Home

OE Max CSDJ Plus Servo Drive User Manual

1. 1 Servo ON Method Always Servo ON Function Selection of P OT Signal is forward rotation P OT Signal prohibition signal 2 Refer to Using Rotation Forward Rotation operation is Prohibition always permitted Function Turn the Function Selection of signal 5 reverse rotation power off Signal prohibition signal and on Refer to Using after SEt 43 2 Rotation Reverse rotation is always changing Prohibition permitted setting Function value in Servo OFF ON when the speed is greater state than TG ON speed level 4 Function Selection of Setting value of SEt 16 TON Signal ON when the current value is greater than current limit value Setting value of SEt 10 SEt 13 Maintain alarm state when 5 Blackout restored to normal state Handle after RESET Automatically the servo alarm state reset Selection of Stop Stops the motor with dynamic 1 Method brake DB Refer to Selection of Stop Method Stops after free run Selection of Dynamic Brake is off after the Operation after DB stopping of motor 2 Stop Referto Selection of Dynamic Brake is continually on Stop Method after the stopping of motor Selecti f Stops by the torque set in SEt Turn the 14 15 in emergency stop power off Operation in 1 and on 3 Emergency Stop Stops the motor with 0 torque in after SEt 44 Refer to Selection of emergency stop PWM OFF changing Sto
2. Panel BEA Ena LA z Ct lt gt Front View mam Ventilation CAUTION Control board uses C MOS Be aware when handling it A When touching with hand the product may be damaged due to static electricity Also when installing the servo drive in rack or panel if the ambient temperature is higher than the allowable limit install the cooling fan and reconsider mechanical layout so it can be operated in allowable temperature 55 Ambient temperature is closely related to the life span of the product Use it in low temperature if possible Fig 2 6 Installation of Servo Drive Installing in the panel ss ge 2 50 mm more NE p o Panel gt e3C Je IT AN EX IE oce 5 ej 2 OCC 50 mm a more e 30 mm or more 10 mm or more When the product must be installed at a location with vibrations use the vibration absorbing device so it
3. 6 18 Fig 6 14 Emergency Stop 6 20 Fig 6 15 Selection of Stopping Method by Emergency Stop and Error Occurrence 6 20 Fig 6 16 Position Command Input Terminal 6 21 Fig 6 17 Wiring for Position Command of Line Drive Output ETE 6 22 Fig 6 18 Wiring for Position Command of Open Collector Out DUE 6 22 Fig 6 19 P CLR Signal Usage 6 25 Fig 6 20 Output Width of Position Completion Signal 6 26 Fig 6 21 I O Signal Timing Chart 6 27 Fig 6 22 Using the Encoder Output Signal 6 29 Fig 6 23 Example of Wiring between Incremental Encoder Out put and Host Controller 6 29 Fig 6 24 Encoder Output Pulse Form 6 30 Fig 6 25 Example of Electronic Gear Setting Ball Screw 6 31 Fig 6 26 Example of Electronic Gear Setting Belt Pulley 6 31 Fig 6 27 Example of Electronic Gear Setting Turn Table 6 32 Fig 6 28 Block Diagram of Electronic Gear 6 32 Fig 6 29 Rotation Detection Output Signal 6 33 Fig 6 30 Input Voltage and Command Torque 6 35 Fig 6 31 Torque Command Input Circuit 6 35 Fig 6 32 External T
4. 05 08 DA Channel Output Refer to D A Converter Channel Value Selection Selection Speed position setting of D A output 1V Adjustment of D A d rotati tation RPM SEt08 output Related speed all rotation reverse 1 65535 500 position Refer to D A Converter Channel PULSE Selection Torque setting of D A output 1V SEt 09 ee as forward rotation reverse rotation 1 300 50 output Related Toque Refer to D A Converter Channel Selection Offset Adjustment of Adjusts output offset of DA channel 1 SEt 71 T Refer to Output Adjustment Method of D 10mV 0 200 100 anne A Converter Channel Gain Adjustment of Adjusts output gain of DA channel 1 SEt 72 DA CH d Refer to Output Adjustment M ethod of D 1 200 100 Converter Channel Offset Adjustment of SEt 73 Adjusts output offset of DA channel 2 10mV 0 200 100 DA Channel 2 Gain Adjustment of SEt 74 Adjusts output gain of DA channel 1 1 200 100 DA Channel 2 Monitor Parameter List Table 5 4 Monitor Parameter List Con 01 Feedback Speed RPM Con 02 Speed Command RPM Con 03 Torque Command Con 04 Electrical Angle DEGREE Con 05 Speed Error RPM Con 06 Position Error PULSE Con 07 Mechanical angle DEGREE Con 08 Position Feedback PULSE Con 09 Position Command PULSE Con 10 Speed Offset Con 11 Torque Offset
5. 6 13 Speed Coincidence Output Signal 6 14 Changing the Motor Rotation Direction 6 15 Acceleration Deceleration Time and S Curve Operation 6 16 Selection of Stop Method 6 18 Offset Adjustment sse 6 18 Using the DB Dynamic Brake _ 6 18 Using Zero Clamp 2 6 19 Emergency Stop aiii 6 19 Position Control dde derriere dae lan 6 21 Ls 6 21 Position Command Pulse Form essere 6 23 Electrical Specifications of Command Pulse 6 24 Position Counter Clear 6 25 Position Completion Output Signal P COM 6 26 l O Signal Fimlng 6 27 Position Speed Control Mode 6 28 Using Encoder Output sse 6 29 Electronic Gear nece d drei eren enn don 6 31 Rotation Detection Output Signal 6 33 Torque Control een 6 34 sues Be 6 34 Torque Command sse enne nnn 6 34 Limiting the Speed during the Torque Control 6 36 Position Torque Control Mode essen 6 37 Torque Limit ia dadas 6 38 Setting of Servo Drive Gain sese 6 42
6. 5 Main Power Input L1 L2 Single Phase 220VAC 15 10 50 60Hz E P N Connection of Auxiliary Capacitor In case of CSDJ Plus 01 02 04 P B Connection of External Regeneration Resistor In case of CSDJ Plus 06 10 N U Red V Motor Power Cable White W Black S Protective Earth Connect to green yellow motor cable and the power cable Fig 2 7 Connection of External Terminal Blockonnection of External Terminal Block LED Green Power On Orange Servo On Blinking in Red Green Alarm lt gt OPERAT CN3 CSDJ xxBX2 220VAC L1 Master CSDJ xxCX2 24VDC 120 1 Controller CSDJ Plus 01 02 04 5 Auxiliary Capacitor CSDJ Plus 06 10 N B Regeneration Resistor S Red U ur Motor Power Cable White 5 m w Encoder C Gen m ofthe Motor 2 Wiring Wiring Precautions Using the high speed controller with 3000 1 of precision servo drive handles signals below small mV Pay attention to the conditions listed below when wiring L Multi core twisted pair with overall wire shield must be used for the signal wire and position signal CN1 CN2 CN3 connection wire Thus use electric wire with the thickness of at least AWG26 Especially when the input of the position command in open collector method is provided by the host controller multi core twist pair shield wire must be used Otherwise it may cause error in operations such as position
7. Load Speed 15m min Mass of the linear movernent part M 500kg Length of the ball screw Ls 1 4m SERVO MOTOR Diameter of the ball screw Ds 0 04m Ball Screw Lead 0 01m Mass of the coupling Mx Ikg Outer diameter of the coupling Dx 0 06m The number of times of Hansen n 40 min Transfer distance A 0 275m Transfer time 1 25 or less coefficient of friction u 0 2 1 Speed Diagram Mechanical efficiency n 0 9 Vt 15 40 SPEED aa Here 44 14 mi TIME s m t t SUN cujos pue 0 1 sec 15 2 Rotation Speed 2 1500 r min Load axis rotation speed 001 Motor rotation speed Thus Nu Ni R 1500x 1 1500 r min 3 Load Torque T 98u M F _ 98x 0 2x 500x 0 01 173 N m 27R y 2 1 09 4 Load Inertia 2 0 01 E 2 linear movement Part u 7M G 75007 71 712 7 10 kg x Ball Screw 7 P x L X D This is direct coupling Reduction ratio is 1 R 1 x 7 87 x 10 x L4 x 0 044 27 7 x 104 kg x m D 21x 006 245 10 kg m Coupling 8 8 Motor shaft Load Inertia 4 44 9x10 kg m 5 Load Operational Power 2 1 2r x 1500 173 Pa AMA Fe ern o 0 7 gt 6 Load Acceleration Power Du MON Las 2 M L x 1500 x 1108 W 552 a 1 W a 7 Temporary selec
8. 4 18 TESERUN este ann 4 18 Parameter List 5 1 User Parameter oen 5 3 Motor and Encoder Setting 5 3 Control Mode Setting sse 5 4 Parameter Setting Related to Autotuning 5 5 Parameter Setting Related to Gain 5 5 Parameter Setting Related to Servo Control 5 7 Parameter Setting Related to Speed Control 5 12 Parameter Setting Related to Position Control 5 13 Parameter Setting Related to Torque Control 5 14 Parameter Setting Related to Torque Limit 5 15 Parameter Setting Related to Timing Control 5 16 Parameter Setting Related to D A Output 5 16 Monitor Parameter List esses 5 17 J og Mode Parameter 5 5 18 Error Monitor and System Parameter List 5 19 Basic Functions 6 1 Speed Control nenne een 6 3 Speed Command enne 6 6 Multi Step Speed Control Mode 6 7 Speed M ulti Step Speed Control Mode 6 9 Manual Zero Clamp Speed Control Mode 6 12 Auto Zero Clamp Speed Control Mode
9. 12 State Display Refer to Fig 4 6 Display of Con 12 Con 13 Inertia Ratio Load Inertia Motor Inertia Con 16 Input Pulse Frequency kHz Con 17 Speed Command Voltage 10mV Con 18 Torque Command Voltage 10mV Con 19 Maximum Torque Absolute Value Con 20 Multi Rotation Data of Absolute Encoder Con 21 Absolute Value of Maximum Position Error PULSE Con 22 Absolute Value of Maximum Speed Feedback RPM Con 23 Encoder Counter PULSE Con 24 Data within 1 Rotation of Absolute Encoder Con 25 Lower 5digits of position command in servo off status PULSE Con 26 Upper 5digits of position command in servo off status PULSE Con 27 Lower 5digits of position feedback in servo off status PULSE Con 28 Upper 5digits of position feedback in servo off status PULSE Fig 5 1 Status of Con 12 V P Speed Position Completion Signal CN1 pin 41 42 1 0D LU UD ED 2 Jog Mode Parameter List Table 5 5 Jog Mode Parameter List J OG Servo ON by Operator USr01 3 2 Refer to start up by Operator USr 02 AutoTuning 3 3 USr 03 Auto Adjustment of Speed Command Offset 4 7 USr 04 Auto Adjustment of Torque Command Offset USr 05 Manual Adjustment of Speed Command Offset 4 7D USr 06 Manual Adjustment of Torque Command Offset USr 07 Alarm Reset Error Data Reset 4 7 Uses D A Converter Channel n Channel1 Channel2
10. During the torque control input terminal of unused com mand must be opened Torque may also change when the analog input voltage changes thus a precision power supply must be used For accurate torque control use multi turn precision vari able resistor 10 Turn and when accurate work is not required relatively use general variable resistor 1 Turn Command voltage from the host controller or external circuit has an offset in the vicinity of In such cases operate Torque Command Auto Offset Adjustment Torque Command Manual Offset Adjustment from USr 04 Usr 06 Limiting the Speed during the Torque Control In order to limit the motor rotation speed during the torque control first control mode must be set in speed torque control mode with speed limit Setting of Speed Torque control mode with speed limit Setting value of SEt 41 6 Speed limit value is proportion to speed command value of V REF input terminal CN1 pin 19 20 Here speed limit value is not related to polarity of V REF input terminal In other words regardless of polarity of input voltage it is depended on the absolute value The relationship between V REF input voltage and speed limit value is same as in speed control mode When selecting torque control mode with speed limit set speed limit value by V REF Rotation speed Protects speed excessiveness during the se tot valve troque control V REF
11. Controller Cable Connector Specification 222 54 2 danois S m aaa pau aaa Sn gt 1 PIN He A IN m E ren i x 1 e Fa J LL 1PIN 2 PIN 4 7 Aa 7 Eriapa ganannaaan L ERES za 27 Y j 1 27 fe s 7 T LA LB Order Number Encoder Connector 20Pin CON SCONN2OPEN O Connector 36Pin CON SCONN36PIN Connector 50Pin CON SCONN50PIN Cable Code Format ENC SL 03 E CN S F A Cable length 0 5m 01 Am Function 1 15 Fixed type Encoder type 02 2m CN 9 wire Incremental Cable length Same as left Function Same as left CSMT When ordering only 20 PIN encoder Connector All ENC SL 03 PC Cable length OH 0 5m 01 1H 02 ENC SL 03 U50CNA 1m 1 5m 2m Cable type JG For JOG Operator PC For PC connection All Motors When ordering only 50PIN I O Connector CON SCONN 50 PIN Appendix D Load Calculation of the Mechanical Part The Moment of Inertia Calculation J lux p 2 px Lx p
12. 1 an Setting pin 23 pin 28 dA 03 Torque Command Torque Feedback GND USr 08 dA 04 Position command Position Feedback GND 4 7 05 Speed Command Speed Feedback GND dA 06 Speed Command Torque Command GND 07 as etting Torque Command Speed Feedback GND All parameters except SEt 23 SEt 24 SEt 36 SEt 37 SEt 51 SEt 53 SEt 71 74 are set to factory setting value USr 09 Initialization during the E 80 changes all user parameters to factory 4 7 H setting USr 09 gt ENTER Key gt P init blinks gt MODE SET Key gt Initialization Error History Clear USr 10 4 71 Clears all of PAr 01 PAr 10 contents to 0 Test run 05 90 3 4 Test run Stop by SET key Error Monitor and System Parameter List Table 5 6 Error Monitor and System Parameter List PAr 01 Last Error PAr 02 Second Last Error PAr 03 Third Last Error PAr 04 Fourth Last Error 05 Fifth Last Error PAr 06 Sixth Last Error 07 Seventh Last Error PAr 08 Eighth last Error 09 Ninth Last Error PAr 10 Tenth Last Error Checks the software version PAra IIC Ll HEr Checks the controller type Sara Motor Capacity 003 30W 005 50W 010 100W 5 Speed Control Mode PAr 12 ED Position Control Mode t Torque Control Mode 100 1000W Motor Series CSMT CSMR Input Power 220V Basic Functions Chapter
13. Forward Command Reverse Command 1 1 5 Olus gt 1 1 t 3us LX 100 x 50 Position Counter Clear Fig 6 19 P CLR Signal Usage SERVO DRIVE External DC 24V 24VIN CN1 Pin 43 Input P CLR when setting SEt 46 LED No 4 1 HOST Input P CLR when setting SEt 46 LED No 5 1 In position control mode set 1 in SEt 46 LED No 4 or 5 in order to use pin 10 or 15 as position counter clear pin During the position control operation if P CLR function is on make the position command and position error 09 06 0 and stop with zero speed command Time delay exists between the time where P CLR function is turned on and motor stopping time thus accurate position control is impossible Position Completion Output Signal P COM P COM output signal is ON 1 41 is at low level when satisfying the following conditions Position Error lt Positioning Completion Range Setting value of SEt 18 External SERVO DRIVE DC24V This output signal indicates that motor operation is CN1 Pin 41 complete during position control CN1 Pin 42 Speed Control Mode Output width of speed coincidence signal Output Width of PULSE SEt 18 Speed Position 0 1000 10 Coincidence Signal RPM Position Control Mode Position completion range Fig 6 20 Output Width of Position Completion Signal Position Er
14. When connecting the load user must align the motor shaft and the load axis If the axes are not aligned vibration and noise might occur and motor bearing can be damaged Fig 2 4 Coupling Concentricity is below 3 100 N YA SN A a NW Pd 22 E 78 a Gap is below 3 100 Excessive external shock can cause breakage of the bearing and the encoder of the motor Use the key which fits the key specifications and fix by using the standardized bolts When operating by connecting directly to the load axis use the flexible coupling Make sure no excessive shock below 50G is given to the motor axis when using the gearbox coupling and pulley When it is impossible to avoid such cases be cautious not to exceed specified trust and radial load Radial Load E Thrust Load Table 2 2 Allowable Load of the Motor CSMR 01A 8 4 CSMR 02A 20 7 CSMR 04A 20 7 CSMT A3B 8 4 CSMT A5B 8 4 CSMT 01B 8 4 5 02 20 7 5 04 20 7 CSMT 06B 35 10 CSM T 08B 35 10 CSMT 10B 35 10 Installing Servo Drive Installation Servo drive is designed for base mounting type For natural cooling effect the vertical mounting is standard Follow this mounting direction for cooling effect Fig 2 5 Installation of Servo Drive Wall mounting type C Or
15. 220VAC Singe Phase Power Cable Motor Do not connect the unused signal wire NL Use noise filter in radio noise Servo drive is for the industrial use and does not include the radio noise protection Fig 2 12 Grounding and Noise Filter for Noise Reduction Shield _ O T Noise e L1 U AC220V Filter 9 Vo 0 4 12 T Power ground Earth Must be connected 17 Plate with the PE terminal len 000 Twist Pair MASTER CONTROLLER Wire _ Lr HN Lir oise Externa TRAN Filter n me Earth Plate N 7 Earth Ground wire is 2 0 mi or more Plate AWG 18 Twist Pair Wire 21 Class 3 Ground Wire Limit Noise Filter Noise filter should be located as close as possible to the drive Make sure to check the current capacity of the noise filter Recommended noise filter is shown in the following table Table 2 7 Recommended Noise Filter CSDJ 0102B NFR 205TS 250V 5A CSDJ 0406B js m r3 NFR 210TS 250V 10A Single Phase o 220VAC NE CSD 10B NFR 220TS 250V 20A 2 1 4 4 44 When using several servos one noise filter could be shared However utilize the noise filter with appropriate capacity which fits the capacity for several servos Samil Components Co Ltd Tel 82 2 478 6800 4 Fax 82 2 476 3200 http www samilemc com e Wirin
16. Torque Conversion of Speed Torque Control Mode with Speed Limit User can change the speed torque control with speed limit when not have reached the speed limit value ON Speed control mode P CON OFF Torque control mode with speed limit Mode Setting Parameter Position Torque Control Mode Conversion to position torque control mode is possible through ON OFF of P CON input terminal Table 6 13 Position Torque Control Mode Setting SEt 41 7 Setting value is effective after power OFF ON Control Mode Conversion P CON Terminal OFF gt Position control mode ON gt Torque control mode Control mode display of the operator P t display Position Control Troque Control Conversion condition 1 Position command pulse 0 2 position command actual position lt Setting value of SEt 18 This Caution 1 If those three conditions are not satisfied it cannot be changed to torque control mode Torque Control Position gt Control Mode Conversion 1 Motor rotation speed is smaller than the setting value of SEt 16 or torque command is smaller than 10 of the rated torque 2 P CON Terminal OFF Mode Conversion condition is maintained for at least 10 Caution Position commana pulse i ignored when operating in Torque msec control mode 3 P CON Terminal on Condition of conversion Caution 1 When changing to position control mode from t
17. con 10 Unit mV The set offset of Torque command can be checked in Con 11 Unit mV DHO Alarm Reset Error status can be reset in USr 07 of the jog mode Resetting method is as follows Fig 4 16 Alarm Reset D A Converter Channel Selection CSD Plus prepares two of D A output Output can be selected in USr 08 28 Speed Feedback Setting value of 1V SEt 08 RPM 1V 500 RPM Max HOV 38 Torque Command Setting value of 1V SEt 09 96 Rated torqueO 5 M ax H0V 27 GND DA output signal GND Table 4 3 Parameter Value and Content of D A Converter USr 08 dA 03 Torque Command Torque feedback dA 04 Position Command Position feedback dA 05 Speed command Speed feedback dA 06 Speed command Torque command DA output signal GND dA 07 Initial Value Torque command Speed feedback dA 08 Position Error en 4 SEt 08 SEt 09 are parameters which adjust the D A output scale of each speed position and torque value There is no direct relationship with the D A output pin Thus when setting dA 07 in USr 08 reset SEt 09 in order to scale the D A output torque command of pin 23 Fig 4 17 Example of Selecting the D A Channel Output Con tent Output Adjustment Method of D A Converter Channel Table 4 4 Parameter Value and Content Related to D A Converter Output Parameter Name C
18. 0 3 0 6 11 17 3 3 4 4 5 0 5 4 0 9 15 3 0 4 9 3 2 9 6 141 15 3 0 2 0 5 Table 2 Motor Brake Specification 24 10 0 32 127 2 55 3 25 13 26 5 9 9 5 20 50 40 50 80 Speed Torque Curve Torque Nm 1 0 CSMT A3B 0 8 0 6 0 4 0 2 Instantaneous Continuous Speed 1000 2000 3000 4000 5000 RPM Torque Nm 1 0 CSMT 018 0 8 0 6 Instantaneous 0 4 0 2 Continuous Speed 1000 2000 3000 4000 5000 RPM Torque NR CSMT 048 5 0 4 0 3 0 Instantaneous 2 0 1 0 nz Continuous gt T Spade 1000 2000 3000 4000 5000 RPM Torque Nm 10 0 5 088 8 0 6 0 Instantaneous 4 0 2 0 Continuous Speed 1000 2000 3000 4000 5000 RPM Torque Nm 1 0 CSMT A5B 0 8 0 6 0 4 Inatantaneous 0 2 Continuous Speed 1000 2000 3000 4000 5000 RPM Torque a CSMT 028 Instantaneous Continuous Torque 1000 2000 3000 4000 5000 RPM Torque e CSMT 068 10 0 8 0 6 0 4 0 Instantaneous 2 0 Continuous gt ist 1 Speed 1000 2000 3000 4000 5000 RPM Torque Nm 10 0 CSMT 108 8 0 6 0 Instantaneous 4 0 2 0 Continuous Speed 1000 2000 3000 4000 5000 RPM CSMR Motor specification Standard Speficication T
19. Exchange to motor which gets high motor inertia Select the motor which the output torque is higher Lower the system response performance Reduce the gain Gain Tuning Method Set the system response performance with SEt 42 A response performance gets better as the value gets higher If the value is big compared to the load condition vibration or noise can occur 10 Low Rigidity 20 Medium Rigidity 50 High Rigidity Incase of when vibrating with the load may create System t fth low h SEt 42 Response vibration or noise even i eva ue is ow In suc 0 100 20 case you may set the vibration rejection frequency Performance in SEt 47 The following parameter changes on the basis of the setting value Set 42 SEt 02 Speed Loop Proportion Gain SEt 03 Speed Loop Integration Gain SEt 04 Position Loop Proportion Gain During position control SEt 06 Torque Command 1 Filter Cut off Frequency SEt 40 Speed Command 1 Filter Cut off Frequency During position control Fig 6 33 Gain Tuning Until there is no vibration SEt 42 can be set high Factory setting value of SEt 42 20 Autotuning Start Up Set SEt 42 Set SEt 42 high Low Noise or Vibration Response performance is Slow Accurate Tuning P OT Using Rotation Prohibition Function In such cases as linear machine in order to protect from mechanical damage it ca
20. Here Jw Load Inertia of Linear Movement part Je Gear Coupling Part Inertia Jg Ball Screw Inertia P 1 TT M Mc Xo Js Sg My an Here Ball Screw Mass kg p Density kg m Iron p 7 87 x 10 kg m enn Aluminum 2 70x10 kg m _2 Ny Jy i 6007 T Here Jy Motor Inertia Tpm Motor maximum torque _ 27 Ny QU y J dm WA 60 T T Here Ju Motor Inertia Motor maximum tor que p 27 Ny 60 p ERN y Je 60 t lt 55 p 2 Nu er 601 EE ta T zone Nu Gir Td 60 1 G S tu Rack amp Pinion Load Rack Pinion M Load mass of linear movement part kg u The coefficient of friction V Load speed m min F Thrust force 1 8 Reduction ratio 7 Mechanical efficiency D Pinion diameter m t Pinion thickness m jM 60 2 if E ta L Y g t RV T _O8uUM F D 2Rn J Jyt J u Here Jw Load Inertia of Linear Movement Part Jo Gear Coupling Part Inertia J Pinion Inertia Jy MES x D pxtxD Here Mp Pinion Densi ty kg Density kg m Iron 7 87 10 kg m ange Aluminum 2 70x 10 kg m 27x Nu Qu 1 60 7 T Here Jy Motor Inertia Motor maximum torque Subs TOf J 60 Tpy T Here Ju Motor Inertia torque Motor maximum P 2 ST 5 60 2 N
