LSIS XDL-L7SA002X, XDL-L7SA001X, XDL-L7SA004X, XDL-L7SA010X, XDL-L7SA020X User Manual

The Best Choice for the Most Benefit!

LSIS always tries its best to bring the greatest benefit to its customers.

AC SERVO DRIVE

XGT Servo

 Read all safety precautions before using this

product.

 After reading this manual, store it in a readily

accessible location for future reference.

Safety Precautions

XDL-L7S Series User Manual

Table of Contents

iii

Introduction

Hello. Thank you for choosing LSIS XDL-L7 Series.

This user manual describes how to use the product and what precautions to take.

Failure to comply with guidelines may cause injury or product damage. Be sure to read this
user manual before you use the product and follow all guidelines.

 The contents of this manual are subject to change without prior notice depending on software

versions.

 No reproduction of part or all of the contents of this manual in any form, by any means or for any

purpose, shall be permitted without the explicit written consent of LSIS.

 The patent, trademark, copyright and other intellectual property rights in this user manual are

reserved by LSIS. No use for purposes other than those related to the product of LSIS shall be
authorized.

Table of Contents

iv

Safety Precautions

Safety precautions are categorized as either Danger or Caution, depending on the
seriousness of the precaution.

Precautions Definition

Danger

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

Caution

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

 Certain conditions that are listed as Caution may also result in serious injury.

 Electric Shock 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.

 Be sure to ground both the servo drive and the servo motor.
 Only specifically trained professional engineers are permitted to perform wiring tasks.
 Perform wiring tasks after you install both the servo drive and the servo motor.
 Do not operate the device with wet hands.
 Do not open the servo drive cover while in operation.
 Do not operate the device with the servo drive cover removed.
 Even if the power is off, do not remove the servo drive cover.

 Fire Prevention Precautions

Caution

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

material.

 In case of servo drive malfunction, disconnect the input power.

Table of Contents

v

 Installation Precautions

Store and use the product in an environment as follows:

Environment

Conditions

Servo Drive Servo Motor

Usage temp.

0 ~ 50 ℃ 0 ~ 40 ℃

Storage temp. -20 ~ 65 ℃ -20 ~ 60 ℃

Usage

humidity

Below 90% RH (non-condensing)

Below 80% RH

Storage

humidity

Below 90% RH

Altitude Below 1000 m

Spacing

 When installing 1 unit:

 More than 40 mm space at the top

and bottom of the control panel

 More than 10 mm space at the left

and right sides of the control panel

 When installing 2 or more units:

 More than 100 mm space at the top of

the control panel

 More than 40 mm space at the bottom

of the control panel

 More than 30 mm space at the left

and right sides of the control panel

 More than 2 mm between units
 Refer to "2.2.2 Installation Inside the

Control Panel."

Others

 Install in a location free from iron, corrosive gas, and combustible gas.
 Install in a location free from vibration or shock.

Caution

 Make sure that the installation orientation is correct.
 Do not drop the product or expose it to excessive shock.
 Install in a location that is free from water, corrosive gas, combustible gas, or flammable

material.

 Install in a location that can support the weight of the product.
 Do not stand on the product or place heavy objects on top of it.
 Be sure to maintain the specified spacing when you install the servo drive.
 Be sure not to get conductive or flammable debris inside either the servo drive or the servo

motor.

 Firmly fix the servo motor onto the machine.
 Be sure to install a servo motor with a gearbox in the specified direction.
 Do not touch the rotating unit of the servo motor while you operate the machine.
 Do not apply excessive shock when you connect a coupling to the servo motor shaft.
 Do not place a load on the servo motor shaft that is heavier than specified.

Table of Contents

vi

 Wiring Precautions

Caution

 Be sure to use AC 200-230 V for the input power of the servo drive.
 Be sure to connect the servo drive ground terminal.
 Do not connect commercial power directly to the servo motor.
 Do not connect commercial power directly to the U, V, and W output terminal of the servo drive.
 Directly connect U, V, W output terminals of the servo drive and U, V, W input terminals of the

servo motor, but do not install a magnetic contactor between the wiring.

 Be sure to use a pressurized terminal with an insulation tube when you connect the power

terminal for the servo drive.

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

encoder cable.

 Be sure to use robotic cable if the motor requires movement.
 Before you perform power line wiring, turn off the input power of the servo drive, and then wait

until the charge lamp goes off completely.

 Be sure to use shielded twisted-pair wire for the pulse command signal (PF+, PF-, PR+, PR-),

speed command signal (SPDCOM), and torque command signal (TRQCOM).

 Precautions for Initial Operation

Caution

 Check the input voltage (AC 200-230 V) and power unit wiring before you turn on the power.
 The servo must be in the OFF mode when you turn on the power.
 Before you turn on the power, check the motor's ID and the encoder pulse for XDL-L7 A

A.

 Set the motor ID ([P0-00]) and the encoder pulse ([P0-02]) for XDL-L7 A A first after you

turn on the power.

 After you complete the above settings, set the drive mode for the servo drive that is connected

to the upper level controller to [P0-03].

 Refer to Chapter 1.2 "System Configuration" to perform CN1 wiring for the servo drive

according to each drive mode.

 You can check the ON/OFF state for each input terminal of CN1 at [St-14].

 Precautions for Handling and Operation

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 CN1 and CN2 connectors when the power is off.
 Extreme change of parameters may cause system instability.

Table of Contents

vii

 Precautions for Use

Caution

 Install an emergency stop circuit on the outside to immediately stop operation if necessary.
 Reset the alarm when the servo is off. Be warned that the system restarts immediately if the

alarm is reset while the servo is on.

 Minimize electromagnetic interference by using a noise filter or DC reactor. Otherwise, adjacent

electrical devices may malfunction because of the interference.

 Use only the specified combinations of servo drive and servo motor.
 The electric brake on the servo motor keeps the motor at a standstill. Do not use it for ordinary

braking.

 The electric brake may not function properly depending on the brake lifespan and mechanical

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

 Malfunction Precautions

Caution

 For potentially dangerous situations that may occur during emergency stop or device

malfunction, use a servo motor with an electric brake, or separately install a brake system on
the outside.

 In case of an alarm, solve the source of the problem. After you solve the problem and ensure

safety, deactivate the alarm and start operation again.

 Do not get close to the machine until the problem is solved.

 Precautions for Repair/Inspection

Caution

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

goes off, and then check the voltage. Voltage may remain in the condenser even after you turn
off power and may cause an electric shock.

 Only authorized personnel are permitted to perform repair, inspection or replacement of parts.
 Do not modify the product.

 General Precautions

Caution

 This user manual is subject to change upon product modification or standards changes. In case

of such changes, the user manual will be issued with a new product number.

 Product Application

Caution

 This product is not designed or manufactured for machines or systems that are used in

situations related to human life.

 This product is manufactured under strict quality control. However, be sure to install safety

devices when applying the product to a facility where a malfunction in the product might cause
a major accident or significant loss.

Table of Contents

viii

 EEPROM Lifespan

Caution

 EEPROM is rewritable up to 1 million times for the purpose of, among others, recording

parameter settings. The servo drive may malfunction depending on the lifespan of EEPROM
when the total counts of the following tasks exceed 1 million.

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

 Responding to international regulations

XDL-L7 Series responds to international regulations with standard models.

Model(Note1) Low Voltage Directive EMC Directive

XDL-L7SA001X

XDL-L7SA002X

XDL-L7SA004X

XDL-L7SA008X

XDL-L7SA010X

XDL-L7SA020X

XDL-L7SA035X

XDL-L7SA050X

EN61800-5-1 EN61800-3

Note1) X = A or B: A = Quadrature Encoder Type, B = Serial Encoder Type.

※1: For more information, please feel free to ask LSIS.

※2: Please follow the regulations of destination when exporting.

Table of Contents

ix

Table of Contents

Introduction .................................................................................................................... iii

Safety Precautions ......................................................................................................... iv

Table of Contents ........................................................................................................... ix

1. Product Components and Signals ................................................................... 2-1

1.1 Product Components ..................................................................................................... 2-1

1.1.1 Product Verification ........................................................................................ 2-1

1.1.2 Part Names ....................................................................................................... 2-3

1.2 System Configuration .................................................................................................... 2-8

1.2.1 Overview........................................................................................................... 2-8

1.2.2 Wiring Diagram of the Entire CN1 Connector ............................................2-10

1.2.3 Example of Position Operation Mode Wiring ............................................. 2-11

1.2.4 Example of Speed Operation Mode Wiring ................................................2-12

1.2.5 Example of Torque Operation Mode Wiring ...............................................2-13

1.2.6 Examples of Speed / Position Operation Mode Wiring .............................2-14

1.3 Signal .............................................................................................................................2-17

1.3.1 Digital Input Contact Signal .........................................................................2-17

1.3.2 Analog Input Contact Signal ........................................................................2-18

1.3.3 Digital Output Contact Signal ......................................................................2-18

1.3.4 Monitor Output Signal and Output Power ..................................................2-19

1.3.5 Pulse Train Input Signal ...............................................................................2-19

1.3.6 Encoder Output Signal .................................................................................2-20

2 Installation .......................................................................................................... 2-1

2.1 Servo Motor ..................................................................................................................... 2-1

2.1.1 Usage Environment ......................................................................................... 2-1

2.1.2 Prevention of Excessive Impact .................................................................... 2-1

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

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

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

2.2 Servo Drive ...................................................................................................................... 2-3

2.2.1 Usage Environment ......................................................................................... 2-3

2.2.2 Installation Inside the Control Panel ............................................................. 2-4

2.2.3 Power Wiring ................................................................................................... 2-5

3 Wiring Method .................................................................................................... 3-1

3.1 Internal Block Diagram ................................................................................................... 3-1

3.1.1 XDL-L7 Drive Block Diagram [XDL-L7SA001□ - XDL-L7SA004□] ............... 3-1

3.1.2 XDL-L7 Drive Block Diagram [XDL-L7SA008□ - XDL-L7SA035□] ............... 3-2

3.1.3 XDL-L7 Drive Block Diagram [XDL-L7SA050□ ] ........................................... 3-3

3.2 Power Wiring ................................................................................................................... 3-4

3.2.1 XDL-L7 Drive Wiring Diagram [XDL-L7SA001□ - XDL-L7SA035□] ............. 3-4

3.2.2 XDL-L7 Drive Wiring Diagram [XDL-L7SA050□] ........................................... 3-5

3.2.3 Dimensions for Power Circuit Electrical Parts ............................................. 3-6

3.3 Example of connecting to PLC ....................................................................................3-10

3.4

Timing Diagram .............................................................................................................3-17

Table of Contents

x

3.4.1 Timing Diagram During Power Input .......................................................... 3-17

3.4.2 Timing Diagram at the Time of Alarm Trigger ........................................... 3-18

3.5 Control Signal Wiring .................................................................................................. 3-19

3.5.1 Contact Input Signal ..................................................................................... 3-19

3.5.2 Contact Output Signal ................................................................................. 3-20

3.5.3 Analog Input/Output Signals ....................................................................... 3-21

3.5.4 Pulse Train Input Signal ............................................................................... 3-22

3.5.5 Encoder Output Signal ................................................................................ 3-23

3.6 Quadrature Encoder Signaling Unit (CN2) Wiring .................................................... 3-24

3.6.1 XLCS-EAS Cable .................................................................................... 3-24

3.6.2 XLCS-EBS Cable .................................................................................... 3-24

3.7 Serial Encoder Signaling Unit (CN2) Wiring ............................................................. 3-25

3.7.1 XLCS-ECS Cable .................................................................................... 3-25

3.8 Multi Turn Encoder signal unit(CN2) wiring .............................................................. 3-27

3.8.1 XLCS-ECS1 Cable .................................................................................. 3-27

3.8.2 XLCS-EDS1 Cable .................................................................................. 3-27

3.8.3 XLCS-EES1 Cable .................................................................................. 3-28

3.9 Transmission of Absolute Encoder Data ................................................................... 3-29

3.9.1 Transmission of Absolute Encoder Data ................................................... 3-29

4 Parameters .......................................................................................................... 4-1

4.1 How to Use the Loader .................................................................................................. 4-1

4.1.1 Names and Functions of Each Parts ............................................................ 4-1

4.1.2 Status Summary Display ............................................................................... 4-2

4.1.3 Parameter Handling ....................................................................................... 4-4

4.1.4 Data Display .................................................................................................... 4-8

4.1.5 External Input Contact Signal Display [St-14] ........................................... 4-10

4.1.6 External Input Signal and Logic Definition ................................................. 4-11

4.1.7 External Output Contact Signal Display [St-15] ........................................ 4-19

4.1.8 External Output Signal and Logic Definition ............................................. 4-20

4.2 Parameter Description ................................................................................................ 4-26

4.2.1 Parameter System ........................................................................................ 4-26

4.2.2 Operation Status Display Parameter .......................................................... 4-27

4.2.3 System Setting Parameter ........................................................................... 4-30

4.2.4 Control Setting Parameter ........................................................................... 4-34

4.2.5 Input/Output Setting Parameter .................................................................. 4-38

4.2.6 Speed Operation Setting Parameter ........................................................... 4-41

4.2.7 Position Operation Setting Parameter ....................................................... 4-43

4.2.8 Operation Handling Parameter ................................................................... 4-46

4.3 Operation Status Display ............................................................................................ 4-50

4.3.1 Status Display [St-00] ................................................................................... 4-50

4.3.2 Speed Display ............................................................................................... 4-50

4.3.3 Position Display ........................................................................................... 4-50

4.3.4 Torque and Load Display ............................................................................. 4-50

4.3.5 I/O Status Display ......................................................................................... 4-51

4.3.6 Miscellaneous Status and Data Display ..................................................... 4-51

4.3.7 Version Display ............................................................................................. 4-52

4.4 Parameter Setting ........................................................................................................ 4-53

4.4.1 System Parameter Setting ........................................................................... 4-53

Table of Contents

xi

4.4.2 Control Parameter Setting ............................................................................4-56

4.4.3 Analog Input/Output Parameter Setting .....................................................4-61

4.4.4 Input/Output Contact Point Parameter Setting ..........................................4-62

4.4.5 Speed Operation Parameter Setting ............................................................4-65

4.4.6 Position Operation Parameter Setting ........................................................4-66

4.5 Alarms and Warnings ...................................................................................................4-68

4.5.1 Servo Alarm Status Summary Display List ................................................4-68

4.5.2 Servo Warning Status Summary Display List ............................................4-70

4.6 Motor Type and ID (to be continued on the next page) ............................................4-71

5 Handling and Operation .................................................................................... 5-1

5.1 What to Check Before Operation .................................................................................. 5-1

5.1.1 Wiring Check ................................................................................................... 5-1

5.1.2 Drive Signal (CN1) Wiring Check ................................................................... 5-1

5.1.3 Surrounding Environment Check .................................................................. 5-1

5.1.4 Machine Status Check ...................................................................................... 5-1

5.1.5 System Parameter Check ............................................................................... 5-2

5.2 Handling ........................................................................................................................... 5-3

