OE Max Controls CSDJ Plus, User Manual

Page 1: ...Maximum Value for OEMs SM CSDJ Plus Servo Drive User Manual...

Page 2: ......

Page 3: ...n off and on the power For detailed information refer to Chapter 5 Parameter Table Error such as Control Impossibility or Encoder Open Error may occur if the parameter selection is incorrectly set as...

Page 4: ...cause only a product damage Caution When handled incorrectly dangerous situation electro caution may occur May cause death or severe injury Even if the content is defined as serious result may occur...

Page 5: ...grounding terminal Class 3 grounding There may be electric shock or fire Warning Cooling fin and electric discharge resistor overheats so do not touch with hands It may cause burns It is easy to chan...

Page 6: ...ple appointed do not repair check nor replace the parts Before the operation remove the metals watch ring etc from the body Operate after preparing the tools to handle insulation There may be electric...

Page 7: ...d Adjustment 3 1 Check up Items prior to Start up A Servo Motor B Servo Drive 3 2 Startup A Power ON and OFF B Check up Items prior to the Startup C Startup by the Operator D Startup by I O Input 3 3...

Page 8: ...Speed Control Mode D Manual Zero Clamp Speed Control Mode E Auto Zero Clamp Speed Control Mode F Speed coincidence Output Signal 6 2 Changing the Motor Rotation Direction 6 3 Acceleration Deceleration...

Page 9: ...cation A 2 CSMT Motor Specification A 3 CSMR Motor Specification A 4 CSMQ Motor Specification A 5 CSMZ Motor Specification A 6 CSMD Motor Specification A 7 CSMF Motor Specification A 8 CSMS Motor Spec...

Page 10: ...CSMT R Z Q C 12 Communication Cable C 13 Connector Specification of Cable C 14 Ordering Part Number Appendix D Motor Connector Appendix E Load Calculation of the Mechanical Part E 1 The Moment of Ine...

Page 11: ...nt Related to D A Converter Output Chapter 5 Parameter Tables Table 5 1 Encoder Types Setting SEt 51 Table 5 2 Motor Types Setting SEt 52 Table 5 3 A CSM CSMZ CSMQ CSMP Motor Capacity Setting SEt 53 T...

Page 12: ...or Specification Table A 2 CSM Motor Brake Specification Table A 3 CSM Motor Specification When reducer is attached Table A 4 CSMT Motor Specification Table A 5 CSMT Motor Brake Specification Table A...

Page 13: ...SEt 51 is 101 102 106 300 307 Fig 2 15 Absolute Encoder Connection Method of CSMQ Z Motor Setting value of SEt 51 104 105 Refer to 7 6 Fig 2 16 Shape and PIN Number of CN2 Encoder Connector Fig 2 17...

Page 14: ...urrence Fig 6 17 Position Command Input Terminal Fig 6 18 Wiring for Position Command of Line Drive Output Fig 6 19 Wiring for Position Command of Open Collector Output Fig 6 20 P CLR Signal Usage Fig...

Page 15: ...generative Energy Fig 7 8 Operation Pattern of Vertical Load Fig 7 9 Regeneration Resistor and Regeneration Unit Connection Fig 7 10 Setting of Motor Type SEt 52 Chapter 8 Error Display and Troublesho...

Page 16: ...4 CSDJ Plus Servo Drive User s Manual MEMO...

Page 17: ...nd Specifications Chapter 1 explains about the basic information on complete composition and standard specifications of CSDJ Plus Servo Drive 1 1 Main Features of the Product 1 2 Preparation for the S...

Page 18: ...1 2 CSDJ Plus Servo Drive User s Manual MEMO...

Page 19: ...ved by using the 32bit high speed DSP Optimized the size by designing the servomotor to be 1 3 and the drive to be 1 5 of the previous model Normal Incremental 15 lines Brief incremental 11 9 lines an...

Page 20: ...c steps before operating the servo drive Motor Power and PE Connection AC power PE Connection Parameter Setting and Gain adjustment Startup I O Connection CN1 Encoder Cable Connection CN2 Check the en...

Page 21: ...operator or PC S W CN1 I O Connector CN2 Encoder signal of the motor is input Motor power U V W ground connection P B Regeneration resistor Connection terminal AC Power Input CN3 Connector for the op...

Page 22: ...ge CPU defect Encoder defect Communication error and etc Dynamic Brake Operating when Servo Controller Off or Alarm Built in Protection Function Regeneration 4 External auxiliary capacitor in case of...

Page 23: ...ignal Command Pulse Pulse Frequency 0 450 kpps Line driver 0 200 kpps open collector Mounting Method Base mounted Others Torque Control Multi Step Speed Control Zero Clamp Speed Control Speed Speed Li...

Page 24: ...1 8 CSDJ Plus Servo Drive User s Manual MEMO...

Page 25: ...in wiring 2 1 Check Items upon the Delivery of the Product 2 2 Precautions during Installation A Installing the Servo Motor B Installing the Servo Drive 2 3 External Terminal Block 2 4 Wiring A Preca...

Page 26: ...2 2 CSDJ Plus Servo Drive User s Manual MEMO...

Page 27: ...t the agency where you ve purchased or the FA marketing department of OEMax Electronics for any problems Also check if there is any loosening of various bolts or damage in lead wires or insulation mat...

Page 28: ...VRSF 15C 200 SPT VRSF 15C 400 SPT VRSF 15D 600 SPT VRSF 15D 800 SPT VRSF 25B 50 SPT VRSF 25C 100 SPT VRSF 25C 200 SPT VRSF 25D 400 SPT VRSF 25E 600 SPT VRSF 25E 800 SPT All reducers are only availabl...

Page 29: ...W A5 50W 01 100W 10 1Kw 02 200W 50 5Kw 2 Voltage A AC 110V B AC 220v C DC 24V D 110V 220V 3 Encoder P R Pulse Rotation CSM CSMT CSMR Series CSMD F S H K Q Z Series S 2048 P R 15 wire Inc B 2048 P R br...

Page 30: ...ion location or its environment is not appropriate the life span of the motor may be reduced or may cause unexpected accidents Install the system according to the procedures described below 1 Prior to...

Page 31: ...80 non condensing Place with good ventilation and no dust and humidity Place where maintenance and cleaning is easy If there are water and oil drops in the surrounding take appropriate action such as...

Page 32: ...fications and fix by using the standardized bolts When operating by connecting directly to the load axis use the flexible coupling Make sure no excessive shock below 50G is given to the motor axis whe...

Page 33: ...5 CSM 04B 20 7 CSMS 15B 50 20 CSM 06B 35 10 CSMS 20B 50 20 CSM 08B 35 10 CSMS 25B 50 20 CSM 10B 35 10 CSMS 30B 80 35 CSMD 08B 40 15 CSMS 35B 80 35 CSMD 10B 50 20 CSMS 40B 80 35 CSMD 15B 50 20 CSMS 45B...

Page 34: ...MOS Be aware when handling it When touching with hand the product may be damaged due to static electricity Caution Also when installing the servo drive in rack or panel if the ambient temperature is...

Page 35: ...temperature 0 55 Storing temperature 20 80 Humidity 20 80 non condensing Vibration 0 5G 4 9m s2 or less Place with good ventilation and no dust and humidity Place where maintenance and cleaning is eas...

Page 36: ...P B Connection of External Regeneration Resistor In case of CSDJ Plus 06 10 U Red V White W Motor Power Cable Black Protective Earth Connect to green yellow motor cable and the power cable CSDJ xxBX2...

Page 37: ...motor and mechanical parts ground the motor 3 The maximum length of the wire for command input cable CN1 is 3m and for the position sensor and motor power cable its maximum length is 20m Cut off exces...

Page 38: ...N 7 8 9 10 15 ALM RST N CL P CL ESTOP ABS RST 50 23 28 11 12 13 14 AL1 AL2 AL3 ALM SG Channel 1 Channel 2 30 EA 29 EA 31 EB 32 EB 33 EC 34 EC 35 PS 36 PS Note 1 N N 41 P COM or V COM 42 P COM or V COM...

Page 39: ...connected when the button is pushed Press the button for about 1 second Alarm Lamp Power Off S W 1 Relay 1 MC 1 Relay 1 MC Noise Filter Frame L1 L2 U V W 1 MC M Power On S W Fig 2 10 Example of Wirin...

