Page 1 Maximum Value for OEMs CSDJ plus servo User Manual...
Page 2 This user’s manual explains handling method, repair, inspection, error diagnosis, troubleshooting and, specifications of the CSDJ Plus Servo Drive. • Use the CSDJ 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.
Page 3 Other Safety Precautions • Install, operate, 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.
Page 4 Precautions when Wiring Operate only after checking that input power is off. - There may be electric 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.
Page 5 Precautions when repairing 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.
Page 6 Contents Other Safety Precautions ......ii Chapter 1. Overview and Specifications ..1-1 Main Features ................
Page 7 Operation by the Operator ........... 4-12 Autotuning ................4-12 Auto Adjustment of Speed/Torque Command Offset ..4-12 Manual Adjustment of Speed/Torque Command Offset ... 4-13 Alarm Reset ................4-14 D/A Converter Channel Selection ........4-15 Output Adjustment Method of D/A Converter Channel ..4-16 Parameter Initialization ............
Page 8 Torque Command ..............6-34 Limiting the Speed during the Torque Control ....6-36 Position/Torque Control Mode ........... 6-37 Torque Limit ................6-38 Setting of Servo Drive Gain ..........6-42 Using Rotation Prohibition Function ........6-45 Chapter 7. Other Functions and Applications ..7-1 Brake Control ................
Page 9 Table 2.1 CSDJ Plus Rated Output and Applicable Motor ................2-4 Table 2.2 Allowable Load of the Motor ......2-8 Table 2.3 Names of External Terminal Block of the CSDJ Plus ................2-11 Table 2.4 I/O Specification of CN1 ........2-15 Table 2.5 I/O With Different Functions for Each Control Mode...
Page 10 Chapter 6. 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 ...
Page 11: Table Of Contents
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 (CSDJ-06B,10B) ......1-5 Chapter 2. Installation and Wiring ......2-1 Fig 2.1 Drive Display .............. 2-3 Fig 2.2 Motor Type Display ...........
Page 12 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 Error ............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.) ..........
Page 13 Fig 6.30 Input Voltage and Command Torque ....6-35 Fig 6.31 Torque Command Input Circuit ......6-35 Fig 6.32 External Torque Limit Command and Torque Limit Detection Output Signal ......... 6-40 Fig 6.33 Gain Tuning ............6-44 Fig 6.34 Using the Rotation Prohibition Input Signal ..6-45 Chapter 7.
Page 14 List of Figures-4...
Page 15 List of Figures-5...
Page 16 Overview and Specifications Chapter 1 explains the basic information on CSDJ Plus Servo Drive such as features and standard specifications. Main Features Preparations for Operation Hardware Features Standard Specifications...
Page 18 Main Features CSDJ 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.
Page 19 Preparations for Operation The block description below is the basic steps before operating the servo drive. Fig 1.1 Preparations for Operation...
Page 20 Hardware Features Fig 1.2 Hardware Features (CSDJ-01B,02B,04B) Fig 1.3 Hardware Features (CSDJ-06B,10B) * Refer to the Table 2.1 for types and capacity of the motor for each drive.
Page 21 Standard Specifications Table 1.1 Standard Specifications of CSDJ Plus Servo Drive Single phase 220V + 10, -15% 50/60Hz Power Source PWM control using IPM Control Method 2048 P/R (Incremental type) Encoder Operating Temperature/ 0°C~+55°C / 90% or less(non-condensing) Humidity Storing temperature/ -20°C~+80°C / 90% or less (non-condensing)
Page 22 Table 1.2 Control Specifications 1:3,000 Speed Control Range 0~100% : Below 0.01% (At rated speed) Load Variation 220VAC +10, -15% 50/60Hz : 0.01% Line voltage Variation 25 ± 25°C : Below ± 0.01% (At rated speed) Temperature Variation 250Hz (J Frequency Band width Acceleration/Deceleration 0~60 sec...
Page 24 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 I/O Specification CN1 (I/O Cable) CN2 (Connector for Encoder Connection)
Page 26: Fig 2.1 Drive Display
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.
Page 27: Fig 2.2 Motor Type Display
Table 2.1 CSDJ Plus Rated Output and Applicable Motor Motor CSMT CSMR Rated Output CSDJ-01BX2 100W 100W CSDJ-02BX2 200W 200W CSDJ-04BX2 400W 400W CSDJ-06BX2 600W 800W CSDJ-10BX2 Fig 2.2 Motor Type Display Examples of Standard Model CSMT -01BB1ANT3 CSMT -01BB1ABT3...
Page 28 Installation Precautions Power voltage is available for 220VAC. 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.
Page 29: Fig 2.4 Coupling
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 ~ +55℃ Storing temperature: -20 ~ +80℃ Humidity: 20 ~ 80% (non-condensing) Place with good ventilation and no dust and humidity.
Page 30 - 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.
Page 31 Table 2.2 Allowable Load of the Motor Allowable Radial Load during Allowable Thrust Load during Motor Type Operation Operation [kg f] [kg f] CSMR-01A CSMR-02A CSMR-04A CSMT-A3B CSMT-A5B CSMT-01B CSMT-02B CSMT-04B CSMT-06B CSMT-08B CSMT-10B...
Page 32: Fig 2.5 Installation Of Servo Drive (Wall Mounting Type)
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) Control board uses C-MOS. Be aware when handling it.
Page 33 When the product must be installed at a location with vibrations, use the vibration-absorbing device, so it 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.