5.2.1 Manual JOG Operation [Cn-00] ...................................................................... 5-3

5.2.2 Program JOG Operation [Cn-01] ................................................................... 5-5

5.2.3 Alarm Reset [Cn-02] ........................................................................................ 5-6

5.2.4 Reading Alarm History [Cn-03] ...................................................................... 5-7

5.2.5 Alarm History Reset [Cn-04] .......................................................................... 5-8

5.2.6 Auto Gain Tuning [Cn-05] ............................................................................... 5-9

5.2.7 Phase Z Search Operation [Cn-06] ..............................................................5-10

5.2.8 Input Contact Forced ON/OFF [Cn-07] ........................................................ 5-11

5.2.9 Output Contact Forced ON/OFF [Cn-08] .....................................................5-13

5.2.10 Parameter Reset [Cn-09] ..............................................................................5-15

5.2.11 Automatic Speed Command Offset Correction [Cn-10] ............................5-16

5.2.12 Automatic Torque Command Offset Correction [Cn-11] ...........................5-17

5.2.13 Manual Speed Command Offset Correction [Cn-12] ...............................5-18

5.2.14 Manual Torque Command Offset Correction [Cn-13] .............................5-19

5.2.15 Absolute Encoder Reset [Cn-14] .................................................................5-20

5.2.16 Instantaneous Maximum Load Factor Initialization [Cn-15] .....................5-21

5.2.17 Parameter Lock [Cn-16] ................................................................................5-22

5.2.18 Current Offset[Cn-17] ....................................................................................5-23

6 Communication Protocol .................................................................................. 6-1

6.1 Overview and Communication Specifications ............................................................ 6-1

6.1.1 Overview........................................................................................................... 6-1

6.1.2 Communication Specifications and Cable Access Rate ............................. 6-2

6.2 Communication Protocol Base Structure .................................................................... 6-3

6.2.1 Sending/Receiving Packet Structure ............................................................ 6-3

6.2.2 Protocol Command Codes ............................................................................. 6-5

6.3 XDL-L7 Servo Drive Communication Address Table ................................................6-10

6.3.1 Operation Status Parameter Communication Address Table ...................6-10

6.3.2 System Parameter Communication Address Table ...................................6-12

6.3.3 Control Parameter Communication Address Table ...................................6-14

6.3.4 Input/Output Parameter Communication Address Table ..........................6-16

6.3.5 Speed Operation Parameter Communication Address Table ...................6-17

Table of Contents

xii

6.3.6 Position Operation Parameter Communication Address Table .............. 6-18

7 Product Specifications ...................................................................................... 7-1

7.1 Servo Motor .................................................................................................................... 7-1

7.1.1 Product Features ............................................................................................ 7-2

7.1.2 Outline Drawing ............................................................................................ 7-33

7.2 Servo Drive ................................................................................................................... 7-50

7.2.1 Product Features .......................................................................................... 7-50

7.2.2 Outline Drawing ............................................................................................ 7-52

7.3 Options and Peripheral Devices ................................................................................ 7-54

8 Maintenance and Inspection ............................................................................. 8-1

8.1 Maintenance and Inspection ......................................................................................... 8-1

8.1.1 Precautions ..................................................................................................... 8-1

8.1.2 What to Inspect ............................................................................................... 8-1

8.1.3 Parts Replacement Cycle .............................................................................. 8-2

8.2 Diagnosis of Abnormality and Troubleshooting ........................................................ 8-3

8.2.1 Servo Motor ..................................................................................................... 8-3

8.2.2 Servo Drive ...................................................................................................... 8-4

9 Appendix ........................................................................................................... 9-17

9.1 Motor Type and ID (to be continued on the next page)............................................ 9-17

9.2 Test Drive Procedure ................................................................................................... 9-20

User Manual Revision History .................................................................................. 9-24

1. Product Components and Signals

2-1

1. Product Components and Signals

1.1 Product Components

1.1.1 Product Verification

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

 Does the format of the servo drive's name tag match?

 Does the format of the servo motor's name tag match?

2. Check the product and options.

 Are the type and length of the cables correct?

 Does the regenerative resistance conform to the required standard?

 Is the shape of the shaft end correct?

 Is there any abnormality when the oil seal or brake is mounted?

 Are the gearbox and the gear ratios correct?

 Is the encoder format correct?

3. Check the exterior of the device.

 Is there any foreign substance or humidity?

 Is there any discoloring, contamination, damage or disconnection of wires?

 Are the bolts at joints fastened sufficiently?

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

 Servo Drive Product Format

Series

Name

Communication

Type

Input

Voltage

Capacity Encoder Type Option

Servo
Series

S: Standard I/O
type

N: Network type

A: 220 VAC

B: 400 VAC

001: 100 W 050: 5.0 kW

002: 200 W 075: 7.5 kW

004: 400 W 110: 11.0kW

008: 750 W 150: 15.0kW

010: 1.0 kW

020: 2.0 kW

035: 3.5 kW

A: Parallel

(Pulse type)

B: Serial
(communication
type)

Exclusive
Option

XDL-L7 S A 004 A AA

1. Product Components and Signals

2-2

 Servo Motor Product Format

XML – S B 04 A E K 1

Motor Shaft

S : Solid Shaft

H : Hollow Shaft

B : 조립형

F : Flat형

Motor Capacity
R3 : 30[W]
R5 : 50[W]
01 : 100[W]
02 : 200[W]
03 : 300[W]
04 : 400[W]
05 : 450[W]
06 : 550/600[W]
07 : 650[W]
08 : 750/800[W]
09 : 850/900[W]
10 : 1.0[kW]

·

·

·

150 : 15.0[kW]
220 : 22.0[kW]
300 : 30.0[kW]
370 : 37.0[kW]

Shape of Shaft End

N : Straight

K : One side Round

key (Standard)

D : D Cut

T : Taper 형상

R : 양쪽 둥근키

H : Hollow Shaft

Encoder Type

Quadrature(Pulse Type)

A : Inc. 1024 [P/R]
B : Inc. 2000 [P/R]
C : Inc. 2048 [P/R]
D : Inc. 2500 [P/R]
E : Inc. 3000 [P/R]
F : Inc. 5000 [P/R]

G : Inc. 6000 [P/R]

Serial BISS(SeralType)

N : 19bit S-Turn Abs.

M : 19bit M-Turn Abs.

(18bit SA M-Trun Abs)

Servo Drive

Rated Speed

A : 3000 [rpm]

D : 2000 [rpm]

G : 1500 [rpm]

M : 1000 [rpm]

Flange Size

A : 40 Flange
B : 60 Flange
C : 80 Flange
D : 100 Flange
E : 130 Flange
F : 180 Flange
G : 220 Flange
H : 250 Flange
J : 280 Flange

1. Product Components and Signals

2-3

1.1.2 Part Names

 Servo Motor

 80 Flange or below

 80 Flange or below(Flat Type)

 130 Flange or higher

Bearing Cap

Shaft

Flange

Frame

Housing

Encoder

Cover

Encoder

Connector

Motor Power

Cable

Motor

Connector

Encoder

Cable

Bearing Cap

Shaft

Flange

Frame

Housing

Encoder

Cover

Encoder

Connector

Motor

Connector

Flange

Shaft

Frame

Power connector

Encoder connector

Mold Housing

Encoder Cover

1. Product Components and Signals

2-4

 Servo Drive

 XDL-L7SA 001, XDL-L7SA 002, XDL-L7SA 004

Main power connector (L1,
L2, L3)

Regenerative resistance
connector (B+, B, BI)

 When basic installation

is in use short circuit B
and BI terminals

 When installing external

resistance install in the
B+ and B terminals

Motor power cable
connector (U, V, W)

Operation keys
(Mode, Up, Down, Set)

Heat sink

Control power connector
(C1, C2)

Ground

CN3:
RS-422 communication

connector

CN2:
Encoder signal connector

CN1:
Control signal connector

Display

Front cover

CN5:
USB connector

CN4:
RS-422 communication

connector

DC reactor connector
(PO, PI)
Short circuit when not used

1. Product Components and Signals

2-5

 XDL-L7SA 008, XDL-L7SA 010

CN3:
RS-422 communication

connector

CN2:
Encoder signal connector

CN1:
Control signal connector

Display

Front cover

CN5:
USB connector

CN4:
RS-422 communication

connector

Main power connector
(L1, L2, L3)

Motor power cable
connector (U, V, W)

Heat sink

Control power connector
(C1, C2)

Ground

Operation keys
(Mode, Up, Down, Set)

DC reactor connector
(PO, PI)
Short circuit when not used

Regenerative resistance
connector (B+, B, BI)

 When basic installation

is in use short circuit B
and BI terminals.

 When installing external

resistance install in the
B+ and B terminals.

1. Product Components and Signals

2-6

 XDL-L7SA 020, XDL-L7SA 035

CN3:
RS-422 communication

connector

CN2:
Encoder signal connector

CN1:
Control signal connector

Display

Front cover

CN5:
USB connector

CN4:
RS-422 communication

connector

Main power connector
(L1, L2, L3)

Motor power cable
connector (U, V, W)

Heat sink

Control power connector
(C1, C2)

DC reactor connector
(PO, PI)
Short circuit when not used

Regenerative resistance
connector (B+, B, BI)

 When basic installation

is in useshort circuit B
and BI terminals.

 When installing external

resistance install in the
B+ and B terminals.

Operation keys
(Mode, Up, Down, Set)

Ground

1. Product Components and Signals

2-7

 XDL-L7SA 050

Main power connector
(L1, L2, L3)

Regenerative resistance connector (B+, B)
 When basic installation is in use,

leave it.

 When installing external resistance,

install in the B+ and B terminals after
attaching wires of internal resistance to
“NC” hole on the case.

Motor power cable
connector (U, V, W)

Display

CN5:
USB Connector

CN4:
RS-422 Communication

connector

CN3:
RS-422 Communication

connecto

r

CN1:
Control signal connector

CN2:
Encoder signal connector

Control power connector
(C1, C2)

DC reactor connector
(PO, PI)
Short circuit when not used

Front cover

*Not used(N)

Ground

Operation keys
(Mode, Up, Down, Set)

1. Product Components and Signals

2-8

1.2 System Configuration

1.2.1 Overview

The XDL-L7 servo system can be configured in various ways depending on its interface with
the upper level controller.

(1) Position Operation System

The servo is run by pulse commands. You can change the location of the servo motor by
changing command pulses based on a certain transfer unit.

 Advantage: The structure of the upper level controller is simple because pulse input is linked to

transfer units.

 Disadvantages:

 Fast rotation is compromised when a precise transfer unit is used.

 Response is low because multiple levels of controllers are used.

(2) Speed Operation System

The servo is run by speed commands. There are two types of speed commands: analog
voltage command and digital speed command.

 Advantages:

 The servo responds quickly.

 Precision control is easy.

 Disadvantage: The upper level controller is complex.

1. Product Components and Signals

2-9

(3) Torque Operation System

The servo is run by torque commands. Analog voltage-based commands are used.

 Advantages:

 The servo responds quickly.

 Precise control is easy.

 Disadvantage: The upper level controller is complex.

(4) Operation Mode

The XDL-L7 servo drive can be run in torque, speed and position modes, depending on its
interface with the upper level controller. The operation modes can be switched by
parameters or digital input contact point.

Operation Mode System Configuration

0 The servo is run on the torque operation system.

1 The servo is run on the speed operation system.

2 The servo is run on the position operation system.

3

The servo is run with the speed and position operation systems as points of
contact.

4

The servo is run with the speed and torque operation systems as points of
contact.

5

The servo is run with the position and torque operation systems as points of
contact.

1. Product Components and Signals

2-10

1.2.2 Wiring Diagram of the Entire CN1 Connector

STOP 48

EMG 18

CWLIM 19

CCWL IM 20

MODE

ALMRST

PCON

17

P-CLR

GAIN2

SVON 47

ALARM+38

ALARM-39

READY+40

READY-41

ZSPD43

INSPD

INPOS

45

50+24VIN

GND2424

ALO016

ALO115

ALO214

GND2425

SPDCOM 27

GND 8

TRQCOM 1

GND 8

DC 24V

CN1

-10V ~ +10V

-10V ~ +10V

(

DIA

)

(

DI9

)

(

DI8

)

(

DI 7

)

(

DI6

)

(

DI 5

)

(

DI4

)

(

DI3

)

(

DI2

)

(

DI1

)

(

DO1

)

(

DO2

)

(

DO3

)

(

DO4

)

(

DO5

)

VLMT

**

TLMT

**

WARN

**

EGEAR1

EGEAR2

T_LMT

ABS_RQ

ZCLAMP

SPD3

28

29

37

AO32

/AO33

BO30

/BO31

ZO4

/ZO5

SG36

-10V ~ +10V

-10V ~ +10V

34

35

PULCOM 49

PF+ 9

PF- 10

PR+ 11

PR- 12

3.3k

Ω

ABS_R

ST

**

**
**
**
**
**

21
22
23
46

**

**

**

**

SPD2
SPD1

DIR

**

44

BRAKE

MONIT1

MONIT2

GND

+12VA

-12 VA

Digital Input

Digital Output

Analog Output

Encoder Pulse Output

Connect to Connector Case

Open Collector

Line Driver

Command Pulse Input

Note 1) Input signals DI1 to DIA and output signals DO1 to DO5 are default signals allocated by the factory.
Note 2) **These are non-allocated signals. You can change their allocation by setting parameters. For
information, refer to "4.1.6 External Input Signal and Logic Definition" and "4.1.8 External Output Signal and

Upper Level

Controller

Analog Torque

Command /Limit

Upper Level

Logic Definition."

Controller

Note 2)

Note 2)

Note 1)

Note 1)

Analog Speed

Command /Limit

Analog Input

Note 3)

Note 3) Input Contact Mode = ON : Speed Control Mode, Mode = OFF : Position Operation Mode

1. Product Components and Signals

2-11

1.2.3 Example of Position Operation Mode Wiring

STOP 48

EMG 18

CWLIM 19

CCWL IM 20

ALMRST 17

PCON

GAIN2

T_LMT

SVON 47

ALARM+38

ALARM-39

READY+40

READY-41

50+24V IN

GND2424

ALO016

ALO115

ALO214

GND2425

SPDCOM 27

GND 8

TRQCOM 1

GND 8

DC 24V

CN1

-10V ~ +10V

-10V ~+10V

(

DIA

)

(

DI9

)

(

DI8

)

(

DI 7

)

(

DI6

)

(

DI 5

)

(

DI4

)

(

DI3

)

(

DI 2

)

(

DI1

)

(

DO1

)

(

DO2

)

(

DO3

)

(

DO4

)

(

DO5

)

VLMT

43

TLMT

45

WARN

44

INSPD

**

EGEAR1

EGEAR2

46

21

ABS_RQ

22

ZCLAMP

23

28

29

37

AO32

/AO33

BO30

/BO31

ZO4

/ZO5

SG36

-10V ~ +10V

-10V ~+10V

34

35

3.3k

Ω

ABS_R

ST

MODE

**

**

**

**

P_CLR

DIR

SPD3
SPD2
SPD1

**

**

**

INPOS
ZSPD
BRAKE

**
**
**
**
**

**

MONIT1

MONI T2

GND

+12VA

-12 VA

Digital Input

Digital Output

Analog Output

Encoder Pulse Output

Connect to Connector Case

Analog Torque

Command/Limit

Upper Level
Controller

Note 2)

Note 2)

Note 1)

Note 1)

Analog Speed

Command/Limit

Analog Input

Note 3)

Note 1) Input signals DI1 to DIA and output signals DO1 to DO5 are default signals allocated by the factory.
Note 2) **These are non-allocated signals. You can change their allocation by setting parameters. For

information, refer to "4.1.6 External Input Signal and Logic Definition" and "4.1.8 External Output Signal and

Logic Definition."