Page 40: ...w Line Alarm code 1 output 13 SIGN Orange 1Point Sign input 38 AL2 Blue Line Alarm code 2 output 14 SIGN Gray 1Point Sign input 39 AL3 White Line Alarm code 3 output 15 ABS RST Red 2Point Absolute enc...

Page 41: ...re can be changed The functions of pin 10 and 15 of CN1 differ according to the setting value of SEt 46 No 4 and 5 Functions marked in the table above are the one based on initial value set in SEt 46...

Page 42: ...FF OFF ON Reverse Rotation OFF Forward Rotation 4th Step Speed See P6 10 Torque Control SEt 41 2 Speed Speed Limit Torque Control SEt 41 6 ON Speed Control OFF Torque Control with Speed limit Position...

Page 43: ...1 wire INC 15wire ABS ABS INC 15wire 1 E0V 8 14 14 G 11 G G 14 G 2 3 A 1 1 1 A 1 A A 1 A 4 2 2 2 B 2 B B 2 B 5 B 3 3 3 C 3 C C 3 C 6 4 4 4 D 4 D D 4 D 7 C 5 5 5 E 5 E E 5 E 8 6 6 6 F 6 F F 6 F 9 10 U...

Page 44: ...T R Motor Setting Value of SEt 51 1 refer to 7 6 SERVO DRIVE HOST CONTROLLER Termination Resistor R 220 470 DC 2 8 4 5V 3 4 5 6 7 8 11 12 15 CN2 5 CN2 6 CN2 7 CN2 8 CN2 10 CN2 13 CN2 18 CN2 19 CN2 12...

Page 45: ...e Incremental Encoder Connection Method When the Setting Value of SEt 51 is 100 MOTOR SERVO DRIVE HOST CONTROLLER D E F K L M N P J CN2 6 CN2 7 CN2 8 CN2 10 CN2 13 CN2 14 CN2 15 CN2 16 CN2 12 B C C U...

Page 46: ...MC3486 PE 0V 1 2 CN2 3 CN2 4 A A P 13 CN2 20 E5V 14 CN2 1 E0V PE CN1 29 CN1 30 EA EA R P P P P CN1 49 CN1 25 BAT BAT P P 10 CN2 12 PE ENCOER Serial Interface Circuit Up Down Counter Serial Interface C...

Page 47: ...possible by cutting off the excessive wire Wiring for grounding must be done with thick wire if possible More than 2 0 mm2 Class 3 grounding grounding resistance is lower than 100 is recommended One p...

Page 48: ...acity of the noise filter Recommended noise filter is shown in the following table Table 2 7 Recommended Noise Filter Recommended Noise Filter Power Supply Servo Drive Recommended Noise Filter Model N...

Page 49: ...e Earth Plate Filter Noise Noise Filter Earth wire of the noise filter should be wired in distance to the output wire Noise Filter Noise Filter Wire as far as possible There is no problem with approac...

Page 50: ...of servo drive capacity Since the inrush current flows when the CSDJ Plus Servo Drive capacitor power is charged do not use the high speed break fuse Also for checking up on an accidents use NFB No Fu...

Page 51: ...Chapter 2 Installation and wiring 2 27 MEMO...

Page 52: ...2 28 CSDJ Plus Servo Drive User s Manual MEMO...

Page 53: ...lains about items for startup and autotuning for gain adjustment and test 3 1 Check up Items prior to Startup A Servo Motor B Servo Drive 3 2 Startup A Power ON and OFF B Check up Items Prior to the S...

Page 54: ...3 2 CSDJ Plus Servo Drive User s Manual MEMO...

Page 55: ...eck if the system is set properly according to the specification of applied servo motor Check if the connection and wiring LEAD are properly connected to the terminal and if they are plugged into the...

Page 56: ...tton switch and the user must push the button for one second Check the color of LED and proceed according to the procedure Circuit Breaker Connect when there is a need to cut off the power according t...

Page 57: ...the Operator When the power is supplied normally the initial display flickers Init three times Operator is initializing After displaying Init the operator displays the following Speed control mode Po...

Page 58: ...N1 46 CN1 45 PE W V U SALM SALM L2 L1 M M CN1 46 CN1 45 PE W V U M External Power 24V Using the B Contact Point Relay SALM SALM Noise Filter Power Circuit Breaker 1Relay 1MC Alarm Lamp 1Relay 1Relay 1...

Page 59: ...37 Is the direction of the encoder output correct SEt 44 Is the direction of the analog command voltage correct SEt 45 Is the offset of the analog voltage adjusted Check from SEt 46 Is the relationshi...

Page 60: ...cceleration time User parameter SEt 19 Deceleration time User parameter SEt 20 Jog operation can be done from Usr 01 of user mode Setting the Jog Operation Speed Display differs according to the set c...

Page 61: ...Time in Startup by the Operator Acceleration time Deceleration is set in SEt 20 Factory setting The key must be pressed to set the changed value 9 times ENTER Unit msec MODE SET ENTER Set the decelera...

Page 62: ...Parameter Setting Mode Monitor Mode System Parametert and Error Monitor Mode Jog Mode Fig 3 5 Startup by the Operator Definition of Forward Rotation Forward Rotation Motor rotates in counterclockwise...

Page 63: ...made when inputting ON signal in SERVO ON OFF input terminal SV ON CN1 pin number 3 Operator displays the following when the servo is ON from speed control mode Different according to the control mode...

Page 64: ...mand value RPM Setting value of SEt 01 RPM V Input Voltage V Initial value of SEt 01 500 Thus when inputting 6V revolution takes place in 3000 RPM Input voltage is 10V Maximum When inputting the 0V us...

Page 65: ...Speed Loop Proportion Gain SEt 03 Speed Loop Integration Gain SEt 04 Position Loop Proportion Gain SEt 06 1st Low Pass Filter Cutoff Frequency of Torque Command SEt 40 1st Low Pass Filter Cutoff Freq...

Page 66: ...off Frequency SEt 06 Load Type Setting Value of SEt 06 Direct coupled round plate 1000 Initial value when delivered Direct coupled Ball Screw 1000 2000 Belt and chain 300 600 Torque filter cutoff freq...

Page 67: ...a ratio gained in autotuning can be checked in Con 13 SEt 66 Load inertia ratio is calculated as the following Load Inertia Ratio Load Inertia Motor Inertia Displayed to the first decimal point Refer...

Page 68: ...r parameter can be referred to or set using the operator Deceleration Time SEt 20 2 sec 5 sec Reverse Revolution Forward Revolution Acceleration Time SEt 19 5 sec 2 sec Motor Speed Jog Speed SEt 25 Fi...

Page 69: ...Chapter 3 Startup and Adjustment 3 17 MEMO...

Page 70: ...3 18 CSDJ Plus Servo Drive User s Manual...

Page 71: ...e 4 4 User Parameter Setting Mode 4 5 Monitoring Mode 4 6 System Parameter and Error Monitoring Mode 4 7 Jog Mode A Operation by the Operator B Autotuning C Auto Adjustment of Speed Torque Command Off...

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Page 73: ...arameter PAr 01 PAr 10 Resets the error in USr 07 or status display mode Moves between each modes Record the changed data auto tuning and offset auto adjustment etc Turns on the JOG from USr 01 Readin...

Page 74: ...ia 16 Input pulse frequency kHz 17 Speed command voltage 10mV 18 Torque command voltage 10mV 19 Maximum torque absolute value 20 Multi rotation data of absolute encoder 21 Maximum position error absol...

Page 75: ...offset 07 Alarm Reset 08 D A CHANNEL selection 09 Parameter initialization 10 Error History Clear 90 Test Run First Parameter Jog Mode Mode Switching Power Input Display differs according to control...

Page 76: ...peed reached the speed command 0 Light on when the motor rotation speed is higher than TG ON speed level setting value of SEt 16 Initial value upon delivery TG ON 1 Current Limit Detection Light on wh...

Page 77: ...is an example of setting SEt 03 from 80 to 120 The number to be changed is flickering MODE SET ENTER ENTER This key must be pressed to set the changed value Use the key to move to the parameter ENTER...

Page 78: ...data of absolute encoder Con 06 Position Error PULSE Con 21 Absolute value of maximum position error Con 07 Mechanical Angle DEGREE Con 22 Maximum speed feedback absolute value PULSE Con 08 Position F...

