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LS ELECTRIC Xmotion L7C Series Manual

Ac servo drive
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The Best Choice for the Most Benefit!
Front
We are committed to providing premium benefits to all of our customers.
Xmotion
Safety Precautions
▪
Read all safety precautions before using this
product.
▪
After reading this manual, store it in a readily
accessible location for future reference.
AC SERVO DRIVE
L7C Series

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Summary of Contents for LS ELECTRIC Xmotion L7C Series

  • Page 1 The Best Choice for the Most Benefit! Front We are committed to providing premium benefits to all of our customers. AC SERVO DRIVE Xmotion L7C Series Safety Precautions ▪ Read all safety precautions before using this product. ▪ After reading this manual, store it in a readily accessible location for future reference.
  • Page 3 Introduction Introduction Greetings! Thank you for choosing L7C Series product. The user manual describes how to correctly use this product and matters for which to exercise caution. Failure to comply with the guidelines outlined in this manual may cause personal injury or damage to the product.

  • Page 4: Electric Safety Precautions

    Introduction Safety precautions are categorized as either Warning or Caution, depending on the severity of the consequences. Precautions Descriptions Failure to comply with the guidelines may cause serious injury or death. Danger Failure to comply with the guidelines may cause personal injury or property Caution damage.

  • Page 5: Installation Precautions

    Introduction ◼ Installation Precautions Store and operate this product under the following environmental conditions. Conditions Environment Servo Drive Servo Motor Operating 0 ~ 50 ℃ 0 ~ 40 ℃ temp. Storage temp. -20 ~ 65 ℃ -10 ~ 60 ℃ Operating humidity 90% RH or lower (no condensation)

  • Page 6: Wiring Precautions

    Introduction ◼ Wiring Precautions Caution ▪ Make sure to use AC power for input power of the servo drive. ▪ Use a voltage source that is suitable for 200[V] (AC 200~230[V]). ▪ Always connect the servo drive to a ground terminal. ▪...

  • Page 7: Usage Precautions

    Introduction ◼ Usage Precautions Caution ▪ Install an emergency cut-off circuit which can immediately stop operation in an emergency. ▪ Reset the alarm only when the servo is off. Be warned that the system restarts immediately if the alarm is reset while the servo is on. ▪...

  • Page 8: Product Application

    Introduction ◼ Product Application Caution ▪ This product is not designed or manufactured for machines or systems intended to sustain human life. ▪ This product is manufactured under strict quality control conditions. Nevertheless, install safety devices if installing the product in a facility where product malfunctions may result in a major accident or a significant loss.

  • Page 9: Table Of Contents

    Table of Contents Table of Contents 1. Product Configuration ........1-1 Product Verification ..............1-1 Product Specifications ............1-2 Component Names ..............1-4 1.3.1 Servo Drive Component Names ..............1-4 1.3.2 Servo Motor Part Names ................1-6 Example of System Configuration .......... 1-7 Product features ..........
  • Page 10 Table of Contents 3.5.3 Names and Functions of Pulse Train Input Signals ........3-35 3.5.4 Names and Functions of Encoder Output Signals ........3-35 3.5.5 Examples of Input/Output Signal Connection ..........3-36 3.5.6 Pulse Train Input Signal................3-39 3.5.7 Input/Output Signals Configuration Diagram ..........3-40 Encoder Signal Panel (Encoder Connector) Wiring ....
  • Page 11 Table of Contents 6.5.1 Example of Connection with PLC Devices ............6-6 Velocity Mode ..........7-1 Velocity Command Switch Select Function Setting ....7-1 Analog Velocity Command ............. 7-2 Multi-Velocity Command ............7-4 Example of Velocity Mode Configuration Diagram ....7-5 Torque Operation ..........
  • Page 12 Table of Contents 11.8 Torque Limit Function ............11-66 11.9 Gain Conversion Function ..........11-69 11.9.1 Gain Group Conversion ................11-69 11.9.2 P/PI control switch ..................11-71 11.10 Dynamic Brake ..............11-73 11.11 Regenerative Brake Resister Setting ........11-75 11.11.1 Use of External regenerative resistance ............
  • Page 13 Table of Contents 14.3 Gain Adjustment (0x2100~) ..........14-21 14.4 I/O Configuration (0x2200~) ..........14-32 14.5 Velocity Control (0x2300~) ..........14-41 14.6 Miscellaneous Setting (0x2400~) ........14-48 14.7 Enhanced Control (0x2500~) ..........14-57 14.8 Monitoring (0x2600~) ............14-63 14.9 Procedure and Alarm history (0x2700~) ......14-72 14.10 Third Party Motor Support (0x2800~) .........
  • Page 14 Table of Contents 16.4.9 3rd Party Motor Parameters ............... 16-49 16.4.10 Index Related Parameters ................16-49 17. Test Drive ............17-1 17.1 Preparation for Operation ............. 17-2 17.1.1 Indexing Position Operation ................. 17-3 17.1.2 Pulse Input Position Operation ..............17-6 17.1.3 Velocity Mode ....................
  • Page 15 Table of Contents...

  • Page 17: Product Configuration

    1. 제품구성 Product Configuration Product Verification 1. Check the name plate to verify that the product received matches the model ordered.  Does the servo drive's name plate match?  Does the servo motor's name plate match? 2. Check the product components and options. ...

  • Page 18: Product Specifications

    1. 제품구성 Product Specifications ◼ L7C Series Product Type Series Name Series Name Input Voltage Capacity (200[V]) Encoder Option 001 : 100[W] Blank : Standard L7 series C: Standard I/O A : 200[Vac] U : Universal 002 : 200[W] Marked : Exclusive 004: 400[W] 008: 800[W] 010: 1[kW]...
  • Page 19 1. 제품구성 ◼ Servo Motor Product Type APM C – F B L 01 A Y K 1 Rated RPM Options SERVO MOTOR Motor Capacity None : 3000 [rpm] : None attached : 30[W] : Oil seal attached : 2000 [rpm] : 50[W] : Brake attached : 1500 [rpm]...

  • Page 20: Component Names

    1. 제품구성 Component Names Servo Drive Component Names 1.3.1 ◼ 100W, 200W, 400W Display Shows drive status, alarms, etc. External Control Keys (MODE), UP), DOWN), (SET) USB Connector (USB, Mini B Type) This is a connector for communicating with the drive CM program tool (PC program) Input/Output Signal Connector (I/O) This is a connector for communicating with the sequence input/output signals and RS-422.
  • Page 21 1. 제품구성 ◼ 800W, 1kW Display Shows drive status, alarms, etc. External Control Keys (MODE), UP), DOWN), (SET) USB Connector (USB, Mini B Type) This is a connector for communicating with the drive CM program tool (PC program) Input/Output Signal Connector (I/O) This is a connector for communicating with the sequence input/output signals and RS-422.

  • Page 22: Servo Motor Part Names

    1. 제품구성 Servo Motor Part Names 1.3.2 ◼ 80 Flange or Lower 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 23: Example Of System Configuration

    1. 제품구성 Example of System Configuration The figure below shows an example of system configuration using this drive. Power Single phase AC220V Upper Device Molded Circuit Breaker This is used to protect the power line. Servo Drive It turns off the circuit breaker when there is Mini USB Cable overcurrent.

  • Page 25: Product Features

    2. Product features Product features Servo Motor 2.1.1 Product Feature ■ Heat Sink Specificationa Utem Dimenstions(mm) Item AP04 250x250x6 AP06 250x250x6 Aluminum AP08 250x250x12 ※ The product specifications are based on the measurement data obtained after mounting the heat sink. ※...
  • Page 26 2. Product features ■ Product Features [200V] FALR5A FAL01A FAL015A FBL01A FBL02A FBL04A Servo Motor Type (APM- 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 Rated torque [kgfcm]...
  • Page 27 2. Product features ■ Product Features [200V] FCL04A FCL06A FCL08A FCL10A Servo Motor Type (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 Maximum [Nm] 3.82...
  • Page 28 2. Product features ■ Product Features [200V] FCL03D FCL05D FCL06D FCL07D Servo Motor Type (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 Maximum [Nm] 4.30 6.45...
  • Page 29 3~, 220V, 0.95A MFG:01 Output 50W, 3000rpm Encoder Serial. 16/18bit Serial No. MB4H5004 (ID:702) Mfd. by LS Mecapion Dist. by LS ELECTRIC LS Mecapion MADE IN CHINA Applicable Motor Series Purpose Maintenance Maintenance Maintenance Input voltage [V] DC 24V DC 24V DC 24V Statical friction torque [N•m]...

  • Page 30: External View

    2. Product features External View 2.1.2 ■ FAL Series | APM – FALR5A APM – FAL01A APM – FAL015A Encoder Connector Brake Connector Power Connector 2-Ø4.5 penetration PCD46±0.12 0.04 A "LA" "LC" 36.4 0.04 0.04 A "LM±0.5" "L±0.5" Pin No. Signal Pin No.
  • Page 31 2. Product features ■ FBL Series | APM – FBL01A, FBL02A, FBL04A (17 bit magnetic encoder) "W" (Detail diagram of shaft end) Power Connector Brake Connector Encoder Connector 4- 6 penetration PCD 70±0.12 0.04 A 22.5 0.02 "LC" 40.2 0.04 A "LM"±0.5 "L"±0.5 <When the cable withdraw direction is the opposite of the shaft>...
  • Page 32 2. Product features ■ FCL Series | APM - FCL04A, FCL03D, FCL06A, FCL05D, FCL08A, FCL06D,APM - FCL10A, FCL07D (17 bit magnetic encoder) "W" (Detail diagram of shaft end) 4- 6.6 Power Connector Brake Connector Encoder Connector penetration PCD 90±0.12 0.04 A 0.02 "LC"...

  • Page 33: Servo Drive

    2. Product features Servo Drive Product Features 2.2.1 Model Name L7CA001U L7CA002U L7CA004U L7CA008U L7CA010U Item Single-Phase AC200 ~ 230[V](-15 ~ +10[%]), 50 ~ 60[Hz] Input Power Rated current [A] 6.75 Peak Current [A] 15.6 20.25 Quadrature (Incremental) BiSS-B, BiSS-C (Absolute, Incremental) Encoder Type Velocity Control 1:5000 Maximum...
  • Page 34 2. Product features Rated voltage and current: DC 24[V] ±10%, 120[㎃] 5 out of 8 channels are assignable 3 channels are fixed with AL00, AL01, AL02 signals. Possible to selectively assign up to 19 outputs Digital Output (*ALARM, *READY, *ZSPD±, *BRAKE, *INPOS1, ORG, EOS, TGON, TLMT, VLMT, INSPD, WARN, INPOS2, IOUT0, IOUT1, IOUT2, IOUT3, IOUT4, IOUT5) Note) * Indicates signals assigned by default 2 input channels in total...

  • Page 35: External View

    2. Product features External View 2.2.2 ◼ L7CA001□ ~ L7CA004□ ★ Weight: 1.0[kg] ◼ L7□A008□ / L7□A010□ ★ Weight: 1.5 [kg] (including the cooling fan) 2-11...

  • Page 36: Options And Peripheral Devices

    2. Product features Options and Peripheral Devices ■ Option Specification (Incremental Encoder Cable) Classificat Product Low capacity serial encoder cable for flat motor (single- For Signals turn) Name Model APCS- E ES (Front Direction)/ Applicable Name All APM-FBL/FCL SERIES S-turn models Motor APCS- E ES-R (Rear Direction)
  • Page 37 2. Product features Product Classification For main power Low capacity L Series power cable Name Model Name Applicable APCS- P LSC (Front Direction)/ All APM-FAL/FBL/FCL Series models (Note 1) Motors APCS- P LSC-R (Rear Direction) Pr oduct Model Name Phase Pin No.
  • Page 38 2. Product features Item Product Model Name Applicable Specifications Name (Note 1) Drive [PC - USB Port] [Servo drive– USB] Communicatio APCS-CN5L7U L7 SERIES signals n cable 1. PC Connection: USB A plug a. Drive Connection (USB): Mini USB 5P Plug b.

  • Page 39: Specifications

    2. Product features ■ Option Specifications (Braking Resistance) Item Product Model Name Applicable Specifications Name Drive L7□A001□ Resist Braking APCS-140R50 L7□A002□ ance Resistance L7□A004□ L7□A008□ Resist Braking APCS-300R30 ance Resistance L7□A010□ 2-15...
  • Page 40 2. Product features 2-16...

  • Page 41: Wiring And Connection

    3. Wiring and Connection Wiring and Connection Servo Motor Installation Caution ▪ If the encoder loses multi-turn data, there is a risk of equipment malfunction and accident, so be sure to perform origin operation before driving. ▪ When using an absolute encoder, the multi-turn data of the encoder will be lost if the following process is performed.

  • Page 42: Motor Connection

    3. Wiring and Connection Motor Connection 3.1.3 Servo Motor ▪ Directly connecting the motor to a commercial power supply may burn the motor. Make sure to connect it with the specified drive before using it. ▪ Connect the ground terminal of the motor to either of the two ground terminals inside the drive, and attach the remaining terminal to the Type-3 ground.

  • Page 43: Load Device Connection

    3. Wiring and Connection Load Device Connection 3.1.4 For coupling connections: Ensure that the motor shaft and the load shaft are aligned within the tolerance range. 0.03[㎜] or less (peak to peak) Load shaft Motor shaft 0.03[㎜] or less (peak to peak) ◼...

  • Page 44: Servo Drive Installation

    3. Wiring and Connection Servo Drive Installation Installation and Usage Environment 3.2.1 Environmental Items Notes Conditions Caution Operating 0 ∼ 50[℃] Install a cooling fan on the control panel for ventilation and to Temp. maintain the temperature within the range. Caution Moisture developed inside the drive due to ice formation or Operating...

  • Page 45: Installation With The Control Panel

    3. Wiring and Connection Installation with the Control Panel 3.2.2 Comply with the spacing standard specified in the following figures when installing with the control panel. ■ When installing 1 unit: 40mm or more 10mm 10mm more more Bottom 40mm or more Caution ▪...
  • Page 46 3. Wiring and Connection ■ When installing 2 or more units: To prevent the temperature inside the control panel from exceeding the servo drive environmental conditions, install a cooling fan on the top of the servo drive. Also, refer to the picture below and leave sufficient space to allow for cooling by heat convection within the fan and control panel.

  • Page 47: Internal Block Diagram Of The Servo Drive

    3. Wiring and Connection Internal Block Diagram of the Servo Drive Drive Block Diagram (100W ~ 1.0kW) 3.3.1 SMPS Note 1) Diode Single-phase power Input AC200~230V Current sensor Thermistor Note 2) Chage Lamp Thermistor Internal Regenerative IGBT Main power phase Relay drive DC voltage PWM signal SC...

  • Page 48: Power Supply Wiring

    3. Wiring and Connection Power Supply Wiring ▪ Ensure that the input power voltage is within the acceptable range. Caution Excessive voltage damages the drive. ▪ If a commercial power supply is connected to U, V and W terminals of the drive, the drive may be damaged.

  • Page 49: Power Supply Wiring Diagram (100W ~ 1.0Kw)

    3. Wiring and Connection Power Supply Wiring Diagram (100W ~ 1.0kW) 3.4.1 AC 200~230[V] Servo drive Note 1) Main Main Encoder Alarm+ External +24V regenerative resistor Alarm- 주1) About 1~2 seconds are required from main power supply to alarm signal output. Press the main power on switch and hold it for at least 2 seconds.

  • Page 50: Power Input Sequence

    3. Wiring and Connection Power Input Sequence 3.4.2 ◼ Power Input Sequence ▪ For wiring of the main power, use a magnetic contactor for the main circuit power as shown in Section 2.4.1, "Power Supply Wiring Diagram." Set the magnetic contactor to be turned off simultaneously with an alarm occurrence in the external sequence.

  • Page 51: Power Circuit Electrical Component Standards

    3. Wiring and Connection Power Circuit Electrical Component Standards 3.4.3 Model Names 100W 200W 400W 800W MCCB (NFB) 30A Frame 5A 30A Frame 10A 30A Frame 15A Noise Filter (NF) TB1-10A0D0 (10A) DC Reactor HFN-10 (10A) HFN-15 (15A) 11A/240V (GM□-9) 18A/240V (GM□-18) L1, L2, B+, B, U, V, AWG16 (1.5 ㎟)

  • Page 52: Wiring For Input/Output Signals

    3. Wiring and Connection Wiring for Input/Output Signals ◼ CN1 Connector Model (I/O Drive Connection) ▶ CASE Model: 10350-52A0-008 (3M) ▶ CONNECTOR Model: 10150-3000VE(3M) < > < > < > Front Rear Side 3-28...

  • Page 53: Names And Functions Of Digital Input/Output Signals

    3. Wiring and Connection Names and Functions of Digital Input/Output 3.5.1 Signals ◼ Names and Functions of Digital Input Signals (CN1 Connector) Names Assignments Description Functions Numbers +24V DC 24V DC 24 V input Common The motor becomes operable when the SVON signal is turned on (Servo On state).
  • Page 54 3. Wiring and Connection Stops the motor so that the actuator Forward cannot move beyond the motion range (CCW) DI 7 in the forward rotational direction. The rotation stopping method varies according to prohibited [0x2013] setting value. Stops the motor so that the actuator Reverse (CW) cannot move beyond the motion range DI 8...
  • Page 55 3. Wiring and Connection Decelerates and pauses index operation when the pause signal is ** PAUSE Pause input. It resumes the index operation when the pause signal is re-input during the paused state. Upon request of the absolute data of Absolute the absolute encoder, the data of the ** ABSRQ...
  • Page 56 3. Wiring and Connection SPD1 and LVSF1 signals use the same setting values during assignment, as do SPD2 and LVSF2 signals, and the functions differ according to the operation mode (Velocity operation: SPD1, SPD2/position operation: LVSF1, LVSF2). ◼ Names and Functions of Digital Output Signals (CN1 Connector) Names Assignments Description...
  • Page 57 3. Wiring and Connection Output when the difference between the velocity command ** INSPD Velocity reached and the current velocity is equal to or below the setting value in [0x2406]. Outputs the servo warning that ** WARN Servo warning occurs. A signal output when the Position command point is reached.

  • Page 58: 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 (CN1 Connector) Names Description Functions Numbers Indexing Position Mode: Applies a voltage between -10 and +10V to between TRQCOM (AI1) and AGND to limit the motor output torque.

  • Page 59: Names And Functions Of Pulse Train Input Signals

    3. Wiring and Connection Names and Functions of Pulse Train Input Signals 3.5.3 ◼ Pulse Train Input Signals (CN1 Connector) Names Description Functions Numbers PULCOM +24[V] power input Inputs a pulse train command. Inputs a forward rotation pulse train between PF+ and PF- and a reverse rotation pulse train between PR+ and PR-.

