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2. 2 BE EB sc O ale E SE Fo 9 HHHHHHHHHHHH WE 1 Lo C4 OVON B x 42 JON 2 46 cm rete a la 197 Weight 1 5 kg cooling fan included LS vecapion 7 25 7 Product Specifications LS B L70A0200 L70A0350 N EN EN EN one 158 5 169 SS Og Sg O ESSES ESTES lt EEE
3. 78 FG Liew pt Weight 2 5 kg cooling fan included 7 26 LS LS 7 Product Specifications ooo Wu 7 3 Options and Peripheral Devices m Option incremental encoder cable Product Type Name Applicable CSO m Motor connection Drive connection CN2 All models Quadrature of type APM SA For Incremental E APM SB signaling Encoder cable APM SC small and capacity APM HB Series Motor connection a Cap specifications 15 positions 172163 1 AMP b Socket specifications 170361 1 AMP 2 Drive connection CN2 a Case specifications 10314 52A0 008 3M b Connector specifications 10114 3000VE 3M c Cable specifications 7Px0 2SQ AWG24 Motor connection Drive connection CN2 All models of Quadrature APM SE type APM SF For Incremental APM LF signaling Encoder cable APL LG medium APM SG capacity and APM HE Series Motor connection MS Military Standard a Plug specifications MS3108B MS3106B 20 29S 2 Drive connection CN2 a Case specifications 10314 52A0 008 3M b Connector specifications 10114 3000VE 3M c 3 Cable specifications 7Px0 2SQ AWG24 NOTE 1 The in Type Name indicates the type and length of each cable Refer to the table below for how to display the
4. U U I CD O CI nnnunmnununmunununununnunmnunmnunmnunnsmnnmnn I uu LI CN2 Encoder signal connector Front cover CD Ld i CN2 mee E LS 1 Product Components and Signals 1 2 System Configuration 1 2 1 Overview The L7 servo system can be configured in various ways depending on its interface with the upper level controller 1 Position Operation System The servo is run by pulse commands You can change the location of the servo motor by changing command pulses based on a certain transfer unit Upper Level Controller Position Controller Servo Drive Servo Motor Change gt Position Speed Position Position Speed Current Controller gt Controller Command Controller gt Controller gt Controller gt Pulse Encoder Position Feedback Advantage The structure of the upper level controller is simple because pulse input is linked to transfer units Disadvantages e Fast rotation is compromised when a precise transfer unit is used e Response is low because multiple levels of controllers are used 2 Speed Operation System The servo is run by speed commands There are two types of speed commands analog voltage
5. Bearing Cap Connector Es Encoder Connector Encoder Cover J Cana Housing Flange 1 Product Components and Signals LS ne B Servo Drive LY7SA 00101 L7SA 002L L7SA 004L Y Vv M x3 Display Operation keys Mode Up Down Set CN5 Main power connector L1 m USB connector L2 L3 H CN4 pa RS 422 communication DC reactor connector 5 connector PO PI Short circuit when not used CNS 2 RS 422 communication connector Regenerative resistance connector B B BI COCGOCOCGCOCGCGCOCGQCOC When basic installation is in use short circuit B and BI terminals When installing external CONI resistance
6. 2 Control signal connector Control power connector C1 C2 Motor power cable KD connector U V W u Ia C i Encoder signal connector wai S KD M o Tee 1 Product Components and Signals oO 0 1 l1 L7SA 0200 L7SA 085 Operation keys Mode Up Down Set Main power connector L1 L2 L3 DC reactor connector PO PI Short circuit when not used Regenerative resistance connector B B BI When basic installation is in useshort circuit B and BI terminals When installing external resistance install in the B and B terminals Control power connector C1 C2 Motor power cable connector U V W Display CN5 USB connector CN5 CN4 RS 422 communication connector CN4 CN3 Mm zT HS 422 communication connector C Et Control signal connector
7. 3 6 34 eade cjegz BARN Umm MT 3 7 3 4 1 Contact Input Signal zeeissenescimdnesicoes ante sesbstnsc geo 3 7 3 4 2 Contact OutpBE SIGA iai 3 8 3 4 3 Analog Input Output Signals ccsssceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeaeaeeaesees 3 9 3 4 4 Pulse ENS EI etie NO o 3 10 3 4 5 ECO ei Output Signal ranieri iii ia 3 11 3 5 Quadrature Encoder Signaling Unit CN2 Wiring cesses 3 12 3 5 1 APC ERBETAS ae 3 12 3 5 2 APCSSEHUEBS C DE soi aiar 3 12 3 6 Serial Encoder Signaling Unit CN2 Wiring e 3 13 3 6 1 APOO ETE EC tO 3 13 3 7 Transmission of Absolute Encoder Data nnt 3 15 3 7 1 Transmission of Absolute Encoder Data i 3 15 4 xcu aj2ilp m 4 1 4 1 How to Use the Loader nennen nennen 4 1 4 1 1 Name and Function of Each Part aeee 4 1 4 1 2 Status Summary DISDIay xssiveneeniiseeceebaeseccdtondeseepndeceezanqencccana tius eoudiri mue cerros 4 2 4 1 3 Parameter Handball 4 4 4 1 4 ERO m 4 8 4 1 5 External Input Contact Signal Display St 14 o 4 10 4 1 6 External Input Signal and Logic Definition eee 4 11 4 1 7 External Output Contact Signal Display St 15 4 19 4 1 8 External Output Signal and Logic Definition iii 4 20 4 2 PAM
8. B Example of Changing Output Signal Allocation The following is an example of output signal allocation change The sequence of switching the allocation signals of ALARM CN1 38 39 and ZSPD CN1 43 is as follows Before Changing After Changing gt em em NC gt L dum O P2 05 Loader Window Display Press MODE to move to P2 05 ssa Press SET to enter parameter edit mode The parameter is displayed as 04321 Press UP or DOWN at the blinking cursor to change the number to 04323 Press LEFT or RIGHT at the blinking cursor to move to the desired digit DIGIT 3 Press UP or DOWN at the blinking cursor to change the number to 04123 Hold down SET for approximately one second After two flickers the number will be saved as 04123 for the parameter Hold down MODE for approximately one second to NOTE 1 In case of exiting without saving the set value indicates flickering return to P2 05 Hold down MODE for approximately one second to return to the parameter If two output signals are allocated to a number the output contact setting error AL 72 alarm will be triggered 4 Parameters 3 Output Signal Logic Definition Output signal logic definition P2 10 The logic of output signals as shipped from the factory is as follows Output signal logic definitions ALARM READY SPD BRAK
9. Parameter Unt imis Gode Nemo Minimum Maximum Main power input mode EFE 0000 Sets main power input DIGIT 1 gt 0 Single phase power P0 06 1 3 phase power input Caution Using single phase power Power fail mode Ob00 0b11 may lower motor output DIGIT2 gt 0 Error in case of phase loss 1 Warning in case of phase loss ro RST checking time Sets the time to check main power phase RSTchecktime 500 500 OS Displays parameter Sets the number for the operation status P0 08 Emme start parameter that is displayed at the start Details Refer to 4 4 1 System Parameter E overload o6 Sets derating factor for checking of derating regenerative resistance overload The P0 09 overload alarm triggers quickly when the Regeneration derating mn 1 derating value is set to 100 or below Regenerative resistance Sets the resistance value for regenerative value braking resistance If set to 0 the default P0 10 resistance value of the drive is used Regenerarion 1000 brake resistor Regenerative resistance Sets the capacity for the current i W capacity regenerative resistance If set to 0 a default PO 11 SARE ECHI resistance capacity embedded in the drive capacity Overload check o 100 Indicates the load factor for starting P0 12 Base load factor 2 continuous overload checks If set to 100 or below an overload check starts early and Overload check base the overload alarm trigger
10. Signal Pin Color All models E E xa x wire of lt The front direction gt lt The rear direction gt Brake cable for flat type APM FB 5 Motor connection motor small and g Plug specifications JNAFTO2SJ1 R JAE capacity APM FC h Socket specifications ST TMH S C1B JAE Series 6 Drive connection i Connection terminal specifications 1 25x3 KET GP110012 7 Cable specifications 2Cx0 75SQ AWG18 For power NOTE 1 The in Type Name indicates the type and length of each cable Refer to the table below for how to display them Gabi length m 3 General cable N03 LS vecvion 7 31 7 Product Specifications LS m Option cable Categ Product Type Name Applicable m specication For signali Ng Upper level controller Drive connection CN1 Pin number display f CN1 Cable APC CN1 L7 SERIES 1 Drive connection CN1 a Case specifications 10350 52A0 008 3M b Connector specifications 10150 3000VE 3M c Cable specifications ROW SB0 1Cx50C PC USB port Servo drive CN5 PC connection USB A plug nol G icati APCS signali oe i L7 SERIES Drive connection CN5 Mini USB 5P plug n cable CM5L7U Ng Electrical requirements Double shielding twisted pair EMI filter installation similar product KU AMB518 by SANWA NOTE 1 The iin Type Name ind
11. P2 06 DIGIT 3 VMLT P2 06 DIGIT 4 INSPD P2 07 DIGIT 1 WARN ES Unallocated signal Output port define 3 OxFFFF Unallocated signals Details Refer to 4 1 8 External Output Signal and Logic Definition In case of dual allocation the output contact setting error AL 72 occurs Input signal logic 0b11111 Define CN1 connector logic for a digital input definition 1 signal 0 Contact B 1 Contact A P2 08 Initial input logic definitions P2 08 DIGIT 1 DI CN1 47 Contact A P2 08 DIGIT 2 DI2 CN1 23 Contact A P2 08 DIGIT 3 DIS CN1 22 Contact A 0b11111 P2 08 DIGIT 4 DI4 CN1 21 Contact A P2 08 DIGIT 5 DI5 CN1 17 Contact A Details Refer to 4 1 6 External Input Signal and Logic Definition LS s 4 37 P2 05 DIGIT 1 ALARM DO1 P2 05 DIGIT 2 READY DO2 Input logic set 1 4 Parameters re um ma ease me im im Input signal logic definition 2 mM 0b10001 P2 09 Input logic set 2 0b11111 Output signal logic Rd definition P2 10 i 0b11111 Output logic set Position o output pulse P2 11 In position range 65535 Zero speed output range RPM P2 12 Zero speed range 1 500 Range of output for speed RPM h p2 13 reached Brake output action speed RPM P2 14 Brake output speed 6000 Brake output delay time P2 15 Brake output delay time 1000 Position pulse clea
12. This calibrates the offset of analog torque commands automatically The range of adjustable torque command analog voltage is from 1 V to 1 V If offset voltage exceeds this range oVrnG is displayed and there is no calibration You can check the corrected offset value in the analog torque offset P2 21 Example of handling automatic torque command offset correction Press MODE to display Cn 00 Press UP or DOWN to move to Cn 11 Press SET to enter offset correction Press SET to compensate offset Done is displayed If the value exceeds the allowed range o VrnG is displayed Press MODE for a second to return to Cn 11 LS vecapion 5 15 5 Handling and Operation LS oO 0 1 1 5 2 13 Manual Speed Command Offset Correction Cn 12 This calibrates the offset value of analog speed commands manually Example 10 The range of adjustable speed command analog voltage is from 1 V to 1 V If offset voltage exceeds this range oVrnG Over Range is displayed and there is no compensation You can check the corrected offset value in the analog speed offset P2 18 Example of I manual speed command offset correction Press MODE to display Cn 00 LJ Press UP or DOWN to move to Cn 12 Press SET to enter offset correction setting The current offset value displayed o Press UP or DOWN to adjust the value Press SET to save the adjusted of set value
13. 3 Wiring Method 3 6 Serial Encoder Signaling Unit CN2 Wiring 3 6 1 APCS E CS Cable AWG24 4Pair Twisted SSR OOO Shield Wire rrr ry t Servo Drive O Am Cable Cable Connector CN2 Connector Maker 3M Maker AMP i 10314 52A0 008 172161 1 10114 3000VE 170361 1 PRE E SHD Frame 3 6 2 APCS E DS Cable il 324 4 stod _ servo Motor ue dados Servo Drive Cable Connector MS3108520 295 3 Wiring Method LS 3 6 3 APCS E ES Cable Servo Motor Servo Drive Cable Connector CN2 Maker 3M 10314 52A0 008 10114 3000VE Connector q SHD Frame Tyco Connector 7Ciruits LS 3 Wiring Method ooo 3 7 3 7 1 Transmission of Absolute Encoder Data Transmission of Absolute Encoder Data Upon the absolute encoder s request for absolute data the data of the absolute encoder are transmitted to the upper level controller in the form of quadrature pulses through the output of the encoder output signals AO and BO In this case pulses are output at the speed of 500 Kpps Among absolute data multi turn data are transmitted first followed by single turn data Refer to 4 1 6 External Input Signal and Logic Definition for information on the allocation of the sequence input signal and ABS RQ signal Transmission Sequence of Absolute Data 1 When the servo is off change the ABS R
14. Torque Torque O x x x x Oo Input contact 24 V power Servo ON O1 24 V IN SVON SPD1 SPD2 SPD3 ALMRST 92 D D D A U o DI E o 3 O O 0O 0 0 Multi speed 1 O x Multi speed 2 O x Multi speed 3 O x Reset upon alarm Select rotation direction D 20 CCWLMT ee 19 CWLMT Clockwise limit EMG Emergency stop STOP EGEARI IN 8 Stop x Allocate Electronic gear ratio 1 Allocate EGEAR2 Electronic gear ratio 2 PCON GAIN2 P_CLR Allocate P control action NS Allocate Select gain 2 x Allocate Clear input pulse Control torque with TRQCOM Change operation modes Allocate T LMT Allocate MODE Request absolute fee ne position data Allocate g Allocate ZCLAMP Zero clamp LS 1 Product Components and Signals 1 3 2 Analog Input Contact Signal Applicable Modes Description S m peed Speed Position fe seem as Analog o SPDCOM A ei nalog Speed Limi a Torque Command X X X X O X O TRQCOM 10 10 V Analog torque limit 10 10 V Grounding for analog signals 1 3 3 Digital Output Contact Signal o Applicable Modes Description d Position Factory Speed Torque Pasian Pes es id Setting ositio orque Alarm group contact Alarm group contact Alarm group contact sm uen eje sea RE neo imme e o 0 e e 0 ent fe folelo ofofo e eros rese o x x x om me mar mem o oo
15. e GPIO setting Output SE Seung Factory reset Cn 17 If a warning code is displayed in the current operation status St 00 the servo drive is operating abnormally Check what needs to be inspected for the issue Warning om Details and cause What to inspect RST PFAIL Main power phase loss If the P0 06 DIGIT 2 is set to 1 the main power fails More than the maximum torque commands OV TCMD Excessive torque command velate od OV VCMD Overspeed command More than the maximum speed commands have been entered OV LOAD Overload warning The maximum overload P0 13 has been reached The electric current capacity of the motor is bigger than that of the drive When P0 06 DIGIT 2 is set to 1 the DC link voltage is 190 V or below Pulse command frequency error G Check the I O wiring and P2 09 setting Warning code is displayed to hexadecimal If the over 2 warning codes occurs the sum of warning codes will be displayed For example if W 04 Excessive Toque Command and W 08 Excessive Speed Command are occurred at the same time W 0C will be displayed If warning code 80 occurs SV ON state changes to SV OFF state automatically To avoid warning code 80 wire EMG contact or change EMG input signal logic definition Refer to 4 1 How to Use the Loader LS Mecapic 8 5 8 Maintenance and Inspection LS EN lt lt lt B Servo Drive Overload Graphs 400W or below 1 Graph of Overload during Ro
16. kg m2x1 0 4 0 114 0 182 0 322 0 254 0 674 1 092 Inertia moment gf cm s2 0 116 0 186 0 328 0 259 0 687 1 114 Allowable load inertia Rated power rate KW s 22 22 50 41 63 84 24 07 33 45 Speed and position Standard Quadrature type incremental 3000 P R 2500 P R detector Serial type 17 21 bi Method of Fully closed self cooling Fully closed self cooling IP55 excluding axis penetration IP65 excluding axis penetration Specifications and Ambient 0 40 C features temperature Ambient 20 80 RH no condensation humidity Atmosphere No direct sunlight corrosive gas or combustible gas Anti vibration Vibration acceleration 49 m s2 5G bi o om am 16 16 15 25 Rotation Speed Torque Characteristics Motor inertia x 20 Motor inertia x 15 protection Tonne nd APM SBNO1 A Torque Nm APM SBNOZA Torque Nm APM SBNO4A 40 r Repeatedly used area E b WENN Repeatedly used area Continuously used area Continuously used area Continuously used area 1000 000 3000 400 500 J 1000 2000 3000 4000 5000 1000 20090 TX 4000 500 Speed r min Speed r min Speed r min Torque Nm APM SBN04A BK Torque Nm APM SC04A bets Nm APM SCO6A 4 0 T T 1 4 0 r Repeatedly used area _y Repeatedly used area Repeatedly used area Continuously used area I Continuously used area Continuously used area 1000 2001 DOS 4000 5000 DOt 200 Dot
17. 9 Appendix LS n 7 Test drive Start Cn 00 by pressing SET to conduct test drive manually JOG operation speed can be changed in P3 12 Up Motor forward rotation CCW Only operate while you hold down the key Down Reverse motor rotation CW Only operate while you hold down the key e During normal operation the power input of the servo drive and wiring among motors are verified as normal If the alarm is displayed it indicates an error in the power circuit wiring of the servo motor or encoder wiring Turn off power and fix the error using the information in Alarm Codes and Descriptions 9 Operation mode setting Set operation mode in P0 03 Speed l operation e 0 Torque control operation Position operation setting e 1 Speed control operation setting e 2 Position control operation e 3 Speed position control operation e 4 Speed torque control operation 10 Perform speed operation with the upper level 11 Perform position operation with the upper level controller by adjusting the following parameter controller by adjusting the following parameter data data Speed operation setting parameter P3 a Position operation setting parameter P4 01 P3 20 00 P4 13 Input output setting parameter P2 00 P2 b Input output parameter setting parameter 29 P2 00 P2 22 Control setting parameter Control parameter setting parameter P1 00
18. Set Digita SAIN2 Input pulse clear P2 03 Set Digit 3 PCR Torque limit P2 03 Set Digit4 M P2 03 0x9000 P2 04 0x000A Change operation modes P2 04 Set Digit 1 Absolute encoder data request P2 04 Set Digit 2 NOTE 1 No CN1 connector pin is allocated when the default value is 0 414 LS LS 4 Parameters B Examples of Changing Input Signal Allocation The following is an example of changing input signal allocation The allocation signals of SVON CN1 47 and STOP CN1 48 can be switched in the following sequence Before Changing After Changing VIII DA Musa P2 00 MOTTA II ILA MISI I MIN tB P2 02 LI LI LIS a LI LI LI 4a Press MODE to move to P2 00 Press SET to enter parameter edit mode The parameter is displayed as 04321 Press UP or DOWN at the blinking cursor to change the number to 0432A Hold down SET for approximately one second After two flickers the number is saved as 0432A for the parameter Hold down MODE for approximately one second to return to P2 00 Press UP or DOWN at the blinking cursor to change the number to P2 02 Press SET to enter parameter edit mode The parameter is displayed as 000A9 Press LEFT or RIGHT at the blinking cursor to move to the desired digit DIGIT 2 Press UP or DOWN at the blinking cursor to change the number to 00019 Hold down SET for approximately one second After two fl
19. Speed r min LS Mecapion 7 Product Specifications m Electric Brake Specifications Purpose Maintenance of stop refer to Note 2 E Series Input voltage V Static friction EUN Nem Capacity W Coil resistance pem Rated current A current A Braking mechanism NOTE 1 The same specifications apply to all electric brakes installed in our servo motors Spring brake NOTE 2 Electric brakes are designed to maintain a stop Never use them for absolute braking NOTE 3 The characteristics of the electric brakes were measured at 20 C NOTE 4 These brake specifications are subject to change Check the voltage specifications on your specific motor LS Mecapion 7 13 7 Product Specifications EN 0 lA 7 1 2 Outline Drawing B SA Series APM SAR3A APM SARSA APM SA01A APM SA015A External Dimensions Type Name EMemelDimensons Wet t di SAR3A 100 137 5 76 112 5 66 102 5 0 32 0 67 SARSA 108 144 5 83 119 5 73 109 5 0 38 0 73 SAO1A 125 161 5 100 136 5 90 126 5 0 5 0 85 NOTE 1 The standard shaft end for 40 flange is straight NOTE 2 Use DC 24 V for brake opening power NOTE 3 The sizes in parentheses apply when attached to brakes LS 7 Product Specifications oo B SB Series APM SBO1A APM SBO2A APM SBO4A External Dimensions Type Name ExtomalDimensions mk t DT SBO1A 121 5 161 5 91 5 131 5 61 101 0 82 1 4 SB02A 135 5 175 5 105
20. n 8 Maintenance and Inspection 8 1 Maintenance and Inspection This chapter explains how to conduct basic maintenance and inspection diagnosis and troubleshooting on the servo motor and drive 8 1 1 Precautions 1 Measuring motor voltage The voltage output from the servo amp to the motor is PWM controlled and for this reason its waves take the form of pulses Use a rectifier voltmeter for accurate measuring because different meters often produce different results 2 Measuring motor current Connect a moving iron type ampere meter directly for use as the pulse waveform becomes smooth sine waves to some degree because of the motor s reactance 3 Measuring electric power Use an electrodynamometer based on the 3 power meter method 4 Other gauges When using an oscilloscope or digital voltmeter make sure that they do not touch the ground Use 1 mA or lower of gauge input current 8 1 2 What to Inspect Be sure to start inspection approximately 10 minutes after power is turned off because the charged voltage left in the internal smoothing condenser may cause an accident 1 Servo Motor Inspection Be sure to start inspection approximately 10 minutes after power is turned off because the charged voltage left in the internal smoothing condenser may cause an accident did Inspection Period Inspection and Handling BEER Vibration and The feel and sound should be sound check EXODIBOBII HOWE rane listen Ox Une no more nota
21. Fax 82 53 591 8614 Visit the LS Mecapion homepage http www Ismecapion com for useful information and services LS 9 9 9 Appendix LS EN l T n User Manual Revision History Issued Year and Version El 2011 10 19 Serene gear ratio 0 Option specification name 2011 12 19 Add 750W 2KW Position command filter time constant 2012 01 09 OSANG pda Warning code description 2012 02 05 Brake resistance Motor specification Add FLAT Type Motor Revise 2012 03 01 communication info 2012 04 09 correct minor typo Green Management Product Disposal LS Mecapion considers environment The LS Mecapion servo drive is protection as a high priority of environmentally friendly management and its employees try their It can be broken down to iron aluminum best to protect the Earth bronze and synthetic resin cover and separately recycled
22. Power Circuit Access CN7 U and V Current DC Voltage BISS NE USB TO UAR WEN Input Analog Input Monitor Output Contact Input Pulse Input Contact Output Encoder 2 points 2 points 10 points 2 points 5 points Output Upper Level Controller Connection CN1 NOTE 1 If you use a DC reactor connect to the PO and PI pins NOTE2 f you use external regenerative resistance connect to the B and B pins after you remove the B and BI short circuit pins NOTE 3 The L7SA008L and L7SA035L models are cooled by a DC 24 V cooling fan LS 3 Wiring Method ooo I 3 2 3 2 1 Power Wiring L7 Drive Wiring Diagram L7SA001c L7SA0350 NOTE 1 NOTE 2 NOTE 3 NOTE 4 200 230V R o T Note 1 i y l Main Main na DC Reactor ddr N T EO us FA PO PI IMC 1Ry 49k e Jo OLI VO DLL wa ul 9 D L3 SOD QC p C2 YE Tt Encoder Ry u Alarm a 24V N PAX 56 4 T BI lt _ ui 39 BI d e Note 2 vige CN1 egenerative esistancer It takes approximately one to two seconds until alarm signal is output after you turn on the main power Accordingly push and hold the main power ON switch for at least two seconds Short circuit B and BI terminals before use Regenerative resistance of L7SA001 i L7SAO004l 50
23. Press UP and the forward direction maximum load factor is displayed Press DOWN and the reverse direction maximum load factor is displayed Press SET and the instantaneous maximum load factor is reset Done is displayed If you press MODE and it is not reset Press MODE for a second to return to Cn 15 indicates flickering LS 5 Handling and Operation 5 2 16 Parameter Lock Cn 16 Lock or Unlock whole parameter Example of So or unlocking parameter Press MODE to display Cn 00 a Press UP or DOWN to move to Cn 16 Press SET to enter parameter lock setting Press UP to unlock whole prameter Press DOWN to lock whole parameter Hold down MODE for a second to return to Cn 16 indicates flickering LS Mecavic 5 19 5 Handling and Operation LS EN A t 8 ll 5 2 17 Current Offset Cn 17 Store existing current offset value into P0 28 P0 29 Parameter Example of setting current offset value Press MODE to display Cn 00 o Press UP or DOWN to move to Cn 17 Press SET to enter current offset value setting Press SET to store U phase current offset value into P0 28 and V phase current offset value into P0 29 C Hold down MODE for a second to return to Cn 17 6 6 1 6 Communication Protocol canion Ai i I IL IM Communication Protocol Overview and Communication Specif
24. Refer to 5 2 Handling Reset the instantaneous maximum load factor to Max load clear UP Displays the forward maximum load Cn 15 factor DOWN Displays the direction maximum Max load clear oaa tacion SET Initializes the maximum load factor Details Refer to 5 2 Handling Parameter lock Lock or Unlock whole parameter Cn 16 Um Unlock Parameter lock DOWN Lock Details Refer to 5 2 Handling Current offset a ee Store existing current offset value into PO 28 Cn 17 PO 29 Parameter Calculate current offset Ta Details Refer to 5 2 Handling 4 48 LS LS 4 Parameters ooo I 4 3 Operation Status Display 4 3 1 Status Display St 00 Refer to 4 1 2 Status Summary Display 4 3 2 Speed Display 1 Current operation speed St 01 Displays the current operation speed in RPM 2 Current command speed St 02 Displays the current command speed in RPM 4 3 3 Position Display 1 Tracking position pulse St 03 Displays the accumulated number of position command pulses that followed as a result of rotation of the servo motor since the servo was turned on 2 Position command pulse St 04 Displays the accumulated number of position command pulses that have been entered since the servo turned on 3 Remaining position pulse St 05 e This is the difference between command pulse and tracking pulse and displays the remaining position pulses for the ser
25. Sets motor ID directly If the attempt to read motor data fails the initial value is set to 999 Details Refer to 4 4 1 System Parameter Setting Serial Type encoder Reads and displays from the encoder Quadrature Type encoder Sets the value directly 0 Quadrature Type encoder 1 Serial encoder 2 Serial encoder 12 bit 3 Serial encoder 16 bit 4 Serial encoder 20 bit 5 Serial encoder 24 bit Details Refer to 4 4 1 System Parameter Setting Serial Type encoder Reads the number of bits per turn from the encoder and displays it Quadrature Type encoder Sets the number of encoder pulses directly Details Refer to 4 4 1 System Parameter Setting Sets operation mode 0 Torque operation 1 Speed operation 2 Position operation 3 Speed position operation 4 Torque speed operation 5 Torque position operation Details Refer to 4 4 1 Speed Operation Parameter Setting Sets communication speed for RS 422 communication 0 9600 bps 1 19200 bps 2 38400 bps 3 57600 bps Details Refer to 4 4 1 System Parameter Setting Sets drive ID for communication An ID can be given to the servo if USB communication RS422 communication and BUS communication are used for communication with the servo A unique ID can be given to the servo and used for individual communication with it Details Refer to 4 4 1 System Parameter Setting LS 4 Parameters
