OE Max Controls CSDJ Plus User manual

Maximum Value for OEMsSM
CSDJ Plus Servo Drive
User Manual

Safety Precautions –
i
•Thank you for purchasing Rockwell Automation Korea 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 manual.
Precautions during Initial Setup
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 Chapter 5, Parameter Table.
Error such as Control Impossibility or Encoder Open Error may occur if the parameter selection
is incorrectly set as stated above.
General Precautions
This user’s manual may be changed without notice in case of product improvement or
specification change, or for better understanding 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 accidents or damages caused
by the disassembly or modification of the servo drive by the user.

- CSDJ Plus Servo Drive User’s Manual
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.
Warning
! : When handled incorrectly, dangerous situations may happen.
May cause severe or slight injuries, or cause only a product damage.
C
aution
: 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
depending on the situation. Make sure to follow the manual.
W
arning
!
Checking Product Status
Do not install the servo drive, which is damaged or has missing parts.
- It may cause injuries.
Warning
!
Precautions during Installation
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.
Warning
!

Safety Precautions –
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.
Warning
!
Cooling fin and electric discharge resistor overheats, 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.
Warning
!

- CSDJ Plus Servo Drive User’s Manual
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.
C
aution
Control board uses C-MOS. Be aware when handling it.
- When touching with hand, the product may be damaged 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.
C
aution
Do not modify the production.
- There may be electric shock or injuries.
C
aution