Note 3) Input Contact Mode = ON : Speed Control Mode, Mode = OFF : Torque Operation Mode

1. Product Components and Signals

2-12

1.2.4 Example of Speed Operation Mode Wiring

STOP 48

EMG 18

CWLIM 19

CCWL IM 20

ALMRST 17

SVON 47

ALARM+38

ALARM-39

READY+40

READY-41

INPOS

45

50+24V IN

GND2424

ALO016

ALO115

ALO214

GND2425

SPDCOM 27

GND 8

TRQCOM 1

GND 8

DC 24V

CN1

-10V~ +10V

-10V~ +10V

(

DIA

)

(

DI9

)

(

DI8

)

(

DI 7

)

(

DI6

)

(

DI 5

)

(

DI4

)

(

DI3

)

(

DI 2

)

(

DI1

)

(

DO1

)

(

DO2

)

(

DO3

)

(

DO4

)

(

DO5

)

** WAR N

INSPD**

EGE AR1

EGEAR2

PCON

GAIN2

P_CLR

T_LMT

ABS_RQ

ZCLAMP

28

29

37

AO32

/AO33

BO30

/BO31

ZO4

/ZO5

SG36

-10V ~ +10V

-10V ~+10V

34

35

PULCOM 49

PF+ 9

PF- 10

PR+ 11

PR- 12

3.3k

Ω

ABS_R

ST

MODE

**

**

**

**

DIR

SPD3
SPD2
SPD1

46

21
22
23

VLMT

**

TLMT

**

44

BRAKE

43

ZSPD

**
**
**
**
**

**

MONIT1

MONI T2

GND

+12 VA

-12 VA

Digital Input

Digital Output

Analog Output

Encoder Pulse Output

Connect to Connector Case

Open Collector

Line Driver

Command Pulse Input

Upper Level

Controller

Analog Torque

Command/Limit

Upper Level
Controller

Note 2)

Note 2)

Note 1)

Note 1)

Analog Speed

Comman d/Limit

Analog Input

Note 3)

Note 1) Input signals DI1 to DIA and output signals DO1 to DO5 are default signals allocated by the factory.

Note 2) **These are non-allocated signals. You can change their allocation by setting parameters. For

information, refer to "4.1.6 External Input Signal and Logic Definition" and "4.1.8 External Output Signal and
Logic Definition."

Note 3) Input Contact Mode = ON : Position Control Mode, Mode = OFF : Torque Operation Mode

1. Product Components and Signals

2-13

1.2.5 Example of Torque Operation Mode Wiring

EMG 18

CWLIM 19

CCWL IM 20

DIR 46

ALMRST 17

SVON 47

ALA RM+38

ALARM-39

READ Y+40

READY-41

ZSPD43

BR AKE44

50+24V IN

GND2424

ALO016

ALO115

ALO214

GND2425

DC 24V

CN1

(

DI 9

)

(

DI8

)

(

DI7

)

(

DI6

)

(

DI5

)

(

DI4

)

(

DI3

)

(

DI2

)

(

DI1

)

(

DO1

)

(

DO2

)

(

DO3

)

(

DO4

)

(

DO5

)

VLMT**

TLMT**

WAR N**

28

29

37

AO32

/AO33

BO30

/BO31

ZO4

/ZO5

SG36

-10V~ +10V

-10V~ +10V

34

35

3.3kΩ

**

**

**

**

**

**
**

ZCLAMP **

**

ABS_R

ST

SPD3 2 1

SPD2 2 2

SPD1 23

STOP 48

TLMT

_

ABS_RQ

EGEAR1

EGEAR2

PCON

GAIN2

PCLR

_

MODE

**

SPDCOM 27

GND 8

TRQCOM 1

GND 8

-10V~ +10V

-10V~ +10V

MONIT1

MONI T2

GND

+12VA

-12 VA

45

INPOS

INSPD**

Digital Input

Digital Output

Analog Output

Encoder Pulse Output

Connect to Connector Case

Analo g Torque

Command/Limit

Upper Level
Controller

Note 2)

Note 2)

Note 1)

Note 1)

Analog Speed

Command/Limit

Analog Input

Note 1) Input signals DI1 to DIA and output signals DO1 to DO5 are default signals allocated by the factory.
Note 2) **These are non-allocated signals. You can change their allocation by setting parameters. For

information, refer to "4.1.6 External Input Signal and Logic Definition" and "4.1.8 External Output Signal and
Logic Definition."

1. Product Components and Signals

2-14

1.2.6 Examples of Speed / Position Operation Mode
Wiring

STOP 48

EMG 18

CWLIM 19

CCWL IM 20

MODE

ALMRST

PCON

17

P-CLR

GAIN2

SVON 47

ALARM+38

ALARM-39

READY+40

READY-41

ZSPD43

INSPD

INPOS

45

50+24V IN

GND2424

ALO016

ALO115

ALO214

GND2425

SPDCOM 27

GND 8

TRQCOM 1

GND 8

DC 24V

CN1

-10V ~ +10V

-10V ~ +10V

(

DIA

)

(

DI9

)

(

DI8

)

(

DI 7

)

(

DI6

)

(

DI 5

)

(

DI4

)

(

DI3

)

(

DI2

)

(

DI1

)

(

DO1

)

(

DO2

)

(

DO3

)

(

DO4

)

(

DO5

)

VLMT

**

TLMT

**

WARN

**

EGEAR1

EGEAR2

T_LMT

ABS_RQ

ZCLAMP

SPD3

28

29

37

AO32

/AO33

BO30

/BO31

ZO4

/ZO5

SG36

-10V ~ +10V

-10V ~ +10V

34

35

PULCOM 49

PF+ 9

PF- 10

PR+ 11

PR- 12

3.3k

Ω

ABS_R

ST

**

**
**
**
**
**

21
22
23
46

**

**

**

**

SPD2
SPD1

DIR

**

44

BRAKE

MONIT1

MONIT2

GND

+12VA

-12 VA

Digital Input

Digital Output

Analog Output

Encoder Pulse Output

Connect to Connector Case

Open Collector

Line Driver

Command Pulse Input

Note 1) Input signals DI1 to DIA and output signals DO1 to DO5 are default signals allocated by the factory.
Note 2) **These are non-allocated signals. You can change their allocation by setting parameters. For
information, refer to "4.1.6 External Input Signal and Logic Definition" and "4.1.8 External Output Signal and

Upper Level

Controller

Analog Torque

Command /Limit

Upper Level

Logic Definition."

Controller

Note 2)

Note 2)

Note 1)

Note 1)

Analog Speed

Command /Limit

Analog Input

Note 3)

Note 3) Input Contact Mode = ON : Speed Control Mode, Mode = OFF : Position Operation Mode

1. Product Components and Signals

2-15

1.2.7 Example of Speed/Torque Operation Mode Wiring

STOP 48

EMG 18

CWLIM 19

CCWL IM 20

ALMRST 17

PCON

GAIN2

T_LMT

SVON 47

ALARM+38

ALARM-39

READY+40

READY-41

50+24V IN

GND2424

ALO016

ALO115

ALO214

GND2425

SPDCOM 27

GND 8

TRQCOM 1

GND 8

DC 24V

CN1

-10V ~ +10V

-10V ~+10V

(

DIA

)

(

DI9

)

(

DI8

)

(

DI 7

)

(

DI6

)

(

DI 5

)

(

DI4

)

(

DI3

)

(

DI 2

)

(

DI1

)

(

DO1

)

(

DO2

)

(

DO3

)

(

DO4

)

(

DO5

)

VLMT

43

TLMT

45

WARN

44

INSPD

**

EGEAR1

EGEAR2

46

21

ABS_RQ

22

ZCLAMP

23

28

29

37

AO32

/AO33

BO30

/BO31

ZO4

/ZO5

SG36

-10V ~ +10V

-10V ~+10V

34

35

3.3k

Ω

ABS_R

ST

MODE

**

**

**

**

P_CLR

DIR

SPD3
SPD2
SPD1

**

**

**

INPOS
ZSPD

BRAKE

**
**
**
**
**

**

MONIT1

MONI T2

GND

+12VA

-12 VA

Digital Input

Digital Output

Analog Output

Encoder Pulse Output

Connect to Connector Case

Analog Torque

Command/Limit

Upper Level
Controller

Note 2)

Note 2)

Note 1)

Note 1)

Analog Speed

Command/Limit

Analog Input

Note 3)

Note 1) Input signals DI1 to DIA and output signals DO1 to DO5 are default signals allocated by the factory.
Note 2) **These are non-allocated signals. You can change their allocation by setting parameters. For

information, refer to "4.1.6 External Input Signal and Logic Definition" and "4.1.8 External Output Signal and

Logic Definition."

Note 3) Input Contact Mode = ON : Speed Control Mode, Mode = OFF : Torque Operation Mode

1. Product Components and Signals

2-16

1.2.8 Example of Position/Torque Operation Mode
Wiring

STOP 48

EMG 18

CWLIM 19

CCWL IM 20

ALMRST 17

SVON 47

ALARM+38

ALARM-39

READY+40

READY-41

INPOS

45

50+24V IN

GND2424

ALO016

ALO115

ALO214

GND2425

SPDCOM 27

GND 8

TRQCOM 1

GND 8

DC 24V

CN1

-10V~ +10V

-10V~ +10V

(

DIA

)

(

DI9

)

(

DI8

)

(

DI 7

)

(

DI6

)

(

DI 5

)

(

DI4

)

(

DI3

)

(

DI 2

)

(

DI1

)

(

DO1

)

(

DO2

)

(

DO3

)

(

DO4

)

(

DO5

)

** WAR N

INSPD**

EGE AR1

EGEAR2

PCON

GAIN2

P_CLR

T_LMT

ABS_RQ

ZCLAMP

28

29

37

AO32

/AO33

BO30

/BO31

ZO4

/ZO5

SG36

-10V ~ +10V

-10V ~+10V

34

35

PULCOM 49

PF+ 9

PF- 10

PR+ 11

PR- 12

3.3k

Ω

ABS_R

ST

MODE

**

**

**

**

DIR

SPD3
SPD2
SPD1

46

21
22
23

VLMT

**

TLMT

**

44

BRAKE

43

ZSPD

**
**
**
**
**

**

MONIT1

MONI T2

GND

+12 VA

-12 VA

Digital Input

Digital Output

Analog Output

Encoder Pulse Output

Connect to Connector Case

Open Collector

Line Driver

Command Pulse Input

Upper Level

Controller

Analog Torque

Command/Limit

Upper Level
Controller

Note 2)

Note 2)

Note 1)

Note 1)

Analog Speed

Comman d/Limit

Analog Input

Note 3)

Note 1) Input signals DI1 to DIA and output signals DO1 to DO5 are default signals allocated by the factory.

Note 2) **These are non-allocated signals. You can change their allocation by setting parameters. For

information, refer to "4.1.6 External Input Signal and Logic Definition" and "4.1.8 External Output Signal and
Logic Definition."

Note 3) Input Contact Mode = ON : Position Control Mode, Mode = OFF : Torque Operation Mode

1. Product Components and Signals

2-17

1.3 Signal

1.3.1 Digital Input Contact Signal

Pin

Number

of

Factory

Setting

Name Details

Applicable Modes

Position Speed Tor q u e

Speed

/Position

Speed

/Torque

Position

/Torque

50 +24 V IN

Input contact +24

[V] power

O O O O O O

47 SVON Servo ON O O O O O O

23 SPD1 Multi-speed 1 X O X O/X O/X X

22 SPD2 Multi-speed 2 X O X O/X O/X X

21 SPD3 Multi-speed 3 X O X O/X O/X X

17 ALMRST Reset upon alarm O O O O O O

46 DIR

Select rotation

direction

O O O O O O

20 CCWLMT

Counter-clockwise

limit

O O O O O O

19 CWLMT Clockwise limit O O O O O O

18 EMG Emergency stop O O O O O O

48 STOP Stop X O O O/X O X/O

Allocate EGEAR1

Electronic gear

ratio 1

O X X X/O X O/X

Allocate EGEAR2

Electronic gear

ratio 2

O X X X/O X O/X

Allocate PCON P control action O O X O O/X O/X

Allocate GAIN2 Select gain 2 O O X O O/X O/X

Allocate P_CLR Clear error pulse O X X X/O X O/X

Allocate T_LMT

Control torque with

TRQCOM

O O O O O O

Allocate MODE

Change operation

modes

X X X O O O

Allocate ABS_RQ

Request absolute

position data

O O O O O O

Allocate ZCLAMP Zero clamp X O X O/X O/X O

Allocate ABS_RST

Reset absolute

encoder data

O O O O O O

* ABS_RST is applied from OS Ver 1.24

1. Product Components and Signals

2-18

1.3.2 Analog Input Contact Signal

Pin

Number

Name Description

Applicable Modes

Position Speed Torque

Speed

/Position

Speed

/Torque

Position

/Torque

27 SPDCOM

Analog speed
command (-10-+10 [V])

X O X O/X O/X X

Analog Speed Limit
(-10-+10 [V])

X X O X X/O X/O

1 TRQCOM

Analog Torque
Command
(-10-+10 [V])

X X O X X/O X/O

Analog torque limit
(-10-+10 [V])

O O X O O/X O/X

8

37

GND

Grounding for analog
signals

O O O O O O

1.3.3 Digital Output Contact Signal

Pin

Number

of

Factory

Setting

Name Description

Applicable Modes

Position Speed Torque

Speed

/Position

Speed

/Torque

Position

/Torque

16 ALO0

Alarm group contact
output 1

O O O O O O

15 ALO1

Alarm group contact
output 2

O O O O O O

14 ALO2

Alarm group contact
output 3

O O O O O O

38 / 39 ALARM +/- Alarm O O O O O O

40 / 41 READY +/- Ready for operation O O O O O O

43 ZSPD Zero speed reached O O O O O O

44 BRAKE Brake O O O O O O

45 INPOS Position reached O X X X/O X O/X

Allocate TLMT Torque limit O O O O O O

Allocate VLMT Speed limit O O O O O O

Allocate INSPD Speed reached X O X O/X O/X X

Allocate WARN Warning O O O O O O

24
25

GND24

Input/output contact
Grounding of drive

power (24 [V])

O O O O O O

1. Product Components and Signals

2-19

1.3.4 Monitor Output Signal and Output Power

Pin

Number

Name Description

Applicable Modes

Position Speed Torque

Speed

/Position

Speed

/Torque

Position

/Torque

28 MONIT1

Analog monitor
output 1
(-10-+10 [V])

O O O O O O

29 MONIT2

Analog monitor
output 2
(-10-+10 [V])

O O O O O O

8

37

GND

Grounding for analog
signals

O O O O O O

34 +12 V

Terminal for +12 [V]
power output

O O O O O O

35 -12 V

Terminal for -12 [V]
power output

O O O O O O

1.3.5 Pulse Train Input Signal

 Line Driver (5 V)

Pin

Number

Name Description

Applicable Modes

Position Speed Torque

Speed

/Position

Speed

/Torque

Position

/Torque

9 PF+ F+ pulse input O X X X/O X O/X

10 PF- F- pulse input O X X X/O X O/X

11 PR+ R+ pulse input O X X X/O X O/X

12 PR- R- pulse input O X X X/O X O/X

49 PULCOM Not for use X X X X X X

 Open Collector (24 V)

Pin

Number

Name Description

Applicable Modes

Position Speed Torque

Speed

/Position

Speed

/Torque

Position

/Torque

9 PF+ Not for use X X X X X X

10 PF- F pulse input O X X X/O X O/X

11 PR+ Not for use X X X X X X

12 PR- R pulse input O X X X/O X O/X

49 PULCOM +24 V power input O X X X/O X O/X

1. Product Components and Signals

2-20

1.3.6 Encoder Output Signal

Pin

Number

Name Description

Applicable Modes

Position Speed Torque

Speed

/Position

Speed

/Torque

Position

/Torque

32
33
30
31

AO

/AO

BO

/BO

Outputs encoder signals

received from the motor as

signals pre-scaled

according to the ratio

defined by [P0-14].

(5 [V] line driver method)

O O O O O O

4
5

ZO

/ZO

Outputs encoder Z signals

received from the motor.
(5 [V] line driver method)

O O O O O O

2. Installation

2-1

2 Installation

2.1 Servo Motor

2.1.1 Usage Environment

Item Requirements Notes

Ambient

temperature

0 ∼ 40[℃]

Consult with our technical support team to customize the
product if the temperature in the installation environment is
over the given temperature.

