OE Max Controls CSDJ Plus User manual

Maximum Value for OEMsSM
CSDJ plus servo
User Manual

i
• Thank you for purchasing Rockwell Samsung Automation CSDJ
Plus Servo Drive.
• This user’s manual explains handling method, repair, inspection,
error diagnosis, troubleshooting and, specifications of the CSDJ
Plus Servo Drive.
• Use the CSDJ Plus after completely understanding this user’s man-
ual.
Precautions during Initial Setup
General Precautions
When setting up the product, select Encoder Type (SEt-51), Motor
Type (SEt-52), Motor Capacity (SEt-53), Control Mode (SEt-41) such
as position, speed, and etc. after supplying the power.
* After the change, turn off and on the power.
*For detailed information, refer to Parameter List.
Error such as Control Impossibility or Encoder Open Error may occur
if the parameter selection is incorrectly set as stated above.
This user’s manual may be changed without notice in case of prod-
uct improvement or specification change, or for better understand-
ing of the manual.
Use the user’s manual included in the product purchased.
When re-ordering the user’s manual due to damage or loss, contact
company agency or an agency closeby recorded on the back of this
manual.
Do not disassemble the servo drive. A/S is not provided for any acci-
dents or damages caused by the disassembly or modification of the
servo drive by the user.

ii
Other Safety Precautions
• Install, operate, check and repair the product after reading and
completely understanding the user’s manual.
Also, use the product after sufficiently understanding the safety
information or surrounding specifications.
• After reading, make sure to keep the manual at an easy to reach
place for easy access.
• User’s manual records contents of safety specifications by
categories of Warning and Caution.
• Even if the content is defined as , serious result may occur
depending on the situation. Make sure to follow the manual.
Checking Product Status
Precautions during Installation
: When handled incorrectly, dangerous situations may
happen.
May cause severe or slight injuries, or cause only a product
damage
: When handled incorrectly, dangerous situation (electro
caution) may occur.
May cause death or severe injury.
Do not install the servo drive, which is damaged or
has missing parts.
- It may cause injuries.
Be careful in moving the product.
- Dropping on the foot may cause injuries.
Use nonflammable such as metals in locations to
place servo drive.
- There may be a fire.
When installing several servos in one location, by
installing cooling fans and etc so the surrounding
temperature is below 55.
- Overheating may cause fire or other accidents.

iii
Precautions when Wiring
Operate only after checking that input power is
off.
- There may be electric shock or fire.
Only the electrician should do the wiring.
- There may be electric shock or fire.
In case of wiring emergency stop circuit, check
the operation after wiring (Wiring responsibility is
on the user.)
- There may be injuries.
Be sure to make the earth of grounding terminal.
(Class 3 grounding)
- There may be electric shock or fire.
Cooling fin and electric discharge resistor over-
heats, so do not touch with hands.
- It may cause burns.
It is easy to change the speed of servo drive from
low to high, thus operate after checking the motor
and mechanical allowable limit.
- There may be injuries.
Do not check signal during the operation.
- The product may be damaged.
Each gain of this servo drive is properly set upon
the delivery for the non-load operation. When
changing the setting, pay extra caution.
- The product may be damaged.

iv
Precautions when repairing
This servo drive has high voltage terminal, thus it
is very dangerous. Do not touch it.
- There may be electric shock.
Repair and check after sufficient amount of time
has passed after cutting off the main circuit
power.
- It is dangerous because power flows in the capacitor.
Except for the people 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 shock.
Control board uses C-MOS. Be aware when han-
dling it.
- When touching with hand, the product may be dam-
aged due to static electricity.
During being energized, do not exchange the wire
or remove the connector and etc.
- There may be injuries or damage in products.
Do not modify the production.
- There may be electric shock or injuries.

