Home

L7 servo drive

1. 88 LU 7 L 44 44 eh ge a M E CHARGE U DO C m S i i Y C J C J gt 06 7 Ea 118 5 a B 198 S Weight 2 5 kg Cooling fan included B L72A0500 D 130 4 _ a f al amp 5 1 I EE BB a OPEND UULULUUUU id UVUUUOUUY E ATAE o H ID P P PW PN e O 0 a L al UU UU UU U 200 q z Cee 237 e50 T a Bg NNA f NA N E J UUU g Y Y mm Y E Y L 192 5 J Weight 5 5 kg Cooling fan included 738 LS LS 7 Product Specifications 7 3 Options and Peripheral Devices mg Option incremental encoder cable Category Product Name Applicable Motors Motor connection
2. B UU ABL Kl hy M i LY Woy mh a ea
3. Digital Input Note 1 Digital Output DC 24V DOT 38 ALARM gt 24V IN ate 39 ALARM gt E a eT RET 1 D02 0 TREAD gt L 2 EMG 18 ORI 4i READY e e CWLIM 19 i nad e e CWM 20 KD Hir EMT Note 3 om m e e MODE x X6 nis VLMT gt L o AMREST Fd ae d Le e e e PCON x 16 ALOO Le Lo ea Ot pis Ao gt e e TM ores Fx ALOZ gt SVON 147 OG 25 GND24 EGEARI Note 2 J 24 GND24 EGEAR2 xx Note 2 PCR s Ote lt xx WARN ABS RQ 45 INPOS ZCLAMP xx C N 1 43 ZSPD DIR 46 BRAKE SPD3 21 SPD2 22 Analog Output SPD1 23 28 MONITL ABS RST O Av 10v 29 MONIT2 Ac aw 10V 37 GND a 34 12VA 35 12VA Encoder Pulse Output 32 AO 33 AO 30 BO mmm Upper Level Analog Input 10V 10V 31 80 DS Analog Speed Ron SPDCOM 27 4 ZO L Command Limit GND 8 10V 10V 5 ZO Analog Torque ZNC TRQCOM 1 36 SG Command Limit ave 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
4. Lm l OBENL a ST fm e ADF ani o 1 SIH KO ami TO MIKO ur 7 a ll 1 EN i L7SA008n L7SA010n 00 Length of strip 7 10 mr l LS Mecapion 3 7 Weidmueller s SD 0 6x3 5x100 3 Wiring Method M4 1 2 N m pur u LI eee i M amp al
5. Weight 1 5 kg Cooling fan included LS WMecapion 7 37 7 Product Specifications LS B L70A0200 L70A035o
6. ee AAA ly L Three phase A JL i de i i jp Lon boo po be 4 ge resistance t Qurrent Sensor L e A Thermister PN V M E L3 laa On a W e e Chage e Lamp Ni AAA TASA SR S T1 T2 i L e e ee h e i i e e Thermister j s A E a T a Internal Regener at ive IGBT PWM U and V Control Power M P Rel DC Volt Failure Detection B failure etection Temperature operation Detection ZR Temperature MES Current operation Circuit Lat Circuit Circuit Circuit Circuit Circuit an E a Circuit One phase A L T Power Input AC200 230V eo y AA F Main Controle POWER Circuit Access CN7 C2 93 i U VCurrent DC Voltage AA e P D agaaalll cs cna uns Mus cpm gt a CN5 Communication CN2 A D Conversion A pend L a gt 6 Conversion C P C Insulation I F B A A Analog Input Monitor Outpu Contact Input Pulse Input Contact Output Encoder 2 points 10 points 10 points 2 points 5 points Output n v i n t Upper Level Controller Connection CN1 NOTE 1 If you use a DC reactor connect to the PO and PI pins If you use external regenerative resistance connect to the B and B pins after attaching wires of internal regenerative resistan
7. NC Internal regenerative resistor Screw for holding lead terminal L7SA0500 Terminal Block Signals TB1 eje us e s u v w ra ra Sew screwing torque 1 2 N m Screw M4 screwing torque 1 2 N m Screw MA screwing torque 1 2 N m 1 Cut by vibration malfunction or fire by contact could be occurred if torque of screwing was not enough 3 Wiring Method LS mecapion EN l1 l1L 1 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 phase 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 operates in 40 ms 200ms 4 m Main power control power supply Control power establishment 5 V Control program reset Main power establishment Alarm Normally On m m m m m m Servo Ready B Servo On Clear DB PWM output motor rotation LS mecapion 3 Wiring Method Bn 3 3 2 Timing Diagram at the Time of Alarm Trigger When the alarm triggered in the servo drive it blocks the PWM and the motor stops After s
8. Applicable Motors All models of APM SE and APM HE Series All models of APM SF APM SG APM FF APM FG SEHIES Below 3 5KW All models of APM FB and APM FC Series Specifications Motor connection lt Motor Connection gt 1 Motor connection MS Military Standard Drive connection a Plug specifications MS3108B MS3106B 20 48 2 Drive connection U V W and FG a U V and W pin specifications UA F2512 b FG pin specifications 2 5x4 ring terminal 3 Cable specifications 4Cx2 08Q AWG14 Note The drive end connection of the APM SE03M Series cable uses the UA F1512 pin Motor connection t 42 L T Motor Connection 1 Motor connection MS Military Standard Drive connection De a Plug specifications MS3108B MS3106B 22 22S 2 Drive connection U V W and FG a U V and W pin specifications UA F4012 SEOIL b FG pin specifications 2 5 X 4 ring terminal 3 Cable specifications 4Cx2 5SQ AWG14 Motor connection Drive connection ion Rear Direction LEAD WIRE N5FT04SJ1 gt Fo lt Motor Connection gt 1 Motor connection a Plug specifications KN5FT04SJ1
9. nal Weight 1 0 kg B L7 A008 L7 A010u D NANANA a FN FN a a a AK 0 CHARGE OPEN D A A iS 7N N IS Li e Ur uz j ss LSI s 9 PEERS j L L3 s l i H 1 NI e n T X c cd Po pee Bio oo ITI I PI l i 1 B C D H g Z B l U v Bi f e U TL Co HL J A 4 I c l LO d my KD Fi 9 dE f d d EI E Ce qj
10. 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 command and digital speed command Upper Level Controller Servo Drive Servo Motor Speed Command Position Speed Change AUR Controller Controller gt Speed Command Speed Current Controller Controller y Encoder Position Feedback Advantages e The servo responds quickly e Precision control is easy Disadvantage The upper level controller is complex LS p 1 Product Components and Signals Bn n 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 JIN Torque Current L3 m Torque Command t T Encoder Position Feedback v Controller Controller Controller Controller
11. PF PR Forward rotation Reverse rotation PULS PULS as o Cmo A CN1 9 A Positive i SIGN A SIGN A L M CN1 11 CN1 11 PULS PULS CW CCW CN1 9 L Level CN1 9 Positive 1 SIGN SIGN Logic L Level CN1 11 U U CN1 11 PULS PULS Pulse direction CN1 9 U U CN1 9 U U positive SIGN SIGN L Level igi cNi 11 1 Level CN1 11 CN1 11 CNT 11 PF PR Forward rotation Reverse rotation PULS PULS us 4 CN1 9 A A GN 9 A A Negative SIGN IGN Logic CN1 11 A A CN1 11 A PULS PULS page q Cro J Hie las U L Logic SIGN v v SIGN H Level CN1 11 CN1 11 PULS PULS Pulse direction 5 CN1 9 Y Y CN1 9 Y Y p SIGN L Level SIGN H Level 4 Parameters 4 65 4 Parameters LS EN 0 lA 1 2 3 4 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 number of pulses per motor rotation transmission per motor rotation e g If deceleration ratio is 1 2 ball screw lead is 10
12. Advantages e The servo responds quickly e Precise 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 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 The servo is run with the position and torque operation systems as points of 5 contact 1 Product Components and Signals Ls EN 1 2 2 Wiring Diagram of the Entire CN1 Connector Digital Inout Note 1 Digital Outpu a T m gt DAt Do2 DA gt oe DH A IE PRED E DIS YA mam 22 I DEM pbs A e Tim gt e DU lc Soa gt EET 4l VEIT gt m z HEE g H sor m oH dione em RN svo gr mH 25 GND24 e EGEARI 7 Note 2 24 GND24 fe Note 2 can CN1 VLMT zin NM Command Pulse Input S TM 10V 10V 29 MONIT2 TT P 30v 10v r 37 GND k AX rH gt Controller LY PR Encoder Pulse Output Ce SU pel 30 BO Up
13. Display Operation keys Mode Up Down Set CN5 USB connector Main power connector L1 L2 L3 ARGE Q A RS 422 communication DC reactor connector C z connector PO PI O RARE Short circuit when not used rm L b CN3 e H 2 RS 422 communication C connector Regenerative resistance connector B B Bl L p When basic installation C is in use short circuit B O and BI terminals When installing external L Gui resistance install in the O a 1 B and B terminals z Control signal connector Control power connector C1 C2 Motor power cable connector U V W L CN2 Encoder signal connector OMNIS j O D 9 SQ e E m L
14. Specifications Drive connection CN2 All models Quadrature of Dips APM SA For jen APM SB anali ncoder f Saig ng cable APM SC lt Motor Connector gt lt Driver Connector gt small Motor connection capacity APM HB MEN Series a Cap specifications 15 positions 172163 1 AMP b Socket specifications 170361 1 AMP 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 ED i signaling pov APL LG BEM APM SG 4S3108B20 295 l Je medium i capacity M Series Motor Connector Driver Connector 1 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 them
15. ALARM Output signal logic definition number READY eda DO1 Contact A Contact B BRAKE DO2 Contact A Contact B DOS Contact A Contact B INPOS DO4 Contact A Contact B DO5 Contact A Contact B Signal Name Input CN1 Pin Default Allocation Number Output Signal Contact B Signal Default l Initial Logic Setting Parameter Allocation 40 41 38 39 Definition 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 Ais 1 and Contact B is 0 LS 4 Parameters Bn Nu 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 ALM CN1 38 39 and ZSPD CN1 43 is as follows Before Changing After Changing poo DOI ZI 1 Oa J f U 713 C1 LU 4 A et cS Loader Window Display Result Keys to Use What to Do j L Press MODE to move to P2 05 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 aaa 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 b
16. 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 1 0 lo 1 e 6 3 L7 Servo Drive Communication Address Table 6 3 1 Operation Status Parameter Communication Address Table Communicatio 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 position BIT8 Power ready BIT9 Analog command active BIT10 BIT13 Control mode 0 Tra 1 Spd 2 Pos 3 Spd Pos 4 Trq Spd 5 Trq Pos 2 Current operation speed St 01 INT16 4 Current command speed St 02 INT16 Current operation status Tracking position pulse L St 03 INT32 Tracking position pulse H Position command pulse L St 04 INT32 Position command pulse H Remaining position pulse L E St 05 INT32 Remaining position pulse H k NIO 1 1 CO Input pulse frequency L St 06 INT32 Input pulse frequency H Current operation torque St 07 INT16 Current command torque St 08 INT16 Accumulated overload rate St 09 INT16 load factor 3
17. B Servo Drive Overload Graphs 750W 1 0KW 1 Graph of Overload during Rotation AL 21 AL 21 Load Occurri MAX Occurri ng Time ng Time sec sec 100 or below Infinite 169280 0 63480 210 12820 220 18808 0 230 10580 240 3590 4 250 DT 260 965 1 2 0 T 280 4378 200 3216 200 119 0 190 4 89 2 142 7 49 3 18 9 38 8 62 1 T 2244 0 10736 6032 i38 2736 201 0 31 0 49 6 7 0 6 4 10 2 o O Bom oo gt EA N PN Load Curve during Rotation 1600000 U 100000 0 10000 U 1000 U Time sec 100 0 1 0 110 120 130 140 150 160 170 180 190 200 210 220 230 240 250 260 270 280 290 300 Load Factor 96 8e Maintenance and Inspection 2 Graph of Overload during Stop AL 21 Load 96 S MAX sec AL 21 Occurri ng Time sec 100 or below aana 151742 569034 220 385 4215 1 6744 2 2529 06 230 30 3 Infinite rr o D Q 60700 3 22762 62 210 50 1 80 2 61 6 48 5 15 5 23 1 0 1422 6 240 9 7 325 0 555 6 470 0 282 260 3 8 273 0 163 8 2 0 3 4 173 0 103 8 280 3 1 117 0 70 2 290 2 39 6 300 2 5 250 8 3 13 3 6 1 5 4 5 0 4 3 4 0 Load Curve during Stop 1600000 U 100000 U i o E 110 120 130 140 150 160 170 180 190 200 210 220 230 240 250 260 270 250 290 300 Load Factor 8 Maintenance and Inspection LS EN 0 lo 1 B Servo Drive Overload Graphs 2 0KW 3 5kW 5 0kW
18. pq 10 Sets ibis non i the analog torque command is P2 20 i c Analog torque scale oom Lal ea Analog Input Output Analog torque command mV Sets offset for analog torque commands B offset Details Refer to 4 4 3 Analog Input Output Anal Parameter Setting uo dora 1000 1000 command offset 2 22 Zero torque clamp voltage 0 Sets voltage range for the clamp operation of the Zero torque clamp voltage Lg 1000 analog zero torque command LS mecanic 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 P3 00 Speed command 1 RPM Sets 1 6 speed commands based on the speed S command input contact Speed command 1 6000 6000 SPD1 SPD2 SPD3 Speed Control eed Control S RPM EGIECSECNM T E P3 01 Analog speed Speed command 2 6000 6000 command O H mn P3 02 command 1 Speed command 3 6000 6000 SEE an SEE Digital soeed Te Speed command 4 RPM 1000 command 2 command 3 Speed command 5 RPM 1500 OFF OFF ON Digital speed l 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
19. 4 4 4 4 4 4 4 Select rotation direction P2 01 Set Digit 2 Bp nn nn un B up uH HERE Jt P2 02 Electronic gear ratio 1 EGEAR1 P2 02 Set Digit 3 Electronic gear ratio 2 EGEAR2 P2 02 Set Digit 4 P control action Select gain 2 Error e clear Change operation modes MODE P2 04 Set Digit 1 Absolute encoder data request ABS RQ P2 04 Set Digit 2 Zero clamp ZCLAMP P2 04 Set Digit 3 Reset absolute ABS RS encoder data P2 04 Set Digit 4 NOTE 1 CN1 connector pin is not allocated when the default value is O 4 12 LS LS Mecapion 4 Parameters 2 Example of Changing Input Signal Allocation The input signal definition can be changed in P2 00 P2 01 P2 02 P2 03 and P2 04 The input signal logic definition can be changed in P2 08 and P2 09 Allocate input signals as shown in the following table Input Signal Input Allocation Number SV ON DIL CNI1 4 Pin SPD1 DIZ CN1 23Pin SPD DIS CN1 22Pin SPD3 DIA CN1 21Pin A RST DIS CN1 1 Pin DIR DI6 CN1 46Pin CCWLMT DI CN1 20Pin CWLMT DIS CN1 19Pin EMERGENCY DIS CN1 16Pin STOP DIA CN1 46Pin EGEARI1 EGEAR PCON GAIN P_CLR T LMT MODE ABS REQUEST ZCLAMP ABS RST LS Mecapion 4 13 4 Parameters LS Signal Name CN1 Pin Default Allocation Number Input Value Parameter Allocation Signal After 17 Definition Changing efell B fslas P2 00 0x03
20. Toque Nm APM SAO01 5A 4 000 5 000 Speed r min LS 7 Product Specifications O Product Features Servo Drive Type APM O0000 SBO1A SB02A SBO4A MEE Applicable Drive L70Acq L7L1A002 LIDA04 mp o sm s wmm ose o m Rated torque TET es instantaneous speed aeo on os o 1 Inertia moment tems 0 2 019 Allowed load inertia Motor inertia x 20 DENEN Speed and Standard Quad Type Incremental 3000 P H DEN position detector Serial Type 19 Bit Protection l Fully closed self cooling IPe5 excluding axis penetration TWmemmg oos Ambient Specifications 0 40 C mM and features AL 20 80 RH no condensation humidity Atmosphere No direct sunlight corrosive gas or combustible gas DEBIT Anti vibration Vibration acceleration 49 m s2 5G Eod Rotation speed Torque Characteristics Torque Nm APM SB01 A dans Nm APM S B02A Torque Nm APM S BO4A 40 L Repeatedly used area Repeatedly used area Repeatedyusedarea f QContinuously used area 1 e Continuously used area 1000 2000 3000 4000 4000 5000 J 1000 0 500 J JUL DOC 3000 DOC Speed r min Speed r min 7 Product Specifications LS EN 0 lO Product Features Servo Motor Type APM D0000 SBNO1A SBNO2A SBNO4A SBNO4ABK Applicable drive L75Acqc L7CIA002 L70A004 i i KW 01 02 eT EM EN E eL E 1
21. 7 39 7 Product Specifications LS we mg Option serial encoder cable Product Type Name Applicable Category Note 1 Motors Specifications Motor connection Drive connection CN2 All models of Serial type APM SA E Encoder ABS Will provide signaling cable ECS dui small and PRINIICONON Driver Connector gaat nid 1 Motor connection Pelle 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 All models of APM SE EN APM SF Be NN eps Serial type APM SG Ea Z s m B For coe ARES APM LF Erbe LE signaling paoe EDS APM LG Motor Connector Driver Connector medium capacity APM FE APM FF and APM FG Series 1 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 3 Cable specifications 4Px0 2SQ AWG24 7
22. Em VO Ce S Connect to Connector Case Note 1 Input signals DI1 to DIA and output signals DO1 to DOS5 are default signals allocated by the factory Note 2 These are non allocated signals You can change their allocation by setting parameters For information refer to 4 1 6 External Input Signal and Logic Definition and 4 1 8 External Output Signal and Logic Definition 1 Product Components and Signals LS EN 0 LL 1 2 6 Examples of Speed Position Operation Mode Wiring Digital Input Note 1 Digital Output T 2AVIN 50 g PA p Note 1 3 3kO 39 ALARM e se e STOP 48 DAN Pi 40 READY gt o 1 18 09 4i READY K Sooo DI8 Y 4 CWLIM 19 Pu DO3 ccwum 20 Ost 43 ZSPD gt Note 3 oat l DO4 E INSPD E b 47 4 4 MODE kk i DO5 e ALMRST 17 DI5 Y amp s 45 INPOS e Pa oe e PCON x UT g 16 ALOO ee s CER a DI3 15 ALOL e_ a EN a GAIN2
23. 1 Graph of Overload during Rotation AL 21 Load Occurring Load Occurring Time sec SP ae EN E 180 1650 240 20 34 54 48 X Load Curve During Rotation 100000 0 0 Sta 1000 0 D a 0 NR c 100 0 i MEE SSS 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 8 Maintenance and Inspection 2 Graph of Overload during Stop mud inus Load Occurring MAX Load Time g Time sec sec 100 oF Infinite below HO 48320 7731 2 28992 264 45 Load Curve During Stop 10000 0 1000 0 100 0 Time sec 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 9 Appendix oo 9 Appendix 9 1 Motor Type and ID to be continued on the next page se 6 wat Wows wma 1 of wma 2 9 sem s w wem s sw oof smm tme su 4 l Ld scm ar oof sce 22 cof scm 2 eof scm 24 1000 f scm as oo f scs 6 aso f sce ar sof som a oof sem er eof sem m we sm m em sem e 5 so es ooo seo os na se eiwe semp e eof sm e 9 sw 70 600 smu m 9 sum ve aa ss m ss 7 eso uaan 5 wa ww sue m me sue m we ema rr e00 Hobwwpe sema s w sm s swm aan s eof us
24. 4 4 5 Speed Operation Parameter Setting me me Z detection operation speed RPM Sets Z detection operation speed Z search operation du 31 830 huius add E DE Sets acceleration time for speed commands Esp time iind Refer to 4 4 5 Speed Operation ACC time e mi oo Sets deceleration time for speed commands P3 09 time Details Refer to 4 4 5 Speed Operation Speed command 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 Umt 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 Eg 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 sp
25. Contact Number wwe lllsls s idi T pin number signal ame l LL uidi un ganl 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 Output Signal Output Allocation Number DO CN1 Z38 3 pin DO CNT 40 41pin DOS CNT 43pin TLMT DOA CNI 44pin VLMT DOR CN1 45pin INSPD WARN Signal Name CN1 Pin Default Allocation Number Pin Default Allocation Number Output Internal Default Parameter Alocation d Allocation Signal a a T a an an 40 41 38 39 pn Parameter Value Alarm Servo Ready P2 05 0x4321 Zero Ps achieved Brake Position reached P2 06 Set Digit 1 uae E ae limit reached P2 06 0x0005 Speed limit reached Speed achieved Warning WARN F 2 1 P2 07 0x0000 P2 07 Set Digit 1 NOTE 1 CN1 connector pin is not allocated when the default value is O 420 LS we 4 Parameters 2 Examples of Changing Output Signal Allocation he 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 t
26. GANE EN x E MR Sets offset for 1 2 analog output channels P0 19 MONIT1 Speed RPM DAC oe i 1 Torque 76 Position command frequency 0 1 DAC ur offset 2 Spp Enn E DC Link V Hac Details Refer to 4 4 1 System Parameter Setting ELI DAC output scale 1 Unit V Sets magnification for 1 2 analog output MONIT1 Unit V channels P0 23 gs l l Ia scale1 Sets magnification as setting Unit V Ia 10000 E g Channel 1 scale 100 RPM Output 100 RPM as 1 V DAC output scale 2 rbe Unit V 500 ory MONIT2 Details Refer to 4 4 1 System Parameter DAC scale 2 F oo Setting MONIT2 P0 27 value Store U phase Current Offset value U Current Offset 9999 9999 P0 28 value Store V phase Current Offset value V Current Offset 9999 9999 LS mecanic 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 ea a AE Coe 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 servo inertia ratio shall be set by calculating P1 00 aeia rate 20000 load inertia by the machine system and rotor inertia from the motor specification table Settin
27. Ico HH i 1e 1 TKO T Mi a SD 0 6x3 5x100 M4 1 2 N m 3 Wiring Method LS c EN 0 l le L7SA020n L7SA035z re I H C OPEND i Es fe Length of strip IS 0 m Ce
28. Output contact status DEBER Displays the output contact status that the servo 7 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 l pulse St 16 Single turn data Display Single turn data 2 90 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 lad 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 Initial Code Name Minimum Maximum Internaltemperature C 0 Displays the internal temperature sensor value sae Rees fe O 2 ade bid ied speed of the currently O RaedRPM o 3000 PEL eade ae LA speed of the currently MaxmumRPM 0 1000 PE ASN i m current of the currently Raedcre ooo 0535 DE ARE Displays the U phase current offset St 23 U Phase current 200 200 offset Ea V phase current offset mA 0 Displays the V phase current offset St 24 V phase current 200 200 offset Programversion Displays the version of the currently installed St 25 program Software version Details Refer to 4 3 7 Software Version Display St 26 FPGA Version NEN Displays the version of the currently