Page 34: Fig 2.7 Connection Of External Terminal Blockonnection Of External Terminal Block
24VDC Main Power Input L1,L2 : Single Phase 220VAC, -15% ~ +10%, 50/60Hz 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) Motor Power Cable...
Page 35 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. 1. Multi-core twisted pair with overall wire shield must be used for the signal wire and position signal (CN1, CN2, CN3 connection wire).
Page 36 Wiring Diagram Fig 2.8 Wiring Diagram 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.
Page 37: Fig 2.9 Example Of Wiring In Main Circuit
The figure below is the example of wiring in main circuit of CSDJ Plus. Fig 2.9 Example of Wiring in Main Circuit Do not turn on/off the power frequently.Because the servo drive has capacitor in the power part, large inrush current flows when the power is turned on.
Page 38 I/O Specification CN1 (I/O Cable) Table 2.4 I/O Specification of CN1 I/O Specification of CN1 I/O Specification of CN1 Signal Color Function Signal Color Function Pink +24EXIT External 24V input 3Point Orange +24EXIT Yellw SERVO ON/OFF input SG-OV SG(GND) 3Point Gray SV-ON Blue...
Page 39 The color of I/O Cable wire can 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.
Page 40 P-CON P-CL and 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 CN1 Pin No. N-CL P-CL P-CON Signal ON : Reverse Rotation Speed Control (SEt-41 = 10) OFF : Forward Rotation ON : Zero-clamp...
Page 41 CN2 (Connector for Encoder Connection) Table 2.6 Connection of Encoder Connector DRIVE MOTOR CSMT/CSMR Function Incremental 9 Wire U/RX U/RX BAT+ BAT- Do not connect the unused signal wire. Otherwise, it may cause error in operation or damage due to external noise. 2-18...
Page 42: Fig 2.10 9 Wire Incremental Encoder Connection Method Of Motor (Setting Value Of Set-51 = 1, Refer To 7.6)
Fig 2.10 9 Wire Incremental Encoder Connection Method of Motor (Setting Value of SEt-51 = 1, refer to 7.6) Fig 2.11 Shape and PIN Number of CN2(Encoder Connector) 2-19...
Page 43 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.
Page 44: Fig 2.12 Grounding And Noise Filter For Noise Reduction
Fig 2.12 Grounding and Noise Filter for Noise Reduction 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 Recommended Noise Filter Power...
Page 45 • Wiring Noise Filter - Separate the input and output wiring. - Do not put input and output wires in a same duct. - Earth wire of the noise filter should be wired in distance to the output wire. - Earch wire of the filter should be soley attached in the earth panel.
Page 46 Circuit Breaker CSDJ Plus Servo Drive uses general power source (Single phase 220VAC, 50/60Hz). 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.
Page 47 2-24...
Page 48 2-25...
Page 49 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...
Page 51 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. Check if the connection, grounding, and conditions of the external equipment are done appropriately when con- necting the drive with the serve motor.
Page 52: Fig 3.1 Example Of Power On And Off
Startup In order to avoid unexpected accidents during startup, 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.
Page 53 • 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...
Page 54: Fig 3.2 Power Supply Method For Multi-Servo Drive Connection
Fig 3.2 Power Supply Method for Multi-Servo Drive Connec- tion...
Page 55 Check Items prior to Startup...
Page 56 Startup by the Operator • Setting the Jog Operation Speed Fig 3.3 Setting the Jog Operation Speed...
Page 57 • Setting Acceleration and Deceleration Time in Startup by the Operator Fig 3.4 Setting Acceleration and Deceleration Time...
Page 58 • Servo ON (Jog On) and Startup by the Operator Fig 3.5 Startup by the Operator • Definition of Forward Rotation Forward Rotation = Motor rotates in counterclockwise direction when viewed from the motor shaft. (CCW) Check if the AC voltage is supplied and output normally. Check if there is any abnormal noise.
Page 59 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 Operator displays the following when the servo is ON from speed control mode.
Page 60: Fig 3.7 Speed Command Analog Input
• Speed command Use pin number 19 and 20 of CN1 for speed command. Fig 3.7 Speed Command Analog Input 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-01[RPM/V] x Input Voltage[V]...
Page 61 Loop Proportion Gainand Speed Loop Integration Gainare not set correctly, position decision may be slowed down. CSDJ Plus Servo Drive has the [autotuning] function, which automatically finds the load inertia. When autotuning, the gain shown below is automatically set with the load inertia as the base.
Page 62: Fig 3.9 Example Of Autotuning By The Operator
During the autotuning, motor rotates in CW and 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 JOG func- tion...
Page 63 • 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 Load Inertia Ratio = Motor Inertia Displayed to the first decimal point. * Refer to Table 7.3 for allowable load inertia in operation of each motor in rated speed.
Page 64: Fig 3.10 Operation Pattern Of The Test Run
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 until it is stopped. 1 cycle time is 14 sec. Fig 3.10 Operation Pattern of the Test Run Operation time for the test run is already set.
Page 65 3-17...
Page 66 3-18...
Page 67 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...
Page 69 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...
Page 70 Types of Mode and Mode Switching • Types of Modes Table 4.1 Types of Modes Mode Name Display Function Various status display (Refer to Status Display Mode) Status Display - Base Block Mode - During operation - Error and Warning User Parameter Refer to User Parameter Setting Mode...
