CSD5 Servo Drive

Index Manual
Catalog Number(s): CSD5_xxBX1
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 RS Automation Co., Ltd. be responsible or liable for indirect
or consequential damages resulting from the use or application of this
equipment.
The examples and diagrams in this manual are included solely for illustrative
purposes. Because of the many variables and requirements associated with any
particular installation, RS Automation Co., Ltd. cannot assume responsibility
or liability for actual use based on the examples and diagrams.
No patent liability is assumed by RS Automation Co., 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 RS Automation Co., Ltd. is prohibited.
Throughout this manual, when necessary, we use notes to make you aware of
safety considerations.

Identifies information about practices or circumstances 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

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WARNING drive or motor, to alert people that dangerous voltage may be
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BURN HAZARD
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 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 June 2011

CSD5 Servo Drive Index Manual

SOC-2 Summary of Change

CSD5 Servo Drive Index Manual

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

About This Publication This manual provides detailed information for the indexing of the CSD5 Servo
Drive.

Who Should Use this This manual is intended for engineers or technicians directly involved in the
installation and wiring of the CSD5 Servo Drive, and programmers directly
Manual involved in the operation, field maintenance, and integration of the CSD5
Servo Drive.
If you do not have a basic understanding of the CSD5 Servo Drive, contact
your local RS Automation Co., Ltd. sales representative before using this
product, for information on available training courses.

Additional Resources The following documents contain additional information concerning related
CSD5 servo drive products.
For Read This Document
Information on the installation of your CSD5 CSD5 Servo Drive Installation Instructions
servo drive
Information about the operation of your CSD5 CSD5 Servo DriveUser Manual
Servo Drive

You can view or download publications at

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

1 CSD5 Servo Drive Index Manual

P-2 Preface

CSD5 Servo Drive Index Manual

 Table of Contents
Summary of Change

Preface About This Publication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1

Who Should Use this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-2

Chapter 1
Overview Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
What is indexing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
Index function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
Index Elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
Indexing Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
Position/Distance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
Velocity, Acceleration, Deceleration . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4

Chapter 2
Wiring Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
Control Mode Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
I/O Signal(I/O) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
Function of I/O Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
I/O Signal Allocation Method. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9

Chapter 3
Operator Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
Operator of Parameter Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
Index Mode Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
Index Parameter Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5

Chapter 4
Index Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
I/O Signal Describtion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
Auto Start Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
Software Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
Homing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
Index Option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24
Dwell Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-28
Operation Mode Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-29
Monitor Mode Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-29

Chapter 5
Tuning Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
Tuning by Gain Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
Gain Setting Flowchart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
Automatic Gain Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8

i CSD5 Servo Drive Index Manual

 ii

Chapter 6
Applications Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
Basic Setting of Servo Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
Basic Setting of Index Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
Homing Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-9
Index Operation Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-17
Index Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-23

Chapter 7
Inspection and Protection Functions Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
Inspection Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
Protection function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3

Appendix A
Parameter List Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
Standard Parameter List. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
Standard Parameter Describtion . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-9
Index Parameter List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-51
Index Parameter Describtion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-55

Appendix B
RSWare Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1
RSWare . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1

CSD5 Servo Drive Index Manual

 Chapter 1

Overview

Introduction Use this chapter to briefly understand the idea of indexing of a servo drive.
This chapter also describes the elements for indexing, such as position unit
and acceleration, etc.

Topic Page
Introduction 1-1
What is indexing 1-1
Indexing Function 1-2
Index Elements 1-2
Indexing Types 1-2
Position/Distance 1-3
Velocity, Acceleration, Deceleration 1-4

What is indexing Servo drive is a device to control a servo motor with a pulse train or an analog
signal coming from an external controller, which is responsible for the control
of physical dimensions such as displacement, speed or torque. It means that a
servo drive is an actuator but not a controller, just implementing the control
with a command from the external controller.

An external controller determines a position, speed or torque depending on

control scheme, usually based on the feedback from a servo drive. However,
some applications do not require feedback-based command from the
controller , but a servo drive just follows a pre-defined sequence from the
controller. Especially, indexing requirement is much simpler in such
applications. They just need a movement with an accurate position
information regardless of other control inputs.

Now, the CSD5 Servo Drive provides a simple indexing for one axis, not
requiring any command from a controller, but providing programmed position
control. It is quite simple function. Given an index in a parameter, then the
CSD5 Servo Drive starts indexing. Since any other external device is not
required, the system configuration would be so simple and implemented very
fast.

The CSD5 Servo Drive has a special routine to provide indexing. Indexing
starts to work when the control mode is set to Indexing. The CSD5 Servo
Drive is able to support 8 indexes with each different speed and provide
various travel modes over 8 indexes. The operation can be paused or aborted

1 CSD5 Servo Drive Index Manual

1-2 Overview

by I/O signals. Also, the CSD3 Plus Servo Drive provides various homing
modes.

Indexing Function The CSD5 servo drive indexing supports 64 indexes. The position counter for
indexing uses 32bit singed long type. Its range is -2,147,483,648 ~
2,147,483,647. Therefore, the indexing of absolute type is available within this
range. If the absolute indexing is operated in the position exceeding this range,
a fault is generated.

Index Elements In order to make a movement, it is necessary to define four elements: a

position (where to move), a velocity (how fast it moves), acceleration time and
deceleration time to reach the speed and make a stop. The position is defined
as a number of pulses or μm, and either in the incremental or in the absolute
coordinate. Up to 8 index data can be programmed. The CSD5 supports only
trapezoidal velocity profile. The S-curve is not available.

V e lo c ity
A re a : D is ta n c e (P o s itio n )

T im e

Indexing Types There are two kinds of coordinate systems to express position. In the absolute
coordinate system, all the Indexes are expressed based on one reference
location, called as Home or Origin. In the incremental coordinate system, a
position is defined with a relative distance from its previous position.

A user can select either option in the 1st digit of IN02.00~63 (absolute and
incremental). When this value is 0, the coordinate system is absolute and When
this value is 1, the coordinate system is incremental.

TIP A 7-Seg. digits increase from right to left.

CSD5 Servo Drive Index Manual

 Overview 1-3

Absolute

The move from its starting position to the specified Position: absolute
coordinate base.

The axis must be homed before the drive can execute an absolute index.

/IMO ON OFF

/I_DW OFF ON

Incremental

The moves from its starting position the specified Distance.

Position/Distance Position

For Absolute mode moves, the fixed position to which the motor will travel.

Distance

For Incremental moves, the relative distance the motor will travel.

3 CSD5 Servo Drive Index Manual

1-4 Overview

A user can enter total 64 Position/Distance for 64 indexes. For the Index 0 to
the Index 63, use IN04.00~63 to enter its Position/Distance. The input range
is -2,147,483,647~2,147,483,647 and its unit is Counts.

TIP The CSD5 servo drive supports only pulse unit coordinate
systems. The other coordinate systems are not available.
But a user can use “User Defined Distance Per Motor
Revolution” from Firmware Vresion 1.20
And the CSD5 servo drive uses 4 multiplier counts in index
mode.

Velocity, Acceleration, Velocity

Deceleration
Maximum velocity during an index move.

Enter velocity for each movement into the velocity parameter of IN08.00~63.
The input range is 0~6000 and its unit is rpm. The default value is 750.

TIP Refer to the A-52 page "Index Velocity" for the velocity
parameter.

TIP The velocity input range is 0~6000 but maximum velocity

must be lower than motor’s maximum velocity.

Acceleration

Maximum acceleration during an index move.

A user can enter total 64 acceleration for 64 indexes. Enter acceleration for
each movement into the acceleration parameter of IN10.00~63. The input
range is 1~2,147,483,647 and its unit is 10-2rev/sec. The default value is 6250.
The Acceleration slope is calculated by velocity, resolution and distance as
shown below.

Acceleration calculation for rotary motor

Acceleration parameter unit : rev/sec2

Acceleration (Counts/sec2) = (acceleration parameter value × 0.01) (rev/sec2) × 4 ×

resolution(Counts/rev)

CSD5 Servo Drive Index Manual

 Overview 1-5

Acceleration calculation for linear motor

Acceleration parameter unit : mm/sec2

Acceleration(Counts/sec2) = acceleration parameter value (rev/sec2) × 4 × lines per

meter(Counts/m) × (m/1000mm)

TIP Refer to the A-53 page "Index Acceleration" for the

Acceleration parameter.

Deceleration

Maximum deceleration during an index move.

A user can enter total 64 deceleration for 64 indexes. Enter deceleration for
each movement into the deceleration parameter of IN11.00~63. The input
range is 1~2,147,483,647 and its unit is 10-2rev/sec. The default value is 6250.
The deceleration slope is calculated by the same to calculate acceleration slope.

TIP Refer to the A-53 page "Index Deceleration" for the

Deceleration parameter.

TIP ‘Enable’ means a status that it’s using or can use I/O signal
and 'Disable' means a status that it’s not using or can not
use I/O signal

5 CSD5 Servo Drive Index Manual

1-6 Overview

CSD5 Servo Drive Index Manual

 Chapter 2

Wiring

Introduction This chapter describes the information on wiring connected to the servo drive
and control mode for indexing.

Topic Page
Introduction 2-1
Control Mode Setting 2-1
I/O Signal(I/O) 2-4
I/O Signals 2-6
I/O Settings 2-9

For indexing, the CSD5 servo drive uses general servo parameters, position
data, travel mode and I/O signals. Since general servo parameters are also used
for Indexing, refer to The CSD5 Servo Drive User Manual (The
CSD5-UM001) for more information about parameters related to general
servo operations.

Control Mode Setting Control Mode Type

As in the table below, there are 5 kinds of basic control modes and 6 kinds of
associated control modes. 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.

Table 2.1 Control Mode Type

Display Description
Basic control Position mode
Mode

Speed mode

Torque mode

Multi-step mode

Index mode

1 CSD5 Servo Drive Index Manual

2-2 Wiring

Table 2.1 Control Mode Type

Display Description
Associated Speed + position mode
control Mode

Torque + speed mode

Torque+ position mode

Multi-step speed + position mode

Multi-step speed + speed mode

Multi-step speed + torque mode

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.

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 Wiring 2-3

Flowchart of the Contorl Mode

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 Contorl Mode to Set

Displays Contol Mode by UP-DOWN key

An Alphabet representing each mode is displayed.
Multi-step Speed Torque Speed Positon Index

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.

Black key button represents that it is pressed.

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2-4 Wiring

I/O Signal (I/O) A user can configure I/O signals in the CSD5 servo drive.

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.

<I/O>
CN1
24V [or GND]
INPUT OUTPUT
1
GND [or 24V]
2

37 FAULT 1 / OUTPUT 4
INPUT1 (/SV-ON)(1) 3 38 Binary Fault Code Outputs
FAULT 2 / OUTPUT 5 / Digital Outputs
(1)
INPUT2 (P-OT) 4 39
FAULT 3 / OUTPUT 6
(1) Binary Fault Code Ground
INPUT3 (N-OT) 5 40
FCOM/OUTCOM / Digital Outputs Ground
(1)
INPUT4 (/P-CON) 6 29 AM +
INPUT5 (/A-RST)
(1)
7 P 30
24V AM -
Active Low/High
Programmable (1)
INPUT6 (/N-TL) 8 31
Digital Inputs BM + Buffered
INPUT7 (/P-TL)
(1)
9 P Encoder
32 BM - Output
INPUT8 26 33
IM +
INPUT9 P
27 34 IM -
INPUT10 28 35
PS + Absolute Position
P 36 Serial Output
PS -
E-STOP 10

2 17
24V_PULS+ 49 Z-PULSE + Encoder
P Marker
11 150 18 Z-PULSE - Pulse
PULS +

12 45
PULS - FAULT + Fault
P 46 Output
Position 25 2 FAULT -
Command 24V_SIGN+
SIGN + 13 150
41 (1)
OUTPUT1+ (P_COM+)
SIGN - 14 P (1)
42 OUTPUT1- (P_COM-)
HF_PULS + 15
43 (1)
24V
OUTPUT2+ (TG_ON+)
HF_PULS - 16 P (1)
Programmable
High Frequency 44 OUTPUT2- (TG_ON-) Digital
Position HF_SIGN + 23 Outputs
Command 47 (1)

24 OUTPUT3+ (BK+)
HF_SIGN -
P 48 (1)
OUTPUT3- (BK-)
19
Speed Command 16-bit
-10V to +10V 20 A/D

21
12-bit
Current Command A/D
-10V to +10V 22

50

(1) Factory default values

击沫͑爎匶͑儘

ON, OFF signal as per high/low level can change in input because
photocoupler is possible for two-way wiring. But the signal turns ON at low
level in output.

CSD5 Servo Drive Index Manual

 Wiring 2-5

Table 2.2 (I/O) Pin Arrangement for host controller connections

Pin Symbol Description Pin Symbol Description
1 +24V IN External 24 [V] input for contact point 26 INPUT8 Digital input 8

input
2 +24V IN External 24 [V] input for contact point 27 INPUT9 Digital input 9

input
3 INPUT1 Digital input 1(/SV-ON)(1) 28 INPUT10 Digital input 10

4 INPUT2 Digital input 2(P-OT)(1) 29 AM+ Encoder signal output A+

5 INPUT3 Digital input 3(N-OT)(1) 30 AM- Encoder signal output A-

6 INPUT4 Digital input 4(/P-CON)(1) 31 BM+ Encoder signal output B+

7 INPUT5 Digital input 5(/A-RST)(1) 32 BM- Encoder signal output B-

8 INPUT6 Digital input 6(/N-TL)(1) 33 IM+ Encoder signal output Z+

9 INPUT7 Digital input 7(/P-TL)(1) 34 IM- Encoder signal output Z-

10 ESTOP ESTOP(Default: Disable) 35 PS+ Absolute Encoder Position data output+

11 PLUS+ Position command pulse input+ 36 PS- Absolute Encoder Position data output-
12 PLUS- Position command pulse input- 37 FAULT1/OUTPUT4 Alarm code output 1/Digital output 4
13 SIGN+ Position command sign input+ 38 FAULT2/OUTPUT5 Alarm code output 2/Digital output 5
14 SIGN- Position command sign input- 39 FAULT3/OUTPUT6 Alarm code output 3/Digital output 6
15 HF_PULS+ High frequency position command pulse 40 FCOM/OUTCOM Alarm code/Output ground
input+
16 HF_PULS- High frequency position command pulse 41 OUTPUT1+ Digital output 1+(P_COM+)(1)
input-
17 Z-PULSE+ Encoder Z-pulse output (Open collector) 42 OUTPUT1- Digital output 1-(P_COM-)(1)
18 Z-PULSE- Encoder Z-pulse output (Open collector) 43 OUTPUT2+ Digital output 2+(TG_ON+)(1)
19 VCMD+ Speed command input+ 44 OUTPUT2- Digital output 2-(TG_ON-)(1)
20 VCMD- Speed command input- 45 FAULT+ Alarm generation signal output+
21 ICMD+ Current command input+ 46 FAULT- Alarm generation signal output-
22 ICMD- Current command input- 47 OUTPUT3+ Digital output 3+(BK+)(1)
23 HF_SIGN+ High speed position command sign input+ 48 OUTPUT3- Digital output 3-(BK-)(1)
24 HF_SIGN- High speed position command sign input- 49 24V_PULS+ Open collector pulse input + for 24 [V] level
25 24V_SIGN+ Open collector sign input + for 24 [V] level 50 NC Not Available
(1)
Factory default values

I/O Signals I/O Signals are actual control signals for Indexing, i.e. starting a movement
and making a stop. Once all index data is set up, I/O signals control indexing.

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2-6 Wiring

I/O Signal Configuration

A user can configure I/O signals in the CSD3 servo drive.

Index paraneters can set Modbus because all index parameters had mapped
Modbus address. The table below added Modbus Address. Refer to the CSD5
Servo Drive Modbus Manual for more information

Digital Input signals

Table 2.3 I/O Sequence Input Signal

Type Description Mode Modbus Address
[Position]
</SV-ON> When the servo is set to ON, voltage is applied to the servo motor; All 3000 [0]
Servo-ON when it is set to OFF, voltage is cut off.
</A-RST> It disables the Servo's Alarm. All 3000 [4]
Alarm Reset
</G-SEL> Use 2-group gain where it is set to ON and use current gain where it All 3000 [14]
Gain Group Conversion is set to OFF. It converts gain of 2 groups.
</P-TL> When it is set to ON, limit the forward torque by the set value All 3000 [6]
Forward Torque Limit [Ft-4.03].
</N-TL> When it is set to ON, limit the reverse torque by the set value All 3000 [5]
Reverse Torque Limit [Ft-4.04].
<P-OT> It prohibits the motor from rotating forward when the load device All N/A
Prohibit Forward Rotation reaches the limit of the available section.
<N-OT> It prohibits the motor from rotating reversely when the load device All
Prohibit Reverse Rotation reaches the limit of the available section.
</P-CON> It converts the Seed Controller from PI type controller to P type F, S, P, I 3000 [3]
P Control Conversion controller. It is used to suppress the overshoot of the excessive
response and complete a faster response.
</C-SEL> It is used to convert Control Mode when using it as Combination Combinational 3000 [7]
Control Mode Conversion Control Mode. Control Mode Only
</C-DIR> At the Contact Speed Control Mode, these input combinations decide P 3000 [8, 9, 10, 11, 12]
</C-SP1> the rotation direction of the motor </C-DIR> and the rotation speed </
</C-SP2> C-SP1 ~ /C-SP4>. The rotation speed for </ C-SP1~/C-SP3> input is
</C-SP3> set in [Ft-2.05~Ft-2.11]. The analogue speed command voltage
</C-SP4> decides the rotation speed for </C-SP4>. </C-DIR> is used to change
Contact Speed Command the motor rotation direction in Speed Control Mode.
</Z-CLP> Ignores the input value in the Speed Control when the command S 3001 [2]
Zero Clamp value is lower than the value set in the Speed Zero Clamp Level
[Ft-5.05].
</INHIB> Inhibits the position command pulse where it is ON. F 3000 [13]
Inhibit Pulse Command
</ABS-DT> When it is set to ON, transmits the absolute encoder data to a higher F, I 3001 [0]
Absolute Encoder Data level through AM, BM signals.
Transmission
</PCLR> Clears position command, position feedback, and position error. F, I 3000 [15]
Position Error Clear
</START> Set to start or stop the motor rotation by using the contact signal in S, P 3001 [1]
Start Speed/Contact Speed Control Mode.

CSD5 Servo Drive Index Manual

 Wiring 2-7

Table 2.3 I/O Sequence Input Signal

Type Description Mode Modbus Address
[Position]
</GEAR> In the Position Control Mode, use the 2nd electronic gear parameter F 3001 [3]
Electronic Gear Rate Shift [<:fc 2>Ft<:/fc>-3.05]and [Ft-3.06] where it is ON, use the basic
electronic gear parameter [Ft-3.01]and [Ft-3.02] where it is OFF. It
shifts between two electronic gear ratios.
</R_ABS> Reset the multi-rotation data of the absolute motor. All 3001 [4]
Absolute Encoder Multi-rotation
Data Reset
</BANK_SEL> Uses the 3rd and the 4th Gain Bank when it is set to ON. All 3002 [1]
Gain Bank Select
</A-CL> Current Limit Function is activated by the analogue torque command S, P 3002 [2]
Analog Torque Limit input values when it is set to ON.
</H_SENS> When activated, the sensor indicates the Return to Home sequence I N/A
Home Sensor that is detected.
</SHOME> When activated, the system starts returning to home. I 3001 [6]
Start Homing
</PAUSE> When activated, it decelerates until stop and pause the index I 3001 [8]
Index Pause sequence. It decides whether to stop or to continue the motion by
constantly monitoring the input status.
</STOP> When activated, index movement ends. I 3001 [7]
Index Stop
</I_SEL0> Used for the combinations to allocate indexes. I 3001 [9, 10, 11, 12,
Index Selection 0 Input 13, 14]
</I_SEL1>
Index Selection 1 Input
</I_SEL2>
Index Selection 2 Input
</I_SEL3>
Index Selection 3 Input
</I_SEL4>
Index Selection 4 Input
</I_SEL5>
Index Selection 5 Input
</H_STOP> Stops Homing operation when it is set to ON. I 3001 [15]
Homing Stop
</START_I> Starts Indexing when it is set to ON. I 3002 [0]
Start Indexing
</ABS-MD> Absolute Data transfered to host contoller by photo coupler output F 3002 [3]
Absolute Position Data Transfer which output Fault Code when it is set to ON.
Mode

Digital Output signals

Table 2.4 I/O Sequence Output Signal

Type Description Mode Modbus Address
[Position]
</S_ALM> Outputs when Servo Alarm sets off. All 200 [0]
Alarm
</P-COM (+, -)> Turns to ON, when the position error is within the set value of the F, I 200 [1]
Position Completion Detection position completion range [Ft-5.00].
</NEAR (+, -)> Turns to ON, when the position error is within the set value of the F, I 200 [9]
Position Proximity Detection position completion range [Ft-5.02].

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Table 2.4 I/O Sequence Output Signal

Type Description Mode Modbus Address
[Position]
</V-COM (+, -)> Turns to ON when the deviation between the speed command and F, S, P, I 200 [4]
Speed Match Detection the motor rotation speed is within the set value of the speed match
decision range [Ft-5.03].
</TG-ON (+, -)> Turns to ON when the motor is rotating above the set value of the All 200 [2]
Rotation Detection rotation detection level [Ft-5.04].
</T-LMT (+, -)> Turns to ON when torque reaches the set value of the torque limit. All 200 [7]
Torque Limit Detection
</V-LMT (+, -)> Turns to ON when speed reaches the set value of the speed limit. All 200 [8]
Speed Limit Detection
<BK (+, -)> It is the signal for the brake control installed inside or outside of the All 200 [3]
Brake Control servo motor.
</A_VLD> Turns to ON when the absolute position data is valid while using the All 200 [5]
Absolute Position Valid absolute motor.
</RDY> Means getting the operation ready while in the Servo-OFF status. All 200 [6]
Drive Ready
</WARN (+, -)> Turns to ON when a Servo warning is detected. All 200 [10]
Warning
</HOMC (+, -)> When activated, it shows the completion of the Homing operation. I 200 [15]
Axis Homing
</IMO (+, -)> Turns to ON when in motion. I 200 [13]
In Motion
</I_DW> When activated, it indicates that the motor is on the hold position in I 200 [14]
In Dwell the index movement and on stand-by for the dwell time assigned.
</O_ISEL0> Used to output the index number in use in the selected I 201 [0, 1, 2, 3, 4, 5]
Index Selection 0 Output indexing operation.
</O_ISEL1>
Index Selection 1 Output
</O_ISEL2>
Index Selection 2 Output
</O_ISEL3>
Index Selection 3 Output
</O_ISEL4>
Index Selection 4 Output
</O_ISEL5>
Index Selection 5 Output
</E_SEQU> Turns to ON when the index movement is complete. I 201 [6]
Sequence Operation Completion

Fault Code Output

Table 2.5 Alarm Code Output Signal

Signal Symbol Function Mode Modbus Address
Name [Position]
Alarm code FAULT1/OUTPUT4 Upon servo alarm generation, it outputs the types of the All 23 [0x0000]
AL1, AL2, AL3 from
(Alarm1/Digital servo alarm with the 3-bit. right
output 4) Maximum rating of open collector: DC 30 [V], 20 [mA]
FAULT2/OUTPUT5
FAULT3/OUTPUT6

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I/O Settings Input Signal Allocation Method

Refer to the table below to allocate to I/O pin by searching the function that is
suitable for your condition. 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 9’, A except ‘0’ to the setting position.

For example, if you want to put certain function to I/O 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.

Enter ‘0’ when the function of input signal is not used. If you want to
make input signal ‘ON’ all the time regardless of the wiring, set as ‘b’.

Table 2.6 I/O Input Signal Allocation

Setting Value b A 9 8 7 6 5 4 3 2 1 0
Input Channel Always INPUT# INPUT# INPUT# INPUT# INPUT# INPUT# INPUT# INPUT# INPUT# INPUT# Always
No. valid 10 9 8 7 6 5 4 3 2 1 invalid
I/O Pin No. 28 27 26 9 8 7 6 5 4 3

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.

Table 2.7 7-Segment Number Position of Input Signal Parameter

Parameter 7-Segment Position

3 2 1 0

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

Initial value: 4 Initial value: b Initial value: b Initial value: 1

</P-TL> </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> </INHIBIT> </Z-CLP>

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

</ABS-MD> </A-CL> </BANK_SEL> </R_ABS>

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Table 2.7 7-Segment Number Position of Input Signal Parameter

</PAUSE> </STOP> </SHOME> </H_SENS>

</I_SEL3> </I_SEL2> </I_SEL1> </I_SEL0>

</START_I> </H_STOP> </I_SEL5> </I_SEL4>

TIP If you want to make input signal ‘ON’ all the time
regardless of the wiring, set as ‘b’. You can make /SV-ON, P-OT,
N-OT signals ‘ON’ all the time regardless of the wiring, set as
‘b’.

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

Example
Enter ‘7’ in the 3rd position in setting window of the parameter
[Ft-0.01].
This value is set to use </P-CON> function. It means that the I/
O INPUT#7 pin is used as an input pin.

Applicable All Other Details Drive Disable>Configure>Completed

Mode

Output Signal Allocation Method

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

Set the setting value as ‘0’ when the output of the related signal is not used.