  • Page 60: Examples Of Input/Output Signal Connection

    3. Wiring and Connection Examples of Input/Output Signal Connection 3.5.5 ◼ Examples of Digital Input Signal Connection Caution 3. You can set the input contact to contact A or contact B, based on the characteristics of individual signals. 4. You can assign each input contact to one of 31 functions. 5.
  • Page 61 3. Wiring and Connection ◼ Examples of Digital Output Signal Connection Caution 7. You can set the output contact to contact A or contact B, based on the characteristics of individual signals. 8. You can assign each output contact to one of 19 output functions. 9.
  • Page 62 3. Wiring and Connection ◼ Examples of Analog Input Signal Connection Caution 12. For information on how to operate analog input signals, refer to Section 4.5, “Analog Velocity Override,” Section 6.2, “Analog Velocity Command,” Section 7.2, “Analog Torque Command Scale,” and Section 10.8, “Torque Limit Function.” 13.

  • Page 63: Pulse Train Input Signal

    3. Wiring and Connection Pulse Train Input Signal 3.5.6 ◼ Line Drive (5[V]) Pulse Input Twisted Pair Upper level controller Shield Wire Servo drive Line receiver Line drive ◼ Open Collector (24[V]) Pulse Input Upper level controller Servo drive GND24 +24[V] Pulse COM Shield Wire...

  • Page 64: Input/Output Signals Configuration Diagram

    3. Wiring and Connection Input/Output Signals Configuration Diagram 3.5.7 Digital input Digital output (DO1) +24V IN ALARM+ 3.92kΩ DC 24V ALARM- (DI1) SVON (DO2) RDY+ (DI2) SPD1 RDY- (DI3) SPD2 (DO3) ZSPD (DI4) SPD3 (DI5) A-RST (DO4) (DI6) JDIR BRAKE (DI7) (DI8) (DO5)

  • Page 65: Encoder Signal Names By Type

    3. Wiring and Connection Encoder Signal Panel (Encoder Connector) Wiring ◼ ENCODER Connector Model: 10114-3000VE (3M) Encoder Signal Names by Type 3.6.1 ◼ Quadrature Type Signal Signal Signal Pin No. Pin No. Pin No. Names Names Names Frame ◼ Serial-Multiturn Type Signal Signal Signal...
  • Page 66 3. Wiring and Connection ◼ APCS-E ES1 Cable(Serial-Multiturn Type) AWG24 4Pair Twist Servo motor Servo drive Shield Wire BAT+ BAT- Encoder Cable Connector Connector(ENCODER) Tyco connector (7Ciruits) Maker – 3M 10314-52A0-008 10114-3000VE Frame 3-42...

  • Page 67: Precautions When Making Encoder Cable

    3. Wiring and Connection Precautions when Making Encoder Cable 3.6.1 If you are using a serial or multi-turn encoder cable that is 20m or longer, our company does not guarantee the quality of use. You are recommended to refer to the following example when making such cables.

  • Page 68: Power Connector

    3. Wiring and Connection Power Connector ◼ Power Connector Model BCP-508F- 7 GN ◼ Power Connector Signal Names Signal Description Names Main power input part Regenerative resistance connection part Motor U, V and W signals connection part 3-44...

  • Page 69: Operation Modes

    4. Operation Modes Operation Modes Control Method For position settings, L7C drive supports the indexing position control method which internally generates position commands and the pulse input position control method which receives pulse train inputs from outside. It also supports velocity operation which controls velocity with external analog voltage and internal parameters as well as torque operation which controls torque with external analog voltage.

  • Page 70: Related Objects

    4. Operation Modes ◼ Related Objects Variable Index Name Accessibility Unit Index Type Assignment 0x2121 Drive Status Output 1 UINT 0x2122 Drive Status Output 2 UINT 0x220F Analog Velocity Override Mode UINT Analog Torque Input (command/limit) 0x2210 UINT 0.1%/V Scale Analog Torque Input (command/limit) 0x2211 Offset...
  • Page 71 4. Operation Modes 0x3006 Encoder Output Pulse UDINT Pulse 0x3008 Start Index Number (0~63) UINT 0x3009 Index Buffer Mode UINT 0x300A IO Signal Configuration UINT Index 00 Number of Entries USINT Index Type UINT Distance DINT Velocity DINT UU/s Acceleration DINT UU/s 0x3100...
  • Page 72 4. Operation Modes ◼ Internal Block Diagram of Indexing Position Mode Analog Input1 12bit A/D A-TLMT Analog Torque Limit Scale 0x221C Offset 0x221D Torque Notch Filter Feed-Forward Adaptive Filter Gain 0x210E 0x2500 function Select Frequency Width Depth 0x210F Filter Velocity P/PI Gain Conversion Limit 0x2502...

  • Page 73: Coordinate Settings

    4. Operation Modes Coordinate Settings 4.2.1 In Indexing Mode, the following two coordinate methods are available for use. ◼ Linear Coordinate Method In the linear coordinate system, if the value exceeds +2147483647 during forward rotation, the lowest value –2147483648 is displayed. In contrast, if the value goes past – 2147483648 in the reverse rotation, the highest value +2147483647 is displayed.
  • Page 74 4. Operation Modes ◼ Rotary Coordinate Method The rotary coordinate system marks the positions only with positive values. The range of values differ according to the Modulo Factor setting and is displayed in 0~ (Modulo Factor-1). If the value exceeds (Modulo Factor-1) in the forward rotation, the lowest value 0 is displayed.

  • Page 75: Index Structure

    4. Operation Modes Index Structure 4.2.2 The index structure consists of the following elements. Items Description 0: Absolute Move 1: Relative Move 2: Registration Absolute Move Linear Coordinate 3: Registration Relative Move 4: Blending Absolute Move Index Type 5: Blending Relative Move 6: Rotary Absolute Move 7: Rotary Relative Move Rotary...

  • Page 76: Pulse Input Position Operation

    4. Operation Modes Pulse Input Position Operation L7C servo drive provides the position determination mode which uses pulse train input from external controllers. To use Pulse Input Position Control Mode, the control mode (0x3000) needs to be set to number 1, “Pulse Input Position Control Mode.” The block diagram of Pulse Input Position Mode is as follows.
  • Page 77 4. Operation Modes ◼ Related Objects Variable Index Name Accessibility Unit Index Type Assignment 0x2121 Drive Status Output 1 UINT 0x2122 Drive Status Output 2 UINT 0x2210 UINT 0.1%/V Analog Torque Input (command/limit) Scale 0x2211 Analog Torque Input (command/limit) Offset Position Demand Value DINT 0x2629...
  • Page 78 4. Operation Modes 0x3006 Encoder Output Pulse UDINT Pulse 4-10...
  • Page 79 4. Operation Modes ◼ Internal Block Diagram of Pulse Input Position Mode Gear Ratio Numerator 0x300C Velocity 0x2629 Feed-Forward 0x300D Position Demand 0x2624 Gain 0x210C Value [UU] Position Demand 0x300E Internal Value Pulse Input Filter 0x210D 0x300F [pulse] FP+/FP- RP+/RP- Denomiator 0x3010 Pulse Input Setup...

  • Page 80: Velocity Mode

    4. Operation Modes Velocity Mode Velocity Mode is used to control velocity by issuing velocity commands to the servo drive in the form of analog voltage output from the upper level controller and digital inputs which use parameter setting values inside the servo drive. Set the control mode [0x3000] to 2 and select the velocity command switch select [0x231A] according to the method of command to the servo drive.
  • Page 81 4. Operation Modes ◼ Related Objects Variable Index Names Accessibility Unit Index Type Assignment 0x2121 Drive Status Output 1 UINT 0x2122 Drive Status Output 2 UINT 0x2629 Position Demand Value DINT 0x2624 Position Demand Internal Value DINT pulse 0x2625 Position Actual Internal Value DINT pulse 0x262A...
  • Page 82 4. Operation Modes Analog Velocity Input (command/limit) 0x2214 UINT rpm/V Scale Analog Velocity Input (command/limit) 0x2215 Offset Analog Velocity Command Clamp 0x2216 UINT Level Analog Velocity Command Filter Time 0x2217 UINT 0.1ms Constant 0x2229 Analog Velocity Command Scale 0x2312 Multi-Step Operation Velocity 1 0x2313 Multi-Step Operation Velocity 2 0x2314...
  • Page 83 4. Operation Modes ◼ Internal Block Diagram of Velocity Mode Analog Velocity Command (SPDCOM) DIgital Velocity Command (SPD1, SPD2, SPD3) Speed 0x2629 Limit Velocity Demand Value [UU/s] Processing Acc./Dec. Speed Command Acc. Time 0x2301 Servo-Lock 0x2214 Function Analog Velocity Command Scale Dec.

  • Page 84: Torque Operation

    4. Operation Modes Torque Operation Torque Mode is used to control tension or pressure of the device’s mechanical parts by the means of the servo drive receiving from the upper level controller the voltage inputs for the desired torques. Set the control mode [0x3000] to 3. To input commands, apply voltage of -10[V]~+10[V] to pin number 1 and 8 of the CN1 connector.
  • Page 85 4. Operation Modes 0x2403 INPOS2 Output Range UINT 0x3000 Control Mode UINT 0x3002 Baud Rate Select UINT 0x3006 Encoder Output Pulse UDINT Pulse Analog Torque Input (command/limit) 0x2210 UINT 0.1%/V Scale Analog Torque Input (command/limit) 0x2211 Offset 0x2212 Analog Torque Command Clamp Level UINT Analog Torque Command Filter Time 0x2213...
  • Page 86 4. Operation Modes ◼ Internal Block Diagram of Velocity Mode Gain Conversion Mode 0x2119 Analog Torque 0x211A Command(A-TLMT) Time1 Velocity Limit Time2 0x211B Value at Torque Contorl Mode Waiting Generate 0x211C Time1 Torque Command Waiting 0x211D Time2 Value 0x230E Notch Filter Adaptive Filter function 0x2500...

  • Page 87: Indexing Position Operation

    5. Indexing Position Operation Indexing Position Operation Concept of Index A single index consists of Distance, Velocity, Acceleration, Deceleration, Registration Distance, Registration Velocity, Repeat Count, Dwell Time, Next Index, and Action. Below are details of each of these elements. ◼ Distance Distance refers to the movement distance of each index (Unit: UU), which can be set to either an absolute or relative value.

  • Page 88: Acceleration And Deceleration

    5. Indexing Position Operation ◼ Velocity You can set the target velocity (Unit: UU/s) of index operation. Velocity is set to a positive (+) value regardless of Distance, and the sign of the target velocity is determined by the sign of Distance. If the Distance value is not enough when compared to Velocity or Acceleration, a triangular pattern could be formed in which the index cannot reach the target velocity.
  • Page 89 5. Indexing Position Operation ◼ Registration Distance and Registration Velocity When the index type is Registration Absolute or Registration Relative, you can change operation velocity and movement distance according to REGT signal input from the outside. Movement distance after REGT signal input is determined by Registration Distance. Below are the definitions of Registration Distance and Registration Velocity.

  • Page 90: Repeat Count

    5. Indexing Position Operation ◼ Repeat Count The index operates repeatedly as many times as set for the Repeat Count value. The setting value in Dwell Time is applied during a repeated operation of an index. Speed Index n1 Index n1 Index n1 Index n2 Repetition 1...

  • Page 91: Next Index

    5. Indexing Position Operation ◼ Next Index When Action of the index is set to Next Index (setting value 2), you can set the number of the index to be automatically run after the end of the current index operation. For details, refer to the description of Next Index for Action.
  • Page 92 5. Indexing Position Operation ▪ Wait for Start When Action of the index is set to Wait for Start (Setting Value 1), the index after the current one follows START signal input and starts to operate when the current index operation ends. The index that operates when START signal is input is determined by ISEL0~5 (Index Select) signal.
  • Page 93 5. Indexing Position Operation ▪ Action setting example With a combination of Wait for Start and Next Index settings, the sectioned sequence shown in the below figure can be structured. Here, Action of Index 3 must be set to Wait for Start. X : Don t Care Speed Index 5...

  • Page 94: Index Type

    5. Indexing Position Operation Index Type L7C drive supports 11 Index Types in total, which are described below. Absolute/Relative Move 5.2.1 These are the most basic PTP (Point-to-Point) operation methods in which an absolute or relative movement is made according to the set velocity and acceleration values. ◼...

  • Page 95: Registration Absolute/Relative Move

    5. Indexing Position Operation Registration Absolute/Relative Move 5.2.2 You can change the operation velocity and target distance according to the REGT signal input from outside. This is a similar function to motion pattern generation in VP-3 (positioning after feeder and sensor operation), a past drive model of the company.

  • Page 96: Blending Absolute/Relative Move

    5. Indexing Position Operation Blending Absolute/Relative Move 5.2.3 This is an operation method which uses a single operation pattern which combines consecutive indexes. Each index does not stop to 0 velocity at its end, and the operation is passed on to the next index.

  • Page 97: Rotary Absolute/Relative Move

    5. Indexing Position Operation Rotary Absolute/Relative Move 5.2.4 ◼ Rotary Absolute Move This function is available only when the coordinate system is set to the rotary method. The direction of rotation is determined by the relationship between the starting position and the command position.

  • Page 98: Rotary Shortest Move

    5. Indexing Position Operation ◼ Rotary Relative Move This function is available only when the coordinate system is set to the rotary method. If the command Distance value is positive (+), the index moves in the positive direction, and if the value is negative (-), it moves in the negative direction. You can input a value greater than a revolution (Value set in Modulo Factor: 0x240C) and rotation can exceed a revolution depending on the command value.

  • Page 99: Rotary Positive/Negative Move

    5. Indexing Position Operation Rotary Positive/Negative Move 5.2.6 ◼ Rotary Positive Move This function is available only when the coordinate system is set to the rotary method. The index always moves in the positive (+) direction regardless of the starting position and command position (Distance).
  • Page 100 5. Indexing Position Operation ◼ Rotary Negative Move This function is available only when the coordinate system is set to the rotary method. The index always moves in the negative (-) direction regardless of the starting position and command position (Distance). Rotation runs only within a revolution (Value set in Modulo Factor: 0x240C).

  • Page 101: Function Of Index Input Signal

    5. Indexing Position Operation Function of Index Input Signal ◼ PAUSE PAUSE (Rising edge) input during index operation temporarily stops current index operation. Another input of PAUSE (Rising edge) performs movement of the remaining distance. The INPOS signal is output when the value of Following Error is lower than that of Following Error Window [0x301D].
  • Page 102 5. Indexing Position Operation ◼ STOP STOP (Rising edge) input stops the movement using the stop deceleration (0x6085) and terminates the index operation sequence. Input of the START signal resumes the operation from the index set in Start Index (0x3008). However, if Start Index (0x3008) is set to 64, Start Index is set to the value at ISEL0~5.
  • Page 103 5. Indexing Position Operation ◼ HSTART (Homing Start), ORG (Completion signal of homing operation) HSTART (Rising edge) input activates homing. Any HSTART input signal during homing is ignored. When the homing is completed, the ORG (Origin: homing complete) signal is output. When homing is initiated, the ORG signal is reset to 0.
  • Page 104 5. Indexing Position Operation ◼ JSTART/JDIR During machine adjustment, home position adjustment, etc., you can use JOG operation for movement to a certain position. A JSTART signal input from outside starts JOG operation, and a JDIR signal input from outside can change the direction of rotation to run the servo motor.

  • Page 105: Function Of Index Output Signal

    5. Indexing Position Operation Function of Index Output Signal ◼ EOS (Index Sequence end) When an index action ends, an EOS (End of Sequence) signal is output. EOS is output if Position Demand Value reaches the target position and Position Actual Value has not reached the target position while the motor is moving from 0 [UU] to 52428800 [UU].

  • Page 106: Setting Value

    5. Indexing Position Operation ◼ IOUT0~5 (Index Output 0~5) The number of the index in operation is output through IOUT0~5. The output status operates according to the setting values of parameter 0x300A as shown below. 0x300A IO Signal Configuration Variable Accessi Variable Savin...
  • Page 107 5. Indexing Position Operation ■ Setting Value: 1 Speed Index 5 Index 25 Index 34 Index 63 Time 5 = 000101b 25 = 011001b 34 = 100010b 63 = 111111b IOUT0 IOUT1 IOUT2 IOUT3 IOUT4 IOUT5 The current index position output signals are initialized when the operation mode is changed or the SVON signal is turned off (Motor free-run state).

  • Page 108: Analog Velocity Override

    5. Indexing Position Operation Analog Velocity Override Variable Index Names Accessibility Unit Index Types Assignment 0x220F Analog Velocity Override Mode UINT Analog Velocity Input 0x2215 (command/override) Offset As shown in the below figure, you can override the velocity of the index according to analog input during Indexing Position operation.
  • Page 109 5. Indexing Position Operation ◼ SPDCOM (Analog Velocity Override) The Analog Velocity Override function is operated with the voltage versus velocity graph as the example below, according to the setting value of Analog Velocity Override Mode [0x220F]. For the operation velocity setting value, a 0[%] velocity override is applied for a - 10[V] input, a 100[%] for a 0[V] input, and a 200[%] for a 10[V] input.

  • Page 110: Example Of Indexing Operation Configuration Diagram

    5. Indexing Position Operation Example of Indexing Operation Configuration Diagram Digital input Digital output (DO1) +24V IN ALARM+ 3.92kΩ DC 24V ALARM- (DI1) SVON (DO2) RDY+ (DI2) ISEL0 RDY- (DI3) ISEL1 (DO3) (DI4) ISEL2 (DI5) A-RST (DI6) (DO4) START BRAKE (DI7) (DI8) (DO5)

  • Page 111: Pulse Input Position Operation

    6. Pulse Input Position Operation Pulse Input Position Operation Control operation of Pulse Input Position is possible using the upper level controller which has the positioning function. For this, you must set the control mode [0x3000] to 1. The internal block diagram of the Pulse Input Position Control Mode is as follows. Servo Drive Pulse Input Position Mode Pulse Input...

  • Page 112: Pulse Input Logic Function Setting

    6. Pulse Input Position Operation Pulse Input Logic Function Setting You can set the logic of the pulse train input from the upper level controller. The following are the forms of input pulses and the rotation directions of the logic. Setting Values Setting Details Phase A + Phase B, positive logic...

  • Page 113: Pulse Input Logic Function Setting

    6. Pulse Input Position Operation Pulse Input Logic Function Setting You can set the frequency band of the digital filter set for the pulse input. You can use the function for the purpose of reducing wiring noise. The frequency bands are determined based on the input pulse width in accordance with the digital filter's characteristics.