Page 71 Mode Name Display Function 01. JOG operation 02. Autotuning 03. Auto adjustment of speed command offset 04. Auto adjustment of torque command offset 05. Manual adjustment of speed command offset JOG Mode 06. Manual adjustment of torque command offset 07. Alarm Reset 08.
Page 72 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 Table 4.2 Content of Bit Data SEt-43 Bit Data Content No.4 Power ON Light a bit when Power is ON. Speed coincidence Light on when the motor speed reached the speed command.
Page 73: Fig 4.4 Example Of Setting User Parameter
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. The figure below is an example of setting SEt-03 from 80 to 120. Fig 4.4 Example of Setting User Parameter * Refer to chapter 5 Parameter List.
Page 74: Fig 4.5 Example Of Parameter Of Monitoring Mode
Monitoring Mode The operator speed and torque command is monitored in this mode. The figure below is an example of monitoring the torque command. Fig 4.5 Example of Parameter of Monitoring Mode Table 4.4 Monitor type Monitor Monitor Content Unit Content Unit Con-01...
Page 75: Fig 4.7 Example Of Error
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 Table 4.5 Types of Error Saving Parameter Parameter Content PAr-01...
Page 76 Parameter Content Controller type check PAr-12...
Page 77 Table 4.1 Error Display of Operator and Trace Back Table Alarm Code Alarm Content Number Letter Motor over-current If it cannot be cancelled even if it's not over-current, it's overheat. Motor over-current Operation error due to motor overheat or noise Instantaneous over load of torque command Continuous overload of torque command Instantaneous overload of motor current...
Page 78 Jog Mode Table 4.2 Jog Mode Parameter Parameter Contents JOG(Servo ON by operator) USr-01 * 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)
Page 79: Fig 4.13 Speed/Torque Command Input
Fig 4.13 Speed/Torque Command Input Fig 4.14 Auto Adjustment of Speed Command Offset (In case of auto adjustment of torque command offset, "Au- tC"is displayed.) The motor can move a little even if the command offset has been automatically adjusted. This is because the noise in power voltage or the power voltage changes.
Page 80: Fig 4.15 Manual Adjustment Of Speed Command Offset (In Case Of The Manual Adjustment Of Torque Command Offset , " Co-Tc" Is Displayed.)
Fig 4.15 Manual Adjustment of Speed Command Offset (In case of the manual adjustment of torque command offset , " Co-tC" is displayed.) Alarm Reset Error status can be reset in USr-07 of the jog mode. Resetting method is as follows. Fig 4.16 Alarm Reset...
Page 81: Fig 4.17 Example Of Selecting The D/A Channel Output Content
D/A Converter Channel Selection CSDJ Plus prepares two of D/A output. Output can be selected in USr-08. CN1 pin Initial setting Content ± Speed Feedback Setting value of 1V / SEt-08 [RPM], ± ± 1V / 500[RPM] Max. ± Torque Command...
Page 82 Output Adjustment Method of D/A Converter Channel Table 4.4 Parameter Value and Content Related to D/A Converter Output Initial Setting Parameter Name Content Unit Setting Range DA Channel Output Content USr-08 Selection DA Channel 1 Offset Adjusts output offset of DA SEt-71 10mV 0~200...
Page 83: Fig 4.18 Initialization Of User Parameter
• 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.
Page 84 It takes 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.
Page 87 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...
Page 89 User Parameter Motor and Encoder Setting Parameter Name Description *SEt-51 Encoder Type Refer to Table 5.1 *SEt-52 Motor Type Refer to Table 5.2 *SEt-53 Motor Capacity Setting Refer to Table 5.3 A,B Table 5.1 Encoder Types Setting (SEt-51) CSM/CSMP/CSMT/CSMR Encoder Type Pulse 9 wire Incremental 2048...
Page 90 Control Mode Setting *SEt- Control Type Control Mode Description Position Factory Setting Value Position Mode Control * Refer to Position Control Speed Mode * Refer to Speed Control 3 Step Speed control by input terminal Multi Step Speed (P-CL, N-CL, P-CON) Mode * Refer to Multi Step Speed Control Mode P-CON ON: Zero-Clamp Speed Control Mode...
Page 91 Parameter Setting Related to Autotuning Setting Factory Parameter Name Description Unit Range Settings - Autotuning speed (RPM): Setting value (rad/s)/2PI*60 Ex) Setting value:100 → 955PM - 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 Autotuning SEt-58...
Page 92 Setting Factory Parameter Name Description Unit Range Setting - Suppresses the torque command of frequency band set. - Notch filter function is ineffective when setting "0". - Resonant frequency may differ according to the Notch Filter load. Appropriate setting of resonant frequency + SEt-47 Cutoff 0~10000...
Page 93 Parameter Setting Related to Servo Control Setting Factory Parameter Name Description Unit Range Setting - Sets the speed level which turns on the TG-ON TG-ON output signal SEt-16 Speed - Effective when LED no.4=0 of SEt-43. 1~5000 If the motor speed is greater than the setting value, Level the TG-ON signal is turned On.
Page 94: Fig 6.14 Emergency Stop
Setting Factory Parameter Name Description Note Value Setting ON/OFF by external input terminal(SV-ON) Servo ON Method Always Servo ON Function Selection of P-OT Signal is forward rotation P-OT Signal prohibition signal * Refer to Using Rotation Forward Rotation operation is Prohibition always permitted Function...
Page 95 Setting Factory Parameter Name Description Note Setting Value No Function. When absolute value of analog speed command is less than SEt-17[RPM], speed command is recognized as “0” . (Setting is not counted in zero-clamp mode) Trapezoid Operation S-Curve Operation Turn off and on Use 1 torque command filter the power after...
