LSIS XDL-S User Manual

Introduction

Hello. Thank you for choosing LS Mecapion L7 Series. This user manual describes how to use the product and what precautions to take. Failure to comply with guidelines may cause injury or product damage. Be sure to read this

user manual before you use the product and follow all guidelines.

 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 LS Mecapion.

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

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

i

Safety Precautions

Precautions

Definition

Danger

Caution

Safety Precautions

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

Danger

Caution

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

Failure to comply with guidelines may cause death or seriou s injury.

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

 Electric Shock Precautions

 Before wiring or inspection tasks, turn off the power. Wa it 15 minu tes until the charg e 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

 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.

ii

Safety Precautions

Environment

Conditions

Servo Drive

Servo Motor

Caution

 Installation Precautions

Store and use the product in an environment as follows:

Usage temp. 0 ~ 50 ℃ 0 ~ 40 ℃

Storage temp. -20 ~ 65 ℃ -20 ~ 60 ℃

Usage

humidity

Storage

humidity

Altitude Below 1000 m

Spacing

Others

Below 90% RH (non-condensing)

 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."

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

Below 80% RH

Below 90% RH

 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.

iii

Safety Precautions

Caution

 Wiring Precautions

 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 moto r.  Do not connect commercial power directly to the U, V, W output terminal of the servo drive.  Directly connect U, V, W output terminals of the servo drive and U, V, W input terminals of the

servo motor, but do not instal l 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 I nit ial Operation

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

 Set the motor ID ([P0-00]) and the encoder pulse ([P0-02]) for 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

 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 param eters may cause system instability.

iv

Safety Precautions

Caution

 Precautions for Use

 Install an emergency s top 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 bec aus e of the inter fer en c e.

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

braking.

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

structure (for example, if the ball screw and servo motor are combined via the timing belt). Install an emergency stop device to ensure me cha nic al safe t y.

 Malfunction Precautions

 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

 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

 This user manual is subject to change upon prod uct mod ifi ca tion or st and ards change s. In cas e

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

 Product Application

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

situations related to human life.

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

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

v

Safety Precautions

Caution

 EEPROM Lifes pan

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

parameter settings. The servo drive may malfunction dependi ng 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

 Respondi ng to international regulations

L7 Series responds to international regulations with standard models.

Model(Note1) Low Voltage Directive EMC Directive

L7SA001X L7SA002X L7SA004X L7SA008X

EN61800-5-1 EN61800-3 L7SA010X L7SA020X L7SA035X

Note1) X = A or B : A = Quadr atur e Enco der Type, B = Serial Encoder Type.

※1 : For more information, please feel free to ask LS Mecapion. ※2 : Please follow the regulations of destination when exporting.

vi

Table of Contents

Introduction ...................................................................................................................... i

Safety Precautions .......................................................................................................... ii

Ta b le of Contents .......................................................................................................... vii

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

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

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

1.1.2 Part Names .................................................................................................... 1-3

1.2 System Configurat ion .................................................................................................... 1-8

1.2.1 Overview ........................................................................................................ 1-8

1.2.2 Wiring Diagram of the Entire CN1 Connector ............................................... 1-10

1.2.3 Example of Posit ion Operation Mode Wiring ................................................ 1-11

1.2.4 Example of Speed Operation Mode Wi ring ................................................... 1-12

1.2.5 Example of Torque Operation Mode Wiring .................................................. 1-13

1.2.6 Examples of Speed / Position O peration Mode Wiri ng ................................. 1-14

1.2.7 Example of Speed/Torque Operation Mode Wiring ....................................... 1-15

1.2.8 Example of Posit ion/Torque Operation Mode Wiring .................................... 1-16

1.3 Signals ........................................................................................................................ 1-17

1.3.1 Digital Input Contact S ignal .......................................................................... 1-17

1.3.2 Analog Input Contact Signal ......................................................................... 1-18

1.3.3 Digital Output Contact S ignal ........................................................................ 1-18

1.3.4 Monitor Output Signal and Output Power ..................................................... 1-19

1.3.5 Pulse Train Input Signal ................................................................................ 1-19

1.3.6 Encoder Output Si gnal ................................................................................. 1-20

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

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

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

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

2.1.3 Motor Connecti on ........................................................................................... 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 L7 Drive Block Diagram [L7SA001□ - L7SA004□] .......................................... 3-1

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

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

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

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

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

3.2.3 Dimensions for Pow er Circuit Electr ical Parts ................................................. 3-6

vii

Table of Contents

3.3 Timing Diagram ........................................................................................................... 3-10

3.3.1 Timing Diagram During Power Input ............................................................. 3-10

3.3.2 Timing Diagram at the Time of Alarm Trigger .................................................3-11

3.4 Control Signal Wiring ................................................................................................... 3-12

3.4.1 Contact Input Signal ..................................................................................... 3-12

3.4.2 Contact Output Signal .................................................................................. 3-13

3.4.3 Analog Input/Output Signals ......................................................................... 3-14

3.4.4 Pulse Train Input Signal................................................................................ 3-15

3.4.5 Encoder Output Si gnal ................................................................................. 3-16

3.5 Quadrature Encoder S ignaling Unit ( C N 2) Wiring ........................................................ 3-17

3.5.1 APCS-EAS Cable .................................................................................. 3-17

3.5.2 APCS-EBS Cable .................................................................................. 3-17

3.6 Serial Encoder Signaling Unit (CN2) Wiring ................................................................ 3-18

3.6.1 APCS-ECS Cable .................................................................................. 3-18

3.7 Multi Turn Encoder signal unit(CN2) wiring .................................................................. 3-20

3.7.1 APCS-ECS1 Cable ................................................................................ 3-20

3.7.2 APCS-EDS1 Cable ................................................................................ 3-20

3.7.3 APCS-EES1 Cable ................................................................................ 3-21

3.8 Transmission of Absolute Encoder Data ...................................................................... 3-22

3.8.1 Transmission of Absolute Encoder Data ....................................................... 3-22

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 Handli ng ....................................................................................... 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 Par am eter ............................................................................ 4-30

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

4.2.5 Input/Output Setting Parameter .................................................................... 4-37

4.2.6 Speed Operation Setting Parameter ............................................................. 4-40

4.2.7 Position Operation Setting Parameter .......................................................... 4-42

4.2.8 Operation Handling Parameter ..................................................................... 4-45

4.3 Operation Status Display ............................................................................................. 4-49

4.3.1 Status Display [St-00] ................................................................................... 4-49

4.3.2 Speed Display .............................................................................................. 4-49

4.3.3 Position Display ............................................................................................ 4-49

4.3.4 Torque and Load Display .............................................................................. 4-49

4.3.5 I/O Status Display ......................................................................................... 4-50

4.3.6 Miscellaneous Status and Data Di splay ........................................................ 4-50

4.3.7 Version Display............................................................................................. 4-51

4.4 Parameter Setting ....................................................................................................... 4-52

viii

Table of Contents

4.4.1 System Parameter Setting ............................................................................ 4-52

4.4.2 Control Parameter S etting ............................................................................ 4-55

4.4.3 Analog Input/Output Parameter Setting ........................................................ 4-59

4.4.4 Input/Output Contact Point Parameter Setting .............................................. 4-61

4.4.5 Speed Operation Parameter Setting ............................................................. 4-63

4.4.6 Position Operation Parameter Setting .......................................................... 4-64

4.5 Alarms and Warnings .................................................................................................. 4-66

4.5.1 Servo Alarm Status Summary Display List .................................................... 4-66

4.5.2 Servo Warning Status Summary Display Li st ................................................ 4-68

4.6 Motor Type and ID (to be continued on the next page) ................................................ 4-69

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 Operat ion [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 O N/OFF [Cn-07] ......................................................... 5-11

5.2.9 Output Contact Forc ed O N/OFF [Cn-08] ...................................................... 5-13

5.2.10 Param eter Reset [Cn-09] .............................................................................. 5-15

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

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

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

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

5.2.15 Abs olute Encoder Reset [Cn-14] .................................................................. 5-20

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

5.2.17 Param eter Lock[Cn-16] ................................................................................ 5-22

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

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

6.1 Overview and Communi cation 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 C odes ............................................................................. 6-5

6.3 L7 Servo Drive Commu nication 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 C om munication Address Table ....................................... 6-14

6.3.4 Input/Output Parameter Communication Address T able ............................... 6-16

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

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Table of Contents

6.3.6 Position Operation Parameter Communication Address T able...................... 6-18

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

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

7.1.1 Product Features ............................................................................................ 7-1

7.1.2 Outline Drawing ............................................................................................ 7-22

7.2 Servo Drive ................................................................................................................. 7-34

7.2.1 Product Features .......................................................................................... 7-34

7.2.2 Outline Drawing ............................................................................................ 7-36

7.3 Options and Peripheral Devices .................................................................................. 7-38

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

8.1 Maintenance and I nspection .......................................................................................... 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 ............................................................................................................. 9-1

9.1 Motor Type and ID (to be continued on the next page) .................................................. 9-2

9.2 Test D rive Procedure ..................................................................................................... 9-5

Quality Assurance .......................................... 오류! 책갈피가 정의되어 있지 않습니다.

User Manual Revision History ...................... 오류! 책갈피가 정의되어 있지 않습니다.

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Table of Contents

xi

1. Product Components and Signals

L7 S A 004 A AA

1. Product Components and Signals

1.1 Product Components

1.1.1 Produc t Verification

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

 Does the format of the servo drive's name tag match?  Does the format of the servo motor's name t ag match?

2. Check the product and options.

 Are the type and length of the cables correct?  Does the regenerative resistance conform to the 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.

 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

Servo Series

Communication

Type

S: Standard I/O type

N: Network type

1-1

Voltage

A: 220 VAC

B: 400 VAC

Input

Capacity Encoder Type Option

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: Quadrature (Pulse type) B: Serial

(communication type)

Exclusive Option

1. Product Components and Signals

Encoder Type

Servo Motor

Motor Capacity

Motor Shape

Flange Size

Rated RPM

Shaft Cross-section

sided round

Oil Seal and Brake

existent: None

Gearbox

APM – S B 04 A E K 1 G1 03

 Servo Motor Product Format

S: Solid Shaft H: Hollow Shaft B: Assembly F: Flat Type

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

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]

A: 3000 [RPM] D: 2000 [RPM] G: 1500 [RPM] M: 1000 [RPM]

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

(communication type)

N : 19bit S-Turn Abs.

M : 19bit M-Turn Abs.

(18bit SA M-Turn Abs.)

N: Straight K: Onekey (standard) D: D Cut T: Tapering R: Double-sided

round key

H: Hollow Shaft

Classification 03: 1/3 10: 1/10

Specifications

Non-existent:

No gearbox

G1: For general industrial

purposes (Foot Mount)

G2: For general industrial

purposes (Flange Mount)

G3: Precise Gearbox

Nonattached 1: Oil Seal attached 2: Brake attached 3: Oil Seal and Brake attached

1-2

1. Product Components and Signals

Shaft

1.1.2 Part Names

 Servo Motor

 80 Flange or below

Motor Power

Motor

Connector

Cable

Encoder

Connector

Encoder

Cable

Bearing Cap

 80 Flange or below(Flat Type)

 130 Flange or higher

Shaft

Flange

Motor

Connector

Frame

Flange

Housing

Power connector

Frame

Mold Housing

Encoder

Cover

Encoder connector

Encoder Cover

Encoder

Connector

Encoder

Cover

Shaft

Housing

Bearing Cap

Flange

Frame

1-3

1. Product Components and Signals

B+ and B terminals

connector

 Servo Drive

 L7SA 001□, L7SA 002□, L7SA 004□

Display

Operation keys (Mode, Up, Down, Set)

Main power connector (L1, L2, L3)

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

CN5: USB connector

CN4: RS-422 communication

CN3: RS-422 communication

Regenerative resistanc e connector (B+, B, BI)

 When basic installation

is in use short circuit B and BI terminals

 When installing external

resistance install in the

Control power connector (C1, C2)

Motor power cable connector (U, V, W)

Heat sink

CN1: Control signal connector

CN2: Encoder signal connector

Front cover

Ground

1-4

1. Product Components and Signals

connector

B+ and B terminals.

