RS Automation CSD5 User manual

Installation Instructions
CSD5 Digital Servo Drives
Language Page
English 3
한국어 21
Catalog Number(s): CSD5_xxBx1

English
Contents
Important User Information ................................................................ 4
About This Publication ........................................................................ 4
Unpacking Your CSD5 Digital Servo Drive ......................................... 4
Installation Checklist .......................................................................... 5
Drive Dimentions and Mounting Locations ........................................ 6
Power Wiring Diagram ....................................................................... 8
I/O Interface Diagram ......................................................................... 9
Drive Setup ......................................................................................... 9
Mating Connectors ........................................................................... 11
Drive Displays ................................................................................... 11
Drive Specifications .......................................................................... 18
Fuse and Contactor Recommendations ............................................ 20
Related Documentation .................................................................... 20

4
CSD5 Digital Servo Drives
About This Publication
This Installation Instructions provides the basic information for installing and verifying the
operational status of an CSD5 with a compatible motor. This Installation Instructions is intended for
qualified drive service personnel only.
For detailed and application related information about CSD5 drives, refer to the on-line help
provided with RSware software and the CSD5 Digital Servo Drive User Manual.
Set up your drive as easy as:
Wire the drive.
Configure using the Setup Wizard in RSware.
Spin the motor.
Unpacking Your CSD5 Digital Servo Drive
The box contains the following:
One CSD5 drive,
Three removable plugs mounted on the power connectors of the drive,
One connector tool for opening wire clamps on power connectors, and
This
Installation Instructions document.
Important User Information
Solid state equipment has operational characteristics differing from those of electromechanical
equipment. There are some important differences between solid state equipment and hard-wired
electromechanical devices. 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 RS Automation Co., Ltd. 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, RS Automation Co.,
Ltd. cannot assume responsibility or liability for actual use based on the examples and diagrams.
No patent liability is assumed by RS Automation Co., Ltd. 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 RS
Automation Co., Ltd., is prohibited.
Throughout this manual, when necessary, we use notes to make you aware of safety considerations

5
CSD5 Digital Servo Drives
Installation Checklist
Always adhere to the following installation guidelines:
Mechanical Checklist
The ambient temperature of the drive must be in the range of 0°C to 50°C (32°F to 122°F).
Units suitable only for use in a pollution degree 2 environment in case of open type models.
To maintain the pollution degree environment, the air should be free of oil, corrosives, or
electrically conductive contaminates.
The humidity of the drive environment must not exceed 95%, and water must never condense on
the drive.
Ensure that adequate clearances are present above, below, and at the sides of the drive for
ventilation (see Figure 1). Allow adequate clearance in front for proper cable bend radius.
Size the drive enclosure adequately to properly manage the ambient temperature, after taking the
drive power dissipation into consideration.
Implementation of safety circuits and risk assessment is the responsibility of the machine builder.
Electrical Checklist
Follow all applicable local codes and regulations to safely ground your system.
Separate AC input power wiring and motor power cables from other control and motor feedback
cables.
When using transformer isolation of the input power, the secondary must be grounded.
Transformers must be sized at double the sum of the output power of each axis.
The electronic equipment, enclosure, machine frame, and motor housing should all be electrically
bonded at high frequencies. Heavy braid wire should be used when mechanical bonding is not
possible.
In applications that repeatedly apply and remove main AC power to the drive, ensure that the
cycling rate of the drive is not exceeded.
AC line filters are recommended and should be located as close to the drive as possible.
Figure 1
Clearance Requirements for CSD5 Drives
50.0 mm (1.97 in.)
above drives
30.0 mm
(1.18 in.)
from adjacent
wall
below drives
50.0 mm (1.97 in.)
10.0 mm
(0.39 in.)
between
drives