Page 96 Setting Factory Parameter Name Description Note Value Setting CW + CCW (Positive Logic) CW + CCW (Negative Logic) Turn off and on Cannot be Used the power after changing Cannot be Used setting value in Position Servo OFF Cannot be Used Command state Pulse Form...
Page 97 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 .
Page 98 Parameter Setting Related to Speed Control Setting Factory Parameter Name Description Unit Range Setting Speed per external analog input voltage command (1V or 10V External speed RPM/V SEt-01 according to setting of SEt-46 LED 10~6000 command gain (RPM/10V) No.2) * Refer to 6.1 A. Speed Command Auto adjustment of USr-03 * Refer to Auto Adjustment of Speed/Torque Command Offset.
Page 99 Parameter Setting Related to Position Control Setting Factory Parameter Name Description Unit Range Setting - Use filter to smooth feed-forward compensation value, which is differentiated position command. Cutoff frequency of this filter can be adjusted. Position - Only effective when feed-forward SEt-07 compensation (FF) gain is not "0", and if rad/s...
Page 100 Parameter Setting Related to Torque Control Setting Factory Parameter Name Description Unit Value Setting Sets how many percent (%) of motor rated torque per 3V input voltage will be the torque command (CN1 21-22) . External Torque SEt-05 %/3V 0~100 Command Gain 100% = Motor rated torque * Refer to Multi Step Speed Control Mode...
Page 101 Parameter Setting Related to Torque Limit Setting Factory Parameter Name Description Unit Range Setting Forward Rotation Torque SEt-10 Limits the torque in set value. 0~300 Limit 100% : Rated torque of the motor External current limit of External Current Limit of ------ forward rotation is effective.
Page 102: Fig 3.6 Servo On
Parameter Setting Related to Timing Control Setting Factory Parameter Name Description Unit Value Setting Delay time until the Servo OFF is operated inside actual servo drive from the point Servo OFF where Servo OFF command is input SEt-29 10ms 0~1000 Delay Time externally when the motor stopping.
Page 103: Fig 5.1 I/O Status Of Con-12 (V/P: Speed/Position Completion Signal Cn1 Pin 41-42)
Monitor Parameter List Table 5.4 Monitor Parameter List Monitor No. Description Unit Con-01 Feedback Speed Con-02 Speed Command Con-03 Torque Command Con-04 Electrical Angle DEGREE Con-05 Speed Error Con-06 Position Error PULSE Con-07 Mechanical angle DEGREE Con-08 Position Feedback PULSE Con-09 Position Command PULSE...
Page 104 Jog Mode Parameter List Table 5.5 Jog Mode Parameter List Parameter Description Reference JOG (Servo ON by Operator) USr-01 3.2 B. * Refer to start up by Operator USr-02 AutoTuning USr-03 Auto Adjustment of Speed Command Offset 4.7 C. USr-04 Auto Adjustment of Torque Command Offset USr-05 Manual Adjustment of Speed Command Offset...
Page 105 Error Monitor and System Parameter List Table 5.6 Error Monitor and System Parameter List Parameter Description PAr-01 Last Error PAr-02 Second Last Error PAr-03 Third Last Error PAr-04 Fourth Last Error PAr-05 Fifth Last Error PAr-06 Sixth Last Error PAr-07 Seventh Last Error PAr-08 Eighth last Error...
Page 107 Basic Functions Chapter 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...
Page 108 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...
Page 109 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 Control Parameter Name...
Page 110 • Using the P-CON Input Signal function differs according to the control mode. P-CON Table 6.2 Using the P-CON Signal Control Mode P-CON function 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-41=3, 10 Selecting the direction of rotation SEt-41=14...
Page 111: Fig 6.1 Example Of P/Pi Control Conversion Usage
Fig 6.1 Example of P/PI Control Conversion Usage • Auto Adjustment of Speed Integration Value (SEt-54) 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.) Factory...
Page 112: Fig 6.2 Analog Speed Command Input Circuit
Speed Command In case of speed control, analog input voltage value of pin 19-20 of CN1 becomes the speed command value. The relationship between the speed command value and input voltage is set in SEt-01. • Composition Fig 6.2 Analog Speed Command Input Circuit •...
Page 113: Fig 6.4 Multi Step Speed Control Circuit
When the speed command desired by 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 SEt-01 2439...
Page 114: Fig 6.5 Multi Step Speed Operation
Fig 6.5 Multi Step Speed Operation Settin Speed P-CON P-CL N-CL Step 1 Speed SEt-26 Step 2 Speed SEt-27 Step 3 Speed SEt-28 Reverse Rotation SEt-26 Step 1 Speed Reverse Rotation SEt-27 Step 2 Speed * Step 4 speed can be used. Reverse Rotation Refer to page 6-10 for its usage.
Page 115 Speed/Multi Step Speed Control Mode It may be converted to speed/multi step speed control mode by ON/ OFF of input terminal. P-CON Table 6.4 Speed/Multi Step Speed Control Mode Setting Item Description Note Mode Setting Setting value is effective SEt-41 = 14 after Power ON/OFF .
Page 116: Fig 6.6 Using The Step 4 Speed
• Using the Step 4 Speed Fig 6.6 Using the Step 4 Speed Step 4 speed command can be used in 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 pin 10 or 15 of CN1 as step 4 speed command.
