LiteOn ISA-7, ISA-7-020-S1, ISA-7-040-S1, ISA-7-075-S1, ISA-7-100-S1 User Manual
...
User Manual
Lite-On Technology Corp.
Industrial Automation
ISA-7 Servo Drive series
Standard General Purpose Servo Drive Technical Manual
1
Lite-On Technology Corp.
Industrial Automation
Revision History
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Industrial Automation
Contents
CHAPTER 1 PANEL AND OPERATION ................................................................... 11
1.1. Product check .................................................................................................................................................. 11
1.2. Comparison of the product numbers .............................................................................................................. 12
1.2.1. Description for the name plate ............................................................................................................................. 12
1.2.2. Description for the model number ....................................................................................................................... 13
1.3. Name of each part in the servo drive ............................................................................................................... 14
1.4. Operating mode ............................................................................................................................................... 15
CHAPTER 2 STEPS FOR COMMISSIONING AND TUNING ............................. 16
2.1. Notes ................................................................................................................................................................ 16
2.2. Condition of the storage environment ............................................................................................................. 16
2.3. Condition of installation environment ............................................................................................................ 16
2.4. Direction of and space for installation ............................................................................................................ 17
2.5. Recommended specifications for the circuit breaker and fuse ....................................................................... 20
2.6. EMI filter selection .......................................................................................................................................... 20
2.7. Selection for the regenerative resistor ............................................................................................................. 23
CHAPTER 3 WIRING ...................................................................................................... 24
3.1. Connection for the peripheral device and main power circuit ....................................................................... 24
3.1.1. Wiring diagram of the peripheral device ............................................................................................................. 24
3.1.2. Connector and terminal of the drive .................................................................................................................... 26
3.1.3. Power wiring ....................................................................................................................................................... 27
3.1.4. Specifications for the U, V, W connectors of the motor ...................................................................................... 28
3.1.5. Specifications regarding the connector for the leadwire of the encoder .............................................................. 29
3.1.6. Filament selection ................................................................................................................................................ 31
3.2. Basic block diagram of the server system ....................................................................................................... 32
3.2.1. Models with the power equal to or below 200W (no built-in regenerative resistor or fan) ................................. 32
3.2.2. 400W / 750W model (with regeneration resistor but no fan) .............................................................................. 33
3.2.3. 1kW ~ 2kW model (with regeneration resistor and fan) ..................................................................................... 34
3.3. CN1 I/O Signal wiring ..................................................................................................................................... 35
3.3.1. CN1 I/O layout of the connector terminal ........................................................................................................... 35
3.3.2. CN1 I/O Connector signal ................................................................................................................................... 37
3.3.3. Interface wiring diagram (CN1) .......................................................................................................................... 42
3.3.4. User-specified DI and DO signals ....................................................................................................................... 51
3.4. CN2 Wiring of the the encoder signal ............................................................................................................. 52
3.5. CN3 Wiring for the signal of the communication connector .......................................................................... 54
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3.6. CN5 Analog voltage output terminal .............................................................................................................. 55
3.7. Standard wiring ............................................................................................................................................... 57
3.7.1. Standard wiring for the position mode ................................................................................................................ 57
3.7.2. Standard wiring for the speed mode .................................................................................................................... 58
3.7.3. Standard wiring for the torque mode ................................................................................................................... 59
CHAPTER 4 PANEL AND OPERATION ................................................................... 60
4.1. Panel display and key description ................................................................................................................... 60
4.2. Panel operating process ................................................................................................................................... 61
4.3. Status display ................................................................................................................................................... 63
4.3.1. Description for the display of status value ........................................................................................................... 63
4.3.2. Display of storage setting .................................................................................................................................... 63
4.3.3. Display of decimal point ...................................................................................................................................... 64
4.3.4. Display of the warning message .......................................................................................................................... 64
4.3.5. Monitoring display .............................................................................................................................................. 64
4.4. Operation of the general function ................................................................................................................... 65
4.4.1. Operation for displaying the record of the abnormal status ................................................................................. 65
4.4.2. Operation for the jog mode .................................................................................................................................. 65
4.4.3. Enforced operation of the digital output .............................................................................................................. 67
4.4.4. Operation for the diagnosis of digital input ......................................................................................................... 67
4.4.5. Operation for the diagnosis of digital output ....................................................................................................... 69
CHAPTER 5 STEPS FOR COMMISSIONING AND TUNING ............................. 70
5.1. No-load detection ............................................................................................................................................. 70
