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CSD5
User Manual
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Table of contents
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RS CSD5 User Manual

CSD5 Servo Drive
User Manual
Catalog Number(s): CSD5_xxBX1
Important User Information
WARNING
IMPORTANT
CAUTION
Solid state equipment has operational characteristics differing from those of electromechanical equipment. There are some important differences between solid state equipment and hard-wired electromechanical devices. Because of this difference, and also because of the wide variety of uses for solid state equipment, all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable.
The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and requirements associated with any particular installation, RS Automation Co., Ltd. cannot assume responsibility or liability for actual use based on the examples and diagrams.
No patent liability is assumed by RS Automation Co., Ltd. with respect to use of information, circuits, equipment, or software described in this manual.
Reproduction of the contents of this manual, in whole or in part, without written permission of RS Automation Co., Ltd., is prohibited.
Throughout this manual, when necessary, we use notes to make you aware of safety considerations.
Identifies information about practices or circumstances which may lead to serious personal injury or death, properity damage, or economic loss.
Identifies information that is critical for successful application and understanding of the product.
Idnetifies information about proctives or circumstances that can lead to minor personal injury, properity damage, ecconomic loss, or product malfuntion. However, depending on the situraiton, failutre to follow the directions accompanying this symbol may also lead to serious consequences.
Summary of Change
You will see change bars to the left or right of a paragraph throughout this manual to help you quickly indentify revisions.
Manual Revision
A N/A Jun 2011
Changes Date
1 CSD5 Servo Drive
SOC-2 Summary of Change
CSD5 Servo Drive
Summary of Change

Table Of Contents

Preface
Before Using the CSD5 Servo Drive
Who Should Use This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1
About This Publication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1
Conventions Used in This Manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1
Table for Parameter Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-2
Terminology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-3
Notation Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-3
Manual Description Order . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-5
Others. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-5
Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-6
Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-6
Storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-6
Transportation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-6
Installation and Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-7
Maintenance and Repair . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-7
Chapter 1
Product Type and Each Part Name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
Model Number of the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
Name of Each Motor Part . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
Model Number of the Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
Installation
Wiring
Chapter 2
Servo Drive Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
Installation Environment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
Servo Motor Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
Chapter 3
Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
Electric Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
Name and Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
AC Power Terminal (L1, L2, L3) and Control Power Terminal (L1C, L2C). . . 3-3
Regenerative Register Connection Port . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
Electric Circuit Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
Using the Socket and Lever. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
I/O Signal (I/O). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
I/O Connection Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
(I/O) Input Signal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10
Sequence Input Signal (Allocation) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10
General Input Signal (Fixed) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11
(I/O) Output Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13
Sequence Output Signal (Allocation) . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13
General Output Signal (Fixed) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14
(I/O) Input Circuit and Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16
i CSD5 Servo Drive
ii
Operator, Basic Setting and Startup
Pulse Command Input Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16
Analog Voltage Input Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17
Sequence Input Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-18
Emergency Stop Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19
(I/O) Output Circuit and Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20
Line Drive Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20
Photo-Coupler Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20
Encoder Wiring (Motor Feedback) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22
Pin Arrangement of Motor Feedback. . . . . . . . . . . . . . . . . . . . . . . . . . 3-22
Terminal Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23
Encoder Signal Process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-24
General Articles Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-27
Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-27
Capacity of the Drive and Fuse. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-28
Noise Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-29
Wiring when Using Several Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-33
Connection to Peripheral Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . 3-34
Chapter 4
Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
About Servo-ON Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
Name and Function of Each Part . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
Icons for the Key Buttons. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
Structure of the Entire Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
Status Display Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
Overview of the Parameter Setting Mode . . . . . . . . . . . . . . . . . . . . . . . 4-9
Overview of the Monitor Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
Overview of the Operation Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