Page 117: Fig 6.7 Example Of Step 4 Speed Command Usage
• Example of Step 4 Speed Cobmmand Usage SEt-41=14 Sets to speed/multi step speed control mode SEt-44 LED No.5 = 0(Factory setting) Set into On status when CN1 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...
Page 118: Fig 6.8 Using The Zero-Clamp Speed Control
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 0[V], and little offset may exist.
Page 119: Fig 6.9 Zero-Clamp Operation
Fig 6.9 Zero-Clamp Operation 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 Setting Description SEt-41 Auto zero-clamp speed control mode SEt-17 1~5000[RPM]...
Page 120: Fig 6.10 Width Of Speed Coincidence Output Signal
Speed Coincidence Output Signal Setting Factory Parameter Name Unit Note Range Setting - Speed Control Mode: Width of speed coincidence output Output Width of signal SEt-18 Speed (Position) 0~1000 (PULSE) Coincidence Signal - Position Control Mode: Position Completion Range (PULSE) Fig 6.10 Width of Speed Coincidence Output Signal 6-14...
Page 121 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.) • In Case of Speed/Torque Control Mode Settin Factory Paramete Description Setting Value Forward rotation operation. During speed control mode, + voltage of V-ref terminal (CN1 pin 19) is forward direction operation During torque control mode, + voltage of T-ref terminal (CN1 pin 21) is forward direction operation...
Page 122: Fig 6.11 Inner Speed Command Generation
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 Setting Factory Setting Parameter Name Unit...
Page 123 • Setting of S-Curve Operation Parameter Name Setting Description Note Factory Setting value when delivered Selection of SEt-45 S-Curve Operation 6-17...
Page 124 Selection of Stop Method Offset Adjustment When 0V 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).
Page 125 Using Zero-Clamp Function If the speed 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 • 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...
Page 126: Fig 6.15 Selection Of Stopping Method By Emergency Stop And Error Occurrence
Fig 6.14 Emergency Stop Stopping method in emergency stop follows setting of SEt-44 LED No.3. Parameter Setting Stopping Method Rot atio n Directi on Descriptio n Forward Stop by t orque value set in SEt -14 SEt-44 Reverse Stop by t orque 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.
Page 127: Fig 6.16 Position Command Input Terminal
Position Control Selection of 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”...
Page 128: Fig 6.17 Wiring For Position Command Of Line Drive Output
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. SEt-37 Motor Speed Command Pulse Frequency 2048 3000 RPM 102.4 kpps 4000 3000 RPM...
Page 129 The signal logic for open collector output is as follows. TR is ON Equivalent to low level input. TR is OFF 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- rately Low (<0.6V), or if R is greater than the standard, position shift may occur.
Page 130 Electrical Specifications of Command Pulse Table 6.10 Electrical Specifications of Position Command Pulse Command Electrical Specifications Note Pulse Form Sign Pulse train Forward : High levelReverse: Low level Maximum Command Sign Frequency: 450Kpps Maximum Command Frequency 2 Phase pulse train of 90° 1Multiplication: 450Kpps Difference 2 Multiplication: 400Kpps...
Page 131: Fig 6.19 P-Clr Signal Usage
Position Counter Clear Fig 6.19 P-CLR Signal Usage In position control mode, set 1 in SEt-46 LED No. 4 or 5 in order to use CN1 pin 10 or 15 as position counter clear pin. During the position control operation, if function is on, make P-CLR the position command and position error 0(Con-09=Con-06=0), and...
Page 132: Fig 6.20 Output Width Of Position Completion Signal
Position Completion Output Signal (P-COM) P-COM output signal is ON (CN1 pin41 is at low level)when satisfying the following conditions. - Position Error < Positioning Completion Range (Setting value of SEt- Setting Factory Parameter Name Unit Note Range Setting Speed Control Mode: Output width of speed coincidence signal Output Width of PULSE...
Page 133: Fig 6.21 I/O Signal Timing Chart
I/O Signal Timing Fig 6.21 I/O Signal Timing Chart Maximum Maximum Minimum Minimum 40ms 40ms 6-27...
Page 134 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 Content Description Note Mode Setting SEt-41 = 8 Setting value is effective after power OFF/ON Parameter P-CON Terminal Control Mode...
Page 135: Fig 6.22 Using The Encoder Output Signal
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.
Page 136: Fig 6.24 Encoder Output Pulse Form
Servo drive output pulse may not output A, B 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 cannot exceed 2048 pulse per 1 motor rotation.
Page 137: Fig 6.25 Example Of Electronic Gear Setting (Ball Screw)
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.
Page 138: Fig 6.27 Example Of Electronic Gear Setting (Turn Table)
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 calculated as shown below.
Page 139 Rotation Detection Output Signal Setting Parameter Name Setting Value Unit Description Range SEt-43 Selection of TG-ON Uses TG-ON as a Rotation Output Signal Function (Factory setting) detection output signal. LED No.4 SEt-16 TG-ON Speed Level 0~1000 (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 a torque limit output signal.) This signal can be used as reference signal of host controller.
Page 140 Torque Control Torque control, tension control or pressure control can be operated. Setting Parameter Name Setting Description Torque control(Only torque control is possible) 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 (Speed/Speed limit torque control conversion possible)
Page 141: Fig 6.30 Input Voltage And Command Torque
Fig 6.30 Input Voltage and Command Torque Fig 6.31 Torque Command Input Circuit - 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).
Page 142 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. Speed limit value is proportion to speed command value of V-REF input terminal (CN1 pin 19-20).