Sequence output is displayed when situation that is meets the condition of

each ouput in drive was produced.
Table 2.8 I/O Output Signal Allocation
Setting Value

Input Channel No. OUTPUT #6 OUTPUT #5 OUTPUT #4 OUTPUT #3 OUTPUT #2 OUTPUT #1 Always
invalid
I/O Pin No. 39.40 38.40 37.40 47, 48 43, 44 41, 42

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.

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Table 2.9 7-Segment Number Position of Output Signal Parameter

Parameter 7-Segment Position
3 2 1 0
</V-COM> </BK> </TG-ON> </P-COM>

Initial value: 3 Initial value: 2 Initial value:: 1

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

Reserved Reserved </RDY> </A_VLD>

</O_ISEL0> </HOMC> </I_DW> </IMO>

</O_ISEL4> </O_ISEL3> </O_ISEL2> </O_ISEL1>

Reserved Reserved </E_SEQU> </O_ISEL5>

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

Example

Set ‘3’ in the 3st position in setting window of the parameter

[Ft-0.23].
It is set to use </WARN> function and it means that we will use
I/O No. Output#47,48 pin as output pin.

Applicable All Other Details Drive Disable>Configure>Completed

Mode

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CSD5 Servo Drive Index Manual

 Chapter 3

Operator

Introduction This chapter introduces the operator mounted on the servo drive.

Topic Page
Introduction 3-1
Operator Instructions of the Parameter Setting 3-1
Index Mode Setting 3-4
Index Parameters Setting 3-5

Operator Instructions of the Operator

Parameter Setting
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.

 Provides all key manipulation function without a separate external
operator.

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

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4 2

Table 3.1 Name and Function of Each Part

No. Name Function

Displays the status with 6-digit 7-segment LED

1 7-Segment LED Display display, sets parameter, commands operation
and displays monitoring.
Enters display mode shift and parameter setting
2 MODE/SET Key value.
Enters into each window after changes the
3 ENTER Key display mode. Completes setting and exits from
it.
Top, Bottom, Left/Right Moves the digit of 7-segment LED display and
4 Key functions as the UP/DOWN of the number.

Structure of the Entire Mode

As shown in the figure below, the servo drive is divided into 5 types of control
modes:

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 Operator 3-3

Power Connection

Status Display

Parameter Setting Mode

Operation Mode

Index Mode

Monitor Mode

The mode displayed after the power ON is the status display mode.
Mode is changed whenever the MODE/SET key is pressed.

Status Display Mode

The figure below is an example of display for the description of the status
mode.

Row Display 1
Control Status

Point Row Display 3 Row Display 2

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Parameter Setting Mode

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

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.

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.

Index Mode Setting Describes index mode setting method focusing on the key button
manipulation.

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

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Flowchart of the Index 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 Index Mode.

Displays Contol Mode by UP-DOWN key

An Alphabet representing each mode is displayed.
Multi-step Speed Torque Speed Positon Index

Index 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.

Index Parameter Setting Describes index parameter setting method focusing on the key button
manipulation.

The flowchart below is the example to set Position/Distance parameters value.

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Flowchart of the Index Parameter Setting

Status Display Mode

Select Index Parameter Setting Mode

by MODE/SET key

Using the Direction key,

Select index Parameter to set.

Press ENTER key and Enter into the Setting

Window

Using the Direction key, Setting the Pameter Values

Changes the Values by UP-DOWN key,
and the digits by LEFT-LIGHT key

Position/Distance parameters input the setting values by two windows because the input range is
-2,147,483,647~2,147,483,647.
First, You input setting values of 100~104 by L window.
Move left Direction key, second H window displays.
You input setting values of 105~109 by H window.
If You input negative value, H, L digits blinks and display ‘-’ signal.

Position/Distance setting value H Window L Window

-1,234,567 -00012 34567
-12,345 00000 -12345

Position/Distance parameters value input 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.

Setting input value is same for IN04.00~63.

The other groups(Dwell, Velocity, Accelerate, Decelerate, Next Index etc.) can
set input value as the same way.

CSD5 Servo Drive Index Manual

 Chapter 4

Indexing

Introduction This chapter describes index operation of the CSD5 servo drive.

Topic Page
Introduction 4-1
Description of I/O signal 4-1
Auto Starting Index 4-5
S/W Limit 4-6
Homing 4-11
Index Option 4-24
Dwell Time 4-28
Run Function 4-29
Monitoring Modes for Indexing 4-29

Description of I/O Signal Digital Input

The sampling time for digital inputs is two milliseconds in CSD5 servo drive.
When the drive read inputs a signal, the drive checks the signal for three times
per two milliseconds. If signal states are same for three times, the drive applies
the signal state to the control system. It means that the CSD5 servo drive has a
delay time for six milliseconds at least from detected a signal input to apply the
signal state to the control system.

(Min. 6ms)

/START_I OFF ON OFF

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</START_I>

</START_I> signal uses the start command for indexing.

When the CSD5 servo drive is under homing or indexing, this signal input is
ignored.

</STOP>

</STOP> signal is a input signal to cancel indexing. When this signal turns on
during indexing, the motor starts to decelerate and stop.
</STOP> function is enabled at the active going edge of the </STOP>
input.

Position
위치

Velocity
속도

Input
입력
Start Index
/START_I ON OFF

Stop Index
/STOP OFF ON OFF

</PAUSE>

</PAUSE> signal is a pause signal. When the </PAUSE> turns on during

indexing, the motor starts to decelerate and stops. The state of the
</PAUSE> input is continuously monitored to determine if the motion
should be stopped or if it may continue.

The acceleration/deceleration slope uses the abort index deceleration value

during the Pause operation.

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 Indexing 4-3

Index Target Position

Position

Velocity

Input
Start Index
/START_I ON OFF

/PAUSE ON OFF

</SHOME>

</SHOME> is an input signal to start Homing. The homing is begun when

the falling edge of the </SHOME> signal is occurred. Any starting signal in
the middle of homing process is ignored.

</H_STOP>

</H_STOP> is an input signal to cancel Homing. When this signal turns on

during homing, the motor starts to decelerated and stops. </H_STOP>
function is enabled at the falling edge of </H_STOP> input.

</I_SEL0~5>

</I_SEL0~5> are selection signals to define an index among 64 indexes in

the index table. In the selective position travel mode, the CSD5 servo drive
determines the index by using the combination of these signals at the falling
edge of the START signal. </I_SEL0~5> signals are valid only when the
signals maintain their status for at least 4ms before the falling edge of START
signal and at least for 8 msec after the falling edge of START signal. If
</I_SEL0~5> signals are detected during motion, they are ignored.

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Digital Output

</IMO>

</IMO> is In Motion signal. An active state indicates an index move is active

and the motor is moving.

</P-COM>

</P-COM> is Position Complete signal.

When the position error has been less than the in position size, the within
position window signal turns on.

</HOMC>

</HOMC> is Axis Homed signal. When the homing procedure involved the
home offset moving is complete, the axis homed signal turns on. When the
fault related encoder is generated or the motor moves beyond the index
position range or the motor forward direction is changed in power on state,
this signal becomes inactive.

</E_SEQU>

</E_SEQU> is End of Sequence signal.

An active state indicates all iterations of the index move have been completed.

</I-DW>

</I-DW> is In Dwell signal.

An active state indicates the motor is holding position in an index move and
waiting for the commanded dwell time. Any starting signal in the middle of
</I-DW> is ignored.

</O_ISEL0~5>

The drive outputs the executing index number in motion. If the motor stops,
the drive outputs previously the completed index number. From 0 to 5,
6 signals repeats ON and OFF, and shows one index combination out of 64
indexes.

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 Indexing 4-5

Auto Starting Index If the auto starting indexing turns on, an indexing move starts at when the
drive is enabled. Using this function, the drive can start an indexing without an
input signal as motor moving enable.

Auto Starting Indexing

/SV-ON

Auto Starting Indexing

/SV-ON

/START_I

If the Auto Starting Indexing and Auto Starting Homing are set
simultaneously, the drive operates like the following table.

Motion Sequence (Drive Motion Sequence (Drive

Auto Starting Auto Starting Enable inputs When an Axis Enable inputs When an Axis
Homing Indexing is not homed) is homed)
Active ON Homing → Indexing Homing → Indexing
Active after drive
reset only ON Homing → Indexing Indexing

The Auto Starting Indexing can set IN00.00. As the value of setting window, 0
is OFF and 1 is ON. The Auto Starting Indexing setting value You can change
always the Auto Starting Indexing setting value. But the setting is applied after
Power Off & On.

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4-6 Indexing

For Example)

Press ENTER key and Enter into

the Setting Window

Auto Starting Indexing OFF

Auto Starting Indexing ON

Press MODE/SET key

to save it.

S/W Limit Software Overtravel

If the motor position feedback is over the software overtravel range, the drive
operates the software overtravel limit. The software overtravel does not
operate unless the drive was previously homed.

Enable Software Limits : If Enable Software Limits is set to on, the drive
turns on soft overtravel checking. Enable Software Limits can set IN00.00. As
the value of setting window, 0 is OFF and 1 is ON. You can change this setting
value only Servo-Off status.

For Example)

Press ENTER key and Enter into

the Setting Window

Software Limits OFF

Software Limits ON

Press MODE/SET key

to save it.

Positive Software Limit : If the motor feedback position is greater than this
value, the drive has exceeded the software overtravel limit. This value can set
IN00.05 and change only Servo-Off. status. The input range is
-2,147,483,647~2,147,483,647 and the default value is 2,147,483,647.

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 Indexing 4-7

For Example)

Press ENTER key and Enter into

the Setting Window

The default value is 2,147,483,647. Using the

Direction key, Input the Setting Values.

Press MODE/SET key

to save it.

Negative Software Limit : If the motor feedback position is less than this
value, the drive has exceeded the software overtravel limit. This value can set
IN00.06 and change only Servo-Off. status. The input range is
-2,147,483,647~2,147,483,647 and the default value is -2,147,483,647.

For Example)

Press ENTER key and Enter into

the Setting Window

The default value is -2,147,483,647. H digits blinks

and display ‘-’ signal. Using the Direction key, Input
the Setting Values.

Press MODE/SET key

to save it.

Overtravel Stopping Method

The Overtravel Stopping Method can be set in the Digit 1 of Ft-0.02. If the
value of the Digit 1 of Ft-0.02 is '0', the Overtravel Stopping Method is
'Current Stop'. In case of indexing mode, the Overtravel Stopping Method is
'Decelerating and Stop' with same parameter value.

Digit 1 of Ft-0.02 Actions for Physical & Soft Limits in Indexing

0 Current Stop(Decelerating and Stop)
1 Dynamic Brake

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Deceleration Slope = Current Velocity 2 /(2 × Overtravel Deceleration Distance)

For Example)

Press ENTER key and Enter into

the Setting Window

Input the Setting Value in this digit. When the

Setting Value is 0, Using Current Stop

Positive Decel Distanec : The stopping distance is used when the drive
encounters a positive overtravel limit. Overtravel limit is the setting value to
stop the motor when overtravel occured. This value can set IN00.02. The
input range is 0~2,147,483,647 and the default value is 0.

For Example)

Press ENTER key and Enter into

the Setting Window

The default value is 0. Using the Direction

key, Input the Setting Values.

Negative Decel Distance : The stopping distance is used when the drive
encounters a negative overtravel limit. This is also the setting value to stop the
motor when overtravel occured. The input range is 0~2,147,483,647 and the
default value is 0.

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 Indexing 4-9

For Example)

Press ENTER key and Enter into

the Setting Window

The default value is 0. Using the Direction

key, Input the Setting Values.

Press MODE/SET key

to save it.

Velocity
Current Velocity

overtravel
deceleration distance

Time
Deceleration Time

Current Velocity :counts/sec

Deceleration Time : sec

Overtravel Deceleration Distance : counts

Deceleration Slope : counts/sec2

Overtravel Deceleration Distance = 1/2 × Current Velocity × Deceleration Time

Deceleration Time = 2 × Overtravel Deceleration Distance / Current Velocity

Deceleration Slope = delta velocity / delta time = Current Velocity / Deceleration Time

= Current Velocity 2 / (2 × Overtravel Deceleration Distance)

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4-10 Indexing

Motor Forward Direction

A change for the Motor Forward Direction is possible in the drive disable.
When changing the Motor Forward Direction, the index position feedback
value maintains the existing value.

The axis homed signal is became the inactive state if the motor direction is
changed. The Motor Forward Direction can set Ft-0.02N2. The Motor
Forward Direction is CW when the Setting Value is 0. The Motor Forward
Direction is CCW when the Setting Value is 1.

TIP When the homing procedure involved the home offset

moving is complete, the axis homed signal turns on. When
the fault related encoder is generated or the motor moves
beyond the index position range or the motor forward
direction is changed in power on state, this signal becomes
inactive.

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 Indexing 4-11

Homing Homing Methods

The CSD5 servo drive supports the following homing methods.

 Axis must be homed before the drive executes an absolute index.

 If Axis homed with 17bit serial absolute motor, the drive maintains
home after power cycling.
 A start homing command is ignored when the homing or index is
already in progress.
 The drive loses home if the drive detects faults related to encoder.

For a proper homing operation, the following parameters need to be set.

 Homing Type(IN01.00), the distnace to Home(IN01.02)

 Automatic Homing when activated(IN01.01)
 Homing Velocity(IN01.02)
 Creep Velocity(IN01.03)
 Homing Offset(IN01.05)
 Moving Distance Sensor after Homing(IN01.08)
 Home Current(IN01.09)
 Home Current Time(IN01.10)

When an incremental motor is used, the position feedback is set to 0 when the
homing operation is complete. (when Offset is 0).

ATTENTION
The alarm goes off when a user tries indexing while the
homing operation is incomplete. (i.e., HOMC (Axis Homing)
is not activated). Refer to the Index E-30 page Axis not
homed for more information about Fault .

ATTENTION
When an aboluste motor is used, the position feedback is set
to 0 even when the Homing is complete and the
multi-rotation data of the absolute encoder is not reset. The
multi-rotation data of an abolute motor is not automatically
reset. It can be reset only by a user.

ATTENTION
A homing type that uses a sensor for homing does not
complete a homing if the homing starts outside the sensor.

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4-12 Indexing

Homing types

The Index supports 11 homing types by using homing sensor, limit (+)/(-)
sensor, stopper and marker. Homing types can set IN01.00 and the setting is
applied after Power Off & On.

For Example)

Press ENTER key and Enter into

the Setting Window

Using the Direction key, Setting homing types.

Press MODE/SET key

to save it.

TIP Marker is 'Z' phase or 'C' phase. This is the signal to output
the same position every motor’s revolution.

Homing Type 0 : Home to Present Position

Homing type 0 does not allow home searching. If you set the automatic start
homing to 0 when you activate IN01.01, CDS5 Servo Drive defines the
current position as home when the drive is activated. If you set the automatic
start homing to 1 when you activate IN01.01, SHOM's position is set as home.

Homing Type 1 : To Home sensor/Back to Marker

Homing Type 1 defines home by using the home sensor and markers.

When the home searching begins, the motor moves to homing direction
(IN01.01) with homing velocity (IN01.02) until detecting the homing sensor.
At this point, the motor decelerates and stops; it starts moving reversly with
the creep velocity (IN01.03). When it hits the first marker after losing the
signal input from the home sensor, the deceleration stops, and it returns to the
position where it detected the active-going edge of the first marker.

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 Indexing 4-13

Creep velocity

Speed
Velocity

Homing velocity

Home Sensor

Marker

Homing Type 2 : To Limit/Back to Marker

Homing Type 2 uses the limit sensor (+) or (-) and markers.

Only the limit sensor installed in the homing direction is used, and the
hardware limit fault is deactivated. Operating principles are same as Homing
Type 1. The only difference is that it uses the limit sensor instead of the home
sensor.

Creep velocity

Speed
Velocity

Homing velocity

Limit Sensor
Physical overtavel

Marker

Homing Type 3 : To Home sensor/Fwd to Marker

Similar to the Homing Type 1, the Homing Type 3 also uses the homing sensor
and markers to define Home. However, the mechanism is different.

When the home sensor is detected, the speed decelerates to the creep velocity
and maintains until the active-going edge is detected. After it decelerates again
and stops, it moves reversly to the position where the active-going edge was
detected.

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Creep velocity
Speed
Velocity

Homing velocity

Home Sensor

Marker

Homing Type 4 : To Limit/Fwd to Marker

Similar to Homing Type 2, Homing Type 4 uses the limit sensor (+) or (-) and
markers. Only the limit sensor in the home direction is used, and hardware
Limit Fault is deactivated. Operating principles are same as Homing Type 3.
The only difference is that it uses the limit sensor instead of the home sensor.

Creep velocity
Speed
Velocity

Homing velocity

Limit Sensor
Physical overtavel

Marker

Homing Type 5 : Home to Current Value

The Homing Type 5 performs a mechanical stop by using the stopper.

Once the home searching begins, it moves in the homing direction with the
homing velocity (IN01.02). When the current is maintained higher than the
current of the home current time, it stops; Home is defined where it stops.
The home current is defined in the parameter IN01.09.

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 Indexing 4-15

Speed
Velocity

Homing velocity

Stopper

Homing Type 6 : Home to Current Value/Back to Marker

The operation is similar to that of the Homing Type 5, but in this mode, it
moves reversly until it detects the falling edge of a marker when the current
maintains higher than the current of the home current time. After detecting
the active-going edge of a marker, it stops after decelerating. Then, it returns to
the position where it detected the active-going edge of the first marker.

Creep velocity

Speed
Velocity

Homing velocity

Stopper

Marker

Homing Type 7 : To Home sensor/Move/Fwd to Marker

Similar to the Homing Type 3, the Homing Type 7 uses the home sensor and
moving distance, after home sensoring and marking.

When the distance between the home sensor and a marker is minuscule, it
might not detect the first marker. To prevent this from happening, there is one
more parameter in this mode to define the minimum moving distance to
detect the marker. The minimum moving distance is defined in the parameter
IN01.10 as time. After detecting the home input, speed decelerates to the 2nd
homing velocity and is maintained until the active-going edge of a marker is
detected. The active-going edge of the marker is set as home.

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4-16 Indexing

Moving distance after home sensor

Speed
Velocity

Homing velocity
Creep velocity

Home Sensor

Marker

Homing Type 8 : Home to Marker

The Home Type 8 uses only markers. In this mode, additional sensors such as
home sensor or limit (+) or (-) are not required. Once the home searching
begins, it moves in the homing direction with the creep velocity. When it
detects a marker, it decelerates and stops. It moves to the position where the
active-going edge of a marker was detected and sets this position as Home.

Speed
Velocity

Creep velocity
Marker

Homing Type 9: To Home sensor

Homing Type 9 defines home by using the home sensor only. When the home
searching begins, the motor moves to homing direction (IN01.02) with
homing velocity (IN01.02) until detecting the homing sensor. When it detects
home sensor, it decelerates and stop, then it moves in the reverse direction
with creep velocity (IN01.03). It returns to the position where it detected the
home sensor signal.

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 Indexing 4-17

Homing Type 10: To Limit sensor

Homing Type 9 defines home by using the limit sensor only. When the home
searching begins, the motor moves to homing direction (IN01.02) with
homing velocity (IN01.02) until detecting the limit sensor. When it detects
home sensor, it decelerates and stop, then it moves in the reverse direction
with creep velocity (IN01.03). It returns to the position where it detected the
limit sensor signal.

Auto Starting Homing on Enable

The drive starts the homing procedure automatically when the drive is enabled.
Auto Starting Homing can set IN01.01 and the setting is applied after Power
Off & On.

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4-18 Indexing

For Example)

Press ENTER key and Enter into

the Setting Window

Using the Direction key, Setting Auto Starting

Homing value between 0~2 at first digit.

Press MODE/SET key

to save it.

If the Auto Starting Indexing and Auto Starting Homing are set
simultaneously, the drive operates like the following table.

Motion Sequence (Drive Motion Sequence (Drive

Auto Starting Auto Starting Enable inputs When an Axis Enable inputs When an Axis
Homing Indexing is not homed) is homed)
Active ON Homing → Indexing Homing → Indexing
Active after drive
reset only ON Homing → Indexing Indexing

Active[Setting value: 0] : Automatically starts homing every time the drive is

enabled.

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 Indexing 4-19

/HOMC OFF ON OFF

/SV-ON ON OFF ON

Active after drive reset only[Setting value: 1] : Automatically starts homing

when a drive is enabled, if the drive has not already been homed

/HOMC OFF ON

/SV-ON ON OFF
OFF ON

Inactive [Setting value: 2] : Starts homing when drives is inputted Stare

Homing.

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4-20 Indexing

/HOMC OFF ON

/SV-ON OFF ON

/SHOME OFF ON OFF

Homing Velocity

Homing velocity is using velocity during an index homing. A +/- sign of this
value means a move direction during an index homing.

Homing velocity can set IN01.02. The input range is -6000~6000 and the
default value is 100. You can change this setting value only Servo-Off. status.

For Example)

Press ENTER key and Enter into

the Setting Window

Using the Direction key, Setting value between

-6000~6000.

Press MODE/SET key

to save it.

CSD5 Servo Drive Index Manual

 Indexing 4-21

TIP A +/- sign of homing velocity means a move direction

during an index homing. A homing is Positive direction
when it’s '+' sign and negative direction when it’s '-' sign.

Creep Velocity

For the To Sensor, then Back to Marker Homing Type, the velocity used for all
remaining homing motion after the motor decelerates to a stop when it finds
the sensor edge. This velocity uses all of the other homing types.

Creep velocity can set IN01.03 and the input range is -6000~6000. The default
value is 100 and its unit is rpm.. You can change this setting value only
Servo-Off status.

For Example)

Press ENTER key and Enter into

the Setting Window

Using the Direction key, Setting value between

0~6000.

Press MODE/SET key

to save it.

Home Offset Move

The home offset move means the moving distance after the homing procedure
specified homing methods is complete. A user can use this option to set up an
origin which is different from the origin defined in the homing operation.

The position where the motor stops after the moving for the home offset
move is complete is the new home. The home offset move is not applicable
for the 17-bit Absolute Motor. The Offset Move Distance is set up in the
IN01.05. Its range is -2,147,483,647~2,147,483,649 and the default value is 0.
Its unit is counts and it can change this setting value only Servo-Off. status.

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4-22 Indexing

For Example)
Press ENTER key and Enter into
the Setting Window

Using the Direction key, Setting values

between -2,147,483,647~2,147,483,647.

Press MODE/SET key

to save it.

Home Sensor Polarity

This function is to choose the active state of home sensor input; Inactive to
active transition and Active to inactive transition.

This value is set up in the IN01.06. Home sensor is enable when the input
value is set 0 and it is disable when the input value is set 1. It can change this
setting value only Servo-Off. status.

For Example)
Press ENTER key and Enter into
the Setting Window

Using the Direction key, Setting values 0 or 1.

Press MODE/SET key

to save it.

Home Position

This value is used as the home position at the completion of a homing

procedure. If this value is 1000, the index position is 1000 when the moving
for the home offset is complete.

The HomePosition is set up in the IN01.07. Its range is

-2,147,483,647~2,147,483,649 and the default value is 0. Its unit iscounts and
it can change this setting value only Servo-Off. status.

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 Indexing 4-23

For Example)

Press ENTER key and Enter into

the Setting Window

Using the Direction key, Setting values

between -2,147,483,647~2,147,483,647.

Press MODE/SET key

to save it.

Moving Distance After Home Sensor

When Homing Mode 7 is selected, markers which appear between the active
going edge of the home sensor and the end position of Moving distance After
Home Sensor are all ignored.

Moving distance After Home Sensor is set up in IN01.08. Its range is

0~2,147,483,649 and the default value is 0. It can change this setting value only
Servo-Off. status.

For Example)

Press ENTER key and Enter into

the Setting Window

Using the Direction key, Setting values

between -2,147,483,647~2,147,483,647.

Press MODE/SET key

to save it.

Home Current, Home Current time

When Homing Mode 5 or 6 is used for Homing, the system judges it actually
hits the Stopper if the torque higher than the Home Current is maintained for
the Home Current time.

The Home Current is set up in IN01.09, about 0~250% of its rated torque.
The default value is 100. Home Current time is set up in IN01.10. It can be

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4-24 Indexing

0~1000 msec. Its default is ‘0’. It can change this setting value only Servo-Off.
status.

For Example)

Press ENTER key and Enter into

the Setting Window

Using the Direction key, Setting values

between 1~250.

Press MODE/SET key

to save it.

For Example)

Press ENTER key and Enter into

the Setting Window

Using the Direction key, Setting values

between 0~1000.

Press MODE/SET key

to save it.

Index Option The CSD5 servo drive can store 64 indexes and provide 3 types of option
modes for the 64 indexes. The three types are Stop, Start next Index, and Wait
for Start. Except the Selective position option, 64 indexes are pre-defined in a
memory.

ATTENTION
The alarm goes off when a user tries indexing while the
homing operation is incomplete. (i.e., HOMC (Axis Homing)
is not activated). Refer to the Index E-30 page Axis not
homed for more information about Fault .

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 Indexing 4-25

Action When Complete

The indexing action when the index has completed is defined to be one of the
below options.

Stop [Setting Value: 0]

This action ends the execution of indexed move commands (default).