21. The relationship between the speed command value and input voltage is set in SEt OL Composition Fig 6 2 Analog Speed Command Input Circuit SERVO DRIVE RUN S W EXT DC 1 amp 10 Tums Variable Pin 19 10V resistor STOP SW 1 Pin 20 Twist Pair Line Relationship Between the Input Voltage Value and Speed Command Controls the speed in proportion to input voltage V ref Fig 6 3 Analog Input Voltage and Speed Command Speed RPM 5000 2500 Possible Setting Limit RPM 10 V Unit Example Input Voltage of V ref V 10 Factory Setting Value as When Delivered 1359 SEt 01 500 SEt 46 LED 2500 2 0 Steepness is set SEt 01 Unit is set in SEt 46 LED No 2 Speed command can be changed in constant input voltage by changing the setting value of SEt 01 Speed Command RPM Setting value of SEt O1 RPM or RPM 10V x Input Voltage Value V When the speed command desired the user is not in the multiples of 10 set to LED No 2 1 of SEt 46 and change the unit of the value to RPM 10V When setting SEt 01 1553 motor is rotated in 1553 RPM with 10V speed command SEt 01 300 SEt 01 2439 SEt 46 LED No 2 0 SEt 46 LED No 2 1 RPM 300 RPM 10V x10 V RPM 2439 RPM 10V x10 V Thus when setting 10V motor rotates in 3000RPM Thus when setting 10V motor rotates in 2439RPM Multi Step Speed Control Mode Used when desired
22. be obtained If SEt 58 30 set in SEt 703 When setting this parameter high when the load is big error can occur Reduce the setting for the operation Refer to Autotuning Motor Motor rotates to the left and right once when setting Rotation itas 10 Factory Setting value 01 SEt 70 Angle However it may differ according to the load Rotation 2730 10 During condition Autotuning Refer to Autotuning The load inertia ratio can be set by the user The Con 13 changes upon the change in setting Load inertia ratio measured autotuning is set 0 1 SEt 66 inertia Gain does not change immediately even if the value times 0 1000 30 has been changed and when changing and setting the SEt 42 basic gain SEt 02 03 04 06 40 will be changed in reference to that setting Speed Response Frequency 2 System When setting this parameter the basic gain SEt 02 03 Ar 04 05 40 changes in reference to SEt 66 0 100 20 Refer to Setting of Servo Drive Gain Parameter Setting Related to Gain Speed Parameter which decides the response ia performance of the speed control SEt 02 Setting value differs according to load N m s 0 2000 40 Proportion rigidity Gain Refer to Setting of Servo Drive Gain Speed Loop Eliminates speed error in steady state 2 x Integration Refer to Setting of Servo Drive Gain 1530 130 Gain Position Parameter which decides the response 38 performance of positio
23. ra 4 Ni CSMR Motor un uw 5 3 PCD LA 62 5 64 3 76 3 86 5 95 3 107 3 30 30 7 7 50 70 27 27 18 18 22 22 60 80 80 105 4 4 5 5 6 6 70 90 if sj Appendix Cable Power Cable Assembly for 3 Phase Motor lt CON A CON B NUMBERING TUBE Tie with Protection cable tie a tube M 9 2 B i D Tie with _ gt Cable i cable tie ie type rug U Red of 3 Point Cable V White of 3 Point Cable Ww Gray of 3 Point Cable PE Wire Weld and connect the to 3 point cable of the shield green background yellow stripe Order Number and Product Nam 3 000 POW SLO3POIOFA 3 Phase Motor Power Cable Assembly 5 000 POW SLO5P010FA Motor Brake Cable Assembly CSMT MR CON B gt CON A NUMBERING TUBE Tie with ala ET en a 5 8 4 09D Tie with Protection f ie wi cable tie tube type rug BK White of 2 Point Cable BK Gray of 2 Point Cable e Order Number and Product Nam 3 000 BRK SLO3BRAKFA 5 000 BRK SLO5BRAKFA Motor broke cable 10 000 BRK SL10BRAKFA Assembly 15 000 BRK SLI5BRAKFA 20 000 SL20BRAKFA U
24. CSDJ 04BX2 U CSDJ 04BX2 B for 220V CAUTION Electricity remains in the product even if the power has been turned off Operate 10 minutes after turning off the power Installing Servo Motor Installation of the AC servo motor is possible both horizontally and vertically If the installation location or its environment is not appropriate the life span of the motor may be reduced or may cause unexpected accidents Install the system according to the procedures described below Prior to Installation The rustproof paint is coated on the shaft end and the surface of the flange Clean the paint using the thinner prior to the installation To prevent the cover from peeling be cautious the thinner is not applied to other parts Be cautious when moving the motor because it may rust if the surface is scratched Also the encoder attached in the servo motor may be damaged from vibration or shock Fig 2 3 AC Servo Motor Installation Location AC Servo motor is generally used in indoor Operate the system under the following conditions Indoors where there is no corrosive or explosive gas Ambient temperature 0 455 C Storing temperature 20 480 C Humidity 20 80 non condensing Place with good ventilation and no dust and humidity Place where maintenance and cleaning is easy If there are water and oil drops in the surrounding take appropriate action such as using cover etc Connection with load
25. Purpose used to reduce overshoot or undershoot in case of position and speed control Setting Parameter SEt 54 and either one of SEt 55 SEt 57 Similar operation as the P PI conversion control described above is done Suppresses speed overshoot undershoot while automatically adjusting the speed integration value Thus in case of position control position completion time is shortened Selection of Auto Speed 1 Ear A Integration 1 Automatically adjusts the integration value on the Value basis of the setting val ue SEt 55 2 Automatically adjusts the integration value on the basis of the setting value S Et 56 3 Automatically adjusts the integration value on the basis of the setting val ue SEt 57 Auto Adjustment Automatically adjusts the speed Integration value on the SEt 55 on the basis of 100 96 basis of torque command Torque Command Set little lower value than maximum usage torque Automatically adjusts the speed integration value on the basis of speed command Speed offset may occur above the setting value Auto Adjustment SEt 56 on the basis of 100 RPM Speed Command Speed Feedback Time Auto Adjustment SEt57 on the basis of 100 PULSE Automatically adjusts the speed Integration value on the Position Error basis of position error amount Amount Speed Command In case of speed control analog input voltage value of pin 19 20 of CN1 becomes the speed command value
26. RPM Speed RPM e Internal Torque Limit Torque limit can be set using the user parameter In case of which the torque limit value is low acceleration deceleration time may increase Forward Rotation SEt 10 ee Torque Limit Limits the torque in set 0 300 300 5 Possible Reverse Rotation value SEt 11 Torque Limit External Torque Limit Torque limit can be set using external I O terminal P CL N CL Cannot be used in multi step speed control mode SEt 12 External forward rotation torque limit que limi Limits the torque 0 300 50 2 SEt 13 External reverse in set value rotation torque limit Used External I O Terminal P CL External forward Limits forward torque when input rotation torque limit terminal ON NENECUVE IN MUN P S t step speed control N CL External reverse Limits reverse torque when input mode rotation torque limit terminal ON Emergency Stop Torque Limit Emergency stop torque SEt 14 limit during forward Limits the rotation torque in set 0 300 300 P S t Possible SEt15 Emergency stop torque value limit during reverse rotation Only effective emergency stop Torque Limit by Analog Input Voltage Torque limit may be set in analog input voltage value during the speed control speed control mode with analog torque limit However torque limit value is recogniz
27. Rated rotation speed of the motor 2000RPM 9 Final servo motor selection Temporarily selected servo motor which satisfies the above conditions can be used The selected AC servo motor generates the torque depending on the speed as shown below Motor Speed orque T Ts Appendix Revision History 2001 02 CSD XXBX2 Ver 1 0 Initial version for modification Authorized publication version ROM version 11 ROM version 12 function added 2001 05 CSD Plus V 12 SEt 46 function Torque limit sequence change ROM version 13 function added SEt 41 10 speed control function 2001 03 CSDJ Plus V LO 2002 12 CSDJ Plus V 13 Absolute Encoder Data Transmitting by switching of I O port ROM version 14 function added Support CSMT CSMR motors 2004 01 CSD Plus V 14 Monitoring Modes 25 28 added DA monitor channel dA 08 added
28. SURE 601 S Ball Screw Load Horizontal Axis MOTOR M 4 F UR Di Py L V Load Speed m min F Thrust For ce N 1 8 Reduction Rat io P Ball Screw Lead m Ly Ball Screw Length m D Ball Screw Diameter m u The Coefficient of Friction 7 Mechanical Eff icieney M Load Mass of Linear movement Part if la f L T _0 834M F P E 2 J Jy tJ TE 0121 Al Jw Direct operational part load inertia Jo gear part inertia Js Ball Screw inertia P 2 1 2 4 Jy M xP WwW ae 8 327 L D here Mz Ball Screw weight kg density kg m gt Iron 7 87 x 10 kg m Aluminum 2 70x 10 kg m 24 NyVytJ am 60 7 1 Here Ju Motor Inertia 7 Motor Maximum torque dm ene Nia ty 60 7 T Here motor inertia Trm motor maximum torque P 2 Ny XT 60 aces Nu 2 60 f MERO 29 Ny Gy 1 60r 2504 1 2247 Nu Iu y 60r E S tan Screw Load Vertical Axis F Thrust Force N Pz Ball Screw Lead m L Ball Screw Length m D Ball Screw Diameter m M Load Mass of Linear Movement Par t kg Mc Counter Part Mass kg 7 Machanical Efficiency V Load Speed m min 1 8 Reduction Rat io B _ 9 8 M M 2aRn J Jy tJe p
29. these to gain features thus when tuning first tune P gain and tune gain Best case is set by high value the proportion gain and Time integration gain but generally use by setting appropriately Integration Gain Value When Autotuning is not operated well In case the load rigidity is too low the gain obtained by autotuning may not fit well In such case set the gain according to the procedure below 1 First set the speed integration gain SEt 03 to non load gain value Factory value as when delivered 2 Raise the speed proportion gain SEt 02 to the limit where there is no vibration in the machine part 3 Raise the speed integration gain SEt 03 to the limit where the is no vibration in the machine part 4 Operate jog operation or start up 5 If there is big vibration or noise in the load reduce the speed proportion gain SEt 02 or speed integration gain SEt 03 6 Repeat 4 and 9 until appropriate operation can be done Typically the system using the belt or chain cannot oper ate with fast response performance because of low rigid ity of the machine Set the SEt 06 value to 300 600 In case of which the load inertia exceeds 5 times that of ATTENTION the motor or the load torque exceeds 5 times that of the motor it is impossible to expect fast response In such case A Reduce the inertia of the mechanical part and load torque Increase the acceleration deceler ation time
30. 26 Multi step speed 1 Sets speed commands when using multi step speed control mode SEt 413 Rotation Step speed speed 2 Time Select speed command according to the input terminal P CL CN1 9 1 8 as shown below Speed selection P CL N CL Multi step speed 1 OFF ON RPM 0 5000 100 Multi step speed 2 ON OFF Multi step speed 3 ON ON Stop OFF OFF Select forward and reverse rotation operation command with CN1 4 input terminal Rotation direction P CON Forward direction OFF Reverse direction ON Refer to Multi Step Speed Control Mode SEt 27 Multi step speed 2 Sets multi step speed 2 RPM 0 5000 200 SEt 28 Multi step speed 3 Sets multi step speed 3 RPM 0 5000 300 SEt 25 Multi step speed 4 Sets multi step speed 4 Refer to Speed Multi Step Speed RPM 0 5000 500 Control Mode Parameter Setting Related to Position Control SEt 07 Position FF Filter Cutoff frequency Use filter to smooth feed forward compensation value which is differentiated position command Cutoff frequency of this filter can be adjusted Only effective when feed forward compensation FF gain is not 0 and if overshoot takes place by inserting a value other than 0 set the SEt 07 to Also refer to Fig 6 29 Block Diagram of Electronic Gear rad s 0 2500 SEt 33 Overflow Level
31. 4 15 Table 4 4 Parameter Value and Content Related to D A Con verter Output a 4 16 Chapter 5 Parameter List 5 1 Table 5 1 Encoder Types Setting SEt 51 5 3 Table 5 2 Motor Types Setting SEt 52 5 3 Table 5 3 Motor Capacity Setting SEt 53 5 3 Table 5 4 Monitor Parameter List 5 17 Table 5 5 og Mode Parameter 5 5 18 Table 5 6 Error Monitor and System Parameter List 5 19 Table of Contents 1 Table of Contents 2 Chapter 6 Chapter 7 Chapter 8 Chapter 9 Appendix Basic Functions 6 1 Table 6 1 Setting the Speed Control Mode 6 3 Table 6 2 Using the P CON Signal 6 4 Table 6 3 Multi Step Speed Control Mode Setting 6 7 Table 6 4 Speed Multi Step Speed Control Mode Setting 6 9 Table 6 5 Step 4 Speed Usage Setting 6 10 Table 6 6 Manual Zero Clamp Speed Control Setting 6 12 Table 6 7 Auto Zero Clamp Speed Control Mode Setting aliada 6 13 Table 6 8 Effective Boundary of SEt 45 LED No 4 Setting ad ERE M 6 15 Table 6 9 Position Command Pulse Form Set in SEt 46 LED 6 23 Table 6 10 Electrical Specifications of Position Command 5 42 25 52 tac a 6 24 Tabl
32. 6 explains the basic functions of the servo drive Speed Control Speed Command Multi Step Speed Control Mode Speed Multi Step Speed Control Mode Manual Zero Clamp Speed Control Mode Auto Zero Clamp Speed Control Mode Speed Coincidence Output Signal Changing the Motor Rotation Direction Acceleration Deceleration Time and S Curve Operation Selection of Stop Method Offset Adjustment Using the DB Dynamic Brake Using Zero Clamp Function Emergency Stop Position Control Wiring Position Command Pulse Form Electrical Specifications of Command Pulse Position Counter Clear Position Completion Output Signal P COM 1 O Signal Timing Position Speed Control Mode Using Encoder Output Electronic Gear Rotation Detection Output Signal Torque Control Setting Torque Command Limiting the Speed during the Torque Control Position Torque Control Mode Torque Limit Setting of Servo Drive Gain Using Rotation Prohibition Function Speed Control There are 6 types of mode in speed control general speed control manual zero clamp speed control auto zero clamp speed control multi step speed control speed control with analog torque limit and speed multi step speed control Table 6 1 Setting the Speed Control Mode General Speed P CON OFF PI control 1 Control ON control The direction of rotation is selected by P CON 10 General Speed _ 5 CON OFF Forward Rotation Control P CON ON Revers
33. 8 32 Jy Mut D pe LOI D Roll Load Pressure F tension MOTOR ROLL F Tension P Pressure V Load speed m min D Roll diameter m 1 8 Reduction Rat io u The coefficient of friction 7 Mechanical efficiency 21 0 60 2 if L 20 4 RV Na zD UP F D T 2RN J J qb L G R Jr Roll load part inertia Jo Gear coupling inertia _2 Ny 60 7 T Ju motor inertia Motor maximum torque _2 Ny Ju H1 60Tow T Jy Motor inertia Motor maximum torque p 25 XT 60 p QR 60 f 2 SS Lam 2 N J J Z 60 E lt tm _ 2 N H 60r oed Timing Belt Load MOTOR Load mass of linear movement par t kg V load speed m min F Thrust Force N 1 R Reduction Ratio D Pulley Diameter m u The coefficient of friction 77 Mechanical efficiency L2 22 60 2 if f Stis L La t Jw Direct operation part load inertia Je Gear Coupling inertia Jr Pulley part inertia Jy MG 2 Nyu 2 60 7 Ju Load Inertia Maximum Motor Torque _ 2 x J 28 60 Eig T Ju Motor Inertia Maximum Motor Torque 2 xT 60 E ME 60 t 122123 2 Ny Jy J 27 Nu Gu 601 2 2 Es Az Ny Iu tJ T
34. ALM RST Gray Alarm reset 32 EB nie Encoder B phase output 8 NAT Red Reverse direction Pirk T current E Encoder phase output 1Point limit input 4Point Forward direction Yellow Er Orange 9 P CL current 34 EC Encoder C phase output 1Point Limit input 4Point Blue Gray Absolute encoder position 10 E STOP 1Point Emergency stop 35 PS 4Point DATA output White Position pulse train De Red Absolute encoder position PULS 1Point input 36 PS Line DATA output Pink Position pulse train Yellow 12 PULS 1Point input 37 Line Alarm code 1 output 13 SIGN orange Sign input 38 AL2 qus Alarm code 2 output 14 SIGN Gey Sign inpute 39 AL3 TS Alarm code 3 output SS Pi 15 ABS RST Pm encoder reset 49 ALM SG Alarm code signal ground Positioning completion BCOM signal output position 16 a com sont Speed coincidence signal output speed control ER zu PCOM e Positioning corp ugn CEL Blue ENCODER Z phase open signal output GND 17 ZPULSE 2Point Collector output 42 Line Speed coincidence signal output GND er Rotation detect SPICE White ENCODER phase open TOON GE SEt 43 LED No 4 0 18 ZPULSE 2Point collector output 43 TG ON Linel Current limit detect SEt 43 LED No 4 1 19 V REF Bana Speed command input 44 TG ON TG ON GND Orange Speed command input Blue Servo alarm occurrence 20 VREF SG 2Point GND m SALME Linel signal
35. CGS E 1 List of Figures Chapter 1 Overview and Specifications 1 1 Fig 1 1 Preparations for Operation 1 4 Fig 1 2 Hardware Features CSDJ 01B 02B 04B 1 5 Fig 1 3 Hardware Features 50 06 10 1 5 Chapter 2 Installation and Wiring 2 1 Fig 2 1 Drive Display 2 3 Fig 2 2 Motor Type Display 2 4 Fig 2 3 Servo Motor 2 5 10 2 4 Coupling ern 2 6 Fig 2 5 Installation of Servo Drive Wall mounting type 2 9 Fig 2 6 Installation of Servo Drive Installing the panel 2 9 Fig 2 7 Connection of External Terminal Blockonnection of External Terminal 2 11 Fig 2 8 Wiring Diagram 2 2 13 Fig 2 9 Example of Wiring in Main Circuit 2 14 Fig 2 10 9 Wire Incremental Encoder Connection Method of Motor Setting Value of SEt 51 1 refer to 7 6 EE 2 19 Fig 2 11 Shape and PIN Number of CN2 Encoder Connector 2 19 Fig 2 12 Grounding Noise Filter for Noise Reduction mE 2 21 Chapter 3 Startup and Adjustment 3 1 Fig 3 1 Example of Power ON and OFF 3 4 Fig 3 2 Power Supply Method for Multi Servo Drive Connection acota ec dei is 3 6 Fig 3 3 Setting the J og Operation
36. Drive such as features and standard specifications Main Features Preparations for Operation Hardware Features Standard Specifications Main Features CSD Plus Servo Drive is an AC servo motor drive with full digital method where high speed and precision control is possible using 32 bit high speed DSP Also position control mode speed control mode torque control mode and etc are provided so that the Drive can be used according to the needs and provides various types of I O input and output CSDJ Plus Servo Drive can provide the best control in its performance and function Main features of the CSDJ Plus Servo Drive are as fol lows Full digital control with high speed and accuracy is achieved by using the 32bit high speed DSP Optimized the size by designing the servomotor to be 1 3 and the drive to be 1 5 of the previous model e It also includes the autotuning function which allows the beginners to easily operate the system Before autotuning After autotuning Speed Speed Time Time e The highly accurate control is possible with speed control range of 1 3000 With the various built in functions such as compatibility with the PC S W it can be used in various ranges of applications Servo Driver ATTENTION Do not disassemble the servo drive A S is not provided for any accidents or damages caused by the disassembly or modification of the servo drive by the user Preparations for
37. Input SERVO DRIVE 1 amp 10 Turn variable resistor 2 EXT DC 10V CN1 Pin 19 CN1 Pin 20 Speed may change when the voltage changes thus accurate external power must be used Open the input terminal which is not used during the speed control Relationship between input voltage and speed command value Speed command value RPM Setting value of SEt O1 RPM V x Input Voltage V Initial value of SEt 01 500 Thus when inputting 6V revolution takes place in 3000 RPM Input voltage is 10V Maximum When inputting the OV using just the variable resistor the input voltage cannot reach OV thus use the switch as shown above for OV input In order to stop the motor completely when it has OV operate in Zero Clamp speed control mode When the speed command which the user wants is not a multiple of 10 set LED No 2 1 from SEt 46 to change the unit of SEt 01 as RPM 10V Then the motor rotates 1552 RPM for 10V speed command if SEt 01 1553 is input Refer to Speed Control Autotuning Generally the gain of the servo drive is in proportion to the inertia If theS peed Loop Proportion Gainand Speed Loop Integration Gainare not set correctly position decision may be slowed down Before autotuning After autotuning Speed Speed Time Time CSD Plus Servo Drive has the autotuning function which automatically finds the load inertia When autotuning the gai
38. Plus Servo Drive displays error contents by output of operator LED and alarm code when error occurs CSDJ Plus Fig 8 1 Error Notification OPERATOR F1 Displays the error in PAr 01 Flickers in red and green Every 0 2 seconds Outputs alarm SALM Outputs alarm code AL1 AL2 SERVO DRIVE Alarm Output CSD Plus Servo Drive has output terminal SALM AL1 AL2 AL3 which indicates the alarm occurrence to the external Fig 8 2 Connection Diagram of Alarm Related Output Signal SERVO External Power 24V CN1 Pin 45 Maximum Voltage 30V i Maximum Current 50mA CN1 Pin 46 CN1 Pin 37 CN1 Pin 38 Maximum Voltage Used 30V Maximum Current Used 20mA CN1 Pin 39 CN1 Pin 40 External Power 24V HOST CONTROLLER ALM RST V Alarm Reset Input CN1 Pin 7 Table 8 1 Alarm Related Input Output Terminal ON when error occurs SALM CN1 pin 45 If the external power is 24V pin 45 46 is 24V SALM 1 46 OV AL1 CN1 pin 37 Alarm code occurrence output AL2 CN1 pin 38 Normally each terminal always maintains low level AL3 CN1 pin 39 ALM SG CN1 40 OV Alarm Reset Input When alarm occurs eliminate the cause and turn ON the input signal ALM RST to ALM RST CN1 pin 7 reset the alarm Reset the alarm only when terminal is Open Closed Operate notin LEVEL b
39. SEt 37 Electronic SEt 36 Gear Ratio Number of pulse per 1 motor rotation x Machine gear 2048 ratio of load and motor shaft Numerator Ea 1 65535 ectronic SEt 37 Gear Ratio Number of position command pulse per 1 rotation of 2048 load shaft Denominator For example if the machine gear ratio is 1 1 and setting value of SEt 36 and SEt 37 is the Factory setting value the motor rotates once when host controller sends 2048 pulses Here if you want to rotate the motor once when host controller sends 1000 pulses Set the Set 37 to 1000 Fig 6 25 Example of Electronic Gear Setting Ball Screw Minimum unit to move the load 2 m LOAD Unit of load to be moved per 1 input command pulse 4 Encoder Pulse 2048 Ball Screw To move the load 10mm per 1 motor rotation 10mm 2 m 5000 Pulse Thus setting value for electronic gear is SEt 36 2048 Number of pulse per 1 motor rotation SEt 37 5000 Fig 6 26 Example of Electronic Gear Setting Belt Pulley Minimum unit to move the load 100 m When moving 100 by 1 pulse of external command Load Shaft Machine aear ratio 5 Pulley W 50mm LOAD Motor encoder pulse number 2048 Load movement amount per 1 load shaft rotation _ 3 14 50um Minimum movement unit of load 100 m setting value of electric gear ratio is Command Unit 1570 Motor encoder pulse number Machine gear ratio _ 2048 lt 5 _ 10240 _ 1024 _ S
