SMC Networks LECSB Series Operation Manual
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SMC Networks LECSB Series Operation Manual

Ac servo motor driver
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Table of Contents

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Doc. no. JXC※-OMT0021-B
PRODUCT NAME
AC Servo Motor Driver
MODEL/ Series
LECSB Series

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  • Page 1 Doc. no. JXC※-OMT0021-B PRODUCT NAME AC Servo Motor Driver MODEL/ Series LECSB Series...
  • Page 2 LECSB□-□ Series / Driver 1. Safety Instructions These safety instructions are intended to prevent hazardous situations and/or equipment damage. These instructions indicate the level of potential hazard with the labels of “Caution,” “Warning” or “Danger.” They are all important notes for safety and must be followed in addition to International Standards (ISO/IEC) *1), and other safety regulations.
  • Page 3 What must not be done and what must be done are indicated by the following diagrammatic symbols. Indicates what must not be done. For example, "No Fire" is indicated by Prohibition Indicates what must be done. For example, grounding is indicated by Compulsion In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so on are classified into "POINT".
  • Page 4 LECSB□-□ Series / Driver 1. Safety Instructions Caution The product is provided for use in manufacturing industries. The product herein described is basically provided for peaceful use in manufacturing industries. If considering using the product in other industries, consult SMC beforehand and exchange specifications or a contract if necessary.
  • Page 5 1. To prevent electric shock, note the following WARNING Before wiring or inspection, turn off the power and wait for 15 minutes or more (20 minutes or for drive unit 30kW or more) until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) and L for drive unit 30kW or more) is safe with a voltage tester and others.
  • Page 6 3. To prevent injury, note the follow CAUTION Only the voltage specified in the Instruction Manual should be applied to each terminal, Otherwise, a burst, damage, etc. may occur. Connect the terminals correctly to prevent a burst, damage, etc. Ensure that polarity ( , ) is correct.
  • Page 7 CAUTION When you keep or use it, please fulfill the following environmental conditions. Environmental conditions Item Driver Servo motor 0 to 55 (non-freezing) 0 to 40 (non-freezing) operation Ambient 32 to 131 (non-freezing) 32 to 104 (non-freezing) temperature 20 to 65 (non-freezing) 15 to 70 (non-freezing) In storage 4 to 149 (non-freezing)
  • Page 8 CAUTION The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction. Otherwise, the emergency stop and other protective circuits may not operate. Servo amplifier Servo amplifier Driver Driver (drive unit) (drive unit) 24VDC 24VDC DOCOM...
  • Page 9 (5) Corrective actions CAUTION When it is assumed that a hazardous condition may take place at the occur due to a power failure or a product fault, use a servo motor with a lock or an external lock mechanism for the purpose of prevention. Do not use the 24VDC interface for the lock.
  • Page 10 DISPOSAL OF WASTE Please dispose a driver battery (primary battery) and other options according to your local laws and regulations. EEP-ROM life The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If the total number of the following operations exceeds 100,000, the converter unit, driver and/or converter unit may fail when the EEP-ROM reaches the end of its useful life.

  • Page 11: Table Of Contents

    CONTENTS 1. FUNCTIONS AND CONFIGURATION 1 - 1 to 1 -13 1.1 Summary ..............................1 - 2 1.2 Function block diagram ..........................1 - 3 1.3 Driver standard specifications ........................1 - 4 1.4 Function list .............................. 1 - 5 1.4.1 Applicable control mode for each actuator.
  • Page 12 3.8.3 Source I/O interfaces ........................3 -55 3.9 Treatment of cable shield external conductor ..................3 -56 3.10 Connection of driver and servo motor ....................3 -57 3.10.1 Connection instructions ........................3 -57 3.10.2 Power supply cable wiring diagrams ..................... 3 -58 3.11 Servo motor with a lock.........................
  • Page 13 5.1.6 Using electromagnetic brake interlock (MBR) .................. 5 - 6 5.1.7 Number of command input pulses per servo motor revolution ............5 - 7 5.1.8 Electronic gear........................... 5 - 8 5.1.9 Auto tuning ............................5 -12 5.1.10 In-position range ..........................5 -13 5.1.11 Torque limit .............................
  • Page 14 7.1.1 Adjustment on a single driver ......................7 - 2 7.1.2 Adjustment using software (MR Configurator2 )................7 - 3 7.2 Auto tuning ............................... 7 - 4 7.2.1 Auto tuning mode ..........................7 - 4 7.2.2 Auto tuning mode basis ........................7 - 5 7.2.3 Adjustment procedure by auto tuning ....................
  • Page 15 12.1.1 Combinations of cable/connector sets ..................12- 3 12.1.2 Encoder cable ..........................12- 5 12.1.3 Motor cables ........................... 12- 7 12.1.4 Lock cables ............................. 12- 9 12.2 Regenerative options ........................... 12-10 12.3 Set up software(MR Configurator2 ) ....................12-13 12.3.1 Specifications ..........................12-13 12.3.2 System configuration ........................
  • Page 16 14. ABSOLUTE POSITION DETECTION SYSTEM 14- 1 to 14-66 14.1 Outline ..............................14- 2 14.1.1 Features............................14- 2 14.1.2 Restrictions ............................. 14- 3 14.2 Specifications ............................14- 4 14.3 Battery replacement procedure ......................14- 5 14.3.1 When replacing battery with the control circuit power ON ............14- 5 14.4 Battery installation procedure .......................
  • Page 17 App. 6 Compliance with the European EC directives ................App.- 7 App. 7 Conformance with UL/C-UL standard ..................App.-10...

  • Page 18: Functions And Configuration

    1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION ......................2 1.1 Summary ..............................2 1.2 Function block diagram ..........................3 1.3 Driver standard specifications ........................4 1.4 Function list .............................. 5 1.4.1 Applicable control mode for each actuator..................7 1.5 Model code definition ..........................

  • Page 19: Summary

    1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION 1.1 Summary It has position control, speed control and torque control modes. Further, it can perform operation with the control modes changed, e.g. position/speed control, speed/torque control and torque/position control. Hence, it is applicable to a wide range of fields, not only precision positioning and smooth speed control of machine tools and general industrial machines but also line control and tension control.

  • Page 20: Function Block Diagram

    1. FUNCTIONS AND CONFIGURATION 1.2 Function block diagram The function block diagram of this servo is shown below. (1) LECSB□-□ Power factor Regenerative improving DC option reactor Servo amplifier Driver Servo motor Diode (Note 1) stack Relay (Note 2) Current Power detector supply...

  • Page 21: Driver Standard Specifications

    1. FUNCTIONS AND CONFIGURATION 1.3 Driver standard specifications (1) 200V class Driver LECSB□-S5 LECSB□-S7 LECSB-□-S8 LECSB□-□ Item Rated voltage 3-phase 170VAC Rated current Voltage, frequency 3-phase or 1-phase 200 to 230VAC, 50/60Hz Rated current 3-phase or 1-phase Permissible voltage fluctuation 170 to 253VAC Permissible frequency fluctuation Within...

  • Page 22: Function List

    1. FUNCTIONS AND CONFIGURATION 1.4 Function list The following table lists the functions of this servo. For details of the functions, refer to the reference field. (Note) Function Description Reference Control mode Section 3.2.1 Position control mode This servo is used as position control servo. Section 3.6.1 Section 4.2 Section 3.2.2...
  • Page 23 1. FUNCTIONS AND CONFIGURATION (Note) Function Description Reference Control mode Parameters Electronic gear Input pulses can be multiplied by 1/50 to 50. No.PA06, PA07 Automatically adjusts the gain to optimum value if load applied Auto tuning P, S Chapter 7 to the servo motor shaft varies.

  • Page 24: Applicable Control Mode For Each Actuator

    1. FUNCTIONS AND CONFIGURATION 1.4.1 Applicable control mode for each actuator. The following control mode can be selected for applicable actuators. Please refer 「3. SIGNALS AND WIRING」and「5. PARAMETERS」about wiring and parameter setting. Table. Applicable control mode. （○：Applicable，×：Inapplicable） （Selected by parameter number PA1.） Note 1) 2) Control mode Driver type...

  • Page 25: Model Code Definition

    1. FUNCTIONS AND CONFIGURATION 1.5 Model code definition (1) Model * If I/O connector(CN1) is required, order the part number "LE-CSNB" separately. １ － ＬＥＣＳ * If I/O cable(CN1) is required, order the part number "LEC-CSNB-1" separately. Motor type Type Capacity Encoder Driver Type...
  • Page 26 1. FUNCTIONS AND CONFIGURATION b） I/O Connector ＬＥ-CＳＮB Driver Type LECSB Connector *LE-CSNB is 10150-3000PE( )/10350-52F0-008（Shell kit）of Sumitomo 3M Limited or equivalent goods. Applicable wire size: AWG24~30 c）Regenerative options ＬＥC-MR-RB-032 Regenerative option Type Permissible regenerative power 30W Permissible regenerative power 100W *MR-RB□...

  • Page 27: Combination With Servo Motor

    1. FUNCTIONS AND CONFIGURATION g） I/O Cable ＬＥC-CＳＮB-1 Cable length(L)[m] Driver Type LECSB *LEC-CSNB-1(Connector/ Shell kit) is 10150-3000PE (Connector)/ 10350-52F0-008(Shell kit) of Sumitomo 3M Limited or equivalent goods. Applicable wire size: AWG24 Wiring 1.6 Combination with servo motor The following table lists combinations of driver and servo motors. The same combinations apply to the models with a lock and the models with a reduction gear.

  • Page 28: Structure

    1. FUNCTIONS AND CONFIGURATION 1.7 Structure 1.7.1 Parts identification (1) LECSB□-□ Detailed Name/Application explanation Display The 5-digit, seven-segment LED shows the servo Chapter 6 status and alarm number. Operation section Used to perform status display, diagnostic, alarm and parameter setting operations. MODE DOWN Chapter 6...

  • Page 29: Configuration Including Auxiliary Equipment

    1. FUNCTIONS AND CONFIGURATION 1.8 Configuration including auxiliary equipment POINT Equipment other than the driver and servo motor are optional or recommended products. (1) LECSB□-□ (a) For 3-phase or 1-phase 200 to 230VAC R S T (Note 3) Power supply No-fuse breaker (NFB) or fuse Monitor cable(1m)
  • Page 30 1. FUNCTIONS AND CONFIGURATION (b) For 1-phase 100 to 120VAC (Note 3) Power supply No-fuse breaker (NFB) or fuse Monitor cable(1m) （MR-J3CN6CBL1M） (Mitsubishi Electric Corporation) Analog monitor Magnetic Servo amplifier Driver contactor (MC) Personal Set up software Power factor computer （MR Configurator2 ）...

  • Page 31: Installation

    2. INSTALLATION 2. INSTALLATION ............................. 2 2.1 Installation direction and clearances ......................3 2.2 Keep out foreign materials ........................4 2.3 Cable stress ............................. 5 2.4 Inspection items ............................5 2.5 Parts having service lives ........................6 2 - 1...

  • Page 32: Installation

    2. INSTALLATION 2. INSTALLATION To prevent electric shock, ground each equipment securely. WARNING Stacking in excess of the limited number of product packages is not allowed. Install the equipment to incombustibles. Installing them directly or close to combustibles will led to a fire. Install the equipment in a load-bearing place in accordance with this Instruction Manual.

  • Page 33: Installation Direction And Clearances

    2. INSTALLATION 2.1 Installation direction and clearances The equipment must be installed in the specified direction. Otherwise, a fault may occur. CAUTION Leave specified clearances between the driver and control box inside walls or other equipment. (1) LECSB□-□ (a) Installation of one driver Control box Control box 40mm...

  • Page 34: Keep Out Foreign Materials

    2. INSTALLATION (b) Installation of two or more drivers POINT Close mounting is available for the driver of under 3.5kW for 200V class and 400W for 100V class. Leave a large clearance between the top of the driver and the internal surface of the control box, and install a cooling fan to prevent the internal temperature of the control box from exceeding the environmental conditions.

  • Page 35: Cable Stress

    2. INSTALLATION 2.3 Cable stress (1) The way of clamping the cable must be fully examined so that flexing stress and cable's own weight stress are not applied to the cable connection. (2) For use in any application where the servo motor moves, fix the cables (encoder, power supply, brake) with having some slack from the connector connection part of the servo motor to avoid putting stress on the connector connection part.

  • Page 36: Parts Having Service Lives

    2. INSTALLATION 2.5 Parts having service lives The following parts must be changed periodically as listed below. If any part is found faulty, it must be changed immediately even when it has not yet reached the end of its life, which depends on the operating method and environmental conditions.

  • Page 37: Signals And Wiring

    3. SIGNALS AND WIRING 3. SIGNALS AND WIRING ..........................2 3.1 Input power supply circuit ........................3 3.2 I/O signal connection example ......................... 6 3.2.1 Position control mode ........................6 3.2.2 Speed control mode .......................... 8 3.2.3 Torque control mode ........................10 3.3 Explanation of power supply system ......................

  • Page 38: Signals And Wiring

    3. SIGNALS AND WIRING 3. SIGNALS AND WIRING Any person who is involved in wiring should be fully competent to do the work. Before wiring, turn off the power and wait for 15 minutes or longer until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others.

  • Page 39: Input Power Supply Circuit

    3. SIGNALS AND WIRING 3.1 Input power supply circuit Always connect a magnetic contactor between the main circuit power and L and L of the driver, and configure the wiring to be able to shut down the power supply on the side of the driver’s power supply. If a magnetic contactor is not connected, continuous flow of a large current may cause a fire when the driver malfunctions.
  • Page 40 3. SIGNALS AND WIRING Note 1. Always connect P and P . (Factory-wired.) 2. Always connect P( ) and D. (Factory-wired.) When using the regenerative option, refer to section 12.2. 3. For encoder cable, use of the option cable is recommended. Refer to section 12.1 for selection of the cable. 4.
  • Page 41 3. SIGNALS AND WIRING (3) For 1-phase 100 to 120VAC power supply to LECSB□-□ Trouble Emergency stop (Note 6) Driver Servo amplifier Servo motor (Note 7) CNP1 1-phase CNP3 100 to (Note 5) 120VAC Blank Motor (Note 1) CNP2 (Note 2) (Note 3) Encoder Encoder cable...

  • Page 42: I/O Signal Connection Example

    3. SIGNALS AND WIRING 3.2 I/O signal connection example 3.2.1 Position control mode Driver Servo amplifier 24VDC (Note 4, 12) (Note 7) Positioning module QD75D (Note 7) DICOM (Note 2) Trouble (Note 6) DICOM CLEARCOM Zero speed detection DOCOM CLEAR (Note 12) Limiting torque RDYCOM...
  • Page 43 3. SIGNALS AND WIRING Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the driver to the protective earth (PE) of the control box. 2. Connect the diode in the correct direction. If it is connected reversely, the driver will be faulty and will not output signals, disabling the emergency stop (EMG) and other protective circuits.

  • Page 44: Speed Control Mode

    3. SIGNALS AND WIRING 3.2.2 Speed control mode Driver Servo amplifier (Note 7) (Note 7) DICOM 24VDC (Note 4) (Note 2) Trouble (Note 6) DICOM Zero speed detection DOCOM (Note 3, 5) Emergency stop Limiting torque (Note 12) Servo-on Reset Speed reached Speed selection 1 (Note 12)
  • Page 45 3. SIGNALS AND WIRING Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the driver to the protective earth (PE) of the control box. 2. Connect the diode in the correct direction. If it is connected reversely, the driver will be faulty and will not output signals, disabling the emergency stop (EMG) and other protective circuits.

  • Page 46: Torque Control Mode

    3. SIGNALS AND WIRING 3.2.3 Torque control mode Servo amplifier Driver (Note 6) (Note 6) DICOM 24VDC (Note 4) (Note 2) Trouble (Note 5) DICOM Zero speed detection DOCOM (Note 3) Emergency stop (Note 10) Limiting speed Servo-on Reset Ready (Note 10) Speed selection 1 Speed selection 2...
  • Page 47 3. SIGNALS AND WIRING Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal of the (terminal marked ) driver to the protective earth (PE) of the control box. 2. Connect the diode in the correct direction. If it is connected reversely, the driver will be faulty and will not output signals, disabling the emergency stop (EMG) and other protective circuits.

  • Page 48: Explanation Of Power Supply System

    3. SIGNALS AND WIRING 3.3 Explanation of power supply system 3.3.1 Signal explanations POINT For the layout of connector and terminal block, refer to outline drawings in chapter 10. Connection target Abbreviation Description (application) Supply the following power to L .

  • Page 49: Power-On Sequence

    3. SIGNALS AND WIRING Connection target Abbreviation Description (application) Servo motor Connect to the servo motor power supply terminals (U, V, W). During power-on, do not open or power close the motor power line. Otherwise, a malfunction or faulty may occur. Return converter Do not connect to driver.
  • Page 50 3. SIGNALS AND WIRING (3) Emergency stop Provide an external emergency stop circuit to ensure that operation can be stopped CAUTION and power switched off immediately. Make up a circuit that shuts off main circuit power as soon as EMG is turned off at an emergency stop. When EMG is turned off, the dynamic brake is operated to bring the servo motor to a sudden stop.

  • Page 51: Cnp1, Cnp2, Cnp3 Wiring Method

    3. SIGNALS AND WIRING 3.3.3 CNP1, CNP2, CNP3 wiring method POINT Refer to section 12.11 for the wire sizes used for wiring. Use the supplied driver power supply connectors for wiring of CNP1, CNP2 and CNP3. (1) LECSB□-□ (a) Driver power supply connectors Driver Power supply connectors (Note)Servo amplifier Power supply connectors Connector for CNP1...
  • Page 52 3. SIGNALS AND WIRING (2) Insertion of cable into connectors Insertion of cable into connectors are as follows. POINT It may be difficult for a cable to be inserted to the connector depending on wire size or ferrule configuration. In this case, change the wire type or correct it in order to prevent the end of ferrule from widening, and then insert it.
  • Page 53 3. SIGNALS AND WIRING 2) Cable connection procedure Cable connection lever 1) Attach the cable connection lever to the housing. (Detachable) 2) Push the cable connection lever in the direction of arrow. 3) Hold down the cable connection lever and insert the cable in the direction of arrow.
  • Page 54 3. SIGNALS AND WIRING (b) Inserting the cable into the connector 1) Applicable flat-blade screwdriver dimensions Always use the screwdriver shown here to do the work. [Unit: mm] Approx.R0.3 Approx.22 Approx.R0.3 2) When using the flat-blade screwdriver - part 1 1) Insert the screwdriver into the square hole.
  • Page 55 3. SIGNALS AND WIRING 3) When using the flat-blade screwdriver - part 2 1) Insert the screwdriver into the 2) Push the screwdriver in the 3) With the screwdriver pushed, insert the cable in the square window at top of the direction of arrow.