Page 143 Position/Torque Control Mode Conversion to position/torque control mode is possible through ON/ OFF of input terminal. P-CON Table 6.13 Position/Torque Control Mode Setting Content Description Note Mode Setting SEt-41 = 7 Setting value is effective after power OFF/ON Parameter P-CON Terminal Control mode display of the operator Control Mode OFF →...
Page 144 Torque Limit • Block Diagram of Torque Limit • 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.
Page 145 • 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. Change Setting Factory Mode Parameter Name Description Unit during Range Setting Used Operation External forward SEt-12 rotation torque limit Limits the torque...
Page 146: Fig 6.32 External Torque Limit Command And Torque Limit Detection Output Signal
• Torque Limit Detection Output Signal In order to use (CN1 pin 43) output signal as torque limit TG-ON+ detection signal, SEt-43 LED No.4 must be set to "1". Parameter Setting Description TG-ON+ Signal becomes motor rotation detection signal. (This signal is ON when motor speed is higher than zero-speed level.) SEt-43 No.
Page 147 During the motor output torque limit, (Limit value is internal setting value) Tor que Limit Value ----- CN1-43, 44 are closed Setting val ue of S Et-12 P-CL ON TG-ON+ is On ----- CN1-43 is at "Low" Level Setting val ue of S Et-13 N-CL ON ----- P-CL OFF...
Page 148 Setting of Servo Drive Gain Operate autotuning prior to manually adjusting the servo gain. Refer to 3.3 Autotuning. CSDJ Plus Servo Drive can set the following gain. Table 6.14 Setting of Servo Drive Gain Applied Setting Factory Parameter Name Description...
Page 149 • Speed Response Performance for Speed Proportion/ 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.
Page 150 • Gain Tuning Method - Set the system response performance with SEt-42. Setting Factory Parameter Name Description Range Setting 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...
Page 151: Fig 6.34 Using The Rotation Prohibition Input Signal
Using Rotation Prohibition Function In such cases as linear machine, in order to protect from mechanical damage, it can 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.
Page 152 6-46...
Page 153 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)
Page 155 Dynamic Brake CSDJ Plus Servo Drive has a built-in dynamic brake, which can be used to emergency stop the motor. Dynamic brake, an electrical brake, which is supported by CSDJ Plus is completely different from a mechanical brake. Fig 7.1 Dynamic Brake •...
Page 156 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 Brake attached to the motor cannot be used for stopping rotation.Just use it to lock the stopped motor in that sta- tus.
Page 157: Fig 7.2 Timing Chart Of Servo Off Input Signal And Brake Control Output Signal
Fig 7.2 Timing Chart of Servo OFF Input Signal and Brake Control Output Signal • When motor stopped during the rotation, operate the brake. The brake signal will be output if and only if, Motor Speed < Set value of SEt-30 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...
Page 158: Fig 7.4 Timing Chart Of Brake Control Signal At Servo On
• Timing of Servo ON 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.
Page 159 Case 1: If the load is raised when motor is rotated in forward direction. Case 2: If the load is raised when the motor is rotated in reverse direction...
Page 160: Fig 7.6 Wiring With The Host Controller When Absolute Encoder Is Used
Fig 7.6 Wiring with the Host Controller when Absolute Encoder is used...
Page 161 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.
Page 162 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, connect a regeneration resistor or auxiliary capacitor.
Page 163: Fig 7.8 Operation Pattern Of Vertical Load
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 1/2 x (Total rotor inertia) x Speed Thus, when operating above the maximum speed, the...
Page 164: Fig 7.9 Regeneration Resistor And Regeneration Unit Connection
By consuming the energy by the regeneration resistor, it protects the device of main circuit. Regeneration resistor may not be attached to the CSDJ Plus Servo Drive with 400W or lower. However, regeneration unit or auxiliary capacitor can be attached to the P-N terminal.
Page 165: Fig 7.10 Motor Type Setting (Set-52)
Motor Type and Capacity Setting Parameter Description Set-52 Setting of the motor type Set-53 Setting of the motor capacity - It is 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.
Page 166 Encoder Type Setting (SEt-51) Table 7.5 Encoder Type Settings CSMT,CSMR Setting Encoder Type 9 wire incremental 2048 pulse 7-14...
Page 167 7-15...
Page 168 Error Handling CSDJ 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...
Page 170 Error Notification CSDJ Plus Servo Drive displays error contents by output of operator, LED and alarm code when error occurs. • CSDJ Plus Fig 8.1 Error Notification...
Page 171: Fig 8.2 Connection Diagram Of Alarm Related Output Signal
Alarm Output CSDJ 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 Table 8.1 Alarm Related Input/Output Terminal Name Pin No. Description ON when error occurs.
Page 172 Alarm Codes and Corrective Actions Table 8.2 Alarm Codes Classification Output Composition Operator Protective Alarm Code Display Description SALM Function Output Composition Output E10(" SC") Detected if over current exists in main circuit. E11(" oC") Over In case of which the servo drive reaches the current E12("oH") over heating status.Incorrect operation due to...
Page 173 The alarm is displayed because there is a error in 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.
Page 174 Alarm Code Status Cause Corrective Action - Check load inertia - Load GD is too big - Check motor connection Overvoltage Displays during - When there is regeneration - Check regeneration resistor is deceleration resistor, regeneration resistor E50(" oV") open and increase regeneration is open.
Page 176 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...