6
CSD5 Digital Servo Drives
Drive Dimentions and Mounting Locations
Drive dimensions are shown in the following diagrams. Clearance requirements are shown on page 5.
Figure 2
Dimensional Outline Drawing for CSD5_A5Bx1, CSD5_01Bx1 and CSD5_02Bx1
Figure 3
Dimensional Outline Drawing for CSD5_04Bx1
48.3
(1.90)
4.7
(0.19)
5.0
(0.20)
5.0
(0.20)
145.0
(5.71)
Mounting hole (top) and
slot (bottom) require M4
x 10 bolts
Chassis ground
terminal(1)
53.0
(2.09)
141.0
(5.55)
153.4
(6.04)
50.0
(1.97)
155.0
(6.11)
Dimensions are in millimeters (inches). Drives are designed to metric dimensions; inches are mathematical conversion.
48.3
(1.90)
9.7
(0.38)
5.0
(0.20)
5.0
(0.20)
145.0
(5.71)
Mounting hole (top) and
slot (bottom) require M4 x
10 bolts Chassis ground terminals (2)
141.0
(5.55)
153.4
(6.04)
50.0
(1.97)
155.0
(6.11)
58.0
(2.29)
Dimensions are in millimeters (inches). Drives are designed to metric dimensions; inches are a mathematical conversion.

7
CSD5 Digital Servo Drives
Figure 4
Dimensional Outline Drawing for CSD5_08Bx1, CSD5_10Bx1 and CSD5_15Bx1
59.0
(2.32)
22.0
(0.87)
5.0
(0.20)
5.0
(0.20)
145.0
(5.71)
Mounting hole (top) and slot (bottom)
require M5 x 10 bolts
Chassis ground
terminals (2)
186.0
(7.34)
198.6
(7.82)
50.0
(1.97)
155.0
(6.11)
81.0
(3.19)
Dimensions are in millimeters (inches). Drives are designed to metric dimensions; inches are a mathematical conversion.

8
CSD5 Digital Servo Drives
Power Wiring Diagram
10. Refer to manual included with motor for power, feedback, and brake interconnect information (pinouts and/or wire colors).
11. Wire sizes are minimum recommended values. Local regulations should be observed.
MOTOR
MOTOR POWER WIRES U, V, W, AND GND
MOTOR POWER
MATING CONNECTOR
CONTACT SIZE
CSM-,
RSM-
SERIES
2.5 mm (14 AWG)
2
MINIMUM
RECOMMENDED
POWER WIRE SIZE
(75 C COPPER)
O
2.5 mm (14 AWG)
2
TERMINAL STRIP ACCEPTABLE WIRE RANGES
0.08 - 2.5 mm (28 - 12 AWG)
2
PIN SIGNAL
A
B
C
U
V
W
D
MOTOR POWER
CONNECTOR
MOTOR CASE
(GROUND)
INPUT POWER WIRES
2.5 mm (14 AWG)
2
2.5 mm (14 AWG)
2
2.5 mm (14 AWG)
2
2.5 mm (14 AWG)
2
2.5 mm (14 AWG)
2
DRIVE TERMINALS
MINIMUM
RECOMMENDED
POWER WIRE SIZE
(75 C COPPER)
O
L1, L2, (L3), L1C, L2C, GND
DIGITAL DRIVE MODULE INPUT CURRENT REQUIREMENTS
DRIVES TERMINALS
L1, L2, GND
MAXIMUM
CURRENT REQUIREMENT,
(AMPS, AC RMS)
1.30 AMPS AC at 200-240 VOLTS AC
2.38 AMPS AC at 200-240 VOLTS AC
3.68 AMPS AC at 200-240 VOLTS AC
7.14 AMPS AC at 200-240 VOLTS AC
L1, L2, (L3), GND 6.25/10.82 AMPS AC at 200-240 V AC
8.75 AMPS AC at 200-240 VOLTS AC
6. High-frequency grounding, using heavy braided wires, should connect together the electronic equipment, electrical enclosure, machine frame, and motor housing.
5. Internal shunt resistor is present only on CSD5_04Bx1, CSD5_08Bx1, CSD5_10Bx1 and CSD5_15Bx1 drives.
B1 and B2 should be left disconnected on CSD5_A5Bx1, CSD5_01Bx1 and CSD5_02Bx1 drives.
3. Isolation transformer is optional. If used, the secondary of the transformer must be grounded.
9. CSD5_A5Bx1, CSD5_01Bx1 and CSD5_02Bx1 drives have one grounding screw on the heatsink.
CSD5_04Bx1, CSD5_08Bx1, CSD5_10Bx1 and CSD5_15Bx1 drives have two grounding screws on the heatsink.
7. CSD5_A5Bx1, CSD5_01Bx1, CSD5_02Bx1 and CSD5_04Bx1 drives are single-phase AC input drives; input power is not connected to L3 on these drives.
Notes:
8. DC Bus Voltage connection - not an AC power input.
2. If using an isolation transformer, ensure the phase to neutral/ground voltage does not exceed the input ratings of the drive.
1. A supply disconnecting device is required for maintenance and safety. Local regulations should be observed.
4. AC line filter and shielded motor cable are to be used for improving the drive module's electromagnetic compatiblity (EMC), and are required to meet European EMC directive.
Wiring between the drive module and filter should be kept as short as possible. The common ground bus bar should be as close to the drive as possible.
CAUTION: AC line filters have large leakage currents and require discharge time upon power removal.
Tighten the ground terminal screw(s) to 1.25 Nm (11 lbs-in.)
L1
Servo Drives
L2
L3
L1C
L2C
DC-
B1
B2
M1
AC
LINE
FILTER
SHUNT
RESISTOR
U
V
W
MOTOR
FUSE
BLOCK
1:1 ISOLATION
TRANSFORMER
FUSED
DISCONNECT
OR CIRCUIT
BREAKER
230V
3-PHASE
AC LINE
50/60 HZ
DRIVES
2
7
4
3
5
8
6
1
9
10
GROUND BAR
6
L1, L2, GND
L1, L2, GND
L1, L2, GND
L1, L2, L3, GND
12.37 AMPS AC at 200-240 VOLTS AC
L1, L2, L3, GND
CSD5_A5Bx1
CSD5_01Bx1
CSD5_02Bx1
CSD5_04Bx1
CSD5_08Bx1
CSD5_10Bx1
CSD5_15Bx1
CSD5_A5Bx1
CSD5_01Bx1
CSD5_02Bx1
CSD5_04Bx1
CSD5_08Bx1
CSD5_10Bx1
CSD5_15Bx1
2.5 mm (14 AWG)
2
L1, L2, L3, L1C, L2C, GND
2.5 mm (14 AWG)
L1, L2, L1C, L2C, GND
L1, L2, L1C, L2C, GND
L1, L2, L1C, L2C, GND
L1, L2, L1C, L2C, GND
L1, L2, L3, L1C, L2C, GND

