RS Automation OEMax CSD7 User manual

CSD7 Servo Drive
User Manual
Catalog Number(s) : CSD7_**BN(F)1
(EtherCAT Network type)

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.
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.
Identifies information about practices or circumstances which may lead to
serious personal injury or death, property damage, or economic loss.
Identifies information that is critical for successful application and
understanding of the product.
Identifies information about proactives or circumstances that can lead to minor
personal injury, property damage, economic loss, or product malfunction.
However, depending on the situation, failure to follow the directions
accompanying this symbol may also lead to serious consequences.
WARNING
CAUTION
IMPORTANT

Manual Revision History
CSD7 Servo Drive (EtherCAT)
The revision history of the manual provides the brief description of
each manual revision.
CSD7-UM001A-EtherCAT-EN-Oct 2015
Revision Month, Year
Manual Version
Manual Version Revision Information Revision Date
A First edition October 2015

Table of Contents
CSD7 Servo Drive (EtherCAT)
IMPORTANT USER INFORMATION.................................................................. II
WHO SHOULD USE THIS MANUAL........................................................... P-1
ABOUT THIS PUBLICATION ....................................................................... P-1
ADDITIONAL RESOURCES .......................................................................... P-1
CONVENTIONS USED IN THIS MANUAL.................................................... P-2
Object Description Format .................................................................... P-2
Number of Each Digit in 7-Segment for Setting Parameters P-4
Terminology.................................................................................................. P-4
Notation Description................................................................................ P-5
Manual Description Order ..................................................................... P-7
Others ............................................................................................................. P-7
SAFETY PRECAUTIONS............................................................................... P-8
Usage .............................................................................................................. P-8
Storage ........................................................................................................... P-8
Transportation ............................................................................................. P-9
Installation and Wiring............................................................................ P-9
Maintenance and Repair......................................................................... P-9
CERTIFICATE ............................................................................................P-10
CHAPTER 1.
BEFORE USING THE CSD7 SERVO DRIVE ........................... 1-１
EACH PART NAME OF SERVO DRIVE........................................................1-２
MODEL NUMBER OF THE SERVO DRIVE...................................................1-３
EACH PART NAME OF SERVO MOTOR .....................................................1-４
MODEL NUMBER OF THE SERVO MOTOR ................................................1-４
CHAPTER 2.
INSTALLATION........................................................................... 2-1
SERVO DRIVE INSTALLATIO N ..................................................................... 2-2
Consideration .............................................................................................. 2-2
Installation Environment......................................................................... 2-7
Noise Filter and Ferrite Core ................................................................ 2-9
SERVO MOTOR INSTALLATION .................................................................. 2-9
CHAPTER 3.
WIRING....................................................................................... 3-1
BEFORE YOU BEGIN .................................................................................. 3-2
POWER SUPPLY,MOTOR POWER,REGENERATIVE RESISTOR ..................... 3-5

ii
CSD7 Servo Drive (EtherCAT)
Name and function of each terminal............................................... 3-5
Main Power Connector (L1, L2, L3) and Control Power
Connector (L1C, L2C) ............................................................................... 3-6
Motor Power Cable Connector (U, V, W)........................................ 3-6
Regenerative Resistor Connector (B1, B2)...................................... 3-6
Electric Circuit Diagram........................................................................... 3-7
Using Method of Socket and Lever .................................................. 3-9
I/O SIGNAL (I/O)................................................................................... 3-11
I/O Connection Diagram......................................................................3-11
SEQUENCE I/O SIGNAL ........................................................................... 3-13
What is Sequence I/O Signal ?..........................................................3-13
Sequence Input Signal (Allocable)...................................................3-14
Allocation Method for Sequence Input Signal...........................3-15
Sequence Output Signal (Allocable) ...............................................3-17
Allocation Method for Sequence Output Signal.......................3-18
Notice for Sequence Signal Allocation..........................................3-20
GENERAL I/O SIGNAL............................................................................. 3-21
General Input Signal (Fixed) ...............................................................3-21
General Output Signal (Fixed)............................................................3-22
INTERFACE WITH INPUT CIRCUIT OF I/O................................................. 3-22
Sequence Input Circuit..........................................................................3-22
Emergency Stop Input...........................................................................3-23
INTERFAC WITH OUTPUT CIRCUIT OF I/O............................................... 3-24
Line Drive Output....................................................................................3-24
Photo-coupler Output...........................................................................3-24
SPECIFICATION OF STO (SAFE TORQUE OFF).......................................... 3-26
General Specification for STO Input/Output...............................3-26
Electric Specification for STO Input/Output ................................3-26
Timing Chart..............................................................................................3-27
STO Wiring..................................................................................................3-27
ENCODER WIRING .................................................................................. 3-29
Encoder Signal Specification ..............................................................3-29
Encoder Connector Specification .....................................................3-29

