OE Max Controls CSDP Plus User manual

Maximum Value for OEMsSM
CSDP Plus Servo Drive
User Manual

Important User Information
Solid state equipment has operational characteristics differing from
those of electromechanical equipment. Because of this difference, and
also because of the wide variety of uses for solid state equipment, all
persons responsible for applying this equipment must satisfy
themselves that each intended application of this equipment is
acceptable.
In no event will OEMAX Controls be responsible or liable for indirect or
consequential damages resulting from the use or application of this
equipment.
The examples and diagrams in this manual are included solely for
illustrative purposes. Because of the many variables and requirements
associated with any particular installation, OEMAX Controls cannot
assume responsibility or 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.
Reproduction of the contents of this manual, in whole or in part,
without written permission of OEMAX Controls is prohibited.
Throughout this manual we use notes to make you aware of safety
considerations.
WARNING Identifies information about practices or circumstances
which may lead to serious personal injury or death, property
damage, or economic loss.
IMPORTANT Identifies information that is critical for successful
application and understanding of the product.
ATTENTION Identifies information about practices or circumstances that
can lead to minor personal injury, property damage,
economic loss, or product malfunction. However, depending
on situation, failure to follow the directions accompanying
this symbol may also lead to serious consequences.

3
Contents
1. Introduction.............................................................. 11
Functionality ................................................................................................. 11
Specifications ............................................................................................... 14
2. Installation ............................................................... 19
Servo Motor Installation .............................................................................. 19
Servo Drive Installation ............................................................................... 22
Wiring............................................................................................................ 25
3. Operation.................................................................. 41
Overview ....................................................................................................... 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 Adjustment ..................................... 85
Overview ....................................................................................................... 85
Gain Automatic Set-up ................................................................................ 87
Gain Manual Set-up ..................................................................................... 89
Torque Control Gain..................................................................................... 90
Speed Control Gain...................................................................................... 91
Position Control Gain................................................................................... 92
Methods to Get Quick Responses............................................................... 93

4
6. Application ............................................................. 101
Motor Stop.................................................................................................. 101
Motor Brake ................................................................................................ 103
Motor Revolving Direction ........................................................................ 106
Regenerative Resistor ................................................................................ 107
Set-up for Smooth Operation.................................................................... 112
Speed Limit................................................................................................. 114
Position Feedback to the Controller.......................................................... 115
Analog Monitor .......................................................................................... 117
Absolute Encoder ....................................................................................... 119
7. Troubleshooting ..................................................... 123
Check ........................................................................................................... 123
Servo Drive Failure..................................................................................... 124
A. Parameter .............................................................. 133
SEt-01 Speed Command Gain................................................................... 133
SEt-02 Speed Loop Proportional Gain...................................................... 134
SEt-03 Speed Loop Integral Gain.............................................................. 135
SEt-04 Position Loop Proportional Gain................................................... 135
SEt-05 External Torque Command Gain................................................... 135
SEt-06 Torque Command Filter ................................................................. 136
SEt-07 Position Feedforward Filter ........................................................... 137
SEt-08 DA Monitor Channel 1 Scale ......................................................... 137
SEt-09 DA Monitor Channel 2 Scale ......................................................... 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 Emergency Stop Torque ................................................ 139
SEt-15 Reverse Emergency Stop Torque ................................................. 140
SEt-16 TG-ON Speed Level........................................................................ 140
SEt-17 Zero Clamp Level ........................................................................... 141
SEt-18 In Speed/In Position Range ........................................................... 142
SEt-19 Acceleration Time........................................................................... 142
SEt-20 Deceleration Time........................................................................... 143
SEt-21 S-Curve Operation Time ................................................................ 143
SEt-22 Near Position Range ...................................................................... 144
SEt-23 Encoder Output Ratio Numerator ................................................. 145
SEt-24 Encoder Output Ratio Denominator ............................................. 146
SEt-25 Jog Command Speed .................................................................... 146
SEt-26 Internal Speed Command 1........................................................... 147
SEt-27 Internal Speed Command 2........................................................... 148
SEt-28 Internal Speed Command 3........................................................... 148
SEt-29 Servo OFF Delay Time ................................................................... 148
SEt-30 Braking Application Speed After Servo OFF ................................ 149
SEt-31 Brake Active Delay Time After Servo OFF .................................... 150