  • Page 56: Connectors And Signal Arrangements

    3. SIGNALS AND WIRING 3.4 Connectors and signal arrangements POINT The pin configurations of the connectors are as viewed from the cable connector wiring section. Refer to (2) of this section for CN1 signal assignment. (1) Signal arrangement The driver front view shown is that of the LECSB□-S5、LECSB□-S7. Refer to chapter 10 Outline Drawings for the appearances and connector layouts of the other drivers.
  • Page 57 3. SIGNALS AND WIRING (2) CN1 signal assignment The signal assignment of connector changes with the control mode as indicated below. For the pins which are given parameter No.s in the related parameter column, their signals can be changed using those parameters. (Note 2) I/O signals in control modes Related (Note 1)
  • Page 58 3. SIGNALS AND WIRING (Note 2) I/O signals in control modes Related (Note 1) Pin No. parameter LSP/ /LSP PD10 LSN/ /LSN PD11 PD12 DOCOM DOCOM DOCOM DOCOM DOCOM DOCOM DOCOM DOCOM DOCOM DOCOM DOCOM DOCOM PD18 Note 1. I: Input signal, O: Output signal 2.

  • Page 59: Signal Explanations

    3. SIGNALS AND WIRING 3.5 Signal explanations For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.8.2. In the control mode field of the table P : Position control mode, S: Speed control mode, T: Torque control mode : Denotes that the signal may be used in the initial setting status.
  • Page 60 3. SIGNALS AND WIRING Control Connec- mode Device Symbol tor pin Functions/Applications division External torque CN1-18 Turn TL off to make Forward torque limit (parameter No.PA11) and DI-1 limit selection Reverse torque limit (parameter No.PA12) valid, or turn it on to make Analog torque limit (TLA) valid.
  • Page 61 3. SIGNALS AND WIRING Control Connec- mode Device Symbol tor pin Functions/Applications division Speed selection 1 CN1-41 <Speed control mode> DI-1 Used to select the command speed for operation. When using SP3, make it usable by making the setting of parameter No.PD03 to PD08, PD10 to PD12.
  • Page 62 3. SIGNALS AND WIRING Control Connec- mode Device Symbol tor pin Functions/Applications division Proportion control CN1-17 Turn PC on to switch the speed amplifier from the proportional DI-1 integral type to the proportional type. If the servo motor at a stop is rotated even one pulse due to any external factor, it generates torque to compensate for a position shift.
  • Page 63 3. SIGNALS AND WIRING Control Connec- mode Device Symbol tor pin Functions/Applications division Control change CN1-45 <Position/speed control change mode> DI-1 Refer to Used to select the control mode in the position/speed control change Functions/ mode. Appli- cations. (Note) LOP Control mode Position Speed...
  • Page 64 3. SIGNALS AND WIRING (b) Output devices Control Connec- mode Device Symbol tor pin Functions/Applications division Trouble CN1-48 ALM turns off when power is switched off or the protective circuit is DO-1 activated to shut off the base circuit. Without alarm occurring, ALM turns on within 1s after power-on.
  • Page 65 3. SIGNALS AND WIRING Control Connec- mode Device Symbol tor pin Functions/Applications division Zero speed CN1-23 ZSP turns on when the servo motor speed is zero speed (50r/min) DO-1 detection or less. Zero speed can be changed using parameter No.PC17. Example Zero speed is 50r/min OFF level...
  • Page 66 3. SIGNALS AND WIRING Control Connec- mode Signal Symbol tor pin Functions/Applications division Alarm code ACD 0 CN1-24 To use this signal, set " 1 " in parameter No.PD24. DO-1 This signal is output when an alarm occurs. When there is no alarm, ACD 1 CN1-23 respective ordinary signals (RD, INP, SA, ZSP) are output.
  • Page 67 3. SIGNALS AND WIRING (2) Input signals Control Connec- mode Signal Symbol tor pin Functions/Applications division Analog torque CN1-27 To use this signal in the speed control mode, set any of parameters Analog limit No.PD13 to PD16, PD18 to make external torque limit selection (TL) input available.
  • Page 68 3. SIGNALS AND WIRING (3) Output signals Control Connec- Signal Symbol tor pin Functions/Applications mode division Encoder Z-phase CN1-33 Outputs the zero-point signal of the encoder. One pulse is output per DO-2 pulse servo motor revolution. OP turns on when the zero-point position is (Open collector) reached.
  • Page 69 3. SIGNALS AND WIRING (5) Power supply Control Connec- mode Signal Symbol tor pin Functions/Applications division Digital I/F power DICOM CN1-20 Used to input 24VDC (24VDC 10 300mA) for I/O interface of the supply input CN1-21 driver. The power supply capacity changes depending on the number of I/O interface points to be used.

  • Page 70: Detailed Description Of The Signals

    3. SIGNALS AND WIRING 3.6 Detailed description of the signals 3.6.1 Position control mode (1) Pulse train input (a) Input pulse waveform selection Command pulses may be input in any of three different forms, for which positive or negative logic can be chosen.
  • Page 71 3. SIGNALS AND WIRING 2) Differential line driver system Connect as shown below. Servo amplifier Driver Approx. (Note) Approx. Note. Pulse train input interface is comprised of a photo coupler. Therefore, it may be any malfunctions since the current is reduced when connect a resistance to a pulse train signal line.
  • Page 72 3. SIGNALS AND WIRING (3) Ready (RD) Servo-on (SON) Alarm 100ms or less 10ms or less 10ms or less Ready (RD) (4) Electronic gear switching The combination of CM1 and CM2 gives you a choice of four different electronic gear numerators set in the parameters.
  • Page 73 3. SIGNALS AND WIRING A relationship between the applied voltage of the analog torque limit (TLA) and the torque limit value of the servo motor is shown below. Torque limit values will vary about 5 relative to the voltage depending on products. At the voltage of less than 0.05V, torque may vary as it may not be limited sufficiently.

  • Page 74: Speed Control Mode

    3. SIGNALS AND WIRING 3.6.2 Speed control mode (1) Speed setting (a) Speed command and speed The servo motor is run at the speeds set in the parameters or at the speed set in the applied voltage of the analog speed command (VC). A relationship between the analog speed command (VC) applied voltage and the servo motor speed is shown below.
  • Page 75 3. SIGNALS AND WIRING (b) Speed selection 1 (SP1), speed selection 2 (SP2) and speed command value Choose any of the speed settings made by the internal speed commands 1 to 3 using speed selection 1 (SP1) and speed selection 2 (SP2) or the speed setting made by the analog speed command (VC). (Note) Input device Speed command value Analog speed command (VC)

  • Page 76: Torque Control Mode

    3. SIGNALS AND WIRING 3.6.3 Torque control mode (1) Torque control (a) Torque command and torque A relationship between the applied voltage of the analog torque command (TC) and the torque by the servo motor is shown below. The maximum torque is generated at 8V.
  • Page 77 3. SIGNALS AND WIRING (b) Analog torque command offset Using parameter No.PC38, the offset voltage of 999 to 999mV can be added to the TC applied voltage as shown below. Max. torque Parameter No. PC38 offset range 999 to 999mV 8( 8) TC applied voltage [V] (2) Torque limit...
  • Page 78 3. SIGNALS AND WIRING Generally, make connection as shown below. Servo amplifier Driver (Note) DOCOM P15R Japan resistor RRS10 or equivalent Note. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3. (b) Speed selection 1(SP1)/speed selection 2(SP2)/speed selection 3(SP3) and speed limit values Choose any of the speed settings made by the internal speed limits 1 to 7 using speed selection 1(SP1), speed selection 2(SP2) and speed selection 3(SP3) or the speed setting made by the analog speed limit (VLA), as indicated below.

  • Page 79: Position/Speed Control Change Mode

    3. SIGNALS AND WIRING 3.6.4 Position/speed control change mode Set " 1" in parameter No.PA01 to switch to the position/speed control change mode. This function is not available in the absolute position detection system. (1) Control change (LOP) Use control change (LOP) to switch between the position control mode and the speed control mode from an external contact.
  • Page 80 3. SIGNALS AND WIRING (3) Speed setting in speed control mode (a) Speed command and speed The servo motor is run at the speed set in parameter No.8 (internal speed command 1) or at the speed set in the applied voltage of the analog speed command (VC). A relationship between analog speed command (VC) applied voltage and servo motor speed and the rotation directions determined by the forward rotation start (ST1) and reverse rotation start (ST2) are as in (a), (1) in section 3.6.2.

  • Page 81: Speed/Torque Control Change Mode

    3. SIGNALS AND WIRING The speed may be changed during rotation. In this case, the values set in parameters No.PC01 and PC02 are used for acceleration/deceleration. When the internal speed command 1 to 7 is used to command the speed, the speed does not vary with the ambient temperature.
  • Page 82 3. SIGNALS AND WIRING (4) Speed limit in torque control mode (a) Speed limit value and speed The speed is limited to the limit value set in parameter No.8 (internal speed limit 1) or the value set in the applied voltage of the analog speed limit (VLA). A relationship between the analog speed limit (VLA) applied voltage and the servo motor speed is as in section 3.6.3 (3) (a).

  • Page 83: Torque/Position Control Change Mode

    3. SIGNALS AND WIRING 3.6.6 Torque/position control change mode Set " 5 " in parameter No.PA01 to switch to the torque/position control change mode. (1) Control change (LOP) Use control change (LOP) to switch between the torque control mode and the position control mode from an external contact.

  • Page 84: Alarm Occurrence Timing Chart

    3. SIGNALS AND WIRING 3.7 Alarm occurrence timing chart When an alarm has occurred, remove its cause, make sure that the operation signal CAUTION is not being input, ensure safety, and reset the alarm before restarting operation. As soon as an alarm occurs, turn off Servo-on (SON) and power off. When an alarm occurs in the driver, the base circuit is shut off and the servo motor is coated to a stop.

  • Page 85: Interfaces

    3. SIGNALS AND WIRING 3.8 Interfaces 3.8.1 Internal connection diagram Servo amplifier Driver (Note 1) (Note 1) Approx. 5.6k SON SON SON DICOM SP2 SP2 16 INP SA PC ST1 RS2 17 TL ST2 RS1 18 (Note 3) RES RES (Note 3) CR SP1 Approx.

  • Page 86: Detailed Description Of Interfaces

    3. SIGNALS AND WIRING Note 1. P: Position control mode S: Speed control mode T: Torque control mode 2. For the differential line driver pulse train input. For the open collector pulse train input, make the following connection. If the command pulse train input is open collector method, it supports only to the sink (NPN) type interface. It does not correspond to the source (PNP) type interface.
  • Page 87 3. SIGNALS AND WIRING (3) Pulse train input interface DI-2 Give a pulse train signal in the differential line driver system or open collector system. (a) Differential line driver system 1) Interface Servo amplifier Driver Max. input pulse frequency 1Mpps 10m or less PP(NP) Approx.
  • Page 88 3. SIGNALS AND WIRING (b) Open collector system 1) Interface Servo amplifier Driver Max. input pulse 24VDC frequency 200kpps Approx. 1.2k 2m or less (Note) PP, NP DOCOM Note. Pulse train input interface is comprised of a photo coupler. Therefore, it may be any malfunctions since the current is reduced when connect a resistance to a pulse train signal line.
  • Page 89 3. SIGNALS AND WIRING (4) Encoder output pulse DO-2 Encoder Z-phase pulse will correspond to the differential line driver system and the open collector system. (a) Open collector system Interface Max. output current: 35mA 5 to 24VDC Servo amplifier Servo amplifier Driver Driver Photocoupler...
  • Page 90 3. SIGNALS AND WIRING (5) Analog input Input impedance 10 to 12k Driver Servo amplifier 15VDC P15R Upper limit setting 2k VC, etc Approx. (6) Analog output Servo amplifier Driver (MO2) Output voltage: 10V (Note) Max. Output current: 1mA Resolution: 10 bits or equivalent Note.

  • Page 91: Source I/O Interfaces

    3. SIGNALS AND WIRING 3.8.3 Source I/O interfaces In this driver, source type I/O interfaces can be used. In this case, all DI-1 input signals and DO-1 output signals are of source type. Perform wiring according to the following interfaces. (1) Digital input interface DI-1 Servo amplifier Driver...

  • Page 92: Treatment Of Cable Shield External Conductor

    3. SIGNALS AND WIRING 3.9 Treatment of cable shield external conductor In the case of the CN1 and CN2 connectors, securely connect the shielded external conductor of the cable to the ground plate as shown in this section and fix it to the connector shell. External conductor Sheath Core...

  • Page 93: Connection Of Driver And Servo Motor

    3. SIGNALS AND WIRING 3.10 Connection of driver and servo motor During power-on, do not open or close the motor power line. Otherwise, a WARNING malfunction or faulty may occur. 3.10.1 Connection instructions Insulate the connections of the power supply terminals to prevent an electric shock. WARNING Connect the wires to the correct phase terminals (U, V, W) of the driver and servo motor.

  • Page 94: Power Supply Cable Wiring Diagrams

    3. SIGNALS AND WIRING 3.10.2 Power supply cable wiring diagrams (1) LE-□-□ series servo motor (a) When cable length is 10m or less 10m or less MR-PWS1CBL M-A1-L LE-CSM-□□□ MR-PWS1CBL M-A2-L MR-PWS1CBL M-A1-H Servo amplifier Driver Servo motor MR-PWS1CBL M-A2-H CNP3 AWG 19 (red) AWG 19 (white)

  • Page 95: Servo Motor With A Lock

    3. SIGNALS AND WIRING 3.11 Servo motor with a lock 3.11.1 Safety precautions Configure a lock circuit so that it is activated also by an external emergency stop switch. Contacts must be opened when ALM (Malfunction) Contacts must be opened when ALM Contacts must be opened and MBR (Electromagnetic brake interlock) turns (Malfunction) or MBR (Electromagnetic...

  • Page 96: Timing Charts

    3. SIGNALS AND WIRING 3.11.3 Timing charts (1) Servo-on (SON) command (from driver) ON/OFF Tb [ms] after the servo-on (SON) signal is switched off, the servo lock is released and the servo motor coasts. If the lock is made valid in the servo lock status, the lock life may be shorter. Therefore, when using the lock in a vertical lift application or the like, set Tb to about the same as the lock operation delay time to prevent a drop.
  • Page 97 3. SIGNALS AND WIRING (3) Alarm occurrence Dynamic brake Dynamic brake Electromagnetic brake Lock Servo motor speed Electromagnetic brake Lock (10ms) Base circuit Electromagnetic (Note) ON Electromagnetic brake Lock operation brake interlock (MBR) operation delay time delay time No (ON) Trouble (ALM) Yes (OFF) Note.

  • Page 98: Wiring Diagrams (Le-□-□ Series Servo Motor)

    3. SIGNALS AND WIRING (5) Only main circuit power supply off (control circuit power supply remains on) Dynamic brake Dynamic brake (10ms) Electromagnetic brake Lock Servo motor speed Electromagnetic brake Lock (Note 1) 15ms or longer Base circuit (Note 2) ON Electromagnetic brake interlock (MBR)
  • Page 99 3. SIGNALS AND WIRING (2) When cable length exceeds 10m When the cable length exceeds 10m, fabricate an extension cable as shown below on the customer side. In this case, the lock cable should be within 2m long. Refer to section 12.11 for the wire used for the extension cable. 2m or less MR-BKS1CBL2M-A1-L LE-CSB-□□□...

  • Page 100: Grounding

    3. SIGNALS AND WIRING 3.12 Grounding Ground the driver and servo motor securely. To prevent an electric shock, always connect the protective earth (PE) terminal WARNING (terminal marked ) of the driver with the protective earth (PE) of the control box. The driver switches the power transistor on-off to supply power to the servo motor.

  • Page 101: Startup

    4. STARTUP 4. STARTUP ..............................2 4.1 Switching power on for the first time ......................2 4.1.1 Startup procedure ..........................2 4.1.2 Wiring check ............................3 4.1.3 Surrounding environment ........................4 4.2 Startup in position control mode ......................5 4.2.1 Power on and off procedures ......................5 4.2.2 Stop ..............................

  • Page 102: Switching Power On For The First Time

    4. STARTUP 4. STARTUP WARNING Do not operate the switches with wet hands. You may get an electric shock. Before starting operation, check the parameters. Some machines may perform unexpected operation. Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.) with the driver heat sink, regenerative resistor, servo motor, CAUTION etc.

  • Page 103: Wiring Check

    4. STARTUP 4.1.2 Wiring check (1) Power supply system wiring Before switching on the main circuit and control circuit power supplies, check the following items. (a) Power supply system wiring The power supplied to the power input terminals (L ) of the driver should satisfy the defined specifications.

  • Page 104: Surrounding Environment

    4. STARTUP (2) I/O signal wiring (a) The I/O signals should be connected correctly. Use DO forced output to forcibly turn on/off the pins of the CN1 connector. This function can be used to perform a wiring check. (Refer to section 6.8.) In this case, switch on the control circuit power supply only.

  • Page 105: Startup In Position Control Mode

    4. STARTUP 4.2 Startup in position control mode Make a startup in accordance with section 4.1. This section provides the methods specific to the position control mode. 4.2.1 Power on and off procedures (1) Power-on Switch power on in the following procedure. Always follow this procedure at power-on. 1) Switch off the servo-on (SON).

  • Page 106: Test Operation

    4. STARTUP 4.2.3 Test operation Before starting actual operation, perform test operation to make sure that the machine operates normally. Refer to section 4.2.1 for the power on and off methods of the driver. In this step, confirm that the driver and servo motor operate Test operation of servo motor alone normally.

  • Page 107: Parameter Setting

    4. STARTUP 4.2.4 Parameter setting POINT The encoder cable LE-CSE-□□□ requires the parameter No.PC22 setting to be changed depending on its length. Check whether the parameter is set correctly. If it is not set correctly, the encoder error 1 (At power on) (AL.16) will occur at power-on.

