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OE Max Controls CSDP Plus User Manual

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CSDP Plus Servo Drive
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Summary of Contents for OE Max Controls CSDP Plus

  • Page 1 Maximum Value for OEMs CSDP Plus Servo Drive User Manual...
  • Page 2 Important User Information Solid state equipment has operational characteristics differing from those of electromechanical equipment. Because of this difference, and also because of the wide variety of uses for solid state equipment, all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable.

  • Page 3: Table Of Contents

    Contents 1. Introduction.............. 11 Functionality ....................11 Specifications ....................14 2. Installation ............... 19 Servo Motor Installation ................19 Servo Drive Installation ................22 Wiring......................25 3. Operation..............41 Overview ....................... 41 Operator ......................42 Mode ......................44 Basic Set-up ....................54 4.
  • Page 4 6. Application ............. 101 Motor Stop....................101 Motor Brake ....................103 Motor Revolving Direction ................ 106 Regenerative Resistor ................107 Set-up for Smooth Operation..............112 Speed Limit....................114 Position Feedback to the Controller............115 Analog Monitor ..................117 Absolute Encoder ..................119 7.
  • Page 5 SEt-32 Brake Inactive Delay Time After Servo ON ........150 SEt-33 Following Error Level..............151 SEt-34 Position Feedforward Gain............151 SEt-35 Position Command Filter ............... 151 SEt-36 Electronic Gear Ratio Numerator..........152 SEt-37 Electronic Gear Ratio Denominator ..........153 SEt-38 Speed Bias ..................153 SEt-39 Speed Bias Application Range ............
  • Page 6 SEt-64 Forward Torque Offset ..............172 SEt-65 Reverse Torque Offset..............172 SEt-66 Load Inertia Ratio ................172 SEt-67 Speed Limit..................173 SEt-68 Maximum Torque Used ..............173 SEt-69 System Bandwidth ................. 173 SEt-71 DA Monitor Channel 1 Offset ............174 SEt-72 DA Monitor Channel 1 Output Gain..........
  • Page 7 CSDP Plus Servo Drive. This manual is made for the engineers who want to install, wire, and operate the CSDP Plus Servo Drive or apply the CSDP Plus Servo Drive to a control system. Those who do not have basic understanding of the CSDP Plus Servo Drive need to receive the product education provided by the before using the product.
  • Page 8 Safety Instructions Please read this manual and the related documentation thoroughly and familiarize yourself with product information, safety instructions and other directions before installing, operating, performing inspection and preventive maintenance. Make sure to follow the directions correctly to ensure normal operation of the product and your safety.

  • Page 9: Introduction

    Introduction Functionality CSDP Plus is an AC servo motor drive adopting a 32-bit DSP that realizes high accuracy control. CSDP Plus supports standard incremental encoder, simple incremental encoder, and absolute encoder for the sake of convenient system design. CSDP Plus-based servo system is usually configured as shown in the following diagram.
  • Page 10 CSDP Plus has five different products. Basic specifications of the products are displayed on the labels. Servo Drive Label Rated output of each product is described in the table below. CSDP Plus Rated Output Model Number Rated Output CSDP-15BX2 1.5 kW CSDP-20BX2 2.0 kW...
  • Page 11 The models with the same appearance as that or the device in the diagram below are as follows. • CSDP-40BX2 • CSDP-50BX2...

  • Page 12: Specifications

    Specifications Servo Drive The specifications of CSDP Plus models are as follows. CSDP Plus Model Specifications CSDP-15BX2 CSDP-20BX2 CSDP-30BX2 CSDP-40BX2 CSDP-50BX2 Main Supply Voltage 3-phase 200 to 230V, +10% to -15%, 50/60 Hz (Vrms) Control Voltage (Vrms) Single Phase 200 to 230V, +10% to -15%, 50/60 Hz Rated Input Current 10.3...
  • Page 13 Over current, Over voltage, Overload, Over speed, Low Protection Function Voltage, CPU Malfunction, Communication Malfunction, etc. Position/Speed/Torque Command and Feedback, 2 Channel Monitoring D/A Output for measuring position error Servo Motor Motors supported by CSDP Plus are as follows. CSDP Plus-supported motors CSDP-15BX2 CSDP-20BX2 CSDP-30BX2 CSDP-40BX2 CSDP-50BX2...
  • Page 14 General specifications of all the motors are displayed on each label of the motor. Servo Motor Label Rated Output is displayed as it is on servo drive. Rated Output Display Method Rated Output 1.3 kW 1.5 kW 2.0 kW 2.5 kW 3.0 kW 3.5 kW 4.0 kW...
  • Page 15 Oil Seal Present Brake and Oil Seal Present Circular Type (Coupling Tightening) Motor Shaft Key Tightening Type Taper Tightening Type Encoder CSDP Plus-supported encoders are as follows. CSDP Plus-supported Encoders Motor Mode Encoder Type 2500 P/R 11-wire type Inc. 2500 P/R 15-wire type Inc.

  • Page 17: Installation

    Installation Servo Motor Installation Please pay special attention to the following during motor installation. Impact is a major factor in lowering the motor’s performance. Please do not directly connect the motor to the power supply. Please keep the motor away from water and oil.
  • Page 18 Please do not put stress on the electric wires. Please mount the motor vertically or horizontally. The shaft is oiled for corrosion prevention. Please remove it before installation. Please connect the grounding line to the grounding connection terminal of the drive. Coupling Assembly Excessive impact during coupling assembly can...
  • Page 19 Load Connection If the center of the shaft does not match, it will lower the performance. Allowed Load for Motor Shaft Please make sure the load on the motor shaft doesn’t exceed load allowance. Please refer to the motor specifications in the appendix for the allowed load for each motor.

  • Page 20: Servo Drive Installation

    Does the servo motor match the specifications of the servo drive? • Is the product broken? • Does the product have any loosened or cracked parts? The installation environment required for CSDP Plus is as below. CSDP Plus Installation Specifications Item Condition Storage Temperature -20 to 80°...
  • Page 21 The sizes of CSDP-15BX2, CSDP-20BX2, CSDP-30BX2 are as below. The sizes of CSDP-40BX2, CSDP-50BX2 are as below.
  • Page 22 Please follow the command below to install the drive. Please make sure that the drive is installed vertically for enhanced cooling efficiency. Please attach the servo drive with a M5xL10 bolt.

  • Page 23: Wiring

    When multiple drives are installed, please set up cooling fans to prevent excessive temperatures. Wiring Please follow the wiring command below according to the wiring specifications. • Please install line filer, servo drive, motor, and input device as close as possible.
  • Page 24 Wiring Specifications Item Specifications Multi core, twisted pair, batch shielded cable as thick as Signal line AWG26 or more One-point grounding (100 Ω or less) with an electric wire as Grounding Line thick as 3.5 mm or more Input Power Cable Length Max.
  • Page 25 Power Supply Connection Terminal block Notation Function Cable Connection with Controller Encoder Cable Connection 3-Phase 220V AC Main Power Supply Input Connection 3-Phase 220V AC Main Power Supply Input Connection 3-Phase 220V AC Main Power Supply Input Connection Regenerative Resistance Connection (Regenerative Resistance Embedded) Regenerative Resistance Connection (Regenerative Resistance Embedded) Motor Power Cable Connection Motor Power Cable Connection...
  • Page 26 Previous CSDP users need to be careful with the wiring since WARNING the terminal arrangement is different from CSDP. Connect the motor power supply cable to U, V, and W terminals. CSDP Plus has its own low- capacity regenerative resistance.
  • Page 27 If an extra high-capacity regenerative resistance is needed, WARNING please remove the internal wiring of P and B terminals and connect the external regenerative resistance. Power Supply Wiring In the diagram above, MCCB stands for Molded Case Circuit Breaker and MC stands for Magnetic Conductor. Please use a push-button switch that transmits electricity only when it is pushed at in the circuit.
  • Page 28 Connection with Controller Connect the cable of controller to the CN1 connector. Controller Connector (CN1) Pin Symbols Wire Color Usage +24V IN External 24V Input +24V IN Yellow External 24V Input DI#1 Sky-blue Input Signal Assignment (Default Value/SV-ON) DI#2 White Input Signal Assignment (Default Value/P-OT) DI#3 Pink...
  • Page 29 Controller Connector (CN1) Pin Symbols Wire Color Usage AM-SG Orange 3 Dots Analog Monitor Output GND AM-CH1 Gray 3 Dots Analog Monitor Channel 1 Red 4 Dots Encoder Signal (Line Drive) Output A Yellow 4 Dots Encoder Signal (Line Drive) Output/A Sky-blue 4 Dots Encoder Signal (Line Drive) Output B White 4 Dots...
  • Page 30 Higher Control Connector (CN1) Circuit Diagram...
  • Page 31 Encoder Connection Connect the encoder cable to CN2 connector. Encoder Connector (CN2) Pin 9-wire 11-wire 15-wire Compact Serial Serial Function Inc. Inc. Inc. Abs. Abs. Inc. EO [V] U/SD+ RST (Abs) /U/SD- BAT+ BAT- E5 [V]...
  • Page 32 Please See "Cable Specifications" in Appendix C for further information about encoder cable, connector, and plug. 11-wire Incremental Encoder Wiring 15-wire Incremental Encoder Wiring...
  • Page 33 Compact Absolute Encoder Wiring Serial Encoder Wiring...
  • Page 34 Encoder Connector Specifications Motor Types Products RSMD, RSMF, RSMH, RSMK, RSML, RSMN, DMS3108B20-29S 9-wire Inc. RSMS, RSMX (or DMS3106B20-29S) DMS3108B20-29S CSMD, CSMF, CSMH, CSMS 11-wire Inc. (or DMS3106B20-29S) CSMD, CSMF, CSMH, CSMS, CSMK, RSMD, DMS3108B20-29S RSMF, RSMH, RSMK, RSML, RSMN, RSMS, 15-wire Inc.
  • Page 35 Anti-noise Measures As CSDP Plus uses a high-speed switching device and microprocessor in its main circuit, it can be affected by the switching noise from the switching device depending on the methods of peripheral wiring and grounding. Please use a thick line with the diameter 3.5 mm...
  • Page 36 Grounding, Wiring Please separate the input and output wires of the filter, and do not tie them together.
  • Page 37 Please position the grounding line of the noise filter away from the output wiring and do not tie it with other signal lines in the same duct. Connect the grounding line of the noise filter to the grounding frame separately. Please do not connect the grounding line of the noise filter to other grounding...

