LSIS XDL-L7NH, XDL-L7NHB075U, XDL-L7NHB150U, XDL-L7NHB010U, XDL-L7NHB035U User Manual

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AC SERVO DRIVE

AC Servo User Manual

XGT Servo

L7NH Series

XDL-L7NH Series User Manual

400

(400V)

Safety Precautions

 Read all safety precautions before using this product.

 After reading this manual, store it in a readily accessible

location for future reference.

Introduction

Hello. Thank you for choosing LSIS XDL-L7NH Series.

This user manual describes how to use this product safely and efficiently.

Failure to comply with the guidelines outlined in this manual may cause personal injury or damage to the product. Be sure to read this manual carefully before using this product and follow all guidelines contained therein.

 The contents of this manual are subject to change without notice.

 The reproduction of part or all of the contents of this manual in any form, by any means or for

any purpose is strictly prohibited without the explicit written consent of LSIS.

 LSIS retains all patents, trademarks, copyrights and other intellectual property rights to the

material in this manual. The information contained in this manual is only intended for use with LSIS products.

Safety precautions are categorized as either Warnings or Cautions, depending on the severity of the precaution.

Precautions Definition

Danger

Caution

 Precautions listed as Cautions may also result in serious injury .

Failure to comply with these guidelines may cause serious injury or death.

Failure to comply with these guidelines may cause personal injury or property damage.

 Electric Safety Precautions

Danger

 Before wiring or inspection tasks, turn off the power. Wait 15 minutes until the charge

lamp goes off, and then check the voltage.

 Ground both the servo drive and the servo motor.  Only specially trained technicians may perform wiring on this product.  Install both the servo drive and servo motor before performing any wiring.  Do not operate the device with wet hands.  Do not open the servo drive cover during 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.

 Fire Safety Precautions

Caution

 Install the servo drive, the servo motor, and the regenerative resistor on non-

combustible materials.

 Disconnect the input power if the servo drive malfunctions.

iii

Introduction

 Installation Precautions

Store and operate this product under the following environmental conditions.

Environment

Conditions

Servo drive Servo motor

Operating

temp.

Storage temp. -20 ~ 65 ℃ -10 ~ 60 ℃

Operating

humidity

Storage

humidity

Altitude 1000 m or lower

0 ~ 50 ℃ 0 ~ 40 ℃

Below 90% RH (no condensation) 20~80% RH(no condensation)

 When installing 1 unit:

 More than 40 mm at the top and

bottom of the control panel

 More than 10 mm on the left and right

sides of the control panel

 When installing 2 or more units:

Spacing

 More than 100 mm at the top of the

control panel

 More than 40 mm at the bottom of the

control panel

 More than 30 mm on the left and right

sides of the control panel

 More than 2 mm between units  Refer to Section 2.2.1, "Wiring the

Control Panel."

 Ensure the installation location is free from dust, iron, corrosive gas,

Other

and combustible gas.

 Ensure the installation location is free from vibrations or the potential

for hard impacts.

Caution

 Install the product with the correct orientation.  Do not drop the product or expose it to hard impact.  Install this product in a location that is free from water, corrosive gas, combustible

gas, or flammable materials.

 Install this product in a location capable of supporting the weight of this product.  Do not stand on the product or place heavy objects on top of it.  Always maintain the specified spacing when installing the servo drive.  Ensure that there are no conductive or flammable debris inside the servo drive or the

servo motor.

 Firmly attach the servo motor to the machine.  Install the servo motor with a correctly oriented decelerator.  Do not touch the rotating unit of the servo motor during operation.  Do not apply excessive force when connecting the couplings to the servo motor shaft.  Do not place loads on the servo motor shaft that exceed the specified amount.

Introduction

 Wiring Precautions

Caution

 Always use an AC 380-480 V power input for the servo drive.  Always connect the servo drive to a ground terminal.  Do not connect commercial power directly to the servo motor.  Do not connect commercial power directly to the U, V, W output terminals of the servo

drive.

 Connect the U, V, W output terminals of the servo drive directly to the U, V, W input

terminals of the servo motor, but do not install magnetic contactors between the wires.

 Always use pressurized terminals with insulation tubes when connecting the servo

drive power terminal.

 When wiring, be sure to separate the U, V, and W cables for the servo motor power

and encoder cable.

 Always use the robot cable if the motor moves.  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.

 Startup Precautions

Caution

 Check the input voltage (AC 380-480 V) and power unit wiring before supplying power

to the device.

 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 XDL-

L7NHB .

 Set the motor ID[0x2000], encoder type[0x2001] and the encoder pulse [0x2002] for

XDL-L7NHB 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 in [0x6060].

 Refer to Chapter 1.4 "System Configuration" to perform I/O wiring for the servo drive

according to each drive mode.

 You can check the ON/OFF state for each input terminal of I/O at [0x60FD].

 Handling and Operating Precautions

Caution

 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 I/O and ENCODER connectors when the power is off.  Extreme change of parameters may cause system instability.

Introduction

 Usage Precautions

Caution

 Install an emergency cut-off switch which immediately stops operation in an

emergency.

 Reset the alarm when the servo is off. Be warned that the system restarts

immediately if the alarm is reset while the servo is on.

 Use a noise filter or DC reactor to minimize electromagnetic interference. This

prevents nearby electrical devices from malfunctioning due to interference.

 Only use approved servo drive and servo motor combinations.  The electric brake on the servo motor stops operation. Do not use it for ordinary

braking.

 The electric brake may malfunction if the brake degrades or if the mechanical

structure is improper (for example, if the ball screw and servo motor are combined via the timing belt). Install an emergency stop device to ensure mechanical safety.

 Malfunction Precautions

Caution

 Install a servo motor with an electric brake or separate the brake system for use

during emergencies or device malfunctions.

 If an alarm occurs, solve the underlying cause of the problem. After solving the

problem and ensuring safe operation, deactivate the alarm and resume operation.

 Do not approach the machine until the problem is solved.

 Repair/Inspection Precautions

Caution

 Before performing servicing tasks, turn off the power. Wait 15 minutes until the charge

lamp goes off, and then check the voltage. Enough voltage may remain in the condenser after the power is off to cause an electric shock.

 Only authorized personnel may repair and inspect the device or replace its parts.  Do not modify this device in any way.

 General Precautions

Caution

 This user manual is subject to change due to product modification or changes in

standards. If such changes occur, we issue a new user manual with a new product number.

 Product Application

Caution

 This product is not designed or manufactured for machines or systems intended to

sustain human life.

 This product is manufactured under strict quality control conditions. Nevertheless,

install safety devices if installing the device in a facility where product malfunctions may result in a major accident or a significant loss.

Introduction

 EEPROM Lifespan

Caution

 The EEPROM is rewritable up to 4 million times for the purpose of recording

parameter settings and other information. The servo drive may malfunction if the total number of the following tasks exceeds 4 million, depending on the lifespan of the EEPROM.

 EEPROM recording as a result of parameter changes  EEPROM recording as a result of an alarm

vii

Table of Contents

1. Product Configuration ....................................................................................... 1-1

1.1 Product Verification .......................................................................................................... 1-1

1.2 Product Specifications ..................................................................................................... 1-2

1.3 Part Names ...................................................................................................................... 1-4

1.3.1 Servo Drive Parts ............................................................................................. 1-4

1.3.2 Servo Motor Parts ............................................................................................. 1-9

1.4 System Configuration Example ..................................................................................... 1-10

2. Wiring and Connection ...................................................................................... 2-1

2.1 Installation of Servo Motor ............................................................................................... 2-1

2.1.1 Operating Environment .................................................................................... 2-1

2.1.2 Preventing Impact............................................................................................. 2-1

2.1.3 Motor Connection ............................................................................................. 2-1

2.1.4 The Load Device Connection ........................................................................... 2-2

2.1.5 Cable Installation .............................................................................................. 2-2

2.2 Installation of Servo Drive ................................................................................................ 2-3

2.2.1 Installation and Usage Environment ................................................................ 2-3

2.3 Internal Block Diagram of Drive ....................................................................................... 2-4

2.3.1 XDL-L7NH Drive Block Diagram (XDL-L7NHB010U~ XDL-L7NHB035U) ...... 2-4

2.3.2 XDL-L7NH Drive Block Diagram (XDL-L7NHB050U~ XDL-L7NHB075U) ...... 2-5

2.3.3 XDL-L7NH Drive Block Diagram (XDL-L7NHB150U) ...................................... 2-6

2.4 Power Supply Wiring ....................................................................................................... 2-7

2.4.1 Power Supply Wiring Diagram ......................................................................... 2-8

2.4.2 Power Circuit Electrical Components .............................................................. 2-11

2.4.3 Regenerative Resistor Options ...................................................................... 2-17

2.5 Wiring for Input/Output Signals ...................................................................................... 2-18

2.5.1 Names and Functions of Digital Input/Output Signals ................................... 2-18

2.5.2 Names and Functions of Analog Input/Output Signals .................................. 2-20

2.5.3 Examples of Connecting Input/Output Signals .............................................. 2-22

2.5.4 Examples of Connecting Input/Output Signals .............................................. 2-24

2.6 Wiring of Encoder Signal (ENCODER) .......................................................................... 2-25

2.6.1 Quadrature Encoder Signaling Unit Wiring .................................................... 2-25

2.6.2 Serial Encoder Signaling Unit Wiring ............................................................. 2-26

2.6.3 Multi-Turn Encoder Signaling Unit Wiring ...................................................... 2-28

2.6.4 Tamagawa Encoder Signaling Unit Wiring ..................................................... 2-29

2.6.5 EnDat 2.2 Encoder Signaling Unit Wiring ...................................................... 2-30

2.7 Wiring for Safety Function Signals (STO) ...................................................................... 2-31

2.7.1 Names and Functions of Safety Function Signals ......................................... 2-31

2.7.2 Example of Connecting Safety Function Signals ........................................... 2-32

2.7.3 Bypass Wiring of Safety Function Signal ....................................................... 2-33

2.8 Wiring for EtherCAT Communication Signals ................................................................ 2-34

2.8.1 Names and Functions of EtherCAT Communication Signals ......................... 2-34

2.8.2 Example of Drive Connection ......................................................................... 2-35

3. EtherCAT Communication ................................................................................. 3-1

3.1 Structure of CANopen over EtherCAT ............................................................................. 3-1

viii

Table of Contents

3.1.1 EtherCAT State Machine ................................................................................... 3-2

3.2 Status LED ........................................................................................................................ 3-3

3.3 Data Type .......................................................................................................................... 3-5

3.4 PDO assignment ............................................................................................................... 3-5

3.5 Synchronization Using the DC (Distributed Clock) ........................................................... 3-8

3.6 Emergency Messages ...................................................................................................... 3-9

4. CiA402 Drive Profile ........................................................................................... 4-1

4.1 State machine ................................................................................................................... 4-1

4.2 Operation Modes .............................................................................................................. 4-3

4.3 Position Control Modes ..................................................................................................... 4-5

4.3.1 Cyclic Synchronous Position Mode ................................................................... 4-5

4.3.2 Profile Position Mode ........................................................................................ 4-8

4.4 Velocity Control Mode .....................................................................................................4-13

4.4.1 Cyclic Synchronous Velocity Mode .................................................................4-13

4.4.2 Profile Velocity Mode .......................................................................................4-16

4.5 Torque Control Modes ....................................................................................................4-19

4.5.1 Cyclic Synchronous Torque Mode ...................................................................4-19

4.5.2 Profile Torque Mode ........................................................................................4-21

4.6 Homing ............................................................................................................................4-23

4.6.1 Homing Method ...............................................................................................4-24

4.7 Touch Probe Function ....................................................................................................... 4-2

5. Drive Application Functions.............................................................................. 5-1

5.1 Drive Front Panel .............................................................................................................. 5-1

5.1.1 7-Segment for indicating servo status ............................................................... 5-1