40. does not affect the servo drive directly When corrosive gas exists in the surrounding NFB terminal block and etc may be rusted and connection defect may occur This can be the cause of unexpected accidents Avoid the usage in locations with high temperature humidity dust iron explosive gas and etc Installation Environment Install the product in the environment with the following specifications Indoors where there is no corrosive or explosive gas Ambient temperature 0 455 C Storing temperature 20 80 C Humidity 20 80 non condensing Vibration 0 5G 4 9m s or less Place with good ventilation and no dust and humidity Place where maintenance and cleaning is easy If there are water and oil drops in the surrounding take appropriate action such as using cover etc Other Precautions Install the system with the following precautions e Mount the product vertically on the wall using the bolt hole on the sides e For the natural cooling effect provide sufficient space around the system When series of servo drives are mounted in the panel temperature distribution of the panel may not be uniform and this may cause the temperature rise n such cases install the cooling fan in the upper area of the panel as shown in Fig 2 6 and lower the temperature of the servo drive External Terminal Block Table 2 3 Names of External Terminal Block of the CSDJ Plus
41. half then the allowable load inertia gets 4 times bigger Vertical Load In case of vertical load operation continuous regeneration area may occur when moving downward at a constant speed Be cautious in regeneration when operating a vertical load Motor speed or torque value can be checked in DA output CN1 pin 23 28 or PC SW Fig 7 8 Operation Pattern of Vertical Load When the load is raised Ny Motor speed Wi the load os Torque J ica Not regenerated when I 0 Regenerative Resistance Energy is charged in the capacitor with the amount driven by multiplying the motor speed and torque when the motor is decelerated By consuming the energy by the regeneration resistor it protects the device of main circuit Regeneration resistor may not be attached to the CSD Plus Servo Drive with 400W or lower However regeneration unit or auxiliary capacitor can be attached to the P N terminal CSD Plus Servo Drive with 600W to 1kW has an regeneration circuit which can consume the energy in regenerative operation of the motor Thus when external resistor is installed the regeneration circuit is operated to consume the regenerative energy Regeneration resistor is 50 52 150W as a standard Contract the agencies for more information Table 7 3 Regenerative Resistance Capacity 0 6 1kW Internal resistor 2 External resistor 5
42. less than O V Gain Adjustment Method 1 Adjust the offset before adjusting the gain 2 Set the dA 01 in USr 08 with the operator DA is set to output 5V at this point However when 5V is not output correctly in other words if the voltage is not output as set in SEt 08 and SEt 09 adjust with the following method 3 Measure output voltage of each channel 4 Set SEt 72 and SEt 74 according to the calculation below Absolute value of D A output voltage will increase when the setting is increased in the standard of 100 and it will decrease when decreasing the setting Accurate calculation is as follows SEt 72 100 5 V Actual output voltage of channel 1 V Voltage output when the motor is in normal operation status SEt 74 100 5 V Actual output voltage of channel 2 V Voltage output when the motor is in normal operation status 5 Or by observing the output voltage SEt 72 and SEt 74 can be set so the voltage is 5 V Reduce the setting if the voltage is greater than or increase the setting if the voltage is less than 5 V Parameter Initialization All user parameter values except SEt 23 SEt 24 SEt 36 SEt 37 SEt 51 53 and SEt 71 74 can be reset to factory setting value in USr 09 It takes around 4 seconds to initialize the data Wait enough time before proceeding with the next step Fig 4 18 Initialization of User Parameter This is flickered until the key is selected It ta
43. set too high response performance gets better and position completion time reduces However 0 500 50 maximum of that value differs according Position to response and rigidity of the machine part Position Loop des Proportion Gain Incase of which the gain is too high vibration occurs and machine parts has noises this value is high position error value reduces during the position control and position completion can be speed up However if the value is too high system may have vibration thus be cautious when setting SEt 34 Position FF Gain 0 100 0 Position Speed proportion gain and speed integration gain is scaled by motor load inertia In other words if the operation condition is similar to that of load condition either the gain value about 10 multiple load inertia of 100W motor or the gain value about 10 multiple load inertia of 800W motor get similar value Speed Response Performance for Speed Proportion According to reducing the proportion gain P by constantly leaving Speed the integration gain l or by reducing the integration gain by constantly leaving the proportion gain response performance changes the order of 1 2 and 3 The time it takes to follow to the goal speed in the beginning is decided by P gain and the time it takes to follow up to final goal from the location above 50 of the goal speed is decided by gain It is hard to separate out
44. setting has been changed during servo ON operate servo OFF and re save Limits the integration value of speed error and suppresses speed overshoot Thus in case of position control the positioningcompletion speeds up Selection of Content Auto SEt sa Adjustment mad 2 5 Autonaticaly adustrrerts the integaion vaue with the Integration setting due of SE as astarcerd Value 3 Autoneticaly adustrrerts the integation with the setting vd ue of SB 56as astercerd Autonatically acjustrrert integration va ue with the seting Vdue of SB 57 as astencerd If the torque command becomes greater than the setting value speed integration gain is automatically adjusted This mode is effective with loading round plate load Auto Adjustment Caution SEt 55 on the Basis When the torque 96 is greater than the setting 96 0 300 100 of Torque value 96 in rated speed operation in other words command when rated speed torque value 96 gt SEt 55 96 speed error may occur Please set so the setting value 96 is greater than torque 96 in stop state Torque value 96 can be checked in Con 03 Refer to Speed Control If the motor speed RPM is greater than the setting value RPM speed integration gain is automatically adjusted Auto In case of load with frictions except for round plate Adjustment load itis effective SEt 56 on the Basis RPM 03000 100 of Speed Caution Command If the value o
45. tert sits 2 23 Chapter 3 Startup and Adjustment 3 1 Check Items prior to Startup 3 3 Servo MOtOF veo e e ere oi 3 3 Servo DVE codice Mete DEG ED 3 3 rm 3 4 Powering ON and 3 4 Check Items prior to Startup eese 3 7 Startup by the Operator 3 8 Startup by I O Input 2 4 3 11 Autotuning tada dd 3 13 Test RUN 3 16 Chapter 4 Using the Operator 4 1 Operator nr 4 3 Types of Mode and Mode Switching 4 4 Status Display 4 6 User Parameter Setting Mode 4 7 Monitoring Mode essen 4 8 System Parameter and Error Monitoring Mode 4 9 Irem 4 12 Chapter 5 Chapter 6 Operation by the Operator 4 12 Autotuning nt cia ieee ene 4 12 Auto Adjustment of Speed Torque Command Offset 4 12 Manual Adjustment of Speed Torque Command Offset 4 13 Alarm Reset dati 4 14 D A Converter Channel Selection 4 15 Output Adjustment Method of D A Converter Channel 4 16 Parameter Initialization 4 0 4 17 Error History Clear
46. the load falls when unlocking the machine brake in servo on state in the load which is operating to the vertical axis Note When using with SEt 64 SEt 65 can not be non zero when SEt 64 is also non zero 0 100 Parameter Setting Related to Timing Control Delay time until the Servo OFF is operated Servo OFF inside actual servo drive from the point SEt 29 where Servo OFF command is input 10ms 0 1000 0 Delay Time externally when the motor stopping Refer to Brake Control Setting of motor speed Sets the motor speed which the servo value when outputting Output brake signal when inputting Servo SEt 30 Brake Signal after Servo OFF command during rotation RPM 0 1000 100 OFF Refer to Brake Control Sets the time which servo sends out brake output signal CN2 47 48 from the point where Servo OFF command has been Setting of waiting time input during the rotation SEt 31 when Outputting Brake Output the brake signal if the motor speed 10ms 0 1000 50 Signal after Servo OFF is below the setting value in SEt 30 even if it does not reach time set in SEt 31 from the point where Servo OFF is done Refer to Brake Control Delay Time of Brake Sets the time from external Servo ON signal to the point where brake output SEt 76 9 signal is output 10ms 0 100 0 Refer to Brake Control Parameter Setting Related to D A Output
47. to Using the P CON Input Signal P CON function differs according to the control mode Table 6 2 Using the P CON Signal SEt 41 0 1 5 P PI Control Conversion SEt 41 4 Zero Clamp On Off SEt 41 6 Speed Speed Limit Torque Control Mode Conversion SEt 413 10 Selecting the direction of rotation SEt 41 14 Speed M ulti Step Speed Control Mode Conversion SEt 41 8 Position Speed Control Mode Conversion SEt 41 7 Position Torque Control Mode Conversion SEt 41 12 Analogue Torque Limit On Off e P PI Control Conversion P PI control conversion by P CON input terminal can be used in the following cases 1 To block undershoot during the speed control 2 To decide on the position within minimum time by blocking the undershoot during the position control Speed Overshoot Actual Motor Speed Command 4 4 _ Position Undershoot 4 4 5 Decision Time l control conversion needs observations such as SMED speed torque curve so be cautious Speed torque curve can be observed through D A output CN1 pin 23 28 A Refer to D A Converter Channel Selection Do not use when there is less or no overshoot under shoot Fig 6 1 Example of P PI Control Conversion Usage Actual Command Motor Speed HOST SERVO DRIVE CONTROLLER Torque 200 of Rated Torque 200 of Rated Torque Auto Adjustment of Speed Integration Value SEt 54
48. to operate the motor in the speed already set forward reverse 3 types of speed Fig 6 4 Multi Step Speed Control Circuit SERVO DRIVE V REF Not used Forward Reverse Operation Command P CL Multi Step Speed Command Selection Setting Value is SEt 26 27 and SEt 28 N CL Table 6 3 Multi Step Speed Control Mode Setting Setting Value of SEt 41 3 Setting Value of SEt 26 SEt 27 and SEt 28 RPM P CL CN1 Pin 9 N CL CN1 Pin 8 P CON Terminal CN1 Pin 6 Setting Value of SEt 19 msec Setting Value of SEt 20 msec Current limit function and P PI control conversion function cannot be used here When using the acceleration deceleration function Shock on the system can be reduced during speed change Fig 6 5 Multi Step Speed Operation Rotation Step 2 Speed Speed Step 1 Speed 58 26 OFF ON Step 2 Speed SE2 OFF ON OFF Time Step 3Speed 58 28 ON ON Reverse Rotation SEt 26 OFF ON rotation Step 1 Speed Step 2 Speed Reverse Rotation SE2 ON ON OFF Step 2 Speed Step 4 speed can be used Reverse Rotation Refer to page 6 10 for its usage Sten 35ped SEt28 ON ON Stop OFF OFF ON The corresponding input terminal is connected to the input voltage GND OV OFF The corresponding input terminal is connected to 24VIN or not connected Speed Multi Step Speed Control Mode It may be conver
49. 0 2 150W CSD Plus 01 02 04 Regenerative unit or auxiliary capacitor CSD Plus 06 10 External regeneration resistor P B Fig 7 9 Regeneration Resistor and Regeneration Unit Connec tion CSDJ Plus 01 02 04 CSDJ Plus 06 10 Auxiliary Capacitor or Regenerative Unit Regenerative Resistor Motor Type and Capacity Setting Set 52 Setting of the motor type Set 53 Setting of the motor capacity Itis already set when delivered thus there is no need to reset it Changed setting is effective only after turning off and on the power after the change Also initialize the data in USr 09 after the change Motor Type Settings Fig 7 10 Motor Type Setting SEt 52 Motor Type 220V Motor type 104 CSMT 106 CSMR Input power 2 220V AC There is no corresponding motor e Motor Capacity Setting Setting value of SEt 53 x 10 Motor Capacity W Table 7 4 CSMT MR Motor Capacity Settings SEt 53 CSMT 3 5 10 20 40 60 80 100 CSMR 10 20 40 2 i There is no corresponding motor Encoder Type Setting SEt 51 Table 7 5 Encoder Type Settings 1 9 wire incremental 2048 pulse Error Handling CSD Plus Servo Drive has various protective functions to prevent faults and damages that may occur in the driver and motor Error Notification Alarm Output Alarm Codes Classification Error Notification CSD
50. 0 V thus separate DC power supply is not needed except the DC 24V power for external 1 2 Refer to Encoder Type Setting SEt 51 3 Number of pulse greater than the number of encoder pulse cannot be output in one rotation of the motor 4 Regeneration energy is generated when motor decelerates Regenerative energy which can be absorbed just by the drive and the motor differs according to the rotation speed and load inertia of the motor Refer to Allowable Load Inertia Table 1 2 Control Specifications 1 3 000 0 100 Below 0 01 At rated speed 220VAC 10 15 50 60Hz 0 01 25 25 C Below 0 01 At rated speed 250Hz L 0 60 10VDC Set to 6V from the rated speed when delivered Approximately 50 Approximately 35 10VDC Set to 3V in rated torque when delivered Approximately 50 2 Approximately 354s 0 100 Set Resolution 1 Sign Pulse train 90 Phase difference 2 phase pulse A phase B phase CCW Pulse CW Pulse Line drive 45V Open collector 45V 12V 24V 0 450 kpps Line driver 0 200 kpps open collector Base mounted Torque Control Multi Step Speed Control Zero Clamp Speed Control Speed Speed Limit Torque ControlPosition Torque Control Position Speed ControlTorque Limit Speed Control Speed M ulti Step Speed Control Soft Start Stop Speed Setting Brake Control OG
51. 1 7 Chapter 2 Installation and Wiring 2 1 Table 2 1 CSDJ Plus Rated Output and Applicable Motor A 2 4 Table 2 2 Allowable Load of the Motor 2 8 Table 2 3 Names of External Terminal Block of the CSD Plus 2 11 Table 2 4 I O Specification of CNI 2 15 Table 2 5 With Different Functions for Each Control Mode 2 17 Table 2 6 Connection of Encoder Connector 2 18 Table 2 7 Recommended Noise Filter 2 21 Table 2 8 Capacity of Circuit Breaker and Fuse 2 23 Chapter 3 Startup and Adjustment 3 1 Table 3 1 LED Color and Description 3 4 Table 3 2 Setting the Torque Filter Cutoff Frequency SEt 06 nS 3 14 Chapter 4 Using the Operator 4 1 Table 4 1 Types of Modes eene 4 4 Table 4 2 Content of Bit Data 4 6 Table 4 3 Signal and Servo Status 4 6 Table 4 4 Monitor type eene 4 8 Table 4 5 Types of Error Saving Parameter 4 9 Table 4 1 Error Display of Operator and Trace Back Table T E PER EE 4 11 Table 4 2 og Mode Parameter 4 12 Table 4 3 Parameter Value and Content of D A Converter UST 08 unse
52. 7 P lt wy te a C 60 y t 2 x Ny Jy J Dar 601 NATA ds 60r E lt tin Round Plate Load MOTOR M Load Mass of Round Plate kg 1 8 Reduction Rat io Q Rotation Speed of Round Plate rpm T Load torque 7 Mechanical Efficiency D Diameter of Round Plate t Thickness of Round Plate J Here Jw Load Inertia of Round Plate 1 Jy A 4 oxtxD 32 p Density kg m Iron Alumi num 2 Ny J 60 7 Motor maximum torque 2 Ny Jy J 60 7 T am Here Ju dm Here Ju Tpm Motor maximum torque 2 Ny XT 60 P 0 2 Ny AG 60 a y La 2 Ny Jy J 604 T P com Ou s 60r 5 Jo Gear Coupling Part Inertia 7 87 10 kg m 2 70x 10 kg m Motor Inertia Motor Inertia 4 Lam Appendix Conversion Table of SI to from CGS Table F 1 Conversion Table of SI to from CGS 1 0 10197kgf Force N Kof lkg 9 80665N Mass Kg Kof 1kg 1kof IN m 0 10197kfg m Torque Nm Kgf m lkgf m 9 80665N m The Moment of Inertia lkgf m 1 0197x10 gf cm 52 f cine S lgf cm gt s 20 980665x10 kg m SED Kg m 4 Appendix Motor Capacity Selection e This is an example of speed control
53. An overflow alarm occurs if the difference between position command and actual motor position is greater than the setting value Alarm CODE 33 Output alarm code in CN2 37 38 39 PULSE 0 65535 8000 SEt 34 Position Feedforward Gain Inputs feed forward gain about speed value which is differentiated position command If the value is set high it is possible to reduce delay term of the position controller and positioning completion speeds up and position error is reduced during the operation However vibration may occur and performance of controller may be reduced according to load type or rigidity Feed forward function is ineffective when setting 0 Also refer to Fig 6 29 Block Diagram of Electronic Gear 0 100 SEt 35 Position Command Filter Cutoff Frequency Setting low pass filter cutoff frequency of position command Also refer to Fig 6 29 Block diagram of electronic gear rad s 0 2000 200 SEt 36 Electronic Gear Ratio Numerator Number of pulse per 1 rotation of the motor x machine gear ratio of load and motor shaft Refer to Electronic Gear PULSE 1 65535 2048 SEt 37 Electronic Gear Ratio Denominator Number of position command pulse per 1 rotation of load shaft Refer to Electronic Gear PULSE 1 65535 2048 SEt 69 Friction Compensation Torque Compensate the friction to reduce positioning complet
54. Check whether the ambient Make the ambient temperature Ambient temperature high temperature is lower than 40 lower than 40 Make the load light or replace the Over loaded Operate in non load status motor with bigger capacity Motor over heated Motor surface is Check whether motor surface polluted with foreign is polluted with foreign Clean the motor surface material material Defect motor Check the connection status of Replace the bad contact part and connection UVW phase of motor repair the damaged part Bad installation of Mechanical part is loosened POITECE Hie EAM mechanical ASESOR INC part to repair the misalignment of machine Coupling is misaligned coupling for balancing Check the 3 E vibration Bearing and gear Check the bearing and gear If itis the motor bearing trouble trouble motor side status contact to our office noise due to the motor Mechanical vibration Check damage or error in trouble and noise of load side mechanical parts of load axis Contact the machine Maker Check the U V W phase of Replace the bad contact and repair Motor bad contact motor the damaged part Troubleshooting Relating to Incorrect External Wiring MCCB Trip at the same time of power distribution and servo ON Motor does not rotate after speed command Check of the main circuit wiring motor earth and motor line short Alarm Check Speed Command Check External Inpu
55. IGN ipu Sign CN1 13 CN1 13 L un o 305i je c A Phase PULS 11 PULS CN1 11 HUUL CN1 11 6 Phase SIGN i ss FULL PULS PULS i CN1 11 1111 1 SIGN SIGN CCW ais UU UU H o 8 U UU UW 3 Pulse train Ran 1 11 9 SIGN pu ais H 9 E Sign mul E 2 Fi i a A Phase PULS PULS T T CN1 11 SILI LILI CNI 11 7 Phase SIGN SIGN m CN1 13 LILI 1 CNI 13 IMPORTANT Note If command pulse form is Pulse train Sign SEt 46 LED No 1 8 or 9 consider pulse timing when motor rotation direction is changed Refer to Electrical Specifications of Command Pulse In case of which the timing is inappropriate position shift may occur Electrical Specifications of Command Pulse Table 6 10 Electrical Specifications of Position Command Pulse Pulse train Sign Forward Command Reverse Command tti S Olus 15 17 lt O lus ta ts fo 3us gt 1 105 Sign Forward High levelReverse Low level Maximum Command Frequency 450Kpps 2 Phase pulse 1 1 PHASE A A Phase PHASE B B Phase Maximum Command Frequency train of 90 1Multiplication 450Kpps on 2 Multiplication 400Kpps Forward Command Reverse Commanc 4 Multiplication 200Kpps 1 1 lt Olus T gt 1 lus 2 100 lt 50 cow cw Maximum Command Frequency CCW 450Kpps
56. Motor specification Appendix B Motor Dimensions CSMT Motor CSMR Motor Appendix C Cable Motor Brake Cable Assembly CSMT MR User I O Cable 9 Wire Incremental Encoder Cable Assembly CSMT MR Communication Cable Controller Cable Connector Specification Cable Code Format Appendix D Load Calculation of the Mechanical Part The Moment of Inertia Calculation Roll Load Timing Belt Load Ball Screw Load Horizontal Axis Ball Screw Load Vertical Axis Rack amp Pinion Load Round Plate Load Appendix E Conversion Table of SI to from CGS Appendix F Motor Capacity Selection Appendix G Revision History Appdendix Appendix A Motor Specification CSMT Motor Specification Standard Speficication Table A 1 CSMT Motor Specification Class B 1500VAC 60sec Y connection 0 440 10 85 Permanent Magnet 500VDC 100 2 FLANGE 8 poles 20 80 01 01 01 02 04 06 10 10 220 30 50 100 200 400 600 750 950 0 97 162 3 25 6 5 13 0 19 5 24 4 30 9 0 095 0 159 0 318 0 64 127 191 2 39 3 0 2 9 4 9 9 7 19 5 39 58 5 73 92 6 0 29 0 48 0 95 191 3 82 5 73 716 91 3000 5000 0 01 0 02 0 03 0 18 0 34 100 110 156 0 01 0 02 0 03 0 18 0 34 0 98 108 153 0 04 0 05 0 06 0 28 0 44 124 134 166 0 04 0 05 0 06 0 28 0 44 122 132 163 9 2 12 9 34 5 23 0 48 7 373 513 56 4 11 0 9 0 6 0 9 0 7 0 6 0 6 0 6 0 8 11 16 3 2 3 5 6 0 48 5 6
57. OE MAX Maximum Value for OEMs CONTROLS CSDJ plus servo User Manual Thank you for purchasing Rockwell Samsung Automation CSD Plus Servo Drive This user s manual explains handling method repair inspection error diagnosis troubleshooting and specifications of the CSD Plus Servo Drive Usethe CSD Plus after completely understanding this user s man ual Precautions during Initial Setup When setting up the product select Encoder Type SEt 51 Motor Type SEt 52 Motor Capacity SEt 53 Control Mode SEt 41 such as position speed and etc after supplying the power After the change turn off and on the power For detailed information refer to Parameter List Error such as Control Impossibility or Encoder Open Error may occur if the parameter selection is incorrectly set as stated above General Precautions This user s manual may be changed without notice in case of prod uct improvement or specification change or for better understand ing of the manual Use the user s manual included in the product purchased When re ordering the user s manual due to damage or loss contact company agency or an agency closeby recorded on the back of this manual Do not disassemble the servo drive A S is not provided for any acci dents or damages caused by the disassembly or modification of the servo drive by the user Other Safety Precautions Install operat