 L7SA 008□, L7SA 010□

Display

Operation keys (Mode, Up, Down, Set)

Main power connector (L1, L2, L3)

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

CN5: USB connector

CN4: RS-422 communication

connector

CN3: RS-422 communication

Regenerative resistanc e connector (B+, B, BI)

 When basic installation

is in use short circuit B and BI terminals.

 When installing external

resistance install in the

Control power connector (C1, C2)

Motor power cable connector (U, V, W)

CN1: Control signal connector

CN2: Encoder signal connector

Front cover

Heat sink

Ground

1-5

1. Product Components and Signals

connector

 L7SA 020□, L7SA 035□

Operation keys (Mode, Up, Down, Set)

Main power connector (L1, L2, L3)

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

Regenerative resistanc e 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.

Display

CN5: USB connector

CN4: RS-422 communication

CN3: RS-422 communication

CN1: Control signal connector

Control power connector (C1, C2)

Motor power cable connector (U, V, W)

Heat sink

CN2: Encoder signal connector

Front cover

Ground

1-6

1. Product Components and Signals

“NC” hole on the case.

connector

Ground

(Mode, Up, Down, Set)

 L7SA 050□

Operation keys

CN4: RS-422 Communication

connector

Display

CN5: USB Connector

Control power connector (C1, C2)

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

*Not used(N)

CN3: RS-422 Communication

CN1: Control signal connector

CN2: Encoder signal connector

Front cover

Main power connector (L1, L2, L3)

1-7

Regenerative resistanc e 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

Motor power cable connector (U, V, W)

1. Product Components and Signals

Position

Controller

Speed

Controller

Change

Position

Command

Pulse

Position

Controller

Speed

Controller

Current

Controller

Position Controller

Upper Level Controller

Servo Drive

Servo Motor

Motor

Encoder

Position Feedback

Position

Controller

Speed

Controller

Change

Speed

Command

Speed

Controller

Current

Controller

Speed Command

Upper Level Controller Servo Drive Servo Motor

Motor

Encoder

Position Feedback

1.2 System Configuration

1.2.1 Overview

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

(1) Position Opera ti on 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 w hen a precise transfer unit is used.  Response is low because multiple levels of control lers are us ed.

(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.

1-8

1. Product Components and Signals

Position

Controller

Torque

Controller

Change

Torque

Command

Torque

Controller

Current

Controller

Torque Command

Upper Level Controller

Servo Drive Servo Motor

Motor

Encoder

Position Feedback

Operation Mode

System Configuration

(3) Torque Operation System

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

 Advantages:

 The servo responds quickly.  Precision control is easy.

 Disadvantage: The upper level controller is complex.

(4) Operation Mode

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

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

4

5

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

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

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

1-9

1. Product Components and Signals

STOP 48

EMG

18

CWLIM 19

CCWLIM

20

DIR 46

ALMRST 17

SPD

3 21

SPD

2

22

SPD

1 23

SVON

47

ALARM+

38

ALARM-

39

READY+

40

READY-41

ZSPD43

BRAKE44

INPOS

45

50

+24V IN

GND24

24

ALO0

16

ALO115

ALO2

14

GND2425

SPDCOM 27

GND 8

TRQCOM 1

GND 8

Digital Input

Digital Output

Command Pulse Input

Analog Input

DC 24V

3.3kΩ

Line Driver

Open Collector

CN1

-10V ~ +10V

Upper Level

Controller

-10V ~ +10V

Analog Speed

Command/Limit

Analog Torque

Command/Limit

Note 1)

(DIA)

(DI9)

(DI8)

(DI7)

(DI6)

(DI5)

(DI4)

(DI3)

(DI2)

(DI1)

(DO1)

(DO2)

(DO3)

(DO4)

(DO5)

Note 1)

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

VLMT**

TLMT**

Note 2)

WARN**

INSPD**

EGEAR1 **

EGEAR2 **

PCON **

GAIN2

**

P_CLR

**

T_LMT **

Note 2)

MODE **

ABS_RQ

**

ZCLAMP

**

MONIT128

MONIT229

GND37

AO32

/AO33

BO30

/BO31

ZO4

/ZO5

SG36

Analog Output

Encoder Pulse Output

Connect to Connector Case

-10V ~ +10V

Upper Level

Controller

+12VA34

-12VA35

PULCOM 49

PF+ 9

PF- 10

PR+

11

PR- 12

1.2.2 Wiring Diagram of the Entire CN1 Connector

1-10

1. Product Components and Signals

STOP

48

EMG 18

CWLIM

19

CCWLIM 20

DIR

46

ALMRST 17

SPD

3 21

SPD2 22

SPD1 23

SVON 47

ALARM

+38

ALARM

-39

READY+40

READY-41

ZSPD43

BRAKE44

INPOS

45

50

+24

V IN

GND

2424

MONIT1

28

MONIT2

29

GND37

AO32

/AO

33

BO30

/BO31

ZO4

/ZO5

ALO

0

16

ALO115

ALO2

14

GND2425

PULCOM

49

PF+ 9

PF- 10

PR+

11

PR-

12

TRQCOM 1

GND

8

SG36

Digital Input

Digital Output

Analog Output

Command Pulse Input

Encoder Pulse Output

Analog Input

Connect to Connector Case

DC 24V

3.3kΩ

Line Driver

Open Collector

CN1

-10V ~ +10V

-10V

~ +10V

-10V ~

+10V

Upper

Level

Controller

-10V ~ +10V

Analog Torque

Limit

Upper

Level

Controller

EGEAR1

**

EGEAR

2

**

PCON

**

GAIN2 **

P_CLR

**

T_LMT **

VLMT**

TLMT**

Note 1)

Note 2

)

Note 2)

(DIA)

(

DI9)

(

DI

8)

(DI7)

(DI6)

(DI

5)

(

DI4

)

(DI3)

(

DI

2)

(

DI1)

(DO1)

(DO

2)

(DO3

)

(DO4)

(

DO5

)

Note 1)

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

MODE **

ABS_RQ **

ZCLAMP ** WARN**

INSPD**

+

12VA34

-12VA35

1.2.3 Example of Position Operation Mode Wiring

1-11

1. Product Components and Signals

STOP

48

EMG

18

CWLIM 19

CCWLIM 20

DIR 46

ALMRST

17

SPD3 21

SPD

2 22

SPD

1 23

SVON 47

ALARM

+38

ALARM

-39

READY

+40

READY-

41

ZSPD

43

BRAKE

44

INPOS

45

50+24

V IN

GND2424

ALO016

ALO115

ALO214

GND2425

SPDCOM 27

GND 8

TRQCOM 1

GND 8

Digital Input Digital Output

Command Pulse Input

Analog Input

DC

24V

3

.

3

k

Ω

Line Driver

Open Collector

CN1

-10

V ~ +10V

Upper

Level

Controller

-10V ~

+10V

Analog

Speed

Command

Analog

Torque Limit

Note 1

)

(DIA)

(DI9)

(

DI8

)

(

DI7

)

(

DI

6)

(DI

5)

(

DI4)

(DI3)

(DI2)

(

DI

1

)

(DO1)

(DO2)

(DO

3

)

(

DO

4)

(

DO

5)

Note

1)

Note 1) Input signals DI1 to DIA and output signals DO1

to DO5 are default signals allocated by the factory.

Note 2) ** These are non

-allocated signals. You can change their allocation by setting parameters. For more

in

formation, refer to “4.1.6 External Input Signal and Logic Definition” and “4.1.

8 External Output Signal and

Logic Definition.”

VLMT**

TLMT**

Note 2)

WARN**

INSPD

**

EGEAR

1 **

EGEAR

2 **

PCON **

GAIN2 **

P_CLR **

T_LMT **

Note

2)

MODE **

ABS_RQ **

ZCLAMP

**

MONIT128

MONIT

229

GND37

AO32

/

AO33

BO30

/BO31

ZO4

/ZO5

SG36

Analog Output

Encoder Pulse Output

Connect to Connector Case

-10

V ~

+10V

-10V ~ +

10V

Upper

Level

Controller

+

12VA

34

-

12VA35

1.2.4 Example of Speed Operation Mode Wiring

1-12

1. Product Components and Signals

STOP

48

EMG 18

CWLIM 19

CCWLIM 20

DIR 46

ALMRST

17

SPD3 21

SPD

2 22

SPD1 23

SVON 47

ALARM

+38

ALARM-39

READY+40

READY-

41

ZSPD

43

BRAKE44

INPOS

45

50+24V IN

GND2424

ALO016

ALO115

ALO214

GND24

25

SPDCOM 27

GND 8

TRQCOM 1

GND 8

Digital Input

Digital Output

Command Pulse Input

Analog Input

DC 24V

3

.

3

kΩ

Line Drive

r

Open Collector

CN1

-10V ~

+10V

Upper

Level

Controller

-10V

~ +10V

Analog

Speed Limit

Analog Torque

Command

Note 1)

(DIA)

(DI

9)

(

DI

8)

(

DI

7)

(

DI

6)

(

DI

5)

(DI4)

(DI3)

(

DI

2)

(

DI

1)

(DO1)

(DO2)

(

DO3

)

(

DO4

)

(

DO5)

Note 1

)

Note 1) Input signals DI1

to DIA and output signals DO1 to DO5 are default signals allocated by the factory. Note 2) ** These are non-allocated signals. You can change their allocation by setting parameters. For more information, refer to “4.1.6 External Input Signal and Logic Definition” and “4.1

.8 External Output Signal and

Logic Definition.”

