000 msec The default is 0 CSD5 Servo Drive E 28 T O Setting and Indexing S W Limit Dwell Time CSD5 Servo Drive User can set limit and in random position The operating principles of S W are same as that of H W limit When the system moves passing the S W limit the alarm goes off and the motor stops according to the overtravel stop method S W limit operates when IN00 04 is 1 When IN00 04 is 0 S W limit does not work S W limit does not work while homing S W Limit IN00 05 S W Limit IN00 06 Overtravel Stop Method Ft 0 02 7 segment digit 1 Dwell time is the time the drive stays in the target position after the motor reaches the position After it uses up the dwell time the drive waits for the next command or runs the next designated index Dwell time function works in all indexes all index types and all Action When Complete options Dwell time can be set in IN 07 00 63 The input range is 0 65 535 with the default at 0 Press ENTER for the Configuration Window Use the direction key to input a value between O 65 535 Press MODE SET key to save the setting I O Setting and Indexing E 29 RUN Servo Drive supports total 8 Run function run 00 12 s It does not support run 02 run 05 07 and run 09 In addition run O0 01 run 03 04 run 08 and run 10 12 provide the same existing functions The information for each Run function is as below Operation Mo
99. 15 05 The dis 04 and dis 05 are displayed each upper and lower digits 5 digits each total 10 digits separately by left and right key in case of overflowing count data i IC nc Position Error pulse oOrj7 uo mi Position Pulse Command kpps nwooo aDo Electronic Angle I wr Mechanical Angle Org ua Foo oe a i LI oe ation Loading Wala l DC Link Voltage V O 0 D 0 0 0 I IC 7 Multi rotation Data of OGO Absolute Encoder I IC 7 Speed Command Offset mV 0 0 i 0 0 I IC Lt Torque Command Offset mV Orgs 1 I IC IC Input amp Output Signal Confirmation 0 Ci D Ci Ci CSD5 Servo Drive 7 54 Applications Table 7 9 Monitor Mode Monitor Mode Item Unit When the sequence input amp output emergency stop and servo alarm signal are on the applicable displays of each position are lit Digital Inputs 1 10 foo 8 7 65 4 3 2 l i L Servo Alarm Digital Outputs 3 1 E Stop Not active Alarm Codes 3 1 Digital Outputs 6 4 Up to 8 Servo alarms are stored NOOO CIC Lr ta ILI The alarm that occurs most recently is the number 1 servo alarm occurrence Ifall 8 alarms are stored the alarm occurring thereafter is stored as number with the earliest alarm No 8 alarm is deleted Refer the Chapter 8 3 page Servo Warning Servo Alarm Content of the
100. 2 N1 value to 1 so the online vibration suppression gain could increase and use the higher value of Ft 1 07 Torque command filter than 1000 Hz to get a good result In the meantime Ft 1 22 N1 affects only when Ft 1 22 NO 1 CSD5 Servo Drive 6 14 Tuning by Gain Setting Manual Gain Setting Gain Setting Flowchart The following figure illustrates whole structure and procedure of Manual Gain Setting Flowchart of the Manual Gain Setting ayaa ma ega i Setting Range 0 00 60 00 Times T System Gain Ii i Inertia Range I i tig Hz ne 10000 10000 10000 60000 700 60 26 20 0 0 0 Pee Postion Loop Speed Loop Speed Loop Integration Gain Proportion Gain 1000 10000 0 0 rain IIC 1G be tS Vibration Postion FF Postion FF Gain Filter Suppression Filter Filter Hz Hz Hz 3000 50000 100 1000 0 0 0 Ce ti Fe teal Ft ig j peed Bias Speed Bias Standard pour hee P Contorl CSD5 Servo Drive Automatically set the inertia ratio and Vibration Suppression Filter by off line auto tuning Adjust to obtain the optimum tuning using the system gain Perform fine adjustment from each basic gain Perform fine adjustment from each applicable gain Use other functions for tuning vy Check the motion of the load system and if appropriate tuning is not done repeat the above steps Tuning by Gain Setting 6 1
101. 2 Applications Reneration Resister CSD5 Servo Drive Regeneration Resister Regeneration Energy When stopping the running motor the motor operates like a generator and the resulting energy is called the regeneration energy Regeneration Resistor The regeneration energy occurring when the motor is stopped is absorbed by the servo drive in some degree but if the energy exceeds the capacity a separate device is needed to consume the regeneration energy The regenerative resistor is mounted on the exterior of servo drive in order to consume the regeneration energy If there is excessive regeneration energy that causes the damage to the Servo Drive but the Servo Drive is equipped with the protective circuit to shield off such phenomenon Regeneration Energy Generating Condition When the speed is decelerating When the motor is continuously rotated by the strength of the load for example loading condition or When of operating the vertical axis loading Precaution Regenerative resistor equipped on the servo drive is designed to consume the regeneration energy in relatively short period of time such as in between the stops It is not appropriate to the case when the regeneration energy is generated too much like the cases of minus loading condition and vertical load that rotates the servo motor with the gravity However when the rated power of regenerative resistor that is calculated by referring to the Chapter
102. 3 N A 2147483647 pulse Distance 2147483647 Index 63 Position 5926 5927 N A 2147483647 pulse Distance 2147483647 Indexing Group 7 Index Dwell No Name Modubus Digit No Range Note Address Index 0 Dwell 6400 0 65535 mwah g Index 1 Dwell 6401 0 65535 annona Index 63 Dwell 6463 0 65535 ee ms CSD5 Servo Drive Parameter Group B 59 Indexing Gorup 8 Index Velocity No Name Modubus Digit No Range Note Address 7 nonn Index 0 Velocity 6600 0 6000 a des Motor rpm Linear rus D LILI Moise mm sec Index 1 Velocity 6601 0 6000 Rotary Motor I q i A H T rpm Linear Motor mm sec Index 63 Velocity 6663 N A 0 6000 750 Rotary Motor rpm Linear Motor mm sec Indexing Group 10 Index Acceleration No Name Modubus Digit No Range Note Address Index 0 Acceleration 7000 7001 1 2147483647 a Rotary Motor MMT 2 N IUL LI a mm sec Fur l Ft ILLL I Index 1 Acceleration 7002 7003 1 2147483647 6250 Rotary Motor 10 xRev sec Linear Motor mm sec Index 63 Acceleration 7126 7127 N A 1 2147483647 6250 Rotary Motor 10 xRev sec Linear Motor mm sec Indexing Gorup 11 Index Deceleration No Name Modubus Digit No Range lias Note Address Index 0 Deceleration 7200 7201 1 2147483647 a Rotary Motor f n l t g H 10 xRev sec Linear Motor mm sec Ind
103. 32768 1 All Servo Off gt Setting 2d Gear Ratio Follower Counts RSWare Drive Mode Configuration Follower 2 4 Gear Ratio Second Number e Numerator of 24 Gear Ratio e By using the electronic gear function the amount of motor rotation pr input command pulse can be set arbitrarily e The following relationship has to be satisfied No of pulses per 1 motor rotation x Reduction ratio x 4 Ft 3 02 e Maximum resolution 1 No of pulses per 1 motor rotation x Reduction ratio x 4 1 65535 4 F Servo Off gt Setting md Gear Ratio Master Counts RSWare Drive Mode Configuration Follower 2 Gear Ratio First Number Denominator of 2 Gear Ratio 1 65535 1 F CSD5 Servo Drive B 48 Parameter Group When Enabled Servo Off gt Setting Reserved Parameter Reserved Description Reserved Range Reserved Initial Value Reserved Unit Reserved Applicable Operating Reserved Mode Digital Filter Cut off Frequency RSWare Drive Mode Configuration Follower Digital Filter Cut off Frequency Digit 0 Low Drive Input RSWare Drive Mode Configuration Follower Digital Filter Cut off Frequency Low Speed Line Driver Input Range RSWare Name i N Initial Value 3 Applicable Operating F Mode Digit 1 Open Collector Input RSWare Drive Mode Configuration Follower Digital Filter Cut off Frequency Open Collector Input Range RSWare Name CS
104. 4 23 Start up 2 Start Up the Drive by Changing the Speed Start up the drive by changing the speed from the initial value 50 rpm to 1000 rpm The change of Jog operation speed should be done at Ft 2 01 The speed set here is not related to other operation and applied only upon the Jog operation Setting range is O to 6000 rpm Initial value is 50 rpm Change the Jog operation speed by according to the following flowchart Flowchart of the Jog Operation Speed Change Status Display Mode For dy Select parameter setting ty mode by MODE SET key OG ss 7 Create Ft 2 01 by Direction key 7 LE SZ Press ENTER and enter into the Setting Window a0 Create 1000 rpm by Direction key Ls Press MODE SET key to save Blink Press ENTER to Exit End If setting is wrong the setting window does not blink when saving it by pressing the MODE SET key If setting is completed normally retry the Jog operation run 00 You can see that the speed is changed from 50 rpm to 1000 rpm TIP At first the drive is not tuned suitable for the load or motor Upon startup first perform off line auto tuning run 01 described in the 7 44 page Off line Auto Tuning Operation run 01 then startup the drive to run the motor more smoothly in a stable condition CSD5 Servo Drive 4 24 Operator Basic Setting and Startup CSD5 Servo Drive Sequence I
105. 5 Basic Gain Setting The following explains five Basic Gain Settings for Tuning Basic Gain Setting by System Gain and Inertia Ratio Firstly execute the Off line Auto Tuning for automatic setting of Inertia Ratio Ft 0 04 Set system gain to optimum Tuning level If vibration noise occurs in load system reduce tuning level to prevent vibration noise Adjust in each basic gain in detail If the tuning is not sufficient set again from the Off line Auto Tuning The following figure illustrates the flowchart that Inertia Ratio and system gain set basic gain as being interlocked Adjust to make the optimum tuning as making Inertia Ratio and system gain refer to each other whenever Inertia Ratio is changed or the system gain is adjusted CSD5 Servo Drive 6 16 Tuning by Gain Setting CSD5 Servo Drive lt Adjust to obtain optimum tuning for the load gt Realizes the optimum tuning 10000 60 0 ceon Off line Auto Tuning lt Direct input by user gt lt Direct input by user gt When the off line auto tuning in the chapter 7 is performed the inertia ratio of the currnet load system is set automatically in Ft 0 04 Flowchart of the Basic Gain Setting I 5 basic gains are set automatically g Setting from each basic gain is possible Postion Loop Proportion Gai 5 basic gains are set for the system gain 2 basic gains are set for the inertia ratio
106. 7 14 page Regenerative Resistor Selection Standard is smaller than the regenerative resistor attached at the time of shipment the internal regenerative resistor can be used as is without any special actions Applications 7 13 Acceleration and Constant Speed Deceleration Speed Speed 0 ze Time 0 lime a a Regenerate Regeneration Resister T n LE Specification of Regenerative Resistor Mounted on the Drive The allowable power is 25 of the rated power of the regenerative resistor mounted on the drive But it is 50 when using a cooling fan Table 7 1 Specification of regenerative resistor mounted on the drive Servo Drive Resistance Rated Power Allowble Cooling Fan Q W Power W e wm p p p p ow m o o wo p p gt p sw fd p External Regenerative Resistor The regenerative resistor that the user connects to the outside for load is called external regenerative resistor The following is the description when using the external regenerative resistor CSD5 Servo Drive
107. AULT 3 OUTPUT 6 sa NUTNO A By rowoucon gt Analog Alarm Code l PUTA P CON E Rez ane GND 24V Active i 4 s Low High ss PUTS A RST 74 ISZ I 30 AM Programmable 5 NPUTA N t e fiy l 4 atl Digital Input _Nrurie n 9 poh Il P 2 aM r Encoder Division l NUB Aya 3 Output O O i M o PUTS 27 AYy P 4 mM a PRYK y 35 i SO BYEK i w 3 Absolute Postion t a E Serial Output E STOP Jo Ayx wps Ja 2k mH Ut A Encoder P PULS 1 o BEE ee xus J Marker Pulse 45 PULS 2 ysK mM T f P Alarm Output Postion mv SN J5 2 Baad 8 raul SIGN 3 1500 x T sen 4 e ie oy we a f outi J umu gt 24 V High Postion our 4 Programmable Digital mane ovum Output ou S Speed Command Torque Command TIP Whether to use the emergency stop input can be set by the parameter Ft 0 05 the initial value is set as not to use Multi Step Speed Command Setting Multi step speed control mode does not have external signal input pin for each control mode unlike position speed and torque control mode and can be CSD5 Servo Drive 5 54 Function for Control Mode operated only by sequence input Therefore sequence input signal has input sional that is exclusive for multi step control mode and exclusive input signals are as follows C DIR C SP1 sJ G SPZ C SP3 C SP4 lt C DIR gt It is input signal to determine rotation direction of
108. Creep INO1 0 N A Creep Velocity Velocity 3 When an incremental motor is used the position feedback is set to 0 when the homing operation is complete when Offset is 0 The alarm goes off when a user tries indexing while the homing operation is incomplete i e HOMC Axis Homing is not activated Refer to the Index E 30 page Axis not homed for more information about Fault CAUTION When an aboluste motor is used the position feedback is set to 0 even when the Homing is complete and the multi rotation data of the absolute encoder is not reset The multi rotation data of an abolute motor is not automatically CAUTION gt j reset It can be reset only by a user A homing type that uses a sensor for homing does not CAUTION a complete a homing if the homing starts outside the sensor N Limit Sensor Home P Limit CSD5 Servo Drive I O Setting and Indexing E 21 Homing types The Index supports 9 homing types by using homing sensor limit sensor stopper and marker Homing Type 0 Return to current position Homing type 0 does not allow home searching If you set the automatic start homing to 0 when you activate IN01 01 CDS5 Servo Drive defines the current position as home when the drive is activated If you set the automatic start homing to 1 when you activate INO1 01 SHOM s position is set as home Homing Type 1 Return to Home Sensor Marker Default Homing Type 1 defines home by using
109. D5 Servo Drive Function for Control Mode 5 31 Output Width of Allowable Position Error Set allowable position error limit ames Parameter Name Output width of allowable position error Description If position error is bigger than setting value the position error overflow servo alarm E PoSEr occurs Setting Value 0 2147483647 Initial Value 99999 Unit pulse Applicable Mode F Others Setting gt End Input Output Signal Timing Diagram The figure below is a timing diagram of Input Output signal in position control mode Servo ON Command of Host D OFF ON OFF Servo On Operation by the Drive D __ T1 T2 Postion Command Sign Input Position Command Pulse Input D 13 Position Command Phase A B Position Command Phase B P COM Output p ON OFF oo T4 ON OFF _ T5 T1 CSD5 Servo Drive 5 32 Function for Control Mode Speed Control Mode CSD5 Servo Drive Overview The speed control mode is used to control the speed as inputting speed command of analogue voltage type that is generated by the host controller to servo drive even if the position control loop is formed in the host controller or not In order to operate servo drive in speed control mode connect the analog speed command to the related input pin and set as the following Flowchart for the Speed Contorl Mode Operation Select sequence I O function a
110. D5 Servo Drive Initial Value Applicable Operating Mode Digit 2 Range Initial Value Parameter Group B 49 F High Frequency Line Drive Input RSWare Drive Mode Configuration Follower Digital Filter Cut off Frequency High Speed Line Driver Input Value RS Ware Name 3 000 1 750 1 500 1 000 0 750 0 625 0 562 0 525 Description 3 000 MHz 1 750 MHz 1 500 MHz 1 000 MHz 0 750 MHz 0 625 MHz 0 562 MHz 0 525 MHz Applicable Operating F Mode When Enabled Servo Off gt Setting Standard Group 4 Description Range Initial Value Unit Applicable Operating Mode When Enabled Description Range Initial Value Unit Applicable Operating Mode Current Scale RSWare Drive Mode Configuration Analog Current Scale e Set the speed command value for I V on the analog torque command input pin pin 21 22 of I O e Torque command Ft 4 00 V x input voltage V 0 1000 333 of rated continuous current V 10 C Servo Off gt Setting Positive Internal Current Limit RSWare Drive Current Limits Positive Internal Limits forward and reverse direction torque on motor separately internally limited 0 500 300 of motor rated continuous current All CSD5 Servo Drive B 50 Parameter Group Description Range Initial Value Unit Applicable Operating Mode When Enabled CSD5 Servo Drive When Enabled Immediately Descript
111. Digital Inputs 0 B Where 0 is Off B is On and 1 A are digital input 4 digits Unmapped IO Status RSWare Name Position Strobe OFF Position Strobe ABS DT OFF Analog Speed Command Enable 2d Electronic OFF 21d Electronic Gear Bank Gear Bank Selection Selection GEAR All Analog Speed Command Select 4 C SP4 Seveo Off gt Setting Allocation of Input Signals 6 RSWare Drive Digital Inputs 4 digits Unmapped IO Status RS Ware Name Reset multi turn OFF Reset Multiturn Data data of Absolute Encoder R ABS Gain Bank Select OFF Gain Bank Select BANK_SEL Analog Current OFF Analog Current Limit Limit A CL Absolute Position OFF Absolute Position Transfer Mode Data Transfer Mode ABS MD All Seveo Off gt Setting Data Size Digit 0 Applicable Operating Mode When Enabled Data Size Digit 0 Applicable Operating Mode When Enabled Data Size Digit 0 Parameter Group B 19 Allocation of Input Signals 7 RSWare Drive Digital Inputs 4 digits Unmapped IO Status RS Ware Name Home Sensor OFF Home Sensor H_SENS Start Homing OFF Start Homing SHOME Stop Indexing OFF Stop Indexing STOP Pause Indexing OFF Pause Indexing PAUSE I Seveo Off gt Setting Allocation of Input Signals 8 RSWare Drive Digital Inputs 4 digits Unmapped IO Status RSWare Name Index Select 0 OFF Indexing Select 0 Input Input I_SELO Index Select 1 OFF Indexing
112. Drive Applications 7 33 Battery Battery It describes the battery for absolute encoder information preservation When the power of servo drive is cut off the battery memorizes the absolute position of the load system and helps maintain it If the power of servo drive is cut off and discharged the battery power to lower than the standard the saved information in absolute encoder may be damaged Battery specification 3 6 V The voltage of battery is not directly monitored from the drive but the error is checked indirectly through the encoder Prepare the low voltage detection circuit as needed basis Battery Voltage Diagnosis The voltage monitored with encoder is displayed for servo warning and alarm depending on the following situation servo Warning When the voltage of battery for absolute encoder is 3 2 V or less bsolute encoder battery low voltage warning occurs At this time the below warning characters are displayed in the status display mode mnano r bAE Replace the battery before having low voltage alarm for inside absolute encoder occurs with the low battery voltage in having the warning Servo Alarm When the capacitor voltage of encoder inside is about 2 7 V or less the Pow voltage alarm for inside of absolute encoder occurs At this time the servo drive stops the operation Prmeeve Cnog0C When low voltage alarm for inside of absolute encoder occurs the sav
113. EHEEREERP Encoder Cable Open EOI EEACPE Encoder Data Parameter Error 60596 Edruot Drive Overtemperature AC Line Loss CSD5 Servo Drive Text Possible Cause Action Solution Message ABS DT input is not turned on within 5s from Absolute Position Transfer Ready On Verify the sequential timing of Absolute Position Transfer Ready amp ABS DT Absolute Position Transfer during Absolute Position Mode input Transfer Mode using photo coupler output Verify continuity of I O cable and connector ABS DT input is not turned off within 5s from Absolute Position Transfer Ready Off during Absolute Position Transfer Mode using photo coupler output Absolute Position Transfer Mode input is not turned off within 5s after absolute data transfer completion Complete homing before absolute indexing A user tries absolute indexing without homing operation completed Encoder not programmed e Replace motor correctly Encoder memory corrupted Communication not established e with an intelligent encoder Encoder not programmed Replace motor correctly Encoder memory corrupted Excessive heat exists in the drive Verify motor selection Verify the motor supports automatic identification Verify encoder wiring Verify cooling fan operation CSD5_08BX1 CSD5_10BX1 and CSD5_15BX1 only e Check tuning e Reduce acceleration rate e Reduce duty cycle ON OFF of commanded motion
114. II LILI ee J pF o gt Make run 03 by using direction key C I y using y J Q i N ann run 03 Prepare the auto adjustment by L pressing ENTER key Ooo oar mim arog Operate the auto adjustment by pressing JL the MODE SET key 4 Display the normal execution Gane Completed the operation by pressing the y ENTER key Completed r LI nm H 4 Auto Adjustment of Torque Command Offset run 04 When the operation is made with torque control mode from the host controller or combination control mode related to torque it is a function to automatically adjust with the offset voltage of the torque command Function Description When the analog torque voltage command is made to 0 V the motor has to stop But there is such a case that the motor slowly rotates This is because of the phenomenon that the small amount of voltage offset by the host controller or external circuit This function automatically adjusts such an offset voltage Applications 7 47 Operation Sequence Connect the host controller to the I O and the torque voltage command is made to 0 V At this time if the motor is not rotating it can be said that there is no offset voltage However if the motor is slowly rotating there is an offset voltage occurring Make offset automatic adjustment The drive reads the voltage of adjustment as 0 V and stops the motor Others The voltage range that is possible for offset adju
115. Initial Value Unit Applicable Operating Mode When Enabled Description Range Initial Value Unit Applicable Operating Mode When Enabled Description Range Initial Value Unit Applicable Operating Mode When Enabled Description Range Initial Value Unit Applicable Operating Mode When Enabled 0 10000 0 0 2 ms Immediately Level of Gain Switching RSWare Drive Tuning Gain Switching Level of Gain Switching Set standard value for gain switching The setting value is for Gain Switching Mode Ft 0 06 N1 0 10000 0 F S P Immediately Hysteresis of Gain Switching RSWare Drive Tuning Gain Switching Hysteresis of Gain Switching Operates Hysteresis based on operation level when gain switching The setting value is for Gain Switching Mode Ft 0 06 N10 0 10000 0 FS P Immediately Position Gain Switching Time RSWare Drive Tuning Gain Switching Position Gain Switching Time Adjust as Position Gain Switching Time step by step when switching gain value from first gain to second gain 0 10000 0 0 2 ms EaP Immediately Description Range Initial Value Unit Applicable Operating Mode When Enabled Description Range Initial Value Unit Applicable Operating Mode When Enabled Description Range Initial Value Unit Applicable Operating Mode When Enabled Description Parameter Group B 35 2 Velo
116. LT 3 OUTPUT 6 1 L So MUBIN 45 SY FCOM OUTCOM 24V Active o Numeo je Ry aM Low High INPUTS ARST Fz Rhy AM Programmable _INPUTB YN Le He i Digital Input emen Ls Rye M 2 PUT8 TAY O ji M gt PUTS a AY M _ PUTIO 2 Tv O O o PS PS E STOP 0 y 24V_PULS ja 20 Z PULSE PULS 1 1500 Z PULSE o PULS 12 FAULT Position 24V SIGN 5 Q FAUL SIGN Ja 1500 o QUIPUTI Vv SIGN 4 g OUTPUTI HE PULS 5 p TAY OUTPUT o _HE PULS 6 T gt 5 High Position yet y l im Command HE SIGN if HESIN 24 a 7K OUTPUTS Yak Vv 48 OUTPUT3 Speed 7 16 bit Command 7 0 AD V ES a nV l Torque j i l Command Ew l l v l 50 o m i o o a a i a a i l a M X Torque Command Input Analog Alarm Code Output Analog Monitor Output gt GND Digital Output Encoder Division Output Absolute Postion Serial Output Encoder Marker Pulse Alarm Output 24 V r Programmable Digital Output Whether to use the emergency stop input can be set by the parameter Ft 0 05 the initial value is set as not to use Torque Command Two pins of I O 21 22 receive one command related to torque control
117. Motor rpm Linear Motor mm sec S Immediately Brake Inactive Delay RSWare Drive Digital Outputs Brake Inactive Delay Brake Inactive delay is the time from when the drive is enabled to when the brake is released 0 10000 0 ms All Servo Off gt Setting Disable Delay RSWare Drive Stopping Functions Disable Delay Disable Delay is the time from when Drive Disable command is received to when the Drive Disable command is actually executed 0 10000 CSD5 Servo Drive B 54 Parameter Group CSD5 Servo Drive Initial Value Unit Applicable Operating Mode When Enabled Description Range Initial Value Unit Applicable Operating Mode When Enabled Description Range Initial Value Unit Applicable Operating Mode When Enabled Description Range Initial Value Unit Applicable Operating Mode Description 0 ms All Servo Off gt Setting Brake Active Delay RSWare Drive Digital Outputs Brake Active Delay The Braking Application Speed is the feedback speed below which the motor break is engaged after disabling the drive 0 10000 500 ms All Servo Off gt Setting Disabled Braking Speed RSWare Drive Stopping Functions Braking Application Speed The Braking Application Speed is the feedback speed below which the motor break is engaged after disabling the drive 0 1000 100 Rotary Motor rpm Linear Motor mm sec
118. N A for connection to Motor Feedback of servo drive One type regardless of motor model and encoder Model Number 10120 3000PE 10320 52F0 008 LATCH 10320 52A0 008 SCREW Manufacturer 3M Connector CON B for connection to the encoder cable of servo motor 9 wire Inc 172161 1 AMP Serial Absolute Serial Inc 9 wire Inc DMS 3108B20 29S or DMS 3106B 20 29S DDK Power cable connector for large capacity motor packed with the motor NOTE Do not connect FG of servo drive to host controller if GND and FG are common or if there is no separate FG CSD5 Servo Drive Wiring 3 24 Encoder Signal Process 9 wire Inc connection of CSMT R motors Incremental encoder gt yj m O gt ion D NN Incremental encoder 9 wire Inc connection of RSMS D F H K L motors CSD5 Servo Drive 3 25 Wiring Serial encoder connection of RSMS D F H K L motors Servo Drive _ 5 O m Q ag N a oO NY Serial I F Circuit Connect when absolute encoder is used CSD5 Servo Drive Wiring 3 26 Serial encoder connection of CSMT R RSMKQ Z motors Absolute Incremental Servo Drive Motor vo _ jm Q fal e Q ae io o N Serial I F Circuit Connect when absolute encoder is used CSD5 Servo Drive General Articles Wiring Wiring 3 27 This part describes wiring to implement optimum performance of the
119. OT gt and lt N OT gt functions refer to the sequence input amp output signal in Chapter 5 1 page Sequence I O Input Output Signal and allocated the lt P OT gt and lt N OT gt signals Applications 7 3 The No 4 pin of I O has the lt P OT gt signal and the No 5 pin of I O has the lt N OT gt signal allocation as a factory setting he over travel signal is not the servo alarm signal but it is a signal for the protection of the load system When the over travel signal is inputted the drive status display mode shows the characters that the signal is inputted Refer to the content of status display mode in the Chapter 4 7 page Status Display Mode Selection of Stop Method in Overtravel Occurrence Select the overtravel stop method from the below parameter The information on dynamic brake is described in the following section Parameter m FENER g Parameter Name Selection of an over travel stop method Parameter Name Set the stop method in an over travel occurrence Setting Value e 0 Stop the motor while continuing the normal torque control Refer to the Chapter 5 46 page Torque Limit and Torque Limit Detection lt T LMT gt Output for the torque limit in an overtravel occurrence e 1 Itis stopped in the way described in the dynamic brake explained in the Chapter 7 3 page Dynamic Brake Initial Value 0 Applicable Mode All Others Servo OFF gt Setting gt End In case of an over travel inc
120. Output 0028 0x0000 0x00 Signal 6 oN oN oN oN oN oN ON ON ON ON ON ON I O Control Authority 0033 0x00 0x12 pp Bit Field Standard Group 1 No Name Modbus Digit No Range Init Note Address m Speed Regulator 0100 N A 1 150 50 Response Level B Velocity Regulator P 0102 N A 0 10000 0x0321 Bit Field 0x0000 Bit Field 0x0000 Bit Field 0x0000 Bit Field 0x0000 Bit Field 0x0000 0x66 ee 0x0000 Bit Field B 3 CSD5 Servo Drive B 4 Parameter Group 26 Velocity Regulator I 0103 N A 0 60000 Gain Velocity Regulator D 0104 N A 0 1000 Gain Velocity Error Filter 0105 N A 0 2500 Position Regulator Kp 0106 N A 0 700 Gain Current Command 0107 N A 0 10000 300 Hz Lowpass Filter Bandwidth 30 Hz 2 Hz Velocity Command 0108 N A 0 10000 1000 Hz Lowpass Filter Bandwidth Position Command 0109 N A 0 1000 Hz Lowpass Filter Bandwidth 0110 N A 0 10000 10000 Hz 1 Resonant Frequency Suppression Filter Pi Renni 0111 N A 1 20 Frequency Suppression Filter Width 0112 N A 0 10000 10000 Hz 24 Resonant Frequency Suppression Filter 0113 N A 1 20 I I 2 d Resonant Frequency Suppression Filter Width 2nd Resonant 0114 N A 0 100 100 Frequency Suppression Filter Depth Position Regulator Kff 0115 N A 0 100 Gain Position Regulator Kff 0116 0 2500 200 Hz tn Velocity Regulator I 0117 j o
121. Output 1 zus Encode yak P Z PULSE Marker Pulse BI pure iti Alarm Output Position yet PL er p 41 7 OUTPUT 42 1 OUTPUT o OUTPUTZs 24 V High Position oven Programmable Digitial Command Output OUTPUT i je oes OUTPUTS i l Speed I Command Torque Command Whether to use the emergency stop input can be set by the parameter Ft 0 05 the initial value is set as not to use CSD5 Servo Drive 5 34 Function for Control Mode CSD5 Servo Drive Speed Command Input Speed Command Two pins of I O 19 20 receive one command related to the speed control mode Host controller sends the voltage command of analog type Speed Command 10 V 10 V Speed Command Input Gain Setting Set the relationship between the analog speed command voltage and the speed to the parameter below Parameter Parameter Name External speed command gain Description Set of speed command gain value rpm related to the analogue voltage 1 V This setting is used as external speed limit function 1f the servo drive is not used in speed control mode For speed limit function refer to the 7 6 page Setting Value 10 0 2000 0 Initial Value 500 0 Unit Rotate Motor rpm V Liner Motor mm sec Applicable Mode S Others Servo OFF gt Setting gt End Speed command is given according to the following relationship Speed Command rpm Setting Value of Ft 2 0
122. Position Transfer Mode using photo coupler output Absolute Position Transfer Mode input is not turned off within 5s after absolute data transfer completion Occurs when an axis didn t return to home before the drive can operate an absolute coordinate index Occurs when the encoder is not properly Replace the motor programmed Occurs when the memory of the encoder is damaged Occurs when the communication with the Check the motor selected interactive encoder cannot be established Check whether the motor supports an auto Hall Error Increase the time assigned in Homing Time Limit IN 01 11 Set the value other than 0 in Homing Speed IN 01 02 and Creep Speed IN 01 03 Check for an obstruction in homing Check the homing related parameter setting and mechanical parts Check the wiring of the encoder Retune the drive system Check the input gain of the torque or the external speed command Increase the Following Error Limit value Check the position loop tuning Decrease the acceleration rate Decrease the duty cycle ON OFF of the motion assigned Increase the time for the motion allowed Use a drive or motor with bigger capacity Check the tuning Decrease the acceleration rate Decrease the duty cycle ON OFF of the motion assigned Increase the time for the motion allowed Use a drive or motor with bigger capacity Check the
123. Select 1 Input Input I_SEL1 Index Select 2 OFF Indexing Select 2 Input Input I_SEL2 Index Select 3 OFF Indexing Select 3 Input Input I_SEL3 I Seveo Off gt Setting Allocation of Input Signals 9 RSWare Drive Digital Inputs 4 digits Unmapped IO Status RSWare Name Index Select 4 OFF Indexing Select 4 Input Input I_SEL4 Index Select 5 OFF Indexing Select 5 Input Input I_SELS Stop Homing OFF Stop Homing H_STOP CSD5 Servo Drive B 20 Parameter Group 3 Start Indexing OFF Start Index START_I I Applicable Operating Mode When Enabled Seveo Off gt Setting Allocation of Input Signals 10 RSWare Drive Digital Inputs Data Size 4 digit Digit Description Unmapped IO Status 0 Reserved oO OFF l Reserved eoo OFF 2 Reserved oO OFF 3 Reserved oO OFF Applicable Operating Reserved Mode When Enabled Reserved Allocation of Input Signals 11 Data Size 4 digit Digit Unmapped IO Status Applicable Operating Indexing Mode When Enabled Reserved Allocation of Input Signals 12 Data Size 4 digit Digit Unmapped IO Status CSD5 Servo Drive Applicable Operating Mode When Enabled Setting Value Ft 0 10 21 Input Channel No T O Pin No Seveo Off gt Setting Range for All Digits Data Size Digit 0 Applicable Operating Mode When Enabled ALE ELLI Range for All Digits Data Size Digit 0 l 2 3 Within Position Window Para
124. Servo Drive 7 30 Applications CSD5 Servo Drive Table 7 4 Types and Unit of Analog Monitor Ouput Selection Type Unit Range of No of Ft 5 15 CH1 a 5 15 C Ft 5 16 CH2 Fe 5 16 C 21 Analog Command Current Command Current 0 01V 0 001 99 999 Monitoring Sample The below figures are the monitoring samples Set the monitoring type and input the setting value applicable to 1 V output The output range is 10 V to 10 V Monitoring Sample 1 Confirm the speed command of host controller through the analog monitor output CH1 co Lm co co The speed command confirmation of host controller applicable to monitor output 1 V is 500 rpm By outputting of maximum of 10 V the confirmation can be made up to 5000 rpm Accordingly the confirmation range of entire speed command is 5000 rpm to 5000 rpm Use of Absolute Encoder Applications 7 31 It describes on the matters related to the absolute encoder battery and other absolute encoder What is an Absolute Encoder Absolute encoder is an encoder that can detect the absolute position of input Absolute encoder can store and memorize the absolute position information of the load system by using the battery power if the power of servo drive is cut off Absolute encoder does not accumulate the error by the noise during the sional transmission Also if the power is cut off as in the incremental encoder there is no need to ad