Contents - 1
Contents
Safety Precaution ·······························································································································
Chapter 1. Summary and Specifications ·························································································
1.1 Main Features of the Product ············································································································································
1.2 Preparation for the Servo Operation ································································································································
1.3 External View ·······································································································································································
1.4 Standard Specifications ························································································································································
Chapter 2. Installation and 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. Precautions when Wiring ··············································································································································
B. Wiring ················································································································································································
2.5 I/O Specification ··································································································································································
A. CN1 (I/0 Cable) ······························································································································································
B. CN2 (Connector for Encoder Connection) ················································································································
2.6 Noise Protection ···································································································································································
A. Precautions when Wiring ···············································································································································
B. Noise Filter ·······································································································································································
2.7 Circuit Breaker for Wiring ··················································································································································
Chapter 3. Startup and 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 Autotuning ··········································································································································································
3.4 Test Run ·················································································································································································
Chapter 4. Using the Operator ········································································································
4.1 Operator ·················································································································································································
4.2 Types of Mode and Mode Switching ································································································································
4.3 Status Display Mode ····························································································································································
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 Offset ····························································································
D. Manual Adjustment of Speed/Torque Command Offset ························································································
E. Alarm Reset ·····································································································································································
F. D / A C o nv e r t e r Channel Selection ······························································· ································································
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2 - CSDJ Plus Servo Drive User’s Manual
G. Output Adjustment Method of D/A Converter Channel ······················································································
H. Parameter Initialization ··················································································································································
I. Error History Clear ··························································································································································
J. Test Run ·············································································································································································
Chapter 5. Parameter List ···············································································································
5.1 User Parameter ····································································································································································
A. Motor and Encoder Setting ···········································································································································
B. Control Mode Setting ·····················································································································································
C. Parameter Related to AutoTuning ·······························································································································
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 Related to Torque Control ··········································································································
I. Parameter Setting Related to Torque Limit ······························································· ···················································
J. Parameter Setting Related to Timing Control ·············································································································
K. Parameter Setting Related to D/A Output ·················································································································
5.2 Monitor Parameter List ·······················································································································································
5.3 Jog Mode Parameter List ·····················································································································································
5.4 Error Monitor and System Parameter List ·······················································································································
Chapter 6. Basic Functions ·············································································································
6.1 Speed Control ································································································································································
A. Speed Command ·····························································································································································
B. Multi Step Speed Control Mode ···································································································································
C. Speed/Multi Step 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 Time and S-Curve Operation ·····························································································
6.4 Selection of Stop Method ·················································································································································
A. Offset Adjustment ··························································································································································
B. Using the DB(Dynamic Brake) ·····································································································································
C. Using Zero-Clamp Function ·········································································································································
D. Emergency Stop ······························································································································································
6.5 Position Control ·····························································································································································
A. Wiring ···············································································································································································
B. Position Command Pulse Form ····································································································································
C. Electrical Specifications of Command Pulse ·············································································································
D. Position Counter Clear ···················································································································································
E. Position Completion Output Signal(----------
P-COM ) ········································································································
F. I/O Signal Timing ···························································································································································
G. Position/Speed Control Mode ······························································································································
6.6 Using Encoder Output ·······················································································································································
6.7 Electronic Gear ····································································································································································
6.8 Rotation Detection Output Signal ·····································································································································
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 ····································································································································································
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Contents - 3
6.10 Setting of Servo Drive Gain ············································································································································
6.11 Using Rotation Prohibition Function ·····························································································································
Chapter 7. Application of Other Functions ····················································································
7.1 Dynamic Brake ·····································································································································································
7.2 Brake Control ·································································································································································
7.3 Using an Absolute 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. Allowable Load Inertia ···················································································································································
C. Vertical Load ····································································································································································
D. Regeneration Resistor ·····················································································································································
7.5 Setting of Motor Type and Capacity ·································································································································
7.6 Setting of Encoder Type (SEt-51) ·····································································································································
Chapter 8. Error Display and Troubleshooting ··············································································
8.1 Error Occurrence ·································································································································································
8.2 Alarm Output Signal ····························································································································································
8.3 Alarm Code and Troubleshooting ······························································· ······································································
Chapter 9. Repair and Checking ·····································································································
9.1 Servo Motor ··········································································································································································
9.2 Servo Drive ············································································································································································
9.3 Troubleshooting due to the Incorrect Wiring ·················································································································
9.4 Troubleshooting due to the Incorrect Setting ················································································································
9.5 Items to be Checked Prior to Asking for the Service ·····································································································
Appendix A. Motor Specification ····································································································
A.1 CSM Motor Specification ···················································································································································
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 Specification ·················································································································································
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 Motor ··································································································································································
B.5 CSMZ Motor ··································································································································································
B.6 CSMD/F/S/H/ Motor ·················································································································································
B.7 CSMK Motor ··································································································································································
Appendix C. Cable ··························································································································
C.1 Term Explanation ··························································································································································
C.2 Motor 3Phase Power Cable(CSM,CSMT/R/Z/Q ) ······································································································
C.3 Motor Brake Cable Assembly (CSM,CSMZ,CSMQ) ······························································· ····································
C.4 Motor 3 Phase Power Cable (CSMD,CSMF,CSMH,CSMS,CSMK) ·······································································
C.5 11 wire Incremental Encoder (CSMD,CSMF,CSMH,CSMS) ·····················································································
C.6 Absolute Encoder Cable Assembly (CSMD,CSMF,CSMH,CSMS) ·············································································
C.7 15 wire Incremental Encoder Cable Assembly (CSMD,CSMF,CSMH,CSMS,CSMK) ·············································
C.8 Motor Brake Cable(CSMD,CSMF,CSMH,CSMS,CSMK) ····························································································
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4 - CSDJ Plus Servo Drive User’s Manual
C.3 Motor Brake Cable(CSM,CSMT/R/Z/Q) ······················································································································
C.4 Motor 3Phase Power Cable (CSMD/F/H/S/K) ······································································································
C.5 11Wire Incremental Encoder Cable(CSMD/F/H/S) ···································································································
C.6 Absolute Encoder Cable(CSMD/F/H/S) ·······················································································································
C.7 15Wire Incremental Encoder Cable(CSMD/F/H/S/K) ······························································································
C.8 Motor Brake Cable(CSMD/F/H/S/K) ···························································································································
C.9 User I/O Cable ····································································································································································
C.10 Compact Incremental Encoder Cable (CSM,CSMT/R/Z/Q) ··················································································
C.11 Absolute Encoder Cable(CSM,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 Inertia Calculation ·································································································································
E.2 Roll Load ·········································································································································································
E.3 Timing Belt Load ···························································································································································
E.4 Ball Screw Load(Horizontal Axis) ·······························································································································
E.5 Ball Screw Load(Vertical Axis) ····································································································································
E.6 Rack & Pinion Load ······················································································································································
E.7 Round Plate Load ······················································································································································
Appendix F. Conversion Table of SI Unit and Conventional Unit ·················································
Appendix G. Motor Capacity Selection ··························································································
Appendix H. Revision Profile ·········································································································
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