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OE Max Controls CSDP Plus, User Manual

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OE Max Controls CSDP Plus User Manual Download Page 73

75

Torque Control

Torque control mode is used when the tension or pressure of the 
system should be controlled by using the servo drive.

 

Set the voltage appropriate for the required torque input from the 
controller. Various set-values for the motor’s operating torque limit are 
commonly applicable to position or speed control mode.

To operate the servo drive in torque control mode, please connect 
analog torque command to corresponding input pins and follow the 
setting command.

Torque Control Setting Sequence

Summary of Contents for CSDP Plus

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

Page 2: ...liability for actual use based on the examples and diagrams No patent liability is assumed by OEMAX Controls with respect to use of information circuits equipment or software described in this manual...

Page 3: ...iew 41 Operator 42 Mode 44 Basic Set up 54 4 Control 57 Overview 57 Position Control 60 Speed Control 70 Torque Control 75 Multi level Speed Control 79 Combination Control 83 5 Tuning By Gain Adjustme...

Page 4: ...cale 138 SEt 10 Forward Internal Torque Limits 138 SEt 11 Reverse Internal Torque Limits 139 SEt 12 Forward External Torque Limits 139 SEt 13 Reverse External Torque Limits 139 SEt 14 Forward Emergenc...

Page 5: ...set Auto Adjustment 160 SEt 45 3 Speed Limit Method 160 SEt 45 4 Motor Revolving Direction 160 SEt 46 1 Position Command Pulse Type 161 SEt 46 2 Speed Command Unit 162 SEt 46 3 Position Command Input...

Page 6: ...ion 176 SEt 79 Internal Speed Command 4 177 SEt 80 Internal Speed Command 5 178 SEt 81 Internal Speed Command 6 178 SEt 82 Internal Speed Command 7 178 B Motor Specifications 179 CSMD Motor 179 CSMS M...

Page 7: ...o a control system Those who do not have basic understanding of the CSDP Plus Servo Drive need to receive the product education provided by the before using the product The purpose of the manual This...

Page 8: ...ent Do not use this product under any conditions exposed to explosive gases It may cause an explosion ATTENTION Make sure to use an external device when configuring the protective circuit breakers for...

Page 9: ...Plus supports standard incremental encoder simple incremental encoder and absolute encoder for the sake of convenient system design CSDP Plus based servo system is usually configured as shown in the f...

Page 10: ...s described in the table below Input Voltage B means 220V AC The models with the same appearance as that or the device in the diagram below are as follows CSDP 15BX2 CSDP 20BX2 CSDP 30BX2 CSDP Plus Ra...

Page 11: ...13 The models with the same appearance as that or the device in the diagram below are as follows CSDP 40BX2 CSDP 50BX2 z h z hshyt z yvu wv ly juZ...

Page 12: ...ion Item Specifications Basic Specifications Control Method PWM Control by IPM Feedback Type 1000 2048 2500 6000 10000 Inc Abs Type 17 bit Serial Inc Abs type Ambient Temperature Humidity in Operation...

Page 13: ...Clamp Position Command Pulse Inhibit Absolute Encoder Data Transmission Output Position Completion Near Postion In Speed Revolution Detection Torque Limit Detection Speed Limit Detection Brake Control...

Page 14: ...displayed on each label of the motor Servo Motor Label Rated Output is displayed as it is on servo drive Rated Output Display Method Rated Output 13 1 3 kW 15 1 5 kW 20 2 0 kW 25 2 5 kW 30 3 0 kW 35...

Page 15: ...Brake and Oil Seal Present Motor Shaft 1 Circular Type Coupling Tightening 3 Key Tightening Type 4 Taper Tightening Type CSDP Plus supported Encoders Motor Mode Encoder Type CSMD CSMF CSMH CSMK CSMS A...

Page 16: ...18...

Page 17: ...wing during motor installation Impact is a major factor in lowering the motor s performance Please do not directly connect the motor to the power supply Please keep the motor away from water and oil P...

Page 18: ...onnect the grounding line to the grounding connection terminal of the drive Coupling Assembly Excessive impact during coupling assembly can damage the encoder Please measure the concentricity of the m...

Page 19: ...fer to the motor specifications in the appendix for the allowed load for each motor Motor Installation Environment Installation environment needs to meet the following conditions Indoors Good Ventilat...

Page 20: ...oduct have any loosened or cracked parts The installation environment required for CSDP Plus is as below The installation environment needs to meet the following conditions Indoors Good ventilation Ea...

Page 21: ...23 The sizes of CSDP 15BX2 CSDP 20BX2 CSDP 30BX2 are as below The sizes of CSDP 40BX2 CSDP 50BX2 are as below...

Page 22: ...follow the command below to install the drive Please make sure that the drive is installed vertically for enhanced cooling efficiency Please attach the servo drive with a M5xL10 bolt z h z hshyt z yvu...

Page 23: ...absorption circuit to relay wiring breaker and electric contacter Please do not wire unused terminals If unused terminals are wired noise can be generated If a cable should move use a separate flexib...

Page 24: ...on the cover represent the terminal number Terminal block Wiring Specifications Item Specifications Signal line Multi core twisted pair batch shielded cable as thick as AWG26 or more Grounding Line O...

Page 25: ...e 220V AC Main Power Supply Input Connection T 3 Phase 220V AC Main Power Supply Input Connection P Regenerative Resistance Connection Regenerative Resistance Embedded B Regenerative Resistance Connec...

Page 26: ...e control circuit Connect the motor power supply cable to U V and W terminals CSDP Plus has its own low capacity regenerative resistance WARNING Previous CSDP users need to be careful with the wiring...

Page 27: ...ts electricity only when it is pushed at c in the circuit Please connect the relay at d when the power needs to be shut down Please attach a surge suppressor to the magnetic switch relay coil at e WAR...

Page 28: ...7 Yellow 1 Dot Input Signal Assignment Default Value P TL 10 DI 8 Sky blue 1 Dot Input Signal Assignment Default Value ESTOP 11 PULS White 1 Dot Position Command Signal 12 PULS Pink 1 Dot Position Co...

Page 29: ...put 38 AL2 Sky blue Twisted Pair Wire Alarm Code 2 Open Collector Output 39 AL3 White Twisted Pair Wire Alarm Code 3 Open Collector Output 40 AL SG Pink Twisted Pair Wire Alarm Code Output GND 41 DO 1...

Page 30: ...32 Higher Control Connector CN1 Circuit Diagram...

Page 31: ...ire Inc 11 wire Inc 15 wire Inc Compact Abs Serial Abs Serial Inc 1 EO V G G G G G G 2 3 A A A A A 4 A B B B B 5 B C C C C 6 B D D D D 7 C E E E E 8 C F F F F 9 10 U SD P K K K K 11 RST Abs R 12 13 U...