VLMT**

TLMT

**

Note 2)

WARN**

INSPD**

EGEAR

1 **

EGEAR2 **

PCON **

GAIN2 **

P_

CLR **

T

_LMT

**

Note 2)

MODE **

ABS

_RQ

**

ZCLAMP **

MONIT

128

MONIT2

29

GND37

AO32

/

AO33

BO30

/BO31

ZO4

/ZO5

SG36

Analog Output

Encoder Pulse Output

Connect to Connector Case

-10

V ~

+10V

-10V ~

+10V

Upper

Level

Controller

+12

VA34

-12

VA35

1.2.5 Example of Torque Operation Mode Wiring

1-13

1. Product Components and Signals

STOP

48

EMG

18

CWLIM

19

CCWLIM

20

DIR

46

ALMRST

17

SPD3

21

SPD2

22

SPD1

23

SVON

47

ALARM+

38

ALARM-

39

READY+

40

READY-

41

ZSPD

43

BRAKE

44

INPOS

45

50

+24V IN

GND24

24

ALO0

16

ALO1

15

ALO2

14

GND24

25

PULCOM

49

PF+

9

PF-

10

PR+

11

PR-

12

SPDCOM

27

GND

8

TRQCOM

1

GND

8

Digital Input

Digital Output

Command Pulse Input

Analog Input

DC 24V

3.3kΩ

Line Driver

Open Collector

CN1

-10V ~ +10V

Upper

Level

Controller

-10V ~ +10V

Analog

Speed

Command

Analog Torque

Limit

Note 1)

(DIA)

(DI9)

(DI8)

(DI7)

(DI6)

(DI5)

(DI4)

(DI3)

(DI2)

(DI1)

(DO1)

(DO2)

(DO3)

(DO4)

(DO5)

Note 1)

Note 1) Input signals DI1 to DIA and output signals DO1 to DO5 are default signals allocated by the factory. Note 2) ** These are non-allocated signals. You can change their allocation by setting parameters. For more information, refer to “4.1.6 External Input Signal and Logic Definition” and “4.1.8 External Output Signal and Logic Definition.” Note 3) Input Contact Mode = ON: Speed Control Mode, Mode = OFF: Position Operation Mode

VLMT

**

TLMT

**

Note 2)

WARN

**

INSPD

**

EGEAR1

**

EGEAR2

**

PCON

**

GAIN2

**

P_CLR

**

T_LMT **

Note 2)

MODE

**

ABS_RQ

**

ZCLAMP

**

MONIT1

28

MONIT2

29

GND

37

AO

32

/AO

33

BO

30

/BO

31

ZO

4

/ZO

5

SG

36

Analog Output

Encoder Pulse Output

Connect to Connector Case

-10V ~ +10V

Upper

Level

Controller

+12VA

34

-12VA

35

Note 3)

1.2.6 Examples of Speed / Position Operation Mode Wiring

1-14

1. Product Components and Signals

STOP

48

EMG

18

CWLIM

19

CCWLIM

20

DIR 46

ALMRST 17

SPD

3 21

SPD

2 22

SPD

1 23

SVON 47

ALARM

+

38

ALARM

-

39

READY+40

READY-41

ZSPD

43

BRAKE

44

INPOS

45

50+

24

V IN

GND

2424

ALO016

ALO115

ALO214

GND2425

SPDCOM 27

GND 8

TRQCOM 1

GND 8

Digital Input Digital Output

Command Pulse Input

Analog Input

DC

24

V

3.3kΩ

Line Driver

Open Collector

CN1

-10V

~ +10V

Upper

Level

Controller

-10V ~

+10V

Analog

Speed

Command/

Limit

Analog Torque

Limit/

Command

Note

1)

(DIA

)

(

DI

9

)

(

DI

8

)

(

DI

7

)

(

DI

6

)

(

DI

5

)

(DI4)

(DI3)

(DI2)

(DI

1)

(

DO

1

)

(

DO2

)

(

DO

3

)

(

DO

4

)

(DO

5

)

Note

1

)

Note 1) Input signals DI1

to DIA and output signals DO1 to DO5 are default signals allocated by the factory. Note 2) ** These are non-

allocated signals. You can change their allocation by setting parameters. For more

information, refer to “4.1

.6 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

VLMT

**

TLMT

**

Note

2)

WARN

**

INSPD**

EGEAR

1

**

EGEAR2 **

PCON

**

GAIN

2

**

P_

CLR **

T_LMT **

Note

2)

MODE **

ABS

_

RQ **

ZCLAMP **

MONIT

128

MONIT2

29

GND

37

AO32

/

AO33

BO30

/BO31

ZO4

/ZO5

SG36

Analog Output

Encoder Pulse Output

Connect to Connector Case

-10V

~ +

10

V

-

10

V ~ +10V

Upper

Level

Controller

+12VA34

-

12VA

35

Note 3)

1.2.7 Example of Speed/Torque Operation Mode Wiring

1-15

1. Product Components and Signals

STOP

48

EMG

18

CWLIM

19

CCWLIM

20

DIR

46

ALMRST

17

SPD3

21

SPD2

22

SPD1

23

SVON

47

ALARM+

38

ALARM-

39

READY+

40

READY-

41

ZSPD

43

BRAKE

44

INPOS

45

50

+24V IN

GND2424

ALO0

16

ALO1

15

ALO2

14

GND24

25

PULCOM

49

PF+

9

PF-

10

PR+

11

PR-

12

SPDCOM

27

GND

8

TRQCOM

1

GND

8

Digital Input

Digital Output

Command Pulse Input

Analog Input

DC 24V

3.3kΩ

Line Driver

Open Collector

CN1

-10V ~ +10V

Upper

Level

Controller

-10

V ~ +10V

Analog

Speed

Limit

Analog Torque

Limit/

Command

Note 1)

(DIA)

(DI9)

(DI8)

(DI7)

(DI6)

(DI5)

(DI4)

(

DI3)

(DI2)

(DI1)

(DO1)

(DO2

)

(DO3)

(DO4)

(DO5)

Note 1)

Note 1) Input signals DI1 to DIA and output signals DO1 to DO5 are default signals allocated by the factory. Note 2) ** These are non

-allocated signals.

You can change their allocation by setting parameters. For more information, refer to “4.1.6 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

VLMT

**

TLMT

**

Note 2)

WARN

**

INSPD

**

EGEAR1

**

EGEAR2 **

PCON

**

GAIN2

**

P_CLR

**

T_LMT

**

Note 2)

MODE

**

ABS_

RQ

**

ZCLAMP

**

MONIT1

28

MONIT2

29

GND

37

AO

32

/AO

33

BO

30

/BO

31

ZO

4

/ZO

5

SG

36

Analog Output

Encoder Pulse Output

Connect to Connector

Case

-10V ~ +10

V

-10V ~ +10V

Upper

Level

Controller

+12VA

34

-12VA

35

Note 3)

1.2.8 Example of Position/Torque Operation Mode Wiring

1-16

1. Product Components and Signals

Number

of

Factory

Setting

Name

Details

Applicable Modes

Position

Speed

Torque

Speed

/Position

Speed

/Torque

Position /Torque

1.3 Signals

1.3.1 Digital Input Contact Signal

50 +24 V IN 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

20 CCWLMT 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

Input contact +24 [V]

power

Select rotation

direction

Counter-clockwise

limit

O O O O O O

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

Allocate MODE

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

Control torque with

TRQCOM

Change operation

modes

Request absolute

position data

O O O O O O

X X X O O O

O O O O O O

1-17

1. Product Components and Signals

1.3.2 Analog Input Contact Signal

Number

27 SPDCOM

1 TRQCOM

8

37

Name Description

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

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

Analog T orque Command (-10-+10 [V])

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

GND

Grounding for analog signals

Position Speed Torque

X O X O/X O/X X

X X O X X/O X/O

O O X O O/X O/X

O O O O O O

1.3.3 Digital Output Contact Signal

Number

of

Factory

Setting

16 ALO0

15 ALO1

14 ALO2

Name Description

Alarm group contact output 1

Alarm group contact output 2

Alarm group contact output 3

Position Speed Torque

O O O O O O

Applicable Modes

Speed

/Position

Applicable Modes

Speed

/Position

Speed

/Torque

Speed

/Torque

Position

/Torque

Position

/Torque

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

1-18

1. Product Components and Signals

1.3.4 Monitor Output Signal and Output Power

Number

28 MONIT1

29 MONIT2

8

37 34 +12 V

35 -12 V

Name Description

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

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

GND

Grounding for analog signals

Terminal for +12 [V] power output

Terminal for -12 [V] power output

Position Speed Torque

1.3.5 Pulse Train Input Signal

 Line Driver (5 V)

Number

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

Name Description

Position Speed Torque

Applicable Modes

Speed

/Position

O O O O O O

Applicable Modes

Speed

/Position

Speed

/Torque

Speed

/Torque

Position

/Torque

Position

/Torque

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)

Number

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

Name Description

Applicable Modes

Position Speed Torque

Speed

/Position

Speed

/Torque

Position

/Torque

1-19

1. Product Components and Signals

1.3.6 Encoder Output Signal

Number

32 33 30 31

Applicable Modes

Name Description

AO

/AO

BO

/BO

4 5

ZO

/ZO

Outputs encoder signals

received from the m otor as

signals pre-scaled

according to the ratio

defined by [P0-14].

(5 [V] line driver method)

Outputs encoder Z signals

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

Position Speed Torque

O O O O O O

Speed

/Position

Speed

/Torque

Position

/Torque

1-20

2. Installation

Item

Requirements

Notes

40[℃

2. Installation

2.1 Servo Motor

2.1.1 Usage Environment

Ambient

temperature

Ambient humidity

External

vibration

0 ∼

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

Vibration accelerati on

19.6 [㎨] or below in the X and Y directions

If the temperature at whic h the product will be used is outside this range, the product must be custom-ordered with consultation of the technical support team.

Excessive vibration reduces the lifespan of bearings.

2.1.2 Prevention of Excessive Shock

Excessive shock 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.

U – U

V - V

W – W

- F.G

 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.

2-1

2. Installation

Flange

Lateral Load

Axial Load

Notes

N

kgf N kgf

below

2.1.4 Load Device Connection

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

Load shaft

 For pulley connection:

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

0.03 [㎜] or below (peak to peak)

Motor shaft

0.03 [㎜] or below (peak to peak)

Nr: 30 [㎜] or

Lateral load

Axial load

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 to, or scratch, cables.

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

2-2

2. Installation

Item

Requirements

Notes

50[

2.2 Servo Drive

2.2.1 Usage Environment

Ambient

temperature

Ambient humidity

External vibration

Surrounding

conditions

Caution

0 ∼

90[%] RH or

Vibration

acceleration 4.9

[㎨] or lower

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

lower

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

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.

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

2-3

2. Installation

Caution

2.2.2 Installation Inside the Control Panel

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

40 mm or

longer

10 mm or

longer

10 mm or

longer

40 mm or

longer

When installing 1 unit:

30 mm or

longer

40 mm or

longer

When installing 2 or more units:

100 mm

or longer

30 mm or

longer

2 mm or longer

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

resistance.

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

the wall.

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

enter the drive.

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

2-4

2. Installation

Caution

Model

Resistance

Value

Standard

Capacity

* Notes

Danger

2.2.3 Power Wiring

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

Overvoltage can damage the drive.

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

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

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

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

L7□A001□

L7□A002□

L7□A004□

L7□A08□ L7□A010□ L7□A020□ L7□A035□ L7□A050□

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

C2). (Refer to “Chapter 3 Wiring.”)

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

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

 Grounding must be done over the shortest distance.

A long ground wire is susceptible to noise and thus causes malfunction.

100 [Ω] Built-in 50 [W]

40 [Ω]

13 [Ω]

6.8[Ω] Built-in 120[W]

Built-in 100

[W]

Built-in 150

[W]

Caution

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

2-5

3. Wiring Method

3.1 Internal Block Diagram

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

NOTE 1) If you use a DC reactor, connect to the PO and PI pins. NOTE 2) If you use external regenerative resistance, connect to the B+ and B pins after removing the B

and BI short-circuit pins.

3-1

3. Wiring Method

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

NOTE 1) If you use a DC reactor, connect to the PO and PI pins. NOTE 2) If you use external regenerative resistance, connect to the B+ and B pins after you remove the B

and BI short-circuit pins.

NOTE 3) The L7SA008□ and L7SA035□ models are c ooled by a DC 24 [V] cooling fan.

3-2

3. Wiring Method

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

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

3.1.3 L7 Drive Block Diagram [L7SA050□ ]

NOTE 1) If you use a DC reactor, connect to the PO and PI pins. NOTE 2) If you use external regenerative resistance, connect to the B+ and B pins after attac hing wires of

internal regener ative resistance to “NC” hole on the case.

NOTE 3) The L7SA050□ models are cooled by a DC 24 [V] cooling fan.