9
CSD5 Digital Servo Drives
I/O Interface Diagram
Drive Setup
The Setup Wizard found in the Commands menu of RSware software is a quick way to configure
your CSD5 servo system. A step-by-step procedure assists in the selection of controls and motor to
be configured with the CSD5 drive, and then tunes the assembled system.
For detailed hardware, interconnect, and application related information about CSD5 drives, refer to
the following:
The on-line help provided with RSware software.
The CSD5 Digital Servo Drive User Manual.
24V
Active Low/High
Programmable
Digital Inputs
High Frequency
Position
Command
*Speed Command
-10Vto +10V
*Current Command
-10Vto +10V
Position
Command
16-bit
A/D
12-bit
A/D
INPUT1 (/SV-ON)
INPUT2 (P-OT)
INPUT3 (N-OT)
INPUT4 (/P-CON)
INPUT5 (/A-RST)
INPUT6 (/N-TL)
INPUT7 (/P-TL)
INPUT8
INPUT9
INPUT10
24V_PULS+
HF_SIGN -
HF_SIGN +
HF_PULS-
HF_PULS+
SIGN -
SIGN +
24V_SIGN+
PULS-
PULS+
E-STOP
INPUT OUTPUT
Binary Fault Code Outputs
/ Digital Outputs
Binary Fault Code Ground
/ Digital Outputs Ground
Buffered
Encoder
Output
Absolute Position
Serial Output
Encoder
Marker
Pulse
Fault
Output
24V
Programmable
Digital
Outputs
OUTPUT1+
OUTPUT1-
OUTPUT3+
OUTPUT3-
OUTPUT2+
OUTPUT2-
Z-PULSE +
Z-PULSE -
FAULT +
FAULT -
CN1
FCOM/OUTCOM
AM +
AM -
BM +
BM -
IM +
IM -
PS+
PS-
24V[or GND]
GND [or 24V]
FAULT 1 / OUTPUT 4
FAULT 3 / OUTPUT 6
FAULT 2 / OUTPUT 5
1
9
8
7
6
4
3
2
5
26
27
2
2
28
10
22
21
20
19
24
16
15
14
13
25
12
11
49
23
50
36
35
34
33
32
31
30
40
39
38
37
29
48
47
44
43
42
46
45
18
17
41
P
P
P
P
P
P
P
P
P
150
150
*It cannot be used by position type models.