Ambient
humidity

80[%] RH or lower Use the product in steam-free places.

External

vibration

Vibration acceleration

19.6 [㎨] or below in the

X and Y directions

Excessive vibration reduces the lifespan of bearings.

2.1.2 Prevention of Excessive Impact

Excessive impact to the motor shaft during installation, or the motor falling during handling,
may damage the encoder.

2.1.3 Motor Connection

 The motor might burn out when commercial power is directly connected to it.

Be sure to connect via the specified drive.

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

the remaining terminal to the type-3 grounding.

 Connect the U, V, and W terminals of the motor, just as the U, V, and W terminals of the drive.

 Make sure that the pins on the motor connector are securely connected.

 In case of moisture or condensation on the motor, make sure that insulation resistance is 10 [㏁]

(500 [V]) or higher before you start installation.

U – U

V - V

W – W

- F.G

2. Installation

2-2

2.1.4 Load Device Connection

For coupling connection: Make sure that the motor shaft and the load shaft are aligned within
the tolerance.

 For pulley connection:

Flange

Lateral Load Axial Load

Notes

N kgf N kgf

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

2.1.5 Cable Installation

 In case of vertical installation, make sure that no oil or water flows into connection parts.

 Do not apply pressure or scratch, to cables.

In case of moving the motor, be sure to use robotic cables to prevent sway.

Load shaft

Motor shaft

0.03 [㎜] or below (peak to peak)

0.03 [㎜] or below (peak to peak)

Nr: 30 [㎜] or

below

Lateral load

Axial load

2. Installation

2-3

2.2 Servo Drive

2.2.1 Usage Environment

Item Requirements Notes

Ambient

temperature

0∼50[℃]

Caution

Install a cooling fan on the control panel in to keep the
surrounding temperature within the required range.

Ambient

humidity

90[%] RH or

lower

Caution

Condensation or freezing of moisture inside the drive during
prolonged periods of inactivity may damage it.

Remove any moisture completely before you operate the drive
after a prolonged period of inactivity.

External

vibration

Vibration

acceleration 4.9

[㎨] or lower

Excessive vibration reduces the lifespan of the machine and
causes malfunction.

Surrounding

conditions

 No exposure to direct sunlight.
 No corrosive gas or combustible gas.
 No oil or dust.
 Sufficient ventilation for closed areas.

2. Installation

2-4

2.2.2 Installation Inside the Control Panel

Comply with the spaces specified in the following images for installation inside the control
panel.

Caution

 Make sure that heat does not affect the drive during the installation of external regenerative

resistance.

 When assembling the control panel of the servo drive, make sure that it is sufficiently close to

the wall.

 When assembling the control panel, make sure that metal powder caused by drilling does not

enter the drive.

 Make sure that oil, water, and metal dust do not enter the drive through gaps or the ceiling.
 Protect the control panel with air purge in places where there is a lot of harmful gas or dust.

When installing 1 unit:

When installing 2 or more units:

40 mm or

longer

10 mm or

longer

10 mm or

longer

40 mm or

longer

100 mm

or longer

30 mm or

longer

30 mm or

longer

40 mm or

longer

2 mm or longer

2. Installation

2-5

2.2.3 Power Wiring

 Make sure that the input power voltage is within the allowed range.

Caution

Overvoltage can damage the drive.

 Connecting commercial power to the U, V and W terminals of the drive may cause damage.

Be sure to supply power via L1, L2 and L3 terminals.

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

standard resistance for the B+ and B terminals after removing the short-circuit pins.

Model

Resistance

Value

Standard
Capacity

* Notes

XDL-

L7A001

100 [] Built-in 50 [W]

Caution

For more information about resistance for
expanding regenerative capacity, refer to “7.3
Option and Peripheral Device.”

XDL-

L7A002

XDL-

L7A004

XDL-L7A08

40 []

Built-in 100

[W]

XDL-

L7A010

XDL-

L7A020

13 []

Built-in 150

[W]

XDL-

L7A035

XDL-

L7A050

6.8[] Built-in 120[W]

 Configure the system in a way that main power (L1, L2, L3) is supplied only after control power (C1,

C2). (Refer to “Chapter 3 Wiring.”)

 High voltage remains for a while, even after the main power is disconnected.

Danger

After disconnecting the main power, make sure that the charge lamp is off before you start
wiring. There is a risk of electric shock.

 Grounding must be done over the shortest distance.

A long ground wire is susceptible to noise which may cause malfunction.

2. Installation

2-6

3. Wiring Method

3-1

3 Wiring Method

3.1 Internal Block Diagram

3.1.1 XDL-L7 Drive Block Diagram [XDL-L7SA001□ ­XDL-L7SA004□]

If you use a DC reactor, connect to the PO and PI pins.

If you use external regenerative resistance, connect to the B+ and B pins after removing the B and BI short-

circuit pins.

3. Wiring Method

3-2

3.1.2 XDL-L7 Drive Block Diagram [XDL-L7SA008□ ­XDL-L7SA035□]

NOTE 1) If you use a DC reactor, connect to the PO and PI pins.

If you use external regenerative resistance, connect to the B+ and B pins after you remove the B and BI

short-circuit pins.

The XDL-L7SA008 and XDL-L7SA035 models are cooled by a DC 24 [V] cooling fan.

3. Wiring Method

3-3

3.1.3 XDL-L7 Drive Block Diagram [XDL-L7SA050□ ]

Main Control

Diode

L3

Three-phase

L1

L2

Lamp

Chage

Output

Encoder

POWER Circuit Access(CN7)

DSP / FPGA

CN2

M

IGBT

W

Current Sensor

U
V

B

B+

E

PO

PI

(Note1)

C1

C2

S
M
P
S

T1

T2

Thermister

AC200~230V

CN5

CN3,CN4

BISS

FAN

(Note3)

USB TO UART

External Regenerative
Resistance(separately Installed)

(Note2)

Resistance

Regenerative

Power Input

Power Input

AC200~230V

One-phase

Main Power

Failure Detection

Circuit

Internal

Temperature

Detection

Circuit

Relay

Operation

Circuit

DC Voltage

Detection

Circuit

Regenerative

Braking

Operation

Circuit

IGBT

Temperature

Detection

Circuit

PWM

Signal

SC Detection

Circuit

U and V
Current

Detection

Circuit

DB

Operation

Circuit

RS422
Communication

USB
Communication

A/D Conversion

D/A Conversion

P/C Insulation I/F

Input

Encoder

Contact Output

(5 points)

(2 points)

Pulse Input

Contact Input

(10 points)

Monitor Output

(10 points)

Analog Input

(2 points)

Upper Level Controller Connection(CN1)

Control Power

Failure Detection

Circuit

Thermister

U,VCurrent
DC Voltage

NOTE 1) If you use a DC reactor, connect to the PO and PI pins.

If you use external regenerative resistance, connect to the B+ and B pins after attaching wires of internal

regenerative resistance to “NC” hole on the case.

The XDL-L7SA050 models are cooled by a DC 24 [V] cooling fan.

3. Wiring Method

3-4

3.2 Power Wiring

3.2.1 XDL-L7 Drive Wiring Diagram [XDL-L7SA001□ ­XDL-L7SA035□]

U
V

W

L1
L2
L3

C1
C2

B+
B
BI

38

39

CN1

RA

M

E

Alarm-

Alarm+

1Ry

RA

1SK

1Ry1MC

+24V

NF

1MC

RST

서보드라이브

(200~230V)

Main
OFF

Main
ON

인코더

외부

회생저항

주1)

주2)

PO

PI

DC 리액터

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

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

Short-circuit B and BI terminals before use. Regenerative resistance of XDL-L7SA001-XDL-L7SA004 (50

[W], 100 []), XDL-L7SA010 (100 [W], 40 []), and XDL-L7SA035 (150 [W], 13 []) exist inside.
If regenerative capacity is high because of frequent acceleration and deceleration, open the short­circuit pins (B, BI) and connect external regenerative resistance to B and B+.

Remove approximately 7-10 [mm] of the sheath from the cables for the main circuit power and attach crimp

terminals. (Refer to “3.2.2 Power Circuit Electric Sub Assembly Standards.”)

Connect or remove the main circuit power unit wiring after pushing the button of the XDL-L7SA001 – XDL-

L7SA010 drive terminal. For XDL-L7SA035 drive, use a (-) slot screwdriver for connection and
removal.

Servo Drive

Note 1)

DC Reactor

Encoder

Note 2) External

Regenerative Resistance

7~10 ㎜

3. Wiring Method

3-5

3.2.2 XDL-L7 Drive Wiring Diagram [XDL-L7SA050□]

U

V
W

L1
L2
L3

C1
C2

B+
B

38

39

CN1

RA

M

E

Alarm-

Alarm+

1Ry

RA

1SK

1Ry1MC

+24V

NF

1MC

RST

(200~230V)

Main
OFF

Main
ON

Encoder

(Note1)

(Note2)

PO

PI

DC Reactor

external
regenerative
resistance

Servo Drive

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

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

NOTE 2) Check status of connection of internal regenerative resistance (B+, B) before using because XDL-

L7SA050 (120[W], 6.8[]) has internal regenerative resistance. If the value of regenerative
voltage is too high by frequent deceleration and acceleration, install external regenerative
resistance on B, B+ terminal after attaching internal regenerative resistance connected B+, B to
“NC” hole on the case.

3. Wiring Method

3-6

3.2.3 Dimensions for Power Circuit Electrical Parts

Name

XDL-

L7SA001□

XDL-

L7SA002□

XDL-

L7SA004□

XDL-

L7SA008□

XDL-

L7SA010□

XDL-

L7SA020□

XDL-

L7SA035□

XDL-

L7SA050□

MCCB(NFB)

30A Frame 5A (ABE33b/5)

30A Frame

10A

(ABE33b/10)

30A Frame 15A (ABE33b/15) 30A Frame 30A (ABE33b/30)

50A Frame

40A(ABE53b

/40)

Noise Filter

(NF)

TB6-B010LBEI(10A) TB6-B030NBDC(30A)

TB6-

B040A(40A)

DC reactor

HFN-10 (10 A) HFN-15 (15 A) HFN-30 (30 A)

HFN-

40(40A)

MC

11A / 240V

(GM-9)

18A / 240V

(GM-18)

32A / 240V

(GM-32)

50A / 240V

(GM-50)

Wire

L1,L2,L3

PO,PI,N,

B+,B,BI

U,V,W

AWG16
(1.5 ㎟)

AWG14
(2.5 ㎟)

AWG12
(4.0 ㎟)

AWG10 (6.0

㎟)

C1
C2

AWG16(1.5 ㎟) AWG16(1.5 ㎟) AWG16(1.5 ㎟)

AWG16(1.5

㎟)

Crimp terminal

UA-F1510, SEOIL

(10 mm Strip & Twist)

UA-F2010, SEOIL

(10 mm Strip & Twist)

UA-F4010, SEOIL(10 mm

Stri p & Twist)

GP110028

KET

Regenerative

resistance

(Provided by

default)

50 [W]
100 

100 [W]

40 

150 [W]

13 

120[W]

6.8

Connector

(L1,L2...U,V,W

)

• BLF 5.08/03/180F SN BK BX

• BLF 5.08/11/180F SN BK BX

• BLZ7.62HP/03/180LR

SN BK BX SO

BLZ7.62HP/11/180LR

SN BK BX SO

Note1) Use 600V-PVC Insulated wire for wiring.

Use approved UL wire (Temp. 60℃ or above) for UL (CSA) Regulation.

Use approved wire for any other regulations.

Use equivalent or advanced components compare to components above for any special applications.

3. Wiring Method

3-7

( XDL-L7SA004 or below)

0.63.

5

100

(XDL-L7SA008 ~ XDL-L7SA010)

A

B

C

M4 : 1.2[N·m]

0.4~0.5[N·m]

Weidmueller’s

SD 0.6x3.5x100

Weidmueller’s

SD 0.6x3.5x100

0.4~0.5[N·m]

M4 : 1.2[N·m]

Length of strip

7~10[㎜]

Length of strip

7~10[㎜]

3. Wiring Method

3-8

(XDL-L7SA020 ~ XDL-L7SA035)

A

B

C

1) Refer to the drawings above for wiring with BLF 5.08 or BLZ 7.62HP Series connector.

2) Insert wire into wire-hole when upper screw is untightened and then, use appropriate (-) shaped

screwdriver with 0.4 ~ 0.5[N.m] torque to make tight completely.

3) Cut by vibration, malfunction or fire by contact could be occurred if torque of screwing was not enough.

4) After wiring, tight completely by using hooks to both side when connectors are attached to servo drive.

5) FG screw, which is located on the bottom of servo drive, has to be M4 and put on the FG screw with

1.2[N.m] torque.

6) Malfunction of drive could be occurred if torque of screwing was not enough.

7) Recommended (-) shaped screwdriver: Weidmueller’s SD 0.6x3.5x100.

M4 : 1.2[N·m]

Weidmueller’s

SD 0.6x3.5x100

0.4~0.5[N·m]

Length of strip

7~10[㎜

]

3. Wiring Method

3-9

(XDL-L7SA050)

1) Cut by vibration, malfunction or fire by contact could be occurred if torque of screwing was not enough.

TB1

L1 L2 L3 B+ B U V W FG FG

TB2

N PO P1

TB3

C1 C2

Screw : M4

Screwing torque : 1.2[N·m]

Terminal Block Signals

Screw : M4

Screwing torque : 1.2[N·m]

Screw : M4

Screwing torque : 1.2[N·m]

TB1

TB2

TB3

NC : 내부 회생저항기

리드 단자 고정용 나사

NC : Internal regenerative resistor

Screw for holding lead terminal

3. Wiring Method

3-10

3.3 Example of connecting to PLC

3.3.1 XGT PLC

1. XGF-PO1/2/3A (Open Collector)

3. Wiring Method

3-11

2. XGF-PD1/2/3A (Line Driver)

+24V

I/O Power

XGF-PD1/2/3A
(Line Driver)

GND24

+24V IN

F.G(CN1 Case)

F.G

Encoder Z

phase output

Twisted

Pair

DR/INP COM 34

DR/INP 33

-10V ~ +10V

Analog

torque limit

ALARM+38

ALARM-39

(DO1)

ZSPD43

BRAKE44

INPOS

45

GND2424

ALO016

ALO115

ALO214

GND2425

VLMT**

TLMT**

(DO3)

(DO4)

(DO5)

WARN**

INSPD**

(DIA)

Analog output

AO32

/AO33

BO30

/BO31

SG36

Encoder pulse

output

CWLIM 19

EMG 18

STOP 48

(DI9)

(DI8)

CCWLIM 20

(DI7)

DIR 46

(DI6)

ALMRST 17

(DI5)

EGEAR1 **

(DI4)

EGEAR2 **

(DI3)

P_CLR **

(DI2)

SVON 47

(DI1)

PCON **

GAIN2 **

T_LMT **

MODE **

ABS_RQ **

ZCLAMP **

SPD3 21

SPD2 22

SPD1 23

RDY+ 40

RDY- 41

(DO2)

TRQCOM 1

GND 8

COM 32

OV+ 25

OV- 26

STOP 27

DOG 28

VTP 29

ECMD 30

JOG- 31

FP- 22

FP+ 21

RP- 24

RP+ 23

3.3kΩ

Digital input

HOME +5V 37

HOME COM 38

DC 24V

/ZO 5

ZO 4

PR+ 11

PF+ 9

+24V IN 50

+24V IN

CN1

PF- 10

PR- 12

Twisted

Pair

Manual pulse generator

CON 7

EMG 8

COM 10

+24V

MPG A+ 1

MPG A- 2

MPG B+ 3

MPG B- 4

5V

A

B

0V

MONIT128

MONIT229

GND37

+12VA34

-12VA35

L7S

(Servo Drive)

※ This is an example for the standard of 1 axis. To use 2, 3 axis, refer to the pin diagram of positioning
module.