Page 79: ...he number to be changed is flickering Use the key to move to the parameter ENTER ENTER Fig 4 7 Example of Error Table 4 5 Types of Error Saving Parameter Parameter Content PAr 01 Latest ERROR PAr 02 S...

Page 80: ...12 Controller type check Motor Series CSM CSMT CSMR CSMP CSMQ CSMZ CSMD CSMF CSMS CSMH CSMN CSMX CSMK Speed Control Mode Position Control Mode Torque Control Mode Input Power AC 110V AC 220V DC24V Mo...

Page 81: ...23 FOL Continuous overload of motor current 30 EOP Encoder open 33 PoF Pulse error difference between the pulse command and motor movement overflow 35 EuV Low voltage of inner capacitor of absolute e...

Page 82: ...setting In occurrence of E 80 initializing operation will change all user parameters into initial setting value USr 09 ENTER key P init on MODE SET key Initialization USr 10 ERROR HISTORY CLEAR Clear...

Page 83: ...ove a little even if the command offset has been automatically adjusted This is because the noise in power voltage or the power voltage changes In order to completely stop the motor in analog command...

Page 84: ...0V When using variable resistor or general resistor motor rotation cannot be completely stopped even if the offset has been adjusted Use zero clamp function MODE SET ENTER ENTER The set offset of spe...

Page 85: ...Torque Command Torque feedback dA 04 Position Command Position feedback dA 05 Speed command Speed feedback dA 06 Speed command Torque command dA 07 Initial Value Torque command Speed feedback dA 08 P...

Page 86: ...09 When error 80 Check Sum Error occurs it is initialized to initial setting in Table 4 9 Warning Offset Adjustment Method Set dA 04 in USr 08 using the operator with SERVO OFF motor is stopped DA ou...

Page 87: ...s follows SEt 72 100 5 V Actual output voltage of channel 1 V Voltage output when the motor is in normal operation status SEt 74 100 5 V Actual output voltage of channel 2 V Voltage output when the mo...

Page 88: ...arameter changes into initial setting value Normal operation can be achieved by checking and resetting the part where the wrong user parameter value has been set Warning I Error History Clear PAr 01 P...

Page 89: ...Chapter 4 Using the operator 4 19 MEMO...

Page 90: ...4 20 CSDJ Plus Servo Drive User s Manual MEMO...

Page 91: ...ing D Parameter Setting Related to Gain E Parameter Setting Related to Servo Control F Parameter Setting Related to Speed Control G Parameter Setting Related to Position Control H Parameter Setting Re...

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Page 93: ...5 wire Incremental 1000 302 15 wire Incremental 2500 3 15 wire Incremental 2500 104 COMPACT Absolute 2048 303 15 wire Incremental 4000 4 15 wire Incremental 2000 105 FULL Absolute 2048 304 15 wire Inc...

Page 94: ...der parameters are effective after setting and then turn off and on the power Table 5 3 Motor Capacity Setting SEt 53 24VDC 220VAC Capacity Motor Type 30W 50W 100W 200W 30W 50W 100W 200W 400W 600W 800...

Page 95: ...alog torque input voltage value Set torque value in SEt 05 during the speed control P CON ON Analog torque limit effective P CON OFF Analog torque limit not counted Single Type Torque Control Torque M...

Page 96: ...d in reference to that setting 0 1times 0 1000 30 SEt 42 System Gain Speed Response Frequency When setting this parameter the basic gain SEt 02 03 04 05 40 changes in reference to SEt 66 Refer to 6 10...

Page 97: ...integration value with the setting value of SEt 57 as a standard 2 SEt 55 Auto Adjustment on the Basis of Torque command If the torque command becomes greater than the setting value speed integration...

Page 98: ...P COM is output when speed position error value reaches within the setting value Output CN1 41 42 Refer to 6 5 E Position Completion Output Signal RPM PULSE 0 1000 10 SEt 23 Number of Encoder Output P...

Page 99: ...ting Value Description Factory Setting Note 0 Stops the motor with dynamic brake DB 1 Selection of Stop Method Refer to 6 4 Selection of stop method 1 Stops after free run 0 0 Dynamic Brake is off aft...

Page 100: ...eration Reverse Direction Operation Speed and torque control Definition of motor rotation direction according to the positive input of speed and torque voltage 0 0 Position pulse command of line drive...

Page 101: ...P CLR Position Counter Clear 2 Multi Step Speed 4 Command Multi Step Speed Mode 3 Direction conversion command Speed Multi step Speed Mode 4 Reset of absolute encoder Function Selection of CN1 10 Pin...

Page 102: ...ted speed to the zero speed Refer to 6 3 Acceleration deceleration time and S curve operation ms 0 60000 0 SEt 21 S curve operation time Sets the S curve time for during acceleration deceleration Refe...

Page 103: ...nd If the value is set high it is possible to reduce delay term of the position controller and positioning completion speeds up and position error is reduced during the operation However vibration may...

Page 104: ...s how many percent of motor rated torque per 3V input voltage will be the torque command CN1 21 22 100 Motor rated torque Refer to 6 9 B Torque command 3V 0 100 100 USr 04 Auto Adjustment of Torque Co...

Page 105: ...al current limit of reverse direction is effective N CL CN1 8 OFF Setting value is ineffective Setting value of SEt11 is effective 0 300 100 SEt 15 Emergency Stop Torque of Reverse Rotation N OT is se...

Page 106: ...Delay Time of Brake signal output after Servo ON Sets the time from external Servo ON signal to the point where brake output signal is output Refer to 7 2 Brake control 10ms 0 100 0 K Parameter Settin...

Page 107: ...17 Speed Command Voltage 10mV Con 18 Torque Command Voltage 10mV Con 19 Maximum Torque Absolute Value Con 20 Multi Rotation Data of Absolute Encoder Con 21 Absolute Value of Maximum Position Error PUL...

Page 108: ...Converter Channel Pin Setting Channel1 CN1 pin 23 Channel2 CN1 pin 28 CN1 pin 27 dA 03 Torque Command Torque Feedback GND dA 04 Position command Position Feedback GND dA 05 Speed Command Speed Feedbac...

Page 109: ...fth Last Error PAr 06 Sixth Last Error PAr 07 Seventh Last Error PAr 08 Eighth last Error PAr 09 Ninth Last Error PAr 10 Tenth Last Error PAr 11 Checks the software version PAr 12 Checks the controlle...

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Page 111: ...6 2 Changing the Motor Rotation Direction 6 3 Acceleration Deceleration Time and S Curve Operation 6 4 Selection of Stop Method A Offset Adjustment B Using the DB Dynamic Brake C Using Zero Clamp Func...

Page 112: ...User s Manual 6 9 Torque Control A Setting B Torque Command C Limiting the Speed During the Torque Control D Position Torque Control Mode E Torque Limit 6 10 Setting of Servo Drive Gain 6 11 Using Rot...

Page 113: ...Auto Zero Clamp Speed Control P CON OFF PI control P CON ON P control Always ignores speed command below zero clamp level SEt 17 and motor decelerates to a stop Zero Speed 3 Multi step Speed Control P...

Page 114: ...n SEt 41 12 Analogue Torque Limit On Off P PI Control Conversion P PI control conversion by P CON input terminal can be used in the following cases 1 To block undershoot during the speed control 2 To...

Page 115: ...of the setting value SEt 56 3 Automatically adjusts the integration value on the basis of the setting value SEt 57 SEt 55 Auto Adjustment on the basis of Torque Command 100 Automatically adjusts the...

Page 116: ...nged in constant input voltage by changing the setting value of SEt 01 Speed Command RPM Setting value of SEt 01 RPM V or RPM 10V Input Voltage Value V Fig 6 3 Analog Speed Command Input Circuit Fig 6...

Page 117: ...3 Multi Step Speed Control Mode Setting Multi Step Speed Control Mode Setting Setting Value of SEt 41 3 Speed Value Setting Setting Value of SEt 26 SEt 27 and SEt 28 RPM Speed Command Selection P CL C...

Page 118: ...IN or not connected Speed Setting P CON P CL N CL Step 1 Speed SEt 26 OFF ON Step 2 Speed SEt 27 ON OFF Step 3 Speed SEt 28 OFF ON ON Reverse Rotation Step 1 Speed SEt 26 OFF ON Reverse Rotation Step...