10
CSD5 Digital Servo Drives
Figure 5
CSD5 Front Panel Display and Connections
I/O Motor Feedback
DC -
4 2
3 1
L1 - Main AC Power
L2 - Main AC Power
L3 - Main AC Power
L1C - Control Power
L2C - Control Power
DC- - DC Bus Negative
B1 - Shunt Resistor +
B2 - Shunt Resistor -
U - Mtr Power U-Phase
V - Mtr Power V-Phase
W - Mtr Power W-Phase
7-Segment LED
Display
Left/Right and
Up/Down Keys
Main Power Indicator
Mode/Set Key
Enter Key
1 - +24V IN
2 - +24V IN
3 - INPUT1
4 - INPUT2
5 - INPUT3
6 - INPUT4
7 - INPUT5
8 - INPUT6
9 - INPUT7
10 - ESTOP
11 - PULS +
12 - PLUS -
13 - SIGN +
14 - SIGN -
15 - HF_PULS +
16 - HF_PULS -
17 - Z-PULSE+
18 - Z-PULSE-
19 - VCMD+
20 - VCMD-
21 - ICMD+
22 - ICMD-
23 - HF_SIGN +
24 - HF_SIGN -
25 - 24V_SIGN +
Motor Feedback
26 - INPUT8
27 - INPUT9
28 - INPUT10
29 - AM+
30 - AM-
31 - BM+
32 - BM-
33 - IM+
34 - IM-
35 - PS+
36 - PS-
37 - FAULT1/OUTPUT4
38 - FAULT2/OUTPUT5
39 - FAULT3/OUTPUT6
40 - FCOM/OUTCOM
41 - OUTPUT1+
42 - OUTPUT1-
43 - OUTPUT2+
44 - OUTPUT2-
45 - FAULT+
46 - FAULT-
47 - OUTPUT3+
48 - OUTPUT3-
49 - 24V_PULS +
50 - Reserved
Input/Output (I/O)
1 - ECOM
2 - TS
3 - A+
4 - A-
5 - B+
6 - B-
7 - I+
8 - I-
9 - LMT-
10 - S1/SD+
11 - Reserved
12 - Reserved
13 - SD-
14 - S2
15 - Reserved
16 - S3
17 - LMT+
18 - Reserved
19 - Reserved
20 - EPWR
Input Power
Shunt Power
Motor Power
Serial Interface
Comm0A (Up)
Comm0B (Down)
1 - XMT
2 - RCV
3 - Reserved
4 - GND
5 - DX+
6 - DX-
1 - Analog Output #2
2 - Analog Output #2 GND
3 - Analog Output #1
*Analog Output
4 - Analog Output #1 GND
RS485 Comm.
Termination Switch
*It cannot be used by position type models.