5.2 Input/Output Signals Setting ............................................................................................. 5-4

5.2.1 Assignment of Digital Input Signals ................................................................... 5-4

5.2.2 Assignment of Digital Output Signals ................................................................ 5-6

5.2.3 Use of User I/O .................................................................................................. 5-8

5.3 Electric Gear Setup .........................................................................................................5-15

5.3.1 Electric Gear ....................................................................................................5-15

5.3.2 Example of Electric Gear Setup ......................................................................5-16

5.4 Settings Related to Speed Control .................................................................................5-17

5.4.1 Smooth Acceleration and Deceleration ...........................................................5-17

5.4.2 Servo-lock Function .........................................................................................5-18

5.4.3 Signals Related to Speed Control ...................................................................5-18

5.5 Settings Related to Position Control ...............................................................................5-19

5.5.1 Position Command Filter .................................................................................5-19

5.5.2 Signals Related to Position Control .................................................................5-21

5.6 Settings Related to Torque Control .................................................................................5-22

5.6.1 Speed Limit Function .......................................................................................5-22

5.7 Positive/Negative Limit Settings .....................................................................................5-23

5.8 Setting the Brake Output Signal Function ......................................................................5-24

5.9 Torque Limit Function .....................................................................................................5-26

5.10 Gain switching function ...................................................................................................5-29

Table of Contents

5.10.1 Gain group switching ...................................................................................... 5-29

5.10.2 P/PI Control Switching .................................................................................... 5-31

5.11 Dynamic brake ............................................................................................................... 5-33

5.12 Regenerative resistance setting .................................................................................... 5-34

5.12.1 Use of Internal Regenerative Resistor ........................................................... 5-35

5.12.2 Use of External Regenerative Resistor .......................................................... 5-37

5.12.3 Other Considerations ..................................................................................... 5-38

5.13 Configuration of Drive Node Address (ADDR) .............................................................. 5-39

6. Safety Functions ................................................................................................ 6-1

6.1 Safe Torque Off (STO) Function ...................................................................................... 6-1

6.2 External Device Monitor (EDM) ....................................................................................... 6-4

6.3 Example of Using Safety Function .................................................................................. 6-5

6.4 How to Verify Safety Function .......................................................................................... 6-5

6.5 Precautions for Using Safety Function ............................................................................ 6-6

7. Tuning .................................................................................................................. 7-1

7.1 Auto Gain Tuning ............................................................................................................. 7-1

7.2 Manual Gain Tuning ......................................................................................................... 7-2

7.2.1 Gain Tuning Sequence ..................................................................................... 7-3

7.3 Vibration Control .............................................................................................................. 7-5

7.3.1 Notch Filter ....................................................................................................... 7-5

7.3.2 Adaptive Filter ................................................................................................... 7-6

7.4 Analog Monitor ................................................................................................................. 7-7

8. Procedure Function ........................................................................................... 8-1

8.1 Manual JOG Operation .................................................................................................. 8-1

8.2 Programmed Jog Operation ............................................................................................ 8-2

8.3 Deleting Alarm History ..................................................................................................... 8-3

8.4 Auto Gain Tuning ............................................................................................................. 8-5

8.5 Index Pulse Search .......................................................................................................... 8-5

8.6 Absolute encoder reset .................................................................................................... 8-6

8.7 Instantaneous Maximum Torque Initialization .................................................................. 8-6

8.8 Phase current offset tuning .............................................................................................. 8-7

8.9 Software reset .................................................................................................................. 8-8

8.10 Commutation .................................................................................................................... 8-8

9. Object Dictionary ................................................................................................ 9-1

9.1 General Objects ............................................................................................................... 9-1

9.2 Manufacturer Specific Objects ....................................................................................... 9-17

9.3 CiA402 Objects .............................................................................................................. 9-68

10. Product Specifications .................................................................................... 10-1

10.1 Servo Motor ................................................................................................................... 10-1

10.1.1 Product Characteristcs ................................................................................... 10-1

10.1.2 Outline Diagram ........................................................................................... 10-19

Table of Contents

10.2 Servo Drive ...................................................................................................................10-29

10.2.1 Product Characteristics .................................................................................10-29

10.2.2 Outline Diagram ............................................................................................10-32

10.3 Options and Peripheral Devices ...................................................................................10-35

11. Maintenance and Inspection ......................................................................... 11-43

11. 1 Maintenance and Inspection ......................................................................................... 11-43

11.1.1 Precautions ................................................................................................... 11-43

11.1.2 What to Inspect ............................................................................................. 11-43

11.1.3 Replacing Parts ............................................................................................. 11-44

11. 2 Diagnosing and Troubleshooting Abnormalities ........................................................... 11-45

11.2.1 Servo Motor ................................................................................................... 11-45

11.2.2 Servo Drive .................................................................................................... 11-46

12. Test Drive ........................................................................................................ 11-54

12.1 Preparation for Operation ...............................................................................................12-3

12.2 Test Drive Using TwinCAT System Manager ..................................................................12-4

12.3 Test Drive Using LSIS PLC (XGT + PN8B) ..................................................................12-12

13. Appendix ......................................................................................................... 13-19

13.1 Firmware Update ..........................................................................................................13-19

13.1.1 Use of USB OTG ...........................................................................................13-19

13.1.2 Use of FoE (File access over EtherCAT) ......................................................13-21

13.1.3 Use of Drive CM ............................................................................................13-25

1. Product Configuration

1.1 Product Verification

1. Check the name tag to verify that the product received matches the model ordered

 Does the servo drive's name plate match?

 Does the servo motor's name plate match?

2. Check the product components and options.

 Are the type and length of cables correct?

 Does the regenerative resistor conform to the required standard?

 Is the shape of the shaft correct?

 Are there any abnormalities after mounting the oil seal or brake?

 Are the gearbox and the gear ratios correct?

 Is the encoder format correct?

3. Check the exterior of the device.

 Are there any foreign substances or humidity in the device?

 Is there any discoloration, contaminant, damage or disconnected wire?

 Are the bolts tightly fastened to the joints?

 Is there any abnormal sound or excessive friction during operation?

1-1

1. Product Configuration

1.2 Product Specifications

 XDL-L7NH Series Product Type

XDL-L7 NH B 010 U AA

Series Name

L7 Series

Communication

/Drive Type

NH : Network type All-in-One Type

Input voltage

A: 200Vac B: 400Vac

Capacity

001 : 100W 002 : 200W 004 : 400W 008 : 750W 010 : 1kW 020 : 2kW 035 : 3.5kW 050 : 5.0kW 075 : 7.5kW 110 : 11.0k W 150 : 15kW

Encoder

U: Universal

Option

Black:

Standard

Marked:

Dedicated use

1-2

1. Product Configuration

 Servo Motor Product Format

APM – S E P 10 D E K 1 G1 03

ervo Motor

Servo Motor

Motor Shape

S: 실축형

S: Real Axis H: Hollow Shaft

H: 중공축형

B: Assembly

B: 조립형

Flange Size

A: 40 Flange

B: 60 Flange

C: 80 Flange

D: 100 Flange

E: 130 Flange

F: 180 Flange

G: 220 Flange

Input

Blank: 200[Vac]

P: 400[Vac

Motor

R3: 30[W]

R5: 50[W]

01: 100[W]

02: 200[W]

03: 300[W]

04: 400[W]

06: 550/600[W]

07: 650[W]

08: 750/800[W]

10: 1[kW]

15: 1.5[kW]

20: 2[kW]

35: 3.5[kW]

50: 5[kW]

75: 7.5[kW]

150: 15[kW]

220: 22[kW]

300: 30[kW]

370: 37[kW]

Encoder Type

Quadrature(Pulse type)

A: Inc. 1024[ppr]

B: Inc. 2000[ppr]

C: Inc. 2048[ppr]

D: Inc. 2500[ppr]

E: Inc. 3000[ppr]

F: Inc. 5000[ppr]

G: Inc. 6000[ppr]

Serial

Com mu nication t ype

BiSS( N : 19bit SingleTurn

M : 19bit MultiTurn

Rated RPM

A: 3000[rpm]

D: 2000[rpm]

G: 1500[rpm]

M: 1000[rpm]

Shaft Shape

N: Straight

One-sided round key

K: 한쪽 둥근키(표준)

(standard)

C: C Cut

D: D Cut

T: Taper 형상

Tape r sh ap e

R: 양쪽 둥근키

Double-sided

H: Hollow Shaft

Oil Seal, Brake Existence

Non-existen t: None included

Non-existent: None included

1: Oil Seal attached

)

2: Brake attached

3: Oil Seal and Brak

3: Oil Sea l and B rake

Gearbox

Classification

03: 1/3

10: 1/10

Gearbox Sp ec.

Non-existent: No

gearbox

G1: For general

industrial purposes

G2: For general

industrial purposes

G3: Precise

Gearbox

1-3

1. Product Configuration

1.3 Part Names

1.3.1 Servo Drive Parts

 XDL-L7NH Drive (1KW)

Display

It shows drive status, alarms, etc.

CHARGE lamp

This turns on when the main circuit power is on.

Status LED

It indicates the current state of EtherCAT communication.

Main power connectors (L1, L2, and L3)

These terminals connect to the main circuit power input.

DC reactor connector (PO, PI)

These terminals connect to the DC reactor to suppress high-frequency power.

-If the DC reactor is not used, be sure to shortcircuit this connector.

Regenerative resistance connector (B+, B, BI)

These terminals connect to the external regenerative resistor.

-For basic installations : Short-circuit B and BI terminals.

-For external resistor installations : Install to B+ and B terminals.

Control power terminals (C1 and C2)

These terminals connect to the control power input.

Connector for analog monitors

It is a connector for checking the analog output signal.

Node address setting switch

This switch is to set the node address of the drive. You can set the node addresses from 0 to 99.

USB connector (USB)

This connector is to communicate with a PC.

EtherCAT communication input port (ECAT IN)

EtherCAT communication output port (ECAT OUT)

Safety connector (STO)

This connector connects safety devices.

-If a safety device is not used, be sure to install the safety jump connector before use.

Input/output signal connector (I/O)

This connector is for sequence input/output signals.

Servo motor connection terminals (U,V,W)

These terminals connect to the main circuit cable (power cable) of the servo motor.

Ground terminal

It is a ground terminal to prevent electric shock.

1-4

Encoder connector (ENCODER)

This connector connects to the encoder installed in the servo motor.

1. Product Configuration

 XDL-L7NH Drive (2KW, 3.5KW)

Display

It shows drive status, alarms, etc.

CHARGE lamp

This turns on when the main circuit power is on.

Status LED

It indicates the current state of EtherCAT communication.

Main power connectors (L1, L2, and L3)

These terminals connect to the main circuit power input.

DC reactor connector (PO, PI)

These terminals connect to the DC reactor to suppress high-frequency power.

-If the DC reactor is not used, be sure to short-circuit this connector.

Regenerative resistance connector (B+, B, BI)

These terminals connect to the external regenerative resistor.

-For basic installations : Short-circuit B and BI terminals.

-For external resistor installations: Install to B+ and B terminals.

Control power terminals (C1 and C2)

These terminals connect to the control power input.

Servo motor connection terminals (U,V,W)

These terminals connect to the main circuit cable (power cable) of the servo motor.

Connector for analog monitors

It is a connector for checking the analog output signal.

Node address setting switch

This switch is to set the node address of the drive.

USB connector (USB)

This connector is to communicate with a PC.

EtherCAT communication input port (ECAT IN)

EtherCAT communication output port (ECAT OUT)

Safety connector (STO)

This connector connects safety devices.

-If a safety device is not used, be sure to install the safety jump connector before use.

Input/output signal connector (I/O)

This connector is for sequence input/output signals.

Encoder connector (ENCODER)

This connector connects to the encoder installed in the servo motor.

Ground terminal

It is a ground terminal to prevent electric shock.