125. T INPUT _ T a mn Always No valid 10 9 8 7 6 5 4 3 2 invalid I O Pin No As shown in the table below the related function is already allocated to the sequence input parameter and its position in the setting window and it means that you use the related function as setting certain value among to B except O to the setting position For example if you want to put certain function to I O No 5 pin you can find the related parameter of that signal and the position in the setting window according to the table below and enter 3 as the setting value Enter 0 when the function of input signal is not used If you want to make input signal ON all the time regardless of the wiring set as B The following table is to arrange the parameter for each function and 7 segment number position in the setting window Set so that the related parameter of each signal and the number position in the setting window is not in the wrong Parameter Position Ft 0 10 lt P CON gt lt N OT gt lt P OT gt lt SV ON gt Initial Value 4 Initial Value b Initial Value b Initial Value 1 Initial Value 7 Initial Value 6 Initial Value 5 Example FL mi Enter 7 in the 3th position in setting window of the parameter O C Ti iLi Ft 0 01 J This is to use lt P CON gt function and it means that the I O No DI 7 pin is used as an input pin Applicable All Others Drive Disable gt Configure gt End ope
126. T O 50 Pin Connector lt I O gt 24V or GND y FAULT 1 OUTPUT 4 o FAULT 1 OUTPUT 5 GND or 24V O FAULT 1 OUTPUT 6 40 FCOM OUTCOM INPUTS N OT INPUT4 P CON OUTPUT2 TG_ON OUTPUT2 TG_ON INPUT8 INPUT9 Function of Input Signal The following is the brief explanation on 25 functions of sequence input sional Details for each signal are explained in the reference pages listed on the right side of the table Table 5 1 I O Sequence Input Signal when input is off the voltage is cut off lt G SEL gt Gain gorup Use 2 group gain for the section where input is on and current All page 6 36 conversion gain for the section where input is OFF It converts gain of 2 groups lt P TL gt Limit forward torque When a signal is on it limits forward torque by the setting value All page 5 46 Ft 4 03 CSD5 Servo Drive Function for Control Mode Table 5 1 I O Sequence Input Signal Type lt N TL gt Reverse Torque Limit lt P OT gt Prohibit forward operation lt N OT gt Prohibit reverse operation lt P CON gt P Control Conversion lt C SEL gt Control mode conversion lt C DIR gt lt C SP1 gt lt C SP2 gt lt C SP3 gt lt C SP4 gt Terminal speed command lt Z CLP gt Zero clamp lt INHIB gt Inhibit pulse command lt ABS DT gt Absolute encoder data transmission lt PCLR gt
127. Therefore be careful when setting it directly On line Auto Tuning Overview On line Auto Tuning is used when load is continuously changed during the operation It continuously changes the gain value according to load state in order to maintain the regular response quality of system even though load state is changed Tuning by Gain Setting 6 11 Precautions Do not use On line Auto Tuning for the cases below if possible and we recommend using the Off line Auto Tuning or manual gain setting When fine or large change is made to the Inertia ratio during the load operation Lf Inertia ratio is changed in two types during load operation you do not need to change In this case refer to the 6 36 page lt G SEL gt Function When big torque does not occur during load operation because acceleration deceleration time is long or maximum rotation speed or torque limit is set low On line Auto Tuning Coefficient Setting Coefficient 9 On line Auto Tuning Coefficient 0 IE nna CET UUJ g Coefficient Name Speed response level Description If this value is not 0 use on line auto tuing function The higher you set the value the more delicately it responses to load change and respond quickly Applicable Mode All Others Servo OFF gt Setting gt End If load is quickly changed you need to set the On line Auto Tuning coefficient high but it can be momentarily unstable in the load
128. Tuning Gain Change Enable Value Description RS Ware Name Disable Disable Enable Enable Emergency Stop Input RSWare Drive Auxiliary Function Selection 1 Emergency Stop Input Value Description RSWare Name Disable Disable Enable Enable Servo Off gt Setting gt After power cycle Auxiliary function Selection 2 All 2 digits Automatic Motor Identification RSWare Drive Auto Motor Iden oO Disabled Disable Enabled Enable 1 Incremental Feedback Loss RSWare Drive Encoder Incremental Feedback Loss Monitored Monitored 0 Mode of Gain Switching RSWare Drive Tuning Mode of Gain Switching CSD5 Servo Drive B 14 Parameter Group Range Initial Value Digit 3 Range Initial Value When Enabled CSD5 Servo Drive Fixed to the 1 gain Ist Gain Fix Fixed to 2 gain 2nd Gain Fix pe gain selection when the gain switching input is Digital Input G SEL turned on znd gain selection when the toque command is larger Torque Command than the setups level of gain control switching and hysteresis of control switching one gain selection when the command speed is larger Velocity Command than the setups level of gain control switching and hysteresis of control switching 2 d sain selection when the positional deviation is Position Error larger than the setups level of gain control switching and hysteresis of control switching Position Command one gain selecti
129. V IN 24V IN INPUTI INPUT2 INPUT3 INPUT4 INPUTS INPUT6 INPUT7 ESTOP PULS PULS SIGN SIGN HF_PULS HF_PULS Z PULSE Z PULSE VCMD VCMD ICMD ICMD HF_SIGN HF_SIGN 24V_SIGN a Factory default values Description External 24 V input for contact point input External 24 V input for contact point input Digital input 1 SV ON Digital input 2 P OT Digital input 3 N OT Digital input 4 P CON Digital input 5 A RST Digital input 6 N TL Digital input 7 P TL ESTOP Default Disable Position command pulse input Position command pulse input Position command sign input Position command sign input High frequency position command pulse input High frequency position command pulse input Encoder Z pulse output Open collector Encoder Z pulse output Open collector Speed command input Speed command input Current command input Current command input High speed position command sign input High speed position command sign input Open collector sign input for 24 V level Pin Description 26 Digital input 8 27 Digital input 9 28 Digital input 10 29 AM Encoder signal output A 30 AM Encoder signal output A 31 BM Encoder signal output B 32 BM Encoder signal output B 33 IM Encoder signal output Z 34 IM Encoder signal output Z 35 PS Absolute Encoder Position data output 36 PS Absolute Encoder Position
130. able IPM output short circuit or over current exist in the drive AC line AC power input is low Attempted to activate the drive without turning on the main power Occurs when the power regeneration is excessive That is the drive generates an error to protect itself from the overload when its main power supply regenerates excessive peak energy while the motor is run by the external mechanical power Excessive AC input voltage Operate within the continuous torque rating not exceeding according to the ambient temperature Lower the ambient temperature or increase the motor cooling Check the wiring of the motor Check if the motor selected is suitable Check if the motor power cable and the connector are not shorted Disconnect the motor power cable from the motor If the motor will not be rotated by hand a replacement may be needed Check if the ambient temperature is too high Operate within the continuous power rating Decrease the acceleration rate Check the wiring connections that go from U V and W motor terminals to the DC BUS after disconnecting the power and the motor If the connections are normal check the wires between terminals or have the drive repaired Check the voltage level of the incoming AC power Check the noise pulse of the AC power or for a voltage drop Install an Uninterruptible Power Supply UPS to the AC
131. ad Motor Mismatch EBEE DEEA EERE Encoder Type Mismatch EGBE GEEA EEE Encoder Communication Error FABBEN BEBEK Position Command Frequency Error PAARA EEHEHE B Emergency Stop EA8AFh Ae ed che Index Position Range Overflow EtqY Fou lue Motor Phase Over Current Verify power connection between motor and drive Motion profile requires a peak e Verify motor wiring current for an excessive time interval e Adjust accel decel time Confirm motor selection Defective current feedback sensing Verify phase currents Dynamic braking current of the Install a different motor selected motor exceeds twice the drive peak current rating Motor encoder signals do not match drive configuration Verify motor selection Defective encoder Replace motor Wiring between drive and e Verify encoder wiring encoder is faulty or disconnected or EMI noise disrupts encoder signals e Contact your close sales representatives Communications error between e Verify serial cable host and drive noise ae e Check for noise on serial interface Input frequency limit exceeded e Verify hardware type selected in the drive matches the physical hardware e Change from open collector to line drive e Reduce the speed command e Apply gearing Emergency stop E STOP e Remove Emergency stop signal detected conditions e Cl
132. al in the Chapter 5 1 page Sequence I O Input Output Signal CAUTION When you use lt G SEL gt function you cannot use On line Auto Tuning Gain Switching Function CSD5 Servo Drive offers the following 4 gain groups to apply various movements 1 Group Gain No Name Ft 1 02 Speed Loop Proportional Gain Ft 1 03 Speed Loop Integral Gain Ft 1 06 Position Loop Proportional Gain Ft 1 07 Torque Command Filter Ft 1 08 Speed Command Filter 2 Group Gain No Name Ft 1 28 The 2nd Speed Loop Proportional Gain Ft 1 29 The 2nd Speed Loop Integral Gain Ft 1 30 The 2nd Position Loop Proportional Gain Ft 1 31 The 2nd Torque Command Filter Ft 1 32 The 2nd Speed Command Filter 3 Group Gain No Name Ft 1 33 The 3rd Speed Loop Proportional Gain Ft 1 34 The 3rd Speed Loop Integral Gain CSD5 Servo Drive 6 38 Tuning by Gain Setting Ft 1 35 The 3rd Position Loop Proportional Gain Ft 1 36 The 3rd Torque Command Filter Ft 1 37 The 3rd Speed Command Filter 4 Group Gain No Name Ft 1 38 The 4th Speed Loop Proportional Gain Ft 1 39 The 4th Speed Loop Integral Gain Ft 1 40 The 4th Position Loop Proportional Gain Ft 1 41 The 4th Torque Command Filter Ft 1 42 The 4th Speed Command Filter lt BANK_SEL gt Function Four gain groups ate selectable for use through lt BANK_SEL gt Gain Bank Selection lt BANK_SEL gt is set in Ft 0 15 N1 When the set value is 0 Gain Bank 1 1 2 group gain when the set va
133. al of the host controller is application it is same as the voltage to the motor At this time if there maintained the drive can run the motor according servo driver and motor being is no motor run command the drive to the command separated completely maintains the motor stopped e This is a ready status to run the motor S cr f j N 2 o po ui f Los SV ON L Va Input of command like position speed lt Motor gt J Roation Servo ON Signal of the Host Controller and Running the Automobile The following describes the servo drive in relation to the transmission of the automobile Apply power to Receive Receive command such Motor Host the drive gt servo On signal D gt as position speed E rotate i Start automobile Set transmission Run Automobil Driver D gt D gt at position D D gt accelerator D gt e runs
134. ale The amplitude of the channel 1 input signal to be displayed by the oscilloscope 1 99999 Units depend on the channel selection 500 All Immediately Analog Output CH2 Scale RSWare Drive Analog Outputs Analog Output 2 Scale The amplitude of the channel 2 input signal to be displayed by the oscilloscope 1 99999 CSD5 Servo Drive B 56 Indexing Drive Parameters No ind ig nd tg dnd tae CSD5 Servo Drive Auto Start Homing on 5201 l Enable Homing Velocity Parameter Group Unit Units depend on the channel selection Initial Value 500 Applicable Operating All Mode When Enabled Immediately Indexing Group 0 Indexing System Name Modubus Digit No Range Note Address a a Abort Index 5001 5002 1 2147483647 6250 Rotary Motor Deceleration 10 xRev sec Linear Motor asec Positive Deceleration 5003 5004 N A 0 2147483647 pulse Distance Negative Deceleration 5005 5006 N A 0 2147483647 pulse Distance Enable Software Limits 5007 N A pe Positive Software Limit 5008 5009 N A 2147483647 2147483647 pulse 2147483647 Negative Software 5010 5011 N A 2147483647 2147483647 pulse Limit 2147483647 Indexing Group 1 Homing Note Name Modubus Digit No Range lua Address OM B F Rotary Motor rpm Linear Motor mm sec i a o a Parameter Group B 57 Creep Velocity 5203 N A 0 6000 20 Rotary Mo
135. aling parameter corresponds velocity scale to analog signal range Over Speed Command System cannot meet motion e Verify position loop tuning profile e Verify system sizing CSD5 Servo Drive B 70 Parameter Group Table D Warning Display Possible Cause Action Solution Pin Inappropriate assignment of e If operated in preset mode verify digital inputs or outputs presets are assigned Digital I O Assignment 8 E e If operated in a normal override mode verify the override function is assigned rap Motor power is set higher than e Use a motor suitable to the drive or the drive rated output set the torque limit below the drive Over Motor Rated Output capacity Power 1 Battery replacement causes loss of absolute position Homing may be necessary Table E Error Text Possible Cause Action Solution Code Message canny BeAaB El Motor thermal switch trips due Operate within not above the to continuous torque rating for the ambient temperature Motor Overtemperature e High motor ambient temperature and or Lower ambient temperature or increase motor cooling e Excessive current Motor cables shorted Check motor wiring Incorrect motor selection Verify the proper motor has been selected cone Crone Motor cables shorted Verify continuity of motor power IPM Error Motor winding shorted Disconnect motor power cables from internally the motor If the motor is difficult to turn by ha
136. alling a separate switch Wiring 3 19 Whether to use the emergency stop input can be set by the parameter Ft 0 05 the initial value is set as not to use 10 pin of I O assigned below is used as the input pin only for the emergency stop External Power 24 V iA E stor E STOP Switch E Stop 24 oa ae TA E STOP Switch Install a host Controller or a NOTE If the emergency stop signal is input E EStoP servo alarm is generated Refer to the 8 3 page Protection Function more information on the servo alarm Lf the emergency stop is released reset the alarm by referring to the 7 49 page Alarm Reset run 08 You can check the status of emergency stop signal through the monitor mode describe in the 7 52 page Monitor Mode Function CSD5 Servo Drive 3 20 Wiring I O Output Circuit and Interface CSD5 Servo Drive There are 2 types for the servo drive output circuits Design the input circuit at the host controller suitable for the each output circuit Line Drive Output Photo Coupler output Line Drive Output Output signal AM AM BM BM that converted the encoder serial data into 2 phase A phase and B phase pulse zero point pulse sional IM IM and S phase rotation amount signal PS PS are output to line drive circuit It is used to configure the position control loop from the host controller Recetve the pulse signal with the line r
137. alue to be within 7 mA to 15 mA by referring to the application example below Vcc of Host Controller R1 12 V 5 1 2 kQ S V 5 270 2 CSD5 Servo Drive 5 14 Function for Control Mode CSD5 Servo Drive When you use open collector method for the output of host controller it is recommended to use 24 V for Vcc In doing so the operation is stable even in the environment with serious noise problem When input voltage of 12 14 16and 24 of I O is not exactly low level less than 0 6 V or R1 value is higher than the suggested value an error can occur Therefore use 24 V for Vcc of the host controller Position command wiring length Line Drive 5 m or less Open Collector 1 m or less Function for Control Mode 5 15 Set the Position Command Pulse Type for the Host Controller Refer to table below to set position command pulse of host controller m i Li Parameter Name Position Command Plulse Input Selection Setting Value e 0 Use the line drive ouput of the host contoller e 1 Use the open collector ouput of the host controller e 2 Use the high speed line drive output of the host contorller Initial Value 0 Applicable Mode F Others Servo OFF gt Setting gt End IMPORTANT Maximum allowable frequency of pulse command of host controller is For the general line drive 900 kpps For the high speed line drive 3 Mpps For t
138. ameter Name Description Applicable Mode Others Parameter Parameter Name Setting Value Description Initial Value Unit Applicable Mode Others TIP P control conversion switch 0 P PI mode conversion is not used 1 If torque command is more than setting value of Ft 1 18 PI gt P Control 2 If speed command is more than setting value of Ft 1 18 PI gt P Control 3 If position error is more than setting value of Ft 1 18 PI gt P Control 4 P PI mode conversion automatically ESP Servo OFF gt Setting gt End P control conversion standard value 0 3 000 Setting the P control conversion standard value is depending on the setting value of Ft 1 17 100 Variable F S P Setting gt End Unit of P control conversion standard value Ft 1 18 follow the unit of command that is selected in selected parameter of P control conversion switch Ft 1 17 Position Error pulse Speed Command rpm Torque Command Tuning by Gain Setting 6 33 CAUTION Sequence input lt P CON gt signal is converted prior to setting of Ft 1 17 and Ft 1 18 That is to say if lt P CON gt is ON regardless of current motor condition or setting of motor value speed controller is converted to P controller To reduce overshoot of speed response or position completion time using this function you should set appropriate value to Ft 1 17 and Ft 1 18 For optimum setting che
139. and it is saved To complete the setting turn Power off and on again completion Basic setting is all finished for the use of the drive Reapply the power To connect other motor type after completing the basic setting of motor connected to the servo drive initially or to change the parameter setting at the basic setting be sure to enter into corresponding parameter and change it Basic setting value is preserved even if the power is cut off or the parameter is initialized Refer to the 7 51 page Parameter Initialization run 12 CSD5 Servo Drive Operator Basic Setting and Startup 4 21 A flowchart for the key button manipulation is included in the description of the basic setting of the servo drive to help the understanding of the key button manipulation But it is not provided in Chapter 6 7 and 8 Read the following section on startup and get accustomed to the manipulation of the key buttons Startup Before Startup 1 Please be aware of wiring in Chapter 3 and connect main power and control power normally In addition by configuring emergency stop input circuit clear the emergency stop status 2 Connect the motor and encoder properly 3 Pereform basic setting in reference to the 4 12 page Basic Setting 4 Do not connect the load to the motor for safety purposes If the motor is mounted on the equipment remove coupling of the motor shaft so that load may not move CAUTION Caution when Sta
140. andwidth Sets low pass cutoff frequency of speed command to suppress high frequency components 0 1000 0 Hz Applicable Operating Mode When Enabled Me fee ILL lL ILI Description Unit Initial Value Unit Applicable Operating Mode When Enabled Description Unit Initial Value Unit Applicable Operating Mode When Enabled Description Unit Initial Value Unit Applicable Operating Mode When Enabled Parameter Group B 29 F Immediately 1 Resonant Frequency Suppression Filter RS Ware Drive Tuning Main Current Regulator Gains 1 Resonant Frequency Suppression Filter Suppresses Vibration by cutting off Current Command in assigned frequency band 0 10000 10000 Hz All Immediately 1 Resonant Frequency Suppression Filter Width RSWare Drive Tuning Main Current Regulator Gains 1 Resonant Frequency Suppression Filter Width Set up the notch width of the Ist resonance suppressing filter in 20 steps Higher the setup larger the notch width you can obtain 1 20 10 All Immediately 2 d Resonant Frequency Suppression Filter RS Ware Drive Tuning Main Current Regulator Gains a Resonant Frequency Suppression Filter Suppresses Vibration by cutting off Current Command in assigned frequency band 0 10000 10000 Hz All Immediately CSD5 Servo Drive B 30 Parameter Group CSD5 Servo Drive Description Unit Initial Value Unit
141. ar ratio is large severe machine vibration due to rapid A acceleration deceleration may occur in Servo ON state Position Completion Signal Detection lt P COM gt Approach Signal Detection lt NEAR gt Output Position Completion Signal Detection lt P COM gt The position completion signal detection lt P COM gt can be output with sequence output signal When you set the position command completion time to Servo drive that receives the position command from host controller and the difference between position feedback and position command is less than Setting value the position completion signal detection lt P COM gt can be output Setting the Output Sidth of Position Completion Signal Set the output width of position completion signal Standard to output the lt P COM gt signal to the parameter below Parameter Parameter Name Output width of position completion signal Description When the number of position error pulse is within the value above position completion signal detection lt P COM gt signal is generated Setting Value 0 2500 Initial Value 10 Unit pulse Applicable Mode F Others Setting gt End Function for Control Mode 5 29 Position Approach Signal Detection lt NEAR gt The position approach signal detection lt NEAR signal can be output with sequence output signal When setting the position command approach signal time to the servo drive that receives position comman
142. ard to Limit Marker Similar to Homing Type 2 Homing Type 4 uses the limit sensor or and markers Only the limit sensor in the home direction is used and hardware Limit Fault is deactivated Operating principles are same as Homing Type 3 The only difference is that it uses the limit sensor instead of the home sensor I O Setting and Indexing E 23 Velocity Creep Velocity Homing Velocity Limit Sensor ae Maker E 7 a Homing Type 5 Stopper The Homing Type 5 performs a mechanical stop by using the stopper Once the home searching begins it moves in the homing direction with the homing velocity IN01 02 When the current is maintained higher than the current of the home current time it stops Home is defined where it stops The home current is defined in the parameter INO1 09 Velocity Homing Velocity Stopper i Homing Type 6 Return to Stopper and Markers The operation is similar to that of the Homing Type 5 but in this mode it moves reversly until it detects the falling edge of a marker when the current maintains higher than the current of the home current time After detecting the active going edge of a marker it stops after decelerating Then it returns to the position where it detected the active going edge of the first marker CSD5 Servo Drive E 24 I O Setting and Indexing Velocity Stopper Marker Creep Velocity N Homing Velocity D E Velocity CSD5 Servo Drive Homing Typ
143. arts life Part Use Period Capacitor 3 Yeas Cable 3 Yeas based on flexible cable Power Device 3 Yeas Regeneration Resister 2 Yeas Dynamic Break Resister 2 Yeas Fan 2 Yeas Cooling Fan 4 5 Yeas Fuse 10 Yeas Protection Function Inspection and Protection Functions 8 3 Battery Inspection for Absolute Encoder Refer to Chapter 7 33 page Battery for absolute encoder battery It describes the equipped protection function and actions taken in times of abnormal operation in order to protect the servo drive and load system The protection function is classified into two types depending on the importance Servo warning It displays a minimal abnormality that does not require the suspension of operation when occurred Servo alarm It displays the very serious abnormality that requires the suspension of operation when occurred It is classified depending on the importance but when an abnormality occurs remove the cause immediately and use the servo drive in normal condition Servo Warning There is a servo warning that displays a minimal abnormality as the protection function by the self diagnosis Servo Warning Indication It displays the mark that is applicable to a warning through the Status Display Mode Status Display F An Pa u Waring Indicator The warning is displayed on the 3 digit of 7 segment as shown on the left The character displayed the normal operation status does not flicker but once the
144. at Turns to ON when in motion I When activated it indicates that the motor is on the hold position in the index movement and on stand by for the dwell time assigned Used to output the index number in use in the selected indexing operation Turns to ON when the index movement is complete CSD5 Servo Drive E 6 I O Setting and Indexing Factory Default Factory Default is the basic setting for the general servo functions and the indexing Need to be configured properly before the indexing SV ON P OT N OT P CON A RST N TL P TL Pin No 41 42 43 44 47 48 Output OUTPUT 1 P COM OUTPUT 2 TG ON OUTPUT 3 BK The table below is a sample of the I O configuration with a home sensor but without any limit switch And the index is allocated by the I O signal Factory Default Pin No Input 3 INPUT 1 4 INPUT 2 5 INPUT 3 6 INPUT 4 7 INPUT 5 8 INPUT 6 9 INPUT 7 26 INPUT 8 27 INPUT 9 28 INPUT 10 Pin No Input 3 INPUT 1 4 INPUT 2 5 INPUT 3 6 INPUT 4 7 INPUT 5 8 INPUT 6 9 INPUT 7 26 INPUT 8 27 INPUT 9 28 INPUT 10 CSD5 Servo Drive SV ON H_SENS SHOME START T_SELO I_SEL1 I_SEL2 Pin No 41 42 43 44 41 48 Output OUTPUT 1 P COM OUTPUT 2 HOMC OUTPUT 3 IMO I O Setting and Indexing E 7 T O Setting Input Signal Allocation Please refer to the table below to allocate the sequence input singal Input Channel Always INPUT a INPUT INPUT INPU
145. ations CSD5 Servo Drive Table 7 8 Content of Each Signal Signal Status Pulse AM 4 When initialize it by turning on the Initial incremental pulse power In normal operation after the Incremental pulse initialization BM When initialize it by turning on the Initial incremental pulse power In normal operation after the Incremental pulse initialization IM 4 Always Original Pulse PS Always Serial data of absolute encoder When Using the Absolute Encoder Without a Battery A H Type Absolute Encoder can be used without a bettery for memory backup 1 When the power is connected initially the internal low voltage alarm E AbSbE of the absolute encoder will go off 2 After the elapsed time for a full charge of the internal capacitor of the encoder run multi rotation data rest run 10 and then rerun the alarm rest run 08 3 After a normal reset the internal low voltage alarm of the absolute encoder will go off The alarm will continue until the battery is connected but the servo drive can still be operated NOTE While operating if the power cut off time is prolonged until the internal capacitor of the encoder totally discharges E AbSbE will go off again In this case repeat the above process The internal multi rotation data of the encoder may be damaged when the power is cut off while operating without a backup battery The serial absolute encoder Q type checks if the
146. atus Display te Operation Mode Index Mode FRET ae Monitor Mode The displayed values in the above figure are the initial value of each mode If the value is changed in a mode and then returned the changed value is shown instead of the initial value CSD5 Servo Drive Operator Basic Setting and Startup 4 7 Status Display Mode This section describes contents of the status display mode The figure below is an example of display for the description of the status mode Refer to the table below for the meaning of each display Row Display Status Control r CFerdy Point Row Display Row Display Control Mode Ft 0 00 Displays control mode in use In Servo ON status in operation the display of the control mode flickers Table 4 4 Status Display Modes Control Mode Display Description Basic Control Position mode Mode E Speed mode i m f L Torque mode J Multi step speed mode J GEBEA Combinational no Speed position mode Control Mode am no Torque speed mode LJ no Torque position mode LT mar Multi step speed position mode y Multi step speed speed mode Multi step speed torque mode Oo Oo mn CSD5 Servo Drive 4 8 Operator Basic Setting and Startup In combinational control mode it performs two types of selected mode simultaneously for the ope
147. battery 1s connected and sends the data to the drive E AbSbE error will continue if there is no a battery At this time adjusting the parameter so the serial absolute encoder can be recognized as a serial incremental encoder will enable the operation of the motot Applications 7 41 Operation Mode Function Things to Know First First understand the below content before reading the description of the operation mode From the flow chart content the content of display of status display mode may be different from the actual condition he content displayed in the flow chart and the key operation sequence is the same with the actual condition The black part of key button mark on the right means to press he upper left side with servo ON servo OFF means the status of servo drives status in setting It describes to the order from run 00 to run 12 Before using the functions of operation mode the content of each functions and flow chart shall sufficiently understand and operate it Adjust or operate in the black display status Sevo ON Servo OFF a When the status of drive is not maintained the following content is displayed during the performance or storage of each operation mode ee Jog Operation run 00 Function Description By using the direction key of the operator the motor can be made for forward rotation or reverse rotation It is an appropriate function w
148. by parameter setting It does not require separate speed command input or offset adjustment because it operates only with parameter and sequence input To operate servo drive as multi step control mode set the required process as follows Flowchart of Multi Step Speed Mode Operation Select sequence I O function for multi step speed contorl and allocate Ft 0 10 Ft 0 31 v Check I O state in monitor mode dis 15 OK Yes y Set the speed for each step Ft 2 05 Ft 2 11 y Check the speed command rpm in monitor mode dis 01 OK If necessary set the acceleration deceleration time Ft 2 02 Ft 2 03 Tune the servo drive by adjusting the gain according to the load condition F Standard Wiring Example Function for Control Mode 5 53 The following figure illustrates the standard wiring example of multi step speed control mode The sequence input output signal can be set according to needs if it is necessary for the system configuration vO 24V or GND o mr gt wet gt GND or 24V lt A T gi a ee yk ace ms het pe ee 4 FAULT 1 OUTPUT 4 PUTI SV ON 3 RY Analog Alarm Code l FAULT 2 OUTPUT 5 Dinu Pur P 07 RY l i Sc o F
149. cceleration time and deceleration time of Ft 2 02 and Ft 2 03 as 0 in this case Rotation Direction Switch Input lt C DIR gt Typically the direction of motor rotation in speed control mode is changed according to the analog voltage polarity as shown below Function for Control Mode 5 37 Speed Command EA _ Ea Normal Rotation Reverse Rotation You can control the rotation direction using input lt C DIR gt which is also used in Multi step Speed Control Mode When input lt C DIR gt is ON the rotational direction of the motor will be inverted Motor Speed Speed Command O 2 ee C DIR Motor Speed Motor Rotation Start Stop Input lt START gt Generally the motor begins to rotate when the speed command is entered after Servo ON in the Speed Control Mode You can control the motor rotation srat and stop using contact point input signal with setting lt START gt input If the lt START gt input is assigned to an input pin the lt START gt contact point input acts as an enable and can be used to control motor rotation start or stop Control mode can be applied Speed Contorl Mode Multi step speed mode CSD5 Servo Drive 5 38 Function for Control Mode CSD5 Servo Drive Speed Command Voltage Z START Motor Speed Speed Coincidence Output Signal lt V COM gt The speed coincidence detection output is to indicate that the actual motor speed matches up to command
150. city Regulator P Gain RSWare Drive Tuning 2 Regulator Gains P Parameter which determines the responsiveness of speed control 0 10000 60 F S P Immediately 2 Velocity Regulator I Gain RS Ware Drive Tuning au Regulator Gains Integrator Gain e Removes steady state speed tolerance e Overshoot in speed response can occur if set value is too large 0 60000 26 F S P Immediately 2 d Position Regulator Kp Gain RSWare Drive Tuning 2 Regulator Gains Kp e Parameter which determines the responsiveness of position control e Change set value according to rigidity of load 0 700 20 Hz F Immediately 20d Current Command Low pass Filter Bandwidth RSWare Drive Tuning 20 Regulator Gains Lowpass Filter Bandwidth Reg Suppresses high frequency components of torque command CSD5 Servo Drive B 36 Parameter Group CSD5 Servo Drive Range Initial Value Unit Applicable Operating Mode When Enabled Description Range Initial Value Unit Applicable Operating Mode When Enabled Description Range Initial Value Unit Applicable Operating Mode When Enabled Description Range Initial Value Unit Applicable Operating Mode When Enabled 0 10000 300 Hz All Immediately gnd Velocity Command Low pass Filter Bandwidth RSWare Drive Tuning gud Regulator Gains Lowpass Filter Bandwidth VReg Sets low pass cutoff fre
151. ck carefully speed torque and position and be careful for setting The following figure is example of speed response when speed controller is converted from 1 controller type to P controller type in the over response condition In the over response condition in acceleration deceleration section if torque command is higher than setting value of P PI mode conversion standard value Ft 1 18 it becomes P controller type and the other section becomes PI controller type Speed Command Speed Command A Speed Response e CTs s f_ Initial Torque Bias It provides downturn by gravity of vertical shaft load during initial operation CSD5 Servo Drive 6 34 Tuning by Gain Setting CSD5 Servo Drive Downturn of Load by Gravity and Initial Torque Bias ee O 9 Initial Torque bias Load Downturn of Load by Gravity O If you approve Servo ON signal to operate motor in the condition that load is vertical as shown in the figure downturn of load by gravity can occur In addition when you change from Servo On to Servo OFF you need to hold or release motor brake If you do not appropriately adjust the timing instantly load drops and vibration occurs in the device As characteristics of those vertical shaft load speed overshoot occurs in motor control and position output time is delayed In addition if you try to operate motor as holding the brake it can b