5.2. Power transmission for the drive .................................................................................................................... 71
5.3. No-load jog test ................................................................................................................................................ 74
5.4. No-load speed test ............................................................................................................................................ 75
5.5. Tuning steps ..................................................................................................................................................... 76
5.5.1. Process of the tuning steps ................................................................................................................................... 76
5.5.2. Flowchart of the tuning steps in the semi-auto gain mode .................................................................................. 76
5.5.3. Flowchart of the tuning steps in the automatic gain mode .................................................................................. 78
5.5.4. Manual adjustment of gain parameters ................................................................................................................ 80
5.5.5. Relationship of the gain adjustment mode with the parameters .......................................................................... 81
5.5.6. Solutions for mechanical resonance .................................................................................................................... 82
CHAPTER 6 PARAMETERS AND FUNCTIONS .................................................... 83
6.1. Definitions of parameters ................................................................................................................................ 83
6.2. Parameters overview ....................................................................................................................................... 84
6.2.1. Parameter list ....................................................................................................................................................... 84
6.2.2. Classification of the parameter function .............................................................................................................. 90
Parameters for the monitoring and the general output setting .................................................................................... 90
Parameters related to the filter smoothness and resonance suppression ..................................................................... 91
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Parameters related to gain and switch .......................................................................................................................... 92
Parameters related to the position control .................................................................................................................... 93
Parameters related to the speed control ....................................................................................................................... 94
Parameters related to the torque control ...................................................................................................................... 95
Parameters for the planning of the digital I/O pin and for the setting related to the output ....................................... 96
Communication parameters ......................................................................................................................................... 98
Diagnostic parameters .................................................................................................................................................. 99
6.3. Parameter description ................................................................................................................................... 100
CHAPTER 7 CONTROL FUNCTION ...................................................................... 156
7.1. Selection of operating mode .......................................................................................................................... 156
7.2. Position mode................................................................................................................................................. 157
7.2.1. Command of position mode .............................................................................................................................. 157
7.2.2. Control structure of the position mode .............................................................................................................. 158
7.2.3. Electronic gear ratio........................................................................................................................................... 159
7.2.4. Adjustment for the gain of position circuit ........................................................................................................ 160
7.3. Speed mode .................................................................................................................................................... 162
7.3.1. Selection of speed command ............................................................................................................................. 162
7.3.2. Control structure of the speed mode .................................................................................................................. 163
7.3.3. Smoothing of speed command........................................................................................................................... 164
7.3.4. Proportioner at the analog command end .......................................................................................................... 166
7.3.5. Timing diagram of speed mode ......................................................................................................................... 168
7.3.6. Adjustment for the gain of speed circuit ............................................................................................................ 169
7.3.7. Resonance suppression unit ............................................................................................................................... 175
7.4. Torque mode .................................................................................................................................................. 182
7.4.1. Selection of torque command ............................................................................................................................ 182
7.4.2. Control structure of the torque mode ................................................................................................................. 183
7.4.3. Smoothing of torque command ......................................................................................................................... 184
7.4.4. Proportioner at the analog command end .......................................................................................................... 184
7.4.5. Timing diagram of torque mode ........................................................................................................................ 185
7.4.6. Mixed mode ....................................................................................................................................................... 186
7.4.7. Position/speed mixed mode ............................................................................................................................... 186
7.4.8. Position/torque mixed mode .............................................................................................................................. 186
7.4.9. Speed/torque mixed mode ................................................................................................................................. 186
7.5. Others ............................................................................................................................................................ 187
7.5.1. Use of the speed limit ........................................................................................................................................ 187
7.5.2. Use of the torque limit ....................................................................................................................................... 187
7.5.3. Analog monitoring ............................................................................................................................................. 188
7.5.4. Use of the electromagnetic brake ...................................................................................................................... 189
