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LS ELECTRIC L7NH Series User Manual

LS ELECTRIC L7NH Series User Manual

Ac servo drive

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User manual (345 pages)

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The Best Choice for the Most Benefit!

At LS Mecapion, we are committed to providing premium benefits to all of

LS ELECTRIC always tries its best to bring the greatest benefit to its customers.

our customers.

AC Servo User Manual

Xmotion

L7NH Series

Safety Precautions

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Read all safety precautions before using this product.

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After reading this manual, store it in a readily accessible

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AC SERVO DRIVE

400

L7NH Series User Manual

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Summary of Contents for LS ELECTRIC L7NH Series

Page 1 The Best Choice for the Most Benefit! At LS Mecapion, we are committed to providing premium benefits to all of LS ELECTRIC always tries its best to bring the greatest benefit to its customers. our customers. AC SERVO DRIVE AC Servo User Manual...
Page 3  The reproduction of part or all of the contents of this manual in any form, by any means or for any purpose is strictly prohibited without the explicit written consent of LS ELECTRIC.  LS ELECTRIC retains all patents, trademarks, copyrights and other intellectual property rights to the material in this manual.
Page 4 Introduction  Installation Precautions Store and operate this product under the following environmental conditions. Conditions Environment 0 ~ 50 ℃ Servo drive 0 ~ 40 ℃ Servo motor Operating -20 ~ 65 ℃ -10 ~ 60 ℃ temp. Storage temp. Operating humidity Below 90% RH (no condensation)
Page 5 Introduction  Wiring Precautions Caution  Always use an AC 380-480 V power input for the servo drive.  Always connect the servo drive to a ground terminal.  Do not connect commercial power directly to the servo motor.  Do not connect commercial power directly to the U, V, W output terminals of the servo drive.
Page 6 Introduction  Usage Precautions Caution  Install an emergency cut-off switch which immediately stops operation in an emergency.  Reset the alarm when the servo is off. Be warned that the system restarts immediately if the alarm is reset while the servo is on. ...
Page 7 Introduction  EEPROM Lifespan Caution  The EEPROM is rewritable up to 4 million times for the purpose of recording parameter settings and other information. The servo drive may malfunction if the total number of the following tasks exceeds 4 million, depending on the lifespan of the EEPROM.
Page 8: Table Of Contents
Table of Contents Table of Contents Product Configuration ..................1-1 Product Verification ....................... 1-1 Product Specifications ....................1-2 Part Names ........................1-4 1.3.1 Servo Drive Parts ................... 1-4 1.3.2 Servo Motor Parts ..................1-15 System Configuration Example ................... 1-16 Product Specifications ..................2-1 Servo Motor ........................
Page 9 Table of Contents 3.5.4 Examples of Connecting Input/Output Signals ..........3-111 Wiring of Encoder Signal (ENCODER) ...............3-112 3.6.1 Quadrature Encoder Signaling Unit Wiring ..........3-112 3.6.2 Serial Encoder Signaling Unit Wiring ............3-114 3.6.3 Multi-Turn Encoder Signaling Unit Wiring ............3-116 3.6.4 Tamagawa Encoder Signaling Unit Wiring ...........3-117 3.6.5 EnDat 2.2 Encoder Signaling Unit Wiring ............3-118 Wiring for Safety Function Signals (STO) ..............3-119...
Page 10 Table of Contents Electric Gear Setup ..................... 6-15 6.3.1 Electric Gear ....................6-15 6.3.2 Example of Electric Gear Setup..............6-17 6.3.3 Calculation of speed and acceleration/deceleration when using electronic gear6-18 Settings Related to Speed Control ................6-20 6.4.1 Smooth Acceleration and Deceleration ............6-20 6.4.2 Servo-lock Function ..................
Page 11 12.1 Preparation for Operation .................... 12-2 12.2 Test Drive Using TwinCAT System Manager..............12-3 12.3 Test Drive Using LS ELECTRIC PLC (XGT + PN8B) ..........12-12 12.4 Test Drive Using LS Mecapion MXP Series ............... 12-19 Appendix ......................13-32 13.1 Firmware Update .......................
Page 12 Table of Contents 14.3.2 Output point (CN1) ..................14-4 14.3.3 Analog signal (CN1) ..................14-5 14.3.4 Analog ouput signal (Analog monitoring connector) ........14-5 14.3.5 Safety (STO, Safety Toque Off) ..............14-5 14.4 Parameter setting ......................14-6...
Page 13: Product Configuration
1. Product Configuration Product Configuration Product Verification 1. Check the name tag to verify that the product received matches the model ordered  Does the servo drive's name plate match?  Does the servo motor's name plate match? 2. Check the product components and options. ...
Page 14: Product Specifications
1. Product Configuration Product Specifications  L7NH Series Product Type L7 NH B 010 U AA Communication Series Name Input voltage Capacity Encoder Option /Drive Type 001 : 100W 002 : 200W 004 : 400W S: Standard I/O 008 : 750W...
Page 15 1. Product Configuration  Servo Motor Product Format APM – S E P 10 D E K 1 G1 03 Gearbox Classification Servo Motor 03: 1/3 Input 10: 1/10 Shaft Shape Encoder Type Blank: 200Vac Motor Shape N: Straight P: 400Vac Quadrature(Pulse type) K: One-sided round key S: Real Axis...
Page 16: Part Names
1. Product Configuration Part Names 1.3.1 Servo Drive Parts  100W, 200W, 400W (200[V]) Connector for Analog monitor Display Connector for Analog output signal This displays numerical values such as the L7NH state and alarm number Node address setting switch State LEDs This switch is to set the node address of the These LED indicate the current EtherCAT state...
Page 17 1. Product Configuration  750W, 1kW (200[V]) Display Connector for Analog monitor Connector for Analog output signal This displays numerical values such as the L7NH state and alarm number Node address setting switch CHARGE lamp This switch is to set the node address of the This turns on when the main circuit power is on drive.
Page 18 1. Product Configuration  2kW, 3.5kW (200[V]) Display Connector for Analog monitor This displays numerical values such as the Connector for Analog output signal L7NH state and alarm number Node address setting switch CHARGE lamp This switch is to set the node address of the This turns on when the main circuit power is on drive.
Page 19 1. Product Configuration  5KW(200[V]) Connector for analog monitors It is a connector for checking the analog output signal. Display It shows drive status, alarms, Node address setting switch etc. This switch is to set the node address of the drive.
Page 20 1. Product Configuration  7.5kW (200[V]) Connector for analog monitors It is a connector for checking the analog output signal. Display It shows drive status, Node address setting switch alarms, etc. This switch is to set the node address of the drive.
Page 21 1. Product Configuration  15kW (200[V]) Connector for analog monitors It is a connector for checking the analog Display output signal. It shows drive status, alarms, etc. Node address setting switch This switch is to set the node address of the drive.
Page 22 1. Product Configuration  1kW (400[V]) Connector for analog monitors Display It is a connector for checking the analog output It shows drive status, alarms, etc. signal. CHARGE lamp Node address setting switch This turns on when the main circuit power is on. This switch is to set the node address of the drive.
Page 23 1. Product Configuration  2kW, 3.5kW (400[V]) Connector for analog monitors Display It is a connector for checking the analog output It shows drive status, alarms, etc. signal. CHARGE lamp Node address setting switch This turns on when the main circuit This switch is to set the node address of the power is on.
Page 24 1. Product Configuration  5kW (400[V]) Connector for analog monitors It is a connector for checking the analog output signal. Display It shows drive status, alarms, Node address setting switch etc. This switch is to set the node address of the drive.
Page 25 1. Product Configuration  7.5KW( 400[V]) Connector for analog monitors It is a connector for checking the analog output signal. Display It shows drive status, Node address setting switch alarms, etc. This switch is to set the node address of the drive.
Page 26 1. Product Configuration  15KW(400[V]) Connector for analog monitors It is a connector for checking the analog Display output signal. It shows drive status, alarms, etc. Node address setting switch This switch is to set the node address of the drive.
Page 27: Servo Motor Parts
1. Product Configuration 1.3.2 Servo Motor Parts  80 Flange or below Motor Power Motor Cable Encoder Connector Connector Encoder Cable Shaft Encoder Cover Bearing Cap Flange Frame Housing  130 Flange or higher Motor Connector Encoder Connector Encoder Cover Shaft Bearing Cap Flange...
Page 28: System Configuration Example
1. Product Configuration System Configuration Example The figure below shows an example of system configuration using this drive. 전원 Power 삼상 AC380V Three-phase AC380V Upper device 상위 장치 R S T Molded case circuit 배선용 차단기 오실로스코프 breaker Oscilloscope It is used to protect 전원라인을...
Page 29: Product Specifications
2. Product Specifications Product Specifications Servo Motor Heat Sink Spec. Category Size(mm) Remark AP04 250x250x6 AP06 250x250x6 AP08 250x250x12 Aluminum AP13 350x350x20 AP18 550x550x30 AP22 650x650x35 ※ In the case of product specifications, it is the data measured after applying the heat sink. ※...
Page 30 2. Product Specifications ■ Procuct Features[200V] Servo Motor Name (APM- SAR3A SAR5A SA01A SA015A Applicable Drive (L7□A□□) L7□A001 L7□A002 Rated Output [kW] 0.03 0.05 0.10 0.15 [N⋅m] 0.10 0.16 0.32 0.48 Rated torque 0.97 1.62 3.25 4.87 [kgf⋅cm] 0.29 0.48 0.96 1.43 [N⋅m]...
Page 31 2. Product Specifications ■ Procuct Features [200V] Servo Motor Name SB01A SB02A SB04A (APM- (L7□A□□) Applicable Drive L7□A002 L7□A004 [kW] 0.10 0.20 0.40 Rated Output [N⋅m] 0.32 0.64 1.27 Rated torque [kgf⋅cm] 3.25 6.49 12.99 [N⋅m] 0.96 1.91 3.82 Instantaneous maximum torque [kgf⋅cm] 9.74...
Page 32 2. Product Specifications ■ Procuct Features [200V] Servo Motor Name SC04A SC06A SC08A SC10A (APM- (L7□A□□) Applicable Drive L7□A004 L7□A008 L7□A010 [kW] Rated Output [N⋅m] 1.27 1.91 2.55 3.19 Rated torque [kgf⋅cm] 12.99 19.49 25.98 32.48 [N⋅m] 3.82 5.73 7.64 9.56 Instantaneous maximum torque...
Page 33 2. Product Specifications ■ Procuct Features [200V] Servo Motor Name SC03D SC05D SC06D SC07D (APM- (L7□A□□) Applicable Drive L7□A004 L7□A008 [kW] 0.30 0.45 0.55 0.65 Rated Output [N⋅m] 1.43 2.15 2.63 3.10 Rated torque [kgf⋅cm] 14.61 21.92 26.79 31.66 [N⋅m] 4.30 6.45 7.88...
Page 34 2. Product Specifications ■ Procuct Features [200V] Servo Motor Name (APM- FALR5A FAL01A FAL015A FBL01A FBL02A FBL04A (L7□A□□) Applicable Drive L7□A001 L7□A002 L7□A001 L7□A002 L7□A004 Rated Output [kW] 0.05 0.10 0.15 0.10 0.20 0.40 [N⋅m] 0.16 0.32 0.48 0.32 0.64 1.27 Rated torque [kgf⋅cm]...
Page 35 2. Product Specifications ■ Procuct Features [200V] Servo Motor Name (APM- FCL04A FCL06A FCL08A FCL10A (L7□A□□) Applicable Drive L7□A004 L7□A008 L7□A010 Rated Output [kW] 0.40 0.60 0.75 1.00 [N⋅m] 1.27 1.91 2.39 3.18 Rated torque [kgf⋅cm] 12.99 19.49 24.36 32.48 [N⋅m] 3.82 5.73...
Page 36 2. Product Specifications ■ Procuct Features [200V] Servo Motor Name (APM- FCL03D FCL05D FCL06D FCL07D (L7□A□□) Applicable Drive L7□A004 L7□A008 Rated Output [kW] 0.30 0.45 0.55 0.65 [N⋅m] 1.43 2.15 2.63 3.10 Rated torque [kgf⋅cm] 14.62 21.92 26.80 31.67 [N⋅m] 4.30 6.45 7.88...
Page 37 2. Product Specifications ■ Procuct Features [200V] Servo Motor Name (APM- HB01A HB02A HB04A HE09A HE15A HE30A (L7□A□□) L7□A002 L7□A004 L7□A008 L7□A020 L7□A035 Applicable Drive Rated Output [kW] [N⋅m] 0.32 0.64 1.27 2.86 4.77 9.55 Rated torque [kgf⋅cm] 3.25 6.49 12.99 29.23 48.72...
Page 38 2. Product Specifications ■ Procuct Features [200V] Servo Motor Name (APM- FE09A FE15A FE22A FE30A (L7□A□□) L7□A010 L7□A020 L7□A035 Applicable Drive Rated Output [kW] [N⋅m] 2.86 4.77 7.00 9.55 Rated torque [kgf⋅cm] 29.20 48.70 71.40 97.40 8.59 14.32 21.01 28.65 [N⋅m] Instantaneous maximum torque...
Page 39 2. Product Specifications ■ Procuct Features [200V] Servo Motor Name (APM- FE06D FE11D FE16D FE22D (L7□A□□) L7□A008 L7□A010 L7□A020 Applicable Drive Rated Output [kW] Rated torque [N⋅m] 2.86 5.25 7.63 10.5 [kgf⋅cm] 29.2 0 53.60 77.90 107.10 Repeatedly used area 8.59 15.75 22.92...
Page 40 2. Product Specifications ■ Procuct Features [200V] Servo Motor Name (APM- FE05G FE09G FE13G FE17G (L7□A□□) L7□A008 L7□A010 L7□A020 Applicable Drive Rated Output [kW] 0.45 0.85 [N⋅m] 2.86 5.41 8.27 10.82 Rated torque [kgf⋅cm] 29.22 55.19 84.41 110.38 8.59 16.23 24.82 32.46 [N⋅m]...
Page 41 2. Product Specifications ■ Procuct Features [200V] Servo Motor Name (APM- FE03M FE06M FE09M FE12M (L7□A□□) L7□A004 L7□A008 L7□A010 L7□A020 Applicable Drive Rated Output [kW] [N⋅m] 2.86 5.72 8.59 11.46 Rated torque [kgf⋅cm] 29.22 58.4 87.7 116.9 8.59 17.18 25.77 34.22 [N⋅m] Instantaneous...
Page 42 2. Product Specifications ■ Procuct Features [200V] Servo Motor Name (APM- FF30A FF50A FF22D FF35D FF55D FF75D (L7□A□□) L7□A035 L7□A050 L7□A020 L7□A035 L7□A050 L7□A075B Applicable Drive Rated Output [kW] [N⋅m] 9.55 15.91 10.50 16.70 26.25 35.81 Rated torque [kgf⋅cm] 97.40 162.30 107.1 170.4...
Page 43 2. Product Specifications ■ Procuct Features [200V] Servo Motor Name (APM- FF20G FF30G FF44G FF60G FF75G (L7□A□□) L7□A020 L7□A035 L7□A050 L7□A075B Applicable Drive Rated Output [kW] [N⋅m] 11.45 18.46 28.00 38.20 47.70 Rated torque [kgf⋅cm] 116.9 188.3 285.7 389.80 487.20 34.35 55.38 78.4...
Page 44 2. Product Specifications ■ Procuct Features [200V] Servo Motor Name (APM- FF12M FF20M FF30M FF44M (L7□A□□) L7□A020 L7□A035 L7□A050 Applicable Drive Rated Output [kW] [N⋅m] 11.46 19.09 28.64 42.02 Rated torque [kgf⋅cm] 116.9 194.8 292.2 428.7 34.38 57.29 85.94 105.05 [N⋅m] Instantaneous maximum torque...
Page 45 2. Product Specifications ■ Procuct Features [200V] Servo Motor Name (APM- FG22D FG35D FG55D FG75D FG110D (L7□A□□) L7□A020 L7□A035 L7□A050 L7□A075B L7□A150B Applicable Drive Rated Output [kW] [N⋅m] 10.50 16.71 26.25 35.81 52.52 Rated torque [kgf⋅cm] 107.1 170.4 267.8 365.4 525.9 31.51 50.12...
Page 46 2. Product Specifications ■ Procuct Features [200V] FG150G Servo Motor Name (APM- FG20G FG30G FG44G FG60G FG85G FG110G L7□A03 (L7□A□□) L7□A020 L7□A050 L7□A075 L7□A150B Applicable Drive Rated Output [kW] 95.45 [N⋅m] 11.50 18.50 28.00 38.2 54.11 69.99 Rated torque [kgf⋅cm] 116.9 188.4 285.8...
Page 47 2. Product Specifications ■ Procuct Features [200V] FG44M Servo Motor Name (APM- FG12M FG20M FG30M FG60M L7□A050 (L7□A□□) L7□A020 L7□A035 Applicable Drive Rated Output [kW] 42.00 [N⋅m] 11.50 19.10 28.60 57.29 Rated torque 428.7 [kgf⋅cm] 116.9 194.9 292.3 584.6 126.00 34.40 57.30 85.90...
Page 48 2. Product Specifications ■ Procuct Features [400V] Servo Motor Name (APM- FEP09A FEP15A FEP22A FEP30A L7□B010□ L7□B020□ L7□B035□ Applicable Drive (L7 A Rated Output [kW] [N⋅m] 2.86 4.77 7.00 9.55 Rated torque [kgf⋅cm] 29.23 48.72 71.46 97.44 8.59 14.32 21.01 28.65 [N⋅m] Instantaneous...
Page 49 2. Product Specifications ■ Procuct Features [400V] Servo Motor Name (APM- FEP06D FEP11D FEP16D FEP22D L7□B010□ L7□B020□ Applicable Drive (L7 A Rated Output [kW] [N⋅m] 2.86 5.25 7.64 10.5 Rated torque [kgf⋅cm] 29.23 53.59 77.95 107.19 8.59 15.76 22.92 31.51 [N⋅m] Instantaneous maximum torque...
Page 50 2. Product Specifications ■ Procuct Features [400V] Servo Motor Name (APM- FEP05G FEP09G FEP13G FEP17G L7□B010□ L7□B020□ Applicable Drive (L7 A Rated Output [kW] 0.45 0.85 [N⋅m] 2.86 5.41 8.28 10.82 Rated torque [kgf⋅cm] 29.23 55.22 84.45 110.43 8.59 16.23 24.83 32.47 [N⋅m]...
Page 51 2. Product Specifications ■ Procuct Features [400V] FEP06 Servo Motor Name (APM- FEP03M FEP09M FEP12M L7□B010□ L7□B035□ Applicable Drive (L7 A Rated Output [kW] [N⋅m] 2.86 5.73 8.59 11.46 Rated torque [kgf⋅cm] 29.23 58.47 87.70 116.93 8.59 17.19 25.78 34.38 [N⋅m] Instantaneous maximum torque...
Page 52 2. Product Specifications ■ Procuct Features [400V] Servo Motor Name (APM- FFP30A FFP50A FFP22D FFP35D FFP55D FFP75D L7□B020 L7□B035□ L7□B075□ L7□B035□ L7□B050□ L7□B075□ Applicable Drive (L7 A □ Rated Output [kW] [N⋅m] 9.55 15.92 10.50 16.71 26.26 35.81 Rated torque [kgf⋅cm] 97.44 162.40...
Page 53 2. Product Specifications ■ Procuct Features [400V] Servo Motor Name (APM- FFP20G FFP30G FFP44G FFP60G FFP75G L7□B050 L7□B020□ L7□B035□ L7□B075□ Applicable Drive (L7 A □ Rated Output [kW] [N⋅m] 11.46 18.46 28.01 38.20 47.75 Rated torque [kgf⋅cm] 116.93 188.39 285.83 389.77 487.21 34.38...
Page 54 2. Product Specifications ■ Procuct Features [400V] Servo Motor Name (APM- FFP12M FFP20M FFP30M FFP44M L7□B050 L7□B020□ L7□B050□ 적용 드라이브 (L7 A □ Rated Output [kW] [N⋅m] 11.46 19.10 28.65 42.02 Rated torque [kgf⋅cm] 116.93 194.88 292.33 428.74 [N⋅m] 34.38 57.30 71.62 105.05...
Page 55 2. Product Specifications ■ Procuct Features [400V] Servo Motor Name (APM- FGP22D FGP35D FGP55D FGP75D FGP110D L7□B035 L7□B020□ L7□B050□ L7□B075□ L7□B150□ Applicable Drive (L7 A □ Rated Output [kW] 11.0 [N⋅m] 52.52 10.50 16.71 26.26 35.81 Rated torque [kgf⋅cm] 525.9 107.19 170.52 267.96...
Page 56 2. Product Specifications ■ Procuct Features [400V] FGP150G Servo Motor Name (APM- FGP20G FGP30G FGP44G FGP60G FGP85G FGP110G L7□B020□ L7□B035□ L7□B050□ L7□B075□ L7□B150□ 적용 드라이브 (L7 A 15.0 Rated Output [kW] 11.0 [N⋅m] 11.46 18.46 28.01 38.20 54.11 70.03 95.49 Rated torque [kgf⋅cm] 116.93...
Page 57 2. Product Specifications ■ Procuct Features [400V] Servo Motor Name (APM- FGP12M FGP20 FGP30M FGP44M FGP60M L7□B020□ L7□B035□ L7□B050□ L7□B075□ Applicable Drive (L7 A Rated Output [kW] [N⋅m] 11.46 19.10 28.65 42.02 57.30 Rated torque [kgf⋅cm] 116.93 194.88 292.33 428.74 584.65 [N⋅m] 34.38...