152. ction 5 Input lt E_SEQU gt Sequence Turns to ON when the index movement is complete I Operation Completion CSD5 Servo Drive 3 14 Wiring NOTE In this manual lt gt is applied to the names of sequence I O signal ex lt SV ON gt lt P COM gt General Output Signal Fixed Alarm Code Table 3 8 Alarm Code Output Signal Alarm code FAULT 1 OUTPUT4 Upon servo alarm generation it outputs the 8 3 page Alarm 1 Digital types of the servo alarm with the 3 bit output 4 Maximum rating of open collector DC 30 V 20 mA NOTE If one or more of Alarm code FAULT1 2 and 3 set to Digital output Alarm code does not output Encoder Signal Table 3 9 Encoder Signal AM Encoder Signal AME o Displays multiplied encoder signal A B C pulse in the All 7 24 page Output form of line drive According to the parameter setting AM the drive can logically invert output of A B pulse Absolute Encoder PS Outputs the number of rotation by serial data when the All 7 24 page Position S pulse Ps absolute encoder is used Servo Alarm Table 3 10 Servo Alarm Output Signal Servo alarm FAULT It is displayed if the servo alarm is generated 7 28 page Monitor Output CSD5 Servo Drive Wiring 3 15 Encoder Z pulse Display Table 3 11 Encoder Z pulse Output Signal Encoder Z pulse Z PULSE It is displayed if Z Pulse of the encoder is detected All Z PULSE CSD5 Servo Drive 3 16 W
153. cy unlike Ft 0 03 NO 1 inertia identification and resonance frequency detection However as this function also requires the system s inertia for an accurate operation it can be useful when the vibration suppression filter needs to be corrected once more by feeling the vibration after performing Ft 0 03 NO 0 inertia moment identification or Ft 0 03 NO 1 inertia moment identification and resonance frequency detection Operation Tuning Method For Operation method for off line auto tuning refer to Off line Auto Tuning Operation run 01 on page 7 44 page Off line Auto Tuning Operation cun 01 Speed Response Level Ft 1 00 This is used to automatically set an initial system gain by determining available max bandwidth based on the inertia ratio which is obtained from run 01 Tuning by Gain Setting 6 9 After auto tuning max bandwidth is determined and the system gain Ft 1 01 is determined by Ft 1 00 ames Parameter Name Speed response level Description Define max system gain recommended by a system based on inertia measured from auto tuning Setting Value 1 150 Initial Value 50 Unit Applicable Mode All Others Setting gt End This parameter defines max system gain recommended by a system after execution of Nertia Identification or nertia identification and resonance frequency according to Ft 0 03 NO setting For example if max available frequency of a s
154. d RSWare Drive Tuning Autotuning Autotuning Speed Value Description 2 9 The larger the setting value the higher speed CSD5 Servo Drive B 12 Parameter Group Unit Digit 3 Range Initial Value When Enabled Description Range Initial Value Unit When Enabled Applicable Operation Mode Data Size Digit 0 Range Initial Value Digit 1 CSD5 Servo Drive Setting value 100 rpm Dynamic Tuning Response RSWare Online Tuning Response Value Description Off Slowest Slowest Slow Medium Slow Medium Medium Fast Fast Faster Faster Servo Off gt Setting Inertia Ratio RSWare Drive Motor Inertia Ratio Inertial Ratio shows Load Inertia to Motor 0 6 000 100 Load inertia Motor inertia 100 Immediately Auxiliary Function Selection 1 All 4 digits Encoder Backup Battery RSWare Drive Encoder Encoder Backup Battery Value Description Backup Battery Installed 1 Backup Battery Not Installed Velocity Observer RSWare Drive Auxiliary Function Selection 1 Velocity Observer Range Initial Value Digit 2 Range Initial Value Digit 3 Range Initial Value When Enabled Applicable Operation Mode Data Size Digit 0 Range Initial Value Digit 1 Range Initial Value Digit 2 Parameter Group B 13 Value Description RS Ware Name Disable Disable Enable Enable Gain Change Enable RSWare Drive
155. d again When wanting to reset the number of rotation data Caution has to be taken on the following he reset operation of absolute encoder is possible only in servo OFF status When of A Type encoder resetting the encoder takes about 5 seconds Keep sufficient time on this Depending on the encoder type the performance content is different in times of absolute encoder reset and alarm reset Refer the below chart and use it after a full understanding Table 7 5 Absolute Encoder Reset and Alarm Reset according to Encoder Type Command A Type Encoder Q Type Encoder Alarm Reset run 08 Encoder related alarm and e Encoder related alarm and warning reset warning reset The number of rotation data reset Absolute Encoder Encoder related alarm and e The number of rotation data Reset run 10 warning reset reset The number of rotation data Encoder related alarm and reset warning reset NOTE A Type encoder performs the same functions of absolute encoder reset and alarm reset Both two cases have the number of rotation data resetting When of using the encoder of Q Type make sure to perform the absolute encoder reset for resetting the number of rotation data CSD5 Servo Drive 7 36 Applications CSD5 Servo Drive Refer to the below flow chart to make absolute encoder reset Flow Chart of the Absolute Encoder Reset Status Display Mode i JE M L J E E Select the operation mode with J
156. d from the host controller and the difference between the position feedback and position command is less than setting value the position approach signal detection lt NEAR signal can be output Setting the Output Width of Position Approach Signal Set up output width of position approach signal Standard to generate lt NEAR gt signal to the parameter below Parameter Parameter Name Output Width of Position Approach Signal Description When the number of position error pulse is within the value above position Approach Signal detection lt NEAR gt signal is generated Setting Value 0 2500 Initial Value 20 Unit pulse Applicable Mode F Others Setting gt End Other Explanation Position approach signal detection lt NEAR gt signal with position completion signal detection lt P COM gt signal is useful to reduce the necessary operation at the position completion signal time First check the approach signal and preparing the next sequence before the host controller verifies the position completion signal detection signal The setting of these parameters above do not influence on the accuracy of final position decision Therefore you can adjust timing to output lt P COM gt signal and lt NEAR gt signal by adjusting the number of position error pulse of Ft 5 00 and Ft 5 02 If the position completion signal detection lt P COM gt signal is detected the segment LED in line indication 1 of status
157. data output 37 FAULTI1 Alarm code output 1 Digital output 4 OUTPUT4 38 FAULT2 Alarm code output 2 Digital output 5 OUTPUTS 39 FAULT3 Alarm code output 3 Digital output 6 OUTPUT6 40 FCOM Alarm code Output ground OUTCOM 4 OUTPUT I Digital output 1 P_COM 42 OUTPUTI Digital output 1 P_COM 43 OUTPUT2 Digital output 2 TG_ON 44 OUTPUT2 Digital output 2 TG_ON 45 FAULT Alarm generation signal output 46 FAULT Alarm generation signal output 47 OUTPUT3 Digital output 3 BK 48 OUTPUT3 Digital output 3 BK 49 24V_PULS Open collector pulse input for 24 V level 50 Not Available Z Q CSD5 Servo Drive 3 10 Wiring I O Input Signal Sequence Input Signal Allocation Refer to the 5 1 page Sequence I O Input Output Signal for details of sequence input signal Table 3 3 I O Sequence Input Signal motor when it is set to OFF voltage is cut off All lt G SEL gt Gain Group Use 2 group gain where it is set to ON and use current gain 6 36 page Conversion where it is set to OFF It converts gain of 2 groups lt P CL gt Forward Torque When it is set to ON limit the forward torque by the set value All 5 46 page Limit Ft 4 03 lt N CL gt Reverse Torque When it is set to ON limit the reverse torque by the set value All 5 46 page Limit Ft 4 04 lt P OT gt Prohibit Forward It prohibits the motor from rotating forward when the load All 7 2 page R
158. data output using the PS the data of absolute encoder is sent to the host controller in the form of incremental pulse form through the output of AM and BM the incremental encoder output signal At this time the pulse ouputted at a speed of 1 Mpps From the absolute dta send the 1 rotation data first and then send the multi rotation data The host controller multiplexes the received pulses by 4 times Sequence of receiving the absolute serial data through AM and BM 1 Clear the Up Down counter for incremental pulse counter to 0 and make it in the absolute encoder data receiving standby status 2 The ABS DT signal inputted to drive is maintained in low level for 10 ms or more For Sequence Input Signal ABS DT Signal Distribution refer to Chapter 5 1 page Sequence I O Input Output Signal 3 After 100 ms since ABS DT OFF is off receive the multi ration data transmitted from the drive 4 Receive multi rotation data and receive the 1 rotation data transmitted after 100 ms 5 AM and BM of drive are operated in normal incremental encoder output signal after the lapse of about 50 ms after thransmitting the 1 rotation data to which division ratiro is applied PAO Serial data reception sequence For the meaing of each signal refer to table below ABS DT Initial Incremental Pulse Incrementral Pulse Maintain it for 10 100 ms MAX 100 ms MAX 50 ms n Pa CSD5 Servo Drive 7 40 Applic
159. de Description run 00 Jog Operation run 01 Off Line Auto Tuning run 03 Auto Adjustment of Speed Command Offset run 04 Auto Adjustment of CurrentCommand Offset run 08 Alarm Reset run 10 Absolute Encoder Reset run 11 2 Group Gain Storing run 12 Parameter Initialization CSD5 Servo Drive E 30 T O Setting and Indexing Index Alarm CSD5 Servo Drive A new alarm for the new functions are added Home Searching Failed Home Searching Failed alarm occurs when homing is not complete within the designated time period Homing Time Limit HEAIL Axis not homed Axis not homed alarm occurs when an axis didn t return to home before the drive can operate the absolute coordinate index notHm Index Position Overflow Index Position Overflow occurs when the index position feedback exceeds the range assigned in the absolute coordinate index which is 2 147 483 647 2 147 483 647 1rAnG I O Setting and Indexing E 31 CSD5 Servo Drive Publication number CSD5 UM001A Drive EN June 2011 Printing Information Offset USLetter CoatP 60G Master USLetter MJ 70G Copyright 2011 RS Automation Co Ltd All rights reserved x AOA O EHOl Al AAG Af www rsautomation co kr 472 WEA AIA Ase AMUMACH 348 2 SE SHACEMO MHEG 451 862 T 031 685 9300 F 031 685 9500 HAL ZAR FAROA AHER IIH 578 ASEO ENI I7 2038 617 726 T 051 319 2890 F 051 319 2894 HFAA CHSLBEOHA ST ALD 1665H H7422 CHE 2238 702 717 T 053
160. detects home sensor it decelerates and stop then it moves in the reverse direction with creep velocity IN01 03 It returns to the position where it detected the home sensor signal Velocity Marker E Homing Type 10 Return to Limit Sensor Homing Type 9 defines home by using the limit sensor only When the home searching begins the motor moves to homing direction IN01 02 with homing velocity IN01 02 until detecting the limit sensor When it detects home sensor it decelerates and stop then it moves in the reverse direction with creep velocity IN01 03 It returns to the position where it detected the limit sensor signal Velocity Marker E CSD5 Servo Drive E 26 I O Setting and Indexing CSD5 Servo Drive Homing Velocity Homing Velocity means the speed used for homing The sign indicates the moving direction while homing Homing Velocity is set in IN01 02 The Input Range is 6000 6000 the default is at 100 and the unit is rpm The setting can be changed in the Servo Off mode Automatic Homing when activated A user can select a homing method among Start Homing SHOME or SV ON or Drive activation When the Start Homing SHOME option is selected homing starts when there is an input for the signal However Start Homing SHOME is inhibited while indexing or homing Even when Axis Homing HOMC 1s activated after a homing homing restarts whenever there is an input for the Start Homing SHOME signal
161. diction to sequence output according to the allocation Servo drive has self diagnostic function he servo alarm and servo warning is divided according to the importance of error diagnostic For the details see Chapter 8 CSD5 Servo Drive 5 10 Function for Control Mode Position Control Mode CSD5 Servo Drive Overview The position control mode is used when the position command pulse is received from the host controller to move the load to a target position To operate the servo drive in position control mode connect the position command pulse signal to PULS and SIGN input pins connect other necessary input signals and set as follows Flowchart for Position Control Mode Operation Select Sequence I O function and allocate them Ft 0 10 Ft 0 31 y Set the Position Command Pulse and Signal Type according to the Host Contreller Output Ft 3 00 y Startup the Motor in Position Contorl Mode as Low speed Pulse Command Frequency is y Check the Position Pulse Command dis 07 in Monitor Mode OK Yes g Set the Electronic Gear Ft 3 01 Ft 3 02 4 Check the Speed Command dis 01 in Monitor Mode OK Set the Direction of Encoder Ouput Pulse and Division Ratio Ft 3 00 Ft 3 03 y Tune the Servo Drive by Adjusting the Gain according to the Load Condtion Function for Control Mode 5 11 Standard Wiring Example The following figure ill
162. e Index mode Speed position mode Torque speed mode Torque position mode Multi step speed position mode Multi step speed speed mode Multi step speed torque mode CSD5 Servo Drive 4 14 Operator Basic Setting and Startup CSD5 Servo Drive Control Mode Setting Method Describes control mode setting method focusing on the key button manipulation Apply the power and set it as shown in the flowchart below Flowchart of the Contorl Mode Status Display Mode Select Parameter Setting Mode by Lt MODE SET key Press ENTER key and Enter into the Setting Window An Alphabet representing each mode is displayed Control Mode Selection Completion Press MODE SET key to save it The Setting window blinks and it is saved To complete the setting turn power off and on again Combinational Control Mode Setting Combinational control mode should be set as below Table 4 12 Combinational Control Mode Associated Control Mode Setting Window Display Speed position control cr Jr Torque speed control re Lj Torque position control r Ci Ci Operator Basic Setting and Startup 4 15 Table 4 12 Combinational Control Mode Associated Control Mode Setting Window Display Multi step speed position m r control rr Multi step speed speed control pa D Multi step speed Torque or control ce CAUTION The following are the precauti
163. e Drive Mode Configuration Follower Data Size 4 digits Ditig 0 Command Type RSWare Drive Mode Configuration Follower Command Type CSD5 Servo Drive Parameter Group B 45 Range Initial Value Applicable Operating Mode Digit 1 Range Initial Value Applicable Operating Mode Digit 2 Range Initial Value Applicable Operating Mode Digit 3 Range Initial Value Applicable Operating Mode When Enabled Value Description RSWare Name Step Up Step Down Positive Logic Step Up Step Down Positive logic l Step Up Step Down Negative Logic Step Up Step Down Negative logic Step Direction Positive Logic Step Direction Positive Logic Step Direction Negative Logic Step Direction Negative Logic A phase B phase x1 Auxiliary Encoder x1 A phase B phase x2 Auxiliary Encoder x2 A phase B phase x4 Auxiliary Encoder x4 Follower Controller Output Type RSWare Drive Mode Configuration Follower Controller Output Type Value Descriptison RSWare Name Use Low speed Line Drive Output in Host Controller for isolated Line Drive electrical connection Max 900 kHz Use Open Collector in Host Controlle Max 250 kHz Open Collector Use High Frequency Line Drive Output in Host Controller Max 3 High Speed Line Drive MHz Follower Encoder Output Forward Direction RSWare Drive Encoders Encoder Output Forward Direction Value Description RSWar
164. e Type 0 2 0 0 Line Drive Drive Encoder ee Forward a ELN lead B at Direction Fwd Dir 1 t Gear Ratio ene ee Enable Bao on Bao a Gear Ratio Follower 9301 A 65535 count Numerator 15t Gear Ratio Master 0302 1 65535 count Denominator Encoder Output Ratio 0303 1 32768 Output Denominator Encoder Output Ratio 0304 1 32768 Motor Numerator 2nd Gear Ratio Follower 9305 N A 1 635335 4 k count 20d Gear Ratio Master 0306 N A 1 65535 1 j count Digital Filter Cutoff 0308 Bit Field E o Collector 0 7 N7 7 0 525MHz 525MHz ren Coe Frequency Line e 0 LEA 000MH2 Drive CSD5 Servo Drive B 8 Parameter Group Standard Group 4 No Name Modbus Digit No Range Note Address Current Scale 0400 0 1000 a be of motor rated V Positive Internal 0401 0 500 of motor Current Limit rated Negative Internal 0402 N A 0 500 300 of motor Current Limit rated Positive External 0403 N A 0 500 100 of motor Current Limit rated Negative External 0404 0 500 of motor Current Limit rated Over Travel Current 0405 0 500 of motor Limit rated Initial Current Bias 0406 N A 100 100 of motor rated Stand Group 5 No Name Modbus Digit No Range Init Note Address D m B k m n Up to Speed 0504 p 0 5000 i pulse pa m S o mma ee Se CSD5 Servo Drive Parameter Group B 9 Disabled Braking 0509 N Speed x A 0 1000 100 rpm Follo
165. e Contor 4 5 fused e eee bene e e ee ita AEE 7 6 Change the Motor Rotation Direction sssssssesesrrrererrrreus 7 11 Renco RESSE rererere oe a ae Rio A e Be a a eaii 7 12 Repera dorn Resistet eisean e e aa a a ees 7 12 Paternal Receneranve RESTOL deara AERE E E ERTA 7 13 Regenerative Resistor Selection Standard 0 0 00 ee 7 14 Setting for Smooth Opemtion s14 vende basen eee es eeG aaa e 7 17 Speed imine PUnCiOn 24 123 2baxe lated bs eek et ae aus gabe bese 7 21 Postion Feedback to the Host Controller 0 000 0 0004 7 24 One a bbe eM be ea BEA es ete E eee ee ee 7 24 Direction Change of Output Puls t cout ven viads ie hadve dates 7 24 Pulse Divide CirCUle cs aco tans sated eae tie eee ay ord Ore 2 7 25 inaloe MONTOR OUP i102 5o5 teks es thee toes a enka aes 7 28 Usea ib SO Ite TIC OC CES 6 ceca neter See es eee aca aa e 7 31 Whatisan Absolute Enc der ad fd oh oS eke eo re Se BS ore ee 7 31 Contact with the Host Controller 44 4 f0s eas eas we aie ands 1232 Ban eea ra nc eager a re rg 7 33 Reset of Absolute Encodet f54 4 44 2o wen debate tae echoes 7 34 Data Transmission of Absolute Encoder 0 0 00 c ee eee 7 36 Operation Mode Functor ssi vies tes eh eet eie ics gate ESEA 7 41 Thiassto know USC ences i cee aes a te Reig ees ae ads 7 41 Joe Operation nO a iee2 aah peri dea e aaa ht 7 41 Off line Auto Tuning Operation tun 01 0 00 eee 7 43 Auto Adjustment of Speed Command O
166. e 7 Return to Home Sensor Move Marker Similar to the Homing Type 3 the Homing Type 7 uses the home sensor and moving distance after home sensoring and marking When the distance between the home sensor and a marker is minuscule it might not detect the first marker To prevent this from happening there is one more parameter in this mode to define the minimum moving distance to detect the marker The minimum moving distance is defined in the parameter IN01 10 as time After detecting the home input speed decelerates to the 2nd homing velocity and is maintained until the active going edge of a marker is detected The active going edge of the marker is set as home Moving Distance after Home Sensor Creep Velocity Homing Type amp Return to Marker The Home Type 8 uses only markers In this mode additional sensors such as home sensor or limit or are not required Once the home searching begins it moves in the homing direction with the creep velocity When it detects a marker it decelerates and stops It moves to the position where the active going edge of a marker was detected and sets this position as Home I O Setting and Indexing E 25 Velocity Marker Creep Velocity Homing Type 9 Return to Homing Sensor Homing Type 9 defines home by using the home sensor only When the home searching begins the motor moves to homing direction IN01 02 with homing velocity IN01 02 until detecting the homing sensor When it
167. e Increase time permitted for motion Use large drive and motor Poor quality power Increase Ride Through time Attempted to enable drive Apply main power before enabling without main power active drive Phase connection missing Fault Delay parameter is set too short Remove power and verify all physical connections Increase the Fault Delay parameter setting Parameter Group B 73 Table E Error Text Possible Cause Action Solution Code Message zya Error in parameter memory e Reinitialize parameter storage ERSJ HJEPI User Parameter e Reset drive to factory defaults Initialization Error nou Defective hardware Replace drive E854 EBRSEE Current Feedback Offset Checksum error i EG ngs E HGH g e Confirm and reset parameter User Parameter Checksum e Reset drive to factory defaults Error Watchdog Timeout Defective hardware Replace drive E Ast E HOA E Defective hardware Contact your close sales representatives PWM Hardware Error ERSA ErAarbe amp Range of parameter is invalid Enter parameter with value s within range User Parameter Range Error e Reset drive to factory defaults EeeeOcEdeare Hardware error Replace drive Drive Initialization Error FAIS ESHEn Power at regenerative resistor Adjust motion profile to stay within C U to CJAC OL exceeds the permitted value the range of the regenerative resistor
168. e Name During Forward Rotation Encoder Output Phase A have a lead of A Leads B 90 over Phase B During Forward Rotation Encoder Output Phase B have a lead of B Leads A 90 over Phase A 1 All 15t Gear ratio change RSWare Drive Mode Configuration Follower 1 Gear Ratio Change Value RS Ware Name Enable Only on Drive Disabled Description Enable Only on Drive Disabled Always Enable Always Enable Servo Off gt Setting CSD5 Servo Drive B 46 Parameter Group CSD5 Servo Drive Description Range Initial Value Unit Applicable Operating Mode When Enabled Description Range Initial Value Unit Applicable Operating Mode When Enabled Description 1 Gear Ratio Follower Counts RSWare Drive Mode Configuration Follower 1 Gear Ratio Second number e Numerator of Electronic gear e By using the electronic gear function the amount of motor rotation pr input command pulse can be set arbitrarily e The following relationship has to be satisfied No of pulses per 1 motor rotation x Reduction ratio X 4 Ft 3 02 e Maximum resolution 1 No of pulses per 1 motor rotation x Reduction ratio x 4 1 65535 4 F Servo Off gt Setting 1 Gear Ratio Master Counts RSWare Drive Mode Configuration Follower 1 Gear Ratio First Nmuber Denominator of Electronic gear 1 65535 1 F Servo Off gt Setting Encode
169. e control mode while referring to the inertia ratio parameter Ft 0 04 e The lower limit is 10 Hz 10 500 50 Hz All Immediately Speed Regulator P Gain RSWare Drive Tuning Main Velocity Regulator Gains P e Parameter which determines the responsiveness of speed control e Value changed simultaneously with change of inertia ratio Ft 0 04 or system gain Ft 1 01 0 10000 60 F S P Parameter Group B 27 When Enabled Immediately Description Range Initial Value Unit Applicable Operating Mode When Enabled Description Range Initial Value Unit Applicable Operating Mode When Enabled Description Unit Initial Value Unit Applicable Operating Mode When Enabled Speed Regulator I Gain RSWare Drive Tuning Main Velocity Regulator Gains Integrator Gain e Removes steady state speed tolerance e Overshoot in speed response can occur if set value is too large e Value changed by change in inertia ratio Ft 0 04 or system gain Ft 1 00 0 60000 26 F S P Immediately Speed Regulator D gain RSWare Drive Tuning Main Velocity Regulator Gains D The larger the setting value the higher speed Excessive values can result in noise and vibration 0 1000 0 F S P Immediately Speed Error Filter RSWare Drive Tuning Main Velocity Regulator Gains Error Filter Bandwidth Suppresses high frequency components o
170. e left it is the output of I O or servo drive gt Output Host Controller 3 If1 O for I O signal or a connector attached to servo driver is on the right it is the input from the host controller to I O or servo drive an Speed Command 10 v 10 v Host Controller 4 The following shows the symbols used on the circuit diagram gt The figure represents the pin number of the connector which can be marked with alphabets tather than the numbers gt The contact is the connection between Contact Point the side A and B with the connector D The following figure shows a symbol used to show a twist pair wires to prevent the noise generation gt The the wires where this symbol is located for the noise prevention 6 The following figure shows a symbol used to show a shield pair wire to prevent the noise generation gt Shield the wires where this symbol is located for the noise prevention Shield CSD5 Servo Drive Preface P 5 Manual Description Order This manual is described in the view of users from the purchase to operation A WOW N e O oOo N OA Descripbes things to know before using the product Describes the outline of product and marking Describes precations upon product installation Describes wiring with the host controller and peripheral equipment Describes the
171. e of the host controller so that it A shows better resolution than set with 1000 If so can you realize much better the resolution is if the denominator is set as 40000 No you cannot The resolution of the encoder that is selected is2000 So the electronic gear has to satisfy the following formula because it is set according to the selected encoder Number of Encoder Pulsex Reduction Ratiox 4 Setting Valuen Ft 3 02 Therefore the example 1 above can make a motor rotate with maximum of 20000 pulses from the host controller CSD5 Servo Drive Function for Control Mode 5 21 Example 2 of Electronic Gear Setting This chapter explains the electronic gear setting for a belt load with the reduction ratio End mechnical part 0 2 rotation Therefore reduction ratio is 5 When motor rotates once 4 Diameter of Pully is 50 mm For the ball screw in the example 1 you can easily recognize the pitch through the ball screw specification but you cannot find the load pitch that consists of belt and pulley Therefore let s suppose that the distance we want to move is 100 um per pulse from the host controller Let s suppose that the number of pulse of the encoder is 2048 pulses and the reduction ratio is 5 Electronic Gear Setting Numerator Electronic gear setting numerator parameter Electronic gear setting numerator parameter is as follows Pulse of Encoder Reduction Ratio Therefore it
172. e related parameter to set is as follows Parameter Parameter Name Description Applicable Mode Others Parameter Parameter Name Description Applicable Mode Others Tuning by Gain Setting 6 29 450 areata ho Bias rpm Speed Bias If position error is more than setting value of bias standard width Ft 1 20 much bigger speed command that adds the setting value is sent It is valid only when the value of Ft 1 20 is not 0 F Setting gt End 50000 1000 0 CLr O a3 OCO TCU Speed Bias Standard Width pulse Speed Bias Standard Width When the position error is bigger than the value set here the speed bias amount Ft 1 19 will be added to the speed command value When the value is more than 0 the speed bias function works F Setting gt End For speed bias function refer to the Chapter 6 25 page Position Control Related Gain If absolute value of position error is more than the setting value of speed bias standard width Ft 1 20 speed command as much as setting value of speed bias amount Ft 1 19 is added to or reduced from the position control output Adjust Ft 1 19 and Ft 1 20 in turn while checking the over response TIP As reference if you set the value of Ft 1 19 too high or the value of Ft 1 20 too low vibration can occur CSD5 Servo Drive 6 30 Tuning by Gain Setting CSD5 Servo Drive P PI Mode Setting Function When you cont
173. e shown in the following diagrams CSD5_A5BX1 CSD5_01BX1 and CSD5_02BX1 Size 1504 e604 5 0 6 04 2 09 0 20 141 0 a 5 55 a 145 0 155 0 5 71 6 11 0 N 5 0 Mounting hole top and slot Chassis ground terminal 1 0 20 bottom require M4 x 10 bolts Dimensions are in millimeters inches Drives are designed to metric dimensions inches are mathematical conversion CSD5 Servo Drive Specification and Exterior Size C 5 Figure C 2 CSD5_04BX1 Size 153 4 6 04 so 141 0 ow 5 55 Ji H je 3 in 145 0 tt V m 5 71 H i H E _ 50 Mounting hole top and 48 3 l 0 20 Slot bottom require M4 x 9 7 1 90 10 bolt Chassis ground terminals 2 Dimensions are in millimeters inches Drives are designed to metric dimensions inches are a mathematical conversio Figure C 3 CSD5_08BX1 CSD5_10BX1 and CSD5_15BX1 Size
174. e the reason of Servo alarm Initial torque bias approves motor toward the direction against initial torque that relates to downturn when approving initial Servo ON signal in order to prevent downturn by gravity when controlling vertical shaft load If you set initial torque bias appropriately against the strength that load drops you can prevent the downturn of vertical load during initial operation If you control the vertical shaft load use the motor that has built in brake or install brake Initial Torque Bias Setting Procedure Set the appropriate value following the procedure below 1 Check motor rotation direction forward reverse and load direction up down 2 Stop load in the special position using speed control or fixed location control Tuning by Gain Setting 6 35 3 If it remains without moving check torque command value in dis 03 of the Chapter 7 52 page Monitor Mode Function and set that value to Ft 4 06 below Set positive value if the direction that the load goes up is forward direction of motor and negative value if the direction that the load goes up is reverse direction of motor For definition on forward and reverse rotation refer to the Chapter 7 11 page Change the Motor Rotation Direction 4 Do detailed adjustment on the basis of current setting value as checking torque speed position response of motor Initial Torque Bias Setting Set initial torque bias to the following parameter
175. e to the 4 13 page Control Mode Setting CSD5 Servo Drive 5 58 Function for Control Mode Convert Two Control Modes by Sequence Input lt C SEL gt Signal lt C SEL gt is sequence input signal To use lt C SEL gt function allocate lt C SEL gt signal with reference to sequence input output signal in the 5 1 page Sequence I O Input Output Signal If you set combinational control mode you should use sequence input lt C SEL gt When you use combinational control mode control mode is determined by lt C SEL gt input signal The following table is the relationship between lt C SEL gt input signal and control mode conversion Table 5 11 Relationship Between lt C SEL gt Input Signal and Control Mode Conversion Mixed Control Mode Set in Ft 0 00 Control Mode amp Display lt C SEL gt OFF lt C SEL gt ON C E Speed Position E F H 5 Torque Speed B 5 Z A E Torque Position P E F f o K Multi Step Speed Position PF p C Multi Step Speed Speed x 5 j A Multi Step Speed Torque E ni Each basic control mode is already described before If Servo is ON the current control mode is flashed and if the control mode is converted by lt C SEL gt signal the alphabet of the control mode is flashed lt C SEL gt is sequence input that is used only for combinational control mode If y
176. e will use I O No Output 47 48 pin as output pin Applicable Other l l l Models All Drive Disable gt Configuration gt Completed Notice for Signal Allocation When you allocate the different functions to the same pin of I O as shown below the drive indicates servo warning in the status mode Set 4 in the 2nd position in setting window of the parameter Ft 0 11 It is set to use lt N TL gt function and it means that I O No INPUT 4 pin is used as an input pin Set F in the 2nd position in setting window of the parameter Ft 0 13 It is set to use lt INHIB gt function and it means that I O No INPUT 4 pin is used as an input pin When you allocate more than two signals to the same pin as described above the servo warning is indicated In this case when you reapply the power after completing Status Display Mode the input allocation the status display mode indicates servo nono warning Pin 2 0 0 0 Check if you all h ignals to th i eck 1f you allocate more than two signals to the same pin of I O CSD5 Servo Drive TIP Function for Control Mode 5 9 Through monitor mode in the 7 52 page Monitor Mode Function you can check if the sequence I O sional is input E STOP lamp Emergency stop uses the fixed input pin of I O contrary to sequence input according to the allocation SALM lamp Servo alarm uses the fixed output pin of I O in contra
177. e wire less than 8 mm he use of phenol terminal is recommended for the reliability of wiring Use a lever for wires provided with the product The following figure shows the sequence of assembling wire at the socket 1 As shown in the figure insert lever in the socket and press it 2 Insert wire into socket and release the lever 3 Pull it slightly to check if the connection between the socket and wire is normal Prepare the Wires Strip of the Phenol Terminial Assemble the Socket gt gt D gt D gt Wire Terminal o i l of Comress with the Phenol E gt of Terminal Compressor NOTE Keep the length of the peeled wire less than 8 The thickness of wire allowed by the socket is shown below Thickness of Wire Twist AWG20 AWG14 CSD5 Servo Drive Wiring 3 7 CAUTION Insert the wire completely If peeled core wire is exposed it may cause an electric shock A NOTE The lever is a small tool used when wiring Keep it for other wiring jobs CSD5 Servo Drive 3 8 Wiring I O Signal I O CSD5 Servo Drive I O Connection Diagram This is the circuit diagram of a connector for I O signal It is divided into input on the left and output on the right The Backup battery for absolute value encoder does not have the separate terminal It must be connected to motor encoder cable i e oat GND or 24V