Page 32: ...34 Please See Cable Specifications in Appendix C for further information about encoder cable connector and plug 11 wire Incremental Encoder Wiring 15 wire Incremental Encoder Wiring...

Page 33: ...35 Compact Absolute Encoder Wiring Serial Encoder Wiring...

Page 34: ...CSMS RSMD RSMF RSMH RSMK RSML RSMN RSMS RSMX Compact Abs DMS3108B20 29S or DMS3106B20 29S RSMD RSMF RSMH RSMK RSML RSMN RSMS RSMX Serial Abs DMS3108B20 29S or DMS3106B20 29S RSMD RSMF RSMH RSMK RSML...

Page 35: ...of peripheral wiring and grounding Noise Filter 3 phase AC ATTENTION Please use a thick line with the diameter 3 5 mm2 or above for grounding And make sure that the signal line and the power supply li...

Page 36: ...38 Grounding Wiring Please separate the input and output wires of the filter and do not tie them together...

Page 37: ...nect the grounding line of the noise filter to the grounding frame separately Please do not connect the grounding line of the noise filter to other grounding lines If the noise filter is inside the ca...

Page 38: ...40...

Page 39: ...properly operate a servo drive a servo ON signal from a controller is required If the power supply is engaged but servo ON signal is not issued the servo drive and the motor are separated When the con...

Page 40: ...rator Please press the MODE SET key to change mode or save the parameter Press the ENTER key to select the parameter or escape to higher mode after selection LED displays six digit numbers Then press...

Page 41: ...ion regulator loop proportional gain Then press the ENTER key and the position proportional gain parameter will be displayed Press the direction keys to get the value you want and press the SET key to...

Page 42: ...DE key to change mode Please See Troubleshooting in Chapter 7 for the alarm history search mode Status Display Mode When the power is turned on the dot on the right side of the fifth digit will be lit...

Page 43: ...received in the position control mode S Pot indicates that a signal to stop forward revolution is received in the speed control mode t Pot indicates that a signal to stop forward revolution is receiv...

Page 44: ...ight will be on Parameter Selection Mode Various operational conditions are allocated to the parameter Please See Parameter in Appendix A for the functions of each parameter Monitor Mode The monitor m...

Page 45: ...Torque Command Con 12 In Output Signal Status Con 13 Load Inertia Ratio Con 16 Frequency of the Position Command pulse kHz Con 17 Analog Speed Input Voltage 10 mV Con 18 Analog Torque Input Voltage 10...

Page 46: ...al status of Con 12 will be displayed as below When it is 1 the status will be displayed as below Operation Mode Operation Number List No Event USr 01 Jog Operation USr 02 Auto Tuning USr 03 Auto Adju...

Page 47: ...wise only while the down button is pushed Auto Tuning The gain of the servo drive is usually in proportion to inertia If velocity speed regulator loop proportional gain and velocity speed regulator lo...

Page 48: ...range that doesn t cause vibration in the system 4 Try jog operation or pilot operation 5 If there is a serious vibration or noise please reduce the speed proportional SEt 02 or speed integral gain SE...

Page 49: ...resistor to 0V The adjusted speed command offset can be checked with Con 10 Auto Adjustment for Torque Command Offset Auto adjustment for torque command offset can be done when the servo is either ON...

Page 50: ...Con 10 Manual Adjustment for Torque Command Offset Manual adjustment for torque command offset can be done when the servo is ON If the UP key is pushed offset will be added in the forward direction If...

Page 51: ...rameter will be initialized Alarm History Deletion When an alarm occurs the alarm code will be recorded in the order of PAr 01 to PAr 10 If USr 10 is implemented all the values from PAr 01 to PAr 10 w...

Page 52: ...et up Value Setting Control Mode C SEL OFF C SEL ON 0 Position Mode 1 Speed Mode 10 Direction Change Speed Mode 12 Torque Limit Speed Mode 5 Zero Clamp Mode 2 Torque Mode 3 Multi level Speed Mode 9 Sp...

Page 53: ...2048 P R Compact Abs 104 M 10000 P R Inc 15 wire 106 RSMD RSMF RSMH RSMK RSML RSMN RSMS RSMX A 2500 P R Inc 9 wire 107 K 5000 P R Inc 15 wire 103 L 6000 P R Inc 15 wire 105 M 10000 P R Inc 15 wire 10...

Page 54: ...250 300 350 400 450 500 CSMF 150 250 350 450 CSMH 150 200 300 400 500 CSMK 120 200 300 450 600 CSMS 150 200 250 300 350 400 450 500 RSMD 150 200 250 300 350 400 450 500 RSMF 150 250 350 450 RSMH 150...

Page 55: ...Shifts the gains of the two groups All P TL Limits the forward torque within the preset value SEt 12 All N TL Limits the reverse torque within the preset value SEt 13 All P OT Stops the forward moveme...

Page 56: ...Control Mode P COM This signal will be displayed if the position error is within the range of position completion decision SEt 18 Position Control NEAR This signal will be displayed if the position e...

Page 57: ...e first digit of SEt 76 to allocate P COM signal to the DO 1 pin Put 3 in the fourth digit of SEt 77 to use WARN function through DO 3 pin Setting 0 makes the system always invalid and there is no val...

Page 58: ...on where the controller instructs In order to carry out position control please connect the command pulse signal to PULSE and SIGN input pins and connect other input signals as needed And then please...

Page 59: ...he four pins of the controller connector CN1 Position Control Wiring In the position control mode the controller can input position command in two ways The first is line drive and the second is open c...

Page 60: ...esirable to set Vcc to 24V It is because the system can be operated securely even in a noisy environment At this time please use 2 2 k resistor at R1 Set the control mode to position control by puttin...

Page 61: ...63 Please select the position control type by referring to the diagram Positive Logic Pulse Negative Logic Pulse...

Page 62: ...ch input command pulse An encoder generating 2048 pulses per revolution can make a complete revolution when the controller transmits 2048 pulses to the drive If the electronic gear is used only 1000 p...

Page 63: ...r a revolution of the motor In the case of a ball screw whose speed reduction ratio is 1 and the number of pulses of the encoder per one revolution is 5000 if the controller approves 1000 pulses for t...

Page 64: ...he distance to move by one pulse of the controller is 100 m the denominator is 1570 50 mm 100 m 1570 In this case if 1570 pulses are approved by the controller the pulley at the end devices makes one...

Page 65: ...angle of the end load per one pulse command becomes 0 1 Please set the numerator at SEt 36 Please set the denominator at SEt 37 Pulse Command Inhibit Function Position command counter can be stopped b...

Page 66: ...position command from the controller and the difference between the load position and the position command is smaller than the preset value the in position detection signal NEAR can be displayed Set...