  • Page 39: Operation

    Operation Overview You can instantly use general electronic appliances like a television by just turning it on. But turning on a servo drive is not enough to operate a servo motor. To properly operate a servo drive, a servo-ON signal from a controller is required.

  • Page 40: Operator

    Connect the operator cable to CN3 (9 pin) terminal. The operator used by for to CSDP Plus is CST-SD2. Operator Please press the MODE/SET key to change mode or save the parameter. Press the ENTER key to select the parameter or escape to higher mode after selection.
  • Page 41 For instance, if you want to set up a position regulator loop proportional gain, follow the command below. Please press the MODE key until SEt-01 appears. When you see SEt-01, press the direction keys until you see Set-04, the parameter for the position regulator loop proportional gain.

  • Page 42: Mode

    Mode CSDP Plus has five operation modes. • Status Display Mode • Parameter Selection Mode • Monitor Mode • Alarm History Search Mode • Operation Mode When the power is turned on, the status display mode will start. Please press the MODE key to change mode.
  • Page 43 If the revolution speed of the motor is faster than the revolution detection level (SEt-16), the servo drive can display the revolution detection signal (/TG-ON). When the z-phase output of the encoder is detected, the bottom line on the fourth digit will be lit.
  • Page 44 When the Servo is ON, a dot will be lit. And SVRON light will be on. If an alarm occurs, the first digit of the relevant number will be displayed. And the ALARM light will be on. Parameter Selection Mode Various operational conditions are allocated to the parameter.
  • Page 45 Monitor Number List Contents (Unit) Con-01 Speed Feedback (RPM) Con-02 Speed Command (RPM) Con-03 Torque Command (%) ° Con-04 Electrical Angle ( Con-05 Speed Error (RPM) Con-06 Position Error (pulse) ° Con-07 Mechanical Angle ( Con-08 Position Feedback (pulse) Con-09 Position Command (pulse) Con-10 Offset of Analog Speed Command...
  • Page 46 Con-12 Function The in/output signal status display method can be set up on the second digit of SEt-50. To use the previous CSDP method for existing CSDP users, please set the parameter to 1. To use the original CSDP Plus display method, please set the parameter to 0. When the second digit of SEt-50 is 0, the in/output signal status of Con- 12 will be displayed as below.
  • Page 47 Jog Operation The revolution will continue in the forward direction (counterclockwise) only while the up button is pushed, and in the reverse direction (clockwise) only while the down button is pushed. Auto Tuning The gain of the servo drive is usually in proportion to inertia. If velocity speed regulator loop proportional gain and velocity speed regulator loop integral gain are not set properly, the operation characteristics of the servo drive can slow down.
  • Page 48 Please set SEt-69 by referring to the table below. Set-69 Set Up System Rigidity SEt-69 Low Rigidity Medium Rigidity High Rigidity During the process of auto tuning, the following parameter will be automatically set. • Speed Loop Proportional Gain (SEt-02) •...
  • Page 49 Current Offset Adjustment To adjust the current offset, please set the second digit of SEt-45 to 1 or 2. 1: Current Adjustment when Servo is OFF 2: Current Offset Adjustment when Servo is ON To run the auto adjustment for speed command offset, please change the preset value to 0.
  • Page 50 Manual Adjustment for Speed Command Offset Manual adjustment for speed command offset should be done when the servo is ON. If the UP key is pushed, offset will be added in the forward direction. If the DOWN key is pushed, offset will be added in the reverse direction.
  • Page 51 Parameter Initialization To return the parameter to their default values, please use USr-09. When USr-09 is implemented, in cases where the fourth digit of SEt-50 is 0, all the parameter except for those related to the system will be initialized and if the fourth digit of SEt-50 is 1, all the parameter will be initialized.

  • Page 52: Basic Set-Up

    Basic Set-up There are basic parameter that should be set first before setting other parameter. The parameter included in the basic set-up are listed in the table below. Basic Parameter Basic Parameter Event SEt-41 Control Mode SEt-51 Encoder Type SEt-52 Motor Type SEt-53 Motor Capacity...
  • Page 53 Please select the encoder type at SEt-51. SEt-51 Set-up Value Motor Mode Encoder Type Set-up(SEt-51) 2500 P/R Inc. (11-wire) 2500 P/R Inc. (15-wire) CSMD, CSMF, CSMH, CSMK, CSMS 1000 P/R Inc. (15-wire) 2048 P/R Compact Abs. 10000 P/R Inc. (15-wire) 2500 P/R Inc.
  • Page 54 Please set the motor capacity at SEt-53. SEt-53 Set-up Value 1.2kW 1.3kW 1.5kW 2.0kW 2.5kW 3.0kW 3.5kW 4.0kW 4.5kW 5.0kW 6.0kW CSMD CSMF CSMH CSMK CSMS RSMD RSMF RSMH RSMK RSML RSMN RSMS RSMX...

  • Page 55: Control

    Overview Input signal is sent to servo drive from the controller, while the output is vice versa. Only A contact is used for CSDP Plus except for P-OT and IMPORTANT N-OT. Therefore, ON means connection and OFF means interruption, excluding the cases of P-OT and N-OT. For...
  • Page 56 Input Signal Signal Function Application Control Mode Ignores the input value if the value of analog command is lower than analog command Speed /Z-CLP the speed zero clamp level (SEt-17) in the speed control. Control /INHIB Ignores the position command pulse input. Position Control /ABS-DT Sends absolute value data to the controller through EA, EB signals.
  • Page 57 For instance, put 7 in the fourth digit of SEt-59 to allocate the/P-CON signal to the DI#7 pin. Put 3 in the second digit of SEt-62 to allocate the /INHIB signal to DI#3 pin. When 9 is set, it is always valid and when 0 is set, it is always invalid. For instance, to keep SV-ON always valid when the power is on regardless of the wiring, put 9 in the first digit of SEt-59.

  • Page 58: Position Control

    Position Control Position control is moving the load to the position where the controller instructs. In order to carry out position control, please connect the command pulse signal to PULSE and SIGN input pins and connect other input signals as needed. And then please follow the command below for set-up.
  • Page 59 Three types of command are inputed through the four pins of the controller connector (CN1). Position Control Wiring In the position control mode, the controller can input position command in two ways. The first is line drive and the second is open collector.
  • Page 60 The maximum frequency allowed in the line drive input is 900 kpps, and the maximum frequency allowed in the open collector input is 250 kpps. In the open collector type, if TR1 is ON, the servo drive recognizes it as a low level input logic, and if TR1 is OFF, the servo drive recognizes it as a high level input logic.
  • Page 61 Please select the position control type by referring to the diagram. Positive Logic Pulse Negative Logic Pulse...
  • Page 62 Electric characteristics of the position command pulse are shown in the diagram. Electronic Gear Electronic gear is a function to set the amount of load movement for each input command pulse. An encoder generating 2048 pulses per revolution can make a complete revolution when the controller transmits 2048 pulses to the drive.
  • Page 63 The speed reduction ratio is the ratio of revolutions of the system to the motor. If the system make one revolution when the motor makes five revolutions, the speed reduction ratio is 5. If the system make five revolutions when the motor revolves once, then the speed reduction ratio is 0.2.
  • Page 64 In the case of moving a belt 100 µm per one pulse, whose speed reduction ratio is 5 and the number of pulses of the encoder is 2048, the numerator of the electronic gear is 10240, and the denominator is calculated by the following method.
  • Page 65 If the distance to move with one pulse of the controller is 0.1°, the denominator is 3600. 360°/0.1° = 3600 In this case, if the controller approves 3600 pulses, the rotational load of the end devices makes one revolution and the rotational angle of the end load per one pulse command becomes 0.1°.
  • Page 66 Position completion detection and in position detection The user can set the timing for the position command completion at the servo drive that received a position command from the controller, and if the difference between the position of the load and the position command is smaller than the set value, the signal for position completion detection /P-COM can be displayed.
  • Page 67 Position Error Range Set the position error range at SEt-33. The setting range is 0 to 65535 pulse and the default value is 25000. If the position error is bigger than the set value, the position error overflow servo alarm (E.33 PoF) will occur.