+24V

3. Wiring Method

3-12

3. XGF-PO1/2/3/4H (Open Collector)

+24V

I/O Power

XGF-PO1/2/3/4H
(Open Collector)

GND24

+24V IN

F.G(CN1 Case)

F.G

Encoder Z

phase output

1.5K

1.5K

Twisted

Pair

DR/INP COM 6A

DR 8A

-10V ~ +10V

Analog torque limit

ALARM+38

ALARM-39

(DO1)

ZSPD43

BRAKE44

ALO016

ALO115

ALO214

VLMT**

TLMT**

(DO3)

(DO4)

WARN**

INSPD**

(DIA)

Analog output

AO32

/AO33

BO30

/BO31

SG36

Encoder pulse

output

CWLIM 19

EMG 18

STOP 48

(DI9)

(DI8)

CCWLIM 20

(DI7)

DIR 46

(DI6)

ALMRST 17

(DI5)

EGEAR1 **

(DI4)

EGEAR2 **

(DI3)

P_CLR **

(DI2)

SVON 47

(DI1)

PCON **

GAIN2 **

T_LMT **

MODE **

ABS_RQ **

ZCLAMP **

SPD3 21

SPD2 22

SPD1 23

RDY+ 40

RDY- 41

(DO2)

TRQCOM 1

GND 8

COM 9A

OV+ 14A
OV- 13A

DOG 12A

EMG/STOP 11A

VTP 10A

FP- 17A

FP+ 18A

RP- 15A

RP+ 16A

3.3kΩ

Digital input

HOME +5V 3A

HOME COM 2A

DC 24V

/ZO 5

ZO 4

PR- 12

PF- 10

PULCOM 49

+24V IN 50

+24V IN

CN1

MPG A+ 20A

MPG A- 20B

MPG B+ 19A

MPG B- 19B

5V

A

B

0V

Manual pulse generator

P COM 1B

24V 1C

24V 1A

P COM 1D

INPOS 45

GND 24

(DO5)

INP 7A

GND2425

MONIT128

MONIT229

GND37

+12VA34

-12VA35

L7S

(Servo Drive)

※ This is an example for the standard of 1 axis. To use 2, 3, 4 axis, refer to the pin diagram of positioning
module.

+24V

+24V

3. Wiring Method

3-13

4. XGF-PD1/2/3/4H (Line Driver)

+24V

I/O Power

L7S

(Servo Drive)

XGF-PD1/2/3/4H
(Line Driver)

GND24

+24V IN

F.G

(CN1 Case)

F.G

Encoder Z
phase output

Twisted

Pair

DR/INP COM 6A

DR 8A

-10V ~ +10V

Analog

torque limit

ALARM+38

ALARM-39

(DO1)

(DIA)

Analog output

AO32

/AO33

BO30

/BO31

SG36

Encoder pulse

output

CWLIM 19

EMG 18

STOP 48

(DI9)

(DI8)

CCWLIM 20

(DI7)

DIR 46

(DI6)

ALMRST 17

(DI5)

EGEAR1 **

(DI4)

EGEAR2 **

(DI3)

P_CLR **

(DI2)

SVON 47

(DI1)

PCON **

GAIN2 **

T_LMT **

MODE **

ABS_RQ **

ZCLAMP **

SPD3 21

SPD2 22

SPD1 23

RDY+ 40

RDY- 41

(DO2)

TRQCOM 1

GND 8

COM 9A

OV+ 14A

OV- 13A

DOG 12A

EMG/STOP 11A

VTP 10A

FP- 17A

FP+ 18A

RP- 15A

RP+ 16A

3.3kΩ

Digital input

HOME +5V 3A

HOME COM 2A

DC 24V

/ZO 5

ZO 4

PR+ 11

PF+ 9

+24V IN 50

+24V IN

CN1

PF- 10

PR- 12

Twisted

Pair

Manual pulse generator

MPG A+ 20A

MPG A- 20B

MPG B+ 19A

MPG B- 19B

5V

A

B

0V

INPOS 45

GND24 24

(DO5)

INP 7A

ZSPD43

BRAKE44

ALO016

ALO115

ALO214

VLMT**

TLMT**

(DO3)

(DO4)

WARN**

INSPD**

GND2425

P COM 1B

24V 1C

24V 1A

P COM 1D

MONIT128

MONIT229

GND37

+12VA34

-12VA35

※ This is an example for the standard of 1 axis. To use 2, 3, 4 axis, refer to the pin diagram of positioning
module.

+24V

+24V

3. Wiring Method

3-14

5. XBF-PD02A (Line Driver)

+24V

I/O Power

L7S

(Servo Drive)

XBF-PD02A
(Line Driver)

GND24

+24V IN

+24V

F.G

(CN1 Case)

F.G

Encoder Z

phase output

주1, 2)

Twisted

Pair

INP COM A6

-10V ~ +10V

Analog

torque

limit

ALARM+38

ALARM-39

(DO1)

주1)

(DIA)

Analog output

AO32

/AO33

BO30

/BO31

SG36

Encoder pulse

output

CWLIM 19

EMG 18

STOP 48

(DI9)

(DI8)

CCWLIM 20

(DI7)

DIR 46

(DI6)

ALMRST 17

(DI5)

EGEAR1 **

(DI4)

EGEAR2 **

(DI3)

P_CLR **

(DI2)

SVON 47

(DI1)

PCON **

GAIN2 **

T_LMT **

MODE **

ABS_RQ **

ZCLAMP **

SPD3 21

SPD2 22

SPD1 23

RDY+ 40

RDY- 41

(DO2)

TRQCOM 1

GND 8

COM A9

OV+ A14

OV- A13

DOG A12

FP- A17

FP+ A18

RP- A15

RP+ A16

3.3kΩ

Digital input

HOME +5V A3

HOME COM A2

DC 24V

/ZO 5

ZO 4

PR+ 11

PF+ 9

+24V IN 50

+24V IN

CN1

PF- 10

PR- 12

Twisted

Pair

Manual pulse

generator

MPG A+ B20

MPG A- A20

MPG B+ B19

MPG B- A19

5V

A

B

0V

INPOS 45

GND24 24

(DO5)

INP A7

ZSPD43

BRAKE44

ALO016

ALO115

ALO214

VLMT**

TLMT**주2)

(DO3)

(DO4)

WARN**

INSPD**

GND2425

P COM 1B

24V 1C

24V 1A

P COM 1D

MONIT128

MONIT229

GND37

+12VA34

-12VA35

※ This is an example for the standard of 1 axis. To use 2 axis, refer to the pin diagram of positioning module.

+24V

3. Wiring Method

3-15

6. XBM-DN**S (Open Collector)

+24V

I/O Power

XBM-DN**S
(Open Collector)

GND24

+24V IN

F.G(CN1 Case)

F.G

Encoder Z
phase output

주1, 2)

1.5K

1.5K

-10V ~ +10V

Analog
torque

limit

ALARM+38

ALARM-39

(DO1)

주1)

ZSPD43

BRAKE44

ALO016

ALO115

ALO214

VLMT**

TLMT**주2)

(DO3)

(DO4)

WARN**

INSPD**

(DIA)

Analog output

AO32

/AO33

BO30

/BO31

SG36

Encoder pulse

output

CWLIM 19

EMG 18

STOP 48

(DI9)

(DI8)

CCWLIM 20

(DI7)

DIR 46

(DI6)

ALMRST 17

(DI5)

EGEAR1 **

(DI4)

EGEAR2 **

(DI3)

P_CLR **

(DI2)

SVON 47

(DI1)

PCON **

GAIN2 **

T_LMT **

MODE **

ABS_RQ **

ZCLAMP **

SPD3 21

SPD2 22

SPD1 23

RDY+ 40

RDY- 41

(DO2)

TRQCOM 1

GND 8

Input

Common

COM0

HOME

P05

DOG P04

Limit L P01

P00

Output

Common

COM

Pulse P20

COM

Direction P22

3.3kΩ

Digital input

DC 24V

/ZO 5

ZO 4

PR- 12

PF- 10

PULCOM 49

+24V IN 50

+24V IN

CN1

+24V

DC24

INPOS 45

GND 24

(DO5)

GND2425

MONIT128

MONIT229

GND37

+12VA34

-12VA35

L7S

(Servo Drive)

This is an example for the standard of 1 axis. To use 2 axis, refer to the pin diagram of positioning module.

Output

Common

Limit H

3. Wiring Method

3-16

7. XBC/XEC-DNxxH (Open Collector)

+24V

I/O Power

XBC/XEC-DNxxH
(Open Collector)

GND24

+24V IN

F.G(CN1 Case)

F.G

Encoder Z phase output

1.5K

1.5K

-10V ~ +10V

Analog

torque limit

ALARM+38

ALARM-39

(DO1)

ZSPD43

BRAKE44

ALO016

ALO115

ALO214

VLMT**

TLMT**

(DO3)

(DO4)

WARN**

INSPD**

(DIA)

Analog output

AO32

/AO33

BO30

/BO31

SG36

Encoder pulse output

CWLIM 19

EMG 18

STOP 48

(DI9)

(DI8)

CCWLIM 20

(DI7)

DIR 46

(DI6)

ALMRST 17

(DI5)

EGEAR1 **

(DI4)

EGEAR2 **

(DI3)

P_CLR **

(DI2)

SVON 47

(DI1)

PCON **

GAIN2 **

T_LMT **

MODE **

ABS_RQ **

ZCLAMP **

SPD3 21

SPD2 22

SPD1 23

RDY+ 40

RDY- 41

(DO2)

TRQCOM 1

GND 8

Input

Common

COM0

HOME

P0D

%QX0.0.13

DOG

P0C

%QX0.0.12

Limit H

P09

%QX0.0.9

P08

%QX0.0.8

Output

Common

COM

Pulse

P20

%QX0.0.0

COM

Direction

P22

%QX0.0.2

3.3kΩ

Digital input

DC 24V

/ZO 5

ZO 4

PR- 12

PF- 10

PULCOM 49

+24V IN 50

+24V IN

CN1

+24V P

INPOS 45

GND 24

(DO5)

GND2425

MONIT128

MONIT229

GND37

+12VA34

-12VA35

L7S

(Servo Drive)

※ This is an example for the standard of 1 axis. To use 2 axis, refer to the pin diagram of positioning module
.

Output

Common

Limit L

3. Wiring Method

3-17

3.4 Timing Diagram

3.4.1 Timing Diagram During Power Input

For XDL-L7 Series, connect single-phase power to the C1 and C2 terminals to supply power
to the control circuit, and three-phase power to L1, L2, and L3 to supply power to the main
circuit.

The servo signal becomes Ready after the maximum time of 120 [ms] that is required to
reset the inside of the device. If you change the signal to ON, the servo operates in 40 [ms].

Control power
establishment 5
[V]

Control program
reset

Main power
establishment

Alarm
(Normally On)

Servo Ready

Servo On

Clear DB

PWM output
(motor
rotation

)

150 ms

50 ms

120 ms

10 ms

10 ms

5 ms

40 ms

Main power,
control power
supply

200 ms

2 ms

3. Wiring Method

3-18

3.4.2 Timing Diagram at the Time of Alarm Trigger

When the alarm triggered in the servo drive, it blocks the PWM and the motor stops.

Caution

 After solving the problem that triggered the alarm, and changing the command signal (Servo

ON) to OFF, reset the alarm.

200 ms

Control power
establishment

5

[V]

Control
program

Reset

Main power
establishment

Alarm
(Normally On)

Servo RDY

Servo On

Clear DB

PWM
(Motor rotation)

RESET

150 ms

40 ms

10 ms

5 ms

2 ms

30 ms

Alarm triggered by
an anomaly

Remove
causes that
triggered
alarm

Main power,
control power
supply

3. Wiring Method

3-19

3.5 Control Signal Wiring

3.5.1 Contact Input Signal

Caution

1. There are two input contacts based on the characteristics of individual signals: contact A and

contact B. They can be set by [P2-08] and [P2-09].

2. It is possible to turn each contact on or off forcibly with [Cn-07]. Take extra caution because
each contact is automatically turned off when power is off.

3. The signal definition of each contact can be modified by [P2-00], [P2-01], [P2-02], [P2-03], and
[P2-04].

R1: 3.3 K, R2: 680 

3. Wiring Method

3-20

3.5.2 Contact Output Signal

Caution

1. There are two output contacts based on the characteristics of individual signals: contact A and

contact B. They can be set by [P2-10].

2. It is possible to turn each contact on or off forcibly with [Cn-08]. Take extra caution because
each contact is automatically turned off when power is off.

3. The signal definition of each contact point can be modified by [P2-05], [P2-06], and [P2-07].

4. Overvoltage and overcurrent may cause damage because a transistor switch is used internally.

 Rated voltage and current: DC 24 [V] ±10%, 120 [㎃]

NOTE 1) For alarm and READY output signals, the GND24 terminal is separated.

3. Wiring Method

3-21

3.5.3 Analog Input/Output Signals

1. Keep GND as 0 [V] of control power.

2. Keep the input signal command voltage within ±10 [V], and input impedance at 22 [㏀].

3. Output signal voltage for Monitor 1 (No. 28) and Monitor 2 (No. 29) is ±10 [V].

Configure wiring as shown in the following image when you adjust analog input with
parameter resistance by using power supplied by the drive.

Do not exceed the maximum output capacity of 30 [㎃].

<Servo Drive >

<Analog Input Example>

<Analog output>

<Analog input>

3. Wiring Method

3-22

3.5.4 Pulse Train Input Signal

(1) Line Driver (5 [V]) Pulse Input

(2) Open Collector (24 [V]) Pulse Input

(3) 12 [V] or 5 [V] NPN Open Collector Pulse Command

NOTE 1) When using 5 [V] power: Resistance R = 100-150 [], 1/2 [W]

When using 12 [V] power: Resistance R = 560-680 [], 1/2 [W]
When using 24 [V] power: Resistance R = 1.5 [k], 1/2 [W]

Servo Drive

Upper level controller

PF

PR

PF+

PF-

PR+

PR-

Line driver

Line receiver

FG

Twisted Pai

r

Shield Wire

Servo Drive

Upper level controller

+24

[V]

GND24

GND24

Pulse COM

PR-

FG

Shield Wire

PF-

Upper level controller

Servo Drive

PR+
PF+

PF-

PR-

GND12

Power note 1

)

NPN

R

R

FG

3. Wiring Method

3-23

(4) PNP Open Collector Pulse Command

NOTE 1) When using 24 [V] power: Resistance R = 1.5 [k], 1/2 [W]

When using 12 [V] power: Resistance R = 560-680 [], 1/2 [W]
When using 5 [V] power: Resistance R = 100-150 [], 1/2 [W]

3.5.5 Encoder Output Signal

Connect the GND terminal of the upper level controller and the GND terminal of CN1
because encoder signals are output based on the GND of control power.

Encoder signals for the servo motor received from CN2 are pre-scaled, according to the ratio
defined by [P0-14] and output in line driver mode.

Set “1” on the 3

rd

bit in the menu [P0-17] ‘Function Select Bit',

It outputs open collector A,B,Z phases through existing AL0, AL1 and AL2 contact points.