7.5.5. Use of the electromagnetic brake ...................................................................................................................... 190
CHAPTER 8 COMMUNICATION MECHANISM ................................................ 192
8.1. RS-485/RS-232 Communication hardware interface .................................................................................... 192
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8.2. RS-485/RS-232 Communication parameter setting ...................................................................................... 193
8.3. MODBUS protocol ........................................................................................................................................ 195
CHAPTER 9 WARNING TROUBLESHOOTING ................................................. 200
9.1. Drive Alarm List ............................................................................................................................................ 200
9.2. Reason for and handling of the alarm ........................................................................................................... 202
9.3. Alarm troubleshooting .................................................................................................................................. 206
CHAPTER 10 SPECIFICATIONS ............................................................................. 208
10.1. Standard specification for the servo drive .................................................................................................... 208
10.1.1. Outline dimension drawing (drive) .................................................................................................................... 209
10.2. Standard specification for the servo motor ................................................................................................... 210
10.2.1. Size of the motor fixed screw ............................................................................................................................ 215
10.2.2. Outline dimension drawing (motor) .................................................................................................................. 216
10.2.3. NT characteristic diagram ................................................................................................................................. 222
CHAPTER 11 ABSOLUTE SERVO SYSTEM ............................................................... 225
11.1. Battery and cable for absolute servo ..................................................................................................... 225
11.1.1. Battery specification ..................................................................................................................................... 225
11.1.2. Battery case specification ............................................................................................................................ 225
11.1.3. Absolute encoder cable ............................................................................................................................... 225
11.1.4. Battery case cable ......................................................................................................................................... 225
11.2. Installing ...................................................................................................................................................... 225
11.2.1. Battery case installing .................................................................................................................................. 225
11.2.2. Battery installing ............................................................................................................................................ 225
11.2.3. Battery replacing ........................................................................................................................................... 225
11.3. Initialization and operation ...................................................................................................................... 225
11.3.1. System and Initialization .............................................................................................................................. 225
11.3.2. Absolute pulse value .................................................................................................................................... 227
11.3.3. PUU value ........................................................................................................................................................ 228
11.3.4. Coordinate initialization by DI/DO ............................................................................................................ 229
11.3.5. Initialization by parameter .......................................................................................................................... 230
11.3.6. Read absolute position by DI/DO .............................................................................................................. 230
11.3.7. Read absolute position by communication ............................................................................................ 231
11.4. Absolute encoder parameter setting ..................................................................................................... 232
11.5. Digital input definition(absolute encoder function) ........................................................................... 234
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11.6. Digital output definition(absolute encoder function) ........................................................................ 234
11.7. Absolute System Alarm List ...................................................................................................................... 234
11.7.1. Reason for and handling of the alarm ...................................................................................................... 235
11.8. Display of status value ............................................................................................................................... 237
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Industrial Automation
PREFACE
Thank you for using our product. The manual provides the information for the use of the ISA-7 servo
drive and motor.
The manual is provided as a reference for the following users:
Designer of the system integration for the machine
Personnel for installation or wiring
Personnel for commissioning and tuning
Personnel for maintenance or inspection
The content includes:
The steps for installation and inspection of the drive and motor
Description for the formation of wiring for the drive
Steps for commissioning
Introduction for the control function and the tuning method of the servo drive
Description for the parameter function
Description for the protocol
Method for inspection and maintenance
Troubleshooting
Explanation for the application example
Contact the dealer or our customer service center for any problem with our product.
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Safety precautions
The ISA-7 series is an open type servo drive that must be installed in a shielded control box for
operation. The drive uses precise feedback control and combines a digital signal processor (DSP) with
high-performance computing. It controls the IGBT to generate current output to drive the three-phase
permanent-magnet synchronous motor (PMSM) to achieve precise positioning.
The ISA-7 series can be used for industrial application. It is recommended to install it in the
distribution box specified in the manual. (The drive, filament and motor must be installed in an
environment that meets the minimum specifications for UL50 Type 1 or NEMA 250 Type 1.)
Acceptance inspection
The servo motor and drive must be used according to specified methods to avoid fire or
equipment breakdown.
Installation notes
It is prohibited to use the product in the place exposed to the steam, corrosive or flammable
gases, otherwise it may result in electric shock or fire.
Wiring notes
The earth terminal must be connected to Class 3 earthing (below 100Ω). Poor earthing may
cause electric shock or fire.
Do not connect the three-phase power supply to U, V and W motor output terminal;
otherwise it may result in personal injury or fire.
Secure the set screw of the power supply and motor output terminal, otherwise it may cause
fire.
Operation notes
Before the operation of the machinery equipment, the setting value must be adjusted
according to the user parameter of the machinery equipment. The machinery equipment
might lose control or breaks down if the setting value is not adjusted to the adequate setting
value.
Before the operation of the machine, check if the emergency button can be activated anytime
for shutdown.
It is prohibited to touch any motor part that is in rotation during motor operation, otherwise it
may result in personal injury.