/IMO ON OFF

/I-DW OFF ON

Start Next Index [Setting Value: 1]

Only one START signal is required to move over all the Indexes. This action
commands execution of the next index move without additional input, but
after the scheduled dwell. The duration of stop at each index depends on the
Dwell time defined in the index data. IMO is active when the movement starts
and maintains the state until the last index.

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4-26 Indexing

/IMO ON OFF ON

/I-DW OFF ON OFF

Wait for Start [Setting Value: 2]

In this mode, whenever there is the START signal, it moves to the next index,
not like the Start Next Index where only one START signal is required to
move over all the Indexes. Whenever it arrives at each position, the IMO signal
is turned OFF.

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 Indexing 4-27

/IMO ON OFF ON OFF

/I-DW OFF ON OFF ON

/START_I ON OFF ON OFF

Action When Complete is set up in IN02.00~63N1.

For Example)

Press ENTER key and Enter into

the Setting Window

Using the Direction key, Setting Action When

Complet value between 0~2 at second digit.

Press MODE/SET key

to save it.

Next Index

The number (0 - 63) of the next indexed move to execute when Action When
Complete is not set to "Stop".

Next Index is set up in IN12.00~63.

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4-28 Indexing

For Example)

Press ENTER key and Enter into

the Setting Window

Using the Direction key, Setting value between

0~63.

Press MODE/SET key

to save it.

Dwell Time The dwell is the time when the drive holds position after the motor position
feedback reached the target position.

After the drive spends dwell, the drive waits commands or executes the next
index. The dwell function operates with all indexing (all index types and all
options of 'action when complete').

Dwell is set up in IN07.00~63. Its range is 0~65,535 and its default is ‘0’.

For Example)

Press ENTER key and Enter into

the Setting Window

Using the Direction key, Setting value between

0~65,535.

Press MODE/SET key

to save it.

Run Function The CSD3 servo drive supports total 13 Run functions, i.e. Run-00~Run-12.
Run-02, Run-05~07, Run-09 are not supported in the Indexing, but
Run-00~01, Run-03~04, Run-08, Run-10~12 provide the same functions in
the Indexing.

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 Indexing 4-29

The Description of each Run function is shown below.

Function Description
run-00 Jog Operation
run-01 Off-Line Auto Tuning
run-03 Auto Adjustment of Speed Command Offset
run-04 Auto Adjustment of CurrentCommand Offset
run-08 Alarm Reset
run-10 Absolute Encoder Reset
run-11 2-Group Gain Storing
run-12 Parameter Initialization

Monitoring Modes for The monitor modes help a user conveniently check Indexing Position
Feedback and Indexing Position Command.
Indexing
-dis-04 : Indexing Position Feedback

-dis-05 : Indexing Position Command

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CSD5 Servo Drive Index Manual

 Chapter 5

Tuning

Introduction This chapter explains the servo drive setting that can achieve its optimum
performance to satisfy different load system as controlling servo motor.

Topic Page
Introduction 5-1
Tuning by Gain Srtting 5-1
Gain Srtting Configuration 5-5
Auto Gain Setting 5-8

Tuning by Gain Setting Mark Description

The following icon is used for tuning.

< Tuning Icon >

Gain Setting Parameter 500 Maximum Setting Value

Gain Name and Unit System Gain

50 Initial Setting Value
[ Hz]
Gain Setting Private Icon 0 10 Minimum 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.

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5-2 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

500

50
10 System Gain [ Hz]
0

It is the same as the Bandwidth of overall speed control loop of the servo
drive.

It can adjust five basic gains at the same time.

IMPORTANT In case of CSD5 servo drive, the system gain is limited to

10Hz at its minimum to guarantee a proper level of motion
characteristics when speed response level [Ft- 1.00] is set
too low. For more information about speed response level,
refer to 6-8 page "Speed Response Level [Ft-1.00]".

Basic Gain

They are five fundamental gains for tuning.

10000 60000 700 10000 10000

60 26 20 300 1000
0 0 0 0 0

Speed Loop Speed Loop Position Loop Torque Speed Command

Proportion Gain Integration Gain Proportion Gain Command Filter Filter

[Nms] [ Nms2 ] [Hz] [Hz] [Hz]

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 Tuning 5-3

Applicable Gain

They are four gains that with separate functions.

1000 10000 100 2500

200
0 0 0 0

Position Vibration Postion FF Postion FF

Command Filter Suppression Filter Gain Filter

[Hz] [Hz] [%] [Hz]

Others

They are four parameters with supplementary function that is required for
tuning.

3000 450 50000

100 1000
0 0 0

P Contorl Speed Bias

P Contorl Speed Bias
Conversion Switch Standard Width
Conversion
[ [N/A ] ] Standard Value
[ ] [rpm] [pulse]

As mentioned above, gains in parameter group 1 and 13 parameters related to

gain are explained and the details refer to user manual.

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.

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5-4 Tuning

Inertia Ratio

What is Inertia Ratio?

The following figure explains the inertia ratio.

Motor Inertia

Load Inertia

It shows the ratio of load inertia compared to the motor (rotor) inertia.

If the motor (rotor) inertia is 3 [gfcms²] and the load inertia is 30 [gfcms²], the
inertia ratio is 10 [times]. For the motor inertia table, refer to the motor
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 1.00.

The setting value of the Inertia Ratio is determined by the following formula.
Load Inertia
Inertia Ratio =
Motor Rotor Inertia

Setting Parameter

Set the Inertia Ratio to the following parameter.

Parameter

Parameter Name Inertia Ratio

Descirption It can be automatically set by off-line auto tuning function in the
page 7-44 "Off-Line Auto Tuning (run-01)".
Setting Value 0.00~60.00
Initial Value 1.00

CSD5 Servo Drive Index Manual

 Tuning 5-5

Unit Times
Applicable Mode All
Others Setting > End

IMPORTANT Based on the motor type and the rated output, the maximum
allowed inertia ratio is as below. When the allowed inertia ratio
exceeds the maximum, you cannot expect a fast response.

Motor Capacity Maximum Allowble Inertia Rotation

CSMT/R less 100 [W] 30 [Times]
RSMQ/Z less 1 [kW] 20 [Times]
1 [kW] 10 [Times]
RSMS/D/H/F/K/L All 10 [Times]

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.

10000 60000

60 26
0 0

Speed Loop Positon Loop

Integration Gain Proportaion Gain

[Nms] [ Nms2 ]

Gain Setting This chapter explains the overall configuration (Position, Speed, and Torque)
related to the gain setting.
Configuration

The following diagram will help you understand the gain configuration related

5 CSD5 Servo Drive Index Manual

5-6 Tuning

to position, speed and torque.

Starting point for position Position mode using the position pulse command of host controller includes all gains related to speed and
mode gain setting 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 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 Speed mode using speed command of the host controller includes all gains related to torque from starting
mode gain setting point to the servo motor as shown in the figure below.

Servo drive first generates torque command using speed command of the host controller 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 Torque mode using torque command of host controller includes all gains related to torque from starting point
mode gain setting to servo motor as shown in the figure below.

You can adjust gains related to torque in torque mode.

TIP If gains related to position are set in the condition that

response 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.

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 Tuning 5-7

Gain Diagram releated to Position, Speed and Torque

< Servo Drive >

Position Contorl reated to Gain

Position Command Position FF Gain Position FF Filter

Starting Point Filter
of Position
Mode Gain
Setting
[dB] Position Loop Speed
Position Proportion Gain Command
Command Pulse

[Hz]
Speed Bias

Pr- 1.15
Ft-5.19

Pr- 1.15
Ft-5.19

Speed Control related to Gain

Speed Limit Speed Command Filter Speed Loop Proprtion Gain

Starting Point
of Speed Mode
Gain Setting Torque
Speed [dB] Command
Speed Loop
Ft-2.12
Pr-2.14
Speed Proportion Gain
Command Time
[Hz]

Torque Contorl related Gain

1st Vibration 2nd Vibration

Torque Limit Suppression Filter Suppression Filter
Torque
Starting Command Filter
Point of ~ ~
Torque
Mode Gain Servo
Setting Torque Motor
Width Width
[dB] ˘ł [dB] ˘ł [dB]
Torque –Depth
Command
Speed
[Hz] [Hz] [Hz]

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5-8 Tuning

Auto 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

Two basic gains are automatically set based on the detected data.

Tuning Mode

There are inertial identification mode, inertia identification and resonance

frequency detection mode, and resonance frequency detection mode.

The operation mode of run-01 is set by the Auto tuning Mode Setting
[Ft-0.03] N0 [Ft-0.03] N0 = 2 (Resonance Frequency Detection). This is a
function that looks for only the resonance frequency of the system in a
stationary position unlike the inertia moment identification function. This
function is for the users who are interested in finding only the resonance
frequency, unlike [Ft-0.03] N0 = 1(inertia identification and resonance
frequency detection). However, as this function also requires the system's
inertia for an accurate operation, it can be useful when the vibration
suppression filter needs to be corrected once more by feeling the vibration
after performing [Ft-0.03] N0 = 0 (inertia moment identification) or [Ft-0.03]
N0= 1 (inertia moment identification and resonance frequency detection).

Operation (Tuning) Method

For Operation method for off-line auto tuning, refer to Off-line Auto Tuning
Operation (run-01) on page 7-44 page “Off-line Auto Tuning Operation
(run-01)”.

Speed Response Level [Ft-1.00]

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).

CSD5 Servo Drive Index Manual

 Tuning 5-9

After auto tuning, max. bandwidth is determined, and the system gain
[Ft-1.01] is determined by [Ft-1.00].

Parameter

Parameter Name Speed response level

Description Define max. system gain % recommended by a system based on
inertia measured from auto tuning
Setting Value 1 ~ 150
Initial Value 50
Unit %
Applicable Mode All
Others Setting > End

This parameter defines max. system gain [%] recommended by a system after
execution of “Nertia Identification”. or ‘nertia identification and resonance
frequency’ according to [Ft-0.03.N0] setting. For example, if ‘max. available
frequency’ of a system is ‘100 [Hz]’ after auto tuning, its system gain [Ft-1.01]
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 value is 50 [%] and the related gain
values are automatially set to appropriate values when it is changed, and the
related Gain Values are automatically set to appropriate values when it is
changed. However, system gain [Ft-1.01] is limited to 10 [Hz] at its minimum
to guarantee a proper level of motion characteristics when speed response level
[Ft-1.00] 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 [Ft-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.

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 [Ft-1.10] and if you know the
exact resonant frequency of the load, you can set it directly.

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5-10 Tuning

The response performance of the drive is increased than prior to the auto tuning.

10000 60000

100 100
0 0 Set the 2 basic gains automatically using the
data detected by the tuning.

Speed Loop Speed Loop

Proportion Gain Integration Gain
[ Nms] [ Nms2] Automatic Adjustment
< >
of the Basic Gain
10000

Using the Off-line Tuning Function.

1. Detect the inertia ratio automatically
0 2. Detect the resonant frequency of the load
Setting Range automatically
0.00~60.00 times
Inertia Ratio Vibration < Inertia ratio auto save>
Suppression Filter [ Hz ]
< resonance frequecny auto >
detection
Perform auto tuning by the off-line
Off-Line Auto Tuning
auto tuning method.

Flowchart of the relartionship between the off-line auto tuning Start

TIP Only as operating off-line auto tuning, you can prevent

resonant noise caused by resonant frequency of load system
and three basic gains.

Off-line auto tuning automatically sets Inertia Ratio [Ft-0.04]

and resonant suppression filter [Ft-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.

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.

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 Tuning 5-11

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 6-36 page "</G-SEL>
Function".
 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

Coefficient
9 On-line Auto
Tuning Coefficient

[-]
0

Coefficient Name Speed response level

Description If this value is not ‘0’. use on-line auto tuing function. The higher
you set the value, the more delicately it responses to load change
and respond quickly.
Applicable Mode All
Others Servo-OFF > Setting > End

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 [Ft-1.01] and if noise or vibration
occurs, reduce that value.

On-line Vibration Suppression

Select Online Vibration Suppression Mode.

Three modes can be selected on the first 7 segment: Disable, Normal and
High Speed Mode, and Slow Speed Mode without Initial Value.

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5-12 Tuning

Also, the second 7 segment supports Online Vibration Suppression Gain

function.

On-line Vibration Suppression Mode Selection

 Ft-1.22.N0 = 0

Operates based on the value of the fixed vibration suppression filter in

Ft-1.10 which is previously set by the offline tuning, and the online
function does not work.

 Ft-1.22.N0 = 1

It is a function to suppress the vibration online in the most general motion

conditions. However, for the online function to work properly, an initial
offline tuning is necessary. The inertia ratio set by offline is essential for
the maximum result of the online vibration suppression. Once the online
function starts by this mode, the existing value of [Ft-1.10] becomes
meaningless.

IMPORTANT The suggested online function can adversely affect when

the load condition is too great with a high strength or in
no load status. It is strongly advised not to use this
function and operate in Off-line Tuning Mode (its
parameter setting value is 0 in [Ft-0.03] ) for a better
result in those cases.

Generally, the suggested load condition brings a good result when using a
belt or a belt-incorporated system.

 Ft-1.22.N0 = 2

This function is used to detect the resonance frequency while in general

motion when no proper value exists in [Ft-1.10] because only the inertia
ratio was identified without measuring the resonance frequency in the
initial offline tuning stage.

IMPORTANT To use this function, it is extremely important that the

system gain [Ft-1.01] should be set low between 10 ~15
[Hz], and the maximum speed for the motion should be
lower than 100 [rpm].

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 Tuning 5-13

Once the above conditions are met, while in general motion, and check what
value [Ft-1.10] changes to. If the system cannot identify an appropriate
resonance frequency, [Ft-1.10] does not change its initial value (10000).

Once the value is changed, it is difficult to increase the speed higher than 100
[rpm], but the gain can be increased within the bounds of the system; in that
case [Ft-1.10] can change again.

Even if it changes to a certain value, when the [Ft-1.22] N0 is changed to

another mode, the value of [Ft-1.10] that was measured online returns to the
initial value, which was set in the Disable online Vibration Suppression mode
in case [Ft-1.22] N0 is "0". That is because, the defined value of [Ft-1.22] N0
on "2"(Slow Speed mode without initial value) might not have the generality
since it is a value guaranteed only in the low-speed operation mode. However,
if a user decides that the device is always operated in the low-speed mode and
wants to keep the value permanently, he can reset Ft-1.22.N0 = 0 and write the
value measured online from [Ft-1.22] N0 "2" again onto Ft-1.10 then, the
value is stored in the memory of the drive for good.

If only resonance (or vibration) frequency is needed, execution of [run-01]

(offline auto tuning) after setting "[Ft-0.03] N0 =2 (Resonance Frequency
Detection)" enables the normal operation after locating the vibration
frequency.

The advantage of this function is that all the operation conditions are in the
low-speed range mentioned above (within 100 [rpm]); in case the gain is also
relatively low, the operation can be continued while adjusting for the optimum
[Ft-1.10].

IMPORTANT This function is available only when both the gain and the
operation speed (within 100 rpm) are low.

Online Vibration Suppression Gain Setting

As mentioned above "[Ft-1.22] N0 = 1” is the most suitable online function to

be used in general. However, this function may be vulnerable depending on
the load condition. Such an example is when the structure is complicated with
many belts connected. Initial value “[Ft-1.22] N1 = 0”can be applicable in
most cases; if there is a functional problem, set [Ft-1.22] N1 value to "1" so the
online vibration suppression gain could increase, and use the higher value of
[Ft-1.07](Torque command filter) than 1000 [Hz] to get a good result.

In the meantime “[Ft-1.22] N1” affects only when “[Ft-1.22] N0 = 1”.

13 CSD5 Servo Drive Index Manual

5-14 Tuning

CSD5 Servo Drive Index Manual

 Chapter 6

Application

Introduction This chapter describes settings to operate the servo motor by indexing once
again. And describes indexing in order after basic settings.
.
Topic Page
Introduction 6-1
Basic Setting of the Servo Drive 6-1
Basic Setting for Indexing 6-5
Homing Setting 6-8
Indexing Setting 6-16
Index Operation 6-22

Basic Setting of the Servo A user has to set basic parameters to operate servo drive by indexing. This
chapter describes to set the standard Parameters. For more detail information,
Drive please refer to “ CSD5 Servo Drive User Manual”.

Index Mode Setting

The control Mode is set up in Ft-0.00. Describes index mode setting method
focusing on the key button manipulation. Apply the power and set it as shown
in the flowchart below.

1 CSD5 Servo Drive Index Manual

6-2 Application

Flowchart of the Index 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 Index Mode.

Displays Contol Mode by UP-DOWN key

An Alphabet representing each mode is displayed.

Multi-step Speed Torque Speed Positon Index

Index 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.

Servo Motor Setting

Motor setting should be done from the parameters [Ft-0.01]. For numerical
data related to the installation of the servo motor, please refer to CSD5 Servo
Drive User Manual.

CSD5 Servo Drive Index Manual

 Application 6-3

Basic Mode Setting

Fault and Disable Braking, Overtravel stop method, Motor Forward Dir.,
Power Input is set up in Ft-0.02.

Selection of 4 Basic Mode

Digit 0 Fault and Disable Braking

Range Value Description
0 Keep DB after DB stop
1 DB is released after DB stop
2 Stop Free run (operation) without DB stop
3 Keep DB after stop Free run
Initial Value 0
Digit 1 Overtravel stop method
Range Value Description
0 Stop by normal torque contorl during overtravel. At this
monent,can contorl torque by setting overtravel torque linit
[Ft-4.05].
1 Stop by the method set at the DB stop method selection in
[Ft-0.02] when overtravel occurs.
Initial Value 0
Digit 2 Motor Forward Dir.
Range Value Description
0 The command signal is not inverted so that a positive
command value results in CW Rotation, (as viewed from shaft
end).
1 The command signal is inverted so that a positive command
value results in CCW Rotation, (as viewed from shaft end).
Initial Value 0
Digit 3 Power Input
Range Value Description
0 Check input power

50~400W Servo Drive: Enable single-phase open check

800~1.5kW Servo Drive: 3-phase open check
1 Do not check the input power
2 Single-phase input
Initial Value 0

A. Select Parameter Setting Mode(Ft-0.00) by MODE/SET key.

B. Using the Direction key, move to Ft-0.02.

C. Press ENTER key and enter into the Setting Window.

3 CSD5 Servo Drive Index Manual

6-4 Application

D. Fault and Disable Braking, Overtravel stop method, Motor Forward Dir.
and Power Input are set up in Ft-0.02, refer to the table above.

E. To complete the setting, press MODE/SET key to save it.

F. Press ENTER key and go out the Setting Window.

Supplementary Function Setting

In Position Size and Near Position Size are set up in Ft-5.00, Ft-5.02.

In Position Size

Description If position error < In Position Size for 1 ms and the In Position
Size output signal is assigned, the In Position output is turned
ON.
Range 0~2500
Initial Value 10
Unit pulse
Near Position Size

Description If position error < Near Position Size and the Near Position
output signal is assigned, the Near Position output is turned ON.
Range 0~2500
Initial Value 20
Unit pulse

A. Select Parameter Setting Mode(Ft-0.00) by MODE/SET key.

B. Using the Direction key, move to Ft-5.00.

C. Press ENTER key and enter into the Setting Window.

D. In Position Size is set up in Ft-5.00, refer to the table above.

E. To complete the setting, press MODE/SET key to save it.

F. Press ENTER key and go out the Setting Window.

G. Near Position Size is set up in Ft-5.02 as the same way.

CSD5 Servo Drive Index Manual

 Application 6-5

Basic Setting for Indexing A user has to set up the basic parameter for indexing after setting the basic
parameter of the servo drive. This chapter describes to set the Parameters for
the index system.

Auto Starting Indexing

If the auto starting indexing turns on, an indexing move starts at when the
drive is enabled. Using this function, the drive can start an indexing without an
input signal as motor moving enable.

Auto Start Indexing is set up in IN00.00. Auto Start Indexing is set up, refer to
the table below.

Auto Start Indexing

Description When this field is set to "on", the drive will begin executing the
selected index whenever the drive enables.

0-OFF
1-ON
Range 0~1
Initial Value 0

A. Select Index Setting Mode(IN00.00) by MODE/SET key.

B. Using the Direction key, move to IN00.00.

C. Press ENTER key and enter into the Setting Window.

D. Set up a Auto Start Indexing, refer to the table above.

E. To complete the setting, press MODE/SET key to save it.

F. Press ENTER key and go out the Setting Window.

5 CSD5 Servo Drive Index Manual

6-6 Application

Abort Index Deceleration

A user can set up the deceleration used to stop motion when the Stop Index
input terminates an index move. Abort Index Deceleration is set up in
IN00.01.

Abort Index Deceleration

Description The deceleration used to stop motion when the Stop Index input
terminates an index move.
Range 0~2147483647
Initial Value 6250

A. Select Index Setting Mode(IN00.00) by MODE/SET key.

B. Using the Direction key, move to IN00.01.

C. Press ENTER key and enter into the Setting Window.

D. Set up a Abort Index Deceleration, refer to the table above.

E. To complete the setting, press MODE/SET key to save it.

F. Press ENTER key and go out the Setting Window.

Positive/Negative Deceleration Distance

A user can set up the stopping distance used when the drive encounters a
positive/negative overtravel limit. Positive/Negative Deceleration Distance is
set up in IN00.02~03.

Positive Deceleration Distance

Description The stopping distance used when the drive encounters a positive
overtravel limit.
Range 0~2147483647
Initial Value 0
Negative Deceleration Distance

Description The stopping distance used when the drive encounters a negative
overtravel limit.
Range 0~2147483647
Initial Value 0

CSD5 Servo Drive Index Manual

 Application 6-7

A. Select Index Setting Mode(IN00.00) by MODE/SET key.

B. Using the Direction key, move to IN00.02.

C. Press ENTER key and enter into the Setting Window.

D. Set up a Positive Deceleration Distance, refer to the table above.

E. To complete the setting, press MODE/SET key to save it.

F. Press ENTER key and go out the Setting Window.

G. Negative Deceleration Distance is set up in IN00.03 as the same way.

S/W Limit

If the motor position feedback is over the software overtravel range, CSD5
servo drive operates the software overtravel limit. The parameters for Software
Limit are set up in IN00.04~06 IN00.04~06.

Enable Software Limits

Description Select:

0-OFF: Turns off software overtravel limit checking

1-ON: Causes the drive to compare the motor feedback position to
the Positive and Negative Software Limits, below, to determine if
the drive has exceeded an overtravel limit.
Range 0~1
Initial Value 0
Positive Software Limit

Description If the motor feedback position is greater than this value, the drive
has exceeded the software overtravel limit.
Range -2147483647~2147483647
Initial Value 2147483647
Negative S/W Limit

Description If the motor feedback position is less than this value, the drive
has exceeded the software overtravel limit.
Range -2147483647~2147483647
Initial Value -2147483647

A. Select Index Setting Mode(IN00.00) by MODE/SET key.

7 CSD5 Servo Drive Index Manual

6-8 Application

B. Using the Direction key, move to IN00.04.

C. Press ENTER key and enter into the Setting Window.

D. Set up a Enable Software Limit, refer to the table above.

E. To complete the setting, press MODE/SET key to save it.

F. Press ENTER key and go out the Setting Window.

G. Positive/Negative Software Limit is set up in IN00.05~06 as the same

way.

User Defined Distance

A user intuitively can set up the Index Position/Distance by a user defined the
unit and distance per motor revolution of the load. User Defined Distance Per
Motor Revolution is set up in IN00.07. Default 0 mean to use count unit, not
use User Defined distance.

User Defined Distance Per Motor Revolution

Description Define user defined distance per motor revolution.

Range 0~99999
Initial Value 0

A. Select Index Setting Mode(IN00.00) by MODE/SET key.

B. Using the Direction key, move to IN00.07.

C. Press ENTER key and enter into the Setting Window.

D. Set up a User Defined Distance Per Motor Revolution, refer to the table
above.

E. To complete the setting, press MODE/SET key to save it.

F. Press ENTER key and go out the Setting Window.

Homing Setting Axis must be homed before the drive executes an absolute index. This chapter
describes to set the Parameters for the homing.

CSD5 Servo Drive Index Manual

 Application 6-9

Homing Type

CSD5 Servo Drive supports 11 homing types. Homing types can set IN01.00
and the setting is applied after Power Off & On.

Homing Type

Description Select the type of homing operation the drive will perform.

0-Home to Present Position

1-To Home sensor/Back to Marker
2-To Limit/Back to Marker
3-To Home sensor/Fwd to Marker
4-To Limit/Fwd to Marker
5-Home to Current Value
6-Home to Current Value/Back to Marker
7-To Home sensor/Move/Back to Marker
8-Home to Marker
9-To Home sensor
10-To Limit sensor
Range 0~10
Initial Value 1

A. Select Index Setting Mode(IN00.00) by MODE/SET key.

B. Using the Direction key, move to IN01.00.

C. Press ENTER key and enter into the Setting Window.

D. Set up a Homing Type, refer to the table above.

E. To complete the setting, press MODE/SET key to save it.

F. Press ENTER key and go out the Setting Window.

Auto Start Homing

The drive starts the homing procedure automatically when the drive is enabled.
Auto Starting Homing can set IN01.01 and the setting is applied after Power
Off & On.