  • Page 114: Function Setting Of Pclear

    6. Pulse Input Position Operation Function Setting of PCLEAR You can set the operation mode during input of position pulse clear (PCLR) signal. When the PCLR signal is input, the position tolerance inside the drive is set to 0. Setting Values Setting Details Operate in Edge Mode Operate in Level Mode (Torque: maintained)

  • Page 115: Example Of Pulse Drive Mode Configuration Diagram

    6. Pulse Input Position Operation Example of Pulse Drive Mode Configuration Diagram Digital input Digital output (DO1) +24V IN ALARM+ 3.92kΩ DC 24V ALARM- (DI1) SVON (DO2) RDY+ (DI2) PCLR RDY- (DI3) EGEAR1 (DO3) ZSPD (DI4) PCON (DI5) EGEAR2 (DI6) (DO4) A-RST BRAKE...

  • Page 116: Example Of Connection With Plc Devices

    6. Pulse Input Position Operation Example of Connection with PLC Devices 6.5.1 6.5.1.1 LS ELECTRIC XGF-PO1/2/3A (Open Collector) DC 24V Power for I/O XGF-PO1/2/3A (Open Collector) +24V IN +24V GND24 +24V IN Note 1) (DO1) PULCOM 49 ALARM+ 1.5K ALARM-...
  • Page 117 6. Pulse Input Position Operation 6.5.1.2 XGF-PD1/2/3A (Line Driver) DC 24V Power for I/O XGF-PD1/2/3A (Line Driver) +24V IN +24V GND24 +24V IN 50 Note 1) (DO1) ALARM+ Twisted Pair ALARM- (DO3) ZSPD (DO4) BRAKE (DO5) INPOS Encoder phase ALO0 Twisted Z output Pair...
  • Page 118 6. Pulse Input Position Operation 6.5.1.3 XGF-PO1/2/3/4H (Open Collector) DC 24V Power for I/O XGF-PO1/2/3/4H (Open Collector) +24V IN +24V GND24 +24V IN 50 Note 1) (DO1) PULCOM 49 ALARM+ 1.5K P COM ALARM- P COM (DO3) ZSPD 1.5K (DO4) BRAKE ALO0 ALO1...
  • Page 119 6. Pulse Input Position Operation 6.5.1.4 XGF-PD1/2/3/4H (Line Driver) DC 24V Power for I/O XGF-PD1/2/3/4H (Line Driver) +24V IN +24V GND24 +24V IN 50 Note 1) (DO1) P COM ALARM+ Twisted P COM ALARM- Pair (DO3) ZSPD (DO4) BRAKE ALO0 ALO1 Encoder phase Twisted...
  • Page 120 6. Pulse Input Position Operation 6.5.1.5 XBF-PD2A (Line Driver) DC 24V Power for I/O XBF-PD02A (Line Driver) +24V IN +24V GND24 +24V IN 50 (DO1) P COM ALARM+ Twisted P COM ALARM- Pair (DO3) ZSPD (DO4) BRAKE ALO0 ALO1 Encoder Twisted ALO2 phase Z output...
  • Page 121 6. Pulse Input Position Operation 6.5.1.6 XBM-DN**S (Open Collector) DC 24V Power for I/O XBM-DN**S (Open Collector) +24V IN +24V GND24 +24V IN 50 (DO1) PULCOM 49 ALARM+ 1.5K ALARM- +24V DC24 (DO3) ZSPD Pulse 1.5K (DO4) BRAKE Output Common ALO0 Direction ALO1...
  • Page 122 6. Pulse Input Position Operation 6.5.1.7 XBC/XEC-DNxxH (Open Collector) DC 24V Power for I/O XBC/XEC-DNxxH (Open Collector) +24V IN +24V GND24 +24V IN 50 (DO1) PULCOM 49 ALARM+ 1.5K ALARM- +24V (DO3) ZSPD Pulse 1.5K %QX0.0.0 (DO4) BRAKE Output Common ALO0 Direction %QX0.0.2...

  • Page 123: Velocity Mode

    7. Velocity Mode Velocity Mode Velocity Command Switch Select Function Setting You can set the method of command to the servo drive for velocity operation. Variable Index Name Accessibility Unit Index Type Assignment 0x231A Velocity Command Switch Select UINT Setting Setting Details Values Use analog velocity commands...

  • Page 124: Analog Velocity Command

    7. Velocity Mode Analog Velocity Command When the setting values for velocity command switch select are 0, 1, and 2, you can operate velocity control by analog voltage from outside. To input commands, apply voltage of -10[V]~+10[V] to pins 27 and 8 of the CN1 connector. -10V~+10V SPDCOM Servo drive...

  • Page 125: Analog Velocity Command Scale

    7. Velocity Mode ◼ Analog Velocity Command Scale The analog velocity command is set in the unit of [rpm] for each input of 1[V]. When the command voltage is the opposite value, only the rotation direction needs to be changed from the (-) setting value. Velocity +100rpm Analog Input...

  • Page 126: Multi-Velocity Command

    7. Velocity Mode Multi-Velocity Command When the setting values for velocity command switch select are 1, 2, and 3, you can operate velocity control by using the internal multi-velocity of the servo drive. To use the digital velocity command, assign digital input signals of SPD1, SPD2 and SPD3 to the CN1 connector or control the digital input signals of SPD1, SPD2 and SPD3 via communication.

  • Page 127: Example Of Velocity Mode Configuration Diagram

    7. Velocity Mode Example of Velocity Mode Configuration Diagram Digital input Digital output (DO1) +24V IN ALARM+ 3.92kΩ DC 24V ALARM- (DI1) SVON (DO2) RDY+ (DI2) SPD1 RDY- (DI3) SPD2 (DO3) ZSPD (DI4) SPD3 (DI5) A-RST (DO4) (DI6) JDIR BRAKE (DI7) (DI8) (DO5)

  • Page 129: Torque Operation

    8. Torque Operation Torque Operation Analog Torque Command Scale The analog torque command is set in the unit of [0.1%] for each input of 1[V]. Torque Analog Input Voltage[V] -10% The related object is the 0x2210 analog torque input (command/limit) scale, which consists of two functions.

  • Page 130: Velocity Setting For Torque Operation

    8. Torque Operation Velocity Setting for Torque Operation For torque operation, the motor speed is determined according to the 0x230D Speed Limit Function Select. Setting Setting Details Values Limited by speed limit value (0x230E) at torque control Limited by the maximum motor speed For 0x230E torque control, the default speed limit is set to 1000 [rpm].

  • Page 131: Example Of Torque Mode Configuration Diagram

    8. Torque Operation Example of Torque Mode Configuration Diagram Digital input Digital output (DO1) +24V IN ALARM+ 3.92kΩ DC 24V ALARM- (DI1) SVON (DO2) RDY+ (DI2) ABS_RQ RDY- (DI3) JSTART (DO3) ZSPD (DI4) HSTART (DI5) A-RST (DO4) (DI6) JDIR BRAKE (DI7) (DI8) (DO5)

  • Page 133: Operation Mode Switching

    9. Operation Mode Switching Operation Mode Switching The device supports operation modes switching according to the setting value of L7C drive control mode (0x3000) and digital input mode signals. ■ Control Mode (0x3000) Setting Values Setting Values Setting Details Indexing Position Mode Pulse Input Position Mode Velocity Mode Torque Mode...
  • Page 134 9. Operation Mode Switching ◼ Control Mode Setting Value: 4 Pulse Input Position Operation is the basic operation, and a digital input MODE signal switches the mode to Indexing Position Operation. ◼ Control Mode Setting Value: 5 This setting performs pulse input position operation as the default. When the digital input mode signal is received, it switches to the speed operation mode.

  • Page 135: Homing

    10. Homing Homing This drive provides its own homing function (return to origin). The figure below represents the relationship between the input and output parameters for the Homing Mode. You can specify velocity, acceleration, offset, and homing method. Drive Control Input2(0x2120 : 03) Homing Method(0x3018) Drive Status Output(0x2122 : 00) Homing Speeds(0x301A/0x301B)

  • Page 136: Homing Method

    10. Homing 10.1 Homing Method The drive supports the following homing methods (0x3018). Homing Methods Descriptions (0x3018) The drive returns to the home position by the negative limit switch (NOT) and the Index (Z) pulse while driving in the reverse direction. The drive returns to the home position by the positive limit switch (POT) and the Index (Z) pulse while driving in the forward direction.
  • Page 137 10. Homing ◼ Related Objects Variable Index Names Accessibility Unit Index Types Assignment 0x2120 Drive Control Input2 UINT 0x2122 Drive Status Output2 UINT 0x3019 Home Offset DINT 0x3018 Homing Method SINT 0x301A Speed during search for switch UDINT UU/s 0x301B Speed during search for zero UDINT UU/s...
  • Page 138 10. Homing Homing Method ① Speed Negative limit switch Index Pulse Zero search speed (0x301A) Time Switch search speed (0x301B) (A) The initial driving direction is reverse (CW), and the drive operates at the switch search speed. (B) When the negative limit switch (NOT) is turned on, the drive switches its direction to the forward direction (CCW) and decelerates to the zero search speed.
  • Page 139 10. Homing (A) The initial driving direction is forward (CCW), and the drive operates at the switch search speed. (B) When the positive home switch is turned on, the drive decelerates to the zero search speed and switches its direction to the reverse direction (CW).
  • Page 140 10. Homing Homing Method ⑦ Speed Positive Limit switch Positive home switch Index Pulse Zero search speed (0x301B) Switch search speed Time (0x301A) Zero search speed (0x301B) (A) The initial driving direction is forward (CCW), and the drive operates at the switch search speed. (B) When the positive limit switch (POT) is turned on, the drive decelerates to a stop, then operates at the switch search speed in the reverse direction (CW).
  • Page 141 10. Homing The positive home switch is determined by the initial driving direction. The home switch encountered in the initial driving direction becomes the positive home switch. Positive Negative Hom e Switch Hom e Switch Hom e Switch Initi al movement directio n: Forward (CCW) Negative Positive Hom e Switch...
  • Page 142 10. Homing (1) At the start of homing, the home switch is off and the limit is not met during operation (A) The initial driving direction is reverse (CW), and the drive operates at the switch search speed. (B) When the negative home switch is turned off, the drive decelerates to the zero search speed, then continues to operate. (C) While operating at the zero search speed, the drive detects the first index pulse to move to the index position (Home).
  • Page 143 10. Homing (3) At the start of homing, the home switch is off and the limit is met during operation (A) The initial driving direction is reverse (CW), and the drive operates at the switch search speed. (B) When the negative limit switch (NOT) is turned on, the drive decelerates to a stop, then operates at the switch search speed in the forward direction (CCW).
  • Page 144 10. Homing ◼ Method 28 Forward (CCW) Reverse (CW) Home switch Negative limit switch (NOT) 0x301A Speed during search for switch 0x301B Speed during search for Zero The initial driving direction is reverse (CW), and the point where the negative home switch is turned on becomes the home position.
  • Page 145 10. Homing ◼ Method 35 The current position at start of homing operation becomes the home position. This method is used to make the current position the home position according to the demand of the upper level controller. The drive supports homing methods -1, -2, -3, and -4 apart from the standard ones. These methods can only be used if the home switch is not used separately.
  • Page 146 10. Homing Homing Method Speed Index Pulse Negative Stopper Zero search speed (0x301B) Torque setting Time (0x240 9) Time settin g Switch search speed (0x240A) (0x301A) (A) The initial driving direction is reverse (CW), and the drive operates at the switch search speed. (B) When the drive hits the negative stopper, it stands by according to the torque limit value (0x2409) and the time setting value (0x240A) during homing using the stopper, then switches the direction.
  • Page 147 10. Homing ◼ Method -3 and -4 Homing methods -3 and -4 perform homing only by using the stopper. The velocity profile according to sequence is as follows. For more information, see the details below. Homing Method Speed Negative Stopper Homing complete Time Torque setting...
  • Page 148 10. Homing Homing Method Speed Positive Stopper Switch search speed Homing complete (0x301A) Torque setting (0x2409) Time setting Time (0x240A) (A) The initial driving direction is forward (CCW), and the drive operates at the switch search speed. When the drive hits the positive stopper, it stands by according to the torque limit value (0x2409) and the time setting value (0x240A) during homing using the stopper, then completes homing.
  • Page 149 10. Homing At the start of homing, the home switch is off and the limit is met during operation Homing Method Speed Negative Limit switch ON Homing error Time Switch search speed (0x301A) (A) The initial driving direction is reverse (CW), and the drive operates at the switch search speed. (B) When the negative limit switch is turned on, the drive issues a homing error and decelerates to a stop.

  • Page 151: Drive Application Functions

    11. Drive Application Functions Drive Application Functions 11.1 Drive Front Panel Display 5-digit FND data. DIGIT5 DIGIT4 DIGIT3 DIGIT2 D IGIT1 Displays or hides the decimal point. ex) 123.4 For 16 Bits, the minus sign is used. For 32 Bits, lights are shown in dots [MODE]: Switch the display mode : Move the data digit ex) - 123.4...

  • Page 152: 7-Segment For Indicating The Servo Status

    11. Drive Application Functions 7-Segment for Indicating the Servo Status 11.1.1 7-Segment for indicating the servo status consists of 5 digits as shown below, which are in the order of Digit 1→Digit 5 from right to left. DIGIT5 DIGIT4 DIGIT3 DIGIT2 DIGIT1 Three digits from Digit 3~1 of the 7-Segment represent the drive status as described below if...
  • Page 153 11. Drive Application Functions Digit 5 displays the current control mode status and servo on status. Operation mode and status display Position Control Mode: Homing Mode (ON: Servo ON) Index , Pulse Input In the event of a servo alarm occurrence, Digit 5~1 blink with the below display. Digit 2 and Digit 1 represent the alarm code.

  • Page 154: Loader Control Method

    11. Drive Application Functions ex. 1) Limit signal input ex. 2) Servo warning occurrence DIGIT3~1: DIGIT3~1: Positive limit input W01 (Main power phase loss) + W40 (Low voltage warning) occurred DIGIT4: INSPD, velocity command input in DIGIT4: INPOS1, Servo READY progress, servo READY DIGIT5: Position control mode, Servo ON DIGIT5: Velocity control mode, servo ON...
  • Page 155 11. Drive Application Functions ▪ The parameter number displayed on the Loader window and the one displayed on Drive CM are compatible as shown below. Loader window Drive CM and display 「11. Object Dictionary」 Display St-00~St-FF 0x2600~0x26FF P20.00~P20.FF 0x2000~0x20FF P21.00~P21.FF 0x2100~0x21FF P22.00~P22.FF 0x2200~0x22FF...
  • Page 156 11. Drive Application Functions (2) Example of changing the Velocity Mode to Pulse Input Position Operation Mode ([P30.00]: 00002-> 00001) Orders Loader Displays Keys to Use What to Do after Control Velocity Control Mode display with the main power and control power applied Press [MODE] to move to [P30.00].
  • Page 157 11. Drive Application Functions (3) Example of changing the Speed Loop Integral Time Constant 2([P21.07]: 200 [Ms]-> 500 [Ms]) Loader Displays Orders Keys to Use What to Do after Control Velocity Control Mode display with the main power applied Press [MODE] to move to [P21.00]. Press [UP] or [DOWN] to move to [P21.07].

