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

vii
CSD7 Servo Drive (EtherCAT)
Absolute Encoder Reset (0x300A, run-10)....................................9-39
Storage of 2nd-Group Gain (run-11)..............................................9-40
Parameter Initialization (run-12) .......................................................9-41
MONITOR MODE FUNCTION.................................................................... 9-42
Introduction to monitor mode ..........................................................9-42
Built-in Key Button Operation............................................................9-45
SAG FUNCTION ...................................................................................... 9-46
Introduction to SAG Function ............................................................9-46
DETECTION FUNCTION OF TORQUE LOAD FACTOR.................................. 9-48
Introduction to Function ......................................................................9-48
Average Torque Load Factor & Maximum Torque Load Factor
.........................................................................................................................9-48
Average Torque Load Factor Trigger 1 & 2 Signal ...................9-49
CHAPTER 10.
INSPECTION AND PROTECTION FUNCTION......................10-1
INSPECTION ............................................................................................ 10-2
Inspection of Motor................................................................................10-2
INSPECTION OF SERVO DRIVE ................................................................. 10-3
Part Inspection..........................................................................................10-3
PROTECTIVE FUNCTION........................................................................... 10-4
Servo Warning...........................................................................................10-4
Servo Warning...........................................................................................10-5
Servo Fault ..................................................................................................10-6
Confirmation before Requesting for A/S ................................... 10-11
APPEDIX A.
SPECIFICATION AND EXTERIOR DIMENSIONS....................A-1
DRIVE SPECIFICATION ...............................................................................A-2
FUSE AND CONTACTOR RECOMMENDATIONS ...........................................A-3
EXTERIOR DIMENSION AND MOUNING DIMENSION.................................A-4
APPENDIX B.
CABLE AND CONNECTOR SPECIFICATION...........................B-1
CABLE SPECIFICATION FOR ETHERCAT COMMUNICATION ........................ B-2
Recommended Specification for Connector, Cable.................... B-2
Cable Connection Diagram...................................................................B-3
USB COMMUNICATION CABLE ................................................................. B-4

viii
CSD7 Servo Drive (EtherCAT)
SAFETY FUNCTION CONNECTOR ............................................................... B-6

Preface
CSD7 Servo Drive (EtherCAT)
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 CSD7 servo drive, and
programmers directly involved in the operation, field maintenance,
and integration of the CSD7 servo drive with a Motion Card.
If you do not have a basic understanding of the CSD7 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 CSD7 servo drive, and system
integration for your drive/motor combination with a Motion Card.
Additional Resources
The following documents contain additional information concerning
related CSD7 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.
WWW.rsautomation.co.kr

P-2 Preface
CSD7 Servo Drive (EtherCAT)
For Read This Document
Information on the installation of your CSD7
servo drive
CSD7 Servo Drive
Installation Instructions
Information on the installation and operation of
motors used together with CSD7 servo drive
Servo Motor User
Manual
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.
Object Description Format
The description format of objects are as follows :
Object without Sub-Index
Index Object Name Mode of Operation
Setting Range Size(Data Type ) Unit Access PDO Map Attribute Init Value Ft-no
<Set Range> <Size ( )> <Unit> <RO/RW> <Possible/No> <Attribute> <Init Value> <Parameter No.>
Object with Sub-Index
Index Object Name Mode of Operation
Sub-Index 0 Number of Entries
Setting Range Size(Data Type ) Unit Access PDO Map Attribute Init Value Ft-no
<Set Range> <Size ( )> <Unit> <RO/RW> <Possible/No> <Attribute> <Init Value> <Parameter No.>
Sub-Index 1 <하위 인덱스명>
Setting Range Size(Data Type ) Unit Access PDO Map Attribute Init Value Ft-no
<Set Range> <Size ( )> <Unit> <RO/RW> <Possible/No> <Attribute> <Init Value> <Parameter No.>
:
Sub-Index n <하위 인덱스명>
Setting Range Size(Data Type ) Unit Access PDO Map Attribute Init Value Ft-no
<Set Range> <Size ( )> <Unit> <RO/RW> <Possible/No> <Attribute> <Init Value> <Parameter No.>
Index : The indexes of objects, displayed with hexadecimal