(Output voltage 40mA and below, Maximum frequency 100Khz)

Servo Drive

Upper level controller

P

A

A

O

/AO

GND

Line driver Line receiver

SG

SG

3. Wiring Method

3-24

3.6 Quadrature Encoder Signaling Unit (CN2)
Wiring

3.6.1 XLCS-EAS Cable

3.6.2 XLCS-EBS Cable

3. Wiring Method

3-25

3.7 Serial Encoder Signaling Unit (CN2)
Wiring

3.7.1 XLCS-ECS Cable

3.7.2 XLCS-EDS Cable

3. Wiring Method

3-26

3.7.3 XLCS-EES Cable

Servo Drive Servo Motor

인코더

1
6
2
7

9
4

5

MA

/MA

SL

/SL

5V

GND

SHD

Cable

Connector(CN2)

Maker - 3M

10314-52A0-008

10114-3000VE

Connecto

r

Tyco Connector
(7Ciruits)

Encoder

3
4
5
6

14

7

Frame

3. Wiring Method

3-27

3.8 Multi Turn Encoder signal unit(CN2)
wiring

3.8.1 XLCS-ECS1 Cable

3.8.2 XLCS-EDS1 Cable

Servo Drive Servo Motor

A
B
C
D
E
F

H
G

J

MA

/MA

SL

/SL
BAT+
BAT-

5V

GND

SHD

A

WG24 4Pair Twist

Shield Wire

Cable

Connector(CN2)

Maker - 3M

10314-52A0-008

10114-3000VE

Cable
Connector

MS3108S20-29S

Encode

3
4
5
6

14

7

Frame

1
2
3
4
5
6

7
8

9

MA

/MA

SL

/SL
BAT+
BAT-

5V

GND

SHD

Cable

Connector (CN2)

Maker - 3M

10314-52A0-008

10114-3000VE

Cable
Connector

MS3108S20-29S

Encoder

3
4
5
6

14

7

Frame

A

WG24 4Pair Twist

Shield Wire

Servo Drive

Servo Motor

3. Wiring Method

3-28

3.8.3 XLCS-EES1 Cable

Servo Drive Servo Motor

인코더

1
6
2
7
8
3

9
4

5

MA

/MA

SL

/SL
BAT+
BAT_

5V

GND

SHD

Cable

Connector(CN2)

Maker - 3M

10314-52A0-008

10114-3000VE

Connector

Tyco Connector

Encoder

3
4
5
6

14

7

Frame

3. Wiring Method

3-29

3.9 Transmission of Absolute Encoder Data

3.9.1 Transmission of Absolute Encoder Data

Upon the absolute encoder's request for absolute data, the data of the absolute encoder are
transmitted to the upper level controller in the form of quadrature pulses through the output
of the encoder output signals, AO and BO.

In this case, pulses are output at the speed of 500 [Kpps].

Among absolute data, multi-turn data are transmitted first, followed by single-turn data.
(Refer to “4.1.6 External Input Signal and Logic Definition" for information on the allocation of
the sequence input signal and ABS-RQ signal.)

 Transmission Sequence of Absolute Data

1. When the servo is OFF, change the ABS_RQ signal on the upper level controller to ON.

2. The servo drive checks the ABS_RQ signal for 10 [ms].

3. The servo drive prepares the transmission of multi-turn data for 100 [ms].

4. The servo drive transmits multi-turn data for up to 140 [ms] (based on 16-bit multi-turn data).

5. The servo drive prepares the transmission of single-turn data for 100 [ms].

6. The servo drive transmits single-turn data with the pre-scaler ratio applied for up to 1100 [ms]

(based on 19-bit single-turn data).

7. The servo drive operates with normal encoder output signals 100 [ms] after the single-turn data are
completely transmitted.

A

bsolute data transmission

Pre-scaler pulse output

4. Parameters

4-1

4 Parameters

4.1 How to Use the Loader

4.1.1 Names and Functions of Each Parts

Display 5-digit FND data.

Digit 5 Digit 4 Digit 3 Digit 2 Digit 1

[MODE]: Change display mode.

[/LEFT]: Move to another data digit.

[UP]: Increase displayed data.

[DOWN]: Decrease displayed data.

[SET]: Confirm displayed data.

[/RIGHT]: Move to another data digit.

Displays the decimal point.

E.g.) 123.4

In the case of 16 bits, the minus symbol is used.

In the case of 32 bits, a dot is used.

E.g.) -123.4

4. Parameters

4-2

4.1.2 Status Summary Display

(1) Status Summary Display in Speed Mode

① Example of the OFF status of the servo in speed control mode

② Example of the ON status of the servo in speed control mode

DIGIT 3-1: Displays the current status of the servo.

 bb - Servo OFF
 run - Servo ON
 Pot - CCW Limit
 not - CW Limit

DIGIT 4_High: ZSPD

DIGIT 4_Medium: INSPD or INPOS

DIGIT 4_Low: Command (speed or torque)

DIGIT 4_DOT: READY

DIGIT 5: Displays the current control mode.

 P - Position control
 S - Speed control
 T - Torque control

DIGIT 5_DOT: Servo ON

4. Parameters

4-3

(2) Servo Operation Status Summary Display List

The following list explains the operation status summary display of different modes of the
servo.

Operation Status

Screen

Function Notes

Displays the servo's OFF status when in the
position mode.

Displays the servo's ON status when in position
mode.

Displays CCW status when in position mode.

Displays CW status when in position mode.

Displays the servo's OFF status when in speed
mode.

Displays the servo's ON status when in speed
mode.

Displays CCW status when in speed mode.

Displays CW status when in speed mode.

Displays the servo's OFF status when in torque
mode.

Displays the servo's ON status when in torque
mode.

Displays CCW status when in torque mode.

Displays CW status when in torque mode.

4. Parameters

4-4

4.1.3 Parameter Handling

(1) Parameter Movement

Example of changing speed control mode to position control mode ([P0-03]: 00001 -> 00002)

 If the alarm does not go off at the starting operation, the speed operation mode [S=bb] indicating

operation status is displayed.

 Editable parameters are from [P0-00] to [Cn-15]. Press [SET] when a parameter number is

displayed and you can see and edit the parameter data.

 In the initial parameter edit status, the number on the far right flickers (ON and OFF for 0.5 seconds

respectively) and becomes editable.

4. Parameters

4-5

(2) Example of changing speed control mode to position control

mode ( [P0-03]: 00001 -> 00002 )

Ord

er

Loader Displays Keys to Use What to Do

1

Displays the speed control mode with
main power and control power
permitted.

2

Press [MODE] to move to [P0-00].

3

Press [UP] or [DOWN] to move to [P0­03].

4

Press [SET] to go to the parameter edit
window. The parameter is displayed as

00001.

5

Press [UP] or [DOWN] at the blinking
cursor to change the number to 00002.

6

Press and hold [SET] for approximately
one second. After two flickers, the
number will be saved as 00002 in the
parameter.

7

Press and hold [MODE] for
approximately one second to return to
the P0-03 parameter.

8

Press [MODE] to change status to
position operation [P= bb] status which
is the summary display of the current
status.

NOTE 1) “ ” indicates flickering.

If you hold down [UP] / [DOWN] at the current cursor in the parameter window, the number continues to

increase/decrease.

4. Parameters

4-6

(3) Example of changing speed proportional gain 2

([P1-07]: 200 [rad/s] -> 500 [rad/s])

Ord

er

Loader Displays Keys to Use What to Do

1

Displays the speed control mode with
main power and permitted control
power.

2

Press [MODE] to move to [P1-00].

3

Press [UP] or [DOWN] to move to [P1­07].

4

Press [SET] to enter parameter edit
mode. The parameter is displayed as

00200.

5

Press [/LEFT] or [/RIGHT] at the
blinking cursor to move to the desired
digit, DIGIT 3.

6

Press [UP] or [DOWN] at the blinking
DIGIT 3 position to change the number
to 00500.

7

Press and hold [SET] for approximately
one second. After two flickers, the
number will be saved as 00500 in the
parameter.

8

Press and hold [MODE] for
approximately one second to return to
[P1-07].

NOTE 1) “ ” indicates flickering.

If you hold down [UP] / [DOWN] at the current cursor in the parameter window, the number continues to

increase/decrease.

4. Parameters

4-7

(4) Example of changing DAC output offset 1

([P0-19]: 0 [Unit/V] -> -500 [Unit/V])

Ord

er

Loader Displays Keys to Use What to Do

1

Displays the speed control mode with
main power and control power
permitted.

2

Press [MODE] to move to [P0-00].

3

Press [UP] or [DOWN] to move to [P0­19].

4

Press [SET] to enter parameter edit
mode. The parameter is displayed as

00000.

5

Press [/LEFT] or [/RIGHT] at the
blinking cursor to move to the desired
digit, DIGIT 3.

6

Press [UP] or [DOWN] at the blinking
DIGIT 3 position to change the number
to -0500.

7

Press and hold [SET] for approximately
one second. After two flickers, the
number will be saved as -0500 in the
parameter.

8

Press and hold [MODE] for
approximately one second to return to
[P0-19].

NOTE 1) “ ” indicates flickering.

If you hold down [UP] / [DOWN] at the current cursor in the parameter window, the number continues to

increase/decrease.

4. Parameters

4-8

4.1.4 Data Display

(1) Binary

① Minimum (0b00000) ② Maximum (0b11111)

(2) Hex

① Minimum (0x0000) ② Maximum (0xFFFF)

(3) 16-bit Unsigned Integer

① E.g.) 0 ② E.g.) +1234

(4) 16-bit Signed Integer

① E.g.) -1234 ② E.g.) +5678

① E.g.) -1234 ② E.g.) +5678

(5) 16-bit Decimal Point Display

① E.g.) -123.4 ② E.g.) +123.4

① E.g.) -123.4 ② E.g.) +123.4

4. Parameters

4-9

(6) 32-bit Signed Integer Data Display

① Minimum (-2147483648)

Display upper two digits Display middle four digits Display lower four digits

② Maximum (2147483647)

Display upper two digits Display middle four digits Display lower four digits

 E.g.) [St-16]: Displayed as Upper = 0, Middle = 0012, and

Lower = 2071

Order Loader Displays Keys to Use What to Do

1

Displays the speed control mode with
main power and control power
permitted.

2

Press [MODE] to move to [St-00].

3

Press [UP] or [DOWN] to move to [St­16].

4

Press [SET] to display lower digit data.

5

Each time you press [/LEFT] or
[/RIGHT]

lower, middle, and upper data is
displayed.

6

Each time you press [/LEFT] or
[/RIGHT]

lower, middle, and upper data is
displayed.

7

Press and hold [MODE] for
approximately one second to return to
[St-16].

NOTE 1) “ ” indicates flickering.

4. Parameters

4-10

4.1.5 External Input Contact Signal Display [St-14]

You can check whether the ON/OFF status of digital input/output signals that access the
servo drive are on or off.

(1) External Input Signal Display

The positions of the seven segment LEDs and CN1 connector pins correspond as follows.

If an LED that corresponds to a pin is turned on/off, it indicates ON/OFF accordingly.

 Input Contact Display

Number (A) (9) (8) (7) (6) (5) (4) (3) (2) (1)

Contact

Number

DIA DI9 DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1

CN1

Pin number

48 18 19 20 46 17 21 22 23 47

Allocated

default

Signal name

STOP EMG CWLIM

CCWLI

M

DIR

ALMR

ST

SPD3 SPD2 SPD1 SVON

4. Parameters

4-11

4.1.6 External Input Signal and Logic Definition

The following describes how to allocate input signals and how to view them.

(1) Input Signal Allocation

XDL-L7 Drive allows for the allocation of a total of 19 input contact functions to 10 hardware
contacts.

Each of the input contact functions is located at the designated digit of parameter [P2-00],
[P2-01], [P2-02], [P2-03], or [P2-04]. Changing the value of the digit allows allocation to pins
DI1 through DIA

The default input signal allocation is as follows:

One number can be allocated to two input signals such as N (input signal): 1 (input allocation
number).

E.g.) If SVON and SPD1 are allocated to DI #01, you can use both the SVON signal and the
SPD1 signal when entering DI #01.

Caution

If you change the input contact function, Since it is an immediate effect on the drive, you need to be
careful for the operation.

Before change, recommended to be set ‘EEPROM save no use’ in DIGIT 5 of [P0-17] parameter
..

Input Signal

Input Allocation Number

4. Parameters

4-12

Signal Name

Input

Signal

Alwa

ys

Alloc

ated

CN1 Pin Default Allocation Number No

Allo

cati

on

Input

Signal

Definition

Default

setting

Parameter
Allocation

48 18 19 20 46 17 21 22 23 47

Servo ON

[P2-00].Set Digit 1

SVON F A 9 8 7 6 5 4 3 2

10

[P2-00] 0x4321

Multi-speed 1

[P2-00]. Set Digit 2

SPD1 F A 9 8 7 6 5 4 3

21 0

Multi-speed 2

[P2-00]. Set Digit 3

SPD2 F A 9 8 7 6 5 4

3 2 1 0

Multi-speed 3

[P2-00]. Set Digit 4

SPD3 F A 9 8 7 6 5

4 3 2 1 0

Alarm reset

[P2-01]. Set Digit 1

ALMRST F A 9 8 7 6

5 4 3 2 1 0

[P2-01] 0x8765

Select rotation

direction

[P2-01]. Set Digit 2

DIR F A 9 8 7 6 5 4 3 2 1 0

Forward rotation

prohibited

[P2-01]. Set Digit 3

CCWLIM F A 9 8 7 6 5 4 3 2 1 0

Reverse rotation

prohibited

[P2-01]. Set Digit 4

CWLIM F A 9 8 7 6 5 4 3 2 1 0

Emergency stop

[P2-02]. Set Digit 1

EMG F A

9 8 7 6 5 4 3 2 1 0

[P2-02] 0x00A9

Stop

[P2-02]. Set Digit 2

STOP F

A 9 8 7 6 5 4 3 2 1 0

Electronic gear

ratio 1

[P2-02]. Set Digit 3

EGEAR1 F A 9 8 7 6 5 4 3 2 1 0

Electronic gear

ratio 2

[P2-02]. Set Digit 4

EGEAR2 F A 9 8 7 6 5 4 3 2 1

0

P control action

[P2-03]. Set Digit 1

PCON F A 9 8 7 6 5 4 3 2 1

0

[P2-03] 0x0000

Select gain 2

[P2-03]. Set Digit 2

GAIN2 F A 9 8 7 6 5 4 3 2 1

0

Error pulse clear

[P2-03]. Set Digit 3

P_CLR F A 9 8 7 6 5 4 3 2 1

0

Torque limit

[P2-03]. Set Digit 4

T_LMT F A 9 8 7 6 5 4 3 2 1

0

Change operation

modes

[P2-04]. Set Digit 1

MODE F A 9 8 7 6 5 4 3 2 1

0

[P2-04] 0x0000

Absolute encoder

data request

[P2-04]. Set Digit 2

ABS_RQ F A 9 8 7 6 5 4 3 2 1 0

Zero clamp

[P2-04]. Set Digit 3

ZCLAMP F A 9 8 7 6 5 4 3 2 1

0

Reset absolute

encoder data

[P2-04]. Set Digit 4

ABS_RS

T

F A 9 8 7 6 5 4 3 2 1 0

NOTE 1) CN1 connector pin is not allocated when the default value is "0".

NOTE 2) For ABS_RST Signal, hold “High” for 500ms or longer in order to reset absolute encoder data.

4. Parameters

4-13

(2) Example of Changing Input Signal Allocation

The input signal definition can be changed in [P2-00], [P2-01], [P2-02], [P2-03], and [P2-04].

The input signal logic definition can be changed in [P2-08] and [P2-09].

