SM

Maximum Value for OEMs

CSD3 Plus Servo Drive

(CSD3-xxBX2 Rev.B)

User Manual
Important User Information Solid state equipment has operational characteristics differing from those of
electromechanical equipment. Because of this difference, and also because of
the wide variety of uses for solid state equipment, all persons responsible for
applying this equipment must satisfy themselves that each intended application
of this equipment is acceptable.
In no event will Rockwell Automation Korea, 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, Rockwell Automation Korea, Ltd. cannot assume
responsibility or liability for actual use based on the examples and diagrams.
No patent liability is assumed by Rockwell Automation Korea, 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 Rockwell Automation Korea, Ltd., is prohibited.
Throughout this manual, when necessary, we use notes to make you aware of
safety considerations.

Identifies information about practices or circumstances that can

WARNING cause an explosion in a hazardous environment, which may lead to
personal injury or death, property damage, or economic loss.

Identifies information that is critical for successful application and

IMPORTANT
understanding of the product.

Identifies information about practices or circumstances that can

ATTENTION
lead to personal injury or death, property damage, or economic loss.
Attentions help you identify a hazard, avoid a hazard, and recognize
the consequence

Labels may be located on or inside the equipment, for example, a

WARNING drive or motor, to alert people that dangerous voltage may be
present.

Labels may be located on or inside the equipment, for example, a

BURN HAZARD drive or motor, to alert people that surfaces may be at dangerous
temperatures.

CSD3 and CSD3P are trademarks of Rockwell Automation Korea, Ltd.

Trademarks not belonging to Rockwell Automation Korea, Ltd. are property of their respective companies.
 Table of Contents

Summary of Change Preface

About This Publication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1
Who Should Use this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1
Conventions Used in This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1
Additional Resources. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-2

Chapter 1
Before Using the CSD3 Servo Drive Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
How to Use This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
Terminology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
Notation Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
Manual Description Order . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
Others . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
Product Type and Each Part Name . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
Name of Each Part of the Drive . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
Model Number of the Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
Drive Type (by capacity) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
Name of Each Motor Part . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8
Model Number of the Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9
Reducer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10

Chapter 2
Installation Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
Servo Motor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
Servo Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

Chapter 3
Wiring Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
Electric Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
Name and Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
Electric Circuit Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
Using the Socket and Lever . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
I/O Signal (CN1). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
I/O Connection Diagram. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
(CN1) Pin Arrangement . . . . . . . . . . . . . . . . . . . . . . . 3-9
(CN1) Input Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11
Sequence Input Signal (allocation) . . . . . . . . . . . . . . . . . . . . . . . 3-11
General Input Signal (fixed) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12
(CN1) Output Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13
Sequence Output Signal (Allocation) . . . . . . . . . . . . . . . . . . . . . 3-13
General Output Signal (fixed). . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13
(CN1) Input Circuit and Interface . . . . . . . . . . . . . . . . . . . . . . . . . . 3-15
Pulse Command Input Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . 3-15
Analog Voltage Input Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16

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Sequence Input Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17

Emergency Stop Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17
(CN1) Output Circuit and Interface . . . . . . . . . . . . . . . . . . . . . . . . . 3-19
Encoder Wiring (CN2). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21
Pin Arrangement of (CN2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21
(CN2) Terminal Type. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22
Encoder Signal Process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23
Wiringthe Battery (BATT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-31
General Articles Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-32
Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-32
Capacity of the Drive and Fuse . . . . . . . . . . . . . . . . . . . . . . . . . . 3-33
Noise Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-34
Wiring when Using Several Drives . . . . . . . . . . . . . . . . . . . . . . . 3-37
Connection to Peripheral Equipment . . . . . . . . . . . . . . . . . . . . . 3-38

Chapter 4
Operator, Basic Setting and Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
Startup Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
About Servo-ON Signal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
Table for Parameter Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
Name and Function of Each Part . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
Icons for the Key Buttons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
Structure of the Entire Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
Status Display Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
Overview of the Parameter Setting Mode . . . . . . . . . . . . . . . . . . 4-9
Overview of the Monitor Mode . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
Overview of the Operation Mode. . . . . . . . . . . . . . . . . . . . . . . . 4-11
Basic Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13
Overview of the Basic Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13
Control Mode Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14
Motor Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
Main Power Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-20
Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-22
Before Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-22
Startup. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-22
Check up Items during Startup . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25

Chapter 5
Function for Control Mode Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
Sequence I/O (Input/Output) Signal . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
What is Sequence I/O Signal? . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
Function of Output Signal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
Input Signal Allocation Method . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
Output Signal Allocation Method . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
Notice for Signal Allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
Position Control Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9

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Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
Standard Wiring Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10
Position Command Pulse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11
Position Command Pulse Setting . . . . . . . . . . . . . . . . . . . . . . . . 5-13
Electrical Specifications of Position Command Pulse. . . . . . . . 5-14
Electronic Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-15
Position Error Clear (/PCLR) . . . . . . . . . . . . . . . . . . . . . . . . . . 5-21
Pulse Command Inhibition</INHIB> Input . . . . . . . . . . . . . 5-21
Expansion of Electronic Gear Setting . . . . . . . . . . . . . . . . . . . . 5-22
The Second Group of Electronic Gear </GEAR> input . . . . 5-23
Position Completion Signal Detection </P-COM>, Approach
Signal Detection </NEAR> Output. . . . . . . . . . . . . . . . . . . 5-23
Output Width of Allowable Position Error. . . . . . . . . . . . . . . . 5-27
Input/Output Signal Timing diagram . . . . . . . . . . . . . . . . . . . . 5-27
Speed Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-28
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-28
Standard Wiring Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-29
Speed Command Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-30
Zero Clamp </Z-CLP> Input. . . . . . . . . . . . . . . . . . . . . . . . . . 5-31
Rotation Direction Switch Input /C-DIR . . . . . . . . . . . . . . . . 5-32
Motor Rotation Start/Stop Input /START. . . . . . . . . . . . . . . . 5-33
Speed Coincidence Output Signal </V-COM> . . . . . . . . . . . . 5-34
Rotation Detection </TG-ON> Output . . . . . . . . . . . . . . . . . 5-35
Speed Limit Function and Speed Limit Detection </V-LMT>
Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-36
Torque Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-38
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-38
Standard Wiring Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-39
Torque Command Input. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-40
Torque Limit and Torque Limit Detection </T-LMT> Output . . .
5-41
Multi-Step Speed Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-45
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-45
Standard Wiring Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-46
Multi-Step Speed Command Setting . . . . . . . . . . . . . . . . . . . . . 5-47
Combinational Control Mode and </C-SEL> Function . . . . . . . . 5-50

Chapter 6
Tuning by Gain Setting Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
Before you Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
Mark Explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
Gain Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
Inertia Ratio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
Gain Setting Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
Automatic Gain Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
Auto Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
Off-line Auto Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7

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On-line Auto Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10

Manual Gain Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11
Gain Setting Flowchart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11
Basic Gain Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-12
Position, Speed, Torque Related Gain Setting . . . . . . . . . . . . . . . . . 6-14
Torque Control Related Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-14
Speed Control Related Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-16
Position Control Related Gain . . . . . . . . . . . . . . . . . . . . . . . . . . 6-18
Tip to get fast response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-20
Feed forward function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-20
Speed Bias Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-21
P/PI Mode Setting Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-21
Initial Torque Bias . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-25
</G-SEL> Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-27

Chapter 7
Applications Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
Motor Suspension. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
Servo Alarm (Refer to Chapter 8-6) . . . . . . . . . . . . . . . . . . . . . . . 7-2
Over Travel <P-OT>, <N-OT> . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
Dynamic Brake. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4
Motor Brake Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6
Change of Motor Rotation Direction . . . . . . . . . . . . . . . . . . . . . . . . 7-10
Regeneration Resistor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-11
Regeneration Resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-11
External Regenerative Resistor . . . . . . . . . . . . . . . . . . . . . . . . . . 7-12
Regenerative Resistor Selection Standard . . . . . . . . . . . . . . . . . . 7-13
Setting for Smooth Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-16
Speed Limiting Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-18
Position Feedback to the Host Controller . . . . . . . . . . . . . . . . . . . . 7-21
Direction Change of Output Pulse . . . . . . . . . . . . . . . . . . . . . . . 7-21
Pulse Dividing Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-22
Analog Monitor Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-25
Use of Absolute Encoder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-27
What is an Absolute Encoder? . . . . . . . . . . . . . . . . . . . . . . . . . . 7-27
Contact with the Host Controller . . . . . . . . . . . . . . . . . . . . . . . . 7-28
Battery. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-28
Reset of Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-30
Data Transmission of Absolute Encoder . . . . . . . . . . . . . . . . . . 7-32
Operation Mode Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-35
Things to Know First. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-35
Jog Operation (run-00) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-35
Off-line Auto Tuning Operation (run-01) . . . . . . . . . . . . . . . . . 7-36
Searching an Origin Pulse(run-02) . . . . . . . . . . . . . . . . . . . . . . . 7-38
Auto Adjustment of Speed Command Offset (run-03) . . . . . . . 7-38
Auto Adjustment of Torque Command Offset (run-04). . . . . . 7-39

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Manual Adjustment of Speed Command Offset (run-05). . . . . 7-41

Manual Adjustment of Torque Command Offset (run-06) . . . 7-42
Adjustment of Current Feedback Offset (run-07). . . . . . . . . . . 7-43
Alarm Reset (run-08). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-44
Alarm History Clear (run-09) . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-45
Absolute Encoder Reset (run-10). . . . . . . . . . . . . . . . . . . . . . . . 7-46
2-Group Gain Storing (run-11) . . . . . . . . . . . . . . . . . . . . . . . . . 7-47
Parameter Initialization (run-12). . . . . . . . . . . . . . . . . . . . . . . . . 7-48
Monitor Mode Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-50
Introduction of Monitor Function . . . . . . . . . . . . . . . . . . . . . . . 7-50
Key Button Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-52

Chapter 8
Inspection and Protection Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
Functions Inspection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
Inspection of Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
Inspection of Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
Part Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
Battery Inspection for absolute Encoder (7.9.3) . . . . . . . . . . . . . 8-3
Protection Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4
Servo Warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4
Servo Alarm. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-6
Confirmation before Requesting for A/S . . . . . . . . . . . . . . . . . 8-14

Appendix A
Parameter List Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
Parameter List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2
Summary of Parameters . . . . . . . . . . . . . . . . . . . . . . . A-2
Parameter Group 0. . . . . . . . . . . . . . . . . . . . . . . . . . A-7
Parameter Group 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-15
Pr-1.14: Current Controller BW . . . . . . . . . . . . . . . . . . . . . . . . . A-20
Pr-1.15: Velocity Response Level . . . . . . . . . . . . . . . . . . . . . . . . A-21
Parameter Group 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-21
Parameter Group 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-25
Parameter Group 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-29
Parameter Group 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-32
Operation Mode Function List. . . . . . . . . . . . . . . . . . . . . . . . . . A-40
Monitor Mode Function List . . . . . . . . . . . . . . . . . . . . . . . . . . . A-42

Appendix B
Servo Drive Specification Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1
Servo Drive Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-2
Outline Drawing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-2
Specification. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-4

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Publication CSD3P-UM001E-EN-P — February 2008

 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 N/A
B Initial draft October 2006
C Correction of typos such as model name or May 2007
connect name
D Firmware Update V2.4 -> V2.5(1) November 2007

E Changes added to CSD3-xxBX2 Rev.B Servo Drive February 2008

1. New Parameter

• Pr-1.15 (Velocity Response Level) A-21(2)

2. Changed Prameter Values

• Pr-0.03 (Autotuning mode) A-2(2)

• Pr-0.14 (Protocol, Data Format, Baudrate)
A-13(2)(3)
• Pr-1.00 (System Gain) A-15(2)
• Pr-1.07 (Vibration Suppression Filter)
A-18(2)

3. Max. Frequency of Pulse Command (Open

Collector) is changed to 200kpps (300kpps
before). 3-15

4. Contact Input is changed to bi-directional

(unidirectional before). 3-8
(1)
For more information on firmware update, refer to CSD3 Plus Firmware Update Release Note, Ver2.50 (Publication No. CSD3-RN002A).
(2)
For more information on each changed parameter, refer to the corresponding page.
(3)
For more information on ASCII & Modbus-RTU Protocol, refer to ‘CSD3 Servo Drive ASCII & Modbus-RTU Protocol Reference Manual (Publication CSD3-RM001).’

1 Publication CSD3P-UM001E-EN-P — February 2008

SOC-2 Summary of Change

Publication CSD3P-UM001E-EN-P — February 2008

 Preface
Read this preface to familiarize yourself with the rest of the manual.

About This Publication This manual provides detailed installation instructions for mounting, wiring,
and troubleshooting your CSD3 Plus servo drive drive, and system integration
for your drive/motor combination with a Motion Card.

Who Should Use this This manual is intended for engineers or technicians directly involved in the
installation and wiring of the CSD3 Plus servo drive drive, and programmers
Manual directly involved in the operation, field maintenance, and integration of the
CSD3 Plus servo drive drive with a Motion Card.
If you do not have a basic understanding of the CSD3 Plus servo drive drive,
contact your local OE Max sales representative before using this product, for
information on available training courses.

Conventions Used in This The conventions starting below are used throughout this manual.
Manual • Bulleted lists such as this one provide information, not procedural steps
• Numbered lists provide sequential steps or hierarchical information

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2

Additional Resources The following documents contain additional information concerning related
CSD3 Plus servo drive products.

For Read This Document Publication Number

Information on the installation of your CSD3 Plus servo drive CSD3 Plus Servo Drive Installation Instructions CSD3-IN001
Information on the motors used together with CSD3 Plus servo Servo Motor User Manual SMOTOR-UM002
drive

You can view or download publications at

http://www.oemax.co.kr or http://www.oemax.com To order paper copies of
technical documentation, contact your local Rockwell Automation Korea
distributor or sales representative.

Publication CSD3P-UM001E-EN-P — February 2008

 Chapter 1

Before Using the CSD3 Servo Drive

Introduction This chapter describes the general matters and optional specifications that you
should know before using the OEMax CSD3 SERVO DRIVE.

Topic Page
Introduction 1-1
Safety Precautions 1-2
How to Use This Manual 1-3
Product Type and Each Part Name 1-6

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1-2 Before Using the CSD3 Servo Drive

Safety Precautions This user’s 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.
1. The following is a warning mark. This indicates general precautions.

When handled incorrectly, dangerous situations or physical damages

WARNING may happen.

2. The following is a caution mark. This indicates an important precaution

against an electric shock.

When handled incorrectly, dangerous situation (electrocution) may

WARNING happen and cause death or severe injury.

3. The following is a caution mark. This indicates precautions against a burn.

When handled incorrectly, dangerous situation (burn) may happen and

WARNING
cause death or severe injury.

4. General Precaution

• This user’s manual may contain some drawings with the cover or
protective shields removed for more detailed and clear explanation.
Make sure to reassemble the device before operation.

• Any modification of the product made by the user is not covered by the
guarantee of quality.

• Rockwell Samsung Automation is not responsible for all injuries or

physical damage caused by any modification of the product made by the
user.

• Contact your Rockwell Samsung Automation agent to order a copy of

this manual if it has been damaged or lost.

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 Before Using the CSD3 Servo Drive 1-3

How to Use This Manual Terminology

The following describes terminologies used in this manual.

• Servo drive or Drive: Refers to the CSD3 Servo Drive.

• Servo motor or Motor: Refers to the servo motor exclusively for the
CSD3 drive.

• Host controller: Refers to a controller or a device that gives command

to the drive and controls it.

• Initial value: Refers to the value set at the factory before the shipment.

• Set 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.

2. A figure box with both the top corners cut off diagonally represents a
circuit diagram. If CN1 for I/O signal or a connector attached to the
servo driver is on the left, it is the output of CN1 or servo drive.

Example Output

R1
CN1
0[V] Host controller

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1-4 Before Using the CSD3 Servo Drive

3. If CN1 for I/O signal or a connector attached to servo driver is on the

right, it is the input from the host controller to CN1 or servo drive.

Example Input

Speed Command V-REF 19

-10[V] ~ +10[V] P
V-REF SG 20 CN1
Host controller

4. The following shows the symbols used on the circuit diagram.

Symbol Description
Side A Side B
• 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 side B with
the connector.
Contact Point

5. The following figure shows a symbol used to show a twist pair wires to
prevent the noise generation.
Symbol Figure Description

Twist the wires where this symbol is located for the noise
P 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
FG
Shield prevention.

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 Before Using the CSD3 Servo Drive 1-5

Manual Description Order

This manual is described in the view of users from the purchase to operation.

Describes things to know before Describes the outline of product and

1 using the product. marking. 2

Describes precautions upon product Describes wiring with the host

3 installation. controller and peripheral equipment. 4

Describes the operator for various Describes brief functions of the

5 settings. product. 6

Describes the basic settings that Describes the function of the product
7 users should set. for each control modes. 8

Describes the tuning to implement Describes simple supplementary

9 optimum performance of load system. functions. 10

Describes the protective function, Descr i bes i tems cor r espondi ng to

11 fault diagnosis and troubleshooting. v ar i ous numer i cal data i n the Appendi x . 12

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.

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1-6 Before Using the CSD3 Servo Drive

Product Type and Each Part Name of Each Part of the Drive
Name
The following figure introduces the name of each part of the servo drive.

Optional Connector
<CN4>

Operator Battery Connector

See Chapter 4 for <CN5>
details of the operator.

Drive Nameplate
AC main Power Input
Terminal
Rated Output Label
Control power input
Terminal I/O Signals
Connector <CN1>
1. DC Main Power Input terminal.
2. DC Reactor Connection Terminal
for suppressing high frequency
Encoder Cable
Regenerative Resistor Connector <CN2>
Terminal

Motor Cable Terminal Communication and Operator

Connector <CN3>

Mounting Hole
(Top, Bottom)

Regenerative Resistor
(400 [W]or Higher Attached)

Heat Sink

Wiring Socket
(6P, 4P and 3P) 3 Part

Ground Terminal (heat sink)

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 Before Using the CSD3 Servo Drive 1-7

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 Rockwell Samsung Automation Servo Drive CSD3

Series.

• The serial number is included on the nameplate. Be careful not to erase

the serial number during the use.

Nameplate is attached to the drive. Check the model on the nameplate.

Drive Type Example of Drive Specification

C S D 3 0 1 B X 2
Design Sequence
Mark Rated Output
A5 50 [W]
01 100 [W]
02 200 [W]
04 400 [W]
10 1 [kW]
15 1.5 [kW]

Mark Voltage
B AC220 [V]

Drive Type (by capacity)

The table below shows the capacity of drive (rated output) and the capacity of
the applied motor.
Drive Model Name Drive Capacity Capacity of the Applied Motor
1 CSD3-A3BX1 (P) 30 [W] 30 [W]
2 CSD3-A5BX1 (P) 50 [W] 50 [W]
3 CSD3-01BX1 (P) 100 [W] 100 [W]
4 CSD3-02BX1 (P) 200 [W] 200 [W]

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1-8 Before Using the CSD3 Servo Drive

5 CSD3-04BX1 (P) 400 [W] 300 [W] to 400 [W]

6 CSD3-10BX1 (P) 1 [kW] 500 [W] to 1 [kW]
7 CSD3-15BX1 (P) 1.5 [kW] 1.2 [kW] to 1.5 [kW]

Name of Each Motor Part

The following figure shows the name of each motor part.

• A motor without a brake does not have a brake cable.
• The name of each motor part may differ from the following figure according to
the motor type.

Break Cable

Motor Power Cable

Encoder Cable

Encoder

Nameplate of the
Motor

Motor Frame

Motor Shaft

Mounting Hole

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 Before Using the CSD3 Servo Drive 1-9

Model Number of the Motor

The following figure describes the model name of the motor on the
nameplate.

The nameplate is attached to the motor. Check the model on the nameplate.

Motor Type Example of Motor Specification

R S M Z - 0 1 B A 1 A N M 3
Rated Output

Voltage

Encoder Type

Design Sequence

Motor Axis Key Status

Option

Manufacturer

Shaft Specification

This is the description of the model on the nameplate of the motor.

Motor Type
CSM CSMT CSMR CSMQ CSMZ CSMD CSMH CSMK CSMS
RSMD RSMF RSMS RSMH RSMK RSML RSMQ RSMZ

Rated Output
A3 A5 01 02 04 ~ ~ 10 ~ 50
30 [W] 50 [W] 100 [W] 200 [W] 400 [W] ~ ~ 1 [kW] ~ 5 [kW]

Voltage
A B C D
AC 110 [V] AC 220 [V] DC 24 [V] AC 110/220 [V]

Encoder Type
Motor Model: CSMT/R, RSMS/D/H/F/K/L/Q/Z
Resolution/1 Encoder Type Resolution/1 Encoder Type
Mark Mark
Rotation Rotation
Q 131072 Serial Absolute Type R 131072 Serial Incremental Type

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1-10 Before Using the CSD3 Servo Drive

Motor Type: CSM, CSMT/R

CSMQ/Z/S/D/H/K
Motor Type
Mark Pulse/1 Encoder Type RSMS/D/H/F/K/L/Q/Z *1)
Rotation
S 2048 15wire Inc. Mark Pulse/1 Rotation Encoder Type
B 2048 9wire Inc. A*1) 2500 11wire Inc.
Compact
A 2048 Absolute Type H 2048 Absolute Type
D 2500 15wire Inc. M*1) 10000 15wire Inc.
C 2000 15wire Inc. K 5000 15wire Inc.
K 5000 15wire Inc. L 6000 15wire Inc.

Motor Axis Key Status Option

A B N B S T

Key No Key With Brake &

No Option With Brake With Oil Seal Oil seal

Motor axis specifications

1 2 3 4 5 6
Circular 2 Side Slice Harmonic
Key Tightening Tapper General
(Coupling (Set screw Drive
Tightening Reducer
Tightening) tightening) Attachment

Reducer

The following figure describes the model name of the reducer on the
nameplate.

Nameplate is attached to the reducer. Check the model on the nameplate.

Reducer Type Example of Reducer Specification

V R S F - 2 5 C - 2 0 0 - S P T
Mark Reduction Ratio
03 1/3 Mark Backlash Grade Mark Applicable Motor Mark Applicable Motor
Capacity Model
05 1/5 B 0.7° 030 30 [W] SPT CSM Motor
09 1/9 C 050 30 [W]
15 1/15 D 0.5°
~

25 1/25 E 800 800 [W]

The backlash grade of the reducer is set at the factory.

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 Before Using the CSD3 Servo Drive 1-11

Type of Reducers Exclusively for CSM Motor

VRSF-
Reduction 1/3 1/5 1/9 1/15 1/25
Ratio

03B-50-SPT 05B-50-SPT 9B-50-SPT 15B-50-SPT 25B-50-SPT

03B-100-SPT 05B-100-SPT 9B-100-SPT 15B-100-SPT 25C-100-SPT
Reducer 03B-200-SPT 05B-200-SPT 9C-200-SPT 15C-200-SPT 25C-200-SPT
Type 03B-400-SPT 05C-400-SPT 9C-400-SPT 15C-400-SPT 25D-400-SPT
03C-600-SPT 05C-600-SPT 9B-600-SPT 15D-600-SPT 25E-600-SPT
03C-800-SPT 05C-800-SPT 9B-800-SPT 15D-800-SPT 25E-800-SPT

The reducer is only for CSM motors

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1-12 Before Using the CSD3 Servo Drive

Publication CSD3P-UM001E-EN-P — February 2008

 Chapter 2

Installation

Installation This chapter describes matters to consider when installing the servo drive and
the motor. Refer to the appendix for numerical data on the drive, motor, and
various peripheral equipment necessary for the installation.

Topic Page
Installation 2-1

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2-2 Installation

Servo Motor

Precautions
Refer to the following figures when installing a motor.
A motor is a precision part. Pay an extra attention to the encoder, motor shaft,
and bearing.

A shock is the major cause of degrading Do not connect the motor to the
the performance of the motor. power directly.

Pay attention to the concentricity of

Protect the motor from water or oil. coupling connected to the load.

Do not apply continuous stress on the The servo motor can be mounted
wire. vertically or horizontally

The oil is applied to the shaft to The ground wire of the servo motor
prevent it from rusting. Remove it must be connected to the grounding
before installing the servo motor. terminal of the servo drive.

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 Installation 2-3

Coupling Assembly
Avoid excessive instantaneous shocks.
An excessive shock during
the coupling assembly
damages the encoder.

Encoder Use the coupling assembly

tools and assemble it
properly.

Load Connection
Align the connection shaft of motor and load each other.
After assembling coupling, measure the concentricity of
the motor shaft and the load shaft. By rotating it at
intervals of 90 degrees, measure 4 positions and adjust it
so that the difference between the maximum and minimum
value is less than 0.03 [mm].

If the centers of the axes are different, it leads to

the major cause of performance degradation.

Allowable Load on the Shaft

Loads in the motor shaft should be within the specified allowable load.
Refer to the motor specifications in the appendix for allowable load of the
motor shaft on each motor type.

(Vertical)Radial Load [kg.f]

(Horizontal) Thrust Load [kg.f]

Installation Environment
Item Installation Environment
Storing Temperature Store it within -20 ~ 60[].
Operating Temperature Use it within 0 ~ 55[]
Operating Humidity Use it below 90[%] RH at a place without condensation.
Use it indoors with well ventilation, at a place for easy checkup and
Operating Environment cleaning, and at a place without explosive gas.

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2-4 Installation

Servo Drive

Precautions

Refer to the following figures when installing the servo drive.

• The most important thing to consider when installing the drive is the ambient
temperature.
• Follow the operational temperature and mount the servo drive vertically.

Servo drive less than 400W applies the natural <Fixing Bolt>
convective cooling, and the servo drive with more 400 [W] or less : M4xL10
than 1kW uses the cooling fan. To increase the 2 mounting holes at the top
cooling efficiency, install it vertically & bottom
1 [kW] or more : M5xL10
2~4 mounting holes
depending on the capacity.

When installing several drives, you must the following criteria.

Install a cooling fan to prevent excessive temperature increase.
If the surrounding temperature is higher than the operational temperature, it reduces the performance.

More than
50 [mm]

Pane

More than
50 [mm]

More than 30 [mm] More than 10 [mm]

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 Installation 2-5

Use the drive in a clean There is a grounding terminal at the bottom of

enviroment where there is no the heat sink.
dust or humidity. 200 [W] or less: 1 mounting hole for M4 bolt
400 [W] or above: 2 mounting holes for M4 bolt
If not grounded, it reduces the performance.

1. Installation Environment
Item Installation Environment
Storing Store it within -20 to 80 [°C].
Temperature
Operational Use it within 0 to 55 [°C].
Temperature
Operational Use it below 90 [%] RH at a place without condensation.
Humidity

Vibration Use it below 0.5 [g] (4.9 [m/s2]).

Install a separate cooling device at a place with high ambient temperature and
use it within the operational temperature.

Operational Recommendations: To maintain reliability for a long time, use it within 0 to 45

Location [°C].

Use it indoors with well ventilation, at a place for easy checkup and cleaning,
and at a place without explosive gas.

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2-6 Installation

Publication CSD3P-UM001E-EN-P — February 2008

 Chapter 3

Wiring

Introduction This chapter describes the information on motor, host controller and other
wiring connected to the servo drive, along with the circuit diagram.

Topic Page
Introduction 3-1
Electric Circuit 3-3
I/O Signal (CN1) 3-8
(CN1) Input Signal 3-11
(CN1) Output Signal 3-13
(CN1) Input Circuit and Interface 3-15
(CN1) Output Circuit and Interface 3-19
Encoder Wiring (CN2) 3-21
Wiringthe Battery (BATT) 3-31
General Articles Wiring 3-32

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3-2 Wiring

Before You Begin Pay attention to the following precautions when wiring.

• Wiring should be done only by the qualified personnel.

WARNING
• High voltage remains in the drive even though the power is off.
Therefore, do not inspect components unless inside “Charge”
lamp is off.
• Pay attention to the polarity when wiring.

• The heat sink of the drive generates high heat.

WARNING
• Pay attention to the heat sink when wiring.

In this chapter, the circuit is divided into electric circuit and signal circuit for
easier and convenient explanation.
Be fully aware of the names of each terminal when reading this user’s manual.

Signal Circuit

Optional Connector
<CN4>
Electric Circuit

Battery Connector
<CN5>
AC Power Terminal

Control Power Terminal Connector for I/O

Signals <CN1>
1.DC Power Terminal
2. DC Reactor Connection Terminal for
Suppressing High Frequency

Regenerative Resistor Terminal Encoder Cable Connector

<CN2>
Motor Cable Terminal
Communication and
Operator Connector
<CN3>

• The I/O signal connector CN1, encoder cable connector CN2, and
NOTE
battery connector CN5 are included only in the description of the
signal circuit.
• The description of other connectors are omitted.

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 Wiring 3-3

Electric Circuit Name and Function

The terminal symbol is printed on the wiring socket at the electric circuit
terminal of the drive. Observe the drive to identify and understand the
terminals on the following table, and then wire accordingly.
Terminal L1, L2, L3 AC Power Terminal
Single phase 200 to 230 [V] (50/60 [Hz])
400 [W] or lower L3 port must not be used.
400 [W] or higher 3 phase 200 to 230 [V] (50/60 [Hz])

Terminal L1C, L2C Control Power Terminal

No output division Single phase 200 to 230 [V] (50/60 [Hz])

• The main power and control power can be divided when connecting to the drive. Therefore, the
user can configure surrounding circuits when the main power is cut off in an emergency or when
the drive itself checks the status and cuts off the power.
• If the drive independently checks the status and only the main power is cut off, but not the control
power, the drive can display the cause of cut-off of the main power. The user can take appropriate
action after identifying the cause of cut-off of the main power.
• Refer to the Chapter 3 for the Electric Circuit Diagram of the power separation.

Terminal U, V, W Motor Cable Terminal

Connect the motor cable.

• The motor cable connectors (U, V, W) are output terminals. Do not

NOTE
connect the input power.
• It causes the fire.

Terminal Grounding Terminal (Heat Sink)

Connect the power and motor cable to the grounding terminal.

Terminal B1, B2 Regenerative Resistor Connection Port

As the function for regenerative energy consumption is not required, the
200 [W] or lower regenerative resistor does not have to be mounted.
If the capacity of mounted regenerative resistor is insufficient, remove it
400 [W] or higher or connect it to the mounted regenerative resistor in parallel.
Refer to the Chapter 7-11 for more information the Regeneration Resistor.

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3-4 Wiring

DC Main Power Terminal or

Terminal DC-, P1, P2 DC Reactor Connection Terminal for Suppressing
High Frequency.

The main power can be input by selecting either terminals (L1, L2 and L3) for the AC main power
terminal, or the terminals (DC- and P1) for the DC main power terminal.
Refer to the Chapter 4-8 for the selection method.
The initial setting is the AC main power input through the terminals (L1, L2 and L3).

When using the AC main power through terminals (L1, L2, L3), the terminals (P1, P2) can be used to
connect the DC reactor for RF control.

P1 and P2 are short-circuited when delivered. DC-

P1

External Equipment
P2
Drive

DC Reactor Connection Terminal for Suppressing High Frequency.

P1
DC Reactor

External Equipment P2 Drive

• The main power can be input by selecting either terminals (L1, L2

WARNING and L3) for the AC main power terminal, or the terminals (DC- and
P1) for the DC main power terminal.
Connect only either AC main power terminal or the DC main power
terminal.
• When wiring the wiring socket, be careful not to expose the core
wire. It may case an electric shock.

• When using the DC main power terminal for the main power
NOTE
supply, refer to the Chapter 4-8 for information on the setting of
main power input selection.
• If the terminals DC-, P1 and P2 are not used for ‘DC main power
input’ or ‘DC reactor for RF control’, do not remove the short circuit
wire of the terminals (P1 and P2) which is short circuit when
delivered.

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 Wiring 3-5

Electric Circuit Diagram

This is a circuit diagram where the main power is supplied from AC

main power input terminal.
Use single-phase power in servo drive whose rated output (capacity) is
400 [W] or lower. Thus, do not use the terminal L3.

POWER
MCCB (Molded Case Circuit Breaker)
1MCCB MC (Magnetic Contactor)

NOISE
FILTER 1MC 1MC For more than one second, press
<1> the Push Button S/W which allows
SW1 OFF SW2 ON Relay 1 SUP the current to flow when pressed.
<1> <2> Connect this if the power needs to
<3>
<2> be cut-off.
Relay 1 Alarm Display Lamp
Attach a surge suppressor to
<3> the MC relay coil.

CSD3 SERVO DRIVE

All-In-One
MODE
SET

ENTER
1MC
CHARGE POWER
L1 U Servo Motor

L2 V
Do not connect this to the drive
L3 W
with less than 400 [W].
L1C

L2C CN2 <Shield> PG M

N
Connect this to the grounding
P1 terminal of th heat snk.
P2 CN1
Relay 1
45 SALM+
Regenerative B1
Resistor 1/2 +24[V]IN
B2
46 SALM- 24[V]
Heat Sink
10 E-STOP SW3

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3-6 Wiring

Using the Socket and Lever

This section describes the usage of wiring socket and lever provided
with servo drive.

• Connect only one wire at wire inlet of the socket.

• If the wire is pulled accidentally with an excessive force, rewire it

properly.

• The peeled wire can be used. (Keep the length of the peeled core wire less than
8 [mm].)
• The use of phenol terminal is recommended for the reliability of wiring.
• Use a lever for wires provided with the product.
The following figure shows the sequence of assembling wire at the socket.
• As shown in the figure, insert lever in the socket and press it.
• Insert wire into socket and release the lever.
• Pull it slightly to check if the connection between the socket and wire is normal.

1. Prepare the 4. Strip off the 3. PhenolTerminal 4. Assemble the

wires wires Compression Socket

wire
Terminal

R
<Compress with the Phenol
Terminal Compressor>
Socket
Lever
(Keep the lenght of the peelde wire less than 8 [mm].)

The thickness of wire allowed by the socket is shown below.

Thickness of Wire Thickness of Wire

Single ∅0.5 to ∅0.8 [mm] Twist AWG28 to AWG12

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 Wiring 3-7

Insert the wire completely. If peeled core wire is exposed,

WARNING it may cause an electric shock.

NOTE The lever is a small tool, used when wiring. Keep it for other
wiring jobs.

Publication CSD3P-UM001E-EN-P — February 2008

3-8 Wiring

I/O Signal (CN1) I/O Connection Diagram

This is the circuit diagram of a connector for I/O signal. It is divided into
input on the left and output on the right.
The Backup battery for absolute value encoder can be connected to (CN5) and
(CN1 49, 25). It must be connected to one side only.

DC + 24 [ V] I/O 50 Pin Connector<CN1>

or
0 [ V] Input Output Analog Monitor CH1
0 [ V] Output Range : -10 [V] to +10 [V]
or 1 28 Analog Monitor CH2
DC + 24 [ V] D/ A Output Range : -10 [V] to +10 [V]
2 23 AM-SG Analog Monitor Display GND
Sequence 27
Input Circuit AM - SG
37
Initial Set Function AL 1
Servo Alarm Code
DI # 1 3 38
/ SV - ON AL 2 Maximum Allowable Voltage : DC 30 [V]
DI # 2 4 39 Maximum Allowable Current : 20[mA]
P- OT AL 3
N - OT DI # 3 5 40 Alarm Code Output
AL - SG
GND
/ P- CON DI # 4 6 29
EA +
P
/ A- RST DI # 5 7 30
EA -
/ N - TL DI # 6 8 31 Encoder A,B,C Phase
EB +
P
/ P- TL DI # 7 9 32 (Line Receiver SN75175
EB -
or MC3486)
33
EC +
Emergency Stop P
E- STOP 10 34
EC -
35
. PS + Rotation Data of the
P
PULS + 11 36 Absolute Value Encoder
PS -
P
PULS - 12
Position 17 / Z - PULSE +
Command SIGN + 13 P
Encoder Z-Pulse
P
18 / Z - PULSE - OPEN Collector
SIGN - 14
45
SALM +
P Servo Alarm
46
SALM -
Sequence Output Circuit
41
DO # 1
V- REF 19
P
42 / P- COM
Speed Command DO # 1 -
P
-10[V] to ~+10[V]
- 10 [ V] + 10 [ V] V- REF SG 20 43
A/ D DO # 2 +
P / TG - ON Initial Set
T- REF 21 44 Function
Torque Command DO # 2 -
-10[V] to ~+10[V] P
- 10 [ V] + 10 [ V] T- REF SG 22 47
DO # 3 +
P BK
BAT + 49 48
Back-up battery DO # 3 -
Back for
3.6[V] - Up Battery
absolute P
BAT - 25 24 26 50
3 . 6 [ V]
encoder
X X X

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 Wiring 3-9

(CN1) Pin Arrangement

Specifications
Pin #
Symbol Wire Color Electrical Features
1 Red
+24 [V] IN External 24 [V] input for contact point input.
2 Yellow
3 DI#1 Blue
4 DI#2 White
5 DI#3 Pink Pin for sequence input signal.
(Terminal input)
6 DI#4 Orange
7 DI#5 Gray Refer to the Chapter 5 for details.

8 DI#6 Red 1 Point

9 DI#7 Yellow 1 Point
Emergency signal input.
10 E-STOP Blue 1 point (Terminal input)
11 PULS+ White 1 point
12 PULS- Pink 1 point
13 SIGN+ Orange 1 Point Signal input for position control mode.
14 SIGN- Gray 1 Point (Input of line drive and open collector)

15 PCLR+ Red 2 Points

16 PCLR- Yellow 2 Points
17 Z-PULSE+ Blue 2 Points Encoder Z-PULSE output.
18 Z-PULSE- White 2 Points (Terminal output)

19 V-REF Pink 2 Points Signal input for speed control mode.

20 V-REF SG Orange 2 Points Analog speed command -10 [V] to +10 [V].

21 T-REF Gray 2 Points Signal input for torque control mode.

22 T-REF SG Red 3 Points Analog torque command -10 [V] to +10 [V].

23 AM-CH2 Yellow 3 Points Analog monitor CH2. -10 [V] to +10 [V].
24 - - -
25 BAT- White 3 Points Absolute encoder battery GND.
26 - - -
27 AM-SG Orange 3 Points Analog monitor output GND.
28 AM-CH1 Gray 3 Points Analog monitor CH1. -10 [V] to +10 [V]
29 EA+ Red 4 Points Encoder signal output.
30 EA- Yellow 4 Points (line drive output).

31 EB+ Blue 4 Points

32 EB- White 4 Points
33 EC+ Pink 4 Points Encoder signal output.
34 EC- Orange 4 Points (Line drive output)

35 PS+ Gray 4 Points

36 PS- Red/Line

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3-10 Wiring

37 AL1 Yellow/ Line

Alarm code output.
38 AL2 Blue/ Line (Open collector output)
39 AL3 White/ Line
40 AL-SG Pink/ Line Alarm code output GND.
41 D0#1+ Orange / Line
Sequence output signal pin.
42 D0#1- Gray / Line (Terminal input)
43 D0#2+ Red / Line 1
Refer to the Chapter 5-2 for details.
44 D0#2- Yellow / Line 1
45 SALM+ Blue / Line 1 Servo alarm generation signal output.
46 SALM- White / Line 1 (Terminal output)

47 D0#3+ Pink / Line 1 Sequence output signal pin. (Terminal input)

48 D0#3- Orange / Line 1 Refer to the Chapter 5-2 for details.

49 BAT+ Gray / Line 1 Absolute encoder battery power. 3.6 [V]

50 - - -

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 Wiring 3-11

(CN1) Input Signal Sequence Input Signal (allocation)

Refer to the Chapter 5-2 for details of sequence input signal.