29. Repestedly used l ea Repealed used aret Continuausly used area 2 000 2 000 500 1 000 1 5 O searag U Speedir ii Speedir iii U APM FG20M APM FG30M Torque Nm Torque Nm 60 0 100 0 80 0 Repeatedly used ared 60 0 40 0 Continuously used area Continuously ques area Continuously used area 0 0 500 1 000 500 1 000 500 1 000 l AQ soatni o l O searr l QD aodi UD LS Mecapion 7 21 7 Product Specifications LS ecapion EN 2 gm Electric Brake Specifications A E Maintenance dmputvotage V voltage V DC 24V DC 24V Static friction torque C Capacity W W Braking mechanism Spring brake Insulation grade GraDde F Applicable Motor APM FB APM FC a Static friction torque Spee ei D bio N m ee IL I IT CHH HH H EHH I I T T RR ee ee NOTE 1 The same specifications apply to all electric brakes installed in our servo motors 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 7 22 LS Mecapion LS WICC 7 Product Specifications 7 1 2 Outline Drawing B SA Series APM SAR3A APM SARS5A APM SA01A APM SA015A CB 0 5 WM 50 8 UN 43 9405 K iml N e zT a L T m
30. and features ppm mbien humidity 20 80 RH no condensation Atmosphere No direct sunlight corrosive gas or combustible gas Anti vibration Vibration acceleration 49 m s2 5G Wei Ka Rotation speed Torque Characteristics Fully closed self cooling IP65 excluding axis penetration Torque Nm APM SE09A Torque Nm Torque Nm 00 r r T 5 0 25 1 APM SE15A APM SE22A eatedly used area Na Repeatedly used area Tg Continuously used area 1000 d 5000 400 5000 Speed r min Speed r min APM SE30A MER APM SEO6D orem APM SE11D 10 0 Repeatedly used area Continuously used area 20 Continuously used ares 5 p Continuously used area 4000 x DUU J UUL ZU SIU I JUL AJIL JIJU Speed r min Speed r min Speed r min 7 Product Specifications LS EN 1 1 1 Product Features Applicable drive L70An0 L75A020 L7GA004 L75A008 L75A010 L75A020 meses wm 38 z2 os o5 o5 i Rated torque kgf cm 77 94 107 17 29 23 58 46 87 69 116 92 Maximum 22 92 31 51 17 19 25 78 34 37 instantaneous torque kgf cm 233 83 321 52 87 69 175 30 263 06 350 75 R s i kg m2x10 4 17 34 2268 666 12 00 17 34 22 68 Inertia moment Igf cm s2 17 69 23 14 12 24 17 69 23 14 Allowed load inertia Motor inertia x 10 Rated power rate kW s 33 65 48 64 12 32 27 35 42 59 57 89 Speed and Standard Quadrature Type Incremental 3000 P R pos
31. r4 Loader Displays Keys to Use What to Do Displays the speed control mode with main power and permitted control power 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 00200 Press LEFT or RIGHT at the blinking cursor to move to the desired digit DIGIT 3 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 P1 07 Press UP or DOWN at the blinking DIGIT 3 position to change the number to 00500 NOTE 1 If you hold down UP DOWN at the current cursor in the parameter window the number continues to increase decrease LS 4 Parameters Bn 4 Example of changing DAC output offset 1 PO 19 0 Unit V gt 500 Unit V EJ Loader Displays Keys to Use What to Do 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 19 Press SET to enter parameter edit C mode The parameter is displayed as 00000 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 0500 Press and hold SET for approximately one second After two flickers the number wil
32. tn 19 19 J o o Allowed load inertia Motor inertia x 15 DEIN Rated power rate IkW s 24 05 33 39 43 02 52 57 a Speed and Standard Quadrature Type Incremental 3000 P R position detector Option Serial Type 19 bit DEED Protection method Ambient Specifications temperature 0 40 C and features Ambient 20 80 RH no condensation mu Fully closed self cooling IPe5 excluding axis penetration humidity Atmosphere No direct sunlight corrosive gas or combustible gas Anti vibration Vibration acceleration 49 m s2 5G weih m Rotation speed Torque Characteristics Torque Nm 4 0 APM SC04A Torque Nm APM SC06A Torque Nm APM SCO8A 2 F Repeatedly used area T Repeatedly used area Continuously used area Continuously used area Continuously used area i 1000 2000 3000 400 BONO JUL SUUU J UUL UU 4000 Speed r min Speed r min Speed r min Torque Nm 10 0 APM SC10A Repeatedly used area a Continuously used area 4000 Speed r min 7 Product Specifications LS EN 0 l ooo o 1 Product Features Serve Motor eea Sco scoso sss scum esea aaae O instantaneous iorque koom 484 6577 sose 9499 S speed TIU ioe 39 9 Inertia moment 080 ma ema om im 39 ww Allowed load inertia Motor inertia x 15 Te Rated power rate kW s 42 27 45 69 49 97 Speed and positi
33. 0 o m Rew o o mb Few oo S m Pew O o m Rew mb Rem 0 Im amp LS Viecapion 6 Communication Protocol oo n 6 3 5 Speed Operation Parameter Communication Address Table The following table lists Modbus communication addresses for the speed operation parameter group P3 xx Communicatio Parameter eevee 0 aeons 0 00 9 mew 0 0 9m mew S 6 3 6 Position Operation Parameter Communication Address Table The following table lists Modbus communication addresses for the position operation parameter group P4 xx Communicatio Parameter Position input pulse logic P4 00 UINT16 Hid cow numerator P4 01 INT32 334 Electronic gear ratio numerator 1 H SL S P4 02 INT32 338 Electronic gear ratio numerator 2 H Hid O bana P4 03 INT32 342 Electronic gear ratio numerator 3 H a Sas id P4 04 INT32 346 Electronic gear ratio numerator 4 H 348 Electronic gear ratio P4 05 UNTEN denominator 1 350 Electronic gear ratio P4 06 pem denominator 2 352 Electronic gear ratio P4 07 pies denominator 3 Electronic gear ratio P4 08 m denominator 4 Electronic gear ratio mode Electronic gear ratio mode ratio mode P4 09 P4 09 UNM6 UNM6 Electronic gear ratio numerator PA 10 UINT16 offset Position errorrange L error Position errorrange L L PAn PAn 1
34. 3 Operation mode setting PO 03 Sets operation mode of the servo 0 mecnm OO 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 RS422 communication and BUS communication are used for communication with the servo Communication related options are required in this case e Communication speed setting PO 04 You can select the baud rate the communication speed of RS422 0 9600 bps 1 19200 bps 2 38400 bps LS cap 4 Parameters 3 57600 bps 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 PO 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 0 Error in case of main power phase loss 1 Warning in case of main power phase loss 6 RST checking time setting PO 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 There are 26
35. ABE33b 30 40A ABE53b ABE33b 10 40 Noise Filter TB6 TB6 BO10LBEI 10A TB6 B NBDC 30A NF cou 0 eee BO40A 40A HFN DC reactor HNO OA 10 HNO OA HFN 15 15 A HFN 30 30 A 40 40A 11A sed 18A 240V 32A 240V 50A 240V GMa 9 GMo 18 GMo 32 GMo 50 L1 L2 L3 PO PI N AWG16 AWG14 AWG12 AWG10 6 B B Bl 1 5 m 2 5 mm 4 0 m mm U VW E AWG16 1 5 ni AWG16 1 5 nmi AWG16 1 5 ni iiie UA F1510 SEOIL UA F2010 SEOIL UA F4010 SEOIL 10 mm ure 10 mm Strip amp Twist 10 mm Strip amp Twist Strip amp Twist Regenerative resistance 50 W 100 W 150 W 120 W Provided by 100 O 400 130 6 80 default BLZ7 62HP 03 180LR Crimp terminal Connector BLF 5 08 03 180F SN BK BX SN BK BX SO L1 L2 U V W e BLF 5 08 11 180F SN BK BX BLZ7 62HP 11 180LR SN BK BX SO Note1 Use 600V PVC Insulated wire for wiring Use approved UL wire Temp 60 C or above for UL CSA Regulation Use approved wire for any other regulations Use equivalent or advanced components compare to components above for any special applications LS Wecapion L7SA004an or below T D Length of strip 7 10 mm 0 4 0 5 N m
36. C one second After two flickers the number will be saved as 04123 for the parameter Hold down MODE for C 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 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 ZSPD BRAKE 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 Detodii igna igna efau Initial E Logic Setting Parameter Allocation Name 40 41 38 39 Definition Alarm Servo Ready Zero speed achieved Brake Position reached NOTE 1 For the purpose of the input signal logic definition Contact A is 1 and Contact B is 0 4 Parameters LS leca 4 Examples of Changing Output Signal Logic Definition Output signal logic definitions can be changed at P2 10 Set output signals as shown in the table below when they are allocated as below Output signal logic definitions
37. 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 P1 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 operation e The following table contains control gain recommendations for different categories of inertia ratio Motor Flange Position Speed Inertia i Speed Integral Category Multiple S Gain Lowimetia 1 5 40 90 90 400 1000 30 40 40 on C High inertia inertia 20 50 50 00 40 40 10 300 300 50 10 nertia ratio can be tuned during a test drive if it is hard to calculate LS WMecapion 4 55 4 Parameters Ls 9 0 l1 U L 1 l1 2 Position Control Gain Differ ce entiati ilter time eedforward gai constant P1 04 Speed Position error Position T Proportional Command command 9 gain o Current po
38. MODE UP and DOWN keys functions pen dalia Keys Add on Auto gain tuning phase Z detection manual JOG operation functions program JOG operation automatic analog input calibration Overcurrent overload overvoltage voltage lack main power input error control power input error overspeed motor cable heating error power module heating drive temperature error encoder error excessive regeneration sensor error communication error Environment Humidity 90 RH or lower no condensation Indoors a place free from corrosive gas or combustible gas or a place without Environment liquid or conductive dust Protection function 736 LS LS 7 Product Specifications oo 7 2 2 Outline Drawing B L70A0010 L7 A004c m FA g S PI Bt l a pad B Li L J Je A x F el ut X SI lle
39. RS 422 Communication connector CNS RS 422 Communication connector CN1 Control signal connector Control power connector C1 C2 CN2 Encoder signal connector DC reactor connector PO PI Short circuit when not used Front cover Not used N Sg AZ CHARGE E Ground Main power connector L1 L2 L3 Regenerative resistance connector B B When basic installation is in use Motor power cable leave it connector U V W When installing external resistance install in the B and B terminals after attaching wires of internal resistance to NC hole on the case 1 Product Components and Signals LS 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 Position Speed Position Position Speed Current Controller Bid Controller Command Controller a Controller Bd Controller Pulse
40. 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 jo 7 efen J efe T 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 Registers 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 O 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 e seme wen a e seme wei ost Ls mm oo Cw mes
41. to enter alarm history reset x indicates flickering LS 5 Handling and Operation 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 P 1 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 Order Loader Displays Keys to Use What to Do Displays the speed control mode with main power and control power permitted 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 x indicates flickering 5 Handling and Operation LS 5 2 7 Phase Z Search Operation Cn 06 Perform phase Z search operation A Press SET in Cn 06 and Z rtn is displayed N Press SET and run is displayed and the servo turns on Da 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 do
42. 19 Zero speed command clamp Zero speed command clamp voltage voltage P2 19 2 0 P2 19 Not 0 mV LS WMecapion 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 P 1 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 v 10 V 10 V 10 l Y 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 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 pulse counter Error pulse Position reach range d output ii C Position decision Completed output If you set too gre
43. 34 37 57 29 85 93 126 04 31 51 50 13 instantaneous torque kgf cm 350 75 584 58 876 88 1286 08 321 52 511 51 Rated rotation r min 1000 2000 speed RACES r min 2000 1700 2000 3000 rotation speed kg m2x10 4 51 42 80 35 132 41 172 91 51 42 80 35 Inertia moment gf cm s2 52 47 81 99 135 11 176 44 52 47 81 99 Allowed load inertia Motor inertia x 5 Rated power rate kW s 25 53 45 39 61 97 102 08 21 45 34 75 Speed and Quadrature Type Incremental 3000 P R position detector Serial Type 19 bit Protection l l Fully closed self cooling IPe5 excluding axis penetration Ambient Specifications 0 40 C and features Lem ww ws p ms ws ws Ws 25 Rotation speed Torque Characteristics APM SG12M Torque Nm T D l Repeatedly u used area i Speed r min APM SG20M Torque Nm bot r Repeatedly used area 500 2000 Speed r min Continuously used area APM LG30M Torque Nm Repeatedly used area Continuously used area 1000 ay Speed r min APM SG44M Torque Nm Repeatedly used area Continuously used area L 500 2 000 Speed r min Torque Nm APM SG22D Continuouslyusedarea Call Speed r min Torque Nm APM LG35D Repeatedly used 2 area Continuously used area 1 Speed r min LS 7 Product Specifications Bn n Product Features Servo Motor Type APM cuou0 HBO1A HBO2A HBO4A HEOQA HEISA Applicable D
44. Changing After Changing P LU 2 71 FL 71 71 U P2 00 U UL CE E U 14 C nH l PH PH P U U PH PH P 1 U P2 02 U U Un 3 U U U 123 Loader Displays Keys to Use What to Do 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 flickers 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 EN 0 ll 1 0 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
45. Does the regenerative resistance conform to the required standard sthe shape of the shaft end correct Is 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 of the device 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 ls there any abnormal sound or excessive friction during rotation B Servo Drive Product Format LL S A 004 A AA Communication Type S Standard lO Servo type Series Input Voltage Capacity Encoder Type 001 050 5 0 kW 002 075 7 5 kW A Parallel A 220 VAC 004 110 11 0kW Pulse type 008 150 15 0kW B Serial B 400 VAC 010 communication 020 type Exclusive Option N Network type 035 1 Product Components and Signals LS B Servo Motor Product Format APM SBO4AEK1 Gl 03 Gearbox Classification 03 1 3 10 1 10 j Encoder Type T Z Parallel pulse type o Solid Shaft 550 600 W G Inc 6000 P R opecifications H Hollow Shaft 650 W Serial BISS Non existent B Assembly 750 800 W communication type No gearbox F Flat Type 850 900 W N 19bit S Turn Abs G1 For general industrial M 19bit M Turn Abs purposes Foot Mount 18bit SA M Turn Abs G2 For general industrial purposes Flange
46. HF 172167 1 SS A Power connector pin layout 172165 1 172 Power connector a Brake connector Brake connector pin layout 172171 1 Encoder connector pin layout Encoder connector External Dimensions SARSA 101 3 137 6 76 3 112 6 42 5 42 4 66 3 102 3 0 32 0 67 108 3 144 6 83 3 119 5 49 5 49 4 73 3 109 3 0 38 0 73 SAO1A 125 3 161 6 100 3 136 5 66 5 66 4 90 3 126 3 0 5 0 85 SA015A 145 3 120 3 110 3 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 Except SA015A LS lecapion 7 23 7 Product Specifications B SB Series APM SBO1A APM SBO2A APM SBO4A b E D ae 172167 1 Powerconnector Power connector pin layout 172165 1 172171 1 i Brake connector Brake connector pin layout Encoder connector pin layout Encoder connector External Dimensions SBOIA 122 122062 92 132 52 5 52 3 59 5 99 5 0 82 1 4 m 136 176 106 146 66 5 66 3 73 5 113 5 1 08 1 66 SB04A 164 199 134 169 94 5 94 3 101 5 141 5 1 58 2 16 NOTE 1 Use DC 24 V for brake opening power NOTE2 The sizes in parentheses apply when attached to brakes ga 7 24 LS Mecapion LS mecapion 7 Product Specifications IT B SC Series APM SC04A SC03D APM SCO6A SCO05D APM SC08A SC06D APM SC10A SC07D secti
47. 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 Table of Contents LS EE 1 l1 B Wiring Precautions Be sure to use AC 200 230 V for the input power of th
48. i Terminal for 12 V power output e oejejojo o 1 3 5 Pulse Train Input Signal B Line Driver 5 V Applicable Modes Description gt Speed Torque Speed Speed Position ESEJ EJ E PF F pulse input Ec pulseinput input ee ee 14 5812 15184 m P jRmheru o x x wo x ox PR L O x x wo x ox Pucom Netforme H x x X X B Open Collector 24 V Applicable Modes Description Speed Speed Position Speed Torque as P a EIEN EX z Notforuse for Notforuse ris F pulse input KRLISIE BERE e L9 m ww X Ix x T P Rm O x x xo x ox 49 pucom 2veowerinot O x x xo x ox 1 Product Components and Signals LS 1 3 6 Encoder Output Signal Applicable Modes Description S Em peed Speed Position T Position Speed Torte tnan rque orta Outputs encoder signals received from the motor as signals pre scaled according to the ratio defined by PO 14 5 V line driver method Outputs encoder Z signals received from the motor 5 V line driver method 2 Installation Bn 2 2 1 2 1 1 2 1 2 2 1 3 Installation Servo Motor Usage Environment Wem Requirements Notes Consult with our technical support team to customize the product if the temperature in the installation environment is over the given temperature Ambient temperature o
49. make sure that no oil or water flows into connection parts kof EN EN NEN EM D 2 1 5 Cable installation S 59 59 59 2 Do not apply pressure or scratch to 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 ecc eer Ambient A Caution temperature Ud 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 reduces 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 EN 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 m
50. 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 movement 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 Besure not to change the U V and W wiring of the motor power cable ES veo 9 Appendix O 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 PO 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 o
51. non allocated signals You can change their allocation by setting parameters For 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 Torque Operation Mode LS 2 15 1 Product Components and Signals EE 1 1 1 2 8 Example of Position Torque Operation Mode Ls Wiring Digital Input pone 1 Digital Output x2AVIN 50 E E 38 ALARM gomma 3 3kO 39 ALARM gt Note 1 e e STOP 48 HOAN a 40 READY K EMG 18 HOn 41 READY gt e e Cwm 19 HOBI og comm 20 14 71 og MT 4 Note 3 T DI6 4 TLMT e e e MODE Yo KDOS ALVRST 17 DI5 amp y 45 INPOS ge POR to Tost 16 ALOO gt E to C A TLMT A p 15 ALO1 E SN ABSRQ SUIT E 14 ALO oe SVON 47 OU 25 GND24 a EGEAR
52. range is from 1 V to 1 V Cn 13 If offset voltage exceeds this range oVrnG ia Manual torque is displayed and there is no calibration command offset calibration You can check the calibrated offset in the analog torque command offset P2 21 Details Refer to 5 2 Handling LS Wecapion 4 47 4 Parameters LS Parameter Unit initial Cn 14 Absolute encoder reset DEDERE Resets the absolute encoder Abs encoder reset BEEN NE Details Refer to 5 2 Handling Heset 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 load factor SET Initializes the maximum load factor Details Refer to 5 2 Handling Parameter lock BEEN PNE Lock or Unlock whole parameter Cn 16 UP Unlock Parameter lock DOWN Lock Details Refer to 5 2 Handling Current offset DEDERE Store existing current offset value into P0 27 Cn 17 P0 28 Parameter Calculate current offset pf Details Refer to 5 2 Handling 4 48 LS LS 4 Parameters O 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
53. ratio applied for up to 1100 ms based on 19 bit single turn data 7 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 in U AU j bx j Multi Turn Data Single Turn Data i Fi i Ja Xl J l BU p C JM r u 3 P X P K i p E L i MAX x d MAX A l ae i af 1Oms 100m d ms ms Je 1100ms 100ms i 7 LS cap 4 Parameters oo n 4 Parameters 4 1 How to Use the Loader 4 1 1 Names and Functions of Each Parts Display 5 digit FND data Digit 5 Digit 4 Digit 3 ae 2 Digit 1 Displays the decimal point 0 LO U 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 displayed data E g 123 4 RIGHT Move to another data digit 4 Parameters LS mecavior EN 2 0 1 4 1 2 Status Summary Display 1 Status Summary Display in Speed Mode D Example of the OFF status of the servo in speed control mode DIGIT 3 1 Displays the current status of the servo bb Servo OFF run Servo ON Pot COW Limit not CW Limit DIGIT 4 High ZSPD DIGIT 4 Medium INSPD or INPOS DIGIT 4 Low Command spe
54. rotation 3000 E speed Inertia moment Serial Type 19 bit X position detector Option Protection l l Fully closed self cooling IPe5 excluding axis penetration LL Ambient 0 40 C Specifications temperature and features Ambient 20 80 RH no condensation humidity Atmosphere No direct sunlight corrosive gas or combustible gas Anti vibration Vibration acceleration 49 m s2 5G Weight kg o7 os 13 16 22 27 Rotation speed Torque Characteristics Torque Nm APM FBO1 A Torque Nm APM FB02A Torque Nm APM FB04A He eatedly used area LR eated used area i N Repeatedy used areg f epeatedly Repeated used dies N Continuously used area Continuously used area Continuously used area 0 0 4000 SU 0 1000 UL 2000 4000 4000 EUL DU Speed r min Speed r min Speed r min Torque Nm APM FC04A Torque Nm APM FCO6A Torque Nm APM FCO8A Repeatedly used area Y A Repeatedly used 3s N Repeatedly used area Continuously used area Continuously used area Continuously used area oo i i 4000 U 4000 5000 1000 2000 O A01 By Speed r min Speed r min Speed r min LS 7 Product Specifications ooo n Product Features instantaneous torque kgf cm 97 44 43 80 65 80 80 40 95 00 Rated rotation onna em fee e e o Dues am ws ww am 38 esie ing aaae WW em nm em Sm me Speeder Seri