To avoid accidents, separate the coupling from the belt of the machinery equipment and keep
them separate before the first commissioning.
When the servo motor and machinery equipment are connected and in operation, operating
error may result in the damage of the machinery equipment and occasional personal injury.
Strongly recommended: Test the operation of the servo motor under the unloaded condition
and connect the motor to the load afterwards to avoid danger.
Do not touch the radiator of the servo drive in operation, otherwise it may result in burn
injuries due to heat.
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Maintenance and inspection
Do not touch the interior of the servo drive and motor, otherwise it may cause electric shock.
Do not remove the drive panel when the power is on, otherwise it may result in electric
shock.
Do not touch the wiring terminal within 10 minutes after the power is off. The residual may
cause electric shock.
Do not remove the servo motor, otherwise it may cause electric shock or personal injury.
Do not change the wiring while the power is on, otherwise it may result in electric shock or
personal injury.
The installation, wiring, repair and maintenance of the servo drive and motor are only
allowed for qualified personnel specialized in electrical engineering.
Wiring of the main circuit
Do not thread the power and signal cable into the same channel or bind them. For wiring, the
distance between the power and signal cables must be above 30 cm (11.8 in.).
As for the signal cable and the encoder signal cable, use the multi-stranded twisted-pair
wires and multi-core shielded-pair wires. The length of the signal input cable is up to 3 m
(9.84 ft.); the length of the encoder signal cable is up to 20 m (65.62 ft.).
High power might remain in the interior of the servo drive after the power is off. Do not
touch the power supply terminal for 10 minutes. Check that the "CHARGE" indicator is off
before the inspection.
Wiring for the terminal block of the main circuit
Only insert one piece of wire into a wire socket of the terminal block.
As for wire insertion, do not short the core wire to the wire nearby.
Use the Y terminal to secure the thread of the core wire.
Check the wiring for accuracy before power on.
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Inspection item
Contents
Accuracy of the product
number
Check if the model number of the motor and drive is the same as the one
on the order. Refer to the subsequent chapters for the description of the
model number.
Smooth rotation of the
motor shaft
Turn the motor by hand. The motor operates normally if it can be rotated
smoothly.
Damage of the
appearance
Visually check the appearance of the product for damage.
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Chapter 1 Panel and Operation
1.1. Product check
Damages may be caused by negligence and during delivery when the product is purchased. Check the
following items.
Contact the factory or agent for the following.
The complete parts and components of the server should include:
A servo drive and motor
A power cable of the motor should be available. Connect the cable to the drive in the order of red (U),
white (V) and black (W). The green earth line is connected to the earth of the drive.
A signal cable for the motor encoder should be available. One end of the cable is connected to the
motor encoder and another end to the CN2 drive.
The 44PIN connector is used for CN1.
The 9PIN connector is used for CN2.
The 8PIN connector is used for CN3.
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Product number
Power specifications
Input power specifications
Output power
specifications
The firmware version
Serial number for production control
1.2. Comparison of the product numbers
1.2.1. Description for the name plate
ISA-7 series servo drive
Description for the name plate
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Input power
Version
S: Standard version
Rated power
Series
7:7 series
Product type
Model of the electric machinery:
Output/rotor inertia
LMM101:100W / Medium inertia
LMA201:200W / Low inertia
LMH201:200W / High inertia
LMA401:400W / Low inertia
LMH401:400W / High inertia
LMA751:750W / Low inertia
LMH7S1:750W / High inertia
LMM102: 1kW / Medium inertia
LMH102:1kW / High inertia
LMM152:1.5kW / Medium inertia
LMH152:1.5kW / High inertia
LMM202:2kW / Medium inertia
Retention actuator
N: No actuator
A: DC24V actuator
Voltage specifications
Axle end specifications/oil seal
S: Straight shaft/without oil seal
K: key shaft/without oil seal
T: Straight shaft/oil seal
L: Key shaft/oil seal
Encoder
N: Incremental/17bit
A: Absolute/17bit
Management number
1.2.2. Description for the model number
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Seven-segment display: It
drive status or alarm.
Operating button: It can be used to switch the
DOWN: It is used to add or minus one.
SHIFT: It is used to move the digit to the left.
CN3: It is used to connect to
the PC software.
CN1: It is used to connect to the
CN2: It is used to connect to the
motor encoder.
Earth terminal
Motor power output: It is used to
Regenerative resistor:
be short-circuit.