Type Description Mode Reference
</SV-ON> If input is ON, the power is applied to the servo All 4-2
Servo-ON motor, and if OFF, the power is cut off.
</A-RST> Resets the servo alarm status. All 7-44
Alarm reset

</G-SEL> Use 2 group gain where the input is on, and use
existing gain where the input is off. Convert 2 All 6-27
Gain group conversion types of gain groups.
</P-TL> If signal is ON, limit forward torque by the All
Limit forward torque setting of [Pr-4.03].
5-41
</N-TL> If signal is ON, limit reverse torque by the All
Limit reverse torque setting of [Pr-4.04].
<P-OT> If load mechanical part reaches the forward
Prohibit forward limit, this prevents the motor from moving PSC
operation further to that direction.
7-2
<N-OT> If load mechanical part reaches the reverse
Prohibit reverse limit, this prevents the motor from moving PSC
operation further to that direction.
Converts the speed controller from PI controller
</P-CON> type into P controller type. PSC 6-21
P/PI control conversion Used to provide better response performance by
prohibiting the overshoot in transient response.
</C-SEL> Combinational Control
Used to convert control mode when used as
Control mode Mode Only
combinational control mode.
conversion Refer to 5.6

</C-DIR> The rotation direction</C-DIR> and rotation

</C-SP1> speed </C-SP1 to /C-SP4> of the motor are
</C-SP2> determined by the above input in terminal speed
</C-SP3> control mode. Rotation speed of </C-SP1 to / C 5-45
C-SP3> is set in [Pr-2.05 to Pr-2.11]. Rotation
</C-SP4> speed of </C-SP4> is set by analog speed
Terminal speed command voltage. </C-DIR> is used to change
command motor roatation direction in speed control mode.
Disregard the input value if in speed control,
</Z-CLP> analog command value is smaller than the value S 5-31
Zero clamp set at speed zero clamp level [Pr-5.04].

</INHIB> Disregard position command pulse where the P 5-28

Inhibit pulse command signal is ON.

</ABS-DT> Transmits absolute encoder data to host

Absolute Encoder Data controller through EA, EB when the signal is ON. P 7-32
Transmission
</PCLR> Clear position command, position feedback, and P 5-21
position error.
/START Control motor rotation start or stop by using S, C
terminal signal in speed or terminal speed 5-33
control mode.
/GEAR In position control mode, the 2nd electronic gear P
parameters [Pr-3.05] and [Pr-3.06] are used when
input is ON. The basic electronic gear 5-23
parameters [Pr-3.01] and [Pr-3.02] are used when
input is OFF. Switch between two electronic
gear ratios.

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3-12 Wiring

General Input Signal (fixed)

Power
Signal Name Symbol Function Mode Reference
As control power input for contact point
External power +24 [V]IN signal, +24 [V] power should be prepared ALL
input by users.

Emergency Stop
Signal Name Symbol Function Mode Reference
Connect and use an extra emergency stop
Emergency Stop E-STOP switch to quickly act upon emergency ALL 3-17
situation,

Position Command
Signal Name Symbol Function Mode Reference
PULS+
Receives position command by pulse
PULS- input. Can respond to both line drive
Pulse command P
SIGN+ output and open collector output of host
controller. 5-9
SIGN-

Position error PCLR+

Clears the position error. P
clear PCLR-

Signal Name Symbol Function Mode Reference

V-REF
Speed command Receives analog speed command.
input V-REF S 5-28
(-10 [V] to +10 [V])
SG
T-REF
Torque Receives analog torque command.
command input T-REF t 5-38
(-10 [V] to +10 [V])
SG

Battery Connection
Signal Name Symbol Function Mode Reference
BAT+ Supplies the external battery power when
Battery input ALL 7-27
BAT- the absolute encoder is used.

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 Wiring 3-13

(CN1) Output Signal Sequence Output Signal (Allocation)

See Chapter 5-2 for details of sequence output signal.

Type Description Mode Details

/P-COM (+, -)
(Positioning It is ON when the position error is within the set value P
Completion of output width of position completion signal, [Pr-5.00],
detection) 5-23
/NEAR (+, -) It is ON when the position error is within the setting
(Position approach value of output width of position approach signal, P
detection) [Pr-5.01].
/V-COM (+, -) It is ON when error between speed command and motor
(Speed coincidence rotation speed is within the set value of output width of PSC 5-29
detection) speed coincidence signal, [Pr-5.02].
/TG-ON (+, -) It is ON when the motor rotates at speeds higher than
(Rotation All 5-35
the set value of rotation detection level, [Pr-5.03].
detection)
/T-LMT (+, -)
(Torque limit It is ON when it reaches the set torque limit. All 5-35
detection)
/V-LMT (+, -)
(Speed limit It is ON when it reaches the set speed limit. All 5-36
detection)
BK (+, -) Signal for the control of brake mounted internally or All 7-6
(Breaker control) externally on the servo motor.
/WARN (+, -)
(Warning It is ON if a servo warning is detected, All 8-4
detection)

• In this manual, < > is applied to the names of sequence I/O signal.
NOTE
• ex) </SV-ON>, </P-COM>

General Output Signal (fixed)

Alarm code
Signal Name Symbol Function Mode Reference
AL1
Upon servo alarm generation, it outputs
AL2 the types of the servo alarm with the 3-bit.
Alarm code ALL 8-4
AL3 Maximum rating of open collector :
DC 30 [V], 20 [mA]
AL-SG

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3-14 Wiring

Analog Monitor
Signal name Symbol Function Mode Reference
AM-CH1 Motor speed and torque, etc. are
Analog Monitor displayed for monitoring.
AM-CH2 ALL 7-25
Output
AM-SG Output range : -10 [V] to +10 [V].

Encoder signal
Signal name Symbol Function Mode Reference
EA+
EA- Displays multiplied encoder signal A, B, C
pulse in the form of line drive.
Encoder Signal EB+
Output EB- According to the parameter setting, the
drive can logically invert output of A, B ALL 7-21
EC+ pulse.
EC-

Absolute PS+ Outputs the number of rotation by serial

Encoder S-pulse PS- data when the absolute encoder is used.

Servo alarm
Signal name Symbol Function Mode Reference
SALM+ It is displayed if the servo alarm is
Monitor Output ALL 7-25
SALM- generated.

Encoder Z-pulse display

Signal name Symbol Function Mode Reference

Encoder Z-PULSE + It is displayed if Z-Pulse of the encoder is ALL

Z-pulse Z-PULSE - detected.

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 Wiring 3-15

(CN1) Input Circuit and Describes the connection circuit for input from the host controller to the servo
drive.
Interface

Pulse Command Input Circuit

The drive receives the pulse output of host controller by position command in
position control mode.

• Host controller can output pulse in line drive or open collector type.
Select either of the two for use.

• Refer the Chapter 5-9 for the servo drive setting according to the
selection.

Input pin of CN1 that uses line drive and open collector output.
PULS +, PULS- (11, 12) SIGN +, SIGN- (13, 14) PCLR +, PCLR- (15, 16)

Line drive - Maximum allowable frequency 900 [kpps]

Line Drive

SN75174 150[˟] 4.7[k˟]

Equivalent
P

2.8[V]≤(H Level)-(L Level)≤3.7[V]

CN1
Host Controller

Open collector - Maximum allowable frequency 200 [kpps]

Vcc
Line Drive
R1 i 150[˟] 4.7[k˟]

P VF

TR1 VF=1.5 to 1.8[V] CN1

Host Controller

By using the example at the bottom, set the value of Pull Up resistor R1 so that
the input current i is within 7 [mA] to 15 [mA].
Vcc of the Host Controller 24 [V] ± 5 [%] 12 [V] ± 5 [%] 5 [V] ± 5 [%]
R1 2.2 [kW] 1 [kW] 180 [W]

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3-16 Wiring

Maximum allowable frequency of host controller’s pulse command is

NOTE
• 900 [kpps] for the line drive,
• 200 [kpps] for the open collector,.
If the maximum allowable frequency is exceeded, “E.OvPUL” servo
alarm of position command pulse is generated.
Make sure the output of host controller does not exceed the maximum
allowable frequency.

Analog Voltage Input Circuit

The drive receives analog voltage output of the host controller with speed, speed of
torque control mode and torque command.
• Input impedance of speed and torque commands is about 5 [M ].

• Maximum allowable voltage range of input signal is -10 [V] to +10 [V].
Input pin of CN1 that uses analog voltage output of the host controller
Speed command V-REF, V-REF SG (19, 20) Torque command T-REF, T-REF SG (21, 22)

Analog Input Circuit Speed

Command
390[˟] (1/2W)

V-REF -
12[V] 2[k˟] +
A/D
1000:1 P V-REF SG
CN1
Host Controller 0[V]

Analog Input Circuit

Torque
390[˟] (1/2W) Command

T-REF -
12[V] 2[k˟] +
A/D
P T-REF SG
1000:1
CN1
Host Controller 0[V]

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 Wiring 3-17

Sequence Input Circuit

Relay or open collector output of the host controller is used for the sequence input
circuit.

• Make sure that the input current i is within 7 [mA] to 15 [mA].

Relay Circuit
i +24[V]IN 3.3[k˟]
DC24[V] 50[mA]
or Higher P
CN1
Sequence Input Signal
Host Controller (DI#1 to DI#7)

Open Colletor Circuit

i +24[V]IN 3.3[k˟]
DC24[V] 50[mA]
or Higher P
Sequence Input Signal CN1
Host Controller (DI#1 to DI#7)

Emergency Stop Signal

This drive has a built-in circuit for the emergency stop situation.
• To quickly respond to the equipment failure or dangerous situation, it receives
the emergency stop signal from #10 pin of CN1.

• Emergency stop input can be done by the relay contact output of host
controller and installing a separate switch.

#10 pin of CN1 assigned below is used as the input pin only for the emergency
stop.

Normal Operation
External Power 24[V]
+24[V] IN 1/2

E-STOP 10
E-STOP Switch

E-Stop
External Power 24[V]
+24[V] IN 1/2

E-STOP 10
E-STOP Switch
CN
Install a host controller 1
or a separate switch.

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3-18 Wiring

• If the emergency stop signal is input, “E.EStoP” servo alarm is

NOTE
generated.
• Refer to the Chapter 8-4 more information on the servo alarm.
• If the emergency stop is released, reset the alarm by referring to
the Chapter 7-44.

• You can check the status of emergency stop signal through the
NOTE
monitor mode describe in the Chapter 7-50.

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 Wiring 3-19

(CN1) Output Circuit and There are 3 types for the servo drive output circuits. Design the input circuit at
the host controller suitable for the each output circuit.
Interface
Line Drive Output
Output signal (EA+, EA-, EB+, EB-) that converted the encoder serial data
into 2 phase (A phase and B phase) pulse, zero point pulse signal (EC+, EC-)
and S phase rotation amount signal (PS+, PS-), are output to line drive circuit.
It is used to configure the position control loop from the host controller.
Receive the pulse signal with the line receiver circuit in the host controller.
Set R1 value to 330 [Ω].

P R1
CN1
0[V] Host Controller

Open collector output

The servo alarm code output signal is an open collector output circuit. The
figure below shows the connection in order of photo coupler, line receiver, and
relay circuit.

• The maximum allowable voltage of the open collector output circuit is

DC 30 [V], and the allowable current is 20 [mA].

DC 5 to 12 [V]

Photo-Coupler
P

0[V]
CN1
0[V] Host Controller

DC 5 to 12 [ V ]

Line Receiver
P

0[V ]
CN1
0[V]
Host Controller

DC 5 to 12 [ V ]
Relay
P

CN1 0[V] 0[V]

Host Controller

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3-20 Wiring

Photo coupler output

Servo alarm, sequence output signal and encoder Z-pulse signal output are the
photo coupler output circuits.
Connection to the relay circuit of the host controller.

DC 5 to 24 [V]
Relay
P

CN1 0[V]
Host Controller

Connection to the line receiver circuit of the host controller.

DC 5 to 12 [V]

Line Receiver
P

CN1 0[V]
Host Controller

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 Wiring 3-21

Encoder Wiring (CN2) Pin Arrangement of (CN2)

The table below shows the pin arrangement for each encoder.
DRIVE MOTOR
CSMT
CSM CSMS/D/H/K RSMS/D
RSMQ CSMR
CSMT RSMS/D/H RSMH/F
RSMZ RSMQ
PIN CSMR RSMF/K/L RSMK/L
FUNCTION RSMZ
NO.
17bit 17bit
9 wire 15 wire 9 wire 9 wire 15 wire
ABS. ABS. ABS. Serial Serial
INC. INC. INC. INC. INC. Abs./Inc. Abs./Inc.
1 E0 [V] 8 14 14 11 14 G G G 8 G
2
3 A 1 1 1 1 1 A A A
4 /A 2 2 2 2 2 B B B
5 B 3 3 3 3 3 C C C
6 /B 4 4 4 4 4 D D D
7 C 5 5 5 5 5 E E E
8 /C 6 6 6 6 6 F F F
9
10 U 7 7 11 K K 4 K
11 RST 9 9 R
12
13 /U 8 8 12 L L 5 L
14 V 9 M
15 /V 10 N
16 W 11 P
17 /W 12 R
18 BAT+ 11 7 T 1 T
19 BAT- 12 8 S 2 S
20 E5 [V] 7 13 13 10 13 H H H 7 H
Frame 10 10
9 15 12 J J J 3 J
FG 15 15

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3-22 Wiring

(CN2) Terminal Type

The table below shows the terminal type and specifications of the encoder
cable.

<Encoder Cable>
CON A. CON B.

Connect this to CN2 Connect this to the encoder

of the servo drive cable of the servo drive

Connector CON A for connection to CN2 of servo drive.

Model Number Manufacturer
One type regardless of motor model and encoder. 10120-300VE 3M
10320-52A0-008

Connector CON B for connection to the encoder cable of servo motor.

Classification Model Number Manufacturer
9 wire Inc.
Serial Absolute 172161-1
Serial Inc.
CSM, CSMT, CSMR
15 wire Inc. 172163-1
AMP
Absolute Type 172163-1
9 wire Inc. 171162-1
RSMZ, RSMQ
Absolute. 172163-1

RSMS, RSMD, RSMH, 9 wire Inc.

RSMF, RSMK, RSML DMS 3108B20-29S or
15 wire Inc. DDK
CSMK DMS 3106B 20-29S
CSMT, CSMR Compact Absolute

• Do not connect FG of servo drive to host controller if GND and FG

NOTE
are common, or if there is no separate FG,

• CSMG motor has a gear attached to CSM motor. Other motor

NOTE
specifications are same.

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 Wiring 3-23

Encoder Signal Process

1. Incremental encoder (9 wire Inc.) connection of CSM, CSMT/R motors

Encoder CSD3 Host Controller

CN2 CN1
1 A 3 29 EA
P P
2 /A 4 30 /EA

3 B 5 31 EB
P P
4 /B 6 32 /EB

5 C 7 33 EC
P P
6 /C 8 34 /EC

7 E5[V] 20
SG
P
8 E0[V] 1 27 0[V]
0[V]
9 FG 12 50 FG

2. Absolute encoder connection of CSM, CSMT/R motoers

CSD3 Plus
encoder controller
CN2 CN1
1 A 3 29 EA Serial I/F circuit
P P
2 /A 4 30 / EA
Up/Down
counter
3 B 5 31 EB
P P
4 /B 6 32 / EB

5 C 7 33 EC
P P
6 /C 8 34 / EC

7 RX 10 35 PS Serial I/F circuit

P P
8 / RX 13 36 / PS
9 RST 11
11 BAT + 18
SG
P
12 BAT - 19 27 0 [ V]
0[ V]
13 E 5 [ V ] 20 49 BAT +
P P
14 E0 [ V] 1 25 BAT -
DC 2.8 ~ 4.5 [ V]
15 FG FG

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3-24 Wiring

3. Incremental encoder (15-wire Inc.) connection of CSM, CSMT/R

motoers
CSD3 Plus
encoder controller
CN2 CN1
1 A 3 29 EA Serial I/F circuit
P P
2 /A 4 30 / EA
Up/Down
counter
3 B 5 31 EB
P P
4 /B 6 32 / EB

5 C 7 33 EC
P P
6 /C 8 34 / EC

7 U 10 35 PS Serial I/F circuit

P P
8 /U 13 36 / PS
9 V 14
10 P /V 15
11 W 16
SG
P
12 /W 17 27 0 [ V]
0[ V]
13 E 5 [ V ] 20 49 BAT +
P P
14 E0 [ V] 1 25 BAT -
DC 2.8 ~ 4.5 [ V]
15 FG FG

4. Incremental encoder (9 wire Inc.) connection of RSMS/D/F/H/K/L

motors
CSD3 Plus
encoder controller
CN2 CN1
A A 3 29 EA Serial I/F circuit
P P
B /A 4 30 / EA
Up/Down
C B 5 31 EB counter

P P
D /B 6 32 / EB

E C 7 33 EC
P P
F /C 8 34 / EC

Serial I/F circuit

H E 5 [ V ] 20
SG
P
G E0[ V] 1 27 0[ V]
0[ V]
J FG FG

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 Wiring 3-25

5. Incremental encoder (15 wire Inc.) connection of RSMS/D/F/H/K/L

motors
CSD3 Plus
encoder controller
CN2 CN1
A A 3 29 EA Serial I/F circuit
P P
B /A 4 30 / EA
Up/Down
C B 5 31 EB counter

P P
D /B 6 32 / EB

E C 7 33 EC
P P
F /C 8 34 / EC

K U 10 Serial I/F circuit

P
L /U 13

M V 14
P
N /V 15

P W 16
P
R /W 17

H E 5 [ V ] 20
SG
P
G E0 [ V] 1 27 0 [ V]
0[ V]
J FG FG

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3-26 Wiring

6. Absolute encoder connection of RSMS/D/F/H/K/L motors

CSD3 Plus
encoder controller
CN2 CN1
A A 3 29 EA Serial I/F circuit
P P
B /A 4 30 / EA
Up/Down
C 5 31 counter
B EB
P P
D /B 6 32 / EB

E C 7 33 EC
P P
F /C 8 34 / EC

K U 10 Serial I/F circuit

P
L /U 13

R RST 11

T BAT+ 18
P
S WT
BAT-
A
AT 19

H E 5 [ V ] 20
SG
P
G E0 [ V] 1 27 0 [ V]
0[ V]
J FG FG

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 Wiring 3-27

7. Serial encoder connection of RSMS/D/F/H/K/L motors

CSD3 Plus
encoder controller
CN2 CN1
K SD + 10 29 EA Serial I/F circuit

P P
L SD - 13 30 / EA
Up/Down
H E 5 [ V ] 20 counter
31 EB

G P P
E 0 [ V] 1 32 / EB

T BAT + 18 33 EC
P P
S BAT - 19 34 / EC

Serial I/F circuit

35 PS
P
36 / PS

SG
27 0 [ V]
0 [ V]
49 BAT +
P
25 BAT -
DC 2 . 8 ~ 4 . 5 [ V ]

J FG FG

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3-28 Wiring

8. Absolute encoder connection of RSMQ/Z motors

CSD3 Plus
encoder controller
CN2 CN1
1 A 3 29 EA Serial I/F circuit
P P
2 /A 4 30 / EA
Up/Down
3 B 5 31 EB counter

P P
4 /B 6 32 / EB

5 C 7 33 EC
P P
6 /C 8 34 / EC

7 BAT + 18 35 PS Serial I/F circuit

P P
8 BAT - 19 36 / PS
9 RST 11
10 FG
SG
11 RX 10 27 0 [ V]
P 0[ V]
12 / RX 13 49 BAT +
P
13 E 5 [ V ] 20 25 BAT -
P DC 2 .8~ 4 .5[ V]
14 E0 [ V] 1

15 FG FG

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 Wiring 3-29

9. Incremental encoder (9-wire Inc.) connection of RSMQ/Z motors

CSD3 Plus
encoder controller
CN2 CN1

1 A 3 29 EA Serial I/F circuit

P P
2 /A 4 30 / EA
Up/Down
counter
3 B 5 31 EB
P P
4 /B 6 32 / EB

5 C 7 33 EC
P P
6 /C 8 34 / EC

35 PS Serial I/F circuit

P
36 / PS

SG
27 0 [ V]
0[ V]
49 BAT +
P
10 E 5 [ V ] 20 25 BAT -
P DC 2 .8~ 4 .5[ V]
11 E0 [ V] 1

12 FG FG

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3-30 Wiring

10. Serial encoder connection of RSMQ/Z motors (Absolute, Incremental)

(18 and 19 not necessary for Incremental)
CSD3 Plus
encoder controller
CN2 CN1
4 SD + 10 29 EA Serial I/F circuit

P P
5 SD - 13 30 / EA
Up/Down
E 5 [ V ] 20 counter
7 31 EB
P P
8 E 0 [ V] 1 32 / EB

1 BAT + 18 33 EC
P P
2 BAT - 19 34 / EC

Serial I/F circuit

35 PS
P
36 / PS

SG
27 0 [ V]
0 [ V]
49 BAT +
P
25 BAT -
DC 2 . 8 ~ 4 . 5 [ V ]

3 FG FG

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 Wiring 3-31

Wiringthe Battery (BATT) Battery Specifications

The figure below shows the specifications of battery connected to BATT of
servo drive.
MOLEX 5264-02
RED

Less than 14.5

+ -
+ RED
- BLACK

BLACK YELLOW TUBE

12

Tube DC 3.6V Soldering

Soldering
+ AAA
-
Spot Welding
Spot Welding

Wiring the Battery (BATT)

The figure below shows how to connect the battery to BATT of the servo
drive.

<2>

<1>

Procedure

1. Prepare a battery according to the specifications.

2. Open the battery cover.
3. Push it to the end in the direction of <1>.
4. Connect the connector in the direction of <2>.
5. Close the battery cover.

6. If you follow the battery specifications, the polarity coincides.

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3-32 Wiring

General Articles Wiring This part describes wiring to implement optimum performance of the servo
drive in wiring and noise.

Precautions

Electric Circuit
• Use a thick wire as earth wire if possible.
• Class 3 grounding is recommended. (Recommendation: grounding resistance
lower than 100Ω).
• Only 1 point must be grounded.
• Select ground phase and ground point considering the power conditions of
installation area. If the power is supplied by the ground phase, wire it so that L2
of AC main power input terminal (L1, L2, L3) becomes the ground phase.
• Use noise filter for the main power and control power.
• Electric circuit wiring and signal circuit wiring should be apart as much as
possible. (30 [cm] or more)
• Do not use same power with the electric ARC welding machine or discharge
processor equipment.
• The earth wire of the servo motor must be connected to the grounding
terminal of the drive. In addition, ground the grounding terminal of the drive.
• If the wiring is inside the metal pipe, ground the pipe with class 1 grounding.

Signal Circuit
• The host controller should be installed as closely as possible to the drive, and
the noise filter must be used.
• CN1 (I/O signal connector) and CN2 (encoder cable) should be twist pair wire
and batch shield wire. (Refer to the appendix for the Samsung's standardized
parts.)
• Note that the signal circuit wire is very thin, thus pay attention when handling
it.
• If the noise is generated at command input cable, ground 0 [V] line (SG) of the
input line before the usage.

Others
• Use the breaker or fuse for wiring to protect the servo drive.
• Make sure there is no continuous bending and stress to the wire.
• Use noise filter in radio noise.
• If used around residential area or the radio disturbance is concerned, install a
noise filter on the input side of power line.
• As the drive is for industrial use, there are no measures for radio disturbance.
• Attach a surge absorption circuit to the relay, solenoid, and coil of the magnetic
contactor.

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 Wiring 3-33

Capacity of the Drive and Fuse

The table below shows the capacity of servo drive and fuse.

Drive type Power Capacity per 1 MCCB or Fuse

Power Drive Power Capacity
Capacity CSD3- [kVA] [Arms]
50 [W] A5BX2 0.25

100 [W] 01BX2 0.40 4

Single phase 220V
200 [W] 02BX2 0.75
400 [W] 04BX2 1.2 8
1 [KW] 10BX2 2.3 7
3 phase 220V
1.5 [KW] 15BX2 3.2 10

The fuse capacity is the value when 100 [%] load is applied. When selecting the MCCB (breaker for
wiring) or fuse capacity, select the fuse capacity considering the load ratio.

Cut-off features : 200 [%]-2 seconds or more. 700 [%]- 0.01 second or more.

The high -speed cut-off fuse can not be used. As the power of the
NOTE
drive is condenser input type, the fuse may be blown even during a
normal situation if the high-speed cut-off fuse is used

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3-34 Wiring

Noise Protection

The high-speed switching device and microprocessor are used at the main
circuit of the servo drive. Thus, switching noise is affected by the connection
and grounding methods. Use the proper wiring and grounding method to
prevent any affects from the noise.
Use a wire of 3.5 [mm2] or thicker for the earth wire.

LINE FILTER
1

LINE
FILTER AV
P P P
2 R

Ralay Sequence Circuit

Signal Generating Circuit

CSD3 SERVO DRIVE

L
1
L
2 CN1
L
3
L1C
U Servo Motor
L2C
V

Heat Sink
P
CN2 M
G

Ground Plate
One Point Grounding<Class 3 Grounding or Higher>
Earth Grounding

Extra caution is required when wiring the noise filter. The following figure
describes precautions when wiring the noise filter. If the wiring is wrong, the
performance of the noise filter falls.

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 Wiring 3-35

• Separate the input and output wiring of the noise filter and do not tie
up them together.

Primary and Secondary

Interference

Secondary
Primary
Filter

Secondary
Primary
Filter

Primary and Secondary

Interference

Primary Secondary Primary Secondary

Secondary 

Secondary
Primary

Primary
Filter Filter

Separation of Separation of
Circuit Circuit

• Earth wire of the noise filter should be wired in distance to the

output wire and do not put other signal lines and earth wire in a same
duct and tie up them together.

Primary Secondary Primary Secondary

Secondary

Secondary
Primary

Primary
Filter Filter

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3-36 Wiring

• Earth wire of noise filter should be solely attached in the earth plate.
Do not connect the earth wire of the noise filter to other earth wire
together.

Primary Secondary Primary Secondary

Secondary

Secondary
Primary

Primary
Filter Filter

• If there is noise filter inside the case (panel), connect all of the earth
wires and earth wires of other equipment inside of the case to the
grounding plate. And then, ground them.

Secondary
Primary

Filter

‫ٻ‬

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 Wiring 3-37

Wiring when Using Several Drives

This is an example of wiring when connecting several drives.

• Connect the alarm output (SALM) signal of each servo drive in a
series and run Relay 1 to detect the alarm. Normally, SALM+ and
SALM- are interconnected, and with 24 [V] supplied to Relay1, the
servo drive runs normally.
• If the servo alarm is generated, 24 [V] supplied to Relay1 is cut off.

1MCCB

NOISE 1MC 1MC

FILTER Relay
SW1 OFF SW2 ON SUP
1

Alarm Display Lamp

1

1MC
+24[V]
L1 CN1 Relay 1
SALM+ 45
L2
SALM- 46
L3

L1C +24[V]IN 1/2 +24[V]

L2C E-STOP 10 0[V]

L1 CN1
SALM+ 45
L2
SALM- 46
L3

L1C +24[V]IN 1/2 +24[V]

L2C E-STOP 10 0[V]

L1 CN1 0[V]
SALM+ 45
L2
SALM- 46
L3

L1C +24[V]IN 1/2 +24[V]

L2C E-STOP 10 0[V]

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3-38 Wiring

Connection to Peripheral Equipment

y z {
AC 220 [V] Power

MCCB
Breaks the circuit if large
inruch current flows on
power line.

Noise Filter

Removes the noise

from the power line.

Regenerative Magnetic
Resistor Contactor

ih{{
Battery
sX
sY
sZ juX
sXj Host
sYj Controller
u
wX
wY
iX
iY
|
Magnetic Contactor }
for the Motor Break ~

Control
juY Encoder Cable
Motor Cable
Brake Cable

Motor Brake
juZ
Control Power

Motor Break
Control Servo Motor Portable Operator

Publication CSD3P-UM001E-EN-P — February 2008

 Chapter 4

Operator, Basic Setting and Startup

Introduction This chapter introduces the operator mounted on the servo drive. In addition,
it describes the basic setting of servo drive, and also an example for simple
startup.

Topic Page
Introduction 4-1
Before You Begin 4-2
Operator 4-6
Basic Setting 4-13
Startup 4-22

1 Publication CSD3P-UM001E-EN-P — February 2008

4-2 Operator, Basic Setting and Startup

Before You Begin About Servo-ON Signal

This part describes Servo-ON signal for the control of the servo drive.

What is Servo-ON?
Audio or TV can select and play music and display channel that the users want
from the moment the power switch is on.
However, the servo drive cannot run servo motor by simple applying the
power. To complete load the system and use the servo drive, Servo-ON signal
from the host controller is required.
Servo-ON signal should be applied and maintained from the host controller
for the servo drive to run the motor. In servo -OFF status, it cannot run the
motor.

Servo-OFF and Servo-ON

Servo-OFF Status Servo-ON Status

• If the servo-ON signal is not applied after the • If the servo-ON signal is applied from the
power application, it is same as the servo host controller, the drive starts to apply
driver and motor being separated completely. voltage to the motor. At this time, if there is
no motor run command, the drive maintains
• This is a ready status to run the motor. the motor stopped.

Power Power

/SV-ON

Input of commands such as position, speed regarding servo-ON status and motor run.
• If the motor run command is input while the servo-ON signal of the host controller is maintained,
the drive can run the motor according to the command.

Power

/SV-ON
Input of command
such as position,
speed.
Motor
< Rotation >

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 Operator, Basic Setting and Startup 4-3

Servo-ON signal of the host controller and running the automobile

The following describes the servo drive in relation to the transmission of the
automobile.

Host Apply power Receive servo- Receive command Motor

Controller to the drive ON signal. such as position, speed. Rotates.

Start Receive servo- Receive command Motor

Operator
automobile. ON signal. such as position, speed. Rotates.

• As the transmission of the automobile should be positioned at 'D' to

start the automobile, the drive can be run only when the servo-ON of
the host controller is maintained.

• Commands to run the motor such as the position, speed of host

controller are invalid in Servo-OFF status.

In this manual, the Servo-ON signal is indicated as shown below.

Servo-ON, </SV-ON> Servo -OFF

Servo-ON signal input

Servo-ON signal from host controller is received through the sequence input
signal of CN1. Refer to the Chapter 5-2 for the sequence I/O signals.

Servo drive's own Servo-ON

If the servo drive runs the motor without a command from the host controller
as in the operation mode (run-00), (run-01), the drive make itself Servo-ON
for the operation.

• Refer to the Chapter 7-35 for the operation mode (run-00) to (run-02).

• In addition, the operation mode (run-00) is described in the Chapter

4-22 Startup.

• (run-00),(run-01),(run-07),(run-08),(run-10),(run-12) are not operated in

Servo-ON status.

Alarm occurrence and Servo-ON status

If servo alarm is occurred by the self-diagnosis function of the drive while the
Servo-ON signal is applied to the drive, the drive make itself Servo-OFF to
stop the motor and displays the contents of servo alarm. Users should inspect
the contents of servo alarm, take necessary action, and reset the alarm (Refer
to the Chapter 7-44). At this time, if an appropriate action against the servo
alarm is taken and the servo-ON signal of host controller is maintained, the
drive returns to servo-ON status at the moment that alarm is reset.

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4-4 Operator, Basic Setting and Startup

• Refer to the Chapter 8-6 for the information of the servo alarm.

• All parameter setting after Chapter 4-1 should be done for the
NOTE
Servo-ON status and Servo-OFF status.
• In this manual, ‘the servo drive status’ means whether the servo
drive is in servo-ON status or servo-OFF status.

Table for Parameter Setting

This manual uses the following table for parameter description.

Parameter Name
Parameter Setting Window Initial Value

0
Setting Value
1
Applicable Mode ALL Others Servo-OFF > Setting > Power Off & On > End

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
values. 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 the setting window.

• <Setting value> Describes the value selectable by the user and the
selected value.

• <Applicable mode> Alphabetically displays the corresponding control

mode in setting parameter, and displays (ALL) if all are included.

Alphabets display each mode

Mode Position mode Speed mode Torque mode Multi-step speed mode
Display P S t C

• Combinational control mode indicates the alphabets of two modes,

combined in a row.

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 Operator, Basic Setting and Startup 4-5

• ex) speed + position mode (SP), torque-speed mode (tS).

• <Others> Normally, as described in an example of automobile in the

Chapter 4-2, 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.

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 > Set it in Servo-OFF status, and apply the power again.
Completion

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4-6 Operator, Basic Setting and Startup

Operator Name and Function of Each Part

The servo drive has a built-in operator for various status displays, parameter
setting, operation command, and monitoring.

• Displays various contents with six 7-segment LED display.

• Distinguish the type of the servo drive according to the front design of
the operator.

• Provides all key manipulation function without a separate external

operator.

• The following figure shows the front side of the operator on the servo
drive.

7 2

All-In-One
6 MODE
SET 3

5
ENTER 4

CHARGE POWER

No. Name Function

Displays the status with 6-digit 7-segment LED display,
1 7-Segment LED Display sets parameter, commands operation and displays
monitoring.
2 MODE/SET Key Enters display mode shift and parameter setting value.

Enters into each window after changes the display mode.

3 ENTER key Completes setting and exits from it.

4 Control Power Check Lamp Checks if the control power is applied.

Main Power Check and Checks if the main power is applied, and if the capacitor of
5 Discharge Check Lamp the main circuit is discharged after the main power cut-off
Moves the digit of 7-segment LED display and functions as
6 Top, Bottom, Left/Right Key the UP/DOWN of the number.

7 Drive Type There are two types: All-In-One and Position-Control-Only.

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 Operator, Basic Setting and Startup 4-7

Icons for the Key Buttons

Describes the functions and icons of the key buttons.

• Icon is used in description throughout the manual. Thus, be fully aware

of the shape, name and function of icons.

Icon Name Function Icon Name Function

Increases and Used to indicate
Direction
Up decreases the value. up, down, left, right
Key
Press and hold this keys altogether.
icon to continuously
increase/decrease the Changes the mode.
value. MODE/
Down Saves the setting
Use this when setting SET Key value.
the value.
To enter/exit each
ENTER setting window
Left/ Key after changing the
Shifts the digits. mode.
Right
Black key button represents that it is pressed.

Structure of the Entire Mode

As shown in the figure below, the servo drive is divided into 4 types of control
modes:

• The mode displayed after the power ON is the status display mode.

• Mode is changed whenever the MODE/SET key is pressed.

• Be fully aware of the following 4 mode types and read the following.
Power
Connection

Status Display Mode

Operation Mode Status Display Mode

Monitor Mode

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4-8 Operator, Basic Setting and Startup

• All parameter setting after Chapter 4-1 should be done for the
NOTE
Servo-ON status and Servo-OFF status.
• In this manual, ‘the servo drive status’ means whether the servo
drive is in servo-ON status or servo-OFF status.

Status Display Mode

This section describes contents of the status display mode.

• The figure below is an example of display for the description of the

status mode.

• The display on the right is separated for the convenience of description.

• Refer to the table below for the meaning of each display.

Row
Display 1
Row
Display 2
Row
Control Mode Status Point Display Display 3

Basic Control Mode Combinational Control Mode

Display Description Display Description

Position mode Speed + position mode

Speed mode Torque + speed mode

Torque mode Torque + position mode

Control
Mode Multi-step speed Multi-step speed + position
mode mode
Multi-step speed + speed
mode
Multi-step speed + torque
mode
• Displays control mode in use. In Servo-ON status (in operation), the display of the
control mode flickers.

• In combinational control mode, it performs two types of selected mode

simultaneously for the operation. And at this time, the display of the current mode
is flickered. If the mode is changed, the display of new mode flickers, and the
previous mode does not.

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 Operator, Basic Setting and Startup 4-9

Display Description

Displays corresponding option upon the use of the

network option.
SERCOS DeviceNet Refer to the Chapter 1-6 for the network option.
Network option Network option
BASE-BLOCK means the preparation for the operation in Servo-OFF
status.
Status
Displays that it is running.

Displayed when forward operation prohibiting signal is input.

Displayed when reverse operation prohibiting signal is input.

• Displays corresponding character upon servo warning.

• Refer to the chapter 8 for details of the servo warning.

Description
Point It is on if the power is applied.
Display

Refer to the reference pages on the right for more information on the row
display.
Description Reference
When using as a position mode, if the difference between load position
and position command is smaller than [Pr-5.00] value, the servo drive 5-23
can display (</P-COM> position completion detection) signal. It is on
Row when </P-COM> signal is displayed.
Display 1 When using as a speed mode, if the difference between motor speed
and speed command is smaller than [Pr-5.02] value, the servo drive can 5-29
display (</V-COM> speed coincidence detection) signal. It is on when
</V-COM> signal is displayed.

Row When the rotation speed of the motor is higher than the setting value of
rotation detection level [Pr-5.03], the servo drive can display (</TG-ON> 5-35
Display 2 rotation detection) signal. It is on when </TG-ON > signal is displayed.
Row It is on when Z-pulse output of the encoder is detected.
Display 3

Overview of the Parameter Setting Mode

This section includes brief explanation of the parameters in parameter setting

mode.

• The Parameter sets and saves various functions to make drive suitable
for equipment.

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4-10 Operator, Basic Setting and Startup

• There is a parameter that can be always set regardless of the status of the
drive, and those that must be in certain status of the drive when setting
them. Be careful to set parameter in reference to the contents in the
Chapter 4-2.

• The table below is to aid the understanding of parameter group.

• The contents related to parameter setting are described in details in

Chapter 5, 6, 7, 8 and the Appendix along with the functional
description of the servo drive.

From To

Parameter Group Parameter Group Description

Group 0 0.00 to 0.14 15 User parameter related to basic setting and I/O signal
Group 1 1.00 to 1.15 16 User parameter related to gain and gain tuning
Group 2 2.00 to 2.13 14 User parameter related to speed control mode
Group 3 3.00 to 3.06 7 User parameter related to position control mode
Group 4 4.00 to 4.06 7 User parameter related to torque control mode
Group 5 5.00 to 5.14 15 User parameter related to supplementary function

Overview of the Monitor Mode

This section includes brief explanation of the parameters in monitor mode.

• Displays several numerical data generated as the motor is controlled by

the drive.

• The contents of the monitor mode can be checked regardless of the

status of the drive.

• Be fully aware of the numbers and units displayed in monitor mode

shown in the table below and refer to it when using the servo drive.

• The table below shows the brief contents of each item in the monitor
mode.

From To

Monitor Contents Monitor Contents Monitor Contents

Item (Unit) Item (Unit) Item (Unit)

Position command pulse Torque command offset

00 Speed feedback [rpm] 07 14
frequency [kpps] [mV]

01 Speed command [rpm] 08 Electrical angle [°] 15 I/O status

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 Operator, Basic Setting and Startup 4-11

02 Speed error [rpm] 09 Mechanical angle [°] 16 Alarm history

Accumulated load rate of
03 Torque command [%] 10 17 Firmware version
regenerative resistor [%]
Position feedback
04 11 DC Link voltage [V] 18 Motor & Encoder Type
[pulse]
Position command The number of rotation Analog speed command
05 12 19
[pulse] data of absolute encoder voltage [0.01V]
Analog torque
20 command voltage
[0.01V]

Speed command offset 21 Drive rated output

06 Position error [pulse] 13 [mA] Absolute encoder
22 1-time rotation data
encoder feedback
23 counter

• The item of the monitor mode, whose value is more than 6 digits,
NOTE
is not displayed at once by the 6-digit 7-segment LED display.
• Refer to the Chapter 7-50 for details on how to check such items.

Overview of the Operation Mode

This section includes brief explanation of the parameters in operation mode.

• The motor can be run in operation mode.

• Each item provides a special function, which can be used.

• Just as in the parameter setting mode, there is a status where the

operation is possible/impossible according to the status of the servo
drive, during the use of the operation mode. Refer to the Chapter 7-35
for details of operation mode.

• The table below shows the brief functions of each item in the operation
mode.

From To

Item Operation Item Operation

Adjustment of Current feedback
00 Jog operation 07 offset
01 Off-line auto tuning 08 Alarm reset
02 Homing 09 Alarm history clear
Auto adjustment of the Speed
03 10 Absolute encoder reset
command offset

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4-12 Operator, Basic Setting and Startup

Auto adjustment of the torque

04 11 2-group gain storing
command offset
Manual adjustment of the speed
05 12 Parameter initialization
command offset
Manual adjustment of the torque
06 command offset

Refer to the Chapter 7-35 for details of operation mode and key button
NOTE
manipulation.

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 Operator, Basic Setting and Startup 4-13

Basic Setting This section includes the introduction of the control mode and the basic
setting.

Overview of the Basic Setting

Basic setting must be done before using the servo drive.

1. Other parameters can be set after the basic setting.
2. The basic setting is possible only after connecting the control power of the
servo drive.
3. After all setting three types of basic setting, reapply the power.
4. The setting values of the basic setting are saved even if the power is cut off
or parameter is initialized by [run-12] function of the operation mode.
5. To change basic setting value, change it directly from corresponding
parameter and reapply the power.

