Page 1 Doc. no. LEC-OM07103 (Doc no. JXC※-OMT0066) PRODUCT NAME AC Servo Motor Driver MODEL / Series/ Product Number LECYU Series...
Page 2: Introduction
Introduction This manual describes information required for designing, testing, adjusting, and maintaining LECYU Series driver. Keep this manual in a location where it can be accessed for reference whenever required. Manuals outlined on the following page must also be used as required by the application.
Page 3 • Notation Used in this Manual • Notation for Reverse Signals The names of reverse signals (i.e., ones that are valid when low) are written with a forward slash (/) before the signal name. Notation Example BK = /BK • Notation for Parameters The notation depends on whether the parameter requires a value setting (parameter for numeric settings) or requires the selection of a function (parameter for selecting...
Page 4 • Use the Sigma Win+ Select ΣV as an object series when you use Sigma Win+. Refer to the table for the following type when you select the model (parameter edit at offline etc.). Driver select Motor select Driver type Sigma Win+ Sigma Win+ SGDV-R90*11*Y572AA...
Page 5 LECYU2-□□ Series / Driver 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), Japan Industrial Standards (JIS)*1) and other safety regulations*2).
Page 6 2) Installation on equipment in conjunction with atomic energy, railways, air navigation, space, shipping, vehicles, military, medical treatment, combustion and recreation, or equipment in contact with food and beverages, emergency stop circuits, clutch and brake circuits in press applications, safety equipment or other applications unsuitable for the standard specifications described in the product catalog.
Page 7 LECYU2-□□ 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 8 This section describes important precautions that must be followed during storage, transportation, installation, wiring, operation, maintenance, inspection, and disposal. Be sure to always observe these precautions thoroughly. Warning • Never touch any electric actuators during operation. Failure to observe this warning may result in injury. •...
Page 9 Storage and Transportation • Caution • Do not store or install the product in the following locations. Failure to observe this caution may result in fire, electric shock, or damage to the equipment. • Locations subject to direct sunlight • Locations subject to temperatures outside the range specified in the storage/installation temperature conditions •...
Page 10 • Wiring Caution • Be sure to wire correctly and securely. Failure to observe this caution may result in electric actuators overrun, injury, or malfunction. • Do not connect a commercial power supply to the U, V, or W terminals for the motor cable connection. Failure to observe this caution may result in injury or fire.
Page 11 • Operation Caution • Always use the electric actuators and DRIVER in one of the specified combinations. Failure to observe this caution may result in fire or malfunction. • During trial operation, confirm that the holding lock works correctly. Furthermore, secure system safety against problems such as signal line disconnection.
Page 12: Handling Of Batteries For The United Nations Recommendations On The Transport Of Dangerous Goods
• Disposal Caution • When disposing of the products, treat them as ordinary industrial waste. • General Precautions Caution • The products shown in illustrations in this manual are sometimes shown without covers or protective guards. Always replace the cover or protective guard as specified first, and then operate the products in accordance with the manual.
Page 13: Harmonized Standards
Harmonized Standards • European Directives Model European Directives Harmonized Standards Machinery EN ISO13849-1: 2008 Directive EN 954-1 2006/42/EC LECY□□-V□ EN 55011 /A2 group 1, class A DRIVER (SGDV) EMC Directive EN 61000-6-2 2004/108/EC EN 61800-3 Low Voltage Directive EN 50178 2006/95/EC EN 61800-5-1 EN 55011 /A2 group 1, class A...
Page 14 • Safe Performance Items Standards Performance Level IEC 61508 SIL2 Safety Integrity Level IEC 62061 SILCL2 IEC 61508 PFH ⇐ 1.7×10 Probability of Dangerous Failure per Hour IEC 62061 [1/h] (0.17% of SIL2) Category EN 954-1 Category 3 Performance Level EN ISO 13849-1 PL d (Category 3) Mean Time to Dangerous Failure of Each...
Page 15: Table Of Contents
Contents Introduction ......................1 Safety.........................4 Handling of batteries for the United Nations Recommendations on the Transport of Dangerous Goods ....................11 Harmonized Standards....................12 1. Outline ......................1.1 LECY Series DRIVERs..................1-2 1.2 Part Names......................1-2 1.3 DRIVER Ratings and Specifications..............1-3 1.3.1 Ratings..........................1-3 1.3.2 Basic Specifications......................1-4 1.3.3 MECHATROLINK-III Function Specifications..............1-7 1.4 DRIVER Internal Block Diagrams..............1-8 1.4.1 Three-phase 200 V, LECYU2-V5, LECYU2-V7 Models............1-8...
Page 16 3. Wiring and Connection..................3-2 3.1 Main Circuit Wiring...................3-2 3.1.1 Main Circuit Terminals......................3-2 3.1.2 Using a Standard Power Supply (Three-phase 200 V)............3-3 3.1.3 Using the DRIVER with Single-phase, 200 V Power Input..........3-7 3.1.4 Using the DRIVER with a DC Power Input................3-10 3.1.5 Using More Than One DRIVER..................3-12 3.1.6 General Precautions for Wiring..................3-13 3.1.7 Specifications of motor cables and encoder cables............3-14...
Page 17 4.6.2 External Torque Limit......................4-31 4.6.3 Checking Output Torque Limiting during Operation............4-32 4.7 Absolute Encoders..................4-33 4.7.1 Connecting the Absolute Encoder..................4-34 4.7.2 Absolute Data Request (SENS ON Command)..............4-35 4.7.3 Battery Replacement......................4-36 4.7.4 Absolute Encoder Setup and Reinitialization..............4-38 4.7.5 Multiturn Limit Setting......................4-39 4.7.6 Multiturn Limit Disagreement Alarm (A.CC0)..............4-40 4.7.7 Absolute Encoder Origin Offset..................4-41 4.7.8 Absolute Data Reception Sequence..................4-41 4.8 Other Output Signals..................4-45...
Page 18 5.8.3 Current Control Mode Selection Function.................5-60 5.8.4 Current Gain Level Setting....................5-60 5.8.5 Speed Detection Method Selection...................5-60 5.8.6 Backlash Compensation Function..................5-61 5.8.7 Torque Reference Filter....................5-68 6. Utility Functions (Fn口口口) ................ 6-2 6.1 List of Utility Functions..................6-2 6.2 Alarm History Display (Fn000) ................6-3 6.3 JOG Operation (Fn002) ..................6-4 6.4 Origin Search (Fn003) ..................6-5 6.5 Program JOG Operation (Fn004) ..............6-6...
Page 19 8.7 Command Header Section of Main Command Area........8-14 8.7.1 Command Code (CMD/RCMD)..................8-14 8.7.2 Watchdog Data (WDT/RWDT)..................8-15 8.7.3 Command Control (CMD_CTRL)..................8-15 8.7.4 Command Status (CMD_STAT)..................8-16 8.8 Command Header Section of Subcommand Area.........8-20 8.8.1 Subcommand Codes (SUB_CMD/SUB_RCMD)...............8-20 8.8.2 Subcommand Control (SUB_CTRL).................8-20 8.8.3 Subcommand Status (SUB_STAT)...................8-21 8.9 Servo Command Format................8-22 8.10 Command Header Section................8-23 8.10.1 Servo Command Control (SVCMD_CTRL)..............8-23...
Page 20 8.15.5 Write Memory Subcommand (MEM_WR: 1EH) .............8-96 8.15.6 Servo Status Monitor Subcommand (SMON: 30H) ............8-97 8.15.7 Read Servo Parameter Subcommand (SVPRM_RD: 40H) ..........8-98 8.15.8 Write Servo Parameter Subcommand (SVPRM_WR: 41H) ...........8-99 8.16 Preparing for Operation 8-100 ....................8.16.1 Setting MECHATROLINK-III Communications..............8-100 8.16.2 Checking the Communications Status................8-100 8.17 Parameter Management and Operation Sequence 8-101...
Page 21 10. List of Parameters..................10-2 10.1 List of Parameters..................10-2 ................... 10.1.1 Utility Functions 10-2 ....................10.1.2 Parameters 10-3 ............10.1.3 MECHATROLINK-III Common Parameters 10-37 10.2 Parameter Recording Table...............10-45...
Page 22 1. Outline .............................. 2 1.1 LECY Series DRIVERs ......................2 1.2 Part Names ..........................2 1.3 DRIVER Ratings and Specifications ..................3 1.3.1 Ratings ..........................3 1.3.2 Basic Specifications ......................4 1.3.3 MECHATROLINK-III Function Specifications ..............7 1.4 DRIVER Internal Block Diagrams .................... 8 1.4.1 Three-phase 200 V, LECYU2-V5, LECYU2-V7 Models ..........
Page 23: Outline
1 Outline 1. Outline 1.1 LECY Series DRIVERs The LECY Series DRIVERs are designed for applications that require frequent high-speed, high-precision positioning. The DRIVER makes the most of machine performance in the shortest time possible, thus contributing to improving productivity. 1.2 Part Names This section describes the part names of LECYU DRIVER for MECHATROLINK-III communications reference.
Page 24: Driver Ratings And Specifications
1 Outline 1.3 DRIVER Ratings and Specifications This section describes the ratings and specifications of DRIVERs. 1.3.1 Ratings Ratings of DRIVERs are as shown below. LECYU (Three Phase, 200 V) 0.91 Continuous Output Current [Arms] Instantaneous Max. Output 16.9 Current [Arms] Regenerative Resistor None or external Built-in or external...
Page 25: Basic Specifications
1 Outline 1.3.2 Basic Specifications Basic specifications of DRIVERs are shown below. Drive Method Sine-wave current drive with PWM control of IGBT Feedback Encoder: 20-bit (absolute) Surrounding Air Temper- 0°C to +55°C ature Storage Temperature -20°C to +85°C Ambient Humidity 90% RH or less With no freezing or condensation Storage Humidity...
Page 26 1 Outline (cont’d) Phase A, B, Z: line driver Encoder Output Pulse Encoder output pulse: any setting ratio (Refer to 4.4.5.) Number of 7 ch Channels • Homing deceleration switch (/DEC) Input • External latch (/EXT 1 to 3) Sequence Signals •...
Page 27 1 Outline Overcurrent, overvoltage, insufficient voltage, overload, regeneration error, Protective Function and so on. (cont’d) Utility Function Gain adjustment, alarm history, JOG operation, origin search, and so on. Input /HWBB1, /HWBB2: Baseblock signal for power module Output EDM1: Monitoring status of internal safety circuit (fixed output) Safety Function EN954 Category 3, IEC61508 SIL2 Standards...