26. a S aX No O ON LET n PE 2 HI A SER DA LS 4 Parameters ooo UM 6 32 bit Signed Integer Data Display Minimum 2147483648 Display upper two digits Display middle four digits Display lower four digits III DA Lv Eur J LLL mb Ad 4 2 05 t LI me uM LE 4 LI 2 Maximum 2147483647 Display upper two digits Display middle four digits Display lower four digits VM AI 2 LC LV M EL ML 1 DN E NC v6 tt om B E g St 16 Displayed as Upper 0 Middle 0012 and Lower 2071 Displays the speed control mode with main power and control power permitted Each time you press LEFT or RIGHT lower middle and upper data is displayed Each time you press LEFT or RIGHT lower middle and upper data is displayed Press and hold MODE for approximately one second to return to St 16 NOTE 1 _ indicates flickering LS vecapio 4 9 4 Parameters LS Mecapio ne 4 1 5 External Input Contact Signal Display St 14 You can check whether the ON OFF status of digital input output signals that access the servo drive are on or off 1 External Input Signal Display The positions of the seven segment LEDs and CN1 connector pins correspond as follows If an LED that corresponds to a pin is turned on off it indicates ON OFF accordingly TH Contact Display o Di IAE SE cu 09 ME EN DI1 Number Allocated
27. oo wu 1 2 4 Example of Speed Operation Mode Wiring G CWLI Digital Input Note 1 Digital Output DC 24V PX 38 ALARMS air x si t PO READY TD va i Encoder Pulse Output 3 3kQ DIA DI RE DIS Fem lt or pe Hnt Cob Th i Ea a D af al quer Tip a ES Al Farfa jon ew Analog Output BET wc Command Pulse Input ER qh LL IL a DG nm DA UF T F E Line Driver gt O AO N UW Qt WE We CO E s O 3 3 q gt a S Upper Level Controller Analog Input 10V 10V BO SPDCOM Analog X nd XI 10V 10V _ MQ Jb GND 8 N N O i Z O G i Connect to Connector Case Note 1 Input signals DI1 to DIA and output signals DO1 to DOS are default signals allocated by the factory Note 2 These are non allocated signals You can change their allocation by setting parameters For more information refer to 4 1 6 External Input Signal and Logic Definition and 4 1 8 External Output Signal and Logic Definition LS 1 11 1 Product Components and Signals LS oO E lt lt lt 1 2 5 Example of Torque Operation Mode Wiring Digital Input dol Note 1 Digital Output us E HOES POI Ro Gen A O Pao li fonii ope eed ce fap EE L ef p BB Saar at gp mp E rf cna Analog Output Fay cam 4h L f pn li _ ENO UU g
28. permitted Press MODE to move to rs 0 ca Press UP or DOWN to move to Cn 05 Press SET to enter automatic gain Press SET to start three cycles of forward rotation and reverse rotation Upon completion of automatic tuning the tuning result will be displayed on the loader Press SET for retuning Press MODE for a second to return to Cn 05 LS 5 Handling and Operation 5 2 7 Phase Z Search Operation Cn 06 Perform phase Z search operation i Press SET in Cn 06 and Z rtn is displayed N Press SET and run is displayed and the servo turns on a While you hold down UP the motor keeps turning forward CCW until it finds the phase Z position of the encoder gt While you hold down DOWN the motor keeps turning counterclockwise until it finds the phase Z position of the encoder e Press SET and done is played and the phase Z search ends x This function is useful for finding the Z position and assembling it by a specific standard Related Parameters Name initial P3 07 Phase Z search operation speed setting RPM Example of handling phase Z search operation Displays the speed control mode with main power and control power permitted Press MODE to move to Cn 00 o Press UP or DOWN to move to Cn 06 C Press SET to enter phase Z search operation Press UP and the motor turns forward CCW until it finds phase Z Press D
29. torque control 3 Limited to the smaller value between the value of q P1 23 and the analog speed command Speed limit RPM 2000 Sets speed limit when speed limit mode P1 22 is 0 P1 23 i Velocity limit value during torque control 10000 pnm control When setting P and PI control transfer mode P 1 15 P1 24 esci switch value sets 0x10 DIGIT 2 P control conversion torque P control conversion When setting P and PI control transfer mode P 1 15 P1 25 Speed switch value 6000 sets 0x20 DIGIT 2 P control conversion speed P control conversion P control conversion 1000 acceleration rpms When setting P and PI control transfer mode P1 15 P1 26 sets 0x30 DIGIT 2 P control conversion Acc switch value 5000 accelaration P control conversion P control conversion 2000 position error PULSE When setting P and PI control transfer mode P1 15 P1 27 sets 0x40 DIGIT 2 P control conversion position Position Err switch value 10000 artar P control conversion 4 36 LS LS 4 Parameters ooo 4 2 5 Input Output Setting Parameter For detailed information refer to 4 4 3 Analog Input Output Parameter Setting and 4 4 4 Input Output Contact Parameter Setting Modification is not possible with the servo on amp Power reset parameter Parameter that cannot be modified with the servo on code Name minimum maximum a Input signal definition 1 a 0x4321 Allocates a CN1 connector pin
30. 0x8765 0x00A9 P2 03 0x0000 P2 04 0x0000 Servo ON P2 00 Set Digit 1 Multi speed 1 P2 00 Set Digit 2 Multi speed 2 P2 00 Set Digit 3 Multi speed 3 P2 00 Set Digit 4 9 03 Alarm reset P2 01 Set Digit 1 num 4 3 2 Select rotation direction P2 01 Set Digit 2 Forward rotation prohibited P2 01 Set Digit 3 CCWLIM Reverse rotation prohibited P2 01 Set Digit 4 CWLIM Emergency stop P2 02 Set Digit 1 Stop P2 02 Set Digit2 STOP o E Electronic gear ratio 1 P2 02 Set Digit 3 P2 02 EGEARI Electronic gear ratio 2 P2 02 Set Digit 4 EGEAR2 P control action P2 03 Set Digt 1 PON Select gain 2 P2 03 Set Digita SAIN2 Input pulse clear P2 03 Set Digit 3 P CLR Torque limit P2 03 Set Digit 4 Change operation modes MODE F A P2 04 Set Digit 1 Absolute encoder data request ABS RQ F A P2 04 Set Digit 2 Zero clamp ZCLAMP P2 04 Set Digit 3 NOTE 1 No CN1 connector pin is allocated when the default value is 0 T_LMT 4 3 4 3 4 3 4 3 4 3 4 3 4 3 4 3 4 3 4 3 4 3 n Bn oon Ha Ha Ha Ha Bm Bn BE THEE o PE nn o un OOBE GOLON LFT GORON 4 12 LS LS o 2 Example of Changing Input Signal Allocation The input signal definition can be changed in P 2 00 P2 01 P2 02 P2 03 and P2 04 The input signal logic definit
31. 100 RPM Output 100 l RPM as 1 V DA le 2 C output scale IUnit V si P0 25 MONIT2 Details Refer to 4 4 1 System Parameter DAC scale 2 Setting MONIT2 DAC output scale 3 DAC output scale 3 scale 3 Unit V 50 co 26 DAC scale 3 1 10000 DAC output scale 4 Unit V P0 27 DAC scale 4 F 10000 P0 28 value Store U phase Current Offset value U Current Offset 9999 9999 P0 29 value Store V phase Current Offset value V Current Offset 9999 9999 LS Mecavic 4 33 4 Parameters LS 4 2 4 Control Setting Parameter For detailed information refer to 4 4 2 Control Parameter Setting Modification is not possible with the servo on amp Power reset parameter Parameter that cannot be modified with the servo on e NE MED Go Name Minimum Inertia ratio is considered 100 percent when there is no load from the motor Because setting inertia ratio against load is an important control parameter for the operation of the P1 00 servo inertia ratio shall be set by calculating Inertia ratio 20000 load inertia by the machine system and rotor inertia from the motor specification table Setting an accurate inertia ratio is crucial for optimal servo operation Details Refer to 4 4 2 Control Parameter Setting Position proportional gain Hz 50 Sets position control proportional gain 1 P1 01 1 Details Refer to 4 4 2 Control Parameter Position Proportional Gain Hz 70
32. 3 4 Control Signal Wiring 3 4 1 Contact Input Signal There are two input contacts based on the characteristics of individual signals contact A and contact B They can be set by P2 08 and P2 09 It is possible to turn each contact on or off forcibly with Cn 07 Take extra caution however because each contact is automatically turned off when power is off The signal definition of each contact can be modified by P2 00 P2 01 P2 02 P2 03 and Internal Circuit R1 3 3 KO R2 680 O 3 Wiring Method LS y 3 4 2 Contact Output Signal There are two output contacts based on the characteristics of individual signals contact A and contact B They can be set by P2 10 It is possible to turn each contact on or off forcibly with Cn 08 Take extra caution however because each contact is automatically turned off when power is off The signal definition of each contact point can be modified by P2 05 P2 06 and P2 07 Overvoltage and overcurrent may cause damage because a transistor switch is used internally e Rated voltage and current DC 24 V 10 150 MA Contact Note 1 Contact Internal Circuit DC 24V NOTE 1 For alarm and ready output signals the GND24 terminal is separated LS 3 Wiring Method I 3 4 3 Analog Input Ou
33. 4000 Speed r min Speed r min Speed r min LS mecapic 7 3 7 Product Specifications LS EN 0 l 1DJ L 1 m Product Features Applicable Tn n HX A008 Rated Output EE O55 55 NES m Rated torque kgf cm Instantaneous maximum torque Rated rotation speed r min Maximum r min rotation speed kg m2x10 4 1 509 1 927 0 674 1 092 1 509 1 927 Inertia moment gf cm s2 1 539 1 966 0 687 1 114 1 539 1 966 Allowable load inertia iss da IkW s 43 02 52 65 30 44 42 28 EE 47 98 Speed and Standard Quadrature type incremental 2500 P R 2500 P R Resende Serial type 17 21 bit Method of protection Fully closed self cooling IP65 excluding axis penetration Ambient Specifications 0 40 C and features ATE mbient humidity 20 80 RH no condensation Atmosphere No direct sunlight corrosive gas or combustible gas Anti vibration Vibration acceleration 49 m s2 5G Rotation Speed Torque Characteristics Motor inertia x 15 APM SC08A APM SC10A Torque Nm Torque Nm 10 0 5 APM SCOSD Torque Nm 7Rh 1 pop Aq Repeatedly used area TM EA Repeatedly used area Repeatedly used area Continuously used area Continuously used area Continuously used area i i J i 1000 2000 3000 4000 5000 L 1000 2000 3000 4000 5000 D 1000 2000 3000 Speed r
34. 5 145 5 73 115 1 08 1 66 SBO4A 163 5 203 5 133 5 173 5 103 143 1 58 2 16 NOTE 1 Use DC 24 V for brake opening power NOTE 2 The sizes in parentheses apply when attached to brakes 7 Product Specifications E SC Series APM SC04A SC03D APM SCO6A SCO5D APM SC08A SC06D APM SC10A SC07D External Dimensions mo pu pu ps E BLL IENL NESC E mena ee ww NOTE 1 Use DC 24 V for brake opening power NOTE 2 The sizes in parentheses apply when attached to brakes 7 16 LS LS 7 Product Specifications E SE Series APM SE09A SEOGD SE05G SE03M APM SE15A SE11D SE09G SE06M APM SE22A SE16D SE13G SEO9M APM SE30A SE22D SE17G SE12M MON o B SEA DADO EP torso Ph for Fone Supphi A Lx T eta 1 17 Pam Plug L I 5 I T1 INS LEP Err Canresbar Pin gt Dress aasien ef haft key Key External Dimensions Type Name Extemal Dimensions Dimens Weight kg ions L tm tC6 S TW JU SE09A SEO6D SEO5G 95 amem senes et SE1SA SETID SE09G 5550564 167 206 118 19 5 5 3 7 54 9 08 SEO6M SE22A SE16D SE13G 5490588 191 230 142 22 3 5 9 68 11 22 SEO9M SESOA SE22D SE17G 273 312 215 254 166 22 3 5 11 78 13 32 SE12M NOTE 1 Use DC 24 V for brake opening power NOTE 2 The sizes in parentheses apply when attached to brakes LS 7 17 7 Product Specifications LS E
35. Command speed 10000 10000 Details Refer to 4 3 2 Speed Display Follow position pulse pulse 0 Displays the accumulated number of tracked position command pulses St 03 Displays the accumulated number of position command pulses that followed as a result of the rotation of the servo motor because the servo was Feedback pulse 2 30 2 30 turned on If a number is lower than the minimum or higher than the maximum it is displayed as the minimum or maximum Details Refer to 4 3 3 Position Display Position command pulse pulse Oooo Displays the accumulated number of position St 04 command pulses Displays the accumulated number of position Command pulse 2 30 2 30 command pulses that have been entered since the servo turned on Details Refer to 4 3 3 Position Display Remaining position pulse pulse 00 Displays the remaining position pulses that the servo St 05 has to operate This is the difference between command pulse and tracking pulse and displays the remaining position pulses for the servo to operate Pulse error 2 30 2 30 The remaining position pulses which are displayed when the servo is off are ignored when the servo turns on Details Refer to 4 3 3 Position Display Input pulse frequenc Displays input pulse frequency se ae put p quency Kpp 00 p put p Input Pulse frequency 1000 0 1000 0 Current operation torque pd 00 Displays the current load facto
36. Cycle Aluminum electrolytic condensers 5 years Replace with new boards decide after i tion on printed boards inspection Motor bearings Decide after inspection LS 8 Maintenance and Inspection Bn UH 8 2 Diagnosis of Abnormality and Troubleshooting AL U is displayed if a problem occurs during operation In this case try to solve the problem by following this advice If the problem persists contact our service center 8 2 1 Servo Motor Cause of abnormality how to inspect and troubleshooting Symptoms How to inspect Troubleshooting The input of CCWLIM and Turn on the input of CCWLIM and CWLIM is off Refer to 1 2 System Configuration CWLIM Check the parameters of the motor Parameters are incorrecily set lencoder and encoder type control mode Reset the parameters Refer to Chapter 4 Parameters Measure the motor lead terminal with The motor has defects a tester resistance between phases Replace the motor several ohms Locking screws are loose Check locking screws External wiring is incorrect or Check the wiring of the motor and the Redo the wiring cables are disconnected encoder Replace cables Replace the encoder The encoder has defects Check output waves E Contact our service center ui Check the connection of the motor Connection is bad alieni Fix bad connection Motor rotation Input voltage is low Check the input voltage of the dr
37. Done is displayed If you press MODE and it will not be saved et sii to Cn 12 indicates flickering LS 5 Handling and Operation Bn UM 5 2 14 Manual Torque Command Offset Correction Cn 13 This calibrates the offset value of analog torque commands manually The range of adjustable torque command analog voltage is from 1 V to 1 V If offset voltage exceeds this range oVrnG is displayed and there is no correction You can check the corrected offset value in the analog torque command offset P2 21 Example of Si manual torque command offset correction Press MODE to display Cn 00 E Press UP or DOWN to move to Cn 13 Press SET to enter offset correction setting The current offset value displayed o Press UP or DOWN to adjust the value Press SET to save the adjusted offset value Done is displayed If you press MODE and it will not be saved ale re to the parameter screen Cn 13 P T Xe indicates flickering 5 Handling and Operation LS ne 5 2 15 Instantaneous Maximum Load Factor Initialization Cn 15 Reset the instantaneous maximum load factor to 0 Example of _ the instantaneous maximum load factor Press MODE to display Cn 00 E iL ae Press UP or DOWN to move to Cn 15 3 Press SET to enter instantaneous maximum load factor initialization Press SET and the current maximum load factor is displayed
38. E ER I Encoder Pulse Output gt O AO N UJ Gt WE FT We J Ww ae e O 3 S gt S S Upper Level Controller Analog Input 10V 10V BO x Ios mE ew 8 10V 10V TRQCOM 1 CINZA I FS Command GND 8 Connect to Connector Case Note 1 Input signals DI1 to DIA and output signals DO1 to DOS are default signals allocated by the factory Note 2 These are non allocated signals You can change their allocation by setting parameters For more information refer to 4 1 6 External Input Signal and Logic Definition and 4 1 8 External Output Signal and Logic Definition 1 12 LS LS 1 Product Components and Signals ooo 1 2 6 Examples of Speed Position Operation Mode Wiring Digital Input Dei Note 1 Digital Output DC 24V me peu e DH onus eov role c cn LL pep oss up 9 om Tm mH dA cur prr ib pa E mH qr ML exin CHE i e mH E sper ut Analog Output oa AM an Command Pulse Input A Desps DI P Line Driver R Encoder Pulse Output 2 gt TI jr i O AO me UJ 3 S D al Q m Upper Level Controller Analog Input 10V 10V BO AY pee ew 8 T N it WW Ot WE FT We Ww Command Z 10V 10V 7 MI M Fa gt Connect to Connector Case Note 1 Input signals DI1 to DIA and output signals DO1 to DOS are default signa
39. FL lone MNT m ms 4 26 4 2 1 Parameter SYSteM e 4 26 4 2 2 Operation Status Display Parameter cccccccceceeeeeeeeesseseeeeeeeeeeeeeeeeeeas 4 27 4 2 3 System Setting Parameter i 4 30 4 2 4 Control Setting Parameter Fcc seseicccisvencveiscnnecesesnsateresnsateicseccveeesusateiesesamacessanens 4 34 4 2 5 Input Output Setting Parameter i 4 37 4 2 6 Speed Operation Setting Parameter ea 4 40 4 2 7 Position Operation Setting Parameter eee 4 42 4 2 8 Operation Handling Parameter eee 4 45 4 3 OperalonstalUs DISplY a 4 49 4 3 1 Status Display SUDO rai 4 49 4 3 2 va 0121219 B 0 2 4 49 4 3 3 Position DISplay i 4 49 4 3 4 Torque and Load Display eira 4 49 4 3 5 VO Status bp 4 50 4 3 6 Miscellaneous Status and Data Display 4 50 4 3 7 veslonbisbli ll 4 51 4 4 Parameter Setting e 4 52 4 4 1 System Parameter SOlHl iC 253 258 025252 a eia iei iaeiae 4 52 4 4 2 Control Para miele rsSeligoa iii 4 55 4 4 3 Analog Input Output Parameter Setting 4 59 4 4 4 Input Output Contact Point Parameter Setting 4 61 4 4 5 Speed Operation Parameter Setting 4 63 4 4 6 Position Operation Parameter Setting 4 64 LS D Table of Contents oos oo oo MH A5 Alarms and MINI as ai Ea e
40. Inertia Rated power rate KW s 10 55 22 52 22 26 50 65 Speed and position Standard Quad type incremental 2048 P R Quad type incremental 2500 P R detector Serial type 17 21 bit vetta Fully closed self cooling IP55 excluding axis penetration Time rating Time rating EE Cois Ambient Specifications and 0 40 C features AES 20 80 RH no condensation E Atmosphere No direct sunlight corrosive gas orcombusiblegas direct No direct sunlight corrosive gas orcombusiblegas corrosive gas or combustible gas Anti vibration aa acceleration 49 xm 7 Product Specifications LS EN 1 0 l Rotation Speed Torque Characteristics 5 APM SAR3A APM SA01A ee 3 Ela atedly used mE um UT sm 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 Rotation speed RPM Rotation speed RPM Rotation speed RPM APM SB01A APM SB02A tok i m BE zi TT o i Md To 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 Rotation speed RPM Rotation speed RPM Rotation speed RPM LS 7 Product Specifications oo UM Product Features Servo Motor Type Name APM _ SBNO1A SBN02A SBN04A SBN04A B SC04A SCO6A Applicable Drive A002 A004 Rated Output Rated torque Instantaneous maximum torque Rated rotation 3000 speed
41. P 1 25 P1 00 P1 25 Refer to Appendix 1 Refer to Appendix 1 LS p 9 Appendix oo UM 10 1 Howto Set Control Parameters Gain Tuning 1 Auto gain tuning Perform automatic gain tuning by pressing SET in Cn 05 If the load condition of the equipment is not directly related to motor shaft it is hard to perform accurate gain tuning because of characteristics of automatic gain tuning Therefore manual gain tuning is recommended 2 Manual gain tuning Set inertia ratio P 1 00 speed proportional gain P 1 06 and speed integral time constant P1 08 as the standard gain Increase inertia ratio P 1 00 gradually until the motor starts vibrating For more stable control increase speed proportional gain P 1 06 a little at a time until the motor vibrates slightly If you increase speed integral time constant P1 08 the motor stops vibrating Increase speed integral time constant P1 08 in the last stage and the motor will stop vibrating However it takes as much time to reach normal state as the time constant set in responsiveness lf you set speed proportional gain P1 06 too big in an effort to attain satisfying responsiveness overshoot might occur The allowed range of overshoot is generally 10 percent or below 11 1 How to Set Electric Gear Ratio P4 01 P4 05 Electric gear ratio transmission per input pulse X number of pulses per motor rotation transmission per
42. Pin 2 of the last drive to Pin 6 RXD NOTE 2 Connect TXD and TXD and RXD and RXD in twisted pairs NOTE 3 The TXD and RXD in the above table are based on the servo drive LS 6 Communication Protocol ooo I 6 2 Communication Protocol Base Structure The communication of the L7 servo drive complies with the international standard 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 concept of sending and receiving in this manual is based on the host 6 2 1 Sending Receiving Packet Structure The maximum sending receiving packet length of the MODBUS RTU protocol is 256 bytes Make sure that the total length of the sending receiving packet does not exceed 256 bytes The MODBUS RTU communication mode requires space of at least 3 5 char between the end of the previous packet and the beginning of the next packet as show in the following image to distinguish packets Packet Packet2 Packet3 ATA Hm at least 3 5 char at least 3 5 char 4 5 char 1 Sending Packet Structure Additional Function e o 21 1 Ta 2 Receiving Packet Structure Normal Response Additional Function Bys o 1 2 mM n Abnormal Response Additional Function Byes o 1 Node ID er
43. Protocol LS Mecapion oO L 1 1 6 3 6 Position Operation Parameter Communication Address Table The following table lists Modbus communication addresses for the position operation parameter group P4 xx Communication Parameter Position input pulse logic P4 00 UINT16 Electronic i a numerator PA 01 UINT16 Electronic d s numerator P4 02 UINT16 Electronic sal numerator PA 03 UINT16 Electronic aa i numerator P4 04 UINT16 340 Electronic gear ratio P4 05 UINT16 denominator 1 349 Electronic gear ratio P4 06 UINT16 denominator 2 344 Electronic gear ratio PA 07 UINT16 denominator 3 350 352 354 356 358 360 362 364 366 368 Electronic gear ratio mode P4 09 UINT16 Electronic gear ratio PA 08 UINT16 denominator 4 Electronic gear ratio numerator 10 INT16 offset Limit contact function UINT16 P4 Position error range L PA 11 INT32 Position error range H P4 P4 80 Pulse input filter P4 14 UINT16 88 Reserved LS 7 Product Specifications is T Product Specifications 7 1 Servo Motor 7 1 1 Product Features Applicable Drive L7ZUJALL L7LIA001 L7LJA002 L7 A004 0 095 0 159 0 318 0 318 0 637 1 273 Rated torque 0286 047 0985 065 1912 ag speed speed kg m2x10 4 0 0164 0 024 0 045 0 114 0 182 0 321 Inertia moment gf cm s2 0 0167 0 0245 0 0459 0 116 0 186 0 327 Allowable load NENN Motor inertia x 30 Motor inertia x 20
44. T Ta ri Display summary of the servo Displays the operation St 00 St 26 status of the servo Saves system P0 00 P0 27 System configuration information Initial Screen P1 00 P1 29 Save control related parameters MODE Key Saves parameters P2 00 P2 22 IN OUT related to analog and digital input output Speed Saves speed ER UNI aa Operation operation parameters P4 00 P4 14 Position Saves position pulse Operation operation parameters Performs operation The following explains the acronyms related to application mode in the parameter e P Use in position control mode e S Use in speed control mode e T Use in torque control mode Press MODE once to move to the next display mode LS 4 Parameters 4 2 2 Operation Status Display Parameter For detailed information refer to 4 3 Operation Status Display Modification is not possible with the servo on amp Power reset parameter Parameter that cannot be modified with the servo on Parameter Current operation status DEED Displays the current operation status St 00 DIGIT 5 Operation Mode DIGIT 4 ZSPD INPOS INSPD Command READY Operation status DIGIT 3 1 Run Status Details Refer to 4 1 2 Status Summary Display Current operation speed RPM Le Displays the current operation speed Current speed 10000 10000 Details Refer to 4 3 2 Speed Display Current command speed RPM g Displays the current command speed
45. W 100 O L7SA010L 100 W 40 O and L79SA035L 150 W 13 O exist inside If regenerative capacity is high because of frequent acceleration and deceleration open the short circuit pins B Bl and connect external regenerative resistance to B and B Remove the sheath of cables to be used for the main circuit power by approximately 7 10 mn and use devoted crimp terminals Refer to 3 2 2 Power Circuit Electric Sub Assembly Standards 7 10 mm Connect or remove the main circuit power unit wiring after pushing the button of the L7SA001L I L7SA010L drive terminal For drive L7SAO35L use a slot screwdriver for connection and removal 3 Wiring Method LS 3 2 2 Dimensions for Power Circuit Electrical Parts Name L7SA0010 L7SA0020 L7SA0040 L7SA0080 L7SA0100 L7SA0200 L7SA0350 MCCB ABSSSbM BA 0 ABS33M BA A RA RA 24 E RFY 4010M 4020M 4030M HFN 6 6 A HFN 10 10 A HFN 30 30 A Wire AWG16 AWG14 AWG12 1 25 SQ 2 0 SQ 4 0 SQ UA F1510 SEOIL UA F2010 SEOIL UA F4010 SEOIL 10 mm Strip amp Twist 10 mm Strip amp Twist 10 mm Strip amp Twist Crimp terminal Regenerative resistance 100 W 150 W Provided by 400 130 default LS mecapion 3 Wiring Method ooo I 3 3 Timing Diagram 3 3 1 Timing Diagram During Power Input For L7 Series connect single phase power to the C1 and C2 terminals to supply power to the control circuit and three ph
46. be continued on the next page seoza e mm www o HB02A Hollow shaft HB04A Hollow shaft ge Name b War Nes scmeos st 200 CC O a sem e 9 sem se i800 se so smo sew s oof sw ss so seno se mo sem e isso sumo se emo econ 77 000 rotons DTT sevo 80 550 costose sw a jam so e sooo so es eam ume sso so sesso e soo suo ae 00 sm m um cx 60 Scars HBO3H For d ooo UM creas se ooo HC05H E 500 i SE35D 3500 SE30D 3000 SF44ML 4400 Specifically for LG SF75G 7500 SE35A 3500 SF55G 5500 SF60M 6000 Custom made SG22D 2200 LG35D 3500 SG55D 5500 SG75D 7500 SG110D 11000 LL Ser sm mo sem m2 200 tGxM 195 800 0 SGAM ia o o S m 125 6000 FR OR SemG ist mo 00 taso 194 200 o sese 193 so sema 134 eooo sesa 135 eoo samoa 186 noo Somoo 197 15000 FR ee eee Som 900 15000 Sema 999 400 Default Specifically for customers For DS only Custom made Custom made Custom made Custom made 9 Appendix Model Name DB03D 601 DBO6D DB09D DCO6D DC12D 1200 DC18D 1800 DD12D 1200 6 ER 6 50220 NEN DD34D 3400 DE20D 2000 DEAOD 4000 DE60D 6000 02 03 611 12 13 21 22 23 31 32