  • Page 108: Actual Operation

    4. STARTUP 4.2.5 Actual operation Start actual operation after confirmation of normal operation by test operation and completion of the corresponding parameter settings. Perform a home position return as necessary. 4.2.6 Trouble at start-up Excessive adjustment or change of parameter setting must not be made as it will CAUTION make operation instable.
  • Page 109 4. STARTUP Start-up sequence Fault Investigation Possible cause Reference Gain adjustment Rotation ripples Make gain adjustment in the Gain adjustment fault Chapter 7 (speed fluctuations) following procedure. are large at low 1. Increase the auto tuning speed. response level. 2. Repeat acceleration and deceleration several times to complete auto tuning.

  • Page 110: Startup In Speed Control Mode

    4. STARTUP Check for a position shift in the following sequence. 1) When Q Noise entered the pulse train signal wiring between positioning unit and driver, causing pulses to be miss-counted. (Cause A) Make the following check or take the following measures. Check how the shielding is done.

  • Page 111: Stop

    4. STARTUP 4.3.2 Stop In any of the following statuses, the driver interrupts and stops the operation of the servo motor. Refer to section 3.11 for the servo motor with a lock. (a) Servo-on (SON) OFF The base circuit is shut off and the servo motor coasts. (b) Alarm occurrence When an alarm occurs, the base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop.

  • Page 112: Test Operation

    4. STARTUP 4.3.3 Test operation Before starting actual operation, perform test operation to make sure that the machine operates normally. Refer to section 4.3.1 for the power on and off methods of the driver. Test operation of servo motor alone In this step, confirm that the driver and servo motor operate in JOG operation of test operation normally.

  • Page 113: Parameter Setting

    4. STARTUP 4.3.4 Parameter setting POINT The encoder cable LE-CSE-□□□for the series servo motor requires the parameter No.PC22 setting to be changed depending on its length. Check whether the parameter is set correctly. If it is not set correctly, the encoder error 1 (At power on) (AL.16) will occur at power-on.

  • Page 114: Actual Operation

    4. STARTUP 4.3.5 Actual operation Start actual operation after confirmation of normal operation by test operation and completion of the corresponding parameter settings. 4.3.6 Trouble at start-up Excessive adjustment or change of parameter setting must not be made as it will CAUTION make operation instable.

  • Page 115: Startup In Torque Control Mode

    4. STARTUP Start-up sequence Fault Investigation Possible cause Reference Gain adjustment Rotation ripples Make gain adjustment in the Gain adjustment fault Chapter 7 (speed fluctuations) following procedure. are large at low Increase the auto tuning response speed. level. Repeat acceleration and deceleration several times to complete auto tuning.

  • Page 116: Stop

    4. STARTUP 4.4.2 Stop In any of the following statuses, the driver interrupts and stops the operation of the servo motor. Refer to section 3.11 for the servo motor with a lock. (a) Servo-on (SON) OFF The base circuit is shut off and the servo motor coasts. (b) Alarm occurrence When an alarm occurs, the base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop.

  • Page 117: Test Operation

    4. STARTUP 4.4.3 Test operation Before starting actual operation, perform test operation to make sure that the machine operates normally. Refer to section 4.4.1 for the power on and off methods of the driver. Test operation of servo motor alone In this step, confirm that the driver and servo motor operate in JOG operation of test operation normally.

  • Page 118: Parameter Setting

    4. STARTUP 4.4.4 Parameter setting POINT The encoder cable LE-CSE-□□□ for the LE-□-□ series servo motor requires the parameter No.PC22 setting to be changed depending on its length. Check whether the parameter is set correctly. If it is not set correctly, the encoder error 1 (At power on) (AL.16) will occur at power-on.

  • Page 119: Actual Operation

    4. STARTUP 4.4.5 Actual operation Start actual operation after confirmation of normal operation by test operation and completion of the corresponding parameter settings. 4.4.6 Trouble at start-up Excessive adjustment or change of parameter setting must not be made as it will CAUTION make operation instable.

  • Page 120: Parameters

    5. PARAMETERS 5. PARAMETERS .............................. 2 5.1 Basic setting parameters (No.PA ) ....................2 5.1.1 Parameter list ............................ 2 5.1.2 Parameter write inhibit ........................3 5.1.3 Selection of control mode ........................4 5.1.4 Selection of regenerative option ......................5 5.1.5 Using absolute position detection system ..................6 5.1.6 Using electromagnetic brake interlock (MBR) ...................

  • Page 121: Basic Setting Parameters (No.pa )

    5. PARAMETERS 5. PARAMETERS Never adjust or change the parameter values extremely as it will make operation instable. CAUTION When a fixed number is indicated in each digit of a parameter, do not change the value by any means. In this driver, the parameters are classified into the following groups on a function basis. Parameter group Main description Basic setting parameters...

  • Page 122: Parameter Write Inhibit

    5. PARAMETERS Control mode Symbol Name Initial value Unit Position Speed Torque PA16 For manufacturer setting 0000h PA17 0000h PA18 0000h PA19 *BLK Parameter write inhibit 000Bh 5.1.2 Parameter write inhibit Parameter Control mode Initial Setting Unit value range Symbol Name Position Speed Torque...

  • Page 123: Selection Of Control Mode

    5. PARAMETERS 5.1.3 Selection of control mode Parameter Control mode Initial Setting Unit value range Symbol Name Position Speed Torque Refer to PA01 *STY Control mode 0000h the text. POINT Turn off the power and then on again after setting the parameter to validate the parameter value.

  • Page 124: Selection Of Regenerative Option

    5. PARAMETERS 5.1.4 Selection of regenerative option Parameter Control mode Initial Setting Unit value range Symbol Name Position Speed Torque Refer to PA02 *REG Regenerative option 0000h the text. POINT Turn off the power and then on again after setting the parameter to validate the parameter value.

  • Page 125: Using Absolute Position Detection System

    5. PARAMETERS 5.1.5 Using absolute position detection system Parameter Control mode Initial Setting Unit value range Symbol Name Position Speed Torque Refer to PA03 *ABS Absolute position detection system 0000h the text. POINT Turn off the power and then on again after setting the parameter to validate the parameter value.

  • Page 126: Number Of Command Input Pulses Per Servo Motor Revolution

    5. PARAMETERS 5.1.7 Number of command input pulses per servo motor revolution Parameter Control mode Initial Setting Unit value range Symbol Name Position Speed Torque 0 1000 PA05 *FBP Number of command input pulses per revolution to 50000 POINT Turn off the power and then on again after setting the parameter to validate the parameter value.

  • Page 127: Electronic Gear

    5. PARAMETERS 5.1.8 Electronic gear Parameter Control mode Initial Setting Unit value range Symbol Name Position Speed Torque Electronic gear numerator 1 to PA06 (command pulse multiplying factor numerator) 1048576 Electronic gear denominator 1 to PA07 (command pulse multiplying factor denominator) 1048576 Incorrect setting can lead to unexpected fast rotation, causing injury.
  • Page 128 5. PARAMETERS (a) For motion in increments of 10 m per pulse Machine specifications 10[mm] Ball screw lead Pb 10 [mm] Encoder resolution of servo motor Reduction ratio: 1/n 262144[pulse/rev] : Number of gear teeth at the servo motor side : Number of gear teeth at the axis side Encoder resolution of servo motor: Pt 262144 [pulse/rev]...
  • Page 129 5. PARAMETERS (2) Instructions for reduction The calculated value before reduction must be as near as possible to the calculated value after reduction. In the case of (1), (b) in this section, an error will be smaller if reduction is made to provide no fraction for CDV.
  • Page 130 5. PARAMETERS To rotate the servo motor at 3000r/min in the open collector system (200kpulse/s), set the electronic gear as follows. : Input pulses frequency [pulse/s] : Servo motor speed [r/min] Pt : Encoder resolution of servo motor [pulse/rev] 3000 262144 3000 262144...

  • Page 131: Auto Tuning

    5. PARAMETERS 5.1.9 Auto tuning Parameter Control mode Initial Setting Unit value range Symbol Name Position Speed Torque Refer to PA08 Auto tuning mode 0001h the text. PA09 Auto tuning response 1 to 32 Make gain adjustment using auto tuning. Refer to section 7.2 for details. (1) Auto tuning mode (parameter No.PA08) Select the gain adjustment mode.

  • Page 132: In-Position Range

    5. PARAMETERS (2) Auto tuning response (parameter No.PA09) If the machine hunts or generates large gear sound, decrease the set value. To improve performance, e.g. shorten the settling time, increase the set value. Guideline for machine Guideline for machine Setting Response Setting Response...

  • Page 133: Torque Limit

    5. PARAMETERS 5.1.11 Torque limit Parameter Control mode Initial Setting Unit value range Symbol Name Position Speed Torque 0 to PA11 Forward rotation torque limit 100.0 100.0 0 to PA12 Reverse rotation torque limit 100.0 100.0 The torque generated by the servo motor can be limited. Refer to section 3.6.1 (5) and use these parameters. When torque is output with the analog monitor output, the smaller torque of the values in the parameter No.PA11 (forward rotation torque limit) and parameter No.PA12 (reverse rotation torque limit) is the maximum output voltage (8V).

  • Page 134: Selection Of Command Pulse Input Form

    5. PARAMETERS 5.1.12 Selection of command pulse input form Parameter Control mode Initial Setting Unit value range Symbol Name Position Speed Torque Refer to PA13 *PLSS Command pulse input form 0000h the text. POINT Turn off the power and then on again after setting the parameter to validate the parameter value.

  • Page 135: Selection Of Servo Motor Rotation Direction

    5. PARAMETERS 5.1.13 Selection of servo motor rotation direction Parameter Control mode Initial Setting Unit value range Symbol Name Position Speed Torque PA14 *POL Rotation direction selection POINT Turn off the power and then on again after setting the parameter to validate the parameter value.
  • Page 136 5. PARAMETERS (1) For output pulse designation Set " 0 " (initial value) in parameter No.PC19. Set the number of pulses per servo motor revolution. Output pulse set value [pulses/rev] For instance, set "5600" to parameter No.PA15, the actually output A/B-phase pulses are as indicated below.

  • Page 137: Gain/Filter Parameters (No.pb )

    5. PARAMETERS 5.2 Gain/filter parameters (No.PB POINT For any parameter whose symbol is preceded by *, set the parameter value and switch power off once, then switch it on again to make that parameter setting valid. 5.2.1 Parameter list Control mode Symbol Name Initial value...
  • Page 138 5. PARAMETERS Control mode Symbol Name Initial value Unit Position Speed Torque PB35 For manufacturer setting 0.00 PB36 0.00 PB37 PB38 PB39 PB40 PB41 1125 PB42 1125 PB43 0004h PB44 0000h PB45 CNHF Vibration suppression control filter 2 0000h 5 - 19...

  • Page 139: Detail List

    5. PARAMETERS 5.2.2 Detail list Control mode Initial Setting Symbol Name and function Unit value range Position Speed Torque PB01 FILT Adaptive tuning mode (adaptive filter ) 0000h Refer to Select the setting method for filter tuning. Setting this name parameter to "...
  • Page 140 5. PARAMETERS Control mode Initial Setting Symbol Name and function Unit value range Position Speed Torque PB02 VRFT Vibration suppression control tuning mode (advanced 0000h Refer to vibration suppression control) name The vibration suppression is valid when the parameter 2" or No.PA08 (auto tuning mode) setting is "...
  • Page 141 5. PARAMETERS Control mode Initial Setting Symbol Name and function Unit value range Position Speed Torque PB03 Position command acceleration/deceleration time constant (position smoothing) Used to set the time constant of a low-pass filter in response 20000 to the position command. You can use parameter No.PB25 to choose the primary delay or linear acceleration/deceleration control system.
  • Page 142 5. PARAMETERS Control mode Initial Setting Symbol Name and function Unit value range Position Speed Torque PB05 For manufacturer setting Do not change this value by any means. PB06 Ratio of load inertia moment to servo motor inertia moment Multi- Used to set the ratio of the load inertia moment to the servo plier motor shaft inertia moment.
  • Page 143 5. PARAMETERS Control mode Initial Setting Symbol Name and function Unit value range Position Speed Torque PB12 Overshoot amount compensation (Note) Used to suppress overshoot in position control. Overshoot can be suppressed in machines with high friction. Set a control ratio against the friction torque in percentage unit.
  • Page 144 5. PARAMETERS Control mode Initial Setting Symbol Name and function Unit value range Position Speed Torque PB14 NHQ1 Notch shape selection 1 0000h Refer to Used to selection the machine resonance suppression filter name function column. Notch depth selection Setting value Depth Gain Deep...
  • Page 145 5. PARAMETERS Control mode Initial Setting Symbol Name and function Unit value range Position Speed Torque PB15 Machine resonance suppression filter 2 4500 Set the notch frequency of the machine resonance suppression filter 2. 4500 Set parameter No.PB16 (notch shape selection 2) to "...
  • Page 146 5. PARAMETERS Control mode Initial Setting Symbol Name and function Unit value range Position Speed Torque PB23 VFBF Low-pass filter selection 0000h Refer to Select the low-pass filter. name function column. Low-pass filter selection 0: Automatic setting 1: Manual setting (parameter No.PB18 setting) When automatic setting has been selected, select the filter that has the band width close to the one calculated with VG2 10...
  • Page 147 5. PARAMETERS Control mode Initial Setting Symbol Name and function Unit value range Position Speed Torque PB26 *CDP Gain changing selection 0000h Refer to Select the gain changing condition. (Refer to section 8.6.) name function column. Gain changing selection Under any of the following conditions, the gains change on the basis of the parameter No.PB29 to PB34 settings.
  • Page 148 5. PARAMETERS Control mode Initial Setting Symbol Name and function Unit value range Position Speed Torque PB27 Gain changing condition kpps Used to set the value of gain changing condition (command pulse frequency, droop pulses, servo motor speed) selected in r/min 9999 parameter No.PB26.The set value unit changes with the...
  • Page 149 5. PARAMETERS Control mode Initial Setting Symbol Name and function Unit value range Position Speed Torque PB35 For manufacturer setting 0.00 PB36 Do not change this value by any means. 0.00 PB37 PB38 PB39 PB40 PB41 1125 PB42 1125 PB43 0004h PB44 0000h...

  • Page 150: Position Smoothing

    5. PARAMETERS 5.2.3 Position smoothing By setting the position command acceleration/deceleration time constant (parameter No.PB03), you can run the servo motor smoothly in response to a sudden position command. The following diagrams show the operation patterns of the servo motor in response to a position command when you have set the position command acceleration/deceleration time constant.

  • Page 151: Extension Setting Parameters (No.pc )

    5. PARAMETERS 5.3 Extension setting parameters (No.PC POINT For any parameter whose symbol is preceded by *, set the parameter value and switch power off once, then switch it on again to make that parameter setting valid. 5.3.1 Parameter list Control mode Symbol Name...

  • Page 152: List Of Details

    5. PARAMETERS Control mode Symbol Name Initial value Unit Position Speed Torque PC34 CMX4 Command pulse multiplying factor numerator 4 Internal torque limit 2 PC35 100.0 PC36 *DMD Status display selection 0000h Analog speed command offset PC37 Analog speed limit offset PC38 Analog torque command offset Analog torque limit offset...
  • Page 153 5. PARAMETERS Control mode Initial Setting Symbol Name and function Unit value range Position Speed Torque PC03 S-pattern acceleration/deceleration time constant Used to smooth start/stop of the servo motor. Set the time of the arc part for S-pattern acceleration/ 1000 deceleration.
  • Page 154 5. PARAMETERS Control mode Initial Setting Symbol Name and function Unit value range Position Speed Torque 0 to PC06 Internal speed command 2 r/min instan- Used to set speed 2 of internal speed commands. taneous Internal speed limit 2 permi- ssible Used to set speed 2 of internal speed limits.
  • Page 155 5. PARAMETERS Used to set the speed at the maximum input voltage (10V) r/min of the analog speed limit (VLA). Set "0" to select the rated speed of the servo motor 50000 connected. Initial Setting Control mode Symbol Name and function Unit value range...
  • Page 156 5. PARAMETERS Control mode Initial Setting Symbol Name and function Unit value range Position Speed Torque Alarm history clear PC18 *BPS 0000h Refer to Used to clear the alarm history. name 0 0 0 function Alarm history clear column. 0: Invalid 1: Valid When alarm history clear is made valid, the alarm history is cleared at next power-on.
  • Page 157 5. PARAMETERS Control mode Initial Setting Symbol Name and function Unit value range Position Speed Torque PC22 *COP1 Function selection C-1 0000h Refer to Select the execution of automatic restart after instantaneous name power failure selection, and encoder cable communication system selection.
  • Page 158 5. PARAMETERS Control mode Initial Setting Symbol Name and function Unit value range Position Speed Torque PC23 *COP2 Function selection C-2 0000h Refer to Select the servo lock at speed control mode stop, the VC- name VLA voltage averaging, and the speed limit in torque control mode.
  • Page 159 5. PARAMETERS Control mode Initial Setting Symbol Name and function Unit value range Position Speed Torque PC26 *COP5 Function selection C-5 0000h Refer to Select the stroke limit warning (AL. 99). name 0 0 0 function column. Stroke limit warning (AL. 99) selection 0: Valid 1: Invalid When this parameter is set to "1", AL.
  • Page 160 5. PARAMETERS Control mode Initial Setting Symbol Name and function Unit value range Position Speed Torque PC35 Internal torque limit 2 100.0 Set this parameter to limit servo motor torque on the assumption that the maximum torque is 100[ ]. 100.0 When 0 is set, torque is not produced.
  • Page 161 5. PARAMETERS Control mode Initial Setting Symbol Name and function Unit value range Position Speed Torque PC37 Analog speed command offset Depen- Used to set the offset voltage of the analog speed command ding (VC). For example, if CCW rotation is provided by switching on driver forward rotation start (ST1) with 0V applied to VC, set a negative value.