178. eCaunOnS Hewson eee ees lee ed ede ee A heeds ge P 6 Usan es She edu eee ah ee uhh ee amine fae wat aes P 6 SOE a EE EEE E oe eee Neneh pot ea eee erties tesa hore P 6 TPO 0 6 alma er were way cer et rere Com ae Cw ert ny weer ar ree ee a P 6 Installation and Wine 624 cine nture gon peewee eeewaae eer P 7 Maintenance and Repa sssri roari ebay bas Bede he ws sE P 7 Chapter 1 Product Type and Each Part Name susssenasesnsssnessseses 1 1 Model Number or the Dieereere neater teed a A aE ERE 1 2 AMANE O r Bach MOIOMP atts naw t E E E E E E 1 3 Model Nu umberof the Motots rierien ennio i Bache e eee hae 1 4 Chapter 2 Seno Divelm alitonko rri ianei eei a ES eA 2 1 CAO 11s 5a ase ead re wea ect be ee eat eds hea oe ese een a 2 1 l sallanon Environment 3 creu aie eit id pod ee ea hy Ae eee es 2 4 Servo Motor InstallatiOn ig diese de ie bee aie otek LS Ae ee 2 4 Chapter 3 Pelote Yon Dobl ts chs ncis o tense te ar n es eee eae eae aes 3 1 CCE CC ICU skoas ue on ie i dood oat eR ea eam eee 3 2 Nate and Punchon lt 20s4 Ita voce in behets ea eee tee aes 3 2 AC Power Terminal L1 L2 L3 and Control Power Terminal L1C L2C 3 3 Regenerative Register Connection Pott 0 0 0 0 008 3 4 Plede Circuit Didonis seier ieia sd ote ds Aree bb eer Seong 3 5 Une the Sockctand Leviy ter iieri eel Oat ea tee et ee ye ee 3 6 NOP Sita as scion Bona a aching hE Bae Tp ene e rating E 3 8 VO Gone hon eran it i aieetitde tb acheteges ona
179. eS 0 19 16 bit Speed Command 10V to 10V ooo 20 Ja Y a Current Command ND 10V to 10V 22 50 A 37 FAULT 1 OUTPUT 4 _ INPUTA SV ON 3 So y PEE 38 FAULT 2 OUTPUTS a O TaN a ER i yee 324 FAULT 3 OUTPUT 6 _ NPUT3 N OT ERA 40 Binary Fault Code Ground e o FCOM OUTCO 1 gt Digital Outputs Ground __iNeutaie con 6 y 21 ans N NUAR 7 HRS P30 AM Actie Low High ai i i EE rogrammabie 2 z Digital puts so Neue Je gy 314 BM Buttered mwen s Oya P a gy a __INPUTB 26 Pay 33 i P rog ja t y aly _ __INPUT10 2 jAy 35 Pan ji D PS Absolute Position P 36 Ps Serial Output E STOP HRY Q10 O 2N _PULS 49 2kQ 1 ZPULSE Encoder j TE P Marker PULS 18 ZPULSE Pulse 45 PULS o ER p FAULT Fault P Output Ae ay signs 252K Baad HA FAULT a SIGN 3 1509 H OUTPUTI PCOM sno oo lu Ba l eh one ak 1 X 42 QUTPUTI P_COM Dem a gt rp Sf onma g nee HF_PULS P ee P y gt ararat I 3 L igita posit HF_SIGN 23 pO ONE Outputs ommand 7 47 y 48 OUTPUT3 BK l l l X 1 Factory Default Value Wiring 3 9 Table 3 2 I O Pin Arrangement for host controller connections Pin 1 10 11 12 13 14 15 16 17 18 19 NO 21 22 23 24 25 Symbol 24
180. ear E STOP The value of a Position e Usea value within the range of Parameter for indexing is out of 9314931 the range l Problem with control or main Check wiring and power power circuitry if this error occurs when power is turned on e Check power and set adjust acceleration decceleration time Excessive current to the motor if this error occurs during operation current more than 300 of the rated current to the motor more than 250 ms Appendix C Specification and Exterior Size Drive Specification Drive Wight Temperature Operating Shock and Vibration Short Circuit Current Rating with No Fuse Restrictions Short Circuit Current Rating with Fuse Restrictions Motor Overload Protection Symbols Used on Drive Certification and Compliance Main Input Power Nominal Input Voltage Vins Input Current An 2 38 A 3 68 A Maximum Inrush Current O peak Maximum Power Cycles Minute CSD5 A5BX1 01BX1 02BX1 04BX1 08BX1 10BX1 15BX1 0 9 kg 1 98 Ibs 1 2 kg 2 65 Ibs 2 1 kg 2 65 Ibs 0 50 C 32 122 F Shock 15g 11ms half sine pulse 3 positive and 3 negative pulses in each of 3 mutually perpendicular directions Vibration 5 55Hz 0 35 mm 0 014 double amplitude continuous displacement 55 500Hz 2g peak constant acceleration 10 sweeps in each of 3 mutually perpendicular directions Suitable for use on a circuit capable of delivering
181. eceiver circuit in the host controller Set R1 value to 330 Q as a OE a T O za Photo Coupler Output Servo alarm sequence output signal and encoder Z pulse signal output are the photo coupler output circuits Connect to the photo coupler circuit of the host controller Wiring 3 21 Connect to the relay circuit of the host controller DC 5 24 V Connect to the line receiver circuit of the host controller DC 5 12 V Line Receiver CSD5 Servo Drive 3 22 Wiring Encoder Wiring Motor Pin Arrangement of Motor Feedback Feedback The table below shows the pin arrangement for each encoder Table 3 12 Pin Arrangement for Encoder C onnector Motor Feedback Drive Motors No Function CSMT RSMQ_ RSMS CSMT RSMS CSMR RSMZ RSMD CSMR RSMD RSMH RSMQ RSMH RSMZ 9 wire 17 bit 17 bit Inc Serial Serial Abs Inc Abs Inc 9 wire 9 wire Inc Inc 11 G es O lt Q O oo N ON n gt W N m MT A l l IS rl wn NIN N Z W NO J 4 2 J WN mi Nn lt N T l t CSD5 Servo Drive Wiring 3 23 Motor CSMT CSMR RSMZ RSMQ RSMS RSMD RSMH RSME RSMK RSML Terminal Type The table below shows the terminal type and specifications of the encoder cable Encoder Cable CON A m CON B Connect this to E 0 D gt Connect this to the Moter Feedback a encoder cable of the 1 PIN 2 PIN Connector CO
182. ed information on encoder may be damaged CSD5 Servo Drive 7 34 Applications When absolute encoder battery low voltage warning occurs the A H type of absolute encoder automatically clears the warning if the battery voltage is in normal operation range but the Q Type encoder is reset for warning by performing the alarm reset run 08 At this time multi step rotation data is not reset A ot H type absolute encoder has a super condenser in it so its voltage is maintained for 30 min even when its battery is disconnected When a battery is re connected internal low voltage alarm occurs Then reset the alarm he super condenser of RSMx motor Q type encoder can maintain its voltage for min 3 5 hours even after power is disconnected if it is charged for 3 hours or more before the disconnection Connecting Battery to Encoder The below figure is how to connect the battery to encoder of servo motot Battery To be Connected with Battery oS 2 DC 3 6V AAA XY 1 Prepare the proper battery for specification 2 The polarity is consistent if the battery specification is complied Reset of Absolute Encoder Implement the absolute encoder reset run 10 in the following cases For initial trial operation CSD5 Servo Drive Applications 7 35 When separate the drive and encoder cable after cutting off the power and connecte
183. egenerative Resistor Selection Standard Regenerative resistor selection standard through the allowable number of repetition The regenerative resistor has to be selected with the specification that meets the load system of the user One of the selection standards may be the selection of optimal regenerative resistor that satisfies the load system by calculating the frequency of repeated motion of the motor Applications 7 15 The repeated frequency means the frequency of operation that the motor rotates and stops regardless of the rotation direction of the motor The permitted repetition frequency means the maximum repetition frequency per minute The motor regenerative resistor selection by the repetitive frequency is limited to the loading operated in the horizontal direction Refer to the below formula to calculate the maximum allowable repetition frequency of the load system Allowble Allowble Repetition oa ee Repetition _ Frequency in without load x eee ee Cycles Min Frequency l n Setting Speed Contents necessary in calculation shall be referred to the below n is the inertia ratio The maximum speed shall be referred to the motor specifications of the appendix CAUTION Make sure to use the actual repetition frequency of the motor smaller than the permitted repetition frequency calculated on the above formula It shows the acceleration and deceleration of the motor in certain operation cycle in h
184. ell I DW 0 In Dwell 2 Axis Homed Axis Homed HOMC 3 Index Select 0 Index Select 0 Out Out O_ISELO Applicable Operating I Mode When Enabled Servo Off gt Setting Allocation of Output Signals 5 RSWare Drive Digital Outputs Range for All Digits 0 3 Where 0 is Off and 1 6 are digital output Data Size 4 digits Digit Description RS Ware Name 0 Index Select 1 Out Index Select 1 Out O_ISEL1 Parameter Group B 23 1 Index Select 2 Out 0 Index Select 2 Out O_ISEL2 2 Index Select 3 Out Index Select 3 Out O_ISEL3 3 Index Select 4 Out Index Select 4 Out O_ISEL4 Applicable Operating I Mode When Enabled Servo Off gt Setting Allocation of Output Signals 6 RSWare Drive Digital Outputs Range for All Digits 0 3 Where 0 is Off and 1 6 are digital output Data Size 4 digits Digit Description RSWare Name 0 Index Select 5 Index Select 5 Out Out O_ISELS End of Sequence End of Sequence E_SEQU Applicable Operating Mode When Enabled Servo Off gt Setting _ Allocation of Output Signals 7 RSWare Drive Digital Outputs Digit Init wnt fo owned fo ened fo eset fo Applicable Operating Reserved Mode When Enabled Reserved Allocation of Output Signals 8 RSWare Drive Digital Outputs Range for All Digits 0 3 Where 0 is Off and 1 6 are digital output Data Size 4 digits Digit Description Init CSD5 Servo Drive B 24 Parameter G
185. environment that the vibration is large So pay extra caution If the response quality of control loop is decreased during On line Auto Tuning increase the value of system gain Ft 1 01 and if noise or vibration occurs reduce that value For system gain Ft 1 01 refer to the 6 15 page Basic Gain Setting On line Vibration Suppression Select Online Vibration Suppression Mode Three modes can be selected on the first 7 segment Disable Normal and High Speed Mode and Slow Speed Mode without Initial Value CSD5 Servo Drive 6 12 Tuning by Gain Setting CSD5 Servo Drive Also the second 7 segment supports Online Vibration Suppression Gain function On line Vibration Suppression Mode Selection Ft 1 22 N0 0 Operates based on the value of the fixed vibration suppression filter in Ft 1 10 which is previously set by the offline tuning and the online function does not work Ft 1 22 N0 1 It is a function to suppress the vibration online in the most general motion conditions However for the online function to work properly an initial offline tuning is necessary The inertia ratio set by offline is essential for the maximum result of the online vibration suppression Once the online function starts by this mode the existing value of Ft 1 10 becomes meaningless MPORTAN The suggested online function can adversely affect when the load condition is too great with a high strength or in no load status It is st
186. er code of cables below refer to Servo Motor Manual Publication SMOTOR UM002 Motor 3 phase Power Cable Encoder Cable Motor Break Cable I O Cable Communication Cable CSD5 Servo Drive 1 4 Before Using the CSD5 Servo Drive Model Number of the The following figure describes the model name of the motor on the M otor nameplate Motor Type Example of Motor Specifcation cisma Gael Encoder Type Design Sequence Motor Axis Key Option Manufacturer Shaft Specification Rated Output Voltage For more detailed information about each motor name TIP plate items refer to Servo Motor Manual CSD5 Servo Drive Servo Drive Installation Chapter 2 Installation This chapter describes matters to consider when installing the servo drive and the motor Refer to the appendix for numerical data on the drive motor and various peripheral equipments necessary for the installation Precautions Refer to the following figures when installing the servo drive The most important thing to consider when installing the drive is the ambient temperature Follow the operational temperature and mount the servo drive vertically Install the Servo Drive Vertically Servo drive less than 400 W applies the natural convective cooling and the servo drive with more than 0 8 kW uses the cooling fan To increase the cooling efficiency install it vertically
187. er confirming the power wiring Motor and encoder wiring is erroneously made Make corrections after confirming the wiring External command and position command is not Confirm the wiring of input terminal and input it inputted correctly Servo ON is not made The allotted parameter of sequence input signal Ft 0 10 shall be confirmed for setting The selection of command pulse is wrong Refer to Chapter 5 10 page Position Control Mode and correctly set it Over trouble input is turned off P OT N OT input signal is made to ON It is in overload condition Release the overload condition and operate it Servo alarm occurs Remove the cause for alarm and implement the alarm reset then re start it Motor vibrates or has large The speed loop integration gain of servo is too Lower the system gain Ft 1 01 Heighten the overshoot in accelerating or high speed loop integration gain Ft 1 03 decelerating The motor rotates at the speed The speed command offset adjustment is In put 0 to the speed command and redo the command 0 erroneously made offset adjustment The encoder type setting error The setting of motor and encoder is erroneous Confirm the motor setting parameter Ft 0 01 or encoder circuit alarm occurs and then set it correctly Motor and encoder wiring is erroneous Refer to the wiring in Chapter 3 and make a correction Strange noise is made Mechanical installation condition is bad Confirm the insta
188. erved Reserved Reserved Reserved Reserved Reserved Near Position Size RS Ware Drive Position Functions Near Position Size If position error lt Near Position Size and the Near Position output signal is assigned the Near Position output is turned ON 0 2500 20 pulse F Immediately Speed Window RSWare Drive Speed Functions Speed Window If the speed error lt Speed Window for 10 ms and the Within Speed Window output signal is assigned then the Within Speed Window output is turned ON 0 1000 10 Rotary Motor rpm Linear Motor mm sec Applicable Operating Mode When Enabled Description Range Initial Value Unit Applicable Operating Mode When Enabled Description Range Initial Value Unit Applicable Operating Mode When Enabled Description Range Initial Value Unit Applicable Operating Mode When Enabled Description Range Parameter Group B 53 F S P Immediately Up to speed RSWare Drive Speed Functions Up to Speed If the motor speed gt Up to Speed and the Up to Speed output signal is assigned then the Up to Speed output is turned ON 1 5000 20 Rotary Motor rpm Linear Motor mm sec All Immediately Zero Clamp RSWare Drive Speed Functions Zero Clamp If the Analog Speed Command lt Zero Clamp then the analog speed command is ignored and the motor command speed is set to zero 0 5000 0 Rotary
189. esult in smoother operation Definition of Acceleration Acceleration is the rate of change in speed from stop to the motor s rated speed Definition of Deceleration Deceleration is the rate of change in speed from the motor s rated speed to a stop Speed Command and Acceleration Deceleration The figure below shows the implementation of the speed command by the Servo drive after the Acceleration Deceleration speed is set It shows that the longer the deceleration time is the longer the time for the implementation of the command becomes Motor Rated Speed 00 Motor Setting f Time Actual Acceleration Actual Deceleration Time Motor Rated Speed H P 2L Speed Motor Setting Time 0 Acceleration Setting Deceleration Setting CSD5 Servo Drive 7 18 Applications CSD5 Servo Drive Acceleration Deceleration Setting Set the acceleration deceleration on the below parameter Parameter Parameter Area Description Setting Value Initial Value Unit Applicable Mode Others Parameter Parameter Area Description Setting Value Initial Value Unit Applicable Mode Others Acceleration Set motor acceleration speed 1 2 147 483 647 41667 Rotary Motor 10 xRev sec Linear Motor mm sec All Setting gt End Deceleration Set motor deceleration speed 1 2 147 483 647 41667 Rotary Motor 102xRev sec Linear Motor mm sec All Setting gt End Applications 7 19 Definition of
190. ex 1 Deceleration 7202 7203 1 2147483647 6250 Rotary Motor l m crt l 102xRev sec ALLI I Linear Motor mm sec CSD5 Servo Drive f nuna mee cue Description Range Modbus Address Applicable Operation Mode Ao toa Description Range Modbus Address Applicable Operation Mode m s i NML tut Description Range Modbus Address Applicable Operation Mode _ rt ri ing gS Description Range Modbus Address Applicable Operation Mode CSD5 Servo Drive B 60 Parameter Group Description Causes the drive to begin the homing procedure automatically when the drive is enabled 0 Active Automatically starts homing every time the drive is enabled 1 Active After Reset Only automatically starts homing when a drive is enabled if the drive has not already been homed 2 Inactive Modbus Address 5201 Changeable Status When Enabled Power Cycling Applicable Operation I Mode Homing Velocity RSWare Drive Mode Configuration Homing Homing Velocity The commanded velocity used during homing The sign of this value indicates the direction of motion during homing 6000 6000 Initial Value Unit Changeable Status Servo OFF When Enabled Rotary Motor rpm Linear Motor mm sec 5202 Disable drive Creep Velocity RSWare Drive Mode Configuration Homing Creep Velocity For the To Sensor then Back to Marker Homing Type the velocity used for a
191. exing Index 0 63 Setup Action When Complete 0 Stop ends the execution of indexed move commands default setting 1 Start next index commands execution of the Next Index move without additional input but after the scheduled Dwell 2 Wait for Start commands execution of the Next Index move the next time the Start Index input becomes active 0 2 Initial Value 0 Unit Changeable Status When Enabled 5400 5463 N A Always CSD5 Servo Drive B 66 Parameter Group Indexing Parameter Group 4 Index Position Distance Index 0 63 Position Distance l r F ri AU TUL RSWare Drive Mode Configuration Indexing Index 0 63 Setup Distance or Position Description e Position For Absolute mode moves the fixed position to which the motor will travel e Distance For Incremental and Registration mode moves the relative distance the motor will travel Range 2147483647 2147 Initial Value Unit pulse 483647 Modbus Address 5800 5927 Changeable Status When Enabled Always Applicable Operation I Mode Indexing Parameter Group 7 Index Dwell Index 0 63 Dwell l Mann ALU LLL RSWare Drive Mode Configuration Indexing Index 0 63 Setup Dwell Description Milliseconds to remain at current position before exec Range 0 65535 Initial Value 0 Unit ms Modbus Address 6400 6463 Changeable Status When Enabled Always Applicable Operation I Mode Indexing Parameter Group 8 Index Velocity
192. f speed tolerance 0 2500 30 Hz ESP Immediately Position Regulator Kp Gain RSWare Drive Tuning Main Position Regulator Gains Kp CSD5 Servo Drive B 28 Parameter Group CSD5 Servo Drive Description Unit Initial Value Unit Applicable Operating Mode When Enabled Description Unit Initial Value Unit Applicable Operating Mode When Enabled Description Unit Initial Value Unit Applicable Operating Mode When Enabled Description Unit Initial Value Unit e Parameter which determines the responsiveness of position control e Change set value according to rigidity of load e Value changed according to system gain Ft 1 01 0 700 20 Hz F Immediately Current Command Low pass Filter Bandwidth RSWare Drive Tuning Main Current Regulator Gains Low Pass Filter Bandwidth e Suppresses high frequency components of torque command e Value changed according to system gain Ft 1 01 0 10000 300 Hz All Immediately Speed Command Low pass Filter Bandwidth RSWare Drive Tuning Main Velocity Regulator Gains Low Pass Filter Bandwidth e Sets low pass cutoff frequency of speed command to suppress high frequency components e Value changed according to system gain Ft 1 01 0 10000 1000 Hz F S P Immediately Position Command Low pass Filter Bandwidth RSWare Drive Tuning Main Position Regulator Gains Low Pass Filter B
193. ffset run 03 7 44 Auto Adjustment of Torque Command Offset run 04 7 46 Allra Rest CUm OO 1468 aout bebe Gok Be Bol aoe eee ade tard d Sets 7 49 Aipsolute Encoder Reset une 10 puns aaah deat andeiee acted 7 50 Z Group Gain Stonne Guia ney aac PSS ES ke aiid A 7 50 Parameter nitial zation Manel Ay noe ane RAK rapo aes 7 50 Montor Mode Functions ivers saa eared ele eee ele bane bid 7 52 Monitor Mode Function 0 0 ec cee eens 7 54 Key Dutton Operin erer eeren teehee teed eee ees 7 55 Inspection and Protection Functions Parameter Group Chapter 8 WS DECC OG 2s Sesion ts Send oe det hake eRe eS eRe E E Pee 8 1 AS PEC NOM OL MOO ti nist aa aid Goethe oe Wola ata a eh adi 8 1 lnspection Of Divers say etn ge ee yaad bases ocean ee 8 2 Pare OSPEC Ones acts CEU A aes Ce oe a ou e et ee aes eee 8 2 Battery Inspection for Absolute Encoder 0200004 8 3 PIOLECUG I PUNCHON taere dapena eh on soa bats coors noeeeg add 8 3 DEVO A aes ia ea eee uel ea be Ae ele Gaal nd cues 8 3 DO Ai a yaad a et Bes E ears el ates eae tart ns 8 5 Confirmation before Requesting for A S nis doce obese eangeds 8 9 Appedix B Paramete e WD escripu0n 46 54 eae ne od Se hee CSO EAEE Dae est B 1 StanG are GtOU adic te dire orang ba heen ee ele ute ee bo aces B 1 SdAdard Grop l coeta ont i eae eh ee ek beat B 3 Sandal GoU 2 pase eae mda hua ao eA ea seu E B 6 SEAN GTO E S saris bette sl Balt eae need os A ole tel
194. fined value of Ft 1 22 NO on 2 Slow Speed mode without initial value might not have the generality since it is a value guaranteed only in the low speed operation mode However if a user decides that the device is always operated in the low speed mode and wants to keep the value permanently he can reset Ft 1 22 NO 0 and write the value measured online from Ft 1 22 NO 2 again onto Ft 1 10 then the value is stored in the memory of the drive for good If only resonance or vibration frequency is needed execution of run 01 offline auto tuning after setting Ft 0 03 NO 2 Resonance Frequency Detection enables the normal operation after locating the vibration frequency The advantage of this function is that all the operation conditions are in the low speed range mentioned above within 100 rpm in case the gain is also relatively low the operation can be continued while adjusting for the optimum Ft 1 10 MPORTANT This function is available only when both the gain and the operation speed within 100 rpm are low Online Vibration Suppression Gain Setting As mentioned above Ft 1 22 NO 1 is the most suitable online function to be used in general However this function may be vulnerable depending on the load condition Such an example is when the structure is complicated with many belts connected Initial value Ft 1 22 N1 0 can be applicable in most cases if there is a functional problem set Ft 1 2
195. ge Speed Control Mode If the user does not use the speed mode and operate with other control mode position torque multi step speed the below input can be used as the function limiting the speed The speed limit utilizing the speed command input pin is referred to as external speed limit CSD5 Servo Drive 7 22 Applications When it is used as speed mode the external speed limit function may not be used and the speed may be limited by the internal speed limit The speed may be limited to a speed equivalent to the analog voltage command inputted from the host controller When operated in Speed mode the analog speed command of host contorller is Speed Command 10 V 10 V Speed Command 10 V 10 V External Speed Limit Value The parameter below is the parameter setting the relationship between the analog speed command voltage and the speed when operating with speed mode When it is not used as the speed mode the speed is limited to the applicable speed at the below parameter setting Select the analog command voltage and speed to be limited and set the external speed limit value of the below parameter Paramter Parameter Name External Speed Command Gain and External Speed Limit Value Description Set the speed command value rpm on analog voltage 1 V and limit it with the set speed Setting Value 10 0 2000 0 Initial Val
196. he gain setting CSD5 Servo Drive 6 6 Tuning by Gain Setting Starting point for position mode gain setting Starting point for speed mode gain setting Starting point for torque mode gain setting CSD5 Servo Drive The following diagram will help you understand the gain configuration related to position speed and torque Position mode using the position pulse command of host controller includes all gains related to speed and torque from starting point to the servo motor as shown in the figure below Servo drive first generates the speed command using the position command of the host controller speed command generates the torque command and finally it transfers the torque command to the servo motor Therefore when you use the position mode the gain can be set properly If gain related to position control is set properly but the gain related to torque or speed is not set properly the optimum tuning cannot be achieved Speed mode using speed command of the host controller includes all gains related to torque from starting point to the servo motor as shown in the figure below Servo drive first generates torque command using speed command of the host controller and finally it transfers the torque command to the servo motor Therefore when you use the speed mode the gains related to speed and torque can be set properly If gain related to speed control is set properly but gain related to torque is not set properly the op
197. he open collector 250 kpps If it exceeds the maximum allowable frequency excessive position command pulse E OvPUL alarm occurs Please be careful not to exceed the maximum allowable frequency Position Command Pulse Setting The position command supports 10 types as shown below Check the applicable specification with reference to electric specification of the command pulse If the electric specification such as timing is not appropriate a position error can occur Parameter ri LI Parameter Name Position Command Pulse From Selection Settomg Value 0 6 Refer to the table below Initial Value 0 Applicable Mode F Others Servo OFF gt Setting gt End CSD5 Servo Drive 5 16 Function for Control Mode Setting Logic Value 0 Positive Logic l Negative Logic CSD5 Servo Drive Command Pulse Form CW CCW Pulse Train Sign Phase A Phase B CW CCW Pulse Train Sign Forward Direction Operation Reverse Direction Operation Input Muliplicat ion p T i l Duple Quadruple A TIP You can verify the data related to the position through monitor mode in the 7 52 page Monitor Mode Function Function for Control Mode 5 17 Electrical Specifications of Position Command Pulse Table 5 7 Electrical Specificatio
198. hen Action When Complete is not set to Stop Range 0 63 Initial Value Unit N A Modbus Address 7400 7463 Changeable Status Always When Enabled Always Applicable Operation Mode Run Parameter Run Name Modbus Address run 00 Jog Operation 2000 run 01 Off Line Auto Tuning 2001 run 03 Auto Adjustment of Speed Command Offset 2003 run 04 Auto Adjustment of Current Command Offset 2004 run 08 Alarm Reset 2008 run 10 Absolute Encoder Reset 2010 CSD5 Servo Drive B 68 Parameter Group Run Name Modbus Address run 11 2 Group Gain Storing 2011 run 12 Parameter Initialization 2012 run 16 Hardware Reset 2016 Display Parameter Drive Name Unit Modbus Addres dIS 00 Velocity Feedback rpm or mm sec 0 dIS 01 Velocity Command rpm or mm sec 1 dIS 02 Velocity Error rpm or mm sec 2 dIS 03 Torque Command 3 dIS 04 Position Feedback pulse 4 5 dIS 05 Position Command pulse 6 7 dIS 06 Position Error pulse 8 9 dIS 19 Analog Velocity Command Voltage 0 01V 36 dIS 20 Analog Current Command Voltage 0 01 V 37 dIS 21 Drive Rated Output Power dIS 22 Absolute Single Turn Data 39 40 dIS 23 Encoder Feedback Counter 41 42 Go oo Warning and DRive Warnings or errors are displayed by the drive as shown and explained in the A following tables Display Warnings are drive abnormalities that allow motor control to continue The Warning display uses only the last three digits of the six digit display CSD5 Servo
199. hen the trial operation of equipment or simple Operation is required The speed of the motor is determined with the setting value of Ft 2 01 Confirm the setting value of Ft 2 01 in advance before operation and adjust it for situation The operation can be possible in the range of 0 to 6000 rpm and the initial setting speed is 50 rpm CSD5 Servo Drive 7 42 Applications How to Operate Refer the flow chart of the below and operate Servo ON Servo OFF Jog Operation Flow Chart Status Disply Mode D fol ol L r j Ci Lj Select Operation mode with the lt b MODF SET key Make run 00 Initial run 00 y S LINE LILI Confirm the jog operation by pressing J the ENTER key Job Prepare the jog operation by pressing the MODE SET key Forward operation for motor while pressing the above key Clockwise direction Reverse operation for motor while pressing the lower key Countercolockwise direction Release the jog operation by pressing the MODE SET key Operation expiration by pressing the ENTER key Completion CSD5 Servo Drive Applications 7 43 Off line Auto Tuning Operation run 01 Function Description Refer the Chapter 6 8 page Auto Gain Setting for detailed description on off line auto tuning Caution The following shall be carefully reviewed before operation
200. iately Preset Velocity 3 a Drive Mode Configuration Preset Preset Velocity Description Refer to description of Ft 2 05 Range 6000 6000 Initial Value 0 Unit Rotary Motor rpm Linear Motor mm sec Applicable Operating P Mode When Enabled Immediately RSWare Drive Mode Configuration Preset Preset Velocity 4 Description Refer to description of Ft 2 05 Range 6000 6000 Initial Value 0 Unit Rotary Motor rpm Linear Motor mm sec Applicable Operating P Mode When Enabled Immediately Description Range Initial Value Unit Applicable Operating Mode When Enabled Description Range Initial Value Unit Applicable Operating Mode When Enabled Description Range Initial Value Unit Applicable Operating Mode When Enabled Parameter Group B 43 Preset Velocity 5 RSWare Drive Mode Configuration Preset Preset Velocity 5 Refer to description of Ft 2 05 6000 6000 0 Rotary Motor rpm Linear Motor mm sec P Immediately Preset Velocity 6 RSWare Drive Mode Configuration Preset Preset Velocity 6 Refer to description of Ft 2 05 6000 6000 0 Rotary Motor rpm Linear Motor mm sec P Immediately Preset Velocity 7 RSWare Drive Mode Configuration Preset Preset Velocity T Refer to description of Ft 2 05 6000 6000 0 Rotary Motor rpm Linear Motor mm sec P Immediately Manual Velocity Limit RSWare
201. ident when the stop method NOTE P N1 of Ft 0 02 is set to 0 to stop through the normal torque control the servo drive can limit the torque transmitted to the motor Refer to the Chapter 5 46 page Torque Limit and Torque Limit Detection lt T LMT gt Output for the torque limit in an over travel occurrence Dynamic Brake The CSD5 servo drive has the dynamic brake circuit CSD5 Servo Drive 7 4 Applications CSD5 Servo Drive Dynamic Brake DB When the motor cable U V and W of the servo motor 1s all short circuited and the motor shaft is rotated with hands it is easy to find out that there is much more loading in the rotation than when not short circuited The drive uses such characteristic of the motor when stopping the motor This is referred to as a dynamic brake DB The following figure shows the internal DB circuit of the servo drive If the motor cable is connected to the servo drive and if the power is not supplied to the servo drive the switch in the below figure is short circuited This indicates that the DB is in operation Also the servo drive controls the DB switch according to the parameter setting for the DB operation Dynamic Brake CAUTION The DB cannot be used while stopping the motor with normal torque control The normal torque control is done MN in servo ON but the DB is only operated in servo OFF DB Stop DB Stop is operating the DB to stop the motor during the
202. ilter Ft 1 15 is not 0 it is valid If this value is O position FF filter is not used F Setting gt End If you use position FF function speed command increases or reduces much as responding to increase or reduction of position command Therefore if position command is entered as the type to be significantly changed that is to CSD5 Servo Drive 6 28 Tuning by Gain Setting CSD5 Servo Drive say in case of high acceleration or high deceleration position FF has overshoot At this moment if you want to reduce position output time find out appropriate value as slowly increasing the value of Ft 1 07 as checking over response In addition it is good method to suppress high frequency factor of position FF using speed command filter Ft 1 08 or making position command itself smooth using position command filter Ft 1 09 CAUTION If you use it with On line Auto Tuning the system can be unstable Speed Bias Function It provides to add bias to speed command according to position error as another method to reduce position completion time in position mode You can quickly reduce position error if you use this function because the part where position error is big gives much bigger speed command to reduce the error It has the same effect as applying relatively high position proportional gain in the part where position error is big So you can reduce position completion time around maximum level Th
203. indication mode is on However lt NEAR signal is not on CSD5 Servo Drive 5 30 Function for Control Mode Figure Explanation Sequence output lt P COM gt and lt NEAR gt signal output as shown below Position Error n Ft 5 02 Ft 5 00 0 P COM D ON OFF ON Thus lt P COM gt and lt NEAR gt output are ON when satisfying the following conditions However the position pulse command frequency should be 100 pps and less Time Position Error lt Setting valuen of Ft 5 00 P COM Output Position Error lt Setting valuen of Ft 5 02 NEAR Output CAUTION When Ft 5 00 is set with high value during the low speed operation less 100 pps lt P COM gt output signal MN remains ON TIP lt P COM gt and lt NEAR gt are sequence output sional To use lt P COM gt and lt NEAR gt function allocate lt P COM gt and lt NEAR signal and refer to sequence input output signal in the 5 1 page Sequence I O Input Output Signal You can use lt P COM gt and lt NEAR signal as the reference signal for the next operation of the system with lt V COM gt of speed control mode When the position completion signal detection lt P COM gt signal is output the servo drive turns line indication 1 on to allow verification of lt P COM gt sional output For status indication mode refer to the 4 7 page Status Display Mode CS
204. ion Range Initial Value Unit Applicable Operating Mode When Enabled Parameter Group B 51 All Immediately Over travel Current Limit RSWare Drive Stopping Functions Maximum Stopping Current e Limits the torque imposed on the motor if the motor is halted by overtravel lt P OT gt lt N OT gt input signal during rotation e Unlike external and internal torque limit the torque limit value for overtravel input is same for forward and reverse direction 0 500 300 of motor rated continuous current All Immediately Initial Current Bias RSWare Drive Initial Current Bias Initial torque value applied when the servo drive activated This is to keep vertical axis load 100 100 0 of motor rated continuous current All Immediately CSD5 Servo Drive B 52 Parameter Group CSD5 Servo Drive Standard Group 5 Description Range Initial Value Unit Applicable Operating Mode When Enabled Parameter Description Range Initial Value Unit Applicable Operating Mode Description Range Initial Value Unit Applicable Operating Mode When Enabled Description Range Initial Value Unit In Position Size RSWare Drive Position Functions In Position Size If position error lt In Position Size for 1 ms and the In Position Size output signal is assigned the In Position output is turned 0 2500 10 pulse F Immediately Reserved Res