1-5

1. Product Configuration

 XDL-L7NH Drive (5KW)

Connector for analog monitors

It is a connector for checking the analog

Display

It shows drive status, alarms, etc.

Status LED

It indicates the current state of EtherCAT communication.

output signal.

Node address setting switch

This switch is to set the node address of the drive. You can set the node addresses from 0 to 99.

USB connector (USB)

This connector is to communicate with a PC.

EtherCAT communication input port (ECAT IN)

EtherCAT communication output port (ECAT OUT)

Safety connector (STO)

This connector connects safety devices.

-If a safety device is not used, be sure to install the safety jump connector before use.

Control power terminals (C1 and C2)

These terminals connect to the control power input.

DC reactor connector (PO, PI)

These terminals connect to the DC reactor to suppress high-frequency power.

-If the DC reactor is not used, be sure to short-circuit this connector.

It is not a connector for

connection (N)

Main power connectors (L1, L2, and L3)

These terminals connect to the main circuit power input.

Regenerative resistance connector (B+, B)

These terminals connect to the external regenerative resistor.

-For basic installations : Short-circuit B+ and B terminals.

-For external resistor installations : After attaching internal resistor wiring to the internal resistor fixing hole “NC” of the case, connect the external resistor to B+ and B terminals.

Input/output signal connector (I/O)

This connector is for sequence input/output signals.

Encoder connector (ENCODER)

This connector connects to the encoder installed in the servo motor.

CHARGE lamp

This turns on when the main circuit power is on.

Ground terminal

It is a ground terminal to prevent electric shock.

Servo motor connection terminals (U,V,W)

These terminals connect to the main circuit cable (power cable) of the servo motor.

1-6

1. Product Configuration

 XDL-L7NH Drive (7.5KW)

Connector for analog monitors

It is a connector for checking the analog output signal.

Display

It shows drive status, alarms, etc.

Status LED

It indicates the current state of EtherCAT communication.

Node address setting switch

This switch is to set the node address of the drive. You can set the node addresses from 0 to 99.

USB connector (USB)

This connector is to communicate with a PC.

EtherCAT communication input port (ECAT IN)

EtherCAT communication output port (ECAT OUT)

Safety connector (STO)

This connector connects safety devices.

-If a safety device is not used, be sure to install the safety jump connector before use.

CHARGE lamp

This turns on when the main circuit power is on.

It is not a connector

for connection (N)

DC reactor connector (PO, PI)

These terminals connect to the DC reactor to suppress high-frequency power.

-If the DC reactor is not used, be sure to short-circuit this connector.

Main power connectors (L1, L2, and L3)

These terminals connect to the main circuit power input.

* NC

Input/output signal connector (I/O)

This connector is for sequence input/output signals.

Encoder connector (ENCODER)

This connector connects to the encoder installed in the servo

Control power terminals (C1 and C2)

These terminals connect to the control power input.

Servo motor connection terminals (U,V,W)

These terminals connect to the main circuit cable (power cable) of the servo motor.

Ground terminal

It is a ground terminal to prevent electric shock.

Regenerative resistance connector (B+, B)

These terminals connect to the external regenerative resistor.

-For basic installations : Short-circuit B+ and B terminals.

-For external resistor installations : After attaching internal resistor wiring to the internal resistor fixing hole “NC” of the case, connect the external resistor to B+ and B terminals.

1-7

1. Product Configuration

 XDL-L7NH Drive (15KW)

Connector for analog monitors

Display

It shows drive status, alarms, etc.

Status LED

It indicates the current state of EtherCAT communication.

It is a connector for checking the analog output signal.

Node address setting switch

This switch is to set the node address of the drive. You can set the node addresses from 0 to 99.

USB connector (USB)

This connector is to communicate with a PC.

EtherCAT communication input port (ECAT IN)

Control power terminals (C1 and C2)

These terminals connect to the control power input.

CHARGE lamp

This turns on when the main circuit power is on.

Main power connectors (L1, L2, and L3)

These terminals connect to the main circuit power input.

It is not a connector for

connection (N)

DC reactor connector (PO, PI)

These terminals connect to the DC reactor to suppress high-frequency power.

-If the DC reactor is not used, be sure to shortcircuit this connector.

EtherCAT communication output port (ECAT OUT)

Safety connector (STO)

This connector connects safety devices.

-If a safety device is not used, be sure to install the safety jump connector before use.

Input/output signal connector (I/O)

This connector is for sequence input/output signals.

Encoder connector (ENCODER)

This connector connects to the encoder installed in the servo motor.

Servo motor connection terminals (U,V,W)

These terminals connect to the main circuit cable (power cable) of the servo motor.

Ground terminal

It is a ground terminal to prevent electric shock.

Regenerative resistance connector (B+, B)

These terminals connect to the external regenerative resistor.

-Install external regenerative resistance

1-8

1. Product Configuration

1.3.2 Servo Motor Parts

 80 Flange or below

 130 Flange or higher

1-9

1. Product Configuration

1.4 System Configuration Example

The figure below shows an example of system configuration using this drive.

Power

전원

Three-phase AC380V

Molded case circuit breaker It is used to protect

배선용 차단 기

power line. It turns the circuit OFF

전원라인을 보호하기

if overcurrent flows.

위하여 사용합니다. 과전류가 흐르면 회로를 OFF합니다.

Noise filter

노이즈 필터

It protects power line

전원라인으로부터의

from external noise.

외부 노이즈를 막습니다.

삼상 AC380V

R S T

Electromagnetic

전자 접촉 기

contactor It turns servo

서보전원을 ON /

power ON / OFF.

OFF로 합니다.

Oscilloscope

오실로스코프

Analog monitor cable

아날로그 모니터 케이블

Servo Drive

서보 드라이브

DAQ

Upper device

상위 장치

XGT

EtherCAT 통신케이블

EtherCAT communication cable

Node address setting switch

Node 주소 설정 스위치

ADDR

Connect a

회생 저항 연결

regenerative resistor.

1.기본 장착 사용 시

1.When using basic

- 단락(B, B I)

installations

2.외부 저항 장착 시

-Short-circuit (B, BI)

- 장착(B, B +)

2.When installing external resistance

-Install it (B, B+)

DC reactor connection

DC 리액터 연결

-미사용 시 단락(PO, PI)

-Short-circuit if not used (PO, PI)

모터 케이 블

Motor cable

Servo Motor

서보모터

I/O Cable

10314

Encoder cable

엔코더 케이 블

10314

Safety cable

안전 케이 블

1.If the safety function is not used : Install the

1. 안전기능 을

safety jump connector.

사용하지 않을 경우 : 안전점프 커넥터 설치

2.If the safety

2. 안전기능을 사용

function is used

할 경우 :

안전 기기

Safety device

Mini USB

미니 USB 케이블

cable

U S B

Mini USB cable

미니 USB 케이블

Mini USB

미니 USB

adaptor

젠더

POTNOT HOME

1-10

2. Wiring and Connection

2.1 Installation of Servo Motor

2.1.1 Operating Environment

Item Requirements Notes

Ambient

temperature

Ambient humidity

External vibration

0 ∼ 40[℃]

80% RH or lower Do not operate this device in an environment with steam.

Vibration acceleration

19.6 ㎨ or below on both

the X and Y axis.

Consult with our technical support team to customize the product if temperatures in the installation environment are outside this range.

Excessive vibrations reduce the lifespan of the bearings.

2.1.2 Preventing Impact

Impact to the motor during installation or handling may damage the encoder.

Caution

2.1.3 Motor Connection

 If the motor is directly connected to commercial power, it may be burned. Be sure to connect with

the specified drive before using it.

 Connect the ground terminals of the motor to either of the two ground terminals inside the drive,

and attach the remaining terminal to the type-3 ground.

U – U V - V

W – W

- F.G

 Connect the U, V, and W terminals of the motor in the same way as the U, V, and W terminals of

the drive.

 Ensure that the pins on the motor connector are securely attached.

 In order to protect against moisture or condensation in the motor, make sure that insulation

resistance is 10 ㏁ (500 V) or higher before installation.

2-1

2. Wiring and Connection

2.1.4 The Load Device Connection

For coupling connections: Ensure that the motor shaft and load shaft are aligned within the tolerance range.

Load shaft

0.03 ㎜ or below (peak to peak)

Motor shaft

 For pulley connections:

Flange

40 148 15 39 4

60 206 21 69 7

80 255 26 98 10

130 725 74 362 37

180 1548 158 519 53

220 1850 189 781 90

Lateral Load Axial Load

N kgf N kgf

Notes

Nr: 30 ㎜ or below

Lateral load

Axial load

2.1.5 Cable Installation

 For vertical installations, make sure that no oil or water flows into the connecting parts.

 Do not apply pressure to or damage the cables. Use robot cables to prevent swaying when the

motor moves.

2-2

2. Wiring and Connection

2.2 Installation of Servo Drive

2.2.1 Installation and Usage Environment

Item

Ambient

temperature

Ambient humidity

External vibration

Ambient

conditions

Environmental

conditions

0∼50[℃]

90% RH or lower

Vibration

acceleration 4.9

㎨ or lower

Caution

Install a cooling fan on the control panel to maintain an appropriate temperature.

Caution

Condensation or moisture may develop inside the drive during prolonged periods of inactivity and damage it. Remove all moisture before operating the drive after a prolonged period of inactivity.

Excessive vibration reduces the lifespan of the machine and may cause malfunctions.

Notes

 Do not expose the device to direct sunlight.  Do not expose the device to corrosive or combustible gases.  Do not expose the device to oil or dust.  Ensure that the device receives sufficient ventilation.

2-3

2. Wiring and Connection

035

2.3 Internal Block Diagram of Drive

2.3.1 XDL-L7NH Drive Block Diagram

(XDL-L7NHB010U~ XDL-L7NHB035U)

3-phase power

3상 전원

AC380~480V

Control Power Phase

Loss Detection Circuit

Single-phase power

단상 전원

AC380V~480V

입력

제어전원결상

검출회로

Input

입력

x10

Input

ECAT IN/OUT

P S

Diode

Thermistor

써미스터

Main Power Phase

주전원결상

Loss Detection

Circuit

검출회로

USB

010 : Thermistor

EtherCAT

Communication

통신

USB

USB communication

통신

안전기능입력

Safety Function Inpu

(2점)

(2 Points)

Note 1)

주1) 주2)

써미스터

: Resistor

Chage

Lamp

B+

회생저항

Regenera tive

Resisto

Thermistor

써미스터

Main 제어

DC전압

DC Voltage

Detection Circuit

검출회로

내부온도

Internal

Temperature

검출회로

Detection Ci rcuit

U,V Curren

U,V전류

DC Voltage

DC전압

Relay

driving circuit

구동회로

Main Control POWER circuit connection

A/D Conversion

A/D 변환

ESC

USB OTG FS

P/C 절연 I/F

P/C Insulation I/F

안전기능출력

Safety F unction Outpu

(1점)

(1 Point)

Digital input

디지털입력

(8점)

oints)

Note 2)

회생제동

Regenera tive

Brake Drive

Circuit

구동회로

POWER 회로 접속

MCU / FPGA

IGBT온도

IGBT Temperature

검출회로

Detection Circuit

Digital Output

디지털출력

(4점)

oints)

IGBT

Current sensor

전류 센서

PWM신호

PWM Signal SC

Detection Circuit

SC검출회로

아날로그 입력

Analog Input (1 Point)

(1점)

U,V전류

U and V Current

Detection Ci rcuit

검출회로

BiSS-C

Quadrature

TAMAGAWA

EnDat

Analog output (2 points)

Note 3)

엔코더

Encoder Input

아날로그출력

(2점)

주3)

DB Drive Circuit

구동회로

입력

ENCODER

2-4

Safety device c onnection (STO)

안전기기 연결(STO)

Input/output connection (I/O)

입/출력 연결(I/O)

Analog output connection

아날로그 출력 연결

Note 1) If using a DC reactor, connect the PO and PI pins.