47. displayed Press MODE for approximately one second to return to Cn 01 5 2 3 Alarm Reset Cn 02 Reset the alarm that went off 1 Contact alarm reset If you turn on ALMRST among input contacts the alarm is reset and becomes normal 2 Operation alarm reset If you press SET in the alarm reset Cn 02 parameter among operation handling parameters ALrst is displayed If you press SET again the alarm is reset and becomes normal Xx f the alarm keeps ringing after the reset check and remove possible causes and then repeat the process Example of alarm reset Displays the speed control mode with main power and control power permitted Press MODE to move to Cn 00 Press UP or DOWN to move to Cn 02 Press SET to enter alarm reset mode Press SET to reset the alarm done is displayed Press MODE for a second to return to Cn 02 5 Handling and Operation LS 5 2 4 Reading Alarm History Cn 03 Check the saved alarm history Example of getting alarm history Displays the speed control mode with main power and control power permitted Press MODE to move to ors 0 DO Press UP or DOWN to move to Cn 03 C Press SET to start reading alarm history Press SET and the most recent alarm code is displayed Example Recent first history AL 42 Main power failure occurred 01 Latest alarm 20 20th previous alarm Press UP or DOWN to read alarm h
48. for a digital input P2 00 signal Input port define 1 0 OxFFFF ae Initial input signal allocation Input signal definition 2 a 0x8765 P2 01 Input Port define 2 00 OxFFFF P2 00 DIGIT 1 SVON DI1 P2 00 DIGIT 2 SPD1 DI2 P2 00 DIGIT 3 SPD2 DI3 P2 00 DIGIT 4 SPD3 D14 P2 01 DIGIT 1 ALARMST DI5 P2 01 DIGIT 2 DIR DI6 Input signal definition 3 a 0x00A9 P2 02 Input Port define 3 O OxFFFF Input signal definition 4 BEEN 0x0000 P2 03 l Input Port define 4 0 OxFFFF P2 01 DIGIT 3 CCWLIM DI7 P2 01 DIGIT 4 CWLIM DI8 P2 02 DIGIT 1 EMG DI9 P2 02 DIGIT 2 STOP DIA P2 02 DIGIT 3 EGEARI input signal definitions ooro P2 02 DIGIT 4 EGEAR2 e P2 03 DIGIT 1 PCON P2 03 DIGIT 2 GAIN2 P2 03 DIGIT 3 P CLR e P2 03 DIGIT 4 T LMT P2 04 e P2 04 DIGIT 1 MODE Input Port define 5 OxFFFF P2 04 DIGIT 2 ABS RQ e P2 04 DIGIT 3 ZCLAMP Unallocated signals Details Refer to 4 1 6 External Input Signal and Logic Definition Output signal definition 1 a 0x4321 Allocate a CN1 connector pin for a digital output P2 05 l signal Output port define 1 0 OxFFFF u l l Initial output signal allocation Output signal definition 2 a 0x0005 i P2 06 P2 05 DIGIT 4 BREAK DO4 Output signal definition 3 a 0x0000 P2 06 DIGIT 1 INPOS DO5 P2 06 DIGIT 2 TLMT
49. min Speed r min Speed r min Torque Nm APM SC05D Torque Nm APM SC06D Torque Nm APM SC07D 3000 1000 2000 3D00 0 1000 2000 3000 Speed r min Speed r min Speed r min LS 7 Product Specifications ooo I m Product Features Applicable Drive L7LIA L7 _JA008 L7 JA020 L7L_JA035 L7L_JA008 L7_JA010 Rated torque kgf cm i Instantaneous maximum torque Rated rotation speed Maximum rotation kg m2x1 0 4 6 659 11 999 17 339 22 679 6 659 11 999 Inertia moment gf cm s2 6 792 12 238 17 685 23 132 6 792 12 238 Allowable load Motor inertia x 10 inertia Rated power rate KW s 12 31 18 98 28 25 40 17 12 31 22 97 Speed and position Standard Quadrature type incremental 3000 P R 39 952 Option Serial type 17 21 bit Method of protection Fully closed self cooling IP65 excluding axis penetration Time rating Continuous Ambient Specifications and temperature 0 40 C features ra mbient humidity 20 80 RH no condensation Atmosphere No direct sunlight corrosive gas or combustible gas Anti vibration Vibration acceleration 49 m s2 5G Rotation Speed Torque Characteristics Torque Nm APM SE1 5A 10 0 gr 15 0 25 0 Torque Nm APM SE09A Torque Nm APM SE22A _ Repeatedly used area b Repeatedly used area Continuously used area 4000 5000 o
50. motor rotation 9 Appendix LS mecapion Quality Assurance Date of l Warranty Model Name L7 Series Period Customer Address Retailer Address This product was produced under strict quality control and test procedures of LS Mecapion technicians Its term of warranty is 12 months after the date of installation If no date of installation is written the warranty is valid for 18 months after the date of manufacture However this term of warranty may change depending on contract terms Free Technical Support If the drive malfunctions while properly used and the product warranty has not expired contact one of our agencies or designated service centers We will repair the drive free of charge Paid Technical Support Technical support is not free if Malfunction was caused by the intentional or unintentional negligence of the consumer Malfunction was caused by inappropriate voltage or defects of machines connected to the product Malfunction was caused by Act of God fire flood gas earthquake etc The product was modified or repaired in a place that is not our agency or service center The LS Mecapion name tag is not attached to the product The warranty has expired Xx Please fill out this quality assurance form after installing the servo and send the form to our quality assurance department the person in charge of technical support Send to LS Mecapion Quality Assurance Service Phone 82 53 593 0066 154
51. noz 14 w Rotation Speed Torque Characteristics Motor inertia x 10 Motor inertia x 5 20 80 RH no condensation Torque Nm APM SE05G Torque Nm APM SE09G Torque Nm APM SE1 3G Repeatedly used area Repeatedly used area Continuously used area Continuously used area 1000 2000 3000 Speed r min Speed r min Speed r min Torque Nm APM SE1 7G Torque Nm APM SF20G Torque Nm APM LF30G BUU Repeatedly used area Repeatedly used area Repeatedly used area Continuously used area 1000 2000 Speed r min Speed r min Speed r min LS 7 Product Specifications m Product Features Applicable Drive L7LIA Rated Output kW Rated torque Instantaneous maximum torque Rated rotation speed Maximum rotation kg m2x1 0 4 51 42 80 35 51 42 80 35 51 42 80 35 gf cm s2 52 47 81 99 52 47 81 99 52 47 81 99 Inertia moment Motor inertia x 5 Allowable load inertia Rated power rate KW s 21 45 34 75 25 53 42 41 25 53 45 39 Speed and position Standard Quadrature type incremental 3000 P R detector Option Method of protection Serial type 17 21 bit Fully closed self cooling IP65 excluding axis penetration Time rating Continuous Ambient temperature 950 xs Specifications and features Ambi
52. number of pulses per motor rotation transmission per motor rotation e g If deceleration ratio is 1 2 ball screw lead is 10 mm and encoder pulse is 3000 in the unit of commands that control each pulse in 1 um 1 Transmission per input pulse 1 x 10 3 0 001 mm 2 Number of pulses per motor rotation number of encoder pulses x 4 3000 x 4 12000 3 Transmission per motor rotation 10 x 1 2 5 mm 4 Electronic gear ratio 12000 x 10 3 5 12 5 Therefore the numerator and denominator of electronic gear ratio are 12 and 5 respectively NOTE 1 There are 12 000 pulses per rotation for a 3 000 pulse encoder because the servo drive controls pulses by multiplying them by four in quadrature type encoder signals NOTE 2 In this case motor speed RPM is calculated as follows Motor speed 60 x electronic gear ratio x input pulse frequency number of pulses per motor rotation NOTE 3 The following is how to calculate error pulse St 05 the difference between command pulse and tracking pulse during operation Error pulse command pulse frequency x electronic gear ratio x 1 0 01 x P1 05 P1 01 NOTE 4 Inthe case of serial type encoder It is 523288 pulse per 1 rotation without X4 3 Backlash Compensation P4 13 Sets backlash compensation by converting the amount of backlashes into the number of pulses if the position changes because of backlashes caused by position operation 4 Electronic Gea
53. of the control panel When installing 2 or more units More than 100 mm space at the top of Spacing the control panel More than 40 mm space at the bottom of the control panel More than 30 mm space at the left and right sides of the control panel More than 2 mm between units Refer to 2 2 2 Installation Inside the Control Panel Install in a location free from iron corrosive gas and combustible gas Install in a location free from vibration or shock Make sure that the installation orientation is correct Do not drop the product or expose it to excessive shock Install in a location that is free from water corrosive gas combustible gas or flammable material Install in a location that can support the weight of the product Do not stand on the product or place heavy objects on top of it Be sure to maintain the specified spacing when you install the servo drive Be sure not to get conductive or flammable debris inside either the servo drive or the servo motor Firmly fix the servo motor onto the machine Be sure to install a servo motor with a gearbox in the specified direction Do not touch the rotating unit of the servo motor while you operate the machine Do not apply excessive shock when you connect a coupling to the servo motor shaft Do not place a load on the servo motor shaft that is heavier than specified Safety Precautions LS oO 1 ll l1 B Wiring Precautions Be sure to use AC 200 230 V for the
54. ratios can be set selected and tuned Gear Ratio DC 10 10 V Reverse direction torque in case of negative voltage command T RA Speed limit DC 0 10 V internal speed command within 1 Repetition Within 1 accuracy Input DC 0 10 V Analog a Angular 45 pir resolution Output Dc 09 10 V Analog range AIU Angular 45 bit resolution Control perform ance LS vecapion 723 7 Product Specifications LS x ee Name L7LIA L7LIA L7LIA L7LIA L7LIA L7LIA L7LIA 001L 002L 004L 008L 010L 020L 0351 A total of 10 input channels allocable SVON SPD1 SPD2 SPD3 ALMRST DIR CCWLIM CWLIM EMG STOP EGEARI1 Digital input EGEAR2 PCON GAIN2 P CLR T LMT MODE ABS RQ ZCLAMP You can selectively allocate a total of 19 functions You can set the positive negative logic of the selected signal A total of 5 channels allocable 3 channels fixed with alarm codes Digital ALARM READY ZSPD BRAKE INPOS TLMT VLMT INSPD WARN output You can selectively allocate a total of nine kinds of output You can set the positive negative logic of the selected signal RS422 Accessible to PC software and the RS422 server Commu nication USB Status monitoring through PC software JOG operation and parameter uploading downloading are possible Serial BiSS encoder and quadrature encoder supported RI Random pre scale output through FPGA maximum 6 4 Mpps pude Standard built in activated when
55. the servo alarm goes off or when the servo is off Regenerativ Both default built in and external installation possible e braking Displaying Seven segments 5 DIGIT Built in function Self setting Loader SET MODE UP and DOWN keys Add on Auto gain tuning phase Z detection manual JOG operation functions program JOG operation automatic analog input calibration S Overcurrent overload overvoltage voltage lack main power input error control power Protection input error overspeed motor cable heating error power module heating drive function temperature error encoder error excessive regeneration sensor error communication error i iid Environment Humidity 90 RH or lower no condensation Enviremm nt Indoors a place free from corrosive gas or combustible gas or a place without liquid or conductive dust LS 7 Product Specifications e 7 2 2 Outline Drawing B L70A001c0 L70A0040
56. the vertical axis until the motor brake comes into effect after receiving the servo off command and then the brake signal Set a PWM off delay when operating the motor brake with the output contact point brake signal Range 0 1000 ms Initial value 10 15 DB control mode P0 17 Sets DB control mode O Hold after DB stop e 1 Release after DB stop e 2 Release after free run stop e 3 Hold after free run stop 16 Servo function setting bit P0 18 Sets drive function per digit e DIGIT 1 gt Sets the operation direction of the servo 0 CCW Forward CW Reverse 1 CW Forward CCW Reverse e DIGIT 2 gt Sets the open collector output O Not for use 1 Use ALO AL1 AL2 output contact point gt open collector A B Z output e DIGIT 4 gt Sets the monitor output voltage can be applied both monitori and 2 0 10 10V 1 0 10V 17 DAC output setting There are four kinds of DAC output each of which is made every 200 usec according to the condition of used data DAC output type P0 19 DIGIT 1 DIGIT 2 Data Content Data Content 0 Speed feedback RPM 5 Following error pulse Speed command RPM 6 DC link voltage V eli Torque feedback Do Speed command user RPM Torque command 76 E Torque command user Position command frequency 0 1 Kpps e DAC output scale P0 24 P0 25 P0 26 PO 27 If the output value is too low or too high output ratio can be a
57. torque command Zero torque clamp voltage 1000 Details Refer to 4 4 3 Analog Input Output Parameter Setting LS Mecavic 4 39 4 Parameters LS EN 0 lh m 4 2 6 Speed Operation Setting Parameter For detailed information refer to 4 4 5 Speed Operation Parameter Setting Modification is not possible with the servo on amp Power reset parameter Parameter that cannot be modified with the servo on Parameter Unt Wa Code Name Minimum Maximum px Speed command 1 RPM Sets 1 6 speed commands based on the speed E command input contact Speed command 1 6000 6000 RI Speed Control Speed Control Speed command 2 RPM P3 01 Analog speed Speed command 2 6000 6000 command e e ale e P3 02 command 1 Speed command 3 6000 6000 DEE an SEE Digital speed Te Speed command 4 RPM 1000 command 2 command 3 command 4 Speed command 5 6000 6000 ON OFF ON Digital speed P3 05 Speed command 6 RPM 2000 command 5 command 6 command 7 P3 06 Speed command 7 6000 6000 Details Refer to 4 4 5 Speed Operation Parameter Setting ESA ESA Z detection operation speed RPM Sets Z detection operation speed Z search operation e 4 300 hau add E D Sets acceleration time for speed commands Bons time Details Refer to 4 4 5 Speed Operation ACC time mem mi O Sets deceleration time for speed commands P3 09 time Details Refer to 4 4 5 Speed Operation Speed comman
58. 0 0 148 0 252 0 508 0 893 1 270 Motor inertia x15 Rated power rate 11 38 27 95 65 90 32 62 41 69 45 78 Speed and position a detector Option Protection ECCUN Time Time rating Specifications and features Ambient Ww cu Atmosphere Anti vibration Serial type 19 bit None V gt AL Fully enclosed self cooling IP55 excluding axis penetration o Cois temperature 20 80 RH no condensation No direct sunlight corrosive gas or combustible gas Vibration acceleration of 49 m s2 5G 1 32 1 56 Rotation Speed Torque Characteristics Torque Nm APM FB01A Continuously used area 4000 Repeatedly used area Torque Nm Speed r min APM FB02A Repeatedly used area Continuously used area APM FBO4A Torque Nm 40 r Repeatedly used area Continuously used area 4000 5000 1 2 3 4000 5000 Speed r min Speed r min Torque Nm APM FC04A 4 4 Repeatedly used area N Continuously used area 4 Torque Nm 1000 2000 3000 4000 APM FCO6A Repeatedly used area APM FC08A Torque Nm Repeatedly used area Continuously used area 5000 Speed r min L 1000 QUUO xxi 100 5000 Speed r min Speed r min 7 11 7 Product Specifications EN 1 Product Features Servo Motor Type APM Applicable Drive L Rated Output Rated torque Maximum i
59. 0 RH no condensation Atmosphere No direct sunlight corrosive gas or combustible gas Anti vibration Vibration acceleration 49 m s2 5G 30 0 35 0 Torque Nm APM SF30A Torque Nm Torque Nm APM LF35D ess ss Repeatedlyusedarea Continuously used area ann RARA 4000 5000 Speed r min Speed r min Torque Nm APM SF1 2M 1 Torque Nm APM LF30M 35 0 90 0 Continuously used area L JA nd 1500 2000 1500 2000 500 1000 1501 2000 Speed r min Speed r min Speed r min LS vecapio 7 7 7 Product Specifications LS EN 0 lh 3 m Product Features Applicable Drive L L7 _JA008 L7LJAO10 L7 A020 L7 A035 Rated torque kgf cm 29 22 55 19 84 41 110 38 116 88 188 3 16 23 24 82 32 46 34 37 55 38 ad kgf cm 87 66 165 57 253 23 331 14 350 6 564 9 Rated rotation 1500 speed kg m2x10 4 6 659 11 999 17 339 22 679 30 74 52 13 Inertia moment gf cm s2 6 792 12 238 17 685 23 132 31 35 53 16 Allowable load inertia Rated power rate KW s 12 28 24 39 39 54 51 61 42 70 65 36 Speed and position Standard Quadrature type incremental 3000 P R detector Serial type 17 21 bit Method of Fully closed self cooling IP65 excluding axis penetration Ambient Specifications and 0 40 C features Ambient humidity Atmosphere No direct sunlight corrosive gas or combustible gas Anti vibration Vibration acceleration 49 m s2 5G Kd 56 72 87
60. 0 16 26 o xw a s se me 15 24 os Load Curve during Stop 100 W or Lower SA Type 10000 0 1000 0 BEER 2222282 SES P E RUM DD Hab al Sees UE JUR M STU M um RM B SM mmy 10 0 E FE Time sec 0 1 110 120 130 140 150 160 170 180 190 200 210 220 230 240 250 260 270 280 290 300 Load Factor 8 Maintenance and Inspection LS B Servo Drive Overload Graphs 750W 1 0KW 1 Graph of Overload during Rotation AL 21 AL 21 Occurrin 0 Load g Time sec Occurrin g Time 169280 0 42320 0 18808 0 10580 0 3590 4 17178 2651 661 8 1378 3216 Load 1692800 4x0 188080 5 105800 o 35904 e uus a 9651 s 618 s s o 3216 lt eee DI Load Curve during Rotation 1000000 0 p 100000 0 10000 0 1000 0 Time sec 100 0 10 _ uri i gi _ SEES ES 110 120 130 140 150 160 170 180 190 200 210 220 230 240 250 260 270 250 290 30 Load Factor 96 2 Graph of Overload during Stop Load 100 or below 1000000 0 100000 0 100 0 AL 21 Occurrin g Time sec Infinite 72512 0 18128 0 8056 9 4532 0 1770 0 898 4 43507 2 10876 8 4834 14 27192 1062 539 04 313 08 200 46 135 6 80 4 Load lt cilea E 210 220 230 240 250 260 270 280 290 300 8 Maintenance and Inspection AL 21 Occurrin g Time sec Load Cu
61. 07 CORE mem o ee o LIAC TT x x ox o COCCO oo 0 24 Input output contact 25 GND24 Grounding of drive power 24 V 1 Product Components and Signals LS 1 3 4 Monitor Output Signal and Output Power Applicable Modes Description S peed Speed Position T Position Speed Torte pon rque orta Analog monitor 28 MONIT1 output 1 10 10 V Analog monitor 29 MONIT2 output 2 10 10 V 37 signals power output _ Terminal for 12 V power output oe e oe ofofo 1 3 5 Pulse Train Input Signal B Line Driver 5 V Applicable Modes Description gt Speed Torque Speed Speed Position TI EX ETE PF F pulseinput o F pulse input input e TT m Pae Repusommt o x x xo x ox 9 m hmm x x xo x 0x Puicom Nbre x Tx x x x x B Open Collector 24 V Applicable Modes Description Speed Speed Position Speed Torque pee P i EXEC EN EX Notforuse for Notforuse eee tate um pomme x x x x fe e em mem o x x xo ox pacon semen o x x xo x ox LS 1 Product Components and Signals 1 3 6 Encoder Output Signal Applicable Modes Description S a peed Speed Position Postion Speed Torque pon sado rore Outputs encoder signals AO received from the motor as AO signals pre scaled BO according to the ratio 5 V line driver method 70 Outputs encoder Z si
62. 1000 2000 3000 4000 5000 Speed r min Speed r min Torque Nm Torque Nm APM SE06D Torque Nm APM SE1 1 D 309 0 r 10 0 Repeatedly used area Repeatedly used area tt _ ________m__ ___l i 11rr1rtr7211111 r 1 67 lt 111212 RM 010000 ci Continuously used area E Continuously used area Continuously used area 1000 Z2UO AU 4000 SULA LU 1000 AL 3000 U 1000 2UUL IML Speed r min Speed r min Speed r min LS vecapio 7 5 7 Product Specifications LS EN UT lg m Product Features Applicable Drive L A020 A004 L7 Rated Output Rated torque Instantaneous maximum torque Rated rotation r min speed Maximum rotation kg m2x1 0 4 17 339 22 679 6 659 11 999 17 339 22 679 Inertia moment gf cm s2 17 685 23 132 6 792 12 238 17 685 23 132 Allowable load MEM Motor inertia x 10 inertia Rated power rate KW s 33 63 48 61 12 31 27 34 42 56 57 85 Speed and position Standard Quadrature type incremental 3000 P R detector Serial type 17 21 bit Method of Fully closed self cooling IP65 excluding axis penetration Ambient Specifications and 0 40 C features T mbient o humidity 20 80 RH no condensation Atmosphere No direct sunlight corrosive gas or combustible gas Anti vibration Vibration acceleration 49 m s2 5G Kd 96 nm ss 754 96
63. 178 Rotation Speed Torque Characteristics roraue tim APM SE16D vorwetnm APM SE22D wasma APM SEO3M 35 0 10 0 Repeatedly used area Repeatedly usedarea Continuously used area Continuously used area o Gohtinuoudly mem area 3000 0 X 000 1500 2000 Speed r min Speed r min Speed r min APM SEO6M Torque Nm APM SEO9M a APM SE1 2M 30 0 Repeatedly used area Repeatedly used area Repeatedly used area Continuously used area in Continuously used area i Continuously used area 500 1000 1500 500 1000 1500 2000 i f 500 000 1500 2000 Speed r min Speed r min Speed r min LS 7 Product Specifications I m Product Features Rated Output KW N m Rated torque kgf cm N m Instantaneous maximum torque kgf cm Rated rotation speed r min Maximum rotation kg m2x10 4 30 74 30 74 52 13 30 74 52 13 83 60 Inertia moment gf cm s2 31 35 31 35 53 16 31 35 53 16 85 24 Allowable load E Motor inertia x 5 inertia Rated power rate KW s 29 66 35 88 53 56 42 70 69 96 98 16 Speed and position Standard Quadrature type incremental 3000 P R detector Serial type 17 21 bit Method of protection Fully closed self cooling IP65 excluding axis penetration Ambient Specifications and temperature 0 40 C features Ambient humidity 20 8
64. 33 FBO1A 100 FBOZA 200 FBO4A 400 FC04A 721 400 FCO6A 722 FCO8A 723 800 724 725 00 726 500 721 728 700 on 724 1000 FCOSD 3 FC05D FCO6D FCO7D 9 Appendix LS n 9 2 Test Drive Procedure Thank you for purchasing our product Conduct test drive following the process described as follows In order to prevent accidents conduct an operation test and test drive in manual JOG operation when there is no load the motor exists without any coupling or belt after attaching the servo motor to your equipment Afterwards connect the load and conduct the final test drive 1 Product check Check the name tag to verify that the product matches the model you ordered Refer to Chapter 1 1 e Aname tag is attached to the right side of the product For motors right side of the shaft e Main check point Product capacity and main options 2 Power connection Wire single phase AC 220 V to control power input C1 and C2 and three phase AC 220 V to main power input L1 L2 and L3 Refer to Chapter 3 2 e The product runs even if you input single ohase AC 220 V as the main power However such wiring reduces torque and the lifespan of the product Be sure to input three phase AC 220 V 3 Signal cable wiring Wire CN1 I O CN3 CN4 CN5 communication CN2 encoder cable and motor power cable per operation mode Refer to Chapter 1 2 and Chapter 3 e Be sure to use robotic cables if the motor requires move
65. 5 Handling and Operation ooo UM 5 2 Handling 5 2 1 Manual JOG Operation Cn 00 The drive performs manual JOG operation by itself 1 Press SET in Cn 00 and JoG is displayed 2 Press SET and SV on is displayed and the servo turns on for operation If an alarm triggers check wiring and other possible causes before restarting Press and hold UP and the motor turns forward CCW at the JOG operation speed P3 12 Press and hold DOWN and the motor turns counterclockwise at the JOG operation speed P3 12 Press SET again and the manual JOG operation finishes and the servo turns off gt Ol dm Press MODE for a while and then you return to the parameter screen Cn 00 Related Parameters Speed Initial P3 08 Speed command acceleration time ms 0 P3 09 Speed command deceleration time ms 0 P3 10 Speed command S curve time ms P3 11 Speed operation pattern o P3 12 JOG operation speed RPM The parameter marked with cannot be modified when the servo is on Example of handling manual JOG operation Order Loader Displays Keys to Use What to Do Displays the speed control mode 1 with main power and control power permitted Tu Press MODE to move to Cn if t 00 Press SET to enter manual JOG operation Press and hold UP when the servo is on and the motor turns forward CCW Lift your hand off the key and the motor stops Press and hold DOWN when the
66. 800 W F Flat Type 850 900 W communication type 1 0 kW N 19bit S Turn Abs purposes Foot Mount Serial BISS No gearbox G1 For general industrial M 19bit M Turn Abs G2 For general industrial purposes Flange Mount G3 Precise Gearbox Flange Size Shaft Cross section 40 Flange N Straight 60 Flange K One sided round 80 Flange key standard Oil Seal and Brake 100 Flange C C Cut Non existent None 130 Flange D D Cut attached 180 Flange T Tapering 1 Oil Seal attached 220 Flange Es Double sided 2 Brake attached 250 Flange 3 Oil Seal and Brake 280 Flange round key H Hollow Shaft attached c XL on m to DID ub Ls 1 1 2 Part Names B Servo Motor 80 Flange or below 1 Product Components and Signals Motor Power Motor Cable Encoder Connec et Connector ne Ea Ne Ee y E T Encoder D Cable of do emo woror E Shaft D i e Encoder Cover Bearing Cap Flange Frame Housing 80 Flange or below Flat Type 130 Flange or higher Shaft Encoder connector Power connector r b ante De Flange Frame Motor Mold Housing Encoder Cover
67. ABU RP connecter Pin ter Porar BSupgb tE Type Name Weight K iameter 7 20 LS LS Mecapion 7 Product Specifications B FB Series APM FB01A APM FB02A APM FB04A Power Supply Connector Brake Connector Encoder Connector 4 16 PCD70 Pin Signal Color 2 SO White 4 ov Black 5 Shield FG Power Connector MA Blue 7 Sto Pink o Pim Signa 9 v Red De a Encoder Connector O mo O External Dimensions FBOIA 1090492 149 1090492 79 119 2 43 5 43 0 72 1 3 u 120 160 2 90 130 2 54 5 54 0 94 1 52 FBO4A 140 150 2 110 150 2 74 5 74 1 32 1 9 NOTE 1 Use DC power 24V to operate the brake NOTE 2 The sizes in parentheses apply when attached to the brakes LS Mecapion 7 21 LS mecapion 7 Product Specifications E SC Series APM FC04A FC03D APM FCOGA FCO5D APM FC08A FC06D APM FC10A FC07D TE IE id L i When the cable direction is opposite from the shaft direction Black V white UU Encoder Connector External Dimension
68. Best choice for greatest benefit LS Mecapion always tries its best to bring the greatest benefit to its customers a AC Servo User Manual VER 1 5 f N Safety Precautions e Be sure to read the safety precautions before use and use the product accordingly LS d Mecapion After reading this user manual keep it in a place where users can always see it LS p Introduction oo n Introduction Hello Thank you for choosing LS Mecapion L7 Series This user manual describes how to use the product and what precautions to take Failure to comply with guidelines may cause injury or product damage Be sure to read this user manual before you use the product and follow all guidelines he contents of this manual are subject to change without prior notice depending on software versions e No reproduction of part or all of the contents of this manual in any form by any means or for any purpose shall be permitted without the explicit written consent of LS Mecapion The patent trademark copyright and other intellectual property rights in this user manual are reserved by LS Mecapion No use for purposes other than those related to the product of LS Mecapion shall be authorized Safety Precautions LS ENS A ooo Safety Precautions Safety precautions are categorized as either Danger or Caution depending on the seriousness of the precaution Failure to comply with guidelines may cause death or
69. CCWLIM B prohibited CWLIM P2 01 Set Digit 4 i i 0 EH o LS sl 4 17 4 Parameters LS B Examples of changing input signal logic definitions The table below shows examples of changing input signal logic definitions The sequence of changing logic signal contact A of SVON CN1 47 to contact B and logic signal contact B of CCWLIM 1 20 to contact A is as follows Before changing After changing IU 4441 P2 08 6006 06 00 14 cee 4 LI IMI IM 04014 P2 09 ILILILI 4d UM ee pes Press UP or DOWN at the blinking 1 pt cursor to move to P2 08 Press SET to enter parameter edit 2 mode The parameter is displayed as 11111 DER Press UP or DOWN at the blinking cursor to change the number to 11110 Hold down SET for approximately one second After two flickers the number is saved as 11110 for the parameter Hold down MODE for approximately one second to return to P2 08 Press UP or DOWN at the blinking cursor to change the number to P2 Press SET to enter parameter edit mode The parameter is displayed as 10001 Press LEFT or RIGHT at the blinking cursor to move to the desired digit DIGIT 2 Press UP or DOWN at the blinking cursor to change the number to 10011 Hold down SET for approximately one second After two flickers the number is saved as 10011 for the parameter Hold down MODE for approximately one second to return to P2 09 In case of ex