Page 119: ...mmand is operated through ON OFF of set terminal CN1 10 or 15 Item P CL N CL Speed Value Step 1 speed OFF ON Setting value of SEt 26 Step 2 speed ON OFF Setting value of SEt 27 Step 3 speed ON ON Sett...

Page 120: ...n command In Multi step speed control mode SEt 41 3 Use P CON input terminal for changing the direction of rotation Table 6 5 Step 4 Speed Usage Setting Control Mode Setting SEt 41 3 Multi Step Speed...

Page 121: ...46 LDE No 5 3 Set the CN1 pin 15 to input of direction conversion command Fig 6 8 Example of Step 4 Speed Command Usage P CON Speed Control OFF P CL P CL N CL is operated by external current limit inp...

Page 122: ...17 1 5000 RPM Zero Clamp Operation Level V ref CN1 pin 19 20 10 10V Speed command ON Zero Clamp ON P CON CN1 pin 6 OFF Zero Clamp OFF P PI control cannot be converted ON The corresponding input termin...

Page 123: ...41 5 Auto zero clamp speed control mode SEt 17 1 5000 RPM Zero Clamp Operation Level V ref CN1 pin 19 20 10 10V Speed command ON P control P CON CN1 pin 6 OFF PI control ON The corresponding input te...

Page 124: ...Width of speed coincidence output signal Position Control Mode Position Completion Range PULSE This is an output signal which shows that the actual motor speed Matches up to command speed Fig 6 11 Wid...

Page 125: ...terminal CN1 pin 19 is forward direction operation During torque control mode voltage of T ref terminal CN1 pin 21 is forward direction operation 0 After changing the setting value turn off the power...

Page 126: ...n time is ineffective in position control torque control and autotuning Definition of Acceleration and Deceleration Time Acceleration Time Time it takes to accelerate from stop status to motor s rated...

Page 127: ...ons 6 17 Setting of S Curve Operation Parameter LED No Name Setting Description Note 0 Factory Setting value when delivered SEt 45 2 Selection of S Curve Operation 1 Set 19 Set 20 Set 19 Set 20 Set 21...

Page 128: ...justment procedures refer to Chapter 4 Usage Method of Operator B Using the DB Dynamic Brake Set motor stop method after the Servo OFF Setting Description 0 Stop using dynamic brake Factory setting va...

Page 129: ...Terminal Forward Rotation P OT CN1 pin 4 Reverse Rotation N OT CN1 pin 5 Emergency Stop Using E STOP Input Terminal Set SEt 46 LED No 4 0 and set CN1 pin 10 to E STOP input terminal Factory Setting Va...

Page 130: ...Occurrence Forward Direction Stop by the torque value set in SEt 14 Reverse Direction Stop by the torque value set in SEt 15 PWM Output OFF SERVO OFF Dynamic brake stop Free run stop Release dynamic...

Page 131: ...ng four types of output form Line Driver Output 5V Open Collector Output 12V Open Collector Output 24V Open Collector Output Line drive output may correspond up to 450 kpps and open collector output m...

Page 132: ...mmand pulse form is A B phase pulse train with 90 phase difference motor rotation speed differs according to the command pulse multiplication In Case of Line Drive In Case of Open Collector Fig 6 18 W...

Page 133: ...rical Specifications of Command Pulse In case of which the timing is inappropriate position shift may occur When operating in 24V operation is stable in a noise environment In case of which input form...

Page 134: ...pulse train of 90 Difference A B Phase Maximum Command Frequency 1Multiplication 450Kpps 2 Multiplication 400Kpps 4 Multiplication 200Kpps CW CCW Maximum Command Frequency 450Kpps t 3 t 1 t 2 t 4 T t...

Page 135: ...unction is on make the position command and position error 0 Con 09 Con 06 0 and stop with zero speed command Time delay exists between the time where P CLR function is turned on and motor stopping ti...

Page 136: ...gnal Position Control Mode Position completion range If position completion range User parameter SEt 18 is set in big value in low speed operation it can be maintained in where position completion sig...

Page 137: ...t 2 t 3 t 4 t 5 Maximum 40ms Maximum 6ms Minimum 40ms Minimum 2ms BA SE B L OC K P COM t1 t2 t3 t4 t5 SERVO ON SERVO OFF SERVO Off PWM ON PWM OFF OFF SV ON ON OFF PWM OFF ON ON S i gn P ul se Tr a i n...

Page 138: ...rsh on the load when acceleration deceleration time is 0 Caution 3 Acceleration deceleration time is only effective in speed control Speed Control Position Control Mode Conversion Conditions of conver...

Page 139: ...tion 3 2 1 2 1 24 23 N SEt SEt N If it does not satisfy the condition above Phase difference of A and B phase does not become 90 It is not related to electronic gear ratio Fig 6 23 Using the Encoder O...

Page 140: ...tion data according to motor rotation Line Driver MC3487 Z PULSE CN1 Pin 17 Z PULSE CN1 Pin 18 Encoder Z PULSE output Open Collector Servo drive output pulse may not output A B phase pulse greater tha...

Page 141: ...ory setting value the motor rotates once when host controller sends 2048 pulses Here if you want to rotate the motor once when host controller sends 1000 pulses Set the Set 37 to 1000 Encoder Pulse 20...

Page 142: ...formula Number of pulse per 1 motor rotation Machine gear ratio of load and motor shaft 4 Setting value of SEt 37 In case of which the formula above is not satisfied it can be used as a pulse command...

Page 143: ...1000 RPM Operate in all control modes When SEt 43 LED No 4 1 TG ON signal operates as other function Uses TG ON as a torque limit output signal This signal can be used as reference signal of host cont...

Page 144: ...d Speed Speed limit torque control conversion possible ON Speed control mode P CON OFF Torque control mode with speed limit SEt 41 Control Mode Setting 7 Position Torque Control ON Torque control mode...

Page 145: ...rom the host controller or external circuit has an offset in the vicinity of 0V In such cases operate Torque Command Auto Offset Adjustment Torque Command Manual Offset Adjustment from USr 04 Usr 06 5...

Page 146: ...ge it is depended on the absolute value The relationship between V REF input voltage and speed limit value is same as in speed control mode When selecting torque control mode with speed limit set spee...

Page 147: ...ommand pulse is ignored when operating in Torque control mode Torque Control Position Control Mode Conversion Condition of conversion 1 Motor rotation speed is smaller than the setting value of SEt 16...

Page 148: ...n time may increase Parameter Name Description Setting Range Factory Setting Unit Mode Used Change during the Operation SEt 10 Forward Rotation Torque Limit SEt 11 Reverse Rotation Torque Limit Limits...

Page 149: ...orward rotation SEt 15 Emergency stop torque limit during reverse rotation Limits the torque in set value 0 300 300 P S t Possible Only effective in emergency stop Torque Limit by Analog Input Voltage...

Page 150: ...er than zero speed level SEt 43 No 4 1 TG ON Signal becomes torque current limit detection signal Fig 6 33 External Torque Limit Command and Torque Limit Detection Output Signal Rotation Detection Tor...

Page 151: ...imit value is internal setting value I O Torque Limit Value P CL ON Setting value of SEt 12 N CL ON Setting value of SEt 13 P CL OFF N CL OFF During forward rotation Setting value of SEt 10 During rev...

Page 152: ...oo high overshoot or undershoot increases in transient state It must be used in appropriate range Speed Position SEt 04 Position Loop Proportion Gain 0 500 50 A parameter which decides on response per...

Page 153: ...ne Set the SEt 06 value to 300 600 In case of which the load inertia exceeds 5 times that of the motor or the load torque exceeds 5 times that of the motor it is impossible to expect fast response In...

Page 154: ...even if the value is low In such case you may set the vibration rejection frequency in SEt 47 The following parameter changes on the basis of the setting value Set 42 SEt 02 Speed Loop Proportion Gain...

Page 155: ...p method in SEt 44 Refer to 6 4 D Emergency Stop I O Pin No Description P OT CN1 Pin 4 OFF Forward Rotation Operation is Possible ON Forward Rotation Operation is Impossible N OT CN1 Pin 5 OFF Reverse...

Page 156: ...6 46 CSDJ Plus Servo Drive User s Manual MEMO...