Preface P-3
CSD7 Servo Drive (EtherCAT)
numbers of 4 digits.
e.g.) 0x1000, 0x2004, 0x6200, etc.
Sub-Index : If there are sub-indexes, they are displayed
as 2 digits in [ ] at the end of the indexes.
e.g.) 0x1600[07], 0x1A00[09], 0x2005[04], etc.
Object Name : Indicates the name of object
Mode of Operation : Displays control modes that can be used.
(Supporting CSP and CST)
Setting Range : Indicates the range that can be input to the object.
Size( ) : Indicates the object size in byte.
( ) means the data type.
Unit : Indicates the unit of measure of the object
Access : Indicates whether the object is read only,
or read and write
RO : Read Only
RW : Read and Write
PDO Map : Indicates the PDO mapping attribute.
Possible(RxPDO); Reception PDOs can be mapped
Possible(TxPDO); Transmission PDOs can be mapped
No ; PDs cannot be mapped
Attribute : Indicates the time during which changes are valid
in the writing-enabled object.
Always : Changeable at any time
Servo off : Changes are valid when servo is OFF
Power cycling : Changes are valid after the control
power is reset
ㅡ: Writing disable
Init Value : The values of factory-setings
Ft-no : Integer numbers of manufacturer that are linked
with objects in 0x2000s.

P-4 Preface
CSD7 Servo Drive (EtherCAT)
Number of Each Digit in 7-Segment for Setting
Parameters
The number of each digit in the 7-segment indicator at the front of
CSD7 is defined as follows: These definitions apply throughout this
user manual.
Ex)
Parameter & Each digit Definition
[Ft-0.02][D0]
[Ft-0.02][D1]
[Ft-3.00][D2]
Terminology
The following describes terminologies used in this manual.
•Servo Drive or Drive : Refer to the CSD7 Servo Drive
•Servo Motor or Motor : Refer to the servo motor
exclusively for the CSD7 drive.
•Host Controller : Refers to a controller or a device that
gives command to the servo 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’.

Preface P-5
CSD7 Servo Drive (EtherCAT)
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.
2. A figure box with both the top corners cut off diagonally
represents a circuit diagram. If I/O connector of the servo drive is
on the left, it is the output of the servo drive.
3. If I/O connector of the servo drive is on the right, it is the input of
the servo drive from host controller to the servo drive.
Example Output
I/O
R1
Host controller
0[V]
Relay circuit
Host controller
DC 24V 50mA
or above
Open collector circuit
Host controller
DC 24V 50mA
or ablove
P
P
i
i
+24V IN
+24V IN
Sequence input signal
(Input#1 ~ Input#10)
3.3 kΩ
I/O
I/O
3.3 kΩ
Sequence input signal
(Input#1 ~ Input#10)
Example

P-6 Preface
CSD7 Servo Drive (EtherCAT)
4. The following shows the symbols used on the circuit diagram.
Symbol Description
▶The figure represents the pin number of the connector,
which can be marked with alphabets rather than the
numbers.
▶The Contact Point is the connection between the side
A and B with the connector.
5. The following figure shows a symbol used to show a twist pair
wires to prevent the noise generation.
Symbol Figure Description
Make a twist pair wires where
this symbol is located for the
noise prevention.
6. The following figure shows a symbol used to show a shield pair
wire to prevent the noise generation.
Symbol Figure Description
Shield the wires where this
symbol is located for the noise
prevention.
AB
Contact Point
1
2
3
1
2
3

Preface P-7
CSD7 Servo Drive (EtherCAT)
Manual Description Order
This manual is described in the view of users from the purchase to
operation.
1. Describes things to know before using the product.
2. Describes the outline of product and marking.
3. Describes precautions 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 function 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.

P-8 Preface
CSD7 Servo Drive (EtherCAT)
Safety Precautions
This is CSD7 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
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.
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.
Storage
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 when the product is stored in
a warehouse.
WARNING
CAUTION
WARNING