General Digital Servo Drive CSD5

General Digital Servo Drive CSD5

CSD5 is a stand-alone type Servo Drive to use general purpose for overall factory automation. Its excellent control performance and simplified gain tuning as well as network features are designed to reduce the equipment set-up time. The added features of CSD5 such as linear motor control solution and indexing deliver additional values by enabling the user to design equipments without a separate dedicated controller.

Optimized performance in position control • 3MHz pulse can be input via dedicated high-speed pulse input line • Supports all types of pulse input methods • 4 gain system enables fine tuning • Enhanced notch filter feature improves vibration control performance

No need for separate higher controller • Provides 64 point indexing features • Supports various and convenient return to zero methods with 9 different modes • ModBus RTU communication enables multi-drop control

More convenient and simpler control • One parameter tuning makes the gain control simpler • User friendly RS Ware makes control from the PC easier • Several Servo Drives can be monitored by one PC • The user can define all I/O features

2

General Digital Servo Drive CSD5

Improved features of CSD5 Improved tuning capability

RSWare, more convenient PC interface

• Online vibration monitoring function

• Multi connection via RS485 Modbus • Parameter editing and upload/download • Oscilloscope function with precision

Before

After

Waveforms before and after the use of resonance filter

• • • •

Fine tuning function with a 4 gain system Improved vibration control with an enhanced notch filter Simpler tuning with one parameter tuning Positioning complete time shortened via P/PI automatic gain change

Before

After

Speed waveforms before and after automatic P/PI gain change

Position control using indexing mode • Capable of maximum 64 points of index motion • Individual setting of position data, acceleration/deceleration, and speed • Support for 9 types of homing modes • Simple programming through RSWare (The programming is possible with built-in jog and Modbus) • Index control for several servos through Modbus-RTU communication • Jog operation in index mode

Other features • Support for 3rd party motor and linier motor • 10 Bit 2 channel-D/A output for monitoring • Built-in jog  6 digits, 7 segments display  Parameter editing  Monitoring and jog operation • Network connection  Support for 2 hardware interfaces (RS232, RS485)  Support for 2 protocols (Modbus, RTU, ASCII)  Built-in RS485 terminating resitance  Multidrop connection enabled using RS485

RS485, Modbus RTU

Position selection using 3 combinations of I/O

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General Digital Servo Drive CSD5

CSD5 specifications Items

50W,100W, 200W, 400W Main circuit power

Power 1

Control power Basic specifications

SVPWM control via IPM

Encoder 2 Operating environment temperature / Humidity Storage / Humidity Vibration / Shock resistance

2048/2500/10000 P/R (Incremental type), 131072 P/R (17bit serial incremental, absolute type) 0º to +50º / 90% or less (non-condensing) -20º to +85º / 90% or less (non-condensing) Vibration 2G / Shock 15G or less (1G equals gravity acceleration : 9.8m/s2)

Output specification Division ratio

External Input

External output

Allocation 3 points : positioning completion detection, position proximity detection, speed coincidence detection, rotation detection, torque limit detection, speed limit detection, brake control, warning, axis zero return While in Motion or Dwell, select Index 0 to 5 Fixed 5 points : servo alarm mode (3bit), Z-pulse (open collector), servo alarm

Protective functions Dynamic brake Regeneration 3 D/A output LED

Speed control

Position control

Encoder A, B, Z-phase output (line driver output) N/M (N, M ≤ 32768) Allocation 10 points : servo ON/OFF, servo on, alarm reset, gain group shift, forward/reverse torque limit, forward/reverse revolution prohibition, P control shift, control mode shift, contact speed control instructions, zero-clamp, ignore pulse instructions, absolute value data transmission, position clear, contact mode start, Electronic gear rate shift, zero sensor, indexing pause, indexing stop, absolute value date reset, select index input 0 to 5 Fixed 1 point : E-stop(option)

I/O specifications

Monitoring

1KW, 1.5KW

Control methods

Position

Protective functions

800W

Single-phase 200 to 240V, 3-phase/Single-phase 200 to 240V 3-phase 200 to 230V, +10% to +10 to -15%, 50/60Hz (Default : 3-phase) -15%, 50/60Hz50/60 Hz Single-phase 220 to 240V, + 10 to -15%, 50/60Hz

Over-current, overload, overvoltage, over speed, IPM overheating, low voltage, CPU failure, encoder failure, communication disturbances, dynamic brake malfunction, etc. Off servo/control device, activated when the alarm goes off For motors with 200 Watts or less, no neeed for regeneration resistance. For motors 400 Watts or more, external regeneration resistance attachable when needed. Position / speed / torque command, and feedback, position error (max, ±10V) Charge (all models applied) Monitoring error values, feedback values, Offset values, and command values of speed/torque/position/ electrical angle/mechanical angle, load inertia ratio, and conditions of I/O. Servo run, servo alarm