Contents-1
Contents
Other Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . ii
Chapter 1. Overview and Specifications . . . . . . . . . . 1-1
Main Features ..........................................................................1-3
Preparations for Operation ....................................................1-4
Hardware Features ..................................................................1-5
Standard Specifications .........................................................1-6
Chapter 2. Installation and Wiring . . . . . . . . . . . . . . . 2-1
Check Items upon Delivery of the Product ...........................2-3
Installation Precautions ..........................................................2-5
Installing Servo Motor ............................................................2-5
Installing Servo Drive .............................................................2-9
External Terminal Block .......................................................2-11
Wiring ....................................................................................2-12
Wiring Precautions ...............................................................2-12
Wiring Diagram .....................................................................2-13
I/O Specification ....................................................................2-15
CN1 (I/O Cable) ......................................................................2-15
CN2 (Connector for Encoder Connection) ..........................2-18
Noise Protection ....................................................................2-20
Wiring Precautions ...............................................................2-20
Noise Filter ............................................................................2-21
Circuit Breaker .......................................................................2-23
Chapter 3. Startup and Adjustment . . . . . . . . . . . . . 3-1
Check Items prior to Startup ..................................................3-3
Servo Motor ............................................................................3-3
Servo Drive ..............................................................................3-3
Startup .....................................................................................3-4
Powering ON and OFF ............................................................3-4
Check Items prior to Startup ..................................................3-7
Startup by the Operator .........................................................3-8
Startup by I/O Input ..............................................................3-11
Autotuning .............................................................................3-13
Test Run .................................................................................3-16
Chapter 4. Using the Operator . . . . . . . . . . . . . . . . . 4-1
Operator ...................................................................................4-3
Types of Mode and Mode Switching ....................................4-4
Status Display Mode ...............................................................4-6
User Parameter Setting Mode ...............................................4-7
Monitoring Mode ....................................................................4-8
System Parameter and Error Monitoring Mode ...................4-9
Jog Mode ...............................................................................4-12

Contents-2
Operation by the Operator ...................................................4-12
Autotuning .............................................................................4-12
Auto Adjustment of Speed/Torque Command Offset .......4-12
Manual Adjustment of Speed/Torque Command Offset ...4-13
Alarm Reset ...........................................................................4-14
D/A Converter Channel Selection ........................................4-15
Output Adjustment Method of D/A Converter Channel .....4-16
Parameter Initialization .........................................................4-17
Error History Clear ................................................................4-18
Test Run .................................................................................4-18
Chapter 5. Parameter List . . . . . . . . . . . . . . . . . . . . . 5-1
User Parameter .......................................................................5-3
Motor and Encoder Setting ....................................................5-3
Control Mode Setting ............................................................5-4
Parameter Setting Related to Autotuning ............................5-5
Parameter Setting Related to Gain .......................................5-5
Parameter Setting Related to Servo Control .......................5-7
Parameter Setting Related to Speed Control .....................5-12
Parameter Setting Related to Position Control ..................5-13
Parameter Setting Related to Torque Control ...................5-14
Parameter Setting Related to Torque Limit .......................5-15
Parameter Setting Related to Timing Control ....................5-16
Parameter Setting Related to D/A Output ..........................5-16
Monitor Parameter List .........................................................5-17
Jog Mode Parameter List .....................................................5-18
Error Monitor and System Parameter List ..........................5-19
Chapter 6. Basic Functions . . . . . . . . . . . . . . . . . . . . 6-1
Speed Control ........................................................................6-3
Speed Command ....................................................................6-6
Multi Step Speed Control Mode ...........................................6-7
Speed/Multi Step Speed Control Mode ...............................6-9
Manual Zero-Clamp Speed Control Mode .........................6-12
Auto Zero-Clamp Speed Control Mode .............................6-13
Speed Coincidence Output Signal .......................................6-14
Changing the Motor Rotation Direction ..............................6-15
Acceleration/Deceleration Time and S-Curve Operation ...6-16
Selection of Stop Method ....................................................6-18
Offset Adjustment ................................................................6-18
Using the DB(Dynamic Brake) ............................................6-18
Using Zero-Clamp Function .................................................6-19
Emergency Stop ...................................................................6-19
Position Control ....................................................................6-21
Wiring ....................................................................................6-21
Position Command Pulse Form ...........................................6-23
Electrical Specifications of Command Pulse .....................6-24
Position Counter Clear ..........................................................6-25
Position Completion Output Signal (P-COM) .....................6-26
I/O Signal Timing ..................................................................6-27
Position/Speed Control Mode .............................................6-28
Using Encoder Output ..........................................................6-29
Electronic Gear ......................................................................6-31
Rotation Detection Output Signal .......................................6-33
Torque Control ......................................................................6-34
Setting ....................................................................................6-34