  • Page 158: Control

    11. Drive Application Functions Control 11.1.3 L7C Series provides the MODE, UP, DOWN, and SET buttons for editing parameters as well as using the operation control parameters provided by L7S Series in the same way. 11.1.3.1 Manual JOG Operation [Cn-00] The drive performs manual JOG operation by itself.
  • Page 159 11. Drive Application Functions [Examples of manual JOG operation control] Loader Displays Orders Keys to Use What to Do after Control Velocity Control Mode display with the main power applied Press MODE to move to [Cn-00]. Press [SET] to enter manual JOG operation.
  • Page 160 11. Drive Application Functions 11.1.3.2 Program JOG Operation [Cn-01] This is continuous operation according to the predefined program. (1) Press [SET] in [Cn-01] parameter to display [P-JoG]. (2) Press [SET] to display [run]. The program JOG operation starts after the servo is turned on.
  • Page 161 11. Drive Application Functions [Example of program JOG operation control] Orders Loader Displays Keys to Use What to Do after Control Velocity Control Mode display with the main power and control power applied Press [MODE] to move to [Cn-00]. Press [UP] or [DOWN] to move to [Cn-01].
  • Page 162 11. Drive Application Functions 11.1.3.3 Alarm Reset [Cn-02] You can reset the alarm that occurred. (1) Contact alarm reset: If you turn on A-RST among input contacts, the alarm is reset and the status becomes normal. (2) Operation alarm reset: If you press [SET] in the alarm reset [Cn-02] parameter among operation control parameters, [ALrst] is displayed.
  • Page 163 11. Drive Application Functions 11.1.3.4 Reading Alarm History [Cn-03] You can view the saved alarm history. [Example of reading alarm history control] Loader Displays Order Keys to Use What to Do after Control Velocity Control Mode display with the main power applied Press [MODE] to move to [Cn- 00].
  • Page 164 11. Drive Application Functions Press [SET] to finish reading the alarm history. [Done] is displayed. Press and hold [MODE] for a second to return to [Cn-03]. ※ ” ” indicates blinking. 11-14...
  • Page 165 11. Drive Application Functions 11.1.3.5 Alarm History Reset [Cn-04] You can delete all currently stored alarm histories. [Example of alarm history reset control] Loader Displays Orders Keys to Use What to Do after Control Velocity Control Mode display with the main power and control power applied Press [MODE] to move to [Cn- 00].
  • Page 166 11. Drive Application Functions 11.1.3.6 Auto Gain Tuning [Cn-05] You can perform automatic tuning operation. (1) Press [SET] in the [Cn-05] parameter to display [Auto]. (2) Press [SET] to display [run] and start automatic gain tuning. If an alarm occurs at this moment, check the wiring of the servo and search for other possible causes before restarting.
  • Page 167 11. Drive Application Functions [Example of auto gain tuning control] Loader Displays Orders Keys to Use What to Do after Control Velocity Control Mode display with the main power and control power applied Press [MODE] to move to [Cn- 00]. Press [UP] or [DOWN] to move to [Cn-05].
  • Page 168 11. Drive Application Functions 11.1.3.7 Phase Z Search Operation [Cn-06] You can perform phase Z search operation. (1) Press [SET] in [Cn-06] to display [Z-rtn]. (2) Press [SET] to display [run] turn on the servo. (3) While you hold down [UP], the motor keeps turning forward (CCW) until it finds the phase Z position of the encoder.
  • Page 169 11. Drive Application Functions [Example of phase Z search operation control] Loader Displays Orders Keys to Use What to Do after Control Velocity Control Mode display with the main power and control power applied Press [MODE] to move to [Cn- 00].
  • Page 170 11. Drive Application Functions 11.1.3.8 Input Contact Forced ON/OFF [Cn-07] The drive alone forcibly turns on/off the input contact without using an upper level controller or I/O jig. (1) Input Contact Forced ON/OFF Setting The positions of the 7-segment LEDs and CN1 contacts correspond as follows. If an LED that corresponds to a contact is turned on/off, it indicates the ON/OFF state of the contact.
  • Page 171 11. Drive Application Functions [Example of input contact forced ON/OFF control] Loader Displays Orders Keys to Use What to Do after Control Press [MODE] to move to [Cn- 00]. Press [UP] or [DOWN] to move to [Cn-07]. Press [SET] to enter the input forced ON/OFF mode.
  • Page 172 11. Drive Application Functions 11.1.3.9 Output Contact Forced ON/OFF [Cn-08] Without an upper level controller or I/O jig, the drive forcibly turns on/off the output contact. (1) Output Contact Forced ON/OFF Setting The positions of the 7-segment LEDs and CN1 contacts correspond as follows. If an LED that corresponds to a contact is turned on/off, it indicates the ON/OFF state of the contact.
  • Page 173 11. Drive Application Functions [Example of output contact forced ON/OFF control] Loader Displays Orders Keys to Use What to Do after Control Press [MODE] to move to [Cn- 00]. Press [UP] or [DOWN] to move to [Cn-08]. Press [SET] to enter input forced ON/OFF setting.
  • Page 174 11. Drive Application Functions 11.1.3.10 Parameter Reset [Cn-09] You can reset the parameter data. [Example of parameter reset control] Loader Displays Orders Keys to Use What to Do after Control Velocity Control Mode display with the main power and control power applied Press [MODE] to move to [Cn- 00].
  • Page 175 11. Drive Application Functions 11.1.3.11 Automatic Velocity Command Offset Correction [Cn-10] The offset value of analog velocity commands can be corrected automatically. The range of adjustable velocity command analog voltage is from +1V to -1V. If the offset voltage is out of this range, [oVrnG] is displayed and no correction takes place. The corrected offset value can be viewed in [P22.18] analog velocity offset.
  • Page 176 11. Drive Application Functions 11.1.3.12 Automatic Torque Command Offset Correction [Cn-11] The offset value of analog torque commands can be corrected automatically. The range of adjustable torque command analog voltage is from +1V to -1V. If the offset voltage is out of this range, [oVrnG] is displayed and no correction takes place. You can check the corrected offset value in analog torque offset [P20.21].
  • Page 177 11. Drive Application Functions 11.1.3.13 Manual Velocity Command Offset Correction [Cn-12] You can correct the offset value of analog velocity commands manually. Control example (- The range of adjustable velocity command analog voltage is from +1V to -1V. If the offset voltage goes out of this range, [oVrnG] OverRange is displayed and no compensation takes place.
  • Page 178 11. Drive Application Functions 11.1.3.14 Manual Torque Command Offset Correction [Cn-13] You can correct the offset value of analog torque commands manually. The range of adjustable torque command analog voltage is from +1V to -1V. If the offset voltage is out of this range, [oVrnG] is displayed and no correction takes place. You can check the corrected offset value in the analog torque command offset [P20.21].
  • Page 179 11. Drive Application Functions 11.1.3.15 Absolute Encoder Value Reset [Cn-14] You can reset the encoder multi-turn data to 0. [Example of absolute encoder reset control] Loader Displays Orders Keys to Use What to Do after Control Press [MODE] to display [Cn- 00].
  • Page 180 11. Drive Application Functions 11.1.3.16 Instantaneous Maximum Load Factor Reset [Cn-15] You can reset the instantaneous maximum load factor to 0. [Example of instantaneous maximum load factor control] Loader Displays Orders Keys to Use What to Do after Control Press [MODE] to display [Cn- 00].
  • Page 181 11. Drive Application Functions 11.1.3.17 Parameter Lock [Cn-16] You can enable the parameter lock. [Example of parameter lock setting control] Loader Displays Orders Keys to Use What to Do after Control Press [MODE] to display [Cn- 00]. Press [UP] or [DOWN] to move to [Cn-16].
  • Page 182 11. Drive Application Functions 11.1.3.18 Current Offset [Cn-17] You can save the current offset value to parameters [P20.15]~[P20.17]. [Example of current offset value control] Loader Displays Orders Keys to Use What to Do after Control Press [MODE] to display [Cn- 00].

  • Page 183: Input/Output Signals Setting

    11. Drive Application Functions 11.2 Input/Output Signals Setting Assignment of Digital Input Signals 11.2.1 You can set the functions of CN1 connector’s digital input signals and the input signal level. As shown in the figure below, you can assign input functions to use out of the 30 functions to the digital input signals 1- Assigned function Details SVON...

  • Page 184: Related Objects

    11. Drive Application Functions ◼ Related Objects Variable Index Names Accessibility Unit Index Typse Assignment 0x2200 Digital Input Signal 1 Selection UINT 0x2201 Digital Input Signal 2 Selection UINT 0x2202 Digital Input Signal 3 Selection UINT 0x2203 Digital Input Signal 4 Selection UINT 0x2204 Digital Input Signal 5 Selection...
  • Page 185 11. Drive Application Functions Set the functions of CN1 connector’s digital input signals Setting Details and the input signal level. Select signals to assign to bits 7~0, and set the signal level to bit 15. Signal input level settings (0: contact A, 1: contact B) 14~8 Reserved Assign input signal.
  • Page 186 11. Drive Application Functions ◼ Example of Digital Input Signal Assignment The following table shows an example of assigning input signals. See the setting values for parameters 0x2200~0x2209. DI 1 DI 2 DI 3 DI 4 DI 5 DI 6 DI 7 DI 8 SV_ON...

  • Page 187: Digital Output Signal Assignment

    11. Drive Application Functions Digital Output Signal Assignment 11.2.2 You can set the functions of CN1 connector’s digital output signals and the output signal level. As shown in the figure below, you can assign output functions to use out of the 19 functions to the digital input signals 1~5.
  • Page 188 11. Drive Application Functions ◼ Related Objects Variable Access Index Names Assign Unit Index Types ibility ment 0x220A Digital Output Signal 1 Selection UINT 0x220B Digital Output Signal 2 Selection UINT 0x220C Digital Output Signal 3 Selection UINT 0x220D Digital Output Signal 4 Selection UINT 0x220E Digital Output Signal 5 Selection...
  • Page 189 11. Drive Application Functions ◼ Example Digital Output Signal Assignment The following table shows an example of assigning output signals. See the setting values for parameters 0x220A~0x220E. DO#1 DO#2 DO#3 DO#4 DO#5 ALARM ZSPD BRAKE INPOS1 (Contact B) (Contact A) (Contact A) (Contact B) (Contact A)

  • Page 190: Electric Gear Setup

    11. Drive Application Functions 11.3 Electric Gear Setup Indexing Position Operation Electric Gear 11.3.1 This function allows you to drive the motor by the user unit in which the user intends to give commands. The electric gear function of the drive does not allow the user to utilize the highest resolution of the encoder.
  • Page 191 11. Drive Application Functions (1) To drive the load based on user unit You can see the [UU] settings in the index parameter settings for index operation. If gear ratio is not used, [UU] in the index is converted to [Pulses]. For example, to make 1 [turn] of a motor with a 19 [bit] resolution encoder attached, you need to input 524288 [Pulses], which is equivalent to 19 [bits].
  • Page 192 11. Drive Application Functions a. Necessity to apply gear ratio when setting a custom position unit If a ball screw linear motor which moves 1 [mm] per 1 [turn] has been attached to the user’s 19 [bit] motor, you need to enter “524288” for Distance [UU] in order to move the linear motor by 1 [mm].
  • Page 193 11. Drive Application Functions Not only has the calculation become more complex, but also the value is out of the available distance input range. The difficulty here is due to the fact that the linear motor’s unit [mm] and the 19 [bit] motor’s unit [Pulses] are different, making conversion necessary.

  • Page 194: Linear Axis

    11. Drive Application Functions b. Necessity to apply gear ratio when setting a custom speed unit [UU/sec] = [Pulses/sec] When gear ratio is not used, the index speed unit is [Pulses/sec]. Let’s assume that you have set up a ball screw linear motor that moves 1 [mm] per 1 [turn] on the rotary motor attached with the 19 [bit] encoder.
  • Page 195 11. Drive Application Functions Thus, if the motor rotates at a speed of 60 0[rpm], the linear motor operates at 10 [mm/sec]. However, since the unit of index velocity is [pulses/sec], it is necessary to obtain the number of pulses per second X using the above proportional expression. Calculation yields 5242880 [pulses/sec].
  • Page 196 11. Drive Application Functions c. How to apply gear ratio There are four available electric gears, and you can select one of them to use. When gear ratio is applied, the servo uses the index distance and gear ratio to automatically calculate the internal command pulse in [Pulses].
  • Page 197 11. Drive Application Functions If you enter 1 for Index Distance, 524288 1 [ ���� ] × = 524288[������������] an internal command pulse of 524288 [Pulses] is automatically yielded. The servo completes 1 [turn] of the motor in proportion to the pulse value 524288 [Pulses]. If the motor makes 1 [turn], the linear motor moves 1 [mm].
  • Page 198 11. Drive Application Functions Let’s say you have a linear motor that moves 1 [mm] per 1 [turn] and want to move it at the speed of 10 [mm] per second. If you enter 10 for Velocity, the linear motor will move 1000 [mm] for 100 [sec] at the speed of 10 [mm/sec].
  • Page 199 11. Drive Application Functions If velocity is 1000 [mm/sec] and acceleration or deceleration is 10000 [mm/s^2], 1000[����/��] 0.1[sec] = 10000[����/������ it will take the linear motor 0.1 [sec] to accelerate from 0 [mm/sec] to 1000 [mm/sec]. Like this, value input can become much easier if you change the user unit [UU] to a custom load unit. 11-49...
  • Page 200 11. Drive Application Functions (2) When building a device that requires precision Using gear ratio also makes it possible to make movements in precise units. For example, let’s say you have a motor attached with a 19 [bit] encoder and a ball screw linear motor that moves 1 [mm] per 1 [turn] installed on it.
  • Page 201 11. Drive Application Functions (3) When it is necessary to unify the units of encoders with different resolutions By applying gear ratio, you can give commands based on the user unit, regardless of the encoder (motor) type. The following example is for a movement of 12mm for the ball screw type with a 10mm pitch.

  • Page 202: Example Of Indexing Position Operation Electric Gear Setting

    11. Drive Application Functions Example of Indexing Position Operation Electric 11.3.2 Gear Setting ◼ Ball Screw Load Apparatus specification Pitch: 10mm, Deceleration ratio: 1/1 User unit 1um (0.001mm) Encoder specification 19-bit (524288 PPR) Load movement amount/revolution 10 [mm]= 10000 [User Unit] Electric Gear Numerator 1 : 524288 Electric gear setting Electric Gear Denomiator 1 : 10000...

  • Page 203: Calculation Of Velocity And Acceleration/Deceleration For Use Of Electric Gear11-53

    11. Drive Application Functions Calculation of Velocity and 11.3.3 Acceleration/Deceleration for Use of Electric Gear ⚫ How to Set Index Velocity When the gear ratio is 1:1, the following proportional expression for velocity and acceleration/deceleration applies. �������������� ���������� ������ �������������������� [ ������ ] : 60 [ ������ ] = ����������...
  • Page 204 11. Drive Application Functions ⚫ How to Set Index Acceleration/Deceleration You can calculate acceleration and deceleration by the following formula using time of concentration and index velocity. ����������������[����/��] Time of concentration[sec] = ������������������������ ���� ������������������������[����/������ Time of concentration is the time required to reach the target, that is, the time required for the feedback speed to reach the registered velocity.

  • Page 205: Electric Gear For Pulse Input Position Operation

    11. Drive Application Functions Electric Gear for Pulse Input Position Operation 11.3.4 While Index Position operation only uses 1 electric gear, pulse input position operation can use up to 4 electric gears by using the EGEAR1 and EGEAR2 signals among input contacts. Electric Gear Ratio EGEAR1 EGEAR2...

  • Page 206: Velocity Control Settings

    11. Drive Application Functions 11.4 Velocity Control Settings Smooth Acceleration and Deceleration 11.4.1 For smoother acceleration and deceleration during velocity control, you can generate an acceleration/deceleration profile of a trapezoidal or S-curved shape. Here, You can enable S- curve operation by setting the speed command S-curve time to 1 [ms] or higher. The velocity command acceleration/deceleration time (0x2301, 0x2302) is the time needed to accelerate the drive from the zero speed to the rated speed or to decelerate it from the rated speed to the zero speed.

  • Page 207: Smooth Acceleration And Deceleration Through Step Analog Voltage Input

    11. Drive Application Functions Smooth Acceleration and Deceleration Through 11.4.2 Step Analog Voltage Input When controlling speed using analog input voltage, you can use step voltage input to achieve smooth acceleration and deceleration. For proper operation, you must enter 1 [msec] or lower for step voltage change time.
  • Page 208 11. Drive Application Functions If you input 100 for Speed Command S-curve Time[0x2303] and input a step voltage, the voltage command reflects the acceleration/deceleration time and S-curve time and is output in a smooth curve. <CH1: Input voltage/CH2: Velocity command> 11-58...

  • Page 209: Servo-Lock Function

    11. Drive Application Functions Servo-lock Function 11.4.3 During velocity control operation, the servo position cannot be locked even when 0 is entered for the velocity command. This is due to the characteristic of velocity control. Here, you can lock the servo position by enabling the servo-lock function (0x2311). Setting Values Setting Details Servo-lock function disabled...

  • Page 210: Position Control Settings

    11. Drive Application Functions 11.5 Position Control Settings Position Command Filter 11.5.1 You can apply filters to position commands to operate the drive more smoothly. For filtering, you can set position command filter time constant (0x2109) using the primary low pass filter and position command average filter time constant (0x210A) using the movement average.
  • Page 211 11. Drive Application Functions ◼ Related Objects Variable Index Names Accessibility Unit Index Types Assignment 0x2109 Position Command Filter Time Constant UINT 0.1ms Position Command Average Filter Time 0x210A UINT 0.1ms Constant 11-61...

  • Page 212: Position Control Signals

    11. Drive Application Functions Position Control Signals 11.5.2 As shown in the figure below, if the position error value (i.e., the difference between the position command value input by the upper level controller and the position feedback value) is below the INPOS1 output range (0x2401) and is maintained for the INPOS1 output time (0x2402), the INPOS1 (Positioning completed 1) signal is output.

  • Page 213: Positive/Negative Limit Setting

    11. Drive Application Functions 11.6 Positive/Negative Limit Setting This function is used 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 214: Brake Output Signal Function Setting

    11. Drive Application Functions 11.7 Brake Output Signal Function Setting If the motor stops due to the servo off state or servo alarm during rotation, you can set the velocity (0x2407) and delay time (0x2408) for brake signal output in order to set the output timing.
  • Page 215 11. Drive Application Functions You can set the delay time until the actual PWM output goes off when the servo is turned off or a servo alarm occurs. When using a motor with a brake installed on the vertical axis, you can output the brake signal first and turn off PWM after the set time in order to prevent it from running down along the axis.

  • Page 216: Torque Limit Function

    11. Drive Application Functions 11.8 Torque Limit Function You can limit the drive's output torque to protect the machine. You can set the limit on torque output in torque limit function setting (0x2110). The setting unit of torque limit value is [0.1%]. ▪...
  • Page 217 11. Drive Application Functions 0x3022 Forward torque limit 0x2111 Exte rnal fo rwa rd torque limit Torque Internal + input External Torque Torque Ref. Limits 0x3023 (Setting Reverse value 3) torque limit 0x2112 Exte rnal reverse torque limit Limits the torque value using internal and external torque limits according to the driving direction and the torque limit signal - Forward: 0x3022 (no PCL input), 0x2111 (PCL input) - Reverse: 0x3023 (no NCL input), 0x2112 (NCL input)
  • Page 218 11. Drive Application Functions P-CL N-CL Torque 0x3022 Feed-forw ard Forward Gai n 0x210E torque limit Filte r 0x210F 0x2111 Torque Limit Exte rnal fo rwa rd Velo city Function torque limit Limit Speed Control Velo city Functio n P Gain I Ga in Ref.

  • Page 219: Gain Conversion Function

    11. Drive Application Functions 11.9 Gain Conversion Function Gain Group Conversion 11.9.1 Use Gain Group 2 Use Gain Group 1 GAIN2 sensor input This is one of the gain adjustment functions and is used to switch between Gain Groups 1 and 2.
  • Page 220 11. Drive Application Functions Waiting time and switching time for gain conversion are as follows. Gain Group 1 Gain Conversion Time 1 Gain Group 2 (0x211A) Gain Conversion Waiting Time 1 (0x211C) Position loop gain 1 (0x2101) Position loop gain 2 (0x2105) Speed loop gain 1 (0x2102) Speed loop gain 2 (0x2106) Speed loop integral time...

  • Page 221: P/Pi Control Switch

    11. Drive Application Functions P/PI control switch 11.9.2 PI control uses both proportional (P) and integral (I) gains of the velocity 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 errors in the steady state.
  • Page 222 11. Drive Application Functions ◼ Related Objects Variable Index Names Accessibility Unit Index Types 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 223: Dynamic Brake

    11. Drive Application Functions 11.10 Dynamic Brake What is dynamic brake? : It is a method of rapidly stopping the motor by causing an electrical short-circuit to the phases of the servo motor. Circuits of to the dynamic brake are integrated into the drive. The drive can apply short-circuits to only two phases or to all three phases depending on the model type.
  • Page 224 11. Drive Application Functions ◼ Related Objects Variable Index Names Accessibility Unit Index Types Assignment Dynamic Brake Control Mode 0x2012 UINT Configuration 0x2013 Emergency Stop Configuration UINT Caution ▪ DB is a function used for Servo Off or emergency stop (EMG). Do not use this function to turn off operation in a normal situation.

  • Page 225: Regenerative Brake Resister Setting

    11. Drive Application Functions 11.11 Regenerative Brake Resister Setting Regeneration refers to a phenomenon where kinetic energy of the motor is converted to electric energy and input into the drive because of the high inertia or sudden deceleration of the load driven. Here, a regenerative resistance is used to suppress the rise of the drive's internal voltage(V ) caused by regeneration and prevent burnout of the drive.

