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LS ELECTRIC Xmotion L7NH Series User Manual

LS ELECTRIC Xmotion L7NH Series User Manual

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User manual (446 pages)

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User manual (345 pages)

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AC SERVO DRIVE

Xmotion

L7NH Series

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Summary of Contents for LS ELECTRIC Xmotion L7NH Series

Page 1 AC SERVO DRIVE Xmotion L7NH Series...
Page 2  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 3 Introduction  Installation Precautions Store and operate this product under the following environmental conditions. Conditions Environment 0 ~ 50 ℃ 0 ~ 40 ℃ Servo Drive Servo Motor Ambient -20 ~ 65 ℃ -10 ~ 60 ℃ temperature Storage temp. Ambient humidity Below 90% RH (no condensation)
Page 4 Introduction  Wiring Precautions Caution  Be sure to use AC power for the input power of the servo drive.  Always use an AC 380-480 V power input for the servo drive.  Do not connect commercial power directly to the servo motor. ...
Page 5 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 6 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 7: 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 Encoder cable Servo Motor ........2-1 Servo Motor ................2-1 2.1.1 Outline drawing ..................
Page 8 Table of Contents 3.3.6 Block Diagram of L7NH (5kW~7.5kW/400[V]) ........3-10 3.3.7 Block Diagram of L7NH (15kW/400[V]) ..........3-11 Power Supply Wiring ............3-12 3.4.1 Power Supply Wiring 100[kW]~3.5[kW](200/400[V]) ......3-13 3.4.2 Power supply sequence ................. 3-16 3.4.3 Power circuit Electrical Components ............3-17 3.4.4 Regenerative resistance option spec.
Page 9 Table of Contents Synchronization Using the DC (Distributed Clock) ..... 4-10 Emergency Messages ............4-11 CiA402 Drive Profile ............ 5-1 State machine ................5-1 Operation mode ..............5-4 Position Control Modes ............5-5 5.3.1 Cyclic Synchronous Position Mode ............5-5 5.3.2 Profile Position Mode ................5-8 Velocity Control Mode ............
Page 10 Table of Contents 6.4.1 Smooth Acceleration and Deceleration ..........6-20 6.4.2 Servo-lock Function ................6-21 6.4.3 Signals Related to Speed Control ............6-21 Settings Related to Position Control ........6-22 6.5.1 Position Command Filter ................ 6-22 6.5.2 Signals Related to Position Control ............6-23 Settings Related to Torque Control ........
Page 11 Table of Contents Manual Gain Tuning ............. 8-12 8.3.1 Gain Tuning Sequence ................8-12 Vibration Control ..............8-13 8.4.1 Notch Filter ..................... 8-13 8.4.2 Adaptive Filter ..................8-14 8.4.3 Vibration Control (Damping) Filter ............8-15 Procedure Function ............ 9-1 Manual JOG Operation ............9-1 Programmed Jog Operation ..........9-2 Alarm history reset ..............9-3 Index Pulse Search ..............9-4...
Page 12 Table of Contents 12.3 Test Drive Using LS ELECTRIC PLC (XGT + PN8B) ..12-13 12.4 Test Drive Using LS Mecapion MXP Series ....... 12-19 13. Appendix i (Update) ........... 13-1 13.1 Firmware Update ..............13-1 13.1.1 Use of USB OTG ..................13-1 13.1.2...
Page 13 Table of Contents...
Page 14: 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 driver's name plate match?  Does the servo motor's name plate match? 2. Check the product components and options. ...
Page 15: 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 N: network 010 : 1kW NH: Network type &...
Page 16 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 Blank: 200Vac Encoder Type Motor Shape N: Straight P: 400Vac Quadrature(Pulse type) K: One-sided round key S: Real Axis...
Page 17: 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 18 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 19 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 20 1. Product configuration  5KW(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. Status LED You can set the node addresses from 0 It indicates the current state of...
Page 21 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, alarms, Node address setting switch etc. This switch is to set the node address of the drive.
Page 22 1. Product configuration  15KW(200[V]) Connector for analog monitors Display It is a connector for checking the It shows drive status, analog output signal. alarms, etc. Node address setting switch This switch is to set the node address of the drive. You can set the node addresses from 0 to 99.
Page 23 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 24 1. Product configuration  2kW, 3.5kW (400[V]) Connector for analog monitors Display It is a connector for checking the analog It shows drive status, alarms, etc. output 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 25 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 26 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. You can set the node addresses from 0 to 99.
Page 27 1. Product configuration  15KW(400[V]) Connector for analog monitors It is a connector for checking the Display analog output signal. It shows drive status, alarms, etc. Node address setting switch This switch is to set the node address of the drive.
Page 28: 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 29: System Configuration Example
1. Product configuration System configuration example The figure below shows an example of system configuration using this drive. •Example of 200[V]/100[W] drive Power Three-phase AC380V Upper device R S T Oscilloscope Molded case circuit breaker It is used to protect power line.
Page 30: Encoder Cable Servo Motor
2. Encoder cable Servo Motor Encoder cable Servo Motor Servo Motor Heat Sink Spec. Classification Size(mm) Classification 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 31 2. Encoder cable Servo Motor ■ Procuct Features [200V] SAR3A SAR5A SA01A SA015A Servo Motor Name (APM- 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 [kgf⋅cm] 0.97 1.62 3.25 4.87 0.29 0.48...
Page 32 2. Encoder cable Servo Motor ■ Procuct Features [200V] SB01A SB02A SB04A Servo Motor Name (APM- Applicable Drive (L7□A□□) L7□A002 L7□A004 Rated output [kW] 0.10 0.20 0.40 0.32 0.64 1.27 [N⋅m] Rated torque [kgf⋅cm] 3.25 6.49 12.99 [N⋅m] 0.96 1.91 3.82 Instantaneous maximum torque...
Page 33 2. Encoder cable Servo Motor ■ Procuct Features [200V] SC04A SC06A SC08A SC10A Servo Motor Name (APM- Applicable Drive (L7□A□□) L7□A004 L7□A008 L7□A010 Rated output [kW] [N⋅m] 1.27 1.91 2.55 3.19 Rated torque [kgf⋅cm] 12.99 19.49 25.98 32.48 3.82 5.73 7.64 9.56 [N⋅m]...
Page 34 2. Encoder cable Servo Motor ■ Procuct Features [200V] SC03D SC05D SC06D SC07D Servo Motor Name (APM- Applicable Drive (L7□A□□) 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] 14.61 21.92 26.79 31.66 4.30 6.45...
Page 35 2. Encoder cable Servo Motor ■ Procuct Features [200V] Servo Motor Name (APM- FALR5A FAL01A FAL015A FBL01A FBL02A FBL04A Applicable Drive (L7□A□□) 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...
Page 36 2. Encoder cable Servo Motor ■ Procuct Features [200V] FCL04A FCL06A FCL08A FCL10A Servo Motor Name (APM- Applicable Drive (L7□A□□) 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]...
Page 37 2. Encoder cable Servo Motor ■ Procuct Features [200V] FCL03D FCL05D FCL06D FCL07D Servo Motor Name (APM- Applicable Drive (L7□A□□) 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] Instantaneous...
Page 38 2. Encoder cable Servo Motor ■ Procuct Features [200V] HB01A HB02A HB04A HE09A HE15A HE30A Servo Motor Name (APM- Applicable Drive (L7□A□□) L7□A002 L7□A004 L7□A008 L7□A020 L7□A035 Rated output [kW] 0.32 0.64 1.27 2.86 4.77 [N⋅m] 9.55 Rated torque [kgf⋅cm] 3.25 6.49 12.99...
Page 39 2. Encoder cable Servo Motor ■ Procuct Features [200V] FE09A FE15A FE22A FE30A Servo Motor Name (APM- Applicable Drive (L7□A□□) L7□A010 L7□A020 L7□A035 Rated output [kW] [N⋅m] 2.86 4.77 7.00 9.55 Rated torque 29.20 48.70 71.40 97.40 [kgf⋅cm] [N⋅m] 8.59 14.32 21.01 28.65...
Page 40 2. Encoder cable Servo Motor ■ Procuct Features[200V] FE06D FE11D FE16D FE22D Servo Motor Name (APM- L7□A008 L7□A010 L7□A020 Applicable Drive (L7□A□□) Rated output [kW] [N⋅m] 2.86 5.25 7.63 10.5 Rated torque 29.2/0 53.60 77.90 107.10 [kgf⋅cm] [N⋅m] 8.59 15.75 22.92 31.51 Instantaneous...
Page 41 2. Encoder cable Servo Motor ■ Procuct Features [200V] FE05G FE09G FE13G FE17G Servo Motor Name (APM- Applicable Drive (L7□A□□) L7□A008 L7□A010 L7□A020 Rated output [kW] 0.45 0.85 2.86 5.41 8.27 10.82 [N⋅m] Rated torque [kgf⋅cm] 29.22 55.19 84.41 110.38 8.59 16.23 24.82...
Page 42 2. Encoder cable Servo Motor ■ Procuct Features [200V] FE03M FE06M FE09M FE12M Servo Motor Name (APM- L7□A004 L7□A008 L7□A010 L7□A020 Applicable Drive (L7□A□□) Rated output [kW] [N⋅m] 2.86 5.72 8.59 11.46 Rated torque 29.22 58.4 87.7 116.9 [kgf⋅cm] [N⋅m] 8.59 17.18 25.77...
Page 43 2. Encoder cable Servo Motor ■ Procuct Features [200V] FF30A FF50A FF22D FF35D FF55D FF75D Servo Motor Name (APM- L7□A035 L7□A050 L7□A020 L7□A035 L7□A050 L7□A075B Applicable Drive (L7□A□□) Rated output [kW] [N⋅m] 9.55 15.91 10.50 16.70 26.25 35.81 Rated torque 97.40 162.30 107.1...
Page 44 2. Encoder cable Servo Motor ■ Procuct Features [200V] FF20G FF30G FF44G FF60G FF75G Servo Motor Name (APM- Applicable Drive (L7□A□□) L7□A020 L7□A035 L7□A050 L7□A075B Rated output [kW] [N⋅m] 11.45 18.46 28.00 38.20 47.70 Rated torque 116.9 188.3 285.7 [kgf⋅cm] 389.80 487.20 [N⋅m]...
Page 45 2. Encoder cable Servo Motor ■ Procuct Features [200V] FF12M FF20M FF30M FF44M Servo Motor Name (APM- L7□A020 L7□A035 L7□A050 Applicable Drive (L7□A□□) Rated output [kW] [N⋅m] 11.46 19.09 28.64 42.02 Rated torque 116.9 194.8 292.2 428.7 [kgf⋅cm] [N⋅m] 34.38 57.29 85.94 105.05...
Page 46 2. Encoder cable Servo Motor ■ Procuct Features [200V] FG22D FG35D FG55D FG75D FG110D Servo Motor Name (APM- Applicable Drive (L7□A□□) L7□A020 L7□A035 L7□A050 L7□A075B L7□A150B Rated output [kW] [N⋅m] 10.50 16.71 26.25 35.81 52.52 Rated torque 107.1 170.4 267.8 365.4 525.9 [kgf⋅cm]...
Page 47 2. Encoder cable Servo Motor ■ Procuct Features [200V] FG20G FG30G FG44G FG60G FG85G FG110G FG150G Servo Motor Name (APM- Applicable Drive (L7□A□□) L7□A020 L7□A035 L7□A050 L7□A075 L7□A150B Rated output [kW] [N⋅m] 11.50 18.50 28.00 38.2 54.11 69.99 95.45 Rated torque 116.9 188.4 285.8...
Page 48 2. Encoder cable Servo Motor ■ Procuct Features [200V] FG12M FG20M FG30M FG44M FG60M Servo Motor Name (APM- Applicable Drive (L7□A□□) L7□A020 L7□A035 L7□A050 Rated output [kW] [N⋅m] 11.50 19.10 28.60 42.00 57.29 Rated torque 116.9 194.9 292.3 428.7 584.6 [kgf⋅cm] [N⋅m] 34.40...
Page 49 2. Encoder cable Servo Motor ■ Procuct Features [400V] FEP09A FEP15A FEP22A FEP30A Servo Motor Name (APM- 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 29.23 48.72 71.46 97.44 [kgf⋅cm] [N⋅m] 8.59 14.32 21.01 28.65...
Page 50 2. Encoder cable Servo Motor ■ Procuct Features [400V] FEP06D FEP11D FEP16D FEP22D Servo Motor Name (APM- Applicable Drive(L7 A L7□B010□ L7□B020□ Rated output [kW] 2.86 5.25 7.64 10.5 [N⋅m] Rated torque [kgf⋅cm] 29.23 53.59 77.95 107.19 8.59 15.76 22.92 31.51 [N⋅m] Instantaneous...