  • Page 68: Speed Control

    Speed Control Speed control is used for the purpose of controlling speed by approving the speed command in the form of analog voltage from the controller to servo drive in both cases whether the position control loop is formed at the controller or not. To carry out speed control, please follow the command below for set-up.
  • Page 69 Speed Control Wiring Speed Command Set the speed command gain at SEt-01. The setting range is 10 to 6000 RPM/1V or RPM/10V. The default value is 500. The unit setting of SEt-01 is set up on the second digit of SEt-46. digit When the second of SEt-46 is 0...
  • Page 70 When the speed gain is 500 RPM/V and the input voltage is 6V, the motor revolves at the speed of 3000 RPM. The tolerated range of the input voltage is DC V. An error can ATTENTION occur if the input voltage is out of this range, and it cannot be recognized.
  • Page 71 If the CN1 connector pins where the zero clamp function is allocated are ON, the voltage command below the level set at SEt-17 will be ignored. When the value of the speed command surpasses this level again, the motor will accelerate to the value of the command. In Speed Function /V-COM signal displays that the error between the motor revolution speed and the speed command value is kept within a certain range.
  • Page 72 Revolution Detection /TG-ON signal shows that the servo motor is revolving faster than a certain speed. This signal can be used as a condition to assess the status of the motor while changing the control mode from the combination control mode. Please set the revolution detection level at SEt-16.

  • Page 73: Torque Control

    Torque Control Torque control mode is used when the tension or pressure of the system should be controlled by using the servo drive. Set the voltage appropriate for the required torque input from the controller. Various set-values for the motor’s operating torque limit are commonly applicable to position or speed control mode.
  • Page 74 Torque Control Wiring Torque Command Please set torque command gain at SEt-05. The setting range is 0 to 100%/3V and the default value is 100. Torque = (Torque Command Gain × Input Voltage × Rated Torque)/100 When torque command gain is 100%/3V and input voltage is 3V, 100% torque (rated torque) is generated.
  • Page 75 If the torque command gain is 100%/3V and the input voltage is 9V, 300% torque, the maximum torque of the motor, will be generated. The maximum allowed voltage of the torque command input ATTENTION is DC ±10V. If the standard voltage fluctuates, the torque command can also change together.
  • Page 76 /P-TL signal is used to externally limit the forward torque, and /N-TL signal is used to externally limit the reverse torque. These external torque limits have priority over internal torque limits. Internal limits are used to retrain the maximum value of the motor’s operating torque (or output torque) within a fixed range so that the load system or operation targets can be protected.

  • Page 77: Multi-Level Speed Control

    Multi-level Speed Control Multi-level speed control is one of the ways to control speed. The operation speed is set in advance by the parameter setting, and the system is operated according to the input. Hence, speed command input or offset adjustment is unnecessary. To operate the servo drive in the multi-level speed control mode, please follow the command below.
  • Page 78 Multi-level Speed Control Wiring In the multi-level speed control mode, there is no external signal input pin for each control mode including position control, speed control, and torque control. The operation is carried out only by the external input signal. There are four different input signals dedicated to multi- level speed control.
  • Page 79 Multi-level Speed Default value Speed Parameter /C-SP3 /C-SP2 /C-SP1 (RPM) Stop command Internal Speed SEt-26 command 1 Internal Speed SEt-27 command 2 Internal Speed SEt-28 command 3 Internal Speed SEt-79 command 4 Internal Speed SEt-80 command 5 Internal Speed SEt-81 command 6 Internal Speed SEt-82...
  • Page 80 Acceleration time is the time required for the motor to reach the rated speed from standstill. Please set the acceleration time at SEt-19. The setting range is 0 to 60000 ms and the default value is 200. The diagram shows that the time for execution compared to command was extended as much as the deceleration time.

  • Page 81: Combination Control

    Combination Control Position control, speed control, torque control, and multi-level speed control are the basic controls. Basic controls can be used in combination depending on the user’s circumstances. /C-SEL signal is used to shift control mode between the two modes that are combined.
  • Page 82 Combination control mode including position control is changed when the following conditions are met. Control Mode Changing Condition Control Mode /C-SEL OFF /C-SEL ON (SEt-41) Torque Control → Position Control Position Control → Torque Control position command pulse input = 0 Revolution Speed <...

  • Page 83: Tuning By Gain Adjustment

    Tuning By Gain Adjustment Overview Users need to adjust the servo drive depending on the status of the load in order to control different loads for the best performance. This is the gain adjustment. And tuning is making the motor connected to the drive perform its best through the gain adjustment.
  • Page 84 In tuning, the inertia ratio should be considered first for the optimum performance of the servo drive system. The inertia ratio is the ratio of the inertia of the load to the that of the motor’s rotor. If the rotor’s inertia is 3 gf.cm.s and the load’s inertia is 30 gf.cm.s , the inertia ratio is 10.

  • Page 85: Gain Automatic Set-Up

    If position-related gains alone are adjusted when the response is not secured enough through setting the gains related to speed control, the system can be unstable. To improve the response of the overall position control system, please secure ample response of the speed control loop.
  • Page 86 Offline Auto Tuning Offline Auto Tuning automatically detects inertia ratio, friction coefficient, and resonance frequency, and sets basic gains accordingly. Please set SEt-69 as below according to the type of the system. System Type SEt-69 Low Rigidity (Belt) Medium Stiffness High Rigidity (Ball Screw) The execution procedure of offline auto tuning is as below.

  • Page 87: Gain Manual Set-Up

    Setting Tuning Coefficient on online To use online auto tuning, set the coefficient at the fourth digit of SEt-58. Setting range is 0 to 9. If the fourth position is not 0, online auto tuning function will be used. As the value is set higher, the system becomes more sensitive to load fluctuation.

  • Page 88: Torque Control Gain

    If the system gain (SEt-42) is raised, the overall gains increase and the response improves. If this value is changed, the five basic gains change, and the inertia ratio is referred to in this process. If the value is set too high for the load condition, vibration or noise can be generated.

  • Page 89: Speed Control Gain

    Please set torque command filter at SEt-06. The setting range is 0 to 60000 rad/s, and the default value is 1800. As the value is higher, the response can improve. But if it is set too high, it can cause vibration. If the load is a belt or chain system, fast response is not expected because of the lowered stiffness.

  • Page 90: Position Control Gain

    To set up the gains related to speed control, please follow the commands below. 1. Set the speed loop proportional gain at SEt-02. The setting range is 0 to 1500 Nms, and the default value is 80. Please raise the value as high as possible as long as it doesn’t cause vibration or noise.

  • Page 91: Methods To Get Quick Responses

    To set up position control-related gains, please follow the commands below. 1. Set the default position loop proportional gain at SEt-04. The setting range is 0 to 500 rad/s and the default value is 60. 2. Slowly raise the value of speed loop proportional gain (SEt-02). 3.
  • Page 92 When the position feedforward function is used, the speed command varies highly in response to the change of position command. Therefore, if the position command input fluctuates rapidly, in cases of rapid acceleration or deceleration, feedforward can cause overshoot. To reduce position command completion time in this case, raise the value of the torque command filter (SEt-06) slowly and locate the appropriate value.
  • Page 93 P/PI Mode Set-up Function By setting the speed loop integral gain (SEt-03) in the speed control or position control mode, the system will be able to respond to subtle changes of the command and can be controlled accurately and the error at the steady state can be 0.
  • Page 94 Description on Second Digit of SEt-54 If overshoot is small, do not use the control by the /P-CON ATTENTION signal. When a small amount of offset is included in the speed command on the speed control mode, using the P controller type can cause the motor to not react to the offset set at 0 speed command and remain still.
  • Page 95 Set Value Function Do not use P/PI mode shift. Shifts when the torque command is bigger than P control shift reference value (%). Shifts when the speed command is bigger than P control shift reference value (RPM). Shifts when the position error is bigger than P control shift reference (pulse).
  • Page 96 Default Torque Bias Default torque bias prevents a fall due to gravity of the vertical load during the initial operation. When the load is vertical and the servo ON signal is applied to activate the motor, the load can fall because of gravity.
  • Page 97 The set-up sequence of the default torque bias is as follows. 1. Check the revolving direction of the motor and the movement direction of the load. 2. Stop the load at a certain position by using 0 speed control or normal position control.
  • Page 98 If all the different load conditions are categorized into two, the primary gains and the secondary gains, the response of different load conditions can be satisfied. /To use /G-SEL signal, please set the optimum gain under the no-load condition. And then set the optimum gain in a situation with a load. And then let the /G-SEL signal be input in both conditions where a load exists or not.

  • Page 99: Application

    Application Motor Stop The servo drive aborts the operation and stops the motor under the following circumstances except for the case where the motor is stopped by normal operation. • Servo Alarm Occurs • Overtravel Occurs The methods to stop the motor can be set up depending on the reasons for the stoppage.
  • Page 100 When the servo drive uses this feature to stop the motor, it is called dynamic brake. CSDP Plus servo drive has internal dynamic brake circuit. If the motor cable is connected to the servo drive and the servo drive is not enabled, the switch in the diagram below is short-circuited.

