RS CSD5 User Manual

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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.

In no event will RS Automation Co., Ltd. be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment.

The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and requirements associated with any particular installation, RS Automation Co., Ltd. cannot assume responsibility or liability for actual use based on the examples and diagrams.

No patent liability is assumed by RS Automation Co., Ltd. with respect to use of information, circuits, equipment, or software described in this manual.

Reproduction of the contents of this manual, in whole or in part, without written permission of RS Automation Co., Ltd., is prohibited.

Throughout this manual, when necessary, we use notes to make you aware of safety considerations.

Identifies 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

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

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

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

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

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

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

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

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

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

Cooling Fan

Panel

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

Electric Circuit Diagram

Lamp

Relay 1

L1C

L2C

1MC

NOISE

FILTER

SW 1 OFF

SW 2 ON

Relay 1

<1>

1 MCCB

1MC

<3>

SUP

<2>

1MC

SERVO DRIVE

CN 2

1/2

Relay 1

CN 1

SALM +

SALM -

24V

+ 24V IN

Power

MCCB (Molded Case Circuit Breaker) MC (Magnetic Contactor)

<1> For more than one second, press the

Push Button S/W which allows the current to flow when pressed.

<2> Connect this if the power needs to be

cut-off.

<3> Attach a surge suppressor to the MC

relay coil.

Alarm

Do not connect this to the drive with less than 400 [W].

Connect this to the grounding terminal of the

Regenerative

Resistor

Heat Sink

Servo Motor

I/O

Motor Feedback

DC-

CAUTION

Wiring 3-5

Use single-phase power in servo drive whose rated output (capacity) is 400 [W] or lower. Thus, do not use the

5 CSD5 Servo Drive

terminal L3.

3-6 Wiring

Prepare the Wires Strip of the

Phenol Terminial

Assemble the Socket

Wire

Terminal

Comress with the Phenol

Terminal Compressor

Socke

Lever

NOTE: Keep the length of the peeled wire less than 8

Using the Socket and Lever

This section describes the usage of wiring socket and lever provided with servo drive.

• Connect only one wire at wire inlet of the socket.

• If the wire is pulled accidentally with an excessive force, rewire it

properly.

• The peeled wire can be used. (Keep the length of the peeled core wire less than 8 [mm].)

• The use of phenol terminal is recommended for the reliability of wiring.

• Use a lever for wires provided with the product.

The following figure shows the sequence of assembling wire at the socket.

1. As shown in the figure, insert lever in the socket and press it.

2. Insert wire into socket and release the lever.

3. Pull it slightly to check if the connection between the socket and wire is

normal.

The thickness of wire allowed by the socket is shown below.

Thickness of Wire

Twist AWG20 ~ AWG14

CSD5 Servo Drive

Wiring 3-7

CAUTION

NOTE

Insert the wire completely. If peeled core wire is exposed, it may cause an electric shock.

The lever is a small tool, used when wiring. Keep it for other wiring jobs.

7 CSD5 Servo Drive

3-8 Wiring

I/O Signal (I/O)

I/O Connection Diagram

This is the circuit diagram of a connector for I/O signal. It is divided into input on the left and output on the right.

The Backup battery for absolute value encoder does not have the separate terminal. It must be connected to motor encoder cable.

CN1

I/O

24V Active Low/High Programmable Digital Inputs

Position Command

High Frequency Position Command

Speed Command

-10V to +10V

Current Command

-10V to +10V

GND [or 24V]

24V [or GND]

INPUT1 (/SV-ON)

INPUT2 (P-OT)

INPUT3 (N-OT)

INPUT4 (/P-CON)

INPUT5 (/A-RST)

INPUT6 (/N-TL)

INPUT7 (/P-TL)

INPUT8

INPUT9

INPUT10

E-STOP

24V_PULS+

PULS +

PULS -

24V_SIGN+

SIGN +

SIGN -

HF_PULS +

HF_PULS -

HF_SIGN +

HF_SIGN -

(1)

INPUT

(1)

150

16-bit A/D

12-bit A/D

OUTPUT

FAULT 1 / OUTPUT 4

FAULT 2 / OUTPUT 5

FAULT 3 / OUTPUT 6

FCOM/OUTCOM

AM +

AM -

BM +

BM -

IM +

IM -

PS +

PS -

Z-PULSE +

Z-PULSE -

FAULT +

FAULT -

OUTPUT1+ (P_COM+)

OUTPUT1- (P_COM-)

OUTPUT2+ (TG_ON+)

OUTPUT2- (TG_ON-)

OUTPUT3+ (BK+)

OUTPUT3- (BK-)

Binary Fault Code Outputs / Digital Outputs

Binary Fault Code Ground / Digital Outputs Ground

Buffered Encoder Output

Absolute Position Serial Output

Encoder Marker Pulse

Fault Output

24V Programmable Digital Outputs

CSD5 Servo Drive

(1) Factory Default Value

Wiring 3-9

Table 3.2 (I/O) Pin Arrangement for host controller connections

Pin Symbol Description Pin Symbol Description

1 +24V IN External 24 [V] input for contact point

input

2 +24V IN External 24 [V] input for contact point

input

3 INPUT1 4 INPUT2 5 INPUT3 6 INPUT4 7 INPUT5 8 INPUT6 9 INPUT7

Digital input 1(/SV-ON) Digital input 2(P-OT) Digital input 3(N-OT) Digital input 4(/P-CON) Digital input 5(/A-RST) Digital input 6(/N-TL) Digital input 7(/P-TL)

(1)

10 ESTOP ESTOP(Default:Disable) 35 PS+ Absolute Encoder Position data output+ 11 PULS+ Position command pulse input+ 36 PS- Absolute Encoder Position data output12 PULS- Position command pulse input- 37 FAULT1/

13 SIGN+ Position command sign input+ 38 FAULT2/

14 SIGN- Position command sign input- 39 FAULT3/

15 HF_PULS+ High frequency position command

pulse input+

16 HF_PULS- High frequency position command

pulse input-

17 Z-PULSE+ Encoder Z-pulse output (Open

collector)

18 Z-PULSE- Encoder Z-pulse output (Open

collector)

19 VCMD+ Speed command input+ 44 OUTPUT220 VCMD- Speed command input- 45 FAULT+ Alarm generation signal output+

21 ICMD+ Current command input+ 46 FAULT- Alarm generation signal output22 ICMD- Current command input- 47 OUTPUT3+

23 HF_SIGN+ High speed position command sign

input+

24 HF_SIGN- High speed position command sign

input-

25 24V_SIGN+ Open collector sign input + for 24 [V]

level

(1)

Factory default values

26 INPUT8 Digital input 8

27 INPUT9 Digital input 9

28 INPUT10 Digital input 10 29 AM+ Encoder signal output A+ 30 AM- Encoder signal output A31 BM+ Encoder signal output B+ 32 BM- Encoder signal output B33 IM+ Encoder signal output Z+ 34 IM- Encoder signal output Z-

Alarm code output 1/Digital output 4

OUTPUT4

Alarm code output 2/Digital output 5

OUTPUT5

Alarm code output 3/Digital output 6

OUTPUT6

40 FCOM/

Alarm code/ Output ground

OUTCOM

41 OUTPUT1+

42 OUTPUT1-

43 OUTPUT2+

48 OUTPUT3-

Digital output 1 +(P_COM+)

Digital output 1 -(P_COM-)

Digital output 2 +(TG_ON+)

Digital output 2 -(TG_ON-)

Digital output 3 +(BK+) Digital output 3 -(BK-)

(1)

49 24V_PULS+ Open collector pulse input + for 24 [V]

level

50 NC Not Available

9 CSD5 Servo Drive

3-10 Wiring

(I/O) Input Signal

Sequence Input Signal (Allocation)

Refer to the 5-1 page "Sequence I/O (Input/Output) Signal" for details

of sequence input signal.

Table 3.3 I/O Sequence Input Signal

Type Description Mode Reference

</SV-ON> Servo-ON When the servo is set to ON, voltage is applied to the servo

</A-RST> Alarm Reset It disables the Servo's Alarm. All </G-SEL> Gain Group

Conversion </P-CL> Forward Torque

Limit </N-CL> Reverse Torque

Limit <P-OT> Prohibit Forward

Rotation <N-OT> Prohibit Reverse

Rotation </P-CON> P Control

Conversion

</C-SEL> Control Mode Conversion

</C-DIR> </C-SP1> </C-SP2> </C-SP3> </C-SP4> Contact Speed Command

</Z-CLP> Zero Clamp Ignores the input value in the Speed Control when the

</INHIB> Inhibit Pulse Command

</ABS-DT> Absolute Encoder Data Transmission

</PCLR>Position Error Clear Clears position command, position feedback, and position

</ST ART>Start Set to start or stop the motor rotation by using the contact

</GEAR>Electronic Gear Rate Shift

</R-ABS>Absolute Encoder Multi-rotation Data Reset

motor; when it is set to OFF, voltage is cut off.

Use 2-group gain where it is set to ON and use current gain where it is set to OFF. It converts gain of 2 groups.

When it is set to ON, limit the forward torque by the set value [Ft-4.03].

When it is set to ON, limit the reverse torque by the set value [Ft-4.04].

It prohibits the motor from rotating forward when the load device reaches the limit of the available sect ion.

It prohibits the motor from rotating reversely when the load device reaches the limit of the available sect ion.

It converts the Seed Controller from PI type controller to P type controller. It is used to suppress the overshoot of the excessive response and complete a faster response.

It is used to convert Control Mode when using it as Combination Control Mode.

At the Contact Speed Control Mode, these input combinations decide the rotation direction of the motor </C-DIR> and the rotation speed </C-SP1 ~ /C-SP4>. The rotation speed for </ C-SP1~/C-SP3> input is set in [Ft-2.05~Ft-2.11]. The analogue speed command voltage decides the rotation speed for </C-SP4>. </C-DIR> is used to change the motor rotation direction in Speed Control Mode.

command value is lower than the value set in the Speed Zero Clamp Level [Ft-5.05].

