Tài liệu Csd3 servo user manual_en

SM Maximum Value for OEMs CSD3 Plus Servo Drive User Manual V2.40 - Contents Chapter 1: Before Using the CSD3 Servo Drive 1.1 Safety Precautions.................................................................................... 2 1.2 How to Use This Manual ............................................................................ 3 1.2.1 Terminology....................................................................................3 1.2.2 Notation Description ........................................................................3 1.2.3 Manual Description Order .................................................................4 1.2.4 Others............................................................................................4 1.3 Product Type and Each Part Name .............................................................. 5 1.3.1 Name of Each Part of the Drive.........................................................5 1.3.2 Model Number of the Drive ...............................................................6 1.3.3 Drive Type (by function)...................................................................6 1.3.4 Drive Type (by capacity) ..................................................................7 1.3.5 Name of Each Motor Part .................................................................7 1.3.6 Model Number of the Motor ..............................................................8 1.3.7 Reducer .........................................................................................9 Chapter 2 : Installation 2.1 Installation .............................................................................................12 2.1.1 Servo Motor.................................................................................. 12 2.1.2 Servo Drive................................................................................... 14 Chapter 3 : Wiring 3.1 Before You Begin ....................................................................................18 3.2 Electric Circuit ........................................................................................19 3.2.1 Name and Function ....................................................................... 19 3.2.2 Electric Circuit Diagram.................................................................. 21 3.2.3 Using the Socket and Lever ............................................................ 22 3.3 I/O Signal (CN1)......................................................................................24 3.3.1 I/O Connection Diagram ................................................................ 24 3.3.2 (CN1) Pin Arrangement .................................................................. 25 3.4 (CN1) Input Signal ...................................................................................27 3.4.1 Sequence Input Signal (allocation) .................................................. 27 3.4.2 General Input Signal (fixed) ............................................................ 28 i 3.5 (CN1) Output Signal .................................................................................29 3.5.1 Sequence Output Signal (allocation) ................................................29 3.5.2 General Output Signal (fixed) ..........................................................30 3.6 (CN1) Input Circuit and Interface ................................................................31 3.6.1 Pulse Command Input Circuit ..........................................................31 3.6.2 Analog Voltage Input Circuit............................................................32 3.6.3 Sequence Input Circuit ...................................................................32 3.6.4 Emergency Stop Signal ..................................................................33 3.7 (CN1) Output Circuit and Interface..............................................................35 3.8 Encoder Wiring (CN2)...............................................................................37 3.8.1 Pin Arrangement of (CN2)...............................................................37 3.8.2 (CN2) Terminal Type ......................................................................38 3.8.3 Encoder Signal Process .................................................................39 3.9 Wiring the Battery (CN5) ...........................................................................42 3.10 General Articles Wiring............................................................................43 3.10.1 Precautions .................................................................................43 3.10.2 Capacity of the Drive and Fuse......................................................44 3.10.3 Noise Protection ..........................................................................44 3.10.4 Wiring when Using Several Drives ..................................................48 3.10.5 Connection to Peripheral Equipment ..............................................49 Chapter 4 : Operator, Basic Setting and Startup 4.1 Before You Begin ....................................................................................52 4.1.1 About Servo-ON Signal ..................................................................52 4.1.2 Table for Parameter Setting ............................................................54 4.2 Operator ................................................................................................55 4.2.1 Name and Function of Each Part .....................................................55 4.2.2 Icons for the Key Buttons ...............................................................56 4.2.3 Structure of the Entire Mode ...........................................................56 4.2.4 Status Display Mode ......................................................................57 4.2.5 Overview of the Parameter Setting Mode ..........................................58 4.2.6 Overview of the Monitor Mode.........................................................59 4.2.7 Overview of the Operation Mode .....................................................60 4.3 Basic Setting ..........................................................................................61 4.3.1 Overview of the Basic Setting .........................................................61 ii 4.3.2 Control Mode Setting ..................................................................... 62 4.3.3 Motor Setting ................................................................................ 65 4.3.4 Main Power Selection .................................................................... 68 4.4 Startup ..................................................................................................70 4.4.1 Before Startup .............................................................................. 70 4.4.2 Startup ......................................................................................... 70 4.4.3 Check up Items during Startup........................................................ 72 Chapter 5 : Function for Control Mode 5.1 Sequence I/O(Input/Output) Signal.............................................................74 5.1.1 What is Sequence I/O Signal?......................................................... 74 5.1.2 Function of Input Signal ................................................................. 75 5.1.3 Function of Output Signal............................................................... 75 5.1.4 Input Signal Allocation Method........................................................ 77 5.1.5 Output Signal Allocation Method ..................................................... 78 5.1.6 Notice for Signal Allocation ............................................................ 79 5.2 Position Control Mode..............................................................................81 5.2.1 Overview ...................................................................................... 81 5.2.2 Standard Wiring Example ............................................................... 82 5.2.3 Position Command Pulse ............................................................... 83 5.2.4 Position Command Pulse Setting .................................................... 85 5.2.5 Electrical Specifications of Position Command Pulse......................... 86 5.2.6 Electronic Gear ............................................................................. 87 5.2.7 Position Error Clear (PCLR) ............................................................ 93 5.2.8 Pulse Command Inhibition Input......................................... 94 5.2.9 Position Completion Signal Detection , Approach Signal Detection Output .......................................................... 95 5.2.10 Output Width of Allowable Position Error ........................................ 97 5.2.11 Input/Output Signal Timing diagram............................................... 97 5.3 Speed Control Mode ................................................................................99 5.3.1 Overview ...................................................................................... 99 5.3.2 Standard Wiring Example ............................................................... 99 5.3.3 Speed Command Input ................................................................ 100 5.3.4 Zero Clamp Input......................................................... 101 5.3.5 Speed Coincidence Output Signal ................................ 102 iii 5.3.6 Rotation Detection Output ............................................103 5.3.7 Speed Limit Function and Speed Limit Detection Output ..104 5.4 Torque Control Mode ............................................................................. 106 5.4.1 Overview ....................................................................................106 5.4.2 Standard Wiring Example..............................................................107 5.4.3 Torque Command Input................................................................108 5.4.4 Torque Limit and Torque Limit Detection Output ..............110 5.5 Multi-Step Speed Mode.......................................................................... 114 5.5.1 Overview ....................................................................................114 5.5.2 Standard Wiring Example..............................................................115 5.5.3 Multi-Step Speed Command Setting ..............................................116 5.6 Combinational Control Mode and Function................................... 119 Chapter 6 : Tuning by Gain Setting 6.1 Before you Begin................................................................................... 122 6.1.1 Mark Explanation .........................................................................122 6.1.2 Gain Introduction.........................................................................123 6.1.3 Inertia Ratio ................................................................................124 6.2 Gain Setting Configuration ...................................................................... 