As shown below, the basic setting uses three parameters to set 3 types.
Basic Setting Parameter Setting

1 Control mode (optional) setting

Motor setting
Motor type setting
2 Motor capacity (rated output) setting
Encoder type setting

3 Main power input (optional) setting

• The key button manipulation flow chart is provided in the description

of the basic setting to aid the understanding of the key buttons. While
performing the basic setting, get accustomed to key button
manipulation. Key button manipulation flowchart is not described after
Chapter 5.

The following figure is an example of the nameplate attached to the motor.

• Before performing basic setting, be sure to check the following three

contents of the model name.

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4-14 Operator, Basic Setting and Startup

• Before mounting a motor to the equipment, check the model name of

the motor in advance. Depending on the motor type, the motor may be
mounted in such direction that the nameplate is not visible.
Check the model name on the
Select a Motor
motor nameplate.
<Example of Model Name>

y z t  W X i h X h u r y
Motor Type Rated Output Encoder Type
GG

Control Mode Setting

Control Mode Type

As in the table below, there are 4 kinds of basic control modes and 6 kinds of
associated control modes.

• The drive has another drive exclusively for the position control. For this
drive, there is no need for a separate control mode selection. (Refer to
the Chapter 1-7)

• Combinational control mode cannot be used by combining more than 3

types. Make sure to combine two types only.

• The table below shows the control mode types. Refer to the chapter 5
for function for each control mode.

Basic Control Mode Associated Control Mode

Display Description Display Description

Position mode Speed + position mode

Speed mode Torque + speed mode

Torque mode Torque+ position mode

Multi-step mode Multi-step speed + position mode

Multi-step speed + speed mode

Multi-step speed + torque mode

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 Operator, Basic Setting and Startup 4-15

Control Mode Setting Method

Describes control mode setting method focusing on the key button
manipulation.

• Apply the power and set it as shown in the flowchart below.

Flowchart of the Control Mode Setting

Status Display Mode

Select Parameter Setting

mode by MODE/SET key.

Press ENTER Key and

Enter into the Setting
Window.

Using the direction key, create a control mode to set

Displays control mode by UP-DOWN key.

Shift position by LEFT-RIGHT key.

An alphabet representing each mode is displayed.

Multi-step speed Torque Control Speed Control Position Control
control

Control mode selection completion.

Press MODE/SET key to save it.

The setting window blinks and it is saved.

To complete the setting, Turn power off and on again.

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4-16 Operator, Basic Setting and Startup

Combinational Control Mode Setting

Combinational control mode should be set as below.

Associated Control Mode Display Setting Window Display

Speed + position control (SP)

Torque + speed control (TS)

Torque + position control (TP)

Multi-step speed + position control (CP)

Multi-step speed + speed control (CS)

Precautions
The following are the precautions in setting associated control mode.

• Combinational control mode cannot be used by combining more than 3

types. Make sure to combine two types only.

• If the setting is correctly entered, the setting window blinks once when
MODE/SET key is used to save the data. However, if wrong setting is
entered, it does not blink nor is saved.

Wrong Input by entering more than 3 types

Motor Setting

Select a motor to connect to the servo drive and set three items of the motor.

• If a motor to connect to the drive is selected, verify the nameplate on

the motor. Motor setting is divided into three items as below.

• Motor setting should be done from the parameters [Pr-0.01]. As shown

in the following figure, the setting window of [Pr-0.01] has a predefined
place for each item, and the same alphabet as the ones on the model
name of the motor. (Use both capital letters and lowercase letters)

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 Operator, Basic Setting and Startup 4-17

C S M T 0 1 B A 1 AN T 1
Motor Type Rated Output Encoder Type

Motor Type
Motor types of the servo motor are indicated in 4 digits, and the code starts
with CSM for all motors. Thus, the first 3-digit, CSM, is omitted in the display
of the motor.

Display Model Display Model Display Model

CSM CSMD RSMF

CSMT CSMH RSMK

CSMR CSMK RSML

CSMQ RSMS RSMQ

CSMZ RSMD RSMZ

CSMS RSMH

Rated output (capacity)

Rated output (capacity) and display of the motor are shown below.
Display Capacity Display Capacity Display Capacity

30 [W] 100 [W] 1 [kW]

50 [W] 200 [W] 1.5 [kW]

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4-18 Operator, Basic Setting and Startup

Encoder Type
In encoder type setting, serial absolute encoder whose encoder type is Q and E
type transmit encoder data to the drive and automatically performs setting as it
is connected to the drive.
The encoder type display is shown below.

Motor Series : CSMT, CSMR, RSMS/D/H/F/K/L, RSMZ/Q

Number Number
of Pulse/
Display Encoder Type Display of Pulse/ Encoder Type
1 1 Rotation
Rotation
Serial
131072 131072 Serial Inc.
Absolute

Motor Series: CSM, CSMT, CSMR Motor Series: RSMZ/Q

Number Number
of Pulse/
Display Encoder Type Display of Pulse/ Encoder Type
1 1 Rotation
Rotation

2048 15wire Inc. 2500 11wire Inc.

Full
2048
2048 9wire Inc. Absolute
Motor Series: RSMS/D/H/F/K/L
Compact
2048 10000 15wire Inc.
Absolute

2500 15wire Inc. 5000 15wire Inc.

2000 15wire Inc. 6000 15wire Inc.

Precautions
Setting sequence is in order of motor model, rated output (capacity), and
encoder type. The encoder type is classified into group 1 and group 2,
according to motor model, and an encoder that corresponds to each motor
type is displayed. In addition, only the rated output of the motor that
corresponds to the type selected is displayed only.
A setting example of an encoder in the encoder type 1 is shown in the
following motor setting flowchart.

• In the following flowchart, the encoder type is in order of (S, B, A, D, C,

K, Q).

• In case of using a model in encoder type 2, the encoder type is displayed

in order of (A, B, D, H, J, M, E).

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 Operator, Basic Setting and Startup 4-19

The table below is a setting example for each motor type.

CSM-A3BB2ANT3 CSMZ-02BH1ANM3 CSMT-04BQ1ANT3 RSMD-10BA1ASK3

Motor setting flowchart

Flowchart of Motor Setting Selection

Status Display Mode

Select Parameter Setting

mode by MODE/SET Key.

Press ENTER key and Enter

into the Setting Window.

Find setting value from the setting items suitable for each digit.

Find setting value of the setting item by UP-DOWN key.

Move to the setting item by LEFT-RIGHT key.

Motor Model Rated Output Encoder Type

Motor setting completion.

Press MODE/SET key to save it.

The setting window blinks and it is saved.

To complete the setting, Turn power off and on againg Completion

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4-20 Operator, Basic Setting and Startup

Main Power Selection

Main power input

The servo drive, as described in the Chapter 3-3, can accept two types of main
power input (Refer to the Chapter 3-3 for details.).

• Initial value is set so as to use AC power through terminals L1, L2 and

L3.

• Set this when DC voltage is used as the main power.

• The figure below is provided to help the understanding of the selection.

Initial Setting Value

For the use of AC voltage by connecting

the main power to the terminals L1, L2 and L3
Set Parameter

to
sX
AC Main Power Input. sY
sZ

u
DC Main Power Input.
wY
For the use of DC voltage by connecting the
main power to the terminals N and P2
Set Parameter

to

• The following describes the allowable momentary power down time

setting according to the main power input selection.

Allowable Temporary Power Down Time

Setting Range Initial value Unit Others Servo OFF > setting > completion
20 to 1000 20 [msec] Mode ALL
Set the time to process the temporary power down by the servo alarm.
If main power is not input within the set time, it generates temporary power down servo alarm
(E.AcoFF). Refer to the chapter 8.2.2.

The servo drive does not verify the status of temporary power down in
NOTE
case of using DC main power input terminal with input of main power
from [Pr-0.02].

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 Operator, Basic Setting and Startup 4-21

Flowchart of the main power input selection

Set it as shown in the following flowchart.

• Setting is on the fourth digit of the setting window. Make sure to use the
correct digit.

Setting Flow Chart in case of Using DC Main Power Input

Status Display Mode

Select parameter setting mode

by MODE/SET key.

Enter for Pr-0.02 by direction

key.

Press ENTER and enter into

the setting window.

By direction key, enter 1000.

Press MODE/SET key to save it.

Blink!

Press ENTER to exit the setting

window.

End

Main power can be input to either the input terminal of AC main

WARNING power through terminals (L1, L2 and L3) or the input terminal of DC
main power through terminals (N and P2). Be sure to connect it to only
of them.

Basic setting is all finished for the use of the drive. Reapply the power.

• To connect other motor type after completing the basic setting of motor
connected to the servo drive initially, or to change the parameter setting
at the basic setting, be sure to enter into corresponding parameter and
change it.

• Basic setting value is preserved even if the power is cut off or the
parameter is initialized (Refer to the Chapter 7-48). (But, the main power
input selection is initialized by the parameter initialization)

• A flowchart for the key button manipulation is included in the

description of the basic setting of the servo drive to help the
understanding of the key button manipulation. But, it is not provided in
Chapter 6,7 and 8. Read the following section on startup, and get
accustomed to the manipulation of the key buttons.

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4-22 Operator, Basic Setting and Startup

Startup Before Startup

1. Be well aware of wiring in Chapter 3 and connect main power and control
power normally. In addition, by configuring emergency stop input circuit,
clear the emergency stop status.
2. Connect the motor and encoder properly.
3. Perform basic setting in reference to the Chapter 4-6
4. Do not connect the load to the motor for safety purposes. If the motor is
mounted on the equipment, remove coupling of the motor shaft so that
load may not move.

Startup

Start up the drive by using jog operation function. (Startup 1)

• The jog operation is possible in Servo-OFF status. Remove the wiring

between the drive and the host controller, or apply Servo-OFF signal
from the host controller.

• The speed of the motor can be set from the drive for the jog operation.

• The initial value of the jog operation speed is 500 [rpm].

• At startup 1, run the drive at the factory setting speed, 500 [rpm].

• Startup the drive according to the following flowchart.

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 Operator, Basic Setting and Startup 4-23

Flowchart of the Startup Using Jog Operation run - 00

Turn Power On

Status Display Mode

Select run mode

by MODE/SET key

Create run-00 b y direction

key (Initial value is run-00)

Press ENTER and check

JOG operation.

Press MODE/SET key

prepare JOG-ON operation

The motor runs counter clockwise The motor runs clockwise w hile
w hile pressing the U P key. pressing the DOW N key.
Pree MODE/SET key and
clear JOG-OFF o peration.

Pree MODE/SET key and

clear JOG-OFF o peration.
End

Startup the drive by changing the speed. (startup 2)

• Start up the drive by changing the speed from the initial value, 500 [rpm]
to 1000 [rpm].

• The change of Jog operation speed should be done at [Pr-2.01]. The

speed set here is not related to other operation, and applied only upon
the Jog operation.

• Setting range is 0 to 5000 [rpm]. Initial value is 500 [rpm].

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4-24 Operator, Basic Setting and Startup

• Change the Jog operation speed by according to the following flowchart.

Jog Operation Speed Change Flow Chart
Turn Power On

Status Display Mode

Select parameter setting
modeby MODE/SET key

Create Pr- 2.01 by

direction key.
Press ENTER and enter
into the seting window.

Create 1000 [rpm] by

direction key.

Press MODE/SET key

tosaveit. Blink!

Press ENTER to exit.

End

• If setting is wrong, the setting window does not blink when saving it by
pressing the MODE/SET key.

• If setting is completed normally, retry the Jog operation [run-00].

• You can see that the speed is changed from 500 [rpm] to 1000 [rpm].

NOTE • At first, the drive is not tuned suitable for the load or
motor.

• Upon startup, first perform off-line auto tuning

described in the Chapter 7-36, then startup the drive to
run the motor more smoothly in a stable condition.

• To prevent the injury, check the operation range of the

WARNING
motor shaft or load upon operation, and keep it away
from the drive.

• Run the drive after preparing the E-stop circuit. Then,

you can cope quickly with an emergency situation.

• Refer to the Chapter 3-15 for E-stop information.

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 Operator, Basic Setting and Startup 4-25

Check up Items during Startup

You can check the servo motor status and the motion of the system whether
they occur noise or vibration or not during the jog operation.

If noise and vibration occur from the servo motor, perform off-line
NOTE
autotuning by referring to the Chapter 7-25. Then, you can run the
motor more smoothly in a stable condition.

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4-26 Operator, Basic Setting and Startup

Publication CSD3P-UM001E-EN-P — February 2008

 Chapter 5

Function for Control Mode

Introduction This chapter describes the sequence input/output function of I/O signal
connector CNI and the function for each control mode.

Topic Page
Introduction 5-1
Sequence I/O (Input/Output) Signal 5-2
Position Control Mode 5-9
Speed Control Mode 5-28
Torque Control Mode 5-38
Multi-Step Speed Mode 5-45
Combinational Control Mode and </C-SEL> Function 5-50

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5-2 Function for Control Mode

Sequence I/O (Input/Output) What is Sequence I/O Signal?

Signal
To provide the optimum performance that is suitable for user’s equipment, 50
pin connector of CN1 is used to allow the drive can input/output signals that
has various functions.

• Input provides 16 functions and you can freely allocate input signal of
each function with 7 pins from CN1 No. 3 to CN1 No. 9.

• Output provides 8 functions and you can freely allocate output signal of
each function with three pairs of pins such as (41, 42), (43, 44) and (47,
48) of CN1.

Sequence I/O signal means the I/O signal of various functions that are
required for servo drive control by the host controller.
Sequence I/O signal is not to process input or output signal with the
designated pin of CN1, but to select the function that the user requires in
terms of circuit design of host controller and to directly allocate the selected
functions to the designated pin.
Therefore, the host controller can do the sequential control that fits to the
equipment to operate servo drive.
The following figure is sequence I/O part among 50 pins of CN1.

• Sequence Input is indicated as (DI#1) to (DI#7). (Digital Input

Channel)

• Sequence Output is indicated as (DO#1) to (DO#3). (Digital Output

Channel)
I/O 50-Pin Connector <CN1>
DC + 24 [ V] Input Output
+ 24 [ V] IN 1

0 [ V] 2

Sequence Sequence Output

Input Circuit Circuit

41
DI # 1 3 DO # 1 +
P
42
DI # 2 4 DO # 1 -
43
DI # 3 5 DO # 2 +
P
44
DI # 4 6 DO # 2 -
47
DI # 5 7 DO # 3 +
P
48
DI # 6 8 DO # 3 -

DI # 7 9

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 Function for Control Mode 5-3

Function of Input Signal

The following is the brief explanation on 16 functions of sequence input
signal. Details for each signal is explained in the reference pages listed on the
right side of the table.
Type Description Mode Reference
When input is ON, voltage is applied to the
</SV-ON> servo motor and when input is off, the voltage is All 4-2
Servo-ON cut off.
</A-RST> It releases the servo alarm. All 7-44
Alarm reset
Use 2 group gain for the section where input is
</G-SEL> on, and current gain for the section where input All 6-27
Gain group conversion is OFF. It converts gain of 2 groups.
</P-TL> When a signal is on, it limits forward torque by All
Limit forward torque the setting value [Pr-4.03].
5-41
</N-TL> When a signal is on, it limits reverse torque by All
Limit reverse torque the setting value [Pr-4.04].
<P-OT> It prohibits a motor from rotating forward when
Prohibit forward the load part reaches to the limit of available All
operation section.
7-2
<N-OT> It prohibits a motor from rotating to the reverse
Prohibit reverse direction when the load part reaches to the limit All
operation of available section.
It converts Speed controller from PI controller
</P-CON> type to P controller type. PSC 6-21
P/PI control conversion It is used for faster response completion as
restrain overshoot of transient state.
</C-SEL> Combinational Control
It is used to convert the control mode when
Control mode Mode Only
using Mixed control mode.
conversion Refer to 5.6

</C-DIR> The rotation direction</C-DIR> and rotation

</C-SP1> speed </C-SP1 to /C-SP4> of the motor are
</C-SP2> determined by the above input in terminal speed
</C-SP3> control mode. Rotation speed of </C-SP1 to / C 5-45
C-SP3> is set in [Pr-2.05 to Pr-2.11]. Rotation
</C-SP4> speed of </C-SP4> is set by analog speed
Terminal speed command voltage. </C-DIR> is used to change
command motor roatation direction in speed control mode.
When analog command value in the speed
</Z-CLP> control is lower than the setting value of speed S 5-31
Zero clamp zero clamp level [Pr-5.04], the input value is
ignored.
</INHIB> It ignores position command pulse in the section P 5-21
Inhibit pulse command where the signal is on.
</ABS-DT> Transmits absolute encoder data to host
Absolute Encoder Data controller through EA, EB when the signal is ON. P 7-32
Transmission

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5-4 Function for Control Mode

</PCLR> Clear position command, position feedback, and P 5-21

position error.
/START Control motor rotation start or stop by using S, C
terminal signal in speed or terminal speed 5-33
control mode.
/GEAR In position control mode, the 2nd electronic gear P
parameters [Pr-3.05] and [Pr-3.06] are used when
input is ON. The basic electronic gear 5-23
parameters [Pr-3.01] and [Pr-3.02] are used when
input is OFF. Switch between two electronic gear
ratios.

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 Function for Control Mode 5-5

Function of Output Signal

The following is the brief explanation on 8 functions of sequence output

signal. Details for each signal is explained in the pages listed on the right side
of the table.
Type Description Mode Details
/P-COM (+, -) It is on when the position error is within the output
(Positioning Completion P
width of position completion signal [Pr-5.00].
detection)
5-23
/NEAR (+, -) It is on when the position error is within the output
(Position approach P
width of position approach signal [Pr-5.01].
detection)
It is on when the speed difference between
/V-COM (+, -) command speed and the rotation speed are within
(Speed coincidence PSC 5-29
the output width of speed coincidence signal
detection) [Pr-5.02].
It is on when the motor rotates with the speed
/TG-ON (+, -) more than the setting value of rotation detection All 5-35
(Rotation detection) level [Pr-5.03].
/T-LMT (+, -) It is on when motor torque is reached the setting All 5-41
(Torque limit detection) value of torque limit.
/V-LMT (+, -) It is on when motor speed is reached the setting All 5-36
(Speed limit detection) value of speed limit.
BK (+, -) It is the signal for control of the brake that is All 7-6
(Breaker control) mounted inside and outside of the servo motor.
/WARN (+, -) It is on when the servo warning is detected. All 8-4
(Warning detection)

• The sequence I/O signal name is indicated by < > in this manual.
NOTE
• ex) </SV-ON>, </P-COM>

Input Signal Allocation Method

Refer to the table below to allocate to CN1 pin by searching the function that
is suitable for your condition.

Setting Value

Input Channel No. Always DI#7 DI#6 DI#5 DI#4 DI#3 DI#2 DI#1 Always
CN1 Pin No. valid 9 8 7 6 5 4 3 invalid

• As shown in the table below, the related function is already allocated to

the sequence input parameter and its position in the setting window and
it means that you use the related function as setting certain value among
‘1 to 8’ except ‘0’ to the setting position.

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5-6 Function for Control Mode

• For example, if you want to put certain function to CN1 No. 5 pin, you
can find the related parameter of that signal and the position in the
setting window according to the table below and enter ‘3’ as the setting
value.

• Set ‘0’ when the function of input signal is not used.

• If you want to make input signal ON all the time regardless to the
wiring, set ‘8’.

The following table is to arrange the parameter for each function and
7-segment number position in the setting window. Set so that the related
parameter of each signal and the number position in the setting window is not
in the wrong.
7-Segment 4th Position 3rd Position 2nd Position 1st Position

Setting window of each

parameter

</P-CON> <N-OT> <P-OT> </SV-ON>

Initial value 4 Initial value 3 Initial value 2 Initial value 1

</P-LT> </N-TL> </A-RST>

</C-SEL> Initial value 7 Initial value 6 Initial value 5

</C-SP3> </C-SP2> </C-SP1> </C-DIR>

</PCLR> </G-SEL> </INHIB> </Z-CLP>

</GEAR> </C-SP4> </START>

</ABS-DT>

The table below is the example to allocate sequence input signal.

Enter ‘7’ in the 4th position in setting window of the parameter [Pr-0.05].
This is to use </P-CON> function and it means that the CN1 No. DI#7 pin is
used as an input pin.

Enter ‘3’ in the 3rd position in setting window of the parameter [Pr-0.08].
This is to use </G-SEL> function and it means that the CN1 No. DI#3 pin is
used as an input pin.

Enter ‘8’ in the 1st position in setting window of the parameter [Pr-5.09].

This is to use </SV-ON> function and since it is set as ‘8’, it always

remains as servo-ON status after the power is allowed regardless of
wiring.

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 Function for Control Mode 5-7

Output Signal Allocation Method

Refer to the table below to allocate to CN1 pin after searching the function
that is suitable for your condition.

Setting Value

Output Channel No. DO#3 DO#2 DO#1

Always Invalid
CN1 Pin No. 47, 48 43, 44 41, 42

Set the setting value as ‘0’ when the output of the related signal is not used.
The following table is to arrange the parameter for each function and
7-segment number position in the setting window. Set so that the related
parameter of each signal and the number position in the setting window is not
in the wrong.
7-Segment 4th Position 3rd Position 2nd Position 1st Position

Setting window of each

parameter

</BK> </TG-ON> </P-COM>

</V-COM> Initial value 3 Initial value 2 Initial value 1

</WARN> </NEAR> </ V-LMT> </T-LMT>

The table below is the example to allocate sequence output signal.

Set ‘1’ in the 1st position in setting window of the parameter [Pr-0.09].

It is set to use </P-COM> function and it means that we will use CN1 No.
DO#1 pin as output pin.

Set ‘3’ in the 4th position in setting window of the parameter [Pr-0.10].

It is set to use </G-SEL> function and it means that we will use CN1 No.
DO#3 pin as output pin.

Sequence output signal is outputted when the situation that fits to the
NOTE
condition of each output. Therefore, related to sequence output signal
allocation, there is no setting value that is output always regardless of
wiring such as setting value '8' for input signal.

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5-8 Function for Control Mode

Notice for Signal Allocation

When you allocate the different functions to the same pin of CN1 as shown
below, the drive indicates servo warning in the status mode.

Set ‘4’ in the 2nd position in setting window of the parameter

[Pr-0.06].

It is set to use </N-TL>function and it means that CN1 No. DI#4 pin
is used as an input pin.

Set ‘4’ in the 2nd position in setting window of the parameter

[Pr-0.08].

It is set to use </INHIB> function and it means that CN1 No.

DI#4 pin is used as an input pin.
When you allocate more than two signals to the same pin as described above, the servo warning is
indicated.

In this case, when you reapply the power after completing the
Status Display Mode input allocation, the status display mode indicates servo warning
(Pin).

Check if you allocate more than two signals to the same pin of
CN1.

Through monitor mode in the 7-50, you can check if the sequence I/O
NOTE
signal is input.

E-STOP lamp (Emergency stop) uses the fixed input pin of CN1
NOTE
contrary to sequence input according to the allocation.
SALM +,- lamp (Servo alarm) uses the fixed output pin of CN1 in
contradiction to sequence output according to the allocation.

Reapply the power after allocating the sequence I/O signal.

NOTE

Servo drive has self-diagnostic function.

NOTE
The (servo alarm) and (servo warning) is divided according to the
importance of error diagnostic. For the details, see chapter 8.

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 Function for Control Mode 5-9

Position Control Mode Overview

The position control mode is used when the position command pulse is
received from the host controller to move the load to a target position.
To operate the servo drive in position control mode, connect the position
command pulse signal to PULS and SIGN input pins, connect other necessary
input signals such as PCLR signal, and set as follows.

Flowchart for Position Control Mode Operation

Select sequence I/O function and allocate them. [Pr-0.05 to Pr-0.11]

Set the position command pulse and signal type according to the host
controller output. [Pr-3.00]

Startup the motor in position control mode as low-speed pulse command

frequency is output.

Check the position pulse command in monitor mode(dis-07)

OK ?

Set the electronic gear. [Pr-3.01, Pr-3.02]

Check the speed command in monitor mode(dis-01)

OK ?

Check the speed command in monitor mode(dis-01)

OK ?

Tune the servo drive by adjusting the gain according to the load condition.

Both All-In-One & Position-Control-Only model can support the

NOTE
position control mode.

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5-10 Function for Control Mode

Standard Wiring Example

The following figure illustrates the standard wiring example of position control
mode. You can set the sequence input/output signal, as you want if it is
necessary for the system configuration.

I/ O 50-Pin Connector < CN1>

DC + 24 [ V]
+ 24 [ V] IN 1 28 Analog Monitor CH1
D/ A Output Range : -10 [V] to +10[V]
0 [ V] 2 23 Analog Monitor CH2
Sequence Input Circuit Output Range : -10[V] to +10[V]
27
AM-SG Alarm Code Output GND
Recommended Setup Furction 37
AL 1
Servo Alarm Code
Servo-ON / SV - ON DI # 1 3 38 Maximum Voltage: DC 30[V]
AL 2
Prohibit Forward Rotation P- OT Maximum Voltage: 20 [mA]
DI # 2 4 39
AL 3
Prohibit Reverse Rotation N- OT DI # 3 5 40
AL - SG Alarm Code Output GND
P-Control Conversion / P- CON DI # 4 6 29
EA +
Alarm Reset / A- RST P
DI # 5 7 30
EA -
Reverse Torque Limit / N - TL DI # 6 8 31 Encoder Phase A, B & C
EB +
Forward Torque Limit / P- TL P
DI # 7 9 32 (Line Receiver SN75175
EB - or MC3486)
33
EC +
P
E- STOP 10 34
EC -
Input for Pos ition Mode 35
PS + Absolute Encoder
P
PULS+ 11 36 Rotation Data
PS -
P
Connect to Line Position PULS- 12
17
drive of upper Command / Z - PULSE +
SIGN+ 13 Encoder Phase Z
level controller P
18 / Z - PULSE - OPEN Collector
or Open P
SIGN- 14
collector 45
SALM +
PCLR+ 15 P Servo Alarm
Position 46
Error Clear P SALM -
PCLR- 16
41
DO # 1 Position Completion
P
V- REF 19 42 Singal Detection
External Speed Limit DO # 1 -
-10[V] to +10 [V] P A/ D
V- REF SG 20 43
DO # 2 + Position Approach
P
44 Singal Detection
DO # 2 -
47
DO # 3 +
P Rotation Detection
BAT + 49 48
Back-up Battery DO # 3 -
For Absolute Encoder P
BAT - 25 24 26 50 Output Recommended
DC 3.6 [V] Channel Setup Function

X X X
Sequence Output
Circuit

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 Function for Control Mode 5-11

Position Command Pulse

6 pins of CN1 receive 3 kinds of commands related to the position control

mode.

• Host controller sends the position command with the pulse input and
sign input.

• To clear the position error to ‘0’, send the PCLR command. Refer to the
Chapter 5-21 for details on PCLR.

w| szR XX
Position Command Input
Pulse Input w
w| szT XY

zpn uR XZ
Pulse Input w
zpn uT X[ j uX

Position Command Input wjsyR X\

w
wjsyT X] juX

When the position control mode is used, there are line drive method and open
collector method as the input types of the host controller. The servo drive
supports two types of input.
The output of host controller
Connection ex.1: When it is line drive output (maximum allowable frequency
900 [kpps])

Connection ex.2: When it is open collector output (maximum allowable

frequency 200 [kpps])

Pay attention to the maximum allowable frequency.

NOTE
For the line drive output: 900 [kpps]
For the open collector output: 200 [kpps]

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5-12 Function for Control Mode

Cautions
In the figure above, when it is open collector method and TR1 of host
controller is ON, the servo drive identifies as low level input logic and if TR1 is
OFF, the servo drive identifies as high level input logic.
In addition, set the Pull Up resistor R1 value to be within 7 [mA] to 15 [mA] by
referring to the application example below.
Vcc of Host Controller 24 [V] ± 5 [%] 12 [V] ± 5 [%] 5 [V] ± 5 [%]
R1 2.2 [kW] 1 [kW] 180 [W]

NOTE • When you use open collector method for the output of
host controller, it is recommended to use 24 [V] for
Vcc. In doing so, the operation is stable even in the
environment with serious noise problem.

• When input voltage of 12, 14 and 16 of CN1 is not

exactly low level (less than 0.6 [V]) or R1 value is higher
than the suggested value, an error can occur.
Therefore, use 24 [V] for Vcc of the host controller and
2.2 [K ] for R1.

Set the position command pulse type for the host controller.

Position Command Pulse Input Selection

Setting 0 Use the line drive output of the host controller.

Value 1 Use the open collector output of the host controller.
Applicable Mode P Others Servo-OFF > Setting > End

NOTE • Maximum allowable frequency of pulse command of

host controller is,
900 [kpps] for the line drive.
200 [kpps] for the open collector.

• If it exceeds the maximum allowable frequency,

excessive position command pulse "E.OvPUL" alarm
occurs.

• Please be careful not to exceed the maximum allowable

frequency.

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 Function for Control Mode 5-13

Position Command Pulse Setting

The position command supports 10 types as shown below. Check the

applicable specification with reference to electric specification of the
command pulse. If the electric specification such as timing is not appropriate, a
position error can occur.

Position Command Pulse Form

Selection

Positive Logic
Command Forward Direction Reverse Direction Input Setting
Pulse Form Operation Operation Multiplication Value

w|sz IsI
w|sz
CW + CCW -
zpnu
zpnu IoI

Pulse Train + -
Sign

`W⓸
Phase A + Duple
Phase B w|sz

zpnu
Quadruple

Negative Logic

CW + CCW -

Pulse Train + -
Sign

Applicable P Others Servo-OFF > Setting > End

Mode

You can verify the data related to the position through monitor mode
NOTE
in the Chapter 7-50.

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5-14 Function for Control Mode

Electrical Specifications of Position Command Pulse

Maximum
Command Electrical Specification Allowable
Pulse Form Frequency

t1 t2 t3

CCW

T
CW
+ CW
CCW
Forward Operation Command Reverse Operation Command

t1, t2 0.1 [us] τ 1.1 [us]

t3 > 3 [us] τ/T x100 50 [%]

t3 t7
Line Drive:
SIGN 900 [Kpps]
T
Pulse Train
+ Sign
PULS Open
t4 t1 t2 t5 t6 Reverse Operation Collector:
Forward Operation Command Command 200 [Kpps]

t1, t2, t3, t7 0.1 [us] t4, t5, t6 > 3 [us] τ 1.1 [us]

t1 t2

Phase A PHASE A
T
2 Phase
Pulse Train
of 90 Phase B
Difference PHASE B
(A, B Phase) Reverse Operation
Forward Operation Command Command

t1, t2 0.1 τ 1.1 [us] τ/T x100 50 [%]

[us]

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 Function for Control Mode 5-15

Electronic Gear

Electronic gear
The electronic gear is to set the amount of load movement per input
command pulse.
The following is the example of Encoder that generates 2048 pulses per
rotation.

• Encoder that the number of pulse is 2048, rotates once when the host
controller transfers 2048 pulses to the drive. Then, is it possible to make
a motor rotate once as transferring 1000 pulse (or other number of
pulse)? (Yes, it can)

• Let's suppose that the ball screw load is operated by the pitch (Unit of
load to be moved per rotation) with 15 [mm]. When the host controller
transfers 2048 pulses, the load moves 15 [mm]. For easier calculation, is
it possible to move one pitch (15 [mm]) with 1500 pulses? (Yes, it can)

• When you want to control the accurate angle using the servo drive, and
if you control 360 degree with 2048 pulses, the number of pulse and the
moving unit of the last mechanical part are different. So it is difficult to
calculate.

• Therefore, the electronic gear is set for easier calculation of the input
pulse of the host controller in respect to the distance or angle that is the
moving unit of last mechanical part.

• When you use the electronic gear, the host controller can control
without considering the number of pulse of the encoder or the
reduction ratio of mechanical part.

Before setting the electronic gear

The following table explains the contents that you should know before setting
the electronic gear.
Description
Motor Check the number of pulse of the encoder used. Refer to the Chapter 4-7.
Load Check the reduction ratio applied from shaft to the mechanical part.

Reduction ratio
For the reduction ratio that is mentioned in electronic gear setting, refer to the
explanation below.

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5-16 Function for Control Mode

The reduction ratio that is mentioned in electronic gear setting is the rotation ratio of motor and end
mechanical part.

Number of Motor Rotation

Reduction
Ratio Rotation Number of the End
Mechanical Part

When the mechanical part rotates once while the motor rotates 5 times, then the reduction ratio is ‘5’.
When the device part rotates 5 times while the motor rotates once, then the reduction ratio is ‘0.2’.

Example 1 of electronic gear setting

The following example on ball screw will help you to understand the electronic
gear.

Example 1
Ritch of ball Screw
(Linear Movement Distance Per Rotation) 10[mm]

Number of Encoder Output Pulse Per Rotation = 5000[pulse]

• Ball screw is applied to the load above and the pitch is 10 [mm].

• When we suppose that the number of pulse of the encoder is 5000

[pulse], the reduction ratio is ‘1’ because it is 1:1.

Electronic Gear Setting

Parameter
Electronic Gear Electronic gear setting numerator parameter is as follows.
Setting Numerator

Number of Encoder Pulse X Reduction Ratio

Therefore, it is 5000 [pulse] X 1 so that setting value is 5000.

Enter the number of pulse to make a motor rotate once.

If you want to rotate a motor once by the host controller sending 1000 pulse
to the servo drive, enter 1000 as a setting value.
Electronic Gear
Setting Denominator As a result, the ball screw rotates once with 1000 pulses, so the ball screw
with the movement pitch of 10 [mm] moves 10 [um].
If you want to rotate a motor once by the host controller sending 10000 pulse
to the servo drive, enter 10000 as a setting value.

As a result, the ball screw rotates once with 10000 pulses, so the ball screw
with the movement pitch of 10 [mm] moves 1 [um].

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 Function for Control Mode 5-17

Precautions

When you set up the denominator as 10000, the ball screw moves 1 [um] per pulse of the host
controller so that it shows better resolution than set with 1000.
If so, can you realize much better the resolution is if the denominator is set as 50000? No, you cannot.
The resolution of the encoder that is selected is 5000. So the electronic gear has to satisfy the
following formula because it is set according to the selected encoder.

Number of Encoder Pulse X Reduction Ratio X 4 ≥ Setting Value of Pr-3.02

Therefore, the example 1 above can make a motor rotate with maximum of 20000 pulses from the
host controller.

Example 2 of electronic gear setting

• This chapter explains the electronic gear setting for a belt load with the
reduction ratio.

Example 2

When motor End mechanical Therefore,

rotates once part 0.2 rotation. reduction ratio is 5 .

Load Diameter of Pulley

is 50 [mm]

• For the ball screw in the example 1, you can easily recognize the pitch
through the ball screw specification, but you cannot find the load pitch
that consists of belt and pulley. Therefore, let's suppose that the distance
we want to move is 100 [um] per pulse from the host controller.

• Let's suppose that the number of pulse of the encoder is 2048 [pulse]
and the reduction ratio is ‘5’.

Electronic Gear Setting

Parameter
Electronic Gear Electronic gear setting numerator parameter is as follows.
Setting Numerator

N u m b e r o f E n c o d e r P u lse X R e d u c tio n R a tio

Therefore, 2048 [pulse] X 5, so the setting value is 10240.

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5-18 Function for Control Mode

Load movement amount per 1

Electronic Gear load shaft rotation 3.14 X 50[mm]
Setting Denominator
= = 1570
Movement amount by 1 pulse 100[um]
from the host controller

Rotate the pulley of the final mechanical part once with the 1570 pulses from the host controller.

In this case, the linear moving distance of the final load per pulse from host controller is 100 [um].
You can enter the numerator and denominator by reduction of fraction as the following.

Elec tro n ic G ear

N u m erato r 10240 1024
= =
Elec tro n ic G ear 1570 157
D en o m in at

Example 3 of electronic gear setting

The following explains the electronic gear setting when it is a turn- table load
with the reduction ratio.

Example 3
Desired rotation distance per one pulse
Rotation from host controller = 0.1 [degree]
Load

Load rotates once when motor rotates three

times
Reduction Ratio = 3

• Let's suppose the distance we want to rotate per command pulse from
the host controller is 0.1 [degree].

• Let's suppose that the number of pulse of the encoder 2048 [pulse] and
the reduction ratio is '3'.

Electronic Gear Setting

Parameter
Electronic Gear Electronic gear setting numerator parameter is as follows.
Setting Numerator

N u m b e r o f E n c o d e r P u lse X R e d u c tio n R a tio

Therefore, 2048 [pulse] X 3, so the setting value is 6144.

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 Function for Control Mode 5-19

Load m ovem ent am ount per

Electronic Gear 1 load shaft rotation 360[Degree]
Setting Denominator
= = 3600
M ovem ent angle by 1 pulse 0.1[Degree]
from the host controller

Rotate the turntable load of the end mechanical part once with the 3600 pulses from the host
controller.

In this case, the rotation angle of the final load per pulse from host controller is 0.1 [degree].
The electronic gear is applied only when the position control mode is used.
You can easily adjust the distance or the angle of pulse command and load from the host controller by
setting the electronic gear.

You should check two things below when setting the electronic gear.
NOTE
• Check the number of pulse of encoder. Refer to the Chapter 4-7.
• Check the reduction ratio that is applied from shaft to the end
mechanical part.

Electronic gear setting

Set the electronic gear to the parameter below.

Electronic gear setting (Numerator)

Initial
Setting Range Unit Others Servo-OFF > Setting > End
value
Applicable
1 to 65535 Automatic [pulse] P
Mode

Number of Encoder Pulse Reduction Ratio

Electronic gear setting (Denominator)

Initial
Setting Range Unit Others Servo-OFF > Setting > End
value
Applicable
1 to 65535 Automatic [pulse] P
Mode
The number of position command pulse of the host controller to rotate the load
(Load shaft) once

• The Initial value of the electronic gear parameter is automatically

NOTE
set as the number of pulse of related encoder at the same time
when the parameter is initialized (Run-12).

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5-20 Function for Control Mode

Precautions and other Specification

Setting value of the electronic gear should satisfy the following relationship.
• [Number of pulse per rotation of motor] x [Reduction ratio] x 4 [Setting value of Pr-3.02]
• If the relationship above is not formed, you can use it as pulse command but the resolution is not
guaranteed.

Maximum resolution is

1 / [(Number of pulse per rotation of motor) X (Reduction ratio) X 4].

If the setting value of [Pr-3.02] does not satisfy the relationship above,
• Reduce the distance or angle needs to be moved with one command pulse. (=reduce the
resolution)
• Use the high-resolution encoder, which outputs the number of pulse higher than the value set in
[Pr-3.02] divided by 4, or increase the reduction ratio.

• Position control resolution of CSD3 Servo drive is 1 [pulse].

NOTE
• In the example 1 on ball screw load, [Pr-3.01]=5000 and the
maximum value for [Pr-3.02] is 5000 X 4=20000.
• Therefore, the minimum unit which moved by 1 command is 10
[mm] / 20000 = 0.5 [um].
• When actually applying, design with sufficient amount more than
the minimum unit.

• Servo drive can output the encoder by the host controller.

NOTE
• Refer to the Chapter 7-6 (position feedback with the host
controller) with the understanding of the electronic gear setting.

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 Function for Control Mode 5-21

Position Error Clear (/PCLR)

If this signal is inputted, the position command, position error, and encoder
feedback counter (dIS-23) are cleared to '0'. If the position command pulse is
not inputted any more, the motor can be stopped from the current state. Input
the Position Error Clear (PCLR) signal to (15,16) pin of CN1.

Position Error Clear Input wjsyR X\

w
wjsyT X] juX
Host Controller

In the parameter below, set the parameter for the signal trigger condition to
clear the error to '0' in position error clear input.
Select the trigger condition in the following parameter.

PCLR Input (Selection) Setting

It clears in H level.
0 Position error maintains ‘0’ as long as the H level is "H"
maintained.

1 It clears just once at a rising edge.

Setting
Value It clears in L level.
2 Position error maintains ‘0’ as long as L level is "L"
maintained.