  • Page 226: Use Of External Regenerative Resistance

    11. Drive Application Functions Use of External regenerative resistance 11.11.1 When using the external regenerative resistance for different driving conditions, make sure to observe the order below for configuration. 1. Wiring external regenerative resistance Connect the external regenerative resistance to the terminals B and B+. External regenerative resistor...

  • Page 227: Regenerative Overload

    11. Drive Application Functions Initial Value: 0 5. Setting maximum capacity and allowed time of the regenerative resistance (0x200D, 0x200E) Set the maximum capacity and use time at the capacity by using the data sheet of the externally installed regenerative resistance If there are no specific values provided, set the maximum capacity to a value 5 times the regenerative resistance capacity(0x200C) and the allowed time to 5000[ms](The values may differ according to the general regenerative resistance specifications or...

  • Page 228: Other Considerations

    11. Drive Application Functions Peak Power of Regen. If Brake Resistor [0x200D] value is not set, enter the value five times the Brake Resistor Power [0x200C] value. Also, if there is no mention of allowed time for regenerative resistance, enter 5 [sec]. ������������������������...

  • Page 229: Encoder Signal Output

    11. Drive Application Functions 11.12 Encoder Signal Output The drive internally processes the encoder signals and outputs them in the form of a pulse. It outputs the signals in the line drive method through the pins assigned to the CN1 connector by default.

  • Page 230: Absolute Encoder Data Transmission (Abs_Rq)

    11. Drive Application Functions 11.13 Absolute Encoder Data Transmission (ABS_RQ) Upon request, the absolute encoder's data are transmitted to the upper level controller in the form of quadrature pulses through AO, BO outputs, which are the encoder’s output signals. In this case, pulses are output at the velocity of 500 [Kpps]. The drive transmits multi-turn data first among the absolute data upon ABSRQ signal input, then transmits single-turn data within a single revolution.

  • Page 231: Tuning

    12. Tuning Tuning The drive is set to the torque control, velocity control, or position control mode for use, depending on the method of connecting with the upper level controller. This drive has a control structure where position control is located at the outermost part and current control at the innermost, forming a cascade.

  • Page 232: Automatic Gain Adjustment (On-Line Auto Tuning)

    12. Tuning Notch Filter Adaptive Filter 0x2500 function Select Position Control Velocity Control Torque Filter Frequency Width Depth Time Ref. P Gain P Gain I Gain 0x2501 0x2502 0x2503 0x2104 0x2101 0x2102 0x2103 0x2504 0x2505 0x2506 0x2108 0x2105 0x2107 0x2106 0x2507 0x2508 0x2509...
  • Page 233 12. Tuning It can reflect the estimation values either slowly or fast according to the adaptation speed setting value, and determine the overall responsiveness of the system by using only a single rigidity setting parameter. In the below cases, inertia ratio estimation may be incorrect by on-line auto tuning. ▪...
  • Page 234 12. Tuning ■ On-line Automatic Tuning Objects Variable Index Name Accessibility Unit Index Type Assignment 0x250D On-line Gain Tuning Mode UINT Setting Values Setting Details On-line gain tuning not used On-line gain tuning used The factory setting is 0, which is selected when on-line automatic tuning is impossible or the gain values are already known.
  • Page 235 12. 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 ■ On-line Gain Tuning Adaptation Speed During On-line Automatic Tuning Variable Access Index Name...

  • Page 236: Manual Gain Tuning

    12. Tuning 12.3 Manual Gain Tuning Gain Tuning Sequence 12.3.1 For a cascade-type controller, tune the gain of the velocity controller located at an inner position first, then tune the gain of the position controller located at an outer position. In other words, perform tuning in the order of proportional gain→...
  • Page 237 12. Tuning Speed Command Low gain Middle gain High gain Time The higher the speed proportional gain value, the feedback speed’s responsiveness to the command speed becomes better. However, if the value is too high, an overshoot or ringing may occur. In contrast, if the value is too low, the responding speed becomes low, which slows down system operation.

  • Page 238: Position Controller Tuning

    12. Tuning ◼ Position Controller Tuning Velocity FeedForward Velocity Feed-forward Gain[0x210C] Velocity Feed-forward Filter Time Constant [0x2100] Velocity Command Command Filter Limit Position Command Filter Current Position Control Time Constant[0x2109] Control Position Loop Loop Gain[0x2101] Position Command Average Filter Time Contant[0x210A] Encoder (1) Proportional gain setting...

  • Page 239: Vibration Control

    12. Tuning 12.4 Vibration Control Notch Filter 12.4.1 The notch filter is a sort of band stop filter that eliminates specific frequency components. You can use a notch filter to eliminate resonant frequency components of an apparatus, which allows vibration avoidance and higher gain setting. This drive provides notch filters in 4 levels, and you can set frequency, width, and depth for each filter.

  • Page 240: Adaptive Filter

    12. Tuning Adaptive Filter 12.4.2 Using speed feedback signals, the adaptive filter provides real-time analyses of the vibration frequency generated from the load during drive operation, and configures the notch filter automatically to reduce vibration. It can detect vibration frequencies through frequency analysis in order to automatically configure one or two notch filters.

  • Page 241: Vibration Suppression Filter

    12. Tuning Vibration Suppression Filter 12.4.3 The vibration suppression filter is a function used to reduce vibration generated in the load side. It measures the vibration frequency in the load side using an external sensor, and uses the measurement as object data for the filter. This drive provides a vibration suppression filter in two levels, and you can set the frequency and fluctuation for each filter.
  • Page 242 12. Tuning 12-12...

  • Page 243: Procedure Function

    13. Procedure Function Procedure Function Procedure function is an auxiliary function provided by the drive as described below. It can be executed by the procedure command code (0x2700) and procedure command factor (0x2701). It can be activated by using the servo setting tool. Procedure commands Codes Details...

  • Page 244: Program Jog Operation

    13. Procedure Function 13.2 Program Jog Operation Program jog operation is a function that verifies servo motor operation by velocity control at predefined operation velocity and time without an upper level controller. Before starting jog operation, confirm the following. ▪ The main power is turned on ▪...
  • Page 245 13. Procedure Function 0x230A Program Jog Operation Time 3 UINT 0x230B Program Jog Operation Time 4 UINT 13.3 Deleting Alarm History This function deletes all the alarm code histories stored in the drive. Alarm histories including the latest alarm history up to the 16th previous alarm are stored. You can check the histories as shown below (0x2702:01~16).

  • Page 246: Automatic Gain Tuning

    13. Procedure Function Alarm Code 10 STRING Alarm Code 11 STRING Alarm Code 12 STRING Alarm Code 13 STRING Alarm Code 14 STRING Alarm Code 15 STRING Alarm code 16(Oldest) STRING 13.4 Automatic Gain Tuning For more information, refer to Section 11.1, “Automatic Gain Tuning.” 13.5 Index Pulse Search Index pulse search is a function used to find the index (Z) pulse position of the encoder and bring the index to a stop.

  • Page 247: Absolute Encoder Reset

    13. Procedure Function ◼ Related Objects Variable Index Name Accessibility Unit Index Type Assignment 0x230C Index Pulse Search Speed 13.6 Absolute Encoder Reset This function resets the absolute encoder. The following are the situations where you need to reset the absolute encoder. ▪...

  • Page 248: Instantaneous Maximum Torque Reset

    13. Procedure Function 13.7 Instantaneous Maximum Torque Reset This function resets the instantaneous maximum overload rate (0x2604) to 0. The instantaneous maximum operation overload rate represents the maximum value of the operation overload rate output instantaneously from the drive. It displays the maximum (peak) load between the time when the servo is turned on and the current time in percentage in relation to the rated output.

  • Page 249: Software Reset

    13. Procedure Function 13.9 Software Reset This function is used to reset the servo drive by means of software. Software reset means a restart of the drive program, which results in an effect similar to re-applying the power. You can use this function in the following cases. ▪...
  • Page 250 13. Procedure Function 13-8...

  • Page 251: Object Dictionary

    14. Object Dictionary Object Dictionary Object is a data structure which includes parameters, state variables, run commands (procedures), etc. of the drive. S: Only applied in Speed Operation Mode Parameter address T: Only applied in Torque Operation Mode P: Only applied in position operation Parameter name ALL: Applied in all operation modes 0x3006...

  • Page 252: Data Type

    14. Object Dictionary 14.1 Data Type The following table outlines the data types and ranges used in this manual. Codes Description Ranges SINT Signed 8-bit -128~127 USINT Unsigned 8-bit 0~255 Signed 16-bit -32768~32767 UINT Unsigned 16-bit 0~65535 DINT Signed 32-bit -21247483648~21247483647 UDINT Unsigned 32-bit...

  • Page 253: Basic Setting (0X2000~)

    IP : 65 Mfd. by LS Mecapion Dist. by LS ELECTRIC MADE IN KOREA MFG:02 LS Mecapion Manufactured by LS Mecapion, Distributed by LS ELECTRIC, LS Mecapion MADE IN CHINA Absolute Multiturn Absolute Singleturn (18Bit Singleturn / 16Bit Multiturn) (19Bit Singleturn)
  • Page 254 IP : 65 Mfd. by LS Mecapion Dist. by LS ELECTRIC MADE IN KOREA MFG:02 LS Mecapion Manufactured by LS Mecapion, Distributed by LS ELECTRIC, LS Mecapion MADE IN CHINA Absolute Multiturn Absolute Singleturn (18Bit Singleturn / 16Bit Multiturn) (19Bit Singleturn)
  • Page 255 14. Object Dictionary Input Input Examples Encoder Types Methods Input 8192 if it shows 2048p/r on the sticker on the Incremental Direct input motor’s side No input necessary for automatic recognition Automatic Absolute Singleturn recognition Possible to view the automatic input of 524288 No input necessary for automatic recognition Automatic Absolute Multiturn...
  • Page 256 14. Object Dictionary 0x2005 Absolute Encoder Configuration Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute Power UINT 0 to 2 re-input This is parameter for deciding whether or not to use multi-turn data when using the absolute multi- turn encoder.
  • Page 257 14. Object Dictionary When you set the parameter to 0, the values of multiturn and the current position are maintained even when the power is turned off and on. However, if you set it to 1, the values of multiturn and the current position are all reset when the power is re-supplied.
  • Page 258 14. Object Dictionary 0x2006 Main Power Fail Check Mode Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT 0 to 255 Always You can set the main power input mode and the processing method for phase loss. 7Bit 6Bit 5Bit...
  • Page 259 14. Object Dictionary 0x2008 7SEG Display Selection Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT 0 to 100 Always You can set items to display in the 7SEG window. Setting Displayed Items Units Description Values Operation status Speed feedback...
  • Page 260 14. Object Dictionary 0x2009 Regeneration Brake Resistor Configuration Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT 0 to 1 Always You can make settings related to regenerative resistance. Setting Description Values You can set the following resistance capacity and resistance values according to drive capacity.
  • Page 261 14. Object Dictionary 0x200C Regeneration Brake Resistor Power Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT 0 to 30000 Watt Always When using an external regenerative resistance (0x2009=1), set regenerative resistance capacity in the unit of watt. When using an internal regenerative resistance (0x2009= 0), the setting value does not apply.
  • Page 262 14. Object Dictionary 0x200F Overload Check Base Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT 10 to 120 Always This is a parameter for adjusting the load factor for accumulation of continuous accumulated overload. Accumulate Continual ov erload Continual ov erload alarm...
  • Page 263 14. Object Dictionary 0x2010 Overload Warning Level Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT 10 to 100 Always This is a parameter for adjusting the output level of the accumulated operation overload warning (W10).

  • Page 264: Motor Brake

    14. Object Dictionary 0x2011 PWM Off Delay Time Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT 0 to 1000 Always You can set the delay time until PWM is actually turned off after the servo off command. When using a motor with a brake installed on the vertical axis, you can make the brake signal output to come out first then PWM be turned off after the set time, in order to prevent the axis from flowing down vertically.
  • Page 265 14. Object Dictionary 0x2012 Dynamic Brake Control Mode Configuration Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT 0 to 3 Always You can set the control mode of the dynamic brake in servo off. Setting Description Values...
  • Page 266 14. Object Dictionary 0x2013 Emergency Stop Configuration Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT 0 to 1 Always You can set the method of emergency stop (for POT, NOT, or ESTOP input). In torque control mode, the deceleration stop mode which uses emergency stop torque is not applied.
  • Page 267 14. Object Dictionary 0x2015 U Phase Current Offset Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute -1000 to 1000 0.1% Always 0x2016 V Phase Current Offset Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment...
  • Page 268 14. Object Dictionary 0x2018 Magnetic Pole Pitch Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute Power UINT 1 to 65535 2400 .01mm re-input You can set the pitch between the magnetic poles of the linear motor. Pole pitch refers to the distance between the north poles or the south poles of magnets, which corresponds to an electrical angle of 360˚.
  • Page 269 14. Object Dictionary 0x201C Commutation Time Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT 500 to 5000 1000 Always You can set the commutation time used to get information on the initial angle of the motor. 0x201D Grating Period of Sinusoidal Encoder Variable...
  • Page 270 14. Object Dictionary 0x201F Velocity Function Select Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT 0 to 2 Always You can select the calculation method of feedback speed when the encoder type is Quadrature. Setting Description Values...

  • Page 271: Gain Adjustment (0X2100~)

    14. Object Dictionary 14.3 Gain Adjustment (0x2100~) 0x2100 Inertia Ratio Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT 0 to 3000 Always You can set the ratio of load inertia to the motor's rotor inertia in %. Inertia ratio= load inertia/motor's rotor inertia x 100 This inertia ratio setting is an important control parameter for operation of the servo.
  • Page 272 14. Object Dictionary 0x2103 Speed Loop Integral Time Constant 1 Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT 1 to 1000 Always You can set integral time constant of the velocity controller. If you set it to a large value, error is reduced in the steady state (stopped or driving at a constant velocity), but vibration may occur at a transitional state (while accelerating or decelerating).
  • Page 273 14. Object Dictionary 0x2107 Speed Loop Integral Time Constant 2 Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT 1 to 1000 Always You can set the integral time constant of the speed loop used as Gain Group 2 for gain conversion. For more information, refer to the description of Speed Loop Integral Time Constant 1 (0x2103).
  • Page 274 14. Object Dictionary 0x210B Speed Feedback Filter Time Constant Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT 0 to 10000 0.1ms Always You can apply a low pass filter to the speed feedback signal calculated in the encoder. When system vibration occurs or vibration occurs due to a gain load with an excessive inertia is applied, you can suppress vibration by setting an appropriate value.
  • Page 275 14. Object Dictionary 0x210F Torque Feed-Forward Filter Time Constant Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT 0 to 1000 0.1ms Always You can apply a low pass filter to the compensation amount added to the torque command by torque feedforward gain.
  • Page 276 14. Object Dictionary 0x2112 External Negative Torque Limit Value Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT 0 to 5000 3000 0.1% Always You can set the external reverse direction torque limit according to the torque limit function setting (0x2110).
  • Page 277 14. Object Dictionary 0x2115 P Control Switch Torque Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT 0 to 5000 0.1% Always Refer to the description of P/PI Control Switch Mode (0x2114). 0x2116 P Control Switch Speed Variable Accessi Variable...
  • Page 278 14. Object Dictionary 0x2119 Gain Conversion Mode Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute 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, you can perform manual switch by external input or automatic switch by output signals.
  • Page 279 14. Object Dictionary 0x211B Gain Conversion Time 2 Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT 0 to 1000 Always You can set the time to switch from Gain Group 2 to Gain Group 1. 0x211C Gain Conversion Waiting Time 1 Variable...
  • Page 280 14. Object Dictionary For the input contacts that can be set, refer to the table below. Bits Setting Details Bits Setting Details MODE Reserved HOME STOP A_RST PCON SV_ON GAIN2 SPD1/LVSF1 P_CL SPD2/LVSF2 N_CL SPD3 0x2120 Drive Control Input 2 Variable Accessi Variable...
  • Page 281 14. Object Dictionary 0x2121 Drive Status Output 1 Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT 0 to FFFF You can assign the drive output signal status to CN1 output signal in order to view the applicable bit of this output value in addition to performing actual output.

  • Page 282: I/O Configuration (0X2200~)

    14. Object Dictionary 14.4 I/O Configuration (0x2200~) 0x2200 Digital Input Signal 1 Selection Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT 0 to 0xFFFF 0x000F Always You can set the functions of Digital Input Signal 1 of CN1 connector and the input signal level. Bits Setting Details Signal input level settings...
  • Page 283 14. Object Dictionary Setting Assigned Setting Assigned Signals Values Signals Values 0x00 Not assigned 0x14 ISEL0 0x01 0x15 ISEL1 0x02 0x16 ISEL2 0x03 HOME 0x17 ISEL3 0x04 STOP 0x18 ISEL4 0x05 PCON 0x19 ISEL5 0x06 GAIN2 0x1A ABSRQ 0x07 P_CL 0x1B JSTART 0x08...
  • Page 284 14. Object Dictionary 0x2203 Digital Input Signal 4 Selection Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT 0 to 0xFFFF 0x0022 Always You can set the functions of Digital Input Signal 4 of CN1 connector and the input signal level. For more information, refer to the description of 0x2200.
  • Page 285 14. Object Dictionary 0x2207 Digital Input Signal 8 Selection Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT 0 to 0xFFFF 0x0002 Always You can set the functions of Digital Input Signal 8 of CN1 connector and the input signal level. For more information, refer to the description of 0x2200.
  • Page 286 14. Object Dictionary 0x220A Digital Output Signal 1 Selection Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT 0 to 0xFFFF 0x8002 Always You can assign functions to digital output signal 1 and set the output signal level. 15Bit 14Bit 13Bit...
  • Page 287 14. Object Dictionary 0x220B Digital Output Signal 2 Selection Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT 0 to 0xFFFF 0x0003 Always You can assign functions to digital output signal 2 of CN1 connector and set the output signal level. For more information, refer to the description of 0x220A.
  • Page 288 14. Object Dictionary 0x220F Analog Velocity Override Mode Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT 0 to 2 Always You can specify whether or not to use the function that uses analogue voltage to override the velocity.
  • Page 289 14. Object Dictionary 0x2211 Analog Torque Input (command/limit) Offset Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute -1000 to 1000 Always You can set the analogue voltage offset input by analogue torque limit for non-torque operation. For torque operation, the parameter is used as the analog torque command offset.
  • Page 290 14. Object Dictionary 0x2215 Analog Velocity Input (command/override) Offset P, S Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute -1000 to 1000 Always For Indexing Position operation, you can set the analog voltage offset input through analog velocity override.