Basic Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12
Overview of the Basic Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12
Control Mode Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13
Motor Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-21
Before Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-21
Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-21
Function for Control Mode
Chapter 5
Sequence I/O (Input/Output) Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
What is Sequence I/O Signal?. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
Function of Input Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
Function of Output Signal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
Input Signal Allocation Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
Output Signal Allocation Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
Notice for Signal Allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
Position Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10
Standard Wiring Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11
iii
Position Command Pulse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11
Position Command Pulse Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-15
Electrical Specifications of Position Command Pulse . . . . . . . . . . . . . 5-17
Electronic Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18
Position Error Clear </PCLR> . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25
Pulse Command Inhibition</INHIB> Input . . . . . . . . . . . . . . . . . . . 5-25
Expansion of Electronic Gear Setting . . . . . . . . . . . . . . . . . . . . . . . . . 5-26
The Second Group of Electronic Gear </GEAR> Input . . . . . . . . . 5-27
Position Completion Signal Detection </P-COM>, Approach Signal
Detection </NEAR> Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-28
Output Width of Allowable Position Error . . . . . . . . . . . . . . . . . . . . . 5-31
Input / Output Signal Timing Diagram . . . . . . . . . . . . . . . . . . . . . . . . 5-31
Speed Control Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-32
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-32
Standard Wiring Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-33
Speed Command Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-34
Zero Clamp </Z-CLP> Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-35
Rotation Direction Switch Input </C-DIR> . . . . . . . . . . . . . . . . . . . 5-36
Motor Rotation Start/Stop Input</START> . . . . . . . . . . . . . . . . . . . 5-37
Speed Coincidence Output Signal </V-COM> . . . . . . . . . . . . . . . . . 5-38
Rotation Detection </TG-ON> Output . . . . . . . . . . . . . . . . . . . . . . 5-39
Speed Limit Function and Speed Limit Detection </V-LMT> Output . . . 5-41
Torque Control Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-43
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-43
Standard Wiring Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-44
Torque Command Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-44
Torque Limit and Torque Limit Detection </T-LMT> Output . . . . 5-46
Multi-Step Speed Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-51
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-51
Standard Wiring Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-52
Multi-Step Speed Command Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-52
Mixed Control Mode and </C-SEL> Function. . . . . . . . . . . . . . . . . . . . . 5-56
Tuning by Gain Setting
Chapter 6
Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
Mark Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
Gain Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
Inertia Ratio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
Gain Setting Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
Auto Gain Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
Auto Tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
Off-line Auto Tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
On-line Auto Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10
On-line Vibration Suppression . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11
Online Vibration Suppression Gain Setting . . . . . . . . . . . . . . . . . . . . . 6-13
Manual Gain Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-14
Gain Setting Flowchart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-14
Basic Gain Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-15
Position, Speed, Torque Related Gain Setting. . . . . . . . . . . . . . . . . . . . . . . 6-18
iv
Applications
Torque Control Related Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-19
Speed Control Related Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-21
Position Control Related Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-25
Tip to get fast response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-27
Feedforward function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-27
Speed Bias Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-28
P/PI Mode Setting Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-30
Initial Torque Bias . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-33
</G-SEL> Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-36
Gain Switching Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-37
Chapter 7
Motor Suspension . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
Servo Alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
OverTravel <P-OT>, <N-OT>. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
Dynamic Brake. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
Motor Brake Contorl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6
Change the Motor Rotation Direction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-11
Reneration Resister . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-12
Reneration Resister . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-12
External Regenerative Resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-13
Regenerative Resistor Selection Standard. . . . . . . . . . . . . . . . . . . . . . . 7-14
Setting for Smooth Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-17
Speed Limiting Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-21
Postion Feedback to the Host Controller . . . . . . . . . . . . . . . . . . . . . . . . . . 7-24
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-24
Direction Change of Output Pulse . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-24
Pulse Dividing Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-25
Analog Monitor Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-28
Use of Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-31
What is an Absolute Encoder? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-31
Contact with the Host Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-32
Battery. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-33
Reset of Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-34