3 It clears just once at a falling edge.

Applicable Mode P Others Servo-OFF > Set > End

Pulse Command Inhibition</INHIB> Input

The position command counter can be stopped in the position control mode
by setting the pulse command inhibition</INHIB> by the sequence input
signal.
While </INHIB> input is ON, it is ignored even though the host controller
sends the position command pulse to the servo drive.
Therefore, it locks the servo status in the current position. If </INHIB>
signal is ON/OFF while the host controller continuously sends the position
commands, the following operation occurs according to the </INHIB> signal
status.
In the figure below, Td is about 10 [msec].

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5-22 Function for Control Mode

Position
Command

/INHIB OFF ON OFF

Position
Command
Counter Td Td

Motor Motro Rotation Motor Stop Motor Rotation

Opertion

</INHIB> is a sequence input signal. To use the </INHIB> signal, allocate

the </INHIB> signal with the reference to the sequence input/output signal
in the Chapter 5-2.

• If the setting value is '8' the setting signal is always valid

NOTE
regardless of the wiring, as shown in Input signal allocation
method in the Chapter 5-5.
• Therefore, when setting the pulse command inhibition </INHIB>
input as '8', the position command pulse is inhibited to lock the
servo and the servo motor does not run.

Expansion of Electronic Gear Setting

When the electronic gear ratio needs to be changed in position control mode,
the </GEAR> input can be used to switch from the first group of gear
parameters to the second group of electronic gear parameters in Pr-3.05 and
Pr-3.06. When the </GEAR> input is OFF, the first group of electronic gear
parameters in Pr-3.01 and Pr-3.02 will be used. The Details of the newly added
second group of electronic gear parameters are shown below.

Parameter

Parameter change the setting method of eletronic gear parameters Pr-3.01 and Pr-3.02
Name
0 - Change eletronic gear parameters only when Servo-OFF
Setting value 1 - Change eletronic gear parameters no matter what Servo-OFF or Servo-ON
Initial value 0
Mode P
Misc. Servo-OFF > Setting > Complete

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 Function for Control Mode 5-23

The Second Group of Electronic Gear </GEAR> input

Parameter

Parameter Second electronic gear setting (numerator)

Name
Description The number of encoder pulses X deceleration ratio
Setting value 1~65535
Initial value 32768
Unit Pulse
Mode P
Misc. Servo-OFF > Setting > Complete

Parameter

Parameter Second electronic gear setting (denominator)

Name
The number of position command pulses from a controller necessary to turn
Description load axis one revolution
Setting value 1~65535
Initial value 32768
Unit Pulse
Mode P
Misc. Servo-OFF > Setting > Complete

If the gear ratio is changed frequently or if the change in gear

ATTENTION ratio is large, severe machine vibration due to rapid
acceleration/deceleration may occur in Servo ON state.

Position Completion Signal Detection </P-COM>, Approach

Signal Detection </NEAR> Output

Position Completion Signal Detection </P-COM>

The position completion signal detection</P-COM> can be output with
sequence output signal.
When you set the position command completion time to Servo drive that
receives the position command from host controller, and the difference

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5-24 Function for Control Mode

between position feedback and position command is less than Setting value,
the position completion signal detection </P-COM> can be output.

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 Function for Control Mode 5-25

Setting the output width of position completion signal

Set the output width of position completion signal (Standard) to output the
</P-COM> signal to the parameter below.

Output Width of Position Completion Signal

Initial
Setting Range Unit Others Setting > End
value
Applicable
0 to 1000 10 [pulse] P
Mode
When the number of position error pulse is within the value above, position completion signal
detection </P-COM> signal is generated.

Position approach signal detection </NEAR>

The position approach signal detection </NEAR> signal can be output with
sequence output signal.
When setting the position command approach signal time to the servo drive
that receives position command from the host controller, and the difference
between the position feedback and position command is less than setting
value, the position approach signal detection </P-COM> signal can be
output.

Setting the output width of position approach signal

Set up output width of position approach signal (Standard) to generate
</NEAR> signal to the parameter below.

Output Width of Position Approach Signal

Initial
Setting Range Unit Others Setting > End
Value
Applicable
0 to 1000 20 [pulse] P
Mode
When the number of position error pulse is within the value above, position Approach Signal
detection </NEAR> signal is generated.

Other explanation
Position approach signal detection </NEAR> signal with position
completion signal detection </P-COM> signal is useful to reduce the
necessary operation at the position completion signal time. First, check the
approach signal and preparing the next sequence before the host controller
verifies the position completion signal detection signal. The setting of these
parameters above do not influence on the accuracy of final position decision.
Therefore, you can adjust timing to output </P-COM> signal and </
NEAR> signal by adjusting the number of position error pulse of [Pr-5.00]
and [Pr-5.01].
If the position completion signal detection </P-COM> signal is detected, the
segment LED in line indication 1 of status indication mode is on. However,
</NEAR> signal is not on.

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5-26 Function for Control Mode

Figure Explanation
Sequence output </P-COM> and </NEAR> signal output as shown below.

Position
Error
Pr-5.01

Pr-5.00
Time
0

/NEAR ON OFF ON

/P-COM ON OFF ON

Thus, </P-COM> and </NEAR> output are ON when satisfying the

following conditions.

G
Position Error
G
c Setting Value /P-COM Output

G
Position Error
c Setting Value /NEAR Output

When [Pr-5.00] is set with high value during the low-speed operation,
WARNING </P-COM> output signal remains ON.

</P-COM> and </NEAR> are sequence output signal. To use </

NOTE
P-COM> and </NEAR> function, allocate </P-COM> and </NEAR>
signal and refer to sequence input/output signal in the Chapter 5-2.

</P-COM> and </NEAR> are sequence output signal. To use </

NOTE
P-COM> and </NEAR> function, allocate </P-COM> and </NEAR>
signal and refer to sequence input/output signal in the Chapter 5-2.

• When position completion signal detection </P-COM> signal is

NOTE
output, the servo drive turns line indication 1 on to allow
verification of </P-COM> signal output.
• For status indication mode, refer to the Chapter 4-6.

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 Function for Control Mode 5-27

Output Width of Allowable Position Error

Set allowable position error limit.

Output Width of Allowable Position Error

Initial
Setting Range Unit Others Setting > End
Value
Applicable
0 to 65535 20480 [pulse] P
Mode
If position error is bigger than setting value, the position error overflow servo alarm (E.PoSEr) occurs.

Input/Output Signal Timing diagram

The figure below is a timing diagram of Input/Output signal in position

control mode.
Servo-On
Command of Host OFF ON OFF
Controller

Servo-On
Operation by the T1 T2
Drive

Position Command
Sign Input

Position Command
Pulse Input
T3
Position Command
Phase A

Position Command
Phase B

/P-COM Output ON OFF T4 ON OFF T5

T1 T2 T3 T4 T5

Maximum 40 [ms] Maximum 6 [ms] Minimum 40 [ms] Minimum 2 [ms]

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5-28 Function for Control Mode

Speed Control Mode Overview

The speed control mode is used to control the speed as inputting speed
command of analogue voltage type that is generated by the host controller to
servo drive even if the position control loop is formed in the host controller or
not.
In order to operate servo drive in speed control mode, connect the analog
speed command to the related input pin and set as the following.

Flowchart for the Speed Control Mode Operation

Select sequence I/O function and allocate them.[Pr-0.05 to Pr-0.11]

Run motor within 100[rpm] as increasing analog speed command voltage.

Reset external speed command input gain in Servo-OFF state and run it
again as making Servo-On.[Pr-2.00]

Check speed command[rpm] in monitor mode(dis-01) and check

speed feedback[rpm] in (dis-00).
OK ?

If motor rotates even you command 0[V], adjust motor not to rotate using
speed command offset adjustment function.[run-03, run-05]

If necessary, set the acceleration/deceleration time.[Pr-2.02, Pr-2.03]

Use the zero clamp function to reduce the offset of host controller
command.[Pr-5.04]

Tune the servo drive by adjusting the gain according to the load condition.

For Position-Control-Only model, CSD3-xxBX1P, does not support the

NOTE
speed control mode.

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 Function for Control Mode 5-29

Standard Wiring Example

The following figure illustrates the standard wiring example of the speed
control mode. You can set sequence input/output signal, as you want if it is
necessary for system configuration.

I/O 50-Pin Connector <CN1>

DC + 24 [ V]
Analog Monitor CH1
+ 24 [ V] IN 1 28 Output Range : -10 [V] to +10 [V]
Analog Monitor CH2
0 [ V] 2 D/ A 23 Output Range : -10 [V] to +10 [V]
Sequence Input Cir cuit
27 AM-SG Analog Monitor Output GND
Recommended Setup Furction Input Channel 37
AL 1 Servo Alarm Code
Servo-ON / SV - ON DI # 1 3 38 Maximum Allowable Voltage
AL 2 DC 30[V]
Prohibit Forward Rotation P- OT Maximum Allowable Current : 20 [mA]
DI # 2 4 39
AL 3
Prohibit Reverse Rotation N- OT DI # 3 5 40
AL - SG Alarm Code Output GND
P-Control Conversion / P- CON
DI # 4 6 29
EA +
Alarm Reset / A- RST P
DI # 5 7 30
EA -
Reverse Torque Limit / N - TL DI # 6 8 31 Encoder Phase A, B & C
EB +
P
Forward Torque Limit / P- TL DI # 7 9 32 (Line Receiver SN75175
EB - or MC3486)
33
EC +
P
E- STOP 10 34
EC -
35
PS + Absolute Encoder
P
36 Rotation Data
PS -

17
/ Z - PULSE + Encoder Phase Z
P OPEN Collector
18 / Z - PULSE -
45
SALM +
P
46
Servo Alarm
SALM -

Speed Contr ol Mode Input 41

DO # 1
P
Speed Coincidence
V- REF 19 42 Detection
Analog Speed Command DO # 1 -
P A/ D
-10[V] to +10[V] V- REF SG 20 43
DO # 2 +
P Rotation Detection
44
DO # 2 -
47
DO # 3 +
P Speed Limit Detection
Back-up Battery for BAT + 49 48
DO # 3 -
Absolute Encoder P
Back-Up Battery BAT - 25 24 26 50 Output Recommended
Channel Setup Function
DC 3.6[V]
X X X
Sequence Output
Circuit

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5-30 Function for Control Mode

Speed Command Input

Speed Command
Two pins of CN1 receive one command related to the speed control mode.
Host controller sends the voltage command of analog type.

Speed Command V- REF 19

- 10 [ V] ~ + 10 [ V] P
V- REF SG 20
Host Controller

Speed Command Input Gain Setting

Set the relationship between the analog speed command voltage and the speed
to the parameter below.

External Speed Command Gain & External Speed Limit

Initial
Setting Range Unit Others Servo-off> Setting > End
value
Applicable
10.0 to 2000.0 500.0 [RPM/V] S
Mode
Set of speed command gain value [RPM] related to the analogue voltage 1 [V].
This setting is used as external speed limit function if the servo drive is not used in speed control
mode. For speed limit function, refer to the Chapter 7-18.

Speed command is given according to the following relationship.

Speed Command Input Voltage
[rpm] = Setting Value [rpm/V] X [V]

Therefore, If input voltage 6 [V] according to initial value, motor rotates 3000
[RPM] as the rated speed of motor, If input voltage 10 [V], motor rotates 5000
[RPM] as the maximum speed of motor. (Rated speed and maximum speed
can be different according to motor type.)

• Maximum allowable voltage of speed command input is DC -10 [V]

NOTE
to +10 [V].
• If analog speed command voltage is more than the maximum
speed of set motor, over speed command servo warning (“OSC”)
occurs.

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 Function for Control Mode 5-31

• Motor can rotate even though the speed command is not output or
NOTE
the host controller inputs speed command as 0 [V]. It is because of
the voltage offset between the host controller and the drive.
• The rotation of the motor can be prevented by offset using the
automatic adjustment of speed command offset (Run-03) or
manual adjustment (Run-05) function. Refer to the Chapter 7-35.
for the automatic (manual) adjustment of the speed command
offset,
• In addition, the rotation of motor can be prevented using the zero
clamp function in the Chapter 5-31.

Zero Clamp </Z-CLP> Input

Even though the analog speed command of the host controller is 0 [V], some
offset voltage can exist in servo drive input, resulting in slow rotation of the
motor. In this case, prevent the subtle rotation of motor according to offset
voltage using the zero clamp function.
</Z-CLP> is a sequence input signal. To use </Z-CLP> function, allocate
</Z-CLP> by referring to the sequence input/output signal in the chapter
5.1.
Set speed zero clamp level to the parameter below.

Speed Zero Clamp Level

Initial
Setting Range Unit Others Setting > End
value
Applicable
0 to 5000 0 [RPM] S
Mode
Speed command that is below the value is ignored.

If you turn the signal on or off to the pin of CN1 where the zero clamp
function is allocated, the voltage command less than the zero clamp level
[Pr-5.04] or lower is ignored. When the speed command value is higher than
this level, the motor is accelerated to the command value.
In addition, if you set the sequence input as ‘8’ with the reference of the input
signal allocation method in the Chapter 5-7, the zero clamp function is always
valid and if it is set as ‘0’, the zero clamp function is not processed.

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5-32 Function for Control Mode

Analog Speed
Command
(External Input Voltage)

Pr - 5. 04
Time
0
/Z-CLP Input OFF ON

Actual Speed
Command

Pr - 5. 04
Time
0

• Do not use when you configure position control loop by host

WARNING controller.
• Although /Z-CLP input is not allocated, The Drive automatically
clamps the speed command as ‘0’ in case any value is in Pr-5.04
except ‘0’
• The position loop may malfunction. In addition, set the
acceleration time and deceleration time of (Pr-2.02) and (Pr-2.03)
as ‘0’ in this case.

Rotation Direction Switch Input /C-DIR

Typically the direction of motor rotation in speed control mode is changed

according to the analog voltage polarity as shown below.

R
Speed Command
Voltage
T

Normal Rotation
Motor Speed
Reverse Rotation

In some applications, the analog input used for speed command may not
support negative voltages (e.g. PLC 0-10V analog output). In this situation,
you can control the rotation direction using input </C-DIR>, which is also
used in Multi-step Velocity Control Mode (Pr-0.00 = C). When input </
C-DIR> is ON, the rotational direction of the motor will be inverted. For
example if the analog input speed command polarity is positive and </
C-DIR> is ON, then the analog input speed command will be interpreted as

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 Function for Control Mode 5-33

negative. If the analog input speed command polarity is negative and </
C-DIR> is ON, then the analog input speed command will be interpreted as
positive.

Speed Command
Voltage

ON
/C-DIR

Motor Speed

Motor Rotation Start/Stop Input /START

With previous FW revisions, the motor begins to rotate when the speed
command is entered after Servo-ON in the Velocity Control Mode (Pr-0.00 =
S) or the Velocity Control Mode (Pr-0.00 = C). With the new FW, if the </
START> input is assigned to an input pin, the </START> contact point
input acts as an enable and can be used to control motor rotation start or stop.

Speed Command
Voltage

ON
/START

Motor Speed

G
(</START> is only configured to an input pin.)

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5-34 Function for Control Mode

Speed Coincidence Output Signal </V-COM>

The speed coincidence detection output is to indicate that the actual motor
speed matches up to command speed within the allowable error. Like position
completion output signal </P-COM> in position control mode, you can use it
as an inter-lock signal in the host controller.
</V-COM> is a sequence output signal. To use </V-COM> function,
allocate </V-COM> signal by referring to the sequence input/output signal
described in the Chapter 5-2.
Set output width of speed coincidence signal to the parameter below.

Output Width of Speed Coincidence Signal

Initial
Setting Range Value Unit Others Setting > End

Applicable
1 to 1000 10 [RPM] ALL
Mode
If speed error is within setting value, speed coincidence detection </V-COM> signal is generated.

Speed coincidence detection </V-COM> output is ON when the following

conditions are satisfied

S p e e d E rro r < S e ttin g V a lu e / V - C O M O u tp u t

Therefore, you can adjust the timing to generate </V-COM> signal by

adjusting the difference between the speed command and actual rotation speed
to output width of speed coincidence signal [Pr-5.02].
Output width of speed coincidence signal [Pr-5.02] setting does not have
influence on the final speed control.
Sequence output </V-COM> signal is generated as shown in the figure below.

Rotation Speed Setting Speed

Pr- 5. 02
Actual Speed
Time
0

/V - COM Output OFF ON OFF

</V-COM> is ON to the allocated sequence output channel when the

NOTE
output width of speed coincidence signal is Pr-5.02 = 100, the speed
command is 2000 [rpm], and the actual rotation speed is in 1900 to
2100 [rpm],

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 Function for Control Mode 5-35

• When speed coincidence output signal </V-COM> is generated,

NOTE
the servo drive turns line indication 1 of status indication mode, on
to allow verification of the output of the </V-COM> signal.
• For status indication mode, refer to the Chapter 4-2.

Rotation Detection </TG-ON> Output

It indicates that the servo motor rotates at a speed higher than the set speed. It
can be used as one condition to check the motor status when you change the
control mode in mixed control mode, or before you change one sequence to
other sequence among sequences.
</TG-ON> is a sequence output signal. To use </TG-ON> function,
allocate </TG-ON> signal by referring to the sequence input/output signal in
the Chapter 5-2.
Set rotation detection level in order to set the appropriate constant to satisfy
the purpose such as control mode change or sequence conversion.

Rotation Detection Level

Initial
Setting Range Unit Others Setting > End
Value
Applicable
1 to 5000 20 [RPM] ALL
Mode
</TG-ON> signal is output if the motor rotates at a speed higher than the set value.

Sequence output </TG-ON> signal is output as shown below.

Rotation Speed

Actual Speed

Pr - 5. 03 Setting Speed
Time
0

/V - COM Output OFF ON OFF

If you set rotation detection level Pr-5.03 too low, </TG-ON> signal
NOTE
can be output even with small vibration.

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5-36 Function for Control Mode

Speed Limit Function and Speed Limit Detection </V-LMT> Output

You can limit the speed of servo motor within a set speed in order to avoid the
excessive operation of the load. Initial value is limited to 5000 [RPM] and you
can change the speed limit according to the parameter setting below.
Set speed level that you want to limit to the parameter below.

Speed Limit

Initial
Setting Range Unit Others Setting > End
Value
Applicable
1 to 5000 5000 [RPM] ALL
Mode
It limits the rotation speed of motor to keep below the speed of set value.

Even though you set the speed limit [Pr-2.12] as 1000 [RPM] and send analog
speed command related to 1500 [RPM] from the host controller, servo motor
runs in 1000 [RPM].
On this occasion, if the speed of motor reaches to speed limit as allocating
sequence output function speed limit detection </V-LMT>, you can generate
</V-LMT> signal to the allocated output pin.
</V-LMT> is sequence output signal. To use </V-LMT> function, allocate
</V-LMT> signal with reference to sequence input/output signal in the
Chapter 5-2.
Speed limit detection </V-LMT> output is ON when the following
conditions are satisfied.

Rotation Speed = Setting Value /V-LMT Output

Initial value of speed limit is automatically set as maximum speed of

NOTE
set motor at the same time when motor type is set in the basic setting
in the Chapter 4-6.

Set speed limit [Pr-2.12] to maximum speed of motor if there is no

NOTE
excessive load. If the set value is too small, response performance is
reduced.

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 Function for Control Mode 5-37

• Except the speed limit method by setting of speed limit [Pr-2.12],

NOTE
you can also limit the speed by the command from the host
controller.
• Among two methods, you can select where to limit speed by
speed limit selection [Pr-2.13].
• If you do not select the method by [Pr-2.12] in speed limit selection
[Pr-2.13], setting value of speed limit [Pr-2.12] becomes invalid.
• For details on speed limit, refer to the Chapter 7-18.

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5-38 Function for Control Mode

Torque Control Mode Overview

The torque control mode is used to control the tension or the pressure of the
mechanical part by using the servo drive.
Enter the voltage related to the desired torque from the host controller.
Various setting values related to operation torque limit of motor are generally
applied to the position or the speed control mode.
In order to operate the servo drive in a torque control mode, connect the
analog torque command to the related input pin and set the required process
as shown bellow.

Flowchart for the Torque Control Mode Operation

Select the sequence I/O function and allocate them. [Pr-0.05 to Pr-0.11]

Check if the motor rotates while slowly increasing the analog torque
command voltage.

Run as resetting the external torque command input gain in Servo-On.

Servo-On it again and retry running. [Pr-4.00]

Check torque command [%] in monitor mode (dis-03).

OK ?

If motor rotates even the command 0[V] is input, then use the torque
command offset adjustment function to adjust the motor to prevent the rotation.
[run-04, run-06]

Set the torque limit (internal or external).

Tune the servo drive by adjusting the gain according to the load condition.

If you set rotation detection level Pr-5.03 too low, </TG-ON> signal
NOTE
can be output even with small vibration.

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 Function for Control Mode 5-39

Standard Wiring Example

The following figure illustrates the standard wiring example of the torque
control mode. The sequence input/output signal can be set according to needs
if it is necessary for the system configuration.

I/O 50-Pin Connector <CN1>

DC + 24 [ V] Analog Monitor CH1

Output Range : -10[V] to +10[V]
+ 24 [ V] IN 1 28 Analog Monitor CH2
0 [ V] D/ A Output Range : -10[V] to +10[V]
2 23
Sequence Input Cir cuit AM-SG
27 Analog Monitor Output GND
AM - SG
Recommended Setup Furction Input Channel 37
AL 1 Servo Alarm Code
Servo-ON / SV - ON DI # 1 3 38 Maximum Allowable Voltage
AL 2 DC 30[V]
Prohibit Forward Rotation P- OT Maximum Allowable Current : 20[mA]
DI # 2 4 39
AL 3
Prohibit Reverse Rotation N- OT
DI # 3 5 40 Alarm Code Output GND
AL - SG
P-Control Conversion / P- CON DI # 4 6 29
EA +
Alarm Reset / A- RST P
DI # 5 7 30
EA -
Reverse Torque Limit / N - TL Encoder Phase A, B & C
DI # 6 8 31
EB +
Forward Torque Limit / P- TL P (Line Receiver SN75175
DI # 7 9 32
EB - or MC3486)
33
EC +
P
E- STOP 10 34
EC -
35
PS + Absolute Encoder
P Rotation Data
36
PS -

17 / Z - PULSE + Encoder Phase Z

P OPEN Collector
18 / Z - PULSE -
V- REF 19 45
SALM +
P P Servo Alarm
V- REF SG 20 46
SALM -
A/ D
Speed Contr ol Mode Input 41
DO # 1
P Rotation Detection /TG-ON
T- REF 21 42
Analog Speed Command DO # 1 -
-10[V] to +10[V] P
T- REF SG 22 43
DO # 2 +
P Torque Limit Detecton /T-LMT
44
DO # 2 -
47
DO # 3 +
Back-up Battery for P Speed Limit Detection /V-LMT
BAT + 49 48
Absolute Encoder DO # 3 -
Back-Up Battery P Output Recommended
BAT - 25 24 26 50
DC 3.6[V] Channel Setup Function

X X X
Sequence Output
Circuit

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5-40 Function for Control Mode

Torque Command Input

Torque Command
Two pins of CN1 receive one command related to torque control mode.
Host controller outputs the voltage command of the analog type.

Torque Command T- REF 21

- 10 [ V] ~ + 10 [ V] P
T- REF SG 22
Host Controller

External Torque Command Gain Setting

Set the relationship between the analog voltage value and torque command
value to the parameter below.

External Torque Command Input Gain

Initial
Setting Range Unit Others Servo-off> Setting > End
Value
Applicable
0.0 to 100.0 33.3 [%/V] t
Mode
Set the gain of torque command value [%] related to analog voltage 1 [V].

Speed command is given according to the following relationship.

Input Voltage Rated
Setting Value X [V]
X Torque
Torque Com m and
[Nm ]
=
100

Therefore, according to the Initial value, when the input voltage is 3 [V], 100
[%] torque that is rated torque of motor occurs. In addition, when input
voltage is 9 [V], 300 [%] torque that is maximum torque of motor occurs.
(Rated torque and maximum torque can be different according to motor type.)

Torque Command [%]

Setting Value as
when Delivered

Analog Input
Voltage [V]

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 Function for Control Mode 5-41

• Maximum allowable torque command is DC -10 [V] to +10 [V].

NOTE
• If the input reference voltage is changed, the torque command can
be changed together. Therefore, use the accurate power supply.
• If you want a precise torque adjustment, it is recommended to use
multi-turn variable resistor more than 10-turn (rotation).
• If analog torque command is over maximum torque of set motor,
over (external) torque command warning, Servo warning ("OTC")
occurs.

• Motor can rotate even though torque command is not approved or

NOTE
the host controller outputs the torque command as 0 [V]. It is
because of the voltage offset between the host controller and the
drive.
• The rotation of motor due to offset can be prevented using
automatic adjustment of torque command offset (Run-04) or
manual adjustment (Run-06) function. For the automatic (manual)
adjustment of the torque command offset, refer to the Chapter
7-35.

Torque Limit and Torque Limit Detection </T-LMT> Output

It can limit the torque of servo motor and can set separately in
forward(reverse) direction.

Internal Limit
It means the drive limits itself according to the parameter setting regardless of
the external signal.

External Limit
It receives the external sequence input signal. In addition, it sets up the limit
value to the parameter that is different from internal limit, and torque is limited
according to sequence input signal.
If the internal torque limit is set, the limit value is always valid. However,
external torque limit setting is not always valid because it is controlled
according to sequence input signal. It can be difference between internal
torque limit and external torque limit.

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5-42 Function for Control Mode

Set the following two parameters for the internal torque limit.

Forward Rotation Torque Limit (Internal Limit)

Initial
Setting Range Unit Others Setting > End
Value
Applicable
0 to 300 300 [%] ALL
Mode
It limits positive torque in [%] unit related to rated torque.

Reverse Rotation Torque Limit (Internal Limit)

Initial
Setting Range Unit Others Setting > End
Value
Applicable
0 to 300 300 [%] ALL
Mode
It limits negative torque in [%] unit related to rated torque.

External Forward Rotation Torque Limit

</P-TL>

Initial
Setting Range Unit Others Setting > End
Value
Applicable
0 to 300 100 [%] ALL
Mode
If </P-TL> is ON, it limits positive torque in [%] unit related to rated torque.

External Torque Limit of Reverse Rotation

</N-TL>

Initial
Setting Range Unit Others Setting > End
Value
Applicable
0 to 300 100 [%] ALL
Mode
If </N-TL> is ON, it limits negative torque in [%] unit related to rated torque.

Relationship between the internal and external torque limit

Internal Limit Sequence External Limit

Input

Torque / P- TL Torque
Positive Torque OFF
(+) Pr - 4. 01
ON Pr - 4. 03
Speed Speed
Torque 0 0 Limited
Command Torque
0 0 Command
Speed ON Speed
(- ) Pr - 4. 04
Pr - 4. 02
Negative Torque
OFF Torque
Torque / N- TL

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 Function for Control Mode 5-43

Cautions
</P-TL> and </N-TL> are sequence input signals. To use </P-TL> and </
N-TL> functions, allocate </P-TL> and </N-TL> signals by referring to the
sequence input/output signal in the chapter 5.1.
External limit of positive torque uses </P-TL> signal and that of negative
torque uses </N-TL> signal.
Torque limit by internal limit [Pr-4.01] and [Pr-4.02] are prior to external
torque limit </P-TL> and </N-TL> signal.

More explanation
Internal limit is used to limit maximum value of operation torque of motor(or
output torque) within set range to protect the load system or the object on
work.
Generally, the allowable torque limit of motor is as shown in the figure below.
Therefore, torque limit in the speed over rated speed is achieved within the
momentary operation range as shown in the figure. In high speed range,
torque limit according to current motor speed is automatically processed inside
Servo drive. If the values of [Pr-4.01] and [Pr-4.02] are set as shown in the
following figure, torque of motor is limited as the lined area in the figure.

Momentary Allowable
Momentary Continuous
Maximum Torque Allowable Area
Torque Limit
Setting Value
Rated Torque
Rotation Speed
Rated Maximum
Speed Speed

Depending on the motor type, there is a maximum instantaneous

NOTE
torque that is less than 300 [%]. If you set [Pr-4.01] and [Pr-4.02] to the
value over maximum torque that motor allows, it is limited to
maximum torque value as ignoring setting value.

Torque limit when over travel occurs

When over travel occurs except external and internal torque limits described
above, you can limit torque as setting separate parameter.
For over travel, refer to the Chapter 7-2.
Set torque limit value when over travel occurs to the following parameter.
Same setting value is applied both to positive and negative torque as being
different from the internal and external torque limits.

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5-44 Function for Control Mode

Rotation Prohibition Torque Limit

<P-OT>, <N-OT>

Initial
Setting Range value Unit Others Setting > End

Applicable
0 to 300 300 [%] ALL
Mode
Both forward and reverse rotation are limited by the same setting value.

When setting value of rotation prohibition torque limit [Pr-4.05] is

NOTE
bigger than setting value of internal torque limit [Pr-4.01] and [Pr-4.02],
the internal torque is prior to everything so that setting value of
rotation prohibition torque is meaningless.

When setting value of rotation prohibition torque limit [Pr-4.05] is

NOTE
bigger than setting value of internal torque limit [Pr-4.01] and [Pr-4.02],
the internal torque is prior to everything so that setting value of
rotation prohibition torque is meaningless.

Torque Limit Detection </T-LMT> Output

As described before, torque that is added to motor can be limited by various
setting. The state that torque is limited by setting value can be generated to
host controller by sequence output. That output is torque limit detection
</T-LMT> signal.
</T-LMT> is sequence output signal. To use </T-LMT> function, allocate
</T-LMT> signal with reference to sequence input/output signal in the
Chapter 5-2.
Torque limit detection </T-LMT> output is ON when satisfying the
following conditions.

Torque Limit (Internal)

Servo Motor /T-LMT
Torque = Trque Limit (Extenal)
O u tp u t
Torque Limit for Over Travel Occurence

• Internal and external torque limits can be set separately when the
NOTE
rotation direction of the motor is forward and reverse.
• However, for torque limit by over travel </P-OT> and </N-OT>
signal input, torque is limited by one setting value of rotation
prohibition torque [Pr-4.05] regardless of rotation direction of
motor.

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 Function for Control Mode 5-45

Multi-Step Speed Mode Overview

Multi-step speed mode is one of speed control method. It is to operate

according to sequence input after setting operation speed in advance by
parameter setting. It does not require separate speed command input or offset
adjustment because it operates only with parameter and sequence input.
To operate servo drive as multi-step control mode, set the required process as
follows.

Flowchart for Multi-Step Speed Mode Operation

Select sequence I/O function for multi-step speed control and allocate
them. [Pr-0.05 to P-0.11]

Check I/O state in monitor mode (dis-15).

OK ?

Set the speed for each step.[Pr-2.05 to Pr-2.11]

Check the speed command[rpm] in monitor mode (dis-15).

OK ?

If necessary, set the acceleration/deceleration time.[Pr-2.02, Pr-2.03]

Tune the servo drive by adjusting the gain according to the load condition.

For Position-Control-Only model, CSD3-xxBX1P, it does not support the

NOTE
multi-step speed control mode.

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5-46 Function for Control Mode

Standard Wiring Example

The following figure illustrates the standard wiring example of multi-step

speed control mode. The sequence input/output signal can be set according to
needs if it is necessary for the system configuration.

I/O 50-Pin Connector <CN1>

DC + 24 [ V] Analog Monitor CH1

Output Range : -10[V] to +10[V]
+ 24 [ V] IN 1 28 Analog Monitor CH2
Muti-s tep Speed Mode Output Range : -10[V] to +10[V]
0 [ V] 2 D/ A 23
Sequence Input Circuit AM-SG Analog Monitor Output GND
27
AM - SG
Recommended Setup Function 37
AL 1 Servo Alarm Code
Servo-ON / SV - ON DI # 1 3 38 Maximum Allowable Voltage
AL 2 DC 30[V]
Prohibit Forward Rotation P- OT DI # 2 4 39 Maximum Allowable Current : 20[mA]
AL 3
Prohibit Reverse Rotation N- OT DI # 3 5 40
AL - SG Alarm Code Output GND
P-Control Conversion / A- RST DI # 4 6 29
EA +
Alarm Reset / C - DIR P
DI # 5 7 30
EA -
Reverse Torque Limit / C - SP 1 DI # 6 8 31
EB + Encoder Phase A, B & C
Forward Torque Limit / C - SP 2 P
DI # 7 9 32 (Line Receiver SN75175
EB -
or MC3486)
33
EC +
P
E- STOP 10 34
EC -
35
PS + Absolute Encoder
P
36 Rotation Data
PS -

17 / Z - PULSE + Encoder Phase Z

P OPEN Collector
18 / Z - PULSE -
45
SALM +
P Servo Alarm
46
SALM -

41
DO # 1
P Speed Coincidence /TG-ON
42 Detection
DO # 1 -
43
DO # 2 +
P Rotation Detection /T-LMT
44
DO # 2 -
47
DO # 3 +
P Speed Limit Detection /V-LMT
Back-up Battery for BAT + 49 48
DO # 3 -
Absolute Encoder P
Back-Up Battery BAT - 25 24 26 50 Output Recommended
Channel Setup Function
DC 3.6[V]
X X X
Sequence Output
Circuit

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 Function for Control Mode 5-47

Multi-Step Speed Command Setting

Multi-step speed control mode does not have external signal input pin for each
control mode unlike position, speed and torque control mode and can be
operated only by sequence input. Therefore, sequence input signal has input
signal that is exclusive for multi-step control mode and exclusive input signals
are as follows.

/C-DIR /C-SP1 /C-SP2 /C-SP3 /C-SP4

</C-DIR>
It is input signal to determine rotation direction of motor. If </C-DIR> signal is
OFF, motor rotates forward, and if it is ON, motor rotates reverse.
</C-DIR> Signal Motor Rotation Direction
1 OFF 0 Forward Rotation
2 ON 1 Reverse Rotation

</C-SP1>, </C-SP2>, </C-SP3>

3 kinds of input signal can make 8 kinds of number and each number can set the
rotation speed. In addition, parameter to set speed for each number is already
designated. Refer to the following table.

Multi-step speed Speed Setting Parameter </C-SP3> </C-SP2> </C-SP1>

Stop Command 0[RPM] 0 0 0

Speed Command 1 0 0 1

Speed Command 2 0 1 0

Speed Command 3 0 1 1

Speed Command 4 1 0 0

Speed Command 5 1 0 1

Speed Command 6 1 1 0

Speed Command 7 1 1 1

Initial V alue
P arame te r [rpm]

Setting Range Initial Value Unit Mode in Use Others

-5000 to 5000 100 to 700 [RPM] C Setting > End

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5-48 Function for Control Mode

You can control the rotation direction of motor differently to forward and reverse as
approving </C-DIR> sequence input for each speed that is designated to each speed
parameter.

</C-SP4>
In Multi-step Speed Mode (Pr-0.00 = C), </C-SP4> can be used to change
the motor speed using analog speed input voltage without changing the
control mode. When </C-SP4> is ON and <C-SP1>, <C-SP2>, and
<C-SP3> are all OFF, the motor speed is controlled by analog speed input.
The </Z-CLP> input and zero clamp function are all available. If the </
C-SP4> input is ON and any one of <C-SP1>, <C-SP2>, and <C-SP3>
inputs is ON at the same time, the motor speed is controlled by the
corresponding contact inputs.

Speed command
voltage

/C-SP1,2,3

ON
/C-SP4

Motor Speed
G

To use sequence input signal </C-DIR>, </C-SP1>, </C-SP2>, </C-SP3>, or </

C-SP4> function, allocate signal with reference to sequence input/output signal in
the Chapter 5-2.

• If you do not change the rotation direction, you do not need to use
NOTE
</C-DIR> input.
• In addition, you do not need to use all </C-SP1>,</C-SP2> and </
C-SP3>, and can adjust change level using only </C-SP1> or both
</C-SP1> and </C-SP2> according to your needs.
• If you ser up '8' when you allocate sequence input signal as
described in sequence input/output signal in the Chapter 5-2, you
can always use valid input signal.
• </START> input can be used.

Multi-step speed mode

The following figure is to help you understand motor operation according to
sequence input signal in multi-step control mode.

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 Function for Control Mode 5-49

( Pr- 2. 07)
When acceleration/
( Pr- 2. 06) deceleration time is set
( Pr- 2. 08)
Forward ( Pr- 2. 05)
Operation
0[ rpm] 0[ rpm] 0[ rpm]
Reverse
Operation ( Pr- 2. 11)
( Pr- 2. 09)
( Pr- 2. 10)

/ C - DIR 0 1

/ C - SP 3 0 0 0 0 1 0 1 1 1 0

/ C - SP 2 0 0 1 1 0 0 0 1 1 0

/ C - SP 1 0 1 0 1 0 0 1 0 1 0

Speed
Command 1 2 3 4 5 6 7

• Set sufficient acceleration/deceleration time within the limit that

NOTE
does not disturb the response performance of the system in order
to alleviate the impact when the speed is changed.
• For acceleration/deceleration time setting, refer to the Chapter
7-16.

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5-50 Function for Control Mode

Combinational Control Position control mode, speed control mode, torque control mode and
multi-step speed control mode described are called the basic control modes.
Mode and </C-SEL> The servo drive provides combinational control mode function to combine
Function basic control modes to meet the user's condition.
Combinational control mode uses two basic control modes.

Setting of Combinational Control Mode

Set combinational control mode to meet your condition with reference to the
Chapter 4-7.

Convert two control modes by sequence input </C-SEL> signal.

</C-SEL> is sequence input signal. To use </C-SEL> function, allocate
</C-SEL> signal with reference to sequence input/output signal in the
Chapter 5-2.
If you set combinational control mode, you should use sequence input
</C-SEL>. When you use combinational control mode, control mode is
determined by </C-SEL> input signal. The following table is the relationship
between </C-SEL> input signal and control mode conversion.

Control Mode & Display

Mixed Control Mode Set in [Pr-0.00]
</C-SEL> = OFF </C-SEL> = ON

Speed-Position

Torque-Speed

Torque-Position

Multi-Step Speed
+Position

Multi-Step Speed
+Speed

Multi-Step Speed+
Torque

Each basic control mode is already described before. If Servo is ON, the
current control mode is flashed and if the control mode is converted by
</C-SEL> signal, the alphabet of the control mode is flashed.

Status Display Mode </C-SEL> is sequence input that is used only for combinational control
mode.

If you set combinational control mode in [Pr-0.00] and do not allocate

</C-SEL> to sequence input, Servo drive indicate Servo warning “PIN”
in state indication mode.

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 Function for Control Mode 5-51

Current Control Mode Condition for Control Mode Convention

Position Control Mode 1. </P-COM> Output = ON

1. < /V-COM> Output = ON

Speed Control Mode 2. </TG-ON> Output = OFF

Torque Control Mode 1. </TG-ON> Output = OFF

1. </C-SP1> to </C-SP3> Input = All OFF

Multi-step Speed Mode 2. </TG-ON> Output = OFF

As described before, mixed control mode uses two basic control mode. If you
use two-control mode and one mode is working, other control mode input is
ignored.
For example, when the speed control mode is used, position command pulse
or analog torque command is ignored and only when the control mode is
converted by </C-SEL> signal, the related input will be valid.

• Some parameter functions are valid in special control mode.

NOTE
• For example, acceleration/deceleration time setting [Pr-2.02] and
[Pr-2.03], S-Curve Operation time setting [Pr-2.04] are valid in
speed control mode but invalid in position or torque control mode.
• Therefore, be careful when converting the control mode.

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5-52 Function for Control Mode

Publication CSD3P-UM001E-EN-P — February 2008

 Chapter 6

Tuning by Gain Setting

Introduction This chapter explains the servo drive setting that can achieve its optimum
performance to satisfy different load system as controlling servomotor.

Topic Page
Introduction 6-1
Before you Begin 6-2
Gain Setting Configuration 6-7
Automatic Gain Setting 6-7
Manual Gain Setting 6-11
Position, Speed, Torque Related Gain Setting 6-14
Tip to get fast response 6-20

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6-2 Tuning by Gain Setting

Before you Begin Mark Explanation

The following icon is used for tuning.