  • Page 162: Analog Monitor

    5. PARAMETERS 5.3.3 Analog monitor The servo status can be output to two channels in terms of voltage. (1) Setting Change the following digits of parameter No.PC14, PC15. Parameter No.PC14 0 0 0 Analog monitor (MO1) output selection (Signal output to across MO1-LG) Parameter No.PC15 0 0 0 Analog monitor (MO2) output selection...
  • Page 163 5. PARAMETERS (2) Set content The driver is factory-set to output the servo motor speed to analog monitor 1 (MO1) and the torque to analog monitor (MO2). The setting can be changed as listed below by changing the parameter No.PC14 and PC15 value.
  • Page 164 5. PARAMETERS Setting Output item Description Setting Output item Description Droop pulses (Note) CCW direction Droop pulses (Note) CCW direction 10[V] 10[V] ( 10V/100 pulses) ( 10V/1000 pulses) 100[pulse] 1M[pulse] 100[pulse] 1M[pulse] -10[V] -10[V] CW direction CW direction CCW direction CCW direction Droop pulses Droop pulses...

  • Page 165: Alarm History Clear

    5. PARAMETERS (3) Analog monitor block diagram Command Current Droop pulse pulse frequency command Bus voltage Speed command Current encoder Current Position Speed Command Servo motor control control control pulse Encoder Current feedback Differ- ential Position feedback Feedback position Servo Motor Torque speed Home position (CR input position)

  • Page 166: I/O Setting Parameters (No.pd )

    5. PARAMETERS 5.4 I/O setting parameters (No.PD POINT For any parameter whose symbol is preceded by *, set the parameter value and switch power off once, then switch it on again to make that parameter setting valid. 5.4.1 Parameter list Control mode Symbol Name...

  • Page 167: List Of Details

    5. PARAMETERS 5.4.2 List of details Control mode Initial Setting Symbol Name and function Unit value range Position Speed Torque PD01 *DIA1 Input signal automatic ON selection 1 0000h Refer to Select the input devices to be automatically turned ON. name function Initial value...
  • Page 168 5. PARAMETERS Control mode Initial Setting Symbol Name and function Unit value range Position Speed Torque PD03 *DI1 Input signal device selection 1 (CN1-15) 0002 Refer to Any input signal can be assigned to the CN1-15 pin. 0202h name Note that the setting digits and the signal that can be assigned change depending on the control mode.
  • Page 169 5. PARAMETERS Control mode Initial Setting Symbol Name and function Unit value range Position Speed Torque PD04 *DI2 Input signal device selection 2 (CN1-16) 0021 Refer to Any input signal can be assigned to the CN1-16 pin. 2100h name The devices that can be assigned and the setting method are the same as in parameter No.PD03.
  • Page 170 5. PARAMETERS Control mode Initial Setting Symbol Name and function Unit value range Position Speed Torque PD05 *DI3 Input signal device selection 3 (CN1-17) 0007 Refer to Any input signal can be assigned to the CN1-17 pin. 0704h name The devices that can be assigned and the setting method are the same as in parameter No.PD03.
  • Page 171 5. PARAMETERS Control mode Initial Setting Symbol Name and function Unit value range Position Speed Torque PD10 *DI8 Input signal device selection 8 (CN1-43) 0000 Refer to Any input signal can be assigned to the CN1-43 pin. 0A0Ah name The devices that can be assigned and the setting method are the same as in parameter No.PD03.
  • Page 172 5. PARAMETERS Control mode Initial Setting Symbol Name and function Unit value range Position Speed Torque PD13 *DO1 Output signal device selection 1 (CN1-22) 0004h Refer to Any output signal can be assigned to the CN1-22 pin. name In the initial setting, INP is assigned in the position control mode, and SA is assigned in the speed control mode.
  • Page 173 5. PARAMETERS Control mode Initial Setting Symbol Name and function Unit value range Position Speed Torque PD14 *DO2 Output signal device selection 2 (CN1-23) 000Ch Refer to Any output signal can be assigned to the CN1-23 pin. name In the initial setting, ZSP is assigned to the pin. The devices that can be assigned and the setting method function are the same as in parameter No.PD13.
  • Page 174 5. PARAMETERS Control mode Initial Setting Symbol Name and function Unit value range Position Speed Torque PD19 *DIF Input filter setting 0002h Refer to Select the input filter. name 0 0 0 function column. Input signal filter If external input signal causes chattering due to noise, etc., input filter is used to suppress it.
  • Page 175 5. PARAMETERS Control mode Initial Setting Symbol Name and function Unit value range Position Speed Torque PD24 *DOP5 Function selection D-5 0000h Refer to Select the alarm code and warning (WNG) outputs. name function column. Setting of alarm code output Connector pins of CN1 Set value Alarm code is not output.

  • Page 176: Using Forward/Reverse Rotation Stroke End To Change The Stopping Pattern

    5. PARAMETERS Control mode Initial Setting Symbol Name and function Unit value range Position Speed Torque PD25 For manufacturer setting 0000h PD26 Do not change this value by any means. 0000h PD27 0000h PD28 0000h PD29 0000h PD30 0000h 5.4.3 Using forward/reverse rotation stroke end to change the stopping pattern The stopping pattern is factory-set to make a sudden stop when the forward/reverse rotation stroke end is made valid.

  • Page 177: Display And Operation Sections

    6. DISPLAY AND OPERATION SECTIONS 6. DISPLAY AND OPERATION SECTIONS ..................... 2 6.1 Overview ..............................2 6.2 Display sequence ............................. 3 6.3 Status display ............................4 6.3.1 Display transition ..........................4 6.3.2 Display examples ..........................5 6.3.3 Status display list ..........................6 6.3.4 Changing the status display screen ....................

  • Page 178: Overview

    6. DISPLAY AND OPERATION SECTIONS 6. DISPLAY AND OPERATION SECTIONS 6.1 Overview The LECSB□-□driver has the display section (5-digit, 7-segment LED) and operation section (4 pushbuttons) for driver status display, alarm display, parameter setting, etc. The operation section and display data are described below. 5-digit LED Displays data.

  • Page 179: Display Sequence

    6. DISPLAY AND OPERATION SECTIONS 6.2 Display sequence Press the "MODE" button once to shift to the next display mode. Refer to section 6.3 and later for the description of the corresponding display mode. To refer to or set the gain filter parameters, extension setting parameters and I/O setting parameters, make them valid with parameter No.PA19 (parameter write disable).

  • Page 180: Status Display

    6. DISPLAY AND OPERATION SECTIONS 6.3 Status display The servo status during operation is shown on the 5-digit, 7-segment LED display. Press the "UP" or "DOWN" button to change display data as desired. When the required data is selected, the corresponding symbol appears.

  • Page 181: Display Examples

    6. DISPLAY AND OPERATION SECTIONS 6.3.2 Display examples The following table lists display examples. Displayed data Item Status Driver display Forward rotation at 2500r/min Servo motor speed Reverse rotation at 3000r/min Reverse rotation is indicated by " ". Load inertia 15.5 Multiplier ( 1) moment 11252rev...

  • Page 182: Status Display List

    6. DISPLAY AND OPERATION SECTIONS 6.3.3 Status display list POINT Refer to appendix 3 for the measurement point. The following table lists the servo statuses that may be shown. Display Name Symbol Unit Description range Cumulative feedback pulse Feedback pulses from the servo motor encoder are counted and 99999 pulses displayed.

  • Page 183: Changing The Status Display Screen

    6. DISPLAY AND OPERATION SECTIONS Display Name Symbol Unit Description range Peak load ratio The maximum current is displayed. The highest value in the past 15 seconds is displayed relative to the rated current of 100 . Instantaneous torque Torque that occurred instantaneously is displayed. The value of the torque that occurred is displayed in real time relative to the rate torque of 100 .

  • Page 184: Diagnostic Mode

    6. DISPLAY AND OPERATION SECTIONS 6.4 Diagnostic mode Name Display Description Not ready. Indicates that the driver is being initialized or an alarm has occurred. Sequence Ready. Indicates that the servo was switched on after completion of initialization and the driver is ready to operate. Refer to section 6.7.
  • Page 185 6. DISPLAY AND OPERATION SECTIONS Name Display Description If offset voltages in the analog circuits inside and outside the driver cause the servo motor to rotate slowly at the analog speed command (VC) or analog speed limit (VLA) of 0V, this function automatically makes zero-adjustment of offset voltages.

  • Page 186: Alarm Mode

    6. DISPLAY AND OPERATION SECTIONS 6.5 Alarm mode The current alarm, past alarm history and parameter error are displayed. The lower 2 digits on the display indicate the alarm number that has occurred or the parameter number in error. Display examples are shown below.
  • Page 187 6. DISPLAY AND OPERATION SECTIONS (3) For any alarm, remove its cause and clear it in any of the following methods (for clearable alarms, refer to section 9.1). (a) Switch power OFF, then ON. (b) Press the "SET" button on the current alarm screen. (c) Turn on the alarm reset (RES).

  • Page 188: Parameter Mode

    6. DISPLAY AND OPERATION SECTIONS 6.6 Parameter mode POINT To use the I/O setting parameters, change the parameter No.PA19 (parameter write inhibit value. (Refer to section 5.1.1) The I/O signal settings can be changed using the I/O setting parameter No.PD03 to PD08, PD10 to PD16, PD18.

  • Page 189: Operation Example

    6. DISPLAY AND OPERATION SECTIONS 6.6.2 Operation example (1) Parameters of 5 or less digits The following example shows the operation procedure performed after power-on to change the control mode (Parameter No.PA01) into the speed control mode. Press "MODE" to switch to the basic setting parameter screen.
  • Page 190 6. DISPLAY AND OPERATION SECTIONS (2) Parameters of 6 or more digits The following example gives the operation procedure to change the electronic gear numerator (parameter No.PA06) to "123456". (Note) Press MODE three times. Press UP or DOWN to choose parameter No.PA06. Press SET once.

  • Page 191: External I/O Signal Display

    6. DISPLAY AND OPERATION SECTIONS 6.7 External I/O signal display The ON/OFF states of the digital I/O signals connected to the driver can be confirmed. (1) Operation After power-on, change the display mode to the diagnostic mode using the "MODE" button. Press UP once.
  • Page 192 6. DISPLAY AND OPERATION SECTIONS (a) Control modes and I/O signals Signal (Note 2) Symbols of I/O signals in control modes Related Connector Pin No. input/output parameter (Note 1) I/O No.PD03 /SP2 SP2/SP2 SP2/ No.PD04 PC/ST1 ST1/RS2 RS2/PC No.PD05 TL/ST2 ST2/RS1 RS1/TL No.PD06...
  • Page 193 6. DISPLAY AND OPERATION SECTIONS (3) Display data at initial values (a) Position control mode CR(CN1-41) PC(CN1-17) RES(CN1-19) TL(CN1-18) SON(CN1-15) LOP(CN1-45) LSN(CN1-44) EMG(CN1-42) LSP(CN1-43) Input Lit: ON Extinguished: OFF Output OP(CN1-33) RD(CN1-49) ALM(CN1-48) INP(CN1-24) ZSP(CN1-23) TLC(CN1-25) INP(CN1-22) (b) Speed control mode SP2(CN1-16) SP1(CN1-41) ST1(CN1-17)

  • Page 194: Output Signal (Do) Forced Output

    6. DISPLAY AND OPERATION SECTIONS 6.8 Output signal (DO) forced output POINT When the servo system is used in a vertical lift application, turning on the electromagnetic brake interlock (MBR) by the DO forced output after assigning it to connector CN1 will release the lock, causing a drop. Take drop preventive measures on the machine side.

  • Page 195: Test Operation Mode

    6. DISPLAY AND OPERATION SECTIONS 6.9 Test operation mode The test operation mode is designed to confirm servo operation. Do not use it for actual operation. CAUTION If any operational fault has occurred, stop operation using the emergency stop (EMG) signal. POINT The test operation mode cannot be used in the absolute position detection system by DIO (parameter No.PA03:...

  • Page 196: Jog Operation

    6. DISPLAY AND OPERATION SECTIONS 6.9.2 JOG operation POINT When performing JOG operation, turn ON EMG, LSP and LSN. LSP and LSN can be set to automatic ON by setting parameter No.PD01 to " C ". JOG operation can be performed when there is no command from the external command device. (1) Operation The servo motor rotates while holding down the "UP"...

  • Page 197: Positioning Operation

    6. DISPLAY AND OPERATION SECTIONS 6.9.3 Positioning operation POINT Software (MR Configurator2 ) is required to perform positioning operation. Turn ON EMG when performing positioning operation. With no command given from the external command device, positioning operation can be executed. (1) Operation a) Motor speed [r/min] Enter the servo motor speed into the "Motor speed"...
  • Page 198 6. DISPLAY AND OPERATION SECTIONS f) Pulse move distance unit selection Select with the option buttons whether the moving distance set in c) is in the command pulse unit or in the encoder pulse unit. When the command input pulse unit is selected, the value, which is the set moving distance multiplied by the electronic gear ( ), will be the command value.

  • Page 199: Motor-Less Operation

    6. DISPLAY AND OPERATION SECTIONS 6.9.4 Motor-less operation Without connecting the servo motor, you can provide output signals or monitor the status display as if the servo motor is running in response to input device. This operation can be used to check the sequence of a PC or PLC…etc or the like.

  • Page 200: General Gain Adjustment

    7. GENERAL GAIN ADJUSTMENT 7. GENERAL GAIN ADJUSTMENT ........................2 7.1 Different adjustment methods ........................2 7.1.1 Adjustment on a single driver ......................2 7.1.2 Adjustment using software (MR Configurator2 ) ................3 7.2 Auto tuning ............................... 4 7.2.1 Auto tuning mode ..........................4 7.2.2 Auto tuning mode basis ........................

  • Page 201: Different Adjustment Methods

    7. GENERAL GAIN ADJUSTMENT 7. GENERAL GAIN ADJUSTMENT POINT Consider individual machine differences, and do not adjust gain too strictly. It is recommended to keep the servo motor torque to 90 or less of the maximum torque of the servo motor during the operation. For use in the torque control mode, you need not make gain adjustment.

  • Page 202: Adjustment Using Software (Mr Configurator2 )

    7. GENERAL GAIN ADJUSTMENT (2) Adjustment sequence and mode usage START Usage Used when you want to match Interpolation made for 2 or more the position gain (PG1) axes? Interpolation mode between 2 or more axes. Normally not used for other purposes.
  • Page 203 7. GENERAL GAIN ADJUSTMENT 7.2 Auto tuning 7.2.1 Auto tuning mode The driver has a real-time auto tuning function which estimates the machine characteristic (load inertia moment ratio) in real time and automatically sets the optimum gains according to that value. This function permits ease of gain adjustment of the driver.

  • Page 204: Auto Tuning Mode Basis

    7. GENERAL GAIN ADJUSTMENT 7.2.2 Auto tuning mode basis The block diagram of real-time auto tuning is shown below. Load inertia Automatic setting moment Encoder Loop gains Command Current PG1, PG2, control VG2,VIC Servo motor Current feedback Real-time auto Set 0 or 1 to turn on. Position/speed tuning section feedback...

  • Page 205: Adjustment Procedure By Auto Tuning

    7. GENERAL GAIN ADJUSTMENT 7.2.3 Adjustment procedure by auto tuning Since auto tuning is made valid before shipment from the factory, simply running the servo motor automatically sets the optimum gains that match the machine. Merely changing the response level setting value as required completes the adjustment.

  • Page 206: Response Level Setting In Auto Tuning Mode

    7. GENERAL GAIN ADJUSTMENT 7.2.4 Response level setting in auto tuning mode Set the response (The first digit of parameter No.PA09) of the whole servo system. As the response level setting is increased, the track ability and settling time for a command decreases, but a too high response level will generate vibration.

  • Page 207: Manual Mode 1 (Simple Manual Adjustment)

    7. GENERAL GAIN ADJUSTMENT 7.3 Manual mode 1 (simple manual adjustment) If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with three parameters. POINT If machine resonance occurs, adaptive tuning mode (parameter No.PB01) or machine resonance suppression filter (parameter No.PB13 to PB16) may be used to suppress machine resonance.
  • Page 208 7. GENERAL GAIN ADJUSTMENT 2) Speed integral compensation (VIC: parameter No.PB10) To eliminate stationary deviation against a command, the speed control loop is under proportional integral control. For the speed integral compensation, set the time constant of this integral control. Increasing the setting lowers the response level.
  • Page 209 7. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Model loop gain (parameter No.PB07) This parameter determines the response level of the model loop. Increasing position loop gain 1 improves track ability to a position command but a too high value will make overshooting liable to occur at the time of settling.

  • Page 210: Interpolation Mode

    7. GENERAL GAIN ADJUSTMENT 7.4 Interpolation mode The interpolation mode is used to match the position loop gains of the axes when performing the interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode, manually set the model loop gain that determines command track ability.

  • Page 211: Special Adjustment Functions

    8. SPECIAL ADJUSTMENT FUNCTIONS 8. SPECIAL ADJUSTMENT FUNCTIONS ......................2 8.1 Function block diagram ..........................2 8.2 Adaptive filter ............................2 8.3 Machine resonance suppression filter ..................... 5 8.4 Advanced vibration suppression control ....................7 8.5 Low-pass filter ............................11 8.6 Gain changing function ..........................

  • Page 212: Function Block Diagram

    8. SPECIAL ADJUSTMENT FUNCTIONS 8. SPECIAL ADJUSTMENT FUNCTIONS POINT The functions given in this chapter need not be used generally. Use them if you are not satisfied with the machine status after making adjustment in the methods in chapter 7. If a mechanical system has a natural resonance point, increasing the servo system response level may cause the mechanical system to produce resonance (vibration or unusual noise) at that resonance frequency.
  • Page 213 8. SPECIAL ADJUSTMENT FUNCTIONS POINT The machine resonance frequency which adaptive filter (adaptive tuning) can respond to is about 100 to 2.25kHz. Adaptive vibration suppression control has no effect on the resonance frequency outside this range. Adaptive vibration suppression control may provide no effect on a mechanical system which has complex resonance characteristics.
  • Page 214 8. SPECIAL ADJUSTMENT FUNCTIONS (3) Adaptive tuning procedure Adaptive tuning Operation Is the target response reached? Increase the response setting. Has vibration or unusual noise occurred? Execute or re-execute adaptive tuning. (Set parameter No.PB01 to "0001".) Tuning ends automatically after the If assumption fails after tuning is executed at predetermined period of time.

  • Page 215: Machine Resonance Suppression Filter

    8. SPECIAL ADJUSTMENT FUNCTIONS POINT "Filter OFF" enables a return to the initial value. When adaptive tuning is executed, vibration sound increases as an excitation signal is forcibly applied for several seconds. When adaptive tuning is executed, machine resonance is detected for a maximum of 10 seconds and a filter is generated.
  • Page 216 8. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters (a) Machine resonance suppression filter 1 (parameter No.PB13, PB14) Set the notch frequency, notch depth and notch width of the machine resonance suppression filter 1 (parameter No.PB13, PB14) When the "manual mode" is selected in the adaptive tuning mode (parameter No.PB01), the settings of the machine resonance suppression filter 1 are valid.