  • Page 291: Velocity Control (0X2300~)

    14. Object Dictionary 14.5 Velocity Control (0x2300~) 0x2300 Jog Operation Speed Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute -6000 to 6000 Always You can set the Jog operation speed. 0x2301 Speed Command Acceleration Time Variable Accessi Variable...
  • Page 292 14. Object Dictionary 0x2304 Program Jog Operation Speed 1 Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute -6000 to 6000 Always For program jog operation, you can set operation velocity 1 to 4 and operation time 1 to 4 as follows. 0x2305 Program Jog Operation Speed 2 Variable...
  • Page 293 14. Object Dictionary 0x2309 Program Jog Operation Time 2 Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT 0 to 10000 5000 Always Refer to the description of program jog operation speed 1 (0x2304). 0x230A Program Jog Operation Time 3 Variable Accessi...
  • Page 294 14. Object Dictionary 0x230D Speed Limit Function Select Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT 0 to 3 Always You can set the speed limit function for torque control. Setting Setting Details Values Limited by the speed limit value (0x230E) Limited by the maximum motor speed 0x230E...
  • Page 295 14. Object Dictionary 0x2311 Servo-Lock Function Select Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT 0 to 1 Always You can set the servo-lock function to fix the motor position with a position value when the velocity command of 0 is for velocity control.
  • Page 296 14. Object Dictionary 0x2315 Multi-Step Operation Velocity 4 Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute -6000 to 6000 Always You can set the velocity for multi-step operation velocity 4 in Velocity Mode. This is the velocity when SPD1 and SPD2 input contacts are on and SPD3 input contact is off.
  • Page 297 14. Object Dictionary 0x2319 Multi-Step Operation Velocity 8 Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute -6000 to 6000 1500 Always You can set the velocity for multi-step operation velocity 8 in Velocity Mode. This is the velocity when SPD1, SPD2 and SPD3 input contacts are on.

  • Page 298: Miscellaneous Setting (0X2400~)

    14. Object Dictionary 14.6 Miscellaneous Setting (0x2400~) 0x2400 Software Position Limit Function Select Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT 0 to 3 Always You can set the software position limit function for position control. When using the position limit function, the upper and the lower limits in (0x607D:02) and (0x607D:01) are used.
  • Page 299 14. Object Dictionary 0x2401 INPOS1 Output Range Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT 0 to 60000 Always With the position command not newly updated, if the positional error is retained within the INPOS1 output range for the INPOS1 output time, the INPOS1 signal is output.
  • Page 300 14. Object Dictionary 0x2405 TGON Output Range Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT 0 to 6000 Always When the current velocity is higher than the setting value, the parameter outputs the TGON signal. 0x2406 INSPD Output Range Variable...
  • Page 301 14. Object Dictionary 0x240A Duration Time at Homing Using Stopper Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT 0 to 1000 Always You can set the time to detect the stopper during homing. Set an appropriate value for the machine. 0x240B Modulo Mode Variable...
  • Page 302 14. Object Dictionary 0x240C Modulo Factor Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute Power DINT 1 to 0x40000000 3600 re-input You can set the factor for using the Modulo function. You can set the position value that corresponds to one revolution when a user drives the motor.
  • Page 303 14. Object Dictionary When the machine’s apparatus makes 1 [turn], the total pulse required for the machine’s 1 [turn] for the installed L7 19 [bit] motor’s 5 [turn] is as follows. 524288 × 5 [ �������� ] = 9961472[UU] If you want to control the machine’s 1 [turn] within the range of 0~9961472 [UU], you can input 9961472 [UU] to make the machine have 1~9961472 [UU] for Position Actual Value within 1 [turn] and restart from 1 [UU] when it exceeds 1 [turn].
  • Page 304 14. Object Dictionary Suppose that a 19-bit motor performs a 60-degree rotation 10,000 times in one direction. If the motor runs in the relative Indexing Position Mode, the error values after the decimal point continue to accumulate to cause a deviation of about 3 degrees after 10,000 rotations. Start count Pulse count Actual value...
  • Page 305 14. Object Dictionary 0x240D User Drive Name Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute STRING ‘Drive’ Always You can customize the drive name. You can use up to 16 characters to set the name. 0x240E Individual Parameter Save Variable...
  • Page 306 14. Object Dictionary 0x2411 RTC Date Set Variable Acces Variable Savin Setting Range Initial Value Unit Type sibility Assignment Attribute UDINT 0 to 0xFFFFFFFF Always 1507585 You can set the date for RTC. 14-56...

  • Page 307: Enhanced Control (0X2500~)

    14. Object Dictionary 14.7 Enhanced Control (0x2500~) 0x2500 Adaptive Filter Function Select Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT 0 to 5 Always You can set the adaptive filter function. Setting Values Setting Details The adaptive filter is not used Only one adaptive filter is used.
  • Page 308 14. Object Dictionary 0x2504 Notch Filter 2 Frequency Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT 50 to 5000 5000 Always You can set the frequency of Notch Filter 2. 0x2505 Notch Filter 2 Width Variable Accessi Variable...
  • Page 309 14. Object Dictionary 0x250A Notch Filter 4 Frequency Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT 50 to 5000 5000 Always You can set the frequency of Notch Filter 4. 0x250B Notch Filter 4 Width Variable Accessi Variable...
  • Page 310 14. Object Dictionary 0x250E System Rigidity for Gain Tuning Variable Acces Variable Setting Range Initial Value Unit Saving Type sibility Assignment 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 311 14. Object Dictionary 0x2511 Off-line Gain Tuning Distance Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT 1 to 10 Always You can set the distance when performing off-line gain tuning. The larger the setting value is, the longer the movement distance becomes.
  • Page 312 14. Object Dictionary 0x2516 Vibration Suppression Filter 1 Frequency Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT 0 to 2000 0.1Hz Always Reserved 0x2517 Vibration Suppression Filter 1 Damping Variable Accessi Variable Savin Setting Range Initial Value Unit Type...

  • Page 313: Monitoring (0X2600~)

    14. Object Dictionary 14.8 Monitoring (0x2600~) 0x2600 Feedback Velocity Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute This parameter represents the current rotation velocity of the motor. 0x2601 Command Speed Variable Accessi Variable Savin Setting Range Initial Value Unit Type...
  • Page 314 14. Object Dictionary 0x2604 Instantaneous Maximum Operation Overload Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute 0.1% This parameter represents the maximum value of operation overload rate output instantaneously from the drive. This value can be initialized by instantaneous maximum operation overload reset. 0x2605 DC-Link Voltage Variable...
  • Page 315 14. Object Dictionary 0x2609 Electrical Angle Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute 0.1deg This parameter represents the electrical angle of the motor in the range of -180.0~180.0. 0x260A Multi-turn Data Variable Accessi Variable Savin Setting Range Initial Value...
  • Page 316 14. Object Dictionary Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute This parameter represents the temperature measured by the temperature sensor integrated into the serial encoder provided by our company (if the setting value of the encoder type (0x2001) is 4). If the measured temperature 90℃...
  • Page 317 14. Object Dictionary Type bility Assignment Attribute UINT This parameter represents the signal of the hall sensor installed in the encoder (or motor). You can use this to verify the connection status of the hall sensor signal or compare the U/V/W-phases of the motor with the direction of the hall sensor signal.
  • Page 318 14. Object Dictionary Type bility Assignment Attribute This parameter represents the input voltage of an analog velocity override in mV. 0x2619 RMS Operation Overload Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute 0.1% This parameter represents the RMS load factor for 15 seconds in the unit of 0.1%. 0x261D Software Version Variable...
  • Page 319 14. Object Dictionary Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT This parameter displays the input contact status that the servo drive recognizes. 0x2621 Digital Output Status Variable Accessi Variable Savi Setting Range Initial Value Unit Type bility...
  • Page 320 14. Object Dictionary 0x2625 Position Actual Internal Value Variable Accessi Variable Setting Range Initial Value Unit Type bility Assignment Attribute DINT pulse This parameter displays the position actual internal value in the unit of encoder pulse. 0x2626 Cumulative Hours of Use Variable Accessi Variable...
  • Page 321 14. Object Dictionary 0x262A Position Actual Value Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute DINT This parameter displays the actual position value in a user-defined position unit (UU). 0x262B Following Error Actual Value Variable Accessi Variable Savin...

  • Page 322: Procedure And Alarm History (0X2700~)

    14. Object Dictionary 14.9 Procedure and Alarm history (0x2700~) 0x2700 Procedure Command Code Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT 0 to 0xFFFF You can run various procedures with the following procedure command codes and command arguments.
  • Page 323 14. Object Dictionary (0x0008) 0x2015~0x2017, respectively. If an offset is abnormally large, AL-15 is generated) Software reset Software reset (0x0009) Commutation Perform commutation (0x000A) 0x2701 Procedure Command Argument Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT 0 to FFFF...
  • Page 324 14. Object Dictionary STRING SubIndex 6 Alarm Code 6 Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute STRING SubIndex 7 Alarm Code 7 Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute STRING SubIndex 8...
  • Page 325 14. Object Dictionary SubIndex 15 Alarm Code 15 Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute STRING SubIndex 16 Alarm Code 16(oldest) Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute STRING This parameter represents the history of servo alarms generated in the drive.

  • Page 326: Third Party Motor Support (0X2800~)

    14. Object Dictionary 14.10 Third Party Motor Support (0x2800~) The following motor parameters are provided for driving motors manufactured by a third party in addition to our motor. To drive a third party's motor with our drive, you have to enter correct parameters.
  • Page 327 14. Object Dictionary 0x2804 [Third Party Motor] Rated Speed Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute Power UINT 1 to 60000 3000 re-input You can set the rated speed of the motor. For a linear motor, the unit is mm/s. 0x2805 [Third Party Motor] Maximum Speed Variable...
  • Page 328 14. Object Dictionary 0x2808 [Third Party Motor] Phase Resistance Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute Power FP32 0.82 re-input You can set the phase resistance (= resistance between lines ÷ 2) of the motor. 0x2809 [Third Party Motor] Phase Inductance Variable...
  • Page 329 14. Object Dictionary 0x280B [Third Party Motor] TN Curve Data 2 Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute Power FP32 100.0 re-input You can set the data of the motor speed/torque curve. Enter a torque (thrust for a linear motor) which can be output at the maximum speed in percentage (%) relative to the maximum torque.

  • Page 330: Index Objects(Ox3000~)

    14. Object Dictionary 14.11 Index Objects(Ox3000~) 0x3000 Control Mode Variable Setting Initial Communication Variable Unit Accessibility Saving Type Range Value Address Attribute Power re- UINT 0 to 9 input You can set the position control mode of the drive. Setting Values Setting Details Indexing Position Mode Pulse Input Position Mode...
  • Page 331 14. Object Dictionary 0x3002 Baud Rate Select Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute Power UINT 0 to 3 re-input You can set the RS-422 serial communication speed between the upper level controller and the drive.
  • Page 332 14. Object Dictionary 0x3004 Pulse Input Filter Select Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute Power UINT 0 to 15 re-input You can set the frequency band of the digital filter set for the pulse input. The frequency bands are determined based on the input pulse width in accordance with the digital filter's characteristics.
  • Page 333 14. Object Dictionary 0x3006 Encoder Output Pulse Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute Power UDINT 0 to 2147483647 10000 pulse re-input You can set the count of pulses to be output per motor rotation when the encoder signal is sent from the drive to the outside.
  • Page 334 14. Object Dictionary 0x3008 Start Index Number (0~63) Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT 0 to 64 Always You can set the index number (0-63) to start index position operation. If the setting value is 64, the index number is determined by ISEL0~ISEL5 of digital input. 0x3009 Index Buffer Mode Variable...
  • Page 335 14. Object Dictionary 0x300A IO Signal Configuration Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT 0 to 0xFFFF Always You can set different functions in input/output ports by selecting different bits. Bits Setting Details You can set the operation of IOUT0~5 signals used in indexing position operation.
  • Page 336 14. Object Dictionary 0x300B REGT Configuration Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT 0 to 1 Always You can set the operation for REGT signals in Registration Relative Move. Setting Values Setting Details The new target position after REGT signal input operates as a relative value in relation to the current position value.
  • Page 337 14. Object Dictionary 0x300C Electric Gear Numerator 1 Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute Power UDINT 1 to 2147483647 re-input You can set Electric Gear Numerator 1. 0x300D Electric Gear Numerator 2 Variable Accessi Variable Savin...
  • Page 338 14. Object Dictionary 0x3011 Electric Gear Denomiator 2 Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute Power re- UDINT 1 to 2147483647 input You can set Electric Gear Denominator 2. 0x3012 Electric Gear Denomiator 3 Variable Accessi Variable...
  • Page 339 14. Object Dictionary 0x3015 Electric Gear Offset Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute Power re- -327681 to 32767 input You can set the electric gear offset value. When you set [0x3014] Electric Gear Mode to 1, the offset is applied to the numerator of Electric Gear Ratio 1 by EGEAR1 and EGEAR2.
  • Page 340 14. Object Dictionary 0x3017 Backlash Compensation Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute Power re- UINT 0 to 1000 input You can set the backlash compensation during pulse input operation. 확 대 Enlargement Backlash Generally, mechanical backlash gaps occur in a toothed wheel type.
  • Page 341 14. Object Dictionary 0x3018 Homing Method Variable Accessi Variable Savi Setting Range Initial Value Unit Type bility Assignment Attribute SINT -128 to 127 Always You can set the homing method. For more information, refer to Section 9.1, “Homing.” Setting Values Description Disabled Homing using index pulse and reverse limit contact...
  • Page 342 14. Object Dictionary 0x301A Speed during search for switch Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute DINT 0 to 0x40000000 500000 UU/s Always Set the switch search speed when homing . 0x301B Speed during search for zero Variable Accessi Variable...
  • Page 343 14. Object Dictionary 0x301E Following Error Timeout Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT 0 to 65535 Always You can set the timeout value for Following Error(AL-51) check. 0x301F Velocity Window Time Variable Accessi Variable Savin...
  • Page 344 14. Object Dictionary 0x3022 Positive Torque Limit Value Variable Accessi Variable Savin Setting Range Initial Value Unit Type bility Assignment Attribute UINT 0 to 3000 5000 0.1% Always You can set the positive torque value limit. 0x3023 Negative Torque Limit Value Variable Accessi Variable...
  • Page 345 14. Object Dictionary Stop signal input point Decreased speed to reach the target position Distance Time to reach the target position The target position is equal to the area of the distance shown in the figure above. If you want to stop the motor for approximately 2 seconds after inputting STOP signal while the motor is running at 300 rpm in index mode, you can calculate Quick Stop Deceleration as follows.
  • Page 346 14. Object Dictionary Type Assignment Attribute DINT 1 to 2147483647 100000 UU/s Always SubIndex 4 Acceleration Variable Variable Setting Range Initial Value Unit Accessibility Saving Type Assignment Attribute DINT 1 to 2147483647 1000000 UU/s Always SubIndex 5 Deceleration Variable Variable Setting Range Initial Value Unit...

  • Page 347: Maintenance And Inspection

    15. Maintenance and Inspection Maintenance and Inspection 15.1 Diagnosing Abnormalities and Troubleshooting An alarm or warning is generated if a problem occurs during operation. If this happens, find the applicable code and take a proper action. If the problem persists after taking such a measure, contact our service center.
  • Page 348 15. Maintenance and Inspection Inspection Inspection Inspection and Handling Notes Items Time Vibration and Touch the motor and listen to The feel and sounds must be Monthly sound check sounds. the same as usual. Depends on the Exterior level of Clean the motor with a cloth check contamination or...

  • Page 349: Parts Replacement Cycle

    15. Maintenance and Inspection 15.4 Parts Replacement Cycle Mechanical friction or aging of objects with certain characteristics may deteriorate performance of the following parts or cause them to malfunction. Therefore it is important to conduct regular maintenance checks and regular replacement. 1.

  • Page 350: Servo Alarms

    15. Maintenance and Inspection 15.5 Servo Alarms If the drive detects a problem, it triggers a servo alarm and transition to the servo off state for a stop. In this case, the setting value of emergency stop (0x2013) is used to stop the drive. Alarm Code Causes Inspection Items...
  • Page 351 15. Maintenance and Inspection Alarm Code Causes Inspection Items Measures to Take Names (Current offset If alarms occur continually abnormality) after phase current offset Drive abnormality adjustment, replace the drive since there may be abnormalities in the drive. Accumulated operation during constant velocity periods and pauses Change the capacity of the...
  • Page 352 15. Maintenance and Inspection Alarm Code Causes Inspection Items Measures to Take Names drive since there may be abnormalities in the drive. Check if the ambient Lower the ambient Ambient temperature temperature exceeds 50[℃]. temperature. In normal conditions, check if Drive temperature Replace the drive.
  • Page 353 15. Maintenance and Inspection Alarm Code Causes Inspection Items Measures to Take Names To use an incremental type Parameter setting Check the setting value of absolute encoder, set the [0x2005]. abnormality value to 1 to disable alarms. Low battery Defective battery Check the battery connection Connect the battery (Low voltage of...
  • Page 354 15. Maintenance and Inspection Alarm Code Causes Inspection Items Measures to Take Names Reserved Control power fail Check for abnormal wiring and Motor cable abnormality Replace the motor cable. short circuit. Encoder cable Check for abnormal wiring and Replace the encoder cable. abnormality short circuit.
  • Page 355 15. Maintenance and Inspection Alarm Code Causes Inspection Items Measures to Take Names Check for binding of the apparatuses. Apparatus abnormality Inspect the apparatuses. Operation status of the limit contact sensor If alarms occur continually after power re-input, replace Encoder abnormality the motor since there may be abnormalities in the motor.

  • Page 356: Servo Warnings

    15. Maintenance and Inspection 15.6 Servo Warnings If the drive detects an abnormality classified as a servo warning, it triggers a warning. In this case, the drive maintains its normal operation condition. After the cause of the warning is eliminated, the warning is automatically cleared. You can set the check status of each warning with warning mask configuration (0x2014).
  • Page 357 15. Maintenance and Inspection Warning Status (Code) Causes Inspection Items Names Main power Check if the voltage between L1 input voltage Re-inspect the main power source. and L2 phases is AC200-230[V]. abnormality Parameter Check the setting value of Modify [0x2006] to set an alarm setting [0x2006] for the main power input.
  • Page 358 15. Maintenance and Inspection Encoder Check for abnormal wiring and cable Replace the encoder cable. short circuit. abnormality Abnormal Lower the torque limit value or Check if the current capacity of combination replace the motor with one that has the applied motor exceeds that of of drive and a lower current capacity than that of the drive.