125 6.3 Automatic Gain Setting ........................................................................... 127 6.3.1 Auto Tuning ................................................................................127 6.3.2 Off-line Auto Tuning ....................................................................127 6.3.3 On-line Auto Tuning ....................................................................128 6.4 Manual Gain Setting ............................................................................... 129 6.4.1 Gain Setting Flowchart .................................................................129 6.4.2 Basic Gain Setting .......................................................................130 6.5 Position, Speed, Torque Related Gain Setting ............................................ 132 6.5.1 Torque Control Related Gain .........................................................132 6.5.2 Speed Control Related Gain..........................................................134 6.5.3 Position Control Related Gain .......................................................136 6.6 Tip to get fast response.......................................................................... 138 6.6.1 Feed forward function ..................................................................138 6.6.2 Speed Bias Function ....................................................................139 6.6.3 P/PI Mode Setting Function ..........................................................140 6.6.4 Initial Torque Bias ........................................................................144 iv 6.6.5 Function ..................................................................... 146 Chapter 7 : Application Function 7.1 Motor Suspension ................................................................................. 149 7.1.1 Overview .................................................................................... 149 7.1.2 Servo Alarm (Refer to 8.2.2) ......................................................... 149 7.1.3 Over Travel , ...................................................... 149 7.1.4 Dynamic Brake............................................................................ 151 7.2 Motor Brake Control............................................................................... 152 7.3 Change of Motor Rotation Direction.......................................................... 156 7.4 Regeneration Resistor ............................................................................ 157 7.4.1 Regeneration Resistor.................................................................. 157 7.4.2 External Regenerative Resistor...................................................... 158 7.4.3 Regenerative Resistor Selection Standard ...................................... 159 7.5 Setting for Smooth Operation .................................................................. 161 7.6 Speed Limiting Function ......................................................................... 163 7.7 Position Feedback to the Host Controller................................................... 165 7.7.1 Direction Change of Output Pulse ................................................. 165 7.7.2 Pulse Dividing Circuit ................................................................... 166 7.8 Analog Monitor Output ........................................................................... 168 7.9 Use of Absolute Encoder ........................................................................ 170 7.9.1 What is an Absolute Encoder? ...................................................... 170 7.9.2 Contact with the Host Controller ................................................... 171 7.9.3 Battery ....................................................................................... 171 7.9.4 Reset of Absolute Encoder ........................................................... 173 7.9.5 Data Transmission of Absolute Encoder......................................... 174 7.10 Operation Mode Function...................................................................... 178 7.10.1 Things to Know First .................................................................. 178 7.10.2 Jog Operation (run-00) .............................................................. 179 7.10.3 Off-line Auto Tuning Operation (run-01) ...................................... 180 7.10.4 Searching a Origin Pulse(run-02) ................................................ 181 7.10.5 Auto Adjustment of Speed Command Offset (run-03).................... 182 7.10.6 Auto Adjustment of Torque Command Offset (run-04)................... 183 7.10.7 Manual Adjustment of Speed Command Offset (run-05) ................ 184 7.10.8 Manual Adjustment of Torque Command Offset (run-06) ............... 185 7.10.9 Adjustment of Current Feedback Offset (run-07) .......................... 186 v 7.10.10 Alarm Reset (run-08)................................................................187 7.10.11 Alarm History Clear (run-09) .....................................................189 7.10.12 Absolute Encoder Reset (run-10)...............................................189 7.10.13 2-Group Gain Storing (run-11)..................................................189 7.10.14 Parameter Initialization (run-12).................................................190 7.11 Monitor Mode Function ......................................................................... 