70. Code 03 Byte Count 06 Register Value Hi 108 02 Register Value Lo 108 2B CRC Hi CRC Hi OPE LG CRC Lo LS 6 Communication Protocol oo n 3 Write Single Register 0x06 Write values on the single register 16 bit data z 5 Register Value Lo 5 Register Value Lo E reu TS Register Address Lo Register Address Lo 1 2 NN Exception Code 0x01 0x06 Example Slave Address Node ID Node ID Function Code 06 Register Address Hi 00 Register Address Lo 01 Register Value Hi 1 00 Register Value Lo 1 03 CRC Hi CRC Hi CRC Lo CRC Lo Request Response Slave Address Node ID Node ID Function Code 06 Register Address Hi 00 Hegister Address Lo 01 Register Value Hi 1 00 Register Value Lo 1 00 CRC Hi CRC Hi CRC Lo CRC Lo 6 Communication Protocol LS EN 0 lo 1 1 4 Write Multi Register 0x10 Writes values on the continuous register block 16 bit data Sending Packet Normal Receiving Packet o wen quo E EE RR Dm Example Slave Address Node ID Node ID Function Code 10 Starting Address Hi 00 Starting Address Lo 01 Quantity of Registers Hi 00 Quantity of Registers Lo 02 Byte Count 04 Registers Values Hi 00 Registers Values Lo OA Registers Values Hi 01 Register
71. DOWN to move to PO 20 Press SET to enter parameter edit mode The parameter is displayed as 00000 Press LEFT or RIGHT at the C blinking cursor to move to the desired digit DIGIT 3 Press UP or DOWN at the blinking DO DIGIT 3 position to change the number to 0500 Press and hold SET for approximately one second After two flickers the number will be saved as 0500 in the parameter Press and hold MODE for o approximately one second to return to PO 20 NOTE 1 _ indicates flickering NOTE 2 f you hold down UP DOWN at the current cursor in the parameter window the number continues to increase decrease 4 Parameters 4 1 4 Data Display 1 Binary Maximum 0b11111 D Minimum 000000 2 Hex 2 Maximum OxFFFF D Minimum 0x0000 Li on LC Li LC p LA imr TX na 23 Dc ZE 3 16 bit Unsigned Integer 2 E g 1234 D E g 0 Um en m Om UN v No Or e Ed EIE or an l im 4 NON ca iter LX P e nx 4 16 bit Signed Integer 2 E g 5678 D E g 1234 2 E g 5678 D E g 1234 P cm JM a P cm n LC LI RESI VE T Ta PC DT P on 5 16 bit Decimal Point Display E g 123 4 D E g 123 4 2 E g 4123 4 D E g 123 4 N O De n
72. E NFOS Output signal logic definition number DO1 Contact A Contact B DO2 Contact A Contact B DO3 Contact A Contact B DO4 Contact A Contact B DO5 Contact A Contact B Signal Name ED CN1 Pin Default Allocation Number E Bei igna igna efau Initial COREG E Logic Setting Parameter Allocation Name 40 41 38 39 Definition Alarm Servo Ready Zero speed achieved Brake Position reached NOTE 1 Forthe purpose of the input signal logic definition Contact A is 1 and Contact B is 0 4 Parameters LS wear 4 Examples of Changing Output Singal Logic Definition Output signal logic definitions can be changed at P2 10 Set output singals as shown in the table below when they are allocated as below Output signal logic definitions ALARM READY SPD BRAKE INPOS Output signal logic definition number DO1 Contact A Contact B DO2 Contact A Contact B DO3 Contact A Contact B DO4 Contact A Contact B DO5 Contact A Contact B Signal Name Input CN1 Pin Default Allocation Number Output Signal Contact B Signal Default Initial Logic Setting Parameter Allocation 40 41 38 39 Delinition Alarm P2 10 Set Digit 1 Servo Ready P2 10 0x11110 Zero speed achieved Brake Position reached For the purpose of the input signal logic definition Contact A is 1 and Contact Bis 0 LS 4 Parameters I B Example of Changing Output Signal Allocation T
73. Exception code CRC MSB CRC LSB LS 6 3 6 Communication Protocol LS ENS 3 Protocol Packet Code Node ID Indicates the exchange number of the servo drive to send Set the exchange number of the servo drive to P0 05 Function Code The following are the Modbus RTU standard function codes supported by the L7 servo drive e S Head E User defined Ox6A Read each block register function code Data Sending For read register commands the Modbus address the number of registers and the number of bytes will be set For write register commands the Modbus address the number of bytes and other necessary values will be set Receiving In the case of read register commands normal responses are received with the same node ID and function code as they are sent In terms of data registers are received according to the order of sent registers In the case of write single register commands the same data as those sent are received In the case of write multi registers the start address of the register whose data were to be used with the write multi register command and the number of registers are received Abnormal responses consist of node ID error code and exception code The packet structure is the same for all abnormal responses regardless of their function codes 4 CRC Enter the 16 bit CRC check sum Send 1 byte of MSB and LSB each 5 Exception Code The followings are the exc
74. I d eem Motor setting error Motor Motor ID setting error Motor ID setting error error E C Lt I L UC p h I Da p 23 p Check input voltage and wiring Check for braking resistance damage Overvoltage Overvoltage Check for excessive regenerative operation Check regenerative resistance dc RST power fail Main power failure Check power unit wiring and power HL Control power fail Control power failure Check power unit wiring and power Check the encoder encoder setting Over speed limit Overspeed encoder wiring gain setting motor wiring motor ID electronic gear ratio and speed command scale Check the excessive position command pulse setting P4 11 wiring limit contact point gain setting encoder setting and electronic gear ratio Check for equipment confinement and load 23 p 2a Check pulse command frequency from the upper level controller Check command pulse type HL Bb3 Parameter checksum Factory reset Cn 17 Invalid factory setting Invalid factory setting setting Factory setting error setting error Factory reset Fadoryreset On 7 17 20707 Output contact point ML a GPIO setting Factory reset Cn 17 Pulse command frequency error LS sl 4 67 4 Parameters LS ne 4 5 2 Servo Warning Status Summary Display List If a warning code is displayed as the current operation status St 00 the servo dr
75. LS LS p 4 Parameters speed calculation at a very low speed Therefore an accurate motor constant and inertia ratio are closely associated with the stability of motor speed control Speed integral time constant P1 08 Calculate the integral value of the speed error which is the difference between the command and the current speed and convert it into a torque command by multiplying it by integral time constant A decreased integral time constant solves the transient response issue and thus improves speed tracking If the integral time constant is too small however overshoot occurs On the other hand if the integral time constant is too big excessive response drops and proportional control takes over Recommended value 10000 speed proportional gain P1 06 Speed Ed High PEE Command gt 2 speed Tracking speed Time Speed proportional gain P1 06 Convert the speed error into a torque command by multiplying it by proportional gain If the result value is large speed response accelerates and thus speed tracking increases If the value is too big however vibration occurs If the value is too small speed response slows down and speed tracking decreases Consequently the servo loses its power Speed Command speed Time Speed feedback filter time constant P1 11 If the speed of the motor changes because of vibration of the drive system or vibration occ
76. LS 4 Parameters 4 4 4 Input Output Contact Point Parameter Setting 1 Position Operation Parameter Setting Position reached output range P2 11 If the error pulse which is the difference between the command position pulse and the follow position pulse reaches this range a signal is output to indicate that the position has been decided Pulse counter Command pulse counter Follow puise counter Error pulse Position reach range d output i i C Position decision Completed output If you set too great a value the target position complete output signal might occur during operation depending on the position command pulse Therefore It is important to set an appropriate value Position operation follow error range P4 11 Pulse counter Command pulse counter ir Position follow error ranae Follow pulse counter Time Position follow error alarm If the error pulse is greater than the position operation tracking error range the position tracking error alarm AL 51 triggers LS 4 61 4 Parameters ne 2 Speed Operation Parameter Setting Speed Command speed Range of output for f speed reached P2 13 Zero speed output range P2 12 Time Zero speed ZSPD Speed reached INSPD Zero speed output range P2 12 When the current speed becomes lower than the set speed the zero speed signal is output Speed reached output range P2 13 The speed
77. N 0 lAhh o L1 1 1 E SF Series APM SF30A SF22D SF20G SF12M APM SF35D SF30G SF20M APM SF30M Erase action Ter eft hey uu Lie UR s c r w u 9 SF30A SF22D 262 315 183 235 35 0 01 12 4 19 2 SF20G SF12M SF50A SF35D 296 348 217 268 35 0 01 17 7 24 9 SF30G u n SF30M 346 398 398 267 818 318 217 ana 35 0 01 a 26 3 33 26 3 33 4 NOTE 1 Eye bolts apply to SF30M or higher models NOTE 2 Use DC 24 V for brake opening power NOTE 3 The sizes in parentheses apply when attached to brakes LS 7 Product Specifications E SG Series APM SG22D SG20G SG12M APM SG35D SG30G SG20M APM SG30M External Dimensions Shaft Key Dimensions Weight mte ur pio lt e a oe re Kg SG22D 23 172 122 16 95 SG20G SG12M 303 238 30 76 SG35D 257 192 21 95 i 142 65 22 35 0 016 55 10 5 SG30G SG20M 323 258 E 35 7 293 228 30 8 SG30M 178 EN Si MM a m 44 94 NOTE 1 Use DC 90 V for brake opening power NOTE2 The sizes in parentheses apply when attached to brakes LS 7 19 7 Product Specifications LS B APM HBO1A Hollow Shaft APM HB02A Hollow Shaft APM HB04A Hollow Shaft Ed EL 16 Fol Plug Puget 4 Ends Gonnanbor Pin AMP External Dimensions Type Name Hollow Weight K de L LM LC CB Shaft gnt Kg Diameter E APM HEO9A Hollow Shaft APM HE15A Hollow Shaft DA aA 40 cH 4 Poke Plug Ph DO
78. OWN and the motor turns reverse CW until it finds phase Z Press SET to end the phase Z search operation mode The servo turns off and done is displayed x indicates flickering 5 Handling and Operation LS 5 2 8 Input Contact Forced ON OFF Cn 07 The drive forcibly turns on off the input contact without an upper level controller or I O jig 1 Input Contact Forced ON OFF Setting The positions of the seven segment LEDs and CN1 contacts correspond as follows If an LED that corresponds to a contact is turned on off it indicates ON OFF accordingly Input Contact Setting CN1 pin 48 18 19 20 46 17 21 22 23 47 number Allocated a STOP EMG CWLIM CCWLIM ALMRST SPD3 spD2 SPDi SVON name Press UP on each digit and the A 8 6 4 and 2 signals turn on or off forcibly Press DOWN on each digit and the 9 7 5 3 and 1 signals turn on or off forcibly Press MODE to move to another digit 2 Example of Input Contact Forced ON OFF SVON ON EMG ON EMG OFF SVON OFF Example of o input contact forced ON OFF Press IMODE to move to 61 00 cal Press UP or DOWN to move to Cn 07 Press SET to enter input forced ON OFF mode 4 Press SET to enter forced input bit setting 5 10 LS Mecavio LS 5 Handling and Operation Press DOWN to turn on the servo forcibly Press MODE at the blinking cursor o E to move to the desire
79. Q signal on the upper level controller to ON The servo drive checks the ABS RQ signal for 10 ms The servo drive prepares the transmission of multi turn data for 100 ms The servo drive transmits multi turn data for up to 140 ms based on 16 bit multi turn data The servo drive prepares the transmission of single turn data for 100 ms oo PF WON The servo drive transmits single turn data with the pre scaler ratio applied for up to 1100 ms based on 19 bit single turn data T The servo drive operates with normal encoder output signals 100 ms after the single turn data are completely transmitted Absolute data transmission Pre scaler pulse output ABS R ja DA gl Bra i ar Mais i E o bm Fa i FTA A M Al A F i Mg 1 Multi Turn Data aingle Turn lata i Fi i if E B fi k MAX i MAX ue Mi Fi 10s toms 1 M ns 100s 100ns i 1006 Pe LS cap 4 Parameters e 4 Parameters 4 1 How to Use the Loader 4 1 1 Name and Function of Each Part Display 5 digit FND data Digit 5 Digit 4 Digit 3 ae 2 Digit 1 Displays the decimal point 0 ie iB H a E g 123 4 MODE Change display mode LEFT Move to another data digit In the case of 16 bits the minus symbol is used UP Increase displayed data In the case of 32 bits a dot is used DOWN Decrease displayed data SET Confirm displa
80. Sets position control proportional gain 2 P1 02 2 Details Refer to 4 4 2 Control Parameter Position command filter ms Sets filter time constant for internal position P1 03 time constant command which is reflected by electric gear ratio Pos command filter time 1000 Details Refer to 4 4 2 Control Parameter constant Setting Position feedforward gain pd 0 Sets position feedforward control ratio P1 04 Details Refer to 4 4 2 Control Parameter Pos feedforward gain 100 Setting Position feedforward lime Sets position feedforward control filter time Filter time constant constant P1 05 Pos feed dt Details Refer to 4 4 2 Control Parameter os feedforward time 1000 Setting constant Speed proportional gain 1 rad s Sets speed control proportional gain 1 P1 06 Details Refer to 4 4 2 Control Parameter Speed P gain 1 5000 Setting Speed proportional gain 2 rad s Sets speed control proportional gain 2 P1 07 l Details Refer to 4 4 2 Control Parameter Sets speed control integral time constant 1 P1 08 constant 1 Details Refer to 4 4 2 Control Parameter seem Speed integral time 2 ms 15 l P1 09 constant Sets speed control integral time constant 2 Speed time constant 2 1000 P1 10 time constant Sets filter time constant for speed command Spd command filter time 1000 values constant 4 34 LS LS 4 Parameters Parameter Um mir Gode Name Minimum M
81. a Plug specifications MS3108B MS3106B 20 4S Series 2 Drive connection U V W and FG a U V and W pin specifications UA F2012 SEOIL b FG pin specifications 2 5 4 ring terminal 3 Cable specifications 4Cx2 0SQ AWG14 Note The drive end connection of the APM SE03M Series cable uses the UA F1512 pin APM SF30A Motor connection Drive be APM SF22D 4 APM LF35D pOr APM SF20G sorena Do APM LF30G fm APM SF12M APM SF20M For power Sanaa ue T ee APM LF30M Power cable PODOIS APM SG22D nn Motor connection MS Military Standard piana a Plug specifications MS3108B MS3106B 22 22S ENGATE 2 Drive connection U V W and FG APM SG12M a U V and W pin specifications UA F4012 SEOIL APM SG20M b FG pin specifications 3 5 4 ring terminal APM LG30M 9 Cable specifications 4Cx3 5SQ AWG12 All models fixa wed Brown Power cable o Forpawer for flat type APCS APM FB motor small POOOFS and 2 Motor connection capacity APM FC c Plug specifications JN4ATO4NJ1 R JAE Series d Socket specifications ST TMH SC1B JAE 3 Drive connections U V W and FG e U V and W pin specifications UA F4012 SEOIL f FG pin specifications 1 25 4 Ring terminal 4 Cable specifications 4Cx0 75SQ AWG18 LS mecap 7 Product Specifications Category Product Type Name Applicable T Motor connection Drive connection mN AO E Bis LO
82. al is high Forward rotation CCW counterclockwise Details Refer to 4 4 6 Position Operation Parameter Setting h 4 Parameters eme um me Code Name Minimum Maximum Electronic gear ratio Sets electronic gear ratio numerator denominator 0 1000 P4 01 numerator 1 1 2 and 3 Electric gear num 1 30000 Electronic Gear EGEAR EGEAR Ratio 1 Electronic Electronic gear ratio 1000 2 Numerator Gear Ratio P4 02 numerator 2 Denominator Electric gear num 2 30000 Electronic gear ratio numerator O Electronic Electronic gear ratio 1000 SEE VER Electronic gear gear ratio 1 P4 03 numerator 3 ratio denominator 0 Electric gear num 3 30000 ratio numerator 1 Electronic gear ratio ON OFF ii iu 1000 Electronic gear gear ratio P4 04 numerator ratio denominator 1 Electric gear num 4 30000 Electronic gear ratio 3608 OFF ON eens Cm P4 05 denominator 1 gear ratio 3 ratio denominator 2 Electric gear den 1 30000 Electronic gear Electronic gear ratio 2000 ON ON Electronic P4 06 denominator 2 Electronic gear gear ratio 4 Electric gear den 2 30000 ec lesar i The electronic gear ratio is the a feti hs mEE 3000 numerator denominator form of the relation P4 07 plore between the position command input pulse and Electric gear den 3 30000 the motor encoder pulse It is important to set the ratio so that there is no error during position r l P4 08 eee Details Refer to 4 4 6 Position Operati
83. al temperature to 0 Displays the internal temperature sensor value t 19 sa Ree ML vise ie E speed of the currently RatedRPM o 10000 PEU vidi ne pomum speed of the currently Maximum RPM o 10000 er Rated motor current fA oo Displays the rated current of the currently Rated current 0 00 65535 MStalled motor U phase current offset O m o Displays the U phase current offset St 23 U Phase current 200 200 offset V phase current offset Im o St 24 00 offset Duro DEEMENI Displays the version of the currently installed Software version Details Refer to 4 3 7 Software Version Display Displays the V phase current offset FPGA HA St 26 FPGA Version Displays the version of the currently installed FPGA version LS Mecavic 4 29 4 Parameters 4 2 3 System Setting Parameter For detailed information refer to 4 4 1 System Parameter Setting Modification is not possible with the servo on amp Power reset parameter Parameter that cannot be modified with the servo on Parameter Unit ia o Code Mame Minimum Maximum P0 00 Motor ID P0 01 Encoder type 5 Encoder pulse ppr 3000 P0 02 Enc resolution 1 30000 Select operation 1 mode P0 03 Operation mode communication speed P0 04 RS422 baud rate P0 05 DH 4 30 Serial type encoder Reads the motor ID from the encoder and displays it Quadrature Type encoder
84. ameter Press MODE to change status to o position operation P bb status which is the summary display of the current status NOTE 2 f you hold down UP DOWN at the current cursor in the parameter window the number continues to increase decrease NOTE 1 _ indicates flickering 4 Parameters LS oO 1 1 1 3 Example of changing speed proportional gain 2 P1 07 200 rad s gt 500 rad s Displays the speed control mode with main power and control power permitted Press MODE to move to P1 00 Press UP or DOWN to move to P1 07 Press SET to enter parameter edit mode The parameter is displayed as Press LEFT or RIGHT at the blinking cursor to move to the desired digit DIGIT 3 Press UP or DOWN at the blinking DIGIT 3 position to change the number to 00500 Press and hold SET for approximately one second After two flickers the number will be saved as 00500 in the parameter Press and hold MODE for approximately one second to return to NOTE 1 _ indicates flickering NOTE 2 f you hold down UP DOWN at the current cursor in the parameter window the number continues to increase decrease LS 4 Parameters oo 4 Example of changing DAC output offset 1 PO 20 0 Unit V gt 500 Unit V Displays the speed control mode with main power and control power permitted Press MODE to move to P1 00 Press UP or
85. apacity default e A Quadrature B Seria e kW LS vecapion 4 51 4 Parameters LS EN 0 h JJ 4 4 Parameter Setting 4 4 1 System Parameter Setting 1 Motor ID setting PO 00 e Serial encoder Reads the motor ID from the encoder and displays it e Incremental encoder Sets motor ID directly 2 Encoder setting e Encoder type PO 01 Numb Encoder Type mM Encoder Type Quadrature type 3 Serial type Abs encoder 12 bit Serial type Abs encoder 16 bit Serial type Abs encoder 20 bit Serial type Abs encoder 24 bit x The bits in parentheses in the previous table indicate peak multi turn data e Encoder pulse P0 02 Set this pulse when using an incremental encoder Set the number of pulses per turn for a signal For a serial encoder encoder data are set directly 3 Operation mode setting P0 03 Sets operation mode of the servo O Torque contoloperaion 3 Mode contact ON Position control operation Mode contact OFF Speed control operation Mode contact ON Speed control operation 4 Mode contact OFF Torque control operation Mode contact ON Position control operation 5 Mode contact OFF Torque control operation 4 System ID setting An ID can be given to the servo if R8422 communication and BUS communication are used for communication with the servo Communication related options are required in this case e Communication speed setting P0 04 You can select the baud rat
86. ase power to L1 L2 and L3 to supply power to the main circuit The servo signal becomes Ready after the maximum time of 120 ms that is required to reset the inside of the device If you change the signal to ON the servo starts operation in 40 ms 200 ms ad a Main power control power supply Control power establishment 5 V I Control program 2o ms reset Main power establishment Alarm Normally On Servo Ready amp ja 10 ms I Servo On i Clear DB PWM output motor rotation 3 Wiring Method LS mecapion ne 3 3 2 Timing Diagram at the Time of Alarm Trigger When the alarm triggers in the servo drive PWM is blocked and the motor stops rr Never reset the alarm before you solve the problem that triggered the alarm and change the command signal Servo ON to OFF 200 ms sh im tt it it Main power control power supply Control power gt 150 ms establishment E SEE e di db iE Control i rog program i mu Reset MEME I EE Main power establishment i anomaly i Remove No causes that Alarm triggered gt D Si O te D D o o lt Normally On I i alarm Pod Servo RDY i E Servo On i i Clear DB PWM Motor rotation RESET LS 3 Wiring Method ooo EH
87. aximum Speed feedback filter time 0 1 ms Sets filter time constant for speed search values P1 11 constant Details Refer to 4 4 2 Control Parameter Setting Spd feedback filter time Torque command filter time ms 10 Sets filter time constant for torque command values P1 12 constant Details Refer to 4 4 2 Control Parameter Setting Trq command filter time Forward rotation torque o6 300 Sets forward rotation torque limit P1 13 limit Details Refer to 4 4 2 Control Parameter Setting Negative torque limit an Sets negative torque limit ins ian us Details Refer to 4 4 2 Control Parameter Setting Gain transfer mode Po 000 Sets gain transfer mode OxOF DIGIT 1 0 Use only gain 1 1 ZSPD automatic gain transfer In case of zero speed transfer from gain 1 to gain 2 In the opposite case transfer from gain 2 to gain 1 2 INPOS automatic gain transfer In case of IN position transfer from gain 1 to gain 2 In the opposite case transfer from gain 2 to gain 1 3 Manual gain transfer When the gain 2 contact is on transfer from gain 1 to gain 2 In the opposite case transfer from gain 2 to gain P1 15 1 Conversion mode 0x00 0x43 Sets P and PI control transfer modes OxFO DIGIT 2 0 Control PI only 1 Control P if the command torque is higher than the set torque P1 24 2 Control P if the command speed is higher than the set speed P1 25 3 Control P if the current acceleration i
88. bited P2 01 Set Digit 3 CCWLIM ES P2 09 0x10001 Reverse rotation prohibited P2 01 Set Digit 4 Emergency stop P2 02 Set Digit 1 EMG Stop P2 02 Set Digit 2 omer LS capio 4 Parameters 4 Example of Changing Input Signal Logic Definitions Input signal logic definitions can be changed in P2 08 and P2 09 When input signals are allocated as below settings will be done as shown in table below Input signal logic definition SV ON Input signal logic definition number SPDI SPD DI Contact AJ Contact BI 3PD3 Dl Comtgct AJ Contact BI A RST DIS Contact AJ Contact BI Un DIA Comtmct AJ Contact BI CCWLMT DIS Contact AJ Contact B CWLMT DIG Contact AJ Contact BI EMERGNCY DIY contact Contact B STOP DIS Contacta f Contact B EGEARI DIS contact amp f Contact B EGEAR DIA Contact AJ Contact BI POON x GAIN P CLR T LMT MODE ABS REQUEST ZCLAMP Signal Name CN1 Pin Default Allocation Number Input Cont signal Default Parameter 17 47 act B logic setting Allocation definition Servo ON Multi speed 1 Multi speed 2 Multi speed 3 P2 08 Set Digt4 SPPS no Alarm reset P2 08 Set Digit 5 ALMRST a E P2 09 0x11101 Emergency stop Stop NOTE 1 For the purpose of the input signal logic definition Contact A is 1 and Contact B is O Select rotation direction P2 01 Set Digit 2 Forward rotation prohibited P2 01 Set Digit 3 Reverse rotation
89. ble than usual Exterior i Clean with cloth or air inspection d pressure amage Disconnect from the drive Insulation and measure insulation resistance At least once a year resistance measurement Normal resistance is 10 MS or higher Note 1 If resistance is 10 M or lower contact our service center Once 1 Oil seal Remove it from the machine This only applies to motors replacement Very al at the for replacement with an oil seal Every 20 000 hours or once every 5 years at Contact our service center the least Do not disassemble the servo motor for cleaning yourself General inspection NOTE 1 Conduct measuring between FG and one of the U V and W power lines of the servo motor LS Mecapic 8 1 8 Maintenance and Inspection LS EN 0 lAOoOo 1 ll 2 Servo Drive Inspection Inspection What to do if abnormality is Cleaning of the main body and Atleast once a year the board Check if there is any dust or Clean with air pressure or oil on it cloth Check whether screws on Loose screws Atleast once a year terminals and connectors are Fasten the screws loose Defective parts on the main body or the board Check whether there is any At least once a year discoloration damage or Contact our company disconnection caused by heat 8 1 3 Parts Replacement Cycle The following parts may experience low performance or malfunction because of mechanical fric
90. coder cable open Encoder cable Check whether the encoder cable is disconnection disconnected ETEEN Encoder data error data Encoder data error Encoder data error data Encoder data error Check the P0 02 setting and encoder wiring mE Motor setting error Motor ID setting error ID Motor ID setting error error Check the P0 00 setting AL J4 Encoder Z PHASE Open Encoder Z PHASE cable Check the encoder cable broken HL MU Undervoltage Undervoltage Low voltage Check input voltage and power unit wiring e ta I L a a FQ Check input voltage and wiring Check for Overvoltage Overvoltage braking resistance damage Check for excessive regenerative operation LS 8 Maintenance and Inspection Alarm EE Check regenerative resistance dg RST power fail Main power failure Check power unit wiring and power is do Control power fail Control power failure Check power unit wiring and power Check the encoder encoder setting encoder Overspeed wiring gain setting motor wiring motor ID electric gear ratio and speed command scale Check the excessive position command pulse setting P4 11 wiring limit contact point gain setting encoder setting and electric gear ratio Check for equipment confinement and load Check pulse command frequency from the upper level controller Check command pulse type 7 Invalid factory setting Invalid factory setting Factory reset Cn 17