Page 28: Mechatrolink-Iii Function Specifications
1 Outline 1.3.3 MECHATROLINK-III Function Specifications The following table shows the specifications of MECHATROLINK-III. Function Specifications Communication MECHATROLINK-III Protocol 03H to EFH (Max. number of stations: 62) Station Address Use the rotary switches S1 and S2 to set the station address.
Page 29: Driver Internal Block Diagrams
1 Outline 1.4 DRIVER Internal Block Diagrams 1.4.1 Three-phase 200 V, LECYU2-V5, LECYU2-V7 Models 1.4.2 Three-phase 200 V, LECYU2-V8 Model...
Page 30: Three-Phase 200 V, Lecyu2-V9 Models
1 Outline 1.4.3 Three-phase 200 V, LECYU2-V9 Models...
Page 31: Examples Of Servo System Configurations
1 Outline 1.5 Examples of Servo System Configurations This section describes examples of basic servo system configuration. 1.5.1 Connecting to LECYU2-V口 DRIVER (1) Using a Three-phase, 200-V Power Supply DRIVER inserted. Lock Power supply *1 Used for an electric actuators with lock. Magnetic contactor Tums the lock power supply ON and OFF.
Page 32 1 Outline (2) Using a Single-phase, 200-V Power Supply The LECY Series 200 V DRIVER generally specifies a three-phase power input but some models can be used with a single-phase 200 V power supply. Refer to 3.1.3 Using the DRIVER with Single-phase, 200 V Power Input for details.
Page 33: Driver Model Designation
1 Outline 1.6 DRIVER Model Designation This section shows DRIVER model designation. －ＬＥＣY Compatible motor type Capacity Type Encoder Driver type AC servo motor (V6) 100W MECHATROLINK-Ⅲ type 200W AC servo motor (V7) Absolute 400W (For absolute encoder) AC servo motor (V8) AC servo motor (V9) 750W Power supply voltage...
Page 34: Inspection And Maintenance
1 Outline 1.7 Inspection and Maintenance This section describes the inspection and maintenance of DRIVER. (1) DRIVER Inspection For inspection and maintenance of the DRIVER, follow the inspection procedures in the following table at least once every year. Other routine inspections are not required. Item Frequency Procedure...
Page 35: Installation Environment And Applicable Standards
1 Outline 1.8 Installation Environment and Applicable Standards 1.8.1 DRIVER Installation Environment Surrounding air temperature: 0 to 55°C Ambient humidity: 90% RH or less (with no condensation) Altitude: 1,000 m or less Vibration resistance: 4.9 m/s Shock resistance: 19.6 m/s Installation Precautions •...
Page 36: Installation Conditions For Applicable Standards
1 Outline 1.8.2 Installation Conditions for Applicable Standards Applicable EN50178, EN55011/A2 group1 classA, EN61000-6-2, EN61800-3, Standards EN61800-5-1, EN954-1, IEC61508-1 to 4 Overvoltage Category: III Operating Pollution degree: 2 Conditions Protection class: IP10 Low Voltage Directive: Satisfy the conditions outlined in 1.8.3 Conditions Corresponding to Low Voltage Directive of this manual. Installation EMC Directive: Conditions...
Page 37: Driver Installation
1 Outline 1.9 DRIVER Installation 1.9.1 Orientation Mount the DRIVER with a vertical orientation. Firmly secure the DRIVER to the mounting surface, using either two or four mounting holes depending on the DRIVER capacity. 1.9.2 Installation Standards Observe the standards for mounting DRIVERs in control panels, including those for the mounting DRIVERs side by side in one control panel as shown in the following illustration.
Page 38 1 Outline • Inside the Control Panel The conditions inside the control panel should be the same as the environmental conditions of the DRIVER. Refer to 1.8.1 DRIVER Installation Environment. The DRIVERs have an Installation Environment monitor. With this monitor, operation conditions in the nstallation environment can be observed and measured.
Page 39 2 P a n e l D i s p l a y a n d SigmaWin+ 2. Panel Display and Operation of SigmaWin+ ................2 2.1 Panel Display ..........................2 2.1.1 Status Display ........................2 2.1.2 Alarm and Warning Display ..................... 2 2.1.3 Hard Wire Base Block Display ..................
Page 40: Panel Display And Sigmawin
2 P a n e l D i s p l a y a n d SigmaWin+ 2. Panel Display and SigmaWin+ 2.1 Panel Display The servo status can be checked on the panel display of the DRIVER. Also, if an alarm or warning occurs, its alarm or warning number is displayed.
Page 41: Operation Of Sigmawin
Please download the install program from our home page. SigmaWin+ is the registered trademarks of YASKAWA ELECTRIC Corporation. 2.2.1 Compatible Devices - LECYM series - LECYU series 2.2.2 Hardware requirements When using setup software (SigmaWin+ ), use a DOS/V PC/AT compatible PC that meets the following operating conditions.
Page 42 2 P a n e l D i s p l a y a n d SigmaWin+ 1. Please download the install program from our home page. 2. "SETUP.EXE" of the file is double-clicked. A message will appear, welcoming you to the SigmaWin+ program. 3.
Page 43 2 P a n e l D i s p l a y a n d SigmaWin+ 4. Follow the onscreen instructions to choose a destination folder to copy the SigmaWin+ file to, and click Next to continue. 5. Select the setup type. Choose "Normal Setup" and click Next. 6.
Page 44 2 P a n e l D i s p l a y a n d SigmaWin+ Then the PC files are copied. The percentage of the copying that has been completed is shown. Note: If new versions of the PC support files are needed to install SigmaWin+, a window will appear asking whether to overwrite the current version or to cancel the installation.
Page 45 2 P a n e l D i s p l a y a n d SigmaWin+ If dialog box (a) is displayed, click Finish to complete the setup. 7. If dialog box (b) is displayed, select Yes when asked if you want to restart the computer and then click Finish to complete the setup.
Page 46 2 P a n e l D i s p l a y a n d SigmaWin+ The LECY* USB driver cannot be installed by using the SigmaWin+ installer. When a SigmaWin+ equipped PC is connected to the LECY* through a USB connection, use the following procedure to install the USB driver.
Page 47 2 P a n e l D i s p l a y a n d SigmaWin+ 9. Select the Include subfolders check box. Click Browse to select the folder. < For Windows 7 (32 bit) or Windows Vista > "C:¥Program Files¥SigmaIDE¥SigmaWinPlus¥Driver¥USB"...
Page 48 2 P a n e l D i s p l a y a n d SigmaWin+ - For Windows XP 1. Turn on the power to the PC to start Windows XP. 2. Confirm that SigmaWin+ has been installed. If it has not yet been installed, please install. 3.
Page 49 2 P a n e l D i s p l a y a n d SigmaWin+ 7. When the installation is finished, click Finish. This completes the driver installation. - Confirming the Installation Status Use the following procedure to make sure that the system recognizes the LECY* as a USB device and that the USB driver is installed correctly.
Page 50: Starting Sigmawin
2 P a n e l D i s p l a y a n d SigmaWin+ 5. Make sure "This device is working properly." is displayed in the Device status field. When "This device is working properly." is displayed, the LECY* is ready to be used through a USB connection.
Page 51 2 P a n e l D i s p l a y a n d SigmaWin+ Select the method to set up the DRIVER: online or offline. Online is the default setting. Online: Select when setting up or tuning the servo drive with the DRIVER connected Offline: Select when editing parameters or checking screens for tracing or mechanical analysis without the DRIVER connected <When Offline is selected>...
Page 52 2 P a n e l D i s p l a y a n d SigmaWin+ <When Online is selected> Enter the necessary settings for communication setup. (1) Click Search. (2) Click ΣV. Then Click Search. After the DRIVERs have been successfully connected to SigmaWin+, a list of the connected DRIVERs will appear on the screen.
Page 53: Utility Functions
2 P a n e l D i s p l a y a n d SigmaWin+ DRIVER Selection Box (3) Select the DRIVER to be connected and then click Connect, or just doubleclick the DRIVER to be connected. The SigmaWin+ main window will appear. Click Cancel to close the dialog box.
Page 54: Notation For Parameters
2 P a n e l D i s p l a y a n d SigmaWin+ 2.4.2 Notation for Parameters 2.4.3 Setting Parameters In the SigmaWin+ Σ-V component main window, click Parameters and then click Edit Parameters. The Parameter Editing window for the online mode appears. For more information on the usage of the setting parameters, refer to AC Servo Drives Engineering Tool Sigma Win+ ONLINE MANUAL Σ-V Component.
Page 55 3. Wiring and Connection ......................2 3.1 Main Circuit Wiring ......................2 3.1.1 Main Circuit Terminals ....................2 3.1.2 Using a Standard Power Supply (Three-phase 200 V) ..........3 3.1.3 Using the DRIVER with Single-phase, 200 V Power Input ........7 3.1.4 Using the DRIVER with a DC Power Input ............
Page 56: Wiring And Connection
3 Wiring and Connection 3. Wiring and Connection 3.1 Main Circuit Wiring The names and specifications of the main circuit terminals are given below. Also this section describes the general precautions for wiring and precautions under special environments. 3.1.1 Main Circuit Terminals : Main circuit terminals Terminal Name...
Page 57: Using A Standard Power Supply (Three-Phase 200 V)
3 Wiring and Connection 3.1.2 Using a Standard Power Supply (Three-phase 200 V) (1) Wire Types Use the following type of wire for main circuit. Cable Type Allowable Conductor Temperature °C Symbol Name 600 V grade polyvinyl chloride insulated wire 600 V grade heat-resistant polyvinyl chloride insulated wire The following table shows the wire sizes and allowable currents for three wires.
Page 58 3 Wiring and Connection (2) Main Circuit Wires This section describes the main circuit wires for DRIVERs. • The specified wire sizes are for use when the three lead cables are bundled and when the rated electric current is applied with a surrounding air temperature of 40°C. •...
Page 59 3 Wiring and Connection - Three-phase 200 V, LECYU2-V口 DRIVER ∗ For the LECYU2-V5, V7, V8, terminals B2 and B3 are not short-circuited. Do not short-circuit these terminals. (4) Power Supply Capacities and Power Losses The following table shows the DRIVER’s power supply capacities and power losses. Maximum Main Main...
Page 60 3 Wiring and Connection (5) How to Select Molded-case Circuit Breaker and Fuse Capacities The following table shows the DRIVER’s current capacities and inrush current. Select a molded-case circuit breaker and fuses in accordance with these specifications. Maximum Power Sup- Current Capacity Inrush Current Main Circuit...
Page 61: Using The Driver With Single-Phase, 200 V Power Input
3 Wiring and Connection 3.1.3 Using the DRIVER with Single-phase, 200 V Power Input LECYU2 series three-phase 200 V power input DRIVER can be used also with a single-phase 200 V power supply. When using the DRIVER with single-phase, 200 V power input, set parameter Pn00B.2 to 1. (1) Parameter Setting - Single-phase Power Input Selection When...