5
SEt-32 Brake Inactive Delay Time After Servo ON .................................. 150
SEt-33 Following Error Level..................................................................... 151
SEt-34 Position Feedforward Gain............................................................ 151
SEt-35 Position Command Filter ............................................................... 151
SEt-36 Electronic Gear Ratio Numerator.................................................. 152
SEt-37 Electronic Gear Ratio Denominator .............................................. 153
SEt-38 Speed Bias ...................................................................................... 153
SEt-39 Speed Bias Application Range ...................................................... 153
SEt-40 Speed Command Filter .................................................................. 154
SEt-41 Control Mode Selection ................................................................. 154
SEt-42 System Gain ................................................................................... 155
SEt-43(1) Servo Enable Method ................................................................ 155
SEt-43(2) P-OT Signal Function Selection ................................................ 156
SEt-43(3) N-OT Signal Function Selection ............................................... 156
SEt-43(4) TG-ON Signal Function Selection............................................. 156
SEt-44(1) Dynamic Brake ........................................................................... 157
SEt-44(2) Dynamic Brake After the Motor Stopped................................. 158
SEt-44(3) Emergency Stop Method .......................................................... 158
SEt-44(4) Encoder Output Pulse Direction ............................................... 159
SEt-45(1) Main Power Supply Type .......................................................... 159
SEt-45(2) Speed Command Offset 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 Circuit Type ..................................... 162
SEt-46(4) Speed Observer Selection......................................................... 163
SEt-47 Notch Filter ..................................................................................... 163
SEt-48 Password......................................................................................... 163
SEt-50 (1) Serial Encoder Type.................................................................. 164
SEt-50 (2) In/Output Signal Status Display............................................... 164
SEt-50 (3) Parameter Fixiation................................................................... 165
SEt-50 (4) Parameter Initialization Type ................................................... 165
SEt-51 Encoder Type .................................................................................. 166
SEt-52 Motor Type...................................................................................... 166
SEt-53 Motor Capacity ............................................................................... 167
SEt-54 Speed Integral Gain Auto Adjustment ......................................... 167
SEt-55 Torque-Command for Speed Integral Gain Auto Adjustment.... 168
SEt-56 Speed Command for Speed Integral Gain Auto Adjustment ..... 168
SEt-57 Position Error for Speed Integral Gain Auto Adjustment ........... 169
SEt-58 Auto Tuning Speed......................................................................... 169
SEt-59 Input Signal Assignment 1 ............................................................ 170
SEt-60 Input Signal Assignment 2 ............................................................ 171
SEt-61 Input Signal Assignment 3 ............................................................ 171
SEt-62 Input Signal Assignment 4 ............................................................ 171
SEt-63 Input Signal Assignment 5 ............................................................ 171

6
SEt-64 Forward Torque Offset ................................................................... 172
SEt-65 Reverse Torque Offset.................................................................... 172
SEt-66 Load Inertia Ratio ........................................................................... 172
SEt-67 Speed Limit..................................................................................... 173
SEt-68 Maximum Torque Used ................................................................. 173
SEt-69 System Bandwidth ......................................................................... 173
SEt-71 DA Monitor Channel 1 Offset ........................................................ 174
SEt-72 DA Monitor Channel 1 Output Gain.............................................. 174
SEt-73 DA Monitor Channel 2 Offset ........................................................ 174
SEt-74 Monitor Channel 2 Output Gain.................................................... 174
SEt-75 Overload Curve Level..................................................................... 175
SEt-76 Output Signal Assignment 1 ......................................................... 175
SEt-77 Output Signal Assignment 2 ......................................................... 175
SEt-78 DA Monitor Channel Selection...................................................... 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 Motor ............................................................................................... 183
CSMH Motor ............................................................................................... 187
CSMF Motor................................................................................................ 190
CSMK Motor ............................................................................................... 193
RSMD Motor ............................................................................................... 196
RSMS Motor ............................................................................................... 199
RSMH Motor ............................................................................................... 201
RSMF Motor................................................................................................ 204
RSMK Motor ............................................................................................... 207
RSML Motor................................................................................................ 210
RSMN Motor............................................................................................... 213
RSMX Motor ............................................................................................... 215
Motor Size................................................................................................... 218
C. Cable Specifications .............................................. 225
Motor 3-phase Power Supply Cable ......................................................... 225
Encoder Cable............................................................................................. 227
I/O Cable...................................................................................................... 229
Motor Brake Cable...................................................................................... 231
Communication Cable ............................................................................... 231
D. Load Calculation .................................................... 233
ROLL Load................................................................................................... 233
Timing Belt Load ........................................................................................ 236
Horizontal BALL SCREW Load .................................................................. 238
Vertical BALL SCREW Load ....................................................................... 241
RACK & PINION Load................................................................................. 244
Disk Load..................................................................................................... 247

7
A brief introduction to the manual is in this preface.
The following contents are included in the preface.
•Userofthemanual
• Purpose of the manual
• Reference
• Symbols and Notations
User of the manual
This user’s manual explains the specifications, installation, wiring,
operation, abnormal status assessment and troubleshooting, and
maintenance of the CSDP Plus Servo Drive.
This manual is made for the engineers who want to install, wire, and
operate the CSDP Plus Servo Drive or apply the CSDP Plus Servo Drive
to 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 manual explains the installation, configuration, operation,
malfunction assessment, troubleshooting measures, and maintenance
and repair of the CSDP Plus Servo Drive. The necessary wiring
diagram and other installation guidelines are provided.
Symbols and Notations
The following symbols and notations are used in this manual.
• Bullet points are used to provide multiple kinds of information.
They are not used for sequential procedures.
• Numbers are used to provide sequential procedures or hierarchical
information.