Page 58 2. Product Specifications ■ Electric Brake Specifications FG(P)110G Motor FE(P) FF(P) FG(P) series FG(P)150G Maintenance Maintenance Maintenance Maintenance Maintenance Maintenance Maintenance Purpose of stop of stop of stop of stop of stop of stop of stop Input DC 24V DC 24V DC 24V DC 24V DC 24V...
Page 59: Outline Drawing
2. Product Specifications 2.1.1 Outline drawing ■ FAL Series | APM – FALR5A APM – FAL01A APM – FAL015A Encoder Connector Brake Connector Power Connector 2-Ø4.5 PCD46±0.12 0.04 A "LA" "LC" 36.4 0.04 0.04 A "LM±0.5" "L±0.5" Multi Turn (M) Signal Pin No.
Page 60 2. Product Specifications ■ FBL Series | APM – FBL01A, FBL02A, FBL04A "W" 9° (Shaft End Dimension Detail) Brake Connector Encoder Connector Power Connector 4-Ø6 PCD 70±0.12 0.04 A 22.5 0.04 "LC" 40.2 "LM±0.5" 0.04 A "L±0.5" <When the cable is pulled out in the opposite direction of the axis> Multi Turn (M) Signal Pin No.
Page 61 2. Product Specifications ■ FCL Series | APM - FCL04A, FCL03D, FCL06A, FCL05D APM - FCL08A, FCL06D,FCL10A, FCL07D "W" 9° Brake Connector Encoder Connector Power Connector 4-Ø6.6 PCD 90±0.12 0.04 A Ø 0.04 "LC" 40.5 0.04 A "LM±0.5" "L±0.5" <When the cable withdrawal direction is opposite to the axis> Multi Turn (M) Signal Signal...
Page 62 2. Product Specifications ■ HB Series | APM-HB01A (Hollow Shaft) APM-HB02A (Hollow Shaft) APM-HB04A (Hollow Shaft) "CB" 49.5 0.04 A 4-Ø6 0.04 A PCD 70±0.12 Ø C0.5 "LC" 0.04 "LM" "L±0.1" <Power Connector> <Encoder Connector> Signal Signal Signal Pin No. Pin No.
Page 63 2. Product Specifications ■ HE Series | APM-HE09A (Hollow Shaft) APM-HE15A (Hollow Shaft) APM-HE30A (Hollow Shaft) 6-M5 Tap, depth 10 PCD52±0.12 4-Ø9 PCD145±0.15 0.05 A 0.02 0.02 60° "LC" 38.5 0.05A "LM" "L" <Power Connector> <Encoder Connector> Signal Signal Signal Pin No.
Page 64 2. Product Specifications ■FE(P) Series | APM-FE(P)09A, FE(P)06D, FE(P)05G, FE(P)03M, FE(P)15A, FE(P)11D, FE(P)09G, FE(P)06MAPM-FE(P)22A, FE(P)16D, FE(P)13G, FE(P)09M, FE(P)30A, FE(P)22D, FE(P)17G, FE(P)12M 4-∅9 PCD145±0.15 0.04 A 0.02 "LC" 38.2 0.04 A "W" "LM±0.5" "L±0.5" <Power Connector> <Brake Type Connector> Signal Pin No. name Signal Signal...
Page 65 2. Product Specifications ■ FF(P) Series | APM-FF(P)30A, FF(P)22D, FF(P)20G, FF(P)12M, FF(P)50A, FF(P)35D, FF(P)30G, FF(P)20M, APM-FF(P)55D, FF(P)44G, FF(P)30M, FF(P)75D, FF(P)60G, FF(P)44M, FF(P)75G 72.2±0.5 4-Ø13.5 PCD200±0.15 0.04 A "QW" 0.02 "LC" 51.7 0.04 A "LR" "LM±0.5" "W" "L±0.5" (Shaft End Dimension Detail) <Power Connector>...
Page 66 2. Product Specifications ■FG(P) Series | APM-FG(P)22D, FG(P)20G, FG(P)12M, FG(P)35D, FG(P)30G, FG(P)20M, FG(P)55D, FG(P)44GAPM- FG(P)30M, FG(P)75D, FG(P)60G, FG(P)44M, FG(P)110D, FG(P)85G, FG(P)60M 20.5±0.5 4-M8 Tap 관통 4- 13.5 관통 PCD252±0.5 0.04 A PCD235±0.2 90° 등간격 Ø 0.02 "LF" "LC±0.5" "W" 0.04 A "LM±0.5"...
Page 67 2. Product Specifications Note3) Connector specification is MS3102A32-17P ■ FG(P) Series | APM-FG(P)110G 4-M8 Tap, DP18 4-Ø13.5 관통 PCD252±0.2 PCD235±0.2 90°등간격 20.5±0.5 0.02 A 0.02 "LC" 0.02 A "LM±0.5" "L±0.5" M12 Tap, DP25 <Power Connector> <Brake Connector> Signal Pin No. Polar name Pin No.
Page 68 2. Product Specifications ■ FG(P) Series | APM-FG(P)150G 4-∅13.5 4-M8, Tap PCD252±0.15 PCD235±0.2 20.5±0.5 0.04 A 0.02 "LC" `` A "LM±0.5" "L±0.5" M12 Tap, DP25 <Power Connector> <Brake Connector> Signal Pin No. Polar name Pin No. Plug : MS3102A32-17P Plug : MS3102A14-7P <Serial M-Turn Connector>...
Page 69: Motor Type And Id
2. Product Specifications 2.1.2 Motor type and ID [200V] Model mane Watt Remark Model name Watt Remark SAR3A DB03D SAR5A DB06D SA01A DB09D Mass production *SA015A DC06D after March 2018 SB01A DC12D SB02A DC18D SB04A DD12D HB02A Hollow Shaft DD22D DD34D HB04A Hollow Shaft...
Page 70 2. Product Specifications Model name Watt Remark Model name Watt Remark FALR5A FF30A 3000 FAL01A FF50A 5000 Mass production *FAL015A FF22D 2200 after March 2018 FF35D 3500 FBL01A FF55D 5500 FBL02A FF75D 7500 FBL04A FF12M 1200 FF20M 2000 FCL04A FF30M 3000 FCL06A FF44M...
Page 71 2. Product Specifications [400V] Model name Watt Remark Model name Watt Remark FEP09A FFP44G 4400 FEP15A 1500 FFP60G 6000 FEP22A 2200 FFP75G 7500 Mass production *FEP22A 2200 after March 2018 FEP30A 3000 FGP22D 2200 FEP06D FGP35D 3500 FEP11D 1100 FGP55D 5500 FEP16D 1600...
Page 72: Servo Drive
2. Product Specifications Servo Drive 2.2.1 Product Characteristics (200[V]) Name L7NHA L7NHA L7NHA L7NHA L7NHA L7NHA L7NHA L7NHA L7NHA L7NHA Item 001U 002U 004U 008U 010U 020U 035U 050U 075U 150U Input Main power Three-phase AC200 ~ 230[V](-15 ~ +10[%]), 50 ~ 60[Hz] Power Control power Single-phase AC200 ~ 230[V](-15 ~ +10[%]), 50 ~ 60[Hz]...
Page 73 2. Product Specifications Input voltage range: DC 12[V] ~ DC 24[V] A total of 8 input channels (allocable) You can selectively allocate a total of 52 functions. Digital Input (*POT, *NOT, *HOME, *STOP, *PCON, *GAIN2, *P_CL, *N_CL, PROBE1, PROBE2, EMG, A_RST, Digital SV_ON, LVSF1, LVSF2) Input/Out...
Page 74 2. Product Specifications 400[V] Name Item L7NHB010U L7NHB020U L7NHB035U L7NHB050U L7NHB075U L7NHB150U Main power Three-phase AC380 ~ 480[V](-15 ~ +10[%]), 50 ~ 60[Hz] Input Power Control power Single-phase AC380 ~ 480[V](-15 ~ +10[%]), 50 ~ 60[Hz] 10.1 17.5 22.8 Rated current (A) 11.1 30.3 47.25...
Page 75 2. Product Specifications (*POT, *NOT, *HOME, *STOP, *PCON, *GAIN2, *P_CL, *N_CL, PROBE1, PROBE2, EMG, A_RST) Note) * Default allocation signal. Rated voltage and current: DC 24 V ± 10%, 120 ㎃ A total of 4 input channels (allocable) You can selectively allocate a total of 11 kinds of output Digital Output (*BRAKE±, *ALARM±, *READY±, *ZSPD±, INPOS±, TLMT±, VLMT±, INSPD±, WARN±, TGON±, INPOS2±)
Page 76: Outline Drawing
2. Product Specifications 2.2.2 Outline drawing  L7NHA001U ~ L7NHA004U *Weight: 1.0[kg]  L7NHA008U ~ L7NHA010U *Weight: 1.5[kg] (including cooling pan) 2-48...
Page 77 2. Product Specifications  L7NHA020U / L7NHA035U *Weight: 2.5[kg] (including cooling pan)  L7NHA050U *Weight: 5.5[kg] (including cooling pan) 2-49...
Page 78 2. Product Specifications  L7NHA075U *Weight: 9.7[kg] (including cooling pan)  L7NHA150U *Weight: 16.2[kg] (including cooling pan)  L7NHB010U 2-50...
Page 79 2. Product Specifications *Weight: 1.5[kg] (including cooling pan)  L7NHB020U / L7NHB035U *Weight: 2.5[kg] (including cooling pan) 2-51...
Page 80 2. Product Specifications  L7NHB050U *Weight: 5.5[kg] (including cooling pan)  L7NHB075U *Weight: 8.5[kg] (including cooling pan) 2-52...
Page 81 2. Product Specifications  L7NHB150U *Weight: 15.5[kg] (including cooling pan) 2-53...
Page 82: Options And Peripheral Devices
2. Product Specifications Options and Peripheral Devices ■ Option (Incremental encoder cable) Small capacity AMP Type INC encoder cable Category For signal Product Name APCS- Name (Note 1) Applicable Motors All model of APM-SA/SB/SC/HB SERIES INC Motor Side Connector Drive Side Connector Spec.
Page 83 2. Product Specifications ■ Option (Serial encoder cable) Small capacity AMP Type serial encoder cable Category For signal Product Name (sigle turn) Name (Note 1) Applicable Motors APCS- E All model of APM-SB/SC SERIES S-turn Motor Side Connector Drive Side Connector Spec.
Page 84 2. Product Specifications ■ Option [serial encoder cable] Applicab Spec. Product Category Name (Note) Name Motors Motor connection Drive connection(CN2) APM- APM- S/Flat Series APM- motor S-turn APCS- APM- E□□□DS Encoder For signal cable APM-FFP (medium APM- capacity) 1. Motor connection SERIES a.
Page 85 2. Product Specifications Product Small capacity Flat type motor serial encoder cable(single Category For signal turn) Name APCS- E ES(Front Direction)/ Applicable Name (Note 1) All model of APM-FB/FC SERIES S-turn APCS- E ES-R(Rear Direction) Motors Drive Side Connector Motor Side Connector Spec.
Page 86 2. Product Specifications ■ Option (standard power cable) Category For power Product Name Small capacity AMP Type power cable APCS- Applicable Name All model of APM-SA/SB/SC/HB SERIES (Note 1) Motors Motor Side Connector Drive Side Connector Spec. 1. Motor connection a.
Page 87 2. Product Specifications ■ Option (Standard power cable) Category For power Product Name Medium capacity MS Type power cable(130 Flange) Applicable Name All model of APM-SE/FE/HE SERIES APCS- P (Note) 1 Motors Motor Side Connector Drive Side Connector Spec. 1. Motor connection (MS : Military Standard) a.
Page 88 2. Product Specifications ■ Option (standard power cable) Product Category For power Medium capacity MS Type power cable(180/220 Flange) Name SF30A, SF22D, LF35D, SF20G, LF30G, SF12M, SF20M LF30M APCS- Applicable SG22D, LG35D, SG20G, LG30G, SG12M, SG20M, LG30M Name (Note) 1 FF30A, FF22D, FF35D, FF20G, FF30G, FF12M, FF20M, FF30M Motors FG22D, FG35D, FG20G, FG12M, FG20M, FG30M...
Page 89 2. Product Specifications Option [Medium capacity power cable] Product Applicable (Note) Category Name Spec. Name Motors Drive connecction Motor connection Power APM-SEP cable APM-FEP APCF- For power (400V/medi SERIES um capacity <Motor side Connector> All model 130Flange) 1. Motor connection a.
Page 90 2. Product Specifications Applicable (Note) Category Product Name Name Spec. Motors SFP30A Motor connection Drive connection (CN2) SFP22D SFP35D SFP20G SFP12M SFP20M SGP22D SGP35D SGP20G SGP12M Power cable SGP20M <Motor side Connector> (400V/medium APCF- FFP30A capacity For power 1. Motor connection FFP22D 3.5kW or less a.
Page 91 2. Product Specifications Product Applicable (Note) Category Name Spec. Name Motors SFP50A, Motor connection Drive connection (CN2) SFP55D, SFP75D, SFP30G SFP44G, SFP60G, SFP30M, SFP44M SGP55D, SGP75D, SGP30G, Power SGP44G, cable SGP60G, (400V/medi <Motor side Connector> SGP30M, APCF- For power um capacity SGP44M 1.
Page 92 2. Product Specifications Product Applicable (Note) Category Name Spec. Name Motors Motor connection Drive connection (CN2) SFP75G, SGP110D Power SGP85G, cable SGP110G (400V/medi SGP150G um capacity APCF- For power , SGP60M 15kW or less FGP110D, FGP85G, 180/220 1. Motor connection FGP110G Flange) a.
Page 93 2. Product Specifications ■ Option (Small capacity Flat/L Seires power cable) Category For power Product Name Small capacity Flat Type power cable APCS- P FS(Front Direction)/ Applicable Name All model of APM-FB/FC Series (Note) 1 APCS- P FS-R(Rear Direction) Motors Motor Side Connector Drive Side Connector Spec.
Page 94 2. Product Specifications Category For power Product Name Small capacity L Series power cable Name (Note APCS- P LS(Front Direction)/ Applicable All model of APM-FAL/FBL/FCL Series APCS- P LS-R(Rear Direction) Motors Motor Side Connector Drive Side Connector Spec. 1. Motor connection a.
Page 95 2. Product Specifications ■ Option(Drive cable) Category For signal Product Name CN1 cable Name Applicable Motors L7NH SERIES APCS-CN1 (Note1) 1 Upper controller connection Drive connection CN1 - Pin Map - I/O signal I/O signal I/O signal I/O signal Break+ Home Spec.
Page 96 Category For signal Product Name Communcation Cable(CN5) Name APCS-CN5L7U Applicable Motors L7NH Series (Note1) 1 Drive connection CN1 Upper controller connection (USB Port) Spec. 1. PC connection: USB A Plug 2. Drive connection (CN5): Mini USB 5P Plug 3. Electrical requirement spec. :...
Page 97 2. Product Specifications Category Product Name CN6 Cable Name APCS-CN4NNA Applicable Motors L7N Series (Note1) 1 Spec. 1. Connector : 44915-0021(MOLEX) 2. Plug Housing : WRJ-45(Wlztek) Note1) The in the name indicates the type and length of each cable. Refer to the following table for this information Cable length(m) notation 2-69...
Page 98 2. Product Specifications ■ Option (Braking resistance) / 200[V] Categ Producti Name(Note1 Applicable Spec. on Name motor 188.35 L7□A001□ Braking Resist L7□A002□ resistanc APCS-140R50 ance L7□A004□ 144.36 Braking L7□A008□ Resist resistanc APCS-300R30 L7□A010□ ance L7□A020□ Braking (2P) Resist resistanc APC-600R30 L7□A035□...
Page 99 2. Product Specifications Option (Braking resistance) / 400[V] Categ Producti Name(Note1) Applicable Spec. on Name motor Resist Braking L7□B010□ APCS-300R82 ance resistance L7□B020□ APCS-600R140 Resist Braking /L□PB035□ ance resistance (600W x 2P) (2P) L7□B050□ APCS-600R75 Resist Braking /L7□B075□ ance resistance (600W x 3P) (3P) Resist...
Page 100 2. Product Specifications ■ Option (Noise filter) Cate Production Name(Note Applicable Spec. gory Name motor L7□A 001□ L7□A 002□ L7□A 004□ APCS-TB6- L7□A 008□ B010LBEI L7□A 010□ L7□B 010□ L7□B 020□ APCS-TB6- L7□B 035□ B020NBDC L7□A 020□ L7□A 035□ APCS-TB6- B030NBDC L7□B 050□...
Page 101: Wiring And Connection
3. Wiring and Connection Wiring and Connection Installation of Servo Motor 3.1.1 Operating Environment Item Requirements Notes 0 ∼ 40[℃] Consult with our technical support team to customize the product Ambient if temperatures in the installation environment are outside this temperature range.
Page 102: The Load Device Connection
3. Wiring and Connection 3.1.4 The Load Device Connection For coupling connections: Ensure that the motor shaft and load shaft are aligned within the tolerance range. 0.03 ㎜ or below (peak to peak) Load shaft Motor shaft 0.03 ㎜ or below (peak to peak) ...
Page 103: Installation Of Servo Drive
3. Wiring and Connection Installation of Servo Drive 3.2.1 Installation and Usage Environment Environmental Item Notes conditions Caution Ambient 0∼50[℃] Install a cooling fan on the control panel to maintain an temperature appropriate temperature. Caution Condensation or moisture may develop inside the drive during Ambient 90% RH or lower prolonged periods of inactivity and damage it.
Page 104: Installtion In The Control Panel
3. Wiring and Connection 3.2.2 Installtion in the Control panel The installation interval in the control panel is as shown in the figure below. 40mm or 40mm or more more 10mm 10mm 10mm 10mm or more or more or more or more 40mm or 40mm or...
Page 105: Internal Block Diagram Of Drive
3. Wiring and Connection Internal Block Diagram of Drive 3.3.1 Block Diagram of L7NH (100W~400W/200[V]) Note 1) Note 2) Thermister Diode IGBT Three- Phase Power Input Regenerative Current resistane Sensor AC200~230V Thermister Chage Lamp T1 T2 Note 3) Thermister Internal Regenerative IGBT Control Power...
Page 106: Block Diagram Of L7Nh (800W~3.5Kw/200[V])
3. Wiring and Connection 3.3.2 Block Diagram of L7NH (800W~3.5kW/200[V]) Note 1) Note 2) Diode Thermister IGBT Note 3) Three- Phase Power Input Regenerative Current resistane Sensor AC200~230V Thermister Chage Lamp T1 T2 Thermister Note 4) Internal Regenerative IGBT Control Power Main Power Relay PWM Signal...
Page 107: Block Diagram Of Drive (5Kw~7.5Kw / 200[V])
3. Wiring and Connection 3.3.3 Block Diagram of Drive (5kW~7.5kW / 200[V]) Note 1) Note 2) Separate external regenerative resistance Thermister Diode Note 3) IGBT Three- Phase Power Input Current Sensor AC200~230V Thermister Chage Lamp T1 T2 Thermister Note 4) Internal Control Power Main Power...
Page 108: Block Diagram Of Drive (15Kw / 200[V])
3. Wiring and Connection 3.3.4 Block Diagram of drive (15kW / 200[V]) Note 1) Note 2) Separate external regenerative resistance Thermister Diode Note 3) IGBT Three- Phase Power Input Current Sensor AC200~230V Thermister Chage Lamp T1 T2 Thermister Note 4) Internal Regenerative IGBT...
Page 109: Block Diagram Of L7Nh (1Kw~3.5Kw/400[V])
3. Wiring and Connection 3.3.5 Block Diagram of L7NH (1kW~3.5kW/400[V]) Note 1) Note 2) Diode Thermister IGBT Note 3) Three- Phase Power Input Regenerative Current resistane Sensor AC200~230V Thermister Chage Lamp T1 T2 Thermister Note 4) Internal Regenerative IGBT Control Power Main Power Relay PWM Signal...
Page 110: Block Diagram Of L7Nh (5Kw~7.5Kw/400[V])
3. Wiring and Connection 3.3.6 Block Diagram of L7NH (5kW~7.5kW/400[V]) Note 1) Note 2) Diode Thermister IGBT Note 3) Three- Phase Power Input Regenerative Current resistane Sensor AC200~230V Thermister Chage Lamp T1 T2 Thermister Note 4) Internal Regenerative IGBT Control Power Main Power Relay PWM Signal...
Page 111: Block Diagram Of L7Nh (15Kw/400[V])
3. Wiring and Connection 3.3.7 Block Diagram of L7NH (15kW/400[V]) External 외부 regenerative 회생저항 resistor 주1) Note 8) 주8) Note 7) 주9) Note 9) 써미스터 Diode Resistor IGBT Regenerative 3상 전원 입력 3-phase power Input Resistor 전류 센서 Current sensor AC380~480V Thermistor 써미스터...
Page 112: Power Supply Wiring
3. Wiring and Connection Power Supply Wiring  Ensure that the input power voltage is within the acceptable range. Caution Overvoltages can damage the drive.  If commercial power is connected to U, V, W terminals of Drive, they may be damaged. Be sure to connect power to L1, L2, L3 terminals.
Page 113: Power Supply Wiring Diagram 100[W]~3.5[Kw] (200/400[V])
3. Wiring and Connection 3.4.1 Power Supply Wiring Diagram 100~3.5[kW] (200/400[V]) 200[V]:AC 220~230[V] 400[V]:AC 380~480[V] Servo drive R S T Note1 Note2 Main Main DC reactor PO PI Note 6 Encoder Alarm+ +24V Alarm- Note3) External regenerative resistance Note 1) It takes approximately one to two seconds until alarm signal is output after you turn on the main power.
Page 114 3. Wiring and Connection 5[kW]~7.5[kW](200/400[V]) 200[V]:AC 220~230[V] 400[V]:AC 380~480[V] Servo drive R S T Note1 Main Main Note2 DC reactor PO PI Note5 Encoder Alarm+ +24V Alarm- External regenerative Note3 resistance Note 1) It takes approximately one to two seconds until alarm signal is output after you turn on the main power.
Page 115 3. Wiring and Connection 15[kW](200/400[V]) 200[V]:AC 220~230[V] 400[V]:AC 380~480[V] Servo drive R S T Note1) Main Note2) Main DC reactor PO PI Note5) Encoder Alarm+ +24V Alarm- Note3) External regenerative resistance Note 1) It takes approximately two to three seconds until alarm signal is output after you turn on the main power.
Page 116: Power Supply Sequence
3. Wiring and Connection 3.4.2 Power supply sequence  Power supply sequence  For power wiring, use a magnetic contactor for the main circuit power as shown in 3.4.1 Power Supply Wiring Diagram. Configure the magnetic contactor to turn off at the same time an alarm occurs in an external sequence.
Page 117: Power Circuit Electrical Components