Page 62 3 Wiring and Connection (2) Main Circuit Power Input Terminals Connect a single-phase 200 V power supply of the following specifications to L1 and L2 terminals. The specifications of the power supplies other than the main circuit power supply are the same as for three- phase power supply input.
Page 63 3 Wiring and Connection (5) Power Supply Capacities and Power Losses The following table shows DRIVER’s power supply capacities and power losses when using single- phase 200 V power supply. Maximum Power Supply Regenerative Control Total Main Circuit Applicable DRIVER Output Main Circuit Capacity per...
Page 64: Using The Driver With A Dc Power Input
3 Wiring and Connection 3.1.4 Using the DRIVER with a DC Power Input (1) Parameter Setting When using a DC power supply, make sure to set the parameter Pn001.2 to 1 (DC power input supported) before inputting DC power. Parameter Meaning When Enabled Classification n.口0口口...
Page 65 3 Wiring and Connection (3) Wiring Example with DC Power Supply Input DRIVER 3-11...
Page 66: Using More Than One Driver
3 Wiring and Connection 3.1.5 Using More Than One DRIVER This section shows an example of the wiring and the precautions when more than one DRIVER is used. (1) Wiring Example Connect the alarm output (ALM) terminals for three DRIVERs in series to enable alarm detection relay 1RY to operate.
Page 67: General Precautions For Wiring
3 Wiring and Connection 3.1.6 General Precautions for Wiring • Use a molded-case circuit breaker (1QF) or fuse to protect the main circuit. The DRIVER connects directly to a commercial power supply; it is not isolated through a transformer or other device. Always use a molded-case circuit breaker (1QF) or fuse to protect the servo system from accidents involving different power system voltages or other accidents.
Page 68: Specifications Of Motor Cables And Encoder Cables
3 Wiring and Connection 3.1.7 Specifications of motor cables and encoder cables Servo Order No. motor Name Lock Length Standard Robot Specifications Details Rated LE-CY□-S□A-□ LE-CY□-R□A-□ Output LE-CYM-S3A-5 LE-CYM-R3A-5 LE-CYM-S5A-5 LE-CYM-R5A-5 100W LE-CYM-SAA-5 LE-CYM-RAA-5 LE-CYM-SCA-5 LE-CYM-RCA-5 DRIVER End LE-CYM-S3A-7 LE-CYM-R3A-7 LE-CYM-S5A-7 LE-CYM-R5A-7 Motor...
Page 69 3 Wiring and Connection (1) Wiring Specifications for Motor cable (2) Wiring Specifications for Motor cable with lock DRIVER-end Leads DRIVER-end Leads Lock Lock Lock Lock Note: No polarity for connection to a lock. (3) Wiring Specifications for Encoder cable - Standard type - Robot type DRIVER End...
Page 70: I/O Signal Connections
3 Wiring and Connection 3.2 I/O Signal Connections This section describes the names and functions of I/O signals (CN1). Also connection examples by control method are shown. 3.2.1 /O Signal (CN1) Names and Functions The following table shows the names and functions of I/O signals (CN1). (1) Input Signals Refer- Signal...
Page 71: Safety Function Signal (Cn8) Names And Functions
3 Wiring and Connection (2) Output Signals Refer- Signal Pin No. Name Function ence Section ALM+ Servo alarm output − Turns OFF when an error is detected. ALM- signal /BK+ Controls the lock. The lock is released when the signal turns (/SO1+) Lock interlock signal 4.3.2...
Page 72: Example Of I/O Signal Connections
3 Wiring and Connection 3.2.3 Example of I/O Signal Connections The following diagram shows a typical connection example. DRIVER Lock (Lock released when ON) DRIVER ∗1. represents twisted-pair wires. ∗3. The 24-VDC power supply is not included. Use a 24-VDC power supply with double insulation or reinforced insulation.
Page 73: I/O Signal Allocations
3 Wiring and Connection 3.3 I/O Signal Allocations This section describes the I/O signal allocations. 3.3.1 Input Signal Allocations • Inverting the polarity of the forward run prohibited and reverse run prohibited signals from the factory setting will prevent the overtravel function from working in case of sig- nal line disconnections or other failures.
Page 74 3 Wiring and Connection Connection Not Required CN1 Pin Numbers (DRIVER Valid- Input Signal Names Input judges the connec- and Parameters Signal tion) Level Always Always P-OT Forward Run Prohibited Pn50A.3 /P-OT Reverse Run Prohibit- N-OT /N-OT Pn50B.0 Forward External /P-CL Torque Limit P-CL...
Page 75: Output Signal Allocations
3 Wiring and Connection 3.3.2 Output Signal Allocations • The signals not detected are considered as "Invalid." For example, Positioning Com- pletion (/COIN) signal in speed control is "Invalid." • Inverting the polarity of the lock signal (/BK), i.e. positive logic, will prevent the holding lock from working in case of its signal line disconnection.
Page 76: Examples Of Connection To Pc Or Plc
3 Wiring and Connection 3.4 Examples of Connection to PC or PLC...etc This section shows examples of DRIVER I/O signal connection to the PC or PLC...etc. 3.4.1 Sequence Input Circuit (1) Photocoupler Input Circuit CN1 connector terminals 6 to 13 are explained below. The sequence input circuit interface is connected through a relay or open-collector transistor circuit.
Page 77: Sequence Output Circuit
3 Wiring and Connection (2) Safety Input Circuit As for wiring input signals for safety function, input signals make common 0 V. It is necessary to make an input signal redundant. DRIVER 3.4.2 Sequence Output Circuit Three types of DRIVER output circuit are available. Incorrect wiring or incorrect voltage application to the output circuit may cause short-cir- cuit.
Page 78 3 Wiring and Connection (2) Line Driver Output Circuit CN1 connector terminals, 17-18 (phase-A signal), 19-20 (phase-B signal), and 21-22 (phase-Z signal) are explained below. These terminals output the following signals via the line-driver output circuits. • Output signals for which encoder serial data is converted as two phases pulses (PAO, /PAO, PBO, /PBO) •...
Page 79: Wiring Mechatrolink-Iii Communications
3 Wiring and Connection 3.5 Wiring MECHATROLINK-III Communications The following diagram shows an example of connections between a PC or PLC...etc and a DRIVER using MECHATROLINK-III communications cables (CN6A, CN6B). Note 1 Note 1 Note 1. The length of the cable between stations (L1, L2 ... Ln) must be 75 m maximum. For removing the MECHATROLINK-III communications cable connectors from the DRIVER, refer to the following procedure.
Page 80: Encoder Connection
3 Wiring and Connection 3.6 Encoder Connection This section describes the encoder signal (CN2) names, functions, and connection examples. 3.6.1 Encoder Signal (CN2) Names and Functions The following table shows the names and functions of encoder signals (CN2). Signal Name Pin No.
Page 81: Encoder Connection Examples
3 Wiring and Connection 3.6.2 Encoder Connection Examples The following diagrams show connection examples of the encoder, the DRIVER, and the PC or PLC...etc. DRIVER PC or PLC...etc ∗1. The pin arrangement for wiring connectors varies in accordance with the servomotor that is used. ∗2.
Page 82: Connecting Regenerative Resistors
3 Wiring and Connection 3.7 Connecting Regenerative resistors If the built-in regenerative resistor is insufficient, connect an external regenerative resistor by one of the following methods and set the regenerative resistors capacity (Pn600). Precautions on selecting a regenerative resistor and its specifications are shown below.
Page 83: Setting Regenerative Resistor Capacity
3 Wiring and Connection 3.7.1 Connecting Regenerative Resistors The following instructions show how to connect the regenerative resistors and DRIVERs. (1) DRIVERs: Model LECYU2-V5, V7, V8 Connect an external regenerative resistors between the B1/ and B2 terminals on the DRIVER. After connecting a option, select the capacity.
Page 84: Setting Regenerative Resistors Capacity
3 Wiring and Connection 3.7.2 Setting Regenerative resistors Capacity When using an external regenerative resistors, set the Pn600 so that the regenerative resistors capacity is equivalent to the resistor capacity. WARNING • If parameter Pn600 is set to 0 while an external regenerative resistors is connected, the regenerative over- load alarm (A.320) may not be detected.
Page 85: Noise Control And Measures For Harmonic Suppression
3 Wiring and Connection 3.8 Noise Control and Measures for Harmonic Suppression This section describes the wiring for noise control and the DC reactor for harmonic suppression. 3.8.1 Wiring for Noise Control • Because the DRIVER is designed as an industrial device, it provides no mechanism to prevent noise interference.
Page 86 3 Wiring and Connection (1) Noise Filter The DRIVER has a built-in microprocessor (CPU), so protect it from external noise as much as possible by installing a noise filter in the appropriate place. The following is an example of wiring for noise control. DRIVER ∗1.
Page 87: Precautions On Connecting Noise Filter
3 Wiring and Connection 3.8.2 Precautions on Connecting Noise Filter This section describes the precautions on installing a noise filter. (1) Noise Filter Brake Power Supply Use the following noise filter at the brake power input for 400-W or less servomotors with holding locks. MODEL: FN2070-6/07 (Manufactured by SCHAFFNER Electronic.) (2) Precautions on Using Noise Filters Always observe the following installation and wiring instructions.
Page 88 3 Wiring and Connection Connect the noise filter ground wire directly to the ground plate. Do not connect the noise filter ground wire to other ground wires. Incorrect Correct Noise Noise Filter Filter DRIVER DRIVER DRIVER DRIVER Shielded ground wire Ground plate Ground plate If a noise filter is located inside a control panel, first connect the noise filter ground wire and the ground wires from...
Page 89: Emc Installation Conditions
3 Wiring and Connection 3.8.3 EMC Installation Conditions This section describes the recommended installation conditions that satisfy EMC guidelines for each model of the DRIVER. This section describes the EMC installation conditions. The actual EMC level may differ depending on the actual system’s configuration, wiring, and other conditions.
Page 90 3 Wiring and Connection (2) Three-phase 200V (LECYU2-V9) Lock Driver Lock Symbol Cable Name Specification ① I/O signal cable Shield cable ② Safety signal cable Shield cable ③ Motor cable Shield cable ④ Encoder cable Shield cable ⑤ Main circuit cable Shield cable MECHATROLINK-III ⑥...
Page 91 3 Wiring and Connection (3) Other Precautions - Attachment Methods of Ferrite Cores - Recommended Ferrite Core Cable Name Ferrite Core Model Manufacturer Motor cable ESD-SR-250 NEC TOKIN Corp. - Recommended Noise Filter Noise Filter Selection Main Circuit Driver Model Recommended Noise Filter Details Power Supply...