3-3

3. Wiring Method

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

R S T

서보드라이브

(200~230V)

Main OFF

Main ON

인코더

외부 회생저항

주1)

주2)

PO

PI

DC 리액터

3.2 Power Wiring

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

Servo Drive

Note 1)

DC Reactor

Encoder

Note 2) External

Regenerative Resistancer

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

NOTE 2) Short-circuit B and BI terminals before use. Regenerative resistance of L7SA001□-L7SA004□

NOTE 3) Remove the sheath of cables to be used for the main circ uit power by approximately 7-10 [㎜] and

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

(50 [W], 100 [Ω]), L7SA010□ (100 [W], 40 [Ω]), and L7SA035□ (150 [W], 13 [Ω]) exist inside. If regenerative capacity is high because of frequent acceleration and deceleration, open the shortcircuit pins ( B, BI) and connect external regenerative res istance to B and B+.

use devoted crim p terminals. (Refer to “3.2.2 Power Circuit Electric Sub Assembly Standards.”)

NOTE 4) Connect or remove the main circuit power unit wiring after pushing the button of t he L7SA001□ –

L7SA010□ drive terminal. For drive L7SA 035□, use a (-)slot screw drive for connecti on and removal.

7~10㎜

3-4

3. Wiring Method

U V

W

L1 L2 L3

C1 C2

B+ B

38

39

CN1

RA

M

E

Alarm-

Alarm+

1Ry

RA

1SK

1Ry

1MC

+24V

NF

1MC

R

S

T

(200~230V)

Main OFF

Main ON

Encoder

(Note1)

(Note2)

PO

PI

DC Reactor

external regenerative resistance

Servo Drive

3.2.2 L7 Drive Wiring Diagram [L7SA050□]

NOTE 1) It takes approximately one to two sec onds until alarm signal is output after you turn on the m ain

NOTE 2) Check status of connection of inter nal regenerative res istance(B+, B) before using because

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

L7SA050□ (120[W], 6.8[Ω ]) has internal regenerative resis tance. If value of regener ative voltage is too high by freq uent dec eler at i on an d ac cel er ati on, i ns tall exter nal r egen er ati ve res i stanc e on B, B+ terminal after at taching internal regenerative resistance connected B+, B to “NC” hole on the case.

3-5

3. Wiring Method

Name

L7SA001□

L7SA002□

L7SA004□

L7SA008□

L7SA010□

L7SA020□

L7SA035□

L7SA050□

3.2.3 Dimensions for Power Circuit Electrical Parts

MCCB(NFB)

Noise Filter

(NF)

DC reactor

MC

L1,L2,L3

PO,PI,N,

B+,B,BI

Wire

U,V,W

C1 C2

Crimp terminal

Regenerative

resistance

(Provided by

default)

Connector

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

)

30A Frame 5A (ABE 33b/5)

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

UA-F1510, SEOIL

(10 mm Strip & Twist)

30A Frame

10A

(ABE33b/10)

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

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

11A / 240V

(GM□-9)

AWG16

(1.5 ㎟)

50 [W]

100 Ω

• BLF 5.08/03/180F SN BK BX

• BLF 5.08/11/180F SN BK BX

30A Frame 15A (ABE 33b/15) 30A Frame 30A (ABE33b/30)

18A / 240V

(GM□-18)

AWG14

(2.5 ㎟)

UA-F2010, SEOIL

(10 mm Strip & Twist)

100 [W]

40 Ω

• BLZ7.62HP/03/180LR SN BK BX SO

BLZ7.62HP/11/180LR SN BK BX SO

32A / 240V

(GM□-32)

AWG12 (4.0 ㎟)

UA-F4010, SEOIL(10 mm

Strip & Twist)

150 [W]

13 Ω

50A Frame

40A(ABE53b

/40)

TB6-

B040A(40A)

HFN-

40(40A)

50A / 240V

(GM□-50)

AWG10 (6.0

㎟)

AWG16(1.5

㎟)

GP110028

KET

120[W]

6.8Ω

Note1) Use 600V-PVC Insulated w ire for wiring. Use appr oved UL wire(Temp. 60 ℃ or above) for UL(CSA) Regulation. Use approved wire for any other r egulations. Use equivalent or above componets compare to components above for any special applications.

3-6

3. Wiring Method

0.6 3.5 100

A

B

C

0.4~0.5[N·m]

SD 0.6x3.5x100

0.4~0.5[N·m]

7~10[㎜]

( L7SA004□ or below)

Length of strip

(L7SA008□ ~ L7SA010□)

Length of strip

Weidmueller’s SD 0.6x3.5x100

M4 : 1.2[N·m]

Weidmueller’s

M4 : 1.2[N·m]

3-7

3. Wiring Method

A

B

C

0.4~0.5[N·m]

7~10[㎜]

(L7SA020□ ~ L7SA035□)

Length of strip

Weidmueller’s SD 0.6x3.5x100

M4 : 1.2[N·m]

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 short could be occurred if torque of screwing was not enough.

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

5) FG screw which is located 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.

3-8

3. Wiring Method

Terminal Block Signals

TB1

TB2

TB3

NC : 내부 회생저항기

리드 단자 고정용 나사

NC : Internal regenerative resistor

Screw for holding lead terminal

(L7SA050□)

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]

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

3-9

3. Wiring Method

establishment

rotation)

3.3 Timing Diagram

3.3.1 Timing Diagram During Power Input

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

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

200 ms

Main power, control power supply

Control power establishment 5 [V]

Control program reset

Main power

Alarm (Normally On)

Servo Ready

Servo On

Clear DB

150 ms

50 ms

120 ms

10 ms

5 ms

PWM output (motor

40 ms

2 ms

3-10

3. Wiring Method

Caution

200 ms

5 [V]

establishment

Alarm

Servo On

PWM

RESET 150 ms

40 ms

10 ms

5 ms

2 ms

30 ms

Alarm triggered by

Remove causes that

3.3.2 Timing Diagram at the Time of Alarm Trigger

When the alarm triggers in the servo drive, PWM is blocked and the motor stops.

 Never reset the alarm before you solve the problem that triggered the alarm and change the

command signal (Servo ON) to OFF.

Main power, control power supply

Control power establishment

Control program

Reset

Main power

(Normally On)

Servo RDY

Clear DB

(Motor rotation)

anomaly

triggered alarm

3-11

3. Wiring Method

Caution

R2

Internal

Circuit

COM

R1

DC 24V

3.4 Control Signal Wiring

3.4.1 Contact Input Signal

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, however, 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 KΩ, R2: 680 Ω

3-12

3. Wiring Method

Caution

Internal

Circuit

DC 24V

L

Contact

Note 1)

3.4.2 Contact Output Signal

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].

4. It is possible to turn each contact on or off forcibly with [Cn-08]. Take extra caution, however,

because each contact is automatically turned off when power is off.

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

6. 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.

3-13

3. Wiring Method

Servo Drive

Input/output signal

AGND

Twisted Pair Shield Wire

330 [Ω] 1/4 [W]

5 [kΩ]

0.1 [uF]

+12 [V] (34)

-

Analog command (26), (27), (1)

AGND (8)

3.4.3 Analog Input/Output Signals

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

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

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

Input/output

FG

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 [㎃].

3-14

12 [V] (35)

3. Wiring Method

Servo Drive

Upper

PF

PR

PF+

-

PR+

-

Line drive

Line receiver

Twisted Pair

Servo Drive

Upper

+24 [V]

GND24

Pulse COM

-

Shield Wire

-

Upper

Servo Drive

PR+

PF+

PF-

-

GND12

Power note 1)

NPN

R

3.4.4 Pulse Train Input Signal

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

level controller

Shield Wire

r

PF

PR

FG

(2) Open Collector (24 [V]) Pulse I nput

level controller

PF

PR

FG

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

level controller

PR

FG

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

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

3-15

3. Wiring Method

Servo Drive

Upper level controller

AO /AO GND

Line drive

Line receiver

GND

Upper level controller

Servo Drive

Power

PNP

PF+

-

P

PR+

4

PR

R

(4) PNP Open Collector Pulse Command

note 2)

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

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

3.4.5 Encoder Output Signal

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

Encoder signals for the servo motor received from CN2 are pre-scaled according to the ratio defined by [P0-14] an d out put in lin e driver mode.

PF

-

FG

r

PA

rd

Set “1” on the 3

bit in the menu [P0-17] ‘Fuction 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)

3-16

3. Wiring Method

Encoder

1 2 3 4 5 6 7 8

9 10 11 12 13 14 15

A

/A

B

/B

Z

/Z

U

/U

V /V W

/W

5V GND SHD

13 12 11 10 9 8 5 6 3 4 1 2 14 7

Frame

Servo Drive

Servo Motor

AWG24 7Pair Twisted

Shield Wire

Cable Connector Maker -

AMP 172163-1 170361-1

Cable Connector(CN2) Maker – 3M 10314

-

52A

0-008

10114-

3000

VE

Servo Drive

Servo Motor

Encoder

A B C D

E

F

K

L M N

P

R H G

J

A

/A

B

/B

Z

/Z

U

/

U

V /V W

/W 5V

GND

SHD

13 12 11

10 9 8 5 6 3 4 1 2

7

Frame

AWG24 7Pair Twisted

Shield Wire

Cable Connector(CN2) Maker – 3M 10314-52A0-008 10114-3000VE

Cable Connector MS

3108B20-29S

14

3.5 Quadrature Encoder Signaling Unit (CN2) Wiring

3.5.1 APCS-EAS Cable

3.5.2 APCS-EBS Cable

3-17

3. Wiring Method

Encoder

1 2 3 4

7 8

9

MA

SL

/SL

+5V

GND

SHD

3 4 5 6

14 7

Frame

Servo Drive

Servo Motor

AWG24 4Pair Twisted

Shield Wire

Cable Connector Maker - AMP 172161-1 170361-1

Cable Connector(CN2) Maker – 3M 10314-52A0-008 10114-3000VE

/MA

3.6 Serial Encoder Signaling Unit (CN2) Wiring

3.6.1 APCS-ECS Cable

3.6.2 APCS-EDS Ca bl e

3-18

3. Wiring Method

Servo Dr i ve

Servo Motor

인코더

1

MA

Cable Connector(CN2) Maker 10314 10114

Connector Tyco Connector (7Ciruits)

Encoder

3

3.6.3 APCS-EES Ca ble

6 2 7

9 4

5

/MA

SL

/SL

5V

GND

SHD

4 5 6

14

7

Frame

- 3M

-52A0-008

-3000VE

3-19

3. Wiring Method

Servo Dr i ve

Servo

A

MA

AWG24 4Pair Twi st

Cable Connector(CN2) Maker 10314 10114

Cable Connector

MS3108S20 E

3

1

MA

Cable Connector(CN2) Maker 10314 10114

Cable Connector

MS3108S20 Encoder

3

AWG24 4Pair Twist

Servo

3.7 Multi Turn Encoder signal unit(CN2) wiring

3.7.1 APCS-ECS1 Cable

Motor

2

Shield Wire

3 4 5 6

7 8

-29S

9

3.7.2 APCS-EDS1 Cable

/MA

SL

/SL BAT+ BAT-

5V

GND

SHD

4 5 6

14

7

Frame

Drive

- 3M

-52A0-008

-3000VE

3-20

ncode

Motor

-29S

B C D E

F

H G

J

Shield Wire

/MA

SL

/SL BAT+ BAT-

5V

GND

SHD

4 5 6

14

7

Frame

- 3M

-52A0-008

-3000VE

3. Wiring Method

Servo Dr i ve

Servo Motor

인코더

1

MA

Cable Connector(CN2) Maker 10314 10114

Connector Tyco Connector

Encoder

3

3.7.3 APCS-EES1 Cable

6 2 7 8 3

9 4

5

/MA

SL

/SL

BAT+

BAT_

5V

GND

SHD

4 5 6

14

7

Frame

- 3M

-52A0-008

-3000VE

3-21

3. Wiring Method

Absolute data

Pre

3.8 Transmission of Absolute Encoder Data

3.8.1 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 dat a) .