Auto Start Homing on Enable

9 CSD5 Servo Drive Index Manual

6-10 Application

Description Causes the drive to begin the homing procedure automatically

when the drive is enabled.

0 - Active: Automatically starts homing every time the drive is

enabled.
1 - Active After Reset Only: automatically starts homing when a drive
is enabled, if the drive has not already been homed.
2 - Inactive
Range 0~2
Initial Value 2

A. Select Index Setting Mode(IN00.00) by MODE/SET key.

B. Using the Direction key, move to IN01.01.

C. Press ENTER key and enter into the Setting Window.

D. Set up a Auto Starting Homing, refer to the table above.

E. To complete the setting, press MODE/SET key to save it.

F. Press ENTER key and go out the Setting Window.

If the Auto Starting Indexing and Auto Starting Homing are set
simultaneously, the drive operates like the following table.

Motion Sequence (Drive Motion Sequence (Drive

Auto Starting Auto Starting Enable inputs When an Axis Enable inputs When an Axis
Homing Indexing is not homed) is homed)
Active ON Homing → Indexing Homing → Indexing
Active after drive
reset only ON Homing → Indexing Indexing

Homing Velocity

Homing velocity is using velocity during an index homing. A +/- sign of this
value means a move direction during an index homing. For the To Sensor, then
Back to Marker Homing Type, creep velocity used for all remaining homing
motion after the motor decelerates to a stop when it finds the sensor edge.
This velocity uses all of the other homing types.

Homing Velocity

Description The commanded velocity used during homing. The sign of this
value (+/-) indicates the direction of motion during homing.
Range -6000~6000
Initial Value 100

CSD5 Servo Drive Index Manual

 Application 6-11

Creep Velocity

Description For the To Sensor, then Back to Marker Homing Type, the
velocity used for all remaining homing motion after the motor
decelerates to a stop when it finds the sensor edge.
Range 0~6000
Initial Value 20

A. Select Index Setting Mode(IN00.00) by MODE/SET key.

B. Using the Direction key, move to IN01.02.

C. Press ENTER key and enter into the Setting Window.

D. Set up a Homing Velocity, refer to the table above.

E. To complete the setting, press MODE/SET key to save it.

F. Press ENTER key and go out the Setting Window.

G. Creep velocity is set up in IN01.03 as the same way.

Homing Acceleration/Deceleration

A user can set up the rate of acceleration and deceleration used during homing.

Homing Acceleration/Deceleration

Description The rate of acceleration and deceleration used during homing.

Range 1~2147483647
Initial Value 6250

A. Select Index Setting Mode(IN00.00) by MODE/SET key.

B. Using the Direction key, move to IN01.04.

C. Press ENTER key and enter into the Setting Window.

D. Set up a Homing Acceleration/Deceleration, refer to the table above.

E. To complete the setting, press MODE/SET key to save it.

F. Press ENTER key and go out the Setting Window.

11 CSD5 Servo Drive Index Manual

6-12 Application

Home Offset Move

The home offset move means the moving distance after the homing procedure
specified homing methods is complete. A user can use this option to set up an
origin which is different from the origin defined in the homing operation. The
position where the motor stops after the moving for the home offset move is
complete is the new home.

The home offset move is not applicable for the 17-bit Absolute Motor. The
Offset Move Distance is set up in the IN01.05.

Offset Move Distance

Description The distance the motor position will be from the marker edge (or
sensor edge for Sensor only Homing Type) after the homing
sequence is complete.
Range -2147483647~2147483647
Initial Value 0

A. Select Index Setting Mode(IN00.00) by MODE/SET key.

B. Using the Direction key, move to IN01.05.

C. Press ENTER key and enter into the Setting Window.

D. Set up a Offste Move Distance, refer to the table above.

E. To complete the setting, press MODE/SET key to save it.

F. Press ENTER key and go out the Setting Window.

Home Sensor Polarity

This function is to choose the active state of home sensor input; Inactive to
active transition and Active to inactive transition. This value is set up in the
IN01.06. Home sensor is enable when the input value is set 0 and it is disable
when the input value is set 1.

Home Sensor Polarity

Description 0-NORMAL CLOSE

1-NORMAL OPEN
Range 0~1
Initial Value 0

CSD5 Servo Drive Index Manual

 Application 6-13

A. Select Index Setting Mode(IN00.00) by MODE/SET key.

B. Using the Direction key, move to IN01.06.

C. Press ENTER key and enter into the Setting Window.

D. Set up a Home Sensor Polarity, refer to the table above.

E. To complete the setting, press MODE/SET key to save it.

F. Press ENTER key and go out the Setting Window.

Home Position

This value is used as the home position at the completion of a homing

procedure. If this value is 1000, the index position is 1000 when the moving
for the home offset is complete.

Home Position

Description The home position when a homing procedure is completed.

Range -2147483647~2147483647
Initial Value 0

A. Select Index Setting Mode(IN00.00) by MODE/SET key.

B. Using the Direction key, move to IN01.07.

C. Press ENTER key and enter into the Setting Window.

D. Set up a Home Position, refer to the table above.

E. To complete the setting, press MODE/SET key to save it.

F. Press ENTER key and go out the Setting Window.

Moving Distance After Home Sensor

When Homing Mode 7 is selected, markers which appear between the active
going edge of the home sensor and the end position of Moving distance After
Home Sensor are all ignored. Moving distance After Home Sensor is set up in

13 CSD5 Servo Drive Index Manual

6-14 Application

IN01.08. Its range is 0~2,147,483,649 and the default value is 0. It can change
this setting value only Servo-Off. status.

Moving distance After Home Sensor

Description This value is distance that the drive ignores the marker inputs
after the home sensor is detected.
Range 0~2147483647
Initial Value 0

A. Select Index Setting Mode(IN00.00) by MODE/SET key.

B. Using the Direction key, move to IN01.08.

C. Press ENTER key and enter into the Setting Window.

D. Set up a Moving distance After Home Sensor, refer to the table above.

E. To complete the setting, press MODE/SET key to save it.

F. Press ENTER key and go out the Setting Window.

Home Current, Home Current time

When Homing Mode 5 or 6 is used for Homing, the system judges it actually
hits the Stopper if the torque higher than the Home Current is maintained for
the Home Current time.

The Home Current is set up in IN01.09, about 0~250% of its rated torque.
The default value is 100. Home Current time is set up in IN01.10. It can be
0~1000 msec. Its default is ‘0’. It can change this setting value only Servo-Off.
status.

Home Current

Description Specifies the torque feedback at which the drive stops moving the
motor at the Homing Velocity.

Unit : Percentages of a motor rating torque

Range 0~250
Initial Value 100
Home Current Time

Description The time to when the torque feedback is more than the home
current to when the drive detects stopper.
Range 0~1000

CSD5 Servo Drive Index Manual

 Application 6-15

Initial Value 0

A. Select Index Setting Mode(IN00.00) by MODE/SET key.

B. Using the Direction key, move to IN01.09.

C. Press ENTER key and enter into the Setting Window.

D. Set up a Home Current, refer to the table above.

E. To complete the setting, press MODE/SET key to save it.

F. Press ENTER key and go out the Setting Window.

G. Home Current Time is set up in IN01.10 as the same way.

Homing Time Limit

Axis must be homed before the drive executes an absolute index. A user can
limit the homing time against to be late the homing. Drive fault occurs when
time for homing is over the homing time limit.

Homing Time Limit

Description Drive fault occurs when time for homing is over the homing time
limit.
Range 0~65535
Initial Value 60

A. Select Index Setting Mode(IN00.00) by MODE/SET key.

B. Using the Direction key, move to IN01.11.

C. Press ENTER key and enter into the Setting Window.

D. Set up a Homing Time Limit, refer to the table above.

E. To complete the setting, press MODE/SET key to save it.

F. Press ENTER key and go out the Setting Window.

15 CSD5 Servo Drive Index Manual

6-16 Application

Stop Homing Deceleration

A user can set up the deceleration used to stop motion when the Stop Homing
input terminates an index homing.

Stop Home Deceleration

Description The rate of drive deceleration used when homing is stopped.

Range 1~2147483647
Initial Value 6250

A. Select Index Setting Mode(IN00.00) by MODE/SET key.

B. Using the Direction key, move to IN01.12.

C. Press ENTER key and enter into the Setting Window.

D. Set up a Stop Homing Deceleration, refer to the table above.

E. To complete the setting, press MODE/SET key to save it.

F. Press ENTER key and go out the Setting Window.

Indexing Setting Start setup for Indexing after ending the basic setting for the indexing and the
homing.

Indexing Types

CSD5 servo drive is two kinds of coordinate systems to express position. In

the absolute coordinate system, all the Indexes are expressed based on one
reference location, called as Home or Origin. Axis must be homed before the
drive executes an absolute index. In the incremental coordinate system, a
position is defined with a relative distance from its previous position.

A user can select either option in the 1st digit of IN02.00~63 (absolute and
incremental). When this value is 0, the coordinate system is absolute and When
this value is 1, the coordinate system is incremental.

Digit 0 Index 0~63 Type

CSD5 Servo Drive Index Manual

 Application 6-17

Description Index 0 ~63 Setup Mode:

0-Absolute: moves from its starting position to the specified

Position, below.
1-Incremental: moves from its starting position the specified
Distance, below.

Note: The axis must be homed before the drive can execute any
index.
Range 0~1
Initial Value 0

A. Select Index Setting Mode(IN00.00) by MODE/SET key.

B. Using the Direction key, move to IN02.00.

C. Press ENTER key and enter into the Setting Window.

D. Set up a Index Type, refer to the table above.

E. To complete the setting, press MODE/SET key to save it.

F. Press ENTER key and go out the Setting Window.

Index Action When Complete

The CSD5 servo drive can store 64 indexes and provide 3 types of option
modes for the 64 indexes. The three types are Stop, Start next Index, and Wait
for Start. Except the Selective position option, 64 indexes are pre-defined in a
memory.

The indexing action when the index has completed is defined to be one of the
below options.

Digit 1 Index 0~63 Action When Complete

Description 0: Stop: ends the execution of indexed move commands (default

setting).

1: Start next index: commands execution of the Next Index move

without additional input, but after the scheduled Dwell.

2: Wait for Start: commands execution of the Next Index move the
next time the Start Index input becomes active.
Range 0~2
Initial Value 0

17 CSD5 Servo Drive Index Manual

6-18 Application

A. Select Index Setting Mode(IN00.00) by MODE/SET key.

B. Using the Direction key, move to IN02.00.

C. Press ENTER key and enter into the Setting Window.

D. Set up a Index Action When Complete in N1, refer to the table above.

E. To complete the setting, press MODE/SET key to save it.

F. Press ENTER key and go out the Setting Window.

Index Position/Distance

Enter the position or distance to move for the indexing. For Absolute mode
moves, the fixed position to which the motor will travel. For Incremental
moves, the relative distance the motor will travel.

Index 0~63 Position/Distance

Description • Position : For Absolute mode moves, the fixed position to

which the motor will travel.
• Distance : For Incremental and Registration mode moves, the
relative distance the motor will travel.
Range -2147483647~2147483647
Initial Value 0

A. Select Index Setting Mode(IN00.00) by MODE/SET key.

B. Using the Direction key, move to IN04.00.

C. Press ENTER key and enter into the Setting Window.

D. Set up a Index Position/Distance, refer to the table above.

E. To complete the setting, press MODE/SET key to save it.

F. Press ENTER key and go out the Setting Window.

G. Index Position/Distance is set up in IN04.01~63 as the same way.

CSD5 Servo Drive Index Manual

 Application 6-19

Index Dwell Time

The dwell is the time when the drive holds position after the motor position
feedback reached the target position.

After the drive spends dwell, the drive waits commands or executes the next
index. The dwell function operates with all indexing (all index types and all
options of 'action when complete').

Dwell is set up in IN07.00~63. Its range is 0~65,535 and its default is ‘0’.

Index 0~63 Dwell

Description Milliseconds to remain at current position before exec.

Range 0~65535
Initial Value 0

A. Select Index Setting Mode(IN00.00) by MODE/SET key.

B. Using the Direction key, move to IN07.00.

C. Press ENTER key and enter into the Setting Window.

D. Set up a Index Dwell, refer to the table above.

E. To complete the setting, press MODE/SET key to save it.

F. Press ENTER key and go out the Setting Window.

G. Index Dwell is set up in IN07.01~63 as the same way.

Index Velocity

Maximum velocity during an index move.

Enter velocity for each movement into the velocity parameter of IN08.00~63.
The input range is 0~6000 and its unit is rpm. The default value is 750.

Index 0~63 Velocity

Description Maximum velocity while in motion.

Range 0~6000
Initial Value 750

19 CSD5 Servo Drive Index Manual

6-20 Application

A. Select Index Setting Mode(IN00.00) by MODE/SET key.

B. Using the Direction key, move to IN08.00.

C. Press ENTER key and enter into the Setting Window.

D. Set up a Index Velocity, refer to the table above.

E. To complete the setting, press MODE/SET key to save it.

F. Press ENTER key and go out the Setting Window.

G. Index Velocity is set up in IN08.01~63 as the same way.

Index Acceleration

Maximum acceleration during an index move. A user can enter total 64

acceleration for 64 indexes. Enter acceleration for each movement into the
acceleration parameter of IN10.00~63. The input range is 1~2,147,483,647
and its unit is 10-2rev/sec. The default value is 6250.

Index 0~63 Acceleration

Description Maximum acceleration while in motion.

Range 1~2147483647
Initial Value 6250

A. Select Index Setting Mode(IN00.00) by MODE/SET key.

B. Using the Direction key, move to IN10.00.

C. Press ENTER key and enter into the Setting Window.

D. Set up a Index Acceleration, refer to the table above.

E. To complete the setting, press MODE/SET key to save it.

F. Press ENTER key and go out the Setting Window.

G. Index Acceleration is set up in IN10.01~63 as the same way.

CSD5 Servo Drive Index Manual

 Application 6-21

Index Deceleration

Maximum deceleration during an index move. A user can enter total 64

deceleration for 64 indexes. Enter deceleration for each movement into the
deceleration parameter of IN11.00~63. The input range is 1~2,147,483,647
and its unit is 10-2rev/sec. The default value is 6250.

Index 0~63 Deceleration

Description Maximum deceleration while in motion.

Range 1~2147483647
Initial Value 6250

A. Select Index Setting Mode(IN00.00) by MODE/SET key.

B. Using the Direction key, move to IN11.00.

C. Press ENTER key and enter into the Setting Window.

D. Set up a Index Deceleration, refer to the table above.

E. To complete the setting, press MODE/SET key to save it.

F. Press ENTER key and go out the Setting Window.

G. Index Deceleration is set up in IN11.01~63 as the same way.

Next Index

'The number (0 - 63) of the next indexed move to execute when Action When
Complete is not set to "Stop". Next Index is set up in IN12.00~63.

Index 0~63 Next Index

Description The number (0 - 63) of the next indexed move to execute when
Action When Complete is not set to "Stop”.
Range 0~63
Initial Value 0

A. Select Index Setting Mode(IN00.00) by MODE/SET key.

B. Using the Direction key, move to IN12.00.

C. Press ENTER key and enter into the Setting Window.

21 CSD5 Servo Drive Index Manual

6-22 Application

D. Set up a Next Index, refer to the table above.

E. To complete the setting, press MODE/SET key to save it.

F. Press ENTER key and go out the Setting Window.

G. Next Index is set up in IN12.01~63 as the same way.

Index Operation Start Indexing after ending the setting for the indexing.

Tuning

Start Off-line Auto Tuning when the drive is servo-off. Off-line Auto Tuning
operate in run-01.

CSD5 Servo Drive Index Manual

 Application 6-23

How to Operate

Refer to the below flow chart to operate.

Servo-ON Servo-OFF
Flow Chart of OFF-Line Auto Tuning

Status Display Mode

Select operation mode with the

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 tuing for

the load. After the tuning, the setting value is
automatically stored.

Auto tuning automatically completed.

Completed the operation by pressing

the ENTER key.

Completion

Servo-ON

Servo-ON signal should be applied to the drive. If the servo-ON signal is not
applied after the power application, it is same as the servo driver and motor
being separated completely. This is a ready status to run the motor.

Homing

Axis must be homed before the drive executes an absolute index. ‘Auto
Starting Homing on Enable’ turns on, an index homing starts at when the
drive is enabled. If ‘Auto Starting Homing on Enable’ turns off, an index
homing completes as entering the start homing signal. The stop homing is a

23 CSD5 Servo Drive Index Manual

6-24 Application

signal to cancel homing. A stop or start indexing command is ignored when

the homing is already in progress.

Start Index

Start index operation after homing. If the auto starting indexing turns on, an
indexing move starts at when the drive is enabled. If the auto starting indexing
turns off, enter the start index signal.

a user can stop to move by ‘Stop’, ‘Pause’ signal during index move. When the
stop signal turns on during indexing, the motor starts to decelerate and stop.
When the pause signal turns on during indexing, the motor starts to decelerate
and stops and wait next signal. The pause signal input is continuously
monitored to determine if the motion should be stopped or if it may continue.

If the Action When Complete is set the Wait for Start, whenever there is the
START signal, it moves to the next index. When the CSD5 servo drive is
under homing or indexing, this signal input is ignored. Any starting signal in
the middle of In Dwell is ignored.

CSD5 Servo Drive Index Manual

 Chapter 7

Inspection and Protection

Introduction In this chapter, the inspection and the protective function of servo drive are
described.
Topic Page
Introduction 7-1
Inspection Function 7-1
Protection Function 7-3

Inspection Function 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.

Table 7.1 Motor Inspection

Item Period Inspection and Repair Action
Vibration and Noise Daily Check Determine with Sense and Hearing It shall not be larger than normal times

Presence of Eternal In Occurrence Cleaning with Vacuum Cleaner

Foreign Substance
Insulation Resistance 1 Year Measure with Insulation resistance Inquiry to the company if the measuring
meter 500 [V] 10 [MΩ ] value is 10 [M Ω ] or less
Oil Seal 5000 Hours Oil Seal Replacement Only for motor that has oil seal
Overall Inspection 20000 Hours (5 Years) Inquiry to the Company Disassembly and worn-out part
replacement

CAUTION
In the event of disassemble the servo motor for repair or
inspection; a care shall be taken for A/S not available.

1 CSD5 Servo Drive Index Manual

7-2 Inspection and Protection

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).

Table 7.2 Servo Drive Inspection

Item Period Inspection and Repair Action

Cleaning of Main Body Once or more per year Do not have dust or oil Clean with compressed air or fabric
and Board
Socket, Connector, Nut Once or more per year Do not allow loosening of\ socket, Do not allow loosening
connector, nut and others

Abnormal Part on Main Once or more per year There is no discoloration by heat, Inquiry to the company
Body and Board damage or open circuit

CAUTION
In the event of disassemble the servo drive for repair or
inspection; a care shall be taken for A/S not available.

Part Inspection

The part below may have mechanical abrasion or material degradation. A

regular inspection is needed for prevention and preservation.

The life of parts is as below if the ambient temperature annual average is 30

[℃], load rate is less then 80 [%], and operation rate is less than 20 hours/day.

Table 7.3 Servo Dirve’s parts life

Part Use Period
Capacitor 3 Yeas
Cable 3 Yeas (based on flexible cable)
Power Device 3 Yeas

Regeneration Resister 2 Yeas

Dynamic Break Resister 2 Yeas

Fan 2 Yeas

Cooling Fan 4 - 5 Yeas

Fuse 10 Yeas

CSD5 Servo Drive Index Manual

 Inspection and Protection 7-3

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.

 Servo warning: It displays a minimal abnormality that does not require

the suspension of operation when occurred.
 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.

Servo Warning Indication

It displays the mark that is applicable to a warning through the Status Display
Mode.
Status Display

Waring Indicator

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 is sensed, the applicable character is
displayed and flickers.

3 CSD5 Servo Drive Index Manual

7-4 Inspection and Protection

Servo Warning Types

Servo drive displays the warning characters for the following 7 situations.

Indicator Cause Action

In the event the Q Type Absolute Reset the Absolute Encoder.

Encoder is rotated forward or
Absolute Encoder Counter
Overflow reverses over 32768 revolutions,
it is displayed.

It occurs when the voltage of Replace the battery or external power

battery or external power supply supply to make sure.1
Low Voltage of Absolute
Encoder Battery of absolute encoder is 3.2 [V] or
less.

During the drive motor for After making sure that the motor
moving the control power has stops turning off the control power.
Abnormal Initial Status of been applied.
Absolute Encoder

Analog current scale setting Check if the scale constant is suitable

Inadequate. for range of the analog signal.
Over (external) Current
Command The system does not support the • Check the speed loop tuning.
motion profile. • Check the capacity of the system.

Current limit setting is Check if the current limit lower than

inappropriate. the current limited capacity of the
system.

Analog current scale setting Check if the scale constant is suitable

inadequate. for range of the analog signal.
Over(external) Speed
Command The system does not support the • Check the position loop tuning.
motion profile. • Check the capacity of the system.

Digital input or output of the • When working in the preset mode,

allocation is inappropriate. check if it is allocated for preset.
Allocation Error of • When working in the normal / override
Sequence Input and mode, check if it is allocated for
Output override function.

It occurs when motor power is Use a motor suitable to the drive or

Over Motor Capacity set higher than the drive rated set the torque limit below the drive
output. capacity.

1 When replacing a battery, absolute position is lost. Homing may be required.

CSD5 Servo Drive Index Manual

 Inspection and Protection 7-5

Servo Alarm

For protection function by the self-diagnosis, there is the servo alarm that
displays the important errors.
Table 7.4 Servo Alarm Types

Alarm Text Message Cause Action

Code

Occurs when the motor overheat switch trips by  Operate within the continuous torque rating (not
the following causes. exceeding) according to the ambient
Motor overheating temperature.
 High ambient temperature surrounding the motor
 Lower the ambient temperature or increase the
 Excessive current motor cooling.
Motor wiring error  Check the wiring of the motor.
Unsuitable motor selection  Check if the motor selected is suitable.
 Check if the motor power cable and the
Motor cable shorted connector are not shorted.
IPM Error
Occurs when the winding wire of the motor is  . Disconnect the motor power cable from the
shorted internally. motor. If the motor will not be rotated by hand, a
replacement may be needed.

Occurs when exceeding the continuous power  Check if the ambient temperature is too high.
rating while operating.  Operate within the continuous power rating.
 Decrease the acceleration rate.

Occurs when an unsuitable IPM output, short  Check the wiring connections that go from U, V,
circuit or over current exist in the drive. and W motor terminals to the DC BUS after
disconnecting the power and the motor. If the
connections are normal, check the wires
between terminals or have the drive repaired.
 Check the voltage level of the incoming AC
power.
BUS Low Voltage
 Check the noise pulse of the AC power or for a
AC line/AC power input is low. voltage drop.
 Install an Uninterruptible Power Supply (UPS) to
the AC input.

Attempted to activate the drive without turning on  Before activating the drive, turn on the main
the main power. power.

Occurs when the power regeneration is excessive.  Check the regenerative circuit.
BUS Over Voltage That is, the drive generates an error to protect itself  Adjust the motion profile and keep the
regeneration resistance within the limit.
from the overload when its main power supply
 Replace the regenerative transistor.
regenerates excessive peak energy while the motor
is run by the external mechanical power.  Replace the drive.

Excessive AC input voltage  Confirm the input value.

 Increase the time assigned in Homing Time
Limit (IN-01.11).
Home Searching Failed
 Set the value other than '0' in Homing Speed
Homing is incomplete within the time assigned in (IN-01.02) and Creep Speed (IN-01.03).
Homing Time Limit (IN-01.11).
 Check for an obstruction in homing.
 Check the homing related parameter setting and
mechanical parts.

5 CSD5 Servo Drive Index Manual

7-6 Inspection and Protection

Table 7.4 Servo Alarm Types

Alarm Text Message Cause Action

Code
 Check the wiring of the encoder.
Motor Over Speed  Retune the drive system.
Motor speed exceeds the maximum.
 Check the input gain of the torque or the
external speed command.
Occurs when the position error exceeds the  Increase the Following Error Limit value.
Over the Position Error Limit allowed value..  Check the position loop tuning.
 Decrease the acceleration rate.
 Decrease the duty cycle (ON/OFF) of the motion
Motor Continuous Current assigned.
Occurs when the internal filter that protects the
Overload
motor from overheating trips.  Increase the time for the motion allowed.
 Use a drive or motor with bigger capacity.
 Check the tuning.
 Decrease the acceleration rate.
Drive Overload  Decrease the duty cycle (ON/OFF) of the motion
Occurs when the drive average current exceeding assigned.
the rated capacity is needed for the motion application.  Increase the time for the motion allowed.
 Use a drive or motor with bigger capacity.
 Check the tuning.

/ABS-DT input is not turned on within 5s from  Verify the sequential timing of Absolute Position
Transfer Ready & /ABS-DT, Absolute Position
Absolute Position Transfer Absolute Position Transfer Ready-On during Transfer Mode input.
Timeout Absolute Position Transfer Mode using photo  Verify continuity of I/O cable and connector.
coupler output.

/ABS-DT input is not turned off within 5s from

Absolute Position Transfer Ready-Off during
Absolute Position Transfer Mode using photo
coupler output.

Absolute Position Transfer Mode input is not

turned off within 5s after absolute data transfer
completion.