3. Wiring and Connection 3.4.3 Power circuit Electrical Components 200[V] L7NHA050U L7NHA075U L7NHA150U L7NHA020U~L7N Name L7NHA001U~L7HA010U HA035U 30A Frame 50A Frame 50A Frame 100A Frame 30A Frame 15A MCCB(NFB) 100A (ABE33C/15) (ABE33C/30) (ABE53b/40) (ABE53b/50) (ABS103/100) TB6- TB6- TB6- Noise Filter (NF) TB6-B010LBEI(10A) B030NBDC(30A) B040A (40A)
Page 118 3. Wiring and Connection 400[V] Name L7NHB010U L7NHB020U~L7NHB035U L7NHB050U L7NHB075U L7NHB150U 30A Frame 50A Frame 30A Frame 10A 30A Frame 30A 30A Frame 30A MCCB (ABE33b/10) (ABE33b/30) (ABE33b/30) (ABE33b/20) (ABE53b/50) TB6- TB6- TB6- Noise Filter TB6-B030NBDC TB6-B010LBEI B020NBDC B040A B060LA (NF) (10A) (30A)
Page 119 3. Wiring and Connection  L7NHA004U Wire strip 7~10[mm] Weidmuller SD 0.6×3.5×100 M4 : 1.2 [N·m] 3-91...
Page 120 3. Wiring and Connection  L7NHA008U ~ L7NHA010U Wire strip 7~10[mm] Weidmuller SD 0.6x3.5x100 M4 : 1.2[N*m] 3-92...
Page 121 3. Wiring and Connection  L7NHB020U / L7NHB035U Wire strip 7~10[mm] Weldmuller M4 : 1.2[N*m] SD 0.6x3.5x100 For information on wiring to BLZ 7.62HP Series connector, refer to the above procedures. Insert electric wire into insert hole with upper locking screw loosened, and use applicable flathead (-) driver for each model to fully tighten screw to 0.4-0.5 N·m.
Page 122 3. Wiring and Connection  L7NHB050U NC: Internal Regenerative Resistor Screw for Fixing Lead Terminal Terminal signal Terminal screw: M4 Tightening torque: 1.2 N·m Terminal screw: M4 Tightening torque: 1.2 N·m Terminal screw: M4 Tightening torque: 1.2 N·m 1) Otherwise, insufficient torque of locking screw may cause vibration-induced disconnection, system malfunction and contact-induced fire accident.
Page 123 3. Wiring and Connection  L7NHB075U NC: Internal Regenerative Resistor Screw for Fixing Lead Terminal Terminal signal Terminal screw Tightening torque Terminal screw Tightening torque Terminal screw Tightening torque 1) Otherwise, insufficient torque of locking screw may cause vibration-induced disconnection, system malfunction and contact-induced fire accident.
Page 124 3. Wiring and Connection  L7NHB150U Terminal signal Terminal screw: M5 Tightening torque: 3.24 N·m Terminal screw: M4 Tightening torque: 1.2 N·m Terminal screw: M5 Tightening torque: 3.24 N·m 1) Otherwise, insufficient torque of locking screw may cause vibration-induced disconnection, system malfunction and contact-induced fire accident.
Page 125 3. Wiring and Connection  L7NHB010U Wire strip 7~10[mm Weldmuller SD 0.6x3.5x100 M4 : 1.2[N*m] 3-97...
Page 126 3. Wiring and Connection  L7NHB010U / L7NHB035U Wire strip 7~10[mm Weldmuller M4 : 1.2[N*m] SD 0.6x3.5x100 For information on wiring to BLZ 7.62HP Series connector, refer to the above procedures. Insert electric wire into insert hole with upper locking screw loosened, and use applicable flathead (-) driver for each model to fully tighten screw to 0.4-0.5 N·m.
Page 127 3. Wiring and Connection  L7NHB050U NC: Internal Regenerative Resistor Screw for Fixing Lead Terminal Terminal screw : M4 Tightening torque : 1.2[N·m] Terminal screw : M4 Tightening torque : 1.2[N·m] Terminal screw : M4 Tightening torque : 1.2[N·m] 1) Otherwise, insufficient torque of locking screw may cause vibration-induced disconnection, system malfunction and contact-induced fire accident.
Page 128 3. Wiring and Connection  L7NHB075U NC: Internal Regenerative Resistor Screw for Fixing Lead Terminal Terminal screw : M4 Tightening torque : 1.2[N·m] Terminal screw : M4 Tightening torque : 1.2[N·m] Terminal screw : M4 Tightening torque : 1.2[N·m] 1) Otherwise, insufficient torque of locking screw may cause vibration-induced disconnection, system malfunction and contact-induced fire accident.
Page 129 3. Wiring and Connection  L7NHB150U Terminal screw: M5 Tightening torque: 3.24[N·m] Terminal screw: M4 Tightening torque: 1.2[N·m] Terminal screw: M5 Tightening torque: 3.24[N·m] 1) Otherwise, insufficient torque of locking screw may cause vibration-induced disconnection, system malfunction and contact-induced fire accident. 2) Use FG locking screw of M4 size (shown in bottom of product) to tighten it to 1.2 N·m.
Page 130: Regenerative Resistor Options
3. Wiring and Connection 3.4.4 Regenerative Resistor Options Option specification (Braking resistance) / 200[V] Categ Product Name Applicable Specifications Name Drive 188.35 L7□A001□ Resist Braking L7□A002□ APCS-140R50 ance resistance L7□A004□ 144.36 L7□A008□ Resist Braking APCS-300R30 L7□A010□ ance resistance L7□A020□ (2P) Resist Braking APC-600R30...
Page 131 3. Wiring and Connection Option specification (Braking resistance) / 400[V] Categ Product Applicable Name Specifications Name Drive Resist Braking ance resistanc L7□B010□ APCS-300R82 Resist Braking ance resistanc L7□B020□ APCS-600R140 /L□PB035□ (600W x 2P) (2P) Resist Braking ance resistanc L7□B050□ APCS-600R75 /L7□B075□...
Page 132: Wiring For Input/Output Signals
3. Wiring and Connection Wiring for Input/Output Signals  I/O Connector Specification : 10120-3000PE (3M)  Analog Monitoring Connector Specification : DF-11-4DS-2C (HIROSE) 3-104...
Page 133: Names And Functions Of Digital Input/Output Signals
3. Wiring and Connection 3.5.1 Names and Functions of Digital Input/Output Signals  Names and Functions of Digital Input Signals (I/O Connector) assignme name Details Function Number +24V DC 24V DC 24V INPUT COMMON The actuator stops the servo motor to Forward (CCW) prevent it from moving beyond the motion prohibited...
Page 134 3. Wiring and Connection  Names and Functions of Digital Output Signals Name assignment Details Function Number DO1+ BRAKE+ Brake Outputs brake control signal. DO1- BRAKE- DO2+ ALARM+ Servo alarm Outputs signal when alarm occurs. DO2- ALARM- This signal is output when the main DO3+ RDY+ power is established and the...
Page 135: Names And Functions Of Analog Input/Output Signals
3. Wiring and Connection 3.5.2 Names and Functions of Analog Input/Output Signals  Names and Functions of Analog Input Signals (I/O Connector) Name Details Function Number It applies -10~+10V between A-TMLT (AI1) and AGND to limit motor output torque. Relationship A-TLMT Analog torque limit between input voltage and limit torque depends on...
Page 136: Examples Of Connecting Input/Output Signals
3. Wiring and Connection 3.5.3 Examples of Connecting Input/Output Signals  Examples of Connecting Digital Input Signals Caution 4. The input contact can be set to the contact A or the contact B, based on the characteristics of individual signal. 5.
Page 137 3. Wiring and Connection  Example of Connecting Digital Output Signals Caution 1. The output contact can be set to the contact A or the contact B, based on the characteristics of individual signal. 2. Each output contact can be assigned to 11 output functions. 3.
Page 138 3. Wiring and Connection  Example of Connecting Analog Output Signals Caution 1. For more information on settings and scale adjustment of monitoring signals, refer to 5.2.3 Assignment of Analog output signals. 2. The range of analog output signals is -10V to 10V. 3.
Page 139: Examples Of Connecting Input/Output Signals
3. Wiring and Connection 3.5.4 Examples of Connecting Input/Output Signals 디지털 입력 Digital Input Digital Output 디지털 출력 (DO1) +24V IN BRAKE+ 3.3kΩ DC 24V BRAKE- (DI1) (DO2) ALARM+ (DI2) ALARM- (DI3) HOME (DO3) READY+ (DI4) STOP READY- (DI5) PCON (DO4) (DI6) GAIN2...
Page 140: Wiring Of Encoder Signal (Encoder)
3. Wiring and Connection Wiring of Encoder Signal (ENCODER)  ENCODER Connector Specification: 10114-3000VE (3M) 3.6.1 Quadrature Encoder Signaling Unit Wiring  APCS-E AS Cable AWG24 7Pair Twisted Shield Wire Servo Motor Servo Drive 서보 모터 서보 드라이브 엔코더 Encoder Cable Connector (ENCODER) Cable...
Page 141 3. Wiring and Connection  APCS-E BS Cable AWG24 7Pair Twisted Servo Motor Servo Drive 서보 모터 서보 드라이브 Shield Wire Encoder 엔코더 Cable Connector (ENCODER) Maker – 3M 10314-52A0-008 Cable 10114-3000VE Connector Frame MS3108B20-29S 3-113...
Page 142: Serial Encoder Signaling Unit Wiring
3. Wiring and Connection 3.6.2 Serial Encoder Signaling Unit Wiring  APCS-E CS Cable AWG24 4Pair Twisted Servo Motor Servo Drive 서보 모터 서보 드라이브 Shield Wire 엔코더 Encoder Cable Connector (ENCODER) Cable Maker – 3M Connector 10314-52A0-008 Maker - AMP 10114-3000VE 172161-1 Frame...
Page 143 3. Wiring and Connection  APCS-E ES Cable AWG24 4Pair Twisted Servo Motor Servo Drive 서보 모터 서보 드라이브 Shield Wire 엔코더 Encoder Cable Connector (ENCODER) Maker – 3M 10314-52A0-008 10114-3000VE Connector Tyco Connector Frame (7Ciruits) 3-115...
Page 144: Multi-Turn Encoder Signaling Unit Wiring
3. Wiring and Connection 3.6.3 Multi-Turn Encoder Signaling Unit Wiring  APCS-E CS1 Cable AWG24 4Pair Twist Servo Drive Servo Motor 서보 모터 서보 드라이브 Shield Wire BAT+ BAT- 엔코더 Encoder Cable Connector (ENCODER) Maker – 3M 10314-52A0-008 Cable 10114-3000VE Connector Frame MS3108S20-29S...
Page 145: Tamagawa Encoder Signaling Unit Wiring
3. Wiring and Connection  APCS-E ES1 Cable AWG24 4Pair Twist Servo Drive Servo Motor 서보 모터 서보 드라이브 Shield Wire BAT+ BAT- Encoder 엔코더 Cable Connector (ENCODER) Maker – 3M 10314-52A0-008 Connector 10114-3000VE Tyco connector Frame (7Ciruits) 3.6.4 Tamagawa Encoder Signaling Unit Wiring AWG24 2Pair Twist Servo Motor Servo Drive...
Page 146: Endat 2.2 Encoder Signaling Unit Wiring
3. Wiring and Connection 3.6.5 EnDat 2.2 Encoder Signaling Unit Wiring AWG24 4Pair Twist Servo Motor Servo Drive 서보 모터 서보 드라이브 Shield Wire EnDat_CLK+ EnDat_CLK- EnDat_Data+ EnDat_Data- Encoder 엔코더 Cable Connector (ENCODER) Maker – 3M 10314-52A0-008 10114-3000VE Frame 3-118...
Page 147: Wiring For Safety Function Signals (Sto)
3. Wiring and Connection Wiring for Safety Function Signals (STO)  2069577-1(Tyco Electronics) 3.7.1 Names and Functions of Safety Function Signals name Function Number +12V For bypass wiring -12V STO1- DC 24 V GND STO1+ Blocks the current (torque) applied to the motor when the signal is off. STO2- DC 24 V GND STO2+...
Page 148: Example Of Connecting Safety Function Signals
3. Wiring and Connection 3.7.2 Example of Connecting Safety Function Signals Caution 1. The rated voltage is DC 12 V to DC 24 V. 2. With the contacts of STO1 and STO2 off, the motor output current is blocked. 24 V power 24V 전원...
Page 149: Bypass Wiring Of Safety Function Signal
3. Wiring and Connection 3.7.3 Bypass Wiring of Safety Function Signal This drive provides the Mini I/O Bypass connector which has Bypass wiring to be used for the convenience of the user when the STO function is not used. To use the Bypass function, connect the Mini I/O Plug connector as follows.
Page 150: Wiring For Ethercat Communication Signals
3. Wiring and Connection Wiring for EtherCAT Communication Signals 3.8.1 Names and Functions of EtherCAT Communication Signals  EtherCAT IN and EtherCAT OUT Connector Signal Name Line color Number TX/RX0 + White/Orange TX/RX0 - Orange TX/RX1+ White/Green TX/RX2 - Blue TX/RX2 + White/Blue TX/RX1 -...
Page 151: Example Of Drive Connection
3. Wiring and Connection 3.8.2 Example of Drive Connection The following figure shows the connection between a master and slave using EtherCAT communication. This is an example of a connection by topology of basic line type. For an environment with much noise, install ferrite core at both ends of the EtherCAT cable. EtherCAT Position Master...
Page 153: Ethercat Communication
4. EtherCAT Communication EtherCAT Communication EtherCAT stands for Ethernet for Control Automation Technology. It is a communication method for masters and slaves which uses Real-Time Ethernet, developed by the German company BECKHOff and managed by the EtherCAT Technology Group (ETG). The basic concept of the EtherCAT communication is that, when a DataFrame sent from a master passes through a slave, the slave inputs the received data to the DataFrame as soon as it receives the data.
Page 154: Ethercat State Machine
4. EtherCAT Communication 4.1.1 EtherCAT State Machine Init Pre-Operational Boot Safe-Operational Operational The EtherCAT drive has 5 states as above, and a state transition is done by an upper level controller (master). State Details A state for firmware update. Only mailbox communication using the FoE (File Boot access over EtherCAT) protocol is available.
Page 155 4. EtherCAT Communication The transition description of each state of the EtherCAT State Machine is as follows. Transition Description state 1) The master sets the registers of the slave to configure SDO communication. - DL control register setting (IP) - Sync Manager Register setting for SDO communication 2) Master requests state transition to Pre-Operation to Slave.
Page 156: Status Led
4. EtherCAT Communication Status LED The LEDs on the EtherCAT ports of this drive indicate the states of the EtherCAT communications and errors, as shown in the following figure. There are 3 green LEDs, which are L/A0, L/A1, and RUN, and 1 red ERR LED.
Page 157 4. EtherCAT Communication  RUN LED The RUN LED indicates in which status the drive is in the EtherCAT State Machine. LED status Description The drive is in the Init state. The drive is in the Pre-Operational state. Blinking The drive is in the Safe-Operational state. Single Flash The drive is in the Operational state.
Page 158: Data Type
4. EtherCAT Communication Data Type The following table outlines the type and range of the data types used in this manual. Codes Description Range SINT Signed 8bit -128 ~127 USINT Unsigned 8bit 0 ~ 255 Signed 16bit -32768 ~ 32767 UINT Unsigned 16bit 0 ~ 65535...
Page 159 4. EtherCAT Communication SubIndex Setting values 0x02 (2 values assigned) Bit 31~16(Index) Bit 15~8(Sub index) Bit 7~0(Bit size) 0x6040 0x00 0x10 0x607A 0x00 0x20 This is an example to assign the Statusword, the Actual Position Value, and the Actual Velocity Value with the TxPDO (0x1A00).
Page 160 4. EtherCAT Communication  PDO Mapping The following tables list the PDO mappings set by default. These settings are defined in the EtherCAT Slave Information file (XML file). PDO Mapping: RxPDO 터치프로브 Target Modes of Touch Probe Controlword 목표토크 목표위치 운전모드...
Page 161: Synchronization Using The Dc (Distributed Clock)
4. EtherCAT Communication Synchronization Using the DC (Distributed Clock) The Distributed Clock (DC) synchronizes EtherCAT communication. The master and slave share a reference clock (system time) for synchronization, and the slave synchronizes its applications with the Sync0 event generated by the reference clock. The following synchronization modes exist in this drive.
Page 162: Emergency Messages
4. EtherCAT Communication Emergency Messages Emergency messages are passed to the master via mailbox communication when a servo alarm occurs in the drive. Emergency messages may not be sent in the event of communication failure. Emergency messages consist of 8-byte data. Byte Emergency error Unique field for each manufacturer...
Page 163: Cia402 Drive Profile
5. CiA402 Drive Profile CiA402 Drive Profile State machine Start State 부가적인 상태 Additional state 슬레이브에 의해 State to be changed Not ready to Switch on State 변화되는 상태 by the slave 마스터가 확인할 수 State which can be State (A) : Low-level power 있는...
Page 164 5. CiA402 Drive Profile  State Machine Control Commands Switching states of the State Machine can be done through combinations of Controlword (0x6040) bits setting, as described in the table below: bits of the Controlword (0x6040) State Machine Command switching Bit 7 Bit 3 Bit 2...
Page 165 5. CiA402 Drive Profile Switched on disabled Warning Remote Target reached Internal limit active Operation mode specific Torque limit active Drive specific...
Page 166: Operation Modes
5. CiA402 Drive Profile Operation Modes This drive supports the following operation modes (0x6060):  Profile Position Mode(PP)  Homing Mode(HM)  Profile Velocity Mode(PV)  Profile Torque Mode(PT)  Cyclic Synchronous Position Mode(CSP)  Cyclic Synchronous Velocity Mode(CSV)  Cyclic Synchronous Torque Mode(CST) Drive functions supported for each mode are listed in the table below: Operation Modes...
Page 167: Position Control Modes
5. CiA402 Drive Profile Position Control Modes 5.3.1 Cyclic Synchronous Position Mode The Cyclic Synchronous Position (CSP) mode receives the target position (0x607A), renewed at every PDO update cycle, from the upper level controller, to control the position. In this mode, the controller is able to calculate the velocity offset (0x60B1) and the torque offset (0x60B2) corresponding the speed and torque feedforwards respectively, and pass them to the drive.
Page 168 5. CiA402 Drive Profile  Related Objects Variable Index Name Accessibility Unit Index type assignment 0x6040 Controlword UINT 0x6041 Statusword UINT 0x607A Target Position DINT Software Position Limit Number of entries USINT 0x607D Min position limit DINT Max position limit DINT 0x6084 Profile Deceleration...
Page 169 5. CiA402 Drive Profile  Internal Block Diagram of CSP Mode 0x60B1 Velocity Offset [UU/s] Gear Ratio Velocity 0x60B0 0x607A Feed-Forward Position Offset Target Position [UU] [UU] 0x6062 0x60FC Gain 0x210C Position Demand Position Demand Value [UU] Internal Value [pulse] Filter 0x210D Position...
Page 170: Profile Position Mode
5. CiA402 Drive Profile 5.3.2 Profile Position Mode Unlike the CSP mode receiving the target position, renewed at every PDO update cycle, from the upper level controller, in the Profile Position (PP) mode, the drive generates a position profile internally to operate up to the target position (0x607A) using the profile velocity (0x6081), acceleration (0x6083), and deceleration (0x6084).
Page 171 5. CiA402 Drive Profile 0x607F Maximum Profile Velocity UDINT UU/s 0x6081 Profile Velocity UDINT UU/s 0x6083 Profile Acceleration UDINT UU/s 0x6084 Profile Deceleration UDINT UU/s 0x6085 Quick Stop Deceleration UDINT UU/s 0x60B1 Velocity Offset DINT UU/s 0x60B2 Torque Offset 0.1% 0x6062 Position Demand Value DINT...
Page 172 5. CiA402 Drive Profile  Internal Block Diagram of PP Mode Gear Ratio 0x60B1 0x607D Velocity Offset Software Position 0x607A [UU/s] Limit [UU] Velocity Target Position Feed-Forward [UU] Position 0x6062 0x60FC Gain 0x210C Limit Position Demand Position Demand Value [UU] Internal Value [pulse] 0x210D Filter...
Page 173 5. CiA402 Drive Profile You can use the following three position commands in Profile Position Mode:  Single set point After reaching the target position, the drive sends a completion signal to the upper level controller and receives a new command. ...