Note 2) If using an external regenerative resistor, remove the B and BI short-circuit pins and

connect the B+ and B pins.

Note 3) XDL-L7NHB010U~ XDL-L7NHB035U Model is cooled by a DC 24 V cooling fan.

2. Wiring and Connection

(

)

(4 p

)

(2 p

2.3.2 XDL-L7NH Drive Block Diagram

(XDL-L7NHB050U~ XDL-L7NHB075U)

3-phase power

3상 전원

AC380~480V

제어전원결상

Control Power Phase

Loss Detection Circuit

Single-phase power

단상 전원

AC380V~480V

검출회로

Input

입력

x10

입력

Input

ECAT IN/OUT

Main Power Phase

주전원결상

Loss Detection

P S

USB

Diode

Thermistor

써미스터

Circuit

검출회로

EtherCAT Communication

USB communication

EtherCAT

통신

USB 통신

Note 4)

주1) 주5)

써미스터

Resistor

Chage

Lamp

Internal

내부온도

Temperature

Detection Ci rcuit

검출회로

U,V전류

U,V Current DC

DC전압

Volt a

Relay

driving circuit

구동회로

Main 제어

Main Control

A/D Conversion

A/D 변환

DC전압

DC Voltage

Detection Circuit

검출회로

BB+

Regenera tive

ESC

USB OTG FS

P/C Insulation I/F

P/C 절연 I/F

Note 5)

회생저항

Resisto

Thermistor

써미스터

Regenera tive

회생제동

Brake Drive

Circuit

구동회로

POWER 회로 접속

POWER circuit connection

MCU / FPGA

IGBT

IGBT온도

IGBT Temperature

Detection Circuit

검출회로

전류 센서

PWM신호

PWM Signal SC

Detection Ci rcuit

SC검출회로

Current sensor

U and V Current Detection Ci rcuit

BiSS-C

Quadrature

TAMAGAWA

EnDat

U,V전류

검출회로

Note 6)

주6)

DB Drive Circuit

입력

엔코더

Encoder Input

구동회로

ENCODER

안전기능입력

Safety Function Inpu

(2점)

2 Points)

Safety device c onnection (STO)

안전기기 연결(STO)

안전기능출력

Safety Function Outpu

(1점)

1 Point

Digital input

디지털입력

(8점)

oints)

Digital Output

디지털출력

(4점)

oints

입/출력 연결(I/O)

아날로그 입력

Analog Input (1 Point)

(1점)

Analog output

아날로그출력

(2점)

oints)

Analog output connection Input/output connection (I/O)

아날로그 출력 연결

Note 4) If using a DC reactor, connect the PO and PI pins.

Note 5) If the external regenerative resistor is used, after attaching internal resistor wiring to the

internal resistor fixing hole “NC” of the case, connect the external regenerative resistor to

B+ and B terminals.

Note 6) XDL-L7NHB050U ~ XDL-L7NHB075U models are cooled by a DC 24 V cooling fan.

2-5

2. Wiring and Connection

P/C I

I/F

2.3.3 XDL-L7NH Drive Block Diagram (XDL-L7NHB150U)

External

regenerative

resistor

Note 7)

Resistor

Note 8)

Note 9)

Control Power Phase

Loss Detection Circuit

Single-phase

Input

DC Voltage

nsulation

Digital input

Regenera tive

Resisto

Thermistor

Regenera tive

oints)

Brake Drive

IGBT Temperature

Circuit

Detection Circuit

POWER circuit connection

Digital Output

oints)

Input/output connection (I/O)

PWM Signal SC

Detection Circuit

Analog Input

(1 Point)

Current sensor

U and V Current

Detection Ci rcuit

Analog output connection

Encoder Input

Analog output

oints)

DB Drive Circuit

Input 3-phase power

Thermistor

Main Power Phase

Loss Detection

Circuit

EtherCAT Communication

USB

communication

Internal

Temperature

Detection Ci rcuit

U,V Current DC

Volt a

Safety Function

ut (2 Points)

Safety device c onnection (STO)

driving circuit

A/D Conversion

Safety Function

Out

ut (1 Point)

Detection Circuit

2-6

Note 7) If using a DC reactor, connect the PO and PI pins.

Note 8) XDL-L7NHB150U model has no internal regenerative resistance. The external regenerative

resistance is used. When attaching the resistance, connect it to B+ and B terminals.

Note 9) XDL-L7NHB150U Model is cooled by a DC 24 V cooling fan.

2. Wiring and Connection

2.4 Power Supply Wiring

 Ensure that the input power voltage is within the acceptable range.

Caution

Overvoltages can damage the drive.

 If commercial power is connected to U, V, W terminals of Drive, they may be damaged. Be sure to

connect power to L1, L2, L3 terminals.

 Connect short-circuit pins to the B and BI terminals. For external regenerative resistors, remove the

short-circuit pins and use standard resistors for the B+ and B terminals.

Model Resistance

XDL-L7NHB010U

XDL-L7NHB020U

XDL-L7NHB035U

XDL-L7NHB050U

XDL-L7NHB075U

XDL-L7NHB150U

100[]

40[]

27[]

13.4[]

Standard Capacity

Built-in 100 W

Built-in 150 W

Built-in 120 W

Built-in 240 W

External 2000 W

* Notes

Caution

For information about resistance during regenerative capacity expansion, refer to Section 2.4.3, "Regenerative Resistor Options.”

 Configure the system so that the main power (L1, L2, L3) is supplied after the control power (C1,

C2). (Refer to section 2.4.1, “Power Supply Wiring Diagram.”)

 High voltages may remain in the device for sometime even after the main power is disconnected.

Please be careful.

Warnings

After disconnecting the main power, ensure that the charge lamp is off before you start wiring. Failure to do so may result in electric shock.

 Always ground the device over the shortest possible distance. Long ground wires are susceptible to

noise which may cause the device to malfunction.

2-7

2. Wiring and Connection

2.4.1 Power Supply Wiring Diagram

 Power Supply Wiring Diagram(XDL-L7NHB010U~ XDL-L7NHB035U)

AC 380~480[V]

RST

Main OFF

Note 1)

주1)

Main ON

1Ry1MC

1SK

1MC

Servo Drive

서보드라이브

DC 리액터

DC reactor

O L1 L2

U V W

C1 C2

1Ry

+2 4V

Alarm+

Alarm-

B+ B BI

Note 2)

I/O

Note 1) It takes approximately one to two seconds until alarm signal is output after you turn on the

엔코더

Encoder

외부

External

주2)

회생저항

regenerative resistor

main power. Accordingly, push and hold the main power ON switch for at least two seconds.

Note 2) Short-circuit B and BI terminals before use, because XDL-L7NHB010U(100[W], 100[]) and

XDL-L7NHB020U~ XDL-L7NHB035U(150[W], 40[]) have internal regenerative resistance. If the

regenerative capacity is high because of frequent acceleration and deceleration, open the

short-circuit pins (B , BI) and connect an external regenerative resistor to B and B+.

Note 3) Remove approximately 7-10 ㎜ of the sheathing from the cables for the main circuit

power and attach crimp terminals. (Refer to Section 2.4.2, "Power Circuit Electrical

Components.”)

Note 4) Use a (-) flathead screwdriver to connect or remove the main circuit power unit wiring.

2-8

2. Wiring and Connection

 Power Supply Wiring Diagram(XDL-L7NHB050U~ XDL-L7NHB075U)

Note 1)

Servo Drive

DC reactor

 Power Supply Wiring Diagram(XDL-L7NHB150U)

Note 6)

Encoder

External regenerative resistor

Note 1)

Servo Drive

DC reactor

Note 7) External

Encoder

regenerative resistor

2-9

2. Wiring and Connection

Note 5) 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 6) Short-circuit B and BI terminals before use, because XDL-L7NHB050U(120[W], 27[]),

XDL-L7NHB075U(240[W], 27[]) have internal regenerative resistance. If the regenerative

capacity is high because of frequent acceleration and deceleration, attach the short-circuit

pins (B+, B) to NC terminal and connect an external regenerative resistor to B+ and B

before use.

Note 7) By default, use external regenerative resistance for XDL-L7NHB150U(2000[W], 13.4[]), and

connect the resistance to B+ and B terminals before use.

Note 8) For the cables for the main circuit and control power unit, you must use crimp terminals

(XDL-L7NHB050U, XDL-L7NHB075U : GP110028_KET, XDL-L7NHB150U : GP110732_KET)

compliant with electrical components.

(Refer to Section 2.4.2, "Power Circuit Electrical Components.”)

XDL-L7NHB050U, XDL-L7NHB075U and XDL-L7NHB150U use terminal block, so use (+) and (-)

screwdrivers to connect or remove the terminals.

2-10

2. Wiring and Connection

2.4.2 Power Circuit Electrical Components

Name

MCCB

Noise Filter (NF)

XDL-

L7NHB010U

30A Frame

10A

(ABE33b/10)

TB6-

B010LBEI

(10A)

XDL-

L7NHB020U

XDL-

L7NHB035U

30A Frame

20A

(ABE33b/20)

TB6-

B020NBDC

(20A)

XDL-

L7NHB050U

30A Frame

30A

(ABE33b/30)

TB6-

B030NBDC

(30A)

XDL-

L7NHB075U

30A Frame

30A

(ABE33b/30)

TB6-

B040A

(40A)

XDL-

L7NHB150U

50A Frame

50A

(ABE53b/50)

TB6-

B060LA

(60A)

DC reactor 10[A] 20[A] 30[A] 30[A] 50[A]

9A / 550V (GM-12)

18A / 550V

(GM-22)

26A / 550V

(GM-40)

26A / 550V

(GM-40)

38A / 550V

(GM-50)

L1, L2 ,L3,

PO, PI, N

B+, B,

U, V, W

Wire

Note

C1, C2

Crimp terminal

Regenerative

Resistor (Default)

100[W]

100

AWG14 (2.08 ㎟)

UA-F4010, SEOIL

(10mm Strip & Twist)

150[W] 40 120[W] 27 240[W] 27

AWG10

(5.5 ㎟)

GP110028

KET

AWG10 (5.5 ㎟)

GP110028

KET

AWG8

(8.0 ㎟)

GP110732

KET

Connector

(Default)

Note 1) When you select a wire, please use 600V, PVC-insulated wire.

BLZ 7.62HP/3/180LR SN OR BX SO

BLZ 7.62HP/11/180LR SN OR BX SO

To comply with UL(CSA) standards, use UL-certified wire (heat resistant temperature 75℃ or

above).

To comply with other standards, use proper wires that meet applicable standards.

For other special specifications, use wires equivalent or superior to those in this section.

2-11

2. Wiring and Connection

 XDL-L7NHB010U

Wire strip

Weidmuller

SD 0.6x3.5x100

 XDL-L7NHB020U / XDL-L7NHB035U

Wire strip

M4 : 1.2[N*m]

2-12

Weldmuller

M4 : 1.2[N*m]

SD 0.6x3.5x100

2. Wiring and Connection

For information on wiring to BLZ 7.62HP Series connector, refer to the above procedures.

1) Insert electric wire into insert hole with upper locking screw loosened, and use applicable flathead (-) driver

for each model to fully tighten screw to 0.4-0.5 N·m.

2) Otherwise, insufficient torque of locking screw may cause vibration-induced disconnection, system

malfunction and contact-induced fire accident.

3) After you connect a wire to connector, place the connector as closely to servo drive as possible and use

both locking hooks to fully lock it.

4) Use FG locking screw of M4 size (shown in bottom of product) to tighten it to 1.2 N·m.

5) Insufficient torque of locking screw may cause FG contact failure and even malfunctioning drive.

6) Recommended (-) driver: Use Weidmuller flathead driver (SD 0.6×3.5×100).