  • Page 101: Motor Brake

    When the motor needs to stop during operation, if the dynamic brake stopped the motor, it is called dynamic brake stop. On the contrary, if the friction of the load stopped the motor by itself, it is called Free Run stop.
  • Page 102 The external circuit to control the motor brake is built as shown below. Please set the waiting time for brake release at SEt-32. The setting range is 0 to 10000 10 ms and the default value is 0. If the motor brake is working at the moment when the drive activates the motor, it should be released first.
  • Page 103 Please set the brake output waiting time at SEt-31. The setting range is 0 to 1000 [10 ms] and the default value is 50. This configuration is used for the time for the motor brake to start working after the controller delivered the servo OFF command. Brake Active Relay Time Please set the brake output start speed at SEt-30.

  • Page 104: Motor Revolving Direction

    On the contrary, if the servo OFF delay time is longer than the brake active delay time, the brake on the motor starts working before the servo OFF is completed as shown below, preventing the fall of the vertical load. Motor Revolving Direction As for the controller and its wiring, even if the revolving direction of the motor determined by pulse input is wired in a different way from...

  • Page 105: Regenerative Resistor

    Regenerative Resistor When the operating motor is stopped, the motor works like the generator, which produces energy, regenerative energy. The servo drive absorbs to some extent the regenerative energy produced while the motor stops. But if the amount of the regenerative energy exceeds the existing capacity, an additional device to consume the energy is required.
  • Page 106 Allowed Inertia Ratio (Based on the 50% usage rate of the regenerative resistor) 1.2kW 1.3kW 1.5kW 2.5kW 3.5kW 4.5kW CSMD CSMS 16.0 11.0 CSMF CSMH CSMK 13.0 10.0 RSMD RSMF RSMH RSMK 13.0 10.0 RSMX RSMN RSML Allowed inertia ratio application condition Setting acceleration time 200 ms 1cycle...
  • Page 107 This picture shows the case where a motor repeats acceleration and deceleration on the horizontal basis with a fixed cycle. Deceleration Section If the number of the motor’s actual repetition is more than the allowed number of repetitions, please follow the command below. •...
  • Page 108 The revolving energy of the servo motor E can be calculated by the following formula. = Set Speed × × = Motor Inertia n = Inertia Ratio The energy consumed by the load in the deceleration section E can be calculated by the following formula.
  • Page 109 = Revolving energy of the servo motor − = Energy consumed by the load in the deceleration section = Heat loss energy consumed by the coil resistance of the motor = Energy that can be absorbed by the servo drive Regenerative energy produced in the continuous regeneration sections E can be calculated as shown below.

  • Page 110: Set-Up For Smooth Operation

    Set-up for Smooth Operation By setting the acceleration/deceleration time and S operation time at the servo drive, the system can operate more smoothly by easing the possible impact from acceleration or deceleration. Acceleration time is the time required for the motor to reach the rated speed from standstill.
  • Page 111 As shown below, executing command in the form of an S curve at the transitional points of acceleration or deceleration can make the operation smoother. Please set S operation time at SEt-21. The setting range is 0 to 5000 ms and the default value is 0. Assuming that the time required to execute the initial speed command is 10 seconds, the total time required to execute the speed command after setting acceleration/deceleration time will be 10 seconds +...

  • Page 112: Speed Limit

    Speed Limit Speed limiting methods are internal speed limit and external speed limit. • Internal Speed Limit: Limit the speed through the setting of the servo drive itself. • External Speed Limit: Limit the speed through the command from the controller.

  • Page 113: Position Feedback To The Controller

    Speed Limiting Method Selection Please set the method to limit speed at the third digit of SEt-45. Speed Limiting Method Set Value Function Does not use the speed limit function. Limits the speed by the internal speed limit (SEt-67). Limits the speed by the analog speed command input from the outside. Limits the speed under the smaller value between the motor’s maximum speed and the value of SEt-67.
  • Page 114 Direction of the Encoder Output Pulse Set Value Function In the forward revolution, encoder output phase A is displayed 90 degress in advance. In the reverse revolution, encoder output phase B is displayed 90 degrees in advance. The servo drive can adjust the number of the encoder pulses through the dividing circuit function before sending the input from the encoder to the controller.

  • Page 115: Analog Monitor

    Even when the motor is revolving at a completely normal speed, jittering of about 33 µs can be generated at the encoder output pulse depending on the revolution speed. The servo drive cannot send more pulses than the number of ATTENTION input pulses from the encoder to the controller.
  • Page 116 Please set the scale of the analog monitor channel 1 at SEt-08. The setting range is 1 to 65535 /V and the default value is 500. Please set the scale of the analog monitor channel 2 at SEt-09. The setting range is 1 to 65535 /V and the default value is 500.

  • Page 117: Absolute Encoder

    Absolute Encoder An absolute encoder can detect the absolute position. The absolute encoder uses external battery power to store and remember the position information of the load system if the power supply of the servo drive is cut. The error caused by the noise during signal transmission is not accumulated with the absolute encoder.
  • Page 118 When the voltage of the absolute encoder battery becomes 3.2V or less, the low-voltage warning of the absolute encoder battery will occur. Please change your battery when this warning is seen. When the internal condenser voltage of the encoder is about 2.8V or less, the absolute encoder internal low-voltage alarm will go off.
  • Page 119 For the controller that can’t receive the serial data output through PS terminal, the absolute encoder data is transmitted to the controller in the form of incremental pulses through the output of the EA and EB terminals, which are the incremental encoder output signals in the early stage.

  • Page 121: Troubleshooting

    Troubleshooting Check Checking Motor The following simple checks are enough as there is no mechanical part like a brush that is vulnerable to abrasion. Please choose when to check the system after considering the usage environment. Motor Check Item Cycle Maintenance Adjust it to not be bigger than usual Vibration and Noise...

  • Page 122: Servo Drive Failure

    When the ambient temperature is an anual average of 30° C or less, the load rate is 80% or less, and the rate of operation is 20 hours a day or less, the lifespan of major products are as follows. Parts life of the servo drive Parts Period of Use...
  • Page 123 If the voltage of the external battery of the absolute encoder is less than 3.1V, this warning will occur. Please replace the battery. If the Q type absolute encoder revolves in either forward or reverse direction more than 32768 (4096 times for H type) times, this warning will occur.
  • Page 124 If the capacity of the motor is bigger than that of the servo drive, this warning will occur. Please replace the servo drive with the one that fits the capacity of the motor. If replacement is not available, limit the torque so that the servo drive won’t be overstrained.
  • Page 125 The servo drive can notify the controller of the information about the alarm through AL1, AL2, and AL3 terminals. At the alarm output terminal, 1 means that the secondary photocoupler transistor is OFF, and 0 means it is ON. Servo Alarm List Event E.10 SC Servo Drive Internal Circuit Failure...
  • Page 126 If a sudden excessive current flows through the servo drive or the main circuit fails, this alarm will occur. Check the power supply and increase acceleration/ deceleration time. If the over current flows through the servo drive or the main circuit fails, this alarm will occur. Check the power supply and increase acceleration/ deceleration time.
  • Page 127 If the encoder cable is not connected, this alarm will occur. Connect the encoder cable to the encoder and the servo drive properly. If the motor revolves quickly when the main power supply of the servo drive is shut down during normal operation and the encoder works with the external battery, this alarm can occur.
  • Page 128 If the encoder cable or the motor cable is not connected properly or there is an error with the position command, this alarm occurs. Check the connection of the cable and adjust the electronic gears (SEt-36 and SEt-37). If the emergency stop circuit is activated, this alarm occurs.
  • Page 129 If there is an error with the memory that stores the user parameter, this alarm will occur. Check and reset the recently-set parameter and back up the remaining parameter. If there is a parameter set-up out of the preset range, this alarm will occur. Reset the parameter with the values within the preset range.
  • Page 130 The servo drive can store a maximum of 10 alarm records in the order of occurrence. The alarm records can be deleted by using USr-10. Servo Alarm Record List Event PAr-01 The latest error PAr-02 The error that occurred before 1 time PAr-03 The error that occurred before 2 times PAr-04...

  • Page 131: Parameter

    Appendix A Parameter To change the parameter that is unchangeable during ATTENTION operation, please make sure to change it after turning the servo OFF and turn the servo ON. SEt-01 Speed Command Gain • Setting range: 10 to 6000 RPM/1V, RPM/10V •...

  • Page 132: Set-02 Speed Loop Proportional Gain

    SEt-02 Speed Loop Proportional Gain • Setting range: 0 to 1500 N • User Default: 80 • Changes anytime Speed loop proportional gain determines the response of the speed control. Set the highest value as long as vibration does not occur at the system.

  • Page 133: Set-03 Speed Loop Integral Gain

    SEt-03 Speed Loop Integral Gain • Setting range: 0 to 20000 N • User Default: 200 • Changes anytime Speed loop integral gain removes the speed error in the steady state. Raising the value can improve the transient response characteristics and reduce error in the steady state.

  • Page 134: Set-06 Torque Command Filter

    If the torque gain is 100%/3V and the input voltage is 3V, 100% torque, rated torque, will be generated. If the torque command gain is 100%/3V and the input voltage is 9 V, 300% torque, the maximum torque of the motor, will be generated. SEt-06 Torque Command Filter •...