Allocate input signals as shown in the following table:

Input Signal

Input Allocation Number

4. Parameters

4-14

Signal Name

Input

Signal

Alwa

ys

Alloc

ated

CN1 Pin Default Allocation Number

No
Alloc
ation

Input

Signal

Definition

Value

After

Changing

Parameter

Allocation

48 18 19 20 46 17 21 22 23 47

Servo ON

[P2-00].Set Digit 1

SVON F A 9 8 7 6 5 4 3 2

10

[P2-00] 0x0321

Multi-speed 1

[P2-00]. Set Digit 2

SPD1 F A 9 8 7 6 5 4 3

21 0

Multi-speed 2

[P2-00]. Set Digit 3

SPD2 F A 9 8 7 6 5 4

3 2 1 0

Multi-speed 3

[P2-00]. Set Digit 4

SPD3 F A 9 8 7 6 5 4 3 2 1

0

Alarm reset

[P2-01]. Set Digit 1

ALMRST F A 9 8 7 6

5 4 3 2 1 0

[P2-01] 0x0765

Select rotation

direction

[P2-01]. Set Digit 2

DIR F A 9 8 7

6 5 4 3 2 1 0

Forward rotation

prohibited

[P2-01]. Set Digit 3

CCWLIM F A 9 8

7 6 5 4 3 2 1 0

Reverse rotation

prohibited

[P2-01]. Set Digit 4

CWLIM F A 9 8 7 6 5 4 3 2 1 0

Emergency stop

[P2-02]. Set Digit 1

EMG F A 9 8 7 6 5 4 3 2 1

0

[P2-02] 0x0080

Stop

[P2-02]. Set Digit 2

STOP F A 9

8 7 6 5 4 3 2 1 0

Electronic gear

ratio 1

[P2-02]. Set Digit 3

EGEAR1 F A 9 8 7 6 5 4 3 2 1 0

Electronic gear

ratio 2

[P2-02]. Set Digit 4

EGEAR2 F A 9 8 7 6 5 4 3 2 1

0

P control action

[P2-03]. Set Digit 1

PCON F A 9 8 7 6 5 4 3 2 1

0

[P2-03] 0x9000

Select gain 2

[P2-03]. Set Digit 2

GAIN2 F A 9 8 7 6 5 4 3 2 1

0

Error pulse clear

[P2-03]. Set Digit 3

P_CLR F A 9 8 7 6 5 4 3 2 1

0

Torque limit

[P2-03]. Set Digit 4

T_LMT F A

9 8 7 6 5 4 3 2 1 0

Change operation

modes

[P2-04]. Set Digit 1

MODE F

A 9 8 7 6 5 4 3 2 1 0

[P2-04] 0x000A

Absolute encoder

data request

[P2-04]. Set Digit 2

ABS_RQ F A 9 8 7 6 5 4 3 2 1 0

Zero clamp

[P2-04]. Set Digit 3

ZCLAMP F A 9 8 7 6 5 4 3 2 1

0

Reset absolute

encoder data

[P2-04]. Set Digit 4

ABS_RS

T

F A 9 8 7 6 5 4 3 2 1

0

NOTE 1) CN1 connector pin is not allocated when the default value is "0".

NOTE 2) For ABS_RST Signal, hold “High” for 500ms or longer in order to reset absolute encoder data.

4. Parameters

4-15

 Examples of Changing Input Signal Allocation

The following is an example of changing input signal allocation.

The allocation signals of SVON (CN1-47) and STOP (CN1-48) can be switched in the
following sequence.

Before Changing After Changing

[P2-00]:

[P2-02]:

Order Loader Displays Keys to Use What to Do

1

Press [MODE] to move to [P2-00].

2

Press [SET] to enter parameter edit
mode. The parameter is displayed as

04321.

3

Press [UP] or [DOWN] at the blinking
cursor to change the number to
0432A.

4

Hold down [SET] for approximately
one second. After two flickers, the
number is saved as 0432A for the
parameter.

5

Hold down [MODE] for approximately
one second to return to [P2-00].

6

Press [UP] or [DOWN] at the blinking
cursor to change the number to P2-02.

7

Press [SET] to enter parameter edit
mode. The parameter is displayed as
000A9.

8

Press [/LEFT] or [/RIGHT] at the
blinking cursor to move to the desired
digit, DIGIT 2.

9

Press [UP] or [DOWN] at the blinking
cursor to change the number to

00019.

10

Hold down [SET] for approximately
one second. After two flickers, the
number is saved as 00019 for the
parameter.

11

Hold down [MODE] for approximately
one second to return to [P2-02].

12 ** Modification is not possible with the servo on &. Reset the parameter.

※

In case of exiting

without saving the set

value

Hold down [MODE] for approximately
one second to return to the parameter.

NOTE 1) “ ” indicates flickering.

4. Parameters

4-16

(3) Input signal logic definition

XDL-L7 Drive allows for defining the logic of input signals for 10 hardware contacts from DI1
to DIA through parameters [P2-08] and [P2-09].

The logic of input signals as set in the factory is as follows.

Signal Name Input

Signal

(Initial
name)

CN1 Pin Default Allocation Number

Contact B

Input

signal

logic

setting

Default
setting

Parameter

Allocation

48 18 19 20 46 17 21 22 23 47

Servo ON

[P2-08].Set Digit 1

SVON

1 0

[P 2 -08 ] 0x 11111

Multi-speed 1

[P2-08]. Set Digit 2

SPD1

1 0

Multi-speed 2

[P2-08]. Set Digit 3

SPD2

1 0

Multi-speed 3

[P2-08]. Set Digit 4

SPD3

1 0

Alarm reset

[P2-08]. Set Digit 5

ALMRST

1 0

Select rotation

direction

[P2-09]. Set Digit 1

DIR 1 0

[P2-09] 0x10001

Forward rotation

prohibited

[P2-09]. Set Digit 2

CCWLIM 0

Reverse rotation

prohibited

[P2-09]. Set Digit 3

CWLIM 0

Emergency stop

[P2-09]. Set Digit 4

EMG

0

Stop

[P2-09]. Set Digit 5

STOP

1 0

NOTE 1) For the purpose of the input signal logic definitions, Contact A is 1 and Contact B is 0.

Input signal logic definition

Input signal logic definition number

4. Parameters

4-17

(4) Example of Changing Input Signal Logic Definitions

Input signal logic definitions can be changed in [P2-08] and [P2-09].

When input signals are allocated as below, settings will be done as shown in table below.

Signal Name

Input

Signal

CN1 Pin Default Allocation Number

Cont

act B

Input

signal

logic

definition

Default
setting

Parameter
Allocation

48 18 19 20 46 17 21 22 23 47

Servo ON

[P2-08].Set Digit 1

SVON

1 0

[P 2 -08 ] 0x 11111

Multi-speed 1

[P2-08]. Set Digit 2

SPD1

1 0

Multi-speed 2

[P2-08]. Set Digit 3

SPD2

1 0

Multi-speed 3

[P2-08]. Set Digit 4

SPD3

1 0

Alarm reset

[P2-08]. Set Digit 5

ALMRST

1 0

Select rotation

direction

[P2-09]. Set Digit 1

DIR 1 0

[P2-09] 0x11101

Forward rotation

prohibited

[P2-09]. Set Digit 2

CCWLIM 0

Reverse rotation

prohibited

[P2-09]. Set Digit 3

CWLIM 1 0

Emergency stop

[P2-09]. Set Digit 4

EMG

1 0

Stop

[P2-09]. Set Digit 5

STOP

1 0

NOTE 1) For the purpose of the input signal logic definition, Contact A is 1 and Contact B is 0.

Input signal logic definition

Input signal logic definition number

4. Parameters

4-18

 Examples of changing input signal logic definitions

The table below shows examples of changing input signal logic definitions.

The sequence of changing logic signal contact A of SVON (CN1-47) to contact B and logic
signal contact B of CCWLIM (1-20) to contact A is as follows.

Before changing After changing

[P2-08]:

[P2-09]:

Order Loader Displays Keys to Use What to Do

1

Press [UP] or [DOWN] at the blinking
cursor to move to [P2-08].

2

Press [SET] to enter parameter edit
mode. The parameter is displayed as

11111.

3

Press [UP] or [DOWN] at the blinking
cursor to change the number to 11110.

4

Hold down [SET] for approximately
one second. After two flickers, the
number is saved as 11110 for the
parameter.

5

Hold down [MODE] for approximately
one second to return to [P2-08].

6

Press [UP] or [DOWN] at the blinking
cursor to change the number to [P2­09].

7

Press [SET] to enter parameter edit
mode. The parameter is displayed as

10001.

8

Press [/LEFT] or [/RIGHT] at the
blinking cursor to move to the desired
digit, DIGIT 2.

9

Press [UP] or [DOWN] at the blinking
cursor to change the number to

10011.

10

Hold down [SET] for approximately
one second. After two flickers, the
number is saved as 10011 for the
parameter.

11

Hold down [MODE] for approximately
one second to return to [P2-09].

12 ** Modification is not possible with the servo on &. Reset the parameter.

※

In case of exiting

without saving the set

value

Hold down [MODE] for approximately
one second to return to the parameter.

NOTE 1) “ ” indicates flickering.

4. Parameters

4-19

4.1.7 External Output Contact Signal Display [St-15]

You can check whether the ON/OFF status of digital input/output signals that access the
servo drive are on or off.

(1) External Output Signal Display

The positions of the seven segment LEDs and CN1 connector pins correspond as follows.

If an LED that corresponds to a pin is turned on/off, it indicates ON/OFF accordingly.

Output Contact Display

Number (5) (4) (3) (2) (1)

Contact

Number

DO5 DO4 DO3 DO2 DO1

CN1

pin number

45 44 43 40/41 38/39

Allocated default

signal name

INPOS BRAKE ZSPD READY ALARM

4. Parameters

4-20

4.1.8 External Output Signal and Logic Definition

The following explains output signal allocation and the method of checking allocation status.

(1) Output Signal Allocation

 Output signal definition: [P2-05], [P2-06], [P2-07]

 Output signal logic definition: [P2-10]

 The default output signal allocation is as follows:

Signal Name

Output

Signal

Alwa

ys

Alloc

ated

CN1 Pin Default Allocation Number

Not

Alloc

ated

Internal

Parameter

Default

Value

Parameter Allocation 45 44 43 40/41 38/39

Alarm

[P2-05].Set Digit 1

ALARM F 5 4 3 2

1 0

[P2-05] 0x4321

Servo Ready

[P2-05]. Set Digit 2

READY F 5 4 3

2 1 0

Zero speed achieved

[P2-05]. Set Digit 3

ZSPD F 5 4

3 2 1 0

Brake

[P2-05]. Set Digit 4

BRAKE F 5

4 3 2 1 0

Position reached

[P2-06]. Set Digit 1

INPOS F

5 4 3 2 1 0

[P2-06] 0x0005

Torque limit reached

[P2-06]. Set Digit 2

TLMT F 5 4 3 2 1

0

Speed limit reached

[P2-06]. Set Digit 3

VLMT F 5 4 3 2 1

0

Speed achieved

[P2-06]. Set Digit 4

INSPD F 5 4 3 2 1

0

Warning

[P2-07]. Set Digit 1

WARN F 5 4 3 2 1

0 [P2-07] 0x0000

NOTE 1) CN1 connector pin is not allocated when the default value is "0".

Output Signal

Output Allocation Number

4. Parameters

4-21

(2) Examples of Changing Output Signal Allocation

 The output signal definition can be changed in [P2-05], [P2-06], and [P2-07].

 The output signal logic definition can be changed in [P2-10].

 Allocate output signals as in the following table:

Signal Name

Output

Signal

Alwa

ys

Alloc

ated

CN1 Pin Default Allocation Number

Not

Alloc

ated

Internal

Parameter

Value

After

Changing

Parameter Allocation 45 44 43 40/41 38/39

Alarm

[P2-05].Set Digit 1

ALARM F 5 4 3 2

1 0

[P2-05] 0x0301

Servo Ready

[P2-05]. Set Digit 2

READY F 5 4 3 2 1

0

Zero speed achieved

[P2-05]. Set Digit 3

ZSPD F 5 4

3 2 1 0

Brake

[P2-05]. Set Digit 4

BRAKE F 5 4 3 2 1

0

Position reached

[P2-06]. Set Digit 1

INPOS F 5 4 3 2 1

0

[P2-06] 0x5400

Torque limit reached

[P2-06]. Set Digit 2

TLMT F 5 4 3 2 1

0

Speed limit reached

[P2-06]. Set Digit 3

VLMT F 5

4 3 2 1 0

Speed achieved

[P2-06]. Set Digit 4

INSPD F

5 4 3 2 1 0

Warning

[P2-07]. Set Digit 1

WARN F 5 4 3

2 1 0 [P2-07] 0x0002

NOTE 1) CN1 connector pin is not allocated when the default value is "0".

Output Signal

Output Allocation Number

4. Parameters

4-22

 Example of Changing Output Signal Allocation

The following is an example of output signal allocation change.

The sequence of switching the allocation signals of ALARM (CN1-38/39) and ZSPD (CN1-

43) is as follows:

Before Changing After Changing

[P2-05]:

Order

Loader Window

Display Result

Keys to Use What to Do

1

Press [MODE] to move to [P2-05].

2

Press [SET] to enter parameter
edit mode. The parameter is
displayed as 04321.

3

Press [UP] or [DOWN] at the
blinking cursor to change the
number to 04323.

4

Press [/LEFT] or [/RIGHT] at the
blinking cursor to move to the
desired digit, DIGIT 3.

5

Press [UP] or [DOWN] at the
blinking cursor to change the
number to 04123.

6

Hold down [SET] for approximately
one second. After two flickers, the
number will be saved as 04123 for
the parameter.

7

Hold down [MODE] for
approximately one second to
return to [P2-05].

8 ** Modification is not possible with the servo on & Reset the parameter.

※

In case of exiting without

saving the set value

Hold down [MODE] for
approximately one second to
return to the parameter.

NOTE 1) “ ” indicates flickering.

If two output signals are allocated to a number, the output contact setting error [AL-72] alarm
will be triggered.

4. Parameters

4-23

(3) Output Signal Logic Definition

Output signal logic definition: [P2-10]

The logic of output signals as shipped from the factory is as follows.

Signal Name

Input
Signal
(Initial
Name)

CN1 Pin Default Allocation Number

Contact B

Output

Signal

Logic

Definition

Default
Setting

Parameter Allocation 45 44 43 40 /41 38 /39

Alarm

[P2-10].Set Digit 1

ALARM

0

[P2-10] 0x10110

Servo Ready

[P2-10]. Set Digit 2

READY

1 0

Zero speed achieved

[P2-10].Digit 3

ZSPD

1 0

Brake

[P2-10].Digit 4

BRAKE

0

Position reached

[P2-10].Digit 5

INPOS

1 0

NOTE 1) For the purpose of the input signal logic definition, Contact A is 1 and Contact B is 0

Output signal logic definition number

Output signal logic definitions

DO1(Contact A/Contact B)
DO2(Contact A/Contact B)
DO3(Contact A/Contact B)
DO4(Contact A/Contact B)
DO5(Contact A/Contact B)

4. Parameters

4-24

(4) Examples of Changing Output Signal Logic Definition

 Output signal logic definitions can be changed at [P2-10]

 Set output signals as shown in the table below when they are allocated as below.