91. command and digital speed command Upper Level Controller Servo Drive Servo Motor Speed Command Position Speed Change AA Controller Controller Speed Command Speed Current Controller Controller v Encoder Position Feedback Advantages e The servo responds quickly e Precision control is easy Disadvantage The upper level controller is complex 1 Product Components and Signals LS 3 Torque Operation System The servo is run by torque commands Analog voltage based commands are used Upper Level Controller Servo Drive Servo Motor Torque Command Position Torque Change JUN Torque Current t _ Torque Command t T Encoder Position Feedback v Controller Controller Controller Controller Advantages The servo responds quickly e Precision control is easy Disadvantage The upper level controller is complex 4 Operation Mode The L7 servo drive can be run in torque speed and position modes depending on its interface with the upper level controller The operation modes can be switched by parameters or digital input contact point Operation Mode System Configuration 0 The servo is run on the torque operation system 1 The
92. commended value speed proportional gain P1 06 10 Feedforward gain P1 04 Calculate the gradient with the differential value of the position command Reduce time to target position by adding the speed command to the gradient If the resultant value is too big overshooting or instability might occur in position control Therefore it is important to gradually increase the value from a small value while watching the test drive Feedforward filter P 1 05 If position commands change too drastically the feedforward control filter vibrates In this case remove the vibration by setting a filter value 3 Speed Control Gain Analog speed command Speed command Speed integral filter time constant time constant ET P1 08 Digital speed command Speed Torque command SO Proportional Gain SL LO LO P1 06 Current speed Speed feedback filter Spesi calculaiion Encoder signal time constant P1 11 Current torque Speed command Use an analog speed signal entering from outside as a speed command after running it through the speed command filter P1 10 or use a digital speed command and RPM set in the internal parameter Current speed Calculate speed by counting encoder signals as time progresses and use the calculated speed as the current speed after running it through a filter An algorithm which projects speed by using the current torque and inertia is used to make up for the errors occurring during 456
93. d S curve CIES Sets S Curve time for speed commands time P3 10 Speed command S curve time Speed operation pattern Sets acceleration deceleration type for speed P3 11 commands 0 Trapezoidal 1 Sinusoidal ROSEO Details Refer to 4 4 5 Speed Operation Parameter Setting Manual JOG operation speed RPM 500 Sets operation speed for manual JOG operation JOG operation speed 6000 6000 Lem dd 4 40 LS LS 4 Parameters Parameter Unit Initial Program JOG operation RPM Sets operation speed operation time for programs 1 P3 13 speed 1 to 4 during program JOG operation Cn 01 Program jog speed 1 6000 6000 A test run repeats from step 1 to step 4 Program JOG operation Sets operation speed P3 13 P3 16 and P3 14 speed 2 RPM 3000 operation time P3 17 P3 20 for each step Program jog speed 2 6000 6000 E g Step 1 operation Program JOG operation RPM P3 15 speed 3 Program jog speed 3 6000 6000 RPM 3000 6000 6000 65535 ms 5000 65535 Program JOG operation P3 16 speed 4 Program jog speed 4 Program JOG operation P3 17 time 1 Program jog time 1 Program JOG operation P3 18 time 2 Program jog time 2 Program JOG operation P3 19 time 3 Program jog time 3 Program JOG operation P3 20 time 4 Program jog time 4 ms 500 65535 ms 5000 65535 LS vecapion 4 41 4 Parameters LS oO 1 1 1 4 2 7 Position Operation Setting Para
94. d digit DIGIT 5 7 C Press DOWN to turn on EMG forcibly C Press DOWN to turn off EMG forcibly C i Press MODE at the cursor to move to the desired digit DIGIT 1 10 Press DOWN to turn off the servo forcibly Press SET to end input forced 11 ON OFF mode done is displayed 12 jf Press MODE for a second to return E to Cn 07 x indicates flickering 5 Handling and Operation LS 5 2 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 seven segment LEDs and CN1 contacts correspond as follows If an LED that corresponds to a contact is turned on off it indicates ON OFF accordingly Output Contact Setting 5 o 0 number Allocated default pos BRAKE ZSPD READY ALARM signal name Press UP on each digit and the 4 and 2 signals are turned on or off for forced output Press Down on each digit and the 5 3 and 1 signals are turned on or off for forced output Press MODE to move to another digit 2 Example of Output Contact Forced ON OFF BRAKE OFF Example of ee output contact forced ON OFF C Press SET to enter input forced ON OFF setting C Press SET to enter forced output bit setting 5 12 LS mecapio LS 5 Handling and Operation Press MODE at the blinking cursor 5 a to move to the desir
95. default STOP CWLIM TI SPD3 SPD2 spp1 SVON Signal name 4 10 LS Mecapio LS Mecapion 4 Parameters O 4 1 6 1 External Input Signal and Logic Definition The following describes how to allocate input signals and how to view them Input Signal Allocation L7 Drive allows for the allocation of a total of 19 input contact fuctions to 10 hardware contacis Each of the input contact functions is located at the designated digit of parameter P2 00 P2 01 P2 02 P2 03 or P2 04 Changing the value of the digit allows allocation to pins DI1 through DIA The default input signal allocation is as follows One number can be allocated to two input signals such as N input signal 1 input allocation number E g If SVON and SPD1 are allocated to DI 01 you can use both the SVON signal and the SPD1 signal when entering DI 01 Input Signal SW ON Input Allocation Number SPDI SPD 4 DIT CNT 47pin SPD3 DI CNI 23pin ARST DIS CNI 22pin DIF DIA CNI 21pin CCWLMT DIS CNT 17pin CWLMT DIG CNT 46pin EMERGNCY DI7 CNI 20pin STOP DIS CNT 4 19pin EGEARI DIS CN1 18pin EGEAR DIA CCNI 48pin PCOM GANZ P_CLR T LMT MODE ABS REQUEST ZCLAMP LS Mecapion 4 11 4 Parameters LS SignalName SignalName Parameter Allocation CN1 Pin Default Allocation Number l nput Default miss Signal settin 17 47 ation Definition 9 P2 01
96. djusted Sets magnification Unit V for analog output channels 1 to 4 Speed RPM torque 96 position command frequency 0 1 Kpps position pulse DC link V LS 4 Parameters Example Channel 1 scale 100 gt 100 RPM is output as 1 V e DAC output offset PO 20 P0 21 P0 22 PO 23 Sets offset Unit V for 1 4 analog output channels Speed RPM torque 96 position command frequency 0 1 Kpps position pulse DC Link V 4 4 2 Control Parameter Setting The order of setting control parameters is as follows Load inertia ratio P1 00 setting Refer to 5 2 6 Auto Gain Tuning Cn 05 e Position proportional gain P1 01 and P 1 02 adjustment Increase the gain to the extent that the servo motor does not overshoot or take off do not use during speed operation or torque operation e Speed proportional gain P1 06 and P1 07 adjustment Increase the gain to the extent that the servo motor does not vibrate e Speed integral time constant P 1 08 and P1 09 adjustment Refer to the following table and perform setting according to the speed proportional gain 1 Inertia Ratio Setting P1 00 An inertia ratio shall be set by calculating load inertia from the machine system and rotor inertia from the motor specification table oetting inertia ratio against load is an important control parameter for the operation of the servo Setting accurate inertia ratio is crucial for optimal servo operatio
97. e the communication speed of RS422 0 9600 bps 1 19200 bps 2 38400 bps 3 57600 bps LS Cap 4 Parameters e System ID P0 05 A unique ID can be given to the servo and used for individual communication with it 5 Main power input mode setting P0 06 Sets the main power input mode and processing mode in case of phase loss e DIGIT 1 Sets the main power input type 0 Single phase power input 1 Three phase power input e DIGIT 2 Sets how to handle errors and warnings in case of main power phase loss O Error in case of main power phase loss 1 Warning in case of main power phase loss 6 RST checking time setting P0 07 Sets checking time for main power phase loss 7 Start up display parameter setting P0 08 e You can set the parameter to be applied when the servo is turned on e There are 26 values available for setting from St 00 to St 25 Choose one for a specific parameter 8 Regenerative overload derating factor setting P0 09 Sets derating factor for checking of regenerative resistance overload When the derating value is set to 100 or below the overload alarm triggers at a time proportional to the set value 9 Regenerative resistance value setting P0 10 Sets the resistance value for regenerative braking resistance If set to 0 a default resistance capacity embedded in the drive is used 10 Regenerative resistance capacity setting P0 11 Sets the capacity for the current regenera
98. ed digit DIGIT 2 and it rotates Press SET to end input forced ON OFF mode done is displayed Press MODE for a second to return to Cn 08 5 2 10 Parameter Reset Cn 09 X indicates flickering Reset parameter data Example of initializing parameters Displays the speed control mode with main power and control power permitted Press MODE to move to Cn 00 o Press UP or DOWN to move to Cn 09 C Press SET to reset data done is displayed Tu O Press MODE for a second to return to Cn 09 x indicates flickering 5 Handling and Operation LS 5 2 11 Automatic Speed Command Offset Correction Cn 10 This calibrates the offset of analog speed commands automatically The range of adjustable speed command analog voltage is from 1 V to 1 V If offset voltage exceeds this range oVrnG is displayed and there is no calibration You can check the corrected offset value in the analog speed offset P2 18 Example of handling automatic speed command offset calibration Press MODE to display Cn 00 DO Press UP or DOWN to move to Cn 10 Press SET to enter offset correction Press SET to compensate offset o done is displayed If the value exceeds the allowed range oVrnG is displayed C Press MODE for a second to return to Cn 10 5 14 LS LS 5 Handling and Operation 5 2 12 Automatic Torque Command Offset Correction Cn 11
99. ent humidity 20 80 RH no condensation Atmosphere No direct sunlight corrosive gas or combustible gas Anti vibration Vibration acceleration 49 m s2 5G Weight kg 16 95 21 95 16 95 21 95 16 95 21 95 Rotation Speed Torque Characteristics Torque Nm 35 0 Torque Nm 35 0 Torque Nm E APM SG22D APM LG35D APM SG20G Continuously used area Continuously used area 3000 E 2000 2000 Speed r min Speed r min Speed r min Torque Nm Torque Nm Torque Nm 60 0 35 0 APM SG20M BO APM SG12M 2000 3000 Speed r min Speed r min 2000 Speed r min 7 9 7 Product Specifications LS ne m Product Features Servo Motor Type Name APM Applicable Drive L7LIA Rated torque Instantaneous maximum torque speed Kemaxio m2x10 4 132 41 0 269 0 333 0 461 19 558 22 268 Inertia moment gf cm s2 135 11 0 274 0 339 0 470 19 943 22 707 inertia Rated power rate KW s 61 97 11 98 34 47 10 01 Speed and position E Quadrature type incremental 1024P R 2048 P R detector Option Serial type 17 21 bit Method of sa IP65 Fully closed self cooling IP55 excluding axis penetration Time Time rating o Cois Ambient Specifications and 0 40 C features Ambient i humidity 20 80 RH no condensation Atmosphere No direct sunlight corr
100. eption codes for all abnormal responses of all function codes supported in the L7 servo drive Unsupported function codes Invalid register address Waiting state of preparing data Locking state of locking parameter LS 6 Communication Protocol O UM 6 2 2 Protocol Command Codes 1 Read Single Register 0x03 Head the single register 16 bit data value o roseo OO TR efanm EN o ue om a we 4 mes Example Slave Address Node ID Node ID Function Code 03 Staring Address Hi 00 Starting Address Lo 6B Quantity of Registers Hi 00 Quantity of Registers Lo 01 CRC Hi CRC Hi GRC Lo CRC Lo Request Response Slave Address Node ID Node ID Function Code 03 Byte Count 06 Register Value Hi 108 02 Register Value Lo 108 2B CRC Hi CRC Hi Cie CRC Lo LS 6 5 6 Communication Protocol LS oO 0 l 2 Read Multi Register 0x03 Read the continuous register block 16 bit data value o wen joe s meme wen o0 i s seme eu o m mm o ww Example Slave Address Node ID Node ID Function Code 03 Staring Address Hi 00 Starting Address Lo 6B Quantity of Registers Hi 00 Quantity of Registers Lo 01 CRC Hi CRC Hi CRC Lo CRC Lo Request Response Slave Address Node ID Node ID Function
101. er level controller to PO 03 Refer to Chapter 1 2 System Configuration to perform CN1 wiring for the servo drive according to each drive mode You can check the ON OFF state for each input terminal of CN1 at St 14 Check and adjust each parameter before operation Do not touch the rotating unit of the motor during operation Do not touch the heat sink during operation Be sure to attach or remove the CN1 and CN2 connectors when the power is off Extreme change of parameters may cause system instability vi LS LS Safety Precautions tf 0o 0 o UM B Precautions for Use Install an emergency stop circuit on the outside to immediately stop operation if necessary Reset the alarm when the servo is off Be warned that the system restarts immediately if the alarm is reset while the servo is on Minimize electromagnetic interference by using a noise filter or DC reactor Otherwise adjacent electrical devices may malfunction because of the interference Use only the specified combinations of servo drive and servo motor The electric brake on the servo motor keeps the mortor at a standstill Do not use it for ordinary braking The electric brake may not function properly depending on the brake lifespan and mechanical structure for example if the ball screw and servo motor are combined via the timing belt Install an emergency stop device to ensure mechanical safety B Malfunction Precautions For potentially dangero
102. fer to 5 2 Handling Program JOG operation Continuously operates according to the program already set SET Program JOG run or stop Related parameters are as follows P3 08 Soeed command acceleration time P3 09 Soeed command deceleration time P3 10 Soeed command S curve Cn 01 Program jog P3 11 Soeed operation pattern P3 13 16 Program operation speed 1 to 4 P3 17 20 Program operation time 1 to 4 Operate regardless of the contact input status of CN1 Details Refer to 4 4 5 Speed Operation Parameter Setting Details Refer to 5 2 Handling onoz Aamreset _ Reset the alarm that went off i ne eee LS os 4 45 4 Parameters Pammeer Unit ita EIE O Alarm history reset Cn 04 Alarm E S clear Auto gain Auto gain tuning Get alarm Getalarm history Get alarm history Auto gain tuning zen Cn 06 Z detection Input contact forced ON OFF Cn 07 Output contact forced ON OFF Cn 08 Parameter initialization a Cn 09 Parameter Initialization ag Forced input test Forced output test 4 46 Check the saved alarm code history UP or DOWN Reads alarm codes E g Recent first history AL 42 RST PFAIL occurs e 01 Latest alarm e 20 20th previous alarm d Refer to 5 2 Handling Deletes the entire saved alarm code history Details Refer to 5 2 Handling Performs automatic gain t
103. g Analog speed scale P2 17 Set the analog speed command of 10 V in the unit of RPM The maximum value is the maximum motor speed Analog speed command offset P2 18 There are cases where a certain level of voltage remains on the analog signal access circuit even at the 0 speed command In this case you can compensate it by setting the voltage as offset The unit is nV Zero speed command clamp setting Speed 10 V mV 10 V 10 V Voltage 10 MI d Zero speed command clamp voltage P2 19 Zero speed command clamp Zero speed command clamp voltage voltage P2 19 2 0 P2 19 Not 0 mV LS vecapion 4 59 4 Parameters 2 Analog Torque Scale Setting Analog torque command scale P2 20 Set the analog torque command of 10 V as a percentage of the rated torque The setting should be within the torque limit P1 13 and P 14 of system parameter setting Torque command offset P2 21 There are cases in which a certain level of voltage remains on the analog circuit even at the 0 torque command because of problems with the circuit You can compensate this by setting the voltage as offset The unit is mV Zero torque command clamp Torque 10 V n 10 V 10 V 10 i Voltage Zero torque command clamp voltage P2 22 Zero torque command clamp Zero torque command clamp voltage voltage P2 22 0 P2 22 Not 0 mV
104. gnals 7 received from the motor ZO 5 VJ line driver method 1 Product Components and Signals LS Mecapion 1 20 LS vecapion 2 Installation SC TH 2 2 1 2 1 1 2 1 2 2 1 3 Installation Servo Motor Usage Environment tem Requirements SSNS If the temperature at which the product will be used is outside this range the product must be custom ordered with consultation of the technical support team Ambient temperature oem 80 RH or lower Use the product in steam free places humidity Vibration acceleration 19 6 n5 or below in the Excessive vibration reduces the lifespan of bearings X and Y directions External vibration Prevention of Excessive Shock Excessive shock to the motor shaft during installation or the motor falling during handling may damage the encoder Motor Connection The motor might burn out when commercial power is directly connected to it Be sure to connect via the specified drive Connect the ground terminal of the motor to either of the two ground terminals inside the drive and the remaining terminal to the type 3 grounding Connect the U V and W terminals of the motor just as the U V and W terminals of the drive Make sure that the pins on the motor connector are securely connected Incase of moisture or condensation on the motor make sure that insulation resistance is 10 M9 500 V or higher before you start installat
105. hase V current offset St 24 INT16 UINT16 BITO BIT4 Drive capacity 1 100W 2 200W 3 400W 4 750W 5 1kW 6 3 5kW BIT5 BIT14 Version number BIT 15 Encoder type 0 Quadrature 1 Serial UINT16 UINT16 St 25 Software version 64 FPGA version St 26 Analog torque command St 27 Reserved N LS Mecapion 6 11 6 Communication Protocol LS Mecapion 6 3 2 System Parameter Communication Address Table The following table lists Modbus communication addresses for the system parameter group PO xx Communication Parameter 7 E Z e E E 3 E 92 Regenerative resistance PO 11 UINT16 capacity 94 Overload detection base load PO 12 UINT16 factor Continuous overload warning PO 13 UINT46 level Encoder output pre scale PO 14 INT16 numerator P Material Type 15 INT16 Encoder output pre scale 100 denominator 102 PWM OFF delay time 104 Dynamic brake control mode UINT16 UINT16 UINT16 Mere mergi 0 0 PO 16 PO 17 PO 18 106 Function setting bit 6 12 LS vecavion BIT 0 Direction Bit 1 Servo lock use UINT16 INT16 INT16 INT16 INT16 UINT16 UINT16 UINT16 LI LS Mecapion 6 Communication Protocol Communication Parameter ow esere DT LS Mecapion 6 13 6 Communication Protocol LS Mecapion oO 6 3 3 Control Parameter Communication Address Table The following table lists Modbus communication addresses for
106. he following is an example of output signal allocation change The sequence of switching the allocation signals of ALM CN1 38 39 and ZSPD CN1 43 is as follows Before Changing After Changing poo III I IA VISA DATI II 048LU LU 4 A et cS Loader Window Display Press MODE to move to P2 05 Press SET to enter parameter C edit mode The parameter is displayed as 04321 Press UP or DOWN at the blinking cursor to change the number to 04323 Press LEFT or RIGHT at the blinking cursor to move to the desired digit DIGIT 3 Press UP or DOWN at the blinking cursor to change the number to 04123 aaa Hold down SET for approximately one second After two flickers the number will be saved as 04123 for the parameter Hold down MODE for approximately one second to return to P2 05 Hold down MODE for approximately one second to return to the parameter In case of exiting without saving the set value NOTE 1 indicates flickering If two output signals are allocated to a number the output contact setting error AL 72 alarm will be triggered LS sl 4 25 4 Parameters LS 4 2 Parameter Description 4 2 1 Parameter System There are a total of eight groups of parameters Each group is explained in the following table Move to Another Parameter Parameter Group Name Parameter Number E g In speed mode Status Summary Displays the status
107. he main power The DC link voltage of the standard drive that uses 220 V is approximately 300 V The maximum DC link voltage allowed for the standard drive that uses 220 V is 405 V St 12 The overvoltage alarm AL 41 triggers when the DC link voltage 500 0 DC link voltage threshold is exceeded because there is either too much or too little regenerative resistance The normal DC link voltage in the regenerative section is 385 V or below Details Refer to 4 3 4 Torque and Load Display Regenerative overload 96 Displays the regenerative overload rate St 13 Regeneration overload oo 2 Input contact status St 14 Details Refer to 4 1 5 External Input Contact Signal Input Status l Display Output contact status DEBER Displays the output contact status that the servo o EBEN Displays the input contact status that the servo recognizes outputs Output status Details Refer to 4 1 6 External Input Contact Signal Single turn data pulse St 16 Single turn data Display Single turn data 2 30 Single turn data Displays the single turn data of the encoder in degrees Degrees St 17 Single turn data 360 0 Degrees Multi turn data ed 0 Displays the multi turn data of the encoder St 18 Multi turn data 32768 32767 Displays the single turn data of the encoder in pulses 4 28 LS LS 4 Parameters Parameter Unit ia o Code Name Minimum Maximum E Intern
108. ic Definition Note 3 Input Contact Mode ON Speed Control Mode Mode OFF Torque Operation Mode 1 14 LS LS 1 Product Components and Signals ooo MH 1 2 8 Example of Position Torque Operation Mode Wiring gt G CWLI Digital Input Note 1 Digital Output DC 24V Pp 38 ALARM n e e O E n TD va i I DO3 In JEDEDEDEUEDEDEUEU E 1 ww ow Te woe Epp awe EE Le E STELE let L o_o re a AT Analog Output MONTI ur UI T Command Pulse Input 29 MONIT2 A Coa DI OV 10v n ER E 0 Upper Line Driver Level Controller R Encoder Pulse Output o CO N pe i O s dd LLL Qpen Collector 30 o 80 T ci Level Analog Input 10V 10V BO Controller mm NT EE ers e e EE i Zo 10V 10V pe g T NEM ER Connect to Connector Case Note 1 Input signals DI1 to DIA and output signals DO1 to DOS are default signals allocated by the factory Note 2 These are non allocated signals You can change their allocation by setting parameters For more information refer to 4 1 6 External Input Signal and Logic Definition and 4 1 8 External Output Signal and Logic Definition Note 3 Input Contact Mode ON Position Control Mode Mode OFF Torque Operation Mode LS 1 15 1 Product Components and Signals LS 1 3 Signals 1 3 1 Digital Input Contact Signal Pin Number Applicable Modes Speed Torque Position
109. ically The possible voltage range is from 1 V to 1 V If offset voltage exceeds this range o VrnG is displayed and there is no calibration You can check the calibrated offset in the analog speed command offset P2 18 Details Refer to 5 2 Handling Calibrates the offset of analog torque commands automatically The possible voltage range is from 1 V to 1 V If offset voltage exceeds this range o VrnG is displayed and there is no calibration You can check the calibrated offset in the analog torque command offset P2 21 Details Refer to 5 2 Handling Calibrates the offset of analog speed commands manually The possible voltage range is from 1 V to 1 V If offset voltage exceeds this range o VrnG is displayed and there is no calibration You can check the calibrated offset in the analog speed command offset P2 18 Details Refer to 5 2 Handling Calibrate the offset of analog torque commands manually The possible voltage range is from 1 V to 1 V If offset voltage exceeds this range oVrnG is displayed and there is no calibration You can check the calibrated offset in the analog torque command offset P2 21 Details Refer to 5 2 Handling LS vecavion 4 47 4 Parameters LS Passus Uk mid Code Name Minimum Maximum Absolute encoder reset a ae Resets the absolute encoder Cn 14 l E Abs encoder reset o Details
110. icates the length of each cable Refer to the table below for how to display them Cable nah m LS 7 Product Specifications ooo UM m Option connector Categ E J Type Name Applicable _ EIE Nds Speciation HOE 250 0 5 Meter Terminal block APC VSCN1T L7 SERIES for CN1 APC VPCNIT APC VSCNIT CN1 T B expansion of APD VS APC VPCNIT CN1 T B expansion of APD VP The cable length can be changed Standard cable length 0 5 m APC CN NNA L7 SERIES Mi d 1 Case specifications 10350 52A0 008 3M 2 Connector specifications 10150 3000VE 3M APC CN3NNA L7 SERIES a 1 Case specifications 10314 52A0 008 3M 2 Connector specifications 10114 3000VE 3M LS 733 7 Product Specifications LS Mecavio m Option braking resistance ory Name Drive L7L JA001LJ Resist Braking apc 140R50 L700A0020 ance resistance L7LJA004L 1 L7LJA008L 1 Resist Braking APC 300R30 ance resistance L7 JA010L M8 L 7 JA035I edict LDA ance Braking APC 600R30 er E resistance L7 A035L 3P vg B T 238 IRV 6005 S300ohm LS 8 Maintenance and Inspection ooo
111. ications 6 1 1 Overview The L7 servo drive uses RS 422 serial communication By connecting it to a PC or an upper level controller you can test drive it or change gain tuning and parameters You can also operate or handle communication of up to 32 axes by connecting multiple L7 servo drives via a multi drop method 1 Serial Communication Access through RS422 Servo PC Drive RS 232C 422 Communication Converter 2 Multi Drop Access through RS422 up to 32 machines NOTE 1 NOTE 2 Servo Drive Servo Drive Servo Drive CN4 L CN3 Serial Port RS 232C 422 Communication Converter When using a PC as the upper level controller you have to use the RS232 RS485 communication converter The CN3 and the CN4 connector pins of the servo drive are connected on an one to one basis internally making multi drop wiring easy 6 Communication Protocol LS 6 1 2 Communication Specifications and Cable Access Rate 1 Communication Specifications Communication standard ANSI TIA EIA 422 standard Communication protocol MODBUS RTU Data bit 8 Dit Stop bit 1 bit Type d STREGA NUBIRA 9600 19200 38400 57600 bps P P0 04 can be selected Up o 200 I Current consumption 100 m or below 2 Connection of CN3 and CN4 Connector Pins in Number FinFuneton NOTE 1 Incase of multi access connection apply terminating resistance by connecting