  • Page 135: Set-07 Position Feedforward Filter

    SEt-07 Position Feedforward Filter • Setting range: 0 to 5000 rad/s • User Default: 0 • Changes anytime The filter is used to feedforward the differentiated position command. This parameter is the cut-off frequency of the filter. If position feedforward gain (SEt-34) is 0, this parameter is not valid. In the case of an overshoot, please set the parameter to 0.

  • Page 136: Set-09 Da Monitor Channel 2 Scale

    If the scale of the analog monitor channel 1 is set to 500 of the speed command (0), the speed command of the controller that corresponds to the monitor output 1V is 500 RPM. Since the maximum output is 10V, the speed can be monitored up to 5000 RPM. Therefore, the monitoring range of the overall speed command is ±5000 RPM.

  • Page 137: Set-11 Reverse Internal Torque Limits

    SEt-11 Reverse Internal Torque Limits • Setting range: 0 to 300% • User Default: 300 • Changes anytime This parameter limits the torque in the reverse direction. SEt-12 Forward External Torque Limits • Setting range: 0 to 300% • User Default: 100 •...

  • Page 138: Set-15 Reverse Emergency Stop Torque

    When P-OT signal is set to the forward revolution limit signal (second digit of SEt-43) and the P-OT signal is received during the motor’s forward revolution, the motor will stop in emergency. This parameter is the value of the torque at that time. SEt-15 Reverse Emergency Stop Torque •...

  • Page 139: Set-17 Zero Clamp Level

    SEt-17 Zero Clamp Level • Setting range: 0 to 5000 RPM • User Default: 0 • Changes anytime This parameter is the stop speed level in the zero clamp control mode. If the analog speed command is below the preset value of this parameter, the motor will decelerate and stop.

  • Page 140: Set-18 In Speed/In Position Range

    SEt-18 In Speed/In Position Range • Setting range: 0 to 1000 RPM/pulse • User Default: 10 • Changes anytime This parameter is the error range of the speed or position that turns ON the position completion signal (/P-COM). When the speed error or position error reaches within the preset range, /P-COM signal will be displayed.

  • Page 141: Set-20 Deceleration Time

    SEt-20 Deceleration Time • Setting range: 0 to 60000 ms • User Default: 200 • Changes anytime Deceleration Time is the time required for the motor to slow down to a halt from the rated speed. SEt-21 S-Curve Operation Time •...

  • Page 142: Set-22 Near Position Range

    Please select the set value carefully because the S-curve ATTENTION operation will be automatically run if this parameter is set higher than 0. SEt-22 Near Position Range • Setting range: 0 to 1000 pulse • User Default: 20 • Changes anytime If the user sets the timing of the position command proximity at the servo drive that received the position command from the controller and the difference between the load position and the position...

  • Page 143: Set-23 Encoder Output Ratio Numerator

    SEt-23 Encoder Output Ratio Numerator • Setting range: 1 to 65535 • Factory Default: 2500 • Changes while the servo is disable The signal can be displayed after dividing the encoder input inside the servo drive. This function can be used to make a position control loop at the controller.

  • Page 144: Set-24 Encoder Output Ratio Denominator

    SEt-24 Encoder Output Ratio Denominator • Setting range: 1 to 65535 pulse • Factory Default: 2500 • Changes while the servo is OFF The servo drive output pulse cannot output to the outside A ATTENTION and B phase pulses higher than the number of encoder pulses per the motor’s revolution.

  • Page 145: Set-26 Internal Speed Command 1

    SEt-26 Internal Speed Command 1 Internal Speed Command 1 • Setting range: 0 to 5000 RPM • User Default: 100 • Changes anytime There are four different input signals dedicated to multi level speed control. • /C-DIR • /C-SP1 • /C-SP2 •...

  • Page 146: Set-27 Internal Speed Command 2

    SEt-27 Internal Speed Command 2 Internal Speed Command 2 • Setting range: 0 to 5000 RPM • User Default: 200 • Changes anytime SEt-28 Internal Speed Command 3 Internal Speed Command 3 • Setting range: 0 to 5000 RPM • User Default: 300 •...

  • Page 147: Set-30 Braking Application Speed After Servo Off

    The brake mounted on the motor cannot be used to actually ATTENTION stop the system. Use it only for the purpose of maintaining the stopped motor at a standstill. SEt-30 Braking Application Speed After Servo OFF • Setting range: 0 to 1000 RPM •...

  • Page 148: Set-31 Brake Active Delay Time After Servo Off

    SEt-31 Brake Active Delay Time After Servo • Setting range: 0 to 1000 10ms • User Default: 50 • Changes while the servo is OFF This parameter is the time needed for the servo to produce a brake signal output from the moment servo OFF command is received during revolution.

  • Page 149: Set-33 Following Error Level

    SEt-33 Following Error Level • Setting range: 0 to 65535 pulse • User Default: 25000 • Changes anytime Following error (E.33) occurs when the difference between the position command and the actual movement position is higher than the set value of the parameter. SEt-34 Position Feedforward Gain •...

  • Page 150: Set-36 Electronic Gear Ratio Numerator

    SEt-36 Electronic Gear Ratio Numerator • Setting range: 1 to 65535 pulse • Factory Default: 2500 • Changes while the servo is OFF An encoder generating 2048 pulses per revolution can make a complete revolution when the controller transmits 2048 pulses to the drive.

  • Page 151: Set-37 Electronic Gear Ratio Denominator

    SEt-37 Electronic Gear Ratio Denominator • Setting range: 1 to 65535 pulse • Factory Default: 2500 • Changes while the servo is OFF As the denominator increases, the resolution becomes ATTENTION higher. But the following expression should be satisfied. 4 ≥ ✕...

  • Page 152: Set-40 Speed Command Filter

    SEt-40 Speed Command Filter • Setting range: 0 to 40000 rad/s • User Default: 1000 • Changes anytime The set value of this parameter suppress the high frequency element of the speed command. SEt-41 Control Mode Selection • Setting range: 0 to 15 •...

  • Page 153: Set-42 System Gain

    SEt-42 System Gain • Setting range: 0 to 300 Hz • User Default: 40 • Changes anytime System gain is the same with the bandwidth of the overall speed control loop of the servo drive. This gain can control the five basic gains at the same time.

  • Page 154: Set-43(2) P-Ot Signal Function Selection

    SEt-43(2) P-OT Signal Function Selection • Setting range: 0 x 0 to 0 x 1 • User Default: 0 x 1 • Change while the servo is OFF, and turn off the power and turn it back on The set values are as follows. 0: Forbid forward revolution with P-OT signal 1: Always approve forward revolving operation SEt-43(3) N-OT Signal Function Selection...

  • Page 155: Set-44(1) Dynamic Brake

    When the servo drive uses this feature to stop the motor, it is called dynamic brake. CSDP Plus servo drive has internal dynamic brake circuit. If the motor cable is connected to the servo drive and the servo drive is not enabled, the switch in the diagram below is short-circuited.

  • Page 156: Set-44(2) Dynamic Brake After The Motor Stopped

    SEt-44(2) Dynamic Brake After the Motor Stopped • Setting range: 0 x 0 to 0 x 1 • User Default: 0 x 1 • Changes while the servo is OFF The set values are as follows. 0: Disable the dynamic brake after the motor stopped 1: Keep the dynamic brake ON after the motor stopped SEt-44(3) Emergency Stop Method •...

  • Page 157: Set-44(4) Encoder Output Pulse Direction

    SEt-44(4) Encoder Output Pulse Direction • Setting range: 0 x 0 to 0 x 1 • User Default: 0 x 0 • Changes while the servo is OFF The set values are as follows. Set Value Function In the forward revolution, encoder output A phase is produced 90 degress in advance.

  • Page 158: Set-45(2) Speed Command Offset Auto Adjustment

    SEt-45(2) Speed Command Offset Auto Adjustment • Setting range: 0 x 0 to 0 x 1 • User Default: 0 x 0 • Changes while the servo is OFF The set values are as follows. 0: Analog Speed Command Offset 1: Current Offset when the servo is OFF 2: Current Offset when the servo is ON SEt-45(3) Speed Limit Method...

  • Page 159: Set-46(1) Position Command Pulse Type

    Forward direction is counterclockwise when the motor is looked at from the front. Reverse direction is clockwise when looked at from the front. SEt-46(1) Position Command Pulse Type • Setting range: 0 x 0 to 0 x 9 • User Default: 0 x 0 •...

  • Page 160: Set-46(2) Speed Command Unit

    Negative Logic Pulse SEt-46(2) Speed Command Unit • Setting range: 0 x 0 to 0 x 1 • User Default: 0 x 0 • Changes while the servo is OFF This parameter determines the unit for setting the speed command gain (SEt-01).

  • Page 161: Set-46(4) Speed Observer Selection

    Open Collector Input SEt-46(4) Speed Observer Selection • Setting range: 0 x 0 to 0 x 1 • User Default: 0 x 0 • Change while the servo is OFF, and turn off the power and turn it back on The set values are as follows.

  • Page 162: Set-50 (1) Serial Encoder Type

    0: Display by the CSDP+ method 1: Display by the CSDP method To choose the CSDP display method for previous CSDP users at Con- 12 put 1 for the parameter. To choose the CSDP Plus method, put 0 for the parameter.