Page 174 5. CiA402 Drive Profile  Change Immediately Driving Procedure Velocity Set-point Change immediately Change of Set-point (1) Specify the target position (0x607A). (2) Set the New setpoint bit to 1 and the Change set immediately bit to 1 to request the position operation.
Page 175: Velocity Control Mode
5. CiA402 Drive Profile Velocity Control Mode 5.4.1 Cyclic Synchronous Velocity Mode The Cyclic Synchronous Velocity (CSV) mode receives the target velocity (0x60FF), renewed at every PDO update cycle, from the upper level controller, to control the velocity. This mode allows the upper level controller to calculate the torque offset (0x60B2) corresponding the torque feedforward and pass it to the drive.
Page 176 5. CiA402 Drive Profile 0x606E Velocity Window Time UINT 0x6077 Torque Actual Value 0.1% 0x606C Velocity Actual Value DINT UU/s 0x6064 Position Actual Value DINT 0x6063 Position Actual Internal Value DINT pulse 5-14...
Page 177 5. CiA402 Drive Profile  Internal Block Diagram of CSV Mode 0x60B1 0x60FF Velocity Offset Target Velocity [UU/s] [UU/s] 0x606B Velocity Demand Value [UU/s] Processing Acc./Dec. Speed Command Gear Ratio Servo-Lock Acc. Time 0x2301 Function Motor 0x6091:01 Dec. Time 0x2302 Select 0x2311 0x6085...
Page 178: Profile Velocity Mode
5. CiA402 Drive Profile 5.4.2 Profile Velocity Mode Unlike the CSV mode receiving the target velocity, renewed at every PDO update cycle, from the upper level controller, in the Profile Velocity (PV) mode, the drive generates a velocity profile internally up to the target velocity (0x60FF) using the profile acceleration (0x6083) and deceleration (0x6084), in order to control its velocity.
Page 179 5. CiA402 Drive Profile  Related Objects Variable Index Name Accessibility Unit Index type assignment 0x6040 Controlword UINT 0x6041 Statusword UINT 0x60FF Target Velocity DINT UU/s 0x607F Maximum Profile Velocity UDINT UU/s 0x6083 Profile Acceleration UDINT UU/s 0x6084 Profile Deceleration UDINT UU/s 0x6085...
Page 180 5. CiA402 Drive Profile  Internal Block Diagram of PV Mode 0x60B1 0x60FF Velocity Offset Target Velocity [UU/s] [UU/s] Position 0x606B Limit Velocity Demand Value [UU/s] Processing Acc./Dec. Speed Command Gear Ratio 0x6083 0x607F Servo-Lock Acc. Time 0x2301 Profile Acc. Maximum Profile Function [UU/s^2]...
Page 181: Torque Control Modes
5. CiA402 Drive Profile Torque Control Modes 5.5.1 Cyclic Synchronous Torque Mode The Cyclic Synchronous Torque (CST) mode receives the target torque (0x6071), renewed at every PDO update cycle, from the upper level controller, to control the torque. This mode allows the upper level controller to calculate the torque offset (0x60B2) corresponding the torque feedforward and pass it to the drive.
Page 182 5. CiA402 Drive Profile 0x606D Velocity Window UINT UU/s 0x606E Velocity Window Time UINT 0x6077 Torque Actual Value 0.1% 0x606C Velocity Actual Value DINT UU/s 0x6064 Position Actual Value DINT 0x6063 Position Actual Internal Value DINT pulse  Internal Block Diagram of CST Mode 0x607F Max.
Page 183: Profile Torque Mode
5. CiA402 Drive Profile 5.5.2 Profile Torque Mode Unlike the CST mode receiving the target torque, renewed at every PDO update cycle, from the upper level controller, in the Profile Torque (PT) mode, the drive generates a torque profile internally up to the target torque (0x6071) by the torque slope (0x6087), in order to control its torque.
Page 184 5. CiA402 Drive Profile 0x6077 Torque Actual Value 0.1% 0x606C Velocity Actual Value DINT UU/s 0x6064 Position Actual Value DINT 0x6063 Position Actual Internal Value DINT pulse  Internal Block Diagram of PT Mode 0x607F Max. Profile Velocity [UU/s] Gear Ratio Motor 0x6091:01 Gain Conversion...
Page 185: Homing
5. CiA402 Drive Profile Homing This drive provides its own homing function. The figure below represents the relationship between the input and output parameters for the homing mode. You can specify the speed, acceleration, offset, and homing method. Controlword(0x6040) Homing Method Homing 방법(0x6098) Statusword(0x6041) Homing Speeds...
Page 186: Homing Method
5. CiA402 Drive Profile 5.6.1 Homing Method The drive supports the following homing methods (0x6098): Homing Method Details (0x6098) The drive returns to the home position with the negative limit switch (NOT) and the Index (Z) pulse while driving in the reverse direction. The drive returns to the home position with the positive limit switch (POT) and the Index (Z) pulse while driving in the forward direction.
Page 187 5. CiA402 Drive Profile  Related Objects Variable Index Name Accessibility Unit Index type assignment 0x6040 Controlword UNIT 0x6041 Statusword UINT 0x607C Home Offset DINT 0x6098 Homing Method SINT Homing Speed Number of entries USINT 0x6099 Speed during search for switch UDINT UU/s Speed during search for zero...
Page 188 5. CiA402 Drive Profile  Homing Methods 1 and 2 Reverse (CW) 역방향(CW) Forward (CCW) 정방향(CCW) Index pulse Positive limit switch Negative limit switch (POT) (NOT) 0x6099:01 Speed during search for switch 0x6099:02 Speed during search for Zero For homing using the Homing Method 1, the velocity profile according to the sequence is as follows. See the details below: Homing Method ①...
Page 189 5. CiA402 Drive Profile  Methods 7, 8, 9, and 10 역방향(CW) 정방향(CCW) Reverse (CW) Forward (CCW) Index pulse Home switch Positive limit switch (POT) 0x6099:01 Speed during search for switch 0x6099:02 Speed during search for Zero For homing using the Homing Method 7, the velocity profile according to the sequence is as follows. The sequence depends on the relationship between the load position and the Home switch at homing, which is categorized into three cases as below.
Page 190 5. CiA402 Drive Profile (2) At the start of homing, when the Home switch is ON Homing Method ⑦ Speed Positive Home switch Index Pulse Time Zero search speed (0x6099:02) Switch search speed (0x6099:01) (A) Since the Home signal is on, the drive will operate at the Switch Search Speed in the direction of the Positive Home Switch (CCW).
Page 191 5. CiA402 Drive Profile Positive Negative Home Switch Home Switch Home Switch Initial driving direction: Forward (CCW) 초기 이동방향 : 정방향(CCW) Negative Positive Home Switch Home Switch Home Switch Initial driving direction: Reverse (CCW) 초기 이동방향 : 역방향(CW)  Methods 11, 12, 13, and 14 역방향(CW) 정방향(CCW) Reverse (CW)
Page 192 5. CiA402 Drive Profile (1) At the start of homing, when the Home switch is OFF and the limit is not met during operation Homing Method ⑭ Speed Negative home switch Index Pulse Zero search speed Time (0x6099:02) Switch search speed (0x6099:01) (A) The initial driving direction is reverse (CW), and the drive operates at the Switch Search Speed.
Page 193 5. CiA402 Drive Profile (3) At the start of homing, when the Home switch is OFF and the limit is met during operation Homing Method ⑭ Speed Negative limit switch Negative home switch Index Pulse Switch search speed (0x6099:01) Time Zero search speed (0x6099:02) Switch search speed...
Page 194 5. CiA402 Drive Profile  Method 28 Reverse (CW) Forward (CCW) 역방향(CW) 정방향(CCW) Home switch Negative limit switch (NOT) 0x6099:01 Speed during search for switch 0x6099:02 Speed during search for Zero The initial driving direction is reverse (CW), and a point where the Positive Home Switch is turned on becomes the Home position. ...
Page 195 5. CiA402 Drive Profile  Method 35 역방향(CW) Reverse (CW) Forward (CCW) 정방향(CCW) Homing operation 0x6040:bit4 The current position at startup of homing operation becomes the Home position. This method is used to change the current position to the origin depending on demand of the upper level controller. Homing methods -1, -2, -3 and -4 are supported by this drive besides the standard ones.
Page 196 5. CiA402 Drive Profile (A) The initial driving direction is reverse (CW), and the drive operates at the Switch Search Speed. (B) (B) When the drive hits the negative stopper, it will stand by according to the torque limit value (0x2409) and the time setting value (0x240A) at the time of homing using stopper before direction switch.
Page 197 5. CiA402 Drive Profile  Method -3 and -4 역방향(CW) 정방향(CCW) Reverse (CW) Forward (CCW) Positive Stopper Negative Stopper 0x6099:01 Speed during search for switch 0x6099:02 Speed during search for Zero Homing method -3 and -4 only perform homing by using the Stopper. The velocity profile according to sequence is as follows.
Page 198 5. CiA402 Drive Profile  Methods -5, -6 Forward direction (CCW) Reverse direction(CW) Home switch Home switch 0x6099:01 Speed during search for switch 0x6099:02 Speed during search for Zero ㅜ Homing Methods -5, -6 uses only Home switch to return to origin. The speed profile of each sequence is as follows.
Page 199 5. CiA402 Drive Profile (2) Cases where the home witch is off when homing begins, and the limit is met in the process Homing Method Speed Negative Limit switch ON Homing Error generated Time Switch search speed (0x6099:01) (A) The initial direction is reverse (CW). The motor operates at the switch search speed. When the negative limit switch is on, Homing Error is generated.
Page 200: Touch Probe Function
5. CiA402 Drive Profile Touch Probe Function Touch probe is a function to rapidly capture the position value of the encoder with external input (PROBE 1 and 2) signals or the Index (Z) pulse of the encoder.  Example of Touch Probe Wafer mapper system of wafer transfer robot (WTR) In the case that wafers are piled up on a wafer stack, the presence of wafer can be determined by scanning the stack once using mapping sensor.
Page 201 5. CiA402 Drive Profile  Related Objects Variable Index Name Accessibility Unit Index type assignment 0x60B8 Touch Probe Function UINT 0x60B9 Touch Probe Status UINT 0x60BA Touch Probe 1 Positive Edge Position Value DINT 0x60BB Touch Probe 1 Negative Edge Position Value DINT 0x60BC Touch Probe 2 Positive Edge Position Value...
Page 202 5. CiA402 Drive Profile  Continuous Trigger Mode (0x60B8.1=1, 0x60B8.9=1): In the continuous trigger mode, the bits 6, 7, 14, and 15 of the touch probe status (0x60B9) are toggled (0  1 or 1  0) every time the corresponding input/edge is input. 0x60B8.0 (0x60B8.8) 0x60B8.4...
Page 203: Drive Application Functions
6. Drive Application Functions Drive Application Functions Drive Front Panel 아날로그 모니터 출력 커넥터 Analog monitor output connector L/A 0 L/A 1 노드 ID 설정 스위치 Node ID setting switch 서보 상태 표시 용 7-Segment 7-Segment for indicating servo status EtherCAT 통신...
Page 204 6. Drive Application Functions Servo ON Servo warning W10 occurred (code: 10) Digit4 indicates the current operation status and servo ready status. TGON 신호표시 TGON signal indication (OFF:정지상태, ON:회전상태) (OFF: stop, ON: rotating) 위치제어시: INPOS1 신호표시 For position control: INPOS1 signal indication 속도제어시: INSPD 신호표시...
Page 205 6. Drive Application Functions In case of servo alarm, the Digits 5-1 blink and are displayed as below. The Digit 2 and the Digit 1 represent the alarm code. The servo alarm is displayed first, rather than other states. 알람 상태 출력의 예 An example of alarm status output AL-10 (IPM Fault) Ex.
Page 206 6. Drive Application Functions Input/Output Signals Setting 6.2.1 Assignment of Digital Input Signals You can set the digital input signal function and input signal level of the I/O connector. You can arbitrarily assign up to 8 input functions out of 12 functions, as shown in the figure below, to the digital input signals 1-8 for use: Digital 디지털...
Page 207 6. Drive Application Functions Setting Setting details Assignable input signals values Signal input level settings 0x00 Not assigned (0: contact A, 1: contact B) 0x01 14~8 Reserved 0x02 Assign input signal. 0x03 HOME 0x04 STOP Contact A: The 0x05 PCON default status is 0 (Low).
Page 208: Assignment Of Digital Output Signals
6. Drive Application Functions 6.2.2 Assignment of Digital Output Signals You can set the digital output signal function and output signal level of the I/O connector. You can arbitrarily assign up to 4 output functions out of 11 functions, as shown in the figure below, to the digital output signals 1-4 for use: 서보...
Page 209 6. Drive Application Functions Setting details Setting values Assignable output Signal output level settings signal (0: contact A, 1: contact B) 0x00 Not assigned 14~8 Reserved 0x01 BRAKE Assign output signal 0x02 ALARM 0x03 0x04 ZSPD 0x05 INPOS1 0x06 TLMT 0x07 VLMT 0x08...
Page 210: Assignment Of Analog Output Signals
6. Drive Application Functions 6.2.3 Assignment of Analog Output Signals Providing 2 channels of Analog monitor to adjust drive gains or to monintor state parameter Digital input Digital output DO 1+ +24V IN DO 1- (DI1) DI 1 DO 1+ (DI2) DI 2 DO 2-...
Page 211 6. Drive Application Functions Set value Setting details Details Analog output voltage +10V Positive(or negative) value output value -10V Analog output voltage +10V Positive value output value only  Analog monitor channel 1 setting (0x2221) Setting the parmeters to monitor through Analog monitor output channel 1 Setting value Display item Unit...
Page 212 6. Drive Application Functions Channel 1 output voltage [V] = [Monitoring signal value (0x2221) – Offset (0x2203)] / Scale(0x2205) Channel 1 output voltage [V] = [Monitoring signal value (0x2222) – Offset (0x2204)] / Scale(0x2206) For example, if you input 100 to the scale when monitoring the speed output, the output will be 100 [rpm] per 1 [V].
Page 213: Use Of User I/O
6. Drive Application Functions 6.2.4 Use of User I/O User I/O means that some of I/Os provided by the drive are used for individual purpose of the user, in addition to the purpose of controlling the drive itself. All contacts provided by the input/output connector (I/O) can be used as User I/O.
Page 214 6. Drive Application Functions  Related Objects Variable Index Name Accessibility Unit Index type assignment 0x60FD Digital Inputs UDINT Description NOT (negative limit switch) POT (positive limit switch) HOME (origin sensor input) 3 to 15 Reserved DI #1(I/O pin 11), 0:Open, 1:Close DI #2(I/O pin 12), 0:Open, 1:Close DI #3(I/O pin 7), 0:Open, 1:Close DI #4(I/O pin 8), 0:Open, 1:Close...
Page 215 6. Drive Application Functions  How to Set User Output 서보 드라이브 Servo Drive 디지털 출력 Digital Output (DO1) 할당하지 않음 Not assigned 상위 제어기 Upper Level Controller 할당하지 않음 Not assigned (DO2) ALARM+ ALARM- Digital Output (DO3) RDY+ (0x60FE) RDY- (DO4) INPOS1+...
Page 216 6. Drive Application Functions  Related Objects Variable Index Name Accessibility Unit Index type assignment Digital Outputs Number of entries USINT 0x60FE Physical outputs UDINT Bit mask UDINT They indicate the status of digital outputs.  Description of physical outputs Description 0 to 15 Reserved...
Page 217: Electric Gear Setup
6. Drive Application Functions Electric Gear Setup 6.3.1 Electric Gear This function sets the electric gear when you want to drive a motor by so-called user unit, the minimum unit in which the user intends to give a command. When using the electric gear function of the drive, you cannot utilize the highest resolution of the encoder;...
Page 218 6. Drive Application Functions With the above gear ratio setting, it is possible to move by 0.0001 [mm]/1 [UU], and when inputting 10 [UU], it is possible to move by 0.001 [mm], so the user can conveniently input the desired unit [UU].
Page 219: Example Of Electric Gear Setup
6. Drive Application Functions 6.3.2 Example of Electric Gear Setup  Ball Screw Load Apparatus specification Pitch: 10 mm, Reduction gear ratio: 1/1 User Unit 1um(0.001mm) Encoder specification 19-bit (524288 PPR) Amount of load 10[mm] = 10000[User Unit] movement/revolution Motor Revolutions : 524288 Electric gear settings Shaft Revolutions : 10000 ...
Page 220 6. Drive Application Functions 6.3.3 Calculation of speed and acceleration/deceleration when using electronic gear  Index Velocity setting method The ratio of speed and acceleration/deceleration when the gear ratio is 1:1 is as follows. If the user wants to drive a 19-bit motor at a speed of 3000 [rpm], the velocity value of the index is calculated as follows.
Page 221 6. Drive Application Functions ※ Application example When applying Motor Resolution: 524288 / Shaft Resolution: 20 gear ratio to a 19-bit motor, if you want the feedback speed to reach 3000 [rpm] in 0.1 second Therefore, the values of Acceleration and Deceleration can be set as above. 6-19...
Page 222: Settings Related To Speed Control
6. Drive Application Functions Settings Related to Speed Control 6.4.1 Smooth Acceleration and Deceleration For smoother acceleration and deceleration during speed control, you can generate an acceleration/deceleration profile with trapezoidal and S-curved shapes for driving. At this moment, S- curve operation is enabled by setting the speed command S-curve time to a value of 1 [ms] or more. The speed command acceleration/deceleration time (0x2301 and 0x2302) is the time needed to accelerate the drive from zero speed to the rated speed or to decelerate it from the rated speed to zero speed.
Page 223: Servo-Lock Function
6. Drive Application Functions 6.4.2 Servo-lock Function During the speed control operation, the servo position will not be locked even when 0 is entered for a speed command. This is due to the characteristic of speed control; at this moment, you can lock the servo position by enabling the servo-lock function (0x2311).
Page 224: Settings Related To Position Control
6. Drive Application Functions Settings Related to Position Control 6.5.1 Position Command Filter This section describes how to operate the drive more smoothly by applying a filter to a position command. For the purpose of filtering, you can set position command filter time constant (0x2109) using the primary low pass filter and position command average filter time constant (0x210A) using the moving average.
Page 225 6. Drive Application Functions  Related Objects Variable Index Name Accessibility Unit Index type assignment 0x2109 Position Command Filter Time Constant UINT 0.1ms Position Command Average Filter Time 0x210A UINT 0.1ms Constant 6-23...