P + : DCV
BUS+
Power supply of the control circuit:
power supply
N - : DCV
BUS－
Power supply of the main circuit: R,
200~230 V 50/60 Hz).
Power indicator: There is
1.3. Name of each part in the servo drive
voltage remained in the main
circuit when the light is on.
S and T are connect to the
commercial power supply (AC
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has five digits and shows the
parameter/function and execute the
monitoring setting.
MODE: It is used to return to the previous
level or switch the status.
UP／
SET: It is used to confirm the setting.
The L1 and L2 supply for the singlephase 100~230Vac and 50/60 Hz
1) When the external regenerative
resistor is used, the P and C ends
connect to the resistor and the P and D
ends are open-circuit.
2) When the internal regenerative
resistor is used, the P and C ends are
open-circuit and the P and D ends must
connect to the motor UVW cable.
Do not connect to the power supply of
the main circuit. Wrong connections
may result in drive damage!
upper controller, such as the PLC
or industrial computer.
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Mode name
Mode code
Description
Position mode
P
The drive receives the position command and controls
the motor to move to the target position.
(Terminal input)
The position command is input from the terminal block.
The signal type is pulse.
The drive receives the speed command and controls the
motor to reach the target rotational speed.
Speed mode
S
The internal register provides the speed command
(three registers available) or the external terminal block
inputs the analog voltage (-10V ~ +10V).
The command selection is based on the DI signal.
The drive receives the speed command and controls the
motor to reach the target rotational speed.
Single
mode
Speed mode
(no analog input)
Sn
The speed command can only be provided by the
internal register (three registers available). It can't be
provided by the external terminal block. The command
selection is based on the DI signal. The DI status of the
external input in the original S mode is the speed
command zero.
The drive receives the torque command and controls the
motor to reach the target torque.
Torque mode
T
The torque command can be provided by the internal
register (three registers available).
It is also possible to input the analog voltage from the
external terminal block (-10V ~ +10V).
The command selection is based on the DI signal.
The drive receives the torque command and controls the
motor to reach the target torque.
Torque mode
(no analog input)
Tn
The torque command can only be provided by the
internal register (three registers available). It can't be
provided by the external terminal block. The command
selection is based on the DI signal. The DI status of the
external input in the original T mode is the torque
command zero.
Mixed mode
S-P
S and P can be switched via the DI signal.
T-P
T and P can be switched via the DI signal.
S-T
S and T can be switched via the DI signal.
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1.4. Operating mode
This drive provides numerous operating modes for the user. These modes are shown as follow:
The mode can be selected via the PA-01 parameter. After the new mode is set, the power is transmitted
to the drive. The new mode then becomes effective!
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Chapter 2 Steps for Commissioning and Tuning
2.1. Notes
The user must pay attention to the following:
Do not pull the connecting line between the servo drive and motor tight.
The servo drive must be fastened at every securing spot.
The axle center of the servo motor must be centered to the axle rod adequately.
If the connecting line between the servo drive and motor exceeds 20 m (65.62 ft.), the UVW line
must be thickened. The connecting line of the encoder shall also be thickened.
The four set screws of the servo motor must be fastened.
2.2. Condition of the storage environment
The product must be placed in the packing box before installation. Pay attention to the following for
storage to make sure that the product condition is applicable to our warranty and future maintenance if
the drive wouldn't be used for the moment:
The product must be placed in a dustless and dry place.
The ambient temperature of the storage location must be kept within -20°C ~ +65°C (-4°F ~
149°F).
The relative humidity of the storage location must be kept within 0% and 90%without
condensation.
Do not store the product in the environment with corrosive gas or liquid.
The product should be packed properly and stored on the shelf or platform.
2.3. Condition of installation environment
Operating temperature:
ISA-7 series servo drive: 0°C ~ 55°C (32°F ~ 131°F)
ISA-7 series servo motor: 0°C ~ 40°C (32°F ~ 104°F)
The product must be placed in a well ventilated area if the ambient temperature exceeds 45°C. If the
product is placed in the distribution box, the size and ventilation of the distribution box must be able to
prevent the electronic device in the distribution box from overheating. Pay attention to see if the
machine vibration affects the electronic device of the distribution box.
Besides, the following must be observed for the selection of the installation location. If not, our server
product might not be applicable to our warranty and future maintenance:
Our server product can be installed in places without heat emitting device, water drop, steam,
dust, oil dust, corrosive or flammable gas or liquid, floating dust or metal particle. It can also be
installed in stable places without vibration or interference of electromagnetic noise.