Data Transmission of Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . 7-36
Operation Mode Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-41
Things to Know First . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-41
Jog Operation (run-00) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-41
Off-line Auto Tuning Operation (run-01) . . . . . . . . . . . . . . . . . . . . . . 7-43
Auto Adjustment of Speed Command Offset (run-03) . . . . . . . . . . . . 7-44
Auto Adjustment of Torque Command Offset (run-04). . . . . . . . . . . 7-46
Alarm Reset (run-08) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-49
Absolute Encoder Reset (run-10) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-50
2-Group Gain Storing (run-11) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-50
Parameter Initialization (run-12) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-50
Monitor Mode Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-52
Monitor Mode Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-54
Key Button Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-55
Inspection and Protection Functions
Parameter Group
v
Chapter 8
Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
Inspection of Motor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
Inspection of Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
Part Inspection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
Battery Inspection for Absolute Encoder. . . . . . . . . . . . . . . . . . . . . . . . 8-3
Protection Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
Servo Warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
Servo Alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-5
Confirmation before Requesting for A/S. . . . . . . . . . . . . . . . . . . . . . . . 8-9
Appedix B
Parameter Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1
Standard Group 0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1
Standard Group 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-3
Standard Group 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-6
Standard Group 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-7
Standard Group 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-7
Standard Group 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-8
Parameter Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-9
Standard Group 0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-9
Standard Group 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-25
Standard Group 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-38
Standard Group 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-42
Standard Group 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-47
Standard Group 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-49
Indexing Drive Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-53
Indexing Group 0 - Indexing System . . . . . . . . . . . . . . . . . . . . . . . . . . B-53
Indexing Group 1 - Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-54
Indexing Group 2- Index Option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-54
Indexing Gorup 4 - Index Position/Distance . . . . . . . . . . . . . . . . . . . B-55
Indexing Group 7 - Index Dwell. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-55
Indexing Gorup 8 - Index Velocity. . . . . . . . . . . . . . . . . . . . . . . . . . . . B-56
Indexing Group 10 - Index Acceleration . . . . . . . . . . . . . . . . . . . . . . . B-56
Indexing Gorup 11 - Index Deceleration . . . . . . . . . . . . . . . . . . . . . . . B-56
Indexing Gorup 12 - Index Next Index . . . . . . . . . . . . . . . . . . . . . . . . B-57
Indexing Parameter Gorup 0 - Indexing System . . . . . . . . . . . . . . . . . B-57
Indexing Parameter Garoup 1 - Homing . . . . . . . . . . . . . . . . . . . . . . . B-59
Indexing Parameter Group 2 - Indexing Options . . . . . . . . . . . . . . . . B-62
Indexing Parameter Group 4 - Index Position/Distance . . . . . . . . . . B-63
Indexing Parameter Group 7 - Index Dwell. . . . . . . . . . . . . . . . . . . . . B-63
Indexing Parameter Group 8 - Index Velocity. . . . . . . . . . . . . . . . . . . B-63
Indexing Parameter Group 10 - Index Acceleration . . . . . . . . . . . . . . B-63
Indexing Parameter Group 10 - Index Deceleration . . . . . . . . . . . . . . B-64
Indexing Parameter Group 12 - Index Next Index . . . . . . . . . . . . . . . B-64
Run Parameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-64
Display Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-65
Warning and DRive Display. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-65
vi
Specification and Exterior Size
Cable Specification
Appedix C
Drive Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-1
Fuse and Contactor Recommendations . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-3
Accessaries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-4
Drive Size and Exterial View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-4
Appedix D
PC Communication Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-1
Appedix E
I/O Setting and Indexing
Overivew . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-1
I/O Input Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-1
I/O Sequence Input Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-1
Factory Default . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-6
I/O Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-7
Input Signal Allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-7
Output Signal Allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-8
I/O Signal Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-9
START and IMO (In Motion) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-9
I_SEL0~5 (Index Selection 0~5 Input) . . . . . . . . . . . . . . . . . . . . . . . . E-10
O_ISEL0~5(Index Selection 0~5 Output) . . . . . . . . . . . . . . . . . . . . . E-10
PAUSE(Index Pause). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-11
STOP (Index Stop) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-13
SHOM (Start Home), HOME (Home Sensor), HOMC (Axis Home). . . . E-14
Index Operation Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-15
Operation Setting after Index Movement (Action When Complete) . . E-16
Homing types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-21
Homing Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-26
S/W Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-28
Dwell Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-28
RUN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-29
Index Alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-30
Home Searching Failed. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-30
Axis not homed. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-30
Index Position Overflow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-30

Preface

Read this preface to familiarize you with the rest of the manual.