  • Page 217: Advanced Vibration Suppression Control

    8. SPECIAL ADJUSTMENT FUNCTIONS 8.4 Advanced vibration suppression control (1) Operation Vibration suppression control is used to further suppress machine side vibration, such as workpiece end vibration and base shake. The motor side operation is adjusted for positioning so that the machine does not shake.
  • Page 218 8. SPECIAL ADJUSTMENT FUNCTIONS POINT The function is made valid when the auto tuning mode (parameter No.PA08) is the auto tuning mode 2 ("0002") or manual mode ("0003"). The machine resonance frequency supported in the vibration suppression control tuning mode is 1.0 to 100.0Hz. The function is not effective for vibration outside this range.
  • Page 219 8. SPECIAL ADJUSTMENT FUNCTIONS (3) Vibration suppression control tuning procedure Vibration suppression control tuning Operation Is the target response reached? Increase the response setting. Has vibration of workpiece end/device increased? Stop operation. Execute or re-execute vibration suppression control tuning. (Set parameter No.PB02 to "0001".) Resume operation.
  • Page 220 8. SPECIAL ADJUSTMENT FUNCTIONS (4) Vibration suppression control manual mode Measure work side vibration and device shake with the machine analyzer or external measuring instrument, and set the vibration suppression control vibration frequency (parameter No.PB19) and vibration suppression control resonance frequency (parameter No.PB20) to set vibration suppression control manually.

  • Page 221: Low-Pass Filter

    8. SPECIAL ADJUSTMENT FUNCTIONS POINT When machine side vibration does not show up in motor side vibration, the setting of the motor side vibration frequency does not produce an effect. When the anti-resonance frequency and resonance frequency can be confirmed using the machine analyzer or external measuring instrument, do not set the same value but set different values to improve the vibration suppression performance.

  • Page 222: Function Block Diagram

    8. SPECIAL ADJUSTMENT FUNCTIONS 8.6.2 Function block diagram The valid loop gains PG2, VG2, VIC, GD2, VRF1 and VRF2 of the actual loop are changed according to the conditions selected by gain changing selection CDP (parameter No.PB26) and gain changing condition CDL (parameter No.PB27).

  • Page 223: Parameters

    8. SPECIAL ADJUSTMENT FUNCTIONS 8.6.3 Parameters When using the gain changing function, always set parameter No.PA08 to " 3" (auto tuning mode) to select the manual mode in the auto tuning modes. The gain changing function cannot be used in the auto tuning mode.
  • Page 224 8. SPECIAL ADJUSTMENT FUNCTIONS (4) Gain changing selection (parameter No.PB26) Used to set the gain changing condition. Choose the changing condition in the first digit and second digit. If "1" is set in the first digit, the gain can be changed by the gain changing (CDP) input device. The gain changing (CDP) can be assigned to the pins using parameters No.PD03 to PD08 and PD10 to PD12.

  • Page 225: Gain Changing Procedure

    8. SPECIAL ADJUSTMENT FUNCTIONS 8.6.4 Gain changing procedure This operation will be described by way of setting examples. (1) When you choose changing by input device (CDP) (a) Setting Parameter No. Abbreviation Name Setting Unit Ratio of load inertia moment to servo motor Multiplier PB06 inertia moment...
  • Page 226 8. SPECIAL ADJUSTMENT FUNCTIONS (2) When you choose changing by droop pulses In this case, gain changing vibration suppression control cannot be used. (a) Setting Parameter No. Abbreviation Name Setting Unit Ratio of load inertia moment to servo motor Multiplier PB06 inertia moment ( 1)

  • Page 227: Vibration Suppression Control Filter 2

    8. SPECIAL ADJUSTMENT FUNCTIONS 8.7 Vibration suppression control filter 2 POINT By using the advanced vibration suppression control and the vibration suppression control filter 2, the machine side vibration of two frequencies can be suppressed. The frequency range of machine vibration, which can be supported by the vibration suppression control filter 2, is between 4.5Hz and 2250Hz.
  • Page 228 8. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameter Set parameter No.PB45 (vibration suppression control filter 2) as shown below. For the vibration suppression control filter 2, set a frequency close to the vibration frequency [Hz] at the machine side. Parameter No.PB45 Notch depth Vibration suppression filter 2 setting frequency selection Frequency Frequency...

  • Page 229: Troubleshooting

    9. TROUBLESHOOTING 9. TROUBLESHOOTING........................... 2 9.1 Alarms and warning list ..........................2 9.2 Remedies for alarms ..........................3 9.3 Remedies for warnings .......................... 16 9.4 Troubles without an alarm/warning ......................18 9 - 1...

  • Page 230: Alarms And Warning List

    9. TROUBLESHOOTING 9. TROUBLESHOOTING POINT As soon as an alarm occurs, turn off Servo-on (SON) and power off. If an alarm/warning has occurred, refer to section 9.1 to 9.3 and remove its cause. In case of a trouble without an alarm/warning, refer to section 9.4 and remove its cause. 9.1 Alarms and warning list When a fault occurs during operation, the corresponding alarm or warning is displayed.

  • Page 231: Remedies For Alarms

    9. TROUBLESHOOTING 9.2 Remedies for alarms When any alarm has occurred, eliminate its cause, ensure safety, then reset the alarm, and restart operation. Otherwise, injury may occur. If an absolute position erase (AL.25) occurred, always to make home position CAUTION setting again.
  • Page 232 9. TROUBLESHOOTING (Note 2) Display Name Definition Cause Action Alarm details AL.10 Undervoltage Power supply 1. Power supply voltage is low. Check the power supply. voltage dropped. <Checking method> Check that the power supply voltage is the following voltage or more. LECSB2-□: 160VAC LECSB1-□: 83VAC 2.
  • Page 233 9. TROUBLESHOOTING (Note 2) Display Name Definition Cause Action Alarm details AL.16 Encoder error 1 Communication 1. Encoder connector (CN2) Connect correctly. (At power on) error occurred disconnected. between encoder 2. Encoder cable type (2-wire, 4-wire) Correct the setting in the and driver.
  • Page 234 9. TROUBLESHOOTING (Note 2) Display Name Definition Cause Action Alarm details AL.20 Encoder error 2 Communication 1. Encoder cable disconnected. Connect the servo motor (during runtime) error occurred <Checking method> encoder connector to the between encoder Check the connection of the encoder driver connector (CN2) and driver.
  • Page 235 9. TROUBLESHOOTING (Note 2) Display Name Definition Cause Action Alarm details AL.24 Main circuit Ground fault 1. Power input wires and servo motor Modify the wiring. error occurred in servo power wires are in contact. (A power motor power (U, V, input cable and a servo motor power cable are in contact at the main circuit terminal block (TE1).)
  • Page 236 9. TROUBLESHOOTING (Note 2) Display Name Definition Cause Action Alarm details AL.25 Absolute Absolute position 1. Voltage drop in encoder. Change the battery and position erase data is erased. (Battery disconnected.) make home position setting again. 2. Battery voltage fell to about 2.8V or Change the battery.
  • Page 237 9. TROUBLESHOOTING (Note 2) Display Name Definition Cause Action Alarm details AL.31 Overspeed Speed has 1. Input command pulse frequeroy is too Set command pulse exceeded the high. frequency correctly. instantaneous 2. Small acceleration/deceleration time Increase acceleration/ permissible speed. constant caused overshoot to be large. deceleration time constant.
  • Page 238 9. TROUBLESHOOTING (Note 2) Display Name Definition Cause Action Alarm details AL.33 Overvoltage Bus voltage 1. Regenerative option is not used. Use the regenerative option. exceeded to 2. Though the regenerative option is Set correctly. following voltage. used, the parameter No.PA02 setting LECSB□-□: is "...
  • Page 239 9. TROUBLESHOOTING (Note 2) Display Name Definition Cause Action Alarm details AL.45 Main circuit Main circuit device 1. Ambient temperature of driver is over Check environment so that device overheat overheat (131 ). ambient temperature is 0 to (32 to 131 ). 2.
  • Page 240 9. TROUBLESHOOTING (Note 2) Display Name Definition Cause Action Alarm details AL.50 Overload 1 Load exceeded 1. Driver is used in excess of its 1. Reduce load. overload protection continuous output current. 2. Check operation pattern. characteristic of 3. Check that the driver.
  • Page 241 9. TROUBLESHOOTING (Note 2) Display Name Definition Cause Action Alarm details AL.51 Overload 2 Machine collision 1. Driver fault. Change the driver. or the like caused <Checking method> a continuous The servo motor is disconnected on maximum current the machine side and then the servo for a few seconds.
  • Page 242 9. TROUBLESHOOTING (Note 2) Display Name Definition Cause Action Alarm details AL.52 Error excessive The difference 1. Acceleration/deceleration time Increase the acceleration/ between the model constant is too small. deceleration time constant. position and the 2. Forward rotation torque limit Increase the torque limit actual servo motor (parameter No.PA11) or reverse...
  • Page 243 9. TROUBLESHOOTING (Note 2) Display Name Definition Cause Action Alarm details (Note 1) Watchdog CPU, parts faulty 1. Fault of parts in driver Change the driver. 88888 <Checking method> Alarm (88888) occurs if power is switched on after disconnection of all cables but the control circuit power supply cable.

  • Page 244: Remedies For Warnings

    9. TROUBLESHOOTING 9.3 Remedies for warnings If an absolute position counter warning (AL.E3) occurred, always to make home CAUTION position setting again. Not doing so may cause unexpected operation. POINT When any of the following alarms has occurred, do not resume operation by switching power of the driver OFF/ON repeatedly.
  • Page 245 9. TROUBLESHOOTING Display Name Definition Cause Action AL.E1 Overload There is a possibility that Load increased to 85% or more of Refer to AL.50, AL.51. warning 1 overload alarm 1 or 2 overload alarm 1 or 2 occurrence level. may occur. AL.E3 Absolute position Absolute position encoder 1.

  • Page 246: Troubles Without An Alarm/Warning

    9. TROUBLESHOOTING 9.4 Troubles without an alarm/warning POINT Even if a driver, a servo motor, or an encoder malfunctions, the following phenomena may occur. The following shows the examples of the estimated causes of the troubles without alarms/warnings. Refer to this chapter and remove their causes.
  • Page 247 9. TROUBLESHOOTING Phenomena Checkpoint Estimated cause Action The servo motor Check the cumulative command The wiring of the command pulse Check the type of the command does not operate. pulses with the status display or train signal is incorrect. pulse train (the differential receiver software (MR Configurator2 system or the open collector The display does not change even...
  • Page 248 9. TROUBLESHOOTING Phenomena Checkpoint Estimated cause Action The servo motor Check the settings of the speed The setting of the speed command, Review the settings of the speed speed is not command, the speed limit and the the speed limit or the electronic gear command, the speed limit and the accelerated.
  • Page 249 9. TROUBLESHOOTING Phenomena Checkpoint Estimated cause Action Unusual noise is 1. If the safe operation is possible, 1. The servo gain is high. Reduce the auto tuning response generated from repeat acceleration/deceleration 2. The auto tuning response is high. and then adjust the gains again. the driver.
  • Page 250 9. TROUBLESHOOTING Phenomena Checkpoint Estimated cause Action The servo motor Check the mounting accuracy of The eccentricity is big by the core Review the direct connection vibrates. the servo motor and the machine. gaps. accuracy. Check the axial end load on the The axial end load on the servo motor Adjust the axial end load within the servo motor.
  • Page 251 9. TROUBLESHOOTING Phenomena Checkpoint Estimated cause Action The servo motor Check that the servo-on (SON) is The servo-on (SON) is on status at 1. Review the wiring of the servo-on starts immediately not on. power-on. (SON). when the driver 1. Check with the external I/O 2.
  • Page 252 9. TROUBLESHOOTING Phenomena Checkpoint Estimated cause Action Check the servo alarm/warning. 1. A servo alarm is occurring. Check the details of the alarm and The position is 2. The servo motor coasts due to a remove its cause. misaligned in servo alarm.
  • Page 253 9. TROUBLESHOOTING Phenomena Checkpoint Estimated cause Action The absolute Check the settings as follows for The calculation of the reduction ratio Review the setting of the reduction position the geared servo motor. is not correct. ratio. reconstruction 1. The travel distance per servo position is motor revolution (Set with the misaligned at...
  • Page 254 9. TROUBLESHOOTING Phenomena Checkpoint Estimated cause Action An abnormal Check that the model selection is The other model, which differs from Set the model settings correctly. value is displayed set correctly. the one connected on the model on the monitor Check with the "System settings"...

  • Page 255: Outline Drawings

    10. OUTLINE DRAWINGS 10. OUTLINE DRAWINGS ..........................2 10.1 Driver ..............................2 10.2 Connector ............................... 4 10 - 1...

  • Page 256: Driver

    10. OUTLINE DRAWINGS 10. OUTLINE DRAWINGS 10.1 Driver (1) LECSB□-S5・LECSB□-S7 [Unit: mm] mounting hole Approx.80 (Note) CNP1 (Note) CNP2 CNP3 CHARGE Approx. Approx.68 25.5 With MR-J3BAT With LEC-MR-J3BAT Note. This data applies to the 3-phase or 1-phase 200 to 230VAC power supply models. For 1-phase, 100 to 120VAC power supply, refer to the terminal signal layout.
  • Page 257 10. OUTLINE DRAWINGS (2) LECSB□-S8 [Unit: mm] mounting hole Approx.80 (Note) CNP1 (Note) CNP2 CNP3 CHARGE Approx. Approx.68 25.5 With MR-J3BAT With LEC-MR-J3BAT Note. This data applies to the 3-phase or 1-phase 200 to 230VAC and 1-phase 230VAC power supply models. For 1-phase, 100 to 120VAC power supply, refer to the terminal signal layout.

  • Page 258: Connector

    10. OUTLINE DRAWINGS 10.2 Connector (1) Miniature delta ribbon (MDR) system (Sumitomo 3M Limited) (a) One-touch lock type [Unit: mm] Logo etc, are indicated here. 12.7 Each type of dimension Connector Shell kit 10150-3000PE 10350-52F0-008 41.1 52.4 18.0 14.0 17.0 Applicable wire size: AWG24~30 (b) Jack screw M2.6 type This is not available as option.
  • Page 259 10. OUTLINE DRAWINGS (2) SCR connector system (Sumitomo 3M Limited) Receptacle: 36210-0100PL Shell kit : 36310-3200-008 [Unit: mm] 39.5 34.8 10 - 5...

  • Page 260: Characteristics

    11. CHARACTERISTICS 11. CHARACTERISTICS ........................... 2 11.1 Overload protection characteristics ......................2 11.2 Power supply equipment capacity and generated loss ................3 11.3 Dynamic brake characteristics ....................... 5 11.3.1 Dynamic brake operation ........................ 5 11.3.2 The dynamic brake at the load inertia moment ................6 11.4 Cable flexing life .............................

  • Page 261: Overload Protection Characteristics

    11. CHARACTERISTICS 11. CHARACTERISTICS 11.1 Overload protection characteristics An electronic thermal relay is built in the driver to protect the servo motor, driver and servo motor power line from overloads. Overload 1 alarm (AL.50) occurs if overload operation performed is above the electronic thermal relay protection curve shown in any of Figs 11.1.

  • Page 262: Power Supply Equipment Capacity And Generated Loss

    11. CHARACTERISTICS 11.2 Power supply equipment capacity and generated loss (1) Amount of heat generated by the driver Table 11.1 indicates drivers' power supply capacities and losses generated under rated load. For thermal design of an enclosure, use the values in Table 11.1 in consideration for the worst operating conditions. The actual amount of generated heat will be intermediate between values at rated torque and servo off according to the duty used during operation.
  • Page 263 11. CHARACTERISTICS (2) Heat dissipation area for enclosed driver The enclosed control box (hereafter called the control box) which will contain the driver should be designed to ensure that its temperature rise is within 10 at the ambient temperature of 40 . (With a 5 (41 ) safety margin, the system should operate within a maximum 55 (131 ) limit.) The necessary enclosure...

  • Page 264: Dynamic Brake Characteristics

    11. CHARACTERISTICS 11.3 Dynamic brake characteristics POINT Dynamic brake operates at occurrence of alarm, servo emergency stop warning (AL.E6) and when power is turned off. Do not use dynamic brake to stop in a normal operation as it is the function to stop in emergency. Maximum usage time of dynamic brake for a machine operating under recommended load inertia moment ratio is 1000 time while decelerating from rated speed to a stop with frequency of once in 10 minutes.

  • Page 265: The Dynamic Brake At The Load Inertia Moment

    11. CHARACTERISTICS (2) Dynamic brake time constant The following shows necessary dynamic brake time constant for the equations (11.2). (a) 200V class servo motor 1000 2000 3000 4000 5000 6000 Speed [r/min] LE-S□-□ series 11.3.2 The dynamic brake at the load inertia moment Use the dynamic brake under the load inertia moment ratio indicated in the following table.

  • Page 266: Cable Flexing Life

    11. CHARACTERISTICS 11.4 Cable flexing life The flexing life of the cables is shown below. This graph calculated values. Since they are not guaranteed values, provide a little allowance for these values. The minimum bending radius : Min. 45mm. 1 10 5 10 1 10 5 10...

  • Page 267: Options And Auxiliary Equipment

    12. OPTIONS AND AUXILIARY EQUIPMENT 12. OPTIONS AND AUXILIARY EQUIPMENT....................2 12.1 Cable/connector sets ..........................2 12.1.1 Combinations of cable/connector sets .................... 3 12.1.2 Encoder cable ..........................5 12.1.3 Motor cables ............................ 7 12.1.4 Lock cables............................9 12.2 Regenerative options ........................... 10 12.3 Set up software(MR Configurator2 ) ....................

  • Page 268: Cable/Connector Sets

    12. OPTIONS AND AUXILIARY EQUIPMENT 12. OPTIONS AND AUXILIARY EQUIPMENT Before connecting any option or peripheral equipment, turn off the power and wait for 15 minutes or longer until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others. WARNING Otherwise, an electric shock may occur.