11
CSD5 Digital Servo Drives
Mating Connectors
Drive Displays
The 7-segment display provides operational information when the drive is functioning, or
warning/error messages when abnormalities are encountered.
Normal operational information consists of six characters that display data in three categories. The
categories consist of a Control Mode (characters 4 and 5), a Row Display (3), and Status (0 to 2).
Figure 6 depicts these categories and defines the information provided. Overtravel displays (see the
table following Figure 6) occur if the drive detects an overtravel condition.
Figure 6
Operational Drive Displays
Connector Type Wire Size Manufacturer P/N
Input Power Single-row, spring
clamp connectors
with 7.5 mm spacing
0.08 - 2.5 mm2
(12 - 28 AWG)
8 mm (0.3 in.) of
wire exposed
Wago 231-206/026-000 1
Shunt Power Wago 231-202/026-000 1
Output (Motor) Power Wago 231-203/026-000 1
Input/Output 50-pin mini-D 0.2 mm2
(24 - 30 AWG)
3M. 10150-3000PE (Connector)
3M. 10350-52F0-008 (Case)
Motor Feedback 20-pin mini-D 3M. 10120-3000PE (Connector)
3M. 10320-52F0-008 (Case)
Serial Interface
Comm0A, Comm0B
6-pin 1394 3M.3E306-3200-008 (Connector)
3M.3E206-0100 KV (Case)
1 Tool (Wago 231-131) for opening individual cage clamps on above power connectors is supplied.
Overtravel Display Possible Cause Action/Solution
Positive Overtravel
A Positive Overtravel condition is
detected.
Apply motion in a negative direction to back
off limit.
Negative Overtravel
A Negative Overtravel condition is
detected.
Apply motion in a positive direction to back
off limit.
Character: 5 4 3 2 1 0
rdy = Drive is disabled, but ready to be enabled
run = Drive is enabled and motor is under control
Status: Characters 0 through 2
Middle Row = Active if velocity exceeds Up To Speed parameter
Row Display: Character 3
Top Row = Inactive for any Current mode
Active if Velocity Mode. and Velocity Error is within the velocity window
Active if Follower Mode. and Position Error is within following error setting
Bottom Row = Active for hall startup motors once the commutation angle is set
Active for motor once the first index pulse occurs
C = Analog Current
Control Mode: Characters 4 and 5
F = Follower
S = Analog Speed
P = Preset Velocity
I = Indexing

12
CSD5 Digital Servo Drives
Warning and Error Displays
Warnings or errors are displayed by the drive as shown and explained in the following tables.
Warnings are drive abnormalities that allow motor control to continue. The Warning display uses
only the last three digits of the six-digit display.
Errors are serious abnormalities that do not allow motor control. The Error display alternates
between a three-digit error code and a six-digit text message.
Warning Display Possible Cause Action/Solution
Absolute Encoder Counter
Overflow
The Q Type Absolute Encoder is rotated
forward or reverse over 32768
revolutions.
Reset the absolute encoder.
Absolute Encoder Battery
3.2V or less output from encoder battery
or external power supply.
Replace battery or verify external power
supply. 1
Power Up Overspeed
Control power is applied to the drive
while the motor is in motion.
After verifying motor has stopped, recycle
control power.
Over Current Command
Improper setting of analog current scale Verify scaling parameter corresponds to
analog signal range.
System cannot meet motion profile Verify velocity loop tuning.
Verify system sizing.
Incorrect current limit settings Verify current limits do not restrict current to
less than system capabilities.
Over Speed Command
Improper setting of analog velocity scale Verify scaling parameter corresponds to
analog signal range.
System cannot meet motion profile Verify position loop tuning.
Verify system sizing.
Digital I/O Assignment
Inappropriate assignment of digital
inputs or outputs
If operated in preset mode, verify presets
are assigned.
If operated in a normal/override mode,
verify the override function is assigned.
Over Motor Rated Output
Power
Motor power is set higher than the drive
rated output.
Use a motor suitable to the drive or set
the torque limit below the drive capacity.
1 Battery replacement causes loss of absolute position. Homing may be necessary.

13
CSD5 Digital Servo Drives
Error
Code
Text
Message
Possible Cause Action/Solution
Motor Overtemperature
Motor thermal switch trips due to:
High motor ambient temperature,
and/or
Excessive current
Operate within (not above) the continuous
torque rating for the ambient
temperature.
Lower ambient temperature, or increase
motor cooling.
Motor wiring error Check motor wiring.
Incorrect motor selection Verify the proper motor has been selected.
IPM Error
Motor cables shorted Verify continuity of motor power cable and
connector.
Motor winding shorted internally Disconnect motor power cables from the
motor. If the motor is difficult to turn by hand,
it may need to be replaced.
Operation above continuous power
rating
Verify ambient temperature is not too
high.
Operate within the continuous power
rating.
Reduce acceleration rates.
Drive has a bad IPM output, short circuit,
or overcurrent
Remove all power and motors connections,
then perform a continuity check from the DC
bus to the U, V, and W motor terminals. If
continuity exists, check for wire fibers
between terminals, or send drive in for repair.
Bus Undervoltage
Low AC line/AC power input Verify voltage level of the incoming AC
power.
Check AC power sources for glitches or
line drop.
Install uninterruptible power supply (UPS)
on the AC input.
Attempted to enable drive without main
power active.
Apply main power before enabling drive.
Bus Overvoltage
Excessive regeneration of power (i.e.,
When the motor is driven by an external
mechanical force, it may regenerate too
much peak energy through the drive’s
power supply and the drive faults to save
itself from an overload.)
Verify shunt circuit.
Adjust motion profile to stay within the
range of the regenerative resistor.
Replace regenerative transistor.
Replace drive.
Excessive AC input voltage Verify input is within specification.