191 7.11.1 Introduction of Monitor Function..................................................191 7.11.2 Key Button Operation .................................................................193 Chapter 8 : Inspection and Protection Functions 8.1 Inspection ............................................................................................ 196 8.1.1 Inspection of Motor......................................................................196 8.1.2 Inspection of Drive ......................................................................196 8.1.3 Part Inspection ............................................................................197 8.1.4 Battery Inspection for absolute Encoder (7.9.3) ..............................197 8.2 Protection Function................................................................................ 198 8.2.1 Servo Warning.............................................................................198 8.2.2 Servo Alarm ................................................................................200 8.2.3 Confirmation before Requesting for A/S .........................................207 Appendix A.1 Parameter List..................................................................................... 210 A.1.1 Summary of Parameters ...............................................................210 A.1.1 Parameter Group 0 ......................................................................216 A.1.2 Parameter Group 1 ......................................................................222 A.1.3 Parameter Group 2 ......................................................................227 A.1.4 Parameter Group 3 ......................................................................232 A.1.5 Parameter Group 4 ......................................................................236 A.1.6 Parameter Group 5 ......................................................................239 A.1.7 Operation Mode Function List .......................................................248 A.1.8 Monitor Mode Function List ..........................................................249 A.2 Servo Drive Specification ........................................................................ 252 A.2.1 Outline Drawing...........................................................................252 A.2.2 Specification...............................................................................254 vi Chapter 1 : Before Using the CSD3 Servo Drive This chapter describes the general matters and optional specifications that you should know before using the OEMax CSD3 SERVO DRIVE. 1.1 Safety Precautions.................................................................................... 2 1.2 How to Use This Manual ............................................................................ 3 1.2.1 Terminology......................................................................................3 1.2.2 Notation Description ..........................................................................3 1.2.3 Manual Description Order ...................................................................4 1.2.4 Others..............................................................................................4 1.3 Product Type and Each Part Name .............................................................. 5 1.3.1 Name of Each Part of the Drive ...........................................................5 1.3.2 Model Number of the Drive .................................................................6 1.3.3 Drive Type (by function) .....................................................................6 1.3.4 Drive Type (by capacity).....................................................................7 1.3.5 Name of Each Motor Part ...................................................................7 1.3.6 Model Number of the Motor ................................................................8 1.3.7 Reducer ...........................................................................................9 1 1.1 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. WARNING 2. The following is a caution mark. This indicates an important precaution against an electric shock. CAUTION 3. 2 When handled incorrectly, dangerous situation (electrocution) may happen and cause death or severe injury. The following is a caution mark. This indicates precautions against a burn. CAUTION 4. When handled incorrectly, dangerous situations or physical damages may happen. When handled incorrectly, dangerous situation (burn) may happen and cause death or severe injury. 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. 1 . 2 Ho w t o Us e Th i s M an ual 1.2.1 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’. 1.2.2 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. SV-ON 2. /SV-ON 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. Output Example R1 CN1 0[V] 3. Host controller 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 -10[V] ~ +10[V] P V-REF 19 V-REF SG 20 CN1 Host Controller 4. The following shows the symbols used on the circuit diagram. Symbol Description Side A Side B 1 1 2 2 3 3 Contact Point ` 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. 3 5. The following figure shows a symbol used to show a twist pair wires to prevent the noise generation. Symbol Figure ` Twist the wires where this symbol is located for P 6. Description the noise prevention. 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 FG Shield the noise prevention. 