58. OFF Servo ON Alarm or Power OFF H 1 1 1 1 L DB stop free run stop Motor speed h Depends on the setting of LED No 1 of SEt 44 L 1 1 1 1 i Set value of SEt 30 r 1 1 L 1 1 L 1 Brake OFF BK Set value of SEt 31 Timing of Servo and brake control signal when the motor is stopped The load may move a little due to gravity if the servo is turned on when the motor is stopped If then adjust the delay time from the point when the internal Servo ON signal is inputted in SEt 76 up to the point when the brake releasing signal is outputted Excessive setting of delayed time may Fig 7 4 Timing Chart of Brake Control Signal at Servo ON External input SV ON Servo OFF Servo Internal Servo ON OFF Servo OFF Servo 4 5 DB Relay operation time 40msec BK CN2 47 Brake ON Brake OFF Setting time of SEt 76 Fig 7 5 Using Brake Relay Power 1 Relay 1 Relay O Connection to the brake power of the servo motor with the brake 24VDC Power Supply for Motor Brake Power e Reduces shift of the load when the servo status is on In case of vertical load the load is shifted a little then restore the position when the servo is on If that s the case shift of the load can be reduced by SEt 64 SEt 65 Itis effective in case o
59. Operation The block description below is the basic steps before operating the servo drive Fig 1 1 Preparations for Operation Check the encoder type SEt 51 motor type SEt 52 and motor capacity SEt 53 before the start up Hardware Features Fig 1 2 Hardware Features CSDJ 01B 02B 04B CSDJ O1B 02 04 AC Power Input 5 Eai namana nc MEN 3 06 Green Power On Orange Servo On Blinking in Red Green Alarrr CN3 RS 232C Communication Port 8 t User i CN2 Encoder a E MN 1111 o d P N Terminal Motor Power U V W and for Attaching Auxiliary Capacitor Protective Earth Fig 1 3 Hardware Features CSDJ 06B 10B CSDJ 06B 10B AC Power Input Green Power On gt 85 E 129 5 5 La 99 Orange Servo E 4 5 Blinking in Red Green Alarrr 71 CN3 RS 232C i Communication Port User I O CN2 Encoder x LES 2 92 c Terminal Motor Power U V W and for Attaching Regeneration Resistor Protective Earth 46 155 Referto the Table 2 1 for types and capacity of the motor for each drive Standard
60. Operation Auto Tuning Reverse Operation and etc Caution 1 In case of speed control rotating in one direction at the lowest speed is possible 2 Speed variation rate is defined as shown below No load speed Total load speed Speed variation rate x 10096 Rated Speed Speed of the motor can vary depending the control voltage variation or the voltage variation of the power amp caused by the temperature variation 3 This is a speed torque position control built in type drive 4 In case of motor maximum allowable load inertia can be up to 30 times when below 200W and up to 20 times when below 1kW Be careful not to exceed the maximum allowable inertia of the motor Installation and Wiring Chapter 2 explains installation precautions how to install the product and how to handle noises when wiring Check Items upon Delivery of the Product External Terminal Block Installing Servo Motor Installation Location Wiring Wiring Precautions Wiring Diagram Specification 1 I O Cable CN2 Connector for Encoder Connection Noise Protection Wiring Precautions Noise Filter Circuit Breaker Check Items upon Delivery of the Product Check the following items when the product is delivered 1 Check if the correct product is delivered check with the specification table of servo motor and drive 2 Check if the product is damaged 3 Check if the motor shaft rotates smoothly w
61. Position Control Mode Set SEt 41 to 0 Factory setting value After changing the SEt 41 setting value always turn the power off then ON This makes the new setting value valid In order to move motor input a position command by using input signal Command pulse input and Command sign input Fig 6 16 Position Command Input Terminal SERVO DRIVE Command Pulse Input Command Sign Input 4 P Represents twisted pair cables Wiring Position command can correspond to the following four types of output form Line Driver Output 5V Open Collector Output 12V Open Collector Output 24V Open Collector Output Line drive output may correspond up to 450 kpps and open collector output may correspond up to 200 kpps The relationship between SEt 36 SEt 37 motor s maximum speed RPM and maximum frequency of position command is as follows Position Command Maximum Frequency Setting value of SEt 37 X motor s maximum speed RPM pps Setting value of SEt 36 Encoder pulse number per 1 motor rotation X 60 For example if the setting value of SEt 36 is set to number of pulse for one rotation of the encoder motor rotation speed according to command pulse frequency is as follows 2048 3000 RPM 102 4 kpps 4000 3000 RPM 200 kpps 5000 3000 RPM 250 kpps 10000 3000 RPM 500 kpps When the command pulse form is A B phase pulse train with 90 phase difference motor
62. Power On S W need to cut off the power Press the button for about 1 second according to the alarm Power Off S W 1 MC LO 13 5 1 MC 1 Relay I hi 1 Relay Alarm Lamp N 1 MC Power Noise o A BEER i Filter 12 Also connect the ar w power ground to Frame the PE terminal PE Plate 1 Relay SALM External Yay CN1 45 Power24V M SALM CN1 46 Do not turn on off the power frequentl y Because the servo drive has capacitor the power large inrush current flows when the power is turned on Thus turning on off the power frequently may cause the deterioration of the main power elements in the servo drive and may cause problems such as reduced life span and etc Specification CN1 I O Cable Table 2 4 I O Specification of CN1 Pin Specification of CN1 Pin Specification of CN1 No Signal Color Function No Signal Color Function 1 Red External 24V input 26 2 J24EXIT Yellw SERVO ON OFF input 27 56 0 E SG GND 3 SV ON Blue SERVO ON OFF input 28 SM EA Analog monitor channel 2 Forward rotation Red 4 P OT White prohibition 29 EA 4Point Encoder A Phase output Reverse rotation EA Yellow 1 5 N OT Pink prohibition 30 EA 4Point Encoder A phase output 6 P CON Orange Proportional control 31 EB un Encoder B phase output 7
63. Refer to Auto Zero Clamp Speed Control Mode tput oo Sets the error range of speed position which turns Speed on the P COM output signal RPM SEt 18 on P COM is output when speed position error value 0 1000 10 a id reaches within the setting value Output CN1 41 42 PULSE Refer to Speed Coincidence Output Signal Number of pisc Number of output pulse of servo drive per one SEt 23 Pul rotation of the motor PULSE 1 65535 2048 Be Referto Using Encoder Output Rotation Number of Motor Number of motor encoder pulse per one rotation 2 Encoder Refer to Using Encoder Output PULSE 205225 2049 Pulse J og 25 2 Sets speed command when J OG operation Test run RPM 0 5000 500 and step 4 speed Multi Step Speed 4 The over speed level is set by the user When the user setting value RPM exceeds 105 of the maximum motor speed over speed level is Over limited to 105 of maximum motor speed internally When setting 0 over speed level internally SERI er becomes 105 of the maximum motor speed 072209 9 idis Actual motor speed at the moment when over speed level error E 40 has occurred may be a little greater than the over speed level and may differ according to the inertia ratio or frictions Caution Parameter with are effective after setting and then turn off and on the power ON OFF by external input terminal SV ON
64. Setting Mode Ha onitor Mode zi PN Don System Parametert and El las r1 Error Monitor Mode J Li 2 11 LI Rotates in CCW forward only when this key is pressed Rotates in CW reverse only when this key is pressed Definition of Forward Rotation Forward Rotation Motor rotates in counterclockwise direction when viewed from the motor shaft CCW un ATTENTION Check if the AC voltage is supplied and output normally Check if there is any abnormal noise Check if the temperature of the servo drive case rises abnormally During the startup under the influence of the mechanical load of motor and load over load may occur Startup by I O Input This section describes the speed control mode operation by I O input Servo ON by I O input The Servo ON status is made when inputting ON signal in SERVO ON OFF input terminal SV ON CN1 pin number 3 Fig 3 6 Servo ON SERVO DRIVE Input 210 0 HUN 1 CN1 Pin 3 Servo ON Signal VON 24V GND Operator displays the following when the servo is ON from speed control mode Different according to the control mode Speed Control Mode Setting of the speed control mode Setting value of SEt 41 1 Speed command Use pin number 19 and 20 of CN1 for speed command Fig 3 7 Speed Command Analog
65. Specifications Table 1 1 Standard Specifications of CSDJ Plus Servo Drive Single phase 220V 10 15 50 60Hz PWM control using IPM 2048 P R Incremental type 0 C 455 C 90 or less non condensing 20 C 480 C 90 or less non condensing Vibration 0 5G Below shock 2G 1G the acceleration of gravity 9 8m s Encoder A B Z pulse output M C3487 line driver N M N M x 8192 Servo On Off P control Forward Reverse rotation prohibition Forward Reverse rotation current limit Alarm Reset Brake control Servo Alarm Code 3bit S peed Coincidence Speed Control Mode Position Completion Position Control Mode Z Pulse Open Collector Over current Overload Over voltage Over speed Inverter overheat low voltage CPU defect Encoder defect Communication error and etc Operating when Servo Controller Off or Alarm Built in External auxiliary capacitor in case of 400W or less External Regeneration resistor in case of 600W or more It can be connected if necessary 1V the value of SEt 08 RPM max 10V 1V the value of SEt 09 96 max 10V Power on Servo run Servo Alarm applied in all models Speed Torque Position command value Electrical M echanical angle Error value Feedback value Offset value Load inertia ratio 1 status monitoring and etc All function of the operator The Servo drive has the built in DC power 30
66. Speed 3 8 Fig 3 4 Setting Acceleration and Deceleration Time 3 9 Fig 3 5 Startup by the Operator 3 10 Elg 3 0 Servo 3 11 Fig 3 7 Speed Command Analog Input 3 12 Fig 3 8 Autotuning Procedure eee 3 13 Fig 3 9 Example of Autotuning by the Operator 3 14 Fig 3 10 Operation Pattern of the Test Run 3 16 Fig 3 11 Test Run Using the Operator 3 16 Chapter 4 Using the Operator 4 1 Fig 4 1 Operator cce tte en cn dh 4 3 Fig 4 2 8 4 5 Fig 4 3 Status Display Mode 4 6 Fig 4 4 Example of Setting User Parameter 4 7 List of Figures 1 List of Figures 2 Chapter 5 Chapter 6 Fig 4 5 Example of Parameter of Monitoring Mode 4 8 Fig 4 6 Display of Con 12 V P Speed Positioning Completion Signal CN1 Pin 41 42 4 8 Fig 4 7 Example of 4 9 Fig 4 13 Speed Torque Command Input 4 13 Fig 4 14 Auto Adjustment of Speed Command Offset In case of auto adjustment of torque command offset Au tC is displayed 2 4 13 Fig 4 15 Manual Adjustment of Speed Command Offset In cas
67. Step S peed setting value of SEt 28 N ON OFF 4th Step Speed 4th Step Speed gt P setting value of SEt 25 ON See P6 10 Stop OFF OFF OFF Reverse Rotation Current Limit Command Forward Rotation Current Limit Command ON Speed Control OFF Torque Control with Speed limit ON P Control OFF PI Control Multi step Speed Comman Speed Command 1st Step Speed setting value of SEt 26 2nd Step S peed setting value of SEt 27 CNLNo 10PIN 3rd Step S peed setting value of SEt 28 4th Step Speed setting value of SEt 25 Stop ON Speed Control OFF Multi step Speed Control 4th Step Speed See P6 10 Reverse Rotation Current Limit Command Forward Rotation Current limit Command ON Speed Control OFF Position Control ON Torque Control OFF Position Control ON Analog Torque Limit Enable OFF Analog Torque Limit Disable CN2 Connector for Encoder Connection Table 2 6 Connection of Encoder Connector 2 lt gt mo oO dl B WwW N e WO N HD uaj AJ wj N PR U RX 22 79 m m R lt lt 3 Y E5V 7 mn oO N o Do not connect the unused signal wire Otherwis
68. Using Rotation Prohibition Function 6 45 Chapter 7 Other Functions and Applications 7 1 E a EE pea E a 7 4 Regeneration mico 7 9 Regenerative Energy 2 7 9 Allowable Load Inertia 1 44111 4 5 7 10 Vertical Load nnne nnn 7 1 Regenerative Resistance 7 12 Motor Type and Capacity Setting 7 13 Encoder Type Setting SEt 51 7 14 Chapter 8 Error Handling 8 1 Error Notification eee nennen 8 3 Alarm Outplt tectae tede tre 8 4 Alarm Codes and Corrective Actions 8 5 Chapter 9 Troubleshooting 9 1 Servo Motoi Prin RE 9 3 Servo DEIV6 ra beo Coe a Na 9 4 Troubleshooting Relating to Incorrect External Wiring 9 5 Troubleshooting Relating to Incorrect Setting 9 5 Items to Check Prior to Asking Service 9 5 Appendix A Motor Specification A 1 CSMT Motor Specification 2 A 1 CSMR Motor specification 2 A 4 Appendix B Motor Dimensions B 1 CSM TM OtOF Cu
69. able Motor Specification Y connection Class B 0 40 C 1500VAC 60sec 10 85 Permanent Magnet 500DVC 10019 FLANGE 8 poles 20 80 01 02 04 220 100 200 400 3 25 6 5 13 0 0 318 0 64 127 9 7 19 5 39 0 95 191 3 82 3000 5000 0 09 0 30 0 57 0 09 0 30 0 56 0 19 0 53 0 80 0 19 0 53 0 79 115 13 8 29 1 12 10 0 6 2 5 3 2 4 8 0 2 0 6 0 9 15 27 2 5 42 78 0 2 4 Table 4 CSMR Motor Brake Specification 24 10 Speed Torque Curve Torque Nm CSMR 018 CSMR 028 1 0 5 0 0 8 4 0 0 6 Instantaneous 3 0 0 4 20 0 2 10 Instantaneous Continuous Speed 1000 2000 3000 4000 5000 RPM Torque Nm Speed 1000 2000 3000 4000 5000 RPM CSMR 048 5 0 4 0 3 0 Instantaneous 2 0 1 0 Continuous Speed 1000 2000 3000 4000 5000 RPM Appendix Motor Dimensions CSMT Motor OLR LL LC _ LF 7 LH 3 017 L1 B PCD LA L3 53 5 59 5 73 5 76 1 98 1 99 7 108 7 144 2 89 1 95 1 109 1 110 7 132 7 136 3 145 3 1672 25 30 35 35 2 5 5 45 30 50 70 80 20 27 34 34 17 18 23 23 20 22 27 27 40 60 80 86 55 80 105 112 2 4 4 4 45 5 5 6 6 6 6 46 70 90 100
70. ached the speed command Light on when the motor rotation speed is higher than TG ON speed 0 level setting value of SEt 16 Initial value upon delivery TG ON 2 Current Limit Detection 1 Light on when the torque command has reached current limit value setting value of SEt 10 SEt 13 S Speed Control Mode Control Mode t Torque Control Mode P Position Control Mode Table 4 3 Signal and Servo Status 00 82 Alarm Display 1 b b Base Block servo OFF 2 run Servo ON Pot Servo ON Forward Rotation Prohibited 3 not Reverse Rotation Prohibited User Parameter Setting Mode There are 76 user parameters in SEt 01 SEt 76 Note 1 Each LED value 0 or 1 in parameter SEt 43 SEt 46 has its own definition LED No are as follows No 4 No 6 No 5 No 3 No 2 No l The figure below is an example of setting SEt 03 from 80 to 120 Fig 4 4 Example of Setting User Parameter BOBE number to be changed is flickering y Use the keys to move to 5 03 d Use the key to move to the parameter This key must be pressed to set the changed value Refer to chapter 5 Parameter List 111 101 4 Il The parameter which can be used differs partially accord ing to the ROM version Refer to the Using the Operator Monitoring Mode The operator speed and torque command is monitored in this mode The figure below
71. al setting value USr 09 gt ENTER key gt P init on gt MODE SET key gt Initialization ERROR HISTORY CLEAR USr10 Clears the content of PAr 01 PAr 10 all into 0 USr 10 gt ENTER key gt E init on gt MODE SET key gt Clear USr 90 Test run Operation by the Operator Refer to C in Status Display Mode Autotuning Refer to User Parameter Setting Mode Auto Adjustment of Speed Torque Command Off set This is a mode which automatically adjusts the speed torque command offset during the speed torque control by I O The voltage which is input into current speed torque command is recognized as OV Therefore adjust it so that the size of the voltage output from the host controller or the variable resistor is OV It be adjusted when SERVO is OFF Tuned offset value can be checked in Con 10 and Con 11 and it is in mV Fig 4 13 Speed Torque Command Input SERVO DRIVE 3 Pin 19 Speed Command Input 7 Pin 20 O 4 Pin 21 Torque Command Input Q 4 Pin 22 Fig 4 14 Auto Adjustment of Speed Command Offset In case of auto adjustment of torque command offset Au tC is displayed The set offset of speed command can be checked in con 10 Unit mV The set offset of Torque command can be checked in Con 11 Unit mV End of Operation The motor can move a little even if the command offset has been autom
72. anical brake Fig 7 1 Dynamic Brake SERVO MOTO Dynamic Brake DB stops the motor by short circuiting the circuit of the servo motor Dynamic brake operates in the following circumstances 1 When servo alarm occurs 2 When servo status is changed from Servo ON to Servo OFF 3 When power voltage is not supplied 4 When excessive operation occurs 5 P OT signal is on during the forward rotation and when SEt 44 LED No 1 0 6 N OT signal is on during the reverse rotation and when SEt 44 LED No 1 0 7 E STOP signal is on and when SEt 44 LED No 1 0 Refer to Selection of Stop Method Brake Control Brake control is used when applying the servo drive to control of the vertical axis In motor stop status use brake attachment motor so the load is not moved by gravity CSM O Motor Locking brake You can prevent the fall caused by the gravity when the power or the servo is off ATTENTION Brake attached to the motor cannot be used for stopping rotation ust use it to lock the stopped motor in that sta tus Table 7 1 Brake Control Setting Parameter Time it takes actually to turn the servo off inside from the SEt 29 point of time where servo OFF signal has been ON when the 10msec 0 1000 0 motor is stopped Speed of the motor when the braking command is on when SEt 30 the Servo OFF signal has been input during the motor RPM 0 5000 100 operation SEt 31 Waiting
73. atically adjusted This is because the ATTENTION ur noise in power voltage or the power voltage changes In order to completely stop the motor in analog command operate in Zero Clamp Speed Control Mode Caution When using the servo drive in speed control mode and when the position controller is used in host controller do not use zero clamp function Motor may malfunction Manual Adjustment of Speed Torque Command Offset Operate when Servo is ON Up key operates the offset in forward rotation direction DOWN key operates the offset in reverse rotation direction Tuned offset value can be checked in Con 10 and Con 11 and it is in mV Fig 4 15 Manual Adjustment of Speed Command Offset In case of the manual adjustment of torque command offset Co tC is displayed When it is connected to the host controller the offset must be adjusted after making the OV output of the host controller Be aware that the status of servo stop control from the Feedback control system is not same as voltage output of OV When using variable resistor or general resistor motor rotation cannot be completely stopped even MIE Mr rubr er if the offset has been adjusted Use zero clamp function LEN Use this key to adjust so the motor stops when Servo is ON ENTER P LA Press this key to save changed content The set offset of speed command be checked
74. cking up on an accidents use NFB No Fuse Breaker in power input wire Table 2 8 Capacity of Circuit Breaker and Fuse CSD 01 2 0 286 220V 3A CSD 02BX2 0 44 CSD 04BX2 0 726 220V 6A 30A 30A CSDJ 06BX2 154 220V 9A CSD 10BX2 1716 220V 14A 1 Data in above table the rated load capacity 2 Over current feature 25 C Over 200 2sec over 700 0 01sec 3 DAERYUK DCP 50BH Series UL http www dacb co kr Startup and Adjustment Chapter 3 explains startup autotuning for gain adjustment and test run Check Items prior to Startup Servo Motor Servo Drive Startup Powering ON and OFF Check Items prior to Startup Startup by the Operator Startup by I O Input Autotuning Test Run Check Items prior to Startup Servo Motor Check the items listed below prior to the startup When the system is unused for long period of time check it according to the maintenance and check up list prior to the startup ATTENTION Servo Drive ATTENTION Check if the connection grounding and conditions of the external equipment are done appropriately when con necting the drive with the serve motor Check if there is any loose parts Check if the Oil Seal part has been damaged for those with the oil seal attached Check the condition of the oil and take appropriate action immediately in case of prob lem Check if the system is set properly according
75. coder 25 Lower 5digits of position command in servo off status PULSE 26 Upper 5digits of position command in servo off status PULSE 27 Lower 5digits of position feedback in servo off status PULSE 28 Upper 5digits of position feedback in servo off status PULSE System parameter and Error Monitor Mode 01 Marks last error 02 10 Displays the past error 11 SW VERSION 12 Types of controller 01 J OG operation 02 Autotuning 03 Auto adjustment of speed command offset 04 Auto adjustment of torque command offset 05 Manual adjustment of speed command offset J OG Mode 06 Manual adjustment of torque command offset pee i 07 Alarm Reset Jog Mode First 08 D A CHANNEL selection 10 Error History Clear 90 Test Run Mode Switching Fig 4 2 Mode Switching Display differs according to Power Input 3 control mode Status Display Mode 3a Parameter Value User Parameter Setting Mode Monitor Mode O Parameter Value System Parameter and 4 ws p gt Parameter Value Error Monitor Mode Status Display Mode Servo drive status is displayed in bit as shown below when status display mode is set Fig 4 3 Status Display Mode Speed coincidence TG ON Control Mode Display Power ON Table 4 2 Content of Bit Data Power ON Light a bit when Power is ON Speed coincidence Light on when the motor speed re
76. coder Connector CON A gt CON B Connection Specification For CSM Motor 1 3 1P White Blue Blue A 2 4 1P White Blue White A 3 5 2P White Yellow Yellow B 4 6 2P White Yellow White B 5 7 3P White Green Green 6 8 3P White Green White C 7 20 4P White Red White VCC 8 1 4P White Red White GND 9 12 SH Shield PE 11 Wire Incremental Encoder Connector CON A gt CON B Connection Specification For CSMZ O Motor 1 3 1P White Blue Blue A 2 4 1P White Blue White A 3 5 2P White Yellow Yellow B 4 6 2P White Yellow White B 5 7 3P White Green Green 6 8 3P White Green White C 7 8 10 5P White Purple Purple RX 9 13 5P White Purple White RX 10 20 4P White Red Red 1 1 4P White Red White EOV 12 12 Shield Order Number and Product Name 3 000 ENC SLO3ECNSFA 5 000 ENC SLO5ECNSFA 10 000 SLIOECNSFA 15 000 SL15ECNSFA 20 000 ENC SL20ECNSFA Incremental Encoder Cable Assembly Communication Cable CON B Servo drive side gt dE CON A PC side Communication Cable CON A gt CON B Connection Specification O A 5 5 _ 3 2 Brown RX 2 3 Red TX N C N C GND N C N C GND N C N C GND N C N C GND N C 9 Shield PE 3 000 COM SHO3CPCNNA Servo Drive Communication cable