Tunning Icon
Maximum
Gain Setting Parameter \WW
Setting Value
Initial Setting
Gain Name and Unit Sytem Gain Value
\W
[10Hz] Minimum
W Setting Value

Gain Introduction

As the audio system has equalizer to adjust the audio quality, the drive also
requires adjustment to achieve the optimum performance for each load.
Equalizer adjustment is not essential for the audio system, but the adjustment
is important fact that is directly connected to performance for servo drive.
You should adjust servo drive to satisfy load condition in order to achieve
optimum performance for each control.
In addition, the adjustment made to the motor that is connected to drive, to
achieve the optimum performance through gain setting, is called Tuning.

Servo drive gain

What kind of drive gains are there that acts like equalizers of audio system?
Parameter group 1 has gain setting parameter for tuning and it is classified as
follows.
<System Gain > Bandwidth of Speed Control Loop

It can adjust five basic gains at the same time.

It is the same as the Bandwidth of overall speed control System Gain [Hz]
loop of the servo drive.

<Basic Gain> They are five fundamental gains for tuning.

XWWWW

1000
0

Speed Loop Speed Loop Position Torque Speed

Proportion Gain Integration Gain LoopProportion CommandFilter CommandFilter
[Nm/S] [Nm/S ] Gain [Hz] CutoffFrequency CutoffFrequency
[Hz] [Hz]

IMPORTANT In case of BX2 Rev.B servo drive, the system gain is limited to
10Hz at its minimum to guarantee a proper level of motion
characteristics when velocityresponse level [Pr-1.15] is set too
low. For more information about velocity response level, refer to
peterkang.

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 Tuning by Gain Setting 6-3

<Applicable Gain> They are four gains that <Others> They are four parameters with
with separate functions. supplementary function that is required for tuning.

XWWWW XWW ZWWW [\W \WWWW

XWW
1000
W W W W 0

Machine Position Slection of Auto Reference Value for Minimum

Position Command Position Adjustment on
Resonance Feedforward Adjustment on Speed Bias Position Error to
Filter Cutoff Feedforward Speed
Add Speed Bias
SuppressionFilter Gain [%] Filter Cutoff Loop Integration peedLoop [rpm]
Frequency [Hz] Frequency [Hz] Integration[Variable] [pulse]
[Hz] Value [N/A]

As mentioned above, gains in parameter group 1 and 13 parameters related to

gain are explained and the details are explained hereinafter.

Parameter that is most important for tuning. (Inertia Ratio)

The parameter that is considered to make motor, that is connected to servo
drive achieve the optimum performance in tuning, is the inertia ratio setting
parameter. First of all, you should understand that inertia ratio and gain
settings are interlocked, and refer to the explanation hereinafter.

Inertia Ratio

What is inertia ratio?

The following figure explains the Inertia Ratio.

• It shows the ratio of load inertia compared to the

motor (rotor) inertia.
Motor
Inertia • If the motor (rotor) inertia is 3 [ gfcms²] and the load
inertia is 30 [gfcms²], the inertia ratio is 10 [times].
Load • For the motor inertia table, refer to the motor
Inertia specification in the appendix.

Setting Unit
Setting value of Inertia Ratio uses the unit, [times]. For example, if the motor
inertia is same as the load inertia, the Inertia Ratio is 1 [time] and the setting
value is ‘1’.
The setting value of the Inertia Ratio is determined by the following formula.

Load Inertia
Inertia
Ratio Load Inertia

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6-4 Tuning by Gain Setting

Setting Parameter

Set the Inertia Ratio to the following parameter.

Inertia Ratio

Initial
Setting Range Unit Others Setting > End
Value
Applicable
0.00 to 60.00 1.00 [Times] ALL
Mode
It can be automatically set by off-line auto tuning function in the Chapter 7-36.

Inertia Ratio and Gain

If the Inertia Ratio is adjusted by certain reason, it automatically changes the
following two basic gains at the same time with the adjustment. Therefore, the
Inertia Ratio setting means gain setting, so that you should be careful when
adjusting or setting the Inertia Ratio.
Two basic gains that are changed according to the adjustment of Inertia Ratio.
YWWW ]WWWW

60 26
0
0

Speed Loop
Speed Loop Integration
Proportion Gain Gain [Nm/S]
[Nm/S]

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 Tuning by Gain Setting 6-5

Gain Setting Configuration This chapter explains the overall configuration (Position, Speed, Torque)
related to the gain setting.
The following diagram will help you understand the gain configuration related
to position, speed and torque.
Starting point for position mode gain setting
• Position mode using the position pulse command of host controller includes all gains
related to speed and torque from starting point to the servo motor as shown in the figure
below.
• Servo drive first generates the speed command using the position command of the host
1 controller, speed command generates the torque command and finally, it transfers the
torque command to the servo motor. Therefore, when you use the position mode, the gain
can be set properly.
• If gain related to position control is set properly but the gain related to torque or speed is
not set properly, the optimum tuning cannot be achieved.
Starting point for speed mode gain setting
• Speed mode using speed command of the host controller includes all gains related to
torque from starting point to the servo motor as shown in the figure below.
• Servo drive first generates torque command using speed command of the host controller
2 and finally, it transfers the torque command to the servo motor. Therefore, when you use
the speed mode, the gains related to speed and torque can be set properly.
• If gain related to speed control is set properly but gain related to torque is not set properly,
the optimum tuning cannot be achieved.
Starting point for torque mode gain setting
• Torque mode using torque command of host controller includes all gains related to torque
3 from starting point to servo motor as shown in the figure below.
• You can adjust gains related to torque in torque mode.

If gains related to position are set in the condition that response

NOTE
quality is not sufficiently guaranteed through gain settings related to
speed control, system becomes unstable. Therefore, firstly you should
sufficiently secure the response quality of speed control loop to make
the response quality of whole position control system good.

• For speed limit details, refer to the Chapter 7-18.

NOTE
• For torque details, refer to the Chapter 5-38.

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6-6 Tuning by Gain Setting

Gain diagram related to position, speed and torque

<SERVO DRIVE>

2.12SpeedTimeSpeedCommandPosition Control Related Gain (Chapter 6.5.1)

Position Command Position Position

Starting Point of Filter Cutoff Feedforward Gain Feedforward Filter
Position Mode Ftquency Cutoff Frequency
Gain Setting

‚‹i„ Position Loop

Proportion Gain
Position
Speed
Command Pulse
Command
‚o¡„
Speed bias

w™TXUXZ

w™TXUXZ

Torque Control Related Gain (Chapter 6.5.2)

Speed Command Speed Loop

Starting Point of Speed Limit Filter Cutoff Proportion Gain
Frequency
Speed Mode Gain
SettingStarting
Torque
z—ŒŒ
‹
‚‹i„ Command
Speed w™TYUXY Speed Loop
Command Integration Gain
{”
Œ
‚o¡„

Torque Control Related Gain (Chapter 6.5.3)

Machine Resonance Torque Command

Starting Point of Torque Limit Suppression Filter Filter Cutoff
Tourque Mode Frequency
Gain Setting
¥
‚‹i„
Torque {–™˜œŒ
‚‹i„ Servo
Command Motor

z—ŒŒ‹
‚o¡„ ‚o¡„

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 Tuning by Gain Setting 6-7

Automatic Gain Setting Auto Tuning

There are two functions, which automatically detects the load status inside
servo drive.

• Off-line-auto-tuning

• On-line-auto-tuning

Off-line Auto Tuning

Tuning function

IMPORTANT BX1 and BX2 servo drives automatically detect and set only
load inertia ratio.
However, BX2 Rev.B servo drive automatically detects and sets load
inertia ratio, friction coefficient, and resonant frequency.
Two basic gains are automatically set based on the detected data.

Tuning mode
There are two tuning modes.
• Inertia identification
• Inertia identification and resonance frequency
The tuning mode during Run-01 execution is set by autotuning mode setting
[Pr-0.03.N0]. For more information, refer to PeterKang.

Operation (Tuning) method

• For Operation method for off-line auto tuning, Refer to Off-line Auto
Tuning Operation (run-01) on page 7-36.

Velocity Response Level [Pr-1.15]

IMPORTANT This parameter is only applicable to BX2 Rev.B servo drive.

This is used to automatically set an initial system gain by determining available

max. bandwidth based on the inertia ratio which is obtained from Run-01.

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6-8 Tuning by Gain Setting

After autotuning, max. bandwidth is determined, and the system gain [Pr-1.00]
is determined by [Pr-1.15].
Parameter

Parameter Name Velocity response level

Description define max. system gain % recommended by a sysem based on inertia
measured from autotuning
setting 0 ~ 150
default 50
Unit %
Mode All
Other servo-OFF > setting > power off/on> end

This parameter defines max. system gain % recommended by a system after

execution of ‘inertia identification’ or ‘inertia identification and resonance
frequency’ according to [Pr-0.03.N0] setting. For example, if ‘max. available
frequency’ of a system is ‘100Hz’ after autotuning, its system gain [Pr-1.00] is
set to ‘50Hz’ according to its default value.
‘Max. available frequency’ is determined based on estimated inertia and also
system characteristics. Therefore, its default is set to ‘50%’ and
Pr-1.00~Pr-1.05 are automatically set to appropriate values when it is changed.
However, system gain is limited to 10Hz at its minimum to guarantee a proper
level of motion characteristics when velocity response level [Pr-1.15] is set too
low.

Explanation of the relationship flow between off-line auto tuning and gain

• When you run off-line auto tuning, drive automatically Inertia Ratio
[Pr-0.04] of load system and automatically set two basic gains as being
suitable for Inertia Ratio. Therefore, it is recognized that the response
quality of servomotor is improved at the same time.

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 Tuning by Gain Setting 6-9

• In addition, load system sometimes does resonant (vibration) in the

specific frequency range because of vibration noise. For those situations,
it intercepts vibration of load system using resonant frequency that is
automatically detected by auto tuning. Resonant frequency of load
system becomes the setting value for resonance suppression filter
[Pr-1.07] and if you know the exact resonant frequency of the load, you
can set it directly.

The response performance of the drive is increased than prior to the auto tuning.

YWWW XWWWW

XWW XWW
W W Set the 2 basic gains automatically using
the data detected by the tuning.
Speed Loop Speed Loop
Proportion Integration
Gain Gain
<Automatic Setting of the basic gain>
XWWWW

Using the off-line tuning function...

1.Detect the inertia ratio automatically
2.Detect the resonant frequency of the load
Setting Range W
automatically.
[0.00 to 60.00 Times]

Inertia Ratio Machine resonance <Inertia ratio auto save>

Suppression Filter[
<resonant frequency auto detection>

Perform auto tuning by the off-line

Off-Line Auto Tuning auto tuning method.

Flowchart of the relationship between the off-line auto tuning and gain Start

• Only as operating off-line auto tuning, you can prevent resonant

NOTE
noise caused by resonant frequency of load system and three
basic gains.
• Off-line auto tuning automatically sets Inertia Ratio [Pr-0.04] and
resonant suppression filter [Pr-1.07], but when you know exactly
each value, you can directly set.
• However, if the value set directly is not accurate, the response
quality is degraded and becomes the reason of resonant noise.
Therefore, be careful when setting it directly..

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6-10 Tuning by Gain Setting

On-line Auto Tuning

Overview
On-line Auto Tuning is used when load is continuously changed during the
operation. It continuously changes the gain value according to load state in
order to maintain the regular response quality of system even though load state
is changed.

Precautions
Do not use On-line Auto Tuning for the cases below if possible, and we
recommend using the Off-line Auto Tuning or manual gain setting.

• When fine or large change is made to the Inertia ratio during the load
operation.

• If Inertia ratio is changed in two types during load operation, you do not
need to change. In this case, refer to the Chapter 6-27.

• When big torque does not occur during load operation because
acceleration/deceleration time is long or maximum rotation speed or
torque limit is set low.

On-line auto tuning coefficient setting

Set the following parameter to use On-line Auto Tuning.

On-line Auto Tuning Function
Coefficient

9 On-line Auto
Tuning If this value is not ‘0’, use On-line Auto Tuning function.
Coefficient
[-] The higher you set the value, the more delicately it responses to load
0 change and respond quickly.

Applicable ALL Others Setting > End

Mode

If load is quickly changed, you need to set the On-line Auto Tuning coefficient
high, but it can be momentarily unstable in the load environment that the
vibration is large. So, pay extra caution.
If the response quality of control loop is decreased during On-line Auto
Tuning, increase the value of system gain [Pr-1.00] and if noise or vibration
occurs, reduce that value.
For system gain [Pr-1.00], refer to the Chapter 6-12.

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 Tuning by Gain Setting 6-11

Manual Gain Setting Gain Setting Flowchart

The following figure illustrates whole structure and procedure of Manual Gain
Setting.

Flowchart of the manual gain setting Start

500 Automatically set the inertia

ratio and machine resonance
suppression filter by off-line
auto tuning.
50
Setting Range
0.00 to 60.00 [%] 0 Adjust to obtain the
System Gain optimum tuning using the
Inertia Ratio [10Hz] system gain.

2000 60000 700 10000 10000

60 26 20 300 1000
0 0 0 0 0 Perform fine adjustment
from each basic gain.

Speed Loop Speed Loop Position Loop Torque Speed

Integration Gain Command Filter Command
Proportion Gain Proportion Gain Cutoff Frequency Filter Cutoff
[Nm/S] [Nm/S2 ] [Hz] [Hz] Frequency [Hz]

60000 10000 100 800

200
0 0 0 0
Perform fine adjustment
from each applicable gain.
Position Machine Position Position
Command Filter Resonance Feedforward Feedforward
Cutoff Frequency Suppression Gain [%] Filter Cutoff
[Hz] Filter [Hz] Frequency [Hz]

3000 50000 450

100 1000
0 0 0
Use other functions fro
tuning.
Slection of Auto P Control Minimum
Adjustment on Speed Conversion Position Error to Speed Bias
Loop Integration Standard Value Add Speed Bias [rpm]
Value [N/A] [Variable] [pulse]

Check the motion of the load system and if appropriate tuning is not done, repeat the above steps.

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6-12 Tuning by Gain Setting

Basic Gain Setting

The following explains five Basic Gain Settings for Tuning.

Basic Gain Setting by System Gain and Inertia Ratio
1 Firstly, execute the Off-line Auto Tuning for automatic setting of Inertia Ratio [Pr-0.04].
Set system gain to optimum Tuning level. If vibration noise occurs in load system, reduce
2 tuning level to prevent vibration noise.
3 Adjust in each basic gain in detail.
If the tuning is not sufficient, set again from the Off-line Auto Tuning.

The following figure illustrates the flowchart that Inertia Ratio and system gain
set basic gain as being interlocked. Adjust to make the optimum tuning as
making Inertia Ratio and system gain refer to each other whenever Inertia
Ratio is changed or the system gain is adjusted.

Tuning<Adjust to obtain optimum tuning for

< the load >
Vibration noise
Realizes the
Optimum tuning optimum
Reduces response tuning.
performance

2000 60000 700 10000 10000

60 26 20 300 1000 5 basic gains are set

0 0 0 0 0 automatically.
Setting from each basic
Speed Loop Speed Loop Position Loop Torque Command Speed Command
gain is possible.
Proportion Integration Proportion Filter Cutoff Filter Cutoff
Frequency [Hz] Frequency [Hz]
Gain [Nm/S] Gain [Nm/S] Gain [Hz]

500
5 basic gains are set for
the system gain.
interlocked 50
0
Setting Range 0.00 System Gain 3 basic gains are set for
Inertia Ratio to 60.00 [Times] [10Hz] the inertia ratio.

When the inertia

ratio of the load is The system gain is set by the user from Set after the user checking
known. <Direct input [Pr-1.00]. the load status.
Off-Line <Direct input by the user>
Auto Tuning by the user>
or
When the off-line auto tuning in the chapter Auto detection of inertia
7.10.3 is performed, the inertia ratio of the ratio using the off-line
current load system is set automatically in auto tuning.
[Pr-0.04].

Flowchart fo the basic gain setting Start

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 Tuning by Gain Setting 6-13

If response performance is decreased after Off-line Auto Tuning, increase the

value of system gain [Pr-1.00], and do Off-line Auto Tuning again. We
recommend securing the maximum response quality as increasing the value of
system gain [Pr-1.00] until noise or vibration occurs.
When maximum response quality is guaranteed in the condition that the value
of Inertia Ratio [Pr-0.04] is accurately set and there is no vibration noise in
load system, (When you set the value of system gain [Pr-1.00] as high as you
can), it becomes bandwidth of whole speed control loop.
As described above, as exactly set Inertia Ratio [Pr-0.04] and set basic gains
using system gain [Pr-1.00], you can get response quality.
The following table is for Inertia Ratio and system gain Setting.

Inertia Ratio

Initial
Setting Range Unit Others Setting > End
Value
Applicable
0.00 to 60.00 1.00 [Times] ALL
Mode

• This is the parameter to set load inertia ratio to motor inertia.

• When you change this value above, two basic gains [Pr-1.01, Pr-1.02] are changed by referring to
the value [Pr-1.00].

System Gain Function

• It is bandwidth of whole speed control loop. If you
100 increase this value, gain value increases in general and
response quality is improved.
20 • When you change this value above, basic five gains
[Pr-1.01, Pr-1.02, Pr-1.03, Pr-1.04, Pr-1.05] are changed by
0
System Gain
referring to the Inertia Ratio [Pr-0.04].
[10Hz] • If you set the value too high compared to load condition,
vibration noise may occur.
Applicable Mode ALL Others Setting > End

To over response characteristics, we will explain gain setting related to torque,

speed and position in the Chapter 6-14.
In addition, the Chapter 6-20 will give you the detailed explanation on various
functions to acquire fast response quality in gain setting.

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6-14 Tuning by Gain Setting

Position, Speed, Torque Torque Control Related Gain

Related Gain Setting
There are resonance suppression filter and torque command filter gains related
to torque related gain.
The following figure is related to torque in Gain Setting Diagram.
Torque Control Related Gain
Machine Resonance Torque Command
Torque Limit Suppression Filter
Filter Cutoff
Frequency

Torque
[dB] [dB]

Torque Servo
Command Speed Motor
[Hz] [Hz]

10000 10000

[Hz [Hz
~ 0
]
0
]

Resonance suppression filter

It suppresses resonance of load system.

Machine Resonance Function
Suppression Filter

10000
When load system is resonant in the specific frequency range, it
suppressed vibration by load resonance.
0 If it is appropriately set, you can increase other gain more. So you can
considerably improve the stability and response quality of the whole
Machine
system.
Resonance
Suppression If it is not properly set, vibration or noise can occur.
Filter [Hz]

Applicable Mode ALL Others Setting > End

• Resonance frequency of load = it is setting value of resonance

NOTE
suppression filter [Pr-1.07].
• Resonance Suppression Filter [Pr-1.07] automatically find out
resonance frequency and set the value by itself when you execute
Off-line Auto Tuning.
• For Off-line Auto Tuning, refer to the Chapter 7-36.
• If you know exactly mechanical resonance frequency range of
load, you can directly enter the value.

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 Tuning by Gain Setting 6-15

Torque command filter cutoff frequency

It suppresses high frequency factor that is included in torque command.

Torque Command
Filter Cutoff Function
Frequency

10000 • It suppresses high frequency factor that is included in torque

command. It makes torque command itself smooth as suppressing
high frequency over set frequency, so it can reduce vibration or noise.
0 • The more the value is, the better the response quality is, but if you set
too high, vibration can occur. If you reduce this value in the condition
that the load rigidity is high, you can suppress oscillation.
Torque Command
Filter Cutoff • Do not set too small more than necessary because it is a delay factor.
Frequency [Hz ] The load system can be unstable.

Applicable ALL Others Servo-OFF > Setting > End

Mode

If load system uses belt or chain, rigidity is low so that you cannot expect the
fast response. In addition, if you excessively increase speed control or position
control related gains, it can be oscillated. For those loads, it is difficult to set
the value of torque command filter [Pr-1.04] within about 100 [Hz].

• For torque mode that host controller directly approves torque

NOTE
command through CN1 of servo drive, you can indirectly adjust
gain of whole control loop as adjusting external torque command
input gain [Pr-4.00]. That is to say, if you increase [Pr-4.00], it has
the same effect as increasing gain. And if you reduce [Pr-4.00], it
has the same effect as reducing gain.
• For external torque command input gain [Pr-4.00], refer to the
Chapter 5-40.
• For torque limit, refer to the Chapter 5-38

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6-16 Tuning by Gain Setting

Speed Control Related Gain

Speed related gain includes speed command filter, speed loop proportional
gain and speed loop integration gain.
The following figure is related to speed in Gain Setting Diagram.
Speed Control Related Gain
Speed Command
Speed Limit Filter Cutoff Speed Loop Proportion Gain
Frequency

Spee
2000
[dB]
d
Speed Pr-2.12 60
KP Torque
Command Tim 0 Command
e
[Hz] [Nm/S]

Speed Loop Integration Gain

10000
60000
1000
26
0 [Hz] K
0
2
[Nm/S ]

Speed loop proportion gain

Speed Loop Proportion Gain Function

2000
• The higher the value is set, the better response of speed
Speed Loop control loop is.
60
Proportion
0 Gain[Nm/S] • Set as high as you can within the limit that vibration does
not occur.

Applicable Mode ALL Others Setting > End

Speed loop integration gain

Speed Loop Integration Gain Function

60000 • It is to remove error in normal state as responding to very

small input.
Speed
26 Loop • The higher the value is set, the better response is and
Integration completion time is reduced.
0
Gain
[Nm/S ]
2
• Set this value to low level in the environment that load
inertia is big or vibration can easily occur.

Applicable Mode ALL Others Setting > End

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 Tuning by Gain Setting 6-17

Speed command filter cutoff frequency

Speed Command Filter Function
Cutoff Frequency
10000
It makes speed command itself smooth as suppressing high frequency
1000 Speed that is included in speed command.
Comm and
0 Filter Cutoff
Frequency
[Hz]
If this value is’0’, speed command filter is not used.

Applicable ALL Others Setting > End

Mode

Speed control related gain setting procedure

• Increase speed loop proportional gain [Pr-1.01] to the limit that

vibration noise does not occur.

• Confirm [Pr-1.01] as the value of 80 to 90 [%] of maximum setting

value.

• Increase speed loop proportional gain [Pr-1.02] as checking over

response (overshoot, completion time, whether vibration or noise
occurs). If you set it too low, response quality is degraded and if you set
too high, vibration or noise can occur. Maximum setting value of
[Pr-1.02] is as the following formula.
[Pr-1.02] 300 X [Pr-1.01]2 X Inertia of applied motor (Appendix)

• If position control related gain of host controller is set high more than
necessary or in the environment where the noise is too big, reduce the
value of speed command filter [Pr-1.05].

• It is better to set the value of torque command filter [Pr-1.04] as long as

there is no vibration in load side.

• As repeating over response state, adjust gain in detail.

• Value of [Pr-1.01] and [Pr-1.02] is scaled based on inertia value of

NOTE
motor.
• Therefore, if Inertia Ratio [Pr-0.04] for 100 [W] motor or 1 [kW]
motor is same as 10 [times], the appropriate gain of [Pr-1.01] and
[Pr-1.02] becomes the same.

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6-18 Tuning by Gain Setting

• For speed mode that host controller directly approves speed

NOTE
command through CN1 of servo drive, you can indirectly adjust
gain of whole control loop as adjusting external speed command
input gain [Pr-2.00]. That is to say, if you increase [Pr-2.00], it has
the same effect as increasing gain. And if you reduce [Pr-2.00], it
has the same effect as reducing gain.
• For external speed command input gain [Pr-2.00], refer to the
Chapter 5-30.

Position Control Related Gain

Position related gain includes position FF gain, position FF filter and position
loop proportional gain.
The following figure is related to position in Gain Setting Diagram.
Position Control Related Gain

Position Command Position Feedforward Position Feedforward

Filter Cutoff Frequency Gain Filter Cutoff Frequency

Position 100 800

[dB]
Command
Pluse Speed
200
Command
0 [%] 0 [Hz]
[Hz]

Position Loop Speed Bias

2500 Proportion Gain

700
Pr -1.13
0 [ Hz ]
20
[ Hz ] Pr -1.13
0

Position command filter cutoff frequency

Position Command Filter Function
Cutoff Frequency
2500
It makes position command itself smooth as suppressing high
Position frequency that is included in position command.
Command
0 Filter Cutoff
Frequency
[Hz]
If this value is’0’, position command filter is not used.

Applicable Mode ALL Others Setting > End

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 Tuning by Gain Setting 6-19

Position loop proportion gain

Position Loop Function
Proportion Gain
500 Position
Loop
50 Proportion
Gain The higher the value is set, the better position control response is.
0 [1/S]

Applicable ALL Others Setting > End

Mode

Position control related gain setting procedure

• Increase the value of speed loop proportional gain [Pr-1.01] in the

condition while the initial value of position loop proportional gain
[Pr-1.03] is set.

• If there is vibration noise in load, reduce the value of [Pr-1.01] as 80 to

90[%] of that moment.

• Increase the value of [Pr-1.03] again up to the level that vibration noise
does not occur in over response.

• Increase speed loop integration gain [Pr-1.02] as checking over response

(overshoot, completion time, whether vibration or noise occurs). If you
set too low, response quality is degraded and if you set too high,
vibration or noise can occur. Maximum setting value of [Pr-1.02] is as
the following formula.
[Pr-1.02] 300 X [Pr-1.01]2 X Inertia of applied motor (Appendix)

• If necessary, you can suppress the excessive change of position

command as reducing the value of position command filter [Pr-1.06].

• It is better to set torque command filter [Pr-1.08] as high as possible

until vibration does not occur in load side.

• As repeating over response state, adjust gain in detail.

Position FF gain, position FF filter and speed bias function are

NOTE
explained in the Chapter 6-20.

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6-20 Tuning by Gain Setting

Tip to get fast response Feed forward function

For position feed forward (FF) diagram, refer to the Chapter 6-18. Position FF
makes differentiation factor on position command in position control mode
approved in speed command through feed forward method. Therefore, over
response characteristics is improved so that you can reduce position output
time.
The related parameter to set is as follows.
Position Feed forward Gain Function

100

The higher the value is set, the better position control response
Position performance.
0 Feed
forward
Gain [%]

Applicable Mode Position Others Setting > End

Position Feed forward Function

Filter Cutoff Frequency
• It makes position command itself smooth as suppressing high
800
Position
frequency that is included in position command.
Feedforwar
200
d Filter • If torque command filter [Pr-1.04] is not ‘0’, it is valid.
Cutoff
0
Frequency
[Hz] • If this value is ‘0’, position FF filter is not used.
• When you set big value for torque command filter [Pr-1.04] and
overshoot or vibration occurs, reduce this value.
Applicable Position Others Setting > End
Mode

If you use position FF function, speed command increases or reduces much as

responding to increase or reduction of position command. Therefore, if
position command is entered as the type to be significantly changed (that is to
say, in case of high acceleration or high deceleration), position FF has
overshoot.
At this moment, if you want to reduce position output time, find out
appropriate value as slowly increasing the value of [Pr-1.04] as checking over
response.
In addition, it is good method to suppress high frequency factor of position
FF using speed command filter [Pr-1.05] or making position command itself
smooth using position command filter [Pr-1.06].

If you use it with On-line Auto Tuning, the system can be unstable.
WARNING

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 Tuning by Gain Setting 6-21

Speed Bias Function

It provides to add bias to speed command according to position error as

another method to reduce position completion time in position mode.
You can quickly reduce position error if you use this function because the part
where position error is big gives much bigger speed command to reduce the
error.
It has the same effect as applying relatively high position proportional gain in
the part where position error is big. So you can reduce position completion
time around maximum level.
The related parameter to set is as follows.

Speed Bias Function

450
If position error is more than setting value of bias standard width
[Pr-1.13], much bigger speed command that adds the setting value is
Speed
sent.
0
Bias
[rpm] It is valid only when the value of [Pr-1.13] is not ‘0’.

Applicable Position Others Setting > End

Mode

For speed bias function, refer to the Chapter 6-18.

If absolute value of position error is more than the setting value of speed bias
standard width [Pr-1.13], speed command as much as setting value of speed
bias amount [Pr-3.05] is added to or reduced from the position control output.
Adjust [Pr-1.12] and [Pr-1.13] in turn while checking the over response.

As reference, if you set the value of [Pr-1.12] too high or the value of
NOTE
[Pr-1.13] too low, vibration can occur.

P/PI Mode Setting Function

When you control speed or position, if you set speed loop integration gain
[Pr-1.02], it responds to the delicate command so that you can accurately
control and make the error in the normal state '0'.
However, if you increase speed loop integration [Pr-1.02] to increase response
quality, overshoot occurs in speed response as over response and as a result,
position completion time can be increased. Therefore, you can reduce position
completion time as setting instantly integration gain as '0' and suppressing
overshoot if necessary. In that case, speed control loop is changed from 'PI
controller' type to 'P controller' type.
There are two methods to change speed control loop from 'PI controller' type
to 'P controller' type.

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6-22 Tuning by Gain Setting

1 Control by sequence input P control conversion </P-CON> signal.

2 Method to use P/PI mode switching function by parameter setting.

Control by sequence input P control conversion </P-CON> signal.

</ P-CON> is sequence input signal. To use </ P-CON>, allocate </
P-CON>with reference to sequence input/output signal in the Chapter 5-2.
</ P-CON> signal is allocated and speed controller is determined as
following type according to allocated input channel signal.

OFF PI Controller
/P -CON Input
ON PI Controller

Therefore, host controller checks analog output such as speed or torque of

servo drive and sequence output such as </P-COM>, < /V-COM>, </
TG-ON> and programs logics to convert controller from 'PI controller' type
to 'P controller' type.

• Do not use this function when overshoot occurs.

WARNING
• If some offset is included in speed command when you use speed
mode, if you use 'P controller' type, motor does not respond to the
offset related to '0' speed command and remains without moving.

The following figure illustrates the conversion of 'PI controller' and 'P
controller' using</P-CON> input in speed control loop (speed controller).

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 Tuning by Gain Setting 6-23

Servo Drive Speed Controller

Speed command Speed command 2000

Limiter [dB] Filter
(Pr-2.12) 60
Speed Loop
0 Proportional
Gain
[Hz ] [Nms]
10000 60000
1000 26
Speed Loop
0 0 Intergral Gain
[ Nms2]
Speed
Command Filter
[Hz]
/ P - CON
Analog Monitor Sequence Output

Host Controller
Logical Decision

/ P - CON

Method to use P/PI mode switching function by parameter setting.

Meanwhile, yon can operate speed controller as 'P controller' type by
parameter setting without allocation external sequence input. According to
parameter setting, you can change speed controller to 'P controller' type.
• When internal torque command is bigger than certain value [%].
• When speed command exceeds certain value [rpm].
• When position error is bigger than certain value [pulse].
For setting related to cases above, use the following parameter.

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6-24 Tuning by Gain Setting

Selection of Auto Adjustment on Speed

Loop Integration Value

0 P/PI mode conversion is not used.

If torque command is more than setting value of [Pr-1.11]
1 (PI control P control)
Setting
Value If speed command is more than setting value of [Pr-1.11]
2 (PI control P control)
If position error is more than setting value of [Pr-1.11]
3 (PI control P control)
Applicable Mode P, S, C Others Servo-OFF > Setting > End

Reference Value for Adjustment on Speed Loop

Integration Value

Initial
Setting Limit Unit Others Setting > End
value
Applicable
0 to 3,000 100 Variable P, S, C
Mode
Initial Setting value is operates as ‘P controller’ type when torque command exceeds 100 [%].

Unit of P control conversion standard value [Pr-1.11] follows the unit of

NOTE
command that is selected in selected parameter of P control
conversion switch [Pr-1.11].

[Pulse] Speed Torque

Position error [rpm] [%]
command command

• Sequence input </P-CON> signal is converted prior to setting of

WARNING [Pr-1.10] and [Pr-1.11]. That is to say, if </P-CON> is ON regardless
of current motor condition or setting of motor value, speed
controller is converted to 'P controller'.
• To reduce overshoot of speed response or position completion
time using this function, you should set appropriate value to
[Pr-1.10] and [Pr-1.11]. For optimum setting, check carefully speed,
torque, and position and be careful for setting.

The following figure is example of speed response when speed controller is

converted from ‘P1 controller’ type to ‘P controller’ type in the over response
condition.
In the over response condition in acceleration-deceleration section, if torque
command is higher than setting value of P/PI mode conversion standard value
[Pr-1.11], it becomes 'P controller' type and the other section becomes ‘PI
controller’ type.

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 Tuning by Gain Setting 6-25

Speed Speed
Speed Speed
Command Command
Speed Speed
Response Response

Torque Command Torque Command

(Pr -1.11)

(Pr - 1.11)

PI Control P Control PI Control P Control

Initial Torque Bias

It provides downturn by gravity of vertical shaft load during initial operation.

Initial Torque Bias

Downturn of Load by gravity and initial torque bias

• If you approve Servo-ON signal to operate motor in

the condition that load is vertical as shown in the
figure, downturn of load by gravity can occur.
• In addition, when you change from Servo-On to
Servo-OFF, you need to hold or release motor brake. If
you do not appropriately adjust the timing, instantly
Initial Torque Bias load drops and vibration occurs in the device.
Load • As characteristics of those vertical shaft load, speed
overshoot occurs in motor control and position output
Drop due to time is delayed. In addition, if you try to operate
Gravity motor as holding the brake, it can be the reason of
Servo alarm.

• Initial torque bias approves motor toward the direction against initial torque that relates to
downturn when approving initial Servo-ON signal in order to prevent downturn by gravity when
controlling vertical shaft load.
• If you set initial torque bias appropriately against the strength that load drops, you can prevent the
downturn of vertical load during initial operation.
• If you control the vertical shaft load, use the motor that has built-in brake or install brake.

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6-26 Tuning by Gain Setting

Initial Torque Bias Setting Procedure

Set the appropriate value following the procedure below.

Step Remark
Step 1 Check motor rotation direction (forward/reverse) and load direction (up/down).
Step 2 Stop load in the special position using ‘0’ speed control or fixed location control.
If it remains without moving, check torque command value in (dis-03) of the Chapter 7-50,
Step 3 and set that value to [Pr-4.06] below.
Set positive value if the direction that load goes up is forward direction of motor, and
negative value if the direction that load goes up is reverse direction of motor. For
definition on forward and reverse rotation, refer to the Chapter 6-7.
Do detailed adjustment on the basis of current setting value as checking torque, speed,
Step 4 position response of motor.

Initial Torque Bias Setting

Set initial torque bias to the following parameter.

Initial Torque Bias

Initial
Setting Limit Unit Others Setting > End
value
Related
-100 to 100 0 [%] ALL
Mode

• If you set this value as the value not ‘0’, as soon as you do Servo-ON, control is started and the
value of torque command is started from Setting value of parameter.
• Since torque to maintain the current state occurs from the beginning, you can prevent the
phenomenon that load drops.
• Therefore, you can suppress overshoot of speed response so that you can reduce position
completion time.

• For other method to control brake, refer to motor brake control in

NOTE
the Chapter 7-6.
• You can suppress the instant drop of the load only as setting brake
control timing in the Chapter 7-6.

• If you set value of initial torque bias [Pr-4.06] too high, load can
WARNING temporarily goes up.
• Be careful to make appropriate setting.

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 Tuning by Gain Setting 6-27

</G-SEL> Function

As shown in the figure below, two different conditions of load can be repeated.
For example, robot moves a object to other position and return to the original
position without any load after laying a object down.
If those movements are repeated too fast, On-line Auto Tuning is not
smoothly performed. In addition, if you operate different load condition with
the same gain, the response quality in one side is degraded.
In this case, you can effectively use sequence input </G-SEL> function.

Current Gain
With Rotation
1
Load
OFF
< /G -SEL > Input
ON
Without Rotation
2 Load
Gain2 Group

The following details per step is to use </G-SEL> function.

Step Remark
Step 1 Set the optimum gain to fit for No. 2 condition in the figure above.
Save gain in No. 2 condition using gain storage function (run-11).
Step 2 At this moment, saved gains is 2nd group gain.
(For run-11 function, refer to the Chapter 7-35.)
Step 3 Set the optimum gain to fit for No. 1 condition in the figure above (current gain)
Step 4 Allocate the input pin for sequence input </G-SEL> with reference to the Chapter 5-2.
Step 5 Use as matching </G-SEL> signal with the repeated movement No. 1 and No. 2.

Therefore, if you use as dividing different loads into current gain and 2nd
group gain, you can satisfy the response quality of both different load
conditions.
</G-SEL> is sequence input signal. To use </G-SEL> function, allocate </
G-SEL> signal with reference to sequence I/O signal in the Chapter 5-2.

When you use </G-SEL> function, you cannot use On-line Auto Tuning.
WARNING

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6-28 Tuning by Gain Setting

Publication CSD3P-UM001E-EN-P — February 2008

 Chapter 7

Applications

Introduction This chapter describes the contents that the users should know in terms of
fragmentary application function, operation mode and monitor mode when
using the servo drive.

Topic Page
Introduction 7-1
Motor Suspension 7-2
Motor Brake Control 7-6
Change of Motor Rotation Direction 7-10
Regeneration Resistor 7-11
Setting for Smooth Operation 7-16
Speed Limiting Function 7-18
Position Feedback to the Host Controller 7-21
Analog Monitor Output 7-25
Use of Absolute Encoder 7-27
Operation Mode Function 7-35
Monitor Mode Function 7-50

1 Publication CSD3P-UM001E-EN-P — February 2008

7-2 Applications

Motor Suspension It describes the suspension of the motor except the stopping by normal
operation.

Overview

The general overview on the each situation when the motor is stopped is
explained.
With the exception of motor suspended by the normal operation, the servo
drive suspend its operation when the below situation occurs and result in
suspension of the motor.
Servo Alarm Occurrence Over Travel Occurrence

The motor can be stopped by 2 above factors in normal operation of the drive,
and the method of stopping the motor for each suspension factors may be set
in several forms.

• The method to suspend the motors by the servo drive is classified as

below.

Suspended by Using Dynamic Brake Function

Suspended by Torque Control Consistent with Normal Operation

Servo Alarm (Refer to Chapter 8-6)

The content on servo alarm is described in detail in the Chapter 8-6.

Over Travel <P-OT>, <N-OT>

Over Travel (OT)

When the load exceeds the operation range while running, the load system
may be damaged. To respond to this situation, the sensor is installed at the
edge of the operation range as shown in the figure below to prevent the
damages to the load system.

• Allow the operation within the range so that the loading does not reach
the sensor during the operation.

• The servo drive stops the motor to protect the load system when the
signal from the sensor occurs due to the loading exceeding the operation
range by a certain error.

Publication CSD3P-UM001E-EN-P — February 2008

 Applications 7-3

• At this time, the signal occurring in forward rotation of the motor is

called <P-OT> signal and the signal occurring in reverse rotation is
called <N-OT> signal.
Signal Occurrence in
Forward Operation wTv{
Signal Occurrence in Sequence
Limit Sensor Reverse Operation uTv{ Input Signal

Loading

Forward Reverse
juX
Loading Side Operation Operation

Rotation prohibition signal in over travel occurrence

The rotation prohibition signal in over travel occurrence is the sequence input
signal and is classified as below.
Display Signal Name Description
Prohibit forward
<P-OT> Signal occurs during forward operation.
operation
<N-OT> Prohibit reverse operation Signal occurs during reverse operation.

Over travel signal input

• <P-OT> and <N-OT> are the sequence input signals. In order to use
the <P-OT> and <N-OT> functions, refer to the sequence input &
output signal in Chapter 5-2 and allocate the <P-OT> and <N-OT>
signals.

• The No. 4 pin of CN1 has the <P-OT> signal, and the No. 5 pin of
CN1 has the <N-OT> signal allocation as a factory setting.

The over travel signal is not the servo alarm signal but it is a signal for
NOTE
the protection of the load system. When the over travel signal is
inputted, the drive status display mode shows the characters that the
signal is inputted.
Refer to the content of status display mode in the Chapter 4-2.

The sensor signal to cope with over travel may be used in performing
NOTE
the zero return function described in the Chapter 7-38.
Refer to the Chapter 7-38.

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7-4 Applications

Selection of stop method in over travel occurrence

Select the over travel stop method from the below parameter.

• The information on dynamic brake is described in the following section.

Dynamic Brake

The CSD3 servo drive has the dynamic brake circuit.