7. SEG LED External communication PC software Speed control range Voltage fluctuation rate Load fluctuation rate Speed states Speed Temperature fluctuainput tion rate Frequency Acceleration/Deceleration time constant setting Rated speed operation commend 4 Speed Rated Input impedance speed/ Circuit time constant Torque Rated torque input instruction Torque Input impedance Feed forward compensatory Types Pulse type Commend Input pulse signal Pulse frequency Control signal Capsuling Others

RS-232/485, Modbus RTU, ASCII, RSWare 1 : 5,000 0 to 100% : or less (at Rated Speed) 220V, + 10 to -15%, 50/60Hz : 0.01% 25±25º : ±0.01% or less (at rated speed) 800㎐ (JL = JM) 0 - 60 sec DC ±10V (default is 6V at rated speed.) Approx. 8.3㏁ Approx. 3.2μ DC ±10V (default is 3V at rated torque.) Approx. 8.3㏁ 0 to 100% (setting resolution: 1%) CCW pulse + CW pulse, Sign+pulse, 90º phase difference 2-phase pulse (A-phase + B-phase) Line drive (+5V), open collector (+5V, +12V, +24V), high frequency line drive (+5V) 0 to 900 kpps (line drive), 0 to 250 kpps (open collector), 0 to 3MHz kpps (high frequency line drive) Clear, inhibit (pulse type) Base mounted Torque control, position/speed mode, position/torque mode / indexing mode/combination control mode Torque/Speed control mode, position/multi-level speed mode, zero-clamp drive, soft-start/stop, set speed, Brake control, JOG operation, auto tuning, reverse operation, etc.

PRECAUTIONS 1. Since CSD5 servo drive has a built-in DC power AMP, an additional DC power supply is not necessary. (DC 24V Power supply for external I/O is optional.) 2. Output cannot be more than the number of Encoder pulses for one rotation of the motor. 3. When the motor decelerates, regeneration energy is generated. Regeneration energy absorbed by the drive and the motor varies depending on the motor rotation speed and the load’s inertia. 4. In the speed control, it can rotate in one direction at the lowest speed due to the offset. Note: Maximum allowed load inertia rate for RSMD/S/H motors is 30 for less than 200W, 15 for less than 1kW. For RSMD/S/H motors, the rotor inertia is 10. Please be careful not to exceed the maximum allowed inertia for the motors.

4

General Digital Servo Drive CSD5

Drive and motor selection Drive model code format



C S D 5

0 1 B X 1

Rated output (W)

Input voltage(V)

Designing order

A5 01 02 04 08 10 15

B

X1

50W 100W 200W 400W 800W 1kW 1.5kW

220V

Ver.1

Servo motor model code format

R S M Z  0 1 B A 1 A N K 3 Motor format RZ: RSMZ series RQ: RSMQ series RD: RSMD series RH: RSMH series RS: RSMS series

Rated output (W) Input voltage(V) A3 A5 01 : 45 50

30W 50W 100W : 4.5kW 5kW

B

220V

Designing order 1

3

Encoder type B A Q R

Motor axis specification

Ver.1

2048 p/r 25008 p/r 17bit Abs. 17bit inc.

Key type

Key A B

YES NO Option N S B T

None Oil seal Brake Oil seal, Brake

Drive and motor selection table Servo drive CSD5

01BX1

-02BX1 -04BX1 -08BX1

RSM series RSMZ

RSMS

-A3Bx -A5Bx -A8Bx -01Bx -02Bx -04Bx -06Bx -08Bx -10Bx

RSMH

-05Bx -08Bx

10BX1 15BX1

RSMD

-10Bx

-10Bx

-15Bx

-15Bx

-10Bx -15Bx

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General Digital Servo Drive CSD5

Drive wiring diagram and system description Wiring diagram

System description

Power Molded Case Circuit Breaker Magnetic Contactor

7 Press Push Button S/W (On only when pressed down) at least 1 second.

1

Connect when the power needs to be cut off depending on the circumstances.

8

2

Al arm Display Lamp Attach surge suppressor to the relay coil of the magnetic contactor.

3

SERVO DRIVE

9 4

Servo Motor

Connecting the grounding line of the radiating plate to the grounding connection terminal Regeneration Resistor is incorporated for the drive more than 400[W].