iii
CSD7 Servo Drive (EtherCAT)
Connection Diagram of Encoder Signal ........................................3-30
GENERAL ARTICLES WIRING ................................................................... 3-31
Precautions .................................................................................................3-31
Fuse selection for the Drive................................................................3-32
Noise Protection.......................................................................................3-33
Wiring When Multiple Drives Are Used ........................................3-36
CHAPTER 4.
OPERATOR, BASIC SETTING AND COMMISSIONING......... 4-1
BEFORE YOU BEGIN .................................................................................. 4-2
About Servo-ON Signal.......................................................................... 4-2
OPERATOR ................................................................................................ 4-5
Name and Function of Each Part ....................................................... 4-5
Icons for the Key Buttons ......................................................................... 4-6
Structure of the Entire Mode................................................................ 4-7
Status Display Mode ................................................................................ 4-8
Parameter Setting Mode ......................................................................4-10
User-Defined Parameter Setting Mode..........................................4-11
Monitor Mode...........................................................................................4-12
BASIC SETTING ....................................................................................... 4-14
Overview of the Basic Setting............................................................4-14
Control Mode Setting............................................................................4-14
STARTUP ................................................................................................. 4-15
Before Startup ...........................................................................................4-15
Startup ..........................................................................................................4-16
CHAPTER 5.
ETHERCAT COMMUNICATION................................................ 5-1
ETHERCAT SLAVE INFORMATION.............................................................. 5-2
SET NODE ADDRESS ................................................................................. 5-2
Check and Set Node Address.............................................................. 5-2
Definition of Node Address.................................................................. 5-3
LED state........................................................................................................ 5-3
REFERENCE MODEL ................................................................................... 5-5
STRUCTURE OF CANOPEN OVER ETHERCAT ............................................ 5-7
ETHERCAT STATE MACHINE(ESM)........................................................... 5-8
ESM .................................................................................................................. 5-8

iv
CSD7 Servo Drive (EtherCAT)
Bootstrap State.........................................................................................5-10
PDO (PROCESS DATE OBJECT)............................................................... 5-11
Set PDO Mapping ...................................................................................5-11
Set Sync Manager PDO Assignment...............................................5-12
Default PDO Mapping...........................................................................5-13
User Defined PDO Mapping...............................................................5-15
SDO (SERVICE DATE OBJECT) ................................................................ 5-17
Abort Code.................................................................................................5-17
SYNC BY DISTRIBUTED CLOCK (DC) ....................................................... 5-18
Communication Cycle (DC Cycle).....................................................5-18
Related Object ..........................................................................................5-18
Communication Timing.........................................................................5-19
CHAPTER 6.
CIA402 DRIVE PROFILE............................................................ 6-1
STATE MACHINE ........................................................................................6-2
State Machine.............................................................................................. 6-2
State Definition........................................................................................... 6-3
State Machine Control Command ..................................................... 6-3
Status Display.............................................................................................. 6-4
Related Object ............................................................................................ 6-4
MODE OF OPERATION ...............................................................................6-5
Cyclic Synchronous Position Mode (CSP mode) ......................... 6-5
Cyclic Synchronous Torque Mode (CST mode)............................ 6-7
TORQUE LIMIT FUNCTION..........................................................................6-9
Related Object ..........................................................................................6-10
DIGITAL INPUT/OUTPUT ......................................................................... 6-11
Related Object ..........................................................................................6-11
CHAPTER 7.
OBJECT DICTIONARY ............................................................... 7-1
OBJECT DICTIONARY AREA........................................................................7-2
DATA TYPE.................................................................................................7-2
OBJECT의DESCRIPTION FORMAT..............................................................7-3
Object Description Format.................................................................... 7-3
OBJECT DICTIONARY LIST..........................................................................7-5
GENERAL OBJECTS.................................................................................. 7-10

