RS Automation CSD5 User manual

Catalog Number(s): CSD5_xxBX1
CSD5 Servo Drive
User Manual

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.
WARNING
Identifies information about practices or circumstances which may lead to serious personal injury or death, properity
damage, or economic loss.
IMPORTANT
Identifies information that is critical for successful application and understanding of the product.
CAUTION
Idnetifies information about proctives or circumstances that can lead to minor personal injury, properity damage,
ecconomic loss, or product malfuntion. However, depending on the situraiton, failutre to follow the directions
accompanying this symbol may also lead to serious consequences.

1CSD5 Servo Drive
Summary of Change
You will see change bars to the left or right of a paragraph throughout this
manual to help you quickly indentify revisions.
Manual
Revision
Changes Date
A N/A Jun 2011

CSD5 Servo Drive
SOC-2 Summary of Change

iCSD5 Servo Drive
Table Of Contents
Summary of Change
Preface
Who Should Use This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1
About This Publication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1
Conventions Used in This Manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1
Table for Parameter Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-2
Terminology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-3
Notation Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-3
Manual Description Order . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-5
Others. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-5
Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-6
Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-6
Storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-6
Transportation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-6
Installation and Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-7
Maintenance and Repair . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-7
Chapter 1
Before Using the CSD5 Servo
Drive
Product Type and Each Part Name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
Model Number of the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
Name of Each Motor Part . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
Model Number of the Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
Chapter 2
Installation
Servo Drive Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
Installation Environment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
Servo Motor Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
Chapter 3
Wiring
Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
Electric Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
Name and Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
AC Power Terminal (L1, L2, L3) and Control Power Terminal (L1C, L2C). . . 3-3
Regenerative Register Connection Port . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
Electric Circuit Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
Using the Socket and Lever. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
I/O Signal (I/O). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
I/O Connection Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
(I/O) Input Signal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10
Sequence Input Signal (Allocation) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10
General Input Signal (Fixed) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11
(I/O) Output Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13
Sequence Output Signal (Allocation) . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13
General Output Signal (Fixed) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14
(I/O) Input Circuit and Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16

ii
Pulse Command Input Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16
Analog Voltage Input Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17
Sequence Input Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-18
Emergency Stop Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19
(I/O) Output Circuit and Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20
Line Drive Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20
Photo-Coupler Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20
Encoder Wiring (Motor Feedback) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22
Pin Arrangement of Motor Feedback. . . . . . . . . . . . . . . . . . . . . . . . . . 3-22
Terminal Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23
Encoder Signal Process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-24
General Articles Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-27
Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-27
Capacity of the Drive and Fuse. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-28
Noise Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-29
Wiring when Using Several Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-33
Connection to Peripheral Equipment. . . . . . . . . . . . . . . . . . . . . . . . . . 3-34
Chapter 4
Operator, Basic Setting and
Startup
Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
About Servo-ON Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
Name and Function of Each Part . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
Icons for the Key Buttons. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
Structure of the Entire Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
Status Display Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
Overview of the Parameter Setting Mode . . . . . . . . . . . . . . . . . . . . . . . 4-9
Overview of the Monitor Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
Overview of the Operation Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
Basic Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12
Overview of the Basic Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12
Control Mode Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13
Motor Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-21
Before Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-21
Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-21
Chapter 5
Function for Control Mode
Sequence I/O (Input/Output) Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
What is Sequence I/O Signal?. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
Function of Input Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
Function of Output Signal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
Input Signal Allocation Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
Output Signal Allocation Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
Notice for Signal Allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
Position Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10
Standard Wiring Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11