• Who Should Use This Manual
• About This Publication
• Additional Resources
• Conventions Used in This Manual
• Safety Precautions
Who Should Use This Manual
About This Publication
Additional Resources
This manual is intended for engineers or technicians directly involved in the installation and wiring of the CSD5 servo drive, and programmers directly involved in the operation, field maintenance, and integration of the CSD5 servo drive with a Motion Card.
If you do not have a basic understanding of the CSD5 servo drive, contact your local RS Automation sales representative before using this product, for information on available training courses.
This manual provides detailed installation instructions for mounting, wiring, and troubleshooting your CSD5 servo drive, and system integration for your drive/motor combination with a Motion Card.
The following documents contain additional information concerning related CSD5 servo drive products.You can view or download publications at www.rsautomation.biz
To order paper copies of technical documentation, contact your local RS Automation Korea distributor or sales representative.
For Read This Document
Information on the installation of your CSD5 servo drive
Information on the motors used together with CSD5 servo drive
Conventions Used in This Manual
1 CSD5 Servo Drive
The conventions starting below are used throughout this manual.
• Bulleted lists such as this one provide information, not procedural steps
• Numbered lists provide sequential steps or hierarchical information
CSD5 Servo Drive Installation Instructions
Servo Motor User Manual
P-2 Preface
Table for Parameter Setting
This manual uses the following table for parameter description.
Example of Parameter Setting
Parameter
Parameter Name Motor Forward Direction Description You can choose the rotational direction of the motor Setting Value • 0: CW
• 1: CCW Initial Value 0 Applicable Mode All Others Servo-OFF > Setting > End
Tab le D escr ipt ion
Parameter: at the top-left side shows the parameter being described.
The setting window on the right of the parameter, is entered when the ENTER key is pressed. The parameter must be set from the digit in black color and the initial value shows the initial value of the parameter.
It is classified into a parameter selected among already set values (“selected parameter”) and a parameter, which the users give appropriate value. The selected parameter, as shown in the example above, displays both parameter and setting window, and the latter parameter displays only the parameter and not eh setting window.
Parameter Name: describes the value selectable by the user and the selected value.
Description: describes the function and usage of parameter.
Setting Value: describes the value selectable by the user and the selected
value.
Initial Value: Initial Value displayed when the parameter is selected.
Applicable Mode: alphabetically displays the corresponding control mode in
setting parameter, and displays (ALL) if all are included.
CSD5 Servo Drive
Mode Position mode Speed mode Torque mode Multi-step speed mode DisplayFSC
P
Preface P-3
Combinational control mode indicates the alphabets of two modes, combined in a row. ex) speed + position mode (SF), torque-speed mode (tS).
Others: normally, as described in an example of automobile, the driver cannot manipulate parking brake of a running automobile, and the servo drive also should be divided into Servo-ON status and Servo-OFF status when setting the parameter.
Others Description
Setting > End Set regardless of the drive status. Servo-OFF > Setting > End Set it in Servo-OFF status Servo-OFF > Setting > Power Off &
On > End
Set it in Serve-OFF status, and apply the power again
Terminology
The following describes terminologies used in this manual.
• Servo Drive or Drive: Refer to the CSD5 Servo Drive
• Servo Motor or Motor: Refer to the servo motor exclusively for the
CSD5 drive.
• Host Controller : Refers to a controller or a device that gives
command to the drive and controls it.
• Initial Value: Refer to the value set at the factory before the
shipment.
• Setting Value: Refers to the initial value or the value changed and set
by the users.
• User’s Manual: Simply indicated as ‘manual’.
Notation Description
Within the sentences of this manual, the following is expressed as shown below. Be fully aware of them when using the servo drive.
1. Use ‘/’ in front of Active Low signal.
3 CSD5 Servo Drive
P-4 Preface
I/O
HF_PULS
VCMD+
HF_PULS
VCMD-
I/O
2. A figure box with both the top corners cut off diagonally represents a
circuit diagram. If I/O for I/O signal or a connector attached to the servo driver is on the left, it is the output of I/O or servo drive.