Occurs when an axis didn't return to home before  Increase the time defined Homing Time
the drive can operate an absolute coordinate index. Limit(IN-01.11).
Homing Incomplete
 Check for an obstruction in homing.

Occurs when the encoder is not properly  Replace the motor.

Encoder Date Range Error programmed.

Occurs when the memory of the encoder is

damaged.

Occurs when the communication with the  Check the motor selected.
Encoder Cable Open interactive encoder cannot be established.  Check whether the motor supports an auto
 detection.
Hall Error  Check the wiring of the encoder.
Occurs when the encoder is not properly  Replace the motor.
Encoder Date Parameter Error programmed.

Occurs when the memory of the encoder is

damaged.

CSD5 Servo Drive Index Manual

 Inspection and Protection 7-7

Table 7.4 Servo Alarm Types

Alarm Text Message Cause Action

Code
 Check if the cooling pan is working (only
applicable to CSD5_08BX1, CSD5_10BX1 and
Drive Overheating CSD5_15BX1).
 Check the tuning.
Occurs when the drive overheats.  Decrease the acceleration rate.
 Decrease the duty cycle (ON/OFF) of the motion
assigned.
 Increase the time for the motion allowed.
 Use a drive or motor with bigger capacity.
Occurs when the power is low.  Increase the instant outage compensation time.
AC line Loss Attempted to activate the drive without turning on  Before activating the drive, turn on the main
the main power. power.

 Disconnect the power and check all mechanical

A phase is not connected. connections.
The alarm delay parameter is set too short.  Increase the Alarm delay parameter value.
 Initialize the parameter.
An error exists in the parameter saved in the  Reset the values of the drive to the factory.
User Parameter Initialization memory.
Error
 Replace the drive.
Defective Hardware
Current Feedback Offset
 Check the parameter and reset.
Checksum Error  Reset the values of the drive to the factory
User Parameter Checksum settings.
Error
Excessive System Noise  Check the wiring and the installation method.
Watchdog Timeout Defective Hardware  Replace the drive.
 Contact your nearest dealer.
Defective Hardware
PWM Hardware Error
 Input the parameter within the range.
Parameter range is invalid.  Reset the values of the drive to the factory
User Parameter Range Error
settings.
 Replace the drive.
Hardware Error
Drive Initialization Error

Exceeds the value allowed by the voltage of the  Adjust the motion profile and keep the
regeneration resistance.  regeneration resistance within the limit.
Regenerative Overload
Protection  Check the connection of the regeneration
 resistance.
Regeneration resistance is separated or damaged.
 Check the values of the regeneration
 resistance.
 Check if the regeneration resistance is shorted
The regenerative current exceeds the allowable or damaged.
Regenerative Over current instant value.  Check if the overload energy is excessive while
Protection decelerating.

7 CSD5 Servo Drive Index Manual

7-8 Inspection and Protection

Table 7.4 Servo Alarm Types

Alarm Text Message Cause Action

Code

The constant of the encoder backup battery is set  Set the constant of the encoder backup battery
as 'installed,' but the battery is not installed. as 'not installed.'
Regenerative Over current
Protection  Check the battery voltage and the connections.
The battery voltage is detected under 2.7 [V] DC.
 Replace the battery.

The encoder rotates mechanically at high speed  Remove the motor from the system.
Absolute Encoder Over Speed while turning off the drive, when it is powered by  Turn off and on the drive and reset the
the battery.  Warning.
 Turn off and on the drive and reset the
Noise from Encoder
 Warning.
Absolute Encoder Multi-turn  Replace the motor.
Count Error Defective Encoder

The drive operation mode and the motor selection  Change the operation mode and/or motor
Drive Setting are not compatible.  selection, and reset the drive.

 Check the power connection between the

The motor cable is not connected.  motor and the drive.
Motor Power Cable Open
The motion profile requires peak current for a  Check the wiring of the motor.
Motor continuous current lengthy time.  Adjust the acceleration/deceleration time.
overload  Check if the motor selected is suitable.
There is a defect in the current feedback detection.  Check the phase current.

The dynamic control current of the selected motor  Install a different motor.
Motor Mismatch Fault exceeds double the value of the drive peak current
rating.

The motor encoder signal does not match the drive  Check the motor selected.
Encoder Type Mismatch configuration.
Defective Encoder  Replace the motor.

The wiring between the drive and the encoder is  Check the wiring of the encoder.
Encoder Communication Error cut off or problematic. Or encoder signals are  Contact your nearest dealer.
interrupted by the EMI (noise).
 Check the serial communication cable.
Communication error between the host and the
Serial Communication Error drive (noise)  Check the noise of the serial communication
interface.
 Check if the hardware type selected in the drive
matches the physical hardware.
Position Command Frequency
The input frequency value exceeds that limit.  Change from an open collector to a line drive.
Error
 Decrease the speed command.
 Manipulate the gear.
 Remove the emergency stop condition..
Emergency Stop (E-STOP) is detected.
Emergency Stop  Erase E-STOP signal.

The constant of the index position deviate the  Use a value in the range between
-2,147,483,647 ~ +2,147,483,647.
Index Position Range Overflow range.

CSD5 Servo Drive Index Manual

 Inspection and Protection 7-9

Table 7.4 Servo Alarm Types

Alarm Text Message Cause Action

Code
 When the error occurs while turning on the  Check the wiring and the power.
power, there is a problem in the control or main  Check the power and set or adjust the
Motor Phase Over current power circuit. acceleration/deceleration time.
 When this error occurs while in operation, over
current exists. (Current that is 300 [%] over the
rated current is supplied to the motor at more
than 250 [ms]).

9 CSD5 Servo Drive Index Manual

7-10 Inspection and Protection

CSD5 Servo Drive Index Manual

 Appendix A

Parameter List

Introduction Parameters control CSD5 Servo drive operations. They are grouped by the
type of drive, Standard or Indexing, and the settings they define.

Topic Page
Introduction A-1
Standard Parameter List A-1
Standard Parameter Description A-9
Index Parameter List A-50
Index Parameter Description A-54

Standrad Parameter List Standard Group 0

No. Name Modbus Digit No. Range Init. Note

Address
Operation Mode 0000 N/A 1~12(F~I) 1(F) -

Motor Configuration 0001,0002 N/A

Encoder Type 0 0x0~0xF 0x1(9 Line) -
Rated Power 1~2 A5,01,02,04, 04(400W) Power
08,10,15
Motor Type 3~4 0x11(CSMT) Motor ID
Selection of 4 Basic 0003 N/A Bit Field
Mode
Fault and Disable 0 0~3 0(Brake and Hold) -
Braking
Over Travel stop method 1 0~1 0(Current control) 1: Dynamic
Brake
Command Polarity 2 0~1 0(Normal) 1: Inverted
AC Lime Loss Check 3 0~2 0(Enable) -
Selection of Auto Tuning 0004 N/A Bit Field
Function
Off-line Tuning Mode 0 0~2 1(Inertia Moment -
and RFD)
Auto Tuning Speed 2 2~9 7(700 [rpm]) Value*100 [rpm]

1 CSD5 Servo Drive Index Manual

A-2 Parameter List

Inertia Ratio 0005 N/A 0~6000 100 Value/100

Auxiliary Funtion 0006 N/A Bit Field

Selection 1
Encoder Backup Battery 0 0~1 0(Installed) -
Selection of Speed 1 0~1 0(Disabled) -
Observer
Gain Change Enable 2 0~1 0(Disabled) -
Emergency Stop Input 3 0~1 0(Disabled) -
Auxiliary Function 0007 N/A Bit Field
Selection 2
Automatic Motor 0 0~1 1(Enable) -
Identification
Incremental Feedback 1 0~1 0(Monitored) -
Loss
Mode of Gain Change 2 0~9 0 -
Absolute Feedback 3 0~2 0
Conversion
Drive Address 0008 N/A 1~247 1 -

Password 0009 N/A 0~9999 0 -

Serial Port Configuration 0010 N/A Bit Field

RS-232,485 0 0~5 5(57600 [bps]) -
Communication Speed
(Baud rate)
Data bits, Parity, Stop bit 1 0~5 0(88bits, No parity, -
1 stop)
Protocol 2 0~1 0(ASCII) -
Communication Method 3 0~1 0(RS232)/1(RS485) -
Allocation of Input Signal 0011 0x0000~0xabbb - 0x4bb1 Bit Field
1

Allocation of Input Signal 0012 0x0000~0xaaaa - 0x0765 Bit Field

2

Allocation of Input Signal 0013 0x0000~0xaaaa - 0x0000 Bit Field

3

Allocation of Input Signal 0014 0x0000~0xaaaa - 0x0000 Bit Field

4

Allocation of Input Signal 0015 0x0000~0xaaaa - 0x0000 Bit Field

5

Allocation of Input Signal 0016 0x0000~0xaaaa - 0x0000 Bit Field

6

Allocation of Input Signal 0017 0x0000~0xaaaa - 0x0000 Bit Field

7

CSD5 Servo Drive Index Manual

 Parameter List A-3

Allocation of Input Signal 0018 0x0000~0xaaaa - 0x0000 Bit Field

8

Allocation of Input Signal 0019 0x0000~0xaaaa - 0x0000 Bit Field

9

Reserved 0020 - - - -

Reserved 0021 - - - -

Reserved 0022 - - - -

Allocation of Output 0023 0x0000~0x6666 - 0x0321 Bit Field

Signal 1

Allocation of Output 0024 0x0000~0x6666 - 0x0000 Bit Field

Signal 2

Allocation of Output 0025 0x0000~0x0066 - 0x0000 Bit Field

Signal 3

Allocation of Output 0026 0x0000~0x6666 - 0x0000 Bit Field

Signal 4

Allocation of Output 0027 0x0000~0x6666 - 0x0000 Bit Field

Signal 5

Allocation of Output 0028 0x0000~0x0066 - 0x0000 Bit Field

Signal 6

Reserved 0029 - - - -

Reserved 0030 - - - -

Reserved 0031 - - - -

Reserved 0032 - - - -

I/O Control Authority 0033 0x00~0x12 - 0x00 Bit Field

3 CSD5 Servo Drive Index Manual

A-4 Parameter List

Standard Group 1

No. Name Modbus Digit No. Range Init. Note

Address
Speed Regulator 0100 N/A 1~150 50 [%]
Response Level

System Gain 0101 N/A 10~500 50 [Hz]

Velocity Regulator P Gain 0102 N/A 0~10000 60 -

Velocity Regulator I Gain 0103 N/A 0~60000 26 -

Velocity Regulator D 0104 N/A 0~1000 0 -

Gain

Velocity Error Filter 0105 N/A 0~2500 30 [Hz]

Position Regulator Kp 0106 N/A 0~700 20 [Hz]

Gain

Current Command 0107 N/A 0~10000 300 [Hz]

Lowpass Filter
Bandwidth
Velocity Command 0108 N/A 0~10000 1000 [Hz]
Lowpass Filter
Bandwidth
Position Command 0109 N/A 0~1000 0 [Hz]
Lowpass Filter
Bandwidth

1st Resonant Frequency 0110 N/A 0~10000 10000 [Hz]

Suppression Filter

1st Resonant Frequency 0111 N/A 1~20 10 -

Suppression Filter Width

2nd Resonant Frequency 0112 N/A 0~10000 10000 [Hz]

Suppression Filter

2nd Resonant Frequency 0113 N/A 1~20 10 -

Suppression Filter Width

2nd Resonant Frequency 0114 N/A 0~100 100 -

Suppression Filter Depth

Position Regulator Kff 0115 N/A 0~100 0 %

Gain

Position Regulator Kff 0116 N/A 0~2500 200 [Hz]

Bandwidth

Velocity Regulator I Gain 0117 N/A 0~4 0 (PI Mode) Bit Field
mode

CSD5 Servo Drive Index Manual

 Parameter List A-5

Velocity Regulator I Gain 0118 N/A 0~3000 100 -

disable threshold

Position Regulator High 0119 N/A 0~450 0 [rpm] or [mm/

Error Output Offset sec]

Position Regulator High 0120 N/A 0~50000 1000 pulse

Error Output Threshold

Current Regulator 0121 N/A 0~2 1 Bit Field

Bandwidth

On-line Vibration Mode 0122 N/A - - -

On-line Vibration 0 0~2 0 (Disable) -
Suppression Mode
On-line Vibration 1 0~1 0 (Low) -
Suppression Gain
Velocity Command Filter 0123 1 0~1 0 (Disable) Bit Field
on Follower

Delay Time of Gain 0124 N/A 0~10000 0 -

Switching

Level of Gain Switching 0125 N/A 0~10000 0 -

Hysteresis of Gain 0126 N/A 0~10000 0 -

Switching

Position Gain Switching 0127 N/A 0~10000 0 -

Time

2nd Velocity Regulator P 0128 N/A 0~10000 60 -

Gain

2nd Velocity Regulator I 0129 N/A 0~60000 26 -

Gain

2nd Position Regulator Kp 0130 N/A 0~700 20 [Hz]

Gain

2nd Current Command 0131 N/A 0~10000 300 [Hz]

Lowpass Filter
Bandwidth

2nd Velocity Command 0132 N/A 0~10000 1000 [Hz]

Lowpass Filter
Bandwidth

3rd Velocity Regulator P 0133 N/A 0~10000 60 -

Gain

3rd Velocity Regulator I 0134 N/A 0~60000 26 -

Gain

3rd Position Regulator Kp 0135 N/A 0~700 20 [Hz]

Gain

5 CSD5 Servo Drive Index Manual

A-6 Parameter List

3rd Current Command 0136 N/A 0~10000 300 [Hz]

Lowpass Filter
Bandwidth

3rd Velocity Command 0137 N/A 0~10000 1000 [Hz]

Lowpass Filter
Bandwidth

4th Velocity Regulator P 0138 N/A 0~10000 60 -

Gain

4th Velocity Regulator I 0139 N/A 0~60000 26 -

Gain

4th Position Regulator Kp 0140 N/A 0~700 20 [Hz]

Gain

4th Current Command 0141 N/A 0~10000 300 [Hz]

Lowpass Filter
Bandwidth

4th Velocity Command 0142 N/A 0~10000 1000 [Hz]

Lowpass Filter
Bandwidth

Standard Group 2

No. Name Modbus Digit No. Range Init. Note

Address
Velocity Scale 0200 N/A 10.0~2000.0 500.0 [rpm/V] or [mm/
sec/V]

Jog Velocity Command 0201 N/A 0~6000 50 [rpm] or [mm/

sec]

Acceleration 0202, 0203 N/A 1~2147483647 41667 10-2xRev/sec2,

or mm/sec2

Deceleration 0204, 0205 N/A 1~2147483647 41667 10-2xRev/sec2,

or mm/sec2

S-Curve Time 0206 N/A 0~5000 0 [ms]

Preset Velocity 1 0207 N/A -6000~6000 0 [rpm] or [mm/

sec]

Preset Velocity 2 0208 N/A -6000~6000 0 [rpm] or [mm/

sec]

Preset Velocity 3 0209 N/A -6000~6000 0 [rpm] or [mm/

sec]

Preset Velocity 4 0210 N/A -6000~6000 0 [rpm] or [mm/

sec]

CSD5 Servo Drive Index Manual

 Parameter List A-7

Preset Velocity 5 0211 N/A -6000~6000 0 [rpm] or [mm/

sec]

Preset Velocity 6 0212 N/A -6000~6000 0 [rpm] or [mm/

sec]

Preset Velocity 7 0213 N/A -6000~6000 0 [rpm] or [mm/

sec]

Manual Velocity Limit 0214 N/A 1~6000 5000 [rpm] or [mm/

sec]

Velocity Limit Mode 0215 N/A 0~3 0 Bit Field

Standard Group 3

No. Name Modbus Digit No. Range Init. Note

Address
Command Type 0300 0 0~6 0 (Step Up/Step -
Down)

Controller Output Type 1 0~2 0 (Line Drive) -

Encoder Output Forward 2 0~1 0 (A lead B at Fwd -
Direction Dir)

1st Gear Ratio Change 3 0~1 0 (Enable Only on -

Disabled)

1st Gear Ratio, Follower 0301 N/A 1~65535 4 -

count (Numerator)

1st Gear Ratio, Master count 0302 N/A 1~65535 1 -

(Denominator)

Encoder Output Ratio, 0303 N/A 1~32768 1 -

Output (Denominator)

Encoder Output Ratio, Motor 0304 N/A 1~32768 1 -

(Numerator)

2nd Gear Ratio, Follower 0305 N/A 1~65535 4 -

count

2nd Gear Ratio, Master 0306 N/A 1~65535 1 -

count

Reserved 0307 - - - -

Digital Filter Cutoff 0308 N/A - Bit Field

Frequency
Line Drive 0 0~7 3 (1.00MHz) -
Open Collector 1 0~7 7 (0.525MHz) -
High Frequency Line Drive 2 0~7 0 (3.000MHz) -

7 CSD5 Servo Drive Index Manual

A-8 Parameter List

Standard Group 4

No. Name Modbus Digit No. Range Init. Note

Address
Current Scale 0400 N/A 0~1000 333 [%] of motor
rated/[V]
Positive Internal Current 0401 N/A 0~500 300 [%] of motor
Limit rated
Negative Internal Current 0402 N/A 0~500 300 [%] of motor
Limit rated
Positive External Current 0403 N/A 0~500 100 [%] of motor
Limit rated
Negative External Current 0404 N/A 0~500 100 [%] of motor
Limit rated
Over Travel Current Limit 0405 N/A 0~500 300 [%] of motor
rated
Initial Current Bias 0406 N/A -100~100 0 [%] of motor
rated

Standard Group 5

No. Name Modbus Digit No. Range Init. Note

Address
In Position Size 0500 N/A 0~2500 10 pulse

Reserved 0501 N/A - - -

Near Position Size 0502 N/A 0~2500 20 pulse

Speed Window 0503 N/A 0~1000 10 pulse

Up to Speed 0504 N/A 0~5000 20 pulse

Zero Clamp 0505 N/A 0~5000 0 [rpm]

Brake Inactive Delay 0506 N/A 0~10000 0 [ms]

Disable Delay 0507 N/A 0~10000 0 [ms]

Brake Active Delay 0508 N/A 0~10000 500 [ms]

Disabled Braking Speed 0509 N/A 0~1000 100 [rpm]

CSD5 Servo Drive Index Manual

 Parameter List A-9

Following Error Limit 0510, 0511 N/A 0~2147483647 99999 pulse

Reserved 0512 N/A - - -

AC Line Loss Fault Delay 0513 N/A 20~1000 20 [ms]

Analog Output CH1 0514, 0515 N/A 0~28 0 (Velocity -

Selection Feedback)

Analog Output CH2 0516, 0517 N/A 0~28 1 (Velocity -

Selection Command)

Analog Output CH1 Scale 0518, 0519 N/A 1~99999 500 Depend on
[Ft-5.13]

Analog Output CH2 Scale 0520, 0521 N/A 1~99999 500 Depend on
[Ft-5.14]

Standrad Parameter Standard Group 0

Description

Operations Mode

RSWare : Drive - Operation Modes (Main/Override)

Description Set control mode (Optional)
Display (Value) Operating Mode RSWare Name
F(1) Position Control Mode Follower/None
S(2) Speed Contorl Mode Analog Velocity Input/ None
C(3) Torque Contorl Mode Analog Current Input/ None
SF(4) Speed+Position Contorl Analog Velocity Input/ Follower
Mode
CF(5) Torque+Speed Contorl Analog Velocity Current/ Follower
Mode
CS(6) Torque+Speed Contorl Analog Current Input/Analog Velocity Input
Mode
P(7) Multi-Step Speed + Preset Velocity / None
Speed Contorl Mode
PF(8) Multi-Step Speed + Preset Velocity / Follower
Position Contorl Mode
PS(9) Multi-Step Speed + Preset Velocity/
Torque Control Mode Analog Velocity Input
PC(10) Multi-Step Speed + Preset Velocity/
Torque Contorl Mode Analog Current Input
I(12) Indexing Indexing Input/ None

9 CSD5 Servo Drive Index Manual

A-10 Parameter List

Initial Value 1(F)

Applicable Operating Mode All
When Enabled Servo-Off > Setting > After Power Cycle

Motor Configuration

RSWare : Drive - Motor - Motor Model

Applicable Operating Mode All
Description Set motor type
Setting Value • Set items such as motor type, motor rated output, and encoder type.
• Check out model name attached motor nameplate.
• With Up/Down direction key, Alphabet and Mumbers of item are displayed.
Example displays of model attached motor nameplate is as follow. Fill correct information in corresponding position
according to following picture.

C S M T - 0 1 B A 1 A N T 3
Motor Type Rated Power Encoder Type

Selection of 4 Basic Mode

Applicable Operating Mode All

Data Size 4 digits
Digit 0 Fault and Disable Braking

RSWare : Drive - Stopping Functions - Fault and Disable Braking

Range Value Description RSWare Name
0 Keep DB after DB stop Brake and hold
1 DB is released after DB stop Brake and release
2 Stop Free run (operation) without DB stop Free Stop
3 Keep DB after stop Free run Free Stop and hold
Initial Value 0
Digit 1 Overtravel stop method

RSWare : Drive - Stopping Functions - Overtravel Stop Method

Range Value Description RSWare Name
0 Stop by normal torque contorl during overtravel.
Current Control
At this monent,can contorl torque by setting overtravel torque linit [Ft-4.05].
1 Stop by the method set at the DB stop method selection in [Ft-0.02] when overtravel Dynamic Brake
occurs.

CSD5 Servo Drive Index Manual

 Parameter List A-11

Initial Value 0
Digit 2 Motor Forward Dir.
RSWare : Drive - Command Polarity
Range Value Description RSWare Name
0 The command signal is not inverted so that a positive command value results in CW Normal
Rotation, (as viewed from shaft end).
1 The command signal is inverted so that a positive command value results in CCW Inverted
Rotation, (as viewed from shaft end).
Initial Value 0
Digit 3 Power Input

RSWare : Drive - AC Line Loss Check

Range Value Description RSWare Name
0 Check input power

50~400W Servo Drive: Enable single-phase open check Enable

800~1.5kW Servo Drive: 3-phase open check
1 Do not check the input power Disable
2 Single-phase input Single phase input
Initial Value 0

Selection of Auto Tuning Function

Applicable Operating Mode All

Data Size 4 digits
Digit 0 Off-Line Tuning Mode

RSWare : Drive - Tuning - Autotuning - Off-Line Tuning Mode

Range Value Descirption RSWare Name
0 Inertia Moment Estimation Inertia Moment Estimation
1 Inertia Moment Estimation and Resonant Inertia Moment Estimation and
Frequency Detection Resonant Frequency Detection
2 Resonance frequency Detection Resonant Frequency Detection
Initial Value 1
Digit 1 Reserved
Digit 2 Autotuning Speed

RSWare : Drive - Tuning - Autotuning - Autotuning Speed

Range Value Description
2-9 The larger the setting value, the higher speed.
Initial Value 7
Unit Setting value* 100 [rpm]
Digit 3 Dynamic Tuning Response

RSWare: Online Tuning Response

Range Value Description
0 Off
1 Slowest

11 CSD5 Servo Drive Index Manual

A-12 Parameter List

2 Slowest
3 Slow
4 Medium-Slow
5 Medium
6 Medium-Fast
7 Fast
8 Faster
9 Faster
Initial Value 0
When Enabled Servo-Off > Setting

Inertia Ratio

RSWare : Drive - Motor - Inertia Ratio

Description Inertial Ratio shows Load Inertia to Motor
Range 0 ~ 6,000
Initial Value 100
Unit (Load inertia/Motor inertia) / 100
When Enabled Immediately

Auxiliary Function Selection 1

Applicable Operation Mode All

Data Size 4 digits
Digit 0 Encoder Backup Battery

RSWare : Drive - Encoder - Encoder Backup Battery

Range Value Description
0 Backup Battery Installed
1 Backup Battery Not Installed
Initial Value 0
Digit 1 Velocity Observer

RSWare : Drive - Auxiliary Function Selection 1 - Velocity Observer

Range Value Description RSWare Name
0 Disable Disable
1 Enable Enable
Initial Value 0
Digit 2 Gain Change Enable

RSWare : Drive - Tuning - Gain Change Enable

CSD5 Servo Drive Index Manual

 Parameter List A-13

Range Value Description RSWare Name

0 Disable Disable
1 Enable Enable
Initial Value 0

Digit 3 Emergency Stop Input

RSWare : Drive - Auxiliary Function Selection 1 - Emergency Stop Input

Range Value Description RSWare Name
0 Disable Disable
1 Enable Enable
Initial Value 0

When Enabled Servo-Off > Setting > After power cycle

Auxiliary function Selection 2

Applicable Operation Mode All

Data Size 2 digits
Digit 0 Automatic Motor Identification

RSWare : Drive - Auto Motor Iden

Range Value Description RSWare Name
0 Disabled Disable
1 Enabled Enable
Initial Value 1
Digit 1 Incremental Feedback Loss