Keep the temperature and humidity of the place where the servo drive and motor are installed
within the specified range.
Do not store the servo drive or motor in the place with the vibration exceeding the specified
degree.
Make sure that the servo drive and motor are stored in locations that conform to the
environmental specifications stated in our manual.
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Correct
Wrong
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2.4. Direction of and space for installation
Notes:
The direction for installation must conform to the specifications to prevent malfunction.
To ensure the cooling circulation remains effective, it is required to keep a sufficient space
between the upper, lower, left and right sides of the servo drive and the object and guard plate
(wall) nearby for the installation of the AC servo drive. If not, it may cause breakdown.
Do not seal the air inlet and outlet of the servo drive during installation or tilt the servo drive,
otherwise it may result in malfunction.
Drive installation:
The ISA-7 series server drive must be installed vertically on a dry and stable platform complying
to the NEMA standard. To ensure the circulation of ventilation air and heat radiation remain
effective, it is required to keep a sufficient space between the upper, lower, left and right sides of
the servo drive and the object and guard plate (wall) nearby for the installation of the AC servo
drive. (It is recommended to leave a free space of 50 mm, which is about 2 in.) Leave the space
required for wiring, if necessary. Besides, the bracket or platform for drive installation must be
made of materials with great thermal conductivity to prevent the platform and drive from
overheating.
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Motor installation:
The ECMA series servo motor must be installed properly on a dry and stable platform. Ensure the
circulation of the ventilation air and heat radiation remain effective for installation and keep the
earth adequate.
Installation diagram
The windage of the radiator fan must be reduced for effective heat emission. The suggested distance
for one-to-many AC servo drives must be observed. (Refer to the figure below.)
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19
Drive model
Circuit breaker
Fuse
Operating Mode
Normal
Normal
ISA-7-020-S1
5A
6A
ISA-7-040-S1
10A
10A
ISA-7-075-S1
10A
20A
ISA-7-100-S1
15A
25A
ISA-7-150-S2
20A
40A
ISA-7-200-S2
30A
50A
R
S
T
Surge Protector
EMC filter Servo
R
S
T
1
2
3
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2.5. Recommended specifications for the circuit breaker and fuse
Strongly recommended: CSA / UL certified fuse and circuit breaker
2.6. EMI filter selection
Notes for the installation of the EMI filter
All electronic equipment (including the servo drive) generates certain high or low frequency noises
during normal operation. Such noises interfere with the peripheral equipment via transmission or
radiation. The interference can be minimized with correct installation of an appropriate EMI filter.
Suppose that the servo drive and EMI filter are installed and wired according to the manual, we can be
sure that they comply with the following standards:
1. EN61000-6-4（2001）
2. EN61800-3 （2004） PDS of category C2
3. EN55011+A2（2007） Class A Group 1
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Model
Rated Voltage
DC Breakdown
Current Life
8/20μs-1,000A
Marker
RSPD-250-U4
250Vac
700+-25%
Approx.
300times
OKAYA
Item
Power
Servo Drive
EMI Filter model number
Marker
1PH
3PH
1
200W
ISA-7-020-S1
B84113C0000x110
B84143A0008R105
EPCOS
3
400W
ISA-7-040-S1
B84113C0000x110
B84143A0008R105
EPCOS
4
750W
ISA-7-075-S1
B84113C0000x110
B84143A0008R105
EPCOS
5
1000W
ISA-7-100-S1
B84113C0000x110
B84143A0016R105
EPCOS
6
1500W
ISA-7-150-S2
-
B84143A0016R105
EPCOS
7
2000W
ISA-7-200-S2
-
B84143A0025R105
EPCOS
Item
Power
Servo Drive
EMI Filter model number
Marker
1PH
3PH
1
200W
ISA-7-020-S1
TBD
FN 351 H-8-29
Schaffner
3
400W
ISA-7-040-S1
TBD
FN 351 H-8-29
Schaffner
4
750W
ISA-7-075-S1
TBD
FN 351 H-8-29
Schaffner
Surge Protector
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EMC Filter
21
5
1000W
ISA-7-100-S1
TBD
FN 351 H-16-29
Schaffner
6
1500W
ISA-7-150-S2
-
FN 351 H-16-29
Schaffner
7
2000W
ISA-7-200-S2
-
FN 351 H-36-33
Schaffner
Manufacture’s Part No.