Page 226: Signals Related To Position Control
6. Drive Application Functions 6.5.2 Signals Related to Position Control As shown in the figure below, if the value of position error (i.e., the difference between the position command value input by the upper level controller and the position feedback value) is not more than the INPOS1 output range (0x2401), and is maintained for the INPOS1 output time (0x2402), the INPOS1 (position completed 1) signal will be output, provided that the position command is not renewed.
Page 227: Settings Related To Torque Control
6. Drive Application Functions Settings Related to Torque Control 6.6.1 Speed Limit Function In the torque control mode, the torque command input from the upper level controller controls the torque, but does not control the speed; thus, the apparatus might be damaged due to exceedingly increased speed by an excessive torque command.
Page 228: Positive/Negative Limit Settings
6. Drive Application Functions Positive/Negative Limit Settings This function is to safely operate the drive within the movable range of the apparatus using the positive/negative limit signals of the drive. Be sure to connect and set the limit switch for safe operation.
Page 229: Setting The Brake Output Signal Function
6. Drive Application Functions Setting the Brake Output Signal Function If the motor stops due to servo OFF or servo alarm during rotation, you can set the speed (0x2407) and delay time (0x2408) for brake signal output, in order to configure the output timing. The brake signal will be output if the motor rotation speed goes below the set speed (0x2407) or the output delay time (0x2408) has elapsed after the servo OFF command.
Page 230 6. Drive Application Functions Servo OFF or PWM출력이 서보OFF 또는 Time when the PWM output alarm occurred OFF되는 시점 알람발생 is turned off PWM OFF delay time PWM OFF 지연시간 (0x2411) (0x2011) Servo 서보ON/OFF ON/OFF Load PWM output Gravity 출력 direction 브레이크...
Page 231: Torque Limit Function
6. Drive Application Functions Torque Limit Function You can limit the drive output torque to protect the machine. It can be set by the torque limit function (0x2110). The setting unit of torque limit value is 0.1%.  Description of Torque Limit Function Setting (0x2110) Limit Description function...
Page 232 6. Drive Application Functions 0x60E0 Forward torque limit 0x2111 External forward torque limit Torque Internal input Torque Ref. external torque 0x60E1 limits Reverse torque limit (set value 0x2112 External reverse torque limit Limits the torque using internal and external torque limit value according to the driving direction and the torque limit signal.
Page 233 6. Drive Application Functions 0x6072 최대토크 Torque Maximum torque 0x60B2 0x60E0 Feed-forward Target Offset 정방향 [0.1%] Forward torque Gain 0x210E 토크제한 limit Filter 0x210F 0x2111 Torque Limit External forward 외부 정방향 Velocity Function torque limit 토크제한 Limit Speed Control Velocity Function P Gain I Gain...
Page 234: Gain Switching Function
6. Drive Application Functions 6.10 Gain switching function 6.10.1 Gain group switching Use gain group 1 게인 그룹2 사용 게인 그룹1 사용 Use gain group 2 GAIN2 sensor input GAIN2 센서 입력 This function is to switch between the gain groups 1 and 2, as one of gain adjustment methods. You can reduce the time required for positioning through switching gains.
Page 235 6. Drive Application Functions Waiting time and switching time for gain switching is as follows: Gain group 1 Gain switching time 1 (0x211A) Gain group 2 Gain switching waiting time 1 (0x211C) Position loop gain 1 (0x2101) Position loop gain 2 (0x2105) Speed loop gain 1 (0x2102) Speed loop gain 2 (0x2106) Speed loop integral time constant 1 (x2103)
Page 236: P/Pi Control Switching
6. Drive Application Functions 6.10.2 P/PI Control Switching PI control uses both proportional (P) and integral (I) gains of the speed controller, while P control uses only proportional gain. The proportional gain determines the responsiveness of the entire controller, and the integral gain is used to eliminate an error in the steady state.
Page 237 6. Drive Application Functions  Related Objects Variable Index Name Accessibility Unit Index type assignment 0x2114 P/PI Control Conversion Mode UINT 0x2115 P Control Switch Torque UINT 0.1% 0x2116 P Control Switch Speed UINT 0x2117 P Control Switch Acceleration UINT rpm/s 0x2118 P Control Switch Following Error...
Page 238: Motor Overload Protection
6. Drive Application Functions 6.11 Motor Overload Protection In order to prevent burnout due to overheating of the motor, it provides a motor overload protection function by an algorithm and a motor overload protection function through a �� Algorithm protection motor thermal time constant.
Page 239: Protection By Motor Thermal Time Constant
6. Drive Application Functions  Related objects Variable Index Name Access Unit Index type allocation Motor ID 0x2000 UINT (Motor ID) 0x2031 Operation Time at Peak Current UINT [3rd Party Motor] Rated Current 0x2802 FP32 Arms (Third Party Motor Rated Current) [3rd Party Motor] Maximum Current 0x2803 FP32...
Page 240: Dynamic Brake
6. Drive Application Functions 6.12 Dynamic brake What is Dynamic Brake? Dynamic brake electrically short-circuits the phase of the servo motor to stop it rapidly. Circuits related to the dynamic brake are integrated into the drive. The drive short-circuits only two phases or all of three phases depending on the model type. Drive 드라이브...
Page 241 6. Drive Application Functions Servo ON/OFF Servo ON/OFF Rotation Rotation speed speed Dynamic Dynamic brake brake Setting value: 0 Setting value: 1 Hold the dynamic brake after stopping the motor using Release the dynamic brake after stopping the motor the brake using the brake Servo ON/OFF Servo ON/OFF...
Page 242: Regenerative Resistance Setting
6. Drive Application Functions 6.13 Regenerative resistance setting Regeneration refers to a phenomenon where the kinetic energy of the motor is converted to electric energy and input into the drive because of driving a load with large inertia or sudden deceleration. At this moment, regenerative resistor is used to suppress the rise of the drive's internal voltage (V ) due to the regeneration and prevent the drive burnout.
Page 243: Use Of Internal Regenerative Resistor
6. Drive Application Functions 6.13.1 Use of Internal Regenerative Resistor This drive essentially has internal regenerative resistor depending on its capacity. The integrated regenerative resistors depending on the drive capacity are as follows: Voltage Resistance Product name Resistor capacity value 100[Ω] L7NHA001U~L7NHA004U Built-in 50[W]...
Page 244 6. Drive Application Functions Check the regenerative resistor capacity (0x200C). 1 KW or less: Basically, the resistor is installed on the rear of the drive heat sink (see the figure below). 3.5 KW to 15kW: It is basically installed inside the drive. 15 KW or more: Internal regenerative resistance is not installed 드라이브...
Page 245: Use Of External Regenerative Resistor
6. Drive Application Functions 6.13.2 Use of External Regenerative Resistor When using the external regenerative resistor considering the driving condition, make sure to observe the order below for configuration: Wire the external regenerative resistor. Connect the external regenerative resistance to B and B+ terminals Remove short in B, BI terminal (short-circuited at factory setup, 1 kW or less).
Page 246 Be sure to configure it when you have set the regenerative resistor (0x2009) to 1. LS ELECTRIC provides the following regenerative resistors as options for the purpose of external regenerative resistor (see the specifications as well):...
Page 247: Other Considerations
6. Drive Application Functions 6.13.3 Other Considerations With the considerations of the ambient environment and heat radiation condition for installing the drive, you can configure the regenerative resistor derating factor (0x200A). In case that the heat radiation condition is poor, please use a derated resistor (less than the capacity). When it is derated for use (setting the value not larger than 100), the less the set value, the earlier the regeneration overload alarm (AL-23) is triggered.
Page 248: Configuration Of Drive Node Address (Addr)
6. Drive Application Functions 6.14 Configuration of Drive Node Address (ADDR) Configure the drive node address. You can verify the set address in the node ID (0x2003). The value of the node setting switch is read just once when the power is turned on. Any set value modified subsequently will be in effect only when the power is turned on again.
Page 249: Safety Functions
7. Safety Functions Safety Functions This servo drive has built-in safe torque off (STO) function to reduce the risk while using the machine by protecting people around the machine against dangerous operation of its movable parts. Especially, this function can be used to prevent dangerous operation of the machine's movable parts when you need to perform tasks such as maintenance in a danger zone.
Page 250 7. Safety Functions  Electric characteristics  STO1 and STO2 Item Characteristic value 3.3 ㏀ Internal impedance Voltage input range DC 12V ~ DC 24V Maximum delay time 1 ms or less  Item Characteristic value Maximum allowed voltage DC 30V Maximum current DC 120mA Maximum delay time...
Page 251 7. Safety Functions  Timing diagram for STO recovery Servo OFF 서보 OFF 서보 ON 서보 ON/OFF Servo ON Servo ON/OFF 서보 ON 후에는 STO1 STO state 평상시의 서보 ON/OFF STO 상태 통상상태 Normal state STO2 동작 타이밍에 따라 After the servo is turned 동작합니다.
Page 252: External Device Monitor (Edm)
7. Safety Functions External Device Monitor (EDM) Monitor output signal is to monitor the state of safety input signal with an external device. Connect it to the terminal for external device monitor of safety device such as safety controller or safety sensor.
Page 253: Example Of Using Safety Function
7. Safety Functions Example of Using Safety Function Light Emitter Receiver Curtain 구동신호 Driving signal STO1+ Blocking 차단 STO1- STO2+ 차단 Blocking Safety unit 안전 유닛 STO2- EDM+ +24V EDM- EDM output EDM출력 How to Verify Safety Function In case that the servo drive was replaced prior to the device startup or during maintenance, make sure to check the details below: ...
Page 254: Precautions For Using Safety Function
7. Safety Functions Precautions for Using Safety Function  When using the STO function, be sure to carry out risk assessment for the device to check if the safety requirements of the system are met.  There may be risks even if the STO function works. ...
Page 255: Tuning
8. Tuning Tuning 전류 피드백 Current feedback Torque Position Speed Voltage 위치 속도 토크 전압 comman command command command 명령 명령 지령 지령 Position Speed Torque 위치제어 속도제어 토크제어 파워 Power 모터 Encoder control Moto 엔코더 control control 연산 연산 연산...
Page 256 8. Tuning Notch Filter Adaptive Filter 0x2500 function Select Position Control Velocity Control Torque Filter Frequency Width Depth Time Ref. P Gain P Gain I Gain 0x2502 0x2503 0x2501 0x2104 0x2101 0x2102 0x2103 0x2504 0x2505 0x2506 0x2108 0x2105 0x2106 0x2107 0x2507 0x2508 0x2509...
Page 257: On-Line Auto Gain Tuning
8. Tuning On-line Auto Gain Tuning Does not use the off-line auto gain tuning command generated by itself(L7NH Drive) and While operating under the command form host device, it sets parameters related gain automatically base on general rule and the rigidity set by user. ...
Page 258 8. Tuning Notch filter 3, 4 frequency (0x2507, 0x250A) → Refer to the automatic notch setting function  Notch Filter Adaptive Filter 0x2500 function Select Position Control Velocity Control Torque Filte r Frequency Width Depth Time Ref. P Gain P Gain I Gain 0x2501 0x2502...
Page 259 8. Tuning mechanical configuration, so set the system rigidity value from a low value to a high value within a range that does not cause vibration. [0x250E] System rigidity [0x2101] position loop gain 1 [0x2102] speed loop gain 1 [0x2103] speed loop integral time constant 1 [0x2104] torque command filter time constant 1...
Page 260: Manual Gain Tuning
8. Tuning Manual Gain Tuning 8.3.1 Gain Tuning Sequence For a cascade-type controller, tune the gain of the speed controller located at an inner position first, and then tune the gain of the position controller located at an outer position. In other words, tune the gains in the order of proportional gain ...
Page 261: Vibration Control
8. Tuning Vibration Control 8.4.1 Notch Filter Notch filter is a sort of band stop filter to eliminate specific frequency component. You can use a notch filter to eliminate the resonant frequency component of an apparatus, resulting in avoiding vibration while setting a higher gain.
Page 262: Adaptive Filter
8. Tuning 8.4.2 Adaptive Filter Adaptive filter analyzes the real-time frequency of vibration frequency, generated from the load during the drive operation, through the speed feedback signal, and configures a notch filter automatically to reduce vibration. It can detect the vibration frequency through frequency analysis to automatically configure one or two notch filters.
Page 263: Vibration Control (Damping) Filter
8. Tuning 8.4.3 Vibration Control (Damping) Filter Measuring vibration frequency occurring in the load throuth the external sensor, and using measured value as the object data for vibration control (damping) filter. L7NH has two vibration control (damping) filter in total. Reagarding each filter, it’s available to set up the frequency and volume of decreasing vibration.
Page 264 8. Tuning Setting Value Setting Details Not using Vibration control (damping) filter Applying Vibration control (damping) filter 1,2 Applying Vibration control (damping) filter 1,2 according to LVSF1, LVSF2 digital input. 8-10...
Page 265: Procedure Function
9. Procedure Function Procedure Function Procedure function is an auxiliary function provided by the drive as described below. It can be executed by procedure command code (0x2700) and procedure command factor (0x2701). It can be activated using servo setting tool. Procedure command Codes Details...
Page 266: Programmed Jog Operation
9. Procedure Function Programmed Jog Operation Programmed jog operation is a function to verify the servo motor operation by the speed control at preset operation speed and time, without an upper level controller. Before starting the jog operation, make sure that: ...
Page 267: Deleting Alarm History
9. Procedure Function  Related Objects Variable Index Name Accessibility Unit Index type assignment Programmed Jog Operation Speed 1 0x2304 (Program Jog Operation Speed 1) Programmed Jog Operation Speed 2 0x2305 (Program Jog Operation Speed 2) Programmed Jog Operation Speed 3 0x2306 (Program Jog Operation Speed 3) Programmed Jog Operation Speed 4...
Page 268 9. Procedure Function  Related Objects Variable Index Name Accessibility Unit Index type assignment Servo Alarm History(Servo Alarm History) Alarm code 1 (Newest) STRING (Alarm code 1(Newest)) Alarm code 2(Alarm code 2) STRING Alarm code 3(Alarm code 3) STRING Alarm code 4(Alarm code 4) STRING Alarm code 5(Alarm code 5) STRING...
Page 269: Index Pulse Search
9. Procedure Function Index Pulse Search Index pulse search function is to find the Index (Z) pulse position of the encoder and stop. You can use this function to locate a position roughly since it searches for a position using the speed operation mode.
Page 270: Absolute Encoder Reset
9. Procedure Function Absolute encoder reset This function resets the absolute encoder. You need to reset the absolute encoder if:  you set up the apparatus for the first time;  there occurs an alarm for low voltage of encoder; or ...
Page 271: Phase Current Offset Tuning
9. Procedure Function  Related Objects Variable Index Name Accessibility Unit Index type assignment Instantaneous Maximum Operation Overload 0x2604 0.1% (Instantaneous Maximum Operation Overload) Phase current offset tuning This function is to automatically tune the current offset of U/V/W phases. Depending on the environmental condition, you can tune the phase current offset for use.
Page 272: Commutation
9. Procedure Function Commutation Commutation function is to get the information on the initial angle of motor. In case of using a motor with hall sensor not installed, you have to get the information on the initial angle through commutation prior to operation, in order to carry out normal operation.
Page 273: Object Dictionary
10. Object Dictionary Object Dictionary Object is a data structure including parameters, state variables, run commands (procedures), and etc. within a drive. Object can be mainly divided into general object (from 0x1000) for EtherCAT communication, CiA402 object (from 0x6000) for CAN application over EtherCAT (CoE), and manufacturer specific object (from 0x2000) exclusively provided by this drive.
Page 274 10. Object Dictionary 0x1009 Hardware Version Variable Change Setting range Initial value Unit Accessibility Storage type attribute assignment STRING Represents the hardware version of the device. 0x100A Software Version Variable Change Setting range Initial value Unit Accessibility Storage type attribute assignment STRING Represents the software version of the device.
Page 275 10. Object Dictionary Only CiA402 parameters (from 0x6000) are stored when "save" is written to SubIndex 3. Only drive-specific parameters (from 0x2000) are stored when "save" is written to SubIndex 4. 0x1011 Restore Default Parameters SubIndex 0 Number of entries Variable Change Setting range...
Page 276 10. Object Dictionary 0x1018 Identity Object SubIndex 0 Number of entries Variable Change Setting range Initial value Unit Accessibility Storage type attribute assignment USINT SubIndex 1 Vendor ID Variable Change Setting range Initial value Unit Accessibility Storage type attribute assignment UDINT 0x00007595 SubIndex 2...
Page 277 10. Object Dictionary 0x1600 Receive PDO Mapping SubIndex 0 Number of entries Variable Change Setting range Initial value Unit Accessibility Storage type attribute assignment USINT 0 to 10 PREOP SubIndex 1 Mapping entry 1 Variable Change Setting range Initial value Unit Accessibility Storage...