77. d Torque limit Detection signal CN1 43 44 closed 1 43 15 at Low Level During the motor output torque limit Limit value is internal setting 1 0 Tor que Limit Value value PCL OFF During forward rotation Setting value of S Et 10 OFF During reverse rotation Setting value of SEt 11 CN 1 43 44 are Open CN1 43 is at High Level Motor Output Torque lt Limit Value Setting of Servo Drive Gain Operate autotuning prior to manually adjusting the servo gain Refer to 3 3 Autotuning CSD Plus Servo Drive can set the following gain Table 6 14 Setting of Servo Drive Gain This is a parameter which decides on response performance of the speed control Setin the maximum value where Speed Loop Non load vibration does not occur in the machine Speed 0 2000 Proportion Gain Gain part Maximum of the value depends on Position the response performance or rigidity of the machine part Set the value high if the load inertia increases SEt 02 Ifthe value is set highly transient response performance is better and Speed Loop 20599 Non load speed error in steady state reduces Speed Integration Gain Gain Ifthe value is too high overshoot or Position undershoot increases in transient state It must be used in appropriate range SEt 03 A parameter which decides on response performance of position control fthis value is
78. d command lower than zero clamp level SEt 17 is regarded as zero speed In case of operating position control in the host control ATTENTION ler do not use zero clamp control mode Motor may not operate correctly Also set acceleration deceleration time to 0 e Parameter and input terminal related to zero clamp is as follows Table 6 6 Manual Zero Clamp Speed Control Setting SEt 41 4 Manual Zero Clamp speed control mode SEt 17 1 5000 RPM Zero Clamp Operation Level V ref CN1 pin 19 20 10 10V Speed command ON Zero Clamp ON P CON CN1 pin 6 OFF Zero Clamp OFF P PI control cannot be converted ON The corresponding input terminal is connected to input voltage GND OV OFF The corresponding input terminal is connected to 24VIN itis not connected Fig 6 9 Zero Clamp Operation Speed Command Zero Clamp Level Time P CON Input Terminal Motor Speed Zero Clamp Level Time Auto Zero Clamp Speed Control Mode This is a control mode which always operates zero clamp function Other operations are same as manual zero clamp speed control mode Table 6 7 Auto Zero Clamp Speed Control Mode Setting SEt 41 5 Auto zero clamp speed control mode SEt 17 1 5000 RPM Zero Clamp Operation Level V ref CN1 pin 19 20 10 10V Speed command ON P control P CON CN1 pin 6 OFF PI control ON The corresponding input terminal is connected to input voltag
79. e emergency stop torque value at this moment 100 Rated torque of the motor Refer to Auto Zero Clamp Speed Control Mode 0 300 300 SEt 11 Reverse Rotation Torque Limit Limits the torque according to the setting 0 300 300 SEt 13 External Current Limit of Reverse Rotation 100 Rated torque of the motor External current limit of reverse direction is effective Setting value is ineffective OFF Setting value of SEt11 is effective CN1 8 0 300 100 SEt 15 Emergency Stop Torque of Reverse Rotation N OT is set in reverse rotation prohibition signal LED No 3 0 of SEt 43 and if N OT signal is input during the reverse rotation of the motor the motor is emergency stopped This sets the emergency stop torque value at this moment 0 300 300 SEt 64 Forward Torque Offset Set when the load rise as the motor rotates forward towards the vertical axis of the load It is possible to make up for the problem which the load falls when unlocking the machine brake in servo on state in the load which is operating to the vertical axis Note When using with SEt 65 SEt 64 can not be non zero when SEt 65 is also non zero 0 100 SEt 65 Reverse Torque Offset Sets when the load rises when the motor rotates reverse towards vertical axis of load Itis possible to make up the problem which
80. e GND OV OFF The corresponding input terminal is connected to 24VIN or it is not connected Speed Coincidence Output Signal Erternal Maga SERVO DRIVE This is an output signal which shows that the actual motor speed Matches up to command speed Y CH1 Andi Speed Control M ode Output Width of RPM Width of speed coincidence output SEt 18 Speed Position 0 1000 10 signal Coincidence Signal PULSE Position Control Mode Position Completion Range PULSE Fig 6 10 Width of Speed Coincidence Output Signal Command Speed In this level output 1 41 is at low level In other words CN1 41 42 is Setting value of SEt 18 Changing the Motor Rotation Direction This function can be used for the speed torque control mode Setting of control mode is done in SEt 41 e In Case of Speed Torque Control Mode SEt 45 Forward rotation operation During speed control mode voltage of V ref terminal CN1 pin 19 0 is forward direction operation During torque control mode voltage of T ref terminal 1 21 is forward direction operation Reverse Direction Operation During speed control mode voltage of V ref terminal CN1 pin 19 is 1 forward direction operation During torque control mode voltage of T ref terminal CN1 pin 21 is forward direction operation After changing the setting value turn off th
81. e check and repair the product after reading and completely understanding the user s manual Also use the product after sufficiently understanding the safety information or surrounding specifications After reading make sure to keep the manual at an easy to reach place for easy access User s manual records contents of safety specifications by categories of Warning and Caution May cause severe or slight injuries or cause only a product Paid Hl When handled incorrectly dangerous situations may damage happen CAUTION When handled incorrectly dangerous situation electro caution may occur i May cause death or severe injury Even if the contentis defined as AA serious result may occur depending on the situation Make sure to follow the manual Checking Product Status Do not install the servo drive which is damaged or ATTENTION has missing parts N It may cause injuries Precautions during Installation Be careful in moving the product Dropping on the foot may cause injuries ATTENTION Use nonflammable such as metals in locations to place servo drive A There may be a fire When installing several servos in one location by installing cooling fans and etc so the surrounding temperature is below 55 Overheating may cause fire or other accidents Precautions when Wiring ATTENTION ATTENTION Operate only after checking that input power is off There may be e
82. e it may cause error in operation or damage due to external noise Fig 2 10 9 Wire Incremental Encoder Connection Method of Motor Setting Value of SEt 51 1 refer to 7 6 SERVO DRIVE HOST CONTROLLER Line Receiver MC3486 Frequency Divider Set 23 Set 24 Termination Resistor R 220 4702 Do not connect the PE of the servo drive to the host controller when signal GND of the host controller and PE are connected or when there isn t a separate PE Fig 2 11 Shape and PIN Number of CN2 Encoder Connector 000 nn O 55 ODO y Emm Y Noise Protection Inverter and SMPS in power part inside the servo drive operate the switching operation in high frequency during the operation The di dt dv dt switching noise which occurs by inverter operation are seldom affected by the connection and grounding methods Wiring Precautions Use the specified cables for encoder cable and command input Keep the wiring distance as short as possible by cutting off the excessive wire Wiring for grounding must be done with thick wire if pos sible More than 2 0 mm Class 3 grounding grounding resistance is lower than 1009 is recommended ATTENTION One point grounding must be done In other words do not make the loops Make sure there is no bending or tensions in the wire Make sure to connect the Earth terminal PE of the motor and the servo drive
83. e 6 11 Setting of Position Speed Control Mode 6 28 Table 6 12 Torque Command 6 34 Table 6 13 Position Torque Control Mode Setting 6 37 Table 6 14 Setting of Servo Drive Gain 6 42 Other Functions and Applications 7 1 Table 7 1 Brake Control Setting Parameter 7 4 Table 7 2 Allowable Load Inertia Ratio When regeneration re sistor is not connected and when operated at a rat o nune te 7 10 Table 7 3 Regenerative Resistance 7 12 Table 7 4 CSMT MR Motor Capacity Settings SEt 53 7 13 Table 7 5 Encoder Type Settings 7 14 Error Handling 8 1 Table 8 1 Alarm Related Input Output Terminal 8 4 Table 8 2 Alarm Codes Classification 8 5 Table 8 3 Alarm Codes and Corrective Actions 8 6 Troubleshooting 9 1 Table 9 1 Servo Motor Maintenance and Cleanin 9 3 Table 9 2 Troubleshooting Servo Motor 9 4 Table A 1 CSMT Motor Specification A 1 Table A 2 CSMT Motor Brake Specification A 2 Table CSMR Motor Specification 4 Table A 4 CSMR Motor Brake Specification 5 Table F 1 Conversion Table of SI to from
84. e Rotation P PI control conversion not possible Mental Zero P CON Zero Clamp speed control mode 4 Clamp P CON OFF General speed control mode Speed Control Zero Clamp operation Ignores speed command below zero clamp level SEt 17 and motor decelerates to a stop Zero Speed P CON OFF PI control Auto Zero P CON ON P control 5 Clamp Always ignores speed command below zero clamp Control Speed Control level SEt 17 and motor decelerates to a stop Zero SEt 41 Mode Speed Settin 9 P PI control conversion not possible Step 3 speed control by input terminal Multi step P CL N CL P CON 3 P CL N CL i i Speed Control P CL N CL Multi step speed command selection P CON Forward rotation Reverse rotation operation command Set the speed command value in SEt 26 28 Torque limit by analog torque input voltage Analog Torque Value Torque value set in SEt 05 during speed 12 Limit control Speed Control P CON Analog torque limit effective P CON Off Analog torque limit ineffective Speed M ulti 14 step Speed Control P CON Off Speed control mode P CON On Multi step speed control mode ATTENTION When controlling the feedback position control from the host controller do not use zero clamp mode When con trolling the feedback position control from the host con A troller set the acceleration deceleration time SEt 19 SEt 20
85. e load inertia ratio lt load inertia ratio e Connect regeneration resistor CSDJ Plus 06 10 e Connect regeneration unit or auxiliary capacitor CSDJ Plus 01 02 04 In order to operate excessive load inertia without error handle as stated below Reduce the torque limit Reduce the torque filter SEt 06 value Slow the acceleration and deceleration time Reduce the motor speed Regenerative Energy When the servo motor and drive are used in the following condition the energy may be transferred regenerated from the motor to the servo drive 1 When load moves vertically 2 When acceleration and deceleration is repeated frequently 3 When the load inertia is much bigger than the motor inertia 4 When the acceleration and deceleration time is short and rotating in high speed Fig 7 7 Regenerative Energy Regeneratioi resistor ANA Regeneration Tr N LN Regeneration resistor cannot be connected to the CSDJ Plus 01 02 04 drives Energy is stored regenerated in the capacitor AC source Motor speed is decelerated and lowered in vertical axis Allowable Load Inertia The table below displays the maximum inertia ratio load inertia motor inertia of the load which can be attached in each motor It is based on the regenerative energy absorbable in the capacitor during deceleration at the horizontal load When operating the load larger than the allowable load inertia c
86. e of the manual adjustment of torque command offset Co tC is displayed 4 14 Fig 4 16 Alarm Reset 4 14 Fig 4 17 Example of Selecting the D A Channel Output Content 4 15 Fig 4 18 Initialization of User Parameter 4 17 Fig 4 19 Error History Clear 2 00 4 18 Parameter List 5 1 Fig 5 1 1 O Status of Con 12 V P Speed Position Completion Signal CN1 pin 41 42 see 5 17 Basic Functions 6 1 Fig 6 1 Example of P PI Control Conversion Usage 6 5 Fig 6 2 Analog Speed Command Input Circuit 6 6 Fig 6 3 Analog Input Voltage and Speed 6 6 Fig 6 4 Multi Step Speed Control Circuit 6 7 Fig 6 5 Multi Step Speed Operation _ 6 8 Fig 6 6 Using the Step 4 Speed 6 10 Fig 6 7 Example of Step 4 Speed Command Usage 6 11 Fig 6 8 Using the Zero Clamp Speed Control 6 12 Fig 6 9 Zero Clamp Operation 6 13 Fig 6 10 Width of Speed Coincidence Output Signal 6 14 Fig 6 11 Inner Speed Command Generation 6 16 Fig 6 12 Definition of Acceleration Deceleration Time 6 16 Fig 6 13 Selection of Stop Method
87. e power and turn it on again It is only effective after rebooting Table 6 8 Effective Boundary of SEt 45 LED No 4 Setting Speed Control Zero Clamp Speed Control Torque Control Effective Speed Speed Limit Torque Control Auto Zero Clamp Speed Control Multi Step Speed Control Ineffective Position Control e Encoder output for rotation direction follows the setting of SEt 44 LED No 4 SEt 44 Output as the standard During the forward rotation CCW B phase 0 advances for 90 Refer to Fig 6 22 I O Signal Timing Chart 1 Output is opposite to the standard Acceleration Deceleration Time and S Curve Operation Acceleration and Deceleration Time Setting This function can set the acceleration or deceleration time inside the drive when the step speed command is given externally Fig 6 11 Inner Speed Command Generation Acceleration Speed command Speed command by V ref deceleration filter cut off frequency Inner Speed JOG command SEt 19 20 Setting value of Command Multi step speed command time SEt 40 Test run SEt 19 Acceleration Time msec 0 60000 0 SEt 20 Deceleration Time SEt 21 S curve Operation Conversion Time msec 0 5000 10 Acceleration Deceleration time is ineffective in position control torque control and autotuning Definition of Acceleration and Deceleration Time Acceleration s rated speed Decelerat
88. e speed control Speed Mode E P CON ON Analog torque limit effective P CON OFF Analog torque limit not counted Torque Control Torque Mode 2 Refer to Torque Control P CON ON Speed Control Mode Speed Torque Speed Speed Control en Mod 6 P CON OFF Torque control with speed limit function imit Torque Mode Conversion 5 Refer to Torque Control ON Torque Control Mode Position Position Torque ETE i Torque Control 7 P CON OFF Position Control Mode Conversion Mode 3 3 Refer to Manual Zero Clamp Speed Control Mode Position Speed Boston xis palet P CON ON Speed Control Mode Control T 8 P CON OFF Position Control Mode ode Conversion Refer to Offset Adjustment Multi step speed Control Mode Speed Multi Step MEC E Speed Control EEG Mbd 14 P CON OFF Speed Control Mode eed Mode Refer to Speed M ulti Step Speed Control Mode Caution Parameter with are effective after setting and then turn off and on the power Parameter Setting Related to Autotuning Autotuning speed RPM Setting value rad s 2PI 60 Ex Setting value 100 gt 955 The inertia ratio calculated may not be accurate if it is set too low compared to the load When speed setting value is limited according to the SEt 58 Speed 9 load if the motor rotation angle SEt 70 is set to rad s 20 100 100 low accurate inertia ratio
89. eading of the parameter Resets the error in USr 07 or ESC key function status display mode Up Down of the blinking segment Forward rotation UP key and reverse rotation DOWN key JOG ON mode tuning and offset auto adjustment Moves between each modes Record the changed data auto etc Turns on the JOG from USr 01 Shifts position in 7 segment Status Display Mode Types of Mode and Mode Switching Types of Modes Table 4 1 Types of Modes AAA AAA Various status display Refer to Status Display Mode Base Block During operation Error and Warning User Parameter Setting Mode l L L LO Refer to User Parameter Monitor Mode Various Monitors 01 Feedback speed RPM 02 Speed command RPM 03 Torque command 04 Electrical angle DEGREE 05 Speed error RPM 06 Position error PULSE 07 Mechanical angle DEGREE 08 Position feedback PULSE 09 Position command PULSE 10 Speed command offset mV 11 Torque command offset mV 12 I O status 13 Load inertia ratio Load inertia Motor inertia 16 Input pulse frequency kHz 17 Speed command voltage 10mV 18 Torque command voltage 10mV 19 Maximum torque absolute value 20 Multi rotation data of absolute encoder 21 Maximum position error absolute value PULSE 22 Maximum speed feedback absolute value RPM 23 Encoder counter 24 Data within 1 rotation of absolute en
90. ed in absolute value Caution 1 When motor is in forward rotation reverse torque which is the strength of stopping the motor is not limited 2 When the motor in reverse rotation forward torque which is the strength of stopping the motor is not limited 3 When speed command is 0 by zero clamp operation both forward reverse torque are limited SEt 41 12 Speed Speed control mode with analog torque limit Power se I 211245 Selection Mode Ey OFF ON P CON e A 028 External Torque Sets limit torque per 3V input voltage at 96 unit SEt 05 Command Gain Torque limit value is recognized as absolute value Torque Limit Detection Output Signal In order to use TG ON CN1 pin 43 output signal as torque limit detection signal SEt 43 LED No 4 must be set to 1 TG ON Signal becomes motor rotation detection signal This signal is ON when motor speed is higher than zero speed level SEt 43 No 4 1 TG ON Signal becomes torque current limit detection signal Fig 6 32 External Torque Limit Command and Torque Limit Detection Output Signal SEt 43 LED No 4 Rotation Detection Torque Limit Detection SERVO DRIVE External DC 24V 24VIN 1 Pin 43 HOST a N CL CN1 Pin 8 External reverse rotation torque i External limit command i i DC24V P CL 5 CN1 9 External forward rotation torque limit comman
91. etting value of SEt 36 Command Unit 1570 1570 157 Setting value of SEt 37 Fig 6 27 Example of Electronic Gear Setting Turn Table Minimum rotation unit of the load shaft which has to rotate by 1 pulse of external pulse command 0 1 Load movement amount gt per 1 load shaft rotation _ 360 Minimum rotation unit 0 Command Unit 3600 of load Electronic gear ratio setting 3600 3600 Setting value of SEt 37 CSM Motor Encoder Pulse Number 2048 Fig 6 28 Block Diagram of Electronic Gear Feedforward Gain Fiter Cutof Fre ilter Cutoff Frequency SEt 07 Speed Measurement Position Position Command Pulse orm SEt 46 LED signal Output NM F ignal ut reque m Dividing Ratio SEt 23 24 pn value of SEt 36 and SEt 37 should at least satisfy the following ormula Electronic Gear SEt 36 37 Filter Cutoff Frequency SEt 35 Torque Control SEt 6 10 15 Encoder Motor CSM Pulse Counter Number of pulse per 1 motor rotation x Machine gear ratio of load and motor shaft x4 Setting value of SEt 37 In case of which the formula above is not satisfied it can be used as a pulse command but resolution cannot be guaranteed 1 Maximum resolution Number of pulse per 1 motor rotation x Machine gearratio of load and motor shaft x4 me setting value does not satisfy the relationship above take care
92. f SEt 56 96 is too low speed error could occur in the speed RPM which exceeds SEt 56 Refer to Speed Control Auto If a position error exceeds the setting value Adjustment PULSE speed integration gain is automatically onthe Basis adjusted SEt 57 of Position In case of load with frictions except for round PULSE 0 10000 100 Error plate load itis effective Amount Refer to Speed Control In gain setting latest set value has the priority Cautions In other words even if SEt 02 is changed by setting SEt 42 if SEt 02 is reset the new SEt 02 is applied to the servo gain Caution Parameter with are effective when it set in servo OFF Parameter Setting Related to Servo Control Sets the speed level which turns on the TG ON TOON output signal SEt 16 Speed Effective when LED no 4 0 of SEt 43 RPM 1 5000 20 Level If the motor speed is greater than the setting value the TG ON signal is turned On Output CN1 43 44 Sets the stopping speed when operating in zero clamp mode SEt 41 4 or 5 If the analog speed command value is less than the Zero setting value it decelerates to stop and the Servo is ON SES a If the analog speed command value is less than the REM 172099 10 Level setting value motor maintains stopped condition and if the command value is greater than the setting value motor is sped up to the command value
93. f vertical load Motor may rotate one direction during the servo ON if applied in a horizontal load SEt 64 and SEt 65 cannot be set other than 0 at the same time Setas shown on the next page casel and case2 Case 1 If the load is raised when motor is rotated forward direction Set SEt 64 Load status lt gt D Stop Decrease SEt 64 Increase SEt 64 Case 2 If the load is raised when the motor is rotated in reverse direction Set SEt 65 Load status lt gt D Stop Decrease SEt 65 Increase SEt 65 Fig 7 6 Wiring with the Host Controller when Absolute Encoder is used SERVO DRIVE HOST CONTROLLER Serial Interface Circuit Edge Up Down Detection Counter Z phase CN1 35 Serial Data CN1 36 Serial Interface Circuit Back up Battery te Is a twisted pair cable Alarm Description Decimal digit Absolute Data Decimal digit 0 16777215 Variable figures Open or 0V 1 2 4 i 5 ms or less Data Transmission Transmission Transmission Regeneration If the load inertia becomes larger response of the load becomes slower Use the servo motor in inertia lower than the allowable load inertia ratio of the motor When using the load with inertia larger than allowable one connect a regeneration resistor a regeneration unit or an auxiliary capacitor In case of allowabl
94. g Noise Filter Separate the input and output wiring Do not put input and output wires a same duct Separation of circuit Noise O gt Noise Separation Filter HA Filter of circuit v Earth Plate Earth Plate 4 O Earth wire of the noise filter should be wired in distance to the output wire Noise R Noise gt Filter There is no problem Filter with approaching 1 the input line Thick gt And Short E Earth Earth Wire as far as possible Plate Plate X O Earch wire of the filter should be soley attached in the earth panel Noise nm gt Noise gt gt Filter gt Filter PR Shield gnu Earth Earth Plate Plate 220VAC Circuit Breaker CSD Plus Servo Drive uses general power source Single phase 220VAC 50 60 2 For system protection from grounding accident contact accident electric leakage and the case of the fire install the CP Circuit Protector or the fuse with capacity provided in the table below In case of using several servos circuit breaker for wiring could be shared The capacity of the circuit breaker should be set by the total amount of servo drive capacity NANO Since the inrush current flows when the CSD Plus Servo Drive capacitor power is charged do not use the high speed break fuse Also for che