Page 92 3 Wiring and Connection External Dimensions (Units: mm) [1] FN Type (by Schaffner EMC, Inc.) 3-38...
Page 93 3 Wiring and Connection [2] FN Type 3-39...
Page 94 3 Wiring and Connection - Recommended Surge Absorber The surge absorber (for Lightning surge) absorbs lightning surge and prevents faulty operation in or damage to electronic circuits. Main Circuit Power Supply Recommended Surge Absorber Single-phase 200V LT-C12G801WS [by SOSHIN ELECTRIC CO., LTD.] Three-phase 200V LT-C32G801WS [by SOSHIN ELECTRIC CO., LTD.] - Fixing the Cable...
Page 95: Specification Of Option Cables
3 Wiring and Connection 3.9 Specification of option cables - Cables for CN1 CN6 CN7 CN8 (MECHATROLINK-III Communications Reference DRIVERs) I/O Connector I/O Cable Name Length Order No. Specifications Details Soldered I/O Connector (Non cable) LE-CYNA (1)-1) Cables for I/O Signals I/O Cable 1.5m...
Page 96 3 Wiring and Connection I/O Signals kit ( I/O Connector (Non cable) (LE-CYNA) Use the following connector and cable to assemble the cable. The CN1 connector kit includes one case and one connector. Connector Kit Case Connector Model Model Model １...
Page 97 3 Wiring and Connection 2） I/O Cable (1.5m) (LEC-CSNA-1) includes one case and one connector. I/O Cable Case Connector Connector Kit Model Model １ 10126-3000PE* 10326-52F0-008* 1 set (Soldered) : Manufactured by Sumitomo 3M Ltd. Cable Size Item Specifications Use twisted-pair or twisted-pair Cable shielded wire.
Page 98 3 Wiring and Connection (2) Connection Cable for Personal Computer for CN7 (Model: LEC-JZ-CVUSB) - External Dimensions (Units: mm) Use a cable specified by this company. When using other cables, operation cannot be guaranteed. (3) Cable with Connectors at Both Ends for CN6 (Model: LEC-CYU-□) - External Dimensions (Units: mm) Model...
Page 99 3 Wiring and Connection (4) Cable with Connector for CN8 (Model: LEC-JZ-CVSAF) - External Dimensions (Units: mm) 3-45...
Page 100 4 Operation 4. Operation ............................3 4.1 MECHATROLINK-III Communications Settings ..............3 4.1.1 Setting Switches S1, S2, and S3 ..................3 4.2 MECHATROLINK-III Commands .................... 4 4.3 Basic Functions Settings ......................4 4.3.1 Servomotor Rotation Direction .................... 4 4.3.2 Overtravel..........................5 4.3.3 Software Limit Settings .......................
Page 101 4 Operation 4.9.2 External Device Monitor (EDM1) ..................59 4.9.3 Application Example of Safety Functions ................. 61 4.9.4 Confirming Safety Functions....................62 4.9.5 Connecting a Safety Function Device ................63 4.9.6 Precautions for Safety Function ..................64...
Page 102: Operation
4 Operation 4. Operation 4.1 MECHATROLINK-III Communications Settings This section describes the switch settings necessary for MECHATROLINK-III communications. 4.1.1 Setting Switches S1, S2, and S3 The DIP switch S3 is used to make the settings for MECHATROLINK-III communications. The station address is set using the rotary switches S1 and S2. (1) Settings of the Rotary Switches S1 and S2 Set the station address using the rotary switches S1 and S2.
Page 103: Mechatrolink-Iii Commands
4 Operation 4.2 MECHATROLINK-III Commands For information on the MECHATROLINK-III commands, refer to 8. Commands. 4.3 Basic Functions Settings 4.3.1 Servomotor Rotation Direction The servomotor rotation direction can be reversed with parameter Pn000.0 without changing the polarity of the speed/position reference. This causes the rotation direction of the servomotor to change, but the polarity of the signal, such as encoder output pulses, output from the DRIVER does not change.
Page 104: Overtravel
4 Operation 4.3.2 Overtravel The overtravel limit function forces movable machine parts to stop if they exceed the allowable range of motion and turn ON a limit switch. CAUTION • Installing limit switches For machines that move using linear motion, connect limit switches to P-OT and N-OT of CN1 as shown below to prevent machine damage.
Page 105 4 Operation (3)Servomotor Stopping Method When Overtravel is Used There are three servomotor stopping methods when an overtravel is used. - Dynamic brake By short-circuiting the electric circuits, the servomotor comes to a quick stop. - Decelerate to a stop Stops by using emergency stop torque.
Page 106 4 Operation (4)Overtravel Warning Function This function detects an overtravel warning (A.9A0) if overtravel occurs while the servomotor power is ON. Using this function enables notifying the host PC or PLC...etc when the DRIVER detects overtravel even if the overtravel signal is ON only momentarily. To use the overtravel warning function, set digit 4 of Pn00D to 1 (detects overtravel warning).
Page 107: Software Limit Settings
4 Operation 4.3.3 Software Limit Settings The software limits set limits in software for machine movement that do not use the overtravel signals (P-OT and N-OT). If a software limit is exceeded, an emergency stop will be executed in the same way as it is for overtravel.
Page 108: Holding Locks
4 Operation 4.3.4 Holding Locks A holding lock is a lock used to hold the position of the movable part of the machine when the DRIVER is turned OFF so that movable part does not move due to gravity or external forces. Holding locks are built into servomotors with locks.
Page 109 4 Operation Lock Operation Delay Time Model Voltage Lock Release Time (ms) Lock Applied Time (ms) LECYU2-V5, V7, V8 24 VDC LECYU2-V9 Note: The above operation delay time is an example when the power supply is turned ON and OFF on the DC side. Be sure to evaluate the above times on the actual equipment before using the application.
Page 110 4 Operation • Select the optimum surge absorber in accordance with the applied lock current and lock power supply. When using the 24-V power supply: Z15D121 (Made by SEMITEC Corporation) • After the surge absorber is connected, check the total time the lock is applied for the system.
Page 111 4 Operation (3) Lock signal (/BK) Allocation Use parameter Pn50F.2 to allocate the /BK signal. Connector When Classifica- Pin Number Parameter Meaning Enabled tion + Terminal - Terminal – – n.口0口口 The /BK signal is not used. n.口1口口 The /BK signal is output from output CN1-1 CN1-2 [Factory...
Page 112 4 Operation (5) Lock signal (/BK) Output Timing during Servomotor Rotation If an alarm occurs while the servomotor is rotating, the servomotor will come to a stop and the lock signal (/BK) will be turned OFF. The timing of lock signal (/BK) output can be adjusted by setting the lock reference output speed level (Pn507) and the waiting time for lock signal when motor running (Pn508).
Page 113: Stopping Servomotors After Sv_Off Command Or Alarm Occurrence
4 Operation 4.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence The servomotor stopping method can be selected after the SV_OFF command is received or an alarm occurs. • Dynamic braking (DB) is used for emergency stops. The DB circuit will operate fre- quently if the power is turned ON and OFF or the SV_ON command and SV_OFF command are received with a reference input applied to start and stop the servomo- tor, which may result in deterioration of the internal elements in the DRIVER.
Page 114 4 Operation (2) Stopping Method for Servomotor When an Alarm Occurs There are two types of alarms (Gr.1 and Gr.2) that depend on the stopping method when an alarm occurs. Select the stopping method for the servomotor when an alarm occurs using Pn001.0 and Pn00B.1.
Page 115: Instantaneous Power Interruption Settings
4 Operation 4.3.6 Instantaneous Power Interruption Settings Determines whether to continue operation or turn OFF the servomotor’s power when the power supply voltage to the DRIVER's main circuit is interrupted. Instantaneous Power Cut Hold Time Position Speed Torque Classification Pn509 Setting Range Setting Unit Factory Setting...
Page 116: Semi F47 Function
4 Operation 4.3.7 SEMI F47 Function (Torque Limit Function for Low DC Power Supply Voltage for Main Circuit) The torque limit function detects an undervoltage warning and limits the output current if the DC power sup- ply voltage for the main circuit in the DRIVER drops to a specified value because the power was momentarily interrupted or the power supply voltage for the main circuit was temporality lowered.
Page 117 4 Operation - With the DRIVER only The torque is limited in the DRIVER in response to an undervoltage warning. The DRIVER controls the torque limit value in the set time after the undervoltage warning is cleared. Use Pn008.1 to specify whether the function is executed by the host PC or PLC...etc and DRIVER or by the DRIVER only.
Page 118: Setting Motor Overload Detection Level
4 Operation 4.3.8 Setting Motor Overload Detection Level In this DRIVER, the detection timing of the warnings and alarms can be changed by changing how to detect an overload warning (A.910) and overload (low load) alarm (A.720). The overload characteristics and the detection level of the overload (high load) alarm (A.710) cannot be changed.
Page 119 4 Operation (2) Changing Detection Timing of Overload (Low Load) Alarm (A.720) An overload (low load) alarm (A.720) can be detected earlier to protect the servomotor from overloading. The time required to detect an overload alarm can be shortened by using the derated motor base current obtained with the following equation.
Page 120: Trial Operation
4 Operation As a guideline of motor heating conditions, the relationship between the heat sink sizes and deratings of base current is shown in a graph. Set Pn52C to a value in accordance with the heat sink size and derating shown in the graph, so that an overload alarm can be detected at the best timing to protect the servomotor from overloading.
Page 121: Trial Operation Via Mechatrolink-Iii
4 Operation 4.4.2 Trial Operation via MECHATROLINK-III The following table provides the procedures for trial operation via MECHATROLINK-III. Step Description Reference Confirm that the wiring is correct, and then connect the I/O signal con- 3 Wiring and Connection nector (CN1 connector). Turn ON the power to the DRIVER.
Page 122: Electronic Gear
4 Operation 4.4.3 Electronic Gear The electronic gear enables the workpiece travel distance per reference unit input from the host PC or PLC...etc. The minimum unit of the position data moving a load is called a reference unit. (1) Electronic Gear Ratio Set the electronic gear ratio using Pn20E and Pn210.
Page 123 4 Operation - Encoder Resolution Encoder resolution is 1048576. ≤ ≤ Electronic gear ratio setting range: 0.001 Electronic gear ratio (B/A) 4000 If the electronic gear ratio is outside this range, a parameter setting error 1 (A.040) will be output. (2) Electronic Gear Ratio Setting Examples The following examples show electronic gear ratio settings for different load configurations.