112. ickers the number is saved as 00019 for the parameter Hold down MODE for approximately one second to return to P2 02 In case of exiting Hold down MODE for approximately without saving the set one second to return to the parameter value LS Mecapion 4 15 4 Parameters LS teca 3 Input signal logic definition L7 Drive allows for defining the logic of input signals for 10 hardware contacts from DI1 to DIA through parameters P2 08 and P2 09 The logic of input signals as set in the factory is as follows Input signal logic definition SN ON Input signal logic definition number SPOT E o 0 22 SPD DI Contact AJ Contact E 3PD3 DI Contact Af Contact BI A RST DIS contact AJ Contact BI Un DIA Contact AJ Contact BI e DIS Contact Af Contact Bi CWLMT DIG Contact AJ Contact B EMERGNCY DIY contact Contact B STOP DIS Contacta f Contact B EGE ARI i OIG Contact amp f Comtgct B EE AR DIA Contact AJ Contact E POCON m GAIN P CLR T LMT MODE ABS HEQUESI ZCLAMP Signal Name Input CN1 Pin Default Allocation Number Input Signal signal Default Parameter Initial 17 47 Sales a E logic setting Allocation setting Servo ON P2 08 0x 11111 Multi speed 2 P2 08 Set Digit3 PP Multi speed 3 P2 08 Set Digit 4 SPDS Alarm reset P2 08 Set Digits ALMRS Multi speed 1 P2 08 Set Digita SPP Select rotation direction P2 01 Set Digit 2 Forward rotation prohi
113. ieae ra iei i a E Ei 4 66 4 5 1 Servo Alarm Status Summary Display LISt en 4 66 4 5 2 Servo Warning Status Summary Display LISt 4 68 4 6 Motor Type and ID to be continued on the next page 4 69 5 Flandling and Operation ali 5 1 5 1 What to Check Before Operation eee 5 1 5 1 1 ligo a E 5 1 5 1 2 Drive Signal CN1 Wiring Check o 5 1 5 1 3 Surrounding Environment Check 5 1 5 1 4 Machine Status CheCk eene eene nnne nnns 5 1 5 1 5 System Parameter CHECK ri 5 2 S MD olio Emm 5 3 5 2 1 Manual JOG Operation CN 00 ii 5 3 5 2 2 Program JOG Operation Cn 01 a eeeeeeeeaaeeeerrraa 5 4 5 2 3 Alana RESET OM 2 ea 5 5 5 2 4 Reading Alarm History CAh 03 c ssraganriaia eee 5 6 5 2 5 Alarm History Reset Cn 04 e ereeeerereeaereereeaanaea 5 7 5 2 6 Aulo Gain Tuning CMOS Laren 5 8 5 2 7 Phase Z Search Operation Cn 06 i 5 9 5 2 8 Input Contact Forced ON OFF CN 07 eee 5 10 5 2 9 Output Contact Forced ON OFF Cn 08 em 5 12 5 2 10 Parameter Reset CN 09 i 5 13 5 2 11 Automatic Speed Command Offset Correction CN 10 5 14 5 2 12 Automatic Torque Command Offset Correction CN 11 5 15 5 2 13 Manual Speed Command Offset Correction Cn 12 5 16 5 2 14 Manual Torq
114. inals For external regenerative resistance use standard resistance for the B and B terminals after removing the short circuit pins Resistance Standard Value Capacity L70A0010 A Caution For more information about resistance for L7 A002n 100 Q Built in 50 W expanding regenerative capacity refer to 7 3 Option and Peripheral Device L7 AO04L L7 AO8LI Built in 100 40 9 Wi L7L_JA010L L7_JA020L Built in 150 mobi 13 0 Wi L7LJA035L Configure the system in a way that main power L1 L2 L3 is supplied only after control power C1 C2 Refer to Chapter 3 Wiring High voltage remains for a while even after the main power is disconnected After disconnecting the main power make sure that the charge lamp is off before you start wiring There is a risk of electric shock Grounding must be done over the shortest distance A long ground wire is susceptible to noise and thus causes malfunction 2 Installation LS Mecapion 26 LSivecpion LS 3 Wiring Method oo wm 3 Wiring Method 3 1 Internal Block Diagram 3 1 1 L7 Drive Block Diagram L7SA0015 L7SA004c Note 1 Note 2 B Bt BI Three Phase Power Input AC200 230V L1 Regenerative 1 i Current es I J Control Power Main Power uu Relay DC Voltage een Sd d y Failure D D Failure Detection a pede on Detection Ed 2 Operation Detecti
115. input power of the servo drive Be sure to connect the servo drive ground terminal Do not connect commercial power directly to the servo motor Do not connect commercial power directly to the U V W output terminal of the servo drive Directly connect U V W output terminals of the servo drive and U V W input terminals of the servo motor but do not install a magnetic contactor between the wiring Be sure to use a pressurized terminal with an insulation tube when you connect the power terminal for the servo drive When wiring be sure to separate the U V and W cables for the servo motor power and encoder cable Be sure to use robotic cable if the motor requires movement Before you perform power line wiring turn off the input power of the servo drive and then wait until the charge lamp goes off completely Be sure to use shielded twisted pair wire for the pulse command signal PF PF PR PR speed command signal SPDCOM and torque command signal TRQCOM Check the input voltage AC 200 230 V and power unit wiring before you turn on the power The servo must be in the OFF mode when you turn on the power Before you turn on the power check the motor s ID and the encoder pulse for L7 JA JA Set the motor ID P0 00 and the encoder pulse P0 02 for L7 LIA I 1L JA first after you turn on the power After you complete the above settings set the drive mode for the servo drive that is connected to the upp
116. install in the z mE B4 and B terminals z Control signal connector Control power connector C1 C2 Motor power cable l connector U V W CN2 i Encoder signal connector I AB NV re LS 1 Product Components and Signals ooo EH L7SA 008L L7SA 0100 1 CO CO CO CO CO Display B D DI DI DI DI CHARGE Operation keys Mode Up Down Set CN5 USB connector Main power connector L1 L2 L3 Li CN4 RS 422 communication connector DC reactor connector N PO PI Short circuit when not used CNS RS 422 communication connector Regenerative resistance connecior B B Bl BI When basic installation is in use short circuit B and BI terminals 4 C2 When installing external resistance install in the B and B terminals o AIOUOGOHOLULOHALOGOHOoOLOGOHALAGHaA i O I DNO000O0V0000O CN1
117. ion LS vecapio 2 1 2 Installation LS 2 1 4 Load Device Connection For coupling connection Make sure that the motor shaft and the load shaft are aligned within the tolerance 0 03 mm or below peak to peak Load shaft qu F Motor shaft H 0 03 mm or below peak to peak B For pulley connection LateralLoad Load Axial Load Flange NO 206 255 EN Nr 30 mm or below NEN EC EC Di o 2 1 5 Cable Installation kof N o 39 OB 6 36 8 74 3e Incase of vertical installation make sure that no oil or water flows into connection parts Do not apply pressure to or scratch cables In case of moving the motor be sure to use robotic cables to prevent sway LS 2 Installation 2 2 Servo Drive 2 2 1 Usage Environment em msm M00 Ambient A Caution temperature eet Install a cooling fan on the control panel in to keep the surrounding temperature within the required range A Caution Ambient 90 RH or Condensation or freezing of moisture inside the drive during humidity lower prolonged periods of inactivity may damage it Remove any moisture completely before you operate the drive after a prolonged period of inactivity External Vibration Excessive vibration red
118. ion can be changed in P2 08 and P2 09 Allocate input signals as shown in the following table LS Mecapion 4 13 Input Signal SPDI SPD SPD3 ALMRST DIR CCWLMT CWLMT EMERGNCY STOP EGEARI EGEAR PCON GAIN P_OLR SV ON DI CNT 47pin DI CN1 23pin DIS CNT 22pin A DIA CCNI 21pin DIS CN1 17pin DIG CNT 46pin DIT CN1 20pin DIS CNT 19pin DIO CN 18pim DIA CN 48pin T T MODE ABS REQUEST CLAMP Input Allocation Number 4 Parameters LS Signal Name CN1 Pin Default Allocation Number Input Value Parameter Allocation Signal After 17 Definition Changing fslas P2 00 0x0321 m n P2 01 0x0765 t Ha Bm Bn Bio BEES Ha 0x0080 2 1 Bio Ho BEES o Ham Bm Ha Servo ON P2 00 Set Digit 1 Multi speed 1 P2 00 Set Digit 2 Multi speed 2 P2 00 Set Digit3 SPP Multi speed 3 P2 00 Set Digit4 SPPS Alarm reset P2 01 Set Digit 1 ALMRST Select rotation direction P2 01 Set Digit 2 Forward rotation prohibited P2 01 Set Digit 3 CCWLIM Reverse rotation prohibited P2 01 Set Digit 4 Emergency stop P2 02 Set Digit1 EMS Sto P2 02 Set Digit 2 o S STOP T Electronic gear ratio 1 P2 02 Set Digit 3 EGEARI Electronic gear ratio 2 P2 02 Set Digit 4 EGEAR2 P control action P2 03 Set Digt 1 PYON Select gain 2 P2 03
119. is determined by speed command input contact poinis SPD1 SPD2 SPD3 Speed Control OFF Digital dai command OFF OFF Digital d command 2 Acceleration Deceleration Time Acceleration time P3 08 Sets the time required for the motor to reach the rated motor speed from zero speed in ms units Deceleration time P3 09 Sets the time required for the motor to stop after running at the rated motor speed in ms units 3 S Curve Operation P3 11 You can set acceleration deceleration operation as an S curve pattern for smooth acceleration deceleration O Trapezoidal gt Set acceleration deceleration time P3 08 and P3 09 1 Sinusoidal gt Set acceleration deceleration time P3 08 and P3 09 S curve time P3 10 4 Manual JOG Operation Cn 00 Press RIGHT for forward rotation at JOG operation speed P3 12 Press LEFT for reverse rotation at JOG operation speed P3 12 The contact point input status by CN1 is ignored 5 Program JOG Operation Cn 01 A test drive repeats from step 1 to step 4 Set operation speed P3 13 P3 16 and operation time P3 17 P3 20 for each step LS 4 63 4 Parameters LS oO pX w lt i 4 4 6 Position Operation Parameter Setting 1 Input Pulse Logic P4 00 Set type of the position command input pulse and rotation method per logic 0 A B 1 CW CCW positive logic 2 Pulse sign positive logic 3 A B 4 CW CCW nega
120. istory Example The second previous history AL 10 Overcurrent HW occurred 01 Latest alarm 20 20th previous alarm Press SET to finish reading alarm history done is displayed Press MODE for a second to return to Cn 03 LS 5 Handling and Operation 5 2 5 Alarm History Reset Cn 04 Delete all currently stored alarm history Example of alarm history reset Order Loader Displays Keys to Use What to Do Displays the speed control mode with main power and control power permitted H DO Press UP or DOWN to move to JR Cn 04 C Press SET to enter alarm history reset C Press SET to delete alarm history done is displayed pi C Press MODE for a second to return to Cn 04 indicates flickering 5 Handling and Operation LS 5 2 6 Auto Gain Tuning Cn 05 Perform automatic tuning operation 1 Press SET from the Cn 05 parameter and Auto is displayed 2 Press SET and run is displayed and automatic gain tuning starts If an alarm triggers at this moment check the wiring of the servo and other possible causes before restarting 3 When gain adjustment is completed inertia ratio is displayed and P1 00 P1 06 and P1 08 is automatically changed and saved P1 20 Auto gain tuning speed 100 RPM 8 P1 21 Auto gain tuning distance Example of handling auto gain tuning Displays the speed control mode with main power and control power
121. iting Hold down MODE for approximately without saving the set one second to return to the parameter value _ indicates flickering 4 18 LS LS Mecapio 4 Parameters 4 1 7 External Output Contact Signal Display St 15 You can check whether the ON OFF status of digital input output signals that access the servo drive are on or off 1 External Output Signal Display The positions of the seven segment LEDs and CN1 connector pins correspond as follows If an LED that corresponds to a pin is turned on off it indicates ON OFF accordingly Output Contact Display Nume 6 3 2 Contact Number ue idi T pin number signal ame lo uidi un dini signal name LS Vecavion 4 19 4 Parameters LS 4 1 8 External Output Signal and Logic Definition The following explains output signal allocation and the method of checking allocation status 1 Output Signal Allocation Output signal definition P2 05 P2 06 P2 07 Output signal logic definition P2 10 The default output signal allocation is as follows Signal Name Parameter Allocation Alarm P2 05 Set Digit 1 Servo Ready P2 05 Set Digit 2 Zero speed achieved P2 05 Set Digit 3 Brake P2 05 Set Digit 4 Position reached P2 06 Set Digit 1 Torque limit reached P2 06 Set Digit 2 Speed limit reached P2 06 Set Digit 3 Speed achieved P2 06 Set Digit 4 Wa
122. ition BIT8 Power ready BIT9 Analog command active BIT10 BIT13 Control mode 0 Trq 1 Spd 2 Pos 3 Spd Pos 4 Trq Spd 5 Trq Pos St 01 INT16 St 02 INT16 St 03 INT32 St 04 INT32 St 05 INT32 St 06 INT32 St 07 INT16 St 08 INT16 St 09 INT16 St 10 INT16 St 11 INT16 St 12 UINT16 Current operation status Current operation speed Current command speed Tracking position pulse L Tracking position pulse H Position command pulse L Position command pulse H Remaining position pulse IX Remaining position pulse Input pulse frequency L NO CO CO NO MP MS DY Ln 0 Input pulse frequency H NO Current operation torque 4 Current command torque Accumulated overload rate O Instantaneous maximum load factor 00 Torque limit value DC Link Voltage NO LS Mecapion 6 Communication Protocol Communication Parameter Regenerative overload St 13 UINT16 Input contact status St 14 UINT16 Output contact status St 15 UINT16 Single tum data L St 16 INT32 Single tum data H Single turn data degrees St 17 UINT16 Mult tur data L St 18 INT32 Multitur data H Temperature in the servo St 19 UINT16 drive Rated motor speed St 20 UINT16 Maximum motor speed St 21 UINT16 56 Rated motor current St 22 UINT16 ss Phase U cument lisi _ Phase U current offset St 23 INT16 P
123. ive Change power is unstable Remove foreign substances in the Overload occurs Check the condition of the machine anni unit and provide lubricants 0 grease The ambient temperature is Check the temperature around the Change heat transfer structure high motor 40 C or lower Install a cooling fan The surface of the motor is Check whether there is any foreign clean asili nemo contaminated substance on the surface of the motor The motor Reduce load overheats Check the load factor of the drive Increase acceleration deceleration l si time Check acceleration deceleration time The magnetic power of the magnets is reduced screws and the concentricity of the Readjust the coupling connection A strange Li dui earings Replace with a motor of greater Parameters are incorrectly set capacity Inertia gain and time Check parameters Refer to Chapter 4 Parameters The motor does not move Check counter voltage and voltage Check the tightness of coupling constant 8 Maintenance and Inspection LS 8 2 2 Servo Drive If an alarm triggers the malfunction signal output contact ALARM is turned off and the dynamic brake stops the motor Alarm Check for incorrect drive output wiring incorrect encoder wiring Check the motor ID drive ID encoder setting Check for equipment clash or confinement Tu IPM Fault Overcurrent HAN 2a p Check for incorrect drive outp
124. ive is operating abnormally Check what needs to be inspected for the issue Warning State Cause What to inspect CODE DI RST PFAIL Main power phase loss If the P0 06 DIGIT 2 is set to 1 the main power fails nu OV_TCMD Excessive torque command o pia OV VCMD Overspeed command More than the maximum speed commands have been entered OV LOAD Overload warning The maximum overload P0 13 has been reached The electric current capacity of the i CAPA seting motor is bigger than that of the drive When P0 06 DIGIT 2 is set to 1 the RODA OW yotage warning DC link voltage is 190 V or below EMG EMG contact point i the I O wiring and P2 09 Warning code is displayed to hexadecimal If the over 2 warning codes occurs the sum of warning codes will be displayed For example if W 04 Excessive Toque Command and W 08 Excessive Speed Command are occurred at the same time W 0C will be displayed If warning code 80 occurs SV ON state changes to SV OFF state automatically To avoid warning code 80 wire EMG contact or change EMG input signal logic definition Refer to 4 1 How to Use the Loader LS 4 Parameters oo UM 4 6 Motor Type and ID to be continued on the next page wea 0 War Notes 9m io o sansa e o SCCI mom a I E semeia 7 mo sms e ao sens o Tr O CITE A E sow n of sm e o soa qq d CISSE RC sa m wm scm m sm scm a ow somo m
125. low Regenerative overload St 13 Displays overload rate relative to the regenerative capacity of the servo drive I O Status Display CN1 I O input contact point status St 14 Refer to 4 1 4 External Input Contact Point Signal Display St 14 CN1 I O output contact status St 15 Refer to 4 1 6 External Output Contact Signal Display St 15 Miscellaneous Status and Data Display Single turn data pulse display St 16 Displays the single turn data of the encoder in pulses Single turn data degree display St 17 Displays the single turn data of the encoder in degrees Multi turn data display St 18 Displays the multi turn data of the encoder Inside temperature display St 19 Displays the temperature sensor value of the servo drive in C Rated motor speed display St 20 Displays the rated speed of the currently installed motor in RPM Peak motor speed display St 21 Displays the peak speed of the currently installed motor in RPM Rated motor current display St 22 Displays the rated current of the currently installed motor in A U phase current offset display St 23 Displays the U phase current offset in mA V phase current offset display St 24 Displays the V phase current offset in mA LS 4 Parameters e 4 3 7 Version Display 1 Software version display St 25 Displays the version of the currently installed software A 0 01 3 Encoder Version Drive c
126. ls allocated by the factory Note 2 These are non allocated signals You can change their allocation by setting parameters For more information refer to 4 1 6 External Input Signal and Logic Definition and 4 1 8 External Output Signal and Logic Definition Note 3 Input Contact Mode ON Speed Control Mode Mode OFF Position Operation Mode LS 1 13 1 Product Components and Signals LS mm 0 1 1 1 2 7 Example of Speed Torque Operation Mode Wiring Line Driver Encoder Pulse Output Digital Input Bon Note 1 Digital Output us 2340 EN e HOES POI Reve 3 oak E Tine de x pl qm E o EE L apr lea age ren SEE qua Tip a Al El mra E ew Analog Output ECT ee Command Pulse Input Es H L IL LT DG cm mE Z SNe UF TH o O 3 S gt a S Analog Input 4oy 10V si 7 um SU AM as Limit 10V 10V e O_O Limit GND 8 Command gt O N gt O Upper Level Controller BO N O Z O G W UJ W UJ WJ Connect to Connector Case Note 1 Input signals DI1 to DIA and output signals DO1 to DOS are default signals allocated by the factory Note 2 These are non allocated signals You can change their allocation by setting parameters For more information refer to 4 1 6 External Input Signal and Logic Definition and 4 1 8 External Output Signal and Log
127. m LS vecapion 7 27 7 Product Specifications LS m Option serial encoder cable Product Type Name Applicable Note 1 Motors NN Motor connection Drive connection CN2 All models of Serial type Encoder cable small capacity For signaling small capacity For signaling NOTE 1 The APM SA APM SB APM SC APCS EONOCS and APM HB Series APM FC Series Motor connection a Cap specifications 9 positions 172161 1 AMP b Socket specifications 170361 1 AMP 2 Drive connection CN2 a Case specifications 10314 52A0 008 3M b Connector specifications 10114 3000VE 3M 3 Cable specifications 4Px0 2SQ AWG24 Motor connection Drive connection CN2 AII models of APM SE Serial type APM SF For pee APC APM SG signaling medi EUUODS APM LF medium capacity APM LG and 1 Motor connection MS Military Standard APM HE a Plug specifications MS3108B MS3106B 20 295 Series 2 Drive connection CN2 a Case specifications 10314 52A0 008 3M b Connector specifications 10114 3000VE 3M 3 Cable specifications 4Px0 2SQ AWG24 TORT Drive connection CN2 All models Encoder of cable for flat type motor APC APM FB 1 Motor connection E LL ES and a Cap specifications Tyco 7pin 2 Drive connection CN2 a Case specifications 10314 52A0 008 3M b Connec
128. m sop fa aso sop ar so soro m s I rax wb RETTA HESOA 3000 Hollow shaft HBO3H For me Model Name ib War woes scmaps s e000 ema rr sw oes TTT so s sw Gunn ENCHE sw ee somo suo ao urso sm sso sesso er sso sem e rom wm wum 0 LS 4 69 4 Parameters LS EN 0 ll l Motor Type and ID wee 0 war woes Noserame 10 wan noes owes mue passo sor ums oer ao poso see m sus ss o mmo se sw se so wm sm seo rom co soo Segno poro ee a TT ee e De owe em mo oen se zm ooo es wwe mmo em mo wo ee aco oo es eo I O TT a ae so ao me e so o tess ose asco me e 00 sesso a sso 0 me me oo seco sa asso oem re oo seme is io Fosa rea so 1 TT es Tee wm Dmm reme mpm sw e ao com us emo sem ramo E seu rs emo O sme wwme ume 156 aco RECON IE sme tes emo seme tes eso 0 soros wm mo seme ter isso 0 LL seme we smo sme om m Det 5 Handling and Operation se 9 5 1 5 1 1 5 1 2 5 1 3 5 1 4 Handling and Operation What to Check Before Operation Thoroughly check the following to preve
129. ment e Be sure to use twist shield cables as signal and encoder cables e Be sure to fasten bolts after locking the connector drive direction of the encoder cable e Be sure not to change the U V and W wiring of the motor power cable LS D 9 Appendix isa 4 Control power supply Supply single phase AC 220 V to C1 and C2 e Be sure to check external input voltage before turning on the servo drive Check whether the display is normal There should be no break on the seven segments or alarm output 5 Motor ID setting Set motor ID in the parameter P0 00 and encoder pulse in the parameter PO 02 respectively Refer to Appendix 1 x The serial encoder is automatically set Easy check Check the motor ID and encoder pulse on the product name tag attached on the right side of the motor Check whether the external control signal input is normal For information on how to handle the keys of the servo drive loader refer to 4 1 Loader Handlina 6 Main power supply Supply three phase AC 220 V to L1 L2 and L3 Be sure to check external input voltage before turning on the servo drive When power is supplied the red lamp on the charge LED at the bottom of the loader window comes on If an alarm is displayed it indicates that there is an error in the power circuit wiring of the servo motor or encoder wiring Turn off power and fix the error using the information in Alarm Codes and Descriptions
130. meter For detailed information refer to 4 4 6 Position Operation Parameter Setting Modification is not possible with the servo on amp Power reset parameter Parameter that cannot be modified with the servo on AN n Sets logic for position operation input pulses The type of position command input pulses and rotation direction per logic are as follows Position input pulse logic P4 00 Pulse Input Logic o 4 42 PF PR Forward rotation Reverse rotation Phase A B Positive Logic PULS CN1 9 SIGN CN1 11 ALA A PULS CN1 9 SIGN CN1 11 A A CW CCW Positive Logic L Level L Level Pulse direction positive logic A L Level PF PR Reverse rotation Phase A B Negative Logic PULS CN1 9 SIGN CN1 11 CW CCW Negative Logic SIGN CN1 11 _ H Level vv H Level Pulse direction negative logic Y L Level Y H Level E g Relation between direction signals and rotation directions when the position pulse input logic is set to 2 When the direction signal is low Reverse rotation CW clockwise When the direction sign
131. mong others recording parameter settings The servo drive may malfunction depending on the lifespan of EEPROM when the total counts of the following tasks exceed 1 million e EEPROM recording as a result of parameter changes e EEPROM recording as a result of alarm trigger LS D Table of Contents ooo UM Table of Contents EU OCCU scat iii DAILY PIKECAUTN ONS R9 iv Table Or COMENS arp ii ix 1 Product Components and Signals sccccssssseeeeeeeesseeeeeeeenseeeseeensseeeseoeess 1 1 1 1 PIOCUCECONIPONE NS elia 1 1 1 1 1 Product i es MT 1 1 1 1 2 PIENI RENTRER 1 3 1 2 System Configuratii ciel 1 7 1 2 1 OVS CW 1 7 1 2 2 Wiring Diagram of the Entire CN1 Connector 1 9 1 2 3 Example of Position Operation Mode Wiring 1 10 1 2 4 Example of Speed Operation Mode Wiring eee 1 11 1 2 5 Example of Torque Operation Mode Wiring eee 1 12 1 2 6 Examples of Speed Position Operation Mode Wiring 1 13 1 2 7 Example of Speed Torque Operation Mode Wiring 1 14 1 2 8 Example of Position Torque Operation Mode Wiring 1 15 li ONL ii A E 1 16 1 3 1 Digital Input Contact Signal i 1 16 1 3 2 Analog Inpu
132. n The following table contains control gain recommendations for different categories of inertia ratio Motor Flange Position Speed Category su Proportional Proportional ie nte p Gain Gain We ere High inertia inertia 20 50 10 40 100 300 50 100 Inertia ratio can be tuned during a test drive if it is hard to calculate LS WMecapion 4 55 4 Parameters LS ne 2 Position Control Gain Differ entiati FF filter time eedforward gai constant P1 04 Speed Position error Position Proportional Command command 9 gain Current position Pul Prescale HIS OBI PO 14 PO 15 Position command Count the position command pulse input from outside and then apply an electric gear ratio and then through P1 03 position command filter use it as an internal position command In the case that Numerator of electric gear is bigger a change of external input position command pulse influences on a change of internal position command And this influence is getting bigger So there is need to adjust P 1 03 position command filter time constant Current position Count pulse signals received from the encoder and convert them to current position by using electronic gear ratio settings Position proportional gain P 1 01 and P1 02 Convert the difference between the position command and the current position into a speed command by multiplying it by position proportional gain Re
133. nstantaneous torque Rated rotation speed speed Inertia moment Permitted load inertia Motor inertia x15 kgmexio4 m2x10 4 1 615 0 497 0 875 1 245 1 615 1 648 0 508 0 893 1 270 1 648 a Rated power rate 62 74 41 28 52 76 55 39 59 64 EE Serial type 19 bit Speed and position detector Option Protection amp X Time Time rating Specifications and features Ambient Faina Atmosphere Anti vibration Rotation Speed Torque Characteristics o None Fully enclosed self cooling IP55 excluding axis penetration a Cois temperature 20 80 RH no condensation No direct sunlight corrosive gas or combustible gas Vibration acceleration of 49 m s2 5G 2 18 2 72 APM FC10A Torque Nm 10 0 Repeatedly used a area Continuously used area 1000 200 3000 4000 5000 Speed r min Torque Nm 5 0 e APM FCOSD Repeatedly used area Continuously used area 5D 1000 1500 000 DO Speed r min Torque Nm APM FC06D Repeatedly used area ee SB Colninudisiy used area 2800 Speed r min Torque Nm 10 0 APM FCO7D Repeatedly used area N Continuously used area i AL 1000 1500 2000 Speed r min Torque Nm re APM FCOBD Repeatedly used area Continuously used area A 500 1000 1500