55. s 39 89 57 90 14 49 32 22 50 48 68 91 Speed and W Serial Ds 19 bit position detector Option perd Fully closed self cooling IPe5 excluding axis penetration Time rating o Contios Ambient Specifications temperature 0 40 C and features Ambient 20 80 RH no condensation humidity Atmosphere No direct sunlight corrosive gas or combustible gas Anti vibration Vibration acceleration M 5G Torque Nm APM FE16D APM FE22D APM FE03M Torque Nm Torque Nm 25 0 35 0 10 0 20 0 15 0 10 0 p 5 0 Continuously used area 0 0 2 000 3 000 1 000 2 000 Speed r min f Speed EA 300 1 000 l OU eeatt APM FE06M APM FE09M APM FE12M Torque Nm Torque Nm Torque Nm 20 0 30 0 40 0 500 1 000 l OY seatt 500 1 000 l OY THE 900 1 000 100 audi oe LS ecapion 7 17 7 Product Specifications LS s aProduct Features Applicable Drive L75Ana L7 A008 L7 A010 L7 A020 L70A035 L7 A050 aon m f om os sa ww so so Rated torque E CN cm a 22 ES 19 84 41 E X 38 97 40 162 30 Maximum Nm m 859 59 1628 23 2482 2482 8246 46 28 65 47 74 instantaneous torque kgf cm 87 66 165 57 253 23 331 14 292 3 487 00 Rated rotation 1500 3000 speed kg m2x10 4 10 18 14 62 19 04 27 96 46 56 Inertia moment gf cm s2 10 39 14 92 19 43 28 53 47 51 Allowed load inertia Motor inertia x 10 Motor inertia x 5 Rated power rate kW s 14 49 28 4 46 81 61 46 32 59 94 33 Sp
56. set an appropriate value for your system LS Mecapion 457 4 Parameters LS EN 0 ll L 1 5 6 7 8 Torque Limit Setting P1 13 P1 14 You can set maximum torque limits for forward rotation P 1 13 and for reverse rotation P1 14 separately The setting is displayed as a percentage of the rated torque and the standard is 300 95 Gain 1 lt gt Gain 2 Transfer Mode Setting P1 15 OxOF DIGIT 1 Set speed gain transfer mode OxOF DIGIT 1 0 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 from 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 oet P and PI control conversion 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 P 1 25 3 Control P if the current accelerat
57. the following parameter Related Parameters Speed iia C rom oo Seeedopmonpatem 0 Step Program Operation Speed Program Operation Time o PM3 an Example of handling program JOG operation Order Loader Displays Keys to Use What to Do Displays the speed control mode with main power and control power permitted AI Press MODE to move to Cn 00 Press UP or DOWN to move to Cn 01 Press SET and the motor starts operating according to the predefined program Press SET again and the operation ends done is displayed Press MODE for approximately one second to return to Cn 01 5 Handling and Operation LS 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 x If the alarm keeps ringing after the reset check and remove possible causes and then repeat the process Example of alarm reset Press MODE to move to Cn 00 Press UP or DOWN to move to Cn 02 Press SET to enter alarm reset mode Displays the speed control mode with main power and control power permitted C Press SET to reset the alarm done is displayed
58. the factory is as follows Input signal logic definition Input signal logic definition number SV ON DI1 Contact A Contact B SPD1 DI Contact A Contact B SPD2 DI3 Contact A Contact B SPD3 DIA Contact A Contact B A RST DI5 Contact A Contact B DIR DI6 Contact A Contact B CCWLMT DI7 Contact A Contact B CWLMT DIS Contact A Contact B EMERGENCY DIS Contact A Contact B STOP DIA Contact A Contact B EGEAR1 EGEAR2 PCON GAIN2 P CLR T LMT MODE ABS REQUEST ZCLAMP ABS RST Signal Name Input CN1 Pin Default Allocation Number Input Signal signal Default Parameter Initial E logic setting Allocation setting Servo ON P2 08 Set Digit 1 Multi speed 1 P2 08 Set Digit 2 Multi speed 2 Multi speed 3 P2 08 Set Digit 4 Select rotation direction P2 09 Set Digit 1 Forward rotation prohibited P2 09 Set Digit 2 Reverse rotation P2 09 0x10001 prohibited P2 09 Set Digit 3 Emergency stop P2 09 Set Digit 4 Stop P2 09 Set Digit 5 NOTE 1 For the purpose of the input signal logic definitions Contact A is 1 and Contact B is 0 4 16 LS LS 4 Parameters Bn n 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 Input signal logic definition number SV ON DI1 Contact A Contact B SPD1 DI
59. 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 incorrectly set encoder 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 WP Check the connection of the motor Connection is bad lead tenni Fix bad connection Motor rotation Input voltage is low Check the input voltage of the drive Change power is unstable Remove foreign substances in the Overload occurs Check the condition of the machine bien unit and provide lubricants o 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 H suma orihe Ion contaminated substance on the surface of the motor The motor Reduce load overheats Check the load factor of the drive Increase acceleration deceleration l o
60. type and length of each cable Refer to the table below for how to display them Cable length m Robotic cable General cable LS 7 Product Specifications mg Option power cable Category Product Type Applicable Name Name Motors Specifications Note 1 Motor connection Drive connection All models of Standard APM SA me type 7 APM SB Motor Connection Power APM SC Motor connection l cable and a Cap specifications 4 positions 172159 1 AMP APM HB b Socket specifications 170362 1 AMP Drive connection U V W and FG a U V and W pin specifications UA F1512 SEOIL b FG pin specifications 1 5x4 ring terminal 3 Cable specifications 4Cx0 75SQ AWG18 APM SAR3A SARS5A and SA01A use 0 5SQ For power Series Motor connection Power Supply DC24V All models of Brake type APM SA For power Power APM SB Motor Connection cable and 1 Motor connection APM SC a Cap specifications 6 positions 172157 1 AMP Series b Socket specifications 170362 1 AMP 2 For brake power a Connection terminal specifications 1 5x8 KET GP110012 b Cable specifications 2Cx0 75SQ AWG18 LS 7 43 7 Product Specifications For power For power For power Product Name Standard type Power cable Standard type Power cable Power cable for flat type motor small capacity Type Name Note 1
61. wme sea m sms w sw wes D wa Wows sue 75 1000 o see 76 we neas 77 so orowe sw s e000 sms 82 sof seo es eof wes wo so seo 7 ssf seo s 7500 mm m mo mw 00 mo mw 102 2000 sw co wool sms m wo ums wm mo sw s woof swa s coon d LOL xcix iui wo woe osoo seo v8 ssoo sso a 7500 seme fns vow Cem vat rao secon e 2000 iem 105 000 sean rae woo secon tas coon sms wet wo eme a seus o am sema Ta LS 4 Parameters Bn i SG110G SG150G FBO1A FB02A FB04A FCO4A FCO6A FC08A FC10A FCOSD FCO5D FCO6D FCO7D FE09A FE15A FE22A FE30A FEO6D FE11D FE16D FE22D FEOSM FEO6M FEO9M FE12M FE05G FE09G FE13G FE17G a 711 100 712 200 713 400 721 400 122 723 800 124 725 300 726 500 121 728 700 100 20 300 NM 400 600 800 1000 m 900 500 600 70 NM 761 900 762 1500 763 2200 764 3000 765 600 766 1100 767 1600 768 2200 769 300 770 600 90 1200 450 850 1300 1700 NEN 772 1200 1713 450 774 850 775 1300 7 6 1700 FF50A FF22D FF35D FF55D FF75D FF12M FF20M FF30M FF44M FF20G FF30G FF44G FF60G FF75G FG22D FG35D FG55D FG75D FG12M FG20M FG30M FG44M F
62. 0 3000VE 3M APC CN3NNA L7 SERIES Connector 1 Case specifications 10314 52A0 008 3M 2 Connector specifications 10114 3000VE 3M LS vos 7 47 7 Product Specifications LS Mecapion EN 1 1 1 mg Option braking resistance Categ Product Type Name Applicable Specifications ory Name Drive L75A00120 Resist Braking apc 140R50 L70A0020 ance resistance L75A0040 Resist Braking L75A0080 resistance gaia L7oA0100 Bess L73A020n esis Braking 2P RS resistance APC 600H30 L75A035n 3P Resist ance Braking apc soopzg L 0906 resistance 4P 7 48 LS Mecapion LS 8 Maintenance and Inspection L a 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 Conne
63. 02A20 15P Brake connector pin layout Brake connector MS3102A20 29P Encoder connector pin layout Encoder connector Cross section of shaft key lt Brake gt External Dimensions Dimensions External Dimensions Key Dimensions Weight k ee eat liis FEO9A FE06D FEO9A FEO6D FEO5G FEOSM FEO3M 236 v8 ogo fig 25 5 5 8 658 EE E totter tetete tee FE22AFE16D FE13GFE00M 276 218 130 22 20 6 6 35 1002 FES0AFE22D FE17GFET2M 204 206 148 24 3s 7 8 4 ns NOTE 1 Use DC power 24V to operate the brake LS mecapio 7 Product Specifications Bn uu M FF Series APM FF30A FF50A FF22D FF35D FF20G FF30G FF44G FF12M FF20M FF30M FF44M Standard Tum Die iR S ok v w u Noone NIII TSITONN NEN L uw xw Key Dimensions EAE lw gp eono FF30A 22D 20G 12M FF50A 35D 30G 20M 44G 30M NOTE 1 Eye bolts apply to FF30M or higher models NOTE 2 Use DC power 24V to operate the brake LS lecapion 7 33 7 Product Specifications LS mecavior B FG Series APM FG22D FG35D FG20G FG30G FG44G FG12M FG20M FG30M FG44M MS3102A20 29P Encoder connector Cross section of shaft key Standard aea ok v w U Heee MS3102A20 29P Encoder connector lt Cross section of shaft key gt lt Brake gt External Dimensions Ke
64. 1 Note 2 24 GND24 a EGEAR2 PCON x Note 2 ae INSPD GAIN2 wk C N 1 oe WARN ZCLAMP xx 44 BRAKE SPD3 21 SPD2 22 Analog Output SPD1 23 28 MONITL Command Pulse Input ABS RST A sev 10V 29 MONIT2 PULCOM 49 TIC ov 10V e T Ge 9 i 37 GND lt Y 34 12VA a LEEREN 35 12VA K pper Level Line Driver Controler L L n PR 11 Encoder Pulse Output PR 12 32 AO DNE K 33 AO Open Collector 30 BO Upper Level Analog Input 10V 10V 31 7BO nua Controller Analog Speed ava SPDCOM 21 4 ZO RN Command Limit GND 8 10V 10V ZO TUER EE TRQCOM 1 36 SG Command Limit Jy GND g 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 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 216 LS LS 1 Product Components and Signals 1 3 Signal 1 3 1 Digital Input Contact Signal Applicable Modes Speed Speed Position Speed Position Torque 24 V IN SVON SPD1 SPD2 SPD3 ALMRST Select rotation direction CCWLMT ia eee CWLMT Clockwise limit Emergency stop EGEAR1 Electronic gear ratio 1 Pin Number of Factory
65. 1 o0 O NTR a LS 7 Product Specifications 7 Product Specifications 7 1 Servo Motor m Heat Sink Specifications AP04 250x250x6 APO6 250x250x6 AP13 350x350x20 AP18 990x550x30 AP22 650x650x35 NOTE 1 The data on the product features is measured when those heat sinks are applied APO8 250x250x12 Aluminum LS WMecapic 7 1 7 Product Specifications LS EN 1 1 l1 7 1 1 Product Features Applicable Drive L7G Aun L7 1A001 L7 1A002 Rated ouput W 018 Rated torque kaeni im instantaneous Rated rotation 3000 speed Inertia moment Allowed load inertia Motor inertia x 30 Motor inertia x 20 Rated power rate kW s 10 55 23 78 35 34 Speed and position Standard Quad Type Incremental 2048 P H detector Serial Type coming soon Protection method Ambient Specifications and 0 40 C features PE mbien l humidity 20 80 RH no condensation Atmosphere No direct sunlight corrosive gas or combustible gas Anti vibration Vibration acceleration of 49 m s2 5G Wei ia Rotation Speed Torque Characteristics Fully closed self cooling IP55 excluding axis penetration Torque Nm APM SAR3A Torque Nm APM SAR5A Torque Nm APM SAO01 A Repeatedly used area 1 lost Repeatedly used area Repeatedly used area Continuously used area Oontinuouslyusedarea Continuously used ares P 400 4001 Speed r min Speed r min Speed r min
66. 10 i 0b11111 Output logic set Position faite 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 l Brake output delay time 1000 Position pulse clear mode H P2 16 _ a Analog speed scale RPM 2000 P2 17 Analog speed 1 15000 command scale 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 4638 39 Contact B P2 10 DIGIT 2 DO2 CN 4440 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 DO5 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 outpu
67. 10 150 2 74 5 74 1 32 1 87 NOTE 1 Use DC power 24V to operate the brake NOTE 2 The sizes in parentheses apply when attached to the brakes LS e CS mecapion 7 Product Specifications oo I B FC Series APM FCOAA FCO3D APM FCOGA FCO5D APM FCO8A FCO6D APM FC10A FCO7D Cross section of shaft key S C 2 1 P ES je Brake connector pin layout o d Power connector pin layout Encoder connector pin layout BEAMER ra trie ditiis FCOSAFCOSD ts4 5 195 1450155 79785 19 0021 6 6 85 218622 vase Ra ass e om 6 6 as 272678 GwAFowD 10581 1505090 snas 19 oom 6 6 35 SS NOTE 3 Use DC power 24V to operate the brake NOTE 4 The sizes in parentheses apply when attached to the brakes LS meca pion 7 31 7 Product Specifications LS wecaoio FE Series APM FEO9A FE15A FE22A FE30A FEOGD FE11D FE16D FE22D FE03M FEO6M FEO9M FE12M FEO5G FEO9G FE13G FE17G MS3102A20 29P Power connector pin layout Power connector MS3102A20 29P Encoder connector pin layout Encoder connector Cross section of shaft key D ESSENT External Dimensions Dimensions Key Dimensions t m ic s aw r w u 9 9 FEOSAFEOEDEOSGFEOSM 197 139 90 19 25 5 5 3 50 FEwAFEHDFEOGFEOM 217 159 110 19 25 5 3 em eanet 2x7 ve RS RRR s FEwwremoreraremw ae wr we a orle 4 1005 MS31
68. 14 14 o NTR a m ena mm fem mm SSCS wm ena mem 0 m Ree fm LS Mecapion 6 Communication Protocol Communicatio Parameter W Phase Current Offset PO 29 sens 0 meme mew LS Mecapion 6 13 6 Communication Protocol LS Mecapion EN 1 0 LL OLL w3 6 3 3 Control Parameter Communication Address Table The following table lists Modbus communication addresses for the control parameter group P1 xx Communicatio Parameter f Pt 00 UMTS Position proportional gain 1 P1 01 UINT16 Position proportional gain 2 P1 02 UINT16 146 Position command filter time P1 03 mm constant Position feedforward gain P1 04 UINT16 50 constant Speed command filter time P4 10 UINT16 constant Speed feedback filter time P4 11 UINT16 constant 1 Torque command filter time P1 12 UINT16 constant LS Mecapion 6 Communication Protocol Communicatio Parameter Material Tvpe a TT eana S eana a meme dS ene S id eana 0 0 S Ree Sid meme 0 0 S o Ree 0 0 S Ree S S meme S eana S H d LS Mecapion 6 15 6 Communication Protocol LS Wecapio 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 Communicatio Parameter ms ese dS m Pew
69. 2 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 which may cause malfunction LS 3 Wiring Method nn wu 3 Wiring Method 3 1 Internal Block Diagram 3 1 1 L7 Drive Block Diagram L7SAO001 L7SA004 Note 1 Note 2 B Bt BI Three Phase Power Input AC200 230V L1 Regenerative 1 s Current aha I J Control Power Main Power IUS Relay DC Voltage een Sd d x y Failure D D S Failure Detection S pede baad Detection Ed ae Operation Detection SC Detection Detection Rao Circuit Circuit Circuit Circuit Circuit Circuit Single Phase Power Input AC200 230V La Main Power Power Circuit Access CN7 EET t j NUZA 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 If you use a D
70. 2 99 Maximum Nm 191 382 8382 instantaneous speed L pua Im o oro emm ox om om vos Allowed load inertia Motor inertia x 20 L Fated powerrete Wwe s9 z22 s sa Protection l Fully closed self cooling IP55 excluding axis penetration meaa Ommos Ambient and features ruv mbien 9 Atmosphere No direct sunlight corrosive gas or combustible gas o Anti vibration Vibration acceleration of 49 m s2 5G a 1 6 Rotation speed Torque Characteristics Torque Nm APM SBNO1 A Torque rene APM SBNO2A Torque Nm APM SBNOAA Repeatedly used area a eee Repeatedly used area Soe NH Repeatedly used area Continuously used area qT Continuously used area Continuously used area 1000 2000 3000 4000 500C J 1000 2000 3000 4000 500 400 5000 Speed r min Speed r min Speed r min APM SBN04A BK Torque Nm I r _ Repeatedly used area N Continuously used area LS 7 Product Specifications ooo n Product Features Servo Motor Type APM O0000 SCO4A SCOGA SCO8A SCA Applicable drive L72Aon L7 A004 L7 A008 LzoAD010 meus wm oa os d 3 Com ow os o w o Rated torque kgf cm 12 99 19 49 25 98 3248 instantaneous torque atom 9896 s ms su speed Maximum rotation speed r min 5000 Wem os 1e ist 19 Inertia moment temsa 069
71. 2 Handling Initializes parameter data Details Refer to 5 2 Handling LS 4 Parameters Parameter Unit Initial Auto speed command Calibrates the offset of analog speed offset correction commands automatically The possible voltage range is from 1 V to 1 V Cn 10 If offset voltage exceeds this range oVrnG M Auto speed command is displayed and there is no calibration offset calibration You can check the calibrated offset in the analog speed command offset P2 18 Details Refer to 5 2 Handling Auto torque command Calibrates the offset of analog torque offset correction commands automatically The possible voltage range is from 1 V to 1 V Cn 11 If offset voltage exceeds this range oVrnG i Auto torque command is displayed and there is no calibration offset calibration You can check the calibrated offset in the analog torque command offset P2 21 Details Refer to 5 2 Handling Manual speed command Calibrates the offset of analog speed offset correction commands manually The possible voltage range is from 1 V to 1 V Cn 12 If offset voltage exceeds this range oVrnG is Manual speed command is displayed and there is no calibration offset calibration You can check the calibrated offset in the analog speed command offset P2 18 Details Refer to 5 2 Handling Manual torque Calibrate the offset of analog torque command offset commands manually correction The possible voltage
72. 20 46 17 21 22 23 47 number Allocated ol 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 5 Handling and Operation LS EN 1 L 2 Example of Input Contact Forced ON OFF SVON ON EMG ON EMG OFF SVON OFF Example of handling input contact forced ON OFF Order Loader S Keys to Use What to Do Press MODE to move to Cn 00 Press UP or DOWN to move to Cn 07 Press SET to enter input forced ON OFF mode A Press SET to enter forced input bit setting 5 ZI Press DOWN to turn on the servo forcibly Press MODE at the blinking cursor C C to move to the desired digit DIGIT 5 7 C Press DOWN to turn on EMG forcibly C Press DOWN to turn off EMG forcibly C Press MODE at the cursor to move to the desired digit DIGIT 1 Press DOWN to turn off the servo forcibly Press SET to end input forced 11 ON OFF mode done is displayed 6 Cy Press MODE for a second to L return to Cn 07 x indicates flickering LS Mecapior 5 Handling and Operation 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 Forc
73. 21 m P2 01 0x0765 0x0080 P2 03 0x9000 P2 04 0x000A NOTE 2 For ABS RST Signal hold High for 500ms or longer in order to reset absolute encoder data Servo ON P2 00 Set Digit 1 Multi speed 1 P2 00 Set Digit 2 Multi speed 2 P2 00 Set Digit3 PP Multi speed 3 P2 00 Set Digit4 SPP3 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 Digit 1 EMG Sto P2 02 Set Digit 2 o V S STOP T Electronic gear ratio 1 P2 02 Set Digit 3 EGEAR1 Electronic gear ratio 2 P2 02 Set Digit 4 EGEAR2 P control action P2 03 Set Digit 1 PON Select gain 2 P2 03 Set Digit 2 GAIN2 Error pulse clear P CLR P2 03 Set Digit 3 E Torque limit P2 03 Set Digit 4 MT Change operation modes P2 04 Set Digit 1 Absolute encoder data request ABS RQ P2 04 Set Digit 2 Reset absolute encoder data F A P2 04 Set Digit 4 NOTE 1 CN1 connector pin is not 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
74. 293 7 177 2 44 5 SCAM 320 5 255 5 206 FA 386 7 321 7 205 2 FA 94 NOTE 1 Use DC 90 V for brake opening power External Dimensions NOTE 2 The sizes in parentheses apply when attached to brakes LS mecapio 7 Product Specifications B APM HBO1A Hollow Shaft APM HBO2A Hollow Shaft APM HBO4A Hollow Shaft Hollow Weight Kg Shaft x Diameter HB01A 140 5 15 HBO4A 182 5 140 5 105 5 15 Shaft Diameter LS 7 29 LS mecapion 7 Product Specifications B FB Series APM FB01A APM FBO2A APM FBOAA 5306 T AN SP Cross section of shaft key S C 2 1 Power Supply Connector Brake Connector Encoder Connector MEE LT n d H 1 ur q E 1 j I oz lx Single Turn N Pin No Signal Name e M 2 SLO G 95 Pin No Signal Name a a HTS GND B s D O gt s T HTH ov iu JEEE q 5 Shed Shieh o 9 D TL Ca SNC RENE vong Brake connector pin layout Encoder connector pin layout Power connector pin layout External Dimensions Weight kg FBOIA 109 149 2 149 109 149 2 79 119 2 43 5 43 0 72 1 3 E 120 160 2 90 130 2 54 5 54 0 94 1 49 FB04A 140 180 2 1
75. 3 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 Table of Contents nn Ma 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 motor 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 dangerous situations that may occur duri
76. 3 4 Torque and Load Display Instantaneous maximum o6 Displays the instantaneous maximum load factor load factor S 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 0 0 Displays the current DC link voltage of the 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 l Details Refer to 4 1 5 External Input Contact Signal Input Status l Display