  • Page 269: Combinations Of Cable/Connector Sets

    12. OPTIONS AND AUXILIARY EQUIPMENT 12.1.1 Combinations of cable/connector sets Driver CNP1 CNP 2 CNP 3 ●Direct connection type(cable length 10m or less, IP65) 20) 21) 22) 23) To CN2 ●To 24VDC power 14) 15) 16) 17) Battery supply for lock LEC-MR-J3BAT Servo Motor LE-□-□...

  • Page 270: Encoder Cable

    12. OPTIONS AND AUXILIARY EQUIPMENT Product Model Description Application 4) CN1 LE-CSNB Connector: 10150-3000PE connector set Shell kit: 10350-52F0-008 (Sumitomo 3M Limited or equivalent) 8) Motor cable LE-CSM-S□A IP65 Motor cable Cable length: 2 5 10m Axis side lead LE-□-□ series 9) Motor cable LE-CSM-R□A...
  • Page 271 12. OPTIONS AND AUXILIARY EQUIPMENT 12.1.2 Encoder cable (1) LE-CSE-□□A・LE-CSE-□□B These cables are encoder cables for the LE-□-□ series servo motors. The numerals in the Cable Length field of the table are the symbols entered in the part of the cable model. The cables of the lengths with the symbols are available.
  • Page 272 12. OPTIONS AND AUXILIARY EQUIPMENT (b) Cable internal wiring diagram LE-CSE-S□B LE-CSE-S□B LE-CSE-R□B LE-CSE-R□B Encoder side Driver connector side connector Plate 12 - 6...

  • Page 273: Motor Cables

    12. OPTIONS AND AUXILIARY EQUIPMENT 12.1.3 Motor cables These are Motor cables for the LE-□-□ series servo motors. The numerals in the Cable Length field of the table are the symbols entered in the part of the cable model. The cables of the lengths with the symbols are available.
  • Page 274 12. OPTIONS AND AUXILIARY EQUIPMENT (2) Internal wiring diagram LE-CSM-S□A LE-CSM-R□A LE-CSM-S□B LE-CSM-R□B AWG 19 (Red) (Note) AWG 19 (White) AWG 19 (Black) AWG 19 (Green/yellow) Note. These are not shielded cables. 12 - 8...

  • Page 275: Lock Cables

    12. OPTIONS AND AUXILIARY EQUIPMENT 12.1.4 Lock cables These are Lock cables for the LE-□-□ series servo motors. The numerals in the Cable Length field of the table are the symbols entered in the part of the cable model. The cables of the lengths with the symbols are available.

  • Page 276: Regenerative Options

    12. OPTIONS AND AUXILIARY EQUIPMENT 12.2 Regenerative options The specified combinations of regenerative options and drivers may only be used. CAUTION Otherwise, a fire may occur. (1) Combination and regenerative power The power values in the table are resistor-generated powers and not rated powers. Regenerative power [W] Built-in regenerative Driver...
  • Page 277 12. OPTIONS AND AUXILIARY EQUIPMENT (4) Connection of the regenerative option POINT For the sizes of wires used for wiring, refer to section 12.6. The regenerative option will cause a temperature rise of 100 relative to the ambient temperature. Fully examine heat dissipation, installation position, used cables, etc.
  • Page 278 12. OPTIONS AND AUXILIARY EQUIPMENT (5) Outline drawings (a) LEC-MR-RB-032 LEC-MR-RB-12 [Unit: mm (in)] Terminal block 6 mounting hole Applicable wire size: 0.2 to 2.5mm (AWG24 to AWG12) MR-RB Tightening torque: 0.5 to 0.6 [N m] (4 to 5 [lb in]) Stripped length: 7 [mm] Mounting screw Screw size: M5...

  • Page 279: Set Up Software(Mr Configurator2 )

    12. OPTIONS AND AUXILIARY EQUIPMENT 12.3 Set up software(MR Configurator2 The set up software(MR Configurator2 :LEC-MRC2E) uses the communication function of the driver to perform parameter setting changes, graph display, test operation, etc. on a personal computer. When setup software (MR Configurator2 ) is used, the selection of the model of LECSB□-□...

  • Page 280: System Configuration

    12. OPTIONS AND AUXILIARY EQUIPMENT 12.3.2 System configuration (1) Components To use this software, the following components are required in addition to the driver and servo motor. Set up software(MR Configurator2 Equipment LEC-MRC2E Microsoft Windows 10 Edition, Microsoft Windows 10 Enterprise, Microsoft Windows 10 Pro,...
  • Page 281 12. OPTIONS AND AUXILIARY EQUIPMENT 5. Multi-display is set, the screen of this product may not operate normally. 6. The size of the text or other items on the screen is not changed to the specified value (96DPI, 100%, 9pt, etc.), the screen of this product may not operate normally.

  • Page 282: Precautions For Using Usb Communication Function

    12. OPTIONS AND AUXILIARY EQUIPMENT 12.3.3 Precautions for using USB communication function Note the following to prevent an electric shock and malfunction of the driver. (1) Power connection of personal computers Connect your personal computer with the following procedures. (a) When you use a personal computer with AC power supply 1) When using a personal computer with a three-core power plug or power plug with grounding wire, use a three-pin socket or ground the grounding wire.

  • Page 283: Battery Unit Lec-Mr-J3Bat

    12. OPTIONS AND AUXILIARY EQUIPMENT 12.4 Battery unit LEC-MR-J3BAT POINT Refer to appendix 7 and 8 for battery transportation and the new EU Battery Directive. (1) Purpose of use for LEC-MR-J3BAT This battery is used to construct an absolute position detection system. Refer to section 14.3 for the fitting method, etc.

  • Page 284: Selection Example Of Wires

    12. OPTIONS AND AUXILIARY EQUIPMENT 12.5 Selection example of wires POINT Wires indicated in this section are separated wires. When using a cable for power line (U, V, and W) between the driver and servo motor, use a 600V grade EP rubber insulated chloroprene sheath cab-tire cable (2PNCT).
  • Page 285 12. OPTIONS AND AUXILIARY EQUIPMENT (a) When using the 600V Polyvinyl chloride insulated wire (IV wire) Selection example of wire size when using IV wires is indicated below. Table 12.1 Wire size selection example 1 (IV wire) Wires [mm ] (Note 1, 4) Driver U V W B1 B2...
  • Page 286 12. OPTIONS AND AUXILIARY EQUIPMENT (2) Wires for cables When fabricating a cable, use the wire models given in the following table or equivalent. Table 12.3 Wires for option cables Characteristics of one core Core Number (Note 3) Insulation TypeEncod Length Conductor Model...

  • Page 287: No-Fuse Breakers, Fuses, Magnetic Contactors

    12. OPTIONS AND AUXILIARY EQUIPMENT 12.6 No-fuse breakers, fuses, magnetic contactors Always use one no-fuse breaker and one magnetic contactor with one driver. When using a fuse instead of the no-fuse breaker, use the one having the specifications given in this section. No-fuse breaker Fuse Current...

  • Page 288: Noise Reduction Techniques

    12. OPTIONS AND AUXILIARY EQUIPMENT 12.7 Noise reduction techniques Noises are classified into external noises which enter the driver to cause it to malfunction and those radiated by the driver to cause peripheral devices to malfunction. Since the driver is an electronic device which handles small signals, the following general noise reduction techniques are required.
  • Page 289 12. OPTIONS AND AUXILIARY EQUIPMENT (c) Techniques for noises radiated by the driver that cause peripheral devices to malfunction Noises produced by the driver are classified into those radiated from the cables connected to the driver and its main circuits (input and output circuits), those induced electromagnetically or statically by the signal cables of the peripheral devices located near the main circuit cables, and those transmitted through the power supply cables.
  • Page 290 12. OPTIONS AND AUXILIARY EQUIPMENT Noise transmission route Suppression techniques When measuring instruments, receivers, sensors, etc. which handle weak signals and may malfunction due to noise and/or their signal cables are contained in a control box together with the driver or run near the driver, such devices may malfunction due to noises transmitted through the air.
  • Page 291 12. OPTIONS AND AUXILIARY EQUIPMENT (b) Surge killer The recommended surge killer for installation to an AC relay, AC valve or the like near the driver is shown below. Use this product or equivalent. Relay Surge killer Surge killer This distance should be short (within 20cm).
  • Page 292 12. OPTIONS AND AUXILIARY EQUIPMENT Outline drawing [Unit: mm] Earth plate Clamp section diagram 2- 5 hole 17.5 installation hole L or less (Note)M4 screw Note. Screw hole for grounding. Connect it to the earth plate of the control box. Type Accessory fittings Clamp fitting...
  • Page 293 12. OPTIONS AND AUXILIARY EQUIPMENT (d) Line noise filter (FR-BSF01, FR-BLF (Mitsubishi Electric Corporation)) This filter is effective in suppressing noises radiated from the power supply side and output side of the driver and also in suppressing high-frequency leakage current (zero-phase current) especially within 0.5M to 5MHz band.
  • Page 294 12. OPTIONS AND AUXILIARY EQUIPMENT (e) Radio noise filter (FR-BIF-(H) (Mitsubishi Electric Corporation)) This filter is effective in suppressing noises radiated from the power supply side of the driver especially in 10MHz and lower radio frequency bands. The FR-BIF-(H) (Mitsubishi Electric Corporation) is designed for the input only.
  • Page 295 12. OPTIONS AND AUXILIARY EQUIPMENT (f) Varistors for input power supply (Recommended) Varistors are effective to prevent exogenous noise and lightning surge from entering the driver. When using a varistor, connect it between each phase of the input power supply of the equipment. For varistors, the TND20V-431K, TND20V-471K and TND20V-102K, manufactured by NIPPON CHEMI- CON, are recommended.

  • Page 296: Leakage Current Breaker

    12. OPTIONS AND AUXILIARY EQUIPMENT 12.8 Leakage current breaker (1) Selection method High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits. Leakage currents containing harmonic contents are larger than those of the motor which is run with a commercial power supply.
  • Page 297 12. OPTIONS AND AUXILIARY EQUIPMENT Table 12.4 Servo motor’s leakage current example (Igm) Table 12.5 Driver's leakage current example (Iga) Servo motor power Leakage current Driver capacity Leakage current [kW] [mA] [kW] [mA] 0.05 to 1 0.1 to 0.6 0.75 to 3.5 (Note) 0.15 11 15 Note.

  • Page 298: Emc Filter (Recommended)

    12. OPTIONS AND AUXILIARY EQUIPMENT 12.9 EMC filter (recommended) For compliance with the EMC directive of the IEC/EN Standard, it is recommended to use the following filter. Some EMC filters are large in leakage current. (1) Combination with the driver Recommended filter (Soshin Electric) Driver Mass [kg]([lb])
  • Page 299 12. OPTIONS AND AUXILIARY EQUIPMENT (3) Outline drawing (a) EMC filter HF3010A-UN [Unit: mm] 3-M4 4-5.5 7 3-M4 Approx.41 HF3030A-UN HF-3040A-UN Dimensions [mm] Model HF3030A-UN R3.25, HF3040A-UN length 8 12 - 33...
  • Page 300 12. OPTIONS AND AUXILIARY EQUIPMENT HF3100A-UN 2- 6.5 2-6.5 380 1 400 5 TF3005C-TX TX3020C-TX TF3030C-TX [Unit: mm] 3-M4 6-R3.25 length8 3 M4 Approx.67.5 100 1 100 1 290 2 150 2 308 5 Approx.160 332 5 170 5 12 - 34...
  • Page 301 12. OPTIONS AND AUXILIARY EQUIPMENT TF3040C-TX TF3060C-TX [Unit: mm] 3-M6 3-M6 Dimensions [mm] Model R3.25 TF3040C-TX Approx.190 Approx.91.5 length 8 TF3060C-TX (M6) 12 - 35...
  • Page 302 12. OPTIONS AND AUXILIARY EQUIPMENT (b) Surge protector RAV-781BYZ-2 [Unit: mm] Black Black Black UL-1015AWG16 41 1.0 RAV-781BXZ-4 [Unit: mm] UL-1015AWG16 41 1.0 12 - 36...

  • Page 303: Communication Function

    13. COMMUNICATION FUNCTION 13. COMMUNICATION FUNCTION ........................2 13.1 Configuration ............................2 13.2 Communication specifications ....................... 4 13.2.1 Communication overview ........................ 4 13.2.2 Parameter setting ..........................5 13.3 Protocol ..............................6 13.3.1 Transmission data configuration ..................... 6 13.3.2 Character codes ..........................7 13.3.3 Error codes ............................

  • Page 304: Configuration

    13. COMMUNICATION FUNCTION 13. COMMUNICATION FUNCTION POINT The USB communication function (CN5 connector) and the RS-422 communication function (CN3 connector) are mutually exclusive functions. They cannot be used simultaneously. Using the serial communication function of RS-422, this driver enables servo operation, parameter change, monitor function, etc.
  • Page 305 13. COMMUNICATION FUNCTION (b) Cable connection diagram Wire the cables as shown below. (Note 3) 30m or less (Note 1) (Note 1) (Note 1, 7) driver Axis 1 servo amplifier Axis 2 servo amplifier Axis n servo amplifier driver driver CN3 connector CN3 connector CN3 connector...

  • Page 306: Communication Specifications

    13. COMMUNICATION FUNCTION 13.2 Communication specifications 13.2.1 Communication overview This driver is designed to send a reply on receipt of an instruction. The device which gives this instruction (e.g. personal computer) is called a master station and the device which sends a reply in response to the instruction (driver) is called a slave station.

  • Page 307: Parameter Setting

    13. COMMUNICATION FUNCTION 13.2.2 Parameter setting When the USB/RS-422 communication function is used to operate the servo, set the communication specifications of the driver in the corresponding parameters. After setting the values of these parameters, they are made valid by switching power off once, then on again. (1) Serial communication baud rate Choose the communication speed.

  • Page 308: Protocol

    13. COMMUNICATION FUNCTION 13.3 Protocol 13.3.1 Transmission data configuration Since up to 32 axes may be connected to the bus, add a station number to the command, data No., etc. to determine the destination driver of data communication. Set the station number to each driver using the parameter.

  • Page 309: Character Codes

    13. COMMUNICATION FUNCTION 13.3.2 Character codes (1) Control codes Hexadecimal Personal computer terminal key operation Code name Description (ASCII code) (General) start of head ctrl A start of text ctrl B end of text ctrl C end of transmission ctrl D (2) Codes for data ASCII unit codes are used.

  • Page 310: Error Codes

    13. COMMUNICATION FUNCTION 13.3.3 Error codes Error codes are used in the following cases and an error code of single-code length is transmitted. On receipt of data from the master station, the slave station sends the error code corresponding to that data to the master station.

  • Page 311: Time-Out

    13. COMMUNICATION FUNCTION 13.3.5 Time-out The master station transmits EOT when the slave station does not start reply processing (STX is not received) 300[ms] after the master station has ended communication processing. 100[ms] after that, the master station retransmits the message. Time-out occurs if the slave station does not answer after the master station has performed the above communication processing three times.

  • Page 312: Initialization

    13. COMMUNICATION FUNCTION 13.3.7 Initialization After the slave station is switched on, it cannot reply to communication until the internal initialization processing terminates. Hence, at power-on, ordinary communication should be started after. (1) 1s or longer time has elapsed after the slave station is switched on; and (2) Making sure that normal communication can be made by reading the parameter or other data which does not pose any safety problems.

  • Page 313: Command And Data No. List

    13. COMMUNICATION FUNCTION 13.4 Command and data No. list POINT If the command and data No. are the same, the description may be different from that of the driver. 13.4.1 Read commands (1) Status display (Command [0][1]) Command Data No. Description Display item Frame length...
  • Page 314 13. COMMUNICATION FUNCTION (2) Parameters (Command [0][4] [0][5] [0][6] [0][7] [0][8] [0][9]) Command Data No. Description Frame length [0][4] [0][1] Parameter group read 0000: Basic setting parameter (No.PA 0001: Gain filter parameter (No.PB 0002: Extension setting parameter (No.PC 0003: I/O setting parameter (No.PD [0][5] [0][1] to [F][F] Current values of parameters...
  • Page 315 13. COMMUNICATION FUNCTION (4) Alarm history (Command [3][3]) Command Data No. Description Alarm occurrence sequence Frame length [3][3] [1][0] Alarm number in alarm history most recent alarm [1][1] first alarm in past [1][2] second alarm in past [1][3] third alarm in past [1][4] fourth alarm in past [1][5]...
  • Page 316 13. COMMUNICATION FUNCTION Command Data No. Description Display item Frame length [3][5] [0][0] Status display name and unit at alarm Cumulative feedback pulse occurrence [0][1] Servo motor speed [0][2] Droop pulse [0][3] Cumulative command pulse [0][4] Command pulse frequency [0][5] Analog speed command voltage Analog speed limit voltage [0][6]...

  • Page 317: Write Commands

    13. COMMUNICATION FUNCTION 13.4.2 Write commands (1) Status display (Command [8][1]) Command Data No. Description Setting range Frame length [8][1] [0][0] Status display data erasure 1EA5 (2) Parameters (Command [8][4] [8][5]) Command Data No. Description Setting range Frame length [8][4] [0][1] to [F][F] Write of parameters Depending on the parameter...
  • Page 318 13. COMMUNICATION FUNCTION (7) Operation mode selection (Command [8][B]) Command Data No. Description Setting range Frame length [8][B] [0][0] Operation mode switching 0000 to 0004 0000: Test operation mode cancel 0001: JOG operation 0002: Positioning operation 0003: Motorless operation 0004: Output signal (DO) forced output (8) Test operation mode data (Command [9][2] [A][0]) Command Data No.

  • Page 319: Detailed Explanations Of Commands

    13. COMMUNICATION FUNCTION 13.5 Detailed explanations of commands 13.5.1 Data processing When the master station transmits a command data No. or a command data No. data to a slave station, the driver returns a reply or data according to the purpose. When numerical values are represented in these send data and receive data, they are represented in decimal, hexadecimal, etc.
  • Page 320 13. COMMUNICATION FUNCTION (2) Writing the processed data When the data to be written is handled as decimal, the decimal point position must be specified. If it is not specified, the data cannot be written. When the data is handled as hexadecimal, specify "0" as the decimal point position.

  • Page 321: Status Display

    13. COMMUNICATION FUNCTION 13.5.2 Status display (1) Reading the status display name and unit Read the status display name and unit. (a) Transmission Transmit command [0][1] and the data No. corresponding to the status display item to be read, [0][0] to [0][E].