  • Page 163: Set-50 (3) Parameter Fixiation

    When the second digit of SEt-50 is set to 0, the in/output signal status of Con-12 will be displayed as below. When the parameter is 1, it will be displayed as below. SEt-50 (3) Parameter Fixiation • Setting range: 0 x 0 to 0 x 1 •...

  • Page 164: Set-51 Encoder Type

    SEt-51 Encoder Type • Setting range: 0 x 0 to 0 x 109 • Factory Default: 0 x 100 • Change while the servo is OFF, and turn off the power and turn it back on Encoder Type Setting Motor Type Encoder Type setting...

  • Page 165: Set-53 Motor Capacity

    SEt-53 Motor Capacity • Setting range: 100 to 600 10W • Factory Default: 150 • Change while the servo is OFF, and turn off the power and turn it back on Motor Capacity Setting 1.2kW 1.3kW 1.5kW 2.0kW 2.5kW 3.0kW 3.5kW 4.0kW 4.5kW...

  • Page 166: Set-55 Torque-Command For Speed Integral Gain Auto Adjustment

    The value on the second digit is applied in the following way. Value on the second digit x 0.1 x Speed integral gain The set value on the third digit is shown below. 0: Previous Torque Command Use 1: Add Speed Command Feed Forward Value to Torque Command SEt-55 Torque-Command for Speed Integral Gain Auto Adjustment •...

  • Page 167: Set-57 Position Error For Speed Integral Gain Auto Adjustment

    SEt-57 Position Error for Speed Integral Gain Auto Adjustment • Setting range: 0 to 10000 pulse • User Default: 100 • Changes while the servo is OFF If the position error exceeds the set value of this parameter, the speed integral gain will be automatically adjusted.

  • Page 168: Set-59 Input Signal Assignment 1

    Auto tuning is done in the following sequence. If it is set too low compared to the load, the calculated inertia ratio can be inaccurate. SEt-59 Input Signal Assignment 1 • Setting range: 0 x 0 to 0 x 9999 •...

  • Page 169: Set-60 Input Signal Assignment 2

    Put 3 in the second digit of SEt-62 to allocate the /INHIB signal to DI#3 pin. When 9 is set, it is always valid and when 0 is set, it is always invalid. For instance, to keep /SV-ON always valid when the power is on regardless of the wiring, put 9 in the first digit of SEt-59.

  • Page 170: Set-64 Forward Torque Offset

    SEt-64 Forward Torque Offset • Setting range: 0 to 100% • User Default: 0 • Changes while the servo is OFF Set this parameter in cases where the load moves upward vertically when the motor revolves in the forward direction. This can supplement the problem of a falling vertical load when the mechanical brake is released as the servo is ON.

  • Page 171: Set-67 Speed Limit

    If inertia ratio is set, servo drive changes system gain (SEt-42) ATTENTION and 5 basic gains according to inertia ratio. Therefore, adjustment of the inertia ratio should be done carefully. SEt-67 Speed Limit • Setting range: 1 to 5000 RPM •...

  • Page 172: Set-71 Da Monitor Channel 1 Offset

    When this parameter is set, the values of the basic gain will change after referring to the inertia ratio (SEt-66). • System Gain (SEt-42) SEt-71 DA Monitor Channel 1 Offset • Setting range: 0 to 1000, 10000 to 11000 mV •...

  • Page 173: Set-75 Overload Curve Level

    SEt-75 Overload Curve Level • Setting range: 50 to 300% • User Default: 100 • Changes while the servo is OFF The level of overload curves of driver can be controlled. SEt-76 Output Signal Assignment 1 • Setting range: 0 x 0000 to 0 x 3333 •...

  • Page 174: Set-78 Da Monitor Channel Selection

    SEt-78 DA Monitor Channel Selection • Setting range: 0 to 2020 • User Default: 103 • Changes anytime Set the units for the scales of the monitor channel 1 and channel 2. Analog Monitor Output Type Chosen Number Types Setting range Speed Command 1 - 500 RPM Torque Command...

  • Page 175: Set-79 Internal Speed Command 4

    SEt-79 Internal Speed Command 4 • Setting range: 0 to 5000 RPM • User Default: 400 • Changes anytime There are four different input signals dedicated to multilevel speed control. • /C-DIR • /C-SP1 • /C-SP2 • /C-SP3 The revolution will be in the forward direction if /C-DIR signal is OFF and in the reverse direction if the signal is ON.

  • Page 176: Set-80 Internal Speed Command 5

    SEt-80 Internal Speed Command 5 • Setting range: 0 to 5000 RPM • User Default: 500 • Changes anytime SEt-81 Internal Speed Command 6 • Setting range: 0 to 5000 RPM • User Default: 600 • Changes anytime SEt-82 Internal Speed Command 7 •...

  • Page 177: Motor Specifications

    Appendix B Motor Specifications CSMD Motor Basic Specifications Relevant Drive CSDP 15BX2 20BX2 30BX2 40BX2 50BX2 Rated Voltage Rated Output 97.4 Rated Torque N: M 1.15 9.54 11.86 14.3 16.6 18.8 21.4 23.8 Maximum Instantaneous N: M 21.5 28.5 35.6 42.9 50.0 56.4...
  • Page 178 Relevant Drive CSDP- 15BX2 20BX2 30BX2 40BX2 50BX2 Allowed Thrust Load Kgf MAX while Coupling Allowed Radial Load Kgf MAX while Coupling Weight 10.6 12.8 14.6 16.2 18.8 21.5 (When Brake is 10.1 12.5 14.7 16.5 18.7 21.3 28.5 Attached) U →...
  • Page 179 Speed Torque Curve...

  • Page 181: Csms Motor

    CSMS Motor Basic Specifications CSMS Motor Specifications Relevant Drive CSDP- 15BX2 20BX2 30BX2 40BX2 50BX2 Rated Voltage Rated Output 48.7 64.9 97.3 Rated Torque 4.77 6.36 7.94 9.54 11.07 12.64 14.31 15.88 Maximum Instantaneous 14.31 19.11 23.81 28.62 33.22 37.93 42.92 47.63 Torque...
  • Page 182 Item Specifications Item Specifications Wiring Method Y Wiring Time Rating Continuous Use Operating Temperature 0 to +40°C Insulation Grade F Grade Range Storage Temperature -20 to +80°C Dielectric Voltage 1500V AC 60 sec. Range Ω Insulation resistance 500V DC 20 M When Brake is Attached 1200V AC 60 sec.
  • Page 183 Speed Torque Curve...

  • Page 185: Csmh Motor

    CSMH Motor Basic Specifications CSMH Motor Specifications Relevant Drive CSDP- 15BX2 20BX2 30BX2 40BX2 50BX2 Rated Voltage Rated Power 97.4 Rated Torque 7.15 9.54 14.31 18.8 23.8 Maximum Instantaneous Torque 21.5 28.5 42.9 56.4 71.4 Rated Revolving Speed 2000 Maximum Revolving 3000 Speed 43.8...
  • Page 186 Item Specifications Item Specifications Wiring Method Y Wiring Time Rating Continuous Use Operating Temperature 0 to +40°C Insulation Grade F Grade Range Storage Temperature -20 to +80°C Dielectric Voltage 1500V AC 60 sec. Range Ω Insulation resistance 500V DC 20 M When Brake is Attached 1200V AC 60 sec.

  • Page 188: Csmf Motor

    CSMF Motor Basic Specifications CSMF Motor Specifications Relevant Drive CSDP- 15BX2 30BX2 40BX2 50BX2 Rated Voltage Rated Power Rated Torque N: M 7.15 11.86 16.56 21.46 Maximum Instantaneous Torque N: M 21.46 30.38 44.1 54.88 Rated Revolving Speed 2000 Maximum Revolving Speed 3000 20.5 42.1...
  • Page 189 Item Specifications Item Specifications Wiring Method Y Wiring Time Rating Continuous Use Operating Temperature 0 to +40° C Insulation Grade F Grade Range Storage Temperature -20 to +80° C Dielectric Voltage 1500V AC 60 sec. Range Ω Insulation resistance 500V DC 20 M When Brake is Attached 1200V AC 60 sec.
  • Page 190 Speed Torque Curve...

  • Page 191: Csmk Motor

    CSMK Motor Basic Specifications CSMK Motor Specifications Relevant Drive CSDP- 15BX2 20BX2 30BX2 50BX2 Rated Voltage Rated Power 117.2 289.5 437.4 583.2 Rated Torque 11.5 19.1 28.4 42.9 57.2 Maximum Instantaneous 285.5 448.6 649.5 1091 1320 Torque 28.0 44.0 63.7 Rated Revolving Speed 1000 Maximum Revolving...
  • Page 192 Brake Specifications CSMK Motor Brake Specifications CSMK 12B to 20B 30B to 60B 24.5 or more 58.8 or more Friction Torque Rotor INERTIA §³.10 Brake Pull In Time 80 or less 150 or less Brake Release Time 25 or less 50 or less Release Voltage V DC...