Contents-3
Torque Command ................................................................6-34
Limiting the Speed during the Torque Control ..................6-36
Position/Torque Control Mode ...........................................6-37
Torque Limit ..........................................................................6-38
Setting of Servo Drive Gain .................................................6-42
Using Rotation Prohibition Function ...................................6-45
Chapter 7. Other Functions and Applications . . . . . . 7-1
Brake Control ..........................................................................7-4
Regeneration ..........................................................................7-9
Regenerative Energy .............................................................7-9
Allowable Load Inertia ..........................................................7-10
Vertical Load .........................................................................7-11
Regenerative Resistance ......................................................7-12
Motor Type and Capacity Setting ........................................7-13
Encoder Type Setting (SEt-51) .............................................7-14
Chapter 8. Error Handling . . . . . . . . . . . . . . . . . . . . . 8-1
Error Notification ....................................................................8-3
Alarm Output ...........................................................................8-4
Alarm Codes and Corrective Actions ....................................8-5
Chapter 9. Troubleshooting . . . . . . . . . . . . . . . . . . . . 9-1
Servo Motor ............................................................................9-3
Servo Drive ..............................................................................9-4
Troubleshooting Relating to Incorrect External Wiring .......9-5
Troubleshooting Relating to Incorrect Setting .....................9-5
Items to Check Prior to Asking Service .................................9-5
Appendix A. Motor Specification . . . . . . . . . . . . . . . . A-1
CSMT Motor Specification .................................................... A-1
CSMR Motor specification .................................................... A-4
Appendix B. Motor Dimensions . . . . . . . . . . . . . . . . . B-1
CSMT Motor ............................................................................B-1
CSMR Motor ............................................................................B-2
Appendix C. Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . C-1
Power Cable Assembly for 3-Phase Motor (CSMT/MR) ......C-1
Motor Brake Cable Assembly (CSMT/MR) ............................C-2
User I/O Cable .........................................................................C-3
9-Wire Incremental Encoder Cable Assembly (CSMT/MR) .C-4
Communication Cable ............................................................C-6
Controller Cable Connector Specification .............................C-7
Cable Code Format .................................................................C-8
Appendix D. Load Calculation of the Mechanical Part D-1
The Moment of Inertia Calculation ....................................... D-1
Roll Load ................................................................................. D-2
Timing Belt Load .................................................................... D-4
Ball Screw Load(Horizontal Axis) ......................................... D-6
Ball Screw Load(Vertical Axis) .............................................. D-8
Rack & Pinion Load .............................................................. D-10
Round Plate Load ................................................................. D-12
Appendix E. Conversion Table of SI to/from CGS . . . E-1
Appendix F. Motor Capacity Selection . . . . . . . . . . . . F-1
Appendix G. Revision History . . . . . . . . . . . . . . . . . . . G-1