  • Page 322: Parameters

    13. COMMUNICATION FUNCTION 13.5.3 Parameters (1) Specify the parameter group The group of the parameters to be operated must be specified in advance to read or write the parameter settings, etc. Write data to the driver as described below to specify the parameter group to be operated. Command Data No.
  • Page 323 13. COMMUNICATION FUNCTION (4) Reading the setting Read the parameter setting. Specify the parameter group in advance (refer to (1) in this section). (a) Transmission Transmit command [0][5] and the data No. corresponding to the parameter No., [0][1] to [F][F]. (Refer to section 13.4.1.) The data No.
  • Page 324 13. COMMUNICATION FUNCTION (6) Parameter write POINT If setting values need to be changed with a high frequency (i.e. one time or more per one hour), write the setting values to the RAM, not the EEP-ROM. The EEP- ROM has a limitation in the number of write times and exceeding this limitation causes the driver to malfunction.

  • Page 325: External I/O Signal Statuses (Dio Diagnosis)

    13. COMMUNICATION FUNCTION 13.5.4 External I/O signal statuses (DIO diagnosis) (1) Reading of input device statuses Read the statuses of the input devices. (a) Transmission Transmit command [1][2] and data No.[0][0]. Command Data No. [1][2] [0][0] (b) Reply The slave station sends back the statuses of the input pins. 1:ON 0:OFF Command of each bit is transmitted to the master...
  • Page 326 13. COMMUNICATION FUNCTION CN1 connector pin CN1 connector pin CN1 connector pin CN1 connector pin (3) Read of the statuses of input devices switched on through communication Read the ON/OFF statuses of the input devices switched on through communication. (a) Transmission Transmit command [1][2] and data No.[6][0].
  • Page 327 13. COMMUNICATION FUNCTION (4) External output pin status read Read the ON/OFF statuses of the external output pins. (a) Transmission Transmit command [1][2] and data No.[C][0]. Command Data No. [1][2] [C][0] (b) Reply The slave station sends back the ON/OFF statuses of the output pins. 1:ON 0:OFF Command of each bit is transmitted to the master...

  • Page 328: Input Device On/Off

    13. COMMUNICATION FUNCTION 13.5.5 Input device ON/OFF POINT The ON/OFF states of all devices in the driver are the states of the data received last. Hence, when there is a device which must be kept ON, send data which turns that device ON every time. Each input device can be switched on/off.

  • Page 329: Input Devices On/Off (Test Operation)

    13. COMMUNICATION FUNCTION (2) Disabling/enabling the output devices (DO) Transmit the following communication commands. (a) Disable Command Data No. Data [9][0] [0][3] 1EA5 (b) Enable Command Data No. Data [9][0] [1][3] 1EA5 13.5.7 Input devices ON/OFF (test operation) Each input devices can be turned on/off for test operation. when the device to be switched off exists in the external input signal, also switch off that input signal.

  • Page 330: Test Operation Mode

    13. COMMUNICATION FUNCTION 13.5.8 Test operation mode POINT The test operation mode is used to confirm operation. Do not use it for actual operation. If communication stops for longer than 0.5s during test operation, the driver decelerates to a stop, resulting in servo lock. To prevent this, continue communication all the time, e.g.
  • Page 331 13. COMMUNICATION FUNCTION (2) JOG operation Send the command, data No. and data as indicated below to execute JOG operation. Start Select the JOG operation in the Command : [8][B] test operation mode. Data No. : [0][0] Data : 0001(JOG operation) Servo motor speed setting Command : [A][0] Data No.
  • Page 332 13. COMMUNICATION FUNCTION (3) Positioning operation (a) Operation procedure Send the command, data No. and data as indicated below to execute positioning operation. Start Select the positioning operation in Command : [8][B] the test operation mode. Data No. : [0][0] Data : 0002 (positioning operation) Servo motor speed setting...

  • Page 333: Output Signal Pin On/Off Output Signal (Do) Forced Output

    13. COMMUNICATION FUNCTION (b) Temporary stop/restart/remaining distance clear Send the following command, data No. and data during positioning operation to make deceleration to a stop. Command Data No. Data [A][0] [4][1] STOP Send the following command, data No. and data during a temporary stop to make a restart. Command Data No.

  • Page 334: Alarm History

    13. COMMUNICATION FUNCTION (3) DO forced output Transmit command [8][B] data No.[0][0] data to choose DO forced output. Command Data No. Transmission data Test operation mode selection [8][B] [0][0] 0000 Test operation mode cancel 13.5.10 Alarm history (1) Alarm No. read Read the alarm No.

  • Page 335: Current Alarm

    13. COMMUNICATION FUNCTION 13.5.11 Current alarm (1) Current alarm read Read the alarm No. which is occurring currently. (a) Transmission Send command [0][2] and data No.[0][0]. Command Data No. [0][2] [0][0] (b) Reply The slave station sends back the alarm currently occurring. Alarm No.

  • Page 336: Other Commands

    13. COMMUNICATION FUNCTION 13.5.12 Other commands (1) Servo motor side pulse unit absolute position Read the absolute position in the servo motor side pulse unit. Note that overflow will occur in the position of 8192 or more revolutions from the home position. (a) Transmission Send command [0][2] and data No.[9][0].
  • Page 337 13. COMMUNICATION FUNCTION (3) Software version Reads the software version of the driver. (a) Transmission Send command [0][2] and data No.[7][0]. Command Data No. [0][2] [7][0] (b) Reply The slave station returns the software version requested. Software version (15 digits) Space 13 - 35...
  • Page 338 14. ABSOLUTE POSITION DETECTION SYSTEM 14. ABSOLUTE POSITION DETECTION SYSTEM ..................2 14.1 Outline ..............................2 14.1.1 Features ............................2 14.1.2 Restrictions ............................3 14.2 Specifications ............................4 14.3 Battery replacement procedure ......................5 14.3.1 When replacing battery with the control circuit power ON .............. 5 14.4 Battery installation procedure ........................

  • Page 339: Absolute Position Detection System

    14. ABSOLUTE POSITION DETECTION SYSTEM 14. ABSOLUTE POSITION DETECTION SYSTEM If an absolute position erase (AL.25) or absolute position counter warning (AL.E3) has occurred, always perform home position setting again. Not doing so can cause CAUTION runaway. Not doing so may cause unexpected operation. POINT If the encoder cable is disconnected, absolute position data will be lost in the following servo motor series.

  • Page 340: Restrictions

    14. ABSOLUTE POSITION DETECTION SYSTEM 14.1.2 Restrictions The absolute position detection system cannot be configured under the following conditions. Test operation cannot be performed in the absolute position detection system, either. To perform test operation, choose incremental in parameter No.PA03. (1) Speed control mode, torque control mode.

  • Page 341: Specifications

    14. ABSOLUTE POSITION DETECTION SYSTEM 14.2 Specifications (1) Specification list Item Description System Electronic battery backup system 1 piece of lithium battery (primary battery, nominal 3.6V) Battery Type: LEC-MR-J3BAT Maximum revolution range Home position 32767 rev. (Note 1) Maximum speed at power failure 3000r/min (Note 2) Battery backup time Approx.

  • Page 342: Battery Replacement Procedure

    14. ABSOLUTE POSITION DETECTION SYSTEM 14.3 Battery replacement procedure Before replacement a battery, turn off the main circuit power and wait for 15 minutes or longer (20 minutes for 30kW or higher) until the charge lamp turns off. WARNING Then, check the voltage between P( ) and N( ) with a voltage tester or others. Otherwise, an electric shock may occur.

  • Page 343: Standard Connection Diagram

    14. ABSOLUTE POSITION DETECTION SYSTEM 14.5 Standard connection diagram Servo amplifier Driver 24VDC DICOM DOCOM (Note 2) Stroke end in forward rotation Stroke end in reverse rotation External torque limit selection Reset DOCOM EMG (Note 1) Emergency stop Electromagnetic Servo-on brake output ABS transmission mode...

  • Page 344: Signal Explanation

    14. ABSOLUTE POSITION DETECTION SYSTEM 14.6 Signal explanation When the absolute position data is transferred, the signals of connector CN1 change as described in this section. They return to the previous status on completion of data transfer. The other signals are as described in section 3.5.

  • Page 345: Startup Procedure

    14. ABSOLUTE POSITION DETECTION SYSTEM 14.7 Startup procedure (1) Battery installation. Refer to section 14.3. (2) Parameter setting Set " 1"in parameter No.PA03 of the driver and switch power off, then on. (3) Resetting of absolute position erase (AL.25) After connecting the encoder cable, the absolute position erase (AL.25) occurs at first power-on. Leave the alarm as it is for a few minutes, then switch power off, then on to reset the alarm.

  • Page 346: Absolute Position Data Transfer Protocol

    14. ABSOLUTE POSITION DETECTION SYSTEM 14.8 Absolute position data transfer protocol POINT After switching on the ABS transfer mode (ABSM), turn on the servo-on signal (SON). When the ABS transfer mode is off, turning on the servo-on signal (SON) does not switch on the base circuit. 14.8.1 Data transfer procedure Each time the servo-on (SON) is turned ON (when the power is switched ON for example), the programmable PC or PLC...etc reads the position data (present position) of the driver.

  • Page 347: Transfer Method

    14. ABSOLUTE POSITION DETECTION SYSTEM 14.8.2 Transfer method The sequence in which the base circuit is turned ON (servo-on) when it is in the OFF state due to the servo-on (SON) going OFF, an emergency stop (EMG), or alarm (ALM), is explained below. In the absolute position detection system, every time the servo-on (SON) is turned on, the ABS transfer mode (ABSM) should always be turned on to read the current position in the driver to the PC or PLC...etc.
  • Page 348 14. ABSOLUTE POSITION DETECTION SYSTEM 1) The ready (RD) is turned ON when the ABS transfer mode (ABSM) is turned OFF after transmission of the ABS data. While the ready (RD) is ON, the ABS transfer mode (ABSM) input is not accepted. 2) Even if the servo-on (SON) is turned ON before the ABS transfer mode (ABSM) is turned ON, the base circuit is not turned ON until the ABS transfer mode (ABSM) is turned ON.
  • Page 349 14. ABSOLUTE POSITION DETECTION SYSTEM (b) Detailed description of absolute position data transfer Servo-on in programmable controller PC or PLC...etc Servo-on (SON) (Note) ABS transfer mode During transfer of ABS (ABSM) (Pin 17) ABS request (ABSR) (Pin 18) ABS transmission data ready (ABST) (Pin 25)
  • Page 350 14. ABSOLUTE POSITION DETECTION SYSTEM (c) Checksum The checksum is the code which is used by the programmable PC or PLC...etc to check for errors in the received ABS data. The 6-bit checksum is transmitted following the 32-bit ABS data. At the programmable PC or PLC...etc, calculate the sum of the received ABS data using the ladder program and compare it with the checksum code sent from the servo.
  • Page 351 14. ABSOLUTE POSITION DETECTION SYSTEM (2) Transmission error (a) Time-out warning(AL.E5) In the ABS transfer mode, the time-out processing shown below is executed at the servo. If a time-out error occurs, an ABS time-out warning (AL.E5) is output. The ABS time-out warning (AL.E5) is cleared when the ABS transfer mode (ABSM) changes from OFF to ON.
  • Page 352 14. ABSOLUTE POSITION DETECTION SYSTEM 3) ABS transfer mode finish-time time-out check If the ABS transfer mode (ABSM) is not turned OFF within 5s after the last ABS transmission data ready (19th signal for ABS data transmission) is turned ON, it is regarded as the transmission error and the ABS time-out warning (AL.E5) is output.
  • Page 353 14. ABSOLUTE POSITION DETECTION SYSTEM 5) Servo-on (SON) OFF, Reset (RES) ON, Emergency stop (EMG) OFF check during the ABS transfer When the ABS transfer mode is turned ON to start transferring and then the servo-on (SON) is turned OFF, the reset (RES) is turned ON, or the emergency stop (EMG) is turned ON before the 19th ABS transmission data ready signal is turned ON, the ABS time-out warning (AL.E5) occurs, regarding it as a transfer error.
  • Page 354 14. ABSOLUTE POSITION DETECTION SYSTEM (b) Checksum error If the checksum error occurs, the programmable PC or PLC...etc should retry transmission of the ABS data. Using the ladder check program of the programmable PC or PLC...etc, turn OFF the ABS transfer mode (ABSM).
  • Page 355 14. ABSOLUTE POSITION DETECTION SYSTEM (3) At the time of alarm reset If an alarm occurs, turn OFF the servo-on (SON) by detecting the alarm output (ALM). If an alarm has occurred, the ABS transfer mode (ABSM) cannot be accepted. In the reset state, the ABS transfer mode (ABSM) can be input.
  • Page 356 14. ABSOLUTE POSITION DETECTION SYSTEM (4) At the time of emergency stop reset (a) If the power is switched ON in the emergency stop state The emergency stop state can be reset while the ABS data is being transferred. If the emergency stop state is reset while the ABS data is transmitted, the base circuit is turned ON 95[ms] after resetting.
  • Page 357 14. ABSOLUTE POSITION DETECTION SYSTEM (b) If emergency stop is activated during servo-on The ABS transfer mode (ABSM) is permissible while in the emergency stop state. In this case, the base circuit and the ready (RD) are turned ON after the emergency stop state is reset. Servo-on (SON) Emergency stop...

  • Page 358: Home Position Setting

    14. ABSOLUTE POSITION DETECTION SYSTEM 14.8.3 Home position setting (1) Dog type home position return Preset a home position return creep speed at which the machine will not be given impact. On detection of a zero pulse, the home position setting (CR) is turned from off to on. At the same time, the driver clears the droop pulses, comes to a sudden stop, and stores the stop position into the non-volatile memory as the home position ABS data.
  • Page 359 14. ABSOLUTE POSITION DETECTION SYSTEM (2) Data set type home position return POINT Never make home position setting during command operation or servo motor rotation. It may cause home position sift. It is possible to execute data set type home position return when the servo off. Move the machine to the position where the home position is to be set by performing manual operation such as JOG operation.

  • Page 360: Use Of Servo Motor With A Lock

    14. ABSOLUTE POSITION DETECTION SYSTEM 14.8.4 Use of servo motor with a lock The timing charts at power on/off and servo-on (SON) on/off are given below. Preset parameter No.PA04/PD13 to PD16/PD18 of the driver to make the electromagnetic brake interlock (MBR) valid.
  • Page 361 14. ABSOLUTE POSITION DETECTION SYSTEM External wiring example (Absolute position detection system) ABS transfer mode (ABSM) Note 1. Connect a surge absorber as close to the servo motor as possible. 2. There is no polarity in lock terminals (B1 and B2). 3.

  • Page 362: How To Process The Absolute Position Data At Detection Of Stroke End

    14. ABSOLUTE POSITION DETECTION SYSTEM 14.8.5 How to process the absolute position data at detection of stroke end The driver stops the acceptance of the command pulse when stroke end (LSP LSN) is detected, clears the droop pulses to 0 at the same time, and stops the servo motor rapidly. At this time, the programmable PC or PLC...etc keeps outputting the command pulse.

  • Page 363: Examples Of Use

    14. ABSOLUTE POSITION DETECTION SYSTEM 14.9 Examples of use 14.9.1 MELSEC FX(2N)-32MT (FX(2N)-1PG) (1) Connection diagram (a) FX-32MT (FX-1PG) Driver Servo amplifier FX-32MT Power supply 24VDC DOCOM PC-RUN ABS transmission data bit 0/Completion of positioning 3.3k ABSB0 ABS transmission data bit 1/Zero speed detection ABSB1 ABS transmission data ready/Torque limit control speed ABST...
  • Page 364 14. ABSOLUTE POSITION DETECTION SYSTEM (b) FX -32MT (FX -1PG) Driver Servo amplifier -32MT Power supply 24VDC DOCOM ABS transmission data bit 0/Completion of positioning ABSB0 ABS transmission data bit 1/Zero speed detection 3.3k ABSB1 ABS transmission data ready/Torque limit control speed ABST Alarm Alarm reset...
  • Page 365 14. ABSOLUTE POSITION DETECTION SYSTEM (2) Sequence program example (a) Conditions 1) Operation pattern ABS data transfer is made as soon as the servo-on switch is turned on. After that, positioning operation is performed as shown below. Home position 300000 300000 address After the completion of ABS data transmission, JOG operation is possible using the JOG or JOG...
  • Page 366 14. ABSOLUTE POSITION DETECTION SYSTEM (b) Device list X input contact Y output contact Transmission data bit 0 / completion of Servo-on positioning ABS transfer mode Transmission data bit 1 / zero speed detection ABS request Send ABS transmission data ready/ torque limit Alarm reset control Electromagnetic brake output...
  • Page 367 14. ABSOLUTE POSITION DETECTION SYSTEM (c) ABS data transfer program for X-axis M8002 Setting home position address DMOV to 0 Initial pulse Setting 1PG pulse command unit K100000 1PG max. speed: 100 kpps 1PG JOG speed: 10 kpps K10000 1PG home position return K50000 speed: 50 kpps 1PG creep speed: 1 kpps...
  • Page 368 14. ABSOLUTE POSITION DETECTION SYSTEM (Continued from preceding page) Servo-on request Servo-on Retry switch Servo-on output Servo-on ABS check Error request error flag communication error ABS data transmission start Clearing retry counter Retry transmission start Resetting ready to send ABS data Servo-on switch...
  • Page 369 14. ABSOLUTE POSITION DETECTION SYSTEM (Continued from preceding page) Alarm reset output Alarm reset Error switch flag Clearing retry counter Alarm reset Clearing ABS data receiving ZRST area Clearing ABS receive data ZRST buffer Resetting ABS data reception counter Resetting all data reception counter Servo alarm Error flag output...
  • Page 370 14. ABSOLUTE POSITION DETECTION SYSTEM (Continued from preceding page) Resetting ABS data All data Send data ready transfer receptin mode counter ABS data 32 bits ABS request ON (2 bits 16 times) ABS data read Checksum 6 bits ABS data waiting timer 10ms T204 (2 bits 3 times) Send data...
  • Page 371 14. ABSOLUTE POSITION DETECTION SYSTEM (Continued from preceding page) ABS data D0, D1 DMOVP K8M20 Checksum match Adding 1PG home position DADDP address ABS data DTOP Writing absolute position data to Setting ABS data ready Clearing checksum judging ZRST area Resetting retry flag Detecting ABS communication error...
  • Page 372 14. ABSOLUTE POSITION DETECTION SYSTEM (Continued from preceding page) M8000 M109 Normally M110 M111 1PG control command (not used) M112 M102 M103 Start command pulse M120 Servo Position ABS data ready ready start switch 1PG JOG command M104 Operation command control 1PG JOG command M105...
  • Page 373 14. ABSOLUTE POSITION DETECTION SYSTEM (Continued from preceding page) M8000 K4M100 Normally Transmission of control signals FROM K3M200 Transmission of status DFROM D106 Transmission of present position D106, D107 M200 M108 Resetting start command (d) Data set type home position return After jogging the machine to the position where the home position (e.g.500) is to be set, choose the home position return mode set the home position with the home position return start switch (X14) ON.
  • Page 374 14. ABSOLUTE POSITION DETECTION SYSTEM (e) Electromagnetic brake output During ABS data transfer (for several seconds after the servo-on (SON) is turned on), the servo motor must be at a stop. Set " 1" in parameter No.PA04 of the driver to make the electromagnetic brake interlock (MBR) valid.