134. nt injury or product damage from the operation of the servo motor during test drive Wiring Check 1 Is the voltage AC 200 V appropriate for the power input terminals Are the power cables U V W and FG between the drive and the motor connected correctly Is the voltage of 24 V connected to control signals correctly Is the regenerative resistance appropriate for the capacity and correctly connected Are the wiring cables free from bends or dents o og a WON Are the grounding and shielding free from defects Drive Signal CN1 Wiring Check Make sure that the wiring and contact for drive signals are as in the following table State of State of Contact 18 EMG ON rare R The above is factory initialized status Different functions may be allocated according to input signal allocations P2 00 P2 01 P2 02 P2 03 and P2 04 Surrounding Environment Check Is there any metal powder or water around wires Machine Status Check 1 Is the coupling of the servo motor in good condition 2 Are the locking bolts tightly screwed 3 Are there any obstacles in the machine operation area 5 Handling and Operation 5 1 5 System Parameter Check 1 Is the motor ID setting P0 00 in good condition 2 Are the encoder type P0 01 and the encoder pulse P0 02 in good condition 3 ls control gain set to an appropriate value Note Refer to Appendix 2 Test Drive Procedure LS
135. on Electric gear den 4 30000 Parameter Setting Electronic gear ratio Select an electronic gear ratio mode mode 0 Select electronic gear ratio 1 4 P4 09 1 Override offset P4 10 on the electronic gear Electr sino i ratio numerator 0 i ata Details Refer to 4 4 6 Position Operation Parameter Setting Electric gear ratio Sets the offset of the electronic gear ratio numerator numerator offset 0 The offset will be set on the electronic gear ratio numerator 0 EGEAR1 contact LOW gt HIGH P4 10 Increase the electronic gear ratio numerator by I 1 Electric gear num offset 30000 30000 EGEAR2 contact LOW gt HIGH Decrease the electronic gear ratio numerator by 1 Details Refer to 4 4 6 Position Operation Parameter Setting Position error Pulse 90000 P4 11 Following error range 1 230 Limit contact function a P4 12 Position limit function Sets range for triggering the position error alarm Details Refer to 4 4 4 Input Output Contact Parameter Setting Select the operation type of position command pulse clear for CWLIM and CCWLIM contacts 0 When the CCWLIM CWLIM contact is on receive an input pulse and save it to buffer 1 Ignore any input pulse when the CCWLIM CWLIM contact is on LS 4 43 4 Parameters EM e ME P4 13 P4 14 4 44 Backlash compensation Pulse input filter Backlash compensation B o am Sets backlash compen
136. on SC Detection Detection ao Circuit Circuit Circuit Circuit Circuit Circuit Single Phase Power Input AC200 230V H Main Power Power Circuit Access CN7 ES t j USO U and V Current DC Voltage CNS CNA Reza ion USB TO UAR PEN gj CNS LER DSP FPGA Communication gend npu D A Conversion P C Insulation I F Analog Input Monitor Output Contact Input Pulse Input Contact Output Encoder 2 points 2 points 10 points 2 points 5 points Output Upper Level Controller Connection CN1 NOTE 1 If you use a DC reactor connect to the PO and PI pins NOTE 2 f you use external regenerative resistance connect to the B and B pins after removing the B and BI short circuit pins 3 Wiring Method LS 3 1 2 L7 Drive Block Diagram L7SA0080 L7SA0350 Note 2 External Regenerative Resistance separately installed Note 3 IGBT FAN I I I I J 1 I I ecra i Current Sensor p I i a U I Three Phase Power Input AC200 230V conto Power UST manpower intima TT Roey ocvenace Trier em TT mm TT Una i i Failure Detecti 3 O ti Detecti O ti Failure Detection AT cdd d Detection e i Operation Detection SC Detection Detection uu Circuit Circuit Circuit Circuit Circuit Circuit Circuit Single Phase Power Input AC200 230V I RS422 ommunicatio USB ommunicatio Main Power
137. osive gas or combustible gas Anti vibration Vibration acceleration 49 m s2 5G Kd 308 089 tie 16 sm 74 Rotation Speed Torque Characteristics Torque Nm APM LG30M Torque Nm APM HB01 A Torque Nm APM HB02A 90 0 7 r T 10 T y 20 r Repeatedly used area a Repeatedly used area Repeatedly u used area Continuously used area Continuously used area Continuously used area XY 1 1000 2000 2000 4000 5600 J 1000 2000 3000 4000 5000 Speed r min Speed r min Speed r min Torque Nm APM HB04A Torque Nm APM HEO9A Torque Nm APM HE1 5A 40 Repeatedly u used area Repeatedly used area Gontirlucusly used area Continuously used area x Continuously used area 1000 2000 3000 4000 500 i 1000 2000 3000 4000 5000 i 1000 2000 3000 4000 5000 Speed r min Speed r min Speed r min LS 7 Product Specifications oo m Product Features Servo Motor Type APM Applicable Drive L Rated Output Rated torque Maximum instantaneous torque Rated rotation speed speed kgf cm kgf cm Inertia moment Permitted load NEM Motor inertia x20 inertia FB01A FB02A FBOMA FC04A FCO6A FC08A Ec ow Doo e qos m om owe um mo as Lam pom am Dome oem o 3000 5000 kg m2x10 4 0 089 0 145 0 246 0 497 0 875 1 245 gems 0
138. r Ratio Offset Adjustment For reasons of wear and tear on the machine during position pulse command operation If the operation distance per rotation changes you can adjust the change caused by wear and tear with offset Electronic gear ratio setting mode P4 09 e 0 Use electronic gear ratio 0 3 e 1 Use electronic gear ratio 0 Override the value on the electronic gear ratio numerator Electronic gear ratio numerator offset setting In the above example if you enter 12 000 for the numerator and 5 000 for the denominator and turn on the EGEAR1 contact point the numerator increases by one If you turn on the EGEAR2 contact the numerator decreases by one The change is saved in the P4 10 parameter If the offset is two the electronic gear ratio for operation changes from 12000 5000 to 12002 5000 Also if the offset is 2 the electronic gear ratio for operation changes from 12000 5000 to 11998 5000 LS vecapion 4 65 4 Parameters LS 4 5 Alarms and Warnings 4 5 1 Servo Alarm Status Summary Display List If an alarm triggers the malfunction signal output contact point ALARM turns off and the dynamic brake stops the motor Alarm Oe Name Deals Wiettoinspea Check for incorrect drive output wiring and incorrect encoder wiring Check the motor ID drive ID encoder setting Check for equipment clash or confinement q ce i IPM Fault Overcurrent H W x Check for incorrect drive o
139. r against the rated load St 07 factor Current torque 300 0 300 0 Displays the load currently output by the servo motor as a percentage against the rated output Currentcommandtorque 0 0 Displays the command load factor against the rated load factor St 08 Displays the load currently output by the servo Command torque 300 0 300 0 motor as a percentage against the rated output ESE Details Refer to 4 3 4 Torque and Load Display LS 4 27 4 Parameters LS Parameter Unit mito Accumulated overload o6 Displays the currently accumulated load factor against rate i the maximum accumulated load factor as a St 09 percentage Accumulated overload 300 0 300 0 Details Refer to 4 3 4 Torque and Load Display Instantaneous maximum o6 Displays the instantaneous maximum load factor load factor i against the rated load factor St 10 Displays as a percentage the maximum overload between the current time and the start of control set Maximum load 300 0 300 0 off when the servo turned on Details Refer to 4 3 4 Torque and Load Display Torque limit pd Displays the torque limit value St 11 Displays as a percentage the maximum torque that the servo motor can output against the rated Torque limit 300 0 300 0 torque T_LMT contact ON Analog torque input T LMT contact OFF P1 13 and P1 14 values DC link voltage 00 Displays the current DC link voltage of t
140. r mode DEBER P2 16 n He Analog speed scale RPM 2000 P2 17 A nalog speed 1 6000 command scale 438 LS Define CN1 connector logic for a digital input signal 0 Contact B 1 Contact A Initial input logic definitions P2 09 DIGIT 1 DI6 CN1 46 P2 09 DIGIT 2 DI7 CN1 20 Contact A Contact A P2 09 DIGIT 3 DI8 CN1 19 Contact A P2 09 DIGIT 4 DI9 CN1 18 Contact A P2 09 DIGIT 5 DIA CN1 48 Contact A Details Refer to 4 1 6 External Input Signal and Logic Definition Define CN1 connector logic for a digital output signal 0 Contact B 1 Contact A Initial input logic definitions P2 10 DIGIT 1 DO1 CN 438 39 Contact B P2 10 DIGIT 2 DO2 CN 40 41 Contact A P2 10 DIGIT 3 DOS CN 43 Contact A P2 10 DIGIT 4 DO4 CN 44 Contact B P2 10 DIGIT 5 DOS CN 45 Contact A Details Refer to 4 1 8 External Output Signal and Logic Definition Details Refer to 4 4 4 Input Output Contact Parameter Setting Sets remaining pulse range for position reached output in position operation mode Details Refer to 4 4 4 Input Output Contact Parameter Setting Sets speed range for zero speed output during a stop Details Refer to 4 4 4 Input Output Contact Parameter Setting Sets speed range for command speed reached output Details Refer to 4 4 4 Input Output Contact Pa
141. rameter Communication Address Table 6 18 T Product Specifications m 7 1 SEM 30 E 7 1 7 1 1 mi ore Ue Feature IPTE 7 1 7 1 2 Outline Drawing NENTENTRERERRCRNKE A 7 14 Tal ONONE ine T N T E O 7 23 LS wei xi Table of Contents LS 7 2 1 iere O ei as Sib feio PRP RPE Rare RUE REED RR iero dda dii 7 23 7 2 2 UL 7 25 7 3 Options and Peripheral DEVICES 7 27 8 Maintenance and Inspection cccccseesseeeessenseeeeeenensseeeeneenseeeeneeeaseesenneenseeseoes 8 1 8 1 Maintenance and INSPEGHOon aci 8 1 8 1 1 FS TION a ARE 8 1 8 1 2 Vel RAI 8 1 8 1 3 Paris Replacement VC 8 2 8 2 Diagnosis of Abnormality and Troubleshooting cccccceeceeeeeeeseeeeeeeseeeeeeeeseeeeeeeenees 8 3 8 2 1 OO lia 8 3 8 2 2 SV 8 4 9 POON iii 9 1 9 1 Motor Type and ID to be continued on the next page i 9 2 9 2 TeSt Drive Procedure rizzo dii ARRE RESA ni AIAR OA AIAX RR UE IA RESI 9 4 QualiyvAssunance via 9 9 User Manual Revision History cccccccssssseeeseeessseeeseeenseeeeseoenseeeseeeenseesssoensseessens 9 10 xii LS Mecavio LS 1 Product Components and Signals I d Product Components and Signals 1 1 Product Components 1 1 1 Product Verification 1 Check the name tag to verify that the product matche
142. rameter Setting Sets speed for turning on the brake output contact Details Refer to 4 4 4 Input Output Contact Parameter Setting Sets how much time to delay until the brake output contact turns on when the servo is off or stops Details Refer to 4 4 4 Input Output Contact Parameter Setting Select operation type for position pulse clear PCLR mode e O Operate in edge mode e 1 Operate in level mode Details Refer to 4 4 4 Input Output Contact Parameter Setting Sets speed scale when the analog speed command is 10 V Details Refer to 4 4 3 Analog Input Output Parameter Setting LS 4 Parameters mere Te fo Code Name Minimum maximum Analog speed offset mV 0 Sets offset for analog speed commands i e i Zero speed clamp speed RPM e Sets speed range for the clamp operation of the analog zero speed command Zero speed as i 1000 Details Refer to 4 4 3 Analog Input Output clamp RPM Parameter Setting Analog torque scale Sets torque scale when the analog torque command is 10 V Analog torque scale 1 350 Details Refer to 4 4 3 Analog Input Output Parameter Setting Analog torque command mV Sets offset for analog torque commands offset Details Refer to 4 4 3 Analog Input Output Analog torque PES Parameter Setting command offset Zero torque clamp voltage Sets voltage range for the clamp operation of the analog zero
143. reached signal is output 3 Brake Signal Output Parameter Setting Speed Motor operation speed Servo OFF or Alarm trigger i Brake signal output c R nnd JV TEE Operation speed P2 141 Time Servo ON input Brake i i cy gt Re Within 50 msec gt lt Brake signal output Delay time P2 15 Brake signal output operation speed P2 14 brake signal output delay time P2 15 In the event that an alarm triggers when the servo s built in brake is applied to the vertical axis for the operation of the motor by the servo this feature is activated to prevent the vertical axis from falling to the motor brake This may occur as a result of the brake signal s turning off which is triggered by first of either the brake signal output operation speed P2 14 or the brake signal output delay time P2 15 4 Position Pulse Clear Mode P2 16 Set the operation of position pulse clear mode in position operation mode Seng oem Operate only on the edge where the contact point turns from off to o Do not operate when it is off or on ii Operate immediately at contact point on_ Level LS 4 Parameters ooo I 5 Output Signal Logic Definition Setting P2 10 You can change the output condition of the current output contact point to initial status ON or initial status OFF 4 4 5 Speed Operation Parameter Setting 1 Speed Command P3 00 P3 06 You can adjust operation speed in RPM Operation speed
144. rnal Input Signal and Logic Definition and 4 1 8 External Output Signal and Logic Definition 1 Product Components and Signals LS oO 1 1 1 1 2 3 Example of Position Operation Mode Wiring Digital Input 24V IN DC 24V 5 e STOP U o U n m M e CWLI o o CCWLI U o j TEBE E 2 Tosh Fao SEE Foa fr 08 kk t1 ra p a mop ur Command Pulse Input CU n Line Driver Upper Level Controller uU A ind ll E Analog Input oy 10v E ARCET XX 1 10V 10V MADE i T LES IPS LIIS TS EU EE 2 S CN1 Note 1 Digital Output POUT se aam _ aha POA a0 READY rn ee DO3 ps ze Xtra ae Ss e do DES ao do DES ao epe Lees pat oer Analog Output AG 10V 10V Bi 10V 10V MONIT1 I ONIT2 N 12VA 12VA U1 A N to G O Encoder Pulse Output x gt it Upper Level Controller BO N it IZ UJ Qt FW F WE C2 un Connect to Connector Case Note 1 Input signals DI1 to DIA and output signals DO1 to DOS are default signals allocated by the factory Note 2 These are non allocated signals You can change their allocation by setting parameters For more information refer to 4 1 6 External Input Signal and Logic Definition and 4 1 8 External Output Signal and Logic Definition 1 10 LS LS 1 Product Components and Signals
145. rning P2 07 Set Digit 1 Output Signal Output Allocation Number DO CN1 38 39pin DO CNT 440 41 pin DOS CCNI 43pin DOA CCNI 44pin DOS CCNI 45pin TLMT VLMT INSPD WARN CN1 Pin Default Allocation Number Not Alloc ated ES ca ce P2 05 pe fa e Internal Parameter Default Value 0x4321 0x0005 4 4 4 P2 06 4 4 4 P2 07 0x0000 NOTE 1 No CN1 connector pin is allocated when the default value is 0 4 20 LS mecavio 4 Parameters I 2 Examples of Changing Output Signal Allocation The output signal definition can be changed in P2 05 P2 06 and P2 07 The output signal logic definition can be changed in P2 10 Allocate output signals as in the following table Output Signal Output Allocation Number DO CCNT 38 39pin DO CNT 440 41 pin DOS CNT 45pin DO4 CNT 44pin DOS CNT 45pin Signal Name CN1 Pin Default Allocation Number Not Value Output Alloc Internal After metal Allocation Signal sleale 40 41 38 39 ated Parameter Changing Alarm Servo Ready P2 05 0x0301 carnoso on Brake Position reached P2 06 Set Digit 1 INPOS di limit reached P2 06 0x5400 eye limit reached n achieved Warning WARN P2 07 0x0002 P2 07 Set Digit 1 NOTE 1 No CN1 connector pin is allocated when the default value is 0 LS uos 4 24 4 Parameters LS EN 0 l1 0
146. rom gain 2 to gain 1 Gain 1 lt gt Gain 2 Conversion Time Setting P1 16 Set gain transfer time during operation When converting gain 1 to gain 2 and gain 2 to gain 1 conversion is scheduled according to the set time P Pl Conversion Mode Setting P1 15 DIGIT 2 Set P and PI control conversion modes OxFO DIGIT 2 O Control Pl only 1 Control P if the command torque is higher than the set torque P1 24 2 Control P if the command speed is higher than the set speed P1 25 3 Control P if the current acceleration is higher than the set acceleration P1 26 4 Control P if the current position error is higher than the set position error P1 27 Control P if the PCON contact is on highest priority With such functions you can improve position operation by applying the P control operation stop function after PI control operation LS 4 Parameters 9 Resonance Avoidance Operation Setting P1 17 P1 18 P1 19 Torque output Resonance avoidance frequency P1 18 Torque output frequency Resonance avoidance range BW P1 19 If vibration occurs at certain frequencies in certain systems because of mechanical resonance you can control the vibration by controlling torque output for the specific frequencies Resonance avoidance operation P1 17 0 Not for use e 1 Use 4 4 3 Analog Input Output Parameter Setting 1 Analog Speed Scale Settin
147. rque mode Displays CW status when in torque mode 4 Parameters LS 4 1 3 Parameter Handling 1 Parameter Movement Example of changing speed control mode to position control mode P0 03 00001 gt 00002 Pi 25 P2 22 P3 20 DOWN P1 00 P2 00 P3 00 Operation Status Summary Display Ifthe alarm does not go off at the start of operation the speed operation mode S bb indicating operation status is displayed Editable parameters are from P0 00 to Cn 15 Press SET when a parameter number is displayed and you can see and edit the parameter data In the initial parameter edit status the number on the far right flickers ON and OFF for 0 5 seconds respectively and becomes editable LS 4 Parameters I 2 Example of changing speed control mode to position control mode P0 03 00001 gt 00002 Displays the speed control mode with main power and control power permitted Press MODE to move to P0 00 Press UP or DOWN to move to PO 03 Press SET to go to the parameter edit C window The parameter is displayed as 00001 Press UP or DOWN at the blinking cursor to change the number to 00002 Press and hold SET for approximately C one second After two flickers the number will be saved as 00002 in the parameter Press and hold MODE for o approximately one second to return to the P0 03 par
148. rve during Stop Load Factor 149 4 114 9 85 9 27 5 23 5 10 7 N 8 11 8 Maintenance and Inspection LS B Servo Drive Overload Graphs 2 0KW 3 5kW 1 Graph of Overload during Rotation sig te te ie oe Load Occurring MAX Load Occurring Time sec fe ee 20 30 0 50 60 70 80 90 CE Load Curve During Rotation 100000 0 10000 0 1000 0 N EE 10 0 110 120 130 140 150 160 170 180 190 200 210 220 230 240 250 260 270 280 290 300 Load Factor Time sec LS mecapio 8 Maintenance and Inspection oo UM 2 Graph of Overload during Stop AL 21 Load Occurring MAX Time sec 100 or Infinite below 7536 0 12057 6 4521 6 440 20 vao amas nana 220 sso Sie are iso sera iss07 sas zm s09 des 18 8 mo amo rsas ems 20 o7 155 see 5 isso 2454 sea 20 89 isa 490 mo wes veo se zo se st 220 ro ooo uso m sm 3 e am iso me imo e om os 9 um am seo sz sie xe zs 40 55 Load Curve During Stop 100000 0 10000 0 1000 0 Time sec 100 0 110 120 130 140 150 160 170 180 190 200 210 220 230 240 250 260 270 280 290 300 Load Factor 96 8 Maintenance and Inspection LS Mecapion 8 14 LS vecapion LS Mecapion 9 Appendix 9 Appendix LS Mecapion 9 1 9 Appendix LS EN 0 lA 1 I 9 1 Motor Type and ID to
149. s t m Le s eem FCO4A FCO3D FCO3D 136 5 177 96 5 137 61 60 5 mE RE 1 56 2 6 Ll FCOBD 154 5 195 114 5 155 79 78 5 2 18 3 22 FCOBA FCOGD 172 5 213 132 5 173 97 96 5 2 72 3 76 FC10A FC07D 190 5 231 150 5 191 115 114 5 3 30 4 34 NOTE 1 Use DC power 24V to operate the brake NOTE 2 The sizes in parentheses apply when attached to the brakes 7 22 LS Mecapion LS 7 Product Specifications oo UM 7 2 Servo Drive 7 2 1 Product Features Type Name L7LJA L7DIA L70A L70A L70A LIDA LIDA 0010 0020 0040 0080 0100 0200 0350 T 3 phase AC 200 230 V 15 10 50 60 Hz Ee Control power Single phase AC 200 230 V 15 10 50 60 Hz Quad Type incremental line driver 2000 10000 P R Serial 17 19 bit 21 bit Speed control Maximum 1 5000 range l Maximum 1 kHz or above when the 19 bit serial encoder is applied response Speed i E DC 10 V 10 V Reverse rotation in case of negative voltage Acceleration d Encoder Type Straight or S curve acceleration deceleration 0 10 000 ms possible to eceleration time be set by one ms unit Speed change 0 01 or lower when load changes between 0 and 100 rate 0 1 or lower temperature 25 10 C Input 1 Mpps line driver 200 kbps open collector frequency Position Input pulse Symbol Ise series CW CCW A B phase Electric Four digital gear
150. s Values Lo 02 CRC Hi CRC Hi CRC Lo CRC Lo Request Response Slave Address Node ID Node ID Function Code 10 Starting Address Hi 00 Starting Address Lo 01 Quantity of Registers Hi 00 Quantity of Registers Lo 02 CRC Hi CRC Hi CRC Lo CRC Lo LS 6 Communication Protocol a 5 Read Each Block Register 0x6A Read values on the discontinuous register block 16 bit data 7 10 Example Slave Address Node ID Node ID Function Code Byte Count Address Hi First Address Lo Address Hi Second Address Lo Address Hi Third Address Lo CRC Hi CRC Lo Request o we om s seme wen om s seme wei om Ls mm Cw mes Byte Content Error Code Node ID Exception Code 0x01 0x04 Response Slave Address Node ID Node ID Function Code Byte Count Address s Value Hi First Address s Value Lo Address s Value Hi Second Address s Value Lo Address s Value Hi Third Address s Value Lo CRC Hi CRC Lo 6 9 6 Communication Protocol LS Mecapion EN 0 l0 Wo 6 3 L7 Servo Drive Communication Address Table 6 3 1 Operation Status Parameter Communication Address Table Communication Parameter INT16 BITO Alarm BIT1 Servo on BIT2 Warning BIT3 CCW limit BIT4 CW limit St 00 BIT5 Zero speed BIT6 In speed BIT7 In pos
151. s early Continuous overload o6 50 Indicates the level of continuous overload P0 13 warning level warning signal output Outputs the warning signal when the percentage value against Overload Warning Level Warning Level DT TN NN alarm trigger load factor is reached Encoder output prescale Sets the prescale numerator for encoder numerator output when the servo outputs an encoder P0 14 signal to the outside Encoder out NUM 1 16383 Details Refer to 4 4 1 System Parameter Setting Encoder output prescale 1 Sets the prescale denominator for encoder denominator output when the servo outputs an encoder P0 15 signal to the outside Encoder out DEN 1 16383 Details Refer to 4 4 1 System Parameter Setting E PWM OFF delay time Sets the time to delay until the PWM signal P0 16 actually goes off after the servo is turned off PWM OFF delay m 1000 En to 4 4 1 System Parameter etting LS Mecavic 4 31 4 Parameters LS Pammeer Unt inia Code Name Minimum Maximum O Hold after DB stop 1 Release after DB stop P0 17 BE conn ER DE xS 2 Release after free run stop 3 Hold after free run stop Details Refer to 4 4 1 System Parameter Setting Function setting bit ob00 Sets drive function per digit DIGIT 1 gt Sets the operation direction of the servo O Foward CCW Reverse CW e 1 Forward CW Reverse CCW Po 18 DIGIT 2 Sets the open collector output Func
152. s higher than the set acceleration P1 26 4 Control P if the current position error is higher than the set position error P1 27 Control P if the PCON contact is on highest priority Details Refer to 4 4 2 Control Parameter Setting Details Refer to 4 4 4 Input Output Contact Parameter Setting Gain transfer time Sets gain transfer time during operation P1 16 we When converting gain 1 to gain 2 and gain 2 to gain Gain conversion time 1 100 1 conversion is scheduled according to the set time Resonance avoidance Select whether to use the notch filter or not P1 17 operation 0 Do not use 1 Use Notch filter use 000 4d Details Refer to 4 4 2 Control Parameter Setting LS Mecavic 4 35 4 Parameters LS Premete Um We Ge Name Minimum Maximum Resonance avoidance Hz 300 P1 18 frequency Sets rasan avoidance frequency Details Refer to 4 4 2 Control Parameter Setting Notch frequency 000 1000 Resonance avoidance P1 19 lesa um to i Details Refer to 4 4 2 Control Parameter Setting Notch bandwidth o 1000 l ing 100 Auto gain tuning speed P1 20 RPM Sets speed for automatic gain tuning run EE 21 l Sets round trip distance for automatic gain tuning run Torque control speed pe speed limit mode during torque control limiting mode o Is Limit to P1 23 1 Maximum motor speed P1 22 Velocity limit switch E Analog Speca commana
153. s the model you ordered e Does the format of the servo drive s name tag match Does the format of the servo motor s name tag match 2 Check the product and options e Are the type and length of the cables correct e Does the regenerative resistance conform to the standard sthe shape of the shaft end correct ls there any abnormality when the oil seal or brake is mounted Are the gearbox and the gear ratios correct Is the encoder format correct 3 Check the exterior e ls there any foreign substance or humidity e ls there any discoloring contamination damage or disconnection of wires e Are the bolts at joints fastened sufficiently e sthere any abnormal sound or excessive friction during rotation B Servo Drive Product Format L S A 004 A AA Communication Input Voltage Capacity Encoder Type 001 050 5 0 kW 002 075 7 5 kW S Standard O A 290 VAC sue pee a Quadrature type i ulse type 008 150 15 0kW B Serial B 400 VAC 010 communication 020 type 035 Exclusive Option N Network type 1 Product Components and Signals LS B Servo Motor Product Format APM SBO4AEK1 Gl OS Quadrature pulse type Classification A Inc 1024 P R 03 1 8 B Inc 2000 P R 10 1 10 C Inc 2048 P R D Inc 2500 P R P R P R E Inc 3000 P R o Solid Shaft 550 600 W G Inc 6000 P R specifications Non existent H Hollow Shaft 650 W B Assembly 750
154. sation in position operation Sets backlash compensation by converting the amount of backlashes to number of pulses if the position changes because of backlashes caused by position operation Sets in the opposite direction according to the amount of backlashes Details Refer to 4 4 6 Position Operation Parameter Setting Sets filter frequency according to pulse input O No filter used 1 500 Khz Min 2 750 Khz 3 1 Mhz Default 4 1 25 Mhz The frequency bands above were determined based on the width of input pulse in consideration of the characteristics of digital filters LS 4 Parameters I 4 2 8 Operation Handling Parameter Modification is not possible with the servo on amp Power reset parameter Parameter that cannot be modified with the servo on Parameter Unt miei Code Name Minimum Maximum Manual JOG operation J The drive performs manual JOG operation by itself Refer to Chapter 5 Handling and Operation MODE Finish UP Forward rotation CCW DOWN Reverse rotation CW SET Servo ON OFF Related parameters are as follows P3 08 Soeed command acceleration Cn 00 time Jog P3 09 Soeed command deceleration time P3 10 Soeed command S curve P3 11 Soeed operation pattern P3 12 JOG operation speed Operate regardless of the contact input status of CN1 Details Refer to 4 4 5 Speed Operation Parameter Setting Details Re
155. serious injury Failure to comply with guidelines may cause injury or property damage Certain conditions that are listed as Caution may also result in serious injury B Electric Shock Precautions Before wiring or inspection tasks turn off the power Wait 15 minutes until the charge lamp goes off and then check the voltage Be sure to ground both the servo drive and the servo motor Only specifically trained professional engineers are permitted to perform wiring tasks Perform wiring tasks after you install both the servo drive and the servo motor Do not operate the device with wet hands Do not open the servo drive cover while in operation Do not operate the device with the servo drive cover removed Even if the power is off do not remove the servo drive cover B Fire Prevention Precautions Install the servo drive the servo motor and the regenerative resistance on non combustible material Incase of servo drive malfunction disconnect the input power LS Safety Precautions ooo 0o 0 UM B installation Precautions Store and use the product in an environment as follows Conditions Environment Storage temp 20 65 C 20 60 C 22005 Below 80 RH humidity Below 90 RH non condensing orage Below 90 RH humidity Altitude Below 1000 m When installing 1 unit e More than 40 mm space at the top and bottom of the control panel e More than 10 mm space at the left and right sides