Page 278 10. Object Dictionary PDO Mapping: Configure the Process Data Objects (PDO) to perform real-time data transfer through the CANopen over EtherCAT protocol. This drive can freely map up to 10 objects of PDOs for transmission/reception, respectively. Use 0x1600 - 0x1603 to set the receiving PDO mapping, and 0x1A00 - 0x1A03 to set the transmitting PDO mapping.
Page 279 10. Object Dictionary type attribute assignment UDINT 0 to 0xFFFFFFFF PREOP SubIndex 8 Mapping entry 8 Variable Change Setting range Initial value Unit Accessibility Storage type attribute assignment UDINT 0 to 0xFFFFFFFF PREOP SubIndex 9 Mapping entry 9 Variable Change Setting range Initial value Unit...
Page 280 10. Object Dictionary type attribute assignment UDINT 0 to 0xFFFFFFFF PREOP SubIndex 7 Mapping entry 7 Variable Change Setting range Initial value Unit Accessibility Storage type attribute assignment UDINT 0 to 0xFFFFFFFF PREOP SubIndex 8 Mapping entry 8 Variable Change Setting range Initial value Unit...
Page 281 10. Object Dictionary SubIndex 6 Mapping entry 6 Variable Change Setting range Initial value Unit Accessibility Storage type attribute assignment UDINT 0 to 0xFFFFFFFF PREOP SubIndex 7 Mapping entry 7 Variable Change Setting range Initial value Unit Accessibility Storage type attribute assignment UDINT...
Page 282 10. Object Dictionary UDINT 0 to 0xFFFFFFFF 0x60FD0020 PREOP SubIndex 6 Mapping entry 6 Variable Change Setting range Initial value Unit Accessibility Storage type attribute assignment UDINT 0 to 0xFFFFFFFF 0x60610008 PREOP SubIndex 7 Mapping entry 7 Variable Change Setting range Initial value Unit Accessibility...
Page 283 10. Object Dictionary UDINT 0 to 0xFFFFFFFF 0x60BA0020 PREOP SubIndex 6 Mapping entry 6 Variable Change Setting range Initial value Unit Accessibility Storage type attribute assignment UDINT 0 to 0xFFFFFFFF 0x60FD0020 PREOP SubIndex 7 Mapping entry 7 Variable Change Setting range Initial value Unit Accessibility...
Page 284 10. Object Dictionary UDINT 0 to 0xFFFFFFFF 0x60FD0020 PREOP SubIndex 6 Mapping entry 6 Variable Change Setting range Initial value Unit Accessibility Storage type attribute assignment UDINT 0 to 0xFFFFFFFF PREOP SubIndex 7 Mapping entry 7 Variable Change Setting range Initial value Unit Accessibility...
Page 285 10. Object Dictionary UDINT 0 to 0xFFFFFFFF 0x60FD0020 PREOP SubIndex 6 Mapping entry 6 Variable Change Setting range Initial value Unit Accessibility Storage type attribute assignment UDINT 0 to 0xFFFFFFFF PREOP SubIndex 7 Mapping entry 7 Variable Change Setting range Initial value Unit Accessibility...
Page 286 10. Object Dictionary 0x1C10 Sync Manager 0 PDO Assignment Variable Change Setting range Initial value Unit Accessibility Storage type attribute assignment USINT 0x1C11 Sync Manager 1 PDO Assignment Variable Change Setting range Initial value Unit Accessibility Storage type attribute assignment USINT 0x1C12 Sync Manager 2 PDO Assignment...
Page 287 10. Object Dictionary SubIndex 3 Shift time Variable Change Setting range Initial value Unit Accessibility Storage type attribute assignment UDINT SubIndex 4 Sync modes supported Variable Change Setting range Initial value Unit Accessibility Storage type attribute assignment UINT 0x4007 SubIndex 5 Minimum cycle time Variable Change...
Page 288 10. Object Dictionary SubIndex 2 Cycle time Variable Change Setting range Initial value Unit Accessibility Storage type attribute assignment UDINT SubIndex 3 Shift time Variable Change Setting range Initial value Unit Accessibility Storage type attribute assignment UDINT SubIndex 4 Sync modes supported Variable Change Setting range...
Page 289: Manufacturer Specific Objects
UINT 1 to 9999 recycling Set the motor ID. For the serial encoder provided by LS ELECTRIC, it is automatically set. You can check the automatically set IDs. You can check the motor ID on the motor nameplate. Encoder type...
Page 290 (refer to the description of 0x2000). However, the serial encoder provided by LS ELECTRIC is automatically recognized and configured regardless of these settings. However, incremental encoders or absolute single-turn encoders must be entered directly.
Page 291 10. Object Dictionary Motor ID Entry example Encoder type method Enter 8192 for 2048p/r on the sticker on the side of Incremental direct entry the motor Enter 524288 in case of 19 [bit] on the sticker on the direct entry Absolute Singleturn side of the motor Automatic recognition, no input required...
Page 292 10. Object Dictionary Setting Description values With a positive command, the motor rotates counterclockwise. Then, the position feedback value increases. With a positive command, the motor rotates clockwise. Then, the position feedback value increases. Example of setting value 0 Example of setting value 1 Forward command reverse command reverse command...
Page 293 10. Object Dictionary current position are initialized when the power is re-applied. When absolute value single- turn encoder 1 is set 45 degree Power on rotation Position Actual Value Position Actual Value Position Actual Value 0[UU] 0[UU] 65536[UU] When absolute value single-turn encoder 0 45 degree Power on...
Page 294 10. Object Dictionary For example, enter ‘0x01’ as the parameter and enter single-phase power. At this time, if the user issues the Servo On command, the Servo generates AL-42 immediately. No alarm occurs during Servo Off. When the main power is cut off during Main Power Fail Check Mode[0x2006] operation by Servo On 0x00...
Page 295 10. Object Dictionary Instantaneous maximum load 0.1% Instantaneous maximum load rate for 15 rate seconds RMS load factor 0.1% RMS load rate for 15 seconds 0x2009 Regeneration Brake Resistor Configuration Variable Initial Change Stora Setting range Unit Accessibility type value assignment attribute UINT...
Page 296 10. Object Dictionary 0x200D Peak Power of Regeneration Brake Resistor Variable Initial Change Setting range Unit Accessibility Storage type value assignment attribute UINT 1 to 50000 watt Always When using an external regenerative resistor (0x2009=1), set the maximum allowable capacity of the regenerative resistance in watt.
Page 297 10. Object Dictionary accumulate if it exceeds 100 [%]. Therefore, if you set it to 50 at the same time, it accumulates faster than 100, and AL-21 occurs. If the heat dissipation condition of the drive is not good, set the set value below 100% to generate an overload alarm quickly.
Page 298 10. Object Dictionary 0x2011 : 70[msec] axis slipping 150[ms] Motor Brake falling output time 70[ms] SV-OFF command 0x2011 : 200[msec] Axis fixing keep 150[ms] Motor Brake output time 200[ms] SV-OFF command For example, let's assume that the servo off is commanded while using a motor equipped with a brake on the vertical axis, and the brake operates after 150[msec].
Page 299 10. Object Dictionary Time Time Hold after a DB stop Hold after a free run stop Time Time Release after a DB stop Release after a free run stop 0x2013 Emergency Stop Configuration Variable Initial Change Setting range Unit Accessibility Storage type value...
Page 300 10. Object Dictionary Software Position Limit Operation overload Abnormal combination of drive and motor, abnormal I/O setting Low voltage Emergency signal input 0x2015 U Phase Current Offset Variable Initial Change Setting range Unit Accessibility Storage type value assignment attribute -1000 to 1000 0.1% Always 0x2016...
Page 301 10. Object Dictionary 0x2019 Linear Scale Resolution Variable Initial Change Setting range Unit Accessibility Storage type value assignment attribute Power UINT 1 to 65535 1000 recycling Set Linear Scale Resolution in nm. For a linear scale with the resolution of 1 um, set it to 1000 (= 1 um / 1 nm).
Page 302 10. Object Dictionary 0x201E Homing Done Behaviour Variable Initial Change Setting range Unit Accessibility Storage attribute type value assignment UINT 0 to 1 Always Set movement towards Zero position according to home offset [0x607C]. Setting values Description Motor will not move and home offset [0x607C] value will be zero position after homing by homing method [0x6098] Motor will be rotate as much as home offset and zero offset will be 0, after homming by homing method [0x6098]...
Page 303 10. Object Dictionary The TM method subtracts the delay time T_m1 for the first encoder pulse input in a certain period (T) and adds the delay time T_m2 for the last encoder pulse input as the final cycle. At this time, the ��...
Page 304 10. Object Dictionary Operation Time at Peak Current 0x2031 Variable Initial Change Setting range Unit Accessibility Storage attribute type value assignment Reapply UINT 0 to 65535 1000 power Set the operating time at the maximum current of the motor. This setting value is a parameter that protects the motor by algorithm, so it must be set accuratel.
Page 305 10. Object Dictionary Gain Adjustment(0x2100~ )  0x2100 Inertia Ratio Variable Initial Change Setting range Unit Accessibility Storage type value assignment attribute UINT 0 to 3000 Always This specifies the ratio of the load inertia to the motor's rotor inertia in %. Inertia ratio = Load inertia / Motor's rotor inertia x 100 The inertia/load ratio is an important control parameter for the operation of the servo.
Page 306 10. Object Dictionary 0x2105 Position Loop Gain 2 Variable Initial Change Setting range Unit Accessibility Storage type value assignment attribute UINT 1 to 500 Always This specifies the position loop gain used as gain group 2 for gain switching. For more information, refer to the description of the Position Loop Gain 1 (0x2101).
Page 307 10. Object Dictionary 0x210A Position Command Average Filter Time Constant Variable Initial Change Setting range Unit Accessibility Storage type value assignment attribute UINT 0 to 10000 0.1ms Always This applies a moving average filter for position command to smoothen the position command. The value of Position Command Filter Time Constant (0x2109) is first applied.
Page 308 10. Object Dictionary 0x210F Torque Feed-forward Filter Time Constant Variable Initial Change Setting range Unit Accessibility Storage type value assignment attribute UINT 0 to 1000 Always This applies low pass filter to the compensated amount added to the torque command by the torque feed-forward gain.
Page 309 10. Object Dictionary 0x2112 External Negative Torque Limit Value Variable Initial Change Setting range Unit Accessibility Storage type value assignment attribute UINT 0 to 5000 3000 0.1% Always This specifies the external negative torque limit value according to the torque limit function setting (0x2110).
Page 310 10. Object Dictionary 0x2116 P Control Switch Speed Variable Initial Change Setting range Unit Accessibility Storage type value assignment attribute UINT 0 to 6000 Always Refer to the description of the P/PI control switching mode (0X2114). 0x2117 P Control Switch Acceleration Variable Initial Change...
Page 311 10. Object Dictionary Reserved Reserved Reserved Gain is switched according to the ZSPD output status. - 0: Use gain group 1 - 1: Use gain group 2 Gain is switched according to the INPOS1 output status. - 0: Use gain group 1 - 1: Use gain group 2 0x211A Gain Conversion Time 1...
Page 312 10. Object Dictionary 0x211E Dead Band for Position Control Variable Initial Change Setting range Unit Accessibility Storage type value assignment attribute UINT 0 to 1000 Always The position controller output is 0 if positional error for position control is below the setting. 0x211F Drive Control Input 1 Variable...
Page 313 10. Object Dictionary 0x2121 Drive Status Output 1 Variable Initial Change Setting range Unit Accessibility Storage type value assignment attribute UINT 0 to FFFF Always You can assign the state of the drive output signal to the I/O output signal, in order to verify the applicable bit of this output value, in addition to actual output.
Page 314 10. Object Dictionary I/O Configuration (from 0x2200)  0x2200 Digital Input Signal 1 Selection Variable Initial Change Setting range Unit Accessibility Storage type value assignment attribute UINT 0 to 0xFFFF 0x0001 Always This specifies the functions of digital input signal 1 of the I/O and the input signal level. 15Bit 14Bit 13Bit...
Page 315 10. Object Dictionary Example) When setting Gain2 to A contact 15Bit 14Bit 13Bit 12Bit 11Bit 10Bit 9Bit 8Bit 7Bit 6Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0Bit 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0x0006 Example) When setting Gain2 to contact A and filtering time to 5[msec] 15Bit...
Page 316 10. Object Dictionary 0x2203 Digital Input Signal 4 Selection Variable Initial Change Setting range Unit Accessibility Storage type value assignment attribute Power UINT 0 to 0xFFFF 0x0004 recycling This specifies the functions of digital input signal 4 of the I/O and the input signal level. For more information, refer to the description of 0x2200.
Page 317 10. Object Dictionary 0x2210 Digital Output Signal 1 Selection Variable Initial Change Setting range Unit Accessibility Storage type value assignment attribute Power UINT 0 to 0xFFFF 0x8001 recycling Assign the functions of digital output signal 1 of I/O and set the output signal level. Output signal setting has no debounce filter function 15Bit 14Bit...
Page 318 10. Object Dictionary 0x2211 Digital Output Signal 2 Selection Variable Initial Change Setting range Unit Accessibility Storage type value assignment attribute Power UINT 0 to 0xFFFF 0x8002 recycling Assign the functions of digital output signal 2 of I/O and set the output signal level. For more information, refer to the description of 0x2210.
Page 319 10. Object Dictionary Please refer to 6.9 Torque limit function. 0x221D Analog Torque Limit Offset Variable Initial Change Setting range Unit Accessibility Storage type value assignment attribute -1000 to 1000 Always This specifies the analogue voltage offset controlled by the analogue torque limit 0x2220 Analog Monitor Output Mode Variable...
Page 320 10. Object Dictionary 0x0D Drive Temperature 2 °C 0x0E Encoder temperature 1 °C Hall signal 0x0F U phase current 0x10 V phase current 0x11 W phase current 0x12 Current position value 0x13 Target position value 0x14 Position command speed rpm, mm/s 0x15 Hall U signal 0x16...
Page 321 10. Object Dictionary This specifies the scaling of the variable to be output per 1 V when outputting the monitoring variable configured as the analog output channel 1. The unit will be that of the variable configured in the Analog Monitor Channel 1 Setting (0x2221) per 1 V.
Page 322 10. Object Dictionary 0x2303 Speed Command S-curve Time Variable Initial Change Setting range Unit Accessibility Storage type value assignment attribute UINT 0 to 1000 Always You can configure the speed command in an S-curve pattern for smooth acceleration/deceleration. If it is set to 0, the drive will be operated in a trapezoidal pattern by default.
Page 323 10. Object Dictionary 0x2308 Program Jog Operation Time 1 Variable Initial Change Setting range Unit Accessibility Storage type value assignment attribute UINT 0 to 10000 Always Refer to the description of Programmed Jog Operation Speed 1 (0x2304). 0x2309 Program Jog Operation Time 2 Variable Initial Change...
Page 324 10. Object Dictionary 0x230D Speed Limit Function Select Variable Initial Change Setting range Unit Accessibility Storage type value assignment attribute UINT 0 to 3 Always This specifies the speed limit function for torque control. Setting values Setting details Limited by speed limit value (0x230E) Limited by the maximum motor speed Set the analog speed command as the maximum torque speed limit value...
Page 325 10. Object Dictionary 0x2311 Servo-Lock Function Select Variable Initial Change Setting range Unit Accessibility Storage type value assignment attribute UINT 0 to 1 Always This specifies the servo-lock function to fix the motor position with a position value when the speed command is input as 0 for speed control.
Page 326 10. Object Dictionary Miscellaneous Setting(0x2400~ )  0x2400 Software Position Limit Function Select Variable Initial Change Setting range Unit Accessibility Storage type value assignment attribute UINT 0 to 3 Always This specifies the software position limit function for position control. When using the position limit function, the upper and the lower limit values will be limited to the values configured in (0x670D: 02) and (0x670D:01), respectively Encoder spec.
Page 327 10. Object Dictionary 0x2402 INPOS1 Output Time Variable Initial Change Setting range Unit Accessibility Storage type value assignment attribute UINT 0 to 1000 Always Refer to the description of 0x2401. 0x2403 INPOS2 Output Range Variable Initial Change Setting range Unit Accessibility Storage type...
Page 328 10. Object Dictionary will be output if the motor rotation speed goes below the set speed (0x2407) or the output delay time (0x2408) has elapsed after the servo OFF command. 0x2408 BRAKE Output Delay Time Variable Initial Change Setting range Unit Accessibility Storage...
Page 329 10. Object Dictionary 0x240C Modulo Factor Variable Initial Change Setting range Unit Accessibility Storage type value assignment attribute 1 to Power DINT 3600 0x3FFFFFFF recycling Set the factor when using the modulo function. The user sets the position value corresponding to one revolution when the motor is driven.
Page 330 10. Object Dictionary 0x240D User Drive Name Variable Initial Change Setting range Unit Accessibility Storage type value assignment attribute STRING ‘Drive’ Always The user can customize the drive name. Up to 16 characters can be used to define the name. 0x240E Individual Parameter Storage Variable...
Page 331 10. Object Dictionary Enhanced Control(0x2500~ )  0x2500 Adaptive Filter Function Select Variable Initial Change Setting range Unit Accessibility Storage type value assignment attribute UINT 0 to 5 Always This specifies the adaptive filter function. Setting values Setting details Adaptive filter is not used. Only one adaptive filter is used.
Page 332 10. Object Dictionary 0x2503 Notch Filter 1 Depth Variable Initial Change Setting range Unit Accessibility Storage type value assignment attribute UINT 1 to 5 Servo off This specifies the depth of the notch filter 1. 0x2504 Notch Filter 2 Frequency Variable Initial Change...