  • Page 194: Rsmd Motor

    RSMD Motor Basic Specifications RSMD Motor Specification Relevant Drive CSDP- 15BX2 20BX2 30BX2 40BX2 50BX2 Rated Voltage Rated Power 72.9 97.4 Rated Torque N: M 7.15 9.55 11.9 14.3 19.1 21.5 23.9 Maximum 219.2 Instantaneous N: M 21.5 28.5 35.5 42.9 56.4 64.3...
  • Page 195 Brake Specifications RSMD Motor Brake Specifications RSMD- 15B to 30B 45B to 50B Friction Torque 16.5 Rotor INERTIA §³.10 Brake Pull In Time Brake Release Time Release Voltage V DC 2 (at 20° C) Rated Voltage V DC 24 ±2.4 Rated Current 0.876 1.287...

  • Page 197: Rsms Motor

    RSMS Motor Basic Specifications RSMS Motor Specifications Relevant Drive CSDP- 30BX2 40BX2 50BX2 Rated Voltage Rated Power 97.3 Rated Torque N: M 9.54 12.7 14.3 15.9 Maximum Instantaneous Torque N: M 28.6 37.9 42.9 47.6 Rated Revolving Speed 3000 Maximum Revolving Speed 4500 9.42 12.7...
  • Page 198 Brake Specifications RSMS Motor Brake Specifications RSMS- 30B to 50B Friction Torque 16.5 Rotor INERTIA §³.10 Brake Pull In Time Brake Release Time Release Voltage V DC 2 (at 20° C) Rated Voltage V DC 24 ±2.4 Rated Current 0.876 Allowed Brake Energy 1000 Overall Allowed Brake Energy...

  • Page 199: Rsmh Motor

    RSMH Motor Basic Specifications RSMH Motor Specifications Relevant Drive CSDP- 15BX2 20BX2 30BX2 40BX2 50BX2 Rated Voltage Rated Power 72.9 97.4 Rated Torque N: M 7.15 9.55 14.32 19.1 23.87 219.2 Maximum Instantaneous Torque N: M 21.5 28.5 42.9 56.4 71.4 Rated Revolving Speed 2000...
  • Page 200 Item Specifications Item Specifications Wiring Method Y Wiring Time Rating Continuous Use Operating Temperature 0 to +40 °C Insulation Grade B Grade Range Storage Temperature 1500V AC 60 sec. -20 to +80 °C Dielectric Voltage Range 1800V AC 1 sec. Ω...

  • Page 202: Rsmf Motor

    RSMF Motor Basic Specifications RSMF Motor Specifications Relevant Drive CSDP- 15BX2 30BX2 40BX2 50BX2 Rated Voltage Rated Power 73.0 Rated Torque 7.16 11.9 16.7 21.5 Maximum Instantaneous Torque 21.5 30.4 44.1 54.9 Rated Revolving Speed 2000 Maximum Revolving Speed 3000 18.4 34.4 43.5...
  • Page 203 Brake Specifications RSMF Motor Brake Specifications RSMF- 25B to 45B Friction Torque Rotor INERTIA Brake Pull In Time Brake Release Time Release Voltage V DC 2 (at 20° C) Rated Voltage V DC 24 ±2.4 Rated Current 1.287 0.797 Allowed Brake Energy 1800 2000 Overall Allowed Brake Energy...

  • Page 205: Rsmk Motor

    RSMK Motor Basic Specifications RSMK Motor Specifications Relevant Drive CSDP- 15BX2 20BX2 30BX2 50BX2 Rated Voltage Rated Power Rated Torque 11.5 19.1 28.4 42.9 57.2 1091 1315 Maximum Instantaneous Torque 63.7 Rated Revolving Speed 1000 Maximum Revolving Speed 2000 31.0 36.2 56.8 82.6...
  • Page 206 Brake Specifications RSMK Motor Brake Specifications RSMK- 12B to 60B Friction Torque Rotor INERTIA Brake Pull In Time Brake Release Time Release Voltage V DC 2 (at 20° C) Rated Voltage V DC 24 ±2.4 Rated Current 1.287 Allowed Brake Energy 1800 Overall Allowed Brake Energy 3.0 ×...

  • Page 208: Rsml Motor

    RSML Motor Basic Specifications RSML Motor Specifications Relevant Drive CSDP- 15BX2 20BX2 30BX2 50BX2 Rated Voltage Rated Power Rated Torque 11.5 19.1 28.4 42.9 57.2 1091 1315 Maximum Instantaneous Torque 63.7 Rated Revolving Speed 1000 Maximum Revolving Speed 2000 64.5 97.9 133.6 204.5...
  • Page 209 Brake Specifications RSML Motor Brake Specifications RSML- 12B to 60B Friction Torque Rotor INERTIA Brake Pull In Time Brake Release Time Release Voltage V DC 2 (at 20° C) Rated Voltage V DC 24 ±2.4 Rated Current 1.287 Allowed Brake Energy 1800 Overall Allowed Brake Energy 3.0 ×...

  • Page 211: Rsmn Motor

    RSMN Motor Basic Specifications RSMN Motor Specifications Relevant Drive CSDP- 15BX2 20BX2 30BX2 Rated Voltage Rated Power Rated Torque 11.5 19.1 28.4 Maximum Instantaneous Torque 63.7 Rated Revolving Speed 1000 Maximum Revolving Speed 2000 ROTOR INERTIA ROTOR INERTIA (WHEN BRAKE IS ATTACHED) POWER RATE kW/s 24.4...
  • Page 212 Brake Specifications RSMN Motor Brake Specifications RSMN- 12B to 30B Friction Torque 35.3 Rotor INERTIA Brake Pull In Time Brake Release Time Release Voltage V DC 2 (at 20° C) Rated Voltage V DC 24 ±2.4 Rated Current 0.34 Allowed Brake Energy 1372 Speed Torque Curve...

  • Page 213: Rsmx Motor

    RSMX Motor Basic Specifications RSMX Motor Specifications Relevant Drive CSDP- 15BX2 20BX2 30BX2 50BX2 Rated Voltage Rated Power Rated Torque 8.34 11.5 18.6 28.4 Maximum Instantaneous Torque 24.7 54.1 76.2 Rated Revolving Speed 1500 Maximum Revolving Speed 2500 39.1 ROTOR INERTIA 38.3 ROTOR INERTIA 40.2...
  • Page 214 Brake Specifications RSMX Motor Brake Specifications RSMX- 20B to 45B Friction Torque 5.88 35.3 Rotor INERTIA Brake Pull In Time Brake Release Time Release Voltage V DC 2 (at 20° C) Rated Voltage V DC 24 ±2.4 Rated Current 0.34 Allowed Brake Energy 1470 1372...

  • Page 216: Motor Size

    Motor Size CSMD, CSMH, CSMK, CSMS Motor CSMD, CSMH, CSMK, CSMS Motor Size Model Brake Present Brake Absent (Abs.) Inc. (Abs.) CSMD-15B CSMD-20B CSMD-25B CSMD-30B CSMD-35B CSMD-40B CSMD-45B 13.5 CSMD-50B 13.5 CSMS-15B CSMS-20B CSMS-25B CSMS-30B 130/145 CSMS-35B 130/145 CSMS-40B CSMS-45B CSMS-50B CHMH-15B CHMH-20B...
  • Page 217 Model Brake Present Brake Absent (Abs.) Inc. (Abs.) CHMH-40B 13.5 CHMH-50B 13.5 CSMK-12B 13.5 CSMK-20B 13.5 CSMK-30B 13.5 CSMK-45B 353.5 308.5 13.5 CSMK-60B 393.5 348.5 13.5...
  • Page 218 CSMF Motor CSMF Motor Size BRAKE Model BRAKE Absent Present (Abs.) Inc. (Abs.) CSMF-15B 13.5 CSMF-25B 13.5 CSMF-35B 13.5 CSMF-45B 13.5...
  • Page 219 RSMD, RSMF, RSMH, RSMK, RSML, RSMS Motor RSMD, RSMF, RSMH, RSMK, RSML, RSMS Motor Size Model Brake Present Brake Absent RSMD-15 RSMD-20 RSMD-25 RSMD-30 RSMD-45 13.5 RSMD-50 13.5 RSMF-15 13.5 RSMF-25 13.5 RSMF-35 13.5 RSMF-45 13.5 RSMH-15 RSMH-20 13.5 RSMH-30 13.5 RSMH-40 13.5...
  • Page 220 Model Brake Present Brake Absent RSML-20 13.5 RSML-30 13.5 RSML-45 13.5 RSML-60 13.5 RSMS-40 RSMS-45 RSMS-50...
  • Page 221 Shaft End Size CSM Series Motor Shaft End Size Model CSMS-15 to 25 15.5 0.6 to 1.1 19.8 CSMD-10 to 20 CSMH-15 0.6 to 11 CSMS-30 to 35 CSMD-25 to 30 0.6 to 11 Step CSMS-40 to 50 CSMD-45 to 50 CSMF-15 114.3 0.6 to 11...
  • Page 222 RSM Series Motor Shaft End Size Model RSMD-15, 20 RSMD-25, 30 RSMD-45, 50 114.3 RSMF-15 RSMF-25 to 45 RSMH-15 RSMH-20 to 50 114.3 RSMK-12 to 30 114.3 RSMK-45, 60 114.3 RSML-12 to 30 114.3 RSML-45, 60 114.3 RSMS-40 to 50...