95. ground we Auxiliar the AC input and N CSDJ 01 02 04 motor PE e PE r Regeneration gt Resistor h 8 CS0J 06 10 3 command i V REF 19 P 56 E 10v 10V TP versi A D Make sure of the 221 07 23 channel 1 shield of wire Tongue command EFP mereala 28 channel 2 manne 3 Set output content from USr 08 Initial Setting Channel 1 Torque command TALI Alarm code output Channel 2 Speed Feedback ai Monitoring GND is Pin number 27 Connects p postion pus no m2 Maximum allowable 7 1 T voltage DC 30V Line driver output of the PLUS 12 5 713 llowable normal condition Maximum allowal 1 7 Host controller SIGN 13 75 4 current 20mA Pin40 Pin37 Or photo coupler Output SIN 14 34 d Pin40 Pin38 Note3 Pin40 Pin39 29 are connected Note2 BATH 49 30 9 ER ng taris 32 Encoder output gt 33S ec Line Receiver SN75175 or MC3486 DC 24V xA a See gt SVN 3 35 oV M 38 985 E o ea ofaga Prohibit Forward N 01 5 7 ys 4 P COM or V COM Positioning completion signal output P OT OT vL uh vx a 5 Operation Te or V COW speed coincidence signal N OT nne Due e qa Note 1 Operation 5 P CON MERSI ye i 7 Torque limit detection signal out Reset i i M RST Reference 4 zal 12 as 19 2 nn detect signa
96. he procedure Fig 3 1 Example of Power ON and OFF Connect when there is a need to cut off the power according to the alarm Use the push type button which is connected only when the button is pushed Press the button for about 1 second gt gt Power On S W paient x Power Off S W 1 MC 1 p VY Ne 1 MC 1 Relay 1 Relay Alarm Lamp Circuit Breaker PN 1MC H 11 p N 12 i 24 Also connect the power ground to gt Frame the PE terminal PE Plate 1 Relay SALM External be Power 24V SALM CN1 45 CN1 46 e LED Display Table 3 1 LED Color and Description Green Servo Power ON Orange Servo ON Red Green Alarm Flickers in green and red every 0 2 seconds Initial Display of the Operator When the power is supplied normally the initial display flickers Init three times Operator is initializing After displaying Init the operator displays the following Speed control mode Position con trol mode Factory set ting Torque control mode Fig 3 2 Power Supply Method for Multi Servo Drive tion Connect when there is a need to cut off the power according to the alarm Use the push type button which is connected only when the button is pushed Press the button for about 1 second C
97. he torque control mode user must satisfy the conversion conditions and input the command pulse When inputting the position command pulse before hands position overflow error Err 33 may occur or may be harsh on the load Analog Voltage Torque Command and Motor Rotation Direction To make motor rotation direction according to the analog voltage torque command to be opposite change the value of SEt LED No 4 for example if 0 change to 1 and if 1 change to 0 Setting value is effective after power OFF ON Caution Operate autotuning in position control mode When autotuning is operated in torque control mode position speed gain may not be set automatically Torque Limit e Block Diagram of Torque Limit Internal torque limit SEt 10 SEt 11 Emergency stop torque limit SEt 14 SEt 15 External torque limit SEt 12 SEt 13 Ineffective in multi step speed control mode Internal torque command Torque limit by analog input voltage For speed control mode with analog torque limit Set 41 12 e T S Curve Allowable maximum torque differs according to the motor rotation speed Here limit the maximum torque according to motor rotation speed For T S Curve of the motor used check the motor specification of the appendix The examples of T S Curve is as follows CSM 01A B CSM 02A B Torque 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 Speed
98. hen turned by the hand Check if it moves as if it s locked except for the motor with brake attached 4 Check if the coupling part is loose ATTENTION Contact the agency where you ve purchased or the FA marketing department of Samsung Electronics for any problems Also check if there is any loosening of various bolts or damage in lead wires or insulation materials Fig 2 1 Drive Display s gt 4 o 4 Rated Output 04 400W 06 600W 01 100W 10 1kW 02 200W 15112119 220VAC Table 2 1 CSDJ Plus Rated Output and Applicable Motor 30W CSD 01 2 50W 100 100 CSD 02BX2 200W 200W CSDJ 04BX2 400 400 CSDJ 06BX2 600W CSDJ 10BX2 1kW Fig 2 2 Motor Type Display CSMT series Encoder CSMR series Encoder Refer tot 3 Shaft Specification Design 1 Circular Sequence Refer to 4 coupling tightening 2 Key tightening Shaft end specification A Key available straight B Key not available straight Option N No option B Brake OEM Mark T CSMT CSMR Rated Output Voltage 04 400W B AC 220V Encoder P R Pulse Rotation CSMT CSMR Series 2048 PIR brief Inc 5 50W 01 100W 10 1Kw 02 200W 50 5Kw IMPORTANT Examples of Standard Model CSMT 01BB1ANT3 CSMT 01BB1ABT3 Installation Precautions Power voltage is available for 220VAC N O
99. hod LED No 2 of SEt 44 Dynamic brake release after motor stop Maintain dynamic brake after motor stop 0 Stop by Dynamic Brake Free Run Stop No dynamic brake after motor stop LED No 1 of SEt 44 0 SERVO OFF Using Zero Clamp Function If the soeed command is lower than zero clamp level setting value of SEt 17 ignore the speed command value and stop the motor by selected acceleration deceleration time Refer to Manual Zero Clamp Speed Control Mode Emergency Stop e Emergency Stop Using P OT N OT Input Terminal According to motor rotation direction in forward rotation forward rotation operation prohibition input P OT CN1 pin 4 in reverse rotation operation reverse rotation operation prohibition input N OT CN1 pin 5 can stop the motor in emergency state Forward Rotation P OT CN1 pin 4 Reverse Rotation N OT CN1 pin 5 Emergency Stop Using E STOP Input Terminal SetSEt 46 LED No 4 0 and set CN1 pin 10 to E STOP input terminal Factory Setting Value In order to set CN1 pin 15 to E STOP input terminal set SEt 46 No 5 0 Regardless of motor rotation direction using the Emergency Stop E STOP input terminal CN1 pin 10 or 15 to operate emergency stop If the value of SEt 44 LED No 5 is 0 when E STOP input terminal is closed emergency stop is operated and if the value of SEt 44 LED No 5 is set to 1 if E STOP input terminal is opened emerge
100. in speed control mode position gain may not be set automatically Using Encoder Output Encoder output signals divided inside the servo drive can be output externally These signals can be used to form a position control loop in the host controller Also it can be used as position command pulse in the system operated at the same time Fig 6 22 Using the Encoder Output Signal SERVO DRIVE Output Signal CONTROLLER Motor A Phase B Phase Circuit Frequency Dividing Frequency Divining Ratio is set in SEt 23 SEt 24 SEt 23 Number of servo drive output pulse per 1 motor rotation SEt 24 Number of encoder pulse per 1 motor rotation 2 ATTENTION SEt 23 3 4 N a123 AR SEt 24 24 2 A If it does not satisfy the condition above Phase difference of A and phase does not become 90 It is not related to electronic gear ratio Fig 6 23 Example of Wiring between Incremental Encoder Output and Host Controller SERVO DRIVE HOST CONTROLLER CN1 29 A Phase A Phase ba Ph CN1 30 pb Phase CN1 31 B Phase CN1 32 CN1 33 CN1 34 Twist Pair Line Line receive Mee SN75175 Resistor R 220 4709 Servo drive output pulse may not output A phase pulse greater than encoder pulse per 1 motor rotation exter nally In other words if the pulse of encoder attached in the motor is 2048PPR the pulse output to external side from the servo drive can
101. ion Time Time it takes to deceleratess rated speed to a stop status Fig 6 12 Definition of Acceleration Deceleration Time Motor Rated Speed Motor Speed Time rl n Acceleration time Deceleration time SEt 19 SEt 20 SEt 45 Setting of S Curve Operation Selection of S Curve Operation Factory Setting value when delivered A Set 19 Set 20 Set 20 Set 21 e Set 21 4 57 Set 21 Selection of Stop Method Offset Adjustment When OV is specified as analog input voltage for speed torque command the motor may rotate at a very slow speed and fail to stop This happens when analog input voltage form the host controller or external circuit has a slight voltage offset in mV unit If this offset is adjusted to OV the motor will stop Speed Command USr 05 USr 03 Torque Command USr 06 USr 04 For detailed adjustment procedures refer to Using the Operator Using the DB Dynamic Brake Set motor stop method after the Servo OFF SEt 44 LED No 1 0 Stop using dynamic brake Factory setting value 1 Stop after the free run Set the operation after motor stop using the dynamic brake SEt 44 LED No 2 0 Dynamic brake is off after the motor stopping 1 Dynamic brake is on even after the motor stopping Factory setting value Fig 6 13 Selection of Stop Met
102. ion time Setting excessive value creates vibration in stopping operation Ball Screw direct system 2 0 100 Caution Parameter with are effective after setting and turn off and on the power Parameter Setting Related to Torque Control Sets how many percent of motor rated torque per 3V input voltage will be the torque command CN1 21 22 SEt 05 External Torque d 0 100 100 Command Gain 100 Motor rated torque Refer to Multi Step Speed Control Mode y Auto Adjustment of x USr 04 Torque Command Offset Refer to Auto Adjustment of Speed Torque Command Offset _ Manual Adjustment of Usr 06 Torque Command Offset Refer to Manual Adjustment of Speed Torque Command Offset SEt 10 Parameter Setting Related to Torque Limit Forward Rotation Torque Limit Limits the torque in set value 0 300 300 SEt 12 External Current Limit of Forward Rotation 100 Rated torque of the motor ON External current limit of PCL forward rotation is effective Setting value is ineffective CN19 OFF Setting value of SEt10 is effective 0 300 100 SEt 14 Emergency Stop Torque of Forward Rotation P OT is set in forward rotation prohibition signal LED No 2 0 of SEt 43 and if the P OT signal is input during the forward rotation of the motor the motor is emergency stopped This sets th
103. ircuit Breaker Noise Power Filter 1MC 1Relay e 0 ze gt Also connect the power ground to the PE terminal Plate N 9 wo gt 1 M CN1 45 7 SALM CN1 46 7 U vo wo 2 cnt 45 7 0 SALM 1 46 7 7 4 wo CN1 45 2 CN1 46 1Relay Using the Contact LIT Point Relay External Power 24V Check Items prior to Startup Are the power and U V W PE wire connected properly Is the motor power cable a shield wire and is the shielded part well connected to the PE Are Encoder and I O cable use the shield wire of the twist pair Are the motor and encoder type and the motor capacity set properly SEt 51 SEt 52 SEt 53 Is the direction of the encoder output correct Is the pulse command type accurate Check from SEt 46 SEt 44 Is the electronic gear ratio set properly of the analog command voltage correct Is the offset of the analog voltage adjusted Check from SEt 46 A a O It is recommended to use the line driver 5 Teletioniehip between the input voltage and command pulse output to prohibit from shifting the SEt 01 or SEt 05 position i Line Driver Pulse Output Is it set as line driver type Is it set as open collector pulse command
104. is an example of monitoring the torque command Fig 4 5 Example of Parameter of Monitoring Mode The number to be changed is flickering y Use the key to move to the parameter Table 4 4 Monitor type Con 01 Feedback Speed RPM Con 16 Input Pulse Frequency Con 02 Speed Command RPM Con 17 Speed Command Voltage kHz Con 03 Torque Command Con 18 Torque Command Voltage 10mV Con 04 Electrical Angle DEGREE Copio Mend 10mV Multi rotation data of absolute Con 05 Speed Error RPM Con 20 encoder Con 06 Position Error PULSE Con 21 Absolute value of maximum position error Maximum speed feedback Con 07 Mechanical Angle DEGREE Con 22 absolute value PULSE Con 08 Position Feedback PULSE Con 23 Encoder Counter RPM Data within 1 rotation of Con 09 Position Command PULSE Con 24 absolute encoder Con 10 Speed command Offset mV Con 25 Lower 5digits of position PULSE command in servo off status Upper 5digits of position Con Torque command Offset mV Con 26 Commandin servo off status PULSE I O Status Display _ Lower 541015 of position 12 Refer to Fig 4 6 27 feedback in servo off status PULSE Inertia ratio Upper 5digits of position 13 Load inertia M otor inertia 28 feedback in servo off status PULSE Fig 4 6 Display of Con 12 V P Speed Positioning Completion Sig
105. kes around 4 seconds to initialize the data Initialize after sometime between the procedures When the power is turned off during the initialization ALARM E 80 E 82 can be occurred If initializing the data after Alarm E 80 occurs all user parameter changes into initial setting value Normal operation can be achieved by checking and resetting the part where the wrong user parameter value has been set Error History Clear PAr 01 10 values be cleared to 0 in USr 10 It takes around 4 seconds to clear the error history Wait enough time before proceeding with the next step Fig 4 19 Error History Clear This is flickered until the key is selected Test Run Refer to Section Test Run Parameter List Chapter 5 shows lists of various servo drive parameters and their settings User Parameter Motor and Encoder Setting Control Mode Setting Parameter Setting Related to Autotuning Parameter Setting Related to Gain Parameter Setting Related to Servo Control Parameter Setting Related to Speed Control Parameter Setting Related to Position Control Parameter Setting Related to Torque Control Parameter Setting Related to Torque Limit Parameter Setting Related to Timing Control Parameter Setting Related to D A Output Monitor Parameter List Jog Mode Parameter List Error Monitor and System Parameter List User Parameter Motor and Encoder Setting SEt 51 Encoder Type Refer t
106. l Data m Operate parameter initialization in Error Occurs during power EEPROM data error inside the USr 09 and check the motor ESO CHE distribution servo capacity and encoder type And re distribute the power When initializing the data when Data Setting ALARM 80 occurs all user Bias During the power Data which has gone off the parameter values change to initial Limit Error etd 1 1 PEOR distribution user setting limit is recorded setting value In this case the 81 system be operated normally if the setting is checked and reset properly without initialization Encoder Type During the power Not fit to motor and encoder uri w Setting Error distribution type Reset SEt 51 SEt 52 SEt 53 E82 EtP Operator Operator key does not m Commu operate Communication error occurs by Un attach and re attach the operator Troubleshooting Chapter 9 explains how to troubleshoot the servo drive and the servo motor Servo Motor Servo Drive Troubleshooting Relating to Incorrect External Wiring Troubleshooting Relating to Incorrect Setting Items to Check Prior to Asking Service Servo Motor AC servo motor is composed of mechanical parts which can not be consumed thus only the simple check is required Never disassemble the motor Table 9 1 Servo Motor Maintenance and Cleanin Compared to normal Vibration Noise Everyday Check by touch and hearing situation Fo
107. l output Limit reverse torque 9 0 9 9 occurrence Limit 1 2 4g Signal output T 3t When alarm occurs 45 and PEL Limit forward torque ec oP Clo 9 I o SMA Pin46 are Open Torque Limit 12 4 7 Brake Control signal re ESTOP 10 y T 48 Sk J Ready signal output 5 ESRT 15 1 4 I TREE 450 d T Z PULSE according to the setting value of SEt 46 LED no 4 and 5 Displayed function is the one for initial setting value P Indicates the twist pair wire IMPORTANT 1 Photo Coupler output capacity is below DC 30V 50mA 2 Connect when utilizing absolute encoder 3 When external power is above 5V connect external resistor System is tolerant to the noise if 24V power is used Refer to Wiring Twisted pair shield wire must be used for position command pulse 4 Alarm reset is effective only when the terminal is on This is Edge detection not the Level 5 The function differs according to the setting value of SEt 46 LED No 4 and 5 The image above represents the function according to the initial value set in SEt 46 LED No 4 and 5 Refer to User Parameter The figure below is the example of wiring in main circuit of CSDJ Plus Fig 2 9 Example of Wiring in Main Circuit Use the push button switch which is connected when the button is pushed gt
108. lectric shock or fire Only the electrician should do the wiring There may be electric shock or fire In case of wiring emergency stop circuit check the operation after wiring Wiring responsibility is on the user There may be injuries Be sure to make the earth of grounding terminal Class 3 grounding There may be electric shock or fire Cooling fin and electric discharge resistor over heats so do not touch with hands It may cause burns It is easy to change the speed of servo drive from low to high thus operate after checking the motor and mechanical allowable limit There may be injuries Do not check signal during the operation The product may be damaged Each gain of this servo drive is properly set upon the delivery for the non load operation When changing the setting pay extra caution The product may be damaged Precautions when repairing CAUTION A CAUTION A CAUTION This servo drive has high voltage terminal thus it is very dangerous Do not touch it There may be electric shock Repair and check after sufficient amount of time has passed after cutting off the main circuit power Itis dangerous because power flows in the capacitor Except for the people appointed do not repair check nor replace the parts Before the operation remove the metals watch ring etc from the body Operate after preparing the tools to handle insulation There
109. lute Encoder Absolute encoder external Spp 1 C battery low This is a warning message Lbt is displayed voltage on the operator and motor operation continues even if the red lamp is displayed every 15 seconds No problem 1 Data output transistor OFF in photocoupler output 0 Data output transistor ON in photocoupler output ATTENTION The alarm is displayed because there is a error the servo drive Investigate the cause and handle the problem properly and reset Re operate according to the proce dure When investigating the cause it is dangerous if the volt age is supplied in the main circuit You must turn off the NFB or the circuit breaker connector input for the investi gation After eliminating the cause in case of re starting motor operation use after inputting the speed command OV Table 8 3 Alarm Codes and Corrective Actions Alar 5 Status Cause Corrective Action Code Control circuit error After power servo Fee es After checking the line on motor ON circuit IPM Module power call for A S if normal Over Current E10 SC 5 check ponar omge uring the operation _ Power Line Check acceleration or crash Extreme over current Increase acceleration deceleration ime After power ON orservo Control circuit error Main After line check of mot
110. may be electric shock Control board uses C MOS Be aware when han dling it When touching with hand the product may be dam aged due to static electricity During being energized do not exchange the wire or remove the connector and etc There may be injuries or damage in products Do not modify the production There may be electric shock or injuries Contents Other Safety Precautions ii Chapter 1 Overview and Specifications 1 1 Main Feat reS usina ra e 1 3 Preparations for Operation 4 1 4 Hardware Features 1 5 Standard Specifications utili aid 1 6 Chapter 2 Installation and Wiring 2 1 Check Items upon Delivery of the Product 2 3 Installation Precautions 2 5 Installing Servo Motor 2 5 Installing Servo Drive 2 9 External Terminal Block 2 11 WIEN 245402 RE 2 12 Wiring Precautions 2 12 Wiring Diagram 2 13 I O Specification nase nee 2 15 ENTUVO use sehen 2 15 CN2 Connector for Encoder Connection 2 18 Noise Protection 0 enne nenne 2 20 Wiring Precautions 2 20 Noise Ellter 22 tie Lo Ce dee en cep deett 2 21 Circuit ed Pn
111. n be used by connecting the limit switch Also it can be also used so the motor rotates only in one direction Motor operates emergency stop when P OT is on during the forward rotation Motor operates emergency stop when N OT is on during the reverse operation Set the emergency stop method in SEt 44 Refer to 6 4 D Emergency Stop Fig 6 34 Using the Rotation Prohibition Input Signal Reverse Rotation Forward Rotation Il 9 SERVO DRIVE iui Limit Switch CNI Pin 4 NOT cnt Pind ATTENTION If this input terminal is not used it must be opened T OFF Forward Rotation Operation is Possible in ON Forward Rotation Operation is Impossible N OT OFF Reverse Rotation Operation is Possible CN1 Pin 5 ON Reverse Rotation Operation is Impossible ON The corresponding input terminal is connected to 24VIN or not connected OFF The corresponding input terminal is connected to the input voltage GND OV Other Functions and Applications Brake Control Regeneration Regenerative Energy Allowable Load Inertia Vertical Load Regenerative Resistance Motor Type and Capacity Setting Encoder Type Setting SEt 51 Dynamic Brake CSD Plus Servo Drive has a built in dynamic brake which be used to emergency stop the motor Dynamic brake an electrical brake which is supported by CSD Plus is completely different from a mech
112. n control SEt 04 Setting value differs according to load 1 6 0 1000 50 Proportion rigidity Gain Refer to Setting of Servo Drive Gain Suppresses high frequency term of torque 1st Torque command Filter Setting value differs according to load E SEt 06 Cutoff rigidity Rad s 10 7000 1000 Frequency Refer to Table 3 2 Setting the Torque Filter Cutoff Frequency SEt 06 Speed SEt 40 Sr high frequency term of speed Rad s 0 2000 200 Cutoff command Frequency Basic gain SEt 02 03 04 06 40 changes on System the basis of inertia ratio SEt 66 when 2 SEt 42 Gain changing this value Hz s 0 100 20 Refer to Setting of Servo Drive Gain Suppresses the torque command of frequency band set Notch filter function is ineffective when setting 0 Notch Filter 7 Resonant frequency may differ according to the SEt 47 Cutoff load ku setting of resonant frequency Hz 0 10000 0 Frequency can raise the system gain Vibration or noise can occur if the frequency different from resonant frequency of load is set Belt system 100 200Hz The setting to be changed in servo OFF is effective 219 Low pass filter cutoff frequency of torque command 2nd Torque Effectively suppress high frequency term than first SEt 49 Filter Cutoff filter SEt 06 Hz 0 10000 1000 Frequency Setting to be changed is effective in servo OFF If the