Page 67: ...ge Set the position error range at SEt 33 The setting range is 0 to 65535 pulse and the default value is 25000 If the position error is bigger than the set value the position error overflow servo alar...

Page 68: ...g voltage from the controller to servo drive in both cases whether the position control loop is formed at the controller or not To carry out speed control please follow the command below for set up Sp...

Page 69: ...0 to 6000 RPM 1V or RPM 10V The default value is 500 The unit setting of SEt 01 is set up on the second digit of SEt 46 When the second digit of SEt 46 is 0 Speed Command RPM Speed Gain RPM V Input Vo...

Page 70: ...al which may cause the motor to slowly rotate In this case using the zero clamp function can prevent the motor from revolving a small amount caused by the offset voltage To use zero clamp function ple...

Page 71: ...he motor revolution speed and the speed command value is kept within a certain range This signal can be used as an interlock signal at the controller just as the position completion detection P COM si...

Page 72: ...e controller approves a speed command faster than the set value of the speed limit Please set the speed limit method at the third digit of SET 45 The set values are as follows 0 Motor Maximum Speed de...

Page 73: ...propriate for the required torque input from the controller Various set values for the motor s operating torque limit are commonly applicable to position or speed control mode To operate the servo dri...

Page 74: ...et torque command gain at SEt 05 The setting range is 0 to 100 3V and the default value is 100 Torque Torque Command Gain Input Voltage Rated Torque 100 When torque command gain is 100 3V and input vo...

Page 75: ...put signals Please set SEt 10 to limit the forward torque internally The setting range is 0 to 300 and the default value is 300 Please set SEt 11 to limit the reverse torque internally The setting ran...

Page 76: ...will be set at the Instantaneous maximum torque of the motor and the preset limit will be ignored Please set SEt 14 and SEt 15 to limit the torque in case of an overtravel Setting range 0 to 300 300 I...

Page 77: ...on speed is set in advance by the parameter setting and the system is operated according to the input Hence speed command input or offset adjustment is unnecessary To operate the servo drive in the mu...

Page 78: ...e are four different input signals dedicated to multi level speed control C DIR C SP1 C SP2 C SP3 The revolution will be in the forward direction if C DIR signal is OFF and in the reverse direction if...

Page 79: ...r to ease the impact of speed change Multi level Speed Speed Parameter Default value RPM C SP3 C SP2 C SP1 Stop command 0 0 0 0 Internal Speed command 1 SEt 26 100 0 0 1 Internal Speed command 2 SEt 2...

Page 80: ...is 0 to 60000 ms and the default value is 200 The diagram shows that the time for execution compared to command was extended as much as the deceleration time Deceleration time is the time required for...

Page 81: ...ce when the system is in operation under the speed control mode position command pulse or analog torque command will be ignored The input for those command will be valid only when the control mode is...

Page 82: ...ion command pulse input 0 position command_actual position SEt 18set value continued for 16 ms 8 Speed Control Position Control Position Control Speed Control Revolution Speed SEt 16 set value Positio...

Page 83: ...the five basic gains at the same time System Gain SEt 42 Basic gain is categorized in five items that are essential for tuning Speed Loop Proportional Gain Nms SEt 02 Speed Loop Integral Gain Nms2 SEt...

Page 84: ...width If auto tuning or user changes the inertia ratio SEt 66 it automatically set the system gain SEt 42 and the basic gain based on this value The servo drive uses position command of the controller...

Page 85: ...d to speed control the system can be unstable To improve the response of the overall position control system please secure ample response of the speed control loop Gain Automatic Set up The servo driv...

Page 86: ...at offline auto tuning Inertia ratio SEt 66 can be directly set by the user Online Auto Tuning Online auto tuning is used when the load constantly changes during operation It constantly changes the ga...

Page 87: ...each basic gain Speed loop proportional gain Speed loop integral gain Position loop proportional gain Torque command Filter Speed command Filter 4 Fine tune the value of each applied gain Position co...

Page 88: ...ontrol Gain Torque control gains include vibration suppression filter and torque command filter gain The diagram below shows the application process of torque control related gains Vibration suppressi...

Page 89: ...op integral gain and speed command filter The picture below shows the application process of the speed control related gains Raising the speed loop proportional gain can improve the response of the sp...

Page 90: ...e higher control device is set too high or there is too much noise 4 It is desirable to set the value of torque command filter SEt 06 as high as possible as long as no vibration is generated from the...

Page 91: ...e position command 7 It is desirable to set the value of torque command filter SEt 06 as high as possible as long as no vibration is generated from the load Methods to Get Quick Responses Position Fee...

Page 92: ...plied to an area with large position error and by doing so the position completion time near the steady state can be reduced Please set the speed bias amount at SEt 38 The setting range is 0 to 450 RP...

Page 93: ...instant to restrain overshoot when necessary In this case the speed control loop is used in the form of a P controller after changing it from a PI controller There are two ways to use the speed contr...

Page 94: ...en the position error is bigger than a certain value pulse Set the P control shift switch at the first digit of SEt 54 The set up can be done as shown in the table below ATTENTION If overshoot is smal...

Page 95: ...eference the speed regulator will be P type and PI controller type in other areas Set Value Function 0 Do not use P PI mode shift 1 Shifts when the torque command is bigger than P control shift refere...

Page 96: ...the servo alarm can go off as the system tries to activate the motor while the brake is applied Default torque bias is used to prevent the load from falling by gravity during the process of controllin...

Page 97: ...and begins from the set value of the parameter Since the torque to maintain the motor at the current status is generated from the beginning the temporary fall of the load can be prevented Therefore ov...

Page 98: ...conditions can be satisfied To use G SEL signal please set the optimum gain under the no load condition And then set the optimum gain in a situation with a load And then let the G SEL signal be input...

Page 99: ...range during operation the load system can be damaged The breakage of the load system can be prevented by installing limit sensors at the end of the movement range Please make sure the load can move...

Page 100: ...o drive uses this feature to stop the motor it is called dynamic brake CSDP Plus servo drive has internal dynamic brake circuit If the motor cable is connected to the servo drive and the servo drive i...

Page 101: ...t can be used in the following cases When the load can move by gravity When the load should be kept from falling in case of power OFF or servo off The drive cannot use voltage and current high enough...

Page 102: ...l drop for a moment Therefore the servo should be ON first so that the drive can control the vertical load so that it won t fall and then the brake should be released This configuration is to secure t...

Page 103: ...ke output start speed at SEt 30 The setting range is 0 to 1000 RPM and the default value is 100 Braking Application Speed If the brake active delay time is longer than the servo OFF delay time the bra...