8
Safety Instructions
Please read this manual and the related documentation thoroughly
and familiarize yourself with product information, safety instructions
and other directions before installing, operating, performing
inspection and preventive maintenance. Make sure to follow the
directions correctly to ensure normal operation of the product and
your safety.
ATTENTION • If this product is used in a situation that may cause
personal injury and/or significant product damage,
implement safe measures such as use of fault-safe
equipment.
• 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 emergencies or interlock
circuits.
• Fasten the terminal screws tightly to ensure that the cable
connection is secure. Incorrect cable connection may cause
overheating and product malfunction.
• Operate and keep the product under the allowed conditions
directed in product specifications.
Otherwise it may cause overheating and product
malfunction.
• Do not disassemble or remodel the product.
Otherwise it may cause an electric shock or malfunction.
• Do not touch the terminals when the power is on.
Otherwise it may cause an electric shock.

11
1
Introduction
Functionality
CSDP Plus is an AC servo motor drive adopting a 32-bit DSP that
realizes high accuracy control. CSDP 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
following diagram. The controller in the diagram is PLC, but various
controllers can be used instead of PLC.
Servo System Configuration

12
CSDP Plus has five different products. Basic specifications of the
products are displayed on the labels.
Servo Drive Label
Rated output of each product is 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 Rated Output
Model Number Rated Output
CSDP-15BX2 1.5 kW
CSDP-20BX2 2.0 kW
CSDP-30BX2 3.0 kW
CSDP-40BX2 4.0 kW
CSDP-50BX2 5.0 kW
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13
The models with the same appearance as that or the device in the
diagram below are as follows.
• CSDP-40BX2
• CSDP-50BX2
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14
Specifications
Servo Drive
The specifications of CSDP Plus models are as follows.
Performance specifications of CSDP Plus are as follows.
CSDP Plus Model Specifications
CSDP-15BX2 CSDP-20BX2 CSDP-30BX2 CSDP-40BX2 CSDP-50BX2
Main Supply Voltage
(Vrms) 3-phase 200 to 230V, +10% to -15%, 50/60 Hz
Control Voltage (Vrms) Single Phase 200 to 230V, +10% to -15%, 50/60 Hz
Rated Input Current
(Arms) 8.2 10.3 15.1 19.4 22.2
Input Power (kVA) 4.5 6 9 12 15
Output Voltage (Vrms) 200 200 200 200 200
Rated Output Current
(Arms) 10 13 19 25 28.5
Peak Output Current
(Arms) 30 39 57 75 85.5
Output Frequency 0 - 400 Hz
The performance specifications of CSDP Plus
Classification 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 0 to 55°C/90% RH or less
Ambient Temperature/
Humidity in Storage -25 to 80°C/90% RH or less
Mounting Type Base Mounted Type
Speed/Torque Control
Performance
Speed Control Range 1:5000
Load Fluctuation Rate ± 0.01% or less at the Rated Speed and within the Load Range
of 0 to 100%
Voltage Fluctuation
Rate 0% at the Rated Speed and Supply Voltage of 220V AC
Temperature
Fluctuation Rate
0.1% or less at the Rated Speed and Ambient Temperature of
25°C
Speed Response
Frequency 400 Hz
Torque Control
Accuracy ± 2%
Acceleration/
Deceleration Time 0 to 60 sec.
Position Control
Performance
Feed forward 0 to 100%
Positioning
Completion Range 0 to 250 pulse