Dynamic Brake (DB)

When the motor cable (U, V, W) of the servo motor is all short circuited and
the motor shaft is rotated with hands, it is easy to find out that there is much
more loading in the rotation than when not short circuited. The drive uses
such characteristic of the motor when stopping the motor. This is referred to
as a dynamic brake (DB).
The following figure shows the internal DB circuit of the servo drive.

• If the motor cable is connected to the servo drive and if the power is not
supplied to the servo drive, the switch in the below figure is
short-circuited. This indicates that the DB is in operation.

• Also, the servo drive controls the DB switch according to the parameter
setting for the DB operation.

• The DB cannot be used while stopping the motor with normal torque
control. The normal torque control is done in servo-ON, but the DB is
only operated in servo-OFF.


Dynamic Brake
(DB)


Drive Servo Motor

DB stop
DB Stop is operating the DB to stop the motor during the run.

Free run stop

Free Run Stop is stopping the motor during the run by the friction of the load
only.

Publication CSD3P-UM001E-EN-P — February 2008

 Applications 7-5

DB Stop Method Setting

Set the DB stop method on the below parameter.

Selection of DB Stop Method

0 DB stop. DB stop is maintained even after the complete stop.

Setting 1 DB stop. DB operation is released after the complete stop.
Value
2 The DB is not used, but free run stop.
Applicable ALL Other Servo-OFF > Setting > End
Mode

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7-6 Applications

Motor Brake Control Motor Brake

This function is used when the motor is equipped with the mechanical brake.

• If the load is movable by the gravity (e.g.: When applied in the vertical
axis control)

• The fall can be prevented when the power is off or the drive servo is off.

Brake Built Brake Built

in Motor in Motor

When using the vertical axis load,

balance the weigh if it is
mechanically possible. Load Load

Thrusting Thrusting
due to due to
Gravity. Gravity.

Sequence signal allocation

• In order to use the motor brake, refer to the sequence input & output
signal in the Chapter 5-2 first and allocate the <BK> sequence output
signal.

• The signal for brake control is outputted with the allotted pin.

• The factory setting is DO#3 (No. 47 and No. 48 pins of CN1).

Circuit configuration

• The drive cannot use the high voltage and current that can directly
control the motor brake. Therefore, the motor brake cannot be
connected directly to the drive and used. And it is possible to control the
brake indirectly by configuring the external relay circuit.

• Refer to the indirect control circuit through the relay shown below.

Publication CSD3P-UM001E-EN-P — February 2008

 Applications 7-7

• The output channel of CN1 can be adjusted by the user according to the
condition since the sequence output signal is used. The example below
is based on a factory setting.

Relay 1 External Voltage 24 [V]

[^ kvGJZR

[_ kvGJZT
Relay 1
Motor
Relay 1 Brake External circuit
juX
configuration of the motor
brake control

Motor brake control setting

• After the allocation of the brake output signal, the detailed setting on
the brake control can be made in the below parameter.

• Set appropriately by observing the motion of the load.

Delay Time of Brake Output Signal after Servo ON

Initial
Setting Range Unit Other Servo - Off > Setting > End
Value
Applicable
0 to 1000 0 10 [ms] ALL
Mode

The motor brake has to be released first if the motor brake is in operation when the drive is about to
start the motor. At this time, if the brake is released before servo-ON (or simultaneously), the vertical
load will immediately fall. The drive has to be servo-on first and to prevent the fall of the vertical
load, then release the brake.

This setting is used to secure the time from the servo drive becomes servo-ON to the release of the
motor brake.

52 [ms] Fixed Value

/SV-ON command of
the host controller OFF ON

/SV-ON command
BrakeBrake execution of the servo OFF ON
standby time driver

Motor Brake Operating Released

Servo-OFF Delay Time

Initial
Setting Range Unit Other Servo - Off > Setting > End
Value
Applicable
0 to 1000 0 10 [ms] ALL
Mode

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7-8 Applications

The time between the receiving the servo-off command from the host controller to the actual
servo-off by the drive can be set.
This setting is used in securing the time for operating the motor brake while the host controller
commanded the servo-off.

/SV-ON command of
the host controller ON OFF

driverServo-OFF /SV-ON command

delay time execution of the servo
driver ON OFF

Waiting Time When Outputting Brake Signal after

Servo OFF

Initial
Setting Range Unit Other Servo - Off > Setting > End
Value
Applicable
0 to 1000 50 10 [ms] ALL
Mode
In order to stop the motor from the host controller, the servo-off command is outputted from the
drive.
At this time, the actual time when the motor brake is operated, can be set.

/SV-ON command of
the Host controller ON OFF
Waiting Time When
Outputting Brake Signal Motor Brake
After Servo OFF Released Operating

Speed Value When Outputting Brake Signal after Servo

OFF

Initial
Setting Range Unit Other Servo - Off > Setting > End
Value
Applicable
0 to 1000 100 [rpm] ALL
Mode

The motor speed when the motor brake is operated, can be set.

/SV-ON command of
the Host controller ON OFF

Speed Value When Motor Speed

Outputting Brake
Signal After Servo Setting Speed
OFF
Motor Brake
Released Operating

The brake attached to the motor should not be used to stop the
NOTE
running motor. Use it to maintain the stop status of the motor
immediately before or after the stop.

Publication CSD3P-UM001E-EN-P — February 2008

 Applications 7-9

Precautions when Setting

The below are the precautions when setting the time in Servo-ON and
Servo-OFF.

• As shown on the right column, if the brake operates after the actual
servo-off is completed, it will temporarily be descended by the gravity in
case of vertical load.

• As shown on the left column, lowering of the load is prevented by

operating the motor brake early, before the actual Servo-OFF.

• In order to prevent the fall by the gravity, set the time properly.

O X

Servo-Off Delay Time Brake Output Standby Time Servo-Off Delay Time Brake Output Standby Time

e c

/SV-ON command of /SV-ON command of

the host controller ON OFF the host controller ON OFF
/SV-ON command /SV-ON command
execution of the ON execution of the ON
servo driver OFF servo driver OFF

Motor Brake Operating Motor Brake Operating

Released Released

Brake signal is outputted according to the priority among [Pr-5.07] and [Pr-5.08].

Waiting Time When Outputting Speed Time When Outputting

Brake Signal After Servo OFF Brake Signal After Servo OFF

Other

• Even when the brake attached to the motor is not used, a separate brake
may be manufactured and installed by the user.

• When controlling the extra manufactured brake, it can be controller by

the signal from the servo drive.

• Sequence output signal <BK> that is to control the motor brake is

NOTE
allocated at the time of the shipment.
• When not using the motor brake, allocate and use other output
signal needed.
• The detailed contents on the sequence input and output is
described in the Chapter 5-2.

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7-10 Applications

Change of Motor Rotation Overview

Direction The rotation direction of the motor is easily convertible.

• When the rotation direction of the motor is wired differently than the
intent of user by the pulse input, the rotation direction of the motor can
be reversed by the below parameter setting without the separate wiring.

• When the movement direction of the final mechanical part on loading

side is operated to the opposite direction of the setting, the motor
rotation direction can be easily converted.

Definition of Forward Rotation - CW (Clockwise)

If the motor shaft rotates in clockwise when the load is viewed from the
motor, it is rotating in forward direction.

Definition of Reverse Rotation - CCW (Counterclockwise)

If the motor shaft rotates in counterclockwise when the load is viewed from
the motor, then it is rotating in reverse direction.

Rotation direction setting

Set the direction of the rotation in the below parameter.

Selection of Rotation Direction

Setting 0 Forward rotation is set as the CCW direction.

Value 1 Forward rotation is set as the CW direction.
Applicable ALL Other Servo – Off > Setting > End
Mode

Forward Rotation Reverse Rotation

• This function is not applicable in the jog operation using (run-01).

NOTE
• In the jog operation, the rotation direction of the motor and key
button switch is mutually affixed.
• Refer to the Chapter 7-35 for the detailed description on the jog
operation.

Publication CSD3P-UM001E-EN-P — February 2008

 Applications 7-11

Regeneration Resistor Regeneration Resistor

Regeneration Energy

• When stopping the running motor, the motor operates like a generator
and the resulting energy is called the regeneration energy.

Regeneration Resistor

• The regeneration energy occurring when the motor is stopped is

absorbed by the servo drive in some degree, but if the energy exceeds
the capacity, a separate device is needed to consume the regeneration
energy. The regenerative resistor is mounted on the exterior of servo
drive in order to consume the regeneration energy.

• If there is excessive regeneration energy that causes the damage to the

Servo Drive, but the Servo Drive is equipped with the protective circuit
to shield off such phenomenon.

Regeneration Energy Generating Condition

• When the speed is decelerating

• When the motor is continuously rotated by the strength of the load - for
example (- loading condition) or (when of operating the vertical axis
loading)

Precaution

• Regenerative resistor equipped on the servo drive is designed to

consume the regeneration energy in relatively short period of time such
as in between the stops.

• It is not appropriate to the case when the regeneration energy is

generated too much, like the cases of minus loading condition and
vertical load that rotates the servo motor with the gravity. However,
when the rated power of regenerative resistor that is calculated by
referring to the Chapter 7-13 is smaller than the regenerative resistor
attached at the time of shipment, the internal regenerative resistor can
be used as is without any special actions.

Publication CSD3P-UM001E-EN-P — February 2008

7-12 Applications

Acceleration and Constant Speed Deceleration

Speed Speed

W Time W Time

Regeneration Regeneration
Resistor Resistor

i i
i
X i
X
Y Y
| |
} }
~ ~

Specification of regenerative resistor mounted on the drive

The allowable power is 20 [%] of the rated power of the regenerative resistor
mounted on the drive.
Mounted Regenerative Resistor Specification
Servo Drive
Resistance [W] Rated Power [W] Allowable Power [W]
200 [W] or Less - - -
400 [W] 50 30 6
1 [kW] 50 70 14
1.5 [kW] 30 70 14

External Regenerative Resistor

The regenerative resistor that the user connects to the outside for load is called
external regenerative resistor. The following is the description when using the
external regenerative resistor.

General Specifications
The user may consume the regeneration energy generated in the load system
by increasing the rated power of regenerative resistor and installing the
external regenerative resistor if the rated power of mounted regenerative
resistor consumes small regeneration energy.

• In order to increase the allowable power of regenerative resistor, the

mounted regenerative resistor and external regenerative resistor are
connected in parallel. Another way is to remove the internal regenerative
resistor and install the separate external regenerative resistor.

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 Applications 7-13

Precautions

• When the rated power is increased for regenerative resistor on the above
two methods, the following conditions have to be satisfied.

Total regenerative resistor of rated power shall be 70[W] or less.

The resistance of the total regenerative resistor has to be 30 to 50 [W].

• The resistance for regenerative resistor can be ascended to 200

NOTE
degree or higher of the temperature on the rated loading condition
• When the separate cooling fan is not used, the temperature of the
regenerative resistor may increase excessively. Therefore, user
should lower it to 20 [%] of the rated power.

• The contents relating to the regenerative resistor is important.

NOTE
When the rated power of regenerative resistor is increased, make
sure to keep the above two contents.
• When the wrong regenerative resistor is selected, it may cause
the product damage and may reduce the performance.

Regenerative Resistor Selection Standard

Regenerative resistor selection standard through the allowable number of

repetition
The regenerative resistor has to be selected with the specification that meets
the load system of the user. One of the selection standards may be the
selection of optimal regenerative resistor that satisfies the load system by
calculating the frequency of repeated motion of the motor.

• The repeated frequency means the frequency of operation that the

motor rotates and stops regardless of the rotation direction of the
motor. The permitted repetition frequency means the maximum
repetition frequency per minute.

• The motor regenerative resistor selection by the repetitive frequency is

limited to the loading operated in the horizontal direction.

Refer to the below formula to calculate the maximum allowable repetition

frequency of the load system.

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7-14 Applications

Allowable Allowable repetition frequency in Maximum 2

O P
without load speed
repetition
frequency
d 1+n
 Setting
[Cycles/Min]
speed

• Contents necessary in calculation shall be referred to the below [Reference Figure 1] and
[Reference Chart 1].
• (n) is the inertia ratio.
• The maximum speed shall be referred to the motor specifications of the appendix.

Make sure to use the actual repetition frequency of the motor smaller
WARNING than the permitted repetition frequency calculated on the above
formula.

[Reference Figure 1] It shows the acceleration and deceleration of the motor in

certain operation cycle in horizontal axis.

Speed
CommandT
Time
‫ڋ‬

M Setting Speed
Revolution
Speed
Time
‫ڋ‬ Acceleration Area
‫ ڟ گ‬Deceleration Area
Regeneration Area
Torque
Time
‫ڋ‬

τs

Revolution X
Speed d {
X 60 [Cycles/Min]

[Reference Chart 1] It shows the allowable repetition frequency per minute

when operated without the load.

• It is left as blank if there is no applicable capacity of the motor type.

Allowable Repetition Frequency for no Load [Cycles/Min]

Motor Capacity [W] 300 400 500 600 750 800 900 1000 1200 1500
CSM/CSMT 320 70 53 90
CSMP/CSMR 40
CSMD/RSMD 69 31 17
CSMF/RSMF 35 19 9

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 Applications 7-15

CSMH/RSMH 14 7 4
CSMK/RSMK 54 76 40 14
CSMQ/RSMQ 46 61 30
CSMS/RSMS 43 27
CSMZ/RSMD 88 63

When the repetition frequency of actual motor is larger than the

NOTE
allowable repetition frequency, perform as the following.
• Lower the possible setting speed.

• Refer to The Chapter 7-16 to set the possible deceleration time in

long period of time.

• Refer to The Chapter 5-41 and limit the possible torque.

• Make the inertia of load system small.

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7-16 Applications

Setting for Smooth Overview

Operation By setting the acceleration/deceleration time and S-curve operation time on

the servo drive, the impact that may occur in acceleration or deceleration can
be reduced to result in smoother operation.

Definition of Acceleration Time

Time it takes to accelerate from stop status to motor's rated speed.

Definition of Deceleration Time

Time it takes to decelerate from motor's rated speed to a stop status.

Speed Command and Acceleration/Deceleration Time

The below figure shows the command implementation of servo drive on the
speed command after setting the acceleration/deceleration time.
It shows the longer time of performance in command as much as the
deceleration time.

Motor Rated
Speed
Speed
Command
Motor Rated
Speed

Time
‫ڋ‬
Motor Rated
Actual
Motor Rated Speed
Acceleration Time
Speed
Speed
Motor Rated
Speed
Time
‫ڋ‬ Acceleration Deceleration
Setting Time Setting Time

Acceleration/Deceleration Time Setting

Set the acceleration/deceleration time on the below parameter.

Acceleration Time

Initial
Setting Range Unit Other Setting > End
Value
Applicable
0 to 60000 0 [ms] ALL
Mode

Deceleration Time

Initial
Setting Range Unit Other Setting > End
Value
Applicable
0 to 60000 0 [ms] ALL
Mode

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 Applications 7-17

Definition of S-curve operation

As shown in the below figure, by performing the S-curve command at the
conversion point of acceleration/deceleration, more smooth operation can be
had.

Rated Motor
Speed Speed Speed
Command Command
Motor Setting
Speed

Time
‫ڋ‬

Rated Motor
Acceleration/ Speed Speed
Deceleration
Time Setting Motor Setting
Speed
Time
‫ڋ‬

Rated Motor
S-curve Time Speed
Setting Speed
Motor Setting
Speed

Time
‫ڋ‬
S-curve Time Setting

S-Curve operation time setting

Set the S-curve operation time on the below parameter.

S-Curve Operation Time

Initial
Setting Range Unit Other Setting > End
Value
Applicable
0 to 5000 0 [ms] ALL
Mode

Caution
The total command performance time differs by the acceleration-deceleration
and S-curve operation time.
If the total consumed time for initial speed command is 10 seconds, the total
time of speed command time after the acceleration-deceleration time setting is
(10 seconds + Pr-2.03). Also, the total time (10 seconds + Pr-2.03 + Pr-2.04)
of speed command performance after the S-curve time setting.

• If the S-curve setting value is set as '0', the S-curve operation is

NOTE
not used.

• Also, without the setting of acceleration/deceleration time, the

S-operation alone shall not be used. For the use of S-curve
operation, first set the acceleration/deceleration time that is
appropriate to the user's situation.

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7-18 Applications

Speed Limiting Function It describes the function to limit the rotation speed of the motor.

Ways to Limit the Speed

• Limit the speed through the independent setting of the servo drive
(Internal speed limit)

• Limit the speed through the command from the host controller
(External speed limit)

Internal Speed Limit

• Internal speed limit is operated by the value set by the user on the below
parameter. Therefore, when the faster speed command than the setting
value of below from the host controller, the servo drive is limited to the
setting value and operated.

Speed Limit

Initial
Setting Range Unit Other Servo-OFF > Setting > End
Value
Automat [rpm] Applicable
1 to 5000 ALL
ic Mode
It limits the rotation speed of the motor to operate under the setting value.
Initial value is automatically set with the maximum speed of the motor applicable together with the
setting the motor model at the basis setting of the chapter 4.2.

External Speed Limit

• The below figure is the input of function to allow the servo drive to
make the speed control by permitting the analog speed command at the
host controller when the servo drive is used as the speed mode. Refer to
the speed mode in the chapter 5.3.

• If, the user does not use the speed mode and operate with other control
mode (position, torque, multi-step speed), the below input can be used
as the function limiting the speed. The speed limit utilizing the speed
command input pin is referred to as external speed limit.

• When it is used as speed mode, the external speed limit function may
not be used and the speed may be limited by the internal speed limit.

• The speed may be limited to a speed equivalent to the analog voltage

command inputted from the host controller.

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 Applications 7-19

When operated in speed mode, the analog speed command of host controller is executed

Speed Command V-REF 19

- 1 0 [V ] ~ + 1 0[V ] P CN1
V-REF SG 20
Host Controller

Exteranl Speed Limit Command V-REF 19

-10[V] ~ +10[V] P CN1
V-REF SG 20
Host Controller

External Speed Limit Value

The parameter below is the parameter setting the relationship between the
analog speed command voltage and the speed when operating with speed
mode. When it is not used as the speed mode, the speed is limited to the
applicable speed at the below parameter setting.

• Select the analog command voltage and speed to be limited, and set the
external speed limit value of the below parameter.

External Speed Command Gain and

External Speed Limit Value

Initial
Setting Range Unit Other Servo-OFF > Setting > End
Value
Applicable
10.0 to 2000.0 500.0 [rpm/V] S
Mode
Set the speed command value [rpm] on analog voltage 1 [V], and limit it with the set speed.

External speed limit value is given by the following relationship.

External speed limit Input Voltage
[rpm] d Setting Value [rpm/v]  [V]

Accordingly, when the input voltage is 6 [V] following the initial value, it is
limited to the rated speed of motor, 3000 [rpm], and limited to 5000 [rpm], the
maximum speed of motor when the input voltage is 10 [V].

The Voltage Command of Host Controller and External Speed Limit

When the speed mode is used with V-REF (No. 19 pin of CN1) and V-REF
SG (No. 20 pin of CN1) of servo drive, the motor is rotated to the forward
direction in the + voltage. And the motor is rotated to the reverse direction in
the - voltage when permitting the analog speed command of -10 [V] to +10
[V] range. However, when of using it as external speed limit function, the
classification of + and- voltage is not made.
For example, when +1 [V] is permitted at the host controller and set with 500
for [Pr-2.00], the external speed limit value becomes 500 [rpm], and it is
limited in all forward and reverse directions. Also, if -1 [V] is permitted, both
forward and reverse directions are limited to 500 [rpm].

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7-20 Applications

Speed Limit Selection

Select how to make the speed limit at the below parameter.

Speed Limit Selection

0 The speed limit function is not used.

1 It is limited by the internal speed limit [Pr-2.12].
Setting
Value 2 It is limited by the external speed limit.
Compare the internal speed limit [Pr-2.12] and external speed limit to limit in small
3 value.
Applicable ALL Other Servo-OFF > Setting > End
Mode

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 Applications 7-21

Position Feedback to the Overview

Host Controller Servo drive controls the servo motor by using several information received
from the encoder. Also, the servo drive has the function to output the encoder
information to host controller. In this the chapter, it describes the output
function of encoder information.

Types of Output Sent to Host Controller

The total of 5 below encoder signals is outputted to the host controller.

Mark Output Type
EA
Output on Encoder A (/A)
/EA
EB
Output on Encoder B (/B)
/EB
Line drive
EC
Output on Encoder C (/C)
/EC
PS
Absolute Encoder Position Data Output
/PS
/Z-PULSE+
Open Collector Output of Encoder Z (+/-) Open collector
/Z-PULSE-

Example of Wiring with Host Controller

Refer to the chapter 3.8 for the example of wiring of the host controller and
servo drive.

Direction Change of Output Pulse

• The direction of encoder pulse outputted to the host controller is

converted.

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7-22 Applications

• Set the below parameter to convert the direction of output pulse.

Encoder Output Pulse Direction

90° of Phase
Encoder Difference
In forward rotation, the encoder Output
A Phase
0 output A phase have a lead of
90 ° over B phase. Encoder
Output
B Phase
Setting
Value 90° of Phase
Encoder Difference
Output
In forward rotation, the encoder A Phase
1 output B phase have a lead of 90 °
Encoder
over A phase. Output
B Phase

Applicable ALL Other Servo-OFF > Setting > End

Mode

Pulse Dividing Circuit

Overview
Servo drive may adjust the number of pulse of encoder through the dividing
circuit function before outputting to the host controller through the input
received from the encoder.

Adjustment calculation formula for pulse number

The number of output pulse is adjusted by the formula below.

Numerator
Number of Output to Host
G G Encoder Pulse = Controller
Denominator

This is a simple example to help understanding.

When the type of encoder connected to the drive is outputted 2048 pulses per
1 revolution, and output 1000 pulses per 1 revolution with the host controller.

 2048 = Pulse Output

Servo drive receives 2048 pulse per 1 revolution from the encoder, but outputs
1000 pulse to the host controller.

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 Applications 7-23

Input of encoder signal and output to the host controller.

Encoder Input Servo Drive Output Host Controller

CN2 CN1

29
EA+
30
EA-
31
EB+
Encoder of
32
A, B and C
EB- Phase
33
EC+
34
EC-
35 Absolute
PS+ EncoderRot
36
PS- ation Data

Encoder Input Servo Drive Output Host Controller

Alternative Circuit

1000
2048 Pulses 1000 Pulses
2048

Setting
Set the pulse dividing circuit numerator and denominator from the below
parameter.

Number of Encoder Pulse per 1 Rotation (Numerator)

Initial
Setting Range Unit Other Servo-OFF > Setting > End
Value
Applicable
1 to 32768 Automatic [Pulse] ALL
Mode

Number of Encoder Pulse per 1 Rotation (Denominator)

Initial
Setting Range Unit Other Servo-OFF > Setting > End
Value
Applicable
1 to 32768 Automatic [Pulse] ALL
Mode

The initial value of dividing circuit is automatically set the number of

NOTE
encoder pulse applicable to the encoder type at the basic setting of
The Chapter 4-6 at the same time.

Even when the motor rotates at a fixed speed, the encoder output
NOTE
pulse may have jittering of 33 [usec] depending on the rotation speed.

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7-24 Applications

Precaution
Servo drive may not output to the host controller for the number of pulse that
is more than the input pulse number. Accordingly, the below condition has to
be complied.

Make sure to comply with the following condition in the setting of

NOTE
alternative circuit.

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 Applications 7-25

Analog Monitor Output Overview

Servo drive outputs the signal for analog monitor which allows the user to
confirm the actual controlling situation by using the oscilloscope and others.

• The monitoring is possible from all control mode and has two channels.

28 Analog Monitor Output CH1

Oscilloscope and other
23 Analog Monitor Output CH2

27 AM-SG
CN1
Output Range: -10 [V] to +10 [V] Host Controller

Setting
Set the output type and range that the users want to confirm from the below
parameter.
Analog Monitor Output CH2
Selection and Scaling

Initial
Setting Range Unit Other Setting > End
Value
0-0001 to Below Applicable
3-0500 ALL
6-2500 Chart Mode

The types of output and unit chart showing the setting window.

Selection Setting
Setting Example Type Unit
No. Range
0 Speed Command 1 to 500 [rpm]
Selection No. 1 Torque Command 1 to 30 [%]
2 Position Command 1 to 5000 [pulse]
3 Speed Feedback 1 to 500 [rpm]
4 Torque Feedback 1 to 30 [%]
Setting Range: 5 Position Feedback 1 to 5000 [pulse]
6 Position error 1 to 2500 [pulse]

Monitoring Sample

• The below figure is the monitoring sample.

• Set the monitoring type and input the setting value applicable to 1 [V]
output.

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7-26 Applications

• The output range is –10 [V] to +10 [V].

Monitoring Sample 1

Confirm the speed command of host controller through the analog monitor output CH1.
• The speed command confirmation of host controller applicable to monitor output 1 [V] is 500
[rpm].
• By outputting of maximum of 10 [V], the confirmation can be made up to 5000 [rpm].
• Accordingly, the confirmation range of entire speed command is -5000 [rpm] to 5000 [rpm].

[V]
10[V]

1[V]
[rpm]
500 5000

Monitoring Sample 2

Confirm the position command of host controller through the analog monitor output CH2.
• The position command confirmation of the host controller applicable to the monitor output 1 [V] is
1000 [pulse].
• By outputting of maximum of 10 [V], the confirmation can be made up to 10000 [pulse].
• Accordingly, the confirmation range of entire position command is -10000 [pulse] to 10000
[pulse].

[V]
10[V]

1[V]
[Pulse]
1000 10000

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 Applications 7-27

Use of Absolute Encoder It describes on the matters related to the absolute encoder, battery and other
absolute encoder.

What is an Absolute Encoder?

• Absolute encoder is an encoder that can detect the absolute position of

input.

• Absolute encoder can store and memorize the absolute position

information of the load system by using the battery power if the power
of servo drive is cut off.

• Absolute encoder does not accumulate the error by the noise during the
signal transmission.

• Also, if the power is cut off as in the incremental encoder, there is no

need to adjust again for initial load position, and the operation of
equipment can immediately be executed by using the saved information.

• When the host controller needs the absolute position of load system in
the power cut off, the motor that is equipped with the absolute encoder
has to be used.

Drive Output and Encoder Information Flow Types of Absolute Encoder

H, J Type Absolute Encoder
Q, E Type Absolute Encoder

Absolute Encoder has to be Connected with

the Battery.

UVW CN2

Information
DC 3.6V
+ AAA -

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7-28 Applications

Contact with the Host Controller

When the motor equipped with the absolute encoder is used, the standard
connection with the drive and host controller is as below figure.

• For memorizing and maintaining the absolute position information, the

absolute encoder shall be connected to a battery.

• The battery may be connected to CN5 of servo drive, and can be

connected with No. 49 and No. 25 pins of CN1 connected from the
host controller. Make sure to connect one of the two places.

Servo Drive Host Controller

CN1
29 EA Serial I/F Circuit
P
30 /EA
Up/Down
31 EB Counter
P
32 /EB

33 EC
P
34 /EC

35 PS Serial I/F Circuit

P
36 /PS

27 SG 0[V]
0[V
49 BAT+ ]

P DC 3.6[V]
25 BAT-

50 FG

Battery

Battery
It describes the battery for absolute encoder information preservation.

• When the power of servo drive is cut off, the battery memorizes the
absolute position of the load system and helps maintain it.

• If the power of servo drive is cut off and discharged the battery power
to lower than the standard, the saved information in absolute encoder
may be damaged.

• Battery specification connected to CN5: Lithium battery 3.6 [V], 1/2

AA (AAA) size.

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 Applications 7-29

• The voltage of battery is not directly monitored from the drive but the
error is checked indirectly through the encoder. Prepare the low voltage
detection circuit as needed basis.

Battery Specification
The below figure is the specification of battery connected to CN5 of servo
drive.

MOLEX 5264-02
RED

Less than 14.5

+ -
+ RED
- BLACK

BLACK YELLOW TUBE

12

Tube DC 3.6V Soldering

Soldering
+ AAA
-
Spot Welding
Spot Welding

Battery Voltage Diagnosis

The voltage monitored with encoder is displayed for servo warning and alarm
depending on the following situation.

Servo Warning Servo Alarm

When the voltage of battery for absolute encoder When the capacitor voltage of encoder inside is
is 3.2 [V] or less, ‘absolute encoder battery low about 2.7 [V] or less, the ‘low voltage alarm for
voltage warning’ occurs. At this time, the below inside of absolute encoder’ occurs. At this time,
warning characters are displayed in the status the servo drive stops the operation.
display mode.
When ‘low voltage alarm for inside of absolute
Replace the battery before having ‘low voltage encoder’ occurs, the saved information on
alarm for inside absolute encoder’ occurs with encoder may be damaged.
the low battery voltage in having the warning.

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7-30 Applications

• When 'absolute encoder battery low voltage warning' occurs, the

NOTE
H, A type of absolute encoder automatically clears the warning if
the battery voltage is in normal operation range, but the Q Type
encoder is reset for warning by performing the alarm reset
(run-08). At this time, multi-step rotation data is not reset.

• A or H type absolute encoder has a super condenser in it, so its

voltage is maintained for 30 min. even when its battery is
disconnected. When a battery is re-connected, ‘internal low
voltage alarm’ occurs. Then, reset the alarm.

• The super condenser of RSMx motor Q type encoder can maintain

its voltage for min. 3.5 hours even after power is disconnected if
it is charged for 3 hours or more before the disconnection.

Connecting Battery to CN5

The below figure is how to connect the battery to CN 5 of servo drive.

Connection Sequence
1. Prepare the proper battery for specification.
2. Open the battery cover.
3. Push it all the way in to the No. <1>
‫ڙڍڗ‬
direction.
4. Contact the connector to the No. <2>
‫ڙڌڗ‬ direction.
5. Close the battery cover.
6. The polarity is consistent if the battery
specification is complied.

Reset of Absolute Encoder

Implement the absolute encoder reset (run-10) in the following cases.

• For initial trial operation.

• When separate the drive and encoder cable after cutting off the power
and connected again.

• When wanting to reset the number of rotation data.

Caution has to be taken on the following

• The reset operation of absolute encoder is possible only in servo-OFF

status.

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 Applications 7-31

• When of A, H, J Type encoder, resetting the encoder takes about 5

seconds. Keep sufficient time on this.

• Depending on the encoder type, the performance content is different in

times of absolute encoder reset and alarm reset. Refer the below chart
and use it after a full understanding.

A, H, J Type Encoder Q Type Encoder

Encoder related alarm and warning
Alarm Reset Encoder related alarm and warning
reset.
(run-08) reset.
The number of rotation data reset.
Encoder related alarm and warning The number of rotation data reset.
Absolute Encoder reset. Encoder related alarm and warning
Reset (run-10) The number of rotation data reset. reset.

• A, H, J Type encoder performs the same functions of absolute

NOTE
encoder reset and alarm reset. Both two cases have the number
of rotation data resetting.

• When of using the encoder of Q Type, make sure to perform the

absolute encoder reset for resetting the number of rotation data.

Refer to the below flow chart to make absolute encoder reset.

Flow Chart of the Absolute Encoder Reset

Status Display Mode

Select the operation mode

with MODE/SET key.

Enter run-08 by using the

direction key.

Prepare for encoder reset by

pressing the ENTER key.

Execute the encoder reset

by pressing MODE/SET key.

Complete it by pressing the

ENTER key.

Completed

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7-32 Applications

Data Transmission of Absolute Encoder

This Chapter describes the sequence of drive receiving the data of absolute
encoder and sending it to the host controller. After sufficiently understand it,
and then design the host controller.

• As shown in the figure below, the drive is outputted for absolute

information through the PS (+,-), EA (+,-), EB (+,-)
terminals.
Encoder Input Servo Drive Output Host Controller

CN2 CN1

29
EA+
30
EA-
31
EB+ Encoder
32
EB-
A,B,C
33
EC+
34
EC-
Absolute
35
PS+ Encoder
36
PS-
Rotation
Data

PS (+, -) serial data frame structure

• Through the PS output, the structure of transmission frame of data

sending to host controller is as follows.

• Data is structured with “multiple rotation data & 1 rotation data, and
alarm”.

The transmission size of data varies depending on the data.

The number of
Absolute Encoder 1 Rotation Data Transmission Cycle
rotation Data
A, H, J Type Absolute Encoder 13 bits 11 bits About 50 [ms]
Q Type Absolute Encoder 16 bits 17 bits About 50 [ms]

Structure of transmission frame (A, H type absolute encoder)

Absolute Data (Variable digit)
Date (3bit)
STX The number of & BCC ETX
1 Rotation Data (Alarm content)
rotation data & (1 to 2047)
(0 to 8191)

Structure of transmission frame (Q type absolute encoder)

Absolute Data (Variable digit)
Date (3bit)
STX The number of & BCC ETX
1 Rotation Data (Alarm content)
rotation data & (1 to 131071)
(0 to 65535)

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 Applications 7-33

Data Transmission Format

Data Transmission Method Asynchronous
Baud Rate 9600 [bps]
Start Bit 1 bit
Stop Bit 1 bit
Parity None
Character Code ASC Code
Data Format 10 to 19 Characters

• Through the monitor mode (dis-12) of The Chapter 7-50, the

NOTE
multi-step rotation data of absolute encoder can be confirmed.

• Division ratio is applied to 1 rotation data sent to PS output (Not

applied to A, H type encoder).

Caution

• STX indicates the beginning of transmission packet, and is applicable to

ASCII code 02H.

• ETX indicated the end of transmission packet, and is applicable to

ASCII code 03H.

• Multi-step rotation data has the range of –32768 to +32767 (-4096 to

+4095). (The parenthesis is applicable to A, H Type encoder. +/-
indicates rotation direction.)

Serial Data Transmission for EA (+, -) and EB (+, -)

• For the host controller not receiving the serial data output using the PS
(+, -), the data of absolute encoder is sent to the host controller in the
form of incremental pulse form through the output of EA and EB, the
incremental encoder output signal. From the absolute data, send the 1
rotation data first, then send the multi-rotation data. The host controller
multiplexes the received pulses by 4 times.

Sequence of receiving the absolute serial data through EA and EB

1. Clear the Up/Down counter for incremental pulse counter to 0 and make
it in the absolute encoder data receiving standby status.
2. The /ABS-DT signal inputted to drive is maintained in low level for 10
[ms] or more.
3. After 100 [ms] since /ABS-DT is off, receive the 1 rotation data
transmitted from the drive.

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7-34 Applications

4. Receive the number of rotation data, and then receive 1 rotation data
transmitted after 100 [ms].
5. EA and EB of drive are operated in normal incremental encoder output
signal after the lapse of about 50 [ms] after transmitting the 1 rotation data
to which division ratio is applied.
PAO Serial data reception sequence

ON Initial Incremental
OF
Incremental
/ABS-DT Pulse
F Pulse

EA

EB

Maintain it for MAX. 10 100 MAX. 100

more than 10 [ms] 100 [ms] [ms] [ms] 20[ms] [ms]

Content of each signal

Signal Name Status Signal Content

When initialize it by turning on the power Initial incremental pulse
EA (+,-)
In normal operation after the initialization Incremental pulse
When initializing it by turning on the power Initial incremental pulse
EB (+,-)
In normal operation after the initialization Incremental pulse
EC (+,-) Always Original pulse
PS (+,-) Always Serial data of absolute encoder

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 Applications 7-35

Operation Mode Function Things to Know First

First understand the below content before reading the description of the
operation mode.
1. From the flow chart content, the content of display of status display mode
may be different from the actual condition.
2. The content displayed in the flow chart and the key operation sequence is
the same with the actual condition.
3. The black part of key button mark on the right means to press.
4. The upper left side with servo-ON, servo-OFF means the status of servo
drives status in setting.
5. It describes to the order from (run-00) to (run-12).
6. Before using the functions of operation mode, the content of each
functions and flow chart shall sufficiently understand and operate it.

Adjust or operate in the black display status.

SERVO-ON SERVO-OFF

When the status of drive is not maintained, the following content is displayed during the
performance or storage of each operation mode.

Jog Operation (run-00)

Function Description
By using the direction key of the operator, the motor can be made for forward
rotation or reverse rotation.

• It is an appropriate function when the trial operation of equipment or

simple operation is required.

• The speed of the motor is determined with the setting value of [Pr-2.01].
Confirm the setting value of [Pr-2.01] in advance before operation and
adjust it for situation.

• The operation can be possible in the range of 0 to 5000 [rpm] and the
initial setting speed is 500 [rpm].

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7-36 Applications

How to Operate
Refer the flow chart of the below and operate.
SERVO-ON SERVO-OFF Jog Operation Flowchart

Status Display Mode

Select the operation mode

with MODE/SET key.

Make run-00.
(Initial run-00)

Confirm the jog operation

by pressing the ENTER
keySelect

Prepare the jog

operation by pressing
the MODE/SET key

keyForward operation for motor Reverse operation for motor

while pressing the above key while pressing the lower key
(Counterclockwise direction) (Clockwise direction)
Release the jog
operation by pressing the
MODE/SET keyStatus

Operation expiration by
pressing the ENTER key

Completion

Off-line Auto Tuning Operation (run-01)

Function Description
Refer the Chapter 6-7 for detailed description on off-line auto tuning.

Caution

The following shall be carefully reviewed before operation.

• With the jog operation of the Chapter 7-35, the loading is

NOTE
positioned in the middle of operation area.

• The motor rotates 3 times in 360° forward and reverse direction.

• Confirm the loading not to exceed the operation range during

tuning.

Publication CSD3P-UM001E-EN-P — February 2008

 Applications 7-37

Loading Operation Range

Tuning Operation Range

Loading Tuning
G Operation G
Range e Operation G
Range

How to Operate
Refer to the below flow chart to operate.
SERVO-ON SERVO-OFF Flow Chart of the Off-line
Auto Tuning Operation

Status Display Mode

Select the operation mode

with MODE/SET key.

Make run-01 by using

the direction key

Prepare the auto tuning by

pressing the ENTER key

Operate the auto tuning by

pressing the MODE/SET key

Running Motor! Execute the optimal tuning for the load. After the tuning, the setting
value is automatically stored.
Auto tuning automatically
completed

Completed the operation by

pressing the ENTER key

Completed

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7-38 Applications

Searching an Origin Pulse(run-02)

The function is to search a origin (Z-Pulse). When needing to align the

location of motor shaft and machine shaft, run this function. Do not couple
motor and machine shaft

Coupling

• The run-02 operation must be done in Servo-On status.

• The searching speed is fixed as 10 [rpm]

Auto Adjustment of Speed Command Offset (run-03)

When of operating the speed mode by the host controller or combination

control mode related to the speed, it is a function to automatically adjust with
the offset voltage of the speed command.

Function Description

• When the analog speed voltage command is made to 0 [V], the motor
has to stop. But there is such a case that the motor slowly rotates.

• This is because of the phenomenon that the small amount of voltage

offset by the host controller or external circuit. This function
automatically adjusts such an offset voltage.

Operation Sequence

• Connect the host controller to the CN1 and the speed voltage command
is made to 0 [V].

• At this time, if the motor is not rotating, it can be said that there is no
offset voltage. However, if the motor is slowly rotating, there is an offset
voltage occurring.

• Make automatic offset adjustment. The drive reads the voltage of adjustment as
0 [V] and stops the motor.

Other

• The voltage range that is possible for offset adjustment is –1 [V] to +1

[V]. The voltage exceeding the range cannot be adjusted, and there is no
showing in the display during the normal operation in the below figure.

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 Applications 7-39

• The size of actually offset voltage can be confirmed in (dis-13) of The

Chapter 7-50.

• Understand the speed zero-clamp function of speed mode of the

Chapter 5-31 together.

How to Operate
Refer the below flow chart and operate.
SERVO-ON SERVO-OFF Flowchart of the Speed Command
Off-set Auto Adjustment

Status Display Mode

Select operation mode with

the MODE/SET key

Make run-03 by using the

direction key

Prepare the auto adjustment by

pressing the ENTER key

Operate the auto adjustment

by pressing the MODE/SET key
Display the normal
execution

Completed the operation by

pressing the ENTER key

Completion

Auto Adjustment of Torque Command Offset (run-04)

When the operation is made with torque control mode from the host
controller or combination control mode related to torque, it is a function to
automatically adjust with the offset voltage of the torque command.