205. ion Range Initial Value Unit Applicable Operating Mode When Enabled Positive External Current Limit Negative Internal Current Limit RSWare Drive Current Limits Negative Internal Limits reverse direction torque on motor Internally limited 0 500 300 of motor rated continuous current All Immediately RSWare Drive Current Limits Positive External e The torque imposed on the motor is internally limited automatically by the values set on Ft 4 01 Ft 4 02 Additionally it is also limited by the values set on Ft 4 03 Ft 4 04 when external lt P TL gt lt N TL gt signals are input through sequence input e The torque limit according to internal limit Ft 4 01 and Ft 4 01 takes precedence to external torque limit lt P TL gt and lt N TL gt signals Forward Torque Command Reverse Torque 0 500 100 Internal Limit Sequence External Limit Limited Torque Command of motor rated continuous current All Immediately Description Range Initial Value Unit Negative External Current Limit RSWare Drive Current Limits Negative External Refer to description of Ft 4 03 0 500 100 of motor rated continuous current Applicable Operating Mode When Enabled Description Range Initial Value Unit Applicable Operating Mode When Enabled Descript
206. iring I O Input Circuit and Describes the connection circuit for input from the host controller to Interface the servo drive Pulse Command Input Circuit The drive receives the pulse output of host controller by position command in position control mode Host controller can output pulse in line drive or open collector type Refer to the 5 10 page Position Control Mode for the servo drive setting according to the selection Line drive Maximum allowable frequency 900 kpps Duty ratio 50 50 Input pin number s PULS 11 PULS 12 SIGN 13 SIGN 14 Line Drive 150 Q 1 k amp SN75174 Open Collector 24 V Maximum Allowable Frequency 250 kpps Input pin number 24V PULS 49 PULS 12 24V SIGN 25 SIGN 14 Open Collector Vee Host Controller NOTE For Open Collector 24 V input it does not need the external resistance High Frequency Line Drive Maximum Allowable Frequency 3 Mpps Input pin number CSD5 Servo Drive Wiring 3 17 PULS 15 PULS 16 SIGN 23 SIGN 24 Line Drive SN75174 Maximum allowable frequency of host controller s pulse command is 900 kpps for the line drive 3 Mpps for high speed line drive 250 kpps for the open collector If the maximum allowable frequency is exceeded E PoSEr servo alarm of position command pulse is generated Make sure the output of host contr
207. irst set the acceleration deceleration that is appropriate to the user s situation Applications 7 21 Speed Limiting Function It describes the function to limit the rotation speed of the motor 2 Ways to Limit the Speed There are 2 ways to limit the speed as below Limit the speed through the independent setting of the servo drive Internal speed limit Limit the speed through the command from the host controller External speed limit Internal Speed Limit Internal speed limit is operated by the value set by the user on the below parameter Therefore when the faster speed command than the setting value of below from the host controller the servo drive is limited to the setting value and operated Parameter Paramter Name Speed Limit Description It limits the rotation speed of the motor to operate under the setting value Initial value is automatically set with the maximum speed of the motor applicable together with the setting the motor model at the basis setting of the Chapter 4 12 page Basic Setting Setting Value 1 6000 Initial Value 5000 Unit rpm Applicable Mode All Other Servo OFF gt Setting gt End External Speed Limit Value The below figure is the input of function to allow the servo drive to make the speed control by permitting the analog speed command at the host controller when the servo drive is used as the speed mode Refer to the speed mode in the Chapter 5 32 pa
208. itor Mode Function Absolute Encoder Reset run 10 The reset of absolute encoder refers to the Chapter 7 50 page Absolute Encoder Reset run 10 2 Group Gain Storing run 11 Function Description Understand the content of the Chapter 6 36 page lt G SEL gt Function first When the optimal tuning that is appropriate to the load system is made it is stored Applications 7 51 How to Operate Refer to the flow chart below and operate Servo ON Servo OFF Flow Chart of 2 Group Gain Storing Status Display Mode ILI LILI 0 0 0 0 0 Select operation mode with the Ly MODE SET key Porn ou Make run 09 by using the direction o gt G EP Prepare the 2 group gain storing by pressing ENTER key lt p OOO Oro L LIIE CDI Completion Operate the gain storing by pressing the MODE SET key S Moon oo lt Display for nomal Lj execution oon Completed the operation by pressing i the ENTER key Completion E a Vur l NOTE When the lt G SEL gt function of the Chapter 6 36 page lt G SEL gt Function is not used the main storage function meaningless Understand the contents of the 6 36 page lt G SEL gt Function first Parameter Initialization run 12 This function is to initialize the user parameter to the same status as the factory setting values General Matter The initialization of parame
209. just again for initial load position and the operation of equipment can immediately be executed by using the saved information When the host controller needs the absolute position of load system in the power cut off the motor that is equipped with the absolute encoder has to be used Types of Absolute Encoder e A H Type Absolute Encoder 11bit Absolute Encoder Q Type Absolute Encoder 17bit Serial Absolute Encoder Drive Output and Encoder Information Flow Motor Feedback To Be Connected with the mma m m DC3 6 V AAA S CSD5 Servo Drive 7 32 Applications Absolute Encoder has to be connected with the Battery The battery memotizes and maintains the absolute position of load system when the servo drive power cut off Contact with the Host Controller When the motor equipped with the absolute encoder is used the standard connection with the drive and host controller is as below figure For memorizing and maintaining the absolute position information the absolute encoder shall be connected to a battery The battery may be connected to motor encoder cable Servo Motor Encoder aces i m peas Serial I F Circuit Up Down i EA EA 20 or 22 BAT CSD5 Servo
210. k voltage V The number of rotation data of absolute encoder Speed command offset mV Torque command offset mV I O status Alarm history Firmware version Motor amp Encoder Type Analog speed command vol 0 01 V Analog torque command voltage 0 01 V Operator Basic Setting and Startup 4 11 Table 4 8 Monitor Mode Item Monitor Contents Unit dIS 21 Drive rated output dIS 22 Absolute encoder 1 time rotation data dIS 23 Encoder feedback counter The items like Posiotn feedback Potion Command and Encoder Feedback Counter of the monitor mode Posiotn feedback whose value is more than 6 digits is not displayed at once by the 6 digit 7 segment LED display Therefore it is displayed seperatly by left and right key Refer to the 7 52 page Monitor Mode Function for details on how to check such items Overview of the Operation Mode This section includes brief explanation of the parameters in operation mode The motor can be run in operation mode Each item provides a special function which can be used Just as in the parameter setting mode there is a status where the operation is possible impossible according to the status of the servo drive during the use of the operation mode Refer to the 7 41 page Operation Mode Function for details of operation mode The table below shows the brief functions of each item in the operation mode Operation Mode Range rom oe Bal E ri O m ae J Cun O0 runs te
211. ke Signal after Servo OFF Set saiting time when outputting brake signal after Servo OFF In order to stop the motor from the host controller the servo off command is outputted from the drive At this time the actual time when the motor brake is operated can be set a ay ay a A DONA a gt POEL Egy mi of the Servo Drive gt ON OFF Waiting Time When Outputting Brake Signal after Servo OFF Motor Brake E gt Released Operatin 0 10000 500 ms All Serve OFF gt Setting gt End Parameter Parameter Name Description Setting Value Initial Value Unit Applicable Mode Others Applications 7 9 Speed Value When Outputting Brake Signal after Servo OFF Set speed value when outputting brake signal after Servo OFF Host Controller outputs the Servo OFF command to drvice to stop the motor The motor speed when the motor brake is operated can be set SV ON command of Servo Drive ON OFF Speed Value when Motor Speed E Outputting Brake Signal Setti etting Speed after Servo OFF 8 gt P Motor Brake gt Released Operatin 0 1000 100 Rotary Motor rpm Linear Motor mm sec All Servo OFF gt Setting gt End CAUTION The brake attached to the motor should not be used to stop the running motor Use it to maintain the stop status of the motor immediately before or after the stop Precautions when Setting The below are
212. le Seen gk AE 3 29 Witing when Usine Several Dives c c uh oieeas Suda er ESEE tems 3 33 Connectoito Penpheral EoulpiheNt serri esien bun ceaies 3 34 Chapter 4 DelOre NOU BDE deraa Suey E A a AA 4 1 ADO DEVO AON NOD A pea aa a r EA ae Alisha 4 1 OPELTOL prois ANE E E RE AE AEEA 4 4 Name and Function of Each Party cick paca ith oale ee SR Ae Bec 4 4 Icons tor the ey Buttons ve gsesaesee seg see EENS 4 4 Structure OF the Endre Mod s 5 5 0 5 4 ohn 6 05 54 955 KOE OS Gee OES 4 5 Status Display Moderrn 3 555285520 o2 beet Se tees hea 4 7 Overview of the Parameter Setting Mode vc wen we ewebowwmeawe le 4 9 Overview of the Monitor Mod chidsn 8 48265 SR Re HEWN does bs 4 10 Overview of the Operation Mode 145s gated Heteseobu eeu ented bad 4 11 Basic Sete esea r cet oe eet ane Saute omens aes 4 12 Overvicw Or the Basie Setun Os err eaae hi enaa Ee kenaii 4 12 Control ModE SEO oer EEEn EEE D 4 13 MOOL CEU sos Pin ae e aaa e oa a aed Geena se ei caeeeS 4 16 E2116 Oko PEE a A EE E UE tegen a a er ee eer EN ee 4 21 PEOR O D eax sotaaPaseackbat gi ghiwe dace E eaone as aaa 4 21 A 2a t ee aatne pas Venus en ee es A ana ee tan eat iy cele a aaah 4 21 Chapter 5 Sequence 1 0 Input Output Signal sico cie sua eenser esas ques Gane 5 1 Whatis Sequence VO Siena ta 6 teak state tines date eee eers 5 1 PUNCHOD OF INPU OIA iiss xs seb aida wag Borde wie Os anda oes geo eh 5 2 Funciono Output SION yyy enen eet oe eit hee ele 5 4 Input Signal Allocati
213. ll remaining homing motion after the motor decelerates to a stop when it finds the sensor edge 0 6000 Initial Value Unit Changeable Status Servo OFF When Enabled Rotary Motor rpm Linear Motor mm sec 5203 Disable drive Homing Acceleration Deceleration RSWare Drive Mode Configuration Homing Homing Accel Decel The rate of acceleration and deceleration used during homing 1 2147483647 Initial Value 6250 i Changeable Status Servo OFF When Enabled Rotary Motor 10 xRev sec Linear Motor mm sec Disable drive l 5204 5205 Offset Move Distance RSWare Drive Mode Configuration Homing Offset Move Distance The distance the motor position will be from the marker edge or sensor edge for Sensor only Homing Type after the homing sequence is complete 2147483647 2147 Initial Value Unit 483647 5206 5207 Changeable Status Servo OFF When Enabled I e pulse Disable drive Parameter Group B 61 Index 63 Deceleration 7326 7327 N A 1 2147483647 6250 Rotary Motor Linear Motor mm sec Indexing Gorup 12 Index Next Index No Name Modubus Digit No Range Init Note Address k a a N A Indexing Parameter Gorup 0 Indexing System Auto Start Indexing RSWare Drive Mode Configuration Indexing Auto Start Indexing Description When this field is set to on the drive will begin executing the selected index whenever the drive enables 0 Off
214. llation condition coupling nut tightening and adjust Motor or drive is overheated The ambient temperature is high Lower the ambient temperature under 50 C It is in overloaded condition Release the overload condition and operate it CSD5 Servo Drive Appedix B Parameter Group Parameters control CSD5 Servo drive operations They are grouped by the type of drive Standard or Indexing and the settings they define Parameter Description Standard Group 0 No Modbus Digit No Range ae Note Name Megha FE GG0 Operation Mode 0000 a 1 12 F I a Motor Motor Configuration 0001 0002 Encoder Type er 0x0 0xF OxF Ox1 9 Line a Power A5 01 02 04 04 400W Power 08 10 15 Motor Motor Type Ox11 CSMT Motor ID a of 4 Basic 0003 Bit Field Fault and Disable 0 3 O Brake and Braking Hold Over Travel stop l 0 1 O Current 1 Dynamic method control Brake Command Polarity O Normal 1 Inverted AC Lime Loss Check O Enable Selection of Auto 0004 N A Bit Field Tuning Function Off line Tuning Mode 1 Inertia Moment and RFD Auto Tuning Speed N 7 700 rpm Value 100 rpm i o Auxiliary Funtion 0006 Bit Field Selection 1 Encoder Backup Battery Selection of Speed 1 0 1 0 Disabled Observer Gain Gain Change Enable Enable 0 Disabled Emergency bee Input O Disabled CSD5 Servo Drive O Installed a B 2 Parameter Group Auxiliary
215. lter Suppression Filter Gain Filter Hg Hz Hz Others They are four parameters with supplementary function that is required for tuning I Li ie ta H 50000 CO oO 6 1 000 eo cece FE m leg Ea Contorl Moar a a Salad Value pul i As mentioned above gains in parameter group 1 and 13 parameters related to gain are explained and the details are explained hereinafter Parameter That is Most Important for Tuning Inertia Ratio The parameter that is considered to make motor that is connected to servo drive achieve the optimum performance in tuning is the inertia ratio setting parameter First of all you should understand that inertia ratio and gain settings are interlocked and refer to the explanation hereinafter CSD5 Servo Drive 6 4 Tuning by Gain Setting CSD5 Servo Drive Inertia Ratio What is Inertia Ratio The following figure explains the inertia ratio It shows the ratio of load inertia compared to the motor rotor inertia If the motor rotor inertia is 3 gfcms and the load inertia is 30 gfcms the inertia ratio is 10 times For the motor inertia table refer to the motor specification in the appendix Setting Unit Setting value of Inertia Ratio uses the unit times For example if the motor inertia is same as the load inertia the Inertia Ratio is 1 time and the setting value is The setting value of
216. lue Applicable Operating Mode Data Size Digit 0 Range Initial Value Digit 1 CSD5 Servo Drive Initial Value 1 F Applicable Operating All Mode When Enabled Servo Off gt Setting gt After Power Cycle Motor Configuration RSWare Drive Motor Motor Model All Set motor type e Set items such as motor type motor rated output and encoder type e Check out model name attached motor nameplate e With Up Down direction key Alphabet and Mumbers of item are displayed Example displays of model attached motor nameplate is as follow Fill correct information in corresponding position according to following picture CSM Ti 1011 BHATA NITIS Motor Type Rated Power Encoder Type BEB8EB AG _ HAGE 8 t ty t AE XQ Selection of 4 Basic Mode All 4 digits Fault and Disable Braking RSWare Drive Stopping Functions Fault and Disable Braking RSWare Name i Keep DB after DB stop Brake and hold DB is released after DB stop Brake and release Stop Free run operation without DB stop Free Stop Keep DB after stop Free run Free Stop and hold 0 Overtravel stop method RSWare Drive Stopping Functions Overtravel Stop Method Range Initial Value Digit 2 Range Initial Value Digit 3 Range Initial Value Parameter Gr
217. lue Unit Applicable Operating Mode When Enabled S Curve Time e S operation time set for smooth operation 1 2147483647 41667 Rotary Motor 10 xRev sec Linear Motor mm sec S P Immediately Deceleration RSWare Drive Acceleration Limits Deceleration Deceleration means slope of the Speed Profile 1 2147483647 41667 Rotary Motor 10 xRev sec Linear Motor mm sec S P Immediately RSWare Drive Acceleration Limits S Curve Time e Applied only when acceleration deceleration time have been set If value is set to 0 S operation is not performed if a value other than O is set S operation is performed on acceleration deceleration CSD5 Servo Drive Speed Command Acceldecel Time Set S curve Time Set Motor Rated Speed Motor Set Speed Aoo i Time Motor Rated of E E Pi Speed Motor Set Speed 0 Motor Rated F T Speed SJ Motor Set Speed 2 F Y N i Time S curve Set Time T J Parameter Group B 41 Range 0 5 000 Initial Value 0 Unit ms Applicable Operating All Mode When Enabled Immediately Preset Velocity 1 RSWare Drive Mode Configuration Preset Preset Velocity 1 Description e Sets each contact speed commands for contact speed control mode e The operation speed should be entered in advance into the relevant parameters lt C SP1 gt lt
218. lue is 1 Gain Bank 2 3 4 group gain is selected F t 0 15 N1 Gain Bank 1 1 2 group gain Gain Bank 2 3 4 group gain Gain Switching Mode Gain Switching Mode can be chosen in Ft 0 06 N2 Ft 0 06 N2 Gain Switching Mode CSD5 Servo Drive Category Tuning by Gain Setting 6 39 Value Description The Ist gain value is fixed 1 3 group gain The 2nd gain value is fixed 2 4 group gain 2 When the set external signal is input the 2nd gain value is used When the torque command value is higher than the set value the 2nd gain value is used Torque TH When the speed command value is higher than the set value the 2nd gain value is used Velocity Command When the position error is higher than the set value the 2nd gain Position Command Deviation value is used When the speed command value is higher than the set value the 2nd gain value is used Before the completion of In position the 2nd gain value is used When the motor speed value is higher than the set value the 2nd gain value is used When the motor speed value is lower than the set value without any speed command the 2nd gain value is used CSD5 Servo Drive 6 40 Tuning by Gain Setting CSD5 Servo Drive TIP Gain Switching function uses the existing lt G SEL gt function to enable the gain change in the 2 gain group change function and by adding 3 4 group gains allows to choose between Gain Bank
219. m Users should inspect the contents of servo alarm take necessary action and reset the alarm Refer to the7 49 page Alarm Reset run 08 At this time if an appropriate action against the servo alarm is taken and the servo ON signal of host controller is maintained the drive returns to servo ON status at the moment that alarm is reset Refer to the 8 3 page Servo Warning for the information of the servo alarm TIP All parameter setting after Chapter 4 should be done for the Servo ON status and Servo OFF status In this manual the servo drive status means whether the servo drive is in servo ON status or servo OFF status CSD5 Servo Drive 4 4 Operator Basic Setting and Startup Operator Name and Function of Each Part The servo drive has a built in operator for various status displays parameter setting operation command and monitoring Displays various contents with six 7 segment LED display Provides all key manipulation function without a separate external operator The following figure shows the front side of the operator on the servo drive j e Ue z Table 4 2 Name and Function of Each Part l 7 Segment LED Display Displays the status with 6 digit 7 segment LED display sets parameter commands operation and displays monitoring 2 MODE SET Key Enters di
220. m a Continuous Allowble Area Torque Limit Setting oN Value Rated Torque a Rotati Rated Maximum Rotation Speed Speed TIP Depending on the motor type there is a maximum instantaneous torque that is less than 300 If you set Ft 4 01 and Ft 4 02 to the value over maximum torque that motor allows it is limited to maximum torque value as ignoring setting value CSD5 Servo Drive 5 50 Function for Control Mode CSD5 Servo Drive Torque Limit when Over Travel Occurs When over travel occurs except external and internal torque limits described above you can limit torque as setting separate parameter For over travel refer to the7 2 page OverTravel lt P OT gt lt N OT gt Set torque limit value when over travel occurs to the following parameter Same setting value is applied both to positive and negative torque as being different from the internal and external torque limits Parameter Parameter Name Rotation Prohibition Torque Limit lt P OT gt lt N OT gt Description Both forward and reverse rotation are limited by the same setting value Setting Value 0 500 Initial Value 300 Unit Applicable Mode All Others Setting gt End TIP Internal torque limit is always valid So if setting values of external torque limit and rotation prohibition torque limit are bigger than the setting value of internal torque limit setting value of external torque limit and rotation prohibition torque i
221. mand The system does not support the e Check the position loop tuning motion profile 7 e Check the capacity of the system RAA Digital input or output of the e When working in the preset mode tm Ena AES allocation is inappropriate check if it is allocated for preset Allocation Error of Sequence Input and e When working in the normal Output override mode check if it is P allocated for override function rop It occurs when motor poweris e Use a motor suitable to the drive or set higher than the drive rated set the torque limit below the drive Over Motor Capacity output capacity When replacing a battery absolute position is lost Homing may be required CSD5 Servo Drive Inspection and Protection Functions 8 5 Table 8 4 Servo Alarm Types Alarm Code EGay Entro Motor overheating BOGS EH EdPAFE IPM Error E009 Elldutb BUS Low Voltage EOI Eouutt BUS Over Voltage Servo Alarm For protection function by the self diagnosis there is the servo alarm that displays the important errors Occurs when the motor overheat switch trips by the following causes a High ambient temperature surrounding the motor a Excessive current Motor wiring error Unsuitable motor selection Motor cable shorted Occurs when the winding wire of the motor is shorted internally Occurs when exceeding the continuous power rating while operating Occurs when an unsuit
222. meter Group B 21 10 7 5 4 3 2 1 Input Signal Off Allocation of Output Signals 1 RSWare Drive Digital Outputs 0 3 Where O is Off and 1 6 are digital output 4 digits Description Init RSWare Name Within Position Window P COM Up to Speed TG ON Brake Contorl BK Within Speed Window Up to Speed 3 Brake Within Speed Window V COM All Servo Off gt Setting Allocation of Output Signals 2 RSWare Drive Digital Outputs 0 3 Where O is Off and 1 6 are digital output 4 digits RSWare Name Current Limited Current Limited T LMT Velocity Limited Velocity Limited V LMT Within Near Within Near Window Window NEAR Warning Warning WARN CSD5 Servo Drive B 22 Parameter Group CSD5 Servo Drive Applicable Operating All Mode When Enabled Servo Off gt Setting Allocation of Output Signals 3 RSWare Drive Digital Outputs Range for All Digits 0 3 Where 0 is Off and 1 6 are digital output Data Size 4 digits Digit Description Init RSWare Name 0 Absolute Position Absolute Position Valid A VLD Valid Servo drive ready Ready RDY 2 Reserved 3 Reserved _ Applicable Operating All Mode When Enabled Servo Off gt Setting Allocation of Output Signals 4 RSWare Drive Digital Outputs Range for All Digits 0 3 Where 0 is Off and 1 6 are digital output Data Size 4 digits 0 In Motion IMO sO In Motion 1 In Dw
223. motion by constantly monitoring the input status lt STOP gt Index Stop When activated index movement ends lt I SELO gt Used for the combinations to allocate indexes Index Selection 0 Input lt I SEL1 gt Index Selection 1 Input lt I SEL2 gt Index Selection 2 Input lt I SEL3 gt Index Selection 3 Input lt I SEL4 gt Index Selection 4 Input lt I SELS gt Index Selection 5 Input lt H_STOP gt Homing Stop Stops Homing operation when it is set to ON lt START_I gt Start Indexing Starts Indexing when it is set to ON lt ABS MD gt Absolute Absolute Data transfered to host contoller by photo coupler F Position Data Transfer Mode output which output Fault Code when it is set to ON General Input Signal Fixed Power Table 3 4 Power Input Signal External power 24V IN As control power input for contact point signal 24 V input power should be prepared by users Power Specifications 21 6 26 4V 210mA CSD5 Servo Drive 3 12 Wiring Emergency Stop Table 3 5 Emergency Stop Input Signal Signal Name Reference Emergency Stop Connect and use an extra emergency stop switch to 3 18 page quickly act upon emergency situation users can select whether to use in Ft 0 05 constant Position Command Table 3 6 Position command input signal Pulse Command PULS Receives position command by pulse input Can respond to line drive or 12 V amp 5 V open collector PULS output
224. motor If lt C DIR gt signal is OFF motor rotates forward and if it is ON motor rotates reverse Table 5 8 lt C DIR gt Signal to Determine Rotation Direction of Motor lt C DIR gt Signal Motor Rotation Direction lt C SP 1 gt lt C SP2 gt lt C SP3 gt 3 kinds of input signal can make 8 kinds of number and each number can set the rotation speed In addition parameter to set speed for each number is already designated Refer to the following table Table 5 9 Rotation Speed According to lt C SPI gt lt C SP2 gt lt C SP3 gt Signal Multi step speed Stop Command Speed Command 1 Speed Command 2 Speed Command 3 Speed Command 4 CSD5 Servo Drive Speed Setting Parameter Initial Value rpm lt C SP3 gt lt C SP2 gt lt C SP1 gt poo Com a E e E mr mar Mier aie a l aes a ee ae p m Function for Control Mode 5 55 Table 5 9 Rotation Speed According to lt C SPI gt lt C SP2 gt lt C SP3 gt Signal Multi step speed lt C SP2 gt lt C SP1 gt 1 Table 5 10 lt C SPI gt lt C SP2 gt lt C SP3 gt Parameter Data Speed Command 5 Setting Value 6000 6000 Initial Value 0 Unit rpm Applicable Mode P Others Setting gt End You can control the rotation direction of motor differently to forward and reverse as approving lt C DIR gt sequence input for each speed that is designated to each
225. n field maintenance and integration of the CSD5 setvo drive with a Motion Card If you do not have a basic understanding of the CSD5 servo drive contact your local RS Automation sales representative before using this product for information on available training courses About This Publication This manual provides detailed installation instructions for mounting wiring and troubleshooting your CSD5 servo drive and system integration for your drive motor combination with a Motion Card Additional Resources The following documents contain additional information concerning related CSD5 servo drive products You can view or download publications at www tsautomation biz To order paper copies of technical documentation contact your local RS Automation Korea distributor or sales representative For Read This Document Information on the installation of your CSD5 Servo Drive Installation Instructions CSD5 servo drive Information on the motors used together Servo Motor User Manual with CSD5 servo drive Conventions Used in This The conventions starting below are used throughout this manual Manual Bulleted lists such as this one provide information not procedural steps Numbered lists provide sequential steps or hierarchical information CSD5 Servo Drive P 2 Preface CSD5 Servo Drive Table for Parameter Setting This manual uses the following table for parameter description Example of Parameter Setting Parameter
226. n ene sadks 3 8 UO Tapo o 0 ere er ee eae ee een ee ek ee ee eg erg eo 3 10 Sequence Input Signal Allocation sesssrsssenenesesreres 3 10 Genetal laput Spinal Tired ersin den e E AE t 3 11 TOOU Salads fe a aaa os ee ae A 3 13 Sequence Output Signal Allocation son pee a2 de nadesg aves aees 3 13 Gencal Ouiput Sanak TRE scion t a eet ee Rae ale ett 3 14 VO niput Cireultand Interac 34 ase scsateug nee ese EEEE 3 16 CSD5 Servo Drive Operator Basic Setting and Startup Function for Control Mode PulsesCoomnand input Cicuta rec nni o ind Se eee eed ee es 3 16 Analos Voltage Input CUCU ss ct caring tee acne eo apes Gn 3 17 Sequence NpUVCWCHt cit d a pvatictetbceieesedeutet ead aid ees 3 18 Emerce ropo i ose wets bare eden Set eee eee edna 3 19 Output Circeutand Itete serie ace od ets acer E oe es 3 20 ine Dive Outten donee eaten a ews E seaads 3 20 PRoto Coun CON voiced aeeetah ant kul date oan eet 3 20 Encoder Wits Motor Pecdback 2s cavrmesxenigh che avae wena 3 22 Pin Arrangement of Motor Re dbaclkia i ecnie gece reais 3227 Tommal Typene rererere ee eke eue bee eeee ses ee yeaa ae 3 23 Encoder sional OCC SS taste tise uae eh dies Loca toe tata wet ede etd 3 24 General ucles Wine errire Gace hear teawene eee ddeeure teats 3 27 Rare OY 1011010 co ene eae NON ae PR a a Pe a A 3 27 Capacity ot the I rive and Muses 1 315 258 ach ESS ht eS 3 28 Nore PF LOLSCUOIN aciraKut sce einen hee ie dled Ghee Baas Bett i Stools So
227. nal Heat Sink D Regenerative Register B1 B2 200 W or lower As the function for regenerative energy consumption is not Connection Port required the regenerative resistor does not have to be mounted 400 W or higher If the capacity of mounted regenerative resistor is insufficient remove it or connect it to the mounted regenerative resistor in parallel AC Power Terminal L1 L2 L3 and Control Power Terminal LIC L2C The main power and control power can be divided when connecting to the drive Therefore the user can configure surrounding circuits when the main power is cut off in an emergency or when the drive itself checks the status and cuts off the power If the drive independently checks the status and only the main power is cut off but not the control power the drive can display the cause of cut off of the main power The user can take appropriate action after identifying the cause of cut off of the main power Refer to the 3 5 page Electric Circuit Diagram for the Electric Circuit Diagram of the power separation CSD5 Servo Drive 3 4 Wiring Motor Cable Connectors U V W WARNING The motor cable connectors U V W are output terminals Do not connect the input power It may cause of the drive AN damage Regenerative Register Connection Port Refer to the 7 12 page Reneration Resister for more information the Regeneration Resistor CAUTION When wiring the wiring socket be careful not t
228. nal torque limit setting Set the following two parameters for the internal torque limit Parameter Parameter Name Description Setting Value Initial Value Unit Applicable Mode Others Parameter Parameter Name Description Setting Value Initial Value Unit Applicable Mode Others Forward Rotation Torque Limit Internal Limit It limits positive torque in unit related to rated torque 0 500 300 All Setting gt End Reverse Rotation Torque Limit Internal Limit It limits negative torque in unit related to rated torque 0 500 300 All Setting gt End CSD5 Servo Drive 5 48 Function for Control Mode CSD5 Servo Drive Positive Torque Troque Negative Torque External torque limit setting Set the following two parameters for the external torque limit Parameter Parameter Name Description Setting Value Initial Value Unit Applicable Mode Others Parameter Parameter Name Description Setting Value Initial Value Unit Applicable Mode Others External Torque Limit of Reverse Rotation lt P TL gt If lt P TL gt is ON it limits positive torque in unit related to rated torque 0 500 100 All Setting gt End L E L H L External Forward Rotation Torque Limit lt N TL gt If lt N TL gt is ON it limits negative torque in unit related to rated torque 0 500 100 All Setting gt End Relationship bet
229. nd tie up them together X Primary Secondary O rimary Secondary CSD5 Servo Drive 3 32 Wiring Earth wire of noise filter should be solely attached in the earth plate Do not connect the earth wire of the noise filter to other earth wire together x Primary Secondary O Primary Secondary If there is noise filter inside the case panel connect all of the earth wires and earth wires of other equipment inside of the case to the grounding plate And then ground them CSD5 Servo Drive Wiring 3 33 Wiring when Using Several Drives This is an example of wiring when connecting several drives Connect the alarm output SALM signal of each servo drive in a series and run Relay 1 to detect the alarm Normally SALM and SALM are interconnected and with 24 V supplied to Relay1 the servo drive runs normally If the servo alarm is generated 24 V supplied to Relay is cut off yA 1 MCCB NOISE 1 MC FILTER an oe SW 1 OFF SW 2 ON O 1 O O O l j Relay 1 Alarm Display Lamp NA 7 se Relay 1 FAULT 49 FAULT baa i 24 V IN 1 2 24 V Referenc E STOP 10 QO of V FAULT 45 FAULT _ 46 24 V IN 1 2 24 V Referenc E STOP 10 O10 of V e FAULT 45 FAULT 46 24 V IN 1 29 24 V Reference E STOP 10 O10 of V CSD5 Servo Drive 3 34 Wiring Magnetic Contactor for the Motor Break Contorl Motor Break Cont
230. nd it may need to be replaced Operation above continuous e Verify ambient temperature is not power rating too high e Operate within the continuous power rating e Reduce acceleration rates Drive has a bad IPM output Remove all power and motors short circuit or overcurrent connections then perform a continuity check from the DC bus to the U V and W motor terminals If continuity exists check for wire fibers between terminals or send drive in for repair CSD5 Servo Drive Parameter Group B 71 Table E Error Code EGG9 Elldut amp Bus Undervoltage FEIT Eouut amp Bus Overvoltage Eg iA FPHEA i CAP ek Home Search Failed EGt8 EouS Pd Motor Overspeed 88487A BAo8eE Excess Position Error Egel Elonol Motor Continuous Current Overload eee ibdeook Drive Overload Attempted to enable drive without main power active Excessive regeneration of power i e When the motor is driven by an external mechanical force it may regenerate too much peak energy through the drive s power supply and the drive faults to save itself from an overload Excessive AC input voltage Homing is not complete until the time defined in Homing time limit IN 01 10 is elapsed Motor speed exceeds maximum Position error exceeds permitted value The internal filter protecting the motor from overheating has tripped The motion application requi