Page 157: ...solute Encoder A Absolute Encoder Data Transmitting by Serial Interface B Absolute Encoder Reset C Absolute Encoder Data Transmitting by switching of I O port 7 4 Regeneration A Regenerative Energy B...

Page 158: ...7 2 CSDJ Plus Servo Drive User s Manual...

Page 159: ...Chapter 7 Application of Other Functions 7 3 MEMO...

Page 160: ...or by short circuiting the circuit of the servo motor Fig 7 1 Dynamic Brake Dynamic brake operates in the following circumstances 1 When servo alarm occurs 2 When servo status is changed from Servo ON...

Page 161: ...peed of the motor when the braking command is on when the Servo OFF signal has been input during the motor operation RPM 0 5000 100 SEt 31 Waiting time from the input of Servo OFF signal when the moto...

Page 162: ...motor stopped during the rotation operate the brake The brake signal will be output if and only if Motor Speed Set value of SEt 30 or Exceeding time set in SEt 31 after Servo OFF Adjust by watching t...

Page 163: ...al input SV ON Servo ON Servo ON Setting time of SEt 76 Fig 7 4 Timing Chart of Brake Control Signal at Servo ON L1 CN2 Pin 47 CN2 Pin 48 BK BK 24V 1 Relay 1 Relay L2 DC AC Power Connection to the bra...

Page 164: ...otor is rotated in forward direction Up Down Servo ON Load status Increase SEt 64 Decrease SEt 64 Stop End Set SEt 64 Case 2 If the load is raised when the motor is rotated in reverse direction Up Dow...

Page 165: ...figure below Be sure to connect the battery in order to prevent the bad contact due to the environmental change Keep the minimum voltage of 2 8V and if necessary prepare a voltage drop detecting circu...

Page 166: ...ute data the lower 11 bit are the data within one revolution and the upper 13 bit are the multi revolution data 24bit in maximum by converting decimal digit to hexadecimal digit Transmission Period of...

Page 167: ...s Main Power 2 4sec Transmission Transmission 5 ms or less Stop Reset Signal Open or 0V Data Transmission 3 Reset operation is only effective when the encoder power is on Do not reset during blackout...

Page 168: ...tting data must be 2n Otherwise the rotation data cannot be calculated Function Initial Value Range SEt 77 Set a value relevant to 1 rotation of motor 2048 0 8192 Absolute Encoder Data Reset Absolute...

Page 169: ...n data is within 0 8192 SEt 77 value 1 The absolute Encoder data is not negative value For example In case of SEt 77 8192 the absolute encoder data is within 0 67108863 When motor keep on rotating for...

Page 170: ...2 bit 1 If AEDTM signal input is on the servo drive recognizes the AEDTM and makes the data to transmit to a master controller by reading the data from absolute encoder The SDR signal is off then 2 T...

Page 171: ...On On LED is Off Off AR ALM SDR On Off On Off On Off 5 sec AR ALM SDR On Off On Off On Off 5 sec AEDTM SDR AR On Off On Off On Off 5 sec Alarm occur if the AR is not On within 5 seconds Alarm occur if...

Page 172: ...thout error handle as stated below Reduce the torque limit Reduce the torque filter SEt 06 value Slow the acceleration and deceleration time Reduce the motor speed A Regenerative Energy When the servo...

Page 173: ...0V Motor A3B 30W A5B 50W 01B 100W 02B 200W 04B 400W 06B 600W 08B 800W 10B 1kW A2A 15W A3A 30W A5A 50W 01A 100W 02A 200W 04A 400W CSM 30 30 30 23 12 7 6 3 5 30 30 30 30 30 30 CSMP 26 10 5 CSMQ 27 12 6...

Page 174: ...ncies On the contrary if it is operated with lower than rated speed it can correspond to greater load inertia than that of above table In other words if the speed is reduced to half then the allowable...

Page 175: ...rive with 600W to 1kW has an regeneration circuit which can consume the energy in regenerative operation of the motor Thus when external resistor is installed the regeneration circuit is operated to c...

Page 176: ...1022 CSMQ 2111 2112 CSMZ 2211 2212 CSMS 2222 CSMD 2312 CSMH 2322 CSMF 2332 CSMK 2342 CSMN 3412 CSMX 3422 There is no corresponding motor Input power 0 DC24V 1 110V AC 2 220V AC Motor type 101 CSM 104...

Page 177: ...ble 7 6 Setting of CSMD S F H N X K Motor Capacity SEt 53 Capacity Motor type 200W 300W 400W 450W 500W 600W 750W 850W 900W 1kW CSMD 75 100 CSMS 100 CSMF 40 75 CSMH 50 100 CSMN 30 60 90 CSMX 20 30 50 8...

Page 178: ...l 2500 pulse 301 15 wire incremental 5000 pulse 2 Absolute 2048 pulse 102 11 wire incremental 2500 pulse 302 15 wire incremental 2500 pulse 3 15 wire incremental 2500 pulse 104 Compact Absolute 2048 p...

Page 179: ...Chapter 7 Application of Other Functions 7 23 MEMO...

Page 180: ...8 1 Chapter 8 Error Display and Troubleshooting CSDJ Plus Servo Drive has various protection functions to prevent the damage which may occur in the driver and motor 8 1 Error Occurrence 8 2 Alarm Outp...

Page 181: ...8 2 CSDJ Plus Servo Drive User s Manual MEMO...

Page 182: ...rvo Drive displays error contents by output of operator LED and alarm code when error occurs CSDJ Plus OPERATOR Displays the error in PAr 01 Outputs alarm SALM Outputs alarm code AL1 AL2 and Al3 SERVO...

Page 183: ...AL1 CN1 Pin 40 CN1 Pin 39 CN1 Pin 38 CN1 Pin 37 Fig 8 2 Connection Diagram of Alarm Related Output Signal Table 8 1 Alarm Related Input Output Terminal Name Pin No Description SALM CN1 pin 45 ON when...

Page 184: ...Angle Error Over speed during black out of absolute encoder Over speed 1 1 0 0 E40 oS E41 ESt In case of which the motor rotation number exceeds the maximum allowed speed Emergency Stop Over voltage...

Page 185: ...ne grounding Check power voltage Check motor power line Use in the environment where the temperature is below 55 Torque Command Momentary Overload E20 tol During the operation The torque command is op...

Page 186: ...not connected SEt 51 setting error Encoder error Check encoder power line SEt 51 check Encoder exchange Over speed During Blackout of Absolute Encoder E37 EoS After power distribution In case of whic...

Page 187: ...8 8 CSDJ Plus Servo Drive User s Manual MEMO...

Page 188: ...ter 9 explains about repairing and checking of servo drive and servo motor 9 1 Servo Motor 9 2 Servo Drive 9 3 Troubleshooting due to the Incorrect External Wiring 9 4 Troubleshooting due to the Incor...

Page 189: ...9 2 CSDJ Plus Servo Drive User s Manual MEMO...

Page 190: ...Period Check and Repairing Method Note Vibration Noise Everyday Check by touch and hearing Compared to normal situation Foreign material adhesion When Occurs Clean by vacuum cleaner Insulation resist...

Page 191: ...nnection wiring open or short circuit Check the connection of wire Correct it with reference to the connection diagram of manual Ambient temperature high Check whether the ambient temperature is lower...

Page 192: ...s Overshoot is big when accelerated or decelerated The gain of speed P SEt 02 I SEt 03 is too high or not correct Adjust gain value Adjust after autotuning 9 5 Items to be Checked Prior to Asking for...

Page 193: ...9 6 CSDJ Plus Servo Drive User s Manual MEMO...

Page 194: ...ecification A 9 CSMH Motor Specification A 10 CSMK Motor Specification A 11 Main Features of Each Motors Appendix B External dimension of the Motor B 1 CSM Motor B 2 CSMT Motor B 3 CSMR Motor B 4 CSMQ...

Page 195: ...Cable Connector Specification C 14 Cable Order Format Code Appendix D Motor Connector Appendix E Load Calculation of the Mechanical Part E 1 The Moment of Inertia Calculation E 2 Roll Load E 3 Timing...

Page 196: ...cm N m 0 97 0 095 1 62 0 16 3 25 0 32 6 5 0 64 13 1 27 19 5 1 91 26 2 55 30 8 3 02 Instantaneous Max Torque Kgf cm N m 2 9 0 29 4 9 0 48 9 7 0 95 19 5 1 91 39 3 82 58 5 5 73 78 7 64 97 5 9 55 Rated S...