iii
Position Command Pulse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11
Position Command Pulse Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-15
Electrical Specifications of Position Command Pulse . . . . . . . . . . . . . 5-17
Electronic Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18
Position Error Clear </PCLR> . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25
Pulse Command Inhibition</INHIB> Input . . . . . . . . . . . . . . . . . . . 5-25
Expansion of Electronic Gear Setting . . . . . . . . . . . . . . . . . . . . . . . . . 5-26
The Second Group of Electronic Gear </GEAR> Input . . . . . . . . . 5-27
Position Completion Signal Detection </P-COM>, Approach Signal
Detection </NEAR> Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-28
Output Width of Allowable Position Error . . . . . . . . . . . . . . . . . . . . . 5-31
Input / Output Signal Timing Diagram . . . . . . . . . . . . . . . . . . . . . . . . 5-31
Speed Control Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-32
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-32
Standard Wiring Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-33
Speed Command Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-34
Zero Clamp </Z-CLP> Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-35
Rotation Direction Switch Input </C-DIR> . . . . . . . . . . . . . . . . . . . 5-36
Motor Rotation Start/Stop Input</START>. . . . . . . . . . . . . . . . . . . 5-37
Speed Coincidence Output Signal </V-COM> . . . . . . . . . . . . . . . . . 5-38
Rotation Detection </TG-ON> Output . . . . . . . . . . . . . . . . . . . . . . 5-39
Speed Limit Function and Speed Limit Detection </V-LMT> Output . . . 5-41
Torque Control Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-43
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-43
Standard Wiring Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-44
Torque Command Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-44
Torque Limit and Torque Limit Detection </T-LMT> Output . . . . 5-46
Multi-Step Speed Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-51
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-51
Standard Wiring Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-52
Multi-Step Speed Command Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-52
Mixed Control Mode and </C-SEL> Function. . . . . . . . . . . . . . . . . . . . . 5-56
Chapter 6
Tuning by Gain Setting
Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
Mark Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
Gain Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
Inertia Ratio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
Gain Setting Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
Auto Gain Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
Auto Tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
Off-line Auto Tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
On-line Auto Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10
On-line Vibration Suppression . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11
Online Vibration Suppression Gain Setting . . . . . . . . . . . . . . . . . . . . . 6-13
Manual Gain Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-14
Gain Setting Flowchart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-14
Basic Gain Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-15
Position, Speed, Torque Related Gain Setting. . . . . . . . . . . . . . . . . . . . . . . 6-18

iv
Torque Control Related Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-19
Speed Control Related Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-21
Position Control Related Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-25
Tip to get fast response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-27
Feedforward function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-27
Speed Bias Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-28
P/PI Mode Setting Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-30
Initial Torque Bias . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-33
</G-SEL> Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-36
Gain Switching Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-37
Chapter 7
Applications
Motor Suspension . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
Servo Alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
OverTravel <P-OT>, <N-OT>. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
Dynamic Brake. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
Motor Brake Contorl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6
Change the Motor Rotation Direction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-11
Reneration Resister . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-12
Reneration Resister . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-12
External Regenerative Resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-13
Regenerative Resistor Selection Standard. . . . . . . . . . . . . . . . . . . . . . . 7-14
Setting for Smooth Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-17
Speed Limiting Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-21
Postion Feedback to the Host Controller . . . . . . . . . . . . . . . . . . . . . . . . . . 7-24
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-24
Direction Change of Output Pulse . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-24
Pulse Dividing Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-25
Analog Monitor Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-28
Use of Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-31
What is an Absolute Encoder? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-31
Contact with the Host Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-32
Battery. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-33
Reset of Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-34
Data Transmission of Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . 7-36
Operation Mode Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-41
Things to Know First . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-41
Jog Operation (run-00) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-41
Off-line Auto Tuning Operation (run-01) . . . . . . . . . . . . . . . . . . . . . . 7-43
Auto Adjustment of Speed Command Offset (run-03) . . . . . . . . . . . . 7-44
Auto Adjustment of Torque Command Offset (run-04). . . . . . . . . . . 7-46
Alarm Reset (run-08) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-49
Absolute Encoder Reset (run-10) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-50
2-Group Gain Storing (run-11) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-50
Parameter Initialization (run-12) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-50
Monitor Mode Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-52
Monitor Mode Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-54
Key Button Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-55