Page 104: ...evolving direction can be reversed by the parameter set up with no need to modify the wiring Please set the motor s revolving direction at the fourth position of SEt 45 Forward direction is counterclo...

Page 105: ...Resistor Regenerative energy is produced in the following cases During deceleration When the force of the load revolves the motor continuously For instance minus load condition or when the vertical l...

Page 106: ...enerative resistor Allowed Inertia Ratio Based on the 50 usage rate of the regenerative resistor 1 2kW 1 3kW 1 5kW 2kW 2 5kW 3kW 3 5kW 4kW 4 5kW 5kW 6kW CSMD 8 0 5 0 6 0 5 0 3 0 3 0 2 0 1 5 CSMS 16 0...

Page 107: ...load system As another way to select the regenerative resistor calculating the rated power of the necessary regenerative resistor can help the user choose the optimum regenerative resistor for the loa...

Page 108: ...he regenerative energy produced when continuous regeneration sections occurred under the vertical load condition are called EG and the selection standard of the regenerative resistor can be calculated...

Page 109: ...produced in the continuous regeneration sections EG can be calculated as shown below NMG Preset speed in the continuous regeneration sections G Torque in the continuous regeneration sections TG Opera...

Page 110: ...tor to reach the rated speed from standstill Deceleration Time is the time required for the motor to slow down to a halt from the rated speed The diagram shows that the time for execution compared to...

Page 111: ...peed command after setting acceleration deceleration time will be 10 seconds deceleration time And the total time required to execute speed command after setting the S curve operation time is 10 secon...

Page 112: ...modes the analog speed command input from external can be used to limit speed If the speed control mode is used the external speed limit function cannot be used and the speed can be limited by the in...

Page 113: ...set the direction of the encoder output pulse at the first digit of SEt 46 Speed Limiting Method Set Value Function 0 Does not use the speed limit function 1 Limits the speed by the internal speed li...

Page 114: ...o the controller the numerator can be set to 1000 and the denominator can be set to 2048 1000 2048 2048 1000 Please set the number of output pulses per revolution which is the numerator at SEt 23 The...

Page 115: ...han the number of input pulses from the encoder to the controller Therefore the numerator should always be the same as or smaller than the denominator Analog Monitor Output Type Chosen Number Types Se...

Page 116: ...the controller that corresponds to the monitor output 1V is 500 RPM Since the maximum output is 10 V the speed can be monitored up to 5000 RPM Therefore the monitoring range of the overall speed comm...

Page 117: ...mory information When the power supply is cut off and the absolute position of the load system is needed by the absolute encoder should be used Absolute Encoder Wiring An absolute encoder should be co...

Page 118: ...on Frame Structure STX represents the beginning of the transmission packet and corresponds to ASCII code 02H ETX represents the end of the transmission packet and corresponds to ASCII code 03H The ran...

Page 119: ...0 ms or more 2 Clear the UP DOWN counter that counts the incremental pulses to 0 so that it can be ready for the absolute encoder data reception 3 Receive the multi revolution data transmitted from th...

Page 120: ...122...

Page 121: ...ed Motor Check Item Cycle Maintenance Vibration and Noise Everyday Adjust it to not be bigger than usual occasions Foreign Bodies Instantly when found Vacuum clean Insulation resistance 1 Year Contact...

Page 122: ...In case of a servo alarm the corresponding number and characters will be displayed alternately Servo Warning The servo drive can use WARN signal to notify the controller of a servo warning Parts life...

Page 123: ...torque command is more than 300 of the rated torque the servo drive automatically limits it under 300 When the external torque command is lowered below 300 this warning will automatically canceled If...

Page 124: ...ined Servo Alarm In case of a servo alarm corresponding numbers and characters will be displayed and the operation will stop In case of a servo alarm the LED of the servo drive will display the first...

Page 125: ...tE Absolute Encoder Multi revolution Data Error 0 1 1 E 33 PoF Position Error Overflow 0 1 1 E 34 AdE Absolute Value Data Error 0 1 1 E 35 EuU Absolute Value Battery Failure 0 1 1 E 36 EoP Encoder Typ...

Page 126: ...his alarm can occur Check the load condition power supply and motor capacity and increase acceleration deceleration time If 115 or more torque feedback continues for several seconds this alarm can occ...

Page 127: ...rm occurs Lower the input frequency and raise feed forward gain SEt 34 and speed gain SEt 02 SEt 03 and position gain SEt 04 If the absolute encoder data has an error this error occurs Turn off and tu...

Page 128: ...250 kpps or less for the open collector type If the power is higher than the rated voltage range 405V the regenerative resistor is short circuited the regenerative transistor failed or the operation...

Page 129: ...ncorrectly set this alarm will occur Set the encoder type SEt 51 motor type SEt 52 and motor capacity SEt 53 properly If there is a failure of the serial communication caused by noise or connecting ca...

Page 130: ...02 The error that occurred before 1 time PAr 03 The error that occurred before 2 times PAr 04 The error that occurred before 3 times PAr 05 The error that occurred before 4 times PAr 06 The error that...

Page 131: ...e The second digit of SEt 46 determines the preset unit of the parameter Speed command gain determines the gradient of the graph Speed command RPM SEt 01 Input Voltage V ATTENTION To change the parame...

Page 132: ...n the gain value for the load inertia 10 times larger than that of a 1 5 kW motor is similar to the load inertia 10 times larger than that of a 3 kW motor If the proportional gain P is lowered while t...

Page 133: ...r than that of a 1 5 kW motor is similar to the load inertia 10 times larger than that of a 3 kW motor SEt 04 Position Loop Proportional Gain Setting range 0 to 500 rad s User Default 60 Changes anyti...

Page 134: ...gidity of the load Torque filter cut off frequency lowers the frequency depending on how many delay factors there were during the process of delivering the motor s torque to the load In the case of a...

Page 135: ...arameter is not valid In the case of an overshoot please set the parameter to 0 Please refer to the diagram below for the information about the usage and the setting position of SEt 07 SEt 08 DA Monit...

Page 136: ...cale Setting range 1 to 65535 V User Default 500 Changes anytime If the scale of the analog monitor channel 2 is set to 1000 of the position command 2 the position command of the controller that corre...

Page 137: ...hanges anytime The torque in the forward direction is limited based on the set value of this parameter when P TL signal is received SEt 13 Reverse External Torque Limits Setting range 0 to 300 User De...

Page 138: ...n N OT signal is the reverse revolution limit signal third digit of SEt 43 and N OT signal is received during the motor s reverse revolution the motor stops in emergency This parameter is the value of...

Page 139: ...little offset voltage can exist at the servo drive input terminal which may cause the motor to revolve slowly In this case using the zero clamp function can prevent the motor from revolving a little c...