77. 4 6 20 22 24 26 28 30 32 4 LS Mecapion 6 Communication Protocol Communicatio Parameter Input contact status St 14 UINT16 Output contact status St 15 UINT16 Single tur data L St 16 INT32 Single tum data H Single turn data degree St 17 UINT16 Multi tum data L St 18 INT32 Mult tur data H Temperature in the servo St 19 INT16 drive 52 Rated motor speed St 20 UINT16 54 Maximum motor speed St 21 UINT16 56 Rated motor current St 22 UINT16 58 62 64 Phase U current offset St 23 INT16 Phase V current offset St 24 INT16 UINT16 BITO BIT4 Drive capacity 1 100W 2 200W 3 400W 4 750W 5 Software version St 25 1kW 6 3 5kW BIT5 BIT14 Version number BIT 15 Encoder type 0 Quadrature 1 Serial FPGA version St 26 UINT16 Analog torque command St 27 INT16 LS Mecapion 6 11 6 Communication Protocol LS Mecapion EN 0 le h 6 3 2 System Parameter Communication Address Table The following table lists Modbus communication addresses for the system parameter group PO xx Communicatio Parameter w Ssmo Fw UN 5 Sauna parameter Pozo one 9 Reeneraveresstncevaie P070 UNTS Regenerative resistance PO 11 UINT16 capacity 94 Overload detection base load PO 12 UINT16 factor ELM Continuous eden warning PO 13 UINT16 Encoder output pre scale L Encoder output pre scale L pre scale L PO 14 PO
78. 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 Ge tame mae Mein apoi Input signal definition 1 a 0x4321 Allocates a CN1 connector pin for a digital input Input port define 1 0 OxFFFF agna NN Initial input signal allocation po 01 Input signal definition 2 a 0x8765 P2 00 DIGIT 1 lt SVON DI1 g e P2 00 DIGIT 2 SPD1 DI2 Input Port define2 0 OxFFFF nans spoe 00 Input signal definition 3 DEED 0x00A9 s qase Mee P2 02 e P2 01 DIGIT 1 ALARMST DI5 Input Port define 3 00 OxFFFF e P2 01 DIGIT 2 DIR DI6 s e P2 01 DIGIT 3 CCWLIM DI7 EOS Input signal definition 4 BEEN 0x0000 P2 01 DIGIT 4 CWLIM DI8 Input Port define 4 00 OxFFFF m qeu e P2 02 DIGIT 2 STOP DIA Input signal definition 5 EE Ox0F00 Poe P2 02 DIGIT 4 EGEAR2 P2 03 DIGIT 1 PCON P2 03 DIGIT 2 GAIN2 P2 03 DIGIT 3 P CLR P2 03 DIGIT 4 T LMT P2 04 DIGIT 1 MODE OxFFFF P2 04 DIGIT 2 ABS RQ P2 04 DIGIT 3 ZCLAMP P2 04 DIGIT 4 ABS RST Unallocated signals Details Refer to 4 1 6 External Input Signal and Logic Definition pei Output signal definition 1 0x4321 Allocate a CN1 co
79. 40 LS mecavio For signaling For signaling Encoder cable for flat type motor small capacity Multi turn Type Serial Encoder Cable All models of APM FB and APM FC Series All models of APM SB and APM SC Series APM SA Will provide 7 Product Specifications Drive connection CN2 Motor connection Motor Connection 1 lt Motor Connector gt lt Driver Connector gt Motor connection a Cap specifications 2201825 1 Tyco b Socket specifications 2174065 1 Tyco Drive connection CN2 a Case specifications 10314 52A0 008 3M b Connector specifications 10114 3000 VE 3M Cable specifications 4Px0 2SQ AW G24 Drive Connection 263 Dm C eur g pe a r Pin TEncoder Pir t LILI No Signal No Signal Motor Connector Driver Connector Motor connection a Cap specifications 9 Position 172161 1 AMP b Socket specifications 170361 1 AMP 2 Drive connection CN2 a Case specifications 10314 52A0 008 3M b Connector specifications 10114 3000 VE 3M 3 Cable specifications 4
80. AY ossxnstnsteudkstuttSdodU EIS MUERUD DEED ESbaR sanien nisana arrn Mots Ca DE 4 49 4 3 1 Status Display St 00 asses o iis nasa ases lel ese2 aca ust annee Ea iaaiiai eaii 4 49 4 3 2 Peed DIS Ol e M 4 49 4 3 3 Position Ole M 4 49 4 3 4 Torque and Load Display esse 4 49 4 3 5 1 Stes IS Dl AY me T 4 50 4 3 6 Miscellaneous Status and Data Display 0 c c ceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 4 50 4 3 7 NT SION Ree UT 4 51 4 4 Parameter Setting sss 4 52 4 4 1 System Parameter Setting eee 4 52 4 4 2 Control Parameter Setting eee eee 4 55 Table of Contents 4 4 3 Analog Input Output Parameter Setting sss sse eee 4 59 4 4 4 Input Output Contact Point Parameter Setting ssssusssse 4 61 4 4 5 Speed Operation Parameter Setting cccccccccceceeececeeeeeeeeeeeeeeeeeeeeeeeeteees 4 64 4 4 6 Position Operation Parameter Setting see 4 65 4 5 Alarms and Warnings coceuruc ies ene pens ee eee 4 67 4 5 1 Servo Alarm Status Summary Display LIS eee 4 67 4 5 2 Servo Warning Status Summary Display US eee eee 4 69 4 6 Motor Type and ID to be continued on the next page sss sese eee eee eee 4 70 Handling and Operation ouoisue innuit cuna aut vaio aiuma sunu n oux 0 salia nnn RERE 5 1 5 1 What to Check Before Operation sss 5 1 5 1 1 CUT s Een me 5 1 5 1 2 Drive Signal CN1 Wiring Che
81. Appendix Womens 5 wa Ww O onae 6 war me ww eof es omo owe we mmo ew oe oo on we ww oe fa ww oe fer mw eer far mes ewe far me few fre esc ewe few mmo eum o wwe eet fame 9 Appendix LS EE 1 1 1 D 1 D 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 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
82. Best choice for greatest benefit LS Mecapion always tries its best to bring the greatest benefit to its customers NEN AC Servo User Manual VER 2 0 f N Safety Precautions e Be sure to read the safety precautions before use and use the product accordingly LS d Viecapion After reading this user manual keep it in a place where users can always see it LS cap Table of Contents 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 e 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 Table of Contents LS 8 1 ll l1 D 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
83. C reactor connect to the PO and PI pins If 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 Mecapion 3 1 2 L7 Drive Block Diagram L7SAO008 c L7SA0350 Note 3 Maln Power Power Circul Accese CN7 H ee DG voltage CN3 CHA Ren BISS a5 a Ses To ud DSP FPGA L g Contact input Pua Kn Cra Output Puacodar 10 pointy port 8 pols Ouiput Upper Level Controller Connection CN1 NOTE 1 If you use a DC reactor connect to the PO and PI pins If you use external regenerative resistance connect to the B and B pins after you remove the B and BI short circuit pins The L7SA008u and L7SA035c models are cooled by a DC 24 V cooling fan 3 2 LS Mecapion LS p 3 Wiring Method Bn n 3 1 3 L7 Drive Block Diagram L7SA050 Note2 External Regenerative l Resistance separately Installed Noted Bt TB GBT ne FAN Diode
84. CN1 11 CW CCW Negative Logic H Level Y PULS CN1 9 SIGN Y H Level CN1 11 Pulse direction negative logic PULS cni V T SIGN CN1 11 1 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 signal is high Forward rotation CCW counterclockwise Details Refer to 4 4 6 Position Operation Parameter Setting 4 42 ia e O o mu Code Name Minimum Maximum Electronic gear ratio P4 01 Le RN mE Electronic gear ratio P4 02 numerator 2 Electric gear num 2 Electronic gear ratio P4 03 numerator 3 Electric gear num 3 Electronic gear ratio P4 04 numerator 4 Electric gear num 4 Electronic gear ratio P4 05 denominator 1 Electric gear den 1 Electronic gear ratio P4 06 denominator 2 Electric gear den 2 Electronic gear ratio P4 07 denominator 3 Electric gear den 3 1 Electronic gear ratio Electric gear den 4 32 67 Electronic gear ratio mode EMEN Electric gear ratio numerator offset P4 10 30000 30000 Position error Pulse 90000 P4 11 Following error range 1 2 30 Limitcontacttunction e 0 a T EN NEN EN mE lt a P4 08 P4 09
85. Contact A Contact B SPD DI3 Contact A Contact B SPD3 DI4 Contact A Contact B A RST DIS Contact A Contact B DIR F DI6 Contact A Contact B CCWLMT DI Contact A Contact B CWLMT DI8 Contact A Contact B EMERGENCY DIS Contact A Contact B STOP DIA Contact A Contact B EGEARI EGEAR2 PCON GAIN P_CLR T LMT MODE ABS REQUEST ZCLAMP ABS RST SignalName SignalName 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 E Multi speed 3 Alarm reset Select rotation direction 1 P2 09 Set Digit 1 Forward rotation prohibited CCWLIM P2 09 Set Digit 2 Reverse rotation P2 09 0x11101 prohibited CWLIM 0 P2 09 Set Digit 3 Emergency stop P2 09 Set Digit 4 Stop NOTE 1 For the purpose of the input signal logic definition Contact A is 1 and Contact B is O LS sos 417 4 Parameters LS 9 0 ll l1 I 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 IIIA 0404 4 nni P2 08 ete ee 4 LI PPS 4 momo P2 09 1 U UU UU ee m Loader TERRE Keys to Use What to Do r1 J Press UP or DOWN at the blinking P C 01 curso
86. D drive ID and encoder setting Check for equipment clash or confinement Overcurrent Overcurrent S W i G U t Overcurrent CL Overcurrent H W D 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 GG GACA Motor cable open Motor cable disconnection cable disconnection Motor wiring Motor wiring K encoder Check for incorrect wiring of the serial encoder Encoder comm communication error cable Encoder 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 HL 34 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 T LU L m
87. Electric gear mode Electric gear num offset P4 12 Position limit function 4 Parameters Sets electronic gear ratio numerator denominator 1 2 3 and 4 EGEAR EGEAR 1 Electronic Gear Ratio Numerator Denominator Electronic gear ratio numerator 1 O Electronic gear ratio denominator 1 Electronic gear ratio numerator 2 O Electronic gear ratio denominator 2 OFF ON Electronic gear ratio numerator 3 OFF ON Electronic Gear Ratio Electronic gear ratio 1 Electronic gear ratio 2 Electronic gear ratio 3 Electronic gear ratio denominator 3 Electronic gear ratio numerator 4 Electronic gear ratio denominator 4 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 Details Refer to 4 4 6 Position Operation Parameter Setting Electronic gear ratio 4 2 FF FF ON ON Select an electronic gear ratio mode 0 Select electronic gear ratio 1 4 1 Override offset P4 10 on the electronic gear ratio numerator 0 Details Refer to 4 4 6 Position Operation Parameter Setting Sets the offset of the electronic gear ratio numerator 0 The offset will be set on the electronic gear ratio numerator O EGEAR 1 contact LOW gt HIGH Increase the electronic gear ratio
88. Excessive torque command MOL eere commands have been entered 0 OV VCMD Overspeed command More than the maximum speed commands have been entered OV LOAD Overload warning ea aiaei e nee l The electric current capacity of the palai capacily Seng motor is bigger than that of the drive When P0 06 DIGIT 2 is set to 1 the UD VTG Low voltage warning DC link voltage is 190 V or below EMG EMG contact point bs the I O wiring and P2 09 Warning code is indicated in 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 OC 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 mecanic 4 69 4 Parameters LS EN 2 0 1 l1 1 4 6 Motor Type and ID to be continued on the next page wwe 0 wat Nowe enas 1 swa 2 sf sew a fof aas 5 sew fof sme w m sm w l1 dL sm m sce z scm 23 ooo sco zm we sco asf o scm o sooo z s swo aa foo fT sew fe fool sem mme sem m Ta sem Ta Tama f smo es ooo semp e na seo e we sm ew Ta smu oe ao su 70 ooo smu n oof suu
89. G20G FG30G 785 786 787 788 789 790 791 792 793 194 795 796 804 811 812 813 814 821 822 823 824 831 832 5000 2200 3500 5500 7500 1200 2000 3000 4000 1800 2900 4400 6000 7500 2200 3500 5500 7500 1200 2000 3000 4400 1800 2900 4 71 4 Parameters LS maas 6 wat wm ww e e omo emu mmo owe oe wwo on we 0 ww oe fan ww oe fer mus sem mmo e me m fre wap ewe fee mmo eum o wwe ea fives 5 Handling and Operation O 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 lists during test drive to prevent injury or product damage in servo motor 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 E M Nw 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 Contact omm o OFF The above is factory initialized status Different fu
90. JAE b Socket specifications ST KN S C1B 3500 JAE 2 Drive connections U V W and FG a U V and W pin specifications F1512 b FG pin specifications 1 5x4 Ring terminal 3 Cable specifications 4Cx0 75SQ AWG18 Category Product Name Type Applicable Name Motors Note 1 Brake cable for For power flat type motor small capacity Brake For power P cable All models of APM FB and APM FC Series All models of APC APM SG POOOSB APM LG APM FG Series NOTE 1 The how to display them Gabi nat i 7 Product Specifications Specifications Motor connection Drive connection The front direction The rear direction 1 Motor connection a Plug specifications KNBFTO2SJ1 JAE b Socket specifications ST KN S C1B 3500 JAE 2 Drive connection a Connection terminal specifications 1 5x3 KET GP110012 3 Cable specifications 2Cx0 75SQ or 2Cx18AWG18 Brake Connection Drive Connection l T Product Name TILITITITITTTITITITITITIT HOHHH Brake Connection Motor side connector a PLUG MS3108B14 7S Power side Connector a Connection terminals 1 5x3 KET GP110012 C
91. M SF30A SF22D SF20G SF12M SF50A LF35D LF30G SF20M SF30M LF30M SF44G SF44M External Dimensions Weight 0D m ic iR s jok NU 9 SF30A SF22D 261 5 182 5 133 12 4 19 2 SF20G SF12M 312 9 233 9 132 7 SF50A LF35D 295 5 216 5 167 LL 7 24 LL LF30G SF20M 346 9 267 9 166 7 5 0 0 01 345 5 266 5 217 LF30M SF44G D 3 33 4 usos 396 9 317 9 216 7 405 5 326 5 277 SF44M 3561428 6 42 8 os 456 9 377 9 276 7 NOTE 1 Eye bolts apply to LF30M or higher models NOTE 2 Use DC 24 V for brake opening power NOTE 3 The sizes in parentheses apply when attached to brakes 7 Product Specifications LS mecanio EN 0 lAhh o L1 1 1 SG Series APM SG22D SG20G SG12M LG35D LG30G SG20M LG30M 17 pole plug MS3102A20 29P MS3102A22 22P MS3102A32 17P Power connector ets J j Power connector pin layout MS3102A14 7P Brake connector pin Encoder or En e nector pin layou Brake connector layout Shaft Key l Weight m uc Ea s r w u 9 SG22D SG20G 5 Ew 5 122 F3 95 SG12M 302 7 237 7 121 2 F3 76 LG35D LG30G 256 5 191 5 142 21 95 SG20M 322 7 257 7 142 2 35 7 SG44G 292 5 227 5 178 P A 8 LG30M 358 7
92. 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 i D D Cut Non existent None 130 Flange T Tapering attached 180 Flange p Deublsssidad 1 Oil Seal attached 220 Flange 250 Flange 280 Flange round key 2 Brake attached H Hollow Shaft 3 Oil Seal and Brake attached Ls 1 1 2 Part Names B Servo Motor 80 Flange or below 1 Product Components and Signals Motor Power Motor Cable Encoder Connec at Connector Eel AN K Ee L i T Encoder D Cable a E l Shaft D 3 o gt Encoder Cover Bearing Cap Flange Frame Housing 80 Flange or below Flat Type 130 Flange or higher Shaft Encoder connector t Power connector r b ante De Flange Frame Motor _ Mold Housing Encoder Cover Bearing Cap Connector SS Encoder Connector Encoder Cover J Baie Housing Flange 1 Product Components and Signals LS 8 1 1 loo B Servo Drive 7SAO001n5 L7SA 002n L7SA 004n
93. OFF Digital ee command Digital soeed 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 0 Trapezoidal gt Set acceleration deceleration time P3 08 and P3 09 j 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 oet operation speed P3 13 P3 16 and operation time P3 17 P3 20 for each step LS o SL n 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 negative logic 5 Pulse sign negative logic
94. 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 Q 1 2 W When using 12 V power Resistance R 560 680 C 1 2 W When using 24 V power Resistance R 1 5 kO 1 2 W 3 Wiring Method LS 4 PNP Open Collector Pulse Command upper level contraller power 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 PO0 14 and output in line driver mode Upper level controller Servo Drive pp Line driver Line receiver Set 1 on the 3 bit in the menu P0 17 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 LS 3 Wiring Method 3 5 Quadrature Encoder Signaling Unit CN2 Wiring 3 5 1 APCS ELLUAS Cable AWG24 7Pair Twisted Shield Wir
95. Press MODE for a second to return to Cn 02 LS 5 Handling and Operation 5 2 4 Reading Alarm History Cn 03 Check the saved alarm history Example of getting alarm history Loader Displays Keys to Use What to Do Displays the speed control mode with main power and control power permitted Press MODE to move to Cn 00 616 Press UP or DOWN to move to Cn 03 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 history Example The second previous history AL 10 Over current 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 x _ indicates flickering 5 Handling and Operation LS EN 27 5 D 1 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 Press MODE to move to Cn 00 OO Press UP or DOWN to move to Cn 04 Press SET to delete alarm history done is displayed O Press MODE for a second to return to Cn 04 Press SET
96. Px0 28Q AW G24 or 4Px24AWG LS Vecavion 7 41 7 Product Specifications LS leca Motor Connection gp u Pin T Encoder No Signal R es a Pin Encoder Pin Encoder L No Signal No Simal n t t lx m 1 t amp a E 3 ovo E Ya Mr 2 ia J t nt G gt G wx E T V L i Front Direction Rear Directies f p Ke HIE Motor Connector Driver Connector Multi turn All models of For Type APM FB signaling Serial and Encoder APM FC 1 Motor connection Cable Series a Cap specifications 9 Position 2201825 1 Tyco b Socket specifications 2174065 4 Tyco 2 Drive connection CN2 a Case specifications 10314 52A0 008 3M b Connector specifications 10114 3000VE 3M 3 Cable specifications 4Px0 2SQ AWG24 or 4Px24AWG Motor Connection Drive Connection All models of APM SE APM SF Multi turn APM SG For Type APM LF signaling Serial APM LG Encoder APM FE nT Cable APM FF Motor Connector Driver Connector gt and 1 Motor connection APM FG a Cap specifications 9Position MS3108B 20 298 Series 2 Drive connection CN2 a Case specifications 10314 52A0 008 3M b Connector specifications 10114 3000 VE 3M 3 Cable specifications 4Px0 2SQ AW G24 NOTE 1 The in Type Name indicates the
97. S 1 Product Components and Signals O L7SA 008o L7SA 0100 Comp Cc C Cc C x 3 3 om C lt gt Display B D T D D CHARGE Operation keys Mode Up Down Set CN5 Main power connector USB connector L1 L2 L3 Li L2 3 CN4 DC RS 422 communication reactor connector N Donan PO PI M Short circuit when not used CN3 RS 422 communication connector Regenerative resistance connector 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 c cci COCOCOCOCOCOCOCOCOCOG P CN1 z Control signal connector Control power connector C1 C2 Motor power cable D connector U V W u IIG C Encoder signal connector w LUI IE Q in pe ai LL 1 Product Components and Signals LS L7SA 0200 L7SA 035n LS Ph I Gh mm Display Operation keys WL al e G Mode Up Down S
98. SE AA 7 10 mm irs n Ne wl Mii E D LE IG By D alte P i 7 E El S YU UL nB Z Jh E T 7 D i ol LO SSS Ee RE 0 4 0 5 N m imo o o aoa B E Weidmueller s M4 1 2 N m SD 0 6x3 5x100 gt 1 Refer to the drawings above for wiring with BLF 5 08 or BLZ 7 62HP Series connector 2 Insert wire into wire hole when upper screw is untightened and then use appropriate shaped screwdriver with 0 4 0 5 N m torque to make tight completely 3 Cut by vibration malfunction or fire by contact could be occurred if torque of screwing was not enough 4 After wiring tight completely by using hooks to both side when connectors are attached to servo drive 5 FG screw which is located on the bottom of servo drive has to be M4 and put on the FG screw with 1 2 N m torque 6 Malfunction of drive could be occurred if torque of screwing was not enough 7 Recommended shaped screwdriver Weidmueller s SD 0 6x3 5x100 LS 3 Wiring Method
99. Setting 50 47 23 22 an 21 17 48 Allocate Allocate ratio 2 Control torque with os TRQCOM MODE Change operation modes Request absolute DEDE position data ABS RST Heset absolute encoder data Allocate Allocate Allocate Allocate Allocate Allocate Allocate Allocate x x x O O 1 Oolololo o x 1 Product Components and Signals 1 3 2 Analog Input Contact Signal Applicable Modes Description S m peed Speed Position p ele Analog speed command 10 10 TES SPDCOM i Sanaa nalog Speed Limi 10 410 V E sl es Analog torque limit 10 10 V Analog Torque Command X X X X O X O 1 TRQCOM 10 10 V G Grounding for analog 37 signals i Applicable Modes Description Factory Speed Torque ds Setting osition Alarm group contact Alarm group contact ENS EA C D eet EIH e e pe e elet o os pea e x x e x mee ron mem e fo R a 0 fo 0 Speed Position Torque nero le x 0 x ox ox swan wow n e esp Input output contact 24 25 GND24 Grounding of drive power 24 V LS 1 Product Components and Signals 1 3 4 Monitor Output Signal and Output Power Applicable Modes Description S E peed Speed Position T Position Speed Tore a roue rore Analog monitor 28 MONIT1 output 1 10 10 V Analog monitor 29 MONIT2 output 2 10 10 V 37 signals 34 412V Terminal for 12 V power output
100. able 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 5 4 3 Speed limit reached Output Signal Output Allocation Number DO1 CN1 Z38 38pin DO CNT 440 41pin 1 DO3QCNI 43pin DOA CNT J44pir DOR CNT 45pin Not Internal os Alloc After ated S Changing P2 05 0x0301 P2 06 0x5400 P2 07 0x0002 NOTE 1 CN1 connector pin is not allocated when the default value is O LS Vecapion 4 24 4 Parameters LS EN 0 looo l1 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 2s HU 331 HU 13 3 LULA US U LL CL Loader Window Display Result Keys to Use What to Do j 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 OD blinking cursor to change the number to 04323 Press LEFT or RIGHT at the C C blinking cursor to move to the desired digit DIGIT 3 Press UP or DOWN at the 616 blinking cursor to change the number to 04123 Hold down SET for approximately