Page 51 2. Encoder cable Servo Motor ■ Procuct Features [400V] FEP05G FEP09G FEP13G FEP17G Servo Motor Name (APM- 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 29.23 55.22 84.45 110.43 [kgf⋅cm] [N⋅m] 8.59 16.23 24.83...
Page 52 2. Encoder cable Servo Motor ■ Procuct Features [400V] Servo Motor Name (APM- FEP03M FEP06M FEP09M FEP12M L7□B010□ L7□B035□ Applicable Drive(L7 A Rated output [kW] 2.86 5.73 8.59 11.46 [N⋅m] Rated torque [kgf⋅cm] 29.23 58.47 87.70 116.93 8.59 17.19 25.78 34.38 [N⋅m] Instantaneous...
Page 53 2. Encoder cable Servo Motor ■ Procuct Features [400V] FFP30A FFP50A FFP22D FFP35D FFP55D FFP75D Servo Motor Name (APM- L7□B035□ L7□B075□ L7□B020□ 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 97.44 162.40 107.19...
Page 54 2. Encoder cable Servo Motor ■ Procuct Features [400V] FFP20G FFP30G FFP44G FFP60G FFP75G Servo Motor Name (APM- L7□B020□ L7□B035□ L7□B050□ L7□B075□ Applicable Drive(L7 A Rated output [kW] [N⋅m] 11.46 18.46 28.01 38.20 47.75 Rated torque 116.93 188.39 285.83 389.77 [kgf⋅cm] 487.21 [N⋅m]...
Page 55 2. Encoder cable Servo Motor ■ Procuct Features [400V] FFP12M FFP20M FFP30M FFP44M Servo Motor Name (APM- Applicable Drive(L7 A L7□B020□ L7□B050□ L7□B050□ 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] Instantaneous 34.38 57.30 71.62...
Page 56 2. Encoder cable Servo Motor ■ Procuct Features [400V] FGP22D FGP35D FGP55D FGP75D FGP110D Servo Motor Name (APM- L7□B020□ L7□B035□ 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 525.9 [kgf⋅cm] 107.19 170.52 267.96...
Page 57 2. Encoder cable Servo Motor ■ Procuct Features [400V] FGP20G FGP30G FGP44G FGP60G FGP85G FGP110G FGP150G Servo Motor Name (APM- Applicable Drive(L7 A L7□B020□ L7□B035□ L7□B050□ L7□B075□ L7□B150□ Rated output [kW] 11.0 15.0 [N⋅m] 11.46 18.46 28.01 38.20 54.11 70.03 95.49 Rated torque [kgf⋅cm]...
Page 58 2. Encoder cable Servo Motor ■ Procuct Features [400V] FGP12M Servo Motor Name (APM- FGP20M FGP30M FGP44M FGP60M Applicable Drive(L7 A L7□B020□ L7□B035□ L7□B050□ L7□B075□ 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]...
Page 59 2. Encoder cable Servo Motor ■ Electric brake specification Applicable FG(P)110G motor series FG(P)150G For retain Usage For retain For retain For retain For retain For retain For retain Input voltage(V) DC 24V DC 24V DC 24V DC 24V DC 24V DC 90V DC 24V Static friction...
Page 60: Outline Drawing
2. Encoder cable Servo Motor 2.1.1 Outline drawing ■ FAL Series | APM – FALR5A, FBL02A, FBL04A 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"...
Page 61 2. Encoder cable Servo Motor ■ 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 62 2. Encoder cable Servo Motor ■ FCL Series | APM – FCL04A, FCL03D, 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>...
Page 63 2. Encoder cable Servo Motor ■ 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.
Page 64 2. Encoder cable Servo Motor ■ 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 65 2. Encoder cable Servo Motor ■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.
Page 66 2. Encoder cable Servo Motor ■ 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 67 2. Encoder cable Servo Motor ■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"...
Page 68 2. Encoder cable Servo Motor ■ 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. Plug : MS3102A32-17P Plug : MS3102A14-7P <Serial M-Turn Connector>...
Page 69 2. Encoder cable Servo Motor ■ FG(P) Series | APM-FG(P)150G 4-M8, Tap 4-∅13.5 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 70: Motor Type And Id
2. Encoder cable Servo Motor 2.1.2 Motor type and ID [200V] Model name Watt Note Model name Watt Note SAR3A DB03D SAR5A DB06D SA01A DB09D Mass production *SA015A DC06D after March 2018 SB01A DC12D SB02A DC18D SB04A DD12D HB02A Hollow Shaft DD22D HB04A Hollow Shaft...
Page 71 2. Encoder cable Servo Motor Model name Watt Note Model name Watt Note 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...
Page 72 2. Encoder cable Servo Motor [400V] Model name Watt Note Model name Watt Note 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...
Page 73: Servo Drive
2. Encoder cable Servo Motor Servo Drive 2.2.1 Product feature 200[V] Model name L7NHA L7NHA L7NHA L7NHA L7NHA L7NHA L7NHA L7NHA L7NHA L7NHA Item 001U 002U 004U 008U 010U 020U 035U 050U 075U 150U Main power Three-phase AC200 ~ 230[V](-15 ~ +10[%]), 50 ~ 60[Hz] Input Control Single-phase AC200 ~ 230[V](-15 ~ +10[%]), 50 ~ 60[Hz]...
Page 74 2. Encoder cable Servo Motor Input A total of 8 input channels (allocable) You can selectively allocate a total of 15 functions. (*POT, *NOT, *HOME, *STOP, *PCON, *GAIN2, *P_CL, *N_CL, PROBE1, PROBE2, EMG, A_RST, SV_ON, LVSF1, LVSF2) Digital Note) * Default allocation signal. Rated voltage and current: DC 24 V ±...
Page 75 2. Encoder cable Servo Motor 400[V] Model name L7NHB010U L7NHB020U L7NHB035U L7NHB050U L7NHB075U L7NHB150U Item Main power Three-phase AC380 ~ 480[V](-15 ~ +10[%]), 50 ~ 60[Hz] Input power Control Single-phase AC380 ~ 480[V](-15 ~ +10[%]), 50 ~ 60[Hz] power Rated current [A] 10.1 17.5 22.8...
Page 76 2. Encoder cable Servo Motor Note) * Default allocation signal. Analog Input voltage range: -10 ~ +10[V], Analog Input Function: Analog torquelimit(1 channel, disable to allocation) Input/outp Analog A total of 2 input channels (allocable) Output You can selectively allocate a total of 15 kinds of output. Safety Functions 2 input channels (STO1, STO2), 1 output channel (EDM) Function...
Page 77: Outline Drawing
2. Encoder cable Servo Motor 2.2.2 Outline drawing  L7NHA001U ~ L7NHA004U *Weight: 1.0[kg]  L7NHA008U ~ L7NHA010U *Weight: 1.5[kg] (including cooling pan) 2-48...
Page 78 2. Encoder cable Servo Motor  L7NHA020U / L7NHA035U *Weight: 2.5[kg] (including cooling pan)  L7NHA050U *Weight: 5.5[kg] (including cooling pan) 2-49...
Page 79 2. Encoder cable Servo Motor  L7NHA075U *Weight: 9.7[kg] (including cooling pan)  L7NHA150U *Weight: 16.2[kg] (including cooling pan) 2-50...
Page 80 2. Encoder cable Servo Motor  L7NHB010U *Weight: 1.5[kg] (including cooling pan)  L7NHB020U / L7NHB035U *Weight: 2.5[kg] (including cooling pan) 2-51...
Page 81 2. Encoder cable Servo Motor  L7NHB050U *Weight: 5.5[kg] (including cooling pan)  L7NHB075U *Weight: 8.5[kg] (including cooling pan) 2-52...
Page 82 2. Encoder cable Servo Motor  L7NHB150U *Weight: 15.5[kg] (including cooling pan) 2-53...
Page 83: Options And Peripheral Devices
2. Encoder cable Servo Motor Options and Peripheral Devices ■ Option (Incremental encoder cable) Product Small capacity AMP Type INC encoder cable Category For signal Name Name (Note Applicable APCS- E All model of APM-SA/SB/SC/HB SERIES INC Motors Motor Side Connector Drive Side Connector Spec.
Page 84 2. Encoder cable Servo Motor ■ Option (Serial encoder cable) Product Small capacity AMP Type serial encoder cable (sigle Category For signal turn) Name Name (Note Applicable APCS- E All model of APM-SB/SC SERIES S-turn Motors Motor Side Connector Drive Side Connector Spec.
Page 85 2. Encoder cable Servo Motor ■ Option [serial encoder cable] Product Applica Specification Classifica Product (*Note name tion Name Motors Drive connection Motor APM- APM- S/Flat APM- Series motor S-turn APCS- APM- Encoder For signal E□□□DS cable APM-FFP (medium APM- capacity) 1.
Page 86 2. Encoder cable Servo Motor Small capacity Flat type motor serial encoder cable(single Category For signal Product Name turn) Name APCS- E ES(Front Direction)/ Applicable All model of APM-FB/FC SERIES S-turn Motors APCS- E ES-R(Rear Direction) (Note 1) Drive Side Connector Motor Side Connector Spec.
Page 87 2. Encoder cable Servo Motor ■ Option (Standard power cable) Product Category Power Small capacity AMP Type power cable Name Name (Note Applicable APCS- P All model of APM-SA/SB/SC/HB SERIES Motors Motor Side Connector Drive Side Connector Contents Spec. 1. Motor connection a.
Page 88 2. Encoder cable Servo Motor ■ Option (Standard power cable) Product Category Power Medium capacity MS Type power cable(for 130 Flange) Name Name (Note Applicable APCS- P All model of APM-SE/FE/HE SERIES Motors Motor Side Connector Drive Side Connector Spec. 1.
Page 89 2. Encoder cable Servo Motor ■ Option (Standard power cable) Product Category Power Medium capacity MS Type power cable(180/ 220 Flange) Name SF30A, SF22D, LF35D, SF20G, LF30G, SF12M, SF20M LF30M Name (Note Applicable SG22D, LG35D, SG20G, LG30G, SG12M, SG20M, LG30M APCS- P FF30A, FF22D, FF35D, FF20G, FF30G, FF12M, FF20M, FF30M Motors...
Page 90 2. Encoder cable Servo Motor Option [Medium capacity power cable] (*Note Classific Product Name Applicab Spec. ation Name le Motors Drive connection Motor connection APM-SEP Power cable APM-FEP (400V/Mediu APCF- Power m capacity SERIES 130Flange) All models <Motor side Connector> 1.
Page 91 2. Encoder cable Servo Motor (*Note Product Name Applicable Classification Spec. Name Motors SFP30A Motor connection Drive connection (CN2) SFP22D SFP35D SFP20G SFP12M SFP20M SGP22D SGP35D SGP20G Power cable SGP12M SGP20M (400V/medium APCF- capacity FFP30A Power <Motor side Connector> 3.5kW or less FFP22D 180Flange) FFP35D...
Page 92 2. Encoder cable Servo Motor Classific Product Name Applicable Spec. ote 1) ation Name Motors SFP50A, SFP55D, Motor Drive connection (CN2) SFP75D, SFP30G SFP44G, SFP60G, SFP30M, SFP44M SGP55D, SGP75D, SGP30G, Power cable SGP44G, (400V/mediu SGP60G, m capacity SGP30M, APCF- Power 7.5kW or <Motor side Connector>...
Page 93 2. Encoder cable Servo Motor Product Nname Applicable Classificat Spec. Note 1) Name Motors Motor connection Drive connection SFP75G, SGP110D, Power cable SGP85G, SGP110G, (400V/mediu SGP150G, m capacity APCF- SGP60M Power 15kW or less 180/220 FGP110D, Flange) FGP85G, FGP110G, 1. Motor connection FGP150G, FGP60M a.
Page 94 2. Encoder cable Servo Motor ■ Options spce. (Small capacity Flat/L Series power cable) Product Category Power Small capacity Flat Type power cable Name Name (Note APCS- P FS(Front Direction)/ Applicable All model of APM-FB/FC Series Motors APCS- P FS-R(Rear Direction) Motor Side Connector Drive Side Connector Spec.
Page 95 2. Encoder cable Servo Motor Small capacity L Series power Category Power Product Name cable Name APCS- P LS(Front Direction)/ Applicable All model of APM- FAL/ FBL/FCL Motors Series APCS- P LS-R(Rear Direction) (Note 1) Motor Side Connector Drive Side Connector Spec.
Page 96 2. Encoder cable Servo Motor ■ Options spec. (drive cable) Product Category For signal CN1 cable Name Name (Note Applicable APCS-CN1 L7NH SERIES drive Upper level controller Drive connection (CN1) - Pin Map - I/O signal I/O signal I/O signal I/O signal Spec.