Page 178 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 Check Item Period Method Note Compared to normal Vibration Noise Everyday Check by touch and hearing...
Page 179 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...
Page 180 Troubleshooting Relating to Incorrect External Wiring Symptom Check Item Action - Check of the main circuit wiring motor earth and motor line short. - Check and repair the wiring - MCCB Trip at the same time of - Alarm Check - Check causes of alarm, LED power distribution and servo ON - Speed Command Check...
Page 182 Appdendix Appendix A. Motor Specification CSMT Motor Specification CSMR 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.
Page 183 Appendix A. Motor Specification CSMT Motor Specification Standard Speficication Table A.1 CSMT Motor Specification Content Specification Content Specification Y connection Class B Connection Method Insulation 0 ~ +40℃ 1500VAC 60sec Operating Temperature Dielectric Strength -10 ~ +85℃ Permanent Magnet Storing Temperature Excitation Method 500VDC 100㏁...
Page 184 CSMT Motor Content Allowable Thrust Kgf MAX Load Allowable Radial Kgf MAX Load Weight (with Brake) U → V → W : CCW Rotation Direction Option Oil Seal Table A.2 CSMT Motor Brake Specification CSMT Motor Content 24 ± 10% Raged Voltage 0.32 1.27...
Page 185 • Speed-Torque Curve...
Page 186 CSMR Motor specification • Standard Speficication Table A.3 CSMR Motor Specification Content Specification Content Specification Y connection Class B Connection Method Insulation 0 ~ +40℃ 1500VAC 60sec Operating Temperature Dielectric Strength -10 ~ +85℃ Permanent Magnet Storing Temperature Excitation Method 500DVC 100㏁...
Page 187 CSMT Motor Content Weight (with Brake) U → V → W : CCW Rotation Direction Black Color Option Oil Seal Table A.4 CSMR Motor Brake Specification CSMT Motor Content 24 ± 10% Raged Voltage 0.32 1.27 N·m Static Friction Torque 3.25 Kgf·cm Power Dissipation...
Page 189 Appendix B. Motor Dimensions CSMT Motor Model Dimension 53.5 59.5 73.5 76.1 98.1 99.7 108.7 144.2 No BRAKE 89.1 95.1 109.1 110.7 132.7 136.3 145.3 167.2 With BRAKE Model Dimension 19.8...
Page 190 CSMR Motor Model Dimension 62.5 76.3 64.3 No BRAKE 86.5 107.3 With BRAKE 95.3 Model Dimension...
Page 192 Appendix C. Cable Power Cable Assembly for 3-Phase Motor (CSMT/MR) Marking Cable Color Remark Red of 3 Point Cable White of 3 Point Cable Gray of 3 Point Cable P .E Wire P .E Weld and connect the to 3 point cable of the shield (green background/yellow stripe) •...
Page 193 Motor Brake Cable Assembly (CSMT/MR) Marking Cable Color Remark BK + White of 2 Point Cable BK - Gray of 2 Point Cable • Order Number and Product Nam Length(mm) ± 10% Order Number Product Name 3,000 BRK SL03BRAKFA 5,000 BRK SL05BRAKFA Motor broke cable 10,000...
Page 194 User I/O Cable • I/O Cable Connection Specification (Servo Drive) con.b Wire Color con.b Wire Color con.b Wire Color Gray/2Point Orange/Light Line Yellow Red/3Point Gray/Light Line Sky Blue Yellow/3Point Red/1Line White Skyblue/3Point Yellow/1Line Pink White/3Point Skyblue/1Line Orange Pink/3Point White/1Line Gray Orange/3Point Pink/1Line Red/1Point...
Page 195 9-Wire Incremental Encoder Cable Assembly (CSMT/MR) ↔ • 9 Wire Incremental Encoder Connector (CON.A CON.B) Connection Specification-For CSM Motor CON.A CON.B Wire 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)-White 4P(White/Red)-White 12/SH Shield P .E ↔ • 11 Wire Incremental Encoder Connector (CON.A CON.B) Connection Specification-For CSMZ/Q Motor CON.A...
Page 196 • Order Number and Product Name Order Number Product Length(mm) ± 10% ( 9 wire type, CSM TMotor) Name 3,000 ENC SL03ECNSFA 5,000 ENC SL05ECNSFA Incremental Encoder Cable 10,000 ENC SL10ECNSFA Assembly 15,000 ENC SL15ECNSFA 20,000 ENC SL20ECNSFA...
Page 197 Communication Cable ↔ • Communication Cable (CON.A CON.B) Connection Specification CON.A CON.B Wire Color Function Gray OFF_CHK Brown Shield P .E Length(mm) ± 10% Order Number Product Name 3,000 COM-SH03CPCNNA Servo Drive Communication cable...
Page 198 Controller Cable Connector Specification • Order Number - Encoder Connector(20Pin): CON-SCONN20PEN - I/O Connector(36Pin) : CON-SCONN36PIN - I/O Connector(50Pin) : CON-SCONN50PIN...
Page 199 Cable Code Format Motor Power Cable Encoder Cable Type CSMT (When ordering only 20 PIN encoder Connector) Motors Motor I/O Cable Communication Cable Type Motors (When ordering only 50PIN I/O Connector)
Page 200 Appendix D. Load Calculation of the Mechanical Part The Moment of Inertia Calculation π Solid Cylinder ρ × × × Hollow π ρ − • − Cylinder...