113. n shown below is automatically set with the load inertia as the base SEt 02 Speed Loop Proportion Gain SEt 03 SEt 04 SEt 06 SEt 40 Speed Loop Integration Gain Position Loop Proportion Gain 1 Low Pass Filter Cutoff Frequency of Torque Command 1 Low Pass Filter Cutoff Frequency of Speed Command Autotuning Procedure Fig 3 8 Autotuning Procedure Move the load to the middle of the area where operation is possible Is 1 revolution possible Yes The load inertia is very large Slow the load rotation speed SEt 58 rad s Autotuning by the operator Operate in USr 02 Fig 6 34 If the inertia ratio is large the load may move only in one direction Lower the value of SEt 70 Setting value 0 1 revolution RPM rad s 9 55 If the load inertia is large speed may be reduced ATTENTION During the autotuning motor rotates CW CCW direction once thus the system may be damaged due to collision of the moving part of the assembled structure against the mechanical border Check if all moving parts of the system are in safe position then perform autotuning When the moving part of the system is not in a safe posi tion move it to the safe position by using the J OG func tion Fig 3 9 Example of Autotuning by the Operator Autotuning Completed Setting the torque filter cut off freq
114. nal CN1 Pin 41 42 System Parameter and Error Monitoring Mode This mode displays information on previous errors and S W version along with controller type Conservation capacity of error information is the last 10 contents of errors Fig 4 7 Example of Error EFL 1 2 DOT Use the key to move to the parameter number to be 7 zu is flickering Table 4 5 Types of Error Saving Parameter Parameter Content PAr 01 Latest ERROR PAr 02 Second Last Error PAr 03 Third Last Error PAr 04 Fourth Last Error 05 Fifth Last Error PAr 06 Sixth Last Error 07 Seventh Last Error PAr 08 Eighth Last Error PAr 09 Ninth Last Error PAr 10 Tenth Last Error Software version can be checked PAr 11 12 Controller type check Motor Capacity 5 Speed Control Mode 003 30W Position Control Mode 005 SOW 010 100W Torque Control Mode Motor Series 100 1kW Input Power xdi H 220V f CSMR Table 4 1 Error Display of Operator and Trace Back Table 10 SC Motor over current If it cannot be cancelled even if it s not over current it s overheat 1 oC Motor over current 12 oH Operation error due to motor overheat or noise 20 tol Instantaneous over load of torque command 21 tOL Continuous overload of torque command 22 Fol Instan
115. ncy stop is operated 0 ON 1 OFF ON The corresponding input terminal is connected to input voltage GND OV OFF The corresponding input terminal is connected to 24VIN or it is not connected Fig 6 14 Emergency Stop Forward Direction Emergency Stop Motor Speed Emergency Direction ads Stop Forward rotation operation prohibition Emergency Stop input P OT Emergency Sto CN1 Pin 4 DEE Be ON Reverse rotation operation prohibition input OT Emergency Stop OFF ON CN1 Pin 5 SEt 44 LED 5 0 SEt 46 LED No 4 0 E STOP 1 Pin 10 ON ON SEt 44 LED No 5 1 _ Emergency Stop Emergency Stop SEt 46 LED No 4 2 0 E STOP OFF OFF CN1 Pin 10 Stopping method in emergency stop follows setting of SEt A4 LED No 3 0 Stop by torque value set in SEt 14 SEt 44 3 Reverse Stop by torque value set in SEt 15 Servo OFF PWM OFF Operation after the servo OFF follows the setting of SEt 44 LED No 1 No 2 Fig 6 15 Selection of Stopping Method by Emergency Stop and Error Occurrence Forward Direction LEDNo3 Stop by the torque value set in SEI 14 of SEt 44 Reverse Direction LED No 2 Emergency Stop by the torque value set in SEt 15 of SEt 44 Stop Error Occurrence Release dynamic brake after motor stop Maintain dynamic brake after motor stop 1 LED No 1 of SEt 44 Position Control Selection of
116. ng the Step 4 Speed SERVO DRIVE External DC 24 24VIN CN1 Pin 43 Step 4 speed i command in case of Se setting Set 46 LED No 4 2 HOST CONTROLLER CN1 Pin 10 Direction Conversion Command in case of setting Set 46 LED No 5 3 Step 4 speed command can be used multi step speed control mode or speed multi step speed control mode In order to use step 4 speed command set 2 in SEt 46 LED No 4 or 5 and set the 10 or 15 of CN1 as step 4 speed command Ifthe step 4 speed command is on ignore other step x speed command and rotates in the speed set in SEt 25 The rotation of direction is selected by pin 10 or 15 of CN1 in Speed Multi step speed control mode SEt 41 14 If you use pin 10 of CN1 as the step 4 speed command you must use pin 15 of CN1 as the direction conversion command In Multi step speed control mode SEt 41 3 Use P CON input terminal for changing the direction of rotation Table 6 5 Step 4 Speed Usage Setting SEt 41 3 SEt 41 14 Multi Step Speed Control mode Speed M ulti Step Speed Control Mode SEt 46 LED No 433 Pin 10 of CN1 SEt 46 LED No 4 2 SEt 46 LED No 5 2 SEt 46 LED 5 3 Pin 15 of CN1 Pin 10 of CN1 Pin 15 of CN1 SEt 46 LED No 5 3 SEt 46 LED No 4 3 P CON Pin 15 of CN1 Pin 10 of CN1 Setting of SEt 25 RPM Example of Step 4 Speed Cobmmand Usage SEt 41 14 Sets to speed multi step speed con
117. not exceed 2048 pulse per 1 motor rotation Output Pulse Form Fig 6 24 Encoder Output Pulse Form In case of incremental encoder During the forward During the reverse rotation rotation APhase A Phase B Phase B Phase Z Phase Z Phase During the forward 1 During the reverse rotation rotation A Phase A Phase B Phase B Phase Z Phase Z Phase e 1 0 EA CN1 Pin 29 Encoder A phase output EA CN1 Pin 30 Encoder A phase output EB CN1 Pin 31 Encoder phase output vba etus MEN ine Driver EB CN1Pin32 Encoder B phase output EC CN1 Pin 33 Encoder C phase output EC CN1 Pin 34 Encoder C phase output CN1 Pin GND Analog GND 20 22 27 CN1 Pin 49 jn case of using absolute encoder connect external back up 1 CN1 Pin 25 battery PS 35 in case of absolute encoder outputs serial position data Line Driver MC3487 PS CN1 Pin 36 according to motor rotation Z PULSE CN1 Pin 17 Encoder Z PULSE output Open Collector Z PULSE CN1 Pin 18 Electronic Gear Only apply in position control mode Outline and setting of electronic gear are as follow The electronic gear function enables the motor travel distance per position input command pulse to be set to any value It allows the host controller to perform control without having to consider the machine gear ratio and the number of encoder pulses Electronic gear is set in SEt 36
118. ntil it is stopped 1 cycle time is 14 sec Fig 3 10 Operation Pattern of the Test Run During the test run all of user parameter can be referred to or set using the operator Deceleration Time Acceleration Time Motor Speed SEt 20 SEt 19 Forward Revolution Jog Speed SEt 25 Reverse Revolution Operation time for the test run is already set Be cautious when the load is connected Test run only when the emer gency stop is possible at any time Fig 3 11 Test Run Using the Operator Stop Startup Using the Operator Chapter 4 explains how to use the operator which you should know for proper handling of the product Operator Types of Mode and Mode Switching Status Display Mode User Parameter Setting Mode Monitoring Mode System Parameter and Error Monitoring Mode Jog Mode Operation by the Operator Autotuning Auto Adjustment of Speed Torque Command Offset Manual Adjustment of Speed Torque Command Offset Alarm Reset D A Converter Channel Selection Output Adjustment Method of D A Converter Channel Parameter Initialization Error History Clear Test Run Operator Data set by the operator is saved in servo drive even if the power has been cut off More than last 10 contents of error are saved thus the error can be checked when the problem occurs It s saved in parameter PAr 01 PAr 10 Fig 4 1 Operator FARA operator CST S02 R
119. o Table 5 1 SEt 52 Motor Type Refer to Table 5 2 SEt 53 Motor Capacity Setting Refer to Table 5 3 Table 5 1 Encoder Types Setting SEt 51 1 9 wire Incremental 2048 Table 5 2 Motor Types Setting SEt 52 DC24V 1040 10v 220V 1042 1062 220V Input Voltage Motor Setting Value Input Voltage ERE Caution The motor and encoder parameters are effective after setting and then turn off and on the power Table 5 3 Motor Capacity Setting SEt 53 CSMT 3 5 10 20 40 60 80 100 CSMR 5 10 20 40 Control Mode Setting Position Factory Setting Value Position Mode 0 Control Refer to Position Control Speed Mode 1 Refer to Speed Control 3 Step Speed control by input terminal Multi Step Speed 3 P CL N CL P CON Mode Refer to Multi Step Speed Control Mode P CON ON Zero Clamp Speed Control Mode Manual Zero Clamp 4 P CON OFF Speed Control Mode Speed Mode Refer to Auto Zero Clamp Speed Control Mode Speed Auto Zero Clamp 5 Refer to Auto Zero Clamp Speed Control Mode Control Speed Mode Speed Command method is same with Set 41 1 but the direction of rotation is selected by P CON ARSS P CON ON Reverse Rotation P CON OFF Forward Rotation Torque limit by analog torque input voltage value Set Analog Torque Limit torque value in SEt 05 during th
120. of Set 18 maintain this conditions during minimum 10 msec 3 P CON terminal is ON Caution 1 Caution 2 Caution 3 If those three conditions are not satisfied cannot be changed to speed control mode Set the acceleration and deceleration time SEt 19 SEt 20 in advance when operating in speed control mode It may be harsh on the load when acceleration deceleration time is O Acceleration deceleration time is only effective in speed control Speed Control Position Control Mode Conversion Conditions of conversion 1 Absolute value of rotation speed SEt 16 2 P CON Terminal is OFF Caution 1 Caution 2 Position command pulse is ignored when operating in speed control mode However in the state of where command pulse is being continually output changing to position control mode from speed control mode may create position overflow Error Err 33 by much position command pulse SEt 16 is being used as TG ON rotation detect signal When using this signal consider sufficiently Analog Voltage Value and Motor Rotation Direction When you want to make motor rotation direction according to the analog voltage speed command to be opposite change the value of SEt 45 LED No 4 For example if O change to 1 and if 1 to 0 Setting value is effective after power OFF ON Caution Autotuning must be operated in position control mode When autotuning is operated
121. of the ollowing First increase the minimum unit desired to move with 1 command pulse Reduces the resolution Second use an encoder which outputs more than SEt 37 setting valuex 4 pulses per 1 motor rotation Third increase the machine gear ratio or use small pitch of ball screw The position control resolution of CSDJ Plus Servo Drive is 1 pulse In fig 6 23 SEt 36 2048 and the maximum value that can be obtained of SEt 37 is 2048x4 8192 Thus minimum unit which moves by 1 command pulse can be A calculated as shown below Minimum distance moved by 1 10mm pulse of position command 122m 1 When actually applying design with sufficient amount more than minimum unit Rotation Detection Output Signal External DC24V SERVO DRIVE This is an output signal which indicates that the motor is rotating CN1 Pin 43 CN1 Pin 44 SEt 43 Selection of TG ON 0 01 Uses TG ON as a Rotation LED No 4 Output Signal Function Factory setting detection output signal SA 20 SEt 16 TG ON Speed Level 0 1000 RPM Factory setting Operate in all control modes When SEt 43 LED No 4 1 TG ON signal operates as other function Uses TG ON as atorque limit output signal This signal can be used as reference signal of host controller Fig 6 29 Rotation Detection Output Signal SEt 43 LED No 4 Rotation Detect Torque Limit Detect CN1 43 M
122. onnect a regeneration resistor or auxiliary capacitor nertia Load inertia ratio Load inertia ratio can be check in Con 13 Rotor inertia of motor after autotuning Table 7 2 Allowable Load Inertia Ratio When regeneration resistor is not connected and when operated at a rated speed 26 10 5 5 1 27 12 6 30 30 30 30 28 12 Above inertia is the maximum value thus use with suffi cient allowance When connecting a load larger than the allowable load inertia connect a regeneration resistor regeneration unit or auxiliary capacitor When connecting a load larger than the allowable load inertia and using repeatedly electrolytic capacitor may be damaged or the lifespan of the drive may be reduced The table above is for the horizontal load When using in vertical load allowable load inertia may be lowered according to the usage conditionRefer to C Vertical Load The table above is load inertia when operating in rated speed Supposing that there is no friction energy the rotor generates is calculated as follows A 1 2 x Total rotor inertia x Speed Thus when operating above the maximum speed the maximum allowable load inertia is remarkably lowered Contact the agencies On the contrary if it is operated with lower than rated speed it can correspond to greater load inertia than that of above table In other words if the speed is reduced to
123. ontent Initial Unit Setting Setting Range 0508 DA Channel Output Content Selection DA Channel 1 Offset Adjusts output offset of DA PEU Adjustment channel 1 223 Tomy 1 DA Channel 1 Gain Adjustst output gain of DA 8 SEES Adjustment channel 1 109 a 17290 DA Channel 2 Offset Adjusts output offset of DA SEES Adjustment channel 2 109 05209 DA Channel 2 Gain Adjusts output gain of DA x 0 Adjustment channel 1 100 en NN Factory setting is appropriate It cannot be initialized even if initialized with USr 09 When error 80 Check Sum Error occurs itis initialized to initial setting in Table 4 4 Offset Adjustment Method 1 Set dA 04 USr 08 using the operator with SERVO OFF motor is stopped DA output is O Volt 2 Measure output voltage of each channel 3 Set SEt 71 and SEt 73 according to the calculation below When increasing the setting value with standard of 100 D A output voltage rises in voltage and when decreasing the setting value it declines to voltage An accurate computation is as follows SEt 71 100 Measured Output Voltage mV of channel 1 0 1 Output voltage measured in servo OFF status SEt 73 100 Measured Output Voltage mV of channel 2 0 1 Output voltage measured in servo OFF status 4 Or as observing the output voltage SEt 71 and SEt 73 can be set so the voltage is O V Reduce the setting if the voltage is greater than O V and increase the setting if the voltage is
124. or power call ON circuit IPM Module error for A S ERES During the operation Over current Motor Line Check power voltage E acceleration or crash Short Open Increase acceleration deceleration temperature is over Check power voltage Over Heat When insertingthe 7 EA au Check motor power line E12 power occurred Usein the environment where the Low voltage of IPM temperature is below 55 Motor line grounding Torque The torque command is Command operated for more than Momentary During the operation couple of seconds in Overload maximum torque T me 1 Check load condition Increase E20 tol Motor 1 Torque The torque feedback is FeedbackMo operated for more than Check the motor capacity mentary During the operation couple of seconds in Overload maximum torque E22 Fol Motor connection error Torque The operation proceeds for Command more than couple tens of Continuous During the operation seconds by exceeded torque Overload command Check load condition E21 tOL Motor connection error Increase accelerated and deceleration time Torque The operation proceeds for Check motor power cable FeedbackCon more than couple tens of Check motor capacity tinuous During the operation seconds by exceeded torque Overload feedback E23 FOL Motor connection error Displays after high Check encoder connection status Over Speed speed rotation afte
125. orque Limit Command and Torque Limit Detection Output Signal 6 40 Fig 6 33 Gain Tuning sss 6 44 Fig 6 34 Using the Rotation Prohibition Input Signal 6 45 Chapter 7 Other Functions and Applications 7 1 Fig 7 1 Dynamic Brake sese 7 3 Fig 7 2 Timing Chart of Servo OFF Input Signal and Brake Control Output Signal 7 5 Fig 7 3 Timing Chart of Brake Control Signal when the Motor is Stopped during the Rotation 7 5 Fig 7 4 Timing Chart of Brake Control Signal at Servo ON 7 6 Fig 7 5 Using Brake 7 6 Fig 7 6 Wiring with the Host Controller when Absolute Encoder IS Used esee eie e tee ee uds 7 8 Fig 7 7 Regenerative Energy 2 7 9 Fig 7 8 Operation Pattern of Vertical Load 7 11 Fig 7 9 Regeneration Resistor and Regeneration Unit Connection toten do iere 7 12 Fig 7 10 Motor Type Setting SEt 52 7 13 Chapter 8 Error Handling 8 1 Fig 8 1 Error Notification 8 3 Fig 8 2 Connection Diagram of Alarm Related Output Signal Chapter 9 Troubleshooting 9 1 List of Figures 3 List of Figures 4 List of Figures 5 Overview and Specifications Chapter 1 explains the basic information on CSD Plus Servo
126. otor Speed Con 01 Setting Value of SEt 16 TG ON ON OFF Torque Control Torque control tension control or pressure control can be operated SERVO DRIVE Setting Torque control Only torque control is possible 2 T REF Torque command input V REF Ineffective Speed torque control Torque control with speed limit function T REF Torque Command V REF Speed Limit Command Control Mode 6 Speed Speed limit torque control conversion possible Setting ON Speed control mode OFF Torque control mode with speed limit Position Torque Control 7 ON Torque control mode OFF Position control mode Torque SEt 05 Command 0 100 Gain Sets how many of rated torque per 3V input voltage will be the command torque Factory Setting value 100 Torque Command Table 6 12 Torque Command Input voltage x Rated torque x Setting SEt 05 Torque command T REF 3 x 100 CN1 pin 21 22 Input voltage 10V 10V Forward rotation to voltage Fig 6 30 Input Voltage and Command Torque Command Torque Setting value as when delivered Input Voltage V Setting Range Steepness is set in SEt 05 Fig 6 31 Torque Command Input Circuit SERVO DRIVE CN1 Pin 19 Speed Limit Input 0 10V VREF SG CN1 Pin 20 1810 Turn EXT DC 10V Variable resistor 2k2 CN1 Pin 21 STOP S W CN1 Pin 22 TREF SG
127. output 21 TREF Gray Torque command input 46 salm SERVO ALARM GND Brake control signal 22 057 Torque command Input BK output ne Ready signal output Brake control signal 23 TM Yellow Analog monitor channel 48 BK Orange output GND 3Point 1 Linel Ready signal output GND Blue Gray Absolute encoder 24 3Point 9 49 Linel bottery 3 6V White Absolute encoder Geen 25 BAT 3Point battery 50 PE Shield PROTECTIVE EARTH The color of I O Cable wire be changed The functions of pin 10 and 15 of CN1 differ according to the setting value of SEt 46 No 4 and 5 Functions marked in the table above are the one based on initial value set in SEt 46 No 4 and 5 Refer to SEt 46 of user constant list P CON P CL N CL functions differ according to the control mode Refer to the table shown below Table 2 5 I O With Different Functions for Each Control Mode ON Reverse Rotation OFF Forward Rotation ON Zero clamp Operation Reverse Rotation Forward Rotation OFF Z Current Limit Current Limit Zero clamp not Command Command Counted ON P Control OFF PI Control Multi step Speed Comman en CN1No 10 PIN Speed Command PCL N CL TRES lo Ist Step Speed ET Reverse setting value of SEt 26 Rotation 2nd Step S peed OFF Forward Rotation setting value of SEt 27 ON OFF OFF 3rd
128. p Method gt Stopping in torque control setting with O also value in Output as the standard B phase Setting of Encoder Se in 90 P MILAN Output Pulse Refer to Fif 6 25 Encoder Output x4 Direction Pulse Form Refer to Using Encoder Output Output is opposite to the standard Recognizes as ON state when 5 Selection of ON state CN1 10 pin is closed of CN1 10 pin Recognizes as ON state when CN1 10 pin is open Caution 1 Parameter with are effective after setting and then turn off and on the power 2 Parameter with are effective when it set in Servo OFF 0 No Function When absolute value of analog speed 1 command is less than SEt 17 RPM 0 1 speed command is recognized as 0 Setting is not counted in zero clamp mode Trapezoid Operation 2 S Curve Operation Turn off and on the power after Use 2 9 torque command filter T changing setting 3 value Servo Additional 2 Use both torque command filter 15 OFF state 274 CCW Operation Speed and torque 0 corteo Parameter is set Forward to factory Operation Definition of motor setting if 4 rotation direction 0 initialized from CW Operation according to the USr 09 1 Reverse positive input of Direction speed and torque Operation voltage Use 1 torque command filter Ojej o SEt 45 Function Selection Position pulse command of line drive output ci
129. r 5 Absolute Encoder Data Transmitting mode 1 rotation data during SEt 77 transmitting absolute Refer to 0 8192 2048 No 6 No 5 No 4 No 3 2 No 1 encoder data LED No is specified as shown on the right Caution 1 Parameter with are effective after setting and turn off and on the power 2 Parameter with are effective when it set in Servo OFF Parameter Setting Related to Speed Control SEt 01 External speed command gain Speed per external analog input voltage command 1V or 10V according to setting of SEt 46 LED 10 6000 500 No 2 RPM 10V Refer to 6 1 A Speed Command RPM Y USr 03 Auto adjustment of speed command offset Refer to Auto Adjustment of Speed Torque Command Offset Usr 05 Manual adjustment of speed command offset Refer to Manual Adjustment of Speed Torque Command Offset SEt 19 Acceleration time Sets acceleration time from the zero speed to rated speed Refer to Acceleration Deceleration Time and S Curve Operation ms 0 60000 0 SEt 20 Deceleration time Sets deceleration time from the rated speed to the zero speed Refer to Acceleration Deceleration Time and S Curve Operation ms 0 60000 0 SEt 21 S curve operation time Sets the S curve time for during acceleration deceleration Refer to Acceleration Deceleration Time and S Curve Operation ms 05000 10 SEt
130. r the peri oe iring _ Check motor connection status E40 05 speed command has L Position command error Gain adjustment been input SEt 36 SEt 37 Check External e stop circuit is activated due to alarm J Remove the cause of alarm and E stop E stop signal is ON during run E41 ESt during power ON or run _ 10 pin is setto input a otop and SEt 44 LED Set SEt 44 LED No 5 0 0 5 Continued Encoder Low Voltage Error After power distribution Internal main capacitor of absolute encoder is low voltage Alarm Code Status Cause Corrective Action Load is too big Check OWE connection Overvoltage Displays during When there is regeneration Check regeneration resistor is ESO deceleration ne regeneration resistor open and increase regeneration resistor capacity Encoder Error in encoder connection Error connector Check CN2 connection status gt 4 p attached encoder Turn OFF and reset alarm E30 EOP Encoder input part B D error Check pulse input part connection Pulse Input Pulse error which exceeds status user parameter SEt 33 Lower the input frequency SEIEN During the Operation Gain is too low Raise Feed Forward gain of SEt 34 E33 PoF External load is too big Raise speed gain SEt 2 3 Raise position gain SEt 4 External Battery Low Batte