Page 140: ...ll be displayed If this parameter is high in the low speed operation the position completion signal can be kept ON This signal can usually be used as a reference signal for the next sequence of the op...

Page 141: ...ion deceleration operation As shown below executing command in the S curve form at transitional points of acceleration or deceleration can make the operation smoother Assuming that the time required t...

Page 142: ...from the controller and the difference between the load position and the position command is smaller than the preset value the position proximity detection signal NEAR can be displayed The determinati...

Page 143: ...ke a position control loop at the controller The formula to adjust the number of output pulses is as follows Numerator Denominator Number of Encoder Pulse Output to the controller If a certain type of...

Page 144: ...Changes anytime This parameter is the command speed for a jog operation or a pilot operation ATTENTION The servo drive output pulse cannot output to the outside A and B phase pulses higher than the nu...

Page 145: ...it is ON C SP1 C SP2 C SP3 signals can be combined in eight different ways for which revolution speed can be determined The motor s revolving direction can be controlled separately by engaging C DIR i...

Page 146: ...e Setting range 0 to 1000 10ms User Default 0 Changes while the servo is OFF This parameter is the delay time from the moment of the servo OFF command to the point when the command is executed The par...

Page 147: ...mmand is received during revolution and the servo starts producing brake signals The brake signal will be produced if the motor speed is smaller than the set value of the parameter or the time set at...

Page 148: ...starting speed SEt 30 after the servo stopped even if the time set at SEt 3 has not passed since the moment the servo was OFF SEt 32 Brake Inactive Delay Time After Servo ON Setting range 0 to 1000 1...

Page 149: ...ratio to the speed value which is the differentiated position command If the set value is higher position error gets lower and the position completion can be done quickly But if the set value is too h...

Page 150: ...akes five revolutions the speed reduction ratio is 5 If the system make five revolutions when the motor revolves once then the speed reduction ratio is 0 2 The numerator and denominator of the electro...

Page 151: ...so the position completion time near the steady state can be reduced SEt 39 Speed Bias Application Range Setting range 0 to 250 pulse User Default 10 Changes anytime If the absolute value of position...

Page 152: ...motor Control Mode List Setting Control Mode C SEL OFF C SEL ON 0 Position Mode 1 Speed Mode 10 Direction Change Speed Mode 12 Torque Limit Speed Mode 5 Zero Clamp Mode 2 Torque Mode 3 Multi level Sp...

Page 153: ...the values of the basic gain will change after referring to the inertia ratio SEt 66 As the valueis set higher the response improves But if the value is too high for the load condition vibration or no...

Page 154: ...1 User Default 0 x 1 Change while the servo is OFF and turn off the power and turn it back on The set values are as follows 0 Forbid reverse revolution with N OT signal 1 Always approve reverse revolv...

Page 155: ...The drive uses this feature to stop the motor When the servo drive uses this feature to stop the motor it is called dynamic brake CSDP Plus servo drive has internal dynamic brake circuit If the motor...

Page 156: ...values are as follows 0 Disable the dynamic brake after the motor stopped 1 Keep the dynamic brake ON after the motor stopped SEt 44 3 Emergency Stop Method Setting range 0 x 0 to 0 x 1 User Default 0...

Page 157: ...ype Setting range 0 x 0 to 0 x 1 User Default 0 x 0 Change while the servo is OFF and turn off the power and turn it back on The set values are as follows 0 3 phase Input 1 Single phase Input Set Valu...

Page 158: ...Method Setting range 0 x 0 to 0 x 3 User Default 0 x 0 Changes while the servo is OFF The set values are as follows 0 Motor Maximum Speed 1 SEt 67 Value 2 Analog Speed Command 3 The smaller value bet...

Page 159: ...Setting range 0 x 0 to 0 x 9 User Default 0 x 0 Changes while the servo is OFF The set values are as follows 0 Positive Logic CW CCW 1 Negative Logic CW CCW 2 Positive Logic A Phase B Phase 1 Multipli...

Page 160: ...FF This parameter determines the unit for setting the speed command gain SEt 01 The set values are as follows 0 RPM 1V 1 RPM 10V SEt 46 3 Position Command Input Circuit Type Setting range 0 x 0 to 0 x...

Page 161: ...ithm SEt 47 Notch Filter Setting range 0 to 10000 Hz User Default 10000 Changes anytime This parameter suppress the torque command of setting frequency area and vibration caused by resonance The reson...

Page 162: ...te encoder This parameter can be used to use the serial absolute encoder without external battery SEt 50 2 In Output Signal Status Display Setting range 0 x 0 to 0 x 1 Factory Default 0 x 0 Change whi...

Page 163: ...e while the servo is OFF and turn off the power and turn it back on The set values are as follows 0 Parameter Change Enabled 1 Parameter Change Disabled SEt 50 4 Parameter Initialization Type Setting...

Page 164: ...SMD CSMF CSMH CSMK CSMS A 2500 P R Inc 11 wire 100 B 2500 P R Inc 15 wire 101 D 1000 P R Inc 15 wire 102 H 2048 P R Compact Abs 104 M 10000 P R Inc 15 wire 106 RSMD RSMF RSMH RSMK RSML RSMN RSMS RSMX...

Page 165: ...ombination Adjusting method will be set at the first digit The set values are as follows 0 Previous integral value Use 1 Auto adjustment by the reference of torque feedback value SEt 55 2 Auto adjustm...

Page 166: ...his setting is effective when activating a frictionless disk load But if the torque is higher than the set value of this parameter during normal speed operation there can be speed error Set this param...

Page 167: ...he tuning coefficient on the fourth digit of SEt 58 Setting range is 0 x 0000 to 0 x 9000 initial value is 0x0 If the fourth digit is not 0 online auto tuning function will be used As the value is set...

Page 168: ...turn off the power and turn it back on The input signals should be assigned to the CN1 connector s input pins from DI 1 to DI 8 For instance put 7 in the fourth digit of SEt 59 to allocate the P CON s...

Page 169: ...765 Change while the servo is OFF and turn off the power and turn it back on SEt 61 Input Signal Assignment 3 Setting range 0 x 0 to 0 x 9999 User Default 0 x 0000 Change while the servo is OFF and tu...

Page 170: ...motor revolves in the reverse direction This can resolve the problem of a falling load when the mechanical brake is released after the servo is ON in case of a vertically operating load SEt 66 Load In...

Page 171: ...ystem Bandwidth Setting range 0 to 500 Factory Default 60 Changes while the servo is OFF If auto tuning is executed or user changes the inertia ratio system gain and 5 basic gains changed after referr...

Page 172: ...mV Factory Default 0 Changes anytime SEt 73 DA Monitor Channel 2 Offset Setting range 0 to 1000 10000 to 11000 mV Factory Default 0 Changes anytime SEt 74 Monitor Channel 2 Output Gain Setting range...