Page 97 2. Encoder cable Servo Motor Product Category For signal Communication Cable(CN5) Name Name (Note Applicable APCS-CN5L7U L7NH SERIES drive Drive connection CN1 Upper level controller 1. 1. PC connection: USB A Plug Spec. 2. 2. Drive connection (CN2): Mini USB 5P Plug 3.
Page 98 2. Encoder cable Servo Motor Product Category CN6 Connector Name Name (Note Applicable L7N Series APCS-STO drive Drive connection -Pin Map - 1. Plug Connector Kit a. 2069577-1 (TE company) 2. Cable Spec. a. 4P x 26AWG 3. How to display product Name a.
Page 99 2. Encoder cable Servo Motor ■ Option spec. (Braking resistance) / 200[V] Classifi Product Model name Applicable Spec. cation Name drive 188.35 L7□A001□ Brake resistan resistanc APCS-140R50 L7□A002□ 144.36 L7□A004□ Brake L7□A008□ resistan resistanc APCS-300R30 L7□A010□ L7□A020□ Brake (2P) resistan resistanc APC-600R30 L7□A035□...
Page 100 2. Encoder cable Servo Motor Option (Braking resistance) / 400[V] Classific Produc Model name Applicable Spec. ation t Name drive Brake resistance resistan APCS-300R82 L7□B010□ L7□B020□ Brake APCS-600R140 resistance resistan /L□PB035□ (600W x 2P) (2P) L7□B050□ Brake APCS-600R75 resistance resistan /L7□B075□...
Page 101 2. Encoder cable Servo Motor ■ Option (Noise filter) Clas Product Model name Applicable sifica Name drive Spec. tion 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□...
Page 102: Wiring And Connection
3. Wiring and Connection Wiring and Connection Installation ofServo Motor 3.1.1 Operating Environment Item Environment condition Precautions Consult with our technical support team to Ambient 0∼40[℃] customize the product if temperatures in the temperature installation environment are outside this range. Ambient Do not operate this device in an environment 80% RH or lower...
Page 103: The Load Device Connection
3. Wiring and Connection Ensure that the pins on the motor connector are securely attached.  In order to protect against moisture or condensation in the motor, make sure that insulation  resistance is 10 ㏁ (500 V) or higher before installation. 3.1.4 The Load Device Connection For coupling connections: Ensure that the motor shaft and load shaft are aligned within the...
Page 104: Installation Of Servo Drive
3. Wiring and Connection Installation of Servo Drive 3.2.1 Installation and Usage Environment Environmental Item Caution 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 105: Installtion In The Control Panel
3. Wiring and Connection Installtion in the Control panel 3.2.2 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 106: Internal Block Diagram Of Drive
3. Wiring and Connection Internal Block Diagram of Drive Block Diagram (100W~400W/200[V]) 3.3.1 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 IGBT Control Power Main Power Regenerative Relay...
Page 107: Block Diagram Of L7Nh (800W~3.5Kw/200[V])
3. Wiring and Connection Block Diagram of L7NH 3.3.2 (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 108: Block Diagram Of L7Nh (5Kw~7.5Kw/200[V])
3. Wiring and Connection Block Diagram of L7NH (5kW~7.5kW/200[V]) 3.3.3 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 Control Power Main Power...
Page 109: Block Diagram Of Drive (15Kw / 200[V])
3. Wiring and Connection Block Diagram of drive (15kW / 200[V]) 3.3.4 Note 1) Note 2) Separate external regenerative resistance Diode Thermister Note 3) IGBT Three- Phase Power Input Current Sensor AC200~230V Thermister Chage Lamp T1 T2 Thermister Note 4) Internal Control Power Regenerative...
Page 110: 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 111: Block Diagram Of L7Nh (5Kw~7.5Kw/400[V])
3. Wiring and Connection Block Diagram of L7NH (5kW~7.5kW/400[V]) 3.3.6 Note 1) Note 2) Thermister Diode 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 112: Block Diagram Of L7Nh (15Kw/400[V])
3. Wiring and Connection Block Diagram of L7NH (15kW/400[V]) 3.3.7 External regenerative resistor Note1) Note 8) Note 9) Diode Thermistor IGBT 3 Phase power input Current sensor AC380~480V Thermistor Chage Lamp Thermistor IGBT Internal Main power PWM signal DC voltage Regenerative U,V current Control power phase...
Page 113: 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 ...
Page 114: Power Supply Wiring 100[Kw]~3.5[Kw](200/400[V])
3. Wiring and Connection 3.4.1 Power Supply Wiring 100[kW]~3.5[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 Note 6 Encoder Alarm+ +24V Alarm- Note3) External regenerative resistance Note1) 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 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 Note1) It takes approximately one to two seconds until alarm signal is output after you turn on the main power.
Page 116 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 Note1) It takes approximately two to three seconds until alarm signal is output after you turn on the main power.
Page 117: Power Supply Sequence
3. Wiring and Connection Power supply sequence 3.4.2  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 118: Power Circuit Electrical Components
3. Wiring and Connection Power circuit Electrical Components 3.4.3 200[V] L7NHA020U~L7NHA0 L7NHA050U L7NHA075U L7NHA150U Model name L7NHA001U~L7HA010U 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- Noise Filter (NF) TB6-B010LBEI(10A) TB6-B030NBDC(30A) B040A (40A)
Page 119 3. Wiring and Connection 400[V] Model 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- TB6-B030NBDC TB6-B010LBEI Noise Filter (NF) B020NBDC B040A B060LA (10A)
Page 120 3. Wiring and Connection  L7NHA004U or lower Wire strip 7~10[mm] Weidmuller SD 0.6×3.5×100 M4 : 1.2  L7NHA008U ~ L7NHA010U Wire strip 7~10[mm] Weidmuller SD 0.6x3.5x100 M4: 1.2[N*m] 3-19...
Page 121 3. Wiring and Connection  L7NHA020U ~ L7NHA035U 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 L7NHA050U  NC: Internal Regenerative Resistor Screwfor 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 L7NHA075U  NC: Internal Regenerative Resistor Screw for Fixing Lead Terminal Terminal signal Terminal screw: M5 Tightening torque: 3.24[N·m] Terminal screw: M5 Tightening torque: 3.24[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 124 3. Wiring and Connection  L7NHA150U Terminal screw: M6 Tightening torque: 0.5~ 0.5[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 M5 size (shown in bottom of product) to tighten it to 3.24 N·m.
Page 125 3. Wiring and Connection  L7NHB010U Wire strip 7~10[mm] Weldmuller SD 0.6x3.5x100 M4: 1.2[N*m] 3-24...
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 Resistance Option Spec
3. Wiring and Connection Regenerative resistance option spec. 3.4.4 Option (Braking resistance) / 200[V] Classif Product Model name Applicable Spec. ication Name drive 188.35 L7□A001□ resista Brake APCS-140R50 L7□A002□ resistance 144.36 L7□A004□ L7□A008□ resista Brake APCS-300R30 resistance L7□A010□ L7□A020□ (2P) resista Brake APC-600R30...
Page 131 3. Wiring and Connection Option (Braking resistance) / 400[V] Classif Product Model name Applicable Spec. ication Name drive resista Brake APCS-300R82 L7□B010□ resistance L7□B020□ APCS-600R140 resista Brake /L□PB035□ resistance (600W x 2P) (2P) L7□B050□ APCS-600R75 resista Brake /L7□B075□ resistance (600W x 3P) (3P) resista Brake...
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) 3-31...
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) Name Assignment Content 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 prohibited...
Page 134 3. Wiring and Connection ** SVON Servo On Servo On Absolute value ** ABS_Reset Initialize multiturn and singleton values. encoder reset 주1) **Signals not assigned by default as factory setting. You can change their allocation by setting parameters. For more information, refer to 「62 Input/Output Signals Setting.」 주2) Wiring can be also done by using COMMON (DC 24 V) of the input signal as the GND.
Page 135: Names And Functions Of Analog Input/Output Signals
3. Wiring and Connection Names and Functions of Analog Input/Output 3.5.2 Signals  Names and Functions of Analog Input Signals (I/O Connector) Pin No. Name Content Details Function It applies -10~+10V between A-TMLT (AI1) and AGND to limit motor output torque. The A-TLMT Analog torque limit relationship between input voltage and limit...
Page 136: Examples Of Connecting Input/Output Signals
3. Wiring and Connection Examples of Connecting Input/Output Signals 3.5.3  Examples of Connecting Digital Input Signals Caution 1. The input contact can be set to the contact A or the contact B, based on the characteristics of individual signal. 2.
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 AnalogOutput 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: Connection Diagram Of I/O Signal
3. Wiring and Connection Connection diagram of I/O Signal 3.5.4 Digital input Digital output (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 ZSPD+ (DI7) ZSPD- (DI8)
Page 140: Wiring Of Encoder Signal (Encoder)
3. Wiring and Connection Wiring of Encoder Signal (ENCODER)  ENCODER Connector Specification: 10114-3000VE (3M) Quadrature Encoder Signaling Unit Wiring 3.6.1  APCS-E AS cable AWG24 7Pair Twisted Shield Wire Servo motor Servo drive Encoder Cable Connector (ENCODER) Cable Maker – 3M Connector 10314-52A0-008 Maker - AMP...
Page 141 3. Wiring and Connection  APCS-E BS cable AWG24 7Pair Twisted Servo motor Servo drive Shield Wire Encoder Cable Connector (ENCODER) Maker – 3M 10314-52A0-008 Cable 10114-3000VE Connector Frame MS3108B20-29S  In case there is no quadrature type Hall sensor, serial encoder signal wiring AWG24 7Pair Twisted Servo motor...
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 Shield Wire Encoder Cable Connector (ENCODER) Cable Maker – 3M Connector 10314-52A0-008 Maker - AMP 10114-3000VE 172161-1 Frame 170361-1 ...
Page 143 3. Wiring and Connection  APCS-E ES cable AWG24 4Pair Twisted Servo motor Servo drive Shield Wire Encoder Cable Connector (ENCODER) Maker – 3M 10314-52A0-008 10114-3000VE Connector Frame Tyco Connector (7Ciruits) 3-42...
Page 144: Multi-Turn Encoder Signaling Unit Wiring
3. Wiring and Connection Multi-Turn Encoder Signaling Unit Wiring 3.6.3  APCS-E CS1 cable AWG24 4Pair Twist Servo motor Servo drive Shield Wire BAT+ BAT- Encoder Cable Connector (ENCODER) Maker – 3M 10314-52A0-008 Cable 10114-3000VE Connector Frame MS3108S20-29S  APCS-E DS1 cable AWG24 4Pair Twist Servo motor...
Page 145 3. Wiring and Connection  APCS-E ES1 cable AWG24 4Pair Twist Servo motor Servo drive Shield Wire BAT+ BAT- Encoder Cable Connector (ENCODER) Maker – 3M 10314-52A0-008 Connector 10114-3000VE Tyco connector Frame (7Ciruits) 3-44...
Page 146: Tamagawa Encoder Signaling Unit Wiring
3. Wiring and Connection Tamagawa Encoder Signaling Unit Wiring 3.6.4 AWG24 2Pair Twist Servo motor Servo drive Shield Wire Encoder Cable Connector (ENCODER) Maker – 3M 10314-52A0-008 10114-3000VE Frame EnDat 2.2 Encoder Signaling Unit Wiring 3.6.5 AWG24 4Pair Twist Servo motor Servo drive Shield Wire EnDat_CLK+...
Page 147: Wiring For Safety Function Signals (Sto)
3. Wiring and Connection Wiring for Safety Function Signals (STO)  2069577-1(Tyco Electronics) Names and Functions of Safety Function Signals 3.7.1 Pin No. Name Function +12V For bypass wiring -12V STO1- DC 24V GND Blocks the current (torque) applied to the motor when the signal is STO1+ off.
Page 148: Example Of Connecting Safety Function Signals
3. Wiring and Connection Example of Connecting Safety Function Signals 3.7.2 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. 24V Power STO1+ Driving signal...
Page 149: Bypass Wiring Of Safety Function Signal
3. Wiring and Connection Bypass Wiring of Safety Function Signal 3.7.3 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 Pin No. Signal name Wire color TX/RX0 + White/Orange TX/RX0 - Orange TX/RX1+ White/Green TX/RX2 - Blue TX/RX2 + White/Blue...
Page 151: Example Of Drive Connection
3. Wiring and Connection Example of Drive Connection 3.8.2 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 152: 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 153: Ethercat State Machine
4. EtherCAT Communication EtherCAT State Machine 4.1.1 Init (IP) (PI) (IB) (BI) Pre-Operational Boot (SI) (PS) (SP) (OP) Safe-Operational (SO) (OS) Operational The EtherCAT drive has 5 states as above, and a state transition is done by an upper level controller (master).