Page 333 10. Object Dictionary 0x250A Notch Filter 4 Frequency Variable Initial Change Setting range Unit Accessibility Storage type value assignment attribute UINT 50 to 5000 5000 Servo off 0x250B Notch Filter 4 Width Variable Initial Change Setting range Unit Accessibility Storage type value assignment...
Page 334 10. Object Dictionary The gain values (position loop gain, speed loop gain, speed integration time constant, torque command filter time constant) according to the system rigidity settings are determined by the values in the table below. system stiffness position loop gain 1 Velocity Loop Gain 1 Speed Integral Time Constant 1...
Page 335 10. Object Dictionary 0x2511 Off-line Gain Tuning Distance Variable Initial Change Setting range Unit Accessibility Storage type value assignment attribute UINT 1 to 10 Servo off It specifies the distance when performing the off-line gain tuning. The larger the setting value is, the longer the movement distance becomes.
Page 336 10. Object Dictionary 0x2516 Vibration Suppression Filter 1 Frequency Variable Initial Change Setting range Unit Accessibility Storage type value assignment attribute UINT 0 to 2000 0.1Hz Servo off Sets the vibration control (damping) filter 1 frequency. 0x2517 Vibration Suppression Filter 1 Damping Variable Initial Change...
Page 337 10. Object Dictionary  Monitoring (from 0x2600) 0x2600 Feedback Speed Variable Initial Change Setting range Unit Accessibility Storage type value assignment attribute This represents the current rotation speed of the motor. 0x2601 Command Speed Variable Initial Change Setting range Unit Accessibility Storage type...
Page 338 10. Object Dictionary 0x2605 DC-Link Voltage Variable Initial Change Setting range Unit Accessibility Storage type value assignment attribute UINT Volt This represents the DC link voltage by the main power input. 0x2606 Accumulated Regeneration Overload Variable Initial Change Setting range Unit Accessibility Storage...
Page 339 This represents the temperature measured by the temperature sensor integrated into serial encoder provided by LS ELECTRIC (if the setting values of the encoder type (0x2001) are 3, 4, 5, and 6). If the measured temperature is higher than 90℃, the encoder overheat alarm (AL-26) will be generated.
Page 340 10. Object Dictionary 0x260F Motor Maximum Speed Variable Initial Change Setting range Unit Accessibility Storage type value assignment attribute UINT This represents the maximum speed of the driving motor. 0x2610 Drive Rated Current Variable Initial Change Setting range Unit Accessibility Storage type value...
Page 341 10. Object Dictionary 0x2613 Bootloader Version Variable Initial Change Setting range Unit Accessibility Storage type value assignment attribute STRING This represents the bootloader version of the drive. 0x2614 Warning Code Variable Initial Change Setting range Unit Accessibility Storage type value assignment attribute UINT...
Page 342 10. Object Dictionary Procedure and Alarm history(0x2700~ ) 0x2700 Procedure Command Code Variable Initial Change Setting range Unit Accessibility Storage type value assignment attribute UINT 0 to 0xFFFF You can run various procedures with the following procedure command codes and command arguments.
Page 343 10. Object Dictionary 0x2701 Procedure Command Argument Variable Initial Change Setting range Unit Accessibility Storage type value assignment attribute UINT 0 to FFFF 0x2702 Servo Alarm History SubIndex 0 Number of entries Variable Change Initial Setting range Accessibility Storage Unit value type assignment...
Page 344 10. Object Dictionary Variable Initial Change Setting range Unit Accessibility Storage type value assignment attribute STRING SubIndex 8 Alarm code 8 Variable Initial Change Setting range Unit Accessibility Storage type value assignment attribute STRING SubIndex 9 Alarm code 9 Variable Initial Change Setting range...
Page 345 10. Object Dictionary type value assignment attribute STRING This represents the history of servo alarm generated from the drive. Up to 16 servo alarms recently generated are stored. The SubIndex 1 is the latest alarm while the SubIndex 16 is the oldest one out of the recently generated alarms.
Page 346 10. Object Dictionary Third Party Motor Support(0x2800~ )  The following motor parameters are provided to drive a motor manufactured by a third party in addition to our motor. To drive a third party's motor through our drive, you have to enter correct parameters. In this case, however, our company neither has performed any test for the combination of our drive and the third party motor, nor gives any warranty for the motor characteristic.
Page 347 10. Object Dictionary 0x2804 [Third Party Motor] Rated Speed Variable Initial Change Setting range Unit Accessibility Storage type value assignment attribute Power UINT 1 to 60000 3000 recycling This specifies the rated speed of the motor. For a linear motor, the unit is mm/s. 0x2805 [Third Party Motor] Maximum Speed Variable...
Page 348 10. Object Dictionary 0x2809 [Third Party Motor] Phase Inductance Variable Initial Change Setting range Unit Accessibility Storage attribute type value assignment Power FP32 0 to 1000 3.66 recycling This specifies the phase inductance (= inductance between lines ÷ 2) of the motor. 0x280A [Third Party Motor] TN Curve Data 1 Variable...
Page 349 10. Object Dictionary Torque (Force) Max torque 0x280B = Torque @Max torque / Max torque x 100 Torque @Max speed Speed Max speed 0x280C [Third Party Motor] Hall Offset Variable Initial Change Setting range Unit Accessibility Storage type value assignment attribute Power UINT...
Page 350: Cia402 Objects
10. Object Dictionary 10.3 CiA402 Objects 0x603F Error Code Variable Initial Change Setting range Unit Accessibility Storage type value assignment attribute UINT The alarm code which has last occurred in Servo Drive is displayed. 0x6040 Controlword Variable Initial Change Setting range Unit Accessibility Storage...
Page 351 10. Object Dictionary <Description on Bits 4 to 9> • Bits 4, 5, 6, 8 and 9: For CSP, CSV, or CST mode operation Function Value Details – – – Continues to perform the operation. Halt Halts the operation according to the Halt Option code (0x605D). –...
Page 352 10. Object Dictionary • Bits 4, 5, 6, 8 and 9: For HM mode operation Function Value Details Does not perform the homing operation. Homing Start Performs or is performing the homing operation. – – Runs the bit 4 command. Halt Halts the operation according to the Halt Option code (0x605D).
Page 353 10. Object Dictionary <Description on Bits 0 to 7> • Bits 0 to 7:: For the current state of the drive Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Drive State – –...
Page 354 10. Object Dictionary • Bits 10, 12 and 13: For PV mode operation State Value Details Halt (0x6040.8) = 0: Unable to reach the target position Halt (0x6040.8) = 1: deceleration Target reached Halt (0x6040.8) = 0: Reached the target position Halt (0x6040.8) = 1: Speed is 0 Not in a zero speed state Speed...
Page 355 10. Object Dictionary 0x605A Quick Stop Option Code Variable Initial Change Setting range Unit Accessibility Storage type value assignment attribute 0 to 4 Always This sets the Quick Stop option code. Setting values Description Not used (transits into Switch On Disabled). Slowly decelerates and then stops the drive according to the quick 1 or 2 stop deceleration (0x6085) setting (Switch On Disabled).
Page 356 10. Object Dictionary 0x605D Halt Option Code Variable Initial Change Setting range Unit Accessibility Storage type value assignment attribute 0 to 4 Always The Halt option code sets the operation method used to move from the Operation Enabled state to the Switched On state.
Page 357 10. Object Dictionary Cyclic Synchronous Position mode Cyclic Synchronous Velocity mode Cyclic Synchronous Torque mode Other Reserved 0x6061 Modes of Operation Display Variable Setting Change Initial value Unit Accessibility Storage type range assignment attribute SINT This displays the operation mode of the current drive. 0x6062 Position Demand Value Variable...
Page 358 10. Object Dictionary 0x6065 Following Error Window Variable Setting Initial Change Stora Unit Accessibility type range value assignment attribute 0 to UDINT 600000 Always 0x3FFFFFFF This specifies the positional error range to check the Positional Error (Statusword, 0x6041.13). 0x6066 Following Error Timeout Variable Setting Initial...
Page 359 10. Object Dictionary 0x606C Velocity Actual Value Variable Setting Change Stora Initial value Unit Accessibility type range assignment attribute DINT UU/s This displays the actual velocity value in user-defined position unit. 0x606D Velocity Window Variable Setting Initial Change Stora Unit Accessibility type range...
Page 360 10. Object Dictionary 0x6074 Torque Demand Value Variable Setting Initial Change Stora Unit Accessibility type range value assignment attribute 0.1% This displays the current torque demand value in 0.1% increments of the rated torque. 0x6076 Motor Rated Torque Variable Setting Initial Change Stora...
Page 361 10. Object Dictionary 0x607A Target Position Variable Initial Change Stora Setting range Unit Accessibility type value assignment attribute –2147483648 to DINT Always 2147483647 This specifies the target position in Profile Position (PP) mode and Cyclic Synchronous Position (CSP) mode. It is used as absolute coordinate or relative coordinate depending on the Bit 4 (0x6040.4) setting of the Controlword in the PP mode, and is always used as absolute value in the CSP mode.
Page 362 10. Object Dictionary 0x607F Max Profile Velocity Variable Initial Change Stora Setting range Unit Accessibility type value assignment attribute 0 to 0x7FFFF UDINT UU/s Always 0x7FFFFFFF This specifies the maximum profile speed for the PP mode operation. 0x6080 Max Motor Speed Variable Initial Change...
Page 363 10. Object Dictionary 0x6085 Quick Stop Deceleration Variable Initial Accessibilit Change Stora Setting range Unit type value assignment attribute 0 to UDINT 2000 UU/s Always 0x7FFFFFFF The system uses quick stop deceleration if the quick stop option code (0x605A) is set to 2. This is the target position calculation formula for Quick Stop deceleration This is the target position value calculation formula when index 0 is driven at 300[rpm], 2000000[...
Page 364 10. Object Dictionary This specifies the torque slope for the PT mode operation. 0x6091 Gear Ratio SubIndex 0 Number of entries Variable Accessibil Change Setting range Initial value Unit Storage type assignment attribute USINT SubIndex 1 Motor revolutions Variable Accessibil Change Setting range Initial value...
Page 365 10. Object Dictionary 0x6099 Homing Speeds SubIndex 0 Number of entries(Number of entries) Variable Accessibil Change Setting range Initial value Unit Storage type assignment attribute USINT SubIndex 1 Switch search speed(Speed during search for switch) Variable Accessibil Change Setting range Initial value Unit Storage...
Page 366 10. Object Dictionary 0x60B2 Torque Offset Variable Initial Accessibilit Change Stora Setting range Unit type value assignment attribute -5000 to 5000 0.1% Always In the CSP and CSV modes, this corresponds to the torque feedforward value.In the CST mode, this specifies the offset value added to the torque command value.
Page 367 10. Object Dictionary 14 to 15 – Reserved 0x60B9 Touch Probe Status Variable Initial Change Stora Setting range Unit Accessibility type value assignment attribute UINT This displays the status of the touch probe. Value Description Does not use the touch probe 1. Uses the touch probe 1.
Page 368 10. Object Dictionary 0x60BA Touch Probe 1 Positive Edge Position Value Variable Initial Change Stora Setting range Unit Accessibility type value assignment attribute DINT This represents the rising edge position value of the touch probe 1. 0x60BB Touch Probe 1 Negative Edge Position Value Variable Initial Change...
Page 369 10. Object Dictionary 0x60E1 Negative Torque Limit Value Variable Initial Change Stora Setting range Unit Accessibility type value assignment attribute UINT 0 to 5000 3000 0.1% Always This sets the limit of negative torque values. 0x60F4 Following Error Actual Value Variable Initial Change...
Page 370 10. Object Dictionary DI #8(I/O pin 10), 0:Open, 1:Close 24~30 Reserved STO(Safe Torque Off), 0:Close, 1:Open 0x60FE Digital Outputs SubIndex 0 Number of entries Variable Accessibil Change Setting range Initial value Unit Storage type assignment attribute USINT SubIndex 1 Physical outputs Variable Accessibil Change...
Page 371 10. Object Dictionary  Description of bit mask Description 0 to 15 Reserved Forced output setting (0: Disable, 1: Enable) of DO #1 (I/O pins 3 and 4) Forced output setting (0: Disable, 1: Enable) of DO #2 (I/O pins 23 and 24) Forced output setting (0: Disable, 1: Enable) of DO #3 (I/O pins 25 and 26) Forced output setting (0: Disable, 1: Enable) of DO #4 (I/O pins 1 and 2) 20 to 31...
Page 372: Maintenance And Inspection
11. Maintenance and Inspection Maintenance and Inspection 11.1 Maintenance and Inspection This chapter explains how to perform basic maintenance and inspection tasks as well as diagnose and troubleshoot the servo motor and drive. 11.1.1 Precautions 1. Measuring the motor voltage: The PWM controls the voltage output from the servo amp to the motor.
Page 373: Replacing Parts
11. Maintenance and Inspection (2) Inspecting the Servo Drive What to do if you find an Inspection Item Inspection Period Inspection process abnormality Clean the main body At least once a Clean it with air pressure or Check if there is any dust or oil and control board year cloth.
Page 374: Diagnosing And Troubleshooting Abnormalities
11. Maintenance and Inspection 11.2 Diagnosing and Troubleshooting Abnormalities Alarm or warning will be generated if a problem occurs during operation. If this happens, check the applicable code and take a proper action. If the problem persists, contact our service center. 11.2.1 Servo Motor [Cause of abnormalities, inspection procedure, and troubleshooting methods] Symptoms...
Page 375: Servo Drive
11. Maintenance and Inspection 11.2.2 Servo Drive  Servo Alarm If the drive detects a problem, it will trigger a servo alarm and transition to the servo off state to stop. In this case, the value of the emergency stop setting (0x2013) is used to stop the drive. Alarm Code Causes Details...
Page 376 11. Maintenance and Inspection Alarm Code Causes Details What to check Motor brake Checking whether the motor brake is Provide power to motor brake error not holding Motor ID[0x2000], Encoder type[0x2001], Modify the parameter as same as Check the label of application motor motor label information.
Page 377 11. Maintenance and Inspection Alarm Code Causes Details What to check Drive temperature 2 Comparing displayed drive temperature 2 [0x260C] in normal Drive error Replace the drive status and the surrounding temperature. Reserved Encoder temperature Encoder cable Disconnect, wiring is incorrect and Replace encoder cable.
Page 378 11. Maintenance and Inspection Alarm Code Causes Details What to check Sinusoidal ENC error Check shield and FG disconnect amplitude Parameter Check setting valud of encoder type Check setting encoder type. Check Sinusoidal ENC setting error [0x2001] speed command.(Maximum:250kHz) frequncy If alarm continue after servo on again, Drive error Replace drive.
Page 379 11. Maintenance and Inspection Alarm Code Causes Details What to check power voltage is Check whether the main power Recheck the power supply. voltage is below 286[Vac] Main power input voltage Check [0x2605] value is below error Replace the drive. 405[Vdc] when main power is accordingly input.
Page 380 11. Maintenance and Inspection Alarm Code Causes Details What to check Check [0x6091] Setting value Set Electronic gear ratio low. Parameter Check setting value on 0x6066 of Set up correct parameter according to setting error position error excess time, 0x6065 of operating method.
Page 381 11. Maintenance and Inspection  Servo Warning If the drive detects an error classified as a servo warning, it will trigger a warning. In this case, the drive will maintain normal operation condition. After the cause of the warning is eliminated, the warning will be automatically cleared.
Page 382 11. Maintenance and Inspection Alarm Code Causes Detail What to check Bad conection of battery, No Check the status of battery Connect battery rightly. connected. When battery Check whether battery voltage is over Replace battery. voltage is low. 3.3V Setting function of software restriction Change value of software position limit Parameter on location [0x2400], Check value of...
Page 383 11. Maintenance and Inspection Alarm Code Causes Detail What to check digital input signal1 set[0x2200]~digital error input Check sinal 16 setting[0x220F] If alarm continue after servo on again, Drive error Replace drive. Because drive may have problem. 11-111...
Page 384: Overload Operating Characteristic Curve
11. Maintenance and Inspection 11.2.3 Overload Operating Characteristic Curve  Overload Operating Characteristic Curve (SA type 100W) 200[V]/100[W] AL-21 occurred time (sec) AL-21 occurred time (sec) Overload Overload Operation Stop Operation Stop Below 100 Infinite Infinite 1969.0 1372.0 424.0 343.2 188.4 152.5 106.0...
Page 385 11. Maintenance and Inspection  Overload Operating Characteristic Curve (400W) 200[V]/400[W] Overload AL-21 occurred time (sec) Overload AL-21 occurred time (sec) Operation Stop Operation Stop Below 100 Infinite Infinite 55776.0 37935.0 66.8 50.1 13944.0 9483.0 50.1 38.5 6197.0 4215.0 38.5 30.3 3486.0 2371.0...
Page 386 11. Maintenance and Inspection  Overload Operating Characteristic Curve (750W, 1kW) 200[V]/750[W],1.0[kW] AL-21 occurred time (sec) AL-21 occurred time (sec) Overload(%) Overload(%) Operation Stop Operation Stop Below 100 Infinite Infinite 105800.0 37935.0 119.0 50.1 26450.0 9483.0 89.2 38.5 11755.5 4215.0 49.3 30.3 6612.5...
Page 387 11. Maintenance and Inspection  Overload Operating Characteristic Curve (2kW, 3.5kW) 200[V]/2[kW],3.5[kW] AL-21 occurred time (sec) AL-21 occurred time (sec) Overload(%) Overload(%) Operation Stop Operation Stop Below 100 Infinite Infinite 4832 4832 66.8 1208 1208 50.1 38.5 30.3 30.3 24.2 10000 1000 회전...