Page 173: ...be allocated Put 1 in the first digit of SEt 76 to allocate P COM signal to the DO 1 pin Put 3 in the fourth digit of SEt 77 to use WARN function through DO 3 pin Setting 0 makes the system always in...

Page 174: ...range 0 Speed Command 1 500 RPM 1 Torque Command 1 30 2 Position Command 1 5000 pulse 3 Speed Feedback 1 500 RPM 4 Torque Feedback 1 30 5 Position Feedback 1 5000 pulse 6 Position Error 1 2500 pulse...

Page 175: ...s ON C SP1 C SP2 C SP3 signals can be combined in eight different ways for which revolution speed can be determined The motor s revolving direction can be controlled separately by engaging C DIR input...

Page 176: ...ng range 0 to 5000 RPM User Default 500 Changes anytime SEt 81 Internal Speed Command 6 Setting range 0 to 5000 RPM User Default 600 Changes anytime SEt 82 Internal Speed Command 7 Setting range 0 to...

Page 177: ...INERTIA gf cm s2 Kg 10 4 11 4 11 2 15 5 15 2 19 6 19 2 22 8 22 3 36 6 35 9 43 4 42 5 51 6 50 6 61 9 60 7 ROTOR INERTIA When Brake is Attached gf cm s2 Kg m2 10 4 13 6 12 3 17 0 16 7 21 5 21 1 25 1 24...

Page 178: ...1200V AC 60 sec Number of Poles 8 Pole Excitation Method Permanent Magnet Vibration 49 m s2 24 5 when stopped Mounting Method FLANGE Shock 98 m s2 3 Times Operating Humidity 85 or less Non Condensing...

Page 179: ...181 Speed Torque Curve...

Page 180: ...182...

Page 181: ...When Brake is Attached gf cm s2 Kg 10 4 2 90 2 84 3 89 3 81 4 84 4 74 7 60 7 45 8 88 8 69 14 4 14 1 17 3 170 20 1 19 7 POWER RATE kW s 88 117 146 134 155 125 134 140 Mechanical Time Parameter ms 0 54...

Page 182: ...ed 24 5 Mounting Method FLANGE Shock 98 m s2 3 Times Operating Humidity 85 or less Non Condensing CSMS Motor Brake Specifications CSMS 15B to 25B 30B 35B 40B to 50B Friction Torque nm Kgf cm 7 8 or mo...

Page 183: ...185 Speed Torque Curve...

Page 184: ...186...

Page 185: ...HEN BRAKE IS ATTACHED gf cm s2 Kg m2 10 4 45 0 44 1 69 3 67 9 102 100 0 128 6 126 0 179 6 176 0 POWER RATE kW s 11 9 14 7 21 8 29 5 33 4 Mechanical Time Parameter ms 3 1 2 1 2 5 2 2 2 3 Electrical Tim...

Page 186: ...Permanent Magnet Vibration 49 m s2 When Stopped 24 5 Mounting Method FLANGE Shock 98 m s2 3 Times Operating Humidity 85 or less Non Condensing CSMH Brake Specifications CSMH 15B 20B to 50B Friction To...

Page 187: ...189...

Page 188: ...NERTIA WHEN BRAKE IS ATTACHED gf cm s2 Kg m2 10 4 21 9 21 9 46 2 45 3 56 8 55 7 80 1 78 5 POWER RATE kW s 25 5 34 53 1 63 7 Mechanical Time Parameter ms 1 4 1 3 1 06 0 88 Electrical Time Parameter ms...

Page 189: ...hen Stopped 24 5 Mounting Method FLANGE Shock 98 m s2 3 Times Operating Humidity 85 or less Non Condensing CSMF Motor Brake Specifications CSMF 15B 25B 35B 45B Friction Torque nm Kgf cm 7 8 or more 80...

Page 190: ...192 Speed Torque Curve...

Page 191: ...WHEN BRAKE IS ATTACHED ms 1 1 2 0 97 1 1 0 74 0 82 0 70 0 78 0 9 0 98 Electrical Time Parameter ms 26 25 30 31 33 Rated Current A rms 11 6 18 5 24 33 47 Maximum Instant Current A rms 40 60 80 118 155...

Page 192: ...e nm Kgf cm 24 5 or more 205 58 8 or more 600 Rotor INERTIA Kg 10 4 4 7 Brake Pull In Time ms 80 or less 150 or less Brake Release Time ms 25 or less 50 or less Release Voltage V DC 2 or more Rated Vo...

Page 193: ...195...

Page 194: ...hanical Time Parameter ms 0 58 0 53 0 5 0 47 0 83 0 9 0 74 Electrical Time Parameter ms 19 21 21 20 28 30 32 Rated Current A rms 9 8 12 3 14 17 8 23 4 26 2 28 Maximum Instant Current A rms 40 52 18 60...

Page 195: ...ction Torque nm 16 5 25 45 Rotor INERTIA Kg 10 4 1 2 4 7 11 Brake Pull In Time ms 110 160 220 Brake Release Time ms 50 75 100 Release Voltage V DC 2 at 20 C Rated Voltage V DC 24 2 4 Rated Current A 0...

Page 196: ...198...

Page 197: ...0 47 0 48 Electrical Time Parameter ms 21 4 20 Rated Current A rms 20 4 24 7 28 0 28 5 Maximum Instant Current A rms 80 105 118 120 Axial Play mm MAX 0 3 Weight WHEN BRAKE IS ATTACHED Kg 10 1 12 12 9...

Page 198: ...ations RSMS 30B to 50B Friction Torque nm 16 5 Rotor INERTIA Kg 10 4 1 2 Brake Pull In Time ms 110 Brake Release Time ms 50 Release Voltage V DC 2 at 20 C Rated Voltage V DC 24 2 4 Rated Current A 0 8...

Page 199: ...00 ROTOR INERTIA gf cm s2 Kg m2 10 4 43 8 42 9 63 3 62 0 96 0 94 1 122 4 120 0 173 5 170 0 ROTOR INERTIA WHEN BRAKE IS ATTACHED gf cm s2 Kg m2 10 4 45 0 44 1 69 3 67 9 102 100 0 128 6 126 0 179 6 176...

Page 200: ...sec Number of Poles 8 Poles Excitation Method Permanent Magnet Vibration 49 m s2 When Stopped 24 5 m s2 During Operation Mounting Method FLANGE Shock 98 m s2 Operating Humidity 85 or less Non Condens...

Page 201: ...203...

Page 202: ...0 0 8 Electrical Time Parameter ms 25 35 41 41 Rated Current A rms 9 5 13 4 20 0 23 5 Maximum Instant Current A rms 40 3 56 9 84 99 7 Axial Play mm MAX 0 3 Weight WHEN BRAKE IS ATTACHED Kg 11 0 14 0...