v
Chapter 8
Inspection and Protection
Functions
Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
Inspection of Motor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
Inspection of Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
Part Inspection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
Battery Inspection for Absolute Encoder. . . . . . . . . . . . . . . . . . . . . . . . 8-3
Protection Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
Servo Warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
Servo Alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-5
Confirmation before Requesting for A/S. . . . . . . . . . . . . . . . . . . . . . . . 8-9
Appedix B
Parameter Group
Parameter Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1
Standard Group 0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1
Standard Group 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-3
Standard Group 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-6
Standard Group 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-7
Standard Group 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-7
Standard Group 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-8
Parameter Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-9
Standard Group 0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-9
Standard Group 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-25
Standard Group 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-38
Standard Group 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-42
Standard Group 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-47
Standard Group 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-49
Indexing Drive Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-53
Indexing Group 0 - Indexing System . . . . . . . . . . . . . . . . . . . . . . . . . . B-53
Indexing Group 1 - Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-54
Indexing Group 2- Index Option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-54
Indexing Gorup 4 - Index Position/Distance . . . . . . . . . . . . . . . . . . . B-55
Indexing Group 7 - Index Dwell. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-55
Indexing Gorup 8 - Index Velocity. . . . . . . . . . . . . . . . . . . . . . . . . . . . B-56
Indexing Group 10 - Index Acceleration . . . . . . . . . . . . . . . . . . . . . . . B-56
Indexing Gorup 11 - Index Deceleration . . . . . . . . . . . . . . . . . . . . . . . B-56
Indexing Gorup 12 - Index Next Index . . . . . . . . . . . . . . . . . . . . . . . . B-57
Indexing Parameter Gorup 0 - Indexing System . . . . . . . . . . . . . . . . . B-57
Indexing Parameter Garoup 1 - Homing . . . . . . . . . . . . . . . . . . . . . . . B-59
Indexing Parameter Group 2 - Indexing Options . . . . . . . . . . . . . . . . B-62
Indexing Parameter Group 4 - Index Position/Distance . . . . . . . . . . B-63
Indexing Parameter Group 7 - Index Dwell. . . . . . . . . . . . . . . . . . . . . B-63
Indexing Parameter Group 8 - Index Velocity. . . . . . . . . . . . . . . . . . . B-63
Indexing Parameter Group 10 - Index Acceleration . . . . . . . . . . . . . . B-63
Indexing Parameter Group 10 - Index Deceleration . . . . . . . . . . . . . . B-64
Indexing Parameter Group 12 - Index Next Index . . . . . . . . . . . . . . . B-64
Run Parameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-64
Display Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-65
Warning and DRive Display. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-65

vi
Appedix C
Specification and Exterior Size
Drive Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-1
Fuse and Contactor Recommendations . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-3
Accessaries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-4
Drive Size and Exterial View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-4
Appedix D
Cable Specification
PC Communication Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-1
Appedix E
I/O Setting and Indexing
Overivew . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-1
I/O Input Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-1
I/O Sequence Input Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-1
Factory Default . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-6
I/O Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-7
Input Signal Allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-7
Output Signal Allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-8
I/O Signal Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-9
START and IMO (In Motion) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-9
I_SEL0~5 (Index Selection 0~5 Input) . . . . . . . . . . . . . . . . . . . . . . . . E-10
O_ISEL0~5(Index Selection 0~5 Output) . . . . . . . . . . . . . . . . . . . . . E-10
PAUSE(Index Pause). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-11
STOP (Index Stop) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-13
SHOM (Start Home), HOME (Home Sensor), HOMC (Axis Home). . . . E-14
Index Operation Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-15
Operation Setting after Index Movement (Action When Complete) . . E-16
Homing types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-21
Homing Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-26
S/W Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-28
Dwell Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-28
RUN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-29
Index Alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-30
Home Searching Failed. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-30
Axis not homed. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-30
Index Position Overflow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-30

1CSD5 Servo Drive
Preface
Read this preface to familiarize you with the rest of the manual.
•Who Should Use This Manual
•About This Publication
•Additional Resources
•Conventions Used in This Manual
•Safety Precautions
Who Should Use This
Manual
This manual is intended for engineers or technicians directly involved in the
installation and wiring of the CSD5 servo drive, and programmers directly
involved in the operation, field maintenance, and integration of the CSD5
servo drive with a Motion Card.
If you do not have a basic understanding of the CSD5 servo drive, contact
your local RS Automation sales representative before using this product, for
information on available training courses.
About This Publication
This manual provides detailed installation instructions for mounting, wiring,
and troubleshooting your CSD5 servo drive, and system integration for your
drive/motor combination with a Motion Card.
Additional Resources
The following documents contain additional information concerning related
CSD5 servo drive products.You can view or download publications at
www.rsautomation.biz
To order paper copies of technical documentation, contact your local RS
Automation Korea distributor or sales representative.
Conventions Used in This
Manual
The conventions starting below are used throughout this manual.
•Bulleted lists such as this one provide information, not procedural steps
•Numbered lists provide sequential steps or hierarchical information
For Read This Document
Information on the installation of your
CSD5 servo drive CSD5 Servo Drive Installation Instructions
Information on the motors used together
with CSD5 servo drive Servo Motor User Manual