Page 197: ...is 40 All values are measured in surrounding temperature 20 30 Each values are typical value When seal is installed to the motor allowable derating factor due to friction torque increase during the m...

Page 198: ...PM Instantaneous Continuous 1000 1 0 2 0 3 0 4 0 2000 3000 4000 5000 CSM 02B 5 0 Torque Nm Speed RPM Instantaneous Continuous 1000 1 0 2 0 3 0 4 0 2000 3000 4000 5000 CSM 04B 5 0 Torque Nm Speed RPM I...

Page 199: ...600 2 65 8 04 490 245 0 125 0 73 C 1 9 333 3 72 11 3 1176 588 0 400 2 3 1 15 200 6 27 18 8 1470 735 0 300 2 3 1 25 120 11 1 33 3 1666 833 0 288 2 3 CSM 04 400 3000 1 27 B 1 3 1000 3 43 10 3 392 196 0...

Page 200: ...095 1 62 0 159 3 25 0 318 6 5 0 64 13 0 1 27 19 5 1 91 24 4 2 39 30 9 3 0 Instantaneous Max Torque Kgf cm N m 2 9 0 29 4 9 0 48 9 7 0 95 19 5 1 91 39 3 82 58 5 5 73 73 7 16 92 6 9 1 Rated Speed RPM 30...

Page 201: ...ged Voltage V 24 10 Static Friction Torque N m Kgf cm 0 32 3 25 1 27 13 2 55 26 Power Dissipation W 5 9 9 5 Brake Pull in Time ms MAX 20 50 Brake Release Time ms MAX 40 50 80 Speed Torque Curve 1000 0...

Page 202: ...us Instantaneous 1000 2 0 4 0 6 0 8 0 2000 3000 4000 5000 CSMT 06B 10 0 Torque Nm Speed RPM Continuous Instantaneous 1000 2 0 4 0 6 0 8 0 2000 3000 4000 5000 CSMT 08B 10 0 Torque Nm Speed RPM Instanta...

Page 203: ...CSDJ __BX2 01 02 04 Rated Voltage V 220 Rated Output W 100 200 400 Rated Torque Kgf cm N m 3 25 0 318 6 5 0 64 13 0 1 27 Instantaneous Max Torque Kgf cm N m 9 7 0 95 19 5 1 91 39 3 82 Rated Speed RPM...

Page 204: ...0 Static Friction Torque N m Kgf cm 0 32 3 25 1 27 13 Power Dissipation W 9 9 5 Brake Pull in Time ms MAX 20 50 Brake Release Time ms MAX 40 80 Speed Torque Curve 1000 0 2 0 4 0 6 0 8 2000 3000 4000 5...

Page 205: ...Applied to CSDJ __BX2 01 02 04 10 Rated Voltage V 220 Rated Output kW 0 1 0 2 0 4 0 75 1 5 Rated Torque Kgf cm N m 3 24 0 318 6 5 0 637 13 1 274 24 3 2 4 48 7 4 77 Instantaneous Max Torque Kgf cm N m...

Page 206: ...Brake Specification CSMQ Motor Contents 01B 02B 04B 08B 15B Static Friction Torque N m Kgf cm 0 29 3 1 27 13 2 45 25 4 9 50 Rotor inertia 10 4 gf cm s2 0 03 0 03 0 09 0 09 0 33 0 33 Brake Pull in Tim...

Page 207: ...1000 0 5 2000 3000 4000 5000 CSMQ 01B 1 0 Torque Nm Speed RPM Continuous Instantaneous 1000 1 0 2000 3000 4000 5000 CSMQ 02B 2 0 Torque Nm Speed RPM Continuous Instantaneous 1000 2 0 2000 3000 4000 50...

Page 208: ...d Voltage V 110 220 220 Rated Output W 30 50 100 200 400 750 Rated Torque Kgf cm N m 0 97 0 095 1 62 0 159 3 24 0 318 6 5 0 637 13 1 274 24 3 2 38 Instantaneous Max Torque Kgf cm N m 2 9 0 284 4 9 0 4...

Page 209: ...Table A 11 CSMZ Motor Brake Specification CSMZ Motor Content A3D A5D 01B 02B 04B 08B Static Friction Torque N m Kgf cm 0 29 3 1 27 13 2 45 25 Rotor inertia 10 4 0 003 0 03 0 09 Brake Pull in Time ms 2...

Page 210: ...que Nm Speed RPM Continuous Instantaneous 1000 0 5 2000 3000 4000 5000 CSMZ 01B 1 0 Torque Nm Speed RPM Continuous Instantaneous 1000 1 0 2000 3000 4000 5000 CSMZ 02B 2 0 Torque Nm Speed RPM Continuou...

Page 211: ...rque Kgf cm N m 36 4 3 57 49 4 8 73 7 15 97 4 9 54 121 11 86 146 14 3 169 16 6 192 18 8 219 21 4 243 23 8 Instantaneous Max Torque Kgf cm N m 109 10 7 147 14 4 219 21 5 292 28 5 363 35 6 438 42 9 510...

Page 212: ...l Seal Option Table A 13 CSMD Motor Brake Specification CSMD Motor Content 08B 10B 15B 20B 25B 30B 35B 40B 45B 50B Static Friction Torque N m Kgf cm 7 84 80 4 9 50 13 7 140 16 1 165 21 5 220 24 5 250...

Page 213: ...A 18 CSDJ Plus Servo Drive User s Manual Speed Torque Curve...

Page 214: ...Appendix A Motor Specification A 19...

Page 215: ...ted Torque Kgf cm N m 19 5 1 91 36 4 3 57 73 7 15 121 11 86 169 16 56 219 21 46 Instantaneous max Torque Kgf cm N m 58 5 5 3 109 10 68 219 21 46 310 30 38 450 44 1 560 54 88 Rated Rotation Speed RPM 2...

Page 216: ...ing with the drive Warning Table A 15 CSMF Motor Brake Specification Item Unit Applied Motor CSMF 04B CSMF 08B CSMF 15B CSMF 25B CSMF 35B CSMF 45B Static Friction Torque N m 4 9 or more 50 7 8 or more...

Page 217: ...2000 3000 Speed RPM 0 10 5 10 7 3 57 at AC200V 1000 2000 3000 Speed RPM 0 Torque N m 20 10 CSMF 15B 21 5 7 15 at AC200V 1000 2000 3000 Speed RPM 0 Torque N m 30 15 CSMF 25B 30 4 11 8 at AC200V 16 6 44...

Page 218: ...64 146 14 31 162 15 88 Momentary Max Torque Kgf cm N m 97 9 51 146 14 31 195 19 11 243 23 81 292 28 62 339 33 22 387 37 93 438 42 92 486 47 63 Rated Rotation Speed RPM 3000 3000 Maximum Rotation speed...

Page 219: ...fication is guaranteed after connecting and adjusting with the drive Warning Table A 17 CSMS Motor Brake Specification Item Unit Applied Motor CSMS 10B CSMS 15B CSMS 25B CSMS 30B CSMS 35B CSMS 40 B CS...

Page 220: ...RPM CSMS 20B CSMS 25B Torque N m Torque N m at AC200V 10 6 36 20 19 1 0 5000 4000 3000 2000 1000 at AC200V 7 94 10 23 8 20 0 5000 4000 3000 2000 1000 Speed RPM Speed RPM CSMS 30B CSMS 35B Torque N m...

Page 221: ...38 49 4 8 73 7 15 97 4 9 54 146 14 31 192 18 8 243 23 8 Instantaneous Max Torque Kgf cm N m 61 0 6 0 147 14 4 219 21 5 292 28 5 438 42 9 576 56 4 729 71 4 Rated Rotation Speed RPM 2000 Maximum Rotati...

Page 222: ...ical value IP 55 This specification is guaranteed after connecting and adjusting with the drive Warning Table A 19 CSMH Motor Brake Specification Item Unit Applied Motor CSMH 05B CSMH 10B CSMH 15B CSM...

Page 223: ...peed RPM Speed RPM CSMH 15B CSMH 20B Torque N m at AC200V 9 54 15 30 28 5 Torque N m at AC200V 7 15 21 5 10 20 0 0 1000 2000 3000 1000 2000 3000 Speed RPM Speed RPM CSMH 30B CSMH 40B Torque N m Torque...