Page 154 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 155: 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. L/A 0 L/A 1 ...
Page 156 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 157: Data Type
4. EtherCAT Communication Data Type The following table outlines the type and range of the data types used in this manual. Code Description Range SINT Signed 8bit -128 ~ 127 USINT Unsigned 8bit 0 ~ 255 Signed 16bit -32768 ~ 32767 UINT Unsigned 16bit 0 ~ 65535...
Page 158: Pdo Allocation
4. EtherCAT Communication PDO allocation The EtherCAT uses the Process Data Object (PDO) to perform real-time data transfers. RxPDO receives data transferred from the upper level controller, and TxPDO sends the data from the drive to the upper level controller. This drive uses the objects of 0x1600 to 0x1603 and 0x1A00 to 0x1A03 to assign the RxPDO and the TxPDO, respectively.
Page 159 4. EtherCAT Communication The setting values of the TxPDO (0x1A00) are as follows: Setting Value SubIndex 0x03 (3 values assigned) Bit 31~16(Index) Bit 15~8(Sub index) Bit 7~0(Bit size) 0x6041 0x00 0x10 0x6064 0x00 0x20 0x606C 0x00 0x20 The Sync Manager can be composed of multiple PDOs. The Sync Manager PDO Assign Object (RxPDO: 0x1C12, TxPDO: 0x1C13) indicates the relationship between the SyncManager and the PDO.
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: Touch RxPDO Target Target Mode of Controlword probe torque(0x60 position operation function (0x1600)
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 case of communication failure. An emergency message consists of 8 bytes of data. Byte Emergency Unique field for each manufacturer...
Page 163 4. EtherCAT Communication 4-12...
Page 164: Cia402 Drive Profile
5. CiA402 Drive Profile CiA402 Drive Profile State machine Start State Additional status Status to be changed by Not ready to Switch on State the slave Status which can be State checked by the master (A) : Low-level power The control power is on; the main power can be turned on.
Page 165 5. CiA402 Drive Profile  State Machine control command You can check the state of the State Machine through bit combinations of the Controlword (0x6040), as described in the table below: bits of the Controlword (0x6040) Command State Machine move Bit 7 Bit 3 Bit 2...
Page 166 5. CiA402 Drive Profile Bit No Data Description Note Ready to switch on Switched on Operation enabled Fault Voltage enabled Quick stop Switched on disabled Warning For more information, refer to 9.3 CiA402 Objects. Remote Target reached Internal limit active Operation mode specific ABS position valid Procedure busy...
Page 167: Operation Mode
5. CiA402 Drive Profile Operation mode 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 mode...
Page 168: 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 169 5. CiA402 Drive Profile  Related Objects Variable Index Name Accessibility Unit Index type Assignment Controlword 0x6040 UINT ControlWord Statusword 0x6041 UINT Statusword Target Position 0x607A DINT Target Position Software Position Limit Software Position Limit Number of entries USINT Number of entries 0x607D Min position limit DINT...
Page 170 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 171: Profile Position Mode
5. CiA402 Drive Profile Profile Position Mode 5.3.2 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 172 5. CiA402 Drive Profile  Related Objects Variable Index Name Accessibility Unit Index type Assignment Controlword 0x6040 UINT Controlword Statusword 0x6041 UINT Statusword Target Position 0x607A DINT Target Position Software Position Limit Software Position Limit Number of entries USINT Number of entries 0x607D Min position limit DINT...
Page 173 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 174 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. Change immediately ...
Page 175 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 176: 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 177 5. CiA402 Drive Profile  Related Objects Variable Index Name Accessibility Unit Index type Assignment Controlword 0x6040 UINT Controlword Statusword 0x6041 UINT Statusword Goal speed 0x60FF DINT UU/s Target Velocity Profile Deceleration 0x6084 UDINT UU/s Profile Deceleration Quick Stop Deceleration 0x6085 UDINT UU/s...
Page 178 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 179: Profile Velocity Mode
5. CiA402 Drive Profile Profile Velocity Mode 5.4.2 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 180 5. CiA402 Drive Profile  Related Objects Variable Index Name Accessibility Unit Index type Assignment Controlword 0x6040 UINT Controlword Statusword 0x6041 UINT Statusword Goal speed 0x60FF DINT UU/s Target Velocity Maximum Profile Velocity 0x607F UDINT UU/s Maximum Profile Velocity Profile Acceleration 0x6083 UDINT UU/s...
Page 181 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 182: Torque Control Mode
5. CiA402 Drive Profile Torque control mode 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 183 5. CiA402 Drive Profile  Related Objects Variable Index Name Accessibility Unit Index type Assignment Controlword 0x6040 UINT Controlword Statusword 0x6041 UINT Statusword Target Torque 0x6071 0.1% Target Velocity Maximum torque 0x6072 UINT 0.1% Maximum Torque Maximum Profile Velocity 0x607F UDINT UU/s Maximum Profile Velocity...
Page 184 5. CiA402 Drive Profile  Internal Block Diagram of CST Mode 0x607F Max. Profile Velocity [UU/s] Gear Ratio Motor 0x6091:01 Gain Conversion 0x60B2 Shaft 0x6091:02 0x2119 Mode Torque Offset [0.1%] Time1 0x211A Velocity Limit Time2 0x211B Select & Command Waiting Interpolate 0x211C Time1...
Page 185: Profile Torque Mode
5. CiA402 Drive Profile Profile Torque Mode 5.5.2 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 186 5. CiA402 Drive Profile Torque Offset 0x60B2 0.1% Torque Offset Torque Demand Value 0x6074 0.1% Torque Actual Value Velocity Actual Value 0x606C DINT UU/s Velocity Actual Value Velocity Window 0x606D UINT UU/s Velocity Window Velocity Window Time 0x606E UINT Velocity Window Time Torque Actual Value 0x6077 0.1%...
Page 187 5. CiA402 Drive Profile  Internal Block Diagram of PT Mode 0x607F Max. Profile Velocity [UU/s] Gear Ratio Motor 0x6091:01 Gain Conversion Shaft 0x6091:02 0x2119 Mode 0x6071 Target Torque Time1 0x211A [0.1%] Velocity Limit 0x211B Time2 Select & Command Waiting Generate 0x211C Time1...
Page 188: 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 Statusword(0x6041) method(0x6098) Homing Speed (0x6099)
Page 189: 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 190 5. CiA402 Drive Profile  Related Objects Variable Index Name Accessibility Unit Index type Assignment 0x6040 Controlword UNIT 0x6041 Statusword UINT Home Offset 0x607C DINT Home Offset Homing Method 0x6098 SINT Homing Method Homing Speed Homing Speed Number of entries USINT Number of entries 0x6099...
Page 191 5. CiA402 Drive Profile Homing Method ① Speed Negative limit switch Index Pulse Zero search speed (0x6099:02) 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 (NOT) is turned on, the drive switches its direction to the forward direction (CCW), decelerating to the Zero Search Speed.
Page 192 5. CiA402 Drive Profile  Methods 7, 8, 9, and 10 Reverse Forward (CW) (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.
Page 193 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 194 5. CiA402 Drive Profile The Positive Home Switchis determined by the initial driving direction. A Home switch which is encountered in the initial driving direction becomes the Positive Home Switch. Positive Negative Home Switch Home Switch Home Switch Initial driving direction : Forward (CCW) Negative Positive...
Page 195 5. CiA402 Drive Profile Cases where the home witch is off when homing begins, and the limit is not met in the process Homing Method ⑭ Speed Negative home switch Index Pulse Zero search speed Time (0x6099:02) Switch search speed (0x6099:01) (A) The initial direction is reverse (CW).
Page 196 5. CiA402 Drive Profile (3) Cases where the home witch is off when homing begins, and the limit is met in the process Homing Method ⑭ Speed Negative limit switch Positive home switch Index Pulse Switch search speed (0x6099:01) Time Zero search speed (0x6099:02) Switch search speed...
Page 197 5. CiA402 Drive Profile  Method 28 Reverse Forward (CW) (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 198 5. CiA402 Drive Profile  Methods 35 Reverse Forward (CW) (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 199 5. CiA402 Drive Profile If it collides with a reverse stopper (Negative Stopper), it waits according to the torque limit value (0x2409) when returning to the home using the stopper and the time set value (0x240A) when returning to the home using the stopper, and then changes direction.
Page 200 5. CiA402 Drive Profile Homing Method Speed Negative Stopper Homing completed Torque setting Time 0x2409 Time setting Switch search speed 0x240A (0x6099:01) (A) The initial direction is reverse (CW). The motor operates at the switch search speed. If it hits a reverse stopper (Negative Stopper), it waits according to the torque limit value (0x2409) when returning to the origin using the stopper and the time set value (0x240A) when returning to the origin using the stopper, and then the return to the origin is completed.
Page 201 5. CiA402 Drive Profile  Methods -5, -6 Reverse Forward (CCW) (CW) Home switch Home switch 0x6099:01 Speed during search for switch 0x6099:02 Speed during search for Zero Homing Methods -5, -6 uses only Home switch to return to origin. The speed profile of each sequence is as follows.
Page 202 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 203: 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 ...
Page 204 5. CiA402 Drive Profile  Related Objects Variable Index Name Accessibility Unit Index type Assignment Touch Probe Function 0x60B8 UINT (Touch Probe Function) Touch Probe Function 0x60B9 UINT (Touch Probe Status) Touch Probe 1 Positive Edge Position Value 0x60BA DINT (Touch Probe 1 Positive Edge Position Value) Touch Probe 1 Negative Edge Position Value 0x60BB...
Page 205 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 206: Drive Application Function
6. Drive Application Function Drive Application Function Drive Front Panel Analog monitor output connector L/A 0 L/A 1 Node ID setting switch 7 -segment for indicating servo status LED for indicating EtherCAT communication status and error 6.1.1 7-Segment for indicating servo status 7-Segment for indicating servo status consists of 5 digits as shown below, in the order of Digit1Digit5 from right to left: DIG IT 5...
Page 207 6. Drive Application Function Servo ON Servo warning W10 occurred (code: 10) Digit4 indicates the current operation status and servo ready status. TGON signal indication (OFF: stop, ON: rotating) For position control: INPOS1 signal indication For speed control: INSPD signal indication For torque control: OFF For position control: Position command input in progress...
Page 208 6. Drive Application Function Homing mode (On:servo ON, servo OFF) 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. An example of alarm status output AL-10 (IPM Fault)
Page 209: Input/Output Signals Setting
6. Drive Application Function Input/Output Signals Setting 6.2.1 Assignment of Digital Input Signals Set the digital input signal function and input signal level of the I/O connector. As shown in the figure below, out of 15 input functions, up to 8 functions can be arbitrarily assigned to digital input signals 1 to Digital input +24V IN Assignment...
Page 210 6. Drive Application Function Setting content Setting Assignable input signals Signal input level settings Value (0: contact A, 1: contact B) 0x00 Do not assignment 14~8 Reserved 0x01 Assign input signal. 0x02 0x03 HOME Contact A: The default status is 0 (Low). Input 1 (High) to actuate it (Active High).
Page 211: Assignment Of Digital Output Signals
6. Drive Application Function 6.2.2 Assignment of Digital Output Signals Set the digital output signal function and output signal level of the I/ O connector. As shown in the figure below, out of 11 output functions, up to 4 functions can be arbitrarily assigned to digital output signals 1 to 4.
Page 212 6. Drive Application Function Setting Assignable output Setting content Value signal Signal output level settings 0x00 Do not assignment (0: contact A, 1: contact B) 0x01 BRAKE 14~8 Reserved 0x02 ALARM Output signal assignment 0x03 0x04 ZSPD 0x05 INPOS1 0x06 TLMT 0x07 VLMT...
Page 213: Assignment Of Analog Output Signals
6. Drive Application Function 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 214 6. Drive Application Function  Analog monitor output mode (0x2220) Analog monitor output range is -10~+10V. If setting value is 1, output value is positive value only. Set value Setting details Details Analog output voltage +10V Positive(or negative) value output value -10V Analog output voltage...
Page 215 6. Drive Application Function Th voltage is calculated as follow when analog monitor is output Channel 1 output voltage [V] = [Monitoring signal value (0x2221) – Offset (0x2203)] / Scale (0x2205) Channel 2 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 216: Use Of User I/O
6. Drive Application Function 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 217 6. Drive Application Function  Related Objects Variable Index Name Accessibility Unit Index type Assignment Digital input 0x60FD UDINT (Digital Inputs) 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 218 6. Drive Application Function  How to Set User Output Servo drive Digital output (DO1) Not assigned Upper level controller Not assigned (DO2) ALARM+ ALARM- Digital Output (DO3) RDY+ (0x60FE) RDY- (DO4) INPOS1+ INPOS1- Set the function of digital output port to be used as the user output to "Not assigned (setting value of 0)."...