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.

transmission

-scaler pulse output

3-22

4. Parameters

4.1 How to Use the Loader

4.1.1 Names and Functions of Each Parts

Display 5-digit FN D data.

Digit 5 Digit 4 Di git 3 Digit 2 Digit 1

Displays the decimal point.

E.g.) 123.4

[MODE]: Change display mode. [/LEFT]: Move to another data digit. [UP]: Increase displayed data. [DOWN]: Decr ease displayed data. [SET]: Confirm displayed data. [/RIGHT]: Move to another data digit.

In the case of 16 bits, the minus symbol is us ed. In the case of 32 bits, a dot is used.

E.g.) -123.4

4-1

4. Parameters

①

②

4.1.2 Status Summary Display

(1) Status Summary Display in Speed Mode

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

DIGIT 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

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

4-2

4. Parameters

Operation Status

Screen

Function

Notes

(2) Servo Operation Status Summary Display List

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

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.

4-3

4. Parameters

St-

00

St-

01

St

-02

St

-24

St-

25

St-26

P0-00

P0-01

P0-02

P0-25

P0-26

P0-27

Cn-00

Cn-01

Cn-02

Cn-13

Cn-14

Cn-15

UP

DOWN

MODE

P4-00

P4-01

P4-02

P4-11

P4-12

P4-13

Operation Status Summary Display

P1-00 P2-00 P3-00

P1-25 P2-22 P3-20

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 start of operation, the speed operation mode [S=bb] indi cating

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.

4-4

4. Parameters

Orde

r

Loader Displays

Keys to Use

What to Do

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

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

Displays the speed control mode with

1

2

main power and control power permitted.

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

3

4

5

6

7

8

NOTE 1) “ ” i ndicates flickering. NOTE 2) If you hold down [UP] / [DOWN] at the current cursor in the parameter window, the number

continues to increase/decrease.

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

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

00001. Press [UP] or [DOWN] at the blinking

cursor to change the number to 00002.

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

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

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

4-5

4. Parameters

Orde

r

Loader Displays

Keys to Use

What to Do

(3) Example of changing speed proportional gain 2

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

Displays the speed control mode with

1

2

main power and control power permitted.

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

3

4

5

6

7

8

NOTE 1) “ ” i ndicates flickering. NOTE 2) If you hold down [UP] / [DOWN] at the current cursor in the parameter window, the number

continues to increase/decrease.

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

Press [SET] to enter parameter edit mode. The parameter is displa y ed as

00200. Press [/LEFT] or [/RIGHT] at the

blinking cursor to move to the desired digit, DIGIT 3.

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

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

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

4-6

4. Parameters

Orde

r

Loader Displays

Keys to Use

What to Do

(4) Example of changing DAC output offset 1 ([P0-19]: 0 [Unit/V] ->

-500 [Unit/V])

Displays the speed control mode with

1

2

main power and control power permitted.

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

3

4

5

6

7

8

NOTE 1) “ ” i ndicates flickering. NOTE 2) If you hold down [UP] / [DOWN] at the current cursor in the parameter window, the number

continues to increase/decrease.

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

Press [SET] to enter parameter edit mode. The parameter is dis pla y ed as

00000. Press [/LEFT] or [/RIGHT] at the

blinking cursor to move to the desired digit, DIGIT 3.

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

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

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

4-7

4. Parameters

4.1.4 Data Display

(1) Binary

① Minimum (0b00000) ② Ma xim um (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

4-8

4. Parameters

①

②

Order

Loader Displays

Keys to Use

What to Do

(6) 32-bit Signed Integer Data Display

Minimum (-2147483648)

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

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

1

2

3

4

5

6

7

NOTE 1) “ ” i ndicates flickering.

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

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

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

Press [SET] to display lower digit data.

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

lower, middle, and upper data is displayed.

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

lower, middle, and upper data is displayed.

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

4-9

4. Parameters

Number

(A)

(9)

(8)

(7)

(6)

(5)

(4)

(3)

(2)

(1)

Contact

Number

DIA

DI9

DI8

DI7

DI6

DI5

DI4

DI3

DI2

DI1

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

CN1

Pin number

Allocated

default

Signal name

48 18 19 20 46 17 21 22 23 47

STOP EMG CWLIM

CCWLI

M

DIR

ALMR

ST

SPD3 SPD2 SPD1 SVON

4-10

4. Parameters

Input Signal

Input Allocation Number

4.1.6 External Input Signal and Logic Definition

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

(1) Input Signal Allocation

L7 Drive allows for the allocation of a total of 19 input contact fuctions 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.

4-11

4. Parameters

Signal Name

Parameter Allocation

Servo ON

[P2-00].Set Digit 1

Multi-speed 1

[P2-00]. Set Digit 2

Multi-speed 2

[P2-00]. Set Digit 3

Multi-speed 3

[P2-00]. Set Digit 4

Alarm reset

[P2-01]. Set Digit 1

Select rotation

direction

prohibited

Stop

ratio 1

ratio 2

modes

[P2-01]. Set Digit 2

Forward rotation

[P2-01]. Set Digit 3

Reverse rotation

[P2-01]. Set Digit 4

Emergency stop

[P2-02]. Set Digit 1

[P2-02]. Set Digit 2

Electronic gear

[P2-02]. Set Digit 3

Electronic gear

[P2-02]. Set Digit 4

P control action

[P2-03]. Set Digit 1

Select gain 2

[P2-03]. Set Digit 2

Error pulse clear

[P2-03]. Set Digit 3

Torque limit

[P2-03]. Set Digit 4

Change operation

[P2-04]. Set Digit 1

Absolute encoder

data request

[P2-04]. Set Digit 2

Zero clamp

[P2-04]. Set Digit 3

Input

Signal

SVON F A 9 8 7 6 5 4 3 2

SPD1 F A 9 8 7 6 5 4 3

SPD2 F A 9 8 7 6 5 4

SPD3 F A 9 8 7 6 5

ALMRST F A 9 8 7 6

DIR F A 9 8 7

CCWLIM F A 9 8

CWLIM F A 9

EMG F A

STOP F

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

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

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

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

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

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

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

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

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

Alwa

ys

Alloc

48 18 19 20 46 17 21 22 23 47

ated

A 9 8 7 6 5 4 3 2 1 0

CN1 Pin Default Allocation Number

2 1 0

3 2 1 0

4 3 2 1 0

5 4 3 2 1 0

6 5 4 3 2 1 0

7 6 5 4 3 2 1 0

8 7 6 5 4 3 2 1 0

9 8 7 6 5 4 3 2 1 0

No Alloc ation

1 0

Input

Signal

Definition

[P2-00] 0x4321

[P2-01] 0x8765

[P2-02] 0x00A9

0

[P2-03] 0x0000

0

[P2-04] 0x0000

0

Default setting

NOTE 1) No CN1 connector pin is allocated when the default value is " 0" .

4-12

4. Parameters

Input Signal

Input Allocation Number

(2) Example of Changing Input Signal A llocation

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:

4-13

4. Parameters

Signal Name

Parameter Allocation

Servo ON

[P2-00].Set Digit 1

Multi-speed 1

[P2-00]. Set Digit 2

Multi-speed 2

[P2-00]. Set Digit 3

Multi-speed 3

[P2-00]. Set Digit 4

Alarm reset

[P2-01]. Set Digit 1

Select rotation

direction

prohibited

Stop

ratio 1

ratio 2

modes

[P2-01]. Set Digit 2

Forward rotation

[P2-01]. Set Digit 3

Reverse rotation

[P2-01]. Set Digit 4

Emergency stop

[P2-02]. Set Digit 1

[P2-02]. Set Digit 2

Electronic gear

[P2-02]. Set Digit 3

Electronic gear

[P2-02]. Set Digit 4

P control action

[P2-03]. Set Digit 1

Select gain 2

[P2-03]. Set Digit 2

Error pulse clear

[P2-03]. Set Digit 3

Torque limit

[P2-03]. Set Digit 4

Change operation

[P2-04]. Set Digit 1

Absolute encoder

data request

[P2-04]. Set Digit 2

Zero clamp

[P2-04]. Set Digit 3

Input

Signal

SVON F A 9 8 7 6 5 4 3 2

SPD1 F A 9 8 7 6 5 4 3

SPD2 F A 9 8 7 6 5 4

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

ALMRST F A 9 8 7 6

DIR F A 9 8 7

CCWLIM F A 9 8

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

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

STOP F A 9

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

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

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

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

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

T_LMT F A

MODE F

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

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

Alwa

ys

Alloc

48 18 19 20 46 17 21 22 23 47

ated

A 9 8 7 6 5 4 3 2 1 0

CN1 Pin Default Allocation Number

2 1 0

3 2 1 0

5 4 3 2 1 0

6 5 4 3 2 1 0

7 6 5 4 3 2 1 0

8 7 6 5 4 3 2 1 0

9 8 7 6 5 4 3 2 1 0

No Alloc ation

1 0

Input

Signal

Definition

[P2-00] 0x0321

0

[P2-01] 0x0765

0

[P2-02] 0x0080

0

[P2-03] 0x9000

0

[P2-04] 0x000A

0

Value

After

Changing

NOTE 1) No CN1 connector pin is allocated when the default value is " 0".

4-14

4. Parameters

Order

Loader Displays

Keys to Use

What to Do

 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]:

1

2

3

4

5

6

7

8

9

10

11

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

Press [SET] to enter parameter edit mode. The parameter is displa y ed as

04321. Press [UP] or [DOWN] at the blinking

cursor to change the number to 0432A.

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

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

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

Press [SET] to enter parameter edit mode. The parameter is displa y ed as 000A9.

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

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

00019. Hold down [SET] for approximately

one second. Af ter two flickers, the number is saved as 00019 for the parameter.

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

※

NOTE 1) “ ” i ndicates flickering.

without saving the set

value

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

4-15

4. Parameters

Input signal lo

Input signal logic definition number

(3) Input signal logic definition

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

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

gic definition

Signal Name Input

Parameter Allocation

Servo ON

[P2-08].Set Digit 1

Multi-speed 1

[P2-08]. Set Digit 2

Multi-speed 2

[P2-08]. Set Digit 3

Multi-speed 3

[P2-08]. Set Digit 4

Alarm reset

[P2-08]. Set Digit 5

Select rotation

direction

prohibited

Stop

[P2-09]. Set Digit 1

Forward rotation

[P2-09]. Set Digit 2

Reverse rotation

[P2-09]. Set Digit 3

Emergency stop

[P2-09]. Set Digit 4

[P2-09]. Set Digit 5

Signal

(Initial

name)

SVON

SPD1

SPD2

SPD3

ALMRST

DIR

CCWLIM

CWLIM

EMG

STOP

48 18 19 20 46 17 21 22 23 47

1 0

CN1 Pin Default Allocation Number

1 0

Contact B

1 0

Input

signal

logic

setting

[P2-08] 0x11111

0

[P2-09] 0x10001

Default

setting

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

4-16

4. Parameters

Input signal logic definition

(4) Example of Changing Input Signal Logic Definitions

Input signal logic definitions can be changed in [P2-08] and [P2-09]. When input signals are allocated as below, settings will be done as shown in table below.