Page 124: Encoder Output Pulses
4 Operation 4.4.4 Encoder Output Pulses The encoder pulse output is a signal that is output from the encoder and processed inside the DRIVER. It is then output externally in the form of two phase pulse signal (phases A and B) with a 90° phase differential. It is used as the position feedback to the host PC or PLC...etc.
Page 125: Setting Encoder Output Pulse
4 Operation 4.4.5 Setting Encoder Output Pulse Set the encoder output pulse using the following parameter. Encoder Output Pulses Position Torque Speed Classification Pn212 Setting Range Setting Unit Factory Setting When Enabled 16 to 1073741824 1 P/rev 2048 After restart Setup Pulses from the encoder per revolution are divided inside the DRIVER by the number set in this parame- ter before being output.
Page 126: Test Without Motor Function
4 Operation 4.5 Test Without Motor Function The test without a motor is used to check the operation of the host PC or PLC...etc and peripheral devices by simulating the operation of the servomotor in the DRIVER, i.e., without actually operating a servomotor. This function enables you to check wiring, verify the system while debugging, and verify parameters, thus shortening the time required for setup work and preventing damage to the machine that may result from possible mal- functions.
Page 127: Motor Position And Speed Responses
4 Operation -Encoder Type The encoder information for the motor is set in Pn00C.2. When Parameter Meaning Classification Enabled n.口0口口 Sets an incremental encoder as an encoder type for the test without a motor. [Factory setting] Pn00C After restart Setup Sets an absolute encoder as an encoder type for the test n.口1口口...
Page 128: Limitations
4 Operation 4.5.3 Limitations The following functions cannot be used during the test without a motor. • Regeneration and dynamic brake operation • Brake output signal (The brake output signal can be checked with the I/O signal monitor function of the Sig- maWin+.) •...
Page 129: Limiting Torque
4 Operation 4.6 Limiting Torque The DRIVER provides the following four methods for limiting output torque to protect the machine. Reference Sec- Limiting Method Description tion Always limits torque by setting the parameter. 4.6.1 Internal torque limit Limits torque by input signal from the host PC or PLC...etc. 4.6.2 External torque limit Torque limit with the...
Page 130: External Torque Limit
4 Operation 4.6.2 External Torque Limit Use this function to limit torque by inputting a signal from the host PC or PLC...etc at specific times during machine operation. For example, some pressure must continually be applied (but not enough to damage the workpiece) when the robot is holding a workpiece or when a device is stopping on contact.
Page 131: Checking Output Torque Limiting During Operation
4 Operation (3) Changes in Output Torque during External Torque Limiting The following diagrams show the change in output torque when the internal torque limit is set to 800%. In this example, the servomotor rotation direction is Pn000.0 = 0 (Sets CCW as forward direction). 4.6.3 Checking Output Torque Limiting during Operation The following signal can be output to indicate that the servomotor output torque is being limited.
Page 132: Absolute Encoders
4 Operation 4.7 Absolute Encoders If using an absolute encoder, a system to detect the absolute position can be designed for use with the host PC or PLC...etc. As a result, an operation can be performed without a zero point return operation immediately after the power is turned ON.
Page 133: Connecting The Absolute Encoder
4 Operation 4.7.1 Connecting the Absolute Encoder The following diagram shows the connection between a servomotor with an absolute encoder, the DRIVER, and the host PC or PLC...etc. (1) Using an Encoder Cable with a Battery Case DRIVER PC or PLC ...etc ∗1.
Page 134: Absolute Data Request (Sens On Command)
4 Operation 4.7.2 Absolute Data Request (SENS ON Command) The Turn Sensor ON command (SENS_ON) must be sent to obtain absolute data as an output from the DRIVER. The SENS_ON command is sent at the following timing. DRIVER control power supply ∗...
Page 135: Battery Replacement
4 Operation 4.7.3 Battery Replacement If the battery voltage drops to approximately 2.7 V or less, an absolute encoder battery error alarm (A.830) or an absolute encoder battery error warning (A.930) will be displayed. If this alarm or warning is displayed, replace the batteries using the following procedure. Use Pn008.0 to set either an alarm (A.830) or a warning (A.930).
Page 136 4 Operation 3. Remove the old battery and mount the new LEC-JZ-CVBAT battery as shown below. To the DRIVER Encoder Cable Mount the LEC-JZ-CVBAT battery. 4. Close the battery case cover. Close the cover. 5. After replacing the battery, turn OFF the control power supply to clear the absolute encoder battery error alarm (A.830).
Page 137: Absolute Encoder Setup And Reinitialization
4 Operation 4.7.4 Absolute Encoder Setup and Reinitialization CAUTION • The rotational data will be a value between -2 and +2 rotations when the absolute encoder setup is exe- cuted. The reference position of the machine system will change. Set the reference position of the host PC or PLC...etc to the position after setup.
Page 138: Multiturn Limit Setting
4 Operation 4.7.5 Multiturn Limit Setting The multiturn limit setting is used in position control applications for a turntable or other rotating device. For example, consider a machine that moves the turntable in the following diagram in only one direction. Turntable Gear Servomotor...
Page 139: Multiturn Limit Disagreement Alarm (A.cc0)
4 Operation Set the value, the desired rotational amount -1, to Pn205. Factory Setting (= 65535) Other Setting (≠65535) +32767 Reverse Pn205 setting value Forward Forward Reverse Rotational Rotational data Motor rotations Motor rotations -32768 4.7.6 Multiturn Limit Disagreement Alarm (A.CC0) When the multiturn limit set value is changed with parameter Pn205, a multiturn limit disagreement alarm (A.CC0) will be displayed because the value differs from that of the encoder.
Page 140: Absolute Encoder Origin Offset
4 Operation 4.7.7 Absolute Encoder Origin Offset If using the absolute encoder, the positions of the encoder and the offset of the machine coordinate system (APOS) can be set. Use Pn808 to make the setting. After the SENS_ON command is received by MECHA- TROLINK communications, this parameter will be enabled.
Page 141 4 Operation (2) Absolute Data Reception Sequence 1. Send the Turn Sensor ON (SENS_ON) command from the host controller. 2. After 100 ms, the system is set to rotational serial data reception standby and the incremental pulse up/ down counter is cleared to zero. 3.
Page 142 4 Operation Signal Meaning Current value read by encoder Rotational serial data Number of initial incremental pulses Absolute data read at setup (This is saved and controlled by the host controller.) Rotational data read at setup Number of initial incremental pulses read at setup Current value required for the user’s system Number of pulses per encoder revolution (pulse count after dividing, value of Pn212)
Page 143 4 Operation 4-44...
Page 144: Other Output Signals
4 Operation 4.8 Other Output Signals This section explains other output signals. Use these signals according to the application needs, e.g., for machine protection. 4.8.1 Servo Alarm Output Signal (ALM) This section describes signals that are output when the DRIVER detects errors and resetting methods. (1) Servo Alarm Output Signal (ALM) This signal is output when the DRIVER detects an error.
Page 145: Rotation Detection Output Signal (/Tgon)
4 Operation 4.8.3 Rotation Detection Output Signal (/TGON) This output signal indicates that the servomotor is rotating at the speed set for Pn502 or a higher speed. (1) Signal Specifications Signal Connector Pin Type Setting Meaning Name Number Servomotor is rotating with the motor speed above ON (closed) the setting in Pn502.
Page 146: Speed Coincidence Output Signal (/V-Cmp)
4 Operation 4.8.5 Speed Coincidence Output Signal (/V-CMP) The speed coincidence output signal (/V-CMP) is output when the actual servomotor speed is the same as the reference speed. The host PC or PLC...etc uses the signal as an interlock. This signal is the output signal during speed control.
Page 147: Positioning Completed Output Signal (/Coin)
4 Operation 4.8.6 Positioning Completed Output Signal (/COIN) This signal indicates that servomotor movement has been completed during position control. When the difference between the number of references output by the host PC or PLC...etc and the travel distance of the servomotor (position error) drops below the set value in the parameter, the positioning completion signal will be output.
Page 148: Positioning Near Output Signal (/Near)
4 Operation 4.8.7 Positioning Near Output Signal (/NEAR) Before confirming that the positioning completed signal has been received, the host PC or PLC...etc first receives a positioning near signal and can prepare the operating sequence after positioning has been completed. The time required for this sequence after positioning can be shortened. This signal is generally used in combination with the positioning completed output signal.
Page 149: Speed Limit Detection Signal (/Vlt)
4 Operation 4.8.8 Speed Limit Detection Signal (/VLT) This function limits the speed of the servomotor to protect the machine. A servomotor in torque control is controlled to output the specified torque, but the motor speed is not con- trolled. Therefore, if an excessive reference torque is set for the load torque on the machinery side, the speed of the servomotor may increase greatly.
Page 150 4 Operation - Internal Speed Limit Function If the internal speed limit function is selected in Pn002.1, set the limit of the maximum speed of the servomotor in Pn407. The limit of the speed in Pn408.1 can be either the maximum speed of the servomotor or the overspeed alarm detection speed.
Page 151: Safety Function
4 Operation 4.9 Safety Function The safety function is incorporated in the DRIVER to reduce the risk associated with the machine by protecting workers from injury and by securing safe machine operation. Especially when working in hazardous areas inside the safeguard, as for machine maintenance, it can be used to avoid adverse machine movement.
Page 152 4 Operation The following risks can be estimated even if the HWBB function is used. These risks must be included in the risk assessment. - The servomotor will move in an application where external force is applied to the servomotor (for example, gravity on the vertical axis).
Page 153 4 Operation (3) Resetting the HWBB State Usually after the servo OFF command (SV_OFF: 32H) is received and the servomotor power is OFF, the DRIVER will then enter a hard wire baseblock (HWBB) state with the /HWBB1 and /HWBB2 signals turned OFF.
Page 154 4 Operation (4) Related Commands If the HWBB function is working with the /HWBB1 or /HWBB2 signal turned OFF, the setting of ESTP of the servo command input signal monitoring changes to 1, so the status of the upper level apparatus can be known by looking at the setting of this bit.
Page 155 4 Operation (6) Connection Example and Specifications of Input Signals (HWBB Signals) The input signals must be redundant. A connection example and specifications of input signals (HWBB signals) are shown below. For safety function signal connections, the input signal is the 0 V common and the output signal is the source output.
Page 156 4 Operation If the HWBB function is requested by turning OFF the /HWBB1 and /HWBB2 input signals on the two channels, the power supply to the servomotor will be turned OFF within 20 ms (see below). DRIVER State Note 1. The OFF status is not recognized if the total OFF time of the /HWBB1 and /HWBB2 signals is 0.5 ms or shorter.