131. rae eb a ev p e cans B 1 CSM RM OOP an den rud vium did ad B 2 Appendix C Cable C 1 Power Cable Assembly for 3 Phase Motor CSMT MR C 1 Motor Brake Cable Assembly CSMT MR C 2 User l O Gable ceci iaa eii SET 3 9 Wire Incremental Encoder Cable Assembly CSMT MR C 4 Communication Cable 0 0 C 6 Controller Cable Connector Specification C 7 Cable Code Format sese C 8 Appendix D Load Calculation of the Mechanical Part D 1 The Moment of Inertia Calculation D 1 i D 2 Timing Belt Load u ea ee D 4 Ball Screw Load Horizontal Axis D 6 Ball Screw Load Vertical Axis D 8 Rack PINION Load 0 D 10 Round Plate Load eee nnn D 12 Appendix E Conversion Table of SI to from CGS E 1 Appendix F Motor Capacity Selection F 1 Appendix Revision History G 1 Table of Contents Chapter 1 Overview and Specifications 1 1 Table L1 Standard Specifications of CSD Plus Servo Drive EE 1 6 Table 12 Control Specifications
132. rcuit 5 0 Position pulse command of open collector output circuit 6 Reserved LED No is specified as shown on the right No 6 No 5 No 4 No 3 No 2 No 1 Caution 1 Parameter with are effective after setting and turn off and on the power 2 Parameter with are effective when it set in Servo OFF 0 CW CCW Positive Logic 1 CW CCW Negative Logic 2 Cannot be Used 5 a 5 3 Cannot be Used 2 4 Cannot be Used 1 Pulse Form Selection 5 Cannot be Used Parameter is 6 B 4 Positive Logic 7 phase B 4 Negative Logic 8 Sign Pulse train Positive Logic 9 Sign Pulse train Negative Logic 0 Sets the unit of SEt 01 in Effective when 2 EE 2 it set in Servo 1 Sets the unit of SEt 01 in RPM 10V OFF Reserved 3 Reserved SEt 46 Emergency Stop 1 P CLR Position Counter Clear 2 Multi Step Speed 4 Command Multi Step 2 4 gr of CN1 3 Direction conversion command 10 Pin Speed Multi step Speed Mode 4 Reset of absolute encoder Tus Effective when Absolute Encoder Data Transmitting A 5 mode it zo 0 Emergency Stop 1 P CLR Position Counter Clear Multi Step Speed 4 Command Multi Step Selection 5 of CN1 3 Direction conversion Command 15 Pin Speed M ulti Step Speed Mode 4 Reset of absolute encode
133. reign material adhesion When Occurs Clean by vacuum cleaner Measure by insulation nls Insulation resistance 1 Year resistance measurer Greater than 500V 1082 OIL SEAL Every 5000 Hours OIL SEAL replacement Disassembly and Overall Check 20000 Hours 5 Years Contact our company replacement of consumables Servo Drive Since the servo drive is designed with the electronic circuit foreign material or dust causes the malfunction Thus periodic annual cleaning and tightening of screw is required Replacement period of servo drive s each parts on the basis of 20 hour operation per day Capacitor 3 years Cable 3 years Movable cable as standard Power element 3 years Regeneration resistor 2 years DB Resistor 2 years FAN 2 years Table 9 2 Troubleshooting Servo Motor Motor defect each wire of Motor U V W ol lme resistance of motor is different replace the motor phase lead by resistance test If the motor starts make the load Over loaded Operate with no load light or replace the motor with Motor does not bigger capacity rotate Loose coupling between Tighten the loosened part and motor and mechanical Check the connection part replace the damaged part contact part System connection wiring open or short Check the connection of wire corect E with reference to the connection diagram of manual circuit
134. ror pulse Setting Value of SEt 18 P COM OFF ON If position completion range User parameter SEt 18 is set in big value in low speed operation it can be main ATTENTION tained in where position completion signal P COM is N ON CN1 pin 41 is at low level in other words CN1 pin 41 42 are Closed Generally this signal can be used as a signal for next step operation of the system Signal Timing Fig 6 21 SERVO SV ON OFF BASE 10 Signal Timing Chart SERVO ON SERVO Off PWN PWM BLOCK OFF PWM ON OFF Sign i nt Pulse f 1 Phase 1 1 1 1 1 i 1 1 B Phase H 1 1 1 1 1 1 la PCOM ON or 4 ON OFF ON 1 1 1 1 ty to t3 t4 ts Maximum Maximum Minimum Minimum 40ms 6ms 40ms 2ms Mode Setting Parameter Position Speed Control Mode Input terminal P CON is used to switch between position control mode and speed control mode Table 6 11 Setting of Position Speed Control Mode SEt 41 8 Setting value is effective after power OFF ON Control Mode Conversion P CON Terminal OFF gt Position control mode ON gt Speed control mode Control mode display of the operator P S display Position Control Speed Control Mode Conversion Conversion conditions 1 Position command pulse 0 2 position command actual position setting value
135. rotation speed differs according to the command pulse multiplication e In Case of Line Drive Fig 6 17 Wiring for Position Command of Line Drive Output HOST CONTROLLER SERVO DRIVE Line Drive MC3487 or Equivalent e In Case of Open Collector Fig 6 18 Wiring for Position Command of Open Collector Out put Recommended HOST CONTROLLER Input Current 10mA SERVO DRIVE VCC 24V 5 R 2K2 118 an alo LILLLLLLLL VCC 12V 5 R 1k2 VCC 5V 5 R 2200 TR The signal logic for open collector output is as follows TR is ON TR is OFF Equivalent to low level input Equivalent to high level input When operating in 24V operation is stable in a noise environ ment In case of which input form of CN1 pin 12 14 is not accu ATTENTION rately Low 0 6V or if R is greater than the standard position shift may occur Thus use 24VDC external power supply amp Pull Up Resistor 2k I O cable length is restricted as followsl Line Drive Output under 5ml e Open Collector Output under Im In case that the cable length is over restriction Positioning error may occur Position Command Pulse Form Table 6 9 Position Command Pulse Form Set in SEt 46 LED No 1 PULS PULS 0 cw oiii TL TE T sien Factory SIGN pw fae CN1 13 JLILTLIL CN1 13 L Setting 2 1 PULS PULS S el _ ath JLILILIL SIGN S
136. ry exchange Voltage of Check encoder cable Absolute After power inputor Low voltage of external battery during the operation of absolute encoder Reference Encoder Motor continues to operate even if Alarm the alarm is displayed Absolute In the status where the power has been connected after about 1 minute reset with operator or 1 0 Here multi rotation data of absolute cation Error Operator LED flickers noise E35 EuU encoder is also set as 0 Initial irai When encoder power wire is Encoder Displays after power not connected E ale power line OPEN distribution SEt 51 setting error Encoder exchange E36 EoP Encoder error 9 ae speed In case of which main power is ae not supplied the encoder ackout o TENES motor axis rotates in high Multi rotation data is reset to 0 Absolute After power distribution speed In such case there may when resetting with operator or 1 0 Encoder be an error in multi rotation E37 EoS data of absolute encoder HALL sensor Displays after power offset Error distribution E ie ee Check motor status E62 uOF Occurred during the Motor error Ask for A S Control Momentary black out occurs Power Error During the operation or during the operation Eliminate momentary blackout E70 tuU cut off main power Control power is cut off from function of user parameter SEt 43 TT the exterior E71 uU Initia
137. ser I O Cable 50 PIN Connector Servo Drive CON A 36 PIN Connector Short CON B gt Do not peel off the lead line WBA Protection tube Cable Tie with cable tie e I O Cable Connection Specification Servo Drive 1 Red 21 Gray 2Point 41 Orange Light Line 2 Yellow 22 Red 3Point 42 Gray Light Line 3 Sky Blue 23 Yellow 3Point 43 Red lLine 4 White 24 Skyblue 3Point 44 Yellow lLine 5 Pink 25 White 3Point 45 Skyblue 1Line 6 Orange 26 Pink 3Point 46 White 1Line 7 Gray 27 Orange 3Point 47 Pink 1Line 8 Red 1Point 28 Gray 3Point 48 Orange lLine 9 Yellow 1Point 29 Red 4Point 49 Gray 1Line 10 Skyblue 1Point 30 Yellow 4Point 50 Shield Green White 1Point 31 Skyblue 4Point 12 Pink 1Point 32 White 4Point 13 Orange 1Point 33 Pink 4Point 14 Gray 1Point 34 Orange 4Point 15 Red 2Point 35 Gray 4Point 16 Yellow 2Point 36 Red Light Line 17 Skyblue 2Point 37 Yellow Light Line 18 White 2Point 38 White Light Line 19 Pink 2Point 39 White Light Line 20 Orange 2Point 40 Pink Light line e Order Numver and Product Name 3 000 IOC SHO3U50CNA 5 000 IOC 5 05050 10 000 IOC SH10U50CNA Use I O Cable 15 000 IOC SH15U50CNA 20 000 IOC SH20U50CNA 9 Wire Incremental Encoder Cable Assembly CSMT MR CON A CON B gt Tie with cable tie Cable Protection tube 9 Wire Incremental En
138. shifting due to external noise 2 If possible use thick electrical wire for grounding and one point must be grounded However apply the class higher than 3 class When isolating the motor and mechanical parts ground the motor 3 The maximum length of the wire for command input cable CN1 is 3m and for the position sensor and motor power cable its maximum length is 20m Cut off excessive wires and use shortest wiring distance if possible Contact the agency for long distance wiring 4 Pay attention to the following cases to prevent errors due to noise when operation the system Line filter servo drive motor input devices should be installed as closely as possible Attach surge absorbing circuit for relay wiring circuit breaker electronic contactor and etc Refer to Noise Protection 5 The heat sink of the servo drive can rise up to around 80 C Avoid the devices or wiring which can be easily effected by the heat from the servo drive 6 Open unused signals and terminals The system may be affected by the external noise if unused circuit is wired 7 If the cable is not fixed in place and moves utilize separate movable cable The life span of the cable is around 2 years Change the cable every 2 years Wiring Diagram Fig 2 8 Wiring Diagram 050 Plus SERVO DRIVE Input Power 1 3 vo 220 4 Make sure to
139. t Input Power Check LED Display Check Check and repair the wiring Check causes of alarm LED display Check input power line Check of reference voltage Troubleshooting Relating to Incorrect Setting Motor rotate in speed command OV Speed Zero Offset was not adjusted Input OV in speed command and adjust speed offset Motor vibrates Overshoot is big when accelerated or decelerated The gain of speed P SEt 02 I SEt 03 is too high or not correct Adjust gain value Adjust after autotuning Items to Check Prior to Asking Service E80 E81 E82 occur continuously in status display mode Initialize the data referring to 4 7 H Data Initialization During the initialization do not operate other operation for 6 seconds and make sure the power does not go OFF Check motor capacity motor type setting and encoder type setting After the data initialization operate power OFF gt on to change to position control mode E36 occurs continuously in status display mode Check the setting of encoder type SEt 51 and motor type SEt 52 Check if the encoder cable is disconnected Pulse is transmitted in unexpected way to the Host controller Refer to chapter 5 user parameter table SEt 44 and SEt 46 and check if itis set in appropriate pulse Appdendix Appendix A Motor Specification CSMT Motor Specification CSMR
140. taneous overload of motor current 23 FOL Continuous overload of motor current 30 EOP Encoder open 33 PoF Pulse error difference between the pulse command and motor movement overflow 35 EuV Low voltage of inner capacitor of absolute encoder 36 EoP Error in initializing encoder 37 Eos Over speed during electricity failure of absolute encoder 40 oS Over speed detection 41 ESt Emergency stop 50 Over voltage 62 uOF Offset trouble in current sensor U phase 63 UoF Offset trouble in current sensor V phase 70 Momentary electricity failure 71 uV Control power cut off 80 CHE Parameter damage 81 Pro Parameter range check error 82 EtP Motor setting or encoder setting error Jog Mode Table 4 2 Jog Mode Parameter 05 01 J OG Servo by operator Refer to startup by operator USr 02 Autotuning USr 03 Auto adjustment of speed command offset USr 04 Auto adjustment of torque command offset USr 05 Manual adjustment of speed command offset USr 06 Manual adjustment of torque command offset ALARM RESET ERROR DATA RESET USr 07 When resetting during the error related to absolute encoder the multi rotation data of encoder also becomes 0 USr 08 D A CONVERTER Channel selection All parameter except SEt 23 SEt 24 SEt 36 SEt 37 SEt 51 SEt 53 SEC 71 74 are set to factory setting USr 09 In occurrence of E 80 initializing operation will change all user parameters into initi
141. ted to speed multi step speed control mode by ON OFF of P CON input terminal Table 6 4 Speed Multi Step Speed Control Mode Setting Mode Settin 9 SEt 41 14 Setting value is effective Parameter after Power ON OFF P CON Input Terminal Control Mode OFF gt Speed Control Mode Conversion ON gt Multi Step Speed Control Mode Selection by P CL N CL Input Terminal Setting val ue of Step 1 speed OFF SEt 26 Setting val ue of Step 2 speed OFF Multi Step Selection SEt 27 Speed Setting val ue of Step 3 speed SEt 28 In order to set direction conversion command terminal with CN1 pin 10 or 15 set 3 in SEt 46 LED No 4or 5 Forward Reverse direction command is operated through ON OFF of set terminal CN1 10 or 15 Acceleration time Setting value of Set 19 Deceleration Time Setting value of SEt 20 Acceleration and Unit msec Deceleration time in mode Conversion Caution Acceleration and deceleration time must be set In case of which the acceleration and deceleration time is 0 it may be too harsh for the load during control mode conversion Step 4 speed can be used when selecting multi step speed control mode Refer to next page for its usage ON The corresponding input terminal is connected to input voltage GND OV OFF The corresponding input terminal is connected to 24VIN or not connected Using the Step 4 Speed Fig 6 6 Usi
142. time from the input of Servo OFF signal when the 10msec 0 1000 50 motor is operating until the output of brake command Time it takes for brake release signal is output from internal Servo ON signal 10msec 0 1000 0 SEt 76 Servo Off and Brake Control Signal Timing When the Motor is Locked In case the load moves a little due to the gravity when the servo is turned OFF set the delay time appropriately from the point where the servo off signal has been input in SEt 29 up to the actual point when the internal servo is OFF If Servo OFF signal is on when the motor is stopped immediately turn ON the BK signal Maintain servo on status internally according to the time set in SEt 29 from the point when Servo OFF signal has been on Then turn the Servo OFF when the set time is exceeded Fig 7 2 Timing Chart of Servo OFF Input Signal and Brake Control Output Signal External input signal SV ON Servo OFF CN1 pin 3 SEVO ON BK Output Brake ON Outpu CN1 pin 47 Brake OFF Internal servo ON OFF state SENO OFE PWM output ON OFF state Servo ON 1 1 re gt Set time of SET 29 When motor stopped during the rotation operate the brake The brake signal will be output if and only if Motor Speed lt Set value of SEt 30 or Exceeding time set in SEt 31 after Servo OFF Fig 7 3 Timing Chart of Brake Control Signal when the Motor is Stopped during the Rotation Brake OFF Servo
143. tion of servo motor Condition of Selection JL Allowable load inertia of servo pack Consumed acceleration torque lt Instantaneous maximum torque Consumed deceleration torque lt Instantaneous maximum torque Tms lt Rated torque of the motor Pa Po 1 2 x Rated motor output Ny Rated rotation speed of the motor Select the servo motor with the above condition Servo Motor Specification Rated output CSM D 1000 W Rated rotation speed 2000 r min Rated torque 14 4 N m Motor inertia 6 17 10 kg m Allowable inertia of servo pack 61 7 10 kg m 8 Check for selection condition of the temporarily selected servo motor a Load moment of inertia for motor side J J 44 9x10 kg gt Allowable inertia of servo pack 61 7 10 kg 0 Required operational torque Consumed acceleration torque Tp 2aNu Ju J 1 2 x 1500 6 17 44 9 GS um 173 9 75 Nm lt Instantaneous maximum 60ta OOKO torque of the motor Required stop torque Consumed deceleration torque Ts 2aNu Ju 2 x 1500 6 17 44 9 1 17 6 29 Nm lt Instantaneous maximum 60 ta 60 x 0 1 torque of the motor 4 Torque RMS Average value T dept ae x 0 1 x 173 x 10 6 29 x 0 1 lt Rated torque ofthe jio Y 3 31 N m t 15 motor e Power Pa Po 11084272 1380W lt Rated output of the motor 1000W 1 2 Rotation speed Nm 1500RPM lt
144. to the speci fication of applied servo motor Check if the connection and wiring LEAD are properly con nected to the terminal and if they are plugged into the connector properly Check if the sequence is set up so the power can be turned off by the Servo Alarm Check if the voltage supplied to the servo drive is actually supplied with an appropriate power Single phase 220VAC 10 15 50 60 2 Check if the polarity of DC voltage supplied to the servo drive is correct 24VDC 10 Check if OV is applied for soeed command Check if the motor type capacity and encoder type are set exactly They can be checked SEt 51 SEt 53 For modification turn the power off and on again then initialize the parameter in USr 09 Take appropriate action immediately if there are any problems in the above Startup In order to avoid unexpected accidents during startup ATTENTION operate the servo motor without the load When startup is done with the load then operate the servo motor after setting the system so that the operation can be emergency stopped anytime When the load is connected and startup is done with the operator set the acceleration and deceleration time prop erly in SEt 19 and SEt 20 Powering ON and OFF When supplying the power with the power sequence made the power is supplied to the push button switch and the user must push the button for one second Check the color of LED and proceed according to t
145. trol mode SEt 44 LED No 5 0 Factory setting Setinto On status when 1 pin 10 is Closed SEt 46 LED No 4 2 Set the CN1 pin 10 to input of step 4 speed command SEt 46 LDE No 5 3 Set the CN1 pin 15 to input of direction conversion command Fig 6 7 Example of Step 4 Speed Command Usage P CON Speed Control OFF Multi Step Speed Control P CL N CL is operated N CL by external current limit input Step 4 speed command A ee Pin 10 Direction conversion command rom oo rmm step1 0 i Step 3 Step 2 4 Step 4 Step 1 lo Motor Speed Speed Speed Speed Speed Speed Speed Speed command of step X is ignored Manual Zero Clamp Speed Control Mode In case of which there is position control loop in host controller it controls the position to stop the motor But if the host controller does not control the position when using the servo drive only in speed control mode speed command V ref is not completely O V and little offset may exist Here motor rotates little and uses this function to completely stop the motor rotation Fig 6 8 Using the Zero Clamp Speed Control SERVO DRIVE Motor can rotate SERVO DRIVE little by little due Motor Stop to the offset Analog _CN1 19 Zero clamp Analog _CN1 19 General Speed Speed Control Speed Speed Command Command Control O Offset v CN1 20 CN1 20 0 Offse Spee
146. type pulse command SEt 45 SEt 45 Must set when the Is the pull up resistor frequency of the position accurate command pulse exceeds 200kpps Autotuning Adjust SEt 58 and SEt 70 when the load inertia is big or the motor cannot turn once in left and right direction Startup by the Operator in RPM fi 25 Setting the Jog Operation Speed Set in RPM from user parameter SEt 25 Setting the Acceleration and Deceleration Time Jog operation be done from Servo ON and Startup by the Operator Usr 01 of user mode Setting the Jog Operation Speed Fig 3 3 Setting the Jog Operation Speed Display differs according to the set control mode Jog operation speed Factory setting Set the speed using the keys Setting Acceleration and Deceleration Time in Startup by the Operator Fig 3 4 Setting Acceleration and Deceleration Time X Deceleration is set in SEt 20 Acceleration time Factory setting Set the deceleration time using the keys Unit msec woe The key must be pressed ASET Y to set the changed value 1 7711771 Servo ON Jog On and Startup by the Operator Fig 3 5 Startup by the Operator Power ON Display differs according to the control mode User Parameter
147. uency for the load Direct coupled round plate Table 3 2 Setting the Torque Filter C utoff Frequency SEt 06 1000 Initial value when delivered Direct coupled Ball Screw 1000 2000 Belt and chain 300 600 Torque filter cutoff frequency lowers the frequency according to how much delay elements exists in the process of delivering the torque of the motor When the value is set too low it could cause vibration in the direct coupled round plate where there is no delay element On the contrary vibration occurs in belt or chain where there is many delay elements when the frequency is set too high Operating the autotuning when the value of SEt 42 is set to 0 the gain is adjusted in 20 the initial value of SEt 42 In other words the gain value reflected by operating the autotuning in the condition where the setting of SEt 42 is 0 is same as the one operated in 20 Checking the Load Inertia ratio Load inertia ratio gained in autotuning can be checked in Con 13 SEt 66 Load inertia ratio is calculated as the following Load Inertia Motor Inertia Load Inertia Ratio Displayed to the first decimal point Refer to Table 7 3 for allowable load inertia in operation of each motor in rated speed Test Run In the operator test run can be done using the following operation pattern Operate in USr 90 Starting and ending the test run can be done with key Repeat u
148. ut EDGE Alarm Codes and Corrective Actions Table 8 2 Alarm Codes Classification EDU SC Detected if over current exists in main circuit Over E11 oC eurteht In case of which the servo drive reaches the 12 over heating status Incorrect operation due to the noise E20 tol Torque Command Momentary Overload Overload E21 tOL Torque Command Continuous Overload E22 Fol Torque Feedback Momentary Overload E23 FOL Torque Feedback Continuous Overload Encoder Open Occurs when position error exceeds the SEt 33 E30 EOP value Position E33 PoF Inner Capacitor Low Voltage of Absolute detect cao E35 EuU Encoder E36 EoP Initial Encoder Open Initial Electric Angle E37 EoS Error Over speed during black out of absolute encoder 40 05 In case of which motor rotation number Over speed EA1 ESt exceeds the maximum allowed speed Emergency Stop Detected when main circuit DC voltage is Over voltage E50 0U higher than the standard voltage Occur during speed reducing Standard voltage 410V 45 Controller B E62 uOF U phase current offset error D error E63 UOF V phase current offset error yos E70 tuU Momentary black out E71 uU Main Power OFF power ESO CSE EEPROM data error Parameter ESL Pro EEPROM data has data which exceeds setting error E82 EtP limit Motor and Encoder type error Low Voltage of External Battery of Abso

OE Max CSDJ Plus Servo Drive User Manual

Contents

Download Pdf Manuals

Related Search

Related Contents