Page 224: ...taneous Maximum Torque Kgf cm N m 64 3 6 3 146 8 14 4 196 8 19 3 285 5 28 0 448 6 44 0 649 5 63 7 1091 107 1320 129 Rotor Inertia 10 4 No Brake 3 9 6 17 11 2 30 4 35 5 55 7 80 9 99 With Brake 5 1 7 45...

Page 225: ...less 80 or less 80 or less 150 or less Armature Release Time 1 70 or less 2 15 or less 2 25 or less 3 50 or less Releace Voltage DC 2 or more 2 or more Rated Voltage DC 24 2 4 24 2 4 Rated Current DC...

Page 226: ...ea Instantaneous torque use area accel decel area at AC 180V at AC 200V Torque N m 0 2000 1000 20 30 10 15 Speed RPM Speed RPM CSMK 20B CSMK 30B at AC 180V Continuous use area Instantaneous torque use...

Page 227: ...Cylinder CSMR 220V 100W 400W Low Middle Pan Cake CSMQ 110V 100W 400W 220V 100W 1 5kW Low Middle Pan Cake CSMZ 110V 30W 400W 220V 30W 800W Low Middle Cylinder CSMD 220V 750W 5kW Middle High Cylinder CS...

Page 228: ...Appendix A Motor Specification A 33 MEMO...

Page 229: ...ication 30 50 100W 25 0 5 2 5 30h7 0 021 9 8 4 5 20 20 6 2 0 2 3P9 0 031 3 3 16 200 400W 30 0 5 3 50h7 0 025 14 12 7 27 22 4P9 0 042 4P9 0 042 4 4 20 600 800 950W 35 0 5 3 70h7 0 025 20 16 7 34 27 5P9...

Page 230: ...MOTOR ENCODER BRAKE MOTOR ENCODER Refer to cable specification 0 0 3 0 011 0 0 1 0 1 0 0 025 7 0 5 80 PCD 90 8 23 27 35 OIL SEAL L 105 4 6 6 16h6 34 20 70h7 80 Output Model L mm No Brake With Brake 6...

Page 231: ...M6 78 20 B 1 3 104 5 32 20 18 16 12 4 2 5 4 50 60 3 M5 52 12 1 5 139 5 1 9 C 1 15 150 50 30 26 22 19 6 3 5 6 70 90 3 M6 78 20 CSM 04 D 1 25 165 61 40 35 30 24 8 4 7 90 115 5 M8 96 20 1 3 C 1 5 143 5...

Page 232: ...44 2 LL With BRAKE 89 1 95 1 109 1 110 7 132 7 136 3 145 3 167 2 LR 25 30 35 35 LE 2 5 3 3 3 LF 5 6 8 8 LH 4 5 7 7 7 LQ 30 50 70 80 LD 20 27 34 34 L1 17 18 23 23 L3 20 22 27 27 LC 40 60 80 86 LT 55 80...

Page 233: ...SMR Motor Model Dimension 01B 02B 04B No BRAKE 62 5 64 3 76 3 LL With BRAKE 86 5 95 3 107 3 LR 30 30 LE 3 3 LF 6 8 LH 7 7 LQ 50 70 LD 27 27 L1 18 18 L3 22 22 LC 60 80 LT 80 105 LB 4 4 LZ 5 5 6 6 LA 70...

Page 234: ...0 67 82 LL With Break 84 99 5 114 5 LR 25 30 30 S 8 11 14 LA 70 90 90 LB 50 70 70 LC 60 80 80 LD Not in SPEC Diagonal Length LC SQRT 2 Corner cutting length 2 LE 3 5 5 LF 7 8 8 LZ 4 5 5 5 5 5 Shaft Sp...

Page 235: ...ith Break 97 105 135 127 156 5 177 5 LR 25 25 25 30 30 35 S 7 8 8 11 14 19 LA 45 45 45 70 70 90 LB 30 30 30 50 50 70 LC 38 38 38 60 60 80 LE 3 3 3 3 3 3 LF 6 6 6 7 7 8 LZ 3 4 3 4 3 4 4 5 4 5 6 Shaft S...

Page 236: ...251 276 258 278 231 251 Absolute With Brake 198 201 226 251 276 301 283 303 256 276 LR 55 55 55 55 65 65 65 65 70 70 S 19 22 22 22 24 24 28 28 35 35 LA 130 145 145 145 145 145 145 165 165 200 200 LB 1...

Page 237: ...291 311 331 201 226 251 241 256 281 306 LR 55 55 55 55 55 55 65 65 65 70 70 70 80 80 80 80 S 19 19 19 19 22 22 24 24 24 22 22 22 35 35 35 35 LA 100 115 115 115 130 145 130 145 145 145 145 145 145 145...

Page 238: ...42 147 167 163 171 191 ABS No Brake 146 151 171 165 173 189 ABS With Brake 171 176 196 192 200 220 LR 55 55 65 65 65 70 S 19 22 35 35 35 35 LA 145 200 200 235 235 235 LB 110 114 3 114 3 200 200 200 LC...

Page 239: ...SMD 10 CSMS 20 CSMH 05 CSMH 15 45 41 110h7 18 0 7 8h9 C0 5 24 0 22 CSMS 40 CSMS 50 CSMD 25 CSMD 30 55 51 20 0 7 8h9 No Step 24 CSMF 04 CSMD 08 45 42 15 5 6 6h9 24 0 19 CSMF 08 45 41 114 3h7 18 0 7 8h9...

Page 240: ...r Shaft End Specification cross section Size of Each Area mm Motor Capacity L1 L2 D1 H1 H2 H3 C R P S CSMK 03 09 45 41 110h7 18 7 8h9 C0 5 R0 6 1 1 24 22 CSMK 12 30 55 50 114 3h7 30 8 10 C0 5 R0 6 1 1...

Page 241: ...reak 158 183 208 195 162 208 353 5 393 5 LR 70 70 70 80 80 80 113 113 S 22 22 22 35 35 35 42 42 LA 145 145 145 200 200 200 200 200 LB 110 110 110 114 3 114 3 114 3 114 3 114 3 LC 130 130 130 176 176 1...

Page 242: ...B 14 CSDJ Plus Servo Drive User s Manual MEMO...

Page 243: ...embled with a connector Connect to Motor Cable Assembly Cable which the connection connector is assembled on the motor side A End of connector type display is marked in Connect to power of the motor a...

Page 244: ...ite of 3 Point Cable W Gray of 3 Point Cable P E P E Wire green background yellow stripe Weld and connect the to 3 point cable of the shield Order Number and Product Name Order Number Length mm 10 Fix...

Page 245: ...ng Cable Color Remark BK White of 2 Point Cable BK Gray of 2 Point Cable Order Number and Product Name Order Number Length mm 10 Fixed Type Flexible Type Product Name 3 000 BRK SL03BRAKFA BRK SL03BRAK...

Page 246: ...H03P060F 5 POW SH05P006F POW SH05P008F POW SH05P035F POW SH05P050F POW SH05P060F 10 POW SH10P006F POW SH10P008F POW SH10P035F POW SH10P050F POW SH10P060F 15 POW SH15P006F POW SH15P008F POW SH15P035F P...

Page 247: ...B E 7 3P White Green White C F 8 3P White Green blue C G 1 4P White Red White GND H 20 4P White Red Red 5V J 12 SH Shield FG P 10 5P White Purple Purple RX R 13 5P White Purple White RX Order Number...

Page 248: ...te Red White GND H 20 4P White Red Red 5V J 12 SH Shield FG K 10 5P White Purple Purple RX L 13 5P White Purple White RX R 11 6P Brown Blue Blue RST 15 Not Used S 19 7P Brown Yellow Yellow BAT T 18 7P...

Page 249: ...ite C G 1 4P White Red White GND H 20 4P White Red Red 5V J 12 SH Shield FG K 10 5P White Purple Purple U L 13 5P White Purple White U M 14 6P Brown Blue Blue V N 15 6P Brown Blue Brown V P 16 7P Brow...

Page 250: ...cable tie Cable Marking Cable Color Remark BK White of 2 Point Cable BK Gray of 2 Point Cable Order Number and Product Name Order Number Length mm 10 Fixed Type Flexible Type Product Name 3 000 BRK S...