Page 157 4 Operation (9) Lock signal (/BK) When the /HWBB1 or /HWBB2 signal is OFF and the HWBB function operates, the lock signal (/BK) will turn OFF. At that time, Pn506 (lock Reference - servo OFF delay time) will be disabled. Therefore, the servo- motor may be moved by external force until the actual lock becomes effective after the lock signal (/BK) turns OFF.
Page 158: External Device Monitor (Edm1)
4 Operation 4.9.2 External Device Monitor (EDM1) The external device monitor (EDM1) functions to monitor failures in the HWBB function. Connect the monitor to feedback signals to the safety function device. Note: To meet the performance level d (PLd) in EN ISO13849-1, the EDM signal must be monitored by a PC or PLC...etc.
Page 159 4 Operation (1) Connection Example and Specifications of EDM1 Output Signal Connection example and specifications of EDM1 output signal are explained below. For safety function signal connections, the input signal is the 0 V common and the output signal is the source output. This is opposite to other signals described in this manual. To avoid confusion, the ON and OFF status of signals for safety functions are defined as fol- lows: ON: The state in which the relay contacts are closed or the transistor is ON and current...
Page 160: Application Example Of Safety Functions
4 Operation 4.9.3 Application Example of Safety Functions An example of using safety functions is shown below. (1) Connection Example In the following example, a safety unit is used and the HWBB function operates when the guard opens. DRIVER When a guard opens, both of signals, the /HWBB1 and the /HWBB2, turn OFF, and the EDM1 signal turns ON.
Page 161: Confirming Safety Functions
4 Operation (3) Procedure 4.9.4 Confirming Safety Functions When starting the equipment or replacing the DRIVER for maintenance, be sure to conduct the following confirmation test on the HWBB function after wiring. - When the /HWBB1 and /HWBB2 signals turn OFF, check that the digital operator displays "Hbb" and that the servomotor does not operate.
Page 162: Connecting A Safety Function Device
4 Operation 4.9.5 Connecting a Safety Function Device Connect a safety function device using the following procedure. 1. Remove the servomotor connection terminal connector while pressing the lock. Applicable DRIVERs: LECYU2-V5, V7, V8 For DRIVER models not listed above, it is not necessary to remove the servomotor connection terminal connector.
Page 163: Precautions For Safety Function
4 Operation 4.9.6 Precautions for Safety Function WARNING • To check that the HWBB function satisfies the safety requirements of the system, be sure to conduct a risk assessment of the system. Incorrect use of the machine may cause injury. •...
Page 164 5 Adjustments 5. Adjustments ..........................2 5.1 Type of Adjustments and Basic Adjustment Procedure ............ 2 5.1.1 Adjustments ........................ 2 5.1.2 Basic Adjustment Procedure ..................3 5.1.3 Monitoring Operation during Adjustment ..............4 5.1.4 Safety Precautions on Adjustment of Servo Gains ............. 7 5.2 Tuning-less Function ......................
Page 165: Adjustments
5 Adjustments 5. Adjustments 5.1 Type of Adjustments and Basic Adjustment Procedure This section describes type of adjustments and the basic adjustment procedure. 5.1.1 Adjustments Adjustments (tuning) are performed to optimize the responsiveness of the DRIVER. The responsiveness is determined by the servo gain that is set in the DRIVER. The servo gain is set using a combination of parameters, such as speed loop gain, position loop gain, filters, friction compensation, and moment of inertia ratio.
Page 166: Adjustments
5 Adjustments 5.1.2 Basic Adjustment Procedure The basic adjustment procedure is shown in the following flowchart. Make suitable adjustments considering the conditions and operating requirements of the machine. DRIVER...
Page 167: Monitoring Operation During Adjustment
5 Adjustments 5.1.3 Monitoring Operation during Adjustment Check the operating status of the machine and signal waveform when adjusting the servo gain. Connect a measuring instrument, such as a memory recorder, to connector CN5 analog monitor connector on the DRIVER to monitor analog signal waveform. The settings and parameters for monitoring analog signals are described in the following sections.
Page 168 5 Adjustments The following signals can be monitored by selecting functions with parameters Pn006 and Pn007. Pn006 is used for analog monitor 1 and Pn007 is used for analog monitor 2. Description Parameter Monitor Signal Unit Remarks n.口口00 [Pn007 − Motor rotating speed 1 V/1000 min Factory...
Page 169 5 Adjustments (4) Related Parameters Use the following parameters to change the monitor factor and the offset. Analog Monitor 1 Offset Voltage Torque Speed Position Classification Pn550 Setting Range Setting Unit Factory Setting When Enabled -10000 to 10000 0.1 V Immediately Setup Analog Monitor 2 Offset Voltage...
Page 170: Safety Precautions On Adjustment Of Servo Gains
5 Adjustments 5.1.4 Safety Precautions on Adjustment of Servo Gains CAUTION If adjusting the servo gains, observe the following precautions. Do not touch the rotating section of the servomotor while power is being supplied to the motor. Before starting the servomotor, make sure that the DRIVER can come to an emergency stop at any time. Make sure that a trial operation has been performed without any trouble.
Page 171 5 Adjustments ∗1. Refer to 4.4.3 Electronic Gear. ∗2. To check the Pn102 setting, change the parameter display setting to display all parameters (Pn00B.0 = 1). × (1.2 to 2). At the end of the equation, a coefficient is shown as This coefficient is used to "...
Page 172 5 Adjustments - Related Parameters Excessive Position Error Alarm Level at Servo ON Position Classification Pn526 Setting Range Setting Unit Factory Setting When Enabled 1 to 1073741823 1 reference unit 5242880 Immediately Setup Excessive Position Error Warning Level at Servo ON Position Classification Pn528...
Page 173: Tuning-Less Function
5 Adjustments 5.2 Tuning-less Function The tuning-less function is enabled in the factory settings. If resonance is generated or excessive vibration occurs, refer to 5.2.2 Tuning-less Levels Setting (Fn200) Procedure and change the set value of Pn170.2 for the rigidity level and the set value in Pn170.3 for the load level. CAUTION •...
Page 174 5 Adjustments (2) Application Restrictions The tuning-less function can be used in position control or speed control. This function is not available in torque control. The following application restrictions apply to the tuning-less function. Function Availability Remarks Vibration detection level initialization –...
Page 175 5 Adjustments (3) Automatically Setting the Notch Filter Usually, set this function to Auto Setting. (The notch filter is factory-set to Auto Setting.) If this function is set to Auto Setting, vibration will be detected automatically and the notch filter will be set when the tuning-less function is enabled. Set this function to Not Auto Setting only if you do not change the notch filter setting before executing tuning- less function.
Page 176: Tuning-Less Levels Setting (Fn200) Procedure
5 Adjustments 5.2.2 Tuning-less Levels Setting (Fn200) Procedure CAUTION • To ensure safety, perform the tuning-less function in a state where the DRIVER can come to an emergency stop at any time. The procedure to use the tuning-less function is given below. Operate the tuning-less function from the SigmaWin+.
Page 177 5 Adjustments (3) Alarm and Corrective Actions The autotuning alarm (A.521) will occur if resonance sound is generated or excessive vibration occurs during position control. In such case, take the following actions. - Resonance Sound In the SigmaWin+, reduce the setting of the Response level. - Excessive Vibration during Position Control Take one of the following actions to correct the problem.
Page 178: Related Parameters
5 Adjustments 5.2.3 Related Parameters The following table lists parameters related to this function and their possibility of being changed while exe- cuting this function or of being changed automatically after executing this function. - Parameters related to this function These are parameters that are used or referenced when executing this function.
Page 179: Advanced Autotuning (Fn201)
5 Adjustments 5.3 Advanced Autotuning (Fn201) This section describes the adjustment using advanced autotuning. • Advanced autotuning starts adjustments based on the set speed loop gain (Pn100). Therefore, precise adjustments cannot be made if there is vibration when starting adjustments. In this case, make adjustments after lowering the speed loop gain (Pn100) until vibration is eliminated.
Page 180 5 Adjustments Advanced autotuning performs the following adjustments. • Moment of inertia ratio • Gains (e.g., position loop gain and speed loop gain) • Filters (torque reference filter and notch filter) • Friction compensation • Anti-resonance control • Vibration suppression (Mode = 2 or 3) Refer to 5.3.3 Related Parameters for parameters used for adjustments.
Page 181 5 Adjustments (3) When Advanced Autotuning Cannot Be Performed Successfully Advanced autotuning cannot be performed successfully under the following conditions. Refer to 5.4 Advanced Autotuning by Reference (Fn202) and 5.5 One-parameter Tuning (Fn203) for details. • The operating range is not applicable. •...
Page 182: Advanced Autotuning Procedure
5 Adjustments 5.3.2 Advanced Autotuning Procedure The following procedure is used for advanced autotuning. Advanced autotuning is performed from the SigmaWin+. The operating procedure from the SigmaWin+ is described here. CAUTION • When using the DRIVER with Jcalc = OFF (load moment of inertia is not calculated), be sure to set a suitable value for the moment of inertia ratio (Pn103).
Page 183 5 Adjustments - Moment of Inertia (Mass) Identification Click Execute in the Tuning main window. The Condition Setting box will appear. 1. Setting the Conditions Set the conditions for identifying moment of inertia (mass) in the Condition Setting box. Speed Loop Setting: Set the speed loop gain and integral time constant. [Edit] Click Edit to view the Speed Loop-Related Setting Change box.
Page 184 5 Adjustments [Next>] Click Next to view the Reference Transmission box. [Cancel] Click Cancel to return to the main window without changing the conditions. [Confirm] Click Confirm to view the reference wave. 2. Reference Transmission Transfer the reference conditions to the DRIVER. Click Start in the Reference Transmission box to begin the transfer.
Page 185 5 Adjustments Click Next to view the Operation/Measurement box. [<Back] Click Back to return to the Condition Setting box. The Back button is unavailable during a data transfer. [Cancel] Click Cancel to stop processing and return to the main window. After the data has been successfully transferred, click Next, and the Operation/ Measurement box appears.
Page 186 5 Adjustments 3. Click Reverse to take measurements by turning (moving) the motor in reverse. After the measurements and the data transmission are finished, the following window appears. 4. Repeat steps 2 through 3 until all the measurements have been taken. The actual number of times the measurements have been taken is displayed in the upper left part on the screen.
Page 187 5 Adjustments Click OK to turn to the servo OFF status. 4. Writing Results In the Write Results box, set the moment of inertia (mass) ratio calculated in the operation/ measurement to the parameters. [Writing Results] Click Writing Results to assign the value displayed in the identified moment of inertia (mass) ratio to DRIVER parameter Pn103.
Page 188 5 Adjustments Click OK to return to the SigmaWin+ -V component Main window. If Pn103 (Moment of Inertia (Mass) Ratio) has been changed, that new value will remain. Autotuning without Reference Input To execute autotuning without using a reference input, use the following procedure. 1.