101. able a 2Cx0 75SQ or 2Cx19AWG in Type Name indicates the type and length of each cable Refer to the table below for LS 7 45 7 Product Specifications LS m Option cable Categ Product Type Name Applicable mm For signali ng Upper level controller Drive connection CN1 Pin number display f CN1 Cable APC CN L7 SERIES 1 Drive connection CN1 a Case specifications 10350 52A0 008 3M b Connector specifications 10150 3000VE 3M c Cable specifications ROW SBO 1Cx50C PC USB port Servo drive CN5 IS D HE ees PC connection USB A plug AREE icati APCS signali oe 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 indicates the length of each cable Refer to the table below for how to display them Cable nat m 7 46 LS LS 7 Product Specifications Bn m Option connector E Type Name Applicable Specifications E Drive 31018 ZOl 0 5 Meter Terminal block APC VSCN1T L7 SERIES for CN1 APC VPCNI1T APC VSCN1T CN1 T B expansion of APD VS APC VPCN1T CN1 T B expansion of APD VP The cable length can be changed Standard cable length 0 5 m APC CNiNNA L7 SERIES H a d 1 Case specifications 10350 52A0 008 3M 2 Connector specifications 1015
102. acy Input range Analog E 9 Input Angular Input outp resolution ut signal Output range Analog Output Angular resolution Within 1 DC 0 10 V 12 bit DC 0 10 V 12 bit 7 35 7 Product Specifications LS Type Name L75A L7GA L7GA L7GA L70A L75A L70A L70A 0015 0025 0045 0085 0100 0200 0350 0500 A total of 10 input channels allocable o SVON SPD1 SPD2 SPD3 ALMRST DIR CCWLIM CWLIM EMG STOP EGEAR1 EGEAR2 Digital PCON GAIN2 P CLR T LMT MODE ABS RQ ZCLAMP input P 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 Communic ation USB Status monitoring through PC software JOG operation and parameter uploading downloading are possible Serial BiSS encoder and quadrature encoder supported apod Random pre scale output through FPGA maximum 6 4 Mpps DONE Standard built in activated when the servo alarm goes off or when the servo is off Regenerati TY Both default built in and external installation possible Displaying Seven segments 5 DIGIT Built in Sel Loader SET
103. ae 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 HRE 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 f e GPIO setting Output m UM Seng 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 EE MM 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 l More than the maximum torque commands OV TCMD Excessive torque command Ivebaeenterad OV VCMD Overspeed command More than the maximum speed commands have been entered OV LOAD Overload warning Th
104. al Type 19 bit EE Protection l Fully closed self cooling IP65 excluding axis penetration i Tmering Continuous Ambient Specifications 0 40 C and features Rane mbien humidity 20 80 RH no condensation i Atmosphere No direct sunlight corrosive gas or combustible gas RN Anti vibration Vibration acceleration 49 m s2 5G MER weigh wi 38 te 22 27 38 Rotation speed Torque Characteristics Torque Nm APM FC1 0A Torque Nm APM FCO3D TAM Nm APM FC05D 4 T N 6 0 H 1 K Repeatedly used area ss L Repeatedly used area Continuously used area f l Continuously used area Continuously used area Speed r min Speed r min Torque Nm APM FCO6D Torque Nm APM FCO7D Repeatedly used area N Continuously used area Speed r min Speed r min 7 Product Specifications LS mecapior EN 0 ll 1 1 l Product Features Applicable Drive L70Aon L75A010 L75A020 L75A035 L75A035 L75A008 L75A010 medo mw os 35 22 30 05 i Rated torque La cm MN 20 48 70 71 40 40 mm 20 60 Maximum Nm m 859 59 32 32 101 101 2865 65 859 59 1575 19 instantaneous torque kgf cm 87 70 146 10 214 30 292 20 87 70 160 70 Rated rotation r min 3000 2000 E speed Inertia moment Allowed load inertia Motor inertia x 10 Rated power rate kW s 14 47 22 38 33 59 47 85 14 49 27 08 Speed an
105. at 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 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 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 reached signal is output 3 Brake Signal Output Parameter Setting Speed Motor operation speed Servo OFF or Alarm trigger Brake signal output Operation speed P2 ecccccedececceccesgieceecesceccescescecsscossecscosscsseccesscesscosscecescossesecescsseccessescescecescescescescesecceccesccssceceeceoscecceccececeeccesceceeceoecccececeboeececceccesccccececeos 141 Time Servo ON input Brake GA gt lt Within 50 msec gt lt Brake signal output signa Pod Delay time P2 15 Brake signal output operation speed P2 14 b
106. ative operation Check regenerative resistance RST power fail Main power failure Check power unit wiring and power 3 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 Check the emergency stop contact signal niis EIOS external 24 V power and contact points G Lat U Z L L 2 ri Y C B 4 GESE Position following Excessive position error error Pul act Check pulse command frequency from Over pulse CMD u se commana ITEqUENCY the upper level controller Check command pulse type HL Bb3 Parameter checksum Factory reset Cn 21 HL 311 Invalid factory setting Factory setting error Factory reset Cn 21 68 LS A LS 4 Parameters O n 4 5 2 Servo Warning Status Summary Display List If a warning code is displayed as the current operation status St 00 the servo drive is operating abnormally Check what needs to be inspected for the issue Warning State Cause What to inspect RST PFAIL Main power phase loss T the P0 06 DIGIT 2 is set to 1 the main power fails OV_TCMD
107. ay lower four digits LM 1 1 2 LC L U EL 1 U C 1 ZAAD AAAA C C B E g St 16 Displayed as Upper 0 Middle 0012 and Lower 2071 What to Do Displays the speed control mode with main power and control power permitted Press MODE to move to St 00 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 WMecapic 4 9 4 Parameters LS Mecapio EN 0 Ll 1 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 Input Contact Display Number 4 9 0 amp qoo o m Contact DI7 Number Pin number Allocated default STOP EMG CWLIM rm d SPD3 SPD2 spp1 SVON Signal name 4 10 LS Mecapio LS Mecapion 4 Parameters 4 1 6 External Input Signal and Logic Definition The following describes how to allocate input signals and how to view them 1 Input Signal Allocation L7 Drive allows for the alloca
108. c L7SA0350 3 4 3 2 2 L7 Drive Wiring Diagram L7SA050410 esseeeeeeeeeeeeeeeee 3 5 3 2 3 Dimensions for Power Circuit Electrical Parts 3 6 K K TiMiNO DRAGAN ocicasoei dias xd iode PMID iSo Sat Pupepi diia seu dicas dii tcd ces quidque xis 3 10 3 3 1 Timing Diagram During Power Input sse esse eee eee eee 3 10 Table of Contents 3 3 2 Timing Diagram at the Time of Alarm Trigger 3 11 3 4 Control Signal Wiring sss sese 3 12 3 4 1 Contact Input Signal eee 3 12 3 4 2 Contact Output Signal siiicar 5E Saer Taz2 0202 VAR AK ERR Vea ad RI TESTS 3 13 3 4 3 Analog Input Output Signals sss eee 3 14 3 4 4 Pulse Train Input Signal see 3 15 3 4 5 Encoder Output Signal sese 3 16 3 5 Quadrature Encoder Signaling Unit CN2 Wiring 00000 ee 3 17 3 5 1 APCS E 33HAS CablB e rotta ERI 3 17 3 5 2 APCOIE OBS CaDIB i ioiioiod91909101928 29192599 919998919 9994909994999 29 9 99 595 3 17 3 6 Serial Encoder Signaling Unit CN2 Wiring sse eee eee 3 18 3 6 1 PP CS E uC S Cab 3 18 3 7 Multi Turn Encoder signal unit CN2 wiring sss sss esse eee ee 3 20 3 7 1 PPC Sr ECS IO T 3 20 3 7 2 APCOIESPHBST Cable i ccnascrannnaassaaaneaseeeeeeeoneecnueae 3 20 3 7 3 APCSEL DESI AC aiti tibiae ibas ae ita ata ita eaa ia eaa ia etai etaed etd 3 21 3 8 Transmission of Absolute Enc
109. cations and features Atmosphere Anti vibration APM FF22D Continuously used area 2 000 speedin sint U APM FF35D Torque Nm i Continuously used area 2 000 speediv int APM FF20G Torque Nm 40 0 2 000 Speed r ii U APM FF30G Torque Nm 60 0 Repeatedly used lt Continuously used area 2 000 speedin sint U APM FF44G Torque Nm 100 0 80 0 60 0 1 000 2 000 Speed r ii U APM FF12M Repeatedly used area LOO 1 800 au 7 Product Specifications aProduct Features Applicable Drive L7bAan L75A020 L75A035 L7GA050 L75A020 L75A035 L75A020 mae OR 19 09 28 64 42 02 10 50 16 71 11 50 Rated torque kgf cm 194 8 292 2 428 7 107 1 170 4 116 9 Maximum 57 29 85 94 126 1 31 51 50 12 34 40 instantaneous torque kgf cm 584 40 876 60 128 60 321 30 511 30 350 80 eee 2000 1700 2000 3000 2700 3000 Motor inertia x 5 Speed and E position detector X Protection i Fully closed self cooling IPe5 excluding axis penetration Ambient 0 40 C temperature MD 20 80 RH no condensation Inertia moment gf cm s2 47 51 Specifications and features humidity Atmosphere No direct sunlight corrosive gas or combustible gas Anti vibration Vibration acceleration 49 m s2 5G ea D Rotation speed Torque Characteristics APM FF20M APM FF30M M omi kaa Torque Nm APM FF44M 46 e EE i NM O6 n gt E o Repeatedly u
110. ce to NC hole on the case The L7SA050u models are cooled by a DC 24 V cooling fan LS 3 3 3 Wiring Method LS 9 ll 3 2 Power Wiring 3 2 1 L7 Drive Wiring Diagram L7SA001 L7SA0350 200 230V oy n Q T ervo Drive eA DC Reactor Er n PO P NF 1 y DL v M IG N aa Od p 61 p C2 E lt Encoder 1Ry 7 u Alarmt I GW PS N IR i P S Alarm a e 39 B Note 2 External CN Regenerative Resistance NOTE 1 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 L7S5A001 a L7SA004n 50 W 100 Q L7SA010u 100 W 40 Q and L7SA035u 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 approximately 7 10 mm of the sheath from the cables for the main circuit power and attach crimp terminals Refer to 3 2 2 Power Circuit Electric Sub Assembly Standards LLL Pa 7 7 10 mm Connect or remove the main circuit power unit wiring after pushing the bu
111. ck eee eee eee 5 1 5 1 3 Surrounding Environment Check sss eee eee 5 1 5 1 4 Machine Status Check 5 1 5 1 5 System Parameter Check 5 2 Sr MN lt eree Te MEE UU E C L 5 3 5 2 1 Manual JOG Operation Cn 00 ueeeeeeessseseeeeeerneeeenennn nnn 5 3 5 2 2 Program JOG Operation Cn 01 eeeeesseeeeeeeeeeeee mm 5 5 5 2 3 Alarm Reset Cn 02l eee 5 6 5 2 4 Reading Alarm History Cn 02 sse eee 5 7 5 2 5 Alarm History Reset ICn 0dl sss 5 8 5 2 6 Auto Gain Tuning Cn 05 sss sese 5 9 5 2 7 Phase Z Search Operation Cn 06 sse 5 10 5 2 8 Input Contact Forced ON OFF Cn 07 ccccccceeececceeeesseeeeeeeeeeesaeeeeeeeeeeeas 5 11 5 2 9 Output Contact Forced ON OFF Cn 08 sese 5 13 5 2 10 Parameter Reset Cn 09 ccccccccccesssseeeeeeeeeeeseeeeeeeeseeseeeeeeeeeeeseeeeeeeees 5 15 5 2 11 Automatic Speed Command Offset Correction Cn 10 5 16 5 2 12 Automatic Torque Command Offset Correction Cn 11 5 17 5 2 13 Manual Speed Command Offset Correction Cn 12 5 18 5 2 14 Manual Torque Command Offset Correction Cn 13 5 19 5 2 15 Absolute Encoder Reset Cn 1dl s 5 20 5 2 16 Instantaneous Maximum Load Factor Initialization Cn 15 5 21 5 2 17 Parameter LOCK Gne T6 iaisciice iiim suit tee V mie nel ein Mni gas Unida id
112. correct encoder wiring Check the motor ID drive ID and encoder setting Check for equipment clash or Overcurrent Overcurrent S W confinement A 15 ena Atvomaicotote RE 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 H W 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 eH Motor cable open Motor cable disconnection Motor wiring 2 n rial en r heck for incorrect wiring of th i ni 23n B CONi Se al e code Check for incorrect g of the serial communication error encoder cable LS 4 67 4 Parameters LS Coe Name Domis o Whattoinspeet i YR are wer Renee 7 44 Encoder Z PHASE Open E cable check the encoder cable AL lt N L Under voltage Low voltage G input voltage and power unit U Check input voltage and wiring Check for braking resistance damage Adana Overvoltage Overvoltage 3 D Check for excessive regener
113. ct 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 R Salai Inspection Period Inspection and Handling Notes Vibration and The feel and sound should be sound check eaii He EDHE no more notable than usual Exterior pides Ns 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 M2 or higher Note 1 If resistance is 10 M or lower contact our service center Once l l Oil seal Remove it from the machine This only applies to motors replacement OVe Y ard at the for replacement with an oil seal Every 20 000 hours or once every 5 years at Contact our service cen
114. d Standard Serial T 19 bit position detector Protection Fully closed self cooling IP65 excluding axis penetration o0 Conis Ambient Specifications 0 40 C and features SORT mbien 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 50 967 85 10 50 67 Rotation speed Torque Characteristics Torque Nm APM FE09A Torque Nm APM FE15A Torque Nm APM FE22A 10 0 i r r 15 0 r 7 25 0 8 0 12 0 T 20 0 Repeatedly used area Continuously used area 1 000 2 000 3 000 4000 irma oO 1 000 2000 3 000 4000 irma U U 1 000 2000 3 000 dd gurvan U APM FE30A Torque Nm APM FEO6D Torque Nm APM FETID Lar 10 0 8 0 0 1 000 2000 3000 4000 5000 2 000 3 000 2 000 s oeat ni 00 Speed r miri Speed r min LS mecapion 7 Product Specifications ooo n Product Features Applicable Drive L7oAq0 L7GA020 L75A035 L75A004 L75A008 L7G5A010 L7GA020 wem m e sr oo oe m e Rated torque er 77 90 oe a2 116 9 Maximum Nm 2292 3151 859 1718 25 77 34 22 instantaneous torque kgf cm 233 80 321 40 87 66 175 3 262 9 349 1 Rated rotation 2000 1000 I speed kgm2x10 4 14 62 19 04 10 18 14 62 19 04 Inertia moment Igf cm s2 14 92 19 43 10 39 14 92 19 43 Allowed load inertia Motor inertia x 10 Rated power rate kW
115. d 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 E Current operation torque pd oo Displays the current load factor 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 Current command torque 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 ero Details Refer to 4 3 4 Torque and Load Display LS 4 27 4 Parameters LS BELA Accumulated overload o6 Displays the currently accumulated load factor against rate S the maximum accumulated load factor as a St 09 percentage Accumulated overload 300 0 300 0 Details Refer to 4
116. e o0 SRRRREEEEEEEEESHEEEERESEE L Servo Drive Servo Motor Cable Connector CN2 Maker 3M G t n ve 10314 52A0 008 172163 1 GND 10114 3000VE 170361 1 Cable Connector CN2 Maker 3M Cable 10314 52A0 008 Connector i GNU 10114 3000VE MS3108B20 29S LS 3 17 3 Wiring Method L S mecapion 3 6 Serial Encoder Signaling Unit CN2 Wiring 3 6 1 APCS ELLLUCS Cable AWG24 4Pair Twisted Servo Motor Shield Wire Servo Drive 8555555555555555 RRR RRR RR RA O A U E Cable Cable l Connector CN2 Connector Maker 3M Maker AMP 10314 52A0 008 172161 1 l 10114 3000VE 170361 1 ee ae SHO Frame 3 6 2 APCS EI I DS Cable riii Pai Servo Drive she d WIE Cable Connector MS3108 20 295 LS 3 Wiring Method 3 6 3 APCS EU ES Cable Servo Motor Servo Drive Cable Connector CN2 Maker 3M 10314 52A0 008 10114 3000VE Connector i SHD Frame Tyco Connector r l 7Ciruits LS weaoic 3 19 3 Wiring Method LS 3 7 Multi Turn Encoder signal unit CN2 wiring 3 7 1 APCS ELLUCS1 Cable AWG24 4Pair Twist Shield Wire Servo Drive PITT TITTLE ELL d Ya Servo Motor Cable Connector CN2 Maker 3M 10314 52A0 008 10114 3000VE Cable 3 SHD Frame Connector MS3108S20 29S 3 7 2 APCS ELCLUDS1 Cable AWG24 4Pair Twist Servo Motor Shield Wire Servo Drive Cable Connector CN2 Mak
117. e maximum overload PO 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 OC 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 0 lA p 1 B Servo Drive Overload Graphs 400W or below 1 Graph of Overload during Rotation AL 21 Load 96 Occurring AL 21 Load Occurring Time sec Time sec 100 Dr honte below 110 55776 0 89241 6 33465 6 106 9 40 08 13944 0 223104 83664 80 2 30 06 o eoar EIN o 2210 ms s ens NN o ser as o s ar o sw NM o ae EIN o am as Das Load Curve During Rotation 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 LS mecap B Maintenance and Inspection L Wu 2 Graph of Overload d
118. e 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 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 C em AI U U St 00 St 26 PO 00 P0 27 Initial Screen Status Summary Displays the status Display summary of the servo Status Displays the operation status of the servo Saves system System configuration information Save control related Control parameters P1 00 P1 29 MODE Key Saves parameters IN OUT The following explains the acronyms related to application mode in the parameter Speed Operation Position Operation Command 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 related to analog and digital input output Saves speed operation parameters Saves position pulse operation parameters Performs operati
119. e 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 and 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 oA aanA Set the motor ID P0 00 and the encoder pulse P0 02 for L7 GA aanA 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 upper level controller to PO 0
120. e servo on amp Power reset parameter B Wm that cannot be modified with the servo on Manual JOG operation BEER 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 Refer to 5 2 Handling Program JOG operation o Continuously operates according to the program already set SET Program JOG run or stop Related parameters are as follows P3 08 Speed command acceleration time P3 09 Speed command deceleration time P3 10 Speed command S curve Cn 01 Program jog P3 11 Speed 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 ow ow Mamreset Reset the alarm that went off L Ama qoos oos RL LS Mecapion 4 45 4 Parameters Cn 06 Z detection Input contact forced ON OFF Cn 07 Forced inpu
121. ed WR O d 3000 2700 3000 3000 2700 3000 kg m2x1 0 4 30 74 52 13 83 60 51 42 80 35 132 41 Inertia moment gf cm s2 31 37 53 19 85 31 52 47 81 99 135 11 Allowed load inertia Motor inertia x 5 Rated power rate kW s 42 71 65 37 93 83 25 53 42 41 59 24 Speed and Standard Quadrature Type Incremental 3000 P R position detector Serial Type 19 bil psc Fully closed self cooling IPe5 excluding axis penetration Ambient Specifications 0 40 C and features rae mbien humidity 20 80 RH no condensation Atmosphere No direct sunlight corrosive gas or combustible gas Anti vibration Vibration acceleration 49 m s2 5G Weigh D Rotation speed Torque Characteristics Torque Nm APM SF20G Torque Nm APM LF30G Torque Nm APM SF44G Repeatedly used area Continuously used area E b i Continuously used area 1 000 3000 2000 3000 1 000 Speed r min Speed r min Speed r min Torque Nm APMa SG20G Torque Nm APM SG44G 20 Eee MM ee Repeatedly used area x ME Repeatedly used area Continuously used area Continuouslv used area JU JU Speed r min 0 2 000 000 Speed r min Speed r min 7 Product Specifications LS EN 0 lAhh o L1 1 1 Product Features Applicable Drive L7aGAua L7 A020 L70A035 L7c A050 L7 A020 L70A035 pp aet T N 11 46 19 10 28 64 42 01 10 50 16 71 Rated torque kgf cm 116 92 194 86 292 29 428 69 107 20 170 52 Maximum N m
122. ed ON OFF Setting The positions of the seven segment LEDs and CN1 contact correspond as follows If an LED that corresponds to a contact is turned on off it indicates ON OFF accordingly Output Contact Setting 4 93 1 number Allocated default bos 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 5 Handling and Operation LS EN 1 1 1 2 Example of Output Contact Forced ON OFF BRAKE OFF Example of handling output contact forced ON OFF Order Loader S Keys to Use What to Do Press UP or DOWN to move to Cn 08 Press SET to enter input forced ON OFF setting 4 Press SET to enter forced output bit setting Press MODE at the blinking cursor 5 E to move to the desired 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 i indicates flickering LS p 5 Handling and Operation 5 2 10 Parameter Reset Cn 09 Reset parameter data Example of initializing parameters Loader Displays Keys to Use What to Do Displays the speed control mode with main power and control power permitted Press MODE to move to Cn 00 Ot Pre
123. ed 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 ww 5 S 4 DIGIT 3 3 lt 2 DI Ig ja Lal C U LS 4 Parameters O 2 Servo Operation Status Summary Display List The following list explains the operation status summary display of different modes of the servo Operation Status 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 torque 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 sta
124. eed 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 Wecapion 441 4 Parameters LS EN 0 ll 4 2 7 Position Operation Setting Parameter 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 Parameter Position input bur ud bur ud Sets logic for position operation input pulses The type of position command input pulses and rotation direction per logic are as follows PF PR Forward rotation Reverse rotation PULS CN1 9 A A SIGN CN1 11 9 PULS CNi 9 SIGN A CN1 11 Phase A B Positive Logic CW CCW Positive Logic PULS 4 CN1 9 SIGN CN1 11 L Level PULS CN1 9 SIGN CN1 11 L Level Pulse direction positive logic 1 H Level L Level Forward rotation Reverse rotation Negative Logic PULS CN1 9 SIGN CN1 11 C A PULS CN1 9 SIGN