Inhibits the position command pulse where it is ON. F

When it is set to ON, transmits the absolute encoder data to a higher level through AM, BM signals.

error.

signal in Speed/Contact Speed Control Mode. In the Position Control Mode, use the 2nd electronic gear

parameter [<:fc 2>Ft<:/fc>-3.05]and [Ft-3.06] where it is ON, use the basic electronic gear parameter [Ft-3.01]and [Ft-3.02] where it is OFF. It shifts between two electronic gear ratios.

Reset the multi-rotation data of the absolute motor. All

All

F, S, P, I

Combinational Control Mode Only

F, I

S, P

4-1 page

7-49 page 6-36 page

5-46 page

7-2 page

6-30 page

5-57 page

5-51 page

5-35 page

5-25 page

7-50 page

5-25 page

5-37 page

5-27 page

7-34 pag

CSD5 Servo Drive

Wiring 3-11

Table 3.3 I/O Sequence Input Signal

Type Description Mode Reference

</BANK_SEL>Gain Bank Select

</A-CL>Analog Torque Limit Current Limit Function is activated by the analogue torque

</H_SENS>Home Sensor When activated, the sensor indicates the Return to Home

</SHOME>Start Homing When activated, the system starts returning to home. I . </PAUSE>Index Pause When activated, it decelerates until stop and pause the index

</STOP>Index Stop When activated, index movement ends. I . </I-SEL0>

Index Selection 0 Input </I-SEL1> Index Selection 1 Input </I-SEL2> Index Selection 2 Input </I-SEL3> Index Selection 3 Input </I-SEL4> Index Selection 4 Input </I-SEL5> Index Selection 5 Input

</H_STOP>Homing Stop Stops Homing operation when it is set to ON. I </START_I>Start Indexing Starts Indexing when it is set to ON. I </ABS-MD> Absolute

Position Data Transfer Mode

Uses the 3rd and the 4th Gain Bank when it is set to ON. All

command input values when it is set to ON.

sequence that is detected.

sequence. It decides whether to stop or to continue the motion by constantly monitoring the input status.

Used for the combinations to allocate indexes. I .

Absolute Data transfered to host contoller by photo coupler output which output Fault Code when it is set to ON.

S, P

6-38 page

General Input Signal (Fixed)

Power

Table 3.4 Power Input Signal

Signal Name Symbol Function Mode Reference

External power input

11 CSD5 Servo Drive

+24V IN As control power input for contact point signal, +24 [V]

power should be prepared by users. Power Specifications: 21.6 ~ 26.4V, 210mA

All

3-12 Wiring

Emergency Stop

Table 3.5 Emergency Stop Input Signal

Signal Name Symbol Function Mode Reference

Emergency Stop E-STOP Connect and use an extra emergency stop switch to

quickly act upon emergency situation, users can select whether to use in [Ft-0.05] constant.

All 3-18 page

Position Command

Table 3.6 Position command input signal

Signal Name Symbol Function Mode Reference

Pulse Command PULS+ Receives position command by pulse input. Can

PULSSIGN+ SIGN-

High Frequency Pulse Command

Open Collector(24 [V]) Pulse Command

Speed Command Input

Torqu e Command Input

HF_PULSE+ Connect the high frequency pulse input to this terminal. HF_PULSEHF_SIGN+ HF_SIGN24V_PULSE+ For Open Collector 24 [V] pulse input, connect to this PULS24V_SIGN+ SIGNVCMD+ Receives analog speed command. VCMDICMD+ Receives analog torque command. ICMD-

respond to line drive or 12 [V] & 5 [V] open collector output of the host controller.

(Line Drive less than 3 [Mpps])

terminal without a pull-up resistance.

(-10 [V] ~ +10 [V])

5-10 page

5-32 page

5-43 page

CSD5 Servo Drive

Wiring 3-13

(I/O) Output Signal

Sequence Output Signal (Allocation)

Refer to the 5-1 page "Sequence I/O (Input/Output) Signal" for details of sequence output signal.

Table 3.7 I/O Sequence Output Signal

Signal Name Description Mode Reference

</S_ALM> Alarm Outputs when Servo Alarm sets off. All </P-COM (+, -)> Position

Completion Detection </NEAR (+, -)> Position

Proximity Detection </V-COM (+, -)> Speed

Match Detection

</TG-ON (+, -)> Rotation Detection

</T -LMT (+, -)> T orque Limit Detection

</V-LMT (+, -)> Speed Limit Detection

<BK (+, -)> Brake Control It is the signal for the brake control installed inside or outside

</A-VLD> Absolute Position Valid

</RDY> Drive Ready Means getting the operation ready while in the Servo-OFF

</WARN (+, -)> Warning Turns to ON when a Servo warning is detected. All </HOMC (+,-)> Axis Homing When activated, it shows the completion of the Homing

</IMO (+,-)> In Motion Turns to ON when in motion. I . </I-DW> In Dwell When activated, it indicates that the motor is on the hold

</O_ISEL0> Index Selection 0 Input </O_ISEL1> Index Selection 1 Input </O_ISEL2> Index Selection 2 Input </O_ISEL3> Index Selection 3 Input </O_ISEL4> Index Selection 4 Input </O_ISEL5> Index Selection 5 Input

</E_SEQU> Sequence Operation Completion

Turns to ON, when the position err or is with in th e set val ue of the position completion range [Ft-5.00].

Turns to ON, when the position err or is with in th e set val ue of the position completion range [Ft-5.02].

Turns to ON when the deviation between the speed command and the motor rotation speed is within the set value of the speed match decision range [Ft-5.03].

Turns to ON when the motor is rotating above the set value of the rotation detection level [Ft-5.04].

Turns to ON when torque reaches the set value of the torque limit.

Turns to ON when speed reaches the set value of the speed limit.

of the servo motor. Turns to ON when the absolute position data is valid while

using the absolute motor.

status.

operation.

position in the index movement and on stand-by for the dwell time assigned.

Used to output the index number in use in the selected indexing operation.

Turns to ON when the index movement is complete. I

F, I

F, S, P, I

All

8-5 page 5-28 page

5-28 page

5-38 page

5-39 page

5-46 page

5-41 page

7-6 page

8-3 page

13 CSD5 Servo Drive

3-14 Wiring

NOTE

In this manual, < > is applied to the names of sequence I/ O signal. ex) </SV-ON>, </P-COM>

General Output Signal (Fixed)

Alarm Code

Table 3.8 Alarm Code Output Signal

Signal Name Symbol Function Mode Reference

Alarm code FAULT1/OUTPUT4

(Alarm 1/Digital output 4)

Upon servo alarm generation, it outputs the types of the servo alarm with the 3-bit.

Maximum rating of open collector: DC 30 [V], 20 [mA]

All

8-3 page

If one or more of Alarm code (FAULT1, 2, and 3) set to Digital output, Alarm code does not output.

Encoder Signal

Table 3.9 Encoder Signal

Signal Name Symbol Function Mode Reference

Encoder Signal Output

Absolute Encoder Position S pulse

AM+ Displays multiplied encoder signal A, B, C pulse in the AMBM+ BMIM+ IMPS+ Outputs the number of rotation by serial data when the PS-

form of line drive. According to the parameter setting, the drive can logically invert output of A, B pulse.

absolute encoder is used.

All

7-24 page

Servo Alarm

Table 3.10 Servo Alarm Output Signal

Signal Name Symbol Function Mode Reference

Servo alarm Monitor Output

CSD5 Servo Drive

FAULT+ It is displayed if the servo alarm is generated. All FAULT-

7-28 page

Wiring 3-15

Encoder Z-pulse Display

Table 3.11 Encoder Z-pulse Output Signal

Signal Name Symbol Function Mode Reference

Encoder Z-pulse Z-PULSE + It is displayed if Z-Pulse of the encoder is detected. All

Z-PULSE -

15 CSD5 Servo Drive

3-16 Wiring

Line Drive

SN75174

Host

150 [Ω]1 [kΩ ]

2.8 [V] ≤ (H Level) - (L Level) ≤

I/O

Open Collector

Host Controller

2 1

VF = 1.5 ~ 1.8

I/O

Vcc

TR1

NOTE

(I/O) Input Circuit and Interface

Describes the connection circuit for input from the host controller to

the servo drive.

Pulse Command Input Circuit

The drive receives the pulse output of host controller by position command in position control mode.

Host controller can output pulse in line drive or open collector type.

Refer to the 5-10 page "Position Control Mode" for the servo drive

setting according to the selection.

Line drive - Maximum allowable frequency 900 [kpps](Duty ratio: 50:50)

– Input pin number

• PULS+ (11), PULS- (12)

• SIGN+ (13), SIGN- (14)

CSD5 Servo Drive

Open Collector (24 [V])- Maximum Allowable Frequency 250 [kpps]

– Input pin number

• 24V : PULS+ (49) , PULS- (12)

• 24V : SIGN+ (25), SIGN- (14)

For Open Collector 24 [V] input, it does not need the external resistance.

High Frequency Line Drive - Maximum Allowable Frequency 3 [Mpps]

– Input pin number

• PULS+ (15), PULS- (16)

Line Drive

SN75174

Host

I/O

NOTE

Analog Input Circuit

390 [Ω] (1/2

Host

I/O

Speed

12 [V] 2

1000:1

VCMD+

VCMD-

0 [V]

A/D

• SIGN+ (23), SIGN- (24)

Maximum allowable frequency of host controller’s pulse command is

• 900 [kpps] for the line drive

• 3 [Mpps] for high speed line drive

• 250 [kpps] for the open collector

If the maximum allowable frequency is exceeded, [E.PoSEr] servo alarm of position command pulse is generated. Make sure the output of host controller does not exceed the maximum allowable frequency.