Input signal logic definition number

Signal Name

Parameter Allocation

Servo ON

[P2-08].Set Digit 1

Multi-speed 1

[P2-08]. Set Digit 2

Multi-speed 2

[P2-08]. Set Digit 3

Multi-speed 3

[P2-08]. Set Digit 4

Alarm reset

[P2-08]. Set Digit 5

Select rotation

direction

[P2-09]. Set Digit 1

Forward rotation

prohibited

[P2-09]. Set Digit 2

Reverse rotation

prohibited

[P2-09]. Set Digit 3

Emergency stop

[P2-09]. Set Digit 4

Stop

[P2-09]. Set Digit 5

Input

Signal

SVON

SPD1

SPD2

SPD3

ALMRST

DIR

CCWLIM

CWLIM

EMG

STOP

48 18 19 20 46 17 21 22 23 47

1 0

CN1 Pin Default Allocation Number

Cont

act B

1 0

Input

signal

logic

definition

[P2-08] 0x11111

0

[P2-09] 0x11101

Default

setting

4-17

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

4. Parameters

Order

Loader Displays

Keys to Use

What to Do

 Examples of changing input signal logic defini tions

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]:

1

2

3

4

5

6

7

8

9

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

Press [SET] to enter parameter edit mode. The parameter is displa y ed as

11111. Press [UP] or [DOWN] at the blinking

cursor to change the number to 11110.

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

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

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

Press [SET] to enter parameter edit mode. The parameter is displa y ed as

10001. Press [/LEFT] or [/RIGHT] at the

blinking cursor to move to the desired digit, DIGIT 2.

Press [UP] or [DOWN] at the blinking cursor to change the number to 10011.

4-18

10

11

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

In case of exiting

※

NOTE 1) “ ” i ndicates flickering.

without saving the set

value

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

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

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

4. Parameters

4.1.7 External Output Contact Signal Display [St-15]

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

(1) External Output Signal Display

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

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

Output Contact Display

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

Number

CN1

pin number

Allocated default

signal name

DO5 DO4 DO3 DO2 DO1

45 44 43 40/41 38/39

INPOS BRAKE ZSPD READY ALARM

4-19

4. Parameters

Output Signal

Output Allocation Number

4.1.8 External Output Signal and Logic Definition

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

(1) Output Signal Allocation

 Output signal definition: [P2-05], [P2-06], [P2-07]  Output signal logic definition: [P2-10]  The default output signal allocation is as follows:

Signal Name

Parameter Allocation 45 44 43 40/41 38/39

Alarm

[P2-05].Set Digit 1

Servo Ready

[P2-05]. Set Digit 2

Zero speed achieved

[P2-05]. Set Digit 3

Brake

[P2-05]. Set Digit 4

Position reached

[P2-06]. Set Digit 1

Torque limit reached

[P2-06]. Set Digit 2

Speed limit reached

[P2-06]. Set Digit 3

Speed achieved

[P2-06]. Set Digit 4

Warning

[P2-07]. Set Digit 1

Output

Signal

ALARM F 5 4 3 2

READY F 5 4 3

ZSPD F 5 4

BRAKE F 5

INPOS F

TLMT F 5 4 3 2 1

VLMT F 5 4 3 2 1

INSPD F 5 4 3 2 1

WARN F 5 4 3 2 1

Alwa

ys

Alloc

ated

CN1 Pin Default Allocation Number

2 1 0

3 2 1 0

4 3 2 1 0

5 4 3 2 1 0

NOTE 1) No CN1 connector pin is allocated when the default value is " 0" .

Not

Alloc

ated

1 0

0

0 [P2-07] 0x0000

Internal

Parameter

[P2-05] 0x4321

[P2-06] 0x0005

Default

Value

4-20

4. Parameters

Output Signal

Output Allocation Number

(2) Examples of Changing Output Signal Allocati on

 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

Parameter Allocation 45 44 43 40/41 38/39

Alarm

[P2-05].Set Digit 1

Servo Ready

[P2-05]. Set Digit 2

Zero speed achieved

[P2-05]. Set Digit 3

Brake

[P2-05]. Set Digit 4

Position reached

[P2-06]. Set Digit 1

Torque limit reached

[P2-06]. Set Digit 2

Speed limit reached

[P2-06]. Set Digit 3

Speed achieved

[P2-06]. Set Digit 4

Warning

[P2-07]. Set Digit 1

Output Signal

ALARM F 5 4 3 2

READY F 5 4 3 2 1

ZSPD F 5 4

BRAKE F 5 4 3 2 1

INPOS F 5 4 3 2 1

TLMT F 5 4 3 2 1

VLMT F 5

INSPD F

WARN F 5 4 3

Alwa

ys

Alloc

ated

CN1 Pin Default Allocation Number

3 2 1 0

4 3 2 1 0

5 4 3 2 1 0

2 1 0 [P2-07] 0x0002

Not

Alloc

ated

1 0

0

Internal

Parameter

[P2-05] 0x0301

[P2-06] 0x5400

Changing

Value

After

4-21

NOTE 1) No CN1 connector pin is allocated when the default value is " 0" .

4. Parameters

Order

Loader Window Display

Result

Keys to Use

What to Do

 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]:

1

2

3

4

5

6

7

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

※

In case of exiting without

saving the set value

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

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

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

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

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

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

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

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

4-22

NOTE 1) “ ” i ndicates flickering.

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

4. Parameters

Output signal logic definition number

Output signal logic definitions

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

(3) Output Signal Logic Definiti on

Output signal logic definition: [P2-10] The logic of output signals as shipped from the factory is as follows.

Contact A/Contact B) Contact A/Contact B) Contact A/Contact B) Contact A/Contact B)

Signal Name

Parameter Allocation 45 44 43 40 /41 38 /39

Alarm

[P2-10].Set Digit 1

Servo Ready

[P2-10]. Set Digit 2

Zero speed achieved

[P2-10].Digit 3

Brake

[P2-10].Digit 4

Position reached

[P2-10].Digit 5

Input Signal (Initial

Name)

ALARM

READY

ZSPD

BRAKE

INPOS

CN1 Pin Default Allocation Number

1 0

Contact B

0

Output

Signal

Logic

Definition

[P2-10] 0x10110

Default Setting

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

4-23

4. Parameters

Output signal logic definitions

Output signal logic definition number

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

(4) Examples of Changing Output Singal Logic Definition

 Output signal logic definitions can be changed at [P2-10]  Set output singals as shown in the table below when they are allocated as below.

Contact A/Contact B) Contact A/Contact B) Contact A/Contact B) Contact A/Contact B)

Signal Name

Parameter Allocation 45 44 43 40 /41 38 /39

Alarm

[P2-10].Set Digit 1

Servo Ready

[P2-10]. Set Digit 2

Zero speed achieved

[P2-10].Digit 3

Brake

[P2-10].Digit 4

Position reached

[P2-10].Digit 5

Input Signal (Initial

Name)

ALARM

READY

ZSPD

BRAKE

INPOS

CN1 Pin Default Allocation Number

1 0

Contact B

0

Output

Signal

Logic

Definition

[P2-10] 0x11110

Default Setting

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

4-24

4. Parameters

Order

Loader Window Display

Result

Keys to Use

What to Do

 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]:

1

2

3

4

5

6

7

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

※

In case of exiting without

saving the set value

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

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

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

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

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

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

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

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

4-25

NOTE 1) “ “ i ndicates flickering.

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

4. Parameters

Move to

Another

Parameter

Number

Initial Screen

Parameter

Group Name

Details

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:

E.g.) In speed mode

-

Status Summary

Display

Displays the status summary of the servo.

Displays the operation status of the servo.

Saves system configuration information.

Save control-related parameters.

Saves parameters related to analog and digital input/output.

Saves speed operation parameters.

Saves position pulse operation parameters.

Performs operation handling.

MODE Key

St-00 - St-26

P0-00 - P0-27

P1-00 - P1-29

P2-00 - P2-22

P3-00 - P3-20

P4-00 - P4-14

Cn-00 - Cn-18

Status

System

Control

IN / OUT

Speed

Operation

Position

Operation

Command

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

 P: Use in position control m ode.

4-26

 S: Use in speed control mode.  T: Use in torque control mode.

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

4. Parameters

4.2.2 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

Code Name Minimum Maximum

St-00

St-01

St-02

St-03

St-04

St-05

St-06

St-07

St-08

Current operation status - - Displays the current operation status.

Operation status 0 0

Current operation speed [RPM] 0 Di splays the current operation speed.

Current speed -10000 10000

Current command speed [RPM] 0 Displays the current command speed.

Command speed -10000 10000

Follow position pul se [pulse] 0 Displays the accumulated number of tracked position

Feedback pulse -2^30 2^30

Position command pul se [pulse] 0 Displays the accumulated number of position

Command pulse -2^30 2^30

Remaining position pulse [pulse] 0 Displ ays the remaining position pulses that t he servo

Pulse error -2^30 2^30

Input pulse frequency [Kpps] 0.0 Dis plays input pulse fr equency. Input Pulse frequency -1000.0 1000.0

Current operation t orque [%] 0.0 Displ ays the current load factor against the rated load

Current torque -300.0 300.0

Current command torque [%] 0.0 Displ ays the command load fact or against the rated

Command torque -300.0 300.0

DIGIT 5: Operation Mode DIGIT 4: ZSPD, INPOS/INSPD, Command, READY DIGIT 3-1: Run Status (Details: Refer t o " 4.1.2 Status Summary Display.")

(Details: Refer t o “4.3.2 Speed Display.”)

command pulses.  Displ ays 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, i t is displayed as the minimum or maximum.

(Details: Refer t o “4.3.3 Position Display.”)

command pulses.  Displ ays the accumulated number of position

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

(Details: Refer t o “4.3.3 Position Display.”)

has to operate.  This is the difference between command pulse and

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

 The remaini ng position pulses, which are displayed

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

(Details: Refer t o “4.3.3 Position Display.”)

factor.  Displ ays the load currentl y output by the servo

motor as a percentage against the rated output.

load factor.  Displ ays the load currentl y output by the servo

motor as a percentage ag ainst the rated output .

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

4-27

4. Parameters

Parameter Unit Initial

Details

Code Name Minimum Maximum

St-09

St-10

St-11

St-12

St-13

Accumulated overload

rate

Accumulated overload

Instantaneous maximum

load factor

Maximum load -300.0 300.0

Torque limit [%] - Displays the torque limit val ue.

Torque limit -300.0 300.0

DC link voltage [V] 0.0 Displays the current DC link voltage of the main power.

DC link voltage 0.0 500.0

Regenerative overload [%] 0.0 Displays the regenerati ve overload rate. Regeneration overload

[%] 0.0

-300.0 300.0

[%] 0.0

0.0 20.0

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

(Details: Refer t o “4.3.4 Torque and Load Display.”) Displays the instantaneous maximum load fac tor

against the rated l oad factor.  Displ ays, as a percentage, the maximum overload

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

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

 Displ ays, 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)

 The DC link voltage of the standard drive that uses

220 [V] is approximately 300 [V].

 The maximum DC link voltage allow ed for the

standard drive that us es 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 t o “4.3.4 Tor que and Load Display.”)

St-14

St-15

St-16

St-17

St-18

Input contact status - -

Input Status - -

Output contact status - - Displays the output contact status that t he servo

Output status - -

Single-turn data

(Single-turn data)

Single-turn data 0 2^30 Single-turn data

(Degrees)

Single-turn data

(Degrees)

Multi-turn data [rev] 0 Displays the multi-turn data of the encoder. Multi-turn data -32768 32767

[pulse] 0

[˚] 0.0

0.0 360.0

Displays the input contact status that the servo recognizes.