Page 203: ...to 45B Friction Torque nm 25 45 Rotor INERTIA Kg m2 10 4 4 7 11 Brake Pull In Time ms 160 220 Brake Release Time ms 75 100 Release Voltage V DC 2 at 20 C Rated Voltage V DC 24 2 4 Rated Current A 1 2...

Page 204: ...206...

Page 205: ...0 85 0 72 0 71 0 63 Electrical Time Parameter ms 31 30 39 42 44 Rated Current A rms 11 6 18 5 24 0 33 0 47 0 Maximum Instant Current A rms 40 0 60 80 0 118 155 Axial Play mm MAX 0 3 Weight WHEN BRAKE...

Page 206: ...tions RSMK 12B to 60B Friction Torque nm 25 Rotor INERTIA Kg m2 10 4 4 7 Brake Pull In Time ms 160 Brake Release Time ms 75 Release Voltage V DC 2 at 20 C Rated Voltage V DC 24 2 4 Rated Current A 1 2...

Page 207: ...209...

Page 208: ...eter ms 1 95 2 3 1 69 1 77 1 58 Electrical Time Parameter ms 31 31 40 42 45 Rated Current A rms 11 6 18 5 24 0 33 0 47 0 Maximum Instant Current A rms 40 0 60 80 0 118 155 Axial Play mm MAX 0 3 Weight...

Page 209: ...tions RSML 12B to 60B Friction Torque nm 25 Rotor INERTIA Kg m2 10 4 4 7 Brake Pull In Time ms 160 Brake Release Time ms 75 Release Voltage V DC 2 at 20 C Rated Voltage V DC 24 2 4 Rated Current A 1 2...

Page 210: ...212...

Page 211: ...arameter ms 7 11 8 12 8 Rated Current A rms 11 7 18 8 26 Maximum Instant Current A rms 39 6 59 4 80 Axial Play mm MAX 0 3 Weight WHEN BRAKE IS ATTACHED Kg 22 28 29 36 41 48 Revolving Direction U V W C...

Page 212: ...otor Brake Specifications RSMN 12B to 30B Friction Torque nm 35 3 Rotor INERTIA Kg m2 10 4 3 Brake Pull In Time ms 60 Brake Release Time ms 170 Release Voltage V DC 2 at 20 C Rated Voltage V DC 24 2 4...

Page 213: ...3 8 Electrical Time Parameter ms 5 1 9 4 11 4 17 8 Rated Current A rms 9 7 15 20 30 Maximum Instant Current A rms 39 59 4 80 109 Axial Play mm MAX 0 3 Weight WHEN BRAKE IS ATTACHED Kg 18 20 5 22 28 29...

Page 214: ...cifications RSMX 13B 20B to 45B Friction Torque nm 5 88 35 3 Rotor INERTIA Kg m2 10 4 0 9 3 Brake Pull In Time ms 40 60 Brake Release Time ms 140 170 Release Voltage V DC 2 at 20 C Rated Voltage V DC...

Page 215: ...217...

Page 216: ...D 45B 256 227 231 202 70 200 176 233 3 2 18 13 5 CSMD 50B 276 247 251 222 70 200 176 233 3 2 18 13 5 CSMS 15B 231 202 206 177 55 115 100 135 3 10 9 CSMS 20B 256 227 231 202 55 115 100 135 3 10 9 CSMS...

Page 217: ...200 176 233 3 2 18 13 5 CHMH 50B 306 277 281 252 80 200 176 233 3 2 18 13 5 CSMK 12B 195 170 80 200 176 233 3 2 18 13 5 CSMK 20B 162 190 80 200 176 233 3 2 18 13 5 CSMK 30B 208 230 80 200 176 233 3 2...

Page 218: ...KE Present BRAKE Absent Abs Inc Abs Inc CSMF 15B 196 167 171 142 65 200 176 233 3 2 18 13 5 CSMF 25B 192 163 165 136 65 235 220 268 4 16 13 5 CSMF 35B 200 171 173 144 65 235 220 268 4 16 13 5 CSMF 45B...

Page 219: ...5 RSMF 25 177 146 65 235 250 220 268 4 16 12 13 5 RSMF 35 186 155 65 235 250 220 268 4 16 12 13 5 RSMF 45 202 171 70 235 250 220 268 4 16 12 13 5 RSMH 15 233 208 70 145 130 165 6 12 9 RSMH 20 225 200...

Page 220: ...33 80 200 180 230 3 2 18 13 5 RSML 30 298 273 80 200 180 230 3 2 18 13 5 RSML 45 353 328 113 200 180 230 3 2 18 13 5 RSML 60 398 373 113 200 180 230 3 2 18 13 5 RSMS 40 273 248 65 145 130 165 6 12 9 R...

Page 221: ...19 8 CSMD 10 to 20 CSMH 15 CSMS 30 to 35 45 41 22 110 18 7 8 0 5 0 6 to 11 24 CSMD 25 to 30 CSMS 40 to 50 55 51 24 110 20 7 8 0 5 0 6 to 11 No Step CSMD 45 to 50 CSMF 15 CSMH 20 to 50 55 50 35 114 3 3...

Page 222: ...50 55 50 35 114 3 30 8 10 RSMF 15 55 50 35 200 30 8 10 RSMF 25 to 45 55 50 35 200 30 8 10 RSMH 15 45 41 22 110 18 7 8 RSMH 20 to 50 55 50 35 114 3 30 8 10 RSMK 12 to 30 55 50 35 114 3 30 8 10 RSMK 45...

Page 223: ...plugs MS3102A 24 11P is usually used for motors with brakes MS3102A 22 4P is used for the motors with no brakes Power plugs are different from each other for each motor capacity and are packaged insi...

Page 224: ...ables use the order code as shown below Write 1H5 to order a 1 5 m long cable 05 for a 5 m long cable and 40 for a 40 m long cable If 1 5 kw capacity is required write 015 Pin fuctions of the motor po...

Page 225: ...g as shown in the table below 11 wire Inc Encoder COMM A COMM B Color Function A 3 1P Whie Blue Blue A B 4 1P White Blue White A C 5 2P White Yellow Yellow B D 6 2P White Yellow White B E 7 3P White G...

Page 226: ...en F 8 3P White Green White G 1 4P White Red Red H 20 4P White Red White J 12 SH Shield FG K 10 5P White Purple Purple U L 13 5P White Purple White U M 14 6P White Blue Blue V N 15 6P White Blue Brown...