Wiring 3-17

17 CSD5 Servo Drive

Analog Voltage Input Circuit

The drive receives analog voltage output of the host controller with speed, speed of torque control mode and torque command.

Input impedance of speed and torque commands is about 10 [kΩ].

Maximum allowable voltage range of input signal is -10 [V] to +10 [V].

Input pin of I/O that uses analog voltage output of the host controller:

• Speed Command: VCMD+ (19), VCMD- (20)

• Torque Command: ICMD+ (21), ICMD- (22)

3-18 Wiring

Analog Input Circuit

390 [Ω] (1/2

Host

I/O

Torque

12 [V] 2

1000:1

ICMD+

ICMD-

0 [V]

A/D

Relay Circuit

DC 24 [V] 50 [mA] or

Host

+24 [V]

3.3 [kΩ]

Sequence Input Signal

I/O

Open Colletor Circuit

DC 24 [V] 50 [mA] or

Host

+24 [V]

3.3 [kΩ]

Sequence Input Signal

I/O

Sequence Input Circuit

Relay or open collector output of the host controller is used for the sequence input circuit.

Make sure that the input current i is within 7 [mA] to 15 [mA].

CSD5 Servo Drive

Emergency Stop Signal

This drive has a built-in circuit for the emergency stop situation.

To quickly respond to the equipment failure or dangerous situation, it receives the emergency stop signal from #10 pin of I/O.

Emergency stop input can be done by the relay contact output of host controller and installing a separate switch.

Wiring 3-19

Normal

E-STOP Switch

Install a host

Controller or a

+24 [V]

I/O

External Power 24 [V]

1/2

E-STOP 10

E-Stop

E-STOP Switch

+24 [V]

External Power 24

1/2

E-STOP 10

NOTE

Whether to use the emergency stop input can be set by the parameter [Ft-0.05]; the initial value is set as not to use.

#10 pin of I/O assigned below is used as the input pin only for the emergency stop.

• If the emergency stop signal is input, [E.EStoP] servo alarm is generated.

• Refer to the 8-3 page "Protection Function" more

information on the servo alarm.

• If the emergency stop is released, reset the alarm by

referring to the 7-49 page "Alarm Reset (run-08)".

• You can check the status of emergency stop signal through the monitor mode describe in the 7-52 page

"Monitor Mode Function".

19 CSD5 Servo Drive

3-20 Wiring

Host

0 [V]

I/O

Host

0 [V]

I/O

DC 5~12 [V]

0 [V]

Photo-Coupler

(I/O) Output Circuit and Interface

There are 2 types for the servo drive output circuits. Design the input circuit at the host controller suitable for the each output circuit.

• Line Drive Output

• Photo-Coupler output

Line Drive Output

Output signal (AM+, AM-, BM+, BM-) that converted the encoder serial data into 2 phase (A phase and B phase) pulse, zero point pulse signal (IM+, IM-) and S phase rotation amount signal (PS+, PS-), are output to line drive circuit. It is used to configure the position control loop from the host controller. Receive the pulse signal with the line receiver circuit in the host controller.

Set R1 value to 330 [Ω].

CSD5 Servo Drive

Photo-Coupler Output

Servo alarm, sequence output signal and encoder Z-pulse signal output are the photo coupler output circuits.

Connect to the photo-coupler circuit of the host controller

Connect to the relay circuit of the host controller:

Host

I/O

DC 5~24 [V]

0 [V]

Relay

Host

I/O

DC 5~12 [V]

0 [V]

Line Receiver

Connect to the line receiver circuit of the host controller:

Wiring 3-21

21 CSD5 Servo Drive

3-22 Wiring

Encoder Wiring (Motor Feedback)

Pin Arrangement of Motor Feedback

The table below shows the pin arrangement for each encoder.

Table 3.12 Pin Arrangement for Encoder C onnector (Motor Feedback)

Drive Motors No. Function CSMT

CSMR

9 wire Inc.

1EO [V]811G8G 2 - ---- 3 A 11A- 4 /A 22B- 5 B 33C- 6 /B 44D- 7 C 55E- -

RSMQ RSMZ

9 wire Inc.

RSMS RSMD RSMH

9 wire Inc.

CSMT CSMR RSMQ RSMZ

17-bit Serial (Abs, Inc)

RSMS RSMD RSMH

17-bit Serial (Abs, Inc)

8 /C 66F- 9 LMT- ---- 10 S1/SD+---4 K 11 - ---- 12 - ---- 13 SD- ---5 L 14 S2 ---- 15 - ---- 16 S3 ---- 17 LMT+ ---- 18 - ---- 19 - ---- 20 E5 [V] 7 10 H 7 H FG 9 12 J 3 J

CSD5 Servo Drive

Wiring 3-23

CON A.

(Connect this to

Moter Feedback )

CON B.

Connect this to the

encoder cable of the

Encoder Cable

1 PIN

2 PIN

NOTE

Terminal Type

The table below shows the terminal type and specifications of the

encoder cable.

Connector CON A for connection to Motor Feedback of servo drive:

One type regardless of motor model and encoder.

Model Number Manufacturer

10120-3000PE 10320-52F0-008(LATCH) 10320-52A0-008(SCREW)

Connector CON B for connection to the encoder cable of servo motor:

Motor Type Housing Terminal Manufacturer

CSMT, CSMR 9 wire Inc.

RSMZ, RSMQ 9 wire Inc. 171162-1 RSMS, RSMD,

RSMH, RSMF, RSMK, RSML

Serial Absolute Serial Inc.

9 wire Inc. DMS 3108B20-29S or DMS 3106B 20-29S DDK

172161-1 170361-1

or 70365-1

AMP

Power cable connector for large capacity motor packed with the motor.

Do not connect FG of servo drive to host controller if GND and FG are common, or if there is no separate FG.

23 CSD5 Servo Drive

3-24 Wiring

Host Encoder

Servo Drive

Motor I/O

Host Encoder

Servo Drive

Motor I/O

Encoder Signal Process

Incremental encoder (9 wire Inc.) connection of CSMT/R motors.

Incremental encoder (9 wire Inc.) connection of RSMS/D/F/H/K/L motors.

CSD5 Servo Drive

Serial encoder connection of RSMS/D/F/H/K/L motors.

Host Encoder

Servo Drive

Motor I/O

Serial I/F Circuit

Up/Down

Counter

Serial I/F Circuit

* Connect when absolute encoder is used

Wiring 3-25

25 CSD5 Servo Drive

3-26 Wiring

Host Encoder

Serial I/F Circuit

Up/Down

Counter

Serial I/F Circuit

* Connect when absolute encoder is used

Servo Drive

Motor I/O

Serial encoder connection of CSMT/R, RSMKQ/Z motors (Absolute, Incremental).

CSD5 Servo Drive

Wiring 3-27

General Articles Wiring

This part describes wiring to implement optimum performance of the servo drive in wiring and noise.

Precautions

Electric Circuit

• Use a thick wire as earth wire if possible.

• Class 3 grounding is recommended. (Recommendation: grounding

resistance lower than 100 [Ω ])

• Only 1 point must be grounded.

• Select ground phase and ground point considering the power conditions

of installation area. If the power is supplied by the ground phase, wire it so that L2 of AC main power input terminal (L1, L2, and L3) becomes the ground phase.

• Use noise filter for the main power and control power.

• Electric circuit wiring and signal circuit wiring should be apart as much

as possible. (30 [cm] or more)

• Do not use same power with the electric ARC welding machine or discharge processor equipment.

• The earth wire of the servo motor must be connected to the grounding terminal of the drive. In addition, ground the grounding terminal of the drive.

• If the wiring is inside the metal pipe, ground the pipe with class 1 grounding.

Signal Circuit

• The host controller should be installed as closely as possible to the drive, and the noise filter must be used.

• I/O (I/O signal connector) and Motor Feedback (encoder cable) should be twist pair wire and batch shield wire.

• Note that the signal circuit wire is very thin, thus pay attention when handling it.

• If the noise is generated at command input cable, ground 0 [V] line (SG) of the input line before the usage.

27 CSD5 Servo Drive

3-28 Wiring

NOTE

Refer to the servo motor manual more information on the following cable Specifications and order code.

• Motor 3 phase power cable

• Encoder cable

• Motor brake cable

• I/O cable

• Communication cable

Others

• Use the breaker or fuse for wiring to protect the servo drive.

• Make sure there is no continuous bending and stress to the wire.

• Use noise filter in radio noise.

• If used around residential area or the radio disturbance is concerned,

install a noise filter on the input side of power line.

• As the drive is for industrial use, there are no measures for radio disturbance.

• Attach a surge absorption circuit to the relay, solenoid, and coil of the magnetic contactor.

Capacity of the Drive and Fuse

The table below shows the capacity of servo drive and fuse.

Table 3.13 Fuse Specifications

Drive Capacity Power Capacity per

1 Drive [kVA]

CSD5_A5BX1 50 W 0.25 4 CSD5_01BX1 100 W 0.40 4 CSD5_02BX1 200 W 0.75 4 CSD5_04BX1 400 W 1.2 8 CSD5_08BX1 800 W 2.3 8 CSD5_10BX1 1 kW 2.3 8 CSD5_15BX1 1.5 kW 3.2 10

The fuse capacity is the value when 100 [%] load is applied. When selecting the MCCB (breaker for wiring) or fuse capacity, select the fuse capacity considering the load ratio.

MCCB or Fuse Power Capacity [Amps]

CSD5 Servo Drive

Wiring 3-29

CAUTION

Cut-off features: 200 [%]- 2 seconds or more. 700 [%] - 0.01 second or more.

The high -speed cut-off fuse cannot be used. As the power of the drive is condenser input type, the fuse may be blown even during a normal situation if the high-speed cut-off fuse is used.