3. If I/O for I/O signal or a connector attached to servo driver is on
the right, it is the input from the host controller to I/O or servo drive.
4. The following shows the symbols used on the circuit diagram.
5. The following figure shows a symbol used to show a twist pair wires
to prevent the noise generation.
6. The following figure shows a symbol used to show a shield pair wire to prevent the noise generation.
CSD5 Servo Drive
Preface P-5
Manual Description Order
This manual is described in the view of users from the purchase to operation.
1. Descripbes things to know before using the product.
2. Describes the outline of product and marking.
3. Describes precations upon product installation.
4. Describes wiring with the host controller and peripheral equipment.
5. Describes the operator for various settings.
6. Describes brief functions of the product.
7. Describes the basic settings that users should set.
8. Describes the fucntion of the product for each control modes.
9. Describes the tuning to implement optimum performance of load system.
10.Describes simple supplementary functions.
11.Describes the protective function, fault diagnosis and troubleshooting.
12.Describes items corresponding to various numerical data in the Appendix.
Others
Each chapter or paragraph has a page called before you begin before description. For easier understanding of this manual, be fully aware of the contents of this page called before you begin in advance.
5 CSD5 Servo Drive
P-6 Preface
CAUTION
WARNING
WARNING
WARNING
Safety Precautions
This is CSD5 User Manual describes safety matters using the following marks. Safety marks deals with the important matters. If the following marks and contents of each mark are indicated in the contents of this user's manual, you must be fully aware of them and follow them.
Usage
• Do not touch the inside of servo drive.
• Make sure that the servo drive and the motor are fully
grounded.
• Completely discharged before handling after power off.
• Do not put excessive stress on the motor power and encoder cable.
• Never touch the revolving part of the motor during operation .
• Avoid using the product near wet places or corrosive and inflammable materials.
• Operate the system with no load during pilot operation.
• Never touch the heat sink directly.
CSD5 Servo Drive
Storage
• Do not store the product near wet places, rain, toxic gas or fluid.
• Keep the product out of the direct rays of the sun and store it within the storage temperature and humidity ranges.
• Avoid overloading if the product is stored in a warehouse.
Transportation
• Do not carry the product by holding the cable and the motor shaft.
Installation and Wiring
WARNING
CAUTION
WARNING
• Install a cooling fan to prevent excessive temperature increase. (Refer to the Chapter 2)
• Be careful not to wiring cables around the heat sink.
• Install drives with regular space (at least 10 mm)
between them.
• Pay attention to the heat sink when wiring. (Refer to Chapter 2)
Maintenance and Repair
• Do not disassemble or remodel the product. Any damage caused after the user disassembles or remodels the product will be excluded from the company's warranty.
• The company bears no responsibility for injuries or physical damage caused by remodeling of this product.
• Life-limited Parts by mechanical friction or heat requires regular . Refer to the Chapter 8.
• In case of a failure that cannot be dealt with, please contact the company’ s technical support team or after-sales service center.
Preface P-7
7 CSD5 Servo Drive
P-8 Preface
CSD5 Servo Drive
Chapter 1
Drive Nameplate
I/O Signal Connector <I/O>
Encoder Cable Connector <Motor Feedback>
Communication and Operator Connector
AC Main Power Input Terminal
Control Power Input Terminal
DC Link Negative Output
Regenerative Resistor Terminal
Motor Cable Terminal
Operator
Analog Output Terminal
Terminating Resistance Setting
TIP
Before Using the CSD5 Servo Drive
This chapter describes the general matters and optional specifications that you should know before using the CSD5 SERVO DRIVE.
Product Type and Each Part Name
The following figure introduces the name of each part of the servo drive.
1 CSD5 Servo Drive
For more detail information about Operator, please refer to “ Chapter 4 Operator, Basic Setting and Startup”.