RSWare : Drive - Encoder - Incremental Feedback Loss

Range Value Description RSWare Name
0 Monitored Monitored

1 Ignored Ignored

Initial Value 0
Digit 2 Mode of Gain Switching

RSWare : Drive - Tuning - Mode of Gain Switching

13 CSD5 Servo Drive Index Manual

A-14 Parameter List

Range Value Description RSWare Name

0 Fixed to the 1st gain. 1st Gain Fix

1 2nd Gain Fix

Fixed to 2nd gain.
2 2nd gain selection when the gain switching input is turned Digital Input (G-SEL)
on.
3 2nd gain selection when the toque command is larger than Torque Command
the setups (level of gain control switching and hysteresis of
control switching).
4 2nd gain selection when the command speed is larger than Velocity Command
the setups (level of gain control switching and hysteresis of
control switching).
5 2nd gain selection when the positional deviation is larger Position Error
than the setups (level of gain control switching and
hysteresis of control switching).
6 2nd gain selection when more than one command pulse Position Command
exists between 200usec.
7 2nd gain selection when the positional deviation counter In-Position
value exceeds the setup of Positioning completer range.
8 2nd gain selection when the motor actual speed exceeds the Velocity
setup (level of gain control switching and hysteresis of
control switching).
Switches to the 2nd gain while the position command exists.
9 Switches to the 1st gain when no-position command status Position command and
lasts for the setup of delay time of gain switching [x Speed
200usec] and the speed falls slower than the setups of gain
control switching level and hysteresis of control switching.
Initial Value 0
Digit 3 Absolute Feedback Transfer Type

RSWare : Drive - Absolute Feedback Transfer Type

Range Value Description RSWare Name
0 Same as Command Polarity Same as Command Polarity
1 Always CCW Always CCW
2 Always CW Always CW
Initial Value 0
When Enabled Immediately

Drive Address

RSWare : Drive - Communications - Drive Address

Applicable Operating Mode All
Range 1-247
Initial Value 1

CSD5 Servo Drive Index Manual

 Parameter List A-15

When Enabled Immediately

Password

Applicable Operating Mode

Range
Initial Value
When Enabled

Serial Port Configuration

RSWare : Drive - Communications

Applicable Operating Mode All
Data Size 4 digits
Digit 0 RS-232C, RS-485 Baud Rate

RSWare : Drive - Communications - Baudrate

Range Value Descriptions RSWare Name
0 9600bps 9600bps
1 14400bps 14400bps
2 19200bps 19200bps
3 38400bps 38400bps
4 56000bps 56000bps
5 57600bps 57600bps
Initial Value 5
Digit 1 Data bits, Parity, Stop bit

RSWare : Drive - Communications - Frame Format

Range Value Description RSWare Name
0 8, No, 1 8 Data, No Parity, 1 Stop bit
1 8, Even, 1 8 Data, Even Parity, 1 Stop bit
2 8, Odd, 1 8 Data, Odd Parity, 1 Stop bit
3 8, No, 2 8 Data, No Parity, 2 Stop bit
4 8, Even, 2 8 Data, Even Parity, 2 Stop bit
5 8, Odd, 2 8 Data, Odd Parity, 2 Stop bit
Initial Value 0
Digit 2 Protocol

RSWare : Drive - Communications - Protocol

Range Value Description RSWare Name
0 ASCII ASCII
1 MODBUS-RTU MODBUS-RTU
Initial Value 0

15 CSD5 Servo Drive Index Manual

A-16 Parameter List

Digit 3 Communication Method

Range Value Description RSWare Name
0 RS232 RS232
1 RS485 RS485
Initial Value 0
When Enabled Immediately

Allocation of Input Signals 1

RSWare : Drive - Digital Inputs

Rage for All Digits 0-B, Where 0 is Off, B is On, and 1-A are digital input
Data Size 4 digits
Digit Description Init. Unmapped IO Status RSWare Parameter
0 Drive Enable 1 ON Drive Enable
(/SV-ON)
1 Positive Over-travel b ON Overtravel - Positive
(P-OT)
2 Negative Over-travel b ON Overtravel - Negative
(N-OT)
3 Integrator Inhibit 4 OFF Integrator Inhibit
(/P-CON)
Applicable Operating Mode All
When Enabled Seveo Off > Setting

Allocation of Input Signals 2

RSWare : Drive - Digital Inputs

Range for All Digits 0-B, Where 0 is Off, B is On, and 1-A are digital input
Data Size 4 digits
Digit Description Init. Unmapped IO Status RSWare Name
0 Fault Reset (/A-RST) 5 OFF Fault Reset
1 Negative Current 6 OFF Current Limit - Negative
Limit (/N-TL)
2 Positive Current 7 OFF Current Limit - Positive
Limit (/P-TL)
3 Operation Mode 0 OFF Operation Mode Override
Override (/C-SEL)
Applicable Operating Mode All
When Enabled Seveo Off > Setting

Allocation of Input Signals 3

RSWare : Drive - Digital Inputs

Range for All Digits 0-B, Where 0 is Off, B is On, and 1-A are digital input

CSD5 Servo Drive Index Manual

 Parameter List A-17

Data Size 4 digits

Digit Description Init. Unmapped IO Status RSWare Name
0 Preset Direction 0 OFF Preset Direction
(/C-DIR)
1 Preset Select 1 0 OFF Preset Select 1
(/C-SP1)
2 Preset Select 2 0 OFF Preset Select 2
(/C-SP2)
3 Preset Select 3 0 OFF Preset Select 3
(/C-SP3)
Applicable Operating Mode All
When Enabled Seveo Off > Setting

Allocation of Input Signals 4

RSWare : Drive - Digital Inputs

Range for All Digits 0-B, Where 0 is Off, B is On, and 1-A are digital input
Data Size 4 digits
Digit Description Init. Unmapped IO Status RSWare Name
0 Zero Speed Clamp 0 OFF Zero Speed Clamp Enable
Enable (/Z-CLP)
1 Pause Follower 0 OFF Pause Follower
(/INHIBIT)
2 Alternate Gain 0 OFF Alternate Gain Select
Select (/G-SEL)
3 Position clear 0 OFF Position Clear
(/PCLR)
Applicable Operating Mode All
When Enabled Seveo Off > Setting

Allocation of Input Signals 5

RSWare : Drive - Digital Inputs

Range for All Digits 0-B, Where 0 is Off, B is On, and 1-A are digital input
Data Size 4 digits
Digit Description Init. Unmapped IO Status RSWare Name
0 Position Strobe 0 OFF Position Strobe
(/ABS-DT)
1 Start (/START) 0 OFF Motor Moving Enable
2 Analog Speed 0 OFF Analog Speed Command
Command Select 4 Enable
(/C-SP4)
3 2nd Electronic Gear 0 OFF 2nd Electronic Gear Bank
Bank Selection (/ Selection
GEAR)
Applicable Operating Mode All
When Enabled Seveo Off > Setting

17 CSD5 Servo Drive Index Manual

A-18 Parameter List

Allocation of Input Signals 6

RSWare : Drive - Digital Inputs

Data Size 4 digits
Digit Description Init. Unmapped IO Status RSWare Name
0 Reset multi-turn data 0 OFF Reset Multiturn Data
of Absolute Encoder
(/R-ABS)
1 Gain Bank Select 0 OFF Gain Bank Select
(/BANK_SEL)
2 Analog Current Limit 0 OFF Analog Current Limit
(/A-CL)
3 Absolute Position 0 OFF Absolute Position Transfer
Data Transfer Mode Mode
(/ABS-MD)
Applicable Operating Mode All
When Enabled Seveo Off > Setting

Allocation of Input Signals 7

RSWare : Drive - Digital Inputs

Data Size 4 digits
Digit Description Init. Unmapped IO Status RSWare Name
0 Home Sensor 0 OFF Home Sensor
(/H_SENS)
1 Start Homing 0 OFF Start Homing
(/SHOME)
2 Stop Indexing 0 OFF Stop Indexing
(/STOP)
3 Pause Indexing 0 OFF Pause Indexing
(/PAUSE)
Applicable Operating Mode I
When Enabled Seveo Off > Setting

Allocation of Input Signals 8

RSWare : Drive - Digital Inputs

Data Size 4 digits
Digit Description Init. Unmapped IO Status RSWare Name
0 Index Select 0 Input 0 OFF Indexing Select 0 Input
(/I_SEL0)
1 Index Select 1 Input 0 OFF Indexing Select 1 Input
(/I_SEL1)
2 Index Select 2 Input 0 OFF Indexing Select 2 Input
(/I_SEL2)

CSD5 Servo Drive Index Manual

 Parameter List A-19

3 Index Select 3 Input 0 OFF Indexing Select 3 Input

(/I_SEL3)
Applicable Operating Mode I
When Enabled Seveo Off > Setting

Allocation of Input Signals 9

RSWare : Drive - Digital Inputs

Data Size 4 digits
Digit Description Init. Unmapped IO Status RSWare Name
0 Index Select 4 Input 0 OFF Indexing Select 4 Input
(/I_SEL4)
1 Index Select 5 Input 0 OFF Indexing Select 5 Input
(/I_SEL5)
2 Stop Homing 0 OFF Stop Homing
(/H_STOP)
3 Start Indexing 0 OFF Start Index
(/START_I)
Applicable Operating Mode I
When Enabled Seveo Off > Setting

Allocation of Input Signals 10

RSWare : Drive - Digital Inputs

Data Size 4 digit
Digit Description Init. Unmapped IO Status
0 Reserved 0 OFF
1 Reserved 0 OFF
2 Reserved 0 OFF
3 Reserved 0 OFF
Applicable Operating Mode Reserved
When Enabled Reserved

Allocation of Input Signals 11

Data Size 4 digit

Digit Description Init. Unmapped IO Status
0 Reserved 0 OFF
1 Reserved 0 OFF
2 Reserved 0 OFF

19 CSD5 Servo Drive Index Manual

A-20 Parameter List

3 Reserved 0 OFF
Applicable Operating Mode Indexing
When Enabled Reserved

Allocation of Input Signals 12

Data Size 4 digit

Digit Description Init. Unmapped IO Status
0 Reserved 0 OFF
1 Reserved 0 OFF
2 Reserved 0 OFF
3 Reserved 0 OFF
Applicable Operating Mode Reserved

When Enabled Seveo Off > Setting

Setting Value B A 9 8 7 6 5 4 3 2 1 0
(Ft-0.10~21)
Input Channel No. Input 10 9 8 7 6 5 4 3 2 1 Input Signal
Signal On Off
I/O Pin No. 28 27 26 9 8 7 6 5 4 3

Allocation of Output Signals 1

RSWare : Drive - Digital Outputs

Range for All Digits 0-3, Where 0 is Off, and 1-6 are digital output
Data Size 4 digits
Digit Description Init. RSWare Name
0 Within Position 1 Within Position Window
Window (/P-COM)
1 Up to Speed 2 Up to Speed
(/TG-ON)
2 Brake Contorl (BK) 3 Brake
3 Within Speed 0 Within Speed Window
Window (/V-COM)
Applicable Operating Mode All
When Enabled Servo Off > Setting

Allocation of Output Signals 2

RSWare : Drive - Digital Outputs

CSD5 Servo Drive Index Manual

 Parameter List A-21

Range for All Digits 0-3, Where 0 is Off, and 1-6 are digital output
Data Size 4 digits
Digit Description Init. RSWare Name
0 Current Limited 0 Current Limited
(/T-LMT)
1 Velocity Limited 0 Velocity Limited
(/V-LMT)
2 Within Near 0 Within Near Window
Window (/NEAR)
3 Warning 0 Warning
(/WARN)
Applicable Operating Mode All
When Enabled Servo Off > Setting

Allocation of Output Signals 3

RSWare : Drive - Digital Outputs

Range for All Digits 0-3, Where 0 is Off, and 1-6 are digital output
Data Size 4 digits
Digit Description Init. RSWare Name
0 Absolute Position 0 Absolute Position Valid
Valid (/A-VLD)
1 Servo drive ready 0 Ready
(/RDY)
2 Reserved 0
3 Reserved 0
Applicable Operating Mode All
When Enabled Servo Off > Setting

Allocation of Output Signals 4

RSWare : Drive - Digital Outputs

Range for All Digits 0-3, Where 0 is Off, and 1-6 are digital output
Data Size 4 digits
Digit Description Init. RSWare Name
0 In Motion (/IMO) 0 In Motion
1 In Dwell (/I-DW) 0 In Dwell
2 Axis Homed 0 Axis Homed
(/HOMC)
3 Index Select 0 Out 0 Index Select 0 Out
(/O_ISEL0)
Applicable Operating Mode I
When Enabled Servo Off > Setting

21 CSD5 Servo Drive Index Manual

A-22 Parameter List

Allocation of Output Signals 5

RSWare : Drive - Digital Outputs

Range for All Digits 0-3, Where 0 is Off, and 1-6 are digital output
Data Size 4 digits
Digit Description Init. RSWare Name
0 Index Select 1 Out 0 Index Select 1 Out
(/O_ISEL1)
1 Index Select 2 Out 0 Index Select 2 Out
(/O_ISEL2)
2 Index Select 3 Out 0 Index Select 3 Out
(/O_ISEL3)
3 Index Select 4 Out 0 Index Select 4 Out
(/O_ISEL4)
Applicable Operating Mode I
When Enabled Servo Off > Setting

Allocation of Output Signals 6

RSWare : Drive - Digital Outputs

Range for All Digits 0-3, Where 0 is Off, and 1-6 are digital output
Data Size 4 digits
Digit Description Init. RSWare Name
0 Index Select 5 Out 0 Index Select 5 Out
(/O_ISEL5)
1 End of Sequence 0 End of Sequence
(/E_SEQU)
2 Reserved 0
3 Reserved 0
Applicable Operating Mode I
When Enabled Servo Off > Setting

Allocation of Output Signals 7

RSWare : Drive - Digital Outputs

Digit Description Init.
0 Reserved 0
1 Reserved 0
2 Reserved 0
3 Reserved 0
Applicable Operating Mode Reserved
When Enabled Reserved

CSD5 Servo Drive Index Manual

 Parameter List A-23

Allocation of Output Signals 8

RSWare : Drive - Digital Outputs

Range for All Digits 0-3, Where 0 is Off, and 1-6 are digital output
Data Size 4 digits
Digit Description Init.
0 Reserved 0
1 Reserved 0
2 Reserved 0
3 Reserved 0
Applicable Operating Mode Reserved
When Enabled Reserved

Allocation of Output Signals 9

RSWare : Drive - Digital Outputs

Range for All Digits 0-3, Where 0 is Off, and 1-6 are digital output
Data Size 4 digits
Digit Description Init.
0 Reserved 0
1 Reserved 0
2 Reserved 0
3 Reserved 0
Applicable Operating Mode Reserved
When Enabled Reserved

Allocation of Output Signals 10

RSWare : Drive - Digital Outputs

Range for All Digits 0-3, Where 0 is Off, and 1-6 are digital output
Data Size 4 digits
Digit Description Init.
0 Reserved 0
1 Reserved 0
2 Reserved 0
3 Reserved 0
Applicable Operating Mode Reserved
When Enabled Reserved

23 CSD5 Servo Drive Index Manual

A-24 Parameter List

I/O Contorl

Description Run & Input Control Selection

It is used for selection of run-xx or Input function using Modbus. Input

function on Hardware cannot be used in case that the input function is
used by Modbus with this parameter. Run function cannot be used by
key pad, similarly, if the run function is used by Modbus.

0x00 - Not use both Run and Input function by Modbus

0x01 - Use Input function only
0x10 - Use run function only
0x11 - Use both Run and Input function by Modbus
0x12 - Use Run nput , Input function and Special Function by Modbus

Data Size 2 digits

Digit 0 Drive -Communications-MODBUS Input Function Control

RSWare: MODBUS Input Function Control

Range Value RSWare Name
0x0 Disable
0x1 Enable
0x11 Disable + Special Function
Unit -
Initial Value 0
Digit 1 MODBUS Run Function Control

RSWare: Drive -Communications-MODBUS Run Function Control

Range Value RSWare Name
0x0 Disable
0x10 Enable
Initial Value 0
Applicable Operation Mode All
When Enabled Servo Off > Setting

CSD5 Servo Drive Index Manual

 Parameter List A-25

Standard Group 1

Velocity Regulator Response level

RSWare : Drive - Tuning - Velocity Regulator Response Level

Description Set system gain in proportion to speed response level automatically by
referring the estimated inertia ratio after auto tuning.
Range 1~150
Initial Value 50
Unit [%]
Applicable Operating Mode All
When Enabled Immediately

System Gain

RSWare : Drive - Tuning - System Gain

Description • 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 [Ft-1.02], [Ft-1.03],
[Ft-1.06],[Ft-1.07], [Ft-1.08] are set automatically according to the
control mode while referring to the inertia ratio parameter [Ft-0.04].
• The lower limit is 10 [Hz].
Range 10~500
Initial Value 50
Unit [Hz]
Applicable Operating Mode All
When Enabled Immediately

Speed Regulator P Gain

RSWare : Drive - Tuning - Main Velocity Regulator Gains - P

Description • Parameter which determines the responsiveness of speed control.
• Value changed simultaneously with change of inertia ratio [Ft-0.04]
or system gain [Ft-1.01].
Range 0~10000
Initial Value 60
Unit -
Applicable Operating Mode F, S, P
When Enabled Immediately

25 CSD5 Servo Drive Index Manual

A-26 Parameter List

Speed Regulator I Gain

RSWare : Drive - Tuning - Main Velocity Regulator Gains - Integrator

Gain
Description • Removes steady state speed tolerance.
• Overshoot in speed response can occur if set value is too large.
• Value changed by change in inertia ratio [Ft-0.04] or system gain
[Ft-1.00].
Range 0~60000
Initial Value 26
Unit -
Applicable Operating Mode F, S, P
When Enabled Immediately

Speed Regulator D gain

RSWare : Drive - Tuning - Main Velocity Regulator Gains - D

Description The larger the setting value, the higher speed. Excessive values can
result in noise and vibration.
Range 0~1000
Initial Value 0
Unit -
Applicable Operating Mode F, S, P
When Enabled Immediately

Speed Error Filter

RSWare : Drive - Tuning - Main Velocity Regulator Gains - Error Filter

Bandwidth
Description Suppresses high frequency components of speed tolerance.
Unit 0~2500
Initial Value 30
Unit [Hz]
Applicable Operating Mode F, S, P
When Enabled Immediately

Position Regulator Kp Gain

RSWare : Drive - Tuning - Main Position Regulator Gains - Kp

Description • Parameter which determines the responsiveness of position control.
• Change set value according to rigidity of load.
• Value changed according to system gain [Ft-1.01].
Unit 0~700

CSD5 Servo Drive Index Manual

 Parameter List A-27

Initial Value 20
Unit [Hz]
Applicable Operating Mode F
When Enabled Immediately

Current Command Low pass Filter Bandwidth

RSWare : Drive - Tuning - Main Current Regulator Gains - Low Pass

Filter Bandwidth
Description • Suppresses high frequency components of torque command.
• Value changed according to system gain [Ft-1.01].
Unit 0~10000
Initial Value 300
Unit Hz
Applicable Operating Mode All
When Enabled Immediately

Speed Command Low pass Filter Bandwidth

RSWare : Drive - Tuning - Main Velocity Regulator Gains - Low Pass

Filter Bandwidth
Description • Sets low pass cutoff frequency of speed command to suppress high
frequency components.
• Value changed according to system gain [Ft-1.01].
Unit 0~10000
Initial Value 1000
Unit Hz
Applicable Operating Mode F, S, P
When Enabled Immediately

Position Command Low pass Filter Bandwidth

RSWare : Drive - Tuning - Main Position Regulator Gains - Low Pass

Filter Bandwidth
Description Sets low pass cutoff frequency of speed command to suppress high
frequency components.

Unit 0~1000
Initial Value 0
Unit [Hz]
Applicable Operating Mode F
When Enabled Immediately

27 CSD5 Servo Drive Index Manual

A-28 Parameter List

1st Resonant Frequency Suppression Filter

RSWare : Drive - Tuning - Main Current Regulator Gains - 1st Resonant

Frequency Suppression Filter
Description Suppresses Vibration by cutting off Current Command in assigned
frequency band.

Unit 0~10000
Initial Value 10000
Unit [Hz]
Applicable Operating Mode All
When Enabled Immediately

1st Resonant Frequency Suppression Filter Width

RSWare : Drive - Tuning - Main Current Regulator Gains - 1st Resonant

Frequency Suppression Filter Width
Description Set up the notch width of the 1st resonance suppressing filter in 20
steps. Higher the setup, larger the notch width you can obtain.

Unit 1~20
Initial Value 10
Unit -
Applicable Operating Mode All
When Enabled Immediately

2nd Resonant Frequency Suppression Filter

RSWare : Drive - Tuning - Main Current Regulator Gains - 2nd Resonant

Frequency Suppression Filter
Description Suppresses Vibration by cutting off Current Command in assigned
frequency band.

Unit 0~10000
Initial Value 10000
Unit [Hz]
Applicable Operating Mode All
When Enabled Immediately

2nd Resonant Frequency Suppression Filter Width

RSWare : Drive - Tuning - Main Current Regulator Gains - 2nd Resonant

Frequency Suppression Filter Width

CSD5 Servo Drive Index Manual

 Parameter List A-29

Description Set up the notch width of 2nd resonance suppressing filter in 20 steps.
Higher the setup, larger the notch width you can obtain.

Unit 1~20
Initial Value 10
Unit -
Applicable Operating Mode All
When Enabled Immediately

2nd Resonant Frequency Suppression Filter Depth

RSWare : Drive - Tuning - Main Current Regulator Gains - 2nd Resonant

Frequency Suppression Filter Depth
Description Set up the 2nd notch depth of the resonance suppressing filter. Higher
the setup, shallower the notch depth and smaller the phase delay you
can obtain.
Unit 0~100
Initial Value 100
Unit -
Applicable Operating Mode All
When Enabled Immediately

Position Regulator Kff Gain

RSWare : Drive - Tuning - Main Position Regulator Gains - Kff

Description • 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.
Unit 0~100
Initial Value 0
Unit [%]
Applicable Operating Mode F
When Enabled Immediately

Position Regulator Kff Bandwidth

RSWare : Drive - Tuning - Main Position Regulator Gains - Kff Low Pass
Filter Bandwidth
Description • Valid if position FF gain [Ft-1.15] is not '0'.
• If a value other than '0' set for [Ft-1.15] results in overshoot or
vibration, set this value to '0'.
Unit 0~2500
Initial Value 200
Unit [Hz]
Applicable Operating Mode F

29 CSD5 Servo Drive Index Manual

A-30 Parameter List

When Enabled Immediately

Velocity Regulator I Gain Mode

RSWare : Drive - Tuning - Main Velocity Regulator Gains - Integrator Mode

Description During transient response, Speed Response Overshoot can be suppressed by speed controller
change from Proportion Integration (PI) Controller into Proportion (P) Controller. It reduces Position
completion time during Position Control.
Range Value Description RSWare Name
0 Do not use P/PI Mode Conversion. Always On
1 When Current Command exceeds Current Value in [Ft-1.18], High Current Disable
Speed Controller is changed from PI Controller to P
Controller.
2 When Speed Command exceeds Speed Value in [Ft-1.18], Velocity Command Disable
Speed Controller is changed from PI Controller to P
Controller.
3 When Position error exceeds Position error Value in [Ft-1.18], Position Error Disable
Speed Controller is changed from PI Controller to P
Controller.
4 Automatically velocity controller is changed from PI Automatic Disable
Controller to P Controller.
Initial Value 0
Applicable Operating Mode All
When Enabled Servo Off > Setting

Speed Regulator I Gain Disable Threshold

RSWare : Drive - Tuning - Integrator Hold Threshold

Description 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.
Range 0~3000
Initial Value 100
Unit If [Ft-1.17] = 1, units are [%] of rated continuous current

If [Ft-1.17] = 2, units are [RPM] for rotary motors units are [mm/sec] for
linear motors

If [Ft-1.17] = 3, units are Counts

Applicable Operating Mode F, S, P
When Enabled Immediately

Position Regulator High Error Output Offset

RSWare : Drive - Tuning - Main Position Regulator Gains - High Error

Output Offset
Description In order to shorten the position decision time, if the position tolerance is
larger than the value of [Ft-1.20], a speed bias equal to the value set
here is applied.
Range 0~450
Initial Value 0
Unit Rotary: [RPM], Linear: [mm/sec]

CSD5 Servo Drive Index Manual

 Parameter List A-31

Applicable Operating Mode All

When Enabled Immediately

Position Regulator High Error Output Threshold

RSWare : Drive - Tuning - Main Position Regulator Gains - High Error

Output Threshold
Description [Ft-1.19] Speed bias value

Position error standard value input to the speed controller.