Noise Protection

The high-speed switching device and microprocessor are used at the main circuit of the servo drive. Thus, switching noise is affected by the connection and grounding methods. Use the proper wiring and grounding method to prevent any affects from the noise.

Use a wire of 3.5 [mm2] or thicker for the earth wire. Separate the signal and power wiring.

29 CSD5 Servo Drive

3-30 Wiring

L2C

L1C

LINE FILTER

CN 1

CN 2

LINE FILTER

AVR

Servo Drive

3 Phase AC 200 ~ 240 [V] <50/60

Ralay Sequence Circuit

Signal Generating

Servo

Motor

Heat Sink

Ground Plate

One Point Grounding <Class 3 Grounding or Higher>

Earth Grounding

Motor Feedback

I/O

Extra caution is required when wiring the noise filter. The following figure describes precautions when wiring the noise filter. If the wiring is wrong, the performance of the noise filter falls.

CSD5 Servo Drive

Wiring 3-31

Primary and Secondary Interference

FILTER

Primar Secondar

FILTER

Primary and

Secondary

Interference

Primary Secondary

FILTER

Separation of

Primar Secondar

Separation of

Primary

Secondary

FILTER FILTER

Primary

Secondary

Primar Secondar

Primary

Secondary

Primar Secondar

Separate the input and output wiring of the noise filter and do not tie up them together.

Earth wire of the noise filter should be wired in distance to the output wire and do not put other signal lines and earth wire in a same duct and tie up them together.

31 CSD5 Servo Drive

3-32 Wiring

FILTER FILTER

Primary Secondary

Primar Secondar

Primary

Secondary

FILTER

Primar Secondar

Earth wire of noise filter should be solely attached in the earth plate. Do not connect the earth wire of the noise filter to other earth wire together.

If there is noise filter inside the case (panel), connect all of the earth wires and earth wires of other equipment inside of the case to the grounding plate. And then, ground them.

CSD5 Servo Drive

Wiring 3-33

Alarm Display Lamp

Referenc

Reference

I/O

Wiring when Using Several Drives

This is an example of wiring when connecting several drives.

Connect the alarm output (SALM) signal of each servo drive in a series and run Relay 1 to detect the alarm. Normally, SALM+ and SALM- are interconnected, and with 24 [V] supplied to Relay1, the servo drive runs normally.

If the servo alarm is generated, 24 [V] supplied to Relay1 is cut off.

1 MCCB

FILTER

NOISE

1MC

SW 1 OFF

Relay 1

L 3

L1C

L2C

L 3

L1C

L2C

1MC

SW2 ON

FAULT

+24 [ V] IN

E- STOP

FAULT

+24 [ V] IN

E- STOP

Relay 1

CN 1

1/2

CN 1

1/2

1MC

SUP

+24 [ V]

Relay 1

+24 [ V]

0[ V]

+24 [ V]

0[ V]

L 3

33 CSD5 Servo Drive

L1C

L2C

FAULT

+24 [ V] IN

E- STOP

CN 1

1/2

0[ V]

+24 [ V]

0[ V]

3-34 Wiring

NOTE

RST

AC 220 [V] Power

MCCB

Breaks the circuit if large

inruch current flows on

power line.

Noise Filter

Remove the noise from

the power line.

Renerative Resistor

Magnetic Contactor

I/O Host

Magnetic Contactor for the Motor Break Contorl

Motor Break Control Power

Break Cable

Motor Cable

Motor Feedback Encoder Cable

Motor Break Control

Servo Motor

RS-232/ RS485

Whether to use the emergency stop input can be set by the parameter [Ft-0.05]; the initial value is set as not to use. Do not wiring when it does not using the emergency stop.

Connection to Peripheral Equipment

CSD5 Servo Drive

Chapter 4

Operator, Basic Setting and Startup

This chapter introduces the operator mounted on the servo drive. In addition, it describes the basic setting of servo drive, and also an example for simple startup.

Before You Begin

About Servo-ON Signal

This part describes Servo-ON signal for the control of the servo drive.

What is Servo-ON?

Audio or TV can select and play music and display channel that the users want from the moment the power switch is on.

However, the servo drive cannot run servo motor by simple applying the power. To complete load the system and use the servo drive, Servo-ON signal from the host controller is required.

Servo-ON signal should be applied and maintained from the host controller for the servo drive to run the motor. In servo -OFF status, it cannot run the motor.

1 CSD5 Servo Drive

4-2 Operator, Basic Setting and Startup

Powe

/SV-ON

Powe

/SV-ON

Motor

Roation

Input of command like position, speed

Apply power to the drive

Host

Receive servo-On signal

Receive command such as position, speed

Motor rotate

Start automobile

Driver

Set transmission at position D.

Run accelerator

Automobil e runs

Table 4.1 Servo-OFF and Servo-ON

Servo-OFF and Servo-ON

Servo-OFF Status Servo-ON Status Input of commands such as position, speed

regarding servo-ON status and motor run

• If the servo-ON signal is not applied after the power application, it is same as the servo driver and motor being separated completely.

• If the servo-ON signal is applied from the host controller, the drive starts to apply voltage to the motor . At this time, if there is no motor run command, the drive maintains the motor stopped.

• If the motor run command is input while the servo-ON signal of the host controller is maintained, the drive can run the motor according to the command.

• This is a ready status to run the motor.

Servo-ON Signal of the Host Controller and Running the Automobile

The following describes the servo drive in relation to the transmission of the automobile.

CSD5 Servo Drive

As the transmission of the automobile should be positioned at 'D' to start the automobile, the drive can be run only when the servo-ON of the host controller is maintained.

Commands to run the motor such as the position, speed of host controller are invalid in Servo-OFF status.

Operator, Basic Setting and Startup 4-3

TIP

Servo-ON/OFF Signal Indication

In this manual, the Servo-ON signal is indicated as shown below.

Servo-ON, </SV-ON> Servo-OFF

Servo-ON Signal Input

Servo-ON signal from host controller is received through the sequence input

signal of I/O. Refer to the 5-1 page "Sequence I/O (Input/Output) Signal" for

the sequence I/O signals.

Servo Drive's Own Servo-ON

If the servo drive runs the motor without a command from the host controller as in the operation mode (run-00), (run-01), the drive makes itself Servo-ON for the operation.

• Refer to the 7-41 page "Operation Mode Function" for

the operation mode (run-00) to (run-02). In addition, the operation mode (run-00) is described in the 4-21

page "Startup" Startup.

• (run-00), (run-01), (run-07), (run-08), (run-10), (run-12) are not operated in Servo-ON status.

Alarm Occurrence and Servo-ON Status

If servo alarm is occurred by the self-diagnosis function of the drive while the Servo-ON signal is applied to the drive, the drive make itself Servo-OFF to stop the motor and displays the contents of servo alarm. Users should inspect the contents of servo alarm, take necessary action, and reset the alarm (Refer

to the7-49 page "Alarm Reset (run-08)". At this time, if an appropriate action

against the servo alarm is taken and the servo-ON signal of host controller is maintained, the drive returns to servo-ON status at the moment that alarm is reset.

Refer to the 8-3 page "Servo W arning" for the information of the servo alarm.

• All parameter setting after Chapter 4 should be done for the Servo-ON status and Servo-OFF status.

• In this manual, ‘the servo drive status’ means whether the servo drive is in servo-ON status or servo-OFF status.

3 CSD5 Servo Drive

4-4 Operator, Basic Setting and Startup

Operator

Name and Function of Each Part

The servo drive has a built-in operator for various status displays, parameter setting, operation command, and monitoring.

• Displays various contents with six 7-segment LED display.

• Provides all key manipulation function without a separate external

operator.

The following figure shows the front side of the operator on the servo drive.

Table 4.2 Name and Function of Each Part

No. Name Function

1 7-Segment LED Display Displays the status with 6-digit 7-segment LED display, sets parameter, commands operation

2 MODE/SET Key Enters display mode shift and parameter setting value. 3 ENTER Key Enters into each window after changes the display mode. Completes setting and exits from it. 4 Top, Bottom, Left/Right Key Moves the digit of 7-segment LED display and functions as the UP/DOWN of the number.

and displays monitoring.

Icons for the Key Buttons

Icon is used in description throughout the manual. Thus, be fully aware of the shape, name and function of icons.

CSD5 Servo Drive

Table 4.3 Icons for the Key Buttons

Operator, Basic Setting and Startup 4-5

Key Button

(1)

Name Function

Down

Left

Right

Direction Key

MODE/ SET Key

ENTER Key

• Increases and decreases the value

• Press and hold this icon to continuously increase/decrease the value

• Shifts the digits

• Used to indicate up, down, left, right keys altogether

• Changes the mode

• Saves the setting value

• Start running

• To enter/exit each setting window after changing the mode

• Select setting value

(1)

Black key button represents that it is pressed.

Structure of the Entire Mode

As shown in the figure below, the servo drive is divided into 5 types of control modes:

The mode displayed after the power ON is the status display mode. Mode is changed whenever the MODE/SET key is pressed. Be fully aware of the following 5 mode types and read the following.

5 CSD5 Servo Drive

4-6 Operator, Basic Setting and Startup

Power Connection

Status Display

Operation Mode

Parameter Setting Mode

Monitor Mode

Index Mode

The displayed values in the above figure are the initial value of each mode.

If the value is changed in a mode and then returned, the changed value is shown instead of the initial value.

CSD5 Servo Drive

Operator, Basic Setting and Startup 4-7

Row Display

Control Status

Point Row Display Row Disp la y

S tatus Display Mode

This section describes contents of the status display mode.

The figure below is an example of display for the description of the status mode. Refer to the table below for the meaning of each display.

Control Mode (Ft-0.00)

Displays control mode in use. In Servo-ON status (in operation), the display of the control mode flickers.