1-2 Before Using the CSD5 Servo Drive
Mounting Hall (Top, Bottom)
Regenerative Resistor
(400 [W] or Higher Attached)
Heat Sink
Wiring Socket (6P, 2P, 3P) 3 PART
Ground T e rminal (Heat Sink)
Drive Type Example of Servo Drvicve Specification
Mask Rated A5 50 [W] 01 100 [W] 02 200 [W] 04 400 [W] 08 800 [W] 10 1 [kW] 15 1.5 [kW]
CSD
5
A5
BX1
Model Number of the
The following figure describes the model name on the nameplate of the servo drive.
Drive
• The nameplate is attached on the side of the drive case. Check the model name on the nameplate, and check if it corresponds to the product ordered.
• The drive type is RS Automation Servo Drive CSD5 Series.
• The serial number is included on the nameplate. Be careful not to erase
the serial number during the use.
KNX 3 - K A P 0
CSD5 Servo Drive
Before Using the CSD5 Servo Drive 1-3
TIP
Break Cable
Motor Cable
Encoder Cable
Encoder
Motor Nameplate
Motor Frame
Motor Shaft
Mounting Hole
TIP
Name of Each Motor Part
The following figure shows the name of each more part.
A motor without a brake does not have a brake cable. The name of each motor part may differ from the following figure according to the motor type.
For more detailed infroamtion about Servo Motor, please refer to “ Servo Motor Manual” .
RS Automation does not provide cables. For more information about specification and order code of cables below, refer to "Servo Motor Manual (Publication SMOTOR-UM002)".
• Motor 3 phase Power Cable
• Encoder Cable
• Motor Break Cable
• I/O Cable
• Communication Cable
3 CSD5 Servo Drive
1-4 Before Using the CSD5 Servo Drive
C S M T - 0 1 B B 1 A N T 3
Motor Type Example of Motor Specifcation
Rated Output
Voltage
Encoder Type
Design Sequence
Motor Axis Key
Option
Manufacturer
Shaft Specification
TIP
Model Number of the Motor
The following figure describes the model name of the motor on the nameplate.
For more detailed information about each motor name plate items, refer to Servo Motor Manual.
CSD5 Servo Drive
Chapter 2
Natural
Natural
Installation
This chapter describes matters to consider when installing the servo drive and the motor. Refer to the appendix for numerical data on the drive, motor, and various peripheral equipments necessary for the installation.
Servo Drive Installation
Precautions
Refer to the following figures when installing the servo drive.
The most important thing to consider when installing the drive is the ambient temperature. Follow the operational temperature and mount the servo drive vertically.
Install the Servo Drive Vertically
Servo drive less than 400 [W] applies the natural convective cooling, and the servo drive with more than 0.8 [kW] uses the cooling fan. To increase the cooling efficiency, install it vertically.
1 CSD5 Servo Drive
2-2 Installation
Fixing Bolt
Fixing Bolt
Cooling Fan
Cooling Fan
Panel
More than 50 [mm]
More than 50 [mm]
More than 10
More than 30 [mm]
Fixing Bolt
• 400 [W] or less: M4xL1 0 mounting holes at the top & bottom
• 0.8 [kW] or more: M5xL10 mounting holes at the top & bottom
Use A Cooling Fan When Installing Several Drives.
When installing several drives, you must the following criteria. Install a cooling fan to prevent excessive temperature increase.If the surrounding temperature is higher than the operational temperature, it may reduce the performance.
CSD5 Servo Drive
Installation 2-3
Use the Drive in a Clean Environment
Use the drive in a clean environment where there is no dust or humidity.
Ground
There is a grounding terminal at the bottom of the heat sink.
• 200 [W] or less: 1 mounting hole for M4 BOLT
• 400 [W] or above: 2 mounting holes for M4 BOLT
If not grounded, it may reduce the performance.
3 CSD5 Servo Drive
2-4 Installation
IMPORTANT
TIP
Installation Environment
CSD5 Servo Drive installation environment is like below.