Page 251: ...1Line 7 Gray 27 Orange 3Point 47 Pink 1Line 8 Red 1Point 28 Gray 3Point 48 Orange 1Line 9 Yellow 1Point 29 Red 4Point 49 Gray 1Line 10 Skyblue 1Point 30 Yellow 4Point 50 Shield Green 11 White 1Point 3...

Page 252: ...re Incremental Encoder Connector CON A CON B Connection Specification For CSM Motor CON A CON B Wire Color Function 1 3 1P White Blue Blue A 2 4 1P White Blue White A 3 5 2P White Yellow Yellow B 4 6...

Page 253: ...CC 11 1 4P White Red White E0V 12 12 Shield P E Order Number and Product Name Order Number 9 wire type CSM Motor Order Number 11wire type CSMZ Q Motor Length mm 10 Fixed Type Flexible Type Fixed Type...

Page 254: ...N A CON B Wire Color Function 1 3 1P White Blue Blue A 2 4 1P White Blue White A 3 5 2P White Yellow Yellow B 4 6 2P White Yellow White B 5 7 3P White Green Green C 6 8 3P White Green White C 7 10 5P...

Page 255: ...Purple RX 12 13 5P White Purple White RX 13 20 4P White Red Red VCC 14 1 4P White Red White GND 15 12 Shield P E Order Number and Product Name Order Number CSM Motor Order Number CSMZ Q Motor Length...

Page 256: ...ve side Communication Cable CON A CON B Connection Specification CON A CON B Wire Color Function 5 5 Gray OFF_CHK 3 2 Brown RX 2 3 Red TX N C N C GND N C N C GND N C N C GND N C N C GND N C 9 Shield P...

Page 257: ...3 3 333333 3 3 3 3 3 3 33 1 2 7 2 3 5 1 1 2 7 2 9 6 6 1 9 3 7 5 9 1 1 5 1 2 7 2 P I N 1 P I N 1 P I N 2 P I N 1 0 1 X X MMMMMM M M M M M MMMMMMMMMM M M M L L L A L B Order Number Encoder Connector 20...

Page 258: ...Incremental ENC SL 03 CL F A Function Same as left Connector type L L shape Cable length Same as left E ENC SL 03 CL Cable length Same as above Function Same as above Capacity 006 600W or less 008 800...

Page 259: ...B E D C CSMF 04 CSMF 15 No 20 18P DMS 3102A Function U V W P E P E Pin A B C D E F G H I CSMF 20 CSMF 45 CSMK 12 CSMK 45 Yes Function BR BR U V W P E P E Pin A B C D E F G H I CSMF 20 CSMF 45 No 24 1...

Page 260: ...B C D CSMK 60 Barke 14S 2P DMS 3102A Function BR BR A B C D 8 E F G A B C D 4 A B C D 4 A B C D 16 Motor Connector DDK Detailed Specification External View CON A Specification DDK Connector for Encode...

Page 261: ...hanical Part E 1 The Moment of Inertia Calculation Solid Cylinder Here M Weight kg density kg m3 Iron 7 87 103 kg m3 Aluminum 2 70 103 kg m3 Hollow Cylinder Here M Weight kg density kg m3 Iron 7 87 10...

Page 262: ...60 2 2 if t t L V t t a d s l s a 60 Motor shaft rotation speed r min N RV D M l Load Torque Motor shaft Nm T P F D R L 2 Load Inertia Moment kg m2 J J R J L G R 1 2 JR Roll load part inertia JG Gear...

Page 263: ...f The Mechanical Part E 3 Acceleration Torque Used N m T N J J t T p M M L a L 2 60 ta tam Deceleration Torque Used N m T N J J t T S M M L d L 2 60 t t a dm Torque RMS Value N m c d s d a s L a p r m...

Page 264: ...t s l s a d 60 2 2 if t t L V t t a d s l s a 60 Motor shaft rotation speed r min N RV D M l Load torque motor shaft Nm T M F D R L 98 2 Load Inertia Moment kg m2 J J J J R L W G P 2 JW Direct operat...

Page 265: ...ad Acceleration Power w P N J t a M L a 2 60 2 ta tam Acceleration Torque Used N m T N J J t T p M M L a L 2 60 ta tam Deceleration Torque Used N m T N J J t T S M M L d L 2 60 t t a dm Torque RMS Val...

Page 266: ...l tc td ta ts Ls Motion per Cycle m L V t t t s l s a d 60 2 2 if t t L V t t a d s l s a 60 Motor Shaft Rotation Speed r min N RV P M l B Load Torque Motor Shaft Nm T M F P R L B 98 2 Load Inertia Mo...

Page 267: ...rtia TPM motor maximum torque Load Operational Power w P N T o M L 2 60 Load Acceleration Power w P N J t a M L a 2 60 2 ta tam Acceleration Torque Used N m T N J J t T p M M L a L 2 60 ta tam Deceler...

Page 268: ...Ratio PB Ball Screw Lead m LB Ball Screw Length m DB Ball Screw Diameter m M Load Mass of Linear Movement Part kg MC Counter Part Mass kg Machanical Efficiency Speed Diagram Vl tc td ta ts Ls Motion p...

Page 269: ...103 kg m3 Minimum Acceleration Time s t N J J T T am M M L PM L 2 60 Here JM Motor Inertia TPM Motor maximum torque Minimum Deceleration Time s t N J J T T dm M M L PM L 2 60 Here JM Motor Inertia TP...

Page 270: ...rt kg The coefficient of friction Vl Load speed m min F Thrust force N 1 R Reduction ratio Mechanical efficiency D Pinion diameter m t Pinion thickness m Speed Diagram Vl tc td ta ts Ls Motion per Cyc...

Page 271: ...m3 Minimum Acceleration Time s t N J J T T am M M L PM L 2 60 Here JM Motor Inertia TPM Motor maximum torque Minimum Deceleration Time s t N J J T T dm M M L PM L 2 60 Here JM Motor Inertia TPM Motor...

Page 272: ...te kg 1 R Reduction Ratio l Rotation Speed of Round Plate rpm Tl Load torque Mechanical Efficiency D Diameter of Round Plate t Thickness of Round Plate Speed Diagram l tc td ta ts s Motion per Cycle r...

Page 273: ...J J T T am M M L PM L 2 60 Here JM Motor Inertia TPM Motor maximum torque Minimum Deceleration Time s t N J J T T dm M M L PM L 2 60 Here JM Motor Inertia TPM Motor maximum torque Load Operational Po...

Page 274: ...E 14 CSDJ Plus Servo Drive User s Manual MEMO...

Page 275: ...it and Conventional Unit Table F 1 Unit Conversion Unit Item SI CGS Conversion Rate Force N Kgf 1N 0 10197kgf 1kg 9 80665N Mass Kg Kgf 1kg 1kgf Torque N m Kgf m 1N m 0 10197kfg m 1kgf m 9 80665N m The...

Page 276: ...F 2 CSDJ Plus Servo Drive User s Manual MEMO...

Page 277: ...ear movement Part Ball Screw t n 60 60 40 15 sec Here t t a d t t V a m 60 12 60 0 275 15 01 l l sec Load Speed Mass of the linear movernent part Length of the ball screw Diameter of the ball screw Ba...

Page 278: ...aximum torque Tms Rated torque of the motor Pa Po 1 2 Rated motor output NM Rated rotation speed of the motor Select the servo motor with the above condition Servo Motor Specification Rated output CSM...

Page 279: ...2 2 2 9 75 0 1 173 10 6 29 0 1 15 3 31 t t t m a c d Rated torque of the motor e Power Pa Po 1108 272 1380W Rated output of the motor 1000W 1 2 f Rotation speed Nm 1500RPM Rated rotation speed of the...

Page 280: ...G 4 CSDJ Plus Servo Drive User s Manual MEMO...

Page 281: ...ion ROM version 1 1 2001 05 CSDJ Plus V 1 2 ROM version 1 2 function added SEt 46 function Torque limit sequence change 2002 12 CSDJ Plus V 1 3 ROM version 1 3 function added SEt 41 10 speed control f...

Page 282: ...H 2 CSDJ Plus Servo Drive User s Manual MEMO...

Page 283: ......

Page 284: ...vo Drive User Manual www oemax co kr www oemax com Trademarks not belonging to OE MAX Controls are property of their respective companies Copyright 2006 OE MAX Controls Publication CSDJ UM001C EN P Se...