2-13

2. Wiring and Connection

 XDL-L7NHB050U

TB3

TB2

TB1

NC : Internal Regenerative Resistor

Screw for Fixing Lead Terminal

Terminal signal

TB1

L1 L2 L3 B+ B U V W FG FG

TB2

N PO P1

TB3

C1 C2

Terminal screw: M4

Tightening torque: 1.2 N·m

Terminal screw: M4

Tightening torque: 1.2 N·m

Terminal screw: M4

Tightening torque: 1.2 N·m

1) Otherwise, insufficient torque of locking screw may cause vibration-induced disconnection, system malfunction

and contact-induced fire accident.

2) Use FG locking screw of M4 size (shown in bottom of product) to tighten it to 1.2 N·m.

2-14

2. Wiring and Connection

 XDL-L7NHB075U

TB3

TB2

TB1

NC : Internal Regenerative Resistor

Screw for Fixing Lead Terminal

Terminal signal

Terminal screw

Tightening torque

Terminal screw

Tightening torque

Terminal screw

Tightening torque

1) Otherwise, insufficient torque of locking screw may cause vibration-induced disconnection, system malfunction

and contact-induced fire accident.

2) Use FG locking screw of M4 size (shown in bottom of product) to tighten it to 1.2 N·m.

2-15

2. Wiring and Connection

 XDL-L7NHB150U

TB2

TB1

Terminal signal

1) Otherwise, insufficient torque of locking screw may cause vibration-induced disconne ction, system malfunction and contact-induced fire accident.

TB1

L1 L2 L3 N PO PI B+ B U V W

TB2

C1 C2

Terminal screw: M5 Tightening torque: 3.24 N·m

Terminal screw: M4 Tightening torque: 1.2 N·m

Terminal screw: M5 Tightening torque: 3.24 N·m

2) Use FG locking screw of M4 size (shown in bottom of product) to tighten it to 1.2 N·m.

2-16

2. Wiring and Connection

2.4.3 Regenerative Resistor Options

2.5 Wiring for Input/Output Signals

 I/O Connector Specification : 10120-3000PE (3M)

 Analog Monitoring Connector Specification : DF-11-4DS-2C (HIROSE)

2.5.1 Names and Functions of Digital Input/Output

Signals

 Names and Functions of Digital Input Signals (I/O Connector)

Number

6 +24V DC 24V

11 DI1 POT

name assignment Details Function

DC 24V

INPUT

Forward

(CCW)

prohibited

COMMON

The actuator stops the servo motor to prevent it from moving beyond the motion range in forward direction.

2-18

Reverse

12 DI2 NOT

7 DI3 HOME Origin sensor

8 DI4 STOP Servo stop

(CW)

prohibited

The actuator stops the servo motor to prevent it from moving beyond the motion range in reverse direction.

Connects the origin sensor to return to the origin.

Stops the servo motor when the contact is on.

2. Wiring and Connection

13 DI5 PCON

14 DI6 GAIN2

9 DI7 PCL

10 DI8 NCL

** PROBE1

** PROBE2

** EMG

** ARST Alarm reset Resets the servo alarm.

** LVSF1

** LVSF2

Suppression

P control

action

Switch from

Gain 1 to 2

Forward

torque limit

Negative

torque limit

Touch

probe 1

Touch

probe 2

Emergency

stop

Vibration

Filter 1

Vibration

Filter 2

When the contact is on, it converts the

mode from PI control to P control.

When the contact is on, it switches the

speed control gain 1  the gain 2

When the contact is on, the forward

torque limit function is activated.

When the contact is on, the negative

torque limit function is activated.

The probe signal to rapidly store the

position value (1)

The probe signal to rapidly store the

position value (2)

Emergency stop when the contact is on.

Depending on the Vibration

Suppression Filter function

setting(0x2515), using filter 1 signal

Depending on the Vibration

Suppression Filter function

setting(0x2515), using filter 2 signal

** SVON Servo On Servo On

Note 1) **Signals not assigned by default as factory setting. The assignment may be changed by

parameter setting. For more information, refer to 「5.2 Input/Output Signals Setting.」

Note 2) Wiring can be also done by using COMMON (DC 24 V) of the input signal as the GND.

 Names and Functions of Digital Output Signals

Number

1 DO1+ BRAKE+

2 DO1- BRAKE-

17 DO2+ ALARM+

18 DO2- ALARM-

3 DO3+ RDY+

4 DO3- RDY-

19 DO4+ ZSPD+

20 DO4- ZSPD-

Name assignment Details Function

Brake Outputs brake control signal.

Servo alarm Outputs signal when alarm occurs.

This signal is output when the main

Servo ready

Zero speed

reached

power is established and the preparations for servo operation are complete.

Outputs a signal when the current speed drops below the zero speed.

** INPOS1

Position

reached 1

Outputs signal when having reached the command position (1)

2-19

2. Wiring and Connection

** TLMT Torque Limit

** VLMT Speed limit

** INSPD

** WARN

** TGON

** INPOS2

** Unassigned signals. The assignment may be changed by parameter setting. For more

information, refer to 「5.2 Input/Output Signals Setting.」

Speed

reached

Servo

warning

Rotation

detection

Position

reached 2

Outputs signal when the torque is limited.

Outputs signal when the speed is limited.

Outputs signal upon reaching the command speed.

Outputs signal when a warning occurs.

Outputs signal when the servo motor is rotating above the set value.

Outputs signal when having reached the command position (2)

2.5.2 Names and Functions of Analog Input/Output

Signals

 Names and Functions of Analog Input Signals (I/O Connector)

Number

15 A-TLMT Analog torque limit

5 AGND AGND (0V) Analog ground

Name Details Function

It applies -10~+10V between A-TMLT(AI1) and AGND to limit motor output torque. Relationship between input voltage and limit torque depends on the value of [0x221C].

 Names and Functions of Analog Output Signals (Analog Monitoring

Connector)

Number

1 AMON1 Analog Monitor 1 Analog monitor output (-10V ~ +10)

2 AMON2 Analog Monitor 2

3 AGND AGND (0V) Analog ground

4 AGND AGND (0V) Analog ground

Note 1) You can change the output variables to be monitored with analog monitor output by parameter

setting.

Name Details Function

Analog monitor output (-10V ~ +10)

2-20

For more information, refer to 「5.2.3 Analog Monitor.」

2. Wiring and Connection

2-21

2. Wiring and Connection

2.5.3 Examples of Connecting Input/Output Signals

 Examples of Connecting Digital Input Signals

Caution

1. The input contact can be set to the contact A or the contact B, based on the characteristics of

individual signal.

2. Each input contact can be assigned to 15 functions.

3. For more information on signal assignment and contact change of the input contact, refer to 5.2

Input/Output Signals Setting.

4. The rated voltage is DC 12 V to DC 24 V.

Servo Drive

Internal

Circuit

Internal

Circuit

R1 : 3.3K, R2 : 680

 Example of Connecting Digital Output Signals

Caution

1. The output contact can be set to the contact A or the contact B, based on the characteristics of

individual signal.

2. Each output contact can be assigned to 11 output functions.

3. For more information on signal assignment and contact change of the output contact, refer to

5.2 Input/Output Signals Setting.

4. Overvoltages or overcurrents may damage the device because it uses an internal transistor switch.

5. The rated voltage and current are DC 24 V ± 10% and 120 [㎃].

2-22

2. Wiring and Connection

Servo Drive

Internal

Circuit

Internal

Circuit

Note 1) For DO1~ DO4 output signals, the GND24 terminal is separated.

 Example of Connecting Analog Output Signals

Caution

1. For more information on settings and scale adjustment of monitoring signals, refer to 5.2.3

Assignment of Analog output signals.

2. The range of analog output signals is -10V to 10V.

3. The resolution of analog output signal is 12 bits.

4. The maximum load current allowed is 2.5 [mA].

5. The stabilization time is 15 [us].

Servo Drive

2-23

2. Wiring and Connection

2.5.4 Examples of Connecting Input/Output Signals

Analog torque

limit

Digital Input

Analog Input

Digital Output

2-24

Safe function input

Safety function output

Analog Output

Note 1) The input signals DI1 - DI8 and output signals DO1 - DO4 are the factory default signals.

2. Wiring and Connection

2.6 Wiring of Encoder Signal (ENCODER)

 ENCODER Connector Specification: 10114-3000VE (3M)

2.6.1 Quadrature Encoder Signaling Unit Wiring

 APCS-EAS Cable

Servo Drive Servo Motor

Encoder

2-25

2. Wiring and Connection

 APCS-EBS Cable

Servo Motor

Encoder

Servo Drive

2.6.2 Serial Encoder Signaling Unit Wiring

 APCS-ECS Cable

Servo Motor

Encoder

Servo Drive

2-26

2. Wiring and Connection

 APCS-EDS Cable

Servo Motor

Encoder

Servo Drive

 APCS-EES Cable

Servo Motor

Encoder

Servo Drive

2-27

2. Wiring and Connection

2.6.3 Multi-Turn Encoder Signaling Unit Wiring

 APCS-ECS1 Cable

Servo Motor

Encoder

Servo Drive

 APCS-EDS1 Cable

Servo Motor

Encoder

Servo Drive

2-28

2. Wiring and Connection

 APCS-EES1 Cable

Servo Motor

Encoder

Servo Drive

2.6.4 Tamagawa Encoder Signaling Unit Wiring

Servo Motor

Encoder

Servo Drive

2-29

2. Wiring and Connection

2.6.5 EnDat 2.2 Encoder Signaling Unit Wiring

Servo Motor

Encoder

Servo Drive

2-30

2. Wiring and Connection

2.7 Wiring for Safety Function Signals (STO)

 2069577-1(Tyco Electronics)

2143658

2.7.1 Names and Functions of Safety Function Signals

Number

1 +12V

2 -12V

3 STO1- DC 24 V GND

4 STO1+ Blocks the current (torque) applied to the motor when the signal is off.

5 STO2- DC 24 V GND

6 STO2+ Blocks the current (torque) applied to the motor when the signal is off.

name Function

For bypass wiring

7 EDM+

8 EDM-

Monitor output signal for checking the status of safety function input signal

2-31

2. Wiring and Connection

2.7.2 Example of Connecting Safety Function Signals

Caution

1. The rated voltage is DC 12 V to DC 24 V.

2. With the contacts of STO1 and STO2 off, the motor output current is blocked.

24 V power

Driving signal

Blocking

Safety Module

2-32

2. Wiring and Connection

2.7.3 Bypass Wiring of Safety Function Signal

This drive provides the Mini I/O Bypass connector which has Bypass wiring to be used for the convenience of the user when the STO function is not used. To use the Bypass function, connect the Mini I/O Plug connector as follows.

If you connect +12V to STO2-, -12V to STO1+ and STO1- to STO2+ for wiring of the Mini I/O Plug connector, you can bypass the safety function signal. Never use this power (+12V,-12V) except for this purpose.

 Mini I/O By-pass Connector

 Mini I/O Plug Connector

1971153-1(Tyco Electronics)

2069577-1(Tyco Electronics)

2-33

2. Wiring and Connection

2.8 Wiring for EtherCAT Communication Signals

2.8.1 Names and Functions of EtherCAT

Communication Signals

 EtherCAT IN and EtherCAT OUT Connector

Number

1 TX/RX0 +

2 TX/RX0 -

3 TX/RX1+

4 TX/RX2 -

5 TX/RX2 +

6 TX/RX1 -

7 TX/RX3 +

8 TX/RX3 -

Note 1) EtherCAT only uses signals from No. 1, 2, 3, and 6.

Signal Name Line color

White/Orange

Orange

White/Green

Blue

White/Blue

Green

White/Brown

Brown

Plate Shield

2-34

2. Wiring and Connection

2.8.2 Example of Drive Connection

The following figure shows the connection between a master and slave using EtherCAT communication. This is an example of a connection by topology of basic line type.

For an environment with much noise, install ferrite core at both ends of the EtherCAT cable.