14
CSD5 Digital Servo Drives
Home Search Failed
Homing is not complete until the time
defined in Homing time limit (IN-01.10) is
elapsed.
Increase the time defined in Homing time
limit(IN-01.10).
Set a value other than '0' in Homing
Velcoity (IN-01.02) and Creep
Velcoity(IN-01.03) .
Check if there is any obstacle which
disturbs Homing.
Check mechanical parts and parameter
settings for Homing.
Motor Overspeed
Motor speed exceeds maximum Confirm encoder wiring.
Retune drive system.
Verify input gain of external speed or
torque command.
Excess Position Error
Position error exceeds permitted value Increase following error limit.
Check position loop tuning.
Motor Continuous Current
Overload
The internal filter protecting the motor
from overheating has tripped
Reduce acceleration rates.
Reduce duty cycle (ON/OFF) of
commanded motion.
Increase time permitted for motion.
Use larger drive and motor.
Check tuning.
Drive Overload
The motion application requires average
drive current in excess of rated capability
Reduce acceleration rates.
Reduce duty cycle (ON/OFF) of
commanded motion.
Increase time permitted for motion.
Use larger drive and motor.
Check tuning.
Axis Not Homed
A user tries absolute indexing without
homing operation completed.
Complete homing before absolute indexing
Encoder Data Range Error
Encoder not programmed correctly Replace motor.
Encoder memory corrupted
Encoder Cable Open
Communication not established with an
intelligent encoder.
Verify motor selection.
Verify the motor supports automatic
identification.
Verify encoder wiring.
Hall error
Encoder Data Parameter
Error
Encoder not programmed correctly Replace motor.
Encoder memory corrupted
Error
Code
Text
Message
Possible Cause Action/Solution

15
CSD5 Digital Servo Drives
Drive Overtemperature
Excessive heat exists in the drive Verify cooling fan operation
(CSD5_08Bx1, CSD5_10Bx1 and
CSD5_15Bx1 only).
Check tuning.
Reduce acceleration rate.
Reduce duty cycle (ON/OFF) of
commanded motion.
Increase time permitted for motion.
Use larger drive and motor.
AC Line Loss
Poor quality power Increase Ride Through time.
Attempted to enable drive without main
power active
Apply main power before enabling drive.
Phase connection missing Remove power and verify all physical
connections.
Fault Delay parameter is set too short Increase the Fault Delay parameter setting.
User Parameter
Initialization Error
Error in parameter memory storage Reinitialize parameter.
Reset drive to factory defaults.
Current Feedback Offset
Defective hardware Replace drive.
User Parameter Checksum
Error
Checksum error Confirm and reset parameter.
Reset drive to factory defaults.
Watchdog Timeout
Excessive system noise Verify wiring and installation methods.
Defective hardware Replace drive.
PWM Hardware Error
Defective hardware Contact your close sales representatives.
User Parameter Range
Error
Range of parameter is invalid Enter parameter with value(s) within
range.
Reset drive to factory defaults.
Drive Initialization Error
Hardware error Replace drive.
Shunt Overload Protection
Power at regenerative resistor exceeds
the permitted value
Adjust motion profile to stay within the range
of the regenerative resistor.
Shunt resistor is disconnected or
damaged
Verify resistor connection.
Verify resistance of shunt resistor.
Error
Code
Text
Message
Possible Cause Action/Solution