  • Page 223: Cable Specifications

    Appendix C Cable Specifications Motor 3-phase Power Supply Cable CSMD, CSMF, CSMH, CSMK, CSMS, RSMD, RSMF, RSMS, RSMH, RSMK, RSML, RSMN, RSMXmotors use the following power supply cables. Motor 3-phase Cable Symbol Color types 3-core Cable White 3-core Cable Black 3-core Cable Yellow Striple on Green Solder 3-core Cable on the shield...
  • Page 224 Wire the pins of the motor power plugs as shown in the table below. Pin fuctions of the motor power plugs MS3102A 24-11P MS3102A 22-22P To order power cables, use the order code as shown below. Write 1H5 to order a 1.5 m-long cable, 05 for a 5 m-long cable, and 40 for a 40 m-long cable.

  • Page 225: Encoder Cable

    Encoder Cable CSMD, CSMF, CSMH, CSMK, CSMS, RSMD, RSMF, RSMS, RSMH, RSMK, RSML, RSMN, RSMX motors use the following encoder cables. CSMD, CSMF, CSMH, CSMK, CSMS motors use MS3102A20 29P encoder plug. Wire the pins of the encoder plug as shown in the table below.
  • Page 226 15-wire Inc. Encoder COMM. A COMM. B Color Function 1P(White/Blue)-Blue 1P(White/Blue)-White 2P(White/Yellow)-Yellow 2P(White/Yellow)-White 3P(White/Green)-Green 3P(White/Green)-White 4P(White/Red)-Red 4P(White/Red)-White 12/SH Shield 5P(White/Purple)-Purple 5P(White/Purple)-White 6P(White/Blue)-Blue 6P(White/Blue)-Brown 7P(White/Yellow)-Yellow 7P(White/Yellow)-Brown (Abs.) Encoder Con. A Con. B Color Function 1P(White/Blue)-Blue 1P(White/Blue)-White 2P(White/Yellow)-Yellow 2P(White/Yellow)-White 3P(White/Green)-Green 3P(White/Green)-White 4P(White/Red)-Red 4P(White/Red)-White 12/SH Shield...

  • Page 227: I/O Cable

    I/O Cable CON-SCONN50PIN cable is used for an I/O cable. I/O Cable CON.B Color Yellow Sky-blue White Pink Orange Gray Red 1 Dot Yellow 1 Dot Sky-blue 1 Dot White 1 Dot Pink 1 Dot Orange 1 Dot Gray 1 Dot Red 2 Dots Yellow 2 Dots Sky-blue 2 Dots...
  • Page 228 I/O Cable CON.B Color Sky-blue 4 Dots White 4 Dots Pink 4 Dots Orange 4 Dots Gray 4 Dots Red/Twisted Pair Wire Yellow/Twisted Pair Wire Sky-blue/Twisted Pair Wire White/Twisted Pair Wire Pink/Twisted Pair Wire Orange/Twisted Pair Wire Gray/Twisted Pair Wire Red/1 Line Yellow/1 Line Sky-blue/1 Line...

  • Page 229: Motor Brake Cable

    Motor Brake Cable CSMD, CSMF, CSMH, CSMK, CSMS motors use the following motor brake cables. Motor Brake Cable Symbol Color Types White 2-core cable Black 2-core cable Communication Cable CON-SCONN20PIN cable is used for communication. Servo Part (CON.A) PC Part (CON.B) Communication Cable Coh.

  • Page 231: Load Calculation

    Appendix D Load Calculation ROLL Load Mechanical Configuration Movement Amount (M) − − × × − Motor Shaft Revolving Speed (r/min) π...
  • Page 232 Load Torque (N µ η Load Inertia Moment (Kg πρ − −...
  • Page 233 Minimum Acceleration Time (s) Minimum Deceleration Time (s) π Load Operation Power (W) π Load Acceleration Power (W) π × t ≤ Acceleration Torque Required (N π t ≤ Deceleration Torque Required (N π − t ≤ Torque Effective Value (N −...

  • Page 234: Timing Belt Load

    Timing Belt Load Mechanical Configuration Movement Amount (m) − − × × − Motor Shaft Revolving Speed (r/min) π Load Torque (N µ η...
  • Page 235 Load Inertia Moment (kg Minimum Acceleration Time (s) Minimum Deceleration Time (s) π Load Operation Power (W) π Load Acceleration Power (W) π × t ≤...

  • Page 236: Horizontal Ball Screw Load

    Acceleration Torque Required (N π t ≤ Deceleration Torque Required (N π − t ≤ Torque Effective Value (N − − Horizontal BALL SCREW Load Mechanical Configuration...
  • Page 237 Movement Amount (m) − − × × − Motor Shaft Revolving Speed (r/min) Load Torque (N µ π η Load Inertia Moment (kg Minimum Acceleration Time (s) Minimum Deceleration Time (s) π Load Operation power (W) π...
  • Page 238 Load Acceleration Power (W) π t ≤ × Acceleration Torque Required (N π t ≤ Deceleration Torque Required (N π − t ≤ Torque Effective Value (N − −...

  • Page 239: Vertical Ball Screw Load

    Vertical BALL SCREW Load Mechanical Configuration Movement Amount (m) − − × × − Motor Shaft Revolving Speed (r/min)
  • Page 240 Load Torque (N µ − π η Load Inertia Moment (kg Minimum Acceleration Time (s) Minimum Deceleration Time (s) π Load Operation Power (W) π Load Acceleration Power (W) π × t ≤...
  • Page 241 Acceleration Torque Required (N π t ≤ Deceleration Torque Required (N π − t ≤ Torque Effective Value (N − −...

  • Page 242: Rack & Pinion Load

    RACK & PINION Load Mechanical Configuration Movement Amount (m) − − × × − Motor Shaft Revolving Speed (r/min) Load Torque (N µ η...
  • Page 243 Load Inertia Moment (kg Minimum Acceleration Time (s) Minimum Deceleration Time (s) π Load Operation Power (W) π Load Acceleration Power (W) π × t ≤ Acceleration Torque Required (N π t ≤...
  • Page 244 Deceleration Torque Required (N π − t ≤ Torque Effective Value (N − −...

  • Page 245: Disk Load

    Disk Load Mechanical Configuration Movement Amount (rad) ω − − θ × ω θ × t − Motor Shaft Revolving Speed (r/min) ω Load Torque (N Load Inertia Moment (kg...
  • Page 246 Minimum Acceleration Time (s) Minimum Deceleration Time (s) π Load Operation Power (W) π Load Acceleration Power (W) π × t ≤ Acceleration Torque Required (N π t ≤ Deceleration Torque Required (N π − t ≤ Torque Effective Value (N −...
  • Page 247 Index Sign Analog Monitoring Channel 1 6-118 Analog Monitoring Channel 2 6-118 /ABS-DT 4-58 6-121 A-170 Applied Gain 5-85 /A-TL 4-58 A-170 Auto Adjustment for Speed Integral Value /C-DIR 4-57 4-58 4-80 A-147 A-170 A-177 A-167 /C-SEL 4-58 4-83 A-170 Auto Tuning Speed A-169 /C-SP1 4-80 A-147...
  • Page 248 Absolute Encoder 1-11 Cooling Fan 7-124 Incremental Encoder 1-11 Coupling 2-20 Encoder A(/A) Phase Output 6-115 CSDP Plus 1-11 Encoder B(/B) Phase Output 6-115 Encoder C(/C) Phase Output 6-115 Encoder Cable 7-129 DA Monitor 1 Offset A-174 Encoder Output A Phase 6-116...
  • Page 249 Jog Operation Speed A-146 P control shift standard value 5-85 P control shift switch 5-85 Label 1-16 P/PI Mode Shift 5-95 Line Drive 4-61 4-62 6-115 PAr-01 7-132 Low-voltage Detection Circuit 6-119 PAr-02 7-132 PAr-03 7-132 M5xL10 bolt 2-24 PAr-04 7-132 Main Power Supply Type A-159 PAr-05 7-132 Manual Gain 5-89...
  • Page 250 SEt-01 4-71 A-133 SEt-56 5-97 A-168 SEt-02 5-85 5-92 5-93 7-129 A-134 A-155 SEt-57 5-97 A-169 SEt-58 5-89 A-169 SEt-03 5-85 5-92 5-93 7-129 A-135 A-155 SEt-59 A-170 SEt-60 A-171 SEt-04 5-85 5-93 7-129 A-135 A-155 A-173 SEt-61 A-171 SEt-05 4-76 A-135 SEt-62 A-171 SEt-06 5-85...
  • Page 251 Speed Bias Standard Range 5-85 5-94 Speed Control 4-70 5-91 User Inertia Ratio A-172 Speed Gain 7-129 USr-01 3-48 Speed Instruction Filter 5-85 5-91 5-92 5-94 USr-02 3-48 5-88 A-155 A-173 USr-03 3-48 Speed Instruction Filter Frequency A-154 USr-04 3-48 Speed Instruction Gain A-133 USr-05 3-48 Speed Instruction Offset Auto Adjustment A-...
  • Page 254 CSDP Plus Servo Drive User Manual Controls Trademarks not belonging to OE M Controls are www.oemax.com property of their respective companies. Publication OEM -CSDPP-UM001A-EN-P - November 2005 Copyright © 2005 OEM Controls All rights reserved. Printed in Korea.

This manual is also suitable for:

Csdp-15bx2Csdp-20bx2Csdp-30bx2Csdp-40bx2Csdp-50bx2

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