231. nd allocation them Ft 0 10 Ft 0 31 Run motor within 100 rpm as increasing analog speed command voltage Reset external speed command input gain in Servo OFF state and run it again as making Servo ON Ft 2 00 y i Check speed command rpm in monitor mode dis 00 and check speed feedback rpm in dis 00 OK Yes y If motor rotates even you command 0 V adjust motor not to rotate using speed command offset adjustment function run 03 If necessary set the acceleration deceleration time Ft 2 02 Use the zero clamp function to reduce the offset of host controller command Ft 5 05 Tune the servo drive by adjusting the gain according to the load condtion Function for Control Mode 5 33 Standard Wiring Example The following figure illustrates the standard wiring example of the speed control mode You can set sequence input output signal as you want if it is necessary for system configuration 24 or GND GND or 24V A FAULT 1 OUTPUT 4 Analog Alarm Code LS FAULT 2 OUTPUT 5 Output po o NU 4 FAULT3 OUTPUT6 i Analog Alarm Code POMON GND 24V Active Bi M a Low High Pol A Programmable a Digital Input r i l Encoder Division I Output J IM Pl iy 7 35 _ Absolut Postion L rw S Serial
232. ne eee TA Eae ares anes E 9 L SELO 5 Index Selection 05 LOPU aena ued obo ode a 52s E 10 ISEELO 5 dndex Selection 0 S Output ic 354440 agaudeucar E 10 PAUSE nde x Pause cerdeira eni Ning ba Ur nee oY age bes E 11 DIOP Nde L SOP 2i20isin aie tts ib eea stone Ce soe E 13 SHOM Start Home HOME Home Sensor HOMC Axis Home E 14 lader Operation Opoe raise saved Se oye ew eee ee eA E 15 Operation Setting after Index Movement Action When Complete E 16 Homino TVS S93 aaa r dee T a A e th anh a E 21 Homne V Clocity 0 d 0 s 00 5 svens bio eaea Searels E 26 ga el Bbc sv ere ere wie eae Wee ere eae meester ree ore wre as err eee ee rr E 28 TOW el VII 5 0 stmcrte den eit pra tee N waar e we aoe ees K 28 RUN eee eer an sere eee eee rear ee ee oe eee ee ee eee eee E 29 Inde atc rer Ee E dass oet Gh A haces sere eas E 30 Home seachas ANC 37s ya 59 Mada es amp cut eer die ee ee ae EAE E 30 Axis NOt NOME derrior esas bos edba see SEAR E Oe ean EE NERT E 30 Index Position Overflow gen ie 6 eae dk gee Ba Bas ae eee aden E 30 Preface Read this preface to familiarize you with the rest of the manual Who Should Use This Manual About This Publication Additional Resources Conventions Used in This Manual Safety Precautions Who Should Use This This manual is intended for engineers or technicians directly involved in the installation and wiring of the CSD5 servo drive and programmers directly Manual involved in the operatio
233. negative overtravel limit 0 2147483647 Initial Value O Unit 5005 5006 Changeable Status When Enabled pulse Always Enable Software Limits RSWare Drive Mode Configuration Indexing Enable Software Limits Select 0 Off Turns off software overtravel limit checking l On Causes the drive to compare the motor feedback position to the Positive and Negative Software Limits below to determine if the drive has exceeded an overtravel limit 0 1 Initial Value 0 Unit 5007 Changeable Status Servo OFF When Enabled N A Disable Drive Positive Software Limit RSWare Drive Mode Configuration Indexing Positive Software Limit If the motor feedback position is greater than this value the drive has exceeded the software overtravel limit 2147483647 2147 Initial Value 2 147 483 647 Unit 483647 5008 5009 Changeable Status Servo OFF When Enabled pulse Disable Drive Negative S W Limit RSWare Drive Mode Configuration Indexing Negative Software Limit Description Range Modbus Address Applicable Operation Mode nABA Ft LS OL Description Range Modbus Address Applicable Operation Mode Ominn FUL LLI LI Description Range Modbus Address Applicable Operation Mode TIHE Parameter Group B 63 If the motor feedback position is less than this value the drive has exceeded the software overtravel limit 2147483647 2147 Initial Value 2 147 483 647 Unit pulse 483647
234. nitor mode with the MODE V SET key A CL Ln Lt LILI Enter dis 00 17 by using the lt direction key kK gaonnonn ti LLI Confirm the content of each monitor T by pressing the ENTER key IIUCC L BARRA Exit the monitor window by pressing the ENTER key Aa Completion B i i i C LI DJ LI CI UJ Chapter 8 Inspection and Protection Functions In this chapter the inspection and the protective function of servo drive are described Inspection It describes the basic inspection abnormality diagnosis and how to take action of servo motor and drive Also it describes the protection function of drive and action to take in times of alarm occurs as well as any action to take in times of breakdown following the alarm code Inspection of Motor Motor does not have a brush that causes mechanically abrasive part A simple inspection is sufficient as follow By considering the use environment determine the appropriate inspection time Table 8 1 Motor Inspection Item Inspection and Repair Action Vibration and Noise Daily Check Determine with Sense and Hearing It shall not be larger than normal times Presence of Eternal In Occurrence Cleaning with Vacuum Cleaner Foreign Substance Insulation Resistance 1 Year Measure with Insulation resistance Inquiry to the company if the measuring meter 500 V 10 M amp value is 10 M amp or less Oil Seal 5000 Hours Oil Seal Replacement Only for motor that has oil seal
235. ns of Position Command Pulse Command Pulse Electrical Specification Maximum Allowable Form Frequency CW CCW Line Drive 900 kpps High Speed Line Drive 3 Mpps Open Collector 250 kpps Duty ratio should be 50 50 Foward Direction Reverse Direction tl t2 lt 0 1 us t 1 1 us t3 gt 3 us T T x100 lt 50 Pulse Train Sign Foward Direction Reverse Direction tl t2 t3 t7 lt 0 1 us t4 t5 t6 gt 3 us T 21 1 us 2 Phase Pulse Train of 90 Difference A Phase B Phase PHASE A T Foward Direction Reverse Direction tl t2 lt 0 1 us Tt Z1 1 us T T x100 lt 50 CSD5 Servo Drive 5 18 Function for Control Mode CSD5 Servo Drive Electronic Gear Electronic Gear The electronic gear is to set the amount of load movement per input command pulse The following is the example of Encoder that generates 2048 pulses Resolution 8192 per rotation Encoder that the number of pulse is 2048 rotates once when the host controller transfers 2048 pulses to the drive Then is it possible to make a motor rotate once as transferring 1000 pulse or other number of pulses gt Yes it can Let s suppose that the ball screw load is operated by the pitch Unit of load to be moved per rotation with 15 mm When the host controller transfers 8192 pulses the load moves 15 mm For easier calculation is it possible to move one pitch 15 mm with 1500 pulses gt Yes it can When y
236. ns to ON when the motor is rotating above the set value of All 5 39 page Detection the rotation detection level Ft 5 04 lt T LMT gt Torque Limit Turns to ON when torque reaches the set value of the torque 5 46 page Detection limit lt V LMT 4 gt Speed Limit Turns to ON when speed reaches the set value of the speed All 5 41 page Detection limit lt BK 4 gt Brake Control It is the signal for the brake control installed inside or outside All 7 6 page of the servo motor lt A VLD gt Absolute Position Turns to ON when the absolute position data is valid while All Valid using the absolute motor lt RDY gt Drive Ready Means getting the operation ready while in the Servo OFF All Status lt WARN gt Warning Turns to ON when a Servo warning is detected 8 3 page lt HOMC gt Axis Homing When activated it shows the completion of the Homing I operation lt IMO gt In Motion Turns to ON when in motion lt I DW gt In Dwell When activated it indicates that the motor is on the hold position in the index movement and on stand by for the dwell time assigned lt O_ISELO gt Used to output the index number in use in the selected I Index Selection 0 Input indexing operation lt O_ISEL1 gt Index Selection 1 Input lt O_ISEL2 gt Index Selection 2 Input lt O_ISEL3 gt Index Selection 3 Input lt O_ISEL4 gt Index Selection 4 Input lt O_ISEL5S gt Index Sele
237. ntrol Related Gain Speed Command FE 103 Nms2 Speed Limit Speed Command Filter Speed Loop Proportion Gain 1000 Speedy dB i Ft 2 12 60 Kp N Tok Time 0 g Command X Hz Fe iue Nms 4 g Speed Loop Integration Gain 10000 ees 60000 TEER 00 0 Hz 26 f Ki r 0 Feo iud CSD5 Servo Drive 6 22 Tuning by Gain Setting Speed Loop Proportion Gain Parameter Parameter Name Description Applicable Mode Others rtion Gain Nmg Speed Loop Proportion Gain The higher the value is set the better response of speed control loop is Set as high as you can within the limit that vibration does not occur All Setting gt End Speed Loop Integration Gain Parameter Parameter Name Description Applicable Mode Others CSD5 Servo Drive 60000 26 0 FERS Speed Loop Integration Gain Nms2 aa LI L Speed Loop Integration Gain It is to remove error in normal state as responding to very small input The higher the value is set the better response is and completion time is reduced Set this value to low level in the environment that load inertia is big or vibration can easily occur All Setting gt End Tuning by Gain Setting 6 23 Speed Command Filter Parameter 10000 1000 0 FESdag Speed
238. ntrol bandwidth O High bandwidth bandwidth High a bandwidth ane 6667 Medium high m Low bandwidth 0 3334 high Low 1 All Immediately Data Size Digit 0 Range Initial Value Digit 1 Range Initial Value Applicable Operating Mode When Enabled Parameter Group B 33 On line Vibration Mode RSWare Drive Tuning Autotuning On Line Vibration Suppression Mode 1 digit On line Vibration Suppression Mode RSWare Drive Tuning Autotuning On Line Vibration Suppression Mode l Normal Velocity Mode without Initial Value Normal and High Velocity 2 Slow Velocity Mode without Initial Value below 100 Slow Velocity without rpm Initial Value 0 On line Vibration Suppression Gain RSWare Drive Tuning Autotuning On Line Vibration Suppression Gain 0 All Servo Off gt Setting Velocity Regulator Configuration RS Ware Drive Tuning Velocity Regulator Configuration Velocity Command Filter on Follower Description Select whether to use a filter on the speed command value in Position Contorl Mode Initial Value 0 Applicable Operating All Mode When Enabled Servo Off gt Setting Delay Time of Gain Switching RS Ware Drive Tuning Gain Switching Delay Time of Gain Switching Description When gain value is switched from Second gain to first gain you can set delay time CSD5 Servo Drive B 34 Parameter Group CSD5 Servo Drive Range
239. o 0 V the motor has to stop But there is such a case that the motor slowly rotates This is because of the phenomenon that the small amount of voltage offset by the host controller or external circuit This function automatically adjusts such an offset voltage CSD5 Servo Drive Applications 7 45 Operation Sequence Connect the host controller to the I O and the speed voltage command is made to 0 V At this time if the motor is not rotating it can be said that there is no offset voltage However if the motor is slowly rotating there is an offset voltage occurring Make automatic offset adjustment The drive reads the voltage of adjustment as 0 V and stops the motor Others The voltage range that is possible for offset adjustment is 1 V to 1 V The voltage exceeding the range cannot be adjusted and there is no showing in the display during the normal operation in the below figure The size of actually offset voltage can be confirmed in dis 13 of The Chapter 7 52 page Monitor Mode Function Understand the speed zero clamp function of speed mode of the Chapter 5 35 page Zero Clamp lt Z CLP gt Input together CSD5 Servo Drive 7 46 Applications CSD5 Servo Drive How to Operate Refer the below flow chart and operate Servo ON Servo OFF Flow Chart of the Speed Status Display Mode E mn d u Select operation mode with the s MODE SET key aua ann D LA
240. o I O pin after searching the function that is suitable for your condition Set the setting value as O when the output of the related signal is not used Sequence output is displayed when situation that is meets the condition of each ouput in drive was produced Table 5 5 I O Output Signal Allocation Input Channel No OUTPUT 6 OUTPUT 5 OUTPUT 4 OUTPUT 3 OUTPUT 2 OUTPUT 1 Always Invalid T O Pin No 39 40 38 40 37 40 47 48 43 44 41 42 The following table is to arrange the parameter for each function and 7 segment number position in the setting window Set so that the related parameter of each signal and the number position in the setting window is not in the wrong Table 5 6 7 Segment Number Position of Output Signal Parameter 7 segment Position lt BK gt lt TG ON gt lt P COM gt Initial value 3 Initial value 2 Initial value 1 lt NEAR gt lt V LMT gt lt T LMT gt a Reserved Reserved lt RDY gt lt A_ VLD gt ie a a a G E E E EEA CSD5 Servo Drive 5 8 Function for Control Mode Table 5 6 7 Segment Number Position of Output Signal Parameter lt O_ISELO gt lt HOMC gt lt IMO gt 3 lt O_ISEL4 gt lt O_ISEL3 gt lt O_ISEL2 gt lt O_ISELI gt LO Example Fa Set 3 in the 3st position in setting window of the parameter fot oe Be LER SRTA ee j Ft 0 23 4 It is set to use lt WARN3 gt function and it means that w
241. o clamp level Ft 5 05 the input value is ignored It ignores position command pulse in the section where the signal is on Transmits absolute encoder data to host controller through EA and EB when the signal is ON Clear position command position feedback and position error Control motor rotation start or stop by using terminal signalin S P speed or terminal speed control mode In position control mode the 2nd electronic gear parameters Ft 3 05 and Ft 3 06 are used when input is ON The basic electronic gear parameters Ft 3 01 and Ft 3 02 are used when input is OFF Switch between two electronic gear ratios ee Reset the multi rotation data of the absolute motor All Uses the 3rd and the 4th Gain Bank when it is set to ON Uses All the 1st and 2nd Gain Bank when it is set to OFF The Current Limit Function is activated by the analog torque command input values when it is set to ON When activated the sensor indicates the Return to Home sequence that is detected When activated the system starts returning to home When activated it decelerates until stop and pause the index sequence It decides whether to stop or to continue the motion by constantly monitoring the input status When activated index movement ends page 5 46 page 7 2 page 7 2 page 6 30 page 5 57 page 5 52 page 5 35 page 5 25 page 7 50 page 5 25 page 5 37 page 5 27 page 7 34 page 6 37
242. o expose the core wire It may cause an electric shock AN Completely discharged before handling after power off CSD5 Servo Drive Wiring 3 5 Electric Circuit Diagram Power SAA 1MCCB NOISE FILTER CL are Qi O Regenerative Resistor SEFI MCCB Molded Case Circuit Breaker MC Magnetic Contactor 1MC IMC reg SW 2 ON Relay 1 O O O oO a lt 1 gt lt 2 gt Bn lt 3 gt i Alarm Lamp Cy Do not connect this to the drive with less than 400 W lt l gt For more than one second press the Push Button S W which allows the current to flow when pressed lt 2 gt Connect this if the power needs to be cut off lt 3 gt Attach a surge suppressor to the MC relay coil Servo Motor Motor Feedback res A J lt Shield gt IS Ga v KN Connect this to the grounding terminal of the Q D i Relay 1 45 SALM 1 2 24vIN L 46 SALM 24V CAUTION terminal L3 Use single phase power in servo drive whose rated output capacity is 400 W or lower Thus do not use the CSD5 Servo Drive 3 6 Wiring Using the Socket and Lever This section describes the usage of wiring socket and lever provided with servo drive Connect only one wire at wire inlet of the socket Lf the wire is pulled accidentally with an excessive force rewire it properly he peeled wire can be used Keep the length of the peeled cor
243. ode is converted by lt C SEL gt signal the related input will be valid Some parameter functions are valid in special control mode For example acceleration deceleration time setting Ft 2 02 and Ft 2 03 S Curve Operation time setting Ft 2 04 are valid in speed control mode but invalid in position or torque control mode Be careful when converting the control mode CSD5 Servo Drive 5 60 Function for Control Mode CSD5 Servo Drive Before You Begin Chapter 6 Tuning by Gain Setting This chapter explains the servo drive setting that can achieve its optimum performance to satisfy different load system as controlling servo motor Mark Description The following icon is used for tuning lt Tuning Icon gt s 7 i Gain Setting Parameter pa Coana g 600 aa Min peting Vane Gain Name and Unit a L 50 Initial Setting Value Gain Setting Private Icon p LJ 10 Minimum Setting Value k P Gain Introduction As the audio system has equalizer to adjust the audio quality the drive also requires adjustment to achieve the optimum performance for each load Equalizer adjustment is not essential for the audio system but the adjustment is important fact that is directly connected to performance for servo drive You should adjust servo drive to satisfy load condition in order to achieve optimum performance for each control In addition the adjustment made
244. oller does not exceed the maximum allowable frequency Analog Voltage Input Circuit The drive receives analog voltage output of the host controller with speed speed of torque control mode and torque command Input impedance of speed and torque commands is about 10 kQ Maximum allowable voltage range of input signal is 10 V to 10 V Input pin of I O that uses analog voltage output of the host controller Speed Command VCMD 19 VCMD 20 Torque Command ICMD 21 ICMD 22 Analog Input Circuit 390 Q 1 2 WN oO 2 lt o 1000 1 CSD5 Servo Drive 3 18 Wiring CSD5 Servo Drive Analog Input Circuit 390 Q 1 2 Sequence Input Circuit Relay or open collector output of the host controller is used for the sequence input circuit Make sure that the input current i is within 7 mA to 15 mA Relay Circuit i 24 V 3 3 k amp 2 a E E a L Sequence Input Signal Open Colletor Circuit i gt 24 V DC 24 V 50 mA or Sequence Input Signal Emergency Stop Signal This drive has a built in circuit for the emergency stop situation To quickly respond to the equipment failure or dangerous situation it receives the emergency stop signal from 10 pin of I O Emergency stop input can be done by the relay contact output of host controller and inst
245. ominator Description The number of position command pulse of the host controller to rotate the load Load shaft once Setting Value 1 65535 Initial Value 1 Unit pulse Applicable Mode F Others Servo OFF gt Setting gt End TIP The Initial value of the electronic gear parameter is automatically set as the number of pulse of related encoder at the same time when the parameter is initialized run 12 Precautions and Other Specification Setting value of the electronic gear should satisfy the following relationship If the relationship below is not formed you can use it as pulse command but the resolution is not guaranteed Number of Pulse per 1 4 Rotation of Motor x Reduction Ratio x 4 2 Setting Value of Ft 3 02 Maximum resolution is 1 Number of Pulse Rotation of Motorx Reduction Ratio X 4 If the setting value of Ft 3 02 does not satisfy the relationship above Reduce the distance or angle needs to be moved with one command pulse Reduce the resolution Use the high resolution encoder which outputs the number of pulse higher than the value set in Ft 3 02 divided by 4 or increase the reduction ratio Function for Control Mode 5 25 Position control resolution of CSD5 Servo drive is 1 pulse In the example 1 on ball screw load Ft 3 01 20000 and the maximum value for Ft 3 02 1s 5000 x 4 20000 Therefore the minimum unit which moved by 1 command is 10 mm 20000 0 5 um
246. oming procedure is completed Range 2147483647 2147 Initial Value Unit pulse 483647 Modbus Address 5209 5210 Changeable Status Servo OFF When Enabled Disable drive Applicable Operation I Mode Moving distance After Home Sensor if og j NL LLLI RSWare Drive Mode Configuration Homing Moving Distance After Home Sensor Description This value is distance that the drive ignores the marker inputs after the home sensor is detected Range 0 2147483647 Initial Value o Unit pulse Modbus Address 5211 5212 Changeable Status Servo OFF When Enabled Disable drive Applicable Operation I Mode Home Current mo FAL tbo RSWare Drive Mode Configuration Homing Home Current Description Specifies the torque feedback at which the drive stops moving the motor at the Homing Velocity Unit Percentages of a motor rating torque Range 0 250 Initial Value Unit Modbus Address 5213 Changeable Status Servo OFF When Enabled Disable drive Applicable Operation I Mode Home Current Time l m ee moet eu RSWare Drive Mode Configuration Homing Home Current Time Description The time to when the torque feedback is more than the home current to when the drive detects stopper Range 0 1000 Initial Value O Unit ms Modbus Address 5214 Changeable Status Servo OFF When Enabled Disable drive Applicable Operation I Mode Homing Time Limit 1l a n rm E E E RSWRSWare Drive Mode Configurati
247. on Homing Homing Timeout Description Drive fault occurs when time for homing is over the homing time limit CSD5 Servo Drive Range Modbus Address Applicable Operation Mode Description Range Modbus Address Applicable Operation Mode Description Range Modbus Address Applicable Operation Mode Fe arr POLI L LL Description Range Modbus Address Applicable Operation Mode Nn N Nn GN N p lt ON Nn N p lt Parameter Group B 65 l 65535 Changeable Status Servo OFF When Enabled Disable drive Stop Home Deceleration RSWare Drive Mode Configuration Homing Stop Home decel The rate of drive deceleration used when homing is stopped 1 2147483647 Initial Value 6250 Changeable Status Servo OFF Unit Rotary Motor 10 xRev sec Linear Motor mm sec When Enabled Disable drive Indexing Parameter Group 2 Indexing Options Digit 0 Index 0 63 Type RSWare Drive Mode Configuration Indexing Index 0 63 Setup Mode Index 0 63 Setup Mode 0 Absolute moves from its starting position to the specified Position below 1 Incremental moves from its starting position the specified Distance below Note The axis must be homed before the drive can execute any index Initial Value 9 Unit Changeable Status When Enabled T N A 5400 5463 Always Digit 1 Index 0 63 Action When Complete RSWare Drive Mode Configuration Ind
248. on Direction Switch Input lt C DIR gt 5 36 Motor Rotation Start Stop Input lt START gt 0 05 5 37 Speed Coincidence Output Signal lt V COM gt 004 5 38 Rotation Detection lt TG ON gt Output 2 64 dereeasan gen eaaess 5 39 Speed Limit Function and Speed Limit Detection lt V LMT gt Output 5 41 Torque Conttol Mode asseris erse habe buge ae Cid ces a RASA 5 43 OVERVIEW aeei eai cunt aoe wetted be UA ea ee oH ae BSS 5 43 Standard Winne Examples cisci33t 24 sch ieh es aveawseteeawd 5 44 Torgue Command Apt s dcaria ako tae E Wena Gea 3 5 44 Torque Limit and Torque Limit Detection lt T LMT gt Output 5 46 Mula step Speed Mode arois ite theses Coole eee ek aos 5 51 OOVEIMIOW 25d 59 ont i Site Bay eee eh ered CA rea ee ee eit a 5 51 Standard Wirine Exum eire 2c bacon Rabies on ot cas owes 5 52 Multi Step Speed Command Setting nis tee cot Sob ean a4 5 52 Mixed Control Mode and lt C SEL gt Function 0005 5 56 Chapter 6 Berie YOU DCO 2e 4 cuataan ches pid ne goue dee eee asthe tneeboned 6 1 Mark DES Cr PHO i u c 3 42 teu s aed tae ee eb SN eee ee Mate 68 ee 6 1 Crain OdUChON 4 44 nd boa eae a toe eee es eee ade ated as 6 1 Perna RANG 6 otk pal etenssaherwathed Pe ee aa susan bape 6 4 Gain Setting ConmeuanOnt etc dia toe berths e Abas we awh is awe des 6 5 CO MG Ala UL ON ets E ga ears hae tay WaT de a eno eet whale ate at 6 8 AMO LUMO 2 aio 6 8 hd SA A bole oon
249. on Method 2c cnkevereeinench et neoned weds 5 5 Output Signal Allocation Method 24 s a6 ousted sta cote heeded bobs 5 7 Nonce tor Signal MIOCAON tou ie cet a atdne leche headed ee 5 8 Position Control Moderar iyaa ede Rei een ee he tes BA 5 10 DVEIMIOW sont ela tana et areas eae Cate A ead ee Se oe en hs 5 10 Standard Witine EAP ee swiss wil os AT as tte 5 11 Tuning by Gain Setting Position Command Pulses 5 ac cow ni Phd TARR e EA 5 11 Position Command Pulse Setting 314 4 wind an 6 o0ho Gea bd ome Gen 5 15 Electrical Specifications of Position Command Pulse 5 17 PICCERO MIC Great haus tid oot eee og eee a abe ea ee ants 5 18 Position Error Cleat lt PCLR Ss ies ece eet anann neau 525 Pulse Command Inhibition lt INHIB gt Input 5 25 Expansion of Electronic Gear Setting a bbl aac 5 26 The Second Group of Electronic Gear lt GEAR gt Input 5 27 Position Completion Signal Detection lt P COM gt Approach Signal Detection lt NEARS Output ro reridu EASRA EE REENA 5 28 Output Width of Allowable Position Error 0 5 31 Input Output Signal Timing Dias ccicahy on deere thao 5 31 Speed Conte MOdeis tics Goi CER eta ate wdie eae he 5 32 OVENI ON oft nota tle ETA ha gal ee Sea ees hoa 5 32 Standard WIAR Mp oriye Aig once g As Wack ee both eS ah oot 5 33 Speed Command Topito sesise rictor es airs TE i oss eae 5 34 Fete lamp Z GLP Tiptree ne tarde ted all i emanates 5 35 Rotati
250. on when more than one command pulse exists between 20Q0usec and In Position gain selection when the positional deviation counter value exceeds the setup of Positioning completer range oe gain selection when the motor actual speed Velocity exceeds the setup level of gain control switching and hysteresis of control switching Switches to the 2nd gain while the position command exists Switches to the 1 gain when no position command Position command and status lasts for the setup of delay time of gain Speed switching x 200usec and the speed falls slower than the setups of gain control switching level and hysteresis of control switching Absolute Feedback Transfer Type RSWare Drive Absolute Feedback Transfer Type Same as Command Polarity Same as Command Polarity Always CCW Always CCW Always CW Always CW Immediately Parameter Group B 15 Drive Address RSWare Drive Communications Drive Address Applicable Operating All Mode Range 1 247 Initial Value When Enabled Immediately Password RSWare Drive Password Applicable Operating All Mode Range 0 9999 Usage Note Unprotected Code 777 Initial Value When Enabled Immediately Serial Port Configuration RS Ware Drive Communications Applicable Operating All Mode Data Size 4 digits Digit O RS 232C RS 485 Baud Rate RSWare Drive Communications Baudrate Range Value RS Ware Name Digit 1 Data bit
251. ons CSD5 Servo Drive Structure of transmission frame is like below Structure of transmission frame A H type absolute encoder Absolute Data Absolute Data Variable digit digit Data 3bit STX BE l ee Ration Data 1 Rotation Data amp aerate BCC ETX 0 8191 0 2047 ontnet Structure of transmission frame Q type absolute encoder Absolute Data Variable digit Data 3bit STX Multi Ration 1 Rotation amp Alarm BCC ETX Data 0 65535 Data Contnet 0 131071 Table 7 7 Data Transmission Format Item Description Data Transmission Asynchronous Method Baud rate 9600 bps Start Bit 1 bit Stop Bit 1 bit Parity None Character Code ASCII Data Format 10 19 Characters NOTE Through the monitor mode dis 12 of The Chapter 7 52 page Monitor Mode Function the multi step rotation data of absolute encoder can be confirmed Division ratio is applied to 1 rotation data sent to PS output Not applied to A H type encoder Cautions STX indicates the beginning of transmission packet and is applicable to ASCII code 02H ETX indicated the end of transmission packet and is applicable to ASCII code 03H Applications 7 39 Multi step rotation data has the range of 32768 to 32767 4096 to 4095 and indicates rotation direction The parenthesis is applicable to A H Type encoder Serial Data Transmission for AM and BM F For the host controller not receiving the serial
252. ons in setting associated control mode Combinational control mode cannot be used by combining more than 3 types Make sure to combine two types only If the setting is correctly entered the setting window blinks once when MODE SET key is used to save the data However if wrong setting is entered it does not blink nor is saved CSD5 Servo Drive 4 16 Operator Basic Setting and Startup Motor Setting Select a motor to connect to the servo drive and set three items of the motor If a motor to connect to the drive is selected verify the nameplate on the motor Motor setting is divided into three items as below Motor setting should be done from the parameters Ft 0 01 As shown in the following figure the setting window of Ft 0 01 has a predefined place for each item and the same alphabet as the ones on the model name of the motor Use both capital letters and lowercase letters CHS M IT 1011 BHA TA INIT H3 Motor Type Rated Output Encoder Type pani 28a OBBE ty t ar BBEL Motor Type Motor types of the servo motor are indicated in 4 digits and the code starts with CSM for all motors Thus the first 3 digit CSM is omitted in the display of the motor If first disit is displayed r it sets RSMx motor serieses Table 4 13 Motor Type
253. orizontal axis Speed D gt Time am NM Setting Revolution D gt Time 0 Acceleration TD Deceleration Area Regeneration Area a Time Repetition 1 Frequency a X 60 CyclesMir CSD5 Servo Drive 7 16 Applications It shows the allowable repetition frequency per minute when operated without the load It is left as blank if there is no applicable capacity of the motor type Table 7 2 Allowble Repetition Frequency in Without Load Cycles Min Motor CSMT CSMR RSMD RSMF RSMH RSMK RSMQ RSMS RSMZ Motor Capacity W 300 400 500 600 750 800 900 1000 1200 1500 When the repetition frequency of actual motor is larger than the allowable repetition frequency perform as the following Lower the possible setting speed Refer to The Chapter 7 17 page Setting for Smooth Operation to set the possible deceleration time in long period of time 5 46 page Torque Limit and Torque Limit Detection lt T LMT gt Output Refer to The Chapter 5 46 page Torque Limit and Torque Limit Detection lt T LMT gt Output and limit the possible torque Make the inertia of load system small CSD5 Servo Drive Applications 7 17 Setting for Smooth Operation Overview By setting the acceleration deceleration time and S curve operation time on the servo drive the impact that may occur in acceleration or deceleration can be reduced to r
254. otation device reaches the limit of the available section lt N OT gt Prohibit Reverse It prohibits the motor from rotating reversely when the load All 7 2 page Rotation device reaches the limit of the available section lt P CON gt P Control It converts the Seed Controller from PI type controller to P F S P I 6 30 page Conversion type controller It is used to suppress the overshoot of the excessive response and complete a faster response lt C SEL gt Control Mode It is used to convert Control Mode when using it as Combinational 5 57 page Conversion Combination Control Mode Control Mode Only lt C DIR gt At the Contact Speed Control Mode these input combinations 5 51 page lt C SP1 gt decide the rotation direction of the motor lt C DIR gt and the lt C SP2 gt rotation speed lt C SP1 C SP4 gt The rotation speed for lt lt C SP3 gt C SP1 C SP3 gt input is set in Ft 2 05 Ft 2 11 The lt C SP4 gt analogue speed command voltage decides the rotation speed Contact Speed Command for lt C SP4 gt lt C DIR gt is used to change the motor rotation direction in Speed Control Mode lt Z CLP gt Zero Clamp Ignores the input value in the Speed Control when the S 5 35 page command value is lower than the value set in the Speed Zero Clamp Level Ft 5 05 lt INHIB gt Inhibit Pulse Inhibits the position command pulse where it is ON F 5 25 page Command lt ABS DT gt Absolute When it is set to ON transmits
255. ou set combinational control mode in Ft 0 00 and do not allocate lt C SEL gt to sequence input Servo drive indicate Servo warning PIN in state indication mode H ma L Pi CSD5 Servo Drive Function for Control Mode 5 59 Precautions Caution is needed when changing the control mode in the combination control mode If the control mode is changed by solely using the lt C SEL gt signal in the combination control mode the operation of the servo drive can become unstable or the load can be damaged under certain circumstances While programming a higher control device be sure to change the control mode using lt C SEL gt input signal after the sequence input output conditions are properly met as the table below Table 5 12 Condition for Control Mode Convention Current Control Mode Condition for Control Mode Convention Position Control Mode 1 lt P COM gt Output ON Speed Control Mode 1 lt V COM gt Output ON 2 lt TG ON gt Output OFF Torque Control Mode 1 lt TG ON gt Output OFF Multi step Speed Mode 1 lt C SP1 gt lt C SP3 gt Input All OFF N lt TG ON gt Output OFF As described before mixed control mode uses two basic control modes If you use two control mode and one mode is working other control mode input is ignored For example when the speed control mode is used position command pulse or analog torque command is ignored and only when the control m
256. ou want to control the accurate angle using the servo drive and if you control 360 degree with 8192 pulses the number of pulse and the moving unit of the last mechanical part are different So it is difficult to calculate Therefore the electronic gear is set for easier calculation of the input pulse of the host controller in respect to the distance or angle that is the moving unit of last mechanical part When you use the electronic gear the host controller can control without considering the number of pulse of the encoder or the reduction ratio of mechanical part Before Setting the Electronic Gear The following table explains the contents that you should know before setting the electronic gear Motor Check the number of pulse of the encoder used Refer to the 4 5 page Structure of the Entire Mode Load Check the reduction ratio applied from shaft to the mechanical patt Reduction Ratio For the reduction ratio that is mentioned in electronic gear setting refer to the explanation below Function for Control Mode 5 19 Number of Motor Rotation E gt Reduction Ratio Rotation Number of the End Mechanical Part When the mechanical part rotates once while the motor rotates 5 times then the reduction ratio is 5 When the device part rotates 5 times while the motor rotates once then the reduction ratio is 0 2 Example lof Electronic Gear Setting The following example on ball screw will hel