Page 189 5 Adjustments •Mode Selection Select the mode. Mode = 1: Makes adjustments considering response characteristics and stability (Standard level). Mode = 2: Makes adjustments for positioning [Factory setting]. Mode = 3: Makes adjustments for positioning, giving priority to overshooting suppression. •Mechanism Selection Select the mechanism according to the machine element to be driven.
Page 190 5 Adjustments 4. Click Start tuning. The motor will start rotating and tuning will commence. Vibration generated during tuning is automatically detected, and the optimum setting for the detected vibration will be made. When the setting is complete, the LED indicator lamps (bottom left of the box) of the functions used for the setting will light 5.
Page 191 5 Adjustments (2) Failure in Operation When "NO-OP" Flashes on the Display Probable Cause Corrective Actions The main circuit power supply was OFF. Turn ON the main circuit power supply. An alarm or warning occurred. Remove the cause of the alarm or the warning. Overtraveling occurred.
Page 192 5 Adjustments When an Error Occurs during Calculation of Moment of Inertia The following table shows the probable causes of errors that may occur during the calculation of the moment of inertia with the Moment of inertia calculated, along with corrective actions for the errors.
Page 193 5 Adjustments (3) Related Functions on Advanced Autotuning This section describes functions related to advanced tuning. -Notch Filter Usually, set this function to Auto Setting. (The notch filter is factory-set to Auto Setting.) If this function is set to Auto Setting, vibration will be detected automatically during advanced autotuning and the notch filter will be set.
Page 194 5 Adjustments -Friction Compensation This function compensates for changes in the following conditions. - Changes in the viscous resistance of the lubricant, such as the grease, on the sliding parts of the machine - Changes in the friction resistance resulting from variations in the machine assembly - Changes in the friction resistance due to aging The conditions for applying friction compensation depend on the mode.
Page 195: Related Parameters
5 Adjustments 5.3.3 Related Parameters The following table lists parameters related to this function and their possibility of being changed while executing this function or of being changed automatically after executing this function. - Parameters related to this function These are parameters that are used or referenced when executing this function. - Allowed changes during execution of this function Yes : Parameters can be changed using SigmaWin+ while this function is being executed.
Page 196: Advanced Autotuning By Reference (Fn202)
5 Adjustments 5.4 Advanced Autotuning by Reference (Fn202) Adjustments with advanced autotuning by reference are described below. Advanced autotuning by reference starts adjustments based on the set speed loop gain (Pn100). Therefore, precise adjustments cannot be made if there is vibration when starting adjustments. In this case, make adjustments after lowering the speed loop gain (Pn100) until vibration is eliminated.
Page 197 5 Adjustments (1) Preparation Check the following settings before performing advanced autotuning by reference. The message “NO-OP” indicating that the settings are not appropriate will be displayed, if all of the following conditions are not met. • The DRIVER must be in Servo Ready status (Refer to 4.8.4). •...
Page 198: Advanced Autotuning By Reference Procedure
5 Adjustments 5.4.2 Advanced Autotuning by Reference Procedure The following procedure is used for advanced autotuning by reference. Advanced autotuning by reference is performed from the SigmaWin+. CAUTION • When using the MP2000 Series with phase control, select the mode = 1 (standard level). If 2 or 3 is selected, phase control of the MP2000 Series may not be possible.
Page 199 5 Adjustments •Type Selection Select the type according to the machine element to be driven. If there is noise or the gain does not increase, better results may be obtained by changing the rigidity type. Type = 1: For belt drive mechanisms (LEFB, LEJB) Type = 2: For ball screw drive mechanisms [Factory setting] (LEY, LEFS, LEJS) 3.
Page 200 5 Adjustments Vibration generated during tuning is automatically detected and the optimum setting for the detected vibration will be made. When setting is completed, the LED indicator lamps (bottom left of the box) of the functions used for the setting will light up. 5.
Page 201: Related Parameters
5 Adjustments (3) Related Functions on Advanced Autotuning by Reference This section describes functions related to advanced autotuning by reference. - Notch Filter Usually, set this function to Auto Setting. (The notch filter is factory-set to Auto Setting.) If this function is set to Auto Setting, vibration will be detected automatically during advanced autotuning by reference, and the notch filter will be set.
Page 202 5 Adjustments - Friction Compensation This function compensates for changes in the following conditions. - Changes in the viscous resistance of the lubricant, such as the grease, on the sliding parts of the machine - Changes in the friction resistance resulting from variations in the machine assembly - Changes in the friction resistance due to aging Conditions to which friction compensation is applicable depend on the mode.
Page 203 5 Adjustments 5.4.3 Related Parameters The following table lists parameters related to this function and their possibility of being changed while exe- cuting this function or of being changed automatically after executing this function. - Parameters related to this function These are parameters that are used or referenced when executing this function.
Page 204: One-Parameter Tuning (Fn203)
5 Adjustments 5.5 One-parameter Tuning (Fn203) Adjustments with one-parameter tuning are described below. 5.5.1 One-parameter Tuning One-parameter tuning is used to manually make tuning level adjustments during operation with a position ref- erence or speed reference input from the PC or PLC...etc. One-parameter tuning enables automatically setting related servo gain settings to balanced conditions by adjusting one or two tuning levels.
Page 205: One-Parameter Tuning Procedure
5 Adjustments 5.5.2 One-parameter Tuning Procedure The following procedure is used for one-parameter tuning. There are the following two operation procedures depending on the tuning mode being used. • When the tuning mode is set to 0 or 1, the model following control will be disabled and one-parameter tun- ing will be used as the tuning method for applications other than positioning.
Page 206 5 Adjustments - Setting the Tuning Mode 2 or 3 •Tuning Mode Select the tuning mode. Select the tuning mode 2 or 3. Tuning Mode = 2: Enables model following control and makes adjustments for positioning. Tuning Mode = 3: Enables model following control, makes adjustments for positioning, and suppresses over- shooting.
Page 207 5 Adjustments - Friction Compensation This function compensates for changes in the following conditions. • Changes in the viscous resistance of the lubricant, such as the grease, on the sliding parts of the machine • Changes in the friction resistance resulting from variations in the machine assembly •...
Page 208: One-Parameter Tuning Example
5 Adjustments 5.5.3 One-parameter Tuning Example The following procedure is used for one-parameter tuning on the condition that the tuning mode is set to 2 or 3. This mode is used to reduce positioning time. Step Measuring Instrument Display Example Operation Measure the positioning time after setting the moment of iner- tia ratio (Pn103) correctly.
Page 209: Related Parameters
5 Adjustments 5.5.4 Related Parameters The following table lists parameters related to this function and their possibility of being changed while executing this function or of being changed automatically after executing this function. - Parameters related to this function These are parameters that are used or referenced when executing this function. - Allowed changes during execution of this function Yes : Parameters can be changed using SigmaWin+ while this function is being executed.
Page 210: Anti-Resonance Control Adjustment Function (Fn204)
5 Adjustments 5.6 Anti-Resonance Control Adjustment Function (Fn204) This section describes the anti-resonance control adjustment function. 5.6.1 Anti-Resonance Control Adjustment Function The anti-resonance control adjustment function increases the effectiveness of the vibration suppression after one-parameter tuning. This function is effective in supporting anti-resonance control adjustment if the vibra- tion frequencies are from 100 to 1000 Hz.
Page 211: Anti-Resonance Control Adjustment Function Operating Procedure
5 Adjustments 5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure With this function, an operation reference is sent, and the function is executed while vibration is occurring. Anti-resonance control adjustment function is performed from the SigmaWin+. The following methods can be used for the anti-resonance control adjustment function. - Using anti-resonance control for the first time - With undetermined vibration frequency - With determined vibration frequency...
Page 212: Vibration Suppression Function (Fn205)
5 Adjustments 5.7 Vibration Suppression Function (Fn205) The vibration suppression function is described in this section. 5.7.1 Vibration Suppression Function The vibration suppression function suppresses transitional vibration at frequency as low as 1 to 100 Hz that is generated mainly when positioning if the machine stand vibrates. This function is set automatically when advanced autotuning or advanced autotuning by reference is executed.
Page 213: Vibration Suppression Function Operating Procedure
5 Adjustments (3) Detection of Vibration Frequencies No frequency detection may be possible if the vibration does not appear as a position error or the vibration resulting from the position error is too small. The detection sensitivity can be adjusted by changing the setting for the remained vibration detection width (Pn560) which is set as a percentage of the positioning completed width (Pn522).
Page 214 5 Adjustments Parameter Function When Enabled Classification n.0口口口 Model following control is not used together with the [Factory setting] speed/torque feedforward input. Pn140 Immediately Tuning Model following control is used together with the n.1口口口 speed/torque feedforward input. Refer to MECHATROLINK-III Commands for details. Model following control is used to make optimum feedforward settings in the DRIVER when model following control is used with the feedforward function.
Page 215: Related Parameters
5 Adjustments 5.7.3 Related Parameters The following table lists parameters related to this function and their possibility of being changed while executing this function or of being changed automatically after executing this function. - Parameters related to this function These are parameters that are used or referenced when executing this function. - Allowed changes during execution of this function Yes : Parameters can be changed using SigmaWin+ while this function is being executed.
Page 216: Additional Adjustment Function
5 Adjustments 5.8 Additional Adjustment Function This section describes the functions that can be used for additional fine tuning after making adjustments with advanced autotuning, advanced autotuning by reference, or one-parameter tuning. - Switching gain settings - Friction compensation - Current control mode selection - Current gain level setting - Speed detection method selection 5.8.1 Switching Gain Settings...
Page 217 5 Adjustments (2) Manual Gain Switching Manual gain switching uses G-SEL of the servo command output signals (SVCMD_IO) to switch between gain setting 1 and gain setting 2. Type Command Name Setting Meaning G-SEL of the servo Switches to gain setting 1. Input command output signals Switches to gain setting 2.
Page 218 5 Adjustments - Relationship between the Waiting and Switching Times for Gain Switching In this example, the "positioning completed signal (/COIN) ON" condition is set as condition A for automatic gain switching. The position loop gain is switched from the value in Pn102 (position loop gain) to the value in Pn106 (2nd position loop gain).
Page 219 5 Adjustments (cont’d) 2nd Speed Loop Integral Time Constant Position Speed Classification Pn105 Setting Range Setting Unit Factory Setting When Enabled 15 to 51200 0.01 ms 2000 Immediately Tuning 2nd Position Loop Gain Position Classification Pn106 Setting Range Setting Unit Factory Setting When Enabled 10 to 20000...