Manufacturer
A B C
D
ZCAT3035-1330
TDK
39 +- 1
34 +- 1
13 +- 1
30 +- 1
Clamp filter
<24V Power cable, Motor cable, Encoder cable, Interface cable>
Lite-On Technology Corp.
Industrial Automation
Installation notes
We hope that the EMI filter elaborates the maximum suppression against the interference from the
servo drive. Therefore the servo drive must be installed and wired according to the manual.
Furthermore, the following must be noted:
1. The servo drive and EMI filter must be installed on the same metal surface.
2. For the installation of the servo drive and EMI filter, the servo drive should be installed above the
EMI filter, if possible.
3. The wiring must be as short as possible.
4. Adequate earthing is required for the metal surface.
5. The metal case or earth of the servo drive and EMI filter must be fixed firmly to the metal surface.
The contact surface between the metal case or earth and the metal area must be as large as
possible.
Selection of and installation notes for the motor wire
The selection and installation of the motor wire are associated with whether the EMI filter can
elaborate the maximum suppression against the interference from the servo drive. Note the following:
1. The cable with copper mesh for separation must be used (double separation preferred).
2. The copper mesh for separation on both ends of the motor wire must be grounded with shortest
distance and largest contact area.
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Drive
(kW)
Specifications of the built-in
regenerative resistor
The regenerative
capacity processed by
the built-in
regenerative resistor
Minimum resistance
tolerable
Resistance (PD-45)
Capacity (PD-46)
0.2
--
--
--
40
0.4
40
40
20
40
0.75
40
40
20
40
1.0
40
40
20
40
1.5
20
100
50
20
2.0
20
100
50
20
The protective paint on the area where the bracket is fixed to the metal
surface needs to be removed to ensure that the contact is effective.
U-shaped bracket
for the metal pipe
The metal surface with
adequate earthing
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Industrial Automation
The protective paint on the area where the U-shaped bracket for the metal pipe is fixed to the metal
surface needs to be removed to ensure that the contact is effective. Refer to the figure as follows.
3. The copper mesh for separation of the motor wire must be connected adequately to the metal
surface. The U-shaped bracket for the metal pipe should be used to fix the copper mesh for
separation at both ends of the motor wire to the metal surface. See the figure below for the correct
connection.
2.7. Selection for the regenerative resistor
If the output torque and rotating speed are in opposite directions, the energy is transmitted from the
loading end into the drive. The energy entered the capacitor of the DC bus so that the voltage of the
capacitor increases. The energy recharged can only be consumed by the regenerative resistor when the
voltage rises to a certain value. The regenerative resistor is included in the drive and available for
external connection.
The table below lists the specifications of the regenerative resistor offered by the ISA-7 series.
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Filter
Magnetic contactor
No-fuse breaker
Upper controller
PLC
PC-Based Control
HMI
Servo motor
100W~1kW Single-phase/three-phase 200V~230V
1.5kW~2kW Three-phase 200V~230V
Power supply
It is set for prevention of the drive
damage due to excessive amount of
instantaneous current caused by switch
turning or short circuit.
When an alarm occurs, the magnetic contactor can
be used with the servo drive to output the alarm
(ALRM) signal to control the magnetic contactor
(MC) to disconnect the power supplied to the servo
drive.
Use a proper EMI filter
and a correct installation
method to diminish the
interference.
Regenerative resistor:
To prevent the
abnormality caused by
the braking of the servo
motor, use the external
regenerative resistor to
connect to the P+ and D
ends of the servo drive to
open the circuit. If using
the internal regenerative
resistor, short the circuit
for the P+ and D ends
and open the circuit for
the P+ and C ends.
R S T
Terminal block
The terminal block
transfers the signal
of CN1 50PIN to the
controller.
Upper controller
It can be connected to
the PLC controller and
HMI or other NC
controllers.
CN3 communication connector
1. The connector is
controlled via Modbus
and supports RS232/485.
2.
tuning, parameter setting
and control.
CN2 encoder connector
Connect the encoder signal
of the servo motor to the
servo drive.
CN1 I/O signal connector
It is connected to the
upper controller via I/O
connection.
Lite-On Technology Corp.
Industrial Automation
Chapter 3 Wiring
The chapter explains the connecting method of the servo drive and the meaning of all signals. It also
lists the illustration of the standard wiring in various modes.