Table 4.4 Status Display Modes - Control Mode

Display Description

Basic Control Mode

Combinational Control Mode

Position mode

Speed mode

Torque mode

Multi-step speed mode

Index mode

Speed + position mode

Torque + speed mode

Torque + position mode

Multi-step speed + position mode

Multi-step speed + speed mode

Multi-step speed + torque mode

7 CSD5 Servo Drive

4-8 Operator, Basic Setting and Startup

In combinational control mode, it performs two types of selected mode simultaneously for the operation. And at this time, the display of the current mode is flickered. If the mode is changed, the display of new mode flickers, and the previous mode does not.

Status

Displays corresponding character upon servo warning.

Refer to the 8-3 page "Servo Warning" for details of the servo warning.

Table 4.5 Status Display Mode - Status

Display Description

It means the preparation for the operation in Servo-OFF status.

Displays that it is running.

Displayed when forward operation prohibiting signal is input.

Displayed when reverse operation prohibiting signal is input.

Point Display

It is on if the power is applied.

Row Display

Refer to the reference pages on the right for more information on the row display.

Table 4.6 Status Display Mode -Row Display

Description Reference

Row Display 1 When using as a position mode, if the difference between load position and position command is

smaller than [Ft-5.00] value, the servo drive can display (</P-COM> position completion detection) signal. It is on when </P-COM> signal is displayed.

When using as a speed mode, if the difference between motor speed and speed command is smaller than [Ft-5.03] value, the servo drive can display (</V-COM> speed coincidence detection) signal. It is on when </V-COM> signal is displayed.

Row Display 2 When the rotation speed of the motor is higher than the setting value of rotation detection level

[Ft-5.04], the servo drive can display (</TG-ON> rotation detection) signal. It is on when </ TG-ON > signal is displayed.

Row Display 3 It is on when Z-pulse output of the encoder is detected. In case of linear motor , it is on when first hall

U signal is detected

page 5-28

page 5-38

page 5-39

CSD5 Servo Drive

Operator, Basic Setting and Startup 4-9

From

Overview of the Parameter Setting Mode

This section includes brief explanation of the parameters in parameter setting mode.

The Parameter sets and saves various functions to make drive suitable for equipment.

There is a parameter that can be always set regardless of the status of the drive, and those that must be in certain status of the drive when setting them. Be careful to set parameter in reference to the contents in the Appendix B "Table for Parameter Setting".

The contents related to parameter setting are described in details in Chapter #5, 6, 7, 8 and the Appendix along with the functional description of the servo drive.

The table below is to aid the understanding of parameter group.

Parameter range:

Table 4.7 Parameter Group

Parameter Group Parameter Group Description

Group 0 Ft-0.00 ~ Ft-0.32 33 User parameter related to basic setting and

Group 1 Ft-1.00 ~ Ft-1.42 43 User parameter related to gain and gain

Group 2

Group 3 Ft-3.00 ~ Ft-3.08 9 User parameter related to position control

Group 4 Ft-4.00 ~ Ft-4.06 7 User parameter related to torque control

Group 5 Ft-5.00 ~ Ft-5.16 17 User parameter related to supplementary

Ft-2.00 ~ Ft-2.13 14

I/O signal

tuning User parameter related to speed control

mode

function

9 CSD5 Servo Drive

4-10 Operator, Basic Setting and Startup

From

Overview of the Monitor Mode

This section includes brief explanation of the parameters in monitor mode.

Displays several numerical data generated as the motor is controlled by the drive. The contents of the monitor mode can be checked regardless of the status of the drive. Be fully aware of the numbers and units displayed in monitor mode shown in the table below and refer to it when using the servo drive.

The table below shows the brief contents of each item in the monitor mode.

Monitor Mode Range:

Table 4.8 Monitor Mode

Item Monitor Contents [Unit]

dIS-00 Speed feedback [rpm or mm/sec] dIS-01 Speed command [rpm or mm/sec] dIS-02 Speed error [rpm or mm/sec] dIS-03 Torque command [%] dIS-04 Position feedback [pulse] dIS-05 Position command [pulse] dIS-06 Position error [pulse] dIS-07 Position command pulse frequency [kpps] dIS-08 Electrical angle [ °] dIS-09 Mechanical angle [ °] dIS-10 Accumulated load rate of regenerative resistor [%] dIS-11 DC Link voltage [V] dIS-12 The number of rotation data of absolute encoder dIS-13 Speed command offset [mV] dIS-14 Torque command offset [mV] dIS-15 I/O status dIS-16 Alarm history dIS-17 Firmware version dIS-18 Motor & Encoder Type dIS-19 Analog speed command vol [0.01V] dIS-20 Analog torque command voltage [0.01V]

CSD5 Servo Drive

Operator, Basic Setting and Startup 4-11

From

Table 4.8 Monitor Mode

Item Monitor Contents [Unit]

dIS-21 Drive rated output dIS-22 Absolute encoder 1-time rotation data dIS-23 Encoder feedback counter

The items like Posiotn feedback, Potion Command, and Encoder Feedback Counter of the monitor mode Posiotn feedback, whose value is more than 6 digits, is not displayed at once by the 6-digit 7-segment LED display. Therefore, it is displayed seperatly by left and right key. Refer to the 7-52 page

"Monitor Mode Function"for details on how to check such items.

Overview of the Operation Mode

This section includes brief explanation of the parameters in operation mode.

The motor can be run in operation mode. Each item provides a special function, which can be used. Just as in the parameter setting mode, there is a status where the operation is possible/impossible according to the status of the servo drive, during the use of the operation mode. Refer to the 7-41 page "Operation Mode Function"for details of operation mode.

The table below shows the brief functions of each item in the operation mode.

Operation Mode Range:

Table 4.9 Operation Mode

Item Operation

run-00 Jog operation run-01 Off-line auto tuning run-03 Auto adjustment of the speed command offset run-04 Auto adjustment of the torque command offset run-08 Alarm reset run-10 Absolute encoder reset run-11 2-group gain storing run-12 Parameter initialization

Refer to the 7-41 page "Operation Mode Function" for details of operation mode and key button manipulation.

11 CSD5 Servo Drive

4-12 Operator, Basic Setting and Startup

Basic Setting

Table 4.10 Basic Setting

This section includes the introduction of the control mode and the basic setting.

Overview of the Basic Setting

Basic setting must be done before using the servo drive.

• Other parameters can be set after the basic setting.

• The basic setting is possible only after connecting the control power of

the servo drive.

• After all setting three types of basic setting, reapply the power.

• The setting values of the basic setting are saved even if the power is cut

off or parameter is initialized by [run-12] function of the operation mode.

• To change basic setting value, change it directly from corresponding parameter and reapply the power.

As shown below, the basic setting uses two parameters to set 2 types.

Basic Setting Parameter Setting

Control mode (optional) setting

Motor setting

• Motor type setting

• Motor capacity (rated output) setting

• Encoder type setting

The key button manipulation flow chart is provided in the description of the basic setting to aid the understanding of the key buttons. While performing the basic setting, get accustomed to key button manipulation. Key button manipulation flowchart is not described after Chapter 5.

The following figure is an example of the nameplate attached to the motor.

Before performing basic setting, be sure to check the following three contents of the model name.

Before mounting a motor to the equipment, check the model name of the motor in advance. Depending on the motor type, the motor may be mounted in such direction that the nameplate is not visible.

CSD5 Servo Drive

Operator, Basic Setting and Startup 4-13

R S M Z

0 1 B A 1 A N K 3

< >

Select a Motor Check the model name on the motor

nameplate

Example of

Motor Type Rated Output Encoder Type

Control Mode Setting

Control Mode Type

As in the table below, there are 5 kinds of basic control modes and 6 kinds of associated control modes. The table below shows the control mode types. Refer to the Chapter 5 for function for each control mode.

Table 4.11 Contorl Mode Type

Display Description

Basic Contorl Mode

Associated Control Mode

Position mode

Speed mode

Torque mode

Multi-step mode

Index mode

Speed + position mode

Torque + speed mode

Torque+ position mode

Multi-step speed + position mode

13 CSD5 Servo Drive

Multi-step speed + speed mode

Multi-step speed + torque mode

4-14 Operator, Basic Setting and Startup

Flowchart of the Contorl Mode

Status Display Mode

Select Parameter Setting Mode by

MODE/SET key

Press ENTER key and

Enter into the Setting Window

Using the Direction key, Create a Contorl Mode to Set

Displays Contol Mode by UP-DOWN key

An Alphabet representing each mode is displayed.

Multi-step Speed

Torque

Speed Control Positon

Control Mode Selection Completion

Press MODE/SET key to save it.

The Setting window blinks and it is saved.

To complete the setting, turn power off and on again.

Control Mode Setting Method

Describes control mode setting method focusing on the key button manipulation.

Apply the power and set it as shown in the flowchart below.

Combinational Control Mode Setting

Combinational control mode should be set as below.

Table 4.12 Combinational Control Mode

Associated Control Mode Setting Window Display

Speed + position control

Torque + speed control

Torque + position control

CSD5 Servo Drive

Operator, Basic Setting and Startup 4-15

CAUTION

Table 4.12 Combinational Control Mode

Associated Control Mode Setting Window Display

Multi-step speed + position control

Multi-step speed + speed control

Multi-step speed +Torque control

The following are the precautions in setting associated control mode.

• Combinational control mode cannot be used by combining more than 3 types. Make sure to combine two types only.

• If the setting is correctly entered, the setting window blinks once when MODE/SET key is used to save the data. However, if wrong setting is entered, it does not blink nor is saved.

15 CSD5 Servo Drive

4-16 Operator, Basic Setting and Startup

C S M T - 0 1 B A 1 A N T 3

Motor Type Rated Output Encoder Type

Motor Setting

Select a motor to connect to the servo drive and set three items of the motor.

If a motor to connect to the drive is selected, verify the nameplate on the motor. Motor setting is divided into three items as below.

Motor setting should be done from the parameters [Ft-0.01]. As shown in the following figure, the setting window of [Ft-0.01] has a predefined place for each item, and the same alphabet as the ones on the model name of the motor. (Use both capital letters and lowercase letters).