Table of Contents-1
Table of Contents
Chapter 1. Overview and Specifications . . . . . . . . . . 1-1
Table 1.1 Standard Specifications of CSDJ Plus Servo Drive
...............................................................................1-6
Table 1.2 Control Specifications .........................................1-7
Chapter 2. Installation and Wiring . . . . . . . . . . . . . . . 2-1
Table 2.1 CSDJ Plus Rated Output and Applicable Motor
...............................................................................2-4
Table 2.2 Allowable Load of the Motor ..............................2-8
Table 2.3 Names of External Terminal Block of the CSDJ Plus
.............................................................................2-11
Table 2.4 I/O Specification of CN1 ....................................2-15
Table 2.5 I/O With Different Functions for Each Control Mode
.............................................................................2-17
Table 2.6 Connection of Encoder Connector ...................2-18
Table 2.7 Recommended Noise Filter ..............................2-21
Table 2.8 Capacity of Circuit Breaker and Fuse ...............2-23
Chapter 3. Startup and Adjustment . . . . . . . . . . . . . 3-1
Table 3.1 LED Color and Description ..................................3-4
Table 3.2 Setting the Torque Filter Cutoff Frequency (SEt-06)
.............................................................................3-14
Chapter 4. Using the Operator . . . . . . . . . . . . . . . . . 4-1
Table 4.1 Types of Modes ...................................................4-4
Table 4.2 Content of Bit Data ..............................................4-6
Table 4.3 Signal and Servo Status .....................................4-6
Table 4.4 Monitor type ........................................................4-8
Table 4.5 Types of Error Saving Parameter ......................4-9
Table 4.1 Error Display of Operator and Trace Back Table
.............................................................................4-11
Table 4.2 Jog Mode Parameter .........................................4-12
Table 4.3 Parameter Value and Content of D/A Converter
(USr-08) ..............................................................4-15
Table 4.4 Parameter Value and Content Related to D/A Con-
verter Output ......................................................4-16
Chapter 5. Parameter List . . . . . . . . . . . . . . . . . . . . . 5-1
Table 5.1 Encoder Types Setting (SEt-51) ..........................5-3
Table 5.2 Motor Types Setting (SEt-52) .............................5-3
Table 5.3 Motor Capacity Setting (SEt-53) .........................5-3
Table 5.4 Monitor Parameter List .....................................5-17
Table 5.5 Jog Mode Parameter List ..................................5-18
Table 5.6 Error Monitor and System Parameter List ......5-19

Table of Contents-2
Chapter 6. Basic Functions . . . . . . . . . . . . . . . . . . . . 6-1
Table 6.1 Setting the Speed Control Mode ........................6-3
Table 6.2 Using the P-CON Signal ......................................6-4
Table 6.3 Multi Step Speed Control Mode Setting ...........6-7
Table 6.4 Speed/Multi Step Speed Control Mode Setting 6-9
Table 6.5 Step 4 Speed Usage Setting .............................6-10
Table 6.6 Manual Zero-Clamp Speed Control Setting ....6-12
Table 6.7 Auto Zero-Clamp Speed Control Mode Setting
.............................................................................6-13
Table 6.8 Effective Boundary of SEt-45 LED No.4 Setting
.............................................................................6-15
Table 6.9 Position Command Pulse Form (Set in SEt-46 LED
No.1) ...................................................................6-23
Table 6.10 Electrical Specifications of Position Command
Pulse .................................................................6-24
Table 6.11 Setting of Position/Speed Control Mode .......6-28
Table 6.12 Torque Command ...........................................6-34
Table 6.13 Position/Torque Control Mode Setting ..........6-37
Table 6.14 Setting of Servo Drive Gain ...........................6-42
Chapter 7. Other Functions and Applications . . . . . . 7-1
Table 7.1 Brake Control Setting Parameter ......................7-4
Table 7.2 Allowable Load Inertia Ratio(When regeneration re-
sistor is not connected and when operated at a rat-
ed speed) ............................................................7-10
Table 7.3 Regenerative Resistance ...................................7-12
Table 7.4 CSMT/MR Motor Capacity Settings (SEt-53) ..7-13
Table 7.5 Encoder Type Settings ......................................7-14
Chapter 8. Error Handling . . . . . . . . . . . . . . . . . . . . . 8-1
Table 8.1 Alarm Related Input/Output Terminal ..............8-4
Table 8.2 Alarm Codes Classification .................................8-5
Table 8.3 Alarm Codes and Corrective Actions .................8-6
Chapter 9. Troubleshooting . . . . . . . . . . . . . . . . . . . . 9-1
Table 9.1 Servo Motor Maintenance and Cleanin .............9-3
Table 9.2 Troubleshooting Servo Motor ............................9-4
Appendix Table A.1 CSMT Motor Specification ................................ A-1
Table A.2 CSMT Motor Brake Specification ..................... A-2
Table A.3 CSMR Motor Specification ................................ A-4
Table A.4 CSMR Motor Brake Specification ..................... A-5
Table F.1 Conversion Table of SI to/from CGS ..................E-1