Page 227: ...9 Yellow 1 Dot 10 Sky blue 1 Dot 11 White 1 Dot 12 Pink 1 Dot 13 Orange 1 Dot 14 Gray 1 Dot 15 Red 2 Dots 16 Yellow 2 Dots 17 Sky blue 2 Dots 18 White 2 Dots 19 Pink 2 Dots 20 Orange 2 Dots 21 Gray 2...

Page 228: ...36 Red Twisted Pair Wire 37 Yellow Twisted Pair Wire 38 Sky blue Twisted Pair Wire 39 White Twisted Pair Wire 40 Pink Twisted Pair Wire 41 Orange Twisted Pair Wire 42 Gray Twisted Pair Wire 43 Red 1 L...

Page 229: ...d for communication To order communication cables use the order code as shown below Motor Brake Cable Symbol Color Types BK White 2 core cable BK Black 2 core cable Communication Cable Coh A Con B Col...

Page 230: ...232...

Page 231: ...233 Appendix D Load Calculation ROLL Load Mechanical Configuration Movement Amount M Motor Shaft Revolving Speed r min 2 2 60 d a s l s t t t V L G if G d a t t SG G 60 a s l s t t V L G D RV N l M...

Page 232: ...234 Load Torque N m Load Inertia Moment Kg m2 JR R D F P TL 2 cGo Gj Ge G 32 8 4 4 2 2 i o i o R D D L D D M J G sOtP kOtP...

Page 233: ...leration Torque Required N m Deceleration Torque Required N m Torque Effective Value N m 60 2 L PM L M M dm T T J J N t G 60 2 L M o T N P G a L M a t J N P 2 60 2 SG am a t t G L a L M M P T t J J N...

Page 234: ...ming Belt Load Mechanical Configuration Movement Amount m Motor Shaft Revolving Speed r min Load Torque N m 2 2 60 d a s l s t t t V L G if G d a t t SG G 60 a s l s t t V L G D RV N l M R D F M TL 2...

Page 235: ...rtia Moment kg m2 Minimum Acceleration Time s Minimum Deceleration Time s Load Operation Power W Load Acceleration Power W 60 2 L PM L M M dm T T J J N t G 60 2 L M o T N P G a L M a t J N P 2 60 2 SG...

Page 236: ...eration Torque Required N m Torque Effective Value N m Horizontal BALL SCREW Load Mechanical Configuration L a L M M P T t J J N T 60 2 SG am a t t G L d L M M S T t J J N T 60 2 SG dm a t t G c d s d...

Page 237: ...e N m Load Inertia Moment kg m2 Minimum Acceleration Time s Minimum Deceleration Time s Load Operation power W 2 2 60 d a s l s t t t V L G if G d a t t SG G 60 a s l s t t V L G B l M P RV N R P F M...

Page 238: ...e Required N m Deceleration Torque Required N m Torque Effective Value N m a L M a t J N P 2 60 2 SG am a t t G L a L M M P T t J J N T 60 2 SG am a t t G L d L M M S T t J J N T 60 2 SG dm a t t G c...

Page 239: ...241 Vertical BALL SCREW Load Mechanical Configuration Movement Amount m Motor Shaft Revolving Speed r min 2 2 60 d a s l s t t t V L G if G d a t t SG G 60 a s l s t t V L G B l M P RV N...

Page 240: ...Moment kg m2 Minimum Acceleration Time s Minimum Deceleration Time s Load Operation Power W Load Acceleration Power W R P F M M T B C L 2 8 9 G 60 2 L PM L M M dm T T J J N t 60 2 L M o T N P G a L M...

Page 241: ...Torque Required N m Deceleration Torque Required N m Torque Effective Value N m L a L M M P T t J J N T 60 2 SG am a t t G L d L M M S T t J J N T 60 2 SG dm a t t G c d s d a s L a p rms t t T t t t...

Page 242: ...K PINION Load Mechanical Configuration Movement Amount m Motor Shaft Revolving Speed r min Load Torque N m 2 2 60 d a s l s t t t V L G if G d a t t SG G 60 a s l s t t V L G B l M P RV N R D F M TL 2...

Page 243: ...Time s Minimum Deceleration Time s Load Operation Power W Load Acceleration Power W Acceleration Torque Required N m 60 2 L PM L M M dm T T J J N t G 60 2 L M o T N P G a L M a t J N P 2 60 2 SG am a...

Page 244: ...246 Deceleration Torque Required N m Torque Effective Value N m L d L M M S T t J J N T 60 2 SG dm a t t G c d s d a s L a p rms t t T t t t T t T T 2 2 2 G...

Page 245: ...k Load Mechanical Configuration Movement Amount rad Motor Shaft Revolving Speed r min Load Torque N m Load Inertia Moment kg m2 2 2 60 d a s l s t t t G if G d a t t SG G 60 a s l s t t G l M R N R T...

Page 246: ...leration Torque Required N m Deceleration Torque Required N m Torque Effective Value N m 60 2 L PM L M M dm T T J J N t G 60 2 L M o T N P G a L M a t J N P 2 60 2 SG am a t t G L a L M M P T t J J N...

Page 247: ...der Position Data Output 6 115 Absolute Value Serial Data 6 121 Acceleration Time A 142 acceleration time 4 81 6 112 A 147 A 177 acceleration deceleration time 6 112 Ambient Temperature 7 124 Analog M...

Page 248: ...7 130 Emergency Stop Motion A 158 Encoder 1 17 Absolute Encoder 1 11 Incremental Encoder 1 11 Encoder A A Phase Output 6 115 Encoder B B Phase Output 6 115 Encoder C C Phase Output 6 115 Encoder Cabl...

Page 249: ...ershoot 5 93 Overspeed Level A 173 Overtravel 6 101 6 102 P P control shift standard value 5 85 P control shift switch 5 85 P PI Mode Shift 5 95 PAr 01 7 132 PAr 02 7 132 PAr 03 7 132 PAr 04 7 132 PAr...

Page 250: ...47 5 85 5 90 A 163 SEt 48 A 163 SEt 50 A 164 A 165 SEt 50 2 A 164 SEt 50 3 A 165 SEt 51 7 129 7 131 A 166 SEt 52 7 131 A 166 SEt 53 A 167 SEt 54 5 96 A 167 SEt 55 5 97 A 168 SEt 56 5 97 A 168 SEt 57 5...

Page 251: ...eed Reduction Ratio 4 65 A 152 Speed Position Match Range A 142 Start Bit 6 120 Stop Bit 6 120 Symbols and Notations P 7 System Bandwidth A 173 System Gain 5 85 A 155 T TG ON Signal Function Selection...

Page 252: ...254...

Page 253: ......

Page 254: ...November 2005 256 Copyright 2005 OEMAX Controls All rights reserved Printed in Korea CSDP Plus Servo Drive User Manual Trademarks not belonging to OE MAX Controls are property of their respective com...

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