Motor Type

Motor types of the servo motor are indicated in 4 digits, and the code starts with CSM for all motors. Thus, the first 3-digit, CSM, is omitted in the display of the motor. If first disit is displayed 'r', it sets RSMx motor serieses.

Table 4.13 Motor Type

Display Model

CSMT

CSMR

CSMQ

CSMZ

RSMS(2004-RS**)

RSMD(2004-RD**)

RSMH(2004-RH**)

RSMF(2004-RF**)

CSD5 Servo Drive

Operator, Basic Setting and Startup 4-17

Table 4.13 Motor Type

Display Model

RSMK(2004-RK**)

RSML(2004-RL**)

RSMQ(2004-RQ**)

RSMZ(2004-RZ**)

Rated output (Capacity)

Rated output (capacity) and display of the motor are shown below.

Table 4.14 Motor Rated Output

Display Capacity

30 [W]

50 [W]

...

100 [W]

200 [W]

...

1 [kW]

1.5 [kW]

...

Encoder Type

In encoder type set, serial absolute encoder transmits encoder data to the drive and automatically performs setting as it is connected to the drive. The encoder type display is shown below.

17 CSD5 Servo Drive

4-18 Operator, Basic Setting and Startup

Table 4.15 Encoder Type Group 1

Motor Series Display Number of

CSMT/R 131072

CSMT, CSMR, CSMQ, CSMZ

Pulse/1 Rotation

(resolution)

2048 9 wire Inc.

2500 11 wire Inc.(CSMQ/Z Only)

2048 Compact Absolute (CSMQ/Z Only)

Table 4.16 Encoder Type Group 2

Motor Series Display Number of

RSMS/D/H/F/K/L RSMZ/Q

Pulse/1 Rotation

131072(resolution)Serial Absolute

Encoder Type

Serial Absolute

Serial Inc.

Encoder Type

Serial Inc.

2500 9 wire Inc.

2048 Compact Absolute (RSMZ Only)

CSD5 Servo Drive

Operator, Basic Setting and Startup 4-19

Precautions

Setting sequence is in order of motor model, rated output (capacity), and encoder type. The encoder type is classified into group 1 and group 2, according to motor model, and an encoder that corresponds to each motor type is displayed. In addition, only the rated output of the motor that corresponds to the type selected is displayed only. A setting example of an encoder in the encoder type 1 is shown in the following motor setting flowchart.

• In the following flowchart, the encoder type is in order of S, B, A, D, C, Q, and R.

• In case of using a model in encoder type 2, the encoder type is displayed in order of K, L, H, A, M, Q, and R .

The table below is a setting example for each motor type.

Motor model number setting

CSMT-04BQ1ANT3

RSMD-10BA1ASK3

19 CSD5 Servo Drive

4-20 Operator, Basic Setting and Startup

Flowchart of Motor Setting Selection

Status Display Mode

Select Parameter Setting Mode

by MODE/SET key

Press ENTER key and Enter

into the Setting Window

Find Setting value from the Setting Itmes suitable for Each Digit

Find Setting Value of the Setting item by Move to the Setting Item by

Motor Type Rated Encode

Motor Setting Completion

Press MODE/SET key to save it.

The Setting Window blinks and it is saved.

To complete the setting,turn Power off and on again completion

Motor Setting Flowchart

Basic setting is all finished for the use of the drive. Reapply the power.

• To connect other motor type after completing the basic setting of motor connected to the servo drive initially, or to change the parameter setting at the basic setting, be sure to enter into corresponding parameter and change it.

• Basic setting value is preserved even if the power is cut off or the parameter is initialized (Refer to the 7-51 page "Parameter Initialization (run-12)") .

CSD5 Servo Drive

Operator, Basic Setting and Startup 4-21

CAUTION

• A flowchart for the key button manipulation is included in the description of the basic setting of the servo drive to help the understanding of the key button manipulation. But, it is not provided in Chapter 6, 7 and 8. Read the following section on startup, and get accustomed to the manipulation of the key buttons.

Startup

Before Startup

1. Please be aware of wiring in Chapter 3 and connect main power and control power normally. In addition, by configuring emergency stop input circuit, clear the emergency stop status.

2. Connect the motor and encoder properly.

3. Pereform basic setting in reference to the 4-12 page "Basic Setting".

4. Do not connect the load to the motor for safety purposes. If the motor

is mounted on the equipment, remove coupling of the motor shaft so that load may not move.

Caution when Startup

• To prevent the injury, check the operation range of the motor shaft or load upon operation, and keep it away from the drive.

21 CSD5 Servo Drive

• Run the drive after preparing the E-stop circuit. Then, you can cope quickly with an emergency situation.

• Refer to the 3-18 page "Emergency Stop Signal"for

E-stop information.

Startup

Start up 1: Start up the Drive by Using Jog Operation Function.

The jog operation is possible in Servo-OFF status. Remove the wiring between the drive and the host controller, or apply Servo-OFF signal from the host controller.

4-22 Operator, Basic Setting and Startup

Flowchart of the Startup using Jog Operation [run-00]

Status Display Mode

Select run mode

by MODE/SET key

Create [run-00] by

Direction

End

Turn Power On

Press ENTER and check

JOG operation

Press MODE/SET key

prepare JOG-ON operation

The Motor runs conter clockwise

while pressing the UP key

The Motor runs clockwise while

pressing DOWN key

Press MODE/SET key and

clear JOG-OFF operation

Press ENTER key and

clear JOG-OFF operation

The speed of the motor can be set from the drive for the jog operation. The initial value of the jog operation speed is 50 [rpm]. At startup 1, runs the drive at the factory setting speed, 50 [rpm].

Start up the drive according to the following flowchart.

CSD5 Servo Drive

Operator, Basic Setting and Startup 4-23

TIP

Flowchart of the Jog Operation Speed Change

Status Display Mode

Select parameter setting

mode by MODE/SET key

Create [Ft-2.01] by

Direction key

End

Trun Power On

Press ENTER and enter

into the Setting Window

Create 1000 [rpm]

by Direction key

Press MODE/SET key

to save. Blink!

Press ENTER to Exit

Start up 2: Start Up the Drive by Changing the Speed

Start up the drive by changing the speed from the initial value, 50 [rpm] to 1000 [rpm].

The change of Jog operation speed should be done at [Ft-2.01]. The speed set here is not related to other operation, and applied only upon the Jog operation. Setting range is 0 to 6000 [rpm]. Initial value is 50 [rpm].

Change the Jog operation speed by according to the following flowchart.

If setting is wrong, the setting window does not blink when saving it by pressing the MODE/SET key. If setting is completed normally, retry the Jog operation [run-00]. You can see that the speed is changed from 50 [rpm] to 1000 [rpm].

• At first, the drive is not tuned suitable for the load or motor.

• Upon startup, first perform off-line auto tuning(run-01) described in the 7-44 page "Off-line Auto Tuning Operation (run-01)" then startup the drive to run the motor more smoothly in a stable condition.

23 CSD5 Servo Drive

4-24 Operator, Basic Setting and Startup

CSD5 Servo Drive

Chapter 5

Function for Control Mode

This chapter describes the sequence input/output function of I/O signal connector CNI and the function for each control mode.

Sequence I/O (Input/ Output) Signal

What is Sequence I/O Signal?

To provide the optimum performance that is suitable for user’s equipment, 50 pin connector of I/O is used to allow the drive can input/output signals that have various functions.

Input provides 25 functions and you can freely allocate input signal of each function with 10 pins.

Output provides 16 functions and you can freely allocate output signal of each function with three pairs of pins such as (41, 42), (43, 44), (47, 48) and pin (37~40) of I/O.

Sequence I/O signal means the I/O signal of various functions that are required for servo drive control by the host controller.

Sequence I/O signal is not to process input or output signal with the designated pin of I/O, but to select the function that the user requires in terms of circuit design of host controller and to directly allocate the selected functions to the designated pin.

Therefore, the host controller can do the sequential control that fits to the equipment to operate servo drive.

The following figure is sequence I/O part among 50 pins of I/O.

• Sequence Input is indicated as (INPUT#1) to(INPUT#10). (Digital Input Channel)

• Sequence Output (OUTPUT#1) to (OUTPUT#6). (Digital Output Channel)

1 CSD5 Servo Drive

5-2 Function for Control Mode

I/O 50-Pin Connector <I/O>

Input

Sequence

Input Circuit

Output

Sequence Output

24V [or GND]

GND [or 24V]

INPUT1 (/SV-ON) INPUT2 (P-OT) INPUT3 (N-OT)

INPUT4 (/P-CON) INPUT5 (/A-RST)

INPUT6 (/N-TL) INPUT7 (/P-TL)

INPUT8 INPUT9 INPUT10

3 4

5 6

7 8 9

26 27

Function of Input Signal

FAULT 1/ OUTPUT 4

FAULT 1/ OUTPUT 5

FAULT 1/ OUTPUT 6

FCOM/OUTCOM

OUTPUT1+ (P_COM+)

OUTPUT1- (P_COM-)

OUTPUT2+ (TG_ON+)

OUTPUT2- (TG_ON-)

OUTPUT3+ (BK+)

OUTPUT3- (BK-)

T able 5.1 I/O Sequence Input Signal

Type Description Mode Reference

</SV-ON> Servo-ON When input is ON, voltage is applied to the servo motor and

</A-RST> Alarm reset It releases the servo alarm. All </G-SEL> Gain gorup

conversion

</P-TL> Limit forward torque When a signal is on, it limits forward tor que by the setting va lue

CSD5 Servo Drive

The following is the brief explanation on 25 functions of sequence input signal. Details for each signal are explained in the reference pages listed on the right side of the table.

when input is off, the voltage is cut off.

Use 2 group gain for the section where input is on, and current gain for the section where input is OFF. It converts gain of 2 groups.