257. oup B 11 RSWare Name Stop by normal torque contorl during overtravel Current Control At this monent can contorl torque by setting overtravel torque linit Ft 4 05 Stop by the method set at the DB stop method selection in Ft 0 02 when 0 Dynamic Brake overtravel occurs Motor Forward Dir RSWare Drive Command Polarity Value Description RS Ware Nate The command signal is not inverted so that a positive command value Wormi results in CW Rotation as viewed from shaft end 1 The command signal is inverted so that a positive command value results in lavenca CCW Rotation as viewed from shaft end 0 Power Input RSWare Drive AC Line Loss Check RSWare Name Check input power Enable 50 400W Servo Drive Enable single phase open check 800 1 5kW Servo Drive 3 phase open check Do not check the input power Disable Single phase input Single phase input 0 Selection of Auto Tuning Function Applicable Operating All Mode Data Size 4 digits Digit 0 Off Line Tuning Mode RSWare Drive Tuning Autotuning Off Line Tuning Mode Range Descirption RSWare Name Inertia Moment Estimation Inertia Moment Estimation Detection Resonant Frequency Detection Resonance frequency Detection Initial Value Digit 1 Digit 2 Range Initial Value 1 Inertia Moment Estimation and Resonant Inertia Moment Estimation Frequency Detection and Resonant Frequency 1 Reserved Autotuning Spee
258. owable shorted or damaged Regenerative Over current p instant value Check if the overload energy is excessive rotection while decelerating E naga E npag E The constant of the encoder backup battery is set Set the constant of the encoder backup 8 muemipcioias cua as installed but the battery is not installed battery as not installed egenerative Over current Protection Check the battery voltage and the The battery voltage is detected under 2 7 V DC connections Replace the battery FAU FOLELE The encoder rotates mechanically at high speed Remove the motor from the system EGY EAbSaS while turning off the drive when it is powered by Turn off and on the drive and reset the Absolute Encoder Over Speed i i the battery Warning l Turn off and on the drive and reset the FAAC AL rr Noise from Encoder Warmin EQB5S JERBSEE 8 Absolute Encoder Multi turn Replace the motor Defective Encoder Count Error Figg ESEEUP The drive operation mode and the motor selection Change the operation mode and or motor C Oe ee ib selection and reset the drive Drive Setting are not compatible FAAS CIG BABES l Check the power connection between the EAGAHOEERBEE The motor cable is not connected motor and the drive Motor Power Cable Open Fama FAri Check the wiring of the motor beer basa The motion profile requires peak current fo
259. p you to understand the electronic gear Pitch of ball Screw O gt Linear Movement Distance per Rotation Number of Encoder Output Pulse per Rotation 5000 pulses Boll screw is applied to the load above and the pitch is 10 mm When we suppose that the number of pulse of the encoder is 5000 pulse Resolution 20 000 the reduction ratio is 1 because it is 1 1 Electronic Gear Setting Numerator Electronic gear setting numerator parameter Electronic gear setting numerator parameter is as follows Resolution of Encoder X Reduction Ratio Therefore it is 20 000 resolution x 1 so that setting value is 20 000 Electronical Gear Setting Denominator Electronic gear setting denominator parameter Enter the number of pulse to make a motor rotate once CSD5 Servo Drive 5 20 Function for Control Mode Lf you want to rotate a motor once by the host controller sending 1000 pulse to the servo drive enter 1000 as a setting value As a result the boll screw rotates once with 1000 pulses so the ball screw with the movement pitch of 10 mm moves 10 um Lf you want to roate a motor once by the host contoller sending 10000 pulses to the servo drive enter 10000 as a setting value As a result the ball screw rotates once with 10000 pulse so the ball screw with the movement pitch of 10 mm moves 1 um CAUTION When you set up the denominator as 10000 the ball screw moves 1 um per puls
260. peed of the motor is higher than the setting value of rotation detection level Ft 5 04 the servo drive can display lt TG ON gt rotation detection signal It is on when lt TG ON page 5 39 gt signal is displayed It is on when Z pulse output of the encoder is detected In case of linear motor it is on when first hall U signal is detected CSD5 Servo Drive Operator Basic Setting and Startup 4 9 Overview of the Parameter Setting Mode This section includes brief explanation of the parameters in parameter setting mode The Parameter sets and saves various functions to make drive suitable for equipment There is a parameter that can be always set regardless of the status of the drive and those that must be in certain status of the drive when setting them Be careful to set parameter in reference to the contents in the Appendix B Table for Parameter Setting The contents related to parameter setting are described in details in Chapter 5 6 7 8 and the Appendix along with the functional description of the servo drive The table below is to aid the understanding of parameter group Parameter range Table 4 7 Parameter Group Parameter Group Parameter Group Description Group 0 Ft 0 00 Ft 0 32 33 User parameter related to basic setting and I O signal Group 1 Ft 1 00 Ft 1 42 43 User parameter related to gain and gain tuning Group 2 Ft 2 00 Ft 2 13 User parameter related to speed control mode Gro
261. quency of speed command to suppress high frequency components 0 10000 1000 Hz All Immediately 34 Velocity Regulator P Gain grd RSWare Drive Tuning 3 Regulator Gains P Parameter which determines the responsiveness of speed control 0 10000 60 F S P Immediately 3 d Velocity Regulator I Gain RSWare Drive Tuning 3rd Regulator Gains Integrator Gain e Removes steady state speed tolerance e Overshoot in speed response can occur if set value is too large 0 60000 26 F S P Immediately Description Range Initial Value Unit Applicable Operating Mode When Enabled Description Range Initial Value Unit Applicable Operating Mode When Enabled Description Range Initial Value Unit Applicable Operating Mode When Enabled Description Parameter Group B 37 3 4 Position Regulator Kp Gain grd RSWare Drive Tuning 3 Regulator Gains Kp e Parameter which determines the responsiveness of position control e Change set value according to rigidity of load 0 700 20 Hz F Immediately 3 d Current Command Low pass Filter Bandwidth RSWare Drive Tuning gri Regulator Gains Lowpass Filter Bandwidth Reg Suppresses high frequency components of torque command 0 10000 300 Hz All Immediately 3rd Velocity Command Low pass Filter Bandwidth RSWare Drive Tuning a Regulator Gains Lowpass Filter Bandwidth
262. r Cable r Motor Feedback Encoder Cable Break Cable n Servo Motor Before You Begin Chapter 4 Operator Basic Setting and Startup This chapter introduces the operator mounted on the servo drive In addition it describes the basic setting of servo drive and also an example for simple startup About Servo ON Signal This part describes Servo ON signal for the control of the servo drive What is Servo ON Audio or TV can select and play music and display channel that the users want from the moment the power switch is on However the servo drive cannot run servo motor by simple applying the power To complete load the system and use the servo drive Servo ON signal from the host controller is required Servo ON signal should be applied and maintained from the host controller for the servo drive to run the motor In servo OFF status it cannot run the motor CSD5 Servo Drive 4 2 Operator Basic Setting and Startup Servo OFF and Servo ON Table 4 1 Servo OFF and Servo ON Servo OFF Status Servo ON Status Input of commands such as position speed regarding servo ON status and motor run e Ifthe servo ON signal is not e Ifthe servo ON signal is applied from the If the motor run command is input while the applied after the power host controller the drive starts to apply servo ON sign
263. r Output Ratio Output Counts Denominator RSWare Drive Encoders Output Ratio First Number e Numerator of Position output pulse adjustment e Sets the number of pulses to be output through the servo drive s encoder signal output EA EA EB EB for one motor rotation e At Ft 3 03 the numerator of the encoder s output divider ratio is entered Generally the number of pulses to be output at 1 motor rotation is entered e At Ft 3 04 the denominator of the encoder s output divider ratio is entered Generally the number of pulses output from the encoder connected to the motor for 1 rotation is entered e For the encoder output division ratio the relationship Ft 3 03 lt Ft 3 04 has to be satisfied e For the No of output pulses per rotation to the higher level controller Ft 3 03 Ft 3 04 x output pulses per rotation Output to higher level controller Range Initial Value Unit Applicable Operating Mode When Enabled Description Range Initial Value Unit Applicable Operating Mode When Enabled Description Range Initial Value Unit Applicable Operating Mode When Enabled Description Range Initial Value Unit Applicable Operating Mode Parameter Group B 47 1 32768 1 All Servo Off gt Setting Encoder Output Ratio Motor Counts Numerator RSWare Drive Encoders Output Ratio Last Number Denominator of Position output pulse adjustment 1
264. r a Adott eanondecdentonrt Minion EEN lensi inte Adjus e acceleratio ae era on ime averload Check if the motor selected is suitable There is a defect in the current feedback detection Check the phase current Fig7 EnAecH The dynamic control current of the selected motor Install a different motor oe exceeds double the value of the drive peak current Motor Mismatch Fault rating The motor encoder signal does not match the drive Check the motor selected EqOS00 EEACEP ees Encoder Type Mismatch 8 Defective Encoder Replace the motor m The wiring between the drive and the encoder is Check the wiring of the encoder E DB EEREEE cut off or problematic Or encoder signals are Contact t deal Encoder Communication Error P amp a eee eee interrupted by the EMI noise Check the serial communication cable EI ESErCE Communication error between the host and the Serial Communication Error drive noise Check the noise of the serial communication interface Check if the hardware type selected in the Fina drive matches the physical hardware FABBGAEESRKE Position Command Frequency Change from an open collector to a line Error The input frequency value exceeds that limit drive Decrease the speed command Manipulate the gear CEE EERE Remove the emergency stop condition cot ae ee Emergency Stop E STOP is detected
265. ration And at this time the display of the current mode is flickered If the mode is changed the display of new mode flickers and the previous mode does not Status Displays corresponding character upon servo warning Refer to the 8 3 page Servo Warning for details of the servo warning Table 4 5 Status Display Mode Status Display Description It means the preparation for the operation in E A F Servo OFF status Displays that it is running ror Displayed when forward operation prohibiting signal PoE isipu is input Displayed when reverse operation prohibiting signal is nG ha input Point Display It is on if the power is applied Row Display Refer to the reference pages on the right for more information on the row display Table 4 6 Status Display Mode Row Display Row Display 1 Row Display 2 Row Display 3 Description Reference When using as a position mode if the difference between load position and position command is page 5 28 smaller than Ft 5 00 value the servo drive can display lt P COM gt position completion detection signal It is on when lt P COM gt signal is displayed When using as a speed mode if the difference between motor speed and speed command is smaller page 5 38 than Ft 5 03 value the servo drive can display lt V COM gt speed coincidence detection signal It is on when lt V COMS signal is displayed When the rotation s
266. ration Mode CSD5 Servo Drive E 8 I O Setting and Indexing CSD5 Servo Drive Output Signal Allocation Allocate the sequence output signal referring to the table below Position Initial Value 3 Initial Value 2 Initial Value 1 Example mi Aa Set 3 in the 3st position in setting window of the parameter CGC OCLC J Ft 0 23 4 It is set to use lt WARN gt function and it means that we will use I O No Output 47and 48 pin as output pin Applicable All Others Drive Disable gt Configuration gt End operation Mode I O Signal Description I O Setting and Indexing E 9 START and IMO In Motion START is an input signal to start indexing and IMO is an output signal to show the index is in motion When the active going edge of START is detected CSD5 Servo Drive starts indexing and IMO provides the output START is used to start the Wait for start or to override the Pause When CSD5 Servo Drive is in Homing or In Motion START is inhibited Motor Speed ee ee ae Servo SV ON START OFF ON gt 50ms OFF ON OFF gt 8ms Change May according to IN P Output Range Motor Speed ON gt o P COM 7 se IMO OFF ON OFF START OFF ON OFF CSD5 Servo Drive E 10 T O Setting and Indexing CSD5 Servo Drive I_SELO 5 Index Selection 0 5 Input I_SELO 5 is the selection signal to define an index among the 64 indexes on the index table In the selectable position travel mode
267. ration resistance is separated or damaged Replace the motor Check 1f the cooling pan is working only applicable to CSD5_08BX1 CSD5_10BX1 and CSD5_15BX1 Check the tuning Decrease the acceleration rate Decrease the duty cycle ON OFF of the motion assigned Increase the time for the motion allowed Use a drive or motor with bigger capacity Increase the instant outage compensation time Before activating the drive turn on the main power Disconnect the power and check all mechanical connections Increase the Alarm delay parameter value Initialize the parameter Reset the values of the drive to the factory Replace the drive Check the parameter and reset Reset the values of the drive to the factory settings Check the wiring and the installation method Replace the drive Contact your nearest dealer Input the parameter within the range Reset the values of the drive to the factory settings Replace the drive Adjust the motion profile and keep the regeneration resistance within the limit Check the connection of the regeneration resistance Check the values of the regeneration resistance CSD5 Servo Drive 8 8 Inspection and Protection Functions Table 8 4 Servo Alarm Types Alarm FATA Fru F Check if the regeneration resistance is ABBAS Ao BEHEE The regenerative current exceeds the all
268. res average drive current in excess of rated capability Verify voltage level of the incoming AC power Check AC power sources for glitches or line drop Install uninterruptible power supply UPS on the AC input Apply main power before enabling drive Verify shunt circuit Adjust motion profile to stay within the range of the regenerative resistor Replace regenerative transistor Replace drive Verify input is within specification Increase the time defined in Homing time limit IN 01 10 Set a value other than O in Homing Velcoity IN 01 02 and Creep Velcoity IN 01 03 Check if there is any obstacle which disturbs Homing Check mechanical parts and parameter settings for Homing Confirm encoder wiring Retune drive system Verify input gain of external speed or torque command Increase following error limit Check position loop tuning Reduce acceleration rates Reduce duty cycle ON OFF of commanded motion Increase time permitted for motion Use larger drive and motor Check tuning Reduce acceleration rates Reduce duty cycle ON OFF of commanded motion Increase time permitted for motion Use larger drive and motor Check tuning CSD5 Servo Drive B 72 Parameter Group Table E Error Code E0247 EAbSEo Absolute Position Transfer Timeout Efe EnotHnl Axis Not Homed Egea EEnEdE Encoder Data Range Error EBJA
269. rol Mode Only At the Contact Speed Control Mode these input combinations decide the rotation P direction of the motor lt C DIR gt and the rotation speed lt C SP1 C SP4 gt The rotation speed for lt C SP1 C SP3 gt input is set in Ft 2 05 Ft 2 11 The analogue speed command voltage decides the rotation speed for lt C SP4 gt lt C DIR gt is used to change the motor rotation direction in Speed Control Mode Ignores the input value in the Speed Control when the command value is lower than S the value set in the Speed Zero Clamp Level Ft 5 05 Inhibits the position command pulse where it is ON F When it is set to ON transmits the absolute encoder data to a higher level through AM BM signals CSD5 Servo Drive E 4 I O Setting and Indexing lt PCLR gt Clears position command position feedback and position error FI Position Error Clear lt START gt Set to start or stop the motor rotation by using the contact signal in Speed Contact SP Start Speed Control Mode lt GEAR gt In the Position Control Mode use the 2nd electronic gear parameter lt fc 2 gt Ft lt F Electronic Gear Rate Shift fc gt 3 05 Jand Ft 3 06 where it is ON use the basic electronic gear parameter Ft 3 01 Jand Ft 3 02 where it is OFF It shifts between two electronic gear ratios lt R_ABS gt Reset the multi rotation data of the absolute motor All Absolute Encoder Multi rotation Data Reset lt BANK_SEL gt Uses
270. rol Power CSD5 Servo Drive Motor Break Control NOTE Whether to use the emergency stop input can be set by the parameter Ft 0 05 the initial value is set as not to use Do not wiring when it does not using the emergency stop Connection to Peripheral Equipment AC 220 V Power R T MCCB UU Breaks the circuit if large inruch current flows on H power line g oo Noise Filter en Remove the noise from the power line Pon Magnetic Contactor Renerative Resistor zz Gog aie RS 232 ar a RS485 aa p Pul T O a ee 6 i Host y AAi lt C i u O U U O PA al gt Se Pmi PM A e ae Moto
271. rol speed or position if you set speed loop integration gain Ft 1 03 it responds to the delicate command so that you can accurately control and make the error in the normal state 0 However if you increase speed loop integration Ft 1 03 to increase response quality overshoot occurs in speed response as over response and as a result position completion time can be increased Therefore you can reduce position completion time as setting instantly integration gain as 0 and suppressing overshoot if necessary In that case speed control loop is changed from PI controller type to P controller type There are two methods to change speed control loop from PI controller type to P controller type Control by sequence input P control conversion lt P CON gt signal Method to use P PI mode switching function by parameter setting Control by sequence input P control conversion lt P CON gt signal lt P CON gt is sequence input signal To use lt P CON gt allocate lt P CON gt with reference to sequence input output signal in the Chapter 5 1 page Sequence I O Input Output Signal lt P CON signal is allocated and speed controller is determined as following type according to allocated input channel signal gt OFF a PI Controller P CON Input HY p a ON P Controller Therefore host controller checks analog output such as speed or torque of ser
272. rongly advised not to use this function and operate in Off line Tuning Mode its parameter setting value is 0 in Ft 0 03 for a better result in those cases Generally the suggested load condition brings a good result when using a belt or a belt incorporated system Ft 1 22 N0 2 This function is used to detect the resonance frequency while in general motion when no proper value exists in Ft 1 10 because only the inertia ratio was identified without measuring the resonance frequency in the initial offline tuning stage MPORTAN To use this function it is extremely important that the system gain Ft 1 01 should be set low between 10 15 Hz and the maximum speed for the motion should be lower than 100 rpm Once the above conditions are met while in general motion and check what value Ft 1 10 changes to If the system cannot identify an appropriate resonance frequency Ft 1 10 does not change its initial value 10000 Tuning by Gain Setting 6 13 Once the value is changed it is difficult to increase the speed higher than 100 rpm but the gain can be increased within the bounds of the system in that case Ft 1 10 can change again Even if it changes to a certain value when the Ft 1 22 NO is changed to another mode the value of Ft 1 10 that was measured online returns to the initial value which was set in the Disable online Vibration Suppression mode in case Ft 1 22 NO is 0 That is because the de
273. roup CSD5 Servo Drive Revel i po o fo p po po p Applicable Operating Reserved Mode When Enabled Reserved Allocation of Output Signals 9 RSWare Drive Digital Outputs Range for All Digits 0 3 Where 0 is Off and 1 6 are digital output Data Size 4 digits Digit Init Reenel f i p po Reevel f Reevel f Applicable Operating Reserved Mode When Enabled Reserved i 7 l Allocation of Output Signals 10 ARA I f RSWare Drive Digital Outputs Range for All Digits 0 3 Where 0 is Off and 1 6 are digital output Data Size 4 digits Digit Init Reenel f Reevel f Reeve i Revell Applicable Operating Reserved Mode When Enabled Reserved T O Contorl Description Data Size Digit 0 Range Unit Initial Value Digit 1 Range Initial Value Applicable Operation Mode When Enabled Parameter Group B 25 Run amp Input Control Selection It is used for selection of run xx or Input function using Modbus Input function on Hardware cannot be used in case that the input function is used by Modbus with this parameter Run function cannot be used by key pad similarly if the run function is used by Modbus 0x00 Not use both Run and Input function by Modbus 0x01 Use Input function only Ox10 Use run function only 0x11 Use both Run and Input function by Modbus 0x12 Use Run nput Input function and Special Function by Modbus 2 digits Drive Communications MODBUS Input
274. rtup To prevent the injury check the operation range of the motor shaft or load upon operation and keep it away from the drive Run the drive after preparing the E stop circuit Then you can cope quickly with an emergency situation Refer to the 3 18 page Emergency Stop Signal for E stop information Startup Start up 1 Start up the Drive by Using Jog Operation Function The jog operation is possible in Servo OFF status Remove the wiring between the drive and the host controller or apply Servo OFF signal from the host controller CSD5 Servo Drive 4 22 Operator Basic Setting and Startup CSD5 Servo Drive The speed of the motor can be set from the drive for the jog operation The initial value of the jog operation speed is 50 rpm At startup 1 runs the drive at the factory setting speed 50 rpm Start up the drive according to the following flowchart Flowchart of the Startup using Jog Operation run 00 Turn Power On Status Display Mode Select run mode by MODE SET key Create run 00 by Direction Press ENTER and check JOG operation Press MODE SET key prepare JOG ON operation aE a The Motor runs conter clockwise The Motor runs clockwise while while pressing the UP key pressing DOWN key Hress MODE SET key and A clear JOG OFF operation Press ENTER key and clear JOG OFF operation End oe Operator Basic Setting and Startup
275. run Free Run Stop Free Run Stop is stopping the motor during the run by the friction of the load only Applications 7 5 DB Stop Method Setting Set the DB stop method on the below parameter Parameter m LI Parameter Name Selection of DB Stop Method Description Set the stop method in an overtravel occurrence Setting Value e 0 DB Stop DB stop is maintained even after the complete stop e 1 DB Stop DB operation is released after the complete stop e 2 The DB is not used but free run stop e 3 Free Run stop DB operation is maintained after the complete stop Initial Value 0 Applicable Mode All Others Servo OFF gt Setting gt End CSD5 Servo Drive 7 6 Applications Motor Brake Contorl CSD5 Servo Drive Motor Brake This function is used when the motor is equipped with the mechanical brake Lf the load is movable by the gravity e g When applied in the vertical axis control The fall can be prevented when the power is off or the drive servo is off Brake built in Brake built in Motor Motor When using the vertical exis load balance the weigh if it is mechanically E gt possible A Load Load Thrusting due Thrusting due gt to Gravity v to Gravity Sequence Signal Allocation In order to use the motor brake refer to the sequence input amp output signal in the Chapter 5 1 page Sequence I O Input
276. s Parity Stop bit Initial Value RS Ware Drive Communications Frame Format CSD5 Servo Drive B 16 Parameter Group Rage for All Digits Data Size Digit 0 Applicable Operating Mode When Enabled CSD5 Servo Drive 8 No 1 8 Data No Parity 1 Stop bit bit 2 8 Odd 1 8 Data Odd Parity 1 Stop bit 3 8 No 2 8 Data No Parity 2 Stop bit 4 8 Even 2 8 Data Even Parity 2 Stop bit 5 8 Odd 2 8 Data Odd Parity 2 Stop bit 0 Digit 2 Protocol Initial Value RSWare Drive Communications Protocol a ASCII ASCII MODBUS RTU MODBUS RTU 0 Digit 3 Communication Method Range RSWare Name Initial Value 0 When Enabled Immediately Initial Value Allocation of Input Signals 1 RSWare Drive Digital Inputs 0 B Where 0 is Off B is On and 1 A are digital input 4 digits Unmapped IO Status RS Ware Parameter Drive Enable 1 ON Drive Enable SV ON Positive ON Overtravel Positive Over travel P OT Negative ON Overtravel Negative Over travel N OT Integrator Inhibit 4 OFF Integrator Inhibit P CON All Seveo Off gt Setting Range for All Digits Data Size Digit 0 Applicable Operating Mode When Enabled Range for All Digits Data Size Digit 0 Applicable Operating Mode When Enabled Range for All Digits Data Size Digit 0 Parameter Group B 17 Allocation of Input Signals 2 RSWare Drive Digital Inputs 0 B
277. s 0 Several ways are available to find Home and CSD5 Servo Dirve provides 9 home search methods For a proper homing operation the following parameters need to be set Homing Type IN01 00 the distnace to Home IN01 02 Automatic Homing when activated IN01 01 Homing Velocity IN01 02 Creep Velocity IN01 03 Home Current IN01 09 Home Current Time IN01 10 Moving Distance Sensor after Homing INO01 08 Parameter 0 Homing INO1 0 Type 0 Automatic IN01 0 Homing l when activated 7 Value Detals Update Defaul Range Unit Sgnment Timing t Digit 1 N A Mode 5 Return to Current Value es Mode 8 Return to Marker 1 et Mode 0 Return to current position When turnning on Mode 1 Return to Homing Sensor the power Marker Mode 2 to Limit Marker 3 Mode 3 Forward to Homing Sensor Marker Mode 6 Return to Current Value Marker Mode 9 Return to Homing Sensor turnning on the power Homing Offset INO1 13 Mode 4 Forward to Limit Marker 7 Mode 7 Return to Home Sensor Move Marker Mode 1o Return to Limit Sensor Activate only after resetting In home automatically starts homing when the lt fc 2 gt drive lt fc gt is activated 1 case the lt fc 2 gt drive lt fc gt is not CSD5 Servo Drive E 20 T O Setting and Indexing Time Limit INO1 1 N A N A Time Limit for Homing Drive for Homing 1 Deactivated Homing INO1 0 N A N A Homing Velocity Velocity 2
278. s meaningless So be careful of setting Torque Limit Detection lt I LMT gt Output As described before torque that is added to motor can be limited by various setting The state that torque is limited by setting value can be generated to host controller by sequence output That output is torque limit detection lt T LMT gt signal lt T LMT gt is sequence output signal To use lt T LMT gt function allocate lt T LMT gt signal with reference to sequence input output signal in the 5 1 page Sequence I O Input Output Signal Function for Control Mode 5 51 Torque limit detection lt T LMT gt output is ON when satisfying the following conditions L L ui f KE E q 2 Torque limit oe cL UAT ri a rm Li T limi eee Torque 6S Ee oo LI q ove B Output u m E ung Torque Limit for Over Travel occurrence Internal and external torque limits can be set separately when the rotation direction of the motor is forward and reverse However for torque limit by over travel lt P OT gt and lt N OT gt signal input torque is limited by one setting value of rotation prohibition torque Ft 4 05 regardless of rotation direction of motor CSD5 Servo Drive 5 52 Function for Control Mode Multi Step Speed Mode CSD5 Servo Drive Overview Multi step speed mode is one of speed control method It is to operate according to sequence input after setting operation speed in advance
279. s second Fuse and Contactor Recommendations CSD5 Main Power Fuses A5BX1 02BX1 04BX1 08BX1 15BX1 01BX1 10BX1 Recommended Fuse FNQ R 7 FNQ FNQ R 20 FNQ R 30 Group R 10 Recommended Fuse N A LPJ 20 LPJ 30 Group 2 2 Control Power Fuses Recommended Fuse FRS R 2 1 2 Group 1 Recommended Fuse FNQ R 7 1 2 Group 2 Recommended Fuse LPJ 6 Group 3 3 Contactor 100 MOS5N_ 100 M09N 100 M12N 100 Cl6xy 100 C23xy XY XY XY 1 Fuses specified are Bussmann fuses 2 FNQ R fuses are described as Time Delay Fuses Class CC 3 LPJ fuses are described as Dual Element Time Delay Fuses Class J 4 FRS R fuses are described as Dual Element Time Delay Fuses Class RKS 5 For contactors x represents coil voltage and y represents number of contacts CSD5 Servo Dirve C 4 Specification and Exterior Size Accessaries Catalogue Number or Items AC Libe Filter Description or Specification CSD5_A5BX1 CSD5_08BX1 CSD5_10BX1 CSD5_01BX1 CSD5_02BX1 CSD5_15BX1 CSD5_04BX1 2090 XXLF TC116 2090 XXLF TC316 2090 XXLF TC316 Tesch NF210 16 Tesch NF310 16 2090 XXLF TC116 1 Phase 1 Cable length xx is in meters For the usable lengths of xx 01 03 09 refer to the Servo Motor User Manual Pub ication GMC SG001x EN P Drive Size and Exterial View Figure C 1 Aas 4 7 1 90 0 19 Drive dimensions ar
280. service center CSD5 Servo Drive P 8 Preface CSD5 Servo Drive Chapter 1 Before Using the CSD5 Servo Drive This chapter describes the general matters and optional specifications that you should know before using the CSD5 SERVO DRIVE Product Type and Each The following figure introduces the name of each part of the servo drive Part Name Operator Communication and Operator Connector Analog Output Terminal T O Signal Connector lt I O gt Terminating Resistance Setting AC Main Power Input Terminal Control Power Input Terminal Drive Nameplate DC Link Negative Output Regenerative Resistor Terminal Encoder Cable Connector lt Motor Feedback gt Motor Cable Terminal TIP For more detail information about Operator please refer to Chapter 4 Operator Basic Setting and Startup CSD5 Servo Drive 1 2 Before Using the CSD5 Servo Drive Mounting Hall Top Bottom
281. signal to indicate that the home search is complete HOMC turns to ON when the system returns to home Home Sensor Polarity Setting Parameter Value Details Initial Range Unit Value Home Sensor INO1 06 0 ActiveGoing Transition N A Polarity Settin y 8 Inactive Going Transition CSD5 Servo Drive I O Setting and Indexing E 15 Index Operation Options CSD5 Servo Drive stores 64 indexes and provides the operation settings after completing 3 index movement types for 64 indexes The three types are stop start next index wait for start The 64 indexes are predefined by the memory The alarm goes off when a user tries indexing while the homing operation is incomplete e d HOMC Axis Homing is not activated More information on the alarm E 30 page Axis not homed Parameter 7 Sgnment Value Detals Update ral Range Unit Digit Timing Indexing INO2 00 0 Absolute Value Value When N A Mode turnning on IN02 63 Incremental Type the power Start Next Index CSD5 Servo Drive E 16 I O Setting and Indexing Operation Setting after Index Movement Action When Complete An index operation after the index movement is limited to one operation from the following options Stop Set Value 0 Stops the movement and executes the move command defined in the index default value Velocity Dwell Outputs In Motion ON OFF In Dwell OFF ON CSD5 Servo Drive I O Setting and Indexing E 17 Start
282. speed parameter lt C SP4 gt In Multi step Speed Mode Ft 0 00 C lt C SP4 gt can be used to change the motor speed using analog speed input voltage without changing the control mode When lt C SP4 gt is ON and lt C SP1 gt lt C SP2 gt and lt C SP3 gt are all OFF the motor speed is controlled by analog speed input The lt Z CLP gt input and zero clamp function are all available If the lt C SP4 gt input is ON CSD5 Servo Drive 5 56 Function for Control Mode and any one of lt C SP1 gt lt C SP2 gt and lt C SP3 gt inputs is ON at the same time the motor speed is controlled by the corresponding contact inputs Speed Command Voltage DOO Speed To use sequence input signal lt C DIR gt lt C SP1 gt lt C SP2 gt lt C SP3 gt or lt C SP4 gt function allocate signal with reference to sequence input output signal in the 5 1 page Sequence I O Input Output Signal TIP Lf you do not change the rotation direction you do not need to use lt C DIR gt input In addition you do not need to use all lt C SP1 gt lt C SP2 gt and lt C SP3 gt and can adjust change level using only lt C SP1 gt or both lt C SP1 gt and lt C SP2 gt according to your needs If you set up b when you allocate sequence input signal as described in sequence input output signal in the 5 1 page Sequence I O Input Output Signal lt START gt input can be used CSD5 Servo
283. speed within the allowable error Like position completion output signal lt P COM gt in position control mode you can use it as an inter lock signal in the host controller lt V COM gt is a sequence output signal To use lt V COM gt function allocate lt V COM gt signal by referring to the sequence input output signal described in the 5 1 page Sequence I O Input Output Signal Set output width of speed coincidence signal to the parameter below Parameter Parameter Name Output width of speed coincidence signal Description If speed error is within setting value speed coincidence detection lt V COMs gt signal is generated Setting Value O 1000 Initial Value 10 Unit rpm Applicable Mode All Others Setting gt End Speed coincidence detection lt V COM gt output is ON when the following conditions are satisfied Speed Error lt Setting Value of Ft 5 03 V COM Output Function for Control Mode 5 39 Therefore you can adjust the timing to generate lt V COM gt signal by adjusting the difference between the speed command and actual rotation speed to output width of speed coincidence signal Ft 5 03 Output width of speed coincidence signal Ft 5 03 setting does not have influence on the final speed control Sequence output lt V COM gt signal is generated as shown in the figure below FSU A os ooo ee Na p Setting Speed Actual Speed Time l Rotation Speed N
284. splay mode shift and parameter setting value 3 ENTER Key Enters into each window after changes the display mode Completes setting and exits from it 4 Top Bottom Left Right Key Moves the digit of 7 segment LED display and functions as the UP DOWN of the number Icons for the Key Buttons Icon is used in description throughout the manual Thus be fully aware of the shape name and function of icons CSD5 Servo Drive Table 4 3 Icons for the Key Buttons Key Button Name 5 lt Down Left Right Direction a DREGE Lis MODE SET ENTER Key Black key button represents that it is pressed Structure of the Entire Mode E oO lt Operator Basic Setting and Startup 4 5 Function Increases and decreases the value Press and hold this icon to continuously increase decrease the value Shifts the digits Used to indicate up down left right keys altogether Changes the mode Saves the setting value Start running To enter exit each setting window after changing the mode Select setting value As shown in the figure below the servo drive is divided into 5 types of control modes The mode displayed after the power ON is the status display mode Mode is changed whenever the MODE SET key is pressed Be fully aware of the following 5 mode types and read the following CSD5 Servo Drive 4 6 Operator Basic Setting and Startup Power Connection Vv St