2-35

3. EtherCAT Communication

EtherCAT stands for Ethernet for Control Automation Technology. It is a communication method for masters and slaves which uses Real-Time Ethernet, developed by the German company BECKHOff and managed by the EtherCAT Technology Group (ETG).

The basic concept of the EtherCAT communication is that, when a DataFrame sent from a master passes through a slave, the slave inputs the received data to the DataFrame as soon as it receives the data.

EtherCAT uses a standard Ethernet frame compliant with IEEE802.3. Based on the Ethernet of 100BASE-TX, therefore, the cable can be extended up to 100 m, and up to 65,535 nodes can be connected. In addition to this, when using a separate Ethernet switch, you can interconnect it to common TCP/IP.

3.1 Structure of CANopen over EtherCAT

This drive supports a CiA 402 drive profile. The Object Dictionary in the application layer includes application data and PDO (Process Data Object) mapping information from the process data interface and application data.

The PDO can be freely mapped, and the content of the process data is defined by PDO mapping.

The data mapped to the PDO is periodically exchanged (read and written) between an upper level controller and a slave by process data communication; the mailbox communication is not performed periodically; and all of the parameters defined in the Object Dictionary are accessible.

3-1

3. EtherCAT Communication

3.1.1 EtherCAT State Machine

The EtherCAT drive has 5 states as above, and a state transition is done by an upper level controller (master).

State Details

Boot

Init

Pre-Operational Mailbox communication is possible.

Safe-

Operational

A state for firmware update. Only mailbox communication using the FoE (File access over EtherCAT) protocol is available. The drive can transit to the Boot state only when in the Init state.

Initializes the communication state. Unable to perform mailbox or process data communication.

Mailbox communication is possible and PDO can be transmitted. PDO can not be received. The process data of the drive can be passed to an upper level controller.

Mailbox communication is possible and PDO can be transmitted and received. The process data can be properly exchanged between the drive and the upper level controller, so the drive can be normally operated.

3-2

3. EtherCAT Communication

3.2 Status LED

The LEDs on the EtherCAT ports of this drive indicate the states of the EtherCAT communications and errors, as shown in the following figure. There are 3 green LEDs, which are L/A0, L/A1, and RUN, and 1 red ERR LED.

L/A 0

L/A 1

RUN

ERR

x10

 L/A0, L/A1 (Link Activity) LED

The L/A0 LED and L/A1 LED indicate the status of the EtherCAT IN and EtherCAT OUT communication ports, respectively. The following table outlines what each LED state indicates.

LED status Description

OFF Not connected for communication.

Flickering

Connected, and communication is enabled.

ON Connected, but communication is disabled.

3-3

3. EtherCAT Communication

 RUN LED

The RUN LED indicates in which status the drive is in the EtherCAT State Machine.

LED status Description

OFF The drive is in the Init state.

The drive is in the Pre-Operational state.

Blinking

The drive is in the Safe-Operational state.

Single Flash

ON The drive is in the Operational state.

 ERR LED

The ERR LED indicates the error status of the EtherCAT communication. The following table outlines what each LED state indicates:

LED status Description

OFF Indicates normal state of the EtherCAT communication without any error.

Indicates that the drive has received a command from the EtherCAT master, instructing it to perform a setting which is not feasible in the present state or to perform an impossible state transition.

Blinking

A DC PLL Sync error occurred.

Single Flash

A Sync Manager Watchdog error occurred.

Double Flash

ON A servo alarm of the drive occurred.

3-4

3. EtherCAT Communication

3.3 Data Type

The following table outlines the type and range of the data types used in this manual.

Codes Description Range

SINT Signed 8bit -128 ~127

USINT Unsigned 8bit 0 ~ 255

INT Signed 16bit -32768 ~ 32767

UINT Unsigned 16bit 0 ~ 65535

DINT Signed 32bit -2147483648 ~ 2147483647

UDINT Unsigned 32bit 0 ~ 4294967295

FP32 Float 32bit Single precision floating point

STRING String Value

3.4 PDO assignment

The EtherCAT uses the Process Data Object (PDO) to perform real-time data transfers. There are two types of PDOs: RxPDO receives data transferred from the upper level controller, and TxPDO sends the data from the drive to the upper level controller.

This drive uses the objects of 0x1600 to 0x1603 and 0x1A00 to 0x1A03 to assign the RxPDO and the TxPDO, respectively. Up to 10 objects can be assigned to each PDO. You can check the PDO assignment attribute of each object to see if it can be assigned to the PDO.

The diagram below shows the PDO assignment:

Upper level

controller

Servo

Drive

This is an example when assigning the Controlword and the Target Position with the RxPDO (0x1600).

Index SubIndex Name Data Type

0x6040 0x00 Controlword UINT

0x607A 0x00 Target Position DINT

The setting values of the RxPDO (0x1600) are as follows:

3-5

3. EtherCAT Communication

SubIndex

Setting values

0 0x02 (2 values assigned)

Bit 31~16(Index) Bit 15~8(Sub index) Bit 7~0(Bit size)

1 0x6040 0x00 0x10

2 0x607A 0x00 0x20

This is an example to assign the Statusword, the Actual Position Value, and the Actual Velocity Value with the TxPDO (0x1A00).

Index SubIndex Name Data Type

0x6041 0x00 Statusword UINT

0x6064 0x00 Actual Position Value DINT

0x606C 0x00 Velocity Actual Value DINT

The setting values of the TxPDO (0x1A00) are as follows:

SubIndex

Setting values

0 0x03 (3 values assigned)

Bit 31~16(Index) Bit 15~8(Sub index) Bit 7~0(Bit size)

1 0x6041 0x00 0x10

2 0x6064 0x00 0x20

3 0x606C 0x00 0x20

The Sync Manager can be composed of multiple PDOs. The Sync Manager PDO Assign Object (RxPDO:0x1C12, TxPDO:0x1C13) indicates the relationship between the SyncManager and the PDO.

The following figure shows an example of the SyncManager PDO mapping:

3-6

3. EtherCAT Communication

play

 PDO Mapping

The following tables list the PDO mappings set by default. These settings are defined in the EtherCAT Slave Information file (XML file).

PDO Mapping:

Ta rg et t or qu e

Actual code

value

Ta rg et

Posit ion a ctual

value

Ta rg et v el oc it y

Posit ion a ctual

Ta rg e t t o rq u e

Posit ion actual value

Ta rg et

position

Posit ion

actual value

Tou ch P ro be

Function

Following erro actual value

Tou ch P ro be

Function

Tou ch p ro be

status

Tou ch P ro be

Function

Tou ch p ro be

status

Modes of O

eration

Following

error actual

value

Digital output

Tou ch p ro be

status

Digital output

Tou c h pr ob e 1 positive position

Digital output

Tou c h p ro b e 1 positive position valu

Tou ch P ro be

Function

Digital input

Tou c h p ro be 1

positive position

value

Digital input

Operation

Mode

Dis

Digital input

Command

eed

Drive speed

Tou ch p ro be

status

Tou ch pr ob e 1

positive

position value

3-7

3. EtherCAT Communication

3.5 Synchronization Using the DC (Distributed

Clock)

The Distributed Clock (DC) synchronizes EtherCAT communication. The master and slave share a reference clock (system time) for synchronization, and the slave synchronizes its applications with the Sync0 event generated by the reference clock.

The following synchronization modes exist in this drive. You can change the mode with the sync control register.

(1) Free-run Mode:

In free-run mode, it operates each cycle independent of the communication cycle and master cycle.

(2) DC Synchronous Mode:

DC Synchronous mode, the Sync0 event from the EtherCAT master synchronizes the drive. Please use this mode for more precise synchronous control

3-8

3. EtherCAT Communication

3.6 Emergency Messages

Emergency messages are passed to the master via mailbox communication when a servo alarm occurs in the drive. Emergency messages may not be sent in the event of communication failure.

Emergency messages consist of 8-byte data.

Byte 0 1 2 3 4 5 6 7

Details

Emergency error

code

(0xFF00)

Error Register

Reserved

(0x1001)

Unique field for each manufacturer

Servo alarm code

Reserved

3-9

4. CiA402 Drive Profile

4.1 State machine

Additional state

State to be changed

by the slave

State which can b e

checked by the master

The control power is on; the

main power can be turned on.

The control and main powers are on;

torque cannot be applied to the motor.

Torque can be applied to the motor.

State Description

Not ready to switch on Reset is in progress by control power on.

Switch on disabled Initialization completed, but the main power cannot be turned on.

Ready to switch on The main power can be turned on and the drive function is disabled.

Switched on The main power is turned on and the drive function is disabled.

Operation enabled The drive function is enabled, and the servo is on.

Quick Stop active Quick stop function is in operation.

Fault reaction active A servo alarm occurred, causing a relevant sequence to be processed.

Fault Servo alarm is activated.

4-1

4. CiA402 Drive Profile

 State Machine Control Commands

Switching states of the State Machine can be done through combinations of Controlword (0x6040) bits setting, as described in the table below:

Command

bits of the Controlword (0x6040)

Bit 7 Bit 3 Bit 2 Bit 1 Bit 0

Shutdown x x 1 1 0 2, 6, 8

Switch on x 0 1 1 1 3

Switch on

x 1 1 1 1 3 + 4

+ Enable operation

Disable voltage x x x 0 x 7, 9, 10,12

Quick stop x x 0 1 x 7, 10,11

Disable operation x 0 1 1 1 5

Enable operation x 1 1 1 1 4, 16

Fault reset 0  1 x x x x 15

State Machine

switching

 Statusword Bit Names (0x6041)

You can check the state of the State Machine through bit combinations of the Statusword (0x6041), as described in the table below:

Command

Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Not ready to switch on 0 0 x 0 0 0 0

Switch on disabled 1 1 x 0 0 0 0

Ready to switch on 0 1 x 0 0 0 1

Switched on 0 1 x 0 0 1 1

Operation enabled 0 1 x 0 1 1 1

Fault reaction active 0 1 x 1 1 1 1

Fault 0 1 x 1 0 0 0

bits of the Statusword (0x6041)

Bit No. Data Description Note

0 Ready to switch on

1 Switched on

2 Operation enabled

3 Fault

For more information, refer to 9.3 CiA402 Objects.

4-2

4 Voltage enabled

5 Quick stop

4. CiA402 Drive Profile

6 Switched on disabled

7 Warning

8 -

9 Remote

10 Target reached

11 Internal limit active

14 Torque limit active

15 Drive specific

Operation mode specific

4.2 Operation Modes

This drive supports the following operation modes (0x6060):

 Profile Position Mode(PP)

 Homing Mode(HM)

 Profile Velocity Mode(PV)

 Profile Torque Mode(PT)

 Cyclic Synchronous Position Mode(CSP)

 Cyclic Synchronous Velocity Mode(CSV)

 Cyclic Synchronous Torque Mode(CST)

Drive functions supported for each mode are listed in the table below:

Operation Modes

Function

Electric Gear O O O O

Speed

feedforward

Torque

feedforward

Position

command filter

Real-time gain

adjustment

Notch filter O O O O

Disturbance

observer

CSP

O X X OX

O O X O

O X X OX

O O O O

O O X O

CSV

CST

4-3

4. CiA402 Drive Profile

Note 1) For the HM mode, the control mode is internally switched; thus, the function of speed feedforward

and/or position command filter may be applied or not, depending on the operation condition.

 Related Objects

Index

0x6060 - Modes of Operation SNIT RW Yes -

0x6061 - Modes of Operation Display SNIT RO Yes -

0x6502 - Supported Drive Modes UDINT RO No -

Sub

Index

Name

Variable

type

Accessibility

PDO

assignment

Unit

4-4

4. CiA402 Drive Profile

4.3 Position Control Modes

4.3.1 Cyclic Synchronous Position Mode

The Cyclic Synchronous Position (CSP) mode receives the target position (0x607A), renewed at every PDO update cycle, from the upper level controller, to control the position.