Page 388 11. Maintenance and Inspection  Overload Operating Characteristic Curve (5kW) 200[V]/5[kW] AL-21 occurred time (sec) AL-21 occurred time (sec) Overload(%) Overload(%) Operation Stop Operation Stop Below 100 Infinite Infinite 4832 4832 66.8 1208 1208 50.1 38.5 30.3 30.3 24.2 10000 1000 회전...
Page 389 11. Maintenance and Inspection  Overload Operating Characteristic Curve (7.5kW) 200[V]/7.5[kW] AL-21 occurred time (sec) AL-21 occurred time (sec) Overload(%) Overload(%) Operation Stop Operation Below 100 Infinite Infinite 4832 4832 66.8 1208 1208 50.1 38.5 30.3 24.2 10000 1000 회전 Oper.
Page 390 11. Maintenance and Inspection  Overload Operating Characteristic Curve (15kW) 200[V]/15[kW] AL-21 occurred time (sec) AL-21 occurred time (sec) Overload(%) Overload(%) Operation Stop Operation Stop Below 100 Infinite Infinite 4832 4832 66.8 1208 1208 50.1 38.5 30.3 30.3 24.2 10000 1000 회전...
Page 391 11. Maintenance and Inspection  Overload Operating Characteristic Curve (1.0kW) 400[V]/1.0[kW] AL-21 occurred time (sec) AL-21 occurred time (sec) Overload(%) Overload(%) Operation Stop Operation Below 100 Infinite Infinite 55776 37937.7 50.1 13944 9483.9 38.5 6197.3 4215.1 30.3 3486 2371 30.3 1183 24.2 100000...
Page 392 11. Maintenance and Inspection  Overload Operating Characteristic Curve (2.0kW, 3.5kW) 400[V]/2.0[kW], 3.5[kW] AL-21 occurred time (sec) AL-21 occurred time (sec) Overload(%) Overload(%) Operation Stop Operation Below 100 Infinite Infinite 4602 4600 1208 1208 100000 10000 1000 회전 Oper. 정지 Stop 110 120 130 140 150 160 170 180 190 200 210 220 230 240 250 260 270 280 290 300 Load rates(%)
Page 393 11. Maintenance and Inspection  Overload Operating Characteristic Curve (5.0kW) 400[V]/5.0[kW] AL-21 occurred time (sec) AL-21 occurred time (sec) Overload(%) Overload(%) Operation Stop Operation Below 100 Infinite Infinite 4832 4832 66.8 1208 1208 50.1 536.8 38.5 30.3 24.2 100000 10000 1000 회전...
Page 394 11. Maintenance and Inspection  Overload Operating Characteristic Curve (7.5kW) 400[V]/7.5[kW] AL-21 occurred time (sec) AL-21 occurred time (sec) Overload(%) Overload(%) Operation Stop Operation Below 100 Infinite Infinite 5760 100000 10000 1000 회전 Oper. 정지 Stop 110 120 130 140 150 160 170 180 190 200 210 220 230 240 250 260 270 280 290 300 Load rates(%) 11-122...
Page 395 11. Maintenance and Inspection  Overload Operating Characteristic Curve (15.0kW) 400[V]/15[kW] AL-21 occurred time (sec) AL-21 occurred time (sec) Overload(%) Overload(%) Operation Stop Operation Below 100 Infinite Infinite 5760 16.4 1998 698.4 13.5 524.2 350.1 19.6 271.8 10.2 210.6 162.9 32.8 19.3 100000...
Page 397: Test Drive
13. Test Drive Test Drive For safe and proper test drive, make sure to check the following prior to test drive. If there is a problem, take an appropriate measure before the test drive.  Servo Motor State Is the motor correctly installed and wired? Is each connecting part correctly tightened without loosening? For a motor with oil seal fitted, is there any damage on the oil seal? Is oil properly applied?
Page 398: Preparation For Operation
12. Test Drive 12.1 Preparation for Operation Carry out test drive in the following order: Conform to the checklist and precautions before test 시운전 전의 점검과 주의사항을 확인합니다. drive. Check input/output signals and connection to the upper 입출력 신호 및 상위기와의 접속 상태를 확인합니다. level controller.
Page 399: Test Drive Using Twincat System Manager
13. Test Drive Turn on the servo drive. The servo drive communication is in the Safe OP state. Make sure that the state of the servo drive panel monitor is as the figure below: The Link/Activity LED is flickering. Refer to Section 11 Maintenance and The RUN LED is in "Single Flash."...
Page 400 12. Test Drive  If the dialog window below pops up in the TwinCAT System Manager, select "OK".  If the "new I/O devices found" dialog window pops up, select any device or servo drive required to be driven for test and select the "OK" button. ...
Page 401 13. Test Drive Switch the TwinCAT System Manager to Free Run state, allowing it to control devices independently of the TwinCAT PLC and so on.  If the dialog window below pops up, select "Yes." Make sure that the NC Task is added to the NC-Configuration tree in the workspace on the left, and the servo drive is registered to the "I/O- Configuration"...
Page 402 12. Test Drive  Check the communication LED. The Link/Activity LED is flickering. The RUN LED is on.  Check the online state of the I/O device of the TwinCAT system. In the I/O-Configuration tree of the workspace, select the servo drive under the test drive, and then the "Online"...
Page 403 13. Test Drive  Setting NC-Task Axis Parameters Order Handling Notes Set the unit of display of the relevant axis.  Select the "Axis1."  Select the "Settings" tab.  Select the unit of display for position and speed. (Note) Note that the actual unit will not be converted even when the unit shown in the figure above was converted to mm or degree.
Page 404 12. Test Drive Set the speed, acceleration, and jerk of the test drive axis. Set the acceleration, deceleration, and jerk directly for the test drive axis; the TwinCAT NC can calculate the acceleration based on the configured profile timing.  Select the Axis 1.
Page 405 13. Test Drive Set the Position Lag Monitoring (Positional Error).  Select "Axis 1."  Select the "Parameter" tab.  Set the Position Lag Monitoring.  Set the Position Lag Filter Time.  Download the settings. (Note) The Position Lag Monitoring is the difference between the position reference and the actual position at a given cycle time.
Page 406 12. Test Drive  Test Drive of Servo Drive Using TwinCAT NC Axis Order Handling Notes Make sure that the TwinCAT NC axis is "Servo On."  Select "Axis 1."  Select the "Online" tab.  Click the "Set" button. ...
Page 407 13. Test Drive  Set the “Target Velocity.”  Click “F5.”  Move it to the Target Position from the current position, decelerating to stop.  After moving it to the Target Position, verify if the Set Position is identical to the Target Position.
Page 408: Test Drive Using Ls Electric Plc (Xgt + Pn8B)
12. Test Drive 12.3 Test Drive Using LS ELECTRIC PLC (XGT + PN8B)  Test Drive Procedure Order Handling Notes Launch the XG-PM. Create a new project.   On the menu bar, click Project New Project. Name the new project.
Page 409 13. Test Drive  When the PC and the PLC are connected, the connection between the PLC and the servo drive will be enabled as shown in the figure below: Connect PLC with Servo Drive.  For the first connection, enable the network parameters and the servo parameters in the workspace on the left through "Connect Network Servo Automatically."...
Page 410 12. Test Drive  Make sure that the state of the servo drive panel monitor is as the figure below:  Check the state of the status LEDs. The Link/Activity LED is flickering. The RUN LED is on. (Note) The automatic connection of network servo registers the device connected to the XGT, and initializes the parameters of the connected device.
Page 411 13. Test Drive Set the Driving Parameters of Test Drive Axis  Basic Parameters.  Enter the number of encoder pulses per motor revolution.  Encoder resolution of 19 bits = 524288  Check the motor specifications, and then configure appropriate settings. ...
Page 412 12. Test Drive  Select parameters that you want to change, and then change them.  To change any parameter during operation, check the "Allow to Modify Servo Parameters during Operation" checkbox at the top center.  You can display a parameter value as a decimal or hexadecimal. Save the configured parameters.
Page 413 13. Test Drive Save the configured parameters.  Select the "System View" and the "Basic Command" tabs in the workspace to check the state of the servo drive as shown in the figure below:  Make sure that the state of the servo drive panel monitor is as the figure below: ...
Page 414 12. Test Drive  For the "Jog Operation," the motor is driven with the settings of the operation parameters.  For the "Inching Operation," the motor moves to the entered position.  After entering the position value, click the "Run" button to carry out the test drive.
Page 415: Test Drive Using Ls Mecapion Mxp Series
13. Test Drive 12.4 Test Drive Using LS Mecapion MXP Series  Test Procedure Test Test Test Check if the ESI file exists.  MXP installation path\MXP-CONFIGRATOR\System\Scanner\EtherCAT  If the ESI file does not exist in the above path, copy and paste it. <...
Page 416 12. Test Drive  Execute [Total Download] in the [On-Line] menu or click on the toolbar to activate the [Total Download] window as shown below. ① ③ ② ④ ⑤ ⑥ ⑦ Fucntion Choose what to download from the current project Move selected button Display items to be downloaded Show current download status...
Page 417 13. Test Drive  PDO items can be edited through the Process Data Tab in the edit window of the servo drive.  The Process Data screen is composed as shown in the figure. ① Sync Manager This is a list of Sync Managers that the device has. The PDO list set in the Inputs/Outputs item is read and written every communication cycle.
Page 418 12. Test Drive ② PDO List Assign A list of PDO lists that can be selected from the corresponding SM (Sync Manager) is displayed. By setting the checkbox, you can select the PDO list to be sent and received in each communication cycle.
Page 419 13. Test Drive Picture 1 – Set Default PDO Items for MXP function screen - Set Default PDO Items for MXP is a function provided only to our servo drives.. This is a function that allows you to set items that must be PDO mapping for control using MXP with one click.
Page 420 12. Test Drive At this time, only devices of the same model that can be selected are displayed. When the selection is complete, click the “Copy” button to complete the copy. < Axis parmeter setting > MXP motion controller has Axis Parameter of each servo drive (motor). This is configured separately from the servo parameters stored in the servo drive.
Page 421 13. Test Drive < EtherCAT > Check the settings related to EtherCAT communication and set Master Activation.. Master Activation By setting the Master Activation item, you can select the presence or absence of simulation operation. When [Unused] is set, it operates in simulation mode without actual communication, and when [Used] is set, actual communication is performed.
Page 422 12. Test Drive Torque mode: CST Profile positioning mode: PP Hardware Limit Enable (Index : 205) Set whether to use HW Limit. (NOT, POT, HOME) Encoder Type (Index : 300) Select the subject of Home operation. Choose between MXP or servo drives. SingleTurnReg (Index : 301) Enter the single turn register address to be used for Home operation..
Page 423 13. Test Drive - When selecting the Copy Parameter menu, Axis list items excluding Source are displayed in (1). - Add the target axis to be copied by using the (2) button - Click (3) button to copy the setting data of the source axis to the target axis. <...
Page 424 12. Test Drive Execute [Total Download] in the [On-Line] menu or click on the toolbar to activate the [Total Download] window as shown below. ① ③ ② ④ ⑤ ⑥ ⑦ Function Choose what to download from the current project Move selected button Display items to be downloaded Show current download status...
Page 425 13. Test Drive When communication is connected, it is displayed in different colors depending on the servo status. < Test run for Simulator > If the device clicked on the simulator screen is a servo drive, the screen shown in the figure below is displayed.
Page 426 12. Test Drive - System 1) Default: Display default values in the blanks within the current page. Depending on the characteristics of the equipment, the default value may not be correct. 2) Svo On: Give Servo On command to the relevant axis. 3) Svo Off: Give Servo Off command to the relevant axis.
Page 427 13. Test Drive 8) NOT, HOM, POT: 0 and 1 indicate whether the lower limit, home, and upper limit sensors are detected. -Auto Motion: Mode This is a function to move 1 to 3 positions according to the check box settings. When the Repeat checkbox is set, it moves repeatedly. 1) Start: Start automatic motion.
Page 428: Appendix
13. Appendix Appendix 13.1 Firmware Update 13.1.1 Use of USB OTG The drive performs USB host function to search for firmware files in the USB memory and download them to flash memory inside the drive. You can easily update the firmware using the USB memory and OTG cable without a PC.
Page 429: Use Of Foe (File Access Over Ethercat)
13. Appendix 13.1.2 Use of FoE (File access over EtherCAT) FoE is a simple file transfer protocol using the EtherCAT, enabling firmware update. When the drive and the upper level controller (e.g.: TwinCAT) are connected, you can simply update the firmware remotely via FoE.
Page 430 13. Appendix (3) After the current state is changed to BOOT and you check the drive status (7-segments display boot), wait for approx. 10 seconds until the internal flash memory of the drive is cleared. L/A 0 L/A 0 L/A 1 L/A 1 (7-segments display a message when downloading the firmware using the FoE) 13-34...
Page 431 13. Appendix L/A 0 L/A 1 (7-segments display a message when Flash deletion is complete while downloading the firmware using the FoE) *Caution The following error occurs if you try to download before the required 10 seconds pass for the flash memory to be cleared.
Page 432 13. Appendix L/A 0 L/A 1 (7-segments display a message when you finished downloading the firmware using the FoE) *Caution If you do not change the communication state to Init and turn on the power again according to the upper level controller, the state will be automatically changed to BOOT and the flash memory may be cleared.
Page 433: Use Of Drive Cm
13. Appendix 13.1.3 Use of Drive CM Drive CM allows the firmware upgrade through the PC's USB port. The transmission time depends on the PC performance, but it usually takes from scores of seconds to several minutes. Select Setup Firmware Update from the top main menu or click on the corresponding shortcut icon.
Page 434 13. Appendix 3) Select the BIN file of the firmware to transmit and press the Open button. 4) “Total Length" and "Total Packet" of the loaded firmware are displayed. 13-38...
Page 435 13. Appendix 5) Press the "Start" button to start transmission. 10 seconds are counted down to clear the internal memory in the drive. (For L7NH and L7P, the segment 7 should display "USB". For PEGASUS, a red "ERR" LED should be illuminated.) 6) After clearing, the firmware is transmitted automatically and the progress bar and "Current Packet"...
Page 436 13. Appendix  An Error Occurs During Transmission ■ Turn off and on the drive and repeat the above process from (2) to (7) ■ Check firmware drive type and capacity to transmit. ■ Check firmware version. The firmware version is lower than current one can’t be downloaded 13-40...
Page 437: Appendix Ⅱ (L7N → L7Nh Exchange)
14. Appendix ⅱ (L7N → L7NH exchange) Appendix ⅱ (L7N → L7NH exchange) 14.1 Notes on capacity selection 14.1.1 Review of drive selection L7NH has a model that supports 400V. Please be careful when selecting. L7NH (200V) : 0.1kW ~ 15kW L7NH (400V) : 1kW ~ 15kW 14.1.2 When selecting a product When selecting a product, please refer to the product characteristics in Chapter 10 of the manual and...
Page 438: I/O Pinmap Comparison
14. Appendix ⅱ (L7N → L7NH exchange) 14.2 I/O PinMap comparison 14.2.1 I/O Pin Map via wiring example L7NH Digital input Digital output Digital input Digital output Note1) Note Note Note2) Analog input Note1) torq limit Safety function Safety function Digital input Digital output input...
Page 439: Control Detailed Data
14. Appendix ⅱ (L7N → L7NH exchange) 14.3 Control detailed data 14.3.1 Input point (CN1) PROBE signal can be assigned and changed by parameter setting. Allocation of ALARM RESET signal can be changed by parameter setting. The polarity can be used according to the customer's needs by basically applying a bi-directional photocoupler to the input point.
Page 440: Output Point (Cn1)
14. Appendix ⅱ (L7N → L7NH exchange) 14.3.2 Output point (CN1) In L7N, two functions were used with one existing contact, but in L7NH, they are divided and must be allocated separately when using related functions. (Please refer to the table below.) L7NH Remark Name...
Page 441: Analog Signal (Cn1)
14. Appendix ⅱ (L7N → L7NH exchange) 14.3.3 Analog signal (CN1) Limits the motor output torque by applying -10[V] ~ +10[V] between A-TMLT(AT1) and AGND. The relationship between input voltage and limit torque depends on the set value of [0x221C]. L7NH Name A-TLMT...
Page 442: Parameter Setting
14. Appendix ⅱ (L7N → L7NH exchange) 14.4 Parameter setting L7NH automatically sets the motor ID (0x2000), encoder type (0x2001), and encoder resolution (0x2002) for the serial encoder supplied by our company. If necessary, set the NODE ID using the rotary switch on the front. The set ID can be checked at 0x2003. When using an absolute value encoder, change the value of 0x2005 by referring to the table below.
Page 443 2014.11.06 Added New Model(L7NHB050U) 2015.05.15 Added functions and modified typing error 2020.05.30 Changed company name to ‘LS ELECTRIC’ 200[V] / 400[V] integrated Add function description and insert picture 2023.2.28 N terminal related precautions and figure correction Add new functions and add descriptions...
Page 444 Product Disposal Green Management The LS ELECTRIC servo drive is LS ELECTRIC considers protecting the environmentally friendly. environment a high priority. We work hard to protect the Earth. You can disassemble the drive and recycle the iron, aluminum, bronze, and synthetic resin...
Page 445 Tel: 1-949-333-3140 E-Mail: america@ls-electric.com Disclaimer of Liability LS ELECTRIC has reviewed the information in this publication to ensure consistency with the hardware and software described. However, LS ELECTRIC cannot guarantee full consistency, nor be responsible for any damages or compensation, since variance cannot be precluded entirely.

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