  • Page 375: Melsec A1Sd75

    14. ABSOLUTE POSITION DETECTION SYSTEM 14.9.2 MELSEC A1SD75 (1) Connection diagram Driver Servo amplifier A1S62P DICOM 600mA DOCOM Power INPUT supply 100/200VAC A1SCPU A1SX40 ABS transmission data bit 0/Completion of positioning ABSB0 ABS transmission data bit 1/Zero speed detection ABSB1 ABS transmission data ready/Torque limit control speed ABST Trouble...
  • Page 376 14. ABSOLUTE POSITION DETECTION SYSTEM Note 1. For the dog type home position return. Need not be connected for the data set type home position return. 2. If the servo motor provided with the zero point signal is started, the A1SD75 will output the deviation counter clear (CR). Therefore, do not connect the clear (CR) of the LECSB□-□...
  • Page 377 14. ABSOLUTE POSITION DETECTION SYSTEM (b) Device list X input contact Y output contact ABS Transmission data bit 0 / positioning Servo-on completion ABS transfer mode ABS Transmission data bit 1 / zero speed ABS request detection Alarm reset Reading to send ABS data / limiting torque Electromagnetic brake output (Note 2) Servo alarm...
  • Page 378 14. ABSOLUTE POSITION DETECTION SYSTEM (c) ABS data transfer program for X axis This sequence program example assumes the following conditions. Parameters of the A1SD75P1-S3 positioning module 1) Unit setting pulse (PLS) 2) Travel per pulse :1 1 pulse To select the unit other than the pulse, conversion into the unit of the feed value per pulse is required. Hence, add the following program to the area marked (Note) in the sequence program.
  • Page 379 14. ABSOLUTE POSITION DETECTION SYSTEM (Continued from preceding page) Servo-on request Servo-on switch Reading A1SD75 1-axis RDY FROM H0000 K816 signal Masking RDY signal WAND H0001 Current position change processing instruction Current position change flag D11 K1 Processing instruction RDY signal ON judgement Servo-on Resetting ready control...
  • Page 380 14. ABSOLUTE POSITION DETECTION SYSTEM (Continued from preceding page) Initializing ABS data transmission counter ABS data transfer start Initializing checksum transmission counter Initializing checksum register Initializing ABS data register ABS transfer mode Initializing ABS data register DMOV initial setting Initializing ABS data register DMOV Resetting ABS transmission counter...
  • Page 381 14. ABSOLUTE POSITION DETECTION SYSTEM (Continued from preceding page) Reading 4 bits K1X20 Read ABS data enabled counter Masking 2 bits WAND H0003 Adding 2 bits Reading checksum 6bits (2 bits 3 times) Right rotation of A0 2 bits Counting the number of checksum data Completion of reading checksum 2 bits...
  • Page 382 14. ABSOLUTE POSITION DETECTION SYSTEM (Continued from preceding page) ABS request reset ABS 2 bits completion Checksum 2 bits completion ABS 2 bits request ABS transfer Ready to send ABS request mode ABS data control ABS request set ABS 2 bits request 10ms delay timer T200 ABS request...
  • Page 383 14. ABSOLUTE POSITION DETECTION SYSTEM (Continued from preceding page) Resetting ABS transfer mode ABS communi- Servo-on cation error switch ABS transfer mode 5s timer ABS transfer mode ABS request response 1s timer ABS transfer ABS request mode Detecting ABS ABS data send ready communication response 1s timer ABS transfer...
  • Page 384 14. ABSOLUTE POSITION DETECTION SYSTEM (d) X-axis program Do not execute the X-axis program while the ABS ready (M8) is off. (Note) Positioning X-axis start When "M10" (ready to send ABS data) switches on, mode command X-axis start program the X-axis start program is executed by the X-axis Ready to start command.
  • Page 385 14. ABSOLUTE POSITION DETECTION SYSTEM (f) Data set type home position return After jogging the machine to the position where the home position (e.g. 500) is to be set, choose the home position return mode and set the home position with the home position return start switch (X27) After switching power on, rotate the servo motor more than 1 revolution before starting home position return.
  • Page 386 14. ABSOLUTE POSITION DETECTION SYSTEM (g) Electromagnetic brake output During ABS data transfer (for several seconds after the servo-on (SON) is turned on), the servo motor must be at a stop. Set " 1" in parameter No.PA04 of the driver to make the electromagnetic brake interlock (MBR) valid.
  • Page 387 14. ABSOLUTE POSITION DETECTION SYSTEM (3) Sequence program - 2-axis control The following program is a reference example for creation of an ABS sequence program for the second axis (Y axis) using a single A1SD75 module. Create a program for the third axis in a similar manner. (a) Y-axis program Refer to the X-axis ABS sequence program and create the Y-axis program.

  • Page 388: Melsec Qd75

    14. ABSOLUTE POSITION DETECTION SYSTEM 14.9.3 MELSEC QD75 (1) Connection diagram Driver Servo amplifier Q62P DICOM 600mA DOCOM Power INPUT supply 100/200VAC Q02HCPU QX40 ABS transmission data bit 0/Completion of positioning ABSB0 ABS transmission data bit 1/Zero speed detection ABSB1 ABS transmission data ready/Torque limit control speed ABST Trouble...
  • Page 389 14. ABSOLUTE POSITION DETECTION SYSTEM Note 1. For the dog type home position return. Need not be connected for the data set type home position return. 2. For the dog type home position return, connect a QD75 deviation counter clearing signal cable. For the data set type home position return, connect a cable to the output module of the programmable PC or PLC...etc.
  • Page 390 14. ABSOLUTE POSITION DETECTION SYSTEM (c) ABS data transfer program for X axis Programmable Absolute position controller ready restoration memory QD75 error reset Initial setting Retry frequency set (Set 3 times.) Error reset completion flag Servo-on request Servo-on switch Preparation Servo-on completion reset switch...
  • Page 391 14. ABSOLUTE POSITION DETECTION SYSTEM Absolute position restoration start flag position Absolute position restoration status reset Absolute position position restoration output position Error code storage position Absolute position restoration start flag reset Absolute position Preparation completion restoration Absolute position restoration data position reception Absolute position...
  • Page 392 14. ABSOLUTE POSITION DETECTION SYSTEM (d) X-axis program Do not execute the X-axis program while the ABS ready (M10) is off. (Note) Positioning X-axis start When "M10" (ready to send ABS data) switches on, mode command X-axis start program the X-axis start program is executed by the X-axis Ready to start command.
  • Page 393 14. ABSOLUTE POSITION DETECTION SYSTEM (f) Data set type home position return After jogging the machine to the position where the home position (e.g. 500) is to be set, choose the home position return mode and set the home position with the home position return start switch (X27) ON.
  • Page 394 14. ABSOLUTE POSITION DETECTION SYSTEM (g) Electromagnetic brake output During ABS data transfer (for several seconds after the servo-on (SON) is turned on), the servo motor must be at a stop. Set " 1" in parameter No.PA04 of the driver to make the electromagnetic brake interlock (MBR) valid.
  • Page 395 14. ABSOLUTE POSITION DETECTION SYSTEM (3) Sequence program - 2-axis control The following program is a reference example for creation of an ABS sequence program for the second axis (Y axis) using a single QD75 module. Create a program for the third axis in a similar manner. (a) Y-axis program Refer to the X-axis ABS sequence program and create the Y-axis program.

  • Page 396: Absolute Position Data Transfer Errors

    14. ABSOLUTE POSITION DETECTION SYSTEM 14.10 Absolute position data transfer errors 14.10.1 Corrective actions (1) Error list The number within parentheses in the table indicates the output coil or input contact number of the A1SD75. Output coil Name Description Cause Action AD75 1PG (Note)
  • Page 397 14. ABSOLUTE POSITION DETECTION SYSTEM (2) ABS communication error (a) The OFF period of the ABS transmission data ready signal output from the driver is checked. If the OFF period is 1s or longer, this is regarded as a transfer fault and the ABS communication error is generated.

  • Page 398: Error Resetting Conditions

    14. ABSOLUTE POSITION DETECTION SYSTEM (c) To detect the ABS time-out warning (AL.E5) at the driver, the time required for the ABS request signal to go OFF after it has been turned ON (ABS request time) is checked. If the ABS request remains ON for longer than 1s, it is regarded that an fault relating to the ABS request signal or the ABS transmission data ready (ABST) has occurred, and the ABS communication error is generated.

  • Page 399: Communication-Based Abs Transfer System

    14. ABSOLUTE POSITION DETECTION SYSTEM 14.11 Communication-based ABS transfer system 14.11.1 Serial communication command The following commands are available for reading absolute position data using the serial communication function. When reading data, take care to specify the correct station number of the drive unit from where the data will be read.
  • Page 400 14. ABSOLUTE POSITION DETECTION SYSTEM (2) Transfer method The sequence in which the base circuit is turned ON (servo-on) when it is in the OFF state due to the servo-on (SON) going OFF, an emergency stop, or alarm, is explained below. In the absolute position detection system, always give the serial communication command to read the current position in the driver to the PC or PLC...etc every time the ready (RD) turns on.
  • Page 401 14. ABSOLUTE POSITION DETECTION SYSTEM (c) At the time of alarm reset If an alarm has occurred, detect the trouble (ALM) and turn off the servo-on (SON). After removing the alarm occurrence factor and deactivating the alarm, get the absolute position data again from the driver in accordance with the procedure in (a) of this section.
  • Page 402 14. ABSOLUTE POSITION DETECTION SYSTEM (d) At the time of forced stop reset 210ms after the forced stop is deactivated, the base circuit turns on, and further 5ms after that, the ready (RD) turns on. Always get the current position data from when the ready (RD) is triggered until before the position command is issued.

  • Page 403: Confirmation Of Absolute Position Detection Data

    14. ABSOLUTE POSITION DETECTION SYSTEM 14.12 Confirmation of absolute position detection data You can confirm the absolute position data with MR Configurator2 Choose "Diagnostics" and "Absolute Encoder Data" to open the absolute position data display screen. (1) Choosing "Monitor" in the menu opens the sub-menu as shown below. (2) By choosing "Absolute Encoder Data"...

  • Page 404: Servo Motor

    15. SERVO MOTOR 15. SERVO MOTOR ............................2 15.1 Servo motor with a lock ...........................2 15.1.1 Features ............................2 15.1.2 Characteristics of servo motor with a lock ..................4 15.2 Protection from oil and water ........................5 15.3 Cable ...............................5 15.4 Rated speed of servo motor ........................5 15.5 Mounting connectors ..........................6 15 - 1...

  • Page 405: Servo Motor With A Lock

    15. SERVO MOTOR 15. SERVO MOTOR 15.1 Servo motor with a lock 15.1.1 Features The lock is provided to prevent a drop at a power failure or servo alarm occurrence during vertical drive or to hold a shaft at a stop. Do not use it for normal braking (including braking at servo-lock).
  • Page 406 15. SERVO MOTOR (b) Tentative selection and verification of surge absorber 1) Maximum allowable circuit voltage of varistor Tentatively select a varistor whose maximum allowable voltage is larger than Vb [V]. 2) Lock current (Ib) Ib = 3) Energy (E) generated by lock coil L ×...

  • Page 407: Characteristics Of Servo Motor With A Lock

    15. SERVO MOTOR 15.1.2 Characteristics of servo motor with a lock The lock is provided to prevent a drop at a power failure or servo alarm occurrence during vertical drive or to hold a shaft at a stop. Do not use it for normal braking (including braking at servo-lock).

  • Page 408: Protection From Oil And Water

    15. SERVO MOTOR 15.2 Protection from oil and water (1) Do not use the servo motor with its cable soaked in oil or water. Cover Servo motor Oil/water pool Capillary action (2) If oil such as cutting oil drops on the servo motor, the sealant, packing, cable and others may be affected depending on the oil type.

  • Page 409: Mounting Connectors

    15. SERVO MOTOR 15.5 Mounting connectors If the connector is not fixed securely, it may come off or may not produce a splash-proof effect during operation. To achieve the IP rating IP65, pay attention to the following points and install the connectors. (1) When screwing the connector, hold the connector still and gradually tighten the screws in a crisscross pattern.

  • Page 410: Appendix

    APPENDIX App. 1 Parameter list ............................2 App. 1.1 Driver (drive unit) ..........................2 App. 1.2 Converter unit ..........................4 App. 2 Signal layout recording paper ........................ 4 App. 3 Status display block diagram ......................... 5 App. 4 Handling of AC driver batteries for the United Nations Recommendations on the Transport of Dangerous Goods ..........................

  • Page 411: App. 1 Parameter List

    APPENDIX App. 1 Parameter list POINT For any parameter whose symbol is preceded by *, set the parameter value and switch power off once, then switch it on again to make that parameter setting valid. App. 1.1 Driver (drive unit) Basic setting parameters (PA Gain/filter parameters (PB Control...
  • Page 412 APPENDIX Extension setting parameters (PC Extension setting parameters (PC Control Control Symbol Name Symbol Name mode mode PC01 Acceleration time constant PC39 Analog monitor 1 offset P S T PC02 Deceleration time constant PC40 Analog monitor 2 offset P S T PC03 S-pattern acceleration/ PC41...

  • Page 413: App. 2 Signal Layout Recording Paper

    APPENDIX App. 1.2 Converter unit Symbol Name PA01 *REG Regenerative selection PA02 *MCC Magnetic contactor drive output selection PA03 For manufacturer setting PA07 PA08 *DMD Auto tuning mode PA09 *BPS Alarm history clear PA10 For manufacturer setting PA11 PA12 *DIF Input filter setting PA13 For manufacture setting...

  • Page 414: App. 3 Status Display Block Diagram

    APPENDIX App. 3 Status display block diagram App. - 5...

  • Page 415: App. 4 Handling Of Ac Driver Batteries For The United Nations

    APPENDIX App. 4 Handling of AC driver batteries for the United Nations Recommendations on the Transport of Dangerous Goods To transport lithium batteries, take action to comply with the instructions and regulations such as the United Nations (UN), the International Civil Aviation Organization (ICAO), and the International Maritime Organization (IMO).
  • Page 416 APPENDIX App. 6 Compliance with the European EC directives App. 6.1 What are EC directives? The EC directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety-guaranteed products. In the EU countries, the machinery directive (effective in January, 1995), EMC directive (effective in January, 1996) and low voltage directive (effective in January, 1997) of the EC directives require that products to be sold should meet their fundamental safety requirements and carry the CE marks (CE marking).
  • Page 417 APPENDIX (2) Structure The control circuit provide safe separation to the main circuit in the driver. Control box Reinforced insulating type 24VDC Servo amplifier Driver power (drive unit) supply No-fuse Magnetic Servo breaker contactor motor (Note) Converter unit Note. Drivers of 22kW or less do not have a converter unit. (3) Environment (a) Driver (drive unit) at or above pollution degree 2 set forth in IEC/EN 60664-1.
  • Page 418 APPENDIX (b) Do not connect two ground cables to the same protective earth (PE) terminal. Always connect cables to the terminals one-to-one. PE terminals PE terminals (c) If an earth leakage circuit breaker is used, always earth the protective earth (PE) terminal of the driver to prevent an electric shock.
  • Page 419 APPENDIX App. 7 Conformance with UL/C-UL standard This driver complies with UL 508C and CSA C22.2 No.14 standard. (1) Converter units, drivers (drive units) and servo motors used Use the converter units, drivers (drive units) and servo motors which standard product. Servo motor Driver LE-□-□...
  • Page 420 APPENDIX (7) Capacitor discharge time The capacitor discharge time is as follows. To ensure safety, do not touch the charging section for 15 minutes (20 minutes in case drive unit is 30kW or more) after power-off. Discharge Driver time (min) LECSB2-S5 LECSB2-S7 LECSB2-S8 LECSB1-S5 LECSB1-S7...
  • Page 421 APPENDIX (10) Overload protection characteristics An electronic thermal relay is built in the driver to protect the servo motor, driver and servo motor power line from overloads. The operation characteristics of the electronic thermal relay are shown below. It is recommended to use an unbalanced torque-generated machine, such as a vertical motion shaft, so that unbalanced torque is not more than 70 of the rated torque.
  • Page 422 APPENDIX (11) Figure configuration Representative configuration example to conform to the UL/C-UL standard is shown below. The earth wiring is excluded from the figure configuration. (a) LECSB□-□ Power supply Driver Servo amplifier Fuse no-fuse breaker Command device Encoder cable U, V, W Control panel side Machine side Servo motor...
  • Page 423 Revision history No.LEC-OM02401 Jun/2011 1st printing No.LEC-OM02402 Apr/2012 Revision Controller→Driver No.LEC-OM02403 Aug/2014 Revision Correction of words 15 SERVO MOTOR Add No.LEC-OM02404 Jan/2015 Revision Correction of words No.LEC-OM02405 Mar/2015 Revision Correction of words No.LEC-OM02406 (No.JXC※-OMT0021) Jan/2017 Revision Correction of figures No.LEC-OM02407 (No.JXC※-OMT0021-A) Oct/2017 Revision Correction of figures No.JXC※-OMT0021-B...

This manual is also suitable for:

Lecsb*-s5 seriesLecsb*-s7 seriesLecsb*-s8 series

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