125. eed and E 3 Serial Ds 19 bit position detector Option oun Fully closed self cooling IP65 excluding axis penetration Time rating Continuous 00000000000 Ambient Specifications temperature 0 40 C and features Ambient 20 80 RH no condensation humidity Atmosphere No direct sunlight corrosive gas or combustible gas Anti vibration Vibration acceleration 49 m s2 5G 10 1 APM FE05G APM FE09G APM FE13G Torque Nm Jorquela 1 000 2 000 anoeia UU i 2 000 Speedl mii TU i 2 000 Speed r min UD APM FE17G APM FF30A APM FF50A Torque Nm Torque Nm Torque Nm 35 0 35 0 60 0 Cantinugusly used area 2 000 0 1 000 2000 3 000 4 000 2 Poa 0 1 000 2000 3 000 4 000 ppo Speedo Speed r miri Speed r miri LS mec 7 Product Specifications Protect Features Applicable Drive L7bAan L70A020 L7cA035 L7cA020 L75A035 L7cA050 L7cA020 aae BW 10 50 16 70 11 45 18 46 28 00 11 46 Rated torque kgf cm 107 1 170 4 116 9 188 3 285 7 116 9 Nm 31 50 50 10 34 35 55 38 84 03 34 38 instantaneous torque kgf cm 321 30 511 40 350 60 564 90 857 10 350 70 speed Maximum 2000 speed Speed and e position detector Protection X k J Fully closed self cooling IP65 excluding axis penetration method Ambient 0 40 C temperature 20 80 RH no condensation Ambient humidity No direct sunlight corrosive gas or combustible gas Vibration acceleration 49 m s2 5G Inertia moment Specifi
126. eleration time ms 0 P3 09 Speed command deceleration time ms 0 P3 10 Speed command S curve time ms P3 11 Speed operation pattern 0 P3 12 JOG operation speed RPM The parameter marked with cannot be modified when the servo is on 5 Handling and Operation Example of handling manual JOG operation Displays the speed control mode with main power and control power permitted 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 servo is on and the motor turns reverse CW Lift your hand off the key and the motor stops Press MODE for a second and you return to the parameter screen Cn 00 LS 5 Handling and Operation 5 2 2 Program JOG Operation Cn 01 Continuously operates according to the program already set 1 Press SET in Cn 01 and P JoG is displayed 2 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 3 Press SET again and the program JOG operation finishes and the servo is turned off 4 Press MODE for a while and then you return to the parameter screen Cn 00 5 Four operation steps repeat continuously from 0 to 3 Operation speed and time can be set in
127. er 3M 10314 52A0 008 10114 3000VE Cable Connector MS3108S20 29S LS 3 Wiring Method 3 7 3 APCS ELLLES1 Cable Servo Motor Servo Drive Cable Connector CN2 Maker 3M 10314 52A0 008 10114 3000VE Connector Tyco Connector 7 Circuits LS weaoic 3 24 3 Wiring Method LS EN 0 ll 3 8 3 8 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 u When the servo is OFF change the ABS RQ 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 E Q N The servo drive transmits single turn data with the pre scaler
128. ers 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 B Responding to international regulations L7 Series responds to international regulations with standard models L7SA001X L7SA002X L7SA004X L7SA008X EN61800 5 1 EN61800 3 L7SA010X L7SA020X L7SA035X Note1 X A or B A Quadrature Encoder Type B Serial Encoder Type x 1 For more information please feel free to ask LS Mecapion x2 Please follow the regulations of destination when exporting LS Table of Contents Bn wu Table of Contents MU OCG UNG rM iii Salely TT a me iv TADIC OF CONTIG recast oes soca RE EH ix 1 Product Components and Signals ccsccccssssseeeeeeeesseeeeeeeesseeeeeeesseeeeseoeees 2 1 1 1 Produc M Bo eie 0 8 RITE ES 2 1 1 1 1 Product Verificati n M M 2 1 1 1 2 Part NaM S MNT um 2 3 1 2 System Configuration eee eee 2 8 1 2 1 giis M 2 8 1 2 2 Wiring Diagram of the Entire CN1 Connector sssssse 2 10 1 2 3 Example of Position Operation Mode Wiring 2 11 1 2 4 Example of Speed Operation Mode Wiring 2 12 1 2 5 Example of To
129. eset the instantaneous maximum load factor to 0 Example of initializing the instantaneous maximum load factor ma Loader Spit Keys to Use What to Do Press MODE to display Cn 00 s 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 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 will not reset Press MODE for a second to return to Cn 15 a indicates flickering LS 5 21 5 Handling and Operation LS 5 2 17 Parameter Lock Cn 16 Lock or Unlock whole parameter Example of locking or unlocking parameter ma Loader Displays Keys to Use What to Do 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 parameter Press DOWN to lock whole parameter Hold down MODE for a second to return to Cn 16 E indicates flickering 5 22 LS LS 5 Handling and Operation Bn 5 2 18 Current Offset Cn 17 Store existing current offset value into PO 27 P0 28 parameter Example of setting current offset value Loader Displays Keys to Use What to D
130. et CN5 Main power connector U e USB connector L1 L2 L3 CN4 DC reactor connector PO PI Short circuit when not used RS 422 communication connector CN3 e zT HS 422 communication connector C Regenerative resistance connector B B BI When basic installation is in useshort circuit B L and BI terminals L When installing external resistance install in the B and B terminals ILO 2 Control signal connector O Control power connector L C1 C2 MERE DIO c Motor power cable connector U V W CN2 Encoder signal connector od Cy CN2 LS p 1 Product Components and Signals L7SA 0500 2 la amp L M ou Display RH DD Operation keys Mode Up Down Set OLOR b CN5 us USB Connector CN4
131. eter Input output setting parameter P2 00 P2 b 22 i a P2 00 P2 22 Control parameter setting parameter P1 00 P1 27 P1 00 P1 27 Control setting parameter Refer to Appendix 1 Refer to Appendix 1 LS D 9 Appendix Bn 10 1 How to 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 P1 00 speed proportional gain P1 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 If 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 e Ho
132. f the servo motor or encoder wiring Turn off power and fix the error using the information in Alarm Codes and Descriptions 9 Appendix EENN 1 T lest 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 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 PO 03 Speed 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 4 Speed torque control operation 11 Perform position operation with the upper level 10 Perform speed operation with the upper level anu controller by adjusting the following parameter controller by adjusting the following parameter data data l Speed operation setting parameter P3 a Position operation setting parameter P4 01 P3 20 00 P4 14 Input output parameter setting param
133. fter DB stop 1 Release after DB stop 2 Release after free run stop 3 Hold after free run stop Details Refer to 4 4 1 System Parameter Setting Sets drive function per digit DIGIT 1 Sets the direction of the servo rotation e Q0 Forward CCW Reverse CW s 1 Forward CW Reverse CCW DIGIT 2 gt Sets the lock of the servo motor when the value of analog speed command is 0 in speed operation mode 0 Not for use e 1 Use DIGIT 3 gt Sets the open collector contacts for encoder pulse output e 0 Not for use e 1 Use ALOO gt A Phase ALO1 gt B Phase ALO2 gt Z Phase DIGIT 4 gt Sets the range of monitor output voltage e 0 10V 10V e 1 0 10V DIGIT 5 gt Sets EEPROM save function in communication e 0 Enable to save parameter data when writing through communication e 1 Unable to save parameter data when writing through communication Details Refer to 4 4 1 System Parameter Setting Sets output mode for 1 2 analog output channels Sets CHO CH3 from the bottom HEX Code in order Output CHO and CH1 as MONIT1 and MONIT2 0 Speed Feedback RPM 1 Speed Command RPM 2 Torque Feedback 96 3 Torque Command 95 4 Position Command Frequency 0 1 Kpps 5 Following Error pulse 6 DC Link Voltage V D Speed command User RPM e E Torque command User 95 Details Refer to 4 4 1 System Parameter Setting LS 4 Parameters E
134. g 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 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 l Details Refer to 4 4 2 Control Parameter Pos feedforward gain 100 Setting Position feedforward me Sets position feedforward control filter time Filter time constant constant P1 05 Pos feedf dti 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
135. gain 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 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 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 P 1 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 Gain transfer time Sets gain transfer time during operation P1 16 E 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 Hesonance avoidance Select whether to use the notch filter or not P1 17 operation 0 Do not use 1 Use Details Refer to 4 4 2 Control Parameter Setting Notch filter use 4 35 4 Parameters LS Parameter 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 TE a y Pa A E Details Refer to 4 4 2 Control Parameter Setting Notch bandwidth 0 f 1000 l
136. gisters 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 exception codes for all abnormal responses of all function codes supported in the L7 servo drive 0x01 Unsupported function codes 0x02 Invalid register address 0x04 Command handling failure 0x05 Waiting state of preparing data Non matching node IDs or CRC check errors 0x06 Locking state of locking parameter LS 6 Communication Protocol O 6 2 2 Protocol Command Codes 1 Read Single Register 0x03 Read the single register 16 bit data value o Noe EN Lema EN o web oo Pe 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 Addres
137. h 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 ae secu 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 H W 2a p Check for incorrect drive output 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 L 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 I
138. ied both monitor1 and 2 0 10 10V 1 0 10V DIGIT 5 gt Sets EEPROM save function in communication 0 Enable to save parameter data when writing through communication 1 Unable to save parameter data when writing through communication 17 DAC output setting There are 2 kinds of DAC output each of which is made every 200 usec according to the condition of used data DAC output type P0 18 DIGIT 1 DIGIT 2 o Speedteedback RPM 5 Following eroripuse 1 Speedcommand RPM 6 DClmkvotlageiV Torque feedback D Speed command user RPM Torque command 95 Torque command user 96 Position command frequency 0 1 Kpps DAC output scale P0 23 P0 24 LS 4 Parameters If the output value is too low or too high output ratio can be adjusted Sets magnification Unit V for analog output channels 1 and 2 Speed RPM torque 95 position command frequency 0 1 Kpps position pulse DC link V Example Channel 1 scale 100 22100 RPM is output as 1 V e DAC output offset PO 19 PO 20 Sets offset Unit V for 1 2 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 e 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
139. 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 O 4 3 7 Version Display 1 Software version display St 25 Displays the version of the currently installed software A 0 01 3 5 iim A capacity default biia B Serial Type 3 p 5kW LS Mecapion 4 51 4 Parameters LS EN 1 l ll 1 4 4 Parameter Setting 4 4 1 System Parameter Setting 1 Motor ID setting PO 00 e Single turn Serial encoder Reads the motor ID from the encoder and displays it e Quadrature type Incremental encoder Sets motor ID manually Multi turn Serial encoder Sets motor ID manually 2 Encoder setting e Encoder type PO 01 m Encoder Type MEM Encoder Type Quadrature type 1 Single turn Serial type encoder incremental encoder Multi turn Serial encoder ES e Encoder pulse PO 02 Refer to servo motor product format on Chapter 1 Product Components and Signals for value of encoder pulses Set number of pulses P H if the encoder is pulse type and set number of bit if the encoder is communication type Serial Ex Set 3000 P R in PO 02 when the motor is APM SBO4AEK1G103 because E indicates that encoder type is Quadrature type 3000 P R
140. ing 100 Auto gain tuning speed P1 20 RPM Sets speed for automatic gain tuning run na 21 l NUM Sets round trip distance for automatic gain tuning run Torque control speed amp speed limit mode during torque control limiting mode o 8 Limit to P1 23 1 Maximum motor speed P1 22 Velocity limit switch E HSS Speca commana 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 Can control When setting P and PI control transfer mode P 1 15 P1 24 L 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 puel 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 O 4 2 5 Input Output Setting Parameter For detailed information refer to
141. inning of the next packet as show in the following image to distinguish packets Packet1 Packet2 Packet3 4 4 4 3 I 1 31 4 EIN at least 3 5 char at least 3 5 char 4 5 char 1 Sending Packet Structure Additional Functio e o p 21 1 10 o9 2 Receiving Packet Structure Normal Response Additional Function Byes o 1 2 m n Abnormal Response Additiona Functio Byes o 1 Descripti Node ID a _ Exception code CRC MSB CRC LSB on 0x80 LS 6 3 6 Communication Protocol LS ENS 1 l 1 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 PO 05 Function Code The following are the Modbus RTU standard function codes supported by the L7 servo drive S 0 Write single register ate saree O0 Write multi Write multi register User defined Ox6A Read each block e function code 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 re
142. installed Analog Torque o St 27 Command Displays the values of the current analog torque command Analog Tq CMD 3000 3000 LS mecanic 4 29 4 Parameters LS 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 Unt Ma Gode Name Minimum Maxmum If the attempt to read motor data fails the initial P0 00 value is set to 999 Motor ID Details Refer to 4 4 1 System Parameter Setting 0 Quadrature Type encoder e 1 Single turn Serial encoder Encoder type 5 e 3 Multi turn Serial encoder Details Refer to 4 4 1 System Parameter Setting Encoder pulse ppr 3000 Serial Type encoder Set the number of bits per turn from the encoder Po 02 ae Quadrature Type encoder Sets the number of Enc resolution 1 30000 encoder pulses Details Refer to 4 4 1 System Parameter Setting Select operation 1 Sets operation mode 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 RS422 Sets communication speed for RS 422 communication communication 0 9600 bps D0 04 1 19200 bps 2 38400 bps 3 57600 bps Detai
143. ion 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 P 1 18 gt 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 e 0 Not for use e 1 Use 4 4 3 Analog Input Output Parameter Setting 1 Analog Speed Scale Setting 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 10 V 10 V Voltage 10 V m Zero speed command clamp voltage P2
144. is from 1 V to 1 V If offset voltage exceeds this range oVrnG is displayed and calibration is not allowed You can check the corrected offset value in the analog torque command offset P2 21 Example of handling manual torque command offset correction Pu Loader SEEDS Keys to Use What to Do m f C Press MODE to display Cn 00 LU Ll m Press UP or DOWN to move to Cn 13 Press SET to enter offset correction setting The current offset value displayed 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 De to the parameter screen Cn 13 E indicates flickering 5 Handling and Operation 5 2 15 Absolute Encoder Reset Cn 14 Initialize values of St 16 St 17 St 18 to 0 when It is connected with Multi turn Motor Example of how to use Absolute Encoder Reset Pel Loader Displays Keys to Use What to Do OD Move to Cn 14 by Pressing UP or DOWN key C When pressing SET key the value of absolute encoder data will be initialized to 0 Then it will be displayed donE When pressing MODE key it will be returned to Cn 14 without initialization C Press MODE for a second to return to the parameter screen Cn 14 xor indicates flickering LS 5 Handling and Operation O 5 2 16 Instantaneous Maximum Load Factor Initialization Cn 15 R
145. iteria 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 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 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 Cycle Aluminum electrolytic l l y Replace with new boards decide after inspection condensers 5 years on printed boards Motor bearings Decide after inspection LS 8 Maintenance and Inspection Bn 8 2 Diagnosis of Abnormality and Troubleshooting AL L 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
146. ition detector Serial Type 19 bit Protection Method Time rating Ambient Specifications temperature 0 40 C and features pm mbien humidity 20 80 RH no condensation Atmosphere No direct sunlight corrosive gas or combustible gas Anti vibration Vibration acceleration 49 m s2 5G Weigh D Rotation speed Torque Characteristics Fully closed self cooling IPe5 excluding axis penetration Torque Nm 10 0 APM SE16D ER APM SE22D APM SE03M Repeatedly used area fao so Repeatedly used area H S Continuousl X Speed r min Torque Nm APM S E06M Torque Nm APM S E09M res iim APM SET 2M uud EE Continuously used area E 500 2000 Speed r min LS 7 Product Specifications ooo n Product Features EE drive L7bAac L7GA008 L75A010 L7 A020 L75A035 L7GAO050 Rated torque kgf cm 29 23 55 21 84 44 110 42 97 43 162 38 Maximum N m 16 23 24 83 32 46 28 64 47 74 instantaneous torque kgf cm 87 69 165 63 253 32 331 26 292 29 487 15 Rated rotation r min 1500 3000 speed speed gm2xt0 4 6 66 1200 17 34 22 68 30 74 52 13 12 24 17 69 23 14 31 37 53 19 Allowed load inertia Motor inertia x 10 Motor inertia x 5 Rated power rate kW s 12 32 24 40 39 49 01 63 29 66 48 58 Speed and Quadrature Type Incremental 3000 P R position detector Serial Type 19 bit Protection method Ambient 0 40 C temperature PTE 20 80 RH no condensation humid
147. ity Atmosphere No direct sunlight corrosive gas or combustible gas Anti vibration Vibration acceleration 49 m s2 5G Weight kg o 55 75 97 m8 124 177 Rotation speed Torque Characteristics Inertia moment gf cm s2 Fully closed self cooling IP65 excluding axis penetration Specifications and features Torque Nm APM SE05G 10 0 Repeatedly used area Continuously used area SUL Speed r min Repeatedly used area Continuously used area Torque Nm APM S E09G Torque Nm 20 0 1000 2000 Speed r min APM SE13G Repeatedly used area Continuously used area T Speed r min Torque Nm APM SE17G Continuously used area JUUL Speed r min Torque Nm 2n t APM SF30A Repeatedly used area Continuously used areas Speed r min Torque Nm APM S F50A 4 000 5 000 Speed r min 7 Product Specifications LS EN 0 lAhh o L1 1 1 Product Features Applicable drive L7GAan L75A020 L7GA035 L75A020 L75A035 L75A050 aT T 10 50 16 71 11 46 19 10 28 64 42 01 Rated torque kgf cm 107 17 170 50 116 92 194 86 292 29 428 69 Maximum N m 31 51 50 13 34 37 57 29 85 93 126 04 instantaneous torque kgf cm 321 52 511 51 350 75 584 58 876 88 1286 08 E i dpud 3000 2000 1700 2000 kg m2x1 0 4 30 74 52 13 30 74 52 13 83 60 121 35 Inertia moment gf cm s2 31 35 53 16 31 37 53 19 85 31 123 83 Allowed load inertia M
148. l be saved as 0500 in the parameter Press and hold MODE for approximately one second to return to PO 19 NOTE 1 _ indicates flickering If 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 2 Maximum 0b11111 D Minimum 0500000 e an LC VH qu C P e LO PD e LA P a LA 2 Hex Maximum OxFFFF CD Minimum 0x0000 9 LA L LA mE LA Hc LET fan ea uir p an lt gt e p a HRF S 3 16 bit Unsigned Integer E g 1234 D E g 0 4 16 bit Signed Integer 2 E g 5678 D E g 1234 2 E g 5678 D E g 1234 y tri 5 16 bit Decimal Point Display 2 E g 4123 4 D E g 123 4 2 E g 4123 4 D E g 123 4 4 th E vwa O a7 P um AR ey Hm Soy pouce LX INT DONC x L l T Sum LA UN fl LS 4 Parameters Bn n 6 32 bit Signed Integer Data Display D Minimum 2147483648 Display upper two digits Display middle four digits Display lower four digits lt HH J o U UU U U J CU U m U U L ime L wm mf U 1 U 2 Maximum 2147483647 Display upper two digits Display middle four digits Displ
149. l l P1 09 constant Sets speed control integral time constant 2 Speed time constant 2 1000 P1 10 lime constant Sets filter time constant for speed command Speed command filter 1000 values time constant 4 34 LS LS Parameter Um Ws Ge Name Minimum Maximum Spd feedback filter time 4 Parameters 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 oo w constant 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 s D Negative torque limit Sets negative torque limit a a Details Refer to 4 4 2 Control Parameter Setting Gain transfer mode T 00 Sets gain transfer mode OxOF DIGIT 1 P1 15 Conversion mode 1 1 1 0x00 0x43 Sets P and PI control transfer modes OxFO DIGIT 2 0 Control PI only Details Refer to 4 4 2 Control Parameter Setting Details Refer to 4 4 4 Input Output Contact Parameter Setting 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