(Details: Refer t o “4.1.5 External Input C ontact Signal Display.”)

outputs. (Details: Refer t o “4.1.6 External Input C ontact Signal

Display.”) Displays the single-turn data of the encoder in pulses.

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

4-28

4. Parameters

Parameter

Unit

Initial

Details

Code

Name

Minimum

Maximum

Rated RPM

Maximum RPM

St-19

St-20

St-21

St-22

St-23

St-24

St-25

St-26

St-27

Internal temperature

Room temperature -40 200

Rated motor speed [RPM] 0

Maximum motor speed [RPM] 0

Rated motor current [A] 0.00

Rated current 0.00 655.35

U phase current offset [mA] 0 Displays the U phase current offset.

U Phase current

offset

V phase current offset [mA] 0 Displays the V phase current offset.

V phase current

offset

Program version - -

Software version - -

FPG A Version - FPG A Version - -

Analog Torque

Command

Analog Tq CMD -3000 3000

[℃]

0 10000

-200 200

% 0

0

Displays the internal temperature sensor value.

Displays the rated speed of the currently installed motor.

Displays the maximum s peed of the curr ently installed motor.

Displays the rated current of the currently installed motor.

Displays the version of the currently installed program.

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

Displays the version of the currently installed FPGA version.

Displays the values of the current analog torque command

4-29

4. Parameters

4.2.3 System Setting Parameter

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

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

Parameter Unit Initial

Code Name Minimum Maximum

Motor ID - 999  Set Motor ID.

**P0-00

**P0-01

**P0-02

*P0-03

**P0-04

**P0-05

Motor ID 0 999

Encoder type - 0

Encoder type 0 5

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

Enc resolution 1 30000

Select operation

mode

Operation mode 0 5

RS422

communication

speed

RS422 baud rate 0 3

System ID - 0 Sets drive ID for communic ation.

System ID 0 99

- 1

[bps] 0

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

value is set to 999. (Details: Refer t o “4.4.1 System Parameter

Setting.")

 0: Quadrat ure Type encoder.  1: Singl e turn Serial encoder.  3: Multi turn Serial encoder

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

turn from the enc oder.

 Quadratur e Type encoder: Sets the number of

encoder pulses. (Details: Refer t o “4.4.1 System Parameter

Setting.")

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

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

Sets communicati on speed for RS-422 communication.

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

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

 An ID can be gi ven to the servo if USB

communication, RS422 communication and BUS communication ar e used for communication with the servo.

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

for individual com munication with it.

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

Details

4-30

4. Parameters

Parameter

Unit

Initial

Details

Code

Name

Minimum

Maximum

P0-06

P0-07

P0-08

*P0-09

**P0-10

**P0-11

*P0-12

P0-13

*P0-14

*P0-15

Main power input mode - 0b00000

Power fail mode 0b00000 0b11111

RST checking time [ms] 20

RST check time 0 5000

Displays parameter

upon start.

Start up parameter

Regenerative overload

derating

Regeneration derating 1 200

Regenerative resistanc e

value

Regeneration

brake resistor

Regenerative resistanc e

capacity

Regeneration brake

capacity

Overload check

Base load factor

Overload check base 10 100

Continuous overload

warning level

Overload Warning Level 10 100

Encoder output scaling - 12000

Pulse out per rotation. -2^21 2^21

PWM OFF de lay time [ms] 10

PWM OFF delay 0 1000

- 0

0 26

[%] 100

[Ω] 0

0 1000

[W] 0

0 30000

[%] 100

[%] 50

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

1: 3-phase power input

Caution: Using single-phas e power

may lower motor output. DIGIT2 -> 0: Error in case of phas e loss 1: Warning in case of phase loss

Sets the time to check main power phase loss.

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

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

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

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

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

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.

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

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.")

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.")

4-31

4. Parameters

Parameter

Unit

Initial

Details

Code

Name

Minimum

Maximum

DB control mode - 0x0 Sets DB control mode.

 0: Hold after DB stop  1: Release after DB stop

*P0-16

*P0-17

P0-18

DB control mode 0x0 0x3

Function setting bit - 0b00000 Sets drive function per digit.

Function select bit 0b00000 0b11111

DAC output mode - 0x3210

DAC mode (F) 0x0000 0xFFFF

 2: Release after free run stop  3: Hold after free run stop

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

DIGIT 1 -> Sets the direction of the servo rotation.

 0: Foward (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

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 funct ion in communication.

 0: Enable to save parameter data when

writing through communication.

 1: Unable to save parameter data when

writing through communicatio n .

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

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.")

4-32

4. Parameters

Parameter

Unit

Initial

Details

Code

Name

Minimum

Maximum

P0-19

P0-20

P0-21

P0-22

P0-23

P0-24

P0-25

P0-26

P0-27

P0-28

P0-29

DAC output offset 1

(MONIT1)

DAC output offset 1

(MONIT1)

DAC output offset 2

(MONIT2)

DAC offset 2 (F)

(MONIT2)

Reserved

DAC output scale 1

(MONIT1)

DAC scale1 (F)

(MONIT1)

DAC output scale 2

(MONIT2)

DAC scale 2 (F)

(MONIT2)

Reserved

U phase Current Offset

value

U Current Offset -9999 9999

V phase Current Offset

value

V Current Offset -9999 9999

Reserved

[Unit/V] 0

-1000 1000

[Unit/V] 0

-1000 1000

[Unit/V] 500

1 10000

[Unit/V] 500

1 10000

[mA] 0

Sets offset for 1-2 analog output channels.

 Speed: [RPM]  Torque: [%]  Position command frequency: [0.1

Kpps]

 Position: [pulse]  DC Link: [V]  Offset

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

Sets magnification for 1-2 analog output channels.

Sets magnification as setting Unit/V. E.g.) Channel 1 scale 100 [RPM]: Output 100

[RPM] as 1 [V].

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

Store U phase Current Offset value.

Store V phase Current Offset value.

4-33

4. Parameters

nal position

Sets filter time constant for speed command

4.2.4 Control Setting Parameter

For detailed information, refer to "4.4.2 Control Parameter Setting."

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

“*” Parameter that cannot be modified with the s ervo on

Parameter Unit Initial

Code Name Minimum Maximum

Inertia ratio [%] 100 Sets inertia rati o for load.

P1-00

P1-01

P1-02

P1-03

P1-04

P1-05

P1-06

P1-07

P1-08

P1-09

P1-10

Inertia ratio 0 20000

Position proport ional gain

1

Position P gain 1 0 500

Position Proportional Gain

2

Position P gain 2 0 500

Position command f ilter

time constant

Pos. command fil ter time

constant

Position feedfor w ard gain [%] 0 Sets position feedforward control ratio.

Pos. feedforward gain 0 100

Position feedfor w ard

Filter time constant

Pos. feedforward time

constant

Speed proportional gain 1 [rad/s] 400 Sets speed control proportional gain 1.

Speed P gain 1 0 5000

Speed proportional gain 2 [rad/s] 700 Sets speed control proportional gain 2.

Speed P gain 2 0 5000

Speed integral time

constant 1

Speed time constant 1 1 1000

Speed integral time

constant 2

Speed time constant 2 1 1000

Speed command filter

time constant

Spd. command filter time

constant

[Hz] 50

[Hz] 70

[ms] 0

0 1000

[ms] 0

0 1000

[ms] 50

[ms] 15

[ms] 10

0 1000

 Inertia ratio is considered 100 percent when

there is no load fr om the motor. Because setting inert ia ratio against load is an important control parameter for the operation of the servo, inerti a ratio shall be set by calculating load inertia by the machine system and rotor inertia from t he motor specification table.

 Setting an accurate inerti a ratio is crucial for

optimal servo operation.

(Details: Refer t o “4.4.2 Control Parameter Setting.”)

Sets position control proportional gain 1. (Details: Refer t o “4.4.2 Control Parameter

Setting.”) Sets position control proportional gain 2.

(Details: Refer t o “4.4.2 Control Parameter Setting.”)

Sets filter time constant for inter command which is reflected by electr ic gear ratio.

(Details: Refer to “4.4.2 Control Parameter Setting.”)

(Details: Refer t o “4.4.2 Control Parameter Setting.”)

Sets position feedf orward control filter time constant.

(Details: Refer t o “4.4.2 Control Parameter Setting.”)

Sets speed control integral time constant 1. (Details: Refer t o “4.4.2 Control Parameter

Setting.”)

Sets speed control integral time constant 2.

values.

Details

4-34

4. Parameters

Parameter Unit Initial

Code Name Minimum Maximum

P1-11

P1-12

P1-13

P1-14

P1-15

P1-16

P1-17

Speed feedback filter time

constant

Spd. feedback filter time

constant

Torque c ommand filt er tim e

constant

Trq. command filter time

constant

Forward rotation torque

limit

Positive torque limit 0 300 Negative torque limit [%] 300 Sets negative torque limit. Negative torque limit 0 300

Gain transfer mode - 0x00 Sets gain transfer mode. [0x0F (DIGIT 1)]

Conversion mode 0x00 0x43

Gain transfer time [ms] 1 Sets gain transfer time during operation.

Gain conversion time 1 100

Resonance avoidance

operation

Notch filter use 0 1

0.1[ms] 0.5

0 100

[ms] 10

0 1000

[%] 300

- 0

Details

Sets filter time constant for speed search values. (Details: Refer to “4.4.2 Control Parameter Setting.”)

Sets filter time constant for torque command values. (Details: Refer to “4.4.2 Control Parameter Setting.”)

Sets forward rotation torque limit. (Details: Refer to “4.4.2 Control Parameter Setting.”)

(Details: Refer to “4.4.2 Control Parameter Setting.”)

 0: Use only gain 1.  1: ZSPD automatic gain transfer

In case of zero speed, transfer from gain 1 to gain 2.

In the opposite case, transfer from gain 2 to gain

1.

 2: INPOS automatic gain transfer

In case of IN position, transfer from gain 1 to gain

2. In the opposite case, transfer from gain 2 to gain

1.

 3: Manual gain transfer

When the gain 2 contact is on, transfer from gain 1 to gain 2.

In the opposite case, transfer from gain 2 to gain

1.

Sets P and PI control transfer modes. [0xF0 (DIGIT

2)] 0: Control PI only.  1: Control P if the command torque is higher than

the set torque [P1-24].

 2: Control P if the command speed is higher than

the set speed [P1-25].

 3: Control P if the current acceleration is higher

than the set acceleration [P1-26].

 4: Control P if the current position error is higher

than the set position error [P1-27].

 Control P if the PCON contact is on (highest

priority). (Details: Refer to “4.4.2 Control Parameter Setting.”) (Details: Refer to “4.4.4 Input/Output Contact

Parameter Setting.”)

When converting gain 1 to gain 2 and gain 2 to gain 1, conversion is scheduled according to the set time.

Select whether to use the notch filter or not. 0: Do not use. 1: Use (Details: Refer to “4.4.2 Control Parameter Setting.”)

4-35

4. Parameters

Parameter Unit Initial

Code Name Minimum Maximum

P1-18

P1-19

P1-20

P1-21

P1-22

P1-23

P1-24

Resonance avoidance

frequency

Notch frequency 0 1000

Resonance avoidance

range

Notch bandwidth 0 1000

Auto gain tuning speed

Auto gain tuning Speed 1 10 Auto gain tuning distance - 3 Auto gain tuning distance 1 5

Torque control speed

limiting mode

Velocity limit switch

(torque control)

Speed limit [RPM] 2000

Velocity limit value

(torque control)

P control conversion torque % 200

Torque s witch value

(P control conversion)

[Hz] 300

[Hz] 100

100

[RPM]

- 0

0 3

0 10000

0 300

8

Details

Sets resonance avoidance frequency. (Details: Refer to “4.4.2 Control Parameter Setting.”)