1.2.3 Manual Description Order This manual is described in the view of users from the purchase to operation. 1 Describes things to know before using the product. Describes the outline of product and marking. 2 3 Describes precautions upon product installation. Describes wiring with the host controller and peripheral equipment. 4 5 Describes the operator for various settings. Describes brief functions of the product. 6 7 Describes the basic settings that users should set. Describes the function of the product for each control modes. 8 9 Describes the tuning to implement optimum performance of load system. Describes simple supplementary functions. 10 11 Describes the protective function, fault diagnosis and troubleshooting. Describes items correspondi ng to vari ous numerical data i n the Appendi x. 12 1.2.4 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. 4 1 . 3 P r o d uc t Ty p e an d E ac h P a r t N ame 1.3.1 Name of Each Part of the Drive The following figure introduces the name of each part of the servo drive. Operator See Chapter 4 for details of the operator. Optional Connector Battery Connector AC main Power Input Terminal Control power input terminal 1. DC Main Power Input terminal. 2. DC Reactor Connection Terminal for suppressing high frequency Regenerative Resistor Terminal Motor Cable Terminal Drive Nameplate Rated Output Label I/O Signals Connector Encoder Cable Connector Communication and Operator Connector 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) 5 1.3.2 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 C S D Example of Drive Specification 3 - 0 1 B X 2 Design Sequence Mark A5 01 02 04 10 15 Rated Output 50[W] 100[W] 200[W] 400[W] 1[kW] 1.5[kW] Mark Voltage B AC220[V] 1.3.3 Drive Type (by function) Servo drive is divided into two types for diversification of the product. 1. All-In-One Type : General ` 6 The function of all control modes can be used. General Servo Drive All-In-One Type Red transparent 7-segment LED display All-In-One is printed on it All-In-One MODE SET ENTER CHARGE POWER 1.3.4 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] 5 CSD3-04BX1 (P) 400[W] 300[W] ~ 400[W] 6 CSD3-10BX1 (P) 1[kW] 500[W] ~ 1[kW] 7 CSD3-15BX1 (P) 1.5[kW] 1.2[kW]~1.5[kW] 1.3.5 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. 7 Break Cable Motor Power Cable Encoder Cable Encoder Nameplate of the Motor Motor Frame Motor Shaft Mounting Hole 1.3.6 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 8 CSM CSMT CSMR CSMQ CSMZ CSMD CSMH CSMK RSMD RSMF RSMS RSMH RSMK RSML RSMQ RSMZ CSMS Rated Output A3 A5 01 02 04 30[W] 50[[W] 100[W] 200[W] 400[W] ~ ~ 10 ~ 50 ~ ~ 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 Mark Resolution/1 Rotation Encoder Type Mark Resolution/1 Rotation Encoder Type Q 131072 Serial Absolute Type R 131072 Serial Incremental Type Motor Type: CSM, CSMT/R Mark Pulse/1 Rotation Encoder Type Motor Type Mark CSMQ/Z/S/D/H/K *1) RSMS/D/H/F/K/L/Q/Z S 2048 15wire Inc. B 2048 9wire Inc. Pulse/1 Rotation Encoder Type 2500 11wire Inc. A 2048 Absolute Type 2048 Compact Absolute Type D 2500 15wire Inc. 10000 15wire Inc. C 2000 15wire Inc. K 5000 15wire Inc. K 5000 15wire Inc. L 6000 15wire Inc. *1) A H *1) M *1) Motor Axis Key Status A Key B No Key ; RSM series has only A,M type Option N No Option B With Brake S T With Brake & With Oil Seal Oil seal Motor axis specifications 1 2 Circular (Coupling 2 Side Slice (Set screw tightening) Tightening) 3 4 5 6 Key Tightening Tapper Tightening General Reducer Harmonic Drive Attachment 1.3.7 Reducer The following figure describes the model name of the reducer on the nameplate. 9 Nameplate is attached to the reducer. Check the model on the nameplate. Example of Reducer Specification Reducer Type V R S F - 2 5 C - 2 0 0 - S P T Reduction Ratio 03 1/3 Mark Backlash Grade Mark Applicable Motor Capacity Mark Applicable Motor Model 05 1/5 B 0.7° 030 30[W] SPT CSM Motor 050 50[W] 09 1/9 C 15 1/15 D 25 1/25 E 0.5° ~ Mark 800 800[W] The backlash grade of the reducer is set at the factory.. Type of Reducers Exclusively for CSM Motor VRSFReduction Ratio 1/3 1/5 1/9 1/15 1/25 Reducer Type 03B- 50-SPT 03B-100-SPT 03B-200-SPT 03B-400-SPT 03C-600-SPT 03C-800-SPT 05B- 50-SPT 05B-100-SPT 05B-200-SPT 05C-400-SPT 05C-600-SPT 05C-800-SPT 9B- 50-SPT 9B-100-SPT 9C-200-SPT 9C-400-SPT 9B-600-SPT 9B-800-SPT 15B- 50-SPT 15B-100-SPT 15C-200-SPT 15C-400-SPT 15D-600-SPT 15D-800-SPT 25B- 50-SPT 25C-100-SPT 25C-200-SPT 25D-400-SPT 25E-600-SPT 25E-800-SPT ※The reducer is only for CSM motors 10 Chapter 2 : 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. 2.1 Installation .............................................................................................12 2.1.1 Servo Motor .................................................................................... 12 2.1.2 Servo Drive ..................................................................................... 14 11 2.1 Installation 2.1.1 Servo Motor 1. 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 the performance of the motor. 12 Do not connect the motor to the power directly. Protect the motor from water or oil. Pay attention to the concentricity of coupling connected to the load. Do not apply continuous stress on the wire. The servo motor can be mounted vertically or horizontally The oil is applied to the shaft to prevent it from rusting. Remove it before installing the servo motor. The ground wire of the servo motor must be connected to the grounding terminal of the servo drive.