Signal Name

Input
Signal
(Initial
Name)

CN1 Pin Default Allocation Number

Contact B

Output

Signal

Logic

Definition

Default
Setting

Parameter Allocation 45 44 43 40 /41 38 /39

Alarm

[P2-10].Set Digit 1

ALARM

0

[P2-10] 0x11110

Servo Ready

[P2-10]. Set Digit 2

READY

1 0

Zero speed achieved

[P2-10].Digit 3

ZSPD

1 0

Brake

[P2-10].Digit 4

BRAKE

1 0

Position reached

[P2-10].Digit 5

INPOS

1 0

For the purpose of the input signal logic definition, Contact A is 1 and Contact B is 0

Output signal logic definitions

Output signal logic definition number

DO1(Contact A/Contact B)
DO2(Contact A/Contact B)
DO3(Contact A/Contact B)
DO4(Contact A/Contact B)
DO5(Contact A/Contact B)

4. Parameters

4-25

 Example of Changing Output Signal Allocation

The following is an example of output signal allocation change.

The sequence of switching the allocation signals of ALM (CN1-38/39) and ZSPD (CN1-43) is
as follows:

Before Changing After Changing

[P2-05]:

Order

Loader Window

Display Result

Keys to Use What to Do

1

Press [MODE] to move to [P2-05].

2

Press [SET] to enter parameter
edit mode. The parameter is
displayed as 04321.

3

Press [UP] or [DOWN] at the
blinking cursor to change the
number to 04323.

4

Press [/LEFT] or [/RIGHT] at the
blinking cursor to move to the
desired digit, DIGIT 3.

5

Press [UP] or [DOWN] at the
blinking cursor to change the
number to 04123.

6

Hold down [SET] for approximately
one second. After two flickers, the
number will be saved as 04123 for
the parameter.

7

Hold down [MODE] for
approximately one second to
return to [P2-05].

8 ** Modification is not possible with the servo on & Reset the parameter.

※

In case of exiting without

saving the set value

Hold down [MODE] for
approximately one second to
return to the parameter.

NOTE 1) “ “indicates flickering.

If two output signals are allocated to a number, the output contact setting error [AL-72] alarm
will be triggered.

4. Parameters

4-26

4.2 Parameter Description

4.2.1 Parameter System

There are a total of eight groups of parameters. Each group is explained in the following
table:

Move to
Another

Parameter

Parameter

Number

Initial Screen

Parameter

Group Name

Details

MODE Key

-

E.g.) In speed mode

Status Summary

Display

Displays the status
summary of the servo.

St-00 - St-26 Status

Displays the operation
status of the servo.

P0-00 - P0-27 System

Saves system
configuration
information.

P1-00 - P1-29 Control

Save control-related
parameters.

P2-00 - P2-22 IN / OUT

Saves parameters
related to analog and
digital input/output.

P3-00 - P3-20

Speed

Operation

Saves speed
operation parameters.

P4-00 - P4-14

Position

Operation

Saves position pulse
operation parameters.

Cn-00 - Cn-18 Command

Performs operation
handling.

The following explains the acronyms related to application mode in the parameter.

 P: Use in position control mode.

 S: Use in speed control mode.

 T: Use in torque control mode.

Press [MODE] once to move to the next display mode.

4. Parameters

4-27

4.2.2 Operation Status Display Parameter

For detailed information, refer to "4.3 Operation Status Display."

“**” Modification is not possible with the servo on & Power reset parameter.

“*” Parameter that cannot be modified with the servo on

Parameter Unit Initial

Details

Applic
ation
mode

Code Name Minimum Maximum

St-00

Current operation

status

- -

Displays the current operation status.
DIGIT 5: Operation Mode

DIGIT 4: ZSPD, INPOS/INSPD, Command, READY

DIGIT 3-1: Run Status

(Details: Refer to "4.1.2 Status Summary Display.")

PST

Operation status 0 0

St-01

Current operation

speed

[RPM] 0

Displays the current operation speed.

(Details: Refer to “4.3.2 Speed Display.”)

PST

Current speed -10000 10000

St-02

Current command

speed

[RPM] 0

Displays the current command speed.

(Details: Refer to “4.3.2 Speed Display.”)

ST

Command speed -10000 10000

St-03

Follow position

pulse

[pulse] 0

Displays the accumulated number of tracked position
command pulses.

 Displays the accumulated number of position

command pulses that followed as a result of the
rotation of the servo motor because the servo was
turned on.

 If a number is lower than the minimum or higher

than the maximum, it is displayed as the minimum
or maximum.

(Details: Refer to “4.3.3 Position Display.”)

P

Feedback pulse -2^30 2^30

St-04

Position

command pulse

[pulse] 0

Displays the accumulated number of position command
pulses.

 Displays the accumulated number of position

command pulses that have been entered since the
servo turned on.

(Details: Refer to “4.3.3 Position Display.”)

P

Command pulse -2^30 2^30

St-05

Remaining

position pulse

[pulse] 0

Displays the remaining position pulses that the servo
has to operate.

 This is the difference between command pulse and

tracking pulse, and displays the remaining position
pulses for the servo to operate.

 The remaining position pulses, which are displayed

when the servo is off, are ignored when the servo
turns on.

(Details: Refer to “4.3.3 Position Display.”)

P

Pulse error -2^30 2^30

St-06

Input pulse

frequency

[Kpps] 0.0

Displays input pulse frequency.

P

Input Pulse

frequency

-1000.0 1000.0

St-07

Current operation

torque

[%] 0.0

Displays the current load factor against the rated load
factor.

Displays the load currently output by the servo motor as
a percentage against the rated output.

T

Current torque -300.0 300.0

St-08

Current command

torque

[%] 0.0

Displays the command load factor against the rated load
factor.

 Displays the load currently output by the servo

motor as a percentage against the rated output.

(Details: Refer to “4.3.4 Torque and Load Display.”)

T

Command torque -300.0 300.0

4. Parameters

4-28

Parameter Unit Initial

Details

Applic
ation
mode

Code Name Minimum Maximum

St-09

Accumulated
overload rate

[%] 0.0

Displays the currently accumulated load factor
against the maximum accumulated load factor as a
percentage.

(Details: Refer to “4.3.4 Torque and Load Display.”)

PST

Accumulated

overload

-300.0 300.0

St-10

Instantaneous

maximum load

factor

[%] 0.0

Displays the instantaneous maximum load factor
against the rated load factor.

 Displays, as a percentage, the maximum

overload between the current time and the start
of control set off when the servo turned on.

(Details: Refer to “4.3.4 Torque and Load Display.”)

PST

Maximum load -300.0 300.0

St-11

Torque limit [%] -

Displays the torque limit value.

 Displays, as a percentage, the maximum torque

that the servo motor can output, against the
rated torque.

(T_LMT contact ON: Analog torque input. T_LMT
contact OFF: [P1-13] and [P1-14] values)

PST

Torque limit -300.0 300.0

St-12

DC link voltage [V] 0.0

Displays the current DC link voltage of the main
power.

 The DC link voltage of the standard drive that

uses 220 [V] is approximately 300 [V].

 The maximum DC link voltage allowed for the

standard drive that uses 220 [V] is 405 [V].

 The overvoltage alarm [AL-41] triggers when the

DC link voltage threshold is exceeded because
there is either too much or too little regenerative
resistance.

 The normal DC link voltage in the regenerative

section is 385 [V] or below.

(Details: Refer to “4.3.4 Torque and Load Display.”)

PST

DC link voltage 0.0 500.0

St-13

Regenerative

overload

[%] 0.0

Displays the regenerative overload rate.

PST

Regeneration

overload

0.0 20.0

St-14

Input contact

status

- -

Displays the input contact status that the servo
recognizes.

(Details: Refer to “4.1.5 External Input Contact Signal

Display.”)

PST

Input Status - -

St-15

Output contact

status

- -

Displays the output contact status that the servo
outputs.

(Details: Refer to “4.1.6 External Input Contact Signal
Display.”)

PST

Output status - -

St-16

Single-turn data

(Single-turn data)

[pulse] 0

Displays the single-turn data of the encoder in
pulses.

PST

Single-turn data 0 2^30

St-17

Single-turn data

(Degrees)

[˚] 0.0

Displays the single-turn data of the encoder in
degrees.

PST

Single-turn data

(Degrees)

0.0 360.0

St-18

Multi-turn data [rev] 0

Displays the multi-turn data of the encoder.

PST

Multi-turn data -32768 32767

4. Parameters

4-29

Parameter Unit Initial

Details

Applic

ation

mode

Code Name Minimum Maximum

St-19

Internal
temperature

[℃]

0

Displays the internal temperature sensor value.

PST

Room
temperature

-40 200

St-20

Rated motor
speed

[RPM] 0

Displays the rated speed of the currently
installed motor.

PST

Rated RPM 0 10000

St-21

Maximum motor
speed

[RPM] 0

Displays the maximum speed of the currently
installed motor.

PST

Maximum RPM 0 10000

St-22

Rated motor
current

[A] 0.00

Displays the rated current of the currently
installed motor.

PST

Rated current 0.00 655.35

St-23

U phase current
offset

[mA] 0

Displays the U phase current offset.

PST

U Phase current

offset

-200 200

St-24

V phase current
offset

[mA] 0

Displays the V phase current offset.

PST

V phase current

offset

-200 200

St-25

Program version - -

Displays the version of the currently installed
program.

(Details: Refer to “4.3.7 Software Version
Display.”)

PST

Software version - -

St-26

FPGA Version - -

Displays the version of the currently installed
FPGA version.

PST

FPGA Version - -

St-27

Analog Torque
Command

% 0

Displays the values of the current analog
torque command

T

Analog Tq CMD -3000 3000

4. Parameters

4-30

4.2.3 System Setting Parameter

For detailed information, refer to "4.4.1 System Parameter Setting."

“**” Modification is not possible with the servo on & Power reset parameter.
“*” Parameter that cannot be modified with the servo on

Parameter Unit Initial

Details

Appli
cation
mode

Code Name Minimum Maximum

**P0-00

Motor ID - 999  Set Motor ID.

 If the attempt to read motor data fails, the initial

value is set to 999.

(Details: Refer to “4.4.1 System Parameter Setting.")

PST

Motor ID 0 999

**P0-01

Encoder type - 0

 0: Quadrature Type encoder.
 1: Single turn Serial encoder.
 3: Multi turn Serial encoder

(Details: Refer to “4.4.1 System Parameter Setting.")

PST

Encoder type 0 5

**P0-02

Encoder pulse [ppr] 3000  Serial Type encoder: Set the number of bits per

turn from the encoder.

 Quadrature Type encoder: Sets the number of

encoder pulses.

(Details: Refer to “4.4.1 System Parameter Setting.")

PST

Enc resolution 1 30000

*P0-03

Select operation

mode

- 1

Sets operation mode.
(0: Torque operation. 1: Speed operation. 2: Position
operation. 3: Speed/position operation. 4:
Torque/speed operation. 5: Torque/position
operation.)

(Details: Refer to “4.4.1 Speed Operation Parameter
Setting.")

PST

Operation mode 0 5

**P0-04

RS422

communication

speed

[bps] 0

Sets communication speed for RS-422
communication.

 0 : 9600 [bps]
 1 : 19200 [bps]
 2 : 38400 [bps]
 3 : 57600 [bps]

(Details: Refer to “4.4.1 System Parameter Setting.")

PST

RS422 baud rate 0 3

**P0-05

System ID - 0 Sets drive ID for communication.

 An ID can be given to the servo if USB

communication, RS422 communication and BUS
communication are used for communication with
the servo.

 A unique ID can be given to the servo and used

for individual communication with it.

(Details: Refer to “4.4.1 System Parameter Setting.")

PST

System ID 0 99

4. Parameters

4-31

Parameter Unit Initial

Details

Applica
tion
mode

Code Name Minimum Maximum

P0-06

Main power

input mode

- 0b00000

Sets main power input.
DIGIT 1-> 0: Single-phase power

1: 3-phase power input

Caution: Using single-phase power may

lower motor output.
DIGIT2 -> 0: Alarm in case of phase loss
1: Warning in case of phase loss

PST

Power fail mode 0b00000 0b11111

P0-07

RST checking

time

[ms] 20

Sets the time to check main power phase loss.

PST

RST check time 0 5000

P0-08

Displays

parameter
upon start.

- 0

Sets the number for the operation status
parameter that is displayed at the start.

(Details: Refer to “4.4.1 System Parameter

Setting.")

PST

Start up

parameter

0 26

*P0-09

Regenerative

overload
derating

[%] 100

Sets derating factor for checking of regenerative
resistance overload. The overload alarm triggers
quickly when the derating value is set to 100% or
below.

PST

Regeneration

derating

1 200

**P0-10

Regenerative

resistance value

[] 0

Sets the resistance value for regenerative

braking resistance. If set to 0, the default
resistance value of the drive is used.

PST

Regeneration
brake resistor

0 1000

**P0-11

Regenerative

resistance

capacity

[W] 0

Sets the capacity for the current regenerative
resistance. If set to 0, a default resistance
capacity embedded in the drive is used.

PST

Regeneration

brake capacity

0 30000

*P0-12

Overload check

Base load factor

[%] 100

Indicates the load factor for starting
continuous overload checks. If set to 100 or
below, an overload check starts early and the
overload alarm triggers early.

PST

Overload check

base

10 100

P0-13

Continuous

overload

warning level

[%] 50

Indicates the level of continuous overload
warning signal output. Outputs the warning
signal when the percentage value against
alarm trigger load factor is reached.

PST

Overload

Warning Level

10 100

*P0-14

Encoder output

scaling

- 12000

Sets the encoder output pulses per a rotation,
when the servo outputs an encoder output signal
to the outside.

(Details: Refer to “4.4.1 System Parameter

Setting.")

PST

Pulse out per

rotation.

-2^21 2^21

*P0-15

PWM OFF delay

time

[ms] 10

Sets the time to delay until the PWM signal

actually goes off after the servo is turned off.

(Details: Refer to “4.4.1 System Parameter

Setting.")

PST

PWM OFF

delay

0 1000

4. Parameters

4-32

Parameter Unit Initial

Details

Applica
tion
mode

Code Name Minimum Maximum

*P0-16

DB control mode - 0x0 Sets DB control mode.

 0: Hold after DB stop
 1: Release after DB stop
 2: Release after free run stop
 3: Hold after free run stop

(Details: Refer to “4.4.1 System Parameter

Setting.")

PST

DB control mode 0x0 0x3

*P0-17

Function setting

bit

- 0b00000

Sets drive function per digit.
DIGIT 1 -> Sets the direction of the servo

rotation.

 0: Forward (CCW), Reverse (CW)
 1: Forward (CW), Reverse (CCW)

DIGIT 2 -> Sets the lock of the servo motor when
the value of analog speed command is 0 in
speed operation mode.

 0: Not for use
 1: Use (Torque improvement when

analog command stops)

DIGIT 3 -> Sets the open collector contacts for
encoder pulse output.

 0: Not for use
 1: Use(ALO0-> A Phase, ALO1->B

Phase, ALO2-> Z Phase)

DIGIT 4 -> Sets the range of monitor output
voltage.

 0: -10V~+10V
 1: 0~10V

DIGIT 5 -> Sets EEPROM save function in
communication.

 0: Enable to save parameter data when

writing through communication.

 1: Unable to save parameter data when

writing through communication.

(Details: Refer to “4.4.1 System Parameter

Setting.")

PST

Function select

bit

0b00000 0b11111

P0-18

DAC output

mode

- 0x3210

Sets output mode for 1-2 analog output
channels.

Sets CH0-CH3 from the bottom, HEX Code, in
order.

 Output CH0 and CH1 as MONIT1 and

MONIT2.

 0 : Speed Feedback [RPM]
 1 : Speed Command [RPM]
 2 : Torque Feedback [%]
 3 : Torque Command [%]
 4 : Position Command Frequency [0.1

Kpps]

 5 : Following Error [pulse]
 6 : DC Link Voltage [V]
 D: Speed command (User) [RPM]
 E: Torque command (User) [%]

(Details: Refer to “4.4.1 System Parameter

Setting.")

PST

DAC mode (F) 0x0000 0xFFFF