Page 219 6. Drive Application Function  Related Objects Variable Index Name Accessibility Unit Index type Assignment Digital output (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 220: Electric Gear Setup
6. Drive Application Function 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 221 6. Drive Application Function You can command the driving based on the user unit, regardless of the encoder (motor) type. For the ball screw type of encoder with a pitch of 10 mm, the comparison is given below for 12 mm of movement: (A) 5000ppr encoder (B) 19 bit encoder...
Page 222: Example Of Electric Gear Setup
6. Drive Application Function 6.3.2 Example of Electric Gear Setup  Ball Screw Load Apparatus specification Pitch: 10 mm, Reduction gear ratio: 1/1 1um(0.001mm) User Unit 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 223: Calculation Of Speed And Acceleration/Deceleration When Using Electronic Gear
6. Drive Application Function 6.3.3 Calculation of speed and acceleration/deceleration when using electronic gear  Index Velocity setting method �� [ �� ] : 60 [ �� ] The ratio of speed and acceleration/deceleration when the gear ratio is 1:1 is as follows. = ��...
Page 224 6. Drive Application Function  Index Acceleration / Deceleration setting method Acceleration and Deceleration are set based on the arrival time and set using the index Velocity value. �� [��/��] Time of concentration[sec] = �� [��/�� Time of concentration means the time it takes for the Feedback Speed to reach the Velocity registered by the user as the target reaching time.
Page 225: Settings Related To Speed Control
6. Drive Application Function 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 226: Servo-Lock Function
6. Drive Application Function 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 227: Settings Related To Position Control
6. Drive Application Function 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. In the case of motion with transient response characteristics, a shock wave (jerk) may occur.
Page 228: Signals Related To Position Control
6. Drive Application Function  Related Objects Variable Index Name Accessibility Unit Index type Assignment 0x2109 Position Command Filter Time Constant UINT 0.1ms 0x210A Position Command average filter time constant UINT 0.1ms 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).
Page 229: Settings Related To Torque Control
6. Drive Application Function 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 230: Positive/Negative Limit Settings
6. Drive Application Function 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 231: Setting The Brake Output Signal Function
6. Drive Application Function 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 232 6. Drive Application Function Time when the Servo OFF or PWM output alarm turn off occurred Motor PWM OFF delay time (0x2011) Servo ON/OFF Load Gravity output direction Brake signal (1) If Brake Signal Outputs First Before PWM Output Turns off You can output the brake signal first before the PWM output is turned off, preventing the drop along the vertical axis due to the gravity.
Page 233: Torque Limit Function
6. Drive Application Function 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 234 6. Drive Application Function 0x60E0 Forward torque limit 0x2111 External forward torque limit Torque Internal input Torque Ref. external torque 0x60E1 limits Reverse torque limit (set 0x2112 value 3) 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 235 6. Drive Application Function 0x6072 Max. Torque 0x60B2 torque 0x60E0 Feed-forward Target Offset Forward torque [0.1%] Gain 0x210E limit Filter 0x210F 0x2111 Torque Limit External forward Velocity Function torque limit Limit Speed Control Velocity Function P Gain I Gain Ref. 0x2103 0x2102 0x2106...
Page 236: Gain Switching Function
6. Drive Application Function 6.10 Gain switching function 6.10.1 Gain group switching Gain group Gain group 2 used 1 used GAIN2 sensor input 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 237 6. Drive Application Function 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 2 (0x2106) Speed loop gain 1 (0x2102) Speed loop integral time constant 2...
Page 238: P/Pi Control Switching
6. Drive Application Function 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 239 6. Drive Application Function  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 240: Motor Overload Protection
6. Drive Application Function 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 motor thermal time constant.
Page 241: Protection By Motor Thermal Time Constant
6. Drive Application Function  Related Objects Variable Index Name Accessibility Unit Index type Assignment 0x2000 Motor ID UINT 0x2031 Operation Time at Peak Current UINT 0x2802 [3rd Party Motor] Rated Current FP32 Arms 0x2803 [3rd Party Motor] Maximum Current FP32 Arms 6.11.2 Protection by motor thermal time constant...
Page 242: Dynamic Brake
6. Drive Application Function 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 Servo motor Precautions when using dynamic brake when main power is off, when SV_Off, protection operation...
Page 243 6. Drive Application Function Servo Servo ON/OFF ON/OFF Rotation Rotation speed speed Dynamic Dynamic brake brake Setting value: Setting value: Hold the dynamic brake after stopping the motor using Release the dynamic brake after stopping the motor the brake using the brake Servo Servo ON/OFF...
Page 244: Regeneration Brake Resistor Configuration
6. Drive Application Function 6.13 Regeneration Brake Resistor Configuration 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 245: Use Of Internal Regenerative Resistor
6. Drive Application Function 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 Standard Type Resistance capacity 100[Ω] L7NHA001U~L7NHA004U Built-in 50[W] Built-in 40[Ω]...
Page 246 6. Drive Application Function Set regenerative resistance (0x2009) Configure to use the regenerative resistor integrated into the drive (0x2009 = 0). Basically, the resistor is attached on the rear of the drive heat sink. Initial value: 0 Check internal regenerative resistance value and capacity Check the internal regenerative resistance value (0x200B).
Page 247: Use Of External Regenerative Resistor
6. Drive Application Function 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 248: Other Considerations
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) : composite resistance value...
Page 249: Configuration Of Drive Node Address (Addr)
6. Drive Application Function 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 250: 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 251 7. Safety Functions  Electrical characteristics  STO1, STO2 Item Characteristic 3.3 ㏀ Internal impedance Voltage input range DC 12V ~ DC 24V Maximum delay time 1ms or less  Item Characteristic Maximum permissible voltage DC 30V Max. current DC 120mA Maximum delay time 1ms or less ...
Page 252 7. Safety Functions Note3) Whichever the earlier time, out of points of time until the value becomes less than the set value of the brake output delay time (0x2408) or that of the brake output speed (0x2407) , will be applied. ...
Page 253: 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 254: How To Verify Safety Function
7. Safety Functions 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:  When STO1 and STO2 signals are turned OFF, check if the drive is in STO status (Bit 31 of digital input (0x60FD) is 1).
Page 255 7. Safety Functions...
Page 256: Tuning
8. Tuning Tuning Current feedback Position Speed Torque Voltage command command Speed command Torque command Position control control Power control Motor Encoder operation operation circuit operation Position feedback The drive is set to the torque control, the speed control, or the position control mode for use, depending on the method to connect with the upper level controller.
Page 257 8. Tuning Notch Filter Adaptive Filter 0x2500 function Select Position Control Velocity Control Torque Filte r Frequency Width Dept h Time Ref. P Gain P Gain I Gain 0x2501 0x2502 0x2503 0x2104 0x2103 0x2101 0x2102 0x2504 0x2505 0x2506 0x2108 0x2105 0x2107 0x2106 0x2507...
Page 258: 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 259 8. Tuning ■ On-line Gain Tuning Mode object Variable Index Name Accessibility Unit Index type Assignment 0x250D On-line Gain Tuning Mode UINT Setting Value Setting content On-line Gain Tuning not used On-line Gain Tuning used The factory setting is 0, and it is selected when online auto tuning is not possible or when the gain values are already known.
Page 260 8. Tuning [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 ■ Real-time gain tuning reflection speed during online auto tuning Variable Access Index Name...
Page 261: 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 262: 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 263: 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 264: Vibration Control (Damping) Filter
8. Tuning 8.4.3 Vibration Control (Damping) Filter The vibration control (damping) filter is a function that can reduce the vibration generated from the load end. 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.
Page 265 8. Tuning  Related Objects Variable Index Name Accessibility Unit Index type Assignment 0x2515 Vibration Suppression Filter Configuration UINT 0x2516 Vibration Suppression Filter 1 Frequency UINT 0.1[Hz] 0x2517 Vibration Suppression Filter 1 Damping UINT 0x2518 Vibration Suppression Filter 2 Frequency UINT 0.1[Hz] 0x2519...
Page 266: 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 Code Contents...
Page 267: 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 268: Alarm History Reset
9. Procedure Function Alarm history reset This function deletes all of the alarm code history stored in the drive. Alarm history items are stored chronologically starting with the latest alarm up to 16 recent alarms. You can check them as below (0x2702:01 - 16). The latest alarm is listed in 0x2702:01. ...
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;  Encoder low voltage alarm occurs  If you want to set the multi-turn data of an absolute value encoder to 0. When the absolute encoder reset is completed, the multi-turn data (0x260A) and the single-turn data (0x2607) are reset to 0.
Page 271: Phase Current Offset Tuning
9. Procedure Function 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. The offset is tuned by factory default setting. Measured U-/V-/W-phase offsets are individually stored in 0x2015, 0x2016, and 0x2017.
Page 272: 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 273 10. Object Dictionary 0x1008 Device Name Accessibil Change Variable type Setting range Initial value Unit Save allocation attribute STRING Indicate the name of the device. 0x1009 Hardware version Accessibil Change Variable type Setting range Initial value Unit Save allocation attribute STRING This represents the hardware version of device.
Page 274 10. Object Dictionary Accessibil Change Variable type Setting range Initial value Unit Save allocation attribute UDINT 0 to 0xFFFFFFFF Store the drive's parameters into the memory. To avoid any mistake, store the parameters if the ASCII code value corresponding to 'save' is written to the relevant SubIndex value. 16 15 ASCII code 0x65...
Page 275 10. Object Dictionary 16 15 ASCII code 0x64 0x61 0x6F 0x6C All parameters within the drive are initialized when "load" is written to SubIndex 1. Only communication parameters (from 0x1000) are initialized when "load" is written to SubIndex 2. Only CiA402 parameters (from 0x6000) are initialized when "load" is written to SubIndex 3. Only drive-specific parameters (from 0x2000) are initialized when "load"...
Page 276 10. Object Dictionary 0x1600 Receive PDO Mapping SubIndex 0 Number of entries Accessibil Change Variable type Setting range Initial value Unit Save allocation attribute USINT 0 to 10 PREOP SubIndex 1 Mapping entry 1 Accessibil Change Variable type Setting range Initial value Unit Save...
Page 277 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 278 10. Object Dictionary Accessibil Change Variable type Setting range Initial value Unit Save allocation attribute UDINT 0 to 0xFFFFFFFF PREOP SubIndex 8 Mapping entry 8 Accessibil Change Variable type Setting range Initial value Unit Save allocation attribute UDINT 0 to 0xFFFFFFFF PREOP SubIndex 9 Mapping entry 9...
Page 279 10. Object Dictionary UDINT 0 to 0xFFFFFFFF PREOP SubIndex 7 Mapping entry 7 Accessibil Change Variable type Setting range Initial value Unit Save allocation attribute UDINT 0 to 0xFFFFFFFF PREOP SubIndex 8 Mapping entry 8 Accessibil Change Variable type Setting range Initial value Unit Save...
Page 280 10. Object Dictionary SubIndex 6 Mapping entry 6 Accessibil Change Variable type Setting range Initial value Unit Save allocation attribute UDINT 0 to 0xFFFFFFFF PREOP SubIndex 7 Mapping entry 7 Accessibil Change Variable type Setting range Initial value Unit Save allocation attribute UDINT...
Page 281 10. Object Dictionary Accessibil Change Variable type Setting range Initial value Unit Save allocation attribute UDINT 0 to 0xFFFFFFFF 0x60FD0020 PREOP SubIndex 6 Mapping entry 6 Accessibil Change Variable type Setting range Initial value Unit Save allocation attribute UDINT 0 to 0xFFFFFFFF 0x60610008 PREOP SubIndex 7...
Page 282 10. Object Dictionary UDINT 0 to 0xFFFFFFFF 0x60B90010 PREOP SubIndex 5 Mapping entry 5 Accessibil Change Variable type Setting range Initial value Unit Save allocation attribute UDINT 0 to 0xFFFFFFFF 0x60BA0020 PREOP SubIndex 6 Mapping entry 6 Accessibil Change Variable type Setting range Initial value Unit...
Page 283 10. Object Dictionary SubIndex 4 Mapping entry 4 Accessibil Change Variable type Setting range Initial value Unit Save allocation attribute UDINT 0 to 0xFFFFFFFF 0x60BA0020 PREOP SubIndex 5 Mapping entry 5 Accessibil Change Variable type Setting range Initial value Unit Save allocation attribute...
Page 284 10. Object Dictionary allocation attribute UDINT 0 to 0xFFFFFFFF 0x60B90010 PREOP SubIndex 4 Mapping entry 4 Accessibil Change Variable type Setting range Initial value Unit Save allocation attribute UDINT 0 to 0xFFFFFFFF 0x60BA0020 PREOP SubIndex 5 Mapping entry 5 Accessibil Change Variable type Setting range...