3.1. Connection for the peripheral device and main power circuit
3.1.1. Wiring diagram of the peripheral device
ISA-Pro is used for
24
Lite-On Technology Corp.
Industrial Automation
Installation notes:
1. Make sure that the power supply and wiring for the R S T and L1 and L2 must be accurate.
2. Make sure that the phase sequence regarding the wiring for the servo motor output U V W is
correct. The motor will not work if the connection is wrong and an alarm will occur.
3. When using the external regenerative resistor, open the circuit for the P and D ends and connect
the external regenerative resistor to the P and C ends. When using the internal external
regenerative resistor, short the circuit for the P and D ends and open the circuit for the P and C
ends.
If using the external braking unit, connect P+ and P- of the braking unit to the P and N ends of the
servo motor. Open the circuit for the P and D ends, as well as the P and C ends.
4. For the alarm or emergency stop, use ALM or WARN output to disconnect the magnetic
contactor (MC) to cut off the power supply of the servo drive.
25
Indication
Name
Description
R, S, T
Three-phase main
circuit for RST power
input
Connect the three-phase AC power supply. (Select adequate input voltage
based on the product number.)
L1, L2
Control power input end
Connect the single-phase AC power supply. (Select adequate input voltage
based on the product number.)
U, V, W
FG
Motor power cable
Connect the cable to the motor. U (red) V (white) W (black) and FG (green)
connect to the grounding area of the drive.
P, D,
C,
Regenerative resistor
(braking resistor)
contact
Use the internal resistor.
Make sure that it is short circuited between P and
D and it is open circuited between P and C.
Use the external resistor.
Connect the regenerative resistor to P and C. Make
sure that it is open circuited between P and D.
Use the external braking
unit.
Connect P+ and P- of the braking unit to the P and
N ends of the servo motor. Open the circuit for the
P and D ends, as well as the P and C ends.
Electrical connection
terminal
The contact for the earth wire of the power supply and motor
CN1
I/O connector cable
It connects to the upper controller.
CN2
Encoder connector
It connects to the motor encoder.
CN3
Communication
connector
It connects to the computer.
CN5
*Analog voltage output
terminal*
The monitoring (output) of the analog data, including MON1, MON2, GND
3.1.2. Connector and terminal of the drive
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Industrial Automation
The following must be noted for wire connecting:
1. When the power is cut off, do not touch the six major power lines R, S, T and U, V, W. It is allowed
to touch the lines after the charging light goes off.
2. Keep the six major power linesR, S, T and U, V, W away from other signal cables. Try to keep the
distance above 30 cm.
3. For extending the connecting line for encoder CN2, use the twisted-pair signal cable with isolated
grounding. Keep the cable within 20 m. If its length exceeds 20 m, use the one with the wire diameter
twice larger than the current one to keep the signal level from excessive attenuation.
26
N
R
S
T
L1
L2
Noise Filter
Servo Driver
Lite-On Technology Corp.
Industrial Automation
3.1.3. Power wiring
The servo drive and power wiring can be divided into the single- and three-phase. The single-phase can
only be used for models with the power equal to 1kW or below. In the diagram, Power On is for Point
a. Power Off and ALRM_RY are for Point b. MC indicates the coil of the magnetic contactor and selfholding power. It connects to the power supply of the main circuit.
27
Motor number
U, V, W electromagnetic braking connector
LMA201, LMH201 Series
LMA401, LMH401 Series
LMA751, LMH751 Series
LMM102, LMH102 Series
LMM152, LMH152 Series
LMM202, LMH202 Series
Front view
3.1.4. Specifications for the U, V, W connectors of the motor
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Industrial Automation
28
Motor number
Encoder connector
LMA201, LMH201 Series
LMA401, LMH401 Series
LMA751, LMH751 Series
CN2 connector
Connector for the
leadwire of the
Servo drive
Front view
04 Red
05 Red and
black
06 Grounding
Front view
White
White
and
black
White
White
and
black
04 Red
05 Red and
black
06 Grounding
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Industrial Automation
3.1.5. Specifications regarding the connector for the leadwire of the encoder
29
Motor number
Encoder connector
LMM102, LMH102 Series
LMM152, LMH152 Series
LMM202, LMH202 Series
CN2 connector
Connector for the leadwire of
the encoder
Servo drive
Diagram II for encoder connection:
Refer to Sec. 3.4 "CN2 Wiring for the encoder signal".
Lite-On Technology Corp.
Industrial Automation
30
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