[Ft-4.03].

All page 4-1

page 7-49

All

page 6-36

page 5-46

Function for Control Mode 5-3

Table 5.1 I/O Sequence Input Signal

Type Description Mode Reference

</N-TL> Reverse Torque Limit

<P-OT> Prohibit forward operation

<N-OT> Prohibit reverse operation

</P-CON> P Control Conversion

</C-SEL> Control mode conversion

</C-DIR> </C-SP1> </C-SP2> </C-SP3> </C-SP4> Ter minal speed command

</Z-CLP> Zero clamp When analog command value in the speed control is lower than

</INHIB> Inhibit pulse command

</ABS-DT> Absolute encoder data transmission

</PCLR> Position Error Clear

</START> Start Control motor rotation start or stop by using terminal signal in

</GEAR> Electronic Gear Rate Shift

</R_ABS> Absolute encoder multi-rotation data reset

</BANK_SEL> Gain bank select

A-CL> Analog torque limit The Current Limit Function is activated by the analog torque

</H_SENS> Home sensor When activated, the sensor indicates the Return to Home

</SHOME> Start homing When activated, the system starts returning to home. I </PAUSE> Index pause When activated, it decelerates until stop and pause the index

</STOP> Index stop When activated, index movement ends. I

When a signal is on, it limits reverse torque by the setting value [Ft-4.04].

It prohibits a motor from rotating forward when the load part reaches to the limit of available section.

It prohibits a motor from rotating to the reverse direction wh en the load part reaches to the limit of available section.

It converts the Seed Controler from PI type controller to P type controller. It is used to suppress the overshoot of the excessive response and complete a faster response.

It is used to convert the control mode when using Mixed control mode.

The rotation direction</C-DIR> and rotation speed </C-SP1 to / C-SP4> of the motor are determined by the above input in terminal speed control mode. Rotation speed of </C-SP1 to / C-SP3> is set in [Ft-2.05 to Ft-2.11]. Rotation speed of </ C-SP4> is set by analog speed command voltage. </C-DIR> is used to change motor rotation direction in speed control mode.

the setting value of speed zero clamp level [Ft-5.05], the input value is ignored.

It ignores position command pulse in the section where the signal is on.

Transmits absolute encoder data to host controller through EA and EB when the signal is ON.

Clear position command, position feedback, and position error. F, I

speed or terminal speed control mode. In position control mode, the 2nd electronic gear parameters

[Ft-3.05] and [Ft-3.06] are used when input is ON. The basic electronic gear parameters [Ft-3.01] and [Ft-3.02] are used when input is OFF. Switch between two electronic gear ratios.

Reset the multi-rotation data of the absolute motor. All

Uses the 3rd and the 4th Gain Bank when it is set to ON. Uses the 1st and 2nd Gain Bank when it is set to OFF.

command input values when it is set to ON.

sequence that is detected.

sequence. It decides whether to stop or to continue the motion by constantly monitoring the input status.

All

F, S, P, I

Combinational Control Mode Only

F, I

S, P

All

S, P

page 5-46

page 7-2

page 6-30

page 5-57

page 5-52

page 5-35

page 5-25

page 7-50

page 5-25

page 5-37

page 5-27

page 7-34

page 6-37

3 CSD5 Servo Drive

5-4 Function for Control Mode

T able 5.1 I/O Sequence Input Signal

Type Description Mode Reference

</I_SEL0> Index selection 0 Input </I_SEL1> Index selection 1 Input </I_SEL2> Index selection 2 Input </I_SEL3> Index selection 3 Input </I_SEL4> Index selection 4 Input </I_SEL5> Indexselection 5 Input

</H_STOP> Stop homing Stops Homing operation when it is set to ON. I </ST ART_I> Start indexing Start Indexing operation when it is set to ON. I </ABS-MD> Absolute

Position Data Transfer Mode

Used for the combinations to allocate indexes. I

Absolute Data transfered to host contoller by photo coupler output which output Fault Code when it is set to ON.

Function of Output Signal

The following is the brief explanation on 8 functions of sequence output signal. Details for each signal is explained in the pages listed on the right side of the table.

Table 5.2 I/O Sequence Output Signal

Type Description Mode Reference

</S_ALM> Alarm It is on when the servo warning is detected. All page 8-5 </P-COM (+, -)> Positioning

Completion detection </NEAR (+, -)> Positioning

approach detection </V-COM (+, -)> Speed

coincidence detection

</TG-ON (+, -)> Rotation detection

</T-LMT (+, -)> Torque limit detection

</V-LMT (+, -)> Speed limit detection

<BK (+, -)> Breaker control It is the signal f or control of the br ake that is mounted inside and

</A_VLD> Absolute position valid

</RDY> Drive ready Me ans getting the opera tion ready while in the Servo-OFF

It is on when the position error is within the output width of position completion signal [Ft-5.00].

It is on when the position error is within the output width of position approach signal [Ft-5.02].

It is on when the speed difference between command speed and the rotation speed are within the output width of speed coincidence signal [Ft-5.03].

It is ON when the motor rotates with the speed more than the setting value of rotation detection level [Ft-5.04].

It is on when motor torque is reached the setting value of torque limit.

It is on when motor speed is reached the setting value of speed limit.

outside of the servo motor. Turns to ON when the absolute position data is valid while using

the absolute motor.

status.

F, I

F, S, P, I

All

page 5-28

page 5-38

page 5-39

page 5-46

page 5-41

page 7-6

CSD5 Servo Drive

Function for Control Mode 5-5

TIP

Table 5.2 I/O Sequence Output Signal

Type Description Mode Reference

</WARN (+, -)> Warning Turns to ON when a Servo warning is detected. All </HOMC(+,-)> Axis homing When activated, it shows the completion of the Homing

</IMO (+,-)> In motion Turns to ON when in motion. I </I_DW> In dwell When activated, it indicates that the motor is on the hold

</O_ISEL0> Index selection 0 Output </O_ISEL1> Index selection 1 Output </O_ISEL2> Index selection 2 Output </O_ISEL3> Index selection 3 Output </O_ISEL4> Index selection 4 Output </O_ISEL5> Index selection 5 Output

</E_SEQU> Sequence operation completion

operation.

position in the index movement and on stand-by for the dwell time assigned.

Used to output the index number in use in the selected indexing operation.

Turns to ON when the index movement is complete. I

page 8-3

The sequence I/O signal name is indicated by < > in this manual.

Ex) </SV-ON>, </P-COM>

Input Signal Allocation Method

Refer to the table below to allocate to I/O pin by searching the function that is suitable for your condition.

As shown in the table below, the related function is already allocated to the sequence input parameter and its position in the setting window and it means that you use the related function as setting certain value among‘1 to A’ except ‘0’ to the setting position.

For example, if you want to put certain function to I/O No. 5 pin, you can find the related parameter of that signal and the position in the setting window according to the table below and enter ‘3’ as the setting value.

Enter ‘0’ when the function of input signal is not used. If you want to make input signal ‘ON’ all the time regardless of the wiring, set as ‘b’.

5 CSD5 Servo Drive

5-6 Function for Control Mode

T able 5.3 I/O Sequence Input Signal

Setting Valueb A9876543210 Input Channel

No. I/O Pin No. 2827269876543

Always valid

INPUT #10

INPUT#9INPUT#8INPUT#7INPUT#6INPUT#5INPUT#4INPUT#3INPUT#2INPUT#1Always

The following table is to arrange the parameter for each function and 7-segment number position in the setting window. Set so that the related parameter of each signal and the number position in the setting window is not in the wrong.

Table 5.4 7-Segment Number Position of Input Signal Parameter

Parameter 7-Segment Position

321 0 </P-CON>

Initial value: 4

</C-SEL>

</C-SP3> </C-SP2> </C-SP1> </C-DIR>

<N-OT> Initial value: b

</P-TL> Initial value: 7

<P-OT> Initial value: b

</N-TL> Initial value: 6

</SV-ON> Initial value: 1

</A-RST> Initial value: 5

invalid

</PCLR> </G-SEL> </INHIBIT> </Z-CLP>

</GEAR> </C-SP4> </START> </ABS-DT>

</ABS-MD> </A-CL> </BANK_SEL> </R_ABS>

</PAUSE> </STOP> </SHOME> <H_SENS>

<I_SEL3> <I_SEL2> <I_SEL1> <I_SEL0>

</START_I> </H_STOP> <I_SEL5> <I_SEL4>

CSD5 Servo Drive

Function for Control Mode 5-7

The table below is the example to allocate sequence input signal.

Example

Enter ‘7’ in the 3rd position in setting window of the parameter [Ft-0.01]. This value is set to use </P-CON> function. It means that the I/O INPUT#7 pin is used as an input pin.

Applicable Models

All

Other Details

Drive Disable > Configure > Completed

Output Signal Allocation Method

Refer to the table below to allocate to I/O pin after searching the function that is suitable for your condition.

Set the setting value as ‘0’ when the output of the related signal is not used.

Sequence output is displayed when situation that is meets the condition of each ouput in drive was produced.

Table 5.5 I/O Output Signal Allocation

Setting Value

Input Channel No. OUTPUT #6 OUTPUT #5 OUTPUT #4 OUTPUT #3 OUTPUT #2 OUTPUT #1 Always Invalid I/O Pin No. 39.40 38.40 37.40 47, 48 43, 44 41, 42

in the wrong.

Table 5.6 7-Segment Number Position of Output Signal Parameter

7-segment Position

Parameter3210

</V-COM> </BK>

Initial value: 3

</WARN> </NEAR> </V-LMT> </T-LMT>

</TG-ON> Initial value: 2

</P-COM> Initial value: 1

Reserved Reserved </RDY> </A_VLD>

7 CSD5 Servo Drive

5-8 Function for Control Mode

Status Display Mode

Table 5.6 7-Segment Number Position of Output Signal Parameter

</O_ISEL0> </HOMC> </I_DW> </IMO>

</O_ISEL4> </O_ISEL3> </O_ISEL2> </O_ISEL1>

Reserved Reserved </E_SEQU> </O_ISEL5>

The table below is the example to allocate sequence output signal.