Page 285 10. Object Dictionary 0x1C00 Sync Manager Communication Type SubIndex 0 Number of entries Accessibil Change Variable type Setting range Initial value Unit Save allocation attribute USINT SubIndex 1 Communication type SM0 Accessibil Change Variable type Setting range Initial value Unit Save allocation attribute...
Page 286 10. Object Dictionary 0x1C12 Sync Manager 2 PDO Assignment SubIndex 0 Number of entries Accessibil Change Variable type Setting range Initial value Unit Save allocation attribute USINT SubIndex 1 Index of object assigned to PDO Accessibil Change Variable type Setting range Initial value Unit Save...
Page 287 10. Object Dictionary SubIndex 5 Minimum cycle time Accessibil Change Variable type Setting range Initial value Unit Save allocation attribute UDINT 250000 SubIndex 6 Calc and copy time Accessibil Change Variable type Setting range Initial value Unit Save allocation attribute UDINT SubIndex 9 Delay time...
Page 288 10. Object Dictionary UDINT SubIndex 3 Shift time Accessibil Change Variable type Setting range Initial value Unit Save allocation attribute UDINT SubIndex 4 Sync modes supported Accessibil Change Variable type Setting range Initial value Unit Save allocation attribute UINT 0x4007 SubIndex 5 Minimum cycle time Accessibil...
Page 289: Manufacturer Specific Objects
Power UINT 1 to 9999 999 or 998 recycling Set the motor ID. For the serial encoder provided by LS ELECTRIC, it is automatically set. You can check the automatically set IDs. Encoder type Motor ID entry method Incremental Direct entry...
Page 290 This parameter sets the resolution (resolution) of the encoder. Set the encoder resolution in the unit of pulse (count) based on a multiple of 4. 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 Entry Entry method 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 Absolute Singleturn Direct entry side of the motor Automatic recognition, no input required...
Page 292 10. Object Dictionary Example of setting value 0 Example of setting value 1 Forward command Reverse command Reverse command Forward command Rotate the motor Rotate the motor Rotate the motor motor clockwise rotation counterclockwise clockwise counterclockwise 0x2005 Absolute Encoder Configuration Variable Accessi Change...
Page 293 10. Object Dictionary 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 rotation Position Actual Value Position Actual Value Position Actual Value...
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 Inertia ratio Drive Temperature 1 °C Temperature near the drive power element Drive Temperature 2 °C Internal temperature of drive Encoder temperature 1 °C Internal temperature of encoder Node ID Instantaneous maximum 0.1% Instantaneous maximum load rate for 15 load rate seconds RMS load factor...
Page 296 10. Object Dictionary 0x200C Regeneration Brake Resistor Power Variable Accessi Change Setting range Initial value Unit Save type bility attribute allocation UINT 0 to 30000 watt Always When using an external regenerative resistor (0x2009=1), set the regenerative resistance capacity in watt.
Page 297 10. Object Dictionary Continuous When to increase cumulative overload alarm continuous overload AL-21 overload 0x200F : 100 100% Continuous Time cumulative When to increase overload alarm continuous overload AL-21 overload 0x200F : 50 Time Torque feedback 100% Time The initial value is 100, and if the torque feedback exceeds 100 [%], the continuous overload alarm (AL-21) occurs due to accumulated overload.
Page 298 10. Object Dictionary cumulative Continuous overload alarm overload AL-21 W10 occur 0x2010 : 50 time Continuous cumulative overload alarm overload AL-21 W10 occur 0x2010 : 90 time For example, if you enter 50, W10 occurs from the point when the cumulative overload becomes 50 [%].
Page 299 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 300 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 Accessi Change Setting range Initial value Unit Save type...
Page 301 10. Object Dictionary Warning Warning name code Main power source loss Low voltage of encoder battery Software Position Limit DB Excessive Current Operation overload Drive / Motor Combination error Low Voltage Emergency signal input 0x2015 U Phase Current Offset Variable Accessi Change Setting range...
Page 302 10. Object Dictionary 0x2018 Magnetic Pole Pitch Variable Accessi Change Setting range Initial value Unit Save type bility attribute allocation Power UINT 1 to 65535 2400 .01mm recycling This specifies the pitch between the magnetic poles of the linear motor. The pole pitch refers to the distance between the north poles or between the south poles of magnet, corresponding to 360˚...
Page 303 10. Object Dictionary 0x201C Commutation Time Variable Accessi Change Setting range Initial value Unit Save type bility allocation attribute UINT 500 to 5000 1000 Always Set the commutation current to obtain the initial angle information of the motor 0x201D Grating Period of Sinusoidal Encoder Variable Accessi Change...
Page 304 10. Object Dictionary M Method calculates RPM by reading the encoder's counter at regular intervals (T). �� = If the value of the counter read at regular intervals (T) is Pm, the speed is as follows. ��...
Page 305 10. Object Dictionary Description Setting direction of rotation of motor (0x2004’s setting values and Exclusive OR operation.) Reserved Hall U polarity reversal Hall V polarity reversal Hall W polarity reversal Reserved Hall U, Hall V replace Hall V, Hall W replace Hall W, Hall U replace Hall Signal sinle-phase input setting 0x2031...
Page 306 10. Object Dictionary Gain Adjustment(0x2100~ )  0x2100 Inertia Ratio Variable Accessi Change Setting range Initial value Unit Save type bility allocation 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 307 10. Object Dictionary 0x2104 Torque Command Filter Time Constant 1 Variable Accessi Change Setting range Initial value Unit Save type bility allocation attribute UINT 0 to 1000 0.1ms Always This applies a low pass filter for torque command. You can improve the system stability by setting an appropriate value to smoothen the torque command.
Page 308 10. Object Dictionary 0x2109 Position Command Filter Time Constant Variable Accessi Change Setting range Initial value Unit Save type bility allocation attribute UINT 0 to 10000 0.1ms Always This applies a low pass filter for position command to smoothen the position command. Especially, this can be used for setting a higher gear ratio.
Page 309 10. Object Dictionary 0x210D Velocity Feed-forward Filter Time Constant Variable Accessi Change Setting range Initial value Unit Save type bility allocation attribute UINT 0 to 1000 0.1ms Always This applies low pass filter to the compensated amount added to the speed command by the speed feedforward gain.
Page 310 10. Object Dictionary - Forward: 0x60E0(if P_CL signal is not input), 0x2111(if P_CL signal is input) - Reverse: 0x60E1(if N_CL signal is not input), 0x2112(if N_CL signal is input) Limited by the analog input torque limit. - Refer to analog torque limit scale (0x221C) and offset (0x221D) 0x2111 External Positive Torque Limit Value Variable...
Page 311 10. Object Dictionary Setting Value Setting content Always PI controlled Switches to the P control if the command torque is larger than the P control switching torque (0x2115). Switches to the P control if the command speed is larger than the P control switching speed (0x2116).
Page 312 10. Object Dictionary 0x2119 Gain Conversion Mode Variable Accessi Change Setting range Initial value Unit Save type bility attribute allocation UINT 0 to 7 Always You can enhance the performance of the entire system by switching between two gain groups. According to the switching mode, manual switch or automatic switch can be done depending on the external input or output signal, respectively.
Page 313 10. Object Dictionary 0x211B Gain Conversion Time 2 Variable Accessi Change Setting range Initial value Unit Save type bility allocation attribute UINT 0 to 1000 Always This specifies the waiting time before switching from gain group 1 to gain group 2. 0x211C Gain Conversion Waiting Time 1 Variable...
Page 314 10. Object Dictionary Setting content HOME STOP PCON GAIN2 P_CL N_CL PROBE1 PROBE2 A_RST SV_ON LVSF1 LVSF2 Reserved 0x2120 Drive Control Input 2 Variable Accessi Change Setting range Initial value Unit Save type bility allocation attribute UINT 0 to FFFF Setting content 15-0 Reserved...
Page 315 10. Object Dictionary WARN TGON INPOS2 15-11 Reserved 0x2122 Drive Status Output 2 Variable Accessi Change Setting range Initial value Unit Save type bility allocation attribute UINT 0 to FFFF Setting content 15-0 Reserved 10-44...
Page 316 10. Object Dictionary I/O Configuration(0x2200~ )  Digital Input Signal 1 Selection 0x2200 Digital Input Signal 1 Selection Variable Accessi Change Setting range Initial value Unit Save type bility attribute allocation 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 317 10. Object Dictionary Example) When setting Gain2 to A contact 9Bit 8Bit 7Bit 6Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0Bit 0x0006 Example) When setting Gain2 to contact A and filtering time to 5[msec] 9Bit 8Bit 7Bit 6Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0Bit...
Page 318 10. Object Dictionary 0x2204 Digital Input Signal 5 Selection Variable Accessi Change Setting range Initial value Unit Save type bility allocation attribute UINT 0 to 0xFFFF 0x0005 Always This specifies the functions of digital input signal 5 of the I/O and the input signal level. For more information, refer to the description of 0x2200.
Page 319 10. Object Dictionary 15Bit 14Bit 13Bit 12Bit 11Bit 10Bit 9Bit 8Bit 7Bit 6Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0Bit Signal output level setting Output signal allocation Setting Setting Setting Allocation signal Allocation signal status value value value 0x00 unassigned 0x0A TGON contact 0x01...
Page 320 10. Object Dictionary 0x2212 Digital Output Signal 3 Selection Variable Accessi Change Setting range Initial value Unit Save type bility allocation attribute UINT 0 to 0xFFFF 0x0003 Always Assign the functions of digital output signal 3 of I/O and set the output signal level. For more information, refer to the description of 0x2210.
Page 321 10. Object Dictionary 0x2220 Analog Monitor Output Mode Variable Accessi Change Setting range Initial value Unit Save type bility allocation attribute UINT 0 to 1 Always Analog monitor output range is -10~+10V. If setting value is 1, output value is positive value only. Setting Value Setting content Output as negative/positive values...
Page 322 10. Object Dictionary 0x2222 Analog Monitor Channel 2 Select Variable Accessi Change Setting range Initial value Unit Save type bility allocation attribute UINT 0 to 65535 Always Configure the monitoring variables to be output to the analog monitor output channel 2. 0x2223 Analog Monitor Channel 1 Offset Variable...
Page 323 10. Object Dictionary 0x2226 Analog Monitor Channel 2 Scale Variable Accessi Change Initial Setting range Unit Save value type bility allocation attribute UDINT 0 to 0x40000000 Always This specifies the scaling of the variable to be output per 1 V when outputting the monitoring variable configured as the analog output channel 2.
Page 324 10. Object Dictionary Velocity Control(0x2300~ )  0x2300 Jog Operation Speed Variable Accessi Change Setting range Initial value Unit Save type bility attribute allocation -6000 to 6000 Always This specifies the jog operation speed. 0x2301 Speed Command Acceleration Time Variable Accessi Change Setting range...
Page 325 10. Object Dictionary 0x2305 Program Jog Operation Speed 2 Variable Accessi Change Setting range Initial value Unit Save type bility attribute allocation -6000 to 6000 Always Refer to the description of Programmed Jog Operation Speed 1 (0x2304). 0x2306 Program Jog Operation Speed 3 Variable Accessi Change...
Page 326 10. Object Dictionary 0x230A Program Jog Operation Time 3 Variable Accessi Change Setting range Initial value Unit Save type bility allocation attribute UINT 0 to 10000 Always Refer to the description of Programmed Jog Operation Speed 1 (0x2304). 0x230B Program Jog Operation Time 4 Variable Accessi Change...
Page 327 10. Object Dictionary 0x230E Speed Limit Value at Torque Control Mode Variable Accessi Change Setting range Initial value Unit Save type bility allocation attribute UINT 0 to 6000 1000 Always This specifies the speed limit value for torque control. This setting is applied only when the Speed Limit Function Setting (0x230D) is set to 0.
Page 328 10. Object Dictionary Miscellaneos Setting(0x2400~ )  Software Position Limit Function Select 0x2400 Software Position Limit Function Select Variable Accessi Change Setting range Initial value Unit Save type bility allocation 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 329 10. Object Dictionary 0x2402 INPOS1 Output Time Variable Accessi Change Setting range Initial value Unit Save type bility attribute allocation UINT 0 to 1000 Always Refer to the description of 0x2401. 0x2403 INPOS2 Output Range Variable Accessi Change Setting range Initial value Unit Save...
Page 330 10. Object Dictionary 0x2407 BRAKE Output Speed Variable Accessi Change Setting range Initial value Unit Save type bility allocation attribute UINT 0 to 6000 Always 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.