Range 0~50000
Initial Value 1000
Unit pulse
Applicable Operating Mode All
When Enabled Immediately

Current Regulator Bandwidth Reduction Scale

RSWare : Drive - Tuning - Main Current Regulator Gains - Gain

Description Current control bandwidth
Range Value Description RSWare Name
0 High bandwidth High
1 Medium bandwidth (0.6667 * high) Medium
2 Low bandwidth (0.3334 * high) Low

Initial Value 1
Applicable Operating Mode All
When Enabled Immediately

On-line Vibration Mode

RSWare : Drive - Tuning - Autotuning - On-Line Vibration Suppression

Mode
Data Size 1 digit
Digit 0 On-line Vibration Suppression Mode

RSWare : Drive - Tuning - Autotuning - On-Line Vibration Suppression Mode

Range Value Description RSWare Name
0 Disable Disable
1 Normal Velocity Mode without Initial Value Normal and High Velocity
2 Slow Velocity Mode without Initial Value (below 100 [rpm]) Slow Velocity without Initial
Value
Initial Value 0

31 CSD5 Servo Drive Index Manual

A-32 Parameter List

Digit 1 On-line Vibration Suppression Gain

RSWare : Drive - Tuning - Autotuning - On-Line Vibration Suppression Gain

Range Value Description RSWare Name
0 Low Low
1 High High
Initial Value 0
Applicable Operating Mode All
When Enabled Servo Off > Setting

Velocity Regulator Configuration

RSWare : Drive - Tuning - Velocity Regulator Configuration - Velocity

Command Filter on Follower
Description Select whether to use a filter on the speed command value in Position
Contorl Mode.
Range Value Description RSWare Name
0 Disable Disable
1 Enable Enable
Initial Value 0
Applicable Operating Mode All
When Enabled Servo Off > Setting

Delay Time of Gain Switching

RSWare : Drive - Tuning - Gain Switching - Delay Time of Gain

Switching
Description When gain value is switched from Second gain to first gain, you can set
delay time.
Range 0~10000
Initial Value 0
Unit 0.2[ms]
Applicable Operating Mode F, S, P
When Enabled Immediately

Level of Gain Switching

RSWare : Drive - Tuning - Gain Switching - Level of Gain Switching

Description Set standard value for gain switching. The setting value is for Gain
Switching Mode ([Ft-0.06]N1).
Range 0~10000
Initial Value 0
Unit -
Applicable Operating Mode F, S, P

CSD5 Servo Drive Index Manual

 Parameter List A-33

When Enabled Immediately

Hysteresis of Gain Switching

RSWare : Drive - Tuning - Gain Switching - Hysteresis of Gain Switching

Description Operates Hysteresis based on operation level when gain switching. The
setting value is for Gain Switching Mode ([Ft-0.06]N10).
Range 0~10000
Initial Value 0
Unit -
Applicable Operating Mode F, S, P
When Enabled Immediately

Position Gain Switching Time

RSWare : Drive - Tuning - Gain Switching - Position Gain Switching Time

Description Adjust as Position Gain Switching Time step by step when switching
gain value from first gain to second gain.
Range 0~10000
Initial Value 0
Unit 0.2 [ms]
Applicable Operating Mode F, S, P
When Enabled Immediately

2nd Velocity Regulator P Gain

RSWare : Drive - Tuning - 2nd Regulator Gains - P

Description Parameter which determines the responsiveness of speed control.
Range 0~10000
Initial Value 60
Unit -
Applicable Operating Mode F, S, P
When Enabled Immediately

2nd Velocity Regulator I Gain

RSWare : Drive - Tuning - 2nd Regulator Gains - Integrator Gain

Description • Removes steady state speed tolerance.
• Overshoot in speed response can occur if set value is too large.
Range 0~60000
Initial Value 26

33 CSD5 Servo Drive Index Manual

A-34 Parameter List

Unit -
Applicable Operating Mode F, S, P
When Enabled Immediately

2nd Position Regulator Kp Gain

RSWare : Drive - Tuning - 2nd Regulator Gains - Kp

Description • Parameter which determines the responsiveness of position control.
• Change set value according to rigidity of load.
Range 0~700
Initial Value 20
Unit [Hz]
Applicable Operating Mode F
When Enabled Immediately

2nd Current Command Low pass Filter Bandwidth

RSWare : Drive - Tuning - 2nd Regulator Gains - Lowpass Filter

Bandwidth (IReg)
Description Suppresses high frequency components of torque command.
Range 0~10000
Initial Value 300
Unit [Hz]
Applicable Operating Mode All
When Enabled Immediately

2nd Velocity Command Low pass Filter Bandwidth

RSWare : Drive - Tuning - 2nd Regulator Gains - Lowpass Filter

Bandwidth (VReg)
Description Sets low pass cutoff frequency of speed command to suppress high
frequency components.
Range 0~10000
Initial Value 1000
Unit [Hz]
Applicable Operating Mode All
When Enabled Immediately

3rd Velocity Regulator P Gain

RSWare : Drive - Tuning - 3rd Regulator Gains - P

CSD5 Servo Drive Index Manual

 Parameter List A-35

Description Parameter which determines the responsiveness of speed control.

Range 0~10000
Initial Value 60
Unit -
Applicable Operating Mode F, S, P
When Enabled Immediately

3rd Velocity Regulator I Gain

RSWare : Drive - Tuning - 3rd Regulator Gains - Integrator Gain

Description • Removes steady state speed tolerance.
• Overshoot in speed response can occur if set value is too large.
Range 0~60000
Initial Value 26
Unit -
Applicable Operating Mode F, S, P
When Enabled Immediately

3rd Position Regulator Kp Gain

RSWare : Drive - Tuning - 3rd Regulator Gains - Kp

Description • Parameter which determines the responsiveness of position control.
• Change set value according to rigidity of load.
Range 0~700
Initial Value 20
Unit [Hz]
Applicable Operating Mode F
When Enabled Immediately

3rd Current Command Low pass Filter Bandwidth

RSWare : Drive - Tuning - 3rd Regulator Gains - Lowpass Filter

Bandwidth (IReg)
Description Suppresses high frequency components of torque command.
Range 0~10000
Initial Value 300
Unit [Hz]
Applicable Operating Mode All
When Enabled Immediately

35 CSD5 Servo Drive Index Manual

A-36 Parameter List

3rd Velocity Command Low pass Filter Bandwidth

RSWare : Drive - Tuning - 3rd Regulator Gains - Lowpass Filter

Bandwidth (VReg)
Description Sets low pass cutoff frequency of speed command to suppress high
frequency components.
Range 0~10000
Initial Value 1000
Unit [Hz]
Applicable Operating Mode All
When Enabled Immediately

4th Velocity Regulator P Gain

RSWare : Drive - Tuning - 4th Regulator Gains - P

Description Parameter which determines the responsiveness of speed control.
Range 0~10000
Initial Value 60
Unit -
Applicable Operating Mode F, S, P
When Enabled Immediately

4th Velocity Regulator I Gain

RSWare : Drive - Tuning - 4th Regulator Gains - Integrator Gain

Description • Removes steady state speed tolerance.
• Overshoot in speed response can occur if set value is too large.
Range 0~60000
Initial Value 26
Unit -
Applicable Operating Mode F, S, P
When Enabled Immediately

4th Position Regulator Kp Gain

RSWare : Drive - Tuning - 4th Regulator Gains - Kp

Description • Parameter which determines the responsiveness of position control.
• Change set value according to rigidity of load.
Range 0~700
Initial Value 20

CSD5 Servo Drive Index Manual

 Parameter List A-37

Unit [Hz]
Applicable Operating Mode F
When Enabled Immediately

4th Current Command Low pass Filter Bandwidth

RSWare : Drive - Tuning - 4th Regulator Gains - Lowpass Filter

Bandwidth (IReg)
Description Suppresses high frequency components of torque command.
Range 0~10000
Initial Value 300
Unit [Hz]
Applicable Operating Mode All
When Enabled Immediately

4th Velocity Command Low pass Filter Bandwidth

RSWare : Drive - Tuning - 4th Regulator Gains - Lowpass Filter

Bandwidth (VReg)
Description Sets low pass cutoff frequency of speed command to suppress high
frequency components.
Range 0~10000
Initial Value 1000
Unit [Hz]
Applicable Operating Mode All
When Enabled Immediately

37 CSD5 Servo Drive Index Manual

A-38 Parameter List

Standard Group 2

Velocity Scale

RSWare : Drive - Mode Configuration - Analog- Velocity Scale

Description • Sets the speed command value[rpm] for the analog speed command
input pin (Pin 19,20 of I/O).
• Speed command [rpm] = Ft-2.00 [rpm/V] × Input Voltage [V]
Range 10.0~2000.0
Initial Value 500.0
Unit Rotary Motor: [rpm/V], Linear Motor: [mm/sec/V]
Applicable Operating Mode S
When Enabled Servo Off > Setting

Jog Velocity Command

RSWare : Drive - (Right Side)Velocity Control Panel - Velocity Command

Description Sets speed for jog operation using (run-00).
Range 0~6000
Initial Value 50
Unit Rotary Motor: [rpm], Linear Motor: [mm/sec]
Applicable Operating Mode All
When Enabled Immediately

Acceleration

RSWare : Drive - Acceleration Limits - Acceleration

Description Acceleration means slope of the Speed Profile.
Range 1~2147483647
Initial Value 41667
Unit Rotary Motor: [10-2xRev/sec2], Linear Motor: [mm/sec2]
Applicable Operating Mode S, P
When Enabled Immediately

Deceleration

RSWare : Drive - Acceleration Limits - Deceleration

Description Deceleration means slope of the Speed Profile.
Range 1~2147483647
Initial Value 41667
Unit Rotary Motor: [10-2xRev/sec2], Linear Motor: [mm/sec2]
Applicable Operating Mode S, P
When Enabled Immediately

CSD5 Servo Drive Index Manual

 Parameter List A-39

S-Curve Time

RSWare : Drive - Acceleration Limits - S-Curve Time

• 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 Rated Speed

Speed Speed Command
Command Motor Set Speed

Time
0

Motor Rated Speed

Acceldecel
Speed
Time Set
Motor Set Speed

Time
0

Motor Rated Speed

S-curve
Speed
Time Set
Motor Set Speed

Time
0
S-curve Set Time

Range 0~5,000
Initial Value 0
Unit [ms]
Applicable Operating Mode All
When Enabled Immediately

Preset Velocity 1

RSWare : Drive - Mode Configuration - Preset - Preset Velocity 1

Description • Sets each contact speed commands for contact speed control mode.
• The operation speed should be entered in advance into the relevant
parameters </C-SP1>, </C-SP2>, </C-SP3>.
• 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.

39 CSD5 Servo Drive Index Manual

A-40 Parameter List

Range -6000~6000
Initial Value 0
Unit Rotary Motor: [rpm], Linear Motor: [mm/sec]
Applicable Operating Mode P
When Enabled Immediately

Contact Speed Speed Set Parameter </C-SP3> </C-SP2> </C-SP1>

Halt Command 0 (rpm) 0 0 0
Speed Command 0 0 1
1

Speed Command 0 1 0
2

Speed Command 0 1 1
3

Speed Command 1 0 0
4

Speed Command 1 0 1
5

Speed Command 1 1 0
6

Speed Command 1 1 1
7

Preset Velocity 2

RSWare : Drive - Mode Configuration - Preset - Preset Velocity 2

Description Refer to description of [Ft-2.05]
Range -6000~6000
Initial Value 0
Unit Rotary Motor: [rpm], Linear Motor: [mm/sec]
Applicable Operating Mode P
When Enabled Immediately

Preset Velocity 3

RSWare : Drive - Mode Configuration - Preset - Preset Velocity 3

Description Refer to description of [Ft-2.05]
Range -6000~6000
Initial Value 0
Unit Rotary Motor: [rpm], Linear Motor: [mm/sec]

CSD5 Servo Drive Index Manual

 Parameter List A-41

Applicable Operating Mode P

When Enabled Immediately

Preset Velocity 4

RSWare : Drive - Mode Configuration - Preset - Preset Velocity 4

Description Refer to description of [Ft-2.05]
Range -6000~6000
Initial Value 0
Unit Rotary Motor: [rpm], Linear Motor: [mm/sec]
Applicable Operating Mode P
When Enabled Immediately

Preset Velocity 5

RSWare : Drive - Mode Configuration - Preset - Preset Velocity 5

Description Refer to description of [Ft-2.05]
Range -6000~6000
Initial Value 0
Unit Rotary Motor: [rpm], Linear Motor: [mm/sec]
Applicable Operating Mode P
When Enabled Immediately

Preset Velocity 6

RSWare : Drive - Mode Configuration - Preset - Preset Velocity 6

Description Refer to description of [Ft-2.05]
Range -6000~6000
Initial Value 0
Unit Rotary Motor: [rpm], Linear Motor: [mm/sec]
Applicable Operating Mode P
When Enabled Immediately

Preset Velocity 7

RSWare : Drive - Mode Configuration - Preset - Preset Velocity 7

Description Refer to description of [Ft-2.05]
Range -6000~6000
Initial Value 0
Unit Rotary Motor: [rpm], Linear Motor: [mm/sec]
Applicable Operating Mode P
When Enabled Immediately

41 CSD5 Servo Drive Index Manual

A-42 Parameter List

Manual Velocity Limit

RSWare : Drive - Velocity Limits - Manual Velocity limit

Description • 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
[Ft-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.
Range 1~6000
Initial Value 5000
Unit Rotary Motor: [rpm], Linear Motor: [mm/sec]
Applicable Operating Mode F, S, P
When Enabled Servo Off > Setting

Velocity Limit Mode

RSWare : Drive - Velocity Limits - Velocity Limit Mode

Description Select velocity limit mode.
Range Value Description
RSWare Name
0 Disabled Disabled
1 Limit by [Ft-2.12]. Manual Limit
2 Limited by Analogue Speed Command Value Analog Input
(except Analog Speed Mode).
3 Limited by lesser one between [Ft-2.12] and Manual and Analog
Analogue Speed Command.
Initial Value 0
Applicable Operating Mode All
When Enabled Servo Off > Setting

Standard Group 3

Follower

RSWare : Drive - Mode Configuration - Follower

Data Size 4 digits
Ditig 0 Command Type

RSWare : Drive - Mode Configuration - Follower - Command Type

CSD5 Servo Drive Index Manual

 Parameter List A-43

Range Value Description RSWare Name

0 Step Up/Step Down, Positive logic Step Up/Step Down. Positive Logic
1 Step Up/Step Down, Negative logic Step Up/Step Down. Negative Logic
2 Step/Direction, Positive Logic Step/Direction. Positive Logic
3 Step/Direction, Negative Logic Step/Direction. Negative Logic
4 A phase+B phase, x1 Auxiliary Encoder. x1
5 A phase+B phase, x2 Auxiliary Encoder. x2
6 A phase+B phase, x4 Auxiliary Encoder. x4
Initial Value 0
Applicable Operating Mode Follower
Digit 1 Controller Output Type

RSWare : Drive - Mode Configuration - Follower - Controller Output Type

Range Value Descriptison RSWare Name
0 Use Low speed Line Drive Output in Host Controller for isolated electrical Line Drive
connection (Max.900 [kHz])

1 Use Open Collector in Host Controlle (Max. 250 [kHz]) Open Collector

2 Use High Frequency Line Drive Output in Host Controller (Max. 3 [MHz]) High Speed Line Drive

Initial Value 0
Applicable Operating Mode Follower
Digit 2 Encoder Output Forward Direction

RSWare : Drive - Encoders - Encoder Output Forward Direction

Range Value Description RSWare Name
0 During Forward Rotation, Encoder Output Phase A have a lead of 90° over A Leads B
Phase B.
1 During Forward Rotation, Encoder Output Phase B have a lead of 90° over B Leads A
Phase A.
Initial Value 0
Applicable Operating Mode All
Digit 3 1st Gear ratio change

RSWare : Drive - Mode Configuration - Follower - 1st Gear Ratio Change

Range Value Description RSWare Name
0 Enable Only on Drive Disabled Enable Only on Drive Disabled
1 Always Enable Always Enable
Initial Value 0
Applicable Operating Mode F
When Enabled Servo Off > Setting

1st Gear Ratio, Follower Counts

RSWare : Drive - Mode Configuration - Follower - 1st Gear Ratio

(Second number)

43 CSD5 Servo Drive Index Manual

A-44 Parameter List

Description • Numerator of Electronic gear.

• 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 × Reduction ratio × 4 ≥[Ft-3.02]".
• Maximum resolution = 1 / ( [No. of pulses per 1 motor rotation] ×
[Reduction ratio] × 4 )
Range 1~65535
Initial Value 4
Unit -
Applicable Operating Mode F
When Enabled Servo Off > Setting

1st Gear Ratio, Master Counts

RSWare : Drive - Mode Configuration - Follower - 1st Gear Ratio (First

Nmuber)
Description Denominator of Electronic gear.
Range 1~65535
Initial Value 1
Unit
Applicable Operating Mode F
When Enabled Servo Off > Setting

Encoder Output Ratio, Output Counts (Denominator)

RSWare : Drive - Encoders - Output Ratio (First Number)

Description • Numerator of Position output pulse adjustment.
• 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 [Ft-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 [Ft-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 [Ft-3.03] ≤
[Ft-3.04] has to be satisfied.
• For the No. of output pulses per rotation to the higher level
controller:
([Ft-3.03]/[Ft-3.04]) × output pulses per rotation = Output to higher
level controller
Range 1~32768
Initial Value 1
Unit
Applicable Operating Mode All
When Enabled Servo Off > Setting

CSD5 Servo Drive Index Manual

 Parameter List A-45

Encoder Output Ratio, Motor Counts (Numerator)

RSWare : Drive - Encoders - Output Ratio (Last Number)

Description Denominator of Position output pulse adjustment.
Range 1~32768
Initial Value 1
Unit -
Applicable Operating Mode All
When Enabled Servo Off > Setting

2nd Gear Ratio, Follower Counts

RSWare : Drive - Mode Configuration - Follower - 2nd Gear Ratio

(Second Number)
Description • Numerator of 2nd Gear Ratio.
• 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 × Reduction ratio × 4 ≥ [Ft-3.02]".
• Maximum resolution=1/ ([No.of pulses per 1 motor rotation] x
[Reduction ratio] x 4)
Range 1~65535
Initial Value 4
Unit -
Applicable Operating Mode F
When Enabled Servo Off > Setting

2nd Gear Ratio, Master Counts

RSWare : Drive - Mode Configuration - Follower - 2nd Gear Ratio (First

Number)
Description Denominator of 2nd Gear Ratio.
Range 1~65535
Initial Value 1
Unit -
Applicable Operating Mode F
When Enabled Servo Off > Setting

Reserved

Parameter Reserved
Description Reserved

45 CSD5 Servo Drive Index Manual

A-46 Parameter List

Range Reserved
Initial Value Reserved
Unit Reserved
Applicable Operating Mode Reserved

Digital Filter Cut-off Frequency

RSWare : Drive - Mode Configuration - Follower - Digital Filter Cut-off

Frequency
Digit 0 Low Drive Input

RSWare : Drive - Mode Configuration - Follower - Digital Filter Cut-off

Frequency - Low Speed Line Driver Input
Range Value Description RSWare Name
0 3.000 MHz 3.000
1 1.750 MHz 1.750
2 1.500 MHz 1.500
3 1.000 MHz 1.000
4 0.750 MHz 0.750
5 0.625 MHz 0.625
6 0.562 MHz 0.562
7 0.525 MHz 0.525
Initial Value 3
Applicable Operating Mode F
Digit 1 Open Collector Input

RSWare : Drive - Mode Configuration - Follower - Digital Filter Cut-off

Frequency - Open Collector Input
Range Value Description RSWare Name
0 3.000 MHz 3.000
1 1.750 MHz 1.750
2 1.500 MHz 1.500
3 1.000 MHz 1.000
4 0.750 MHz 0.750
5 0.625 MHz 0.625
6 0.562 MHz 0.562
7 0.525 MHz 0.525
Initial Value 7
Applicable Operating Mode F
Digit 2 High Frequency Line Drive Input

RSWare : Drive - Mode Configuration - Follower - Digital Filter Cut-off

Frequency - High Speed Line Driver Input

CSD5 Servo Drive Index Manual

 Parameter List A-47

Range Value Description RSWare Name

0 3.000 MHz 3.000
1 1.750 MHz 1.750
2 1.500 MHz 1.500
3 1.000 MHz 1.000
4 0.750 MHz 0.750
5 0.625 MHz 0.625
6 0.562 MHz 0.562
7 0.525 MHz 0.525
Initial Value 0
Applicable Operating Mode F
When Enabled Servo Off > Setting

Standard Group 4

Current Scale

RSWare : Drive - Mode Configuration - Analog - Current Scale

Description • Set the speed command value[%] for 1[V] on the analog torque
command input pin(pin 21,22 of I/O).
• Torque command[%] = [Ft-4.00] [%/V] x input voltage [V]
Range 0-1000
Initial Value 333
Unit [%] of rated continuous current/V/10
Applicable Operating Mode C
When Enabled Servo Off > Setting

Positive Internal Current Limit

RSWare : Drive - Current Limits - Positive Internal

Description Limits forward and reverse direction torque on motor separately.
(internally limited)
Range 0~500
Initial Value 300
Unit [%] of motor rated continuous current
Applicable Operating Mode All
When Enabled Immediately

Negative Internal Current Limit

RSWare : Drive - Current Limits - Negative Internal

Description Limits reverse direction torque on motor. (Internally limited)

47 CSD5 Servo Drive Index Manual

A-48 Parameter List

Range 0~500
Initial Value 300
Unit [%] of motor rated continuous current
Applicable Operating Mode All
When Enabled Immediately

Positive External Current Limit

RSWare : Drive - Current Limits - Positive External

Description • The torque imposed on the motor is internally limited automatically by the values set on [Ft-4.01], [Ft-4.02]. Additionally, it
is also limited by the values set on [Ft-4.03], [Ft-4.04] when external </P-TL>,</N-TL> signals are input through sequence
input.
• The torque limit according to internal limit [Ft-4.01] and [Ft-4.01] takes precedence to external torque limit </P-TL> and </
N-TL> signals.
Internal Limit Sequence Input External Limit

Torque / P- TL Torque
Forward Torque OFF
(+) Ft
Pr - 4. 01
ON Ft
Pr - 4. 03
Speed Speed
0 0 Limited
Torque
Command 0 0 Torque
Speed Speed
ON Command
(- ) FtPr - 4. 04
Ft
Pr - 4. 02
Reverse
OFF
Torque Torque / N- TL Torque

Range 0~500
Initial Value 100
Unit [%] of motor rated continuous current
Applicable Operating Mode All
When Enabled Immediately

Negative External Current Limit

RSWare : Drive - Current Limits - Negative External

Description Refer to description of [Ft-4.03]
Range 0~500
Initial Value 100
Unit [%] of motor rated continuous current
Applicable Operating Mode All
When Enabled Immediately

Over-travel Current Limit

RSWare : Drive - Stopping Functions - Maximum Stopping Current

CSD5 Servo Drive Index Manual

 Parameter List A-49

Description • 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.
Range 0~500
Initial Value 300
Unit [%] of motor rated continuous current
Applicable Operating Mode All
When Enabled Immediately

Initial Current Bias

RSWare : Drive - Initial Current Bias

Description Initial torque value applied when the servo drive activated. This is to
keep vertical axis load.
Range -100~100
Initial Value 0
Unit [%] of motor rated continuous current
Applicable Operating Mode All
When Enabled Immediately

Standard Group 5

In Position Size

RSWare : Drive - Position Functions - In Position Size

Description If position error < In Position Size for 1 ms and the In Position Size
output signal is assigned, the In Position output is turned ON.
Range 0~2500
Initial Value 10
Unit pulse
Applicable Operating Mode F
When Enabled Immediately

Reserved

Parameter Reserved
Description Reserved
Range Reserved
Initial Value Reserved
Unit Reserved
Applicable Operating Mode Reserved

49 CSD5 Servo Drive Index Manual

A-50 Parameter List

Near Position Size

RSWare : Drive - Position Functions - Near Position Size

Description If position error < Near Position Size and the Near Position output signal
is assigned, the Near Position output is turned ON.
Range 0~2500
Initial Value 20
Unit pulse
Applicable Operating Mode F
When Enabled Immediately

Speed Window

RSWare : Drive - Speed Functions - Speed Window

Description If the speed error < Speed Window for 10 ms and the Within Speed
Window output signal is assigned, then the Within Speed Window
output is turned ON.
Range 0-1000
Initial Value 10
Unit Rotary Motor: [rpm], Linear Motor: [mm/sec]
Applicable Operating Mode F, S, P
When Enabled Immediately

Up to speed

RSWare : Drive - Speed Functions - Up to Speed

Description If the motor speed > Up to Speed and the Up to Speed output signal is
assigned, then the Up to Speed output is turned ON.
Range 1~5000
Initial Value 20
Unit Rotary Motor: [rpm], Linear Motor: [mm/sec]
Applicable Operating Mode All
When Enabled Immediately

Zero Clamp

RSWare : Drive - Speed Functions - Zero Clamp

Description If the Analog Speed Command < Zero Clamp, then the analog speed
command is ignored and the motor command speed is set to zero.

Range 0~5000
Initial Value 0
Unit Rotary Motor: [rpm], Linear Motor: [mm/sec]
Applicable Operating Mode S
When Enabled Immediately

CSD5 Servo Drive Index Manual

 Parameter List A-51

Brake Inactive Delay

RSWare : Drive - Digital Outputs - Brake Inactive Delay

Description Brake Inactive delay is the time from when the drive is enabled to when
the brake is released.
Range 0~10000
Initial Value 0
Unit [ms]
Applicable Operating Mode All
When Enabled Servo Off > Setting

Disable Delay

RSWare : Drive - Stopping Functions - Disable Delay

Description Disable Delay is the time from when Drive Disable command is received
to when the Drive Disable command is actually executed.

Range 0~10000
Initial Value 0
Unit [ms]
Applicable Operating Mode All
When Enabled Servo Off > Setting

Brake Active Delay

RSWare : Drive - Digital Outputs - Brake Active Delay

Description The Braking Application Speed is the feedback speed below which the
motor break is engaged, after disabling the drive.