Sets the scope of resonance avoidance frequency. (Details: Refer to “4.4.2 Control Parameter Setting.”)

Sets speed for automatic gain tuning run.

Sets round-trip distance for automatic gain tuning run.

Sets speed limit mode during torque control. 0: Limit to [P1-23]. 1: Maximum motor speed 2: Analog speed command 3: Limited to the smaller value between the value of

[P1-23] and the analog speed command.

Sets speed limit when speed limit mode [P1-22] is 0 during torque control.

When setting P and PI control transfer mode [P1-15], sets [0x10 (DIGIT 2)] P control conversion torque.

P1-25

P1-26

P1-27

P control conversion speed rpm 50

Speed switch value

(P control conversion)

P control conversion

acceleration

Acc. switch value

(P control conversion)

P control conversion

position error

Position Err switch value

(P control conversion)

0 6000

rpm/s 1000

0 5000

pulse 2000

0 10000

When setting P and PI control transfer mode [P1-15], sets [0x20 (DIGIT 2)] P control conversion speed.

When setting P and PI control transfer mode [P1-15], sets [0x30 (DIGIT 2)] P control conversion

acceleration.

When setting P and PI control transfer mode [P1-15], sets [0x40 (DIGIT 2)] P control conversion position

error .

4-36

4. Parameters

4.2.5 Input/Output Setting Parameter

For detailed information, refer to "4.4.3 Analog Input/Output Parameter Setting" and "4.4.4 Input/Output Contact Parameter Setting."

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

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

Parameter Unit Initial

Details

Code Name Minimum Maximum

**P2-00

**P2-01

**P2-02

**P2-03

**P2-04

**P2-05

**P2-06

**P2-07

**P2-08

Input signal definition 1 - 0x4321 Allocates a CN1 connector pi n for a digital input

Input port define 1 0 0xFFFF

Input signal definition 2 - 0x8765

Input Port define 2 0 0xFFFF

Input signal definition 3 - 0x00A9

Input Port define 3 0 0xFFFF

Input signal definition 4 - 0x0000

Input Port define 4 0 0xFFFF

Input signal definition 5 - 0x0F00

Input Port define 5 0 0xFFFF

signal.

 Initial input signal all ocation

 [P2-00]DIGIT 1 = SVON (DI1)  [P2-00]DIGIT 2 = SPD1 (DI2)  [P2-00]DIGIT 3 = SPD2 (DI3)  [P2-00]DIGIT 4 = SPD3 (DI4)  [P2-01]DIGIT 1 = ALARMST (DI5)  [P2-01]DIGIT 2 = DIR (DI6)  [P2-01]DIGIT 3 = CCWLIM (DI7)  [P2-01]DIGIT 4 = CWLIM (DI8)  [P2-02]DIGIT 1 = EMG (DI9)  [P2-02]DIGIT 2 = STOP (DIA)  [P2-02]DIGIT 3 = EGEAR1 (**)  [P2-02]DIGIT 4 = EGEAR2 (**)  [P2-03]DIGIT 1 = PCON (**)  [P2-03]DIGIT 2 = GAIN2 (**)  [P2-03]DIGIT 3 = P_CLR (**)  [P2-03]DIGIT 4 = T_LMT (**)  [P2-04]DIGIT 1 = MODE (**)  [P2-04]DIGIT 2 = ABS_RQ (**)  [P2-04]DIGIT 3 = ZCLAMP (**)

(**) Unallocated signals (Details: Refer t o “4.1.6 External Input Signal and

Logic Definiti on.”)

Output signal defi nition 1 - 0x4321 Allocate a CN 1 connector pin for a digital output

Output port define 1 0 0xFFFF

Output signal defi nition 2 - 0x0005

Output port define 2 0 0xFFFF

Output signal defi nition 3 - 0x0000

Output port define 3 0 0xFFFF

signal.

 Initial output signal allocation

 [P2-05]DIGIT 1 = ALARM (DO1)  [P2-05]DIGIT 2 = READY (DO2)  [P2-05]DIGIT 3 = ZSPD (DO3)  [P2-05]DIGIT 4 = BREAK (DO4)  [P2-06]DIGIT 1 = INPOS (DO5)  [P2-06]DIGIT 2 = TLMT (**)  [P2-06]DIGIT 3 = VMLT (**)  [P2-06]DIGIT 4 = INSPD (**)  [P2-07]DIGIT 1 = WARN (**)

(**) Unallocated signals (Details: Refer t o “4.1.8 External Output Signal

and Logic Definition.”) In case of dual all ocation, the output c ontact

setting error [AL-72] occurs .

Input signal logic

definition 1

- 0b11111

Define CN1 connector logic for a digital input signal. (0: Contac t B. 1: Contact A)

Initial input logic def initions

 [P2-08]DIGIT 1 = DI1 (CN1 #47) (Contact A)  [P2-08]DIGIT 2 = DI2 (CN1 #23) (Contact A)

Input logic set 1 0 0b11111

 [P2-08]DIGIT 3 = DI3 (CN1 #22) (Contact A)  [P2-08]DIGIT 4 = DI4 (CN1 #21) (Contact A)  [P2-08]DIGIT 5 = DI5 (CN1 #17) (Contact A)

(Details: Refer t o “4.1.6 External Input S ignal and Logic Definiti on.”)

4-37

4. Parameters

Parameter Unit Initial

Details

Code Name Minimum Maximum

**P2-09

**P2-10

P2-11

P2-12

P2-13

P2-14

Input signal logic

definition 2

- 0b10001

Define CN1 connector logic for a digital input signal.(0: Contact B, 1: Contact A)

Initial input logic definitions

 [P2-09]DIGIT 1 = DI6 (CN1 #46) (Contact A)  [P2-09]DIGIT 2 = DI7 (CN1 #20) (Contact A)

Input logic set 2 0 0b11111

 [P2-09]DIGIT 3 = DI8 (CN1 #19) (Contact A)  [P2-09]DIGIT 4 = DI9 (CN1 #18) (Contact A)  [P2-09]DIGIT 5 = DIA (CN1 #48) (Contact A)

(Details: Refer t o “4.1.6 External Input Signal and Logic Definition.”)

Output signal logi c

definition

- 0b10110

Define CN1 connector logic for a digital output signal (0: Contact B, 1: Contact A)

Initial input logic definitions

 [P2-10]DIGIT 1 = DO1 (CN #38/39) (Contact B)  [P2-10]DIGIT 2 = DO2 (CN #40/41) (Contact A)  [P2-10]DIGIT 3 = DO3 (CN #43) (Contact A)  [P2-10]DIGIT 4 = DO4 (CN #44) (Contact B)  [P2-10]DIGIT 5 = DO5 (CN #45) (Contact A)

(Details: Refer t o “4.1.8 External Output Signal

Output logic set

0

0b11111

and Logic Definition.”) (Details: Refer t o “4.4.4 Input/Output C ontact

Parameter Setting.”)

Position reached output

range

[pulse] 10

In position range 1 65535

Sets remaining pulse range for positi on reached output in position operation mode.

(Details: Refer t o “4.4.4 Input/Output C ontact Parameter Setting.”)

Zero speed output range [RPM] 10 Sets speed range for zero speed output during a

stop.

Zero speed range 1 500

(Details: Refer t o “4.4.4 Input/Output Contact Parameter Setting.”)

Range of output for speed

reached

[RPM] 10

In speed range 1 500

Sets speed range for com m and speed reached output.

(Details: Refer t o “4.4.4 Input/Output C ontact Parameter Setting.”)

Brake output action speed [RPM] 100 Sets speed for turning on the brake output

contact.

Brake output speed 0 6000

(Details: Refer t o “4.4.4 Input/Output C ontact Parameter Setting.”)

Brake output delay time [ms] 500 Sets how m uch time to delay unt il the brake

output contact tur ns on when the servo is off or

P2-15

Brake output delay time 0 1000

stops. (Details: Refer t o “4.4.4 Input/Output C ontact

Parameter Setting.”)

Position pulse clear mode - 1 Select operation type for position pulse clear

(PCLR) mode.

P2-16

PCLR mode 0 1

 0: Operat e in edge mode.  1: Operat e in level mode.

(Details: Refer t o “4.4.4 Input/Output C ontact Parameter Setting.”)

Analog speed scale [RPM] 2000 Sets speed scale when the analog speed

*P2-17

Analog speed

command scale

1 15000

command is 10 [V]. (Details: Refer t o “4.4.3 Analog Input/Output

Parameter Setting.”)

4-38

LSIS XDL-S User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

1. Product Components and Signals

1.1 Product Components

1.1.1 Produc t Verification

1.1.2 Part Names

1.2 System Configuration

1.2.1 Overview

1.2.2 Wiring Diagram of the Entire CN1 Connector

1.2.3 Example of Position Operation Mode Wiring

1.2.4 Example of Speed Operation Mode Wiring

1.2.5 Example of Torque Operation Mode Wiring

1.2.6 Examples of Speed / Position Operation Mode Wiring

1.2.7 Example of Speed/Torque Operation Mode Wiring

1.2.8 Example of Position/Torque Operation Mode Wiring

1.3 Signals

1.3.1 Digital Input Contact Signal

1.3.2 Analog Input Contact Signal

1.3.3 Digital Output Contact Signal

1.3.4 Monitor Output Signal and Output Power

1.3.5 Pulse Train Input Signal

1.3.6 Encoder Output Signal

2. Installation

2.1 Servo Motor

2.1.1 Usage Environment

2.1.2 Prevention of Excessive Shock

2.1.3 Motor Connection

2.1.4 Load Device Connection

2.1.5 Cable Installation

2.2 Servo Drive

2.2.1 Usage Environment

2.2.2 Installation Inside the Control Panel

2.2.3 Power Wiring

3. Wiring Method

3.1 Internal Block Diagram

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

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

3.1.3 L7 Drive Block Diagram [L7SA050□ ]

3.2 Power Wiring

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

3.2.2 L7 Drive Wiring Diagram [L7SA050□]

3.2.3 Dimensions for Power Circuit Electrical Parts

3.3 Timing Diagram

3.3.1 Timing Diagram During Power Input

3.3.2 Timing Diagram at the Time of Alarm Trigger

3.4 Control Signal Wiring

3.4.1 Contact Input Signal

3.4.2 Contact Output Signal

3.4.3 Analog Input/Output Signals

3.4.4 Pulse Train Input Signal

3.4.5 Encoder Output Signal

3.5 Quadrature Encoder Signaling Unit (CN2) Wiring

3.6 Serial Encoder Signaling Unit (CN2) Wiring

3.7 Multi Turn Encoder signal unit(CN2) wiring

3.8 Transmission of Absolute Encoder Data

3.8.1 Transmission of Absolute Encoder Data

4. Parameters

4.1 How to Use the Loader

4.1.1 Names and Functions of Each Parts

4.1.2 Status Summary Display

4.1.3 Parameter Handling

4.1.4 Data Display

4.1.5 External Input Contact Signal Display [St-14]

4.1.6 External Input Signal and Logic Definition

4.1.7 External Output Contact Signal Display [St-15]

4.1.8 External Output Signal and Logic Definition

4.2 Parameter Description

4.2.1 Parameter System

4.2.2 Operation Status Display Parameter

4.2.3 System Setting Parameter

4.2.4 Control Setting Parameter

4.2.5 Input/Output Setting Parameter