In this mode, the controller is able to calculate the velocity offset (0x60B1) and the torque offset (0x60B2) corresponding the speed and torque feedforwards respectively, and pass them to the drive.

The block diagram of the CSP mode is as follows:

4-5

4. CiA402 Drive Profile

 Related Objects

Index

0x6040 - Controlword UINT RW Yes -

0x6041 - Statusword UINT RO Yes -

0x607A - Target Position DINT RW Yes UU

0x607D

0x6084 - Profile Deceleration UDINT RW No UU/s

0x6085 - Quick Stop Deceleration UDINT RW No UU/s

0x60B0 - Position Offset DINT RW Yes UU

0x60B1 - Velocity Offset DINT RW Yes UU/s

0x60B2 - Torque Offset INT RW Yes 0.1%

Sub

Index

- Software Position Limit - - - -

0 Number of entries USINT RO No -

1 Min position limit DINT RW No UU

2 Max position limit DINT RW No UU

Name

Variable

type

Accessibility

PDO

assignment

Unit

0x6062 - Position Demand Value DINT RO Yes UU

0x60FC - Position Demand Internal Value DINT RO Yes pulse

0x606C - Velocity Actual Value DINT RO Yes UU/s

0x606D - Velocity Window UINT RW No UU/s

0x606E - Velocity Window Time UINT RW No ms

0x6077 - Torque Actual Value INT RO Yes 0.1%

0x606C - Velocity Actual Value DINT RO Yes UU/s

0x6064 - Position Actual Value DINT RO Yes UU

0x6063 - Position Actual Internal Value DINT RO Yes pulse

4-6

4. CiA402 Drive Profile

 Internal Block Diagram of CSP Mode

4-7

4. CiA402 Drive Profile

4.3.2 Profile Position Mode

Unlike the CSP mode receiving the target position, renewed at every PDO update cycle, from the upper level controller, in the Profile Position (PP) mode, the drive generates a position profile internally to operate up to the target position (0x607A) using the profile velocity (0x6081), acceleration (0x6083), and deceleration (0x6084).

The block diagram of the PP mode is as follows:

4-8

 Related Objects

Index

0x6040 - Controlword UINT RW Yes -

0x6041 - Statusword UINT RO Yes -

0x607A - Target Position DINT RW Yes UU

0x607D

Sub

Index

- Software Position Limit - - - -

0 Number of entries USINT RO No -

1 Min position limit DINT RW No UU

Name

Variable

type

Accessibility

PDO

assignment

Unit

4. CiA402 Drive Profile

2 Max position limit DINT RW No UU

0x607F - Maximum Profile Velocity UDINT RW Yes UU/s

0x6081 - Profile Velocity UDINT RW No UU/s

0x6083 - Profile Acceleration UDINT RW No UU/s

0x6084 - Profile Deceleration UDINT RW No UU/s

0x6085 - Quick Stop Deceleration UDINT RW No UU/s

0x60B1 - Velocity Offset DINT RW Yes UU/s

0x60B2 - Torque Offset INT RW Yes 0.1%

0x6062 - Position Demand Value DINT RO Yes UU

0x60FC - Position Demand Internal Value DINT RO Yes pulse

0x606C - Velocity Actual Value DINT RO Yes UU/s

0x606D - Velocity Window UINT RW No UU/s

0x606E - Velocity Window Time UINT RW No ms

0x6077 - Torque Actual Value INT RO Yes 0.1%

0x606C - Velocity Actual Value DINT RO Yes UU/s

0x6064 - Position Actual Value DINT RO Yes UU

0x6063 - Position Actual Internal Value DINT RO Yes pulse

4-9

4. CiA402 Drive Profile

 Internal Block Diagram of PP Mode

4-10

4. CiA402 Drive Profile

You can use the following three position commands in Profile Position Mode:

 Single set point

After reaching the target position, the drive sends a completion signal to the upper level controller and receives a new command.

 Change immediately

After receiving a new position command while driving to the target position, it drives to the new position regardless of the existing target position.

 Set of Set point

After receiving a new position command while driving to the target position, it subsequently drives to the new target position after driving to the existing target position.

The three methods mentioned above can be set by a combination of the New setpoint bit (Controlword, 0x6040.4), the Change set immediately bit (Controlword, 0x6040.5), and the Change setpoint bit (Controlword, 0x6040.9).

 Single Set Point Driving Procedure

(1) Specify the target position (0x607A).

(2) Set the New setpoint bit to 1 and the Change set immediately bit to 0 to request the position

operation.

(3) The drive notifies the operator of its arrival at the target position with the Target reached bit

(Statusword, 0x6041.10). The drive can suspend where it is or perform a new position operation if it receives the New set point bit.

4-11

4. CiA402 Drive Profile

 Change Immediately Driving Procedure

(1) Specify the target position (0x607A).

(2) Set the New setpoint bit to 1 and the Change set immediately bit to 1 to request the position

operation.

(3) You can begin a new position operation (New setpoint) regardless of the previous target position.

The drive immediately moves to the new position.

(4) The drive notifies the operator of its arrival at the target position with the Target reached bit

(Statusword, 0x6041.10).

 Set of Set Point Driving Procedure

4-12

(1) Specify the target position (0x607A).

(2) Set the New setpoint bit to 1 and the Change of Set point bit to 1 to request the position operation.

(3) After reaching the previous target position, the drive begins to move to the new position (New

setpoint).

(4) The drive notifies the operator of its arrival at the target position with the Target reached bit

(Statusword, 0x6041.10).

4. CiA402 Drive Profile

4.4 Velocity Control Mode

4.4.1 Cyclic Synchronous Velocity Mode

The Cyclic Synchronous Velocity (CSV) mode receives the target velocity (0x60FF), renewed at every PDO update cycle, from the upper level controller, to control the velocity.

This mode allows the upper level controller to calculate the torque offset (0x60B2) corresponding the torque feedforward and pass it to the drive.

The block diagram of the CSV mode is as follows:

 Related Objects

Index

0x6040 - Controlword UINT RW Yes -

0x6041 - Statusword UINT RO Yes -

0x60FF - Target Velocity DINT RW Yes UU/s

0x6084 - Profile Deceleration UDINT RW No UU/s

0x6085 - Quick Stop Deceleration UDINT RW No UU/s

0x60B1 - Velocity Offset DINT RW Yes UU/s

0x60B2 - Torque Offset INT RW Yes 0.1%

0x606B - Velocity Demand Value DINT RO Yes UU

0x606C - Velocity Actual Value DINT RO Yes UU/s

Sub

Index

Name

Variable

type

Accessibility

PDO

assignment

Unit

4-13

4. CiA402 Drive Profile

0x606D - Velocity Window UINT RW No UU/s

0x606E - Velocity Window Time UINT RW No ms

0x6077 - Torque Actual Value INT RO Yes 0.1%

0x606C - Velocity Actual Value DINT RO Yes UU/s

0x6064 - Position Actual Value DINT RO Yes UU

0x6063 - Position Actual Internal Value DINT RO Yes pulse

4-14

4. CiA402 Drive Profile

 Internal Block Diagram of CSV Mode

0x60B1

Velocity Offset

[UU/s]

0x6085

Quick Stop Dec.

[UU/s^2]

0x605A

Quick Stop

Option Code

0x60B2

Torque Offset

[0.1%]

0x606C

Velocity Actual

Value [UU/s]

0x6077

Torque Actual

Value [0.1%]

Velocity

Limit

Function

Gear Ratio

Inverse

Positon

Calulation

0x60FF

Target Velocity

[UU/s]

Interpolate

Velocity

Command

0x6064

Position Actual

Value [UU]

Speed Feedback

Time

Filter

0x210B

Velocity

Calulation

0x606B

Velocity Demand

Value [UU/s]

Gear Ratio

0x6091:01

Motor

0x6091:02

Shaft

0x60BA or 0x60BC

Touch Probe 1/2

Positive Edge

Position Value[UU]

Torque

Feed-Forward

Gain

Filter

Speed Control

P Gain I Gain

0x2102

0x2106

0x60BB or 0x60BD

Position Value[UU]

0x210E

0x210F

0x2103

0x2107

Processing Acc./Dec.

Speed Command

Acc. Time 0x2301

Dec. Time 0x2302

S-curve Time 0x2303

Touch Probe 1/2

Negative Edge

Gear Ratio

Inverse

P/PI Gain Conversion

Torque

Speed

Following

Error

Current Control

P/PI

Mode

Acc.

0x2514Gain

Servo-Lock

Function

Select 0x2311

0x6063

Position Internal

Actual Value [pulse]

0x2114

0x2115

0x2116

0x2117

0x2118

Disturbance

Observer

Gain

0x2512

Filter

0x2513

0x6074

Torque Demand

Value [0.1%]

Adaptive Filter function Select

Frequency

0x2501

0x2504

0x2507

0x250A

Gain Conversion

Mode

Time1

Time2

Waiting

Time1

Waiting

Time2

Notch Filter

0x2500

Width

0x2502

0x2505

0x2508

0x250B

Torque Command

Filter

0x2104

0x2108

Torque Limit

Select

Ext. Positive

Ext. Negative

Positive

Negative

Max.

0x2119

0x211A

0x211B

0x211C

0x211D

Depth

0x2503

0x2506

0x2509

0x250C

0x2110

0x2111

0x2112

0x60E0

0x60E1

0x6072

4-15

4. CiA402 Drive Profile

4.4.2 Profile Velocity Mode

Unlike the CSV mode receiving the target velocity, renewed at every PDO update cycle, from the upper level controller, in the Profile Velocity (PV) mode, the drive generates a velocity profile internally up to the target velocity (0x60FF) using the profile acceleration (0x6083) and deceleration (0x6084), in order to control its velocity.

At this moment, the max. profile velocity (0x607F) limits the maximum velocity.

The block diagram of the PV mode is as follows:

4-16

4. CiA402 Drive Profile

 Related Objects

Index

Sub

Index

Name

Variable

type

Accessibility

PDO

assignment

Unit

0x6040 - Controlword UINT RW Yes -

0x6041 - Statusword UINT RO Yes -

0x60FF - Target Velocity DINT RW Yes UU/s

0x607F - Maximum Profile Velocity UDINT RW Yes UU/s

0x6083 - Profile Acceleration UDINT RW No UU/s

0x6084 - Profile Deceleration UDINT RW No UU/s

0x6085 - Quick Stop Deceleration UDINT RW No UU/s

0x605A - Quick Stop Option Code INT RW No -

0x60B1 - Velocity Offset DINT RW Yes UU/s

0x60B2 - Torque Offset INT RW Yes 0.1%

0x606B - Velocity Demand Value DINT RO Yes UU/s

0x606C - Velocity Actual Value DINT RO Yes UU/s

0x606D - Velocity Window UINT RW No UU/s

0x606E - Velocity Window Time UINT RW No ms

0x6077 - Torque Actual Value INT RO Yes 0.1%

0x606C - Velocity Actual Value DINT RO Yes UU/s

0x6064 - Position Actual Value DINT RO Yes UU

0x6063 - Position Actual Internal Value DINT RO Yes pulse

4-17

4. CiA402 Drive Profile

 Internal Block Diagram of PV Mode

4-18

4. CiA402 Drive Profile

4.5 Torque Control Modes

4.5.1 Cyclic Synchronous Torque Mode

The Cyclic Synchronous Torque (CST) mode receives the target torque (0x6071), renewed at every PDO update cycle, from the upper level controller, to control the torque.

This mode allows the upper level controller to calculate the torque offset (0x60B2) corresponding the torque feedforward and pass it to the drive.