Page 220 5 Adjustments (6) Related Monitor Monitor No. (Un) Name Value Remarks For gain setting 1 Un014 Effective gain monitor For gain setting 2 Note: When using the tuning-less function, gain setting 1 is enabled. Analog Moni- Parameter No. Name Output Value Remarks Gain setting 1 is enabled.
Page 221: Manual Adjustment Of Friction Compensation
5 Adjustments 5.8.2 Manual Adjustment of Friction Compensation Friction compensation rectifies the viscous friction change and regular load change. The friction compensation function can be automatically adjusted with advanced autotuning (Fn201), advanced autotuning by reference input (Fn202), or one-parameter tuning (Fn203). This section describes the steps to follow if manual adjustment is required.
Page 222 5 Adjustments (2) Operating Procedure for Friction Compensation The following procedure is used for friction compensation. CAUTION Before using friction compensation, set the moment of inertia ratio (Pn103) as accurately as possible. If the wrong moment of inertia ratio is set, vibration may result. Step Operation Set the following parameters for friction compensation to the factory setting as follows.
Page 223: Current Control Mode Selection Function
5 Adjustments 5.8.3 Current Control Mode Selection Function This function reduces high-frequency noises while the servomotor is being stopped. This function is enabled by default and set to be effective under different application conditions. Set Pn009.1 = 1 to use this function. *This function can not be used with LECYU2-V□.
Page 224: Backlash Compensation Function
5 Adjustments 5.8.6 Backlash Compensation Function (1) Overview When driving a machine with backlash, there will be a deviation between the travel distance in the position reference that is managed by the PC or PLC...etc. and the travel distance of the actual machine.
Page 225 5 Adjustments • The backlash compensation value is restricted by the following formula. The specified compensation is not performed if this condition is not met. ∗ For details on encoder resolution, refer to 8.3.5 Electronic Gear. Example 1: Assuming Pn20E = 4, Pn210 = 1, maximum motor speed = 6000 [min ], encoder resolution = 1048576 (20 bits): 1/4 ×...
Page 226 5 Adjustments (4) Compensation Operation This section describes the operation that is performed for backlash compensation. Note: The following figures are for when backlash compensation is applied for references in the forward direction (Pn230.0 = 0). The following monitoring information is provided in the figures: TPOS (target position in the reference coordinate system), POS (reference position in the reference coordinate system), and APOS (feedback position in the machine coordinate system).
Page 227 5 Adjustments - When Servo is OFF Backlash compensation is not applied when the servo is OFF (i.e., when the servomotor is not powered). Therefore, the reference position POS moves by only the backlash compensation value. The relationship between APOS and the servomotor shaft position is as follows: - When servo is OFF: APOS = Servomotor shaft position The following figure shows what happens when the servo is turned OFF after driving the servomotor in the forward direction from target position TPOS0 to TPOS1.
Page 228 5 Adjustments - When There is Overtravel When there is overtravel (i.e., when driving is prohibited due to an overtravel signal or software limit), the operation is the same as for • When Servo is OFF, i.e., backlash compensation is not applied. - When Control is Changed Backlash compensation is performed only for position control.
Page 229 5 Adjustments (5) Monitor Functions (Un Monitoring) Displayed Information Unit Specification Indicates the input reference speed before backlash Input reference speed compensation. Displays the position error with respect to the position Position error amount Reference unit reference after backlash compensation. Displays the input reference counter before backlash Input reference counter Reference unit...
Page 230 5 Adjustments Parameters Monitor Information Output Unit Remarks Reference – 0003H Position error (lower 32 bits) unit Reference – 0004H Position error (upper 32 bits) unit Reference 000AH Encoder count (lower 32 bits) unit Count value of the actually driven motor encoder Reference 000BH...
Page 231: Torque Reference Filter
5 Adjustments 5.8.7 Torque Reference Filter As shown in the following diagram, the torque reference filter contains first order lag filter and notch filters arrayed in series, and each filter operates independently. The notch filters can be enabled and disabled with the Pn408. (1) Torque Reference Filter If you suspect that machine vibration is being caused by the servo drive, try adjusting the filter time constants with Pn401.
Page 232 6. Utility Functions (Fn□□□) ...................... 2 6.1 List of Utility Functions ....................2 6.2 Alarm History Display (Fn000) ..................3 6.3 JOG Operation (Fn002) ..................... 4 6.4 Origin Search (Fn003) ....................... 5 6.5 Program JOG Operation (Fn004) ..................6 6.6 Initializing Parameter Settings (Fn005) ................10 6.7 Clearing Alarm History (Fn006) ..................
Page 233: Utility Functions (Fn口口口)
6 Utility Functions (Fn口口口) 6. Utility Functions (Fn□□□) 6.1 List of Utility Functions Utility functions are used to execute the functions related to servomotor operation and adjustment. The following table lists the utility functions and reference section. Reference Function Function Section Fn000 Alarm history display...
Page 234: Alarm History Display (Fn000)
6 Utility Functions (Fn口口口) 6.2 Alarm History Display (Fn000) This function displays the last ten alarms that have occurred in the DRIVER. The latest ten alarm numbers and time stamps* can be checked. ∗ Time Stamps A function that measures the ON times of the control power supply and main circuit power supply in 100-ms units and displays the total operating time when an alarm occurs.
Page 235: Jog Operation (Fn002)
6 Utility Functions (Fn口口口) 6.3 JOG Operation (Fn002) JOG operation is used to check the operation of the servomotor under speed control without connecting the DRIVER to the host controller. CAUTION While the DRIVER is in JOG operation, the overtravel function will be disabled. Consider the operating range of the machine when performing JOG operation for the DRIVER.
Page 236: Origin Search (Fn003)
6 Utility Functions (Fn口口口) 6.4 Origin Search (Fn003) The origin search is designed to position the origin pulse position of the incremental encoder (phase Z) and to clamp at the position. CAUTION Perform origin searches without connecting the coupling. The forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are not effective in origin search mode.
Page 237: Program Jog Operation (Fn004)
6 Utility Functions (Fn口口口) 6.5 Program JOG Operation (Fn004) The program JOG operation is a utility function, that allows continuous operation determined by the preset operation pattern, movement distance, movement speed, acceleration/deceleration time, waiting time, and number of times of movement. This function can be used to move the servomotor without it having to be connected to a host controller for the machine as a trial operation in JOG operation mode.
Page 238 6 Utility Functions (Fn口口口) Note: When Pn536 (Number of Times of Program JOG Movement) is set to 0, infinite time operation is enabled. Note: When Pn530.0 is set to 2, infinite time operation is disabled. Note: When Pn530.0 is set to 3, infinite time operation is disabled.
Page 239 6 Utility Functions (Fn口口口) Note: When Pn536 (number of times of program JOG movement) is set to 0, infinite time operation is enabled. Note: When Pn536 (number of times of program JOG movement) is set to 0, infinite time operation is enabled.
Page 240 6 Utility Functions (Fn口口口) (4) Related Parameters The following parameters set the program JOG operation pattern. Operation pattern can change setting at Running Condition Setting box of program JOG operation. Do not change the settings while the program JOG operation is being executed. Program JOG Operation Related Switch Torque Speed...
Page 241: Initializing Parameter Settings (Fn005)
6 Utility Functions (Fn口口口) 6.6 Initializing Parameter Settings (Fn005) This function is used when returning to the factory settings after changing parameter settings. Be sure to initialize the parameter settings while the servomotor power is OFF After initialization, turn OFF the power supply and then turn ON again to validate the settings.
Page 242: Clearing Alarm History (Fn006)
6 Utility Functions (Fn口口口) 6.7 Clearing Alarm History (Fn006) The clear alarm history function deletes all of the alarm history recorded in the DRIVER. Note: The alarm history is not deleted when the alarm reset is executed or the main circuit power supply of the DRIVER is turned OFF.
Page 243: Offset Adjustment Of Analog Monitor Output (Fn00C)
6 Utility Functions (Fn口口口) 6.8 Offset Adjustment of Analog Monitor Output (Fn00C) This function is used to manually adjust the offsets for the analog monitor outputs (torque reference monitor output and motor speed monitor output). The offset values are factory-set before shipping. Therefore, the user need not usually use this function.
Page 244 6 Utility Functions (Fn口口口) (3) Operating Procedure Use the following procedure to perform the offset adjustment of analog monitor output. 1. In the SigmaWin+ Σ-V component main window, click Setup, point to Adjust Offset and click Adjust the Analog Monitor Output. 2.
Page 245: Gain Adjustment Of Analog Monitor Output (Fn00D)
6 Utility Functions (Fn口口口) 6.9 Gain Adjustment of Analog Monitor Output (Fn00D) This function is used to manually adjust the gains for the analog monitor outputs (torque reference monitor output and motor rotating speed monitor output). The gain values are factory-set before shipping. Therefore, the user need not usually use this function.
Page 246 6 Utility Functions (Fn口口口) (3) Operating Procedure Use the following procedure to perform the gain adjustment of analog monitor output. 1. In the SigmaWin+ Σ-V component main window, click Setup, point to Adjust Offset and click Adjust the Analog Monitor Output. Click the Gain Adjustment tab.
Page 247: Automatic Offset-Signal Adjustment Of The Motor Current Detection Signal (Fn00E)
6 Utility Functions (Fn口口口) 6.10 Automatic Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00E) Perform this adjustment only if highly accurate adjustment is required for reducing torque ripple caused by current offset. The user need not usually use this function. - Be sure to perform this function while the servomotor power is OFF.
Page 248: Manual Offset-Signal Adjustment Of The Motor Current Detection Signal (Fn00F)
6 Utility Functions (Fn口口口) 6.11 Manual Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00F) Use this function only if the torque ripple is still high after the automatic offset-signal adjustment of the motor current detection signal (Fn00E). If this function is adjusted incorrectly and then executed, characteristics of the servomo- tor performance could be affected.
Page 249: Write Prohibited Setting (Fn010)
6 Utility Functions (Fn口口口) 6.12 Write Prohibited Setting (Fn010) This function prevents changing parameters by mistake and sets restrictions on the execution of the utility function. Parameter changes and execution of the utility function become restricted in the following manner when Write prohibited (P.0001) is assigned to the write prohibited setting parameter (Fn010).
Page 250: Write Prohibited Setting (Fn010)
6 Utility Functions (Fn口口口) (2) Operating Procedure Follow the steps to set enable or disable writing. Setting values are as follows: P.0000 : Write permitted (Releases write prohibited mode.) [Factory setting] - " " P.0001 : Write prohibited (Parameters become write prohibited from the next power ON.) - "...

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SMC Networks LECYU Series Operation Manual

1 Outline

2 Panel Display and Sigmawin

3 Wiring and Connection

4 Operation

5 Adjustments

6 Utility Functions (Fn口口口)

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