150. ls Refer to 4 4 1 System Parameter Setting System ID 0 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 P0 05 S the servo ystem ID 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 Operation mode RS422 baud rate 4 30 LS LS 4 Parameters Parameter Unt Initial Code Name Minimum Maximum Main power input mode a 0b00000 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 Ob00000 0b11111 may lower motor output DIGIT2 0 Error in case of phase loss 2 h Warning in case of phase loss RST checking time ms 20 Sets the time to check main power phase PO 07 loss RST check time 0 5000 Displays parameter Sets the number for the operation status 50 08 ET start parameter that is displayed at the start Details Refer to 4 4 1 System Parameter a overload o6 Sets derating factor for checking of x derating R regenerative resistance overload The PO0 09 overload alarm triggers quickly when the Regeneration derating pea a 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 PO0 10 resis
151. m Vu Id tate ca id omes 5 22 5 2 18 Current OTrSeeiCn 17 e 5 23 Communication Protocol ide e ui cis Fe ieu eE us iu vut Tau EL Caso SUe Eu TM EL Lei id ua EEUU 6 1 6 1 Overview and Communication Specifications sssssss 6 1 6 1 1 WENN cc E ERERR 6 1 6 1 2 Communication Specifications and Cable Access Rate 6 2 6 2 Communication Protocol Base Structure eee eee 6 3 6 2 1 Sending Receiving Packet Structure eee eee 6 3 6 2 2 Protocol Command CodeS anencanessarsnxesaranetavencnuuetsramaiexsesnaiocensiniesexsiatarenseaiaans 6 5 6 3 L7 Servo Drive Communication Address Table sese 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 s 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 Parameter Communication Address Table 6 18 xi Table of Contents LS 7 aieo Elec T 7 1 r MEME DCI VO NOI m 7 1 7 1 1 POC CT mili s ERN MN cc 7 2 7 1 2 OUTING DRAWING BERNER NEUTRON DUREE 7 23 Te DEMO DIVE EET 7 35 7 2 1 Produci eT 7 35 7 2 2 Outline Drawing eee 7 37 7 8 Optio
152. m 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 LS 2 Installation 2 2 3 Power Wiring Make sure that the input power voltage is within the allowed range Overvoltage can damage the drive Connecting commercial power to the U V and W terminals of the drive may cause damage Be sure to supply power via L1 L2 and L3 terminals Connect short circuit pins to the B and BI terminals For external regenerative resistance use standard resistance for the B and B terminals after removing the short circuit pins Resistance Standard L70A0010 A Caution For more information about resistance for ang 100 Q Built in 50 W expanding regenerative capacity refer to 7 3 Option and Peripheral Device LToAQD4o E M 40 0 Built in 100 A IW L75A0205 13 0 Built in 150 L75A0355 IW L70A050c 6 8 0 Built in 120 W Configure the system in a way that main power L1 L
153. mn and encoder pulse is 3000 in the unit of commands that control each pulse in 1 4m 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 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 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 In the case of serial type encoder It is 523288 pulses per 1 rotation without X4 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 Electronic Gear Ratio Offset Adjustment For reasons of wear and tear on the machine during position pulse command operation If the operation distance per rotation changes
154. n DI2 Y amp p 14 ALO2 gt e a m 5 SVON 47 MIS 25 GND24 EGEART Note 2 24 GND24 EGEAR2 xx TIMT Note 2 x LMT ABS RO VLMT ZCLAMP xx CNIL e WARN SPD3 21 44 BRAKE SPD2 22 SPD1 23 Analog Output DIR 46 28 MONIT1 Command Pulse Input ABS RST P 0v 10V 29 MONIT2 PULCOM 49 TTT DIG BE s 37 GND a rae t 34 12VA PF 10 E Upper Level Line Oriver 35 12VA ae I PR 11 Encoder Pulse Output Y E 33 AO Open Collector 30 BO p Upper Level Analog Input 10V 10V 31 780 Controller Analog Speed fV SPDCOM 27 A ZO I Command Limit GND 8 10V 10V 5 ZO Analog Torque mS MC TRQCOM 1 36 SG Command Limit GND 9 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 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 2 14 LS LS 1 Product Components and Signals 1 2 7 Example of Speed Torque Operation Mode Wiring
155. nce department the person in charge of technical support Send to LS Mecapion Quality Assurance Service Phone 82 53 593 0066 154 Fax 82 53 591 8614 Visit the LS Mecapion homepage http www Ismecapion com for useful information and services LS 9 Appendix Bn i User Manual Revision History Issued Year and l Version 2011 10 19 Gala gear ratio 10 Option specification name 2011 12 19 Add 750W 2KW Position command filter time constant 2012 01 09 a Warning code description 2012 02 05 Brake resistance Motor specification Add FLAT Type Motor Revise 2012 03 01 Suraat communication info 2012 04 09 correct minor typo 2012 06 19 Modify electric gear ratio 2012 09 10 Refer to history of modification Add Multi turn encoder and modify parameter 2013 02 13 Add 5kW Drive Info 1 9 2013 04 05 Add motor specific chart and option 2012 11 15 1 8 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 LS 9 23
156. ncoder output scaling PO 14 12 000 ppr gt Encoder pulse output 3 000 ppr x 4 12 000 ppr 14 PWM OFF delay time setting PO 15 Sets the time span between servo OFF command and actual PWM OFF This is to prevent the motor from slipping down the vertical axis until the motor brake comes into effect after receiving the LS Vecavion 4 53 4 Parameters LS 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 16 Sets DB control mode 0 Hold after DB stop 1 Release after DB stop 2 Release after free run stop 3 Hold after free run stop 16 Servo function setting bit PO 17 Sets drive function per digit DIGIT 1 gt Sets the operation direction of the servo 0 COW Forward CW Reverse 1 CW Forward CCW Reverse DIGIT 2 gt Sets the lock of the servo motor when the value of analog speed command is 0 in speed operation mode 0 Not for use 1 Use Enable to maintain powerful state of stop by switching to position operation mode temporarily when the value of analog speed command is 0 in speed operation mode DIGIT 3 gt Sets the open collector contacts for encoder ouput O0 Not for use 1 Use ALO0 ALO1 ALO2 output contacts gt open collector A B Z output DIGIT 4 gt Sets the range of monitor output voltage can be appl
157. nctions 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 PO 00 in good condition 2 Are the encoder type PO 01 and the encoder pulse PO 02 in good condition 3 Is control gain set to an appropriate value Note Refer to Appendix 2 Test Drive Procedure LS 5 Handling and Operation O 5 2 Handling 5 2 1 Manual JOG Operation Cn 00 The drive performs manual JOG operation by itself 1 2 9 Gu dm Press SET in Cn 00 and JoG is displayed 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 Press MODE for a while and then you return to the parameter screen Cn 00 Related Parameters Speed Initial P3 08 Speed command acc
158. ng 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 Table of Contents LS EN 5 0 P BH EEPROM Lifespan EEPROM is rewritable up to 1 million times for the purpose of among oth
159. nnector pin for a digital output P ignal Output port define 1 OxFFFF i id l l l Initial output signal allocation po 06 Output signal definition 2 0x0005 e P2 05 DIGIT 1 ALARM DO1 P2 05 DIGIT 2 READY DO2 Output port define 2 OxFFFF P2 05 DIGIT 3 ZSPD DO3 0x0000 S P2 05 DIGIT 4 BREAK DO4 Output signal definition 3 signal Output signal definition 3 3 P2 06 DIGIT 1 INPOS DOS P2 06 DIGIT 2 TLMT P2 06 DIGIT 3 VMLT P2 06 DIGIT 4 INSPD P2 07 DIGIT 1 WARN AEST 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 ae signal logic Define CN1 connector logic for a digital input ae 1 signal 0 Contact B 1 Contact A Initial input logic definitions e P2 08 DIGIT 1 DI1 CN1 47 Contact A P208 P2 08 DIGIT 2 DI2 CN1 23 Contact A P2 08 DIGIT 3 DI3 CN1 22 Contact A Input logic set 1 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 437 4 Parameters e oum ma ea tn Input signal logic definition 2 mM 0b10001 p2 09 Input logic set 2 0b11111 Output signal logic re definition P2
160. ns and Peripheral Devices sssgczog ogaao o cece cece cece eee 29292249 2929222929292249 enne nnne nnns 7 39 8 Maintenance and Inspection cccccesseeeseeseeeeenseesenseeeeenseeeseesseeseenseesoenssessoeas 8 1 8 1 Maintenance and Inspection see eee eee 8 1 8 1 1 FPUCCOUNONG sass HH a tannnscatauntnasaanmeactaa sna ceacdseneeesatuaceecasneds 8 1 8 1 2 MV TO WS CC ee E E E 8 1 8 1 3 Paris Replacement Cycle eee 8 2 8 2 X Diagnosis of Abnormality and Troubleshooting sees 8 3 8 2 1 wives T 8 3 8 2 2 NOD uds du dabduh bids iius didi E dpu bet dI d d dias dime 8 4 9 PO CNN diteMENc 9 15 9 1 Motor Type and ID to be continued on the next page sss sse esse eee eee 9 15 92 TEST DiS POG Ce uu dutuduetraEad Eedi ns iud quce tiucqpadatiadbucs cuo ood cleo edm cuia e ceca 9 18 Quality ASSUFBPIGB 9 22 User Manual Revision History 1 e leeee ee eeeee ce ieeee reinen nena nana aaa a manta 9 23 xii LS Vecavi LS 1 Product Components and Signals O d Product Components and Signals 1 1 Product Components 1 1 1 Product Verification 1 Check the name tag to verify that the product received matches the model ordered s Does the format of the servo drive s name tag match e 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
161. numerator by 1 EGEAR2 contact LOW gt HIGH Decrease the electronic gear ratio numerator by 1 Details Refer to 4 4 6 Position Operation Parameter Setting 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 Ignore any input pulses when the CCWLIM CWLIM contact is on 1 When the CCWLIM CWLIM contact is on receive an input pulses and save them to buffer LS 4 43 4 Parameters LS Parameter Unt Initial Backlash Sets backlash compensation in position compensation operation P4 13 Sets backlash compensation by converting the amount of backlashes to number of pulses if the position changes because of backlashes Backlash caused by position operation compensation 10000 Sets in the opposite direction according to the amount of backlashes Details Refer to 4 4 6 Position Operation Parameter Setting Pulse input filter 9 Sets filter frequency according to pulse input 0 No filter used 1 500 Khz Min 2 750 Khz DA 14 3 1 Mhz Default Pulse input filter 9 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 4 44 LS LS 4 Parameters O n 4 2 8 Operation Handling Parameter Modification is not possible with th
162. o L m7 Lt Li Press MODE to display Cn 00 Press UP or DOWN to move to Cn 17 7 Press SET to enter current offset value setting Press SET to store U phase current offset value into PO 27 and V phase current offset value into PO 28 o Hold down MODE for a second to return to Cn 17 x LP indicates flickering LS mecanic 5 23 capion 6 Communication Protocol 6 6 1 Communication Protocol Overview and Communication Specifications 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 Serial Port RS 232C 422 Communication Converter a 2 Multi Drop Access through RS422 up to 32 machines Servo Servo Servo PC Drive Drive Drive CN4 L CN3 Serial Port RS 232C 422 Communication Converter NOTE 1 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 a one to one basis internally making multi drop wiring easy 6 Communication Protocol LS 6 1 2 Communication Specifications and Cable Access Ra
163. o wo se semp s se semp ss me sew s na sew 9 me man s ama ss ame sms w wo uw fs aso f sus os woof sms sw smo semp wr em umo 8 ma semp naa ses we mo semp ws wm seem se tao f scm e 2000 f www se ome sem sme um soto ss em sme sm we wwe sw a seus 188 ame soma 184 6000 LS 9 15 9 Appendix LS Me 0 l1 Il I SG110G SG150G FBO1A FB02A FB04A FCO4A FCO6A FC08A FC10A FCOSD FCO5D FCO6D FCO7D FE09A FE15A FE22A FE30A FEO6D FE11D FE16D FE22D FEOSM FEO6M FE09M FE12M FE05G FE09G FE13G FE17G l 721 400 122 723 800 724 725 300 726 500 121 728 700 EN 40 600 800 1000 NEN 300 500 600 70 EN 761 900 762 1500 763 764 3000 765 600 766 767 1600 768 769 770 600 90 1200 450 850 13900 1700 EN 772 1200 1713 450 774 850 775 1300 776 1700 FF50A FF22D FF35D FF55D FF 5D FF12M FF20M FF30M FF44M FF20G FF30G FF44G FF60G FF75G FG22D FG35D FG55D FG75D FG12M FG20M FG30M FG44M FG20G FG30G 785 786 787 788 789 790 791 792 793 7 94 795 796 804 811 812 813 814 821 822 823 824 831 832 5000 2200 3500 5500 7500 1200 2000 3000 4000 1800 2900 4400 6000 7500 2200 3500 5500 7500 1200 2000 3000 4400 1800 2900 LS 9
164. oder Data sss 3 22 3 8 1 Transmission of Absolute Encoder Data 3 22 Para C cuu insit E CecsuMNE sae PUES Ces S 4 1 4 1 How to Use the Loader sss 4 1 4 1 1 Names and Functions of Each Parte sees 4 1 4 1 2 Status Summary Display eee eee 4 2 4 1 3 Parameter Handling sse sees eee eee 4 4 4 1 4 RT Re e 4 8 4 1 5 External Input Contact Signal Display St 14 4 10 4 1 6 External Input Signal and Logic Definition 4 11 4 1 7 External Output Contact Signal Display St 15 4 19 4 1 8 External Output Signal and Logic Definition sss sse eee eee ee eee 4 20 42 Parameter Descriptions ese He pe ee SR RRHEFERETIQMUEE IER EMO FEREESKEUEUREUMENDU UU E NUR HEN ER MER ERE KR MEUUE 4 26 4 2 1 Parameter System sssssssssssssssssessseeee nennen nnne nnne nennen nnn nnn rrr nnns 4 26 4 2 2 Operation Status Display Parameter eee eee 4 27 4 2 3 SYSIEM Seting le al QING GE sa dios daa ernai ieia ieia dad eode 4 30 4 2 4 Control Seting araiig IB ee een ee er eee nen ERN UE EUM E 4 34 4 2 5 Input Output Setting Parameter sss see 4 37 4 2 6 Speed Operation Setting Parameter eee 4 40 4 2 7 Position Operation Setting Parameter sss 4 42 4 2 8 Operation Handling Parameter esse 4 45 4 3 Operation Status DIS
165. olving the problem that triggered the alarm and changing the command signal Servo ON to OFF reset the alarm 200ms t gt Main power control power supply establishment 5 V Control power 9 150 ms L Control program Heset tt L L T it L B Main power establishment Alarm triggered by v 6 4 an anomaly Remove oe H ee S causes that Alarm SJENEME MM triggered i 3 Normally On S alarm IE Servo RDY Servo On Clear DB PWM Motor rotation RESET 3 Wiring Method LS 8 1 ll 1 1 1 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 Itis possible to turn each contact on or off forcibly with Cn 07 Take extra caution 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 LS 3 Wiring Method 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 Itis possible to turn each contact on or off forcibly with Cn 08 Take ext
166. om 80 RH or lower Use the product in steam free places humidity Vibration acceleration 19 6 ms or below in the Excessive vibration reduces the lifespan of bearings X and Y directions External vibration Prevention of Excessive Impact Excessive impact 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 installation LS WMecapic 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 F 0 03 mm or below peak to peak Load shaft TE F Motor shaft H 0 03 mm or below peak to peak B For pulley connection 39 ER T 206 E EN NEM a psy below Lateral load 37 T Axial load Incase of vertical installation
167. on handling 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 Command speed 10000 10000 Details Refer to 4 3 2 Speed Display Follow position pulse pulse OG 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 00 Displays the accumulated number of position St 04 command pulses Displays the accumulated number of position Command pulse 2 30 2 30 comman
168. on Standard Quadrature Type Incremental 3000 P R Protection Fully closed self cooling IP65 excluding axis method penetration Timerating Timerating Conus S S ol Ambient 0 40 C Specifications and temperature features De 20 80 RH no condensation humidity Atmosphere No direct sunlight corrosive gas or combustible gas Te Anti vibration Vibration acceleration 49 m s2 5G a Wei w v 26 9s 9 Rotation speed Torque Characteristics Torque Nm APM SCO3D Torque Nm APM SCO5D Torque Nm APM SCO6D Repeatedly used area Repeatedly used area s Repeatedly used areg f Continuously used area Continuously used area Continuously used area 3000 a 2000 3000 Speed r min Speed r min Torque Nm APM SCO7D 10 0 r Speed r min LS 7 Product Specifications ooo nu g Product Features mua Ww os 35 a2 a0 os 5 instantaneous torque kgf cm 87 69 146 15 214 35 292 29 87 69 160 76 Rated rotation 3000 2000 speed Maximum rotation r min 5000 3000 speed kg m2x10 4 12 00 17 34 2268 666 12 00 666 U34 gf cm s2 12 24 17 69 23 14 12 24 Allowed load inertia Motor inertia x 10 Rated power rate kW s 12 32 18 99 28 28 40 20 12 32 22 98 Speed and Quadrature Type Incremental 3000 P R position detector Serial Type 19 bit Protection method Ambient Specifications 0 40 C
169. on of shaft key E SITES Oe SRI YY PICS 172165 1 172171 1 Brake connector pin layout Brake connector P Y Encoder connector 172167 1 Power connector Power connector pin layout Encoder connector pin layout External Dimensions Weight EE Ob M ee ko 158 5 198 8 118 5 158 8 6 126 3 EM 1 88 2 92 178 5 218 8 138 5 178 8 106 146 3 NM 2 52 3 56 198 5 238 8 158 5 198 8 119 118 8 126 166 3 NM 3 15 4 22 218 5 258 8 178 5 218 8 139 138 8 146 186 3 NM 3 80 4 94 NOTE 1 Use DC 24 V for brake opening power NOTE2 The sizes in parentheses apply when attached to brakes nim LS Mecapion 7 25 7 Product Specifications LS c EN 0 ll 1 0 E SE Series APM SEO9A SEOGD SE05G SE03M APM SE15A SE11D SE09G SEO6M APM SE22A SE16D SE13G SEO9M APM SE30A SE22D SE17G SE12M Eni HIEL CERE SS Power connector pin layout Power connector Encoder connector Encoder connector pin layout External Dimensions Dimensions Weight aT via aa ee ereo eee fe e T e eme aloma mem n v on som Sep Sei oan 218312539 16580658 22 6 e a5 11781992 NOTE 1 Use DC 24 V for brake opening power NOTE2 The sizes in parentheses apply when attached to brakes LS mecapio 7 Product Specifications Bn B SF Series AP
170. onents and Signals Ls EN 0 l 10 Z 6 L 1 2 4 Example of Speed Operation Mode Wiring Digital Input mouet Digital Output eee TL DO2 IA gt D me 6s 7A are L s emn m y o ew BUM Ge DM poa DIR TM posl peer pres TS Seal gt EM TLE sora oa tidy OS Dp AD gt a A von r G 54 r y Note 2 ar Note 2 45 INPOS CN1 VLMT nalog Output 310V 10V 29 MONIT2 Lc LAM HMM gt gt Encoder Pulse Output 30 BO Upper Level Analog Input 10V 10V Controller nalo ee x Emme VC JU rae te 10V 10V S XX ep ur mm 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 information refer to 4 1 6 External Input Signal and Logic Definition and 4 1 8 External Output Signal and Logic Definition LS 1 Product Components and Signals O 1 2 5 Example of Torque Operation Mode Wiring Digital Input pus 1 Digital Output DC 24V uu DOLI MM ME Ear mA gt HH p a TD mw AH o Comm o_o PER dpa i e DIR dps ade 4 gt ZEE mH TL z Tis gt BM gp ABS R H D o up U o Note 2 ar Note 2 25 iNOS CN1 Analog Output UC lecum 10V ma gt Encoder Pulse Output Analog Input n 10V Controller IL 0 a5 ee 10V 10V
171. otor inertia x 5 Rated power rate kW s 35 88 53 56 42 71 69 95 98 15 145 45 Speed and Quadrature Type Incremental 3000 P R Protection l l Fully closed self cooling IPe5 excluding axis penetration Ambient Specifications 0 40 C and features uem mbien humidity 20 80 RH no condensation Atmosphere No direct sunlight corrosive gas or combustible gas Anti vibration Vibration acceleration 49 m s2 5G wei Ka Rotation speed Torque Characteristics Torque Nm APM SF22D Torque Nm APM LF35D Torque Nm APM SF1 2M pus Repeatedly used areg c3 Continuously used area 1000 1000 1500 OU 2000 Speed r min Speed r min Speed r min Torque Nm APM S F20M Torque Nm APM LF30M Torque Nm APM S F44M 60 0 20 0 Repeatedly used area Repeatedly used area r Repeatedly used area Continuously used area Continuously used area T e gaia eU i 211 000 1 500 2 000 Speed r min Speed r min Speed r min LS 7 Product Specifications oo uu Product Features Servo Motor Type APM D0000 SF20G LF30G SG20G LG30G aoao Applicable drive L7oAcqc L735A035 L75A050 L73A020 L75A035 L75A050 tesco N 11 46 18 46 28 01 11 46 18 46 28 01 Rated torque kgf cm 116 92 188 37 285 80 116 92 188 37 285 80 Maximum 34 37 55 38 84 02 34 47 55 38 84 02 instantaneous torque kgf cm 350 75 565 10 857 39 350 80 565 10 857 39 Rated rotation r min 1500 spe
172. per Level Analog Input 10V 10V Ba Wn was Command Limit GND 8 10V 10V smn VNK 0 ep 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 information refer to 4 1 6 External Input Signal and Logic Definition and 4 1 8 External Output Signal and Logic Definition LS 1 Product Components and Signals O 1 2 3 Example of Position Operation Mode Wiring Digital Input Note 1 DCOAV DOD 3 Digital Output S a S gt r gt A CO I Fa H J J ax gt U x lt 3 3kO 39 40 ca P_CLR PIE DIZ Y 4 K S ur C3 9 Note 2 LINGO y T Note 2 CN1 TIT Analog Output SPD2 22 28 MONIT1 Command Pulse nout Sos DET faw av 29 MONIT2 an email Ta av i 37 GND e U l Bi ee Encoder Pulse Output Emmy Open Collector 30 BO Upper Level 31 TBO Controller Analog Input 10V 10V Ems VO XX eee ce L 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 information refer to 4 1 6 External Input Signal and Logic Definition and 4 1 8 External Output Signal and Logic Definition 1 Product Comp
173. 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 servo 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 WMecapion 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 out
174. put as a percentage of the rated torque DC link voltage St 12 e The 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 below 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