Function Description

• When the analog torque voltage command is made to 0 [V], the motor
has to stop. But there is such a case that the motor slowly rotates.

• This is because of the phenomenon that the small amount of voltage

offset by the host controller or external circuit. This function
automatically adjusts such an offset voltage.

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7-40 Applications

Operation Sequence

• Connect the host controller to the CN1 and the torque voltage
command is made to 0 [V].

• At this time, if the motor is not rotating, it can be said that there is no
offset voltage. However, if the motor is slowly rotating, there is an offset
voltage occurring.

• Make offset automatic adjustment. The drive reads the voltage of

adjustment as 0 [V] and stops the motor.

Other

• The voltage range that is possible for offset adjustment is –1 [V] to +1

[V]. The voltage exceeding the range cannot be adjusted, and there is no
showing in the display during the normal operation in the below figure.

• The size of actually offset voltage can be confirmed in (dis-14) of the

Chapter 7-50.

How to Operate

• Refer the below flow chart and operate.

SERVO-ON SERVO-OFF Auto Adjustment of the Torque

Command Offset Flowchart

Status Display Mode

Select operation mode with

the MODE/SET key

Make run-04 by using the

Prepare the auto adjustment

by pressing the ENTER key

Operate the auto adjustment by

pressing the MODE/SET key
Display the normal
execution

Completed the operation by

pressing the ENTER key

Completion

Publication CSD3P-UM001E-EN-P — February 2008

 Applications 7-41

Manual Adjustment of Speed Command Offset (run-05)

First understand the content of Auto Adjustment of Speed Command Offset

in the Chapter 7-38.

• It is same function with the automatic adjustment and can make more
precise adjustment than the automatic adjustment of speed command
offset.

• The below flowchart describes under the premises of voltage applicable

to the speed of –10 [rpm] or +10 [rpm] is offset.

SERVO-ON SERVO-OFF Auto Adjustment of the Torque

Command Offset Flowchart

Status Display Mode

Select operation mode with

the MODE/SET key

Make run-05 by using the

direction key

Prepare the auto adjustment

by pressing the ENTER key

Prepare the manual adjustment

by pressing the MODE/SET key

Adjust with the lower key in offset with + voltage

Adjust with the upper key in offset with - voltage

• If offset is being made, it shows the speed [rpm] applicable to offset

voltage.

• Continue to press the direction key to slowly stop the motor with the
speed nearing to 0 [rpm]. Once 0 [rpm] is reached, release the direction
key to confirm that the motor has stopped.

• If the motor is still rotated slowly, confirm the motor completely stop by
pressing the direction key one in a while. It is not to adjust one
operation of direction key per 1 [rpm]. When the motor is completely
stopped, it is progressed as below.

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7-42 Applications

Store it by pressing the Completion of

MODE/SET key. Adjustment
Display for
normal execution

Complete the operation by

pressing the ENTER key

Completion

Manual Adjustment of Torque Command Offset (run-06)

First, understand the content Auto Adjustment of Torque Command Offset in

the Chapter 7-39.

• It is the same function with the automatic adjustment and can make
more precise adjustment than the automatic adjustment of torque
command offset.

• The below flowchart describes under the premises of offset voltage

applicable to the torque of –1.2 [%] or +1.2 [%].

SERVO-ON SERVO-OFF Manual Adjustment of the Torque

Command Offset Flowchart

Status Display Mode

Select operation mode with

the MODE/SET key

Make run-05 by using the

direction key

Prepare the auto adjustment

by pressing the ENTER key

Prepare the manual adjustment

by pressing the MODE/SET key

Adjust with the lower key in offset with + voltage

Adjust with the upper key in offset with - voltage

G

• If offset is being made, it shows the torque [%] applicable to offset

voltage.

• Continue to press the direction key to slowly stop the motor with the
torque nearing to 0 [%]. Once 0 [%] is reached, release the direction key
to confirm that the motor has stopped.

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 Applications 7-43

• If the motor is still rotated slowly, confirm the motor completely stop by
pressing the direction key one in a while. It is not to adjust one
operation of direction key per 0.1 [%]. When the motor is completely
stopped, it is progressed as below.

Store it by pressing the

Completion of
MODE/SET key. Adjustment
Display for
normal execution

Complete the operation by

pressing the ENTER key

Completion

Adjustment of Current Feedback Offset (run-07)

The offset current that may occur when sensing the current flow on the motor
is automatically adjusted.

Function Description

• Servo drive sense and control the current flowing on the motor. If the
actual current flowing on the motor is not accurately sensed, the control
may become difficult.

• Servo drive may automatically adjust the offset current that may occur in
sensing the current flowing on the motor.

Precaution

• Make sure to adjust it in servo-OFF status.

• Adjust only when it is determined to have a particularly significant

occurrence of offset current than other drives.

• When the adjustment is not made correctly, perform the (run-12) of

The Chapter 7-48. In this case, it is initialized with other parameters.

• Motor Current Feedback Offset is already adjusted in shipment.

WARNING
• It is possible to make small torque ripple and the improvement of
control characteristics by the current offset adjustment, but the
characteristics may be lowered if it is adjusted carelessly.

• Adjust only when there is particularly large current offset.

• Do not adjust if it is in vertical loading.

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7-44 Applications

How to Operate
Refer to the below flow chart and operate.
SERVO-ON SERVO-OFF Current Feedback Offset
Adjustment Flow Chart

Status Display Mode

Select operation mode with

the MODE/SET key

Enter run-07 by using the

direction key

Prepare the adjustment by

pressing the ENTER key

Completion - Operate the

adjustment by pressing the
MODE/SET key
Display for normal
execution

Display for normal

execution

Completion

Alarm Reset (run-08)

Servo drive may reset the servo alarm detected by the independent error
diagnostic function.

Function Description

• The drive monitor the system with the independent error diagnosis
function from the moment the power is connected. At this time, if there
is an error in the servo drive, it displays the servo alarm.

• User has to understand the content of alarm and resolve the causes of
alarm for a normal use of the drive.

• If an alarm occurs, find out the content of alarm and resolve it. After
that, reset it through the alarm-reset operation. When the content of
alarm is resolved with no further problems, the occurred alarm is no
longer displayed.

• Even if the reset is made, if the action taken is not sufficient or other
error occurs, the drive continuously displays the alarm content.

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 Applications 7-45

How to operate
Refer to the flow chart below and operate.

SERVO-ON SERVO-OFF Alarm Reset Execution Flowchart

Status Display Mode

Select operation mode with

the MODE/SET key

Enter run-08 by using the

direction key

Prepare the alarm reset

execution by pressing the
ENTER key

Completion - Operate the

alarm reset by pressing the
MODE/SET key

Complete the operation by

pressing the ENTER key

Completion

Alarm Reset by Sequence Input </A-RST> Signal

There is another way to reset the alarm by using the sequence input signal
</A-RST>. Refer to The Chapter 5-2.

• Chapter 8 describes the detailed content relating to servo alarm.

NOTE
• Also, the history of alarm occurred from the beginning to this
point can be inquired through the monitor mode. (Refer to The
Chapter 7-50.)

Alarm History Clear (run-09)

Alarm History
Servo drive may store the servo alarm that is detected by the independent
error diagnosis function.

• When servo alarm occurs, the monitor mode (dis-16) is automatically

stored in the order of occurrence, and the user may confirm the alarm in
the order of the alarm occurred from (dis-16).

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7-46 Applications

• Servo alarm can be stored up to 8, and the alarm occurring thereafter is

stored by deleting the earliest occurring alarm from the 8 already stored
alarm.

Alarm History Clear

All alarm stored on monitor mode (dis-16) is deleted.

How to Operate
Refer to the flow chart below and operate.

SERVO-ON SERVO-OFF Alarm Reset Execution Flowchart

Status Display Mode

Select operation mode with

the MODE/SET key

Enter run-09 by using the

direction key

Prepare the clear by pressing

the ENTER key

Completion - Operate the

clear by pressing the MODE/
SET key
Display for normal
execution

Complete the operation by

pressing the ENTER key

Completion

Absolute Encoder Reset (run-10)

• The reset of absolute encoder refers to the Chapter 7-27.

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 Applications 7-47

2-Group Gain Storing (run-11)

Function Description

• Understand the content of the Chapter 6-27 first.

• When the optimal tuning that is appropriate to the load system is made,
it is stored.

How to Operate

• Refer to the flow chart below and operate.

SERVO-ON SERVO-OFF 2-Group Gain Storing Flowchart

Status Display Mode

Select operation mode with

the MODE/SET key

Enter run-11 by using the

direction key

Prepare the gain storing by

pressing the ENTER key

Completion - Operate the gain

storing by pressing the
MODE/SET key
Display for normal
execution

Complete the operation by

pressing the ENTER key

Completion

• When the </G-SEL> function of the Chapter 6-27 is not used, the
NOTE
main storage function is meaningless.

• Understand the content of the Chapter 6-27 before using it.

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7-48 Applications

Parameter Initialization (run-12)

This function is to initialize the user parameter to the same status as the
factory setting values.

General Matter

• The initialization of parameter is operated carefully. After initializing

parameter, the parameter has to be reset in meeting the load.

• The below parameter is still maintained after initializing parameter.

For changing the below parameter, directly change from the parameter.
Control mode setting Sequence input & output
Pr-0.00 Pr-0.05 to Pr-0.11
(optional) signal
Electronic gear and Pulse
Pr-0.01 Motor setting Pr-3.01 to Pr-3.04 dividing circuit
Pr-0.04 Inertia ratio Pr-4.01, Pr-4.02 Internal torque limit
Rotation prohibition torque
Pr-4.05 limit

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 Applications 7-49

How to Operate
Refer to the flow chart below and operate.
SERVO-ON SERVO-OFF Parameter Initialization Execution Flowchart

Status Display Mode

Select operation mode with

the MODE/SET key

Enter run-12 by using the

direction key

Prepare the initialization by

pressing the ENTER key

Completion - Initialize by
pressing the MODE/SET key
Display for normal
execution

Complete the operation by

pressing the ENTER key

Completion

• The portable operator that is provided for selective specification

NOTE
may store and keep all value set on the parameter of the current
servo drive.

• In addition, it can be downloaded to other servo drive and use it

quickly and conveniently.

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7-50 Applications

Monitor Mode Function Introduction of Monitor Function

The below chart describes the function expressed in each monitor.

Monitor Mode Item Name Unit

Speed feedback [rpm]

Speed command [rpm]

Speed error [rpm]

Torque command [%]

Position feedback [pulse]

Position command [pulse]

The dis-04 and dis-05 are displayed each upper and lower digits (each 5 digits, total 10 digits)
separately by left and right key in case of overflowing count data

Position error [pulse]

Position pulse command frequency [kpps]

Electrical angle [û]

Mechanical angle [û]

Regeneration accumulation loading [%]

rate

DC Link Voltage [V]

Multi-rotation data of absolute -

encoder

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 Applications 7-51

Speed Command Offset [mA]

Torque Command Offset [mV]

Input & Output Signal Confirmation

When the sequence input & output, emergency stop and servo alarm signal are on, the applicable
displays of each position are lit.

12 11 10 9 8 7 6 5 4 3 2 1

7 6 5 4 3 2 1 3 2 1

Sequence Input (DI#1 E-STOP Sequence Output SALM

to DI#7) (Emergency Stop Input) (DO#1 to DO#3) (Servo Alarm Output)

Up to 8 servo alarm is stored.

The alarm that occurs most recently is the number 1 servo alarm occurrence.
If all 8 alarms are stored, the alarm occurring thereafter is stored as number 1 with the earliest alarm
(No. 8 alarm) is deleted.
Refer the Chapter 8-4 for the content of servo alarm.

Servo Alarm Content of the

Occurrence Number Servo Alarm

It displays the software version of servo drive.

Example of
Version Display

Motor and Encoder Type

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7-52 Applications

Motor Type A3 : 30W Encoder Type

A5 : 50W
01: 100W
02 : 200W
...
Motor Capacity

Analog speed command voltage V

Analog torque command voltage V

Drive rated output -

Absolute encoder 1 rotation data -

Encoder Feedback Counter pulse

When the number of digits increase, you can use left or right key to display the upper significant bits
and low significant bits (5 digits each, total 10 digits)

Key Button Operation

It describes the key button operation of monitor mode.

• The content of monitor mode can be confirmed regardless of servo

drive status.

• Refer to the below flow chart to confirm the content of each monitor
item.

• Use the upper and lower direction key to confirm the alarm history
(dis-16)

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 Applications 7-53

Operation Flowchart of Key Button in Monitor Mode

Status Display

Select monitor mode with the

MODE/SET key

Enter dis-00 (-17) by using the

direction key

Confirm the content of each

monitor by pressing the ENTER key

Exit the monitor window by

pressing the ENTER key

Completion

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7-54 Applications

Publication CSD3P-UM001E-EN-P — February 2008

 Chapter 8

Inspection and Protection Functions

Introduction In this chapter, the inspection and the protective function of servo drive are
described.

Topic Page
Introduction 8-2
Inspection 8-2
Protection Function 8-4

1 Publication CSD3P-UM001E-EN-P — February 2008

8-2 Inspection and Protection Functions

Inspection It describes the basic inspection, abnormality diagnosis and how to take action
of servo motor and drive. Also, it describes the protection function of drive
and action to take in times of alarm occurs as well as any action to take in times
of breakdown following the alarm code.

Inspection of Motor

Motor does not have a brush that causes mechanically abrasive part. A simple
inspection is sufficient as follow. By considering the use environment,
determine the appropriate inspection time.
Item Period Inspection and Repair Action
Vibration and Determine with Sense and It shall not be larger than
Daily Check
Noise Hearing normal times
Presence of
Eternal Foreign In Occurrence Cleaning with Vacuum Cleaner
Substance
Measure with Insulation Inquiry to the company if
Insulation 1 year resistance meter the measuring value is 10
Resistance 500 [V] 10 [MW] [MΩ] or less
Only for motor that has
OIL SEAL 5000 hours Oil Seal Replacement oil seal
Disassembly and
20000 hours
Overall Inspection (5 years) Inquiry to the Company worn-out part
replacement
In the event of disassemble the servo motor for repair or inspection, a care shall be taken for A/S not
available.

Inspection of Drive

Servo drive is equipped with electronic circuit. The dust and foreign substance
may cause the breakdown or malfunction that the dust shall be cleaned and
tighten the nuts on a regular basis (1-year).
Inspection
Item Inspection and Repair Action
Period
Cleaning of Main Once or more per Clean with compressed
Do not have dust or oil
Body and Board year air or fabric
Do not allow loosening of
Socket, Connector, Once or more per socket, connector, nut and Do not allow loosening
Nut year others
Abnormal Part on Once or more per There is no discoloration by
Main Body and Inquiry to the company
year heat, damage or open circuit
Board
In the event of disassemble for repair and inspection the servo drive, be careful that the A/S is not
available.

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 Inspection and Protection Functions 8-3

Part Inspection

The part below may have mechanical abrasion or material degradation. A

regular inspection is needed for prevention and preservation.
Part Use Period Use Requirement
Capacitor 3-year
Cable 3-year (based on flexible cable)
Power Device 3-year Ambient temperature:
Annual average of 30
Regeneration Resistor 2-year degree
DB Resistor 2-year Load rate: less than 80 [%]
Operation rate: less than
FAN 2-year 20 hours /day
Cooling Fan 4 to 5 year
Fuse 10-year

Battery Inspection for absolute Encoder (7.9.3)

Refer to Chpater 7-28 for absolute encoder battery.

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8-4 Inspection and Protection Functions

Protection Function It describes the equipped protection function and actions taken in times of
abnormal operation in order to protect the servo drive and load system. The
protection function is classified into two types depending on the importance.
1. Servo warning: It displays a minimal abnormality that does not require the
suspension of operation when occurred.
2. Servo alarm: It displays the very serious abnormality that requires the
suspension of operation when occurred.

• It is classified depending on the importance, but when an abnormality

occurs, remove the cause immediately and use the servo drive in normal
condition.

Servo Warning

There is a servo warning that displays a minimal abnormality as the protection

function by the self-diagnosis.
1. Servo warning indication

• It displays the mark that is applicable to a warning through the Status

Display Mode.

Status Display Mode Description

The warning is displayed on the 3 digit of 7-segment as
shown on the left.

The character displayed the normal operation status does

not flicker, but once the abnormality applicable for servo
Warning Idicator warning is sensed, the applicable character is displayed
and flickers.

2. Servo warning types

• Servo drive displays the warning characters for the following 6

situations.

External Battery
Indicator Low Voltage of Absolute Encoder

Cause It occurs when the voltage of external battery of absolute encoder is 3.2 [V] or less.
Action Understand the content of Chpater 7-27 and replace the battery.

Indicator Absolute Encoder Counter Overflow

In the event the Q, E Type Absolute Encoder is rotated forward or reverse over 32768 (H,
Cause J Type Absolute Encoder is for 4096) revolution, it is displayed.
Action Refer to Chpater 7-27 and reset the Absolute Encoder.

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 Inspection and Protection Functions 8-5

Indicator Abnormal Initial Status of Absolute Encoder

Cause There may be a time of motor rotating for over 100[RPM] when main power is ON.
It only occurs in the event of Absolute Encoder serial of Q, E Type. And when the
Action resolution of 1 rotation data is 17bit, it automatically disassembled.

Indicator Over (external) Torque Command

When the external torque command is inputted with 300 [%] or more of the rated value,
Cause it is displayed.
When the torque command is inputted for 300 [%] or more of the rated value, the drive
is automatically limited at 300 [%].
Action Also, when lowering the external torque command to 300 [%] or less of the rated value,
it automatically disassembled.

Display Over (external) Speed Command

When the external speed command is inputted with the maximum speed or more of the
Cause motor, it is displayed.
When the speed command is inputted with the maximum speed or more of the motor,
the drive is automatically limited at the maximum speed of motor.
Action Also, when the external speed command is lowered for less than the maximum speed
or less of the motor, it automatically disassembled.

Indicator Allocation Error of Sequence Input and Output

When sequence input & output signal is duplicated and allotted to the same input and
output channel.
In mixed control mode, when the control mode conversion </C-SEL> sequence input
Cause signal is not allotted.
In multi-step control mode, when speed command </C-DIR>,</C-SP1>, </C-SP2>, </
C-SP3> sequence input signal is not allotted, it is displayed.
Resetting it by referring Clause 5.1 of sequence input & output signal.
Action After resetting, it is effective only when the power is re-allowed.

Indicator Over Motor Capacity

Cause It occurs when motor power is set higher than the drive rated output.

Action Use a motor suitable to the drive or set the torque limit below the drive capacity.

In times of servo warning, sequence output signal. </WARN>

• When the servo warning occurs, the servo drive may display that the
servo warning occurs by the host controller through the sequence
output signal </WARN> function.

• Warning detection </WARN> is sequence output signal. For

</WARN> signal is to be outputted, first refer to the sequence input &
output signal of Chpater 5-2 and allot the signal.

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8-6 Inspection and Protection Functions

• Warning detection </WARN> is outputted by the output signal

allotment and when the presence of servo warning from the host
controller is not wanted, it does not allotted.

Servo warning can be conveyed to the host controller for the presence
NOTE
of servo warning through the sequence output channel.

Servo Alarm

For protection function by the self-diagnosis, there is the servo alarm that
displays the important errors.

Servo alarm Indicator

• When servo alarm occurs, the 7-segment indicator displays the character
applicable to the servo alarm and stops the operation regardless of
current indication condition.

• Even when servo alarm occurs during the user setting and operating the
key button by the user, the drive displays the content of alarm
immediately.

• The alarm indicator character is flickering like the Servo warning.

Servo alarm storing and confirmation

• Servo drive may store the maximum of 8 alarm contents in the order of
occurrence of servo alarm. Also, the stored alarm can be confirmed
through the monitor mode (dis-16) of Chpater 7-50 and clear the stored
alarm by using the operation mode (run-09) of Clause Chpater 7-45.

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 Inspection and Protection Functions 8-7

Servo alarm types

• Servo drive displays the alarm in the 34 situations below.

Indicator Defective Internal Circuit of Servo Drive

Cause When having a defect in a internal part of servo drive or circuit, it is displayed.
Action Replaced the product and inquire to the company.

Indicator Defective Power Circuit

When it occurs at the time of inputting power, there is an error in control and main
Cause1 power circuit.
Action1 Confirm the presence of wiring and power and inquire to the company if normal.
If it occurs during the operation, it is displayed if the over current occurs in the motor or
Cause2 the internal temperature of device for motor drive is increased for over the permitted
temperature.
Confirm the presence of error in the power and adjust the acceleration or deceleration
Action2 time.

Indicator Over Current

If it occurs when the power is ON, there is an error in the control and main power
Cause1 circuit.
Confirm the presence of error in wiring and power, and inquire to the company if
Action1 normal.
If it occurs during the operation, it is made when the rapid over current was flown on
Cause2 the motor. (when the current of 300[%] or more of rated current is flown to the motor for
2[ms] or more)
Confirm the presence of error in the power, and adjust the acceleration or deceleration
Action2 time.

Indicator Regenerative Over Current

It occurs when the over current is flown to the regeneration resistor due to the error in
Cause regenerative transistor and regeneration resistor.
Action Replace the servo drive or regeneration resistor.

Indicator Current Feedback Offset Error

In the event that current feedback offset adjustment (run-07) is made, it occurs when
Cause the offset current is ±5 [%] or more of rated current.
Action Confirm the motor condition and inquire to the company if it continues to occur.

• Current feedback offset adjustment is already made at the

NOTE
company in time of delivery.
• Adjust it only when the current offset is particularly large.
Particularly, in the case of vertical load, do not adjust.

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8-8 Inspection and Protection Functions

Indicator Motor Power Cable Short (U, V, W)

Cause It occurs when the motor cable is short-circuited.

Action Confirm the motor cable wiring.

Indicator Torque Feedback Instantaneous Overload

It occurs when the torque feedback is operated at the maximum torque of 0.5 [sec] or
Cause more.
(Wiring error), (excessive inertia of load), (error in setting rated output of motor)
Confirm the wiring of motor cable.
Action Confirm the load condition and adjust the acceleration and deceleration time.
Confirm motor setting value by referring Chpater 4-6.

Indicator Torque Feedback Continuous Overload

It occurs when the torque feedback is continuously operated for rated torque several to
Cause several tens [sec] or more at the rated torque or more.
Confirm the motor cable wiring.
Action Confirm the loading condition and adjust the acceleration and deceleration time.
Confirm motor setting value by referring Chpater 4-6.

Indicator Regenerative Overload

It occurs when the regenerative power of regeneration resistor is exceeded the

Cause permitted value.
Replace the regeneration resistor that is appropriate with the capacity of regenerative
Action power.
Adjust it to fit with regeneration resistor capacity setting parameter [Pr-5.11].

Indicator Heat Sink Overheat

It occurs when the heat sink temperature of servo drive exceeds approximately 95
Cause ±10[°C] at 55[°C] or higher ambient temperature.
It occurs when the cooling fan is not operated.
Ambient temperature of servo drive less than 55[°C] or lower.
Action Refer to the installation of Chapter 2 to comply with the user environment.

Indicator Encoder Type Mismatching

Cause It occurs when the encoder setting of motor setting [Pr-0.01] is wrong.
Action Reset the encoder by confirming the model name of the motor nameplate.

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 Inspection and Protection Functions 8-9

Indicator Encoder Cable Open

It occurs when the encoder cable is short-circuited or the power is not supplied to the
Cause encoder.
Action Confirm the wiring of encoder.

Indicator Absolute Encoder Communication Error

Cause It occurs when there is a communication error in the servo drive and absolute encoder.
Action Replace the motor when the wiring of encoder is confirmed and found no error.

Indicator Absolute Encoder Low Voltage Error

It occurs when the internal recharging capacitor voltage of absolute encoder is 2.7 [V]
or less.
Cause It occurs when the battery for absolute encoder has defective connection or not
connected.
Confirm the connection of battery. Replace the battery and refer to the Chpater 7-44 to
Action reset the alarm.

Over Speed During

Indicator Blackout of Absolute Encoder

It may occur with the motor rotates in high speed when the main power of servo drive
Cause is disconnected while normally operating and the encoder is operated with external
battery.
Action Turn off/on power or reset the alarm.

Indicator Multiple Rotation Data Error of Absolute Encoder

It occurs if the number of rotation data is changed when main power of the servo drive
Cause is ON.
Action Turn off/on power or reset the alarm.

Indicator 1-time Rotation Data Error of Absolute Encoder

Cause It occurs if 1-time rotation data is changed when main power of the servo drive is ON.

Action Turn off/on power or reset the alarm.

Indicator Serial Absolute Encoder Parameter Error

Cause EEPROM data error of absolute encoder.

Action Inquiry to the company.

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8-10 Inspection and Protection Functions

Indicator Over Voltage

When the input voltage exceeds the rated voltage scope, when the regeneration
resistor is short-circuited
Cause When the transistor for regeneration is in error, when operation is made for over the
regenerative capacity
Use rated voltage, replacing the regeneration resistor, replacing the servo drive
Action Confirm whether the inertia of load is excessive.

Indicator Under Voltage

Cause It occurs when the main input voltage is not within the scope of rated value.
Action Confirm the input voltage.

Indicator Instantaneous Blackout Error

It occurs when the main power is disconnected or lowered due to the instantaneous
Cause power failure.
Confirm the power or main circuit wiring (noise filter, magnetic contactor ).
Action Adjust the instantaneous power failure maintenance time set [Pr-5.10].

Indicator Over Speed

Cause It occurs when the motor is rotated with a speed exceeding the maximum speed.
Confirm the wiring condition of encoder motor cable. Confirm whether there is any
Action problem in tuning. Confirm whether there is any problem in external speed (torque)
command input gain [Pr-2.00], [Pr-4.00].

Indicator Position Error Overflow

It occurs when the position error is exceeding the permitted error for position when
Cause controlling the position [Pr-5.09].
Confirm the pulse input wiring of host controller. Confirm whether the pulse input
Action frequency is excessive or not. Reset the gain by referring Chapter 6. Confirm whether
the inertia of load is excessive.

Indicator Over Position Pulse Command

Cause It occurs when the input pulse command frequency of host controller is high.
Confirm the types and frequency of input pulse.
Action
Line drive: 900[kpps] or less. Open collector: 200[kpps] or less

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 Inspection and Protection Functions 8-11

Indicator Emergency-Stop

Cause It occurs when the emergency-stop signal is inputted from the external.
Action Resolve the emergency stop situation and release the emergency-stop input.

Indicator CPU Fault Error

Cause CPU error

Action Replace the servo drive in frequency occurrence and inquiry to the company.

Indicator Motor Out of Control Status

It occurs when the motor is impossible to control or the operation of encoder is

Cause defective.
Action Confirm the wiring of motor and encoder and replace the motor.

Indicator Serial Communication Error

It occurs when there is an error in between the portable operator and servo drive that
Cause is caused by the noise or connection cable error.
Action Connection without the noise environment and condition of connection cable.

Indicator Parameter Checksum Error

Cause It occurs when there is an error in the memory that stores the user parameter.
Confirm and reset the recently set parameter and the rest shall be backed up.
Action If frequently occurring, refer the Chpater 7-48 to return to the initial value for
parameter.

Indicator Data Setting Range Error

It occurs when the setting value that exceeds the setting scope of parameter is
Cause inputted.
Set the parameter within the value of setting scope.
Action Refer to Chpater 7-48 and return to the initial value of the parameter.

Indicator Flash Rom Error

Cause It occurs when there is an error in the memory that stores the parameter.
Initialize the parameter by referring to Chpater 7-48.
Action Replace the servo drive in the event of frequent occurrence.

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8-12 Inspection and Protection Functions

Indicator Servo Drive Capacity Undefined

Cause It occurs when the rated output volume (capacity) of servo drive is wrongly set.
Action Inquiry to the company.

Indicator Setting error of motor encoder

Cause It occurs when a wrong motor is connected to the servo drive.

Action Check motor.

Signal Output in Servo Alarm

Once the servo alarm occurs, the presence of alarm occurrence and types of
alarm can be outputted through the output pin of CN1. The presence of alarm
occurrence is outputted with host controller through the No. 45 and No. 46
pins (SALM +/-) of CN1. Also, through the No. 37 to 39 (AL1 to AL3) pins,
each of the alarm occurrence types can be outputted with host controller.
CN1 Output Description
SALM +/- Output is made when the alarm occurs regardless of the types of alarm.
Make the numbers of 7 types with the 3 output pins and it is classified to output
AL1~AL3 by collecting the similar types of alarm in each of the cases.
The presence of servo alarm occurrence can be confirmed through the monitor mode (dis-15) of
Chpater 7-50.

The following chart shows the output of alarm group.

Alarm SLAM Alarm Code Output

Indicator Alarm Name
Group Output AL1 AL2 AL3

E.Short Defective Internal Circuit of Servo Drive 0

E.IPMFt Defective Power Circuit 0
1 E.OvCUr Over Current 0 1 0 0
E.rEGOC Regenerative Over Current 0
E.oFSEt Current Feedback Offset Error 0

E.CabLE Motor Power Cable Open (U, V, W) 0

E.InsOL Torque Feedback Instantaneous Overload 0
2 E.ConOL Torque Feedback Continuous Overload 0 0 1 0
E.rEGOL Regeneration Overload 0
E.OHEAt Heat Sink Overheat 0

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 Inspection and Protection Functions 8-13

E.EnCtP Encoder Type Mismatching 0

E.EnCoP Encoder Cable Open 0
E.AbSCE Absolute Encoder Communication Error 0
E.AbSbE Absolute Encoder Low Voltage Error 0
3 1 1 0
Over Speed During Blackout of Absolute
E.AbSOS 0
Encoder
Multiple Rotation Data Error of ABS.
E.AbSMT 0
Encoder
E.EnCPE Serial Absolute Encoder Parameter Error 0

E.OvvtG Over Voltage 0

4 E.UdvtG Under Voltage 0 0 0 1
E.AcoFF Instantaneous Blackout Error 0

E.OvSPd Over Speed 0

E.PoSEr Position Error Over Flow 0
E.OvPUL Over Position Pulse Command 0
5 1 0 1
E.EstoP Emergency-Stop 0
E.CPUFt CPU Fault Error 0
E.SPDER Over Speed Error 0

E.SERCE Serial Communication Error 0

E.CHSUM Parameter Checksum Error 0
6 0 1 1
E.RANGE Data Setting Range Error 0
E.FLASH Flash ROM Error 0

E.UndEF Servo Drive Capacity Undefined 0

7 Setup Error (of Mismatching Encoders 1 1 1
E.SetUP 0
with Motors)

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8-14 Inspection and Protection Functions

Confirmation before Requesting for A/S

In the event an error occurs in servo alarm that is not displayed, it describes
the cause and action.

• If the main circuit power is allowed in a cause investigation, it is

dangerous. After the power shall be disconnected to completely turn out
the discharge-confirming lamp, take action on it. In the event the error
is not resolved after taking an action, promptly request for A/S to the
company.

• The chart below shows the diagnosis on errors when the alarm does not
occur.

Errors Cause Inspection and Action

Make correction after confirming the
The power is not inputted. power wiring.
Motor and encoder wiring is Make corrections after confirming the
erroneously made. wiring
External command and Confirm the wiring of input terminal and
position command is not input it correctly.
inputted.
The allotted parameter of sequence
Servo-ON is not made. input signal (Pr-5.11) shall be confirmed
The motor does not run. for setting
The selection of command Refer to Chapter 3.5 ‘Position Control’
pulse is wrong and correctly set it.
Over trouble input is turned P-OT, N-OT input signal is made to ON.
off.
Release the overload condition and
It is in overload condition. operate it.
Remove the cause for alarm and
Servo alarm occurs. implement the alarm reset then re-start
it.
Motor vibrates or has Lower the system gain [Pr-1.00].
large overshoot in The speed loop integration Heighten the speed loop integration
accelerating or gain of servo is too high. gain [Pr-1.02].
decelerating.
The speed command offset
The motor rotates at the In put ‘0’ to the speed command and
adjustment is erroneously
speed command ‘0’. redo the offset adjustment.
made.
The setting of motor and Confirm the motor setting parameter
The encoder type encoder is erroneous. [Pr-0.01], then set it correctly.
setting error or encoder
circuit alarm occurs. Motor and encoder wiring is Refer to the wiring in Chapter 3 and
erroneous. make a correction.
Mechanical installation Confirm the installation condition
Strange noise is made. condition is bad. (coupling, nut tightening) and adjust.
The ambient temperature is Lower the ambient temperature.
Motor or drive is high. (under 50°C)
overheated. Release the overload condition and
It is in overloaded condition. operate it.

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 Appendix A

Parameter List

Introduction In this chapter, the inspection and the protective function of servo drive are
described.

Topic Page
Introduction A-1
Parameter List A-2

1 Publication CSD3P-UM001E-EN-P — February 2008

A-2 Parameter List

Parameter List Summary of Parameters

Parameter Group 0
Initial
Parameter type Name LED No. Set range value

Configure control mode - C,t,S,P ---P

Configure motor - - -

Select method of DB halt 1 0~3 0

Select method of over travel halt 2 0,1 0
Select direction of rotation 3 0,1 0
Select main power input 4 0,1 0
Autotuning mode 1 0.1 0
Offline tuning speed 3 2~9 7
Online tuning coefficient 4 0~9 0

Inertia ratio 0.00~60.00 1.00

/SV-ON 1 0~8 1
P-OT 2 0~8 8
Assign sequence input N-OT 3 0~8 8
signals
/P-CON 4 0~8 4
/A-RST 1 0~8 5
/N-TL 2 0~8 6
Assign sequence input /P-TL 3 0~8 7
signals
/C-SEL 4 0~8 0
/C-DIR 1 0~8 0
/C-SP1 2 0~8 0
Assign sequence input /C-SP2 3 0~8 0
signals
/C-SP3 4 0~8 0

Parameter Group 0
Initial
Parameter type Name LED No. Set range value
/Z-CLP 1 0~8 0
/INHIB 2 0~8 0
Assign sequence input /G-SEL 3 0~8 0
signal
Reserved 4 0~8 0

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 Parameter List A-3

/ABS-DT 1 0~8 0
/START 2 0~8 0
Assign sequence input /C-SP4 3 0~8 0
signal
/GEAR 4 0~8 0
/P-COM 1 0~3 1
/TG-ON 2 0~3 2
Assign sequence /BK 3 0~3 3
output signal
/V-COM 4 0~3 0
/T-LMT 1 0~3 0
/V-LMT 2 0~3 0
Assign sequence /NEAR 3 0~3 0
output signal
/WARN 4 0~3 0

Servo ID - 1~255 1

Password - - -

RS-232C communication speed 1 1~6 6

RS-485 communication speed 2 1~6 2
Data format 3 1~6 1
Protocol 4 0,1 0

Parameter Group 1
Initial
Parameter type Name LED No. Set range value

System gain - 0~500 50

Speed loop proportional gain - 0~10000 100

Speed loop integral gain - 0~60000 100

Position loop proportional gain - 0~700 20

Torque command filter - 0~10000 1000

Speed command filter - 0~10000 1000

Position command filter - 0~60000 0

Vibration blocking filter - 0~10000 10000

Position FF gain - 0~100 0

Position FF filter - 0~2500 200

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A-4 Parameter List

P control transition sqitch - 0~3 1

P control transition reference - 0~3000 100

value

Speed bias amount - 0~450 0

Speed bias reference width - 0~250 10

Current Controller Bandwidth - 0~2 1

Velocity Response Level - 0~150 50

Parameter Group 2
Initial
Parameter type Name LED No. Set range value
External speed command input - 10.0~2000.0 500.0
gain

Jog operation speed - 0~5000 500

Acceleration time - 0~60000 0

Deceleration time - 0~60000 0

S-operation time - 0~5000 0

Contact speed command 1 - -5000~5000 100

Contact speed command 2 - -5000~5000 200

Contact speed command 3 - -5000~5000 300

Contact speed command 4 - -5000~5000 400

Contact speed command 5 - -5000~5000 500

Contact speed command 6 - -5000~5000 600

Contact speed command 7 - -5000~5000 700

Limit speed - 1~5000 5000

Select limit speed - 0~3 0

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 Parameter List A-5

Parameter Group 3
Initial
Parameter type Name LED No. Set range value
Position command pulse type 1 0~6 0
Position command pulse type 2 0,1 0
Encoder output pulse direction 3 0,1 0
PCLR input selection 4 0~3 1
encoder
Electronic gear (numerator) - 1~65535 pulse
numbers
encoder
Electronic gear (denominator) - 1~65535 pulse
numbers
Position output pulse - 1~65535 2048
adjustment (numerator)

Position output pulse - 1~65535 2048

adjustment (denominator)

2nd Electronic gear (numerator) - 1~65535 32768

2nd Electronic gear - 1~65535 32768

(denominator)

Parameter Group 4
Initial
Parameter type Name LED No. Set range value
External torque command input - 0.0~100.0 33.3
gain

Forward torque limit - 0~300 300

Reverse torque limit - 0~300 300

Forward torque external limit - 0~300 100

Reverse torque external limit - 0~300 100

Rotation inhibit torque limit - 0~3000 300

Initial torque bias - -100~100 0

Parameter Group 5
Initial
Parameter type Name LED No. Set range value
Position completion - 0~250 10
determinaion width

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A-6 Parameter List

Position approximation - 0~250 20

determination width

Speed match determination - 0~1000 10

width

Rotation detection level - 1~5000 20

Speed zero clamp level - 0~5000 0

Break release wait time - 0~1000 0

Servo OFF delay time - 0~1000 0

Break operation wait time - 0~1000 50

Break operation start speed - 0~1000 100

Allowed margin of position error - 0~65535 20480

Instantaneous power failure - 20~1000 20

allow time

Recovery resistor capacity - 0~1500 -

DA monitor output CH1 - - 0-0500

configuration

DA monitor output CH2 - - 3-0500

configuration
Select use of battery when
using serial absolute value type 1 0,1 0
encoder
Select use of speed monitor 2 0,1 0
Select use of excessive speed 3 0,1 0
error detection function

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 Parameter List A-7

Parameter Group 0

Parameter Group 0 System related parameters [Pr-0.00] to [Pr-0.13]

Configure control mode

• Configure by selecting the control mode to be used.

• Use the up/down/left/right arrow keys,to set up the control mode according to the table below.
• Under group control mode, the sequence input signal </C-SEL> is assigned and the
</C-SEL>signal is applied through the assigned input channel. The control mode is changed
upon ON/OFF of signal.
Basic control mode
Configuration/display Control mode Description
message
Executes position command according to pulse
Position control mode input
Executes speed command according to analog
Speed control mode voltage command
Executes torque command according to analog
Torque control mode voltage command
Contact speed control Executes speed command according to sequence
mode input signal
Uses sequence input </C-SEL>
Group control mode
</C-SEL> = OFF </C-SEL> = ON

Speed -position
control mode

Torque- speed control

mode

Torque -position
control mode

Contact
speed-position
control mode

Contact speed-speed
control mode

Contact speed-torque
control mode

Applicable Servo-OFF > Configuration > Reapply

ALL Other details
modes power>Completed
Detailed Refer to Chapter 4-13
description

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A-8 Parameter List

Motor configuration

• Configure the motor to be connected to the servo drive

• There are 3 configuration items: motor type,motor’s rated output and encoder type.
• Check the model name which is printed on the motor’s nameplate
• Push the up/down arrow keys to display alphanumerics for each configuration item.
• The figure below is an example of model name description on a motor’s nameplate.
• By referring to the figure below, set the confirmed detailes to the suitable fields.

C SMZ - 0 1 B A 1 A NM 1
Motor type Rated output Encoder type

Example of motor configuration

CSM-A3BB2ANT3 CSMZ-02BH1ANM3 CSMT-04BQ1ANT3 CSMR-10BR1ANM3

Applicable ALL Other details

modes Servo-OFF>Configure>Reapply power>Completed
Detailed Refer to Chapter 4-13
description

Selection of 4 basic functions

1 Selection of dynamic brake(DB) halting method

• Description for the DB(dynamic brake) control.