Table 2.1 CSD5 Servo Drive Installation Environment
Item Installation Environment
Storing Temperature
Store it within -25 ~ 85 [
℃]
Operational Temperature
Operational Humidity
Vibration 5-55Hz @ 0.35mm(0.014") double amplitude, continuous
Operational Location Installation environment must meet the follwoing conditions:
Use it within 0 ~ 50 [
Use it below 5 ~ 95 [%] RH at a place without condensations
displacement, 55-500Hz @ 2g peak constant acceleration
• Indoors
• Well ventilation
• Easy checkup
• Without explosive gas
℃]
• To maintain reliability for a long time, use it within to
0~35 [℃].
• Install a separate cooling device at a place with high ambient temperature and use it within the operational temperature.
Servo Motor Installation
CSD5 Servo Drive
For numerical data related to the installation of the servo motor, please refer to Servo Motor User Manual.
Chapter 3
CAUTION
Wiring
This chapter describes the information on motor, host controller and other wiring connected to the servo drive, along with the circuit diagram.
Before You Begin
Pay attention to the following precautions when wiring.
• Wiring should be done only by the qualified personal.
• High voltage remains in the drive even through the
power is off. Therefore, do not inspect components unless inside Charge lamp is off.
• Pay attention to the polarity when wiring.
• The heat sink of the drive generates high heat. Pay
attention to the heat sink when wiring.
1 CSD5 Servo Drive
3-2 Wiring
Drive Nameplate
I/O Signal Connector <I/O>
Encoder Cable Connector <Motor Feedback>
Communication and Operator Connector
AC Main Power Input Terminal
Contor Power Input Terminal
DC Link Negative Output
Regenerative Resistor Terminal
Motor Cable Terminal
Operator
Analog Output Terminal
RS485 Terminating Resistance Setting
In this chapter, the circuit is divided into electric circuit and signal circuit for easier and convenient explanation. Be fully aware of the names of each terminal when reading this user’s manual.
Electric Circuit
CSD5 Servo Drive
The I/O signal connector I/O and encoder cable connector Motor Feedback are included only in the description of the signal circuit. The description of other connectors and omitted.
Name and Function
The terminal symbol is printed on the wiring socket at the electric circuit terminal of the drive. Observe the drive to identify and understand the terminals on the following table, and then wire accordingly.
Table 3.1 Electric Circuit
Terminal Terminal Symbol Purpose
Wiring 3-3
AC Power Terminal L1, L2, L3 400 [W] or lower Single phase 200 ~ 240 [V] (50/60 [Hz]) (L3 port must not
800 [W] or higher 3 phase 200 ~ 240 [V] (50/60 [Hz]) (800 [W] can be used as
Control Power Te rminal L1C, L2C No output division Single phase 200 ~ 240 [V] (50/60 [Hz]) Motor Cable T e rminal U, V, W Connect the motor cable. Grounding Terminal
(Heat Sink)
Regenerative Register Connection Port
B1, B2 200 [W] or lower As the function for regenerative energy consumption is not
Connect the power and motor cable to the grounding terminal.
400 [W] or higher If the capacity of mounted regenerative resistor is
be used)
Single phase )
required, the regenerative resistor does not have to be mounted.
insufficient, remove it or connect it to the mounted regenerative resistor in parallel.
AC Power Terminal (L1, L2, L3) and Control Power Terminal (L1C, L2C)
The main power and control power can be divided when connecting to the drive. Therefore, the user can configure surrounding circuits when the main power is cut off in an emergency or when the drive itself checks the status and cuts off the power.
If the drive independently checks the status and only the main power is cut off, but not the control power, the drive can display the cause of cut-off of the main power. The user can take appropriate action after identifying the cause of cut-off of the main power.
Refer to the 3-5 page "Electric Circuit Diagram"for the Electric Circuit Diagram of the power separation.
3 CSD5 Servo Drive
3-4 Wiring
WARNING
CAUTION
Motor Cable Connectors (U, V, W)
The motor cable connectors (U, V, W) are output terminals. Do not connect the input power. It may cause of the drive damage.
Regenerative Register Connection Port
Refer to the 7-12 page "Reneration Resister" for more information the Regeneration Resistor.
• When wiring the wiring socket, be careful not to expose the core wire. It may cause an electric shock.
• Completely discharged before handling after power off.
CSD5 Servo Drive
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