Page 331 10. Object Dictionary This function is not supported in CSP operation mode. Setting Value Setting content Does not use the Modulo function. Uses the Modulo function to move forward. Uses the Modulo function to move backward. Uses the Modulo function to move via the possible shortest distance.
Page 332 10. Object Dictionary X5[turn] X1[turn] Motor User Machine When the instrument of the equipment makes 1[turn], and the L7 19[bit] motor mounted on the 524288 × 5 [ �� ] = 9961472[UU] equipment makes 5[turn], the total pulse required for the equipment to make 1[turn] is as follows. If the user wants to control equipment 1[turn] within 0~9961472[UU], when 9961472[UU] is input to the Modulo Factor, the equipment will appear within 1[turn] to 1~9961472[UU] in the Position Actual value and 1[turn] ], it starts again at 1[UU].
Page 333 10. Object Dictionary Enhanced Control(0x2500~ )  0x2500 Adaptive Filter Function Select Variable Accessi Change Setting range Initial value Unit Save type bility attribute allocation UINT 0 to 5 Always This specifies the adaptive filter function. Setting Value Setting content Adaptive filter is not used.
Page 334 10. Object Dictionary 0x2503 Notch Filter 1 Depth Variable Accessi Change Setting range Initial value Unit Save type bility attribute allocation UINT 1 to 5 Always This specifies the depth of the notch filter 1. 0x2504 Notch Filter 2 Frequency Variable Accessi Change...
Page 335 10. Object Dictionary 0x2509 Notch Filter 3 Depth Variable Accessi Change Setting range Initial value Unit Save type bility allocation attribute UINT 1 to 5 Always 0x250A Notch Filter 4 Frequency Variable Accessi Change Setting range Initial value Unit Save type bility allocation...
Page 336 10. Object Dictionary 0x250E System Rigidity for Gain Tuning Variable Accessi Change Setting range Initial value Unit Save type bility allocation attribute UINT 1 to 20 Always This specifies the system rigidity applied for gain tuning. After the gain tuning according to the setting, the overall gain will be set higher or lower.
Page 337 10. Object Dictionary 0x2510 Off-line Gain Tuning Direction Variable Accessi Change Setting range Initial value Unit Save type bility allocation attribute UINT 0 to 1 Always This specifies the movement direction when performing the Off-line Gain Tuning. Set the function properly according to the condition of the apparatus section.
Page 338 10. Object Dictionary 0x2514 Current Controller Gain Variable Accessi Change Setting range Initial value Unit Save type bility allocation attribute UINT 1 to 150 Always This specifies the current controller gain. Lowering the setting value will reduce the noise, but the drive's responsiveness decreases as well.
Page 339 10. Object Dictionary 0x2518 Vibration Supression Filter 2 Frequency Variable Accessi Change Setting range Initial value Unit Save type bility allocation attribute UINT 0 to 2000 0.1Hz Always Sets the vibration control (damping) filter 2 frequency. 0x2519 Vibration Supression Filter 2 Damping Variable Accessi Change...
Page 340 10. Object Dictionary Monitoring (0x2600~ )  0x2600 Feedback Speed Variable Accessi Change Setting range Initial value Unit Save type bility attribute allocation This represents the current rotation speed of the motor. 0x2601 Command Speed Variable Accessi Change Setting range Initial value Unit Save...
Page 341 10. Object Dictionary 0x2605 DC-Link Voltage Variable Accessi Change Setting range Initial value Unit Save type bility allocation attribute UINT Volt This represents the DC link voltage by the main power input. 0x2606 Accumulated Regeneration Overload Variable Accessi Change Setting range Initial value Unit Save...
Page 342 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 343 10. Object Dictionary 0x260F Motor Maximum Speed Variable Accessi Change Setting range Initial value Unit Save type bility attribute allocation UINT This represents the maximum speed of the driving motor. 0x2610 Drive Rated Current Variable Accessi Change Setting range Initial value Unit Save type...
Page 344 10. Object Dictionary 0x2613 Bootloader Version Variable Accessi Change Setting range Initial value Unit Save type bility allocation attribute STRING This represents the bootloader version of the drive. 0x2614 Warning Code Variable Accessi Change Setting range Initial value Unit Save type bility allocation...
Page 345 10. Object Dictionary Procedure and Alarm history(0x2700~ )  0x2700 Procedure Command Code Variable Accessi Change Setting range Initial value Unit Save type bility attribute allocation UINT 0 to 0xFFFF You can run various procedures with the following procedure command codes and command arguments.
Page 346 10. Object Dictionary 0x2701 Procedure Command Argument Variable Accessi Change Setting range Initial value Unit Save type bility allocation attribute UINT 0 to FFFF 0x2702 Servo Alarm History SubIndex 0 Number of entries Accessi Change Variable Setting range Initial value Unit Save type...
Page 347 10. Object Dictionary SubIndex 12 Alarm code 12 Variable Accessi Change Setting range Initial value Unit Save allocation type bility attribute STRING SubIndex 13 Alarm code 13 Variable Accessi Change Setting range Initial value Unit Save type bility allocation attribute STRING SubIndex 14 Alarm code 14...
Page 348 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 349 10. Object Dictionary 0x2804 [Third Party Motor] Rated Speed Variable Accessi Change Setting range Initial value Unit Save type bility allocation 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 350 10. Object Dictionary 0x2809 [Third Party Motor] Phase Inductance Variable Accessi Change Setting range Initial value Unit Save type bility allocation attribute 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 351 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 Accessi Change Setting range Initial value Unit Save type bility attribute allocation Power...
Page 352: Cia402 Objects
10. Object Dictionary 10.3 CiA402 Objects 0x603F Error Code Variable Accessi Change Setting range Initial value Unit Save type bility allocation attribute UINT The alarm code which has last occurred in Servo Drive is displayed. 0x6040 Controlword Variable Accessi Change Setting range Initial value Unit...
Page 353 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 Content – – – Continues to perform the operation. Halt Halts the operation according to the Halt Option code (0x605D). –...
Page 354 10. Object Dictionary 0x6041 Statusword Variable Accessi Change Setting range Initial value Unit Save type bility allocation attribute UINT The Statusword indicates the current state of the drive. It consists of bits that indicate the state according to the drive and operation mode. Function Description Ready to switch on...
Page 355 10. Object Dictionary • Bits 10, 12 and 13: For CSP, CSV, or CST mode operation State Value Content Unable to reach the target (position/velocity/torque) Target reached Reached the target (position/velocity/torque) No positional error (always 0 in Csv/Torque Mode) Following error Following error •...
Page 356 10. Object Dictionary < Description on Bit 11> • Bit11: Use of Internal limit State Value Content Software location limit status not used or software location limit Internal limit active function (0x2400) not used Software location limit < Description on Bit 14> •...
Page 357 10. Object Dictionary 0x605C Disable Operation Option Code Variable Accessi Change Setting range Initial value Unit Save type bility attribute allocation 0 to 1 Always This specifies the Disable Operation state (Operation Enabled state  Switched On state) option code. Setting Value Description Does not use the drive function...
Page 358 10. Object Dictionary 0x6060 Model Of Operation Variable Accessi Change Setting range Initial value Unit Save type bility allocation attribute SINT 0 to 10 Always This sets the servo drive operation mode. The master sets the operation mode when the power is turned on.
Page 359 10. Object Dictionary 0x6063 Position Actual Internal Value Variable Accessi Change Setting range Initial value Unit Save type bility attribute allocation DINT pulse This displays the actual internal position value in encoder pulses. 0x6064 Position Actual Value Variable Accessi Change Setting range Initial value Unit...
Page 360 10. Object Dictionary 0x6068 Position Window Time Variable Accessi Change Setting range Initial value Unit Save type bility attribute allocation UINT 0 to 65535 Always This sets the time it takes to reach the target position. If the drive remains within the position window (0x6067) for the position window time (0x6068), then it sets bit 10 of the Statusword (0x6041.10) to 1.
Page 361 10. Object Dictionary 0x6071 Target Torque Variable Accessi Change Setting range Initial value Unit Save type bility allocation attribute -5000 to 5000 0.1% Always This specifies the target torque for the motor in 0.1% increments of the rated torque during torque control.
Page 362 10. Object Dictionary 0x6078 Current Actual Value Variable Accessi Change Setting range Initial value Unit Save type bility allocation attribute 0.1% The actual torque value generated by the drive is displayed in units of 0.1% of the rated torque. The same value as the actual torque value [0x6077] is displayed.
Page 363 10. Object Dictionary 0x607D Software Position Limit SubIndex 0 Number of entries Accessibil Change Variable type Setting range Initial value Unit Save allocation attribute USINT SubIndex 1 Min. position limit Accessibil Change Variable type Setting range Initial value Unit Save allocation attribute -1073741824 to...
Page 364 10. Object Dictionary 0x6083 Profile Acceleration Variable Accessi Change Setting range Initial value Unit Save type bility allocation attribute 0 to UDINT 200000 UU/s Always 0x7FFFFFFF This specifies the profile acceleration for the PP mode operation. 0x6084 Profile Deceleration Variable Accessi Change Setting range...
Page 365 10. Object Dictionary Since the target position is the same as the area of the movement distance in the figure, if you want to stop after about 2 seconds by inputting the stop signal while driving at 300[rpm] in index operation mode, you can calculate the deceleration value of Quick Stop as follows.
Page 366 10. Object Dictionary Setting Value Content Do Not Use Homing using the index pulse and reverse limit contact Homing using the index pulse and forward limit contact 7 to 14 Homing using the index pulse and home contact Same as method 8 (does not use the index pulse) Same as method 12 (does not use the index pulse) 33, 34 Homing to the index pulse...
Page 367 10. Object Dictionary 0x60B0 Position Offset Variable Accessi Change Setting range Initial value Unit Save type bility attribute allocation -2147483648 to DINT Always 2147483647 In the CSP mode, this specifies the offset value added to the position command. 0x60B1 Velocity Offset Variable Accessi Change...
Page 368 10. Object Dictionary Does not capture the falling edge position value of the touch probe 1. Captures the falling edge position value of the touch probe 1. 6 to 7 Reserved – Does not use the touch probe 2. Uses the touch probe 2. Single trigger mode Continuous trigger mode Triggered by the input of the touch probe 2.
Page 369 10. Object Dictionary In continuous trigger mode, you can toggle whether to save all update values for 6, 7, 14 and 15 bits on the rising/falling edge of the touch probe. To disable bits 1, 2, 9 and 10 (saving the position values on the rising/falling edges of touch probes 1 and 2) of the touch probe state (0x60B9), disable bits 4, 5, 12 and 13 (using sampling on the rising/falling edges of touch probes 1 and 2) of the touch probe function (0x60B8) and enable them.
Page 370 10. Object Dictionary 0x60E0 Positive Torque Limit Value Accessi Change Setting Variable type Initial value Unit Save range bility allocation attribute UINT 0 to 5000 3000 0.1% Always This sets the limit of positive torque values. 0x60E1 Negative Torque Limit Value Accessi Change Setting...
Page 371 10. Object Dictionary 0x60FD Digital Inputs Accessi Change Variable type Setting range Initial value Unit Save bility allocation attribute UDINT They indicate the status of digital inputs. 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...
Page 372 10. Object Dictionary  Description of physical outputs Description 0 to 15 Reserved Forced output (0: OFF, 1: ON) of DO #1 (I/O pins 3 and 4) Provided that the relevant bit mask (0x60FE:02.16) is set to 1. Forced output (0: OFF, 1: ON) of DO #2 (I/O pins 23 and 24) Provided that the relevant bit mask (0x60FE:02.17) is set to 1.
Page 373 10. Object Dictionary Support mode Content PP (Profile Position) 1: Supported Vl (Velocity) 0: Not supported PV (Profile Velocity) 1: Supported PT (Torque Profile) 1: Supported Reserved HM (Homing) 1: Supported IP (Interpolated Position) 0: Not Supported CSP (Cyclic Synchronous Position) 1: Supported CSV (Cyclic Synchronous Velocity) 1: Supported...
Page 374: Maintenance And Inspection
11. Maintenance and Inspection 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 Maintenance and Inspection 11.1.1 Caution 1. Measuring the motor voltage: The PWM controls the voltage output from the servo amp to the motor. Because of this, the waves take the form of pulses.
Page 375: Replacing Parts
11. Maintenance and Inspection Note1) Measure the resistance between the FG and one of the U, V, and W power lines on the servo motor. (2) Inspecting the Servo Drive Inspection What to do if you find Check Items Inspection process Period an abnormality Clean the main body...
Page 376 11. Maintenance and Inspection [The Standard Part Replacement Cycle] Standard Replacement Part Name Method Cycle Smoothing condenser 7-8 years Replace (determine after inspection). Relays Determine after inspection Fuses 10 years Replace Aluminium electrolytic Replace with new boards (determined 5 years condensers on PCB.