16
CSD5 Digital Servo Drives
Shunt Overcurrent
Protection
Shunt current exceeded allowable
instantaneous value
Verify shunt is not shorted or damaged.
Verify load energy is not excessive during
deceleration.
Absolute Encoder Battery
Error
Encoder Backup Battery parameter is set
to installed, but a battery is not installed.
Set Encoder Backup Battery parameter to Not
Installed.
Battery voltage is sensed below 2.7V dc. Confirm battery voltage and connection.
Replace battery.
Absolute Encoder
Overspeed
Battery powered encoder is
mechanically rotated at high speed
while drive is powered down
Mechanically disengage motor from
system.
Cycle power to drive and reset alarm.
Absolute Encoder
Multi-turn Count Error
Noise in the encoder Cycle power to drive and reset alarm.
Defective encoder Replace motor.
Drive Set Up
The drive operating mode and motor
selection are incompatible.
Change the operating mode and/or the motor
selection, and reset the drive.
Motor Power Cable Open
Motor cable open Verify power connection between motor and
drive.
Motor Instantaneous
Current Overload
Motion profile requires a peak current
for an excessive time interval
Verify motor wiring.
Adjust accel/decel time.
Confirm motor selection.
Defective current feedback sensing Verify phase currents.
Motor Mismatch
Dynamic braking current of the selected
motor exceeds twice the drive peak
current rating
Install a different motor.
Encoder Type Mismatch
Motor encoder signals do not match
drive configuration
Verify motor selection.
Defective encoder Replace motor.
Encoder Communication
Error
Wiring between drive and encoder is
faulty or disconnected, or EMI (noise)
disrupts encoder signals.
Verify encoder wiring.
Contact your close sales representatives.
Serial Communication
Error
Communications error between host and
drive (noise)
Verify serial cable.
Check for noise on serial interface.
Position Command
Frequency Error
Input frequency limit exceeded Verify hardware type selected in the drive
matches the physical hardware.
Change from open collector to line drive.
Reduce the speed command.
Apply gearing.
Error
Code
Text
Message
Possible Cause Action/Solution

17
CSD5 Digital Servo Drives
Emergency Stop
Emergency stop (E-STOP) signal detected Remove Emergency stop conditions
Clear E-STOP
Index Position Range
Overflow
The value of a Position Parameter for
indexing is out of the range Use a value within the range of -231~+231
Motor Phase Over Current
Problem with control or main power
circuitry if this error occurs when
power is turned on
Excessive current to the motor if this
error occurs during operation (
current more than 300% of the rated
current to the motor more than 250
ms)
Check wiring and power
Check power and set/adjust
acceleration/decceleration time
Error
Code
Text
Message
Possible Cause Action/Solution

18
CSD5 Digital Servo Drives
Drive Specifications
Drive CSD5_
A5Bx1 01Bx1 02Bx1 04Bx1 08Bx1 10Bx1 15Bx1
Weight 0.9 kg (1.98 lbs)
1.2 kg
(2.65 lbs)
2.1 kg (4.63 lbs)
Temperature 0° C to 50° C (32° F to 122° F)
Operating Shock,
and Vibration
- Shock
15g, 11ms half-sine pulse
(3 positive and 3 negative pulses in each of 3 mutually perpendicular directions)
- Vibration
5-55Hz @ 0.35 mm (0.014") double amplitude, continuous displacement,
55-500Hz @ 2g peak constant acceleration
(10 sweeps in each of 3 mutually perpendicular directions)
Short Circuit Current Rating
with No Fuse Restrictions
Suitable for use on a circuit capable of delivering not more than 5000 rms symmetrical
amperes, 240 Volts maximum.
Short Circuit Current Rating
with Fuse Restrictions
Suitable for use on a circuit capable of delivering not more than 100,000 rms symmetrical
amperes, 240 Volts maximum, when protected by high interrupt capacity, current limiting
fuses UL248 (Class CC, G, J, L, R, T).
Motor Overload Protection Utilizes solid state motor overload protection which operates:
within 8 minutes at 200% overload.
within 20 seconds at 600% overload
Motor over-temperature sensing is not provided by the drive.
Symbols Used on Drive Protective ground conductor terminal
Certification and Compliance UL®listed to U.S. and Canadian safety standards (UL 508C File E226834)
CE marked for all applicable directives
Integral solid state short circuit protection does not provide branch circuit protection. Branch circuit protection must be provided in accordance with the National
Electrical Code and any additional local codes.
Main Input Power
Nominal Input Voltage (Vrms)
1,2
200-240V, 1 phase, 50 or 60 Hz 200- 240V,
1or3 phase,
50 or 60 Hz
200- 240V,
3 phase,
50 or 60 Hz
Input Current (Arms) 1.3A 2.38A 3.68A 7.14A 6.25A
(3 phase)
10.82A
(1 phase)
8.75A 12.37A
Maximum Inrush Current
(0-peak)
22.6A
Maximum Power
Cycles/Minute
2 power cycle/1 minute interval
DC Bus Discharge Time 5 minutes after removal of main AC power
Control Input Power
Input Voltage (Vrms) 1,2 200-240V, 1 phase, 50/60 Hz
Input Current (Arms)0.1A