  • Page 359: How To Replace Encoder Battery

    15. Maintenance and Inspection 15.7 How to Replace Encoder Battery When AL-35 (low voltage of encoder battery (Low battery)) or W02 (low voltage of encoder battery (LOW_BATT)) occurs, you have to replace the encoder battery. Follow the below replacement procedures. (1) Maintain the control power of the drive in its on state and turn off the main power.

  • Page 360: Servo Overload Graph

    15. Maintenance and Inspection 15.8 Servo Overload Graph ◼ Servo Drive Overload Graph (SA type, 100W or lower applied) AL-21 duration (sec) Load factor Turn Stop 100 or lower Infinite Infinite 1696.0 1372.0 70.4 58.6 10.5 10000 1000 회전 Roation 정지...
  • Page 361 15. Maintenance and Inspection ◼ Servo Drive Overload Graph (400W) AL-21 duration (sec) Load factor Turn Stop 100 or lower Infinite Infinite 55776 37935 1183 24.2 100000 10000 1000 회전 Roation 정지 Stop 100 110 120 130 140 150 160 170 180 190 200 210 220 230 240 250 260 270 280 290 300 310 Load factor (%) 15-15...
  • Page 362 15. Maintenance and Inspection ◼ Servo Drive Overload Graph (750W, 1kW) AL-21 duration (sec) Load factor Turn Stop 100 or lower Infinite Infinite 105800 37935 2244 1000000 100000 10000 1000 Roation 회전 정지 Stop 100 110 120 130 140 150 160 170 180 190 200 210 220 230 240 250 260 270 280 290 300 310 부하율(%) Load factor (%) 15-16...

  • Page 363: Servo Motor Formats And Ids (Continued On The Next Page)15-17

    15. Maintenance and Inspection 15.9 Servo Motor Formats and IDs (continued on the next page) Model Names Watts Notes Model Names Watts Notes SAR3A SE13G 1300 SAR5A SE17G 1700 SA01A HE09A Hollow shaft SA015A HE15A 1500 Hollow shaft SB01A SF30A 3000 SB02A SF50A...
  • Page 364 15. Maintenance and Inspection Model Name Watts Notes Model Name Watts Notes SG85G 8500 FF30A 3000 SG110G 11000 FF50A 5000 SG150G 15000 FF22D 2200 FF35D 3500 FF55D FB01A 5500 FB02A FF75D 7500 FB04A FF12M 1200 FF20M 2000 FC04A FF30M 3000 FC06A FF44M 4000...
  • Page 365 15. Maintenance and Inspection Model Name Watts Notes Model Name Watts Notes DB03D FAL05A DB06D FAL01A DB09D FAL15A DC06D DC12D FBL01A DC18D FBL02A DD12D FBL04A DD22D DD34D FCL04A DE40D FCL06A DE60D 1257 FCL08A DFA1G 1728 FCL10A 1000 DFA6G 2513 FCL03D FCL05D FCL06D FCL07D...
  • Page 366 15. Maintenance and Inspection Model Name Watts Notes Model Name Watts Notes SAR3A SE13G 1300 SAR5A SE17G 1700 SA01A HE09A Hollow shaft SA015A HE15A 1500 Hollow shaft SB01A SF30A 3000 SB02A SF50A 5000 SB04A SF22D 2200 HB02A Hollow shaft LF35D 3500 HB04A Hollow shaft...
  • Page 367 15. Maintenance and Inspection Model Names Watts Notes Model Names Watts Notes SG85G 8500 FF30A 3000 SG110G 11000 FF50A 5000 SG150G 15000 FF22D 2200 FF35D 3500 FB01A FF55D 5500 FB02A FF75D 7500 FB04A FF12M 1200 FF20M 2000 FF30M FC04A 3000 FC06A FF44M 4000...
  • Page 368 15. Maintenance and Inspection Model Names Watts Notes Model Names Watts Notes DB03D FAL05A DB06D FAL01A DB09D FAL15A DC06D DC12D FBL01A DC18D FBL02A DD12D FBL04A DD22D DD34D FCL04A DE40D FCL06A DE60D 1257 FCL08A DFA1G 1728 FCL10A 1000 DFA6G 2513 FCL03D FCL05D FCL06D FCL07D...

  • Page 369: Communication Protocol

    16. Communication Protocol Communication Protocol 16.1 Overview and Communication Specifications Overview 16.1.1 L7C drive is for RS-422 serial communication. By connecting it an upper level controller such as HMI, PLC and PC, you can use functions such as test-driving, gain tuning, parameter change and index operation.

  • Page 370: Communication Specifications And Cable Access Rate

    16. Communication Protocol Communication Specifications and Cable Access 16.1.2 Rate ◼ Communication Specifications Items Specifications Communication Standard ANSI/TIA/EIA-422 Standard Communication Protocol MODBUS-RTU Data bit 8bit Data Stop bit 1bit Type Parity None Synchronization Asynchronous 9600/19200/38400/57600 [bps] Transmission Rate Communication speed setting possible in [0x3002] Transmission Distance Up to 200[m] 100[㎃] or lower...

  • Page 371: Basic Structure Of Communication Protocol

    16. Communication Protocol 16.2 Basic Structure of Communication Protocol In principle, communication of L7C drive complies with the MODBUS-RTU protocol. For information about items not covered in this manual, refer to the following standard. (Related standard: Modbus Application Protocol Specification 1.1b, 2006.12.28) Also, the concepts of sending (Tx) and receiving (Rx) are for the Host in this manual.
  • Page 372 16. Communication Protocol ◼ Protocol Packet Code ▪ Node ID It shows the identification number of the servo drive for sending and receiving. You can set the identification number of the servo drive in parameter [0x2003]. Turn on/off the power of the drive after setting. ▪...
  • Page 373 16. Communication Protocol Exception Codes Descriptions 0x05 Data unprepared 0x06 Parameter locked Note1) If the setting range of the parameter is the same as that of the data type and a value out of the range is input, no response is made using the exception code, but the maximum and minimum values are set. 16-5...

  • Page 374: Protocol Command Codes

    16. Communication Protocol Protocol Command Codes 16.2.2 (1) Read Coils (0x01) It reads individual bit outputs as well as continual bit output block values. ◼ Request Function Code 1Byte 0x01 Starting Address 2Byte 0x0000 to 0xFFFF Quantity of Coils 2Bytes 1 to 2000 (0x7D0) ◼...
  • Page 375 16. Communication Protocol 0x000B 0x001B A_RST JSTART 0x000C 0x001C SV_ON JDIR SPD1/LVSF 0x000D 0x001D PCLEAR SPD2/LVSF 0x000E 0x001E AOVR 0x000F SPD3 0x001F Reserved ◼ Drive Status Output 1, 2 Communication Addresses Communication Communication Address Address Decima Hexade Output Access Output Access Hexadeci Contacts...
  • Page 376 16. Communication Protocol ex) Reading brake output contact status ◼ Request Node Starting Starting Quantity of Quantity of Function CRC Hi CRC Lo Address Hi Address Lo Outputs Hi Outputs Lo 0x01 0x01 0x00 0x20 0x00 0x01 0xFC 0x00 ◼ Request OK Node ID Function Byte Count...
  • Page 377 16. Communication Protocol The following is an example of protocols for sending and receiving status input/output during servo off. Function Transmission Receipt Status [01][01][00][00][00][01][FD][CA] [01][01][01][00][51][88] [01][01][00][01][00][01][AC][0A] [01][01][01][00][51][88] HOME [01][01][00][02][00][01][5C][0A] [01][01][01][00][51][88] STOP [01][01][00][03][00][01][0D][CA] [01][01][01][00][51][88] PCON [01][01][00][04][00][01][BC][0B] [01][01][01][00][51][88] GAIN2 [01][01][00][05][00][01][ED][CB] [01][01][01][00][51][88] P_CL [01][01][00][06][00][01][1D][CB] [01][01][01][00][51][88] N_CL...
  • Page 378 16. Communication Protocol The following table shows an example of 2 status values being received from the start address of 0x0020 during servo off. Function Transmission Receipt [02] BRAKE~ALARM [01][01][01][01][90][48] [01][01][00][20][00] [BC][01] BRAKE : ON ALARM : OFF If you set Quantity of Output to 02 for the start address of 0x0020 in the sending protocol, a total of 2 input status values from 0020~0021 are requested.
  • Page 379 16. Communication Protocol Function Transmission Receipt BRAKE~ZSPD [04] [01][01][01][0D][90][4D] [01][01][00][20][00] [3C][03] BRAKE : ON ALARM : OFF READY : ON ZSPD : ON If you set Quantity of Output to 04, you an receive the status values from 0020~0023. Function Transmission Receipt [05]...
  • Page 380 16. Communication Protocol (2) Read Discrete Inputs (0x02) It reads individual bit outputs as well as continual bit input block values. ◼ Request Function Code 1Byte 0x02 Starting Address 2Byte 0x0000 to 0xFFFF Quantity of Inputs 2Bytes 1 to 2000 (0x7D0) ◼...
  • Page 381 16. Communication Protocol ◼ Drive Status Input 1, 2 Communication Addresses Communication Communication Address Address Acces Decima Hexade Output Output Access sibilit Hexadeci Contacts Contacts ibility cimal Decimal Numbe Numbe Numbers Numbers 0x0000 0x0010 START 0x0001 0x0011 PAUSE 0x0002 0x0012 HOME REGT 0x0003...
  • Page 382 16. Communication Protocol ◼ Drive Status Output 1, 2 Communication Addresses Communication Communication Address Address Decima Hexade Output Access Output Access Hexadeci Contacts ibility Contacts ibility cimal Decimal Numbe Numbe Numbers Numbers 0x0020 0x0030 BRAKE 0x0021 0x0031 ALARM 0x0022 0x0032 READY IOUT0 0x0023...
  • Page 383 16. Communication Protocol 1) Example of Digital I/O Status Value Protocol Function Transmission Receipt Status [01][02][00][00][00][01][B9][CA] [01][02][01][00][A1][88] [01][02][00][01][00][01][E8][0A] [01][02][01][00][A1][88] HOME [01][02][00][02][00][01][18][0A] [01][02][01][00][A1][88] STOP [01][02][00][03][00][01][49][CA] [01][02][01][00][A1][88] PCON [01][02][00][04][00][01][F8][0B] [01][02][01][00][A1][88] GAIN2 [01][02][00][05][00][01][A9][CB] [01][02][01][00][A1][88] P_CL [01][02][00][06][00][01][59][CB] [01][02][01][00][A1][88] N_CL [01][02][00][07][00][01][08][0B] [01][02][01][00][A1][88] MODE [01][02][00][08][00][01][38][08] [01][02][01][00][A1][88] [01][02][00][0A][00][01][99][C8] [01][02][01][00][A1][88] A_RST...
  • Page 384 16. Communication Protocol The following is an example of protocol for a request of 2 status values from the start address 0x0020. 2) Example of parameter reading for 0x0020~0x0021 Function Transmission Receipt BRAKE~ALARM [02] [01][02][00][20][00] [F8][01] [01][02][01][01][60][48] BRAKE : ON ALARM : OFF 2) Example of parameter reading for 0x0020~0x0022 Function...
  • Page 385 16. Communication Protocol 3) Example of parameter reading for 0x0020~0x0023 Function Transmission Receipt BRAKE~ZSPD [04] [01][02][01][0D][60][4D] [01][02][00][20][00] [78][03] BRAKE : ON ALARM : OFF READY : ON ZSPD : ON 4) Example of parameter reading for 0x0020~0x0x0024 Function Transmission Receipt [05] BRAKE~INPOS1 [01][02][01][1D][61][81]...
  • Page 386 16. Communication Protocol (3) Read Holding Register (0x03) It reads single registers (16-bit data) and continuous register block (16 bit data) values. ◼ Request Function Code 1Byte 0x03 Starting Address 2Byte 0x0000 to 0xFFFF Quantity of Registers 2Bytes 1 to 125 (0x7D) ◼...
  • Page 387 16. Communication Protocol Register Register CRC Hi CRC Lo Value Hi Value Lo 0x00 0x08 0x31 0X11 - The motor ID (Address: 0x2000) value is 13 (or 0x000D) and the encoder type (Address: 0x2001) value is 2 (or 0x0002). Since the encoder pulse count per revolution (Address: 0X2002~0x2003) is 32-bit data, the data that has been read must be swapped.
  • Page 388 16. Communication Protocol (4) Read Input Register (0x04) It reads single registers (16-bit data) and continuous register binary (16 bit data) values. ◼ Request Function Code 1Byte 0x04 Starting Address 2Byte 0x0000 to 0xFFFF Quantity of Registers 2Bytes 0x0000 to 0x007D ◼...
  • Page 389 16. Communication Protocol ◼ Request Node Starting Starting Quantity of Quantity of Function CRC Hi CRC Lo Address Hi Address Lo Register Hi Register Lo 0x01 0x04 0x21 0x21 0x00 0x01 0x6B 0xFC ◼ Request OK Node Register Register Function Byte Count CRC Hi Value Hi...
  • Page 390 16. Communication Protocol (5) Write Single Coil (0x05) It turns on or off individual bit input vales ◼ Request Function Code 1Byte 0x05 Output Address 2Byte 0x0000 to 0xFFFF Output Value 2Bytes 0x0000 or 0xFF00 ◼ Request OK Function Code 1Byte 0x05 Output Address...
  • Page 391 16. Communication Protocol ◼ Drive Status Input 1, 2 Communication Addresses Communication Communication Address Address Acces Decima Hexade Output Output Access sibilit Hexadeci Contacts Contacts ibility cimal Decimal Numbe Numbe Numbers Numbers 0x0000 0x0010 START 0x0001 0x0011 PAUSE 0x0002 0x0012 HOME REGT 0x0003...
  • Page 392 16. Communication Protocol ex) Writing POT input contact status ON ◼ Request Node Output Output Output Value Output Function CRC Hi CRC Lo Address Hi Address Lo Value Lo 0x01 0x05 0x00 0x00 0xFF 0x00 0X8C 0x3A ◼ Request OK Node Output Output...
  • Page 393 16. Communication Protocol 1) Example of Digital I/O Status Value Protocol Function Write contact state ON Write contact state OFF [01][05][00][00][FF][00][8C][3A] [01][05][00][00][00][00][CD][CA] [01][05][00][01][FF][00][DD][FA] [01][05][00][01][00][00][9C][0A] HOME [01][05][00][02][FF][00][2D][FA] [01][05][00][02][00][00][6C][0A] STOP [01][05][00][03][FF][00][7C][3A] [01][05][00][03][00][00][3D][CA] PCON [01][05][00][04][FF][00][CD][FB] [01][05][00][04][00][00][8C][0B] GAIN2 [01][05][00][05][FF][00][9C][3B] [01][05][00][05][00][00][DD][CB] P_CL [01][05][00][06][FF][00][6C][3B] [01][05][00][06][00][00][2D][CB] N_CL [01][05][00][07][FF][00][3D][FB] [01][05][00][07][00][00][7C][0B] MODE...
  • Page 394 16. Communication Protocol (6) Write Single Register (0x06) It writes values on the single register (16-bit data). ◼ Request Function Code 1Byte 0x06 Starting Address 2Bytes 0x0000 to 0xFFFF Quantity of Registers 2Bytes 0x0000 to 0xFFFF ◼ Request OK Function Code 1Byte 0x06 Starting Address...
  • Page 395 16. Communication Protocol (7) Write Multiple Coils (0x0F) It turns on or off continual bit input values. ◼ Request Function Code 1Byte 0x0F Starting Address 2Byte 0x0000 to 0xFFFF Quantity of Outputs 2Bytes 0x0000 or 0xFF00 Byte Count 1Bytes Output Value N* x 1Byte *N= Quantity of Outputs/8 ◼...
  • Page 396 16. Communication Protocol ◼ Drive Status Input 1, 2 Communication Addresses Communication Communication Address Address Acces Decima Hexade Output Output Access sibilit Hexadeci Contacts Contacts ibility cimal Decimal Numbe Numbe Numbers Numbers 0x0000 0x0010 START 0x0001 0x0011 PAUSE 0x0002 0x0012 HOME REGT 0x0003...
  • Page 397 16. Communication Protocol ex1) Writing POT and EMG input contacts ON ◼ Request Node Starting Starting Quantity of Quantity of Byte Function Address Hi Address Lo Outputs Hi Outputs Lo Count 0x01 0x0F 0x00 0x00 0x00 0x0B 0x02 Outputs Output Value CRC Hi CRC Lo Value Hi...
  • Page 398 16. Communication Protocol POT and EMG signals ON Quantity of Byte Function Start Address Output Value Outputs Count ISEL4 START ISEL5 PAUSE ABSRQ REGT JSTART HSTART JDIR ISEL0 PCLEAR ISEL1 AVOR ISEL2 Start Address Reserved ISEL3 7 6 5 4 3 2 1 0 MODE Reserved...
  • Page 399 16. Communication Protocol SV_ON signal ON Quantity of Byte Output Value Function Start Address Outputs Count 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 ISEL4 START ISEL5 PAUSE ABSRQ REGT JSTART HSTART JDIR ISEL0 PCLEAR...
  • Page 400 16. Communication Protocol Alarm Reset and EMG signal ON Quantity of Byte Function Start Address Output Value Outputs Count 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 ISEL4 START ISEL5 PAUSE ABSRQ REGT JSTART HSTART...
  • Page 401 16. Communication Protocol (8) Write Multi Register (0x10) Writes values on the continuous register block (16-bit data). ◼ Request Function Code 1Byte 0x10 Starting Address 2Bytes 0x0000 to 0xFFFF Quantity of Registers 2Bytes 0x0001 to 0x007B Byte Count 1Byte 2 x N* Registers Value N* x 2Bytes value...

  • Page 402: Register Count

    16. Communication Protocol *Protocol example* Jog Operation Speed[0x2300] : -3000 Speed Command Acceleration Time[0x2301] : 100 Speed Command Deceleration Time[0x2302] : 100 Quantity of Byte Function Start Address Register Count Number of Communication Value Parameter name address registers Jog Operation Speed 0x2300 -3000 Speed Command Acceleration Time...
  • Page 403 16. Communication Protocol - Example of protocol change for an input of 3000 3000 complement complement F4 48 Register Register Register When you input -3000, 3000 is converted into a hexadecimal number first. The complement is taken and 1 is added to the 0th bit. When the complement is taken, the value is F4 48.
  • Page 404 16. Communication Protocol *Protocol example* Position Loop Gain 1[0x2101] : 25 Speed Loop Gain 1[0x2102] : 65 Speed Loop Integral Time Constant 1[0x2103] : 150 Quantity of Byte Function Start Address Register Count Communication Number of Parameter name Value address registers Position Loop Gain 1 0x2101...
  • Page 405 16. Communication Protocol *Protocol example* Index0.IndexType[0x3101] : 0 Index0.Distance[0x3102] : 51200000 Index0.Velocity[0x3104] : 87381 Quantity of Byte Function Start Address Register Count Number of Communication Parameter name Value address registers Index0.IndexType 0x3101 Index0.Distance 0x3102 51200000 Index0.Velocity 0x3104 87381 Register Register Register The number of registers differ for each parameter.