Range 0~10000
Initial Value 500
Unit [ms]
Applicable Operating Mode All
When Enabled Servo Off > Setting

Disabled Braking Speed

RSWare : Drive - Stopping Functions - Braking Application Speed

Description The Braking Application Speed is the feedback speed below which the
motor break is engaged, after disabling the drive.
Range 0~1000
Initial Value 100
Unit Rotary Motor: [rpm], Linear Motor: [mm/sec]
Applicable Operating Mode All
When Enabled Servo Off > Setting

51 CSD5 Servo Drive Index Manual

A-52 Parameter List

Following Error Limit

RSWare : Drive - Faults - Following Error Limit

Description A following error fault occurs when the difference between position
command and actual position is greater than this parameter.
Range 0~2147483647
Initial Value 99999
Unit pulse
Applicable Operating Mode F

AC Line Loss Fault Delay

RSWare : Drive - Faults - AC Line Loss Fault Delay

Description The AC Line Loss Fault is inhibited for this amount of time, when a loss
of AC power is detected.
Range 20~1000
Initial Value 20
Unit ms
Applicable Operating Mode All
When Enabled Servo Off > Setting

Analog Output CH1 Selection

RSWare : Drive - Analog Outputs - Analog Output 1 - Signal

Description The drive signal assigned to channel 1 from the Channel Setup dialog
box in the Oscilloscope window.
Range 0~28 (Except 15, 23, 25, 26 )
Initial Value 0
Applicable Operating Mode All
When Enabled Immediately

Analog Output CH2 Selection

RSWare : Drive - Analog Outputs - Analog Output 2 - Signal

Description The drive signal assigned to channel 2 from the Channel Setup dialog
box in the Oscilloscope window.
Range 0~28 (Except 15, 23, 25, 26 )
Initial Value 1
Applicable Operating Mode All
When Enabled Immediately

Analog Output CH1 Scale

RSWare : Drive - Analog Outputs - Analog Output 1 - Scale

CSD5 Servo Drive Index Manual

 Parameter List A-53

Description The amplitude of the channel 1 input signal to be displayed by the

oscilloscope.
Range 1 - 99999
Unit Units depend on the channel selection.
Initial Value 500
Applicable Operating Mode All
When Enabled Immediately

Analog Output CH2 Scale

RSWare : Drive - Analog Outputs - Analog Output 2 - Scale

Description The amplitude of the channel 2 input signal to be displayed by the
oscilloscope.
Range 1 - 99999
Unit Units depend on the channel selection.
Initial Value 500
Applicable Operating Mode All
When Enabled Immediately

Index Parameter List Indexing Group 0 - Indexing System

No. Name Modubus Digit No. Range Init. Note

Address
Auto Start Indexing 5000 N/A 0~1 0 -

Abort Index Deceleration 5001, 5002 N/A 1~2147483647 6250 Rotary Motor:
[10-2xRev/sec2] ,
Linear Motor:
[mm/sec2]
Positive Deceleration 5003, 5004 N/A 0~2147483647 0 pulse
Distance

Negative Deceleration 5005, 5006 N/A 0~2147483647 0 pulse

Distance

Enable Software Limits 5007 N/A 0~1 0 -

Positive Software Limit 5008, 5009 N/A - 2147483647 2147483647 pulse

~2147483647
Negative Software Limit 5010, 5011 N/A - 2147483647 - 2147483647 pulse

~2147483647

53 CSD5 Servo Drive Index Manual

A-54 Parameter List

Indexing Group 1 - Homing

No. Name Modubus Digit No. Range Init. Note

Address
Homing Type 5200 N/A 0~8 1 -

Auto Start Homing on 5201 N/A 0~2 2 -

Enable

Homing Velocity 5202 N/A -6000~6000 100 Rotary Motor:

[rpm] , Linear
Motor: [mm/sec]
Creep Velocity 5203 N/A 0~6000 20 Rotary Motor:
[rpm] , Linear
Motor: [mm/sec]
Homing Acceleration/ 5204, 5205 N/A 1~2147483647 6250 Rotary Motor:
Deceleration [10-2xRev/sec2] ,
Linear Motor:
[mm/sec2]
Offset Move Distance 5206, 5207 N/A - 2147483647 0 pulse

~2147483647
Home Sensor Polarity 5208 N/A 0~1 0 -

Home Position 5209, 5210 N/A - 2147483647 0 pulse

~2147483647
Moving distance After 5211, 5212 N/A 0~2147483647 0 pulse
Home Sensor

Home Current 5213 N/A 1~250 100 [%]

Home Current Time 5214 N/A 0~1000 0 [ms]

Homing Time Limit 5215 N/A 0~65535 60 [sec]

Stop Home Deceleration 5216, 5217 N/A 1~2147483647 6250 Rotary Motor:
[10-2xRev/sec2] ,
Linear Motor:
[mm/sec2]

Indexing Group 2- Index Option

No. Name Modubus Digit No. Range Init. Note

Address
Index 0 Option 5400 0 0: Absolute 0 -
1: Incremental
1 0: Stop 0 -
1: Start next
index
2: Wait for Start
2...3 Reserved

CSD5 Servo Drive Index Manual

 Parameter List A-55

Index 1 Option 5401 0 0: Absolute 0 -

1: Incremental
1 0: Stop 0 -
1: Start next
index
2: Wait for Start
2...3 Reserved
: : : : : : :
: : : : : : :
: : : : : : :
Index63 Option 5463 0 0: Absolute 0 -
1: Incremental
1 0: Stop 0 -
1: Start next
index
2: Wait for Start
2...3 Reserved

Indexing Gorup 4 - Index Position/Distance

No. Name Modubus Digit No. Range Init. Note

Address
Index 0 Position/ 5800, 5801 N/A - 2147483647 0 pulse
Distance
~2147483647

Index 1 Position/ 5802, 5803 N/A - 2147483647 0 pulse

Distance
~2147483647

: : : : : : :
: : : : : : :
: : : : : : :
Index 63 Position/ 5926, 5927 N/A - 2147483647 0 pulse
Distance
~2147483647

Indexing Group 7 - Index Dwell

No. Name Modubus Digit No. Range Init. Note

Address
Index 0 Dwell 6400 N/A 0~65535 0 ms

Index 1 Dwell 6401 N/A 0~65535 0 ms

: : : : : : :
: : : : : : :
: : : : : : :

55 CSD5 Servo Drive Index Manual

A-56 Parameter List

Index 63 Dwell 6463 N/A 0~65535 0 ms

Indexing Gorup 8 - Index Velocity

No. Name Modubus Digit No. Range Init. Note

Address
Index 0 Velocity 6600 N/A 0~6000 750 Rotary Motor:
[rpm] , Linear
Motor: [mm/sec]
Index 1 Velocity 6601 N/A 0~6000 750 Rotary Motor:
[rpm] , Linear
Motor: [mm/sec]
: : : : : : :
: : : : : : :
: : : : : : :
Index 63 Velocity 6663 N/A 0~6000 750 Rotary Motor:
[rpm] , Linear
Motor: [mm/sec]

Indexing Group 10 - Index Acceleration

No. Name Modubus Digit No. Range Init. Note

Address
Index 0 Acceleration 7000, 7001 N/A 1~2147483647 6250 Rotary Motor:
[10-2xRev/sec2] ,
Linear Motor:
[mm/sec2]
Index 1 Acceleration 7002, 7003 N/A 1~2147483647 6250 Rotary Motor:
[10-2xRev/sec2] ,
Linear Motor:
[mm/sec2]
: : : : : : :
: : : : : : :
: : : : : : :
Index 63 Acceleration 7126, 7127 N/A 1~2147483647 6250 Rotary Motor:
[10-2xRev/sec2] ,
Linear Motor:
[mm/sec2]

Indexing Gorup 11 - Index Deceleration

No. Name Modubus Digit No. Range Init. Note

Address
Index 0 Deceleration 7200, 7201 N/A 1~2147483647 6250 Rotary Motor:
[10-2xRev/sec2] ,
Linear Motor:
[mm/sec2]

CSD5 Servo Drive Index Manual

 Parameter List A-57

Index 1 Deceleration 7202, 7203 N/A 1~2147483647 6250 Rotary Motor:

[10-2xRev/sec2] ,
Linear Motor:
[mm/sec2]
: : : : : : :
: : : : : : :
: : : : : : :
Index 63 Deceleration 7326, 7327 N/A 1~2147483647 6250 Rotary Motor:
[10-2xRev/sec2] ,
Linear Motor:
[mm/sec2]

Indexing Gorup 12 - Index Next Index

No. Name Modubus Digit No. Range Init. Note

Address
Index 0 Next Index 7400 N/A 0~63 0 -

Index 1 Next Index 7401 N/A 0~63 0 -

: : : : : : :
: : : : : : :
: : : : : : :
Index 63 Next Index 7463 N/A 0~63 0 -

Index Parameter Indexing Parameter Gorup 0 - Indexing System

Description

Auto Start Indexing

RSWare : Drive - Mode Configuration- Indexing - Auto Start Indexing

Description When this field is set to "on", the drive will begin executing the selected index whenever the drive enables.

0-Off
1-On
Range 0~1 Initial Value 0 Unit N/A
Modbus Address 5000 Changeable Status Always When Enabled Power Cycling
Applicable Operation Mode I -

57 CSD5 Servo Drive Index Manual

A-58 Parameter List

Abort Index Deceleration

RSWare : Drive - Mode Configuration- Indexing - Abort Index Decel

Description The deceleration used to stop motion when the Stop Index input terminates an index move.
Range 0~2147483647 Initial Value 6250 Unit Rotary Motor: [10-2xRev/
sec2] , Linear Motor: [mm/
sec2]
Modbus Address 5001 Changeable Status Always When Enabled Always
Applicable Operation Mode I -

Positive Deceleration Distance

RSWare : Drive - Mode Configuration- Indexing - Positive Deceleration Distance

Description The stopping distance used when the drive encounters a positive overtravel limit.
Range 0~2147483647 Initial Value 0 Unit pulse
Modbus Address 5003, 5004 Changeable Status Always When Enabled Always
Applicable Operation Mode I -

Negative Deceleration Distance

RSWare : Drive - Mode Configuration- Indexing - Negative Deceleration Distance

Description The stopping distance used when the drive encounters a negative overtravel limit.
Range 0~2147483647 Initial Value 0 Unit pulse
Modbus Address 5005, 5006 Changeable Status Always When Enabled Always
Applicable Operation Mode I -

Enable Software Limits

RSWare : Drive - Mode Configuration- Indexing - Enable Software Limits

Description Select:

0-Off: Turns off software overtravel limit checking

1-On: Causes the drive to compare the motor feedback position to the Positive and Negative Software Limits, below, to
determine if the drive has exceeded an overtravel limit.
Range 0~1 Initial Value 0 Unit N/A
Modbus Address 5007 Changeable Status Servo-OFF When Enabled Disable Drive
Applicable Operation Mode I -

Positive Software Limit

RSWare : Drive - Mode Configuration- Indexing - Positive Software Limit

Description If the motor feedback position is greater than this value, the drive has exceeded the software overtravel limit.
Range -2147483647~214748 Initial Value 2,147,483,647 Unit pulse
3647

CSD5 Servo Drive Index Manual

 Parameter List A-59

Modbus Address 5008, 5009 Changeable Status Servo-OFF When Enabled Disable Drive
Applicable Operation Mode I -

Negative S/W Limit

RSWare : Drive - Mode Configuration- Indexing - Negative Software Limit

Description If the motor feedback position is less than this value, the drive has exceeded the software overtravel limit.
Range -2147483647~214748 Initial Value - 2,147,483,647 Unit pulse
3647
Modbus Address 5010, 5011 Changeable Status Servo-OFF When Enabled Disable Drive
Applicable Operation Mode I -

User Defined Distance Per Motor Revolution

RSWare : Drive - Mode Configuration- Indexing - User Defined Distance Per Motor Revolution

Description Define user defined distance per motor revolution.

Range 0~99999 Initial Value 0 Unit User Defined
Modbus Address 5012 Changeable Status Always When Enabled Disable Drive
Applicable Operation Mode I -

Indexing Parameter Garoup 1 - Homing

Homing Type

RSWare : Drive - Mode Configuration- Homing - Homing Type

Description Select the type of homing operation the drive will perform.

0-Home to Present Position

1-To Home sensor/Back to Marker
2-To Limit/Back to Marker
3-To Home sensor/Fwd to Marker
4- To Limit/Fwd to Marker
5- Home to Current Value
6-Home to Current Value/Back to Marker
7-To Home sensor/Move/Back to Marker
8-Home to Marker
9- To Home Sensor
10-To Limit Sensor
Range 0~10 Initial Value 1 Unit N/A
Modbus Address 5200 Changeable Status Servo-OFF When Enabled Disable Drive
Applicable Operation Mode I -

Auto Start Homing on Enable

RSWare : Drive - Mode Configuration- Homing - Auto Start Homing on Enable

59 CSD5 Servo Drive Index Manual

A-60 Parameter List

Description Causes the drive to begin the homing procedure automatically when the drive is enabled.

0 - Active: Automatically starts homing every time the drive is enabled.

1 - Active After Reset Only: automatically starts homing when a drive is enabled, if the drive has not already been homed.
2 - Inactive

Range 0~2 Initial Value 2 Unit N/A

Modbus Address 5201 Changeable Status Always When Enabled Power Cycling
Applicable Operation Mode I -

Homing Velocity

RSWare : Drive - Mode Configuration- Homing - Homing Velocity

Description The commanded velocity used during homing. The sign of this value (+/-) indicates the direction of motion during homing.
Range -6000~6000 Initial Value 100 Unit Rotary Motor: [rpm] , Linear
Motor: [mm/sec]
Modbus Address 5202 Changeable Status Servo-OFF When Enabled Disable drive
Applicable Operation Mode I -

Creep Velocity

RSWare : Drive - Mode Configuration- Homing - Creep Velocity

Description For the To Sensor, then Back to Marker Homing Type, the velocity used for all remaining homing motion after the motor
decelerates to a stop when it finds the sensor edge.
Range 0~6000 Initial Value 20 Unit Rotary Motor: [rpm] , Linear
Motor: [mm/sec]
Modbus Address 5203 Changeable Status Servo-OFF When Enabled Disable drive
Applicable Operation Mode I -

Homing Acceleration/Deceleration

RSWare : Drive - Mode Configuration- Homing - Homing Accel/Decel

Description The rate of acceleration and deceleration used during homing.
Range 1~2147483647 Initial Value 6250 Unit Rotary Motor: [10-2xRev/
sec2] , Linear Motor: [mm/
sec2]
Modbus Address 5204, 5205 Changeable Status Servo-OFF When Enabled Disable drive
Applicable Operation Mode I -

Offset Move Distance

RSWare : Drive - Mode Configuration- Homing - Offset Move Distance

Description The distance the motor position will be from the marker edge (or sensor edge for Sensor only Homing Type) after the homing
sequence is complete.
Range -2147483647~214748 Initial Value 0 Unit pulse
3647
Modbus Address 5206, 5207 Changeable Status Servo-OFF When Enabled Disable drive
Applicable Operation Mode I -

Home Sensor Polarity

RSWare : Drive - Mode Configuration- Homing - Home Sensor Polarity

CSD5 Servo Drive Index Manual

 Parameter List A-61

Description 0-NORMAL CLOSE

1-NORMAL OPEN
Range 0~1 Initial Value 0 Unit N/A
Modbus Address 5208 Changeable Status Servo-OFF When Enabled Disable drive
Applicable Operation Mode I -

Home Position

RSWare : Drive - Mode Configuration- Homing - Home Position

Description The home position when a homing procedure is completed.
Range -2147483647~214748 Initial Value 0 Unit pulse
3647
Modbus Address 5209, 5210 Changeable Status Servo-OFF When Enabled Disable drive
Applicable Operation Mode I -

Moving distance After Home Sensor

RSWare : Drive - Mode Configuration- Homing - Moving Distance After Home Sensor
Description This value is distance that the drive ignores the marker inputs after the home sensor is detected.
Range 0~2147483647 Initial Value 0 Unit pulse
Modbus Address 5211, 5212 Changeable Status Servo-OFF When Enabled Disable drive
Applicable Operation Mode I -

Home Current

RSWare : Drive - Mode Configuration - Homing - Home Current

Description Specifies the torque feedback at which the drive stops moving the motor at the Homing Velocity.

Unit : Percentages of a motor rating torque

Range 0~250 Initial Value 100 Unit [%]
Modbus Address 5213 Changeable Status Servo-OFF When Enabled Disable drive
Applicable Operation Mode I -

Home Current Time

RSWare : Drive - Mode Configuration- Homing - Home Current Time

Description The time to when the torque feedback is more than the home current to when the drive detects stopper.
Range 0~1000 Initial Value 0 Unit [ms]
Modbus Address 5214 Changeable Status Servo-OFF When Enabled Disable drive
Applicable Operation Mode I -

Homing Time Limit

RSWRSWare : Drive - Mode Configuration- Homing - Homing Timeout

Description Drive fault occurs when time for homing is over the homing time limit.
Range 0~65535 Initial Value 60 Unit [Sec]
Modbus Address 5215 Changeable Status Servo-OFF When Enabled Disable drive

61 CSD5 Servo Drive Index Manual

A-62 Parameter List

Applicable Operation Mode I -

Stop Home Deceleration

RSWare : Drive - Mode Configuration- Homing - Stop Home decel

Description The rate of drive deceleration used when homing is stopped.
Range 1~2147483647 Initial Value 6250 Unit Rotary Motor: [10-2xRev/
sec2] , Linear Motor: [mm/
sec2]
Modbus Address 5216, 5217 Changeable Status Servo-OFF When Enabled Disable drive
Applicable Operation Mode I -

Indexing Parameter Group 2 - Indexing Options

Digit 0 Index 0~63 Type

RSWare : Drive - Mode Configuration- Indexing - Index 0 ~63 Setup - Mode

Description Index 0 ~63 Setup Mode:

0-Absolute: moves from its starting position to the specified Position, below..
1-Incremental: moves from its starting position the specified Distance, below.

Note: The axis must be homed before the drive can execute any index.
Range 0~1 Initial Value 0 Unit N/A
Modbus Address 5400, 5463 Changeable Status Always When Enabled Always
Applicable Operation Mode I -

Digit 1 Index 0~63 Action When Complete

RSWare : Drive - Mode Configuration- Indexing - Index 0 ~63 Setup - Action When Complete

Description 0: Stop: ends the execution of indexed move commands (default setting).

1: Start next index: commands execution of the Next Index move without additional input, but after the scheduled Dwell.

2: Wait for Start: commands execution of the Next Index move the next time the Start Index input becomes active.
Range 0~2 Initial Value 0 Unit N/A
Modbus Address 5400, 5463 Changeable Status Always When Enabled Always
Applicable Operation Mode I -

Indexing Parameter Group 4 - Index Position/Distance

Index 0~63 Position/Distance

RSWare : Drive - Mode Configuration- Indexing - Index 0 ~63 Setup - Distance or Position

CSD5 Servo Drive Index Manual

 Parameter List A-63

Description • Position : For Absolute mode moves, the fixed position to which the motor will travel.
• Distance : For Incremental and Registration mode moves, the relative distance the motor will travel.
Range -2147483647~214748 Initial Value 0 Unit pulse
3647
Modbus Address 5800 ~ 5927 Changeable Status Always When Enabled Always
Applicable Operation Mode I -

Indexing Parameter Group 7 - Index Dwell

Index 0~63 Dwell

RSWare : Drive - Mode Configuration- Indexing - Index 0 ~63 Setup - Dwell

Description Milliseconds to remain at current position before exec.
Range 0~65535 Initial Value 0 Unit [ms]
Modbus Address 6400 ~ 6463 Changeable Status Always When Enabled Always
Applicable Operation Mode I -

Indexing Parameter Group 8 - Index Velocity

Index 0~63 Velocity

RSWare : Drive - Mode Configuration- Indexing - Index 0 ~63 Setup - Velocity

Description Maximum velocity while in motion.
Range 0~6000 Initial Value 750 Unit Rotary Motor: [rpm] ,
Linear Motor: [mm/sec]

Modbus Address 6600 ~ 6663 Changeable Status Always When Enabled Always
Applicable Operation Mode I -

Indexing Parameter Group 10 - Index Acceleration

Index 0~63 Acceleration

RSWare : Drive - Mode Configuration- Indexing - Index 0 ~63 Setup - Acceleration

Description Maximum acceleration while in motion.
Range 1~2147483647 Initial Value 6250 Unit Rotary Motor: [10-2xRev/
sec2] , Linear Motor: [mm/
sec2]
Modbus Address 7000 ~ 7127 Changeable Status Always When Enabled Always
Applicable Operation Mode I -

63 CSD5 Servo Drive Index Manual

A-64 Parameter List

Indexing Parameter Group 11 - Index Deceleration

Index 0~63 Deceleration

RSWare : Drive - Mode Configuration- Indexing - Index 0 ~63 Setup - Deceleration

Description Maximum deceleration while in motion.
Range 1~2147483647 Initial Value 6250 Unit Rotary Motor: [10-2xRev/
sec2] , Linear Motor: [mm/
sec2]
Modbus Address 7200 ~ 7327 Changeable Status Always When Enabled Always
Applicable Operation Mode I -

Indexing Parameter Group 12 - Index Next Index

Index 0~63 Next Index

RSWare : Drive - Mode Configuration- Indexing - Index 0 ~63 Setup -Next Index
Description The number (0 - 63) of the next indexed move to execute when Action When Complete is not set to "Stop”.
Range 0~63 Initial Value 0 Unit N/A
Modbus Address 7400 ~ 7463 Changeable Status Always When Enabled Always
Applicable Operation Mode I -

CSD5 Servo Drive Index Manual

 Appendix B

RSWare

Introduction RSWare is external control program to operate CSD5 servo drive. This chapter
explains simply to operate CSD5 servo drive by RSWare.

Topic Page
Introduction B-1
RSWare B-1

RSWare First, install the RSWare on the PC and connect the CSD5 servo drive. Check
the wiring of the cables.

The monitor is displayed the screen above when executing the RSWare. Select
the option(Open existing file or Create new file) and click the “OK”. If You
want to ignore and pass to the next, click the “Cancel”.

1 CSD5 Servo Drive Index Manual

B-2 RSWare

It is displayed the drive on the Workspace by scanning when You click the
“OK”.

CSD5 Servo Drive Index Manual

 RSWare B-3

Click the + mark on the left of the Drive.

3 CSD5 Servo Drive Index Manual

B-4 RSWare

It is displayed the menu related to index. Double-click the Drive.

CSD5 Servo Drive Index Manual

 RSWare B-5

The monitor is displayed the screen above when double-clicking the Drive. A
user can set the basic values of indexing like Control Mode of CSD5 servo
drive, S/W Limit, and In Position Size. etc. Save the setting to click the Save
Parameter button on the right of the screen after the setting is completed. As
the other windows, Save the setting to click the Save Parameter button after
the setting is completed.

5 CSD5 Servo Drive Index Manual

B-6 RSWare

The monitor is displayed the screen above when double-clicking the Encoders
of the Workspace. In here, a user can set the values related to Encoder. Set the
Encoder Backup Battery.

CSD5 Servo Drive Index Manual

 RSWare B-7

The monitor is displayed the screen above when double-clicking the Digital
Inputs of the Workspace. In here, a user can set the values related to Digital
Input signal.

Set the Digital Input values in the respective pin.

7 CSD5 Servo Drive Index Manual

B-8 RSWare

The monitor is displayed the screen above when double-clicking the Digital
Outputs of the Workspace. In here, a user can set the values related to Digital
Output signal.

Set the Digital Output values in the respective pin.

CSD5 Servo Drive Index Manual

 RSWare B-9

The monitor is displayed the screen above when double-clicking the Homing
of the Workspace. In here, a user can set the values related to Homing.

At the screen above, click the respective values and enter Homing Type,
Homing Velocity, Creep Velocity, Home Current and Home Current Time.

9 CSD5 Servo Drive Index Manual

B-10 RSWare

Double-clicking the Indexing of the Workspace. Click the respective index No.
and enter the values related to indexing.

CSD5 Servo Drive Index Manual

 RSWare B-11

Click the respective index No. and enter Index Mode, Position/Distance,
Velocity, Acceleration, Deceleration, Next Index, and Action When complete.
After completing the setting, open the control window to click “Indexing
Control Panel” button on the right of the screen.

11 CSD5 Servo Drive Index Manual

B-12 RSWare

Click the Enable Drive button on the right of the screen to be Servo-ON. In
Servo-ON status, click the Start Homing button to start homing. When
completing the homing, click Start Index button to start indexing. After
completing the indexing, click Disable Drive button to be Servo-OFF.

CSD5 Servo Drive Index Manual

 RSWare B-13

The alarm goes off when a user tries indexing while the homing operation is
incomplete as the same above. Check the message and start the indexing again.

13 CSD5 Servo Drive Index Manual

B-14 RSWare

A user can check the contents of the faults to double-click the Faults of the
Workspace.

CSD5 Servo Drive Index Manual

Publication number : CSD5-UM002A-Drive-EN June 2011

Printing Information
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Copyright © 2011 RS Automation Co., Ltd. All rights reserved.