Page 377: 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 378: 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 Cause Check Items...
Page 379 11. Maintenance and Inspection Alarm Code Cause Check Items What to check Name (Current offset error) If alarm occurs continually after adjusting offset of phase current, Drive error please replace new drive because drive has problem. In case of Check if load which is sequent accumulating driving load rate Change drive and motor capacity,...
Page 380 11. Maintenance and Inspection Alarm Code Cause Check Items What to check Name If specific alarm signal is persistently occurred, It is highly Drive error possible to have fault, so Kindly recommend you to change the servo drive. Check whether surrounding Ambient Lower the surrondng termpertaure temperature...
Page 381 11. Maintenance and Inspection Alarm Code Cause Check Items What to check Name Disconnect, wiring is incorrect and check Short. Encoder cable Replace encoder cable Check shield and FG error disconnect Check setting encoder type. Parameter Check setting valud of encoder Check speed setting error type [0x2001]...
Page 382 11. Maintenance and Inspection Alarm Code Cause Check Items What to check Name error Check [0x2605] value is below 405[Vdc] when main power is Replace the drive accordingly input. Review the regenerative When braking Check operating condition resistance consider the operating resistor is high regenerative resistance.
Page 383 11. Maintenance and Inspection Alarm Code Cause Check Items What to check Name Excessive SPD Value of [0x2000], [0x2001], Modify the parameter as sams as deviation [0x2002] is same with motor label information. Parameter application motor label. setting Error Check setting value [0x6091] Set Electronic gear ratio low.
Page 384 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 385 11. Maintenance and Inspection Warning Cause Check Items What to check status(CODE) Name Main power input Check voltage between phase 200- Recheck the power supply. Voltage error 230[Vac] of L1, L2, L3 Check value of main power input mode set Parameter setting Wire or set parameter as input power [0x2006] arroding to state of main power...
Page 386: 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) Load rate (%) Load rate (%) Rotation Stop Rotation Stop Less than Infinite Infinite equal to 100 1969.0 1372.0...
Page 387 11. Maintenance and Inspection  Overload Operating Characteristic Curve (400W) 200[V]/400[W] AL-21 occurred time (sec) AL-21 occurred time (sec) Load rate (%) Load rate (%) Rotation Stop Rotation Stop Less than Infinite Infinite equal to 100 55776.0 37935.0 66.8 50.1 13944.0 9483.0 50.1...
Page 388 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) Load rate (%) Load rate (%) Rotation Stop Rotation Stop Less than Infinite Infinite equal to 100 105800.0 37935.0 119.0 50.1 26450.0...
Page 389 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) Load rate (%) Load rate (%) Rotation Stop Rotation Stop Less than Infinite Infinite equal to 100 4832 4832 66.8 1208 1208...
Page 390 11. Maintenance and Inspection  Overload Operating Characteristic Curve (5kW) 200[V]/5[kW] AL-21 occurred time (sec) AL-21 occurred time (sec) Load rate (%) Load rate (%) Rotation Stop Rotation Stop Less than Infinite Infinite equal to 100 4832 4832 66.8 1208 1208 50.1 38.5...
Page 391 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) Load rate (%) Load rate (%) Rotation Stop Rotation Stop Less than Infinite Infinite equal to 100 4832 4832 66.8 1208 1208 50.1 38.5...
Page 392 11. Maintenance and Inspection  Overload Operating Characteristic Curve (15kW) 200[V]/15[kW] AL-21 occurred time (sec) AL-21 occurred time (sec) Load rate (%) Load rate (%) Rotation Stop Rotation Stop Less than Infinite Infinite equal to 100 4832 4832 66.8 1208 1208 50.1 38.5...
Page 393 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) Load rate (%) Load rate (%) Rotation Stop Rotation Stop Less than Infinite Infinite equal to 100 55776 37937.7 50.1 13944 9483.9 38.5 6197.3...
Page 394 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) Load rate (%) Load rate (%) Rotation Stop Rotation Stop Less than Infinite Infinite equal to 100 4602 4600 1208 1208 100000...
Page 395 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) Load rate (%) Load rate (%) Rotation Stop Rotation Stop Less than Infinite Infinite equal to 100 4832 4832 66.8 1208 1208 50.1 536.8...
Page 396 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) Load rate (%) Load rate (%) Rotation Stop Rotation Stop Less than Infinite Infinite equal to 100 5760 100000 10000 1000 회전...
Page 397 11. Maintenance and Inspection  Overload Operating Characteristic Curve (15.0kW) 400[V]/15[kW] AL-21 occurred time (sec) AL-21 occurred time (sec) Load rate (%) Load rate (%) Rotation Stop Rotation Stop Less than Infinite Infinite equal to 100 5760 16.4 1998 698.4 13.5 524.2 350.1...
Page 398: Test Operation
12. Test operation Test operation 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 399: Preparation For Operation
12. Test operation 12.1 Preparation for Operation Carry out test drive in the following order: Conform to the checklist and precautions before test drive. Check input/output signals and connection to the upper level controller. Carry out test drive of the servo drive using the Carry out test drive of the servo drive using the XGT TwinCAT System Manager.
Page 400 12. Test operation 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 401: Test Drive Using Twincat System Manager
12. Test operation 12.2 Test Drive Using TwinCAT System Manager  Test Procedure Sequ Handling Reference ence Before launching the TwinCAT System Manager, copy the servo drive XML file into the schema folder (C:\TwinCAT\Io\EtherCAT). Launch the TwinCAT System Manager. Select the target system. When carrying out the test drive using a remote system, select its device.
Page 402 12. Test operation  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.  If the dialog window below pops up, select the "Yes" button. Add the NC Task of the servo drive to the NC-Configuration.
Page 403 12. Test operation Depending on the type of drive, ‘Drive X (L7xx Drive)’ may be different. Switch the EtherCAT communication state from the SafeOP state to the OP state, enabling the MailBox Communication and the Process Data Communication.  Click the Generate Mappings icon on the menu bar. Map the images defined in the NC Task and the I/O Device.
Page 404 12. Test operation  Verify if the state displayed on the bottom right of the TwinCAT System Manager menu window is in the Run state. We finished adding the NC-Task and I/O Devices (servo drive) to the TwinCAT System Manager. ...
Page 405 12. Test operation (Note) The default is 0.0001 if the scaling factor is not set. (Note) After the setting, download the settings. Set the speed parameter of the test drive axis.  Select "Axis 1."  Select the "Parameter" tab. ...
Page 406 12. Test operation  Set the acceleration, deceleration, and jerk indirectly. Set the acceleration, deceleration, and jerk indirectly by setting the acceleration time. If you change the acceleration time, the acceleration value will be automatically changed.  Select the "Indirect by Acceleration Time" radio button. ...
Page 407 12. Test operation (Note) The Position Lag Monitoring is the difference between the position reference and the actual position at a given cycle time. When the Position Lag Monitoring is enabled, the TwinCAT NC generates an alarm if the positional error exceeds the settings.
Page 408 12. Test operation  Test Drive of Servo Drive Using TwinCAT NC Axis Sequence Handling Reference Make sure that the TwinCAT NC axis is "Servo On."  Select "Axis 1."  Select the "Online" tab.  Click the "Set" button. ...
Page 409 12. Test operation  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.  Click "F6" to stop during the relative coordinate driving. ...
Page 410: Test Drive Using Ls Electric Plc (Xgt + Pn8B)
12. Test operation 12.3 Test Drive Using LS ELECTRIC PLC (XGT + PN8B)  Test Procedure Sequence Handling Reference Launch the XG-PM. Opens new project.  On the menu bar, click Project  New Project. Name the new project. ...
Page 411 12. Test operation  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 412 12. Test operation * Depending on the type of drive, ‘# axis1 drive (L7xx)’ may be different.  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.
Page 413 12. Test operation Set the servo parameters of the test drive axis.  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. ...
Page 414 12. Test operation 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 415 12. Test operation  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 416: Test Drive Using Ls Mecapion Mxp Series
12. Test operation 12.4 Test Drive Using LS Mecapion MXP Series  Test Procedure Sequence Handling Reference 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 417 12. Test operation ① ③ ② ④ ⑤ ⑥ ⑦ cation Function Choose what to download from the current project Move selected button Display items to be downloaded Show current download status Check whether automatic window close function is used after download is c Download start button Window close button <...
Page 418 12. Test operation  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 419 12. Test operation may disable duplicate selection of other PDO lists. ③ PDO Lists This is an object list that contains data objects. ④ Entry Items Data Object registered in the PDO list. You can add/delete items through the right-click menu. Caution The configuration of PDO data required to use all functions of MXP axis control parameter is as follows.
Page 420 12. Test operation Picture1– 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 421 12. Test operation After completing the PDO assign of the slave to be copied, click the “Copy ProcessData” button and double-click the slave device to be copied or add it to the selected device list with the “Add” button. At this time, only devices of the same model that can be selected are displayed. When the selection is complete, click the “Copy”...
Page 422 12. Test operation 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 423 12. Test operation 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.. Refer to each servo drive manual and enter the address of the parameter in decimal.
Page 424 12. Test operation - 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 425 12. Test operation 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 Classification Function Choose what to download from the current project Move selected button Display items to be downloaded Show current download status...
Page 426 12. Test operation < Test run for servo motor > Communication connection is possible by scanning the servo drive, saving and downloading the setting items. Describes how to connect communication and test run a motor on the simulator screen of mxConfigurator. When communication is connected, it is displayed in different colors depending on the servo status.
Page 427 12. Test operation Picture3– Test run screen for Servo - 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 428 12. Test operation - Status: Displays the current status of the axis. If an item with that information is not mapped to a PDO, no value is displayed. (e.g. Alarm ID :0x603F - Error Code) 1) On/Off: Display Servo On/Off status. 2) Vel (PU/FU): Display current speed.
Page 429 12. Test operation 12-32...
Page 430: Appendix I (Update)
13. Appendix i (Update) Appendix i (Update) 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 431: Use Of Foe (File Access Over Ethercat)
13. Appendix i (Update) 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 432 13. Appendix i (Update) Depending on the type of drive, ‘Drive X (L7xx Drive)’ may be different. (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...
Page 433 13. Appendix i (Update) 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 434 13. Appendix i (Update) 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 435: Use Of Drive Cm
13. Appendix i (Update) 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 436 13. Appendix i (Update) Select the BIN file of the firmware to transmit and press the Open button. “Total Length" and "Total Packet" of the loaded firmware are displayed. Press the "Start" button to start transmission. 10 seconds are counted down to clear the internal memory in the drive.
Page 437 13. Appendix i (Update) After clearing, the firmware is transmitted automatically and the progress bar and "Current Packet" display the current transmission status. (The transmission time depends on the PC performance, but it usually takes from scores of seconds to several minutes.) When transmission is completed, a pop up saying "Transmission completed"...
Page 438 13. Appendix i (Update)  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 13-9...
Page 439 13. Appendix i (Update) 13-10...
Page 440: 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 441: 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) Analog torque limit Safety function Safety function Digital input Digital output input...
Page 442: 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 443: 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 Note Name...
Page 444: Analog Output Signal (Analog Monitoring Connector)
14. Appendix ⅱ (L7N → L7NH exchange) 14.3.4 Analog output signal (Analog monitoring connector) Name Contents Details Function Number AMON1 Analog Monitor 1 Analog monitor output (-10V ~ +10V) AMON2 Analog Monitor 2 Analog monitor output (-10V ~ +10V) AGND AGND (0V) Analog ground AGND...
Page 445: 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 446 Product warranty Installation Product name Servo Drive date Model name L7NH A/B Series Warranty life span Customer Address Phone Name Address Distributor Phone This product is made through strict quality control and inspection process by our technical staff. The product warranty period is normally 12 months from the installation date, and 18 months from the manufacturing date if the installation date is not written.
Page 447 Warranty This product is made through strict quality control and inspection process by our technical staff. The product warranty period for this product is normally 12 months from the installation date, and 18 months from the manufacturing date if the installation date is not written. However, it may change according to the terms of the contract. The product described in this user's manual may be discontinued or modified without notice.
Page 448 Environmental Policy LS ELECTRIC Co., Ltd supports and observes the environmental policy as below. Environmental About Disposal Management LS ELECTRIC’ PLC unit is designed to protect LS ELECTRIC considers the environmental the environment. For the disposal, separate preservation as the preferential management...
Page 449 User Manual Revision History Issue year Version Change contents Notes month number 200[V] / 400[V] integrated 2018.02. 20 Add function description and insert picture LSIS & LSM brand integration and function 2018.07.31 description added Mark modified according to company name change 2020.07.28 N terminal related precautions and figure...
Page 450 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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