The block diagram of the CST mode is as follows:

 Related Objects

Index

0x6040 - Controlword UINT RW Yes -

0x6041 - Statusword UINT RO Yes -

0x6071 - Target Velocity INT RW Yes 0.1%

0x6072 - Maximum Torque UINT RW Yes 0.1%

0x607F - Maximum Profile Velocity UDINT RW Yes UU/s

0x60E0 - Positive Torque Limit Value UINT RW Yes 0.1%

0x60E1 - Negative Torque Limit Value UINT RW Yes 0.1%

0x60B2 - Torque Offset INT RW Yes 0.1%

Sub

Index

Name

Variable

type

Accessibility

PDO

assignment

Unit

4-19

4. CiA402 Drive Profile

0x6074 - Torque Demand Value INT RO Yes 0.1%

0x606C - Velocity Actual Value DINT RO Yes UU/s

0x606D - Velocity Window UINT RW No UU/s

0x606E - Velocity Window Time UINT RW No ms

0x6077 - Torque Actual Value INT RO Yes 0.1%

0x606C - Velocity Actual Value DINT RO Yes UU/s

0x6064 - Position Actual Value DINT RO Yes UU

0x6063 - Position Actual Internal Value DINT RO Yes pulse

 Internal Block Diagram of CST Mode

4-20

4. CiA402 Drive Profile

4.5.2 Profile Torque Mode

Unlike the CST mode receiving the target torque, renewed at every PDO update cycle, from the upper level controller, in the Profile Torque (PT) mode, the drive generates a torque profile internally up to the target torque (0x6071) by the torque slope (0x6087), in order to control its torque.

At this moment, the torque applied to the motor is limited depending on the Positive/Negative Torque Limit Value (0x60E0 and 0x60E1) and the Maximum Torque (0x6072) based on its driving direction.

The block diagram of the PT mode is as follows:

 Related Objects

Index

0x6040 - Controlword UINT RW Yes -

0x6041 - Statusword UINT RO Yes -

0x6071 - Target Velocity INT RW Yes 0.1%

0x6072 - Maximum Torque UINT RW Yes 0.1%

0x607F - Maximum Profile Velocity UDINT RW Yes UU/s

0x6087 - Torque Slope UDINT RW Yes 0.1%/s

0x60E0 - Positive Torque Limit Value UINT RW Yes 0.1%

0x60E1 - Negative Torque Limit Value UINT RW Yes 0.1%

0x60B2 - Torque Offset INT RW Yes 0.1%

0x6074 - Torque Demand Value INT RO Yes 0.1%

Sub

Index

Name

Variable

type

Accessibility

PDO

assignment

Unit

0x606C - Velocity Actual Value DINT RO Yes UU/s

0x606D - Velocity Window UINT RW No UU/s

4-21

4. CiA402 Drive Profile

0x606E - Velocity Window Time UINT RW No ms

0x6077 - Torque Actual Value INT RO Yes 0.1%

0x606C - Velocity Actual Value DINT RO Yes UU/s

0x6064 - Position Actual Value DINT RO Yes UU

0x6063 - Position Actual Internal Value DINT RO Yes pulse

 Internal Block Diagram of PT Mode

4-22

4. CiA402 Drive Profile

4.6 Homing

This drive provides its own homing function. The figure below represents the relationship between the input and output parameters for the homing mode. You can specify the speed, acceleration, offset, and homing method.

Homing Method

Homing Speeds

Position demand internal value (0x60FC)

Homing Acceleration

Home Offset

or position demand value (0x6062)

As shown in the figure below, you can set the offset between the home position and the zero position of the machine using the home offset. The zero position indicates a point whose Actual Position Value (0x6064) is zero (0).

4-23

4. CiA402 Drive Profile

4.6.1 Homing Method

The drive supports the following homing methods (0x6098):

Homing Method

(0x6098)

7,8,9,10

11,12,13,14

Details

The drive returns to the home position with the negative limit switch (NOT) and the Index

(Z) pulse while driving in the reverse direction.

The drive returns to the home position with the positive limit switch (POT) and the Index

(Z) pulse while driving in the forward direction.

The drive returns to the home position with the home switch (HOME) and the Index (Z)

pulse while driving in the forward direction. When the positive limit switch (POT) is input

during homing, the drive will switch its driving direction.

The drive returns to the home position with the home switch (HOME) and the Index (Z)

pulse while driving in the reverse direction. When the negative limit switch (NOT) is input

during homing, the drive will switch its driving direction.

The drive returns to the home position with the home switch (HOME) while driving in the

forward direction. When the positive limit switch (POT) is input during homing, the drive will

switch its driving direction.

The drive returns to the home position with the home switch (HOME) while driving in the

reverse direction. When the negative limit switch (NOT) is input during homing, the drive

will switch its driving direction.

The drive returns to the home position with the Index (Z) pulse while driving in the reverse

direction.

The drive returns to the home position with the Index (Z) pulse while driving in the forward

direction.

35 Sets the current position as the origin.

-1

-2

-3

-4

-5 During reverse operation, the motor is returned to the orign by Home switch

-6 During foward operation, the motor is returned to the orign by Home switch

The drive returns to the home position with the negative stopper and the Index (Z) pulse

while driving in the reverse direction.

The drive returns to the home position with the positive stopper and the Index (Z) pulse

while driving in the forward direction.

The drive only returns to the home position with the negative stopper while driving in the

reverse direction.

The drive only returns to the home position with the positive stopper while driving in the

forward direction.

4-24

4. CiA402 Drive Profile

 Related Objects

Index

0x6040 - Controlword UNIT RW Yes -

0x6041 - Statusword UINT RO Yes -

0x607C - Home Offset DINT RW No UU

0x6098 - Homing Method SINT RW Yes -

0x6099

0x609A - Homing Acceleration UDINT RW Yes UU/s

Sub

Index

- Homing Speed - - - -

0 Number of entries USINT RO No -

1 Speed during search for switch UDINT RW Yes UU/s

2 Speed during search for zero UDINT RW Yes UU/s

Name

Variable

type

Accessibility

PDO

assignment

Unit

4-25

4. CiA402 Drive Profile

 Homing Methods 1 and 2

Reverse ( CW)

Forward (CCW)

For homing using the Homing Method 1, the velocity profile according to the sequence is as follows. See the details below:

(A) The initial driving direction is reverse (CW), and the drive operates at the Switch Search Speed.

(B) When the negative limit switch (NOT) is turned on, the drive switches its direction to the forward direction (CCW),

decelerating to the Zero Search Speed.

(C) While operating at the Zero Search Speed, the drive detects the first index pulse to move to the index position (Home).

4-26

4. CiA402 Drive Profile

 Methods 7, 8, 9, and 10

Reverse ( CW) Forward (CCW)

For homing using the Homing Method 7, the velocity profile according to the sequence is as follows. The sequence depends on the relationship between the load position and the Home switch at homing, which is categorized into three cases as below. For more information, see the details below:

(1) At the start of homing, when the Home switch is OFF and the limit is not met during

operation

(A) The initial driving direction is forward (CCW), and the drive operates at the Switch Search Speed.

(B) When the Positive Home Switch is turned on, the drive will decelerate to the Zero Search Speed, and then switches its

direction to the reverse direction (CW).

(C) While operating at the Zero Search Speed, the drive detects the first index pulse to move to the index position (Home).

(2) At the start of homing, when the Home switch is ON

4-27

4. CiA402 Drive Profile

(A) Since the Home signal is on, the drive will operate at the Switch Search Speed in the direction of the Positive Home

Switch (CCW). It might not reach the Switch Search Speed depending on the start position of homing.

(B) When the Home switch is turned off, the drive will decelerate to Zero Search Speed, and then continue to operate.

(C) While operating at the Zero Search Speed, the drive detects the first index pulse to move to the index position (Home).

(3) At the start of homing, when the Home switch is OFF and the limit is met during

operation

(A) The initial driving direction is forward (CCW), and the drive operates at the Switch Search Speed.

(B) When the positive limit switch (POT) is turned on, the drive will decelerate down to stop, and then operate at the Switch

Search Speed in the reverse direction (CW).

operate.

(D) While operating at the Zero Search Speed, the drive detects the first index pulse to move to the index position (Home).

The methods from 8 to 10 are nearly identical to the method 7 in terms of the homing sequence. The only differences are the initial driving direction and Home switch polarity.

4-28

The Positive Home Switch is determined by the initial driving direction. A Home switch which is encountered in the initial driving direction becomes the Positive Home Switch.

4. CiA402 Drive Profile

Initial driving direction: Forward (CCW)

Initial driving direction: Reverse (CCW)

 Methods 11, 12, 13, and 14

Reverse ( CW) Forward (CW)

For homing using the Homing Method 14, the velocity profile according to the sequence is as follows. The sequence depends on the relationship between the load position and the Home switch at homing, which is categorized into three cases as below. For more information, see the details below:

4-29

4. CiA402 Drive Profile

(1) At the start of homing, when the Home switch is OFF and the limit is not met during

operation

(A) The initial driving direction is reverse (CW), and the drive operates at the Switch Search Speed.

(B) When the Negative Home switch is turned off, the drive will decelerate to Zero Search Speed, and then continue to

operate.

(C) While operating at the Zero Search Speed, the drive detects the first index pulse to move to the index position (Home).

(2) At the start of homing, when the Home switch is ON

(A) Since the Home signal is on, the drive will operate at the Switch Search Speed in the direction of the Negative Home

Switch (CW). It might not reach the Switch Search Speed depending on the start position of homing.

(B) When the Home switch is turned off, the drive will decelerate to Zero Search Speed, and then continue to operate.

(C) While operating at the Zero Search Speed, the drive detects the first index pulse to move to the index position (Home).

4-30

4. CiA402 Drive Profile

(3) At the start of homing, when the Home switch is OFF and the limit is met during

operation

(A) The initial driving direction is reverse (CW), and the drive operates at the Switch Search Speed.

(B) When the negative limit switch (NOT) is turned on, the drive will decelerate down to stop, and then operate at the Switch

Search Speed in the forward direction (CCW).

(C) When the Negative Home Switch is turned on, the drive will decelerate to the Zero Search Speed, and then switches its

direction to the reverse direction (CW).

(D) While operating at the Zero Search Speed, the drive detects the first index pulse to move to the index position (Home).

The methods from 11 to 13 are nearly identical to the method 14 in terms of the homing sequence. The only differences are the initial driving direction and Home switch polarity.

 Method 24

Reverse ( CW) Forward (CCW)

The initial driving direction is forward (CCW), and a point where the Positive Home Switch is turned on becomes the Home

position.

4-31

4. CiA402 Drive Profile

 Method 28

Reverse ( CW)

Forward (CCW)

The initial driving direction is reverse (CW), and a point where the Positive Home Switch is turned on becomes the Home position.

 Method 33 and 34

Reverse ( CW)

Forward (CCW)

The initial driving direction is reverse (CW) for the method 33, and forward (CCW) for the method 34. The drive detects the index

pulse at the Zero Search Speed.

4-32

LSIS XDL-L7NH, XDL-L7NHB075U, XDL-L7NHB150U, XDL-L7NHB010U, XDL-L7NHB035U User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

XDL-L7NH Series User Manual

Introduction

Table of Contents

1. Product Configuration

1.1 Product Verification

1.2 Product Specifications

1.3 Part Names

1.4 System Configuration Example

2. Wiring and Connection

2.1 Installation of Servo Motor

2.2 Installation of Servo Drive

2.3 Internal Block Diagram of Drive

2.4 Power Supply Wiring

2.5 Wiring for Input/Output Signals

2.6 Wiring of Encoder Signal (ENCODER)

2.7 Wiring for Safety Function Signals (STO)

2.8 Wiring for EtherCAT Communication Signals

3. EtherCAT Communication

3.1 Structure of CANopen over EtherCAT

3.2 Status LED

3.3 Data Type

3.4 PDO assignment

3.6 Emergency Messages

4. CiA402 Drive Profile

4.1 State machine

4.2 Operation Modes

4.3 Position Control Modes

4.4 Velocity Control Mode

4.5 Torque Control Modes

4.6 Homing