Regenerative Resistor

Item 1 2 3

CN1 24V [or GND] INPUT

OUTPUT

1 GND [or 24V]

2

37

24V Active Low/High Programmable Digital Inputs

INPUT1 (/SV-ON)

3

38

INPUT2 (P-OT)

4

39

INPUT3 (N-OT)

5

40

INPUT4 (/P-CON)

6

29

INPUT5 (/A-RST)

7

INPUT6 (/N-TL)

8

INPUT7 (/P-TL)

9

INPUT8

26

INPUT9

27

INPUT10

28

E-STOP

10

24V_PULS+

49

PULS +

11

PULS -

12

24V_SIGN+

25

SIGN +

13

SIGN -

14

HF_PULS +

15

HF_PULS -

16

10

5 6

Do not use a drive with 400W or less.

P

30 31

P

32

FAULT 1 / OUTPUT 4

Binary Fault Code Outputs / Digital Outputs

FAULT 2 / OUTPUT 5

4 5 6 7 8 9 10

Description Analogue monitor output RS485 terminating resistance switch Control power input (L1C, L2C) Main power input (L1, L2, L3) Connecting shunt resistor Motor 3-phase power supply output Connecting FG Built-in Jog Serial communication (Comm0A, Comm0B) User I/O Motor feedback (encoder)

FAULT 3 / OUTPUT 6

Binary Fault Code Ground / Digital Outputs Ground

FCOM/OUTCOM

* Detachable connector enables wiring cable and

AM +

product exchange to be simpler and faster.

AM -

BM + BM -

Buffered Encoder Output

33 IM + P

34

IM -

35 PS + P

36

Absolute Position Serial Output

PS -

17 P

Position Command

150

18

Z-PULSE + Z-PULSE -

45 FAULT + P

46

FAULT -

P

42

OUTPUT1+ OUTPUT1-

43

HF_SIGN +

23

HF_SIGN -

24

Fault Output

150 41

High Frequency Position Command

Encoder Marker Pulse

OUTPUT2+ P

44

OUTPUT2-

24V Programmable Digital Outputs

47 OUTPUT3+ P

48

OUTPUT3-

19

Speed Command -10V to +10V

20

Current Command -10V to +10V

22

21

16-bit A/D

12-bit A/D

50

6

Note1): Connect when absolute value encoder is used. Note2): Valid when 17Bt absolute value encoder is used Note3): P stands for twisted pair line.

General Digital Servo Drive CSD5

Dimensions 500W, 100W, 200W 153.4 [6.04] 141 [5.55]

53 [2.09] 50 [1.97]

Depth 1

Depth 2 1)

155mm

53mm

153mm

210mm

5 [0.20]

Width

.5 8] 40.1 [

1)

Height

155 [6.11]

145 [5.71]

[4.5 0.1 8] 5 [0.20]

48.3 [1.90]

Depth2 stands for the dimension when wiring cables.

400W 153.4 [6.04] 5 [0.20]

4.5 ]  0.18 [

141 [5.55]

58 [2.29] 50 [1.97]

Depth 1

Depth 2 1)

155mm

58mm

153mm

210mm

5 [0.20]

Width

.5 ] 40.18 [

Height

155 [6.11]

145 [5.71]

48.3 [1.90]

800KW, 1KW, 1.5W

Width

Depth 1

Depth 2 1)

155mm

81mm

198mm

225mm .5

5 .22] 0 [

5

Height

81 50 [1.97]

155

[3.19]

[0.20]

145 [5.71]

]

5 [0.20]

.5

5  0.22 [

[7.82] 186.2 [7.34]

[6.11]

198.6 59.1 [2.33]

CAD Data of the above dimensions are available to download at our company website(www.oemax.com).

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General Digital Servo Drive CSD5

Servo motor Encoder

Rated output

Rated/ Maximum speed

Motor structure

2500p/r

17bit serial Abs./Inc

Enclosure

Feature

Main applications

RSMZ

30W to 600W

3000/5000

Cylinder

O

O

IP 65

Ultra low inertia

Belt Load, Robots, Chip Mounters, Inserter, XY tables

RSMD

950W

3000/3500

Cylinder

O

O

IP 65

Low inertia

Carrying Machines, Robots, XY tables

RSMH

100W to 400W

3000/5000

Cylinder

O

O

IP 65

Ultra low inertia

Machine Tools, Winding Machines, Extruders, Wood Working Machine

RSMS

0.75kW to 5kW

2000/3000

Cylinder

O

IP 65

Low inertia

High-speed locating precision instruments

Motor series

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