156. servo is on and the motor turns reverse CW Lift your hand off the key and the motor 5 Handling and Operation LS Press MODE for a second and you return to the parameter screen Cn 00 Li i indicates flickering 5 2 2 Program JOG Operation Cn 01 Continuously operates according to the program already set 1 2 Press SET in Cn 01 and P JoG is displayed Press SET and run is displayed The program JOG operation starts after the servo is turned on If an alarm triggers at this moment check the wiring of the servo and other possible causes before restarting Press SET again and the program JOG operation finishes and the servo is turned off Press MODE for a while and then you return to the parameter screen Cn 00 Four operation steps repeat continuously from 0 to 3 Operation speed and time can be set in the following parameter Related Parameters Speed Timo rom Speed operation patern o Step Program Operation Speed Program Operation Time of Peg o PA 0 Example of handling program JOG operation Displays the speed control mode with main power and control power permitted Kelsie Press MODE to move to Cn 00 Press UP or DOWN to move to Cn 01 Press SET to enter program Jog operation Press SET and the motor starts operating according to the predefined program 5 Handling and Operation Press SET again and the operation ends done is
157. servo is run on the speed operation system 2 The servo is run on the position operation system 3 The servo is run with the speed and position operation systems as points of contact 4 The servo is run with the speed and torque operation systems as points of contact 5 The servo is run with the position and torque operation systems as points of contact LS 1 Product Components and Signals oo 1 2 2 Wiring Diagram of the Entire CN1 Connector Digital Input Note 1 Digital Output DC 24V POM 38 ALARM 24V IN 5 O Ai x 3 G STOP 48 Pon READY Du READY EMG EEE gt G CWLI z o 3 3kO s DIA e 019 Rant DO3 er po EE pr E NEI PEL m alt E op o EE quan mp EE MLB lt o a k Ha o fto sil fa CNI Analog Output a 28 MONITI mi Command Pulse Input MONTE nHr Duwps LE DG nm Line Driver Upper Level Controller Encoder Pulse Output R B CO CO v m E a JAO Open Collector ES AS 30 o O ui Analog Input 10v 10V Een 10V 10V EX E TRQCOM a Analog Torque NN QCO M 1 Command Limit GND E 1 Connect to Connector Case Note 1 Input signals DI1 to DIA and output signals DO1 to DO5 are default signals allocated by the factory Note 2 These are non allocated signals You can change their allocation by setting parameters For more information refer to 4 1 6 Exte
158. sistance R 1 5 kO 1 2 W LS 3 Wiring Method 4 PNP Open Collector Pulse Command Upper level controller note 2 Servo Drive NOTE 1 When using 24 V power Resistance R 1 5 kO 1 2 W When using 12 V power Resistance R 560 680 C 1 2 W When using 5 V power Resistance R 100 150 O 1 2 W 3 4 5 Encoder Output Signal Connect the GND terminal of the upper level controller and the GND terminal of CN1 because encoder signals are output based on the GND of control power Encoder signals for the servo motor received from CN2 are pre scaled according to the ratio defined by P0 14 P0 15 and output in line driver mode Upper level controller Servo Drive pp Line driver Line receiver Set bit number 2 to 1 in the menu P0 18 Fuction Select Bit It outputs open collector A B Z phases through existing ALO AL1 and AL2 contact points Output voltage 40mA and below Maximum frequency 100Khz 3 Wiring Method LS 3 5 Quadrature Encoder Signaling Unit CN2 Wiring 3 5 1 APCS E AS Cable cervo Motor AWG24 7Pair Twisted Shield Wire Servo Drive FILLLLLLLLLLL nan nana nao Cable Connector CN2 Maker 8M C t TRUNG p 10314 52A0 008 172163 1 GND 10114 3000VE 170361 1 3 5 2 APCS E UJ o O 9 E D Cable Connector CN2 Maker 3M Cable 10314 52A0 008 Connector E GN D 10114 3000VE MS3108B20 29S 3 42 LS
159. t Contact Signal sess 1 17 1 3 3 Digital Output Contact Signal nnns 1 17 1 3 4 Monitor Output Signal and Output Power eee 1 18 1 3 5 Pulse Train Input SIGMA assadas iumenta cond sadia una Ra uto REOR t FU UB TER ER Rd 1 18 1 3 6 Encoder Output Signal ria ii IP TUUMDPNTUAE 1 19 2 lutte Ee aaa 2 1 UMEE soc O co EEE EAEE ES 2 1 2 1 1 USAGE EVITO RNIMEN canas rire 2 1 2 1 2 Prevention of Excessive Shock nennen 2 1 2 1 3 Molar Connie ON cesses TE 2 1 2 1 4 Load Device Connection iaaiiai aaaeaii 2 2 2 1 5 Cable STAN ANON e E 1 2 2 22 Seo DIO caserna ER 2 3 2 2 1 USA EnVvIFOFE ell ananas 2 3 2 2 2 Installation Inside the Control Panel erre 2 4 2 2 3 EB RET RA RR A 2 5 3 Wining Method aaa 3 1 3 1 Internal Block Diagram i 3 1 3 1 1 L7 Drive Block Diagram L7SA0010 L7 SA0040 ss 3 1 3 1 2 L7 Drive Block Diagram L7SA0080 L7 SA0350 seus 3 2 32 PONET ND RE TTC drei 3 3 3 2 1 L7 Drive Wiring Diagram L7SA0010 L7YSA0350 3 3 3 2 2 Dimensions for Power Circuit Electrical PartS i 3 4 a E ERRE ERRE E EEA 3 5 3 3 1 Timing Diagram During Power Input errar 3 5 Table of Contents 3 3 2 Timing Diagram at the Time of Alarm Trigger
160. tation AL 21 Load 96 Occurring MAX AL 21 Load Occurring MAX Time sec Time sec below 110 55776 0 892416 334656 106 9 40 08 139440 223104 8366 4 80 2 30 06 3486 0 5577 6 2091 6 485 18 18 108 9 802 616 485 14 52 NSA EN 54 EUM EM Load Curve During Rotation 100000 0 10000 0 1000 0 Time sec 100 0 10 0 110 120 130 140 150 160 170 180 190 200 210 220 230 240 250 260 270 280 290 300 Load Factor 96 LS 8 Maintenance and Inspection ooo UM 2 Graph of Overload during Stop AL 21 AL 21 Load Occurring Load Occurring Time sec Time sec msm of below Load Curve During Stop 100000 0 10000 0 1000 0 100 0 Time sec 110 120 130 140 150 160 170 180 190 200 210 220 230 240 250 260 270 280 290 300 Load Factor 96 8 Maintenance and Inspection LS EN 0 lA p 1 B Servo Drive Overload Graphs SA type of 100 W or below 1 Graph of Overload during Rotation AL 21 AL 21 Load 96 Occurring Load 96 Occurring Time sec Time sec er e below Load Curve during Rotation 100 W or Lower SA Type 10000 0 1000 0 0 1 110 120 130 140 150 160 170 180 190 200 210 220 230 240 250 260 270 280 290 300 Load Factor LS mecapic 8 Maintenance and Inspection 2 Graph of Overload during Stop AL 21 Load Occurring MAX Load Occurring Time sec e ee o below xe s ws ss 2
161. the control parameter group P1 xx Communication Parameter constant constant 160 Speed command filter time P4 10 UINT16 constant 162 Speed feedback filter time Py 11 UINT16 constant 164 Torque command filter time P1 12 UINT16 constant Forward rotation torque limit P1 13 UINT16 Reverse rotation torque limit P1 14 UINT16 Control P transfer position error P1 27 ww mw 0 0 LS Mecapion 6 Communication Protocol Communication Parameter gio mesemed 0 0 0 LS vecapion 6 15 6 Communication Protocol LS mecavio 6 3 4 Input Output Parameter Communication Address Table The following table lists Modbus communication addresses for the input output parameter analog and digital parameter group P2 xx Communication Parameter Dem tputsgodetitoni Pro uno o 222 tputsgnseniione peor une E RR O m seme m o o o e o On seme m seme 0 0 o ms seme mb O 0 E a LS Viecapion 6 Communication Protocol ooo UM 6 3 5 Speed Operation Parameter Communication Address Table The following table lists Modbus communication addresses for the speed operation parameter group P3 xx Communication Parameter mo Dosen Pao me OO Ogisispeescommande xw we _ zm Dita speesconmansa Pw we ms Ooimspescommanda Poo we x mew O 9 ese 0 00 9 ese O 9m ese O 6 Communication
162. tion and aging It is therefore important to conduct regular maintenance checks and replace parts 1 Smoothing condenser This part ages because of the impact of ripple current and other factors lis lifespan greatly depends on the surrounding temperature and environment When continuously used in a air conditioned ordinary environment it lasts 10 years on average Inspect it at least once a year because it ages rapidly over a short period of time once it starts to do so Inspect more frequently when it gets closer to its obsolescence x Criteria for visual inspection a Case s condition Expanded sides and bottom of the case b Lid s condition Notable expansion severe cracks or broken parts c Explosion valve s condition Notable valve expansion and operation d Besides check regularly if there is any crack broken part discoloration or leak on the exterior A condenser shall be deemed obsolete when its capacity becomes 85 or lower of the rated capacity 2 Relays Bad connection occurs because of wear and tear at the contact caused by switching current Arelay is deemed obsolete when its accumulated switching reaches 100 000 times as it depends greatly on power capacity 3 Motor bearing Replace when it reaches 20 000 to 30 000 hours of operation at the rated speed under the rated load Replace if abnormal sound or vibration is detected during inspection which are dependent on operating conditions Standard Part Replacement
163. tion select bit 0b00 0b11 0 Not for use e 1 Use DIGIT 4 gt Sets the monitor output voltage e 0 10V 10V 1 0 10V Details Refer to 4 4 1 System Parameter Setting Sets output mode for 1 4 analog output channels Sets CHO CH3 from the bottom HEX Code in order Output CHO and CHI as MONIT1 and DAC output mode 0x3210 MONIT2 0 Speed Feedback RPM 1 Speed Command RPM 2 Torque Feedback 96 ia 3 Torque Command 96 4 Position Command Frequency 0 1 Kpps 5 Following Error pulse 6 DC Link Voltage V DAC mode F 0x0000 OxFFFF D Speed command User RPM e E Torque command User 95 Details Refer to 4 4 1 System Parameter Setting DAC output offset 1 Unit V Sets offset for 1 4 analog output channels P0 20 MONIT1 Speed RPM DAC output offset 1 Torque 6 MONIT1 1000 1000 Position command frequency 0 1 Kpps DAC output offset 2 Position pulse un Unit V NM DC Link V P0 21 DAC offset 2 F Offset offse Details Refer to 4 4 1 System Parameter 1000 1000 di DAC Output Offset 3 nw 0 DAC offset 3 F 1000 1000 DAC Output Offset 4 m p Univ 0 DAC offset 4 F 1000 1000 432 LS LS 4 Parameters Parameter Unt mia Code Nemo Minimum Meximum_ DAC output scale 1 Sets magnification for 1 4 analog output P0 24 MONIT1 usd channels DAC scale1 F Sets magnification as setting Unit V MONIT1 1 10000 E 9 Channel 1 scale
164. tive logic 5 Pulse sign negative logic PF PR Forward rotation Reverse rotation PULS PULS ps o CNI 9 ALA CN1 9 A Positive SIGN A A SIGN A L T CN1 11 CN1 11 PULS PULS CW CCW L Level _ Positive 1 ir Rd 4 A Logic L Level CN1 11 A CN1 11 PULS PULS Pulse direction o CN1 9 A A CN1 9 A A positive SIGN SIGN L Level logic cn1 11 Level CN1 11 PF PR Forward rotation Reverse rotation PULS PULS di 4 CN1 9 ALA cNi 9 A LA Negative SIGN SIGN Logic CN1 11 A 4 CN1 11 4 A PULS CW CCW E H Level Mia V Y Negative 4 CN1 9 CN1 9 Logic SIGN V V SIGN H Level CN1 11 CN1 11 PULS PULS Pulse direction 5 CN1 9 Y Y CN1 9 Y Y negative SIGN J SIGN L Level logic CN1 11 CN1 11 H Level LS 4 Parameters ooo UM 2 Electronic Gear Ratio P4 01 P4 08 The electronic gear ratio is the numerator denominator form of the relation between the position command input pulse and the motor encoder pulse It is important to set the ratio so that there is no error during position operation The following describes how to set it Electronic gear ratio transmission per input pulse x
165. tive resistance If set to O a default resistance capacity embedded in the drive is used 11 Overload check default load factor setting P0 12 Indicates the load factor for starting continuous overload checks If set to 100 or below an overload check starts early and the overload alarm triggers early 12 Overload warning level setting P0 13 Sets the level for continuous overload warning signal output A warning signal is issued when the percentage value set relative to the alarm trigger value is reached 13 Encoder pulse prescale output encoder output prescale numerator PO 14 encoder output prescale denominator P0 15 When an encoder signal is output from the servo to the outside its output pulse is pre scaled as a pre defined ratio encoder output prescale numerator PO 14 encoder output prescale denominator PO 15 e Eg Set pre scaler ratio pulse output prescale numerator PO 14 1 pulse output prescale denominator P0 15 1 in a motor whose encoder is 3 000 ppr gt Encoder pulse output 3 000 ppr x 1 3 000 ppr pulse output prescale numerator PO 14 1 pulse output prescale denominator P0 15 2 in a motor whose encoder is 3 000 ppr LS Vecavion 4 53 4 Parameters LS gt Encoder pulse output 3 000 ppr x 1 2 1 500 ppr 14 PWM OFF delay time setting P0 16 Sets the time span between servo OFF command and actual PWM OFF This is to prevent the motor from slipping down
166. tor specifications 10114 3000 VE 3M 3 Cable specifications 4Px0 2SQ AW G24 in Type Name indicates the type and length of each cable Refer to the table below for how to display them 7 Product Specifications m Option power cable Category Product Type Name Applicable TE Motor connection All models of APM SA Motor connection Standard type APM SB a Cap specifications 4 positions 172159 1 AMP Power cable APM SC b Socket specifications 170362 1 AMP and 2 Drive connection U V W and FG APM HB a U V and W pin specifications UA F1512 SEOIL Series b FG pin specifications 1 25 4 ring terminal 3 Cable specifications 4Cx0 75SQ AWG18 For power APM SARSA SARSA and SA01A use 0 550 Motor connection Drive connection All models Fi of RT LO APM SA Brake type pe 1 Motor connection Power cable a Cap specifications 6 positions 172157 1 AMP an b Socket specifications 170362 1 AMP APM SC 2 For brake power Series a Connection terminal specifications 1 25x3 KET GP110012 b Cable specifications 2Cx0 75SQ AWG18 For power LS vecvion 7 29 7 Product Specifications LS c Category Product Type Name Applicable i Note 1 Specifications Motor connection Drive connection or fa All models of Forpow i Standard type APCS APM SE i Power cable P HS and Motor connection MS Military Standard APM HE
167. tput Signals 1 Keep GND as 0 V of control power 2 Keep the input signal command voltage within 10 V and input impedance at 22 k9 3 Output signal voltage for Monitor 1 No 28 and Monitor 2 No 29 is 10 V Servo Drive Twisted Pair Shield Wire Input output signal Input output essoccccccccccos s eee eesesssesssososscosssecesosesocosecccesesesosoccssscsssesesssesssccccssssesessccccos onn apos AGND Configure wiring as shown in the following image when you adjust analog input with parameter resistance by using power supplied by the drive Do not exceed the maximum output capacity of 30 mA 412 V 34 330 0 1 4 W 9 KO Analog command 26 27 1 0 1 uF 330 0 1 4 W 3 Wiring Method LS oO 1 1 1 1 3 4 4 Pulse Train Input Signal 1 Line Driver 5 V Pulse Input Servo Drive Upper level controller Twisted Pair Shield Wire qeteesstesssesessosseoesesesssesesececececeseceeoceeecececececceeeeeecececeeececececececeeclifecce Line driver Line receiver 2 Open Collector 24 V Pulse Input Upper level controller Servo Drive GND24 shield Wire 3 12 V or 5 V NPN Open Collector Pulse Command Upper level controller Servo Drive GND12 Power note 1 NOTE 1 When using 5 V power Resistance R 100 150 O 1 2 W When using 12 V power Resistance R 560 680 C 1 2 W When using 24 V power Re
168. uces the lifespan of the machine and acceleration 4 9 vibration causes malfunction ms or lower No exposure to direct sunlight Surrounding No corrosive gas or combustible gas conditions No oil or dust Sufficient ventilation for closed areas 2 Installation LS oO 0 1 2 2 2 Installation Inside the Control Panel Comply with the spaces specified in the following images for installation inside the control panel 100 mm or longer 40 mm or longer 40 mm or 2 mm or longer longer When installing 1 unit When installing 2 or more units Make sure that heat does not affect the drive during the installation of external regenerative resistance When assembling the control panel of the servo drive make sure that it is sufficiently close to the wall When assembling the control panel make sure that metal powder caused by drilling does not enter the drive Make sure that oil water and metal dust do not enter the drive through gaps or the ceiling Protect the control panel with air purge in places where there is a lot of harmful gas or dust 2 2 3 2 Installation Power Wiring Make sure that the input power voltage is within the allowed range Overvoltage can damage the drive Connection of commercial power to the U V and W terminals of the drive may cause damage Be sure to supply power via terminals L1 L2 and L3 Connect short circuit pins to the B and BI term
169. ue Command Offset Correction Cn 13 5 17 5 2 15 Instantaneous Maximum Load Factor Initialization Cn 15 5 18 5 2 16 Parameter Lock Cn 16 cccccccceeccceeseseeeeeeeeeeeeseeeeeeeseaeeseeeeeeeseaeaseeeeeeeees 5 19 5217 Curen OSS CR iii 5 20 6 COMMUNICATION Protocol sacaaamensaamsciscissisasissosiacasavencisaciciccissdcacininaaicansananenadei 6 1 6 1 Overview and Communication Specifications ea 6 1 6 1 1 E EEA 6 1 6 1 2 Communication Specifications and Cable Access Rate 6 2 6 2 Communication Protocol Base Structure eira 6 3 6 2 1 Sending Receiving Packet Structure ccccccccececeeeeesaeesseeeeeeeeeeeeeeeeeeeaas 6 3 6 2 2 Protocol Command COGGS iesiseisiuis petere denise no sa d va RR PE VV FA SIR SLOT ias ensinos 6 5 6 3 L7 Servo Drive Communication Address Table i 6 10 6 3 1 Operation Status Parameter Communication Address Table 6 10 6 3 2 System Parameter Communication Address Table 6 12 6 3 3 Control Parameter Communication Address Table 6 14 6 3 4 Input Output Parameter Communication Address Table 6 16 6 3 5 Speed Operation Parameter Communication Address Table 6 17 6 3 6 Position Operation Pa
170. uning operation Related parameters are as follows P1 22 Auto gain tuning speed P1 23 Auto gain tuning distance Details Refer to 5 2 Handling Perform Z detection SET Mode entering and servo ON status UP Phase Z forward search DOWN Phase Z reverse search Related parameters are as follows P3 07 Sets Z phase search operation speed RPM Details Refer to 5 2 Handling Forcibly turns on off the input contact temporarily UP A 8 6 4 and 2 signals forced ON OFF DOWN 9 7 5 3 and 1 signals forced ON OFF MODE Move to another digit Details Refer to 5 2 Handling Forcibly turns on off the output contact temporarily UP 4 and 2 signals forced ON OFF DOWN 5 3 and 1 signals forced ON OFF MODE Move to another digit Details Refer to 5 2 Handling Initializes parameter data Details Refer to 5 2 Handling LS Parameter Unit ini Code Name Minimum Maximum Auto speed command offset correction Cn 10 Auto speed command offset calibration Auto torque command offset correction Cn 11 Auto torque command offset calibration Manual speed command offset correction Cn 12 Manual speed command offset calibration Manual torque command offset correction Cn 13 Manual torque command offset calibration 4 Parameters Calibrates the offset of analog speed commands automat
171. urs due to gain when there is too much load inertia you can control the vibration by applying a filter to speed feedback If you set too great a value speed responsiveness will be reduced and thus the power of control will be compromised Recommended value 0 to speed integral time constant P1 08 10 4 Torque Command Filter Time Constant Setting P1 12 You can improve the stability of command signals by setting a digital filter for analog torque command voltage If you set too great a value responsiveness for torque commands will be reduced It is important to set an appropriate value for your system 5 Torque Limit Setting P1 13 P1 14 LS Wecapion 4 57 4 Parameters LS ne 6 7 8 You can set maximum torque limits for forward rotation P1 13 and for reverse rotation P1 14 separately The setting is displayed as a percentage of the rated torque and the standard is 300 Gain 1 lt gt Gain 2 Transfer Mode Setting P1 15 OxOF DIGIT 1 Set speed gain transfer mode OxOF DIGIT 1 O Use only gain 1 1 ZSPD auto gain transfer In case of zero speed transfer from gain 1 to gain 2 In the opposite case transfer from gain 2 to gain 1 2 INPOS auto gain transfer In case of IN position transfer from gain 1 to gain 2 In the opposite case transfer from gain 2 to gain 1 3 Manual gain transfer When the gain 2 contact is on transfer from gain 1 to gain 2 In the opposite case transfer f
172. us situations that may occur during emergency stop or device malfunction use a servo motor with an electric brake or separately install a brake system on the outside In case of an alarm solve the source of the problem After you solve the problem and ensure safety deactivate the alarm and start operation again Do not get close to the machine until the problem is solved B Precautions for Repair Inspection Before performing servicing tasks turn off the power Wait 15 minutes until the charge lamp goes off and then check the voltage Voltage may remain in the condenser even after you turn off power and may cause an electric shock Only authorized personnel are permitted to perform repair inspection or replacement of parts Do not modify the product B General Precautions This user manual is subject to change upon product modification or standards changes In case of such changes the user manual will be issued with a new product number B Product Application This product is not designed or manufactured for machines or systems that are used in situations related to human life This product is manufactured under strict quality control However be sure to install safety devices when applying the product to a facility where a malfunction in the product might cause a major accident or significant loss Safety Precautions LS BH EEPROM Lifespan EEPROM is rewritable up to 1 million times for the purpose of a
173. ut wiring and incorrect encoder wiring IPM temperature IPM module overheat Check the motor ID drive ID and encoder setting Check for equipment clash or confinement Check for incorrect drive output wiring and incorrect encoder wiring Check the motor ID drive ID and encoder setting Check for equipment clash or confinement 15 Current offset Abnormal current offset Replace the drive if St 23 and St 24 are 5 E or higher of the rated current Check for incorrect drive output wiring and incorrect encoder wiring Check the motor ID drive ID and encoder setting Check for equipment clash or confinement Overcurrent Overcurrent S W a LI n t Overcurrent CL Overcurrent H W om Check for equipment clash or confinement Check load and brake condition Check for incorrect drive output wiring and incorrect encoder wiring Check the motor ID drive ID and encoder setting Check the temperature inside the drive St 19 Room temperature Drive overheat Install a cooling fan and check load Check input voltage regenerative braking Continuous overload Continuous overload CI r Regen Overload Regenerative overload resistance and wiring Replace the drive i n P GACA Motor cable open Motor cable disconnection cable disconnection Motor wiring Motor wiring EIL encoder Check for incorrect wiring of the serial encoder Encoder comm communication error cable En
174. utput wiring and incorrect encoder wiring Check the motor ID drive ID and encoder setting Check for equipment clash or confinement r IPM temperature IPM module overheat Check for incorrect drive output wiring and incorrect encoder wiring Check the motor ID drive ID and encoder pda Overcurrent Overcurrent S W ino Check for equipment clash or confinement Replace the drive if St 23 and St 24 are Ll Ww og ALTAS Current offset Abnormal current offset 5 0 higher ot the tated cumeni Check for incorrect drive output wiring and incorrect encoder wiring Check the motor ID drive ID and encoder setting Check for equipment clash or confinement Overcurrent CL Overcurrent HW Check for equipment clash or confinement Check load and brake condition Continuous overload Continuous overload Check for incorrect drive output wiring and incorrect encoder wiring Check the motor ID drive ID and encoder setting Check the temperature inside the drive Room temperature Drive overheat St 19 Install a cooling fan and check load Check input voltage regenerative braking Regen Overload Regenerative overload resistance and wiring Replace the drive 4 Motor cable open Motor cable disconnection Motor wiring Serial encoder Check for incorrect wiring of the serial Encoder comm da communication error encoder cable 2a i za r Ul RT 3 DS LS 4 Parameters
175. vo to operate e The remaining position pulses delayed while the servo is off are ignored when it is turned on 4 Input pulse frequency St 06 Displays input pulse frequency 4 3 4 Torque and Load Display 1 Current operation torque St 07 Displays the energy load output by the servo motor as a percentage of the rated output 2 Current command torque St 08 Displays the internal torque command calculated from the servo s control algorithm as a percentage of the rated torque 3 Accumulated overload rate St 09 Displays the current energy load as a percentage of the rated energy load of the servo motor 4 Instantaneous maximum load factor St 10 Displays the maximum peak load between the current time and the start of control after the servo is turned on as a percentage of the rated output LS 4 49 4 Parameters LS EN 0 lh m 4 3 5 4 3 6 5 Torque limit St 11 Displays the maximum torque that the servo motor can output as a percentage of the rated torque DC link voltage St 12 e he DC link voltage of the standard drive that uses 220 V is approximately 300 V e he maximum DC link voltage allowed for the standard drive that uses 220 V is 405 V The overvoltage alarm AL 41 triggers when the DC link voltage threshold is exceeded because there is either too much or too little regenerative resistance The normal DC link voltage in the regenerative section is 385 V or be
176. yed data E g 123 4 RIGHT Move to another data digit 4 Parameters LS Mecapion 4 1 2 Status Summary Display 1 Status Summary Display in Speed Mode Example of the OFF status of the servo in speed control mode DIGIT 5 DIGIT 4 D LI es CN pm a DIGIT 3 1 Displays the current status of the servo bb Servo OFF run Servo ON Pot CCW Limit not CW Limit DIGIT 4 High ZSPD DIGIT 4 Medium INSPD or INPOS DIGIT 4 Low Command speed or torque DIGIT 4 DOT Ready DIGIT 5 Displays the current control mode P Position control e S Speed control e Torque control DIGIT 5_DOT Servo ON 2 Example of the ON status of the servo in speed control mode LS 4 Parameters oo 2 Servo Operation Status Summary Display List The following list explains the operation status summary display of different modes of the Servo Operation Status Function Screen Displays the servo s OFF status when in the position mode Displays the servo s ON status when in position mode Displays CCW status when in position mode Displays CW status when in position mode Displays the servo s OFF status when in speed mode Displays the servo s ON status when in speed Displays CCW status when in speed mode Displays CW status when in speed mode Displays the servo s OFF status when in torque mode Displays the servo s ON status when in torque mode Displays CCW status when in to

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