v
CSD7 Servo Drive (EtherCAT)
PDO MAPPING OBJECTS........................................................................ 7-15
SYNCMANAGER COMMUNICATION OBJECTS .......................................... 7-21
MANUFACTURER SPECIFICATION OBJECTS .............................................. 7-25
Standard Group 0 ....................................................................................7-25
Standard Group 1 ....................................................................................7-36
Standard Group 2 ....................................................................................7-41
Standard Group 3 ....................................................................................7-46
Standard Group 4 ....................................................................................7-51
Standard Group 5 ....................................................................................7-59
MONITOR MODE OBJECTS....................................................................... 7-61
OPERATION MODE OBJECTS.................................................................... 7-65
CIA402 OBJECTS ................................................................................... 7-66
CHAPTER 8.
TUNING BY GAIN SETTING..................................................... 8-1
BEFOR YOU BEGIN .................................................................................... 8-2
Mark Description........................................................................................ 8-2
Gain Introduction....................................................................................... 8-2
Inertia Ratio.................................................................................................. 8-5
GAIN SETTING BLOCK DIAGRAM .............................................................. 8-8
AUTO GAIN SETTING .............................................................................. 8-10
Auto Tuning................................................................................................8-10
Off-line Auto Tuning...............................................................................8-10
ANF (Adaptive Notch Filter) Function ............................................8-14
MANUAL GAIN SETTING......................................................................... 8-20
Gain Setting Flowchart..........................................................................8-20
Basic Gain Setting....................................................................................8-21
MANUAL GAIN SETTING FOR TORQUE,VELOCITY,POSITION CONTROL . 8-24
Gains Related to Torque Control ......................................................8-24
Gains Related to Velocity Control ....................................................8-27
Gains Related to Positon Control .....................................................8-30
TIP TO GET FAST RESPONSE ................................................................... 8-32
Position Feedforward Function..........................................................8-32
P/PI Mode Setting Function ...............................................................8-33
Initial Torque Bias ....................................................................................8-39

vi
CSD7 Servo Drive (EtherCAT)
Gain Group Switching, </G-SEL> Function .................................8-42
Gain Switching Function.......................................................................8-43
CHAPTER 9.
APPLICATION ............................................................................ 9-1
MOTOR STOP.............................................................................................9-2
Overview........................................................................................................ 9-2
Servo Fault.................................................................................................... 9-2
Overtravel Input (<P-OT>, <N-OT>) ................................................ 9-3
Dynamic Brake ............................................................................................ 9-4
MOTOR BRAKE CONTROL ..........................................................................9-6
CHANGE THE DIRECTION OF MOTOR ROTATION..................................... 9-11
Overview......................................................................................................9-11
REGENERATIVE BRAKING RESISTOR......................................................... 9-12
External Regenerative Resistor...........................................................9-14
Selection Criterion of Regenerative Resistor...............................9-15
SETTING FOR SMOOTH OPERATION........................................................ 9-17
VELOCITY LIMIT AND VELOCITY LIMIT DETECTION </V-LMT> SIGNAL
OUTPUT .................................................................................................. 9-21
TORQUE LIMIT AND TORQUE LIMIT DETECTION </T-LMT> SIGNAL OUTPUT
............................................................................................................... 9-22
POSITION FEEDBACK TO THE HOST CONTROLLER ................................... 9-24
Overview......................................................................................................9-24
Direction Change of Encoder Pulse Output................................9-25
Pulse Dividing Circuit.............................................................................9-26
USE OF ABSOLUTE ENCODER .................................................................. 9-28
What is an Absolute Encoder? ..........................................................9-28
Connecting with Host Controller......................................................9-29
Battery ..........................................................................................................9-30
Reset of Absolute Encoder (0x300A, run-10)..............................9-32
OPERATION MODE FUNCTION ................................................................ 9-34
Before You Begin .....................................................................................9-34
Jog Operation (run-00) .........................................................................9-35
Off-line Auto Tuning (0x3001, run-01)...........................................9-36
Fault Reset (run-08) ................................................................................9-38