CSD5 Servo Drive
P-2 Preface
Table for Parameter Setting
This manual uses the following table for parameter description.
Example of Parameter Setting
Table Description
Parameter: at the top-left side shows the parameter being described.
The setting window on the right of the parameter, is entered when the
ENTER key is pressed. The parameter must be set from the digit in black
color and the initial value shows the initial value of the parameter.
It is classified into a parameter selected among already set values (“selected
parameter”) and a parameter, which the users give appropriate value. The
selected parameter, as shown in the example above, displays both parameter
and setting window, and the latter parameter displays only the parameter and
not eh setting window.
Parameter Name: describes the value selectable by the user and the selected
value.
Description: describes the function and usage of parameter.
Setting Value: describes the value selectable by the user and the selected
value.
Initial Value: Initial Value displayed when the parameter is selected.
Applicable Mode: alphabetically displays the corresponding control mode in
setting parameter, and displays (ALL) if all are included.
Parameter
Parameter Name Motor Forward Direction
Description You can choose the rotational direction of the motor
Setting Value • 0: CW
• 1: CCW
Initial Value 0
Applicable Mode All
Others Servo-OFF > Setting > End
Mode Position mode Speed mode Torque mode Multi-step speed mode
Displa
yFSCP

3CSD5 Servo Drive
Preface P-3
Combinational control mode indicates the alphabets of two modes, combined
in a row.
ex) speed + position mode (SF), torque-speed mode (tS).
Others: normally, as described in an example of automobile, the driver cannot
manipulate parking brake of a running automobile, and the servo drive also
should be divided into Servo-ON status and Servo-OFF status when setting
the parameter.
Terminology
The following describes terminologies used in this manual.
•Servo Drive or Drive: Refer to the CSD5 Servo Drive
•Servo Motor or Motor: Refer to the servo motor exclusively for the
CSD5 drive.
•Host Controller : Refers to a controller or a device that gives
command to the drive and controls it.
•Initial Value: Refer to the value set at the factory before the
shipment.
•Setting Value: Refers to the initial value or the value changed and set
by the users.
•User’s Manual: Simply indicated as ‘manual’.
Notation Description
Within the sentences of this manual, the following is expressed as shown
below. Be fully aware of them when using the servo drive.
1. Use ‘/’ in front of Active Low signal.
Others Description
Setting > End Set regardless of the drive status.
Servo-OFF > Setting > End Set it in Servo-OFF status
Servo-OFF > Setting > Power Off &
On > End Set it in Serve-OFF status, and apply the power again

CSD5 Servo Drive
P-4 Preface
2. A figure box with both the top corners cut off diagonally represents a
circuit diagram. If I/O for I/O signal or a connector attached to the
servo driver is on the left, it is the output of I/O or servo drive.
3. If I/O for I/O signal or a connector attached to servo driver is on
the right, it is the input from the host controller to I/O or servo
drive.
4. The following shows the symbols used on the circuit
diagram.
5. The following figure shows a symbol used to show a twist pair wires
to prevent the noise generation.
6. The following figure shows a symbol used to show a shield pair wire
to prevent the noise generation.
Example
I/O
Output
R1
Host Controller
0[v]
Example
Speed Command
Host Controller
-10[v] ~ +10[v]
Input
P
VCMD+
VCMD-
19
20 I/O
Signal Description
The gure represents the pin number of the
connector, which can be marked with alphabets
tather than the numbers.
The contact is the connection between
the side A and B with the connector.
AB
1
2
3
1
2
3
Contact Point
Signal DescriptionFigure
PThe the wires where this symbol is located for
the noise prevention.
Signal DescriptionFigure
FG
Shield
Shield the wires where this symbol is located
for the noise prevention.