15
Servo Motor
Motors supported by CSDP Plus are as follows.
Position Control
Command
Input Signal
Command Pulse Type CW + CCW, Pulse Train+ Signal Train, A Phase+ BPhase
(90° phase difference)
Command Input Type Line drive - Voltage between levels 2.8 to 3.7 V
Open collector - External Voltage 24 V, 12 V, 5 V
Pulse Frequency Line drive - Maximum 900 kpps
Open collector - Maximum 250 kpps
Control Signal Position Error Clear Input (Set at one of input terminals)
Speed/Torque
Command Input
Signal
Command Voltage ±10 V DC (14 bit A/D conversion)
Input Impedance Approx. 8.3 MΩ
Circuit Time Constant 35 µs or less
Multi-level Speed
Command Input
Signal
Revolving Direction Used by assigning relevant functions to an input terminal
Speed Selection Used by assigning relevant functions to an input terminal
I/O Signal
Position Output Type Line Drive Output: A, B, Z Phase, Absolute Encoder Data
Open Collector Output: Z phase
Input
Servo On, Alarm Reset, Gain Group Shift, Forward/Reverse
Torque Limit, Forward/Reverse Revolution Prohibition, P/PI
Control Shift, Control Mode Shift, Internal Speed Command,
Zero 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 Output, Servo Warning Detection
Dynamic Brake When servo power supply is off, When alarm occurs, When
over-travel occurs (depending on conditions)
Regenerative Resistance Embedded in Drive
Protection Function Over current, Over voltage, Overload, Over speed, Low
Voltage, CPU Malfunction, Communication Malfunction, etc.
Monitoring Position/Speed/Torque Command and Feedback, 2 Channel
D/A Output for measuring position error
The performance specifications of CSDP Plus
Classification Item Specifications
CSDP Plus-supported motors
CSDP-15BX2 CSDP-20BX2 CSDP-30BX2 CSDP-40BX2 CSDP-50BX2
CSMD-15 CSMD-20 CSMD-25/30 CSMD-35/40 CSMD-45/50
CSMF-15 CSMF-25 CSMF-35 CSMF-45
CSMH-15 CSMH-20 CSMH-30 CSMH-40 CSMH-50
CSMK-12 CSMK-20 CSMK-30 CSMK-45/60
CSMS-15 CSMS-20 CSMS-25/30 CSMS-35/40 CSMS-45/50
RSMD-15 RSMD-20 RSMD-25/30 RSMD-40 RSMD-45/50
RSMF-15 RSMF-25 RSMF-35 RSMF-45
RSMH-15 RSMH-20 RSMH-30 RSMH-40 RSMH-50
RSMK-12 RSMK-20 RSMK-30 RSMK-45/60
RSML-12 RSML-20 RSML-30 RSML-45/60
RSMN-12 RSMN-20 RSMN-30
RSMS-15 RSMS-20 RSMS-25/30 RSMS-35/40 RSMS-45/50
RSMX-13 RSMX-20 RSMX-30 RSMX-45

16
General specifications of all the motors are 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 3.5 kW
40 4.0 kW
45 4.5 kW
50 5.0 kW
60 6.0 kW

17
Input Voltage B stands for 220V AC.
Definitions of the remaining numbers are as follows.
Encoder
CSDP Plus-supported encoders are as follows.
Servo Motor Label Number
Item No. Specifications
Input Voltage
A 110V AC
B 220V AC
C24VDC
D 110/220VAC
Motor Shaft Key A Key Present
B Key Absent
Option
N Option Absent
B Brake Present
S Oil Seal Present
T 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 2500 P/R 11-wire type Inc.
B 2500 P/R 15-wire type Inc.
D 1000 P/R 15-wire type Inc.
H 2048 P/R Compact Abs.
M 10000 P/R 15-wire type Inc.
RSMD, RSMF, RSMH, RSMK, RSML,
RSMN, RSMS, RSMX
A 2500 P/R 9-wire type Inc.
K 5000 P/R 15-wire type Inc.
L 6000 P/R 15-wire type Inc.
M 10000 P/R 15-wire type Inc.
H 2048 P/R Compact Abs.
Q 17 Bit Serial Abs.
R 17 Bit Serial Inc.

18

19
2
Installation
Servo Motor Installation
Please pay special attention to the following 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.
Please pay attention to the
concentricity of the coupling that is
linked to the load.

20
Please do not put stress on the
electric wires.
Please mount the motor vertically
or horizontally.
The shaft is oiled for corrosion
prevention. Please remove it before
installation.
Please connect 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 motor shaft and load shaft
after coupling assembly. Take four measurements by rotating each 90°
and adjust the difference between the maximum value and the
minimum value to be 0.03 mm or less.

21
Load Connection
If the center of the shaft
does not match, it will lower
the performance.
Allowed Load for Motor Shaft
Please make sure the load
on the motor shaft doesn’t
exceed load allowance.
Please refer 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 Ventilation.
• Easy to check and clean.
• No explosive gas.
Motor Installation Specifications
Item Condition
Storage Temperature -20 to 80°C
Operating Temperature 0 to 55°C
Operating Humidity RH 90% or less, non-condensing.

22
Servo Drive Installation
Please check the following before installing CSDP Plus.
• Does the delivered product match the order?
• Does the servo motor match the specifications of the servo drive?
• Is the product broken?
• Does the product 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
• Easy to check
• No explosive gas.
CSDP Plus Installation Specifications
Item Condition
Storage Temperature -20 to 80° C
Operating Temperature 0 to 55° C
Operating Humidity RH 90% or less, non-condensing
Vibration 0.5g (4.9 m/S2) or less