Page 201 Roll Load Pressure F:tension MOTOR ROLL Mechanical Configuration : Tension (N) : Pressure : Load speed (m/min) : Roll diameter(m) : Reduction Ratio μ : The coefficient of friction η : Mechanical efficiency Speed Diagram × Motion per Cycle Motor shaft rotation speed π...
Page 202 π × Acceleration Torque Used N· m ≤ t π · Deceleration Torque Used ≤ N· m × × × − − × Torque RMS Value r m s N· m...
Page 203 Timing Belt Load Mechanical Configuration MOTOR : Load mass of linear movement part(kg) : load speed (m/min) : Thrust Force(N) : Reduction Ratio η μ: : Pulley Diameter(m) The coefficient of friction : Mechanical e fficiency Speed Diagram × Motion per Cycle Motor shaft rotation speed π...
Page 204 Load Acceleration π × Power ≤ t Acceleration Torque π × Used ≤ t N· m π · Deceleration Torque Used ≤ N· m × × × − − × Torque RMS Value r m s N· m...
Page 205 Ball Screw Load(Horizontal Axis) MOTOR Mechanical Configuration : Load Speed (m/min) : Thrust Force(N) : Reduction Ratio : Ball Screw Lead(m) : Ball Screw Length(m) : Ball Screw Diameter(m) η μ : The Coefficient of Friction : Mechanical Efficieney : Load Mass of Linear movement Part Speed Diagram ×...
Page 206 π × Minimum Deceleration Time Here : motor inertia, : motor maximum torque π Load Operational Power × × Load Acceleration π × Power ≤ t Acceleration Torque π × Used ≤ t N· m Deceleration Torque π · Used ≤...
Page 207 Ball Screw Load(Vertical Axis) MOTOR Mechanical 볼스크류 Configuration : Load Speed (m/min) : Thrust Force(N) : Reduction Ratio : Ball Screw Lead(m) : Ball Screw Length(m) : Ball Screw Diameter (m) : Load Mass of Linear Movement Part(kg) η : Counter Part Mass (kg) : Machanical Efficiency Speed Diagram ×...
Page 208 Here Load Inertia : Load Inertia of Linear Movement part : Gear, Coupling Part Inertia, Moment : Ball Screw Inertia π ρ × × × kg· m π Here : Ball Screw Mass (kg) ρ : Density (kg/m )· · · · ·Iron ρ...
Page 209 Rack & Pinion Load Rack Pinion MOTOR Mechanical Configuration : Load mass of linear movement part (kg) μ : The coefficient of friction : Load speed (m/min) : Thrust force (N) η Reduction ratio : Mechanical efficiency : Pinion diameter (m) t : Pinion thickness(m) Speed Diagram ×...
Page 210 Here : Load Inertia of Linear Movement Part Load Inertia Moment : Gear, Coupling Part Inertia, : Pinion Inertia π ρ × × × kg· m Here, : Pinion Density(kg) ρ : Density (kg/m )· · · · ·Iron ρ = 7.87×10 (kg/m ·...
Page 211 Round Plate Load Mechanical Configuration MOTOR : Load Mass of Round Plate(kg) : Reduction Ratio ω : Rotation Speed of Round Plate (rpm) : Load torque η : Mechanical Efficiency : Diameter of Round Plate : Thickness of Round Plate ω...
Page 212 Here, Load Inertia Moment : Load Inertia of Round Plate : Gear, Coupling Part Inertia π ρ × × × kg·m Here, ρ : Density (kg/m )····· Iron ρ = 7.87×10 (kg/m ····· Aluminum ρ = 2.70×10 (kg/m π × Minimum Acceleration Time Here...
Page 213 D-14...
Page 214 Appendix E. Conversion Table of SI to/from Table F.1 Conversion Table of SI to/from CGS Unit Item Conversion Rate 1N = 0.10197kgf Force 1kg = 9.80665N Mass 1kg = 1kgf 1N · m = 0.10197kfg · m Torque N · m Kgf ·...
Page 216 Appendix F. Motor Capacity Selection • This is an example of speed control =15m/min · Load Speed · Mass of the linear movernent part : M = 500kg · Length of the ball screw = 1.4m · Diameter of the ball screw = 0.04m ·...
Page 217 × = × ´ · 0 06 4 5 10 kg m · Coupling · Motor shaft Load Inertia 44.9×10 (kg·m (5) Load Operational Power π ⋅ ⋅ π × × 1500 173 (6) Load Acceleration Power π π × ×...
Page 218 ( c ) Required stop torque (Consumed deceleration torque T π π × 1500 6 17 44 9 ＜ Instantaneous maximum − − 1 73 6 29 . ( N m) · × torque of the motor ( d ) Torque RMS (Average value) ·...
Page 220 Content 2001. 02 CSDJ-XXBX2 Ver 1.0 Initial version for modification Authorized publication version 2001. 03 CSDJ Plus V 1.0 ROM version 1.1 ROM version 1.2 function added 2001. 05 CSDJ Plus V 1.2 - SEt-46 function - Torque limit sequence change ROM version 1.3 function added...

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OE Max Controls CSDJ Plus User Manual

Chapter 1 . Overview and Specifications

Chapter 2 . Installation and Wiring

Chapter 3 . Startup and Adjustment

Chapter 4 . Using the Operator

Chapter 5 . Parameter List

Chapter 6 . Basic Functions

Chapter 7 . Other Functions and Applications

Chapter 8 . Error Handling

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Summary of Contents for OE Max Controls CSDJ Plus

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