  • Page 406: Parameter Saving & Reset

    16. Communication Protocol 16.3 Parameter Saving & Reset Apart from saving individual parameters [0x240E], you can save or reset parameters using below commands. - Parameter Saving ◼ Request Byte Node Starting Starting Quantity of Quantity of Function Address Hi Address Lo Register Hi Register Lo Count...
  • Page 407 16. Communication Protocol - Parameter Restoration ◼ Request Byte Node Starting Starting Quantity of Quantity of Function Address Hi Address Lo Register Hi Register Lo Count 0x01 0x10 0x10 0x16 0x00 0x02 0x04 Registers Registers Registers Registers CRC Hi CRC Lo Value Hi Value Lo Value Hi...

  • Page 408: L7C Servo Drive Communication Address Table

    16. Communication Protocol 16.4 L7C Servo Drive Communication Address Table Basic Setting Parameters 16.4.1 Communication Address Parameter Variable Initial Minimum Maximum Parameter Names Units Accessibility Numbers Types Values Values Values Decimal Hexadecimal Numbers Numbers 8192 0x2000 Motor ID 0x2000 UINT 9999 8193 0x2001...
  • Page 409 16. Communication Protocol 8215 0x2017 V Phase Current Offset 0x2016 -1000 1000 0.10% 8216 0x2018 W Phase Current Offset 0x2017 -1000 1000 0.10% 8217 0x2019 Magnetic Pole Pitch 0x2018 UINT 2400 65535 0.01mm 8218 0x201A Linear Scale Resolution 0x2019 UINT 1000 65535 8219...

  • Page 410: Gain Adjustment Parameters

    16. Communication Protocol Gain Adjustment Parameters 16.4.2 Communication Address Parameter Variable Initial Minimum Maximum Parameter Names Units Accessibility Numbers Types Values Values Values Decimal Hexadecimal Numbers Numbers 8448 0x2100 Inertia Ratio 0x2100 UINT 3000 8449 0x2101 Position Loop Gain 1 0x2101 UINT 8450...

  • Page 411: I/O Configuration Parameters

    16. Communication Protocol 8470 0x2116 P Control Switch Speed 0x2116 UINT 6000 8471 0x2117 P Control Switch Acceleration 0x2117 UINT 1000 60000 rpm/s 8472 0x2118 P Control Switch Following Error 0x2118 UINT 60000 pulse 8473 0x2119 Gain Conversion Mode 0x2119 UINT 8474 0x211A...

  • Page 412: Velocity Control Parameters

    16. Communication Protocol Analog Torque Command Filter Time 8723 0x2213 0x2213 UINT 1000 Constant 8724 0x22174 0x2214 -1000 1000 Analog Velocity Command Scale Analog Velocity Input (command/override) 8725 0x2215 0x2215 -1000 1000 Offset 8726 0x2216 0x2216 UINT 1000 Analog Velocity Command Clamp Level Analog Velocity Command Filter Time 8727 0x2217...

  • Page 413: Miscellaneous Setting Parameters

    16. Communication Protocol 8984 0x2318 Multi-Step Operation Velocity 7 0x2318 1000 -32768 32767 8985 0x2319 Multi-Step Operation Velocity 8 0x2319 1500 -32768 32767 8986 0x231A 0x231A UINT Velocity Command Switch Select Miscellaneous Setting Parameters 16.4.5 Communication Address Parameter Variable Initial Minimum Maximum Parameter Names...

  • Page 414: Enhanced Control Parameters

    16. Communication Protocol Enhanced Control Parameters 16.4.6 Communication Address Parameter Variable Initial Minimum Maximum Parameter Names Units Accessibility Numbers Types Values Values Values Decimal Hexadecimal Numbers Numbers 9472 0x2500 Adaptive Filter Function Select 0x2500 UINT 9473 0x2501 Notch Filter 1 Frequency 0x2501 UINT 5000...

  • Page 415: Monitoring Parameters

    16. Communication Protocol Monitoring Parameters 16.4.7 Communication Address Parameter Variable Initial Minimum Maximum Parameter Names Units Accessibility Numbers Types Values Values Values Decimal Hexadecimal Numbers Numbers 9728 0x2600 Feedback Velocity 0x2600 9729 0x2601 Command Speed 0x2601 9730 0x2602 Following Error 0x2602 DINT pulse...

  • Page 416: Procedures And Alarm History

    16. Communication Protocol 9776 0x2630 Current RTC Time 0x2622 UDINT 4294967295 9778 0x2632 Current RTC Data 0x2623 UDINT 4294967295 9780 0x2634 Position Demand Internal Value 0x2624 DINT -2147483648 2147483647 pulse 9782 0x2636 Position Actual Internal Value 0x2625 DINT -2147483648 2147483647 9784 0x2638 Cumulative Hours of Use...

  • Page 417: 3Rd Party Motor Parameters

    16. Communication Protocol 3rd Party Motor Parameters 16.4.9 Communication Address Parameter Variable Initial Minimum Maximum Parameter Names Units Accessibility Numbers Types Values Values Values Decimal Hexadecimal Numbers Numbers 10240 0x2800 [Third Party Motor] Type 0x2800 UINT 10241 0x2801 [Third Party Motor] Number of Poles 0x2801 UINT 1000...
  • Page 418 16. Communication Protocol UDINT 2147483647 12302 0x300E Electric Gear Numerator 1 0x300C UDINT 2147483647 12304 0x3010 Electric Gear Numerator 2 0x300D UDINT 2147483647 12306 0x3012 Electric Gear Numerator 3 0x300E UDINT 2147483647 12308 0x3014 Electric Gear Numerator 4 0x300F UDINT 2147483647 12310 0x3016...
  • Page 419 16. Communication Protocol 12598 0x3136 Index03 0x3103 12616 0x3148 Index04 0x3104 12634 0x315A Index05 0x3105 12652 0x316C Index06 0x3106 12670 0x317E Index07 0x3107 12688 0x3190 Index08 0x3108 12706 0x31A2 Index09 0x3109 12724 0x31B4 Index10 0x310A 12742 0x31C6 Index11 0x310B 12760 0x31D8 Index12 0x310C...
  • Page 420 16. Communication Protocol 13246 0x33BE Index39 0x3127 13264 0x33D0 Index40 0x3128 13282 0x33E2 Index41 0x3129 13300 0x33F4 Index42 0x312A 13318 0x3406 Index43 0x312B 13336 0x3418 Index44 0x312C 13354 0x342A Index45 0x312D 13372 0x343C Index46 0x312E 13390 0x344E Index47 0x312F 13408 0x3471 Index48 0x3130...
  • Page 421 16. Communication Protocol 16.4.10.1.1 Index00~Index63 Internal Variables Communication Addresses Index00~Index63 have internal variables including IndexType, Distance, Velocity, Acceleration, Deceleration, RegDistance, RegVelocity, RepeatCount, DwellTime, Next Index and Action. Internal communication addresses take increased values based on index communication addresses. Communication Address Minimum Maximum Decimal...
  • Page 422 16. Communication Protocol 16.4.10.1.2 Index00~Index63 Internal Variables Communication Addresses Index00~Index63 have internal variables including IndexType, Distance, Velocity, Acceleration, Deceleration, RegDistance, RegVelocity, RepeatCount, DwellTime, Next Index and Action. Internal communication addresses take increased values based on index communication addresses. Communication Address Minimum Maximum Decimal...

  • Page 423: Test Drive

    17. Test Drive Test Drive For a safe and proper test drive, make sure to check the following prior to a test drive. If there is a problem, take appropriate measures before the test drive. ◼ Servo Motor State Is the motor correctly installed and wired? Is each connecting part correctly tightened without looseness? For motors with oil seal, is there any damage on the oil seal? Is oil properly applied?

  • Page 424: Preparation For Operation

    17. Test Drive 17.1 Preparation for Operation Carry out a test drive in the following order. Perform inspection and read precautions before test drive. Check input/output signals and connection to the upper level controller. For indexing position For pulse input position For speed For torque operation...

  • Page 425: Indexing Position Operation

    17. Test Drive Indexing Position Operation 17.1.1 Order Handling Notes Re-check the power and the input signal circuit and turn on the control power of the servo drive. 3.2 Indexing Position Set the value of Index 00~Index 63 for the index to operate. Operation For safety, enter a 1/10 of the intended value for Velocity and Registration Velocity.
  • Page 426 17. Test Drive 0x2111 External Positive Torque Limit Value UINT 0x2112 External Negative Torque Limit Value UINT 0x2113 Emergency Stop Torque UINT 0.1% 0x211F Drive Control Input 1 UINT 0x2120 Drive Control Input 2 UINT 0x2121 Drive Status Output 1 UINT 0x2121 Drive Status Output 2...
  • Page 427 17. Test Drive 0x3009 Index Buffer Mode UINT 0x300A IO Signal Configuration UINT Variable Index Names Accessibility Unit Index Types Assignment Index 00 Number of Entries USINT Index Type UINT Distance DINT Velocity DINT UU/s Acceleration DINT UU/s 0x3100 Deceleration DINT UU/s Registration Distance...

  • Page 428: Pulse Input Position Operation

    17. Test Drive Pulse Input Position Operation 17.1.2 ◼ Test Drive Procedure Order Handling Notes Re-check the power and the input signal circuit and turn on the control power of the servo drive. 5.1 Pulse Input Logic Set the logic of [0x3003] input pulse according to the pulse output format of the upper device.
  • Page 429 17. Test Drive ■ Inspection Objects Before Test Drive Variable Access Index Names Assign Unit Index Types ibility ment 0x2000 Motor ID UINT 0x2001 Encoder Type UINT 0x2002 Encoder Pulse per Revolution UDINT pulse 0x2003 Node ID UINT 0x2004 Rotation Direction Select UINT 0x2013 Emergency Stop Configuration...
  • Page 430 17. Test Drive 0x2206 Digital Input Signal 7 Selection UINT 0x2207 Digital Input Signal 8 Selection UINT 0x2208 Digital Input Signal 9 Selection UINT 0x2209 Digital Input Signal 10 Selection UINT 0x220A Digital Input Signal 10 Selection UINT 0x220B Digital Output Signal 1 Selection UINT 0x220C Digital Output Signal 2 Selection...

  • Page 431: Velocity Mode

    17. Test Drive Velocity Mode 17.1.3 ◼ Test Drive Procedure Order Handling Notes Re-check the power and the input signal circuit and turn on the control power of the servo drive. Set the [0x231A] velocity command switch select function according to the 13.3 Manufacturer control method.
  • Page 432 17. Test Drive 0x2112 External Negative Torque Limit Value UINT 0x2113 Emergency Stop Torque UINT 0.1% 0x211F Drive Control Input 1 UINT 0x2120 Drive Control Input 2 UINT 0x2121 Drive Status Output 1 UINT 0x2121 Drive Status Output 2 UINT 0x2200 Digital Input Signal 1 Selection UINT...
  • Page 433 17. Test Drive 0x2211 Analog Torque Input (command/limit) Offset 0x220F Analog Velocity Override Mode UINT Analog Velocity Input (command/override) 0x2215 Offset 0x2227 Analog Velocity Command Filter Time Constant UINT 0.1ms 0x222A Analog Velocity Command Clamp Level UINT 0x2301 Speed Command Acceleration Time UINT 0x2302 Speed Command Deceleration Time...

  • Page 434: Torque Operation

    17. Test Drive Torque Operation 17.1.4 ◼ Test Drive Procedure Order Handling Notes Re-check the power and the input signal circuit and turn on the control power of the servo drive. Set the [0x2210] analog torque command scale. Set the speed limit value at [0x230E] torque control. Set the value to 1/10 of the actual operation value.
  • Page 435 17. Test Drive ■ Inspection Objects Before Test Drive Variable Access Index Name Assign Unit Index Type ibility ment 0x2000 Motor ID UINT 0x2001 Encoder Type UINT 0x2002 Encoder Pulse per Revolution UDINT pulse 0x2003 Node ID UINT 0x2004 Rotation Direction Select UINT 0x2013 Emergency Stop Configuration...
  • Page 436 17. Test Drive 0x2206 Digital Input Signal 7 Selection UINT 0x2207 Digital Input Signal 8 Selection UINT 0x2208 Digital Input Signal 9 Selection UINT 0x2209 Digital Input Signal 10 Selection UINT 0x220A Digital Output Signal 1 Selection UINT 0x220B Digital Output Signal 2 Selection UINT 0x220C Digital Output Signal 3 Selection...

  • Page 437: Appendix

    18. Appendix Appendix 18.1 Firmware Update Using Drive CM 18.1.1 Drive CM allows you to upgrade the OS for the drive to the newest through the PC's USB port. The transmission time depends on the PC performance, but it usually takes from tens of seconds to several minutes.

  • Page 438: Firmware Download

    18. Appendix ◼ Firmware Download Connect DriveCM. Click “Firmware Update” on the top-right corner of Drive CM. An upgrade pop-up window is generated and the applied version of the servo is displayed. Click the "Open Firmware Downloader" button. 18-2...
  • Page 439 18. Appendix An upgrade window is generated. To load the appropriate firmware file, click the "Load" button. 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. 18-3...
  • Page 440 18. Appendix Press the "Start" button to start transmission. A count-down of 10 seconds is activated to clear the internal memory in the drive. (Here, “Flash” is displayed for 7 segments for L7C.) After clearing, the firmware is transmitted automatically and the progress bar and "Current Packet" display the (10) current transmission status.
  • Page 441 18. Appendix ◼ When an Error Occurs During Transmission If the download cable is pulled off during servo firmware update, the update may be stopped. Turn off and on the drive power and repeat the above process from (2) to (12). If the above pop-up appears, check the drive type.

  • Page 442: Summary Of Parameters

    18. Appendix 18.2 Summary of Parameters ■ Basic Setting (0x2000~) Acces Minimu Parameter Initial Variable Maximum Variable Parameter Names sibilit Units Numbers Values Types Values Attribute Values 0x2000 Motor ID UINT 9999 Power re-input 0x2001 Encoder Type UINT Power re-input 0x2002 Encoder Pulse per Revolution 524288...
  • Page 443 18. Appendix Always 0x201B Commutation Current UINT 0.10% 1000 Always 0x201C Commutation Time 1000 UINT 5000 Power re-input 0x201D Grating Period of Sinusoidal Encoder UINT 65535 Always 0x201E Homing Done Behavior UINT Always 0x201F Velocity Function Select UINT Power re-input 0x2020 Motor Hall Phase Config.
  • Page 444 18. Appendix 0x2119 Gain Conversion Mode UINT Always 0x211A Gain Conversion Time 1 UINT 1000 Always 0x211B Gain Conversion Time 2 UINT 1000 Always 0x211C Gain Conversion Waiting Time 1 UINT 1000 Always 0x211D Gain Conversion Waiting Time 2 UINT 1000 Always 0x211E...
  • Page 445 18. Appendix 0x2217 UINT 0.1ms 1000 Always Analog Velocity Command Filter Time Constant ■ Velocity Control (0x2300~) Acces Minimu Parameter Initial Variable Maximum Parameter Names sibilit Units Notes Numbers Values Types Values Values 0x2300 Jog Operation Speed -6000 6000 Always 0x2301 Speed Command Acceleration Time UINT...
  • Page 446 18. Appendix ■ Miscellaneous Setting (0x2400~) Acces Minimu Parameter Initial Variable Maximum Parameter Names sibilit Units Notes Numbers Values Types Values Values 0x2400 Software Position Limit Function Select UINT Always 0x2401 INPOS1 Output Range UINT 60000 Always 0x2402 INPOS1 Output Time UINT 1000 Always...
  • Page 447 18. Appendix 0x250C Notch Filter 4 Depth UINT Always 0x250D On-line Gain Tuning Mode UINT Always 0x250E System Rigidity for Gain Tuning UINT Always 0x250F On-line Gain Tuning Adaptation Speed UINT Always 0x2510 Off-line Gain Tuning Direction UINT Always 0x2511 Off-line Gain Tuning Distance UINT Always...
  • Page 448 18. Appendix 0x2613 Bootloader Version STRING 0x2614 Warning Code UINT 0x2615 Analog Input 1 Value 0x2616 Analog Input 2 Value 0x2619 RMS Operation Overload 0.1% 0x261A Reserved 0x261B Reserved 0x261C Reserved 0x261D Software Version STRING 0x261E Pulse Input Frequency Kpps -32768 32767 0x261F...
  • Page 449 18. Appendix 0x2807 [Third Party Motor] Torque Constant FP32 0.46 Nm/A Power re-input 0x2808 [Third Party Motor] Phase Resistance FP32 0.82 Power re-input 0x2809 [Third Party Motor] Phase Inductance FP32 3.66 Power re-input 0x280A [Third Party Motor] TN Curve Data 1 UINT 3000 60000...
  • Page 450 18. Appendix UINT Always 0x3017 Backlash Compensation 1000 SINT Always 0x3018 Homing Method -128 DINT Always 0x3019 Home Offset -2147483648 2147483647 UDINT Always 0x301A Homing Speed during Search for Switch 500000 1073741824 UDINT Always 0x301B Homing Speed during Search for Zero 100000 1073741824 UDINT...

  • Page 451: Revision History

    Version Number Date Issued Revised Content Notes Number 2018.07.19 New distribution 2020.05.30 Changed company name to ‘LS ELECTRIC’ Function description modification, caution 2020.10.05 addition, miswriting correction Adding function and description, correct 2024.02.29 misspelled, correct misspelled of enconder product feature contents...

  • Page 452: Product Warranty

    Product Warranty L7C Series was produced using the strict quality control guidelines and testing procedures developed by technicians of our company. The warranty applies for 12 months after the date of installation. If the installation date is not specified, the warranty is valid for 18 months after the date of manufacture.
  • Page 453 ■ Headquarter ■ Overseas Subsidiaries LS-ro 127(Hogye-dong) Dongan-gu, Anyang-si, Gyeonggi-Do, 14119, • LS ELECTRIC Japan Co., Ltd. (Tokyo, Japan) Korea Tel: 81-3-6268-8241 E-Mail: jschuna@lselectric.biz • LS ELECTRIC (Dalian) Co., Ltd. (Dalian, China) ■ Seoul Office Tel: 86-411-8730-6495 E-Mail: jiheo@lselectric.com.cn •...

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