285. stment is 1 V to 1 V The voltage exceeding the range cannot be adjusted and there is no showing in the display during the normal operation in the below figure The size of actually offset voltage can be confirmed in dis 13 of the Chapter 7 52 page Monitor Mode Function CSD5 Servo Drive 7 48 Applications CSD5 Servo Drive How to Operate Refer the below flow chart and operate Servo ON Servo OFF Flow Chart of Auto Adjustment of Torque Status Display Mode E T N d H Select operation mode with the YV MODE SET key I CI CI CI CIC Port LILI Make run 04 by using the direction 17 x OLI UNMO ot Prepare the auto adjustment by v pressing the ENTER key Ci gt L a K nH Cora Operate the auto adjustment by pressing JL the MODE SET key D J lt q Display the normal execution Gane Completed the operation by pressing the h ENTER key Completio r LI mT A u Applications 7 49 Alarm Reset run 08 Servo drive may reset the servo alarm detected by the independent error diagnostic function Function Description The drive monitor the system with the independent error diagnosis function from the moment the power is connected At this time if there is an error in the servo drive it displays the servo alarm User has to understand the content of alarm and resolve the causes of alarm for a normal use of the drive If an
286. t signal status CSD5 Servo Drive 5 26 Function for Control Mode CSD5 Servo Drive In the figure below Td is about 10 msec Position gt Command Counter lt INHIB gt is a sequence input signal To use the lt INHIB gt signal allocate the lt INHIB gt signal with the reference to the sequence input output signal in the 5 1 page Sequence I O Input Output Signal CAUTION If the setting value is b the setting sional is always valid regardless of the wiring as shown in Input signal allocation A method in the 5 5 page Input Signal Allocation Method Therefore when setting the pulse command inhibition lt INHIB gt input as b the position command pulse is inhibited to lock the servo and the servo motor does not run Expansion of Electronic Gear Setting When the electronic gear ratio needs to be changed in position control mode the lt GEAR gt input can be used to switch from the first group of gear parameters to the second group of electronic gear parameters in Ft 3 01 and Ft 3 02 When the lt GEAR gt input is OFF the first group of electronic gear parameters in Ft 3 01 and Ft 3 02 will be used The Details of the newly added second group of electronic gear parameters are shown below Parameter Parameter Name Setting Value Initial Value Applicable Mode Others Function for Control Mode 5 27 oonoocao Fe F00 B8GR88 Change the setting method of electronic gear
287. ter is operated carefully After initializing parameter the parameter has to be reset in meeting the load CSD5 Servo Drive 7 52 Applications Monitor Mode Function CSD5 Servo Drive The below parameter is still maintained after initializing parameter For changing the below parameter directly change from the parameter Ft 0 00 Control mode setting optional Ft 0 01 Motor setting How to Operate Refer to the flow chart below and operate Servo ON Servo OFF Select operation mode with the MODE SET key Select operation mode with the MODE SET key Make run 012 by using the direction Prepare the initialization by pressing ENTER key Completion initialize by pressing the MODE SET key Completed the operation by pressing the ENTER key Completion Monitor Mode Function Flow Chart of Paramter Initialization run Gg XZ run dig Ct CI CI Ci J lt Display for normal exectuion The below chart describes the function expressed in each monitor Applications 7 53 Table 7 9 Monitor Mode Monitor Mode Item Unit f io ri m Speed Feedback rpm Org Ubu ln E mg m Speed Command rpm Org wu 1c ma Speed Error rpm Org ue ct ma Torque Command d 15 03 1c rious Position Feedback pulse Ong ut 1c nc Position Command pulse Jd
288. the 3rd and the 4th Gain Bank when it is set to ON All Gain Bank Select lt A CL gt Current Limit Function is activated by the analogue torque command input values S P Analog Torque Limit when it is set to ON lt H_SENS gt When activated the sensor indicates the Return to Home sequence that is detected I Home Sensor lt SHOME gt When activated the system starts returning to home Start Homing lt PAUSE gt When activated it decelerates until stop and pause the index sequence it decides Index Pause whether to stop or to continue the motion by consantly monitoring the input status lt STOP gt When activated index movement ends Index Stop lt I_SELO gt Used for the combinations to allocate indexes Index Selection 0 Input lt I_SEL1 gt Index Selection 1 Input lt I_SEL2 gt Index Selection 2 Input lt I_SEL3 gt Index Selection 3 Input lt I_SEL4 gt Index Selection 4 Input lt I_SEL5 gt Index Selection 5 Input lt H_STOP gt Stops Homing operation when it is set to ON I Homing Stop lt START_I gt Starts Indexing when it is set to ON Start Indexing lt ABS MD gt Absolute Data transfered to host contoller by photo coupler output which output Fault Absolute Position Data Code when it is set to ON Transfer Mode D F Follower S Analog Speed P Preset Speed I Indexing CSD5 Servo Drive Type lt S_ALM gt Alarm lt P COM gt Position Completion Detection lt
289. the absolute encoder data toa F I 7 50 page Encoder Data Transmission higher level through AM BM signals lt PCLR gt Position Error Clear Clears position command position feedback and position F I error 5 25 page lt START gt Start Set to start or stop the motor rotation by using the contact S P signal in Speed Contact Speed Control Mode 5 37 page lt GEAR gt Electronic Gear In the Position Control Mode use the 2nd electronic gear F Rate Shift parameter lt fc 2 gt Ft lt fc gt 3 05 and Ft 3 06 where it is ON 5 97 use the basic electronic gear parameter Ft 3 01 and Ft 3 02 a ca where it is OFF It shifts between two electronic gear ratios lt R ABS gt Absolute Encoder Reset the multi rotation data of the absolute motor All 7 34 page Multi rotation Data Reset CSD5 Servo Drive Wiring 3 11 Table 3 3 I O Sequence Input Signal lt BANK_SEL gt Gain Bank Uses the 3rd and the 4th Gain Bank when it is set to ON All 6 38 page Select lt A CL gt Analog Torque Limit Current Limit Function is activated by the analogue torque S P command input values when it is set to ON lt H_SENS gt Home Sensor When activated the sensor indicates the Return to Home I sequence that is detected lt SHOME gt Start Homing When activated the system starts returning to home i lt PAUSE gt Index Pause When activated it decelerates until stop and pause the index sequence It decides whether to stop or to continue the
290. the sequence input and output is described in the Chapter 5 1 page Sequence I O Input Output Signal CSD5 Servo Drive Applications 7 11 Change the Motor Rotation Direction Overview The rotation direction of the motor is easily convertible When the rotation direction of the motor is wired differently than the intent of uset by the pulse input the rotation direction of the motor can be reversed by the below parameter setting without the separate wiring When the movement direction of the final mechanical part on loading side is operated to the opposite direction of the setting the motor rotation direction can be easily converted Definition of Forward Rotation CW Clock Wise If the motor shaft rotates in clockwise when the motor is viewed from the load it is rotating in forward direction Definition of Reverse Rotation CCW Counter Clock Wise If the motor shaft rotates in counterclockwise when the motor is viewed from the load then it is rotating in reverse direction Rotation Direction Setting Set the direction of the rotation in the below parameter LI Parameter Name Sepection of Rotation Direction Description Set the rotation direction Setting Value e 0 Forward rotation is set as the CW direction e 1 Forward rotation is set as the CCW direction Initial Value 0 Applicable Mode All Others Servo OFF gt Setting gt End Forward Rotation Reverse Rotation CSD5 Servo Drive 7 1
291. timum tuning cannot be achieved Torque mode using torque command of host controller includes all gains related to torque from starting point to servo motor as shown in the figure below You can adjust gains related to torque in torque mode If gains rel ition ar in the condition th TIP gains related to position are set in the condition that response quality is not sufficiently guaranteed through gain settings related to speed control system becomes unstable Therefore firstly you should sufficiently secure the response quality of speed control loop to make the response quality of whole position control system good For speed limit details refer to the 7 21 page Speed Limiting Function For torque details refer to the 5 43 page Torque Control Mode Position Mode Gain Setting Y ra gt Position Command Pulse Starting Point To TUUUUL Tuning by Gain Setting Gain Diagram releated to Position Speed and Torque lt Servo Drive gt Position Contorl reated to Gain D gt CLE Position FF Gain Position FF Filter Position Command Filter F rar Fi iF re tis Fe Lib B iio l L dB Position Loop Proportion Gain Speed Command re wo Hz Speed Bias A Ft 5 19 _ Grn Ton Starting Point of Speed Mode Gain Setting S ps Speed Command Sa sf Speed Control related to Gain Speed Limit
292. to the motor that is connected to drive to achieve the optimum performance through gain setting is called Tuning Servo Drive Gain What kind of drive gains are there that acts like equalizers of audio system Parameter group 1 has gain setting parameter for tuning and it is classified as follows CSD5 Servo Drive 6 2 Tuning by Gain Setting System Gain ae 500 h m IMi sf I E RANAS ASA 50 10 Seem Gain HZ It is the same as the Bandwidth of overall speed control loop of the servo drive It can adjust five basic gains at the same time MPORTAN In case of CSD5 servo drive the system gain is limited to 10Hz at its minimum to guarantee a proper level of motion characteristics when speed response level Ft 1 00 is set too low For more information about speed response level refer to 6 8 page Speed Response Level Ft 1 00 Basic Gain They are five fundamental gains for tuning 10000 10000 60 1000 0 0 FESHER EESHGK Fe gt igo ee He Fe ig Speed Loop Speed Loop Position Loop Speed T Proportion Gain Integration Gain Proportion Gain Command Filter Filter Nmg Nms HZ HZ Hz CSD5 Servo Drive Tuning by Gain Setting 6 3 Applicable Gain They are four gains that with separate functions 1000 10000 2500 d 0 PEodgg FECA FEB a Feed UB Position Vibration Postion FF Postion FF Command Fi
293. tor rpm Linear Motor mm sec Homing Acceleration 5204 5205 N A 1 2147483647 6250 Rotary Motor Deceleration 10 xRev sec Linear Motor mm sec Offset Move Distance 5206 5207 N A 2147483647 pulse 2147483647 Home Sensor Polarity 5208 N A 0 1 2m mT 7 m mo Home Position 5209 5210 2147483647 pulse IN LLE 2147483647 Moving distance After aan 5212 we pones pulse meng none Home Current mall a 1 250 100 NLU tbo Home Current Time 5214 N A 0 1000 ms L M rt Aiur L ILI r nooo Homing Time Limit aa nan 65535 eS mo ate iaa 5217 a aa 2147483647 a Rotary Motor i rt i i m Deceleration 102xRev sec i Linear Motor face Indexing Group 2 Index Option No Name Modubus Digit No Range Init Note Address Index 0 Option 5400 0 Absolute 1 Incremental 0 Stop 1 Start next index 2 Wait for Start i ri Index 1 Option 5401 0 Absolute UILLI tt I 1 Incremental 0 Stop 1 Start next index 2 Wait for To o 23 Reserved CSD5 Servo Drive B 58 Parameter Group Index63 Option 0 Absolute 1 Incremental 1 0 Stop 1 Start next index 2 Wait for Start pao pee ooo Indexing Gorup 4 Index Position Distance No Name Modubus Digit No Range Init Note Address Index 0 Position 5800 5801 N A 2147483647 pulse Distance 2147483647 Index 1 Position 5802 580
294. ue 500 0 Unit rpm V Applicable Mode S Other Servo OFF gt Setting gt End External speed limit value is given by the following relationship External Speed Limit rpm Speed Command Gain rpm V x Input Voltage V CSD5 Servo Drive Applications 7 23 Accordingly when the input voltage is 6 V following the initial value it is limited to the rated speed of motor 3000 rpm and limited to 5000 rpm the maximum speed of motor when the input voltage is 10 V The Voltage Command of Host Controller and External Speed Limit When the speed mode is used with VCMD No 19 pin of I O and VCMD No 20 pin of I O of servo drive the motor is rotated to the forward direction in the voltage And the motor is rotated to the reverse direction in the voltage when permitting the analog speed command of 10 V to 10 V range However when of using it as external speed limit function the classification of and voltage is not made For example when 1 V is permitted at the host controller and set with 500 for Ft 2 00 the external speed limit value becomes 500 rpm and it is limited in all forward and reverse directions Also if 1 V is permitted both forward and reverse directions are limited to 500 rpm Speed Limit Selection Select how to make the speed limit at the below parameter Paramter z 4 Parameter Name Speed Limit Selection Description Select the method of speed limit Setting Val
295. ue e 0 The speed limit function is not used e 1 Itis limited by the internal speed limit Ft 2 12 e 2 It is limited by the external speed limit e 3 Compare the internal speed limit Ft 2 12 and external speed limit to limit in small value Initial Value 0 Unit All Applicable Mode Servo OFF gt Setting gt End CSD5 Servo Drive 7 24 Applications Postion Feedback to the Host Controller CSD5 Servo Drive Overview Servo drive controls the servo motor by using several information received from the encoder Also the servo drive has the function to output the encoder information to host controller In this the chapter it describes the output function of encoder information Types of Output Sent to Host Controller The total of 5 below encoder signals is outputted to the host controller Table 7 3 Encorder signal which is outputted to the host contoller Signal Function Type AM AM Output on Encoder A A Line drive BM BM Output on Encoder B B Line drive IM IM Output on Encoder I I Line drive PS PS Absolute Encoder Position Data Output Line drive Z PULSE Z PULSE Open Collector Output of Encoder Z Open Collector I Example of Wiring with Host Controller Refer to the Chapter 3 22 page Encoder Wiring Motor Feedback for the example of wiring of the host controller and servo drive Direction Change of Output Pulse The direction of encoder pulse outputted to the host controller
296. ue is the better the response quality is but if you set too high vibration can occur If you reduce this value in the condition that the load rigidity is high you can suppress oscillation Do not set too small more than necessary because it is a delay factor The load system can be unstable Applicable Mode All Others Setting gt End If load system uses belt or chain rigidity is low so that you cannot expect the fast response In addition if you excessively increase speed control or position control related gains it can be oscillated For those loads it is difficult to set the value of torque command filter Ft 1 07 within about 100 Hz TIP For torque mode that host controller directly approves torque command through I O of servo drive you can indirectly adjust gain of whole control loop as adjusting external torque command input gain Ft 4 00 That is to say if you increase Ft 4 00 it has the same effect as increasing gain And if you reduce Ft 4 00 it has the same effect as reducing gain For external torque command input gain Ft 4 00 refer to the 5 44 page Torque Command Input For torque limit refer to th 5 43 page Torque Control Mode CSD5 Servo Drive Speed Control Related Gain Tuning by Gain Setting 6 21 Speed related gain includes speed command filter speed loop proportional gain and speed loop integration gain The following figure is related to speed in Gain Setting Diagram Speed Co
297. ulse of Encoder X 4 x Reduction Ratio Therefore it is 2048 xX 4 X 3 so that setting value is 24576 Electronic Gear Setting Denominator Electronic gear setting denominator parameter Rotate the turntable load of the end mechanical part once with the 3600 pulses from the host controller In this case the rotation angle of the final load per pulse from host controller is 0 1 Load Movement Amount per 1 Load Shaft Rotation 360 ee eee 3600 Movement Angle by 1 Pulse 0 1 from the Host Controller he electronic gear is applied only when the position control mode is used You can easily adjust the distance or the angle of pulse command and load from the host controller by setting the eletronic gear You should check two things below when setting the electronic gear Check the number of pulse of encoder Refer to the 4 5 page Structure of the Entire Mode Check the reduction ratio that is applied from shaft to the end mechanical part Electronic Gear Setting Set the electronic gear to the parameter below m Parameter Name Electronic gear setting Numerator Description Pulse of EncoderX 4 Resolution X Reduction Ratio Setting Value 1 65535 Initial Value 4 CSD5 Servo Drive 5 24 Function for Control Mode CSD5 Servo Drive Unit pulse Applicable Mode F Others Servo OFF gt Setting gt End Parameter Parameter Name Electronic gear setting Den
298. up 3 Ft 3 00 Ft 3 08 User parameter related to position control mode Group 4 Ft 4 00 Ft 4 06 7 User parameter related to torque control mode Group 5 Ft 5 00 Ft 5 16 17 User parameter related to supplementary function CSD5 Servo Drive 4 10 Operator Basic Setting and Startup CSD5 Servo Drive Overview of the Monitor Mode This section includes brief explanation of the parameters in monitor mode Displays several numerical data generated as the motor is controlled by the drive The contents of the monitor mode can be checked regardless of the status of the drive Be fully aware of the numbers and units displayed in monitor mode shown in the table below and refer to it when using the servo drive The table below shows the brief contents of each item in the monitor mode Monitor Mode Range Coon LI LI SRE S ICT n o LILI j7 uuou of Table 4 8 Monitor Mode Item dIS 00 dIS 01 dIS 02 dIS 03 dIS 04 dIS 05 dIS 06 dIS 07 dIS 08 dIS 09 dIS 10 dIS 11 dIS 12 dIS 13 dIS 14 dIS 15 dIS 16 dIS 17 dIS 18 dIS 19 dIS 20 Monitor Contents Unit Speed feedback rpm or mm sec Speed command rpm or mm sec Speed error rpm or mm sec Torque command Position feedback pulse Position command pulse Position error pulse Position command pulse frequency kpps Electrical angle Mechanical angle Accumulated load rate of regenerative resistor DC Lin
299. up 7 Index Dwell 0 0 B 63 Indexing Parameter Group 8 Index Velocity B 63 Indexing Parameter Group 10 Index Acceleration B 63 Indexing Parameter Group 10 Index Deceleration B 64 Indexing Parameter Group 12 Index Next Index B 64 R n Patdimetetccs iS su A Se eS ee Sk ee es A B 64 Display Tane E bios auc a deans een neat oath eee BS a Pan eRe ected De B 65 Warning and Rive Display cash acectsoehieen Goce ou ione etek bens B 65 vi Specification and Exterior Size Cable Specification 1 0 Setting and Indexing Appedix C Dire SPECI CAN OD os 5 sxxs mig eth See USS Bee cme eee beam C 1 Fuse and Contactor Recommendations wi c it isb adhe hawin wae oaks C 3 INCCESSANICS tos aires eee BING HOA Rae nS GG GAH EA Gea E EREA C 4 Drive Size and External View prenerie riaa Ose Sake ey RES o ee fe C 4 Appedix D PC Communication Cables aki bead be Ga She Ra aS a ee ES D 1 Appedix E OVC eat ee eee Bua wanted ath ete wee net pes eels usenet eat E 1 VO Wiput Sicha 23 2atoncthatt byes vanes pues aeed setae eeatars jee E 1 VO Seg cnce Input Signal seereis encre them etna te Rn a died E 1 PICON De AUE 118 4uca ae EEr e e a E EAE E 6 E Oean a ard te E E E A E E EE antes Wace E 7 loput sional Alocinon oieee e ANE IEEE E 7 Output Sinal AOC ON ei eee nope awe EE E ee oe E 8 Or Sioa DescriptOtles binder Cidade bela ela iia dy hee E 9 STAR sy and INO Wn Moon 01302 saee
300. urn variable resistor more than 10 turn rotation Lf analog torque command is over maximum torque of set motor over external torque command warning Servo warning OTC occurs Motor can rotate even though torque command is not approved or the host controller outputs the torque command as 0 V It is because of the voltage offset between the host controller and the drive The rotation of motor due to offset can be prevented using automatic adjustment of torque command offset Run 04 function For the automatic manual adjustment of the torque command offset refer to the 7 41 page Operation Mode Function Torque Limit and Torque Limit Detection lt T LMT gt Output It can limit the torque of servo motor and can set separately in forward reverse direction Internal Limit It means the drive limits itself according to the parameter setting regardless of the external signal External Limit Function for Control Mode 5 47 It recetves the external sequence input signal In addition it sets up the limit value to the parameter that is different from internal limit and torque is limited according to sequence input signal If the internal torque limit is set the limit value is always valid However external torque limit setting is not always valid because it is controlled according to sequence input signal It can be difference between internal torque limit and external torque limit Inter
301. ustrates the standard wiring example of position control mode You can set the sequence input output signal as you want if it is necessary for the system configuration 24 or GND 4 INPUT gt 1 GND or 24V Analog Alarm Code FAULT 1 OUTPUT 4 Output FAULT 2 OUTPUT 5 FAULT 3 OUTPUT 6 Analog Alarm Code GND FCOM OUTCOM gt 24 V Active Low High AM Programmable AM Digital Input BM E Encoder Division IM M a Absolute Position PS Serial Output ae F mvpuse Ja 240 ZPULSE Encoder PULS 4 u 180 ZPULSE Marker Pulse 1 T PULS 2 p Position W 2 Alarm Output 1 may SNe J5 W FAUT SIGN 31500 ourPuri I L SIGN 4 VK n p HE PULS 5 a pens pe D wwe a 24 V Eo 1 HE SIGN 23 CLTN Programmable Digital Command E L HF SIGN uf gt m a Output beatae ee are ee as Seen Slee eee OUTPUTS Speed ie L 16 bit Command T ii 00 AD i 12bit Torque I a Ms Command 50 i X Position Command Pulse 10 pins of I O receive 3 kinds of commands related to the position control mode Host controller sends the position command with the pulse input and sign input When the position control mode is used there are line drive method high speed line drive and open collector method as
302. ut condensations Humidity Vibration 5 55Hz 0 35mm 0 014 double amplitude continuous displacement 55 500Hz 2g peak constant acceleration Operational Location Installation environment must meet the follwoing conditions e Indoors e Well ventilation e Easy checkup e Without explosive gas IMPORTANT LO a reliability for a long time use it within to 0 33 ale Install a separate cooling device at a place with high ambient temperature and use it within the operational temperature For numerical data related to the installation of the servo motor please refer to Servo Motor User Manual Chapter 3 Wiring This chapter describes the information on motor host controller and other wiring connected to the servo drive along with the circuit diagram Before You Begin Pay attention to the following precautions when wiring CAUTION Wiring should be done only by the qualified personal High voltage remains in the drive even through the power is off Therefore do not inspect components unless inside Charge lamp is off Pay attention to the polarity when wiring he heat sink of the drive generates high heat Pay attention to the heat sink when wiring CSD5 Servo Drive 3 2 Wiring In this chapter the circuit is divided into electric circuit and signal circuit for easier and convenient explanation Be fully aware of the names of each terminal when reading this user s manual
303. ve Feedback I O O Ral AW 30 AN EE BM _ Encoder of oM A B C 31 32 33 34 35 IM IM PS gt Absolute 36 ps Encoder Output gt gt Setting Host Contoller PLE L Set the pulse dividing circuit numerator and denominator from the below parameter Parameter Parameter Name Description Setting Value Initial Value Unit Applicable Mode Other Parameter Parameter Name Description Setting Value Initial Value Unit Applicable Mode Other Number of Encoder Pulse per 1 Rotation Numerator Set the pulse dividing circuit numerator 1 32768 l pulse All Servi OFF gt Setting gt End Number of Encoder Pulse per 1 Rotation Denominator Set the pulse dividing circuit denominator 1 32768 l pulse All Servo OFF gt Setting gt End Applications 7 27 The initial value of dividing circuit is automatically set the number of encoder pulse applicable to the encoder type at the basic setting of The Chapter 4 5 at the same time Even when the motor rotates at a fixed speed the encoder output pulse may have jittering of 33 us depending on the rotation speed CAUTION Make sure to comply with the following condition in the setting of alternative circuit Therefore numerator Ft 3 03 MN should be same or less than denominator Ft 3 04 CSD5 Servo Drive
304. ve 3 28 Wiring Refer to the servo motor manual more information on the following cable Specifications and order code Motor 3 phase power cable Encoder cable Motor brake cable I O cable Communication cable Others Use the breaker or fuse for wiring to protect the servo drive Make sure there is no continuous bending and stress to the wire Use noise filter in radio noise If used around residential area or the radio disturbance is concerned install a noise filter on the input side of power line As the drive is for industrial use there are no measures for radio disturbance Attach a surge absorption circuit to the relay solenoid and coil of the magnetic contactor Capacity of the Drive and Fuse The table below shows the capacity of servo drive and fuse Table 3 13 Fuse Specifications Drive MCCB or Fuse Power 1 Drive kVA Capacity Amps CSD5_02BX1 200 W CSD5_08BX1 800 W The fuse capacity is the value when 100 load is applied When selecting the MCCB breaker for wiring or fuse capacity select the fuse capacity considering the load ratio oo wo wo A CSD5 Servo Drive Wiring 3 29 Cut off features 200 2 seconds or more 700 0 01 second or more CAUTION The high speed cut off fuse cannot be used As the power of the drive is condenser input type the fuse may be blown even during a normal situation if the high speed cut off fuse is
305. vo drive and sequence output such as lt P COM gt lt V COM gt lt TG ON gt and programs logics to convert controller from PI controller type to P controller type Do not use this function when overshoot occurs If some offset is included in speed command when you use AN speed mode if you use P controller type motor does not respond to the offset related to 0 speed command and remains without moving Tuning by Gain Setting 6 31 The following figure illustrates the conversion of PI controller and P controller using lt P CON gt input in speed control loop speed controller Servo Drive Speed Controller Speed Command Torque Command Speed Command limiter Ft 2 1 2 Speed Loop Proprtion Gain Speed Loop Integration Gain Analog Monitor Sequence Output Host Controller Method to Use P PI Mode Switching Function by Parameter S etting Meanwhile you can operate speed controller as P controller type by parameter setting without allocation external sequence input According to parameter setting you can change speed controller to P controller type When internal torque command is bigger than certain value When speed command exceeds certain value rpm When position error is bigger than certain value pulse CSD5 Servo Drive 6 32 Tuning by Gain Setting CSD5 Servo Drive For setting related to cases above use the following parameter Parameter Par
306. ween the internal and external torque limit Internal Limit Sequence Input External Limit Torqu Limited Torque Command Function for Control Mode 5 49 Cautions lt P TL gt and lt N TL gt are sequence input signals To use lt P TL gt and lt N TL gt functions allocate lt P TL gt and lt N TL gt signals by referring to the sequence input output signal in the 5 1 page Sequence I O Input Output Signal External limit of positive torque uses lt P TL gt signal and that of negative torque uses lt N TL gt signal Torque limit by internal limit Ft 4 01 and Ft 4 02 are prior to external torque limit lt P TL gt and lt N TL gt signal More Explanation Internal limit is used to limit maximum value of operation torque of motor or output torque within set range to protect the load system or the object on work Generally the allowable torque limit of motor is as shown in the figure below Therefore torque limit in the speed over rated speed is achieved within the momentary operation range as shown in the figure In high speed range torque limit according to current motor speed is automatically processed inside Servo drive If the values of Ft 4 01 and Ft 4 02 are set as shown in the following figure torque of motor is limited as the lined area in the figure Torqu Momentary Allowable Momentary A exunu
307. wing Error Limit 0510 0511 0 214748364 99999 pulse 7 ELLE i k a AC Line Loss Fault 0513 N A 20 1000 20 ms Delay Analog Output CH1 0514 0515 N A 0 28 0 Velocity Selection Feedback Analog Output CH2 0516 0517 N A 0 28 1 Velocity Selection Command Analog Output CH1 0518 0519 N A 1 99999 500 Depend on Scale Ft 5 13 Analog Output CH2 0520 0521 N A 1 99999 500 Depend on Scale Ft 5 14 Parameter Description Standard Group 0 Operations Mode RSWare Drive Operation Modes Main Override Description Set control mode Optional Display Value Operating Mode RS Ware Name F 1 Position Control Mode Follower None S 2 Speed Contorl Mode Analog Velocity Input None C 3 Torque Contorl Mode Analog Current Input None SF 4 Speed Position Analog Velocity Input Follower Contorl Mode CF 5 Torque Speed Contorl Analog Velocity Current Follower Mode CS 6 Torque Speed Contorl Analog Current Input Analog Velocity ode Input P 7 Multi Step Speed Preset Velocity None Speed Contorl Mode PF 8 Multi Step Speed Preset Velocity Follower Position Contorl Mode PS Q Multi Step Speed Preset Velocity Torque Control Mode Analog Velocity Input PC 10 Multi Step Speed Preset Velocity Torque Contorl Mode Analog Current Input Qu I 12 Indexing Indexing Input None CSD5 Servo Drive B 10 Parameter Group Applicable Operating Mode Description Setting Va
308. y button manipulation flow chart is provided in the description of the basic setting to aid the understanding of the key buttons While performing the basic setting get accustomed to key button manipulation Key button manipulation flowchart is not described after Chapter 5 The following figure is an example of the nameplate attached to the motor Before performing basic setting be sure to check the following three contents of the model name Before mounting a motor to the equipment check the model name of the motor in advance Depending on the motor type the motor may be mounted in such direction that the nameplate is not visible CSD5 Servo Drive Select a Motor O gt Check the model name on the motor pans SMZ Motor Type Operator Basic Setting and Startup nameplate Example of gt Rated Output Control Mode Setting Control Mode Type 4 13 OHEANANKIE Encoder Type As in the table below there are 5 kinds of basic control modes and 6 kinds of associated control modes The table below shows the control mode types Refer to the Chapter 5 for function for each control mode Table 4 11 Basic Contorl Mode Associated Control Mode Contorl Mode Type Display n T mim 7 ra Lm q m mu 3 7 ee Description Position mode Speed mode Torque mode Multi step mod
309. you can suppress the excessive change of position command as reducing the value of position command filter Ft 1 09 It is better to set torque command filter Ft 1 07 as high as possible until vibration does not occur in load side As repeating over response state adjust gain in detail TIP Position FF gain position FF filter and speed bias function are explained in the 6 27 page Tip to get fast response CSD5 Servo Drive Tuning by Gain Setting 6 27 Tip to get fast response Feedforward function For position feed forward FF diagram refer to the 6 25 page Position Control Related Gain Position FF makes differentiation factor on position command in position control mode approved in speed command through feed forward method Therefore over response characteristics is improved so that you can reduce position output time The related parameter to set is as follows Parameter Parameter Name Description Applicable Mode Others Parameter Parameter Name Description Applicable Mode Others Position FF Gain Position Feed forward Gain The higher the value is set the better position control response performance F Setting gt End 2500 200 m 0 DGoomE L oo Position FF Filter Hz Position Feed forward Filter F l It makes position command itself smooth as suppressing high frequency that is included in position command If torque command f
310. ystem is 100 Hz after auto tuning its system gain Ft 1 01 is set to 50H72 according to its default value Max Available Frequency is determined based on estimated inertia and also system characteristics Therefore its default value is 50 and the related gain values are automatially set to appropriate values when it is changed and the related Gain Values are automatically set to appropriate values when it is changed However system gain Ft 1 01 is limited to 10 Hz at its minimum to guarantee a proper level of motion characteristics when speed response level Ft 1 00 is set too low Explanation of the Relationship Flow between Off line Auto Tuning and Gain When you run off line auto tuning drive automatically Inertia Ratio Ft 0 04 of load system and automatically set two basic gains as being suitable for Inertia Ratio Therefore it is recognized that the response quality of servomotor is improved at the same time In addition load system sometimes does resonant vibration in the specific frequency range because of vibration noise For those situations it intercepts vibration of load system using resonant frequency that is automatically detected by auto tuning Resonant frequency of load system becomes the setting value for resonance suppression filter Ft 1 10 and if you know the exact resonant frequency of the load you can set it directly CSD5 Servo Drive 6 10 Tuning by Gain Setting CSD5 Servo Drive

CSD5 Servo Drive

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