5CSD5 Servo Drive
Preface P-5
Manual Description Order
This manual is described in the view of users from the purchase to operation.
1. Descripbes things to know before using the product.
2. Describes the outline of product and marking.
3. Describes precations upon product installation.
4. Describes wiring with the host controller and peripheral
equipment.
5. Describes the operator for various settings.
6. Describes brief functions of the product.
7. Describes the basic settings that users should set.
8. Describes the fucntion of the product for each control modes.
9. Describes the tuning to implement optimum performance of load
system.
10.Describes simple supplementary functions.
11.Describes the protective function, fault diagnosis and
troubleshooting.
12.Describes items corresponding to various numerical data in the
Appendix.
Others
Each chapter or paragraph has a page called before you begin before
description. For easier understanding of this manual, be fully aware of the
contents of this page called before you begin in advance.

CSD5 Servo Drive
P-6 Preface
Safety Precautions
This is CSD5 User Manual describes safety matters using the following marks.
Safety marks deals with the important matters. If the following marks and
contents of each mark are indicated in the contents of this user's manual, you
must be fully aware of them and follow them.
Usage
Storage
Transportation
CAUTION
•Do not touch the inside of servo drive.
•Make sure that the servo drive and the motor are fully
grounded.
•Completely discharged before handling after power
off.
•Do not put excessive stress on the motor power and
encoder cable.
•Never touch the revolving part of the motor during
operation .
WARNING
•Avoid using the product near wet places or corrosive
and inflammable materials.
•Operate the system with no load during pilot
operation.
•Never touch the heat sink directly.
WARNING
•Do not store the product near wet places, rain, toxic
gas or fluid.
•Keep the product out of the direct rays of the sun and
store it within the storage temperature and humidity
ranges.
•Avoid overloading if the product is stored in a
warehouse.
WARNING
•Do not carry the product by holding the cable and the
motor shaft.

7CSD5 Servo Drive
Preface P-7
Installation and Wiring
Maintenance and Repair
WARNING
•Install a cooling fan to prevent excessive temperature
increase. (Refer to the Chapter 2)
•Be careful not to wiring cables around the heat sink.
CAUTION
•Install drives with regular space (at least 10 mm)
between them.
•Pay attention to the heat sink when wiring. (Refer to
Chapter 2)
WARNING
•Do not disassemble or remodel the product. Any
damage caused after the user disassembles or
remodels the product will be excluded from the
company's warranty.
•The company bears no responsibility for injuries or
physical damage caused by remodeling of this
product.
•Life-limited Parts by mechanical friction or heat
requires regular . Refer to the Chapter 8.
•In case of a failure that cannot be dealt with, please
contact the company’ s technical support team or
after-sales service center.

CSD5 Servo Drive
P-8 Preface

1CSD5 Servo Drive
Chapter 1
Before Using the CSD5 Servo Drive
This chapter describes the general matters and optional specifications that you
should know before using the CSD5 SERVO DRIVE.
Product Type and Each
Part Name
The following figure introduces the name of each part of the servo drive.
Drive Nameplate
I/O Signal Connector <I/O>
Encoder Cable Connector <Motor
Feedback>
Communication and Operator
Connector
AC Main Power Input Terminal
Control Power Input Terminal
DC Link Negative Output
Regenerative Resistor Terminal
Motor Cable Terminal
Operator
Analog Output Terminal
Terminating Resistance Setting
TIP
For more detail information about Operator, please refer to
“ Chapter 4 Operator, Basic Setting and Startup”.

CSD5 Servo Drive
1-2 Before Using the CSD5 Servo Drive
Model Number of the
Drive
The following figure describes the model name on the nameplate of the servo
drive.
•The nameplate is attached on the side of the drive case. Check the
model name on the nameplate, and check if it corresponds to the
product ordered.
•The drive type is RS Automation Servo Drive CSD5 Series.
•The serial number is included on the nameplate. Be careful not to erase
the serial number during the use.
Mounting Hall (Top, Bottom)
Regenerative Resistor
(400 [W] or Higher Attached)
Heat Sink
Wiring Socket (6P, 2P, 3P) 3 PART
Ground Terminal (Heat Sink)
KNX 3 - K A P 0
Drive Type Example of Servo Drvicve Specification
Mask Rated
A5 50 [W]
01 100 [W]
02 200 [W]
04 400 [W]
08 800 [W]
10 1 [kW]
15 1.5 [kW]
CSD
5
A5
B
X
1