19
CSD5 Digital Servo Drives
Maximum Inrush Current
(0-peak)
31A
Inverter Output
Continuous Output Current
(Arms)
0.6A 1.1A 1.7A 3.3A 5.0A 7.0A 9.9A
Intermittent Output Current
(0-peak)
2.55A 4.67A 7.21A 14.0A 21.21A 29.70A 41.99A
Continuous Output Power @
240V
ac
160VA 300VA 460VA 890VA 1350VA 1890VA 2670VA
Power Dissipation
Maximum Power Dissipation 50W 50W 50W 50W+
30W3
100W
70W3
150W+
70W3
1 Nominal values are listed. Absolute range is 170 to 264 Vrms.
2 The AC input voltage between any two input power pins (L1, L2, L3, L1C, L2C, and CHASSIS) must not exceed this rating. This
note also applies to the CHASSIS ground connection, which implies that transformer secondaries must be grounded.
3 Maximum Power Dissipation includes dissipative power of drive plus the Continuous Shunt Power rating of the drive’s internal
shunt.
Internal Shunt Power
Continuous Shunt Power – – – 30W 70W
Instantaneous Shunt Power – – – 3000W 7000W
Digital Input/Output Specifications
Type Active Low, current sinking
External Power Supply
Requirements
Voltage: 21.6V to 26.4V
Maximum Current Draw: 64 mA
Note: Digital I/O is not powered by an internal supply, customer must connect an external
power supply.
Analog Input/Output Specifications *This functions cannot be used by position type models(CSD5_xxBP1).
Inputs Voltage range is -10V to +10V
Impedance of10 k .
A/D conversion with 16-bit resolution and 12-bit resolution
Outputs Voltage range -10V to +10V
Current output of up to 10 mA into a resistive load
D/A conversion with 12-bit resolution
Motor Control Specifications
Feedback Device Power 5V supplied by drive for incremental and serial encoder devices.
Incremental Encoder
Requirements
Differential drivers for A, B, Z, and single-ended Hall signals S1, S2, and S3
Maximum line frequency: 3,500,000 lines/second (14,000,000 counts second)
Drive CSD5_
A5Bx1 01Bx1 02Bx1 04Bx1 08Bx1 10Bx1 15Bx1

20
CSD5 Digital Servo Drives
Fuse and Contactor Recommendations
Related Documentation
These publications provide additional information; specifically about RS Automation Co., Ltd. drives.
To obtain a copy, contact your local RS Automation Co., Ltd. office or distributor, or access the
documents on-line at www.oemax.com.
CSD5_
Main Power Fuses 1
A5Bx1,
01Bx1
02Bx1 04Bx1 08Bx1,
10Bx1
15Bx1
Recommended Fuse Group 1 2
FNQ-R-7 FNQ -R-10 FNQ-R-20 FNQ-R-30
Recommended Fuse Group 2 3 NA LPJ-20 LPJ-30
Control Power Fuses 1
Recommended Fuse Group 1 4FRS-R-2-1/2
Recommended Fuse Group 2 2FNQ-R-7-1/2
Recommended Fuse Group 3 3LPJ-6
Contactor 5100-M05Nxy 100-M09Nxy 100-M12Nxy 100-C16xy 100-C23xy
1 Fuses specified are Bussmann®fuses.
2 FNQ-R fuses are described as Time-Delay Fuses, Class CC.
3 LPJ fuses are described as Dual-Element Time-Delay Fuses, Class J.
4 FRS-R fuses are described as Dual-Element Time-Delay Fuses, Class RK5.
5 For contactors: xrepresents coil voltage, and yrepresents number of contacts.
For information about: Read this document:
CSD5 drive configuration and operation CSD5 Digital Servo Drive User Manual
Programming motion using CSD5 drives Help files for RSware
An overview of RS Automation servo motors, including cables Servo Motor User Manual