175. r to move to P2 08 Press SET to enter parameter edit mode The parameter is displayed as 11111 Hold down SET for approximately one second After two flickers the number is saved as 11110 for the parameter 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 Modification is not possible with the servo on amp Reset the parameter In case of exiting Hold down MODE for approximately without saving the set one second to return to the parameter value NOTE 1 indicates flickering 4 348 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 Number a 3 2 0
176. ra caution 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 10 120 mA Contact Note 1 Contact Internal Circuit DC 24V NOTE 1 For alarm and READY output signals the GND24 terminal is separated 3 Wiring Method LS EN 1 Zl l1 1 3 4 3 Analog Input Output 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 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 Q 1 4 W 9489 Analog command 26 27 1 0 1 uF 330 Q 1 4 W LS 3 Wiring Method Bn n 3 4 4 Pulse Train Input Signal 1 Line Driver 5 V Pulse Input Servo Drive Upper level controller Twisted Pair Shield Wire Line driver Line receiver 2
177. rake 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 LS 4 Parameters O uu 4 Position Pulse Clear Mode P2 16 Set the operation of position pulse clear mode in position operation mode Operate only on the edge where the contact point turns from off to o Do not operate when it is off or on HN Operate immediately at contact point on Level Then maintain torque when contact is High Operate immediately at contact point on_ Level Then torque is O when contact 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 LS 4 63 4 Parameters LS C 0 l 4 4 5 Speed Operation Parameter Setting 1 Speed Command P3 00 P3 06 You can adjust operation speed in RPM Operation speed is determined by speed command input contact points OFF OFF OFF Analog speed command OFF OFF Digital Spe command OFF OFF Digital SPEED command OFF OFF Digital Sn command OFF Digital Spes command
178. rive L70An0 L7 A002 L70A004 L7cA010 L7cA020 wee mp w or s es 35 La sm sw am o 3m Rated torque instantaneous torque kgf cm 19 48 38 96 87 69 146 15 S Rated rotation 3000 speed Inertia moment Allowed load inertia Motor inertia x 20 Motor inertia x 10 D Rated power rate kW s 11 98 34 47 10 01 Speed and Standard Quadrature Type Incremental 1024P R 2048 P R LS X Protection l method Fully closed self cooling IP55 excluding axis penetration Ambient Specifications temperature 0 40 C and features nem mbien humidity 20 80 RH no condensation Atmosphere No direct sunlight corrosive gas or combustible gas MEER Anti vibration Vibration acceleration 49 m s2 5G EE Weight ky o9 12 t7 58 74 Rotation speed Torque Characteristics Torque Nm APM HB01A Torque Nm APM HB02A Torque Nm APM HB04A 1 0 Repeatedly used area Repeatedly used area ff Repeatedyusedarea f Continuously used area Continuously used area Continuously used area 4000 5000 Speed r min Speed r min Torque Nm APM HE09A Torque Nm APM HE1 5A 10 0 Continuously used area 4000 5000 0 000 2000 3000 4000 5000 Speed r min Speed r min 7 Product Specifications LS EN 0 lO Product Features Cro ww ow oa o4 o4 om 076 instantaneous torque aten cm 19 49 38 98 38 98 58 47 73 08 Rated
179. rque Operation Mode Wiring 2 13 1 2 6 Examples of Speed Position Operation Mode Wiring 2 14 t H 0E 2 17 1 3 1 Digital Input Contact SIGMA sassari es aN TN 2 17 1 3 2 Analog Input Contact Signal eee 2 18 1 3 3 Digital Output Contact Signal sse eee 2 18 1 3 4 Monitor Output Signal and Output Power sese eee eee eee 2 19 1 3 5 Pulse Train Input Signal eee eee eee 2 19 1 3 6 Encoder Output Signal sss sese 2 20 2 Tn Ez Fs Li o p ee 2 1 2 14 Servo Motor sese 2 1 2 1 1 Usage Environment 2 1 2 1 2 Prevention of Excessive Impact eee eee 2 1 2 1 3 Motor Connection sese esse 2 1 2 1 4 Load Device Connection sss eee 2 2 2 1 5 Cable installation eee 2 2 USES jT c c 2 3 2 2 1 Usage Environment sss eee eee eee eee 2 3 2 2 2 Installation Inside the Control Panel 2 4 2 2 3 POWER WINO ese 2 5 3 Wirin o h ee sossa eS 3 1 3 1 internal Block Diagram cesta c zeoas ozasa czas cage nss azao cana n ai diesen 3 1 3 1 1 L7 Drive Block Diagram L7SA0015 L7SA0040 3 1 3 1 2 L7 Drive Block Diagram L7SA0085 L7SA0351 3 2 3 1 3 L7 Drive Block Diagram L78A0500 eeeeeeeesse 3 3 2 2 FOWE WNN ee E SAO UII VITAES ee 3 4 3 2 1 L7 Drive Wiring Diagram L7SA001
180. rting operation the speed operation mode S bb indicating operation status is displayed Editable parameters are from PO 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 O 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 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 C approximately one second to return to the PO 03 parameter Press MODE to change status to o position operation P bb status which is the summary display of the current status If 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 EN 1 3 Example of changing speed proportional gain 2 P1 07 200 rad s gt 500 rad s
181. s Node ID Node ID Function Code 03 Byte Count 06 Register Value Hi 108 02 Register Value Lo 108 2B CRC Hi CRC Hi Gai CRC Lo LS 6 5 6 Communication Protocol LS EN 0 l 2 Read Multi Register 0x03 Read the continuous register block 16 bit data value o wen joe s meme wen o0 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 GRC 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 OPE LG CRC Lo LS 6 Communication Protocol O n 3 Write Single Register 0x06 Write values on the single register 16 bit data z 5 Register Value Lo 5 Register Value Lo C o foe 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
182. sed area LOO 1 800 au BO 1 00018 au d SO 1 000180 ua APM FG22D 2 000 speedli sint U APM FG35D 2 000 speedin sint APM FG20G 2 000 speedii sint LS mecapio 7 Product Specifications Bn i agaProduct Features Applicable Drive L7G Aaa L75A035 L70A050 L75A020 L75A035 L75A050 Rated output KW 29 44 12 20 30 44 18 50 28 00 11 50 19 10 28 60 42 00 Rated torque E cm 188 4 285 8 116 9 194 9 292 3 428 7 Maximum NA m 5540 40 8400 00 3440 40 5730 30 8590 90 32600 00 instantaneous torque kgf cm 565 1 857 4 350 8 584 6 876 9 61 Rated rotation r min 1500 1000 DER speed kgam2x10 4 m2x10 4 T8 T8 o 72 4143 4143 T8 T8 11772 72 14940 40 Inertia moment gf cm s2 72 99 EM 41 97 72 99 EN 152 45 Allowed load inertia Motor inertia x 5 Rated power rals TS Speed and Standard Serial 19 bit position detector Protection Fully closed self cooling IP65 excluding axis penetration Time rating BP Contios Ambient Specifications temperature 0 40 C and features poem mbien humidity 20 80 RH no condensation Atmosphere No direct sunlight corrosive gas or combustible gas Anti vibration Vibration acceleration 49 m s2 5G ea kd o sa aoe se 95 Rotation speed Torque Characteristics APM FG30G APM FG44G APM FG12M Torque Nm Torque Nm Torque Nm 60 0 r 90 0 b 45 0
183. 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 Table of Contents Bn B installation Precautions Store and use the product in an environment as follows Conditions Environment Storage temp 20 65 C 20 60 C Jsage Below 80 RH humidity Below 90 RH non condensing Storage 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 of the
184. set a filter value to remove the vibration 3 Speed Control Gain 456 LS Analog speed command _ Speed command Speed integral filter time constant time constant P1 10 P1 08 Digital speed command Speed Torque command EN Proportional Gain ex P1 06 Current speed Speed feedback filter Esas 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 P 1 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 LS D 4 Parameters speed by using the current torque and inertia is used to make up for the errors occurring during 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 overshoo
185. set correction Order Loader S Keys to Use What to Do FP Press MODE to display Cn 00 Press SET to compensate offset Done is displayed If the value exceeds the allowed range oVrnG is displayed xXx on indicates flickering LS s 5 17 5 Handling and Operation LS EE ll ll 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 is displayed and calibration is not allowed You can check the corrected offset value in the analog speed offset P2 18 Example of handling manual speed command offset correction Order Loader Displays D to Use What to Do m h f Press MODE to display Cn 00 ENI if LJ Press UP or DOWN to move to Cn 12 Press SET to enter offset correction setting The current offset value displayed 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 BIT a to Cn 12 P T x x indicates flickering LS 5 Handling and Operation O n 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
186. sition Prescale Pulse output PO 14 Position command Count the position command pulses entering from outside and converts them into position commands apply an electric gear ratio and then pass through P1 03 position command filter and 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 Recommended value speed proportional gain P 1 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
187. ss UP or DOWN to move to Cn 09 Press SET to enter parameter reset Cy Press SET to reset data done is displayed Press MODE for a second to return to Cn 09 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 calibration is not allowed You can check the corrected offset value in the analog speed offset P2 18 Example of handling automatic speed command offset calibration ma Loader Displays Keys to Use What to Do Press MODE to display Cn 00 m Press UP or DOWN to move to Cn 10 Press SET to compensate offset done is displayed If the value exceeds the allowed range oVrnG is displayed Press MODE for a second to return to Cn 10 P T x indicates flickering 5 16 LS LS 5 Handling and Operation 5 2 12 Automatic Torque Command Offset Correction Cn 11 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 calibration is not allowed You can check the corrected offset value in the analog torque offset P2 21 Example of handling automatic torque command off
188. t 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 Parameter 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 0 Operate in edge mode e 1 Operate in level mode Torque Continue e 2 Operate in level mode Torque 0 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 4 Parameters E NEN o 2L o Analog speed offset qm o Sets offset for analog speed commands P2 18 Analog speed Details Refer to 4 4 3 Analog Input Output m 1000 1000 Parameter Setting command offset o Zero speed clamp voltage qm o Sets voltage range for the clamp operation of the P2 19 Zero speed analog zero speed command clamp voltage Analog torque scale torque Analog torque scale
189. t occurs On the other hand if the integral time constant is too big excessive response drops and proportional control takes over Recommended value z 10000 speed proportional gain P1 06 Low Speed WA High a it Command gt L speed VE 7 Tracking speed Time gt 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 occurs 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
190. t test Output contact forced ON OFF Cn 08 Parameter initialization DEDE Cn 09 Parameter Initialization a Alarm BN clear Alarm Her ns der clear Auto gain Autogaintuning Auto gain tuning 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 Details Refer to 5 2 Handling Deletes the entire saved alarm code history Details Refer to 5 2 Handling Performs automatic gain tuning 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 o MM turns on off the input contact o e 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
191. tance value of the drive is used Regeneration 1000 brake resistor Regenerative resistance Sets the capacity for the current W capacity regenerative resistance If set to 0 a default P0 11 S resistance capacity embedded in the drive capacity Overload check o Indicates the load factor for starting 76 100 load checks If set to 100 or Base load factor continuous overload checks Set LO O PO 12 below an overload check starts early and Overload check base the overload alarm triggers early Continuous overload o6 50 Indicates the level of continuous overload P0 13 warning level j warning signal output Outputs the warning signal when the percentage value against Overload Warning Level alarm trigger load factor is reached Encoder output scaling pe 12000 Sets the encoder output pulses per a PO 14 rotation when the servo outputs an encoder output signal to the outside Pulse out per rotation 2 21 2 21 Details Refer to 4 4 1 System Parameter Setting s PWM OFF delay time Sets the time to delay until the PWM signal P0 15 actually goes off after the servo is turned off PWM OFF delay m 1000 ieee M to 4 4 1 System Parameter etting LS mecanic 4 31 4 Parameters m Es a Code Mame ann ARTY P0 16 Function setting bit 0b00000 P0 17 Function select bit 0b00000 0b11111 0x3210 OxFFFF DAC output mode P0 18 DAC mode F 0x0000 Sets DB control mode 0 Hold a
192. te 1 Communication Specifications Wem 0 Specifications Communication standard ANSI TIA EIA 422 standard Communication protocol MODBUS RTU Data bit 8 bit a i Stop bit 1 bit Type P mies eid 9600 19200 38400 57600 bps P P0 04 can be selected Up o 200 Im Current consumption 100 m or below 2 Connection of CN3 and CN4 Connector Pins Terminating resistance connection note 1 NOTE 1 Incase of multi access connection apply terminating resistance by connecting 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 XD and RXD in the above table are based on the servo drive LS 6 Communication Protocol Bn 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 Mudbugs 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 beg
193. ter 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 ENEN 1 Ol 1 2 Servo Drive Inspection Inspection What to do if abnormality is on the main body Cleaning of the main body and the board At least once a Check if there is any dust or oil year on it Clean with air pressure or cloth At least once a Check whether screws on musei E year terminals and connectors are Fasten the screws loose Defective parts Check whether there is any discoloration damage or Contact our company disconnection caused by heat At least once a or the board dad 8 1 3 Parts Replacement Cycle The following parts may experience low performance or malfunction because of mechanical friction 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 Its lifespan greatly depends on the surrounding temperature and environment When continuously used in an 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 Cr
194. tion of a total of 19 input contact functions to 10 hardware contacts 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 SPD 1 are allocated to DI 01 you can use both the SVON signal and the SPD1 signal when entering DI 01 Input Signal Input Allocation Number SV ON as DIL CN1 47 Pin SPD1 DI2 CN1 23Pin SPD2 qa DI3S CN1 22Pin SPD3 P DM CNI amp 21Pir A RST DIS CNI 17Pin DIR DI6 CN1 46Pin CCWLMT I DI CN1 20Pin EMERGENCY DIS CN1 18Pin STOP a DIA CNI 48P in EGEARL EGEAR PCON GAIN P CLR T LMT MODE ABS_REQUEST ZCLAMP ABS RST LS Mecapion 4 11 4 Parameters LS CN1 Pin Default Allocation Number No Allo i Signal x mme on Definition setting Input Signal Name B B ui mme om rope pm LLL usus X EE mr t dE eee e a eo er e aee eee Forward rotation prohibited P2 01 Set Digit 3 Reverse rotation prohibited P2 01 Set Digit 4 F P2 01 0x8765 0x00A9 I P2 03 0x0000 E P2 04 0x0000 NOTE 2 For ABS RST Signal hold High for 500ms or longer in order to reset absolute encoder data
195. tton of the L7SA001 0 L7SA010au drive terminal For L7SA035u drive use a slot screwdriver for connection and removal LS p 3 Wiring Method 3 2 2 L7 Drive Wiring Diagram L7SA0500 R i T 200 230V Servo Drive vere Main A Note1 DC Reactor E A oa i Ll pem IWC 1RY 19K IMG UO T DL PL2 we M E WO ka OLS OQ pci n LLLLJE 4 Encoder Ry EE I Alarm uy t RA 938 T B Alarm L 20 en CN 1 resistance NOTE 1 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 NOTE 2 Check status of connection of internal regenerative resistance B B before using because L7SA050n 120 W 6 8 O has internal regenerative resistance If the value of regenerative voltage is too high by frequent deceleration and acceleration install external regenerative resistance on B B terminal after attaching internal regenerative resistance connected B B to NC hole on the case 3 Wiring Method LS 3 2 3 Dimensions for Power Circuit Electrical Parts Name L7SA0015 L7SA0020 L7SA0045 L7SA008 L7SA0100 L7SA020c L7SA035u L7SA050c 30A Frame 50A Frame MCCB NFB 30A Frame 5A ABE33b 5 10A 30A Frame 15A ABE33b 15 30A Frame 30A
196. uring Stop AL 21 AL 21 Load 96 Occurring MAX Load Occurring Time sec Time sec 100720 Infinite below 110 97997 7 60700 3 22762 62 9483 9 151742 5690 34 4215 1 6744 2 2529 06 280 290 d Bf 2 5 C2 O Load Curve During Stop 100000 U 10000 0 1000 U 100 0 Time sec 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 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 Occurring MAX Load Occurring Time sec Time sec wr owe below e 3s ie es aw 16 26 096 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 96 LS mecap B Maintenance and Inspection 2 Graph of Overload during Stop AL 21 Load picea MAX Load sec 100 or 3 5 ies es 20 16 26 o 09 s 139 sm mo 15 24 09 Load Curve during Stop 100 W or Lower SA Type 10000 0 1000 0 p 100 0 FF M 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 0 1 8 Maintenance and Inspection LS
197. 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 PO 10 Sets the resistance value for regenerative braking resistance If set to O a default resistance capacity embedded in the drive is used 10 Regenerative resistance capacity setting PO 11 Sets the capacity for the current regenerative resistance If set to 0 a default resistance capacity embedded in the drive is used 11 Overload check default load factor setting PO 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 PO 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 scaling PO 14 When an encoder signal is output from the servo to the outside its output pulses are pre scaled as the value of encoder output scaling PO 14 e E g Set the value of encoder output scaling PO 14 in a motor whose encoder pulse is 3 000 ppr e e
198. w 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 motor rotation LS Vecavion 9 21 Quality Assurance Date of 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 x Please fill out this quality assurance form after installing the servo and send the form to our quality assura
199. wn DOWN the motor keeps turning counterclockwise until it finds the phase Z position of the encoder o 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 l lt Sesi Press MODE to move to Cn 00 Ot Press UP or DOWN to move to Cn 06 Press SET to enter phase Z search operation Press UP and the motor turns forward CCW until it finds phase Z Press DOWN 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 o Press MODE for a second to return to the parameter screen Cn 06 Press SET to turn on the servo X dr indicates flickering LS wmecapic 5 Handling and Operation 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 pi 48 18 19
200. y Dimensions S 1M ic m s tact jw u eet dado L Ne L IW C eloah NOTE 1 Use DC power 90V to operate the brake LS 7 Product Specifications O um 7 2 Servo Drive 7 2 1 Product Features Type Name L75A L7GA L7cA L7GA L75A L75A L7oA L7oA 0010 0025 0045 0080 0100 0200 0350 0500 7 EEEn nepre npu ower P Control power Single phase AC 200 230 V 15 10 50 60 Hz Quad Type incremental line driver 2000 10000 P R Encoder Type Serial 17 19 bit 21 bit Speed control range Maximum 1 5000 Control performan ce Frequency Maximum 1 kHz or above when the 19 bit serial encoder is applied Speed P d DC 10 V 10 V Reverse rotation in case of negative voltage Control gomman Acceleration d Gela on Straight or S curve acceleration deceleration 0 10 000 ms possible to be set time 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 frequency Mpps line driver 200 kbps open collector Position Control Input pulse i W W A B ph Method Symbol pulse series CW CCW A B phase Electric Gear Ratio Four digital gear ratios can be set selected and tuned Torque s mmand DC 10 10 V Reverse direction torque in case of negative voltage Torque Control Speed limit DC 0 10 V internal speed command within 1 Repetition accur
201. 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 4 Parameters 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 Check for incorrect drive output wiring and incorrect encoder wiring Check the motor ID drive ID encoder setting Check for equipment clash or confinement Ai io IPM Fault Overcurrent H W 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 IPM temperature IPM module overheat Check for incorrect drive output wiring and in

L7 servo drive

Contents

Download Pdf Manuals

Related Search

Related Contents