Example

Set ‘3’ in the 3st position in setting window of the parameter [Ft-0.23]. It is set to use </WARN> function and it means that we will use I/ O No. Output#47,48 pin as output pin.

Applicable Models

All

Other Details

Drive Disable > Configuration> Completed

Notice for Signal Allocation

When you allocate the different functions to the same pin of I/O as shown below, the drive indicates servo warning in the status mode.

Set ‘4’ in the 2nd position in setting window of the

parameter [Ft-0.11].

It is set to use </N-TL>function and it means that I/O No.

INPUT#4 pin is used as an input pin

Set ‘4’ in the 2nd position in setting window of the

parameter [Ft-0.13].

It is set to use </INHIB> function and it means that I/O No.

INPUT#4 pin is used as an input pin.

When you allocate more than two signals to the same pin as described above, the servo warning is indicated.

In this case, when you reapply the power after completing

the input allocation, the status display mode indicates servo

warning (Pin).

Check if you allocate more than two signals to the same pin

of I/O.

CSD5 Servo Drive

Function for Control Mode 5-9

TIP

• Through monitor mode in the 7-52 page "Monitor Mode Function", you can check if the sequence I/O signal is input.

• E-STOP lamp (Emergency stop) uses the fixed input pin of I/O contrary to sequence input according to the allocation.

• SALM +, - lamp (Servo alarm) uses the fixed output pin of I/O in contradiction to sequence output according to the allocation.

• Servo drive has self-diagnostic function.

• The (servo alarm) and (servo warning) is divided

according to the importance of error diagnostic. For the details, see Chapter 8.

9 CSD5 Servo Drive

5-10 Function for Control Mode

Flowchart for Position Control Mode Operation

Select Sequence I/O function and allocate them.[Ft-0.10] ~ [Ft-0.31]

Set the Position Command Pulse and Signal Type according to the Host Contreller Output,

[Ft-3.00]

Startup the Motor in Position Contorl Mode as Low-speed Pulse Command Frequency is

Check the Position Pulse Command

(dis-07) in Monitor Mode.

OK ?

Set the Electronic Gear.[Ft-3.01], [Ft-3.02]

Check the Speed Command (dis-01) in

Monitor Mode.

OK ?

Set the Direction of Encoder Ouput Pulse and Division Ratio. [Ft-3.00], [Ft-3.03],

Tune the Servo Drive by Adjusting the Gain according to the Load Condtion.

Yes

Position Control Mode

Overview

The position control mode is used when the position command pulse is received from the host controller to move the load to a target position.

To operate the servo drive in position control mode, connect the position command pulse signal to PULS and SIGN input pins, connect other necessary input signals and set as follows.

CSD5 Servo Drive

Function for Control Mode 5-11

16-bit A/D

12-bit A/D

INPUT8

INPUT9

INPUT10

24V_PULS+

HF_SIGN -

HF_SIGN +

HF_PULS -

HF_PULS +

SIGN -

SIGN +

24V_SIGN+

PULS -

PULS +

E-STOP

INPUT

OUTPUT

OUTPUT1+

OUTPUT1-

OUTPUT3+

OUTPUT3-

OUTPUT2+

OUTPUT2-

Z-PULSE +

Z-PULSE -

FAULT +

FAULT -

CN1

FCOM/OUTCOM

AM +

AM -

BM +

BM -

IM +

IM -

PS +

PS -

24V [or GND]

GND [or 24V]

FAULT 1 / OUTPUT 4

FAULT 3 / OUTPUT 6

FAULT 2 / OUTPUT 5

150

INPUT1 (/SV-ON)

(1)

INPUT2 (P-OT)

(1)

INPUT3 (N-OT)

(1)

INPUT4 (/P-CON)

(1)

INPUT5 (/A-RST)

(1)

INPUT6 (/N-TL)

(1)

INPUT7 (/P-TL)

(1)

24 [V] Active Low/High Programmable Digital Input

Analog Alarm Code Output

Analog Alarm Code GND

Encoder Division

Absolute Position Serial Output

Encoder Marker Pulse

Alarm Output

24 [V] Programmable Digital Output

Position

High Postion Command

Speed Command

Torque Command

I/O

S tandard Wiring Example

The following figure illustrates the standard wiring example of position control mode. You can set the sequence input/output signal, as you want if it is necessary for the system configuration.

11 CSD5 Servo Drive

Position Command Pulse

10 pins of I/O receive 3 kinds of commands related to the position control mode.

Host controller sends the position command with the pulse input and sign input.

When the position control mode is used, there are line drive method, high speed line drive and open collector method as the input types of the host controller. The servo drive supports three types of input.

5-12 Function for Control Mode

SIGN -

SIGN +

PULS +

PULS -

Line Drive Pulse Input

Host

I/O

Pulse Input

Signal

Line Dirve

Corresponding SN75174

Host

150 [Ω]1 [kΩ ]

2.8 [V] ≤ (H Level) - (L Level) ≤

I/O

High Speed Line Drive Pulse Input

Host Contoller

I/O

Pulse Input

Signal

HF_PULSHF_SIGN

HF_PULSHF_PULS

When It is Line Drive Output

Maximum allowable frequency

• For the line drive output : 900 [kpps]

• For the high speed line drive output : 3 [Mpps]

Following circuit shows above figure.

PULS +

PULS -

SIGN +

SIGN -

CSD5 Servo Drive

Function for Control Mode 5-13

Open Collector

Host

2 1

VF = 1.5 ~ 1.8

I/O

Vcc

TR1

IMPORTANT

When It is Open Collector Output

Maximum allowable frequency: 250 [kpps]

- 5 [V], 12 [V] open collectors, connect the external resistance R1 in the middle

of the general line drive input (Pin No. 11, 12, 13, and 14).

- For the 24 [V] open collector, directly connect it to Pulse (Pin No. 49, 12)

Sign (Pin No. 25, 14) without the pull up resistance R1.

Caution is needed on the highest allowed frequency. (When the duty ratio for Pulse is 50:50).

• For the general line drive input: 900 [kpps]

• For the high-speed line drive input: 3 [Mpps]

• For the open collector input: 250 [kpps]

Cautions

In the figure above, when it is open collector method and TR1 of host controller is ON, the servo drive identifies as low level input logic and if TR1 is OFF, the servo drive identifies as high level input logic.

In addition, set the Pull Up resistor R1 value to be within 7 [mA] to 15 [mA] by referring to the application example below.

Vcc of Host Controller R1

12 [V] ± 5 [%] 5 [V] ± 5 [%]

1.2 [kΩ ] 270 [Ω ]

13 CSD5 Servo Drive

5-14 Function for Control Mode

TIP

• When you use open collector method for the output of host controller, it is recommended to use 24 [V] for Vcc. In doing so, the operation is stable even in the environment with serious noise problem..

• When input voltage of 12, 14, 16and 24 of I/O is not exactly low level (less than 0.6 [V]) or R1 value is higher than the suggested value, an error can occur. Therefore, use 24 [V] for Vcc of the host controller.

• Position command wiring length

– Line Drive : 5 [m] or less – Open Collector: 1 [m] or less

CSD5 Servo Drive

Function for Control Mode 5-15

IMPORTANT

Set the Position Command Pulse Type for the Host Controller.

Refer to table below to set position command pulse of host controller.

Parameter

Parameter Name Position Command Plulse Input Selection Setting Value

Initial Value 0 Applicable Mode F Others Servo-OFF > Setting > End

• 0: Use the line drive ouput of the host contoller

• 1: Use the open collector ouput of the host controller

• 2 : Use the high speed line drive output of the host contorller

Maximum allowable frequency of pulse command of host controller is

• For the general line drive: 900 [kpps]

• For the high-speed line drive: 3 [Mpps]

• For the open collector: 250 [kpps]

If it exceeds the maximum allowable frequency, excessive position command pulse [E.OvPUL] alarm occurs. Please be careful not to exceed the maximum allowable frequency.

Position Command Pulse Setting

The position command supports 10 types as shown below. Check the applicable specification with reference to electric specification of the command pulse. If the electric specification such as timing is not appropriate, a

position error can occur.

Parameter

Parameter Name Position Command Pulse From Selection

15 CSD5 Servo Drive

Settomg Value 0 ~ 6 : Refer to the table below Initial Value 0 Applicable Mode F Others Servo-OFF > Setting > End

5-16 Function for Control Mode

"L"

PULS

SIGN

PULS

SIGN

"L"

"H "

PULS

SIGN

PULS

SIGN

"L"

PULS

SIGN

PULS

SIGN

PULS

SIGN

"H "

PULS

SIGN

"H "

"L"

PULS

SIGN

"H "

PULS

SIGN

TIP

Setting Value

Logic Command

Pulse Form

Forward Direction Operation Reverse Direction Operation Input

Muliplicat ion

0 Positive

CW + CCW -

Logic

2 Pulse Train+

Sign

4 Phase A+ Phase 5 Duple

6 Quadruple

1 Negative

CW + CCW -

Logic

3 Pulse Train+

Sign

You can verify the data related to the position through monitor mode in the 7-52 page "Monitor Mode Function".

CSD5 Servo Drive

RS CSD5 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Table Of Contents

Preface

Operator, Basic Setting and Startup

Before You Begin

About Servo-ON Signal

Operator

Name and Function of Each Part

Icons for the Key Buttons

Structure of the Entire Mode

S tatus Display Mode

Overview of the Parameter Setting Mode

Overview of the Monitor Mode

Overview of the Operation Mode

Basic Setting

Overview of the Basic Setting

Control Mode Setting

Motor Setting

Startup

Before Startup

Startup