• Set the halt method of servo drive for situations other than halt after normal operation, such as
servo alarm or servo OFF.
Set value Details
0 DB operation continued after DB halt
1 DB released after DB halt

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 Parameter List A-9

2 Free run halt without using DB halt

Applicable ALL Other details Servo-OFF>Setting>End
modes
Detailed Refer to Chapter 7-4
description

2 Select method of overtravel halt

Select halt method to be applied when overtravel occurs

Set value Details
Halts while performing normal torque control in case overtravel occurs. Here, torque
0 limit can be imposed by setting rotation inhibit torque limit [Pr-4.05]
Halts according to the method set al the DB halt method selection set at [Pr-0.02] in
1 case overtravel occurs.
Applicable ALL Other details Servo-OFF>Setting>End
modes
Detailed Refer to Chapter 7-2
description

3 Selection of rotation direction

Select the motor’s rotation direction

Set value Details
0 Sets forward direction to CW
1 Sets forward direction to CCW
Applicable ALL Other details Servo OFF > Setting > End
modes
Detailed Refer to Chapter 7-10
description

4 Selection of instantaneous outage detection

Select instantaneous outage detection option

Set value Details
0 Use the option
1 Not use the option
Default 0
Applicable ALL Other details Servo OFF > Setting > End
modes

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A-10 Parameter List

Selection of Auto Tuning Function

1 Selection of Auto Tuning Mode

Select auto tuning mode

Set value Details
0 Inertia identification
1 Inertia identification and resonance frequency identification
Default 0
Applicable ALL Other details Servo OFF > Setting > End
modes

2 Offline tuning speed

Adjust the rotation speed for off-line auto tuning.

Set value Details
The larger the value, the higher the speed (set value*100[rpm]). Select an
2~9 appropriate speed according to load condition.
Applicable ALL Other details Servo-OFF > Configuration > Complete
modes
Detailed Refer to Chapter 6-7
description

3 On-line tuning coefficient

Selects whether on-line auto tuning to be used and its sensitivity.

Set value Details
If this value is not ‘0’, on-line auto tuning is used.
0~9 The higher this value is set, the faster is the response to load variation so that the
motor responds to load change more quickly..
Applicable ALL Other details Servo-OFF > Configuration > Complete
modes
Detailed Refer to Chapter 6-10
description

Inertia ratio

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 Parameter List A-11

• This ratio refers to the relative amount of load’s

inertia to that of the rotor.

Motor inertia
• If the rotor’s inertia is 3[ gf.cm.s ·] and the load’s
intertia is 30[ gf.cm.s ·], the inertia ratio is
10[times].
Load inertia • As for the rotor’s inertia table, please refer to the
motor specifications on the appendix.

Initial Other
Set range Units Setting > End
value details
Applicable
0.00 to 60.00 1.00 [times] ALL
modes
• When setting the inertia ratio, 2 basic gain parameters ([Pr-1.01], [Pr-1.02]) are set automatically
by referring to system gain [Pr-1.00].
• When off-line auto tuning [run-01] function is selected, the servo drive automatically senses the
inertia ratio and sets the inertia ratio [Pr-0.04] accordingly.
Detailed Refer to Chapter 6-3
description

~ Assignment of sequence input signals

Set values

Input channel DI#7 DI#6 DI#5 DI#4 DI#3 DI#2 DI#1

number
Always Always
valid invalid
CN1 pin number 9 8 7 6 5 4 3

• As shown on the table below, relevant functions are already assigned to sequence input
parameters and the number of digits of the related configuration window; the user enters
relevant function by selecting a value in the range of ‘1-8’ , excluding value ‘0’.
• For example, if a certain function is to be applied to Pin 5 of CN1, the parameter pertaining to that
signal should be looked up from the table below and the set value entered as ‘3’.
• If the input signal function is not to be used,enter ‘0’.
• If the input signal should be always ON regardless of wiring, enter ‘8’.
The table below is a summary of parameters for each function and the 7-segment digits displayed on
the configuration window. Be sure that the digits on the configuration window match the parameters
relevant to each signal.

7-segment 4th digit 3rd digit 2nd digit 1st digit

Configuration window
of each parameter

</P-CON> <N-OT> <P-OT> </SV-ON>

1 Initial value: 4 Initial value:8 Initial value:8 Initial value: 1

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A-12 Parameter List

</P-TL> </N-TL> </A-RST>

2 </C-SEL> Initial value:7 Initial value: 6 Initial value: 5

3 </C-SP3> </C-SP2> </C-SP1> </C-DIR>

4 </PCLR> </G-SEL> </INHIB> </Z-CLP>

5 </GEAR> </C-SP4> </START> </ABS-DT>

Configuration example

Value ‘7’ is set at the 4th digit of the configuration window for
parameter[Pr-0.05].
This value has been set to use the </P-CON> function; it means that the
pin DI#7 of CN1 is to be used as input pin.
Applicable ALL Other details Servo-OFF>Configure>Reapply power>Completed
modes
Detailed Refer to Chapter 5-2
description

~ Sequence output signal assignment

Set value

Output channel number DO#3 DO#2 DO#1

Always invalid
CN1 pin number 47, 48 43, 44 41, 42
If the relevant signal is not output, the value is set to ‘0’.
The table below is a summary of each parameter per function and 7-segment values. Be sure to set
correct values for each signal’s relevant parameter and each digit in the configuration window.

7-segment 4th digit 3rd digit 2nd digit 1st digit

Configuration window
of each parameter

</BK> </TG-ON> </P-COM>

1 </V-COM> Initial value 3 Initial value: 2 Initial.value: 1

2 </WARN> </NEAR> </ V-LMT> </T-LMT>

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 Parameter List A-13

Configuration example

Value ‘3’ has been set as the 4th digit on the configuration window of
parameter [Pr-0.11].
This value is set to output the </NEAR> signal; it means that pin 47 and 48
of CN1 are to be used as output pins.
Applicable Other details Servo-OFF > Configuration>Reapply power >
ALL
modes Completed
Detailed Refer to Chapter 5-2
description

Servo ID

Initial Other
Set range Unit Setting>End
value details
Applicable
1~255 1 - ALL
modes
• Parameter for setting servo ID
• Fix this value to 1 if RS-232 is used.

Password

Password parameter for A/S usage. Unrelated to user; do NOT use this parameter.

Protocol, Data Format, and BAUD Rate

Parameter

Parameter Name RS-232C communication speed

Description Set RS-232C communication speed.
1 – 9600bps
2 – 14400bps
3 – 19200bps
Set values 4 – 38400bps
5 – 56000bps
6 – 57600bps
Default 6
Applicable modes All
Other Set§>End

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A-14 Parameter List

Parameter

Parameter Name RS-485 communication

Description Set RS-485 communication speed.
1 – 9600bps
2 – 14400bps
3 – 19200bps
Set values 4 – 38400bps
5 – 56000bps
6 – 57600bps
Default 2
Applicable modes All
Other Set§>End

Parameter

Parameter Name Data Format

Description Set data format.

Set value Data Bit Parity Bit Stop Bit

1 8 N 1
2 8 E 1
Set values 3 8 O 1
4 8 N 2
5 8 E 2
6 8 O 2

Default 1
Applicable modes All
Other Set>End

Parameter

Parameter Name Communication Protocol

Description Set Communication Protocol.

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 Parameter List A-15

0 - RAK_ASCII
Set values 1 - Modbus_RTU
Default 0
Applicable modes All
Other Set>End

Parameter Group 1

Parameter Group 1 Parameters related to control gain [Pr-1.00] ~ [Pr-1.13]

System gain

Initial Other
Set range Unit Setting > End
value details
Related
0~500 50 [Hz] ALL
modes
• A higher value results in higher position/speed/torque related gain values and higher
responsiveness. (However, excessive values can result in noise and vibrations)
• Conversely, lower values result in smaller gain and lower responsiveness; however, the whole
system’s stability is increased.
• Refers to the bandwidth of the entire speed control loop.
• When this value is changed, the gain values [Pr-1.01], [Pr-1.02], [Pr-1.03], [Pr-1.04], [Pr-1.05] are
set automatically according to the control mode while referring to the inertia ratio parameter
[Pr-0.04].
• The lower limit is 10Hz.
Detailed Refer to Chapter 6
description

Speed loop proportional gain

Initial Other
Set range Unit Setting > End
value details
Applicable
0~10000 60 [Nms] PSC
modes
• Parameter which determines the responsiveness of speed control.
• Value changed simultaneously with change of inertia ratio[Pr-0.04] or system gain[Pr-1.00]
Detailed Refer to Chapter 6
description

Speed loop integral gain

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A-16 Parameter List

Initial Other
Set range Unit Setting > End
value details
Applicable
0~60000 100 [Nms2] modes PSC

• Removes steady state speed tolerance.

• Overshoot in speed response can occur if set value is too large.
• Value changed by change in inertia ratio[Pr-004] or system gain[Pr-1.00].
Detailed Refer to Chapter 6
description

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 Parameter List A-17

Position loop proportional gain

Initial Other
Set range Unit Setting > End
value details
Applicable
0~700 20 [Hz] P
modes
• Parameter which determines the responsiveness of position control
• Change set value according to rigidity of load
• Value changed according to system gain[Pr-1.00]
Detailed Refer to Chapter 6
description

Torque command filter

Initial Other
Set range Unit Setting > End
value details
Applicable
0~10000 1000 [Hz] ALL
modes
• Suppresses hih frequency components of torque command
• Value changed according to system gain[Pr-1.00].
Detailed Refer to Chapter 6
description

Speed command filter

Initial Other
Set range Unit Setting > End
value details
Applicable
0~10000 1000 [Hz] ALL
modes
• Sets low pass cutoff frequency of speed command to suppress high frequency components
• Value changed according to system gain[Pr-1.00]
Detailed Refer to Chapter 6
description

Position command filter

Initial Other
Set range Unit Setting > End
value details

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A-18 Parameter List

Applicable
0~60000 0 [Hz] ALL
modes
Sets low pass cutoff frequency of position command to suppress high frequency components
Detailed Refer to Chapter 6
description

Vibration blocking filter

Initial Other
Set range Unit Servo OFF > Setting > End
value details
Applicable
0~10000 10000 [Hz] ALL
modes
• Torque commands around the set frequency are blocked to suppress vibrations at a specific
frequency band.
• If set to ‘0’, the vibration blocking filter function is not used.
• System gain can be increased further if the resonant frequency according to load is used
appropriately
• If value is not set according to load’s resonant frequency, vibration or noise will occur.
• This parameter is automatically set after auto tuning.
Detailed Refer to Chapter 6
description

Position FF gain

Initial Other
Set range Unit Setting>End
value details
Applicable
0~800 200 [%] ALL
modes
• Larger values result in faster position completion and smaller position tolerances at transient
response condition.
• Value can differ according to load’s type or rigidity; too large values result in vibration.
Detailed Refer to Chapter 6
description

Position FF filter

Initial Other
Set range Unit Setting>End
value details

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 Parameter List A-19

Applicable
0~2500 200 [Hz] ALL
modes
• Valid if position FF gain[Pr-1.08] is not ‘0’.
• If a value other than ‘0’ set for [Pr-1.08] results in overshoot or vibration, set this value to ‘0’.
Detailed Refer to Chapter 6
description

P control transition switch

Changes the speed controller from proportional integral(PI) to proportional(P) automatically during
transient response to suppress overshoot of speed response. Therefore, the position completion time
gets shorter in case of position control.
Set value Details
0 P/PI mode transition not used
If torque command exceeds torque value[%] set at [Pr-1.11], speed controller changes
1 from PI to P.
If torque command exceeds torque value[rpm] set at [Pr-1.11], speed controller
2 changes from PI to P.
If the position tolerance exceeds the position tolerance value[pulse] set at [Pr-1.11],
3 the speed controller changes from PI to P.
Default 3
Applicable Other
ALL Servo-OFF > Setting > End
modes details
Detailed Refer to Chapter 6-21
description

P control transition reference value

Initial Other
Set range Unit Setting>End
value details
Applicable
0~3000 100 [Variable] ALL
modes
• The unit is determined according to the value set at [Pr-1.10]
• Torque[%],speed[rpm],position[pulse]
• If the speed torque command or the position tolerance exceeds the value set in this parameter,
the speed controller changes from PI type to P type,
Detailed Refer to Chapter 6-21
description

Speed bias amount

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A-20 Parameter List

Initial Other
Set range Unit Setting>End
value details
Applicable
0 to 450 0 [rpm] ALL
modes
• In order to shorten the position decision time, if the position tolerance is larger than the value of
[Pr-1.13], a speed bias equal to the value set here is applied.
Detailed Refer to Chapter 6-21
description

Speed bias reference width

Initial Other
Set range Unit Setting>End
value details
Applicable
0 to 250 10 [pulse] ALL
modes
• Set to shorten position decision time; determines at above how many pulses of position tolerance
the bias should be applied.
Detailed Refer to Chapter 6-21
description

Pr-1.14: Current Controller BW

Parameter

Parameter Name Current Controller BW

Description Set Current Controller BW.
Set values 0~2
Default 1
Unit N/A
Applicable modes All
Other Servo-OFF > Setting> Power On> End
0: High bandwidth (10KHz)
Details 1: Middle bandwidth (66.67% of High bandwidth)
2: Low bandwidth (33.34% of High bandwidth)

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 Parameter List A-21

Pr-1.15: Velocity Response Level

Parameter

Parameter Name Velocity Response Level

Set max. system gain % recommended by the drive based on the inertia
Description ratio determined by auto tuning.
Set values 0 ~ 150
Default 50
Unit %
Applicable modes All
Other Servo-OFF >Setting >Power On > End
Details

Parameter Group 2

Parameter group 2 Speed related parameters [Pr-2.00] to [Pr-2.13]

External speed command input gain

Initial Other
Set range Unit Servo-OFF > Setting > End
value details
Applicable
10.0~2000.0 500.0 [rpm/V] S
modes
• Sets the speed command value[rpm] for the analog speed command input pin(Pin 19,20 of CN1)
• Speed command[rpm] = (Pr-2.00) [rpm/V] x Input voltage[V]
Detailed Refer to Sec. 5.3, Sec.7.6
description

Jog operation speed

Initial Other
Set range Unit Setting > End
value details

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A-22 Parameter List

Applicable
0~5000 500 [rpm] ALL
modes
Sets speed for jog operation using (run-00)
This set value is applied on approach speed for homing(run-02).
Detailed Refer to Chapter 4-22, Chapter 7-35
description

Acceleration time

Deceleration time

Initial Other
Set range Unit Setting>End
value details
Applicable
0 to 60000 0 [msec] ALL
modes
• Acceleration/deceleration time and S-operation time are set for smooth operation.
• Acceleration time is the time needed for acceleration from ‘0’ speed to motor’s rated speed.
• Deceleration time is the time needed for deceleration from rated speed to ‘0’ speed.

Motor
rated speed Speed command
Motor
set speed

0
Actual
Motor deceleration
rated speed time
Motor Speed
set speed

0
Time
Acceleration Deceleration
set time set time

Detailed Refer to Chapter 7-16

description

S-operation time

¥ Contact speed command

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 Parameter List A-23

Initial Other
Set range Unit Setting > End
value details
Applicable
0 to 5000 0 [msec] ALL
modes
• S-operation time set for smooth operation
• Applied only when acceleration/deceleration time have been set. If value is set to ‘0’,S-operation
is not performed; if a value other than ‘0’ is set, S-operation is performed on acceleration/
deceleration.

Motor Speed
Speed rated speed
Command Command
Motor
set speed
Time
0

Motor
rated speed
Acceldecel Speed
time set
Motor
set speed
Time
0

Motor
S-curve Time rated speed
Setting Speed
Motor
set speed

Time
0 S-curve set time

Detailed Refer to Chapter 7-27

description

~ Contact speed command

Other
Set range Initial value Unit Setting > End
details
Applicable
-5000 to 5000 100 to 700 [rpm] C
modes
• Sets each contact speed commands for contact speed control mode

• The operation speed should be entered in advance into the relevant parameters as
below.

• According to combination of the sequence input signals </C-SP1>, </C-SP2>, </

C-SP3>, operation at preset speed is possible.

• In addition, sequence input signal </C-DIR> is used to change the rotation direction
of each speed command.

• To reduce impact of speed change, set the acceleration/deceleration time to a

sufficient value which should not interfere with system responsiveness

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A-24 Parameter List

Contact speed Speed set parameter </C-SP3> </C-SP2> </C-SP1>

Halt command 0 [rpm] 0 0 0

Speed command 1 0 0 1

Speed command 2 0 1 0

Speed command 3 0 1 1

Speed command 4 1 0 0

Speed command 5 1 0 1

Speed command 6 1 1 0

Speed command 7 1 1 1

Parameter Initial
value[rpm]

Detailed Refer to Chapter 5-45

description

Limit speed

Initial Other
Set range Unit Servo-OFF>Setting>End
value details
Applicable
1~5000 5000 [rpm] ALL
modes
• Limits the operation speed to below this set value in all control modes. .
• There are two methods of speed limitation: limitation thorough this value and limitation through
speed command of upper level controller. Configure by referring to speed limit method selection of
[Pr-2.13].
• In addition, in torque control mode,the mode is changed automatically to speed control mode if
motor speed exceeds this value; speed control is performed using limit speed command.
• If the analog speed command exceeds motor’s maximum speed, the excessive speed command
warning “OSC: is issued.
• If excessive speed command warning is issued, the speed command is automatically reduced to
the motor’s maximum speed.
Detailed Refer to Chapter 7-18
description

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 Parameter List A-25

Speed limit selection

Select the method of speed limitation

Set value Details
0 Speed limit function not used.
1 Limited by [Pr-2.12]
2 Speed limited by analog speed command(in modes other than speed control mode)
3 Speed limited to [Pr-2.12] or analog speed command, whichever is the smaller
Applicable ALL Other details Servo-OFF>Setting>End
modes
Detailed
description Refer to Chapter 7-18

Parameter Group 3

Parameter Group 3 Position related parameters [Pr-3.00] to [Pr-3.04]

Position command pulse type

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A-26 Parameter List

Select the pulse type of the higher level controller’s position command pulse.
Positive logic
Input Set
Pulse type Forward rotation Reverse rotation multiplier value

PULS "L" PULS

CW + CCW SIGN SIGN "L" -

PULS PULS
Pulse train+Sign -
SIGN "H" SIGN "L"

X1 times

A phase+ B PULS PULS

X2 times
phase
SIGN SIGN

X4 times

Negative logic

PULS "H" PULS

CW + CCW -
SIGN SIGN "H"

PULS PULS
Pulse train+Sign -
SIGN "L" SIGN "H"

Applicable P Other details Servo OFF>Setting>End

modes
Detailed Refer to Chapter 5-9
description

Position command pulse type

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 Parameter List A-27

• Sets the position command pulse type of higher level controller.

• For line drive output, the maximum allowed input frequency is 900 [kpps].
• For open collector output, the maximum allowed input frequency is 300 [kpps].
• If pulse input frequency exceeds the maximu allowed input frequency, an excessive command
pulse servo alarm (E.ovPUL) is issued.
Set value Details
0 Uses the line drive output of higher level controller
1 Uses open collector output of hiher level controller
Applicable P Other details Servo-OFF>Setting>End
modes
Detailed Refer to Chapter 5-9
description

Encoder pulse output direction

Sets the encoder’s pulse direction when the servo drive outputs encoder pulse to higher level
controller.
Set value Details

90 deg
Encoder
Phase A of encoder output leads 90 ° at output :Phase A
0 forward rotation
Encoder
output :Phase B

90 deg. phase difference

Encoder
Phase B of encoder output leads 90 ° at output :Phase A
1 forward rotation
Encoder
output :Phase B

Applicable ALL Other details Servo-OFF>Setting>End

modes
Detailed Refer to Chapter 7-21
description

PCLR input selection

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A-28 Parameter List

When this signal is input, the position error is cleared to ‘0’ so that, if no more position command
pulses are input, the moor can be halted at current condition. The position error clear(PCLR) input
signal is input at pins (15,16) of CN1.
Sets the signal’s trigger condition at position error clear input to clear the error to ‘0’.
Set value Details

Cleared at H level.
0 As long as H level is maintained, the error stays at (0). "H"

1 Cleared only once at rising edge.

Cleared at L level. "L"

2 As long as L level is maintained, the error stays at (0).

3 Cleared only once at falling edge.

Applicable P Other details Servo-OFF>Setting>End

modes
Detailed Refer to Chapter 5-9
description

Electronic gear (Numerator)

Electronic gear (Denominator)

Initial Other
Set range Unit Servo-OFF>Setting>End
value details
Applicable
1~65535 2048 [pulse] P
modes
• By using the electronic gear function, the amount of motor rotation pr input command pulse can
be set arbitrarily.
• The following relationship has to be satisfied: No.,of pulses per 1 motor rotation x Reduction ratio
x 4 (Pr-3.02)
• Maximum resolution=1/ ([No.of pulses per 1 motor rotation] x [Reduction ratio] x 4)
Detailed Refer to Chapter 5-9
description

Position output pulse adjustment (Numerator)

Position output pulse adjustment (Denominator)

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 Parameter List A-29

Initial Other
Set range Unit Servo-OFF > Setting > End
value details
Applicable
1 to 65535 2048 [pulse] ALL
modes
• Sets the number of pulses to be output through the servo drive’s encoder signal output (EA+, EA-,
EB+, EB-) for one motor rotation/
• At [Pr-3.03] , the numerator of the encoder’s output divider ratio is entered. Generally, the number
of pulses to be output at 1 motor rotation is entered.
• At [Pr-3.04], the denominator of the encoder’s output divider ratio is entered. Generally, the number
of pulses output from the encoder connected to the motor for 1 rotation is entered.
• For the encoder output division ratio, the relationship [Pr-3.03] £ [Pr-3.04] has to be satisfied.

Numera
tor No .,of output pulsesper Output to higher level
 rotation = controlle r
Denomi
nator

Detailed Refer to Chapter 7-21

description

2nd Electronic gear (Numerator)(1)

2nd Electronic gear (Denominator)

(1)
The same function as Pr-3.01 or Pr-3.02. These are effective only when /GEAR input is ON.

Initial Other
Set range Unit Servo-OFF>Setting>End
value details
Applicable
1~65535 32768 [pulse] P
modes
• By using the electronic gear function, the amount of motor rotation per input command pulse can
be set arbitrarily.
• The following relationship has to be satisfied: No.,of pulses per 1 motor rotation x Reduction ratio
x 4 (Pr-3.02)
• Maximum resolution=1/ ([No.of pulses per 1 motor rotation] x [Reduction ratio] x 4)
Detailed Refer to Chapter 5-9
description

Parameter Group 4

Parameter Group 4 Torque related parameters [Pr-4.00] to [Pr-4.06]

External torque command input gain

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A-30 Parameter List

Initial Other
Set range Unit Servo OFF>Setting>End
value details
Applicable
0.0~100.0 33.3 [%/V] ALL
modes
• Set the speed command value[%] for 1[V] on the analog torque command input pin(pin 21,22 of
CN1)
• Torque command[%] = [Pr-4.00] [%/V] x input voltage[V]
Detailed Refer to Chapter 5-38
description

Forward torque limit

Reverse torque limit

Initial Other
Set range Unit
value details Setting > End
Applicable
0~300 300 [%] ALL
modes
Limits forward and reverse direction torque on motor separately. (internally limited)
Detailed Refer to Chapter 5-38
description

Forward torque external limit

Reverse torque external limit

Initial Other
Set range Unit Setting>End
value details
Applicable
0~300 100 [%] ALL
modes

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 Parameter List A-31

• The torque imposed on the motor is internally limited automaticaly by the values set on [Pr-4.01],
[Pr-4.02]. Additionally, it is also limited by the values set on [Pr-4.03], [Pr-4.04] when external </
P-TL>,</N-TL> signals are input through sequence input.
• The torque limit according to internal limit [Pr-4.01] and [Pr-4.02] takes precedence to external
torque limit </P-TL> and </N-TL> signals.

Internal limit Sequence External limit

input

Torque / P- TL Torque
Forward
torque OFF
Pr-4.01 Pr-4.03
(+)
ON
Speed Speed
Torque 0 0
command
Speed 0 Speed 0
Pr-4.02 ON Pr-4.04
(-)
Reverse
torque OFF
Torque / N- TL Torque

Detailed Refer to Chapter 5-38

description

Rotation inhibit torque limit

Initial Other
Set range Unit Setting>End
value details
Applicable
0~300 300 [%] ALL
modes
• Limits the torque imposed on the motor if the motor is halted by overtravel(<P-OT>,<N-OT>) input
signal during rotation.
• Unlike external and internal torque limit, the torque limit value for overtravel input is same for
forward and reverse direction.
Detailed Refer to Chapter 5-38
description

Initial torque bias

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A-32 Parameter List

Initial Other
Set range Unit Setting > End
value details
Applicable
-100~100 0 [%] ALL
modes

• If, as in the figure, the servo IN signal is applied

to drive the motor while the load is along the
vertical axis, descent of load due to gravity can
take place.
• In addition, the motor brake has to be engaged
or released on servo-ON and servo-OFF; if the
timing is not adjusted properly, the load
descends momentarily thereby causing vibration
on equipment.
Initial torque bias
• This property of vertical axis load results in
speed overshoot on motor control which in turn
Descent due to increases the position decision time. In addition,
gravitiy if an attempt to drive the motor is made while
the brake is engaged, a servo alarm may be
issued.

• Initial torque bias is a function to apply an initial torque equal to the load’s descent which occurs
when the servo-ON signal is applied in a direction opposite to the iitial torque descent direction
in order to prevent descent due to gravity when trying to control such vertical axis load.
• If the initial torque bias has been set properly according to the load’s descending power, the
descent of vertical load at initial stage of operation can be prevented.
If vertical load is controlled, use a motor with built-in brake or install a brake system.
Detailed Refer to Chapter 6-20
description

Parameter Group 5

Parameter Group 5 Parameters related to auxillary functions [Pr-5.00] ~ [Pr-5.13]

Position completion decision width

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 Parameter List A-33

Initial Other
Set range Unit
value details Setting > End
Applicable
0~250 10 [pulse] P
modes
• Set to output the position completion indication singal</P-COM>, a sequence output signal.
• Sets the position(pulse) error range to output the position completion indication signal when the
servo drive performs position(pulse) command according to the higher level controller’s
position(pulse) command
• When the position error comes within set range and the position pulse command frequency is
entered below 100[pps] the position completion detection signal(/P-COM> is output at the
assigned output pin.
Detailed Refer to Chapter 5-38
description

Position approximation decision width

Initial Other
Set range Unit Setting > End
value details
Related
0 to 250 20 [pulse] P
modes
• Set to output the position approximation detection signal </NEAR> .which is a sequence output
signal.
• Sets the position(pulse) error’s range to output the position approximation detection signal when
the servo drive performs position(pulse) command according to position(pulse) command of
higher level controller.
• If position error is within set range and the input position pulse command’s frequency is below
100[pps] , the position completion detection signal</NEAR> is output to the assigned output pin.

Position
error
Pr-5.01
Pr-5.00
Time
0

/NEAR ON OFF ON

/P-COM ON OFF ON

Detailed Refer to Chapter 5-38

description

Speed match decision width

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A-34 Parameter List

Initial Other
Set range Unit Setting > End
value details
Applicable
0 to 1000 10 [rpm] S
modes
• Set to output speed match detection signal</V-COM> which is a sequence output signal.
• Sets the speed error range for output of speed match signal when the servo drive performs speed
command according to speed command of higher level controller.
• When the speed error is within set range and </V-COM> output is assigned to sequence output
signal, the speed match detection signal</V-COM> is output to assigned output pin.

Difference between speed /V-COM

command and actual rotation speed c Set value
output

Rotation
speed
Set
Pr-5.02 value
Actual speed
Time
0

/V-COM Output OFF ON OFF

Detailed Refer to Chapter 5-28

description

Rotation detection level

Initial Other
Set range Unit Configure>Complete
value details
Applicable
1 to 5000 20 [rpm] ALL
modes
• Set to output rotation detection signal</TG-ON> which is a sequence output signal.
• </TG-ON>signal is output if the servo motor’s rotation speed exceeds set value.
• If value is set too small, rotation detection signal can be output even due to small vibrations.

Rotation
speed
Actual speed
Pr-5.03 Set value
Time
0

/TG-ON Output OFF ON OFF

Detailed
description Refer to Chapter 5-28

Speed zero clamp level

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 Parameter List A-35

Initial
Set range Unit Other details Configure>Complete
value
Applicable
0~5000 0 [rpm] S
modes
• Used if the motor shows slight operation even when setting analog speed command to ‘0’ at
speed control mode. The zero-clamp function ignores small speed commands to keep motor at
halted state.
• Small speed commands below set value are ignored; if speed command exceeds set value, motor
is accelerated to set speed.
• Zero clamp function is activated when sequence input signal </Z-CLP> is assigned and signal is
input into assigned input pin.
• If a value other than ‘0’ is set at Pr-5.04, automatical speed clamp is performed regardless of
</Z-CLP> input even if </Z-CLP> input is not assigned.

Analog speed
command(external
input voltage)

Pr-5.04

0 Time
/Z-CLP input OFF ON

Actual speed
command

Pr-5.04

0 Time

Detailed Refer to Chapter 5-28

description

Brake release wait time

Initial Other
Set range Unit Servo-OFF>Setting>End
value details
Applicable
0~1000 0 10[ms] ALL
modes

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A-36 Parameter List

• Parameter set to control brake installed on motor.

• If motor brake is in engaged state when the drive is about to drive the motor, the brake has to be
released first.
• Here, if the brake is released before servo is set ON(or at the same time), the vertical load will
descend temporarily. Therefore, the drive should first set servo ON to prevent descent of vertical
load then release the brake.
• This parameter is set to reserve time from servo drive setting servo –ON to release of motor
brake.

52[ms] fixed value

/SV-ON command of
higher level controller ON
OFF
Brake release Servo driver executing
Wait time /SV-ON command OFF ON

Motor brake Inactive

Operation

Detailed Refer to Chapter 7-6

description

Servo-OFF delay time

Initial Other
Set range Unit Servo-OFF>Configure>Complete
value details
Applicable
0~1000 0 10[ms] ALL
modes

• The time from the drive’s receiving servo-OFF command from higher level controller to the drive’s
actually setting servo-OFF can be set.
• This parameter is used to set the delay time from the higher level controller’s command to set
servo-OFF to the drive’s activating the motor drive.

/SV-ON command of OFF

higher level controller ON

Servo-OFF Servo driver executing OFF

delay time /SV-ON command ON

Detailed Refer to Chapter 7-6

description

Brake operation wait time

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 Parameter List A-37

Initial Other
Set range Unit Servo OFF>Configure>Complete
value details
Applicable
0~1000 50 10[ms] ALL
modes
• Higher level controller issues Servo-OFF command to drive in order to halt motor.
• The time delay from this point to the motor brake’s actual operation can be set.

/SV-ON command of
upper level controller ON OFF

Brake operation Motor brake

wait time Inactive Operation

Detailed Refer to Chapter 7-6

description

Brake operation start speed

Initial
Set range Unit Other details Servo-OFF > Configure > Complete
value
Applicable
0~1000 100 [rpm] ALL
modes

The motor speed at the point the motor brake is activated can be set.

/SV-ON command of
upper level controller ON OFF

Brake output start Motor speed

speed
Set speed

Motor brake
Inactive Operation

Detailed Refer to Chapter 7-6

description

Position error range

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A-38 Parameter List

Initial Other
Set range Unit Configure>Complete
value details
Applicable
0~65535 20480 [pulse] P
modes
• If the difference between position command and actual position exceeds th set value, a position
error overflow servo alarm(E.PoSEr) is issued.
Detailed Refer to Chapter 5-9
description

Temporary power failure allow time

Initial Other
Set range Unit Servo-OFF>Configure>Complete
value details

20~1000 20 [ms] Applicable ALL

modes
• Sets the duration of temporary power failure above which a servo alarm should be issued.
• If the main circuit power supply sustains a failure for a time longer than the set value, the
temporary power failure servo alarm(E.AcoFF) is issued.
• Not valid if the main power input is set to DC input terminal at [Pr-0.02].
Detailed Refer to Chapter 4-13
description

Reserved

Analog monitor output CH1 selection and

scaling

Initial Other
Set range Unit Configure > Complete
value details
Refer to
0-0001 ~ Applicable
0-0500 table ALL
6-2500 modes
below
• The servo drive outputs analog monitoring signals which can be input into an oscilloscope so that
the user can monitor the control operation.
Detailed Refer to Chapter 7-25
description

Analog Monitor Output CH2 Selection and

Scaling

Initial
Setting Limit Unit Others Setting > End
Value
0-0001 ~ Table Applicable
3-0500 ALL
6-2500 below Mode

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 Parameter List A-39

Setting Example Selection No. Type Setting Limit Unit

Speed
0 1~500 [rpm]
command
Torque
1 1~30 [%]
command
Selection No.
Position
2 1~5000 [pulse]
command
Speed
3 1~500 [rpm]
Feedback
Torque
Setting Limit 4 1~30 [%]
Feedback
Position
5 1~5000 [pulse]
Feedback
6 Position Error 1~2500 [pulse]
Details Chapter 7-25

Selection of battery when using serial

absolute value encoder

Sets whether battery should be used when using serial absolute value encoder.
This parameter is not valid when using ordinary absolute value encoders.
If value is set to 1, the serial absolute value encoder is recognized as a serial incremental encoder;
therefore, in this case, the multirotation data from the absolute value encoder is not valid.
Set value Details
0 Battery used
1 Battery not used
Applicable ALL Other details Servo-OFF > Configure > Reapply power > Completed
modes

Selection of speed monitor use

When high resolution encoder is used by activating speed monitor, the speed ripple occurring at low
speed operation can be reduced.
Initial value 0
Set value Details
0 Speed monitor is not used
1 Speed monitor is used
Applicable P,S,C Other details Servo-OFF > Configure > Reapply power > Completed
modes

Publication CSD3P-UM001E-EN-P — February 2008

A-40 Parameter List

Selection of excessive speed error

detection

When excessive speed error detection function is used, E.SPDER error shows up when the speed
error is out of tolerable speed error range.
Set value Details
0 Excessive speed error detection function is not used
1 Excessive speed error detection function is used
Applicable S, P Other details Servo-OFF > Configure > Reapply power > Completed
modes

Operation Mode Function List

Jog Operation

Off-Line Auto Tuning

Homing

Auto Adjustment of Speed Command Offset

Auto Adjustment of Torque Command Offset

Manual Adjustment of Speed Command Offset

Manual Adjustment of Torque Command Offset

Adjustment of Current Feedback Offset

Alarm Reset

Alarm History Clear

Publication CSD3P-UM001E-EN-P — February 2008

 Parameter List A-41

Absolute Encoder Reset

2-Group Gain Storing

Parameter Initialiaztion

Publication CSD3P-UM001E-EN-P — February 2008

A-42 Parameter List

Monitor Mode Function List

Monitor Mode Name Unit

Speed Feedback [rpm]

Speed Command [rpm]

Speed Error [rpm]

Torque Command [%]

Position Feedback [pulse]

Position Command [pulse]

Position Error [pulse]

Position Command Pulse Frequency [kpps]

Electrical Angle [û]

Mechanical Angle [û]

Regeneration Accumulation Loading [%]

Rate

DC Link Voltage [V]

The Number of rotation data of -

Absolute Encoder

Speed Command Offset [mV]

Torque Command Offset [mV]

Input & Output Signal Status Refer to 7.11

Alarm History Refer to 7.11

Firmware Version [rpm]

Publication CSD3P-UM001E-EN-P — February 2008

 Parameter List A-43

Motor & Encoder Type Refer to 7.11

Analog speed command voltage [0.01V]

Analog torque command voltage [0.01V]

Drive rated output -

1-time rotation data of absolute -

encoder

Encoder Feedback Counter Pulse

Publication CSD3P-UM001E-EN-P — February 2008

A-44 Parameter List

Publication CSD3P-UM001E-EN-P — February 2008

 Appendix B

Servo Drive Specification

Introduction
Topic Page
Introduction B-1
Servo Drive Specification B-2

1 Publication CSD3P-UM001E-EN-P — February 2008

B-2 Servo Drive Specification

Servo Drive Specification Outline Drawing

Model Rated Output Input Power Weight

CSD3-A5BX2 50[W]
CSD3-01BX2 100[W] 1 Phase 200-230[V], 50/60[Hz] 0.9[kg]
CSD3-02BX2 200[W]

50 5 <165>
140 55

5
5
4.
All-In-One

Ø
2-

145

155
153
5

Model Rated Output Input Power Weight

CSD3-04BX1(P) 400[W] 1 Phase 200-230[V] 50/60[Hz] 1.2[kg]

165 70
50 20 140 55
5
5
4.

All-In-One
Ø
2-

145

155

153
5

Publication CSD3P-UM001E-EN-P — February 2008

 Servo Drive Specification B-3

Model Rated Output Input Power Weight

CSD3-10BX1(P) 1[kW]
3 Phase 200-230[V], 50/60[Hz] 2.1[kg]
CSD3-15BX1(P) 1.5[kW]

210 90
63 27 185 55

5
5
All-In-One

5.
Ø
2-

145

155
198

Publication CSD3P-UM001E-EN-P — February 2008

B-4 Servo Drive Specification

Specification

Control Method PWM control using ASIPM

Basic Specification
2048/2500/5000/10000 P/R (Incremental/Absolute Type)
Feedback Method 131072 P/R (17bit Serial Incremental/Absolute Type)
Operation Temp./Humidity 0 to 50/90% RH or less
Storing Temp./Humidity -25 to 80/90% or less
Mounting Method Base Mounting Type
Speed Control Range 1:5000
Performance

SpeedTorque Control
Load ±0.01% or less (at rate speed or in load rate 0 to 100%)
Variation
Speed Voltage 0% (at rate speed or in supply voltage 170 to 253VAC)
Variation Variation
Temp. ±0.1% or less (at rated speed or in ambient temperature
Variation 25±25)
Frequency Bandwidth 550Hz
Torque Control Precision ±2%
Acceleration 0 to 60sec
/Decelertion Time
Feedforward
Control
Position

0 to 100%
Compensation
Positioning Completion 0 to 250[pulse]
width
CW+CCW, Pulse + Sign
Command Signal

Position Control

Command Pulse Type A phase + B phase (90°phase difference )

Command Pulse Input Line Drive : Differential Signal Level 2.8 to 3.7V
Type Open Collector : External 24V DC, 12V DC, 5V DC
Line Drive : Max 900[kpps]
Frequency Open Collector : Max 200[kpps]
Control Signal Postion Error Clear Signal
Command Voltage ±10V DC (16Bit A/D conversion)
Speed Control Multi-Step

Input Impedance About 8.3 MΩ

Circuit Time Constant 1µs

Rotation Direction
Speed

Selection Used by sequence Input setting.

Speed Selection

Publication CSD3P-UM001E-EN-P — February 2008

 Servo Drive Specification B-5

Line Drive Output : A, B, Z pulse,

I/O Signal
Position Output Type Absolute Encoder Data
Feedback Open Collector Output : Z pulse
Dividing Ratio User Defined
Servo-On, Alarm Reset, Gain Group Change
Forward/Reverse Torque Limit, Homing
Forward/Reverse Rotation Limit
Sequence Input P/PI or control mode change
Multi-Step Speed Command
Zero-Clamp, Position Command Override
Absolute Encoder Data Transmission
Positioning Completion, Position Nearing
Speed Coincidence, Rotation Detection
Seauence Output Torque Limit Detection, Speed Limit Detection
Brake Control Signal, Warning
Emergency Stop H/W Emergency Stop Input
Dynamic Brake Operate in case of main power-off or alarm
Regenarative Resistor Built in 400W or more
Overcurrent, Overvoltage, Overload, Overspeed
Overregenertion, Overheat
Protection Temporary Power Down, Low Voltage, CPU Fault
Communication Fault
2CH D/A outputs for measuring commands or feedback,
Monitoring error
Communication RS-232C

Publication CSD3P-UM001E-EN-P — February 2008

B-6 Servo Drive Specification

Publication CSD3P-UM001E-EN-P — February 2008

CSD3 Plus Servo Drive User Manual (CSD3-xxBX2 Rev.B)

OEMAX Controls
www.oemax.com Trademarks not belonging to Rockwell Automation Korea
are property of their respective companies.
www.oemax.co.kr

Publication CSD3P-UM001E-EN-P - February 2008 7 Copyright © 2008 Rockwell Automation Korea. All rights reserved.